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

.gitignore

@@ -27,3 +27,7 @@ deploy/linux
 controller_log*
 user_config.pri
 *.app
+
+*.ncb
+*.vcproj
+*.sln
\ No newline at end of file

mavground.qrc

@@ -84,6 +84,7 @@
         <file>images/mapproviders/yahoo.png</file>
         <file>images/earth.html</file>
         <file>images/mapproviders/googleearth.svg</file>
+        <file>images/contrib/slugs.png</file>
     </qresource>
     <qresource prefix="/general">
         <file alias="vera.ttf">images/Vera.ttf</file>

qgroundcontrol.pri

@@ -125,10 +125,11 @@ macx {
             -framework GEOS \
             -framework SQLite3 \
             -framework osgFX \
-            -framework osgTerrain \
+            -framework osgTerrain
     DEFINES += QGC_OSGEARTH_ENABLED
     }
 
+
     exists(/opt/local/include/libfreenect) {
     message("Building support for libfreenect")
     DEPENDENCIES_PRESENT += libfreenect
@@ -324,7 +325,7 @@ exists($$BASEDIR/lib/osgEarth123) {
     BASEDIR_WIN = $$replace(BASEDIR,"/","\\")
     TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
 
-    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\debug\SDL.dll\"
+    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll\" \"$$TARGETDIR_WIN\\debug\\SDL.dll\"
     QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\release\SDL.dll\"
     QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\debug\audio\" /S /E /Y
     QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\release\audio\" /S /E /Y
@@ -365,15 +366,13 @@ win32-g++ {
     RC_FILE = $$BASEDIR/qgroundcontrol.rc
 
     # Copy dependencies
-    BASEDIR_WIN = $$replace(BASEDIR,"/","\\")
-    TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
 
-    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\debug\SDL.dll\"
-    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\release\SDL.dll\"
-    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\debug\audio\" /S /E /Y
-    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\release\audio\" /S /E /Y
-    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\debug\models\" /S /E /Y
-    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\release\models\" /S /E /Y
+    QMAKE_PRE_LINK += && cp $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/debug/SDL.dll
+    QMAKE_PRE_LINK += && cp $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/release/SDL.dll
+    QMAKE_PRE_LINK += && cp -r $$BASEDIR/audio $$TARGETDIR/debug/audio
+    QMAKE_PRE_LINK += && cp -r $$BASEDIR/audio $$TARGETDIR/release/audio
+    QMAKE_PRE_LINK += && cp -r $$BASEDIR/models $$TARGETDIR/debug/models
+    QMAKE_PRE_LINK += && cp -r $$BASEDIR/models $$TARGETDIR/release/models
 
     # osg/osgEarth dynamic casts might fail without this compiler option.
     # see http://osgearth.org/wiki/FAQ for details.

qgroundcontrol.pro

@@ -23,6 +23,7 @@
 # Version from GIT repository is preferred
 # include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
 # Include bundled version if necessary
+
 include(lib/QMapControl/QMapControl.pri)
 
 # message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
@@ -139,13 +140,18 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCPxImuFirmwareUpdate.ui \
     src/ui/QGCDataPlot2D.ui \
     src/ui/QGCRemoteControlView.ui \
+    src/ui/WaypointGlobalView.ui \
     src/ui/QMap3D.ui \
     src/ui/QGCWebView.ui \
     src/ui/map3D/QGCGoogleEarthView.ui \
     src/ui/map3D/QGCGoogleEarthViewWin.ui \
-    src/ui/map3D/QGCGoogleEarthControls.ui
+    src/ui/map3D/QGCGoogleEarthControls.ui \
+    src/ui/SlugsDataSensorView.ui \
+    src/ui/SlugsHilSim.ui \
+    src/ui/SlugsPIDControl.ui \
+    src/ui/SlugsVideoCamControl.ui \
+    src/ui/SlugsPadCameraControl.ui
 
-# src/ui/WaypointGlobalView.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -160,6 +166,7 @@ INCLUDEPATH += src \
     src/ui/param \
     src/ui/watchdog \
     src/ui/map3D
+
 HEADERS += src/MG.h \
     src/Core.h \
     src/uas/UASInterface.h \
@@ -236,8 +243,14 @@ HEADERS += src/MG.h \
     src/ui/RadioCalibration/AbstractCalibrator.h \
     src/comm/QGCMAVLink.h \
     src/ui/QGCWebView.h \
-    src/ui/map3D/QGCGoogleEarthView.h \
-    src/ui/map3D/QGCWebPage.h
+    src/ui/map3D/QGCWebPage.h \
+    src/ui/map3D/QGCGoogleEarthView.h\
+    src/ui/SlugsDataSensorView.h \
+    src/ui/SlugsHilSim.h \
+    src/ui/SlugsPIDControl.h \
+    src/ui/SlugsVideoCamControl.h \
+    src/ui/SlugsPadCameraControl.h
+
 contains(DEPENDENCIES_PRESENT, osg) { 
     message("Including headers for OpenSceneGraph")
     
@@ -269,6 +282,7 @@ contains(DEPENDENCIES_PRESENT, libfreenect) {
     # Enable only if libfreenect is available
     HEADERS += src/input/Freenect.h
 }
+
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -340,7 +354,12 @@ SOURCES += src/main.cc \
     src/ui/RadioCalibration/RadioCalibrationData.cc \
     src/ui/QGCWebView.cc \
     src/ui/map3D/QGCGoogleEarthView.cc \
-    src/ui/map3D/QGCWebPage.cc
+    src/ui/map3D/QGCWebPage.cc \
+    src/ui/SlugsDataSensorView.cc \
+    src/ui/SlugsHilSim.cc \
+    src/ui/SlugsPIDControl.cpp \
+    src/ui/SlugsVideoCamControl.cpp \
+    src/ui/SlugsPadCameraControl.cpp
 contains(DEPENDENCIES_PRESENT, osg) { 
     message("Including sources for OpenSceneGraph")
     
@@ -358,7 +377,9 @@ contains(DEPENDENCIES_PRESENT, osg) {
         src/ui/map3D/Texture.cc \
         src/ui/map3D/Imagery.cc \
         src/ui/map3D/HUDScaleGeode.cc \
-        src/ui/map3D/WaypointGroupNode.cc
+        src/ui/map3D/WaypointGroupNode.cc \
+
+
     contains(DEPENDENCIES_PRESENT, osgearth) { 
         message("Including sources for osgEarth")
         

src/Waypoint.cc

@@ -77,6 +77,7 @@ bool Waypoint::load(QTextStream &loadStream)
     return false;
 }
 
+
 void Waypoint::setId(quint16 id)
 {
     this->id = id;

src/Waypoint.h

@@ -63,6 +63,7 @@ public:
     void save(QTextStream &saveStream);
     bool load(QTextStream &loadStream);
 
+
 protected:
     quint16 id;
     float x;

src/comm/SerialLink.cc

@@ -64,7 +64,8 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
     // Set the port name
     if (porthandle == "")
     {
-        name = tr("serial link ") + QString::number(getId()) + tr(" (unconfigured)");
+//        name = tr("serial link ") + QString::number(getId()) + tr(" (unconfigured)");
+        name = tr("Serial Link ") + QString::number(getId());
     }
     else
     {
@@ -89,6 +90,7 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
 #else
     // *nix (Linux, MacOS tested) serial port support
     port = new QextSerialPort(porthandle, QextSerialPort::Polling);
+    //port = new QextSerialPort(porthandle, QextSerialPort::EventDriven);
     port->setTimeout(timeout); // Timeout of 0 ms, we don't want to wait for data, we just poll again next time
     port->setBaudRate(baudrate);
     port->setFlowControl(flow);

src/configuration.h

 #ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
+#include "mavlink.h"
+
 /** @brief Polling interval in ms */
-#define SERIAL_POLL_INTERVAL 2
+#ifdef MAVLINK_ENABLED_SLUGS
+  #define SERIAL_POLL_INTERVAL 7
+#else
+  #define SERIAL_POLL_INTERVAL 2
+#endif
 
 /** @brief Heartbeat emission rate, in Hertz (times per second) */
 #define MAVLINK_HEARTBEAT_DEFAULT_RATE 1

src/uas/SlugsMAV.h

@@ -25,7 +25,10 @@ This file is part of the QGROUNDCONTROL project
 #define SLUGSMAV_H
 
 #include "UAS.h"
+#include "mavlink.h"
+#include <QTimer>
 
+#define SLUGS_UPDATE_RATE   100   // in ms
 class SlugsMAV : public UAS
 {
     Q_OBJECT
@@ -36,6 +39,88 @@ public:
 public slots:
     /** @brief Receive a MAVLink message from this MAV */
     void receiveMessage(LinkInterface* link, mavlink_message_t message);
+
+    void emitSignals (void);
+
+
+
+signals:
+
+    void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
+
+#ifdef MAVLINK_ENABLED_SLUGS
+
+    void slugsCPULoad(int systemId, const mavlink_cpu_load_t& cpuLoad);
+    void slugsAirData(int systemId, const mavlink_air_data_t& airData);
+    void slugsSensorBias(int systemId, const mavlink_sensor_bias_t& sensorBias);
+    void slugsDiagnostic(int systemId, const mavlink_diagnostic_t& diagnostic);
+    void slugsPilotConsolePWM(int systemId, const mavlink_pilot_console_t& pilotConsole);
+    void slugsPWM(int systemId, const mavlink_pwm_commands_t& pwmCommands);
+    void slugsNavegation(int systemId, const mavlink_slugs_navigation_t& slugsNavigation);
+    void slugsDataLog(int systemId, const mavlink_data_log_t& dataLog);
+    void slugsFilteredData(int systemId, const mavlink_filtered_data_t& filteredData);
+    void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
+    void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
+
+    void slugsPidValues(int systemId, const mavlink_pid_t& pidValues);
+
+    void slugsBootMsg(int uasId, mavlink_boot_t& boot);
+    void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
+
+#endif
+
+protected:
+
+   typedef struct _mavlink_pid_values_t {
+         float P[11];
+         float I[11];
+         float D[11];
+     }mavlink_pid_values_t;
+
+   unsigned char updateRoundRobin;
+   QTimer* widgetTimer;
+
+
+   mavlink_raw_imu_t 			mlRawImuData;
+
+#ifdef MAVLINK_ENABLED_SLUGS
+   mavlink_gps_raw_t			mlGpsData;
+   mavlink_attitude_t           mlAttitude;
+   mavlink_cpu_load_t 			mlCpuLoadData;
+   mavlink_air_data_t 			mlAirData;
+   mavlink_sensor_bias_t 		mlSensorBiasData;
+   mavlink_diagnostic_t 		mlDiagnosticData;
+   mavlink_pilot_console_t 		mlPilotConsoleData;
+   mavlink_filtered_data_t 		mlFilteredData;
+   mavlink_boot_t 				mlBoot;
+   mavlink_gps_date_time_t 		mlGpsDateTime;
+   mavlink_mid_lvl_cmds_t 		mlMidLevelCommands;
+   mavlink_set_mode_t 			mlApMode;
+   mavlink_pwm_commands_t		mlPwmCommands;
+   mavlink_pid_values_t			mlPidValues;
+   mavlink_pid_t			mlSinglePid;
+
+   mavlink_slugs_navigation_t	mlNavigation;
+   mavlink_data_log_t			mlDataLog;
+   mavlink_ctrl_srfc_pt_t		mlPassthrough;
+   mavlink_action_ack_t			mlActionAck;
+
+   mavlink_slugs_action_t		mlAction;
+
+
+
+
+   // Standart messages MAVLINK used by SLUGS
+private:
+
+
+   void emitGpsSignals (void);
+   void emitPidSignal(void);
+
+   int uasId;
+
+#endif // if SLUGS
+
 };
 
 #endif // SLUGSMAV_H

src/uas/UAS.cc

@@ -637,12 +637,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN; ++i)
                     throttle << radioMsg.throttle[i];
 
-                QPointer<RadioCalibrationData> radioData = new RadioCalibrationData(aileron,
-                                                                                    elevator,
-                                                                                    rudder,
-                                                                                    gyro,
-                                                                                    pitch,
-                                                                                    throttle);
+                QPointer<RadioCalibrationData> radioData = new RadioCalibrationData(aileron, elevator, rudder, gyro, pitch, throttle);
                 emit radioCalibrationReceived(radioData);
                 delete radioData;
             }

src/uas/UASInterface.h

@@ -391,6 +391,11 @@ signals:
      * @param fix 0: No IR/Ultrasound sensor, N > 0: Found N active sensors
      */
     void irUltraSoundLocalizationChanged(UASInterface* uas, int fix);
+
+
+
+
+
 };
 
 Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0");

src/uas/UASWaypointManager.cc

@@ -154,6 +154,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
                 current_partner_compid = 0;
 
                 protocol_timer.stop();
+                emit readGlobalWPFromUAS(false);
                 emit updateStatusString("done.");
 
                 qDebug() << "got all waypoints from ID " << systemId;
@@ -295,6 +296,7 @@ void UASWaypointManager::addWaypoint(Waypoint *wp)
     {
         wp->setId(waypoints.size());
         waypoints.insert(waypoints.size(), wp);
+
         emit waypointListChanged();
     }
 }
@@ -384,7 +386,20 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
     }
     file.close();
 
+    emit loadWPFile();
     emit waypointListChanged();
+
+}
+
+
+void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
+{
+
+}
+
+int UASWaypointManager::globalRemoveWaypoint(quint16 seq)
+{
+    return 0;
 }
 
 void UASWaypointManager::clearWaypointList()
@@ -405,6 +420,7 @@ void UASWaypointManager::clearWaypointList()
 
 void UASWaypointManager::readWaypoints()
 {
+    emit readGlobalWPFromUAS(true);
     if(current_state == WP_IDLE)
     {
         while(waypoints.size()>0)
@@ -412,6 +428,7 @@ void UASWaypointManager::readWaypoints()
             Waypoint *t = waypoints.back();
             delete t;
             waypoints.pop_back();
+
         }
 
         protocol_timer.start(PROTOCOL_TIMEOUT_MS);
@@ -423,6 +440,7 @@ void UASWaypointManager::readWaypoints()
         current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
 
         sendWaypointRequestList();
+
     }
 }
 
@@ -532,6 +550,7 @@ void UASWaypointManager::sendWaypointCount()
     wpc.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
     wpc.count = current_count;
 
+    qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system;
     emit updateStatusString(QString("start transmitting waypoints..."));
 
     mavlink_msg_waypoint_count_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpc);
@@ -556,6 +575,8 @@ void UASWaypointManager::sendWaypointRequestList()
     MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000);
 
     qDebug() << "sent waypoint list request to ID " << wprl.target_system;
+
+
 }
 
 void UASWaypointManager::sendWaypointRequest(quint16 seq)

src/uas/UASWaypointManager.h

@@ -91,6 +91,19 @@ public:
     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 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
+
+    /*@}*/
+
+    /** @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:
@@ -113,6 +126,9 @@ signals:
     void currentWaypointChanged(quint16);           ///< emits the new current waypoint sequence number
     void updateStatusString(const QString &);       ///< emits the current status string
 
+    void loadWPFile();                                ///< emits signal that a file wp has been load
+    void readGlobalWPFromUAS(bool value);                            ///< emits signal when finish to read Global WP from UAS
+
 private:
     UAS &uas;                                       ///< Reference to the corresponding UAS
     quint32 current_retries;                        ///< The current number of retries left

src/ui/MainWindow.h

@@ -64,8 +64,16 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCDataPlot2D.h"
 #include "QGCRemoteControlView.h"
 #include "QGCGoogleEarthView.h"
+//#include "QMap3DWidget.h"
+#include "SlugsDataSensorView.h"
 #include "LogCompressor.h"
 
+#include "SlugsPIDControl.h"
+
+#include "slugshilsim.h"
+
+#include "SlugsVideoCamControl.h"
+
 
 /**
  * @brief Main Application Window
@@ -188,6 +196,11 @@ protected:
     QPointer<QDockWidget> headUpDockWidget;
     QPointer<QDockWidget> hsiDockWidget;
     QPointer<QDockWidget> rcViewDockWidget;
+    QPointer<QDockWidget> slugsDataWidget;
+    QPointer<QDockWidget> slugsPIDControlWidget;
+    QPointer<QDockWidget> slugsHilSimWidget;
+    QPointer<QDockWidget> slugsCamControlWidget;
+
 
     // Popup widgets
     JoystickWidget* joystickWidget;

src/ui/MainWindow.ui

@@ -84,6 +84,7 @@
     <addaction name="actionShow_data_analysis_view"/>
     <addaction name="actionShow_full_view"/>
     <addaction name="actionStyleConfig"/>
+    <addaction name="actionShow_Slugs_View"/>
    </widget>
    <widget class="QMenu" name="menuHelp">
     <property name="title">
@@ -338,6 +339,15 @@
     <string>Google Earth View</string>
    </property>
   </action>
+  <action name="actionShow_Slugs_View">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/contrib/slugs.png</normaloff>:/images/contrib/slugs.png</iconset>
+   </property>
+   <property name="text">
+    <string>Show Slugs View</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/ui/MapWidget.cc

@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QComboBox>
 #include <QGridLayout>
 
+
 #include "MapWidget.h"
 #include "ui_MapWidget.h"
 #include "UASInterface.h"
@@ -42,6 +43,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "MG.h"
 
+
 MapWidget::MapWidget(QWidget *parent) :
         QWidget(parent),
         zoomLevel(0),
@@ -84,6 +86,8 @@ MapWidget::MapWidget(QWidget *parent) :
     geomLayer = new qmapcontrol::GeometryLayer("Waypoints", mapadapter);
     mc->addLayer(geomLayer);
 
+
+
 //
 //    Layer* gsatLayer = new Layer("Google Satellite", gsat, Layer::MapLayer);
 //    mc->addLayer(gsatLayer);
@@ -218,6 +222,19 @@ MapWidget::MapWidget(QWidget *parent) :
     path = new qmapcontrol::LineString (wps, "UAV Path", pointPen);
     mc->layer("Waypoints")->addGeometry(path);
 
+    //Camera Control
+    // CAMERA INDICATOR LAYER
+    // create a layer with the mapadapter and type GeometryLayer (for camera indicator)
+    camLayer = new qmapcontrol::GeometryLayer("Camera", mapadapter);
+    mc->addLayer(camLayer);
+
+    //camLine = new qmapcontrol::LineString(camPoints,"Camera Eje", camBorderPen);
+
+    drawCamBorder = false;
+    radioCamera = 10;
+
+
+
     this->setVisible(false);
 }
 
@@ -340,10 +357,19 @@ void MapWidget::createPathButtonClicked(bool checked)
 
 }
 
+/**
+ * Captures a click on the map and if in create WP path mode, it adds the WP on MouseButtonRelease
+ *
+ * @param event The mouse event
+ * @param coordinate The coordinate in which it occured the mouse event
+ * @note  This slot is connected to the mouseEventCoordinate of the QMapControl object
+ */
 
 void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate)
 {
 
+  qDebug() << mc->mouseMode();
+
   if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked())
     {
     // Create waypoint name
@@ -381,13 +407,27 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
 
 void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
 {
+  if (!wpExists(coordinate)){
     // Create waypoint name
     QString str;
 
+
     str = QString("%1").arg(path->numberOfPoints());
 
     // create the WP and set everything in the LineString to display the path
-    CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
+    //CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
+    Waypoint2DIcon* tempCirclePoint;
+
+    if (mav)
+    {
+        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
+    }
+    else
+    {
+        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
+    }
+
+
     mc->layer("Waypoints")->addGeometry(tempCirclePoint);
 
     Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
@@ -395,14 +435,27 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
     path->addPoint(tempPoint);
 
     wpIndex.insert(str,tempPoint);
+        qDebug()<<"Funcion createWaypointGraphAtMap WP= "<<str<<" -> x= "<<tempPoint->latitude()<<" y= "<<tempPoint->longitude();
 
-    // Refresh the screen
+        // Refresh the screen
     mc->updateRequestNew();
+  }
 
 ////    // emit signal mouse was clicked
 //    emit captureMapCoordinateClick(coordinate);
 }
 
+int MapWidget::wpExists(const QPointF coordinate){
+  for (int i = 0; i < wps.size(); i++){
+    if (wps.at(i)->latitude() == coordinate.y() &&
+        wps.at(i)->longitude()== coordinate.x()){
+      return 1;
+    }
+  }
+  return 0;
+}
+
+
 void MapWidget::captureGeometryClick(Geometry* geom, QPoint point)
 {
   Q_UNUSED(geom);
@@ -414,7 +467,7 @@ void MapWidget::captureGeometryClick(Geometry* geom, QPoint point)
 
 void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate)
 {
-  Q_UNUSED(coordinate);
+
 
   waypointIsDrag = true;
 
@@ -445,13 +498,15 @@ void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate)
 
 void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
 {
-    waypointIsDrag = false;
 
+  // TODO: Investigate why when creating the waypoint path this slot is being called
+
+  // Only change the mouse mode back to panning when not creating a WP path
+  if (!createPath->isChecked()){
+    waypointIsDrag = false;
     mc->setMouseMode(qmapcontrol::MapControl::Panning);
+  }
 
-//  qDebug() << geom->name();
-//  qDebug() << geom->GeometryType;
-//  qDebug() << point;
 }
 
 MapWidget::~MapWidget()
@@ -580,6 +635,10 @@ void MapWidget::wheelEvent(QWheelEvent *event)
     // Detail zoom level is the number of steps zoomed in further
     // after the bounding has taken effect
     detailZoom = qAbs(qMin(0, mc->currentZoom()-newZoom));
+
+    // visual field of camera
+     updateCameraPosition(20*newZoom,0,"no");
+
 }
 
 void MapWidget::keyPressEvent(QKeyEvent *event)
@@ -669,3 +728,68 @@ void MapWidget::changeGlobalWaypointPositionBySpinBox(int index, float lat, floa
 
 }
 
+void MapWidget::updateCameraPosition(double radio, double bearing, QString dir)
+{
+    //camPoints.clear();
+    QPointF currentPos = mc->currentCoordinate();
+//    QPointF actualPos = getPointxBearing_Range(currentPos.y(),currentPos.x(),bearing,distance);
+
+//    qmapcontrol::Point* tempPoint1 = new qmapcontrol::Point(currentPos.x(), currentPos.y(),"inicial",qmapcontrol::Point::Middle);
+//    qmapcontrol::Point* tempPoint2 = new qmapcontrol::Point(actualPos.x(), actualPos.y(),"final",qmapcontrol::Point::Middle);
+
+//    camPoints.append(tempPoint1);
+//    camPoints.append(tempPoint2);
+
+//    camLine->setPoints(camPoints);
+
+     QPen* camBorderPen = new QPen(QColor(255,0,0));
+    camBorderPen->setWidth(2);
+
+    //radio = mc->currentZoom()
+
+    if(drawCamBorder)
+    {
+        //clear camera borders
+        mc->layer("Camera")->clearGeometries();
+
+        //create a camera borders
+        qmapcontrol::CirclePoint* camBorder = new qmapcontrol::CirclePoint(currentPos.x(), currentPos.y(), radio, "camBorder", qmapcontrol::Point::Middle, camBorderPen);
+
+       //camBorder->setCoordinate(currentPos);
+
+        mc->layer("Camera")->addGeometry(camBorder);
+       // mc->layer("Camera")->addGeometry(camLine);
+        mc->updateRequestNew();
+
+    }
+   else
+   {
+       //clear camera borders
+       mc->layer("Camera")->clearGeometries();
+       mc->updateRequestNew();
+
+   }
+
+
+}
+
+void MapWidget::drawBorderCamAtMap(bool status)
+{
+    drawCamBorder = status;
+    updateCameraPosition(20,0,"no");
+
+}
+
+QPointF MapWidget::getPointxBearing_Range(double lat1, double lon1, double bearing, double distance)
+{
+    QPointF temp;
+
+    double rad = M_PI/180;
+
+    bearing = bearing*rad;
+    temp.setX((lon1 + ((distance/60) * (sin(bearing)))));
+    temp.setY((lat1 + ((distance/60) * (cos(bearing)))));
+
+    return temp;
+}
+

src/ui/MapWidget.h

@@ -37,6 +37,11 @@ This file is part of the QGROUNDCONTROL project
 #include <QMap>
 #include "qmapcontrol.h"
 #include "UASInterface.h"
+#include "QPointF"
+
+#include <qmath.h>
+
+
 
 class QMenu;
 
@@ -63,10 +68,13 @@ public slots:
     void activeUASSet(UASInterface* uas);
     void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
     void updatePosition(float time, double lat, double lon);
+    void updateCameraPosition(double distance, double bearing, QString dir);
+    QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
 
     //ROCA
     void clearPath();
     void changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon);
+    void drawBorderCamAtMap(bool status);
 
 protected:
     void changeEvent(QEvent* e);
@@ -93,6 +101,10 @@ protected:
     qmapcontrol::Layer* l;            ///< Current map layer (background)
     qmapcontrol::Layer* overlay;      ///< Street overlay (foreground)
     qmapcontrol::GeometryLayer* geomLayer; ///< Layer for waypoints
+
+    //only for experiment
+    qmapcontrol::GeometryLayer* camLayer; ///< Layer for camera indicator
+
     int zoomLevel;
     int detailZoom; ///< Steps zoomed in further than qMapControl allows
     static const int scrollStep = 40; ///< Scroll n pixels per keypress
@@ -107,13 +119,15 @@ protected:
 
   protected slots:
     void captureMapClick (const QMouseEvent* event, const QPointF coordinate);
-    void createWaypointGraphAtMap (const QPointF coordinate);
-    void createPathButtonClicked(bool checked);
     void captureGeometryClick(Geometry*, QPoint);
-    void mapproviderSelected(QAction* action);
     void captureGeometryDrag(Geometry* geom, QPointF coordinate);
     void captureGeometryEndDrag(Geometry* geom, QPointF coordinate);
 
+    void createPathButtonClicked(bool checked);
+
+    void createWaypointGraphAtMap (const QPointF coordinate);
+    void mapproviderSelected(QAction* action);
+
 
 
 
@@ -130,7 +144,16 @@ private:
     QHash <QString, qmapcontrol::Point*> wpIndex;
     qmapcontrol::LineString* path;
     QPen* pointPen;
+    int wpExists(const QPointF coordinate);
     bool waypointIsDrag;
+
+
+    qmapcontrol::LineString* camLine;
+    QList<qmapcontrol::Point*> camPoints;
+    QPointF lastCamBorderPos;
+    bool drawCamBorder;
+    int radioCamera;
+
 };
 
 #endif // MAPWIDGET_H

src/ui/SlugsDataSensorView.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 Grpahical presentation of SLUGS generated data
+ *
+ *   @author Juan F. Robles  <jfroblesc@gmail.com>
+ *
+ */
+
+#ifndef SLUGSDATASENSORVIEW_H
+#define SLUGSDATASENSORVIEW_H
+
+#include <QWidget>
+
+#include "UASInterface.h"
+#include "SlugsMAV.h"
+#include "mavlink.h"
+
+
+namespace Ui {
+    class SlugsDataSensorView;
+}
+
+class SlugsDataSensorView : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit SlugsDataSensorView(QWidget *parent = 0);
+    ~SlugsDataSensorView();
+
+public slots:
+    /**
+         * @brief Adds the UAS for data display
+         *
+         * Adds the UAS and makes all the correct connections for data display on the Widgets. If
+         * there is no current UAS active, it sets it as active.
+
+         * @param uas The UAS being added
+    */
+    void addUAS(UASInterface* uas);
+
+    /**
+         * @brief Sets the UAS as active
+         *
+         * @param uas The UAS being set as active
+    */
+    void setActiveUAS(UASInterface* uas);
+
+
+    void slugRawDataChanged (int uasId, const mavlink_raw_imu_t& rawData);
+
+#ifdef MAVLINK_ENABLED_SLUGS
+    /**
+         * @brief Adds the UAS for data display
+         *
+         * Adds the UAS and makes all the correct connections for data display on the Widgets
+    */
+    void slugLocalPositionChanged(UASInterface* uas,
+                                  double x,
+                                  double y,
+                                  double z,
+                                  quint64 time);
+    /**
+         * @brief Adds the UAS for data display
+         *
+         * Adds the UAS and makes all the correct connections for data display on the Widgets
+    */
+    void slugSpeedLocalPositionChanged(UASInterface* uas,
+                                       double vx,
+                                       double vy,
+                                       double vz,
+                                       quint64 time);
+    /**
+         * @brief Adds the UAS for data display
+         *
+         * Adds the UAS and makes all the correct connections for data display on the Widgets
+    */
+    void slugAttitudeChanged(UASInterface* uas,
+                             double slugroll,
+                             double slugpitch,
+                             double slugyaw,
+                             quint64 time);
+
+    /**
+         * @brief Adds the UAS for data display
+         *
+         * Adds the UAS and makes all the correct connections for data display on the Widgets
+    */
+    void slugsGlobalPositionChanged(UASInterface* uas,
+                                    double lat,
+                                    double lon,
+                                    double alt,
+                                    quint64 time);
+    /**
+         * @brief Updates the sensor bias widget
+    */
+    void slugsSensorBiasChanged(int systemId,
+                                const mavlink_sensor_bias_t& sensorBias);
+
+    /**
+         * @brief Updates the diagnostic widget
+    */
+    void slugsDiagnosticMessageChanged(int systemId,
+                                       const mavlink_diagnostic_t& diagnostic);
+
+    /**
+         * @brief Updates the CPU load widget
+    */
+    void slugsCpuLoadChanged(int systemId,
+                             const mavlink_cpu_load_t& cpuLoad);
+
+
+    /**
+         * @brief Updates the Navigation widget
+    */
+    void slugsNavegationChanged(int systemId,
+                                const mavlink_slugs_navigation_t& slugsNavigation);
+
+    /**
+         * @brief Updates the Data Log widget
+    */
+   void  slugsDataLogChanged(int systemId,
+                             const mavlink_data_log_t& dataLog);
+
+   /**
+        * @brief Updates the PWM Commands widget
+   */
+   void slugsPWMChanged(int systemId,
+                        const mavlink_pwm_commands_t& pwmCommands);
+
+   /**
+        * @brief Updates the filtered sensor measurements widget
+   */
+   void slugsFilteredDataChanged(int systemId,
+                                 const mavlink_filtered_data_t& filteredData);
+
+
+   /**
+        * @brief Updates the gps Date Time widget
+   */
+    void slugsGPSDateTimeChanged(int systemId,
+                                 const mavlink_gps_date_time_t& gpsDateTime);
+
+
+
+#endif // MAVLINK_ENABLED_SLUGS
+
+protected:
+     UASInterface* activeUAS;
+
+private:
+    Ui::SlugsDataSensorView *ui;
+
+
+
+
+
+
+
+};
+
+#endif // SLUGSDATASENSORVIEW_H

src/ui/SlugsPIDControl.h

+#ifndef SLUGSPIDCONTROL_H
+#define SLUGSPIDCONTROL_H
+
+#include <QWidget>
+#include<QGroupBox>
+#include "UASInterface.h"
+#include "QGCMAVLink.h"
+#include "SlugsMAV.h"
+#include "mavlink.h"
+#include <QTimer>
+#include <QMutex>
+
+namespace Ui {
+    class SlugsPIDControl;
+}
+
+class SlugsPIDControl : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit SlugsPIDControl(QWidget *parent = 0);
+    ~SlugsPIDControl();
+
+public slots:
+
+    /**
+     * @brief Called when the a new UAS is set to active.
+     *
+     * Called when the a new UAS is set to active.
+     *
+     * @param uas The new active UAS
+     */
+    void activeUasSet(UASInterface* uas);
+
+    /**
+     */
+    void setRedColorStyle();
+    /**
+     * @brief Set color StyleSheet GREEN
+     *
+     * @param
+     */
+    void setGreenColorStyle();
+
+    /**
+     * @brief Connect Set pushButtons to change the color GroupBox
+     *
+     * @param
+     */
+    void connect_set_pushButtons();
+
+    /**
+     * @brief Connect Set pushButtons to change the color GroupBox
+     *
+     * @param
+     */
+    void connect_get_pushButtons();
+
+    /**
+     * @brief Connect Edition Lines for PID Values
+     *
+     * @param
+     */
+    void connect_editLinesPDIvalues();
+
+    /**
+     * @brief send a PDI request message to UAS
+     *
+     * @param
+     */
+    void sendMessagePIDStatus(int PIDtype);
+
+// Fuctions for Air Speed GroupBox
+    /**
+     * @brief Change color style to red when PID values of Air Speed are edited
+     *
+     *
+     * @param
+     */
+    void changeColor_RED_AirSpeed_groupBox(QString text);
+    /**
+     * @brief Change color style to green when PID values of Air Speed are send to UAS
+     *
+     * @param
+     */
+    void changeColor_GREEN_AirSpeed_groupBox();
+    /**
+     * @brief Connects the SIGNALS from the editline to SLOT changeColor_RED_AirSpeed_groupBox()
+     *
+     * @param
+     */
+    void connect_AirSpeed_LineEdit();
+    /**
+     * @brief get message PID Air Speed(loop index = 0) from UAS
+     *
+     * @param
+     */
+    void get_AirSpeed_PID();
+
+
+// Functions for Pitch Followei GroupBox
+    /**
+     * @brief Change color style to red when PID values of Pitch Followei are edited
+     *
+     *
+     * @param
+     */
+     void changeColor_RED_PitchFollowei_groupBox(QString text);
+     /**
+         * @brief Change color style to green when PID values of Pitch Followei are send to UAS
+         *
+         * @param
+         */
+     void changeColor_GREEN_PitchFollowei_groupBox();
+     /**
+         * @brief Connects the SIGNALS from the editline to SLOT PitchFlowei_groupBox
+         *
+         * @param
+         */
+     void connect_PitchFollowei_LineEdit();
+     /**
+      * @brief get message PID Pitch Followei(loop index = 2) from UAS
+      *
+      * @param
+      */
+     void get_PitchFollowei_PID();
+
+
+     // Functions for Roll Control GroupBox
+     /**
+          * @brief Change color style to red when PID values of Roll Control are edited
+          *
+          *
+          * @param
+          */
+     void changeColor_RED_RollControl_groupBox(QString text);
+     /**
+              * @brief Change color style to green when PID values of Roll Control are send to UAS
+              *
+              * @param
+              */
+     void changeColor_GREEN_RollControl_groupBox();
+     /**
+              * @brief Connects the SIGNALS from the editline to SLOT RollControl_groupBox
+              *
+              * @param
+              */
+     void connect_RollControl_LineEdit();
+     /**
+      * @brief get message PID Roll Control(loop index = 4) from UAS
+      *
+      * @param
+      */
+     void get_RollControl_PID();
+
+
+     // Functions for Heigth Error GroupBox
+     /**
+          * @brief Change color style to red when PID values of Heigth Error are edited
+          *
+          *
+          * @param
+          */
+     void changeColor_RED_HeigthError_groupBox(QString text);
+     /**
+              * @brief Change color style to green when PID values of Heigth Error are send to UAS
+              *
+              * @param
+              */
+     void changeColor_GREEN_HeigthError_groupBox();
+     /**
+              * @brief Connects the SIGNALS from the editline to SLOT HeigthError_groupBox
+              *
+              * @param
+              */
+     void connect_HeigthError_LineEdit();
+     /**
+      * @brief get message PID Heigth Error(loop index = 1) from UAS
+      *
+      * @param
+      */
+     void get_HeigthError_PID();
+
+     // Functions for Yaw Damper GroupBox
+     /**
+          * @brief Change color style to red when PID values of Yaw Damper are edited
+          *
+          *
+          * @param
+          */
+     void changeColor_RED_YawDamper_groupBox(QString text);
+     /**
+              * @brief Change color style to green when PID values of Yaw Damper are send to UAS
+              *
+              * @param
+              */
+     void changeColor_GREEN_YawDamper_groupBox();
+     /**
+              * @brief Connects the SIGNALS from the editline to SLOT YawDamper_groupBox
+              *
+              * @param
+              */
+     void connect_YawDamper_LineEdit();
+     /**
+      * @brief get message PID Yaw Damper(loop index = 3) from UAS
+      *
+      * @param
+      */
+     void get_YawDamper_PID();
+
+
+
+     // Functions for Pitch to dT GroupBox
+     /**
+          * @brief Change color style to red when PID values of Pitch to dT are edited
+          *
+          *
+          * @param
+          */
+     void changeColor_RED_Pitch2dT_groupBox(QString text);
+     /**
+              * @brief Change color style to green when PID values of Pitch to dT are send to UAS
+              *
+              * @param
+              */
+     void changeColor_GREEN_Pitch2dT_groupBox();
+     /**
+              * @brief Connects the SIGNALS from the editline to SLOT Pitch2dT_groupBox
+              *
+              * @param
+              */
+     void connect_Pitch2dT_LineEdit();
+     /**
+      * @brief get message PID Pitch2dT(loop index = 8) from UAS
+      *
+      * @param
+      */
+     void get_Pitch2dT_PID();
+
+     /**
+          * @brief get and updates the values on widget
+     */
+      void slugsGetGeneral();
+      /**
+           * @brief Sent all values to UAS
+      */
+       void slugsSetGeneral();
+
+       void slugsTimerStartSet();
+       void slugsTimerStartGet();
+       void slugsTimerStop();
+
+
+
+     //Create, send and get Messages PID
+    // void createMessagePID();
+#ifdef MAVLINK_ENABLED_SLUGS
+
+     void recibeMensaje(int systemId, const mavlink_action_ack_t& action);
+     void receivePidValues(int systemId, const mavlink_pid_t& pidValues);
+
+#endif // MAVLINK_ENABLED_SLUG
+
+private:
+    Ui::SlugsPIDControl *ui;
+
+     UASInterface* activeUAS;
+     int systemId;
+
+    bool change_dT;
+
+
+    //Color Styles
+    QString REDcolorStyle;
+    QString GREENcolorStyle;
+    QString ORIGINcolorStyle;
+
+    //SlugsMav Message
+    #ifdef MAVLINK_ENABLED_SLUGS
+    mavlink_pid_t pidMessage;
+    mavlink_slugs_action_t actionSlugs;
+#endif
+
+    QTimer* refreshTimerSet;      ///< The main timer, controls the update view
+     QTimer* refreshTimerGet;      ///< The main timer, controls the update view
+    int counterRefreshSet;
+    int counterRefreshGet;
+     QMutex valuesMutex;
+};
+
+#endif // SLUGSPIDCONTROL_H

src/ui/SlugsPadCameraControl.cpp

+#include "SlugsPadCameraControl.h"
+#include "ui_SlugsPadCameraControl.h"
+#include <QMouseEvent>
+#include <QDebug>
+#include <qmath.h>
+#include <QPainter>
+
+SlugsPadCameraControl::SlugsPadCameraControl(QWidget *parent) :
+   QWidget(parent), //QGraphicsView(parent),
+    ui(new Ui::SlugsPadCameraControl),
+     dragging(0)
+{
+    ui->setupUi(this);
+    x1= 0;
+    y1 = 0;
+
+}
+
+SlugsPadCameraControl::~SlugsPadCameraControl()
+{
+    delete ui;
+}
+
+void SlugsPadCameraControl::mouseMoveEvent(QMouseEvent *event)
+{
+    emit mouseMoveCoord(event->x(),event->y());
+
+}
+
+void SlugsPadCameraControl::mousePressEvent(QMouseEvent *event)
+{
+    emit mousePressCoord(event->x(),event->y());
+    x1 = event->x();
+    y1 = event->y();
+
+}
+
+void SlugsPadCameraControl::mouseReleaseEvent(QMouseEvent *event)
+{
+    emit mouseReleaseCoord(event->x(),event->y());
+    getDeltaPositionPad(event->x(), event->y());
+
+}
+
+void SlugsPadCameraControl::paintEvent(QPaintEvent *pe)
+{
+    Q_UNUSED(pe);
+    QPainter painter(this);
+    painter.setPen(Qt::blue);
+    painter.setFont(QFont("Arial", 30));
+
+//    QRectF rectangle(tL.x(), tL.y(), ui->padCamContro_frame->width(), ui->padCamContro_frame->height());
+//     int startAngle = 30 * 16;
+//     int spanAngle = 120 * 16;
+
+    painter.drawLine(QPoint(ui->frame->width()/2,ui->frame->geometry().topLeft().y()),
+                     QPoint(ui->frame->width()/2,ui->frame->geometry().bottomRight().y()));
+
+    painter.drawLine(QPoint(ui->frame->geometry().topLeft().x(),ui->frame->height()/2),
+                     QPoint(ui->frame->geometry().bottomRight().x(),ui->frame->height()/2));
+
+
+   // painter.drawLine(QPoint());
+    //painter.drawLines(padLines);
+
+
+    // painter.drawPie(rectangle, startAngle, spanAngle);
+
+    //painter.drawText(rect(), Qt::AlignCenter, "Qt");
+}
+
+void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
+{
+
+    QString dir = "nd";
+    QPointF localMeasures = ObtenerMarcacionDistanciaPixel(y1,x1,y2,x2);
+
+    double bearing = localMeasures.x();
+    double dist = getDistPixel(y1,x1,y2,x2);
+
+
+
+    if(((bearing > 330)&&(bearing < 360)) || ((bearing >= 0)&&(bearing <= 30)))
+    {
+         emit dirCursorText("up");
+        //bearing = 315;
+        dir = "up";
+    }
+    else
+    {
+        if((bearing > 30)&&(bearing <= 60) )
+        {
+            emit dirCursorText("right up");
+            //bearing = 315;
+            dir = "riht up";
+        }
+        else
+        {
+            if((bearing > 60)&&(bearing <= 105) )
+            {
+               emit dirCursorText("right");
+                //bearing = 315;
+                dir = "riht";
+            }
+            else
+            {
+                if((bearing > 105)&&(bearing <= 150) )
+                {
+                   emit dirCursorText("right down");
+                    //bearing = 315;
+                    dir = "riht down";
+                }
+                else
+                {
+                    if((bearing > 150)&&(bearing <= 195) )
+                    {
+                       emit dirCursorText("down");
+                        //bearing = 315;
+                        dir = "down";
+                    }
+                    else
+                    {
+                        if((bearing > 195)&&(bearing <= 240) )
+                        {
+                            emit dirCursorText("left down");
+                            //bearing = 315;
+                            dir = "left down";
+                        }
+                        else
+                        {
+                            if((bearing > 240)&&(bearing <= 300) )
+                            {
+                               emit dirCursorText("left");
+                                //bearing = 315;
+                                dir = "left";
+                            }
+                            else
+                            {
+                                if((bearing > 300)&&(bearing <= 330) )
+                                {
+                                    emit dirCursorText("left up");
+                                    //bearing = 315;
+                                    dir = "left up";
+                                }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+
+    emit changeCursorPosition(bearing, dist, dir);
+
+}
+
+double SlugsPadCameraControl::getDistPixel(int x1, int y1, int x2, int y2)
+{
+    double cateto_opuesto,cateto_adyacente;
+     //latitud y longitud del primer punto
+
+
+    cateto_opuesto = abs((x1-x2)); //diferencia de latitudes entre PCR1 y PCR2
+    cateto_adyacente = abs((y1-y2));//diferencia de longitudes entre PCR1 y PCR2
+
+    return  sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2));
+
+      // distancia = (float) hipotenusa;
+}
+
+/**
+                * Esta funcin xxxxxxxxx
+                * @param double lat1 -->
+                * @param double lon1 -->
+                * @param double lat2 -->
+                * @param double lon2 -->
+                * @param ref double rumbo -->
+                * @param ref double distancia -->
+                */
+QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2)
+{
+    double cateto_opuesto,cateto_adyacente, hipotenusa, distancia, marcacion;
+
+    //latitude and longitude first point
+
+    if(lat1<0) lat1= lat1*(-1);
+    if(lat2<0) lat2= lat2*(-1);
+    if(lon1<0) lon1= lon1*(-1);
+    if(lon2<0) lon1= lon1*(-1);
+
+    cateto_opuesto = abs((lat1-lat2));
+    cateto_adyacente = abs((lon1-lon2));
+
+    hipotenusa = sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2));
+    distancia = hipotenusa*60;
+
+
+    if ((lat1 < lat2) && (lon1 > lon2)) //primer cuadrante
+        marcacion = 360 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
+    else if ((lat1 < lat2) && (lon1 < lon2)) //segundo cuadrante
+        marcacion = (asin(cateto_adyacente/hipotenusa))/ 0.017453292;
+    else if((lat1 > lat2) && (lon1 < lon2)) //tercer cuadrante
+        marcacion = 180 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
+    else if((lat1 > lat2) && (lon1 > lon2)) //cuarto cuadrante
+        marcacion = 180 +((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
+    else if((lat1 < lat2) && (lon1 == lon2)) //360
+        marcacion = 360;
+    else if((lat1 == lat2) && (lon1 > lon2)) //270
+        marcacion = 270;
+    else if((lat1 > lat2) && (lon1 == lon2)) //180
+        marcacion = 180;
+    else if((lat1 == lat2) && (lon1 < lon2)) //90
+        marcacion =90;
+    else if((lat1 == lat2) && (lon1 == lon2)) //0
+        marcacion = 0.0;
+
+    // this only convert real bearing to frame widget bearing
+    marcacion = marcacion +90;
+    if(marcacion>= 360) marcacion = marcacion - 360;
+
+    return QPointF(marcacion,distancia);
+
+}

src/ui/SlugsPadCameraControl.h

+#ifndef SLUGSPADCAMERACONTROL_H
+#define SLUGSPADCAMERACONTROL_H
+
+#include <QWidget>
+#include <QGraphicsView>
+
+namespace Ui {
+    class SlugsPadCameraControl;
+}
+
+class SlugsPadCameraControl : public QWidget //QGraphicsView//
+{
+    Q_OBJECT
+
+public:
+    explicit SlugsPadCameraControl(QWidget *parent = 0);
+
+    ~SlugsPadCameraControl();
+
+public slots:
+    void getDeltaPositionPad(int x, int y);
+    double getDistPixel(int x1, int y1, int x2, int y2);
+    QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2);
+
+signals:
+    void mouseMoveCoord(int x, int y);
+    void mousePressCoord(int x, int y);
+    void mouseReleaseCoord(int x, int y);
+    void dirCursorText(QString dir);
+    void distance_Bearing(double dist, double bearing);
+     void changeCursorPosition(double bearing, double distance, QString textDir);
+
+protected:
+    void mousePressEvent(QMouseEvent* event);
+    void mouseReleaseEvent(QMouseEvent* event);
+    void mouseMoveEvent(QMouseEvent* event);
+    void paintEvent(QPaintEvent *pe);
+
+private:
+    Ui::SlugsPadCameraControl *ui;
+      bool dragging;
+      int x1;
+      int y1;
+
+};
+
+#endif // SLUGSPADCAMERACONTROL_H

src/ui/SlugsPadCameraControl.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>SlugsPadCameraControl</class>
+ <widget class="QWidget" name="SlugsPadCameraControl">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>183</width>
+    <height>127</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">background-color: rgb(255, 170, 0);</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="margin">
+    <number>1</number>
+   </property>
+   <property name="spacing">
+    <number>1</number>
+   </property>
+   <item row="0" column="0">
+    <widget class="QFrame" name="frame">
+     <property name="minimumSize">
+      <size>
+       <width>181</width>
+       <height>125</height>
+      </size>
+     </property>
+     <property name="mouseTracking">
+      <bool>true</bool>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: rgba(255, 0, 0,50%);</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/SlugsVideoCamControl.cpp

+#include "SlugsVideoCamControl.h"
+#include "ui_SlugsVideoCamControl.h"
+
+#include <QGraphicsScene>
+#include <QGraphicsTextItem>
+#include <QTextStream>
+#include <QScrollBar>
+#include <QMouseEvent>
+#include <QWheelEvent>
+#include <QDebug>
+#include <qmath.h>
+#include <QPainter>
+#include <QGridLayout>
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+#include <QPushButton>
+#include "SlugsPadCameraControl.h"
+
+
+SlugsVideoCamControl::SlugsVideoCamControl(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::SlugsVideoCamControl)
+    //dragging(0)
+
+{
+    ui->setupUi(this);
+//   x1= 0;
+//   y1 = 0;
+    connect(ui->viewCamBordeatMap_checkBox,SIGNAL(clicked(bool)),this,SLOT(changeViewCamBorderAtMapStatus(bool)));
+//    tL = ui->padCamContro_frame->frameGeometry().topLeft();
+//    bR = ui->padCamContro_frame->frameGeometry().bottomRight();
+    //ui->padCamContro_frame->setVisible(true);
+
+//    // create a layout for camera pad
+//    QGridLayout* padCameraLayout = new QGridLayout(this);
+//    padCameraLayout->setSpacing(2);
+//    padCameraLayout->setMargin(0);
+//    padCameraLayout->setAlignment(Qt::AlignTop);
+
+    //ui->padCamContro_frame->setLayout(padCameraLayout);
+    // create a camera pad widget
+   //test = new QPushButton(QIcon(":/images/actions/list-add.svg"), "", this);
+   //test->setMaximumWidth(50);
+  //ui->gridLayout->addWidget(test, 0,0);
+
+    padCamera = new SlugsPadCameraControl(this);
+
+    ui->gridLayout->addWidget(padCamera);
+
+    connect(padCamera,SIGNAL(mouseMoveCoord(int,int)),this,SLOT(mousePadMoveEvent(int,int)));
+    connect(padCamera,SIGNAL(mousePressCoord(int,int)),this,SLOT(mousePadPressEvent(int,int)));
+    connect(padCamera,SIGNAL(mouseReleaseCoord(int,int)),this,SLOT(mousePadReleaseEvent(int,int)));
+    connect(padCamera,SIGNAL(changeCursorPosition(double,double,QString)),this,SLOT(getDeltaPositionPad(double,double,QString)));
+
+
+
+    //padCamera->setVisible(true);
+
+
+
+  // padCameraLayout->addWidget(padCamera);
+
+
+
+//    QGraphicsScene *scene = new QGraphicsScene(ui->CamControlPanel_graphicsView);
+//         scene->setItemIndexMethod(QGraphicsScene::NoIndex);
+//         scene->setSceneRect(-200, -200, 400, 400);
+//         setScene(scene);
+//         setCacheMode(CacheBackground);
+//         setViewportUpdateMode(BoundingRectViewportUpdate);
+//         setRenderHint(QPainter::Antialiasing);
+//         setTransformationAnchor(AnchorUnderMouse);
+//         setResizeAnchor(AnchorViewCenter);
+
+//      ui->CamControlPanel_graphicsView->installEventFilter(this);
+//      ui->label_x->installEventFilter(this);
+
+}
+
+SlugsVideoCamControl::~SlugsVideoCamControl()
+{
+    delete ui;
+}
+
+void SlugsVideoCamControl::mouseMoveEvent(QMouseEvent *event)
+{
+     Q_UNUSED(event);
+
+}
+
+
+void SlugsVideoCamControl::mousePressEvent(QMouseEvent *evnt)
+{
+  Q_UNUSED(evnt);
+
+}
+
+void SlugsVideoCamControl::mouseReleaseEvent(QMouseEvent *evnt)
+{
+    Q_UNUSED(evnt);
+
+}
+
+
+void SlugsVideoCamControl::mousePadMoveEvent(int x, int y)
+{
+
+}
+
+void SlugsVideoCamControl::mousePadPressEvent(int x, int y)
+{
+
+}
+
+void SlugsVideoCamControl::mousePadReleaseEvent(int x, int y)
+{
+
+
+}
+
+void SlugsVideoCamControl::changeViewCamBorderAtMapStatus(bool status)
+{
+    emit viewCamBorderAtMap(status);
+}
+
+void SlugsVideoCamControl::getDeltaPositionPad(double bearing, double distance, QString dirText)
+{
+    ui->label_dir->setText(dirText);
+    ui->label_x->setText("Distancia= " + QString::number(distance));
+    ui->label_y->setText("Bearing= " + QString::number(bearing));
+
+    emit changeCamPosition(20, bearing, dirText);
+}
+

src/ui/SlugsVideoCamControl.h

+#ifndef SLUGSVIDEOCAMCONTROL_H
+#define SLUGSVIDEOCAMCONTROL_H
+
+#include <QWidget>
+#include <QMouseEvent>
+#include <QGraphicsView>
+#include <QGraphicsSceneMouseEvent>
+#include <QGraphicsScene>
+#include "SlugsPadCameraControl.h"
+#include <QPushButton>
+
+
+
+#define DELTA 1000
+
+namespace Ui {
+    class SlugsVideoCamControl;
+}
+
+class SlugsVideoCamControl : public QWidget
+
+{
+    Q_OBJECT
+
+public:
+    explicit SlugsVideoCamControl(QWidget *parent = 0);
+    ~SlugsVideoCamControl();
+
+public slots:
+    void changeViewCamBorderAtMapStatus(bool status);
+    void getDeltaPositionPad(double dir, double dist, QString dirText);
+
+
+    void mousePadPressEvent(int x, int y);
+    void mousePadReleaseEvent(int x, int y);
+    void mousePadMoveEvent(int x, int y);
+
+signals:
+    void changeCamPosition(double dist, double dir, QString textDir);
+    void viewCamBorderAtMap(bool status);
+
+protected:
+   void mousePressEvent(QMouseEvent* event);
+   void mouseReleaseEvent(QMouseEvent* event);
+   void mouseMoveEvent(QMouseEvent* event);
+
+
+
+
+private:
+    Ui::SlugsVideoCamControl *ui;
+
+    SlugsPadCameraControl* padCamera;
+
+};
+
+#endif // SLUGSVIDEOCAMCONTROL_H

src/ui/SlugsVideoCamControl.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>SlugsVideoCamControl</class>
+ <widget class="QWidget" name="SlugsVideoCamControl">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>165</width>
+    <height>191</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="mouseTracking">
+   <bool>true</bool>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <layout class="QVBoxLayout" name="verticalLayout">
+     <item>
+      <widget class="QLabel" name="label_x">
+       <property name="mouseTracking">
+        <bool>true</bool>
+       </property>
+       <property name="text">
+        <string>Coord_X</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="label_y">
+       <property name="mouseTracking">
+        <bool>true</bool>
+       </property>
+       <property name="text">
+        <string>Coord_Y</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="label_dir">
+       <property name="text">
+        <string>Camera Pos</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="1" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QCheckBox" name="viewCamBordeatMap_checkBox">
+       <property name="text">
+        <string>Camera at Map</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/WaypointList.cc

@@ -88,6 +88,8 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
     updateStatusLabel("");
 
     this->setVisible(false);
+    loadFileGlobalWP = false;
+    readGlobalWP = false;
     centerMapCoordinate.setX(0.0);
     centerMapCoordinate.setY(0.0);
 
@@ -128,6 +130,9 @@ void WaypointList::setUAS(UASInterface* uas)
         connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)),        this, SLOT(updateStatusLabel(const QString &)));
         connect(&uas->getWaypointManager(), SIGNAL(waypointListChanged(void)),                  this, SLOT(waypointListChanged(void)));
         connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointChanged(quint16)));
+        connect(&uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
+        connect(&uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
+
     }
 }
 
@@ -144,6 +149,8 @@ void WaypointList::loadWaypoints()
 {
     if (uas)
     {
+
+
         QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
         uas->getWaypointManager().loadWaypoints(fileName);
     }
@@ -242,6 +249,8 @@ void WaypointList::addCurrentPositonWaypoint()
 void WaypointList::updateStatusLabel(const QString &string)
 {
     m_ui->statusLabel->setText(string);
+
+
 }
 
 void WaypointList::changeCurrentWaypoint(quint16 seq)
@@ -388,7 +397,7 @@ void WaypointList::waypointListChanged()
             }
 
 
-
+            loadFileGlobalWP = false;
         }
 
 
@@ -462,15 +471,23 @@ void WaypointList::changeEvent(QEvent *e)
 void WaypointList::on_clearWPListButton_clicked()
 {
 
+
     if (uas)
     {
-        emit clearPathclicked();
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-        while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
-        {
-            WaypointView* widget = wpViews.find(waypoints[0]).value();
-            widget->remove();
+            emit clearPathclicked();
+          const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+            while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
+            {
+                WaypointView* widget = wpViews.find(waypoints[0]).value();
+                widget->remove();
+            }
         }
+    else
+    {
+//        if(isGlobalWP)
+//        {
+//           emit clearPathclicked();
+//        }
     }
 }
 
@@ -534,14 +551,24 @@ void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
 
 void WaypointList::clearWPWidget()
 {
-    if (uas)
-    {
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-        while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
-        {
-            WaypointView* widget = wpViews.find(waypoints[0]).value();
-            widget->remove();
-        }
-    }
+  if (uas)
+  {
+    const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+      while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
+      {
+          WaypointView* widget = wpViews.find(waypoints[0]).value();
+          widget->remove();
+      }
+  }
     //emit changePositionWPBySpinBox(wp->getId(), wp->getY(), wp->getX());
 }
+
+void WaypointList::setIsLoadFileWP()
+{
+    loadFileGlobalWP = true;
+}
+
+void WaypointList::setIsReadGlobalWP(bool value)
+{
+   // readGlobalWP = value;
+}

src/ui/WaypointList.h

@@ -65,7 +65,7 @@ public slots:
     /** @brief Save the local waypoint list to a file */
     void saveWaypoints();
     /** @brief Load a waypoint list from a file */
-    void loadWaypoints();    
+    void    loadWaypoints();
     /** @brief Transmit the local waypoint list to the UAS */
     void transmit();
     /** @brief Read the remote waypoint list */
@@ -102,6 +102,9 @@ public slots:
     void moveDown(Waypoint* wp);
     void removeWaypoint(Waypoint* wp);
 
+    void setIsLoadFileWP();
+    void setIsReadGlobalWP(bool value);
+
 
 
 
@@ -126,6 +129,8 @@ protected:
     double mavZ;
     double mavYaw;
     QPointF centerMapCoordinate;
+    bool loadFileGlobalWP;
+    bool readGlobalWP;
 
 private:
     Ui::WaypointList *m_ui;

src/ui/linechart/Linecharts.cc

@@ -54,7 +54,9 @@ void Linecharts::addSystem(UASInterface* uas)
         LinechartWidget* widget = new LinechartWidget(uas->getUASID(), this);
         addWidget(widget);
         plots.insert(uas->getUASID(), widget);
+#ifndef MAVLINK_ENABLED_SLUGS
         connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), widget, SLOT(appendData(int,QString,double,quint64)));
+#endif
         connect(widget, SIGNAL(logfileWritten(QString)), this, SIGNAL(logfileWritten(QString)));
         // Set system active if this is the only system
         if (active)

src/ui/slugshilsim.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 the configuration Window for Slugs' HIL Simulator
+ *   @author Mariano Lizarraga <malife@gmail.com>
+ */
+
+#ifndef SLUGSHILSIM_H
+#define SLUGSHILSIM_H
+
+#include <QWidget>
+#include <QHostAddress>
+#include <QUdpSocket>
+#include <QMessageBox>
+
+#include "LinkInterface.h"
+#include "UAS.h"
+#include <stdint.h>
+
+
+namespace Ui {
+    class SlugsHilSim;
+}
+
+class SlugsHilSim : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit SlugsHilSim(QWidget *parent = 0);
+    ~SlugsHilSim();
+
+protected:
+    LinkInterface* hilLink;
+    QHostAddress* simulinkIp;
+    QUdpSocket* txSocket;
+    QUdpSocket* rxSocket;
+    UAS* activeUas;
+
+public slots:
+
+    /**
+     * @brief Adds a link to the combo box listing so the user can select a link
+     *
+     * Populates the Combo box that allows the user to select the link with which Slugs will
+     * receive the simulated sensor data from Simulink
+     *
+     * @param theLink the link that is being added to the combo box
+     */
+    void addToCombo(LinkInterface* theLink);
+
+    /**
+     * @brief Puts Slugs in HIL Mode
+     *
+     * Sends the required messages through the main communication link to set Slugs in HIL Mode
+     *
+     */
+    void putInHilMode(void);
+
+    /**
+     * @brief Receives a datagram from Simulink containing the sensor data.
+     *
+     * Receives a datagram from Simulink containing the simulated sensor data. This data is then
+     * forwarded to Slugs to use as input to the attitude estimation and navigation algorithms.
+     *
+     */
+    void readDatagram(void);
+
+    /**
+     * @brief Called when the a new UAS is set to active.
+     *
+     * Called when the a new UAS is set to active.
+     *
+     * @param uas The new active UAS
+     */
+    void activeUasSet(UASInterface* uas);
+
+    /**
+     * @brief Called when the Link combobox selects a new link.
+     *
+     * @param uas The new index of the selected link
+     */
+    void linkSelected (int cbIndex);
+
+public slots:
+
+
+
+private:
+
+	typedef union _tFloatToChar {
+		unsigned char   chData[4];
+		float   		flData;
+	} tFloatToChar;
+
+	typedef union _tUint16ToChar {
+		unsigned char   chData[2];
+		uint16_t   		uiData;
+	} tUint16ToChar;
+
+    Ui::SlugsHilSim *ui;
+    QHash <int, LinkInterface*> linksAvailable;
+
+    void processHilDatagram (const QByteArray* datagram);
+    float getFloatFromDatagram (const QByteArray* datagram, unsigned char * i);
+    uint16_t getUint16FromDatagram (const QByteArray* datagram, unsigned char * i);
+
+};
+
+#endif // SLUGSHILSIM_H