Merge pull request #896 from DonLakeFlyer/QUpgradeRemoval

Cleaning up qupgrade parts in main source tree

Merge pull request #896 from DonLakeFlyer/QUpgradeRemoval
Cleaning up qupgrade parts in main source tree
17b51ba9 · Don Gagne · ce55805c · a39c7aab · 17b51ba9 · ce55805c
Commit 17b51ba9 authored Oct 18, 2014 by Don Gagne
27 changed files
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -267,8 +267,6 @@ FORMS += \
    src/ui/watchdog/WatchdogControl.ui \
    src/ui/watchdog/WatchdogProcessView.ui \
    src/ui/watchdog/WatchdogView.ui \
-    src/ui/QGCFirmwareUpdate.ui \
-    src/ui/QGCPxImuFirmwareUpdate.ui \
    src/ui/QGCDataPlot2D.ui \
    src/ui/QGCRemoteControlView.ui \
    src/ui/QMap3D.ui \
@@ -295,9 +293,7 @@ FORMS += \
    src/ui/WaypointViewOnlyView.ui \
    src/ui/WaypointEditableView.ui \
    src/ui/mavlink/QGCMAVLinkMessageSender.ui \
-    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui \
    src/ui/QGCPluginHost.ui \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui \
    src/ui/mission/QGCMissionOther.ui \
    src/ui/mission/QGCMissionNavWaypoint.ui \
    src/ui/mission/QGCMissionDoJump.ui \
@@ -419,8 +415,6 @@ HEADERS += \
    src/uas/UASWaypointManager.h \
    src/ui/HSIDisplay.h \
    src/QGC.h \
-    src/ui/QGCFirmwareUpdate.h \
-    src/ui/QGCPxImuFirmwareUpdate.h \
    src/ui/QGCDataPlot2D.h \
    src/ui/linechart/IncrementalPlot.h \
    src/ui/QGCRemoteControlView.h \
@@ -470,9 +464,7 @@ HEADERS += \
    src/ui/WaypointEditableView.h \
    src/ui/QGCRGBDView.h \
    src/ui/mavlink/QGCMAVLinkMessageSender.h \
-    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
    src/ui/QGCPluginHost.h \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
    src/ui/mission/QGCMissionOther.h \
    src/ui/mission/QGCMissionNavWaypoint.h \
    src/ui/mission/QGCMissionDoJump.h \
@@ -611,8 +603,6 @@ SOURCES += \
    src/uas/UASWaypointManager.cc \
    src/ui/HSIDisplay.cc \
    src/QGC.cc \
-    src/ui/QGCFirmwareUpdate.cc \
-    src/ui/QGCPxImuFirmwareUpdate.cc \
    src/ui/QGCDataPlot2D.cc \
    src/ui/linechart/IncrementalPlot.cc \
    src/ui/QGCRemoteControlView.cc \
@@ -660,9 +650,7 @@ SOURCES += \
    src/ui/WaypointEditableView.cc \
    src/ui/QGCRGBDView.cc \
    src/ui/mavlink/QGCMAVLinkMessageSender.cc \
-    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
    src/ui/QGCPluginHost.cc \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
    src/ui/mission/QGCMissionOther.cc \
    src/ui/mission/QGCMissionNavWaypoint.cc \
    src/ui/mission/QGCMissionDoJump.cc \

--- a/qupgrade.pro
+++ b/qupgrade.pro
-# 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 \
-    src/apps/qupgrade/uploader.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/apps/qupgrade/uploader.cpp \
-    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-g++::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(xcopy /D /Y "$$(QTDIR)\\bin\\QtDeclarative4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
-                QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtScript4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
-                QMAKE_POST_LINK += $$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))
-                }
-        }
-}
--- a/src/PX4FirmwareUpgradeWorker.cc
+++ b/src/PX4FirmwareUpgradeWorker.cc
-//#include <QJsonDocument>
-#include <QFile>
-#include "PX4FirmwareUpgradeWorker.h"
-#include <SerialLink.h>
-#include <QGC.h>
-#include "uploader.h"
-#include <QDebug>
-#define PROTO_GET_SYNC		0x21
-#define PROTO_EOC            0x20
-#define PROTO_NOP		0x00
-#define PROTO_OK		0x10
-#define PROTO_FAILED		0x11
-#define PROTO_INSYNC		0x12
-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();
-    return worker;
-}
-void PX4FirmwareUpgradeWorker::startContinousScan()
-{
-    exitThread = false;
-    while (!exitThread) {
-//        if (detect()) {
-//            break;
-//        }
-        QGC::SLEEP::msleep(20);
-    }
-    if (exitThread) {
-        link->disconnect();
-        delete link;
-        exit(0);
-    }
-}
-void 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] = { PROTO_GET_SYNC, PROTO_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;
-    }
-    //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() << (char)(b[position]);
-        if (((const char)b[position]) == PROTO_INSYNC)
-        {
-            qDebug() << "SYNC";
-            insync = true;
-        }
-        if (insync && ((const char)b[position]) == PROTO_OK)
-        {
-            emit detectionStatusChanged("Found PX4 board");
-        }
-    }
-    printf("\n");
-}
-void PX4FirmwareUpgradeWorker::loadFirmware(const QString &filename)
-{
-    qDebug() << __FILE__ << __LINE__ << "LOADING FW" << filename;
-    PX4_Uploader uploader;
-    const char* filenames[2];
-    filenames[0] = filename.toStdString().c_str();
-    filenames[1] = NULL;
-    uploader.upload(filenames, "/dev/tty.usbmodem1");
-//    QFile f(filename);
-//    if (f.open(QIODevice::ReadOnly))
-//    {
-//        QByteArray buf = f.readAll();
-//        f.close();
-//        firmware = QJsonDocument::fromBinaryData(buf);
-//        if (firmware.isNull()) {
-//            emit upgradeStatusChanged(tr("Failed decoding file %1").arg(filename));
-//        } else {
-//            emit upgradeStatusChanged(tr("Ready to flash %1").arg(filename));
-//        }
-//    } else {
-//        emit upgradeStatusChanged(tr("Failed opening file %1").arg(filename));
-//    }
-}
-void PX4FirmwareUpgradeWorker::upgrade()
-{
-    emit upgradeStatusChanged(tr("Starting firmware upgrade.."));
-}
-void PX4FirmwareUpgradeWorker::abort()
-{
-    exitThread = true;
-}
--- a/src/PX4FirmwareUpgradeWorker.h
+++ b/src/PX4FirmwareUpgradeWorker.h
-#ifndef PX4FIRMWAREUPGRADEWORKER_H
-#define PX4FIRMWAREUPGRADEWORKER_H
-#include <QObject>
-//#include <QJsonDocument>
-#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
-     */
-    void 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
-     */
-    void detect();
-    /**
-     * @brief Upgrade the firmware using the currently connected link
-     * @param filename file name / path of the firmware file
-     */
-    void upgrade();
-    /**
-     * @brief Load firmware from disk into memory
-     * @param filename
-     */
-    void loadFirmware(const QString &filename);
-    /**
-     * @brief Receive bytes from a link
-     * @param link
-     * @param b
-     */
-    void receiveBytes(LinkInterface* link, QByteArray b);
-    /**
-     * @brief Abort upgrade worker
-     */
-    void abort();
-protected:
-    bool exitThread;
-private:
-    SerialLink *link;
-    bool insync;
-    //QJsonDocument firmware;
-};
-#endif // PX4FIRMWAREUPGRADEWORKER_H
--- a/src/apps/qupgrade/QUpgradeApp.cc
+++ b/src/apps/qupgrade/QUpgradeApp.cc
-/*=====================================================================
- 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();
-    PX4FirmwareUpgrader *upgrader = new PX4FirmwareUpgrader(window);
-    window->setCentralWidget(upgrader);
-    // Get PX4 upgrade widget and instantiate worker thread
-    PX4FirmwareUpgradeWorker* worker = PX4FirmwareUpgradeWorker::putWorkerInThread(this);
-//    connect(worker, SIGNAL(detectionStatusChanged(QString)), upgrader, SLOT(setDetectionStatusText(QString)), Qt::QueuedConnection);
-//    connect(worker, SIGNAL(upgradeStatusChanged(QString)), upgrader, SLOT(setFlashStatusText(QString)), Qt::QueuedConnection);
-//    connect(worker, SIGNAL(upgradeProgressChanged(int)), upgrader, SLOT(setFlashProgress(int)), Qt::QueuedConnection);
-//    connect(worker, SIGNAL(validPortFound(QString)), upgrader, SLOT(setPortName(QString)));
-//    connect(upgrader, SIGNAL(firmwareFileNameSet(QString)), worker, SLOT(loadFirmware(QString)), Qt::QueuedConnection);
-//    connect(upgrader, SIGNAL(upgrade()), worker, SLOT(upgrade()), Qt::QueuedConnection);
-//    connect(this, SIGNAL(lastWindowClosed()), worker, SLOT(abort()), Qt::QueuedConnection);
-    worker->loadFirmware("/Users/lomeier/src/Firmware/Images/px4fmu.bin");
-    window->setWindowTitle(applicationName() + " " + applicationVersion());
-    window->show();
-}
-/**
- * @brief Destructor for the groundstation. It destroys all loaded instances.
- *
- **/
-QUpgradeApp::~QUpgradeApp()
-{
-}
--- a/src/apps/qupgrade/QUpgradeApp.h
+++ b/src/apps/qupgrade/QUpgradeApp.h
-/*=====================================================================
- 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 */
--- a/src/apps/qupgrade/QUpgradeMainWindow.cc
+++ b/src/apps/qupgrade/QUpgradeMainWindow.cc
-/*=====================================================================
- 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);
-}
-QUpgradeMainWindow::~QUpgradeMainWindow()
-{
-    delete ui;
-}
--- a/src/apps/qupgrade/QUpgradeMainWindow.h
+++ b/src/apps/qupgrade/QUpgradeMainWindow.h
-/*=====================================================================
- 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();
-public slots:
-protected:
-private:
-    Ui::QUpgradeMainWindow *ui;
-};
-#endif // QUPGRADEMAINWINDOW_H
--- a/src/apps/qupgrade/QUpgradeMainWindow.ui
+++ b/src/apps/qupgrade/QUpgradeMainWindow.ui
-<?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="QWidget" 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>
- <resources/>
- <connections/>
-</ui>
--- a/src/apps/qupgrade/main.cc
+++ b/src/apps/qupgrade/main.cc
-/*=====================================================================
- 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();
-}
--- a/src/apps/qupgrade/uploader.cpp
+++ b/src/apps/qupgrade/uploader.cpp
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-/**
- * @file Firmware uploader for PX4IO
- */
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <assert.h>
-#include <errno.h>
-#include <string.h>
-#include <stdio.h>
-#include <stdarg.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <sys/stat.h>
-#include "uploader.h"
-#include <QtGlobal>
-#undef OK
-#define OK 0
-#define nullptr NULL
-static const uint32_t crctab[] =
-{
-	0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
-	0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
-	0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
-	0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
-	0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
-	0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
-	0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
-	0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
-	0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
-	0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
-	0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
-	0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
-	0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
-	0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
-	0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
-	0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
-	0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
-	0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
-	0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
-	0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
-	0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
-	0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
-	0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
-	0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
-	0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
-	0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
-	0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
-	0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
-	0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
-	0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
-	0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
-	0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
-};
-static uint32_t
-crc32(const uint8_t *src, unsigned len, unsigned state)
-{
-	for (unsigned i = 0; i < len; i++)
-		state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8);
-	return state;
-}
-PX4_Uploader::PX4_Uploader() :
-	_io_fd(-1),
-	_fw_fd(-1)
-{
-}
-PX4_Uploader::~PX4_Uploader()
-{
-}
-int
-PX4_Uploader::upload(const char *filenames[], const char* port)
-{
-	int	ret;
-	const char *filename = NULL;
-	size_t fw_size;
-    _io_fd = open(port, O_RDWR);
-	if (_io_fd < 0) {
-		log("could not open interface");
-		return -errno;
-	}
-	/* look for the bootloader */
-	ret = sync();
-	if (ret != OK) {
-		/* this is immediately fatal */
-		log("bootloader not responding");
-		return -EIO;
-	}
-	for (unsigned i = 0; filenames[i] != nullptr; i++) {
-		_fw_fd = open(filenames[i], O_RDONLY);
-		if (_fw_fd < 0) {
-			log("failed to open %s", filenames[i]);
-			continue;
-		}
-		log("using firmware from %s", filenames[i]);
-		filename = filenames[i];
-		break;
-	}
-	if (filename == NULL) {
-		log("no firmware found");
-		return -ENOENT;
-	}
-	struct stat st;
-	if (stat(filename, &st) != 0) {
-		log("Failed to stat %s - %d\n", filename, (int)errno);
-		return -errno;
-	}
-	fw_size = st.st_size;
-	if (_fw_fd == -1)
-		return -ENOENT;
-	/* do the usual program thing - allow for failure */
-	for (unsigned retries = 0; retries < 1; retries++) {
-		if (retries > 0) {
-			log("retrying update...");
-			ret = sync();
-			if (ret != OK) {
-				/* this is immediately fatal */
-				log("bootloader not responding");
-				return -EIO;
-			}
-		}
-		ret = get_info(INFO_BL_REV, bl_rev);
-		if (ret == OK) {
-			if (bl_rev <= BL_REV) {
-				log("found bootloader revision: %d", bl_rev);
-			} else {
-				log("found unsupported bootloader revision %d, exiting", bl_rev);
-				return OK;
-			}
-		}
-		ret = erase();
-		if (ret != OK) {
-			log("erase failed");
-			continue;
-		}
-		ret = program(fw_size);
-		if (ret != OK) {
-			log("program failed");
-			continue;
-		}
-		if (bl_rev <= 2)
-			ret = verify_rev2(fw_size);
-		else if(bl_rev == 3) {
-			ret = verify_rev3(fw_size);
-		}
-		if (ret != OK) {
-			log("verify failed");
-			continue;
-		}
-		ret = reboot();
-		if (ret != OK) {
-			log("reboot failed");
-			return ret;
-		}
-		log("update complete");
-		ret = OK;
-		break;
-	}
-	close(_fw_fd);
-	return ret;
-}
-int
-PX4_Uploader::recv(uint8_t &c, unsigned timeout)
-{
-	struct pollfd fds[1];
-	fds[0].fd = _io_fd;
-	fds[0].events = POLLIN;
-	/* wait 100 ms for a character */
-	int ret = ::poll(&fds[0], 1, timeout);
-	if (ret < 1) {
-		log("poll timeout %d", ret);
-		return -ETIMEDOUT;
-	}
-	read(_io_fd, &c, 1);
-	//log("recv 0x%02x", c);
-	return OK;
-}
-int
-PX4_Uploader::recv(uint8_t *p, unsigned count)
-{
-	while (count--) {
-		int ret = recv(*p++, 5000);
-		if (ret != OK)
-			return ret;
-	}
-	return OK;
-}
-void
-PX4_Uploader::drain()
-{
-	uint8_t c;
-	int ret;
-	do {
-		ret = recv(c, 1000);
-		if (ret == OK) {
-			//log("discard 0x%02x", c);
-		}
-	} while (ret == OK);
-}
-int
-PX4_Uploader::send(uint8_t c)
-{
-	//log("send 0x%02x", c);
-	if (write(_io_fd, &c, 1) != 1)
-		return -errno;
-	return OK;
-}
-int
-PX4_Uploader::send(uint8_t *p, unsigned count)
-{
-	while (count--) {
-		int ret = send(*p++);
-		if (ret != OK)
-			return ret;
-	}
-	return OK;
-}
-int
-PX4_Uploader::get_sync(unsigned timeout)
-{
-	uint8_t c[2];
-	int ret;
-	ret = recv(c[0], timeout);
-	if (ret != OK)
-		return ret;
-	ret = recv(c[1], timeout);
-	if (ret != OK)
-		return ret;
-	if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) {
-		log("bad sync 0x%02x,0x%02x", c[0], c[1]);
-		return -EIO;
-	}
-	return OK;
-}
-int
-PX4_Uploader::sync()
-{
-	drain();
-	/* complete any pending program operation */
-	for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++)
-		send(0);
-	send(PROTO_GET_SYNC);
-	send(PROTO_EOC);
-	return get_sync();
-}
-int
-PX4_Uploader::get_info(int param, uint32_t &val)
-{
-	int ret;
-	send(PROTO_GET_DEVICE);
-	send(param);
-	send(PROTO_EOC);
-	ret = recv((uint8_t *)&val, sizeof(val));
-	if (ret != OK)
-		return ret;
-	return get_sync();
-}
-int
-PX4_Uploader::erase()
-{
-	log("erase...");
-	send(PROTO_CHIP_ERASE);
-	send(PROTO_EOC);
-	return get_sync(10000);		/* allow 10s timeout */
-}
-static int read_with_retry(int fd, void *buf, size_t n)
-{
-	int ret;
-	uint8_t retries = 0;
-	do {
-		ret = read(fd, buf, n);
-	} while (ret == -1 && retries++ < 100);
-	if (retries != 0) {
-		printf("read of %u bytes needed %u retries\n",
-		       (unsigned)n,
-		       (unsigned)retries);
-	}
-	return ret;
-}
-int
-PX4_Uploader::program(size_t fw_size)
-{
-	uint8_t	file_buf[PROG_MULTI_MAX];
-	ssize_t count;
-	int ret;
-	size_t sent = 0;
-	log("programming %u bytes...", (unsigned)fw_size);
-	ret = lseek(_fw_fd, 0, SEEK_SET);
-	while (sent < fw_size) {
-		/* get more bytes to program */
-		size_t n = fw_size - sent;
-		if (n > sizeof(file_buf)) {
-			n = sizeof(file_buf);
-		}
-		count = read_with_retry(_fw_fd, file_buf, n);
-		if (count != (ssize_t)n) {
-			log("firmware read of %u bytes at %u failed -> %d errno %d", 
-			    (unsigned)n,
-			    (unsigned)sent,
-			    (int)count,
-			    (int)errno);
-		}
-		if (count == 0)
-			return OK;
-		sent += count;
-		if (count < 0)
-			return -errno;
-        Q_ASSERT((count % 4) == 0);
-		send(PROTO_PROG_MULTI);
-		send(count);
-		send(&file_buf[0], count);
-		send(PROTO_EOC);
-		ret = get_sync(1000);
-		if (ret != OK)
-			return ret;
-	}
-	return OK;
-}
-int
-PX4_Uploader::verify_rev2(size_t fw_size)
-{
-	uint8_t	file_buf[4];
-	ssize_t count;
-	int ret;
-	size_t sent = 0;
-	log("verify...");
-	lseek(_fw_fd, 0, SEEK_SET);
-	send(PROTO_CHIP_VERIFY);
-	send(PROTO_EOC);
-	ret = get_sync();
-	if (ret != OK)
-		return ret;
-	while (sent < fw_size) {
-		/* get more bytes to verify */
-		size_t n = fw_size - sent;
-		if (n > sizeof(file_buf)) {
-			n = sizeof(file_buf);
-		}
-		count = read_with_retry(_fw_fd, file_buf, n);
-		if (count != (ssize_t)n) {
-			log("firmware read of %u bytes at %u failed -> %d errno %d", 
-			    (unsigned)n,
-			    (unsigned)sent,
-			    (int)count,
-			    (int)errno);
-		}
-		if (count == 0)
-			break;
-		sent += count;
-		if (count < 0)
-			return -errno;
-        Q_ASSERT((count % 4) == 0);
-		send(PROTO_READ_MULTI);
-		send(count);
-		send(PROTO_EOC);
-		for (ssize_t i = 0; i < count; i++) {
-			uint8_t c;
-			ret = recv(c, 5000);
-			if (ret != OK) {
-				log("%d: got %d waiting for bytes", sent + i, ret);
-				return ret;
-			}
-			if (c != file_buf[i]) {
-				log("%d: got 0x%02x expected 0x%02x", sent + i, c, file_buf[i]);
-				return -EINVAL;
-			}
-		}
-		ret = get_sync();
-		if (ret != OK) {
-			log("timeout waiting for post-verify sync");
-			return ret;
-		}
-	}
-	return OK;
-}
-int
-PX4_Uploader::verify_rev3(size_t fw_size_local)
-{
-	int ret;
-	uint8_t	file_buf[4];
-	ssize_t count;
-	uint32_t sum = 0;
-	uint32_t bytes_read = 0;
-	uint32_t crc = 0;
-	uint32_t fw_size_remote;
-	uint8_t fill_blank = 0xff;
-	log("verify...");
-	lseek(_fw_fd, 0, SEEK_SET);
-	ret = get_info(INFO_FLASH_SIZE, fw_size_remote);
-	send(PROTO_EOC);
-	if (ret != OK) {
-		log("could not read firmware size");
-		return ret;
-	}
-	/* read through the firmware file again and calculate the checksum*/
-	while (bytes_read < fw_size_local) {
-		size_t n = fw_size_local - bytes_read;
-		if (n > sizeof(file_buf)) {
-			n = sizeof(file_buf);
-		}
-		count = read_with_retry(_fw_fd, file_buf, n);
-		if (count != (ssize_t)n) {
-			log("firmware read of %u bytes at %u failed -> %d errno %d", 
-			    (unsigned)n,
-			    (unsigned)bytes_read,
-			    (int)count,
-			    (int)errno);
-		}
-		/* set the rest to ff */
-		if (count == 0) {
-			break;
-		}
-		/* stop if the file cannot be read */
-		if (count < 0)
-			return -errno;
-		/* calculate crc32 sum */
-		sum = crc32((uint8_t *)&file_buf, sizeof(file_buf), sum);
-		bytes_read += count;
-	}
-	/* fill the rest with 0xff */
-	while (bytes_read < fw_size_remote) {
-		sum = crc32(&fill_blank, sizeof(fill_blank), sum);
-		bytes_read += sizeof(fill_blank);
-	}
-	/* request CRC from IO */
-	send(PROTO_GET_CRC);
-	send(PROTO_EOC);
-	ret = recv((uint8_t*)(&crc), sizeof(crc));
-	if (ret != OK) {
-		log("did not receive CRC checksum");
-		return ret;
-	}
-	/* compare the CRC sum from the IO with the one calculated */
-	if (sum != crc) {
-		log("CRC wrong: received: %d, expected: %d", crc, sum);
-		return -EINVAL;
-	}
-	return OK;
-}
-int
-PX4_Uploader::reboot()
-{
-	send(PROTO_REBOOT);
-	send(PROTO_EOC);
-	return OK;
-}
-void
-PX4_Uploader::log(const char *fmt, ...)
-{
-	va_list	ap;
-	printf("[PX4IO] ");
-	va_start(ap, fmt);
-	vprintf(fmt, ap);
-	va_end(ap);
-	printf("\n");
-	fflush(stdout);
-}
--- a/src/apps/qupgrade/uploader.h
+++ b/src/apps/qupgrade/uploader.h
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-/**
- * @file Firmware uploader for PX4IO
- */
-#ifndef _PX4_Uploader_H
-#define _PX4_Uploader_H value
-#include <stdint.h>
-#include <stdbool.h>
-class PX4_Uploader
-{
-public:
-    PX4_Uploader();
-    virtual ~PX4_Uploader();
-    int			upload(const char *filenames[], const char* port);
-private:
-	enum {
-		PROTO_NOP		= 0x00,
-		PROTO_OK		= 0x10,
-		PROTO_FAILED		= 0x11,
-		PROTO_INSYNC		= 0x12,
-		PROTO_EOC		= 0x20,
-		PROTO_GET_SYNC		= 0x21,
-		PROTO_GET_DEVICE	= 0x22,
-		PROTO_CHIP_ERASE	= 0x23,
-		PROTO_CHIP_VERIFY	= 0x24,
-		PROTO_PROG_MULTI	= 0x27,
-		PROTO_READ_MULTI	= 0x28,
-		PROTO_GET_CRC		= 0x29,
-		PROTO_REBOOT		= 0x30,
-		INFO_BL_REV		= 1,		/**< bootloader protocol revision */
-		BL_REV			= 3,		/**< supported bootloader protocol  */
-		INFO_BOARD_ID		= 2,		/**< board type */
-		INFO_BOARD_REV		= 3,		/**< board revision */
-		INFO_FLASH_SIZE		= 4,		/**< max firmware size in bytes */
-		PROG_MULTI_MAX		= 60,		/**< protocol max is 255, must be multiple of 4 */
-		READ_MULTI_MAX		= 60,		/**< protocol max is 255, something overflows with >= 64 */
-	};
-	int			_io_fd;
-	int			_fw_fd;
-	uint32_t	bl_rev; /**< bootloader revision */
-	void			log(const char *fmt, ...);
-	int			recv(uint8_t &c, unsigned timeout);
-	int			recv(uint8_t *p, unsigned count);
-	void			drain();
-	int			send(uint8_t c);
-	int			send(uint8_t *p, unsigned count);
-	int			get_sync(unsigned timeout = 1000);
-	int			sync();
-	int			get_info(int param, uint32_t &val);
-	int			erase();
-	int			program(size_t fw_size);
-	int			verify_rev2(size_t fw_size);
-	int			verify_rev3(size_t fw_size);
-	int			reboot();
-};
-#endif
--- a/src/ui/PX4FirmwareUpgrader.cc
+++ b/src/ui/PX4FirmwareUpgrader.cc
-#include <QFileDialog>
-#include <QStandardPaths>
-#include <QSettings>
-#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()
-{
-    QSettings settings;
-    QString path = settings.value("PX4_FIRMWARE_PATH",
-                                     QStandardPaths::writableLocation(QStandardPaths::DesktopLocation)).toString();
-    const QString widgetFileExtension(".px4");
-    QString fileName = QFileDialog::getOpenFileName(this, tr("Specify File Name"),
-                       path,
-                       tr("PX4 Firmware (*%1);;").arg(widgetFileExtension));
-    settings.setValue("PX4_FIRMWARE_PATH", fileName);
-    qDebug() << "EMITTING SIGNAL";
-    emit firmwareFileNameSet(fileName);
-}
-void PX4FirmwareUpgrader::setDetectionStatusText(const QString &text)
-{
-    ui->detectionStatusLabel->setText(text);
-}
-void PX4FirmwareUpgrader::setFlashStatusText(const QString &text)
-{
-    ui->flashProgressLabel->setText(text);
-    qDebug() << __FILE__ << __LINE__ << "LABEL" << 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);
-    }
-}
--- a/src/ui/PX4FirmwareUpgrader.h
+++ b/src/ui/PX4FirmwareUpgrader.h
-#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
--- a/src/ui/PX4FirmwareUpgrader.ui
+++ b/src/ui/PX4FirmwareUpgrader.ui
-<?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>
--- a/src/ui/QGCFirmwareUpdate.cc
+++ b/src/ui/QGCFirmwareUpdate.cc
-/*=====================================================================
-QGroundControl Open Source Ground Control Station
-(c) 2009, 2010 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 QGCFirmwareUpdate
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-#include "QGCFirmwareUpdate.h"
-#include "ui_QGCFirmwareUpdate.h"
-QGCFirmwareUpdate::QGCFirmwareUpdate(QWidget *parent) :
-    QWidget(parent),
-    ui(new Ui::QGCFirmwareUpdate)
-{
-    ui->setupUi(this);
-}
-QGCFirmwareUpdate::~QGCFirmwareUpdate()
-{
-    delete ui;
-}
-void QGCFirmwareUpdate::changeEvent(QEvent *e)
-{
-    QWidget::changeEvent(e);
-    switch (e->type()) {
-    case QEvent::LanguageChange:
-        ui->retranslateUi(this);
-        break;
-    default:
-        break;
-    }
-}
--- a/src/ui/QGCFirmwareUpdate.h
+++ b/src/ui/QGCFirmwareUpdate.h
-#ifndef QGCFIRMWAREUPDATE_H
-#define QGCFIRMWAREUPDATE_H
-#include <QWidget>
-namespace Ui
-{
-class QGCFirmwareUpdate;
-}
-class QGCFirmwareUpdate : public QWidget
-{
-    Q_OBJECT
-public:
-    QGCFirmwareUpdate(QWidget *parent = 0);
-    ~QGCFirmwareUpdate();
-protected:
-    void changeEvent(QEvent *e);
-    void showEvent(QShowEvent* event)
-    {
-        QWidget::showEvent(event);
-        emit visibilityChanged(true);
-    }
-    void hideEvent(QHideEvent* event)
-    {
-        QWidget::hideEvent(event);
-        emit visibilityChanged(false);
-    }
-private:
-    Ui::QGCFirmwareUpdate *ui;
-signals:
-    void visibilityChanged(bool visible);
-};
-#endif // QGCFIRMWAREUPDATE_H
--- a/src/ui/QGCFirmwareUpdate.ui
+++ b/src/ui/QGCFirmwareUpdate.ui
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>QGCFirmwareUpdate</class>
- <widget class="QWidget" name="QGCFirmwareUpdate">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <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/>
-</ui>
--- a/src/ui/QGCPxImuFirmwareUpdate.cc
+++ b/src/ui/QGCPxImuFirmwareUpdate.cc
-/*=====================================================================
-QGroundControl Open Source Ground Control Station
-(c) 2009, 2010 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 QGCPxImuFirmwareUpdate
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-#include "QGCPxImuFirmwareUpdate.h"
-#include "ui_QGCPxImuFirmwareUpdate.h"
-QGCPxImuFirmwareUpdate::QGCPxImuFirmwareUpdate(QWidget *parent) :
-    QWidget(parent),
-    ui(new Ui::QGCPxImuFirmwareUpdate)
-{
-    ui->setupUi(this);
-}
-QGCPxImuFirmwareUpdate::~QGCPxImuFirmwareUpdate()
-{
-    delete ui;
-}
-void QGCPxImuFirmwareUpdate::changeEvent(QEvent *e)
-{
-    QWidget::changeEvent(e);
-    switch (e->type()) {
-    case QEvent::LanguageChange:
-        ui->retranslateUi(this);
-        break;
-    default:
-        break;
-    }
-}
--- a/src/ui/QGCPxImuFirmwareUpdate.h
+++ b/src/ui/QGCPxImuFirmwareUpdate.h
-/*=====================================================================
-QGroundControl Open Source Ground Control Station
-(c) 2009, 2010 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 Declaration of class QGCPxImuFirmwareUpdate
- *   @author Lorenz Meier <mail@qgroundcontrol.org>
- */
-#ifndef QGCPXIMUFIRMWAREUPDATE_H
-#define QGCPXIMUFIRMWAREUPDATE_H
-#include <QWidget>
-namespace Ui
-{
-class QGCPxImuFirmwareUpdate;
-}
-class QGCPxImuFirmwareUpdate : public QWidget
-{
-    Q_OBJECT
-public:
-    QGCPxImuFirmwareUpdate(QWidget *parent = 0);
-    ~QGCPxImuFirmwareUpdate();
-protected:
-    void changeEvent(QEvent *e);
-private:
-    Ui::QGCPxImuFirmwareUpdate *ui;
-};
-#endif // QGCPXIMUFIRMWAREUPDATE_H
--- a/src/ui/QGCPxImuFirmwareUpdate.ui
+++ b/src/ui/QGCPxImuFirmwareUpdate.ui
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>QGCPxImuFirmwareUpdate</class>
- <widget class="QWidget" name="QGCPxImuFirmwareUpdate">
-  <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="5">
-    <widget class="QGroupBox" name="groupBox">
-     <property name="title">
-      <string>Instructions</string>
-     </property>
-     <layout class="QHBoxLayout" name="horizontalLayout">
-      <property name="margin">
-       <number>2</number>
-      </property>
-      <item>
-       <widget class="QPlainTextEdit" name="plainTextEdit">
-        <property name="plainText">
-         <string>&lt;h1&gt;pxIMU Firmware Update&lt;/h1&gt;
-&lt;li&gt;
-  &lt;item&gt;Item 1&lt;/item&gt;
-&lt;/li&gt;
-</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="1" column="0" colspan="2">
-    <widget class="QRadioButton" name="radioButton">
-     <property name="text">
-      <string>From File</string>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="2" colspan="2">
-    <widget class="QLabel" name="label_3">
-     <property name="text">
-      <string>Choose file..</string>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="4">
-    <widget class="QPushButton" name="pushButton_2">
-     <property name="text">
-      <string>Choose File</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="0" colspan="2">
-    <widget class="QRadioButton" name="radioButton_2">
-     <property name="text">
-      <string>From Internet</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="2" colspan="2">
-    <widget class="QLabel" name="label_4">
-     <property name="text">
-      <string>Firmware v.0.2.1</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="4">
-    <widget class="QPushButton" name="pushButton_3">
-     <property name="text">
-      <string>Download</string>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="0">
-    <widget class="QLabel" name="label">
-     <property name="text">
-      <string/>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="1" colspan="2">
-    <widget class="QLabel" name="label_2">
-     <property name="text">
-      <string>Waiting for first user action</string>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="3" colspan="2">
-    <widget class="QPushButton" name="pushButton">
-     <property name="text">
-      <string>Flash Firmware</string>
-     </property>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>
--- a/src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc
+++ b/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;
-}
--- a/src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h
+++ b/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
--- a/src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui
+++ b/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>
--- a/src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc
+++ b/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;
-}
--- a/src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h
+++ b/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
--- a/src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui
+++ b/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>