first working version with the senseSoar

src/ui/MainWindow.cc

@@ -1666,6 +1666,14 @@ void MainWindow::UASCreated(UASInterface* uas)
 
         }
         break;
+		case MAV_AUTOPILOT_SENSESOAR:
+			{
+				this->buildSenseSoarWidgets();
+				this->connectSenseSoarWidgets();
+				this->arrangeSenseSoarCenterStack();
+				this->connectSenseSoarActions();
+				break;
+			}
         default:
         case (MAV_AUTOPILOT_GENERIC):
         case (MAV_AUTOPILOT_ARDUPILOTMEGA):
@@ -2005,4 +2013,108 @@ void MainWindow::loadDataView(QString fileName)
 QList<QAction*> MainWindow::listLinkMenuActions(void)
 {
 	return ui.menuNetwork->actions();
+}
+
+void MainWindow::buildSenseSoarWidgets()
+{
+	if (!linechartWidget) 
+	{
+        // Center widgets
+        linechartWidget   = new Linecharts(this);
+        addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART);
+    }
+
+    if (!hudWidget) 
+	{
+        hudWidget         = new HUD(320, 240, this);
+        addToCentralWidgetsMenu(hudWidget, tr("Head Up Display"), SLOT(showCentralWidget()), CENTRAL_HUD);
+    }
+
+    if (!dataplotWidget) {
+        dataplotWidget    = new QGCDataPlot2D(this);
+        addToCentralWidgetsMenu(dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()), CENTRAL_DATA_PLOT);
+    }
+
+#ifdef QGC_OSG_ENABLED
+    if (!_3DWidget) {
+        _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
+        addToCentralWidgetsMenu(_3DWidget, tr("Local 3D"), SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
+    }
+#endif
+
+#ifdef QGC_OSGEARTH_ENABLED
+    if (!_3DMapWidget) {
+        _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
+        addToCentralWidgetsMenu(_3DMapWidget, tr("OSG Earth 3D"), SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
+    }
+#endif
+
+#if (defined _MSC_VER) | (defined Q_OS_MAC)
+    if (!gEarthWidget) {
+        gEarthWidget = new QGCGoogleEarthView(this);
+        addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH);
+    }
+
+#endif
+
+    // Dock widgets
+
+    if (!parametersDockWidget) {
+        parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
+        parametersDockWidget->setWidget( new ParameterInterface(this) );
+        parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
+        addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea);
+    }
+
+    if (!hsiDockWidget) {
+        hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
+        hsiDockWidget->setWidget( new HSIDisplay(this) );
+        hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET");
+        addToToolsMenu (hsiDockWidget, tr("Horizontal Situation"), SLOT(showToolWidget(bool)), MENU_HSI, Qt::BottomDockWidgetArea);
+    }
+	
+    if (!rcViewDockWidget) {
+        rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
+        rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
+        rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
+        addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
+    }
+
+    if (!headUpDockWidget) {
+        headUpDockWidget = new QDockWidget(tr("HUD"), this);
+        headUpDockWidget->setWidget( new HUD(320, 240, this));
+        headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
+        addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::RightDockWidgetArea);
+    }
+}
+
+void MainWindow::connectSenseSoarWidgets()
+{
+}
+
+void MainWindow::arrangeSenseSoarCenterStack()
+{
+	if (!centerStack) {
+        qDebug() << "Center Stack not Created!";
+        return;
+    }
+
+
+    if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget);
+
+#ifdef QGC_OSG_ENABLED
+    if (_3DWidget && (centerStack->indexOf(_3DWidget) == -1)) centerStack->addWidget(_3DWidget);
+#endif
+#ifdef QGC_OSGEARTH_ENABLED
+    if (_3DMapWidget && (centerStack->indexOf(_3DMapWidget) == -1)) centerStack->addWidget(_3DMapWidget);
+#endif
+#if (defined _MSC_VER) | (defined Q_OS_MAC)
+    if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget);
+#endif
+    if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget);
+    if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget);
+}
+
+void MainWindow::connectSenseSoarActions()
+{
 }

src/ui/MainWindow.h

@@ -352,18 +352,22 @@ protected:
     void buildCommonWidgets();
     void buildPxWidgets();
     void buildSlugsWidgets();
+	void buildSenseSoarWidgets();
 
     void connectCommonWidgets();
     void connectPxWidgets();
     void connectSlugsWidgets();
+	void connectSenseSoarWidgets();
 
     void arrangeCommonCenterStack();
     void arrangePxCenterStack();
     void arrangeSlugsCenterStack();
+	void arrangeSenseSoarCenterStack();
 
     void connectCommonActions();
     void connectPxActions();
     void connectSlugsActions();
+	void connectSenseSoarActions();
 
 
     void configureWindowName();