From 8988e4901b715d5bb8c674ce8fff74a4ede9dcac Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Tue, 17 Jun 2014 14:29:24 +0200
Subject: [PATCH 01/13] OP-1354 Current_voltage_fixes_and_more_in_PFD : Solid
 border with round corners, better resizing

---
 .../share/openpilotgcs/pfd/default/Info.qml   |  27 +-
 .../share/openpilotgcs/pfd/default/Pfd.qml    |  20 +-
 .../openpilotgcs/pfd/default/Warnings.qml     |   8 +-
 .../share/openpilotgcs/pfd/default/pfd.svg    | 296 +++++++++---------
 4 files changed, 187 insertions(+), 164 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
index 9dedc4365..346ce891b 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
@@ -6,8 +6,10 @@ Item {
 
     SvgElementImage {
         id: info_bg
-        elementName: "info-bg"
         sceneSize: info.sceneSize
+        elementName: "info-bg"
+        width: parent.width
+        anchors.fill: parent.top
     }
 
     SvgElementImage {
@@ -25,11 +27,6 @@ Item {
         }
     }
 
-    SvgElementImage {
-        id: energy_label
-        elementName: "battery-milliamp-label"
-        sceneSize: info.sceneSize
-    }
 
     Repeater {
         id: satNumberBar
@@ -53,7 +50,7 @@ Item {
         Text {
             text: ["No GPS", "No Fix", "Fix2D", "Fix3D"][GPSPositionSensor.Status]
             anchors.centerIn: parent
-            font.pixelSize: parent.height*1.2
+            font.pixelSize: Math.floor(parent.height*1.2)
             color: "white"
         }
     }
@@ -66,7 +63,7 @@ Item {
             text: ["Disconnected","HandshakeReq","HandshakeAck","Connected"][GCSTelemetryStats.Status]
 
             anchors.centerIn: parent
-            font.pixelSize: parent.height*1.2
+            font.pixelSize: Math.floor(parent.height*1.2)
             color: "white"
         }
     }
@@ -110,7 +107,7 @@ Item {
             color: "white"
             font {
                 family: "Arial"
-                pixelSize: parent.height * 1.3
+                pixelSize: Math.floor(parent.height * 1.2)
             }
         }
     }
@@ -126,7 +123,7 @@ Item {
             color: "white"
             font {
                 family: "Arial"
-                pixelSize: parent.height * 1.3
+                pixelSize: Math.floor(parent.height * 1.2)
             }
         }
     }
@@ -142,7 +139,7 @@ Item {
             color: "white"
             font {
                 family: "Arial"
-                pixelSize: parent.height * 1.3
+                pixelSize: Math.floor(parent.height * 1.2)
             }
         }
     }
@@ -184,4 +181,12 @@ Item {
         elementName: "rx-mask"
         sceneSize: info.sceneSize
     }
+
+    SvgElementImage {
+        id: info_border
+        elementName: "info-border"
+        sceneSize: info.sceneSize
+        width: Math.floor(parent.width * 1.01)
+        anchors.fill: parent.top
+    }
 }
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index cca29f743..46eb673b6 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -8,18 +8,32 @@ Rectangle {
         elementName: "pfd-window"
         fillMode: Image.PreserveAspectFit
         anchors.fill: parent
-
         sceneSize: Qt.size(width, height)
+        
+        Rectangle {
+            width: Math.floor(parent.paintedHeight * 1.32)
+            height: Math.floor(parent.paintedHeight - parent.paintedHeight * 0.008)
+            
+            color: "transparent"
+            border.color: "white"
+            border.width: Math.floor(parent.paintedHeight * 0.008)
+            radius: Math.floor(parent.paintedHeight * 0.01)
+            anchors.centerIn: parent             
+        }
 
         Item {
             id: sceneItem
+ 
+
+            width: Math.floor((parent.paintedHeight * 1.32) - (parent.paintedHeight * 0.015))
+            height: Math.floor(parent.paintedHeight - parent.paintedHeight * 0.02)
             property variant viewportSize : Qt.size(width, height)
 
-            width: parent.paintedWidth
-            height: parent.paintedHeight
             anchors.centerIn: parent
             clip: true
 
+            //onWidthChanged:console.log("Width/Height : "+width+" "+ height+" scale : "+width/height+" border : "+parent.paintedHeight * 0.006 )
+            
             Loader {
                 id: worldLoader
                 anchors.fill: parent
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
index 0f86755e0..50ac85398 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
@@ -10,6 +10,8 @@ Item {
         id: warning_bg
         elementName: "warnings-bg"
         sceneSize: warnings.sceneSize
+        width: parent.width + 4
+        anchors.fill: parent.bottom
     }
 
     SvgElementPositionItem {
@@ -26,7 +28,7 @@ Item {
                 text: "RC INPUT"
                 font {
                     family: "Arial"
-                    pixelSize: parent.height * 0.8
+                    pixelSize: Math.floor(parent.height * 0.8)
                     weight: Font.DemiBold
                 }
             }
@@ -53,7 +55,7 @@ Item {
                 text: "MASTER CAUTION"
                 font {
                     family: "Arial"
-                    pixelSize: parent.height * 0.8
+                    pixelSize: Math.floor(parent.height * 0.8)
                     weight: Font.DemiBold
                 }
             }
@@ -74,7 +76,7 @@ Item {
                 text: "AUTOPILOT"
                 font {
                     family: "Arial"
-                    pixelSize: parent.height * 0.8
+                    pixelSize: Math.floor(parent.height * 0.8)
                     weight: Font.DemiBold
                 }
             }
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
index ca9d72433..233d90cf8 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
@@ -42,14 +42,6 @@
          offset="1"
          id="stop5010" />
     </linearGradient>
-    <filter
-       inkscape:collect="always"
-       id="filter4991">
-      <feGaussianBlur
-         inkscape:collect="always"
-         stdDeviation="125.9375"
-         id="feGaussianBlur4993" />
-    </filter>
   </defs>
   <sodipodi:namedview
      id="base"
@@ -58,11 +50,11 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="1.3234375"
-     inkscape:cx="320"
-     inkscape:cy="240"
+     inkscape:zoom="3.7432465"
+     inkscape:cx="152.24569"
+     inkscape:cy="438.16076"
      inkscape:document-units="px"
-     inkscape:current-layer="layer2"
+     inkscape:current-layer="layer71"
      showgrid="false"
      fit-margin-top="0"
      fit-margin-left="0"
@@ -121,7 +113,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
+        <dc:title />
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -1136,57 +1128,48 @@
      id="layer3"
      inkscape:label="info"
      style="display:inline"
-     transform="translate(0,-4)"
-     sodipodi:insensitive="true">
+     transform="translate(0,-4)">
     <g
        inkscape:groupmode="layer"
        id="layer48"
        inkscape:label="info-bg"
        style="display:inline"
-       transform="translate(0,4)"
-       sodipodi:insensitive="true">
+       transform="translate(0,4)">
       <g
          id="info-bg"
          inkscape:label="#g4460">
-        <path
-           style="fill:none;stroke:#c8c8c8;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:0.15686275;stroke-dasharray:none;filter:url(#filter4991)"
-           d="m -5,53.5 650,0"
-           id="path4612"
-           inkscape:connector-curvature="0"
-           sodipodi:nodetypes="cc" />
+        <g
+           id="info-battery"
+           inkscape:label="#g3816">
+          <rect
+             y="-0.5"
+             x="550"
+             height="18"
+             width="92"
+             id="warning-low-voltage"
+             style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none" />
+          <rect
+             style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none"
+             id="warning-high-current"
+             width="92"
+             height="18"
+             x="550"
+             y="17.5" />
+          <rect
+             y="35.5"
+             x="550"
+             height="17.5"
+             width="92"
+             id="warning-low-energy"
+             style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none" />
+        </g>
         <rect
-           inkscape:label="#rect4734"
-           y="-0.5"
-           x="-0.5"
+           style="fill:#000000;fill-opacity:1;stroke:none"
+           id="rect4615"
+           width="550.5"
            height="54"
-           width="641"
-           id="info-bg-top"
-           style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#ffffff;stroke-width:1;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;display:inline" />
-        <path
-           inkscape:connector-curvature="0"
-           id="path10158"
-           d="M 180,54 180,0"
-           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" />
-        <path
-           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
-           d="M 90,54 90,0"
-           id="path10160"
-           inkscape:connector-curvature="0" />
-        <path
-           inkscape:connector-curvature="0"
-           id="path10162"
-           d="M 460,54 460,0"
-           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" />
-        <path
-           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
-           d="M 550,54 550,0"
-           id="path10164"
-           inkscape:connector-curvature="0" />
-        <path
-           inkscape:connector-curvature="0"
-           id="path10166"
-           d="m -0.5,18 180,0"
-           style="fill:none;stroke:#ffffff;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
+           x="-0.5"
+           y="-0.5" />
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;font-family:Sans"
            id="gps-label"
@@ -1262,31 +1245,6 @@
              id="path6310"
              inkscape:connector-curvature="0" />
         </g>
-        <g
-           id="info-battery"
-           inkscape:label="#g3816">
-          <rect
-             y="0"
-             x="551"
-             height="17"
-             width="89"
-             id="warning-low-voltage"
-             style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none" />
-          <rect
-             style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none"
-             id="warning-high-current"
-             width="89"
-             height="17"
-             x="551"
-             y="18" />
-          <rect
-             y="35.5"
-             x="551"
-             height="17"
-             width="89"
-             id="warning-low-energy"
-             style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none" />
-        </g>
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="throttle-label"
@@ -1332,47 +1290,20 @@
              id="path6472"
              inkscape:connector-curvature="0" />
         </g>
-        <g
-           style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
-           id="battery-milliamp-label"
-           transform="matrix(1,0,0,1.0375514,-2,-6.9526728)">
-          <path
-             d="m 620.206,52 0,-4.224819 0.64048,0 0,0.592748 c 0.13261,-0.206861 0.30897,-0.372618 0.5291,-0.497271 0.22012,-0.127298 0.47075,-0.190948 0.75188,-0.190953 0.31294,5e-6 0.56887,0.06498 0.76778,0.194931 0.20156,0.129957 0.34345,0.311627 0.42567,0.545009 0.33416,-0.493289 0.76911,-0.739935 1.30484,-0.73994 0.41903,5e-6 0.74126,0.116698 0.96669,0.350079 0.22543,0.230738 0.33814,0.587447 0.33815,1.070129 l 0,2.900087 -0.71209,0 0,-2.661397 c -10e-6,-0.286425 -0.0239,-0.491964 -0.0716,-0.616617 -0.0451,-0.127298 -0.12863,-0.229404 -0.25063,-0.306319 -0.122,-0.07691 -0.26521,-0.115363 -0.42964,-0.115367 -0.29704,4e-6 -0.54369,0.09946 -0.73994,0.298363 -0.19626,0.19626 -0.29439,0.511861 -0.29438,0.946805 l 0,2.454532 -0.71608,0 0,-2.744939 c 0,-0.31825 -0.0583,-0.55694 -0.17503,-0.716071 -0.1167,-0.159123 -0.30765,-0.238686 -0.57286,-0.23869 -0.20156,4e-6 -0.38854,0.05305 -0.56092,0.159127 -0.16974,0.106088 -0.29306,0.261237 -0.36997,0.465446 -0.0769,0.204216 -0.11537,0.4986 -0.11537,0.883154 l 0,2.191973 -0.71607,0"
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-          <path
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-             inkscape:connector-curvature="0" />
-        </g>
-        <path
-           inkscape:connector-curvature="0"
-           id="path4588"
-           d="m 550,35.5 90,0"
-           style="fill:none;stroke:#ffffff;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
         <g
            id="battery-amp-label"
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
-           transform="matrix(1,0,0,1.0375459,-5.79738,-4.2947649)">
+           transform="matrix(1,0,0,1.0375459,-5.79738,-3.7697649)">
           <path
              inkscape:connector-curvature="0"
              id="path4614"
              style="font-size:8px;fill:#ffffff"
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         </g>
-        <path
-           style="fill:none;stroke:#ffffff;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-           d="m 550,17.5 90,0"
-           id="path10341"
-           inkscape:connector-curvature="0" />
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="battery-volt-label"
-           transform="matrix(1,0,0,1.0375459,0,-3.6189387)">
+           transform="matrix(1,0,0,1.0375459,0,-3.0939387)">
           <path
              d="m 625.76807,14.08992 -2.22657,-5.8320312 0.82422,0 1.84766,4.9101562 1.85156,-4.9101562 0.82031,0 -2.22265,5.8320312 -0.89453,0"
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@@ -1484,30 +1415,23 @@
              id="path6806"
              inkscape:connector-curvature="0" />
         </g>
-        <path
-           style="fill:none;stroke:#ffffff;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-           d="m 90,36 90,0"
-           id="path5067"
-           inkscape:connector-curvature="0" />
       </g>
     </g>
     <g
        inkscape:groupmode="layer"
        id="g4727"
        inkscape:label="battery"
-       style="display:inline"
-       sodipodi:insensitive="true">
+       style="display:inline">
       <g
          inkscape:groupmode="layer"
          id="layer66"
          inkscape:label="battery-milliamp-text"
          transform="translate(0,1.768481)"
-         style="display:inline"
-         sodipodi:insensitive="true">
+         style="display:inline">
         <g
            style="font-size:10px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="battery-milliamp-text"
-           transform="translate(0,17)">
+           transform="translate(0,16.75)">
           <path
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@@ -1540,8 +1464,7 @@
          id="layer64"
          inkscape:groupmode="layer"
          transform="translate(0,0.768478)"
-         style="display:inline"
-         sodipodi:insensitive="true">
+         style="display:inline">
         <g
            id="battery-amp-text"
            style="font-size:10px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
@@ -1577,8 +1500,7 @@
          inkscape:groupmode="layer"
          id="layer65"
          inkscape:label="battery-volt-text"
-         transform="translate(0,-1.231522)"
-         sodipodi:insensitive="true">
+         transform="translate(0,-1.231522)">
         <g
            style="font-size:10px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="battery-volt-text"
@@ -2494,12 +2416,90 @@
         </g>
       </g>
     </g>
+    <g
+       inkscape:groupmode="layer"
+       id="layer71"
+       inkscape:label="info-border"
+       style="display:inline">
+      <g
+         id="info-border">
+        <g
+           style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
+           id="battery-milliamp-label"
+           transform="matrix(1,0,0,1.0375514,-2,-2.6776728)">
+          <path
+             d="m 620.206,52 0,-4.224819 0.64048,0 0,0.592748 c 0.13261,-0.206861 0.30897,-0.372618 0.5291,-0.497271 0.22012,-0.127298 0.47075,-0.190948 0.75188,-0.190953 0.31294,5e-6 0.56887,0.06498 0.76778,0.194931 0.20156,0.129957 0.34345,0.311627 0.42567,0.545009 0.33416,-0.493289 0.76911,-0.739935 1.30484,-0.73994 0.41903,5e-6 0.74126,0.116698 0.96669,0.350079 0.22543,0.230738 0.33814,0.587447 0.33815,1.070129 l 0,2.900087 -0.71209,0 0,-2.661397 c -10e-6,-0.286425 -0.0239,-0.491964 -0.0716,-0.616617 -0.0451,-0.127298 -0.12863,-0.229404 -0.25063,-0.306319 -0.122,-0.07691 -0.26521,-0.115363 -0.42964,-0.115367 -0.29704,4e-6 -0.54369,0.09946 -0.73994,0.298363 -0.19626,0.19626 -0.29439,0.511861 -0.29438,0.946805 l 0,2.454532 -0.71608,0 0,-2.744939 c 0,-0.31825 -0.0583,-0.55694 -0.17503,-0.716071 -0.1167,-0.159123 -0.30765,-0.238686 -0.57286,-0.23869 -0.20156,4e-6 -0.38854,0.05305 -0.56092,0.159127 -0.16974,0.106088 -0.29306,0.261237 -0.36997,0.465446 -0.0769,0.204216 -0.11537,0.4986 -0.11537,0.883154 l 0,2.191973 -0.71607,0"
+             id="path4641"
+             inkscape:connector-curvature="0" />
+          <path
+             d="m 632.45877,52 0,-5.832 0.71607,0 0,2.092518 c 0.33416,-0.387204 0.75585,-0.580808 1.26506,-0.580813 0.31294,5e-6 0.58479,0.06233 0.81552,0.186974 0.23073,0.122002 0.39516,0.291737 0.4933,0.509206 0.10077,0.217477 0.15116,0.533079 0.15117,0.946805 l 0,2.67731 -0.71607,0 0,-2.67731 c -10e-6,-0.358032 -0.0782,-0.617939 -0.23472,-0.779721 -0.15382,-0.164428 -0.37262,-0.246643 -0.65639,-0.246647 -0.21218,4e-6 -0.41241,0.0557 -0.60071,0.167083 -0.18565,0.10874 -0.31825,0.257259 -0.39782,0.445555 -0.0796,0.188304 -0.11934,0.44821 -0.11934,0.779722 l 0,2.311318 -0.71607,0"
+             id="path4645"
+             inkscape:connector-curvature="0" />
+          <path
+             d="m 626.46764,52 2.23971,-5.832 0.83144,0 2.3869,5.832 -0.87917,0 -0.68027,-1.766308 -2.43862,0 L 627.28714,52 l -0.8195,0 m 1.68277,-2.394859 1.97715,0 -0.60866,-1.615138 c -0.18565,-0.490637 -0.32356,-0.893758 -0.41373,-1.209364 -0.0743,0.373953 -0.17902,0.745248 -0.31428,1.113888 l -0.64048,1.710614"
+             id="path4643"
+             inkscape:connector-curvature="0" />
+        </g>
+        <path
+           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linejoin:round;stroke-miterlimit:4;display:inline"
+           d="m 642,57.5 -643,0"
+           id="info-bg-top"
+           inkscape:connector-curvature="0"
+           sodipodi:nodetypes="cc" />
+        <path
+           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           d="m 90,40 90,0"
+           id="path5067"
+           inkscape:connector-curvature="0" />
+        <path
+           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           d="M 460,57.5 460,3"
+           id="path10162"
+           inkscape:connector-curvature="0"
+           sodipodi:nodetypes="cc" />
+        <path
+           inkscape:connector-curvature="0"
+           id="path4588"
+           d="M 550.00548,39.5 642,39.5"
+           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none"
+           sodipodi:nodetypes="cc" />
+        <path
+           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           d="M 180,57.5 180,3"
+           id="path10158"
+           inkscape:connector-curvature="0"
+           sodipodi:nodetypes="cc" />
+        <path
+           inkscape:connector-curvature="0"
+           id="path10160"
+           d="M 90,57.5 90,3"
+           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           sodipodi:nodetypes="cc" />
+        <path
+           inkscape:connector-curvature="0"
+           id="path10164"
+           d="M 550,57.5 550,3"
+           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           sodipodi:nodetypes="cc" />
+        <path
+           inkscape:connector-curvature="0"
+           id="path10341"
+           d="M 550.00051,21.5 642,21.5"
+           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none"
+           sodipodi:nodetypes="cc" />
+        <path
+           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none"
+           d="m -2,22 181.5,0"
+           id="path10166"
+           inkscape:connector-curvature="0"
+           sodipodi:nodetypes="cc" />
+      </g>
+    </g>
     <g
        inkscape:groupmode="layer"
        id="layer23"
        inkscape:label="info-fg"
-       style="display:inline"
-       sodipodi:insensitive="true">
+       style="display:inline">
       <path
          style="fill:none;stroke:#000000;stroke-width:2.5;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
          d="m 25,51.418075 60,0.08193 0,-22.998652 -6,-0.0014 0,22.992116 -6,-0.0088 0,-20.97668 6,0.04472 -6,-0.04472 0,2.12303 -6,3.48e-4 0,18.845475 -6,-0.0069 0.02494,-16.83188 5.97506,-0.007 -6.024941,0.007 0.02494,1.934623 -6,-0.07128 0,14.959092 -6,-0.0081 0,-12.950991 6,-3.28e-4 -6,3.28e-4 0,2 -6,0 0,10.942406 0,-8.942406 -6,0 0,8.93472 0,-6.93472 -6,0 0,6.926248 0,-4.926248 -6,5e-6 z"
@@ -2676,7 +2676,7 @@
          sodipodi:open="true"
          sodipodi:end="5.5477076"
          sodipodi:start="3.8773293"
-         d="m 238.84479,91.530033 a 109.47147,109.47147 0 0 1 162.32944,0.02102"
+         d="m 238.84479,91.530033 c 40.57635,-44.820783 109.80439,-48.261582 154.62518,-7.685239 2.69442,2.439265 5.26569,5.011203 7.70426,7.706256"
          sodipodi:ry="109.47147"
          sodipodi:rx="109.47147"
          sodipodi:cy="165"
@@ -4515,8 +4515,7 @@
      inkscape:groupmode="layer"
      id="layer38"
      inkscape:label="vsi"
-     style="display:inline"
-     sodipodi:insensitive="true">
+     style="display:inline">
     <g
        inkscape:groupmode="layer"
        id="layer74"
@@ -4679,29 +4678,33 @@
      inkscape:groupmode="layer"
      id="layer67"
      inkscape:label="warnings"
-     style="display:inline"
-     sodipodi:insensitive="true">
+     style="display:none">
     <g
        inkscape:groupmode="layer"
        id="layer68"
        inkscape:label="warnings-bg"
-       style="display:inline"
-       sodipodi:insensitive="true">
-      <rect
-         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#ffffff;stroke-width:1.0059247;display:inline"
-         id="warnings-bg"
-         width="648.99408"
-         height="16.994076"
-         x="-4.4970379"
-         y="463.50296"
-         inkscape:label="#rect4736" />
+       style="display:inline">
+      <g
+         id="warnings-bg">
+        <path
+           sodipodi:nodetypes="csssscc"
+           inkscape:connector-curvature="0"
+           id="path4655"
+           d="m 640.50296,463.50296 0,14.99408 c 0,1.108 -0.892,2 -2,2 l -636.9999976,0 c -1.10800005,0 -2.00000005,-0.892 -2.00000005,-2 l 3e-8,-14.99408 c 0,-1.108 640.99999762,0 640.99999762,0 z"
+           style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#ffffff;stroke-width:0;stroke-miterlimit:4;display:inline" />
+        <path
+           sodipodi:nodetypes="cc"
+           inkscape:connector-curvature="0"
+           id="path4644"
+           d="M -0.49703765,463 640.50299,463"
+           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" />
+      </g>
     </g>
     <g
        inkscape:groupmode="layer"
        id="layer51"
        inkscape:label="warning-autopilot"
-       style="display:inline"
-       sodipodi:insensitive="true">
+       style="display:inline">
       <g
          id="warning-autopilot"
          inkscape:label="#g4860">
@@ -4858,8 +4861,7 @@
        inkscape:groupmode="layer"
        id="layer33"
        inkscape:label="warning-rc-input"
-       style="display:inline"
-       sodipodi:insensitive="true">
+       style="display:inline">
       <g
          id="warning-rc-input"
          inkscape:label="#g4855">
@@ -5075,12 +5077,12 @@
      transform="translate(0,-4)"
      sodipodi:insensitive="true">
     <rect
-       style="fill:none;stroke:#ff0000;stroke-width:0;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;display:inline"
+       style="fill:none;stroke:none;display:inline"
        id="pfd-window"
        width="642"
-       height="486"
-       x="-1"
-       y="-1"
+       height="482"
+       x="-0.99999976"
+       y="2.9999995"
        inkscape:label="#rect4738" />
   </g>
 </svg>

From 98af0a544ff543b0ebe90d6557bcfec45b970177 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Tue, 17 Jun 2014 19:37:09 +0200
Subject: [PATCH 02/13] OP-1354 Current_voltage_fixes_and_more_in_PFD : Minor
 changes to remove some glitches

---
 .../openpilotgcs/share/openpilotgcs/pfd/default/Info.qml   | 6 +++---
 ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml | 4 ++--
 .../share/openpilotgcs/pfd/default/Warnings.qml            | 7 +++----
 3 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
index 346ce891b..d7cafba26 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
@@ -9,7 +9,7 @@ Item {
         sceneSize: info.sceneSize
         elementName: "info-bg"
         width: parent.width
-        anchors.fill: parent.top
+        //anchors.top: parent.top
     }
 
     SvgElementImage {
@@ -154,6 +154,7 @@ Item {
             property int minThrottleNumber : index+1
             elementName: "eng" + minThrottleNumber
             sceneSize: info.sceneSize
+
             visible: throttleNumberBar.throttleNumber >= minThrottleNumber
         }
     }
@@ -186,7 +187,6 @@ Item {
         id: info_border
         elementName: "info-border"
         sceneSize: info.sceneSize
-        width: Math.floor(parent.width * 1.01)
-        anchors.fill: parent.top
+        width: Math.floor(parent.width * 1.009)
     }
 }
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index 46eb673b6..851070e5f 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -11,7 +11,7 @@ Rectangle {
         sceneSize: Qt.size(width, height)
         
         Rectangle {
-            width: Math.floor(parent.paintedHeight * 1.32)
+            width: Math.floor(parent.paintedHeight * 1.319)
             height: Math.floor(parent.paintedHeight - parent.paintedHeight * 0.008)
             
             color: "transparent"
@@ -25,7 +25,7 @@ Rectangle {
             id: sceneItem
  
 
-            width: Math.floor((parent.paintedHeight * 1.32) - (parent.paintedHeight * 0.015))
+            width: Math.floor((parent.paintedHeight * 1.32) - (parent.paintedHeight * 0.013))
             height: Math.floor(parent.paintedHeight - parent.paintedHeight * 0.02)
             property variant viewportSize : Qt.size(width, height)
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
index 50ac85398..8e2fc89d1 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
@@ -10,8 +10,8 @@ Item {
         id: warning_bg
         elementName: "warnings-bg"
         sceneSize: warnings.sceneSize
-        width: parent.width + 4
-        anchors.fill: parent.bottom
+        width: background.width
+        anchors.bottom: parent.bottom
     }
 
     SvgElementPositionItem {
@@ -103,7 +103,7 @@ Item {
         id: warning_battery
         elementName: "warning-battery"
         sceneSize: warnings.sceneSize
-
+        anchors.right: parent.right
         visible: SystemAlarms.Alarm_Battery > 1
     }
 
@@ -111,7 +111,6 @@ Item {
         id: warning_attitude
         elementName: "warning-attitude"
         sceneSize: warnings.sceneSize
-
         visible: SystemAlarms.Alarm_Attitude > 1
     }
 }

From 29d0d31e0948a22fe17c7ae988d259642e7096c7 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Thu, 19 Jun 2014 00:49:45 +0200
Subject: [PATCH 03/13] OP-1354 PFD fixes : World size (grey background appears
 when board is tilted) + Removed empty foreground item (add flickering on
 render)

---
 .../openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml   | 8 --------
 .../share/openpilotgcs/pfd/default/PfdWorldView.qml       | 2 +-
 2 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index 851070e5f..3e0e7be5c 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -53,14 +53,6 @@ Rectangle {
                 anchors.fill: parent
             }
 
-            SvgElementImage {
-                id: foreground
-                elementName: "foreground"
-                sceneSize: sceneItem.viewportSize
-
-                anchors.centerIn: parent
-            }
-
             SvgElementImage {
                 id: side_slip_fixed
                 elementName: "sideslip-fixed"
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
index eddc2f49f..5c8baa1ca 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
@@ -12,7 +12,7 @@ Item {
 
         property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "horizon")
         width: Math.round(sceneItem.width*scaledBounds.width/2)*2
-        height: Math.round(sceneItem.height*scaledBounds.height/2)*2
+        height: Math.round(sceneItem.height*scaledBounds.height/2)*3
 
         property double pitch1DegScaledHeight: (svgRenderer.scaledElementBounds("pfd.svg", "pitch-90").y -
                                                 svgRenderer.scaledElementBounds("pfd.svg", "pitch90").y)/180.0

From 5dc0cb7d8e749e15f67d7792159361b95ced0b58 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Thu, 19 Jun 2014 20:50:47 +0200
Subject: [PATCH 04/13] OP-1354 Fixes center-arrows position on resize, disable
 sideslip moving (flicker issue on SmoothedAnimation)

---
 .../share/openpilotgcs/pfd/default/HorizontCenter.qml      | 6 ++++++
 ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml | 5 ++++-
 .../share/openpilotgcs/pfd/default/RollScale.qml           | 7 +++++--
 3 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/HorizontCenter.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/HorizontCenter.qml
index c5f7c36f1..6dee7b633 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/HorizontCenter.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/HorizontCenter.qml
@@ -10,6 +10,9 @@ Item {
         elementName: "center-arrows"
         sceneSize: background.sceneSize
 
+        width: Math.floor(scaledBounds.width * sceneItem.width)
+        height: Math.floor(scaledBounds.height * sceneItem.height)
+
         x: Math.floor(scaledBounds.x * sceneItem.width)
         y: Math.floor(scaledBounds.y * sceneItem.height)
     }
@@ -19,6 +22,9 @@ Item {
         elementName: "center-plane"
         sceneSize: background.sceneSize
 
+        width: Math.floor(scaledBounds.width * sceneItem.width)
+        height: Math.floor(scaledBounds.height * sceneItem.height)
+
         x: Math.floor(scaledBounds.x * sceneItem.width)
         y: Math.floor(scaledBounds.y * sceneItem.height)
     }
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index 3e0e7be5c..c8c85c035 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -61,6 +61,8 @@ Rectangle {
                 x: scaledBounds.x * sceneItem.width
             }
 
+// Disable Side_slip moving because flickering issue on whole Pfd.
+/*
             SvgElementImage {
                 id: side_slip
                 elementName: "sideslip-moving"
@@ -77,11 +79,12 @@ Rectangle {
                     }
                 }
 
-                anchors.horizontalCenter: foreground.horizontalCenter
+                anchors.horizontalCenter: horizontCenterItem.horizontalCenter
                 //0.5 coefficient is empirical to limit indicator movement
                 anchors.horizontalCenterOffset: sideSlip*width*0.1 //was 0.5
                 y: scaledBounds.y * sceneItem.height
             }
+*/
 
             Compass {
                 anchors.fill: parent
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/RollScale.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/RollScale.qml
index d02023e3b..f5ab5df1a 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/RollScale.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/RollScale.qml
@@ -13,8 +13,11 @@ Item {
         elementName: "roll-scale"
         sceneSize: sceneItem.sceneSize
 
-        x: Math.floor(scaledBounds.x * sceneItem.width)
-        y: Math.floor(scaledBounds.y * sceneItem.height)
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
 
         smooth: true
 

From 8e2efe0c5fc3193be0d25d080bd6650123e4adf6 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Fri, 20 Jun 2014 00:50:44 +0200
Subject: [PATCH 05/13] OP-1354 Added compass-home (Enabled if
 TakeOffLocation.Status is Valid) and compass-waypoint (Currently disabled)

---
 .../openpilotgcs/pfd/default/Compass.qml      | 36 +++++++++++
 .../share/openpilotgcs/pfd/default/pfd.svg    | 59 +++++++++++--------
 .../src/plugins/pfdqml/pfdqmlgadgetwidget.cpp |  3 +-
 3 files changed, 71 insertions(+), 27 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
index 198b9502c..e8dfa9248 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
@@ -37,6 +37,42 @@ Item {
         smooth: true
     }
 
+    SvgElementImage {
+        id: compass_home
+        elementName: "compass-home" // Cyan point
+        sceneSize: sceneItem.sceneSize
+        smooth: true
+
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+
+        property real home_degrees: 180/3.1415 * Math.atan2(TakeOffLocation.East - PositionState.East, TakeOffLocation.North - PositionState.North)
+
+        rotation: -AttitudeState.Yaw + home_degrees
+        transformOrigin: Item.Bottom
+        visible: TakeOffLocation.Status == 0
+
+    }
+
+    SvgElementImage {
+        id: compass_waypoint // Double Purple arrow
+        elementName: "compass-waypoint"
+        sceneSize: sceneItem.sceneSize
+
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+
+        property real course_degrees: 180/3.1415 * Math.atan2(PathDesired.End_East - PositionState.East, PathDesired.End_North - PositionState.North)
+
+        rotation: -AttitudeState.Yaw + course_degrees
+        transformOrigin: Item.Center
+
+        smooth: true
+        visible: false
+    }
+
+
+
     Item {
         id: compass_text_box
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
index 233d90cf8..c121f3c80 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
@@ -50,11 +50,11 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="3.7432465"
-     inkscape:cx="152.24569"
-     inkscape:cy="438.16076"
+     inkscape:zoom="1.3234375"
+     inkscape:cx="320"
+     inkscape:cy="240"
      inkscape:document-units="px"
-     inkscape:current-layer="layer71"
+     inkscape:current-layer="layer8"
      showgrid="false"
      fit-margin-top="0"
      fit-margin-left="0"
@@ -76,7 +76,9 @@
      inkscape:snap-to-guides="true"
      inkscape:snap-nodes="true"
      inkscape:bbox-paths="false"
-     inkscape:snap-global="true">
+     inkscape:snap-global="true"
+     inkscape:snap-intersection-paths="false"
+     inkscape:snap-object-midpoints="true">
     <sodipodi:guide
        orientation="1,0"
        position="320.03652,382.998"
@@ -113,7 +115,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title />
+        <dc:title></dc:title>
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -2821,14 +2823,12 @@
      id="layer7"
      inkscape:label="compass"
      style="display:inline"
-     transform="translate(0,-4)"
-     sodipodi:insensitive="true">
+     transform="translate(0,-4)">
     <g
        inkscape:groupmode="layer"
        id="layer70"
        inkscape:label="compass-vector"
-       style="display:inline"
-       sodipodi:insensitive="true">
+       style="display:inline">
       <rect
          style="fill:#008000;fill-opacity:1;fill-rule:evenodd;stroke:none"
          id="compass-vector"
@@ -2850,7 +2850,7 @@
          transform="translate(0,78)">
         <path
            transform="matrix(0.84971585,0,0,0.84971585,73.153736,57.627199)"
-           d="m 381.49999,370 c 0,50.26377 -40.74684,91.01061 -91.01061,91.01061 -50.26377,0 -91.01061,-40.74684 -91.01061,-91.01061 0,-50.26377 40.74684,-91.01061 91.01061,-91.01061 50.26377,0 91.01061,40.74684 91.01061,91.01061 z"
+           d="m 381.49999,370 a 91.010612,91.010612 0 1 1 -182.02122,0 91.010612,91.010612 0 1 1 182.02122,0 z"
            sodipodi:ry="91.010612"
            sodipodi:rx="91.010612"
            sodipodi:cy="370"
@@ -3916,14 +3916,12 @@
            id="path5472"
            d="m 319.99619,305.5318 -8.52371,8.73614 6.87739,-0.0531 -4.3e-4,27.16436 3.29307,0 0,-27.16436 6.85084,0.0531 z"
            style="fill:#bf00bf;fill-opacity:1;stroke:none" />
-        <rect
-           inkscape:transform-center-y="58.290951"
-           y="401.12097"
-           x="318.21518"
-           height="37.464817"
-           width="3.5531087"
-           id="rect5478"
-           style="fill:#bf00bf;fill-opacity:1;fill-rule:evenodd;stroke:none" />
+        <path
+           style="fill:#bf00bf;fill-opacity:1;stroke:none"
+           d="m 319.99619,402.73825 -8.52371,8.73614 6.87739,-0.0531 -4.3e-4,27.16436 3.29307,0 0,-27.16436 6.85084,0.0531 z"
+           id="path4628"
+           inkscape:connector-curvature="0"
+           sodipodi:nodetypes="cccccccc" />
       </g>
     </g>
     <g
@@ -3959,13 +3957,22 @@
        inkscape:label="compass-home"
        style="display:inline"
        sodipodi:insensitive="true">
-      <path
-         style="fill:#00ffff;stroke:none"
-         d="m 320,372.78125 -3.78125,4.5 3.78125,4.5 3.78125,-4.5 -3.78125,-4.5 z"
-         id="compass-home"
-         inkscape:connector-curvature="0"
-         inkscape:transform-center-y="-72.71875"
-         inkscape:label="#path4831" />
+      <g
+         id="compass-home">
+        <path
+           inkscape:label="#path4831"
+           inkscape:transform-center-y="-72.71875"
+           inkscape:connector-curvature="0"
+           id="path4626"
+           d="m 320,372.78125 -3.78125,4.5 3.78125,4.5 3.78125,-4.5 -3.78125,-4.5 z"
+           style="fill:#00ffff;stroke:none" />
+        <path
+           transform="translate(0,4)"
+           inkscape:connector-curvature="0"
+           id="path3849"
+           d="m 320,377.78125 -0.0171,68.20098"
+           style="fill:none;stroke:none" />
+      </g>
     </g>
     <g
        inkscape:groupmode="layer"
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
index 60b391505..813a61d28 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
@@ -63,7 +63,8 @@ PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWindow *parent) :
         "SystemAlarms" <<
         "NedAccel" <<
         "FlightBatteryState" <<
-        "ActuatorDesired";
+        "ActuatorDesired" <<
+        "TakeOffLocation";
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();

From 1921f929f38237b88b489857c66d75b9ee2b618f Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Fri, 20 Jun 2014 18:26:31 +0200
Subject: [PATCH 06/13] OP-1354 Fixed pitch0 line, some centering. Added Home
 info : distance/bearing to home

---
 .../share/openpilotgcs/pfd/default/Info.qml   |  49 ++++++++
 .../share/openpilotgcs/pfd/default/Pfd.qml    |   2 +-
 .../openpilotgcs/pfd/default/PfdWorldView.qml |  10 ++
 .../openpilotgcs/pfd/default/Warnings.qml     |   1 +
 .../share/openpilotgcs/pfd/default/pfd.svg    | 113 ++++++++----------
 5 files changed, 114 insertions(+), 61 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
index d7cafba26..0addbb094 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
@@ -4,6 +4,12 @@ Item {
     id: info
     property variant sceneSize
 
+    property real home_heading: 180/3.1415 * Math.atan2(TakeOffLocation.East - PositionState.East, 
+                                                        TakeOffLocation.North - PositionState.North)
+
+    property real home_distance: Math.sqrt((TakeOffLocation.East - PositionState.East)*(TakeOffLocation.East - PositionState.East) 
+                                         + (TakeOffLocation.North - PositionState.North)*(TakeOffLocation.North - PositionState.North))
+
     SvgElementImage {
         id: info_bg
         sceneSize: info.sceneSize
@@ -183,6 +189,49 @@ Item {
         sceneSize: info.sceneSize
     }
 
+    SvgElementImage {
+        id: home_bg
+        elementName: "home-bg"
+        sceneSize: info.sceneSize
+
+        visible: TakeOffLocation.Status == 0
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "home-heading-text"
+
+        visible: TakeOffLocation.Status == 0
+
+        Text {
+            text: home_heading.toFixed(1)+"°"
+            anchors.fill: parent
+            color: "cyan"
+            font {
+                family: "Arial"
+                pixelSize: Math.floor(parent.height * 1.2)
+            }
+        }
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "home-distance-text"
+
+        visible: TakeOffLocation.Status == 0
+
+        Text {
+            text: home_distance.toFixed(0)+" m"
+            anchors.fill: parent
+            color: "cyan"
+            font {
+                family: "Arial"
+                pixelSize: Math.floor(parent.height * 1.2)
+            }
+        }
+    }
+
+
     SvgElementImage {
         id: info_border
         elementName: "info-border"
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index c8c85c035..5ad121d9a 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -32,7 +32,7 @@ Rectangle {
             anchors.centerIn: parent
             clip: true
 
-            //onWidthChanged:console.log("Width/Height : "+width+" "+ height+" scale : "+width/height+" border : "+parent.paintedHeight * 0.006 )
+            onWidthChanged:console.log("Width/Height : "+width+" "+ height+" scale : "+width/height+" border : "+parent.paintedHeight * 0.006+" TakeOffLocation.Status" + TakeOffLocation.Status)
             
             Loader {
                 id: worldLoader
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
index 5c8baa1ca..b2b1d2e6a 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
@@ -49,6 +49,16 @@ Item {
             border: 1
             smooth: true
         }
+
+        SvgElementImage {
+            id: pitch_0
+            elementName: "pitch0"
+
+            sceneSize: background.sceneSize
+            anchors.centerIn: parent
+            border: 1            
+            smooth: true
+        }
     }
 
     Item {
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
index 8e2fc89d1..82030e16b 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
@@ -111,6 +111,7 @@ Item {
         id: warning_attitude
         elementName: "warning-attitude"
         sceneSize: warnings.sceneSize
+        anchors.centerIn: background.centerIn
         visible: SystemAlarms.Alarm_Attitude > 1
     }
 }
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
index c121f3c80..aca54ae7a 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
@@ -50,11 +50,11 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="1.3234375"
-     inkscape:cx="320"
-     inkscape:cy="240"
+     inkscape:zoom="9.3092382"
+     inkscape:cx="599.99681"
+     inkscape:cy="46"
      inkscape:document-units="px"
-     inkscape:current-layer="layer8"
+     inkscape:current-layer="layer2"
      showgrid="false"
      fit-margin-top="0"
      fit-margin-left="0"
@@ -124,8 +124,7 @@
      id="layer2"
      inkscape:label="horizon"
      style="display:inline"
-     transform="translate(0,-4)"
-     sodipodi:insensitive="true">
+     transform="translate(0,-4)">
     <g
        id="horizon"
        inkscape:label="#g4445"
@@ -163,14 +162,12 @@
      id="layer14"
      inkscape:label="pitch"
      style="display:inline"
-     transform="translate(0,-4)"
-     sodipodi:insensitive="true">
+     transform="translate(0,-4)">
     <g
        inkscape:groupmode="layer"
        id="layer16"
        inkscape:label="pitch-window"
-       style="display:inline"
-       sodipodi:insensitive="true">
+       style="display:inline">
       <rect
          style="fill:none;stroke:#ff0000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
          id="pitch-window"
@@ -184,8 +181,7 @@
        inkscape:groupmode="layer"
        id="layer15"
        inkscape:label="pitch-scale"
-       style="display:inline"
-       sodipodi:insensitive="true">
+       style="display:inline">
       <g
          id="pitch-scale"
          inkscape:label="#g8154"
@@ -891,8 +887,7 @@
      inkscape:groupmode="layer"
      id="layer24"
      inkscape:label="home"
-     style="display:inline"
-     sodipodi:insensitive="true">
+     style="display:inline">
     <g
        inkscape:groupmode="layer"
        id="layer25"
@@ -900,17 +895,18 @@
        style="display:inline">
       <g
          id="home-bg"
-         inkscape:label="#g4876">
-        <rect
-           y="404.5"
-           x="551.5"
-           height="59"
-           width="89"
+         inkscape:label="#g4876"
+         transform="translate(0.42403,0)">
+        <path
+           style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#ffffff;stroke-width:0.99999982;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dashoffset:0"
+           d="m 553.5,404.5 87,0 0,59 -89,0 0,-57 c 0,-1.108 0.892,-2 2,-2 z"
            id="rect4746"
-           style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#ffffff;stroke-width:0.99999982;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0" />
+           inkscape:connector-curvature="0"
+           sodipodi:nodetypes="scccss" />
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
-           id="home-eta-label">
+           id="home-eta-label"
+           transform="translate(0,-1.6584)">
           <path
              d="m 555.23804,452.56836 4.60937,0 0,0.83008 -3.62304,0 0,2.1582 3.47167,0 0,0.83008 -3.47167,0 0,2.6416 3.71093,0 0,0.83008 -4.69726,0 0,-7.29004"
              style="font-size:10px;fill:#ffffff"
@@ -929,7 +925,8 @@
         </g>
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
-           id="home-distance-label">
+           id="home-distance-label"
+           transform="translate(0,-1.6584)">
           <path
              d="m 556.22437,440.37891 0,5.66894 1.1914,0 c 1.00586,0 1.74153,-0.22786 2.20703,-0.68359 0.46875,-0.45573 0.70312,-1.17513 0.70313,-2.15821 -10e-6,-0.97655 -0.23438,-1.69107 -0.70313,-2.14355 -0.4655,-0.45572 -1.20117,-0.68359 -2.20703,-0.68359 l -1.1914,0 m -0.98633,-0.81055 2.02636,0 c 1.41276,1e-5 2.44954,0.2946 3.11036,0.88379 0.6608,0.58594 0.9912,1.50391 0.99121,2.7539 -10e-6,1.25652 -0.33204,2.17937 -0.9961,2.76856 -0.66406,0.58919 -1.69922,0.88379 -3.10547,0.88379 l -2.02636,0 0,-7.29004"
              style="font-size:10px;fill:#ffffff"
@@ -982,7 +979,8 @@
            inkscape:connector-curvature="0" />
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
-           id="home-heading-label">
+           id="home-heading-label"
+           transform="translate(0,-1.6584)">
           <path
              d="m 555.23804,426.56836 0.98633,0 0,2.98828 3.58398,0 0,-2.98828 0.98633,0 0,7.29004 -0.98633,0 0,-3.47168 -3.58398,0 0,3.47168 -0.98633,0 0,-7.29004"
              style="font-size:10px;fill:#ffffff"
@@ -1005,11 +1003,11 @@
        inkscape:groupmode="layer"
        id="layer26"
        inkscape:label="home-eta-text"
-       style="display:inline"
-       sodipodi:insensitive="true">
+       style="display:inline">
       <g
          style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#00ffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
-         id="home-eta-text">
+         id="home-eta-text"
+         transform="translate(0,-1.5)">
         <path
            d="m 585.61493,452.36133 c -0.60938,10e-6 -1.06836,0.30079 -1.37695,0.90234 -0.30469,0.59766 -0.45704,1.49805 -0.45704,2.70117 0,1.19923 0.15235,2.09962 0.45704,2.70118 0.30859,0.59765 0.76757,0.89648 1.37695,0.89648 0.61328,0 1.07226,-0.29883 1.37695,-0.89648 0.30859,-0.60156 0.46289,-1.50195 0.46289,-2.70118 0,-1.20312 -0.1543,-2.10351 -0.46289,-2.70117 -0.30469,-0.60155 -0.76367,-0.90233 -1.37695,-0.90234 m 0,-0.9375 c 0.98046,10e-6 1.72851,0.38868 2.24414,1.16601 0.51952,0.77345 0.77929,1.89845 0.7793,3.375 -10e-6,1.47266 -0.25978,2.59766 -0.7793,3.375 -0.51563,0.77344 -1.26368,1.16016 -2.24414,1.16016 -0.98047,0 -1.73047,-0.38672 -2.25,-1.16016 -0.51563,-0.77734 -0.77344,-1.90234 -0.77344,-3.375 0,-1.47655 0.25781,-2.60155 0.77344,-3.375 0.51953,-0.77733 1.26953,-1.166 2.25,-1.16601"
            style="font-size:12px;fill:#00ffff"
@@ -1056,11 +1054,11 @@
        inkscape:groupmode="layer"
        id="layer27"
        inkscape:label="home-distance-text"
-       style="display:inline"
-       sodipodi:insensitive="true">
+       style="display:inline">
       <g
          style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#00ffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
-         id="home-distance-text">
+         id="home-distance-text"
+         transform="translate(0,-1.5)">
         <path
            d="m 585.61493,439.36133 c -0.60938,10e-6 -1.06836,0.30079 -1.37695,0.90234 -0.30469,0.59766 -0.45704,1.49805 -0.45704,2.70117 0,1.19923 0.15235,2.09962 0.45704,2.70118 0.30859,0.59765 0.76757,0.89648 1.37695,0.89648 0.61328,0 1.07226,-0.29883 1.37695,-0.89648 0.30859,-0.60156 0.46289,-1.50195 0.46289,-2.70118 0,-1.20312 -0.1543,-2.10351 -0.46289,-2.70117 -0.30469,-0.60155 -0.76367,-0.90233 -1.37695,-0.90234 m 0,-0.9375 c 0.98046,10e-6 1.72851,0.38868 2.24414,1.16601 0.51952,0.77345 0.77929,1.89845 0.7793,3.375 -10e-6,1.47266 -0.25978,2.59766 -0.7793,3.375 -0.51563,0.77344 -1.26368,1.16016 -2.24414,1.16016 -0.98047,0 -1.73047,-0.38672 -2.25,-1.16016 -0.51563,-0.77734 -0.77344,-1.90234 -0.77344,-3.375 0,-1.47655 0.25781,-2.60155 0.77344,-3.375 0.51953,-0.77733 1.26953,-1.166 2.25,-1.16601"
            style="font-size:12px;fill:#00ffff"
@@ -1102,11 +1100,11 @@
        inkscape:groupmode="layer"
        id="layer28"
        inkscape:label="home-heading-text"
-       style="display:inline"
-       sodipodi:insensitive="true">
+       style="display:inline">
       <g
          style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#00ffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
-         id="home-heading-text">
+         id="home-heading-text"
+         transform="translate(0,-1.5)">
         <path
            d="m 585.61493,426.36133 c -0.60938,10e-6 -1.06836,0.30079 -1.37695,0.90234 -0.30469,0.59766 -0.45704,1.49805 -0.45704,2.70117 0,1.19923 0.15235,2.09962 0.45704,2.70118 0.30859,0.59765 0.76757,0.89648 1.37695,0.89648 0.61328,0 1.07226,-0.29883 1.37695,-0.89648 0.30859,-0.60156 0.46289,-1.50195 0.46289,-2.70118 0,-1.20312 -0.1543,-2.10351 -0.46289,-2.70117 -0.30469,-0.60155 -0.76367,-0.90233 -1.37695,-0.90234 m 0,-0.9375 c 0.98046,10e-6 1.72851,0.38868 2.24414,1.16601 0.51952,0.77345 0.77929,1.89845 0.7793,3.375 -10e-6,1.47266 -0.25978,2.59766 -0.7793,3.375 -0.51563,0.77344 -1.26368,1.16016 -2.24414,1.16016 -0.98047,0 -1.73047,-0.38672 -2.25,-1.16016 -0.51563,-0.77734 -0.77344,-1.90234 -0.77344,-3.375 0,-1.47655 0.25781,-2.60155 0.77344,-3.375 0.51953,-0.77733 1.26953,-1.166 2.25,-1.16601"
            style="font-size:12px;fill:#00ffff"
@@ -1623,13 +1621,11 @@
        inkscape:groupmode="layer"
        id="layer58"
        inkscape:label="waypoint"
-       style="display:inline"
-       sodipodi:insensitive="true">
+       style="display:inline">
       <g
          inkscape:groupmode="layer"
          id="layer20"
-         inkscape:label="waypoint-eta-text"
-         sodipodi:insensitive="true">
+         inkscape:label="waypoint-eta-text">
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ff00ff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="waypoint-eta-text"
@@ -1679,8 +1675,7 @@
       <g
          inkscape:groupmode="layer"
          id="layer61"
-         inkscape:label="waypoint-distance-text"
-         sodipodi:insensitive="true">
+         inkscape:label="waypoint-distance-text">
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ff00ff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="waypoint-distance-text"
@@ -1730,8 +1725,7 @@
       <g
          inkscape:groupmode="layer"
          id="layer60"
-         inkscape:label="waypoint-heading-text"
-         sodipodi:insensitive="true">
+         inkscape:label="waypoint-heading-text">
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ff00ff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="waypoint-heading-text"
@@ -1756,8 +1750,7 @@
       <g
          inkscape:groupmode="layer"
          id="layer18"
-         inkscape:label="waypoint-mode-text"
-         sodipodi:insensitive="true">
+         inkscape:label="waypoint-mode-text">
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ff00ff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="waypoint-mode-text"
@@ -1848,8 +1841,7 @@
          inkscape:groupmode="layer"
          id="layer56"
          inkscape:label="waypoint-description-text"
-         style="display:inline"
-         sodipodi:insensitive="true">
+         style="display:inline">
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ff00ff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="waypoint-description-text"
@@ -2309,14 +2301,12 @@
        inkscape:groupmode="layer"
        id="layer57"
        inkscape:label="gps"
-       style="display:inline"
-       sodipodi:insensitive="true">
+       style="display:inline">
       <g
          inkscape:groupmode="layer"
          id="layer53"
          inkscape:label="gps-sats"
-         style="display:inline"
-         sodipodi:insensitive="true">
+         style="display:inline">
         <path
            sodipodi:nodetypes="cc"
            inkscape:label="#path10180"
@@ -2404,7 +2394,7 @@
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;font-family:Sans"
            id="gps-mode-text"
-           transform="translate(0,1)">
+           transform="translate(0,1.5)">
           <path
              d="m 54.155106,11.899892 c 0.472,0.100915 0.839838,0.310876 1.103515,0.629883 0.266922,0.319013 0.400385,0.712893 0.400391,1.18164 -6e-6,0.719403 -0.247401,1.276043 -0.742188,1.669922 -0.494796,0.39388 -1.19792,0.59082 -2.109375,0.59082 -0.305992,0 -0.621747,-0.03092 -0.947265,-0.09277 -0.322267,-0.05859 -0.655926,-0.148112 -1.000977,-0.268555 l 0,-0.952148 c 0.273437,0.159506 0.572915,0.279949 0.898438,0.361328 0.325519,0.08138 0.665687,0.122071 1.020507,0.12207 0.618487,10e-7 1.088864,-0.122069 1.411133,-0.366211 0.325517,-0.244139 0.488277,-0.598956 0.488282,-1.064453 -5e-6,-0.429685 -0.151372,-0.764971 -0.454102,-1.005859 -0.299483,-0.244137 -0.717777,-0.366208 -1.254883,-0.366211 l -0.849609,0 0,-0.810547 0.888672,0 c 0.485022,4e-6 0.856116,-0.09602 1.113281,-0.288086 0.257157,-0.195308 0.385738,-0.475255 0.385742,-0.839844 C 54.506664,10.026525 54.3732,9.7400672 54.106277,9.5414934 53.842602,9.339677 53.46337,9.2387656 52.968582,9.238759 c -0.270185,6.6e-6 -0.559898,0.029303 -0.86914,0.087891 -0.309247,0.0586 -0.649416,0.1497459 -1.020508,0.2734375 l 0,-0.8789063 c 0.374347,-0.1041594 0.724282,-0.1822844 1.049804,-0.234375 0.328774,-0.052076 0.638019,-0.078118 0.927735,-0.078125 0.748694,7.4e-6 1.341141,0.1709057 1.777344,0.5126953 0.436192,0.3385483 0.654291,0.7975322 0.654296,1.3769525 -5e-6,0.403651 -0.115565,0.745448 -0.346679,1.025391 -0.231125,0.276697 -0.559901,0.468754 -0.986328,0.576172"
              style="font-size:10px;text-align:center;text-anchor:middle;fill:#ffffff"
@@ -2444,7 +2434,7 @@
         </g>
         <path
            style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linejoin:round;stroke-miterlimit:4;display:inline"
-           d="m 642,57.5 -643,0"
+           d="m 642,57.5 -642.5,0"
            id="info-bg-top"
            inkscape:connector-curvature="0"
            sodipodi:nodetypes="cc" />
@@ -2455,7 +2445,7 @@
            inkscape:connector-curvature="0" />
         <path
            style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
-           d="M 460,57.5 460,3"
+           d="m 460,57.5 0,-54"
            id="path10162"
            inkscape:connector-curvature="0"
            sodipodi:nodetypes="cc" />
@@ -2467,20 +2457,20 @@
            sodipodi:nodetypes="cc" />
         <path
            style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
-           d="M 180,57.5 180,3"
+           d="m 180,57.5 0,-54"
            id="path10158"
            inkscape:connector-curvature="0"
            sodipodi:nodetypes="cc" />
         <path
            inkscape:connector-curvature="0"
            id="path10160"
-           d="M 90,57.5 90,3"
+           d="m 90,57.5 0,-54"
            style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
            sodipodi:nodetypes="cc" />
         <path
            inkscape:connector-curvature="0"
            id="path10164"
-           d="M 550,57.5 550,3"
+           d="m 550,57.5 0,-54"
            style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
            sodipodi:nodetypes="cc" />
         <path
@@ -2490,8 +2480,8 @@
            style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none"
            sodipodi:nodetypes="cc" />
         <path
-           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none"
-           d="m -2,22 181.5,0"
+           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           d="m -0.5,22 180,0"
            id="path10166"
            inkscape:connector-curvature="0"
            sodipodi:nodetypes="cc" />
@@ -4685,7 +4675,8 @@
      inkscape:groupmode="layer"
      id="layer67"
      inkscape:label="warnings"
-     style="display:none">
+     style="display:inline"
+     sodipodi:insensitive="true">
     <g
        inkscape:groupmode="layer"
        id="layer68"
@@ -4711,7 +4702,8 @@
        inkscape:groupmode="layer"
        id="layer51"
        inkscape:label="warning-autopilot"
-       style="display:inline">
+       style="display:inline"
+       sodipodi:insensitive="true">
       <g
          id="warning-autopilot"
          inkscape:label="#g4860">
@@ -4868,7 +4860,8 @@
        inkscape:groupmode="layer"
        id="layer33"
        inkscape:label="warning-rc-input"
-       style="display:inline">
+       style="display:inline"
+       sodipodi:insensitive="true">
       <g
          id="warning-rc-input"
          inkscape:label="#g4855">

From 21fcbf024d825db03e2fa64dda19199cd00f7c15 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Fri, 20 Jun 2014 20:33:43 +0200
Subject: [PATCH 07/13] OP-1354 ETA for home based on current velocity and
 distance, time conversions/formating

---
 .../share/openpilotgcs/pfd/default/Info.qml   | 37 ++++++++++++++++++-
 1 file changed, 35 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
index 0addbb094..241a991a9 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
@@ -7,9 +7,25 @@ Item {
     property real home_heading: 180/3.1415 * Math.atan2(TakeOffLocation.East - PositionState.East, 
                                                         TakeOffLocation.North - PositionState.North)
 
-    property real home_distance: Math.sqrt((TakeOffLocation.East - PositionState.East)*(TakeOffLocation.East - PositionState.East) 
-                                         + (TakeOffLocation.North - PositionState.North)*(TakeOffLocation.North - PositionState.North))
+    property real home_distance: Math.sqrt(Math.pow(TakeOffLocation.East - PositionState.East,2) +
+                                           Math.pow(TakeOffLocation.North - PositionState.North,2))
 
+    property real current_velocity: Math.sqrt(Math.pow(VelocityState.North,2)+Math.pow(VelocityState.East,2))
+
+    property real home_eta: Math.round(home_distance/current_velocity)
+    property real home_eta_h: Math.floor(home_eta / 3600)
+    property real home_eta_m: Math.floor((home_eta - home_eta_h*3600)/60) 
+    property real home_eta_s: Math.floor(home_eta - home_eta_h*3600 - home_eta_m*60)
+
+   function formatTime(time) {
+        if (time === 0)
+            return "00"
+        if (time < 10)
+            return "0" + time;
+        else
+            return time.toString();
+    }
+    
     SvgElementImage {
         id: info_bg
         sceneSize: info.sceneSize
@@ -231,6 +247,23 @@ Item {
         }
     }
 
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "home-eta-text"
+
+        visible: TakeOffLocation.Status == 0
+
+        Text {
+            text: formatTime(home_eta_h) + ":" + formatTime(home_eta_m) + ":" + formatTime(home_eta_s)
+            anchors.fill: parent
+            color: "cyan"
+            font {
+                family: "Arial"
+                pixelSize: Math.floor(parent.height * 1.2)
+            }
+        }
+    }
+
 
     SvgElementImage {
         id: info_border

From ae0e92b9a0f28733609682a6c1cd8172fea59e66 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Sat, 21 Jun 2014 01:31:50 +0200
Subject: [PATCH 08/13] OP-1354 Compass-waypoint visibility, Home info
 animation.

---
 .../openpilotgcs/pfd/default/Compass.qml      |  2 +-
 .../share/openpilotgcs/pfd/default/Info.qml   | 88 +++++++++++++++----
 .../share/openpilotgcs/pfd/default/Pfd.qml    |  2 +-
 .../share/openpilotgcs/pfd/default/pfd.svg    | 32 ++++---
 4 files changed, 87 insertions(+), 37 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
index e8dfa9248..2fb92cc19 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
@@ -68,7 +68,7 @@ Item {
         transformOrigin: Item.Center
 
         smooth: true
-        visible: false
+        visible: PathDesired.End_East !== 0.0 && PathDesired.End_East !== 0.0
     }
 
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
index 241a991a9..c11784949 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
@@ -7,15 +7,15 @@ Item {
     property real home_heading: 180/3.1415 * Math.atan2(TakeOffLocation.East - PositionState.East, 
                                                         TakeOffLocation.North - PositionState.North)
 
-    property real home_distance: Math.sqrt(Math.pow(TakeOffLocation.East - PositionState.East,2) +
-                                           Math.pow(TakeOffLocation.North - PositionState.North,2))
+    property real home_distance: Math.sqrt(Math.pow((TakeOffLocation.East - PositionState.East),2) +
+                                           Math.pow((TakeOffLocation.North - PositionState.North),2))
 
     property real current_velocity: Math.sqrt(Math.pow(VelocityState.North,2)+Math.pow(VelocityState.East,2))
 
-    property real home_eta: Math.round(home_distance/current_velocity)
-    property real home_eta_h: Math.floor(home_eta / 3600)
-    property real home_eta_m: Math.floor((home_eta - home_eta_h*3600)/60) 
-    property real home_eta_s: Math.floor(home_eta - home_eta_h*3600 - home_eta_m*60)
+    property real home_eta: (home_distance > 0 && current_velocity > 0 ? Math.round(home_distance/current_velocity) : 0)
+    property real home_eta_h: (home_eta > 0 ? Math.floor(home_eta / 3600) : 0 )
+    property real home_eta_m: (home_eta > 0 ? Math.floor((home_eta - home_eta_h*3600)/60) : 0) 
+    property real home_eta_s: (home_eta > 0 ? Math.floor(home_eta - home_eta_h*3600 - home_eta_m*60) : 0)
 
    function formatTime(time) {
         if (time === 0)
@@ -209,57 +209,109 @@ Item {
         id: home_bg
         elementName: "home-bg"
         sceneSize: info.sceneSize
+        y: Math.floor(scaledBounds.y * sceneItem.height)
 
-        visible: TakeOffLocation.Status == 0
+        states: State  {
+             name: "fading"
+             when: TakeOffLocation.Status !== 0
+             PropertyChanges  { target: home_bg; x: Math.floor(scaledBounds.x * sceneItem.width) + home_bg.width;  }
+        }
+ 
+        transitions: Transition  {
+        SequentialAnimation  {
+              PropertyAnimation  { property: "x"; duration: 800 }
+              }
+        } 
     }
 
     SvgElementPositionItem {
         sceneSize: info.sceneSize
+        id: home_heading_text
         elementName: "home-heading-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
 
-        visible: TakeOffLocation.Status == 0
-
+        states: State  {
+             name: "fading_heading"
+             when: TakeOffLocation.Status !== 0
+             PropertyChanges  { target: home_heading_text; x: Math.floor(scaledBounds.x * sceneItem.width) + home_bg.width  }
+        }
+ 
+        transitions: Transition  {
+        SequentialAnimation  {
+              PropertyAnimation  { property: "x"; duration: 800 }
+              }
+        } 
         Text {
-            text: home_heading.toFixed(1)+"°"
-            anchors.fill: parent
+            text: "  "+home_heading.toFixed(1)+"°"
+            anchors.centerIn: parent
             color: "cyan"
             font {
                 family: "Arial"
-                pixelSize: Math.floor(parent.height * 1.2)
+                pixelSize: parent.height * 1.2
             }
         }
     }
 
     SvgElementPositionItem {
         sceneSize: info.sceneSize
+        id: home_distance_text
         elementName: "home-distance-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
 
-        visible: TakeOffLocation.Status == 0
+        states: State  {
+             name: "fading_distance"
+             when: TakeOffLocation.Status !== 0
+             PropertyChanges  { target: home_distance_text; x: Math.floor(scaledBounds.x * sceneItem.width) + home_bg.width;  }
+        }
+ 
+        transitions: Transition  {
+        SequentialAnimation  {
+              PropertyAnimation  { property: "x"; duration: 800 }
+              }
+        } 
 
         Text {
             text: home_distance.toFixed(0)+" m"
-            anchors.fill: parent
+            anchors.centerIn: parent
             color: "cyan"
             font {
                 family: "Arial"
-                pixelSize: Math.floor(parent.height * 1.2)
+                pixelSize: parent.height * 1.2
             }
         }
     }
 
     SvgElementPositionItem {
         sceneSize: info.sceneSize
+        id: home_eta_text
         elementName: "home-eta-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
 
-        visible: TakeOffLocation.Status == 0
+        states: State  {
+             name: "fading_distance"
+             when: TakeOffLocation.Status !== 0
+             PropertyChanges  { target: home_eta_text; x: Math.floor(scaledBounds.x * sceneItem.width) + home_bg.width;  }
+        }
+ 
+        transitions: Transition  {
+        SequentialAnimation  {
+              PropertyAnimation  { property: "x"; duration: 800 }
+              }
+        } 
 
         Text {
             text: formatTime(home_eta_h) + ":" + formatTime(home_eta_m) + ":" + formatTime(home_eta_s)
-            anchors.fill: parent
+            anchors.centerIn: parent
             color: "cyan"
             font {
                 family: "Arial"
-                pixelSize: Math.floor(parent.height * 1.2)
+                pixelSize: parent.height * 1.2
             }
         }
     }
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index 5ad121d9a..0c4afe9b9 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -32,7 +32,7 @@ Rectangle {
             anchors.centerIn: parent
             clip: true
 
-            onWidthChanged:console.log("Width/Height : "+width+" "+ height+" scale : "+width/height+" border : "+parent.paintedHeight * 0.006+" TakeOffLocation.Status" + TakeOffLocation.Status)
+            //onWidthChanged:console.log("TakeOffLocation.Status " + TakeOffLocation.Status)
             
             Loader {
                 id: worldLoader
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
index aca54ae7a..bca747fc0 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
@@ -50,12 +50,12 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="9.3092382"
-     inkscape:cx="599.99681"
-     inkscape:cy="46"
+     inkscape:zoom="9.9282028"
+     inkscape:cx="593.25555"
+     inkscape:cy="43.480232"
      inkscape:document-units="px"
-     inkscape:current-layer="layer2"
-     showgrid="false"
+     inkscape:current-layer="layer25"
+     showgrid="true"
      fit-margin-top="0"
      fit-margin-left="0"
      fit-margin-right="0"
@@ -906,7 +906,7 @@
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="home-eta-label"
-           transform="translate(0,-1.6584)">
+           transform="matrix(1,0,0,1.0973877,0,-46.442937)">
           <path
              d="m 555.23804,452.56836 4.60937,0 0,0.83008 -3.62304,0 0,2.1582 3.47167,0 0,0.83008 -3.47167,0 0,2.6416 3.71093,0 0,0.83008 -4.69726,0 0,-7.29004"
              style="font-size:10px;fill:#ffffff"
@@ -926,7 +926,7 @@
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="home-distance-label"
-           transform="translate(0,-1.6584)">
+           transform="matrix(1,0,0,1.0577142,0,-27.456636)">
           <path
              d="m 556.22437,440.37891 0,5.66894 1.1914,0 c 1.00586,0 1.74153,-0.22786 2.20703,-0.68359 0.46875,-0.45573 0.70312,-1.17513 0.70313,-2.15821 -10e-6,-0.97655 -0.23438,-1.69107 -0.70313,-2.14355 -0.4655,-0.45572 -1.20117,-0.68359 -2.20703,-0.68359 l -1.1914,0 m -0.98633,-0.81055 2.02636,0 c 1.41276,1e-5 2.44954,0.2946 3.11036,0.88379 0.6608,0.58594 0.9912,1.50391 0.99121,2.7539 -10e-6,1.25652 -0.33204,2.17937 -0.9961,2.76856 -0.66406,0.58919 -1.69922,0.88379 -3.10547,0.88379 l -2.02636,0 0,-7.29004"
              style="font-size:10px;fill:#ffffff"
@@ -980,7 +980,7 @@
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="home-heading-label"
-           transform="translate(0,-1.6584)">
+           transform="matrix(1,0,0,1.0577142,0,-26.706351)">
           <path
              d="m 555.23804,426.56836 0.98633,0 0,2.98828 3.58398,0 0,-2.98828 0.98633,0 0,7.29004 -0.98633,0 0,-3.47168 -3.58398,0 0,3.47168 -0.98633,0 0,-7.29004"
              style="font-size:10px;fill:#ffffff"
@@ -1007,7 +1007,7 @@
       <g
          style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#00ffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
          id="home-eta-text"
-         transform="translate(0,-1.5)">
+         transform="matrix(1,0,0,0.99160769,0,2.0646588)">
         <path
            d="m 585.61493,452.36133 c -0.60938,10e-6 -1.06836,0.30079 -1.37695,0.90234 -0.30469,0.59766 -0.45704,1.49805 -0.45704,2.70117 0,1.19923 0.15235,2.09962 0.45704,2.70118 0.30859,0.59765 0.76757,0.89648 1.37695,0.89648 0.61328,0 1.07226,-0.29883 1.37695,-0.89648 0.30859,-0.60156 0.46289,-1.50195 0.46289,-2.70118 0,-1.20312 -0.1543,-2.10351 -0.46289,-2.70117 -0.30469,-0.60155 -0.76367,-0.90233 -1.37695,-0.90234 m 0,-0.9375 c 0.98046,10e-6 1.72851,0.38868 2.24414,1.16601 0.51952,0.77345 0.77929,1.89845 0.7793,3.375 -10e-6,1.47266 -0.25978,2.59766 -0.7793,3.375 -0.51563,0.77344 -1.26368,1.16016 -2.24414,1.16016 -0.98047,0 -1.73047,-0.38672 -2.25,-1.16016 -0.51563,-0.77734 -0.77344,-1.90234 -0.77344,-3.375 0,-1.47655 0.25781,-2.60155 0.77344,-3.375 0.51953,-0.77733 1.26953,-1.166 2.25,-1.16601"
            style="font-size:12px;fill:#00ffff"
@@ -1058,7 +1058,7 @@
       <g
          style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#00ffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
          id="home-distance-text"
-         transform="translate(0,-1.5)">
+         transform="matrix(1,0,0,0.99160769,0,2.0975587)">
         <path
            d="m 585.61493,439.36133 c -0.60938,10e-6 -1.06836,0.30079 -1.37695,0.90234 -0.30469,0.59766 -0.45704,1.49805 -0.45704,2.70117 0,1.19923 0.15235,2.09962 0.45704,2.70118 0.30859,0.59765 0.76757,0.89648 1.37695,0.89648 0.61328,0 1.07226,-0.29883 1.37695,-0.89648 0.30859,-0.60156 0.46289,-1.50195 0.46289,-2.70118 0,-1.20312 -0.1543,-2.10351 -0.46289,-2.70117 -0.30469,-0.60155 -0.76367,-0.90233 -1.37695,-0.90234 m 0,-0.9375 c 0.98046,10e-6 1.72851,0.38868 2.24414,1.16601 0.51952,0.77345 0.77929,1.89845 0.7793,3.375 -10e-6,1.47266 -0.25978,2.59766 -0.7793,3.375 -0.51563,0.77344 -1.26368,1.16016 -2.24414,1.16016 -0.98047,0 -1.73047,-0.38672 -2.25,-1.16016 -0.51563,-0.77734 -0.77344,-1.90234 -0.77344,-3.375 0,-1.47655 0.25781,-2.60155 0.77344,-3.375 0.51953,-0.77733 1.26953,-1.166 2.25,-1.16601"
            style="font-size:12px;fill:#00ffff"
@@ -1104,7 +1104,7 @@
       <g
          style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#00ffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
          id="home-heading-text"
-         transform="translate(0,-1.5)">
+         transform="matrix(1,0,0,0.99160769,15.28151,1.9884587)">
         <path
            d="m 585.61493,426.36133 c -0.60938,10e-6 -1.06836,0.30079 -1.37695,0.90234 -0.30469,0.59766 -0.45704,1.49805 -0.45704,2.70117 0,1.19923 0.15235,2.09962 0.45704,2.70118 0.30859,0.59765 0.76757,0.89648 1.37695,0.89648 0.61328,0 1.07226,-0.29883 1.37695,-0.89648 0.30859,-0.60156 0.46289,-1.50195 0.46289,-2.70118 0,-1.20312 -0.1543,-2.10351 -0.46289,-2.70117 -0.30469,-0.60155 -0.76367,-0.90233 -1.37695,-0.90234 m 0,-0.9375 c 0.98046,10e-6 1.72851,0.38868 2.24414,1.16601 0.51952,0.77345 0.77929,1.89845 0.7793,3.375 -10e-6,1.47266 -0.25978,2.59766 -0.7793,3.375 -0.51563,0.77344 -1.26368,1.16016 -2.24414,1.16016 -0.98047,0 -1.73047,-0.38672 -2.25,-1.16016 -0.51563,-0.77734 -0.77344,-1.90234 -0.77344,-3.375 0,-1.47655 0.25781,-2.60155 0.77344,-3.375 0.51953,-0.77733 1.26953,-1.166 2.25,-1.16601"
            style="font-size:12px;fill:#00ffff"
@@ -2503,8 +2503,8 @@
          inkscape:label="throttle-mask"
          inkscape:connector-curvature="0"
          id="throttle-mask"
-         d="m 466.25103,52.7 c 75.34867,0 75.1981,0 75.1981,0 l 0,-35 -75.1981,25 0,10"
-         style="fill:none;stroke:#000000;stroke-width:4.5999999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+         d="m 466.25101,52.7 c 77.55498,0 77.4,0 77.4,0 l 0,-35 -77.4,25 0,10"
+         style="fill:none;stroke:#000000;stroke-width:4.59999943;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
          sodipodi:nodetypes="ccccc" />
       <rect
          style="fill:none;stroke:#0c0f0c;stroke-width:3;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
@@ -4251,8 +4251,7 @@
      style="display:inline"
      inkscape:label="altitude"
      id="g9762"
-     inkscape:groupmode="layer"
-     sodipodi:insensitive="true">
+     inkscape:groupmode="layer">
     <g
        inkscape:groupmode="layer"
        id="layer1"
@@ -4460,8 +4459,7 @@
        inkscape:groupmode="layer"
        id="layer46"
        inkscape:label="altitude-waypoint"
-       style="display:inline"
-       sodipodi:insensitive="true">
+       style="display:inline">
       <path
          style="fill:#bf00bf;fill-opacity:1;stroke:none"
          d="m 491,200 0,21 0,21 15,0 0,-13.0625 -9.4375,-6.4375 0,-1.5 0,-1.5 L 506,213.0625 506,200 z"

From 7e62aa4161575781de2af96ac8b00d272ad03834 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Sat, 21 Jun 2014 13:09:23 +0200
Subject: [PATCH 09/13] OP-1354 Added waypoint info : wp# / wp count and mode

---
 .../share/openpilotgcs/pfd/default/Info.qml   | 37 +++++++++
 .../share/openpilotgcs/pfd/default/pfd.svg    | 78 ++++++++++++-------
 .../src/plugins/pfdqml/pfdqmlgadgetwidget.cpp |  3 +-
 3 files changed, 87 insertions(+), 31 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
index c11784949..95b198cef 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
@@ -118,6 +118,43 @@ Item {
         }
     }
 
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "waypoint-description-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+        visible: SystemAlarms.Alarm_PathPlan == 1
+
+        Text {
+            text: WaypointActive.Index+" / "+PathPlan.WaypointCount+"   "
+
+            anchors.centerIn: parent
+            font.pixelSize: parent.height*1.1
+            color: "magenta"
+        }
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "waypoint-mode-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+        visible: SystemAlarms.Alarm_PathPlan == 1
+
+        Text {
+            text: ["Fly End Point","Fly Vector","Fly Circle Right","Fly Circle Left","Drive End Point","Drive Vector","Drive Circle Right",
+                   "Drive Circle Left","Fixed Attitude","Set Accessory","Land","Disarm Alarm"][PathDesired.Mode]
+
+            anchors.centerIn: parent
+            font.pixelSize: parent.height*1.1
+            color: "magenta"
+        }
+    }
+
+
+
     SvgElementPositionItem {
         sceneSize: info.sceneSize
         elementName: "battery-volt-text"
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
index bca747fc0..c55acfb1e 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
@@ -50,11 +50,11 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="9.9282028"
-     inkscape:cx="593.25555"
-     inkscape:cy="43.480232"
+     inkscape:zoom="3.3787325"
+     inkscape:cx="305.54267"
+     inkscape:cy="416.93352"
      inkscape:document-units="px"
-     inkscape:current-layer="layer25"
+     inkscape:current-layer="layer18"
      showgrid="true"
      fit-margin-top="0"
      fit-margin-left="0"
@@ -115,7 +115,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
+        <dc:title />
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -124,7 +124,8 @@
      id="layer2"
      inkscape:label="horizon"
      style="display:inline"
-     transform="translate(0,-4)">
+     transform="translate(0,-4)"
+     sodipodi:insensitive="true">
     <g
        id="horizon"
        inkscape:label="#g4445"
@@ -162,12 +163,14 @@
      id="layer14"
      inkscape:label="pitch"
      style="display:inline"
-     transform="translate(0,-4)">
+     transform="translate(0,-4)"
+     sodipodi:insensitive="true">
     <g
        inkscape:groupmode="layer"
        id="layer16"
        inkscape:label="pitch-window"
-       style="display:inline">
+       style="display:inline"
+       sodipodi:insensitive="true">
       <rect
          style="fill:none;stroke:#ff0000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
          id="pitch-window"
@@ -181,7 +184,8 @@
        inkscape:groupmode="layer"
        id="layer15"
        inkscape:label="pitch-scale"
-       style="display:inline">
+       style="display:inline"
+       sodipodi:insensitive="true">
       <g
          id="pitch-scale"
          inkscape:label="#g8154"
@@ -887,12 +891,14 @@
      inkscape:groupmode="layer"
      id="layer24"
      inkscape:label="home"
-     style="display:inline">
+     style="display:inline"
+     sodipodi:insensitive="true">
     <g
        inkscape:groupmode="layer"
        id="layer25"
        inkscape:label="home-bg"
-       style="display:inline">
+       style="display:inline"
+       sodipodi:insensitive="true">
       <g
          id="home-bg"
          inkscape:label="#g4876"
@@ -1003,7 +1009,8 @@
        inkscape:groupmode="layer"
        id="layer26"
        inkscape:label="home-eta-text"
-       style="display:inline">
+       style="display:inline"
+       sodipodi:insensitive="true">
       <g
          style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#00ffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
          id="home-eta-text"
@@ -1054,7 +1061,8 @@
        inkscape:groupmode="layer"
        id="layer27"
        inkscape:label="home-distance-text"
-       style="display:inline">
+       style="display:inline"
+       sodipodi:insensitive="true">
       <g
          style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#00ffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
          id="home-distance-text"
@@ -1100,7 +1108,8 @@
        inkscape:groupmode="layer"
        id="layer28"
        inkscape:label="home-heading-text"
-       style="display:inline">
+       style="display:inline"
+       sodipodi:insensitive="true">
       <g
          style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#00ffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
          id="home-heading-text"
@@ -1312,7 +1321,8 @@
         </g>
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
-           id="waypoint-label">
+           id="waypoint-label"
+           transform="matrix(1.0375459,0,0,1.0375459,-7.161678,-3.5667345)">
           <path
              d="m 190.74466,9.2578888 0.79687,0 1.22657,4.9296872 1.22265,-4.9296872 0.88672,0 1.22656,4.9296872 1.22266,-4.9296872 0.80078,0 -1.46484,5.8320312 -0.99219,0 -1.23047,-5.0625 -1.24219,5.0625 -0.99218,0 -1.46094,-5.8320312"
              style="font-size:8px;fill:#ffffff"
@@ -1331,7 +1341,8 @@
         </g>
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
-           id="waypoint-heading-label">
+           id="waypoint-heading-label"
+           transform="translate(0,-3.00017)">
           <path
              d="m 191.26419,24.257889 0.78906,0 0,2.390625 2.86719,0 0,-2.390625 0.78906,0 0,5.832031 -0.78906,0 0,-2.777344 -2.86719,0 0,2.777344 -0.78906,0 0,-5.832031"
              style="font-size:8px;fill:#ffffff"
@@ -1350,7 +1361,8 @@
         </g>
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
-           id="waypoint-distance-label">
+           id="waypoint-distance-label"
+           transform="translate(0,-3.00017)">
           <path
              d="m 278.05325,24.906326 0,4.535157 0.95313,0 c 0.80468,0 1.39322,-0.182291 1.76562,-0.546875 0.375,-0.364582 0.5625,-0.940102 0.5625,-1.726563 0,-0.781246 -0.1875,-1.35286 -0.5625,-1.714844 -0.3724,-0.364578 -0.96094,-0.54687 -1.76562,-0.546875 l -0.95313,0 m -0.78906,-0.648437 1.62109,0 c 1.13021,6e-6 1.95964,0.235682 2.48829,0.707031 0.52864,0.468755 0.79296,1.203129 0.79296,2.203125 0,1.00521 -0.26563,1.743491 -0.79687,2.214844 -0.53125,0.471354 -1.35938,0.707031 -2.48438,0.707031 l -1.62109,0 0,-5.832031"
              style="font-size:8px;fill:#ffffff"
@@ -1374,7 +1386,8 @@
         </g>
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
-           id="waypoint-mode-label">
+           id="waypoint-mode-label"
+           transform="translate(0,-3.113201)">
           <path
              d="m 316.26419,9.2578888 1.17578,0 1.48828,3.9687502 1.4961,-3.9687502 1.17578,0 0,5.8320312 -0.76953,0 0,-5.1210937 -1.50391,3.9999997 -0.79297,0 -1.5039,-3.9999997 0,5.1210937 -0.76563,0 0,-5.8320312"
              style="font-size:8px;fill:#ffffff"
@@ -1398,7 +1411,8 @@
         </g>
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
-           id="waypoint-eta-label">
+           id="waypoint-eta-label"
+           transform="matrix(1.0375459,0,0,1.0375459,-14.202279,-4.0166731)">
           <path
              d="m 378.26419,24.257889 3.6875,0 0,0.664062 -2.89844,0 0,1.726563 2.77735,0 0,0.664062 -2.77735,0 0,2.113282 2.96875,0 0,0.664062 -3.75781,0 0,-5.832031"
              style="font-size:8px;fill:#ffffff"
@@ -1629,7 +1643,7 @@
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ff00ff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="waypoint-eta-text"
-           transform="translate(0,3.595328)">
+           transform="translate(0,0.595158)">
           <path
              d="m 400.29349,23.12117 c -0.60938,8e-6 -1.06836,0.300789 -1.37696,0.902344 -0.30469,0.597663 -0.45703,1.498052 -0.45703,2.701172 0,1.199222 0.15234,2.099611 0.45703,2.701172 0.3086,0.597657 0.76758,0.896485 1.37696,0.896484 0.61327,1e-6 1.07226,-0.298827 1.37695,-0.896484 0.30859,-0.601561 0.46289,-1.50195 0.46289,-2.701172 0,-1.20312 -0.1543,-2.103509 -0.46289,-2.701172 -0.30469,-0.601555 -0.76368,-0.902336 -1.37695,-0.902344 m 0,-0.9375 c 0.98046,9e-6 1.72851,0.38868 2.24414,1.166016 0.51952,0.773444 0.77929,1.898443 0.7793,3.375 -1e-5,1.472659 -0.25978,2.597658 -0.7793,3.375 -0.51563,0.773437 -1.26368,1.160156 -2.24414,1.160156 -0.98047,0 -1.73047,-0.386719 -2.25,-1.160156 -0.51563,-0.777342 -0.77344,-1.902341 -0.77344,-3.375 0,-1.476557 0.25781,-2.601556 0.77344,-3.375 0.51953,-0.777336 1.26953,-1.166007 2.25,-1.166016"
              style="font-size:12px;fill:#ff00ff"
@@ -1679,7 +1693,7 @@
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ff00ff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="waypoint-distance-text"
-           transform="translate(0,3.595328)">
+           transform="translate(0,0.595158)">
           <path
              d="m 303.29349,23.12117 c -0.60938,8e-6 -1.06836,0.300789 -1.37696,0.902344 -0.30469,0.597663 -0.45703,1.498052 -0.45703,2.701172 0,1.199222 0.15234,2.099611 0.45703,2.701172 0.3086,0.597657 0.76758,0.896485 1.37696,0.896484 0.61327,1e-6 1.07226,-0.298827 1.37695,-0.896484 0.30859,-0.601561 0.46289,-1.50195 0.46289,-2.701172 0,-1.20312 -0.1543,-2.103509 -0.46289,-2.701172 -0.30469,-0.601555 -0.76368,-0.902336 -1.37695,-0.902344 m 0,-0.9375 c 0.98046,9e-6 1.72851,0.38868 2.24414,1.166016 0.51952,0.773444 0.77929,1.898443 0.7793,3.375 -1e-5,1.472659 -0.25978,2.597658 -0.7793,3.375 -0.51563,0.773437 -1.26368,1.160156 -2.24414,1.160156 -0.98047,0 -1.73047,-0.386719 -2.25,-1.160156 -0.51563,-0.777342 -0.77344,-1.902341 -0.77344,-3.375 0,-1.476557 0.25781,-2.601556 0.77344,-3.375 0.51953,-0.777336 1.26953,-1.166007 2.25,-1.166016"
              style="font-size:12px;fill:#ff00ff"
@@ -1729,7 +1743,7 @@
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ff00ff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="waypoint-heading-text"
-           transform="translate(0,3.595328)">
+           transform="translate(0,0.595158)">
           <path
              d="m 216.29349,23.12117 c -0.60938,8e-6 -1.06836,0.300789 -1.37696,0.902344 -0.30469,0.597663 -0.45703,1.498052 -0.45703,2.701172 0,1.199222 0.15234,2.099611 0.45703,2.701172 0.3086,0.597657 0.76758,0.896485 1.37696,0.896484 0.61327,1e-6 1.07226,-0.298827 1.37695,-0.896484 0.30859,-0.601561 0.46289,-1.50195 0.46289,-2.701172 0,-1.20312 -0.1543,-2.103509 -0.46289,-2.701172 -0.30469,-0.601555 -0.76368,-0.902336 -1.37695,-0.902344 m 0,-0.9375 c 0.98046,9e-6 1.72851,0.38868 2.24414,1.166016 0.51952,0.773444 0.77929,1.898443 0.7793,3.375 -1e-5,1.472659 -0.25978,2.597658 -0.7793,3.375 -0.51563,0.773437 -1.26368,1.160156 -2.24414,1.160156 -0.98047,0 -1.73047,-0.386719 -2.25,-1.160156 -0.51563,-0.777342 -0.77344,-1.902341 -0.77344,-3.375 0,-1.476557 0.25781,-2.601556 0.77344,-3.375 0.51953,-0.777336 1.26953,-1.166007 2.25,-1.166016"
              style="font-size:12px;fill:#ff00ff"
@@ -1754,7 +1768,7 @@
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ff00ff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="waypoint-mode-text"
-           transform="translate(0,3.595328)">
+           transform="translate(0,0.595158)">
           <path
              d="m 346.84036,8.3145294 0,6.8027346 1.42969,0 c 1.20703,10e-7 2.08984,-0.273436 2.64844,-0.820313 0.56249,-0.546872 0.84374,-1.410153 0.84375,-2.589843 -1e-5,-1.17187 -0.28126,-2.0292909 -0.84375,-2.5722661 -0.5586,-0.5468675 -1.44141,-0.8203047 -2.64844,-0.8203125 l -1.42969,0 m -1.18359,-0.9726562 2.43164,0 c 1.69531,8.7e-6 2.93945,0.353524 3.73242,1.0605468 0.79296,0.703132 1.18945,1.804693 1.18945,3.304688 0,1.507815 -0.39844,2.615236 -1.19531,3.322265 -0.79688,0.707032 -2.03907,1.060547 -3.72656,1.060547 l -2.43164,0 0,-8.7480468"
              style="font-size:12px;fill:#ff00ff"
@@ -1821,7 +1835,7 @@
              id="path6432"
              inkscape:connector-curvature="0" />
           <path
-             d="m 434.9595,12.732498 c 0,-0.781246 -0.16211,-1.386714 -0.48632,-1.816406 -0.32032,-0.429682 -0.77149,-0.644526 -1.35352,-0.644531 -0.57813,5e-6 -1.0293,0.214849 -1.35352,0.644531 -0.32031,0.429692 -0.48047,1.03516 -0.48046,1.816406 -1e-5,0.777346 0.16015,1.380862 0.48046,1.810547 0.32422,0.429689 0.77539,0.644532 1.35352,0.644531 0.58203,10e-7 1.0332,-0.214842 1.35352,-0.644531 0.32421,-0.429685 0.48632,-1.033201 0.48632,-1.810547 m 1.07813,2.542969 c -10e-6,1.117187 -0.24805,1.947264 -0.74414,2.490234 -0.4961,0.546873 -1.25587,0.82031 -2.2793,0.820313 -0.37891,-3e-6 -0.73633,-0.0293 -1.07226,-0.08789 -0.33594,-0.05469 -0.66212,-0.140627 -0.97852,-0.257812 l 0,-1.048828 c 0.3164,0.171873 0.6289,0.298826 0.9375,0.380859 0.30859,0.08203 0.62304,0.123045 0.94336,0.123047 0.70703,-2e-6 1.23632,-0.185549 1.58789,-0.556641 0.35156,-0.367188 0.52734,-0.923828 0.52734,-1.669922 l 0,-0.533203 c -0.22266,0.38672 -0.50781,0.675782 -0.85547,0.867188 -0.34766,0.191406 -0.76367,0.287109 -1.24804,0.287109 -0.80469,0 -1.45313,-0.30664 -1.94531,-0.919922 -0.49219,-0.61328 -0.73829,-1.425779 -0.73829,-2.4375 0,-1.01562 0.2461,-1.830073 0.73829,-2.443359 0.49218,-0.613275 1.14062,-0.9199154 1.94531,-0.9199221 0.48437,6.7e-6 0.90038,0.09571 1.24804,0.2871094 0.34766,0.1914125 0.63281,0.4804747 0.85547,0.8671877 l 0,-0.996094 1.07813,0 0,5.748047"
+             d="m 434.9595,11.12392 c 0,-0.662783 -0.16211,-1.1764411 -0.48632,-1.5409771 -0.32032,-0.3645275 -0.77149,-0.5467938 -1.35352,-0.546798 -0.57813,4.2e-6 -1.0293,0.1822705 -1.35352,0.546798 -0.32031,0.364536 -0.48047,0.8781941 -0.48046,1.5409771 -1e-5,0.659473 0.16015,1.171476 0.48046,1.536006 0.32422,0.364533 0.77539,0.546798 1.35352,0.546798 0.58203,0 1.0332,-0.182265 1.35352,-0.546798 0.32421,-0.36453 0.48632,-0.876533 0.48632,-1.536006 m 1.07813,2.157367 c -10e-6,0.947784 -0.24805,1.651992 -0.74414,2.11263 -0.4961,0.463948 -1.25587,0.695922 -2.2793,0.695925 -0.37891,-3e-6 -0.73633,-0.02486 -1.07226,-0.07456 -0.33594,-0.0464 -0.66212,-0.119303 -0.97852,-0.218719 l 0,-0.889789 c 0.3164,0.145811 0.6289,0.253513 0.9375,0.323107 0.30859,0.06959 0.62304,0.104387 0.94336,0.104389 0.70703,-2e-6 1.23632,-0.157413 1.58789,-0.472235 0.35156,-0.31151 0.52734,-0.783744 0.52734,-1.416705 l 0,-0.452351 c -0.22266,0.32808 -0.50781,0.57331 -0.85547,0.735693 -0.34766,0.162382 -0.76367,0.243573 -1.24804,0.243573 -0.80469,0 -1.45313,-0.260143 -1.94531,-0.78043 -0.49219,-0.520286 -0.73829,-1.209582 -0.73829,-2.067892 0,-0.861617 0.2461,-1.5525709 0.73829,-2.0728617 0.49218,-0.5202815 1.14062,-0.7804247 1.94531,-0.7804304 0.48437,5.7e-6 0.90038,0.081197 1.24804,0.2435738 0.34766,0.1623878 0.63281,0.4076183 0.85547,0.7356923 l 0,-0.845052 1.07813,0 0,4.876446"
              style="font-size:12px;fill:#ff00ff"
              id="path6434"
              inkscape:connector-curvature="0" />
@@ -1845,7 +1859,7 @@
         <g
            style="font-size:40px;font-style:normal;font-weight:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ff00ff;fill-opacity:1;stroke:none;display:inline;font-family:Sans"
            id="waypoint-description-text"
-           transform="translate(0,3.595328)">
+           transform="translate(0,0.595158)">
           <path
              d="m 217.92825,10.523514 0,-3.5507815 1.07813,0 0,9.1171875 -1.07813,0 0,-0.984375 c -0.22656,0.390626 -0.51367,0.681641 -0.86132,0.873047 -0.34376,0.1875 -0.75782,0.28125 -1.24219,0.28125 -0.79297,0 -1.43946,-0.316406 -1.93946,-0.949219 -0.49609,-0.632811 -0.74414,-1.464841 -0.74414,-2.496094 0,-1.031245 0.24805,-1.863276 0.74414,-2.496093 0.5,-0.6328064 1.14649,-0.9492124 1.93946,-0.9492191 0.48437,6.7e-6 0.89843,0.09571 1.24219,0.2871094 0.34765,0.1875062 0.63476,0.4765687 0.86132,0.8671877 m -3.67382,2.291015 c -1e-5,0.792972 0.1621,1.416018 0.48632,1.869141 0.32813,0.44922 0.77734,0.673829 1.34766,0.673828 0.57031,1e-6 1.01953,-0.224608 1.34766,-0.673828 0.32812,-0.453123 0.49218,-1.076169 0.49218,-1.869141 0,-0.792964 -0.16406,-1.414057 -0.49218,-1.863281 -0.32813,-0.453119 -0.77735,-0.679682 -1.34766,-0.679687 -0.57032,5e-6 -1.01953,0.226568 -1.34766,0.679687 -0.32422,0.449224 -0.48633,1.070317 -0.48632,1.863281"
              style="font-size:12px;fill:#ff00ff"
@@ -1877,7 +1891,7 @@
              id="path6354"
              inkscape:connector-curvature="0" />
           <path
-             d="m 250.79349,15.105545 0,3.480469 -1.08399,0 0,-9.058594 1.08399,0 0,0.996094 c 0.22656,-0.390619 0.51171,-0.6796815 0.85547,-0.8671877 0.34765,-0.1913996 0.76171,-0.2871027 1.24218,-0.2871094 0.79687,6.7e-6 1.44336,0.3164127 1.93946,0.9492191 0.49999,0.632817 0.74999,1.464848 0.75,2.496093 -1e-5,1.031253 -0.25001,1.863283 -0.75,2.496094 -0.4961,0.632813 -1.14259,0.949219 -1.93946,0.949219 -0.48047,0 -0.89453,-0.09375 -1.24218,-0.28125 -0.34376,-0.191406 -0.62891,-0.482421 -0.85547,-0.873047 m 3.66797,-2.291016 c -10e-6,-0.792964 -0.16407,-1.414057 -0.49219,-1.863281 -0.32422,-0.453119 -0.77149,-0.679682 -1.3418,-0.679687 -0.57031,5e-6 -1.01953,0.226568 -1.34765,0.679687 -0.32423,0.449224 -0.48633,1.070317 -0.48633,1.863281 0,0.792972 0.1621,1.416018 0.48633,1.869141 0.32812,0.44922 0.77734,0.673829 1.34765,0.673828 0.57031,1e-6 1.01758,-0.224608 1.3418,-0.673828 0.32812,-0.453123 0.49218,-1.076169 0.49219,-1.869141"
+             d="m 250.79349,13.241815 0,3.018027 -1.08399,0 0,-7.855 1.08399,0 0,0.8637453 c 0.22656,-0.3387183 0.51171,-0.5893738 0.85547,-0.7519665 0.34765,-0.1659688 0.76171,-0.248956 1.24218,-0.2489618 0.79687,5.8e-6 1.44336,0.2743717 1.93946,0.8230986 0.49999,0.5487361 0.74999,1.2702174 0.75,2.1644434 -1e-5,0.894232 -0.25001,1.615713 -0.75,2.164443 -0.4961,0.548733 -1.14259,0.823099 -1.93946,0.823099 -0.48047,0 -0.89453,-0.08129 -1.24218,-0.243881 -0.34376,-0.165974 -0.62891,-0.418323 -0.85547,-0.757047 m 3.66797,-1.986614 c -10e-6,-0.687605 -0.16407,-1.226175 -0.49219,-1.6157117 -0.32422,-0.3929141 -0.77149,-0.5893742 -1.3418,-0.5893786 -0.57031,4.4e-6 -1.01953,0.1964645 -1.34765,0.5893786 -0.32423,0.3895367 -0.48633,0.9281067 -0.48633,1.6157117 0,0.687611 0.1621,1.227875 0.48633,1.620792 0.32812,0.389533 0.77734,0.584299 1.34765,0.584298 0.57031,1e-6 1.01758,-0.194765 1.3418,-0.584298 0.32812,-0.392917 0.49218,-0.933181 0.49219,-1.620792"
              style="font-size:12px;fill:#ff00ff"
              id="path6356"
              inkscape:connector-curvature="0" />
@@ -2813,7 +2827,8 @@
      id="layer7"
      inkscape:label="compass"
      style="display:inline"
-     transform="translate(0,-4)">
+     transform="translate(0,-4)"
+     sodipodi:insensitive="true">
     <g
        inkscape:groupmode="layer"
        id="layer70"
@@ -4251,7 +4266,8 @@
      style="display:inline"
      inkscape:label="altitude"
      id="g9762"
-     inkscape:groupmode="layer">
+     inkscape:groupmode="layer"
+     sodipodi:insensitive="true">
     <g
        inkscape:groupmode="layer"
        id="layer1"
@@ -4459,7 +4475,8 @@
        inkscape:groupmode="layer"
        id="layer46"
        inkscape:label="altitude-waypoint"
-       style="display:inline">
+       style="display:inline"
+       sodipodi:insensitive="true">
       <path
          style="fill:#bf00bf;fill-opacity:1;stroke:none"
          d="m 491,200 0,21 0,21 15,0 0,-13.0625 -9.4375,-6.4375 0,-1.5 0,-1.5 L 506,213.0625 506,200 z"
@@ -4510,7 +4527,8 @@
      inkscape:groupmode="layer"
      id="layer38"
      inkscape:label="vsi"
-     style="display:inline">
+     style="display:inline"
+     sodipodi:insensitive="true">
     <g
        inkscape:groupmode="layer"
        id="layer74"
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
index 813a61d28..a95ae10e9 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
@@ -64,7 +64,8 @@ PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWindow *parent) :
         "NedAccel" <<
         "FlightBatteryState" <<
         "ActuatorDesired" <<
-        "TakeOffLocation";
+        "TakeOffLocation" <<
+        "PathPlan";
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();

From 56e3b43e9fc4ca90ac9cb4eea2d1fbd3d46289ec Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Sat, 21 Jun 2014 13:20:09 +0200
Subject: [PATCH 10/13] OP-1354 Missing WaypointActive

---
 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
index a95ae10e9..e1978108d 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
@@ -65,7 +65,8 @@ PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWindow *parent) :
         "FlightBatteryState" <<
         "ActuatorDesired" <<
         "TakeOffLocation" <<
-        "PathPlan";
+        "PathPlan" <<
+        "WaypointActive";
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();

From 6bdb2fe0b306677b7a06f71eabf65fb48d81cab4 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Sat, 21 Jun 2014 21:19:21 +0200
Subject: [PATCH 11/13] OP-1354 Waypoint heading/distance info, basic distance
 counter.

---
 .../share/openpilotgcs/pfd/default/Info.qml   | 111 ++++++++++++++++-
 .../share/openpilotgcs/pfd/default/pfd.svg    | 115 +++++++++++++++---
 2 files changed, 205 insertions(+), 21 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
index 95b198cef..c9ab07ab5 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
@@ -10,6 +10,12 @@ Item {
     property real home_distance: Math.sqrt(Math.pow((TakeOffLocation.East - PositionState.East),2) +
                                            Math.pow((TakeOffLocation.North - PositionState.North),2))
 
+    property real wp_heading: 180/3.1415 * Math.atan2(PathDesired.End_East - PositionState.East, 
+                                                      PathDesired.End_North - PositionState.North)
+
+    property real wp_distance: Math.sqrt(Math.pow((PathDesired.End_East - PositionState.East),2) +
+                                           Math.pow(( PathDesired.End_North - PositionState.North),2))
+
     property real current_velocity: Math.sqrt(Math.pow(VelocityState.North,2)+Math.pow(VelocityState.East,2))
 
     property real home_eta: (home_distance > 0 && current_velocity > 0 ? Math.round(home_distance/current_velocity) : 0)
@@ -17,7 +23,28 @@ Item {
     property real home_eta_m: (home_eta > 0 ? Math.floor((home_eta - home_eta_h*3600)/60) : 0) 
     property real home_eta_s: (home_eta > 0 ? Math.floor(home_eta - home_eta_h*3600 - home_eta_m*60) : 0)
 
-   function formatTime(time) {
+    property real wp_eta: (wp_distance > 0 && current_velocity > 0 ? Math.round(wp_distance/current_velocity) : 0)
+    property real wp_eta_h: (wp_eta > 0 ? Math.floor(wp_eta / 3600) : 0 )
+    property real wp_eta_m: (wp_eta > 0 ? Math.floor((wp_eta - wp_eta_h*3600)/60) : 0) 
+    property real wp_eta_s: (wp_eta > 0 ? Math.floor(wp_eta - wp_eta_h*3600 - wp_eta_m*60) : 0)
+
+    property real posEast_old
+    property real posNorth_old
+    property real total_distance
+    property bool init_dist: false
+
+    function compute_distance(posEast,posNorth) {
+        if (total_distance == 0 && !init_dist){init_dist = "true"; posEast_old = posEast; posNorth_old = posNorth;}
+        if (posEast > posEast_old+3 || posEast < posEast_old-3 || posNorth > posNorth_old+3 || posNorth < posNorth_old-3) {
+        total_distance += Math.sqrt(Math.pow((posEast - posEast_old ),2) + Math.pow((posNorth - posNorth_old),2));    
+
+        posEast_old = posEast;
+        posNorth_old = posNorth;
+        return total_distance;
+        } 
+    }
+
+    function formatTime(time) {
         if (time === 0)
             return "00"
         if (time < 10)
@@ -120,14 +147,90 @@ Item {
 
     SvgElementPositionItem {
         sceneSize: info.sceneSize
-        elementName: "waypoint-description-text"
+        elementName: "waypoint-heading-text"
         width: scaledBounds.width * sceneItem.width
         height: scaledBounds.height * sceneItem.height
         y: Math.floor(scaledBounds.y * sceneItem.height)
         visible: SystemAlarms.Alarm_PathPlan == 1
 
         Text {
-            text: WaypointActive.Index+" / "+PathPlan.WaypointCount+"   "
+            text: "   "+wp_heading.toFixed(1)+"°"
+
+            anchors.centerIn: parent
+            font.pixelSize: parent.height*1.1
+            color: "magenta"
+        }
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "waypoint-distance-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+        visible: SystemAlarms.Alarm_PathPlan == 1
+
+        Text {
+            text: "  "+wp_distance.toFixed(0)+" m"
+
+            anchors.centerIn: parent
+            font.pixelSize: parent.height*1.1
+            color: "magenta"
+        }
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "waypoint-total-distance-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+        visible: true //total_distance > 5
+
+        property real total_distance: 0
+
+        Text {
+            text: "  "+total_distance.toFixed(0)+" m"
+
+            anchors.centerIn: parent
+            font.pixelSize: parent.height*1.1
+            color: "magenta"
+        }
+
+    Timer {
+        interval: 1000; running: true; repeat: true;
+        onTriggered: {if (GPSPositionSensor.Status == 3) compute_distance(PositionState.East,PositionState.North)}
+    }
+
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "waypoint-eta-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+        visible: SystemAlarms.Alarm_PathPlan == 1
+
+        Text {
+            text: formatTime(wp_eta_h) + ":" + formatTime(wp_eta_m) + ":" + formatTime(wp_eta_s)
+
+            anchors.centerIn: parent
+            font.pixelSize: parent.height*1.1
+            color: "magenta"
+        }
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "waypoint-number-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+        visible: SystemAlarms.Alarm_PathPlan == 1
+
+        Text {
+            text: (WaypointActive.Index+1)+" / "+PathPlan.WaypointCount
 
             anchors.centerIn: parent
             font.pixelSize: parent.height*1.1
@@ -153,8 +256,6 @@ Item {
         }
     }
 
-
-
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         sceneSize: info.sceneSize
         elementName: "battery-volt-text"
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
index c55acfb1e..eddbc6a21 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
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+             inkscape:connector-curvature="0"
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+             inkscape:connector-curvature="0"
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+          <path
+             inkscape:connector-curvature="0"
+             id="path3896"
+             style="font-size:12px;fill:#ff00ff"
+             d="m 356.77786,23.12117 c -0.60938,8e-6 -1.06836,0.300789 -1.37695,0.902344 -0.30469,0.597663 -0.45703,1.498052 -0.45703,2.701172 0,1.199222 0.15234,2.099611 0.45703,2.701172 0.30859,0.597657 0.76757,0.896485 1.37695,0.896484 0.61328,1e-6 1.07226,-0.298827 1.37696,-0.896484 0.30858,-0.601561 0.46288,-1.50195 0.46289,-2.701172 -10e-6,-1.20312 -0.15431,-2.103509 -0.46289,-2.701172 -0.3047,-0.601555 -0.76368,-0.902336 -1.37696,-0.902344 m 0,-0.9375 c 0.98047,9e-6 1.72851,0.38868 2.24414,1.166016 0.51953,0.773444 0.77929,1.898443 0.7793,3.375 -1e-5,1.472659 -0.25977,2.597658 -0.7793,3.375 -0.51563,0.773437 -1.26367,1.160156 -2.24414,1.160156 -0.98047,0 -1.73047,-0.386719 -2.25,-1.160156 -0.51562,-0.777342 -0.77344,-1.902341 -0.77343,-3.375 -1e-5,-1.476557 0.25781,-2.601556 0.77343,-3.375 0.51953,-0.777336 1.26953,-1.166007 2.25,-1.166016" />
         </g>
       </g>
     </g>
@@ -2855,7 +2938,7 @@
          transform="translate(0,78)">
         <path
            transform="matrix(0.84971585,0,0,0.84971585,73.153736,57.627199)"
-           d="m 381.49999,370 a 91.010612,91.010612 0 1 1 -182.02122,0 91.010612,91.010612 0 1 1 182.02122,0 z"
+           d="m 381.49999,370 c 0,50.26377 -40.74684,91.01061 -91.01061,91.01061 -50.26377,0 -91.01061,-40.74684 -91.01061,-91.01061 0,-50.26377 40.74684,-91.01061 91.01061,-91.01061 50.26377,0 91.01061,40.74684 91.01061,91.01061 z"
            sodipodi:ry="91.010612"
            sodipodi:rx="91.010612"
            sodipodi:cy="370"

From f02f12631db58b7692eb7c8351a9a4ba13bddecb Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Sun, 22 Jun 2014 17:06:09 +0200
Subject: [PATCH 12/13] OP-1354 Sumdist reset

---
 .../share/openpilotgcs/pfd/default/Info.qml       | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
index c9ab07ab5..d30167330 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
@@ -33,6 +33,10 @@ Item {
     property real total_distance
     property bool init_dist: false
 
+    function reset_distance(){
+        total_distance = 0;
+    }
+
     function compute_distance(posEast,posNorth) {
         if (total_distance == 0 && !init_dist){init_dist = "true"; posEast_old = posEast; posNorth_old = posNorth;}
         if (posEast > posEast_old+3 || posEast < posEast_old-3 || posNorth > posNorth_old+3 || posNorth < posNorth_old-3) {
@@ -187,7 +191,7 @@ Item {
         y: Math.floor(scaledBounds.y * sceneItem.height)
         visible: true //total_distance > 5
 
-        property real total_distance: 0
+        MouseArea { id: total_dist_mouseArea; anchors.fill: parent; onClicked: reset_distance()}
 
         Text {
             text: "  "+total_distance.toFixed(0)+" m"
@@ -197,11 +201,10 @@ Item {
             color: "magenta"
         }
 
-    Timer {
-        interval: 1000; running: true; repeat: true;
-        onTriggered: {if (GPSPositionSensor.Status == 3) compute_distance(PositionState.East,PositionState.North)}
-    }
-
+        Timer {
+            interval: 1000; running: true; repeat: true;
+            onTriggered: {if (GPSPositionSensor.Status == 3) compute_distance(PositionState.East,PositionState.North)}
+        }
     }
 
     SvgElementPositionItem {

From c6245260ec19210b756a122dcc0f7695710cadd1 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Sun, 22 Jun 2014 20:37:22 +0200
Subject: [PATCH 13/13] OP-1354 Removed commented code

---
 .../share/openpilotgcs/pfd/default/Info.qml   |  3 +-
 .../share/openpilotgcs/pfd/default/Pfd.qml    | 30 +------------------
 2 files changed, 2 insertions(+), 31 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
index d30167330..699e0b2f0 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
@@ -62,7 +62,6 @@ Item {
         sceneSize: info.sceneSize
         elementName: "info-bg"
         width: parent.width
-        //anchors.top: parent.top
     }
 
     SvgElementImage {
@@ -189,7 +188,7 @@ Item {
         width: scaledBounds.width * sceneItem.width
         height: scaledBounds.height * sceneItem.height
         y: Math.floor(scaledBounds.y * sceneItem.height)
-        visible: true //total_distance > 5
+        visible: true
 
         MouseArea { id: total_dist_mouseArea; anchors.fill: parent; onClicked: reset_distance()}
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index 0c4afe9b9..336a0617a 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -23,7 +23,6 @@ Rectangle {
 
         Item {
             id: sceneItem
- 
 
             width: Math.floor((parent.paintedHeight * 1.32) - (parent.paintedHeight * 0.013))
             height: Math.floor(parent.paintedHeight - parent.paintedHeight * 0.02)
@@ -31,9 +30,7 @@ Rectangle {
 
             anchors.centerIn: parent
             clip: true
-
-            //onWidthChanged:console.log("TakeOffLocation.Status " + TakeOffLocation.Status)
-            
+           
             Loader {
                 id: worldLoader
                 anchors.fill: parent
@@ -61,31 +58,6 @@ Rectangle {
                 x: scaledBounds.x * sceneItem.width
             }
 
-// Disable Side_slip moving because flickering issue on whole Pfd.
-/*
-            SvgElementImage {
-                id: side_slip
-                elementName: "sideslip-moving"
-                sceneSize: sceneItem.viewportSize
-                smooth: true
-
-                property real sideSlip: AccelState.y
-                //smooth side slip changes, a low pass filter replacement
-                //accels are updated once per second
-                Behavior on sideSlip {
-                    SmoothedAnimation {
-                        duration: 1000
-                        velocity: -1
-                    }
-                }
-
-                anchors.horizontalCenter: horizontCenterItem.horizontalCenter
-                //0.5 coefficient is empirical to limit indicator movement
-                anchors.horizontalCenterOffset: sideSlip*width*0.1 //was 0.5
-                y: scaledBounds.y * sceneItem.height
-            }
-*/
-
             Compass {
                 anchors.fill: parent
                 sceneSize: sceneItem.viewportSize