UASManager -> HomePositionManager

QGCApplication.pro

@@ -240,6 +240,7 @@ HEADERS += \
     src/comm/TCPLink.h \
     src/comm/UDPLink.h \
     src/GAudioOutput.h \
+    src/HomePositionManager.h \
     src/LogCompressor.h \
     src/MG.h \
     src/QGC.h \
@@ -263,8 +264,6 @@ HEADERS += \
     src/uas/FileManager.h \
     src/uas/UAS.h \
     src/uas/UASInterface.h \
-    src/uas/UASManager.h \
-    src/uas/UASManagerInterface.h \
     src/uas/UASMessageHandler.h \
     src/uas/UASWaypointManager.h \
     src/ui/flightdisplay/FlightDisplay.h \
@@ -377,6 +376,7 @@ SOURCES += \
     src/comm/TCPLink.cc \
     src/comm/UDPLink.cc \
     src/GAudioOutput.cc \
+    src/HomePositionManager.cc \
     src/LogCompressor.cc \
     src/main.cc \
     src/QGC.cc \
@@ -395,7 +395,6 @@ SOURCES += \
     src/QmlControls/ScreenToolsController.cc \
     src/uas/FileManager.cc \
     src/uas/UAS.cc \
-    src/uas/UASManager.cc \
     src/uas/UASMessageHandler.cc \
     src/uas/UASWaypointManager.cc \
     src/ui/flightdisplay/FlightDisplay.cc \

src/uas/UASManager.cc → src/HomePositionManager.cc

-/*==================================================================
-======================================================================*/
+/*=====================================================================
  
-/**
- * @file
- *   @brief Implementation of class UASManager
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
 
 #include <QList>
 #include <QApplication>
@@ -15,7 +28,7 @@
 
 #include "UAS.h"
 #include "UASInterface.h"
-#include "UASManager.h"
+#include "HomePositionManager.h"
 #include "QGC.h"
 #include "QGCMessageBox.h"
 #include "QGCApplication.h"
@@ -25,26 +38,24 @@
 #define MEAN_EARTH_DIAMETER	12756274.0
 #define UMR	0.017453292519943295769236907684886
 
-IMPLEMENT_QGC_SINGLETON(UASManager, UASManagerInterface)
+IMPLEMENT_QGC_SINGLETON(HomePositionManager, HomePositionManager)
 
-UASManager::UASManager(QObject* parent) :
-    UASManagerInterface(parent),
-    offlineUASWaypointManager(NULL),
+HomePositionManager::HomePositionManager(QObject* parent) :
+    QObject(parent),
     homeLat(47.3769),
     homeLon(8.549444),
     homeAlt(470.0),
     homeFrame(MAV_FRAME_GLOBAL)
 {
     loadSettings();
-    setLocalNEDSafetyBorders(1, -1, 0, -1, 1, -1);
 }
 
-UASManager::~UASManager()
+HomePositionManager::~HomePositionManager()
 {
     storeSettings();
 }
 
-void UASManager::storeSettings()
+void HomePositionManager::storeSettings()
 {
     QSettings settings;
     settings.beginGroup("QGC_UASMANAGER");
@@ -54,7 +65,7 @@ void UASManager::storeSettings()
     settings.endGroup();
 }
 
-void UASManager::loadSettings()
+void HomePositionManager::loadSettings()
 {
     QSettings settings;
     settings.beginGroup("QGC_UASMANAGER");
@@ -72,7 +83,7 @@ void UASManager::loadSettings()
     settings.endGroup();
 }
 
-bool UASManager::setHomePosition(double lat, double lon, double alt)
+bool HomePositionManager::setHomePosition(double lat, double lon, double alt)
 {
     // Checking for NaN and infitiny
     // and checking for borders
@@ -101,7 +112,7 @@ bool UASManager::setHomePosition(double lat, double lon, double alt)
     return changed;
 }
 
-bool UASManager::setHomePositionAndNotify(double lat, double lon, double alt)
+bool HomePositionManager::setHomePositionAndNotify(double lat, double lon, double alt)
 {
     // Checking for NaN and infitiny
     // and checking for borders
@@ -114,28 +125,7 @@ bool UASManager::setHomePositionAndNotify(double lat, double lon, double alt)
 	return changed;
 }
 
-/**
- * @param x1 Point 1 coordinate in x dimension
- * @param y1 Point 1 coordinate in y dimension
- * @param z1 Point 1 coordinate in z dimension
- *
- * @param x2 Point 2 coordinate in x dimension
- * @param y2 Point 2 coordinate in y dimension
- * @param z2 Point 2 coordinate in z dimension
- */
-void UASManager::setLocalNEDSafetyBorders(double x1, double y1, double z1, double x2, double y2, double z2)
-{
-    nedSafetyLimitPosition1.x() = x1;
-    nedSafetyLimitPosition1.y() = y1;
-    nedSafetyLimitPosition1.z() = z1;
-
-    nedSafetyLimitPosition2.x() = x2;
-    nedSafetyLimitPosition2.y() = y2;
-    nedSafetyLimitPosition2.z() = z2;
-}
-
-
-void UASManager::initReference(const double & latitude, const double & longitude, const double & altitude)
+void HomePositionManager::initReference(const double & latitude, const double & longitude, const double & altitude)
 {
     Eigen::Matrix3d R;
     double s_long, s_lat, c_long, c_lat;
@@ -159,7 +149,7 @@ void UASManager::initReference(const double & latitude, const double & longitude
     ecef_ref_point_ = wgs84ToEcef(latitude, longitude, altitude);
 }
 
-Eigen::Vector3d UASManager::wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude)
+Eigen::Vector3d HomePositionManager::wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude)
 {
     const double a = 6378137.0; // semi-major axis
     const double e_sq = 6.69437999014e-3; // first eccentricity squared
@@ -179,12 +169,12 @@ Eigen::Vector3d UASManager::wgs84ToEcef(const double & latitude, const double &
     return ecef;
 }
 
-Eigen::Vector3d UASManager::ecefToEnu(const Eigen::Vector3d & ecef)
+Eigen::Vector3d HomePositionManager::ecefToEnu(const Eigen::Vector3d & ecef)
 {
     return ecef_ref_orientation_ * (ecef - ecef_ref_point_);
 }
 
-void UASManager::wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up)
+void HomePositionManager::wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up)
 {
     Eigen::Vector3d ecef = wgs84ToEcef(lat, lon, alt);
     Eigen::Vector3d enu = ecefToEnu(ecef);
@@ -193,49 +183,17 @@ void UASManager::wgs84ToEnu(const double& lat, const double& lon, const double&
     *up = enu.z();
 }
 
-//void UASManager::wgs84ToNed(const double& lat, const double& lon, const double& alt, double* north, double* east, double* down)
-//{
-
-//}
-
-
-
-void UASManager::enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
+void HomePositionManager::enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
 {
     *lat=homeLat+y/MEAN_EARTH_DIAMETER*360./PI;
     *lon=homeLon+x/MEAN_EARTH_DIAMETER*360./PI/cos(homeLat*UMR);
     *alt=homeAlt+z;
 }
 
-void UASManager::nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
+void HomePositionManager::nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
 {
     *lat=homeLat+x/MEAN_EARTH_DIAMETER*360./PI;
     *lon=homeLon+y/MEAN_EARTH_DIAMETER*360./PI/cos(homeLat*UMR);
     *alt=homeAlt-z;
 }
 
-
-/**
- * This function will change QGC's home position on a number of conditions only
- */
-void UASManager::uavChangedHomePosition(int uav, double lat, double lon, double alt)
-{
-    // Accept home position changes from the active UAS
-    if (uav == MultiVehicleManager::instance()->activeVehicle()->id())
-    {
-        if (setHomePosition(lat, lon, alt))
-        {
-            // XXX DO NOT UPDATE THE WHOLE FLEET
-
-
-//            foreach (UASInterface* mav, systems)
-//            {
-//                // Only update the other systems, not the original source
-//                if (mav->getUASID() != uav)
-//                {
-//                    mav->setHomePosition(homeLat, homeLon, homeAlt);
-//                }
-//            }
-        }
-    }
-}

src/uas/UASManager.h → src/HomePositionManager.h

@@ -2,7 +2,7 @@
 
 QGroundControl Open Source Ground Control Station
 
-(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 
@@ -21,17 +21,9 @@ This file is part of the QGROUNDCONTROL project
 
 ======================================================================*/
 
-/**
- * @file
- *   @brief Definition of class UASManager
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
 #ifndef _UASMANAGER_H_
 #define _UASMANAGER_H_
 
-#include "UASManagerInterface.h"
 #include "UASInterface.h"
 
 #include <QList>
@@ -42,17 +34,13 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCGeo.h"
 #include "QGCSingleton.h"
 
-/**
- * @brief Central manager for all connected aerial vehicles
- *
- * This class keeps a list of all connected / configured UASs. It also stores which
- * UAS is currently select with respect to user input or manual controls.
- **/
-class UASManager : public UASManagerInterface
+/// Manages an offline home position as well as performance coordinate transformations
+/// around a home position.
+class HomePositionManager : public QObject
 {
     Q_OBJECT
     
-    DECLARE_QGC_SINGLETON(UASManager, UASManagerInterface)
+    DECLARE_QGC_SINGLETON(HomePositionManager, HomePositionManager)
 
 public:
     /** @brief Get home position latitude */
@@ -85,40 +73,6 @@ public:
     /** @brief Convert x,y,z coordinates to lat / lon / alt coordinates in north-east-down frame */
     void nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt);
 
-    void getLocalNEDSafetyLimits(double* x1, double* y1, double* z1, double* x2, double* y2, double* z2)
-    {
-        *x1 = nedSafetyLimitPosition1.x();
-        *y1 = nedSafetyLimitPosition1.y();
-        *z1 = nedSafetyLimitPosition1.z();
-
-        *x2 = nedSafetyLimitPosition2.x();
-        *y2 = nedSafetyLimitPosition2.y();
-        *z2 = nedSafetyLimitPosition2.z();
-    }
-
-    /** @brief Check if a position is in the local NED safety limits */
-    bool isInLocalNEDSafetyLimits(double x, double y, double z)
-    {
-        if (x < nedSafetyLimitPosition1.x() &&
-            y > nedSafetyLimitPosition1.y() &&
-            z < nedSafetyLimitPosition1.z() &&
-            x > nedSafetyLimitPosition2.x() &&
-            y < nedSafetyLimitPosition2.y() &&
-            z > nedSafetyLimitPosition2.z())
-        {
-            // Within limits
-            return true;
-        }
-        else
-        {
-            // Not within limits
-            return false;
-        }
-    }
-
-//    void wgs84ToNed(const double& lat, const double& lon, const double& alt, double* north, double* east, double* down);
-
-
 public slots:
     /** @brief Set the current home position, but do not change it on the UAVs */
     bool setHomePosition(double lat, double lon, double alt);
@@ -126,35 +80,30 @@ public slots:
     /** @brief Set the current home position on all UAVs*/
     bool setHomePositionAndNotify(double lat, double lon, double alt);
 
-    /** @brief Set the safety limits in local position frame */
-    void setLocalNEDSafetyBorders(double x1, double y1, double z1, double x2, double y2, double z2);
-
-    /** @brief Update home position based on the position from one of the UAVs */
-    void uavChangedHomePosition(int uav, double lat, double lon, double alt);
 
     /** @brief Load settings */
     void loadSettings();
     /** @brief Store settings */
     void storeSettings();
 
+signals:
+    /** @brief Current home position changed */
+    void homePositionChanged(double lat, double lon, double alt);
     
 protected:
-    UASWaypointManager *offlineUASWaypointManager;
     double homeLat;
     double homeLon;
     double homeAlt;
     int homeFrame;
     Eigen::Quaterniond ecef_ref_orientation_;
     Eigen::Vector3d ecef_ref_point_;
-    Eigen::Vector3d nedSafetyLimitPosition1;
-    Eigen::Vector3d nedSafetyLimitPosition2;
 
     void initReference(const double & latitude, const double & longitude, const double & altitude);
     
 private:
-    /// @brief All access to UASManager singleton is through UASManager::instance
-    UASManager(QObject* parent = NULL);
-    ~UASManager();
+    /// @brief All access to HomePositionManager singleton is through HomePositionManager::instance
+    HomePositionManager(QObject* parent = NULL);
+    ~HomePositionManager();
 
 public:
     /* Need to align struct pointer to prevent a memory assertion:

src/QGCApplication.cc

@@ -63,7 +63,7 @@ G_END_DECLS
 #endif
 #include "QGCSingleton.h"
 #include "LinkManager.h"
-#include "UASManager.h"
+#include "HomePositionManager.h"
 #include "UASMessageHandler.h"
 #include "AutoPilotPluginManager.h"
 #include "QGCTemporaryFile.h"
@@ -602,21 +602,21 @@ void QGCApplication::_createSingletons(void)
     Q_ASSERT(linkManager);
 
     // Needs LinkManager
-    UASManagerInterface* uasManager = UASManager::_createSingleton();
+    HomePositionManager* uasManager = HomePositionManager::_createSingleton();
     Q_UNUSED(uasManager);
     Q_ASSERT(uasManager);
 
-    // Need UASManager
+    // Need HomePositionManager
     AutoPilotPluginManager* pluginManager = AutoPilotPluginManager::_createSingleton();
     Q_UNUSED(pluginManager);
     Q_ASSERT(pluginManager);
 
-    // Need UASManager
+    // Need HomePositionManager
     UASMessageHandler* messageHandler = UASMessageHandler::_createSingleton();
     Q_UNUSED(messageHandler);
     Q_ASSERT(messageHandler);
 
-    // Needs UASManager
+    // Needs HomePositionManager
     FactSystem* factSystem = FactSystem::_createSingleton();
     Q_UNUSED(factSystem);
     Q_ASSERT(factSystem);
@@ -648,7 +648,7 @@ void QGCApplication::_destroySingletons(void)
     FactSystem::_deleteSingleton();
     UASMessageHandler::_deleteSingleton();
     AutoPilotPluginManager::_deleteSingleton();
-    UASManager::_deleteSingleton();
+    HomePositionManager::_deleteSingleton();
     LinkManager::_deleteSingleton();
     GAudioOutput::_deleteSingleton();
     MultiVehicleManager::_deleteSingleton();

src/QGCSingleton.h

@@ -36,7 +36,6 @@
 /// Include this macro in your Derived Class definition
 ///     @param className Derived Class name
 ///     @param interfaceName If your class is accessed through an interface specify that, if not specify Derived class name.
-///             For example DECLARE_QGC_SINGLETON(UASManager, UASManagerInterface)
 #define DECLARE_QGC_SINGLETON(className, interfaceName) \
     public: \
         static interfaceName* instance(bool nullOk = false); \
@@ -54,7 +53,6 @@
 /// Include this macro in your Derived Class implementation
 ///     @param className Derived Class name
 ///     @param interfaceName If your class is accessed through an interface specify that, if not specify Derived class name.
-///             For example DECLARE_QGC_SINGLETON(UASManager, UASManagerInterface)
 #define IMPLEMENT_QGC_SINGLETON(className, interfaceName) \
     interfaceName* className::_instance = NULL; \
     interfaceName* className::_mockInstance = NULL; \
@@ -114,7 +112,7 @@ class UnitTest;
 /// This is done in order to make sure they are all created on the main thread. As such no other code other than Unit Test
 /// code has access to the constructor/destructor. QGCSingleton supports replacing singletons with a mock implementation.
 /// In this case your object must derive from an interface which in turn derives from QGCSingleton. Youu can then use
-/// the setMock method to add and remove you mock implementation. See UASManager example usage. In order to provide the
+/// the setMock method to add and remove you mock implementation. See HomePositionManager example usage. In order to provide the
 /// appropriate methods to make all this work you need to use the DECLARE_QGC_SINGLETON and IMPLEMENT_QGC_SINGLETON
 /// macros as follows:
 /// @code{.unparsed}

src/VehicleSetup/SetupView.cc

@@ -26,7 +26,6 @@
 
 #include "SetupView.h"
 
-#include "UASManager.h"
 #include "AutoPilotPluginManager.h"
 #include "VehicleComponent.h"
 #include "QGCQmlWidgetHolder.h"

src/VehicleSetup/SetupViewTest.cc

@@ -28,7 +28,6 @@
 #include "MockLink.h"
 #include "QGCMessageBox.h"
 #include "SetupView.h"
-#include "UASManager.h"
 #include "MultiVehicleManager.h"
 
 UT_REGISTER_TEST(SetupViewTest)

src/ViewWidgets/CustomCommandWidgetController.h

@@ -28,7 +28,6 @@
 
 #include "UASInterface.h"
 #include "AutoPilotPlugin.h"
-#include "UASManagerInterface.h"
 #include "FactPanelController.h"
 
 class CustomCommandWidgetController : public FactPanelController

src/ViewWidgets/ViewWidgetController.cc

@@ -22,7 +22,6 @@
  ======================================================================*/
 
 #include "ViewWidgetController.h"
-#include "UASManager.h"
 #include "MultiVehicleManager.h"
 
 ViewWidgetController::ViewWidgetController(void) :

src/ViewWidgets/ViewWidgetController.h

@@ -28,7 +28,6 @@
 
 #include "UASInterface.h"
 #include "AutoPilotPlugin.h"
-#include "UASManagerInterface.h"
 #include "Vehicle.h"
 
 class ViewWidgetController : public QObject

src/comm/QGCFlightGearLink.cc

@@ -43,6 +43,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGC.h"
 #include "QGCFileDialog.h"
 #include "QGCMessageBox.h"
+#include "HomePositionManager.h"
 
 // FlightGear _fgProcess start and connection is quite fragile. Uncomment the define below to get higher level of debug output
 // for tracking down problems.
@@ -954,11 +955,11 @@ bool QGCFlightGearLink::connectSimulation()
     }
     
     // We start out at our home position
-    _fgArgList << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
-    _fgArgList << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
+    _fgArgList << QString("--lat=%1").arg(HomePositionManager::instance()->getHomeLatitude());
+    _fgArgList << QString("--lon=%1").arg(HomePositionManager::instance()->getHomeLongitude());
     // The altitude is not set because an altitude not equal to the ground altitude leads to a non-zero default throttle in flightgear
     // Without the altitude-setting the aircraft is positioned on the ground
-    //_fgArgList << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
+    //_fgArgList << QString("--altitude=%1").arg(HomePositionManager::instance()->getHomeAltitude());
     
 #ifdef DEBUG_FLIGHTGEAR_CONNECT
     // This tell FlightGear to output highest debug level of log output. Handy for debuggin failures by looking at the FG

src/comm/QGCXPlaneLink.cc

@@ -40,6 +40,7 @@ This file is part of the QGROUNDCONTROL project
 #include "UAS.h"
 #include "UASInterface.h"
 #include "QGCMessageBox.h"
+#include "HomePositionManager.h"
 
 QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress localHost, quint16 localPort) :
     mav(mav),

src/uas/UAS.cc

@@ -23,7 +23,7 @@
 
 #include "UAS.h"
 #include "LinkInterface.h"
-#include "UASManager.h"
+#include "HomePositionManager.h"
 #include "QGC.h"
 #include "GAudioOutput.h"
 #include "MAVLinkProtocol.h"
@@ -2672,10 +2672,10 @@ void UAS::home()
 {
     mavlink_message_t msg;
 
-    double latitude = UASManager::instance()->getHomeLatitude();
-    double longitude = UASManager::instance()->getHomeLongitude();
-    double altitude = UASManager::instance()->getHomeAltitude();
-    int frame = UASManager::instance()->getHomeFrame();
+    double latitude = HomePositionManager::instance()->getHomeLatitude();
+    double longitude = HomePositionManager::instance()->getHomeLongitude();
+    double altitude = HomePositionManager::instance()->getHomeAltitude();
+    int frame = HomePositionManager::instance()->getHomeFrame();
 
     mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_CONTINUE, MAV_GOTO_HOLD_AT_CURRENT_POSITION, frame, 0, latitude, longitude, altitude);
     _vehicle->sendMessage(msg);

src/uas/UASManagerInterface.h

-/*=====================================================================
- 
- QGroundControl Open Source Ground Control Station
- 
- (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- 
- This file is part of the QGROUNDCONTROL project
- 
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
- 
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- GNU General Public License for more details.
- 
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
- 
- ======================================================================*/
-
-/**
- * @file
- *   @brief Definition of class UASManager
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef _UASMANAGERINTERFACE_H_
-#define _UASMANAGERINTERFACE_H_
-
-#include <QList>
-#include <QMutex>
-
-#include <Eigen/Eigen>
-
-#include "UASInterface.h"
-#include "QGCGeo.h"
-#include "QGCSingleton.h"
-
-/**
- * @brief Central manager for all connected aerial vehicles
- *
- * This class keeps a list of all connected / configured UASs. It also stores which
- * UAS is currently select with respect to user input or manual controls.
- *
- * This is the abstract base class for UASManager. Although there is normally only
- * a single UASManger we still use a abstract base interface since this allows us
- * to create mock versions of the UASManager for testing purposes.
- *
- * See UASManager.h for method documentation
- **/
-class UASManagerInterface : public QGCSingleton
-{
-    Q_OBJECT
-    
-public:
-    virtual double getHomeLatitude() const  = 0;
-    virtual double getHomeLongitude() const  = 0;
-    virtual double getHomeAltitude() const = 0;
-    virtual int getHomeFrame() const = 0;
-    virtual Eigen::Vector3d wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude) = 0;
-    virtual Eigen::Vector3d ecefToEnu(const Eigen::Vector3d & ecef) = 0;
-    virtual void wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up) = 0;
-    virtual void enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt) = 0;
-    virtual void nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt) = 0;
-    virtual void getLocalNEDSafetyLimits(double* x1, double* y1, double* z1, double* x2, double* y2, double* z2) = 0;
-    virtual bool isInLocalNEDSafetyLimits(double x, double y, double z) = 0;
-    
-public slots:
-    virtual bool setHomePosition(double lat, double lon, double alt) = 0;
-    virtual bool setHomePositionAndNotify(double lat, double lon, double alt) = 0;
-    virtual void setLocalNEDSafetyBorders(double x1, double y1, double z1, double x2, double y2, double z2) = 0;
-    virtual void uavChangedHomePosition(int uav, double lat, double lon, double alt) = 0;
-    virtual void loadSettings() = 0;
-    virtual void storeSettings() = 0;
-    
-signals:
-    /** @brief Current home position changed */
-    void homePositionChanged(double lat, double lon, double alt);
-    
-protected:
-    UASManagerInterface(QObject* parent = NULL) :
-        QGCSingleton(parent) { }
-};
-
-#endif // _UASMANAGERINTERFACE_H_

src/uas/UASWaypointManager.cc

@@ -32,7 +32,7 @@ This file is part of the QGROUNDCONTROL project
 #include "UASWaypointManager.h"
 #include "UAS.h"
 #include "mavlink_types.h"
-#include "UASManager.h"
+#include "HomePositionManager.h"
 #include "QGCMessageBox.h"
 #include "Vehicle.h"
 
@@ -1164,7 +1164,7 @@ float UASWaypointManager::getAltitudeRecommendation()
     if (waypointsEditable.count() > 0) {
         return waypointsEditable.last()->getAltitude();
     } else {
-        return UASManager::instance()->getHomeAltitude() + getHomeAltitudeOffsetDefault();
+        return HomePositionManager::instance()->getHomeAltitude() + getHomeAltitudeOffsetDefault();
     }
 }
 

src/ui/HSIDisplay.cc

@@ -38,7 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QDebug>
 
 #include "MultiVehicleManager.h"
-#include "UASManager.h"
+#include "HomePositionManager.h"
 #include "HSIDisplay.h"
 #include "QGC.h"
 #include "Waypoint.h"
@@ -435,11 +435,6 @@ void HSIDisplay::renderOverlay()
         paintText(str, valueColor, 2.6f, 10, vheight - 4.0f, &painter);
     }
 
-    // Draw Safety
-    double x1, y1, z1, x2, y2, z2;
-    UASManager::instance()->getLocalNEDSafetyLimits(&x1, &y1, &z1, &x2, &y2, &z2);
-    //    drawSafetyArea(QPointF(x1, y1), QPointF(x2, y2), QGC::colorYellow, painter);
-
     // Draw status message
     paintText(statusMessage, statusColor, 2.8f, 8, 15, &painter);
 
@@ -1372,7 +1367,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
 
                 // Transform the lat/lon for this waypoint into the local frame
                 double e, n, u;
-                UASManager::instance()->wgs84ToEnu(w->getX(), w->getY(),w->getZ(), &e, &n, &u);
+                HomePositionManager::instance()->wgs84ToEnu(w->getX(), w->getY(),w->getZ(), &e, &n, &u);
                 in = QPointF(n, e);
             }
             // Otherwise we don't process this waypoint.

src/ui/MAVLinkDecoder.cc

 #include "MAVLinkDecoder.h"
-#include "UASManager.h"
 
 #include <QDebug>
 

src/ui/MainWindow.cc

@@ -73,6 +73,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCDockWidget.h"
 #include "MultiVehicleManager.h"
 #include "CustomCommandWidget.h"
+#include "HomePositionManager.h"
 
 #ifdef UNITTEST_BUILD
 #include "QmlControls/QmlTestWidget.h"
@@ -655,7 +656,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
     
     _storeCurrentViewState();
     storeSettings();
-    UASManager::instance()->storeSettings();
+    HomePositionManager::instance()->storeSettings();
     event->accept();
 }
 

src/ui/MainWindow.h

@@ -41,7 +41,6 @@ This file is part of the QGROUNDCONTROL project
 #include "LinkManager.h"
 #include "LinkInterface.h"
 #include "UASInterface.h"
-#include "UASManager.h"
 #include "UASControlWidget.h"
 #include "UASInfoWidget.h"
 #include "WaypointList.h"

src/ui/WaypointList.cc

@@ -37,7 +37,7 @@ This file is part of the PIXHAWK project
 
 #include <UASInterface.h>
 #include <UAS.h>
-#include <UASManager.h>
+#include <HomePositionManager.h>
 #include <QDebug>
 #include <QMouseEvent>
 #include <QTextEdit>
@@ -314,8 +314,8 @@ void WaypointList::addEditable(bool onCurrentPosition)
                     } else {
                         updateStatusLabel(tr("Added default GLOBAL (Relative alt.) waypoint."));
                     }
-                    wp = new Waypoint(0, UASManager::instance()->getHomeLatitude(),
-                                      UASManager::instance()->getHomeLongitude(),
+                    wp = new Waypoint(0, HomePositionManager::instance()->getHomeLatitude(),
+                                      HomePositionManager::instance()->getHomeLongitude(),
                                       WPM->getAltitudeRecommendation(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
                     WPM->addWaypointEditable(wp);
                 }
@@ -337,8 +337,8 @@ void WaypointList::addEditable(bool onCurrentPosition)
             {
                 // MAV connected, but position unknown, add default waypoint
                 updateStatusLabel(tr("WARNING: No position known. Adding default LOCAL (NED) waypoint"));
-                wp = new Waypoint(0, UASManager::instance()->getHomeLatitude(),
-                                  UASManager::instance()->getHomeLongitude(),
+                wp = new Waypoint(0, HomePositionManager::instance()->getHomeLatitude(),
+                                  HomePositionManager::instance()->getHomeLongitude(),
                                   WPM->getAltitudeRecommendation(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
                 WPM->addWaypointEditable(wp);
             }
@@ -347,8 +347,8 @@ void WaypointList::addEditable(bool onCurrentPosition)
         {
             //Since no UAV available, create first default waypoint.
             updateStatusLabel(tr("No UAV connected. Adding default GLOBAL (NED) waypoint"));
-            wp = new Waypoint(0, UASManager::instance()->getHomeLatitude(),
-                              UASManager::instance()->getHomeLongitude(),
+            wp = new Waypoint(0, HomePositionManager::instance()->getHomeLatitude(),
+                              HomePositionManager::instance()->getHomeLongitude(),
                               WPM->getAltitudeRecommendation(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
             WPM->addWaypointEditable(wp);
         }

src/ui/map/QGCMapWidget.cc

@@ -2,7 +2,7 @@
 #include "QGCMapWidget.h"
 #include "QGCMapToolBar.h"
 #include "UASInterface.h"
-#include "UASManager.h"
+#include "HomePositionManager.h"
 #include "MAV2DIcon.h"
 #include "Waypoint2DIcon.h"
 #include "UASWaypointManager.h"
@@ -123,7 +123,7 @@ bool QGCMapWidget::setHomeActionTriggered()
         QGCMessageBox::information(tr("Error"), tr("Please connect first"));
         return false;
     }
-    UASManagerInterface *uasManager = UASManager::instance();
+    HomePositionManager *uasManager = HomePositionManager::instance();
     if (!uasManager) { return false; }
 
     // Enter an altitude
@@ -187,7 +187,7 @@ void QGCMapWidget::showEvent(QShowEvent* event)
     connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &QGCMapWidget::_vehicleAdded);
     connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &QGCMapWidget::_activeVehicleChanged);
     
-    connect(UASManager::instance(), SIGNAL(homePositionChanged(double,double,double)), this, SLOT(updateHomePosition(double,double,double)), Qt::UniqueConnection);
+    connect(HomePositionManager::instance(), SIGNAL(homePositionChanged(double,double,double)), this, SLOT(updateHomePosition(double,double,double)), Qt::UniqueConnection);
     
     foreach (Vehicle* vehicle, MultiVehicleManager::instance()->vehicles()) {
         _vehicleAdded(vehicle);
@@ -213,7 +213,7 @@ void QGCMapWidget::showEvent(QShowEvent* event)
         }
 
         // Set home
-        updateHomePosition(UASManager::instance()->getHomeLatitude(), UASManager::instance()->getHomeLongitude(), UASManager::instance()->getHomeAltitude());
+        updateHomePosition(HomePositionManager::instance()->getHomeLatitude(), HomePositionManager::instance()->getHomeLongitude(), HomePositionManager::instance()->getHomeAltitude());
 
         // Set currently selected system
         _activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());