Substantial cleanup in joystick interface, operational now

qgroundcontrol.pro

@@ -557,7 +557,7 @@ contains(DEPENDENCIES_PRESENT, osg) {
         message("Including sources for osgEarth")
         
         # Enable only if OpenSceneGraph is available
-        SOURCES += src/ui/map3D/QMap3D.cc
+        SOURCES +=
     }
 }
 contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {

src/comm/QGCFlightGearLink.cc

@@ -142,6 +142,11 @@ void QGCFlightGearLink::setRemoteHost(const QString& host)
 
 }
 
+void QGCFlightGearLink::updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
+{
+
+}
+
 void QGCFlightGearLink::updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode)
 {
     // magnetos,aileron,elevator,rudder,throttle\n

src/comm/QGCFlightGearLink.h

@@ -78,6 +78,7 @@ public slots:
     void setRemoteHost(const QString& host);
     /** @brief Send new control states to the simulation */
     void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
+    void updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
 //    /** @brief Remove a host from broadcasting messages to */
 //    void removeHost(const QString& host);
     //    void readPendingDatagrams();

src/comm/QGCHilLink.h

@@ -31,6 +31,7 @@ public slots:
     virtual void setRemoteHost(const QString& host) = 0;
     /** @brief Send new control states to the simulation */
     virtual void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode) = 0;
+    virtual void updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8) = 0;
     virtual void processError(QProcess::ProcessError err) = 0;
 
     virtual void readBytes() = 0;
@@ -68,6 +69,11 @@ signals:
                         float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
                         int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc);
     
+    /** @brief Remote host and port changed */
+    void remoteChanged(const QString& hostPort);
+
+    /** @brief Status text message from link */
+    void statusMessage(const QString& message);
 };
 
 #endif // QGCHILLINK_H

src/comm/QGCXPlaneLink.cc

@@ -44,7 +44,9 @@ QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress
     mav(mav),
     socket(NULL),
     process(NULL),
-    terraSync(NULL)
+    terraSync(NULL),
+    airframeID(QGCXPlaneLink::AIRFRAME_UNKNOWN),
+    xPlaneConnected(false)
 {
     this->localHost = localHost;
     this->localPort = localPort/*+mav->getUASID()*/;
@@ -68,7 +70,7 @@ void QGCXPlaneLink::loadSettings()
     QSettings settings;
     settings.sync();
     settings.beginGroup("QGC_XPLANE_LINK");
-    setRemoteHost(settings.value("REMOTE_HOST", QString("%1:%2").arg(remoteHost.toString(), remotePort)).toString());
+    setRemoteHost(settings.value("REMOTE_HOST", QString("%1:%2").arg(remoteHost.toString()).arg(remotePort)).toString());
     settings.endGroup();
 }
 
@@ -173,10 +175,78 @@ void QGCXPlaneLink::setRemoteHost(const QString& newHost)
         disconnectSimulation();
         connectSimulation();
     }
+
+    emit remoteChanged(QString("%1:%2").arg(remoteHost.toString()).arg(remotePort));
+}
+
+void QGCXPlaneLink::updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
+{
+    // Only update this for multirotors
+    if (airframeID == AIRFRAME_QUAD_X_MK_10INCH_I2C ||
+        airframeID == AIRFRAME_QUAD_X_ARDRONE ||
+        airframeID == AIRFRAME_QUAD_DJI_F450_PWM)
+    {
+
+        Q_UNUSED(time);
+        Q_UNUSED(act5);
+        Q_UNUSED(act6);
+        Q_UNUSED(act7);
+        Q_UNUSED(act8);
+
+    #pragma pack(push, 1)
+        struct payload {
+            char b[5];
+            int index;
+            float f[8];
+        } p;
+    #pragma pack(pop)
+
+        p.b[0] = 'D';
+        p.b[1] = 'A';
+        p.b[2] = 'T';
+        p.b[3] = 'A';
+        p.b[4] = '\0';
+
+        p.index = 25;
+        memset(p.f, 0, sizeof(p.f));
+
+        if (airframeID == AIRFRAME_QUAD_X_MK_10INCH_I2C)
+        {
+            p.f[0] = act1 / 255.0f;
+            p.f[1] = act2 / 255.0f;
+            p.f[2] = act3 / 255.0f;
+            p.f[3] = act4 / 255.0f;
+        }
+        else if (airframeID == AIRFRAME_QUAD_X_ARDRONE)
+        {
+            p.f[0] = act1 / 500.0f;
+            p.f[1] = act2 / 500.0f;
+            p.f[2] = act3 / 500.0f;
+            p.f[3] = act4 / 500.0f;
+        }
+        else
+        {
+            p.f[0] = (act1 - 1000.0f) / 1000.0f;
+            p.f[1] = (act2 - 1000.0f) / 1000.0f;
+            p.f[2] = (act3 - 1000.0f) / 1000.0f;
+            p.f[3] = (act4 - 1000.0f) / 1000.0f;
+        }
+        // Throttle
+        writeBytes((const char*)&p, sizeof(p));
+    }
 }
 
 void QGCXPlaneLink::updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode)
 {
+    // Do not update this control type for
+    // all multirotors
+
+    if (airframeID == AIRFRAME_QUAD_X_MK_10INCH_I2C ||
+        airframeID == AIRFRAME_QUAD_X_ARDRONE ||
+        airframeID == AIRFRAME_QUAD_DJI_F450_PWM)
+    {
+        return;
+    }
 
     #pragma pack(push, 1)
     struct payload {
@@ -218,6 +288,7 @@ void QGCXPlaneLink::updateControls(uint64_t time, float rollAilerons, float pitc
 
 void QGCXPlaneLink::writeBytes(const char* data, qint64 size)
 {
+    if (!data) return;
     //#define QGCXPlaneLink_DEBUG
 #if 1
     QString bytes;
@@ -277,11 +348,14 @@ void QGCXPlaneLink::readBytes()
     } p;
     #pragma pack(pop)
 
+    bool oldConnectionState = xPlaneConnected;
+
     if (data[0] == 'D' &&
             data[1] == 'A' &&
             data[2] == 'T' &&
             data[3] == 'A')
     {
+        xPlaneConnected = true;
 
         for (unsigned i = 0; i < nsegs; i++)
         {
@@ -296,15 +370,17 @@ void QGCXPlaneLink::readBytes()
 
                 //qDebug() << "SPEEDS:" << "airspeed" << airspeed << "m/s, groundspeed" << groundspeed << "m/s";
             }
-            else if (p.index == 8)
-            {
-                //qDebug() << "MAN:" << p.f[0] << p.f[3] << p.f[7];
-                man_roll = p.f[0];
-                man_pitch = p.f[1];
-                man_yaw = p.f[2];
-                UAS* uas = dynamic_cast<UAS*>(mav);
-                if (uas) uas->setManualControlCommands(man_roll, man_pitch, man_yaw, 0.6);
-            }
+            // Forward controls from X-Plane to MAV, not very useful
+            // better: Connect Joystick to QGroundControl
+//            else if (p.index == 8)
+//            {
+//                //qDebug() << "MAN:" << p.f[0] << p.f[3] << p.f[7];
+//                man_roll = p.f[0];
+//                man_pitch = p.f[1];
+//                man_yaw = p.f[2];
+//                UAS* uas = dynamic_cast<UAS*>(mav);
+//                if (uas) uas->setManualControlCommands(man_roll, man_pitch, man_yaw, 0.6);
+//            }
             else if (p.index == 16)
             {
                 //qDebug() << "ANG VEL:" << p.f[0] << p.f[3] << p.f[7];
@@ -377,6 +453,11 @@ void QGCXPlaneLink::readBytes()
                          pitchspeed, yawspeed, lat*1E7, lon*1E7, alt*1E3,
                          vx, vy, vz, xacc*1000, yacc*1000, zacc*1000);
 
+    if (!oldConnectionState && xPlaneConnected)
+    {
+        emit statusMessage("Receiving from XPlane.");
+    }
+
     //    // Echo data for debugging purposes
     //    std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl;
     //    int i;
@@ -415,6 +496,7 @@ bool QGCXPlaneLink::disconnectSimulation()
     if (mav)
     {
         disconnect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
+        disconnect(mav, SIGNAL(hilActuatorsChanged(uint64_t, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(uint64_t,float,float,float,float,float,float,float,float)));
         disconnect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));
         UAS* uas = dynamic_cast<UAS*>(mav);
         if (uas)
@@ -449,7 +531,23 @@ bool QGCXPlaneLink::disconnectSimulation()
 
 void QGCXPlaneLink::selectPlane(const QString& plane)
 {
+    airframeName = plane;
 
+    if (plane.contains("QRO"))
+    {
+        if (plane.contains("MK"))
+        {
+            airframeID = AIRFRAME_QUAD_X_MK_10INCH_I2C;
+        }
+        else if (plane.contains("ARDRONE"))
+        {
+            airframeID = AIRFRAME_QUAD_X_ARDRONE;
+        }
+        else
+        {
+            airframeID = AIRFRAME_QUAD_DJI_F450_PWM;
+        }
+    }
 }
 
 void QGCXPlaneLink::setPositionAttitude(double lat, double lon, double alt, double roll, double pitch, double yaw)
@@ -569,6 +667,7 @@ bool QGCXPlaneLink::connectSimulation()
     //terraSync = new QProcess(this);
 
     connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
+    connect(mav, SIGNAL(hilActuatorsChanged(uint64_t, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(uint64_t,float,float,float,float,float,float,float,float)));
     connect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));
 
     UAS* uas = dynamic_cast<UAS*>(mav);
@@ -618,164 +717,6 @@ bool QGCXPlaneLink::connectSimulation()
     ip.use_ip = 1;
 
     writeBytes((const char*)&ip, sizeof(ip));
-
-    // XXX This will later be enabled to start X-Plane from within QGroundControl with the right arguments
-
-//    //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
-//    // Catch process error
-//    QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
-//                      this, SLOT(processError(QProcess::ProcessError)));
-//    QObject::connect( terraSync, SIGNAL(error(QProcess::ProcessError)),
-//                      this, SLOT(processError(QProcess::ProcessError)));
-//    // Start X-Plane
-//    QStringList processCall;
-//    QString processFgfs;
-//    QString processTerraSync;
-//    QString fgRoot;
-//    QString fgScenery;
-//    QString aircraft;
-
-//    if (mav->getSystemType() == MAV_TYPE_FIXED_WING)
-//    {
-//        aircraft = "Rascal110-JSBSim";
-//    }
-//    else if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
-//    {
-//        aircraft = "arducopter";
-//    }
-//    else
-//    {
-//        aircraft = "Rascal110-JSBSim";
-//    }
-
-//#ifdef Q_OS_MACX
-//    processFgfs = "/Applications/X-Plane.app/Contents/Resources/fgfs";
-//    processTerraSync = "/Applications/X-Plane.app/Contents/Resources/terrasync";
-//    fgRoot = "/Applications/X-Plane.app/Contents/Resources/data";
-//    //fgScenery = "/Applications/X-Plane.app/Contents/Resources/data/Scenery";
-//    fgScenery = "/Applications/X-Plane.app/Contents/Resources/data/Scenery-TerraSync";
-//    //   /Applications/X-Plane.app/Contents/Resources/data/Scenery:
-//#endif
-
-//#ifdef Q_OS_WIN32
-//    processFgfs = "C:\\Program Files (x86)\\X-Plane\\bin\\Win32\\fgfs";
-//    fgRoot = "C:\\Program Files (x86)\\X-Plane\\data";
-//    fgScenery = "C:\\Program Files (x86)\\X-Plane\\data\\Scenery-Terrasync";
-//#endif
-
-//#ifdef Q_OS_LINUX
-//    processFgfs = "fgfs";
-//    fgRoot = "/usr/share/X-Plane/data";
-//    fgScenery = "/usr/share/X-Plane/data/Scenery-Terrasync";
-//#endif
-
-//    // Sanity checks
-//    bool sane = true;
-//    QFileInfo executable(processFgfs);
-//    if (!executable.isExecutable())
-//    {
-//        MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("X-Plane was not found at %1").arg(processFgfs));
-//        sane = false;
-//    }
-
-//    QFileInfo root(fgRoot);
-//    if (!root.isDir())
-//    {
-//        MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("X-Plane data directory was not found at %1").arg(fgRoot));
-//        sane = false;
-//    }
-
-//    QFileInfo scenery(fgScenery);
-//    if (!scenery.isDir())
-//    {
-//        MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("X-Plane scenery directory was not found at %1").arg(fgScenery));
-//        sane = false;
-//    }
-
-//    if (!sane) return false;
-
-//    // --atlas=socket,out,1,locallocalHost,5505,udp
-//    // terrasync -p 5505 -S -d /usr/local/share/TerraSync
-
-//    processCall << QString("--fg-root=%1").arg(fgRoot);
-//    processCall << QString("--fg-scenery=%1").arg(fgScenery);
-//    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
-//    {
-//        // FIXME ADD QUAD-Specific protocol here
-//        processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(localPort);
-//        processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(remotePort);
-//    }
-//    else
-//    {
-//        processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(localPort);
-//        processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(remotePort);
-//    }
-//    processCall << "--atlas=socket,out,1,locallocalHost,5505,udp";
-//    processCall << "--in-air";
-//    processCall << "--roll=0";
-//    processCall << "--pitch=0";
-//    processCall << "--vc=90";
-//    processCall << "--heading=300";
-//    processCall << "--timeofday=noon";
-//    processCall << "--disable-hud-3d";
-//    processCall << "--disable-fullscreen";
-//    processCall << "--geometry=400x300";
-//    processCall << "--disable-anti-alias-hud";
-//    processCall << "--wind=0@0";
-//    processCall << "--turbulence=0.0";
-//    processCall << "--prop:/sim/frame-rate-throttle-hz=30";
-//    processCall << "--control=mouse";
-//    processCall << "--disable-intro-music";
-//    processCall << "--disable-sound";
-//    processCall << "--disable-random-objects";
-//    processCall << "--disable-ai-models";
-//    processCall << "--shading-flat";
-//    processCall << "--fog-disable";
-//    processCall << "--disable-specular-highlight";
-//    //processCall << "--disable-skyblend";
-//    processCall << "--disable-random-objects";
-//    processCall << "--disable-panel";
-//    //processCall << "--disable-horizon-effect";
-//    processCall << "--disable-clouds";
-//    processCall << "--fdm=jsb";
-//    processCall << "--units-meters";
-//    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
-//    {
-//        // Start all engines of the quad
-//        processCall << "--prop:/engines/engine[0]/running=true";
-//        processCall << "--prop:/engines/engine[1]/running=true";
-//        processCall << "--prop:/engines/engine[2]/running=true";
-//        processCall << "--prop:/engines/engine[3]/running=true";
-//    }
-//    else
-//    {
-//        processCall << "--prop:/engines/engine/running=true";
-//    }
-//    processCall << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
-//    processCall << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
-//    processCall << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
-//    // Add new argument with this: processCall << "";
-//    processCall << QString("--aircraft=%2").arg(aircraft);
-
-
-//    QStringList terraSyncArguments;
-//    terraSyncArguments << "-p 5505";
-//    terraSyncArguments << "-S";
-//    terraSyncArguments << QString("-d=%1").arg(fgScenery);
-
-//    terraSync->start(processTerraSync, terraSyncArguments);
-//    process->start(processFgfs, processCall);
-
-
-
-//    emit X-PlaneConnected(connectState);
-//    if (connectState) {
-//        emit X-PlaneConnected();
-//        connectionStartTime = QGC::groundTimeUsecs()/1000;
-//    }
-//    qDebug() << "STARTING SIM";
-
-//        qDebug() << "STARTING: " << processFgfs << processCall;
     return connectState;
 }
 

src/comm/QGCXPlaneLink.h

@@ -81,6 +81,16 @@ public:
      */
     QString getRemoteHost();
 
+    enum AIRFRAME
+    {
+        AIRFRAME_UNKNOWN = 0,
+        AIRFRAME_QUAD_DJI_F450_PWM,
+        AIRFRAME_QUAD_X_MK_10INCH_I2C,
+        AIRFRAME_QUAD_X_ARDRONE,
+        AIRFRAME_FIXED_WING_BIXLER_II,
+        AIRFRAME_FIXED_WING_BIXLER_II_AILERONS
+    };
+
 public slots:
 //    void setAddress(QString address);
     void setPort(int port);
@@ -88,9 +98,8 @@ public slots:
     void setRemoteHost(const QString& host);
     /** @brief Send new control states to the simulation */
     void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
-//    /** @brief Remove a host from broadcasting messages to */
-//    void removeHost(const QString& host);
-    //    void readPendingDatagrams();
+    /** @brief Send new motor control states to the simulation */
+    void updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
     void processError(QProcess::ProcessError err);
 
     void readBytes();
@@ -163,6 +172,9 @@ protected:
     float groundspeed;
 
     float man_roll, man_pitch, man_yaw;
+    QString airframeName;
+    enum AIRFRAME airframeID;
+    bool xPlaneConnected;
 
     void setName(QString name);
 

src/input/JoystickInput.cc

@@ -214,19 +214,20 @@ void JoystickInput::run()
             }
         }
 
-        // Display all axes
-        for(int i = 0; i < SDL_JoystickNumAxes(joystick); i++)
-        {
-            //qDebug() << "\rAXIS" << i << "is: " << SDL_JoystickGetAxis(joystick, i);
-        }
+//        // Display all axes
+//        for(int i = 0; i < SDL_JoystickNumAxes(joystick); i++)
+//        {
+//            qDebug() << "\rAXIS" << i << "is: " << SDL_JoystickGetAxis(joystick, i);
+//        }
 
         // THRUST
         double thrust = ((double)SDL_JoystickGetAxis(joystick, thrustAxis) - calibrationNegative[thrustAxis]) / (calibrationPositive[thrustAxis] - calibrationNegative[thrustAxis]);
         // Has to be inverted for Logitech Wingman
         thrust = 1.0f - thrust;
+        thrust = thrust * 2.0f - 1.0f;
         // Bound rounding errors
-        if (thrust > 1) thrust = 1;
-        if (thrust < 0) thrust = 0;
+        if (thrust > 1.0f) thrust = 1.0f;
+        if (thrust < -1.0f) thrust = -1.0f;
         emit thrustChanged((float)thrust);
 
         // X Axis

src/uas/UAS.cc

@@ -1045,6 +1045,20 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
         }
             break;
+        case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
+        {
+            mavlink_servo_output_raw_t raw;
+            mavlink_msg_servo_output_raw_decode(&message, &raw);
+
+            if (hilEnabled)
+            {
+                emit hilActuatorsChanged(static_cast<uint64_t>(getUnixTimeFromMs(raw.time_boot_ms)), static_cast<float>(raw.servo1_raw),
+                                     static_cast<float>(raw.servo2_raw), static_cast<float>(raw.servo3_raw),
+                                     static_cast<float>(raw.servo4_raw), static_cast<float>(raw.servo5_raw), static_cast<float>(raw.servo6_raw),
+                                     static_cast<float>(raw.servo7_raw), static_cast<float>(raw.servo8_raw));
+            }
+        }
+        break;
 #ifdef MAVLINK_ENABLED_PIXHAWK
         case MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE:
         {
@@ -1096,6 +1110,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
         }
             break;
+
+
+
 #endif
             //        case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT:
             //        {
@@ -1205,7 +1222,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
         case MAVLINK_MSG_ID_RAW_PRESSURE:
         case MAVLINK_MSG_ID_SCALED_PRESSURE:
-        case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
         case MAVLINK_MSG_ID_OPTICAL_FLOW:
         case MAVLINK_MSG_ID_DEBUG_VECT:
         case MAVLINK_MSG_ID_DEBUG:
@@ -2394,8 +2410,8 @@ void UAS::disarmSystem()
 void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust)
 {
     // Scale values
-    double rollPitchScaling = 0.2f * 1000.0f;
-    double yawScaling = 0.5f * 1000.0f;
+    double rollPitchScaling = 1.0f * 1000.0f;
+    double yawScaling = 1.0f * 1000.0f;
     double thrustScaling = 1.0f * 1000.0f;
 
     manualRollAngle = roll * rollPitchScaling;

src/uas/UAS.h

@@ -665,6 +665,8 @@ signals:
     void imageReady(UASInterface* uas);
     /** @brief HIL controls have changed */
     void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
+    /** @brief HIL actuator outputs have changed */
+    void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
 
 protected:
     /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */

src/ui/JoystickWidget.cc

@@ -80,7 +80,7 @@ void JoystickWidget::setZ(float z)
 
 void JoystickWidget::setHat(float x, float y)
 {
-    updateStatus(tr("Hat position: x: %1, y: %2").arg(x, y));
+    updateStatus(tr("Hat position: x: %1, y: %2").arg(x).arg(y));
 }
 
 void JoystickWidget::clearKeys()

src/ui/QGCHilConfiguration.cc

@@ -11,6 +11,8 @@ QGCHilConfiguration::QGCHilConfiguration(QGCHilLink* link, QWidget *parent) :
 
     connect(ui->startButton, SIGNAL(clicked(bool)), this, SLOT(toggleSimulation(bool)));
     connect(ui->hostComboBox, SIGNAL(activated(QString)), link, SLOT(setRemoteHost(QString)));
+    connect(link, SIGNAL(remoteChanged(QString)), ui->hostComboBox, SLOT(setEditText(QString)));
+    connect(link, SIGNAL(statusMessage(QString)), this, SLOT(receiveStatusMessage(QString)));
 
     ui->startButton->setText(tr("Connect"));
 
@@ -22,9 +24,17 @@ QGCHilConfiguration::QGCHilConfiguration(QGCHilLink* link, QWidget *parent) :
         connect(ui->randomPositionButton, SIGNAL(clicked()), link, SLOT(setRandomPosition()));
         connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(setAirframe(QString)));
     }
+
+    ui->hostComboBox->clear();
+    ui->hostComboBox->addItem(link->getRemoteHost());
 //    connect(ui->)
 }
 
+void QGCHilConfiguration::receiveStatusMessage(const QString& message)
+{
+    ui->statusLabel->setText(message);
+}
+
 void QGCHilConfiguration::toggleSimulation(bool connect)
 {
     Q_UNUSED(connect);

src/ui/QGCHilConfiguration.h

@@ -18,8 +18,10 @@ public:
     ~QGCHilConfiguration();
 
 public slots:
-    /** Start / stop simulation */
+    /** @brief Start / stop simulation */
     void toggleSimulation(bool connect);
+    /** @brief Receive status message */
+    void receiveStatusMessage(const QString& message);
 
 protected:
     QGCHilLink* link;

src/ui/QGCHilConfiguration.ui

@@ -7,98 +7,31 @@
     <x>0</x>
     <y>0</y>
     <width>305</width>
-    <height>202</height>
+    <height>261</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QGridLayout" name="gridLayout" columnstretch="40,60,50,50">
-   <item row="5" column="0" colspan="3">
-    <widget class="QLabel" name="statusLabel">
-     <property name="text">
-      <string>Status</string>
-     </property>
-    </widget>
-   </item>
-   <item row="6" column="0" colspan="2">
-    <widget class="QPushButton" name="randomAttitudeButton">
-     <property name="text">
-      <string>Random ATT</string>
-     </property>
-    </widget>
-   </item>
-   <item row="4" column="0" colspan="2">
-    <widget class="QPushButton" name="startButton">
-     <property name="text">
-      <string>Start</string>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="0">
-    <widget class="QLabel" name="simLabel">
-     <property name="text">
-      <string>Simulator</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="0">
-    <widget class="QLabel" name="hostLabel">
-     <property name="text">
-      <string>Host</string>
-     </property>
-    </widget>
-   </item>
-   <item row="4" column="2" colspan="2">
-    <widget class="QPushButton" name="setHomeButton">
-     <property name="text">
-      <string>Set HOME</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="1" colspan="3">
-    <widget class="QComboBox" name="hostComboBox">
+   <item row="1" column="1" colspan="3">
+    <widget class="QComboBox" name="airframeComboBox">
      <property name="editable">
       <bool>true</bool>
      </property>
      <item>
       <property name="text">
-       <string>127.0.0.1:49000</string>
+       <string>QRO_X/MK</string>
       </property>
      </item>
-    </widget>
-   </item>
-   <item row="0" column="1" colspan="3">
-    <widget class="QComboBox" name="simComboBox">
      <item>
       <property name="text">
-       <string>X-Plane</string>
+       <string>QRO_X/Ardrone</string>
       </property>
      </item>
-    </widget>
-   </item>
-   <item row="6" column="2" colspan="2">
-    <widget class="QPushButton" name="randomPositionButton">
-     <property name="text">
-      <string>Random POS</string>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="0">
-    <widget class="QLabel" name="label">
-     <property name="text">
-      <string>Airframe</string>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="1" colspan="3">
-    <widget class="QComboBox" name="airframeComboBox">
-     <property name="editable">
-      <bool>true</bool>
-     </property>
      <item>
       <property name="text">
-       <string>QRO_X</string>
+       <string>QRO_X/PWM</string>
       </property>
      </item>
      <item>
@@ -133,6 +66,96 @@
      </item>
     </widget>
    </item>
+   <item row="0" column="0">
+    <widget class="QLabel" name="simLabel">
+     <property name="text">
+      <string>Simulator</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="2" colspan="2">
+    <widget class="QPushButton" name="setHomeButton">
+     <property name="text">
+      <string>Set HOME</string>
+     </property>
+    </widget>
+   </item>
+   <item row="7" column="0">
+    <widget class="QLabel" name="statusLabel">
+     <property name="text">
+      <string>Status</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>Airframe</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="1" colspan="3">
+    <widget class="QComboBox" name="simComboBox">
+     <item>
+      <property name="text">
+       <string>X-Plane</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="2" column="1" colspan="3">
+    <widget class="QComboBox" name="hostComboBox">
+     <property name="editable">
+      <bool>true</bool>
+     </property>
+     <item>
+      <property name="text">
+       <string>127.0.0.1:49000</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="6" column="2" colspan="2">
+    <widget class="QPushButton" name="randomPositionButton">
+     <property name="text">
+      <string>Random POS</string>
+     </property>
+    </widget>
+   </item>
+   <item row="6" column="0" colspan="2">
+    <widget class="QPushButton" name="randomAttitudeButton">
+     <property name="text">
+      <string>Random ATT</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QLabel" name="hostLabel">
+     <property name="text">
+      <string>Host</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="0" colspan="2">
+    <widget class="QPushButton" name="startButton">
+     <property name="text">
+      <string>Start</string>
+     </property>
+    </widget>
+   </item>
+   <item row="8" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
   </layout>
  </widget>
  <resources/>

src/ui/map3D/Q3DWidgetFactory.cc

@@ -42,11 +42,6 @@ Q3DWidgetFactory::get(const std::string& type, QWidget* parent)
     if (type == "PIXHAWK") {
         return QPointer<QWidget>(new Pixhawk3DWidget(parent));
     }
-#ifdef QGC_OSGEARTH_ENABLED
-    else if (type == "MAP3D") {
-        return QPointer<QWidget>(new QMap3D());
-    }
-#endif
     else {
         return QPointer<QWidget>(new Q3DWidget(parent));
     }

src/ui/map3D/QMap3D.cc

@@ -1,73 +0,0 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-#ifdef QGC_OSGEARTH_ENABLED
-
-/**
- * @file
- *   @brief Definition of the class QMap3D.
- *
- *   @author James Goppert <james.goppert@gmail.com>
- *
- */
-
-#include "QMap3D.h"
-#include <osgEarthUtil/EarthManipulator>
-#include <QFileDialog>
-
-QMap3D::QMap3D(QWidget * parent, const char * name, WindowFlags f) :
-    QWidget(parent,f)
-{
-    Q_UNUSED(name);
-    setupUi(this);
-#if ((OPENSCENEGRAPH_MAJOR_VERSION == 2) & (OPENSCENEGRAPH_MINOR_VERSION > 8)) | (OPENSCENEGRAPH_MAJOR_VERSION > 2)
-    graphicsView->setCameraManipulator(new osgEarth::Util::EarthManipulator);
-#else
-    graphicsView->setCameraManipulator(new osgEarthUtil::EarthManipulator);
-#endif
-    graphicsView->setSceneData(new osg::Group);
-    graphicsView->updateCamera();
-    show();
-}
-
-QMap3D::~QMap3D()
-{
-}
-
-void QMap3D::on_pushButton_map_clicked()
-{
-    QString mapName = QFileDialog::getOpenFileName(this, tr("Select an OsgEarth map file"),
-                      QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("OsgEarth file (*.earth);;"));
-    graphicsView->getSceneData()->asGroup()->addChild(osgDB::readNodeFile(mapName.toStdString()));
-    graphicsView->updateCamera();
-}
-
-void QMap3D::on_pushButton_vehicle_clicked()
-{
-    QString vehicleName = QFileDialog::getOpenFileName(this, tr("Select a 3D model for your vehicle"),
-                          QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("OsgEarth file (*.osg, *.ac, *.3ds);;"));
-    graphicsView->getSceneData()->asGroup()->addChild(osgDB::readNodeFile(vehicleName.toStdString()));
-    graphicsView->updateCamera();
-}
-
-#endif