Merge remote-tracking branch 'upstream/v10release' into v10release

qgroundcontrol.pro

@@ -235,7 +235,11 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCMAVLinkInspector.ui \
     src/ui/WaypointViewOnlyView.ui \    
     src/ui/WaypointEditableView.ui \    
-    src/ui/UnconnectedUASInfoWidget.ui
+    src/ui/UnconnectedUASInfoWidget.ui \
+    src/ui/mavlink/QGCMAVLinkMessageSender.ui \
+    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui \
+    src/ui/QGCPluginHost.ui \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -353,7 +357,11 @@ HEADERS += src/MG.h \
     src/ui/WaypointViewOnlyView.h \
     src/ui/WaypointEditableView.h \    
     src/ui/UnconnectedUASInfoWidget.h \
-    src/ui/QGCRGBDView.h
+    src/ui/QGCRGBDView.h \
+    src/ui/mavlink/QGCMAVLinkMessageSender.h \
+    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
+    src/ui/QGCPluginHost.h \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.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::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -481,7 +489,11 @@ SOURCES += src/main.cc \
     src/ui/WaypointViewOnlyView.cc \
     src/ui/WaypointEditableView.cc \
     src/ui/UnconnectedUASInfoWidget.cc \
-    src/ui/QGCRGBDView.cc
+    src/ui/QGCRGBDView.cc \
+    src/ui/mavlink/QGCMAVLinkMessageSender.cc \
+    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
+    src/ui/QGCPluginHost.cc \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/ui/MAVLinkSettingsWidget.cc

@@ -161,12 +161,14 @@ void MAVLinkSettingsWidget::chooseLogfileName()
 {
     QString fileName = QFileDialog::getSaveFileName(this, tr("Specify MAVLink log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("MAVLink Logfile (*.mavlink);;"));
 
-    if (!fileName.endsWith(".mavlink")) {
+    if (!fileName.endsWith(".mavlink"))
+    {
         fileName.append(".mavlink");
     }
 
     QFileInfo file(fileName);
-    if (file.exists() && !file.isWritable()) {
+    if (file.exists() && !file.isWritable())
+    {
         QMessageBox msgBox;
         msgBox.setIcon(QMessageBox::Critical);
         msgBox.setText(tr("The selected logfile is not writable"));
@@ -174,7 +176,9 @@ void MAVLinkSettingsWidget::chooseLogfileName()
         msgBox.setStandardButtons(QMessageBox::Ok);
         msgBox.setDefaultButton(QMessageBox::Ok);
         msgBox.exec();
-    } else {
+    }
+    else
+    {
         updateLogfileName(fileName);
         protocol->setLogfileName(fileName);
     }
@@ -189,12 +193,15 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable)
     // Delete from all lists first
     UDPLink* firstUdp = NULL;
     QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(protocol);
-    foreach (LinkInterface* link, links) {
+    foreach (LinkInterface* link, links)
+    {
         UDPLink* udp = dynamic_cast<UDPLink*>(link);
-        if (udp) {
+        if (udp)
+        {
             if (!firstUdp) firstUdp = udp;
             // Remove current hosts
-            for (int i = 0; i < m_ui->droneOSComboBox->count(); ++i) {
+            for (int i = 0; i < m_ui->droneOSComboBox->count(); ++i)
+            {
                 QString oldHostString = m_ui->droneOSComboBox->itemText(i);
                 oldHostString = hostString.split(":").first();
                 udp->removeHost(oldHostString);
@@ -203,8 +210,10 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable)
     }
 
     // Re-add if enabled
-    if (enable) {
-        if (firstUdp) {
+    if (enable)
+    {
+        if (firstUdp)
+        {
             firstUdp->addHost(hostString);
         }
         // Set key

src/ui/MainWindow.h

@@ -55,7 +55,6 @@ This file is part of the QGROUNDCONTROL project
 #include "JoystickWidget.h"
 #include "input/JoystickInput.h"
 #include "DebugConsole.h"
-//#include "MapWidget.h"
 #include "ParameterInterface.h"
 #include "XMLCommProtocolWidget.h"
 #include "HDDisplay.h"
@@ -80,6 +79,8 @@ This file is part of the QGROUNDCONTROL project
 #include "MAVLinkDecoder.h"
 
 class QGCMapTool;
+class QGCMAVLinkMessageSender;
+class QGCFirmwareUpdate;
 class QSplashScreen;
 
 /**
@@ -154,6 +155,8 @@ public slots:
     void loadOperatorView();
     /** @brief Load MAVLink XML generator view */
     void loadMAVLinkView();
+    /** @brief Load firmware update view */
+    void loadFirmwareUpdateView();
 
     /** @brief Show the online help for users */
     void showHelp();
@@ -241,13 +244,11 @@ protected:
         VIEW_OPERATOR,
         VIEW_PILOT,
         VIEW_MAVLINK,
+        VIEW_FIRMWAREUPDATE,
         VIEW_UNCONNECTED,    ///< View in unconnected mode, when no UAS is available
         VIEW_FULL            ///< All widgets shown at once
     } VIEW_SECTIONS;
 
-//    QHash<int, QAction*> toolsMenuActions; // Holds ptr to the Menu Actions
-//    QHash<int, QWidget*> dockWidgets;  // Holds ptr to the Actual Dock widget
-
     /**
      * @brief Adds an already instantiated QDockedWidget to the Tools Menu
      *
@@ -314,12 +315,10 @@ protected:
 #ifdef QGC_OSG_ENABLED
     QPointer<QWidget> _3DWidget;
 #endif
-#ifdef QGC_OSGEARTH_ENABLED
-    QPointer<QWidget> _3DMapWidget;
-#endif
 #if (defined _MSC_VER) || (defined Q_OS_MAC)
     QPointer<QGCGoogleEarthView> gEarthWidget;
 #endif
+    QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
 
     // Dock widgets
     QPointer<QDockWidget> controlDockWidget;
@@ -353,6 +352,7 @@ protected:
 
     QPointer<QDockWidget> mavlinkInspectorWidget;
     QPointer<MAVLinkDecoder> mavlinkDecoder;
+    QPointer<QDockWidget> mavlinkSenderWidget;
     QGCMAVLinkLogPlayer* logPlayer;
 
     // Popup widgets

src/ui/MainWindow.ui

@@ -51,7 +51,7 @@
      <x>0</x>
      <y>0</y>
      <width>800</width>
-     <height>25</height>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuMGround">
@@ -108,7 +108,7 @@
    </widget>
    <widget class="QMenu" name="menuTools">
     <property name="title">
-     <string>Widgets</string>
+     <string>Tool Widgets</string>
     </property>
     <addaction name="actionNewCustomWidget"/>
     <addaction name="actionLoadCustomWidgetFile"/>
@@ -129,6 +129,7 @@
     <addaction name="actionEngineersView"/>
     <addaction name="actionPilotsView"/>
     <addaction name="separator"/>
+    <addaction name="actionFirmwareUpdateView"/>
     <addaction name="actionMavlinkView"/>
     <addaction name="actionUnconnectedView"/>
     <addaction name="separator"/>
@@ -137,16 +138,22 @@
    </widget>
    <widget class="QMenu" name="menuMain">
     <property name="title">
-     <string>Main</string>
+     <string>Main Widget</string>
+    </property>
+   </widget>
+   <widget class="QMenu" name="menuPlugins">
+    <property name="title">
+     <string>Plugins</string>
     </property>
    </widget>
    <addaction name="menuMGround"/>
    <addaction name="menuNetwork"/>
    <addaction name="menuConnected_Systems"/>
    <addaction name="menuUnmanned_System"/>
+   <addaction name="menuPerspectives"/>
    <addaction name="menuMain"/>
    <addaction name="menuTools"/>
-   <addaction name="menuPerspectives"/>
+   <addaction name="menuPlugins"/>
    <addaction name="menuHelp"/>
   </widget>
   <widget class="QStatusBar" name="statusBar"/>
@@ -466,6 +473,18 @@
     <string>Load Custom Widget File</string>
    </property>
   </action>
+  <action name="actionFirmwareUpdateView">
+   <property name="icon">
+    <iconset resource="../../qgroundcontrol.qrc">
+     <normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Firmware Update</string>
+   </property>
+   <property name="toolTip">
+    <string>Update the firmware of one of the connected autopilots</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/ui/QGCFirmwareUpdate.ui

@@ -6,13 +6,21 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
-    <height>300</height>
+    <width>596</width>
+    <height>343</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <widget class="QComboBox" name="autopilotComboBox"/>
+   </item>
+   <item row="1" column="0">
+    <widget class="QWidget" name="widget" native="true"/>
+   </item>
+  </layout>
  </widget>
  <resources/>
  <connections/>

src/ui/QGCMAVLinkLogPlayer.cc

@@ -21,6 +21,7 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
     mavlinkLogFormat(true),
     binaryBaudRate(57600),
     isPlaying(false),
+    currPacketCount(0),
     ui(new Ui::QGCMAVLinkLogPlayer)
 {
     ui->setupUi(this);
@@ -102,6 +103,7 @@ void QGCMAVLinkLogPlayer::play()
             loopTimer.start(interval*accelerationFactor);
         }
         isPlaying = true;
+        ui->logStatsLabel->setText(tr("Started playing.."));
         ui->playButton->setIcon(QIcon(":images/actions/media-playback-pause.svg"));
     }
     else
@@ -272,7 +274,8 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
             minutes -= 60*hours;
 
             QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
-            ui->logStatsLabel->setText(tr("%2 MB, %3 packets, %4").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64))).arg(timelabel));
+            currPacketCount = logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64));
+            ui->logStatsLabel->setText(tr("%2 MB, %3 packets, %4").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(currPacketCount).arg(timelabel));
         }
         else
         {
@@ -302,6 +305,10 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
             QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
             ui->logStatsLabel->setText(tr("%2 MB, %4 at %5 KB/s").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(timelabel).arg(binaryBaudRate/10.0f/1024.0f, 0, 'f', 2));
         }
+
+        // Reset current state
+        reset(0);
+
         return true;
     }
 }
@@ -458,7 +465,7 @@ void QGCMAVLinkLogPlayer::logLoop()
 
     // Update status label
     // Update progress bar
-    if (loopCounter % 40 == 0)
+    if (loopCounter % 40 == 0 || currPacketCount < 500)
     {
         QFileInfo logFileInfo(logFile);
         int progress = (ui->positionSlider->maximum()-ui->positionSlider->minimum())*(logFile.pos()/static_cast<float>(logFileInfo.size()));

src/ui/QGCMAVLinkLogPlayer.h

@@ -78,6 +78,7 @@ protected:
     bool mavlinkLogFormat;
     int binaryBaudRate;
     bool isPlaying;
+    unsigned int currPacketCount;
     static const int packetLen = MAVLINK_MAX_PACKET_LEN;
     static const int timeLen = sizeof(quint64);
     void changeEvent(QEvent *e);

src/ui/QGCPluginHost.cc

+#include "QGCPluginHost.h"
+#include "ui_QGCPluginHost.h"
+
+QGCPluginHost::QGCPluginHost(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCPluginHost)
+{
+    ui->setupUi(this);
+}
+
+QGCPluginHost::~QGCPluginHost()
+{
+    delete ui;
+}

src/ui/QGCPluginHost.h

+#ifndef QGCPLUGINHOST_H
+#define QGCPLUGINHOST_H
+
+#include <QWidget>
+
+namespace Ui {
+class QGCPluginHost;
+}
+
+class QGCPluginHost : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit QGCPluginHost(QWidget *parent = 0);
+    ~QGCPluginHost();
+    
+private:
+    Ui::QGCPluginHost *ui;
+};
+
+#endif // QGCPLUGINHOST_H

src/ui/QGCPluginHost.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCPluginHost</class>
+ <widget class="QWidget" name="QGCPluginHost">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>633</width>
+    <height>329</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QListWidget" name="pluginListWidget">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>30</y>
+     <width>256</width>
+     <height>271</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QTextEdit" name="pluginLog">
+   <property name="geometry">
+    <rect>
+     <x>280</x>
+     <y>30</y>
+     <width>341</width>
+     <height>271</height>
+    </rect>
+   </property>
+   <property name="readOnly">
+    <bool>true</bool>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>10</y>
+     <width>121</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Loaded Plugins</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>280</x>
+     <y>10</y>
+     <width>91</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Plugin Log</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/QGCToolBar.cc

@@ -45,7 +45,7 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
     toggleLoggingAction = new QAction(QIcon(":"), "Logging", this);
     toggleLoggingAction->setCheckable(true);
     logReplayAction = new QAction(QIcon(":"), "Replay", this);
-    logReplayAction->setCheckable(true);
+    logReplayAction->setCheckable(false);
 
     addAction(toggleLoggingAction);
     addAction(logReplayAction);
@@ -101,8 +101,8 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
 void QGCToolBar::setLogPlayer(QGCMAVLinkLogPlayer* player)
 {
     this->player = player;
-    connect(toggleLoggingAction, SIGNAL(triggered(bool)), this, SLOT(playLogFile(bool)));
-    connect(logReplayAction, SIGNAL(triggered(bool)), this, SLOT(logging(bool)));
+    connect(toggleLoggingAction, SIGNAL(triggered(bool)), this, SLOT(logging(bool)));
+    connect(logReplayAction, SIGNAL(triggered(bool)), this, SLOT(playLogFile(bool)));
 }
 
 void QGCToolBar::playLogFile(bool enabled)
@@ -143,7 +143,7 @@ void QGCToolBar::logging(bool enabled)
         }
 
         QFileInfo file(fileName);
-        if (file.exists() && !file.isWritable())
+        if ((file.exists() && !file.isWritable()))
         {
             QMessageBox msgBox;
             msgBox.setIcon(QMessageBox::Critical);

src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc

+#include "QGCFirmwareUpdateWidget.h"
+#include "ui_QGCFirmwareUpdateWidget.h"
+
+QGCFirmwareUpdateWidget::QGCFirmwareUpdateWidget(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCFirmwareUpdateWidget)
+{
+    ui->setupUi(this);
+}
+
+QGCFirmwareUpdateWidget::~QGCFirmwareUpdateWidget()
+{
+    delete ui;
+}

src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h

+#ifndef QGCFIRMWAREUPDATEWIDGET_H
+#define QGCFIRMWAREUPDATEWIDGET_H
+
+#include <QWidget>
+
+namespace Ui {
+class QGCFirmwareUpdateWidget;
+}
+
+class QGCFirmwareUpdateWidget : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit QGCFirmwareUpdateWidget(QWidget *parent = 0);
+    ~QGCFirmwareUpdateWidget();
+    
+private:
+    Ui::QGCFirmwareUpdateWidget *ui;
+};
+
+#endif // QGCFIRMWAREUPDATEWIDGET_H

src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCFirmwareUpdateWidget</class>
+ <widget class="QWidget" name="QGCFirmwareUpdateWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>638</width>
+    <height>412</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0" colspan="2">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>1) Select Autopilot</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0" colspan="2">
+    <widget class="QListWidget" name="autopilotListWidget"/>
+   </item>
+   <item row="1" column="2">
+    <widget class="QTextEdit" name="textEdit">
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
+     <property name="html">
+      <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:14px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:large; font-weight:600;&quot;&gt;Autopilot Selection&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Select one of the connected autopilots from the list on the left.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="3" rowspan="4" colspan="2">
+    <widget class="QTextEdit" name="firmwareInfo">
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
+     <property name="html">
+      <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:14px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:large; font-weight:600;&quot;&gt;AP Firmware v0.9.1&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;This software update...&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;FIXES:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;- Fix1&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;FEATURES:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;- New feature 1&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0" colspan="2">
+    <widget class="QLabel" name="label_3">
+     <property name="text">
+      <string>2) Select Software Version</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0" colspan="2">
+    <widget class="QListWidget" name="firmwareListWidget"/>
+   </item>
+   <item row="3" column="2" rowspan="2">
+    <widget class="QTextEdit" name="textEdit_2">
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
+     <property name="html">
+      <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:14px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:large; font-weight:600;&quot;&gt;Software Version Selection&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Select the software version from the online repository on the left or choose the select file button to load a file from the harddisk. Detail information is shown on the right.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="1">
+    <widget class="QPushButton" name="selectFileButton">
+     <property name="text">
+      <string>Select File..</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="0" rowspan="2" colspan="5">
+    <widget class="QProgressBar" name="progressBar">
+     <property name="value">
+      <number>24</number>
+     </property>
+    </widget>
+   </item>
+   <item row="6" column="4" rowspan="2">
+    <widget class="QPushButton" name="flashFirmwareButton">
+     <property name="text">
+      <string>Flash Firmware</string>
+     </property>
+    </widget>
+   </item>
+   <item row="7" column="0">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>Status</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc

+#include "QGCPX4FirmwareUpdate.h"
+#include "ui_QGCPX4FirmwareUpdate.h"
+
+QGCPX4FirmwareUpdate::QGCPX4FirmwareUpdate(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCPX4FirmwareUpdate)
+{
+    ui->setupUi(this);
+}
+
+QGCPX4FirmwareUpdate::~QGCPX4FirmwareUpdate()
+{
+    delete ui;
+}

src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h

+#ifndef QGCPX4FIRMWAREUPDATE_H
+#define QGCPX4FIRMWAREUPDATE_H
+
+#include <QWidget>
+
+namespace Ui {
+class QGCPX4FirmwareUpdate;
+}
+
+class QGCPX4FirmwareUpdate : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit QGCPX4FirmwareUpdate(QWidget *parent = 0);
+    ~QGCPX4FirmwareUpdate();
+    
+private:
+    Ui::QGCPX4FirmwareUpdate *ui;
+};
+
+#endif // QGCPX4FIRMWAREUPDATE_H

src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCPX4FirmwareUpdate</class>
+ <widget class="QWidget" name="QGCPX4FirmwareUpdate">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0" colspan="4">
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>2</number>
+     </property>
+     <widget class="QWidget" name="firmwareSelectTab">
+      <attribute name="title">
+       <string>Firmware</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_2">
+       <property name="leftMargin">
+        <number>6</number>
+       </property>
+       <property name="rightMargin">
+        <number>6</number>
+       </property>
+       <property name="bottomMargin">
+        <number>6</number>
+       </property>
+       <item row="0" column="0" colspan="2">
+        <widget class="QListWidget" name="fileList"/>
+       </item>
+       <item row="1" column="0">
+        <widget class="QLineEdit" name="fileLineEdit"/>
+       </item>
+       <item row="1" column="1">
+        <widget class="QPushButton" name="selectFileButton">
+         <property name="text">
+          <string>Select File</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="settingsBackupTab">
+      <attribute name="title">
+       <string>Settings</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_3">
+       <item row="0" column="0">
+        <widget class="QLineEdit" name="lineEdit"/>
+       </item>
+       <item row="0" column="1">
+        <widget class="QPushButton" name="settingsStoreButton">
+         <property name="text">
+          <string>Select File</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="flashTab">
+      <attribute name="title">
+       <string>Flash Firmware</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_4">
+       <item row="0" column="0">
+        <widget class="QLabel" name="fileLabel">
+         <property name="text">
+          <string>Filename</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QProgressBar" name="progressBar">
+         <property name="value">
+          <number>24</number>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <widget class="QLabel" name="statusLabel">
+         <property name="text">
+          <string>Status</string>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="0">
+        <widget class="QPushButton" name="flashButton">
+         <property name="text">
+          <string>Flash Firmware</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>40</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <widget class="QPushButton" name="pushButton">
+     <property name="text">
+      <string>Prev</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <widget class="QPushButton" name="pushButton_2">
+     <property name="text">
+      <string>Next</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="3">
+    <widget class="QPushButton" name="pushButton_3">
+     <property name="text">
+      <string>Flash</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/linechart/LinechartPlot.cc

@@ -35,8 +35,8 @@ LinechartPlot::LinechartPlot(QWidget *parent, int plotid, quint64 interval): Qwt
     minTime(0),
     lastTime(0),
     maxTime(100),
-    plotPosition(0),
     maxInterval(MAX_STORAGE_INTERVAL),
+    plotPosition(0),
     timeScaleStep(DEFAULT_SCALE_INTERVAL), // 10 seconds
     automaticScrollActive(false),
     m_active(false),

src/ui/linechart/LinechartPlot.h

@@ -298,8 +298,8 @@ protected:
     // TODO CHECK THIS!!!
     int scaling;
     QwtScaleEngine* yScaleEngine;
-    quint64 lastTime; ///< Last added timestamp
     quint64 minTime; ///< The smallest timestamp occured so far
+    quint64 lastTime; ///< Last added timestamp
     quint64 maxTime; ///< The biggest timestamp occured so far
     quint64 maxInterval;
     quint64 storageInterval;

src/ui/map3D/Pixhawk3DWidget.cc

@@ -663,15 +663,19 @@ void
 Pixhawk3DWidget::getPosition(double& x, double& y, double& z,
                              QString& utmZone)
 {
-    if (uas) {
-        if (frame == MAV_FRAME_GLOBAL) {
+    if (uas)
+    {
+        if (frame == MAV_FRAME_GLOBAL)
+        {
             double latitude = uas->getLatitude();
             double longitude = uas->getLongitude();
             double altitude = uas->getAltitude();
 
             Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
             z = -altitude;
-        } else if (frame == MAV_FRAME_LOCAL_NED) {
+        }
+        else if (frame == MAV_FRAME_LOCAL_NED)
+        {
             x = uas->getLocalX();
             y = uas->getLocalY();
             z = uas->getLocalZ();
@@ -881,7 +885,8 @@ Pixhawk3DWidget::resizeHUD(void)
     int bottomHUDHeight = 25;
 
     osg::Vec3Array* vertices = static_cast<osg::Vec3Array*>(hudBackgroundGeometry->getVertexArray());
-    if (vertices == NULL || vertices->size() != 8) {
+    if (vertices == NULL || vertices->size() != 8)
+    {
         osg::ref_ptr<osg::Vec3Array> newVertices = new osg::Vec3Array(8);
         hudBackgroundGeometry->setVertexArray(newVertices);
 
@@ -899,7 +904,8 @@ Pixhawk3DWidget::resizeHUD(void)
 
     statusText->setPosition(osg::Vec3(10, height() - 15, -1.5));
 
-    if (rgb2DGeode.valid() && depth2DGeode.valid()) {
+    if (rgb2DGeode.valid() && depth2DGeode.valid())
+    {
         int windowWidth = (width() - 20) / 2;
         int windowHeight = 3 * windowWidth / 4;
         rgb2DGeode->setAttributes(10, (height() - windowHeight) / 2,
@@ -922,7 +928,8 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
     std::ostringstream oss;
     oss.setf(std::ios::fixed, std::ios::floatfield);
     oss.precision(2);
-    if (frame == MAV_FRAME_GLOBAL) {
+    if (frame == MAV_FRAME_GLOBAL)
+    {
         double latitude, longitude;
         Imagery::UTMtoLL(robotX, robotY, utmZone, latitude, longitude);
 
@@ -943,7 +950,9 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
         oss.precision(6);
         oss << " Cursor [" << cursorLatitude <<
             " " << cursorLongitude << "]";
-    } else if (frame == MAV_FRAME_LOCAL_NED) {
+    }
+    else if (frame == MAV_FRAME_LOCAL_NED)
+    {
         oss << " x = " << robotX <<
             " y = " << robotY <<
             " z = " << robotZ <<
@@ -957,7 +966,8 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
     statusText->setText(oss.str());
 
     bool darkBackground = true;
-    if (mapNode->getImageryType() == Imagery::GOOGLE_MAP) {
+    if (mapNode->getImageryType() == Imagery::GOOGLE_MAP)
+    {
         darkBackground = false;
     }
 
@@ -968,34 +978,44 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
 void
 Pixhawk3DWidget::updateTrail(double robotX, double robotY, double robotZ)
 {
-    if (robotX == 0.0f || robotY == 0.0f || robotZ == 0.0f) {
+    if (robotX == 0.0f || robotY == 0.0f || robotZ == 0.0f)
+    {
         return;
     }
 
     bool addToTrail = false;
-    if (trail.size() > 0) {
+    if (trail.size() > 0)
+    {
         if (fabs(robotX - trail[trail.size() - 1].x()) > 0.01f ||
                 fabs(robotY - trail[trail.size() - 1].y()) > 0.01f ||
-                fabs(robotZ - trail[trail.size() - 1].z()) > 0.01f) {
+                fabs(robotZ - trail[trail.size() - 1].z()) > 0.01f)
+        {
             addToTrail = true;
         }
-    } else {
+    }
+    else
+    {
         addToTrail = true;
     }
 
-    if (addToTrail) {
+    if (addToTrail)
+    {
         osg::Vec3d p(robotX, robotY, robotZ);
-        if (trail.size() == trail.capacity()) {
+        if (trail.size() == trail.capacity())
+        {
             memcpy(trail.data(), trail.data() + 1,
                    (trail.size() - 1) * sizeof(osg::Vec3d));
             trail[trail.size() - 1] = p;
-        } else {
+        }
+        else
+        {
             trail.append(p);
         }
     }
 
     trailVertices->clear();
-    for (int i = 0; i < trail.size(); ++i) {
+    for (int i = 0; i < trail.size(); ++i)
+    {
         trailVertices->push_back(osg::Vec3d(trail[i].y() - robotY,
                                             trail[i].x() - robotX,
                                             -(trail[i].z() - robotZ)));
@@ -1010,12 +1030,14 @@ void
 Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
                                const QString& zone)
 {
-    if (mapNode->getImageryType() == Imagery::BLANK_MAP) {
+    if (mapNode->getImageryType() == Imagery::BLANK_MAP)
+    {
         return;
     }
 
     double viewingRadius = cameraManipulator->getDistance() * 10.0;
-    if (viewingRadius < 100.0) {
+    if (viewingRadius < 100.0)
+    {
         viewingRadius = 100.0;
     }
 
@@ -1024,7 +1046,8 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
     double maxResolution = 1048576.0;
 
     Imagery::ImageryType imageryType = mapNode->getImageryType();
-    switch (imageryType) {
+    switch (imageryType)
+    {
     case Imagery::GOOGLE_MAP:
         minResolution = 0.25;
         break;
@@ -1040,10 +1063,13 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
     }
 
     double resolution = minResolution;
-    while (resolution * 2.0 < centerResolution) {
+    while (resolution * 2.0 < centerResolution)
+    {
         resolution *= 2.0;
     }
-    if (resolution > maxResolution) {
+
+    if (resolution > maxResolution)
+    {
         resolution = maxResolution;
     }
 
@@ -1057,14 +1083,16 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
                     zone);
 
     // prefetch map tiles
-    if (resolution / 2.0 >= minResolution) {
+    if (resolution / 2.0 >= minResolution)
+    {
         mapNode->prefetch3D(viewingRadius / 2.0,
                             resolution / 2.0,
                             cameraManipulator->getCenter().y(),
                             cameraManipulator->getCenter().x(),
                             zone);
     }
-    if (resolution * 2.0 <= maxResolution) {
+    if (resolution * 2.0 <= maxResolution)
+    {
         mapNode->prefetch3D(viewingRadius * 2.0,
                             resolution * 2.0,
                             cameraManipulator->getCenter().y(),

src/ui/mavlink/QGCMAVLinkMessageSender.h

+#ifndef QGCMAVLINKMESSAGESENDER_H
+#define QGCMAVLINKMESSAGESENDER_H
+
+#include <QWidget>
+#include <QTreeWidgetItem>
+#include <QMap>
+#include <QTimer>
+#include "MAVLinkProtocol.h"
+
+namespace Ui {
+class QGCMAVLinkMessageSender;
+}
+
+class QGCMAVLinkMessageSender : public QWidget
+{
+    Q_OBJECT
+
+    friend class QTimer;
+    
+public:
+    explicit QGCMAVLinkMessageSender(MAVLinkProtocol* mavlink, QWidget *parent = 0);
+    ~QGCMAVLinkMessageSender();
+    
+protected:
+    mavlink_message_info_t messageInfo[256];    ///< Meta information about all messages
+    MAVLinkProtocol* protocol;                  ///< MAVLink protocol
+    QMap<int, float> messagesHz;                ///< Used to store update rate in Hz
+    QTimer refreshTimer;
+    QMap<unsigned int, QTimer*> sendTimers;
+    QMap<unsigned int, QTreeWidgetItem*> managementItems;
+    QMap<unsigned int, QTreeWidgetItem*> treeWidgetItems;  ///< Messages
+
+    /** @brief Create the tree view of all messages */
+    void createTreeView();
+    /** @brief Create one field of one message in the tree view of all messages */
+    void createField(int msgid, int fieldid, QTreeWidgetItem* item);
+    /** @brief Send message with values taken from tree view */
+    bool sendMessage(unsigned int id);
+
+protected slots:
+    /** @brief Read / display values in UI */
+    void refresh();
+
+private:
+    Ui::QGCMAVLinkMessageSender *ui;
+};
+
+#endif // QGCMAVLINKMESSAGESENDER_H

src/ui/mavlink/QGCMAVLinkMessageSender.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMAVLinkMessageSender</class>
+ <widget class="QWidget" name="QGCMAVLinkMessageSender">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="margin">
+    <number>6</number>
+   </property>
+   <item row="0" column="0" colspan="2">
+    <widget class="QTreeWidget" name="treeWidget">
+     <column>
+      <property name="text">
+       <string notr="true">1</string>
+      </property>
+     </column>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>