Fixed compile warnings, moved MAVLink ids

lib/QMapControl/src/fixedimageoverlay.cpp

@@ -46,6 +46,8 @@ namespace qmapcontrol
 
     void FixedImageOverlay::draw(QPainter* painter, const MapAdapter* mapadapter, const QRect &viewport, const QPoint offset)
     {
+        Q_UNUSED(viewport)
+        Q_UNUSED(offset)
         if (!visible)
             return;
 

lib/QMapControl/src/googlesatmapadapter.cpp

@@ -64,10 +64,12 @@ namespace qmapcontrol
         //double lon = ((point.x()/tilesize*numberOfTiles)*360)-180;
         //double lat = (((point.y()/tilesize*numberOfTiles)*180)-90)*-1;
 
-        qreal lon = (point.x()*(360./(numberOfTiles*mytilesize)))-180.;
-        //double lat = -(point.y()*(180./(numberOfTiles*tilesize)))+90;
-        //qreal lat = getMercatorLatitude(point.y()*-1*(2*M_PI/(numberOfTiles*tilesize)) + M_PI);
-        qreal lat = lat *180./M_PI;
+        qreal lon = (point.x()*(360.0/(numberOfTiles*mytilesize)))-180.0;
+       // qreal lat = -(point.y()*(180.0/(numberOfTiles*mytilesize)))+90.0;
+        // FIXME Looks buggy
+
+        qreal lat = getMercatorLatitude(point.y()*-1*(2*M_PI/(numberOfTiles*mytilesize)) + M_PI);
+        //qreal lat = lat *180./M_PI;
         return QPointF(lon, lat);
     }
 

qgroundcontrol.pro

@@ -3,10 +3,10 @@
 # from http://github.com/pixhawk/qmapcontrol/
 # over bundled version in lib directory
 # Version from GIT repository is preferred
-# include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
+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")
+#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")
 
 
 QT       += network opengl svg xml phonon

src/ui/HSIDisplay.h

@@ -51,13 +51,19 @@ public:
 public slots:
     void setActiveUAS(UASInterface* uas);
     void updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used);
+    void updateAttitudeSetpoints(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
+    void updatePositionSetpoints(int uasid, double xDesired, double yDesired, double zDesired, quint64 usec);
+    void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
+    void updateGlobalPosition(UASInterface*, double lat, double lon, double alt, quint64 usec);
     void paintEvent(QPaintEvent * event);
 
 protected slots:
     void paintDisplay();
     void drawGPS();
     void drawObjects();
-    void drawBaseLines(float xRef, float yRef, float radius, float yaw, const QColor& color, QPainter* painter, bool solid);
+    void drawPositionSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
+    void drawAttitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
+    void drawAltitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
 
 
 protected:
@@ -103,6 +109,35 @@ protected:
     QMap<int, GPSSatellite*> gpsSatellites;
     unsigned int satellitesUsed;
 
+    // Current controller values
+    float attXSet;
+    float attYSet;
+    float attYawSet;
+    float altitudeSet;
+
+    float posXSet;
+    float posYSet;
+    float posZSet;
+
+    // Controller saturation values
+    float attXSaturation;
+    float attYSaturation;
+    float attYawSaturation;
+
+    float posXSaturation;
+    float posYSaturation;
+    float altitudeSaturation;
+
+    // Position
+    float lat;
+    float lon;
+    float alt;
+    quint64 globalAvailable;  ///< Last global position update time
+    float x;
+    float y;
+    float z;
+    quint64 localAvailable;   ///< Last local position update time
+
 private:
 };