Working towards working maps without runtime issues

src/uas/UASManager.cc

@@ -73,10 +73,12 @@ void UASManager::loadSettings()
     settings.endGroup();
 }
 
-void UASManager::setHomePosition(double lat, double lon, double alt)
+bool UASManager::setHomePosition(double lat, double lon, double alt)
 {
     // Checking for NaN and infitiny
-    if (lat == lat && lon == lon && alt == alt && !std::isinf(lat) && !std::isinf(lon) && !std::isinf(alt)) {
+    if (lat == lat && lon == lon && alt == alt && !std::isinf(lat) && !std::isinf(lon) && !std::isinf(alt)
+        && lat <= 90.0 && lat >= -90.0 && lon <= 180.0 && lon >= -180.0) {
+
         bool changed = false;
         if (homeLat != lat) changed = true;
         if (homeLon != lon) changed = true;
@@ -87,6 +89,9 @@ void UASManager::setHomePosition(double lat, double lon, double alt)
         homeAlt = alt;
 
         if (changed) emit homePositionChanged(homeLat, homeLon, homeAlt);
+        return true;
+    } else {
+        return false;
     }
 }
 

src/uas/UASManager.h

@@ -175,7 +175,7 @@ public slots:
     bool shutdownActiveUAS();
 
     /** @brief Set the current home position */
-    void setHomePosition(double lat, double lon, double alt);
+    bool setHomePosition(double lat, double lon, double alt);
 
     /** @brief Load settings */
     void loadSettings();

src/uas/UASWaypointManager.cc

@@ -273,7 +273,9 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
 }
 
 /**
+ * @warning Make sure the waypoint stays valid for the whole application lifecycle!
  * @param enforceFirstActive Enforces that the first waypoint is set as active
+ * @see createWaypoint() is more suitable for most use cases
  */
 void UASWaypointManager::addWaypoint(Waypoint *wp, bool enforceFirstActive)
 {
@@ -288,6 +290,22 @@ void UASWaypointManager::addWaypoint(Waypoint *wp, bool enforceFirstActive)
     }
 }
 
+/**
+ * @param enforceFirstActive Enforces that the first waypoint is set as active
+ */
+Waypoint* UASWaypointManager::createWaypoint(bool enforceFirstActive)
+{
+    Waypoint* wp = new Waypoint();
+    wp->setId(waypoints.size());
+    if (enforceFirstActive && waypoints.size() == 0) wp->setCurrent(true);
+    waypoints.insert(waypoints.size(), wp);
+    connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChange(Waypoint*)));
+
+    emit waypointListChanged();
+    emit waypointListChanged(uas.getUASID());
+    return wp;
+}
+
 int UASWaypointManager::removeWaypoint(quint16 seq)
 {
     if (seq < waypoints.size()) {

src/uas/UASWaypointManager.h

@@ -128,6 +128,7 @@ public slots:
     /** @name Waypoint list operations */
     /*@{*/
     void addWaypoint(Waypoint *wp, bool enforceFirstActive=true);                 ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
+    Waypoint* createWaypoint(bool enforceFirstActive=true);     ///< Creates a waypoint
     int removeWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
     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

src/ui/MainWindow.cc

@@ -70,7 +70,8 @@ MainWindow::MainWindow(QWidget *parent):
     changingViewsFlag(false),
     styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"),
     autoReconnect(false),
-    currentStyle(QGC_MAINWINDOW_STYLE_INDOOR)
+    currentStyle(QGC_MAINWINDOW_STYLE_INDOOR),
+    lowPowerMode(false)
 {
     loadSettings();
     if (!settings.contains("CURRENT_VIEW")) {
@@ -163,6 +164,9 @@ MainWindow::MainWindow(QWidget *parent):
         link->connect();
     }
 
+    // Set low power mode
+    enableLowPowerMode(lowPowerMode);
+
     // Initialize window state
     windowStateVal = windowState();
 }
@@ -1048,6 +1052,7 @@ void MainWindow::loadSettings()
     settings.beginGroup("QGC_MAINWINDOW");
     autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool();
     currentStyle = (QGC_MAINWINDOW_STYLE)settings.value("CURRENT_STYLE", currentStyle).toInt();
+    lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool();
     settings.endGroup();
 }
 
@@ -1065,6 +1070,8 @@ void MainWindow::storeSettings()
     if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
     // Save the current view only if a UAS is connected
     if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView);
+    // Save the current power mode
+    settings.setValue("LOW_POWER_MODE", lowPowerMode);
     settings.sync();
 }
 
@@ -1886,7 +1893,7 @@ void MainWindow::presentView()
         }
     }
 
-    // ACTIVATE MAP WIDGET
+    // ACTIVATE HUD WIDGET
     if (headUpDockWidget) {
         HUD* tmpHud = dynamic_cast<HUD*>( headUpDockWidget->widget() );
         if (tmpHud) {

src/ui/MainWindow.h

@@ -103,6 +103,11 @@ public:
         return autoReconnect;
     }
 
+    /** @brief Get low power mode setting */
+    bool lowPowerModeEnabled() {
+        return lowPowerMode;
+    }
+
 public slots:
 //    /** @brief Store the mainwindow settings */
 //    void storeSettings();
@@ -160,6 +165,8 @@ public slots:
     void selectStylesheet();
     /** @brief Automatically reconnect last link */
     void enableAutoReconnect(bool enabled);
+    /** @brief Save power by reducing update rates */
+    void enableLowPowerMode(bool enabled) { lowPowerMode = enabled; }
     /** @brief Switch to native application style */
     void loadNativeStyle();
     /** @brief Switch to indoor mission style */
@@ -430,6 +437,7 @@ protected:
     bool autoReconnect;
     QGC_MAINWINDOW_STYLE currentStyle;
     Qt::WindowStates windowStateVal;
+    bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
 
 private:
     Ui::MainWindow ui;

src/ui/uas/UASView.cc

@@ -39,38 +39,44 @@ This file is part of the PIXHAWK project
 #include "UASManager.h"
 #include "UASView.h"
 #include "UASWaypointManager.h"
+#include "MainWindow.h"
 #include "ui_UASView.h"
 
 UASView::UASView(UASInterface* uas, QWidget *parent) :
-    QWidget(parent),
-    startTime(0),
-    timeout(false),
-    iconIsRed(true),
-    timeRemaining(0),
-    chargeLevel(0),
-    uas(uas),
-    load(0),
-    state("UNKNOWN"),
-    stateDesc(tr("Unknown state")),
-    mode("MAV_MODE_UNKNOWN"),
-    thrust(0),
-    isActive(false),
-    x(0),
-    y(0),
-    z(0),
-    totalSpeed(0),
-    lat(0),
-    lon(0),
-    alt(0),
-    groundDistance(0),
-    localFrame(false),
-    removeAction(new QAction("Delete this system", this)),
-    renameAction(new QAction("Rename..", this)),
-    selectAction(new QAction("Control this system", this )),
-    selectAirframeAction(new QAction("Choose Airframe", this)),
-    setBatterySpecsAction(new QAction("Set Battery Options", this)),
-    m_ui(new Ui::UASView)
-{
+        QWidget(parent),
+        startTime(0),
+        timeout(false),
+        iconIsRed(true),
+        timeRemaining(0),
+        chargeLevel(0),
+        uas(uas),
+        load(0),
+        state("UNKNOWN"),
+        stateDesc(tr("Unknown state")),
+        mode("MAV_MODE_UNKNOWN"),
+        thrust(0),
+        isActive(false),
+        x(0),
+        y(0),
+        z(0),
+        totalSpeed(0),
+        lat(0),
+        lon(0),
+        alt(0),
+        groundDistance(0),
+        localFrame(false),
+        removeAction(new QAction("Delete this system", this)),
+        renameAction(new QAction("Rename..", this)),
+        selectAction(new QAction("Control this system", this )),
+        selectAirframeAction(new QAction("Choose Airframe", this)),
+        setBatterySpecsAction(new QAction("Set Battery Options", this)),
+        lowPowerModeEnabled(false),
+        m_ui(new Ui::UASView)
+{
+    // FIXME XXX
+    lowPowerModeEnabled = MainWindow::instance()->lowPowerModeEnabled();
+
+
     m_ui->setupUi(this);
 
     // Setup communication
@@ -129,7 +135,12 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     // Heartbeat fade
     refreshTimer = new QTimer(this);
     connect(refreshTimer, SIGNAL(timeout()), this, SLOT(refresh()));
-    refreshTimer->start(updateInterval);
+    if (lowPowerModeEnabled)
+    {
+        refreshTimer->start(updateInterval*10);
+    } else {
+        refreshTimer->start(updateInterval);
+    }
 
     // Hide kill and shutdown buttons per default
     m_ui->killButton->hide();
@@ -248,7 +259,7 @@ void UASView::showEvent(QShowEvent* event)
     // React only to internal (pre-display)
     // events
     Q_UNUSED(event);
-    refreshTimer->start(updateInterval);
+    refreshTimer->start(updateInterval*10);
 }
 
 void UASView::hideEvent(QHideEvent* event)
@@ -305,24 +316,24 @@ void UASView::setSystemType(UASInterface* uas, unsigned int systemType)
             m_ui->typeButton->setIcon(QIcon(":/images/mavs/unknown.svg"));
             break;
         case 6: {
-            // A groundstation is a special system type, update widget
-            QString result;
-            m_ui->nameLabel->setText(tr("OCU ") + result.sprintf("%03d", uas->getUASID()));
-            m_ui->waypointLabel->setText("");
-            m_ui->timeRemainingLabel->setText("Online:");
-            m_ui->batteryBar->hide();
-            m_ui->thrustBar->hide();
-            m_ui->stateLabel->hide();
-            m_ui->statusTextLabel->hide();
-            m_ui->waypointLabel->hide();
-            m_ui->liftoffButton->hide();
-            m_ui->haltButton->hide();
-            m_ui->landButton->hide();
-            m_ui->shutdownButton->hide();
-            m_ui->abortButton->hide();
-            m_ui->typeButton->setIcon(QIcon(":/images/mavs/groundstation.svg"));
-        }
-        break;
+                // A groundstation is a special system type, update widget
+                QString result;
+                m_ui->nameLabel->setText(tr("OCU ") + result.sprintf("%03d", uas->getUASID()));
+                m_ui->waypointLabel->setText("");
+                m_ui->timeRemainingLabel->setText("Online:");
+                m_ui->batteryBar->hide();
+                m_ui->thrustBar->hide();
+                m_ui->stateLabel->hide();
+                m_ui->statusTextLabel->hide();
+                m_ui->waypointLabel->hide();
+                m_ui->liftoffButton->hide();
+                m_ui->haltButton->hide();
+                m_ui->landButton->hide();
+                m_ui->shutdownButton->hide();
+                m_ui->abortButton->hide();
+                m_ui->typeButton->setIcon(QIcon(":/images/mavs/groundstation.svg"));
+            }
+            break;
         default:
             m_ui->typeButton->setIcon(QIcon(":/images/mavs/unknown.svg"));
             break;
@@ -458,15 +469,15 @@ void UASView::selectAirframe()
         // Get list of airframes from UAS
         QStringList airframes;
         airframes << "Generic"
-                  << "Multiplex Easystar"
-                  << "Multiplex Twinstar"
-                  << "Multiplex Merlin"
-                  << "Pixhawk Cheetah"
-                  << "Mikrokopter"
-                  << "Reaper"
-                  << "Predator"
-                  << "Coaxial"
-                  << "Pteryx";
+                << "Multiplex Easystar"
+                << "Multiplex Twinstar"
+                << "Multiplex Merlin"
+                << "Pixhawk Cheetah"
+                << "Mikrokopter"
+                << "Reaper"
+                << "Predator"
+                << "Coaxial"
+                << "Pteryx";
 
         bool ok;
         QString item = QInputDialog::getItem(this, tr("Select Airframe for %1").arg(uas->getUASName()),
@@ -591,12 +602,15 @@ void UASView::refresh()
         }
         iconIsRed = !iconIsRed;
     } else {
-        // Fade heartbeat icon
-        // Make color darker
-        heartbeatColor = heartbeatColor.darker(150);
-
-        //m_ui->heartbeatIcon->setAutoFillBackground(true);
-        m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(heartbeatColor.name()));
+        if (!lowPowerModeEnabled)
+        {
+            // Fade heartbeat icon
+            // Make color darker
+            heartbeatColor = heartbeatColor.darker(150);
+
+            //m_ui->heartbeatIcon->setAutoFillBackground(true);
+            m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(heartbeatColor.name()));
+        }
     }
     //setUpdatesEnabled(true);
 

src/ui/uas/UASView.h

@@ -122,7 +122,8 @@ protected:
     QAction* selectAction;
     QAction* selectAirframeAction;
     QAction* setBatterySpecsAction;
-    static const int updateInterval = 300;
+    static const int updateInterval = 700;
+    bool lowPowerModeEnabled; ///< Low power mode reduces update rates
 
 
     void mouseDoubleClickEvent (QMouseEvent * event);