Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into next

Conflicts:
	ground/openpilotgcs/src/plugins/config/input.ui

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       gpsitem.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A graphicsItem representing a UAV
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -37,27 +37,27 @@ namespace mapcontrol
         localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
         this->setPos(localposition.X(),localposition.Y());
         this->setZValue(4);
-        trail=new QGraphicsItemGroup();
+        trail=new QGraphicsItemGroup(this);
         trail->setParentItem(map);
-        trailLine=new QGraphicsItemGroup();
+        trailLine=new QGraphicsItemGroup(this);
         trailLine->setParentItem(map);
         this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
         mapfollowtype=UAVMapFollowType::None;
         trailtype=UAVTrailType::ByDistance;
         timer.start();
+        connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
+        connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
     }
     GPSItem::~GPSItem()
     {
-        delete trail;
+
     }
 
     void GPSItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
     {
         Q_UNUSED(option);
         Q_UNUSED(widget);
-       // painter->rotate(-90);
         painter->drawPixmap(-pic.width()/2,-pic.height()/2,pic);
-       //   painter->drawRect(QRectF(-pic.width()/2,-pic.height()/2,pic.width()-1,pic.height()-1));
     }
     QRectF GPSItem::boundingRect()const
     {
@@ -74,9 +74,15 @@ namespace mapcontrol
             {
                 if(timer.elapsed()>trailtime*1000)
                 {
-                    trail->addToGroup(new TrailItem(position,altitude,Qt::green,this));
+                    TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
+                    trail->addToGroup(ob);
+                    connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
                     if(!lasttrailline.IsEmpty())
-                        trailLine->addToGroup((new TrailLineItem(lasttrailline,position,Qt::green,map)));
+                    {
+                        TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
+                        trailLine->addToGroup(obj);
+                        connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
+                    }
                     lasttrailline=position;
                     timer.restart();
                 }
@@ -86,10 +92,15 @@ namespace mapcontrol
             {
                 if(qAbs(internals::PureProjection::DistanceBetweenLatLng(lastcoord,position)*1000)>traildistance)
                 {
-                    trail->addToGroup(new TrailItem(position,altitude,Qt::green,this));
+                    TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
+                    trail->addToGroup(ob);
+                    connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
                     if(!lasttrailline.IsEmpty())
-
+                    {
-                        trailLine->addToGroup((new TrailLineItem(lasttrailline,position,Qt::green,this)));
+                        TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
+                        trailLine->addToGroup(obj);
+                        connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
+                    }
                     lasttrailline=position;
                     lastcoord=position;
                 }
@@ -97,48 +108,6 @@ namespace mapcontrol
             coord=position;
             this->altitude=altitude;
             RefreshPos();
-            /*if(mapfollowtype==UAVMapFollowType::CenterAndRotateMap||mapfollowtype==UAVMapFollowType::CenterMap)
-            {
-                mapwidget->SetCurrentPosition(coord);
-            }*/
-            this->update();
-            /*if(autosetreached)
-            {
-                foreach(QGraphicsItem* i,map->childItems())
-                {
-                    WayPointItem* wp=qgraphicsitem_cast<WayPointItem*>(i);
-                    if(wp)
-                    {
-                        if(Distance3D(wp->Coord(),wp->Altitude())<autosetdistance)
-                        {
-                            wp->SetReached(true);
-                            emit UAVReachedWayPoint(wp->Number(),wp);
-                        }
-                    }
-                }
-            }
-            if(mapwidget->Home!=0)
-            {
-                //verify if the UAV is inside the safety bouble
-                if(Distance3D(mapwidget->Home->Coord(),mapwidget->Home->Altitude())>mapwidget->Home->SafeArea())
-                {
-                    if(mapwidget->Home->safe!=false)
-                    {
-                        mapwidget->Home->safe=false;
-                        mapwidget->Home->update();
-                        emit UAVLeftSafetyBouble(this->coord);
-                    }
-                }
-                else
-                {
-                    if(mapwidget->Home->safe!=true)
-                    {
-                        mapwidget->Home->safe=true;
-                        mapwidget->Home->update();
-                    }
-                }
-
-            }*/
         }
     }
 
@@ -169,20 +138,15 @@ namespace mapcontrol
     {
         localposition=map->FromLatLngToLocal(coord);
         this->setPos(localposition.X(),localposition.Y());
-        foreach(QGraphicsItem* i,trail->childItems())
+        emit setChildPosition();
-        {
+        emit setChildLine();
-            TrailItem* w=qgraphicsitem_cast<TrailItem*>(i);
-            if(w)
-                w->setPos(map->FromLatLngToLocal(w->coord).X(),map->FromLatLngToLocal(w->coord).Y());
-        }
-        foreach(QGraphicsItem* i,trailLine->childItems())
-        {
-            TrailLineItem* ww=qgraphicsitem_cast<TrailLineItem*>(i);
-            if(ww)
-                ww->setLine(map->FromLatLngToLocal(ww->coord1).X(),map->FromLatLngToLocal(ww->coord1).Y(),map->FromLatLngToLocal(ww->coord2).X(),map->FromLatLngToLocal(ww->coord2).Y());
-        }
 
     }
+
+    void GPSItem::setOpacitySlot(qreal opacity)
+    {
+        setOpacity(opacity);
+    }
     void GPSItem::SetTrailType(const UAVTrailType::Types &value)
     {
         trailtype=value;

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

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

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

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

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

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

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mapgraphicitem.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      The main graphicsItem used on the widget, contains the map and map logic
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -40,11 +40,13 @@ namespace mapcontrol
         core->SetCurrentRegion(internals::Rectangle(0, 0, maprect.width(), maprect.height()));
         core->SetMapType(MapType::GoogleHybrid);
         this->SetZoom(2);
+        this->setFlag(ItemIsFocusable);
         connect(core,SIGNAL(OnNeedInvalidation()),this,SLOT(Core_OnNeedInvalidation()));
-        connect(core,SIGNAL(OnMapDrag()),this,SLOT(ChildPosRefresh()));
+        connect(core,SIGNAL(OnMapDrag()),this,SLOT(childPosRefresh()));
-        connect(core,SIGNAL(OnMapZoomChanged()),this,SLOT(ChildPosRefresh()));
+        connect(core,SIGNAL(OnMapZoomChanged()),this,SLOT(childPosRefresh()));
-        //resize();
+        setCacheMode(QGraphicsItem::ItemCoordinateCache);
     }
+
     void MapGraphicItem::start()
     {
         core->StartSystem();
@@ -77,39 +79,15 @@ namespace mapcontrol
     void MapGraphicItem::Core_OnNeedInvalidation()
     {
         this->update();
-        foreach(QGraphicsItem* i,this->childItems())
+        emit childRefreshPosition();
-        {
-            WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
-            if(w)
-                w->RefreshPos();
-            UAVItem* ww=qgraphicsitem_cast<UAVItem*>(i);
-            if(ww)
-                ww->RefreshPos();
-            HomeItem* www=qgraphicsitem_cast<HomeItem*>(i);
-            if(www)
-                www->RefreshPos();
-            GPSItem* wwww=qgraphicsitem_cast<GPSItem*>(i);
-            if(wwww)
-                wwww->RefreshPos();
-        }
     }
-    void MapGraphicItem::ChildPosRefresh()
+    void MapGraphicItem::childPosRefresh()
     {
-        foreach(QGraphicsItem* i,this->childItems())
+        emit childRefreshPosition();
-        {
+    }
-            WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
+    void MapGraphicItem::setOverlayOpacity(qreal value)
-            if(w)
+    {
-                w->RefreshPos();
+        emit childSetOpacity(value);
-            UAVItem* ww=qgraphicsitem_cast<UAVItem*>(i);
-            if(ww)
-                ww->RefreshPos();
-            HomeItem* www=qgraphicsitem_cast<HomeItem*>(i);
-            if(www)
-                www->RefreshPos();
-            GPSItem* wwww=qgraphicsitem_cast<GPSItem*>(i);
-            if(wwww)
-                wwww->RefreshPos();
-        }
     }
     void MapGraphicItem::ConstructLastImage(int const& zoomdiff)
     {
@@ -117,8 +95,7 @@ namespace mapcontrol
         QSize size=boundingRect().size().toSize();
         size.setWidth(size.width()*2*zoomdiff);
         size.setHeight(size.height()*2*zoomdiff);
-        temp=QImage(size,
+        temp=QImage(size,QImage::Format_ARGB32_Premultiplied);
-                               QImage::Format_ARGB32_Premultiplied);
         temp.fill(0);
         QPainter imagePainter(&temp);
         imagePainter.translate(-boundingRect().topLeft());
@@ -196,7 +173,7 @@ namespace mapcontrol
             }
 
         }
-        else if(isSelected && !selectionStart.IsEmpty() && (event->modifiers() == Qt::AltModifier || event->modifiers() == Qt::ShiftModifier))
+        else if(isSelected && !selectionStart.IsEmpty() && (event->modifiers() == Qt::ControlModifier || event->modifiers() == Qt::ShiftModifier))
         {
             selectionEnd = FromLocalToLatLng(event->pos().x(), event->pos().y());
             {
@@ -215,12 +192,9 @@ namespace mapcontrol
     }
     void MapGraphicItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
     {
-
-
-
         if(!IsMouseOverMarker())
         {
-            if(event->button() == config->DragButton && CanDragMap()&& !((event->modifiers()==Qt::AltModifier)||(event->modifiers()==Qt::ShiftModifier)))
+            if(event->button() == config->DragButton && CanDragMap()&& !((event->modifiers()==Qt::ShiftModifier)||(event->modifiers()==Qt::ControlModifier)))
             {
                 core->mouseDown.SetX(event->pos().x());
                 core->mouseDown.SetY(event->pos().y());
@@ -232,7 +206,7 @@ namespace mapcontrol
                 this->update();
 
             }
-            else if(!isSelected && ((event->modifiers()==Qt::AltModifier)||(event->modifiers()==Qt::ShiftModifier)))
+            else if(!isSelected && ((event->modifiers()==Qt::ControlModifier)||(event->modifiers()==Qt::ShiftModifier)))
             {
                 isSelected = true;
                     SetSelectedArea (internals::RectLatLng::Empty);
@@ -240,7 +214,6 @@ namespace mapcontrol
                     selectionStart = FromLocalToLatLng(event->pos().x(), event->pos().y());
                 }
             }
-
     }
     void MapGraphicItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
     {
@@ -269,11 +242,25 @@ namespace mapcontrol
                 if(!selectedArea.IsEmpty() && event->modifiers() == Qt::ShiftModifier)
                 {
                        SetZoomToFitRect(SelectedArea());
+                       selectedArea=internals::RectLatLng::Empty;
                 }
             }
 
         }
     }
+    void MapGraphicItem::keyPressEvent(QKeyEvent *event)
+    {
+        if(event->modifiers()&(Qt::ShiftModifier|Qt::ControlModifier))
+            this->setCursor(Qt::CrossCursor);
+        if(event->key()==Qt::Key_Escape)
+            selectedArea=internals::RectLatLng::Empty;
+        QGraphicsItem::keyPressEvent(event);
+    }
+    void MapGraphicItem::keyReleaseEvent(QKeyEvent *event)
+    {
+        if((event->modifiers()&(Qt::ShiftModifier|Qt::ControlModifier))==0)
+            this->setCursor(Qt::ArrowCursor);
+    }
     bool MapGraphicItem::SetZoomToFitRect(internals::RectLatLng const& rect)
           {
              int maxZoom = core->GetMaxZoomToFitRect(rect);
@@ -380,7 +367,6 @@ namespace mapcontrol
                                             found = true;
                                         {
                                             painter->drawPixmap(core->tileRect.X(),core->tileRect.Y(), core->tileRect.Width(), core->tileRect.Height(),PureImageProxy::FromStream(img));
-                                           // qDebug()<<"tile:"<<core->tileRect.X()<<core->tileRect.Y();
                                         }
                                     }
                                 }
@@ -394,7 +380,6 @@ namespace mapcontrol
                                     painter->setFont(config->MissingDataFont);
                                     painter->setPen(Qt::red);
                                     painter->drawText(QRectF(core->tileRect.X(), core->tileRect.Y(), core->tileRect.Width(), core->tileRect.Height()),Qt::AlignCenter,(core->GettilePoint() == core->GetcenterTileXYLocation()? "CENTER: " :"TILE: ")+core->GettilePoint().ToString());
-                                    //qDebug()<<"ShowTileGridLine:"<<core->GettilePoint().ToString()<<"=="<<core->GetcenterTileXYLocation().ToString();
                                 }
                             }
 
@@ -431,11 +416,6 @@ namespace mapcontrol
                 }
             }
         }
-        // painter->drawRect(core->GetrenderOffset().X()-lastimagepoint.X()-3,core->GetrenderOffset().Y()-lastimagepoint.Y()-3,lastimage.width(),lastimage.height());
-//        painter->setPen(Qt::red);
-//        painter->drawLine(-10,-10,10,10);
-//        painter->drawLine(10,10,-10,-10);
-//        painter->drawRect(boundingRect().adjusted(100,100,-100,-100));
     }
 
 
@@ -506,7 +486,6 @@ namespace mapcontrol
                 float scaleValue = zoomDigi+remainder + 1;
                 {
                     MapRenderTransform = scaleValue;
-                  //  qDebug()<<"scale="<<scaleValue<<"zoomdigi:"<<ZoomDigi()<<"integer:"<<integer;
                 }
                 if(integer>MaxZoom())
                     integer=MaxZoom();

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mapgraphicitem.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      The main graphicsItem used on the widget, contains the map and map logic
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -40,8 +40,10 @@
 #include <QObject>
 #include "waypointitem.h"
 //#include "uavitem.h"
+
 namespace mapcontrol
 {
+    class WayPointItem;
     class OPMapWidget;
     /**
     * @brief The main graphicsItem used on the widget, contains the map and map logic
@@ -92,7 +94,6 @@ namespace mapcontrol
         bool IsDragging()const{return core->IsDragging();}
 
         QImage lastimage;
-//        QPainter* imagePainter;
         core::Point lastimagepoint;
         void paintImage(QPainter* painter);
         void ConstructLastImage(int const& zoomdiff);
@@ -100,13 +101,15 @@ namespace mapcontrol
         double Zoom();
         double ZoomDigi();
         double ZoomTotal();
-
+        void setOverlayOpacity(qreal value);
     protected:
         void mouseMoveEvent ( QGraphicsSceneMouseEvent * event );
         void mousePressEvent ( QGraphicsSceneMouseEvent * event );
         void wheelEvent ( QGraphicsSceneWheelEvent * event );
         void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
         bool IsMouseOverMarker()const{return isMouseOverMarker;}
+        void keyPressEvent ( QKeyEvent * event );
+        void keyReleaseEvent ( QKeyEvent * event );
 
         /**
         * @brief Returns current map zoom
@@ -197,7 +200,7 @@ namespace mapcontrol
         void SetMapType(MapType::Types const& value){core->SetMapType(value);}
     private slots:
         void Core_OnNeedInvalidation();
-        void ChildPosRefresh();
+        void childPosRefresh();
     public slots:
         /**
         * @brief To be called when the scene size changes
@@ -211,7 +214,10 @@ namespace mapcontrol
         *
         * @param zoom
         */
+        void wpdoubleclicked(WayPointItem * wp);
         void zoomChanged(double zoomtotal,double zoomreal,double zoomdigi);
+        void childRefreshPosition();
+        void childSetOpacity(qreal value);
     };
 }
 #endif // MAPGRAPHICITEM_H

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

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

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mapripform.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      Form to be used with the MapRipper class
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -33,6 +33,7 @@ MapRipForm::MapRipForm(QWidget *parent) :
     ui(new Ui::MapRipForm)
 {
     ui->setupUi(this);
+    connect(ui->cancelButton,SIGNAL(clicked()),this,SIGNAL(cancelRequest()));
 }
 
 MapRipForm::~MapRipForm()

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mapripform.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      Form to be used with the MapRipper class
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -44,6 +44,8 @@ public slots:
     void SetPercentage(int const& perc);
     void SetProvider(QString const& prov,int const& zoom);
     void SetNumberOfTiles(int const& total,int const& actual);
+signals:
+    void cancelRequest();
 private:
     Ui::MapRipForm *ui;
 };

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

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>392</width>
+    <width>521</width>
     <height>133</height>
    </rect>
   </property>
@@ -18,7 +18,7 @@
     <rect>
      <x>20</x>
      <y>60</y>
-     <width>371</width>
+     <width>481</width>
      <height>23</height>
     </rect>
    </property>
@@ -31,7 +31,7 @@
     <rect>
      <x>30</x>
      <y>10</y>
-     <width>321</width>
+     <width>481</width>
      <height>16</height>
     </rect>
    </property>
@@ -55,7 +55,7 @@
   <widget class="QPushButton" name="cancelButton">
    <property name="geometry">
     <rect>
-     <x>280</x>
+     <x>220</x>
      <y>100</y>
      <width>75</width>
      <height>23</height>

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mapripper.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A class that allows ripping of a selection of the map
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -28,17 +28,19 @@
 namespace mapcontrol
 {
 
-    MapRipper::MapRipper(internals::Core * core, const internals::RectLatLng & rect):sleep(100),cancel(false),progressForm(0),core(core)
+MapRipper::MapRipper(internals::Core * core, const internals::RectLatLng & rect):sleep(100),cancel(false),progressForm(0),core(core),yesToAll(false)
     {
         if(!rect.IsEmpty())
         {
             type=core->GetMapType();
             progressForm=new MapRipForm;
+            connect(progressForm,SIGNAL(cancelRequest()),this,SLOT(stopFetching()));
             area=rect;
             zoom=core->Zoom();
             maxzoom=core->MaxZoom();
             points=core->Projection()->GetAreaTileList(area,zoom,0);
             this->start();
+            cancel=false;
             progressForm->show();
             connect(this,SIGNAL(percentageChanged(int)),progressForm,SLOT(SetPercentage(int)));
             connect(this,SIGNAL(numberOfTilesChanged(int,int)),progressForm,SLOT(SetNumberOfTiles(int,int)));
@@ -46,32 +48,58 @@ namespace mapcontrol
             connect(this,SIGNAL(finished()),this,SLOT(finish()));
             emit numberOfTilesChanged(0,0);
         }
+        else
+#ifdef Q_OS_DARWIN
+            QMessageBox::information(new QWidget(),"No valid selection","This pre-caches map data.\n\nPlease first select the area of the map to rip with <COMMAND>+Left mouse click");
+#else
+            QMessageBox::information(new QWidget(),"No valid selection","This pre-caches map data.\n\nPlease first select the area of the map to rip with <CTRL>+Left mouse click");
+#endif
     }
-    void MapRipper::finish()
+void MapRipper::finish()
+{
+    if(zoom<maxzoom && !cancel)
     {
-         if(zoom<maxzoom)
+        ++zoom;
+        int ret;
+        if(!yesToAll)
         {
-         ++zoom;
+            QMessageBox msgBox;
-         QMessageBox msgBox;
+            msgBox.setText(QString("Continue Ripping at zoom level %1?").arg(zoom));
-         msgBox.setText(QString("Continue Ripping at zoom level %1?").arg(zoom));
+            // msgBox.setInformativeText("Do you want to save your changes?");
-        // msgBox.setInformativeText("Do you want to save your changes?");
+            msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No | QMessageBox::YesAll);
-         msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
+            msgBox.setDefaultButton(QMessageBox::Yes);
-         msgBox.setDefaultButton(QMessageBox::Yes);
+            ret = msgBox.exec();
-         int ret = msgBox.exec();
+        }
-         if(ret==QMessageBox::Yes)
+        else
-         {
+            ret=QMessageBox::Yes;
-             points.clear();
+        if(ret==QMessageBox::Yes)
-             points=core->Projection()->GetAreaTileList(area,zoom,0);
+        {
-             this->start();
+            points.clear();
-         }
+            points=core->Projection()->GetAreaTileList(area,zoom,0);
-         else
+            this->start();
-         {
+        }
-             progressForm->close();
+        else if(ret==QMessageBox::YesAll)
-             delete progressForm;
+        {
-             this->deleteLater();
+            yesToAll=true;
-         }
+            points.clear();
-     }
+            points=core->Projection()->GetAreaTileList(area,zoom,0);
+            this->start();
+        }
+        else
+        {
+            progressForm->close();
+            delete progressForm;
+            this->deleteLater();
+        }
     }
+    else
+    {
+        yesToAll=false;
+        progressForm->close();
+        delete progressForm;
+        this->deleteLater();
+    }
+}
 
 
     void MapRipper::run()
@@ -119,4 +147,10 @@ namespace mapcontrol
             QThread::msleep(sleep);
         }
     }
+
+    void MapRipper::stopFetching()
+    {
+        QMutexLocker locker(&mutex);
+        cancel=true;
+    }
 }

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       mapripper.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A class that allows ripping of a selection of the map
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -50,6 +50,8 @@ namespace mapcontrol
         MapRipForm * progressForm;
         int maxzoom;
         internals::Core * core;
+        bool yesToAll;
+        QMutex mutex;
 
     signals:
         void percentageChanged(int const& perc);
@@ -58,6 +60,7 @@ namespace mapcontrol
 
 
     public slots:
+        void stopFetching();
         void finish();
     };
 }

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

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

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       opmapwidget.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      The Map Widget, this is the part exposed to the user
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -33,13 +33,18 @@
 namespace mapcontrol
 {
 
-    OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),GPS(0),Home(0),followmouse(true),compass(0),showuav(false),showhome(false),showDiag(false),diagGraphItem(0),diagTimer(0)
+    OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),GPS(0),Home(0)
+      ,followmouse(true),compass(0),showuav(false),showhome(false),showDiag(false),diagGraphItem(0),diagTimer(0),overlayOpacity(1)
     {
         setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
         core=new internals::Core;
         map=new MapGraphicItem(core,config);
         mscene.addItem(map);
         this->setScene(&mscene);
+        Home=new HomeItem(map,this);
+        Home->setParentItem(map);
+        Home->setZValue(-1);
+        setStyleSheet("QToolTip {font-size:8pt; color:blue;opacity: 223; padding:2px; border-width:2px; border-style:solid; border-color: rgb(170, 170, 127);border-radius:4px }");
         this->adjustSize();
         connect(map,SIGNAL(zoomChanged(double,double,double)),this,SIGNAL(zoomChanged(double,double,double)));
         connect(map->core,SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)),this,SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)));
@@ -50,10 +55,12 @@ namespace mapcontrol
         connect(map->core,SIGNAL(OnTileLoadComplete()),this,SIGNAL(OnTileLoadComplete()));
         connect(map->core,SIGNAL(OnTileLoadStart()),this,SIGNAL(OnTileLoadStart()));
         connect(map->core,SIGNAL(OnTilesStillToLoad(int)),this,SIGNAL(OnTilesStillToLoad(int)));
+        connect(map,SIGNAL(wpdoubleclicked(WayPointItem*)),this,SIGNAL(OnWayPointDoubleClicked(WayPointItem*)));
+        connect(&mscene,SIGNAL(selectionChanged()),this,SLOT(OnSelectionChanged()));
         SetShowDiagnostics(showDiag);
         this->setMouseTracking(followmouse);
         SetShowCompass(true);
-
+        QPixmapCache::setCacheLimit(64*1024);
     }
     void OPMapWidget::SetShowDiagnostics(bool const& value)
     {
@@ -70,12 +77,24 @@ namespace mapcontrol
                 delete diagTimer;
                 diagTimer=0;
             }
+
+            if(GPS!=0)
+            {
+                delete GPS;
+                GPS=0;
+            }
         }
         else
         {
             diagTimer=new QTimer();
             connect(diagTimer,SIGNAL(timeout()),this,SLOT(diagRefresh()));
             diagTimer->start(500);
+            if(GPS==0)
+            {
+                GPS=new GPSItem(map,this);
+                GPS->setParentItem(map);
+                setOverlayOpacity(overlayOpacity);
+            }
         }
 
     }
@@ -85,8 +104,40 @@ namespace mapcontrol
             UAV->SetUavPic(UAVPic);
         if(GPS!=0)
             GPS->SetUavPic(UAVPic);
+    }
 
+    WayPointLine * OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to,QColor color)
+    {
+        if(!from|!to)
+            return NULL;
+        WayPointLine* ret= new WayPointLine(from,to,map,color);
+        ret->setOpacity(overlayOpacity);
+        return ret;
+    }
+    WayPointLine * OPMapWidget::WPLineCreate(HomeItem *from, WayPointItem *to,QColor color)
+    {
+        if(!from|!to)
+            return NULL;
+        WayPointLine* ret= new WayPointLine(from,to,map,color);
+        ret->setOpacity(overlayOpacity);
+        return ret;
+    }
+    WayPointCircle * OPMapWidget::WPCircleCreate(WayPointItem *center, WayPointItem *radius, bool clockwise,QColor color)
+    {
+        if(!center|!radius)
+            return NULL;
+        WayPointCircle* ret= new WayPointCircle(center,radius,clockwise,map,color);
+        ret->setOpacity(overlayOpacity);
+        return ret;
+    }
 
+    WayPointCircle *OPMapWidget::WPCircleCreate(HomeItem *center, WayPointItem *radius, bool clockwise,QColor color)
+    {
+        if(!center|!radius)
+            return NULL;
+        WayPointCircle* ret= new WayPointCircle(center,radius,clockwise,map,color);
+        ret->setOpacity(overlayOpacity);
+        return ret;
     }
     void OPMapWidget::SetShowUAV(const bool &value)
     {
@@ -96,47 +147,21 @@ namespace mapcontrol
             UAV->setParentItem(map);
             connect(this,SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)),UAV,SIGNAL(UAVLeftSafetyBouble(internals::PointLatLng)));
             connect(this,SIGNAL(UAVReachedWayPoint(int,WayPointItem*)),UAV,SIGNAL(UAVReachedWayPoint(int,WayPointItem*)));
+            UAV->setOpacity(overlayOpacity);
         }
         else if(!value)
         {
             if(UAV!=0)
             {
                 delete UAV;
-                UAV=0;
+                UAV=NULL;
-            }
-
-        }
-        if(value && GPS==0)
-        {
-            GPS=new GPSItem(map,this);
-            GPS->setParentItem(map);
-        }
-        else if(!value)
-        {
-            if(GPS!=0)
-            {
-                delete GPS;
-                GPS=0;
             }
 
         }
     }
     void OPMapWidget::SetShowHome(const bool &value)
     {
-        if(value && Home==0)
+            Home->setVisible(value);
-        {
-            Home=new HomeItem(map,this);
-            Home->setParentItem(map);
-        }
-        else if(!value)
-        {
-            if(Home!=0)
-            {
-                delete Home;
-                Home=0;
-            }
-
-        }
     }
 
     void OPMapWidget::resizeEvent(QResizeEvent *event)
@@ -161,14 +186,20 @@ namespace mapcontrol
     }
     OPMapWidget::~OPMapWidget()
     {
-        delete UAV;
+        if(UAV)
-        delete Home;
+            delete UAV;
-        delete map;
+        if(Home)
-        delete core;
+            delete Home;
-        delete configuration;
+        if(map)
+            delete map;
+        if(core)
+            delete core;
+        if(configuration)
+            delete configuration;
         foreach(QGraphicsItem* i,this->items())
         {
-            delete i;
+            if(i)
+                delete i;
         }
     }
     void OPMapWidget::closeEvent(QCloseEvent *event)
@@ -203,18 +234,33 @@ namespace mapcontrol
         WayPointItem* item=new WayPointItem(this->CurrentPosition(),0,map);
         ConnectWP(item);
         item->setParentItem(map);
+        int position=item->Number();
+        emit WPCreated(position,item);
+        return item;
+    }
+    WayPointItem* OPMapWidget::magicWPCreate()
+    {
+        WayPointItem* item=new WayPointItem(map,true);
+        item->SetShowNumber(false);
+        item->setParentItem(map);
         return item;
     }
     void OPMapWidget::WPCreate(WayPointItem* item)
     {
         ConnectWP(item);
         item->setParentItem(map);
+        int position=item->Number();
+        emit WPCreated(position,item);
+        setOverlayOpacity(overlayOpacity);
     }
     WayPointItem* OPMapWidget::WPCreate(internals::PointLatLng const& coord,int const& altitude)
     {
         WayPointItem* item=new WayPointItem(coord,altitude,map);
         ConnectWP(item);
         item->setParentItem(map);
+        int position=item->Number();
+        emit WPCreated(position,item);
+        setOverlayOpacity(overlayOpacity);
         return item;
     }
     WayPointItem* OPMapWidget::WPCreate(internals::PointLatLng const& coord,int const& altitude, QString const& description)
@@ -222,6 +268,19 @@ namespace mapcontrol
         WayPointItem* item=new WayPointItem(coord,altitude,description,map);
         ConnectWP(item);
         item->setParentItem(map);
+        int position=item->Number();
+        emit WPCreated(position,item);
+        setOverlayOpacity(overlayOpacity);
+        return item;
+    }
+    WayPointItem* OPMapWidget::WPCreate(const distBearingAltitude &relativeCoord, const QString &description)
+    {
+        WayPointItem* item=new WayPointItem(relativeCoord,description,map);
+        ConnectWP(item);
+        item->setParentItem(map);
+        int position=item->Number();
+        emit WPCreated(position,item);
+        setOverlayOpacity(overlayOpacity);
         return item;
     }
     WayPointItem* OPMapWidget::WPInsert(const int &position)
@@ -231,6 +290,7 @@ namespace mapcontrol
         ConnectWP(item);
         item->setParentItem(map);
         emit WPInserted(position,item);
+        setOverlayOpacity(overlayOpacity);
         return item;
     }
     void OPMapWidget::WPInsert(WayPointItem* item,const int &position)
@@ -239,7 +299,7 @@ namespace mapcontrol
         ConnectWP(item);
         item->setParentItem(map);
         emit WPInserted(position,item);
-
+        setOverlayOpacity(overlayOpacity);
     }
     WayPointItem* OPMapWidget::WPInsert(internals::PointLatLng const& coord,int const& altitude,const int &position)
     {
@@ -248,29 +308,131 @@ namespace mapcontrol
         ConnectWP(item);
         item->setParentItem(map);
         emit WPInserted(position,item);
+        setOverlayOpacity(overlayOpacity);
         return item;
     }
     WayPointItem* OPMapWidget::WPInsert(internals::PointLatLng const& coord,int const& altitude, QString const& description,const int &position)
     {
-        WayPointItem* item=new WayPointItem(coord,altitude,description,map);
+        internals::PointLatLng mcoord;
+        bool reloc=false;
+        if(mcoord==internals::PointLatLng(0,0))
+        {
+            mcoord=CurrentPosition();
+            reloc=true;
+        }
+        else
+            mcoord=coord;
+        WayPointItem* item=new WayPointItem(mcoord,altitude,description,map);
         item->SetNumber(position);
         ConnectWP(item);
         item->setParentItem(map);
         emit WPInserted(position,item);
+        if(reloc)
+            emit WPValuesChanged(item);
+        setOverlayOpacity(overlayOpacity);
+        return item;
+    }
+    WayPointItem* OPMapWidget::WPInsert(distBearingAltitude const& relative, QString const& description,const int &position)
+    {
+        WayPointItem* item=new WayPointItem(relative,description,map);
+        item->SetNumber(position);
+        ConnectWP(item);
+        item->setParentItem(map);
+        emit WPInserted(position,item);
+        setOverlayOpacity(overlayOpacity);
         return item;
     }
     void OPMapWidget::WPDelete(WayPointItem *item)
     {
-        emit WPDeleted(item->Number());
+        emit WPDeleted(item->Number(),item);
         delete item;
     }
-    void OPMapWidget::WPDeleteAll()
+    void OPMapWidget::WPDelete(int number)
     {
         foreach(QGraphicsItem* i,map->childItems())
         {
             WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
             if(w)
-                delete w;
+            {
+                if(w->Number()==number)
+                {
+                    emit WPDeleted(w->Number(),w);
+                    delete w;
+                    return;
+                }
+            }
+        }
+    }
+    WayPointItem * OPMapWidget::WPFind(int number)
+    {
+        foreach(QGraphicsItem* i,map->childItems())
+        {
+            WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
+            if(w)
+            {
+                if(w->Number()==number)
+                {
+                    return w;
+                }
+            }
+        }
+        return NULL;
+    }
+    void OPMapWidget::WPSetVisibleAll(bool value)
+    {
+        foreach(QGraphicsItem* i,map->childItems())
+        {
+            WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
+            if(w)
+            {
+                if(w->Number()!=-1)
+                    w->setVisible(value);
+            }
+        }
+    }
+    void OPMapWidget::WPDeleteAll()
+    {
+        int x=0;
+        foreach(QGraphicsItem* i,map->childItems())
+        {
+            WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
+            if(w)
+            {
+                if(w->Number()!=-1)
+                {
+                    emit WPDeleted(w->Number(),w);
+                    delete w;
+                }
+            }
+        }
+    }
+    bool OPMapWidget::WPPresent()
+    {
+        foreach(QGraphicsItem* i,map->childItems())
+        {
+            WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
+            if(w)
+            {
+                if(w->Number()!=-1)
+                {
+                    return true;
+                }
+            }
+        }
+    }
+    void OPMapWidget::deleteAllOverlays()
+    {
+        foreach(QGraphicsItem* i,map->childItems())
+        {
+            WayPointLine* w=qgraphicsitem_cast<WayPointLine*>(i);
+            if(w)
+                w->deleteLater();
+            else
+            {
+                WayPointCircle* ww=qgraphicsitem_cast<WayPointCircle*>(i);
+                if(ww)
+                    ww->deleteLater();
+            }
         }
     }
     QList<WayPointItem*> OPMapWidget::WPSelected()
@@ -291,11 +453,13 @@ namespace mapcontrol
 
     void OPMapWidget::ConnectWP(WayPointItem *item)
     {
-        connect(item,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)));
+        connect(item,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),Qt::DirectConnection);
-        connect(item,SIGNAL(WPValuesChanged(WayPointItem*)),this,SIGNAL(WPValuesChanged(WayPointItem*)));
+        connect(item,SIGNAL(WPValuesChanged(WayPointItem*)),this,SIGNAL(WPValuesChanged(WayPointItem*)),Qt::DirectConnection);
-        connect(this,SIGNAL(WPInserted(int,WayPointItem*)),item,SLOT(WPInserted(int,WayPointItem*)));
+        connect(item,SIGNAL(localPositionChanged(QPointF,WayPointItem*)),this,SIGNAL(WPLocalPositionChanged(QPointF,WayPointItem*)),Qt::DirectConnection);
-        connect(this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),item,SLOT(WPRenumbered(int,int,WayPointItem*)));
+        connect(item,SIGNAL(manualCoordChange(WayPointItem*)),this,SIGNAL(WPManualCoordChange(WayPointItem*)),Qt::DirectConnection);
-        connect(this,SIGNAL(WPDeleted(int)),item,SLOT(WPDeleted(int)));
+        connect(this,SIGNAL(WPInserted(int,WayPointItem*)),item,SLOT(WPInserted(int,WayPointItem*)),Qt::DirectConnection);
+        connect(this,SIGNAL(WPNumberChanged(int,int,WayPointItem*)),item,SLOT(WPRenumbered(int,int,WayPointItem*)),Qt::DirectConnection);
+        connect(this,SIGNAL(WPDeleted(int,WayPointItem*)),item,SLOT(WPDeleted(int,WayPointItem*)),Qt::DirectConnection);
     }
     void OPMapWidget::diagRefresh()
     {
@@ -329,12 +493,12 @@ namespace mapcontrol
             compass->setScale(0.1+0.05*(qreal)(this->size().width())/1000*(qreal)(this->size().height())/600);
             //    compass->setTransformOriginPoint(compass->boundingRect().width(),compass->boundingRect().height());
             compass->setFlag(QGraphicsItem::ItemIsMovable,true);
+            compass->setFlag(QGraphicsItem::ItemIsSelectable,true);
             mscene.addItem(compass);
             compass->setTransformOriginPoint(compass->boundingRect().width()/2,compass->boundingRect().height()/2);            
             compass->setPos(55-compass->boundingRect().width()/2,55-compass->boundingRect().height()/2);
             compass->setZValue(3);
             compass->setOpacity(0.7);
-            
         }
         if(!value && compass)
         {
@@ -342,6 +506,12 @@ namespace mapcontrol
             compass=0;
         }
     }
+
+    void OPMapWidget::setOverlayOpacity(qreal value)
+    {
+        map->setOverlayOpacity(value);
+        overlayOpacity=value;
+    }
     void OPMapWidget::SetRotate(qreal const& value)
     {
         map->mapRotate(value);
@@ -353,4 +523,28 @@ namespace mapcontrol
     {
         new MapRipper(core,map->SelectedArea());
     }
+
+    void OPMapWidget::setSelectedWP(QList<WayPointItem * >list)
+    {
+        this->scene()->clearSelection();
+        foreach(WayPointItem * wp,list)
+        {
+            wp->setSelected(true);
+        }
+    }
+
+    void OPMapWidget::OnSelectionChanged()
+    {
+        QList<QGraphicsItem*> list;
+        QList<WayPointItem*> wplist;
+        list=this->scene()->selectedItems();
+        foreach(QGraphicsItem* item,list)
+        {
+            WayPointItem * wp=qgraphicsitem_cast<WayPointItem*>(item);
+            if(wp)
+                wplist.append(wp);
+        }
+        if(wplist.length()>0)
+            emit selectedWPChanged(wplist);
+    }
 }

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       opmapwidget.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      The Map Widget, this is the part exposed to the user
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -41,6 +41,9 @@
 #include "gpsitem.h"
 #include "homeitem.h"
 #include "mapripper.h"
+#include "waypointline.h"
+#include "waypointcircle.h"
+#include "waypointitem.h"
 namespace mapcontrol
 {
     class UAVItem;
@@ -279,6 +282,15 @@ namespace mapcontrol
         */
         WayPointItem* WPCreate(internals::PointLatLng const& coord,int const& altitude, QString const& description);
         /**
+        * @brief Creates a new WayPoint
+        *
+        * @param coord the offset in meters to the home position
+        * @param altitude the Altitude of the WayPoint
+        * @param description the description of the WayPoint
+        * @return WayPointItem a pointer to the WayPoint created
+        */
+        WayPointItem *WPCreate(const distBearingAltitude &relativeCoord, const QString &description);
+        /**
         * @brief Inserts a new WayPoint on the specified position
         *
         * @param position index of the WayPoint
@@ -311,6 +323,7 @@ namespace mapcontrol
         * @return WayPointItem a pointer to the WayPoint Inserted
         */
         WayPointItem* WPInsert(internals::PointLatLng const& coord,int const& altitude, QString const& description,int const& position);
+        WayPointItem *WPInsert(const distBearingAltitude &relative, const QString &description, const int &position);
 
         /**
         * @brief Deletes the WayPoint
@@ -340,6 +353,8 @@ namespace mapcontrol
 
         void SetShowCompass(bool const& value);
 
+        void setOverlayOpacity(qreal value);
+
         UAVItem* UAV;
         GPSItem* GPS;
         HomeItem* Home;
@@ -349,7 +364,18 @@ namespace mapcontrol
         bool ShowHome()const{return showhome;}
         void SetShowDiagnostics(bool const& value);
         void SetUavPic(QString UAVPic);
-    private:
+        WayPointLine * WPLineCreate(WayPointItem *from,WayPointItem *to, QColor color);
+        WayPointLine * WPLineCreate(HomeItem *from,WayPointItem *to, QColor color);
+        WayPointCircle *WPCircleCreate(WayPointItem *center, WayPointItem *radius,bool clockwise,QColor color);
+        WayPointCircle *WPCircleCreate(HomeItem *center, WayPointItem *radius,bool clockwise,QColor color);
+        void deleteAllOverlays();
+        void WPSetVisibleAll(bool value);
+        WayPointItem *magicWPCreate();
+        bool WPPresent();
+        void WPDelete(int number);
+        WayPointItem *WPFind(int number);
+        void setSelectedWP(QList<WayPointItem *> list);
+      private:
         internals::Core *core;
         MapGraphicItem *map;
         QGraphicsScene mscene;
@@ -366,6 +392,7 @@ namespace mapcontrol
         QTimer * diagTimer;
         QGraphicsTextItem * diagGraphItem;
         bool showDiag;
+        qreal overlayOpacity;
     private slots:
         void diagRefresh();
         //   WayPointItem* item;//apagar
@@ -398,6 +425,9 @@ namespace mapcontrol
         * @param waypoint WayPoint inserted
         */
         void WPReached(WayPointItem* waypoint);
+
+        void WPCreated(int const& number,WayPointItem* waypoint);
+
         /**
                * @brief Fires when a new WayPoint is inserted
                *
@@ -410,7 +440,10 @@ namespace mapcontrol
         *
         * @param number number of the deleted WayPoint
         */
-        void WPDeleted(int const& number);
+        void WPDeleted(int const& number,WayPointItem* waypoint);
+
+        void WPLocalPositionChanged(QPointF,WayPointItem*);
+        void WPManualCoordChange(WayPointItem*);
         /**
         * @brief Fires When a WayPoint is Reached
         *
@@ -469,11 +502,14 @@ namespace mapcontrol
         * @param number the number of tiles still in the queue
         */
         void OnTilesStillToLoad(int number);
+        void OnWayPointDoubleClicked(WayPointItem * waypoint);
+        void selectedWPChanged(QList<WayPointItem*>);
     public slots:
         /**
         * @brief Ripps the current selection to the DB
         */
         void RipMap();
+        void OnSelectionChanged();
 
     };
 }

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

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

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

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

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

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

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       traillineitem.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A graphicsItem representing a WayPoint
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -32,6 +32,7 @@
 #include <QLabel>
 #include "../internals/pointlatlng.h"
 #include <QObject>
+#include "mapgraphicitem.h"
 
 namespace mapcontrol
 {
@@ -42,18 +43,15 @@ namespace mapcontrol
         Q_INTERFACES(QGraphicsItem)
     public:
                 enum { Type = UserType + 7 };
-        TrailLineItem(internals::PointLatLng const& coord1,internals::PointLatLng const& coord2, QBrush color, QGraphicsItem* parent);
+        TrailLineItem(internals::PointLatLng const& coord1,internals::PointLatLng const& coord2, QBrush color,MapGraphicItem * map);
         int type() const;
-      //  void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
-       //             QWidget *widget);
         internals::PointLatLng coord1;
         internals::PointLatLng coord2;
     private:
         QBrush m_brush;
-
+        MapGraphicItem * m_map;
-
     public slots:
-
+        void setLineSlot();
     signals:
 
     };

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       uavitem.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A graphicsItem representing a UAV
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -26,45 +26,225 @@
 */
 #include "../internals/pureprojection.h"
 #include "uavitem.h"
+#include <math.h>
+
 namespace mapcontrol
 {
+
+    double UAVItem::groundspeed_mps_filt = 0;
+
     UAVItem::UAVItem(MapGraphicItem* map,OPMapWidget* parent,QString uavPic):map(map),mapwidget(parent),showtrail(true),showtrailline(true),trailtime(5),traildistance(50),autosetreached(true)
-    ,autosetdistance(100)
+      ,autosetdistance(100),altitude(0),showUAVInfo(false)
     {
-        //QDir dir(":/uavs/images/");
-        //QStringList list=dir.entryList();
         pic.load(uavPic);
-       // Don't scale but trust the image we are given
+        this->setFlag(QGraphicsItem::ItemIsMovable,false);
-       // pic=pic.scaled(50,33,Qt::IgnoreAspectRatio);
+        this->setFlag(QGraphicsItem::ItemIsSelectable,false);
         localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
         this->setPos(localposition.X(),localposition.Y());
         this->setZValue(4);
-        trail=new QGraphicsItemGroup();
+        trail=new QGraphicsItemGroup(this);
         trail->setParentItem(map);
-        trailLine=new QGraphicsItemGroup();
+        trailLine=new QGraphicsItemGroup(this);
         trailLine->setParentItem(map);
         this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
+        setCacheMode(QGraphicsItem::ItemCoordinateCache);
         mapfollowtype=UAVMapFollowType::None;
         trailtype=UAVTrailType::ByDistance;
         timer.start();
+        generateArrowhead();
+        double pixels2meters = map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
+        meters2pixels=1.0 / pixels2meters;
+        setCacheMode(QGraphicsItem::DeviceCoordinateCache);
+        connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
+        connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
+        connect(map,SIGNAL(zoomChanged(double,double,double)),this,SLOT(zoomChangedSlot()));
     }
     UAVItem::~UAVItem()
     {
-        delete trail;
+
     }
 
     void UAVItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
     {
         Q_UNUSED(option);
         Q_UNUSED(widget);
-       // painter->rotate(-90);
+
+        //Draw plane
         painter->drawPixmap(-pic.width()/2,-pic.height()/2,pic);
-       //   painter->drawRect(QRectF(-pic.width()/2,-pic.height()/2,pic.width()-1,pic.height()-1));
+
+        //Return if UAV Info context menu is turned off
+        if(!showUAVInfo){
+            return;
+        }
+
+        QPen myPen;
+
+        //Turn on anti-aliasing so the fonts don't look terrible
+        painter->setRenderHint(QPainter::Antialiasing, true);
+
+        //Set pen attributes
+        QColor myColor(Qt::red);
+        myPen.setWidth(3);
+        myPen.setColor(myColor);
+        painter->setPen(myPen);
+        painter->drawPolygon(arrowHead);
+        painter->setPen(myPen);
+        painter->drawLine(arrowShaft);
+
+        //Set trend arc's color
+        myPen.setColor(Qt::magenta);
+        painter->setPen(myPen);
+
+        if (trendSpanAngle > 0){
+            QRectF rect(0, -trendRadius, trendRadius*2, trendRadius*2);
+            painter->drawArc(rect, 180*16, -trendSpanAngle*16);
+        }
+        else{
+            QRectF rect(-2*trendRadius, -trendRadius, trendRadius*2, trendRadius*2);
+            painter->drawArc(rect, 0*16, -trendSpanAngle*16);
+        }
+
+        //*********** Create time rings
+        if(groundspeed_mps_filt > 0){ //Don't clutter the display with rings that are only one pixel wide
+            myPen.setWidth(2);
+
+            myPen.setColor(QColor(0, 0, 0, 100));
+            painter->setPen(myPen);
+            painter->drawEllipse(QPointF(0,0),precalcRings,precalcRings);
+
+            myPen.setColor(QColor(0, 0, 0, 110));
+            painter->setPen(myPen);
+            painter->drawEllipse(QPointF(0,0),precalcRings*2,precalcRings*2);
+
+            myPen.setColor(QColor(0, 0, 0, 120));
+            painter->setPen(myPen);
+            painter->drawEllipse(QPointF(0,0),precalcRings*4,precalcRings*4);
+        }
+        //Rotate the text back to vertical
+        qreal rot=this->rotation();
+        painter->rotate(-1*rot);
+
+        myPen.setWidth(1);
+        myPen.setColor(Qt::white);
+        painter->setBrush(Qt::white);
+        painter->setPen(myPen);
+        painter->drawPath(textPath);
     }
+
+    void UAVItem::updateTextOverlay()
+    {
+        QPainterPath temp;
+        if(!showUAVInfo)
+        {
+            temp.swap(textPath);
+            return;
+        }
+
+        QFont borderfont( "Arial", 14, QFont::Normal, false );
+
+        //Top left corner of text
+        int textAnchorX = 20;
+        int textAnchorY = 20;
+
+        QString uavoInfoStrLine1, uavoInfoStrLine2;
+        QString uavoInfoStrLine3, uavoInfoStrLine4;
+        QString uavoInfoStrLine5;
+
+        uavoInfoStrLine1.append(QString("CAS: %1 kph").arg(CAS_mps));
+        uavoInfoStrLine2.append(QString("Groundspeed: %1 kph").arg(groundspeed_kph, 0, 'f',1));
+        uavoInfoStrLine3.append(QString("Lat-Lon: %1, %2").arg(coord.Lat(), 0, 'f',7).arg(coord.Lng(), 0, 'f',7));
+        uavoInfoStrLine4.append(QString("North-East: %1 m, %2 m").arg(NED[0], 0, 'f',1).arg(NED[1], 0, 'f',1));
+        uavoInfoStrLine5.append(QString("Altitude: %1 m").arg(-NED[2], 0, 'f',1));
+        temp.addText(textAnchorX, textAnchorY+16*0, borderfont, uavoInfoStrLine1);
+        temp.addText(textAnchorX, textAnchorY+16*1, borderfont, uavoInfoStrLine2);
+        temp.addText(textAnchorX, textAnchorY+16*2, borderfont, uavoInfoStrLine3);
+        temp.addText(textAnchorX, textAnchorY+16*3, borderfont, uavoInfoStrLine4);
+        temp.addText(textAnchorX, textAnchorY+16*4, borderfont, uavoInfoStrLine5);
+
+        //Add text for time rings.
+        if(groundspeed_mps > 0){
+            //Always add the left side...
+            temp.addText(-(groundspeed_mps_filt*ringTime*1*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime,0,'f',0));
+            temp.addText(-(groundspeed_mps_filt*ringTime*2*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime*2,0,'f',0));
+            temp.addText(-(groundspeed_mps_filt*ringTime*4*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime*4,0,'f',0));
+            //... and add the right side, only if it doesn't interfere with the uav info text
+            if(groundspeed_mps_filt*ringTime*4*meters2pixels > 200){
+                if(groundspeed_mps_filt*ringTime*2*meters2pixels > 200){
+                    if(groundspeed_mps_filt*ringTime*1*meters2pixels > 200){
+                        temp.addText(groundspeed_mps_filt*ringTime*1*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime,0,'f',0));
+                    }
+                    temp.addText(groundspeed_mps_filt*ringTime*2*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime*2,0,'f',0));
+                }
+                temp.addText(groundspeed_mps_filt*ringTime*4*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime*4,0,'f',0));
+            }
+        }
+        temp.swap(textPath);
+    }
+
     QRectF UAVItem::boundingRect()const
     {
-        return QRectF(-pic.width()/2,-pic.height()/2,pic.width(),pic.height());
+        if(showUAVInfo){
+            if (boundingRectSize < 220){
+                //In case the bounding rectangle isn't big enough to get the whole of the UAV Info graphic
+                return QRectF(-boundingRectSize,-80,boundingRectSize+220,180);
+            }
+            else{
+                return QRectF(-boundingRectSize,-boundingRectSize,2*boundingRectSize,2*boundingRectSize);
+            }
+        }
+        else{
+            return QRectF(-pic.width()/2,-pic.height()/2,pic.width(),pic.height());
+        }
     }
+
+    void UAVItem::SetNED(double NED[3]){
+        this->NED[0] = NED[0];
+        this->NED[1] = NED[1];
+        this->NED[2] = NED[2];
+    }
+
+    void UAVItem::SetYawRate(double yawRate_dps){
+        this->yawRate_dps=yawRate_dps;
+
+        if (fabs(this->yawRate_dps) < 5e-1){ //This number is really the smallest we can go. Any smaller, and it might have problems if we forecast a shorter distance into the future
+            this->yawRate_dps=5e-1;
+        }
+
+        //*********** Create trend arc
+        trendSpanAngle = this->yawRate_dps * 5; //Forecast 5 seconds into the future
+
+        //Calculate radius in [m], and then convert to pixels in local frame (not the same frame as is displayed on the map widget)
+        trendRadius=fabs(groundspeed_mps/(this->yawRate_dps*M_PI/180))*meters2pixels;
+    }
+
+    void UAVItem::SetCAS(double CAS_mps){
+        this->CAS_mps=CAS_mps;
+    }
+
+    void UAVItem::SetGroundspeed(double vNED[3], int m_maxUpdateRate_ms){
+        this->vNED[0] = vNED[0];
+        this->vNED[1] = vNED[1];
+        this->vNED[2] = vNED[2];
+        groundspeed_kph=sqrt(vNED[0]*vNED[0] + vNED[1]*vNED[1] + vNED[2]*vNED[2])*3.6;
+        groundspeed_mps=groundspeed_kph/3.6;
+        //On the first pass, set the filtered speed to the reported speed.
+        static bool firstGroundspeed=true;
+        if (firstGroundspeed){
+            groundspeed_mps_filt=groundspeed_kph/3.6;
+            firstGroundspeed=false;
+        }
+        else{
+            int riseTime_ms=1000;
+            double alpha= m_maxUpdateRate_ms/(double)(m_maxUpdateRate_ms+riseTime_ms);
+            groundspeed_mps_filt= alpha*groundspeed_mps_filt + (1-alpha)*(groundspeed_kph/3.6);
+         }
+        ringTime=10*pow(2,17-map->ZoomTotal()); //Basic ring is 10 seconds wide at zoom level 17
+        precalcRings=groundspeed_mps_filt*ringTime*meters2pixels;
+        boundingRectSize=groundspeed_mps_filt*ringTime*4*meters2pixels+20;
+        prepareGeometryChange();
+    }
+
+
     void UAVItem::SetUAVPos(const internals::PointLatLng &position, const int &altitude)
     {
         if(coord.IsEmpty())
@@ -76,9 +256,15 @@ namespace mapcontrol
             {
                 if(timer.elapsed()>trailtime*1000)
                 {
-                    trail->addToGroup(new TrailItem(position,altitude,Qt::red,this));
+                    TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
+                    trail->addToGroup(ob);
+                    connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
                     if(!lasttrailline.IsEmpty())
-                        trailLine->addToGroup((new TrailLineItem(lasttrailline,position,Qt::red,map)));
+                    {
+                        TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
+                        trailLine->addToGroup(obj);
+                        connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
+                    }
                     lasttrailline=position;
                     timer.restart();
                 }
@@ -88,9 +274,15 @@ namespace mapcontrol
             {
                 if(qAbs(internals::PureProjection::DistanceBetweenLatLng(lastcoord,position)*1000)>traildistance)
                 {
-                    trail->addToGroup(new TrailItem(position,altitude,Qt::red,this));
+                    TrailItem * ob=new TrailItem(position,altitude,Qt::green,map);
+                    trail->addToGroup(ob);
+                    connect(this,SIGNAL(setChildPosition()),ob,SLOT(setPosSLOT()));
                     if(!lasttrailline.IsEmpty())
-                        trailLine->addToGroup((new TrailLineItem(lasttrailline,position,Qt::red,map)));
+                    {
+                        TrailLineItem * obj=new TrailLineItem(lasttrailline,position,Qt::red,map);
+                        trailLine->addToGroup(obj);
+                        connect(this,SIGNAL(setChildLine()),obj,SLOT(setLineSlot()));
+                    }
                     lasttrailline=position;
                     lastcoord=position;
                 }
@@ -102,7 +294,6 @@ namespace mapcontrol
             {
                 mapwidget->SetCurrentPosition(coord);
             }
-            this->update();
             if(autosetreached)
             {
                 foreach(QGraphicsItem* i,map->childItems())
@@ -170,19 +361,24 @@ namespace mapcontrol
     {
         localposition=map->FromLatLngToLocal(coord);
         this->setPos(localposition.X(),localposition.Y());
-        foreach(QGraphicsItem* i,trail->childItems())
+        emit setChildPosition();
-        {
+        emit setChildLine();
-            TrailItem* w=qgraphicsitem_cast<TrailItem*>(i);
+        updateTextOverlay();
-            if(w)
+    }
-                w->setPos(map->FromLatLngToLocal(w->coord).X(),map->FromLatLngToLocal(w->coord).Y());
-        }
-        foreach(QGraphicsItem* i,trailLine->childItems())
-        {
-            TrailLineItem* ww=qgraphicsitem_cast<TrailLineItem*>(i);
-            if(ww)
-                ww->setLine(map->FromLatLngToLocal(ww->coord1).X(),map->FromLatLngToLocal(ww->coord1).Y(),map->FromLatLngToLocal(ww->coord2).X(),map->FromLatLngToLocal(ww->coord2).Y());
-        }
 
+    void UAVItem::setOpacitySlot(qreal opacity)
+    {
+        this->setOpacity(opacity);
+    }
+
+    void UAVItem::zoomChangedSlot()
+    {
+        double pixels2meters = map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
+        meters2pixels=1.0 / pixels2meters;
+        boundingRectSize=groundspeed_mps_filt*ringTime*4*meters2pixels+20;
+        prepareGeometryChange();
+        updateTextOverlay();
+        update();
     }
     void UAVItem::SetTrailType(const UAVTrailType::Types &value)
     {
@@ -217,4 +413,40 @@ namespace mapcontrol
     {
         pic.load(":/uavs/images/"+UAVPic);
     }
+
+    void UAVItem::SetShowUAVInfo(bool const& value)
+    {
+        showUAVInfo=value;
+        showJustChanged=true;
+        update();
+    }
+
+    void UAVItem::generateArrowhead(){
+        qreal arrowSize = 10;
+
+        //Create line from (0,0), to (1,1). Later, we'll scale and rotate it
+        arrowShaft=QLineF(0,0,1.0,1.0);
+
+        //Set the starting point to (0,0)
+        arrowShaft.setP1(QPointF(0,0));
+
+        //Set angle and length
+        arrowShaft.setLength(60.0);
+        arrowShaft.setAngle(90.0);
+
+        //Form arrowhead
+        double angle = ::acos(arrowShaft.dx() / arrowShaft.length());
+        if (arrowShaft.dy() <= 0)
+            angle = (M_PI * 2) - angle;
+
+        QPointF arrowP1 = arrowShaft.pointAt(1) + QPointF(sin(angle + M_PI / 3) * arrowSize,
+                                                      cos(angle + M_PI / 3) * arrowSize);
+        QPointF arrowP2 = arrowShaft.pointAt(1) + QPointF(sin(angle + M_PI - M_PI / 3) * arrowSize,
+                                                      cos(angle + M_PI - M_PI / 3) * arrowSize);
+
+        //Assemble arrowhead
+        arrowHead.clear();
+        arrowHead << arrowShaft.pointAt(1) << arrowP1 << arrowP2;
+
+    }
 }

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       uavitem.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A graphicsItem representing a WayPoint
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -57,6 +57,31 @@ namespace mapcontrol
                 enum { Type = UserType + 2 };
         UAVItem(MapGraphicItem* map,OPMapWidget* parent, QString uavPic=QString::fromUtf8(":/uavs/images/mapquad.png"));
         ~UAVItem();
+
+        /**
+        * @brief Sets the UAV NED position
+        *
+        * @param NED
+        */
+        void SetNED(double NED[3]);
+        /**
+        * @brief Sets the UAV groundspeed
+        *
+        * @param NED
+        */
+        void SetGroundspeed(double vNED[3], int m_maxUpdateRate);
+        /**
+        * @brief Sets the UAV Calibrated Airspeed
+        *
+        * @param NED
+        */
+        void SetCAS(double CAS);
+        /**
+        * @brief Sets the UAV yaw rate
+        *
+        * @param NED
+        */
+        void SetYawRate(double yawRate_dps);
         /**
         * @brief Sets the UAV position
         *
@@ -103,7 +128,6 @@ namespace mapcontrol
 
         void paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
                     QWidget *widget);
-        void RefreshPos();
         QRectF boundingRect() const;
         /**
         * @brief Sets the trail time to be used if TrailType is ByTimeElapsed
@@ -193,17 +217,32 @@ namespace mapcontrol
         int type() const;
 
         void SetUavPic(QString UAVPic);
+        void SetShowUAVInfo(bool const& value);
+        void updateTextOverlay();
     private:
+        void generateArrowhead();
         MapGraphicItem* map;
-
+        OPMapWidget* mapwidget;
+        QPolygonF arrowHead;
+        QLineF arrowShaft;
         int altitude;
         UAVMapFollowType::Types mapfollowtype;
         UAVTrailType::Types trailtype;
         internals::PointLatLng coord;
         internals::PointLatLng lastcoord;
+        double NED[3];
+        double vNED[3];
+        double CAS_mps;
+        double groundspeed_kph;
+        double groundspeed_mps;
+        double yawRate_dps;
+        double trendRadius;
+        double trendSpanAngle;
+        float meters2pixels;
+        double precalcRings;
+        double ringTime;
         QPixmap pic;
         core::Point localposition;
-        OPMapWidget* mapwidget;
         QGraphicsItemGroup* trail;
         QGraphicsItemGroup * trailLine;
         internals::PointLatLng lasttrailline;
@@ -215,13 +254,24 @@ namespace mapcontrol
         bool autosetreached;
         double Distance3D(internals::PointLatLng const& coord, int const& altitude);
         double autosetdistance;
-      //  QRectF rect;
+        bool showUAVInfo;
+        static double groundspeed_mps_filt;
+        float boundingRectSize;
+        bool showJustChanged;
+
+        bool refreshPaint_flag;
+
+        QPainterPath textPath;
 
     public slots:
-
+        void RefreshPos();
+        void setOpacitySlot(qreal opacity);
+        void zoomChangedSlot();
     signals:
         void UAVReachedWayPoint(int const& waypointnumber,WayPointItem* waypoint);
         void UAVLeftSafetyBouble(internals::PointLatLng const& position);
+        void setChildPosition();
+        void setChildLine();
     };
 }
 #endif // UAVITEM_H

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       uavmapfollowtype.h
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      An enum representing the various map follow modes
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget

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

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

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

@@ -0,0 +1,116 @@
+/**
+******************************************************************************
+*
+* @file       waypointcircle.cpp
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+* @brief      A graphicsItem representing a circle connecting 2 waypoints
+* @see        The GNU Public License (GPL) Version 3
+* @defgroup   OPMapWidget
+* @{
+*
+*****************************************************************************/
+/*
+* This program is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation; either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+* for more details.
+*
+* You should have received a copy of the GNU General Public License along
+* with this program; if not, write to the Free Software Foundation, Inc.,
+* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+#include "waypointcircle.h"
+#include <math.h>
+#include "homeitem.h"
+
+namespace mapcontrol
+{
+WayPointCircle::WayPointCircle(WayPointItem *center, WayPointItem *radius,bool clockwise, MapGraphicItem *map,QColor color):my_center(center),
+    my_radius(radius),my_map(map),QGraphicsEllipseItem(map),myColor(color),myClockWise(clockwise)
+{
+    connect(center,SIGNAL(localPositionChanged(QPointF,WayPointItem*)),this,SLOT(refreshLocations()));
+    connect(radius,SIGNAL(localPositionChanged(QPointF,WayPointItem*)),this,SLOT(refreshLocations()));
+    connect(center,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
+    connect(radius,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
+    refreshLocations();
+    connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
+
+}
+
+WayPointCircle::WayPointCircle(HomeItem *radius, WayPointItem *center, bool clockwise, MapGraphicItem *map, QColor color):my_center(center),
+    my_radius(radius),my_map(map),QGraphicsEllipseItem(map),myColor(color),myClockWise(clockwise)
+{
+    connect(radius,SIGNAL(homePositionChanged(internals::PointLatLng,float)),this,SLOT(refreshLocations()));
+    connect(center,SIGNAL(localPositionChanged(QPointF)),this,SLOT(refreshLocations()));
+    connect(center,SIGNAL(aboutToBeDeleted(WayPointItem*)),this,SLOT(waypointdeleted()));
+    refreshLocations();
+    connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
+}
+
+int WayPointCircle::type() const
+{
+    // Enable the use of qgraphicsitem_cast with this item.
+    return Type;
+}
+
+void WayPointCircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
+{
+    QPointF p1;
+    QPointF p2;
+    p1=QPointF(line.p1().x(),line.p1().y()+line.length());
+    p2=QPointF(line.p1().x(),line.p1().y()-line.length());
+    QPen myPen = pen();
+    myPen.setColor(myColor);
+    qreal arrowSize = 10;
+    painter->setPen(myPen);
+    QBrush brush=painter->brush();
+    painter->setBrush(myColor);
+    double angle =0;
+    if(!myClockWise)
+        angle+=M_PI;
+
+        QPointF arrowP1 = p1 + QPointF(sin(angle + M_PI / 3) * arrowSize,
+                                        cos(angle + M_PI / 3) * arrowSize);
+        QPointF arrowP2 = p1 + QPointF(sin(angle + M_PI - M_PI / 3) * arrowSize,
+                                        cos(angle + M_PI - M_PI / 3) * arrowSize);
+
+        QPointF arrowP21 = p2 + QPointF(sin(angle + M_PI + M_PI / 3) * arrowSize,
+                                        cos(angle + M_PI + M_PI / 3) * arrowSize);
+        QPointF arrowP22 = p2 + QPointF(sin(angle + M_PI + M_PI - M_PI / 3) * arrowSize,
+                                        cos(angle + M_PI + M_PI - M_PI / 3) * arrowSize);
+
+        arrowHead.clear();
+        arrowHead << p1 << arrowP1 << arrowP2;
+        painter->drawPolygon(arrowHead);
+        arrowHead.clear();
+        arrowHead << p2 << arrowP21 << arrowP22;
+        painter->drawPolygon(arrowHead);
+        painter->translate(-line.length(),-line.length());
+        painter->setBrush(brush);
+        painter->drawEllipse(this->rect());
+
+}
+
+void WayPointCircle::refreshLocations()
+{
+    line=QLineF(my_center->pos(),my_radius->pos());
+    this->setRect(my_center->pos().x(),my_center->pos().y(),2*line.length(),2*line.length());
+    this->update();
+}
+
+void WayPointCircle::waypointdeleted()
+{
+    this->deleteLater();
+}
+
+void WayPointCircle::setOpacitySlot(qreal opacity)
+{
+    setOpacity(opacity);
+}
+
+}

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

@@ -0,0 +1,69 @@
+/**
+******************************************************************************
+*
+* @file       waypointcircle.h
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+* @brief      A graphicsItem representing a circle connecting 2 waypoints
+* @see        The GNU Public License (GPL) Version 3
+* @defgroup   OPMapWidget
+* @{
+*
+*****************************************************************************/
+/*
+* This program is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation; either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+* for more details.
+*
+* You should have received a copy of the GNU General Public License along
+* with this program; if not, write to the Free Software Foundation, Inc.,
+* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+#ifndef WAYPOINTCIRCLE_H
+#define WAYPOINTCIRCLE_H
+#include <QGraphicsItem>
+#include <QPainter>
+#include <QLabel>
+#include "../internals/pointlatlng.h"
+#include "mapgraphicitem.h"
+#include "waypointitem.h"
+#include <QObject>
+#include <QPoint>
+
+namespace mapcontrol
+{
+
+class WayPointCircle:public QObject,public QGraphicsEllipseItem
+{
+    Q_OBJECT
+    Q_INTERFACES(QGraphicsItem)
+public:
+    enum { Type = UserType + 9 };
+    WayPointCircle(WayPointItem * center, WayPointItem * radius,bool clockwise,MapGraphicItem * map,QColor color=Qt::green);
+    WayPointCircle(HomeItem * center, WayPointItem * radius,bool clockwise,MapGraphicItem * map,QColor color=Qt::green);
+    int type() const;
+    void setColor(const QColor &color)
+        { myColor = color; }
+private:
+    QGraphicsItem * my_center;
+    QGraphicsItem * my_radius;
+    MapGraphicItem * my_map;
+    QPolygonF arrowHead;
+    QColor myColor;
+    bool myClockWise;
+    QLineF line;
+protected:
+    void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
+public slots:
+    void refreshLocations();
+    void waypointdeleted();
+    void setOpacitySlot(qreal opacity);
+};
+}
+
+#endif // WAYPOINTCIRCLE_H

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

@@ -2,7 +2,7 @@
 ******************************************************************************
 *
 * @file       waypointitem.cpp
-* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      A graphicsItem representing a WayPoint
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
@@ -25,39 +25,167 @@
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */
 #include "waypointitem.h"
+#include "homeitem.h"
+
 namespace mapcontrol
 {
-    WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, MapGraphicItem *map):coord(coord),reached(false),description(""),shownumber(true),isDragging(false),altitude(altitude),map(map)
+WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, MapGraphicItem *map,wptype type):coord(coord),reached(false),description(""),shownumber(true),isDragging(false),altitude(altitude),map(map),myType(type)
     {
         text=0;
         numberI=0;
+        isMagic=false;
         picture.load(QString::fromUtf8(":/markers/images/marker.png"));
         number=WayPointItem::snumber;
         ++WayPointItem::snumber;
         this->setFlag(QGraphicsItem::ItemIsMovable,true);
         this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
         this->setFlag(QGraphicsItem::ItemIsSelectable,true);
-       // transf.translate(picture.width()/2,picture.height());
-       // this->setTransform(transf);
         SetShowNumber(shownumber);
         RefreshToolTip();
         RefreshPos();
+        myHome=NULL;
+        QList<QGraphicsItem *> list=map->childItems();
+        foreach(QGraphicsItem * obj,list)
+        {
+            HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
+            if(h)
+                myHome=h;
+        }
+
+        if(myHome)
+        {
+            map->Projection()->offSetFromLatLngs(myHome->Coord(),coord,relativeCoord.distance,relativeCoord.bearing);
+            relativeCoord.altitudeRelative=Altitude()-myHome->Altitude();
+            connect(myHome,SIGNAL(homePositionChanged(internals::PointLatLng,float)),this,SLOT(onHomePositionChanged(internals::PointLatLng,float)));
+        }
+        connect(this,SIGNAL(waypointdoubleclick(WayPointItem*)),map,SIGNAL(wpdoubleclicked(WayPointItem*)));
+        emit manualCoordChange(this);
+        connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
+        connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
+}
+
+WayPointItem::WayPointItem(MapGraphicItem *map, bool magicwaypoint):reached(false),description(""),shownumber(true),isDragging(false),altitude(0),map(map)
+{
+    relativeCoord.bearing=0;
+    relativeCoord.distance=0;
+    relativeCoord.altitudeRelative=0;
+    myType=relative;
+    if(magicwaypoint)
+    {
+        isMagic=true;
+        picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
+        number=-1;
     }
-    WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, const QString &description, MapGraphicItem *map):coord(coord),reached(false),description(description),shownumber(true),isDragging(false),altitude(altitude),map(map)
+    else
+    {
+        isMagic=false;
+        number=WayPointItem::snumber;
+        ++WayPointItem::snumber;
+    }
+    text=0;
+    numberI=0;
+    this->setFlag(QGraphicsItem::ItemIsMovable,true);
+    this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
+    this->setFlag(QGraphicsItem::ItemIsSelectable,true);
+    SetShowNumber(shownumber);
+    RefreshToolTip();
+    RefreshPos();
+    myHome=NULL;
+    QList<QGraphicsItem *> list=map->childItems();
+    foreach(QGraphicsItem * obj,list)
+    {
+        HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
+        if(h)
+            myHome=h;
+    }
+
+    if(myHome)
+    {
+        coord=map->Projection()->translate(myHome->Coord(),relativeCoord.distance,relativeCoord.bearing);
+        SetAltitude(myHome->Altitude()+relativeCoord.altitudeRelative);
+        connect(myHome,SIGNAL(homePositionChanged(internals::PointLatLng,float)),this,SLOT(onHomePositionChanged(internals::PointLatLng,float)));
+    }
+    connect(this,SIGNAL(waypointdoubleclick(WayPointItem*)),map,SIGNAL(wpdoubleclicked(WayPointItem*)));
+    emit manualCoordChange(this);
+    connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
+    connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
+}
+    WayPointItem::WayPointItem(const internals::PointLatLng &coord,int const& altitude, const QString &description, MapGraphicItem *map,wptype type):coord(coord),reached(false),description(description),shownumber(true),isDragging(false),altitude(altitude),map(map),myType(type)
     {
         text=0;
         numberI=0;
+        isMagic=false;
         picture.load(QString::fromUtf8(":/markers/images/marker.png"));
         number=WayPointItem::snumber;
         ++WayPointItem::snumber;
         this->setFlag(QGraphicsItem::ItemIsMovable,true);
         this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
         this->setFlag(QGraphicsItem::ItemIsSelectable,true);
-       //transf.translate(picture.width()/2,picture.height());
-       // this->setTransform(transf);
         SetShowNumber(shownumber);
         RefreshToolTip();
         RefreshPos();
+        myHome=NULL;
+        QList<QGraphicsItem *> list=map->childItems();
+        foreach(QGraphicsItem * obj,list)
+        {
+            HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
+            if(h)
+                myHome=h;
+        }
+        if(myHome)
+        {
+            map->Projection()->offSetFromLatLngs(myHome->Coord(),coord,relativeCoord.distance,relativeCoord.bearing);
+            relativeCoord.altitudeRelative=Altitude()-myHome->Altitude();
+            connect(myHome,SIGNAL(homePositionChanged(internals::PointLatLng,float)),this,SLOT(onHomePositionChanged(internals::PointLatLng,float)));
+        }
+        connect(this,SIGNAL(waypointdoubleclick(WayPointItem*)),map,SIGNAL(wpdoubleclicked(WayPointItem*)));
+        emit manualCoordChange(this);
+        connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
+        connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
+    }
+
+    WayPointItem::WayPointItem(const distBearingAltitude &relativeCoordenate, const QString &description, MapGraphicItem *map):relativeCoord(relativeCoordenate),reached(false),description(description),shownumber(true),isDragging(false),map(map)
+    {
+        myHome=NULL;
+        QList<QGraphicsItem *> list=map->childItems();
+        foreach(QGraphicsItem * obj,list)
+        {
+            HomeItem* h=qgraphicsitem_cast <HomeItem*>(obj);
+            if(h)
+               myHome=h;
+        }
+        if(myHome)
+        {
+            connect(myHome,SIGNAL(homePositionChanged(internals::PointLatLng,float)),this,SLOT(onHomePositionChanged(internals::PointLatLng,float)));
+            coord=map->Projection()->translate(myHome->Coord(),relativeCoord.distance,relativeCoord.bearing);
+            SetAltitude(myHome->Altitude()+relativeCoord.altitudeRelative);
+        }
+        myType=relative;
+        text=0;
+        numberI=0;
+        isMagic=false;
+        picture.load(QString::fromUtf8(":/markers/images/marker.png"));
+        number=WayPointItem::snumber;
+        ++WayPointItem::snumber;
+        this->setFlag(QGraphicsItem::ItemIsMovable,true);
+        this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
+        this->setFlag(QGraphicsItem::ItemIsSelectable,true);
+        SetShowNumber(shownumber);
+        RefreshToolTip();
+        RefreshPos();
+        connect(this,SIGNAL(waypointdoubleclick(WayPointItem*)),map,SIGNAL(wpdoubleclicked(WayPointItem*)));
+        emit manualCoordChange(this);
+        connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
+        connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
+    }
+
+    void WayPointItem::setWPType(wptype type)
+    {
+        myType=type;
+        emit WPValuesChanged(this);
+        RefreshPos();
+        RefreshToolTip();
+        this->update();
     }
 
     QRectF WayPointItem::boundingRect() const
@@ -69,40 +197,55 @@ namespace mapcontrol
         Q_UNUSED(option);
         Q_UNUSED(widget);
         painter->drawPixmap(-picture.width()/2,-picture.height(),picture);
+        painter->setPen(Qt::green);
         if(this->isSelected())
             painter->drawRect(QRectF(-picture.width()/2,-picture.height(),picture.width()-1,picture.height()-1));
     }
+    void WayPointItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event)
+    {
+        if(event->button()==Qt::LeftButton)
+        {
+            emit waypointdoubleclick(this);
+        }
+    }
+
     void WayPointItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
     {
         if(event->button()==Qt::LeftButton)
         {
-	    text=new QGraphicsSimpleTextItem(this);
+        text=new QGraphicsSimpleTextItem(this);
             textBG=new QGraphicsRectItem(this);
 
-//	    textBG->setBrush(Qt::white);
+        textBG->setBrush(Qt::yellow);
-//	    textBG->setOpacity(0.5);
 
-	    textBG->setBrush(QColor(255, 255, 255, 128));
+        text->setPen(QPen(Qt::red));
-
+        text->setPos(10,-picture.height());
-	    text->setPen(QPen(Qt::red));
+        textBG->setPos(10,-picture.height());
-	    text->setPos(10,-picture.height());
+        text->setZValue(3);
-	    textBG->setPos(10,-picture.height());
+        RefreshToolTip();
-	    text->setZValue(3);
+        isDragging=true;
-	    RefreshToolTip();
+    }
-	    isDragging=true;
-	}
         QGraphicsItem::mousePressEvent(event);
     }
     void WayPointItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
     {
         if(event->button()==Qt::LeftButton)
         {
-            delete text;
+            if(text)
-            delete textBG;
+            {
-            coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
+                delete text;
+                text=NULL;
+            }
+            if(textBG)
+            {
+                delete textBG;
+                textBG=NULL;
+            }
+
             isDragging=false;
             RefreshToolTip();
-
+            emit manualCoordChange(this);
+            emit localPositionChanged(this->pos(),this);
             emit WPValuesChanged(this);
         }
         QGraphicsItem::mouseReleaseEvent(event);
@@ -114,31 +257,77 @@ namespace mapcontrol
         {
             coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
             QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + "   " + QString::number(coord.Lng(), 'f', 6);
-            text->setText(coord_str);
+            if(myHome)
+            {
+                map->Projection()->offSetFromLatLngs(myHome->Coord(),coord,relativeCoord.distance,relativeCoord.bearing);
+            }
+            QString relativeCoord_str = QString::number(relativeCoord.distance) + "m " + QString::number(relativeCoord.bearing*180/M_PI)+"deg";
+            text->setText(coord_str+"\n"+relativeCoord_str);
             textBG->setRect(text->boundingRect());
-
+            emit localPositionChanged(this->pos(),this);
             emit WPValuesChanged(this);
         }
             QGraphicsItem::mouseMoveEvent(event);
     }
-    void WayPointItem::SetAltitude(const int &value)
+    void WayPointItem::SetAltitude(const float &value)
     {
+        if(altitude==value)
+            return;
         altitude=value;
+        if(myHome)
+        {
+            relativeCoord.altitudeRelative=altitude-myHome->Altitude();
+        }
         RefreshToolTip();
-
         emit WPValuesChanged(this);
         this->update();
     }
+
+    void WayPointItem::setRelativeCoord(distBearingAltitude value)
+    {
+        if(qAbs(value.distance-relativeCoord.distance)<0.1
+                && qAbs(value.bearing-relativeCoord.bearing)<0.01 && value.altitudeRelative==relativeCoord.altitudeRelative)
+            return;
+        relativeCoord=value;
+        if(myHome)
+        {
+            SetCoord(map->Projection()->translate(myHome->Coord(),relativeCoord.distance,relativeCoord.bearing));
+            SetAltitude(myHome->Altitude()+relativeCoord.altitudeRelative);
+        }
+        RefreshPos();
+        RefreshToolTip();
+        emit WPValuesChanged(this);
+        this->update();
+    }
+
     void WayPointItem::SetCoord(const internals::PointLatLng &value)
     {
+        qDebug()<<"1 SetCoord("<<value.Lat()<<","<<value.Lng()<<")"<<"OLD:"<<Coord().Lat()<<","<<Coord().Lng();
+        if(qAbs(Coord().Lat()-value.Lat())<0.0001 && qAbs(Coord().Lng()-value.Lng())<0.0001)
+        {
+            qDebug()<<"2 SetCoord nothing changed returning";
+            return;
+        }
+        qDebug()<<"3 setCoord there were changes";
         coord=value;
+        distBearingAltitude back=relativeCoord;
+        if(myHome)
+            map->Projection()->offSetFromLatLngs(myHome->Coord(),Coord(),back.distance,back.bearing);
+        if(qAbs(back.bearing-relativeCoord.bearing)>0.01 || qAbs(back.distance-relativeCoord.distance)>0.1)
+        {
+            qDebug()<<"4 setCoord-relative coordinates where also updated";
+            relativeCoord=back;
+        }
         emit WPValuesChanged(this);
         RefreshPos();
         RefreshToolTip();
         this->update();
+        qDebug()<<"5 setCoord EXIT";
     }
     void WayPointItem::SetDescription(const QString &value)
     {
+        if(description==value)
+            return;
         description=value;
         RefreshToolTip();
         emit WPValuesChanged(this);
@@ -146,12 +335,13 @@ namespace mapcontrol
     }
     void WayPointItem::SetNumber(const int &value)
     {
-        emit WPNumberChanged(number,value,this);
+        int oldnumber=number;
         number=value;
         RefreshToolTip();
-        numberI->setText(QString::number(number));
+        numberI->setText(QString::number(numberAdjusted()));
         numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
         this->update();
+        emit WPNumberChanged(oldnumber,value,this);
     }
     void WayPointItem::SetReached(const bool &value)
     {
@@ -160,8 +350,20 @@ namespace mapcontrol
         if(value)
             picture.load(QString::fromUtf8(":/markers/images/bigMarkerGreen.png"));
         else
-            picture.load(QString::fromUtf8(":/markers/images/marker.png"));
+        {
-        this->update();
+            if(!isMagic)
+            {
+                if(this->flags() & QGraphicsItem::ItemIsMovable==QGraphicsItem::ItemIsMovable)
+                    picture.load(QString::fromUtf8(":/markers/images/marker.png"));
+                else
+                    picture.load(QString::fromUtf8(":/markers/images/waypoint_marker2.png"));
+            }
+            else
+            {
+                picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
+            }
+        }
+            this->update();
 
     }
     void WayPointItem::SetShowNumber(const bool &value)
@@ -177,7 +379,7 @@ namespace mapcontrol
             numberI->setPen(QPen(Qt::blue));
             numberI->setPos(0,-13-picture.height());
             numberIBG->setPos(0,-13-picture.height());
-            numberI->setText(QString::number(number));
+            numberI->setText(QString::number(numberAdjusted()));
             numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
         }
         else if (!value && numberI)
@@ -187,49 +389,61 @@ namespace mapcontrol
         }
         this->update();
     }
-    void WayPointItem::WPDeleted(const int &onumber)
+    void WayPointItem::WPDeleted(const int &onumber,WayPointItem *waypoint)
     {
-        if(number>onumber) --number;
+        Q_UNUSED(waypoint);
-        numberI->setText(QString::number(number));
+        int n=number;
-        numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
+        if(number>onumber) SetNumber(--n);
-        RefreshToolTip();
-        this->update();
     }
     void WayPointItem::WPInserted(const int &onumber, WayPointItem *waypoint)
     {
+        if(Number()==-1)
+            return;
+
         if(waypoint!=this)
         {
-            if(onumber<=number) ++number;
+            if(onumber<=number) SetNumber(++number);
-            numberI->setText(QString::number(number));
+        }
+    }
+
+    void WayPointItem::onHomePositionChanged(internals::PointLatLng homepos, float homeAltitude)
+    {
+        if(myType==relative)
+        {
+            coord=map->Projection()->translate(homepos,relativeCoord.distance,relativeCoord.bearing);
+            SetAltitude(relativeCoord.altitudeRelative+homeAltitude);
+            emit WPValuesChanged(this);
+            RefreshPos();
             RefreshToolTip();
             this->update();
         }
+        else
+        {
+            if(myHome)
+            {
+                map->Projection()->offSetFromLatLngs(myHome->Coord(),coord,relativeCoord.distance,relativeCoord.bearing);
+                relativeCoord.altitudeRelative=Altitude()-homeAltitude;
+            }
+            emit WPValuesChanged(this);
+        }
     }
+
     void WayPointItem::WPRenumbered(const int &oldnumber, const int &newnumber, WayPointItem *waypoint)
     {
         if (waypoint!=this)
         {
             if(((oldnumber>number) && (newnumber<=number)))
             {
-                ++number;
+                SetNumber(++number);
-                numberI->setText(QString::number(number));
-                numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
-                RefreshToolTip();
             }
             else if (((oldnumber<number) && (newnumber>number)))
             {
-                --number;
+                SetNumber(--number);
-                numberI->setText(QString::number(number));
-                numberIBG->setRect(numberI->boundingRect().adjusted(-2,0,1,0));
-                RefreshToolTip();
             }
             else if (newnumber==number)
             {
-                ++number;
+                SetNumber(++number);
-                numberI->setText(QString::number(number));
-                RefreshToolTip();
             }
-            this->update();
         }
     }
     int WayPointItem::type() const
@@ -240,17 +454,51 @@ namespace mapcontrol
 
     WayPointItem::~WayPointItem()
     {
+        emit aboutToBeDeleted(this);
         --WayPointItem::snumber;
     }
     void WayPointItem::RefreshPos()
     {
         core::Point point=map->FromLatLngToLocal(coord);
         this->setPos(point.X(),point.Y());
+        emit localPositionChanged(this->pos(),this);
+    }
+
+    void WayPointItem::setOpacitySlot(qreal opacity)
+    {
+        setOpacity(opacity);
     }
     void WayPointItem::RefreshToolTip()
     {
+        QString type_str;
+        if(myType==relative)
+            type_str="Relative";
+        else
+            type_str="Absolute";
         QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + "   " + QString::number(coord.Lng(), 'f', 6);
-        setToolTip(QString("WayPoint Number:%1\nDescription:%2\nCoordinate:%4\nAltitude:%5").arg(QString::number(WayPointItem::number)).arg(description).arg(coord_str).arg(QString::number(altitude)));
+        QString relativeCoord_str = " Distance:" + QString::number(relativeCoord.distance) + " Bearing:" + QString::number(relativeCoord.bearing*180/M_PI);
+        QString relativeAltitude_str=QString::number(relativeCoord.altitudeRelative);
+        if(Number()!=-1)
+            setToolTip(QString("WayPoint Number:%1\nDescription:%2\nCoordinate:%4\nFrom Home:%5\nRelative altitude:%6\nAltitude:%7\nType:%8\n%9").arg(QString::number(numberAdjusted())).arg(description).arg(coord_str).arg(relativeCoord_str).arg(relativeAltitude_str).arg(QString::number(altitude)).arg(type_str).arg(myCustomString));
+        else
+            setToolTip(QString("Magic WayPoint\nCoordinate:%1\nFrom Home:%2\nAltitude:%3\nType:%4\n%5").arg(coord_str).arg(relativeCoord_str).arg(QString::number(altitude)).arg(type_str).arg(myCustomString));
+    }
+
+    void WayPointItem::setFlag(QGraphicsItem::GraphicsItemFlag flag, bool enabled)
+    {
+        if(isMagic)
+        {
+            QGraphicsItem::setFlag(flag,enabled);
+            return;
+        }
+        else if(flag==QGraphicsItem::ItemIsMovable)
+        {
+            if(enabled)
+                picture.load(QString::fromUtf8(":/markers/images/marker.png"));
+            else
+                picture.load(QString::fromUtf8(":/markers/images/waypoint_marker2.png"));
+        }
+        QGraphicsItem::setFlag(flag,enabled);
     }
 
     int WayPointItem::snumber=0;