OP-52 Big update to GPS gadget: now supports a new mode, "Telemetry", to display the onboard GPS data, including GPS constellation.

This is not tested in Windows yet - I will do this on another machine ASAP. It might break the serial mode as well, I just lack time to test everything but I will eventually do it.



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1498 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/gpsdisplay/gpsconstellationwidget.cpp

@@ -0,0 +1,150 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gpsconstellationwidget.cpp
+ * @author     Edouard Lafargue Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup GPSGadgetPlugin GPS Gadget Plugin
+ * @{
+ * @brief A widget which displays the GPS constellation
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "gpsconstellationwidget.h"
+
+#include <QtGui>
+#include <QDebug>
+
+
+
+/*
+ * Initialize the widget
+ */
+GpsConstellationWidget::GpsConstellationWidget(QWidget *parent) : QGraphicsView(parent)
+{
+
+    // Create a layout, add a QGraphicsView and put the SVG inside.
+    // The constellation widget looks like this:
+    // |--------------------|
+    // |                    |
+    // |                    |
+    // |     Constellation  |
+    // |                    |
+    // |                    |
+    // |                    |
+    // |--------------------|
+
+
+    setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+    setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+
+    QGraphicsScene *scene = new QGraphicsScene(this);
+    QSvgRenderer *renderer = new QSvgRenderer();
+    world = new QGraphicsSvgItem();
+    renderer->load(QString(":/gpsgadget/images/gpsEarth.svg"));
+    world->setSharedRenderer(renderer);
+    world->setElementId("map");
+    scene->addItem(world);
+    scene->setSceneRect(world->boundingRect());
+    setScene(scene);
+
+    // Now create 16 satellite icons which we will move around on the map:
+    for (int i=0; i<16;i++) {
+        satIcons[i] = new QGraphicsSvgItem();
+        satIcons[i]->setSharedRenderer(renderer);
+        satIcons[i]->setElementId("sat-notSeen");
+        satIcons[i]->setParentItem(world);
+
+    }
+
+}
+
+GpsConstellationWidget::~GpsConstellationWidget()
+{
+
+}
+
+void GpsConstellationWidget::showEvent(QShowEvent *event)
+{
+    Q_UNUSED(event)
+    // Thit fitInView method should only be called now, once the
+    // widget is shown, otherwise it cannot compute its values and
+    // the result is usually a ahrsbargraph that is way too small.
+    fitInView(world, Qt::KeepAspectRatio);
+    // Scale, can't use fitInView since that doesn't work until we're shown.
+ //   qreal factor = height()/world->boundingRect().height();
+//    world->setScale(factor);
+ //   setSceneRect(world->boundingRect());
+
+}
+
+
+void GpsConstellationWidget::updateSat(int index, int prn, int elevation, int azimuth, int snr)
+{
+    if (index > 16)
+        return; // A bit of error checking never hurts.
+    // TODO: add range checking
+    satellites[index][0] = prn;
+    satellites[index][1] = elevation;
+    satellites[index][2] = azimuth;
+    satellites[index][3] = snr;
+
+    if (prn) {
+        QPointF opd = polarToCoord(elevation,azimuth);
+        opd += QPointF(-satIcons[index]->boundingRect().center().x(),
+                       -satIcons[index]->boundingRect().center().y());
+        satIcons[index]->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), false);
+        if (snr)
+            satIcons[index]->setElementId("satellite");
+        else
+            satIcons[index]->setElementId("sat-notSeen");
+        satIcons[index]->show();
+
+    } else {
+        satIcons[index]->hide();
+    }
+
+}
+
+/**
+  Converts the elevation/azimuth to X/Y coordinates on the map
+
+  */
+QPointF GpsConstellationWidget::polarToCoord(int elevation, int azimuth)
+{
+    double x;
+    double y;
+    double rad_elevation;
+    double rad_azimuth;
+
+
+    rad_elevation = M_PI*elevation/180;
+    rad_azimuth = M_PI*azimuth/180;
+
+    x = cos(rad_elevation)*sin(rad_azimuth);
+    y = -cos(rad_elevation)*cos(rad_azimuth);
+
+    x = world->boundingRect().width()/2 * x;
+    y = world->boundingRect().height()/2 * y;
+
+    x = (world->boundingRect().width() / 2) + x;
+    y = (world->boundingRect().height() / 2) + y;
+
+    return QPointF(x,y);
+
+}

ground/src/plugins/gpsdisplay/gpsconstellationwidget.h

@@ -0,0 +1,62 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gpsconstellationwidget.h
+ * @author     Edouard Lafargue Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup GPSGadgetPlugin GPS Gadget Plugin
+ * @{
+ * @brief A widget which displays the GPS constellation
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef GPSCONSTELLATIONWIDGET_H_
+#define GPSCONSTELLATIONWIDGET_H_
+
+#include <QGraphicsView>
+#include <QtSvg/QSvgRenderer>
+#include <QtSvg/QGraphicsSvgItem>
+
+
+class GpsConstellationWidget : public QGraphicsView
+{
+    Q_OBJECT
+
+public:
+    GpsConstellationWidget(QWidget *parent = 0);
+   ~GpsConstellationWidget();
+
+public slots:
+   void updateSat(int index, int prn, int elevation, int azimuth, int snr);
+
+
+private slots:
+
+private:
+   int satellites[16][4];
+   QGraphicsSvgItem* satIcons[16];
+   QGraphicsSvgItem *world;
+   QGraphicsView *gpsConstellation;
+   QPointF polarToCoord(int elevation, int azimuth);
+
+protected:
+    void showEvent(QShowEvent *event);
+
+
+};
+#endif /* GPSCONSTELLATIONWIDGET_H_ */

ground/src/plugins/gpsdisplay/gpsdisplay.pro

@@ -5,7 +5,10 @@ include(../../openpilotgcsplugin.pri)
 include(../../plugins/coreplugin/coreplugin.pri)
 include(gpsdisplay_dependencies.pri)
 include(../../libs/qwt/qwt.pri)
-HEADERS += gpsdisplayplugin.h
+HEADERS += gpsdisplayplugin.h \
+    gpsconstellationwidget.h \
+    gpsparser.h \
+    telemetryparser.h
 HEADERS += buffer.h
 HEADERS += nmeaparser.h
 HEADERS += gpsdisplaygadget.h
@@ -13,7 +16,10 @@ HEADERS += gpsdisplaywidget.h
 HEADERS += gpsdisplaygadgetfactory.h
 HEADERS += gpsdisplaygadgetconfiguration.h
 HEADERS += gpsdisplaygadgetoptionspage.h
-SOURCES += gpsdisplayplugin.cpp
+SOURCES += gpsdisplayplugin.cpp \
+    gpsconstellationwidget.cpp \
+    gpsparser.cpp \
+    telemetryparser.cpp
 SOURCES += buffer.cpp
 SOURCES += nmeaparser.cpp
 SOURCES += gpsdisplaygadget.cpp

ground/src/plugins/gpsdisplay/gpsdisplaygadget.cpp

@@ -48,6 +48,8 @@ GpsDisplayGadget::~GpsDisplayGadget()
 void GpsDisplayGadget::loadConfiguration(IUAVGadgetConfiguration* config)
 {
     GpsDisplayGadgetConfiguration *m = qobject_cast< GpsDisplayGadgetConfiguration*>(config);
+
+    if (m->connectionMode() == "Serial") {
         PortSettings portsettings;
         portsettings.BaudRate=m->speed();
         portsettings.DataBits=m->dataBits();
@@ -66,7 +68,14 @@ void GpsDisplayGadget::loadConfiguration(IUAVGadgetConfiguration* config)
                 QextSerialPort *port=new QextSerialPort(nport.physName,portsettings,QextSerialPort::EventDriven);
 #endif
                 //Creates new serial port with the user configuration and passes it to the widget
+                m_widget->setParser(QString("Serial"));
                 m_widget->setPort(port);
             }
         }
+    } else if (m->connectionMode() == "Telemetry") {
+        m_widget->setParser(QString("Telemetry"));
+
+    } else if (m->connectionMode() == "Network") {
+       // Not implemented for now...
+    }
 }

ground/src/plugins/gpsdisplay/gpsdisplaygadgetconfiguration.cpp

@@ -35,6 +35,7 @@
  */
 GpsDisplayGadgetConfiguration::GpsDisplayGadgetConfiguration(QString classId, const QByteArray &state, QObject *parent) :
     IUAVGadgetConfiguration(classId, parent),
+    m_connectionMode("Serial"),
     m_defaultPort("Unknown"),
     m_defaultSpeed(BAUD4800),
     m_defaultDataBits(DATA_8),
@@ -42,7 +43,6 @@ GpsDisplayGadgetConfiguration::GpsDisplayGadgetConfiguration(QString classId, co
     m_defaultParity(PAR_NONE),
     m_defaultStopBits(STOP_1),
     m_defaultTimeOut(5000)
-
 {
     //if a saved configuration exists load it
     if (state.count() > 0) {
@@ -58,12 +58,14 @@ GpsDisplayGadgetConfiguration::GpsDisplayGadgetConfiguration(QString classId, co
         int iparity;
         int istopbits;
         QString port;
+        QString conMode;
         stream >> ispeed;
         stream >> idatabits;
         stream >>iflow;
         stream >>iparity;
         stream >> istopbits;
         stream >> port;
+        stream >> conMode;
 
         databits = (DataBitsType) idatabits;
         flow = (FlowType)iflow;
@@ -76,6 +78,7 @@ GpsDisplayGadgetConfiguration::GpsDisplayGadgetConfiguration(QString classId, co
         m_defaultFlow = flow;
         m_defaultParity = parity;
         m_defaultStopBits = stopbits;
+        m_connectionMode = conMode;
 
     }
 
@@ -95,6 +98,7 @@ IUAVGadgetConfiguration *GpsDisplayGadgetConfiguration::clone()
     m->m_defaultParity = m_defaultParity;
     m->m_defaultStopBits = m_defaultStopBits;
     m->m_defaultPort = m_defaultPort;
+    m->m_connectionMode = m_connectionMode;
     return m;
 }
 
@@ -112,5 +116,6 @@ QByteArray GpsDisplayGadgetConfiguration::saveState() const
     stream << (int)m_defaultParity;
     stream << (int)m_defaultStopBits;
     stream << m_defaultPort;
+    stream << m_connectionMode;
     return bytes;
 }

ground/src/plugins/gpsdisplay/gpsdisplaygadgetconfiguration.h

@@ -39,6 +39,9 @@ class GpsDisplayGadgetConfiguration : public IUAVGadgetConfiguration
     public:
         explicit GpsDisplayGadgetConfiguration(QString classId, const QByteArray &state = 0, QObject *parent = 0);
 
+        void setConnectionMode(QString mode) { m_connectionMode = mode; }
+        QString connectionMode() { return m_connectionMode; }
+
         //set port configuration functions
         void setSpeed(BaudRateType speed) {m_defaultSpeed=speed;}
         void setDataBits(DataBitsType databits) {m_defaultDataBits=databits;}
@@ -61,6 +64,7 @@ class GpsDisplayGadgetConfiguration : public IUAVGadgetConfiguration
         IUAVGadgetConfiguration *clone();
 
     private:
+        QString m_connectionMode;
         QString m_defaultPort;
         BaudRateType m_defaultSpeed;
         DataBitsType m_defaultDataBits;

ground/src/plugins/gpsdisplay/gpsdisplaygadgetoptionspage.cpp

@@ -227,6 +227,13 @@ QWidget *GpsDisplayGadgetOptionsPage::createPage(QWidget *parent)
     // TIMEOUT
     options_page->timeoutSpinBox->setValue(m_config->timeOut());
 
+    QStringList connectionModes;
+    connectionModes << "Serial" << "Network" << "Telemetry";
+    options_page->connectionMode->addItems(connectionModes);
+    int conMode = options_page->connectionMode->findText(m_config->connectionMode());
+    if (conMode != -1)
+       options_page->connectionMode->setCurrentIndex(conMode);
+
 
     return optionsPageWidget;
 }
@@ -249,6 +256,8 @@ void GpsDisplayGadgetOptionsPage::apply()
     m_config->setStopBits((StopBitsType)StopBitsTypeStringALL.indexOf(options_page->stopBitsComboBox->currentText()));
     m_config->setParity((ParityType)ParityTypeStringALL.indexOf(options_page->parityComboBox->currentText()));
     m_config->setTimeOut( options_page->timeoutSpinBox->value());
+    m_config->setConnectionMode(options_page->connectionMode->currentText());
+
 }
 
 void GpsDisplayGadgetOptionsPage::finish()

ground/src/plugins/gpsdisplay/gpsdisplaygadgetoptionspage.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>486</width>
+    <width>587</width>
-    <height>300</height>
+    <height>359</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -38,13 +38,13 @@
        <string>Mode:</string>
       </property>
      </widget>
-     <widget class="QComboBox" name="comboBox">
+     <widget class="QComboBox" name="connectionMode">
       <property name="geometry">
        <rect>
         <x>50</x>
-        <y>10</y>
+        <y>1</y>
-        <width>69</width>
+        <width>101</width>
-        <height>22</height>
+        <height>31</height>
        </rect>
       </property>
      </widget>
@@ -64,84 +64,84 @@
      <widget class="QWidget" name="formLayoutWidget">
       <property name="geometry">
        <rect>
-        <x>50</x>
+        <x>10</x>
-        <y>50</y>
+        <y>73</y>
-        <width>421</width>
+        <width>221</width>
-        <height>201</height>
+        <height>261</height>
        </rect>
       </property>
       <layout class="QFormLayout" name="formLayout">
        <property name="fieldGrowthPolicy">
         <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
        </property>
-       <item row="1" column="0">
+       <item row="0" column="0">
         <widget class="QLabel" name="portLabel">
          <property name="text">
           <string>Port:</string>
          </property>
         </widget>
        </item>
-       <item row="1" column="1">
+       <item row="0" column="1">
         <widget class="QComboBox" name="portComboBox"/>
        </item>
-       <item row="2" column="0">
+       <item row="1" column="0">
         <widget class="QLabel" name="portSpeedLabel">
          <property name="text">
           <string>Port Speed:</string>
          </property>
         </widget>
        </item>
-       <item row="2" column="1">
+       <item row="1" column="1">
         <widget class="QComboBox" name="portSpeedComboBox"/>
        </item>
-       <item row="3" column="0">
+       <item row="2" column="0">
         <widget class="QLabel" name="flowControlLabel">
          <property name="text">
           <string>Flow Control:</string>
          </property>
         </widget>
        </item>
-       <item row="3" column="1">
+       <item row="2" column="1">
         <widget class="QComboBox" name="flowControlComboBox"/>
        </item>
-       <item row="4" column="0">
+       <item row="3" column="0">
         <widget class="QLabel" name="dataBitsLabel">
          <property name="text">
           <string>Data Bits:</string>
          </property>
         </widget>
        </item>
-       <item row="4" column="1">
+       <item row="3" column="1">
         <widget class="QComboBox" name="dataBitsComboBox"/>
        </item>
-       <item row="5" column="0">
+       <item row="4" column="0">
         <widget class="QLabel" name="stopBitsLabel">
          <property name="text">
           <string>Stop Bits:</string>
          </property>
         </widget>
        </item>
-       <item row="5" column="1">
+       <item row="4" column="1">
         <widget class="QComboBox" name="stopBitsComboBox"/>
        </item>
-       <item row="6" column="0">
+       <item row="5" column="0">
         <widget class="QLabel" name="parityLabel">
          <property name="text">
           <string>Parity:</string>
          </property>
         </widget>
        </item>
-       <item row="6" column="1">
+       <item row="5" column="1">
         <widget class="QComboBox" name="parityComboBox"/>
        </item>
-       <item row="7" column="0">
+       <item row="6" column="0">
         <widget class="QLabel" name="timeoutLabel">
          <property name="text">
           <string>Timeout(ms):</string>
          </property>
         </widget>
        </item>
-       <item row="7" column="1">
+       <item row="6" column="1">
         <widget class="QSpinBox" name="timeoutSpinBox">
          <property name="maximum">
           <number>100000</number>
@@ -150,6 +150,32 @@
        </item>
       </layout>
      </widget>
+     <widget class="QLabel" name="label_3">
+      <property name="geometry">
+       <rect>
+        <x>280</x>
+        <y>50</y>
+        <width>111</width>
+        <height>17</height>
+       </rect>
+      </property>
+      <property name="text">
+       <string>IP Connection</string>
+      </property>
+     </widget>
+     <widget class="QLabel" name="label_2">
+      <property name="geometry">
+       <rect>
+        <x>60</x>
+        <y>50</y>
+        <width>125</width>
+        <height>17</height>
+       </rect>
+      </property>
+      <property name="text">
+       <string>Serial Connection</string>
+      </property>
+     </widget>
     </widget>
    </item>
   </layout>

ground/src/plugins/gpsdisplay/gpsdisplaywidget.cpp

@@ -34,6 +34,7 @@
 #include <QtGui>
 #include <QDebug>
 #include "nmeaparser.h"
+#include "telemetryparser.h"
 
 
 
@@ -45,20 +46,6 @@ GpsDisplayWidget::GpsDisplayWidget(QWidget *parent) : QWidget(parent)
     widget = new Ui_GpsDisplayWidget();
     widget->setupUi(this);
 
-    QGraphicsScene *scene = new QGraphicsScene(this);
-    QSvgRenderer *renderer = new QSvgRenderer();
-    QGraphicsSvgItem *world = new QGraphicsSvgItem();
-    renderer->load(QString(":/gpsgadget/images/gpsEarth.svg"));
-    world->setSharedRenderer(renderer);
-    world->setElementId("map");
-    scene->addItem(world);
-    scene->setSceneRect(world->boundingRect());
-    widget->gpsWorld->setScene(scene);
-
-    // Scale, can't use fitInView since that doesn't work until we're shown.
-    qreal factor = widget->gpsWorld->size().height()/world->boundingRect().height();
-    world->setScale(factor);
-
     //Not elegant, just load the image for now
     QGraphicsScene *fescene = new QGraphicsScene(this);
     QPixmap earthpix( ":/gpsgadget/images/flatEarth.png" );
@@ -69,14 +56,6 @@ GpsDisplayWidget::GpsDisplayWidget(QWidget *parent) : QWidget(parent)
             this,SLOT(connectButtonClicked()));
     connect(widget->disconnectButton, SIGNAL(clicked(bool)),
             this,SLOT(disconnectButtonClicked()));
-    parser=new NMEAParser();
-    connect(parser,SIGNAL(sv(int)),this,SLOT(setSVs(int)));
-    connect(parser,SIGNAL(position(double,double,double)),this,SLOT(setPosition(double,double,double)));
-    connect(parser,SIGNAL(speedheading(double,double)),this,SLOT(setSpeedHeading(double,double)));
-    connect(parser,SIGNAL(datetime(double,double)),this,SLOT(setDateTime(double,double)));
-    connect(parser,SIGNAL(packet(char*)), this, SLOT(dumpPacket(char*)));
-
-    port = NULL;
 }
 
 GpsDisplayWidget::~GpsDisplayWidget()
@@ -143,16 +122,38 @@ void GpsDisplayWidget::setPosition(double lat, double lon, double alt)
     //widget->textBrowser->append(temp);
 }
 
+
 void GpsDisplayWidget::setPort(QextSerialPort* port)
 {
 
     this->port=port;
 }
 
-void GpsDisplayWidget::setParser(NMEAParser* parser)
+void GpsDisplayWidget::setParser(QString connectionMode)
 {
 
-    this->parser=parser;
+    if (connectionMode == "Serial") {
+        parser = new NMEAParser();
+        widget->connectButton->setEnabled(true);
+        widget->disconnectButton->setEnabled(false);
+
+    } else if (connectionMode == "Telemetry") {
+        parser = new TelemetryParser();
+        widget->connectButton->setEnabled(false);
+        widget->disconnectButton->setEnabled(false);
+    } else {
+        parser = new NMEAParser(); // for the time being...
+    }
+
+    connect(parser,SIGNAL(sv(int)),this,SLOT(setSVs(int)));
+    connect(parser,SIGNAL(position(double,double,double)),this,SLOT(setPosition(double,double,double)));
+    connect(parser,SIGNAL(speedheading(double,double)),this,SLOT(setSpeedHeading(double,double)));
+    connect(parser,SIGNAL(datetime(double,double)),this,SLOT(setDateTime(double,double)));
+    connect(parser,SIGNAL(packet(char*)), this, SLOT(dumpPacket(char*)));
+    connect(parser, SIGNAL(satellite(int,int,int,int,int)), widget->gpsSky, SLOT(updateSat(int,int,int,int,int)))
+;
+    port = NULL;
+
 }
 
 void GpsDisplayWidget::connectButtonClicked() {

ground/src/plugins/gpsdisplay/gpsdisplaywidget.h

@@ -29,6 +29,7 @@
 #define GPSDISPLAYWIDGET_H_
 
 #include "gpsdisplaygadgetconfiguration.h"
+#include "gpsconstellationwidget.h"
 #include "uavobjects/uavobject.h"
 #include <QGraphicsView>
 #include <QtSvg/QSvgRenderer>
@@ -50,7 +51,7 @@ public:
 
 //   void setMode(QString mode);  // Either UAVTalk or serial port
    void setPort(QextSerialPort* port);
-   void setParser(NMEAParser *parser);
+   void setParser(QString connectionMode);
 
 private slots:
    void connectButtonClicked();
@@ -65,8 +66,9 @@ private slots:
 private:
    void processNewSerialData(QByteArray serialData);
    Ui_GpsDisplayWidget* widget;
+   GpsConstellationWidget * gpsConstellation;
    QextSerialPort *port;
-   NMEAParser *parser;
+   GPSParser *parser;
    bool connected;
 
 };

ground/src/plugins/gpsdisplay/gpsdisplaywidget.ui

@@ -187,54 +187,6 @@
          <height>171</height>
         </size>
        </property>
-       <widget class="QGraphicsView" name="gpsWorld">
-        <property name="geometry">
-         <rect>
-          <x>0</x>
-          <y>0</y>
-          <width>171</width>
-          <height>171</height>
-         </rect>
-        </property>
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimumSize">
-         <size>
-          <width>171</width>
-          <height>171</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>171</width>
-          <height>171</height>
-         </size>
-        </property>
-        <property name="acceptDrops">
-         <bool>false</bool>
-        </property>
-        <property name="toolTip">
-         <string extracomment="Shows locations of satellites"/>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="sceneRect">
-         <rectf>
-          <x>0.000000000000000</x>
-          <y>0.000000000000000</y>
-          <width>169.000000000000000</width>
-          <height>169.000000000000000</height>
-         </rectf>
-        </property>
-       </widget>
        <widget class="QGraphicsView" name="flatEarth">
         <property name="geometry">
          <rect>
@@ -278,39 +230,15 @@
          <set>QGraphicsView::DontAdjustForAntialiasing</set>
         </property>
        </widget>
-       <widget class="QGraphicsView" name="gpsGraph">
+       <widget class="GpsConstellationWidget" name="gpsSky">
-        <property name="enabled">
-         <bool>true</bool>
-        </property>
         <property name="geometry">
          <rect>
-          <x>177</x>
+          <x>0</x>
-          <y>104</y>
+          <y>0</y>
-          <width>191</width>
+          <width>171</width>
-          <height>67</height>
+          <height>151</height>
          </rect>
         </property>
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimumSize">
-         <size>
-          <width>191</width>
-          <height>67</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>191</width>
-          <height>67</height>
-         </size>
-        </property>
-        <property name="toolTip">
-         <string extracomment="Individual satellite information"/>
-        </property>
        </widget>
       </widget>
      </item>
@@ -407,6 +335,13 @@
    </item>
   </layout>
  </widget>
+ <customwidgets>
+  <customwidget>
+   <class>GpsConstellationWidget</class>
+   <extends>QGraphicsView</extends>
+   <header>gpsconstellationwidget.h</header>
+  </customwidget>
+ </customwidgets>
  <resources/>
  <connections/>
 </ui>

ground/src/plugins/gpsdisplay/gpsparser.cpp

@@ -0,0 +1,28 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gpsparser.cpp
+ * @author     Sami Korhonen Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup GPSGadgetPlugin GPS Gadget Plugin
+ * @{
+ * @brief A gadget that displays GPS status and enables basic configuration
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "gpsparser.h"

ground/src/plugins/gpsdisplay/gpsparser.h

@@ -0,0 +1,51 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gpsparser.h
+ * @author     Sami Korhonen Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup GPSGadgetPlugin GPS Gadget Plugin
+ * @{
+ * @brief A gadget that displays GPS status and enables basic configuration
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef GPSPARSER_H
+#define GPSPARSER_H
+
+#include <QObject>
+#include <QtCore>
+#include <stdint.h>
+
+
+class GPSParser: public QObject
+{
+    Q_OBJECT
+public:
+    void processInputStream(char c) { Q_UNUSED(c)};
+signals:
+   void sv(int); // Satellites in view
+   void position(double,double,double); // Lat, Lon, Alt
+   void datetime(double,double); // Date then time
+   void speedheading(double,double);
+   void packet(char*); // Raw NMEA Packet (or just info)
+   void satellite(int,int,int,int,int); // Index, PRN, Elevation, Azimuth, SNR
+
+};
+
+#endif // GPSPARSER_H

ground/src/plugins/gpsdisplay/images/gpsEarth.svg

@@ -109,16 +109,16 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.98994949"
+     inkscape:zoom="0.7"
-     inkscape:cx="187.01425"
+     inkscape:cx="84.9969"
-     inkscape:cy="254.52868"
+     inkscape:cy="256.33672"
      inkscape:document-units="px"
-     inkscape:current-layer="layer1"
+     inkscape:current-layer="map"
      showgrid="false"
-     inkscape:window-width="1280"
+     inkscape:window-width="1366"
-     inkscape:window-height="744"
+     inkscape:window-height="693"
-     inkscape:window-x="-4"
+     inkscape:window-x="0"
-     inkscape:window-y="1020"
+     inkscape:window-y="24"
      inkscape:window-maximized="1" />
   <metadata
      id="metadata7">
@@ -185,7 +185,7 @@
          d="m 451.12161,342.96352 c 37.2498,32.4066 41.17599,88.87427 8.76939,126.12407 -32.4066,37.2498 -88.87426,41.17599 -126.12407,8.76939 -37.2498,-32.4066 -41.17598,-88.87427 -8.76938,-126.12407 29.53979,-33.95454 79.71538,-40.65585 117.1306,-15.64362"
          transform="matrix(1.9716104,0,0,1.9716104,-399.86707,-407.46887)" />
       <g
-         transform="translate(2.1015148,0)"
+         transform="translate(2.1015148,18)"
          id="g3618">
         <rect
            style="fill:#acbbf0;fill-opacity:1;stroke:#909196;stroke-width:4;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
@@ -208,7 +208,7 @@
              y="182.85712">N</tspan></text>
       </g>
       <g
-         transform="translate(0,-0.53294563)"
+         transform="translate(-12,-0.53294563)"
          id="g3695">
         <rect
            style="fill:#acbbf0;fill-opacity:1;stroke:#909196;stroke-width:4;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
@@ -231,7 +231,7 @@
              y="414.77591">E</tspan></text>
       </g>
       <g
-         transform="translate(-0.40098763,0)"
+         transform="translate(-0.40098763,-18)"
          id="g3707">
         <rect
            style="fill:#acbbf0;fill-opacity:1;stroke:#909196;stroke-width:4;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
@@ -254,7 +254,7 @@
              y="640.0907">S</tspan></text>
       </g>
       <g
-         transform="translate(2.502516,459.47727)"
+         transform="translate(22.502516,459.47727)"
          id="g3687">
         <rect
            ry="3.3283663"
@@ -311,7 +311,7 @@
     </g>
     <g
        id="satellite"
-       transform="matrix(0.73446976,0,0,0.73446976,137.3895,45.89308)"
+       transform="matrix(0.93879118,0,0,0.93879118,26.496058,0.9451615)"
        inkscape:label="#g3722">
       <path
          transform="translate(0.08444214,0)"
@@ -321,7 +321,7 @@
          sodipodi:cy="195.93361"
          sodipodi:cx="569.28571"
          id="path3712"
-         style="fill:#fff954;fill-opacity:1;stroke:#fcaa21;stroke-width:2;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+         style="fill:#fff954;fill-opacity:1;stroke:#fcaa21;stroke-width:1.56471384;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
          sodipodi:type="arc" />
       <rect
          ry="2.2728431"
@@ -330,9 +330,9 @@
          height="45.456863"
          width="4.5456862"
          id="rect3718"
-         style="fill:#fff954;fill-opacity:1;stroke:#fcaa21;stroke-width:2;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0" />
+         style="fill:#fff954;fill-opacity:1;stroke:#fcaa21;stroke-width:1.56471384;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0" />
       <rect
-         style="fill:#fff954;fill-opacity:1;stroke:#fcaa21;stroke-width:2;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
+         style="fill:#fff954;fill-opacity:1;stroke:#fcaa21;stroke-width:1.56471384;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
          id="rect3720"
          width="4.5456862"
          height="45.456863"
@@ -340,5 +340,37 @@
          y="173.52946"
          ry="2.2728431" />
     </g>
+    <g
+       inkscape:label="#g3722"
+       transform="matrix(0.93879118,0,0,0.93879118,-357.05733,0.9451615)"
+       id="sat-notSeen"
+       style="opacity:0.4">
+      <path
+         sodipodi:type="arc"
+         style="fill:#fff954;fill-opacity:1;stroke:#fcaa21;stroke-width:1.56471384000000002;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+         id="path3069"
+         sodipodi:cx="569.28571"
+         sodipodi:cy="195.93361"
+         sodipodi:rx="20.714285"
+         sodipodi:ry="20.714285"
+         d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
+         transform="translate(0.08444214,0)" />
+      <rect
+         style="fill:#fff954;fill-opacity:1;stroke:#fcaa21;stroke-width:1.56471384000000002;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
+         id="rect3071"
+         width="4.5456862"
+         height="45.456863"
+         x="590.45447"
+         y="173.52946"
+         ry="2.2728431" />
+      <rect
+         ry="2.2728431"
+         y="173.52946"
+         x="543.74017"
+         height="45.456863"
+         width="4.5456862"
+         id="rect3073"
+         style="fill:#fff954;fill-opacity:1;stroke:#fcaa21;stroke-width:1.56471384000000002;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0" />
+    </g>
   </g>
 </svg>

ground/src/plugins/gpsdisplay/nmeaparser.cpp

@@ -63,7 +63,7 @@
 /**
  * Initialize the parser
  */
-NMEAParser::NMEAParser(QObject *parent):QObject(parent)
+NMEAParser::NMEAParser(QObject *parent):GPSParser()
 {
     bufferInit(&gpsRxBuffer, (unsigned char *)gpsRxData, 512);
     gpsRxOverflow=0;

ground/src/plugins/gpsdisplay/nmeaparser.h

@@ -32,6 +32,7 @@
 #include <QtCore>
 #include <stdint.h>
 #include "buffer.h"
+#include "gpsparser.h"
 
 // constants/macros/typdefs
 #define NMEA_BUFFERSIZE		128
@@ -54,9 +55,9 @@ typedef struct struct_GpsData
 
 }GpsData_t;
 
-class NMEAParser: public QObject
+class NMEAParser: public GPSParser
 {
-    Q_OBJECT
+
 public:
    NMEAParser(QObject *parent = 0);
    ~NMEAParser();
@@ -76,13 +77,7 @@ public:
    uint32_t numUpdates;
    uint32_t numErrors;
    int32_t gpsRxOverflow;
-signals:
+
-   void sv(int);
-   void position(double,double,double);
-   void datetime(double,double);
-   void speedheading(double,double);
-   void packet(char*);
-private slots:
 };
 
 #endif // NMEAPARSER_H

ground/src/plugins/gpsdisplay/telemetryparser.cpp

@@ -0,0 +1,112 @@
+/**
+ ******************************************************************************
+ *
+ * @file       telemetryparser.cpp
+ * @author     Edouard Lafargue & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup GPSGadgetPlugin GPS Gadget Plugin
+ * @{
+ * @brief A gadget that displays GPS status and enables basic configuration
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+#include "telemetryparser.h"
+#include <math.h>
+#include <QDebug>
+#include <QStringList>
+
+
+/**
+ * Initialize the parser
+ */
+TelemetryParser::TelemetryParser(QObject *parent) : GPSParser()
+{
+    Q_UNUSED(parent)
+
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    UAVDataObject *gpsObj = dynamic_cast<UAVDataObject*>(objManager->getObject("GPSPosition"));
+    if (gpsObj != NULL) {
+        connect(gpsObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateGPS(UAVObject*)));
+    } else {
+        qDebug() << "Error: Object is unknown (GPSPosition).";
+    }
+
+    gpsObj = dynamic_cast<UAVDataObject*>(objManager->getObject("GPSTime"));
+    if (gpsObj != NULL) {
+        connect(gpsObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateTime(UAVObject*)));
+    } else {
+        qDebug() << "Error: Object is unknown (GPSTime).";
+    }
+
+    gpsObj = dynamic_cast<UAVDataObject*>(objManager->getObject("GPSSatellites"));
+    if (gpsObj != NULL) {
+        connect(gpsObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateSats(UAVObject*)));
+    }
+
+}
+
+TelemetryParser::~TelemetryParser()
+{
+
+}
+
+
+void TelemetryParser::updateGPS( UAVObject* object1) {
+    UAVObjectField* field = object1->getField(QString("Satellites"));
+    emit sv(field->getValue().toInt());
+
+    double lat = object1->getField(QString("Latitude"))->getDouble();
+    double lon = object1->getField(QString("Longitude"))->getDouble();
+    double alt = object1->getField(QString("Altitude"))->getDouble();
+    emit position(lat,lon,alt);
+
+}
+
+void TelemetryParser::updateTime( UAVObject* object1) {
+    double hour = object1->getField(QString("Hour"))->getDouble();
+    double minute = object1->getField(QString("Minute"))->getDouble();
+    double second = object1->getField(QString("Second"))->getDouble();
+    double time = second + minute*100 + hour*10000;
+    double year = object1->getField(QString("Year"))->getDouble();
+    double month = object1->getField(QString("Month"))->getDouble();
+    double day = object1->getField(QString("Day"))->getDouble();
+    double date = day + month * 100 + year * 10000;
+    emit datetime(date,time);
+}
+
+/**
+  Updates the satellite constellation.
+
+  Not really optimized for now, we should only send updates for the stas
+  which have changed instead of updating everything... That said, Qt is supposed
+  to be able to optimize redraws anyway.
+  */
+void TelemetryParser::updateSats( UAVObject* object1) {
+    UAVObjectField* prn = object1->getField(QString("PRN"));
+    UAVObjectField* elevation = object1->getField(QString("Elevation"));
+    UAVObjectField* azimuth = object1->getField(QString("Azimuth"));
+    UAVObjectField* snr = object1->getField(QString("SNR"));
+
+    for (int i=0;i< prn->getNumElements();i++) {
+        emit satellite(i,prn->getValue(i).toInt(),elevation->getValue(i).toInt(),
+                       azimuth->getValue(i).toInt(), snr->getValue(i).toInt());
+    }
+
+}

ground/src/plugins/gpsdisplay/telemetryparser.h

@@ -0,0 +1,55 @@
+/**
+ ******************************************************************************
+ *
+ * @file       nmeaparser.h
+ * @author     Edouard Lafargue & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup GPSGadgetPlugin GPS Gadget Plugin
+ * @{
+ * @brief A gadget that displays GPS status and enables basic configuration
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef TELEMETRYPARSER_H
+#define TELEMETRYPARSER_H
+
+#include <QObject>
+#include <QtCore>
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjects/uavobjectmanager.h"
+#include "uavobjects/uavobject.h"
+#include "gpsparser.h"
+
+
+class TelemetryParser: public GPSParser
+{
+
+    Q_OBJECT
+    
+public:
+   TelemetryParser(QObject *parent = 0);
+   ~TelemetryParser();
+
+public slots:
+   void updateGPS(UAVObject* object1);
+   void updateTime(UAVObject* object1);
+   void updateSats(UAVObject* object1);
+
+};
+
+#endif // TELEMETRYPARSER_H