OP-51: GCS Antenna Tracker plugin, My (first) quick tester plugin for antennatracker. Not included into build. Heavily based on gps display plugin.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2176 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/antennatrack/AntennaTrack.pluginspec

@@ -0,0 +1,11 @@
+<plugin name="AntennaTrack" version="1.0.0" compatVersion="1.0.0">
+    <vendor>The OpenPilot Project</vendor>
+    <copyright>(C) 2010 SK</copyright>
+    <license>The GNU Public License (GPL) Version 3</license>
+    <description>Plugin for antenna tracker</description>
+    <url>http://www.openpilot.org</url>
+    <dependencyList>
+        <dependency name="Core" version="1.0.0"/>
+        <dependency name="UAVObjects" version="1.0.0"/>
+    </dependencyList>
+</plugin>    

ground/src/plugins/antennatrack/antennatrack.pro

@@ -0,0 +1,25 @@
+TEMPLATE = lib
+TARGET = AntennaTrack
+include(../../openpilotgcsplugin.pri)
+include(../../plugins/coreplugin/coreplugin.pri)
+include(antennatrack_dependencies.pri)
+include(../../libs/qwt/qwt.pri)
+HEADERS += antennatrackplugin.h
+HEADERS += gpsparser.h
+HEADERS += telemetryparser.h
+HEADERS += antennatrackgadget.h
+HEADERS += antennatrackwidget.h
+HEADERS += antennatrackgadgetfactory.h
+HEADERS += antennatrackgadgetconfiguration.h
+HEADERS += antennatrackgadgetoptionspage.h
+SOURCES += antennatrackplugin.cpp
+SOURCES += gpsparser.cpp
+SOURCES += telemetryparser.cpp
+SOURCES += antennatrackgadget.cpp
+SOURCES += antennatrackgadgetfactory.cpp
+SOURCES += antennatrackwidget.cpp
+SOURCES += antennatrackgadgetconfiguration.cpp
+SOURCES += antennatrackgadgetoptionspage.cpp
+OTHER_FILES += AntennaTrack.pluginspec
+FORMS += antennatrackgadgetoptionspage.ui
+FORMS += antennatrackwidget.ui

ground/src/plugins/antennatrack/antennatrack_dependencies.pri

@@ -0,0 +1,3 @@
+include(../../plugins/uavobjects/uavobjects.pri)
+#include(../../plugins/coreplugin/coreplugin.pri)
+#include(../../libs/utils/utils.pri)

ground/src/plugins/antennatrack/antennatrackgadget.cpp

@@ -0,0 +1,155 @@
+/**
+ ******************************************************************************
+ *
+ * @file       AntennaTracgadget.cpp
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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 "antennatrackgadget.h"
+#include "antennatrackwidget.h"
+#include "antennatrackgadgetconfiguration.h"
+
+AntennaTrackGadget::AntennaTrackGadget(QString classId, AntennaTrackWidget *widget, QWidget *parent) :
+        IUAVGadget(classId, parent),
+        m_widget(widget),
+        connected(FALSE)
+{
+    connect(m_widget->connectButton, SIGNAL(clicked(bool)), this,SLOT(onConnect()));
+    connect(m_widget->disconnectButton, SIGNAL(clicked(bool)), this,SLOT(onDisconnect()));
+}
+
+AntennaTrackGadget::~AntennaTrackGadget()
+{
+}
+
+/*
+  This is called when a configuration is loaded, and updates the plugin's settings.
+  Careful: the plugin is already drawn before the loadConfiguration method is called the
+  first time, so you have to be careful not to assume all the plugin values are initialized
+  the first time you use them
+ */
+void AntennaTrackGadget::loadConfiguration(IUAVGadgetConfiguration* config)
+{
+    // Delete the (old)port, this also closes it.
+    if(port) {
+        delete port;
+    }
+
+    // Delete the (old)parser, this also disconnects all signals.
+    if(parser) {
+        delete parser;
+    }
+
+    AntennaTrackGadgetConfiguration *AntennaTrackConfig = qobject_cast< AntennaTrackGadgetConfiguration*>(config);
+
+    PortSettings portsettings;
+    portsettings.BaudRate=AntennaTrackConfig->speed();
+    portsettings.DataBits=AntennaTrackConfig->dataBits();
+    portsettings.FlowControl=AntennaTrackConfig->flow();
+    portsettings.Parity=AntennaTrackConfig->parity();
+    portsettings.StopBits=AntennaTrackConfig->stopBits();
+    portsettings.Timeout_Millisec=AntennaTrackConfig->timeOut();
+
+    // In case we find no port, buttons disabled
+    m_widget->connectButton->setEnabled(false);
+    m_widget->disconnectButton->setEnabled(false);
+
+    QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();
+    foreach( QextPortInfo nport, ports ) {
+        if(nport.friendName == AntennaTrackConfig->port())
+        {
+            qDebug() << "Using Serial port";
+            //parser = new NMEAParser();
+
+#ifdef Q_OS_WIN
+            port=new QextSerialPort(nport.portName,portsettings,QextSerialPort::EventDriven);
+#else
+            port=new QextSerialPort(nport.physName,portsettings,QextSerialPort::EventDriven);
+#endif
+            m_widget->setPort(port);
+            m_widget->connectButton->setEnabled(true);
+            m_widget->disconnectButton->setEnabled(false);
+            m_widget->connectButton->setHidden(false);
+            m_widget->disconnectButton->setHidden(false);
+
+            connect(port, SIGNAL(readyRead()), this, SLOT(onDataAvailable()));
+        }
+    }
+    m_widget->dataStreamGroupBox->setHidden(false);
+    qDebug() << "Using Telemetry parser";
+    parser = new TelemetryParser();
+
+    connect(parser, SIGNAL(position(double,double,double)), m_widget,SLOT(setPosition(double,double,double)));
+    connect(parser, SIGNAL(home(double,double,double)), m_widget,SLOT(setHomePosition(double,double,double)));
+    connect(parser, SIGNAL(packet(QString)), m_widget, SLOT(dumpPacket(QString)));
+}
+
+void AntennaTrackGadget::onConnect() {
+    m_widget->textBrowser->append(QString("Connecting to Tracker ...\n"));
+    // TODO: Somehow mark that we're running, and disable connect button while so?
+
+    if (port) {
+        qDebug() <<  "Opening: " <<  port->portName() << ".";
+        bool isOpen =  port->open(QIODevice::ReadWrite);
+        qDebug() <<  "Open: " << isOpen;
+        if(isOpen) {
+            m_widget->connectButton->setEnabled(false);
+            m_widget->disconnectButton->setEnabled(true);
+        }
+    } else {
+        qDebug() << "Port undefined or invalid.";
+    }
+
+}
+
+void AntennaTrackGadget::onDisconnect() {
+    if (port) {
+        qDebug() <<  "Closing: " <<  port->portName() << ".";
+        port->close();
+        m_widget->connectButton->setEnabled(true);
+        m_widget->disconnectButton->setEnabled(false);
+    } else {
+        qDebug() << "Port undefined or invalid.";
+    }
+}
+
+void AntennaTrackGadget::onDataAvailable() {
+    int avail = port->bytesAvailable();
+    if( avail > 0 ) {
+        QByteArray serialData;
+        serialData.resize(avail);
+        int bytesRead = port->read(serialData.data(), serialData.size());
+        if( bytesRead > 0 ) {
+            processNewSerialData(serialData);
+        }
+    }
+}
+
+void AntennaTrackGadget::processNewSerialData(QByteArray serialData) {
+    int dataLength = serialData.size();
+    const char* data = serialData.constData();
+    m_widget->textBrowser->append(QString(serialData));
+    for(int pos = 0; pos < dataLength; pos++) {
+        //parser->processInputStream(data[pos]);
+    }
+}

ground/src/plugins/antennatrack/antennatrackgadget.h

@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ *
+ * @file       AntennaTrackgadget.h
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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 ANTENNATRACKGADGET_H_
+#define ANTENNATRACKGADGET_H_
+
+#include <qextserialport/src/qextserialport.h>
+#include <qextserialport/src/qextserialenumerator.h>
+#include <coreplugin/iuavgadget.h>
+#include "antennatrackwidget.h"
+#include "telemetryparser.h"
+
+class IUAVGadget;
+class QWidget;
+class QString;
+class AntennaTrackWidget;
+
+using namespace Core;
+
+class AntennaTrackGadget : public Core::IUAVGadget
+{
+    Q_OBJECT
+public:
+    AntennaTrackGadget(QString classId, AntennaTrackWidget *widget, QWidget *parent = 0);
+    ~AntennaTrackGadget();
+
+    QWidget *widget() { return m_widget; }
+
+    //   void setMode(QString mode);  // Either UAVTalk or serial port
+
+    void loadConfiguration(IUAVGadgetConfiguration* config);
+public slots:
+    void onConnect();
+    void onDisconnect();
+
+private slots:
+    void onDataAvailable();
+
+private:
+    QPointer<AntennaTrackWidget> m_widget;
+    QPointer<QextSerialPort> port;
+    QPointer<GPSParser> parser;
+    bool connected;
+    void processNewSerialData(QByteArray serialData);
+};
+
+
+#endif // ANTENNATRACKGADGET_H_

ground/src/plugins/antennatrack/antennatrackgadgetconfiguration.cpp

@@ -0,0 +1,109 @@
+/**
+ ******************************************************************************
+ *
+ * @file       AntennaTracgadgetconfiguration.cpp
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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 "antennatrackgadgetconfiguration.h"
+#include <qextserialport/src/qextserialport.h>
+
+/**
+ * Loads a saved configuration or defaults if non exist.
+ *
+ */
+AntennaTrackGadgetConfiguration::AntennaTrackGadgetConfiguration(QString classId, QSettings* qSettings, QObject *parent) :
+    IUAVGadgetConfiguration(classId, parent),
+    m_connectionMode("Serial"),
+    m_defaultPort("Unknown"),
+    m_defaultSpeed(BAUD4800),
+    m_defaultDataBits(DATA_8),
+    m_defaultFlow(FLOW_OFF),
+    m_defaultParity(PAR_NONE),
+    m_defaultStopBits(STOP_1),
+    m_defaultTimeOut(5000)
+{
+    //if a saved configuration exists load it
+    if(qSettings != 0) {
+        BaudRateType speed;
+        DataBitsType databits;
+        FlowType flow;
+        ParityType parity;
+        StopBitsType stopbits;
+
+        int ispeed = qSettings->value("defaultSpeed").toInt();
+        int idatabits = qSettings->value("defaultDataBits").toInt();
+        int iflow = qSettings->value("defaultFlow").toInt();
+        int iparity = qSettings->value("defaultParity").toInt();
+        int istopbits = qSettings->value("defaultStopBits").toInt();
+        QString port = qSettings->value("defaultPort").toString();
+        QString conMode = qSettings->value("connectionMode").toString();
+
+        databits = (DataBitsType) idatabits;
+        flow = (FlowType)iflow;
+        parity = (ParityType)iparity;
+        stopbits = (StopBitsType)istopbits;
+        speed = (BaudRateType)ispeed;
+        m_defaultPort = port;
+        m_defaultSpeed = speed;
+        m_defaultDataBits = databits;
+        m_defaultFlow = flow;
+        m_defaultParity = parity;
+        m_defaultStopBits = stopbits;
+        m_connectionMode = conMode;
+    }
+
+}
+
+/**
+ * Clones a configuration.
+ *
+ */
+IUAVGadgetConfiguration *AntennaTrackGadgetConfiguration::clone()
+{
+    AntennaTrackGadgetConfiguration *m = new AntennaTrackGadgetConfiguration(this->classId());
+
+    m->m_defaultSpeed = m_defaultSpeed;
+    m->m_defaultDataBits = m_defaultDataBits;
+    m->m_defaultFlow = m_defaultFlow;
+    m->m_defaultParity = m_defaultParity;
+    m->m_defaultStopBits = m_defaultStopBits;
+    m->m_defaultPort = m_defaultPort;
+    m->m_connectionMode = m_connectionMode;
+    return m;
+}
+
+/**
+ * Saves a configuration.
+ *
+ */
+void AntennaTrackGadgetConfiguration::saveConfig(QSettings* settings) const {
+ settings->setValue("defaultSpeed", m_defaultSpeed);
+ settings->setValue("defaultDataBits", m_defaultDataBits);
+ settings->setValue("defaultFlow", m_defaultFlow);
+ settings->setValue("defaultParity", m_defaultParity);
+ settings->setValue("defaultStopBits", m_defaultStopBits);
+ settings->setValue("defaultPort", m_defaultPort);
+ settings->setValue("connectionMode", m_connectionMode);
+
+}

ground/src/plugins/antennatrack/antennatrackgadgetconfiguration.h

@@ -0,0 +1,78 @@
+/**
+ ******************************************************************************
+ *
+ * @file       AntennaTracgadgetconfiguration.h
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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 ANTENNATRACKGADGETCONFIGURATION_H
+#define ANTENNATRACKGADGETCONFIGURATION_H
+
+#include <coreplugin/iuavgadgetconfiguration.h>
+#include <qextserialport/src/qextserialport.h>
+
+using namespace Core;
+
+class AntennaTrackGadgetConfiguration : public IUAVGadgetConfiguration
+{
+    Q_OBJECT
+    public:
+        explicit AntennaTrackGadgetConfiguration(QString classId, QSettings* qSettings = 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;}
+        void setFlow(FlowType flow) {m_defaultFlow=flow;}
+        void setParity(ParityType parity) {m_defaultParity=parity;}
+        void setStopBits(StopBitsType stopbits) {m_defaultStopBits=stopbits;}
+        void setPort(QString port){m_defaultPort=port;}
+        void setTimeOut(long timeout){m_defaultTimeOut=timeout;}
+
+        //get port configuration functions
+        QString port(){return m_defaultPort;}
+        BaudRateType speed() {return m_defaultSpeed;}
+        FlowType flow() {return m_defaultFlow;}
+        DataBitsType dataBits() {return m_defaultDataBits;}
+        StopBitsType stopBits() {return m_defaultStopBits;}
+        ParityType parity() {return m_defaultParity;}
+        long timeOut(){return m_defaultTimeOut;}
+
+        void saveConfig(QSettings* settings) const;
+        IUAVGadgetConfiguration *clone();
+
+    private:
+        QString m_connectionMode;
+        QString m_defaultPort;
+        BaudRateType m_defaultSpeed;
+        DataBitsType m_defaultDataBits;
+        FlowType m_defaultFlow;
+        ParityType m_defaultParity;
+        StopBitsType m_defaultStopBits;
+        long m_defaultTimeOut;
+
+};
+
+#endif // ANTENNATRACKGADGETCONFIGURATION_H

ground/src/plugins/antennatrack/antennatrackgadgetfactory.cpp

@@ -0,0 +1,60 @@
+/**
+ ******************************************************************************
+ *
+ * @file       AntennaTracgadgetfactory.cpp
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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 "antennatrackgadgetfactory.h"
+#include "antennatrackwidget.h"
+#include "antennatrackgadget.h"
+#include "antennatrackgadgetconfiguration.h"
+#include "antennatrackgadgetoptionspage.h"
+#include <coreplugin/iuavgadget.h>
+
+AntennaTrackGadgetFactory::AntennaTrackGadgetFactory(QObject *parent) :
+        IUAVGadgetFactory(QString("AntennaTrackGadget"),
+                          tr("Antenna Track Gadget"),
+                          parent)
+{
+}
+
+AntennaTrackGadgetFactory::~AntennaTrackGadgetFactory()
+{
+}
+
+Core::IUAVGadget* AntennaTrackGadgetFactory::createGadget(QWidget *parent)
+{
+    AntennaTrackWidget* gadgetWidget = new AntennaTrackWidget(parent);
+    return new AntennaTrackGadget(QString("AntennaTrackGadget"), gadgetWidget, parent);
+}
+
+IUAVGadgetConfiguration *AntennaTrackGadgetFactory::createConfiguration(QSettings* qSettings)
+{
+    return new AntennaTrackGadgetConfiguration(QString("AntennaTrackGadget"), qSettings);
+}
+
+IOptionsPage *AntennaTrackGadgetFactory::createOptionsPage(IUAVGadgetConfiguration *config)
+{
+    return new AntennaTrackGadgetOptionsPage(qobject_cast<AntennaTrackGadgetConfiguration*>(config));
+}
+

ground/src/plugins/antennatrack/antennatrackgadgetfactory.h

@@ -0,0 +1,52 @@
+/**
+ ******************************************************************************
+ *
+ * @file       antennatracgadgetfactory.h
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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 ANTENNATRACKGADGETFACTORY_H_
+#define ANTENNATRACKGADGETFACTORY_H_
+
+#include <coreplugin/iuavgadgetfactory.h>
+
+namespace Core {
+class IUAVGadget;
+class IUAVGadgetFactory;
+}
+
+using namespace Core;
+
+class AntennaTrackGadgetFactory : public IUAVGadgetFactory
+{
+    Q_OBJECT
+public:
+    AntennaTrackGadgetFactory(QObject *parent = 0);
+    ~AntennaTrackGadgetFactory();
+
+    Core::IUAVGadget *createGadget(QWidget *parent);
+    IUAVGadgetConfiguration *createConfiguration(QSettings* qSettings);
+    IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
+};
+
+#endif // ANTENNATRACKGADGETFACTORY_H_

ground/src/plugins/antennatrack/antennatrackgadgetoptionspage.cpp

@@ -0,0 +1,266 @@
+/**
+ ******************************************************************************
+ *
+ * @file       AntennaTracgadgetoptionspage.cpp
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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 "antennatrackgadgetoptionspage.h"
+#include "antennatrackgadgetconfiguration.h"
+#include "ui_antennatrackgadgetoptionspage.h"
+
+#include <QFileDialog>
+#include <QtAlgorithms>
+#include <QStringList>
+
+AntennaTrackGadgetOptionsPage::AntennaTrackGadgetOptionsPage(AntennaTrackGadgetConfiguration *config, QObject *parent) :
+        IOptionsPage(parent),
+        m_config(config)
+{
+//  Taken from the uploader gadget, since we also can use a serial port for this
+//    Gadget
+
+    //the begining of some ugly code
+//diferent OS's have diferent serial port capabilities
+#ifdef Q_OS_WIN
+//load windows port capabilities
+BaudRateTypeString
+        <<"BAUD110"
+        <<"BAUD300"
+        <<"BAUD600"
+        <<"BAUD1200"
+        <<"BAUD2400"
+        <<"BAUD4800"
+        <<"BAUD9600"
+        <<"BAUD14400"
+        <<"BAUD19200"
+        <<"BAUD38400"
+        <<"BAUD56000"
+        <<"BAUD57600"
+        <<"BAUD115200"
+        <<"BAUD128000"
+        <<"BAUD256000";
+DataBitsTypeString
+        <<"DATA_5"
+        <<"DATA_6"
+        <<"DATA_7"
+        <<"DATA_8";
+ParityTypeString
+        <<"PAR_NONE"
+        <<"PAR_ODD"
+        <<"PAR_EVEN"
+        <<"PAR_MARK"               //WINDOWS ONLY
+        <<"PAR_SPACE";
+StopBitsTypeString
+        <<"STOP_1"
+        <<"STOP_1_5"               //WINDOWS ONLY
+        <<"STOP_2";
+#else
+//load POSIX port capabilities
+BaudRateTypeString
+
+        <<"BAUD50"                //POSIX ONLY
+        <<"BAUD75"                //POSIX ONLY
+        <<"BAUD110"
+        <<"BAUD134"               //POSIX ONLY
+        <<"BAUD150"               //POSIX ONLY
+        <<"BAUD200"             //POSIX ONLY
+        <<"BAUD300"
+        <<"BAUD600"
+        <<"BAUD1200"
+        <<"BAUD1800"            //POSIX ONLY
+        <<"BAUD2400"
+        <<"BAUD4800"
+        <<"BAUD9600"
+        <<"BAUD19200"
+        <<"BAUD38400"
+        <<"BAUD57600"
+        <<"BAUD76800"             //POSIX ONLY
+        <<"BAUD115200";
+DataBitsTypeString
+        <<"DATA_5"
+        <<"DATA_6"
+        <<"DATA_7"
+        <<"DATA_8";
+ParityTypeString
+        <<"PAR_NONE"
+        <<"PAR_ODD"
+        <<"PAR_EVEN"
+        <<"PAR_SPACE";
+StopBitsTypeString
+        <<"STOP_1"
+        <<"STOP_2";
+#endif
+//load all OS's capabilities
+BaudRateTypeStringALL
+        <<"BAUD50"                //POSIX ONLY
+        <<"BAUD75"                //POSIX ONLY
+        <<"BAUD110"
+        <<"BAUD134"               //POSIX ONLY
+        <<"BAUD150"               //POSIX ONLY
+        <<"BAUD200"             //POSIX ONLY
+        <<"BAUD300"
+        <<"BAUD600"
+        <<"BAUD1200"
+        <<"BAUD1800"            //POSIX ONLY
+        <<"BAUD2400"
+        <<"BAUD4800"
+        <<"BAUD9600"
+        <<"BAUD14400"
+        <<"BAUD19200"
+        <<"BAUD38400"
+        <<"BAUD56000"
+        <<"BAUD57600"
+        <<"BAUD76800"             //POSIX ONLY
+        <<"BAUD115200"
+        <<"BAUD128000"
+        <<"BAUD256000";
+DataBitsTypeStringALL
+        <<"DATA_5"
+        <<"DATA_6"
+        <<"DATA_7"
+        <<"DATA_8";
+ParityTypeStringALL
+        <<"PAR_NONE"
+        <<"PAR_ODD"
+        <<"PAR_EVEN"
+        <<"PAR_MARK"               //WINDOWS ONLY
+        <<"PAR_SPACE";
+StopBitsTypeStringALL
+        <<"STOP_1"
+        <<"STOP_1_5"               //WINDOWS ONLY
+        <<"STOP_2";
+
+FlowTypeString
+        <<"FLOW_OFF"
+        <<"FLOW_HARDWARE"
+        <<"FLOW_XONXOFF";
+}
+bool sortPorts(QextPortInfo const& s1,QextPortInfo const& s2)
+{
+return s1.portName<s2.portName;
+}
+
+
+//creates options page widget (uses the UI file)
+QWidget *AntennaTrackGadgetOptionsPage::createPage(QWidget *parent)
+{
+    options_page = new Ui::AntennaTrackGadgetOptionsPage();
+    QWidget *optionsPageWidget = new QWidget;
+    options_page->setupUi(optionsPageWidget);
+
+
+    // PORTS
+    QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();
+    qSort(ports.begin(), ports.end(),sortPorts);
+    foreach( QextPortInfo port, ports ) {
+        qDebug() << "Adding port: " << port.friendName << " (" << port.portName << ")";
+        options_page->portComboBox->addItem(port.friendName, port.friendName);
+    }
+
+    int portIndex = options_page->portComboBox->findData(m_config->port());
+    if(portIndex!=-1){
+        qDebug() << "createPage(): port is " << m_config->port();
+        options_page->portComboBox->setCurrentIndex(portIndex);
+    }
+
+    // BAUDRATES
+    options_page->portSpeedComboBox->addItems(BaudRateTypeString);
+
+    int portSpeedIndex = options_page->portSpeedComboBox->findText(BaudRateTypeStringALL.at((int)m_config->speed()));
+    if(portSpeedIndex != -1){
+       options_page->portSpeedComboBox->setCurrentIndex(portSpeedIndex);
+    }
+
+    // FLOW CONTROL
+    options_page->flowControlComboBox->addItems(FlowTypeString);
+
+    int flowControlIndex = options_page->flowControlComboBox->findText(FlowTypeString.at((int)m_config->flow()));
+    if(flowControlIndex != -1){
+       options_page->flowControlComboBox->setCurrentIndex(flowControlIndex);
+    }
+
+    // DATABITS
+    options_page->dataBitsComboBox->addItems(DataBitsTypeString);
+
+    int dataBitsIndex = options_page->dataBitsComboBox->findText(DataBitsTypeStringALL.at((int)m_config->dataBits()));
+    if(dataBitsIndex != -1){
+       options_page->dataBitsComboBox->setCurrentIndex(dataBitsIndex);
+    }
+
+    // STOPBITS
+    options_page->stopBitsComboBox->addItems(StopBitsTypeString);
+
+    int stopBitsIndex = options_page->stopBitsComboBox->findText(StopBitsTypeStringALL.at((int)m_config->stopBits()));
+    if(stopBitsIndex != -1){
+       options_page->stopBitsComboBox->setCurrentIndex(stopBitsIndex);
+    }
+
+    // PARITY
+    options_page->parityComboBox->addItems(ParityTypeString);
+
+    int parityIndex = options_page->parityComboBox->findText(ParityTypeStringALL.at((int)m_config->parity()));
+    if(parityIndex != -1){
+       options_page->parityComboBox->setCurrentIndex(parityIndex);
+    }
+
+    // TIMEOUT
+    options_page->timeoutSpinBox->setValue(m_config->timeOut());
+
+    QStringList connectionModes;
+    connectionModes << "Serial";
+    options_page->connectionMode->addItems(connectionModes);
+    int conMode = options_page->connectionMode->findText(m_config->connectionMode());
+    if (conMode != -1)
+       options_page->connectionMode->setCurrentIndex(conMode);
+
+
+    return optionsPageWidget;
+}
+
+/**
+ * Called when the user presses apply or OK.
+ *
+ * Saves the current values
+ *
+ */
+void AntennaTrackGadgetOptionsPage::apply()
+{
+    int portIndex = options_page->portComboBox->currentIndex();
+    m_config->setPort(options_page->portComboBox->itemData(portIndex).toString());
+    qDebug() << "apply(): port is " << m_config->port();
+
+    m_config->setSpeed((BaudRateType)BaudRateTypeStringALL.indexOf(options_page->portSpeedComboBox->currentText()));
+    m_config->setFlow((FlowType)FlowTypeString.indexOf(options_page->flowControlComboBox->currentText()));
+    m_config->setDataBits((DataBitsType)DataBitsTypeStringALL.indexOf(options_page->dataBitsComboBox->currentText()));
+    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 AntennaTrackGadgetOptionsPage::finish()
+{
+    delete options_page;
+}

ground/src/plugins/antennatrack/antennatrackgadgetoptionspage.h

@@ -0,0 +1,76 @@
+/**
+ ******************************************************************************
+ *
+ * @file       antennatrackgadgetoptionspage.h
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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 ANTENNATRACKGADGETOPTIONSPAGE_H
+#define ANTENNATRACKGADGETOPTIONSPAGE_H
+
+#include <qextserialport/src/qextserialenumerator.h>
+#include "coreplugin/dialogs/ioptionspage.h"
+#include "QString"
+#include <QStringList>
+#include <QDebug>
+
+namespace Core {
+class IUAVGadgetConfiguration;
+}
+
+class AntennaTrackGadgetConfiguration;
+
+namespace Ui {
+    class AntennaTrackGadgetOptionsPage;
+}
+
+using namespace Core;
+
+class AntennaTrackGadgetOptionsPage : public IOptionsPage
+{
+Q_OBJECT
+public:
+    explicit AntennaTrackGadgetOptionsPage(AntennaTrackGadgetConfiguration *config, QObject *parent = 0);
+
+    QWidget *createPage(QWidget *parent);
+    void apply();
+    void finish();
+
+private:
+    Ui::AntennaTrackGadgetOptionsPage *options_page;
+    AntennaTrackGadgetConfiguration *m_config;
+
+    QStringList BaudRateTypeString;
+    QStringList BaudRateTypeStringALL;
+    QStringList DataBitsTypeStringALL;
+    QStringList ParityTypeStringALL;
+    QStringList StopBitsTypeStringALL;
+    QStringList DataBitsTypeString;
+    QStringList ParityTypeString;
+    QStringList StopBitsTypeString;
+    QStringList FlowTypeString;
+
+private slots:
+};
+
+#endif // ANTENNATRACKGADGETOPTIONSPAGE_H

ground/src/plugins/antennatrack/antennatrackgadgetoptionspage.ui

@@ -0,0 +1,186 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AntennaTrackGadgetOptionsPage</class>
+ <widget class="QWidget" name="AntennaTrackGadgetOptionsPage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>587</width>
+    <height>359</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item row="0" column="0">
+    <widget class="QWidget" name="widget" native="true">
+     <layout class="QVBoxLayout" name="verticalLayout_4">
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <item>
+         <widget class="QLabel" name="label">
+          <property name="text">
+           <string>Mode:</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QComboBox" name="connectionMode"/>
+        </item>
+        <item>
+         <spacer name="horizontalSpacer">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="Line" name="line">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QStackedWidget" name="stackedWidget">
+        <property name="currentIndex">
+         <number>0</number>
+        </property>
+        <widget class="QWidget" name="serialPage">
+         <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,1">
+          <property name="margin">
+           <number>0</number>
+          </property>
+          <item>
+           <widget class="QLabel" name="serialLabel">
+            <property name="text">
+             <string>Serial Connection</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <layout class="QFormLayout" name="serialFormLayout">
+            <item row="0" column="1">
+             <widget class="QComboBox" name="portComboBox"/>
+            </item>
+            <item row="1" column="1">
+             <widget class="QComboBox" name="portSpeedComboBox"/>
+            </item>
+            <item row="3" column="0">
+             <widget class="QLabel" name="dataBitsLabel">
+              <property name="text">
+               <string>Data Bits:</string>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="0">
+             <widget class="QLabel" name="stopBitsLabel">
+              <property name="text">
+               <string>Stop Bits:</string>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="0">
+             <widget class="QLabel" name="parityLabel">
+              <property name="text">
+               <string>Parity:</string>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="0">
+             <widget class="QLabel" name="timeoutLabel">
+              <property name="text">
+               <string>Timeout(ms):</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QComboBox" name="flowControlComboBox"/>
+            </item>
+            <item row="3" column="1">
+             <widget class="QComboBox" name="dataBitsComboBox"/>
+            </item>
+            <item row="4" column="1">
+             <widget class="QComboBox" name="stopBitsComboBox"/>
+            </item>
+            <item row="0" column="0">
+             <widget class="QLabel" name="portLabel">
+              <property name="text">
+               <string>Port:</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QLabel" name="portSpeedLabel">
+              <property name="text">
+               <string>Port Speed:</string>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="1">
+             <widget class="QComboBox" name="parityComboBox"/>
+            </item>
+            <item row="2" column="0">
+             <widget class="QLabel" name="flowControlLabel">
+              <property name="text">
+               <string>Flow Control:</string>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="1">
+             <widget class="QSpinBox" name="timeoutSpinBox">
+              <property name="maximum">
+               <number>100000</number>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </widget>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>connectionMode</sender>
+   <signal>currentIndexChanged(int)</signal>
+   <receiver>stackedWidget</receiver>
+   <slot>setCurrentIndex(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>77</x>
+     <y>16</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>293</x>
+     <y>194</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>

ground/src/plugins/antennatrack/antennatrackplugin.cpp

@@ -0,0 +1,34 @@
+#include "antennatrackplugin.h"
+#include "antennatrackgadgetfactory.h"
+#include <QDebug>
+#include <QtPlugin>
+#include <QStringList>
+#include <extensionsystem/pluginmanager.h>
+
+AntennaTrackPlugin::AntennaTrackPlugin() {
+    // Do nothing
+ }
+
+AntennaTrackPlugin::~AntennaTrackPlugin() {
+    // Do nothing
+}
+
+bool AntennaTrackPlugin::initialize(const QStringList& args, QString *errMsg) {
+    Q_UNUSED(args);
+    Q_UNUSED(errMsg);
+
+    mf = new AntennaTrackGadgetFactory(this);
+    addAutoReleasedObject(mf);
+
+    return true;
+}
+
+void AntennaTrackPlugin::extensionsInitialized() {
+    // Do nothing
+}
+
+void AntennaTrackPlugin::shutdown() {
+    // Do nothing
+}
+
+Q_EXPORT_PLUGIN(AntennaTrackPlugin)

ground/src/plugins/antennatrack/antennatrackplugin.h

@@ -0,0 +1,21 @@
+#ifndef ANTENNATRACKPLUGIN_H
+#define ANTENNATRACKPLUGIN_H
+
+#include <extensionsystem/iplugin.h>
+
+class AntennaTrackGadgetFactory;
+
+class AntennaTrackPlugin : public ExtensionSystem::IPlugin
+{
+public:
+    AntennaTrackPlugin();
+    ~AntennaTrackPlugin();
+
+    void extensionsInitialized();
+    bool initialize(const QStringList & arguments, QString * errorString);
+    void shutdown();
+private:
+    AntennaTrackGadgetFactory *mf;
+};
+
+#endif // ANTENNATRACKPLUGIN_H

ground/src/plugins/antennatrack/antennatrackwidget.cpp

@@ -0,0 +1,206 @@
+/**
+ ******************************************************************************
+ *
+ * @file       Antennatrackwidget.cpp
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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 "antennatrackwidget.h"
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjects/uavobjectmanager.h"
+
+
+#include <iostream>
+#include <QtGui>
+#include <QDebug>
+
+/*
+ * Initialize the widget
+ */
+AntennaTrackWidget::AntennaTrackWidget(QWidget *parent) : QWidget(parent)
+{
+    setupUi(this);
+
+    azimuth_old=0;
+    elevation_old=0;
+}
+
+AntennaTrackWidget::~AntennaTrackWidget()
+{
+}
+void AntennaTrackWidget::setPort(QPointer<QextSerialPort> portx)
+{
+    port=portx;
+}
+
+void AntennaTrackWidget::dumpPacket(const QString &packet)
+{
+    textBrowser->append(packet);
+    if(textBrowser->document()->lineCount() > 200) {
+        QTextCursor tc = textBrowser->textCursor();
+        tc.movePosition(QTextCursor::Start);
+        tc.movePosition(QTextCursor::Down, QTextCursor::KeepAnchor);
+        tc.movePosition(QTextCursor::StartOfLine, QTextCursor::KeepAnchor);
+        tc.removeSelectedText();
+    }
+}
+
+void AntennaTrackWidget::setPosition(double lat, double lon, double alt)
+{
+    //lat *= 1E-7;
+    //lon *= 1E-7;
+    double deg = floor(fabs(lat));
+    double min = (fabs(lat)-deg)*60;
+    QString str1;
+    str1.sprintf("%.0f%c%.3f' ", deg,0x00b0, min);
+    if (lat>0)
+        str1.append("N");
+    else
+        str1.append("S");
+    coord_value->setText(str1);
+    deg = floor(fabs(lon));
+    min = (fabs(lon)-deg)*60;
+    QString str2;
+    str2.sprintf("%.0f%c%.3f' ", deg,0x00b0, min);
+    if (lon>0)
+        str2.append("E");
+    else
+        str2.append("W");
+    coord_value_2->setText(str2);
+    QString str3;
+    str3.sprintf("%.2f m", alt);
+    coord_value_3->setText(str3);
+    TrackData.Latitude=lat;
+    TrackData.Longitude=lon;
+    TrackData.Altitude=alt;
+    calcAntennaPosition();
+}
+
+void AntennaTrackWidget::setHomePosition(double lat, double lon, double alt)
+{
+    //lat *= 1E-7;
+    //lon *= 1E-7;
+    double deg = floor(fabs(lat));
+    double min = (fabs(lat)-deg)*60;
+    QString str1;
+    str1.sprintf("%.0f%c%.3f' ", deg,0x00b0, min);
+    if (lat>0)
+        str1.append("N");
+    else
+        str1.append("S");
+    speed_value->setText(str1);
+    deg = floor(fabs(lon));
+    min = (fabs(lon)-deg)*60;
+    QString str2;
+    str2.sprintf("%.0f%c%.3f' ", deg,0x00b0, min);
+    if (lon>0)
+        str2.append("E");
+    else
+        str2.append("W");
+    bear_label->setText(str2);
+    QString str3;
+    str3.sprintf("%.2f m", alt);
+    bear_value->setText(str3);
+    TrackData.HomeLatitude=lat;
+    TrackData.HomeLongitude=lon;
+    TrackData.HomeAltitude=alt;
+    calcAntennaPosition();
+}
+
+void AntennaTrackWidget::calcAntennaPosition(void)
+{
+    /** http://www.movable-type.co.uk/scripts/latlong.html **/
+    double lat1, lat2, lon1, lon2, a, c, d, x, y, brng;
+    double azimuth, elevation;
+    double gcsAlt=TrackData.HomeAltitude; // Home MSL altitude
+    double uavAlt=TrackData.Altitude; // UAV MSL altitude
+    double dAlt=uavAlt-gcsAlt; // Altitude difference
+
+    // Convert to radians
+    lat1 = TrackData.HomeLatitude*(M_PI/180); // Home lat
+    lon1 = TrackData.HomeLongitude*(M_PI/180); // Home lon
+    lat2 = TrackData.Latitude*(M_PI/180); // UAV lat
+    lon2 = TrackData.Longitude*(M_PI/180); // UAV lon
+
+    // Bearing
+    /**
+    var y = Math.sin(dLon) * Math.cos(lat2);
+    var x = Math.cos(lat1)*Math.sin(lat2) -
+            Math.sin(lat1)*Math.cos(lat2)*Math.cos(dLon);
+    var brng = Math.atan2(y, x).toDeg();
+    **/
+    y = sin(lon2-lon1) * cos(lat2);
+    x = cos(lat1) * sin(lat2) - sin(lat1) * cos(lat2) * cos(lon2-lon1);
+    brng = atan2((sin(lon2-lon1)*cos(lat2)),(cos(lat1)*sin(lat2)-sin(lat1)*cos(lat2)*cos(lon2-lon1)))*(180/M_PI);
+    if(brng<0)
+        brng+=360;
+
+    // bearing to stepper
+    azimuth = brng;
+
+    // Haversine formula for distance
+    /**
+    var R = 6371; // km
+    var dLat = (lat2-lat1).toRad();
+    var dLon = (lon2-lon1).toRad();
+    var a = Math.sin(dLat/2) * Math.sin(dLat/2) +
+            Math.cos(lat1.toRad()) * Math.cos(lat2.toRad()) *
+            Math.sin(dLon/2) * Math.sin(dLon/2);
+    var c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1-a));
+    var d = R * c;
+    **/
+    a = sin((lat2-lat1)/2) * sin((lat2-lat1)/2) +
+            cos(lat1) * cos(lat2) *
+            sin((lon2-lon1)/2) * sin((lon2-lon1)/2);
+    c = 2 * atan2(sqrt(a), sqrt(1-a));
+    d = 6371 * 1000 * c;
+
+    // Elevation  v depends servo direction
+    if(d!=0)
+        elevation = 90-(atan(dAlt/d)*(180/M_PI));
+    else
+        elevation = 0;
+    //! TODO: sanity check
+
+    QString str3;
+    str3.sprintf("%.0f deg", azimuth);
+    azimuth_value->setText(str3);
+
+    str3.sprintf("%.0f deg", elevation);
+    elevation_value->setText(str3);
+
+    //servo value 2000-4000
+    int servo = (int)(2000.0/180*elevation+2000);
+    int stepper = (int)(400.0/360*(azimuth-azimuth_old));
+
+    // send azimuth and elevation to tracker hardware
+    str3.sprintf("move %d 2000 2000 2000 %d\r", stepper,servo);
+    if(port->isOpen())
+    {
+        if(azimuth_old!=azimuth || elevation!=elevation_old)
+            port->write(str3.toAscii());
+        azimuth_old = azimuth;
+        elevation_old = elevation;
+    }
+
+}

ground/src/plugins/antennatrack/antennatrackwidget.h

@@ -0,0 +1,75 @@
+/**
+ ******************************************************************************
+ *
+ * @file       antennatrackwidget.h
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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 ANTENNATRACKWIDGET_H_
+#define ANTENNATRACKWIDGET_H_
+
+#include "ui_antennatrackwidget.h"
+#include "antennatrackgadgetconfiguration.h"
+#include "uavobjects/uavobject.h"
+#include <QGraphicsView>
+#include <QtSvg/QSvgRenderer>
+#include <QtSvg/QGraphicsSvgItem>
+#include <qextserialport/src/qextserialport.h>
+#include <QPointer>
+
+class Ui_AntennaTrackWidget;
+
+typedef struct struct_TrackData
+{
+        double Latitude;
+        double Longitude;
+        double Altitude;
+        double HomeLatitude;
+        double HomeLongitude;
+        double HomeAltitude;
+
+}TrackData_t;
+
+class AntennaTrackWidget : public QWidget, public Ui_AntennaTrackWidget
+{
+    Q_OBJECT
+
+public:
+    AntennaTrackWidget(QWidget *parent = 0);
+   ~AntennaTrackWidget();
+   TrackData_t TrackData;
+   void setPort(QPointer<QextSerialPort> portx);
+
+private slots:
+   void setPosition(double, double, double);
+   void setHomePosition(double, double, double);
+   void dumpPacket(const QString &packet);
+
+private:
+   void calcAntennaPosition(void);
+   QGraphicsSvgItem * marker;
+   QPointer<QextSerialPort> port;
+   double azimuth_old;
+   double elevation_old;
+};
+#endif /* ANTENNATRACKWIDGET_H_ */

ground/src/plugins/antennatrack/antennatrackwidget.ui

@@ -0,0 +1,479 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AntennaTrackWidget</class>
+ <widget class="QWidget" name="AntennaTrackWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>560</width>
+    <height>376</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayoutTop">
+   <property name="spacing">
+    <number>0</number>
+   </property>
+   <property name="margin">
+    <number>6</number>
+   </property>
+   <item>
+    <widget class="QSplitter" name="splitter">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="childrenCollapsible">
+      <bool>true</bool>
+     </property>
+     <widget class="QWidget" name="layoutWidget">
+      <layout class="QGridLayout" name="gridLayout" rowstretch="1,0" columnstretch="1">
+       <item row="0" column="0">
+        <layout class="QVBoxLayout" name="infoVerticalLayout" stretch="0,0,0,0,0,0,0,0,0,1">
+         <property name="spacing">
+          <number>0</number>
+         </property>
+         <item>
+          <layout class="QHBoxLayout" name="infoHorizontalLayout1" stretch="0,0,1,0,1,0,1">
+           <property name="spacing">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QLabel" name="lat_label">
+             <property name="enabled">
+              <bool>true</bool>
+             </property>
+             <property name="text">
+              <string>Coord:</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="horizontalSpacer_4">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Minimum</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>6</width>
+               <height>0</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QLabel" name="coord_value">
+             <property name="text">
+              <string>Unknown</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="horizontalSpacer_5">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Minimum</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>6</width>
+               <height>0</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QLabel" name="coord_value_2">
+             <property name="text">
+              <string>Unknown</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="horizontalSpacer_6">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Minimum</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>6</width>
+               <height>0</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QLabel" name="coord_value_3">
+             <property name="text">
+              <string>Unknown</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <spacer name="verticalSpacer_3">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeType">
+            <enum>QSizePolicy::Preferred</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>6</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item>
+          <layout class="QHBoxLayout" name="infoHorizontalLayout2" stretch="0,0,1,0,1,0,1">
+           <property name="spacing">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QLabel" name="speed_label">
+             <property name="text">
+              <string>HomeCoord:</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="horizontalSpacer_7">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Minimum</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>6</width>
+               <height>0</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QLabel" name="speed_value">
+             <property name="text">
+              <string>Unknown</string>
+             </property>
+             <property name="scaledContents">
+              <bool>false</bool>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="horizontalSpacer_9">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Minimum</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>6</width>
+               <height>0</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QLabel" name="bear_label">
+             <property name="text">
+              <string>Unknown</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="horizontalSpacer_8">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Minimum</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>6</width>
+               <height>0</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QLabel" name="bear_value">
+             <property name="text">
+              <string>Unknown</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <spacer name="verticalSpacer_5">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeType">
+            <enum>QSizePolicy::Preferred</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>4</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item>
+          <widget class="Line" name="line2">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <spacer name="verticalSpacer_7">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeType">
+            <enum>QSizePolicy::Preferred</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>4</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item>
+          <layout class="QHBoxLayout" name="infoHorizontalLayout4" stretch="0,0,1">
+           <property name="spacing">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QLabel" name="status_label">
+             <property name="text">
+              <string>Azimuth</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="horizontalSpacer_10">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Minimum</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>6</width>
+               <height>0</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QLabel" name="azimuth_value">
+             <property name="text">
+              <string>Unknown</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <spacer name="verticalSpacer_4">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeType">
+            <enum>QSizePolicy::Preferred</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>6</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item>
+          <layout class="QHBoxLayout" name="infoHorizontalLayout5" stretch="0,0,1">
+           <property name="spacing">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QLabel" name="fix_label">
+             <property name="text">
+              <string>Elevation</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="horizontalSpacer_11">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Minimum</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>6</width>
+               <height>0</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QLabel" name="elevation_value">
+             <property name="text">
+              <string>Unknown</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <spacer name="verticalSpacer">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeType">
+            <enum>QSizePolicy::Ignored</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>6</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </item>
+       <item row="1" column="0">
+        <layout class="QHBoxLayout" name="horizontalLayout2" stretch="0,0,1">
+         <property name="spacing">
+          <number>0</number>
+         </property>
+         <item>
+          <spacer name="horizontalSpacer">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeType">
+            <enum>QSizePolicy::Preferred</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>9</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout">
+           <item>
+            <widget class="QPushButton" name="connectButton">
+             <property name="text">
+              <string>Connect</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QPushButton" name="disconnectButton">
+             <property name="text">
+              <string>Disconnect</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <spacer name="horizontalSpacer_3">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>0</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QGroupBox" name="dataStreamGroupBox">
+      <property name="title">
+       <string>Output</string>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_4">
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QTextBrowser" name="textBrowser">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Expanding" vsizetype="Ignored">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>50</height>
+          </size>
+         </property>
+         <property name="verticalScrollBarPolicy">
+          <enum>Qt::ScrollBarAlwaysOn</enum>
+         </property>
+         <property name="lineWrapMode">
+          <enum>QTextEdit::WidgetWidth</enum>
+         </property>
+         <property name="acceptRichText">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

ground/src/plugins/antennatrack/gpsparser.cpp

@@ -0,0 +1,43 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gpsparser.cpp
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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"
+
+GPSParser::GPSParser(QObject *parent) : QObject(parent)
+{
+    qRegisterMetaType<QList<int> >("QList<int>");
+}
+
+GPSParser::~GPSParser()
+{
+
+}
+
+void GPSParser::processInputStream(char c) {
+{
+    Q_UNUSED(c)}
+}

ground/src/plugins/antennatrack/gpsparser.h

@@ -0,0 +1,59 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gpsparser.h
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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:
+    ~GPSParser();
+    virtual void processInputStream(char c);
+
+protected:
+    GPSParser(QObject *parent = 0);
+
+signals:
+   void sv(int); // Satellites in view
+   void position(double,double,double); // Lat, Lon, Alt
+   void home(double,double,double); // Lat, Lon, Alt
+   void datetime(double,double); // Date then time
+   void speedheading(double,double);
+   void packet(QString); // Raw NMEA Packet (or just info)
+   void satellite(int,int,int,int,int); // Index, PRN, Elevation, Azimuth, SNR
+   void fixmode(QString); // Mode of fix: "Auto", "Manual".
+   void fixtype(QString); // Type of fix: "NoGPS", "NoFix", "Fix2D", "Fix3D".
+   void dop(double, double, double); // HDOP, VDOP, PDOP
+   void fixSVs(QList<int>); // SV's used for fix.
+};
+
+#endif // GPSPARSER_H

ground/src/plugins/antennatrack/telemetryparser.cpp

@@ -0,0 +1,81 @@
+/**
+ ******************************************************************************
+ *
+ * @file       telemetryparser.cpp
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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(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("HomeLocation"));
+    if (gpsObj != NULL) {
+    connect(gpsObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateHome(UAVObject*)));
+    } else {
+        qDebug() << "Error: Object is unknown (HomeLocation).";
+    }
+
+}
+
+TelemetryParser::~TelemetryParser()
+{
+
+}
+
+void TelemetryParser::updateHome( UAVObject* object1) {
+    double lat = object1->getField(QString("Latitude"))->getDouble();
+    double lon = object1->getField(QString("Longitude"))->getDouble();
+    double alt = object1->getField(QString("Altitude"))->getDouble();
+    lat *= 1E-7;
+    lon *= 1E-7;
+    emit home(lat,lon,alt);
+}
+
+
+void TelemetryParser::updateGPS( UAVObject* object1) {
+    double lat = object1->getField(QString("Latitude"))->getDouble();
+    double lon = object1->getField(QString("Longitude"))->getDouble();
+    double alt = object1->getField(QString("Altitude"))->getDouble();
+    lat *= 1E-7;
+    lon *= 1E-7;
+    emit position(lat,lon,alt);
+}
+

ground/src/plugins/antennatrack/telemetryparser.h

@@ -0,0 +1,52 @@
+/**
+ ******************************************************************************
+ *
+ * @file       telemetryparser.h
+ * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
+ * @{
+ * @brief A gadget that communicates with antenna tracker 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 updateHome(UAVObject* object1);
+};
+
+#endif // TELEMETRYPARSER_H

ground/src/plugins/plugins.pro

@@ -151,6 +151,12 @@ plugin_gcscontrol.depends += plugin_uavobjects
 plugin_gcscontrol.depends += plugin_uavtalk
 SUBDIRS += plugin_gcscontrol
 
+# Antenna tracker
+#plugin_antennatrack.subdir = antennatrack
+#plugin_antennatrack.depends = plugin_coreplugin
+#plugin_antennatrack.depends = plugin_uavtalk
+#SUBDIRS += plugin_antennatrack
+
 # Empty UAVGadget - Default for new splits
 plugin_magicwaypoint.subdir = magicwaypoint
 plugin_magicwaypoint.depends = plugin_coreplugin