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

src/comm/MAVLinkProtocol.cc

@@ -190,16 +190,18 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
 
     static int mavlink09Count = 0;
     static bool decodedFirstPacket = false;
+    static bool warnedUser = false;
 
     for (int position = 0; position < b.size(); position++) {
         unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b[position]), &message, &status);
 
         if ((uint8_t)b[position] == 0x55) mavlink09Count++;
-        if ((mavlink09Count > 100) && !decodedFirstPacket)
+        if ((mavlink09Count > 100) && !decodedFirstPacket && !warnedUser)
         {
+            warnedUser = true;
             // Obviously the user tries to use a 0.9 autopilot
             // with QGroundControl built for version 1.0
-            emit protocolStatusMessage("MAVLink Version Mismatch", "Your MAVLink device seems to use the deprecated version 0.9, while QGroundControl only supports version 1.0+. Please upgrade the MAVLink version of your autopilot.");
+            emit protocolStatusMessage("MAVLink Version or Baud Rate Mismatch", "Your MAVLink device seems to use the deprecated version 0.9, while QGroundControl only supports version 1.0+. Please upgrade the MAVLink version of your autopilot. If your autopilot is using version 1.0, check if the baud rates of QGroundControl and your autopilot are the same.");
         }
 
         if (decodeState == 1)

src/uas/UAS.cc

@@ -984,7 +984,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // Restart statemachine
                 imagePacketsArrived = 0;
                 emit imageReady(this);
-                qDebug() << "imageReady emitted. all packets arrived";
+                //qDebug() << "imageReady emitted. all packets arrived";
             }
         }
             break;
@@ -1632,7 +1632,7 @@ QImage UAS::getImage()
 {
 #ifdef MAVLINK_ENABLED_PIXHAWK
 
-    qDebug() << "IMAGE TYPE:" << imageType;
+//    qDebug() << "IMAGE TYPE:" << imageType;
 
     // RAW greyscale
     if (imageType == MAVLINK_DATA_STREAM_IMG_RAW8U)

src/ui/HUD.cc

@@ -1465,7 +1465,7 @@ void HUD::copyImage()
 {
     if (isVisible() && hudInstrumentsEnabled)
     {
-        qDebug() << "HUD::copyImage()";
+        //qDebug() << "HUD::copyImage()";
         UAS* u = dynamic_cast<UAS*>(this->uas);
         if (u)
         {

src/ui/SerialConfigurationWindow.cc

@@ -73,14 +73,6 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge
 		supportedBaudRates << 200;
 		supportedBaudRates << 1800;
 #endif
-		// Baud rates supported only by Linux
-#if defined(Q_OS_LINUX)
-		supportedBaudRates << 230400;
-		supportedBaudRates << 460800;
-		supportedBaudRates << 500000;
-		supportedBaudRates << 576000;
-		supportedBaudRates << 921600;
-#endif
 
 		// Baud rates supported only by Windows
 #if defined(Q_OS_WIN)
@@ -102,6 +94,16 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge
 		supportedBaudRates << 38400;
 		supportedBaudRates << 57600;
 		supportedBaudRates << 115200;
+        supportedBaudRates << 230400;
+        supportedBaudRates << 460800;
+
+#if defined(Q_OS_LINUX)
+        // Baud rates supported only by Linux
+        supportedBaudRates << 500000;
+        supportedBaudRates << 576000;
+#endif
+
+        supportedBaudRates << 921600;
 		
 		// Now actually add all of our supported baud rates to the UI.
 		qSort(supportedBaudRates.begin(), supportedBaudRates.end());

src/ui/map3D/GLOverlayGeode.cc

@@ -4,6 +4,8 @@ GLOverlayGeode::GLOverlayGeode()
  : mDrawable(new GLOverlayDrawable)
  , mMessageTimestamp(0.0)
 {
+    setCullingActive(false);
+
     addDrawable(mDrawable);
 }
 
@@ -150,6 +152,8 @@ GLOverlayGeode::GLOverlayDrawable::drawImplementation(osg::RenderInfo&) const
 
     glMatrixMode(GL_MODELVIEW);
     glDisable(GL_LIGHTING);
+    glEnable(GL_BLEND);
+    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
     glPushMatrix();
 
     glScalef(-1.0f, 1.0f, -1.0f);
@@ -404,6 +408,7 @@ GLOverlayGeode::GLOverlayDrawable::drawImplementation(osg::RenderInfo&) const
 
     glPopMatrix();
     glEnable(GL_LIGHTING);
+    glDisable(GL_BLEND);
 }
 
 osg::BoundingBox

src/ui/map3D/ObstacleGroupNode.cc

@@ -31,9 +31,11 @@ This file is part of the QGROUNDCONTROL project
 
 #include "ObstacleGroupNode.h"
 
+#include <limits>
 #include <osg/PositionAttitudeTransform>
 #include <osg/ShapeDrawable>
 
+#include "gpl.h"
 #include "Imagery.h"
 
 ObstacleGroupNode::ObstacleGroupNode()
@@ -64,6 +66,25 @@ ObstacleGroupNode::update(double robotX, double robotY, double robotZ,
 
     osg::ref_ptr<osg::Geode> geode = new osg::Geode;
 
+    // find minimum and maximum height
+    float zMin = std::numeric_limits<float>::max();
+    float zMax = std::numeric_limits<float>::min();
+    for (int i = 0; i < obstacleList.obstacles_size(); ++i)
+    {
+        const px::Obstacle& obs = obstacleList.obstacles(i);
+
+        float z = robotZ - obs.z();
+
+        if (zMin > z)
+        {
+            zMin = z;
+        }
+        if (zMax < z)
+        {
+            zMax = z;
+        }
+    }
+
     for (int i = 0; i < obstacleList.obstacles_size(); ++i)
     {
         const px::Obstacle& obs = obstacleList.obstacles(i);
@@ -74,8 +95,12 @@ ObstacleGroupNode::update(double robotX, double robotY, double robotZ,
             new osg::Box(obsPos, obs.width(), obs.width(), obs.height());
         osg::ref_ptr<osg::ShapeDrawable> sd = new osg::ShapeDrawable(box);
 
+        int idx = (obsPos.z() - zMin) / (zMax - zMin) * 127.0f;
+        float r, g, b;
+        qgc::colormap("jet", idx, r, g, b);
+
         sd->getOrCreateStateSet()->setMode(GL_BLEND, osg::StateAttribute::ON);
-        sd->setColor(osg::Vec4(0.0f, 0.0f, 1.0f, 1.0f));
+        sd->setColor(osg::Vec4(r, g, b, 1.0f));
 
         geode->addDrawable(sd);
     }

src/ui/map3D/Pixhawk3DWidget.cc

@@ -472,7 +472,10 @@ Pixhawk3DWidget::clearData(void)
         systemData.setpointGroupNode()->removeChildren(0, systemData.setpointGroupNode()->getNumChildren());
 
         // clear trail data
+        systemData.orientationNode()->removeChildren(0, systemData.orientationNode()->getNumChildren());
+        systemData.trailIndexMap().clear();
         systemData.trailMap().clear();
+        systemData.trailNode()->removeDrawables(0, systemData.trailNode()->getNumDrawables());
     }
 }
 

src/ui/map3D/SystemViewParams.cc

 #include "SystemViewParams.h"
 
+#include <QCheckBox>
+
 SystemViewParams::SystemViewParams(int systemId)
  : mSystemId(systemId)
  , mColorPointCloudByDistance(false)
@@ -240,14 +242,17 @@ SystemViewParams::toggleObstacleList(int state)
 }
 
 void
-SystemViewParams::toggleOverlay(const QString& name)
+SystemViewParams::toggleOverlay(QWidget* widget)
 {
+    const QCheckBox* checkbox = dynamic_cast<QCheckBox*>(widget);
+    QString name = checkbox->accessibleName();
+
     if (!mDisplayOverlay.contains(name))
     {
         return;
     }
 
-    mDisplayOverlay[name] = !mDisplayOverlay[name];
+    mDisplayOverlay[name] = (checkbox->checkState() == Qt::Checked);
 }
 
 void

src/ui/map3D/SystemViewParams.h

@@ -5,6 +5,7 @@
 #include <QObject>
 #include <QSharedPointer>
 #include <QVector>
+#include <QWidget>
 
 class SystemViewParams : public QObject
 {
@@ -61,7 +62,7 @@ public slots:
     void toggleColorPointCloud(int state);
     void toggleLocalGrid(int state);
     void toggleObstacleList(int state);
-    void toggleOverlay(const QString& name);
+    void toggleOverlay(QWidget* widget);
     void togglePlannedPath(int state);
     void togglePointCloud(int state);
     void toggleRGBD(int state);

src/ui/map3D/ViewParamWidget.cc

@@ -65,14 +65,16 @@ ViewParamWidget::overlayCreated(int systemId, const QString& name)
     systemViewParams->displayOverlay().insert(name, true);
 
     QCheckBox* checkbox = new QCheckBox(this);
+    checkbox->setAccessibleName(name);
     checkbox->setChecked(systemViewParams->displayOverlay().value(name));
     mOverlayLayout[systemId]->addRow(name, checkbox);
 
-    mOverlaySignalMapper->setMapping(checkbox, name);
+    mOverlaySignalMapper->setMapping(checkbox, checkbox);
+
     connect(checkbox, SIGNAL(clicked()),
             mOverlaySignalMapper, SLOT(map()));
-    connect(mOverlaySignalMapper, SIGNAL(mapped(QString)),
-            systemViewParams.data(), SLOT(toggleOverlay(QString)));
+    connect(mOverlaySignalMapper, SIGNAL(mapped(QWidget*)),
+            systemViewParams.data(), SLOT(toggleOverlay(QWidget*)));
 }
 
 void

thirdParty/qserialport/src/posix/termioshelper.cpp

@@ -327,6 +327,8 @@ void TermiosHelper::setBaudRate(QPortSettings::BaudRate baudRate)
     //          }
     //#else
 
+    qCritical() << "Baud rate is now: " << baud;
+
     if ( cfsetspeed(currentAttrs_, baud) == -1 ) {
         qCritical() <<  QString("TermiosHelper::setBaudRate(file: %1) failed: %2(%3)")
                         .arg(fileDescriptor_)