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

d32223ec · Lorenz Meier · 3396c88f · 43bd7b72 · 3396c88f · 3396c88f
Commit d32223ec authored Aug 02, 2013 by Lorenz Meier
--- a/dongfang_qgroundcontrol_notes.txt
+++ b/dongfang_qgroundcontrol_notes.txt
-From where is the 3D mouse used?
-
-
-Comm folder:
-============
-
-LinkInterface is a QThread. Appears to describe an interface on the host system (TCP port, serial port, ....).
-  Does it suppport multiple connections?
-SerialLinkInterface: Extension of above
-SerialLink: Implementation
-
-XBeeLinkInterface: Extension of LinkInterface (but without other serial stuff than baudrate, is the rest assumed?)
-XBeeLink: Implementation (with address resetting probably it's Series 1)
-
-UDPLink: UDP implementation. Port is defaulted.
-
-MAVLinkSimulationLink: Simulation/dummy implementation of LinkInterface. Does some file IO.
-MAVLinkSimulationUAV:  Simulation/dummy basic (remote) UAV state (minus mission state) for MAVLinkSimulationLink.
-MAVLinkSimulationWaypointPlanner: imulation/dummy basic (remote) UAV mission state for MAVLinkSimulationLink.
-
-
-ProtocolInterface describes a protocol. Major method:
-    virtual void receiveBytes(LinkInterface *link, QByteArray b) = 0;
-
-MavlinkProtocol: MAVLink implementation of ProtocolInterface
-
-
-Parameter: Identity of a parameter (the value types are not handled here. Oddly there is no type metainfo either)
-ParameterList: Is pretty much what the name impiles.
-QGCParamID: Wrapper if parameter text IDs, conversion to byte* and back
-
-QGCHilLink: Link to a HIL external system
-    QCGFlightGearLink, QGCJSBSimLink, QGCXPlaneLink : Implementations of QGCHilLink
-
-
-QGCMAVLink: Nothing more than in include to raw mavlink.h
-
-
-input folder:
-=============
-Some exotic input devices
-
-
-
-uas folder:
-===========
-UAS.h: Local UAV model. Claims to support some sort of RPC. Uses some properties with notifications. Assumes MAVLink.
-Some methods:
-    int getUASID() const; // the systemId
-    QList<LinkInterface*>* getLinks(); // it knows its links
-
-    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
-
-    float receiveDropRate;      ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
-    float sendDropRate;         ///< Percentage of packets that were not received from the MAV by the GCS
-
-Some fields:
-    bool positionLock;          ///< Status if position information is available or not
-    double localX;  // (what is this?)
-    double localY;
-    double localZ;
-    double latitude;            ///< Global latitude as estimated by position estimator
-    double longitude;           ///< Global longitude as estimated by position estimator
-    double altitude;            ///< Global altitude as estimated by position estimator
-    double satelliteCount;      ///< Number of satellites visible to raw GPS
-    bool globalEstimatorActive; ///< Global position estimator present, do not fall back to GPS raw for position
-    double latitude_gps;        ///< Global latitude as estimated by raw GPS
-    double longitude_gps;       ///< Global longitude as estimated by raw GPS
-    double altitude_gps;        ///< Global altitude as estimated by raw GPS
-
-    and lots ans lots more...
-
-
-*MAV.h: Implementations of UAS
-
-
-QGCUASParamManager.h: A mixture of a widget and a parameter up/download state machine. Has a reference to its associated UAV.
-
-UASWaypointManager: API to waypoint / mission control. Not a widget. Has a reference to its associated UAV.
-
-UASManager.h: Singleton interface to all UASs on all interfaces. Maintains a single selected/active UAS.
-
-Ideas to do
-TCPLink
-XBee Series2 implementation
-Less stress on uplink
-Get rid of hardcoded SystemId of 255
-Quick View should print all altitudes (GPS, mix, ground and/or home), letting user see errors.
-Console debugging is hopefully removed?
-
--- a/dongfang_qgroundcontrol_wishlist.txt
+++ b/dongfang_qgroundcontrol_wishlist.txt
-Major
-1) Absolute altitude should absolutely work. Also in face of bad GPS init.
-   How does the mission planning part work with that, how is alt. stored in waypoints?
-   When is home altitude stored in the UAV?
-
-2) Some people have worse datalinks than average - eg. slow or noisy telemetry. GPRS data also easily gets
-   flooded. All data rates should be configurable and uplinks eased off a little.
-
-3) Some streams should be sent always even if not in use. For example using RC override and then stopping
-   using it: If the UAV does not received the final RC override message with zero values for all channels,
-   it will not get out of RC override. A solution is to make the message non final, repeating it every
-   now and then.
-
-Minor
-1) I would like to see initial dummy values for eg. battery voltage go away and be replaced by "unknown".
-   Dummy values confuse, you won't know if your sensors and link are working or not.
-
-2) Suggestion if the DO_JUMP behavior of APM today (where DO_JUMP requires a waypoint command after it):
-   Modify APM code so DO_JUMP is regarded a navigation command. Make non navigation commands appear in
-   planning as sub commands of navigation commands (indent them). Easier to understand.
-
-3) Old style audio with signals/bells/beeps / Morse may be prefered by some. Maybe add slots'n'signals for
-   all audio and different implementation types (speech, beep, ...). Or a generic operator messaging thing.
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+       id="path2820"
+       transform="translate(145.14287,334.86218)"
+       inkscape:connector-curvature="0" />
+  </g>
+</svg>
--- a/files/styles/style-dark.css
+++ b/files/styles/style-dark.css
@@ -5,6 +5,11 @@
    font-size: 11px;
 }

+QWidget#viewModeWidget {
+    border-radius: 12px;
+    border: 3px solid #465158;
+}
+
 *::disabled {
    color: #777;
 }
@@ -340,6 +345,16 @@ QPushButton, QToolButton {
    background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #777, stop: 1 #333);
 }

+QPushButton#viewModeGeneric, QPushButton#viewModePX4, QPushButton#viewModeAPM, QPushButton#viewModeAR {
+    background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #73D95D, stop: 1 #18A154);
+    border-radius: 12px;
+    min-height: 120px;
+    max-height: 140px;
+    min-width: 120px;
+    max-width: 140px;
+    border: 3px solid #465158;
+}
+
 QPushButton#connectButton, QPushButton#controlButton {
    background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #73D95D, stop: 1 #18A154);
 }

--- a/qgroundcontrol.pri
+++ b/qgroundcontrol.pri
@@ -179,7 +179,8 @@ linux-g++|linux-g++-64{

 	INCLUDEPATH += /usr/include \
        /usr/local/include \
-        /usr/include/qt4/phonon
+        /usr/include/qt4/phonon \
+	/usr/include/phonon

 	LIBS += \
 		-L/usr/lib \
@@ -215,7 +216,8 @@ linux-g++|linux-g++-64{
 		DEFINES += QGC_OSG_QT_ENABLED
 	}

-	exists(/usr/local/include/google/protobuf) {
+	exists(/usr/local/include/google/protobuf) |
+	exists(/usr/include/google/protobuf) {
 		message("Building support for Protocol Buffers")
 		DEPENDENCIES_PRESENT += protobuf
 		# Include Protocol Buffers libraries
@@ -226,7 +228,8 @@ linux-g++|linux-g++-64{
 		DEFINES += QGC_PROTOBUF_ENABLED
 	}

-	exists(/usr/local/include/libfreenect/libfreenect.h) {
+	exists(/usr/local/include/libfreenect/libfreenect.h) |
+	exists(/usr/include/libfreenect/libfreenect.h) {
 		message("Building support for libfreenect")
 		DEPENDENCIES_PRESENT += libfreenect
 		INCLUDEPATH += /usr/include/libusb-1.0
@@ -256,7 +259,7 @@ linux-g++ {
 linux-g++-64 {
 	message("Building for GNU/Linux 64bit/x64 (g++-64)")
 	exists(/usr/local/lib64) {
-		LIBS += -L/usr/local/lib64
+		LIBS += -L/usr/local/lib64 -L/usr/lib64
 	}
 }


--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -236,7 +236,9 @@ FORMS += src/ui/MainWindow.ui \
    src/ui/UASRawStatusView.ui \
    src/ui/uas/QGCMessageView.ui \
    src/ui/JoystickButton.ui \
-    src/ui/JoystickAxis.ui
+    src/ui/JoystickAxis.ui \
+    src/ui/main/QGCViewModeSelection.ui \
+    src/ui/main/QGCWelcomeMainWindow.ui
 INCLUDEPATH += src \
    src/ui \
    src/ui/linechart \
@@ -252,7 +254,8 @@ INCLUDEPATH += src \
    src/ui/watchdog \
    src/ui/map3D \
    src/ui/mission \
-    src/ui/designer
+    src/ui/designer \
+    src/ui/main
 HEADERS += src/MG.h \
    src/QGCCore.h \
    src/uas/UASInterface.h \
@@ -353,7 +356,6 @@ HEADERS += src/MG.h \
    src/ui/QGCMAVLinkInspector.h \
    src/ui/MAVLinkDecoder.h \
    src/ui/WaypointViewOnlyView.h \
-    src/ui/WaypointViewOnlyView.h \
    src/ui/WaypointEditableView.h \
    src/ui/QGCRGBDView.h \
    src/ui/mavlink/QGCMAVLinkMessageSender.h \
@@ -396,7 +398,9 @@ HEADERS += src/MG.h \
    src/ui/PrimaryFlightDisplay.h \
    src/ui/uas/QGCMessageView.h \
    src/ui/JoystickButton.h \
-    src/ui/JoystickAxis.h
+    src/ui/JoystickAxis.h \
+    src/ui/main/QGCViewModeSelection.h \
+    src/ui/main/QGCWelcomeMainWindow.h

 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -574,7 +578,9 @@ SOURCES += src/main.cc \
    src/ui/PrimaryFlightDisplay.cc \
    src/ui/uas/QGCMessageView.cc \
    src/ui/JoystickButton.cc \
-    src/ui/JoystickAxis.cc
+    src/ui/JoystickAxis.cc \
+    src/ui/main/QGCViewModeSelection.cc \
+    src/ui/main/QGCWelcomeMainWindow.cc

 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -102,6 +102,11 @@
        <file>files/images/patterns/lenna.jpg</file>
        <file>files/images/rc_stick.svg</file>
        <file>files/images/actions/qgroundcontrol-connect.svg</file>
+        <file>files/images/actions/qgroundcontrol-generic.svg</file>
+        <file>files/images/actions/qgroundcontrol-px4.svg</file>
+        <file>files/images/actions/qgroundcontrol-apm.svg</file>
+        <file>files/images/actions/qgroundcontrol-ardrone.svg</file>
+        <file>files/images/actions/qgroundcontrol-wifi.svg</file>
    </qresource>
    <qresource prefix="/general">
        <file alias="vera.ttf">files/styles/Vera.ttf</file>

--- a/src/QGCCore.cc
+++ b/src/QGCCore.cc
@@ -45,6 +45,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGC.h"
 #include "QGCCore.h"
 #include "MainWindow.h"
+#include "QGCWelcomeMainWindow.h"
 #include "GAudioOutput.h"

 #ifdef OPAL_RT
@@ -65,8 +66,13 @@ This file is part of the QGROUNDCONTROL project
 **/


-QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
+QGCCore::QGCCore(bool firstStart, int &argc, char* argv[]) : QApplication(argc, argv),
+    restartRequested(false),
+    welcome(NULL)
 {
+    // Exit main application when last window is closed
+    connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));
+
    // Set application name
    this->setApplicationName(QGC_APPLICATION_NAME);
    this->setApplicationVersion(QGC_APPLICATION_VERSION);
@@ -83,6 +89,7 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)

    // Show user an upgrade message if QGC got upgraded (see code below, after splash screen)
    bool upgraded = false;
+    enum MainWindow::CUSTOM_MODE mode = MainWindow::CUSTOM_MODE_NONE;
    QString lastApplicationVersion("");
    if (settings.contains("QGC_APPLICATION_VERSION"))
    {
@@ -95,6 +102,10 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
            settings.setValue("QGC_APPLICATION_VERSION", QGC_APPLICATION_VERSION);
            upgraded = true;
        }
+        else
+        {
+            mode = (enum MainWindow::CUSTOM_MODE) settings.value("QGC_CUSTOM_MODE", (int)MainWindow::CUSTOM_MODE_NONE).toInt();
+        }
    }
    else
    {
@@ -106,6 +117,15 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)

    settings.sync();

+    // "Bootload" the application
+    if ((!settings.contains("QGC_CUSTOM_MODE_STORED") || settings.value("QGC_CUSTOM_MODE_STORED") == false) && firstStart)
+    {
+        welcome = new QGCWelcomeMainWindow();
+        connect(welcome, SIGNAL(customViewModeSelected(MainWindow::CUSTOM_MODE)), this, SLOT(customViewModeSelected(MainWindow::CUSTOM_MODE)));
+        restartRequested = true;
+        return;
+    }
+
    // Show splash screen
    QPixmap splashImage(":/files/images/splash.png");
    QSplashScreen* splashScreen = new QSplashScreen(splashImage);
@@ -115,9 +135,6 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
    processEvents();
    splashScreen->showMessage(tr("Loading application fonts"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));

-    // Exit main application when last window is closed
-    connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));
-
    // Load application font
    QFontDatabase fontDatabase = QFontDatabase();
    const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
@@ -140,13 +157,18 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
    splashScreen->showMessage(tr("Starting user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));

    // The first call to instance() creates the MainWindow, so make sure it's passed the splashScreen.
-    mainWindow = MainWindow::instance(splashScreen);
+    mainWindow = MainWindow::instance_mode(splashScreen, mode);

-    // Connect links
-    // to make sure that all components are initialized when the
-    // first messages arrive
-    UDPLink* udpLink = new UDPLink(QHostAddress::Any, 14550);
-    MainWindow::instance()->addLink(udpLink);
+    UDPLink* udpLink = NULL;
+
+    if (mainWindow->getCustomMode() == MainWindow::CUSTOM_MODE_WIFI)
+    {
+        // Connect links
+        // to make sure that all components are initialized when the
+        // first messages arrive
+        udpLink = new UDPLink(QHostAddress::Any, 14550);
+        MainWindow::instance()->addLink(udpLink);
+    }

 #ifdef OPAL_RT
    // Add OpalRT Link, but do not connect
@@ -162,12 +184,12 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
    if (upgraded) mainWindow->showInfoMessage(tr("Default Settings Loaded"), tr("QGroundControl has been upgraded from version %1 to version %2. Some of your user preferences have been reset to defaults for safety reasons. Please adjust them where needed.").arg(lastApplicationVersion).arg(QGC_APPLICATION_VERSION));

    // Check if link could be connected
-    if (!udpLink->connect())
+    if (udpLink && !udpLink->connect())
    {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Critical);
        msgBox.setText("Could not connect UDP port. Is an instance of " + qAppName() + "already running?");
-        msgBox.setInformativeText("You will not be able to receive data via UDP. Please check that you're running the right executable and then re-start " + qAppName() + ". Do you want to close the application?");
+        msgBox.setInformativeText("It is recommended to close the application and stop all instances. Click Yes to close.");
        msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
        msgBox.setDefaultButton(QMessageBox::No);
        int ret = msgBox.exec();
@@ -182,15 +204,6 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
            QTimer::singleShot(200, mainWindow, SLOT(close()));
        }
    }
-
-//    forever
-//    {
-//        QGC::SLEEP::msleep(5000);
-//    }
-
-//    mainWindow->close();
-//    mainWindow->deleteLater();
-//    QGC::SLEEP::msleep(200);
 }

 /**
@@ -199,17 +212,23 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
 **/
 QGCCore::~QGCCore()
 {
-    //mainWindow->storeSettings();
-    //mainWindow->close();
-    //mainWindow->deleteLater();
-    // Delete singletons
-    // First systems
-    delete UASManager::instance();
-    // then links
-    delete LinkManager::instance();
-    // Finally the main window
-    //delete MainWindow::instance();
-    //The main window now autodeletes on close.
+
+    if (welcome)
+    {
+        delete welcome;
+    } else {
+        //mainWindow->storeSettings();
+        //mainWindow->close();
+        //mainWindow->deleteLater();
+        // Delete singletons
+        // First systems
+        delete UASManager::instance();
+        // then links
+        delete LinkManager::instance();
+        // Finally the main window
+        //delete MainWindow::instance();
+        //The main window now autodeletes on close.
+    }
 }

 /**
@@ -264,4 +283,13 @@ void QGCCore::startUASManager()
    }
 }

+void QGCCore::customViewModeSelected(enum MainWindow::CUSTOM_MODE mode)
+{
+    QSettings settings;
+    settings.setValue("QGC_CUSTOM_MODE", (unsigned int)mode);
+    // Store settings only if requested by user
+    settings.setValue("QGC_CUSTOM_MODE_STORED", welcome->getStoreSettings());
+    settings.sync();
+    welcome->close();

+}
--- a/src/QGCCore.h
+++ b/src/QGCCore.h
@@ -36,6 +36,7 @@ This file is part of the PIXHAWK project
 #include <QApplication>

 #include "MainWindow.h"
+#include "QGCWelcomeMainWindow.h"
 #include "UASManager.h"
 #include "LinkManager.h"
 /*#include "ViconTarsusProtocol.h" */
@@ -56,9 +57,17 @@ class QGCCore : public QApplication
    Q_OBJECT

 public:
-    QGCCore(int &argc, char* argv[]);
+    QGCCore(bool firstStart, int &argc, char* argv[]);
    ~QGCCore();

+    bool getRestartRequested()
+    {
+        return restartRequested;
+    }
+
+public slots:
+    void customViewModeSelected(enum MainWindow::CUSTOM_MODE mode);
+
 protected:
    void startLinkManager();

@@ -71,6 +80,8 @@ protected:

 private:
    MainWindow* mainWindow;
+    bool restartRequested;
+    QGCWelcomeMainWindow* welcome;
 };

 #endif /* _CORE_H_ */
--- a/src/configuration.h
+++ b/src/configuration.h
@@ -11,14 +11,14 @@
 #define WITH_TEXT_TO_SPEECH 1

 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 1.0.9 (beta RC1)"
+#define QGC_APPLICATION_VERSION "v. 1.1.0 (beta)"

 namespace QGC

 {
 const QString APPNAME = "QGROUNDCONTROL";
 const QString COMPANYNAME = "QGROUNDCONTROL";
-const int APPLICATIONVERSION = 109; // 1.0.9
+const int APPLICATIONVERSION = 110; // 1.1.0
 }

 #endif // QGC_CONFIGURATION_H
--- a/src/main.cc
+++ b/src/main.cc
@@ -69,6 +69,18 @@ int main(int argc, char *argv[])
    qInstallMsgHandler( msgHandler );
 #endif

-    QGCCore core(argc, argv);
-    return core.exec();
+    QGCCore* core = NULL;
+    int val;
+    bool firstStart = true;
+
+    do {
+        if (core) {
+            delete core;
+            firstStart = false;
+        }
+        core = new QGCCore(firstStart, argc, argv);
+        val = core->exec();
+    } while (core->getRestartRequested());
+
+    return val;
 }
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -38,7 +38,10 @@
 * as the previous one created unless one calls deleteSettings in the code after
 * creating the UAS.
 */
+
 UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
+    lipoFull(4.2f),
+    lipoEmpty(3.5f),
    uasId(id),
    links(new QList<LinkInterface*>()),
    unknownPackets(),
@@ -3330,45 +3333,55 @@ QString UAS::getAudioModeTextFor(int id)
    return mode;
 }

+/**
+* The mode returned can be auto, stabilized, test, manual, preflight or unknown.
+* @return the short text of the mode for the id given.
+*/
 /**
 * The mode returned can be auto, stabilized, test, manual, preflight or unknown.
 * @return the short text of the mode for the id given.
 */
 QString UAS::getShortModeTextFor(int id)
 {
-    QString mode;
+    QString mode = "";
    uint8_t modeid = id;

-    qDebug() << "MODE:" << modeid;

    // BASE MODE DECODING
-    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO)
-    {
-        mode += "|AUTO";
-    }
-    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
-    {
-        mode += "|VECTOR";
-    }
-    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
-    {
-        mode += "|STABILIZED";
-    }
-    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST)
-    {
-        mode += "|TEST";
-    }
-    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
-    {
-        mode += "|MANUAL";
-    }
-    else if (modeid == 0)
+
+    if (modeid == 0)
    {
        mode = "|PREFLIGHT";
    }
-    else
+    else {
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO){
+            mode += "|AUTO";
+        }
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL){
+            mode += "|MANUAL";
+        }
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED){
+            mode += "|VECTOR";
+        }
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE){
+            mode += "|STABILIZED";
+        }
+
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST){
+            mode += "|TEST";
+        }
+
+
+    }
+
+    if (mode.length() == 0)
    {
        mode = "|UNKNOWN";
+        qDebug() << __FILE__ << __LINE__ << " Unknown modeid: " << modeid;
    }

    // ARMED STATE DECODING
@@ -3387,6 +3400,8 @@ QString UAS::getShortModeTextFor(int id)
        mode.prepend("HIL:");
    }

+    qDebug() << "MODE: " << modeid << " " << mode;
+
    return mode;
 }

@@ -3450,8 +3465,8 @@ void UAS::setBattery(BatteryType type, int cells)
    case LIION:
        break;
    case LIPOLY:
-        fullVoltage = this->cells * UAS::lipoFull;
-        emptyVoltage = this->cells * UAS::lipoEmpty;
+        fullVoltage = this->cells * lipoFull;
+        emptyVoltage = this->cells * lipoEmpty;
        break;
    case LIFE:
        break;

--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -56,8 +56,8 @@ public:
    UAS(MAVLinkProtocol* protocol, int id = 0);
    ~UAS();

-    static const int lipoFull = 4.2f;  ///< 100% charged voltage
-    static const int lipoEmpty = 3.5f; ///< Discharged voltage
+    float lipoFull;  ///< 100% charged voltage
+    float lipoEmpty; ///< Discharged voltage

    /* MANAGEMENT */


--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -80,12 +80,13 @@ This file is part of the QGROUNDCONTROL project
 const QString MainWindow::defaultDarkStyle = ":files/styles/style-dark.css";
 const QString MainWindow::defaultLightStyle = ":files/styles/style-light.css";

-MainWindow* MainWindow::instance(QSplashScreen* screen)
+MainWindow* MainWindow::instance_mode(QSplashScreen* screen, enum MainWindow::CUSTOM_MODE mode)
 {
    static MainWindow* _instance = 0;
    if (_instance == 0)
    {
        _instance = new MainWindow();
+        _instance->setCustomMode(mode);
        if (screen)
        {
            connect(_instance, SIGNAL(initStatusChanged(QString,int,QColor)),
@@ -96,6 +97,11 @@ MainWindow* MainWindow::instance(QSplashScreen* screen)
    return _instance;
 }

+MainWindow* MainWindow::instance(QSplashScreen* screen)
+{
+    instance_mode(screen, CUSTOM_MODE_NONE);
+}
+
 /**
 * Create new mainwindow. The constructor instantiates all parts of the user
 * interface. It does NOT show the mainwindow. To display it, call the show()
@@ -115,16 +121,15 @@ MainWindow::MainWindow(QWidget *parent):
    autoReconnect(false),
    lowPowerMode(false),
    isAdvancedMode(false),
-    dockWidgetTitleBarEnabled(true)
+    dockWidgetTitleBarEnabled(true),
+    customMode(CUSTOM_MODE_WIFI)
 {
    this->setAttribute(Qt::WA_DeleteOnClose);
-    hide();
+    loadSettings();
 }

 void MainWindow::init()
 {
-    emit initStatusChanged(tr("Loading settings"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
-    loadSettings();

    emit initStatusChanged(tr("Loading style"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    qApp->setStyle("plastique");
@@ -1139,6 +1144,9 @@ void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const
 void MainWindow::loadSettings()
 {
    QSettings settings;
+    settings.sync();
+    customMode = static_cast<enum MainWindow::CUSTOM_MODE>(settings.value("QGC_CUSTOM_MODE", (unsigned int)MainWindow::CUSTOM_MODE_NONE).toInt());
+    qDebug() << "MAINWINDOW: CUSTOM MODE:" << customMode;
    settings.beginGroup("QGC_MAINWINDOW");
    autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool();
    currentStyle = (QGC_MAINWINDOW_STYLE)settings.value("CURRENT_STYLE", currentStyle).toInt();
@@ -1171,6 +1179,7 @@ void MainWindow::storeSettings()
        // Save the current power mode
    }
    settings.setValue("LOW_POWER_MODE", lowPowerMode);
+    settings.setValue("QGC_CUSTOM_MODE", (int)customMode);
    settings.sync();
 }


--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -97,6 +97,14 @@ class MainWindow : public QMainWindow
    Q_OBJECT

 public:
+
+    enum CUSTOM_MODE {
+        CUSTOM_MODE_NONE = 0,
+        CUSTOM_MODE_PX4,
+        CUSTOM_MODE_APM,
+        CUSTOM_MODE_WIFI
+    };
+
    /**
     * A static function for obtaining the sole instance of the MainWindow. The screen
     * argument is only important on the FIRST call to this function. The provided splash
@@ -104,6 +112,7 @@ public:
     * function cannot be used within the MainWindow constructor!
     */
    static MainWindow* instance(QSplashScreen* screen = 0);
+    static MainWindow* instance_mode(QSplashScreen* screen = 0, enum MainWindow::CUSTOM_MODE mode = MainWindow::CUSTOM_MODE_NONE);

    /**
     * Initializes the MainWindow. Some variables are initialized and the widget is hidden.
@@ -167,6 +176,16 @@ public:
        return lowPowerMode;
    }

+    void setCustomMode(enum MainWindow::CUSTOM_MODE mode)
+    {
+        customMode = mode;
+    }
+
+    enum MainWindow::CUSTOM_MODE getCustomMode()
+    {
+        return customMode;
+    }
+
    QList<QAction*> listLinkMenuActions(void);

 public slots:
@@ -480,6 +499,7 @@ private:
    QMap<VIEW_SECTIONS,QMap<QString,QWidget*> > centralWidgetToDockWidgetsMap;
    bool isAdvancedMode; ///< If enabled dock widgets can be moved and floated.
    bool dockWidgetTitleBarEnabled; ///< If enabled, dock widget titlebars are displayed when NOT in advanced mode.
+    CUSTOM_MODE customMode;
    Ui::MainWindow ui;

    /** @brief Set the appropriate titlebar for a given dock widget.

--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -705,7 +705,7 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
                current->setBackground(1, QBrush(QColor(QGC::colorOrange)));
            }

-            switch (parameters.value(key)->value(str).type())
+            switch ((int)parameters.value(key)->value(str).type())
            {
            case QVariant::Int:
            {
@@ -766,7 +766,7 @@ void QGCParamWidget::saveParameters()
            {
                QString paramValue("%1");
                QString paramType("%1");
-                switch (j.value().type())
+                switch ((int)j.value().type())
                {
                case QVariant::Int:
                    paramValue = paramValue.arg(j.value().toInt());
@@ -777,7 +777,9 @@ void QGCParamWidget::saveParameters()
                    paramType = paramType.arg(MAV_PARAM_TYPE_UINT32);
                    break;
                case QMetaType::Float:
-                    paramValue = paramValue.arg(j.value().toDouble(), 25, 'g', 12);
+                    // We store parameters as floats, with only 6 digits of precision guaranteed for decimal string conversion
+                    // (see IEEE 754, 32 bit single-precision)
+                    paramValue = paramValue.arg((double)j.value().toFloat(), 25, 'g', 6);
                    paramType = paramType.arg(MAV_PARAM_TYPE_REAL32);
                    break;
                default:
@@ -955,7 +957,7 @@ void QGCParamWidget::retransmissionGuardTick()
                if (count < retransmissionBurstRequestSize) {
                    // Re-request write operation
                    QVariant value = missingParams->value(key);
-                    switch (parameters.value(component)->value(key).type())
+                    switch ((int)parameters.value(component)->value(key).type())
                    {
                    case QVariant::Int:
                    {
@@ -1020,7 +1022,7 @@ void QGCParamWidget::setParameter(int component, QString parameterName, QVariant
        return;
    }

-    switch (parameters.value(component)->value(parameterName).type())
+    switch ((int)parameters.value(component)->value(parameterName).type())
    {
    case QVariant::Char:
    {