Merged with v10release. Some more GUI improvements.

doc/Doxyfile

@@ -515,7 +515,7 @@ LAYOUT_FILE            =
 # The QUIET tag can be used to turn on/off the messages that are generated
 # by doxygen. Possible values are YES and NO. If left blank NO is used.
 
-QUIET                  = YES
+QUIET                  = NO
 
 # The WARNINGS tag can be used to turn on/off the warning messages that are
 # generated by doxygen. Possible values are YES and NO. If left blank
@@ -599,7 +599,8 @@ RECURSIVE              = YES
 # subdirectory from a directory tree whose root is specified with the INPUT tag.
 
 EXCLUDE                = ../src/lib/ \
-                         lib/
+                         lib/ \
+			../src/libs/
 
 # The EXCLUDE_SYMLINKS tag can be used select whether or not files or
 # directories that are symbolic links (a Unix filesystem feature) are excluded
@@ -985,7 +986,7 @@ SEARCHENGINE           = YES
 # If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
 # generate Latex output.
 
-GENERATE_LATEX         = YES
+GENERATE_LATEX         = NO
 
 # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
 # If a relative path is entered the value of OUTPUT_DIRECTORY will be
@@ -1033,13 +1034,13 @@ LATEX_HEADER           =
 # contain links (just like the HTML output) instead of page references
 # This makes the output suitable for online browsing using a pdf viewer.
 
-PDF_HYPERLINKS         = YES
+PDF_HYPERLINKS         = NO
 
 # If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
 # plain latex in the generated Makefile. Set this option to YES to get a
 # higher quality PDF documentation.
 
-USE_PDFLATEX           = YES
+USE_PDFLATEX           = NO
 
 # If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
 # command to the generated LaTeX files. This will instruct LaTeX to keep

src/QGC.cc

@@ -64,7 +64,7 @@ float limitAngleToPMPIf(float angle)
     else
     {
         // Approximate
-        angle = fmodf(angle, M_PI);
+        angle = fmodf(angle, (float) M_PI);
     }
 
     return angle;

src/QGC.h

@@ -47,7 +47,7 @@ inline bool isnan(T value)
 template<typename T>
 inline bool isinf(T value)
 {
-    return std::numeric_limits<T>::has_infinity && (value == std::numeric_limits<T>::infinity() || (-1*value) == std::numeric_limits<T>::infinity());
+    return (value == std::numeric_limits<T>::infinity() || (-1*value) == std::numeric_limits<T>::infinity()) && std::numeric_limits<T>::has_infinity;
 }
 #else
 #include <cmath>

src/comm/MAVLinkSimulationMAV.cc

@@ -221,10 +221,10 @@ void MAVLinkSimulationMAV::mainloop()
         if (sys_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL)
         {
             mavlink_hil_controls_t hil;
-            hil.roll_ailerons = 0.0;
+            hil.roll_ailerons = 0.0f;
-            hil.pitch_elevator = 0.05;
+            hil.pitch_elevator = 0.05f;
-            hil.yaw_rudder = 0.05;
+            hil.yaw_rudder = 0.05f;
-            hil.throttle = 0.6;
+            hil.throttle = 0.6f;
             // Encode the data (adding header and checksums, etc.)
             mavlink_msg_hil_controls_encode(systemid, MAV_COMP_ID_IMU, &ret, &hil);
             // And send it

src/input/JoystickInput.cc

@@ -37,6 +37,7 @@ This file is part of the PIXHAWK project
 #include "UAS.h"
 #include "UASManager.h"
 #include "QGC.h"
+#include <QMutexLocker>
 
 /**
  * The coordinate frame of the joystick axis is the aeronautical frame like shown on this image:
@@ -49,10 +50,10 @@ JoystickInput::JoystickInput() :
     uas(NULL),
     uasButtonList(QList<int>()),
     done(false),
-    thrustAxis(3),
+    thrustAxis(2),
-    xAxis(1),
+    xAxis(0),
-    yAxis(0),
+    yAxis(1),
-    yawAxis(2),
+    yawAxis(3),
     joystickName(tr("Unitinialized"))
 {
     for (int i = 0; i < 10; i++) {
@@ -66,6 +67,17 @@ JoystickInput::JoystickInput() :
     //start();
 }
 
+JoystickInput::~JoystickInput()
+{
+	{
+		QMutexLocker locker(&this->m_doneMutex);
+		done = true;
+	}
+	this->wait();
+	this->deleteLater();
+}
+
+
 void JoystickInput::setActiveUAS(UASInterface* uas)
 {
     // Only connect / disconnect is the UAS is of a controllable UAS class
@@ -134,7 +146,16 @@ void JoystickInput::run()
 
     init();
 
-    while(!done) {
+    forever
+	{
+		{
+			QMutexLocker locker(&this->m_doneMutex);
+			if(done)
+			{
+				done = false;
+				break;
+			}
+		}
         while(SDL_PollEvent(&event)) {
 
             SDL_JoystickUpdate();

src/input/JoystickInput.h

@@ -35,6 +35,7 @@ This file is part of the PIXHAWK project
 
 #include <QThread>
 #include <QList>
+#include <qmutex.h>
 #include <SDL/SDL.h>
 
 #include "UASInterface.h"
@@ -48,6 +49,7 @@ class JoystickInput : public QThread
 
 public:
     JoystickInput();
+	~JoystickInput();
     void run();
 
     const QString& getName();
@@ -63,6 +65,7 @@ protected:
     UASInterface* uas;
     QList<int> uasButtonList;
     bool done;
+	QMutex m_doneMutex;
 
     // Axis 3 is thrust (CALIBRATION!)
     int thrustAxis;

src/libs/utils/utils_external.pri

@@ -77,7 +77,7 @@ macx {
 SOURCES += consoleprocess_unix.cpp
 }
 
-linux-g++ {
+linux-g++|linux-g++-64 {
 SOURCES += consoleprocess_unix.cpp
 }
 

src/uas/UAS.cc

@@ -767,6 +767,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 imagePayload = p.payload;
                 imageQuality = p.jpg_quality;
                 imageType = p.type;
+                imageWidth = p.width;
+                imageHeight = p.height;
                 imageStart = QGC::groundTimeMilliseconds();
             }
             break;
@@ -1392,16 +1394,13 @@ QImage UAS::getImage()
     // RAW greyscale
     if (imageType == MAVLINK_DATA_STREAM_IMG_RAW8U)
     {
-        // TODO FIXME Fabian
+        // TODO FIXME
-        // RAW hardcoded to 22x22
+        int imgColors = 255;//imageSize/(imageWidth*imageHeight);
-        int imgWidth = 22;
-        int imgHeight = 22;
-        int imgColors = 255;
         //const int headerSize = 15;
 
         // Construct PGM header
         QString header("P5\n%1 %2\n%3\n");
-        header = header.arg(imgWidth).arg(imgHeight).arg(imgColors);
+        header = header.arg(imageWidth).arg(imageHeight).arg(imgColors);
 
         QByteArray tmpImage(header.toStdString().c_str(), header.toStdString().size());
         tmpImage.append(imageRecBuffer);
@@ -1451,7 +1450,7 @@ void UAS::requestImage()
     if (imagePacketsArrived == 0)
     {
         mavlink_message_t msg;
-        mavlink_msg_data_transmission_handshake_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, DATA_TYPE_JPEG_IMAGE, 0, 0, 0, 50);
+        mavlink_msg_data_transmission_handshake_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, DATA_TYPE_JPEG_IMAGE, 0, 0, 0, 0, 0, 50);
         sendMessage(msg);
     }
 #endif

src/uas/UAS.h

@@ -214,6 +214,8 @@ protected: //COMMENTS FOR TEST UNIT
     int imagePayload;           ///< Payload size per transmitted packet (bytes). Standard is 254, and decreases when image resolution increases.
     int imageQuality;           ///< Quality of the transmitted image (percentage)
     int imageType;              ///< Type of the transmitted image (BMP, PNG, JPEG, RAW 8 bit, RAW 32 bit)
+    int imageWidth;             ///< Width of the image stream
+    int imageHeight;            ///< Width of the image stream
     QByteArray imageRecBuffer;  ///< Buffer for the incoming bytestream
     QImage image;               ///< Image data of last completely transmitted image
     quint64 imageStart;

src/uas/UASWaypointManager.cc

@@ -114,6 +114,9 @@ void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double l
 {
     Q_UNUSED(mav);
     Q_UNUSED(time);
+	Q_UNUSED(alt);
+	Q_UNUSED(lon);
+	Q_UNUSED(lat);
     if (waypointsEditable.count() > 0 && currentWaypointEditable && (currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL || currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT))
     {
         // TODO FIXME Calculate distance
@@ -240,6 +243,7 @@ void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, m
 
 void UASWaypointManager::handleWaypointReached(quint8 systemId, quint8 compId, mavlink_mission_item_reached_t *wpr)
 {
+	Q_UNUSED(compId);
     if (!uas) return;
     if (systemId == uasid) {
         emit updateStatusString(QString("Reached waypoint %1").arg(wpr->seq));

src/ui/HSIDisplay.cc

@@ -486,6 +486,11 @@ void HSIDisplay::updatePositionZControllerEnabled(bool enabled)
 
 void HSIDisplay::updateObjectPosition(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance)
 {
+	Q_UNUSED(quality);
+	Q_UNUSED(name);
+	Q_UNUSED(type);
+	Q_UNUSED(id);
+	Q_UNUSED(time);
     // FIXME add multi-object support
     QPainter painter(this);
     QColor color(Qt::yellow);

src/ui/QGCMAVLinkInspector.cc

@@ -6,6 +6,9 @@
 
 #include <QDebug>
 
+const float QGCMAVLinkInspector::updateHzLowpass = 0.2f;
+const unsigned int QGCMAVLinkInspector::updateInterval = 1000U;
+
 QGCMAVLinkInspector::QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *parent) :
     QWidget(parent),
     ui(new Ui::QGCMAVLinkInspector)

src/ui/QGCMAVLinkInspector.h

@@ -37,8 +37,8 @@ protected:
     // Update one message field
     void updateField(int msgid, int fieldid, QTreeWidgetItem* item);
 
-    static const unsigned int updateInterval = 1000;
+    static const unsigned int updateInterval;
-    static const float updateHzLowpass = 0.2f;
+    static const float updateHzLowpass;
 
 private:
     Ui::QGCMAVLinkInspector *ui;

src/ui/QGCRGBDView.cc

@@ -265,5 +265,7 @@ void QGCRGBDView::updateData(UASInterface *uas)
     }
 
     glImage = QGLWidget::convertToGLFormat(fill);
+#else
+	Q_UNUSED(uas);
 #endif
 }

src/ui/WaypointEditableView.cc

@@ -311,8 +311,6 @@ void WaypointEditableView::changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE mode)
 
 void WaypointEditableView::updateFrameView(int frame)
 {    
-     std::cerr << "update frame view: "<< frame << std::endl;
-    //int custom_index = m_ui->comboBox_action->findData(MAV_CMD_ENUM_END);
     switch(frame) {
     case MAV_FRAME_GLOBAL:
     case MAV_FRAME_GLOBAL_RELATIVE_ALT:

src/ui/WaypointEditableView.ui

@@ -105,6 +105,18 @@ QPushButton:pressed {
       </property>
       <item>
        <widget class="QCheckBox" name="selectedBox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>25</width>
+          <height>0</height>
+         </size>
+        </property>
         <property name="focusPolicy">
          <enum>Qt::TabFocus</enum>
         </property>
@@ -127,9 +139,15 @@ QPushButton:pressed {
       </item>
       <item>
        <widget class="QLabel" name="idLabel">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
         <property name="minimumSize">
          <size>
-          <width>15</width>
+          <width>25</width>
           <height>0</height>
          </size>
         </property>
@@ -471,6 +489,12 @@ QPushButton:pressed {
       </item>
       <item>
        <widget class="QDoubleSpinBox" name="acceptanceSpinBox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
         <property name="toolTip">
          <string>Uncertainty radius in meters
 where to accept this waypoint as reached</string>
@@ -488,6 +512,12 @@ where to accept this waypoint as reached</string>
       </item>
       <item>
        <widget class="QDoubleSpinBox" name="holdTimeSpinBox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
         <property name="toolTip">
          <string>Rotaty wing and ground vehicles only:
 Time to stay at this position before advancing</string>
@@ -505,6 +535,12 @@ Time to stay at this position before advancing</string>
       </item>
       <item>
        <widget class="QSpinBox" name="turnsSpinBox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
         <property name="toolTip">
          <string>Number of turns to loiter</string>
         </property>
@@ -581,6 +617,12 @@ Time to stay at this position before advancing</string>
       </item>
       <item>
        <widget class="QCheckBox" name="autoContinue">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
         <property name="toolTip">
          <string>Automatically continue after this waypoint</string>
         </property>

src/ui/WaypointViewOnlyView.ui

@@ -75,7 +75,7 @@ margin-top: 1ex; /* leave space at the top for the title */
      <property name="checkable">
       <bool>false</bool>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout" stretch="3,2,100,10,5,1">
+     <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,2,100,10,5,1">
       <property name="spacing">
        <number>2</number>
       </property>
@@ -85,11 +85,17 @@ margin-top: 1ex; /* leave space at the top for the title */
       <item>
        <widget class="QCheckBox" name="current">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
+        <property name="minimumSize">
+         <size>
+          <width>25</width>
+          <height>0</height>
+         </size>
+        </property>
         <property name="toolTip">
          <string>Currently executed waypoint</string>
         </property>
@@ -103,9 +109,27 @@ margin-top: 1ex; /* leave space at the top for the title */
       </item>
       <item>
        <widget class="QLabel" name="idLabel">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>25</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="lineWidth">
+         <number>1</number>
+        </property>
         <property name="text">
          <string>ID</string>
         </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
        </widget>
       </item>
       <item>
@@ -160,6 +184,9 @@ margin-top: 1ex; /* leave space at the top for the title */
         <property name="text">
          <string>Frame</string>
         </property>
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+        </property>
        </widget>
       </item>
       <item>

src/ui/map/QGCMapWidget.cc

@@ -10,7 +10,7 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
     mapcontrol::OPMapWidget(parent),
     currWPManager(NULL),
     firingWaypointChange(NULL),
-    maxUpdateInterval(2.1), // 2 seconds
+    maxUpdateInterval(2.1f), // 2 seconds
     followUAVEnabled(false),
     trailType(mapcontrol::UAVTrailType::ByTimeElapsed),
     trailInterval(2.0f),

src/ui/uas/UASControlWidget.cc

@@ -44,6 +44,7 @@ This file is part of the PIXHAWK project
 
 UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
     uas(0),
+    uasMode(0),
     engineOn(false)
 {
     ui.setupUi(this);
@@ -59,6 +60,8 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
     connect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
     connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));
 
+    uasMode = ui.modeComboBox->itemData(ui.modeComboBox->currentIndex()).toInt();
+
     ui.modeComboBox->setCurrentIndex(0);
 
     ui.gridLayout->setAlignment(Qt::AlignTop);
@@ -67,7 +70,8 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
 
 void UASControlWidget::setUAS(UASInterface* uas)
 {
-    if (this->uas != 0) {
+    if (this->uas != 0)
+    {
         UASInterface* oldUAS = UASManager::instance()->getUASForId(this->uas);
         disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(armSystem()));
         disconnect(ui.liftoffButton, SIGNAL(clicked()), oldUAS, SLOT(launch()));
@@ -101,9 +105,12 @@ UASControlWidget::~UASControlWidget()
 void UASControlWidget::updateStatemachine()
 {
 
-    if (engineOn) {
+    if (engineOn)
+    {
         ui.controlButton->setText(tr("DISARM SYSTEM"));
-    } else {
+    }
+    else
+    {
         ui.controlButton->setText(tr("ARM SYSTEM"));
     }
 }
@@ -139,7 +146,8 @@ void UASControlWidget::updateMode(int uas,QString mode,QString description)
 
 void UASControlWidget::updateState(int state)
 {
-    switch (state) {
+    switch (state)
+    {
     case (int)MAV_STATE_ACTIVE:
         engineOn = true;
         ui.controlButton->setText(tr("DISARM SYSTEM"));

src/ui/uas/UASListWidget.cc

@@ -114,6 +114,7 @@ void UASListWidget::activeUAS(UASInterface* uas)
 
 void UASListWidget::removeUAS(UASInterface* uas)
 {
+	Q_UNUSED(uas);
 //    uasViews.remove(uas);
 //    listLayout->removeWidget(uasViews.value(uas));
 //    uasViews.value(uas)->deleteLater();