Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into Airmap

# Conflicts:
#	src/FlightDisplay/FlightDisplayViewWidgets.qml
#	src/PlanView/MissionItemEditor.qml
#	src/PlanView/RallyPointItemEditor.qml
#	src/QmlControls/QGCButton.qml
#	src/api/QGCOptions.h

src/Camera/QGCCameraIO.h

@@ -19,6 +19,9 @@ MAVPACKED(
 typedef struct {
     union {
         float       param_float;
+        double      param_double;
+        int64_t     param_int64;
+        uint64_t    param_uint64;
         int32_t     param_int32;
         uint32_t    param_uint32;
         int16_t     param_int16;

src/Camera/QGCCameraManager.h

@@ -25,28 +25,28 @@ public:
     QGCCameraManager(Vehicle* vehicle);
     virtual ~QGCCameraManager();
 
-    Q_PROPERTY(QmlObjectListModel*  cameras             READ cameras            NOTIFY camerasChanged)
+    Q_PROPERTY(QmlObjectListModel*  cameras     READ cameras    NOTIFY camerasChanged)
 
     //-- Return a list of cameras provided by this vehicle
-    virtual QmlObjectListModel* cameras             () { return &_cameras; }
+    virtual QmlObjectListModel* cameras     () { return &_cameras; }
 
 signals:
-    void    camerasChanged          ();
+    void    camerasChanged                  ();
 
 protected slots:
-    void    _vehicleReady           (bool ready);
-    void    _mavlinkMessageReceived (const mavlink_message_t& message);
+    virtual void    _vehicleReady           (bool ready);
+    virtual void    _mavlinkMessageReceived (const mavlink_message_t& message);
 
 protected:
-    QGCCameraControl* _findCamera   (int id);
-    void    _requestCameraInfo      (int compID);
-    void    _handleHeartbeat        (const mavlink_message_t& message);
-    void    _handleCameraInfo       (const mavlink_message_t& message);
-    void    _handleStorageInfo      (const mavlink_message_t& message);
-    void    _handleCameraSettings   (const mavlink_message_t& message);
-    void    _handleParamAck         (const mavlink_message_t& message);
-    void    _handleParamValue       (const mavlink_message_t& message);
-    void    _handleCaptureStatus    (const mavlink_message_t& message);
+    virtual QGCCameraControl* _findCamera   (int id);
+    virtual void    _requestCameraInfo      (int compID);
+    virtual void    _handleHeartbeat        (const mavlink_message_t& message);
+    virtual void    _handleCameraInfo       (const mavlink_message_t& message);
+    virtual void    _handleStorageInfo      (const mavlink_message_t& message);
+    virtual void    _handleCameraSettings   (const mavlink_message_t& message);
+    virtual void    _handleParamAck         (const mavlink_message_t& message);
+    virtual void    _handleParamValue       (const mavlink_message_t& message);
+    virtual void    _handleCaptureStatus    (const mavlink_message_t& message);
 
 protected:
     Vehicle*            _vehicle;

src/FactSystem/FactControls/FactBitmask.qml

@@ -33,10 +33,12 @@ Flow {
             checked:    fact.value & fact.bitmaskValues[index]
 
             onClicked: {
+                var i;
+                var otherCheckbox;
                 if (checked) {
                     if (firstEntryIsAll && index == 0) {
-                        for (var i=1; i<repeater.count; i++) {
-                            var otherCheckbox = repeater.itemAt(i)
+                        for (i = 1; i < repeater.count; i++) {
+                            otherCheckbox = repeater.itemAt(i)
                             fact.value &= ~fact.bitmaskValues[i]
                             otherCheckbox.checked = false
                             otherCheckbox.enabled = false
@@ -45,8 +47,8 @@ Flow {
                     fact.value |= fact.bitmaskValues[index]
                 } else {
                     if (firstEntryIsAll && index == 0) {
-                        for (var i=1; i<repeater.count; i++) {
-                            var otherCheckbox = repeater.itemAt(i)
+                        for (i = 1; i < repeater.count; i++) {
+                            otherCheckbox = repeater.itemAt(i)
                             otherCheckbox.enabled = true
                         }
                     }

src/FactSystem/FactControls/FactCheckBox.qml

@@ -8,16 +8,14 @@ import QGroundControl.Controls 1.0
 
 QGCCheckBox {
     property Fact fact: Fact { }
-    property variant checkedValue: 1
-    property variant uncheckedValue: 0
 
     checkedState: fact ?
                       (fact.typeIsBool ?
-                           (fact.value === true ? Qt.Checked : Qt.Unchecked) :
-                           (fact.value === checkedValue ? Qt.Checked : Qt.Unchecked)) :
+                           (fact.value === false ? Qt.Unchecked : Qt.Checked) :
+                           (fact.value === 0 ? Qt.Unchecked : Qt.Checked)) :
                       Qt.Unchecked
 
     text: qsTr("Label")
 
-    onClicked: fact.value = checked ? checkedValue : uncheckedValue
+    onClicked: fact.value = checked ? 1 : 0
 }

src/FactSystem/FactControls/FactComboBox.qml

@@ -12,7 +12,7 @@ QGCComboBox {
 
     model: fact ? fact.enumStrings : null
 
-    currentIndex: indexModel ? fact.value : fact.enumIndex
+    currentIndex: fact ? (indexModel ? fact.value : fact.enumIndex) : 0
 
     onActivated: {
         if (indexModel) {

src/FactSystem/FactMetaData.cc

@@ -254,9 +254,13 @@ QVariant FactMetaData::_minForType(void) const
     case valueTypeInt16:
         return QVariant(std::numeric_limits<short int>::min());
     case valueTypeUint32:
-        return QVariant(std::numeric_limits<unsigned int>::min());
+        return QVariant(std::numeric_limits<uint32_t>::min());
     case valueTypeInt32:
-        return QVariant(std::numeric_limits<int>::min());
+        return QVariant(std::numeric_limits<int32_t>::min());
+    case valueTypeUint64:
+        return QVariant((qulonglong)std::numeric_limits<uint64_t>::min());
+    case valueTypeInt64:
+        return QVariant((qlonglong)std::numeric_limits<int64_t>::min());
     case valueTypeFloat:
         return QVariant(-std::numeric_limits<float>::max());
     case valueTypeDouble:
@@ -287,9 +291,13 @@ QVariant FactMetaData::_maxForType(void) const
     case valueTypeInt16:
         return QVariant(std::numeric_limits<short int>::max());
     case valueTypeUint32:
-        return QVariant(std::numeric_limits<unsigned int>::max());
+        return QVariant(std::numeric_limits<uint32_t>::max());
     case valueTypeInt32:
-        return QVariant(std::numeric_limits<int>::max());
+        return QVariant(std::numeric_limits<int32_t>::max());
+    case valueTypeUint64:
+        return QVariant((qulonglong)std::numeric_limits<uint64_t>::max());
+    case valueTypeInt64:
+        return QVariant((qlonglong)std::numeric_limits<int64_t>::max());
     case valueTypeFloat:
         return QVariant(std::numeric_limits<float>::max());
     case valueTypeElapsedTimeInSeconds:
@@ -324,6 +332,14 @@ bool FactMetaData::convertAndValidateRaw(const QVariant& rawValue, bool convertO
             }
         }
         break;
+    case FactMetaData::valueTypeInt64:
+        typedValue = QVariant(rawValue.toLongLong(&convertOk));
+        if (!convertOnly && convertOk) {
+            if (typedValue < rawMin() || typedValue > rawMax()) {
+                errorString = tr("Value must be within %1 and %2").arg(rawMin().toInt()).arg(rawMax().toInt());
+            }
+        }
+        break;
     case FactMetaData::valueTypeUint8:
     case FactMetaData::valueTypeUint16:
     case FactMetaData::valueTypeUint32:
@@ -334,6 +350,14 @@ bool FactMetaData::convertAndValidateRaw(const QVariant& rawValue, bool convertO
             }
         }
         break;
+    case FactMetaData::valueTypeUint64:
+        typedValue = QVariant(rawValue.toULongLong(&convertOk));
+        if (!convertOnly && convertOk) {
+            if (typedValue < rawMin() || typedValue > rawMax()) {
+                errorString = tr("Value must be within %1 and %2").arg(rawMin().toUInt()).arg(rawMax().toUInt());
+            }
+        }
+        break;
     case FactMetaData::valueTypeFloat:
         typedValue = QVariant(rawValue.toFloat(&convertOk));
         if (!convertOnly && convertOk) {
@@ -389,6 +413,14 @@ bool FactMetaData::convertAndValidateCooked(const QVariant& cookedValue, bool co
             }
         }
         break;
+    case FactMetaData::valueTypeInt64:
+        typedValue = QVariant(cookedValue.toLongLong(&convertOk));
+        if (!convertOnly && convertOk) {
+            if (cookedMin() > typedValue || typedValue > cookedMax()) {
+                errorString = tr("Value must be within %1 and %2").arg(cookedMin().toInt()).arg(cookedMax().toInt());
+            }
+        }
+        break;
     case FactMetaData::valueTypeUint8:
     case FactMetaData::valueTypeUint16:
     case FactMetaData::valueTypeUint32:
@@ -399,6 +431,14 @@ bool FactMetaData::convertAndValidateCooked(const QVariant& cookedValue, bool co
             }
         }
         break;
+    case FactMetaData::valueTypeUint64:
+        typedValue = QVariant(cookedValue.toULongLong(&convertOk));
+        if (!convertOnly && convertOk) {
+            if (cookedMin() > typedValue || typedValue > cookedMax()) {
+                errorString = tr("Value must be within %1 and %2").arg(cookedMin().toUInt()).arg(cookedMax().toUInt());
+            }
+        }
+        break;
     case FactMetaData::valueTypeFloat:
         typedValue = QVariant(cookedValue.toFloat(&convertOk));
         if (!convertOnly && convertOk) {
@@ -453,6 +493,16 @@ bool FactMetaData::clampValue(const QVariant& cookedValue, QVariant& typedValue)
             }
         }
         break;
+    case FactMetaData::valueTypeInt64:
+        typedValue = QVariant(cookedValue.toLongLong(&convertOk));
+        if (convertOk) {
+            if (cookedMin() > typedValue) {
+                typedValue = cookedMin();
+            } else if(typedValue > cookedMax()) {
+                typedValue = cookedMax();
+            }
+        }
+        break;
     case FactMetaData::valueTypeUint8:
     case FactMetaData::valueTypeUint16:
     case FactMetaData::valueTypeUint32:
@@ -465,6 +515,16 @@ bool FactMetaData::clampValue(const QVariant& cookedValue, QVariant& typedValue)
             }
         }
         break;
+    case FactMetaData::valueTypeUint64:
+        typedValue = QVariant(cookedValue.toULongLong(&convertOk));
+        if (convertOk) {
+            if (cookedMin() > typedValue) {
+                typedValue = cookedMin();
+            } else if(typedValue > cookedMax()) {
+                typedValue = cookedMax();
+            }
+        }
+        break;
     case FactMetaData::valueTypeFloat:
         typedValue = QVariant(cookedValue.toFloat(&convertOk));
         if (convertOk) {
@@ -742,6 +802,8 @@ FactMetaData::ValueType_t FactMetaData::stringToType(const QString& typeString,
                      << QStringLiteral("Int16")
                      << QStringLiteral("Uint32")
                      << QStringLiteral("Int32")
+                     << QStringLiteral("Uint64")
+                     << QStringLiteral("Int64")
                      << QStringLiteral("Float")
                      << QStringLiteral("Double")
                      << QStringLiteral("String")
@@ -755,6 +817,8 @@ FactMetaData::ValueType_t FactMetaData::stringToType(const QString& typeString,
                << valueTypeInt16
                << valueTypeUint32
                << valueTypeInt32
+               << valueTypeUint64
+               << valueTypeInt64
                << valueTypeFloat
                << valueTypeDouble
                << valueTypeString
@@ -789,6 +853,8 @@ size_t FactMetaData::typeToSize(ValueType_t type)
     case valueTypeFloat:
         return 4;
 
+    case valueTypeUint64:
+    case valueTypeInt64:
     case valueTypeDouble:
         return 8;
 

src/FactSystem/FactMetaData.h

@@ -36,6 +36,8 @@ public:
         valueTypeInt16,
         valueTypeUint32,
         valueTypeInt32,
+        valueTypeUint64,
+        valueTypeInt64,
         valueTypeFloat,
         valueTypeDouble,
         valueTypeString,

src/FactSystem/ParameterManager.cc

@@ -22,12 +22,9 @@
 #include <QVariantAnimation>
 #include <QJsonArray>
 
-/* types for local parameter cache */
-typedef QPair<int /* FactMetaData::ValueType_t */, QVariant /* Fact::rawValue */> ParamTypeVal;
-typedef QMap<QString /* parameter name */, ParamTypeVal> CacheMapName2ParamTypeVal;
-
-QGC_LOGGING_CATEGORY(ParameterManagerVerbose1Log, "ParameterManagerVerbose1Log")
-QGC_LOGGING_CATEGORY(ParameterManagerVerbose2Log, "ParameterManagerVerbose2Log")
+QGC_LOGGING_CATEGORY(ParameterManagerVerbose1Log,           "ParameterManagerVerbose1Log")
+QGC_LOGGING_CATEGORY(ParameterManagerVerbose2Log,           "ParameterManagerVerbose2Log")
+QGC_LOGGING_CATEGORY(ParameterManagerDebugCacheFailureLog,  "ParameterManagerDebugCacheFailureLog") // Turn on to debug parameter cache crc misses
 
 Fact ParameterManager::_defaultFact;
 
@@ -151,6 +148,24 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
         return;
     }
 
+    // Used to debug cache crc misses (turn on ParameterManagerDebugCacheFailureLog)
+    if (!_initialLoadComplete && !_logReplay && _debugCacheCRC.contains(componentId) && _debugCacheCRC[componentId]) {
+        if (_debugCacheMap[componentId].contains(parameterName)) {
+            const ParamTypeVal& cacheParamTypeVal = _debugCacheMap[componentId][parameterName];
+            size_t dataSize = FactMetaData::typeToSize(static_cast<FactMetaData::ValueType_t>(cacheParamTypeVal.first));
+            const void *cacheData = cacheParamTypeVal.second.constData();
+
+            const void *vehicleData = value.constData();
+
+            if (memcmp(cacheData, vehicleData, dataSize)) {
+                qDebug() << "Cache/Vehicle values differ for name:cache:actual" << parameterName << value << cacheParamTypeVal.second;
+            }
+            _debugCacheParamSeen[componentId][parameterName] = true;
+        } else {
+            qDebug() << "Parameter missing from cache" << parameterName;
+        }
+    }
+
     _initialRequestTimeoutTimer.stop();
     _waitingParamTimeoutTimer.stop();
 
@@ -289,6 +304,12 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
         case MAV_PARAM_TYPE_INT32:
             factType = FactMetaData::valueTypeInt32;
             break;
+        case MAV_PARAM_TYPE_UINT64:
+            factType = FactMetaData::valueTypeUint64;
+            break;
+        case MAV_PARAM_TYPE_INT64:
+            factType = FactMetaData::valueTypeInt64;
+            break;
         case MAV_PARAM_TYPE_REAL32:
             factType = FactMetaData::valueTypeFloat;
             break;
@@ -334,11 +355,6 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
         _setupCategoryMap();
     }
 
-    if (_prevWaitingWriteParamNameCount != 0 &&  waitingWriteParamNameCount == 0) {
-        // If all the writes just finished the vehicle is up to date, so persist.
-        _saveToEEPROM();
-    }
-
     // Update param cache. The param cache is only used on PX4 Firmware since ArduPilot and Solo have volatile params
     // which invalidate the cache. The Solo also streams param updates in flight for things like gimbal values
     // which in turn causes a perf problem with all the param cache updates.
@@ -869,22 +885,13 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian
         _parameterSetMajorVersion = -1;
         _clearMetaData();
         qCInfo(ParameterManagerLog) << "Parameters cache match failed" << qPrintable(QFileInfo(cacheFile).absoluteFilePath());
-    }
-}
-
-void ParameterManager::_saveToEEPROM(void)
-{
-    if (_saveRequired) {
-        _saveRequired = false;
-        if (_vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::MavCmdPreflightStorageCapability)) {
-            _vehicle->sendMavCommand(MAV_COMP_ID_ALL,
-                                     MAV_CMD_PREFLIGHT_STORAGE,
-                                     true,  // showError
-                                     1,     // Write parameters to EEPROM
-                                     -1);   // Don't do anything with mission storage
-            qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "_saveToEEPROM";
-        } else {
-            qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "_saveToEEPROM skipped due to FirmwarePlugin::isCapable";
+        if (ParameterManagerDebugCacheFailureLog().isDebugEnabled()) {
+            _debugCacheCRC[componentId] = true;
+            _debugCacheMap[componentId] = cacheMap;
+            foreach (const QString& name, cacheMap.keys()) {
+                _debugCacheParamSeen[componentId][name] = false;
+            }
+            qgcApp()->showMessage(tr("Parameter cache CRC match failed"));
         }
     }
 }
@@ -983,9 +990,18 @@ MAV_PARAM_TYPE ParameterManager::_factTypeToMavType(FactMetaData::ValueType_t fa
     case FactMetaData::valueTypeUint32:
         return MAV_PARAM_TYPE_UINT32;
 
+    case FactMetaData::valueTypeUint64:
+        return MAV_PARAM_TYPE_UINT64;
+
+    case FactMetaData::valueTypeInt64:
+        return MAV_PARAM_TYPE_INT64;
+
     case FactMetaData::valueTypeFloat:
         return MAV_PARAM_TYPE_REAL32;
 
+    case FactMetaData::valueTypeDouble:
+        return MAV_PARAM_TYPE_REAL64;
+
     default:
         qWarning() << "Unsupported fact type" << factType;
         // fall through
@@ -1013,9 +1029,18 @@ FactMetaData::ValueType_t ParameterManager::_mavTypeToFactType(MAV_PARAM_TYPE ma
     case MAV_PARAM_TYPE_UINT32:
         return FactMetaData::valueTypeUint32;
 
+    case MAV_PARAM_TYPE_UINT64:
+        return FactMetaData::valueTypeUint64;
+
+    case MAV_PARAM_TYPE_INT64:
+        return FactMetaData::valueTypeInt64;
+
     case MAV_PARAM_TYPE_REAL32:
         return FactMetaData::valueTypeFloat;
 
+    case MAV_PARAM_TYPE_REAL64:
+        return FactMetaData::valueTypeDouble;
+
     default:
         qWarning() << "Unsupported mav param type" << mavType;
         // fall through
@@ -1086,6 +1111,18 @@ void ParameterManager::_checkInitialLoadComplete(void)
     // We aren't waiting for any more initial parameter updates, initial parameter loading is complete
     _initialLoadComplete = true;
 
+	// Parameter cache crc failure debugging
+	foreach (int componentId, _debugCacheParamSeen.keys()) {
+        if (!_logReplay && _debugCacheCRC.contains(componentId) && _debugCacheCRC[componentId]) {
+            foreach (const QString& paramName, _debugCacheParamSeen[componentId].keys()) {
+                if (!_debugCacheParamSeen[componentId][paramName]) {
+                    qDebug() << "Parameter in cache but not on vehicle componentId:Name" << componentId << paramName;
+                }
+            }
+        }
+    }
+    _debugCacheCRC.clear();
+
     qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "Initial load complete";
 
     // Check for index based load failures
@@ -1399,6 +1436,7 @@ void ParameterManager::_loadOfflineEditingParams(void)
     _setupCategoryMap();
     _parametersReady = true;
     _initialLoadComplete = true;
+    _debugCacheCRC.clear();
 }
 
 void ParameterManager::saveToJson(int componentId, const QStringList& paramsToSave, QJsonObject& saveObject)

src/FactSystem/ParameterManager.h

@@ -30,6 +30,7 @@
 
 Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose1Log)
 Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose2Log)
+Q_DECLARE_LOGGING_CATEGORY(ParameterManagerDebugCacheFailureLog)
 
 /// Connects to Parameter Manager to load/update Facts
 class ParameterManager : public QObject
@@ -153,7 +154,6 @@ private:
 
     MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
     FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
-    void _saveToEEPROM(void);
     void _checkInitialLoadComplete(void);
 
     /// First mapping is by component id
@@ -175,6 +175,13 @@ private:
     int         _parameterSetMajorVersion;      ///< Version for parameter set, -1 if not known
     QObject*    _parameterMetaData;             ///< Opaque data from FirmwarePlugin::loadParameterMetaDataCall
 
+    typedef QPair<int /* FactMetaData::ValueType_t */, QVariant /* Fact::rawValue */> ParamTypeVal;
+    typedef QMap<QString /* parameter name */, ParamTypeVal> CacheMapName2ParamTypeVal;
+
+    QMap<int /* component id */, bool>                                              _debugCacheCRC; ///< true: debug cache crc failure
+    QMap<int /* component id */, CacheMapName2ParamTypeVal>                         _debugCacheMap;
+    QMap<int /* component id */, QMap<QString /* param name */, bool /* seen */>>   _debugCacheParamSeen;
+
     // Wait counts from previous parameter update cycle
     int         _prevWaitingReadParamIndexCount;
     int         _prevWaitingReadParamNameCount;

src/FirmwarePlugin/APM/APMParameterMetaData.cc

@@ -44,11 +44,13 @@ QVariant APMParameterMetaData::_stringToTypedVariant(const QString& string,
     case FactMetaData::valueTypeUint8:
     case FactMetaData::valueTypeUint16:
     case FactMetaData::valueTypeUint32:
+    case FactMetaData::valueTypeUint64:
         convertTo = QVariant::UInt;
         break;
     case FactMetaData::valueTypeInt8:
     case FactMetaData::valueTypeInt16:
     case FactMetaData::valueTypeInt32:
+    case FactMetaData::valueTypeInt64:
         convertTo = QVariant::Int;
         break;
     case FactMetaData::valueTypeFloat:
@@ -531,12 +533,14 @@ void APMParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
                 break;
 
             case FactMetaData::valueTypeInt32:
+            case FactMetaData::valueTypeInt64:
                 typedBitSet = QVariant((int)bitSet);
                 break;
 
             case FactMetaData::valueTypeUint8:
             case FactMetaData::valueTypeUint16:
             case FactMetaData::valueTypeUint32:
+            case FactMetaData::valueTypeUint64:
                 typedBitSet = QVariant(bitSet);
                 break;
 

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -492,6 +492,18 @@ const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle)
                                       0.8,      // minTriggerInterval
                                       this);
         _cameraList.append(QVariant::fromValue(metaData));
+
+        metaData = new CameraMetaData(tr("GoPro Hero 4"),
+                                      6.17,     // sensorWidth
+                                      4.55,     // sendsorHeight
+                                      4000,     // imageWidth
+                                      3000,     // imageHeight
+                                      2.98,     // focalLength
+                                      true,     // landscape
+                                      false,    // fixedOrientation
+                                      0,        // minTriggerInterval
+                                      this);
+        _cameraList.append(QVariant::fromValue(metaData));
     }
 
     return _cameraList;

src/FirmwarePlugin/FirmwarePlugin.h

@@ -43,11 +43,10 @@ public:
     /// Set of optional capabilites which firmware may support
     typedef enum {
         SetFlightModeCapability =           1 << 0, ///< FirmwarePlugin::setFlightMode method is supported
-        MavCmdPreflightStorageCapability =  1 << 1, ///< MAV_CMD_PREFLIGHT_STORAGE is supported
-        PauseVehicleCapability =            1 << 2, ///< Vehicle supports pausing at current location
-        GuidedModeCapability =              1 << 3, ///< Vehicle supports guided mode commands
-        OrbitModeCapability =               1 << 4, ///< Vehicle supports orbit mode
-        TakeoffVehicleCapability =          1 << 5, ///< Vehicle supports guided takeoff
+        PauseVehicleCapability =            1 << 1, ///< Vehicle supports pausing at current location
+        GuidedModeCapability =              1 << 2, ///< Vehicle supports guided mode commands
+        OrbitModeCapability =               1 << 3, ///< Vehicle supports orbit mode
+        TakeoffVehicleCapability =          1 << 4, ///< Vehicle supports guided takeoff
     } FirmwareCapabilities;
 
     /// Maps from on parameter name to another

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -227,7 +227,7 @@ int PX4FirmwarePlugin::manualControlReservedButtonCount(void)
 
 bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
 {
-    int available = MavCmdPreflightStorageCapability | SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
+    int available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
     if (vehicle->multiRotor() || vehicle->vtol()) {
         available |= TakeoffVehicleCapability;
     }

src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc

@@ -44,11 +44,13 @@ QVariant PX4ParameterMetaData::_stringToTypedVariant(const QString& string, Fact
     case FactMetaData::valueTypeUint8:
     case FactMetaData::valueTypeUint16:
     case FactMetaData::valueTypeUint32:
+    case FactMetaData::valueTypeUint64:
         convertTo = QVariant::UInt;
         break;
     case FactMetaData::valueTypeInt8:
     case FactMetaData::valueTypeInt16:
     case FactMetaData::valueTypeInt32:
+    case FactMetaData::valueTypeInt64:
         convertTo = QVariant::Int;
         break;
     case FactMetaData::valueTypeFloat:

src/FlightDisplay/FlightDisplayView.qml

@@ -94,6 +94,20 @@ QGCView {
         QGroundControl.saveBoolGlobalSetting(_PIPVisibleKey, state)
     }
 
+    function isInstrumentRight() {
+        if(QGroundControl.corePlugin.options.instrumentWidget) {
+            if(QGroundControl.corePlugin.options.instrumentWidget.source.toString().length) {
+                switch(QGroundControl.corePlugin.options.instrumentWidget.widgetPosition) {
+                case CustomInstrumentWidget.POS_TOP_LEFT:
+                case CustomInstrumentWidget.POS_BOTTOM_LEFT:
+                case CustomInstrumentWidget.POS_CENTER_LEFT:
+                    return false;
+                }
+            }
+        }
+        return true;
+    }
+
     PlanMasterController {
         id:                     masterController
         Component.onCompleted:  start(false /* editMode */)
@@ -447,8 +461,10 @@ QGCView {
         ToolStrip {
             visible:            (_activeVehicle ? _activeVehicle.guidedModeSupported : true) && !QGroundControl.videoManager.fullScreen
             id:                 toolStrip
-            anchors.leftMargin: ScreenTools.defaultFontPixelWidth
-            anchors.left:       _panel.left
+            anchors.leftMargin: isInstrumentRight() ? ScreenTools.defaultFontPixelWidth : undefined
+            anchors.left:       isInstrumentRight() ? _panel.left : undefined
+            anchors.rightMargin:isInstrumentRight() ? undefined : ScreenTools.defaultFontPixelWidth
+            anchors.right:      isInstrumentRight() ? undefined : _panel.right
             anchors.topMargin:  ScreenTools.toolbarHeight + (_margins * 2)
             anchors.top:        _panel.top
             z:                  _panel.z + 4

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -162,7 +162,7 @@ FlightMap {
 
         onNewItemsFromVehicle: {
             var visualItems = _missionController.visualItems
-            if (visualItems && visualItems.count != 1) {
+            if (visualItems && visualItems.count !== 1) {
                 mapFitFunctions.fitMapViewportToMissionItems()
                 firstVehiclePositionReceived = true
             }

src/FlightDisplay/FlightDisplayViewWidgets.qml

@@ -55,6 +55,27 @@ Item {
         if(QGroundControl.corePlugin.options.instrumentWidget) {
             if(QGroundControl.corePlugin.options.instrumentWidget.source.toString().length) {
                 instrumentsLoader.source = QGroundControl.corePlugin.options.instrumentWidget.source
+                switch(QGroundControl.corePlugin.options.instrumentWidget.widgetPosition) {
+                case CustomInstrumentWidget.POS_TOP_LEFT:
+                    instrumentsLoader.state  = "topLeftMode"
+                    break;
+                case CustomInstrumentWidget.POS_BOTTOM_LEFT:
+                    instrumentsLoader.state  = "bottomLeftMode"
+                    break;
+                case CustomInstrumentWidget.POS_CENTER_LEFT:
+                    instrumentsLoader.state  = "centerLeftMode"
+                    break;
+                case CustomInstrumentWidget.POS_TOP_RIGHT:
+                    instrumentsLoader.state  = "topRightMode"
+                    break;
+                case CustomInstrumentWidget.POS_BOTTOM_RIGHT:
+                    instrumentsLoader.state  = "bottomRightMode"
+                    break;
+                case CustomInstrumentWidget.POS_CENTER_RIGHT:
+                default:
+                    instrumentsLoader.state  = "centerRightMode"
+                    break;
+                }
             } else {
                 // Note: We currently show alternate instruments all the time. This is a trial change for daily builds.
                 // Leaving non-alternate code in for now in case the trial fails.
@@ -63,6 +84,7 @@ Item {
                     instrumentsLoader.source = "qrc:/qml/QGCInstrumentWidgetAlternate.qml"
                 } else {
                     instrumentsLoader.source = "qrc:/qml/QGCInstrumentWidget.qml"
+                    instrumentsLoader.state  = QGroundControl.settingsManager.appSettings.showLargeCompass.value === 1 ? "centerRightMode" : "topRightMode"
                 }
             }
         } else {
@@ -133,6 +155,11 @@ Item {
         anchors.top:            parent.top
         anchors.topMargin:      QGroundControl.corePlugin.options.instrumentWidget.widgetTopMargin + (ScreenTools.defaultFontPixelHeight * 0.5)
         anchors.margins:        ScreenTools.defaultFontPixelHeight * 0.5
+
+    //-- Instrument Panel
+    Loader {
+        id:                     instrumentsLoader
+        anchors.margins:        ScreenTools.defaultFontPixelHeight / 2
         anchors.right:          parent.right
         //-------------------------------------------------------
         // Airmap Airspace Control
@@ -151,5 +178,76 @@ Item {
             property var  qgcView:      widgetRoot.qgcView
             property real maxHeight:    widgetRoot ? widgetRoot.height - instrumentsColumn.y - airspaceControl.height - (ScreenTools.defaultFontPixelHeight * 4) : 0
         }
+        z:                      QGroundControl.zOrderWidgets
+        property var  qgcView:  _root.qgcView
+        property real maxHeight:parent.height - (anchors.margins * 2)
+        states: [
+            State {
+                name:   "topRightMode"
+                AnchorChanges {
+                    target:                 instrumentsLoader
+                    anchors.verticalCenter: undefined
+                    anchors.bottom:         undefined
+                    anchors.top:            _root ? _root.top : undefined
+                    anchors.right:          _root ? _root.right : undefined
+                    anchors.left:           undefined
+                }
+            },
+            State {
+                name:   "centerRightMode"
+                AnchorChanges {
+                    target:                 instrumentsLoader
+                    anchors.top:            undefined
+                    anchors.bottom:         undefined
+                    anchors.verticalCenter: _root ? _root.verticalCenter : undefined
+                    anchors.right:          _root ? _root.right : undefined
+                    anchors.left:           undefined
+                }
+            },
+            State {
+                name:   "bottomRightMode"
+                AnchorChanges {
+                    target:                 instrumentsLoader
+                    anchors.top:            undefined
+                    anchors.verticalCenter: undefined
+                    anchors.bottom:         _root ? _root.bottom : undefined
+                    anchors.right:          _root ? _root.right : undefined
+                    anchors.left:           undefined
+                }
+            },
+            State {
+                name:   "topLeftMode"
+                AnchorChanges {
+                    target:                 instrumentsLoader
+                    anchors.verticalCenter: undefined
+                    anchors.bottom:         undefined
+                    anchors.top:            _root ? _root.top : undefined
+                    anchors.right:          undefined
+                    anchors.left:           _root ? _root.left : undefined
+                }
+            },
+            State {
+                name:   "centerLeftMode"
+                AnchorChanges {
+                    target:                 instrumentsLoader
+                    anchors.top:            undefined
+                    anchors.bottom:         undefined
+                    anchors.verticalCenter: _root ? _root.verticalCenter : undefined
+                    anchors.right:          undefined
+                    anchors.left:           _root ? _root.left : undefined
+                }
+            },
+            State {
+                name:   "bottomLeftMode"
+                AnchorChanges {
+                    target:                 instrumentsLoader
+                    anchors.top:            undefined
+                    anchors.verticalCenter: undefined
+                    anchors.bottom:         _root ? _root.bottom : undefined
+                    anchors.right:          undefined
+                    anchors.left:           _root ? _root.left : undefined
+                }
+            }
+        ]
     }
 }

src/FlightDisplay/GuidedActionConfirm.qml

@@ -16,7 +16,7 @@ import QGroundControl.Controls      1.0
 import QGroundControl.Palette       1.0
 
 /// Guided actions confirmation dialog
-NoMouseThroughRectangle {
+Rectangle {
     id:             _root
     border.color:   qgcPal.alertBorder
     border.width:   1
@@ -42,12 +42,34 @@ NoMouseThroughRectangle {
         if (hideTrigger) {
             hideTrigger = false
             altitudeSlider.visible = false
+            visibleTimer.stop()
             visible = false
         }
     }
 
+    function show(immediate) {
+        if (immediate) {
+            visible = true
+        } else {
+            // We delay showing the confirmation for a small amount in order to any other state
+            // changes to propogate through the system. This way only the final state shows up.
+            visibleTimer.restart()
+        }
+    }
+
+    Timer {
+        id:             visibleTimer
+        interval:       1000
+        repeat:         false
+        onTriggered:    visible = true
+    }
+
     QGCPalette { id: qgcPal }
 
+    DeadMouseArea {
+        anchors.fill: parent
+    }
+
     Column {
         id:                 confirmColumn
         anchors.margins:    _margins

src/FlightDisplay/GuidedActionList.qml

@@ -17,7 +17,7 @@ import QGroundControl.Controls      1.0
 import QGroundControl.Palette       1.0
 
 /// Dialog showing list of available guided actions
-NoMouseThroughRectangle {
+Rectangle {
     id:         _root
     width:      actionColumn.width  + (_margins * 4)
     height:     actionColumn.height + (_margins * 4)
@@ -35,6 +35,10 @@ NoMouseThroughRectangle {
 
     QGCPalette { id: qgcPal }
 
+    DeadMouseArea {
+        anchors.fill: parent
+    }
+
     ColumnLayout {
         id:                 actionColumn
         anchors.margins:    _root._margins