Merge pull request #2195 from dogmaphobic/flowImage

PX4FLOW Sensor Support. @LorenzMeier Can you please try this and see if the image comes across fine?

QGCApplication.pro

@@ -271,7 +271,7 @@ HEADERS += \
     src/ui/uas/UASMessageView.h \
     src/MissionItem.h \
     src/AutoPilotPlugins/PX4/PX4AirframeLoader.h \
-    src/QGCSettings.h
+    src/QmlControls/QGCImageProvider.h \
 
 WindowsBuild {
     PRECOMPILED_HEADER += src/stable_headers.h
@@ -383,7 +383,7 @@ SOURCES += \
     src/ui/uas/UASMessageView.cc \
     src/MissionItem.cc \
     src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc \
-    src/QGCSettings.cpp
+    src/QmlControls/QGCImageProvider.cc \
 
 !iOSBuild {
 SOURCES += \

src/QGCQmlWidgetHolder.cpp

 /*=====================================================================
- 
+
  QGroundControl Open Source Ground Control Station
- 
+
  (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- 
+
  This file is part of the QGROUNDCONTROL project
- 
+
  QGROUNDCONTROL is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.
- 
+
  QGROUNDCONTROL is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
- 
+
  You should have received a copy of the GNU General Public License
  along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
- 
+
  ======================================================================*/
 
 /// @file
@@ -30,7 +30,7 @@ QGCQmlWidgetHolder::QGCQmlWidgetHolder(const QString& title, QAction* action, QW
     QGCDockWidget(title, action, parent)
 {
     _ui.setupUi(this);
-    
+
     layout()->setContentsMargins(0,0,0,0);
 
     if (action) {
@@ -69,6 +69,12 @@ QQuickItem* QGCQmlWidgetHolder::getRootObject(void)
     return _ui.qmlWidget->rootObject();
 }
 
+QQmlEngine*	QGCQmlWidgetHolder::getEngine()
+{
+    return _ui.qmlWidget->engine();
+}
+
+
 void QGCQmlWidgetHolder::setResizeMode(QQuickWidget::ResizeMode resizeMode)
 {
     _ui.qmlWidget->setResizeMode(resizeMode);

src/QGCQmlWidgetHolder.h

 /*=====================================================================
- 
+
  QGroundControl Open Source Ground Control Station
- 
+
  (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- 
+
  This file is part of the QGROUNDCONTROL project
- 
+
  QGROUNDCONTROL is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.
- 
+
  QGROUNDCONTROL is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
- 
+
  You should have received a copy of the GNU General Public License
  along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
- 
+
  ======================================================================*/
 
 #ifndef QGCQmlWidgetHolder_h
@@ -49,7 +49,7 @@ public:
     //      action = NULL
     explicit QGCQmlWidgetHolder(const QString& title, QAction* action, QWidget *parent = 0);
     ~QGCQmlWidgetHolder();
-    
+
     /// Sets the UAS into the widget which in turn will load facts into the context
     void setAutoPilot(AutoPilotPlugin* autoPilot);
 
@@ -58,13 +58,16 @@ public:
 
     /// Get Root Object
     QQuickItem* getRootObject(void);
-    
+
+    /// Get QML Engine
+    QQmlEngine*	getEngine();
+
     /// Sets the QML into the control. Will display errors message box if error occurs loading source.
     /// @return true: source loaded, false: source not loaded, errors occured
     bool setSource(const QUrl& qmlUrl);
 
     void setContextPropertyObject(const QString& name, QObject* object);
-    
+
     /// Sets the resize mode for the QQuickWidget container
     void setResizeMode(QQuickWidget::ResizeMode resizeMode);
 

src/QGCToolbox.cc

@@ -32,6 +32,7 @@
 #include "AutoPilotPluginManager.h"
 #include "UASMessageHandler.h"
 #include "FactSystem.h"
+#include "QGCImageProvider.h"
 
 QGCToolbox::QGCToolbox(QGCApplication* app)
     : _firmwarePluginManager(NULL)
@@ -45,6 +46,7 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
     , _audioOutput(NULL)
     , _uasMessageHandler(NULL)
     , _factSystem(NULL)
+    , _imageProvider(NULL)
 {
     _firmwarePluginManager =    new FirmwarePluginManager(app);
     _autopilotPluginManager =   new AutoPilotPluginManager(app);
@@ -57,6 +59,7 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
     _joystickManager =          new JoystickManager(app);
     _audioOutput =              new GAudioOutput(app);
     _uasMessageHandler =        new UASMessageHandler(app);
+    _imageProvider =            new QGCImageProvider(app);
 
     _firmwarePluginManager->setToolbox(this);
     _autopilotPluginManager->setToolbox(this);
@@ -69,6 +72,7 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
     _joystickManager->setToolbox(this);
     _audioOutput->setToolbox(this);
     _uasMessageHandler->setToolbox(this);
+    _imageProvider->setToolbox(this);
 }
 
 QGCToolbox::~QGCToolbox()

src/QGCToolbox.h

 /*=====================================================================
- 
+
  QGroundControl Open Source Ground Control Station
- 
+
  (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- 
+
  This file is part of the QGROUNDCONTROL project
- 
+
  QGROUNDCONTROL is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.
- 
+
  QGROUNDCONTROL is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
- 
+
  You should have received a copy of the GNU General Public License
  along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
- 
+
  ======================================================================*/
 
 #ifndef QGCToolbox_h
@@ -38,6 +38,7 @@ class GAudioOutput;
 class FirmwarePluginManager;
 class AutoPilotPluginManager;
 class FactSystem;
+class QGCImageProvider;
 
 /// This is used to manage all of our top level services/tools
 class QGCToolbox {
@@ -46,29 +47,31 @@ public:
     QGCToolbox(QGCApplication* app);
     ~QGCToolbox();
 
-    LinkManager*            linkManager(void)               { return _linkManager; }
-    MAVLinkProtocol*        mavlinkProtocol(void)           { return _mavlinkProtocol; }
-    MultiVehicleManager*    multiVehicleManager(void)       { return _multiVehicleManager; }
-    JoystickManager*        joystickManager(void)           { return _joystickManager; }
-    UASMessageHandler*      uasMessageHandler(void)         { return _uasMessageHandler; }
-    HomePositionManager*    homePositionManager(void)       { return _homePositionManager; }
-    FlightMapSettings*      flightMapSettings(void)         { return _flightMapSettings; }
-    GAudioOutput*           audioOutput(void)               { return _audioOutput; }
-    FirmwarePluginManager*  firmwarePluginManager(void)     { return _firmwarePluginManager; }
-    AutoPilotPluginManager* autopilotPluginManager(void)    { return _autopilotPluginManager; }
+    LinkManager*                linkManager(void)               { return _linkManager; }
+    MAVLinkProtocol*            mavlinkProtocol(void)           { return _mavlinkProtocol; }
+    MultiVehicleManager*        multiVehicleManager(void)       { return _multiVehicleManager; }
+    JoystickManager*            joystickManager(void)           { return _joystickManager; }
+    UASMessageHandler*          uasMessageHandler(void)         { return _uasMessageHandler; }
+    HomePositionManager*        homePositionManager(void)       { return _homePositionManager; }
+    FlightMapSettings*          flightMapSettings(void)         { return _flightMapSettings; }
+    GAudioOutput*               audioOutput(void)               { return _audioOutput; }
+    FirmwarePluginManager*      firmwarePluginManager(void)     { return _firmwarePluginManager; }
+    AutoPilotPluginManager*     autopilotPluginManager(void)    { return _autopilotPluginManager; }
+    QGCImageProvider*           imageProvider()                 { return _imageProvider; }
 
 private:
-    FirmwarePluginManager*  _firmwarePluginManager;
-    AutoPilotPluginManager* _autopilotPluginManager;
-    LinkManager*            _linkManager;
-    MultiVehicleManager*    _multiVehicleManager;
-    MAVLinkProtocol*        _mavlinkProtocol;
-    FlightMapSettings*      _flightMapSettings;
-    HomePositionManager*    _homePositionManager;
-    JoystickManager*        _joystickManager;
-    GAudioOutput*           _audioOutput;
-    UASMessageHandler*      _uasMessageHandler;
-    FactSystem*             _factSystem;
+    FirmwarePluginManager*      _firmwarePluginManager;
+    AutoPilotPluginManager*     _autopilotPluginManager;
+    LinkManager*                _linkManager;
+    MultiVehicleManager*        _multiVehicleManager;
+    MAVLinkProtocol*            _mavlinkProtocol;
+    FlightMapSettings*          _flightMapSettings;
+    HomePositionManager*        _homePositionManager;
+    JoystickManager*            _joystickManager;
+    GAudioOutput*               _audioOutput;
+    UASMessageHandler*          _uasMessageHandler;
+    FactSystem*                 _factSystem;
+    QGCImageProvider*           _imageProvider;
 };
 
 /// This is the base class for all tools

src/QGCSettings.cpp → src/QmlControls/QGCImageProvider.cc

@@ -23,17 +23,75 @@ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 /**
 * @file
-*   @brief Implementation of class QGCSettings
+*   @brief Image Provider
 *
 *   @author Gus Grubba <mavlink@grubba.com>
 *
 */
 
 
-#include "QGCSettings.h"
+#include "QGCImageProvider.h"
 
-QGCSettings::QGCSettings(QObject *parent) : QObject(parent)
+#include <QPainter>
+#include <QFont>
+
+QGCImageProvider::QGCImageProvider(QGCApplication *app)
+    : QGCTool(app)
+    , QQuickImageProvider(QQmlImageProviderBase::Image)
+{
+}
+
+QGCImageProvider::~QGCImageProvider()
+{
+
+}
+
+void QGCImageProvider::setToolbox(QGCToolbox *toolbox)
 {
+   QGCTool::setToolbox(toolbox);
+   //-- Dummy temporary image until something comes along
+   _pImage = QImage(320, 240, QImage::Format_RGBA8888);
+   _pImage.fill(Qt::black);
+   QPainter painter(&_pImage);
+   QFont f = painter.font();
+   f.setPixelSize(20);
+   painter.setFont(f);
+   painter.setPen(Qt::white);
+   painter.drawText(QRectF(0, 0, 320, 240), Qt::AlignCenter, "Waiting...");
+}
 
+QImage QGCImageProvider::requestImage(const QString & /* image url with vehicle id*/, QSize *, const QSize &)
+{
+/*
+    The QML side will request an image using a special URL, which we've registered as QGCImages.
+    The URL follows this format (or anything you want to make out of it after the "QGCImages" part):
+
+    "image://QGCImages/vvv/iii"
+
+    Where:
+        vvv: Some vehicle id
+        iii: An auto incremented index (which forces the Item to reload the image)
+
+    The image index is incremented each time a new image arrives. A signal is emitted and the QML side
+    updates its contents automatically.
+
+        Image {
+            source:     "image://QGCImages/" + _activeVehicle.id + "/" + _activeVehicle.flowImageIndex
+            width:      parent.width * 0.5
+            height:     width * 0.75
+            cache:      false
+            anchors.centerIn: parent
+            fillMode: Image.PreserveAspectFit
+        }
+
+    For now, we don't even look at the URL. This will have to be fixed if we're to support multiple
+    vehicles transmitting flow images.
+*/
+    return _pImage;
+}
+
+void QGCImageProvider::setImage(QImage* pImage, int /* vehicle id*/)
+{
+    _pImage = pImage->mirrored();
 }
 

src/QGCSettings.h → src/QmlControls/QGCImageProvider.h

@@ -23,28 +23,37 @@
 
 /**
  * @file
- *   @brief Definition of main class
+ *   @brief Image Provider
  *
-*   @author Gus Grubba <mavlink@grubba.com>
+ *   @author Gus Grubba <mavlink@grubba.com>
  *
  */
 
 
-#ifndef QGCSETTINGS_H
-#define QGCSETTINGS_H
+#ifndef QGCIMAGEPROVIDER_H
+#define QGCIMAGEPROVIDER_H
 
 #include <QObject>
+#include <QQmlListProperty>
+#include <QQuickImageProvider>
 
-class QGCSettings : public QObject
+#include "QGCToolbox.h"
+
+class QGCImageProvider : public QGCTool, public QQuickImageProvider
 {
-    Q_OBJECT
 public:
-    explicit QGCSettings(QObject *parent = 0);
-
-signals:
-
-public slots:
-
+    QGCImageProvider        (QGCApplication* app);
+    ~QGCImageProvider       ();
+    QImage  requestImage    (const QString & id, QSize * size, const QSize & requestedSize);
+    void    setImage        (QImage* pImage, int id = 0);
+    void    setToolbox      (QGCToolbox *toolbox);
+private:
+    //-- TODO: For now this is holding a single image. If you happen to have two
+    //   or more vehicles with flow, it will not work. To properly manage that condition
+    //   this should be a map between each vehicle and its image. The URL provided
+    //   for the image request would contain the vehicle identification.
+    QImage _pImage;
 };
 
-#endif // QGCSETTINGS_H
+
+#endif // QGCIMAGEPROVIDER_H

src/QmlControls/SubMenuButton.qml

@@ -39,6 +39,7 @@ Button {
                 verticalAlignment:      TextEdit.AlignVCenter
                 horizontalAlignment:    TextEdit.AlignHCenter
                 color:                  showHighlight ? qgcPal.buttonHighlightText : qgcPal.buttonText
+                font.pixelSize:         ScreenTools.isMobile ? ScreenTools.defaultFontPixelSize * 0.65 : ScreenTools.defaultFontPixelSize
                 text:                   control.text
 
                 Rectangle {

src/Vehicle/MultiVehicleManager.cc

 /*=====================================================================
- 
+
  QGroundControl Open Source Ground Control Station
- 
+
  (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- 
+
  This file is part of the QGROUNDCONTROL project
- 
+
  QGROUNDCONTROL is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.
- 
+
  QGROUNDCONTROL is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
- 
+
  You should have received a copy of the GNU General Public License
  along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
- 
+
  ======================================================================*/
 
 /// @file
@@ -56,6 +56,7 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
 
    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
    qmlRegisterUncreatableType<MultiVehicleManager>("QGroundControl.MultiVehicleManager", 1, 0, "MultiVehicleManager", "Reference only");
+
 }
 
 bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat)
@@ -64,7 +65,7 @@ bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId
         if (vehicleId == _mavlinkProtocol->getSystemId()) {
             _app->showToolBarMessage(QString("Warning: A vehicle is using the same system id as QGroundControl: %1").arg(vehicleId));
         }
-        
+
         QSettings settings;
         bool mavlinkVersionCheck = settings.value("VERSION_CHECK_ENABLED", true).toBool();
         if (mavlinkVersionCheck && heartbeat.mavlink_version != MAVLINK_VERSION) {
@@ -74,24 +75,24 @@ bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId
                                                  "QGroundControl therefore refuses to connect to vehicle #%1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(vehicleId).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
             return false;
         }
-        
+
         Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)heartbeat.autopilot, (MAV_TYPE)heartbeat.type, _firmwarePluginManager, _autopilotPluginManager, _joystickManager);
-        
+
         if (!vehicle) {
             qWarning() << "New Vehicle allocation failed";
             return false;
         }
-        
+
         connect(vehicle, &Vehicle::allLinksDisconnected, this, &MultiVehicleManager::_deleteVehiclePhase1);
         connect(vehicle->autopilotPlugin(), &AutoPilotPlugin::parametersReadyChanged, this, &MultiVehicleManager::_autopilotParametersReadyChanged);
 
         _vehicles.append(vehicle);
-        
+
         emit vehicleAdded(vehicle);
-        
+
         setActiveVehicle(vehicle);
     }
-    
+
     return true;
 }
 
@@ -115,17 +116,17 @@ void MultiVehicleManager::_deleteVehiclePhase1(Vehicle* vehicle)
     if (!found) {
         qWarning() << "Vehicle not found in map!";
     }
-    
+
     vehicle->setActive(false);
     vehicle->uas()->clearVehicle();
-    
+
     // First we must signal that a vehicle is no longer available.
     _activeVehicleAvailable = false;
     _parameterReadyVehicleAvailable = false;
     emit activeVehicleAvailableChanged(false);
     emit parameterReadyVehicleAvailableChanged(false);
     emit vehicleRemoved(vehicle);
-    
+
     // We must let the above signals flow through the system as well as get back to the main loop event queue
     // before we can actually delete the Vehicle. The reason is that Qml may be holding on the references to it.
     // Even though the above signals should unload any Qml which has references, that Qml will not be destroyed
@@ -141,15 +142,15 @@ void MultiVehicleManager::_deleteVehiclePhase2  (void)
 
     /// Qml has been notified of vehicle about to go away and should be disconnected from it by now.
     /// This means we can now clear the active vehicle property and delete the Vehicle for real.
-    
+
     Vehicle* newActiveVehicle = NULL;
     if (_vehicles.count()) {
         newActiveVehicle = qobject_cast<Vehicle*>(_vehicles[0]);
     }
-    
+
     _activeVehicle = newActiveVehicle;
     emit activeVehicleChanged(newActiveVehicle);
-    
+
     if (_activeVehicle) {
         _activeVehicle->setActive(true);
         emit activeVehicleAvailableChanged(true);
@@ -157,7 +158,7 @@ void MultiVehicleManager::_deleteVehiclePhase2  (void)
             emit parameterReadyVehicleAvailableChanged(true);
         }
     }
-    
+
     _vehicleBeingDeleted->deleteLater();
 }
 
@@ -168,10 +169,10 @@ void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
     if (vehicle != _activeVehicle) {
         if (_activeVehicle) {
             _activeVehicle->setActive(false);
-            
+
             // The sequence of signals is very important in order to not leave Qml elements connected
             // to a non-existent vehicle.
-            
+
             // First we must signal that there is no active vehicle available. This will disconnect
             // any existing ui from the currently active vehicle.
             _activeVehicleAvailable = false;
@@ -179,7 +180,7 @@ void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
             emit activeVehicleAvailableChanged(false);
             emit parameterReadyVehicleAvailableChanged(false);
         }
-        
+
         // See explanation in _deleteVehiclePhase1
         _vehicleBeingSetActive = vehicle;
         QTimer::singleShot(20, this, &MultiVehicleManager::_setActiveVehiclePhase2);
@@ -193,13 +194,13 @@ void MultiVehicleManager::_setActiveVehiclePhase2(void)
     // Now we signal the new active vehicle
     _activeVehicle = _vehicleBeingSetActive;
     emit activeVehicleChanged(_activeVehicle);
-    
+
     // And finally vehicle availability
     if (_activeVehicle) {
         _activeVehicle->setActive(true);
         _activeVehicleAvailable = true;
         emit activeVehicleAvailableChanged(true);
-        
+
         if (_activeVehicle->autopilotPlugin()->parametersReady()) {
             _parameterReadyVehicleAvailable = true;
             emit parameterReadyVehicleAvailableChanged(true);
@@ -210,12 +211,12 @@ void MultiVehicleManager::_setActiveVehiclePhase2(void)
 void MultiVehicleManager::_autopilotParametersReadyChanged(bool parametersReady)
 {
     AutoPilotPlugin* autopilot = dynamic_cast<AutoPilotPlugin*>(sender());
-    
+
     if (!autopilot) {
         qWarning() << "Dynamic cast failed!";
         return;
     }
-    
+
     if (autopilot->vehicle() == _activeVehicle) {
         _parameterReadyVehicleAvailable = parametersReady;
         emit parameterReadyVehicleAvailableChanged(parametersReady);
@@ -249,10 +250,12 @@ Vehicle* MultiVehicleManager::getVehicleById(int vehicleId)
 QList<Vehicle*> MultiVehicleManager::vehicles(void)
 {
     QList<Vehicle*> list;
-    
+
     for (int i=0; i< _vehicles.count(); i++) {
         list += qobject_cast<Vehicle*>(_vehicles[i]);
     }
-    
+
     return list;
 }
+
+

src/Vehicle/MultiVehicleManager.h

 /*=====================================================================
- 
+
  QGroundControl Open Source Ground Control Station
- 
+
  (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- 
+
  This file is part of the QGROUNDCONTROL project
- 
+
  QGROUNDCONTROL is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.
- 
+
  QGROUNDCONTROL is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
- 
+
  You should have received a copy of the GNU General Public License
  along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
- 
+
  ======================================================================*/
 
 /// @file
@@ -44,20 +44,20 @@ Q_DECLARE_LOGGING_CATEGORY(MultiVehicleManagerLog)
 class MultiVehicleManager : public QGCTool
 {
     Q_OBJECT
-    
+
 public:
     MultiVehicleManager(QGCApplication* app);
 
     Q_INVOKABLE void        saveSetting (const QString &key, const QString& value);
     Q_INVOKABLE QString     loadSetting (const QString &key, const QString& defaultValue);
-    
+
     Q_PROPERTY(bool                 activeVehicleAvailable          READ activeVehicleAvailable                                 NOTIFY activeVehicleAvailableChanged)
     Q_PROPERTY(bool                 parameterReadyVehicleAvailable  READ parameterReadyVehicleAvailable                         NOTIFY parameterReadyVehicleAvailableChanged)
     Q_PROPERTY(Vehicle*             activeVehicle                   READ activeVehicle                  WRITE setActiveVehicle  NOTIFY activeVehicleChanged)
     Q_PROPERTY(QmlObjectListModel*  vehicles                        READ vehiclesModel                                          CONSTANT)
-    
+
     // Methods
-    
+
     /// Called to notify that a heartbeat was received with the specified information. MultiVehicleManager
     /// will create/update Vehicles as necessary.
     ///     @param link Heartbeat came through on this link
@@ -65,24 +65,24 @@ public:
     ///     @param heartbeat Mavlink heartbeat message
     /// @return true: continue further processing of this message, false: disregard this message
     bool notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat);
-    
+
     Q_INVOKABLE Vehicle* getVehicleById(int vehicleId);
-    
+
     UAS* activeUas(void) { return _activeVehicle ? _activeVehicle->uas() : NULL; }
-    
+
     QList<Vehicle*> vehicles(void);
 
     // Property accessors
-    
+
     bool activeVehicleAvailable(void) { return _activeVehicleAvailable; }
-    
+
     bool parameterReadyVehicleAvailable(void) { return _parameterReadyVehicleAvailable; }
-    
+
     Vehicle* activeVehicle(void) { return _activeVehicle; }
     void setActiveVehicle(Vehicle* vehicle);
-    
+
     QmlObjectListModel* vehiclesModel(void) { return &_vehicles; }
-    
+
     // Override from QGCTool
     virtual void setToolbox(QGCToolbox *toolbox);
 
@@ -92,33 +92,34 @@ signals:
     void activeVehicleAvailableChanged(bool activeVehicleAvailable);
     void parameterReadyVehicleAvailableChanged(bool parameterReadyVehicleAvailable);
     void activeVehicleChanged(Vehicle* activeVehicle);
-    
+
     void _deleteVehiclePhase2Signal(void);
-    
+
 private slots:
     void _deleteVehiclePhase1(Vehicle* vehicle);
     void _deleteVehiclePhase2(void);
     void _setActiveVehiclePhase2(void);
     void _autopilotParametersReadyChanged(bool parametersReady);
-    
+
 private:
     bool _vehicleExists(int vehicleId);
-    
+
     bool        _activeVehicleAvailable;            ///< true: An active vehicle is available
     bool        _parameterReadyVehicleAvailable;    ///< true: An active vehicle with ready parameters is available
     Vehicle*    _activeVehicle;                     ///< Currently active vehicle from a ui perspective
-    
+
     Vehicle*    _vehicleBeingDeleted;               ///< Vehicle being deleted in queued phases
     Vehicle*    _vehicleBeingSetActive;             ///< Vehicle being set active in queued phases
-    
+
     QList<int>  _ignoreVehicleIds;          ///< List of vehicle id for which we ignore further communication
-    
+
     QmlObjectListModel  _vehicles;
 
-    FirmwarePluginManager*  _firmwarePluginManager;
-    AutoPilotPluginManager* _autopilotPluginManager;
-    JoystickManager*        _joystickManager;
-    MAVLinkProtocol*        _mavlinkProtocol;
+    FirmwarePluginManager*      _firmwarePluginManager;
+    AutoPilotPluginManager*     _autopilotPluginManager;
+    JoystickManager*            _joystickManager;
+    MAVLinkProtocol*            _mavlinkProtocol;
+
 };
 
 #endif

src/VehicleSetup/PX4FlowSensor.qml

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+import QtQuick 2.3
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+import QtQuick.Dialogs 1.2
+
+import QGroundControl.Controls 1.0
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controllers 1.0
+import QGroundControl.ScreenTools 1.0
+import QGroundControl.MultiVehicleManager 1.0
+
+QGCView {
+    id:         qgcView
+    viewPanel:  panel
+
+    property var _activeVehicle:  multiVehicleManager.activeVehicle
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
+
+    QGCViewPanel {
+        id:             panel
+        anchors.fill:   parent
+
+        QGCLabel {
+            id:             titleLabel
+            text:           "PX4Flow Camera"
+            font.pixelSize: ScreenTools.mediumFontPixelSize
+        }
+
+        Image {
+            source:     _activeVehicle ? "image://QGCImages/" + _activeVehicle.id + "/" + _activeVehicle.flowImageIndex : ""
+            width:      parent.width * 0.5
+            height:     width * 0.75
+            cache:      false
+            anchors.centerIn: parent
+            fillMode: Image.PreserveAspectFit
+        }
+    }
+}

src/VehicleSetup/SetupView.qml

@@ -94,6 +94,11 @@ Rectangle {
         panelLoader.source = "SetupParameterEditor.qml";
     }
 
+    function showPX4FlowPanel()
+    {
+        panelLoader.source = "PX4FlowSensor.qml";
+    }
+
     function showVehicleComponentPanel(vehicleComponent)
     {
         if (multiVehicleManager.activeVehicle.armed) {
@@ -247,6 +252,16 @@ Rectangle {
                     onClicked: showFirmwarePanel()
                 }
 
+                SubMenuButton {
+                    id:             px4FlowButton
+                    width:          mainWindow.menuButtonWidth
+                    exclusiveGroup: setupButtonGroup
+                    visible:        _fullParameterVehicleAvailable
+                    setupIndicator: false
+                    text:           "PX4FLOW"
+                    onClicked:      showPX4FlowPanel()
+                }
+
                 SubMenuButton {
                     id:             joystickButton
                     width:          mainWindow.menuButtonWidth

src/comm/MockLink.cc

@@ -70,7 +70,7 @@ union px4_custom_mode {
 
 float MockLink::_vehicleLatitude =  47.633033f;
 float MockLink::_vehicleLongitude = -122.08794f;
-float MockLink::_vehicleAltitude =  2.5f;
+float MockLink::_vehicleAltitude =  9872.5f;
 
 const char* MockConfiguration::_firmwareTypeKey =   "FirmwareType";
 const char* MockConfiguration::_vehicleTypeKey =    "VehicleType";
@@ -108,9 +108,9 @@ MockLink::MockLink(MockConfiguration* config)
 
     _fileServer = new MockLinkFileServer(_vehicleSystemId, _vehicleComponentId, this);
     Q_CHECK_PTR(_fileServer);
-    
+
     moveToThread(this);
-    
+
     _loadParams();
     QObject::connect(this, &MockLink::_incomingBytes, this, &MockLink::_handleIncomingBytes);
 }
@@ -154,7 +154,7 @@ void MockLink::run(void)
     QTimer  _timer10HzTasks;
     QTimer  _timer50HzTasks;
 
-    QObject::connect(&_timer1HzTasks, &QTimer::timeout, this, &MockLink::_run1HzTasks);
+    QObject::connect(&_timer1HzTasks,  &QTimer::timeout, this, &MockLink::_run1HzTasks);
     QObject::connect(&_timer10HzTasks, &QTimer::timeout, this, &MockLink::_run10HzTasks);
     QObject::connect(&_timer50HzTasks, &QTimer::timeout, this, &MockLink::_run50HzTasks);
 
@@ -164,10 +164,10 @@ void MockLink::run(void)
 
     exec();
 
-    QObject::disconnect(&_timer1HzTasks, &QTimer::timeout, this, &MockLink::_run1HzTasks);
+    QObject::disconnect(&_timer1HzTasks,  &QTimer::timeout, this, &MockLink::_run1HzTasks);
     QObject::disconnect(&_timer10HzTasks, &QTimer::timeout, this, &MockLink::_run10HzTasks);
     QObject::disconnect(&_timer50HzTasks, &QTimer::timeout, this, &MockLink::_run50HzTasks);
-    
+
     _missionItemHandler.shutdown();
 }
 
@@ -285,14 +285,14 @@ void MockLink::_sendHeartBeat(void)
                                _mavBaseMode,        // MAV_MODE
                                _mavCustomMode,      // custom mode
                                _mavState);          // MAV_STATE
-    
+
     respondWithMavlinkMessage(msg);
 }
 
 void MockLink::respondWithMavlinkMessage(const mavlink_message_t& msg)
 {
     uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
-    
+
     int cBuffer = mavlink_msg_to_send_buffer(buffer, &msg);
     QByteArray bytes((char *)buffer, cBuffer);
     emit bytesReceived(this, bytes);
@@ -354,7 +354,7 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
         if (!mavlink_parse_char(getMavlinkChannel(), bytes[i], &msg, &comm)) {
             continue;
         }
-        
+
         if (_missionItemHandler.handleMessage(msg)) {
             continue;
         }
@@ -379,11 +379,11 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
             case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
                 _handleParamRequestRead(msg);
                 break;
-                
+
             case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
                 _handleFTP(msg);
                 break;
-                
+
             case MAVLINK_MSG_ID_COMMAND_LONG:
                 _handleCommandLong(msg);
                 break;
@@ -552,14 +552,14 @@ void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
 
     Q_ASSERT(request.target_system == _vehicleSystemId);
     Q_ASSERT(request.target_component == MAV_COMP_ID_ALL);
-    
+
     // We must send the first parameter for each component first. Otherwise system won't correctly know
     // when all parameters are loaded.
 
     foreach (int componentId, _mapParamName2Value.keys()) {
         uint16_t paramIndex = 0;
         int cParameters = _mapParamName2Value[componentId].count();
-        
+
         foreach(QString paramName, _mapParamName2Value[componentId].keys()) {
             char paramId[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
             mavlink_message_t       responseMsg;
@@ -583,17 +583,17 @@ void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
                                          cParameters,                       // Total number of parameters
                                          paramIndex++);                     // Index of this parameter
             respondWithMavlinkMessage(responseMsg);
-            
+
             // Only first parameter the first time through
             break;
         }
     }
-    
+
     foreach (int componentId, _mapParamName2Value.keys()) {
         uint16_t paramIndex = 0;
         int cParameters = _mapParamName2Value[componentId].count();
         bool skipParam = true;
-        
+
         foreach(QString paramName, _mapParamName2Value[componentId].keys()) {
             if (skipParam) {
                 // We've already sent the first param
@@ -602,17 +602,17 @@ void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
             } else {
                 char paramId[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
                 mavlink_message_t       responseMsg;
-                
+
                 Q_ASSERT(_mapParamName2Value[componentId].contains(paramName));
                 Q_ASSERT(_mapParamName2MavParamType.contains(paramName));
-                
+
                 MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[paramName];
-                
+
                 Q_ASSERT(paramName.length() <= MAVLINK_MSG_ID_PARAM_VALUE_LEN);
                 strncpy(paramId, paramName.toLocal8Bit().constData(), MAVLINK_MSG_ID_PARAM_VALUE_LEN);
-                
+
                 qCDebug(MockLinkLog) << "Sending msg_param_value" << componentId << paramId << paramType << _mapParamName2Value[componentId][paramId];
-                
+
                 mavlink_msg_param_value_pack(_vehicleSystemId,
                                              componentId,                       // component id
                                              &responseMsg,                      // Outgoing message
@@ -634,14 +634,14 @@ void MockLink::_handleParamSet(const mavlink_message_t& msg)
 
     Q_ASSERT(request.target_system == _vehicleSystemId);
     int componentId = request.target_component;
-    
+
     // Param may not be null terminated if exactly fits
     char paramId[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN + 1];
     paramId[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN] = 0;
     strncpy(paramId, request.param_id, MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN);
 
     qCDebug(MockLinkLog) << "_handleParamSet" << componentId << paramId << request.param_type;
-    
+
     Q_ASSERT(_mapParamName2Value.contains(componentId));
     Q_ASSERT(_mapParamName2Value[componentId].contains(paramId));
     Q_ASSERT(request.param_type == _mapParamName2MavParamType[paramId]);
@@ -726,12 +726,12 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
 void MockLink::emitRemoteControlChannelRawChanged(int channel, uint16_t raw)
 {
     uint16_t chanRaw[18];
-    
+
     for (int i=0; i<18; i++) {
         chanRaw[i] = UINT16_MAX;
     }
     chanRaw[channel] = raw;
-    
+
     mavlink_message_t responseMsg;
     mavlink_msg_rc_channels_pack(_vehicleSystemId,
                                  _vehicleComponentId,
@@ -769,7 +769,7 @@ void MockLink::_handleFTP(const mavlink_message_t& msg)
 void MockLink::_handleCommandLong(const mavlink_message_t& msg)
 {
     mavlink_command_long_t request;
-    
+
     mavlink_msg_command_long_decode(&msg, &request);
 
     if (request.command == MAV_CMD_COMPONENT_ARM_DISARM) {
@@ -808,7 +808,7 @@ void MockLink::_sendHomePosition(void)
                                        (int32_t)(_vehicleAltitude * 1000),
                                        0.0f, 0.0f, 0.0f,
                                        &bogus[0],
-                0.0f, 0.0f, 0.0f);
+                                       0.0f, 0.0f, 0.0f);
         respondWithMavlinkMessage(msg);
     }
 }
@@ -823,9 +823,9 @@ void MockLink::_sendGpsRawInt(void)
                                  &msg,
                                  timeTick++,                            // time since boot
                                  3,                                     // 3D fix
-                                 (int32_t)(_vehicleLatitude * 1E7),
+                                 (int32_t)(_vehicleLatitude  * 1E7),
                                  (int32_t)(_vehicleLongitude * 1E7),
-                                 (int32_t)(_vehicleAltitude * 1000),
+                                 (int32_t)(_vehicleAltitude  * 1000),
                                  UINT16_MAX, UINT16_MAX,                // HDOP/VDOP not known
                                  UINT16_MAX,                            // velocity not known
                                  UINT16_MAX,                            // course over ground not known
@@ -878,7 +878,7 @@ MockConfiguration::MockConfiguration(MockConfiguration* source)
     : LinkConfiguration(source)
 {
     _firmwareType =     source->_firmwareType;
-    _vehicleType =       source->_vehicleType;
+    _vehicleType =      source->_vehicleType;
     _sendStatusText =   source->_sendStatusText;
 }
 

src/ui/MainWindow.cc

@@ -53,6 +53,7 @@ This file is part of the QGROUNDCONTROL project
 #include "HomePositionManager.h"
 #include "LogCompressor.h"
 #include "UAS.h"
+#include "QGCImageProvider.h"
 
 #ifndef __mobile__
 #include "QGCDataPlot2D.h"
@@ -166,6 +167,10 @@ MainWindow::MainWindow()
     _mainQmlWidgetHolder->setContextPropertyObject("controller", this);
     _mainQmlWidgetHolder->setSource(QUrl::fromUserInput("qrc:qml/MainWindow.qml"));
 
+    // Image provider
+    QQuickImageProvider* pImgProvider = dynamic_cast<QQuickImageProvider*>(qgcApp()->toolbox()->imageProvider());
+    _mainQmlWidgetHolder->getEngine()->addImageProvider(QLatin1String("QGCImages"), pImgProvider);
+
     // Set dock options
     setDockOptions(0);
     // Setup corners
@@ -309,6 +314,7 @@ MainWindow::MainWindow()
 
 MainWindow::~MainWindow()
 {
+    _mainQmlWidgetHolder->getEngine()->removeImageProvider(QLatin1String("QGCImages"));
     _instance = NULL;
 }
 
@@ -465,16 +471,27 @@ void MainWindow::closeEvent(QCloseEvent *event)
     // We have to pull out the QmlWidget from the main window and delete it here, before
     // the MainWindow ends up getting deleted. Otherwise the Qml has a reference to MainWindow
     // inside it which in turn causes a shutdown crash.
-    _centralLayout->removeWidget(_mainQmlWidgetHolder);
-    delete _mainQmlWidgetHolder;
-    _mainQmlWidgetHolder = NULL;
+
+    //-- Unit test gets here with _mainQmlWidgetHolder being NULL
+
+    if(_mainQmlWidgetHolder)
+    {
+        // Remove image provider
+        _mainQmlWidgetHolder->getEngine()->removeImageProvider(QLatin1String("QGCImages"));
+        _centralLayout->removeWidget(_mainQmlWidgetHolder);
+        delete _mainQmlWidgetHolder;
+        _mainQmlWidgetHolder = NULL;
+    }
 
     _storeCurrentViewState();
     storeSettings();
 
     event->accept();
 
+    //-- TODO: This effectively causes the QGCApplication destructor to not being able
+    //   to access the pointer it is trying to delete.
     _instance = NULL;
+
     emit mainWindowClosed();
 }