Merge branch 'master' of github.com:mavlink/qgroundcontrol

.gitignore

@@ -47,6 +47,8 @@ user_config.pri
 *.cproject
 *.sln
 *.suo
+*.uhf.txt
+*.opensdf
 
 thirdParty/qserialport-build-desktop/
 thirdParty/qserialport/bin/

libs/thirdParty/3DMouse/win/I3dMouseParams.h

+#ifndef I3D_MOUSE_PARAMS_H
+#define I3D_MOUSE_PARAMS_H
+
+/*
+   Parameters for the 3D mouse based on the SDK from 3Dconnexion
+*/
+
+class I3dMouseSensor
+{
+public:
+
+	enum ESpeed {
+	   kLowSpeed = 0,
+	   kMidSpeed,
+	   kHighSpeed
+	};
+
+virtual bool	IsPanZoom() const = 0;
+virtual bool	IsRotate() const  = 0;
+virtual ESpeed	GetSpeed() const  = 0;
+
+virtual void	SetPanZoom(bool isPanZoom) = 0;
+virtual void	SetRotate(bool isRotate) = 0;
+virtual void	SetSpeed(ESpeed speed) = 0;
+
+protected:
+
+virtual ~I3dMouseSensor() {}
+
+};
+
+
+class I3dMouseNavigation
+{
+public:
+
+   enum EPivot {
+	  kManualPivot = 0,
+	  kAutoPivot,
+	  kAutoPivotOverride
+   };
+
+   enum ENavigation {
+	  kObjectMode = 0,
+	  kCameraMode,
+	  kFlyMode,
+	  kWalkMode,
+	  kHelicopterMode
+   };
+
+   enum EPivotVisibility {
+	  kHidePivot = 0,
+	  kShowPivot,
+	  kShowMovingPivot
+   };
+
+
+virtual ENavigation		GetNavigationMode() const  = 0;
+virtual EPivot			GetPivotMode() const  = 0;
+virtual EPivotVisibility GetPivotVisibility()  const = 0;
+virtual bool			IsLockHorizon()  const = 0;
+
+virtual void			SetLockHorizon(bool bOn) = 0;
+virtual void			SetNavigationMode(ENavigation navigation) = 0;
+virtual void			SetPivotMode(EPivot pivot) = 0;
+virtual void			SetPivotVisibility(EPivotVisibility visibility) = 0;
+
+protected:
+
+virtual ~I3dMouseNavigation(){}
+
+
+};
+
+
+class I3dMouseParam : public I3dMouseSensor, public I3dMouseNavigation
+{
+public:
+
+virtual ~I3dMouseParam() {}
+
+};
+
+#endif

libs/thirdParty/3DMouse/win/Mouse3DInput.h

+#ifndef T3DMOUSE_INPUT_H
+#define T3DMOUSE_INPUT_H
+
+#include "MouseParameters.h"
+
+#include <QWidget>
+#include <vector>
+#include <map>
+
+#ifndef _WIN32_WINNT
+#define _WIN32_WINNT 0x0501  //target at least windows XP
+#endif
+
+#include <windows.h>
+
+
+/*
+	A class for connecting to and receiving data from a 3D Connexion 3D mouse
+
+	This helper class manages the connection to a 3D mouse,  collecting WM_INPUT
+	messages from Windows and converting the data into 3D motion data.
+
+	This class is based on the SDK from 3D Connexion but is modified to work with Qt.
+
+	It is Windows only since it uses the WM_INPUT messages from windows directly
+	rather than Qt events.
+
+	Note that it needs to be compiled with _WIN32_WINNT defined as 0x0501 (windows XP)
+	or later because the raw input API was added in Windows XP. This also means that
+	Qt needs to be compiled with this enabled otherwise the QEventDispatcherWin32 blocks
+	in processEvents because the raw input messages do not cause the thread to be woken if
+	Qt is compiled for Win 2000 targets.
+*/
+
+class Mouse3DInput : public QObject
+{
+	Q_OBJECT
+public:
+		Mouse3DInput(QWidget* widget);
+		~Mouse3DInput();
+
+static	bool		Is3dmouseAttached();
+
+		I3dMouseParam&			MouseParams();
+		const I3dMouseParam&	MouseParams() const;
+
+virtual	void		Move3d(HANDLE device, std::vector<float>& motionData);
+virtual void		On3dmouseKeyDown(HANDLE device, int virtualKeyCode);
+virtual void		On3dmouseKeyUp(HANDLE device, int virtualKeyCode);
+
+signals:
+
+		void		Move3d(std::vector<float>& motionData);
+		void		On3dmouseKeyDown(int virtualKeyCode);
+		void		On3dmouseKeyUp(int virtualKeyCode);
+
+private:
+
+		bool		InitializeRawInput(HWND hwndTarget);
+
+static	bool		RawInputEventFilter(void* msg, long* result);
+
+		void		OnRawInput(UINT nInputCode, HRAWINPUT hRawInput);
+		UINT		GetRawInputBuffer(PRAWINPUT pData, PUINT pcbSize, UINT cbSizeHeader);
+		bool		TranslateRawInputData(UINT nInputCode, PRAWINPUT pRawInput);
+		void		On3dmouseInput();
+
+		class TInputData
+		{
+		public:
+		   TInputData() : fAxes(6) {}
+
+		   bool IsZero() {
+			  return (0.==fAxes[0] && 0.==fAxes[1] && 0.==fAxes[2] &&
+				 0.==fAxes[3] && 0.==fAxes[4] && 0.==fAxes[5]);
+		   }
+
+		   int                   fTimeToLive; // For telling if the device was unplugged while sending data
+		   bool                  fIsDirty;
+		   std::vector<float>	 fAxes;
+
+		};
+
+		HWND								fWindow;
+
+		// Data cache to handle multiple rawinput devices
+		std::map< HANDLE, TInputData>       fDevice2Data;
+		std::map< HANDLE, unsigned long>    fDevice2Keystate;
+
+		// 3dmouse parameters
+		MouseParameters						f3dMouseParams;     // Rotate, Pan Zoom etc.
+
+		// use to calculate distance traveled since last event
+		DWORD								fLast3dmouseInputTime;
+
+};
+
+#endif

libs/thirdParty/3DMouse/win/MouseParameters.cpp

+#include "MouseParameters.h"
+
+MouseParameters::MouseParameters(): fNavigation(kObjectMode)
+	  , fPivot(kAutoPivot)
+	  , fPivotVisibility(kShowPivot)
+	  , fIsLockHorizon(true)
+	  , fIsPanZoom(true)
+	  , fIsRotate(true)
+	  , fSpeed(kLowSpeed)
+{
+}
+
+MouseParameters::~MouseParameters()
+{
+}
+
+bool MouseParameters::IsPanZoom()  const
+{
+	return fIsPanZoom;
+}
+
+bool MouseParameters::IsRotate()  const
+{
+	return fIsRotate;
+}
+
+MouseParameters::ESpeed MouseParameters::GetSpeed()  const
+{
+	return fSpeed;
+}
+
+void MouseParameters::SetPanZoom(bool isPanZoom)
+{
+	fIsPanZoom=isPanZoom;
+}
+
+void MouseParameters::SetRotate(bool isRotate)
+{
+	fIsRotate=isRotate;
+}
+
+void MouseParameters::SetSpeed(ESpeed speed)
+{
+	fSpeed=speed;
+}
+
+
+MouseParameters::ENavigation MouseParameters::GetNavigationMode()  const
+{
+	return fNavigation;
+}
+
+MouseParameters::EPivot MouseParameters::GetPivotMode()  const
+{
+	return fPivot;
+}
+
+MouseParameters::EPivotVisibility MouseParameters::GetPivotVisibility()  const
+{
+	return fPivotVisibility;
+}
+
+bool MouseParameters::IsLockHorizon()  const
+{
+	return fIsLockHorizon;
+}
+
+void MouseParameters::SetLockHorizon(bool bOn)
+{
+	fIsLockHorizon=bOn;
+}
+
+void MouseParameters::SetNavigationMode(ENavigation navigation)
+{
+	fNavigation=navigation;
+}
+
+void MouseParameters::SetPivotMode(EPivot pivot)
+{
+   if (fPivot!=kManualPivot || pivot!=kAutoPivotOverride)
+	  fPivot = pivot;
+}
+
+void MouseParameters::SetPivotVisibility(EPivotVisibility visibility)
+{
+	fPivotVisibility = visibility;
+}
+

libs/thirdParty/3DMouse/win/MouseParameters.h

+
+#ifndef T3D_MOUSE_PARAMS_H
+#define T3D_MOUSE_PARAMS_H
+
+#include "I3dMouseParams.h"
+
+
+class MouseParameters : public I3dMouseParam
+{
+public:
+	MouseParameters();
+	~MouseParameters();
+
+	// I3dmouseSensor interface
+	bool		IsPanZoom()  const;
+	bool		IsRotate()  const;
+	ESpeed		GetSpeed()  const;
+
+	void		SetPanZoom(bool isPanZoom);
+	void		SetRotate(bool isRotate);
+	void		SetSpeed(ESpeed speed);
+
+	// I3dmouseNavigation interface
+	ENavigation			GetNavigationMode()  const;
+	EPivot				GetPivotMode()  const;
+	EPivotVisibility	GetPivotVisibility()  const;
+	bool				IsLockHorizon()  const;
+
+	void				SetLockHorizon(bool bOn);
+	void				SetNavigationMode(ENavigation navigation);
+	void				SetPivotMode(EPivot pivot);
+	void				SetPivotVisibility(EPivotVisibility visibility);
+
+private:
+
+	MouseParameters (const MouseParameters&);
+	const MouseParameters& operator =(const MouseParameters&);
+
+	ENavigation			fNavigation;
+	EPivot				fPivot;
+	EPivotVisibility	fPivotVisibility;
+	bool				fIsLockHorizon;
+
+	bool				fIsPanZoom;
+	bool				fIsRotate;
+	ESpeed				fSpeed;
+};
+
+#endif

qgroundcontrol.pro

@@ -624,3 +624,36 @@ win32-msvc2008|win32-msvc2010|linux {
     LIBS += -Llibs/thirdParty/libxbee/lib \
         -llibxbee
 }
+
+###################################################################
+#### --- 3DConnexion 3d Mice support (e.g. spacenavigator) --- ####
+###################################################################
+
+# xdrvlib only supported by linux (theoretical all X11) systems
+# You have to install the official 3DxWare driver for linux to use 3D mouse support on linux systems!
+linux-g++|linux-g++-64{
+    exists(/usr/local/lib/libxdrvlib.so){
+        message("Including support for Magellan 3DxWare for linux system.")
+        SOURCES  += src/input/Mouse6dofInput.cpp
+        HEADERS  += src/input/Mouse6dofInput.h
+        LIBS += -L/usr/local/lib/ -lxdrvlib
+        INCLUDEPATH *= /usr/local/include
+        DEFINES += MOUSE_ENABLED_LINUX \
+                    ParameterCheck                      # Hack: Has to be defined for magellan usage
+    }
+}
+
+# Support for Windows systems
+# You have to install the official 3DxWare driver for Windows to use the 3D mouse support on Windows systems!
+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
+}

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>
+
+#ifdef MOUSE_ENABLED_WIN
+#include "Mouse3DInput.h"
+#endif //MOUSE_ENABLED_WIN
+
+#include "UASInterface.h"
+
+class Mouse6dofInput : public QThread
+{
+    Q_OBJECT
+
+public:
+#ifdef MOUSE_ENABLED_WIN
+    Mouse6dofInput(Mouse3DInput* mouseInput);
+#endif //MOUSE_ENABLED_WIN
+#ifdef MOUSE_ENABLED_LINUX
+    Mouse6dofInput(QWidget* parent);
+#endif //MOUSE_ENABLED_LINUX
+
+    ~Mouse6dofInput();
+    void run();
+
+    const double mouse3DMax;
+
+protected:
+    void init();
+
+    UASInterface* uas;
+    bool done;
+    bool mouseActive;
+    bool translationActive;
+    bool rotationActive;
+
+    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);
+
+   /**
+     * @brief Activity of translational 3DMouse inputs changed
+     * @param translationEnable, true: translational inputs active; false: translational inputs ingored
+     */
+    void mouseTranslationActiveChanged(bool translationEnable);
+
+   /**
+     * @brief Activity of rotational 3DMouse inputs changed
+     * @param rotationEnable, true: rotational inputs active; false: rotational inputs ingored
+     */
+    void mouseRotationActiveChanged(bool rotationEnable);
+
+public slots:
+    void setActiveUAS(UASInterface* uas);
+#ifdef MOUSE_ENABLED_WIN
+    /** @brief Get a motion input from 3DMouse */
+    void motion3DMouse(std::vector<float> &motionData);
+    /** @brief Get a button input from 3DMouse */
+    void button3DMouseDown(int button);
+#endif //MOUSE_ENABLED_WIN
+#ifdef MOUSE_ENABLED_LINUX
+    /** @brief Get an XEvent to check it for an 3DMouse event (motion or button) */
+    void handleX11Event(XEvent* event);
+#endif //MOUSE_ENABLED_LINUX
+
+};
+
+#endif // MOUSE6DOFINPUT_H

src/uas/ArduPilotMegaMAV.cc

@@ -32,6 +32,8 @@ ArduPilotMegaMAV::ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id) :
     UAS(mavlink, id)//,
     // place other initializers here
 {
+    // Ask for all streams at 4 Hz
+    enableAllDataTransmission(4);
 }
 
 /**

src/uas/UAS.cc

@@ -2454,7 +2454,25 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
     }
     else
     {
-        qDebug() << "JOYSTICK/MANUAL CONTROL: IGNORING COMMANDS: Set mode to MANUAL to send joystick commands first";
+        //qDebug() << "JOYSTICK/MANUAL CONTROL: IGNORING COMMANDS: Set mode to MANUAL to send joystick commands first";
+    }
+}
+
+void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw)
+{
+    // If system has manual inputs enabled and is armed
+    if(((mode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) && (mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)) || (mode & MAV_MODE_FLAG_HIL_ENABLED))
+    {
+        mavlink_message_t message;
+        mavlink_msg_setpoint_6dof_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, (float)x, (float)y, (float)z, (float)roll, (float)pitch, (float)yaw);
+        sendMessage(message);
+        qDebug() << __FILE__ << __LINE__ << ": SENT 6DOF CONTROL MESSAGE: x" << x << " y: " << y << " z: " << z << " roll: " << roll << " pitch: " << pitch << " yaw: " << yaw;
+
+        //emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds());
+    }
+    else
+    {
+        qDebug() << "3DMOUSE/MANUAL CONTROL: IGNORING COMMANDS: Set mode to MANUAL to send 3DMouse commands first";
     }
 }
 

src/uas/UAS.h

@@ -573,6 +573,9 @@ public slots:
     /** @brief Receive a button pressed event from an input device, e.g. joystick */
     void receiveButton(int buttonIndex);
 
+    /** @brief Set the values for the 6dof manual control of the vehicle */
+    void setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw);
+
     /** @brief Add a link associated with this robot */
     void addLink(LinkInterface* link);
     /** @brief Remove a link associated with this robot */

src/uas/UASInterface.h

@@ -475,6 +475,7 @@ signals:
     void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex);
     /** @brief Emit the new system type */
     void systemTypeSet(UASInterface* uas, unsigned int type);
+
     /** @brief Attitude control enabled/disabled */
     void attitudeControlEnabled(bool enabled);
     /** @brief Position 2D control enabled/disabled */
@@ -483,6 +484,30 @@ signals:
     void positionZControlEnabled(bool enabled);
     /** @brief Heading control enabled/disabled */
     void positionYawControlEnabled(bool enabled);
+    /** @brief Optical flow status changed */
+    void opticalFlowStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Vision based localization status changed */
+    void visionLocalizationStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Infrared / Ultrasound status changed */
+    void distanceSensorStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Gyroscope status changed */
+    void gyroStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Accelerometer status changed */
+    void accelStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Magnetometer status changed */
+    void magSensorStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Barometer status changed */
+    void baroStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Differential pressure / airspeed status changed */
+    void airspeedStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Actuator status changed */
+    void actuatorStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Laser scanner status changed */
+    void laserStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Vicon / Leica Geotracker status changed */
+    void groundTruthSensorStatusChanged(bool supported, bool enabled, bool ok);
+
+
     /** @brief Value of a remote control channel (raw) */
     void remoteControlChannelRawChanged(int channelId, float raw);
     /** @brief Value of a remote control channel (scaled)*/

src/ui/HSIDisplay.cc

@@ -123,7 +123,34 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
     userSetPointSet(false),
     userXYSetPointSet(false),
     userZSetPointSet(false),
-    userYawSetPointSet(false)
+    userYawSetPointSet(false),
+    gyroKnown(false),
+    gyroON(false),
+    gyroOK(false),
+    accelKnown(false),
+    accelON(false),
+    accelOK(false),
+    magKnown(false),
+    magON(false),
+    magOK(false),
+    pressureKnown(false),
+    pressureON(false),
+    pressureOK(false),
+    diffPressureKnown(false),
+    diffPressureON(false),
+    diffPressureOK(false),
+    flowKnown(false),
+    flowON(false),
+    flowOK(false),
+    laserKnown(false),
+    laserON(false),
+    laserOK(false),
+    viconKnown(false),
+    viconON(false),
+    viconOK(false),
+    actuatorsKnown(false),
+    actuatorsON(false),
+    actuatorsOK(false)
 {
     refreshTimer->setInterval(updateInterval);
 
@@ -845,6 +872,16 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
         disconnect(this->uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
         disconnect(this->uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
         disconnect(this->uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
+
+        disconnect(this->uas, SIGNAL(gyroStatusChanged(bool,bool,bool)), this, SLOT(updateGyroStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(accelStatusChanged(bool,bool,bool)), this, SLOT(updateAccelStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(magSensorStatusChanged(bool,bool,bool)), this, SLOT(updateMagSensorStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(baroStatusChanged(bool,bool,bool)), this, SLOT(updateBaroStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(airspeedStatusChanged(bool,bool,bool)), this, SLOT(updateAirspeedStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(opticalFlowStatusChanged(bool,bool,bool)), this, SLOT(updateOpticalFlowStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(laserStatusChanged(bool,bool,bool)), this, SLOT(updateLaserStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(groundTruthSensorStatusChanged(bool,bool,bool)), this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool)));
     }
 
     connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
@@ -867,6 +904,16 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
     connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
     connect(uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
 
+    connect(uas, SIGNAL(gyroStatusChanged(bool,bool,bool)), this, SLOT(updateGyroStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(accelStatusChanged(bool,bool,bool)), this, SLOT(updateAccelStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(magSensorStatusChanged(bool,bool,bool)), this, SLOT(updateMagSensorStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(baroStatusChanged(bool,bool,bool)), this, SLOT(updateBaroStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(airspeedStatusChanged(bool,bool,bool)), this, SLOT(updateAirspeedStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(opticalFlowStatusChanged(bool,bool,bool)), this, SLOT(updateOpticalFlowStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(laserStatusChanged(bool,bool,bool)), this, SLOT(updateLaserStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(groundTruthSensorStatusChanged(bool,bool,bool)), this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool)));
+
     this->uas = uas;
 
     resetMAVState();

src/ui/HSIDisplay.h

@@ -66,6 +66,83 @@ public slots:
     void updateAttitudeControllerEnabled(bool enabled);
     void updatePositionXYControllerEnabled(bool enabled);
     void updatePositionZControllerEnabled(bool enabled);
+
+    /** @brief Optical flow status changed */
+    void updateOpticalFlowStatus(bool supported, bool enabled, bool ok) {
+        if (supported && enabled && ok) {
+            visionFix = true;
+        } else {
+            visionFix = false;
+        }
+    }
+
+    /** @brief Vision based localization status changed */
+    void updateVisionLocalizationStatus(bool supported, bool enabled, bool ok) {
+        if (enabled && ok) {
+            visionFix = true;
+        } else {
+            visionFix = false;
+        }
+        visionFixKnown = supported;
+    }
+    /** @brief Infrared / Ultrasound status changed */
+    void updateDistanceSensorStatus(bool supported, bool enabled, bool ok) {
+        if (enabled && ok) {
+            iruFix = true;
+        } else {
+            iruFix = false;
+        }
+        iruFixKnown = supported;
+    }
+    /** @brief Gyroscope status changed */
+    void updateGyroStatus(bool supported, bool enabled, bool ok) {
+        gyroKnown = supported;
+        gyroON = enabled;
+        gyroOK = ok;
+    }
+    /** @brief Accelerometer status changed */
+    void updateAccelStatus(bool supported, bool enabled, bool ok) {
+        accelKnown = supported;
+        accelON = enabled;
+        accelOK = ok;
+    }
+    /** @brief Magnetometer status changed */
+    void updateMagSensorStatus(bool supported, bool enabled, bool ok) {
+        magKnown = supported;
+        magON = enabled;
+        magOK = ok;
+    }
+    /** @brief Barometer status changed */
+    void updateBaroStatus(bool supported, bool enabled, bool ok) {
+        pressureKnown = supported;
+        pressureON = enabled;
+        pressureOK = ok;
+    }
+    /** @brief Differential pressure / airspeed status changed */
+    void updateAirspeedStatus(bool supported, bool enabled, bool ok) {
+        diffPressureKnown = supported;
+        diffPressureON = enabled;
+        diffPressureOK = ok;
+    }
+    /** @brief Actuator status changed */
+    void updateActuatorStatus(bool supported, bool enabled, bool ok) {
+        actuatorsKnown = supported;
+        actuatorsON = enabled;
+        actuatorsOK = ok;
+    }
+    /** @brief Laser scanner status changed */
+    void updateLaserStatus(bool supported, bool enabled, bool ok) {
+        laserKnown = supported;
+        laserON = enabled;
+        laserOK = ok;
+    }
+    /** @brief Vicon / Leica Geotracker status changed */
+    void updateGroundTruthSensorStatus(bool supported, bool enabled, bool ok) {
+        viconKnown = supported;
+        viconON = enabled;
+        viconOK = ok;
+    }
+
     void updateObjectPosition(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance);
     /** @brief Heading control enabled/disabled */
     void updatePositionYawControllerEnabled(bool enabled);

src/ui/MainWindow.cc

@@ -182,6 +182,20 @@ MainWindow::MainWindow(QWidget *parent):
     joystickWidget = 0;
     joystick = new JoystickInput();
 
+#ifdef MOUSE_ENABLED_WIN
+    emit initStatusChanged("Initializing 3D mouse interface.");
+
+    mouseInput = new Mouse3DInput(this);
+    mouse = new Mouse6dofInput(mouseInput);
+#endif //MOUSE_ENABLED_WIN
+
+#if MOUSE_ENABLED_LINUX
+    emit initStatusChanged("Initializing 3D mouse interface.");
+
+    mouse = new Mouse6dofInput(this);
+    connect(this, SIGNAL(x11EventOccured(XEvent*)), mouse, SLOT(handleX11Event(XEvent*)));
+#endif //MOUSE_ENABLED_LINUX
+
     // Connect link
     if (autoReconnect)
     {
@@ -1719,3 +1733,12 @@ QList<QAction*> MainWindow::listLinkMenuActions(void)
 {
     return ui.menuNetwork->actions();
 }
+
+#ifdef MOUSE_ENABLED_LINUX
+bool MainWindow::x11Event(XEvent *event)
+{
+    emit x11EventOccured(event);
+    //qDebug("XEvent occured...");
+    return false;
+}
+#endif // MOUSE_ENABLED_LINUX

src/ui/MainWindow.h

@@ -54,6 +54,9 @@ This file is part of the QGROUNDCONTROL project
 #include "HUD.h"
 #include "JoystickWidget.h"
 #include "input/JoystickInput.h"
+#if (defined MOUSE_ENABLED_WIN) | (defined MOUSE_ENABLED_LINUX)
+#include "Mouse6dofInput.h"
+#endif // MOUSE_ENABLED_WIN
 #include "DebugConsole.h"
 #include "ParameterInterface.h"
 #include "XMLCommProtocolWidget.h"
@@ -232,6 +235,10 @@ public slots:
 
 signals:
     void initStatusChanged(const QString& message);
+#ifdef MOUSE_ENABLED_LINUX
+    /** @brief Forward X11Event to catch 3DMouse inputs */
+    void x11EventOccured(XEvent *event);
+#endif //MOUSE_ENABLED_LINUX
 
 public:
     QGCMAVLinkLogPlayer* getLogPlayer()
@@ -371,6 +378,18 @@ protected:
 
     JoystickInput* joystick;
 
+#ifdef MOUSE_ENABLED_WIN
+    /** @brief 3d Mouse support (WIN only) */
+    Mouse3DInput* mouseInput;               ///< 3dConnexion 3dMouse SDK
+    Mouse6dofInput* mouse;                  ///< Implementation for 3dMouse input
+#endif // MOUSE_ENABLED_WIN
+
+#ifdef MOUSE_ENABLED_LINUX
+    /** @brief Reimplementation of X11Event to handle 3dMouse Events (magellan) */
+    bool x11Event(XEvent *event);
+    Mouse6dofInput* mouse;                  ///< Implementation for 3dMouse input
+#endif // MOUSE_ENABLED_LINUX
+
     /** User interface actions **/
     QAction* connectUASAct;
     QAction* disconnectUASAct;