merged. Added Waypoint changes, only retrieving waypoints works at the moment

qgroundcontrol.pri

@@ -25,21 +25,6 @@
 #
 #-------------------------------------------------
 
-QT       += network opengl svg xml phonon
-
-TEMPLATE = app
-TARGET = qgroundcontrol
-
-BASEDIR = .
-BUILDDIR = build
-LANGUAGE = C++
-
-CONFIG += debug_and_release console
-
-OBJECTS_DIR = $$BUILDDIR/obj
-MOC_DIR = $$BUILDDIR/moc
-UI_HEADERS_DIR = src/ui/generated
-
 #$$BASEDIR/lib/qextserialport/include
 #               $$BASEDIR/lib/openjaus/libjaus/include \
 #               $$BASEDIR/lib/openjaus/libopenJaus/include

qgroundcontrol.pro

@@ -8,6 +8,22 @@
 include(lib/QMapControl/QMapControl.pri)
 message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
 
+
+QT       += network opengl svg xml phonon
+
+TEMPLATE = app
+TARGET = qgroundcontrol
+
+BASEDIR = .
+BUILDDIR = build
+LANGUAGE = C++
+
+CONFIG += debug_and_release console
+
+OBJECTS_DIR = $$BUILDDIR/obj
+MOC_DIR = $$BUILDDIR/moc
+UI_HEADERS_DIR = src/ui/generated
+
 # }
 # Include general settings for MAVGround
 # necessary as last include to override any non-acceptable settings
@@ -22,7 +38,8 @@ include(src/lib/qextserialport/qextserialport.pri)
 include(src/lib/qwt/qwt.pri)
 DEPENDPATH += . \
     lib/QMapControl \
-    lib/QMapControl/src
+    lib/QMapControl/src \
+    plugins
 INCLUDEPATH += . \
     lib/QMapControl \
     ../mavlink/include \
@@ -124,7 +141,8 @@ HEADERS += src/MG.h \
     src/ui/watchdog/WatchdogControl.h \
     src/ui/watchdog/WatchdogProcessView.h \
     src/ui/watchdog/WatchdogView.h \
-    src/uas/UASWaypointManager.h
+    src/uas/UASWaypointManager.h \
+    src/ui/HSIDisplay.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -178,5 +196,6 @@ SOURCES += src/main.cc \
     src/ui/watchdog/WatchdogControl.cc \
     src/ui/watchdog/WatchdogProcessView.cc \
     src/ui/watchdog/WatchdogView.cc \
-    src/uas/UASWaypointManager.cc
+    src/uas/UASWaypointManager.cc \
+    src/ui/HSIDisplay.cc
 RESOURCES = mavground.qrc

src/Core.cc

@@ -131,7 +131,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
         }
     }
 
-   // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
+    // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
     MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
     mainWindow->addLink(simulationLink);
 }
@@ -164,7 +164,42 @@ void Core::startLinkManager()
  **/
 void Core::startUASManager()
 {
-    UASManager::instance();
+    // Load UAS plugins
+    QDir pluginsDir = QDir(qApp->applicationDirPath());
+
+#if defined(Q_OS_WIN)
+    if (pluginsDir.dirName().toLower() == "debug" || pluginsDir.dirName().toLower() == "release")
+        pluginsDir.cdUp();
+#elif defined(Q_OS_LINUX)
+    if (pluginsDir.dirName().toLower() == "debug" || pluginsDir.dirName().toLower() == "release")
+        pluginsDir.cdUp();
+#elif defined(Q_OS_MAC)
+    if (pluginsDir.dirName() == "MacOS")
+    {
+        pluginsDir.cdUp();
+        pluginsDir.cdUp();
+        pluginsDir.cdUp();
+    }
+#endif
+    pluginsDir.cd("plugins");
+
+    UASManager* m = UASManager::instance();
+
+    // Load plugins
+
+    QStringList pluginFileNames;
+
+    foreach (QString fileName, pluginsDir.entryList(QDir::Files))
+    {
+        QPluginLoader loader(pluginsDir.absoluteFilePath(fileName));
+        QObject *plugin = loader.instance();
+        if (plugin)
+        {
+            //populateMenus(plugin);
+            pluginFileNames += fileName;
+            printf(QString("Loaded plugin from " + fileName + "\n").toStdString().c_str());
+        }
+    }
 }
 
 

src/plugins/.gitignore

@@ -0,0 +1,5 @@
+moc_*
+*.o
+Makefile
+Makefile.Debug
+Makefile.Release

src/plugins/PxMAV.cc

@@ -0,0 +1,114 @@
+#include "PxMAV.h"
+
+#include <QtCore>
+
+PxMAV::PxMAV() :
+        UAS(NULL, 0)
+{
+}
+
+PxMAV::PxMAV(MAVLinkProtocol* mavlink, int id) :
+        UAS(mavlink, id)
+{
+}
+
+/**
+ * This function is called by MAVLink once a complete, uncorrupted (CRC check valid)
+ * mavlink packet is received.
+ *
+ * @param link Hardware link the message came from (e.g. /dev/ttyUSB0 or UDP port).
+ *             messages can be sent back to the system via this link
+ * @param message MAVLink message, as received from the MAVLink protocol stack
+ */
+void PxMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
+{
+    // Let UAS handle the default message set
+    UAS::receiveMessage(link, message);
+    mavlink_message_t* msg = &message;
+
+        //qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
+
+
+    // Handle your special messages
+    switch (msg->msgid)
+    {
+    case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:
+        {
+            mavlink_watchdog_heartbeat_t payload;
+            mavlink_msg_watchdog_heartbeat_decode(msg, &payload);
+            
+            emit watchdogReceived(this->uasId, payload.watchdog_id, payload.process_count);
+        }
+        break;
+        
+    case MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO:
+        {
+            mavlink_watchdog_process_info_t payload;
+            mavlink_msg_watchdog_process_info_decode(msg, &payload);
+            
+            emit processReceived(this->uasId, payload.watchdog_id, payload.process_id, QString((const char*)payload.name), QString((const char*)payload.arguments), payload.timeout);
+        }
+        break;
+        
+    case MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS:
+        {
+            mavlink_watchdog_process_status_t payload;
+            mavlink_msg_watchdog_process_status_decode(msg, &payload);
+            emit processChanged(this->uasId, payload.watchdog_id, payload.process_id, payload.state, (payload.muted == 1) ? true : false, payload.crashes, payload.pid);
+        }
+        break;
+    case MAVLINK_MSG_ID_DEBUG_VECT:
+        {
+            mavlink_debug_vect_t vect;
+            mavlink_msg_debug_vect_decode(msg, &vect);
+            QString str((const char*)vect.name);
+            emit valueChanged(uasId, str+".x", vect.x, MG::TIME::getGroundTimeNow());
+            emit valueChanged(uasId, str+".y", vect.y, MG::TIME::getGroundTimeNow());
+            emit valueChanged(uasId, str+".z", vect.z, MG::TIME::getGroundTimeNow());
+        }
+        break;
+    case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
+        {
+            mavlink_vision_position_estimate_t pos;
+            mavlink_msg_vision_position_estimate_decode(&message, &pos);
+            quint64 time = getUnixTime(pos.usec);
+            emit valueChanged(uasId, "vis. time", pos.usec, time);
+            emit valueChanged(uasId, "vis. roll", pos.roll, time);
+            emit valueChanged(uasId, "vis. pitch", pos.pitch, time);
+            emit valueChanged(uasId, "vis. yaw", pos.yaw, time);
+            emit valueChanged(uasId, "vis. x", pos.x, time);
+            emit valueChanged(uasId, "vis. y", pos.y, time);
+            emit valueChanged(uasId, "vis. z", pos.z, time);
+            emit valueChanged(uasId, "vis. vx", pos.vx, time);
+            emit valueChanged(uasId, "vis. vy", pos.vy, time);
+            emit valueChanged(uasId, "vis. vz", pos.vz, time);
+            emit valueChanged(uasId, "vis. vyaw", pos.vyaw, time);
+            // Set internal state
+            if (!positionLock)
+            {
+                // If position was not locked before, notify positive
+               // GAudioOutput::instance()->notifyPositive();
+            }
+            positionLock = true;
+        }
+        break;
+    default:
+        // Do nothing
+        break;
+    }
+}
+
+void PxMAV::sendProcessCommand(int watchdogId, int processId, unsigned int command)
+{
+    mavlink_watchdog_command_t payload;
+    payload.target_system_id = uasId;
+    payload.watchdog_id = watchdogId;
+    payload.process_id = processId;
+    payload.command_id = (uint8_t)command;
+
+    mavlink_message_t msg;
+    mavlink_msg_watchdog_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &payload);
+    sendMessage(msg);
+}
+
+ Q_EXPORT_PLUGIN2(pixhawk_plugins, PxMAV)

src/plugins/PxMAV.h

@@ -0,0 +1,24 @@
+#ifndef PXMAV_H
+#define PXMAV_H
+
+#include "UAS.h"
+
+class PxMAV : public UAS
+{
+    Q_OBJECT
+    Q_INTERFACES(UASInterface)
+public:
+    PxMAV(MAVLinkProtocol* mavlink, int id);
+    PxMAV();
+public slots:
+    /** @brief Receive a MAVLink message from this MAV */
+    void receiveMessage(LinkInterface* link, mavlink_message_t message);
+    /** @brief Send a command to an onboard process */
+    void sendProcessCommand(int watchdogId, int processId, unsigned int command);
+signals:
+    void watchdogReceived(int systemId, int watchdogId, unsigned int processCount);
+    void processReceived(int systemId, int watchdogId, int processId, QString name, QString arguments, int timeout);
+    void processChanged(int systemId, int watchdogId, int processId, int state, bool muted, int crashed, int pid);
+};
+
+#endif // PXMAV_H

src/plugins/pixhawk_plugins.pro

@@ -0,0 +1,22 @@
+# This plugin is also identified by this line in PxMAV.cc
+# Q_EXPORT_PLUGIN2(pixhawk_plugins, PxMAV)
+
+include(../../qgroundcontrol.pri)
+
+TEMPLATE      = lib
+CONFIG       += plugin
+QT += phonon
+INCLUDEPATH  += ../. \
+    ../../../mavlink/include \
+    ../../MAVLink/include \
+    ../../mavlink/include \
+    ../uas \
+    ../comm
+HEADERS       = PxMAV.h
+SOURCES       = PxMAV.cc \
+    ../uas/UAS.cc \
+    ../GAudioOutput.cc \
+    ../comm/MAVLinkProtocol.cc \
+    ../uas/UASManager.cc
+TARGET        = $$qtLibraryTarget(pixhawk_plugins)
+DESTDIR       = ../../plugins

src/uas/PxQuadMAV.h

@@ -6,6 +6,7 @@
 class PxQuadMAV : public UAS
 {
     Q_OBJECT
+    Q_INTERFACES(UASInterface)
 public:
     PxQuadMAV(MAVLinkProtocol* mavlink, int id);
 public slots:

src/uas/UAS.cc

@@ -43,7 +43,7 @@ This file is part of the PIXHAWK project
 #include "MAVLinkProtocol.h"
 #include <mavlink.h>
 
-UAS::UAS(MAVLinkProtocol* protocol, int id) :
+UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
         uasId(id),
         startTime(MG::TIME::getGroundTimeNow()),
         commStatus(COMM_DISCONNECTED),
@@ -74,6 +74,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) :
         positionLock(false),
         statusTimeout(new QTimer(this))
 {
+    color = UASInterface::getNextColor();
     setBattery(LIPOLY, 3);
     statusTimeout->setInterval(500);
     connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));

src/uas/UASInterface.h

@@ -51,10 +51,6 @@ class UASInterface : public QObject
 {
     Q_OBJECT
 public:
-    UASInterface() :
-            color(UASInterface::getNextColor())
-    {
-    }
     virtual ~UASInterface() {}
 
     /* MANAGEMENT */
@@ -315,4 +311,6 @@ signals:
     void systemTypeSet(UASInterface* uas, unsigned int type);
 };
 
+Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0");
+
 #endif // _UASINTERFACE_H_

src/ui/HDDisplay.cc

@@ -74,6 +74,12 @@ HDDisplay::HDDisplay(QStringList* plotList, QWidget *parent) :
 {
     //m_ui->setupUi(this);
 
+        // Check if acceptlist exists
+    if (!acceptList)
+    {
+        acceptList = new QStringList();
+    }
+
     this->setMinimumHeight(125);
     this->setMinimumWidth(100);
 
@@ -146,7 +152,7 @@ void HDDisplay::paintDisplay()
     painter.fillRect(QRect(0, 0, width(), height()), backgroundColor);
     const int columns = 3;
     const float spacing = 0.4f; // 40% of width
-    const float gaugeWidth = vwidth / (((float)columns) + (((float)columns+1) * spacing + spacing * 0.1f));
+    const float gaugeWidth = vwidth / (((float)columns) + (((float)columns+1) * spacing + spacing * 0.5f));
     const QColor gaugeColor = QColor(200, 200, 200);
     //drawSystemIndicator(10.0f-gaugeWidth/2.0f, 20.0f, 10.0f, 40.0f, 15.0f, &painter);
     //drawGauge(15.0f, 15.0f, gaugeWidth/2.0f, 0, 1.0f, "thrust", values.value("thrust", 0.0f), gaugeColor, &painter, qMakePair(0.45f, 0.8f), qMakePair(0.8f, 1.0f), true);

src/ui/HSIDisplay.cc

@@ -0,0 +1,174 @@
+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK 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.
+
+    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of Horizontal Situation Indicator class
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#include <QFile>
+#include <QStringList>
+#include <QPainter>
+#include "UASManager.h"
+#include "HSIDisplay.h"
+#include "MG.h"
+
+#include <QDebug>
+
+HSIDisplay::HSIDisplay(QWidget *parent) :
+        HDDisplay(NULL, parent)
+{
+    
+}
+
+void HSIDisplay::paintDisplay()
+{
+    quint64 refreshInterval = 100;
+    quint64 currTime = MG::TIME::getGroundTimeNow();
+    if (currTime - lastPaintTime < refreshInterval)
+    {
+        // FIXME Need to find the source of the spurious paint events
+        //return;
+    }
+    lastPaintTime = currTime;
+    // Draw instruments
+    // TESTING THIS SHOULD BE MOVED INTO A QGRAPHICSVIEW
+    // Update scaling factor
+    // adjust scaling to fit both horizontally and vertically
+    scalingFactor = this->width()/vwidth;
+    double scalingFactorH = this->height()/vheight;
+    if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;
+
+    QPainter painter(this);
+    painter.setRenderHint(QPainter::Antialiasing, true);
+    painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
+    painter.fillRect(QRect(0, 0, width(), height()), backgroundColor);
+    const int columns = 3;
+    const float spacing = 0.4f; // 40% of width
+    const float gaugeWidth = vwidth / (((float)columns) + (((float)columns+1) * spacing + spacing * 0.1f));
+    const QColor ringColor = QColor(200, 200, 200);
+    //drawSystemIndicator(10.0f-gaugeWidth/2.0f, 20.0f, 10.0f, 40.0f, 15.0f, &painter);
+    //drawGauge(15.0f, 15.0f, gaugeWidth/2.0f, 0, 1.0f, "thrust", values.value("thrust", 0.0f), gaugeColor, &painter, qMakePair(0.45f, 0.8f), qMakePair(0.8f, 1.0f), true);
+    //drawGauge(15.0f+gaugeWidth*1.7f, 15.0f, gaugeWidth/2.0f, 0, 10.0f, "altitude", values.value("altitude", 0.0f), gaugeColor, &painter, qMakePair(1.0f, 2.5f), qMakePair(0.0f, 0.5f), true);
+
+    // Left spacing from border / other gauges, measured from left edge to center
+//    float leftSpacing = gaugeWidth * spacing;
+//    float xCoord = leftSpacing + gaugeWidth/2.0f;
+//
+//    float topSpacing = leftSpacing;
+//    float yCoord = topSpacing + gaugeWidth/2.0f;
+//
+//    for (int i = 0; i < acceptList->size(); ++i)
+//    {
+//        QString value = acceptList->at(i);
+//        drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
+//        xCoord += gaugeWidth + leftSpacing;
+//        // Move one row down if necessary
+//        if (xCoord + gaugeWidth > vwidth)
+//        {
+//            yCoord += topSpacing + gaugeWidth;
+//            xCoord = leftSpacing + gaugeWidth/2.0f;
+//        }
+//    }
+}
+
+/**
+ *
+ * @param uas the UAS/MAV to monitor/display with the HUD
+ */
+void HSIDisplay::setActiveUAS(UASInterface* uas)
+{
+	HDDisplay::setActiveUAS(uas);
+    //qDebug() << "ATTEMPTING TO SET UAS";
+    if (this->uas != NULL && this->uas != uas)
+    {
+        // Disconnect any previously connected active MAV
+        //disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
+    }
+
+    // Now connect the new UAS
+
+    //if (this->uas != uas)
+    // {
+    //qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
+    // Setup communication
+    //connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
+    //}
+}
+
+void HSIDisplay::drawGPS()
+{
+	
+}
+
+void HSIDisplay::drawObjects()
+{
+	
+}
+
+void HSIDisplay::drawBaseLines(float xRef, float yRef, float radius, float yaw, const QColor& color, QPainter* painter, bool solid)
+{
+    // Draw the circle
+    QPen circlePen(Qt::SolidLine);
+    if (!solid) circlePen.setStyle(Qt::DotLine);
+    circlePen.setWidth(refLineWidthToPen(0.5f));
+    circlePen.setColor(defaultColor);
+    painter->setBrush(Qt::NoBrush);
+    painter->setPen(circlePen);
+    drawCircle(xRef, yRef, radius, 200.0f, color, painter);
+    //drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.0f, color, painter);
+
+//    // Draw the value
+//    QString label;
+//    label.sprintf("%05.1f", value);
+//    paintText(label, color, 4.5f, xRef-7.5f, yRef-2.0f, painter);
+
+    // Draw the needle
+    // Scale the rotation so that the gauge does one revolution
+    // per max. change
+    const float rangeScale = (2.0f * M_PI);
+    const float maxWidth = radius / 10.0f;
+    const float minWidth = maxWidth * 0.3f;
+
+    QPolygonF p(6);
+
+    p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f));
+    p.replace(1, QPointF(xRef-minWidth/2.0f, yRef-radius * 0.9f));
+    p.replace(2, QPointF(xRef+minWidth/2.0f, yRef-radius * 0.9f));
+    p.replace(3, QPointF(xRef+maxWidth/2.0f, yRef-radius * 0.5f));
+    p.replace(4, QPointF(xRef,               yRef-radius * 0.46f));
+    p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f));
+
+    rotatePolygonClockWiseRad(p, yaw*rangeScale, QPointF(xRef, yRef));
+
+    QBrush indexBrush;
+    indexBrush.setColor(defaultColor);
+    indexBrush.setStyle(Qt::SolidPattern);
+    painter->setPen(Qt::SolidLine);
+    painter->setPen(defaultColor);
+    painter->setBrush(indexBrush);
+    drawPolygon(p, painter);
+}

src/ui/HSIDisplay.h

@@ -0,0 +1,65 @@
+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK 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.
+
+    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of of Horizontal Situation Indicator class
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#ifndef HSIDISPLAY_H
+#define HSIDISPLAY_H
+
+#include <QtGui/QWidget>
+#include <QColor>
+#include <QTimer>
+#include <QMap>
+#include <QPair>
+#include <cmath>
+
+#include "HDDisplay.h"
+
+class HSIDisplay : public HDDisplay {
+    Q_OBJECT
+public:
+    HSIDisplay(QWidget *parent = 0);
+   // ~HSIDisplay();
+
+public slots:
+    void setActiveUAS(UASInterface* uas);
+
+protected slots:
+    void paintDisplay();
+	void drawGPS();
+	void drawObjects();
+	void drawBaseLines(float xRef, float yRef, float radius, float yaw, const QColor& color, QPainter* painter, bool solid);
+	
+
+protected:
+
+private:
+};
+
+#endif // HSIDISPLAY_H

src/ui/MainWindow.cc

@@ -100,6 +100,8 @@ settings()
     parameters->setVisible(false);
     watchdogControl = new WatchdogControl(this);
     watchdogControl->setVisible(false);
+    hsi = new HSIDisplay(this);
+    hsi->setVisible(false);
 
     QStringList* acceptList = new QStringList();
     acceptList->append("roll IMU");

src/ui/MainWindow.h

@@ -61,6 +61,7 @@ This file is part of the PIXHAWK project
 #include "XMLCommProtocolWidget.h"
 #include "HDDisplay.h"
 #include "WatchdogControl.h"
+#include "HSIDisplay.h"
 
 #include "LogCompressor.h"
 
@@ -148,6 +149,7 @@ protected:
     HDDisplay* headDown1;
     HDDisplay* headDown2;
     WatchdogControl* watchdogControl;
+    HSIDisplay* hsi;
 
     // Popup widgets
     JoystickWidget* joystickWidget;

src/ui/ObjectDetectionView.cc

@@ -38,6 +38,8 @@ This file is part of the PIXHAWK project
 
 #include <QDebug>
 
+#include "MG.h"
+
 ObjectDetectionView::ObjectDetectionView(QString folder, QWidget *parent) :
         QWidget(parent),
         patternList(),
@@ -90,8 +92,9 @@ void ObjectDetectionView::newDetection(int uasId, QString patternPath, int x1, i
     {
         if (patternList.contains(patternPath))
         {
-            qDebug() << "REDETECTED";
+            //qDebug() << "REDETECTED";
 
+            /*
             QList<QAction*> actions = m_ui->listWidget->actions();
             // Find action and update it
             foreach (QAction* act, actions)
@@ -112,6 +115,7 @@ void ObjectDetectionView::newDetection(int uasId, QString patternPath, int x1, i
 
             // Set name and label
             m_ui->nameLabel->setText(patternName);
+            */
         }
         else
         {
@@ -120,7 +124,11 @@ void ObjectDetectionView::newDetection(int uasId, QString patternPath, int x1, i
 
             patternList.insert(patternPath, confidence);
             patternCount.insert(patternPath, 1);
-            QPixmap image = QPixmap(patternFolder + "/" + patternPath);
+
+            QString filePath = MG::DIR::getSupportFilesDirectory() + "/" + patternFolder + "/" + patternPath.split("/").last();
+
+            qDebug() << "Loading:" << filePath;
+            QPixmap image = QPixmap(filePath);
             QIcon ico(image);
             QAction* act = new QAction(ico, patternPath + separator + "(#" + QString::number(1) + ")" + separator + QString::number(confidence), this);
             connect(act, SIGNAL(triggered()), this, SLOT(takeAction()));

src/ui/ObjectDetectionView.h

@@ -48,7 +48,7 @@ class ObjectDetectionView : public QWidget {
     Q_OBJECT
     Q_DISABLE_COPY(ObjectDetectionView)
         public:
-            explicit ObjectDetectionView(QString folder="test", QWidget *parent = 0);
+            explicit ObjectDetectionView(QString folder="patterns", QWidget *parent = 0);
     virtual ~ObjectDetectionView();
 
     /** @brief Resize widget contents */

src/ui/UASInfo.ui

@@ -66,7 +66,7 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="4" colspan="4">
+   <item row="0" column="4" colspan="2">
     <widget class="QProgressBar" name="batteryBar">
      <property name="sizePolicy">
       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@@ -109,7 +109,7 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="8" rowspan="6">
+   <item row="0" column="6" rowspan="6">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -171,7 +171,7 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="4" colspan="4">
+   <item row="1" column="4" colspan="2">
     <widget class="QProgressBar" name="receiveLossBar">
      <property name="sizePolicy">
       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@@ -257,7 +257,7 @@
      </property>
     </widget>
    </item>
-   <item row="2" column="4" colspan="4">
+   <item row="2" column="4" colspan="2">
     <widget class="QProgressBar" name="sendLossBar">
      <property name="sizePolicy">
       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@@ -343,7 +343,7 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="4" colspan="4">
+   <item row="3" column="4" colspan="2">
     <widget class="QProgressBar" name="loadBar">
      <property name="sizePolicy">
       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@@ -380,56 +380,14 @@
      </property>
     </widget>
    </item>
-   <item row="4" column="0" colspan="8">
+   <item row="4" column="0" colspan="6">
     <widget class="Line" name="line">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
      </property>
     </widget>
    </item>
-   <item row="5" column="0">
-    <widget class="QLabel" name="label_4">
-     <property name="text">
-      <string>I2C Errors</string>
-     </property>
-    </widget>
-   </item>
-   <item row="5" column="1" colspan="2">
-    <widget class="QLabel" name="i2cErrorLabel">
-     <property name="text">
-      <string>0</string>
-     </property>
-    </widget>
-   </item>
-   <item row="5" column="4">
-    <widget class="QLabel" name="label_5">
-     <property name="text">
-      <string>SPI Errors</string>
-     </property>
-    </widget>
-   </item>
-   <item row="5" column="5">
-    <widget class="QLabel" name="spiErrorLabel">
-     <property name="text">
-      <string>0</string>
-     </property>
-    </widget>
-   </item>
-   <item row="5" column="6">
-    <widget class="QLabel" name="label_10">
-     <property name="text">
-      <string>UART Errors</string>
-     </property>
-    </widget>
-   </item>
-   <item row="5" column="7">
-    <widget class="QLabel" name="uartErrorLabel">
-     <property name="text">
-      <string>0</string>
-     </property>
-    </widget>
-   </item>
-   <item row="6" column="0" colspan="9">
+   <item row="6" column="0" colspan="7">
     <spacer name="verticalSpacer">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
@@ -445,6 +403,13 @@
      </property>
     </spacer>
    </item>
+   <item row="5" column="0" colspan="6">
+    <widget class="QLabel" name="errorLabel">
+     <property name="text">
+      <string>No error status received yet</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>

src/ui/WaypointList.cc

@@ -85,8 +85,8 @@ void WaypointList::setUAS(UASInterface* uas)
     if (this->uas == NULL && uas != NULL)
     {
         this->uas = uas;
-        connect(uas, SIGNAL(waypointUpdated(int,int,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,int,double,double,double,double,bool,bool)));
-        connect(uas, SIGNAL(waypointReached(UASInterface*,int)), this, SLOT(waypointReached(UASInterface*,int)));
+        connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,int,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,int,double,double,double,double,bool,bool)));
+        connect(&uas->getWaypointManager(), SIGNAL(waypointReached(UASInterface*,int)), this, SLOT(waypointReached(UASInterface*,int)));
         connect(this, SIGNAL(waypointChanged(Waypoint*)), &uas->getWaypointManager(), SLOT(setWaypoint(Waypoint*)));
         connect(this, SIGNAL(currentWaypointChanged(int)), &uas->getWaypointManager(), SLOT(setWaypointActive(int)));
         // This slot is not implemented in UAS: connect(this, SIGNAL(removeWaypointId(int)), uas, SLOT(removeWaypoint(Waypoint*)));
@@ -315,7 +315,7 @@ void WaypointList::setCurrentWaypoint(Waypoint* wp)
         {
             waypoints[i]->current = true;
             // Retransmit waypoint
-            uas->setWaypointActive(i);
+            //uas->getWaypointManager().setWaypointActive(i);
         }
         else
         {

src/ui/generated/CommSettings.h

@@ -0,0 +1,8 @@
+/****************************************************************************
+** Form interface generated from reading ui file 'src/ui/CommSettings.ui'
+**
+** Created: Tue Jun 1 20:21:32 2010
+**
+** WARNING! All changes made in this file will be lost!
+****************************************************************************/
+

src/ui/generated/MainWindow.h

@@ -0,0 +1,8 @@
+/****************************************************************************
+** Form interface generated from reading ui file 'src/ui/MainWindow.ui'
+**
+** Created: Tue Jun 1 20:21:32 2010
+**
+** WARNING! All changes made in this file will be lost!
+****************************************************************************/
+

src/ui/generated/SerialSettings.h

@@ -0,0 +1,8 @@
+/****************************************************************************
+** Form interface generated from reading ui file 'src/ui/SerialSettings.ui'
+**
+** Created: Tue Jun 1 20:21:32 2010
+**
+** WARNING! All changes made in this file will be lost!
+****************************************************************************/
+

src/ui/generated/UASControl.h

@@ -0,0 +1,8 @@
+/****************************************************************************
+** Form interface generated from reading ui file 'src/ui/UASControl.ui'
+**
+** Created: Tue Jun 1 20:21:32 2010
+**
+** WARNING! All changes made in this file will be lost!
+****************************************************************************/
+

src/ui/generated/UASInfo.h

@@ -0,0 +1,8 @@
+/****************************************************************************
+** Form interface generated from reading ui file 'src/ui/UASInfo.ui'
+**
+** Created: Tue Jun 1 20:21:32 2010
+**
+** WARNING! All changes made in this file will be lost!
+****************************************************************************/
+

src/ui/generated/UASList.h

@@ -0,0 +1,8 @@
+/****************************************************************************
+** Form interface generated from reading ui file 'src/ui/UASList.ui'
+**
+** Created: Tue Jun 1 20:21:32 2010
+**
+** WARNING! All changes made in this file will be lost!
+****************************************************************************/
+

src/ui/uas/UASInfoWidget.cc

@@ -110,7 +110,7 @@ void UASInfoWidget::updateBattery(UASInterface* uas, double voltage, double perc
 
 void UASInfoWidget::updateErrorCount(int uasid, QString component, QString device, int count)
 {
-    qDebug() << __FILE__ << __LINE__ << activeUAS->getUASID() << "=" << uasid;
+    //qDebug() << __FILE__ << __LINE__ << activeUAS->getUASID() << "=" << uasid;
     if (activeUAS->getUASID() == uasid)
     {
         errors.remove(component + ":" + device);
@@ -182,5 +182,16 @@ void UASInfoWidget::refresh()
     ui.sendLossLabel->setText(QString::number(sendLoss, 'f', 2));
 
     QString errorString;
-   // ui.
+    QMapIterator<QString, int> i(errors);
+    while (i.hasNext())
+    {
+        i.next();
+        errorString += QString(i.key() + ": %1 ").arg(i.value());
+
+        // FIXME
+        errorString.replace("IMU:", "");
+
+
+    }
+    ui.errorLabel->setText(errorString);
 }