From 80e1204f97844598711ebe1ec58fe9a5e5d4b3af Mon Sep 17 00:00:00 2001
From: lm <pixhawk@pixhawk02.(none)>
Date: Tue, 1 Jun 2010 22:08:20 +0200
Subject: [PATCH] GPS MAV visualization and moving map tested and working

---
 src/uas/PxQuadMAV.cc | 2 +-
 src/uas/UAS.cc       | 2 +-
 src/ui/MapWidget.cc  | 7 ++++---
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/src/uas/PxQuadMAV.cc b/src/uas/PxQuadMAV.cc
index 4afbef9..72beac8 100644
--- a/src/uas/PxQuadMAV.cc
+++ b/src/uas/PxQuadMAV.cc
@@ -19,7 +19,7 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
     UAS::receiveMessage(link, message);
     mavlink_message_t* msg = &message;
 
-        qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
+        //qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
 
 
     // Handle your special messages
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 5ec3f53..32ee336 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -117,7 +117,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         addLink(link);
     }
 
-    qDebug() << "UAS RECEIVED" << message.sysid << message.compid << message.msgid;
+    //qDebug() << "UAS RECEIVED" << message.sysid << message.compid << message.msgid;
 
     if (message.sysid == uasId)
     {
diff --git a/src/ui/MapWidget.cc b/src/ui/MapWidget.cc
index e5cda8a..c077bd3 100644
--- a/src/ui/MapWidget.cc
+++ b/src/ui/MapWidget.cc
@@ -74,7 +74,7 @@ MapWidget::MapWidget(QWidget *parent) :
     QPushButton* zoomout = new QPushButton(QIcon(":/images/actions/list-remove.svg"), "", this);
     followgps = new QPushButton(QIcon(":/images/actions/system-lock-screen.svg"), "", this);
     followgps->setCheckable(true);
-    //gpsposition = new QLabel();
+   // gpsposition = new QLabel();
     zoomin->setMaximumWidth(50);
     zoomout->setMaximumWidth(50);
     followgps->setMaximumWidth(50);
@@ -114,6 +114,7 @@ MapWidget::~MapWidget()
 void MapWidget::addUAS(UASInterface* uas)
 {
     mav = uas;
+    connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
 }
 
 void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
@@ -123,7 +124,7 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
     QList<Point*> points;
     // Points with a circle
     // A QPen can be used to customize the
-    QPen* pointpen = new QPen(QColor(0,255,0));
+    QPen* pointpen = new QPen(uas->getColor());
     pointpen->setWidth(3);
     points.append(new CirclePoint(lat, lon, alt, uas->getUASName(), Point::Middle, pointpen));
 //    points.append(new CirclePoint(8.275145, 50.016992, 15, "Wiesbaden-Mainz-Kastel, Johannes-Goßner-Straße", Point::Middle, pointpen));
@@ -156,7 +157,7 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
 
 void MapWidget::updatePosition(float time, double lat, double lon)
 {
-    gpsposition->setText(QString::number(time) + " / " + QString::number(lat) + " / " + QString::number(lon));
+    //gpsposition->setText(QString::number(time) + " / " + QString::number(lat) + " / " + QString::number(lon));
     if (followgps->isChecked())
     {
         mc->setView(QPointF(lat, lon));