Merge branch 'experimental' of git://github.com/tecnosapiens/qgroundcontrol into mergeRemote

src/uas/SlugsMAV.cc

@@ -137,7 +137,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
       case MAVLINK_MSG_ID_PID:              //182
           memset(&mlSinglePid,0,sizeof(mavlink_pid_t));
           mavlink_msg_pid_decode(&message, &mlSinglePid);
-          qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
+        //  qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
 
           emit slugsPidValues(uasId, mlSinglePid);
 
@@ -220,7 +220,7 @@ void SlugsMAV::emitSignals (void){
 #ifdef MAVLINK_ENABLED_SLUGS
 void SlugsMAV::emitGpsSignals (void){
 
-    qDebug()<<"After Emit GPS Signal"<<mlGpsData.fix_type;
+   // qDebug()<<"After Emit GPS Signal"<<mlGpsData.fix_type;
 
 
     //ToDo Uncomment if. it was comment only to test
@@ -248,7 +248,7 @@ void SlugsMAV::emitGpsSignals (void){
 
 void SlugsMAV::emitPidSignal()
 {
-     qDebug() << "\nSLUGS RECEIVED PID Message";
+    // qDebug() << "\nSLUGS RECEIVED PID Message";
     emit slugsPidValues(uasId, mlSinglePid);
 
 }

src/uas/UASWaypointManager.cc

@@ -31,6 +31,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "UASWaypointManager.h"
 #include "UAS.h"
+#include "mavlink_types.h"
 
 #define PROTOCOL_TIMEOUT_MS 2000    ///< maximum time to wait for pending messages until timeout
 #define PROTOCOL_DELAY_MS 40        ///< minimum delay between sent messages
@@ -600,22 +601,26 @@ void UASWaypointManager::sendWaypointRequest(quint16 seq)
 void UASWaypointManager::sendWaypoint(quint16 seq)
 {
     mavlink_message_t message;
+    qDebug() <<" WP Buffer count: "<<waypoint_buffer.count();
 
     if (seq < waypoint_buffer.count())
     {
+
         mavlink_waypoint_t *wp;
 
+
         wp = waypoint_buffer.at(seq);
         wp->target_system = uas.getUASID();
         wp->target_component = MAV_COMP_ID_WAYPOINTPLANNER;
 
         emit updateStatusString(QString("sending waypoint ID %1 of %2 total").arg(wp->seq).arg(current_count));
 
+        qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system<<" WP Buffer count: "<<waypoint_buffer.count();
+
         mavlink_msg_waypoint_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, wp);
         uas.sendMessage(message);
         MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000);
 
-        qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system;
     }
 }
 

src/ui/SlugsDataSensorView.cc

@@ -104,7 +104,7 @@ void SlugsDataSensorView::slugsGlobalPositionChanged(UASInterface *uas,
  ui->m_GpsLongitude->setText(QString::number(lon));
  ui->m_GpsHeight->setText(QString::number(alt));
 
- qDebug()<<"GPS Position = "<<lat<<" - "<<lon<<" - "<<alt;
+ //qDebug()<<"GPS Position = "<<lat<<" - "<<lon<<" - "<<alt;
 }
 
 
@@ -154,7 +154,7 @@ void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
     ui->m_Pitch->setPlainText(QString::number(slugpitch));
     ui->m_Yaw->setPlainText(QString::number(slugyaw));
 
-     qDebug()<<"Attitude change = "<<slugroll<<" - "<<slugpitch<<" - "<<slugyaw;
+    // qDebug()<<"Attitude change = "<<slugroll<<" - "<<slugpitch<<" - "<<slugyaw;
 
 }
 

src/ui/SlugsPadCameraControl.cpp

@@ -27,15 +27,12 @@ SlugsPadCameraControl::~SlugsPadCameraControl()
 void SlugsPadCameraControl::mouseMoveEvent(QMouseEvent *event)
 {
     //emit mouseMoveCoord(event->x(),event->y());
+
     if(dragging)
     {
-        if(abs(x1-event->x())>20 || abs(y1-event->y())>20)
-        {
 
-            getDeltaPositionPad(event->x(), event->y());
-            x1 = event->x();
-            y1 = event->y();
-        }
+      // getDeltaPositionPad(event->x(), event->y());
+
     }
 
 
@@ -54,7 +51,7 @@ void SlugsPadCameraControl::mouseReleaseEvent(QMouseEvent *event)
 {
      dragging = false;
     //emit mouseReleaseCoord(event->x(),event->y());
-    //getDeltaPositionPad(event->x(), event->y());
+    getDeltaPositionPad(event->x(), event->y());
 
      xFin = event->x();
      yFin = event->y();
@@ -105,6 +102,10 @@ void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
     double bearing = localMeasures.x();
     double dist = getDistPixel(y1,x1,y2,x2);
 
+    // this only convert real bearing to frame widget bearing
+    bearing = bearing +90;
+    if(bearing>= 360) bearing = bearing - 360;
+
 
 
     if(((bearing > 330)&&(bearing < 360)) || ((bearing >= 0)&&(bearing <= 30)))
@@ -210,16 +211,9 @@ double SlugsPadCameraControl::getDistPixel(int x1, int y1, int x2, int y2)
       // distancia = (float) hipotenusa;
 }
 
-/**
-                * Esta función xxxxxxxxx
-                * @param double lat1 -->
-                * @param double lon1 -->
-                * @param double lat2 -->
-                * @param double lon2 -->
-                * @param ref double rumbo -->
-                * @param ref double distancia -->
-                */
-QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2)
+
+QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1,
+                                                              double lon2, double lat2)
 {
     double cateto_opuesto,cateto_adyacente, hipotenusa, distancia, marcacion;
 
@@ -256,9 +250,7 @@ QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, doubl
     else if((lat1 == lat2) && (lon1 == lon2)) //0
         marcacion = 0.0;
 
-    // this only convert real bearing to frame widget bearing
-    marcacion = marcacion +90;
-    if(marcacion>= 360) marcacion = marcacion - 360;
+
 
     return QPointF(marcacion,distancia);
 

src/ui/SlugsPadCameraControl.h

@@ -19,12 +19,16 @@ public:
 
 public slots:
     void getDeltaPositionPad(int x, int y);
+
+
+
     double getDistPixel(int x1, int y1, int x2, int y2);
     QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2);
     QPointF getPointBy_BearingDistance(double lat1, double lon1, double rumbo, double distancia);
 
 
 
+
 signals:
     void mouseMoveCoord(int x, int y);
     void mousePressCoord(int x, int y);

src/ui/SlugsVideoCamControl.ui

@@ -22,10 +22,10 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <item row="0" column="0">
-    <layout class="QVBoxLayout" name="verticalLayout">
-     <item>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="0" column="0">
       <widget class="QLabel" name="label_x">
        <property name="mouseTracking">
         <bool>true</bool>
@@ -35,7 +35,7 @@
        </property>
       </widget>
      </item>
-     <item>
+     <item row="0" column="1">
       <widget class="QLabel" name="label_y">
        <property name="mouseTracking">
         <bool>true</bool>
@@ -45,21 +45,17 @@
        </property>
       </widget>
      </item>
-     <item>
-      <widget class="QLabel" name="label_dir">
+     <item row="1" column="1">
+      <widget class="QCheckBox" name="viewCamBordeatMap_checkBox">
        <property name="text">
-        <string>Camera Pos</string>
+        <string>Camera at Map</string>
        </property>
       </widget>
      </item>
-    </layout>
-   </item>
-   <item row="1" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <item>
-      <widget class="QCheckBox" name="viewCamBordeatMap_checkBox">
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_dir">
        <property name="text">
-        <string>Camera at Map</string>
+        <string>Camera Pos</string>
        </property>
       </widget>
      </item>