Merge remote-tracking branch 'refs/remotes/mavlink/master'

src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml

 <?xml version='1.0' encoding='UTF-8'?>
 <airframes>
   <version>1</version>
+  <airframe_group image="" name="Coaxial Helicopter">
+    <airframe id="15001" maintainer="Emmanuel Roussel" name="Coaxial Helicopter (such as Esky Lama v4 or Esky Big Lama)">
+      <maintainer>Emmanuel Roussel</maintainer>
+      <type>Coaxial Helicopter</type>
+      <output name="MAIN1">Left swashplate servomotor, pitch axis</output>
+      <output name="MAIN2">Right swashplate servomotor, roll axis</output>
+      <output name="MAIN3">Upper rotor (CCW)</output>
+      <output name="MAIN4">Lower rotor (CW)</output>
+    </airframe>
+  </airframe_group>
   <airframe_group image="AirframeFlyingWing.png" name="Flying Wing">
     <airframe id="3030" maintainer="Simon Wilks &lt;simon@px4.io&gt;" name="IO Camflyer">
       <maintainer>Simon Wilks &lt;simon@px4.io&gt;</maintainer>
@@ -160,6 +170,13 @@
       <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
       <type>Quadrotor x</type>
     </airframe>
+    <airframe id="4009" maintainer="Mark Whitehorn &lt;kd0aij@gmail.com&gt;" name="Lumenier QAV250">
+      <maintainer>Mark Whitehorn &lt;kd0aij@gmail.com&gt;</maintainer>
+      <type>Quadrotor x</type>
+      <output name="AUX1">feed-through of RC AUX1 channel</output>
+      <output name="AUX2">feed-through of RC AUX2 channel</output>
+      <output name="AUX3">feed-through of RC AUX3 channel</output>
+    </airframe>
     <airframe id="4010" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="DJI Flame Wheel F330">
       <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
       <type>Quadrotor x</type>
@@ -182,6 +199,10 @@
       <maintainer>Thomas Gubler &lt;thomas@px4.io&gt;</maintainer>
       <type>Quadrotor x</type>
     </airframe>
+    <airframe id="4030" maintainer="Andreas Antener &lt;andreas@uaventure.com&gt;" name="Generic Quadrotor X config">
+      <maintainer>Andreas Antener &lt;andreas@uaventure.com&gt;</maintainer>
+      <type>Quadrotor x</type>
+    </airframe>
   </airframe_group>
   <airframe_group image="" name="Rover">
     <airframe id="50001" maintainer="John Doe &lt;john@example.com&gt;" name="Axial Racing AX10">
@@ -227,8 +248,8 @@
       <output name="AUX3">feed-through of RC AUX3 channel</output>
       <output name="MAIN1">aileron</output>
       <output name="MAIN2">elevator</output>
-      <output name="MAIN3">throttle</output>
-      <output name="MAIN4">rudder</output>
+      <output name="MAIN3">rudder</output>
+      <output name="MAIN4">throttle</output>
       <output name="MAIN5">flaps</output>
     </airframe>
     <airframe id="2102" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="Skywalker (3DR Aero)">
@@ -265,9 +286,38 @@
       <output name="MAIN4">rudder</output>
       <output name="MAIN5">flaps</output>
     </airframe>
+    <airframe id="2105" maintainer="Andreas Antener &lt;andreas@uaventure.com&gt;" name="Bormatec Maja">
+      <maintainer>Andreas Antener &lt;andreas@uaventure.com&gt;</maintainer>
+      <type>Standard Plane</type>
+      <output name="AUX1">feed-through of RC AUX1 channel</output>
+      <output name="AUX2">feed-through of RC AUX2 channel</output>
+      <output name="AUX3">feed-through of RC AUX3 channel</output>
+      <output name="MAIN1">aileron</output>
+      <output name="MAIN2">aileron</output>
+      <output name="MAIN3">elevator</output>
+      <output name="MAIN4">rudder</output>
+      <output name="MAIN5">throttle</output>
+      <output name="MAIN6">wheel</output>
+      <output name="MAIN7">flaps</output>
+    </airframe>
+    <airframe id="2106" maintainer="Andreas Antener &lt;andreas@uaventure.com&gt;" name="Applied Aeronautics Albatross">
+      <maintainer>Andreas Antener &lt;andreas@uaventure.com&gt;</maintainer>
+      <type>Standard Plane</type>
+      <output name="AUX1">feed-through of RC AUX1 channel</output>
+      <output name="AUX2">feed-through of RC AUX2 channel</output>
+      <output name="AUX3">feed-through of RC AUX3 channel</output>
+      <output name="MAIN1">aileron right</output>
+      <output name="MAIN2">aileron left</output>
+      <output name="MAIN3">v-tail right</output>
+      <output name="MAIN4">v-tail left</output>
+      <output name="MAIN5">throttle</output>
+      <output name="MAIN6">wheel</output>
+      <output name="MAIN7">flaps right</output>
+      <output name="MAIN8">flaps left</output>
+    </airframe>
   </airframe_group>
   <airframe_group image="" name="Standard VTOL">
-    <airframe id="13005" maintainer="Simon Wilks &lt;simon@uaventure.com&gt;" name="Generic AAERT tailplane airframe with Quad VTOL.">
+    <airframe id="13005" maintainer="Simon Wilks &lt;simon@uaventure.com&gt;" name="Fun Cub Quad VTOL.">
       <maintainer>Simon Wilks &lt;simon@uaventure.com&gt;</maintainer>
       <type>Standard VTOL</type>
     </airframe>
@@ -275,6 +325,10 @@
       <maintainer>Simon Wilks &lt;simon@uaventure.com&gt;</maintainer>
       <type>Standard VTOL</type>
     </airframe>
+    <airframe id="13007" maintainer="Sander Smeets &lt;sander@droneslab.com&gt;" name="Generic AAVVT v-tail plane airframe with Quad VTOL.">
+      <maintainer>Sander Smeets &lt;sander@droneslab.com&gt;</maintainer>
+      <type>Standard VTOL</type>
+    </airframe>
   </airframe_group>
   <airframe_group image="" name="Tricopter Y+">
     <airframe id="14001" maintainer="Trent Lukaczyk &lt;aerialhedgehog@gmail.com&gt;" name="Generic Tricopter Y+ Geometry">

src/FlightMap/MapItems/MissionItemIndicator.qml

@@ -43,7 +43,7 @@ MapQuickItem {
         MissionItemIndexLabel {
             id:             _label
             isCurrentItem:  missionItem.isCurrentItem
-            label:          missionItem.sequenceNumber
+            label:          missionItem.sequenceNumber == 0 ? "H" : missionItem.sequenceNumber
             onClicked:      _item.clicked()
         }
 }

src/MissionEditor/MissionEditor.qml

@@ -219,6 +219,7 @@ QGCView {
                             //offlineHomePosition = coordinate
                         } else if (addMissionItemsButton.checked) {
                             var index = controller.addMissionItem(coordinate)
+                            addMissionItemsButtonAutoOffTimer.stop()
                             addMissionItemsButtonAutoOffTimer.start()
                             setCurrentItem(index)
                         } else {

src/MissionManager/MavCmdInfo.json

@@ -594,7 +594,7 @@
             "friendlyName": "VTOL Transition",
             "description":  "Perform flight mode transition",
             "category":     "Basic",
-            "param7": {
+            "param1": {
                 "label":            "Mode:",
                 "default":          3,
                 "decimalPlaces":    0,

src/MissionManager/MissionController.cc

@@ -484,19 +484,22 @@ void MissionController::_initAllMissionItems(void)
     }
     homeItem->setHomePositionSpecialCase(true);
     if (_activeVehicle) {
-        homeItem->setCoordinate(_activeVehicle->homePosition());
         homeItem->setHomePositionValid(_activeVehicle->homePositionAvailable());
+        if (homeItem->homePositionValid()) {
+            homeItem->setCoordinate(_activeVehicle->homePosition());
+        }
     } else {
         homeItem->setHomePositionValid(false);
     }
     homeItem->setCommand(MAV_CMD_NAV_WAYPOINT);
     homeItem->setFrame(MAV_FRAME_GLOBAL);
     if (!homeItem->homePositionValid()) {
-        QGeoCoordinate homeCoord = homeItem->coordinate();
-        homeCoord.setAltitude(0.0);
-        homeItem->setCoordinate(homeCoord);
+        // Set a bogus home position, the important value is 0.0 Altitude
+        homeItem->setCoordinate(QGeoCoordinate(37.803784, -122.462276, 0.0));
     }
 
+    qDebug() << "home item" << homeItem->homePositionValid() << homeItem->coordinate();
+
     for (int i=0; i<_missionItems->count(); i++) {
         _initMissionItem(qobject_cast<MissionItem*>(_missionItems->get(i)));
     }

src/ViewWidgets/LogDownload.qml

@@ -94,7 +94,7 @@ QGCView {
                             //-- Have we received this entry already?
                             if(controller.model.get(styleData.row).received) {
                                 var d = controller.model.get(styleData.row).time
-                                if(d.getUTCFullYear() < 1980)
+                                if(d.getUTCFullYear() < 2010)
                                     return "Date Unknown"
                                 else
                                     return d.toLocaleString()

src/ViewWidgets/LogDownloadController.cc

@@ -67,6 +67,7 @@ LogDownloadController::LogDownloadController(void)
     , _requestingLogEntries(false)
     , _downloadingLogs(false)
     , _retries(0)
+    , _apmOneBased(0)
 {
     MultiVehicleManager *manager = qgcApp()->toolbox()->multiVehicleManager();
     connect(manager, &MultiVehicleManager::activeVehicleChanged, this, &LogDownloadController::_setActiveVehicle);
@@ -114,6 +115,11 @@ LogDownloadController::_logEntry(UASInterface* uas, uint32_t time_utc, uint32_t
     }
     //-- If this is the first, pre-fill it
     if(!_logEntriesModel.count() && num_logs > 0) {
+        //-- Is this APM? They send a first entry with bogus ID and only the
+        //   count is valid. From now on, all entries are 1-based.
+        if(_vehicle->firmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            _apmOneBased = 1;
+        }
         for(int i = 0; i < num_logs; i++) {
             QGCLogEntry *entry = new QGCLogEntry(i);
             _logEntriesModel.append(entry);
@@ -121,14 +127,18 @@ LogDownloadController::_logEntry(UASInterface* uas, uint32_t time_utc, uint32_t
     }
     //-- Update this log record
     if(num_logs > 0) {
-        if(id < _logEntriesModel.count()) {
-            QGCLogEntry* entry = _logEntriesModel[id];
-            entry->setSize(size);
-            entry->setTime(QDateTime::fromTime_t(time_utc));
-            entry->setReceived(true);
-            entry->setStatus(QString("Available"));
-        } else {
-            qWarning() << "Received log entry for out-of-bound index:" << id;
+        //-- Skip if empty (APM first packet)
+        if(size) {
+            id -= _apmOneBased;
+            if(id < _logEntriesModel.count()) {
+                QGCLogEntry* entry = _logEntriesModel[id];
+                entry->setSize(size);
+                entry->setTime(QDateTime::fromTime_t(time_utc));
+                entry->setReceived(true);
+                entry->setStatus(QString("Available"));
+            } else {
+                qWarning() << "Received log entry for out-of-bound index:" << id;
+            }
         }
     } else {
         //-- No logs to list
@@ -164,13 +174,18 @@ LogDownloadController::_entriesComplete()
 
 //----------------------------------------------------------------------------------------
 void
-LogDownloadController::_resetSelection()
+LogDownloadController::_resetSelection(bool canceled)
 {
     int num_logs = _logEntriesModel.count();
     for(int i = 0; i < num_logs; i++) {
         QGCLogEntry* entry = _logEntriesModel[i];
         if(entry) {
-            entry->setSelected(false);
+            if(entry->selected()) {
+                if(canceled) {
+                    entry->setStatus(QString("Canceled"));
+                }
+                entry->setSelected(false);
+            }
         }
     }
     emit selectionChanged();
@@ -227,6 +242,9 @@ LogDownloadController::_findMissingEntries()
         if(end < 0) {
             end = start;
         }
+        //-- APM "Fix"
+        start += _apmOneBased;
+        end   += _apmOneBased;
         //-- Request these entries again
         _requestLogList((uint32_t)start, (uint32_t) end);
     } else {
@@ -241,6 +259,8 @@ LogDownloadController::_logData(UASInterface* uas, uint32_t ofs, uint16_t id, ui
     if(!_uas || uas != _uas || !_downloadData) {
         return;
     }
+    //-- APM "Fix"
+    id -= _apmOneBased;
     if(_downloadData->ID != id) {
         qWarning() << "Received log data for wrong log";
         return;
@@ -360,6 +380,8 @@ void
 LogDownloadController::_requestLogData(uint8_t id, uint32_t offset, uint32_t count)
 {
     if(_vehicle) {
+        //-- APM "Fix"
+        id += _apmOneBased;
         qCDebug(LogDownloadLog) << "Request log data (id:" << id << "offset:" << offset << "size:" << count << ")";
         mavlink_message_t msg;
         mavlink_msg_log_request_data_pack(
@@ -423,6 +445,16 @@ LogDownloadController::download(void)
     if(!_downloadPath.isEmpty()) {
         if(!_downloadPath.endsWith(QDir::separator()))
             _downloadPath += QDir::separator();
+        //-- Iterate selected entries and shown them as waiting
+        int num_logs = _logEntriesModel.count();
+        for(int i = 0; i < num_logs; i++) {
+            QGCLogEntry* entry = _logEntriesModel[i];
+            if(entry) {
+                if(entry->selected()) {
+                   entry->setStatus(QString("Waiting"));
+                }
+            }
+        }
         //-- Start download process
         _downloadingLogs = true;
         emit downloadingLogsChanged();
@@ -464,13 +496,18 @@ LogDownloadController::_prepareLogDownload()
     emit selectionChanged();
     bool result = false;
     QString ftime;
-    if(entry->time().date().year() < 1980) {
+    if(entry->time().date().year() < 2010) {
         ftime = "UnknownDate";
     } else {
         ftime = entry->time().toString("yyyy-M-d-hh-mm-ss");
     }
     _downloadData = new LogDownloadData(entry);
-    _downloadData->filename = QString("log_") + QString::number(entry->id()) + "_" + ftime + ".txt";
+    _downloadData->filename = QString("log_") + QString::number(entry->id()) + "_" + ftime;
+    if(_vehicle->firmwareType() == MAV_AUTOPILOT_PX4) {
+        _downloadData->filename += ".px4log";
+    } else {
+        _downloadData->filename += ".bin";
+    }
     _downloadData->file.setFileName(_downloadPath + _downloadData->filename);
     //-- Append a number to the end if the filename already exists
     if (_downloadData->file.exists()){
@@ -539,7 +576,7 @@ LogDownloadController::cancel(void)
         delete _downloadData;
         _downloadData = 0;
     }
-    _resetSelection();
+    _resetSelection(true);
     _downloadingLogs = false;
     emit downloadingLogsChanged();
 }

src/ViewWidgets/LogDownloadController.h

@@ -171,7 +171,7 @@ private:
     void _findMissingEntries();
     void _receivedAllEntries();
     void _receivedAllData   ();
-    void _resetSelection    ();
+    void _resetSelection    (bool canceled = false);
     void _findMissingData   ();
     void _requestLogList    (uint32_t start = 0, uint32_t end = 0xFFFF);
     void _requestLogData    (uint8_t id, uint32_t offset = 0, uint32_t count = 0xFFFFFFFF);
@@ -187,6 +187,7 @@ private:
     bool                _requestingLogEntries;
     bool                _downloadingLogs;
     int                 _retries;
+    int                 _apmOneBased;
     QString             _downloadPath;
 };