merged

files/styles/style-indoor.css

@@ -178,8 +178,8 @@ QDoubleSpinBox::down-button {
 }
 
 QPushButton {
-    min-height: 20px;
-    max-height: 20px;
+    /*min-height: 20px;*/
+    /*max-height: 20px;*/
 	border: 1px solid #465158;
     margin: 1px;
 	border-radius: 2px;

files/styles/style-outdoor.css

@@ -184,8 +184,8 @@ QDoubleSpinBox::down-button {
 
 QPushButton {
 	font-weight: bold;
-	min-height: 18px;
-	max-height: 18px;
+	/*min-height: 18px;*/
+	/*max-height: 18px;*/
 	border: 2px solid #4A4A4F;
 	border-radius: 5px;
 	padding-left: 10px;

src/configuration.h

@@ -11,7 +11,7 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 1.0.9 (beta)"
+#define QGC_APPLICATION_VERSION "v. 1.0.10 (beta)"
 
 namespace QGC
 

src/uas/UAS.cc

@@ -1148,13 +1148,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_STATUSTEXT:
         {
             QByteArray b;
-            b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
+            b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
             mavlink_msg_statustext_get_text(&message, b.data());
-            //b.append('\0');
+            // Ensure NUL-termination
+            b[b.length()-1] = '\0';
             QString text = QString(b);
             int severity = mavlink_msg_statustext_get_severity(&message);
-            //qDebug() << "RECEIVED STATUS:" << text;false
-            //emit statusTextReceived(severity, text);
 
             if (text.startsWith("#audio:"))
             {

src/ui/DebugConsole.cc

@@ -93,14 +93,23 @@ DebugConsole::DebugConsole(QWidget *parent) :
     // Update measurements the first time
     updateTrafficMeasurements();
 
+    // First connect management slots, then make sure to add all existing objects
+    // Connect to link manager to get notified about new links
+    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
+    // Connect to UAS manager to get notified about new UAS
+    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(uasCreated(UASInterface*)));
+
     // Get a list of all existing links
     links = QList<LinkInterface*>();
     foreach (LinkInterface* link, LinkManager::instance()->getLinks()) {
         addLink(link);
     }
 
-    // Connect to link manager to get notified about new links
-    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
+    // Get a list of all existing UAS
+    foreach (UASInterface* uas, UASManager::instance()->getUASList()) {
+        uasCreated(uas);
+    }
+
     // Connect link combo box
     connect(m_ui->linkComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(linkSelected(int)));
     // Connect send button
@@ -169,6 +178,12 @@ void DebugConsole::storeSettings()
     //qDebug() << "Storing settings!";
 }
 
+void DebugConsole::uasCreated(UASInterface* uas)
+{
+    connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)),
+            this, SLOT(receiveTextMessage(int,int,int,QString)), Qt::UniqueConnection);
+}
+
 /**
  * Add a link to the debug console output
  */
@@ -183,8 +198,8 @@ void DebugConsole::addLink(LinkInterface* link)
     linkSelected(m_ui->linkComboBox->currentIndex());
 
     // Register for name changes
-    connect(link, SIGNAL(nameChanged(QString)), this, SLOT(updateLinkName(QString)));
-    connect(link, SIGNAL(deleteLink(LinkInterface* const)), this, SLOT(removeLink(LinkInterface* const)));
+    connect(link, SIGNAL(nameChanged(QString)), this, SLOT(updateLinkName(QString)), Qt::UniqueConnection);
+    connect(link, SIGNAL(deleteLink(LinkInterface* const)), this, SLOT(removeLink(LinkInterface* const)), Qt::UniqueConnection);
 }
 
 void DebugConsole::removeLink(LinkInterface* const linkInterface)

src/ui/DebugConsole.h

@@ -45,6 +45,8 @@ namespace Ui
 class DebugConsole;
 }
 
+class UASInterface;
+
 /**
  * @brief Shows a debug console
  *
@@ -61,6 +63,8 @@ public:
 public slots:
     /** @brief Add a link to the list of monitored links */
     void addLink(LinkInterface* link);
+    /** @brief Add a UAS to the list of monitored UAS */
+    void uasCreated(UASInterface* uas);
     /** @brief Remove a link from the list */
     void removeLink(LinkInterface* const link);
     /** @brief Update a link name */

src/ui/HDDisplay.cc

@@ -128,8 +128,8 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
     if (font.family() != fontFamilyName) qDebug() << "ERROR! Font not loaded: " << fontFamilyName;
 
     // Connect with UAS
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
-    //start();
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)), Qt::UniqueConnection);
+    setActiveUAS(UASManager::instance()->getActiveUAS());
 }
 
 HDDisplay::~HDDisplay()
@@ -476,6 +476,8 @@ void HDDisplay::renderOverlay()
  */
 void HDDisplay::setActiveUAS(UASInterface* uas)
 {
+    if (!uas)
+        return;
     // Disconnect any previously connected active UAS
     if (this->uas != NULL) {
         removeSource(this->uas);

src/ui/HSIDisplay.cc

@@ -178,6 +178,8 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
     connect(&statusClearTimer, SIGNAL(timeout()), this, SLOT(clearStatusMessage()));
     statusClearTimer.start(3000);
 
+    setActiveUAS(UASManager::instance()->getActiveUAS());
+
     setFocusPolicy(Qt::StrongFocus);
 }
 

src/ui/MainWindow.cc

@@ -1730,43 +1730,17 @@ void MainWindow::UASCreated(UASInterface* uas)
             break;
         }
 
+        // XXX The multi-UAS selection menu has been disabled for now,
+        // its redundant with right-clicking the UAS in the list.
+        // this code piece might be removed later if this is the final
+        // conclusion (May 2013)
 //        QAction* uasAction = new QAction(icon, tr("Select %1 for control").arg(uas->getUASName()), ui.menuConnected_Systems);
 //        connect(uas, SIGNAL(systemRemoved()), uasAction, SLOT(deleteLater()));
 //        connect(uasAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
-        connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
-
 //        ui.menuConnected_Systems->addAction(uasAction);
 
-        // FIXME Should be not inside the mainwindow
-        if (debugConsoleDockWidget)
-        {
-            DebugConsole *debugConsole = dynamic_cast<DebugConsole*>(debugConsoleDockWidget->widget());
-            if (debugConsole)
-            {
-                connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)),
-                        debugConsole, SLOT(receiveTextMessage(int,int,int,QString)));
-            }
-        }
-
-        // Health / System status indicator
-        if (infoDockWidget)
-        {
-            UASInfoWidget *infoWidget = dynamic_cast<UASInfoWidget*>(infoDockWidget->widget());
-            if (infoWidget)
-            {
-                infoWidget->addUAS(uas);
-            }
-        }
 
-        // UAS List
-        if (listDockWidget)
-        {
-            UASListWidget *listWidget = dynamic_cast<UASListWidget*>(listDockWidget->widget());
-            if (listWidget)
-            {
-                listWidget->addUAS(uas);
-            }
-        }
+        connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
 
         // HIL
         showHILConfigurationWidget(uas);
@@ -1778,25 +1752,12 @@ void MainWindow::UASCreated(UASInterface* uas)
 
         }
 
-
-        // Line chart
-        //if (!linechartWidget)
-        //{
-
-            // Center widgets
-
-            //linechartWidget->addSystem(uas);
-
-            linechartWidget->addSource(mavlinkDecoder);
-            //addCentralWidget(linechartWidget, tr("Realtime Plot"));
-            if (dataView->centralWidget() != linechartWidget)
-            {
-                dataView->setCentralWidget(linechartWidget);
-                linechartWidget->show();
-            }
-            //dataView->setCentralWidget(linechartWidget);
-            //linechartWidget->show();
-        //}
+        linechartWidget->addSource(mavlinkDecoder);
+        if (dataView->centralWidget() != linechartWidget)
+        {
+            dataView->setCentralWidget(linechartWidget);
+            linechartWidget->show();
+        }
 
         // Load default custom widgets for this autopilot type
         loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName());

src/ui/MainWindow.ui

@@ -89,6 +89,7 @@
     </property>
     <addaction name="actionNewCustomWidget"/>
     <addaction name="actionLoadCustomWidgetFile"/>
+    <addaction name="separator"/>
    </widget>
    <widget class="QMenu" name="menuHelp">
     <property name="title">

src/ui/PrimaryFlightDisplay.cpp

@@ -9,7 +9,8 @@
 #include <QPainter>
 #include <QPainterPath>
 #include <QResizeEvent>
-#include <math.h>
+//#include <math.h>
+#include <cmath>
 
 /*
  *@TODO:
@@ -17,6 +18,10 @@
  * repaint on demand multiple canvases
  * multi implementation with shared model class
  */
+double round(double value, int digits=0)
+{
+  return floor(value * pow(10, digits) + 0.5) / pow(10, digits);
+}
 
 const int PrimaryFlightDisplay::tickValues[] = {10, 20, 30, 45, 60};
 const QString PrimaryFlightDisplay::compassWindNames[] = {
@@ -35,7 +40,8 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
 
     roll(0),
     pitch(0),
-    heading(NAN),
+    //    heading(NAN),
+    heading(0),
     aboveASLAltitude(0),
     GPSAltitude(0),
     aboveHomeAltitude(0),
@@ -80,7 +86,8 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
 
     // Refresh timer
     refreshTimer->setInterval(updateInterval);
-    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
+    //    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
+    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(update()));
 }
 
 PrimaryFlightDisplay::~PrimaryFlightDisplay()
@@ -165,9 +172,9 @@ void PrimaryFlightDisplay::updateAttitude(UASInterface* uas, double roll, double
     if (!isnan(roll) && !isinf(roll) && !isnan(pitch) && !isinf(pitch) && !isnan(yaw) && !isinf(yaw))
     {
         // TODO: Units conversion?
-        this->roll = roll;
-        this->pitch = pitch;
-        this->heading = yaw;
+        this->roll = roll * (180.0 / M_PI);
+        this->pitch = pitch * (180.0 / M_PI);
+        this->heading = yaw * (180.0 / M_PI);
     }
     // TODO: Else-part. We really should have an "attitude bad or unknown" indication instead of just freezing.
 
@@ -309,7 +316,7 @@ void PrimaryFlightDisplay::paintEvent(QPaintEvent *event)
     // the event is ignored as this widget
     // is refreshed automatically
     Q_UNUSED(event);
-    makeDummyData();
+    //makeDummyData();
     doPaint();
 }
 
@@ -319,7 +326,7 @@ void PrimaryFlightDisplay::paintOnTimer() {
      *The whole tainted-flag shebang.
      *well not really so critical. Worst problem is deletion?
      */
-    makeDummyData();
+    //makeDummyData();
     doPaint();
 }
 

src/ui/QGCVehicleConfig.cc

@@ -44,6 +44,12 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
     setObjectName("QGC_VEHICLECONFIG");
     ui->setupUi(this);
 
+    connect(ui->rcMenuButton,SIGNAL(clicked()),this,SLOT(rcMenuButtonClicked()));
+    connect(ui->sensorMenuButton,SIGNAL(clicked()),this,SLOT(sensorMenuButtonClicked()));
+    connect(ui->generalMenuButton,SIGNAL(clicked()),this,SLOT(generalMenuButtonClicked()));
+    connect(ui->advancedMenuButton,SIGNAL(clicked()),this,SLOT(advancedMenuButtonClicked()));
+
+
     requestCalibrationRC();
     if (mav) mav->requestParameter(0, "RC_TYPE");
 
@@ -89,6 +95,25 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
     connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateView()));
     updateTimer.start();
 }
+void QGCVehicleConfig::rcMenuButtonClicked()
+{
+    ui->stackedWidget->setCurrentIndex(0);
+}
+
+void QGCVehicleConfig::sensorMenuButtonClicked()
+{
+    ui->stackedWidget->setCurrentIndex(1);
+}
+
+void QGCVehicleConfig::generalMenuButtonClicked()
+{
+    ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-2);
+}
+
+void QGCVehicleConfig::advancedMenuButtonClicked()
+{
+    ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-1);
+}
 
 QGCVehicleConfig::~QGCVehicleConfig()
 {
@@ -247,8 +272,18 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
     //Load tabs for general configuration
     foreach (QString dir,generaldir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
     {
-        QWidget *tab = new QWidget(ui->tabWidget);
-        ui->tabWidget->insertTab(2,tab,dir);
+        QPushButton *button = new QPushButton(ui->scrollAreaWidgetContents_3);
+        connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
+        ui->navBarLayout->insertWidget(2,button);
+        button->setMinimumHeight(100);
+        button->setMinimumWidth(100);
+        button->show();
+        button->setText(dir);
+        //QWidget *tab = new QWidget(ui->tabWidget);
+        //ui->tabWidget->insertTab(2,tab,dir);
+        QWidget *tab = new QWidget(ui->stackedWidget);
+        ui->stackedWidget->insertWidget(2,tab);
+        buttonToWidgetMap[button] = tab;
         tab->setLayout(new QVBoxLayout());
         tab->show();
         QScrollArea *area = new QScrollArea();
@@ -283,8 +318,20 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
     //Load tabs for vehicle specific configuration
     foreach (QString dir,vehicledir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
     {
-        QWidget *tab = new QWidget(ui->tabWidget);
-        ui->tabWidget->insertTab(2,tab,dir);
+        //QWidget *tab = new QWidget(ui->tabWidget);
+        //ui->tabWidget->insertTab(2,tab,dir);
+        QPushButton *button = new QPushButton(ui->scrollAreaWidgetContents_3);
+        connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
+        ui->navBarLayout->insertWidget(2,button);
+
+        QWidget *tab = new QWidget(ui->stackedWidget);
+        ui->stackedWidget->insertWidget(2,tab);
+        buttonToWidgetMap[button] = tab;
+
+        button->setMinimumHeight(100);
+        button->setMinimumWidth(100);
+        button->show();
+        button->setText(dir);
         tab->setLayout(new QVBoxLayout());
         tab->show();
         QScrollArea *area = new QScrollArea();
@@ -362,6 +409,19 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
 
 
 }
+void QGCVehicleConfig::menuButtonClicked()
+{
+    QPushButton *button = qobject_cast<QPushButton*>(sender());
+    if (!button)
+    {
+        return;
+    }
+    if (buttonToWidgetMap.contains(button))
+    {
+        ui->stackedWidget->setCurrentWidget(buttonToWidgetMap[button]);
+    }
+
+}
 
 void QGCVehicleConfig::loadConfig()
 {

src/ui/QGCVehicleConfig.h

@@ -5,6 +5,7 @@
 #include <QTimer>
 #include <QList>
 #include <QGroupBox>
+#include <QPushButton>
 
 #include "QGCToolWidget.h"
 #include "UASInterface.h"
@@ -29,6 +30,11 @@ public:
     };
 
 public slots:
+    void rcMenuButtonClicked();
+    void sensorMenuButtonClicked();
+    void generalMenuButtonClicked();
+    void advancedMenuButtonClicked();
+
     /** Set the MAV currently being calibrated */
     void setActiveUAS(UASInterface* active);
     /** Fallback function, automatically called by loadConfig() upon failure to find and xml file*/
@@ -125,6 +131,7 @@ public slots:
     }
 
 protected slots:
+    void menuButtonClicked();
     /** Reset the RC calibration */
     void resetCalibrationRC();
     /** Write the RC calibration */
@@ -183,7 +190,7 @@ protected:
     
 private:
     Ui::QGCVehicleConfig *ui;
-
+    QMap<QPushButton*,QWidget*> buttonToWidgetMap;
 signals:
     void visibilityChanged(bool visible);
 };

src/ui/QGCWaypointListMulti.cc

@@ -15,6 +15,12 @@ QGCWaypointListMulti::QGCWaypointListMulti(QWidget *parent) :
     WaypointList* list = new WaypointList(ui->stackedWidget, NULL);
     lists.insert(offline_uas_id, list);
     ui->stackedWidget->addWidget(list);
+
+    if (UASManager::instance()->getActiveUAS()) {
+        systemCreated(UASManager::instance()->getActiveUAS());
+        systemSetActive(UASManager::instance()->getActiveUAS()->getUASID());
+    }
+
 }
 
 void QGCWaypointListMulti::systemDeleted(QObject* uas)

src/ui/uas/UASInfoWidget.cc

@@ -34,7 +34,7 @@ This file is part of the PIXHAWK project
 #include <float.h>
 #include <UASInfoWidget.h>
 #include <UASManager.h>
-#include <MG.h>
+#include <QGC.h>
 #include <QTimer>
 #include <QDir>
 #include <cstdlib>
@@ -46,20 +46,12 @@ UASInfoWidget::UASInfoWidget(QWidget *parent, QString name) : QWidget(parent)
 {
     ui.setupUi(this);
     this->name = name;
-
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
-
     activeUAS = NULL;
 
-    //instruments = new QMap<QString, QProgressBar*>();
-
-    // Set default battery type
-    //    setBattery(0, LIPOLY, 3);
-    startTime = MG::TIME::getGroundTimeNow();
-    //    startVoltage = 0.0f;
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+    setActiveUAS(UASManager::instance()->getActiveUAS());
 
-    //    lastChargeLevel = 0.5f;
-    //    lastRemainingTime = 1;
+    startTime = QGC::groundTimeMilliseconds();
 
     // Set default values
     /** Set two voltage decimals and zero charge level decimals **/
@@ -117,7 +109,8 @@ void UASInfoWidget::addUAS(UASInterface* uas)
 
 void UASInfoWidget::setActiveUAS(UASInterface* uas)
 {
-    activeUAS = uas;
+    if (uas)
+        activeUAS = uas;
 }
 
 void UASInfoWidget::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)

src/ui/uas/UASListWidget.cc

@@ -67,6 +67,11 @@ UASListWidget::UASListWidget(QWidget *parent) : QWidget(parent), m_ui(new Ui::UA
     this->setVisible(false);
 
     connect(UASManager::instance(),SIGNAL(UASCreated(UASInterface*)),this,SLOT(addUAS(UASInterface*)));
+
+    // Get a list of all existing UAS
+    foreach (UASInterface* uas, UASManager::instance()->getUASList()) {
+        addUAS(uas);
+    }
 }
 
 UASListWidget::~UASListWidget()