First PrimaryFlightDisplay integration that will even compile. Non functionalgit status

qgroundcontrol.pro

@@ -376,7 +376,8 @@ HEADERS += src/MG.h \
     src/ui/submainwindow.h \
     src/ui/dockwidgettitlebareventfilter.h \
     src/ui/uas/UASQuickView.h \
-    src/ui/uas/UASQuickViewItem.h
+    src/ui/uas/UASQuickViewItem.h \
+    src/ui/PrimaryFlightDisplay.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -544,7 +545,8 @@ SOURCES += src/main.cc \
     src/ui/submainwindow.cpp \
     src/ui/dockwidgettitlebareventfilter.cpp \
     src/ui/uas/UASQuickViewItem.cc \
-    src/ui/uas/UASQuickView.cc
+    src/ui/uas/UASQuickView.cc \
+    src/ui/PrimaryFlightDisplay.cpp
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/ui/HUD.cc

@@ -23,7 +23,7 @@ This file is part of the QGROUNDCONTROL project
 
 /**
  * @file
- *   @brief Head Up Display (HUD)
+ *   @brief Head Up Display (HUD_old)
  *
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *
@@ -52,14 +52,14 @@ This file is part of the QGROUNDCONTROL project
 #endif
 
 /**
- * @warning The HUD widget will not start painting its content automatically
- *          to update the view, start the auto-update by calling HUD::start().
+ * @warning The HUD_old widget will not start painting its content automatically
+ *          to update the view, start the auto-update by calling HUD_old::start().
  *
  * @param width
  * @param height
  * @param parent
  */
-HUD::HUD(int width, int height, QWidget* parent)
+HUD_old::HUD_old(int width, int height, QWidget* parent)
     : QGLWidget(QGLFormat(QGL::SampleBuffers), parent),
       uas(NULL),
       yawInt(0.0f),
@@ -119,7 +119,7 @@ HUD::HUD(int width, int height, QWidget* parent)
       load(0.0f),
       offlineDirectory(""),
       nextOfflineImage(""),
-      hudInstrumentsEnabled(true),
+      HUDInstrumentsEnabled(true),
       videoEnabled(false),
       xImageFactor(1.0),
       yImageFactor(1.0),
@@ -151,7 +151,7 @@ HUD::HUD(int width, int height, QWidget* parent)
 
     // Refresh timer
     refreshTimer->setInterval(updateInterval);
-    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
+    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD_old()));
 
     // Resize to correct size and fill with image
     resize(this->width(), this->height());
@@ -186,17 +186,17 @@ HUD::HUD(int width, int height, QWidget* parent)
     if (UASManager::instance()->getActiveUAS() != NULL) setActiveUAS(UASManager::instance()->getActiveUAS());
 }
 
-HUD::~HUD()
+HUD_old::~HUD_old()
 {
     refreshTimer->stop();
 }
 
-QSize HUD::sizeHint() const
+QSize HUD_old::sizeHint() const
 {
     return QSize(width(), (width()*3.0f)/4);
 }
 
-void HUD::showEvent(QShowEvent* event)
+void HUD_old::showEvent(QShowEvent* event)
 {
     // React only to internal (pre-display)
     // events
@@ -205,7 +205,7 @@ void HUD::showEvent(QShowEvent* event)
     emit visibilityChanged(true);
 }
 
-void HUD::hideEvent(QHideEvent* event)
+void HUD_old::hideEvent(QHideEvent* event)
 {
     // React only to internal (pre-display)
     // events
@@ -214,27 +214,27 @@ void HUD::hideEvent(QHideEvent* event)
     emit visibilityChanged(false);
 }
 
-void HUD::contextMenuEvent (QContextMenuEvent* event)
+void HUD_old::contextMenuEvent (QContextMenuEvent* event)
 {
     QMenu menu(this);
     // Update actions
-    enableHUDAction->setChecked(hudInstrumentsEnabled);
+    enableHUDAction->setChecked(HUDInstrumentsEnabled);
     enableVideoAction->setChecked(videoEnabled);
 
     menu.addAction(enableHUDAction);
-    //menu.addAction(selectHUDColorAction);
+    //menu.addAction(selectHUD_oldColorAction);
     menu.addAction(enableVideoAction);
     menu.addAction(selectOfflineDirectoryAction);
     menu.addAction(selectSaveDirectoryAction);
     menu.exec(event->globalPos());
 }
 
-void HUD::createActions()
+void HUD_old::createActions()
 {
-    enableHUDAction = new QAction(tr("Enable HUD"), this);
-    enableHUDAction->setStatusTip(tr("Show the HUD instruments in this window"));
+    enableHUDAction = new QAction(tr("Enable HUD_old"), this);
+    enableHUDAction->setStatusTip(tr("Show the HUD_old instruments in this window"));
     enableHUDAction->setCheckable(true);
-    enableHUDAction->setChecked(hudInstrumentsEnabled);
+    enableHUDAction->setChecked(HUDInstrumentsEnabled);
     connect(enableHUDAction, SIGNAL(triggered(bool)), this, SLOT(enableHUDInstruments(bool)));
 
     enableVideoAction = new QAction(tr("Enable Video Live feed"), this);
@@ -255,9 +255,9 @@ void HUD::createActions()
 
 /**
  *
- * @param uas the UAS/MAV to monitor/display with the HUD
+ * @param uas the UAS/MAV to monitor/display with the HUD_old
  */
-void HUD::setActiveUAS(UASInterface* uas)
+void HUD_old::setActiveUAS(UASInterface* uas)
 {
     if (this->uas != NULL) {
         // Disconnect any previously connected active MAV
@@ -308,7 +308,7 @@ void HUD::setActiveUAS(UASInterface* uas)
     }
 }
 
-//void HUD::updateAttitudeThrustSetPoint(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
+//void HUD_old::updateAttitudeThrustSetPoint(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
 //{
 ////    updateValue(uas, "roll desired", rollDesired, msec);
 ////    updateValue(uas, "pitch desired", pitchDesired, msec);
@@ -316,7 +316,7 @@ void HUD::setActiveUAS(UASInterface* uas)
 ////    updateValue(uas, "thrust desired", thrustDesired, msec);
 //}
 
-void HUD::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp)
+void HUD_old::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp)
 {
     Q_UNUSED(uas);
     Q_UNUSED(timestamp);
@@ -328,7 +328,7 @@ void HUD::updateAttitude(UASInterface* uas, double roll, double pitch, double ya
     }
 }
 
-void HUD::updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp)
+void HUD_old::updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp)
 {
     Q_UNUSED(uas);
     Q_UNUSED(timestamp);
@@ -338,7 +338,7 @@ void HUD::updateAttitude(UASInterface* uas, int component, double roll, double p
     }
 }
 
-void HUD::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)
+void HUD_old::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)
 {
     Q_UNUSED(uas);
     Q_UNUSED(seconds);
@@ -352,18 +352,18 @@ void HUD::updateBattery(UASInterface* uas, double voltage, double percent, int s
     }
 }
 
-void HUD::receiveHeartbeat(UASInterface*)
+void HUD_old::receiveHeartbeat(UASInterface*)
 {
 }
 
-void HUD::updateThrust(UASInterface* uas, double thrust)
+void HUD_old::updateThrust(UASInterface* uas, double thrust)
 {
     Q_UNUSED(uas);
     Q_UNUSED(thrust);
 //    updateValue(uas, "thrust", thrust, MG::TIME::getGroundTimeNow());
 }
 
-void HUD::updateLocalPosition(UASInterface* uas,double x,double y,double z,quint64 timestamp)
+void HUD_old::updateLocalPosition(UASInterface* uas,double x,double y,double z,quint64 timestamp)
 {
     Q_UNUSED(uas);
     Q_UNUSED(timestamp);
@@ -372,7 +372,7 @@ void HUD::updateLocalPosition(UASInterface* uas,double x,double y,double z,quint
     this->zPos = z;
 }
 
-void HUD::updateGlobalPosition(UASInterface* uas,double lat, double lon, double altitude, quint64 timestamp)
+void HUD_old::updateGlobalPosition(UASInterface* uas,double lat, double lon, double altitude, quint64 timestamp)
 {
     Q_UNUSED(uas);
     Q_UNUSED(timestamp);
@@ -381,7 +381,7 @@ void HUD::updateGlobalPosition(UASInterface* uas,double lat, double lon, double
     this->alt = altitude;
 }
 
-void HUD::updateSpeed(UASInterface* uas,double x,double y,double z,quint64 timestamp)
+void HUD_old::updateSpeed(UASInterface* uas,double x,double y,double z,quint64 timestamp)
 {
     Q_UNUSED(uas);
     Q_UNUSED(timestamp);
@@ -397,9 +397,9 @@ void HUD::updateSpeed(UASInterface* uas,double x,double y,double z,quint64 times
  * Updates the current system state, but only if the uas matches the currently monitored uas.
  *
  * @param uas the system the state message originates from
- * @param state short state text, displayed in HUD
+ * @param state short state text, displayed in HUD_old
  */
-void HUD::updateState(UASInterface* uas,QString state)
+void HUD_old::updateState(UASInterface* uas,QString state)
 {
     // Only one UAS is connected at a time
     Q_UNUSED(uas);
@@ -410,9 +410,9 @@ void HUD::updateState(UASInterface* uas,QString state)
  * Updates the current system mode, but only if the uas matches the currently monitored uas.
  *
  * @param uas the system the state message originates from
- * @param mode short mode text, displayed in HUD
+ * @param mode short mode text, displayed in HUD_old
  */
-void HUD::updateMode(int id,QString mode, QString description)
+void HUD_old::updateMode(int id,QString mode, QString description)
 {
     // Only one UAS is connected at a time
     Q_UNUSED(id);
@@ -420,7 +420,7 @@ void HUD::updateMode(int id,QString mode, QString description)
     this->mode = mode;
 }
 
-void HUD::updateLoad(UASInterface* uas, double load)
+void HUD_old::updateLoad(UASInterface* uas, double load)
 {
     Q_UNUSED(uas);
     this->load = load;
@@ -431,7 +431,7 @@ void HUD::updateLoad(UASInterface* uas, double load)
  * @param y coordinate in pixels to be converted to reference mm units
  * @return the screen coordinate relative to the QGLWindow origin
  */
-float HUD::refToScreenX(float x)
+float HUD_old::refToScreenX(float x)
 {
     //qDebug() << "sX: " << (scalingFactor * x) << "Orig:" << x;
     return (scalingFactor * x);
@@ -440,7 +440,7 @@ float HUD::refToScreenX(float x)
  * @param x coordinate in pixels to be converted to reference mm units
  * @return the screen coordinate relative to the QGLWindow origin
  */
-float HUD::refToScreenY(float y)
+float HUD_old::refToScreenY(float y)
 {
     //qDebug() << "sY: " << (scalingFactor * y);
     return (scalingFactor * y);
@@ -451,7 +451,7 @@ float HUD::refToScreenY(float y)
  * the x and y center offsets.
  *
  */
-void HUD::paintCenterBackground(float roll, float pitch, float yaw)
+void HUD_old::paintCenterBackground(float roll, float pitch, float yaw)
 {
     Q_UNUSED(yaw);
 
@@ -459,7 +459,7 @@ void HUD::paintCenterBackground(float roll, float pitch, float yaw)
     float referenceWidth = 70.0;
     float referenceHeight = 70.0;
 
-    // HUD is assumed to be 200 x 150 mm
+    // HUD_old is assumed to be 200 x 150 mm
     // so that positions can be hardcoded
     // but can of course be scaled.
 
@@ -522,7 +522,7 @@ void HUD::paintCenterBackground(float roll, float pitch, float yaw)
  * @param refX position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels.
  * @param refY position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels.
  */
-void HUD::paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter)
+void HUD_old::paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter)
 {
     QPen prevPen = painter->pen();
     float pPositionX = refToScreenX(refX) - (fontSize*scalingFactor*0.072f);
@@ -546,7 +546,7 @@ void HUD::paintText(QString text, QColor color, float fontSize, float refX, floa
     painter->setPen(prevPen);
 }
 
-void HUD::initializeGL()
+void HUD_old::initializeGL()
 {
     bool antialiasing = true;
 
@@ -575,7 +575,7 @@ void HUD::initializeGL()
  * @param referenceWidth width in the reference mm-unit space
  * @param referenceHeight width in the reference mm-unit space
  */
-void HUD::setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight)
+void HUD_old::setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight)
 {
     int pixelWidth  = (int)(referenceWidth * scalingFactor);
     int pixelHeight = (int)(referenceHeight * scalingFactor);
@@ -601,12 +601,12 @@ void HUD::setupGLView(float referencePositionX, float referencePositionY, float
     //glScalef(scaleX, scaleY, 1.0f);
 }
 
-void HUD::paintRollPitchStrips()
+void HUD_old::paintRollPitchStrips()
 {
 }
 
 
-void HUD::paintEvent(QPaintEvent *event)
+void HUD_old::paintEvent(QPaintEvent *event)
 {
     // Event is not needed
     // the event is ignored as this widget
@@ -614,7 +614,7 @@ void HUD::paintEvent(QPaintEvent *event)
     Q_UNUSED(event);
 }
 
-void HUD::paintHUD()
+void HUD_old::paintHUD_old()
 {
     if (isVisible()) {
         //    static quint64 interval = 0;
@@ -711,7 +711,7 @@ void HUD::paintHUD()
 
         // END OF OPENGL PAINTING
 
-        if (hudInstrumentsEnabled) {
+        if (HUDInstrumentsEnabled) {
 
             //glEnable(GL_MULTISAMPLE);
 
@@ -900,7 +900,7 @@ void HUD::paintHUD()
 /**
  * @param pitch pitch angle in degrees (-180 to 180)
  */
-void HUD::paintPitchLines(float pitch, QPainter* painter)
+void HUD_old::paintPitchLines(float pitch, QPainter* painter)
 {
     QString label;
 
@@ -967,7 +967,7 @@ void HUD::paintPitchLines(float pitch, QPainter* painter)
     }
 }
 
-void HUD::paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter)
+void HUD_old::paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter)
 {
     //painter->setPen(QPen(QBrush, normalStrokeWidth));
 
@@ -996,7 +996,7 @@ void HUD::paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter
     drawLine(refPosX+pitchWidth/2.0f, refPosY, refPosX+pitchGap/2.0f, refPosY, lineWidth, defaultColor, painter);
 }
 
-void HUD::paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter)
+void HUD_old::paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter)
 {
     const float pitchWidth = 30.0f;
     const float pitchGap = pitchWidth / 2.5f;
@@ -1046,7 +1046,7 @@ void rotatePointClockWise(QPointF& p, float angle)
     p.setY((-1.0f * sin(angle) * p.x()) + cos(angle) * p.y());
 }
 
-float HUD::refLineWidthToPen(float line)
+float HUD_old::refLineWidthToPen(float line)
 {
     return line * 2.50f;
 }
@@ -1059,7 +1059,7 @@ float HUD::refLineWidthToPen(float line)
  * @param angle rotation angle, in radians
  * @return p Polygon p rotated by angle around the origin point
  */
-void HUD::rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin)
+void HUD_old::rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin)
 {
     // Standard 2x2 rotation matrix, counter-clockwise
     //
@@ -1078,7 +1078,7 @@ void HUD::rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin)
     }
 }
 
-void HUD::drawPolygon(QPolygonF refPolygon, QPainter* painter)
+void HUD_old::drawPolygon(QPolygonF refPolygon, QPainter* painter)
 {
     // Scale coordinates
     QPolygonF draw(refPolygon.size());
@@ -1091,7 +1091,7 @@ void HUD::drawPolygon(QPolygonF refPolygon, QPainter* painter)
     painter->drawPolygon(draw);
 }
 
-void HUD::drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter,bool reverse)
+void HUD_old::drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter,bool reverse)
 {
     float scaledValue = value;
 
@@ -1154,7 +1154,7 @@ void HUD::drawChangeRateStrip(float xRef, float yRef, float height, float minRat
     }
 }
 
-//void HUD::drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter)
+//void HUD_old::drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter)
 //{
 //    Q_UNUSED(maxWidth);
 //    Q_UNUSED(maxHeight);
@@ -1231,7 +1231,7 @@ void HUD::drawChangeRateStrip(float xRef, float yRef, float height, float minRat
 //    }
 //}
 
-void HUD::drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid)
+void HUD_old::drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid)
 {
     // Draw the circle
     QPen circlePen(Qt::SolidLine);
@@ -1277,7 +1277,7 @@ void HUD::drawChangeIndicatorGauge(float xRef, float yRef, float radius, float e
     drawPolygon(p, painter);
 }
 
-void HUD::drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter)
+void HUD_old::drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter)
 {
     QPen pen(Qt::SolidLine);
     pen.setWidth(refLineWidthToPen(width));
@@ -1286,7 +1286,7 @@ void HUD::drawLine(float refX1, float refY1, float refX2, float refY2, float wid
     painter->drawLine(QPoint(refToScreenX(refX1), refToScreenY(refY1)), QPoint(refToScreenX(refX2), refToScreenY(refY2)));
 }
 
-void HUD::drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter)
+void HUD_old::drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter)
 {
     Q_UNUSED(startDeg);
     Q_UNUSED(endDeg);
@@ -1297,12 +1297,12 @@ void HUD::drawEllipse(float refX, float refY, float radiusX, float radiusY, floa
     painter->drawEllipse(QPointF(refToScreenX(refX), refToScreenY(refY)), refToScreenX(radiusX), refToScreenY(radiusY));
 }
 
-void HUD::drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter)
+void HUD_old::drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter)
 {
     drawEllipse(refX, refY, radius, radius, startDeg, endDeg, lineWidth, color, painter);
 }
 
-void HUD::resizeGL(int w, int h)
+void HUD_old::resizeGL(int w, int h)
 {
     if (isVisible()) {
         glViewport(0, 0, w, h);
@@ -1312,17 +1312,17 @@ void HUD::resizeGL(int w, int h)
         glMatrixMode(GL_MODELVIEW);
         glPolygonMode(GL_FRONT, GL_FILL);
         //FIXME
-        paintHUD();
+        paintHUD_old();
     }
 }
 
-void HUD::selectWaypoint(int uasId, int id)
+void HUD_old::selectWaypoint(int uasId, int id)
 {
     Q_UNUSED(uasId);
     waypointName = tr("WP") + QString::number(id);
 }
 
-void HUD::setImageSize(int width, int height, int depth, int channels)
+void HUD_old::setImageSize(int width, int height, int depth, int channels)
 {
     // Allocate raw image in correct size
     if (width != receivedWidth || height != receivedHeight || depth != receivedDepth || channels != receivedChannels || image == NULL) {
@@ -1378,10 +1378,10 @@ void HUD::setImageSize(int width, int height, int depth, int channels)
 
 }
 
-void HUD::startImage(int imgid, int width, int height, int depth, int channels)
+void HUD_old::startImage(int imgid, int width, int height, int depth, int channels)
 {
     Q_UNUSED(imgid);
-    //qDebug() << "HUD: starting image (" << width << "x" << height << ", " << depth << "bits) with " << channels << "channels";
+    //qDebug() << "HUD_old: starting image (" << width << "x" << height << ", " << depth << "bits) with " << channels << "channels";
 
     // Copy previous image to screen if it hasn't been finished properly
     finishImage();
@@ -1391,7 +1391,7 @@ void HUD::startImage(int imgid, int width, int height, int depth, int channels)
     imageStarted = true;
 }
 
-void HUD::finishImage()
+void HUD_old::finishImage()
 {
     if (imageStarted) {
         commitRawDataToGL();
@@ -1399,7 +1399,7 @@ void HUD::finishImage()
     }
 }
 
-void HUD::commitRawDataToGL()
+void HUD_old::commitRawDataToGL()
 {
     qDebug() << __FILE__ << __LINE__ << "Copying raw data to GL buffer:" << rawImage << receivedWidth << receivedHeight << image->format();
     if (image != NULL) {
@@ -1429,19 +1429,19 @@ void HUD::commitRawDataToGL()
     update();
 }
 
-void HUD::saveImage(QString fileName)
+void HUD_old::saveImage(QString fileName)
 {
     image->save(fileName);
 }
 
-void HUD::saveImage()
+void HUD_old::saveImage()
 {
     //Bring up popup
     QString fileName = "output.png";
     saveImage(fileName);
 }
 
-void HUD::startImage(quint64 timestamp)
+void HUD_old::startImage(quint64 timestamp)
 {
     if (videoEnabled && offlineDirectory != "") {
         // Load and diplay image file
@@ -1449,7 +1449,7 @@ void HUD::startImage(quint64 timestamp)
     }
 }
 
-void HUD::selectOfflineDirectory()
+void HUD_old::selectOfflineDirectory()
 {
     QString fileName = QFileDialog::getExistingDirectory(this, tr("Select image directory"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation));
     if (fileName != "") {
@@ -1457,17 +1457,17 @@ void HUD::selectOfflineDirectory()
     }
 }
 
-void HUD::enableHUDInstruments(bool enabled)
+void HUD_old::enableHUD_oldInstruments(bool enabled)
 {
-    hudInstrumentsEnabled = enabled;
+    HUDInstrumentsEnabled = enabled;
 }
 
-void HUD::enableVideo(bool enabled)
+void HUD_old::enableVideo(bool enabled)
 {
     videoEnabled = enabled;
 }
 
-void HUD::setPixels(int imgid, const unsigned char* imageData, int length, int startIndex)
+void HUD_old::setPixels(int imgid, const unsigned char* imageData, int length, int startIndex)
 {
     Q_UNUSED(imgid);
     //    qDebug() << "at" << __FILE__ << __LINE__ << ": Received startindex" << startIndex << "and length" << length << "(" << startIndex+length << "of" << rawExpectedBytes << "bytes)";
@@ -1478,7 +1478,7 @@ void HUD::setPixels(int imgid, const unsigned char* imageData, int length, int s
 
         if (startIndex+length > rawExpectedBytes)
         {
-            qDebug() << "HUD: OVERFLOW! startIndex:" << startIndex << "length:" << length << "image raw size" << ((receivedWidth * receivedHeight * receivedChannels * receivedDepth) / 8) - 1;
+            qDebug() << "HUD_old: OVERFLOW! startIndex:" << startIndex << "length:" << length << "image raw size" << ((receivedWidth * receivedHeight * receivedChannels * receivedDepth) / 8) - 1;
         }
         else
         {
@@ -1489,7 +1489,7 @@ void HUD::setPixels(int imgid, const unsigned char* imageData, int length, int s
             // Check if we just reached the end of the image
             if (startIndex+length == rawExpectedBytes)
             {
-                //qDebug() << "HUD: END OF IMAGE REACHED!";
+                //qDebug() << "HUD_old: END OF IMAGE REACHED!";
                 finishImage();
                 rawLastIndex = 0;
             }
@@ -1507,11 +1507,11 @@ void HUD::setPixels(int imgid, const unsigned char* imageData, int length, int s
     }
 }
 
-void HUD::copyImage()
+void HUD_old::copyImage()
 {
-    if (isVisible() && hudInstrumentsEnabled)
+    if (isVisible() && HUDInstrumentsEnabled)
     {
-        //qDebug() << "HUD::copyImage()";
+        //qDebug() << "HUD_old::copyImage()";
         UAS* u = dynamic_cast<UAS*>(this->uas);
         if (u)
         {
@@ -1527,7 +1527,7 @@ void HUD::copyImage()
     }
 }
 
-void HUD::saveImages(bool save)
+void HUD_old::saveImages(bool save)
 {
     if (save)
     {

src/ui/HUD.h

@@ -29,8 +29,8 @@ This file is part of the QGROUNDCONTROL project
  *
  */
 
-#ifndef HUD_H
-#define HUD_H
+#ifndef HUD_old_H
+#define HUD_old_H
 
 #include <QImage>
 #include <QGLWidget>
@@ -41,18 +41,18 @@ This file is part of the QGROUNDCONTROL project
 #include "UASInterface.h"
 
 /**
- * @brief Displays a Head Up Display (HUD)
+ * @brief Displays a Head Up Display (HUD_old)
  *
- * This class represents a head up display (HUD) and draws this HUD in an OpenGL widget (QGLWidget).
- * It can superimpose the HUD over the current live image stream (any arriving image stream will be auto-
+ * This class represents a head up display (HUD_old) and draws this HUD_old in an OpenGL widget (QGLWidget).
+ * It can superimpose the HUD_old over the current live image stream (any arriving image stream will be auto-
  * matically used as background), or it draws the classic blue-brown background known from instruments.
  */
-class HUD : public QGLWidget
+class HUD_old : public QGLWidget
 {
     Q_OBJECT
 public:
-    HUD(int width = 640, int height = 480, QWidget* parent = NULL);
-    ~HUD();
+    HUD_old(int width = 640, int height = 480, QWidget* parent = NULL);
+    ~HUD_old();
 
     void setImageSize(int width, int height, int depth, int channels);
     void resizeGL(int w, int h);
@@ -90,7 +90,7 @@ public slots:
     /** @brief Select directory where to load the offline files from */
     void selectOfflineDirectory();
     /** @brief Enable the HUD instruments */
-    void enableHUDInstruments(bool enabled);
+    void enableHUD_oldInstruments(bool enabled);
     /** @brief Enable Video */
     void enableVideo(bool enabled);
     /** @brief Copy an image from the current active UAS */
@@ -103,9 +103,9 @@ protected slots:
     void paintPitchLines(float pitch, QPainter* painter);
     /** @brief Paint text on top of the image and OpenGL drawings */
     void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
-    /** @brief Setup the OpenGL view for drawing a sub-component of the HUD */
+    /** @brief Setup the OpenGL view for drawing a sub-component of the HUD_old */
     void setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight);
-    void paintHUD();
+    void paintHUD_old();
     void paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter);
     void paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter);
 
@@ -156,8 +156,8 @@ protected:
     float vGaugeSpacing; ///< Virtual spacing of the gauges from the center, 50 mm per default
     float vPitchPerDeg; ///< Virtual pitch to mm conversion. Currently one degree is 3 mm up/down in the pitch markings
 
-    int xCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
-    int yCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
+    int xCenter; ///< Center of the HUD_old instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
+    int yCenter; ///< Center of the HUD_old instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
 
     // Image buffers
     unsigned char* rawBuffer1; ///< Double buffer 1 for the image
@@ -172,8 +172,8 @@ protected:
     int receivedWidth;         ///< Width in pixels of the current image
     int receivedHeight;        ///< Height in pixels of the current image
 
-    // HUD colors
-    QColor defaultColor;       ///< Color for most HUD elements, e.g. pitch lines, center cross, change rate gauges
+    // HUD_old colors
+    QColor defaultColor;       ///< Color for most HUD_old elements, e.g. pitch lines, center cross, change rate gauges
     QColor setPointColor;      ///< Color for the current control set point, e.g. yaw desired
     QColor warningColor;       ///< Color for warning messages
     QColor criticalColor;      ///< Color for caution messages
@@ -184,17 +184,17 @@ protected:
     int warningBlinkRate;      ///< Blink rate of warning messages, will be rounded to the refresh rate
 
     QTimer* refreshTimer;      ///< The main timer, controls the update rate
-    QPainter* hudPainter;
-    QFont font;                ///< The HUD font, per default the free Bitstream Vera SANS, which is very close to actual HUD fonts
-    QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD font is directly loaded from file rather than from the system)
+    QPainter* HUD_oldPainter;
+    QFont font;                ///< The HUD_old font, per default the free Bitstream Vera SANS, which is very close to actual HUD_old fonts
+    QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD_old font is directly loaded from file rather than from the system)
     bool noCamera;             ///< No camera images available, draw the ground/sky box to indicate the horizon
     bool hardwareAcceleration; ///< Enable hardware acceleration
 
-    float strongStrokeWidth;   ///< Strong line stroke width, used throughout the HUD
-    float normalStrokeWidth;   ///< Normal line stroke width, used throughout the HUD
-    float fineStrokeWidth;     ///< Fine line stroke width, used throughout the HUD
+    float strongStrokeWidth;   ///< Strong line stroke width, used throughout the HUD_old
+    float normalStrokeWidth;   ///< Normal line stroke width, used throughout the HUD_old
+    float fineStrokeWidth;     ///< Fine line stroke width, used throughout the HUD_old
 
-    QString waypointName;      ///< Waypoint name displayed in HUD
+    QString waypointName;      ///< Waypoint name displayed in HUD_old
     float roll;
     float pitch;
     float yaw;
@@ -218,7 +218,7 @@ protected:
     float load;
     QString offlineDirectory;
     QString nextOfflineImage;
-    bool hudInstrumentsEnabled;
+    bool HUDInstrumentsEnabled;
     bool videoEnabled;
     bool dataStreamEnabled;
     bool imageLoggingEnabled;
@@ -235,4 +235,4 @@ protected:
     unsigned int imageLogCounter;
 };
 
-#endif // HUD_H
+#endif // HUD_old_H

src/ui/MainWindow.cc

@@ -59,6 +59,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCFirmwareUpdate.h"
 #include "QGCStatusBar.h"
 #include "UASQuickView.h"
+#include "PrimaryFlightDisplay.h"
 
 #ifdef QGC_OSG_ENABLED
 #include "Q3DWidgetFactory.h"
@@ -566,11 +567,14 @@ void MainWindow::buildCommonWidgets()
     connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
     }
 
-
-    createDockWidget(simView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
+    // createDockWidget(simView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
+    createDockWidget(simView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
 
     createDockWidget(pilotView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);
-    createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
+
+    //createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
+    createDockWidget(pilotView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
+
     createDockWidget(pilotView,new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
     createDockWidget(pilotView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
     pilotView->setTabPosition(Qt::LeftDockWidgetArea,QTabWidget::North);
@@ -780,9 +784,10 @@ void MainWindow::loadDockWidget(QString name)
         qDebug() << "Error loading window:" << name << "Unknown window type";
         //createDockWidget(centerStack->currentWidget(),hddisplay,tr("Actuator Status"),"HEADS_DOWN_DISPLAY_2_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
-    else if (name == "HEAD_UP_DISPLAY_DOCKWIDGET")
+    else if (name == "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET")
     {
-        createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
+        // createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Head Up Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
+        createDockWidget(centerStack->currentWidget(),new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
     else if (name == "UAS_INFO_QUICKVIEW_DOCKWIDGET")
     {

src/ui/PrimaryFlightDisplay.h

@@ -0,0 +1,217 @@
+#ifndef PRIMARYFLIGHTDISPLAY_H
+#define PRIMARYFLIGHTDISPLAY_H
+
+#include <QWidget>
+#include <QPen>
+#include "UASInterface.h"
+
+#define SEPARATE_LAYOUT
+#define LINEWIDTH 0.007
+
+// all in units of display height
+#define ROLL_SCALE_RADIUS 0.42
+#define ROLL_SCALE_TICKMARKLENGTH 0.04
+#define ROLL_SCALE_MARKERWIDTH 0.06
+#define ROLL_SCALE_MARKERHEIGHT 0.04
+// scale max. degrees
+#define ROLL_SCALE_RANGE 60
+
+// fraction of height to translate for each degree of pitch.
+#define PITCHTRANSLATION 65.0
+// 10 degrees for each line
+#define PITCH_SCALE_RESOLUTION 5
+#define PITCH_SCALE_MAJORLENGTH 0.08
+#define PITCH_SCALE_MINORLENGTH 0.04
+#define PITCH_SCALE_HALFRANGE 20
+
+//#define USE_TAPE_COMPASS
+//#define USE_DISK_COMPASS
+#define USE_DISK2_COMPASS
+
+// We want no numbers on the scale, just principal winds or half-winds and ticks.
+// With whole winds there are 45 deg per wind, with half-winds 22.5
+#define COMPASS_TAPE_RESOLUTION 15
+// number of degrees side to side
+#define COMPASS_TAPE_SPAN 120
+
+// The number of degrees to either side of the heading to draw the compass disk.
+// 180 is valid, this will draw a complete disk. If the disk is partly clipped
+// away, less will do.
+#define COMPASS_DISK_SPAN 180
+#define COMPASS_DISK_RESOLUTION 15
+#define COMPASS_DISK_MARKERWIDTH 0.2
+#define COMPASS_DISK_MARKERHEIGHT 0.133
+
+#define COMPASS_DISK2_SPAN 180
+#define COMPASS_DISK2_RESOLUTION 5
+#define COMPASS_DISK2_MAJORTICK 10
+#define COMPASS_DISK2_ARROWTICK 45
+#define COMPASS_DISK2_MAJORLINEWIDTH 0.006
+#define COMPASS_DISK2_MINORLINEWIDTH 0.004
+#define COMPASS_SCALE_TEXT_SIZE 0.03
+
+// The altitude difference between top and bottom of scale
+#define ALTIMETER_LINEAR_SPAN 35
+// every 5 meters there is a tick mark
+#define ALTIMETER_LINEAR_RESOLUTION 5
+// every 10 meters there is a number
+#define ALTIMETER_LINEAR_MAJOR_RESOLUTION 10
+// min. and max. vertical velocity
+
+// The altitude difference between top and bottom of scale
+#define ALTIMETER_PROJECTED_SPAN 50
+// every 5 meters there is a tick mark
+#define ALTIMETER_PROJECTED_RESOLUTION 5
+// every 10 meters there is a number
+#define ALTIMETER_PROJECTED_MAJOR_RESOLUTION 10
+// min. and max. vertical velocity
+
+//#define ALTIMETER_PROJECTED
+
+#define ALTIMETER_VVI_SPAN 10
+#define ALTIMETER_VVI_LOGARITHMIC true
+
+#define SHOW_ZERO_ON_SCALES true
+#define SCALE_TEXT_SIZE 0.042
+#define SMALL_TEXT_SIZE 0.035
+
+#define UNKNOWN_BATTERY -1
+
+class PrimaryFlightDisplay : public QWidget
+{
+    Q_OBJECT
+public:
+    PrimaryFlightDisplay(int width = 640, int height = 480, QWidget* parent = NULL);
+    ~PrimaryFlightDisplay();
+
+    /** @brief Attitude from main autopilot / system state */
+    void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
+    /** @brief Attitude from one specific component / redundant autopilot */
+    void updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
+//    void updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
+    void updateBattery(UASInterface*, double, double, int);
+    void receiveHeartbeat(UASInterface*);
+    void updateThrust(UASInterface*, double);
+    void updateLocalPosition(UASInterface*,double,double,double,quint64);
+    void updateGlobalPosition(UASInterface*,double,double,double,quint64);
+    void updateSpeed(UASInterface*,double,double,double,quint64);
+    void updateState(UASInterface*,QString);
+    void updateMode(int id,QString mode, QString description);
+    void updateLoad(UASInterface*, double);
+    void selectWaypoint(int uasId, int id);
+
+    void paintEvent(QPaintEvent *event);
+    void resizeEvent(QResizeEvent *e);
+
+    // from HUD.h:
+
+    /** @brief Preferred Size */
+    QSize sizeHint() const;
+    /** @brief Start updating widget */
+    void showEvent(QShowEvent* event);
+    /** @brief Stop updating widget */
+    void hideEvent(QHideEvent* event);
+
+    // dongfang: We have no context menu. Viewonly.
+    // void contextMenuEvent (QContextMenuEvent* event);
+
+    // dongfang: What is that?
+    void createActions();
+
+    static const int updateInterval = 40;
+
+public slots:
+    /** @brief Set the currently monitored UAS */
+    virtual void setActiveUAS(UASInterface* uas);
+
+protected slots:
+    void paintOnTimer();
+
+signals:
+    void visibilityChanged(bool visible);
+
+private:
+    //void prepareTransform(QPainter& painter, qreal width, qreal height);
+    //void transformToGlobalSystem(QPainter& painter, qreal width, qreal height, float roll, float pitch);
+
+    void drawTextCenter(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawTextLeftCenter(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawTextRightCenter(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawTextCenterBottom(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawTextCenterTop(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawAIGlobalFeatures(QPainter& painter, QRectF area);
+    void drawAIAirframeFixedFeatures(QPainter& painter, QRectF area);
+    void drawPitchScale(QPainter& painter, QRectF area, bool drawNumbersLeft, bool drawNumbersRight);
+    void drawRollScale(QPainter& painter, QRectF area, bool drawTicks, bool drawNumbers);
+    void drawAIAttitudeScales(QPainter& painter, QRectF area);
+#if defined(USE_DISK_COMPASS) || defined(USE_DISK2_COMPASS)
+    void drawCompassDisk(QPainter& painter, QRectF area);
+#else
+    void drawCompassTape(QPainter& painter, QRectF area, float yaw);
+#endif
+    void drawAltimeter(QPainter& painter, QRectF area, float altitude, float maxAltitude, float vv);
+
+    void fillInstrumentBackground(QPainter& painter, QRectF edge);
+    void drawInstrumentBackground(QPainter& painter, QRectF edge);
+
+    void drawLinkStatsPanel(QPainter& painter, QRectF area);
+    void drawSysStatsPanel(QPainter& painter, QRectF area);
+    void drawMissionStatsPanel(QPainter& painter, QRectF area);
+    void drawSensorsStatsPanel(QPainter& painter, QRectF area);
+
+    void makeDummyData();
+    void doPaint();
+    void paintAllInOne();
+    void paintSeparate();
+
+    float roll;
+    float pitch;
+    float heading;
+
+    // APM: GPS and baro mix. From the GLOBAL_POSITION_INT or VFR_HUD messages.
+    float aboveASLAltitude;
+    float GPSAltitude;
+
+    // APM: GPS and baro mix above home (GPS) altitude. This value comes from the GLOBAL_POSITION_INT message.
+    // Do !!!NOT!!! ever do altitude calculations at the ground station. There are enough pitfalls already.
+    // The MP "set home altitude" button will not be repeated here if it did that.
+    float aboveHomeAltitude;
+
+    float groundSpeed;
+    float airSpeed;
+
+    QString mode;
+    QString state;
+
+    float load;
+
+    QPen whitePen;
+    QPen redPen;
+    QPen amberPen;
+    QPen greenPen;
+    QPen blackPen;
+
+    QPen instrumentEdgePen;
+    QBrush instrumentBackground;
+    QBrush HUDInstrumentBackground;
+
+    QFont font;
+
+    QTimer* refreshTimer;       ///< The main timer, controls the update rate
+
+    UASInterface* uas;          ///< The uas currently monitored
+
+    //QString energyStatus; ///< Current fuel level / battery voltage
+    double batteryVoltage;
+    double batteryCharge;
+
+    static const int tickValues[];
+    static const QString compassWindNames[];
+
+signals:
+    
+public slots:
+    
+};
+
+#endif // PRIMARYFLIGHTDISPLAY_H

src/ui/QGCRGBDView.cc

@@ -6,7 +6,7 @@
 #include "UASManager.h"
 
 QGCRGBDView::QGCRGBDView(int width, int height, QWidget *parent) :
-    HUD(width, height, parent),
+    HUD_old(width, height, parent),
     rgbEnabled(false),
     depthEnabled(false)
 {
@@ -70,7 +70,7 @@ void QGCRGBDView::setActiveUAS(UASInterface* uas)
         connect(uas, SIGNAL(rgbdImageChanged(UASInterface*)), this, SLOT(updateData(UASInterface*)));
     }
 
-    HUD::setActiveUAS(uas);
+    HUD_old::setActiveUAS(uas);
 }
 
 void QGCRGBDView::clearData(void)
@@ -85,7 +85,7 @@ void QGCRGBDView::contextMenuEvent(QContextMenuEvent* event)
 {
     QMenu menu(this);
     // Update actions
-    enableHUDAction->setChecked(hudInstrumentsEnabled);
+    enableHUDAction->setChecked(HUDInstrumentsEnabled);
     //enableVideoAction->setChecked(videoEnabled);
     enableRGBAction->setChecked(rgbEnabled);
     enableDepthAction->setChecked(depthEnabled);

src/ui/QGCRGBDView.h

@@ -3,7 +3,7 @@
 
 #include "HUD.h"
 
-class QGCRGBDView : public HUD
+class QGCRGBDView : public HUD_old
 {
     Q_OBJECT
 public: