Merge branch 'revo' into revo-mini

Conflicts:
	androidgcs/AndroidManifest.xml
	androidgcs/res/layout/gcs_home.xml
	androidgcs/res/values/strings.xml
	androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
	androidgcs/src/org/openpilot/androidgcs/HomePage.java
	flight/PipXtreme/System/pios_board.c
	ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
	shared/uavobjectdefinition/taskinfo.xml

flight/Modules/Actuator/actuator.c

@@ -65,24 +65,25 @@ static xQueueHandle queue;
 static xTaskHandle taskHandle;
 
 static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
-static float lastFilteredResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
 static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
 // used to inform the actuator thread that actuator update rate is changed
-static uint8_t updateRateChanged = 0;
+static volatile bool actuator_settings_updated;
+// used to inform the actuator thread that mixer settings are changed
+static volatile bool mixer_settings_updated;
 
 // Private functions
 static void actuatorTask(void* parameters);
-static void actuator_update_rate(UAVObjEvent *);
 static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
-static void setFailsafe();
+static void setFailsafe(const ActuatorSettingsData * actuatorSettings, const MixerSettingsData * mixerSettings);
 static float MixerCurve(const float throttle, const float* curve, uint8_t elements);
-static bool set_channel(uint8_t mixer_channel, uint16_t value);
+static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings);
-static void change_update_rate();
+static void actuator_update_rate_if_changed(const ActuatorSettingsData * actuatorSettings, bool force_update);
+static void MixerSettingsUpdatedCb(UAVObjEvent * ev);
+static void ActuatorSettingsUpdatedCb(UAVObjEvent * ev);
 float ProcessMixer(const int index, const float curve1, const float curve2,
-		   MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
+		   const MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
 		   const float period);
 
-static uint16_t lastChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM] = {0,0,0,0};
 //this structure is equivalent to the UAVObjects for one mixer.
 typedef struct {
 	uint8_t type;
@@ -109,22 +110,26 @@ int32_t ActuatorStart()
  */
 int32_t ActuatorInitialize()
 {
-	// Create object queue
+	// Register for notification of changes to ActuatorSettings
-	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
-
 	ActuatorSettingsInitialize();
-	ActuatorDesiredInitialize();
+	ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
-	MixerSettingsInitialize();
-	ActuatorCommandInitialize();
-#if defined(DIAGNOSTICS)
-	MixerStatusInitialize();
-#endif
 
-	// Listen for ExampleObject1 updates
+	// Register for notification of changes to MixerSettings
+	MixerSettingsInitialize();
+	MixerSettingsConnectCallback(MixerSettingsUpdatedCb);
+
+	// Listen for ActuatorDesired updates (Primary input to this module)
+	ActuatorDesiredInitialize();
+	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
 	ActuatorDesiredConnectQueue(queue);
 
-	// If settings change, update the output rate
+	// Primary output of this module
-	ActuatorSettingsConnectCallback(actuator_update_rate);
+	ActuatorCommandInitialize();
+
+#if defined(DIAGNOSTICS)
+	// UAVO only used for inspecting the internal status of the mixer during debug
+	MixerStatusInitialize();
+#endif
 
 	return 0;
 }
@@ -151,22 +156,25 @@ static void actuatorTask(void* parameters)
 	float dT = 0.0f;
 
 	ActuatorCommandData command;
-	MixerSettingsData mixerSettings;
 	ActuatorDesiredData desired;
 	MixerStatusData mixerStatus;
 	FlightStatusData flightStatus;
 
-	uint8_t MotorsSpinWhileArmed;
+	/* Read initial values of ActuatorSettings */
-	int16_t ChannelMax[ACTUATORCOMMAND_CHANNEL_NUMELEM];
+	ActuatorSettingsData actuatorSettings;
-	int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
+	actuator_settings_updated = false;
-	int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
+	ActuatorSettingsGet(&actuatorSettings);
 
-	change_update_rate();
+	/* Read initial values of MixerSettings */
+	MixerSettingsData mixerSettings;
+	mixer_settings_updated = false;
+	MixerSettingsGet(&mixerSettings);
 
-	float * status = (float *)&mixerStatus; //access status objects as an array of floats
+	/* Force an initial configuration of the actuator update rates */
+	actuator_update_rate_if_changed(&actuatorSettings, true);
 
 	// Go to the neutral (failsafe) values until an ActuatorDesired update is received
-	setFailsafe();
+	setFailsafe(&actuatorSettings, &mixerSettings);
 
 	// Main task loop
 	lastSysTime = xTaskGetTickCount();
@@ -174,17 +182,24 @@ static void actuatorTask(void* parameters)
 	{
 		PIOS_WDG_UpdateFlag(PIOS_WDG_ACTUATOR);
 
-		// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
+		// Wait until the ActuatorDesired object is updated
-		if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
+		uint8_t rc = xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS);
-		{
+
-			setFailsafe();
+		/* Process settings updated events even in timeout case so we always act on the latest settings */
-			continue;
+		if (actuator_settings_updated) {
+			actuator_settings_updated = false;
+			ActuatorSettingsGet (&actuatorSettings);
+			actuator_update_rate_if_changed (&actuatorSettings, false);
+		}
+		if (mixer_settings_updated) {
+			mixer_settings_updated = false;
+			MixerSettingsGet (&mixerSettings);
 		}
 
-		if(updateRateChanged!=0)
+		if (rc != pdTRUE) {
-		{
+			/* Update of ActuatorDesired timed out.  Go to failsafe */
-			change_update_rate();
+			setFailsafe(&actuatorSettings, &mixerSettings);
-			updateRateChanged=0;
+			continue;
 		}
 
 		// Check how long since last update
@@ -194,18 +209,12 @@ static void actuatorTask(void* parameters)
 		lastSysTime = thisSysTime;
 
 		FlightStatusGet(&flightStatus);
-		MixerSettingsGet (&mixerSettings);
 		ActuatorDesiredGet(&desired);
 		ActuatorCommandGet(&command);
 
 #if defined(DIAGNOSTICS)
 		MixerStatusGet(&mixerStatus);
 #endif
-		ActuatorSettingsMotorsSpinWhileArmedGet(&MotorsSpinWhileArmed);
-		ActuatorSettingsChannelMaxGet(ChannelMax);
-		ActuatorSettingsChannelMinGet(ChannelMin);
-		ActuatorSettingsChannelNeutralGet(ChannelNeutral);
-
 		int nMixers = 0;
 		Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer1Type;
 		for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
@@ -217,7 +226,7 @@ static void actuatorTask(void* parameters)
 		}
 		if((nMixers < 2) && !ActuatorCommandReadOnly()) //Nothing can fly with less than two mixers.
 		{
-			setFailsafe(); // So that channels like PWM buzzer keep working
+			setFailsafe(&actuatorSettings, &mixerSettings); // So that channels like PWM buzzer keep working
 			continue;
 		}
 
@@ -225,7 +234,7 @@ static void actuatorTask(void* parameters)
 
 		bool armed = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED;
 		bool positiveThrottle = desired.Throttle >= 0.00f;
-		bool spinWhileArmed = MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
+		bool spinWhileArmed = actuatorSettings.MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
 
 		float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1,MIXERSETTINGS_THROTTLECURVE1_NUMELEM);
 		
@@ -264,6 +273,8 @@ static void actuatorTask(void* parameters)
 				break;
 		}
 
+		float * status = (float *)&mixerStatus; //access status objects as an array of floats
+
 		for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
 		{
 			if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
@@ -337,9 +348,9 @@ static void actuatorTask(void* parameters)
 		
 		for(int i = 0; i < MAX_MIX_ACTUATORS; i++) 
 			command.Channel[i] = scaleChannel(status[i],
-							   ChannelMax[i],
+							   actuatorSettings.ChannelMax[i],
-							   ChannelMin[i],
+							   actuatorSettings.ChannelMin[i],
-							   ChannelNeutral[i]);
+							   actuatorSettings.ChannelNeutral[i]);
 			
 		// Store update time
 		command.UpdateTime = 1000.0f*dT;
@@ -361,7 +372,7 @@ static void actuatorTask(void* parameters)
 
 		for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
 		{
-			success &= set_channel(n, command.Channel[n]);
+			success &= set_channel(n, command.Channel[n], &actuatorSettings);
 		}
 
 		if(!success) {
@@ -379,15 +390,18 @@ static void actuatorTask(void* parameters)
  *Process mixing for one actuator
  */
 float ProcessMixer(const int index, const float curve1, const float curve2,
-		   MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
+		   const MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
 {
-	Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
+	static float lastFilteredResult[MAX_MIX_ACTUATORS];
-	Mixer_t * mixer = &mixers[index];
+	const Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
+	const Mixer_t * mixer = &mixers[index];
+
 	float result = (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE1] / 128.0f) * curve1) +
 		       (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE2] / 128.0f) * curve2) +
 		       (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL] / 128.0f) * desired->Roll) +
 		       (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH] / 128.0f) * desired->Pitch) +
 		       (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW] / 128.0f) * desired->Yaw);
+
 	if(mixer->type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
 	{
 		if(result < 0.0f) //idle throttle
@@ -501,19 +515,13 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
 /**
  * Set actuator output to the neutral values (failsafe)
  */
-static void setFailsafe()
+static void setFailsafe(const ActuatorSettingsData * actuatorSettings, const MixerSettingsData * mixerSettings)
 {
-	/* grab only the modules parts that we are going to use */
+	/* grab only the parts that we are going to use */
-	int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
-	ActuatorSettingsChannelMinGet(ChannelMin);
-	int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
-	ActuatorSettingsChannelNeutralGet(ChannelNeutral);
 	int16_t Channel[ACTUATORCOMMAND_CHANNEL_NUMELEM];
 	ActuatorCommandChannelGet(Channel);
 
-	MixerSettingsData mixerSettings;
+	const Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
-	MixerSettingsGet (&mixerSettings);
-	Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer1Type; //pointer to array of mixers in UAVObjects
 
 	// Reset ActuatorCommand to safe values
 	for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
@@ -521,11 +529,11 @@ static void setFailsafe()
 
 		if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
 		{
-			Channel[n] = ChannelMin[n];
+			Channel[n] = actuatorSettings->ChannelMin[n];
 		}
 		else if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_SERVO)
 		{
-			Channel[n] = ChannelNeutral[n];
+			Channel[n] = actuatorSettings->ChannelNeutral[n];
 		}
 		else
 		{
@@ -541,54 +549,22 @@ static void setFailsafe()
 	// Update servo outputs
 	for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
 	{
-		set_channel(n, Channel[n]);
+		set_channel(n, Channel[n], actuatorSettings);
 	}
 
 	// Update output object's parts that we changed
 	ActuatorCommandChannelSet(Channel);
 }
 
-
-/**
- * @brief Update the servo update rate
- */
-static void actuator_update_rate(UAVObjEvent * ev)
-{
-	uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
-	// ActuatoSettings are not changed 
-	if ( ev->obj != ActuatorSettingsHandle() )
-		return;
-	
-	ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
-	// check if the any rate setting is changed 	
-	if (lastChannelUpdateFreq[0]!=0 && memcmp(&lastChannelUpdateFreq[0], &ChannelUpdateFreq[0], sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM) ==0)
-		return;
-		// signal to the actuator task that ChannelUpdateFreq are changed 
-	updateRateChanged = 1;	
-}
-/**
- * @brief Change the update rates according to the ActuatorSettingsChannelUpdateFreq.
- */
-static void change_update_rate()
-{
-	uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
-	// save the new rates 
-	ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
-	memcpy(lastChannelUpdateFreq, ChannelUpdateFreq, sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
-	PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
-}
-
 #if defined(ARCH_POSIX) || defined(ARCH_WIN32)
-static bool set_channel(uint8_t mixer_channel, uint16_t value) {
+static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings)
+{
 	return true;
 }
 #else
-static bool set_channel(uint8_t mixer_channel, uint16_t value) {
+static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings)
-
+{
-	ActuatorSettingsData settings;
+	switch(actuatorSettings->ChannelType[mixer_channel]) {
-	ActuatorSettingsGet(&settings);
-
-	switch(settings.ChannelType[mixer_channel]) {
 		case ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER: {
 			// This is for buzzers that take a PWM input
 
@@ -631,18 +607,18 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
 					lastSysTime = thisSysTime;
 				}
 			}
-			PIOS_Servo_Set(	settings.ChannelAddr[mixer_channel],
+			PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel],
-							buzzOn?settings.ChannelMax[mixer_channel]:settings.ChannelMin[mixer_channel]);
+							buzzOn?actuatorSettings->ChannelMax[mixer_channel]:actuatorSettings->ChannelMin[mixer_channel]);
 			return true;
 		}
 		case ACTUATORSETTINGS_CHANNELTYPE_PWM:
-			PIOS_Servo_Set(settings.ChannelAddr[mixer_channel], value);
+			PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value);
 			return true;
 #if defined(PIOS_INCLUDE_I2C_ESC)
 		case ACTUATORSETTINGS_CHANNELTYPE_MK:
-			return PIOS_SetMKSpeed(settings.ChannelAddr[mixer_channel],value);
+			return PIOS_SetMKSpeed(actuatorSettings->ChannelAddr[mixer_channel],value);
 		case ACTUATORSETTINGS_CHANNELTYPE_ASTEC4:
-			return PIOS_SetAstec4Speed(settings.ChannelAddr[mixer_channel],value);
+			return PIOS_SetAstec4Speed(actuatorSettings->ChannelAddr[mixer_channel],value);
 			break;
 #endif
 		default:
@@ -654,6 +630,35 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
 }
 #endif
 
+/**
+ * @brief Update the servo update rate
+ */
+static void actuator_update_rate_if_changed(const ActuatorSettingsData * actuatorSettings, bool force_update)
+{
+	static uint16_t prevChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
+
+	// check if the any rate setting is changed
+	if (force_update ||
+		memcmp (prevChannelUpdateFreq,
+			actuatorSettings->ChannelUpdateFreq,
+			sizeof(prevChannelUpdateFreq)) != 0) {
+		/* Something has changed, apply the settings to HW */
+		memcpy (prevChannelUpdateFreq,
+			actuatorSettings->ChannelUpdateFreq,
+			sizeof(prevChannelUpdateFreq));
+		PIOS_Servo_SetHz(actuatorSettings->ChannelUpdateFreq, ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
+	}
+}
+
+static void ActuatorSettingsUpdatedCb(UAVObjEvent * ev)
+{
+	actuator_settings_updated = true;
+}
+
+static void MixerSettingsUpdatedCb(UAVObjEvent * ev)
+{
+	mixer_settings_updated = true;
+}
 
 /**
  * @}

flight/PiOS.posix/inc/pios_servo.h

@@ -32,7 +32,7 @@
 
 /* Public Functions */
 extern void PIOS_Servo_Init(void);
-extern void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t num_banks);
+extern void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t num_banks);
 extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
 
 #endif /* PIOS_SERVO_H */

flight/PiOS.posix/posix/pios_servo.c

@@ -50,7 +50,7 @@ void PIOS_Servo_Init(void)
 * \param[in] onetofour Rate for outputs 1 to 4 (Hz)
 * \param[in] fivetoeight Rate for outputs 5 to 8 (Hz)
 */
-void PIOS_Servo_SetHz(uint16_t * banks, uint8_t num_banks)
+void PIOS_Servo_SetHz(const uint16_t * banks, uint8_t num_banks)
 {
 }
 

flight/PiOS.win32/win32/pios_servo.c

@@ -50,7 +50,7 @@ void PIOS_Servo_Init(void)
 * \param[in] onetofour Rate for outputs 1 to 4 (Hz)
 * \param[in] fivetoeight Rate for outputs 5 to 8 (Hz)
 */
-void PIOS_Servo_SetHz(uint16_t * banks, uint8_t num_banks)
+void PIOS_Servo_SetHz(const uint16_t * banks, uint8_t num_banks)
 {
 }
 

flight/PiOS/STM32F10x/pios_servo.c

@@ -87,7 +87,7 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg)
 * \param[in] array of rates in Hz
 * \param[in] maximum number of banks
 */
-void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
+void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t banks)
 {
 	if (!servo_cfg) {
 		return;

flight/PiOS/STM32F4xx/pios_servo.c

@@ -87,7 +87,7 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg)
 * \param[in] array of rates in Hz
 * \param[in] maximum number of banks
 */
-void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
+void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t banks)
 {
 	if (!servo_cfg) {
 		return;

flight/PiOS/inc/pios_servo.h

@@ -31,7 +31,7 @@
 #define PIOS_SERVO_H
 
 /* Public Functions */
-extern void PIOS_Servo_SetHz(uint16_t * update_rates, uint8_t channels);
+extern void PIOS_Servo_SetHz(const uint16_t * update_rates, uint8_t banks);
 extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
 
 #endif /* PIOS_SERVO_H */

flight/UAVObjects/eventdispatcher.c

@@ -280,6 +280,9 @@ static void eventTask()
 	int32_t delayMs;
 	EventCallbackInfo evInfo;
 
+	/* Must do this in task context to ensure that TaskMonitor has already finished its init */
+	TaskMonitorAdd(TASKINFO_RUNNING_EVENTDISPATCHER, eventTaskHandle);
+
 	// Initialize time
 	timeToNextUpdateMs = xTaskGetTickCount()*portTICK_RATE_MS;
 

ground/openpilotgcs/src/libs/opmapcontrol/opmapcontrol.h

@@ -1 +1,20 @@
+#ifndef OPMAP_CONTROL_H_
+#define OPMAP_CONTROL_H_
 #include "src/mapwidget/opmapwidget.h"
+namespace mapcontrol
+{
+    struct customData
+    {
+        float velocity;
+        int mode;
+        float mode_params[4];
+        int condition;
+        float condition_params[4];
+        int command;
+        int jumpdestination;
+        int errordestination;
+    };
+
+}
+Q_DECLARE_METATYPE(mapcontrol::customData)
+#endif

ground/openpilotgcs/src/libs/opmapcontrol/src/core/accessmode.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       accessmode.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/alllayersoftype.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       alllayersoftype.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/alllayersoftype.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       alllayersoftype.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/cache.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       cache.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/cache.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       cache.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/cacheitemqueue.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       cacheitemqueue.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/cacheitemqueue.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       cacheitemqueue.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/diagnostics.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       diagnostics.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/diagnostics.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       diagnostics.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/geodecoderstatus.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       geodecoderstatus.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/kibertilecache.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       kibertilecache.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/kibertilecache.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       kibertilecache.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/languagetype.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       languagetype.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/languagetype.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       languagetype.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/maptype.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       maptype.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/memorycache.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       memorycache.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/memorycache.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       memorycache.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       OPMaps.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       OPMaps.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/placemark.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       placemark.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/placemark.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       placemark.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/point.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       point.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/point.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       point.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/providerstrings.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       providerstrings.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/providerstrings.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       providerstrings.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/pureimage.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       pureimage.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/pureimage.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       pureimage.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/pureimagecache.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       pureimagecache.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/pureimagecache.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       pureimagecache.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/rawtile.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       rawtile.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/rawtile.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       rawtile.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/size.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       size.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/size.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       size.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/tilecachequeue.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       tilecachequeue.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/tilecachequeue.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       tilecachequeue.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/urlfactory.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       urlfactory.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/core/urlfactory.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       urlfactory.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/MouseWheelZoomType.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       MouseWheelZoomType.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/copyrightstrings.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       copyrightstrings.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -31,11 +31,11 @@
 #include <QDateTime>
  
 namespace internals {
-static const QString googleCopyright = QString("©%1 Google - Map data ©%1 Tele Atlas, Imagery ©%1 TerraMetrics").arg(QDate::currentDate().year());
+static const QString googleCopyright = QString("%1 Google - Map data %1 Tele Atlas, Imagery %1 TerraMetrics").arg(QDate::currentDate().year());
-static const QString openStreetMapCopyright = QString("© OpenStreetMap - Map data ©%1 OpenStreetMap").arg(QDate::currentDate().year());
+static const QString openStreetMapCopyright = QString(" OpenStreetMap - Map data %1 OpenStreetMap").arg(QDate::currentDate().year());
-static const QString yahooMapCopyright = QString("© Yahoo! Inc. - Map data & Imagery ©%1 NAVTEQ").arg(QDate::currentDate().year());
+static const QString yahooMapCopyright = QString(" Yahoo! Inc. - Map data & Imagery %1 NAVTEQ").arg(QDate::currentDate().year());
-static const QString virtualEarthCopyright = QString("©%1 Microsoft Corporation, ©%1 NAVTEQ, ©%1 Image courtesy of NASA").arg(QDate::currentDate().year());
+static const QString virtualEarthCopyright = QString("%1 Microsoft Corporation, %1 NAVTEQ, %1 Image courtesy of NASA").arg(QDate::currentDate().year());
-static const QString arcGisCopyright = QString("©%1 ESRI - Map data ©%1 ArcGIS").arg(QDate::currentDate().year());
+static const QString arcGisCopyright = QString("%1 ESRI - Map data %1 ArcGIS").arg(QDate::currentDate().year());
 
 }
 #endif // COPYRIGHTSTRINGS_H

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/core.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       core.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -251,6 +251,7 @@ namespace internals {
                 Matrix.Clear();
                 GoToCurrentPositionOnZoom();
                 UpdateBounds();
+                keepInBounds();
                 emit OnMapDrag();
                 emit OnMapZoomChanged();
                 emit OnNeedInvalidation();
@@ -572,7 +573,7 @@ namespace internals {
     {
         renderOffset.SetX(pt.X() - dragPoint.X());
         renderOffset.SetY(pt.Y() - dragPoint.Y());
-
+        keepInBounds();
         UpdateCenterTileXYLocation();
 
         if(centerTileXYLocation != centerTileXYLocationLast)
@@ -692,4 +693,18 @@ namespace internals {
         pxRes1000km = (int) (1000000.0 / rez); // 1000km
         pxRes5000km = (int) (5000000.0 / rez); // 5000km
     }
+    void Core::keepInBounds()
+    {
+        if(renderOffset.X()>0)
+            renderOffset.SetX(0);
+        if(renderOffset.Y()>0)
+            renderOffset.SetY(0);
+        int maxDragY=GetCurrentRegion().Height()-GettileRect().Height()*(maxOfTiles.Height()-minOfTiles.Height()+1);
+        int maxDragX=GetCurrentRegion().Width()-GettileRect().Width()*(maxOfTiles.Width()-minOfTiles.Width()+1);
+
+        if(maxDragY>renderOffset.Y())
+            renderOffset.SetY(maxDragY);
+        if(maxDragX>renderOffset.X())
+            renderOffset.SetX(maxDragX);
+    }
 }

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/core.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       core.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -193,6 +193,7 @@ namespace internals {
         bool isStarted(){return started;}
 
         diagnostics GetDiagnostics();
+
     signals:
         void OnCurrentPositionChanged(internals::PointLatLng point);
         void OnTileLoadComplete();
@@ -206,7 +207,7 @@ namespace internals {
 
     private:
 
-
+        void keepInBounds();
         PointLatLng currentPosition;
         core::Point currentPositionPixel;
         core::Point renderOffset;

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/loadtask.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       loadtask.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/loadtask.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       loadtask.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/mousewheelzoomtype.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mousewheelzoomtype.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pointlatlng.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       pointlatlng.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pointlatlng.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       pointlatlng.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       lks94projection.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -614,6 +614,9 @@ double LKS94Projection::GetTileMatrixResolution(int const& zoom)
 
     return ret;
 }
+/*
+ * Returns the conversion from pixels to meters
+ */
 double LKS94Projection::GetGroundResolution(int const& zoom, double const& latitude)
 {
     Q_UNUSED(zoom);

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       lks94projection.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/mercatorprojection.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mercatorprojection.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/mercatorprojection.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mercatorprojection.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/mercatorprojectionyandex.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mercatorprojectionyandex.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/mercatorprojectionyandex.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mercatorprojectionyandex.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       platecarreeprojection.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       platecarreeprojection.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       platecarreeprojectionpergo.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       platecarreeprojectionpergo.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pureprojection.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       pureprojection.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -103,6 +103,9 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng &p,const int &zoom)
 
          return ret;
       }
+      /*
+       * Returns the conversion from pixels to meters
+       */
       double PureProjection::GetGroundResolution(const int &zoom,const double &latitude)
       {
           return (cos(latitude * (PI / 180)) * 2 * PI * Axis()) / GetTileMatrixSizePixel(zoom).Width();
@@ -215,6 +218,18 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng &p,const int &zoom)
          Lat /= (PI / 180);
          Lng /= (PI / 180);
       }
+    double PureProjection::courseBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2)
+    {
+
+        double lon1=p1.Lng()* (M_PI / 180);
+        double lat1=p1.Lat()* (M_PI / 180);
+        double lon2=p2.Lng()* (M_PI / 180);
+        double lat2=p2.Lat()* (M_PI / 180);
+
+        return 2*M_PI-myfmod(atan2(sin(lon1-lon2)*cos(lat2),
+                       cos(lat1)*sin(lat2)-sin(lat1)*cos(lat2)*cos(lon1-lon2)), 2*M_PI);
+    }
+
     double PureProjection::DistanceBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2)
     {
          double R = 6371; // km
@@ -229,4 +244,34 @@ Point PureProjection::FromLatLngToPixel(const PointLatLng &p,const int &zoom)
          double d = R * c;
          return d;
     }
+
+    void PureProjection::offSetFromLatLngs(PointLatLng p1,PointLatLng p2,double &distance,double &bearing)
+    {
+        distance=DistanceBetweenLatLng(p1,p2)*1000;
+        bearing=courseBetweenLatLng(p1,p2);
+      }
+
+    double PureProjection::myfmod(double x,double y)
+    {
+        return x - y*floor(x/y);
+    }
+
+    PointLatLng PureProjection::translate(PointLatLng  p1,double distance,double bearing)
+    {
+        PointLatLng ret;
+        double d=distance;
+        double tc=bearing;
+        double lat1=p1.Lat()*M_PI/180;
+        double lon1=p1.Lng()*M_PI/180;
+        double R=6378137;
+        double lat2 = asin(sin(lat1)*cos(d/R) + cos(lat1)*sin(d/R)*cos(tc) );
+        double lon2 = lon1 + atan2(sin(tc)*sin(d/R)*cos(lat1),
+                             cos(d/R)-sin(lat1)*sin(lat2));
+        lat2=lat2*180/M_PI;
+        lon2=lon2*180/M_PI;
+        ret.SetLat(lat2);
+        ret.SetLng(lon2);
+        return ret;
+    }
+
 }

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/pureprojection.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       pureprojection.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -33,7 +33,7 @@
 #include "pointlatlng.h"
 #include "cmath"
 #include "rectlatlng.h"
-
+#include <QDebug>
 using namespace core;
 
 namespace internals
@@ -81,6 +81,9 @@ public:
     void FromCartesianTGeodetic(const double &X,const double &Y,const double &Z,  double &Lat,  double &Lng);
     static double DistanceBetweenLatLng(PointLatLng const& p1,PointLatLng const& p2);
 
+    PointLatLng translate(PointLatLng p1, double distance, double bearing);
+    double courseBetweenLatLng(const PointLatLng &p1, const PointLatLng &p2);
+    void offSetFromLatLngs(PointLatLng p1, PointLatLng p2, double &dX, double &dY);
 protected:
    
     static const double PI;
@@ -103,7 +106,8 @@ protected:
     static double e3fn(const double &x);
     static double mlfn(const double &e0,const double &e1,const double &e2,const double &e3,const double &phi);
     static qlonglong GetUTMzone(const double &lon);
-
+private:
+    double myfmod(double x, double y);
 };
 }
 

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/rectangle.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       rectangle.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/rectangle.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       rectangle.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/rectlatlng.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       rectlatlng.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/rectlatlng.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       rectlatlng.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/sizelatlng.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       sizelatlng.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/sizelatlng.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       sizelatlng.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/tile.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       tile.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/tile.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       tile.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/tilematrix.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       tilematrix.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/tilematrix.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       tilematrix.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/configuration.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       configuration.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A class that centralizes most of the mapcontrol configurations
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/configuration.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       configuration.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A class that centralizes most of the mapcontrol configurations
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/gpsitem.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       gpsitem.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A graphicsItem representing a UAV
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -37,27 +37,27 @@ namespace mapcontrol
         localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
         this->setPos(localposition.X(),localposition.Y());
         this->setZValue(4);
-        trail=new QGraphicsItemGroup();
+        trail=new QGraphicsItemGroup(this);
         trail->setParentItem(map);
-        trailLine=new QGraphicsItemGroup();
+        trailLine=new QGraphicsItemGroup(this);
         trailLine->setParentItem(map);
         this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
         mapfollowtype=UAVMapFollowType::None;
         trailtype=UAVTrailType::ByDistance;
         timer.start();
+        connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
+        connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
     }
     GPSItem::~GPSItem()
     {
-        delete trail;
+
     }
 
     void GPSItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
     {
         Q_UNUSED(option);
         Q_UNUSED(widget);
-       // painter->rotate(-90);
         painter->drawPixmap(-pic.width()/2,-pic.height()/2,pic);
-       //   painter->drawRect(QRectF(-pic.width()/2,-pic.height()/2,pic.width()-1,pic.height()-1));
     }
     QRectF GPSItem::boundingRect()const
     {
@@ -74,9 +74,15 @@ namespace mapcontrol
             {
                 if(timer.elapsed()>trailtime*1000)
                 {
-                    trail->addToGroup(new TrailItem(position,altitude,Qt::green,this));
+                    TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
+                    trail->addToGroup(ob);
+                    connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
                     if(!lasttrailline.IsEmpty())
-                        trailLine->addToGroup((new TrailLineItem(lasttrailline,position,Qt::green,map)));
+                    {
+                        TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
+                        trailLine->addToGroup(obj);
+                        connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
+                    }
                     lasttrailline=position;
                     timer.restart();
                 }
@@ -86,10 +92,15 @@ namespace mapcontrol
             {
                 if(qAbs(internals::PureProjection::DistanceBetweenLatLng(lastcoord,position)*1000)>traildistance)
                 {
-                    trail->addToGroup(new TrailItem(position,altitude,Qt::green,this));
+                    TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
+                    trail->addToGroup(ob);
+                    connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
                     if(!lasttrailline.IsEmpty())
-
+                    {
-                        trailLine->addToGroup((new TrailLineItem(lasttrailline,position,Qt::green,this)));
+                        TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
+                        trailLine->addToGroup(obj);
+                        connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
+                    }
                     lasttrailline=position;
                     lastcoord=position;
                 }
@@ -97,48 +108,6 @@ namespace mapcontrol
             coord=position;
             this->altitude=altitude;
             RefreshPos();
-            /*if(mapfollowtype==UAVMapFollowType::CenterAndRotateMap||mapfollowtype==UAVMapFollowType::CenterMap)
-            {
-                mapwidget->SetCurrentPosition(coord);
-            }*/
-            this->update();
-            /*if(autosetreached)
-            {
-                foreach(QGraphicsItem* i,map->childItems())
-                {
-                    WayPointItem* wp=qgraphicsitem_cast<WayPointItem*>(i);
-                    if(wp)
-                    {
-                        if(Distance3D(wp->Coord(),wp->Altitude())<autosetdistance)
-                        {
-                            wp->SetReached(true);
-                            emit UAVReachedWayPoint(wp->Number(),wp);
-                        }
-                    }
-                }
-            }
-            if(mapwidget->Home!=0)
-            {
-                //verify if the UAV is inside the safety bouble
-                if(Distance3D(mapwidget->Home->Coord(),mapwidget->Home->Altitude())>mapwidget->Home->SafeArea())
-                {
-                    if(mapwidget->Home->safe!=false)
-                    {
-                        mapwidget->Home->safe=false;
-                        mapwidget->Home->update();
-                        emit UAVLeftSafetyBouble(this->coord);
-                    }
-                }
-                else
-                {
-                    if(mapwidget->Home->safe!=true)
-                    {
-                        mapwidget->Home->safe=true;
-                        mapwidget->Home->update();
-                    }
-                }
-
-            }*/
         }
     }
 
@@ -169,19 +138,14 @@ namespace mapcontrol
     {
         localposition=map->FromLatLngToLocal(coord);
         this->setPos(localposition.X(),localposition.Y());
-        foreach(QGraphicsItem* i,trail->childItems())
+        emit setChildPosition();
-        {
+        emit setChildLine();
-            TrailItem* w=qgraphicsitem_cast<TrailItem*>(i);
+
-            if(w)
-                w->setPos(map->FromLatLngToLocal(w->coord).X(),map->FromLatLngToLocal(w->coord).Y());
-        }
-        foreach(QGraphicsItem* i,trailLine->childItems())
-        {
-            TrailLineItem* ww=qgraphicsitem_cast<TrailLineItem*>(i);
-            if(ww)
-                ww->setLine(map->FromLatLngToLocal(ww->coord1).X(),map->FromLatLngToLocal(ww->coord1).Y(),map->FromLatLngToLocal(ww->coord2).X(),map->FromLatLngToLocal(ww->coord2).Y());
     }
 
+    void GPSItem::setOpacitySlot(qreal opacity)
+    {
+        setOpacity(opacity);
     }
     void GPSItem::SetTrailType(const UAVTrailType::Types &value)
     {

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/gpsitem.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       gpsitem.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A graphicsItem representing a WayPoint
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -103,7 +103,6 @@ namespace mapcontrol
 
         void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
                     QWidget *widget);
-        void RefreshPos();
         QRectF boundingRect() const;
         /**
         * @brief Sets the trail time to be used if TrailType is ByTimeElapsed
@@ -218,10 +217,13 @@ namespace mapcontrol
       //  QRectF rect;
 
     public slots:
-
+        void RefreshPos();
+        void setOpacitySlot(qreal opacity);
     signals:
         void UAVReachedWayPoint(int const& waypointnumber,WayPointItem* waypoint);
         void UAVLeftSafetyBouble(internals::PointLatLng const& position);
+        void setChildPosition();
+        void setChildLine();
     };
 }
 #endif // GPSITEM_H

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       homeitem.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A graphicsItem representing a trail point
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -27,17 +27,32 @@
 #include "homeitem.h"
 namespace mapcontrol
 {
-    HomeItem::HomeItem(MapGraphicItem* map,OPMapWidget* parent):safe(true),map(map),mapwidget(parent),showsafearea(true),safearea(1000),altitude(0)
+    HomeItem::HomeItem(MapGraphicItem* map,OPMapWidget* parent):safe(true),map(map),mapwidget(parent),
+        showsafearea(true),safearea(1000),altitude(0),isDragging(false),toggleRefresh(true)
     {
         pic.load(QString::fromUtf8(":/markers/images/home2.svg"));
         pic=pic.scaled(30,30,Qt::IgnoreAspectRatio);
         this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
+        this->setFlag(QGraphicsItem::ItemIsMovable,false);
+        this->setFlag(QGraphicsItem::ItemIsSelectable,false);
         localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
         this->setPos(localposition.X(),localposition.Y());
         this->setZValue(4);
         coord=internals::PointLatLng(50,50);
+        RefreshToolTip();
+        setCacheMode(QGraphicsItem::DeviceCoordinateCache);
+        connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
+        connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
     }
 
+    void HomeItem::RefreshToolTip()
+    {
+        QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + "   " + QString::number(coord.Lng(), 'f', 6);
+
+        setToolTip(QString("Waypoint: Home\nCoordinate:%1\nAltitude:%2\n").arg(coord_str).arg(QString::number(altitude)));
+    }
+
+
     void HomeItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
     {
         Q_UNUSED(option);
@@ -56,7 +71,7 @@ namespace mapcontrol
     }
     QRectF HomeItem::boundingRect()const
     {
-        if(!showsafearea)
+        if(pic.width()>localsafearea*2 && !toggleRefresh)
             return QRectF(-pic.width()/2,-pic.height()/2,pic.width(),pic.height());
         else
             return QRectF(-localsafearea,-localsafearea,localsafearea*2,localsafearea*2);
@@ -67,6 +82,7 @@ namespace mapcontrol
     {
         return Type;
     }
+
     void HomeItem::RefreshPos()
     {
         prepareGeometryChange();
@@ -75,6 +91,56 @@ namespace mapcontrol
         if(showsafearea)
             localsafearea=safearea/map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
 
-    }
+        RefreshToolTip();
+
+        this->update();
+        toggleRefresh=false;
 
     }
+
+    void HomeItem::setOpacitySlot(qreal opacity)
+    {
+        setOpacity(opacity);
+    }
+
+    void HomeItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
+    {
+        if(event->button()==Qt::LeftButton)
+        {
+            isDragging=true;
+        }
+        QGraphicsItem::mousePressEvent(event);
+    }
+
+    void HomeItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
+    {
+        if(event->button()==Qt::LeftButton)
+        {
+            coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
+            isDragging=false;
+
+            emit homePositionChanged(coord,Altitude());
+        }
+        QGraphicsItem::mouseReleaseEvent(event);
+
+        RefreshToolTip();
+    }
+    void HomeItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event)
+    {
+        if(event->button()==Qt::LeftButton)
+        {
+            emit homedoubleclick(this);
+        }
+    }
+    void HomeItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
+    {
+
+        if(isDragging)
+        {
+            coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
+            emit homePositionChanged(coord,Altitude());
+        }
+            QGraphicsItem::mouseMoveEvent(event);
+    }
+}
+

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       homeitem.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A graphicsItem representing a WayPoint
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -47,31 +47,41 @@ namespace mapcontrol
                     QWidget *widget);
         QRectF boundingRect() const;
         int type() const;
-        void RefreshPos();
         bool ShowSafeArea()const{return showsafearea;}
         void SetShowSafeArea(bool const& value){showsafearea=value;}
+        void SetToggleRefresh(bool const& value){toggleRefresh=value;}
         int SafeArea()const{return safearea;}
         void SetSafeArea(int const& value){safearea=value;}
         bool safe;
-        void SetCoord(internals::PointLatLng const& value){coord=value;}
+        void SetCoord(internals::PointLatLng const& value){coord=value;emit homePositionChanged(value,Altitude());}
         internals::PointLatLng Coord()const{return coord;}
-        void SetAltitude(int const& value){altitude=value;}
+        void SetAltitude(float const& value){altitude=value;emit homePositionChanged(Coord(),Altitude());}
-        int Altitude()const{return altitude;}
+        float Altitude()const{return altitude;}
+        void RefreshToolTip();
     private:
+
         MapGraphicItem* map;
         OPMapWidget* mapwidget;
         QPixmap pic;
         core::Point localposition;
         internals::PointLatLng coord;
         bool showsafearea;
+        bool toggleRefresh;
         int safearea;
         int localsafearea;
-        int altitude;
+        float altitude;
-
+        bool isDragging;
+    protected:
+        void mouseMoveEvent ( QGraphicsSceneMouseEvent * event );
+        void mousePressEvent ( QGraphicsSceneMouseEvent * event );
+        void mouseReleaseEvent ( QGraphicsSceneMouseEvent * event );
+        void mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event);
     public slots:
-
+        void RefreshPos();
+        void setOpacitySlot(qreal opacity);
     signals:
-
+        void homePositionChanged(internals::PointLatLng coord,float);
+        void homedoubleclick(HomeItem* waypoint);
     };
 }
 #endif // HOMEITEM_H

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mapgraphicitem.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      The main graphicsItem used on the widget, contains the map and map logic
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -42,10 +42,11 @@ namespace mapcontrol
         this->SetZoom(2);
         this->setFlag(ItemIsFocusable);
         connect(core,SIGNAL(OnNeedInvalidation()),this,SLOT(Core_OnNeedInvalidation()));
-        connect(core,SIGNAL(OnMapDrag()),this,SLOT(ChildPosRefresh()));
+        connect(core,SIGNAL(OnMapDrag()),this,SLOT(childPosRefresh()));
-        connect(core,SIGNAL(OnMapZoomChanged()),this,SLOT(ChildPosRefresh()));
+        connect(core,SIGNAL(OnMapZoomChanged()),this,SLOT(childPosRefresh()));
-        //resize();
+        setCacheMode(QGraphicsItem::ItemCoordinateCache);
     }
+
     void MapGraphicItem::start()
     {
         core->StartSystem();
@@ -78,39 +79,15 @@ namespace mapcontrol
     void MapGraphicItem::Core_OnNeedInvalidation()
     {
         this->update();
-        foreach(QGraphicsItem* i,this->childItems())
+        emit childRefreshPosition();
-        {
-            WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
-            if(w)
-                w->RefreshPos();
-            UAVItem* ww=qgraphicsitem_cast<UAVItem*>(i);
-            if(ww)
-                ww->RefreshPos();
-            HomeItem* www=qgraphicsitem_cast<HomeItem*>(i);
-            if(www)
-                www->RefreshPos();
-            GPSItem* wwww=qgraphicsitem_cast<GPSItem*>(i);
-            if(wwww)
-                wwww->RefreshPos();
     }
-    }
+    void MapGraphicItem::childPosRefresh()
-    void MapGraphicItem::ChildPosRefresh()
     {
-        foreach(QGraphicsItem* i,this->childItems())
+        emit childRefreshPosition();
-        {
-            WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
-            if(w)
-                w->RefreshPos();
-            UAVItem* ww=qgraphicsitem_cast<UAVItem*>(i);
-            if(ww)
-                ww->RefreshPos();
-            HomeItem* www=qgraphicsitem_cast<HomeItem*>(i);
-            if(www)
-                www->RefreshPos();
-            GPSItem* wwww=qgraphicsitem_cast<GPSItem*>(i);
-            if(wwww)
-                wwww->RefreshPos();
     }
+    void MapGraphicItem::setOverlayOpacity(qreal value)
+    {
+        emit childSetOpacity(value);
     }
     void MapGraphicItem::ConstructLastImage(int const& zoomdiff)
     {
@@ -118,8 +95,7 @@ namespace mapcontrol
         QSize size=boundingRect().size().toSize();
         size.setWidth(size.width()*2*zoomdiff);
         size.setHeight(size.height()*2*zoomdiff);
-        temp=QImage(size,
+        temp=QImage(size,QImage::Format_ARGB32_Premultiplied);
-                               QImage::Format_ARGB32_Premultiplied);
         temp.fill(0);
         QPainter imagePainter(&temp);
         imagePainter.translate(-boundingRect().topLeft());
@@ -216,7 +192,6 @@ namespace mapcontrol
     }
     void MapGraphicItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
     {
-
         if(!IsMouseOverMarker())
         {
             if(event->button() == config->DragButton && CanDragMap()&& !((event->modifiers()==Qt::ShiftModifier)||(event->modifiers()==Qt::ControlModifier)))
@@ -267,6 +242,7 @@ namespace mapcontrol
                 if(!selectedArea.IsEmpty() && event->modifiers() == Qt::ShiftModifier)
                 {
                        SetZoomToFitRect(SelectedArea());
+                       selectedArea=internals::RectLatLng::Empty;
                 }
             }
 
@@ -276,6 +252,9 @@ namespace mapcontrol
     {
         if(event->modifiers()&(Qt::ShiftModifier|Qt::ControlModifier))
             this->setCursor(Qt::CrossCursor);
+        if(event->key()==Qt::Key_Escape)
+            selectedArea=internals::RectLatLng::Empty;
+        QGraphicsItem::keyPressEvent(event);
     }
     void MapGraphicItem::keyReleaseEvent(QKeyEvent *event)
     {
@@ -388,7 +367,6 @@ namespace mapcontrol
                                             found = true;
                                         {
                                             painter->drawPixmap(core->tileRect.X(),core->tileRect.Y(), core->tileRect.Width(), core->tileRect.Height(),PureImageProxy::FromStream(img));
-                                           // qDebug()<<"tile:"<<core->tileRect.X()<<core->tileRect.Y();
                                         }
                                     }
                                 }
@@ -402,7 +380,6 @@ namespace mapcontrol
                                     painter->setFont(config->MissingDataFont);
                                     painter->setPen(Qt::red);
                                     painter->drawText(QRectF(core->tileRect.X(), core->tileRect.Y(), core->tileRect.Width(), core->tileRect.Height()),Qt::AlignCenter,(core->GettilePoint() == core->GetcenterTileXYLocation()? "CENTER: " :"TILE: ")+core->GettilePoint().ToString());
-                                    //qDebug()<<"ShowTileGridLine:"<<core->GettilePoint().ToString()<<"=="<<core->GetcenterTileXYLocation().ToString();
                                 }
                             }
 
@@ -509,7 +486,6 @@ namespace mapcontrol
                 float scaleValue = zoomDigi+remainder + 1;
                 {
                     MapRenderTransform = scaleValue;
-                  //  qDebug()<<"scale="<<scaleValue<<"zoomdigi:"<<ZoomDigi()<<"integer:"<<integer;
                 }
                 if(integer>MaxZoom())
                     integer=MaxZoom();

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mapgraphicitem.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      The main graphicsItem used on the widget, contains the map and map logic
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -40,8 +40,10 @@
 #include <QObject>
 #include "waypointitem.h"
 //#include "uavitem.h"
+
 namespace mapcontrol
 {
+    class WayPointItem;
     class OPMapWidget;
     /**
     * @brief The main graphicsItem used on the widget, contains the map and map logic
@@ -92,7 +94,6 @@ namespace mapcontrol
         bool IsDragging()const{return core->IsDragging();}
 
         QImage lastimage;
-//        QPainter* imagePainter;
         core::Point lastimagepoint;
         void paintImage(QPainter* painter);
         void ConstructLastImage(int const& zoomdiff);
@@ -100,7 +101,7 @@ namespace mapcontrol
         double Zoom();
         double ZoomDigi();
         double ZoomTotal();
-
+        void setOverlayOpacity(qreal value);
     protected:
         void mouseMoveEvent ( QGraphicsSceneMouseEvent * event );
         void mousePressEvent ( QGraphicsSceneMouseEvent * event );
@@ -199,7 +200,7 @@ namespace mapcontrol
         void SetMapType(MapType::Types const& value){core->SetMapType(value);}
     private slots:
         void Core_OnNeedInvalidation();
-        void ChildPosRefresh();
+        void childPosRefresh();
     public slots:
         /**
         * @brief To be called when the scene size changes
@@ -213,7 +214,10 @@ namespace mapcontrol
         *
         * @param zoom
         */
+        void wpdoubleclicked(WayPointItem * wp);
         void zoomChanged(double zoomtotal,double zoomreal,double zoomdigi);
+        void childRefreshPosition();
+        void childSetOpacity(qreal value);
     };
 }
 #endif // MAPGRAPHICITEM_H

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapresources.qrc

@@ -12,6 +12,9 @@
         <file>images/mapquad.png</file>
         <file>images/dragons1.jpg</file>
         <file>images/dragons2.jpeg</file>
+        <file>images/waypoint_marker1.png</file>
+        <file>images/waypoint_marker2.png</file>
+        <file>images/waypoint_marker3.png</file>
     </qresource>
     <qresource prefix="/uavs">
         <file>images/airplanepip.png</file>

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapripform.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mapripform.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      Form to be used with the MapRipper class
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapripform.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mapripform.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      Form to be used with the MapRipper class
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapripper.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mapripper.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A class that allows ripping of a selection of the map
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -49,7 +49,11 @@ MapRipper::MapRipper(internals::Core * core, const internals::RectLatLng & rect)
             emit numberOfTilesChanged(0,0);
         }
         else
-            QMessageBox::information(new QWidget(),"No valid selection","Please select the area of the map to rip with Mouse+Control key");
+#ifdef Q_OS_DARWIN
+            QMessageBox::information(new QWidget(),"No valid selection","This pre-caches map data.\n\nPlease first select the area of the map to rip with <COMMAND>+Left mouse click");
+#else
+            QMessageBox::information(new QWidget(),"No valid selection","This pre-caches map data.\n\nPlease first select the area of the map to rip with <CTRL>+Left mouse click");
+#endif
     }
 void MapRipper::finish()
 {

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapripper.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mapripper.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A class that allows ripping of a selection of the map
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/mapwidget.pro

@@ -14,7 +14,9 @@ SOURCES += mapgraphicitem.cpp \
     homeitem.cpp \
     mapripform.cpp \
     mapripper.cpp \
-    traillineitem.cpp
+    traillineitem.cpp \
+    waypointline.cpp \
+    waypointcircle.cpp
 
 LIBS += -L../build \
     -lcore \
@@ -39,7 +41,9 @@ HEADERS += mapgraphicitem.h \
     homeitem.h \
     mapripform.h \
     mapripper.h \
-    traillineitem.h
+    traillineitem.h \
+    waypointline.h \
+    waypointcircle.h
 QT += opengl
 QT += network
 QT += sql

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       opmapwidget.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      The Map Widget, this is the part exposed to the user
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -33,13 +33,18 @@
 namespace mapcontrol
 {
 
-    OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),GPS(0),Home(0),followmouse(true),compass(0),showuav(false),showhome(false),showDiag(false),diagGraphItem(0),diagTimer(0)
+    OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),GPS(0),Home(0)
+      ,followmouse(true),compass(0),showuav(false),showhome(false),showDiag(false),diagGraphItem(0),diagTimer(0),overlayOpacity(1)
     {
         setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
         core=new internals::Core;
         map=new MapGraphicItem(core,config);
         mscene.addItem(map);
         this->setScene(&mscene);
+        Home=new HomeItem(map,this);
+        Home->setParentItem(map);
+        Home->setZValue(-1);
+        setStyleSheet("QToolTip {font-size:8pt; color:blue;opacity: 223; padding:2px; border-width:2px; border-style:solid; border-color: rgb(170, 170, 127);border-radius:4px }");
         this->adjustSize();
         connect(map,SIGNAL(zoomChanged(double,double,double)),this,SIGNAL(zoomChanged(double,double,double)));
         connect(map->core,SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)),this,SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)));
@@ -50,10 +55,12 @@ namespace mapcontrol
         connect(map->core,SIGNAL(OnTileLoadComplete()),this,SIGNAL(OnTileLoadComplete()));
         connect(map->core,SIGNAL(OnTileLoadStart()),this,SIGNAL(OnTileLoadStart()));
         connect(map->core,SIGNAL(OnTilesStillToLoad(int)),this,SIGNAL(OnTilesStillToLoad(int)));
+        connect(map,SIGNAL(wpdoubleclicked(WayPointItem*)),this,SIGNAL(OnWayPointDoubleClicked(WayPointItem*)));
+        connect(&mscene,SIGNAL(selectionChanged()),this,SLOT(OnSelectionChanged()));
         SetShowDiagnostics(showDiag);
         this->setMouseTracking(followmouse);
         SetShowCompass(true);
-
+        QPixmapCache::setCacheLimit(64*1024);
     }
     void OPMapWidget::SetShowDiagnostics(bool const& value)
     {
@@ -70,12 +77,24 @@ namespace mapcontrol
                 delete diagTimer;
                 diagTimer=0;
             }
+
+            if(GPS!=0)
+            {
+                delete GPS;
+                GPS=0;
+            }
         }
         else
         {
             diagTimer=new QTimer();
             connect(diagTimer,SIGNAL(timeout()),this,SLOT(diagRefresh()));
             diagTimer->start(500);
+            if(GPS==0)
+            {
+                GPS=new GPSItem(map,this);
+                GPS->setParentItem(map);
+                setOverlayOpacity(overlayOpacity);
+            }
         }
 
     }
@@ -85,8 +104,40 @@ namespace mapcontrol
             UAV->SetUavPic(UAVPic);
         if(GPS!=0)
             GPS->SetUavPic(UAVPic);
+    }
 
+    WayPointLine * OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to,QColor color)
+    {
+        if(!from|!to)
+            return NULL;
+        WayPointLine* ret= new WayPointLine(from,to,map,color);
+        ret->setOpacity(overlayOpacity);
+        return ret;
+    }
+    WayPointLine * OPMapWidget::WPLineCreate(HomeItem *from, WayPointItem *to,QColor color)
+    {
+        if(!from|!to)
+            return NULL;
+        WayPointLine* ret= new WayPointLine(from,to,map,color);
+        ret->setOpacity(overlayOpacity);
+        return ret;
+    }
+    WayPointCircle * OPMapWidget::WPCircleCreate(WayPointItem *center, WayPointItem *radius, bool clockwise,QColor color)
+    {
+        if(!center|!radius)
+            return NULL;
+        WayPointCircle* ret= new WayPointCircle(center,radius,clockwise,map,color);
+        ret->setOpacity(overlayOpacity);
+        return ret;
+    }
 
+    WayPointCircle *OPMapWidget::WPCircleCreate(HomeItem *center, WayPointItem *radius, bool clockwise,QColor color)
+    {
+        if(!center|!radius)
+            return NULL;
+        WayPointCircle* ret= new WayPointCircle(center,radius,clockwise,map,color);
+        ret->setOpacity(overlayOpacity);
+        return ret;
     }
     void OPMapWidget::SetShowUAV(const bool &value)
     {
@@ -96,47 +147,21 @@ namespace mapcontrol
             UAV->setParentItem(map);
             connect(this,SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)),UAV,SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)));
             connect(this,SIGNAL(UAVReachedWayPoint(int,WayPointItem*)),UAV,SIGNAL(UAVReachedWayPoint(int,WayPointItem*)));
+            UAV->setOpacity(overlayOpacity);
         }
         else if(!value)
         {
             if(UAV!=0)
             {
                 delete UAV;
-                UAV=0;
+                UAV=NULL;
-            }
-
-        }
-        if(value && GPS==0)
-        {
-            GPS=new GPSItem(map,this);
-            GPS->setParentItem(map);
-        }
-        else if(!value)
-        {
-            if(GPS!=0)
-            {
-                delete GPS;
-                GPS=0;
             }
 
         }
     }
     void OPMapWidget::SetShowHome(const bool &value)
     {
-        if(value && Home==0)
+            Home->setVisible(value);
-        {
-            Home=new HomeItem(map,this);
-            Home->setParentItem(map);
-        }
-        else if(!value)
-        {
-            if(Home!=0)
-            {
-                delete Home;
-                Home=0;
-            }
-
-        }
     }
 
     void OPMapWidget::resizeEvent(QResizeEvent *event)
@@ -161,13 +186,19 @@ namespace mapcontrol
     }
     OPMapWidget::~OPMapWidget()
     {
+        if(UAV)
             delete UAV;
+        if(Home)
             delete Home;
+        if(map)
             delete map;
+        if(core)
             delete core;
+        if(configuration)
             delete configuration;
         foreach(QGraphicsItem* i,this->items())
         {
+            if(i)
                 delete i;
         }
     }
@@ -203,18 +234,33 @@ namespace mapcontrol
         WayPointItem* item=new WayPointItem(this->CurrentPosition(),0,map);
         ConnectWP(item);
         item->setParentItem(map);
+        int position=item->Number();
+        emit WPCreated(position,item);
+        return item;
+    }
+    WayPointItem* OPMapWidget::magicWPCreate()
+    {
+        WayPointItem* item=new WayPointItem(map,true);
+        item->SetShowNumber(false);
+        item->setParentItem(map);
         return item;
     }
     void OPMapWidget::WPCreate(WayPointItem* item)
     {
         ConnectWP(item);
         item->setParentItem(map);
+        int position=item->Number();
+        emit WPCreated(position,item);
+        setOverlayOpacity(overlayOpacity);
     }
     WayPointItem* OPMapWidget::WPCreate(internals::PointLatLng const& coord,int const& altitude)
     {
         WayPointItem* item=new WayPointItem(coord,altitude,map);
         ConnectWP(item);
         item->setParentItem(map);
+        int position=item->Number();
+        emit WPCreated(position,item);
+        setOverlayOpacity(overlayOpacity);
         return item;
     }
     WayPointItem* OPMapWidget::WPCreate(internals::PointLatLng const& coord,int const& altitude, QString const& description)
@@ -222,6 +268,19 @@ namespace mapcontrol
         WayPointItem* item=new WayPointItem(coord,altitude,description,map);
         ConnectWP(item);
         item->setParentItem(map);
+        int position=item->Number();
+        emit WPCreated(position,item);
+        setOverlayOpacity(overlayOpacity);
+        return item;
+    }
+    WayPointItem* OPMapWidget::WPCreate(const distBearingAltitude &relativeCoord, const QString &description)
+    {
+        WayPointItem* item=new WayPointItem(relativeCoord,description,map);
+        ConnectWP(item);
+        item->setParentItem(map);
+        int position=item->Number();
+        emit WPCreated(position,item);
+        setOverlayOpacity(overlayOpacity);
         return item;
     }
     WayPointItem* OPMapWidget::WPInsert(const int &position)
@@ -231,6 +290,7 @@ namespace mapcontrol
         ConnectWP(item);
         item->setParentItem(map);
         emit WPInserted(position,item);
+        setOverlayOpacity(overlayOpacity);
         return item;
     }
     void OPMapWidget::WPInsert(WayPointItem* item,const int &position)
@@ -239,7 +299,7 @@ namespace mapcontrol
         ConnectWP(item);
         item->setParentItem(map);
         emit WPInserted(position,item);
-
+        setOverlayOpacity(overlayOpacity);
     }
     WayPointItem* OPMapWidget::WPInsert(internals::PointLatLng const& coord,int const& altitude,const int &position)
     {
@@ -248,29 +308,131 @@ namespace mapcontrol
         ConnectWP(item);
         item->setParentItem(map);
         emit WPInserted(position,item);
+        setOverlayOpacity(overlayOpacity);
         return item;
     }
     WayPointItem* OPMapWidget::WPInsert(internals::PointLatLng const& coord,int const& altitude, QString const& description,const int &position)
     {
-        WayPointItem* item=new WayPointItem(coord,altitude,description,map);
+        internals::PointLatLng mcoord;
+        bool reloc=false;
+        if(mcoord==internals::PointLatLng(0,0))
+        {
+            mcoord=CurrentPosition();
+            reloc=true;
+        }
+        else
+            mcoord=coord;
+        WayPointItem* item=new WayPointItem(mcoord,altitude,description,map);
         item->SetNumber(position);
         ConnectWP(item);
         item->setParentItem(map);
         emit WPInserted(position,item);
+        if(reloc)
+            emit WPValuesChanged(item);
+        setOverlayOpacity(overlayOpacity);
+        return item;
+    }
+    WayPointItem* OPMapWidget::WPInsert(distBearingAltitude const& relative, QString const& description,const int &position)
+    {
+        WayPointItem* item=new WayPointItem(relative,description,map);
+        item->SetNumber(position);
+        ConnectWP(item);
+        item->setParentItem(map);
+        emit WPInserted(position,item);
+        setOverlayOpacity(overlayOpacity);
         return item;
     }
     void OPMapWidget::WPDelete(WayPointItem *item)
     {
-        emit WPDeleted(item->Number());
+        emit WPDeleted(item->Number(),item);
         delete item;
     }
-    void OPMapWidget::WPDeleteAll()
+    void OPMapWidget::WPDelete(int number)
     {
         foreach(QGraphicsItem* i,map->childItems())
         {
             WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
             if(w)
+            {
+                if(w->Number()==number)
+                {
+                    emit WPDeleted(w->Number(),w);
                     delete w;
+                    return;
+                }
+            }
+        }
+    }
+    WayPointItem * OPMapWidget::WPFind(int number)
+    {
+        foreach(QGraphicsItem* i,map->childItems())
+        {
+            WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
+            if(w)
+            {
+                if(w->Number()==number)
+                {
+                    return w;
+                }
+            }
+        }
+        return NULL;
+    }
+    void OPMapWidget::WPSetVisibleAll(bool value)
+    {
+        foreach(QGraphicsItem* i,map->childItems())
+        {
+            WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
+            if(w)
+            {
+                if(w->Number()!=-1)
+                    w->setVisible(value);
+            }
+        }
+    }
+    void OPMapWidget::WPDeleteAll()
+    {
+        int x=0;
+        foreach(QGraphicsItem* i,map->childItems())
+        {
+            WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
+            if(w)
+            {
+                if(w->Number()!=-1)
+                {
+                    emit WPDeleted(w->Number(),w);
+                    delete w;
+                }
+            }
+        }
+    }
+    bool OPMapWidget::WPPresent()
+    {
+        foreach(QGraphicsItem* i,map->childItems())
+        {
+            WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
+            if(w)
+            {
+                if(w->Number()!=-1)
+                {
+                    return true;
+                }
+            }
+        }
+    }
+    void OPMapWidget::deleteAllOverlays()
+    {
+        foreach(QGraphicsItem* i,map->childItems())
+        {
+            WayPointLine* w=qgraphicsitem_cast<WayPointLine*>(i);
+            if(w)
+                w->deleteLater();
+            else
+            {
+                WayPointCircle* ww=qgraphicsitem_cast<WayPointCircle*>(i);
+                if(ww)
+                    ww->deleteLater();
+            }
         }
     }
     QList<WayPointItem*> OPMapWidget::WPSelected()
@@ -291,11 +453,13 @@ namespace mapcontrol
 
     void OPMapWidget::ConnectWP(WayPointItem *item)
     {
-        connect(item,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)));
+        connect(item,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),Qt::DirectConnection);
-        connect(item,SIGNAL(WPValuesChanged(WayPointItem*)),this,SIGNAL(WPValuesChanged(WayPointItem*)));
+        connect(item,SIGNAL(WPValuesChanged(WayPointItem*)),this,SIGNAL(WPValuesChanged(WayPointItem*)),Qt::DirectConnection);
-        connect(this,SIGNAL(WPInserted(int,WayPointItem*)),item,SLOT(WPInserted(int,WayPointItem*)));
+        connect(item,SIGNAL(localPositionChanged(QPointF,WayPointItem*)),this,SIGNAL(WPLocalPositionChanged(QPointF,WayPointItem*)),Qt::DirectConnection);
-        connect(this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),item,SLOT(WPRenumbered(int,int,WayPointItem*)));
+        connect(item,SIGNAL(manualCoordChange(WayPointItem*)),this,SIGNAL(WPManualCoordChange(WayPointItem*)),Qt::DirectConnection);
-        connect(this,SIGNAL(WPDeleted(int)),item,SLOT(WPDeleted(int)));
+        connect(this,SIGNAL(WPInserted(int,WayPointItem*)),item,SLOT(WPInserted(int,WayPointItem*)),Qt::DirectConnection);
+        connect(this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),item,SLOT(WPRenumbered(int,int,WayPointItem*)),Qt::DirectConnection);
+        connect(this,SIGNAL(WPDeleted(int,WayPointItem*)),item,SLOT(WPDeleted(int,WayPointItem*)),Qt::DirectConnection);
     }
     void OPMapWidget::diagRefresh()
     {
@@ -329,12 +493,12 @@ namespace mapcontrol
             compass->setScale(0.1+0.05*(qreal)(this->size().width())/1000*(qreal)(this->size().height())/600);
             //    compass->setTransformOriginPoint(compass->boundingRect().width(),compass->boundingRect().height());
             compass->setFlag(QGraphicsItem::ItemIsMovable,true);
+            compass->setFlag(QGraphicsItem::ItemIsSelectable,true);
             mscene.addItem(compass);
             compass->setTransformOriginPoint(compass->boundingRect().width()/2,compass->boundingRect().height()/2);            
             compass->setPos(55-compass->boundingRect().width()/2,55-compass->boundingRect().height()/2);
             compass->setZValue(3);
             compass->setOpacity(0.7);
-            
         }
         if(!value && compass)
         {
@@ -342,6 +506,12 @@ namespace mapcontrol
             compass=0;
         }
     }
+
+    void OPMapWidget::setOverlayOpacity(qreal value)
+    {
+        map->setOverlayOpacity(value);
+        overlayOpacity=value;
+    }
     void OPMapWidget::SetRotate(qreal const& value)
     {
         map->mapRotate(value);
@@ -353,4 +523,28 @@ namespace mapcontrol
     {
         new MapRipper(core,map->SelectedArea());
     }
+
+    void OPMapWidget::setSelectedWP(QList<WayPointItem * >list)
+    {
+        this->scene()->clearSelection();
+        foreach(WayPointItem * wp,list)
+        {
+            wp->setSelected(true);
+        }
+    }
+
+    void OPMapWidget::OnSelectionChanged()
+    {
+        QList<QGraphicsItem*> list;
+        QList<WayPointItem*> wplist;
+        list=this->scene()->selectedItems();
+        foreach(QGraphicsItem* item,list)
+        {
+            WayPointItem * wp=qgraphicsitem_cast<WayPointItem*>(item);
+            if(wp)
+                wplist.append(wp);
+        }
+        if(wplist.length()>0)
+            emit selectedWPChanged(wplist);
+    }
 }

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       opmapwidget.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      The Map Widget, this is the part exposed to the user
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -41,6 +41,9 @@
 #include "gpsitem.h"
 #include "homeitem.h"
 #include "mapripper.h"
+#include "waypointline.h"
+#include "waypointcircle.h"
+#include "waypointitem.h"
 namespace mapcontrol
 {
     class UAVItem;
@@ -279,6 +282,15 @@ namespace mapcontrol
         */
         WayPointItem* WPCreate(internals::PointLatLng const& coord,int const& altitude, QString const& description);
         /**
+        * @brief Creates a new WayPoint
+        *
+        * @param coord the offset in meters to the home position
+        * @param altitude the Altitude of the WayPoint
+        * @param description the description of the WayPoint
+        * @return WayPointItem a pointer to the WayPoint created
+        */
+        WayPointItem *WPCreate(const distBearingAltitude &relativeCoord, const QString &description);
+        /**
         * @brief Inserts a new WayPoint on the specified position
         *
         * @param position index of the WayPoint
@@ -311,6 +323,7 @@ namespace mapcontrol
         * @return WayPointItem a pointer to the WayPoint Inserted
         */
         WayPointItem* WPInsert(internals::PointLatLng const& coord,int const& altitude, QString const& description,int const& position);
+        WayPointItem *WPInsert(const distBearingAltitude &relative, const QString &description, const int &position);
 
         /**
         * @brief Deletes the WayPoint
@@ -340,6 +353,8 @@ namespace mapcontrol
 
         void SetShowCompass(bool const& value);
 
+        void setOverlayOpacity(qreal value);
+
         UAVItem* UAV;
         GPSItem* GPS;
         HomeItem* Home;
@@ -349,6 +364,17 @@ namespace mapcontrol
         bool ShowHome()const{return showhome;}
         void SetShowDiagnostics(bool const& value);
         void SetUavPic(QString UAVPic);
+        WayPointLine * WPLineCreate(WayPointItem *from,WayPointItem *to, QColor color);
+        WayPointLine * WPLineCreate(HomeItem *from,WayPointItem *to, QColor color);
+        WayPointCircle *WPCircleCreate(WayPointItem *center, WayPointItem *radius,bool clockwise,QColor color);
+        WayPointCircle *WPCircleCreate(HomeItem *center, WayPointItem *radius,bool clockwise,QColor color);
+        void deleteAllOverlays();
+        void WPSetVisibleAll(bool value);
+        WayPointItem *magicWPCreate();
+        bool WPPresent();
+        void WPDelete(int number);
+        WayPointItem *WPFind(int number);
+        void setSelectedWP(QList<WayPointItem *> list);
       private:
         internals::Core *core;
         MapGraphicItem *map;
@@ -366,6 +392,7 @@ namespace mapcontrol
         QTimer * diagTimer;
         QGraphicsTextItem * diagGraphItem;
         bool showDiag;
+        qreal overlayOpacity;
     private slots:
         void diagRefresh();
         //   WayPointItem* item;//apagar
@@ -398,6 +425,9 @@ namespace mapcontrol
         * @param waypoint WayPoint inserted
         */
         void WPReached(WayPointItem* waypoint);
+
+        void WPCreated(int const& number,WayPointItem* waypoint);
+
         /**
                * @brief Fires when a new WayPoint is inserted
                *
@@ -410,7 +440,10 @@ namespace mapcontrol
         *
         * @param number number of the deleted WayPoint
         */
-        void WPDeleted(int const& number);
+        void WPDeleted(int const& number,WayPointItem* waypoint);
+
+        void WPLocalPositionChanged(QPointF,WayPointItem*);
+        void WPManualCoordChange(WayPointItem*);
         /**
         * @brief Fires When a WayPoint is Reached
         *
@@ -469,11 +502,14 @@ namespace mapcontrol
         * @param number the number of tiles still in the queue
         */
         void OnTilesStillToLoad(int number);
+        void OnWayPointDoubleClicked(WayPointItem * waypoint);
+        void selectedWPChanged(QList<WayPointItem*>);
     public slots:
         /**
         * @brief Ripps the current selection to the DB
         */
         void RipMap();
+        void OnSelectionChanged();
 
     };
 }

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       trailitem.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A graphicsItem representing a trail point
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -28,9 +28,8 @@
 #include <QDateTime>
 namespace mapcontrol
 {
-    TrailItem::TrailItem(internals::PointLatLng const& coord,int const& altitude, QBrush color, QGraphicsItem* parent):QGraphicsItem(parent),coord(coord)
+TrailItem::TrailItem(internals::PointLatLng const& coord,int const& altitude, QBrush color, MapGraphicItem *map):QGraphicsItem(map),coord(coord),m_brush(color),m_map(map)
     {
-        m_brush=color;
         QDateTime time=QDateTime::currentDateTime();
         QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + "   " + QString::number(coord.Lng(), 'f', 6);
         setToolTip(QString(tr("Position:")+"%1\n"+tr("Altitude:")+"%2\n"+tr("Time:")+"%3").arg(coord_str).arg(QString::number(altitude)).arg(time.toString()));
@@ -38,7 +37,6 @@ namespace mapcontrol
 
     void TrailItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
     {
-      //  painter->drawRect(QRectF(-3,-3,6,6));
         painter->setBrush(m_brush);
         painter->drawEllipse(-2,-2,4,4);
     }
@@ -53,5 +51,8 @@ namespace mapcontrol
         return Type;
     }
 
-
+    void TrailItem::setPosSLOT()
+    {
+        setPos(m_map->FromLatLngToLocal(this->coord).X(),m_map->FromLatLngToLocal(this->coord).Y());
+    }
 }

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.h

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       trailitem.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A graphicsItem representing a WayPoint
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -32,6 +32,7 @@
 #include <QLabel>
 #include "../internals/pointlatlng.h"
 #include <QObject>
+#include "mapgraphicitem.h"
 
 namespace mapcontrol
 {
@@ -42,7 +43,7 @@ namespace mapcontrol
         Q_INTERFACES(QGraphicsItem)
     public:
                 enum { Type = UserType + 3 };
-        TrailItem(internals::PointLatLng const& coord,int const& altitude, QBrush color, QGraphicsItem* parent);
+        TrailItem(internals::PointLatLng const& coord,int const& altitude, QBrush color,MapGraphicItem * map);
         void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
                     QWidget *widget);
         QRectF boundingRect() const;
@@ -50,10 +51,9 @@ namespace mapcontrol
         internals::PointLatLng coord;
     private:
         QBrush m_brush;
-
+        MapGraphicItem * m_map;
-
     public slots:
-
+        void setPosSLOT();
     signals:
 
     };

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/traillineitem.cpp

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       trailitem.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A graphicsItem representing a trail point
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -28,29 +28,21 @@
 
 namespace mapcontrol
 {
-    TrailLineItem::TrailLineItem(internals::PointLatLng const& coord1,internals::PointLatLng const& coord2, QBrush color, QGraphicsItem* parent):QGraphicsLineItem(parent),coord1(coord1),coord2(coord2)
+TrailLineItem::TrailLineItem(internals::PointLatLng const& coord1,internals::PointLatLng const& coord2, QBrush color, MapGraphicItem * map):QGraphicsLineItem(map),coord1(coord1),coord2(coord2),m_brush(color),m_map(map)
     {
-        m_brush=color;
         QPen pen;
         pen.setBrush(m_brush);
         pen.setWidth(1);
         this->setPen(pen);
     }
-/*
+
-    void TrailLineItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
-    {
-      //  painter->drawRect(QRectF(-3,-3,6,6));
-        painter->setBrush(m_brush);
-        QPen pen;
-        pen.setBrush(m_brush);
-        pen.setWidth(2);
-        painter->drawLine(this->line().x1(),this->line().y1(),this->line().x2(),this->line().y2());
-    }
-*/
     int TrailLineItem::type()const
     {
         return Type;
     }
 
-
+    void TrailLineItem::setLineSlot()
+    {
+        setLine(m_map->FromLatLngToLocal(this->coord1).X(),m_map->FromLatLngToLocal(this->coord1).Y(),m_map->FromLatLngToLocal(this->coord2).X(),m_map->FromLatLngToLocal(this->coord2).Y());
+    }
 }