diff --git a/qupgrade.pro b/qupgrade.pro
new file mode 100644
index 0000000000000000000000000000000000000000..3a827c57c5e4be35899e9b247d34eaf919462baa
--- /dev/null
+++ b/qupgrade.pro
@@ -0,0 +1,253 @@
+# Video streaming application for simple UDP direct byte streaming
+
+
+QT += svg network
+
+TEMPLATE = app
+TARGET = qupgrade
+
+BASEDIR = .
+
+LANGUAGE = C++
+
+linux-g++|linux-g++-64{
+ debug {
+ TARGETDIR = $${OUT_PWD}/debug
+ BUILDDIR = $${OUT_PWD}/build-debug
+ }
+ release {
+ TARGETDIR = $${OUT_PWD}/release
+ BUILDDIR = $${OUT_PWD}/build-release
+ }
+} else {
+ TARGETDIR = $${OUT_PWD}
+ BUILDDIR = $${OUT_PWD}/build
+}
+
+INCLUDEPATH += . \
+ src \
+ src/ui \
+ src/comm \
+ include/ui \
+ src/apps/qupgrade \
+
+# Input
+
+HEADERS += \
+ src/comm/SerialLink.h \
+ src/comm/LinkInterface.h \
+ src/comm/SerialLinkInterface.h \
+ src/comm/LinkManager.h \
+ src/QGC.h \
+ src/apps/qupgrade/QUpgradeApp.h \
+ src/apps/qupgrade/QUpgradeMainWindow.h \
+ libs/qextserialport/qextserialenumerator.h \
+ src/ui/PX4FirmwareUpgrader.h \
+ src/PX4FirmwareUpgradeWorker.h
+
+SOURCES += \
+ src/comm/SerialLink.cc \
+ src/comm/LinkManager.cc \
+ src/QGC.cc \
+ src/apps/qupgrade/main.cc \
+ src/apps/qupgrade/QUpgradeApp.cc \
+ src/apps/qupgrade/QUpgradeMainWindow.cc \
+ src/ui/PX4FirmwareUpgrader.cc \
+ src/PX4FirmwareUpgradeWorker.cc
+
+FORMS += \
+ src/apps/qupgrade/QUpgradeMainWindow.ui \
+ src/ui/PX4FirmwareUpgrader.ui
+
+RESOURCES = qgroundcontrol.qrc
+
+# Include serial library functions
+DEPENDPATH += . \
+ plugins \
+ libs/thirdParty/qserialport/include \
+ libs/thirdParty/qserialport/include/QtSerialPort \
+ libs/thirdParty/qserialport \
+ libs/qextserialport
+
+INCLUDEPATH += . \
+ libs/thirdParty/qserialport/include \
+ libs/thirdParty/qserialport/include/QtSerialPort \
+ libs/thirdParty/qserialport/src \
+ libs/qextserialport
+
+# Include serial port library (QSerial)
+include(qserialport.pri)
+
+# Serial port detection (ripped-off from qextserialport library)
+macx|macx-g++|macx-g++42::SOURCES += libs/qextserialport/qextserialenumerator_osx.cpp
+linux-g++::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
+linux-g++-64::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
+win32::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
+win32-msvc2008|win32-msvc2010::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
+
+# -------------------------------------------------
+# QGroundControl - Micro Air Vehicle Groundstation
+# Please see our website at <http://qgroundcontrol.org>
+# Maintainer:
+# Lorenz Meier <lm@inf.ethz.ch>
+# (c) 2009-2011 QGroundControl Developers
+# This file is part of the open groundstation project
+# QGroundControl is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+# QGroundControl is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+# You should have received a copy of the GNU General Public License
+# along with QGroundControl. If not, see <http://www.gnu.org/licenses/>.
+# -------------------------------------------------
+
+message(Qt version $$[QT_VERSION])
+message(Using Qt from $$(QTDIR))
+
+# Turn off serial port warnings
+DEFINES += _TTY_NOWARN_
+
+# MAC OS X
+macx|macx-g++42|macx-g++|macx-llvm: {
+
+ CONFIG += x86_64 cocoa phonon
+ CONFIG -= x86
+
+ QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
+
+ LIBS += -framework IOKit \
+ -F$$BASEDIR/libs/lib/Frameworks \
+ -framework CoreFoundation \
+ -framework ApplicationServices \
+ -lm
+
+ ICON = $$BASEDIR/files/images/icons/macx.icns
+
+ # For release builds remove support for various Qt debugging macros.
+ CONFIG(release, debug|release) {
+ DEFINES += QT_NO_DEBUG
+ }
+}
+
+# GNU/Linux
+linux-g++|linux-g++-64{
+
+ CONFIG -= console
+
+ release {
+ DEFINES += QT_NO_DEBUG
+ }
+
+ INCLUDEPATH += /usr/include \
+ /usr/local/include
+
+ # For release builds remove support for various Qt debugging macros.
+ CONFIG(release, debug|release) {
+ DEFINES += QT_NO_DEBUG
+ }
+
+ LIBS += \
+ -L/usr/lib \
+ -L/usr/local/lib64 \
+ -lm
+
+ # Validated copy commands
+ !exists($$TARGETDIR){
+ QMAKE_POST_LINK += && mkdir -p $$TARGETDIR
+ }
+ DESTDIR = $$TARGETDIR
+}
+
+linux-g++ {
+ message("Building for GNU/Linux 32bit/i386")
+}
+linux-g++-64 {
+ message("Building for GNU/Linux 64bit/x64 (g++-64)")
+ exists(/usr/local/lib64) {
+ LIBS += -L/usr/local/lib64
+ }
+}
+
+# Windows (32bit), Visual Studio
+win32-msvc2008|win32-msvc2010 {
+
+ win32-msvc2008 {
+ message(Building for Windows Visual Studio 2008 (32bit))
+ }
+ win32-msvc2010 {
+ message(Building for Windows Visual Studio 2010 (32bit))
+ }
+
+ # Specify multi-process compilation within Visual Studio.
+ # (drastically improves compilation times for multi-core computers)
+ QMAKE_CXXFLAGS_DEBUG += -MP
+ QMAKE_CXXFLAGS_RELEASE += -MP
+
+ # For release builds remove support for various Qt debugging macros.
+ CONFIG(release, debug|release) {
+ DEFINES += QT_NO_DEBUG
+ }
+
+ # For debug releases we just want the debugging console.
+ CONFIG(debug, debug|release) {
+ CONFIG += console
+ }
+
+ INCLUDEPATH += $$BASEDIR/libs/lib/msinttypes
+
+ LIBS += -lsetupapi
+
+ RC_FILE = $$BASEDIR/qgroundcontrol.rc
+
+ # Copy dependencies
+ BASEDIR_WIN = $$replace(BASEDIR,"/","\\")
+ TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
+
+ CONFIG(debug, debug|release) {
+ # Copy application resources
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\debug\\files" /E /I $$escape_expand(\\n))
+ # Copy Qt DLLs
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\plugins" "$$TARGETDIR_WIN\\debug" /E /I $$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtCored4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtGuid4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtMultimediad4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtNetworkd4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtSqld4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtSvgd4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtTestd4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtWebKitd4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtXmld4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtXmlPatternsd4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+ }
+
+ CONFIG(release, debug|release) {
+ # Copy application resources
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\release\\files" /E /I $$escape_expand(\\n))
+
+ # Copy Qt DLLs
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\plugins" "$$TARGETDIR_WIN\\release" /E /I $$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtCore4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtGui4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtMultimedia4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtNetwork4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtOpenGL4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtSql4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtSvg4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtTestd4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtWebKit4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtXml4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtXmlPatterns4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(del /F "$$TARGETDIR_WIN\\release\\qupgrade.exp"$$escape_expand(\\n))
+ QMAKE_POST_LINK += $$quote(del /F "$$TARGETDIR_WIN\\release\\qupgrade.lib"$$escape_expand(\\n))
+
+ # Copy Visual Studio DLLs
+ # Note that this is only done for release because the debugging versions of these DLLs cannot be redistributed.
+ # I'm not certain of the path for VS2008, so this only works for VS2010.
+ win32-msvc2010 {
+ QMAKE_POST_LINK += $$quote(xcopy /D /Y "\"C:\\Program Files \(x86\)\\Microsoft Visual Studio 10.0\\VC\\redist\\x86\\Microsoft.VC100.CRT\\*.dll\"" "$$TARGETDIR_WIN\\release\\"$$escape_expand(\\n))
+ }
+ }
+}
diff --git a/src/PX4FirmwareUpgradeWorker.cc b/src/PX4FirmwareUpgradeWorker.cc
new file mode 100644
index 0000000000000000000000000000000000000000..461b82d7eff7831e5417c6292ef5ae3a016b1597
--- /dev/null
+++ b/src/PX4FirmwareUpgradeWorker.cc
@@ -0,0 +1,137 @@
+#include "PX4FirmwareUpgradeWorker.h"
+
+#include <SerialLink.h>
+#include <QGC.h>
+
+#include <QDebug>
+
+// protocol bytes
+#define INSYNC 0x12
+#define EOC 0x20
+
+// reply bytes
+#define OK 0x10
+#define FAILED 0x11
+#define INVALID 0x13 // rev3+
+
+// command bytes
+#define NOP 0x00 // guaranteed to be discarded by the bootloader
+#define GET_SYNC 0x21
+#define GET_DEVICE 0x22
+#define CHIP_ERASE 0x23
+#define CHIP_VERIFY 0x24 // rev2 only
+#define PROG_MULTI 0x27
+#define READ_MULTI 0x28 // rev2 only
+#define GET_CRC 0x29 // rev3+
+#define REBOOT 0x30
+
+#define INFO_BL_REV 1 // bootloader protocol revision
+#define BL_REV_MIN 2 // minimum supported bootloader protocol
+#define BL_REV_MAX 3 // maximum supported bootloader protocol
+#define INFO_BOARD_ID 2 // board type
+#define INFO_BOARD_REV 3 // board revision
+#define INFO_FLASH_SIZE 4 // max firmware size in bytes
+
+PX4FirmwareUpgradeWorker::PX4FirmwareUpgradeWorker(QObject *parent) :
+ QObject(parent),
+ link(NULL)
+{
+}
+
+PX4FirmwareUpgradeWorker* PX4FirmwareUpgradeWorker::putWorkerInThread(QObject *parent)
+{
+ PX4FirmwareUpgradeWorker *worker = new PX4FirmwareUpgradeWorker;
+ QThread *workerThread = new QThread(parent);
+
+ connect(workerThread, SIGNAL(started()), worker, SLOT(startContinousScan()));
+ connect(workerThread, SIGNAL(finished()), worker, SLOT(deleteLater()));
+ worker->moveToThread(workerThread);
+
+ // Starts an event loop, and emits workerThread->started()
+ workerThread->start();
+}
+
+
+bool PX4FirmwareUpgradeWorker::startContinousScan()
+{
+ while (true) {
+ if (detect()) {
+ break;
+ }
+ }
+
+ return true;
+}
+
+bool PX4FirmwareUpgradeWorker::detect()
+{
+ if (!link)
+ {
+ link = new SerialLink("", 921600);
+ connect(link, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*,QByteArray)));
+ }
+
+ // Get a list of ports
+ QVector<QString>* ports = link->getCurrentPorts();
+
+ // Scan
+ for (int i = 0; i < ports->size(); i++)
+ {
+ // Ignore known wrong link names
+
+ if (ports->at(i).contains("Bluetooth")) {
+ continue;
+ }
+
+ link->setPortName(ports->at(i));
+ // Open port and talk to it
+ link->connect();
+ char buf[2] = { GET_SYNC, EOC };
+ if (!link->isConnected()) {
+ continue;
+ }
+ // Send sync request
+ insync = false;
+ link->writeBytes(buf, 2);
+ // Wait for response
+ QGC::SLEEP::msleep(20);
+
+ if (insync)
+ emit validPortFound(ports->at(i));
+ break;
+ }
+
+ if (insync) {
+ return true;
+ } else {
+ return false;
+ }
+
+ //ui.portName->setCurrentIndex(ui.baudRate->findText(QString("%1").arg(this->link->getPortName())));
+
+ // Set port
+
+ // Load current link config
+
+}
+
+void PX4FirmwareUpgradeWorker::receiveBytes(LinkInterface* link, QByteArray b)
+{
+ for (int position = 0; position < b.size(); position++) {
+ qDebug() << "BYTES";
+ qDebug() << std::hex << (char)(b[position]);
+ if (((const char)b[position]) == INSYNC)
+ {
+ qDebug() << "SYNC";
+ insync = true;
+ emit detectionStatusChanged("Found PX4 board");
+ }
+ }
+
+ printf("\n");
+}
+
+bool PX4FirmwareUpgradeWorker::upgrade(const QString &filename)
+{
+
+}
diff --git a/src/PX4FirmwareUpgradeWorker.h b/src/PX4FirmwareUpgradeWorker.h
new file mode 100644
index 0000000000000000000000000000000000000000..88c1acda3dca866fa968af6c0f7ed11d9abff6af
--- /dev/null
+++ b/src/PX4FirmwareUpgradeWorker.h
@@ -0,0 +1,58 @@
+#ifndef PX4FIRMWAREUPGRADEWORKER_H
+#define PX4FIRMWAREUPGRADEWORKER_H
+
+#include <QObject>
+
+#include <SerialLink.h>
+
+class PX4FirmwareUpgradeWorker : public QObject
+{
+ Q_OBJECT
+public:
+ explicit PX4FirmwareUpgradeWorker(QObject *parent = 0);
+ static PX4FirmwareUpgradeWorker* putWorkerInThread(QObject *parent);
+
+signals:
+ void detectionStatusChanged(const QString& status);
+ void upgradeStatusChanged(const QString& status);
+ void upgradeProgressChanged(int percent);
+ void validPortFound(const QString& portName);
+
+public slots:
+
+ /**
+ * @brief Continously scan for bootloaders
+ * @return
+ */
+ bool startContinousScan();
+
+ /**
+ * @brief Detect connected PX4 bootloaders
+ *
+ * If a bootloader was found, the link will be opened to this
+ * bootloader and ready for flashing when returning from the call.
+ *
+ * @return true if found on one link, false else
+ */
+ bool detect();
+
+ /**
+ * @brief Upgrade the firmware using the currently connected link
+ * @param filename file name / path of the firmware file
+ * @return true if upgrade succeeds, false else
+ */
+ bool upgrade(const QString &filename);
+
+ /**
+ * @brief Receive bytes from a link
+ * @param link
+ * @param b
+ */
+ void receiveBytes(LinkInterface* link, QByteArray b);
+
+private:
+ SerialLink *link;
+ bool insync;
+};
+
+#endif // PX4FIRMWAREUPGRADEWORKER_H
diff --git a/src/apps/qupgrade/QUpgradeApp.cc b/src/apps/qupgrade/QUpgradeApp.cc
new file mode 100644
index 0000000000000000000000000000000000000000..1ca955b3ac9c4202e8e80a2caf06f847eada1412
--- /dev/null
+++ b/src/apps/qupgrade/QUpgradeApp.cc
@@ -0,0 +1,94 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/**
+ * @file
+ * @brief Implementation of main application class
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ */
+
+
+#include <QFile>
+#include <QFlags>
+#include <QThread>
+#include <QSplashScreen>
+#include <QPixmap>
+#include <QDesktopWidget>
+#include <QPainter>
+#include <QStyleFactory>
+#include <QAction>
+#include <QSettings>
+#include <QFontDatabase>
+#include <QMainWindow>
+
+#include "QUpgradeApp.h"
+#include "QUpgradeMainWindow.h"
+#include "PX4FirmwareUpgradeWorker.h"
+#include "UDPLink.h"
+
+
+/**
+ * @brief Constructor for the main application.
+ *
+ * This constructor initializes and starts the whole application. It takes standard
+ * command-line parameters
+ *
+ * @param argc The number of command-line parameters
+ * @param argv The string array of parameters
+ **/
+
+QUpgradeApp::QUpgradeApp(int &argc, char* argv[]) : QApplication(argc, argv)
+{
+ this->setApplicationName("Q PX4 Firmware Upgrade");
+ this->setApplicationVersion("v. 1.0.0 (Beta)");
+ this->setOrganizationName(QLatin1String("PX4"));
+ this->setOrganizationDomain("http://pixhawk.ethz.ch/px4/");
+
+ QSettings::setDefaultFormat(QSettings::IniFormat);
+ // Exit main application when last window is closed
+ connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));
+
+ // Create main window
+ QUpgradeMainWindow* window = new QUpgradeMainWindow();
+
+ // Get PX4 upgrade widget and instantiate worker thread
+ PX4FirmwareUpgradeWorker* worker = PX4FirmwareUpgradeWorker::putWorkerInThread(this);
+ connect(worker, SIGNAL(detectionStatusChanged(QString)), window->firmwareUpgrader(), SLOT(setDetectionStatusText(QString)));
+ connect(worker, SIGNAL(upgradeStatusChanged(QString)), window->firmwareUpgrader(), SLOT(setFlashStatusText(QString)));
+ connect(worker, SIGNAL(upgradeProgressChanged(int)), window->firmwareUpgrader(), SLOT(setFlashProgress(int)));
+ connect(worker, SIGNAL(validPortFound(QString)), window->firmwareUpgrader(), SLOT(setPortName(QString)));
+
+ window->setWindowTitle(applicationName() + " " + applicationVersion());
+ window->show();
+}
+
+/**
+ * @brief Destructor for the groundstation. It destroys all loaded instances.
+ *
+ **/
+QUpgradeApp::~QUpgradeApp()
+{
+}
+
diff --git a/src/apps/qupgrade/QUpgradeApp.h b/src/apps/qupgrade/QUpgradeApp.h
new file mode 100644
index 0000000000000000000000000000000000000000..b4f72a9c3550ef6d4b56ff58a0981899ee6a4391
--- /dev/null
+++ b/src/apps/qupgrade/QUpgradeApp.h
@@ -0,0 +1,58 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/**
+ * @file
+ * @brief Definition of main application class
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ */
+
+
+#ifndef QUPGRADEAPP_H
+#define QUPGRADEAPP_H
+
+#include <QApplication>
+
+/**
+ * @brief The main application and management class.
+ *
+ * This class is started by the main method and provides
+ * the central management unit of the groundstation application.
+ *
+ **/
+class QUpgradeApp : public QApplication
+{
+ Q_OBJECT
+
+public:
+ QUpgradeApp(int &argc, char* argv[]);
+ ~QUpgradeApp();
+
+protected:
+
+private:
+};
+
+#endif /* QUPGRADEAPP_H */
diff --git a/src/apps/qupgrade/QUpgradeMainWindow.cc b/src/apps/qupgrade/QUpgradeMainWindow.cc
new file mode 100644
index 0000000000000000000000000000000000000000..ad0bb2d186b5b027672e0c715ca637b96c015ed1
--- /dev/null
+++ b/src/apps/qupgrade/QUpgradeMainWindow.cc
@@ -0,0 +1,53 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/**
+ * @file
+ * @brief Implementation of main window
+ *
+ * @author Lorenz Meier
+ *
+ */
+
+#include "QUpgradeMainWindow.h"
+#include "ui_QUpgradeMainWindow.h"
+
+//#include "UDPLink.h"
+#include <QDebug>
+
+QUpgradeMainWindow::QUpgradeMainWindow(QWidget *parent) :
+ QMainWindow(parent),
+ ui(new Ui::QUpgradeMainWindow)
+{
+ ui->setupUi(this);
+}
+
+PX4FirmwareUpgrader* QUpgradeMainWindow::firmwareUpgrader() {
+ return ui->centralwidget;
+}
+
+QUpgradeMainWindow::~QUpgradeMainWindow()
+{
+ delete ui;
+}
+
diff --git a/src/apps/qupgrade/QUpgradeMainWindow.h b/src/apps/qupgrade/QUpgradeMainWindow.h
new file mode 100644
index 0000000000000000000000000000000000000000..dbb523779376effbf358151189a31bfe49164e01
--- /dev/null
+++ b/src/apps/qupgrade/QUpgradeMainWindow.h
@@ -0,0 +1,61 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/**
+ * @file
+ * @brief Definition of main window
+ *
+ * @author Lorenz Meier
+ *
+ */
+
+#ifndef QUPGRADEMAINWINDOW_H
+#define QUPGRADEMAINWINDOW_H
+
+#include <QMainWindow>
+
+#include "PX4FirmwareUpgrader.h"
+
+namespace Ui {
+ class QUpgradeMainWindow;
+}
+
+class QUpgradeMainWindow : public QMainWindow
+{
+ Q_OBJECT
+
+public:
+ explicit QUpgradeMainWindow(QWidget *parent = 0);
+ ~QUpgradeMainWindow();
+
+ PX4FirmwareUpgrader* firmwareUpgrader();
+
+public slots:
+
+protected:
+
+private:
+ Ui::QUpgradeMainWindow *ui;
+};
+
+#endif // QUPGRADEMAINWINDOW_H
diff --git a/src/apps/qupgrade/QUpgradeMainWindow.ui b/src/apps/qupgrade/QUpgradeMainWindow.ui
new file mode 100644
index 0000000000000000000000000000000000000000..75f16d006b14cb3624646d56886aee5f9e741a00
--- /dev/null
+++ b/src/apps/qupgrade/QUpgradeMainWindow.ui
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QUpgradeMainWindow</class>
+ <widget class="QMainWindow" name="QUpgradeMainWindow">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>800</width>
+ <height>600</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>MainWindow</string>
+ </property>
+ <widget class="PX4FirmwareUpgrader" name="centralwidget">
+ <layout class="QGridLayout" name="gridLayout" rowstretch="0"/>
+ </widget>
+ <widget class="QMenuBar" name="menubar">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>800</width>
+ <height>22</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <customwidgets>
+ <customwidget>
+ <class>PX4FirmwareUpgrader</class>
+ <extends>QWidget</extends>
+ <header location="global">PX4FirmwareUpgrader.h</header>
+ <container>1</container>
+ </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/src/apps/qupgrade/main.cc b/src/apps/qupgrade/main.cc
new file mode 100644
index 0000000000000000000000000000000000000000..384013e2872cb22bb82b20b415e95fe48c1d7f4b
--- /dev/null
+++ b/src/apps/qupgrade/main.cc
@@ -0,0 +1,46 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/**
+ * @file
+ * @brief Main executable
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ */
+
+#include <QtGui/QApplication>
+#include "QUpgradeApp.h"
+
+/**
+ * @brief Starts the application
+ *
+ * @param argc Number of commandline arguments
+ * @param argv Commandline arguments
+ * @return exit code, 0 for normal exit and !=0 for error cases
+ */
+int main(int argc, char *argv[])
+{
+
+ QUpgradeApp app(argc, argv);
+ return app.exec();
+}
diff --git a/src/comm/SerialLink.cc b/src/comm/SerialLink.cc
index 129fa01fa5b9d687bbb29fd58efbc543a9cc2d7f..7fec64a8304651dfb448a3cf90d1bad43a5e1fd0 100644
--- a/src/comm/SerialLink.cc
+++ b/src/comm/SerialLink.cc
@@ -563,10 +563,16 @@ bool SerialLink::disconnect()
emit disconnected();
emit connected(false);
+ if (port) {
+ port->close();
+ }
return closed;
}
else {
- // No port, so we're disconnected
+ // not running
+ if (port) {
+ port->close();
+ }
return true;
}
diff --git a/src/ui/PX4FirmwareUpgrader.cc b/src/ui/PX4FirmwareUpgrader.cc
new file mode 100644
index 0000000000000000000000000000000000000000..5d9fabff88dc60ec418b4263702e1b6851c43578
--- /dev/null
+++ b/src/ui/PX4FirmwareUpgrader.cc
@@ -0,0 +1,50 @@
+#include "PX4FirmwareUpgrader.h"
+#include "ui_PX4FirmwareUpgrader.h"
+
+#include <QGC.h>
+#include <QDebug>
+
+PX4FirmwareUpgrader::PX4FirmwareUpgrader(QWidget *parent) :
+ QWidget(parent),
+ ui(new Ui::PX4FirmwareUpgrader)
+{
+ ui->setupUi(this);
+
+ connect(ui->selectFileButton, SIGNAL(clicked()), this, SLOT(selectFirmwareFile()));
+ connect(ui->flashButton, SIGNAL(clicked()), this, SIGNAL(upgrade()));
+}
+
+PX4FirmwareUpgrader::~PX4FirmwareUpgrader()
+{
+ delete ui;
+}
+
+void PX4FirmwareUpgrader::selectFirmwareFile()
+{
+
+}
+
+void PX4FirmwareUpgrader::setDetectionStatusText(const QString &text)
+{
+ ui->detectionStatusLabel->setText(text);
+}
+
+void PX4FirmwareUpgrader::setFlashStatusText(const QString &text)
+{
+ ui->flashProgressLabel->setText(text);
+}
+
+void PX4FirmwareUpgrader::setFlashProgress(int percent)
+{
+ ui->flashProgressBar->setValue(percent);
+}
+
+void PX4FirmwareUpgrader::setPortName(const QString &portname)
+{
+ // Prepend newly found port to the list
+ if (ui->serialPortComboBox->findText(portname) == -1)
+ {
+ ui->serialPortComboBox->insertItem(0, portname);
+ ui->serialPortComboBox->setEditText(portname);
+ }
+}
diff --git a/src/ui/PX4FirmwareUpgrader.h b/src/ui/PX4FirmwareUpgrader.h
new file mode 100644
index 0000000000000000000000000000000000000000..94daf3763a798d65f719a33c966b87bdd5a9f4e8
--- /dev/null
+++ b/src/ui/PX4FirmwareUpgrader.h
@@ -0,0 +1,41 @@
+#ifndef PX4FIRMWAREUPGRADER_H
+#define PX4FIRMWAREUPGRADER_H
+
+#include <QWidget>
+#include <QTimer>
+
+#include <SerialLink.h>
+
+namespace Ui {
+class PX4FirmwareUpgrader;
+}
+
+class PX4FirmwareUpgrader : public QWidget
+{
+ Q_OBJECT
+
+public:
+ PX4FirmwareUpgrader(QWidget *parent = 0);
+ ~PX4FirmwareUpgrader();
+
+public slots:
+
+ void setDetectionStatusText(const QString &text);
+
+ void setFlashStatusText(const QString &text);
+
+ void setFlashProgress(int percent);
+
+ void selectFirmwareFile();
+
+ void setPortName(const QString &portname);
+
+signals:
+ void firmwareFileNameSet(const QString &fileName);
+ void upgrade();
+
+private:
+ Ui::PX4FirmwareUpgrader *ui;
+};
+
+#endif // PX4FIRMWAREUPGRADER_H
diff --git a/src/ui/PX4FirmwareUpgrader.ui b/src/ui/PX4FirmwareUpgrader.ui
new file mode 100644
index 0000000000000000000000000000000000000000..91d2249ca4400d3472426ba2801c1e7c046d97d1
--- /dev/null
+++ b/src/ui/PX4FirmwareUpgrader.ui
@@ -0,0 +1,96 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PX4FirmwareUpgrader</class>
+ <widget class="QWidget" name="PX4FirmwareUpgrader">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>428</width>
+ <height>331</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="3" column="0" colspan="3">
+ <widget class="QTextBrowser" name="descriptionTextBrowser"/>
+ </item>
+ <item row="4" column="0" colspan="3">
+ <widget class="QProgressBar" name="flashProgressBar">
+ <property name="value">
+ <number>24</number>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0" colspan="2">
+ <widget class="QLabel" name="flashProgressLabel">
+ <property name="text">
+ <string>No update in progress.</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QComboBox" name="versionComboBox"/>
+ </item>
+ <item row="2" column="2">
+ <widget class="QPushButton" name="selectFileButton">
+ <property name="text">
+ <string>Select File..</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QPushButton" name="versionButton">
+ <property name="text">
+ <string>Check Online</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QPushButton" name="serialPortButton">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Set Serial Port</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="2">
+ <widget class="QPushButton" name="flashButton">
+ <property name="text">
+ <string>Flash Firmware</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QLabel" name="detectionStatusLabel">
+ <property name="text">
+ <string>No PX4 board detected..</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QCheckBox" name="detectionAutoCheckBox">
+ <property name="text">
+ <string>Auto Detect Port</string>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QComboBox" name="serialPortComboBox">
+ <property name="editable">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>