Merge branch 'master' of github.com:mavlink/qgroundcontrol

src/uas/UAS.cc

@@ -109,6 +109,8 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
     latitude(0.0),
     longitude(0.0),
     altitudeAMSL(0.0),
+    altitudeAMSLFT(0.0),
+    altitudeWGS84(0.0),
     altitudeRelative(0.0),
 
     globalEstimatorActive(false),
@@ -820,7 +822,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             if (!isnan(hud.airspeed))
                 setAirSpeed(hud.airspeed);
             speedZ = -hud.climb;
-            emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
+            emit altitudeChanged(this, altitudeAMSL, altitudeWGS84, altitudeRelative, -speedZ, time);
             emit speedChanged(this, groundSpeed, airSpeed, time);
         }
             break;
@@ -879,7 +881,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             setLatitude(pos.lat/(double)1E7);
             setLongitude(pos.lon/(double)1E7);
-            setAltitudeAMSL(pos.alt/1000.0);
+            setAltitudeWGS84(pos.alt/1000.0);
             setAltitudeRelative(pos.relative_alt/1000.0);
 
             globalEstimatorActive = true;
@@ -888,8 +890,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             speedY = pos.vy/100.0;
             speedZ = pos.vz/100.0;
 
-            emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
-            emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
+            emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), getAltitudeWGS84(), time);
+            emit altitudeChanged(this, altitudeAMSL, altitudeWGS84, altitudeRelative, -speedZ, time);
             // We had some frame mess here, global and local axes were mixed.
             emit velocityChanged_NED(this, speedX, speedY, speedZ, time);
 
@@ -938,9 +940,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 if (!globalEstimatorActive) {
                     setLatitude(latitude_gps);
                     setLongitude(longitude_gps);
-                    setAltitudeAMSL(altitude_gps);
-                    emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
-                    emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
+                    setAltitudeWGS84(altitude_gps);
+                    emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), getAltitudeWGS84(), time);
+                    emit altitudeChanged(this, altitudeAMSL, altitudeWGS84, altitudeRelative, -speedZ, time);
 
                     float vel = pos.vel/100.0f;
                     // Smaller than threshold and not NaN

src/uas/UAS.h

@@ -110,6 +110,8 @@ public:
     Q_PROPERTY(double groundSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY groundSpeedChanged)
     Q_PROPERTY(double bearingToWaypoint READ getBearingToWaypoint WRITE setBearingToWaypoint NOTIFY bearingToWaypointChanged)
     Q_PROPERTY(double altitudeAMSL READ getAltitudeAMSL WRITE setAltitudeAMSL NOTIFY altitudeAMSLChanged)
+    Q_PROPERTY(double altitudeAMSLFT READ getAltitudeAMSLFT NOTIFY altitudeAMSLFTChanged)
+    Q_PROPERTY(double altitudeWGS84 READ getAltitudeWGS84 WRITE setAltitudeWGS84 NOTIFY altitudeWGS84Changed)
     Q_PROPERTY(double altitudeRelative READ getAltitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged)
 
     void setGroundSpeed(double val)
@@ -197,7 +199,10 @@ public:
     {
         altitudeAMSL = val;
         emit altitudeAMSLChanged(val, "altitudeAMSL");
-        emit valueChanged(this->uasId,"altitudeAMSL","m",QVariant(val),getUnixTime());
+        emit valueChanged(this->uasId,"altitudeAMSL","m",QVariant(altitudeAMSL),getUnixTime());
+        altitudeAMSLFT = 3.28084 * altitudeAMSL;
+        emit altitudeAMSLFTChanged(val, "altitudeAMSLFT");
+        emit valueChanged(this->uasId,"altitudeAMSLFT","m",QVariant(altitudeAMSLFT),getUnixTime());
     }
 
     double getAltitudeAMSL() const
@@ -205,6 +210,24 @@ public:
         return altitudeAMSL;
     }
 
+    double getAltitudeAMSLFT() const
+    {
+        return altitudeAMSLFT;
+    }
+
+    void setAltitudeWGS84(double val)
+    {
+        altitudeWGS84 = val;
+        emit altitudeWGS84Changed(val, "altitudeWGS84");
+        emit valueChanged(this->uasId,"altitudeWGS84","m",QVariant(val),getUnixTime());
+    }
+
+    double getAltitudeWGS84() const
+    {
+        return altitudeWGS84;
+    }
+
+
     void setAltitudeRelative(double val)
     {
         altitudeRelative = val;
@@ -453,7 +476,9 @@ protected: //COMMENTS FOR TEST UNIT
 
     double latitude;            ///< Global latitude as estimated by position estimator
     double longitude;           ///< Global longitude as estimated by position estimator
-    double altitudeAMSL;        ///< Global altitude as estimated by position estimator
+    double altitudeAMSL;        ///< Global altitude as estimated by position estimator, AMSL
+    double altitudeAMSLFT;        ///< Global altitude as estimated by position estimator, AMSL
+    double altitudeWGS84;        ///< Global altitude as estimated by position estimator, WGS84
     double altitudeRelative;    ///< Altitude above home as estimated by position estimator
 
     double satelliteCount;      ///< Number of satellites visible to raw GPS
@@ -963,6 +988,8 @@ signals:
     void longitudeChanged(double val,QString name);
     void latitudeChanged(double val,QString name);
     void altitudeAMSLChanged(double val,QString name);
+    void altitudeAMSLFTChanged(double val,QString name);
+    void altitudeWGS84Changed(double val,QString name);
     void altitudeRelativeChanged(double val,QString name);
     void rollChanged(double val,QString name);
     void pitchChanged(double val,QString name);

src/uas/UASInterface.h

@@ -525,8 +525,8 @@ signals:
     void userPositionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired);
     void localPositionChanged(UASInterface*, double x, double y, double z, quint64 usec);
     void localPositionChanged(UASInterface*, int component, double x, double y, double z, quint64 usec);
-    void globalPositionChanged(UASInterface*, double lat, double lon, double alt, quint64 usec);
-    void altitudeChanged(UASInterface*, double altitudeAMSL, double altitudeRelative, double climbRate, quint64 usec);
+    void globalPositionChanged(UASInterface*, double lat, double lon, double altAMSL, double altWGS84, quint64 usec);
+    void altitudeChanged(UASInterface*, double altitudeAMSL, double altitudeWGS84, double altitudeRelative, double climbRate, quint64 usec);
     /** @brief Update the status of one satellite used for localization */
     void gpsSatelliteStatusChanged(int uasid, int satid, float azimuth, float direction, float snr, bool used);
 

src/uas/UASWaypointManager.cc

@@ -55,7 +55,7 @@ UASWaypointManager::UASWaypointManager(UAS* _uas)
         uasid = uas->getUASID();
         connect(&protocol_timer, SIGNAL(timeout()), this, SLOT(timeout()));
         connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(handleLocalPositionChanged(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(handleGlobalPositionChanged(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(handleGlobalPositionChanged(UASInterface*,double,double,double,double,double,quint64)));
     }
     else
     {
@@ -119,11 +119,12 @@ void UASWaypointManager::handleLocalPositionChanged(UASInterface* mav, double x,
     }
 }
 
-void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double alt, quint64 time)
+void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double altAMSL, double altWGS84, quint64 time)
 {
     Q_UNUSED(mav);
     Q_UNUSED(time);
-	Q_UNUSED(alt);
+    Q_UNUSED(altAMSL);
+    Q_UNUSED(altWGS84);
 	Q_UNUSED(lon);
 	Q_UNUSED(lat);
     if (waypointsEditable.count() > 0 && currentWaypointEditable && (currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL || currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT))

src/uas/UASWaypointManager.h

@@ -145,7 +145,7 @@ public slots:
     void notifyOfChangeViewOnly(Waypoint* wp);             ///< Notifies manager to changes to a viewonly waypoint, e.g. some widget wants to change "current"
     /*@}*/
     void handleLocalPositionChanged(UASInterface* mav, double x, double y, double z, quint64 time);
-    void handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double alt, quint64 time);
+    void handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double altAMSL, double altWGS84, quint64 time);
 
 signals:
     void waypointEditableListChanged(void);                 ///< emits signal that the list of editable waypoints has been changed

src/uas/senseSoarMAV.cpp

@@ -115,7 +115,7 @@ void senseSoarMAV::receiveMessage(LinkInterface *link, mavlink_message_t message
 				emit valueChanged(uasId, "latitude", "deg", this->latitude, time);
                 emit valueChanged(uasId, "longitude", "deg", this->longitude, time);
                 emit valueChanged(uasId, "altitude", "m", this->altitude, time);
-				emit globalPositionChanged(this, this->latitude, this->longitude, this->altitude, time);
+                emit globalPositionChanged(this, this->latitude, this->longitude, this->altitude, this->altitude, time);
 				break;
 			}
 		case MAVLINK_MSG_ID_OBS_QFF:

src/ui/HSIDisplay.cc

@@ -920,7 +920,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
     if (this->uas != NULL) {
         disconnect(this->uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
         disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
-        disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+        disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,double,quint64)));
         disconnect(this->uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,float,float,float,float,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,float,float,float,float,quint64)));
         disconnect(this->uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
         disconnect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)), this, SLOT(updateUserPositionSetpoints(int,float,float,float,float)));
@@ -955,8 +955,8 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
                 this, SLOT(updateSatellite(int,int,float,float,float,bool)));
         connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)),
                 this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)),
-                this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)),
+                this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,double,quint64)));
         connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,float,float,float,float,quint64)),
                 this, SLOT(updateAttitudeSetpoints(UASInterface*,float,float,float,float,quint64)));
         connect(uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)),
@@ -1161,11 +1161,12 @@ void HSIDisplay::updateLocalPosition(UASInterface*, double x, double y, double z
     localAvailable = usec;
 }
 
-void HSIDisplay::updateGlobalPosition(UASInterface*, double lat, double lon, double alt, quint64 usec)
+void HSIDisplay::updateGlobalPosition(UASInterface*, double lat, double lon, double altAMSL, double altWGS84, quint64 usec)
 {
+    Q_UNUSED(altAMSL);
     this->lat = lat;
     this->lon = lon;
-    this->alt = alt;
+    this->alt = altWGS84;
     globalAvailable = usec;
 }
 

src/ui/HSIDisplay.h

@@ -60,7 +60,7 @@ public slots:
     void updateUserPositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired);
     void updatePositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
     void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
-    void updateGlobalPosition(UASInterface*, double lat, double lon, double alt, quint64 usec);
+    void updateGlobalPosition(UASInterface*, double lat, double lon, double altAMSL, double altWGS84, quint64 usec);
     void updateSpeed(UASInterface* uas, double vx, double vy, double vz, quint64 time);
     void updatePositionLock(UASInterface* uas, bool lock);
     void updateAttitudeControllerEnabled(bool enabled);

src/ui/HUD.cc

@@ -285,7 +285,7 @@ void HUD::setActiveUAS(UASInterface* uas)
         disconnect(this->uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
 
         disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
-        disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+        disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,double,quint64)));
         disconnect(this->uas, SIGNAL(velocityChanged_NEDspeedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
         disconnect(this->uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
 
@@ -307,7 +307,7 @@ void HUD::setActiveUAS(UASInterface* uas)
         connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
 
         connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,double,quint64)));
         connect(uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
         connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
 
@@ -387,13 +387,14 @@ 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::updateGlobalPosition(UASInterface* uas,double lat, double lon, double altitudeAMSL, double altitudeWGS84, quint64 timestamp)
 {
     Q_UNUSED(uas);
+    Q_UNUSED(altitudeAMSL);
     Q_UNUSED(timestamp);
     this->lat = lat;
     this->lon = lon;
-    this->alt = altitude;
+    this->alt = altitudeWGS84;
 }
 
 void HUD::updateSpeed(UASInterface* uas,double x,double y,double z,quint64 timestamp)

src/ui/HUD.h

@@ -74,7 +74,7 @@ public slots:
     void receiveHeartbeat(UASInterface*);
     void updateThrust(UASInterface*, double);
     void updateLocalPosition(UASInterface*,double,double,double,quint64);
-    void updateGlobalPosition(UASInterface*,double,double,double,quint64);
+    void updateGlobalPosition(UASInterface*,double,double,double,double,quint64);
     void updateSpeed(UASInterface*,double,double,double,quint64);
     void updateState(UASInterface*,QString);
     void updateMode(int id,QString mode, QString description);

src/ui/PrimaryFlightDisplay.cc

@@ -218,7 +218,7 @@ void PrimaryFlightDisplay::forgetUAS(UASInterface* uas)
         disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
         disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
         disconnect(this->uas, SIGNAL(speedChanged(UASInterface*, double, double, quint64)), this, SLOT(updateSpeed(UASInterface*, double, double, quint64)));
-        disconnect(this->uas, SIGNAL(altitudeChanged(UASInterface*, double, double, double, quint64)), this, SLOT(updateAltitude(UASInterface*, double, double, double, quint64)));
+        disconnect(this->uas, SIGNAL(altitudeChanged(UASInterface*, double, double, double, double, quint64)), this, SLOT(updateAltitude(UASInterface*, double, double, double, quint64)));
         disconnect(this->uas, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)), this, SLOT(updateNavigationControllerErrors(UASInterface*, double, double, double)));
     }
 }
@@ -241,7 +241,7 @@ void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas)
         connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
         connect(uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
         connect(uas, SIGNAL(speedChanged(UASInterface*, double, double, quint64)), this, SLOT(updateSpeed(UASInterface*, double, double, quint64)));
-        connect(uas, SIGNAL(altitudeChanged(UASInterface*, double, double, double, quint64)), this, SLOT(updateAltitude(UASInterface*, double, double, double, quint64)));
+        connect(uas, SIGNAL(altitudeChanged(UASInterface*, double, double, double, double, quint64)), this, SLOT(updateAltitude(UASInterface*, double, double, double, double, quint64)));
         connect(uas, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)), this, SLOT(updateNavigationControllerErrors(UASInterface*, double, double, double)));
 
         // Set new UAS
@@ -319,14 +319,19 @@ void PrimaryFlightDisplay::updateSpeed(UASInterface* uas, double _groundSpeed, d
     airSpeed = _airSpeed;
 }
 
-void PrimaryFlightDisplay::updateAltitude(UASInterface* uas, double _altitudeAMSL, double _altitudeRelative, double _climbRate, quint64 timestamp) {
+void PrimaryFlightDisplay::updateAltitude(UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp) {
     Q_UNUSED(uas);
     Q_UNUSED(timestamp);
+    Q_UNUSED(_altitudeWGS84)
 
     if (fabsf(altitudeAMSL - _altitudeAMSL) > 0.5f) {
         _valuesChanged = true;
     }
 
+    if (fabsf(altitudeWGS84 - _altitudeWGS84) > 0.5f) {
+        _valuesChanged = true;
+    }
+
     if (fabsf(altitudeRelative - _altitudeRelative) > 0.5f) {
         _valuesChanged = true;
     }
@@ -336,6 +341,7 @@ void PrimaryFlightDisplay::updateAltitude(UASInterface* uas, double _altitudeAMS
     }
 
     altitudeAMSL = _altitudeAMSL;
+    altitudeWGS84 = _altitudeWGS84;
     altitudeRelative = _altitudeRelative;
     climbRate = _climbRate;
 }
@@ -892,7 +898,7 @@ void PrimaryFlightDisplay::drawAltimeter(
         QRectF area
     ) {
 
-    float primaryAltitude = altitudeAMSL;
+    float primaryAltitude = altitudeWGS84;
     float secondaryAltitude = 0;
 
     painter.resetTransform();

src/ui/PrimaryFlightDisplay.h

@@ -19,7 +19,7 @@ public slots:
     void updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
 
     void updateSpeed(UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp);
-    void updateAltitude(UASInterface* uas, double _altitudeAMSL, double _altitudeRelative, double _climbRate, quint64 timestamp);
+    void updateAltitude(UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp);
     void updateNavigationControllerErrors(UASInterface* uas, double altitudeError, double speedError, double xtrackError);
 
     /** @brief Set the currently monitored UAS */
@@ -104,6 +104,7 @@ private:
     float heading;
 
     float altitudeAMSL;
+    float altitudeWGS84;
     float altitudeRelative;
 
     // APM: GPS and baro mix above home (GPS) altitude. This value comes from the GLOBAL_POSITION_INT message.

src/ui/QGCToolBar.cc

@@ -51,13 +51,14 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
     // Do not load UI, wait for actions
 }
 
-void QGCToolBar::globalPositionChanged(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
+void QGCToolBar::globalPositionChanged(UASInterface* uas, double lat, double lon, double altAMSL, double altWGS84, quint64 usec)
 {
     Q_UNUSED(uas);
     Q_UNUSED(lat);
     Q_UNUSED(lon);
+    Q_UNUSED(altWGS84);
     Q_UNUSED(usec);
-    altitudeMSL = alt;
+    altitudeMSL = altAMSL;
     changed = true;
 }
 
@@ -370,7 +371,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
         disconnect(mav, SIGNAL(batteryChanged(UASInterface*, double, double, double,int)), this, SLOT(updateBatteryRemaining(UASInterface*, double, double, double, int)));
         disconnect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
         disconnect(mav, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
-        disconnect(active, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,quint64)));
+        disconnect(active, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,double,quint64)));
         if (mav->getWaypointManager())
         {
             disconnect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
@@ -395,7 +396,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
         connect(mav, SIGNAL(batteryChanged(UASInterface*,double,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,double,int)));
         connect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
         connect(mav, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
-        connect(mav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,quint64)));
+        connect(mav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,double,quint64)));
         if (mav->getWaypointManager())
         {
             connect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));

src/ui/QGCToolBar.h

@@ -78,7 +78,7 @@ public slots:
     /** @brief Update connection timeout time */
     void heartbeatTimeout(bool timeout, unsigned int ms);
     /** @brief Update global position */
-    void globalPositionChanged(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
+    void globalPositionChanged(UASInterface* uas, double lat, double lon, double altAMSL, double altWGS84, quint64 usec);
     /** @brief Create or connect link */
     void connectLink(bool connect);
     /** @brief Clear status string */

src/ui/map/QGCMapWidget.cc

@@ -353,7 +353,7 @@ void QGCMapWidget::mouseDoubleClickEvent(QMouseEvent* event)
  */
 void QGCMapWidget::addUAS(UASInterface* uas)
 {
-    connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+    connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,double,quint64)));
     connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(updateSystemSpecs(int)));
     if (!waypointLines.value(uas->getUASID(), NULL)) {
         waypointLines.insert(uas->getUASID(), new QGraphicsItemGroup(map));

src/ui/map3D/QGCGoogleEarthView.cc

@@ -206,7 +206,7 @@ void QGCGoogleEarthView::addUAS(UASInterface* uas)
     if (trailEnabled) javaScript(QString("showTrail(%1);").arg(uas->getUASID()));
 
     // Automatically receive further position updates
-    connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+    connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,double,quint64)));
     // Receive waypoint updates
     // Connect the waypoint manager / data storage to the UI
     connect(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));

src/ui/uas/UASControlParameters.cpp

@@ -65,7 +65,7 @@ void UASControlParameters::changedMode(int mode)
 void UASControlParameters::activeUasSet(UASInterface *uas)
 {
     if(uas) {
-        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,double,quint64)));
         connect(uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(speedChanged(UASInterface*,double,double,double,quint64)));
         connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
         connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));

src/ui/uas/UASQuickView.cc

@@ -31,6 +31,8 @@ UASQuickView::UASQuickView(QWidget *parent) : QWidget(parent),
     if (uasPropertyValueMap.size() == 0)
     {
         valueEnabled("altitudeAMSL");
+        valueEnabled("altitudeAMSLFT");
+        valueEnabled("altitudeWGS84");
         valueEnabled("altitudeRelative");
         valueEnabled("groundSpeed");
         valueEnabled("distToWaypoint");

src/ui/uas/UASView.cc

@@ -92,7 +92,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
     connect(uas, SIGNAL(thrustChanged(UASInterface*, double)), this, SLOT(updateThrust(UASInterface*, double)));
     connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
-    connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+    connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,double,quint64)));
     connect(uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
     connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
     connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));