First version of Yagcs (combined GCS and mission generator) released

Hi guys,

I uploaded the current version of my QT-based GCS to google code. The sources are available via the SVN repository at .

Current features:
- Real-time map display (native interface, does not rely on google earth plugin, allows offline access)
- Real-time data plot for distance, altitude, etc.
- Simple presentation of roll and pitch via opengl
- Easily extendible (at least that was the goal) via QT ports/slots
- Should be relatively platform independent due to QT

Also, it now functions as a generator of mission header files which can be loaded via the APM waypoint writer. The GUI, however, is still a bit rough on the edges, meaning it's still lacking quite a few features.

The code only relies one two libraries in addition to QT (one for the data plotting, one for the serial port access), which are itself based on QT. That means you do not need google earth plugins, labview, etc., and all is based on open source. For installation instructions see INSTALL.txt and for more information README.txt.

Would be great to get feedback of course. Also, if somebody from the windows users would try to compile it and tell me if this works, that would be very interesting. Also thanks to the person who pointed me to qextserialport, don't quite remember who initially suggested that.


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3D Robotics
Comment by Chris Anderson on October 9, 2010 at 7:47pm
Downloading QT stuff now to try it out!
Comment by Andre S on October 9, 2010 at 11:30pm
As said, I haven't tested it on Windows, so may still be quite a few issues there. Also it currently relies on Jason's text-based telemetry protocol, which is easier to parse but it does not seem to be supported so well by the current APM code. Implementing the binary protocol would be the next todo probably.

Comment by Michael Smith on October 11, 2010 at 1:07am
Definitely move to the binary protocol. It may (or may not) be helpful to steal the parser state machine from the APM_BinComm library.

This looks pretty neat; hopefully I can find some cycles to spin it up on the Mac.
Comment by Tom Kent on October 11, 2010 at 7:58am
What version of qextserialport's mecurial repo are you using? It appears the latest stuff gets rid of the qextserialbase.h that you're depending on (and moves everything to the ./src subdirectory).
Comment by Stephane Rocca on October 11, 2010 at 9:29am
Trying to compile too on vs2010 Express :
I believe you should try from :

And not :

Fighting with qwt at the moment...
Comment by Stephane Rocca on October 11, 2010 at 9:41am
posix_qextserialport.h(6): fatal error C1083: Impossible d'ouvrir le fichier include : 'termios.h' : No such file or directory

termios.h : I believe there is no equivalent in the windows environment... Does anybody know how to skip this without Cygwin ?
Comment by Loti on October 11, 2010 at 10:06am
Hi Andre,
are you using any IDE for the development ? Qt Creator Cross-Platform IDE maybe ?

Comment by Andre S on October 14, 2010 at 12:22pm
Ups, sorry guys, was away from the forum for a couple of days.

Tom: I think I just checked out the latest QT4-compatible version from the qextserialport repository (; then when I started writing the doc I noticed the project has moved.. hmm.. ok, should have confirmed that the code moved there, too. Thanks, Stephane for pointing that out

Stephane: You might want to uncomment the following lines in SerialPortWrapper.h:

#ifndef Q_WS_WIN
#define _TTY_POSIX_

That makes it use the posix port if it is running not on Windows (maybe the Q_WS_WIN doesn't work as expected here).

Loti: I'm not using any IDE.. can you recommend the QT creator?
Comment by Loti on October 14, 2010 at 12:40pm
Hi andre, I use to develop with Delphi, but Delphi is dying every day, so I need an alternative, QT seems good but complicated ¿is it complicated? I've taken a look at Qt creator which is cross platform and seems a nice IDE and it's free. it has ui designer, debugger etc etc
Do you knopw any good starting tutorial for QT ?


Comment by Michael Smith on October 14, 2010 at 12:41pm
@Loti - QT has a lot of issues, as well. You might want to consider .NET/Mono as an alternative (also with issues, but by the looks of it somewhat less severe).


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