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

Conflicts:
	qgroundcontrol.pro
	src/ui/MainWindow.cc
	src/ui/SlugsDataSensorView.ui

qgroundcontrol.pro

@@ -147,7 +147,6 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/SlugsDataSensorView.ui \
     src/ui/SlugsHilSim.ui \
     src/ui/SlugsPIDControl.ui \
-    src/ui/SlugsVideoCamControl.ui \
     src/ui/SlugsPadCameraControl.ui \
     src/ui/uas/QGCUnconnectedInfoWidget.ui \
     src/ui/designer/QGCToolWidget.ui \
@@ -159,6 +158,7 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/mission/QGCCustomWaypointAction.ui \
     src/ui/QGCUDPLinkConfiguration.ui \
     src/ui/QGCSettingsWidget.ui \
+    src/ui/UASControlParameters.ui
     src/ui/mission/QGCMissionDoWidget.ui \
     src/ui/mission/QGCMissionConditionWidget.ui
 
@@ -257,7 +257,6 @@ HEADERS += src/MG.h \
     src/ui/SlugsDataSensorView.h \
     src/ui/SlugsHilSim.h \
     src/ui/SlugsPIDControl.h \
-    src/ui/SlugsVideoCamControl.h \
     src/ui/SlugsPadCameraControl.h \
     src/ui/QGCMainWindowAPConfigurator.h \
     src/comm/MAVLinkSwarmSimulationLink.h \
@@ -274,6 +273,7 @@ HEADERS += src/MG.h \
     src/ui/QGCWaypointListMulti.h \
     src/ui/QGCUDPLinkConfiguration.h \
     src/ui/QGCSettingsWidget.h \
+    src/ui/uas/UASControlParameters.h
     src/ui/mission/QGCMissionDoWidget.h \
     src/ui/mission/QGCMissionConditionWidget.h \
     src/uas/QGCUASParamManager.h
@@ -388,7 +388,6 @@ SOURCES += src/main.cc \
     src/ui/SlugsDataSensorView.cc \
     src/ui/SlugsHilSim.cc \
     src/ui/SlugsPIDControl.cpp \
-    src/ui/SlugsVideoCamControl.cpp \
     src/ui/SlugsPadCameraControl.cpp \
     src/ui/QGCMainWindowAPConfigurator.cc \
     src/comm/MAVLinkSwarmSimulationLink.cc \
@@ -405,6 +404,7 @@ SOURCES += src/main.cc \
     src/ui/QGCWaypointListMulti.cc \
     src/ui/QGCUDPLinkConfiguration.cc \
     src/ui/QGCSettingsWidget.cc \
+    src/ui/uas/UASControlParameters.cpp
     src/ui/mission/QGCMissionDoWidget.cc \
     src/ui/mission/QGCMissionConditionWidget.cc \
     src/uas/QGCUASParamManager.cc

src/comm/MAVLinkProtocol.cc

@@ -315,6 +315,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                     currLossCounter = 0;
                     currReceiveCounter = 0;
                     emit receiveLossChanged(message.sysid, receiveLoss);
+                    qDebug() << "LOSSCHANGED" << message.sysid<<" "<<receiveLoss;
                 }
 
                 // The packet is emitted as a whole, as it is only 255 - 261 bytes short

src/uas/SlugsMAV.cc

@@ -131,11 +131,11 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             break;
 
       case MAVLINK_MSG_ID_MID_LVL_CMDS:     //180
-
+        mavlink_msg_mid_lvl_cmds_decode(&message, &mlMidLevelCommands);
       break;
 
       case MAVLINK_MSG_ID_CTRL_SRFC_PT:     //181
-
+        mavlink_msg_ctrl_srfc_pt_decode(&message, &mlPassthrough);
             break;
 
       case MAVLINK_MSG_ID_PID:              //182

src/ui/MainWindow.cc

@@ -395,6 +395,8 @@ void MainWindow::buildCommonWidgets()
         dataplotWidget    = new QGCDataPlot2D(this);
         addToCentralWidgetsMenu (dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT);
     }
+
+
 }
 
 
@@ -628,6 +630,13 @@ void MainWindow::buildSlugsWidgets()
         addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
     }
 
+    if (!controlParameterWidget){
+		controlParameterWidget = new QDockWidget(tr("Control Parameters"), this);
+        controlParameterWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_PARAMETERWIDGET");
+        controlParameterWidget->setWidget( new UASControlParameters(this) );
+        addToToolsMenu (controlParameterWidget, tr("Control Parameters"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL_PARAM, Qt::LeftDockWidgetArea);
+	}
+
     if (!parametersDockWidget)
     {       
         parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
@@ -636,13 +645,14 @@ void MainWindow::buildSlugsWidgets()
         addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea);
     }
 
-//    if (!slugsCamControlWidget)
-//    {
-//        slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
-//        slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
-//        slugsCamControlWidget->setObjectName("SLUGS_CAM_CONTROL_DOCK_WIDGET");
-//        addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget()), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
-//    }
+    if (!slugsCamControlWidget)
+    {
+        slugsCamControlWidget = new QDockWidget(tr("Camera Control"), this);
+        slugsCamControlWidget->setWidget(new SlugsPadCameraControl(this));
+        slugsCamControlWidget->setObjectName("SLUGS_CAM_CONTROL_DOCK_WIDGET");
+        addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget(bool)), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
+    }
+
 }
 
 
@@ -1026,10 +1036,6 @@ void MainWindow::connectCommonWidgets()
 
         //
         connect(waypointsDockWidget->widget(), SIGNAL(changePointList()), mapWidget, SLOT(clearWaypoints()));
-
-
-
-
     }
 
     //TODO temporaly debug
@@ -1037,6 +1043,8 @@ void MainWindow::connectCommonWidgets()
         connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
                 slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*)));
     }
+
+
 }
 
 void MainWindow::createCustomWidget()
@@ -1084,6 +1092,16 @@ void MainWindow::connectSlugsWidgets()
         connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
                 slugsPIDControlWidget->widget(), SLOT(activeUasSet(UASInterface*)));
     }
+
+    if (controlParameterWidget && controlParameterWidget->widget()){
+        connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
+                controlParameterWidget->widget(), SLOT(activeUasSet(UASInterface*)));
+    }
+
+    if(controlDockWidget && controlParameterWidget)
+    {
+       connect(controlDockWidget->widget(), SIGNAL(changedMode(int)), controlParameterWidget->widget(), SLOT(changedMode(int)));
+    }
 }
 
 void MainWindow::arrangeCommonCenterStack()
@@ -1942,6 +1960,8 @@ void MainWindow::presentView()
     // UAS CONTROL
     showTheWidget(MENU_UAS_CONTROL, currentView);
 
+    showTheWidget(MENU_UAS_CONTROL_PARAM, currentView);
+
     // UAS LIST
     showTheWidget(MENU_UAS_LIST, currentView);
 

src/ui/MainWindow.h

@@ -74,8 +74,8 @@ This file is part of the QGROUNDCONTROL project
 
 #include "SlugsHilSim.h"
 
-#include "SlugsVideoCamControl.h"
-
+#include "SlugsPadCameraControl.h"
+#include "UASControlParameters.h"
 
 /**
  * @brief Main Application Window
@@ -212,6 +212,7 @@ protected:
     // FIXME: DO NOT PUT CUSTOM VALUES IN THIS ENUM since it is iterated over
     // this will be fixed in a future release.
     typedef enum _TOOLS_WIDGET_NAMES {
+      MENU_UAS_CONTROL_PARAM,
       MENU_UAS_CONTROL,
       MENU_UAS_INFO,
       MENU_CAMERA,
@@ -381,6 +382,7 @@ protected:
 #endif
     // Dock widgets
     QPointer<QDockWidget> controlDockWidget;
+    QPointer<QDockWidget> controlParameterWidget;
     QPointer<QDockWidget> infoDockWidget;
     QPointer<QDockWidget> cameraDockWidget;
     QPointer<QDockWidget> listDockWidget;

src/ui/MapWidget.cc

@@ -93,6 +93,8 @@ void MapWidget::init()
         geomLayer = new qmapcontrol::GeometryLayer("Waypoints", mapadapter);
         mc->addLayer(geomLayer);
 
+        homePosition = new qmapcontrol::GeometryLayer("Station", mapadapter);
+        mc->addLayer(homePosition);
 
 
         //
@@ -183,11 +185,17 @@ void MapWidget::init()
         goToButton->setToolTip(tr("Enter a latitude/longitude position to move the map to"));
         goToButton->setStatusTip(tr("Enter a latitude/longitude position to move the map to"));
 
+        setHome = new QPushButton(QIcon(":/images/actions/go-home.svg"), "", this);
+        setHome->setStyleSheet(buttonStyle);
+        setHome->setToolTip(tr("Set home"));
+        setHome->setStatusTip(tr("Set home"));
+
         zoomin->setMaximumWidth(30);
         zoomout->setMaximumWidth(30);
         createPath->setMaximumWidth(30);
         //    clearTracking->setMaximumWidth(30);
         followgps->setMaximumWidth(30);
+        setHome->setMaximumWidth(30);
         goToButton->setMaximumWidth(30);
 
         // Set checkable buttons
@@ -195,6 +203,7 @@ void MapWidget::init()
         //       create a style and the slots to change the background so it is easier to distinguish
         followgps->setCheckable(true);
         createPath->setCheckable(true);
+        setHome->setCheckable(true);
 
         // add buttons to control the map (zoom, GPS tracking and WP capture)
         QGridLayout* innerlayout = new QGridLayout(mc);
@@ -204,6 +213,7 @@ void MapWidget::init()
         innerlayout->addWidget(zoomout, 1, 0);
         innerlayout->addWidget(followgps, 2, 0);
         innerlayout->addWidget(createPath, 3, 0);
+        innerlayout->addWidget(setHome, 4, 0);
         //innerlayout->addWidget(clearTracking, 4, 0);
         // Add spacers to compress buttons on the top left
         innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 5, 0);
@@ -223,8 +233,8 @@ void MapWidget::init()
         //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);
+        //camLayer = new qmapcontrol::GeometryLayer("Camera", mapadapter);
+        //mc->addLayer(camLayer);
 
         //camLine = new qmapcontrol::LineString(camPoints,"Camera Eje", camBorderPen);
 
@@ -262,6 +272,12 @@ void MapWidget::init()
         connect(createPath, SIGNAL(clicked(bool)),
                 this, SLOT(createPathButtonClicked(bool)));
 
+        connect(setHome, SIGNAL(clicked(bool)), this, SLOT(createHomePositionClick(bool)));
+
+        connect(mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*,QPointF)), this,
+                SLOT(createHomePosition(const QMouseEvent*,QPointF)));
+        //connect(setHome, SIGNAL(clicked(bool)), this, SLOT(createHomePosition(bool)));
+
 
         connect(geomLayer, SIGNAL(geometryClicked(Geometry*,QPoint)),
                 this, SLOT(captureGeometryClick(Geometry*, QPoint)));
@@ -1199,3 +1215,46 @@ QPointF MapWidget::getPointxBearing_Range(double lat1, double lon1, double beari
     return temp;
 }
 
+void MapWidget::createHomePosition(const QMouseEvent *event, const QPointF coordinate)
+{
+    if (QEvent::MouseButtonRelease == event->type() && setHome->isChecked())
+    {
+        homeCoordinate= coordinate;
+        Waypoint2DIcon* tempCirclePoint;
+
+        double latitud = homeCoordinate.x();
+        double longitud = homeCoordinate.y();
+
+        tempCirclePoint = new Waypoint2DIcon(
+                 latitud,
+                 longitud,
+                 20, "g", qmapcontrol::Point::Middle);
+
+        QPen* pencil = new QPen(Qt::blue);
+        tempCirclePoint->setPen(pencil);
+
+        mc->layer("Station")->clearGeometries();
+        mc->layer("Station")->addGeometry(tempCirclePoint);
+
+        qmapcontrol::Point* tempPoint = new qmapcontrol::Point(latitud, longitud,"g");
+
+        if (isVisible())
+        {
+            mc->updateRequest(tempPoint->boundingBox().toRect());
+        }
+    }
+}
+
+void MapWidget::createHomePositionClick(bool click)
+{
+    Q_UNUSED(click);
+
+    if (!setHome->isChecked())
+    {
+        UASManager::instance()->setHomePosition(
+                    static_cast<double>(homeCoordinate.x()),
+                    static_cast<double>(homeCoordinate.y()), 0);
+
+        qDebug()<<"Set home position "<<homeCoordinate.x()<<" "<<homeCoordinate.y();
+    }
+}

src/ui/MapWidget.h

@@ -118,6 +118,7 @@ protected:
     QPushButton* followgps;
     QPushButton* createPath;
     QPushButton* clearTracking;
+    QPushButton* setHome;
     QLabel* gpsposition;
     QMenu* mapMenu;
     QPushButton* mapButton;
@@ -128,9 +129,9 @@ protected:
     qmapcontrol::Layer* overlay;            ///< Street overlay (foreground)
     qmapcontrol::Layer* tracks;             ///< Layer for UAV tracks
     qmapcontrol::GeometryLayer* geomLayer;  ///< Layer for waypoints
-
+    qmapcontrol::GeometryLayer* homePosition;       ///< Layer for station control
     //only for experiment
-    qmapcontrol::GeometryLayer* camLayer; ///< Layer for camera indicator
+    //qmapcontrol::GeometryLayer* camLayer; ///< Layer for camera indicator
 
     int zoomLevel;
     int detailZoom; ///< Steps zoomed in further than qMapControl allows
@@ -163,6 +164,9 @@ protected:
     void createWaypointGraphAtMap(int id, const QPointF coordinate);
     void mapproviderSelected(QAction* action);
 
+    void createHomePosition(const QMouseEvent* event, const QPointF coordinate);
+    void createHomePositionClick(bool click);
+
   signals:
     //void movePoint(QPointF newCoord);
     //void captureMapCoordinateClick(const QPointF coordinate); //ROCA
@@ -188,6 +192,7 @@ private:
     bool drawCamBorder;
     int radioCamera;
 
+    QPointF homeCoordinate;
 };
 
 #endif // MAPWIDGET_H

src/ui/QGCRemoteControlView.cc

@@ -191,7 +191,11 @@ void QGCRemoteControlView::redraw()
             progressBars.at(i)->setValue(vv);
         }
         // Update RSSI
+        if(rssi>0)
+        {
             rssiBar->setValue(rssi*100);
+        }
+
         updated = false;
     }
 }

src/ui/SlugsDataSensorView.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>392</width>
+    <width>495</width>
     <height>768</height>
    </rect>
   </property>

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),
+   QWidget(parent),
     ui(new Ui::SlugsPadCameraControl),
      dragging(0)
 {
     ui->setupUi(this);
     x1= 0;
     y1 = 0;
-    bearingPad = 0;
-    distancePad = 0;
-    directionPad = "no";
-
+    motion = NONE;
 }
 
 SlugsPadCameraControl::~SlugsPadCameraControl()
@@ -24,199 +17,126 @@ SlugsPadCameraControl::~SlugsPadCameraControl()
     delete ui;
 }
 
+void SlugsPadCameraControl::activeUasSet(UASInterface *uas)
+{
+    if(uas)
+    {
+         this->activeUAS= uas;
+    }
+}
+
 void SlugsPadCameraControl::mouseMoveEvent(QMouseEvent *event)
 {
     Q_UNUSED(event);
-    //emit mouseMoveCoord(event->x(),event->y());
 
     if(dragging)
     {
-
-      // getDeltaPositionPad(event->x(), event->y());
-
+        getDeltaPositionPad(event->x(), event->y());
     }
-
-
 }
 
 void SlugsPadCameraControl::mousePressEvent(QMouseEvent *event)
 {
-    //emit mousePressCoord(event->x(),event->y());
+    if(!dragging)
+    {
         dragging = true;
         x1 = event->x();
         y1 = event->y();
-
+    }
 }
 
 void SlugsPadCameraControl::mouseReleaseEvent(QMouseEvent *event)
 {
+    if(dragging)
+    {
         dragging = false;
-    //emit mouseReleaseCoord(event->x(),event->y());
         getDeltaPositionPad(event->x(), event->y());
 
         xFin = event->x();
         yFin = 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.setPen(Qt::white);
-
-    //QPointF coordTemp = getPointBy_BearingDistance(ui->frame->width()/2,ui->frame->height()/2,bearingPad,distancePad);
-
-    painter.drawLine(QPoint(ui->frame->width()/2,ui->frame->height()/2),
-                     QPoint(xFin,yFin));
-
-
-   // painter.drawLine(QPoint());
-    //painter.drawLines(padLines);
-
-
-    // painter.drawPie(rectangle, startAngle, spanAngle);
-
-    //painter.drawText(rect(), Qt::AlignCenter, "Qt");
+    }
 }
 
 void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
 {
+    QPointF localMeasures = ObtenerMarcacionDistanciaPixel(y1,x1,y2,x2);
 
+    if(localMeasures.y()>10)
+    {
         QString dir = "nd";
-    QPointF localMeasures = ObtenerMarcacionDistanciaPixel(y1,x1,y2,x2);
 
         double bearing = localMeasures.x();
-    double dist = getDistPixel(y1,x1,y2,x2);
 
-    // this only convert real bearing to frame widget bearing
         bearing = bearing +90;
-    if(bearing>= 360) bearing = bearing - 360;
-
-
 
-    if(((bearing > 330)&&(bearing < 360)) || ((bearing >= 0)&&(bearing <= 30)))
+        if(bearing>= 360)
         {
-         emit dirCursorText("up");
-        //bearing = 315;
-        dir = "up";
+            bearing = bearing - 360;
         }
-    else
-    {
-        if((bearing > 30)&&(bearing <= 60) )
+
+        if(bearing >337.5 || bearing <=22.5)
         {
-            emit dirCursorText("right up");
-            //bearing = 315;
-            dir = "right up";
+            motion= UP;
+            movePad = QPoint(0, 1);
+            dir = "UP";
         }
-        else
+        else if(bearing >22.5 && bearing <=67.5)
         {
-            if((bearing > 60)&&(bearing <= 105) )
-            {
-               emit dirCursorText("right");
-                //bearing = 315;
-                dir = "right";
+            motion= RIGHT_UP;
+            movePad = QPoint(1, 1);
+            dir = "RIGHT UP";
         }
-            else
-            {
-                if((bearing > 105)&&(bearing <= 150) )
+        else if(bearing >67.5 && bearing <=112.5)
         {
-                   emit dirCursorText("right down");
-                    //bearing = 315;
-                    dir = "right down";
+            motion= RIGHT;
+            movePad = QPoint(1, 0);
+            dir = "RIGHT";
         }
-                else
-                {
-                    if((bearing > 150)&&(bearing <= 195) )
+        else if(bearing >112.5 && bearing <= 157.5)
         {
-                       emit dirCursorText("down");
-                        //bearing = 315;
-                        dir = "down";
+            motion= RIGHT_DOWN;
+            movePad = QPoint(1, -1);
+            dir = "RIGHT DOWN";
         }
-                    else
+        else if(bearing >157.5 && bearing <=202.5)
         {
-                        if((bearing > 195)&&(bearing <= 240) )
-                        {
-                            emit dirCursorText("left down");
-                            //bearing = 315;
-                            dir = "left down";
+            motion= DOWN;
+            movePad = QPoint(0, -1);
+            dir = "DOWN";
         }
-                        else
-                        {
-                            if((bearing > 240)&&(bearing <= 300) )
+        else if(bearing >202.5 && bearing <=247.5)
         {
-                               emit dirCursorText("left");
-                                //bearing = 315;
-                                dir = "left";
+            motion= LEFT_DOWN;
+            movePad = QPoint(-1, -1);
+            dir = "LEFT DOWN";
         }
-                            else
+        else if(bearing >247.5 && bearing <=292.5)
         {
-                                if((bearing > 300)&&(bearing <= 330) )
-                                {
-                                    emit dirCursorText("left up");
-                                    //bearing = 315;
-                                    dir = "left up";
-                                }
-
-                            }
-
+            motion= LEFT;
+            movePad = QPoint(-1, 0);
+            dir = "LEFT";
         }
-
-                    }
-
-                }
-
-            }
-
-        }
-
+        else if(bearing >292.5 && bearing <=337.5)
+        {
+            motion= LEFT_UP;
+            movePad = QPoint(-1, 1);
+            dir = "LEFT UP";
         }
 
+        emit changeMotionCamera(motion);
 
-    bearingPad = bearing;
-    distancePad = dist;
-    directionPad = dir;
-    emit changeCursorPosition(bearing, dist, dir);
+        ui->lbPixel->setText(QString::number(localMeasures.y()));
+        ui->lbDirection->setText(dir);
 
+        qDebug()<<dir;
         update();
-
-
-
-}
-
-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;
+    }
 }
 
-
 QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1,
                                                               double lon2, double lat2)
 {
-    double cateto_opuesto,cateto_adyacente, hipotenusa, distancia;
+    double cateto_opuesto,cateto_adyacente, hipotenusa;//, distancia;
     double marcacion = 0.0;
 
     //latitude and longitude first point
@@ -230,7 +150,7 @@ QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, doubl
     cateto_adyacente = abs((lon1-lon2));
 
     hipotenusa = sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2));
-    distancia = hipotenusa*60.0;
+    //distancia = hipotenusa*60.0;
 
 
     if ((lat1 < lat2) && (lon1 > lon2)) //primer cuadrante
@@ -252,24 +172,30 @@ QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, doubl
     else if((lat1 == lat2) && (lon1 == lon2)) //0
         marcacion = 0.0;
 
-
-
-    return QPointF(marcacion,distancia);
-
+    return QPointF(marcacion,hipotenusa);// distancia);
 }
 
+void SlugsPadCameraControl::keyPressEvent(QKeyEvent *event)
+{
+    switch (event->key())
+    {
+        case Qt::Key_Left:
+            emit changeMotionCamera(LEFT);
+        break;
 
+        case Qt::Key_Right:
+            emit changeMotionCamera(RIGHT);
+        break;
 
-QPointF SlugsPadCameraControl::getPointBy_BearingDistance(double lat1, double lon1, double rumbo, double distancia)
-{
-    double lon2 = 0;
-    double lat2 = 0;
-    double rad= M_PI/180;
+        case Qt::Key_Down:
+            emit changeMotionCamera(DOWN);
+        break;
 
-    rumbo = rumbo*rad;
-    lon2=(lon1 + ((distancia/60) * (sin(rumbo))));
-    lat2=(lat1 + ((distancia/60) * (cos(rumbo))));
+        case Qt::Key_Up:
+            emit changeMotionCamera(UP);
+        break;
 
-    return QPointF(lon2,lat2);
+        default:
+        QWidget::keyPressEvent(event);
+    }
 }
-

src/ui/SlugsPadCameraControl.h

 #ifndef SLUGSPADCAMERACONTROL_H
 #define SLUGSPADCAMERACONTROL_H
 
-#include <QWidget>
+#include <QtGui/QWidget>
 #include <QGraphicsView>
+#include <QMouseEvent>
+#include <QKeyEvent>
+#include <QDebug>
+#include <qmath.h>
+#include <QPainter>
+#include "UASManager.h"
 
 namespace Ui {
     class SlugsPadCameraControl;
@@ -17,31 +23,32 @@ public:
 
     ~SlugsPadCameraControl();
 
+    enum MotionCamera {
+        UP,
+        DOWN,
+        LEFT,
+        RIGHT,
+        RIGHT_UP,
+        RIGHT_DOWN,
+        LEFT_UP,
+        LEFT_DOWN,
+        NONE
+    };
+
 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);
-    QPointF getPointBy_BearingDistance(double lat1, double lon1, double rumbo, double distancia);
-
-
-
+    void activeUasSet(UASInterface *uas);
 
 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);
+    void changeMotionCamera(MotionCamera);
 
 protected:
     void mousePressEvent(QMouseEvent* event);
     void mouseReleaseEvent(QMouseEvent* event);
     void mouseMoveEvent(QMouseEvent* event);
-    void paintEvent(QPaintEvent *pe);
+    void keyPressEvent(QKeyEvent *event);
+    //void paintEvent(QPaintEvent *pe);
 
 
 private:
@@ -51,9 +58,10 @@ private:
     int y1;
     int xFin;
     int yFin;
-      double bearingPad;
-      double distancePad;
     QString directionPad;
+    MotionCamera motion;
+    UASInterface* activeUAS;
+    QPoint movePad;
 
 };
 

src/ui/SlugsPadCameraControl.ui

@@ -6,10 +6,16 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>183</width>
-    <height>127</height>
+    <width>200</width>
+    <height>200</height>
    </rect>
   </property>
+  <property name="minimumSize">
+   <size>
+    <width>200</width>
+    <height>200</height>
+   </size>
+  </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
@@ -27,8 +33,8 @@
     <widget class="QFrame" name="frame">
      <property name="minimumSize">
       <size>
-       <width>181</width>
-       <height>125</height>
+       <width>200</width>
+       <height>200</height>
       </size>
      </property>
      <property name="mouseTracking">
@@ -43,6 +49,39 @@
      <property name="frameShadow">
       <enum>QFrame::Raised</enum>
      </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <item row="0" column="0">
+       <spacer name="verticalSpacer">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>20</width>
+          <height>156</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item row="1" column="0">
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <item>
+         <widget class="QLabel" name="lbPixel">
+          <property name="text">
+           <string>----</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="lbDirection">
+          <property name="text">
+           <string>----</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
     </widget>
    </item>
   </layout>

src/ui/SlugsVideoCamControl.cpp

@@ -30,10 +30,10 @@ SlugsVideoCamControl::SlugsVideoCamControl(QWidget *parent) :
 
     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)));
+    //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)));
 
 
 }
@@ -90,6 +90,6 @@ void SlugsVideoCamControl::getDeltaPositionPad(double bearing, double distance,
     ui->label_x->setText("Distancia= " + QString::number(distance));
     ui->label_y->setText("Bearing= " + QString::number(bearing));
 
-    emit changeCamPosition(20, bearing, dirText);
+    //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:
-    /**
-         * @brief status = true: emit signal to draw a border cam over the map
-    */
-    void changeViewCamBorderAtMapStatus(bool status);
-    /**
-         * @brief show the values of mousepad on ui (labels) and emit a changeCamPosition(signal)
-         *        with values:
-         *       bearing and distance from mouse over the pad
-         *          dirText: direction of mouse movement in text format (up, right,right up,right down,
-         *                   left, left up, left down, down)
-    */
-    void getDeltaPositionPad(double bearing, double distance, QString dirText);
-
-//    /**
-//         * @brief
-//    */
-//    void mousePadPressEvent(int x, int y);
-//    void mousePadReleaseEvent(int x, int y);
-//    void mousePadMoveEvent(int x, int y);
-
-signals:
-    /**
-         * @brief emit values from mousepad:
-         *       bearing and distance from mouse over the pad
-         *          dirText: direction of mouse movement in text format (up, right,right up,right down,
-         *                   left, left up, left down, down)
-    */
-    void changeCamPosition(double distance, double bearing, QString textDir);
-    /**
-         * @brief emit signal to draw a border cam over the map if status is true
-    */
-    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="QVBoxLayout" name="verticalLayout">
-   <item>
-    <layout class="QGridLayout" name="gridLayout">
-     <item row="0" column="0">
-      <widget class="QLabel" name="label_x">
-       <property name="mouseTracking">
-        <bool>true</bool>
-       </property>
-       <property name="text">
-        <string>Coord_X</string>
-       </property>
-      </widget>
-     </item>
-     <item row="0" column="1">
-      <widget class="QLabel" name="label_y">
-       <property name="mouseTracking">
-        <bool>true</bool>
-       </property>
-       <property name="text">
-        <string>Coord_Y</string>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="1">
-      <widget class="QCheckBox" name="viewCamBordeatMap_checkBox">
-       <property name="text">
-        <string>Camera at Map</string>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="0">
-      <widget class="QLabel" name="label_dir">
-       <property name="text">
-        <string>Camera Pos</string>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>

src/ui/UASControlParameters.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UASControlParameters</class>
+ <widget class="QWidget" name="UASControlParameters">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>204</width>
+    <height>246</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>200</width>
+    <height>150</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>267</width>
+    <height>16777215</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_5">
+     <item>
+      <spacer name="horizontalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QLabel" name="lbMode">
+       <property name="minimumSize">
+        <size>
+         <width>100</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>----</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </item>
+   <item row="1" column="0">
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="currentIndex">
+      <number>1</number>
+     </property>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>Commands</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_2">
+       <item row="1" column="0">
+        <layout class="QHBoxLayout" name="horizontalLayout">
+         <item>
+          <widget class="QLabel" name="label_2">
+           <property name="text">
+            <string>Height (m)</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QDoubleSpinBox" name="sbHeight">
+           <property name="maximum">
+            <double>1500.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="2" column="0">
+        <layout class="QHBoxLayout" name="horizontalLayout_3">
+         <item>
+          <widget class="QLabel" name="label_3">
+           <property name="text">
+            <string>Airspeed (m/s)</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QDoubleSpinBox" name="sbAirSpeed">
+           <property name="maximum">
+            <double>500.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="3" column="0">
+        <layout class="QHBoxLayout" name="horizontalLayout_2">
+         <item>
+          <widget class="QLabel" name="label_4">
+           <property name="text">
+            <string>Turn Rate (rad/s)</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QDoubleSpinBox" name="sbTurnRate">
+           <property name="maximum">
+            <double>180.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="4" column="0">
+        <layout class="QHBoxLayout" name="horizontalLayout_4">
+         <item>
+          <widget class="QPushButton" name="btSetCommands">
+           <property name="text">
+            <string>Set</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="btGetCommands">
+           <property name="text">
+            <string>Get</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="5" column="0">
+        <spacer name="verticalSpacer">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>27</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="tab_2">
+      <attribute name="title">
+       <string>Passthrough</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_3">
+       <item row="0" column="0">
+        <layout class="QVBoxLayout" name="verticalLayout">
+         <item>
+          <widget class="QCheckBox" name="cxdle_c">
+           <property name="text">
+            <string>Elevator</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QCheckBox" name="cxdr_c">
+           <property name="text">
+            <string>Rudder</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QCheckBox" name="cxdt_c">
+           <property name="text">
+            <string>Throttle</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QCheckBox" name="cxdla_c">
+           <property name="text">
+            <string>Ailerons</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="1" column="0">
+        <widget class="QPushButton" name="btSetCtrl">
+         <property name="text">
+          <string>Set</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <spacer name="verticalSpacer_2">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>26</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/uas/UASControlParameters.cpp

+#include "src\ui\uas\UASControlParameters.h"
+#include "ui_UASControlParameters.h"
+
+#define CONTROL_MODE_LOCKED "MODE LOCKED"
+#define CONTROL_MODE_MANUAL "MODE MANUAL"
+#define CONTROL_MODE_GUIDED "MODE GUIDED"
+#define CONTROL_MODE_AUTO   "MODE AUTO"
+#define CONTROL_MODE_TEST1  "MODE TEST1"
+#define CONTROL_MODE_TEST2  "MODE TEST2"
+#define CONTROL_MODE_TEST3  "MODE TEST3"
+#define CONTROL_MODE_READY  "MODE TEST3"
+#define CONTROL_MODE_RC_TRAINING  "RC SIMULATION"
+
+#define CONTROL_MODE_LOCKED_INDEX 1
+#define CONTROL_MODE_MANUAL_INDEX 2
+#define CONTROL_MODE_GUIDED_INDEX 3
+#define CONTROL_MODE_AUTO_INDEX   4
+#define CONTROL_MODE_TEST1_INDEX  5
+#define CONTROL_MODE_TEST2_INDEX  6
+#define CONTROL_MODE_TEST3_INDEX  7
+#define CONTROL_MODE_READY_INDEX  8
+#define CONTROL_MODE_RC_TRAINING_INDEX  9
+
+UASControlParameters::UASControlParameters(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::UASControlParameters)
+{
+    ui->setupUi(this);
+
+    ui->btSetCtrl->setStatusTip(tr("Set Passthrough"));
+
+    connect(ui->btGetCommands, SIGNAL(clicked()), this, SLOT(getCommands()));
+
+    connect(ui->btSetCtrl, SIGNAL(clicked()), this, SLOT(setPassthrough()));
+}
+
+UASControlParameters::~UASControlParameters()
+{
+    delete ui;
+}
+
+void UASControlParameters::changedMode(int mode)
+{
+    QString modeTemp;
+
+    switch (mode)
+    {
+    case (uint8_t)MAV_MODE_LOCKED:
+        modeTemp = "LOCKED MODE";
+        break;
+    case (uint8_t)MAV_MODE_MANUAL:
+        modeTemp = "MANUAL MODE";
+        break;
+    case (uint8_t)MAV_MODE_AUTO:
+        modeTemp = "AUTO MODE";
+        break;
+    case (uint8_t)MAV_MODE_GUIDED:
+        modeTemp = "GUIDED MODE";
+        break;
+    case (uint8_t)MAV_MODE_READY:
+        modeTemp = "READY MODE";
+        break;
+    case (uint8_t)MAV_MODE_TEST1:
+        modeTemp = "TEST1 MODE";
+        break;
+    case (uint8_t)MAV_MODE_TEST2:
+        modeTemp = "TEST2 MODE";
+        break;
+    case (uint8_t)MAV_MODE_TEST3:
+        modeTemp = "TEST3 MODE";
+        break;
+    case (uint8_t)MAV_MODE_RC_TRAINING:
+        modeTemp = "RC TRAINING MODE";
+        break;
+    default:
+        modeTemp = "UNINIT MODE";
+        break;
+    }
+
+
+    if(modeTemp != this->mode)
+    {
+        ui->lbMode->setStyleSheet("background-color: rgb(255, 0, 0)");
+    }
+    else
+    {
+        ui->lbMode->setStyleSheet("background-color: rgb(0, 255, 0)");
+    }
+}
+
+void UASControlParameters::activeUasSet(UASInterface *uas)
+{
+    if(uas)
+    {
+        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(speedChanged(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
+        connect(uas, SIGNAL(thrustChanged(UASInterface*,double)), this, SLOT(thrustChanged(UASInterface*,double)) );
+
+        activeUAS= uas;
+    }
+}
+
+void UASControlParameters::updateGlobalPosition(UASInterface * a, double b, double c, double aa, quint64 ab)
+{
+    //ui->sbHeight->setValue(aa);
+    this->altitude=aa;
+}
+
+void UASControlParameters::speedChanged(UASInterface* uas, double vx, double vy, double vz, quint64 time)
+{
+    this->speed = sqrt(pow(vx, 2.0) + pow(vy, 2.0) + pow(vz, 2.0));
+    //ui->sbAirSpeed->setValue(speed);
+}
+
+void UASControlParameters::updateAttitude(UASInterface *uas, double roll, double pitch, double yaw, quint64 time)
+{
+    Q_UNUSED(uas);
+    Q_UNUSED(time);
+    //ui->sbTurnRate->setValue(roll);
+    this->roll = roll;
+}
+
+void UASControlParameters::setCommands()
+{
+    if(this->activeUAS)
+    {
+        UAS* myUas= static_cast<UAS*>(this->activeUAS);
+
+        mavlink_message_t msg;
+
+        tempCmds.uCommand = ui->sbAirSpeed->value();
+        tempCmds.hCommand = ui->sbHeight->value();
+        tempCmds.rCommand = ui->sbTurnRate->value();
+
+        mavlink_msg_mid_lvl_cmds_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCmds);
+        myUas->sendMessage(msg);
+    }
+}
+
+void UASControlParameters::getCommands()
+{
+    ui->sbAirSpeed->setValue(this->speed);
+    ui->sbHeight->setValue(this->altitude);
+    ui->sbTurnRate->setValue(this->roll);
+}
+
+void UASControlParameters::setPassthrough()
+{
+    if(this->activeUAS)
+    {
+        UAS* myUas= static_cast<UAS*>(this->activeUAS);
+
+        mavlink_message_t msg;
+
+        int8_t tmpBit=0;
+
+        if(ui->cxdle_c->isChecked())//left elevator command
+        {
+            tmpBit+=8;
+        }
+        if(ui->cxdr_c->isChecked())//rudder command
+        {
+            tmpBit+=16;
+        }
+
+        if(ui->cxdla_c->isChecked())//left aileron command
+        {
+            tmpBit+=64;
+        }
+        if(ui->cxdt_c->isChecked())//throttle command
+        {
+            tmpBit+=128;
+        }
+
+        generic_16bit r;
+        r.b[1] = 0;
+        r.b[0] = tmpBit;//255;
+
+        tempCtrl.target= this->activeUAS->getUASID();
+        tempCtrl.bitfieldPt= (uint16_t)r.s;
+
+        mavlink_msg_ctrl_srfc_pt_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCtrl);
+        myUas->sendMessage(msg);
+        //qDebug()<<tempCtrl.bitfieldPt;
+    }
+}
+
+void UASControlParameters::updateMode(int uas,QString mode,QString description)
+{
+    Q_UNUSED(uas);
+    Q_UNUSED(description);
+    this->mode = mode;
+    ui->lbMode->setText(this->mode);
+
+    ui->lbMode->setStyleSheet("background-color: rgb(0, 255, 0)");
+}
+
+void UASControlParameters::thrustChanged(UASInterface *uas, double throttle)
+{
+    Q_UNUSED(uas);
+    this->throttle= throttle;
+}

src/ui/uas/UASControlParameters.h

+#ifndef UASCONTROLPARAMETERS_H
+#define UASCONTROLPARAMETERS_H
+
+#include <QWidget>
+#include "UASManager.h"
+#include "SlugsMAV.h"
+#include <QTimer>
+#include <QTabWidget>
+
+namespace Ui {
+    class UASControlParameters;
+}
+
+class UASControlParameters : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit UASControlParameters(QWidget *parent = 0);
+    ~UASControlParameters();
+
+public slots:
+    void changedMode(int mode);
+    void activeUasSet(UASInterface* uas);
+    void updateGlobalPosition(UASInterface*,double,double,double,quint64);
+    void speedChanged(UASInterface*,double,double,double,quint64);
+    void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 time);
+    void setCommands();
+    void getCommands();
+
+    void setPassthrough();
+    void updateMode(int uas,QString mode,QString description);
+    void thrustChanged(UASInterface* uas,double throttle);
+
+private:
+    Ui::UASControlParameters *ui;
+    QTimer* refreshTimerGet;
+    UASInterface* activeUAS;
+    double speed;
+    double roll;
+    double altitude;
+    double throttle;
+    QString mode;
+    QString REDcolorStyle;
+    QPointer<RadioCalibrationData> radio;
+    LinkInterface* hilLink;
+    mavlink_mid_lvl_cmds_t tempCmds;
+    mavlink_ctrl_srfc_pt_t tempCtrl;
+};
+
+#endif // UASCONTROLPARAMETERS_H

src/ui/uas/UASControlWidget.cc

@@ -253,6 +253,8 @@ void UASControlWidget::setMode(int mode)
 
 
     qDebug() << "SET MODE REQUESTED" << uasMode;
+
+    emit changedMode(mode);
 }
 
 void UASControlWidget::transmitMode()

src/ui/uas/UASControlWidget.h

@@ -66,6 +66,10 @@ public slots:
     /** @brief Update internal state machine */
     void updateStatemachine();
 
+signals:
+    void changedMode(int);
+
+
 protected slots:
     /** @brief Set the background color for the widget */
     void setBackgroundColor(QColor color);