Merge pull request #34 from Susurrus/master

Various changes

Merge pull request #34 from Susurrus/master
Various changes
27932f5c · PIXHAWK Team · 864e6ae8 · 19805a92 · 27932f5c · 27932f5c
Commit 27932f5c authored Feb 15, 2012 by PIXHAWK Team
13 changed files
--- a/qgroundcontrol.pri
+++ b/qgroundcontrol.pri
@@ -448,44 +448,44 @@ DEFINES += QGC_OSG_ENABLED
    TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
-    exists($$TARGETDIR/debug) {
+    CONFIG(debug, debug|release) {
-	QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
-        QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\debug\\files" /E /I $$escape_expand(\\n))
+        QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\debug\\files" /E /I $$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\debug\\models" /E /I $$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\debug\\models" /E /I $$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\thirdParty\\libxbee\\lib\\libxbee.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$BASEDIR_WIN\\thirdParty\\libxbee\\lib\\libxbee.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(xcopy /Y "$$(QTDIR)\\plugins" "$$TARGETDIR_WIN\\debug" /E /I /EXCLUDE:copydebug.txt $$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\plugins" "$$TARGETDIR_WIN\\debug" /E /I $$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(copy /Y "$$(QTDIR)\\bin\\phonond4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\phonond4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(copy /Y "$$(QTDIR)\\bin\\QtCored4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtCored4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(copy /Y "$$(QTDIR)\\bin\\QtGuid4.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 += $$quote(copy /Y "$$(QTDIR)\\bin\\QtMultimediad4.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 += $$quote(copy /Y "$$(QTDIR)\\bin\\QtNetworkd4.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 += $$quote(copy /Y "$$(QTDIR)\\bin\\QtOpenGLd4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtOpenGLd4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(copy /Y "$$(QTDIR)\\bin\\QtSqld4.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 += $$quote(copy /Y "$$(QTDIR)\\bin\\QtSvgd4.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 += $$quote(copy /Y "$$(QTDIR)\\bin\\QtWebKitd4.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 += $$quote(copy /Y "$$(QTDIR)\\bin\\QtXmld4.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 += $$quote(copy /Y "$$(QTDIR)\\bin\\QtXmlPatternsd4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtXmlPatternsd4.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
    }
-    exists($$TARGETDIR/release) {
+    CONFIG(release, debug|release) {
-	QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
-        QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\release\\files" /E /I $$escape_expand(\\n))
+        QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\release\\files" /E /I $$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\release\\models" /E /I $$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\release\\models" /E /I $$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\release\\earth.html" $$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\release\\earth.html" $$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\thirdParty\\libxbee\\lib\\libxbee.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$BASEDIR_WIN\\thirdParty\\libxbee\\lib\\libxbee.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(xcopy /Y "$$(QTDIR)\\plugins" "$$TARGETDIR_WIN\\release" /E /I /EXCLUDE:copyrelease.txt $$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\plugins" "$$TARGETDIR_WIN\\release" /E /I $$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(copy /Y "$$(QTDIR)\\bin\\phonon4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\phonon4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(copy /Y "$$(QTDIR)\\bin\\QtCore4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtCore4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
-	QMAKE_POST_LINK += $$quote(copy /Y "$$(QTDIR)\\bin\\QtGui4.dll" "$$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(copy /Y "$$(QTDIR)\\bin\\QtMultimedia4.dll" "$$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(copy /Y "$$(QTDIR)\\bin\\QtNetwork4.dll" "$$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(copy /Y "$$(QTDIR)\\bin\\QtOpenGL4.dll" "$$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(copy /Y "$$(QTDIR)\\bin\\QtSql4.dll" "$$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(copy /Y "$$(QTDIR)\\bin\\QtSvg4.dll" "$$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(copy /Y "$$(QTDIR)\\bin\\QtWebKit4.dll" "$$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(copy /Y "$$(QTDIR)\\bin\\QtXml4.dll" "$$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(copy /Y "$$(QTDIR)\\bin\\QtXmlPatterns4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
+		QMAKE_POST_LINK += $$quote(xcopy /D /Y "$$(QTDIR)\\bin\\QtXmlPatterns4.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
 		QMAKE_POST_LINK += $$quote(del /F "$$TARGETDIR_WIN\\release\\qgroundcontrol.exp"$$escape_expand(\\n))
 		QMAKE_POST_LINK += $$quote(del /F "$$TARGETDIR_WIN\\release\\qgroundcontrol.lib"$$escape_expand(\\n))
    }

--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -361,14 +361,7 @@ HEADERS += src/MG.h \
    src/ui/mavlink/QGCMAVLinkMessageSender.h \
    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
    src/ui/QGCPluginHost.h \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h
-    src/ui/map3D/gpl.h \
-    src/ui/map3D/CameraParams.h \
-    src/ui/map3D/ViewParamWidget.h \
-    src/ui/map3D/SystemContainer.h \
-    src/ui/map3D/SystemViewParams.h \
-    src/ui/map3D/GlobalViewParams.h \
-    src/ui/map3D/SystemGroupNode.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
@@ -376,7 +369,14 @@ contains(DEPENDENCIES_PRESENT, osg) {
    message("Including headers for OpenSceneGraph")
    # Enable only if OpenSceneGraph is available
-    HEADERS += src/ui/map3D/Q3DWidget.h \
+    HEADERS += src/ui/map3D/gpl.h \
+        src/ui/map3D/CameraParams.h \
+        src/ui/map3D/ViewParamWidget.h \
+        src/ui/map3D/SystemContainer.h \
+        src/ui/map3D/SystemViewParams.h \
+        src/ui/map3D/GlobalViewParams.h \
+        src/ui/map3D/SystemGroupNode.h \
+        src/ui/map3D/Q3DWidget.h \
        src/ui/map3D/GCManipulator.h \
        src/ui/map3D/ImageWindowGeode.h \
        src/ui/map3D/PixhawkCheetahGeode.h \
@@ -501,14 +501,7 @@ SOURCES += src/main.cc \
    src/ui/mavlink/QGCMAVLinkMessageSender.cc \
    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
    src/ui/QGCPluginHost.cc \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc
-    src/ui/map3D/gpl.cc \
-    src/ui/map3D/CameraParams.cc \
-    src/ui/map3D/ViewParamWidget.cc \
-    src/ui/map3D/SystemContainer.cc \
-    src/ui/map3D/SystemViewParams.cc \
-    src/ui/map3D/GlobalViewParams.cc \
-    src/ui/map3D/SystemGroupNode.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
@@ -518,7 +511,14 @@ contains(DEPENDENCIES_PRESENT, osg) {
    message("Including sources for OpenSceneGraph")
    # Enable only if OpenSceneGraph is available
-    SOURCES += src/ui/map3D/Q3DWidget.cc \
+    SOURCES += src/ui/map3D/gpl.cc \
+        src/ui/map3D/CameraParams.cc \
+        src/ui/map3D/ViewParamWidget.cc \
+        src/ui/map3D/SystemContainer.cc \
+        src/ui/map3D/SystemViewParams.cc \
+        src/ui/map3D/GlobalViewParams.cc \
+        src/ui/map3D/SystemGroupNode.cc \
+        src/ui/map3D/Q3DWidget.cc \
        src/ui/map3D/ImageWindowGeode.cc \
        src/ui/map3D/GCManipulator.cc \
        src/ui/map3D/PixhawkCheetahGeode.cc \

--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -78,7 +78,7 @@
        <file>images/status/colorbars.png</file>
        <file>images/style-mission.css</file>
        <file>images/splash.png</file>
-        <file>audio/alert.wav</file>
+        <file>files/audio/alert.wav</file>
        <file>demo-log.txt</file>
        <file>images/mapproviders/openstreetmap.png</file>
        <file>images/mapproviders/google.png</file>

--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -344,39 +344,42 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
            // Only count message if UAS exists for this message
            if (uas != NULL)
            {
                // Increase receive counter
                totalReceiveCounter++;
                currReceiveCounter++;
-                // Update last packet index
+                // Update last message sequence ID
+                uint8_t expectedIndex;
 				if (lastIndex[message.sysid][message.compid] == -1)
                {
                    lastIndex[message.sysid][message.compid] = message.seq;
+                    expectedIndex = message.seq;
 				}
                else
                {
-                    uint8_t expectedIndex = lastIndex[message.sysid][message.compid];
+					// NOTE: Using uint8_t here auto-wraps the number around to 0.
-                    // Now increase to the expected index
+                    expectedIndex = lastIndex[message.sysid][message.compid] + 1;
-                    expectedIndex++;
+				}
+				// Make some noise if a message was skipped
                //qDebug() << "SYSID" << message.sysid << "COMPID" << message.compid << "MSGID" << message.msgid << "EXPECTED INDEX:" << expectedIndex << "SEQ" << message.seq;
-                    while(expectedIndex != message.seq)
+				if (message.seq != expectedIndex)
+				{
+					// Determine how many messages were skipped accounting for 0-wraparound
+					int16_t lostMessages = message.seq - expectedIndex;
+					if (lostMessages < 0)
 					{
-                        expectedIndex++;
+						lostMessages += 256;
-                        totalLossCounter++;
-                        currLossCounter++;
-                        //qDebug() << "COUNTING ONE DROP!";
 					}
+					qDebug() << QString("Lost %1 messages: expected sequence ID %2 but received %3.").arg(lostMessages).arg(expectedIndex).arg(message.seq);
-                    // Set new lastindex
+					totalLossCounter += lostMessages;
-                    lastIndex[message.sysid][message.compid] = message.seq;
+					currLossCounter += lostMessages;
 				}
-                //            if (lastIndex.contains(message.sysid))
-                //            {
+                // Update the last sequence ID
-                //                QMap<int, int>* lastCompIndex = lastIndex.value(message.sysid);
+                lastIndex[message.sysid][message.compid] = message.seq;
-                //                if (lastCompIndex->contains(message.compid))
-                //                while (lastCompIndex->value(message.compid, 0)+1 )
-                //            }
-                //if ()
                // Update on every 32th packet
                if (totalReceiveCounter % 32 == 0)
@@ -385,11 +388,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                    // Receive loss
                    float receiveLoss = (double)currLossCounter/(double)(currReceiveCounter+currLossCounter);
                    receiveLoss *= 100.0f;
-                    // qDebug() << "LOSSCHANGED" << receiveLoss;
                    currLossCounter = 0;
                    currReceiveCounter = 0;
                    emit receiveLossChanged(message.sysid, receiveLoss);
-                    //qDebug() << "LOSSCHANGED" << message.sysid<<" "<<receiveLoss;
                }
                // The packet is emitted as a whole, as it is only 255 - 261 bytes short
@@ -414,7 +415,6 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
            }
        }
    }
-//    receiveMutex.unlock();
 }
 /**

--- a/src/comm/MAVLinkProtocol.h
+++ b/src/comm/MAVLinkProtocol.h
@@ -199,7 +199,7 @@ protected:
    bool m_actionGuardEnabled;       ///< Action request retransmission enabled
    int m_actionRetransmissionTimeout; ///< Timeout for parameter retransmission
    QMutex receiveMutex;       ///< Mutex to protect receiveBytes function
-    int lastIndex[256][256];
+    int lastIndex[256][256];	///< Store the last received sequence ID for each system/componenet pair
    int totalReceiveCounter;
    int totalLossCounter;
    int currReceiveCounter;

--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -432,9 +432,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                stopLowBattAlarm();
            }
-            // COMMUNICATIONS DROP RATE
+                // Trigger drop rate updates as needed. Here we convert the incoming
-            // FIXME
+				// drop_rate_comm value from 1/100 of a percent in a uint16 to a true
-            emit dropRateChanged(this->getUASID(), state.drop_rate_comm/10000.0f);
+				// percentage as a float. We also cap the incoming value at 100% as defined
+				// by the MAVLink specifications.
+				if (state.drop_rate_comm > 10000) {
+				    emit dropRateChanged(this->getUASID(), 100.0f);
+				} else {
+				    emit dropRateChanged(this->getUASID(), state.drop_rate_comm/100.0f);
+				}
            }
            break;
        case MAVLINK_MSG_ID_ATTITUDE:

--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -132,7 +132,7 @@ void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double l
 void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
 {
-    if (current_state == WP_GETLIST && systemId == current_partner_systemid && compId == current_partner_compid) {
+    if (current_state == WP_GETLIST && systemId == current_partner_systemid && (compId == current_partner_compid || compId == MAV_COMP_ID_ALL)) {
        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
        current_retries = PROTOCOL_MAX_RETRIES;
@@ -172,7 +172,7 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
 void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_mission_item_t *wp)
 {
-    if (systemId == current_partner_systemid && compId == current_partner_compid && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id) {
+    if (systemId == current_partner_systemid && (compId == current_partner_compid || compId == MAV_COMP_ID_ALL) && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id) {
        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
        current_retries = PROTOCOL_MAX_RETRIES;
@@ -222,7 +222,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
 void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavlink_mission_ack_t *wpa)
 {
-    if (systemId == current_partner_systemid && compId == current_partner_compid) {
+    if (systemId == current_partner_systemid && (compId == current_partner_compid || compId == MAV_COMP_ID_ALL)) {
        if((current_state == WP_SENDLIST || current_state == WP_SENDLIST_SENDWPS) && (current_wp_id == waypoint_buffer.count()-1 && wpa->type == 0)) {
            //all waypoints sent and ack received
            protocol_timer.stop();
@@ -241,7 +241,7 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
 void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_mission_request_t *wpr)
 {
-    if (systemId == current_partner_systemid && compId == current_partner_compid && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1)))) {
+    if (systemId == current_partner_systemid && (compId == current_partner_compid || compId == MAV_COMP_ID_ALL) && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1)))) {
        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
        current_retries = PROTOCOL_MAX_RETRIES;

--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -952,6 +952,7 @@ void HSIDisplay::updateAttitude(UASInterface* uas, double roll, double pitch, do
 void HSIDisplay::updateUserPositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired)
 {
+	Q_UNUSED(uasid);
    uiXSetCoordinate = xDesired;
    uiYSetCoordinate = yDesired;
    uiZSetCoordinate = zDesired;
@@ -962,8 +963,8 @@ void HSIDisplay::updateUserPositionSetpoints(int uasid, float xDesired, float yD
 void HSIDisplay::updatePositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec)
 {
-    Q_UNUSED(usec);
    Q_UNUSED(uasid);
+    Q_UNUSED(usec);
    bodyXSetCoordinate = xDesired;
    bodyYSetCoordinate = yDesired;
    bodyZSetCoordinate = zDesired;

--- a/src/ui/QGCToolBar.cc
+++ b/src/ui/QGCToolBar.cc
@@ -55,18 +55,28 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
    // Add internal actions
    // Add MAV widget
    symbolButton = new QToolButton(this);
+    symbolButton->setStyleSheet("QWidget { background-color: #050508; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px 0px 0px 20px; background-color: none; }");
+	addWidget(symbolButton);
    toolBarNameLabel = new QLabel("------", this);
+	toolBarNameLabel->setToolTip(tr("Currently controlled vehicle"));
+    addWidget(toolBarNameLabel);
    toolBarSafetyLabel = new QLabel("SAFE", this);
    toolBarSafetyLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 14px; color: #14C814; }");
+	toolBarSafetyLabel->setToolTip(tr("Vehicle safety state"));
+    addWidget(toolBarSafetyLabel);
    toolBarModeLabel = new QLabel("------", this);
    toolBarModeLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 14px; color: #3C7B9E; }");
+	toolBarModeLabel->setToolTip(tr("Vehicle mode"));
+    addWidget(toolBarModeLabel);
    toolBarStateLabel = new QLabel("------", this);
    toolBarStateLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 14px; color: #FEC654; }");
-    toolBarWpLabel = new QLabel("WP--", this);
+	toolBarStateLabel->setToolTip(tr("Vehicle state"));
-    toolBarWpLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 18px; color: #3C7B9E; }");
+    addWidget(toolBarStateLabel);
-    toolBarDistLabel = new QLabel("--- ---- m", this);
-    toolBarMessageLabel = new QLabel("No system messages.", this);
-    toolBarMessageLabel->setStyleSheet("QLabel { margin: 0px 4px; font: 12px; font-style: italic; color: #3C7B9E; }");
    toolBarBatteryBar = new QProgressBar(this);
    toolBarBatteryBar->setStyleSheet("QProgressBar:horizontal { margin: 0px 4px 0px 0px; border: 1px solid #4A4A4F; border-radius: 4px; text-align: center; padding: 2px; color: #111111; background-color: #111118; height: 10px; } QProgressBar:horizontal QLabel { font-size: 9px; color: #111111; } QProgressBar::chunk { background-color: green; }");
    toolBarBatteryBar->setMinimum(0);
@@ -74,26 +84,34 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
    toolBarBatteryBar->setMinimumWidth(20);
    toolBarBatteryBar->setMaximumWidth(100);
    toolBarBatteryBar->setToolTip(tr("Battery charge level"));
+    addWidget(toolBarBatteryBar);
    toolBarBatteryVoltageLabel = new QLabel("xx.x V");
    toolBarBatteryVoltageLabel->setStyleSheet(QString("QLabel { margin: 0px 0px 0px 4px; font: 14px; color: %1; }").arg(QColor(Qt::green).name()));
-    symbolButton->setStyleSheet("QWidget { background-color: #050508; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px 0px 0px 20px; background-color: none; }");
+	toolBarBatteryVoltageLabel->setToolTip(tr("Battery voltage"));
-    addWidget(symbolButton);
-    addWidget(toolBarNameLabel);
-    addWidget(toolBarSafetyLabel);
-    addWidget(toolBarModeLabel);
-    addWidget(toolBarStateLabel);
-    addWidget(toolBarBatteryBar);
    addWidget(toolBarBatteryVoltageLabel);
+    toolBarWpLabel = new QLabel("WP--", this);
+    toolBarWpLabel->setStyleSheet("QLabel { margin: 0px 2px; font: 18px; color: #3C7B9E; }");
+	toolBarWpLabel->setToolTip(tr("Current mission"));
    addWidget(toolBarWpLabel);
+    toolBarDistLabel = new QLabel("--- ---- m", this);
+	toolBarDistLabel->setToolTip(tr("Distance to current mission"));
    addWidget(toolBarDistLabel);
+    toolBarMessageLabel = new QLabel("No system messages.", this);
+    toolBarMessageLabel->setStyleSheet("QLabel { margin: 0px 4px; font: 12px; font-style: italic; color: #3C7B9E; }");
+	toolBarMessageLabel->setToolTip(tr("Most recent system message"));
    addWidget(toolBarMessageLabel);
-    //addWidget(new QSpacerItem(20, 0, QSizePolicy::Expanding));
    // DONE INITIALIZING BUTTONS
+	// Configure the toolbar for the current default UAS
    setActiveUAS(UASManager::instance()->getActiveUAS());
    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+	// Set the toolbar to be updated every 2s
    connect(&updateViewTimer, SIGNAL(timeout()), this, SLOT(updateView()));
    updateViewTimer.start(2000);
 }

--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -197,7 +197,7 @@ void WaypointList::loadWaypoints()
        msgBox.setInformativeText("You are using the offline mission editor. Please don't forget to save your mission plan before connecting the UAV, otherwise it will be lost.");
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
-        int ret = msgBox.exec();
+        msgBox.exec();
        showOfflineWarning = false;
    }
    QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
@@ -263,7 +263,7 @@ void WaypointList::addEditable()
                    msgBox.setInformativeText("You are using the offline mission editor. Please don't forget to save your mission plan before connecting the UAV, otherwise it will be lost.");
                    msgBox.setStandardButtons(QMessageBox::Ok);
                    msgBox.setDefaultButton(QMessageBox::Ok);
-                    int ret = msgBox.exec();
+                    msgBox.exec();
                    showOfflineWarning = false;
                }
            }

--- a/src/ui/map/QGCMapWidget.cc
+++ b/src/ui/map/QGCMapWidget.cc
@@ -303,9 +303,6 @@ void QGCMapWidget::updateLocalPosition()
        }
        // Set new lat/lon position of UAV icon
-        double latitude = UASManager::instance()->getHomeLatitude();
-        double longitude = UASManager::instance()->getHomeLongitude();
-        double altitude = UASManager::instance()->getHomeAltitude();
        internals::PointLatLng pos_lat_lon = internals::PointLatLng(system->getLatitude(), system->getLongitude());
        uav->SetUAVPos(pos_lat_lon, system->getAltitude());
        // Follow status
@@ -317,33 +314,7 @@ void QGCMapWidget::updateLocalPosition()
 void QGCMapWidget::updateLocalPositionEstimates()
 {
-    QList<UASInterface*> systems = UASManager::instance()->getUASList();
+    updateLocalPosition();
-    foreach (UASInterface* system, systems)
-    {
-        // Get reference to graphic UAV item
-        mapcontrol::UAVItem* uav = GetUAV(system->getUASID());
-        // Check if reference is valid, else create a new one
-        if (uav == NULL)
-        {
-            MAV2DIcon* newUAV = new MAV2DIcon(map, this, system);
-            AddUAV(system->getUASID(), newUAV);
-            uav = newUAV;
-            uav->SetTrailTime(1);
-            uav->SetTrailDistance(5);
-            uav->SetTrailType(mapcontrol::UAVTrailType::ByTimeElapsed);
-        }
-        // Set new lat/lon position of UAV icon
-        double latitude = UASManager::instance()->getHomeLatitude();
-        double longitude = UASManager::instance()->getHomeLongitude();
-        double altitude = UASManager::instance()->getHomeAltitude();
-        internals::PointLatLng pos_lat_lon = internals::PointLatLng(system->getLatitude(), system->getLongitude());
-        uav->SetUAVPos(pos_lat_lon, system->getAltitude());
-        // Follow status
-        if (followUAVEnabled && system->getUASID() == followUAVID) SetCurrentPosition(pos_lat_lon);
-        // Convert from radians to degrees and apply
-        uav->SetUAVHeading((system->getYaw()/M_PI)*180.0f);
-    }
 }

--- a/src/ui/mavlink/QGCMAVLinkMessageSender.cc
+++ b/src/ui/mavlink/QGCMAVLinkMessageSender.cc
@@ -23,7 +23,6 @@ QGCMAVLinkMessageSender::QGCMAVLinkMessageSender(MAVLinkProtocol* mavlink, QWidg
 void QGCMAVLinkMessageSender::refresh()
 {
-    unsigned int maxUpdateRate = 0;
    // Send messages
    foreach (unsigned int i, managementItems.keys())
    {
@@ -79,7 +78,7 @@ bool QGCMAVLinkMessageSender::sendMessage(unsigned int msgid)
                    uint8_t* nums = m+messageInfo[msgid].fields[fieldid].wire_offset;
                    for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
                    {
-                        if (field->data(1, Qt::DisplayRole).toString().split(" ").size() > j)
+                        if ((unsigned int)(field->data(1, Qt::DisplayRole).toString().split(" ").size()) > j)
                        {
                            nums[j] = field->data(1, Qt::DisplayRole).toString().split(" ").at(j).toInt();
                        }

--- a/src/ui/uas/UASInfoWidget.h
+++ b/src/ui/uas/UASInfoWidget.h
@@ -57,10 +57,20 @@ public slots:
    void updateBattery(UASInterface* uas, double voltage, double percent, int seconds);
    void updateCPULoad(UASInterface* uas, double load);
-    /** @brief Set the loss rate of packets received by the MAV */
+    /** 
+	 * @brief Set the loss rate of packets received by the MAV.
+	 * @param uasId UNUSED
+	 * @param receiveLoss A percentage value (0-100) of how many message the UAS has failed to receive.
+	 */
    void updateReceiveLoss(int uasId, float receiveLoss);
-    /** @brief Set the loss rate of packets sent from the MAV */
+    /**
+	 * @brief Set the loss rate of packets sent from the MAV 
+	 * @param uasId UNUSED
+	 * @param sendLoss A percentage value (0-100) of how many message QGC has failed to receive.
+	 */
    void updateSendLoss(int uasId, float sendLoss);
    /** @brief Update the error count */
    void updateErrorCount(int uasid, QString component, QString device, int count);