Implementation of 6DOF 3DMouse input (Windows only)

Implementation of 6DOF 3DMouse input (Windows only). Not tested yet.

Implementation of 6DOF 3DMouse input (Windows only)
Implementation of 6DOF 3DMouse input (Windows only). Not tested yet.
eb21fe21 · Matthias Krebs · 9483a2d9 · eb21fe21 · eb21fe21 · eb21fe21
Commit eb21fe21 authored Nov 17, 2012 by Matthias Krebs
7 changed files
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
 # -------------------------------------------------
 # QGroundControl - Micro Air Vehicle Groundstation
 # Please see our website at <http://qgroundcontrol.org>
 # Maintainer:
 # Lorenz Meier <lm@inf.ethz.ch>
 # (c) 2009-2011 QGroundControl Developers
 # This file is part of the open groundstation 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/>.
 # -------------------------------------------------
 # Qt configuration
 CONFIG += qt \
    thread
 QT += network \
    opengl \
    svg \
    xml \
    phonon \
    webkit \
    sql
 TEMPLATE = app
 TARGET = qgroundcontrol
 BASEDIR = $${IN_PWD}
 linux-g++|linux-g++-64{
    debug {
        TARGETDIR = $${OUT_PWD}/debug
        BUILDDIR = $${OUT_PWD}/build-debug
    }
    release {
        TARGETDIR = $${OUT_PWD}/release
        BUILDDIR = $${OUT_PWD}/build-release
    }
 } else {
    TARGETDIR = $${OUT_PWD}
    BUILDDIR = $${OUT_PWD}/build
 }
 LANGUAGE = C++
 OBJECTS_DIR = $${BUILDDIR}/obj
 MOC_DIR = $${BUILDDIR}/moc
 UI_DIR = $${BUILDDIR}/ui
 RCC_DIR = $${BUILDDIR}/rcc
 MAVLINK_CONF = "pixhawk"
 MAVLINKPATH = $$BASEDIR/libs/mavlink/include/mavlink/v1.0
 DEFINES += MAVLINK_NO_DATA
 win32 {
    QMAKE_INCDIR_QT = $$(QTDIR)/include
    QMAKE_LIBDIR_QT = $$(QTDIR)/lib
    QMAKE_UIC = "$$(QTDIR)/bin/uic.exe"
    QMAKE_MOC = "$$(QTDIR)/bin/moc.exe"
    QMAKE_RCC = "$$(QTDIR)/bin/rcc.exe"
    QMAKE_QMAKE = "$$(QTDIR)/bin/qmake.exe"
 	# Build QAX for GoogleEarth API access
 	!exists( $(QTDIR)/src/activeqt/Makefile ) {
 		message( Making QAx (ONE TIME) )
 		system( cd $$(QTDIR)\\src\\activeqt && $$(QTDIR)\\bin\\qmake.exe )
 		system( cd $$(QTDIR)\\src\\activeqt\\container && $$(QTDIR)\\bin\\qmake.exe )
 		system( cd $$(QTDIR)\\src\\activeqt\\control && $$(QTDIR)\\bin\\qmake.exe )
 	}
 }
 #################################################################
 # EXTERNAL LIBRARY CONFIGURATION
 # EIGEN matrix library (header-only)
 INCLUDEPATH += libs/eigen
 # OPMapControl library (from OpenPilot)
 include(libs/utils/utils_external.pri)
 include(libs/opmapcontrol/opmapcontrol_external.pri)
 DEPENDPATH += \
    libs/utils \
    libs/utils/src \
    libs/opmapcontrol \
    libs/opmapcontrol/src \
    libs/opmapcontrol/src/mapwidget
 INCLUDEPATH += \
    libs/utils \
    libs \
    libs/opmapcontrol
 # If the user config file exists, it will be included.
 # if the variable MAVLINK_CONF contains the name of an
 # additional project, QGroundControl includes the support
 # of custom MAVLink messages of this project. It will also
 # create a QGC_USE_{AUTOPILOT_NAME}_MESSAGES macro for use
 # within the actual code.
 exists(user_config.pri) { 
    include(user_config.pri)
    message("----- USING CUSTOM USER QGROUNDCONTROL CONFIG FROM user_config.pri -----")
    message("Adding support for additional MAVLink messages for: " $$MAVLINK_CONF)
    message("------------------------------------------------------------------------")
 }
 INCLUDEPATH += $$MAVLINKPATH
 isEmpty(MAVLINK_CONF) { 
    INCLUDEPATH += $$MAVLINKPATH/common
 } else {
    INCLUDEPATH += $$MAVLINKPATH/$$MAVLINK_CONF
    #DEFINES += 'MAVLINK_CONF="$${MAVLINK_CONF}.h"'
    DEFINES += $$sprintf('QGC_USE_%1_MESSAGES', $$upper($$MAVLINK_CONF))
 }
 # Include general settings for QGroundControl
 # necessary as last include to override any non-acceptable settings
 # done by the plugins above
 include(qgroundcontrol.pri)
 # Include MAVLink generator
 # has been deprecated
 DEPENDPATH += \
    src/apps/mavlinkgen
 INCLUDEPATH += \
    src/apps/mavlinkgen \
    src/apps/mavlinkgen/ui \
    src/apps/mavlinkgen/generator
 include(src/apps/mavlinkgen/mavlinkgen.pri)
 # Include QWT plotting library
 include(libs/qwt/qwt.pri)
 DEPENDPATH += . \
    plugins \
    libs/thirdParty/qserialport/include \
    libs/thirdParty/qserialport/include/QtSerialPort \
    libs/thirdParty/qserialport \
    libs/qextserialport
 INCLUDEPATH += . \
    libs/thirdParty/qserialport/include \
    libs/thirdParty/qserialport/include/QtSerialPort \
    libs/thirdParty/qserialport/src \
    libs/qextserialport
 # Include serial port library (QSerial)
 include(qserialport.pri)
 # Serial port detection (ripped-off from qextserialport library)
 macx|macx-g++|macx-g++42::SOURCES += libs/qextserialport/qextserialenumerator_osx.cpp
 linux-g++::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
 linux-g++-64::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
 win32::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
 win32-msvc2008|win32-msvc2010::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
 # Input
 FORMS += src/ui/MainWindow.ui \
    src/ui/CommSettings.ui \
    src/ui/SerialSettings.ui \
    src/ui/UASControl.ui \
    src/ui/UASList.ui \
    src/ui/UASInfo.ui \
    src/ui/Linechart.ui \
    src/ui/UASView.ui \
    src/ui/ParameterInterface.ui \
    src/ui/WaypointList.ui \    
    src/ui/ObjectDetectionView.ui \
    src/ui/JoystickWidget.ui \
    src/ui/DebugConsole.ui \
    src/ui/HDDisplay.ui \
    src/ui/MAVLinkSettingsWidget.ui \
    src/ui/AudioOutputWidget.ui \
    src/ui/QGCSensorSettingsWidget.ui \
    src/ui/watchdog/WatchdogControl.ui \
    src/ui/watchdog/WatchdogProcessView.ui \
    src/ui/watchdog/WatchdogView.ui \
    src/ui/QGCFirmwareUpdate.ui \
    src/ui/QGCPxImuFirmwareUpdate.ui \
    src/ui/QGCDataPlot2D.ui \
    src/ui/QGCRemoteControlView.ui \
    src/ui/QMap3D.ui \
    src/ui/QGCWebView.ui \
    src/ui/map3D/QGCGoogleEarthView.ui \
    src/ui/SlugsDataSensorView.ui \
    src/ui/SlugsHilSim.ui \
    src/ui/SlugsPadCameraControl.ui \
    src/ui/uas/QGCUnconnectedInfoWidget.ui \
    src/ui/designer/QGCToolWidget.ui \
    src/ui/designer/QGCParamSlider.ui \
    src/ui/designer/QGCActionButton.ui \
    src/ui/designer/QGCCommandButton.ui \
    src/ui/QGCMAVLinkLogPlayer.ui \
    src/ui/QGCWaypointListMulti.ui \
    src/ui/QGCUDPLinkConfiguration.ui \
    src/ui/QGCSettingsWidget.ui \
    src/ui/UASControlParameters.ui \
    src/ui/map/QGCMapTool.ui \
    src/ui/map/QGCMapToolBar.ui \
    src/ui/QGCMAVLinkInspector.ui \
    src/ui/WaypointViewOnlyView.ui \    
    src/ui/WaypointEditableView.ui \    
    src/ui/UnconnectedUASInfoWidget.ui \
    src/ui/mavlink/QGCMAVLinkMessageSender.ui \
    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui \
    src/ui/QGCPluginHost.ui \
    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui \
    src/ui/mission/QGCMissionOther.ui \
    src/ui/mission/QGCMissionNavWaypoint.ui \
    src/ui/mission/QGCMissionDoJump.ui \
    src/ui/mission/QGCMissionConditionDelay.ui \
    src/ui/mission/QGCMissionNavLoiterUnlim.ui \
    src/ui/mission/QGCMissionNavLoiterTurns.ui \
    src/ui/mission/QGCMissionNavLoiterTime.ui \
    src/ui/mission/QGCMissionNavReturnToLaunch.ui \
    src/ui/mission/QGCMissionNavLand.ui \
    src/ui/mission/QGCMissionNavTakeoff.ui \
    src/ui/mission/QGCMissionNavSweep.ui \
    src/ui/mission/QGCMissionDoStartSearch.ui \
    src/ui/mission/QGCMissionDoFinishSearch.ui \
    src/ui/QGCVehicleConfig.ui \
    src/ui/QGCHilConfiguration.ui \
    src/ui/QGCHilFlightGearConfiguration.ui \
    src/ui/QGCHilXPlaneConfiguration.ui
 INCLUDEPATH += src \
    src/ui \
    src/ui/linechart \
    src/ui/uas \
    src/ui/map \
    src/uas \
    src/comm \
    include/ui \
    src/input \
    src/lib/qmapcontrol \
    src/ui/mavlink \
    src/ui/param \
    src/ui/watchdog \
    src/ui/map3D \
    src/ui/mission \
    src/ui/designer
 HEADERS += src/MG.h \
    src/QGCCore.h \
    src/uas/UASInterface.h \
    src/uas/UAS.h \
    src/uas/UASManager.h \
    src/comm/LinkManager.h \
    src/comm/LinkInterface.h \
    src/comm/SerialLinkInterface.h \
    src/comm/SerialLink.h \
    src/comm/ProtocolInterface.h \
    src/comm/MAVLinkProtocol.h \
    src/comm/QGCFlightGearLink.h \
    src/comm/QGCXPlaneLink.h \
    src/ui/CommConfigurationWindow.h \
    src/ui/SerialConfigurationWindow.h \
    src/ui/MainWindow.h \
    src/ui/uas/UASControlWidget.h \
    src/ui/uas/UASListWidget.h \
    src/ui/uas/UASInfoWidget.h \
    src/ui/HUD.h \
    src/ui/linechart/LinechartWidget.h \
    src/ui/linechart/LinechartPlot.h \
    src/ui/linechart/Scrollbar.h \
    src/ui/linechart/ScrollZoomer.h \
    src/configuration.h \
    src/ui/uas/UASView.h \
    src/ui/CameraView.h \
    src/comm/MAVLinkSimulationLink.h \
    src/comm/UDPLink.h \
    src/ui/ParameterInterface.h \
    src/ui/WaypointList.h \
    src/Waypoint.h \   
    src/ui/ObjectDetectionView.h \
    src/input/JoystickInput.h \
    src/ui/JoystickWidget.h \
    src/ui/DebugConsole.h \
    src/ui/HDDisplay.h \
    src/ui/MAVLinkSettingsWidget.h \
    src/ui/AudioOutputWidget.h \
    src/GAudioOutput.h \
    src/LogCompressor.h \
    src/ui/QGCParamWidget.h \
    src/ui/QGCSensorSettingsWidget.h \
    src/ui/linechart/Linecharts.h \
    src/uas/SlugsMAV.h \
    src/uas/PxQuadMAV.h \
    src/uas/ArduPilotMegaMAV.h \
    src/uas/senseSoarMAV.h \
    src/ui/watchdog/WatchdogControl.h \
    src/ui/watchdog/WatchdogProcessView.h \
    src/ui/watchdog/WatchdogView.h \
    src/uas/UASWaypointManager.h \
    src/ui/HSIDisplay.h \
    src/QGC.h \
    src/ui/QGCFirmwareUpdate.h \
    src/ui/QGCPxImuFirmwareUpdate.h \
    src/ui/QGCDataPlot2D.h \
    src/ui/linechart/IncrementalPlot.h \
    src/ui/QGCRemoteControlView.h \
    src/ui/RadioCalibration/RadioCalibrationData.h \
    src/ui/RadioCalibration/RadioCalibrationWindow.h \
    src/ui/RadioCalibration/AirfoilServoCalibrator.h \
    src/ui/RadioCalibration/SwitchCalibrator.h \
    src/ui/RadioCalibration/CurveCalibrator.h \
    src/ui/RadioCalibration/AbstractCalibrator.h \
    src/comm/QGCMAVLink.h \
    src/ui/QGCWebView.h \
    src/ui/map3D/QGCWebPage.h \
    src/ui/SlugsDataSensorView.h \
    src/ui/SlugsHilSim.h \
    src/ui/SlugsPadCameraControl.h \
    src/ui/QGCMainWindowAPConfigurator.h \
    src/comm/MAVLinkSwarmSimulationLink.h \
    src/ui/uas/QGCUnconnectedInfoWidget.h \
    src/ui/designer/QGCToolWidget.h \
    src/ui/designer/QGCParamSlider.h \
    src/ui/designer/QGCCommandButton.h \
    src/ui/designer/QGCToolWidgetItem.h \
    src/ui/QGCMAVLinkLogPlayer.h \
    src/comm/MAVLinkSimulationWaypointPlanner.h \
    src/comm/MAVLinkSimulationMAV.h \
    src/uas/QGCMAVLinkUASFactory.h \
    src/ui/QGCWaypointListMulti.h \
    src/ui/QGCUDPLinkConfiguration.h \
    src/ui/QGCSettingsWidget.h \
    src/ui/uas/UASControlParameters.h \
    src/uas/QGCUASParamManager.h \
    src/ui/map/QGCMapWidget.h \
    src/ui/map/MAV2DIcon.h \
    src/ui/map/Waypoint2DIcon.h \
    src/ui/map/QGCMapTool.h \
    src/ui/map/QGCMapToolBar.h \
    libs/qextserialport/qextserialenumerator.h \
    src/QGCGeo.h \
    src/ui/QGCToolBar.h \
    src/ui/QGCMAVLinkInspector.h \
    src/ui/MAVLinkDecoder.h \
    src/ui/WaypointViewOnlyView.h \
    src/ui/WaypointViewOnlyView.h \
    src/ui/WaypointEditableView.h \    
    src/ui/UnconnectedUASInfoWidget.h \
    src/ui/QGCRGBDView.h \
    src/ui/mavlink/QGCMAVLinkMessageSender.h \
    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
    src/ui/QGCPluginHost.h \
    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
    src/ui/mission/QGCMissionOther.h \
    src/ui/mission/QGCMissionNavWaypoint.h \
    src/ui/mission/QGCMissionDoJump.h \
    src/ui/mission/QGCMissionConditionDelay.h \
    src/ui/mission/QGCMissionNavLoiterUnlim.h \
    src/ui/mission/QGCMissionNavLoiterTurns.h \
    src/ui/mission/QGCMissionNavLoiterTime.h \
    src/ui/mission/QGCMissionNavReturnToLaunch.h \
    src/ui/mission/QGCMissionNavLand.h \
    src/ui/mission/QGCMissionNavTakeoff.h \
    src/ui/mission/QGCMissionNavSweep.h \
    src/ui/mission/QGCMissionDoStartSearch.h \
    src/ui/mission/QGCMissionDoFinishSearch.h \
    src/ui/QGCVehicleConfig.h \
    src/comm/QGCHilLink.h \
    src/ui/QGCHilConfiguration.h \
    src/ui/QGCHilFlightGearConfiguration.h \
    src/ui/QGCHilXPlaneConfiguration.h
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
 contains(DEPENDENCIES_PRESENT, osg) { 
    message("Including headers for OpenSceneGraph")
    # Enable only if OpenSceneGraph is available
    HEADERS += src/ui/map3D/gpl.h \
        src/ui/map3D/CameraParams.h \
        src/ui/map3D/ViewParamWidget.h \
        src/ui/map3D/SystemContainer.h \
        src/ui/map3D/SystemViewParams.h \
        src/ui/map3D/GlobalViewParams.h \
        src/ui/map3D/SystemGroupNode.h \
        src/ui/map3D/Q3DWidget.h \
        src/ui/map3D/GCManipulator.h \
        src/ui/map3D/ImageWindowGeode.h \
        src/ui/map3D/PixhawkCheetahNode.h \
        src/ui/map3D/Pixhawk3DWidget.h \
        src/ui/map3D/Q3DWidgetFactory.h \
        src/ui/map3D/WebImageCache.h \
        src/ui/map3D/WebImage.h \
        src/ui/map3D/TextureCache.h \
        src/ui/map3D/Texture.h \
        src/ui/map3D/Imagery.h \
        src/ui/map3D/HUDScaleGeode.h \
        src/ui/map3D/WaypointGroupNode.h \
        src/ui/map3D/TerrainParamDialog.h \
        src/ui/map3D/ImageryParamDialog.h
 }
 contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
    message("Including headers for Protocol Buffers")
    # Enable only if protobuf is available
    HEADERS += libs/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.pb.h \
        src/ui/map3D/ObstacleGroupNode.h \
        src/ui/map3D/GLOverlayGeode.h
 }
 contains(DEPENDENCIES_PRESENT, libfreenect) { 
    message("Including headers for libfreenect")
    # Enable only if libfreenect is available
    HEADERS += src/input/Freenect.h
 }
 SOURCES += src/main.cc \
    src/QGCCore.cc \
    src/uas/UASManager.cc \
    src/uas/UAS.cc \
    src/comm/LinkManager.cc \
    src/comm/LinkInterface.cpp \
    src/comm/SerialLink.cc \
    src/comm/MAVLinkProtocol.cc \
    src/comm/QGCFlightGearLink.cc \
    src/comm/QGCXPlaneLink.cc \
    src/ui/CommConfigurationWindow.cc \
    src/ui/SerialConfigurationWindow.cc \
    src/ui/MainWindow.cc \
    src/ui/uas/UASControlWidget.cc \
    src/ui/uas/UASListWidget.cc \
    src/ui/uas/UASInfoWidget.cc \
    src/ui/HUD.cc \
    src/ui/linechart/LinechartWidget.cc \
    src/ui/linechart/LinechartPlot.cc \
    src/ui/linechart/Scrollbar.cc \
    src/ui/linechart/ScrollZoomer.cc \
    src/ui/uas/UASView.cc \
    src/ui/CameraView.cc \
    src/comm/MAVLinkSimulationLink.cc \
    src/comm/UDPLink.cc \
    src/ui/ParameterInterface.cc \
    src/ui/WaypointList.cc \
    src/Waypoint.cc \
    src/ui/ObjectDetectionView.cc \
    src/input/JoystickInput.cc \
    src/ui/JoystickWidget.cc \
    src/ui/DebugConsole.cc \
    src/ui/HDDisplay.cc \
    src/ui/MAVLinkSettingsWidget.cc \
    src/ui/AudioOutputWidget.cc \
    src/GAudioOutput.cc \
    src/LogCompressor.cc \
    src/ui/QGCParamWidget.cc \
    src/ui/QGCSensorSettingsWidget.cc \
    src/ui/linechart/Linecharts.cc \
    src/uas/SlugsMAV.cc \
    src/uas/PxQuadMAV.cc \
    src/uas/ArduPilotMegaMAV.cc \
    src/uas/senseSoarMAV.cpp \
    src/ui/watchdog/WatchdogControl.cc \
    src/ui/watchdog/WatchdogProcessView.cc \
    src/ui/watchdog/WatchdogView.cc \
    src/uas/UASWaypointManager.cc \
    src/ui/HSIDisplay.cc \
    src/QGC.cc \
    src/ui/QGCFirmwareUpdate.cc \
    src/ui/QGCPxImuFirmwareUpdate.cc \
    src/ui/QGCDataPlot2D.cc \
    src/ui/linechart/IncrementalPlot.cc \
    src/ui/QGCRemoteControlView.cc \
    src/ui/RadioCalibration/RadioCalibrationWindow.cc \
    src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
    src/ui/RadioCalibration/SwitchCalibrator.cc \
    src/ui/RadioCalibration/CurveCalibrator.cc \
    src/ui/RadioCalibration/AbstractCalibrator.cc \
    src/ui/RadioCalibration/RadioCalibrationData.cc \
    src/ui/QGCWebView.cc \
    src/ui/map3D/QGCWebPage.cc \
    src/ui/SlugsDataSensorView.cc \
    src/ui/SlugsHilSim.cc \
    src/ui/SlugsPadCameraControl.cpp \
    src/ui/QGCMainWindowAPConfigurator.cc \
    src/comm/MAVLinkSwarmSimulationLink.cc \
    src/ui/uas/QGCUnconnectedInfoWidget.cc \
    src/ui/designer/QGCToolWidget.cc \
    src/ui/designer/QGCParamSlider.cc \
    src/ui/designer/QGCCommandButton.cc \
    src/ui/designer/QGCToolWidgetItem.cc \
    src/ui/QGCMAVLinkLogPlayer.cc \
    src/comm/MAVLinkSimulationWaypointPlanner.cc \
    src/comm/MAVLinkSimulationMAV.cc \
    src/uas/QGCMAVLinkUASFactory.cc \
    src/ui/QGCWaypointListMulti.cc \
    src/ui/QGCUDPLinkConfiguration.cc \
    src/ui/QGCSettingsWidget.cc \
    src/ui/uas/UASControlParameters.cpp \
    src/uas/QGCUASParamManager.cc \
    src/ui/map/QGCMapWidget.cc \
    src/ui/map/MAV2DIcon.cc \
    src/ui/map/Waypoint2DIcon.cc \
    src/ui/map/QGCMapTool.cc \
    src/ui/map/QGCMapToolBar.cc \
    src/ui/QGCToolBar.cc \
    src/ui/QGCMAVLinkInspector.cc \
    src/ui/MAVLinkDecoder.cc \
    src/ui/WaypointViewOnlyView.cc \
    src/ui/WaypointEditableView.cc \
    src/ui/UnconnectedUASInfoWidget.cc \
    src/ui/QGCRGBDView.cc \
    src/ui/mavlink/QGCMAVLinkMessageSender.cc \
    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
    src/ui/QGCPluginHost.cc \
    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
    src/ui/mission/QGCMissionOther.cc \
    src/ui/mission/QGCMissionNavWaypoint.cc \
    src/ui/mission/QGCMissionDoJump.cc \
    src/ui/mission/QGCMissionConditionDelay.cc \
    src/ui/mission/QGCMissionNavLoiterUnlim.cc \
    src/ui/mission/QGCMissionNavLoiterTurns.cc \
    src/ui/mission/QGCMissionNavLoiterTime.cc \
    src/ui/mission/QGCMissionNavReturnToLaunch.cc \
    src/ui/mission/QGCMissionNavLand.cc \
    src/ui/mission/QGCMissionNavTakeoff.cc \
    src/ui/mission/QGCMissionNavSweep.cc \
    src/ui/mission/QGCMissionDoStartSearch.cc \
    src/ui/mission/QGCMissionDoFinishSearch.cc \
    src/ui/QGCVehicleConfig.cc \
    src/ui/QGCHilConfiguration.cc \
    src/ui/QGCHilFlightGearConfiguration.cc \
    src/ui/QGCHilXPlaneConfiguration.cc
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
 # Enable OSG only if it has been found
 contains(DEPENDENCIES_PRESENT, osg) { 
    message("Including sources for OpenSceneGraph")
    # Enable only if OpenSceneGraph is available
    SOURCES += src/ui/map3D/gpl.cc \
        src/ui/map3D/CameraParams.cc \
        src/ui/map3D/ViewParamWidget.cc \
        src/ui/map3D/SystemContainer.cc \
        src/ui/map3D/SystemViewParams.cc \
        src/ui/map3D/GlobalViewParams.cc \
        src/ui/map3D/SystemGroupNode.cc \
        src/ui/map3D/Q3DWidget.cc \
        src/ui/map3D/ImageWindowGeode.cc \
        src/ui/map3D/GCManipulator.cc \
        src/ui/map3D/PixhawkCheetahNode.cc \
        src/ui/map3D/Pixhawk3DWidget.cc \
        src/ui/map3D/Q3DWidgetFactory.cc \
        src/ui/map3D/WebImageCache.cc \
        src/ui/map3D/WebImage.cc \
        src/ui/map3D/TextureCache.cc \
        src/ui/map3D/Texture.cc \
        src/ui/map3D/Imagery.cc \
        src/ui/map3D/HUDScaleGeode.cc \
        src/ui/map3D/WaypointGroupNode.cc \
        src/ui/map3D/TerrainParamDialog.cc \
        src/ui/map3D/ImageryParamDialog.cc
    contains(DEPENDENCIES_PRESENT, osgearth) { 
        message("Including sources for osgEarth")
        # Enable only if OpenSceneGraph is available
        SOURCES +=
    }
 }
 contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
    message("Including sources for Protocol Buffers")
    # Enable only if protobuf is available
    SOURCES += libs/mavlink/share/mavlink/src/v1.0/pixhawk/pixhawk.pb.cc \
        src/ui/map3D/ObstacleGroupNode.cc \
        src/ui/map3D/GLOverlayGeode.cc
 }
 contains(DEPENDENCIES_PRESENT, libfreenect) { 
    message("Including sources for libfreenect")
    # Enable only if libfreenect is available
    SOURCES += src/input/Freenect.cc
 }
 # Add icons and other resources
 RESOURCES += qgroundcontrol.qrc
 # Include RT-LAB Library
 win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin) { 
    message("Building support for Opal-RT")
    LIBS += -LC:/OPAL-RT/RT-LAB7.2.4/Common/bin \
        -lOpalApi
    INCLUDEPATH += src/lib/opalrt
    HEADERS += src/comm/OpalRT.h \
        src/comm/OpalLink.h \
        src/comm/Parameter.h \
        src/comm/QGCParamID.h \
        src/comm/ParameterList.h \
        src/ui/OpalLinkConfigurationWindow.h
    SOURCES += src/comm/OpalRT.cc \
        src/comm/OpalLink.cc \
        src/comm/Parameter.cc \
        src/comm/QGCParamID.cc \
        src/comm/ParameterList.cc \
        src/ui/OpalLinkConfigurationWindow.cc
    FORMS += src/ui/OpalLinkSettings.ui
    DEFINES += OPAL_RT
 }
 TRANSLATIONS += es-MX.ts \
    en-US.ts
 # xbee support
 # libxbee only supported by linux and windows systems
 win32-msvc2008|win32-msvc2010|linux {
    HEADERS += src/comm/XbeeLinkInterface.h \
        src/comm/XbeeLink.h \
        src/comm/HexSpinBox.h \
        src/ui/XbeeConfigurationWindow.h \
        src/comm/CallConv.h
    SOURCES += src/comm/XbeeLink.cpp \
        src/comm/HexSpinBox.cpp \
        src/ui/XbeeConfigurationWindow.cpp
    DEFINES += XBEELINK
    INCLUDEPATH += libs/thirdParty/libxbee
 # TO DO: build library when it does not exist already
    LIBS += -Llibs/thirdParty/libxbee/lib \
        -llibxbee
 }
+#win32-msvc2008|win32-msvc2010 {
+    message("Including support for 3DxWare for Windows system.")
+    SOURCES  += libs/thirdParty/3DMouse/win/MouseParameters.cpp \
+                libs/thirdParty/3DMouse/win/Mouse3DInput.cpp \
+                src/input/Mouse6dofInput.cpp
+    HEADERS  += libs/thirdParty/3DMouse/win/I3dMouseParams.h \
+                libs/thirdParty/3DMouse/win/MouseParameters.h \
+                libs/thirdParty/3DMouse/win/Mouse3DInput.h \
+                src/input/Mouse6dofInput.h
+    INCLUDEPATH += libs/thirdParty/3DMouse/win
+    DEFINES += MOUSE_ENABLED_WIN
+#}
--- a/src/input/Mouse6dofInput.cpp
+++ b/src/input/Mouse6dofInput.cpp
+/**
+ * @file
+ *   @brief 3dConnexion 3dMouse interface for QGroundControl
+ *
+ *   @author Matthias Krebs <makrebs@student.ethz.ch>
+ *
+ */
+#include "Mouse6dofInput.h"
+#include "UAS.h"
+#include "UASManager.h"
+Mouse6dofInput::Mouse6dofInput(Mouse3DInput* mouseInput) :
+    mouse3DMax(0.01),   // TODO: check maximum value fot plugged device
+    uas(NULL),
+    done(false),
+    xValue(0.0),
+    yValue(0.0),
+    zValue(0.0),
+    aValue(0.0),
+    bValue(0.0),
+    cValue(0.0)
+{
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+    // Connect 3DxWare SDK MotionEvent
+    connect(mouseInput, SIGNAL(Move3d(std::vector<float>&)), this, SLOT(motion3DMouse(std::vector<float>&)));
+    // TODO: Connect button mapping
+    //connect(mouseInput, SIGNAL(On3dmouseKeyDown(int)), this, SLOT);
+    //connect(mouseInput, SIGNAL(On3dmouseKeyUp(int)), this, SLOT);
+}
+Mouse6dofInput::~Mouse6dofInput()
+{
+    done = true;
+}
+void Mouse6dofInput::setActiveUAS(UASInterface* uas)
+{
+    // Only connect / disconnect is the UAS is of a controllable UAS class
+    UAS* tmp = 0;
+    if (this->uas)
+    {
+        tmp = dynamic_cast<UAS*>(this->uas);
+        if(tmp)
+        {
+            disconnect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
+            // Todo: disconnect button mapping
+        }
+    }
+    this->uas = uas;
+    tmp = dynamic_cast<UAS*>(this->uas);
+    if(tmp) {
+                connect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
+                // Todo: disconnect button mapping
+    }
+    if (!isRunning())
+    {
+        start();
+    }
+}
+void Mouse6dofInput::init()
+{
+    // Make sure active UAS is set
+    setActiveUAS(UASManager::instance()->getActiveUAS());
+}
+void Mouse6dofInput::run()
+{
+    init();
+    forever
+    {
+        if (done)
+        {
+           done = false;
+           exit();
+        }
+        // Bound x value
+        if (xValue > 1.0) xValue = 1.0;
+        if (xValue < -1.0) xValue = -1.0;
+        // Bound x value
+        if (yValue > 1.0) yValue = 1.0;
+        if (yValue < -1.0) yValue = -1.0;
+        // Bound x value
+        if (zValue > 1.0) zValue = 1.0;
+        if (zValue < -1.0) zValue = -1.0;
+        // Bound x value
+        if (aValue > 1.0) aValue = 1.0;
+        if (aValue < -1.0) aValue = -1.0;
+        // Bound x value
+        if (bValue > 1.0) bValue = 1.0;
+        if (bValue < -1.0) bValue = -1.0;
+        // Bound x value
+        if (cValue > 1.0) cValue = 1.0;
+        if (cValue < -1.0) cValue = -1.0;
+        emit mouse6dofChanged(xValue, yValue, zValue, aValue, bValue, cValue);
+        // Sleep, update rate of 3d mouse is approx. 50 Hz (1000 ms / 50 = 20 ms)
+        QGC::SLEEP::msleep(20);
+    }
+}
+void Mouse6dofInput::motion3DMouse(std::vector<float> &motionData)
+{
+    if (motionData.size() < 6) return;
+    xValue = (double)1.0e2f*motionData[ 1 ] / mouse3DMax;
+    yValue = (double)1.0e2f*motionData[ 0 ] / mouse3DMax;
+    zValue = (double)1.0e2f*motionData[ 2 ] / mouse3DMax;
+    aValue = (double)1.0e2f*motionData[ 4 ] / mouse3DMax;
+    bValue = (double)1.0e2f*motionData[ 3 ] / mouse3DMax;
+    cValue = (double)1.0e2f*motionData[ 5 ] / mouse3DMax;
+    qDebug() << "NEW 3D MOUSE VALUES -- X" << xValue << " -- Y" << yValue << " -- Z" << zValue << " -- A" << aValue << " -- B" << bValue << " -- C" << cValue;
+}
--- a/src/input/Mouse6dofInput.h
+++ b/src/input/Mouse6dofInput.h
+/**
+ * @file
+ *   @brief Definition of 3dConnexion 3dMouse interface for QGroundControl
+ *
+ *   @author Matthias Krebs <makrebs@student.ethz.ch>
+ *
+ */
+#ifndef MOUSE6DOFINPUT_H
+#define MOUSE6DOFINPUT_H
+#include <QThread>
+#include "Mouse3DInput.h"
+#include "UASInterface.h"
+class Mouse6dofInput : public QThread
+{
+    Q_OBJECT
+public:
+    Mouse6dofInput(Mouse3DInput* mouseInput);
+    ~Mouse6dofInput();
+    void run();
+    const double mouse3DMax;
+protected:
+    void init();
+    Mouse3DInput* mouse3D;
+    UASInterface* uas;
+    bool done;
+    double xValue;
+    double yValue;
+    double zValue;
+    double aValue;
+    double bValue;
+    double cValue;
+signals:
+    /**
+     * @brief Input of the 3d mouse has changed
+     *
+     * @param x Input x direction, range [-1, 1]
+     * @param y Input y direction, range [-1, 1]
+     * @param z Input z direction, range [-1, 1]
+     * @param a Input x rotation,  range [-1, 1]
+     * @param b Input y rotation,  range [-1, 1]
+     * @param c Input z rotation,  range [-1, 1]
+     */
+    void mouse6dofChanged(double x, double y, double z, double a, double b, double c);
+public slots:
+    void setActiveUAS(UASInterface* uas);
+    void motion3DMouse(std::vector<float> &motionData);
+};
+#endif // MOUSE6DOFINPUT_H
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
 /*=====================================================================
 QGroundControl Open Source Ground Control Station
 (c) 2009, 2010 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 Unmanned Aerial Vehicle object
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */
 #ifndef _UAS_H_
 #define _UAS_H_
 #include "UASInterface.h"
 #include <MAVLinkProtocol.h>
 #include <QVector3D>
 #include "QGCMAVLink.h"
 #include "QGCHilLink.h"
 #include "QGCFlightGearLink.h"
 #include "QGCXPlaneLink.h"
 /**
 * @brief A generic MAVLINK-connected MAV/UAV
 *
 * This class represents one vehicle. It can be used like the real vehicle, e.g. a call to halt()
 * will automatically send the appropriate messages to the vehicle. The vehicle state will also be
 * automatically updated by the comm architecture, so when writing code to e.g. control the vehicle
 * no knowledge of the communication infrastructure is needed.
 */
 class UAS : public UASInterface
 {
    Q_OBJECT
 public:
    UAS(MAVLinkProtocol* protocol, int id = 0);
    ~UAS();
    enum BatteryType
    {
        NICD = 0,
        NIMH = 1,
        LIION = 2,
        LIPOLY = 3,
        LIFE = 4,
        AGZN = 5
    }; ///< The type of battery used
    static const int lipoFull = 4.2f;  ///< 100% charged voltage
    static const int lipoEmpty = 3.5f; ///< Discharged voltage
    /* MANAGEMENT */
    /** @brief The name of the robot */
    QString getUASName(void) const;
    /** @brief Get short state */
    const QString& getShortState() const;
    /** @brief Get short mode */
    const QString& getShortMode() const;
    /** @brief Translate from mode id to text */
    static QString getShortModeTextFor(int id);
    /** @brief Translate from mode id to audio text */
    static QString getAudioModeTextFor(int id);
    /** @brief Get the unique system id */
    int getUASID() const;
    /** @brief Get the airframe */
    int getAirframe() const
    {
        return airframe;
    }
    /** @brief Get the components */
    QMap<int, QString> getComponents();
    /** @brief The time interval the robot is switched on */
    quint64 getUptime() const;
    /** @brief Get the status flag for the communication */
    int getCommunicationStatus() const;
    /** @brief Add one measurement and get low-passed voltage */
    float filterVoltage(float value) const;
    /** @brief Get the links associated with this robot */
    QList<LinkInterface*>* getLinks();
    double getLocalX() const
    {
        return localX;
    }
    double getLocalY() const
    {
        return localY;
    }
    double getLocalZ() const
    {
        return localZ;
    }
    double getLatitude() const
    {
        return latitude;
    }
    double getLongitude() const
    {
        return longitude;
    }
    double getAltitude() const
    {
        return altitude;
    }
    virtual bool localPositionKnown() const
    {
        return isLocalPositionKnown;
    }
    virtual bool globalPositionKnown() const
    {
        return isGlobalPositionKnown;
    }
    double getRoll() const
    {
        return roll;
    }
    double getPitch() const
    {
        return pitch;
    }
    double getYaw() const
    {
        return yaw;
    }
    bool getSelected() const;
    QVector3D getNedPosGlobalOffset() const
    {
        return nedPosGlobalOffset;
    }
    QVector3D getNedAttGlobalOffset() const
    {
        return nedAttGlobalOffset;
    }
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
    px::GLOverlay getOverlay()
    {
        QMutexLocker locker(&overlayMutex);
        return overlay;
    }
    px::GLOverlay getOverlay(qreal& receivedTimestamp)
    {
        receivedTimestamp = receivedOverlayTimestamp;
        QMutexLocker locker(&overlayMutex);
        return overlay;
    }
    px::ObstacleList getObstacleList() {
        QMutexLocker locker(&obstacleListMutex);
        return obstacleList;
    }
    px::ObstacleList getObstacleList(qreal& receivedTimestamp) {
        receivedTimestamp = receivedObstacleListTimestamp;
        QMutexLocker locker(&obstacleListMutex);
        return obstacleList;
    }
    px::Path getPath() {
        QMutexLocker locker(&pathMutex);
        return path;
    }
    px::Path getPath(qreal& receivedTimestamp) {
        receivedTimestamp = receivedPathTimestamp;
        QMutexLocker locker(&pathMutex);
        return path;
    }
    px::PointCloudXYZRGB getPointCloud() {
        QMutexLocker locker(&pointCloudMutex);
        return pointCloud;
    }
    px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) {
        receivedTimestamp = receivedPointCloudTimestamp;
        QMutexLocker locker(&pointCloudMutex);
        return pointCloud;
    }
    px::RGBDImage getRGBDImage() {
        QMutexLocker locker(&rgbdImageMutex);
        return rgbdImage;
    }
    px::RGBDImage getRGBDImage(qreal& receivedTimestamp) {
        receivedTimestamp = receivedRGBDImageTimestamp;
        QMutexLocker locker(&rgbdImageMutex);
        return rgbdImage;
    }
 #endif
    friend class UASWaypointManager;
 protected: //COMMENTS FOR TEST UNIT
    int uasId;                    ///< Unique system ID
    unsigned char type;           ///< UAS type (from type enum)
    quint64 startTime;            ///< The time the UAS was switched on
    CommStatus commStatus;        ///< Communication status
    QString name;                 ///< Human-friendly name of the vehicle, e.g. bravo
    int autopilot;                ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
    QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
    QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
    MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
    BatteryType batteryType;      ///< The battery type
    int cells;                    ///< Number of cells
    UASWaypointManager waypointManager;
    QList<double> actuatorValues;
    QList<QString> actuatorNames;
    QList<double> motorValues;
    QList<QString> motorNames;
    QMap<int, QString> components;  ///< IDs and names of all detected onboard components
    double thrustSum;           ///< Sum of forward/up thrust of all thrust actuators, in Newtons
    double thrustMax;           ///< Maximum forward/up thrust of this vehicle, in Newtons
    // Battery stats
    float fullVoltage;          ///< Voltage of the fully charged battery (100%)
    float emptyVoltage;         ///< Voltage of the empty battery (0%)
    float startVoltage;         ///< Voltage at system start
    float tickVoltage;          ///< Voltage where 0.1 V ticks are told
    float lastTickVoltageValue; ///< The last voltage where a tick was announced
    float tickLowpassVoltage;   ///< Lowpass-filtered voltage for the tick announcement
    float warnVoltage;          ///< Voltage where QGC will start to warn about low battery
    float warnLevelPercent;     ///< Warning level, in percent
    double currentVoltage;      ///< Voltage currently measured
    float lpVoltage;            ///< Low-pass filtered voltage
    bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
    float chargeLevel;          ///< Charge level of battery, in percent
    int timeRemaining;          ///< Remaining time calculated based on previous and current
    uint8_t mode;              ///< The current mode of the MAV
    uint32_t custom_mode;       ///< The current mode of the MAV
    int status;                 ///< The current status of the MAV
    uint32_t navMode;                ///< The current navigation mode of the MAV
    quint64 onboardTimeOffset;
    bool controlRollManual;     ///< status flag, true if roll is controlled manually
    bool controlPitchManual;    ///< status flag, true if pitch is controlled manually
    bool controlYawManual;      ///< status flag, true if yaw is controlled manually
    bool controlThrustManual;   ///< status flag, true if thrust is controlled manually
    double manualRollAngle;     ///< Roll angle set by human pilot (radians)
    double manualPitchAngle;    ///< Pitch angle set by human pilot (radians)
    double manualYawAngle;      ///< Yaw angle set by human pilot (radians)
    double manualThrust;        ///< Thrust set by human pilot (radians)
    float receiveDropRate;      ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
    float sendDropRate;         ///< Percentage of packets that were not received from the MAV by the GCS
    bool lowBattAlarm;          ///< Switch if battery is low
    bool positionLock;          ///< Status if position information is available or not
    double localX;
    double localY;
    double localZ;
    double latitude;
    double longitude;
    double altitude;
    double speedX;              ///< True speed in X axis
    double speedY;              ///< True speed in Y axis
    double speedZ;              ///< True speed in Z axis
    double roll;
    double pitch;
    double yaw;
    quint64 lastHeartbeat;      ///< Time of the last heartbeat message
    QTimer* statusTimeout;      ///< Timer for various status timeouts
    int imageSize;              ///< Image size being transmitted (bytes)
    int imagePackets;           ///< Number of data packets being sent for this image
    int imagePacketsArrived;    ///< Number of data packets recieved
    int imagePayload;           ///< Payload size per transmitted packet (bytes). Standard is 254, and decreases when image resolution increases.
    int imageQuality;           ///< Quality of the transmitted image (percentage)
    int imageType;              ///< Type of the transmitted image (BMP, PNG, JPEG, RAW 8 bit, RAW 32 bit)
    int imageWidth;             ///< Width of the image stream
    int imageHeight;            ///< Width of the image stream
    QByteArray imageRecBuffer;  ///< Buffer for the incoming bytestream
    QImage image;               ///< Image data of last completely transmitted image
    quint64 imageStart;
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
    px::GLOverlay overlay;
    QMutex overlayMutex;
    qreal receivedOverlayTimestamp;
    px::ObstacleList obstacleList;
    QMutex obstacleListMutex;
    qreal receivedObstacleListTimestamp;
    px::Path path;
    QMutex pathMutex;
    qreal receivedPathTimestamp;
    px::PointCloudXYZRGB pointCloud;
    QMutex pointCloudMutex;
    qreal receivedPointCloudTimestamp;
    px::RGBDImage rgbdImage;
    QMutex rgbdImageMutex;
    qreal receivedRGBDImageTimestamp;
 #endif
    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
    bool paramsOnceRequested;       ///< If the parameter list has been read at least once
    int airframe;                   ///< The airframe type
    bool attitudeKnown;             ///< True if attitude was received, false else
    QGCUASParamManager* paramManager; ///< Parameter manager class
    QString shortStateText;         ///< Short textual state description
    QString shortModeText;          ///< Short textual mode description
    bool attitudeStamped;           ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
    quint64 lastAttitude;           ///< Timestamp of last attitude measurement
    QGCHilLink* simulation;         ///< Hardware in the loop simulation link
    bool isLocalPositionKnown;      ///< If the local position has been received for this MAV
    bool isGlobalPositionKnown;     ///< If the global position has been received for this MAV
    bool systemIsArmed;             ///< If the system is armed
    QVector3D nedPosGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
    QVector3D nedAttGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
 public:
    /** @brief Set the current battery type */
    void setBattery(BatteryType type, int cells);
    /** @brief Estimate how much flight time is remaining */
    int calculateTimeRemaining();
    /** @brief Get the current charge level */
    float getChargeLevel();
    /** @brief Get the human-readable status message for this code */
    void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
    /** @brief Get the human-readable navigation mode translation for this mode */
    QString getNavModeText(int mode);
    /** @brief Check if vehicle is in autonomous mode */
    bool isAuto();
    /** @brief Check if vehicle is armed */
    bool isArmed() const { return systemIsArmed; }
    UASWaypointManager* getWaypointManager() {
        return &waypointManager;
    }
    /** @brief Get reference to the param manager **/
    QGCUASParamManager* getParamManager() const {
        return paramManager;
    }
    /** @brief Get the HIL simulation */
    QGCHilLink* getHILSimulation() const {
        return simulation;
    }
    // TODO Will be removed
    /** @brief Set reference to the param manager **/
    void setParamManager(QGCUASParamManager* manager) {
        paramManager = manager;
    }
    int getSystemType();
    QString getSystemTypeName()
    {
        switch(type)
        {
        case MAV_TYPE_GENERIC:
            return "GENERIC";
            break;
        case MAV_TYPE_FIXED_WING:
            return "FIXED_WING";
            break;
        case MAV_TYPE_QUADROTOR:
            return "QUADROTOR";
            break;
        case MAV_TYPE_COAXIAL:
            return "COAXIAL";
            break;
        case MAV_TYPE_HELICOPTER:
            return "HELICOPTER";
            break;
        case MAV_TYPE_ANTENNA_TRACKER:
            return "ANTENNA_TRACKER";
            break;
        case MAV_TYPE_GCS:
            return "GCS";
            break;
        case MAV_TYPE_AIRSHIP:
            return "AIRSHIP";
            break;
        case MAV_TYPE_FREE_BALLOON:
            return "FREE_BALLOON";
            break;
        case MAV_TYPE_ROCKET:
            return "ROCKET";
            break;
        case MAV_TYPE_GROUND_ROVER:
            return "GROUND_ROVER";
            break;
        case MAV_TYPE_SURFACE_BOAT:
            return "BOAT";
            break;
        case MAV_TYPE_SUBMARINE:
            return "SUBMARINE";
            break;
        case MAV_TYPE_HEXAROTOR:
            return "HEXAROTOR";
            break;
        case MAV_TYPE_OCTOROTOR:
            return "OCTOROTOR";
            break;
        case MAV_TYPE_TRICOPTER:
            return "TRICOPTER";
            break;
        case MAV_TYPE_FLAPPING_WING:
            return "FLAPPING_WING";
            break;
        default:
            return "";
            break;
        }
    }
    QImage getImage();
    void requestImage();
    int getAutopilotType(){
        return autopilot;
    }
    QString getAutopilotTypeName()
    {
        switch (autopilot)
        {
        case MAV_AUTOPILOT_GENERIC:
            return "GENERIC";
            break;
        case MAV_AUTOPILOT_PIXHAWK:
            return "PIXHAWK";
            break;
        case MAV_AUTOPILOT_SLUGS:
            return "SLUGS";
            break;
        case MAV_AUTOPILOT_ARDUPILOTMEGA:
            return "ARDUPILOTMEGA";
            break;
        case MAV_AUTOPILOT_OPENPILOT:
            return "OPENPILOT";
            break;
        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY:
            return "GENERIC_WAYPOINTS_ONLY";
            break;
        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY:
            return "GENERIC_MISSION_NAVIGATION_ONLY";
            break;
        case MAV_AUTOPILOT_GENERIC_MISSION_FULL:
            return "GENERIC_MISSION_FULL";
            break;
        case MAV_AUTOPILOT_INVALID:
            return "NO AP";
            break;
        case MAV_AUTOPILOT_PPZ:
            return "PPZ";
            break;
        case MAV_AUTOPILOT_UDB:
            return "UDB";
            break;
        case MAV_AUTOPILOT_FP:
            return "FP";
            break;
        case MAV_AUTOPILOT_PX4:
            return "PX4";
            break;
        default:
            return "";
            break;
        }
    }
 public slots:
    /** @brief Set the autopilot type */
    void setAutopilotType(int apType)
    {
        autopilot = apType;
        emit systemSpecsChanged(uasId);
    }
    /** @brief Set the type of airframe */
    void setSystemType(int systemType);
    /** @brief Set the specific airframe type */
    void setAirframe(int airframe)
    {
        if((airframe >= QGC_AIRFRAME_GENERIC) && (airframe < QGC_AIRFRAME_END_OF_ENUM))
        {
          this->airframe = airframe;
          emit systemSpecsChanged(uasId);
        }
    }
    /** @brief Set a new name **/
    void setUASName(const QString& name);
    /** @brief Executes a command **/
    void executeCommand(MAV_CMD command);
    /** @brief Executes a command with 7 params */
    void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
    /** @brief Set the current battery type and voltages */
    void setBatterySpecs(const QString& specs);
    /** @brief Get the current battery type and specs */
    QString getBatterySpecs();
    /** @brief Launches the system **/
    void launch();
    /** @brief Write this waypoint to the list of waypoints */
    //void setWaypoint(Waypoint* wp); FIXME tbd
    /** @brief Set currently active waypoint */
    //void setWaypointActive(int id); FIXME tbd
    /** @brief Order the robot to return home **/
    void home();
    /** @brief Order the robot to land **/
    void land();
    void halt();
    void go();
    /** @brief Enable / disable HIL */
    void enableHilFlightGear(bool enable, QString options);
    void enableHilXPlane(bool enable);
    /** @brief Send the full HIL state to the MAV */
    void sendHilState(	uint64_t time_us, float roll, float pitch, float yaw, float rollspeed,
                        float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
                        int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc);
    /** @brief Places the UAV in Hardware-in-the-Loop simulation status **/
    void startHil();
    /** @brief Stops the UAV's Hardware-in-the-Loop simulation status **/
    void stopHil();
    /** @brief Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
    void emergencySTOP();
    /** @brief Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
    bool emergencyKILL();
    /** @brief Shut the system cleanly down. Will shut down any onboard computers **/
    void shutdown();
    /** @brief Set the target position for the robot to navigate to. */
    void setTargetPosition(float x, float y, float z, float yaw);
    void startLowBattAlarm();
    void stopLowBattAlarm();
    /** @brief Arm system */
    void armSystem();
    /** @brief Disable the motors */
    void disarmSystem();
    /** @brief Set the values for the manual control of the vehicle */
    void setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);
    /** @brief Receive a button pressed event from an input device, e.g. joystick */
    void receiveButton(int buttonIndex);
-    /** @brief Add a link associated with this robot */
+    /** @brief Set the values for the 6dof manual control of the vehicle */
-    void addLink(LinkInterface* link);
+    void setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw);
-    /** @brief Remove a link associated with this robot */
-    void removeLink(QObject* object);
+    /** @brief Add a link associated with this robot */
+    void addLink(LinkInterface* link);
-    /** @brief Receive a message from one of the communication links. */
+    /** @brief Remove a link associated with this robot */
-    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
+    void removeLink(QObject* object);
-#ifdef QGC_PROTOBUF_ENABLED
+    /** @brief Receive a message from one of the communication links. */
-    /** @brief Receive a message from one of the communication links. */
+    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
-    virtual void receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message);
-#endif
+#ifdef QGC_PROTOBUF_ENABLED
+    /** @brief Receive a message from one of the communication links. */
-    /** @brief Send a message over this link (to this or to all UAS on this link) */
+    virtual void receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message);
-    void sendMessage(LinkInterface* link, mavlink_message_t message);
+#endif
-    /** @brief Send a message over all links this UAS can be reached with (!= all links) */
-    void sendMessage(mavlink_message_t message);
+    /** @brief Send a message over this link (to this or to all UAS on this link) */
+    void sendMessage(LinkInterface* link, mavlink_message_t message);
-    /** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
+    /** @brief Send a message over all links this UAS can be reached with (!= all links) */
-    void forwardMessage(mavlink_message_t message);
+    void sendMessage(mavlink_message_t message);
-    /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
+    /** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
-    void setSelected();
+    void forwardMessage(mavlink_message_t message);
-    /** @brief Set current mode of operation, e.g. auto or manual */
+    /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
-    void setMode(int mode);
+    void setSelected();
-    /** @brief Request all parameters */
+    /** @brief Set current mode of operation, e.g. auto or manual */
-    void requestParameters();
+    void setMode(int mode);
-    /** @brief Request a single parameter by name */
+    /** @brief Request all parameters */
-    void requestParameter(int component, const QString& parameter);
+    void requestParameters();
-    /** @brief Request a single parameter by index */
-    void requestParameter(int component, int id);
+    /** @brief Request a single parameter by name */
+    void requestParameter(int component, const QString& parameter);
-    /** @brief Set a system parameter */
+    /** @brief Request a single parameter by index */
-    void setParameter(const int component, const QString& id, const QVariant& value);
+    void requestParameter(int component, int id);
-    /** @brief Write parameters to permanent storage */
+    /** @brief Set a system parameter */
-    void writeParametersToStorage();
+    void setParameter(const int component, const QString& id, const QVariant& value);
-    /** @brief Read parameters from permanent storage */
-    void readParametersFromStorage();
+    /** @brief Write parameters to permanent storage */
+    void writeParametersToStorage();
-    /** @brief Get the names of all parameters */
+    /** @brief Read parameters from permanent storage */
-    QList<QString> getParameterNames(int component);
+    void readParametersFromStorage();
-    /** @brief Get the ids of all components */
+    /** @brief Get the names of all parameters */
-    QList<int> getComponentIds();
+    QList<QString> getParameterNames(int component);
-    void enableAllDataTransmission(int rate);
+    /** @brief Get the ids of all components */
-    void enableRawSensorDataTransmission(int rate);
+    QList<int> getComponentIds();
-    void enableExtendedSystemStatusTransmission(int rate);
-    void enableRCChannelDataTransmission(int rate);
+    void enableAllDataTransmission(int rate);
-    void enableRawControllerDataTransmission(int rate);
+    void enableRawSensorDataTransmission(int rate);
-    //void enableRawSensorFusionTransmission(int rate);
+    void enableExtendedSystemStatusTransmission(int rate);
-    void enablePositionTransmission(int rate);
+    void enableRCChannelDataTransmission(int rate);
-    void enableExtra1Transmission(int rate);
+    void enableRawControllerDataTransmission(int rate);
-    void enableExtra2Transmission(int rate);
+    //void enableRawSensorFusionTransmission(int rate);
-    void enableExtra3Transmission(int rate);
+    void enablePositionTransmission(int rate);
+    void enableExtra1Transmission(int rate);
-    /** @brief Update the system state */
+    void enableExtra2Transmission(int rate);
-    void updateState();
+    void enableExtra3Transmission(int rate);
-    /** @brief Set world frame origin at current GPS position */
+    /** @brief Update the system state */
-    void setLocalOriginAtCurrentGPSPosition();
+    void updateState();
-    /** @brief Set world frame origin / home position at this GPS position */
-    void setHomePosition(double lat, double lon, double alt);
+    /** @brief Set world frame origin at current GPS position */
-    /** @brief Set local position setpoint */
+    void setLocalOriginAtCurrentGPSPosition();
-    void setLocalPositionSetpoint(float x, float y, float z, float yaw);
+    /** @brief Set world frame origin / home position at this GPS position */
-    /** @brief Add an offset in body frame to the setpoint */
+    void setHomePosition(double lat, double lon, double alt);
-    void setLocalPositionOffset(float x, float y, float z, float yaw);
+    /** @brief Set local position setpoint */
+    void setLocalPositionSetpoint(float x, float y, float z, float yaw);
-    void startRadioControlCalibration();
+    /** @brief Add an offset in body frame to the setpoint */
-    void startMagnetometerCalibration();
+    void setLocalPositionOffset(float x, float y, float z, float yaw);
-    void startGyroscopeCalibration();
-    void startPressureCalibration();
+    void startRadioControlCalibration();
+    void startMagnetometerCalibration();
-    void startDataRecording();
+    void startGyroscopeCalibration();
-    void stopDataRecording();
+    void startPressureCalibration();
-    void deleteSettings();
-signals:
+    void startDataRecording();
-    /** @brief The main/battery voltage has changed/was updated */
+    void stopDataRecording();
-    //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
+    void deleteSettings();
-    /** @brief An actuator value has changed */
+signals:
-    //void actuatorChanged(UASInterface*, int actId, double value); // Defined in UASInterface already
+    /** @brief The main/battery voltage has changed/was updated */
-    /** @brief An actuator value has changed */
+    //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
-    void actuatorChanged(UASInterface* uas, QString actuatorName, double min, double max, double value);
+    /** @brief An actuator value has changed */
-    void motorChanged(UASInterface* uas, QString motorName, double min, double max, double value);
+    //void actuatorChanged(UASInterface*, int actId, double value); // Defined in UASInterface already
-    /** @brief The system load (MCU/CPU usage) changed */
+    /** @brief An actuator value has changed */
-    void loadChanged(UASInterface* uas, double load);
+    void actuatorChanged(UASInterface* uas, QString actuatorName, double min, double max, double value);
-    /** @brief Propagate a heartbeat received from the system */
+    void motorChanged(UASInterface* uas, QString motorName, double min, double max, double value);
-    //void heartbeat(UASInterface* uas); // Defined in UASInterface already
+    /** @brief The system load (MCU/CPU usage) changed */
-    void imageStarted(quint64 timestamp);
+    void loadChanged(UASInterface* uas, double load);
-    /** @brief A new camera image has arrived */
+    /** @brief Propagate a heartbeat received from the system */
-    void imageReady(UASInterface* uas);
+    //void heartbeat(UASInterface* uas); // Defined in UASInterface already
-    /** @brief HIL controls have changed */
+    void imageStarted(quint64 timestamp);
-    void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
+    /** @brief A new camera image has arrived */
-    /** @brief HIL actuator outputs have changed */
+    void imageReady(UASInterface* uas);
-    void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
+    /** @brief HIL controls have changed */
+    void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
-protected:
+    /** @brief HIL actuator outputs have changed */
-    /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
+    void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
-    quint64 getUnixTime(quint64 time=0);
-    /** @brief Get the UNIX timestamp in milliseconds, enter milliseconds */
+protected:
-    quint64 getUnixTimeFromMs(quint64 time);
+    /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
-    /** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
+    quint64 getUnixTime(quint64 time=0);
-    quint64 getUnixReferenceTime(quint64 time);
+    /** @brief Get the UNIX timestamp in milliseconds, enter milliseconds */
-    int componentID[256];
+    quint64 getUnixTimeFromMs(quint64 time);
-    bool componentMulti[256];
+    /** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
-    bool connectionLost; ///< Flag indicates a timed out connection
+    quint64 getUnixReferenceTime(quint64 time);
-    quint64 connectionLossTime; ///< Time the connection was interrupted
+    int componentID[256];
-    quint64 lastVoltageWarning; ///< Time at which the last voltage warning occured
+    bool componentMulti[256];
-    quint64 lastNonNullTime;    ///< The last timestamp from the MAV that was not null
+    bool connectionLost; ///< Flag indicates a timed out connection
-    unsigned int onboardTimeOffsetInvalidCount;     ///< Count when the offboard time offset estimation seemed wrong
+    quint64 connectionLossTime; ///< Time the connection was interrupted
-    bool hilEnabled;            ///< Set to true if HIL mode is enabled from GCS (UAS might be in HIL even if this flag is not set, this defines the GCS HIL setting)
+    quint64 lastVoltageWarning; ///< Time at which the last voltage warning occured
+    quint64 lastNonNullTime;    ///< The last timestamp from the MAV that was not null
-protected slots:
+    unsigned int onboardTimeOffsetInvalidCount;     ///< Count when the offboard time offset estimation seemed wrong
-    /** @brief Write settings to disk */
+    bool hilEnabled;            ///< Set to true if HIL mode is enabled from GCS (UAS might be in HIL even if this flag is not set, this defines the GCS HIL setting)
-    void writeSettings();
-    /** @brief Read settings from disk */
+protected slots:
-    void readSettings();
+    /** @brief Write settings to disk */
+    void writeSettings();
-//    // MESSAGE RECEPTION
+    /** @brief Read settings from disk */
-//    /** @brief Receive a named value message */
+    void readSettings();
-//    void receiveMessageNamedValue(const mavlink_message_t& message);
+//    // MESSAGE RECEPTION
-private:
+//    /** @brief Receive a named value message */
-//    unsigned int mode;          ///< The current mode of the MAV
+//    void receiveMessageNamedValue(const mavlink_message_t& message);
-};
+private:
+//    unsigned int mode;          ///< The current mode of the MAV
-#endif // _UAS_H_
+};
+#endif // _UAS_H_
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
 /*=====================================================================
 QGroundControl Open Source Ground Control Station
 (c) 2009, 2010 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 MainWindow
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */
 #ifndef _MAINWINDOW_H_
 #define _MAINWINDOW_H_
 #include <QtGui/QMainWindow>
 #include <QStatusBar>
 #include <QStackedWidget>
 #include <QSettings>
 #include <qlist.h>
 #include "ui_MainWindow.h"
 #include "LinkManager.h"
 #include "LinkInterface.h"
 #include "UASInterface.h"
 #include "UASManager.h"
 #include "UASControlWidget.h"
 #include "Linecharts.h"
 #include "UASInfoWidget.h"
 #include "WaypointList.h"
 #include "CameraView.h"
 #include "UASListWidget.h"
 #include "MAVLinkProtocol.h"
 #include "MAVLinkSimulationLink.h"
 #include "ObjectDetectionView.h"
 #include "HUD.h"
 #include "JoystickWidget.h"
 #include "input/JoystickInput.h"
-#include "DebugConsole.h"
+#include "input/Mouse6dofInput.h"
-#include "ParameterInterface.h"
+#include "DebugConsole.h"
-#include "XMLCommProtocolWidget.h"
+#include "ParameterInterface.h"
-#include "HDDisplay.h"
+#include "XMLCommProtocolWidget.h"
-#include "WatchdogControl.h"
+#include "HDDisplay.h"
-#include "HSIDisplay.h"
+#include "WatchdogControl.h"
-#include "QGCDataPlot2D.h"
+#include "HSIDisplay.h"
-#include "QGCRemoteControlView.h"
+#include "QGCDataPlot2D.h"
-#include "opmapcontrol.h"
+#include "QGCRemoteControlView.h"
-#if (defined Q_OS_MAC) | (defined _MSC_VER)
+#include "opmapcontrol.h"
-#include "QGCGoogleEarthView.h"
+#if (defined Q_OS_MAC) | (defined _MSC_VER)
-#endif
+#include "QGCGoogleEarthView.h"
-#include "QGCToolBar.h"
+#endif
-#include "SlugsDataSensorView.h"
+#include "QGCToolBar.h"
-#include "LogCompressor.h"
+#include "SlugsDataSensorView.h"
+#include "LogCompressor.h"
-#include "SlugsHilSim.h"
+#include "SlugsHilSim.h"
-#include "SlugsPadCameraControl.h"
-#include "UASControlParameters.h"
+#include "SlugsPadCameraControl.h"
-#include "QGCMAVLinkInspector.h"
+#include "UASControlParameters.h"
-#include "QGCMAVLinkLogPlayer.h"
+#include "QGCMAVLinkInspector.h"
-#include "QGCVehicleConfig.h"
+#include "QGCMAVLinkLogPlayer.h"
-#include "MAVLinkDecoder.h"
+#include "QGCVehicleConfig.h"
+#include "MAVLinkDecoder.h"
-class QGCMapTool;
-class QGCMAVLinkMessageSender;
+class QGCMapTool;
-class QGCFirmwareUpdate;
+class QGCMAVLinkMessageSender;
-class QSplashScreen;
+class QGCFirmwareUpdate;
+class QSplashScreen;
-/**
- * @brief Main Application Window
+/**
- *
+ * @brief Main Application Window
- **/
+ *
-class MainWindow : public QMainWindow
+ **/
-{
+class MainWindow : public QMainWindow
-    Q_OBJECT
+{
+    Q_OBJECT
-public:
-    static MainWindow* instance(QSplashScreen* screen = 0);
+public:
-    ~MainWindow();
+    static MainWindow* instance(QSplashScreen* screen = 0);
+    ~MainWindow();
-    enum QGC_MAINWINDOW_STYLE
-    {
+    enum QGC_MAINWINDOW_STYLE
-        QGC_MAINWINDOW_STYLE_NATIVE,
+    {
-        QGC_MAINWINDOW_STYLE_INDOOR,
+        QGC_MAINWINDOW_STYLE_NATIVE,
-        QGC_MAINWINDOW_STYLE_OUTDOOR
+        QGC_MAINWINDOW_STYLE_INDOOR,
-    };
+        QGC_MAINWINDOW_STYLE_OUTDOOR
+    };
-    /** @brief Get current visual style */
-    int getStyle()
+    /** @brief Get current visual style */
-    {
+    int getStyle()
-        return currentStyle;
+    {
-    }
+        return currentStyle;
-    /** @brief Get auto link reconnect setting */
+    }
-    bool autoReconnectEnabled()
+    /** @brief Get auto link reconnect setting */
-    {
+    bool autoReconnectEnabled()
-        return autoReconnect;
+    {
-    }
+        return autoReconnect;
+    }
-    /** @brief Get low power mode setting */
-    bool lowPowerModeEnabled()
+    /** @brief Get low power mode setting */
-    {
+    bool lowPowerModeEnabled()
-        return lowPowerMode;
+    {
-    }
+        return lowPowerMode;
+    }
-    QList<QAction*> listLinkMenuActions(void);
+    QList<QAction*> listLinkMenuActions(void);
-public slots:
+public slots:
-    /** @brief Shows a status message on the bottom status bar */
-    void showStatusMessage(const QString& status, int timeout);
+    /** @brief Shows a status message on the bottom status bar */
-    /** @brief Shows a status message on the bottom status bar */
+    void showStatusMessage(const QString& status, int timeout);
-    void showStatusMessage(const QString& status);
+    /** @brief Shows a status message on the bottom status bar */
-    /** @brief Shows a critical message as popup or as widget */
+    void showStatusMessage(const QString& status);
-    void showCriticalMessage(const QString& title, const QString& message);
+    /** @brief Shows a critical message as popup or as widget */
-    /** @brief Shows an info message as popup or as widget */
+    void showCriticalMessage(const QString& title, const QString& message);
-    void showInfoMessage(const QString& title, const QString& message);
+    /** @brief Shows an info message as popup or as widget */
+    void showInfoMessage(const QString& title, const QString& message);
-    /** @brief Show the application settings */
-    void showSettings();
+    /** @brief Show the application settings */
-    /** @brief Add a communication link */
+    void showSettings();
-    void addLink();
+    /** @brief Add a communication link */
-    void addLink(LinkInterface* link);
+    void addLink();
-    void configure();
+    void addLink(LinkInterface* link);
-    /** @brief Set the currently controlled UAS */
+    void configure();
-    void setActiveUAS(UASInterface* uas);
+    /** @brief Set the currently controlled UAS */
+    void setActiveUAS(UASInterface* uas);
-    /** @brief Add a new UAS */
-    void UASCreated(UASInterface* uas);
+    /** @brief Add a new UAS */
-    /** Delete an UAS */
+    void UASCreated(UASInterface* uas);
-    void UASDeleted(UASInterface* uas);
+    /** Delete an UAS */
-    /** @brief Update system specs of a UAS */
+    void UASDeleted(UASInterface* uas);
-    void UASSpecsChanged(int uas);
+    /** @brief Update system specs of a UAS */
-    void startVideoCapture();
+    void UASSpecsChanged(int uas);
-    void stopVideoCapture();
+    void startVideoCapture();
-    void saveScreen();
+    void stopVideoCapture();
+    void saveScreen();
-    /** @brief Load default view when no MAV is connected */
-    void loadUnconnectedView();
+    /** @brief Load default view when no MAV is connected */
-    /** @brief Load view for pilot */
+    void loadUnconnectedView();
-    void loadPilotView();
+    /** @brief Load view for pilot */
-    /** @brief Load view for engineer */
+    void loadPilotView();
-    void loadEngineerView();
+    /** @brief Load view for engineer */
-    /** @brief Load view for operator */
+    void loadEngineerView();
-    void loadOperatorView();
+    /** @brief Load view for operator */
-    /** @brief Load MAVLink XML generator view */
+    void loadOperatorView();
-    void loadMAVLinkView();
+    /** @brief Load MAVLink XML generator view */
-    /** @brief Load firmware update view */
+    void loadMAVLinkView();
-    void loadFirmwareUpdateView();
+    /** @brief Load firmware update view */
+    void loadFirmwareUpdateView();
-    /** @brief Show the online help for users */
-    void showHelp();
+    /** @brief Show the online help for users */
-    /** @brief Show the authors / credits */
+    void showHelp();
-    void showCredits();
+    /** @brief Show the authors / credits */
-    /** @brief Show the project roadmap */
+    void showCredits();
-    void showRoadMap();
+    /** @brief Show the project roadmap */
+    void showRoadMap();
-    /** @brief Reload the CSS style sheet */
-    void reloadStylesheet();
+    /** @brief Reload the CSS style sheet */
-    /** @brief Let the user select the CSS style sheet */
+    void reloadStylesheet();
-    void selectStylesheet();
+    /** @brief Let the user select the CSS style sheet */
-    /** @brief Automatically reconnect last link */
+    void selectStylesheet();
-    void enableAutoReconnect(bool enabled);
+    /** @brief Automatically reconnect last link */
-    /** @brief Save power by reducing update rates */
+    void enableAutoReconnect(bool enabled);
-    void enableLowPowerMode(bool enabled) { lowPowerMode = enabled; }
+    /** @brief Save power by reducing update rates */
-    /** @brief Switch to native application style */
+    void enableLowPowerMode(bool enabled) { lowPowerMode = enabled; }
-    void loadNativeStyle();
+    /** @brief Switch to native application style */
-    /** @brief Switch to indoor mission style */
+    void loadNativeStyle();
-    void loadIndoorStyle();
+    /** @brief Switch to indoor mission style */
-    /** @brief Switch to outdoor mission style */
+    void loadIndoorStyle();
-    void loadOutdoorStyle();
+    /** @brief Switch to outdoor mission style */
-    /** @brief Load a specific style */
+    void loadOutdoorStyle();
-    void loadStyle(QGC_MAINWINDOW_STYLE style);
+    /** @brief Load a specific style */
+    void loadStyle(QGC_MAINWINDOW_STYLE style);
-    /** @brief Add a custom tool widget */
-    void createCustomWidget();
+    /** @brief Add a custom tool widget */
+    void createCustomWidget();
-    /** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
-    void loadCustomWidget();
+    /** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
+    void loadCustomWidget();
-    /** @brief Load a custom tool widget from a file */
-    void loadCustomWidget(const QString& fileName, bool singleinstance=false);
+    /** @brief Load a custom tool widget from a file */
+    void loadCustomWidget(const QString& fileName, bool singleinstance=false);
-    /** @brief Load custom widgets from default file */
-    void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
+    /** @brief Load custom widgets from default file */
+    void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
-    /** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
-    void showHILConfigurationWidget(UASInterface *uas);
+    /** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
+    void showHILConfigurationWidget(UASInterface *uas);
-    void closeEvent(QCloseEvent* event);
+    void closeEvent(QCloseEvent* event);
-    /** @brief Load data view, allowing to plot flight data */
-    void loadDataView(QString fileName);
+    /** @brief Load data view, allowing to plot flight data */
+    void loadDataView(QString fileName);
-    /**
-     * @brief Shows a Docked Widget based on the action sender
+    /**
-     *
+     * @brief Shows a Docked Widget based on the action sender
-     * This slot is written to be used in conjunction with the addTool() function
+     *
-     * It shows the QDockedWidget based on the action sender
+     * This slot is written to be used in conjunction with the addTool() function
-     *
+     * It shows the QDockedWidget based on the action sender
-     */
+     *
-    void showTool(bool visible);
+     */
+    void showTool(bool visible);
-    /**
-     * @brief Shows a Widget from the center stack based on the action sender
+    /**
-     *
+     * @brief Shows a Widget from the center stack based on the action sender
-     * This slot is written to be used in conjunction with the addCentralWidget() function
+     *
-     * It shows the Widget based on the action sender
+     * This slot is written to be used in conjunction with the addCentralWidget() function
-     *
+     * It shows the Widget based on the action sender
-     */
+     *
-    void showCentralWidget();
+     */
+    void showCentralWidget();
-    /** @brief Update the window name */
-    void configureWindowName();
+    /** @brief Update the window name */
+    void configureWindowName();
-signals:
-    void initStatusChanged(const QString& message);
+signals:
+    void initStatusChanged(const QString& message);
-public:
-    QGCMAVLinkLogPlayer* getLogPlayer()
+public:
-    {
+    QGCMAVLinkLogPlayer* getLogPlayer()
-        return logPlayer;
+    {
-    }
+        return logPlayer;
+    }
-    MAVLinkProtocol* getMAVLink()
-    {
+    MAVLinkProtocol* getMAVLink()
-        return mavlink;
+    {
-    }
+        return mavlink;
+    }
-protected:
+protected:
-    MainWindow(QWidget *parent = 0);
+    MainWindow(QWidget *parent = 0);
-    typedef enum _VIEW_SECTIONS
-    {
+    typedef enum _VIEW_SECTIONS
-        VIEW_ENGINEER,
+    {
-        VIEW_OPERATOR,
+        VIEW_ENGINEER,
-        VIEW_PILOT,
+        VIEW_OPERATOR,
-        VIEW_MAVLINK,
+        VIEW_PILOT,
-        VIEW_FIRMWAREUPDATE,
+        VIEW_MAVLINK,
-        VIEW_UNCONNECTED,    ///< View in unconnected mode, when no UAS is available
+        VIEW_FIRMWAREUPDATE,
-        VIEW_FULL            ///< All widgets shown at once
+        VIEW_UNCONNECTED,    ///< View in unconnected mode, when no UAS is available
-    } VIEW_SECTIONS;
+        VIEW_FULL            ///< All widgets shown at once
+    } VIEW_SECTIONS;
-    /**
-     * @brief Adds an already instantiated QDockedWidget to the Tools Menu
+    /**
-     *
+     * @brief Adds an already instantiated QDockedWidget to the Tools Menu
-     * This function does all the hosekeeping to have a QDockedWidget added to the
+     *
-     * tools menu and connects the QMenuAction to a slot that shows the widget and
+     * This function does all the hosekeeping to have a QDockedWidget added to the
-     * checks/unchecks the tools menu item
+     * tools menu and connects the QMenuAction to a slot that shows the widget and
-     *
+     * checks/unchecks the tools menu item
-     * @param widget    The QDockWidget being added
+     *
-     * @param title     The entry that will appear in the Menu and in the QDockedWidget title bar
+     * @param widget    The QDockWidget being added
-     * @param location  The default location for the QDockedWidget in case there is no previous key in the settings
+     * @param title     The entry that will appear in the Menu and in the QDockedWidget title bar
-     */
+     * @param location  The default location for the QDockedWidget in case there is no previous key in the settings
-    void addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
+     */
+    void addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
-    /**
-     * @brief Adds an already instantiated QWidget to the center stack
+    /**
-     *
+     * @brief Adds an already instantiated QWidget to the center stack
-     * This function does all the hosekeeping to have a QWidget added to the tools menu
+     *
-     * tools menu and connects the QMenuAction to a slot that shows the widget and
+     * This function does all the hosekeeping to have a QWidget added to the tools menu
-     * checks/unchecks the tools menu item. This is used for all the central widgets (those in
+     * tools menu and connects the QMenuAction to a slot that shows the widget and
-     * the center stack.
+     * checks/unchecks the tools menu item. This is used for all the central widgets (those in
-     *
+     * the center stack.
-     * @param widget        The QWidget being added
+     *
-     * @param title         The entry that will appear in the Menu
+     * @param widget        The QWidget being added
-     */
+     * @param title         The entry that will appear in the Menu
-    void addCentralWidget(QWidget* widget, const QString& title);
+     */
+    void addCentralWidget(QWidget* widget, const QString& title);
-    /** @brief Catch window resize events */
-    void resizeEvent(QResizeEvent * event);
+    /** @brief Catch window resize events */
+    void resizeEvent(QResizeEvent * event);
-    /** @brief Keeps track of the current view */
-    VIEW_SECTIONS currentView;
+    /** @brief Keeps track of the current view */
-    QGC_MAINWINDOW_STYLE currentStyle;
+    VIEW_SECTIONS currentView;
-    bool aboutToCloseFlag;
+    QGC_MAINWINDOW_STYLE currentStyle;
-    bool changingViewsFlag;
+    bool aboutToCloseFlag;
+    bool changingViewsFlag;
-    void storeViewState();
-    void loadViewState();
+    void storeViewState();
+    void loadViewState();
-    void buildCustomWidget();
-    void buildCommonWidgets();
+    void buildCustomWidget();
-    void connectCommonWidgets();
+    void buildCommonWidgets();
-    void connectCommonActions();
+    void connectCommonWidgets();
-	void connectSenseSoarActions();
+    void connectCommonActions();
+	void connectSenseSoarActions();
-    void loadSettings();
-    void storeSettings();
+    void loadSettings();
+    void storeSettings();
-    // TODO Should be moved elsewhere, as the protocol does not belong to the UI
-    MAVLinkProtocol* mavlink;
+    // TODO Should be moved elsewhere, as the protocol does not belong to the UI
+    MAVLinkProtocol* mavlink;
-    MAVLinkSimulationLink* simulationLink;
-    LinkInterface* udpLink;
+    MAVLinkSimulationLink* simulationLink;
+    LinkInterface* udpLink;
-    QSettings settings;
-    QStackedWidget *centerStack;
+    QSettings settings;
-    QActionGroup* centerStackActionGroup;
+    QStackedWidget *centerStack;
+    QActionGroup* centerStackActionGroup;
-    // Center widgets
-    QPointer<Linecharts> linechartWidget;
+    // Center widgets
-    QPointer<HUD> hudWidget;
+    QPointer<Linecharts> linechartWidget;
-    QPointer<QGCVehicleConfig> configWidget;
+    QPointer<HUD> hudWidget;
-    QPointer<QGCMapTool> mapWidget;
+    QPointer<QGCVehicleConfig> configWidget;
-    QPointer<XMLCommProtocolWidget> protocolWidget;
+    QPointer<QGCMapTool> mapWidget;
-    QPointer<QGCDataPlot2D> dataplotWidget;
+    QPointer<XMLCommProtocolWidget> protocolWidget;
-#ifdef QGC_OSG_ENABLED
+    QPointer<QGCDataPlot2D> dataplotWidget;
-    QPointer<QWidget> _3DWidget;
+#ifdef QGC_OSG_ENABLED
-#endif
+    QPointer<QWidget> _3DWidget;
-#if (defined _MSC_VER) || (defined Q_OS_MAC)
+#endif
-    QPointer<QGCGoogleEarthView> gEarthWidget;
+#if (defined _MSC_VER) || (defined Q_OS_MAC)
-#endif
+    QPointer<QGCGoogleEarthView> gEarthWidget;
-    QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
+#endif
+    QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
-    // Dock widgets
-    QPointer<QDockWidget> controlDockWidget;
+    // Dock widgets
-    QPointer<QDockWidget> controlParameterWidget;
+    QPointer<QDockWidget> controlDockWidget;
-    QPointer<QDockWidget> infoDockWidget;
+    QPointer<QDockWidget> controlParameterWidget;
-    QPointer<QDockWidget> cameraDockWidget;
+    QPointer<QDockWidget> infoDockWidget;
-    QPointer<QDockWidget> listDockWidget;
+    QPointer<QDockWidget> cameraDockWidget;
-    QPointer<QDockWidget> waypointsDockWidget;
+    QPointer<QDockWidget> listDockWidget;
-    QPointer<QDockWidget> detectionDockWidget;
+    QPointer<QDockWidget> waypointsDockWidget;
-    QPointer<QDockWidget> debugConsoleDockWidget;
+    QPointer<QDockWidget> detectionDockWidget;
-    QPointer<QDockWidget> parametersDockWidget;
+    QPointer<QDockWidget> debugConsoleDockWidget;
-    QPointer<QDockWidget> headDown1DockWidget;
+    QPointer<QDockWidget> parametersDockWidget;
-    QPointer<QDockWidget> headDown2DockWidget;
+    QPointer<QDockWidget> headDown1DockWidget;
-    QPointer<QDockWidget> watchdogControlDockWidget;
+    QPointer<QDockWidget> headDown2DockWidget;
+    QPointer<QDockWidget> watchdogControlDockWidget;
-    QPointer<QDockWidget> headUpDockWidget;
-    QPointer<QDockWidget> video1DockWidget;
+    QPointer<QDockWidget> headUpDockWidget;
-    QPointer<QDockWidget> video2DockWidget;
+    QPointer<QDockWidget> video1DockWidget;
-    QPointer<QDockWidget> rgbd1DockWidget;
+    QPointer<QDockWidget> video2DockWidget;
-    QPointer<QDockWidget> rgbd2DockWidget;
+    QPointer<QDockWidget> rgbd1DockWidget;
-    QPointer<QDockWidget> logPlayerDockWidget;
+    QPointer<QDockWidget> rgbd2DockWidget;
+    QPointer<QDockWidget> logPlayerDockWidget;
-    QPointer<QDockWidget> hsiDockWidget;
-    QPointer<QDockWidget> rcViewDockWidget;
+    QPointer<QDockWidget> hsiDockWidget;
-    QPointer<QDockWidget> hudDockWidget;
+    QPointer<QDockWidget> rcViewDockWidget;
-    QPointer<QDockWidget> slugsDataWidget;
+    QPointer<QDockWidget> hudDockWidget;
-    QPointer<QDockWidget> slugsHilSimWidget;
+    QPointer<QDockWidget> slugsDataWidget;
-    QPointer<QDockWidget> slugsCamControlWidget;
+    QPointer<QDockWidget> slugsHilSimWidget;
+    QPointer<QDockWidget> slugsCamControlWidget;
-    QPointer<QGCToolBar> toolBar;
+    QPointer<QGCToolBar> toolBar;
-    QPointer<QDockWidget> mavlinkInspectorWidget;
-    QPointer<MAVLinkDecoder> mavlinkDecoder;
+    QPointer<QDockWidget> mavlinkInspectorWidget;
-    QPointer<QDockWidget> mavlinkSenderWidget;
+    QPointer<MAVLinkDecoder> mavlinkDecoder;
-    QGCMAVLinkLogPlayer* logPlayer;
+    QPointer<QDockWidget> mavlinkSenderWidget;
+    QGCMAVLinkLogPlayer* logPlayer;
-    // Popup widgets
-    JoystickWidget* joystickWidget;
+    // Popup widgets
+    JoystickWidget* joystickWidget;
-    JoystickInput* joystick;
+    JoystickInput* joystick;
-    /** User interface actions **/
-    QAction* connectUASAct;
+#ifdef MOUSE_ENABLED_WIN
-    QAction* disconnectUASAct;
+    /** 3d Mouse support (WIN only) **/
-    QAction* startUASAct;
+    Mouse3DInput* mouseInput;               ///< 3dConnexion 3dMouse SDK
-    QAction* returnUASAct;
+    Mouse6dofInput* mouse;                  ///< Implementation for 3dMouse input
-    QAction* stopUASAct;
+#endif // MOUSE_ENABLED_WIN
-    QAction* killUASAct;
-    QAction* simulateUASAct;
+    /** User interface actions **/
+    QAction* connectUASAct;
+    QAction* disconnectUASAct;
-    LogCompressor* comp;
+    QAction* startUASAct;
-    QString screenFileName;
+    QAction* returnUASAct;
-    QTimer* videoTimer;
+    QAction* stopUASAct;
-    QString styleFileName;
+    QAction* killUASAct;
-    bool autoReconnect;
+    QAction* simulateUASAct;
-    Qt::WindowStates windowStateVal;
-    bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
-    QGCFlightGearLink* fgLink;
+    LogCompressor* comp;
-    QTimer windowNameUpdateTimer;
+    QString screenFileName;
+    QTimer* videoTimer;
-private:
+    QString styleFileName;
-    Ui::MainWindow ui;
+    bool autoReconnect;
+    Qt::WindowStates windowStateVal;
-    QString getWindowStateKey();
+    bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
-    QString getWindowGeometryKey();
+    QGCFlightGearLink* fgLink;
+    QTimer windowNameUpdateTimer;
-};
+private:
-#endif /* _MAINWINDOW_H_ */
+    Ui::MainWindow ui;
+    QString getWindowStateKey();
+    QString getWindowGeometryKey();
+};
+#endif /* _MAINWINDOW_H_ */