Merged dev-mac

files/quadrotor/pixhawk/parameters/parameters-bravo-icra2012.txt

@@ -0,0 +1,119 @@
+# Onboard parameters for system BRAVO
+#
+# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+42	1	HANDLEWPDELAY	            0.20000000298
+42	1	POSFILTER	                        1
+42	1	PROTDELAY	                       40
+42	1	PROTTIMEOUT	                        2
+42	1	SETPOINTDELAY	                        1
+42	1	YAWTOLERANCE	           0.174500003457
+42	200	ACC_NAV_OFFS_X	                        0
+42	200	ACC_NAV_OFFS_Y	                        0
+42	200	ACC_NAV_OFFS_Z	                    -1000
+42	200	ATT_KAL_KACC	         0.00329999998212
+42	200	ATT_KAL_YAWMOD	                        3
+42	200	ATT_OFFSET_X	                        0
+42	200	ATT_OFFSET_Y	                        0
+42	200	ATT_OFFSET_Z	                        0
+42	200	CAL_ACC_X	                        0
+42	200	CAL_ACC_Y	                        0
+42	200	CAL_ACC_Z	                        0
+42	200	CAL_FIT_ACTIVE	                        0
+42	200	CAL_FIT_GYRO_X	            31496.8007812
+42	200	CAL_FIT_GYRO_Y	            29383.4003906
+42	200	CAL_FIT_GYRO_Z	            30151.0996094
+42	200	CAL_GYRO_X	                    29760
+42	200	CAL_GYRO_Y	                    29671
+42	200	CAL_GYRO_Z	                    29572
+42	200	CAL_MAG_X	                      375
+42	200	CAL_MAG_Y	                      -25
+42	200	CAL_MAG_Z	                    -1000
+42	200	CAL_PRES_DIFF	                    10000
+42	200	CAL_TEMP	                    29557
+42	200	CAM_ANG_X_FAC	                        0
+42	200	CAM_ANG_X_OFF	                        0
+42	200	CAM_ANG_Y_FAC	                        0
+42	200	CAM_ANG_Y_OFF	            0.81099998951
+42	200	CAM_EXP	                     1000
+42	200	CAM_INTERVAL	                   200000
+42	200	DEBUG_1	                        0
+42	200	DEBUG_2	                        0
+42	200	DEBUG_3	                        0
+42	200	DEBUG_4	                        0
+42	200	DEBUG_5	                        1
+42	200	DEBUG_6	                        0
+42	200	GPS_MODE	                        0
+42	200	KAL_VEL_AX	                        1
+42	200	KAL_VEL_AY	                        1
+42	200	KAL_VEL_BX	                        0
+42	200	KAL_VEL_BY	                        0
+42	200	MIX_OFFSET	                        1
+42	200	MIX_POSITION	                        1
+42	200	MIX_POS_YAW	                        1
+42	200	MIX_REMOTE	                        0
+42	200	MIX_Z_POSITION	                        1
+42	200	PID_ATT_AWU	           0.300000011921
+42	200	PID_ATT_D	                       30
+42	200	PID_ATT_I	                       60
+42	200	PID_ATT_LIM	                      100
+42	200	PID_ATT_P	                       90
+42	200	PID_POS_AWU	                        5
+42	200	PID_POS_D	            2.20000004768
+42	200	PID_POS_I	            0.10000000149
+42	200	PID_POS_LIM	            0.20000000298
+42	200	PID_POS_P	                        2
+42	200	PID_POS_Z_AWU	                        3
+42	200	PID_POS_Z_D	                     0.25
+42	200	PID_POS_Z_I	           0.300000011921
+42	200	PID_POS_Z_LIM	           0.300000011921
+42	200	PID_POS_Z_P	                     0.25
+42	200	PID_YAWPOS_AWU	                        1
+42	200	PID_YAWPOS_D	                        1
+42	200	PID_YAWPOS_I	            0.10000000149
+42	200	PID_YAWPOS_LIM	                        3
+42	200	PID_YAWPOS_P	                        5
+42	200	PID_YAWSPEED_D	                        0
+42	200	PID_YAWSPEED_I	                        5
+42	200	PID_YAWSPEED_P	                       15
+42	200	PID_YAWSPE_AWU	                        1
+42	200	PID_YAWSPE_LIM	                       50
+42	200	POS_ESTIM_MODE	                        1
+42	200	POS_HOV_TRUST	           0.550000011921
+42	200	POS_SON_MODE	                        0
+42	200	POS_SON_SCALE	                        1
+42	200	POS_SP_ACCEPT	                        1
+42	200	POS_SP_X	         -0.0329026989639
+42	200	POS_SP_Y	         -0.0478124991059
+42	200	POS_SP_YAW	                        0
+42	200	POS_SP_Z	          -0.643148005009
+42	200	POS_TIMEOUT	                  2000000
+42	200	POS_YAW_TRACK	                        0
+42	200	RC_NICK_CHAN	                        1
+42	200	RC_ROLL_CHAN	                        2
+42	200	RC_SAFETY_CHAN	                        6
+42	200	RC_THRUST_CHAN	                        3
+42	200	RC_TRIM_CHAN	                        0
+42	200	RC_TUNE_CHAN1	                        5
+42	200	RC_TUNE_CHAN2	                        6
+42	200	RC_TUNE_CHAN3	                        7
+42	200	RC_TUNE_CHAN4	                        5
+42	200	RC_YAW_CHAN	                        4
+42	200	SEND_DEBUGCHAN	                        0
+42	200	SLOT_ATTITUDE	                        1
+42	200	SLOT_CONTROL	                        0
+42	200	SLOT_RAW_IMU	                        0
+42	200	SLOT_RC	                        1
+42	200	SYS_COMP_ID	                      200
+42	200	SYS_ID	                       42
+42	200	SYS_IMU_RESET	                        0
+42	200	SYS_SW_VER	                     2000
+42	200	SYS_TYPE	                        2
+42	200	UART_0_BAUD	                   115200
+42	200	UART_1_BAUD	                   115200
+42	200	VEL_DAMP	           0.949999988079
+42	200	VEL_OFFSET_X	                        0
+42	200	VEL_OFFSET_Y	                        0
+42	200	VEL_OFFSET_Z	                        0
+42	200	VICON_TKO_DIST	                      0.5
+42	200	VICON_TKO_TIME	                        2
+42	200	VIS_OUTL_TRESH	            0.20000000298

files/quadrotor/pixhawk/parameters/parameters-bravo-vicon.txt

@@ -0,0 +1,113 @@
+# Onboard parameters for system BRAVO
+#
+# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+42	200	ACC_NAV_OFFS_X	                        0
+42	200	ACC_NAV_OFFS_Y	                        0
+42	200	ACC_NAV_OFFS_Z	                    -1000
+42	200	ATT_KAL_KACC	         0.00329999998212
+42	200	ATT_KAL_YAWMOD	                        3
+42	200	ATT_OFFSET_X	                        0
+42	200	ATT_OFFSET_Y	                        0
+42	200	ATT_OFFSET_Z	                        0
+42	200	CAL_ACC_X	                        0
+42	200	CAL_ACC_Y	                        0
+42	200	CAL_ACC_Z	                        0
+42	200	CAL_FIT_ACTIVE	                        0
+42	200	CAL_FIT_GYRO_X	            31496.8007812
+42	200	CAL_FIT_GYRO_Y	            29383.4003906
+42	200	CAL_FIT_GYRO_Z	            30151.0996094
+42	200	CAL_GYRO_X	                    29760
+42	200	CAL_GYRO_Y	                    29671
+42	200	CAL_GYRO_Z	                    29572
+42	200	CAL_MAG_X	                      375
+42	200	CAL_MAG_Y	                      -25
+42	200	CAL_MAG_Z	                    -1000
+42	200	CAL_PRES_DIFF	                    10000
+42	200	CAL_TEMP	                    29557
+42	200	CAM_ANG_X_FAC	                        0
+42	200	CAM_ANG_X_OFF	                        0
+42	200	CAM_ANG_Y_FAC	                        0
+42	200	CAM_ANG_Y_OFF	           0.898000001907
+42	200	CAM_EXP	                     1000
+42	200	CAM_INTERVAL	                   200000
+42	200	DEBUG_1	                        0
+42	200	DEBUG_2	                        0
+42	200	DEBUG_3	                        0
+42	200	DEBUG_4	                        0
+42	200	DEBUG_5	                        1
+42	200	DEBUG_6	                        0
+42	200	GPS_MODE	                        0
+42	200	KAL_VEL_AX	                        1
+42	200	KAL_VEL_AY	                        1
+42	200	KAL_VEL_BX	                        0
+42	200	KAL_VEL_BY	                        0
+42	200	MIX_OFFSET	                        1
+42	200	MIX_POSITION	                        1
+42	200	MIX_POS_YAW	                        1
+42	200	MIX_REMOTE	                        0
+42	200	MIX_Z_POSITION	                        1
+42	200	PID_ATT_AWU	           0.300000011921
+42	200	PID_ATT_D	                       30
+42	200	PID_ATT_I	                       60
+42	200	PID_ATT_LIM	                      100
+42	200	PID_ATT_P	                       90
+42	200	PID_POS_AWU	                        5
+42	200	PID_POS_D	                      3.5
+42	200	PID_POS_I	           0.300000011921
+42	200	PID_POS_LIM	            0.20000000298
+42	200	PID_POS_P	                        3
+42	200	PID_POS_Z_AWU	                        3
+42	200	PID_POS_Z_D	                     0.25
+42	200	PID_POS_Z_I	           0.300000011921
+42	200	PID_POS_Z_LIM	           0.300000011921
+42	200	PID_POS_Z_P	                     0.25
+42	200	PID_YAWPOS_AWU	                        1
+42	200	PID_YAWPOS_D	                        1
+42	200	PID_YAWPOS_I	            0.10000000149
+42	200	PID_YAWPOS_LIM	                        3
+42	200	PID_YAWPOS_P	                        5
+42	200	PID_YAWSPEED_D	                        0
+42	200	PID_YAWSPEED_I	                        5
+42	200	PID_YAWSPEED_P	                       15
+42	200	PID_YAWSPE_AWU	                        1
+42	200	PID_YAWSPE_LIM	                       50
+42	200	POS_ESTIM_MODE	                        3
+42	200	POS_HOV_TRUST	                      0.5
+42	200	POS_SON_MODE	                        0
+42	200	POS_SON_SCALE	                        1
+42	200	POS_SP_ACCEPT	                        1
+42	200	POS_SP_X	           0.254168212414
+42	200	POS_SP_Y	          -0.378409773111
+42	200	POS_SP_YAW	                        0
+42	200	POS_SP_Z	         -0.0880969688296
+42	200	POS_TIMEOUT	                  2000000
+42	200	POS_YAW_TRACK	                        0
+42	200	RC_NICK_CHAN	                        1
+42	200	RC_ROLL_CHAN	                        2
+42	200	RC_SAFETY_CHAN	                        6
+42	200	RC_THRUST_CHAN	                        3
+42	200	RC_TRIM_CHAN	                        0
+42	200	RC_TUNE_CHAN1	                        5
+42	200	RC_TUNE_CHAN2	                        6
+42	200	RC_TUNE_CHAN3	                        7
+42	200	RC_TUNE_CHAN4	                        5
+42	200	RC_YAW_CHAN	                        4
+42	200	SEND_DEBUGCHAN	                        0
+42	200	SLOT_ATTITUDE	                        1
+42	200	SLOT_CONTROL	                        0
+42	200	SLOT_RAW_IMU	                        0
+42	200	SLOT_RC	                        1
+42	200	SYS_COMP_ID	                      200
+42	200	SYS_ID	                       42
+42	200	SYS_IMU_RESET	                        0
+42	200	SYS_SW_VER	                     2000
+42	200	SYS_TYPE	                        2
+42	200	UART_0_BAUD	                   115200
+42	200	UART_1_BAUD	                   115200
+42	200	VEL_DAMP	           0.949999988079
+42	200	VEL_OFFSET_X	                        0
+42	200	VEL_OFFSET_Y	                        0
+42	200	VEL_OFFSET_Z	                        0
+42	200	VICON_TKO_DIST	                      0.5
+42	200	VICON_TKO_TIME	                        2
+42	200	VIS_OUTL_TRESH	            0.20000000298

images/style-mission.css

@@ -338,6 +338,7 @@ QProgressBar {
 	padding: 2px;
 	color: #DDDDDF;
 	background-color: #111118;
+    height: 10px;
 }
 
 QProgressBar:horizontal {
@@ -398,3 +399,28 @@ QDialog {
  QTabBar::tab:selected {
      border: 2px solid #379AC3;
  }
+
+QLabel {
+    background-color: transparent;
+}
+
+QLabel#toolBarNameLabel {
+	font: bold 16px;
+	color: #3C7B9E;
+}
+
+QLabel#toolBarModeLabel {
+	font: 12px;
+}
+
+QLabel#toolBarStateLabel {
+	font: 12px;
+	color: #3C7B9E;
+}
+
+QLabel#toolBarMessageLabel {
+	font: 12px;
+    font-style: italic;
+	color: #3C7B9E;
+}
+

src/uas/UAS.cc

@@ -44,7 +44,7 @@ warnVoltage(9.5f),
 warnLevelPercent(20.0f),
 currentVoltage(12.0f),
 lpVoltage(12.0f),
-batteryRemainingEstimateEnabled(false),
+batteryRemainingEstimateEnabled(true),
 mode(-1),
 status(-1),
 navMode(-1),
@@ -603,19 +603,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Rejected CMD: %1").arg(ack.command));
             }
             break;
-        case MAVLINK_MSG_ID_DEBUG:
-            // FIXME REMOVE LATER emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), "raw", mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
-            break;
         case MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT:
             {
                 mavlink_roll_pitch_yaw_thrust_setpoint_t out;
                 mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&message, &out);
                 quint64 time = getUnixTimeFromMs(out.time_boot_ms);
                 emit attitudeThrustSetPointChanged(this, out.roll, out.pitch, out.yaw, out.thrust, time);
-                // FIXME REMOVE LATER emit valueChanged(uasId, "att control roll", "rad", out.roll, time);
-                // FIXME REMOVE LATER emit valueChanged(uasId, "att control pitch", "rad", out.pitch, time);
-                // FIXME REMOVE LATER emit valueChanged(uasId, "att control yaw", "rad", out.yaw, time);
-                // FIXME REMOVE LATER emit valueChanged(uasId, "att control thrust", "0-1", out.thrust, time);
             }
             break;
         case MAVLINK_MSG_ID_MISSION_COUNT:
@@ -877,6 +870,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
         case MAVLINK_MSG_ID_OPTICAL_FLOW:
         case MAVLINK_MSG_ID_DEBUG_VECT:
+        case MAVLINK_MSG_ID_DEBUG:
             break;
         default:
             {
@@ -1914,7 +1908,6 @@ void UAS::receiveButton(int buttonIndex)
 }
 
 
-
 void UAS::halt()
 {
     // FIXME MAVLINKV10PORTINGNEEDED

src/uas/UASWaypointManager.cc

@@ -48,6 +48,8 @@ UASWaypointManager::UASWaypointManager(UAS &_uas)
       protocol_timer(this)
 {
     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)));
 }
 
 void UASWaypointManager::timeout()
@@ -85,6 +87,25 @@ void UASWaypointManager::timeout()
     }
 }
 
+void UASWaypointManager::handleLocalPositionChanged(UASInterface* mav, double x, double y, double z, quint64 time)
+{
+    Q_UNUSED(mav);
+    Q_UNUSED(time);
+    if (waypoints.count() > 0 && (waypoints[current_wp_id]->getFrame() == MAV_FRAME_LOCAL || waypoints[current_wp_id]->getFrame() == MAV_FRAME_LOCAL_ENU))
+    {
+        double xdiff = x-waypoints[current_wp_id]->getX();
+        double ydiff = y-waypoints[current_wp_id]->getY();
+        double zdiff = z-waypoints[current_wp_id]->getZ();
+        double dist = sqrt(xdiff*xdiff + ydiff*ydiff + zdiff*zdiff);
+        emit waypointDistanceChanged(dist);
+    }
+}
+
+void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double alt, quint64 time)
+{
+
+}
+
 void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
 {
     if (current_state == WP_GETLIST && systemId == current_partner_systemid && compId == current_partner_compid) {

src/uas/UASWaypointManager.h

@@ -38,6 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include "Waypoint.h"
 #include "QGCMAVLink.h"
 class UAS;
+class UASInterface;
 
 /**
  * @brief Implementation of the MAVLINK waypoint protocol
@@ -138,6 +139,8 @@ public slots:
     void loadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
     void notifyOfChange(Waypoint* wp);                     ///< Notifies manager to changes to a waypoint
     /*@}*/
+    void handleLocalPositionChanged(UASInterface* mav, double x, double y, double z, quint64 time);
+    void handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double alt, quint64 time);
 
 signals:
     void waypointListChanged(void);                 ///< emits signal that the waypoint list has been changed
@@ -145,6 +148,7 @@ signals:
     void waypointChanged(int uasid, Waypoint* wp);  ///< emits signal that waypoint has been changed
     void currentWaypointChanged(quint16);           ///< emits the new current waypoint sequence number
     void updateStatusString(const QString &);       ///< emits the current status string
+    void waypointDistanceChanged(double distance);   ///< Distance to next waypoint changed (in meters)
 
     void loadWPFile();                              ///< emits signal that a file wp has been load
     void readGlobalWPFromUAS(bool value);           ///< emits signal when finish to read Global WP from UAS

src/ui/MainWindow.cc

@@ -124,6 +124,15 @@ MainWindow::MainWindow(QWidget *parent):
     centerStack = new QStackedWidget(this);
     setCentralWidget(centerStack);
 
+    // Load Toolbar
+    toolBar = new QGCToolBar(this);
+    this->addToolBar(toolBar);
+    // Add actions
+    toolBar->addPerspectiveChangeAction(ui.actionOperatorsView);
+    toolBar->addPerspectiveChangeAction(ui.actionEngineersView);
+    toolBar->addPerspectiveChangeAction(ui.actionPilotsView);
+    toolBar->addPerspectiveChangeAction(ui.actionUnconnectedView);
+
     buildCommonWidgets();
     connectCommonWidgets();
 
@@ -348,7 +357,9 @@ void MainWindow::buildCommonWidgets()
     if (!logPlayerDockWidget)
     {
         logPlayerDockWidget = new QDockWidget(tr("MAVLink Log Player"), this);
-        logPlayerDockWidget->setWidget( new QGCMAVLinkLogPlayer(mavlink, this) );
+        logPlayer = new QGCMAVLinkLogPlayer(mavlink, this);
+        toolBar->setLogPlayer(logPlayer);
+        logPlayerDockWidget->setWidget(logPlayer);
         logPlayerDockWidget->setObjectName("MAVLINK_LOG_PLAYER_DOCKWIDGET");
         addTool(logPlayerDockWidget, tr("MAVLink Log Replay"), Qt::RightDockWidgetArea);
     }

src/ui/MainWindow.h

@@ -76,7 +76,7 @@ This file is part of the QGROUNDCONTROL project
 #include "SlugsPadCameraControl.h"
 #include "UASControlParameters.h"
 #include "QGCMAVLinkInspector.h"
-
+#include "QGCMAVLinkLogPlayer.h"
 #include "MAVLinkDecoder.h"
 
 class QGCMapTool;
@@ -213,6 +213,17 @@ public slots:
      */
     void showCentralWidget();
 
+public:
+    QGCMAVLinkLogPlayer* getLogPlayer()
+    {
+        return logPlayer;
+    }
+
+    MAVLinkProtocol* getMAVLink()
+    {
+        return mavlink;
+    }
+
 protected:
 
     MainWindow(QWidget *parent = 0);
@@ -332,7 +343,7 @@ protected:
 
     QPointer<QDockWidget> mavlinkInspectorWidget;
     QPointer<MAVLinkDecoder> mavlinkDecoder;
-
+    QGCMAVLinkLogPlayer* logPlayer;
 
     // Popup widgets
     JoystickWidget* joystickWidget;

src/ui/QGCMAVLinkLogPlayer.cc

@@ -20,6 +20,7 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
     loopCounter(0),
     mavlinkLogFormat(true),
     binaryBaudRate(57600),
+    isPlaying(false),
     ui(new Ui::QGCMAVLinkLogPlayer)
 {
     ui->setupUi(this);
@@ -33,8 +34,7 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
 
     // Setup buttons
     connect(ui->selectFileButton, SIGNAL(clicked()), this, SLOT(selectLogFile()));
-    connect(ui->pauseButton, SIGNAL(clicked()), this, SLOT(pause()));
-    connect(ui->playButton, SIGNAL(clicked()), this, SLOT(play()));
+    connect(ui->playButton, SIGNAL(clicked()), this, SLOT(playPauseToggle()));
     connect(ui->speedSlider, SIGNAL(valueChanged(int)), this, SLOT(setAccelerationFactorInt(int)));
     connect(ui->positionSlider, SIGNAL(valueChanged(int)), this, SLOT(jumpToSliderVal(int)));
     connect(ui->positionSlider, SIGNAL(sliderPressed()), this, SLOT(pause()));
@@ -49,12 +49,37 @@ QGCMAVLinkLogPlayer::~QGCMAVLinkLogPlayer()
     delete ui;
 }
 
+void QGCMAVLinkLogPlayer::playPause(bool enabled)
+{
+    if (enabled)
+    {
+        play();
+    }
+    else
+    {
+        pause();
+    }
+}
+
+void QGCMAVLinkLogPlayer::playPauseToggle()
+{
+    if (isPlaying)
+    {
+        pause();
+    }
+    else
+    {
+        play();
+    }
+}
+
 void QGCMAVLinkLogPlayer::play()
 {
-    if (logFile.isOpen()) {
-        ui->pauseButton->setChecked(false);
+    if (logFile.isOpen())
+    {
         ui->selectFileButton->setEnabled(false);
-        if (logLink) {
+        if (logLink)
+        {
             logLink->disconnect();
             LinkManager::instance()->removeLink(logLink);
             delete logLink;
@@ -62,9 +87,12 @@ void QGCMAVLinkLogPlayer::play()
         logLink = new MAVLinkSimulationLink("");
 
         // Start timer
-        if (mavlinkLogFormat) {
+        if (mavlinkLogFormat)
+        {
             loopTimer.start(1);
-        } else {
+        }
+        else
+        {
             // Read len bytes at a time
             int len = 100;
             // Calculate the number of times to read 100 bytes per second
@@ -73,7 +101,11 @@ void QGCMAVLinkLogPlayer::play()
             int interval = 1000 / ((binaryBaudRate / 10) / len);
             loopTimer.start(interval*accelerationFactor);
         }
-    } else {
+        isPlaying = true;
+        ui->playButton->setIcon(QIcon(":images/actions/media-playback-pause.svg"));
+    }
+    else
+    {
         ui->playButton->setChecked(false);
         QMessageBox msgBox;
         msgBox.setIcon(QMessageBox::Information);
@@ -87,10 +119,12 @@ void QGCMAVLinkLogPlayer::play()
 
 void QGCMAVLinkLogPlayer::pause()
 {
+    isPlaying = false;
     loopTimer.stop();
-    ui->playButton->setChecked(false);
+    ui->playButton->setIcon(QIcon(":images/actions/media-playback-start.svg"));
     ui->selectFileButton->setEnabled(true);
-    if (logLink) {
+    if (logLink)
+    {
         logLink->disconnect();
         LinkManager::instance()->removeLink(logLink);
         delete logLink;
@@ -101,36 +135,48 @@ void QGCMAVLinkLogPlayer::pause()
 bool QGCMAVLinkLogPlayer::reset(int packetIndex)
 {
     // Reset only for valid values
-    if (packetIndex >= 0 && packetIndex <= logFile.size() - (packetLen+timeLen)) {
-
+    const unsigned int packetSize = timeLen + packetLen;
+    if (packetIndex >= 0 && packetIndex*packetSize <= logFile.size() - packetSize)
+    {
         bool result = true;
         pause();
         loopCounter = 0;
         logFile.reset();
-        if (!logFile.seek(packetIndex*(timeLen + packetLen))) {
+
+        if (!logFile.seek(packetIndex*packetSize))
+        {
             // Fallback: Start from scratch
             logFile.reset();
             ui->logStatsLabel->setText(tr("Changing packet index failed, back to start."));
             result = false;
         }
 
-        ui->pauseButton->setChecked(true);
+        ui->playButton->setIcon(QIcon(":images/actions/media-playback-start.svg"));
         ui->positionSlider->blockSignals(true);
-        int sliderVal = (packetIndex / (double)(logFile.size()/(packetLen+timeLen))) * (ui->positionSlider->maximum() - ui->positionSlider->minimum());
+        int sliderVal = (packetIndex / (double)(logFile.size()/packetSize)) * (ui->positionSlider->maximum() - ui->positionSlider->minimum());
         ui->positionSlider->setValue(sliderVal);
         ui->positionSlider->blockSignals(false);
         startTime = 0;
         return result;
-    } else {
+    }
+    else
+    {
         return false;
     }
 }
 
-void QGCMAVLinkLogPlayer::selectLogFile()
+bool QGCMAVLinkLogPlayer::selectLogFile()
 {
-    QString fileName = QFileDialog::getOpenFileName(this, tr("Specify MAVLink log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("MAVLink or Binary Logfile (*.mavlink *.bin)"));
+    QString fileName = QFileDialog::getOpenFileName(this, tr("Specify MAVLink log file name to replay"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("MAVLink or Binary Logfile (*.mavlink *.bin *.log)"));
 
-    loadLogFile(fileName);
+    if (fileName == "")
+    {
+        return false;
+    }
+    else
+    {
+        return loadLogFile(fileName);
+    }
 }
 
 /**
@@ -141,14 +187,18 @@ void QGCMAVLinkLogPlayer::setAccelerationFactorInt(int factor)
     float f = factor+1.0f;
     f -= 50.0f;
 
-    if (f < 0.0f) {
+    if (f < 0.0f)
+    {
         accelerationFactor = 1.0f / (-f/2.0f);
-    } else {
+    }
+    else
+    {
         accelerationFactor = 1+(f/2.0f);
     }
 
     // Update timer interval
-    if (!mavlinkLogFormat) {
+    if (!mavlinkLogFormat)
+    {
         // Read len bytes at a time
         int len = 100;
         // Calculate the number of times to read 100 bytes per second
@@ -164,25 +214,31 @@ void QGCMAVLinkLogPlayer::setAccelerationFactorInt(int factor)
     ui->speedLabel->setText(tr("Speed: %1X").arg(accelerationFactor, 5, 'f', 2, '0'));
 }
 
-void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
+bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
 {
     // Check if logging is still enabled
-    if (mavlink->loggingEnabled()) {
+    if (mavlink->loggingEnabled())
+    {
         mavlink->enableLogging(false);
         MainWindow::instance()->showInfoMessage(tr("MAVLink Logging Stopped during Replay"), tr("MAVLink logging has been stopped during the log replay. To re-enable logging, use the link properties in the communication menu."));
     }
 
     // Ensure that the playback process is stopped
-    if (logFile.isOpen()) {
+    if (logFile.isOpen())
+    {
         pause();
         logFile.close();
     }
     logFile.setFileName(file);
 
-    if (!logFile.open(QFile::ReadOnly)) {
+    if (!logFile.open(QFile::ReadOnly))
+    {
         MainWindow::instance()->showCriticalMessage(tr("The selected logfile is unreadable"), tr("Please make sure that the file %1 is readable or select a different file").arg(file));
         logFile.setFileName("");
-    } else {
+        return false;
+    }
+    else
+    {
         QFileInfo logFileInfo(file);
         logFile.reset();
         startTime = 0;
@@ -191,7 +247,8 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
         // Select if binary or MAVLink log format is used
         mavlinkLogFormat = file.endsWith(".mavlink");
 
-        if (mavlinkLogFormat) {
+        if (mavlinkLogFormat)
+        {
             // Get the time interval from the logfile
             QByteArray timestamp = logFile.read(timeLen);
 
@@ -216,17 +273,21 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
 
             QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
             ui->logStatsLabel->setText(tr("%2 MB, %3 packets, %4").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64))).arg(timelabel));
-        } else {
+        }
+        else
+        {
             // Load in binary mode
 
             // Set baud rate if any present
             QStringList parts = logFileInfo.baseName().split("_");
 
-            if (parts.count() > 1) {
+            if (parts.count() > 1)
+            {
                 bool ok;
                 int rate = parts.last().toInt(&ok);
                 // 9600 baud to 100 MBit
-                if (ok && (rate > 9600 && rate < 100000000)) {
+                if (ok && (rate > 9600 && rate < 100000000))
+                {
                     // Accept this as valid baudrate
                     binaryBaudRate = rate;
                 }
@@ -241,6 +302,7 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
             QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
             ui->logStatsLabel->setText(tr("%2 MB, %4 at %5 KB/s").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(timelabel).arg(binaryBaudRate/10.0f/1024.0f, 0, 'f', 2));
         }
+        return true;
     }
 }
 
@@ -256,8 +318,10 @@ void QGCMAVLinkLogPlayer::jumpToSliderVal(int slidervalue)
     int packetIndex = (packetCount - 1) * (slidervalue / (double)(ui->positionSlider->maximum() - ui->positionSlider->minimum()));
 
     // Do only accept valid jumps
-    if (reset(packetIndex)) {
-        if (mavlinkLogFormat) {
+    if (reset(packetIndex))
+    {
+        if (mavlinkLogFormat)
+        {
             ui->logStatsLabel->setText(tr("Jumped to packet %1").arg(packetIndex));
         }
     }
@@ -273,15 +337,18 @@ void QGCMAVLinkLogPlayer::jumpToSliderVal(int slidervalue)
  */
 void QGCMAVLinkLogPlayer::logLoop()
 {
-    if (mavlinkLogFormat) {
+    if (mavlinkLogFormat)
+    {
         bool ok;
 
         // First check initialization
-        if (startTime == 0) {
+        if (startTime == 0)
+        {
             QByteArray startBytes = logFile.read(timeLen);
 
             // Check if the correct number of bytes could be read
-            if (startBytes.length() != timeLen) {
+            if (startBytes.length() != timeLen)
+            {
                 ui->logStatsLabel->setText(tr("Error reading first %1 bytes").arg(timeLen));
                 MainWindow::instance()->showCriticalMessage(tr("Failed loading MAVLink Logfile"), tr("Error reading first %1 bytes from logfile. Got %2 instead of %1 bytes. Is the logfile readable?").arg(timeLen).arg(startBytes.length()));
                 reset();
@@ -296,7 +363,8 @@ void QGCMAVLinkLogPlayer::logLoop()
             //qDebug() << "START TIME: " << startTime;
 
             // Check if these bytes could be correctly decoded
-            if (!ok) {
+            if (!ok)
+            {
                 ui->logStatsLabel->setText(tr("Error decoding first timestamp, aborting."));
                 MainWindow::instance()->showCriticalMessage(tr("Failed loading MAVLink Logfile"), tr("Could not load initial timestamp from file %1. Is the file corrupted?").arg(logFile.fileName()));
                 reset();
@@ -313,7 +381,8 @@ void QGCMAVLinkLogPlayer::logLoop()
         emit bytesReady(logLink, packet);
 
         // Check if reached end of file before reading next timestamp
-        if (chunk.length() < timeLen+packetLen || logFile.atEnd()) {
+        if (chunk.length() < timeLen+packetLen || logFile.atEnd())
+        {
             // Reached end of file
             reset();
 
@@ -329,12 +398,15 @@ void QGCMAVLinkLogPlayer::logLoop()
         // This is the timestamp of the next packet
         quint64 time = *((quint64*)(rawTime.constData()));
         ok = true;
-        if (!ok) {
+        if (!ok)
+        {
             // Convert it to 64bit number
             QString status = tr("Time conversion error during log replay. Continuing..");
             ui->logStatsLabel->setText(status);
             MainWindow::instance()->showStatusMessage(status);
-        } else {
+        }
+        else
+        {
             // Normal processing, passed all checks
             // start timer to match time offset between
             // this and next packet
@@ -350,13 +422,18 @@ void QGCMAVLinkLogPlayer::logLoop()
 
             //qDebug() << "nextExecutionTime:" << nextExecutionTime << "QGC START TIME:" << currentStartTime << "LOG START TIME:" << startTime;
 
-            if (nextExecutionTime < 2) {
+            if (nextExecutionTime < 2)
+            {
                 logLoop();
-            } else {
+            }
+            else
+            {
                 loopTimer.start(nextExecutionTime);
             }
         }
-    } else {
+    }
+    else
+    {
         // Binary format - read at fixed rate
         const int len = 100;
         QByteArray chunk = logFile.read(len);
@@ -365,7 +442,8 @@ void QGCMAVLinkLogPlayer::logLoop()
         emit bytesReady(logLink, chunk);
 
         // Check if reached end of file before reading next timestamp
-        if (chunk.length() < len || logFile.atEnd()) {
+        if (chunk.length() < len || logFile.atEnd())
+        {
             // Reached end of file
             reset();
 
@@ -380,7 +458,8 @@ void QGCMAVLinkLogPlayer::logLoop()
 
     // Update status label
     // Update progress bar
-    if (loopCounter % 40 == 0) {
+    if (loopCounter % 40 == 0)
+    {
         QFileInfo logFileInfo(logFile);
         int progress = (ui->positionSlider->maximum()-ui->positionSlider->minimum())*(logFile.pos()/static_cast<float>(logFileInfo.size()));
         //qDebug() << "Progress:" << progress;
@@ -394,7 +473,8 @@ void QGCMAVLinkLogPlayer::logLoop()
 void QGCMAVLinkLogPlayer::changeEvent(QEvent *e)
 {
     QWidget::changeEvent(e);
-    switch (e->type()) {
+    switch (e->type())
+    {
     case QEvent::LanguageChange:
         ui->retranslateUi(this);
         break;

src/ui/QGCMAVLinkLogPlayer.h

@@ -27,8 +27,21 @@ class QGCMAVLinkLogPlayer : public QWidget
 public:
     explicit QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *parent = 0);
     ~QGCMAVLinkLogPlayer();
+    bool isPlayingLogFile()
+    {
+        return isPlaying;
+    }
+
+    bool isLogFileSelected()
+    {
+        return logFile.isOpen();
+    }
 
 public slots:
+    /** @brief Toggle between play and pause */
+    void playPauseToggle();
+    /** @brief Play / pause the log */
+    void playPause(bool play);
     /** @brief Replay the logfile */
     void play();
     /** @brief Pause the logfile */
@@ -36,9 +49,9 @@ public slots:
     /** @brief Reset the logfile */
     bool reset(int packetIndex=0);
     /** @brief Select logfile */
-    void selectLogFile();
+    bool selectLogFile();
     /** @brief Load log file */
-    void loadLogFile(const QString& file);
+    bool loadLogFile(const QString& file);
     /** @brief Jump to a position in the logfile */
     void jumpToSliderVal(int slidervalue);
     /** @brief The logging mainloop */
@@ -64,6 +77,7 @@ protected:
     int loopCounter;
     bool mavlinkLogFormat;
     int binaryBaudRate;
+    bool isPlaying;
     static const int packetLen = MAVLINK_MAX_PACKET_LEN;
     static const int timeLen = sizeof(quint64);
     void changeEvent(QEvent *e);

src/ui/QGCMAVLinkLogPlayer.ui

@@ -75,32 +75,6 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="5">
-    <widget class="QToolButton" name="pauseButton">
-     <property name="toolTip">
-      <string>Pause the logfile</string>
-     </property>
-     <property name="statusTip">
-      <string>Pause the logfile</string>
-     </property>
-     <property name="whatsThis">
-      <string>Pause the logfile</string>
-     </property>
-     <property name="text">
-      <string>...</string>
-     </property>
-     <property name="icon">
-      <iconset resource="../../mavground.qrc">
-       <normaloff>:/images/actions/media-playback-pause.svg</normaloff>:/images/actions/media-playback-pause.svg</iconset>
-     </property>
-     <property name="checkable">
-      <bool>true</bool>
-     </property>
-     <property name="checked">
-      <bool>true</bool>
-     </property>
-    </widget>
-   </item>
    <item row="1" column="0">
     <widget class="QLabel" name="speedLabel">
      <property name="toolTip">
@@ -117,7 +91,23 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="4">
+   <item row="4" column="0" colspan="6">
+    <widget class="QSlider" name="positionSlider">
+     <property name="maximum">
+      <number>10000</number>
+     </property>
+     <property name="pageStep">
+      <number>100</number>
+     </property>
+     <property name="tracking">
+      <bool>false</bool>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="5">
     <widget class="QToolButton" name="playButton">
      <property name="toolTip">
       <string>Start to replay the logfile</string>
@@ -132,7 +122,7 @@
       <string>...</string>
      </property>
      <property name="icon">
-      <iconset resource="../../mavground.qrc">
+      <iconset resource="../../qgroundcontrol.qrc">
        <normaloff>:/images/actions/media-playback-start.svg</normaloff>:/images/actions/media-playback-start.svg</iconset>
      </property>
      <property name="checkable">
@@ -140,26 +130,10 @@
      </property>
     </widget>
    </item>
-   <item row="4" column="0" colspan="6">
-    <widget class="QSlider" name="positionSlider">
-     <property name="maximum">
-      <number>10000</number>
-     </property>
-     <property name="pageStep">
-      <number>100</number>
-     </property>
-     <property name="tracking">
-      <bool>false</bool>
-     </property>
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-    </widget>
-   </item>
   </layout>
  </widget>
  <resources>
-  <include location="../../mavground.qrc"/>
+  <include location="../../qgroundcontrol.qrc"/>
  </resources>
  <connections/>
 </ui>

src/ui/QGCToolBar.cc

@@ -25,22 +25,134 @@ This file is part of the QGROUNDCONTROL project
 #include <QLabel>
 #include "QGCToolBar.h"
 #include "UASManager.h"
+#include "MainWindow.h"
 
 QGCToolBar::QGCToolBar(QWidget *parent) :
     QToolBar(parent),
     toggleLoggingAction(NULL),
     logReplayAction(NULL),
-    mav(NULL)
+    mav(NULL),
+    player(NULL)
 {
     setObjectName("QGC_TOOLBAR");
-    createCustomWidgets();
+
+    toggleLoggingAction = new QAction(QIcon(":"), "Logging", this);
+    toggleLoggingAction->setCheckable(true);
+    logReplayAction = new QAction(QIcon(":"), "Replay", this);
+    logReplayAction->setCheckable(true);
+
+    addSeparator();
+
+    addAction(toggleLoggingAction);
+    addAction(logReplayAction);
+
+    // CREATE TOOLBAR ITEMS
+    // Add internal actions
+    // Add MAV widget
+    symbolButton = new QToolButton(this);
+    toolBarNameLabel = new QLabel("------", this);
+    toolBarModeLabel = new QLabel("------", this);
+    toolBarModeLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 14px; color: #3C7B9E; }");
+    toolBarStateLabel = new QLabel("------", this);
+    toolBarStateLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 14px; color: #FEC654; }");
+    toolBarWpLabel = new QLabel("WP--", this);
+    toolBarWpLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 18px; color: #3C7B9E; }");
+    toolBarDistLabel = new QLabel("--- ---- m", this);
+    toolBarMessageLabel = new QLabel("No system messages.", this);
+    toolBarMessageLabel->setStyleSheet("QLabel { margin: 0px 4px; font: 12px; font-style: italic; color: #3C7B9E; }");
+    toolBarBatteryBar = new QProgressBar(this);
+    toolBarBatteryBar->setStyleSheet("QProgressBar:horizontal { margin: 0px 4px 0px 0px; border: 1px solid #4A4A4F; border-radius: 4px; text-align: center; padding: 2px; color: #111111; background-color: #111118; height: 10px; } QProgressBar:horizontal QLabel { font-size: 9px; color: #111111; } QProgressBar::chunk { background-color: green; }");
+    toolBarBatteryBar->setMinimum(0);
+    toolBarBatteryBar->setMaximum(100);
+    toolBarBatteryBar->setMinimumWidth(200);
+    toolBarBatteryBar->setMaximumWidth(200);
+    toolBarBatteryVoltageLabel = new QLabel("xx.x V");
+    toolBarBatteryVoltageLabel->setStyleSheet(QString("QLabel { margin: 0px 0px 0px 4px; font: 14px; color: %1; }").arg(QColor(Qt::green).name()));
+    //symbolButton->setIcon(":");
+    symbolButton->setStyleSheet("QWidget { background-color: #050508; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px 0px 0px 20px; background-color: none; }");
+    addWidget(symbolButton);
+    addWidget(toolBarNameLabel);
+    addWidget(toolBarModeLabel);
+    addWidget(toolBarStateLabel);
+    addWidget(toolBarBatteryBar);
+    addWidget(toolBarBatteryVoltageLabel);
+    addWidget(toolBarWpLabel);
+    addWidget(toolBarDistLabel);
+    addWidget(toolBarMessageLabel);
+    //addWidget(new QSpacerItem(20, 0, QSizePolicy::Expanding));
+
+    // DONE INITIALIZING BUTTONS
+
     setActiveUAS(UASManager::instance()->getActiveUAS());
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
 }
 
+void QGCToolBar::setLogPlayer(QGCMAVLinkLogPlayer* player)
+{
+    this->player = player;
+    connect(toggleLoggingAction, SIGNAL(triggered(bool)), this, SLOT(playLogFile(bool)));
+    connect(logReplayAction, SIGNAL(triggered(bool)), this, SLOT(logging(bool)));
+}
+
+void QGCToolBar::playLogFile(bool enabled)
+{
+    // Check if player exists
+    if (player)
+    {
+        // If a logfile is already replayed, stop the replay
+        // and select a new logfile
+        if (player->isPlayingLogFile())
+        {
+            player->playPause(false);
+            if (enabled)
+            {
+                if (!player->selectLogFile()) return;
+            }
+        }
+        // If no replaying happens already, start it
+        else
+        {
+            if (!player->selectLogFile()) return;
+        }
+        player->playPause(enabled);
+    }
+}
+
+void QGCToolBar::logging(bool enabled)
+{
+    // Stop logging in any case
+    MainWindow::instance()->getMAVLink()->enableLogging(false);
+    if (enabled)
+    {
+        QString fileName = QFileDialog::getSaveFileName(this, tr("Specify MAVLink log file to save to"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("MAVLink Logfile (*.mavlink *.log *.bin);;"));
+
+        if (!fileName.endsWith(".mavlink"))
+        {
+            fileName.append(".mavlink");
+        }
+
+        QFileInfo file(fileName);
+        if (file.exists() && !file.isWritable())
+        {
+            QMessageBox msgBox;
+            msgBox.setIcon(QMessageBox::Critical);
+            msgBox.setText(tr("The selected logfile is not writable"));
+            msgBox.setInformativeText(tr("Please make sure that the file %1 is writable or select a different file").arg(fileName));
+            msgBox.setStandardButtons(QMessageBox::Ok);
+            msgBox.setDefaultButton(QMessageBox::Ok);
+            msgBox.exec();
+        }
+        else
+        {
+            MainWindow::instance()->getMAVLink()->setLogfileName(fileName);
+            MainWindow::instance()->getMAVLink()->enableLogging(true);
+        }
+    }
+}
+
 void QGCToolBar::addPerspectiveChangeAction(QAction* action)
 {
-    addAction(action);
+    insertAction(toggleLoggingAction, action);
 }
 
 void QGCToolBar::setActiveUAS(UASInterface* active)
@@ -56,6 +168,12 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
         disconnect(mav, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
         disconnect(mav, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
         disconnect(mav, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
+        disconnect(mav, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int)));
+        if (mav->getWaypointManager())
+        {
+            disconnect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(int)), this, SLOT(updateCurrentWaypoint(int)));
+            disconnect(mav->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double)));
+        }
     }
 
     // Connect new system
@@ -65,61 +183,62 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
     connect(active, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
     connect(active, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
     connect(active, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
+    connect(active, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int)));
+    if (active->getWaypointManager())
+    {
+        connect(active->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
+        connect(active->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double)));
+    }
 
     // Update all values once
-    nameLabel->setText(mav->getUASName());
-    modeLabel->setText(mav->getShortMode());
-    stateLabel->setText(mav->getShortState());
+    toolBarNameLabel->setText(mav->getUASName());
+    toolBarNameLabel->setStyleSheet(QString("QLabel { font: bold 16px; color: %1; }").arg(mav->getColor().name()));
+    symbolButton->setStyleSheet(QString("QWidget { background-color: %1; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px 4px 0px 20px; background-color: none; }").arg(mav->getColor().name()));
+    toolBarModeLabel->setText(mav->getShortMode());
+    toolBarStateLabel->setText(mav->getShortState());
     setSystemType(mav, mav->getSystemType());
 }
 
 void QGCToolBar::createCustomWidgets()
 {
-    // Add internal actions
-    // Add MAV widget
-    symbolButton = new QToolButton(this);
-    nameLabel = new QLabel("------", this);
-    modeLabel = new QLabel("------", this);
-    stateLabel = new QLabel("------", this);
-    wpLabel = new QLabel("---", this);
-    distlabel = new QLabel("--- ---- m", this);
-    messageLabel = new QLabel("No system messages.", this);
-    //symbolButton->setIcon(":");
-    symbolButton->setStyleSheet("QWidget { background-color: #050508; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px; background-color: none; }");
-    addWidget(symbolButton);
-    addWidget(nameLabel);
-    addWidget(modeLabel);
-    addWidget(stateLabel);
-    addWidget(wpLabel);
-    addWidget(distlabel);
-    addWidget(messageLabel);
 
-    toggleLoggingAction = new QAction(QIcon(":"), "Start Logging", this);
-    logReplayAction = new QAction(QIcon(":"), "Start Replay", this);
+}
+
+void QGCToolBar::updateWaypointDistance(double distance)
+{
+    toolBarDistLabel->setText(tr("%1 m").arg(distance, 6, 'f', 2, '0'));
+}
 
-    //addAction(toggleLoggingAction);
-    //addAction(logReplayAction);
+void QGCToolBar::updateCurrentWaypoint(quint16 id)
+{
+    toolBarWpLabel->setText(tr("WP%1").arg(id));
+}
 
-    addSeparator();
+void QGCToolBar::updateBatteryRemaining(UASInterface* uas, double voltage, double percent, int seconds)
+{
+    Q_UNUSED(uas);
+    Q_UNUSED(seconds);
+    toolBarBatteryBar->setValue(percent);
+    toolBarBatteryVoltageLabel->setText(tr("%1 V").arg(voltage, 4, 'f', 1, ' '));
 }
 
 void QGCToolBar::updateState(UASInterface* system, QString name, QString description)
 {
     Q_UNUSED(system);
     Q_UNUSED(description);
-    stateLabel->setText(tr(" State: %1").arg(name));
+    toolBarStateLabel->setText(tr("%1").arg(name));
 }
 
 void QGCToolBar::updateMode(int system, QString name, QString description)
 {
     Q_UNUSED(system);
     Q_UNUSED(description);
-    modeLabel->setText(tr(" Mode: %1").arg(name));
+    toolBarModeLabel->setText(tr("%1").arg(name));
 }
 
 void QGCToolBar::updateName(const QString& name)
 {
-    nameLabel->setText(name);
+    toolBarNameLabel->setText(name);
 }
 
 /**
@@ -163,7 +282,7 @@ void QGCToolBar::receiveTextMessage(int uasid, int componentid, int severity, QS
     Q_UNUSED(uasid);
     Q_UNUSED(componentid);
     Q_UNUSED(severity);
-    messageLabel->setText(text);
+    toolBarMessageLabel->setText(text);
 }
 
 QGCToolBar::~QGCToolBar()

src/ui/QGCToolBar.h

@@ -28,14 +28,16 @@ This file is part of the QGROUNDCONTROL project
 #include <QAction>
 #include <QToolButton>
 #include <QLabel>
+#include <QProgressBar>
 #include "UASInterface.h"
+#include "QGCMAVLinkLogPlayer.h"
 
 class QGCToolBar : public QToolBar
 {
     Q_OBJECT
 
 public:
-    explicit QGCToolBar(QWidget *parent = 0);
+    explicit QGCToolBar(QWidget* parent = 0);
     void addPerspectiveChangeAction(QAction* action);
     ~QGCToolBar();
 
@@ -52,6 +54,18 @@ public slots:
     void setSystemType(UASInterface* uas, unsigned int systemType);
     /** @brief Received system text message */
     void receiveTextMessage(int uasid, int componentid, int severity, QString text);
+    /** @brief Start / stop logging */
+    void logging(bool enabled);
+    /** @brief Start playing logfile */
+    void playLogFile(bool enabled);
+    /** @brief Set log playing component */
+    void setLogPlayer(QGCMAVLinkLogPlayer* player);
+    /** @brief Update battery charge state */
+    void updateBatteryRemaining(UASInterface* uas, double voltage, double percent, int seconds);
+    /** @brief Update current waypoint */
+    void updateCurrentWaypoint(quint16 id);
+    /** @brief Update distance to current waypoint */
+    void updateWaypointDistance(double distance);
 
 protected:
     void createCustomWidgets();
@@ -60,12 +74,15 @@ protected:
     QAction* logReplayAction;
     UASInterface* mav;
     QToolButton* symbolButton;
-    QLabel* nameLabel;
-    QLabel* modeLabel;
-    QLabel* stateLabel;
-    QLabel* wpLabel;
-    QLabel* distlabel;
-    QLabel* messageLabel;
+    QLabel* toolBarNameLabel;
+    QLabel* toolBarModeLabel;
+    QLabel* toolBarStateLabel;
+    QLabel* toolBarWpLabel;
+    QLabel* toolBarDistLabel;
+    QLabel* toolBarMessageLabel;
+    QProgressBar* toolBarBatteryBar;
+    QLabel* toolBarBatteryVoltageLabel;
+    QGCMAVLinkLogPlayer* player;
 };
 
 #endif // QGCTOOLBAR_H

src/ui/uas/UASListWidget.cc

@@ -114,6 +114,7 @@ void UASListWidget::activeUAS(UASInterface* uas)
 
 void UASListWidget::removeUAS(UASInterface* uas)
 {
+    uasViews.remove(uas);
     listLayout->removeWidget(uasViews.value(uas));
     uasViews.value(uas)->deleteLater();
 }