Merged experimental and dev;

qgroundcontrol.pro

@@ -249,7 +249,8 @@ HEADERS += src/MG.h \
     src/ui/SlugsHilSim.h \
     src/ui/SlugsPIDControl.h \
     src/ui/SlugsVideoCamControl.h \
-    src/ui/SlugsPadCameraControl.h
+    src/ui/SlugsPadCameraControl.h \
+    src/ui/QGCMainWindowAPConfigurator.h
 
 contains(DEPENDENCIES_PRESENT, osg) { 
     message("Including headers for OpenSceneGraph")
@@ -359,7 +360,8 @@ SOURCES += src/main.cc \
     src/ui/SlugsHilSim.cc \
     src/ui/SlugsPIDControl.cpp \
     src/ui/SlugsVideoCamControl.cpp \
-    src/ui/SlugsPadCameraControl.cpp
+    src/ui/SlugsPadCameraControl.cpp \
+    src/ui/QGCMainWindowAPConfigurator.cc
 contains(DEPENDENCIES_PRESENT, osg) { 
     message("Including sources for OpenSceneGraph")
     

src/Core.cc

@@ -157,6 +157,9 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
  **/
 Core::~Core()
 {
+    //mainWindow->storeSettings();
+    mainWindow->hide();
+    mainWindow->deleteLater();
     // Delete singletons
     delete LinkManager::instance();
     delete UASManager::instance();

src/QGC.h

@@ -14,6 +14,9 @@ namespace QGC
 
     /** @brief Get the current ground time in microseconds */
     quint64 groundTimeUsecs();
+
+    const QString APPNAME = "QGROUNDCONTROL";
+    const QString COMPANYNAME = "OPENMAV";
 }
 
 #endif // QGC_H

src/comm/MAVLinkSimulationLink.cc

@@ -559,16 +559,17 @@ void MAVLinkSimulationLink::mainloop()
 
 
         // Send controller states
-//        uint8_t attControl = 1;
-//        uint8_t posXYControl = 1;
-//        uint8_t posZControl = 0;
-//        uint8_t posYawControl = 1;
 
-//        uint8_t gpsLock = 2;
-//        uint8_t visLock = 3;
-        //uint8_t posLock = qMax(gpsLock, visLock);
 
         #ifdef MAVLINK_ENABLED_PIXHAWK
+                uint8_t attControl = 1;
+                uint8_t posXYControl = 1;
+                uint8_t posZControl = 0;
+                uint8_t posYawControl = 1;
+
+                uint8_t gpsLock = 2;
+                uint8_t visLock = 3;
+                uint8_t posLock = qMax(gpsLock, visLock);
         messageSize = mavlink_msg_control_status_pack(systemId, componentId, &msg, posLock, visLock, gpsLock, attControl, posXYControl, posZControl, posYawControl);
         #endif
 

src/comm/SerialLink.cc

@@ -30,9 +30,11 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QTimer>
 #include <QDebug>
+#include <QSettings>
 #include <QMutexLocker>
 #include "SerialLink.h"
 #include "LinkManager.h"
+#include "QGC.h"
 #include <MG.h>
 #ifdef _WIN32
 #include "windows.h"
@@ -54,12 +56,26 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
 #endif
     // Set unique ID and add link to the list of links
     this->id = getNextLinkId();
-    this->baudrate = baudrate;
-    this->flow = flow;
-    this->parity = parity;
-    this->dataBits = dataBits;
-    this->stopBits = stopBits;
-    this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
+
+    // Load defaults from settings
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+    if (settings.contains("SERIALLINK_COMM_PORT"))
+    {
+        this->porthandle = settings.value("SERIALLINK_COMM_PORT").toString();
+        setBaudRate(settings.value("SERIALLINK_COMM_BAUD").toInt());
+        setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
+        setStopBitsType(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
+        setDataBitsType(settings.value("SERIALLINK_COMM_DATABITS").toInt());
+    }
+    else
+    {
+        this->baudrate = baudrate;
+        this->flow = flow;
+        this->parity = parity;
+        this->dataBits = dataBits;
+        this->stopBits = stopBits;
+        this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
+    }
 
     // Set the port name
     if (porthandle == "")
@@ -282,6 +298,15 @@ bool SerialLink::connect()
  **/
 bool SerialLink::hardwareConnect()
 {
+    // Store settings
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+    settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
+    settings.setValue("SERIALLINK_COMM_BAUD", this->baudrate);
+    settings.setValue("SERIALLINK_COMM_PARITY", this->parity);
+    settings.setValue("SERIALLINK_COMM_STOPBITS", this->stopBits);
+    settings.setValue("SERIALLINK_COMM_DATABITS", this->dataBits);
+    settings.sync();
+
     QObject::connect(port, SIGNAL(aboutToClose()), this, SIGNAL(disconnected()));
 
     port->open(QIODevice::ReadWrite);

src/input/Freenect.cc

@@ -341,7 +341,7 @@ Freenect::readConfigFile(void)
                                  settings.value("transform/R33").toDouble(),
                                  settings.value("transform/Tz").toDouble(),
                                  0.0, 0.0, 0.0, 1.0);
-    transformMatrix = transformMatrix.transposed();
+    transformMatrix = transformMatrix.inverted();
 
     baseline = settings.value("transform/baseline").toDouble();
     disparityOffset = settings.value("transform/disparity_offset").toDouble();

src/uas/PxQuadMAV.cc

@@ -41,12 +41,12 @@ void PxQuadMAV::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;
 
 // Only compile this portion if matching MAVLink packets have been compiled
 #ifdef MAVLINK_ENABLED_PIXHAWK
+    mavlink_message_t* msg = &message;
 
     if (message.sysid == uasId)
     {

src/uas/UAS.cc

@@ -373,9 +373,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 positionLock = true;
 
                 // Send to patch antenna
-                mavlink_message_t msg;
-                mavlink_msg_global_position_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, pos.usec, pos.lat, pos.lon, pos.alt, pos.vx, pos.vy, pos.vz);
-                sendMessage(msg);
+                // FIXME Message re-routing should be implemented differently
+                //mavlink_message_t msg;
+                //mavlink_msg_global_position_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, pos.usec, pos.lat, pos.lon, pos.alt, pos.vx, pos.vy, pos.vz);
+                //sendMessage(msg);
             }
             break;
         case MAVLINK_MSG_ID_GPS_RAW:

src/ui/HUD.cc

@@ -165,6 +165,19 @@ HUD::~HUD()
 
 }
 
+void HUD::showEvent(QShowEvent* event)
+{
+    Q_UNUSED(event);
+    if (isVisible())
+    {
+        refreshTimer->start();
+    }
+    else
+    {
+        refreshTimer->stop();
+    }
+}
+
 void HUD::start()
 {
     refreshTimer->start();

src/ui/HUD.h

@@ -123,6 +123,8 @@ protected:
     float refLineWidthToPen(float line);
     /** @brief Rotate a polygon around a point clockwise */
     void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
+    /** @brief Override base class show */
+    virtual void showEvent(QShowEvent* event);
 
     QImage* image; ///< Double buffer image
     QImage glImage; ///< The background / camera image

src/ui/MainWindow.cc

@@ -16,6 +16,7 @@
 #include <QHostInfo>
 
 #include "MG.h"
+#include "QGC.h"
 #include "MAVLinkSimulationLink.h"
 #include "SerialLink.h"
 #include "UDPLink.h"
@@ -82,6 +83,33 @@ MainWindow::MainWindow(QWidget *parent):
 
     // Adjust the size
     adjustSize();
+
+    // Load previous widget setup
+
+    // FIXME WORK IN PROGRESS
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+
+    QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
+    if (dockwidgets.size())
+    {
+        settings.beginGroup("mainwindow/dockwidgets");
+        for (int i = 0; i < dockwidgets.size(); ++i)
+        {
+            QDockWidget *dockWidget = dockwidgets.at(i);
+            if (dockWidget->parentWidget() == this)
+            {
+                if (settings.contains(dockWidget->windowTitle()))
+                {
+                    dockWidget->setVisible(settings.value(dockWidget->windowTitle(), dockWidget->isVisible()).toBool());
+                }
+            }
+        }
+        settings.endGroup();
+    }
+
+
+
+    this->show();
 }
 
 MainWindow::~MainWindow()
@@ -127,6 +155,110 @@ void MainWindow::buildCommonWidgets()
 
 }
 
+//=======
+//void MainWindow::storeSettings()
+//{
+//    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+
+//    QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
+//    if (dockwidgets.size())
+//    {
+//        settings.beginGroup("mainwindow/dockwidgets");
+//        for (int i = 0; i < dockwidgets.size(); ++i)
+//        {
+//            QDockWidget *dockWidget = dockwidgets.at(i);
+//            if (dockWidget->parentWidget() == this)
+//            {
+//                settings.setValue(dockWidget->windowTitle(), QVariant(dockWidget->isVisible()));
+//            }
+//        }
+//        settings.endGroup();
+//    }
+//    settings.sync();
+//}
+
+//QMenu* MainWindow::createCenterWidgetMenu()
+//{
+//    QMenu* menu = NULL;
+//    QStackedWidget* centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
+//    if (centerStack)
+//    {
+//        if (centerStack->count() > 0)
+//        {
+//            menu = new QMenu(this);
+//            for (int i = 0; i < centerStack->count(); ++i)
+//            {
+//                //menu->addAction(centerStack->widget(i)->actions())
+//            }
+//        }
+//    }
+//    return menu;
+//}
+
+//QMenu* MainWindow::createDockWidgetMenu()
+//{
+//    QMenu *menu = 0;
+//#ifndef QT_NO_DOCKWIDGET
+//    QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
+//    if (dockwidgets.size())
+//    {
+//        menu = new QMenu(this);
+//        for (int i = 0; i < dockwidgets.size(); ++i)
+//        {
+//            QDockWidget *dockWidget = dockwidgets.at(i);
+//            if (dockWidget->parentWidget() == this)
+//            {
+//                menu->addAction(dockwidgets.at(i)->toggleViewAction());
+//            }
+//        }
+//        menu->addSeparator();
+//    }
+//#endif
+//    return menu;
+//}
+
+////QList<QWidget* >* MainWindow::getMainWidgets()
+////{
+
+////}
+
+////QMenu* QMainWindow::getDockWidgetMenu()
+////{
+////    Q_D(QMainWindow);
+////    QMenu *menu = 0;
+////#ifndef QT_NO_DOCKWIDGET
+////    QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
+////    if (dockwidgets.size()) {
+////        menu = new QMenu(this);
+////        for (int i = 0; i < dockwidgets.size(); ++i) {
+////            QDockWidget *dockWidget = dockwidgets.at(i);
+////            if (dockWidget->parentWidget() == this
+////                && d->layout->contains(dockWidget)) {
+////                menu->addAction(dockwidgets.at(i)->toggleViewAction());
+////            }
+////        }
+////        menu->addSeparator();
+////    }
+////#endif // QT_NO_DOCKWIDGET
+////#ifndef QT_NO_TOOLBAR
+////    QList<QToolBar *> toolbars = qFindChildren<QToolBar *>(this);
+////    if (toolbars.size()) {
+////        if (!menu)
+////            menu = new QMenu(this);
+////        for (int i = 0; i < toolbars.size(); ++i) {
+////            QToolBar *toolBar = toolbars.at(i);
+////            if (toolBar->parentWidget() == this
+////                && d->layout->contains(toolBar)) {
+////                menu->addAction(toolbars.at(i)->toggleViewAction());
+////            }
+////        }
+////    }
+////#endif
+////    Q_UNUSED(d);
+////    return menu;
+////}
+//>>>>>>> master
+
 void MainWindow::buildPxWidgets()
 {
     //FIXME: memory of acceptList will never be freed again
@@ -172,6 +304,7 @@ void MainWindow::buildPxWidgets()
 #endif
 
     // Dock widgets
+
     detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
     detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
     addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget()), MENU_DETECTION, Qt::RightDockWidgetArea);
@@ -189,9 +322,53 @@ void MainWindow::buildPxWidgets()
     hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
     hsiDockWidget->setWidget( new HSIDisplay(this) );
     addToToolsMenu (hsiDockWidget, tr("HSI"), SLOT(showToolWidget()), MENU_HSI, Qt::BottomDockWidgetArea);
-
-    headDown1DockWidget = new QDockWidget(tr("Primary Flight Display"), this);
+//=======
+//    controlDockWidget = new QDockWidget(tr("Control"), this);
+//    controlDockWidget->setWidget( new UASControlWidget(this) );
+//    addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
+//    controlDockWidget->hide();
+
+//    infoDockWidget = new QDockWidget(tr("Status Details"), this);
+//    infoDockWidget->setWidget( new UASInfoWidget(this) );
+//    addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
+//    //infoDockWidget->hide();
+
+//    listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
+//    listDockWidget->setWidget( new UASListWidget(this) );
+//    addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
+//    listDockWidget->hide();
+
+//    waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
+//    waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
+//    addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
+//    waypointsDockWidget->hide();
+
+//    detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
+//    detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
+//    addDockWidget(Qt::RightDockWidgetArea, detectionDockWidget);
+//    detectionDockWidget->hide();
+
+//    debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
+//    debugConsoleDockWidget->setWidget( new DebugConsole(this) );
+//    addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
+
+//    parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
+//    parametersDockWidget->setWidget( new ParameterInterface(this) );
+//    addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
+
+//    watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
+//    watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
+//    addDockWidget(Qt::RightDockWidgetArea, watchdogControlDockWidget);
+//    watchdogControlDockWidget->hide();
+
+//    hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
+//    hsiDockWidget->setWidget( new HSIDisplay(this) );
+//    addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
+//>>>>>>> master
+
+    headDown1DockWidget = new QDockWidget(tr("System Stats"), this);
     headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
+
     addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget()), MENU_HDD_1, Qt::RightDockWidgetArea);
 
     headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
@@ -201,6 +378,18 @@ void MainWindow::buildPxWidgets()
     rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
     rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
     addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
+//=======
+//    addDockWidget(Qt::RightDockWidgetArea, headDown1DockWidget);
+
+//    headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
+//    headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
+//    addDockWidget(Qt::RightDockWidgetArea, headDown2DockWidget);
+
+//    rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
+//    rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
+//    addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
+//    rcViewDockWidget->hide();
+//>>>>>>> master
 
     headUpDockWidget = new QDockWidget(tr("HUD"), this);
     headUpDockWidget->setWidget( new HUD(320, 240, this));
@@ -233,16 +422,34 @@ void MainWindow::buildSlugsWidgets()
     slugsDataWidget->setWidget( new SlugsDataSensorView(this));
     addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget()), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
 
+//=======
+//    this->addDockWidget(Qt::LeftDockWidgetArea, headUpDockWidget);
 
-    slugsPIDControlWidget = new QDockWidget(tr("PID Control"), this);
+//    // SLUGS
+//    slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
+//    slugsDataWidget->setWidget( new SlugsDataSensorView(this));
+//    addDockWidget(Qt::LeftDockWidgetArea, slugsDataWidget);
+//    slugsDataWidget->hide();
+//>>>>>>> master
+
+    slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
     slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
     addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget()), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
 
     slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
     slugsHilSimWidget->setWidget( new SlugsHilSim(this));
     addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget()), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
+//=======
+//    addDockWidget(Qt::BottomDockWidgetArea, slugsPIDControlWidget);
+//    slugsPIDControlWidget->hide();
 
-    slugsCamControlWidget = new QDockWidget(tr("Video Camera Control"), this);
+//    slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
+//    slugsHilSimWidget->setWidget( new SlugsHilSim(this));
+//    addDockWidget(Qt::BottomDockWidgetArea, slugsHilSimWidget);
+//    slugsHilSimWidget->hide();
+//>>>>>>> master
+
+    slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
     slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
     addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget()), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
 
@@ -474,6 +681,13 @@ void MainWindow::updateLocationSettings (Qt::DockWidgetArea location){
         break;
       }
   }
+//=======
+//    addDockWidget(Qt::BottomDockWidgetArea, slugsCamControlWidget);
+//    slugsCamControlWidget->hide();
+
+//    //FIXME: free memory in destructor
+//    joystick    = new JoystickInput();
+//>>>>>>> master
 }
 
 /**
@@ -1006,7 +1220,8 @@ void MainWindow::clearView()
         if (dockWidget)
         {
             // Remove dock widget from main window
-            this->removeDockWidget(dockWidget);
+            //this->removeDockWidget(dockWidget);
+            dockWidget->setVisible(false);
             // Deletion of dockWidget would also delete all child
             // widgets of dockWidget
             // Is there a way to unset a widget from QDockWidget?
@@ -1048,6 +1263,14 @@ void MainWindow::loadMAVLinkView()
     currentView = VIEW_MAVLINK;
 
     presentView();
+//=======
+//    // Slugs Data View
+//    if (slugsHilSimWidget)
+//    {
+//        addDockWidget(Qt::LeftDockWidgetArea, slugsHilSimWidget);
+//        slugsHilSimWidget->show();
+//    }
+//>>>>>>> master
 }
 
 void MainWindow::presentView() {
@@ -1224,12 +1447,18 @@ void MainWindow::presentView() {
 
 }
 
-
-
-
 void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view){
   bool tempVisible;
   QWidget* tempWidget = dockWidgets[centralWidget];
+//=======
+//    // ONBOARD PARAMETERS
+//    if (parametersDockWidget)
+//    {
+//        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
+//        parametersDockWidget->show();
+//    }
+//}
+//>>>>>>> master
 
   tempVisible =  settings.value(buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view)).toBool();
   qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
@@ -1281,6 +1510,24 @@ void MainWindow::loadAllView()
             hdd->start();
         }
     }
+//<<<<<<< HEAD
+//=======
+//}
+
+//void MainWindow::loadOperatorView()
+//{
+//    clearView();
+
+//    // MAP
+//    if (mapWidget)
+//    {
+//        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
+//        if (centerStack)
+//        {
+//            centerStack->setCurrentWidget(mapWidget);
+//        }
+//    }
+//>>>>>>> master
 
     // UAS CONTROL
     if (controlDockWidget)
@@ -1341,8 +1588,6 @@ void MainWindow::loadAllView()
         addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
         parametersDockWidget->show();
     }
-
-    this->show();
 }
 
 void MainWindow::loadWidgets()
@@ -1430,7 +1675,6 @@ void MainWindow::load3DMapView()
                 }
             }
 #endif
-            this->show();
 }
 
 void MainWindow::loadGoogleEarthView()
@@ -1480,7 +1724,6 @@ void MainWindow::loadGoogleEarthView()
                     hsiDockWidget->show();
                 }
             }
-            this->show();
 #endif
 
 }
@@ -1534,8 +1777,6 @@ void MainWindow::load3DView()
                 }
             }
 #endif
-            this->show();
-
 }
 
 /*
@@ -1586,15 +1827,26 @@ void MainWindow::buildCommonWidgets()
     listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
     listDockWidget->setWidget( new UASListWidget(this) );
 
+<<<<<<< HEAD
     waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
     waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
 
     infoDockWidget = new QDockWidget(tr("Status Details"), this);
     infoDockWidget->setWidget( new UASInfoWidget(this) );
+=======
+    // RADIO CONTROL VIEW
+    if (rcViewDockWidget)
+    {
+        addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
+        rcViewDockWidget->show();
+    }
+}
+>>>>>>> master
 
     detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
     detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
 
+<<<<<<< HEAD
     debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
     debugConsoleDockWidget->setWidget( new DebugConsole(this) );
 
@@ -1635,6 +1887,16 @@ void MainWindow::buildCommonWidgets()
     slugsCamControlWidget = new QDockWidget(tr("Video Camera Control"), this);
     slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
 
+=======
+    if (protocolWidget)
+    {
+        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
+        if (centerStack)
+        {
+            centerStack->setCurrentWidget(protocolWidget);
+        }
+    }
+>>>>>>> master
 }
 
 void MainWindow::connectWidgets()
@@ -1686,6 +1948,7 @@ void MainWindow::connectWidgets()
 
 }
 
+<<<<<<< HEAD
 void MainWindow::arrangeCommonCenterStack()
 {
 
@@ -1707,10 +1970,19 @@ void MainWindow::arrangeCommonCenterStack()
     if (dataplotWidget) centerStack->addWidget(dataplotWidget);
 
     setCentralWidget(centerStack);
+=======
+    // ONBOARD PARAMETERS
+    if (parametersDockWidget)
+    {
+        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
+        parametersDockWidget->show();
+    }
+>>>>>>> master
 }
 
 void MainWindow::connectActions()
 {
+<<<<<<< HEAD
     // Connect actions from ui
     connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));
 
@@ -1763,6 +2035,9 @@ void MainWindow::connectActions()
     //GlobalOperatorView
    // connect(ui.actionGlobalOperatorView,SIGNAL(triggered()),waypointsDockWidget->widget(),SLOT())
 
+=======
+    //loadEngineerView();
+>>>>>>> master
 }
 
 */

src/ui/MainWindow.h

@@ -87,6 +87,9 @@ public:
     ~MainWindow();
 
 public slots:
+//    /** @brief Store the mainwindow settings */
+//    void storeSettings();
+
     /**
      * @brief Shows a status message on the bottom status bar
      *
@@ -324,7 +327,6 @@ protected:
 
     void configureWindowName();
 
-
     // TODO Should be moved elsewhere, as the protocol does not belong to the UI
     MAVLinkProtocol* mavlink;
     AS4Protocol* as4link;
@@ -367,6 +369,7 @@ protected:
 
     QPointer<QDockWidget> hsiDockWidget;
     QPointer<QDockWidget> rcViewDockWidget;
+    QPointer<QDockWidget> hudDockWidget;
     QPointer<QDockWidget> slugsDataWidget;
     QPointer<QDockWidget> slugsPIDControlWidget;
     QPointer<QDockWidget> slugsHilSimWidget;

src/ui/MainWindow.ui

@@ -108,14 +108,7 @@
    <addaction name="menuPerspectives"/>
    <addaction name="menuHelp"/>
   </widget>
-  <widget class="QToolBar" name="mainToolBar">
-   <attribute name="toolBarArea">
-    <enum>TopToolBarArea</enum>
-   </attribute>
-   <attribute name="toolBarBreak">
-    <bool>false</bool>
-   </attribute>
-  </widget>
+
   <widget class="QStatusBar" name="statusBar"/>
   <action name="actionExit">
    <property name="icon">
@@ -461,3 +454,5 @@
   </connection>
  </connections>
 </ui>
+
+

src/ui/QGCMainWindowAPConfigurator.cc

@@ -0,0 +1,6 @@
+#include "QGCMainWindowAPConfigurator.h"
+
+QGCMainWindowAPConfigurator::QGCMainWindowAPConfigurator(QObject *parent) :
+    QObject(parent)
+{
+}

src/ui/QGCMainWindowAPConfigurator.h

@@ -0,0 +1,18 @@
+#ifndef QGCMAINWINDOWAPCONFIGURATOR_H
+#define QGCMAINWINDOWAPCONFIGURATOR_H
+
+#include <QObject>
+
+class QGCMainWindowAPConfigurator : public QObject
+{
+    Q_OBJECT
+public:
+    explicit QGCMainWindowAPConfigurator(QObject *parent = 0);
+
+signals:
+
+public slots:
+
+};
+
+#endif // QGCMAINWINDOWAPCONFIGURATOR_H

src/ui/SerialConfigurationWindow.cc

@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
 #include <SerialConfigurationWindow.h>
 #include <SerialLinkInterface.h>
 #include <QDir>
+#include <QSettings>
 #include <QFileInfoList>
 #ifdef _WIN32
 #include <QextSerialEnumerator.h>

src/ui/XMLCommProtocolWidget.cc

@@ -7,6 +7,7 @@
 #include "ui_XMLCommProtocolWidget.h"
 #include "MAVLinkXMLParser.h"
 #include "MAVLinkSyntaxHighlighter.h"
+#include "QGC.h"
 
 #include <QDebug>
 #include <iostream>
@@ -31,7 +32,7 @@ XMLCommProtocolWidget::XMLCommProtocolWidget(QWidget *parent) :
 void XMLCommProtocolWidget::selectXMLFile()
 {
     //QString fileName = QFileDialog::getOpenFileName(this, tr("Load Protocol Definition File"), ".", "*.xml");
-    QSettings settings;
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
     const QString mavlinkXML = "MAVLINK_XML_FILE";
     QString dirPath = settings.value(mavlinkXML, QCoreApplication::applicationDirPath() + "../").toString();
     QFileDialog dialog;
@@ -56,6 +57,7 @@ void XMLCommProtocolWidget::selectXMLFile()
             setXML(instanceText);
             // Store filename for next time
             settings.setValue(mavlinkXML, QFileInfo(file).absoluteFilePath());
+            settings.sync();
         }
         else
         {
@@ -92,7 +94,7 @@ void XMLCommProtocolWidget::setXML(const QString& xml)
 
 void XMLCommProtocolWidget::selectOutputDirectory()
 {
-    QSettings settings;
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
     const QString mavlinkOutputDir = "MAVLINK_OUTPUT_DIR";
     QString dirPath = settings.value(mavlinkOutputDir, QCoreApplication::applicationDirPath() + "../").toString();
     QFileDialog dialog;
@@ -110,7 +112,8 @@ void XMLCommProtocolWidget::selectOutputDirectory()
     {
         m_ui->outputDirNameLabel->setText(fileNames.first());
         // Store directory for next time
-        settings.setValue(mavlinkOutputDir, fileNames.first());
+        settings.setValue(mavlinkOutputDir, QFileInfo(fileNames.first()).absoluteFilePath());
+        settings.sync();
         //QFile file(fileName);
     }
 }

src/ui/linechart/LinechartWidget.cc

@@ -159,7 +159,9 @@ void LinechartWidget::createLayout()
     QToolButton* timeButton = new QToolButton(this);
     timeButton->setText(tr("Ground Time"));
     timeButton->setCheckable(true);
-    timeButton->setChecked(false);
+    bool gTimeDefault = true;
+    if (activePlot) activePlot->enforceGroundTime(gTimeDefault);
+    timeButton->setChecked(gTimeDefault);
     layout->addWidget(timeButton, 1, 4);
     layout->setColumnStretch(4, 0);
     connect(timeButton, SIGNAL(clicked(bool)), activePlot, SLOT(enforceGroundTime(bool)));
@@ -442,6 +444,12 @@ void LinechartWidget::removeCurve(QString curve)
     // Remove name
     }
 
+void LinechartWidget::showEvent(QShowEvent* event)
+{
+    Q_UNUSED(event);
+    setActive(isVisible());
+}
+
 void LinechartWidget::setActive(bool active)
 {
     if (activePlot)

src/ui/linechart/LinechartWidget.h

@@ -77,6 +77,8 @@ public slots:
     void setPlotWindowPosition(int scrollBarValue);
     void setPlotWindowPosition(quint64 position);
     void setPlotInterval(quint64 interval);
+    /** @brief Override base class show */
+    virtual void showEvent(QShowEvent* event);
     void setActive(bool active);
     /** @brief Set the number of values to average over */
     void setAverageWindow(int windowSize);

src/ui/map3D/QGCGoogleEarthView.cc

@@ -16,9 +16,11 @@
 QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
         QWidget(parent),
         updateTimer(new QTimer(this)),
+        refreshRateMs(200),
         mav(NULL),
         followCamera(true),
         trailEnabled(true),
+        webViewInitialized(false),
 #if (defined Q_OS_MAC)
         webViewMac(new QWebView(this)),
 #endif
@@ -34,22 +36,14 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
 #endif
 
     ui->setupUi(this);
-
 #if (defined Q_OS_MAC)
     ui->webViewLayout->addWidget(webViewMac);
-    webViewMac->setPage(new QGCWebPage(webViewMac));
-    webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
-    webViewMac->load(QUrl("earth.html"));
-#endif
-
-#if (defined Q_OS_WIN) & !(defined __MINGW32__)
-    webViewWin->load(QUrl("earth.html"));
 #endif
 
 #if ((defined Q_OS_MAC) | ((defined Q_OS_WIN) & !(defined __MINGW32__)))
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateState()));
-    updateTimer->start(200);
+    updateTimer->start(refreshRateMs);
 #endif
 
     // Follow checkbox
@@ -94,53 +88,82 @@ void QGCGoogleEarthView::follow(bool follow)
     followCamera = follow;
 }
 
-void QGCGoogleEarthView::updateState()
+void QGCGoogleEarthView::hide()
 {
-#ifdef Q_OS_MAC
-    if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
+    updateTimer->stop();
+    QWidget::hide();
+}
+
+void QGCGoogleEarthView::show()
+{
+    if (!webViewInitialized)
     {
-        static bool initialized = false;
-        if (!initialized)
-        {
-            webViewMac->page()->currentFrame()->evaluateJavaScript("setGCSHome(22.679833,8.549444, 470);");
-            initialized = true;
-        }
-        int uasId = 0;
-        double lat = 22.679833;
-        double lon = 8.549444;
-        double alt = 470.0;
+#if (defined Q_OS_MAC)
+    webViewMac->setPage(new QGCWebPage(webViewMac));
+    webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
+    webViewMac->load(QUrl("earth.html"));
+#endif
 
-        float roll = 0.0f;
-        float pitch = 0.0f;
-        float yaw = 0.0f;
+#if (defined Q_OS_WIN) & !(defined __MINGW32__)
+    webViewWin->load(QUrl("earth.html"));
+#endif
+    webViewInitialized = true;
+    }
+    updateTimer->start();
+    QWidget::show();
+}
 
-        if (mav)
-        {
-            uasId = mav->getUASID();
-            lat = mav->getLatitude();
-            lon = mav->getLongitude();
-            alt = mav->getAltitude();
-            roll = mav->getRoll();
-            pitch = mav->getPitch();
-            yaw = mav->getYaw();
-        }
-        webViewMac->page()->currentFrame()->evaluateJavaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
-                                                                .arg(uasId)
-                                                                .arg(lat)
-                                                                .arg(lon)
-                                                                .arg(alt+500)
-                                                                .arg(roll)
-                                                                .arg(pitch)
-                                                                .arg(yaw));
-
-        if (followCamera)
+void QGCGoogleEarthView::updateState()
+{
+#ifdef Q_OS_MAC
+    if (isVisible())
+    {
+        if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
         {
-             webViewMac->page()->currentFrame()->evaluateJavaScript(QString("updateFollowAircraft()"));
+            static bool initialized = false;
+            if (!initialized)
+            {
+                webViewMac->page()->currentFrame()->evaluateJavaScript("setGCSHome(22.679833,8.549444, 470);");
+                initialized = true;
+            }
+            int uasId = 0;
+            double lat = 22.679833;
+            double lon = 8.549444;
+            double alt = 470.0;
+
+            float roll = 0.0f;
+            float pitch = 0.0f;
+            float yaw = 0.0f;
+
+            if (mav)
+            {
+                uasId = mav->getUASID();
+                lat = mav->getLatitude();
+                lon = mav->getLongitude();
+                alt = mav->getAltitude();
+                roll = mav->getRoll();
+                pitch = mav->getPitch();
+                yaw = mav->getYaw();
+            }
+            webViewMac->page()->currentFrame()->evaluateJavaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
+                                                                   .arg(uasId)
+                                                                   .arg(lat)
+                                                                   .arg(lon)
+                                                                   .arg(alt+500)
+                                                                   .arg(roll)
+                                                                   .arg(pitch)
+                                                                   .arg(yaw));
+
+            if (followCamera)
+            {
+                webViewMac->page()->currentFrame()->evaluateJavaScript(QString("updateFollowAircraft()"));
+            }
         }
     }
 #endif
 }
 
+
 void QGCGoogleEarthView::changeEvent(QEvent *e)
 {
     QWidget::changeEvent(e);

src/ui/map3D/QGCGoogleEarthView.h

@@ -62,13 +62,19 @@ public slots:
     void showWaypoints(bool state);
     /** @brief Follow the aircraft during flight */
     void follow(bool follow);
+    /** @brief Hide and deactivate */
+    void hide();
+    /** @brief Show and activate */
+    void show();
 
 protected:
     void changeEvent(QEvent *e);
     QTimer* updateTimer;
+    int refreshRateMs;
     UASInterface* mav;
     bool followCamera;
     bool trailEnabled;
+    bool webViewInitialized;
 #if (defined Q_OS_WIN) && !(defined __MINGW32__)
     WebAxWidget* webViewWin;
 #endif

src/ui/uas/UASControlWidget.cc

@@ -50,7 +50,7 @@ This file is part of the PIXHAWK project
 #define CONTROL_MODE_TEST2  "MODE TEST2"
 #define CONTROL_MODE_TEST3  "MODE TEST3"
 #define CONTROL_MODE_READY  "MODE TEST3"
-#define CONTROL_MODE_RC_TRAINING  "MODE RC TRAINING"
+#define CONTROL_MODE_RC_TRAINING  "RC SIMULATION"
 
 #define CONTROL_MODE_LOCKED_INDEX 1
 #define CONTROL_MODE_MANUAL_INDEX 2