Adding TTS to iOS

QGCApplication.pro

@@ -87,9 +87,11 @@ MacBuild {
 }
 
 iOSBuild {
-    QMAKE_INFO_PLIST = $${BASEDIR}/ios/iOS-Info.plist
-    ICON = $${BASEDIR}/resources/icons/macx.icns
-    OTHER_FILES += $${BASEDIR}/iOS-Info.plist
+    QMAKE_INFO_PLIST    = $${BASEDIR}/ios/iOS-Info.plist
+    ICON                = $${BASEDIR}/resources/icons/macx.icns
+    OTHER_FILES        += $${BASEDIR}/iOS-Info.plist
+    LIBS               += -framework AVFoundation
+    OBJECTIVE_SOURCES  += src/audio/QGCAudioWorker_iOS.mm
 }
 
 LinuxBuild {

QGCCommon.pri

@@ -49,6 +49,7 @@ linux {
     macx-clang | macx-llvm {
         message("Mac build")
         CONFIG += MacBuild
+        DEFINES += __macos__
         QMAKE_CXXFLAGS += -fvisibility=hidden
     } else {
         error("Unsupported Mac toolchain, only 64-bit LLVM+clang is supported")
@@ -60,6 +61,7 @@ linux {
     message("iOS build")
     CONFIG += iOSBuild MobileBuild app_bundle
     DEFINES += __ios__
+    QMAKE_IOS_DEPLOYMENT_TARGET = 8.0
     warning("iOS build is experimental and not yet fully functional")
 } else {
     error("Unsupported build platform, only Linux, Windows, Android and Mac (Mac OS and iOS) are supported")

QGCExternalLibs.pri

@@ -260,7 +260,7 @@ contains (DEFINES, DISABLE_SPEECH) {
     }
 }
 # Mac support is built into OS 10.6+.
-else:MacBuild {
+else:MacBuild|iOSBuild {
     message("Including support for speech output")
     DEFINES += QGC_SPEECH_ENABLED
 }

src/QGCApplication.cc

@@ -140,8 +140,7 @@ static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
 }
 
 #if defined(QGC_GST_STREAMING)
-#ifdef Q_OS_MAC
-#ifndef __ios__
+#if defined(__macos__)
 #ifdef QGC_INSTALL_RELEASE
 static void qgcputenv(const QString& key, const QString& root, const QString& path)
 {
@@ -151,7 +150,6 @@ static void qgcputenv(const QString& key, const QString& root, const QString& pa
 #endif
 #endif
 #endif
-#endif
 
 /**
  * @brief Constructor for the main application.

src/QGCMessageBox.h

@@ -116,7 +116,7 @@ private:
 #endif
 #endif
         {
-#ifdef Q_OS_MAC
+#ifdef __macos__
             QString emptyTitle;
             QMessageBox box(icon, emptyTitle, title, buttons, parent);
             box.setDefaultButton(defaultButton);

src/QtLocationPlugin/OpenPilotMaps.cc

@@ -196,7 +196,7 @@ void UrlFactory::_tryCorrectGoogleVersions()
         _network->setProxy(tProxy);
         QString url = "http://maps.google.com/maps?output=classic";
         qheader.setUrl(QUrl(url));
-#if defined Q_OS_MACX
+#if defined Q_OS_MAC
         QByteArray userAgent = "Mozilla/5.0 (Macintosh; Intel Mac OS X 10.8; rv:21.0) Gecko/20100101 Firefox/21.0";
 #elif defined Q_OS_WIN32
         QByteArray userAgent = "Mozilla/5.0 (Windows; U; Windows NT 6.0; en-US; rv:1.9.1.7) Gecko/20091221 Firefox/3.5.7";

src/QtLocationPlugin/qgeotilefetcherqgc.cpp

@@ -55,7 +55,7 @@
 QGeoTileFetcherQGC::QGeoTileFetcherQGC(QGeoTiledMappingManagerEngine *parent)
     : QGeoTileFetcher(parent)
     , m_networkManager(new QNetworkAccessManager(this))
-#if defined Q_OS_MACX
+#if defined Q_OS_MAC
     , m_userAgent("Mozilla/5.0 (Macintosh; Intel Mac OS X 10.8; rv:21.0) Gecko/20100101 Firefox/21.0")
 #elif defined Q_OS_WIN32
     , m_userAgent("Mozilla/5.0 (Windows; U; Windows NT 6.0; en-US; rv:1.9.1.7) Gecko/20091221 Firefox/3.5.7")

src/VideoStreaming/VideoStreaming.cc

@@ -75,8 +75,7 @@ void initializeVideoStreaming(int &argc, char* argv[])
     GST_PLUGIN_STATIC_REGISTER(x264);
 #endif
 
-#ifdef Q_OS_MAC
-#ifndef __ios__
+#ifdef __macos__
 #ifdef QGC_INSTALL_RELEASE
     QString currentDir = QCoreApplication::applicationDirPath();
     qgcputenv("GST_PLUGIN_SCANNER",           currentDir, "/gst-plugin-scanner");
@@ -92,7 +91,6 @@ void initializeVideoStreaming(int &argc, char* argv[])
 //    }
 #endif
 #endif
-#endif
 
 #else
     Q_UNUSED(argc);

src/audio/QGCAudioWorker.cpp

@@ -8,7 +8,7 @@
 #include "QGCAudioWorker.h"
 #include "GAudioOutput.h"
 
-#if defined Q_OS_MAC && defined QGC_SPEECH_ENABLED
+#if (defined __macos__) && defined QGC_SPEECH_ENABLED
 #include <ApplicationServices/ApplicationServices.h>
 
 static SpeechChannel sc;
@@ -53,6 +53,10 @@ MacSpeech macSpeech;
 
 #endif
 
+#if (defined __ios__) && defined QGC_SPEECH_ENABLED
+extern void iOSSpeak(QString msg);
+#endif
+
 // Speech synthesis is only supported with MSVC compiler
 #if defined _MSC_VER && defined QGC_SPEECH_ENABLED
 // Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
@@ -168,8 +172,10 @@ void QGCAudioWorker::say(QString inText, int severity)
         unsigned int espeak_size = strlen(text.toStdString().c_str()) + 1;
         espeak_Synth(text.toStdString().c_str(), espeak_size, 0, POS_CHARACTER, 0, espeakCHARS_AUTO, NULL, NULL);
 
-#elif defined Q_OS_MAC && defined QGC_SPEECH_ENABLED
+#elif (defined __macos__) && defined QGC_SPEECH_ENABLED
         macSpeech.say(text.toStdString().c_str());
+#elif (defined __ios__) && defined QGC_SPEECH_ENABLED
+        iOSSpeak(text);
 #else
         // Make sure there isn't an unused variable warning when speech output is disabled
         Q_UNUSED(inText);

src/audio/QGCAudioWorker_iOS.mm

+/*=====================================================================
+
+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/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief TTS for iOS
+ *
+ *   @author Gus Grubba <mavlink@grubba.com>
+ *
+ */
+
+#include <QString>
+
+#include "QGC.h"
+
+#if (defined __ios__) && defined QGC_SPEECH_ENABLED
+
+#import <AVFoundation/AVSpeechSynthesis.h>
+
+class SpeakIOS
+{
+public:
+    SpeakIOS    ();
+    ~SpeakIOS   ();
+    void speak  (QString msg );
+private:
+    AVSpeechSynthesizer *_synth;
+};
+
+SpeakIOS::SpeakIOS()
+    : _synth([[AVSpeechSynthesizer alloc] init])
+{
+
+}
+
+SpeakIOS::~SpeakIOS()
+{
+    [_synth release];
+}
+
+void SpeakIOS::speak(QString msg)
+{
+    while ([_synth isSpeaking]) {
+        QGC::SLEEP::msleep(100);
+    }
+    NSString *msg_ns = [NSString stringWithCString:msg.toStdString().c_str() encoding:[NSString defaultCStringEncoding]];
+    AVSpeechUtterance *utterance = [[[AVSpeechUtterance alloc] initWithString: msg_ns] autorelease];
+    AVSpeechSynthesisVoice* currentVoice = [AVSpeechSynthesisVoice voiceWithLanguage:[AVSpeechSynthesisVoice currentLanguageCode]];
+    utterance.voice = currentVoice;
+    //utterance.voice = [AVSpeechSynthesisVoice voiceWithLanguage:@"en-US"];
+    utterance.rate  = 0.5;
+    [_synth speakUtterance:utterance];
+}
+
+//-- The one and only static singleton
+SpeakIOS kSpeakIOS;
+
+void iOSSpeak(QString msg)
+{
+    kSpeakIOS.speak(msg);
+}
+
+#endif
+

src/comm/QGCFlightGearLink.cc

@@ -73,7 +73,7 @@ QGCFlightGearLink::QGCFlightGearLink(Vehicle* vehicle, QString startupArguments,
     this->currentPort = 49000 + _vehicle->id();
     this->name = tr("FlightGear 3.0+ Link (port:%1)").arg(port);
     setRemoteHost(remoteHost);
-    
+
     // We need a mechanism so show error message from our FGLink thread on the UI thread. This signal connection will do that for us.
     connect(this, &QGCFlightGearLink::showCriticalMessageFromThread, qgcApp(), &QGCApplication::criticalMessageBoxOnMainThread);
     connect(this, &QGCFlightGearLink::disconnectSim, this, &QGCFlightGearLink::disconnectSimulation);
@@ -92,15 +92,15 @@ void QGCFlightGearLink::run()
 {
     Q_ASSERT(_vehicle);
     Q_ASSERT(!_fgProcessName.isEmpty());
-        
+
     // We communicate with FlightGear over a UDP _udpCommSocket
     _udpCommSocket = new QUdpSocket(this);
     Q_CHECK_PTR(_udpCommSocket);
     _udpCommSocket->moveToThread(this);
     _udpCommSocket->bind(host, port, QAbstractSocket::ReuseAddressHint);
     QObject::connect(_udpCommSocket, SIGNAL(readyRead()), this, SLOT(readBytes()));
-    
-    
+
+
     // Connect to the various HIL signals that we use to then send information across the UDP protocol to FlightGear.
     connect(_vehicle->uas(), SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)),
             this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
@@ -112,38 +112,38 @@ void QGCFlightGearLink::run()
             _vehicle->uas(), 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)),
             _vehicle->uas(), SLOT(sendHilOpticalFlow(quint64, qint16, qint16, float, float, quint8, float)));
-    
+
     // Start a new QProcess to run FlightGear in
     _fgProcess = new QProcess(this);
     Q_CHECK_PTR(_fgProcess);
     _fgProcess->moveToThread(this);
-    
+
     connect(_fgProcess, SIGNAL(error(QProcess::ProcessError)), this, SLOT(processError(QProcess::ProcessError)));
 #ifdef DEBUG_FLIGHTGEAR_CONNECT
     connect(_fgProcess, SIGNAL(readyReadStandardOutput()), this, SLOT(_printFgfsOutput()));
     connect(_fgProcess, SIGNAL(readyReadStandardError()), this, SLOT(_printFgfsError()));
 #endif
-    
+
     if (!_fgProcessWorkingDirPath.isEmpty()) {
         _fgProcess->setWorkingDirectory(_fgProcessWorkingDirPath);
-		qDebug() << "Working directory" << _fgProcess->workingDirectory();
+        qDebug() << "Working directory" << _fgProcess->workingDirectory();
     }
-    
+
 #ifdef Q_OS_WIN32
-	// On Windows we need to full qualify the location of the excecutable. The call to setWorkingDirectory only
-	// sets the QProcess context, not the QProcess::start context. For some strange reason this is not the case on
-	// OSX.
+    // On Windows we need to full qualify the location of the excecutable. The call to setWorkingDirectory only
+    // sets the QProcess context, not the QProcess::start context. For some strange reason this is not the case on
+    // OSX.
     QDir fgProcessFullyQualified(_fgProcessWorkingDirPath);
-	_fgProcessName = fgProcessFullyQualified.absoluteFilePath(_fgProcessName);
+    _fgProcessName = fgProcessFullyQualified.absoluteFilePath(_fgProcessName);
 #endif
-    
+
 #ifdef DEBUG_FLIGHTGEAR_CONNECT
     qDebug() << "\nStarting FlightGear" << _fgProcessWorkingDirPath << _fgProcessName << _fgArgList << "\n";
 #endif
-    
+
     _fgProcess->start(_fgProcessName, _fgArgList);
     connectState = true;
-    
+
     emit simulationConnected(connectState);
     emit simulationConnected();
 
@@ -413,13 +413,13 @@ void QGCFlightGearLink::readBytes()
         R_B_N[0][1] = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
         R_B_N[0][2] = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;
 
-		R_B_N[1][0] = cosThe * sinPsi;
-		R_B_N[1][1] = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
-		R_B_N[1][2] = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
+        R_B_N[1][0] = cosThe * sinPsi;
+        R_B_N[1][1] = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
+        R_B_N[1][2] = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
 
-		R_B_N[2][0] = -sinThe;
-		R_B_N[2][1] = sinPhi * cosThe;
-		R_B_N[2][2] = cosPhi * cosThe;
+        R_B_N[2][0] = -sinThe;
+        R_B_N[2][1] = sinPhi * cosThe;
+        R_B_N[2][2] = cosPhi * cosThe;
 
         Eigen::Matrix3f R_B_N_M = Eigen::Map<Eigen::Matrix3f>((float*)R_B_N).eval();
 
@@ -534,67 +534,67 @@ bool QGCFlightGearLink::parseUIArguments(QString uiArgs, QStringList& argList)
 {
     // FYI: The only reason this routine is public is so that we can reference it from a unit test.
 
-	// This is not as easy as it seams since some options can be quoted to preserve spaces within things like
+    // This is not as easy as it seams since some options can be quoted to preserve spaces within things like
     // directories. There is likely some crazed regular expression which can do this. But after trying that
     // route I gave up and instead here is the code which does it the hard way. Another thing to be aware of
     // is that the QStringList passed to QProces::start is similar to what you would get in argv after the
     // command line is processed. This means that quoted strings have the quotes removed before making it to argv.
-    
-	bool inQuotedString = false;
-	bool previousSpace = false;
-	QString currentArg;
-	for (int i=0; i<uiArgs.size(); i++) {
-		const QChar chr = uiArgs[i];
-        
-		if (chr == ' ') {
-			if (inQuotedString) {
-				// Space is inside quoted string leave it in
-				currentArg += chr;
-				continue;
-			} else {
-				if (previousSpace) {
-					// Disregard multiple spaces
-					continue;
-				} else {
-					// We have a space that is finishing an argument
-					previousSpace = true;
-					if (inQuotedString) {
+
+    bool inQuotedString = false;
+    bool previousSpace = false;
+    QString currentArg;
+    for (int i=0; i<uiArgs.size(); i++) {
+        const QChar chr = uiArgs[i];
+
+        if (chr == ' ') {
+            if (inQuotedString) {
+                // Space is inside quoted string leave it in
+                currentArg += chr;
+                continue;
+            } else {
+                if (previousSpace) {
+                    // Disregard multiple spaces
+                    continue;
+                } else {
+                    // We have a space that is finishing an argument
+                    previousSpace = true;
+                    if (inQuotedString) {
                         QGCMessageBox::critical(tr("FlightGear HIL"), tr("FlightGear failed to start. There are mismatched quotes in specified command line options"));
-						return false;
-					}
-					if (!currentArg.isEmpty()) {
-						argList += currentArg;
-						currentArg.clear();
-					}
-				}
-			}
-		} else if (chr == '\"') {
-			// Flip the state of being in a quoted string. Note that we specifically do not add the
-			// quote to the string. This replicates standards command line parsing behaviour.
-			if (chr == '\"') {
-				inQuotedString = !inQuotedString;
-			}
-			previousSpace = false;
-		} else {
-			// Flip the state of being in a quoted string
-			if (chr == '\"') {
-				inQuotedString = !inQuotedString;
-			}
-			previousSpace = false;
-			currentArg += chr;
-		}
-	}
-	// We should never end parsing on an unterminated quote
-	if (inQuotedString) {
-		return false;
-	}
-    
-	// Finish up last arg
-	if (!currentArg.isEmpty()) {
-		argList += currentArg;
-		currentArg.clear();
-	}
-    
+                        return false;
+                    }
+                    if (!currentArg.isEmpty()) {
+                        argList += currentArg;
+                        currentArg.clear();
+                    }
+                }
+            }
+        } else if (chr == '\"') {
+            // Flip the state of being in a quoted string. Note that we specifically do not add the
+            // quote to the string. This replicates standards command line parsing behaviour.
+            if (chr == '\"') {
+                inQuotedString = !inQuotedString;
+            }
+            previousSpace = false;
+        } else {
+            // Flip the state of being in a quoted string
+            if (chr == '\"') {
+                inQuotedString = !inQuotedString;
+            }
+            previousSpace = false;
+            currentArg += chr;
+        }
+    }
+    // We should never end parsing on an unterminated quote
+    if (inQuotedString) {
+        return false;
+    }
+
+    // Finish up last arg
+    if (!currentArg.isEmpty()) {
+        argList += currentArg;
+        currentArg.clear();
+    }
+
     return true;
 }
 
@@ -630,17 +630,17 @@ bool QGCFlightGearLink::connectSimulation()
     // wrong we can return false out of here. All of this happens on the main UI thread. Once we
     // have that information setup we start the thread which will call run, which will in turn
     // start the various FG processes on the seperate thread.
-    
+
     if (!_vehicle->uas()) {
         return false;
     }
-    
+
     QString     fgAppName;
     QString     fgRootPath;						// FlightGear root data directory as specified by --fg-root
     QStringList fgRootPathProposedList;         // Directories we will attempt to search for --fg-root
-	bool        fgRootDirOverride = false;		// true: User has specified --fg-root from ui options
-	QString     fgSceneryPath;					// FlightGear scenery path as specified by --fg-scenery
-	bool        fgSceneryDirOverride = false;	// true: User has specified --fg-scenery from ui options
+    bool        fgRootDirOverride = false;		// true: User has specified --fg-root from ui options
+    QString     fgSceneryPath;					// FlightGear scenery path as specified by --fg-scenery
+    bool        fgSceneryDirOverride = false;	// true: User has specified --fg-scenery from ui options
     QDir        fgAppDir;						// Location of main FlightGear application
 
     // Reset the list of arguments which will be provided to FG to the arguments set by the user via the UI
@@ -657,8 +657,8 @@ bool QGCFlightGearLink::connectSimulation()
 #endif
     // Now set the FG arguments to the arguments from the UI
     _fgArgList = uiArgList;
-    
-#if defined Q_OS_MACX
+
+#if defined __macos__
     // Mac installs will default to the /Applications folder 99% of the time. Anything other than
     // that is pretty non-standard so we don't try to get fancy beyond hardcoding that path.
     fgAppDir.setPath("/Applications");
@@ -674,7 +674,7 @@ bool QGCFlightGearLink::connectSimulation()
     fgRootPathProposedList += "/Applications/FlightGear.app/Contents/Resources/data/";
 #elif defined Q_OS_WIN32
     _fgProcessName = "fgfs.exe";
-    
+
     // Windows installs are not as easy to determine. Default installation is to
     // C:\Program Files\FlightGear, but that can be easily changed. That also doesn't
     // tell us whether the user is running 32 or 64 bit which will both be installed there.
@@ -689,31 +689,31 @@ bool QGCFlightGearLink::connectSimulation()
         QFile file(fgrunPrefsFile);
         if (file.open(QIODevice::ReadOnly | QIODevice::Text)) {
             QTextStream in(&file);
-			QString lookahead;	// lookahead for continuation lines
+            QString lookahead;	// lookahead for continuation lines
             while (!in.atEnd() || !lookahead.isEmpty()) {
                 QString line;
-				QRegExp regExp;
-                
-				// Prefs file has strange format where a line prepended with "+" is a continuation of the previous line.
-				// So do a lookahead to determine if we have a continuation or not.
-                
-				if (!lookahead.isEmpty()) {
-					line = lookahead;
-					lookahead.clear();
-				} else {
-					line = in.readLine();
-				}
-                
-				if (!in.atEnd()) {
-					lookahead = in.readLine();
-					regExp.setPattern("^\\+(.*)");
-					if (regExp.indexIn(lookahead) == 0) {
-						Q_ASSERT(regExp.captureCount() == 1);
-						line += regExp.cap(1);
-						lookahead.clear();
-					}
-				}
-                
+                QRegExp regExp;
+
+                // Prefs file has strange format where a line prepended with "+" is a continuation of the previous line.
+                // So do a lookahead to determine if we have a continuation or not.
+
+                if (!lookahead.isEmpty()) {
+                    line = lookahead;
+                    lookahead.clear();
+                } else {
+                    line = in.readLine();
+                }
+
+                if (!in.atEnd()) {
+                    lookahead = in.readLine();
+                    regExp.setPattern("^\\+(.*)");
+                    if (regExp.indexIn(lookahead) == 0) {
+                        Q_ASSERT(regExp.captureCount() == 1);
+                        line += regExp.cap(1);
+                        lookahead.clear();
+                    }
+                }
+
                 regExp.setPattern("^fg_exe:(.*)");
                 if (regExp.indexIn(line) == 0 && regExp.captureCount() == 1) {
                     QString fgExeLocationFullQualified = regExp.cap(1);
@@ -726,17 +726,17 @@ bool QGCFlightGearLink::connectSimulation()
                     }
                     continue;
                 }
-                
+
                 regExp.setPattern("^fg_root:(.*)");
                 if (regExp.indexIn(line) == 0 && regExp.captureCount() == 1) {
                     fgRootPathProposedList += QDir(regExp.cap(1)).absolutePath();
                     qDebug() << "fg_root" << fgRootPathProposedList[0];
                     continue;
                 }
-                
+
                 regExp.setPattern("^fg_scenery:(.*)");
                 if (regExp.indexIn(line) == 0 && regExp.captureCount() == 1) {
-					// Scenery can contain multiple paths seperated by ';' so don't do QDir::absolutePath on it
+                    // Scenery can contain multiple paths seperated by ';' so don't do QDir::absolutePath on it
                     fgSceneryPath = regExp.cap(1);
                     qDebug() << "fg_scenery" << fgSceneryPath;
                     continue;
@@ -753,7 +753,7 @@ bool QGCFlightGearLink::connectSimulation()
 #else
 #error Unknown OS build flavor
 #endif
-    
+
 #ifndef Q_OS_LINUX
     // Validate the FlightGear application directory location. Linux runs from path so we don't validate on that OS.
     Q_ASSERT(!fgAppName.isEmpty());
@@ -769,7 +769,7 @@ bool QGCFlightGearLink::connectSimulation()
         if (msgBox.exec() == QMessageBox::Cancel) {
             return false;
         }
-        
+
         // Let the user pick the right directory
         QString dirPath = QGCFileDialog::getExistingDirectory(MainWindow::instance(), tr("Please select directory of FlightGear application : ") + fgAppName);
         if (dirPath.isEmpty()) {
@@ -779,7 +779,7 @@ bool QGCFlightGearLink::connectSimulation()
         fgAppFullyQualified = fgAppDir.absoluteFilePath(fgAppName);
     }
 #endif
-     
+
     // If we have an --fg-root coming in from the ui options, that setting overrides any internal searching of
     // proposed locations.
     QString argValue;
@@ -801,7 +801,7 @@ bool QGCFlightGearLink::connectSimulation()
             fgRootPath.clear();
         }
     }
-    
+
     // Alert the user if we couldn't find an --fg-root
     if (fgRootPath.isEmpty()) {
         QString errMsg;
@@ -825,12 +825,12 @@ bool QGCFlightGearLink::connectSimulation()
         fgSceneryPath = argValue;
         qDebug() << "--fg-scenery override" << argValue;
     } else if (!fgSceneryPath.isEmpty()) {
-		_fgArgList += "--fg-scenery=" + fgSceneryPath;
-	}
-    
+        _fgArgList += "--fg-scenery=" + fgSceneryPath;
+    }
+
 #ifdef Q_OS_WIN32
     // Windows won't start without an --fg-scenery set. We don't validate the directory in the path since
-	// it can be multiple paths.
+    // it can be multiple paths.
     if (fgSceneryPath.isEmpty()) {
         QString errMsg;
         if (fgSceneryDirOverride) {
@@ -844,7 +844,7 @@ bool QGCFlightGearLink::connectSimulation()
 #else
     Q_UNUSED(fgSceneryDirOverride);
 #endif
-    
+
     // Setup and verify directory which contains QGC provided aircraft files
     QString qgcAircraftDir(QApplication::applicationDirPath() + "/flightgear/Aircraft");
     if (!QFileInfo(qgcAircraftDir).isDir()) {
@@ -852,27 +852,27 @@ bool QGCFlightGearLink::connectSimulation()
         return false;
     }
     _fgArgList += "--fg-aircraft=" + qgcAircraftDir;
-    
+
     // Setup protocol we will be using to communicate with FlightGear
     QString fgProtocol(_vehicle->vehicleType() == MAV_TYPE_QUADROTOR ? "qgroundcontrol-quadrotor" : "qgroundcontrol-fixed-wing");
     QString fgProtocolArg("--generic=socket,%1,300,127.0.0.1,%2,udp,%3");
     _fgArgList << fgProtocolArg.arg("out").arg(port).arg(fgProtocol);
     _fgArgList << fgProtocolArg.arg("in").arg(currentPort).arg(fgProtocol);
-    
+
     // Verify directory where FlightGear stores communicaton protocols.
     QDir fgProtocolDir(fgRootPath);
     if (!fgProtocolDir.cd("Protocol")) {
         QGCMessageBox::critical(tr("FlightGear HIL"), tr("Incorrect FlightGear setup. Protocol directory is missing: '%1'. Command line parameter for --fg-root may be set incorrectly.").arg(fgProtocolDir.path()));
         return false;
     }
-    
+
     // Verify directory which contains QGC provided FlightGear communication protocol files
     QDir qgcProtocolDir(QApplication::applicationDirPath() + "/flightgear/Protocol/");
     if (!qgcProtocolDir.isReadable()) {
         QGCMessageBox::critical(tr("FlightGear HIL"), tr("Incorrect QGroundControl installation. Protocol directory is missing (%1).").arg(qgcProtocolDir.path()));
         return false;
     }
-    
+
     // Make sure we can find the communication protocol file in QGC install
     QString fgProtocolXmlFile = fgProtocol + ".xml";
     QString qgcProtocolFileFullyQualified = qgcProtocolDir.absoluteFilePath(fgProtocolXmlFile);
@@ -880,31 +880,31 @@ bool QGCFlightGearLink::connectSimulation()
         QGCMessageBox::critical(tr("FlightGear HIL"), tr("Incorrect QGroundControl installation. FlightGear protocol file missing: %1").arg(qgcProtocolFileFullyQualified));
         return false;
     }
-    
+
     // Communication protocol must be in FlightGear protocol directory. There does not appear to be any way
     // around this by specifying something on the FlightGear command line. FG code does direct append
     // of protocol xml file to $FG_ROOT and $FG_ROOT only allows a single directory to be specified.
     _fgProtocolFileFullyQualified = fgProtocolDir.absoluteFilePath(fgProtocolXmlFile);
-    
+
     if (QFileInfo(_fgProtocolFileFullyQualified).exists()) {
         // Verify that the file is current by comparing it against the one in QGC
-        
+
         QFile fgFile(_fgProtocolFileFullyQualified);
         QFile qgcFile(qgcProtocolFileFullyQualified);
-        
+
         if (!fgFile.open(QIODevice::ReadOnly) ||
             !qgcFile.open(QIODevice::ReadOnly)) {
             QGCMessageBox::warning(tr("FlightGear HIL"), tr("Unable to verify that protocol file %1 is current. "
                                                             "If file is out of date, you may experience problems. "
                                                             "Safest approach is to delete the file manually and allow QGroundControl install the latest file.").arg(_fgProtocolFileFullyQualified));
         }
-        
+
         QByteArray fgBytes = fgFile.readAll();
         QByteArray qgcBytes = qgcFile.readAll();
-        
+
         fgFile.close();
         qgcFile.close();
-        
+
         if (fgBytes != qgcBytes) {
             QGCMessageBox::warning(tr("FlightGear HIL"), tr("FlightGear protocol file %1 is out of date. It will be deleted, which will cause QGroundControl to install the latest version of the file.").arg(_fgProtocolFileFullyQualified));
             if (!QFile::remove(_fgProtocolFileFullyQualified)) {
@@ -913,7 +913,7 @@ bool QGCFlightGearLink::connectSimulation()
             }
         }
     }
-    
+
     if (!QFileInfo(_fgProtocolFileFullyQualified).exists()) {
         QMessageBox msgBox(QMessageBox::Critical,
                            tr("FlightGear Failed to Start"),
@@ -925,7 +925,7 @@ bool QGCFlightGearLink::connectSimulation()
         if (msgBox.exec() == QMessageBox::Cancel) {
             return false;
         }
-        
+
         // Now that we made it this far, we should be able to try to copy the protocol file to FlightGear.
         bool succeeded = QFile::copy(qgcProtocolFileFullyQualified, _fgProtocolFileFullyQualified);
         if (!succeeded) {
@@ -935,7 +935,7 @@ bool QGCFlightGearLink::connectSimulation()
 #else
             QString copyCmd = QString("sudo cp %1 %2").arg(qgcProtocolFileFullyQualified).arg(_fgProtocolFileFullyQualified);
 #endif
-            
+
             QMessageBox msgBox(QMessageBox::Critical,
                                tr("Copy failed"),
 #ifdef Q_OS_WIN32
@@ -953,7 +953,7 @@ bool QGCFlightGearLink::connectSimulation()
             return false;
         }
     }
-    
+
     // Start the engines to save a startup step
     if (_vehicle->vehicleType() == MAV_TYPE_QUADROTOR) {
         // Start all engines of the quad
@@ -964,20 +964,20 @@ bool QGCFlightGearLink::connectSimulation()
     } else {
         _fgArgList << "--prop:/engines/engine/running=true";
     }
-    
+
     // We start out at our home position
     _fgArgList << QString("--lat=%1").arg(qgcApp()->toolbox()->homePositionManager()->getHomeLatitude());
     _fgArgList << QString("--lon=%1").arg(qgcApp()->toolbox()->homePositionManager()->getHomeLongitude());
     // The altitude is not set because an altitude not equal to the ground altitude leads to a non-zero default throttle in flightgear
     // Without the altitude-setting the aircraft is positioned on the ground
     //_fgArgList << QString("--altitude=%1").arg(qgcApp()->toolbox()->homePositionManager()->getHomeAltitude());
-    
+
 #ifdef DEBUG_FLIGHTGEAR_CONNECT
     // This tell FlightGear to output highest debug level of log output. Handy for debuggin failures by looking at the FG
     // log files.
     _fgArgList << "--log-level=debug";
 #endif
-    
+
     start(HighPriority);
     return true;
 }

src/ui/MainWindow.cc

@@ -265,7 +265,7 @@ MainWindow::MainWindow()
     connect(_ui.actionStatusBar,  &QAction::triggered, this, &MainWindow::showStatusBarCallback);
 
     // Set OS dependent keyboard shortcuts for the main window, non OS dependent shortcuts are set in MainWindow.ui
-#ifdef Q_OS_MACX
+#ifdef __macos__
     _ui.actionSetup->setShortcut(QApplication::translate("MainWindow", "Meta+1", 0));
     _ui.actionPlan->setShortcut(QApplication::translate("MainWindow", "Meta+2", 0));
     _ui.actionFlight->setShortcut(QApplication::translate("MainWindow", "Meta+3", 0));
@@ -290,7 +290,7 @@ MainWindow::MainWindow()
         menuBar()->hide();
 #endif
         show();
-#ifdef Q_OS_MAC
+#ifdef __macos__
         // TODO HACK
         // This is a really ugly hack. For whatever reason, by having a QQuickWidget inside a
         // QDockWidget (MainToolBar above), the main menu is not shown when the app first

src/ui/toolbar/MainToolBar.qml

@@ -421,7 +421,7 @@ Rectangle {
                 id:                 toolBarMessage
                 width:              toolBarMessageArea.width - toolBarMessageCloseButton.width
                 wrapMode:           Text.WordWrap
-                color:              qgcPal.warningText
+                color:              "#e4e428"
                 lineHeightMode:     Text.ProportionalHeight
                 lineHeight:         1.15
                 anchors.margins:    mainWindow.tbSpacing