diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index 4f5b9d9..0552381 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -94,7 +94,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
if(wp->seq == current_wp_id)
{
//update the UI FIXME
- emit waypointUpdated(uas.getUASID(), wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current);
+ emit waypointUpdated(uas.getUASID(), wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->orbit, wp->hold_time);
//get next waypoint
current_wp_id++;
@@ -237,7 +237,8 @@ void UASWaypointManager::sendWaypoints(const QVector<Waypoint*> &list)
cur_d->autocontinue = cur_s->getAutoContinue();
cur_d->current = cur_s->getCurrent();
- cur_d->orbit = 0.1f; //FIXME
+ cur_d->orbit = cur_s->getOrbit();
+ cur_d->hold_time = cur_s->getHoldTime();
cur_d->type = 1; //FIXME
cur_d->seq = i;
cur_d->x = cur_s->getX();
diff --git a/src/uas/UASWaypointManager.h b/src/uas/UASWaypointManager.h
index 247feac..8e7e745 100644
--- a/src/uas/UASWaypointManager.h
+++ b/src/uas/UASWaypointManager.h
@@ -71,7 +71,7 @@ public slots:
void sendWaypoints(const QVector<Waypoint *> &list);
signals:
- void waypointUpdated(int,quint16,double,double,double,double,bool,bool); ///< Adds a waypoint to the waypoint list widget
+ void waypointUpdated(int,quint16,double,double,double,double,bool,bool,double,int); ///< Adds a waypoint to the waypoint list widget
void currentWaypointChanged(quint16); ///< emits the new current waypoint sequence number
void updateStatusString(const QString &); ///< emits the current status string
diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index 34c7963..7c5468c 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -450,7 +450,7 @@ void HSIDisplay::updatePositionSetpoints(int uasid, float xDesired, float yDesir
bodyYawSet = yawDesired;
mavInitialized = true;
- qDebug() << "Received setpoint at x: " << x << "metric y:" << y;
+// qDebug() << "Received setpoint at x: " << x << "metric y:" << y;
// posXSet = xDesired;
// posYSet = yDesired;
// posZSet = zDesired;
diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index 622b675..39fe085 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -96,7 +96,7 @@ void WaypointList::setUAS(UASInterface* uas)
this->uas = uas;
connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
- connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,quint16,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,quint16,double,double,double,double,bool,bool)));
+ connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,quint16,double,double,double,double,bool,bool,double,int)), this, SLOT(setWaypoint(int,quint16,double,double,double,double,bool,bool,double,int)));
connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(this, SIGNAL(sendWaypoints(const QVector<Waypoint*> &)), &uas->getWaypointManager(), SLOT(sendWaypoints(const QVector<Waypoint*> &)));
@@ -105,11 +105,11 @@ void WaypointList::setUAS(UASInterface* uas)
}
}
-void WaypointList::setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current)
+void WaypointList::setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime)
{
if (uasId == this->uas->getUASID())
{
- Waypoint* wp = new Waypoint(id, x, y, z, yaw, autocontinue, current);
+ Waypoint* wp = new Waypoint(id, x, y, z, yaw, autocontinue, current, orbit, holdTime);
addWaypoint(wp);
}
}
@@ -168,11 +168,11 @@ void WaypointList::add()
{
if (waypoints.size() > 0)
{
- addWaypoint(new Waypoint(waypoints.size(), 1.1, 1.1, -0.6, 0.0, true, false));
+ addWaypoint(new Waypoint(waypoints.size(), 1.1, 1.1, -0.6, 0.0, true, false, 0.1, 2000));
}
else
{
- addWaypoint(new Waypoint(waypoints.size(), 0.0, 0.0, -0.0, 0.0, true, true));
+ addWaypoint(new Waypoint(waypoints.size(), 1.1, 1.1, -0.6, 0.0, true, true, 0.1, 2000));
}
}
}
@@ -302,7 +302,7 @@ void WaypointList::saveWaypoints()
for (int i = 0; i < waypoints.size(); i++)
{
Waypoint* wp = waypoints[i];
- in << "~" << wp->getId() << "~" << wp->getX() << "~" << wp->getY() << "~" << wp->getZ() << "~" << wp->getYaw() << "~" << wp->getAutoContinue() << "~" << wp->getCurrent() << "\n";
+ in << "\t" << wp->getId() << "\t" << wp->getX() << "\t" << wp->getY() << "\t" << wp->getZ() << "\t" << wp->getYaw() << "\t" << wp->getAutoContinue() << "\t" << wp->getCurrent() << wp->getOrbit() << "\t" << wp->getHoldTime() << "\n";
in.flush();
}
file.close();
@@ -323,9 +323,9 @@ void WaypointList::loadWaypoints()
QTextStream in(&file);
while (!in.atEnd())
{
- QStringList wpParams = in.readLine().split("~");
+ QStringList wpParams = in.readLine().split("\t");
if (wpParams.size() == 8)
- addWaypoint(new Waypoint(wpParams[1].toInt(), wpParams[2].toDouble(), wpParams[3].toDouble(), wpParams[4].toDouble(), wpParams[5].toDouble(), (wpParams[6].toInt() == 1 ? true : false), (wpParams[7].toInt() == 1 ? true : false)));
+ addWaypoint(new Waypoint(wpParams[1].toInt(), wpParams[2].toDouble(), wpParams[3].toDouble(), wpParams[4].toDouble(), wpParams[5].toDouble(), (wpParams[6].toInt() == 1 ? true : false), (wpParams[7].toInt() == 1 ? true : false), wpParams[8].toDouble(), wpParams[9].toInt()));
}
file.close();
}
diff --git a/src/ui/WaypointList.h b/src/ui/WaypointList.h
index fecd118..1164b9f 100644
--- a/src/ui/WaypointList.h
+++ b/src/ui/WaypointList.h
@@ -72,7 +72,7 @@ public slots:
void currentWaypointChanged(quint16 seq);
//To be moved to UASWaypointManager (?)
- void setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current);
+ void setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime);
void addWaypoint(Waypoint* wp);
void removeWaypoint(Waypoint* wp);
void waypointReached(UASInterface* uas, quint16 waypointId);
diff --git a/src/ui/WaypointView.cc b/src/ui/WaypointView.cc
index 17e0919..bb79f74 100644
--- a/src/ui/WaypointView.cc
+++ b/src/ui/WaypointView.cc
@@ -54,7 +54,9 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
m_ui->selectedBox->setChecked(wp->getCurrent());
m_ui->autoContinue->setChecked(wp->getAutoContinue());
- m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
+ m_ui->idLabel->setText(QString("%1").arg(wp->getId()));\
+ m_ui->orbitSpinBox->setValue(wp->getOrbit());
+ m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
@@ -70,6 +72,9 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(changedAutoContinue(int)));
connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
+
+ connect(m_ui->orbitSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setOrbit(double)));
+ connect(m_ui->holdTimeSpinBox, SIGNAL(valueChanged(int)), wp, SLOT(setHoldTime(int)));
}
void WaypointView::setYaw(int yawDegree)
diff --git a/src/ui/WaypointView.ui b/src/ui/WaypointView.ui
index 123485c..97f8013 100644
--- a/src/ui/WaypointView.ui
+++ b/src/ui/WaypointView.ui
@@ -323,7 +323,7 @@ QProgressBar::chunk#thrustBar {
<number>500</number>
</property>
<property name="value">
- <number>2000</number>
+ <number>0</number>
</property>
</widget>
</item>