From 80f8aac39eb8a94d05c61da7c9aae6fb78dce934 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 25 May 2013 17:05:27 +0200
Subject: [PATCH] Only loading port names which still are available, fixed more
 compile errors

---
 src/ui/SerialConfigurationWindow.cc | 10 +++++++++-
 src/ui/map3D/QGCGoogleEarthView.cc  |  4 ++--
 src/ui/map3D/WaypointGroupNode.cc   | 13 ++++++++++++-
 3 files changed, 23 insertions(+), 4 deletions(-)

diff --git a/src/ui/SerialConfigurationWindow.cc b/src/ui/SerialConfigurationWindow.cc
index a063c1c..499188e 100644
--- a/src/ui/SerialConfigurationWindow.cc
+++ b/src/ui/SerialConfigurationWindow.cc
@@ -218,6 +218,9 @@ void SerialConfigurationWindow::setupPortList()
     // Get the ports available on this system
     QVector<QString>* ports = link->getCurrentPorts();
 
+    QString storedName = this->link->getPortName();
+    bool storedFound = false;
+
     // Add the ports in reverse order, because we prepend them to the list
     for (int i = ports->size() - 1; i >= 0; --i)
     {
@@ -227,9 +230,14 @@ void SerialConfigurationWindow::setupPortList()
             ui.portName->insertItem(0, ports->at(i));
             if (!userConfigured) ui.portName->setEditText(ports->at(i));
         }
+
+        // Check if the stored link name is still present
+        if (ports->at(i).contains(storedName) || storedName.contains(ports->at(i)))
+            storedFound = true;
     }
 
-    ui.portName->setEditText(this->link->getPortName());
+    if (storedFound)
+        ui.portName->setEditText(storedName);
 }
 
 void SerialConfigurationWindow::enableFlowControl(bool flow)
diff --git a/src/ui/map3D/QGCGoogleEarthView.cc b/src/ui/map3D/QGCGoogleEarthView.cc
index d620341..022da23 100644
--- a/src/ui/map3D/QGCGoogleEarthView.cc
+++ b/src/ui/map3D/QGCGoogleEarthView.cc
@@ -265,7 +265,7 @@ void QGCGoogleEarthView::updateWaypointList(int uas)
     if (uasInstance)
     {
         // Get all waypoints, including non-global waypoints
-        QVector<Waypoint*> wpList = uasInstance->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
+        QList<Waypoint*> wpList = uasInstance->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
 
         // Trim internal list to number of global waypoints in the waypoint manager list
         javaScript(QString("updateWaypointListLength(%1,%2);").arg(uas).arg(wpList.count()));
@@ -712,7 +712,7 @@ void QGCGoogleEarthView::updateState()
                     // Update waypoint or symbol
                     if (mav)
                     {
-                        QVector<Waypoint*> wps = mav->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
+                        QList<Waypoint*> wps = mav->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
 
                         bool ok;
                         int index = idText.toInt(&ok);
diff --git a/src/ui/map3D/WaypointGroupNode.cc b/src/ui/map3D/WaypointGroupNode.cc
index 15fe3f9..af9f275 100644
--- a/src/ui/map3D/WaypointGroupNode.cc
+++ b/src/ui/map3D/WaypointGroupNode.cc
@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #include <osg/ShapeDrawable>
 
 #include "Imagery.h"
+#include "UASManager.h"
 
 WaypointGroupNode::WaypointGroupNode(const QColor& color)
  : mColor(color)
@@ -70,6 +71,16 @@ WaypointGroupNode::update(UASInterface* uas, MAV_FRAME frame)
         Imagery::LLtoUTM(latitude, longitude, robotX, robotY, utmZone);
         robotZ = -altitude;
     }
+    else if (frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)
+    {
+        double latitude = uas->getLatitude();
+        double longitude = uas->getLongitude();
+        double altitude = uas->getAltitude() + UASManager::instance()->getHomeAltitude();
+
+        QString utmZone;
+        Imagery::LLtoUTM(latitude, longitude, robotX, robotY, utmZone);
+        robotZ = -altitude;
+    }
     else if (frame == MAV_FRAME_LOCAL_NED)
     {
         robotX = uas->getLocalX();
@@ -82,7 +93,7 @@ WaypointGroupNode::update(UASInterface* uas, MAV_FRAME frame)
         removeChild(0, getNumChildren());
     }
 
-    const QVector<Waypoint *>& list = uas->getWaypointManager()->getWaypointEditableList();
+    const QList<Waypoint *>& list = uas->getWaypointManager()->getWaypointEditableList();
 
     for (int i = 0; i < list.size(); i++)
     {