From 1e00493885874931ca0ede36107c73d42651d020 Mon Sep 17 00:00:00 2001
From: pixhawk <tv@.(none)>
Date: Tue, 23 Nov 2010 13:12:48 +0100
Subject: [PATCH] Ardupilot support, builds now cleanly on Windows. Fixed a bug
 where the application could crash if no system was connected.

---
 qgroundcontrol.pri             | 43 ++++++++++++++++++++--------------
 src/ui/uas/UASControlWidget.cc |  8 +++++--
 2 files changed, 31 insertions(+), 20 deletions(-)

diff --git a/qgroundcontrol.pri b/qgroundcontrol.pri
index 4de1bea4a..60c13d90b 100644
--- a/qgroundcontrol.pri
+++ b/qgroundcontrol.pri
@@ -72,7 +72,7 @@ macx {
     ICON = $$BASEDIR/images/icons/macx.icns
 
     # Copy audio files if needed
-    QMAKE_PRE_LINK += cp -r $$BASEDIR/audio $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
 
     exists(/opt/local/lib/osg):exists("/opt/local/lib/osgEarth") {
     message("Building support for OSGEARTH")
@@ -94,12 +94,15 @@ linux-g++ {
     CONFIG += debug
     
     debug {
-        DESTDIR = $$BASEDIR
+        DESTDIR = $$BUILDDIR/debug
     }
 
     release {
-        DESTDIR = $$BASEDIR
+        DESTDIR = $$BUILDDIR/release
     }
+
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
+
     INCLUDEPATH += /usr/include \
                    /usr/include/qt4/phonon
               # $$BASEDIR/lib/flite/include \
@@ -149,12 +152,14 @@ linux-g++-64 {
     CONFIG += debug
 
     debug {
-        DESTDIR = $$BASEDIR
+        DESTDIR = $$BUILDDIR/debug
     }
 
     release {
-        DESTDIR = $$BASEDIR
+        DESTDIR = $$BUILDDIR/release
     }
+
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
     INCLUDEPATH += /usr/include \
                    /usr/include/qt4/phonon
               # $$BASEDIR/lib/flite/include \
@@ -196,40 +201,41 @@ DEFINES += QGC_OSG_ENABLED
 
 
 # Windows (32bit)
-win32 { 
+win32-g++ {
 
     message(Building for Windows Platform (32bit))
     
     # Special settings for debug
     #CONFIG += CONSOLE
 
-    INCLUDEPATH += $$BASEDIR\lib\sdl\include \
-                   $$BASEDIR\lib\opal\include #\ #\
+    INCLUDEPATH += $$BASEDIR/lib/sdl/include \
+                   $$BASEDIR/lib/opal/include #\ #\
                    #"C:\Program Files\Microsoft SDKs\Windows\v7.0\Include"
 
-    LIBS += -L$$BASEDIR\lib\sdl\win32 \
+    LIBS += -L$$BASEDIR/lib/sdl/win32 \
              -lmingw32 -lSDLmain -lSDL -mwindows
 
 
 
     debug {
-        DESTDIR = $$BASEDIR/bin
+        DESTDIR = $$BUILDDIR/debug
     }
 
     release {
-        DESTDIR = $$BASEDIR/bin
+        DESTDIR = $$BUILDDIR/release
     }
         
     RC_FILE = $$BASEDIR/qgroundcontrol.rc
 
     # Copy dependencies
-    QMAKE_PRE_LINK += copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/debug/ & copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/release/
-    QMAKE_PRE_LINK += copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/debug/ & copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/release/
-    QMAKE_PRE_LINK += copy /Y audio $$BUILDDIR\debug\
+    QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/debug/. &&
+    QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/release/. &&
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/debug/. &&
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/release/.
 }
 
 # Windows (64bit)
-win64 {
+win64-g++ {
 
     message(Building for Windows Platform (64bit))
 
@@ -256,8 +262,9 @@ win64 {
     RC_FILE = $$BASEDIR/qgroundcontrol.rc
 
     # Copy dependencies
-    QMAKE_PRE_LINK += copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/debug/ & copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/release/
-    QMAKE_PRE_LINK += copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/debug/ & copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/release/
-    QMAKE_PRE_LINK += copy /Y audio $$BUILDDIR\debug\
+    QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/debug/. &&
+    QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/release/. &&
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/debug/. &&
+    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/release/.
 }
 
diff --git a/src/ui/uas/UASControlWidget.cc b/src/ui/uas/UASControlWidget.cc
index f7da4944e..ddb5774e2 100644
--- a/src/ui/uas/UASControlWidget.cc
+++ b/src/ui/uas/UASControlWidget.cc
@@ -237,8 +237,12 @@ void UASControlWidget::transmitMode()
 {
     if (uasMode != 0)
     {
-        UASManager::instance()->getUASForId(this->uas)->setMode(uasMode);
-        ui.lastActionLabel->setText(QString("Set new mode for system %1").arg(UASManager::instance()->getUASForId(uas)->getUASName()));
+        UASInterface* mav = UASManager::instance()->getUASForId(this->uas);
+        if (mav)
+        {
+            mav->setMode(uasMode);
+            ui.lastActionLabel->setText(QString("Set new mode for system %1").arg(mav->getUASName()));
+        }
     }
 }
 
-- 
2.22.0