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

QGCExternalLibs.pri

@@ -7,20 +7,35 @@ WindowsBuild {
 
 #
 # [REQUIRED] Add support for the MAVLink communications protocol.
-# Mavlink dialect is hardwired to arudpilotmega for now. The reason being
+#
+# By default MAVLink dialect is hardwired to arudpilotmega. The reason being
 # the current codebase supports both PX4 and APM flight stack. PX4 flight stack
-# only usese common mavlink specifications, whereas APM flight stack uses custom
-# mavlink specifications which add to common. So by using the adupilotmega dialect
+# only uses common MAVLink specifications, whereas APM flight stack uses custom
+# MAVLink specifications which adds to common. So by using the adupilotmega dialect
 # QGC can support both in the same codebase.
-#
+
 # Once the mavlink helper routines include support for multiple dialects within
 # a single compiled codebase this hardwiring of dialect can go away. But until then
 # this "workaround" is needed.
 
-MAVLINKPATH_REL = libs/mavlink/include/mavlink/v2.0
-MAVLINKPATH = $$BASEDIR/$$MAVLINKPATH_REL
-MAVLINK_CONF = ardupilotmega
-DEFINES += MAVLINK_NO_DATA
+# In the mean time, it’s possible to define a completely different dialect by defining the
+# location and name below.
+
+isEmpty(MAVLINKPATH_REL) {
+    MAVLINKPATH_REL = libs/mavlink/include/mavlink/v2.0
+}
+isEmpty(MAVLINKPATH) {
+    MAVLINKPATH     = $$BASEDIR/$$MAVLINKPATH_REL
+}
+isEmpty(MAVLINK_CONF) {
+    MAVLINK_CONF    = ardupilotmega
+}
+
+# If defined, all APM specific MAVLink messages are disabled
+contains (CONFIG, QGC_DISABLE_APM_MAVLINK) {
+    message("Disable APM MAVLink support")
+    DEFINES += NO_ARDUPILOT_DIALECT
+}
 
 # First we select the dialect, checking for valid user selection
 # Users can override all other settings by specifying MAVLINK_CONF as an argument to qmake

QGCInstaller.pri

@@ -31,8 +31,9 @@ installer {
         # macdeploy is missing some relocations once in a while. "Fix" it:
         QMAKE_POST_LINK += && python $$BASEDIR/tools/osxrelocator.py $${TARGET}.app/Contents @rpath @executable_path/../Frameworks -r > /dev/null 2>&1
         # Create package
-        QMAKE_POST_LINK += && cd $${OUT_PWD}
-        QMAKE_POST_LINK += && hdiutil create -verbose -stretch 4g -layout SPUD -srcfolder $${DESTDIR}/$${TARGET}.app -volname $${TARGET} $${DESTDIR}/package/$${TARGET}.dmg
+        QMAKE_POST_LINK += && hdiutil create /tmp/tmp.dmg -ov -volname "$${TARGET}-$${MAC_VERSION}" -fs HFS+ -srcfolder "$${DESTDIR}/"
+        QMAKE_POST_LINK += && hdiutil convert /tmp/tmp.dmg -format UDBZ -o $${DESTDIR}/package/$${TARGET}.dmg
+        QMAKE_POST_LINK += && rm /tmp/tmp.dmg
     }
     WindowsBuild {
         QMAKE_POST_LINK += $$escape_expand(\\n) cd $$BASEDIR_WIN && $$quote("\"C:\\Program Files \(x86\)\\NSIS\\makensis.exe\"" /DINSTALLER_ICON="\"$${QGC_INSTALLER_ICON}\"" /DHEADER_BITMAP="\"$${QGC_INSTALLER_HEADER_BITMAP}\"" /DAPPNAME="\"$${QGC_APP_NAME}\"" /DEXENAME="\"$${TARGET}\"" /DORGNAME="\"$${QGC_ORG_NAME}\"" /DDESTDIR=$${DESTDIR} /NOCD "\"/XOutFile $${DESTDIR_WIN}\\$${TARGET}-installer.exe\"" "$$BASEDIR_WIN\\deploy\\qgroundcontrol_installer.nsi")

src/AutoPilotPlugins/APM/APMLightsComponent.qml

@@ -11,6 +11,7 @@
 import QtQuick              2.3
 import QtQuick.Controls     1.2
 
+import QGroundControl               1.0
 import QGroundControl.FactSystem    1.0
 import QGroundControl.FactControls  1.0
 import QGroundControl.Palette       1.0
@@ -32,6 +33,8 @@ SetupPage {
 
             QGCPalette { id: palette; colorGroupEnabled: true }
 
+            property var  _activeVehicle:       QGroundControl.multiVehicleManager.activeVehicle
+            property bool _oldFW:               !(_activeVehicle.firmwareMajorVersion > 3 || _activeVehicle.firmwareMinorVersion > 5 || _activeVehicle.firmwarePatchVersion >= 2)
             property Fact _rc5Function:         controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
             property Fact _rc6Function:         controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
             property Fact _rc7Function:         controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
@@ -42,7 +45,8 @@ SetupPage {
             property Fact _rc12Function:        controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
             property Fact _rc13Function:        controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
             property Fact _rc14Function:        controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
-            property Fact _stepSize:            controller.getParameterFact(-1, "JS_LIGHTS_STEP")
+            property Fact _stepSize:            _oldFW ? controller.getParameterFact(-1, "JS_LIGHTS_STEP") : null // v3.5.1 and prior
+            property Fact _numSteps:            _oldFW ? null : controller.getParameterFact(-1, "JS_LIGHTS_STEPS") // v3.5.2 and up
 
             readonly property real  _margins:                       ScreenTools.defaultFontPixelHeight
             readonly property int   _rcFunctionDisabled:            0
@@ -88,22 +92,30 @@ SetupPage {
             }
 
             function calcCurrentStep() {
-                var i = 1
-                for(i; i <= 10; i++) {
-                    var stepSize = (1900-1100)/i
-                    if(_stepSize.value >= stepSize) {
-                        _stepSize.value = stepSize;
-                        break;
+                if (_oldFW) {
+                    var i = 1
+                    for(i; i <= 10; i++) {
+                        var stepSize = (1900-1100)/i
+                        if(_stepSize.value >= stepSize) {
+                            _stepSize.value = stepSize;
+                            break;
+                        }
                     }
+                    if (_stepSize.value < 80) {
+                        _stepSize.value = 80;
+                    }
+                    lightsLoader.lightsSteps = i
+                } else {
+                    lightsLoader.lightsSteps = _numSteps.value
                 }
-                if (_stepSize.value < 80) {
-                    _stepSize.value = 80;
-                }
-                lightsLoader.lightsSteps = i
             }
 
             function calcStepSize(steps) {
-                _stepSize.value = (1900-1100)/steps
+                if (_oldFW) {
+                    _stepSize.value = (1900-1100)/steps
+                } else {
+                    _numSteps.value = steps
+                }
             }
 
             // Whenever any SERVO#_FUNCTION parameters chagnes we need to go looking for light output channels again

src/AutoPilotPlugins/APM/APMSubFrameComponent.qml

@@ -12,6 +12,7 @@ import QtQuick              2.3
 import QtQuick.Controls     1.2
 import QtQuick.Dialogs      1.2
 
+import QGroundControl               1.0
 import QGroundControl.FactSystem    1.0
 import QGroundControl.FactControls  1.0
 import QGroundControl.Palette       1.0
@@ -22,12 +23,9 @@ import QGroundControl.Controllers   1.0
 SetupPage {
     id:                 subFramePage
     pageComponent:      subFramePageComponent
-    property var  _flatParamList:       ListModel {
-        ListElement {
-            name: "Blue Robotics BlueROV2"
-            file: "Sub/bluerov2-3_5.params"
-        }
-    }
+
+    property var  _activeVehicle:       QGroundControl.multiVehicleManager.activeVehicle
+    property bool _oldFW:   !(_activeVehicle.firmwareMajorVersion > 3 || _activeVehicle.firmwareMinorVersion > 5 || _activeVehicle.firmwarePatchVersion >= 2)
 
     APMAirframeComponentController { id: controller; factPanel: subFramePage.viewPanel }
 
@@ -194,18 +192,16 @@ SetupPage {
                 spacing :           _margins
                 layoutDirection:    Qt.Vertical;
 
-                Repeater {
-                    id:     airframePicker
-                    model:  _flatParamList
-
-                    delegate: QGCButton {
-                        width:  parent.width
-                        text:   name
-
-                        onClicked : {
-                            controller.loadParameters(file)
-                            hideDialog()
-                        }
+                QGCButton {
+                    width:  parent.width
+                    text:   "Blue Robotics BlueROV2"
+                    property var file:   _oldFW ? "Sub/bluerov2-3_5.params" : "Sub/bluerov2-3_5_2.params"
+
+                    onClicked : {
+                        console.log(_oldFW)
+                        console.log(_activeVehicle.firmwarePatchVersion)
+                        controller.loadParameters(file)
+                        hideDialog()
                     }
                 }
             }

src/FactSystem/Fact.cc

@@ -7,12 +7,10 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #include "Fact.h"
 #include "QGCMAVLink.h"
+#include "QGCApplication.h"
+#include "QGCCorePlugin.h"
 
 #include <QtQml>
 #include <QQmlEngine>
@@ -50,6 +48,21 @@ Fact::Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObjec
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
 }
 
+Fact::Fact(FactMetaData* metaData, QObject* parent)
+    : QObject(parent)
+    , _name                     (metaData->name())
+    , _componentId              (0)
+    , _rawValue                 (0)
+    , _type                     (metaData->type())
+    , _metaData                 (NULL)
+    , _sendValueChangedSignals  (true)
+    , _deferredValueChangeSignal(false)
+{
+    // Allow core plugin a chance to override the default value
+    qgcApp()->toolbox()->corePlugin()->adjustSettingMetaData(*metaData);
+    setMetaData(metaData, true /* setDefaultFromMetaData */);
+}
+
 Fact::Fact(const Fact& other, QObject* parent)
     : QObject(parent)
 {

src/FactSystem/Fact.h

@@ -31,6 +31,10 @@ public:
     Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent = NULL);
     Fact(const Fact& other, QObject* parent = NULL);
 
+    /// Creates a Fact using the name and type from metaData. Also calls QGCCorePlugin::adjustSettingsMetaData allowing
+    /// custom builds to override the metadata.
+    Fact(FactMetaData* metaData, QObject* parent = NULL);
+
     const Fact& operator=(const Fact& other);
 
     Q_PROPERTY(int          componentId             READ componentId                                        CONSTANT)

src/FactSystem/FactMetaData.cc

@@ -46,6 +46,7 @@ const FactMetaData::AppSettingsTranslation_s FactMetaData::_rgAppSettingsTransla
     { "meters", "meters",   false,  UnitsSettings::DistanceUnitsMeters,         FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
     { "cm/px",  "cm/px",    false,  UnitsSettings::DistanceUnitsMeters,         FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
     { "m/s",    "m/s",      true,   UnitsSettings::SpeedUnitsMetersPerSecond,   FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
+    { "C",      "C",        false,  UnitsSettings::TemperatureUnitsCelsius,     FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
     { "m^2",    "m^2",      false,  UnitsSettings::AreaUnitsSquareMeters,       FactMetaData::_defaultTranslator,                   FactMetaData::_defaultTranslator },
     { "m",      "ft",       false,  UnitsSettings::DistanceUnitsFeet,           FactMetaData::_metersToFeet,                        FactMetaData::_feetToMeters },
     { "meters", "ft",       false,  UnitsSettings::DistanceUnitsFeet,           FactMetaData::_metersToFeet,                        FactMetaData::_feetToMeters },
@@ -59,6 +60,7 @@ const FactMetaData::AppSettingsTranslation_s FactMetaData::_rgAppSettingsTransla
     { "m/s",    "mph",      true,   UnitsSettings::SpeedUnitsMilesPerHour,      FactMetaData::_metersPerSecondToMilesPerHour,       FactMetaData::_milesPerHourToMetersPerSecond },
     { "m/s",    "km/h",     true,   UnitsSettings::SpeedUnitsKilometersPerHour, FactMetaData::_metersPerSecondToKilometersPerHour,  FactMetaData::_kilometersPerHourToMetersPerSecond },
     { "m/s",    "kn",       true,   UnitsSettings::SpeedUnitsKnots,             FactMetaData::_metersPerSecondToKnots,              FactMetaData::_knotsToMetersPerSecond },
+    { "C",      "F",        false,  UnitsSettings::TemperatureUnitsFarenheit,   FactMetaData::_celsiusToFarenheit,                  FactMetaData::_farenheitToCelsius },
 };
 
 const char* FactMetaData::_decimalPlacesJsonKey =       "decimalPlaces";
@@ -685,6 +687,16 @@ QVariant FactMetaData::_inchesToCentimeters(const QVariant& inches)
     return QVariant(inches.toDouble() * constants.inchesToCentimeters);
 }
 
+QVariant FactMetaData::_celsiusToFarenheit(const QVariant& celsius)
+{
+    return QVariant(celsius.toDouble() * (9.0 / 5.0) + 32);
+}
+
+QVariant FactMetaData::_farenheitToCelsius(const QVariant& farenheit)
+{
+    return QVariant((farenheit.toDouble() - 32) * (5.0 / 9.0));
+}
+
 void FactMetaData::setRawUnits(const QString& rawUnits)
 {
     _rawUnits = rawUnits;
@@ -774,9 +786,11 @@ void FactMetaData::_setAppSettingsTranslators(void)
         for (size_t i=0; i<sizeof(_rgAppSettingsTranslations)/sizeof(_rgAppSettingsTranslations[0]); i++) {
             const AppSettingsTranslation_s* pAppSettingsTranslation = &_rgAppSettingsTranslations[i];
 
-            if (pAppSettingsTranslation->rawUnits == _rawUnits.toLower() &&
+            if ((pAppSettingsTranslation->rawUnits == _rawUnits && // Temperature
+                    (!pAppSettingsTranslation->speed && pAppSettingsTranslation->speedOrDistanceUnits == qgcApp()->toolbox()->settingsManager()->unitsSettings()->temperatureUnits()->rawValue().toUInt())) ||
+            (pAppSettingsTranslation->rawUnits == _rawUnits.toLower() && // Speed and Distance
                     ((pAppSettingsTranslation->speed && pAppSettingsTranslation->speedOrDistanceUnits == qgcApp()->toolbox()->settingsManager()->unitsSettings()->speedUnits()->rawValue().toUInt()) ||
-                     (!pAppSettingsTranslation->speed && pAppSettingsTranslation->speedOrDistanceUnits == qgcApp()->toolbox()->settingsManager()->unitsSettings()->distanceUnits()->rawValue().toUInt()))) {
+                    (!pAppSettingsTranslation->speed && pAppSettingsTranslation->speedOrDistanceUnits == qgcApp()->toolbox()->settingsManager()->unitsSettings()->distanceUnits()->rawValue().toUInt())))) {
                 _cookedUnits = pAppSettingsTranslation->cookedUnits;
                 setTranslators(pAppSettingsTranslation->rawTranslator, pAppSettingsTranslation->cookedTranslator);
                 return;
@@ -972,29 +986,58 @@ FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QObjec
     if (json.contains(_unitsJsonKey)) {
         metaData->setRawUnits(json[_unitsJsonKey].toString());
     }
+
+    QString defaultValueJsonKey;
 #ifdef __mobile__
     if (json.contains(_mobileDefaultValueJsonKey)) {
-        metaData->setRawDefaultValue(json[_mobileDefaultValueJsonKey].toVariant());
-    } else if (json.contains(_defaultValueJsonKey)) {
-        metaData->setRawDefaultValue(json[_defaultValueJsonKey].toVariant());
-    }
-#else
-    if (json.contains(_defaultValueJsonKey)) {
-        metaData->setRawDefaultValue(json[_defaultValueJsonKey].toVariant());
+        defaultValueJsonKey = _mobileDefaultValueJsonKey;
     }
 #endif
+    if (defaultValueJsonKey.isEmpty() && json.contains(_defaultValueJsonKey)) {
+        defaultValueJsonKey = _defaultValueJsonKey;
+    }
+    if (!defaultValueJsonKey.isEmpty()) {
+        QVariant typedValue;
+        QString errorString;
+        QVariant initialValue = json[defaultValueJsonKey].toVariant();
+        if (metaData->convertAndValidateRaw(initialValue, true /* convertOnly */, typedValue, errorString)) {
+            metaData->setRawDefaultValue(typedValue);
+        } else {
+            qWarning() << "Invalid default value, name:" << metaData->name()
+                       << " type:" << metaData->type()
+                       << " value:" << initialValue
+                       << " error:" << errorString;
+        }
+    }
+
     if (json.contains(_minJsonKey)) {
         QVariant typedValue;
         QString errorString;
-        metaData->convertAndValidateRaw(json[_minJsonKey].toVariant(), true /* convertOnly */, typedValue, errorString);
-        metaData->setRawMin(typedValue);
+        QVariant initialValue = json[_minJsonKey].toVariant();
+        if (metaData->convertAndValidateRaw(initialValue, true /* convertOnly */, typedValue, errorString)) {
+            metaData->setRawMin(typedValue);
+        } else {
+            qWarning() << "Invalid min value, name:" << metaData->name()
+                       << " type:" << metaData->type()
+                       << " value:" << initialValue
+                       << " error:" << errorString;
+        }
     }
+
     if (json.contains(_maxJsonKey)) {
         QVariant typedValue;
         QString errorString;
-        metaData->convertAndValidateRaw(json[_maxJsonKey].toVariant(), true /* convertOnly */, typedValue, errorString);
-        metaData->setRawMax(typedValue);
+        QVariant initialValue = json[_maxJsonKey].toVariant();
+        if (metaData->convertAndValidateRaw(initialValue, true /* convertOnly */, typedValue, errorString)) {
+            metaData->setRawMax(typedValue);
+        } else {
+            qWarning() << "Invalid max value, name:" << metaData->name()
+                       << " type:" << metaData->type()
+                       << " value:" << initialValue
+                       << " error:" << errorString;
+        }
     }
+
     if (json.contains(_hasControlJsonKey)) {
         metaData->setHasControl(json[_hasControlJsonKey].toBool());
     } else {

src/FactSystem/FactMetaData.h

@@ -193,6 +193,8 @@ private:
     static QVariant _normToPercent(const QVariant& normalized);
     static QVariant _centimetersToInches(const QVariant& centimeters);
     static QVariant _inchesToCentimeters(const QVariant& inches);
+    static QVariant _celsiusToFarenheit(const QVariant& celsius);
+    static QVariant _farenheitToCelsius(const QVariant& farenheit);
 
     struct AppSettingsTranslation_s {
         const char* rawUnits;

src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml

@@ -1093,9 +1093,9 @@ This parameter controls the time constant of the decay</short_desc>
     </parameter>
     <parameter default="1" name="EKF2_AID_MASK" type="INT32">
       <short_desc>Integer bitmask controlling data fusion and aiding methods</short_desc>
-      <long_desc>Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion 5 : Set to true to enable multi-rotor drag specific force fusion</long_desc>
+      <long_desc>Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion 5 : Set to true to enable multi-rotor drag specific force fusion 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used</long_desc>
       <min>0</min>
-      <max>63</max>
+      <max>127</max>
       <reboot_required>true</reboot_required>
       <scope>modules/ekf2</scope>
       <bitmask>
@@ -1105,6 +1105,7 @@ This parameter controls the time constant of the decay</short_desc>
         <bit index="3">vision position fusion</bit>
         <bit index="4">vision yaw fusion</bit>
         <bit index="5">multi-rotor drag fusion</bit>
+        <bit index="6">rotate external vision</bit>
       </bitmask>
     </parameter>
     <parameter default="0.1" name="EKF2_ANGERR_INIT" type="FLOAT">
@@ -1184,6 +1185,14 @@ This should be adjusted to minimise variance of the Y-axis drag specific force i
       <decimal>1</decimal>
       <scope>modules/ekf2</scope>
     </parameter>
+    <parameter default="5.0" name="EKF2_BETA_GATE" type="FLOAT">
+      <short_desc>Gate size for synthetic sideslip fusion</short_desc>
+      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
+      <min>1.0</min>
+      <unit>SD</unit>
+      <decimal>1</decimal>
+      <scope>modules/ekf2</scope>
+    </parameter>
     <parameter default="0.3" name="EKF2_BETA_NOISE" type="FLOAT">
       <short_desc>Noise for synthetic sideslip fusion</short_desc>
       <min>0.1</min>
@@ -3124,7 +3133,7 @@ but also ignore less noise</short_desc>
       <decimal>1</decimal>
       <scope>modules/land_detector</scope>
     </parameter>
-    <parameter default="4.0" name="LNDFW_VELI_MAX" type="FLOAT">
+    <parameter default="8.0" name="LNDFW_VELI_MAX" type="FLOAT">
       <short_desc>Fixedwing max short-term velocity</short_desc>
       <long_desc>Maximum velocity integral in flight direction allowed in the landed state (m/s)</long_desc>
       <min>2</min>

src/FlightDisplay/qmldir

@@ -4,9 +4,9 @@ FlightDisplayView           1.0 FlightDisplayView.qml
 FlightDisplayViewMap        1.0 FlightDisplayViewMap.qml
 FlightDisplayViewVideo      1.0 FlightDisplayViewVideo.qml
 FlightDisplayViewWidgets    1.0 FlightDisplayViewWidgets.qml
-GuidedActionsConfirm        1.0 GuidedActionsConfirm.qml
+GuidedActionConfirm         1.0 GuidedActionConfirm.qml
 GuidedActionsController     1.0 GuidedActionsController.qml
-GuidedActionsList           1.0 GuidedActionsList.qml
+GuidedActionList            1.0 GuidedActionList.qml
 GuidedAltitudeSlider        1.0 GuidedAltitudeSlider.qml
 MultiVehicleList            1.0 MultiVehicleList.qml
 

src/GPS/RTCM/RTCMMavlink.cc

@@ -38,29 +38,26 @@ void RTCMMavlink::RTCMDataUpdate(QByteArray message)
 
     if (message.size() < maxMessageLength) {
         mavlinkRtcmData.len = message.size();
+        mavlinkRtcmData.flags = (_sequenceId & 0x1F) << 3;
         memcpy(&mavlinkRtcmData.data, message.data(), message.size());
         sendMessageToVehicle(mavlinkRtcmData);
     } else {
         // We need to fragment
 
-        static uint8_t sequenceId = 0;  // Sequence id is used to indicate that the individual fragements belong to the same set
         uint8_t fragmentId = 0;         // Fragment id indicates the fragment within a set
-
         int start = 0;
         while (start < message.size()) {
             int length = std::min(message.size() - start, maxMessageLength);
             mavlinkRtcmData.flags = 1;                      // LSB set indicates message is fragmented
             mavlinkRtcmData.flags |= fragmentId++ << 1;     // Next 2 bits are fragment id
-            mavlinkRtcmData.flags |= sequenceId++ << 3;     // Next 5 bits are sequence id
+            mavlinkRtcmData.flags |= (_sequenceId & 0x1F) << 3;     // Next 5 bits are sequence id
             mavlinkRtcmData.len = length;
             memcpy(&mavlinkRtcmData.data, message.data() + start, length);
             sendMessageToVehicle(mavlinkRtcmData);
             start += length;
         }
-        if (sequenceId == 0x1F) {
-            sequenceId = 0;
-        }
     }
+    ++_sequenceId;
 }
 
 void RTCMMavlink::sendMessageToVehicle(const mavlink_gps_rtcm_data_t& msg)

src/GPS/RTCM/RTCMMavlink.h

@@ -36,4 +36,5 @@ private:
     QGCToolbox& _toolbox;
     QElapsedTimer _bandwidthTimer;
     int _bandwidthByteCounter = 0;
+    uint8_t _sequenceId = 0;
 };

src/MissionManager/CameraCalc.cc

@@ -21,14 +21,14 @@ const char* CameraCalc::_frontalOverlapName =           "FrontalOverlap";
 const char* CameraCalc::_sideOverlapName =              "SideOverlap";
 const char* CameraCalc::_adjustedFootprintFrontalName = "AdjustedFootprintFrontal";
 const char* CameraCalc::_adjustedFootprintSideName =    "AdjustedFootprintSide";
+const char* CameraCalc::_jsonCameraNameKey =            "CameraName";
 const char* CameraCalc::_jsonCameraSpecTypeKey =        "CameraSpecType";
-const char* CameraCalc::_jsonKnownCameraNameKey =       "CameraName";
 
 CameraCalc::CameraCalc(Vehicle* vehicle, QObject* parent)
     : CameraSpec                    (parent)
     , _vehicle                      (vehicle)
     , _dirty                        (false)
-    , _cameraSpecType               (CameraSpecNone)
+    , _cameraName                   (manualCameraName())
     , _disableRecalc                (false)
     , _metaDataMap                  (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraCalc.FactMetaData.json"), this))
     , _valueSetIsDistanceFact       (0, _valueSetIsDistanceName,        FactMetaData::valueTypeBool)
@@ -52,9 +52,7 @@ CameraCalc::CameraCalc(Vehicle* vehicle, QObject* parent)
     _adjustedFootprintSideFact.setMetaData      (_metaDataMap[_adjustedFootprintSideName],      true);
     _adjustedFootprintFrontalFact.setMetaData   (_metaDataMap[_adjustedFootprintFrontalName],   true);
 
-    connect(this, &CameraCalc::knownCameraNameChanged, this, &CameraCalc::_knownCameraNameChanged);
-
-    connect(this, &CameraCalc::cameraSpecTypeChanged, this, &CameraCalc::_recalcTriggerDistance);
+    connect(this, &CameraCalc::cameraNameChanged, this, &CameraCalc::_recalcTriggerDistance);
 
     connect(&_distanceToSurfaceFact,    &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
     connect(&_imageDensityFact,         &Fact::rawValueChanged, this, &CameraCalc::_recalcTriggerDistance);
@@ -73,59 +71,57 @@ void CameraCalc::setDirty(bool dirty)
     }
 }
 
-void CameraCalc::setCameraSpecType(CameraSpecType cameraSpecType)
-{
-    if (cameraSpecType != _cameraSpecType) {
-        _cameraSpecType = cameraSpecType;
-        emit cameraSpecTypeChanged(_cameraSpecType);
-    }
-}
-
-void CameraCalc::setKnownCameraName(QString knownCameraName)
-{
-    if (knownCameraName != _knownCameraName) {
-        _knownCameraName = knownCameraName;
-        emit knownCameraNameChanged(_knownCameraName);
-    }
-}
-
-void CameraCalc::_knownCameraNameChanged(QString knownCameraName)
+void CameraCalc::setCameraName(QString cameraName)
 {
-    if (_cameraSpecType == CameraSpecKnown) {
-        CameraMetaData* cameraMetaData = NULL;
-
-        // Update camera specs to new camera
-        for (int cameraIndex=0; cameraIndex<_knownCameraList.count(); cameraIndex++) {
-            cameraMetaData = _knownCameraList[cameraIndex].value<CameraMetaData*>();
-            if (knownCameraName == cameraMetaData->name()) {
-                break;
+    if (cameraName != _cameraName) {
+        _cameraName = cameraName;
+
+        if (_cameraName == manualCameraName() || _cameraName == customCameraName()) {
+            // These values are unknown for these types
+            fixedOrientation()->setRawValue(false);
+            minTriggerInterval()->setRawValue(0);
+            if (_cameraName == manualCameraName()) {
+                valueSetIsDistance()->setRawValue(false);
             }
-        }
-
-        _disableRecalc = true;
-        if (cameraMetaData) {
-            sensorWidth()->setRawValue          (cameraMetaData->sensorWidth());
-            sensorHeight()->setRawValue         (cameraMetaData->sensorHeight());
-            imageWidth()->setRawValue           (cameraMetaData->imageWidth());
-            imageHeight()->setRawValue          (cameraMetaData->imageHeight());
-            focalLength()->setRawValue          (cameraMetaData->focalLength());
-            landscape()->setRawValue            (cameraMetaData->landscape());
-            fixedOrientation()->setRawValue     (cameraMetaData->fixedOrientation());
-            minTriggerInterval()->setRawValue   (cameraMetaData->minTriggerInterval());
         } else {
-            // We don't know this camera, switch back to custom
-            _cameraSpecType = CameraSpecCustom;
-            emit cameraSpecTypeChanged(_cameraSpecType);
+            // This should be a known camera name. Update camera specs to new camera
+
+            bool foundKnownCamera = false;
+            CameraMetaData* cameraMetaData = NULL;
+            for (int cameraIndex=0; cameraIndex<_knownCameraList.count(); cameraIndex++) {
+                cameraMetaData = _knownCameraList[cameraIndex].value<CameraMetaData*>();
+                if (cameraName == cameraMetaData->name()) {
+                    foundKnownCamera = true;
+                    break;
+                }
+            }
+
+            _disableRecalc = true;
+            if (foundKnownCamera) {
+                sensorWidth()->setRawValue          (cameraMetaData->sensorWidth());
+                sensorHeight()->setRawValue         (cameraMetaData->sensorHeight());
+                imageWidth()->setRawValue           (cameraMetaData->imageWidth());
+                imageHeight()->setRawValue          (cameraMetaData->imageHeight());
+                focalLength()->setRawValue          (cameraMetaData->focalLength());
+                landscape()->setRawValue            (cameraMetaData->landscape());
+                fixedOrientation()->setRawValue     (cameraMetaData->fixedOrientation());
+                minTriggerInterval()->setRawValue   (cameraMetaData->minTriggerInterval());
+            } else {
+                // We don't know this camera, switch back to custom
+                _cameraName = customCameraName();
+                fixedOrientation()->setRawValue(false);
+                minTriggerInterval()->setRawValue(0);
+            }
+            _disableRecalc = false;
         }
-        _disableRecalc = false;
 
-        _recalcTriggerDistance();
+        emit cameraNameChanged(_cameraName);
     }
 }
 
 void CameraCalc::_recalcTriggerDistance(void)
 {
-    if (_disableRecalc || _cameraSpecType == CameraSpecNone) {
+    if (_disableRecalc || _cameraName == manualCameraName()) {
         return;
     }
 
@@ -168,14 +164,14 @@ void CameraCalc::_recalcTriggerDistance(void)
 
 void CameraCalc::save(QJsonObject& json) const
 {
-    json[_jsonCameraSpecTypeKey] =          (int)_cameraSpecType;
+    json[JsonHelper::jsonVersionKey] =      1;
     json[_adjustedFootprintSideName] =      _adjustedFootprintSideFact.rawValue().toDouble();
     json[_adjustedFootprintFrontalName] =   _adjustedFootprintFrontalFact.rawValue().toDouble();
     json[_distanceToSurfaceName] =  _distanceToSurfaceFact.rawValue().toDouble();
+    json[_jsonCameraNameKey] = _cameraName;
 
-    if (_cameraSpecType != CameraSpecNone) {
+    if (_cameraName != manualCameraName()) {
         CameraSpec::save(json);
-        json[_jsonKnownCameraNameKey] = _knownCameraName;
         json[_valueSetIsDistanceName] = _valueSetIsDistanceFact.rawValue().toBool();
         json[_imageDensityName] =       _imageDensityFact.rawValue().toDouble();
         json[_frontalOverlapName] =     _frontalOverlapFact.rawValue().toDouble();
@@ -184,55 +180,65 @@ void CameraCalc::save(QJsonObject& json) const
 }
 
 bool CameraCalc::load(const QJsonObject& json, QString& errorString)
-{    
+{
+    QJsonObject v1Json = json;
+
+    if (!v1Json.contains(JsonHelper::jsonVersionKey)) {
+        // Version 0 file. Differences from Version 1 for conversion:
+        //  JsonHelper::jsonVersionKey not stored
+        //  _jsonCameraSpecTypeKey stores CameraSpecType
+        //  _jsonCameraNameKey only set if CameraSpecKnown
+        int cameraSpec = v1Json[_jsonCameraSpecTypeKey].toInt(CameraSpecNone);
+        if (cameraSpec == CameraSpecCustom) {
+            v1Json[_jsonCameraNameKey] = customCameraName();
+        } else if (cameraSpec == CameraSpecNone) {
+            v1Json[_jsonCameraNameKey] = manualCameraName();
+        }
+        v1Json.remove(_jsonCameraSpecTypeKey);
+        v1Json[JsonHelper::jsonVersionKey] = 1;
+    }
+
+    int version = v1Json[JsonHelper::jsonVersionKey].toInt();
+    if (version != 1) {
+        errorString = tr("CameraCalc section version %1 not supported").arg(version);
+        return false;
+    }
+
     QList<JsonHelper::KeyValidateInfo> keyInfoList1 = {
-        { _jsonCameraSpecTypeKey,           QJsonValue::Double, true },
+        { _jsonCameraNameKey,               QJsonValue::String, true },
         { _adjustedFootprintSideName,       QJsonValue::Double, true },
         { _adjustedFootprintFrontalName,    QJsonValue::Double, true },
         { _distanceToSurfaceName,           QJsonValue::Double, true },
     };
-    if (!JsonHelper::validateKeys(json, keyInfoList1, errorString)) {
-        return false;
-    }
-
-    int cameraSpecType = json[_jsonCameraSpecTypeKey].toInt();
-    switch (cameraSpecType) {
-    case CameraSpecNone:
-    case CameraSpecCustom:
-    case CameraSpecKnown:
-        break;
-    default:
-        errorString = tr("Unsupported CameraSpecType %d").arg(cameraSpecType);
+    if (!JsonHelper::validateKeys(v1Json, keyInfoList1, errorString)) {
         return false;
     }
 
     _disableRecalc = true;
 
-    setCameraSpecType((CameraSpecType)cameraSpecType);
-    _adjustedFootprintSideFact.setRawValue      (json[_adjustedFootprintSideName].toDouble());
-    _adjustedFootprintFrontalFact.setRawValue   (json[_adjustedFootprintFrontalName].toDouble());
-    _distanceToSurfaceFact.setRawValue          (json[_distanceToSurfaceName].toDouble());
+    setCameraName(v1Json[_jsonCameraNameKey].toString());
+    _adjustedFootprintSideFact.setRawValue      (v1Json[_adjustedFootprintSideName].toDouble());
+    _adjustedFootprintFrontalFact.setRawValue   (v1Json[_adjustedFootprintFrontalName].toDouble());
+    _distanceToSurfaceFact.setRawValue          (v1Json[_distanceToSurfaceName].toDouble());
 
-    if (_cameraSpecType != CameraSpecNone) {
+    if (_cameraName != manualCameraName()) {
         QList<JsonHelper::KeyValidateInfo> keyInfoList2 = {
-            { _jsonKnownCameraNameKey,          QJsonValue::String, true },
             { _valueSetIsDistanceName,          QJsonValue::Bool,   true },
             { _imageDensityName,                QJsonValue::Double, true },
             { _frontalOverlapName,              QJsonValue::Double, true },
             { _sideOverlapName,                 QJsonValue::Double, true },
         };
-        if (!JsonHelper::validateKeys(json, keyInfoList2, errorString)) {
+        if (!JsonHelper::validateKeys(v1Json, keyInfoList2, errorString)) {
             return false;
             _disableRecalc = false;
         }
 
-        setKnownCameraName(json[_jsonKnownCameraNameKey].toString());
-        _valueSetIsDistanceFact.setRawValue (json[_valueSetIsDistanceName].toBool());
-        _imageDensityFact.setRawValue       (json[_imageDensityName].toDouble());
-        _frontalOverlapFact.setRawValue     (json[_frontalOverlapName].toDouble());
-        _sideOverlapFact.setRawValue        (json[_sideOverlapName].toDouble());
+        _valueSetIsDistanceFact.setRawValue (v1Json[_valueSetIsDistanceName].toBool());
+        _imageDensityFact.setRawValue       (v1Json[_imageDensityName].toDouble());
+        _frontalOverlapFact.setRawValue     (v1Json[_frontalOverlapName].toDouble());
+        _sideOverlapFact.setRawValue        (v1Json[_sideOverlapName].toDouble());
 
-        if (!CameraSpec::load(json, errorString)) {
+        if (!CameraSpec::load(v1Json, errorString)) {
             return false;
         }
     }
@@ -241,3 +247,13 @@ bool CameraCalc::load(const QJsonObject& json, QString& errorString)
 
     return true;
 }
+
+QString CameraCalc::customCameraName(void)
+{
+    return tr("Custom Camera");
+}
+
+QString CameraCalc::manualCameraName(void)
+{
+    return tr("Manual (no camera specs)");
+}

src/MissionManager/CameraCalc.h

@@ -20,32 +20,25 @@ class CameraCalc : public CameraSpec
 public:
     CameraCalc(Vehicle* vehicle, QObject* parent = NULL);
 
-    Q_ENUMS(CameraSpecType)
-
-    Q_PROPERTY(CameraSpecType   cameraSpecType              READ cameraSpecType     WRITE setCameraSpecType     NOTIFY cameraSpecTypeChanged)
-    Q_PROPERTY(QString          knownCameraName             READ knownCameraName    WRITE setKnownCameraName    NOTIFY knownCameraNameChanged)
-    Q_PROPERTY(Fact*            valueSetIsDistance          READ valueSetIsDistance         CONSTANT)                       ///< true: distance specified, resolution calculated
-    Q_PROPERTY(Fact*            distanceToSurface           READ distanceToSurface          CONSTANT)                       ///< Distance to surface for image foot print calculation
-    Q_PROPERTY(Fact*            imageDensity                READ imageDensity               CONSTANT)                       ///< Image density on surface (cm/px)
-    Q_PROPERTY(Fact*            frontalOverlap              READ frontalOverlap             CONSTANT)
-    Q_PROPERTY(Fact*            sideOverlap                 READ sideOverlap                CONSTANT)
-    Q_PROPERTY(Fact*            adjustedFootprintSide       READ adjustedFootprintSide      CONSTANT)                       ///< Side footprint adjusted down for overlap
-    Q_PROPERTY(Fact*            adjustedFootprintFrontal    READ adjustedFootprintFrontal   CONSTANT)                       ///< Frontal footprint adjusted down for overlap
+    Q_PROPERTY(QString          cameraName                  READ cameraName         WRITE setCameraName NOTIFY cameraNameChanged)
+    Q_PROPERTY(QString          customCameraName            READ customCameraName                       CONSTANT)                   // Camera name for custom camera setting
+    Q_PROPERTY(QString          manualCameraName            READ manualCameraName                       CONSTANT)                   // Camera name for manual camera setting
+    Q_PROPERTY(Fact*            valueSetIsDistance          READ valueSetIsDistance                     CONSTANT)                   ///< true: distance specified, resolution calculated
+    Q_PROPERTY(Fact*            distanceToSurface           READ distanceToSurface                      CONSTANT)                   ///< Distance to surface for image foot print calculation
+    Q_PROPERTY(Fact*            imageDensity                READ imageDensity                           CONSTANT)                   ///< Image density on surface (cm/px)
+    Q_PROPERTY(Fact*            frontalOverlap              READ frontalOverlap                         CONSTANT)
+    Q_PROPERTY(Fact*            sideOverlap                 READ sideOverlap                            CONSTANT)
+    Q_PROPERTY(Fact*            adjustedFootprintSide       READ adjustedFootprintSide                  CONSTANT)                   ///< Side footprint adjusted down for overlap
+    Q_PROPERTY(Fact*            adjustedFootprintFrontal    READ adjustedFootprintFrontal               CONSTANT)                   ///< Frontal footprint adjusted down for overlap
 
     // The following values are calculated from the camera properties
-    Q_PROPERTY(double imageFootprintSide              READ imageFootprintSide               NOTIFY imageFootprintSideChanged)                 ///< Size of image size side in meters
-    Q_PROPERTY(double imageFootprintFrontal           READ imageFootprintFrontal            NOTIFY imageFootprintFrontalChanged)              ///< Size of image size frontal in meters
+    Q_PROPERTY(double imageFootprintSide    READ imageFootprintSide     NOTIFY imageFootprintSideChanged)       ///< Size of image size side in meters
+    Q_PROPERTY(double imageFootprintFrontal READ imageFootprintFrontal  NOTIFY imageFootprintFrontalChanged)    ///< Size of image size frontal in meters
 
-    enum CameraSpecType {
-        CameraSpecNone,
-        CameraSpecCustom,
-        CameraSpecKnown
-    };
-
-    CameraSpecType cameraSpecType(void) const { return _cameraSpecType; }
-    QString knownCameraName(void) const { return _knownCameraName; }
-    void setCameraSpecType(CameraSpecType cameraSpecType);
-    void setKnownCameraName(QString knownCameraName);
+    static QString customCameraName(void);
+    static QString manualCameraName(void);
+    QString cameraName(void) const { return _cameraName; }
+    void setCameraName(QString cameraName);
 
     Fact* valueSetIsDistance        (void) { return &_valueSetIsDistanceFact; }
     Fact* distanceToSurface         (void) { return &_distanceToSurfaceFact; }
@@ -65,21 +58,18 @@ public:
     bool load(const QJsonObject& json, QString& errorString);
 
 signals:
-    void cameraSpecTypeChanged          (CameraSpecType cameraSpecType);
-    void knownCameraNameChanged         (QString knownCameraName);
+    void cameraNameChanged              (QString cameraName);
     void dirtyChanged                   (bool dirty);
     void imageFootprintSideChanged      (double imageFootprintSide);
     void imageFootprintFrontalChanged   (double imageFootprintFrontal);
 
 private slots:
-    void _knownCameraNameChanged(QString knownCameraName);
     void _recalcTriggerDistance(void);
 
 private:
     Vehicle*        _vehicle;
     bool            _dirty;
-    CameraSpecType  _cameraSpecType;
-    QString         _knownCameraName;
+    QString         _cameraName;
     bool            _disableRecalc;
 
     QMap<QString, FactMetaData*> _metaDataMap;
@@ -104,6 +94,15 @@ private:
     static const char* _sideOverlapName;
     static const char* _adjustedFootprintSideName;
     static const char* _adjustedFootprintFrontalName;
+    static const char* _jsonCameraNameKey;
+
+    // The following are deprecated usage and only included in order to convert older formats
+
+    enum CameraSpecType {
+        CameraSpecNone,
+        CameraSpecCustom,
+        CameraSpecKnown
+    };
+
     static const char* _jsonCameraSpecTypeKey;
-    static const char* _jsonKnownCameraNameKey;
 };

src/MissionManager/FWLandingPattern.FactMetaData.json

 [
 {
-    "name":             "Landing dist",
+    "name":             "LandingDistance",
     "shortDescription": "Distance between landing and loiter points.",
     "type":             "double",
     "units":            "m",
@@ -9,7 +9,7 @@
     "defaultValue":     300.0
 },
 {
-    "name":             "Landing heading",
+    "name":             "LandingHeading",
     "shortDescription": "Heading from loiter point to land point.",
     "type":             "double",
     "units":            "deg",
@@ -19,7 +19,7 @@
     "defaultValue":     270.0
 },
 {
-    "name":             "Loiter altitude",
+    "name":             "LoiterAltitude",
     "shortDescription": "Aircraft will proceed to the loiter point and loiter until it reaches this altitude. Once altitude is reached the aircraft will proceed to land.",
     "type":             "double",
     "units":            "m",
@@ -27,7 +27,7 @@
     "defaultValue":     40.0
 },
 {
-    "name":             "Loiter radius",
+    "name":             "LoiterRadius",
     "shortDescription": "Loiter radius.",
     "type":             "double",
     "decimalPlaces":    1,
@@ -36,7 +36,7 @@
     "defaultValue":     75.0
 },
 {
-    "name":             "Landing altitude",
+    "name":             "LandingAltitude",
     "shortDescription": "Altitude for landing point.",
     "type":             "double",
     "units":            "m",
@@ -44,7 +44,7 @@
     "defaultValue":     0.0
 },
 {
-    "name":             "Descent rate",
+    "name":             "DescentRate",
     "shortDescription": "Descent rate between landing and loiter altitude.",
     "type":             "double",
     "units":            "%",

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -20,12 +20,12 @@ QGC_LOGGING_CATEGORY(FixedWingLandingComplexItemLog, "FixedWingLandingComplexIte
 
 const char* FixedWingLandingComplexItem::jsonComplexItemTypeValue = "fwLandingPattern";
 
-const char* FixedWingLandingComplexItem::_loiterToLandDistanceName =    "Landing dist";
-const char* FixedWingLandingComplexItem::_landingHeadingName =          "Landing heading";
-const char* FixedWingLandingComplexItem::_loiterAltitudeName =          "Loiter altitude";
-const char* FixedWingLandingComplexItem::_loiterRadiusName =            "Loiter radius";
-const char* FixedWingLandingComplexItem::_landingAltitudeName =         "Landing altitude";
-const char* FixedWingLandingComplexItem::_fallRateName =                "Descent rate";
+const char* FixedWingLandingComplexItem::loiterToLandDistanceName = "LandingDistance";
+const char* FixedWingLandingComplexItem::landingHeadingName =       "LandingHeading";
+const char* FixedWingLandingComplexItem::loiterAltitudeName =       "LoiterAltitude";
+const char* FixedWingLandingComplexItem::loiterRadiusName =         "LoiterRadius";
+const char* FixedWingLandingComplexItem::landingAltitudeName =      "LandingAltitude";
+const char* FixedWingLandingComplexItem::fallRateName =             "DescentRate";
 
 const char* FixedWingLandingComplexItem::_jsonLoiterCoordinateKey =         "loiterCoordinate";
 const char* FixedWingLandingComplexItem::_jsonLoiterRadiusKey =             "loiterRadius";
@@ -35,44 +35,25 @@ const char* FixedWingLandingComplexItem::_jsonLandingCoordinateKey =        "lan
 const char* FixedWingLandingComplexItem::_jsonLandingAltitudeRelativeKey =  "landAltitudeRelative";
 const char* FixedWingLandingComplexItem::_jsonFallRateKey =                 "fallRate";
 
-QMap<QString, FactMetaData*> FixedWingLandingComplexItem::_metaDataMap;
-
 FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent)
-    : ComplexMissionItem(vehicle, parent)
-    , _sequenceNumber(0)
-    , _dirty(false)
-    , _landingCoordSet(false)
-    , _ignoreRecalcSignals(false)
-    , _landingDistanceFact  (0, _loiterToLandDistanceName,  FactMetaData::valueTypeDouble)
-    , _loiterAltitudeFact   (0, _loiterAltitudeName,        FactMetaData::valueTypeDouble)
-    , _loiterRadiusFact     (0, _loiterRadiusName,          FactMetaData::valueTypeDouble)
-    , _landingHeadingFact   (0, _landingHeadingName,        FactMetaData::valueTypeDouble)
-    , _landingAltitudeFact  (0, _landingAltitudeName,       FactMetaData::valueTypeDouble)
-    , _fallRateFact         (0, _fallRateName,              FactMetaData::valueTypeDouble)
-    , _loiterClockwise(true)
-    , _loiterAltitudeRelative(true)
-    , _landingAltitudeRelative(true)
+    : ComplexMissionItem        (vehicle, parent)
+    , _sequenceNumber           (0)
+    , _dirty                    (false)
+    , _landingCoordSet          (false)
+    , _ignoreRecalcSignals      (false)
+    , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/FWLandingPattern.FactMetaData.json"), this))
+    , _landingDistanceFact      (_metaDataMap[loiterToLandDistanceName])
+    , _loiterAltitudeFact       (_metaDataMap[loiterAltitudeName])
+    , _loiterRadiusFact         (_metaDataMap[loiterRadiusName])
+    , _landingHeadingFact       (_metaDataMap[landingHeadingName])
+    , _landingAltitudeFact      (_metaDataMap[landingAltitudeName])
+    , _fallRateFact             (_metaDataMap[fallRateName])
+    , _loiterClockwise          (true)
+    , _loiterAltitudeRelative   (true)
+    , _landingAltitudeRelative  (true)
 {
     _editorQml = "qrc:/qml/FWLandingPatternEditor.qml";
 
-    if (_metaDataMap.isEmpty()) {
-        _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/FWLandingPattern.FactMetaData.json"), NULL /* metaDataParent */);
-    }
-
-    _landingDistanceFact.setMetaData    (_metaDataMap[_loiterToLandDistanceName]);
-    _loiterAltitudeFact.setMetaData     (_metaDataMap[_loiterAltitudeName]);
-    _loiterRadiusFact.setMetaData       (_metaDataMap[_loiterRadiusName]);
-    _landingHeadingFact.setMetaData     (_metaDataMap[_landingHeadingName]);
-    _landingAltitudeFact.setMetaData    (_metaDataMap[_landingAltitudeName]);
-    _fallRateFact.setMetaData           (_metaDataMap[_fallRateName]);
-
-    _landingDistanceFact.setRawValue    (_landingDistanceFact.rawDefaultValue());
-    _loiterAltitudeFact.setRawValue     (_loiterAltitudeFact.rawDefaultValue());
-    _loiterRadiusFact.setRawValue       (_loiterRadiusFact.rawDefaultValue());
-    _landingHeadingFact.setRawValue     (_landingHeadingFact.rawDefaultValue());
-    _landingAltitudeFact.setRawValue    (_landingAltitudeFact.rawDefaultValue());
-    _fallRateFact.setRawValue           (_fallRateFact.rawDefaultValue());
-
     connect(&_loiterAltitudeFact,       &Fact::valueChanged,                                    this, &FixedWingLandingComplexItem::_updateLoiterCoodinateAltitudeFromFact);
     connect(&_landingAltitudeFact,      &Fact::valueChanged,                                    this, &FixedWingLandingComplexItem::_updateLandingCoodinateAltitudeFromFact);
 

src/MissionManager/FixedWingLandingComplexItem.h

@@ -92,6 +92,13 @@ public:
 
     static const char* jsonComplexItemTypeValue;
 
+    static const char* loiterToLandDistanceName;
+    static const char* loiterAltitudeName;
+    static const char* loiterRadiusName;
+    static const char* landingHeadingName;
+    static const char* landingAltitudeName;
+    static const char* fallRateName;
+
 signals:
     void loiterCoordinateChanged        (QGeoCoordinate coordinate);
     void loiterTangentCoordinateChanged (QGeoCoordinate coordinate);
@@ -122,6 +129,8 @@ private:
     bool            _landingCoordSet;
     bool            _ignoreRecalcSignals;
 
+    QMap<QString, FactMetaData*> _metaDataMap;
+
     Fact            _landingDistanceFact;
     Fact            _loiterAltitudeFact;
     Fact            _loiterRadiusFact;
@@ -133,15 +142,6 @@ private:
     bool            _loiterAltitudeRelative;
     bool            _landingAltitudeRelative;
 
-    static QMap<QString, FactMetaData*> _metaDataMap;
-
-    static const char* _loiterToLandDistanceName;
-    static const char* _loiterAltitudeName;
-    static const char* _loiterRadiusName;
-    static const char* _landingHeadingName;
-    static const char* _landingAltitudeName;
-    static const char* _fallRateName;
-
     static const char* _jsonLoiterCoordinateKey;
     static const char* _jsonLoiterRadiusKey;
     static const char* _jsonLoiterClockwiseKey;

src/MissionManager/MissionController.h

@@ -125,7 +125,7 @@ public:
     bool loadTextFile(QFile& file, QString& errorString);
 
     // Overrides from PlanElementController
-    bool supported                  (void) const final { return true; };
+    bool supported                  (void) const final { return true; }
     void start                      (bool editMode) final;
     void save                       (QJsonObject& json) final;
     bool load                       (const QJsonObject& json, QString& errorString) final;

src/MissionManager/PlanManager.cc

@@ -588,7 +588,7 @@ void PlanManager::_handleMissionAck(const mavlink_message_t& message)
     switch (savedExpectedAck) {
     case AckNone:
         // State machine is idle. Vehicle is confused.
-        _sendError(VehicleError, tr("Vehicle sent unexpected MISSION_ACK message, error: %1").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type)));
+	qCDebug(PlanManagerLog) << QStringLiteral("Vehicle sent unexpected MISSION_ACK message, error: %1").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type));
         break;
     case AckMissionCount:
         // MISSION_COUNT message expected

src/MissionManager/PlanMasterController.cc

@@ -273,7 +273,7 @@ void PlanMasterController::sendToVehicle(void)
 void PlanMasterController::loadFromFile(const QString& filename)
 {
     QString errorString;
-    QString errorMessage = tr("Error reading Plan file (%1). %2").arg(filename).arg("%1");
+    QString errorMessage = tr("Error loading Plan file (%1). %2").arg(filename).arg("%1");
 
     if (filename.isEmpty()) {
         return;