Formatting, fixing audio alarms

.gitignore

@@ -22,7 +22,6 @@ debug
 release
 qgroundcontrol
 mavlinkgen-build-desktop
-*.wav
 qgroundcontrol.xcodeproj/**
 doc/html
 doc/doxy.log

qgroundcontrol.pri

@@ -81,8 +81,6 @@ macx|macx-g++42|macx-g++: {
 
     ICON = $$BASEDIR/images/icons/macx.icns
 
-    # Copy audio files if needed
-    QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
     # Copy contributed files
     QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
     # Copy google earth starter file
@@ -274,7 +272,6 @@ message("Compiling for linux 32")
     }
 
     # Validated copy commands
-    QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR
     QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR
 
     QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR
@@ -367,7 +364,6 @@ linux-g++-64 {
              QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/debug
         }
         DESTDIR = $$TARGETDIR/debug
-        QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/debug
         QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/debug
         QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/debug
         QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/debug/images
@@ -378,7 +374,6 @@ linux-g++-64 {
              QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/release
         }
         DESTDIR = $$TARGETDIR/release
-        QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/release
         QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/release
         QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/release
         QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/release/images
@@ -455,7 +450,6 @@ DEFINES += QGC_OSG_ENABLED
 
     exists($$TARGETDIR/debug) {
 	QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\audio" "$$TARGETDIR_WIN\\debug\\audio" /E /I $$escape_expand(\\n))
         QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\debug\\files" /E /I $$escape_expand(\\n))
 	QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\debug\\models" /E /I $$escape_expand(\\n))
 	QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
@@ -476,7 +470,6 @@ DEFINES += QGC_OSG_ENABLED
 
     exists($$TARGETDIR/release) {
 	QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\audio" "$$TARGETDIR_WIN\\release\\audio" /E /I $$escape_expand(\\n))
         QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\release\\files" /E /I $$escape_expand(\\n))
 	QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\release\\models" /E /I $$escape_expand(\\n))
 	QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\release\\earth.html" $$escape_expand(\\n))
@@ -543,13 +536,13 @@ win32-g++ {
     message("Using cp to copy image and audio files to executable")
     debug {
         QMAKE_POST_LINK += && cp $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/debug/SDL.dll
-        QMAKE_POST_LINK += && cp -r $$BASEDIR/audio $$TARGETDIR/debug/audio
+        QMAKE_POST_LINK += && cp -r $$BASEDIR/files $$TARGETDIR/debug/files
         QMAKE_POST_LINK += && cp -r $$BASEDIR/models $$TARGETDIR/debug/models
     }
 
     release {
         QMAKE_POST_LINK += && cp $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/release/SDL.dll
-        QMAKE_POST_LINK += && cp -r $$BASEDIR/audio $$TARGETDIR/release/audio
+        QMAKE_POST_LINK += && cp -r $$BASEDIR/files $$TARGETDIR/release/files
         QMAKE_POST_LINK += && cp -r $$BASEDIR/models $$TARGETDIR/release/models
     }
 
@@ -561,14 +554,14 @@ win32-g++ {
 
     exists($$TARGETDIR/debug) {
         QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll\" \"$$TARGETDIR_WIN\\debug\\SDL.dll\"
-        QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\audio\" \"$$TARGETDIR_WIN\\debug\\audio\\\" /S /E /Y
+        QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\files\" \"$$TARGETDIR_WIN\\debug\\files\\\" /S /E /Y
         QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\models\" \"$$TARGETDIR_WIN\\debug\\models\\\" /S /E /Y
         QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\images\\earth.html\" \"$$TARGETDIR_WIN\\debug\\earth.html\"
     }
 
     exists($$TARGETDIR/release) {
         QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll\" \"$$TARGETDIR_WIN\\release\\SDL.dll\"
-        QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\audio\" \"$$TARGETDIR_WIN\\release\\audio\\\" /S /E /Y
+        QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\files\" \"$$TARGETDIR_WIN\\release\\files\\\" /S /E /Y
         QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\models\" \"$$TARGETDIR_WIN\\release\\models\\\" /S /E /Y
         QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\images\\earth.html\" \"$$TARGETDIR_WIN\\release\\earth.html\"
     }

src/GAudioOutput.cc

@@ -77,7 +77,8 @@ extern "C" {
 GAudioOutput* GAudioOutput::instance()
 {
     static GAudioOutput* _instance = 0;
-    if(_instance == 0) {
+    if(_instance == 0)
+    {
         _instance = new GAudioOutput();
         // Set the application as parent to ensure that this object
         // will be destroyed when the main application exits
@@ -106,12 +107,16 @@ GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
 #if _MSC_VER2
 
     ISpVoice * pVoice = NULL;
-    if (FAILED(::CoInitialize(NULL))) {
+    if (FAILED(::CoInitialize(NULL)))
+    {
         qDebug("Creating COM object for audio output failed!");
-    } else {
+    }
+    else
+    {
 
         HRESULT hr = CoCreateInstance(CLSID_SpVoice, NULL, CLSCTX_ALL, IID_ISpVoice, (void **)&pVoice;);
-        if( SUCCEEDED( hr ) ) {
+        if( SUCCEEDED( hr ) )
+        {
             hr = pVoice->Speak(L"Hello world", 0, NULL);
             pVoice->Release();
             pVoice = NULL;
@@ -146,7 +151,8 @@ GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
 
 void GAudioOutput::mute(bool mute)
 {
-    if (mute != muted) {
+    if (mute != muted)
+    {
         this->muted = mute;
         QSettings settings;
         settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", this->muted);
@@ -162,11 +168,13 @@ bool GAudioOutput::isMuted()
 
 bool GAudioOutput::say(QString text, int severity)
 {
-    if (!muted) {
+    if (!muted)
+    {
         // TODO Add severity filter
         Q_UNUSED(severity);
         bool res = false;
-        if (!emergency) {
+        if (!emergency)
+        {
 
             // Speech synthesis is only supported with MSVC compiler
 #ifdef _MSC_VER2
@@ -202,7 +210,9 @@ bool GAudioOutput::say(QString text, int severity)
 #endif
         }
         return res;
-    } else {
+    }
+    else
+    {
         return false;
     }
 }
@@ -212,22 +222,26 @@ bool GAudioOutput::say(QString text, int severity)
  */
 bool GAudioOutput::alert(QString text)
 {
-    if (!emergency || !muted) {
+    if (!emergency || !muted)
+    {
         // Play alert sound
         beep();
         // Say alert message
         say(text, 2);
         return true;
-    } else {
+    }
+    else
+    {
         return false;
     }
 }
 
 void GAudioOutput::notifyPositive()
 {
-    if (!muted) {
+    if (!muted)
+    {
         // Use QFile to transform path for all OS
-        QFile f(QCoreApplication::applicationDirPath()+QString("/audio/double_notify.wav"));
+        QFile f(QCoreApplication::applicationDirPath()+QString("/files/audio/double_notify.wav"));
         //m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
         //m_media->play();
     }
@@ -235,9 +249,10 @@ void GAudioOutput::notifyPositive()
 
 void GAudioOutput::notifyNegative()
 {
-    if (!muted) {
+    if (!muted)
+    {
         // Use QFile to transform path for all OS
-        QFile f(QCoreApplication::applicationDirPath()+QString("/audio/flat_notify.wav"));
+        QFile f(QCoreApplication::applicationDirPath()+QString("/files/audio/flat_notify.wav"));
         //m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
         //m_media->play();
     }
@@ -252,7 +267,8 @@ void GAudioOutput::notifyNegative()
  */
 bool GAudioOutput::startEmergency()
 {
-    if (!emergency) {
+    if (!emergency)
+    {
         emergency = true;
         // Beep immediately and then start timer
         if (!muted) beep();
@@ -279,9 +295,10 @@ bool GAudioOutput::stopEmergency()
 
 void GAudioOutput::beep()
 {
-    if (!muted) {
+    if (!muted)
+    {
         // Use QFile to transform path for all OS
-        QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
+        QFile f(QCoreApplication::applicationDirPath()+QString("/files/audio/alert.wav"));
         qDebug() << "FILE:" << f.fileName();
         //m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
         //m_media->play();

src/comm/MAVLinkSimulationLink.cc

@@ -678,8 +678,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
     int bufferlength = 0;
 
     // Output all bytes as hex digits
-    int i;
-    for (i=0; i<size; i++)
+    for (int i=0; i<size; i++)
     {
         if (mavlink_parse_char(this->id, data[i], &msg, &comm))
         {
@@ -687,16 +686,19 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
             qDebug() << "SIMULATION LINK RECEIVED MESSAGE!";
             emit messageReceived(msg);
 
-            switch (msg.msgid) {
+            switch (msg.msgid)
+            {
                 // SET THE SYSTEM MODE
-            case MAVLINK_MSG_ID_SET_MODE: {
+            case MAVLINK_MSG_ID_SET_MODE:
+            {
                 mavlink_set_mode_t mode;
                 mavlink_msg_set_mode_decode(&msg, &mode);
                 // Set mode indepent of mode.target
                 system.base_mode = mode.base_mode;
             }
             break;
-            case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT: {
+            case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT:
+            {
                 mavlink_set_local_position_setpoint_t set;
                 mavlink_msg_set_local_position_setpoint_decode(&msg, &set);
                 spX = set.x;
@@ -714,7 +716,8 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
             }
             break;
             // EXECUTE OPERATOR ACTIONS
-            case MAVLINK_MSG_ID_COMMAND_LONG: {
+            case MAVLINK_MSG_ID_COMMAND_LONG:
+            {
                 mavlink_command_long_t action;
                 mavlink_msg_command_long_decode(&msg, &action);
 
@@ -756,12 +759,13 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
             }
             break;
 #endif
-            case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
+            case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
+            {
                 qDebug() << "GCS REQUESTED PARAM LIST FROM SIMULATION";
                 mavlink_param_request_list_t read;
                 mavlink_msg_param_request_list_decode(&msg, &read);
-//                    if (read.target_system == systemId)
-//                    {
+                if (read.target_system == systemId)
+                {
                     // Output all params
                     // Iterate through all components, through all parameters and emit them
                     QMap<QString, float>::iterator i;
@@ -781,19 +785,22 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                     }
 
                     qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
-//                    }
+                }
             }
                 break;
-            case MAVLINK_MSG_ID_PARAM_SET: {
+            case MAVLINK_MSG_ID_PARAM_SET:
+            {
                 // Drop on even milliseconds
-                if (QGC::groundTimeMilliseconds() % 2 == 0) {
+                if (QGC::groundTimeMilliseconds() % 2 == 0)
+                {
                     qDebug() << "SIMULATION RECEIVED COMMAND TO SET PARAMETER";
                     mavlink_param_set_t set;
                     mavlink_msg_param_set_decode(&msg, &set);
                     //                    if (set.target_system == systemId)
                     //                    {
                     QString key = QString((char*)set.param_id);
-                    if (onboardParams.contains(key)) {
+                    if (onboardParams.contains(key))
+                    {
                         onboardParams.remove(key);
                         onboardParams.insert(key, set.param_value);
 
@@ -809,13 +816,15 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                 }
             }
             break;
-            case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
+            case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
+            {
                 qDebug() << "SIMULATION RECEIVED COMMAND TO SEND PARAMETER";
                 mavlink_param_request_read_t read;
                 mavlink_msg_param_request_read_decode(&msg, &read);
                 QByteArray bytes((char*)read.param_id, MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN);
                 QString key = QString(bytes);
-                if (onboardParams.contains(key)) {
+                if (onboardParams.contains(key))
+                {
                     float paramValue = onboardParams.value(key);
 
                     // Pack message and get size of encoded byte string
@@ -826,7 +835,9 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                     memcpy(stream+streampointer,buffer, bufferlength);
                     streampointer+=bufferlength;
                     //qDebug() << "Sending PARAM" << key;
-                } else if (read.param_index < onboardParams.size()) {
+                }
+                else if (read.param_index < onboardParams.size())
+                {
                     key = onboardParams.keys().at(read.param_index);
                     float paramValue = onboardParams.value(key);
 
@@ -842,8 +853,6 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
             }
             break;
             }
-
-
         }
         unsigned char v=data[i];
         fprintf(stderr,"%02x ", v);
@@ -851,7 +860,8 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
     fprintf(stderr,"\n");
 
     readyBufferMutex.lock();
-    for (int i = 0; i < streampointer; i++) {
+    for (int i = 0; i < streampointer; i++)
+    {
         readyBuffer.enqueue(*(stream + i));
     }
     readyBufferMutex.unlock();

src/uas/UAS.cc

@@ -274,6 +274,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         {
         case MAVLINK_MSG_ID_HEARTBEAT:
         {
+            if (multiComponentSourceDetected && wrongComponent)
+            {
+                break;
+            }
             lastHeartbeat = QGC::groundTimeUsecs();
             emit heartbeat(this);
             mavlink_heartbeat_t state;
@@ -396,7 +400,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             //            break;
         case MAVLINK_MSG_ID_SYS_STATUS:
         {
-                if (multiComponentSourceDetected && message.compid != MAV_COMP_ID_IMU_2)
+            if (multiComponentSourceDetected && wrongComponent)
             {
                 break;
             }
@@ -1127,10 +1131,6 @@ void UAS::setHomePosition(double lat, double lon, double alt)
         mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_DO_SET_HOME, 1, 0, 0, 0, 0, lat, lon, alt);
         // Send message twice to increase chance that it reaches its goal
         sendMessage(msg);
-        // Wait 15 ms
-        QGC::SLEEP::usleep(15000);
-        // Send again
-        sendMessage(msg);
 
         // Send new home position to UAS
         mavlink_set_gps_global_origin_t home;
@@ -1164,10 +1164,6 @@ void UAS::setLocalOriginAtCurrentGPSPosition()
         mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_DO_SET_HOME, 1, 1, 0, 0, 0, 0, 0, 0);
         // Send message twice to increase chance that it reaches its goal
         sendMessage(msg);
-        // Wait 15 ms
-        QGC::SLEEP::usleep(15000);
-        // Send again
-        sendMessage(msg);
     }
 }
 
@@ -1614,7 +1610,7 @@ quint64 UAS::getUptime() const
     }
     else
     {
-        return MG::TIME::getGroundTimeNow() - startTime;
+        return QGC::groundTimeMilliseconds() - startTime;
     }
 }
 
@@ -1626,7 +1622,7 @@ int UAS::getCommunicationStatus() const
 void UAS::requestParameters()
 {
     mavlink_message_t msg;
-    mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 25);
+    mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_ALL);
     sendMessage(msg);
 }
 
@@ -2088,7 +2084,7 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
         sendMessage(message);
         qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust;
 
-        emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, MG::TIME::getGroundTimeNow());
+        emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds());
     }
     else
     {
@@ -2322,19 +2318,19 @@ QString UAS::getShortModeTextFor(int id)
     }
     if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
     {
-        mode += "GUIDED";
+        mode += "|GUID";
     }
     if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
     {
-        mode += "STABILIZED";
+        mode += "|STAB";
     }
     if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST)
     {
-        mode += "TEST";
+        mode += "|TEST";
     }
     if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
     {
-        mode += "MANUAL";
+        mode += "|MAN";
     }
 
     if (modeid == 0)
@@ -2345,11 +2341,11 @@ QString UAS::getShortModeTextFor(int id)
     // ARMED STATE DECODING
     if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_SAFETY)
     {
-        mode.prepend("A|");
+        mode.prepend("A/");
     }
     else
     {
-        mode.prepend("D|");
+        mode.prepend("D/");
     }
 
     // HARDWARE IN THE LOOP DECODING
@@ -2480,7 +2476,7 @@ QString UAS::getBatterySpecs()
 
 int UAS::calculateTimeRemaining()
 {
-    quint64 dt = MG::TIME::getGroundTimeNow() - startTime;
+    quint64 dt = QGC::groundTimeMilliseconds() - startTime;
     double seconds = dt / 1000.0f;
     double voltDifference = startVoltage - currentVoltage;
     if (voltDifference <= 0) voltDifference = 0.00000000001f;

src/uas/UAS.h

@@ -219,6 +219,7 @@ protected: //COMMENTS FOR TEST UNIT
     float chargeLevel;          ///< Charge level of battery, in percent
     int timeRemaining;          ///< Remaining time calculated based on previous and current
     uint8_t mode;              ///< The current mode of the MAV
+    uint32_t custom_mode;       ///< The current mode of the MAV
     int status;                 ///< The current status of the MAV
     uint32_t navMode;                ///< The current navigation mode of the MAV
     quint64 onboardTimeOffset;

src/ui/HSIDisplay.cc

@@ -104,6 +104,7 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
     leftDragStarted(false),
     mouseHasMoved(false),
     actionPending(false),
+    directSending(false),
     userSetPointSet(false),
     userXYSetPointSet(false)
 {
@@ -637,37 +638,53 @@ void HSIDisplay::keyPressEvent(QKeyEvent* event)
         statusClearTimer.start();
         sendBodySetPointCoordinates();
     }
-    else if ((event->key() ==  Qt::Key_Up))
+    else if ((event->key() ==  Qt::Key_W))
     {
-        setBodySetpointCoordinateXY(0.5, 0);
+        setBodySetpointCoordinateXY(1.0, 0);
+        setBodySetpointCoordinateZ(uas->getLocalZ());
+        setBodySetpointCoordinateYaw(uas->getYaw());
     }
-    else if ((event->key() ==  Qt::Key_Down))
+    else if ((event->key() ==  Qt::Key_S))
     {
-        setBodySetpointCoordinateXY(-0.5, 0);
+        setBodySetpointCoordinateXY(-1.0, 0);
+        setBodySetpointCoordinateZ(uas->getLocalZ());
+        setBodySetpointCoordinateYaw(uas->getYaw());
     }
-    else if ((event->key() ==  Qt::Key_Left))
+    else if ((event->key() ==  Qt::Key_A))
     {
-        setBodySetpointCoordinateXY(0, -0.5);
+        setBodySetpointCoordinateXY(0, -1.0);
+        setBodySetpointCoordinateZ(uas->getLocalZ());
+        setBodySetpointCoordinateYaw(uas->getYaw());
     }
-    else if ((event->key() ==  Qt::Key_Right))
+    else if ((event->key() ==  Qt::Key_D))
     {
-        setBodySetpointCoordinateXY(0, 0.5);
+        setBodySetpointCoordinateXY(0, 1.0);
+        setBodySetpointCoordinateZ(uas->getLocalZ());
+        setBodySetpointCoordinateYaw(uas->getYaw());
     }
-    else if ((event->key() ==  Qt::Key_Plus))
+    else if ((event->key() ==  Qt::Key_Up))
     {
-        setBodySetpointCoordinateZ(-0.2);
+        setBodySetpointCoordinateXY(0, 0);
+        setBodySetpointCoordinateZ(-0.5+uas->getLocalZ());
+        setBodySetpointCoordinateYaw(uas->getYaw());
     }
-    else if ((event->key() ==  Qt::Key_Minus))
+    else if ((event->key() ==  Qt::Key_Down))
     {
-        setBodySetpointCoordinateZ(+0.2);
+        setBodySetpointCoordinateZ(+0.5+uas->getLocalZ());
+        setBodySetpointCoordinateXY(0, 0);
+        setBodySetpointCoordinateYaw(uas->getYaw());
     }
-    else if ((event->key() ==  Qt::Key_L))
+    else if ((event->key() ==  Qt::Key_Left))
     {
-        setBodySetpointCoordinateYaw(-0.1);
+        setBodySetpointCoordinateXY(0, 0);
+        setBodySetpointCoordinateZ(uas->getLocalZ());
+        setBodySetpointCoordinateYaw(-0.2+uas->getYaw());
     }
-    else if ((event->key() ==  Qt::Key_R))
+    else if ((event->key() ==  Qt::Key_Right))
     {
-        setBodySetpointCoordinateYaw(0.1);
+        setBodySetpointCoordinateXY(0, 0);
+        setBodySetpointCoordinateZ(uas->getLocalZ());
+        setBodySetpointCoordinateYaw(0.2+uas->getYaw());
     }
      HDDisplay::keyPressEvent(event);
 }
@@ -811,7 +828,7 @@ void HSIDisplay::sendBodySetPointCoordinates()
         double dx = uiXSetCoordinate - uas->getLocalX();
         double dy = uiYSetCoordinate - uas->getLocalY();
         double dz = uiZSetCoordinate - uas->getLocalZ();
-        bool valid = (sqrt(dx*dx + dy*dy + dz*dz) < 1.0);//UASManager::instance()->isInLocalNEDSafetyLimits(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate);
+        bool valid = (sqrt(dx*dx + dy*dy + dz*dz) < 3.0);//UASManager::instance()->isInLocalNEDSafetyLimits(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate);
         if (valid)
         {
             uas->setLocalPositionSetpoint(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate, uiYawSet);

src/ui/HSIDisplay.h

@@ -175,6 +175,7 @@ protected:
     QTimer statusClearTimer;
     QString statusMessage;
     bool actionPending;
+    bool directSending;
 
     /**
      * @brief Private data container class to be used within the HSI widget