Change so Waypoints are the same across maps, and offline waypoints get appeneded to the end of the MAV's waypoint list on connect

files/ardupilotmega/fixed_wing/widgets/ardupilot-heading-pid.qgw

@@ -1,26 +0,0 @@
-[Heading%20PID%20Tuning]
-QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Heading D Gain
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_D
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=200
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=1
-QGC_TOOL_WIDGET_ITEMS\2\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_DESCRIPTION=Heading P Gain
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_P
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_COMPONENTID=200
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MAX=5
-QGC_TOOL_WIDGET_ITEMS\3\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Gain
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_I
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_COMPONENTID=200
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MAX=1
-QGC_TOOL_WIDGET_ITEMS\4\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Limit
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_IMAX
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_COMPONENTID=200
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MAX=3000
-QGC_TOOL_WIDGET_ITEMS\size=4

src/main.cc

@@ -64,7 +64,6 @@ void msgHandler( QtMsgType type, const char* msg )
 
 int main(int argc, char *argv[])
 {
-
 // install the message handler
 #ifdef Q_OS_WIN
     qInstallMsgHandler( msgHandler );

src/uas/UASManager.cc

@@ -235,7 +235,8 @@ UASManager::UASManager() :
         homeLat(47.3769),
         homeLon(8.549444),
         homeAlt(470.0),
-        homeFrame(MAV_FRAME_GLOBAL)
+        homeFrame(MAV_FRAME_GLOBAL),
+        offlineUASWaypointManager(NULL)
 {
     loadSettings();
     setLocalNEDSafetyBorders(1, -1, 0, -1, 1, -1);
@@ -280,6 +281,22 @@ void UASManager::addUAS(UASInterface* uas)
     if (firstUAS)
     {
         setActiveUAS(uas);
+        if (offlineUASWaypointManager->getWaypointEditableList().size() > 0)
+        {
+            if (QMessageBox::question(0,"Question","Do you want to append the offline waypoints to the ones currently on the UAV?",QMessageBox::Yes,QMessageBox::No) == QMessageBox::Yes)
+            {
+                //Need to transfer all waypoints from the offline mode WPManager to the online mode.
+                for (int i=0;i<offlineUASWaypointManager->getWaypointEditableList().size();i++)
+                {
+                    Waypoint *wp = uas->getWaypointManager()->createWaypoint();
+                    wp->setLatitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getLatitude());
+                    wp->setLongitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getLongitude());
+                    wp->setAltitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getAltitude());
+                }
+            }
+            offlineUASWaypointManager->deleteLater();
+            offlineUASWaypointManager = 0;
+        }
     }
 }
 
@@ -336,6 +353,20 @@ UASInterface* UASManager::silentGetActiveUAS()
 {
     return activeUAS; ///< Return zero pointer if no UAS has been loaded
 }
+UASWaypointManager *UASManager::getActiveUASWaypointManager()
+{
+    if (activeUAS)
+    {
+        return activeUAS->getWaypointManager();
+    }
+    if (!offlineUASWaypointManager)
+    {
+        offlineUASWaypointManager = new UASWaypointManager(NULL);
+    }
+    return offlineUASWaypointManager;
+
+
+}
 
 bool UASManager::launchActiveUAS()
 {

src/uas/UASManager.h

@@ -58,6 +58,12 @@ public:
      * @return NULL pointer if no UAS exists, active UAS else
      **/
     UASInterface* getActiveUAS();
+    /**
+     * @brief getActiveUASWaypointManager
+     * @return uas->getUASWaypointManager(), or if not connected, a singleton instance of a UASWaypointManager.
+     */
+    UASWaypointManager *getActiveUASWaypointManager();
+
     UASInterface* silentGetActiveUAS();
     /**
      * @brief Get the UAS with this id
@@ -244,6 +250,7 @@ protected:
     UASManager();
     QList<UASInterface*> systems;
     UASInterface* activeUAS;
+    UASWaypointManager *offlineUASWaypointManager;
     QMutex activeUASMutex;
     double homeLat;
     double homeLon;

src/ui/MainWindow.cc

@@ -1711,7 +1711,7 @@ void MainWindow::UASCreated(UASInterface* uas)
             // Load last view if setting is present
             if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
             {
-                int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
+                /*int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
                 switch (view)
                 {
                 case VIEW_ENGINEER:
@@ -1736,11 +1736,11 @@ void MainWindow::UASCreated(UASInterface* uas)
                 default:
                     loadOperatorView();
                     break;
-                }
+                }*/
             }
             else
             {
-                loadOperatorView();
+               // loadOperatorView();
             }
         }
 

src/ui/designer/QGCComboBox.cc

@@ -154,7 +154,7 @@ void QGCComboBox::selectParameter(int paramIndex)
         if (uas->getParamManager())
         {
             // Current value
-            uas->getParamManager()->requestParameterUpdate(component, parameterName);
+            //uas->getParamManager()->requestParameterUpdate(component, parameterName);
 
             // Minimum
             if (uas->getParamManager()->isParamMinKnown(parameterName))

src/ui/designer/QGCParamSlider.cc

@@ -184,7 +184,7 @@ void QGCParamSlider::selectParameter(int paramIndex)
         if (uas->getParamManager())
         {
             // Current value
-            uas->getParamManager()->requestParameterUpdate(component, parameterName);
+            //uas->getParamManager()->requestParameterUpdate(component, parameterName);
 
             // Minimum
             if (uas->getParamManager()->isParamMinKnown(parameterName))

src/ui/map/QGCMapWidget.cc

@@ -9,7 +9,6 @@
 
 QGCMapWidget::QGCMapWidget(QWidget *parent) :
     mapcontrol::OPMapWidget(parent),
-    currWPManager(NULL),
     firingWaypointChange(NULL),
     maxUpdateInterval(2.1f), // 2 seconds
     followUAVEnabled(false),
@@ -17,17 +16,42 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
     trailInterval(2.0f),
     followUAVID(0),
     mapInitialized(false),
-    homeAltitude(0)
+    homeAltitude(0),
+    uas(0)
 {
+    //currWPManager = new UASWaypointManager(NULL); //Create a waypoint manager that is null.
+    currWPManager = UASManager::instance()->getActiveUASWaypointManager();
+    connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
+    connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
+    connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
+    connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
+    offlineMode = true;
     // Widget is inactive until shown
     defaultGuidedAlt = -1;
     loadSettings(false);
 
     this->setContextMenuPolicy(Qt::ActionsContextMenu);
 
+    QAction *guidedaction = new QAction(this);
+    guidedaction->setText("Go To Here (Guided Mode)");
+    connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedActionTriggered()));
+    this->addAction(guidedaction);
+    guidedaction = new QAction(this);
+    guidedaction->setText("Go To Here Alt (Guided Mode)");
+    connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedAltActionTriggered()));
+    this->addAction(guidedaction);
+    QAction *cameraaction = new QAction(this);
+    cameraaction->setText("Point Camera Here");
+    connect(cameraaction,SIGNAL(triggered()),this,SLOT(cameraActionTriggered()));
+    this->addAction(cameraaction);
 }
 void QGCMapWidget::guidedActionTriggered()
 {
+    if (!uas)
+    {
+        QMessageBox::information(0,"Error","Please connect first");
+        return;
+    }
     if (currWPManager)
     {
         if (defaultGuidedAlt == -1)
@@ -49,6 +73,11 @@ void QGCMapWidget::guidedActionTriggered()
 }
 bool QGCMapWidget::guidedAltActionTriggered()
 {
+    if (!uas)
+    {
+        QMessageBox::information(0,"Error","Please connect first");
+        return false;
+    }
     bool ok = false;
     int tmpalt = QInputDialog::getInt(this,"Altitude","Enter default altitude (in meters) of destination point for guided mode",100,0,30000,1,&ok);
     if (!ok)
@@ -62,6 +91,11 @@ bool QGCMapWidget::guidedAltActionTriggered()
 }
 void QGCMapWidget::cameraActionTriggered()
 {
+    if (!uas)
+    {
+        QMessageBox::information(0,"Error","Please connect first");
+        return;
+    }
     ArduPilotMegaMAV *newmav = qobject_cast<ArduPilotMegaMAV*>(this->uas);
     if (newmav)
     {
@@ -262,32 +296,14 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
 
     if (uas)
     {
+        //UASWaypointManager *old = currWPManager;
+
         currWPManager = uas->getWaypointManager();
-        QList<QAction*> actionList = this->actions();
-        for (int i=0;i<actionList.size();i++)
-        {
-            this->removeAction(actionList[i]);
-            actionList[i]->deleteLater();
-        }
-        if (currWPManager->guidedModeSupported())
-        {
-            QAction *guidedaction = new QAction(this);
-            guidedaction->setText("Go To Here (Guided Mode)");
-            connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedActionTriggered()));
-            this->addAction(guidedaction);
-            guidedaction = new QAction(this);
-            guidedaction->setText("Go To Here Alt (Guided Mode)");
-            connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedAltActionTriggered()));
-            this->addAction(guidedaction);
-
-            if (uas->getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
-            {
-                QAction *cameraaction = new QAction(this);
-                cameraaction->setText("Point Camera Here");
-                connect(cameraaction,SIGNAL(triggered()),this,SLOT(cameraActionTriggered()));
-                this->addAction(cameraaction);
-            }
-        }
+
+        updateSelectedSystem(uas->getUASID());
+        followUAVID = uas->getUASID();
+
+        updateWaypointList(uas->getUASID());
 
         // Connect the waypoint manager / data storage to the UI
         connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
@@ -295,11 +311,27 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
         connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
         connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
 
-        updateSelectedSystem(uas->getUASID());
-        followUAVID = uas->getUASID();
+        /*if (offlineMode)
+        {
+
+            if (QMessageBox::question(0,"Question","Do you want to append the offline waypoints to the ones currently on the UAV?",QMessageBox::Yes,QMessageBox::No) == QMessageBox::Yes)
+            {
+                //Need to transfer all waypoints from the offline mode WPManager to the online mode.
+                for (int i=0;i<old->getWaypointEditableList().size();i++)
+                {
+                    Waypoint *wp = currWPManager->createWaypoint();
+                    wp->setLatitude(old->getWaypointEditableList()[i]->getLatitude());
+                    wp->setLongitude(old->getWaypointEditableList()[i]->getLongitude());
+                    wp->setAltitude(old->getWaypointEditableList()[i]->getAltitude());
+                }
+            }
+            offlineMode = false;
+            old->deleteLater();
+        }*/
+
 
         // Delete all waypoints and add waypoint from new system
-        updateWaypointList(uas->getUASID());
+
     }
 }
 
@@ -563,7 +595,7 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
     // Currently only accept waypoint updates from the UAS in focus
     // this has to be changed to accept read-only updates from other systems as well.
     UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
-    if (uasInstance->getWaypointManager() == currWPManager || uas == -1)
+    if (!uasInstance || uasInstance->getWaypointManager() == currWPManager || uas == -1)
     {
         // Only accept waypoints in global coordinate frame
         if (((wp->getFrame() == MAV_FRAME_GLOBAL) || (wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)) && wp->isNavigationType())

src/ui/map/QGCMapWidget.h

@@ -137,6 +137,7 @@ protected:
     void mouseDoubleClickEvent(QMouseEvent* event);
 
     UASWaypointManager* currWPManager; ///< The current waypoint manager
+    bool offlineMode;
     QMap<Waypoint* , mapcontrol::WayPointItem*> waypointsToIcons;
     QMap<mapcontrol::WayPointItem*, Waypoint*> iconsToWaypoints;
     Waypoint* firingWaypointChange;