Merge branch 'experimental' of github.com:pixhawk/qgroundcontrol into experimental

Conflicts:
	src/ui/MainWindow.cc

images/earth.html

@@ -192,20 +192,20 @@ function setViewRange(dist)
 function addTrailPosition(id, lat, lon, alt)
 {
 	trails[id].setExtrude(false);
-trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
+    trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
 
-// Add LineString points
+    // Add LineString points
 	trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
 
-// Create a style and set width and color of line
-trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
-lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
-lineStyle.setWidth(5);
-lineStyle.getColor().set(trailColors[id]);  // aabbggrr format
-//lineStyle.getColor().set(color);  // aabbggrr format
+    // Create a style and set width and color of line
+    trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
+    lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
+    lineStyle.setWidth(5);
+    lineStyle.getColor().set(trailColors[id]);  // aabbggrr format
+    //lineStyle.getColor().set(color);  // aabbggrr format
 
-// Add the feature to Earth
-if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]);
+    // Add the feature to Earth
+    if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]);
 }
 
 function initCallback(object)
@@ -224,8 +224,6 @@ function initCallback(object)
     ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
 
     initialized = true;
-        
-        
 }
 
 function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
@@ -247,13 +245,12 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
 	planeOrient.setRoll(((roll/M_PI)+1.0)*360.0);
 	planeOrient.setTilt(((pitch/M_PI)+1.0)*360.0);
 	planeOrient.setHeading(((yaw/M_PI)+1.0)*360.0);
-    }
-        
     
     planeLoc.setLatitude(lat);
     planeLoc.setLongitude(lon);
     planeLoc.setAltitude(alt);
-	
+    planeModel.setLocation(planeLoc);
+    }
 }
 
 function enableDaylight(enabled)

src/configuration.h

@@ -17,14 +17,14 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 0.8.1 (Alpha)"
+#define QGC_APPLICATION_VERSION "v. 0.8.3 (Alpha)"
 
 namespace QGC
 
 {
     const QString APPNAME = "QGROUNDCONTROL";
     const QString COMPANYNAME = "OPENMAV";
-    const int APPLICATIONVERSION = 80; // 0.8.0
+    const int APPLICATIONVERSION = 83; // 0.8.0
 }
 
 #endif // CONFIGURATION_H

src/uas/PxQuadMAV.cc

@@ -64,6 +64,15 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "Temperature", "raw", raw.temp, time);
             }
             break;
+        case MAVLINK_MSG_ID_IMAGE_TRIGGERED:
+            {
+                // FIXME Kind of a hack to load data from disk
+                mavlink_image_triggered_t img;
+                mavlink_msg_image_triggered_decode(&message, &img);
+                qDebug() << "IMAGE AVAILABLE:" << img.timestamp;
+                emit imageStarted(img.timestamp);
+            }
+            break;
         case MAVLINK_MSG_ID_PATTERN_DETECTED:
             {
                 mavlink_pattern_detected_t detected;

src/uas/UAS.cc

@@ -464,6 +464,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "latitude", "deg", pos.lat, time);
                 emit valueChanged(uasId, "longitude", "deg", pos.lon, time);
 
+                // FIXME REMOVE
+                longitude = pos.lon;
+                latitude = pos.lat;
+                altitude = pos.alt;
+                emit globalPositionChanged(this, longitude, latitude, altitude, time);
+
                 if (pos.fix_type > 0)
                 {
                     emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);

src/uas/UAS.h

@@ -169,7 +169,7 @@ public:
     bool isAuto();
 
 public:
-    UASWaypointManager &getWaypointManager(void) { return waypointManager; }
+    UASWaypointManager* getWaypointManager() { return &waypointManager; }
     int getSystemType();
     int getAutopilotType() {return autopilot;}
 
@@ -303,6 +303,7 @@ signals:
     void loadChanged(UASInterface* uas, double load);
     /** @brief Propagate a heartbeat received from the system */
     void heartbeat(UASInterface* uas);
+    void imageStarted(quint64 timestamp);
 
     protected:
     /** @brief Get the UNIX timestamp in microseconds */

src/uas/UASInterface.h

@@ -79,7 +79,7 @@ public:
     virtual double getYaw() const = 0;
 
     /** @brief Get reference to the waypoint manager **/
-    virtual UASWaypointManager &getWaypointManager(void) = 0;
+    virtual UASWaypointManager* getWaypointManager(void) = 0;
 
     /* COMMUNICATION FLAGS */
 

src/uas/UASWaypointManager.cc

@@ -265,6 +265,13 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
     }
 }
 
+void UASWaypointManager::notifyOfChange(Waypoint* wp)
+{
+    Q_UNUSED(wp);
+    emit waypointListChanged();
+    emit waypointListChanged(uas.getUASID());
+}
+
 int UASWaypointManager::setCurrentWaypoint(quint16 seq)
 {
     if (seq < waypoints.size())
@@ -313,6 +320,9 @@ void UASWaypointManager::addWaypoint(Waypoint *wp)
         waypoints.insert(waypoints.size(), wp);
 
         emit waypointListChanged();
+        emit waypointListChanged(uas.getUASID());
+
+        qDebug() << "ADDED WAYPOINT WITH ID:" << wp->getId();
     }
 }
 
@@ -329,6 +339,7 @@ int UASWaypointManager::removeWaypoint(quint16 seq)
             waypoints[i]->setId(i);
         }
         emit waypointListChanged();
+        emit waypointListChanged(uas.getUASID());
         return 0;
     }
     return -1;
@@ -359,6 +370,7 @@ void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq)
         //waypoints[new_seq]->setId(new_seq);
 
         emit waypointListChanged();
+        emit waypointListChanged(uas.getUASID());
     }
 }
 
@@ -425,21 +437,28 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
 
     emit loadWPFile();
     emit waypointListChanged();
+    emit waypointListChanged(uas.getUASID());
 }
 
 
-void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
-{
-    // FIXME Will be removed
-    Q_UNUSED(wp);
-}
+//void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
+//{
+//    // FIXME Will be removed
+//    Q_UNUSED(wp);
+//}
 
-int UASWaypointManager::globalRemoveWaypoint(quint16 seq)
-{
-    // FIXME Will be removed
-    Q_UNUSED(seq);
-    return 0;
-}
+//int UASWaypointManager::globalRemoveWaypoint(quint16 seq)
+//{
+//    // FIXME Will be removed
+//    Q_UNUSED(seq);
+//    return 0;
+//}
+
+//void UASWaypointManager::waypointUpdated(Waypoint*)
+//{
+//    // FIXME Add rate limiter
+//    emit waypointListChanged(uas.getUASID());
+//}
 
 void UASWaypointManager::clearWaypointList()
 {
@@ -457,6 +476,11 @@ void UASWaypointManager::clearWaypointList()
     }
 }
 
+int UASWaypointManager::getIndexOf(Waypoint* wp)
+{
+    return waypoints.indexOf(wp);
+}
+
 void UASWaypointManager::readWaypoints()
 {
     emit readGlobalWPFromUAS(true);

src/uas/UASWaypointManager.h

@@ -86,25 +86,27 @@ public:
     /** @name Waypoint list operations */
     /*@{*/
     const QVector<Waypoint *> &getWaypointList(void) { return waypoints; }  ///< Returns a const reference to the waypoint list.
-    void addWaypoint(Waypoint *wp);                        ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
     int removeWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
     void moveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
     void saveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
     void loadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
+    void notifyOfChange(Waypoint* wp);                     ///< Notifies manager to changes to a waypoint
     void localAddWaypoint(Waypoint *wp);                        ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
     int localRemoveWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
     void localMoveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
     void localSaveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
     void localLoadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
-
+    int getIndexOf(Waypoint* wp);                               ///< Get the index of a waypoint in the list
     /*@}*/
 
-    /** @name Global waypoint list operations */
-    /*@{*/
-    const QVector<Waypoint *> &getGlobalWaypointList(void) { return waypoints; }  ///< Returns a const reference to the global waypoint list.
-    void globalAddWaypoint(Waypoint *wp);                        ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
-    int globalRemoveWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
-    /*@}*/
+    UAS& getUAS() { return this->uas; }                         ///< Returns the owning UAS
+
+//    /** @name Global waypoint list operations */
+//    /*@{*/
+//    const QVector<Waypoint *> &getGlobalWaypointList(void) { return waypoints; }  ///< Returns a const reference to the global waypoint list.
+//    void globalAddWaypoint(Waypoint *wp);                        ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
+//    int globalRemoveWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
+//    /*@}*/
 
 private:
     /** @name Message send functions */
@@ -120,9 +122,12 @@ private:
 
 public slots:
     void timeout();                                 ///< Called by the timer if a response times out. Handles send retries.
+    void addWaypoint(Waypoint *wp);                 ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
 
 signals:
-    void waypointListChanged(void);                 ///< emits signal that the local waypoint list has been changed
+    void waypointListChanged(void);                 ///< emits signal that the waypoint list has been changed
+    void waypointListChanged(int uasid);            ///< Emits signal that list has been changed
+    void waypointChanged(int uasid, Waypoint* wp);  ///< emits signal that waypoint has been changed
     void currentWaypointChanged(quint16);           ///< emits the new current waypoint sequence number
     void updateStatusString(const QString &);       ///< emits the current status string
 

src/ui/HDDisplay.cc

@@ -152,7 +152,7 @@ HDDisplay::~HDDisplay()
 
 QSize HDDisplay::sizeHint() const
 {
-    return QSize(400, 400.0f*(vwidth/vheight)*1.1f);
+    return QSize(400, 400.0f*(vwidth/vheight)*1.2f);
 }
 
 void HDDisplay::enableGLRendering(bool enable)

src/ui/HSIDisplay.cc

@@ -678,7 +678,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
 {
     if (uas)
     {
-        const QVector<Waypoint*>& list = uas->getWaypointManager().getWaypointList();
+		const QVector<Waypoint*>& list = uas->getWaypointManager()->getWaypointList();
         //        for (int i = 0; i < list.size(); i++)
         //        {
         //            QPointF in(list.at(i)->getX(), list.at(i)->getY());

src/ui/HUD.cc

@@ -30,6 +30,10 @@ This file is part of the QGROUNDCONTROL project
  */
 
 #include <QShowEvent>
+#include <QContextMenuEvent>
+#include <QMenu>
+#include <QDesktopServices>
+#include <QFileDialog>
 
 #include <QDebug>
 #include <cmath>
@@ -39,6 +43,7 @@ This file is part of the QGROUNDCONTROL project
 #include <limits>
 
 #include "UASManager.h"
+#include "UAS.h"
 #include "HUD.h"
 #include "MG.h"
 #include "QGC.h"
@@ -124,7 +129,13 @@ HUD::HUD(int width, int height, QWidget* parent)
     lat(0.0),
     lon(0.0),
     alt(0.0),
-    load(0.0f)
+    load(0.0f),
+    offlineDirectory(""),
+    nextOfflineImage(""),
+    hudInstrumentsEnabled(true),
+    videoEnabled(false),
+    xImageFactor(1.0),
+    yImageFactor(1.0)
 {
     // Set auto fill to false
     setAutoFillBackground(false);
@@ -183,6 +194,10 @@ HUD::HUD(int width, int height, QWidget* parent)
     // Connect with UAS
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
 
+    createActions();
+
+    if (UASManager::instance()->getActiveUAS() != NULL) setActiveUAS(UASManager::instance()->getActiveUAS());
+
     setVisible(false);
 }
 
@@ -212,6 +227,40 @@ void HUD::hideEvent(QHideEvent* event)
     refreshTimer->stop();
 }
 
+void HUD::contextMenuEvent (QContextMenuEvent* event)
+{
+    QMenu menu(this);
+    // Update actions
+    enableHUDAction->setChecked(hudInstrumentsEnabled);
+    enableVideoAction->setChecked(videoEnabled);
+
+    menu.addAction(enableHUDAction);
+    //menu.addAction(selectHUDColorAction);
+    menu.addAction(enableVideoAction);
+    menu.addAction(selectOfflineDirectoryAction);
+    //menu.addAction(selectVideoChannelAction);
+    menu.exec(event->globalPos());
+}
+
+void HUD::createActions()
+{
+    enableHUDAction = new QAction(tr("Enable HUD"), this);
+    enableHUDAction->setStatusTip(tr("Show the HUD instruments in this window"));
+    enableHUDAction->setCheckable(true);
+    enableHUDAction->setChecked(hudInstrumentsEnabled);
+    connect(enableHUDAction, SIGNAL(triggered(bool)), this, SLOT(enableHUDInstruments(bool)));
+
+    enableVideoAction = new QAction(tr("Enable Video Live feed"), this);
+    enableVideoAction->setStatusTip(tr("Show the video live feed"));
+    enableVideoAction->setCheckable(true);
+    enableVideoAction->setChecked(videoEnabled);
+    connect(enableVideoAction, SIGNAL(triggered(bool)), this, SLOT(enableVideo(bool)));
+
+    selectOfflineDirectoryAction = new QAction(tr("Select image log"), this);
+    selectOfflineDirectoryAction->setStatusTip(tr("Load previously logged images into simulation / replay"));
+    connect(selectOfflineDirectoryAction, SIGNAL(triggered()), this, SLOT(selectOfflineDirectory()));
+}
+
 /**
  *
  * @param uas the UAS/MAV to monitor/display with the HUD
@@ -230,8 +279,17 @@ void HUD::setActiveUAS(UASInterface* uas)
         disconnect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
         disconnect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
         disconnect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
+
+        // Try to disconnect the image link
+        UAS* u = dynamic_cast<UAS*>(uas);
+        if (u)
+        {
+            disconnect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
+        }
     }
 
+    if (uas)
+    {
         // Now connect the new UAS
         // Setup communication
         connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
@@ -244,8 +302,16 @@ void HUD::setActiveUAS(UASInterface* uas)
         connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
         connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
 
+        // Try to connect the image link
+        UAS* u = dynamic_cast<UAS*>(uas);
+        if (u)
+        {
+            connect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
+        }
+
         // Set new UAS
         this->uas = uas;
+    }
 }
 
 //void HUD::updateAttitudeThrustSetPoint(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
@@ -609,40 +675,40 @@ void HUD::paintHUD()
         glPushMatrix();
         glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 
-        // Blue / Brown background
-        if (noCamera)
-        {
-            paintCenterBackground(roll, pitch, yawTrans);
-        }
-        // else {
         // Fill with black background
-        QString imagePath = "/Users/user/Desktop/frame0000.png";
-        if (QFileInfo(imagePath).exists())
+        if (videoEnabled)
         {
-            //qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath;
-            QImage fill = QImage(imagePath);
+            if (nextOfflineImage != "" && QFileInfo(nextOfflineImage).exists())
+            {
+                qDebug() << __FILE__ << __LINE__ << "template image:" << nextOfflineImage;
+                QImage fill = QImage(nextOfflineImage);
 
-            glImage = QGLWidget::convertToGLFormat(fill);
+                xImageFactor = width() / (float)fill.width();
+                yImageFactor = height() / (float)fill.height();
 
-            float xFactor;
-            float yFactor;
+                glImage = QGLWidget::convertToGLFormat(fill);
 
-            xFactor = width() / (float)fill.width();
-            yFactor = height() / (float)fill.height();
+                // Reset to save load efforts
+                nextOfflineImage = "";
+            }
 
-            glPixelZoom(xFactor, yFactor);
+            glPixelZoom(xImageFactor, yImageFactor);
             // Resize to correct size and fill with image
             glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
-            // FIXME Adjust viewport to scale image into view
+        }
+        else
+        {
+            // Blue / brown background
+            paintCenterBackground(roll, pitch, yawTrans);
         }
 
-        // }
         glMatrixMode(GL_MODELVIEW);
         glPopMatrix();
 
         // END OF OPENGL PAINTING
 
-
+        if (hudInstrumentsEnabled)
+        {
 
             //glEnable(GL_MULTISAMPLE);
 
@@ -775,8 +841,17 @@ void HUD::paintHUD()
 
             paintPitchLines(pitchLP, &painter);
             painter.end();
+        }
+        else
+        {
+            QPainter painter;
+            painter.begin(this);
+            painter.end();
+        }
         //glDisable(GL_MULTISAMPLE);
 
+
+
         //glFlush();
     }
 }
@@ -1517,6 +1592,34 @@ void HUD::saveImage()
     saveImage(fileName);
 }
 
+void HUD::startImage(quint64 timestamp)
+{
+    if (videoEnabled && offlineDirectory != "")
+    {
+        // Load and diplay image file
+        nextOfflineImage = QString(offlineDirectory + "/%1.bmp").arg(timestamp);
+    }
+}
+
+void HUD::selectOfflineDirectory()
+{
+    QString fileName = QFileDialog::getExistingDirectory(this, tr("Select image directory"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation));
+    if (fileName != "")
+    {
+        offlineDirectory = fileName;
+    }
+}
+
+void HUD::enableHUDInstruments(bool enabled)
+{
+    hudInstrumentsEnabled = enabled;
+}
+
+void HUD::enableVideo(bool enabled)
+{
+    videoEnabled = enabled;
+}
+
 void HUD::setPixels(int imgid, const unsigned char* imageData, int length, int startIndex)
 {
     Q_UNUSED(imgid);

src/ui/HUD.h

@@ -76,11 +76,19 @@ public slots:
     void updateLoad(UASInterface*, double);
     void selectWaypoint(int uasId, int id);
 
+    void startImage(quint64 timestamp);
     void startImage(int imgid, int width, int height, int depth, int channels);
     void setPixels(int imgid, const unsigned char* imageData, int length, int startIndex);
     void finishImage();
     void saveImage();
     void saveImage(QString fileName);
+    /** @brief Select directory where to load the offline files from */
+    void selectOfflineDirectory();
+    /** @brief Enable the HUD instruments */
+    void enableHUDInstruments(bool enabled);
+    /** @brief Enable Video */
+    void enableVideo(bool enabled);
+
 
 protected slots:
     void paintCenterBackground(float roll, float pitch, float yaw);
@@ -119,6 +127,8 @@ protected:
     void showEvent(QShowEvent* event);
     /** @brief Stop updating widget */
     void hideEvent(QHideEvent* event);
+    void contextMenuEvent (QContextMenuEvent* event);
+    void createActions();
 
     static const int updateInterval = 50;
 
@@ -192,6 +202,16 @@ protected:
     double lon;
     double alt;
     float load;
+    QString offlineDirectory;
+    QString nextOfflineImage;
+    bool hudInstrumentsEnabled;
+    bool videoEnabled;
+    float xImageFactor;
+    float yImageFactor;
+    QAction* enableHUDAction;
+    QAction* enableVideoAction;
+    QAction* selectOfflineDirectoryAction;
+    QAction* selectVideoChannelAction;
     void paintEvent(QPaintEvent *event);
 
 };

src/ui/MainWindow.h

@@ -112,6 +112,8 @@ public slots:
     void stopVideoCapture();
     void saveScreen();
 
+    /** @brief Load default view when no MAV is connected */
+    void loadUnconnectedView();
     /** @brief Load view for pilot */
     void loadPilotView();
     /** @brief Load view for engineer */
@@ -166,7 +168,7 @@ public slots:
      * It shows the QDockedWidget based on the action sender
      *
      */
-    void showToolWidget();
+    void showToolWidget(bool visible);
 
     /**
      * @brief Shows a Widget from the center stack based on the action sender
@@ -177,8 +179,10 @@ public slots:
      */
     void showCentralWidget();
 
+    /** @brief Change actively a QDockWidgets visibility by an action */
+    void showDockWidget(bool vis);
     /** @brief Updates a QDockWidget's checked status based on its visibility */
-    void updateVisibilitySettings (bool vis);
+    void updateVisibilitySettings(bool vis);
 
     /** @brief Updates a QDockWidget's location */
     void updateLocationSettings (Qt::DockWidgetArea location);
@@ -187,6 +191,9 @@ protected:
 
     MainWindow(QWidget *parent = 0);
 
+    /** @brief Set default window settings for the current autopilot type */
+    void setDefaultSettingsForAp();
+
     // These defines are used to save the settings when selecting with
     // which widgets populate the views
     // FIXME: DO NOT PUT CUSTOM VALUES IN THIS ENUM since it is iterated over
@@ -212,6 +219,8 @@ protected:
       MENU_SLUGS_HIL,
       MENU_SLUGS_CAMERA,
       MENU_MAVLINK_LOG_PLAYER,
+      MENU_VIDEO_STREAM_1,
+      MENU_VIDEO_STREAM_2,
       CENTRAL_SEPARATOR= 255, // do not change
       CENTRAL_LINECHART,
       CENTRAL_PROTOCOL,
@@ -238,6 +247,7 @@ protected:
       VIEW_OPERATOR,
       VIEW_PILOT,
       VIEW_MAVLINK,
+      VIEW_UNCONNECTED,    ///< View in unconnected mode, when no UAS is available
     } VIEW_SECTIONS;
 
 
@@ -368,6 +378,8 @@ protected:
     QPointer<QDockWidget> watchdogControlDockWidget;
 
     QPointer<QDockWidget> headUpDockWidget;
+    QPointer<QDockWidget> video1DockWidget;
+    QPointer<QDockWidget> video2DockWidget;
     QPointer<QDockWidget> logPlayerDockWidget;
 
     QPointer<QDockWidget> hsiDockWidget;

src/ui/MainWindow.ui

@@ -100,7 +100,7 @@
    </widget>
    <widget class="QMenu" name="menuTools">
     <property name="title">
-     <string>Tools</string>
+     <string>Widgets</string>
     </property>
     <addaction name="actionNewCustomWidget"/>
    </widget>
@@ -121,11 +121,18 @@
     <addaction name="actionPilotsView"/>
     <addaction name="separator"/>
     <addaction name="actionMavlinkView"/>
+    <addaction name="actionUnconnectedView"/>
+   </widget>
+   <widget class="QMenu" name="menuMain">
+    <property name="title">
+     <string>Main</string>
+    </property>
    </widget>
    <addaction name="menuMGround"/>
    <addaction name="menuNetwork"/>
    <addaction name="menuConnected_Systems"/>
    <addaction name="menuUnmanned_System"/>
+   <addaction name="menuMain"/>
    <addaction name="menuTools"/>
    <addaction name="menuPerspectives"/>
    <addaction name="menuHelp"/>
@@ -296,6 +303,9 @@
    <property name="text">
     <string>Operator</string>
    </property>
+   <property name="shortcut">
+    <string>Meta+O</string>
+   </property>
   </action>
   <action name="actionEngineersView">
    <property name="checkable">
@@ -308,6 +318,9 @@
    <property name="text">
     <string>Engineer</string>
    </property>
+   <property name="shortcut">
+    <string>Meta+E</string>
+   </property>
   </action>
   <action name="actionMavlinkView">
    <property name="checkable">
@@ -320,6 +333,9 @@
    <property name="text">
     <string>Mavlink</string>
    </property>
+   <property name="shortcut">
+    <string>Meta+M</string>
+   </property>
   </action>
   <action name="actionReloadStyle">
    <property name="icon">
@@ -341,6 +357,9 @@
    <property name="text">
     <string>Pilot</string>
    </property>
+   <property name="shortcut">
+    <string>Meta+P</string>
+   </property>
   </action>
   <action name="actionNewCustomWidget">
    <property name="icon">
@@ -379,6 +398,21 @@
     <string>QGroundControl global settings</string>
    </property>
   </action>
+  <action name="actionUnconnectedView">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Unconnected</string>
+   </property>
+   <property name="shortcut">
+    <string>Meta+U</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/ui/MapWidget.h

@@ -44,6 +44,8 @@ This file is part of the QGROUNDCONTROL project
 
 
 class QMenu;
+class Waypoint;
+class Waypoint2DIcon;
 
 namespace Ui {
     class MapWidget;
@@ -72,10 +74,18 @@ public slots:
     QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
 
     /** @brief Clear the waypoints overlay layer */
-    void clearWaypoints();
+    void clearWaypoints(int uas=0);
     /** @brief Clear the UAV tracks on the map */
-    void clearPath();
-    void changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon);
+    void clearPath(int uas=0);
+
+    /** @brief Update waypoint list */
+    void updateWaypointList(int uas);
+    /** @brief Clear all waypoints and re-add them from updated list */
+    void redoWaypoints(int uas=0);
+
+    /** @brief Update waypoint */
+    void updateWaypoint(int uas, Waypoint* wp);
+
     void drawBorderCamAtMap(bool status);
     /** @brief Bring up dialog to go to a specific location */
     void goTo();
@@ -124,6 +134,9 @@ protected:
 
     QMap<int, qmapcontrol::Point*> uasIcons;
     QMap<int, qmapcontrol::LineString*> uasTrails;
+    QMap<int, QPen*> mavPens;
+    //QMap<int, QList<qmapcontrol::Point*> > mavWps;
+    //QMap<int, qmapcontrol::LineString*> waypointPaths;
     UASInterface* mav;
     quint64 lastUpdate;
 
@@ -135,21 +148,24 @@ protected:
 
     void createPathButtonClicked(bool checked);
 
-    void createWaypointGraphAtMap (const QPointF coordinate);
+    /** @brief Create the graphic representation of the waypoint */
+    void createWaypointGraphAtMap(int id, const QPointF coordinate);
     void mapproviderSelected(QAction* action);
 
   signals:
     //void movePoint(QPointF newCoord);
-    void captureMapCoordinateClick(const QPointF coordinate); //ROCA
-    void createGlobalWP(bool value, QPointF centerCoordinate);
+    //void captureMapCoordinateClick(const QPointF coordinate); //ROCA
+    //void createGlobalWP(bool value, QPointF centerCoordinate);
+    void waypointCreated(Waypoint* wp);
     void sendGeometryEndDrag(const QPointF coordinate, const int index);
 
 
 private:
     Ui::MapWidget *m_ui;
     QList<qmapcontrol::Point*> wps;
+    QList<Waypoint2DIcon*>wpIcons;
     qmapcontrol::LineString* waypointPath;
-    QHash <QString, qmapcontrol::Point*> wpIndex;
+    //QHash <QString, qmapcontrol::Point*> wpIndex;
     QPen* pointPen;
     int wpExists(const QPointF coordinate);
     bool waypointIsDrag;

src/ui/QGCMAVLinkLogPlayer.cc

@@ -319,7 +319,7 @@ void QGCMAVLinkLogPlayer::logLoop()
 
         //qDebug() << "nextExecutionTime:" << nextExecutionTime << "QGC START TIME:" << currentStartTime << "LOG START TIME:" << startTime;
 
-        if (nextExecutionTime < 5)
+        if (nextExecutionTime < 2)
         {
             logLoop();
         }

src/ui/WaypointView.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>1389</width>
-    <height>33</height>
+    <height>39</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -375,7 +375,7 @@ QProgressBar::chunk#thrustBar {
          <string>m</string>
         </property>
         <property name="decimals">
-         <number>7</number>
+         <number>2</number>
         </property>
         <property name="minimum">
          <double>-100000.000000000000000</double>

src/ui/linechart/LinechartWidget.cc

@@ -483,7 +483,7 @@ void LinechartWidget::startLogging()
         fileName.append(".csv");
     }
 
-    while (!(fileName.endsWith(".txt") || fileName.endsWith(".csv")) && !abort)
+    while (!(fileName.endsWith(".txt") || fileName.endsWith(".csv")) && !abort && fileName != "")
     {
         QMessageBox msgBox;
         msgBox.setIcon(QMessageBox::Critical);

src/ui/map/MAV2DIcon.cc

@@ -46,50 +46,50 @@ void MAV2DIcon::setYaw(float yaw)
 void MAV2DIcon::drawIcon(QPen* pen)
 {
 
-//    mypixmap = new QPixmap(radius+1, radius+1);
-//    mypixmap->fill(Qt::transparent);
-//    QPainter painter(mypixmap);
+    mypixmap = new QPixmap(radius+1, radius+1);
+    mypixmap->fill(Qt::transparent);
+    QPainter painter(mypixmap);
 
-//    // DRAW WAYPOINT
-//    QPointF p(radius/2, radius/2);
+    // DRAW WAYPOINT
+    QPointF p(radius/2, radius/2);
 
-//    float waypointSize = radius;
-//    QPolygonF poly(4);
-//    // Top point
-//    poly.replace(0, QPointF(p.x(), p.y()-waypointSize/2.0f));
-//    // Right point
-//    poly.replace(1, QPointF(p.x()+waypointSize/2.0f, p.y()));
-//    // Bottom point
-//    poly.replace(2, QPointF(p.x(), p.y() + waypointSize/2.0f));
-//    poly.replace(3, QPointF(p.x() - waypointSize/2.0f, p.y()));
+    float waypointSize = radius;
+    QPolygonF poly(4);
+    // Top point
+    poly.replace(0, QPointF(p.x(), p.y()-waypointSize/2.0f));
+    // Right point
+    poly.replace(1, QPointF(p.x()+waypointSize/2.0f, p.y()));
+    // Bottom point
+    poly.replace(2, QPointF(p.x(), p.y() + waypointSize/2.0f));
+    poly.replace(3, QPointF(p.x() - waypointSize/2.0f, p.y()));
 
-////    // Select color based on if this is the current waypoint
-////    if (list.at(i)->getCurrent())
-////    {
-////        color = QGC::colorCyan;//uas->getColor();
-////        pen.setWidthF(refLineWidthToPen(0.8f));
-////    }
-////    else
-////    {
-////        color = uas->getColor();
-////        pen.setWidthF(refLineWidthToPen(0.4f));
-////    }
-
-//    //pen.setColor(color);
-//    if (pen)
+//    // Select color based on if this is the current waypoint
+//    if (list.at(i)->getCurrent())
 //    {
-//        pen->setWidthF(2);
-//        painter.setPen(*pen);
+//        color = QGC::colorCyan;//uas->getColor();
+//        pen.setWidthF(refLineWidthToPen(0.8f));
 //    }
 //    else
 //    {
-//        QPen pen2(Qt::red);
-//        pen2.setWidth(2);
-//        painter.setPen(pen2);
+//        color = uas->getColor();
+//        pen.setWidthF(refLineWidthToPen(0.4f));
 //    }
-//    painter.setBrush(Qt::NoBrush);
 
-//    float rad = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
-//    painter.drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * rad);
-//    painter.drawPolygon(poly);
+    //pen.setColor(color);
+    if (pen)
+    {
+        pen->setWidthF(2);
+        painter.setPen(*pen);
+    }
+    else
+    {
+        QPen pen2(Qt::red);
+        pen2.setWidth(2);
+        painter.setPen(pen2);
+    }
+    painter.setBrush(Qt::NoBrush);
+
+    float rad = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
+    painter.drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * rad);
+    painter.drawPolygon(poly);
 }

src/ui/map3D/Pixhawk3DWidget.cc

@@ -308,7 +308,7 @@ Pixhawk3DWidget::insertWaypoint(void)
         if (wp)
         {
             wp->setFrame(frame);
-            uas->getWaypointManager().addWaypoint(wp);
+            uas->getWaypointManager()->addWaypoint(wp);
         }
     }
 }
@@ -325,7 +325,7 @@ Pixhawk3DWidget::setWaypoint(void)
     if (uas)
     {
         const QVector<Waypoint *> waypoints =
-                uas->getWaypointManager().getWaypointList();
+                uas->getWaypointManager()->getWaypointList();
         Waypoint* waypoint = waypoints.at(selectedWpIndex);
 
         if (frame == MAV_FRAME_GLOBAL)
@@ -366,7 +366,7 @@ Pixhawk3DWidget::deleteWaypoint(void)
 {
     if (uas)
     {
-        uas->getWaypointManager().removeWaypoint(selectedWpIndex);
+        uas->getWaypointManager()->removeWaypoint(selectedWpIndex);
     }
 }
 
@@ -377,7 +377,7 @@ Pixhawk3DWidget::setWaypointAltitude(void)
     {
         bool ok;
         const QVector<Waypoint *> waypoints =
-                uas->getWaypointManager().getWaypointList();
+                uas->getWaypointManager()->getWaypointList();
         Waypoint* waypoint = waypoints.at(selectedWpIndex);
 
         double altitude = waypoint->getZ();
@@ -409,10 +409,10 @@ Pixhawk3DWidget::clearAllWaypoints(void)
     if (uas)
     {
         const QVector<Waypoint *> waypoints =
-                uas->getWaypointManager().getWaypointList();
+                uas->getWaypointManager()->getWaypointList();
         for (int i = waypoints.size() - 1; i >= 0; --i)
         {
-            uas->getWaypointManager().removeWaypoint(i);
+            uas->getWaypointManager()->removeWaypoint(i);
         }
     }
 }

src/ui/map3D/WaypointGroupNode.cc

@@ -78,7 +78,7 @@ WaypointGroupNode::update(MAV_FRAME frame, UASInterface *uas)
             removeChild(0, getNumChildren());
         }
 
-        const QVector<Waypoint *>& list = uas->getWaypointManager().getWaypointList();
+        const QVector<Waypoint *>& list = uas->getWaypointManager()->getWaypointList();
 
         for (int i = 0; i < list.size(); i++)
         {

src/ui/uas/UASView.cc

@@ -83,7 +83,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
     connect(uas, SIGNAL(heartbeatTimeout()), this, SLOT(heartbeatTimeout()));
     connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int,int)));
-    connect(&(uas->getWaypointManager()), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointUpdated(quint16)));
+    connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointUpdated(quint16)));
     connect(uas, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
     connect(UASManager::instance(), SIGNAL(activeUASStatusChanged(UASInterface*,bool)), this, SLOT(updateActiveUAS(UASInterface*,bool)));