Improving state updates for multiple MAVs, fixed Google Maps and Google Earth

images/earth.html

@@ -417,7 +417,9 @@ function createAircraft(id, type, color)
 	planeOrient = ge.createOrientation(''); 
 	planeModel.setOrientation(planeOrient); 
 
-	planeLink.setHref('http://qgroundcontrol.org/_media/users/models/sfly-hex.dae');
+	//planeLink.setHref('http://www.asl.ethz.ch/people/rudink/senseSoarDummy.dae'); 
+	//planeLink.setHref('http://qgroundcontrol.org/_media/users/models/sfly-hex.dae');
+	planeLink.setHref('http://qgroundcontrol.org/_media/users/models/ascent-park-glider.dae');
 	planeModel.setLink(planeLink);
 	planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE); 
 
@@ -578,18 +580,16 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
 	      currAlt = trueGroundAlt+0.1;
 	    }
 		// Interpolate between t-1 and t and set new states
-		lastLat = lastLat*0.8+currLat*0.2;
-		lastLon = lastLon*0.8+currLon*0.2;
-		lastAlt = lastAlt*0.8+currAlt*0.2;
-		//currFollowHeading = ((yaw/M_PI)+1.0)*360.0;
+		lastLat = lastLat*0.5+currLat*0.5;
+		lastLon = lastLon*0.5+currLon*0.5;
+		lastAlt = lastAlt*0.5+currAlt*0.5;
 	
-	
-		// FIXME Currently invalid conversion from right-handed z-down to z-up frame
-		planeOrient.setRoll(((roll/M_PI))*180.0+180.0);
-		planeOrient.setTilt(((pitch/M_PI))*180.0+180.0);
+		planeOrient.setRoll(+((roll/M_PI))*180.0);
+		planeOrient.setTilt(-((pitch/M_PI))*180.0);
 		planeOrient.setHeading(((yaw/M_PI))*180.0-90.0);
+		planeModel.setOrientation(planeOrient);
 	
-		currFollowHeading = ((yaw/M_PI))*180.0;
+		currFollowHeading = currFollowHeading*0.95+0.05*(((yaw/M_PI))*180.0);
     
     	planeLoc.setLatitude(lastLat);
     	planeLoc.setLongitude(lastLon);

src/comm/MAVLinkSimulationMAV.cc

@@ -14,10 +14,10 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy
     timer1Hz(0),
     latitude(lat),
     longitude(lon),
-    altitude(0.0),
+    altitude(550.0),
     x(lat),
     y(lon),
-    z(550),
+    z(altitude),
     roll(0.0),
     pitch(0.0),
     yaw(0.0),

src/comm/QGCFlightGearLink.cc

@@ -188,7 +188,7 @@ void QGCFlightGearLink::writeBytes(const char* data, qint64 size)
 void QGCFlightGearLink::readBytes()
 {
     const qint64 maxLength = 65536;
-    static char data[maxLength];
+    char data[maxLength];
     QHostAddress sender;
     quint16 senderPort;
 

src/comm/UDPLink.cc

@@ -210,7 +210,7 @@ void UDPLink::writeBytes(const char* data, qint64 size)
 void UDPLink::readBytes()
 {
     const qint64 maxLength = 65536;
-    static char data[maxLength];
+    char data[maxLength];
     QHostAddress sender;
     quint16 senderPort;
 

src/uas/PxQuadMAV.cc

@@ -42,9 +42,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 #ifdef MAVLINK_ENABLED_PIXHAWK
     mavlink_message_t* msg = &message;
 
-    if (message.sysid == uasId) {
-        switch (message.msgid) {
-        case MAVLINK_MSG_ID_RAW_AUX: {
+    if (message.sysid == uasId)
+    {
+        switch (message.msgid)
+        {
+        case MAVLINK_MSG_ID_RAW_AUX:
+            {
             mavlink_raw_aux_t raw;
             mavlink_msg_raw_aux_decode(&message, &raw);
             quint64 time = getUnixTime(0);
@@ -52,14 +55,16 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             emit valueChanged(uasId, "Temperature", "raw", raw.temp, time);
         }
         break;
-        case MAVLINK_MSG_ID_IMAGE_TRIGGERED: {
+        case MAVLINK_MSG_ID_IMAGE_TRIGGERED:
+        {
             // FIXME Kind of a hack to load data from disk
             mavlink_image_triggered_t img;
             mavlink_msg_image_triggered_decode(&message, &img);
             emit imageStarted(img.timestamp);
         }
         break;
-        case MAVLINK_MSG_ID_PATTERN_DETECTED: {
+        case MAVLINK_MSG_ID_PATTERN_DETECTED:
+        {
             mavlink_pattern_detected_t detected;
             mavlink_msg_pattern_detected_decode(&message, &detected);
             QByteArray b;

src/uas/UAS.cc

@@ -232,6 +232,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     case MAV_TYPE_QUADROTOR:
                         setAirframe(UASInterface::QGC_AIRFRAME_CHEETAH);
                         break;
+                    case MAV_TYPE_HEXAROTOR:
+                        setAirframe(UASInterface::QGC_AIRFRAME_HEXCOPTER);
+                        break;
                     default:
                         // Do nothing
                         break;
@@ -338,8 +341,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
                 emit loadChanged(this,state.load/10.0f);
 
-
-
                 currentVoltage = state.voltage_battery/1000.0f;
                 lpVoltage = filterVoltage(currentVoltage);
 
@@ -463,7 +464,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit globalPositionChanged(this, latitude, longitude, altitude, time);
                 emit speedChanged(this, speedX, speedY, speedZ, time);
                 // Set internal state
-                if (!positionLock) {
+                if (!positionLock)
+                {
                     // If position was not locked before, notify positive
                     GAudioOutput::instance()->notifyPositive();
                 }
@@ -483,29 +485,35 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // quint64 time = getUnixTime(pos.time_usec);
                 quint64 time = getUnixTime(pos.time_usec);
 
-                if (pos.fix_type > 2) {
+                if (pos.fix_type > 2)
+                {
                     emit globalPositionChanged(this, pos.lat/(double)1E7, pos.lon/(double)1E7, pos.alt/1000.0, time);
                     latitude = pos.lat/(double)1E7;
                     longitude = pos.lon/(double)1E7;
                     altitude = pos.alt/1000.0;
                     positionLock = true;
+                    isGlobalPositionKnown = true;
 
                     // Check for NaN
                     int alt = pos.alt;
-                    if (alt != alt) {
+                    if (!isnan(alt) && !isinf(alt))
+                    {
                         alt = 0;
-                        emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
+                        emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN or Inf FOR ALTITUDE");
                     }
                     // FIXME REMOVE LATER emit valueChanged(uasId, "altitude", "m", pos.alt/(double)1E3, time);
                     // Smaller than threshold and not NaN
 
                     float vel = pos.vel/100.0f;
 
-                    if (vel < 1000000 && !isnan(vel) && !isinf(vel)) {
+                    if (vel < 1000000 && !isnan(vel) && !isinf(vel))
+                    {
                         // FIXME REMOVE LATER emit valueChanged(uasId, "speed", "m/s", vel, time);
                         //qDebug() << "GOT GPS RAW";
                         // emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
-                    } else {
+                    }
+                    else
+                    {
                         emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(vel));
                     }
                 }

src/ui/HDDisplay.cc

@@ -186,9 +186,9 @@ void HDDisplay::triggerUpdate()
 void HDDisplay::paintEvent(QPaintEvent * event)
 {
     Q_UNUSED(event);
-    static quint64 interval = 0;
+    quint64 interval = 0;
     //qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
-    interval = MG::TIME::getGroundTimeNow();
+    interval = QGC::groundTimeMilliseconds();
     renderOverlay();
 }
 

src/ui/QGCMAVLinkInspector.cc

@@ -41,7 +41,6 @@ void QGCMAVLinkInspector::refreshView()
         messageName = messageName.arg(messageInfo[msg->msgid].name).arg(messagesHz.value(msg->msgid, 0), 2, 'f', 0).arg(msg->msgid);
         if (!treeWidgetItems.contains(msg->msgid))
         {
-
             QStringList fields;
             fields << messageName;
             QTreeWidgetItem* widget = new QTreeWidgetItem(fields);
@@ -72,8 +71,6 @@ void QGCMAVLinkInspector::receiveMessage(LinkInterface* link,mavlink_message_t m
 {
     Q_UNUSED(link);
     // Only overwrite if system filter is set
-//    int filterValue = ui->systemComboBox()->value().toInt();
-//    if (filterValue != )
     memcpy(receivedMessages+message.msgid, &message, sizeof(mavlink_message_t));
 
     float msgHz = 0.0f;
@@ -85,14 +82,10 @@ void QGCMAVLinkInspector::receiveMessage(LinkInterface* link,mavlink_message_t m
         {
             msgHz = 1;
         }
-        //qDebug() << "DIFF:" << receiveTime - lastMessageUpdate.value(message.msgid);
         float newHz = 0.001f*msgHz+0.999f*messagesHz.value(message.msgid, 1);
-        qDebug() << "HZ" << newHz;
         messagesHz.insert(message.msgid, newHz);
     }
 
-    //qDebug() << "MSGHZ:" << messagesHz.value(message.msgid, 1000);
-
     lastMessageUpdate.insert(message.msgid, receiveTime);
 }
 

src/ui/map3D/QGCGoogleEarthView.cc

@@ -284,8 +284,6 @@ void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, dou
 {
     Q_UNUSED(usec);
     javaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 22).arg(lon, 0, 'f', 22).arg(alt, 0, 'f', 22));
-
-    //qDebug() << QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15);
 }
 
 void QGCGoogleEarthView::clearTrails()
@@ -614,7 +612,8 @@ void QGCGoogleEarthView::updateState()
 #if (QGC_EVENTLOOP_DEBUG)
     qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
 #endif
-    if (gEarthInitialized) {
+    if (gEarthInitialized)
+    {
         int uasId = 0;
         double lat = 47.3769;
         double lon = 8.549444;
@@ -628,6 +627,8 @@ void QGCGoogleEarthView::updateState()
         QList<UASInterface*> mavs = UASManager::instance()->getUASList();
         foreach (UASInterface* currMav, mavs)
         {
+            // Only update if known
+            if (!currMav->globalPositionKnown()) continue;
             uasId = currMav->getUASID();
             lat = currMav->getLatitude();
             lon = currMav->getLongitude();
@@ -640,9 +641,9 @@ void QGCGoogleEarthView::updateState()
 
             javaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
                        .arg(uasId)
-                       .arg(lat, 0, 'f', 15)
-                       .arg(lon, 0, 'f', 15)
-                       .arg(alt, 0, 'f', 15)
+                       .arg(lat, 0, 'f', 22)
+                       .arg(lon, 0, 'f', 22)
+                       .arg(alt, 0, 'f', 22)
                        .arg(roll, 0, 'f', 9)
                        .arg(pitch, 0, 'f', 9)
                        .arg(yaw, 0, 'f', 9));

src/ui/uas/UASView.cc

@@ -35,7 +35,6 @@ This file is part of the PIXHAWK project
 #include <QInputDialog>
 
 #include "QGC.h"
-#include "MG.h"
 #include "UASManager.h"
 #include "UASView.h"
 #include "UASWaypointManager.h"
@@ -65,6 +64,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
         alt(0),
         groundDistance(0),
         localFrame(false),
+        globalFrameKnown(false),
         removeAction(new QAction("Delete this system", this)),
         renameAction(new QAction("Rename..", this)),
         selectAction(new QAction("Control this system", this )),
@@ -72,6 +72,8 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
         selectAirframeAction(new QAction("Choose Airframe", this)),
         setBatterySpecsAction(new QAction("Set Battery Options", this)),
         lowPowerModeEnabled(true),
+        generalUpdateCount(0),
+        filterTime(0),
         m_ui(new Ui::UASView)
 {
     // FIXME XXX
@@ -127,9 +129,12 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     // Set static values
 
     // Name
-    if (uas->getUASName() == "") {
+    if (uas->getUASName() == "")
+    {
         m_ui->nameLabel->setText(tr("UAS") + QString::number(uas->getUASID()));
-    } else {
+    }
+    else
+    {
         m_ui->nameLabel->setText(uas->getUASName());
     }
 
@@ -141,7 +146,9 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     if (lowPowerModeEnabled)
     {
         refreshTimer->start(updateInterval*3);
-    } else {
+    }
+    else
+    {
         refreshTimer->start(updateInterval);
     }
 
@@ -194,10 +201,13 @@ void UASView::setBackgroundColor()
     QColor uasColor = uas->getColor();
     QString colorstyle;
     QString borderColor = "#4A4A4F";
-    if (isActive) {
+    if (isActive)
+    {
         borderColor = "#FA4A4F";
         uasColor = uasColor.darker(475);
-    } else {
+    }
+    else
+    {
         uasColor = uasColor.darker(675);
     }
     colorstyle = colorstyle.sprintf("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X; border: 2px solid %s; }",
@@ -207,14 +217,16 @@ void UASView::setBackgroundColor()
 
 void UASView::setUASasActive(bool active)
 {
-    if (active) {
+    if (active)
+    {
         UASManager::instance()->setActiveUAS(this->uas);
     }
 }
 
 void UASView::updateActiveUAS(UASInterface* uas, bool active)
 {
-    if (uas == this->uas) {
+    if (uas == this->uas)
+    {
         this->isActive = active;
         setBackgroundColor();
     }
@@ -239,22 +251,25 @@ void UASView::mouseDoubleClickEvent (QMouseEvent * event)
 
 void UASView::enterEvent(QEvent* event)
 {
-    if (event->type() == QEvent::MouseMove) {
+    if (event->type() == QEvent::MouseMove)
+    {
         emit uasInFocus(uas);
-        if (uas != UASManager::instance()->getActiveUAS()) {
+        if (uas != UASManager::instance()->getActiveUAS())
+        {
             grabMouse(QCursor(Qt::PointingHandCursor));
         }
     }
-    // qDebug() << __FILE__ << __LINE__ << "IN FOCUS";
 
-    if (event->type() == QEvent::MouseButtonDblClick) {
+    if (event->type() == QEvent::MouseButtonDblClick)
+    {
         // qDebug() << __FILE__ << __LINE__ << "UAS CLICKED!";
     }
 }
 
 void UASView::leaveEvent(QEvent* event)
 {
-    if (event->type() == QEvent::MouseMove) {
+    if (event->type() == QEvent::MouseMove)
+    {
         emit uasOutFocus(uas);
         releaseMouse();
     }
@@ -300,9 +315,11 @@ void UASView::updateName(const QString& name)
  */
 void UASView::setSystemType(UASInterface* uas, unsigned int systemType)
 {
-    if (uas == this->uas) {
+    if (uas == this->uas)
+    {
         // Set matching icon
-        switch (systemType) {
+        switch (systemType)
+        {
         case 0:
             m_ui->typeButton->setIcon(QIcon(":/images/mavs/generic.svg"));
             break;
@@ -354,9 +371,7 @@ void UASView::updateLocalPosition(UASInterface* uas, double x, double y, double
     this->x = x;
     this->y = y;
     this->z = z;
-    if (!localFrame) {
-        localFrame = true;
-    }
+    localFrame = true;
 }
 
 void UASView::updateGlobalPosition(UASInterface* uas, double lon, double lat, double alt, quint64 usec)
@@ -366,6 +381,7 @@ void UASView::updateGlobalPosition(UASInterface* uas, double lon, double lat, do
     this->lon = lon;
     this->lat = lat;
     this->alt = alt;
+    globalFrameKnown = true;
 }
 
 void UASView::updateSpeed(UASInterface*, double x, double y, double z, quint64 usec)
@@ -386,8 +402,10 @@ void UASView::setWaypoint(int uasId, int id, double x, double y, double z, doubl
     Q_UNUSED(z);
     Q_UNUSED(yaw);
     Q_UNUSED(autocontinue);
-    if (uasId == this->uas->getUASID()) {
-        if (current) {
+    if (uasId == this->uas->getUASID())
+    {
+        if (current)
+        {
             m_ui->waypointLabel->setText(tr("WP") + QString::number(id));
         }
     }
@@ -395,14 +413,16 @@ void UASView::setWaypoint(int uasId, int id, double x, double y, double z, doubl
 
 void UASView::selectWaypoint(int uasId, int id)
 {
-    if (uasId == this->uas->getUASID()) {
+    if (uasId == this->uas->getUASID())
+    {
         m_ui->waypointLabel->setText(tr("WP") + QString::number(id));
     }
 }
 
 void UASView::updateThrust(UASInterface* uas, double thrust)
 {
-    if (this->uas == uas) {
+    if (this->uas == uas)
+    {
         this->thrust = thrust;
     }
 }
@@ -410,7 +430,8 @@ void UASView::updateThrust(UASInterface* uas, double thrust)
 void UASView::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)
 {
     Q_UNUSED(voltage);
-    if (this->uas == uas) {
+    if (this->uas == uas)
+    {
         timeRemaining = seconds;
         chargeLevel = percent;
     }
@@ -418,7 +439,8 @@ void UASView::updateBattery(UASInterface* uas, double voltage, double percent, i
 
 void UASView::updateState(UASInterface* uas, QString uasState, QString stateDescription)
 {
-    if (this->uas == uas) {
+    if (this->uas == uas)
+    {
         state = uasState;
         stateDesc = stateDescription;
     }
@@ -426,7 +448,8 @@ void UASView::updateState(UASInterface* uas, QString uasState, QString stateDesc
 
 void UASView::updateLoad(UASInterface* uas, double load)
 {
-    if (this->uas == uas) {
+    if (this->uas == uas)
+    {
         this->load = load;
     }
 }
@@ -437,7 +460,8 @@ void UASView::contextMenuEvent (QContextMenuEvent* event)
     menu.addAction(selectAction);
     menu.addSeparator();
     menu.addAction(renameAction);
-    if (timeout) {
+    if (timeout)
+    {
         menu.addAction(removeAction);
     }
     menu.addAction(hilAction);
@@ -448,7 +472,8 @@ void UASView::contextMenuEvent (QContextMenuEvent* event)
 
 void UASView::setBatterySpecs()
 {
-    if (uas) {
+    if (uas)
+    {
         bool ok;
         QString newName = QInputDialog::getText(this, tr("Set Battery Specifications for %1").arg(uas->getUASName()),
                                                 tr("Specs: (empty,warn,full), e.g. (9V,9.5V,12.6V) or just warn level in percent (e.g. 15%) to use estimate from MAV"), QLineEdit::Normal,
@@ -460,7 +485,8 @@ void UASView::setBatterySpecs()
 
 void UASView::rename()
 {
-    if (uas) {
+    if (uas)
+    {
         bool ok;
         QString newName = QInputDialog::getText(this, tr("Rename System %1").arg(uas->getUASName()),
                                                 tr("System Name:"), QLineEdit::Normal,
@@ -472,7 +498,8 @@ void UASView::rename()
 
 void UASView::selectAirframe()
 {
-    if (uas) {
+    if (uas)
+    {
         // Get list of airframes from UAS
         QStringList airframes;
         airframes << "Generic"
@@ -484,12 +511,14 @@ void UASView::selectAirframe()
                 << "Reaper"
                 << "Predator"
                 << "Coaxial"
-                << "Pteryx";
+                << "Pteryx"
+                << "Asctec Firefly";
 
         bool ok;
         QString item = QInputDialog::getItem(this, tr("Select Airframe for %1").arg(uas->getUASName()),
                                              tr("Airframe"), airframes, uas->getAirframe(), false, &ok);
-        if (ok && !item.isEmpty()) {
+        if (ok && !item.isEmpty())
+        {
             // Set this airframe as UAS airframe
             uas->setAirframe(airframes.indexOf(item));
         }
@@ -501,15 +530,15 @@ void UASView::refresh()
     //setUpdatesEnabled(false);
     //setUpdatesEnabled(true);
     //repaint();
+    //qDebug() << "UPDATING UAS WIDGET!" << uas->getUASName();
 
-    static quint64 lastupdate = 0;
-    //// qDebug() << "UASVIEW update diff: " << MG::TIME::getGroundTimeNow() - lastupdate;
-    lastupdate = MG::TIME::getGroundTimeNow();
 
-    // FIXME
-    static int generalUpdateCount = 0;
+    quint64 lastupdate = 0;
+    //// qDebug() << "UASVIEW update diff: " << MG::TIME::getGroundTimeNow() - lastupdate;
+    lastupdate = QGC::groundTimeMilliseconds();
 
-    if (generalUpdateCount == 4) {
+    if (generalUpdateCount == 4)
+    {
 #if (QGC_EVENTLOOP_DEBUG)
         // qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
 #endif
@@ -525,29 +554,48 @@ void UASView::refresh()
         m_ui->thrustBar->setValue(this->thrust);
 
         // Position
-        QString position;
-        position = position.sprintf("%05.1f %05.1f %06.1f m", x, y, z);
-        m_ui->positionLabel->setText(position);
-        QString globalPosition;
-        QString latIndicator;
-        if (lat > 0) {
-            latIndicator = "N";
-        } else {
-            latIndicator = "S";
+        // If global position is known, prefer it over local coordinates
+
+        if (!globalFrameKnown && localFrame)
+        {
+            QString position;
+            position = position.sprintf("%05.1f %05.1f %06.1f m", x, y, z);
+            m_ui->positionLabel->setText(position);
         }
-        QString lonIndicator;
-        if (lon > 0) {
-            lonIndicator = "E";
-        } else {
-            lonIndicator = "W";
+
+        if (globalFrameKnown)
+        {
+            QString globalPosition;
+            QString latIndicator;
+            if (lat > 0)
+            {
+                latIndicator = "N";
+            }
+            else
+            {
+                latIndicator = "S";
+            }
+            QString lonIndicator;
+            if (lon > 0)
+            {
+                lonIndicator = "E";
+            }
+            else
+            {
+                lonIndicator = "W";
+            }
+
+            globalPosition = globalPosition.sprintf("%05.1f%s %05.1f%s %06.1f m", lon, lonIndicator.toStdString().c_str(), lat, latIndicator.toStdString().c_str(), alt);
+            m_ui->positionLabel->setText(globalPosition);
         }
-        globalPosition = globalPosition.sprintf("%05.1f%s %05.1f%s %06.1f m", lon, lonIndicator.toStdString().c_str(), lat, latIndicator.toStdString().c_str(), alt);
-        m_ui->positionLabel->setText(globalPosition);
 
         // Altitude
-        if (groundDistance == 0 && alt != 0) {
+        if (groundDistance == 0 && alt != 0)
+        {
             m_ui->groundDistanceLabel->setText(QString("%1 m").arg(alt, 6, 'f', 1, '0'));
-        } else {
+        }
+        else
+        {
             m_ui->groundDistanceLabel->setText(QString("%1 m").arg(groundDistance, 6, 'f', 1, '0'));
         }
 
@@ -558,9 +606,10 @@ void UASView::refresh()
         // Thrust
         m_ui->thrustBar->setValue(thrust * 100);
 
-        if(this->timeRemaining > 1 && this->timeRemaining < QGC::MAX_FLIGHT_TIME) {
+        if(this->timeRemaining > 1 && this->timeRemaining < QGC::MAX_FLIGHT_TIME)
+        {
             // Filter output to get a higher stability
-            static double filterTime = static_cast<int>(this->timeRemaining);
+            filterTime = static_cast<int>(this->timeRemaining);
             filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining);
             int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60.0f) * 60);
             int min = static_cast<int>(filterTime / 60);
@@ -569,7 +618,9 @@ void UASView::refresh()
             QString timeText;
             timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
             m_ui->timeRemainingLabel->setText(timeText);
-        } else {
+        }
+        else
+        {
             m_ui->timeRemainingLabel->setText(tr("Calc.."));
         }
 
@@ -588,29 +639,37 @@ void UASView::refresh()
 
     QString colorstyle("QGroupBox { border-radius: 5px; padding: 2px; margin: 0px; border: 0px; background-color: %1; }");
 
-    if (timeout) {
+    if (timeout)
+    {
         // CRITICAL CONDITION, NO HEARTBEAT
 
         QString borderColor = "#FFFF00";
-        if (isActive) {
+        if (isActive)
+        {
             borderColor = "#FA4A4F";
         }
 
-        if (iconIsRed) {
+        if (iconIsRed)
+        {
             QColor warnColor(Qt::red);
             m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(warnColor.name()));
             QString style = QString("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; border: 2px solid %1; background-color: %2; }").arg(borderColor, warnColor.name());
             m_ui->uasViewFrame->setStyleSheet(style);
-        } else {
+        }
+        else
+        {
             QColor warnColor(Qt::black);
             m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(warnColor.name()));
             QString style = QString("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; border: 2px solid %1; background-color: %2; }").arg(borderColor, warnColor.name());
             m_ui->uasViewFrame->setStyleSheet(style);
 
             refreshTimer->setInterval(errorUpdateInterval);
+            refreshTimer->start();
         }
         iconIsRed = !iconIsRed;
-    } else {
+    }
+    else
+    {
         if (!lowPowerModeEnabled)
         {
             // Fade heartbeat icon
@@ -620,6 +679,7 @@ void UASView::refresh()
             //m_ui->heartbeatIcon->setAutoFillBackground(true);
             m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(heartbeatColor.name()));
             refreshTimer->setInterval(updateInterval);
+            refreshTimer->start();
         }
     }
     //setUpdatesEnabled(true);
@@ -630,7 +690,8 @@ void UASView::refresh()
 void UASView::changeEvent(QEvent *e)
 {
     QWidget::changeEvent(e);
-    switch (e->type()) {
+    switch (e->type())
+    {
     case QEvent::LanguageChange:
         m_ui->retranslateUi(this);
         break;

src/ui/uas/UASView.h

@@ -117,6 +117,7 @@ protected:
     float alt;
     float groundDistance;
     bool localFrame;
+    bool globalFrameKnown;
     QAction* removeAction;
     QAction* renameAction;
     QAction* selectAction;
@@ -126,6 +127,8 @@ protected:
     static const int updateInterval = 800;
     static const int errorUpdateInterval = 200;
     bool lowPowerModeEnabled; ///< Low power mode reduces update rates
+    unsigned int generalUpdateCount; ///< Skip counter for updates
+    double filterTime; ///< Filter time estimate of battery
 
 
     void mouseDoubleClickEvent (QMouseEvent * event);