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

QGCInstaller.pri

@@ -19,7 +19,8 @@
 
 installer {
     MacBuild {
-        QMAKE_POST_LINK += && $$dirname(QMAKE_QMAKE)/macdeployqt $${DESTDIR}/qgroundcontrol.app -dmg
+        QMAKE_POST_LINK += && $$dirname(QMAKE_QMAKE)/macdeployqt $${DESTDIR}/qgroundcontrol.app
+        QMAKE_POST_LINK += && hdiutil create -layout SPUD -srcfolder $${DESTDIR}/qgroundcontrol.app -volname QGroundControl $${DESTDIR}/qgroundcontrol.dmg
     }
     
     WindowsBuild {

QGCSetup.pri

@@ -197,7 +197,8 @@ WindowsBuild {
 	QMAKE_POST_LINK += $$escape_expand(\\n) mkdir release\\platforms
 	QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY \"$$PLUGINS_DIR_WIN\\platforms\\qwindows$${DLL_QT_DEBUGCHAR}.dll\" \"$$DESTDIR_WIN\\platforms\\qwindows$${DLL_QT_DEBUGCHAR}.dll\"
 	QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$PLUGINS_DIR_WIN\\imageformats\" \"$$DESTDIR_WIN\\imageformats\"
-    
+    QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$PLUGINS_DIR_WIN\\sqldrivers\" \"$$DESTDIR_WIN\\sqldrivers\"
+
 	ReleaseBuild {
 		# Copy Visual Studio DLLs
 		# Note that this is only done for release because the debugging versions of these DLLs cannot be redistributed.

README.md

@@ -141,7 +141,7 @@ Only compilation using Visual Studio 2010, 2012, and 2013 are supported.
 
 3. **[OPTIONAL]** Go to the QGroundControl folder and then to libs/thirdParty/libxbee and build it following the instructions in win32.README.txt
 
-4. Open the Qt Command Prompt program from the Start Menu, navigate to the source folder of QGroundControl, and create the Visual Studio project by typing `qmake -tp vc qgroundcontrol.pro`
+4. Open the Qt Command Prompt program from the Start Menu, navigate to the source folder of QGroundControl, and create the Visual Studio project by typing `qmake -tp vc qgroundcontrol.pro`. To build a "Release" only build which does not contain unit tests, add the options 'CONFIG-=debug_and_release CONFIG+=release'.
 
 5. Now open the generated `qgroundcontrol.vcxproj` file.
 

files/flightgear/Protocol/qgroundcontrol-fixed-wing.xml

@@ -6,7 +6,7 @@
   <output>
    <line_separator>newline</line_separator>
    <var_separator>tab</var_separator>
-   
+
    <chunk>
     <name>time (sec)</name>
     <type>float</type>
@@ -46,7 +46,7 @@
     <node>/orientation/roll-deg</node>
     <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
    </chunk>
-   
+
    <chunk>
     <name>pitch angle (rad)</name>
     <type>float</type>
@@ -54,7 +54,7 @@
     <node>/orientation/pitch-deg</node>
     <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
    </chunk>
-   
+
    <chunk>
     <name>yaw angle</name>
     <type>float</type>
@@ -109,7 +109,7 @@
    </chunk>
 
    <!-- Velocities -->
-   
+
    <chunk>
     <name>Velocity North ("vn" mps)</name>
     <type>float</type>
@@ -176,7 +176,16 @@
     <node>/environment/pressure-inhg</node>
     <factor>33.86389</factor>                  <!-- inhg to hpa -->
    </chunk>
-   
+
+   <!-- Altitude AGL -->
+   <chunk>
+    <name>Altitude AGL (m)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/position/altitude-agl-ft</node>
+    <factor>0.3048</factor>  <!-- feet to meter -->
+   </chunk>
+
   </output>
 
   <input>
@@ -195,13 +204,13 @@
     <type>float</type>
     <node>/controls/flight/elevator</node>
    </chunk>
-   
+
    <chunk>
      <name>rudder</name>
      <type>float</type>
      <node>/controls/flight/rudder</node>
    </chunk>
-   
+
    <chunk>
     <name>running</name>
     <type>bool</type>
@@ -213,7 +222,7 @@
     <type>float</type>
     <node>/controls/engines/engine/throttle</node>
    </chunk>
-   
+
 
  </input>
 

libs/opmapcontrol/src/core/pureimagecache.cpp

@@ -223,7 +223,7 @@ namespace core {
         qlonglong id=++ConnCounter;
         Mcounter.unlock();
 #ifdef DEBUG_PUREIMAGECACHE
-        qDebug()<<"Cache dir="<<dir<<" Try to GET:"<<pos.X()+","+pos.Y();
+        qDebug()<<"Cache dir="<<dir<<" Try to GET:"<<pos.X()<<","<<pos.Y();
 #endif //DEBUG_PUREIMAGECACHE
 
             QString db=dir+"Data.qmdb";

libs/qwt/qwt_plot_curve.cpp

@@ -349,7 +349,7 @@ void QwtPlotCurve::drawSeries( QPainter *painter,
     const QwtScaleMap &xMap, const QwtScaleMap &yMap,
     const QRectF &canvasRect, int from, int to ) const
 {
-    const size_t numSamples = dataSize();
+    const int numSamples = static_cast<int>(dataSize());
 
     if ( !painter || numSamples <= 0 )
         return;
@@ -405,7 +405,7 @@ void QwtPlotCurve::drawCurve( QPainter *painter, int style,
                 // we always need the complete
                 // curve for fitting
                 from = 0;
-                to = dataSize() - 1;
+                to = static_cast<int>(dataSize()) - 1;
             }
             drawLines( painter, xMap, yMap, canvasRect, from, to );
             break;

libs/qwt/qwt_point_data.cpp

@@ -37,10 +37,10 @@ QwtPointArrayData::QwtPointArrayData(
 QwtPointArrayData::QwtPointArrayData( const double *x,
         const double *y, size_t size )
 {
-    d_x.resize( size );
+    d_x.resize( static_cast<int>(size) );
     ::memcpy( d_x.data(), x, size * sizeof( double ) );
 
-    d_y.resize( size );
+    d_y.resize(static_cast<int>(size));
     ::memcpy( d_y.data(), y, size * sizeof( double ) );
 }
 
@@ -273,7 +273,7 @@ QPointF QwtSyntheticPointData::sample( size_t index ) const
     if ( index >= d_size )
         return QPointF( 0, 0 );
 
-    const double xValue = x( index );
+    const double xValue = x( static_cast<uint>(index) );
     const double yValue = y( xValue );
 
     return QPointF( xValue, yValue );

libs/qwt/qwt_series_data.cpp

@@ -78,7 +78,7 @@ QRectF qwtBoundingRectT(
         from = 0;
 
     if ( to < 0 )
-        to = series.size() - 1;
+        to = static_cast<int>(series.size()) - 1;
 
     if ( to < from )
         return boundingRect;

qgroundcontrol.pro

@@ -73,6 +73,11 @@ CONFIG(debug, debug|release) {
     error(Unsupported build flavor)
 }
 
+# Need to special case Windows debug_and_release since VS Project creation in this case does strange things [QTBUG-40351]
+win32:debug_and_release {
+    CONFIG += WindowsDebugAndRelease
+}
+
 # Setup our build directories
 
 BASEDIR = $${IN_PWD}
@@ -744,8 +749,15 @@ SOURCES += \
 
 #
 # Unit Test specific configuration goes here
-# We'd ideally only build this code as part of a Debug build, but qmake doesn't allow
-# for Debug-only files when generating Visual Studio projects [QTBUG-40351]
+#
+# We have to special case Windows debug_and_release builds because you can't have files
+# which are only in the debug variant [QTBUG-40351]. So in this case we include unit tests 
+# even in the release variant. If you want a Windows release build with no unit tests run 
+# qmake with CONFIG-=debug_and_release CONFIG+=release.
+#
+
+DebugBuild|WindowsDebugAndRelease {
+
 INCLUDEPATH += \
 	src/qgcunittest
 
@@ -778,3 +790,5 @@ SOURCES += \
 	src/qgcunittest/TCPLoopBackServer.cc \
 	src/qgcunittest/QGCUASFileManagerTest.cc \
     src/qgcunittest/PX4RCCalibrationTest.cc
+
+}

src/comm/MAVLinkSimulationWaypointPlanner.cc

@@ -890,7 +890,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
                 } else {
                     if (verbose) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid);
                 }
-                protocol_current_count = waypoints->size();
+                protocol_current_count = static_cast<uint16_t>(waypoints->size());
                 send_waypoint_count(msg->sysid,msg->compid, protocol_current_count);
             } else {
                 if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", current_state);
@@ -999,7 +999,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
                     send_waypoint_ack(protocol_current_partner_systemid, protocol_current_partner_compid, 0);
 
                     if (current_active_wp_id > waypoints_receive_buffer->size()-1) {
-                        current_active_wp_id = waypoints_receive_buffer->size() - 1;
+                        current_active_wp_id = static_cast<uint16_t>(waypoints_receive_buffer->size()) - 1;
                     }
 
                     // switch the waypoints list

src/comm/QGCFlightGearLink.cc

@@ -99,6 +99,8 @@ void QGCFlightGearLink::run()
             mav, SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
     connect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)),
             mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
+    connect(this, SIGNAL(sensorHilOpticalFlowChanged(quint64, qint16, qint16, float,float, quint8, float)),
+            mav, SLOT(sendHilOpticalFlow(quint64, qint16, qint16, float, float, quint8, float)));
     
     // Start a new QProcess to run FlightGear in
     _fgProcess = new QProcess(this);
@@ -298,7 +300,7 @@ void QGCFlightGearLink::readBytes()
     QStringList values = state.split("\t");
 
     // Check length
-    const int nValues = 21;
+    const int nValues = 22;
     if (values.size() != nValues)
     {
         qDebug() << "RETURN LENGTH MISMATCHING EXPECTED" << nValues << "BUT GOT" << values.size();
@@ -316,6 +318,7 @@ void QGCFlightGearLink::readBytes()
     float temperature;
     float abs_pressure;
     float mag_variation, mag_dip, xmag_ned, ymag_ned, zmag_ned, xmag_body, ymag_body, zmag_body;
+    float alt_agl;
 
 
     lat = values.at(1).toDouble();
@@ -345,6 +348,8 @@ void QGCFlightGearLink::readBytes()
     abs_pressure = values.at(20).toFloat() * 1e2f; //convert to Pa from hPa
     abs_pressure += barometerOffsetkPa * 1e3f; //add offset, convert from kPa to Pa
 
+    alt_agl = values.at(21).toFloat();
+
     //calculate differential pressure
     const float air_gas_constant = 287.1f; // J/(kg * K)
     const float absolute_null_celsius = -273.15f; // °C
@@ -424,8 +429,16 @@ void QGCFlightGearLink::readBytes()
         int satellites = 8;
 
         emit sensorHilGpsChanged(QGC::groundTimeUsecs(), lat, lon, alt, gps_fix_type, eph, epv, vel, vx, vy, vz, cog, satellites);
-
 //        qDebug()  << "sensorHilGpsChanged " << lat  << lon << alt  << vel;
+
+        // Send Optical Flow message. For now we set the flow quality to 0 and just write the ground_distance field
+        float distanceMeasurement = -1.0; // -1 means invalid value
+        if (fabsf(roll) < 0.87 && fabsf(pitch) < 0.87) // return a valid value only for decent angles
+        {
+            distanceMeasurement = fabsf((float)(1.0/cosPhi * 1.0/cosThe * alt_agl)); // assuming planar ground
+        }
+        emit sensorHilOpticalFlowChanged(QGC::groundTimeUsecs(), 0, 0, 0.0f,
+                                         0.0f, 0.0f, distanceMeasurement);
     } else {
         emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
                          pitchspeed, yawspeed, lat, lon, alt,
@@ -470,6 +483,8 @@ bool QGCFlightGearLink::disconnectSimulation()
     disconnect(this, SIGNAL(hilStateChanged(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)), mav, SLOT(sendHilState(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)));
     disconnect(this, SIGNAL(sensorHilGpsChanged(quint64, double, double, double, int, float, float, float, float, float, float, float, int)), mav, SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
     disconnect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
+    disconnect(this, SIGNAL(sensorHilOpticalFlowChanged(quint64, qint16, qint16, float,float, quint8, float)),
+            mav, SLOT(sendHilOpticalFlow(quint64, qint16, qint16, float, float, quint8, float)));
 
     if (_fgProcess)
     {

src/comm/QGCHilLink.h

@@ -105,6 +105,9 @@ signals:
                                                   float abs_pressure, float diff_pressure,
                                                   float pressure_alt, float temperature,
                                                   quint32 fields_updated);
+
+    void sensorHilOpticalFlowChanged(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
+                                     float flow_comp_m_y, quint8 quality, float ground_distance);
     
     /** @brief Remote host and port changed */
     void remoteChanged(const QString& hostPort);

src/qgcunittest/MockMavlinkFileServer.h

@@ -40,7 +40,10 @@ class MockMavlinkFileServer : public MockMavlinkInterface
     Q_OBJECT
     
 public:
-    MockMavlinkFileServer(void);
+    /// @brief Constructor for MockMavlinkFileServer
+    ///     @param System ID for QGroundControl App
+    ///     @pqram System ID for this Server
+    MockMavlinkFileServer(uint8_t systemIdQGC, uint8_t systemIdServer);
     
     /// @brief Sets the list of files returned by the List command. Prepend names with F or D
     /// to indicate (F)ile or (D)irectory.
@@ -53,7 +56,6 @@ public:
         errModeNakResponse,         ///< Nak all requests
         errModeNoSecondResponse,    ///< No response to subsequent request to initial command
         errModeNakSecondResponse,   ///< Nak subsequent request to initial command
-        errModeBadCRC,              ///< Return response with bad CRC
         errModeBadSequence          ///< Return response with bad sequence number
     } ErrorMode_t;
     
@@ -103,6 +105,8 @@ private:
     static const uint8_t    _sessionId;
     uint8_t                 _readFileLength;    ///< Length of active file being read
     ErrorMode_t             _errMode;           ///< Currently set error mode, as specified by setErrorMode
+    const uint8_t           _systemIdServer;    ///< System ID for server
+    const uint8_t           _systemIdQGC;       ///< QGC System ID
 };
 
 #endif

src/qgcunittest/MockUAS.h

@@ -166,6 +166,9 @@ public slots:
         { Q_UNUSED(time_us); Q_UNUSED(xacc); Q_UNUSED(yacc); Q_UNUSED(zacc); Q_UNUSED(rollspeed); Q_UNUSED(pitchspeed); Q_UNUSED(yawspeed); Q_UNUSED(xmag); Q_UNUSED(ymag); Q_UNUSED(zmag); Q_UNUSED(abs_pressure); Q_UNUSED(diff_pressure); Q_UNUSED(pressure_alt); Q_UNUSED(temperature); Q_UNUSED(fields_changed); Q_ASSERT(false); };
     virtual void sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites)
         { Q_UNUSED(time_us); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); Q_UNUSED(fix_type); Q_UNUSED(eph); Q_UNUSED(epv); Q_UNUSED(vel); Q_UNUSED(vn); Q_UNUSED(ve); Q_UNUSED(vd); Q_UNUSED(cog); Q_UNUSED(satellites); Q_ASSERT(false); };
+    virtual void sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
+                            float flow_comp_m_y, quint8 quality, float ground_distance)
+    { Q_UNUSED(time_us); Q_UNUSED(flow_x); Q_UNUSED(flow_y); Q_UNUSED(flow_comp_m_x); Q_UNUSED(flow_comp_m_y); Q_UNUSED(quality); Q_UNUSED(ground_distance); Q_ASSERT(false);};
     
     virtual bool isRotaryWing() { Q_ASSERT(false); return false; }
     virtual bool isFixedWing() { Q_ASSERT(false); return false; }

src/qgcunittest/QGCUASFileManagerTest.cc

@@ -31,6 +31,7 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 QGCUASFileManagerUnitTest::QGCUASFileManagerUnitTest(void) :
+    _mockFileServer(_systemIdQGC, _systemIdServer),
     _fileManager(NULL),
     _multiSpy(NULL)
 {
@@ -40,6 +41,7 @@ QGCUASFileManagerUnitTest::QGCUASFileManagerUnitTest(void) :
 // Called once before all test cases are run
 void QGCUASFileManagerUnitTest::initTestCase(void)
 {
+    _mockUAS.setMockSystemId(_systemIdServer);
     _mockUAS.setMockMavlinkPlugin(&_mockFileServer);
 }
 
@@ -48,19 +50,16 @@ void QGCUASFileManagerUnitTest::init(void)
 {
     Q_ASSERT(_multiSpy == NULL);
     
-    _fileManager = new QGCUASFileManager(NULL, &_mockUAS);
+    _fileManager = new QGCUASFileManager(NULL, &_mockUAS, _systemIdQGC);
     Q_CHECK_PTR(_fileManager);
     
     // Reset any internal state back to normal
     _mockFileServer.setErrorMode(MockMavlinkFileServer::errModeNone);
     _fileListReceived.clear();
     
-    bool connected = connect(&_mockFileServer, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), _fileManager, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
-    Q_ASSERT(connected);
-    Q_UNUSED(connected);    // Silent release build compiler warning
+    connect(&_mockFileServer, &MockMavlinkFileServer::messageReceived, _fileManager, &QGCUASFileManager::receiveMessage);
 
-    connected = connect(_fileManager, SIGNAL(listEntry(const QString&)), this, SLOT(listEntry(const QString&)));
-    Q_ASSERT(connected);
+    connect(_fileManager, &QGCUASFileManager::listEntry, this, &QGCUASFileManagerUnitTest::listEntry);
 
     _rgSignals[listEntrySignalIndex] = SIGNAL(listEntry(const QString&));
     _rgSignals[listCompleteSignalIndex] = SIGNAL(listComplete(void));

src/qgcunittest/QGCUASFileManagerTest.h

@@ -80,6 +80,10 @@ private:
         downloadFileCompleteSignalMask =    1 << downloadFileCompleteSignalIndex,
         errorMessageSignalMask =            1 << errorMessageSignalIndex,
     };
+
+    static const uint8_t    _systemIdQGC = 255;
+    static const uint8_t    _systemIdServer = 128;
+
     MockUAS                 _mockUAS;
     MockMavlinkFileServer   _mockFileServer;
     

src/uas/QGCUASFileManager.h

@@ -33,12 +33,12 @@ class QGCUASFileManager : public QObject
 {
     Q_OBJECT
 public:
-    QGCUASFileManager(QObject* parent, UASInterface* uas);
+    QGCUASFileManager(QObject* parent, UASInterface* uas, uint8_t unitTestSystemIdQGC = 0);
     
     /// These methods are only used for testing purposes.
     bool _sendCmdTestAck(void) { return _sendOpcodeOnlyCmd(kCmdNone, kCOAck); };
     bool _sendCmdTestNoAck(void) { return _sendOpcodeOnlyCmd(kCmdTestNoAck, kCOAck); };
-    bool _sendCmdReset(void) { return _sendOpcodeOnlyCmd(kCmdReset, kCOAck); };
+    bool _sendCmdReset(void) { return _sendOpcodeOnlyCmd(kCmdResetSessions, kCOAck); };
     
     /// @brief Timeout in msecs to wait for an Ack time come back. This is public so we can write unit tests which wait long enough
     /// for the FileManager to timeout.
@@ -74,26 +74,29 @@ public slots:
     void downloadPath(const QString& from, const QDir& downloadDir);
 
 protected:
-    static const uint8_t kProtocolMagic = 'f';
+    
+    /// @brief This is the fixed length portion of the protocol data. Trying to pack structures across differing compilers is
+    /// questionable, so we pad the structure ourselves to 32 bit alignment which should get us what we want.
     struct RequestHeader
         {
-            uint8_t		magic;      ///> Magic byte 'f' to idenitfy FTP protocol
-            uint8_t		session;    ///> Session id for read and write commands
-            uint8_t		opcode;     ///> Command opcode
-            uint8_t		size;       ///> Size of data
-            uint32_t	crc32;      ///> CRC for entire Request structure, with crc32 set to 0
-            uint32_t	offset;     ///> Offsets for List and Read commands
+            uint16_t    seqNumber;  ///< sequence number for message
+            uint8_t     session;    ///< Session id for read and write commands
+            uint8_t     opcode;     ///< Command opcode
+            uint8_t     size;       ///< Size of data
+            uint8_t     req_opcode; ///< Request opcode returned in kRspAck, kRspNak message
+            uint8_t     padding[2]; ///< 32 bit aligment padding
+            uint32_t    offset;     ///< Offsets for List and Read commands
         };
 
     struct Request
     {
         struct RequestHeader hdr;
 
-        // We use a union here instead of just casting (uint32_t)&data[0] to not break strict aliasing rules
+        // We use a union here instead of just casting (uint32_t)&payload[0] to not break strict aliasing rules
         union {
-            // The entire Request must fit into the data member of the mavlink_encapsulated_data_t structure. We use as many leftover bytes
+            // The entire Request must fit into the payload member of the mavlink_file_transfer_protocol_t structure. We use as many leftover bytes
             // after we use up space for the RequestHeader for the data portion of the Request.
-            uint8_t data[sizeof(((mavlink_encapsulated_data_t*)0)->data) - sizeof(RequestHeader)];
+            uint8_t data[sizeof(((mavlink_file_transfer_protocol_t*)0)->payload) - sizeof(RequestHeader)];
 
             // File length returned by Open command
             uint32_t openFileLength;
@@ -101,43 +104,38 @@ protected:
     };
 
     enum Opcode
-        {
-            // Commands
-            kCmdNone,       ///> ignored, always acked
-            kCmdTerminate,	///> releases sessionID, closes file
-            kCmdReset,      ///> terminates all sessions
-            kCmdList,       ///> list files in <path> from <offset>
-            kCmdOpen,       ///> opens <path> for reading, returns <session>
-            kCmdRead,       ///> reads <size> bytes from <offset> in <session>
-            kCmdCreate,     ///> creates <path> for writing, returns <session>
-            kCmdWrite,      ///> appends <size> bytes at <offset> in <session>
-            kCmdRemove,     ///> remove file (only if created by server?)
-
-            // Responses
-            kRspAck,        ///> positive acknowledgement of previous command
-            kRspNak,        ///> negative acknowledgement of previous command
-            
-            // Used for testing only, not part of protocol
-            kCmdTestNoAck,  // ignored, ack not sent back, should timeout waiting for ack
-        };
-
-    enum ErrorCode
-        {
-            kErrNone,
-            kErrNoRequest,
-            kErrNoSession,
-            kErrSequence,
-            kErrNotDir,
-            kErrNotFile,
-            kErrEOF,
-            kErrNotAppend,
-            kErrTooBig,
-            kErrIO,
-            kErrPerm,
-            kErrUnknownCommand,
-            kErrCrc
-        };
-
+	{
+		kCmdNone,               ///< ignored, always acked
+		kCmdTerminateSession,	///< Terminates open Read session
+		kCmdResetSessions,      ///< Terminates all open Read sessions
+		kCmdListDirectory,      ///< List files in <path> from <offset>
+		kCmdOpenFile,           ///< Opens file at <path> for reading, returns <session>
+		kCmdReadFile,           ///< Reads <size> bytes from <offset> in <session>
+		kCmdCreateFile,         ///< Creates file at <path> for writing, returns <session>
+		kCmdWriteFile,          ///< Appends <size> bytes to file in <session>
+		kCmdRemoveFile,         ///< Remove file at <path>
+		kCmdCreateDirectory,	///< Creates directory at <path>
+		kCmdRemoveDirectory,	///< Removes Directory at <path>, must be empty
+		
+		kRspAck = 128,          ///< Ack response
+		kRspNak,                ///< Nak response
+
+        // Used for testing only, not part of protocol
+        kCmdTestNoAck,          ///< ignored, ack not sent back, should timeout waiting for ack
+	};
+	
+	/// @brief Error codes returned in Nak response PayloadHeader.data[0].
+	enum ErrorCode
+    {
+		kErrNone,
+		kErrFail,                   ///< Unknown failure
+		kErrFailErrno,              ///< errno sent back in PayloadHeader.data[1]
+		kErrInvalidDataSize,		///< PayloadHeader.size is invalid
+		kErrInvalidSession,         ///< Session is not currently open
+		kErrNoSessionsAvailable,	///< All available Sessions in use
+		kErrEOF,                    ///< Offset past end of file for List and Read commands
+		kErrUnknownCommand          ///< Unknown command opcode
+    };
 
     enum OperationState
         {
@@ -167,24 +165,26 @@ protected:
     void _sendTerminateCommand(void);
     void _closeReadSession(bool success);
     
-    static quint32 crc32(Request* request, unsigned state = 0);
     static QString errorString(uint8_t errorCode);
 
-    OperationState  _currentOperation;              ///> Current operation of state machine
-    QTimer          _ackTimer;                      ///> Used to signal a timeout waiting for an ack
+    OperationState  _currentOperation;              ///< Current operation of state machine
+    QTimer          _ackTimer;                      ///< Used to signal a timeout waiting for an ack
     
     UASInterface* _mav;
     
     uint16_t _lastOutgoingSeqNumber; ///< Sequence number sent in last outgoing packet
 
-    unsigned    _listOffset;    ///> offset for the current List operation
-    QString     _listPath;      ///> path for the current List operation
+    unsigned    _listOffset;    ///< offset for the current List operation
+    QString     _listPath;      ///< path for the current List operation
+    
+    uint8_t     _activeSession;             ///< currently active session, 0 for none
+    uint32_t    _readOffset;                ///< current read offset
+    QByteArray  _readFileAccumulator;       ///< Holds file being downloaded
+    QDir        _readFileDownloadDir;       ///< Directory to download file to
+    QString     _readFileDownloadFilename;  ///< Filename (no path) for download file
     
-    uint8_t     _activeSession;             ///> currently active session, 0 for none
-    uint32_t    _readOffset;                ///> current read offset
-    QByteArray  _readFileAccumulator;       ///> Holds file being downloaded
-    QDir        _readFileDownloadDir;       ///> Directory to download file to
-    QString     _readFileDownloadFilename;  ///> Filename (no path) for download file
+    uint8_t     _systemIdQGC;               ///< System ID for QGC
+    uint8_t     _systemIdServer;            ///< System ID for server
     
     // We give MockMavlinkFileServer friend access so that it can use the data structures and opcodes
     // to build a mock mavlink file server for testing.

src/uas/UAS.cc

@@ -158,7 +158,8 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
     hilEnabled(false),
     sensorHil(false),
     lastSendTimeGPS(0),
-    lastSendTimeSensors(0)
+    lastSendTimeSensors(0),
+    lastSendTimeOpticalFlow(0)
 {
     moveToThread(thread);
 
@@ -1952,7 +1953,7 @@ QImage UAS::getImage()
         QString header("P5\n%1 %2\n%3\n");
         header = header.arg(imageWidth).arg(imageHeight).arg(imgColors);
 
-        QByteArray tmpImage(header.toStdString().c_str(), header.toStdString().size());
+        QByteArray tmpImage(header.toStdString().c_str(), header.length());
         tmpImage.append(imageRecBuffer);
 
         //qDebug() << "IMAGE SIZE:" << tmpImage.size() << "HEADER SIZE: (15):" << header.size() << "HEADER: " << header;
@@ -2416,7 +2417,7 @@ void UAS::setParameter(const int compId, const QString& paramId, const QVariant&
                 p.param_id[i] = 0;
             }
         }
-        mavlink_msg_param_set_encode(mavlink->getSystemId(), compId, &msg, &p);
+        mavlink_msg_param_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &p);
         sendMessage(msg);
     }
 }
@@ -3147,6 +3148,26 @@ void UAS::sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, fl
     }
 }
 
+void UAS::sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
+                    float flow_comp_m_y, quint8 quality, float ground_distance)
+{
+    if (this->base_mode & MAV_MODE_FLAG_HIL_ENABLED)
+    {
+        mavlink_message_t msg;
+        mavlink_msg_hil_optical_flow_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
+                                   time_us, 0, flow_x, flow_y, flow_comp_m_x, flow_comp_m_y, quality, ground_distance);
+        sendMessage(msg);
+        lastSendTimeOpticalFlow = QGC::groundTimeMilliseconds();
+    }
+    else
+    {
+        // Attempt to set HIL mode
+        setMode(base_mode | MAV_MODE_FLAG_HIL_ENABLED, custom_mode);
+        qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to enable.";
+    }
+
+}
+
 void UAS::sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites)
 {
     // Only send at 10 Hz max rate

src/uas/UAS.h

@@ -813,6 +813,10 @@ public slots:
     void sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, float rollspeed, float pitchspeed, float yawspeed,
                         float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, quint32 fields_changed);
 
+    /** @brief Send Optical Flow sensor message for HIL, (arguments and units accoding to mavlink documentation*/
+    void sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
+                            float flow_comp_m_y, quint8 quality, float ground_distance);
+
     /**
      * @param time_us
      * @param lat
@@ -1020,7 +1024,8 @@ protected:
     bool hilEnabled;            ///< Set to true if HIL mode is enabled from GCS (UAS might be in HIL even if this flag is not set, this defines the GCS HIL setting)
     bool sensorHil;             ///< True if sensor HIL is enabled
     quint64 lastSendTimeGPS;     ///< Last HIL GPS message sent
-    quint64 lastSendTimeSensors;
+    quint64 lastSendTimeSensors; ///< Last HIL Sensors message sent
+    quint64 lastSendTimeOpticalFlow; ///< Last HIL Optical Flow message sent
     QList<QAction*> actions; ///< A list of actions that this UAS can perform.
 
 

src/uas/UASInterface.h

@@ -390,6 +390,10 @@ public slots:
     /** @brief Send raw GPS for sensor HIL */
     virtual void sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites) = 0;
 
+    /** @brief Send Optical Flow sensor message for HIL, (arguments and units accoding to mavlink documentation*/
+    virtual void sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
+                            float flow_comp_m_y, quint8 quality, float ground_distance) = 0;
+
 protected:
     QColor color;
 

src/uas/UASWaypointManager.cc

@@ -55,7 +55,7 @@ UASWaypointManager::UASWaypointManager(UAS* _uas)
         uasid = uas->getUASID();
         connect(&protocol_timer, SIGNAL(timeout()), this, SLOT(timeout()));
         connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(handleLocalPositionChanged(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(handleGlobalPositionChanged(UASInterface*,double,double,double,double,double,quint64)));
+        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(handleGlobalPositionChanged(UASInterface*,double,double,double,double,quint64)));
     }
     else
     {

src/ui/JoystickWidget.cc

@@ -7,7 +7,7 @@
 #include <QDesktopWidget>
 
 JoystickWidget::JoystickWidget(JoystickInput* joystick, QWidget *parent) :
-    QDialog(parent),
+    QWidget(parent),
     joystick(joystick),
     m_ui(new Ui::JoystickWidget)
 {

src/ui/JoystickWidget.h

@@ -31,7 +31,7 @@ This file is part of the PIXHAWK project
 #ifndef JOYSTICKWIDGET_H
 #define JOYSTICKWIDGET_H
 
-#include <QDialog>
+#include <QWidget>
 #include <QLabel>
 #include <QMap>
 #include "JoystickInput.h"
@@ -44,7 +44,7 @@ namespace Ui
 class JoystickWidget;
 }
 
-class JoystickWidget : public QDialog
+class JoystickWidget : public QWidget
 {
     Q_OBJECT
     Q_DISABLE_COPY(JoystickWidget)

src/ui/JoystickWidget.ui

 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
  <class>JoystickWidget</class>
- <widget class="QDialog" name="JoystickWidget">
+ <widget class="QWidget" name="JoystickWidget">
   <property name="geometry">
    <rect>
     <x>0</x>
@@ -30,7 +30,7 @@
     <number>8</number>
    </property>
    <property name="sizeConstraint">
-    <enum>QLayout::SetFixedSize</enum>
+    <enum>QLayout::SetDefaultConstraint</enum>
    </property>
    <property name="leftMargin">
     <number>8</number>
@@ -50,7 +50,7 @@
       <bool>true</bool>
      </property>
      <property name="text">
-      <string>Enable joysticks</string>
+      <string>Enable controllers</string>
      </property>
     </widget>