Merge remote-tracking branch 'mavlink/master' into videoWork

* mavlink/master:
  Missed qDebug. Sorry for the commit deluge...
  Reducing PIP size on Android a bit. It was kind of big...
  Revert "Start logging on heartbeat instead of connect"
  Doc fix for getting gstreamer in to android build
  Adjustments to Telemetry Data
  Remove removed Widget
  Fixed Style for switch
  Fix opening DockWidget views
  Do not use the text() of the Action to show a DockWidget
  Translate the names of the Views
  Declare the Static Const Char on the .cpp file
  Do not let the Fullscreen/Normal be completely unselected
  Do not dynamic_cast QObject, use qobject_cast, it's faster.
  Support correct parameter set for APM

qgroundcontrol.qrc

 <RCC>
     <qresource prefix="/unittest">
-        <file alias="MockLink.params">src/comm/MockLink.params</file>
+        <file alias="PX4MockLink.params">src/comm/PX4MockLink.params</file>
+        <file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
+        <file alias="APMArduPlaneMockLink.params">src/comm/APMArduPlaneMockLink.params</file>
         <file alias="FactSystemTest.qml">src/FactSystem/FactSystemTest.qml</file>
     </qresource>
     <qresource prefix="/qml">

src/FlightDisplay/FlightDisplayView.qml

@@ -75,6 +75,8 @@ Item {
     property var  _flightVideo:         null
     property var  _savedZoomLevel:      0
 
+    property real _pipSize:             ScreenTools.isAndroid ? ScreenTools.defaultFontPixelSize * (8) : ScreenTools.defaultFontPixelSize * (9)
+
     FlightDisplayViewController { id: _controller }
 
     MissionController {
@@ -125,8 +127,8 @@ Item {
         anchors.margins:    ScreenTools.defaultFontPixelHeight
         anchors.left:       parent.left
         anchors.bottom:     parent.bottom
-        height:             ScreenTools.defaultFontPixelSize * (9)
-        width:              ScreenTools.defaultFontPixelSize * (9) * (16/9)
+        height:             _pipSize
+        width:              _pipSize * (16/9)
         color:              "#000010"
         border.width:       4
         radius:             4

src/FlightDisplay/FlightDisplayViewWidgets.qml

@@ -87,7 +87,6 @@ Item {
         altitude:               _altitudeWGS84
         groundSpeed:            _groundSpeed
         airSpeed:               _airSpeed
-        climbRate:              _climbRate
         isSatellite:            _mainIsMap ? _flightMap ? _flightMap.isSatelliteMap : true : true
         z:                      QGroundControl.zOrderWidgets
     }
@@ -97,7 +96,7 @@ Item {
         id:                         toolColumn
         anchors.margins:            ScreenTools.defaultFontPixelHeight
         anchors.left:               parent.left
-        anchors.verticalCenter:     parent.verticalCenter
+        anchors.top:                parent.top
         spacing:                    ScreenTools.defaultFontPixelHeight
 
         //-- Map Center Control

src/FlightMap/Widgets/QGCInstrumentWidget.qml

@@ -42,7 +42,6 @@ Item {
     property real   altitude:       0
     property real   groundSpeed:    0
     property real   airSpeed:       0
-    property real   climbRate:      0
     property real   size:           ScreenTools.defaultFontPixelSize * (10)
     property bool   isSatellite:    false
     property bool   active:         false
@@ -78,24 +77,21 @@ Item {
                 color:          isSatellite ? Qt.rgba(0,0,0,0.25) : Qt.rgba(1,1,1,0.25)
                 anchors.horizontalCenter: parent.horizontalCenter
             }
-            Row {
-                width: root.size * 0.8
-                anchors.horizontalCenter: parent.horizontalCenter
-                QGCLabel {
-                    text:           "H"
-                    font.pixelSize: ScreenTools.defaultFontPixelSize * 1.25
-                    width:          parent.width * 0.45
-                    color:          isSatellite ? "black" : "white"
-                    horizontalAlignment: TextEdit.AlignHCenter
-                }
-                QGCLabel {
-                    text:           altitude.toFixed(1)
-                    font.pixelSize: ScreenTools.defaultFontPixelSize * 1.25
-                    font.weight:    Font.DemiBold
-                    width:          parent.width * 0.549
-                    color:          isSatellite ? "black" : "white"
-                    horizontalAlignment: TextEdit.AlignHCenter
-                }
+            QGCLabel {
+                text:           "Altitude"
+                font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
+                width:          parent.width
+                height:         ScreenTools.defaultFontPixelHeight * 0.5
+                color:          isSatellite ? "black" : "white"
+                horizontalAlignment: TextEdit.AlignHCenter
+            }
+            QGCLabel {
+                text:           altitude < 10000 ? altitude.toFixed(1) : altitude.toFixed(0)
+                font.pixelSize: ScreenTools.defaultFontPixelSize * 2.5
+                font.weight:    Font.DemiBold
+                width:          parent.width
+                color:          isSatellite ? "black" : "white"
+                horizontalAlignment: TextEdit.AlignHCenter
             }
             //-- Ground Speed
             Rectangle {
@@ -103,25 +99,25 @@ Item {
                 width:          parent.width * 0.9
                 color:          isSatellite ? Qt.rgba(0,0,0,0.25) : Qt.rgba(1,1,1,0.25)
                 anchors.horizontalCenter: parent.horizontalCenter
+                visible:        airSpeed <= 0
             }
-            Row {
-                width: root.size * 0.8
-                anchors.horizontalCenter: parent.horizontalCenter
-                QGCLabel {
-                    text:           "GS"
-                    font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
-                    width:          parent.width * 0.45
-                    color:          isSatellite ? "black" : "white"
-                    horizontalAlignment: TextEdit.AlignHCenter
-                }
-                QGCLabel {
-                    text:           groundSpeed.toFixed(1)
-                    font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
-                    font.weight:    Font.DemiBold
-                    width:          parent.width * 0.549
-                    color:          isSatellite ? "black" : "white"
-                    horizontalAlignment: TextEdit.AlignHCenter
-                }
+            QGCLabel {
+                text:           "Ground Speed"
+                font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
+                width:          parent.width
+                height:         ScreenTools.defaultFontPixelHeight * 0.75
+                color:          isSatellite ? "black" : "white"
+                horizontalAlignment: TextEdit.AlignHCenter
+                visible:        airSpeed <= 0
+            }
+            QGCLabel {
+                text:           groundSpeed.toFixed(1)
+                font.pixelSize: ScreenTools.defaultFontPixelSize * 1.25
+                font.weight:    Font.DemiBold
+                width:          parent.width
+                color:          isSatellite ? "black" : "white"
+                horizontalAlignment: TextEdit.AlignHCenter
+                visible:        airSpeed <= 0
             }
             //-- Air Speed
             Rectangle {
@@ -131,51 +127,23 @@ Item {
                 anchors.horizontalCenter: parent.horizontalCenter
                 visible:        airSpeed > 0
             }
-            Row {
-                width: root.size * 0.8
-                anchors.horizontalCenter: parent.horizontalCenter
+            QGCLabel {
+                text:           "Air Speed"
+                font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
+                width:          parent.width
+                height:         ScreenTools.defaultFontPixelHeight * 0.75
+                color:          isSatellite ? "black" : "white"
                 visible:        airSpeed > 0
-                QGCLabel {
-                    text:           "AS"
-                    font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
-                    width:          parent.width * 0.45
-                    color:          isSatellite ? "black" : "white"
-                    horizontalAlignment: TextEdit.AlignHCenter
-                }
-                QGCLabel {
-                    text:           airSpeed.toFixed(1)
-                    font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
-                    font.weight:    Font.DemiBold
-                    width:          parent.width * 0.549
-                    color:          isSatellite ? "black" : "white"
-                    horizontalAlignment: TextEdit.AlignHCenter
-                }
+                horizontalAlignment: TextEdit.AlignHCenter
             }
-            //-- Climb Rate
-            Rectangle {
-                height:         1
-                width:          parent.width * 0.9
-                color:          isSatellite ? Qt.rgba(0,0,0,0.25) : Qt.rgba(1,1,1,0.25)
-                anchors.horizontalCenter: parent.horizontalCenter
-            }
-            Row {
-                width: root.size * 0.8
-                anchors.horizontalCenter: parent.horizontalCenter
-                QGCLabel {
-                    text:           "VS"
-                    font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
-                    width:          parent.width * 0.45
-                    color:          isSatellite ? "black" : "white"
-                    horizontalAlignment: TextEdit.AlignHCenter
-                }
-                QGCLabel {
-                    text:           climbRate.toFixed(1)
-                    font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
-                    font.weight:    Font.DemiBold
-                    width:          parent.width * 0.549
-                    color:          isSatellite ? "black" : "white"
-                    horizontalAlignment: TextEdit.AlignHCenter
-                }
+            QGCLabel {
+                text:           airSpeed.toFixed(1)
+                font.pixelSize: ScreenTools.defaultFontPixelSize * 1.25
+                font.weight:    Font.DemiBold
+                width:          parent.width
+                color:          isSatellite ? "black" : "white"
+                visible:        airSpeed > 0
+                horizontalAlignment: TextEdit.AlignHCenter
             }
             //-- Compass
             Rectangle {

src/VideoStreaming/README.md

@@ -60,7 +60,16 @@ TODO: Binaries found in http://gstreamer.freedesktop.org/data/pkg/ios
 ### Android
 
 Binaries found in http://gstreamer.freedesktop.org/data/pkg/android
-Download the [gstreamer-1.0-android-armv7-1.5.2.tar.bz2](http://gstreamer.freedesktop.org/data/pkg/android/1.5.2/gstreamer-1.0-android-armv7-1.5.2.tar.bz2) archive (assuming you want the ARM V7 platform) and extract it to the root qgroundcontrol directory (the same directory qgroundcontrol.pro is located). That's where the build system will look for it.
+Download the [gstreamer-1.0-android-armv7-1.5.2.tar.bz2](http://gstreamer.freedesktop.org/data/pkg/android/1.5.2/gstreamer-1.0-android-armv7-1.5.2.tar.bz2) archive (assuming you want the ARM V7 platform). 
+
+Create a directory named "gstreamer-1.0-android-armv7-1.5.2" under the root qgroundcontrol directory (the same directory qgroundcontrol.pro is located). Extract the gstreamer tar file under this directory. That's where the build system will look for it. Make sure your archive tool doesn't create any additional top level directories. The structure after extracting the archive should look like this:
+
+qgroundcontrol
+├── gstreamer-1.0-android-armv7-1.5.2
+│   ├── etc
+│   ├── include
+│   ├── lib
+│   └── share
 
 ### Windows
 

src/comm/MAVLinkProtocol.cc

@@ -187,6 +187,13 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
         // Use the same shared pointer as LinkManager
         _connectedLinks.append(LinkManager::instance()->sharedPointerForLink(link));
         
+#ifndef __mobile__
+        if (_connectedLinks.count() == 1) {
+            // This is the first link, we need to start logging
+            _startLogging();
+        }
+#endif
+        
         // Send command to start MAVLink
         // XXX hacky but safe
         // Start NSH
@@ -346,11 +353,6 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
 #endif
 
             if (message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
-#ifndef __mobile__
-                // Start logging on first heartbeat
-                _startLogging();
-#endif
-
                 // Notify the vehicle manager of the heartbeat. This will create/update vehicles as needed.
                 mavlink_heartbeat_t heartbeat;
                 mavlink_msg_heartbeat_decode(&message, &heartbeat);
@@ -644,20 +646,20 @@ bool MAVLinkProtocol::_closeLogFile(void)
 
 void MAVLinkProtocol::_startLogging(void)
 {
-    if (!_tempLogFile.isOpen()) {
-        if (!_logSuspendReplay) {
-            if (!_tempLogFile.open()) {
-                emit protocolStatusMessage(tr("MAVLink Protocol"), tr("Opening Flight Data file for writing failed. "
-                                                                      "Unable to write to %1. Please choose a different file location.").arg(_tempLogFile.fileName()));
-                _closeLogFile();
-                _logSuspendError = true;
-                return;
-            }
-
-            qDebug() << "Temp log" << _tempLogFile.fileName();
+    Q_ASSERT(!_tempLogFile.isOpen());
 
-            _logSuspendError = false;
+    if (!_logSuspendReplay) {
+        if (!_tempLogFile.open()) {
+            emit protocolStatusMessage(tr("MAVLink Protocol"), tr("Opening Flight Data file for writing failed. "
+                                                                  "Unable to write to %1. Please choose a different file location.").arg(_tempLogFile.fileName()));
+            _closeLogFile();
+            _logSuspendError = true;
+            return;
         }
+    
+        qDebug() << "Temp log" << _tempLogFile.fileName();
+        
+        _logSuspendError = false;
     }
 }
 

src/comm/MockLink.cc

@@ -72,6 +72,7 @@ float MockLink::_vehicleLongitude = -122.08794f;
 float MockLink::_vehicleAltitude =  2.5f;
 
 const char* MockConfiguration::_firmwareTypeKey =   "FirmwareType";
+const char* MockConfiguration::_vehicleTypeKey =    "VehicleType";
 const char* MockConfiguration::_sendStatusTextKey = "SendStatusText";
 
 MockLink::MockLink(MockConfiguration* config)
@@ -85,6 +86,7 @@ MockLink::MockLink(MockConfiguration* config)
     , _mavBaseMode(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)
     , _mavState(MAV_STATE_STANDBY)
     , _firmwareType(MAV_AUTOPILOT_PX4)
+    , _vehicleType(MAV_TYPE_QUADROTOR)
     , _fileServer(NULL)
     , _sendStatusText(false)
     , _apmSendHomePositionOnEmptyList(false)
@@ -93,6 +95,7 @@ MockLink::MockLink(MockConfiguration* config)
     _config = config;
     if (_config) {
         _firmwareType = config->firmwareType();
+        _vehicleType = config->vehicleType();
         _sendStatusText = config->sendStatusText();
     }
 
@@ -113,7 +116,6 @@ MockLink::MockLink(MockConfiguration* config)
 
 MockLink::~MockLink(void)
 {
-    qDebug() << "MockLink destructor";
     _disconnect();
 }
 
@@ -200,7 +202,18 @@ void MockLink::_run50HzTasks(void)
 
 void MockLink::_loadParams(void)
 {
-    QFile paramFile(":/unittest/MockLink.params");
+    QFile paramFile;
+
+    if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+        if (_vehicleType == MAV_TYPE_FIXED_WING) {
+            paramFile.setFileName(":/unittest/APMArduPlaneMockLink.params");
+        } else {
+            paramFile.setFileName(":/unittest/APMArduCopterMockLink.params");
+        }
+    } else {
+        paramFile.setFileName(":/unittest/PX4MockLink.params");
+    }
+
 
     bool success = paramFile.open(QFile::ReadOnly);
     Q_UNUSED(success);
@@ -234,11 +247,21 @@ void MockLink::_loadParams(void)
             case MAV_PARAM_TYPE_INT32:
                 paramValue = QVariant(valStr.toInt());
                 break;
+            case MAV_PARAM_TYPE_UINT16:
+                paramValue = QVariant((quint16)valStr.toUInt());
+                break;
+            case MAV_PARAM_TYPE_INT16:
+                paramValue = QVariant((qint16)valStr.toInt());
+                break;
+            case MAV_PARAM_TYPE_UINT8:
+                paramValue = QVariant((quint8)valStr.toUInt());
+                break;
             case MAV_PARAM_TYPE_INT8:
-                paramValue = QVariant((unsigned char)valStr.toUInt());
+                paramValue = QVariant((qint8)valStr.toUInt());
                 break;
             default:
-                Q_ASSERT(false);
+                qCritical() << "Unknown type" << paramType;
+                paramValue = QVariant(valStr.toInt());
                 break;
         }
 
@@ -405,24 +428,38 @@ void MockLink::_setParamFloatUnionIntoMap(int componentId, const QString& paramN
     QVariant paramVariant;
 
     switch (paramType) {
-        case MAV_PARAM_TYPE_INT8:
-            paramVariant = QVariant::fromValue(valueUnion.param_int8);
-            break;
-
-        case MAV_PARAM_TYPE_INT32:
-            paramVariant = QVariant::fromValue(valueUnion.param_int32);
-            break;
-
-        case MAV_PARAM_TYPE_UINT32:
-            paramVariant = QVariant::fromValue(valueUnion.param_uint32);
-            break;
-
-        case MAV_PARAM_TYPE_REAL32:
-            paramVariant = QVariant::fromValue(valueUnion.param_float);
-            break;
-
-        default:
-            qCritical() << "Invalid parameter type" << paramType;
+    case MAV_PARAM_TYPE_REAL32:
+        paramVariant = QVariant::fromValue(valueUnion.param_float);
+        break;
+
+    case MAV_PARAM_TYPE_UINT32:
+        paramVariant = QVariant::fromValue(valueUnion.param_uint32);
+        break;
+
+    case MAV_PARAM_TYPE_INT32:
+        paramVariant = QVariant::fromValue(valueUnion.param_int32);
+        break;
+
+    case MAV_PARAM_TYPE_UINT16:
+        paramVariant = QVariant::fromValue(valueUnion.param_uint16);
+        break;
+
+    case MAV_PARAM_TYPE_INT16:
+        paramVariant = QVariant::fromValue(valueUnion.param_int16);
+        break;
+
+    case MAV_PARAM_TYPE_UINT8:
+        paramVariant = QVariant::fromValue(valueUnion.param_uint8);
+        break;
+
+    case MAV_PARAM_TYPE_INT8:
+        paramVariant = QVariant::fromValue(valueUnion.param_int8);
+        break;
+
+    default:
+        qCritical() << "Invalid parameter type" << paramType;
+        paramVariant = QVariant::fromValue(valueUnion.param_int32);
+        break;
     }
 
     qCDebug(MockLinkLog) << "_setParamFloatUnionIntoMap" << paramName << paramVariant;
@@ -442,36 +479,65 @@ float MockLink::_floatUnionForParam(int componentId, const QString& paramName)
     QVariant paramVar = _mapParamName2Value[componentId][paramName];
 
     switch (paramType) {
-        case MAV_PARAM_TYPE_INT8:
-            if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                valueUnion.param_float = (unsigned char)paramVar.toChar().toLatin1();
-            } else {
-                valueUnion.param_int8 = (unsigned char)paramVar.toChar().toLatin1();
-            }
-            break;
+    case MAV_PARAM_TYPE_REAL32:
+            valueUnion.param_float = paramVar.toFloat();
+        break;
 
-        case MAV_PARAM_TYPE_INT32:
-            if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                valueUnion.param_float = paramVar.toInt();
-            } else {
-                valueUnion.param_int32 = paramVar.toInt();
-            }
-            break;
+    case MAV_PARAM_TYPE_UINT32:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = paramVar.toUInt();
+        } else {
+            valueUnion.param_uint32 = paramVar.toUInt();
+        }
+        break;
 
-        case MAV_PARAM_TYPE_UINT32:
-            if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                valueUnion.param_float = paramVar.toUInt();
-            } else {
-                valueUnion.param_uint32 = paramVar.toUInt();
-            }
-            break;
+    case MAV_PARAM_TYPE_INT32:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = paramVar.toInt();
+        } else {
+            valueUnion.param_int32 = paramVar.toInt();
+        }
+        break;
 
-        case MAV_PARAM_TYPE_REAL32:
-                valueUnion.param_float = paramVar.toFloat();
-            break;
+    case MAV_PARAM_TYPE_UINT16:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = paramVar.toUInt();
+        } else {
+            valueUnion.param_uint16 = paramVar.toUInt();
+        }
+        break;
 
-        default:
-            qCritical() << "Invalid parameter type" << paramType;
+    case MAV_PARAM_TYPE_INT16:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = paramVar.toInt();
+        } else {
+            valueUnion.param_int16 = paramVar.toInt();
+        }
+        break;
+
+    case MAV_PARAM_TYPE_UINT8:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = paramVar.toUInt();
+        } else {
+            valueUnion.param_uint8 = paramVar.toUInt();
+        }
+        break;
+
+    case MAV_PARAM_TYPE_INT8:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = (unsigned char)paramVar.toChar().toLatin1();
+        } else {
+            valueUnion.param_int8 = (unsigned char)paramVar.toChar().toLatin1();
+        }
+        break;
+
+    default:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = paramVar.toInt();
+        } else {
+            valueUnion.param_int32 = paramVar.toInt();
+        }
+        qCritical() << "Invalid parameter type" << paramType;
     }
 
     return valueUnion.param_float;
@@ -801,6 +867,7 @@ void MockLink::_sendStatusTextMessages(void)
 MockConfiguration::MockConfiguration(const QString& name)
     : LinkConfiguration(name)
     , _firmwareType(MAV_AUTOPILOT_PX4)
+    , _vehicleType(MAV_TYPE_QUADROTOR)
     , _sendStatusText(false)
 {
 
@@ -810,6 +877,7 @@ MockConfiguration::MockConfiguration(MockConfiguration* source)
     : LinkConfiguration(source)
 {
     _firmwareType =     source->_firmwareType;
+    _vehicleType =       source->_vehicleType;
     _sendStatusText =   source->_sendStatusText;
 }
 
@@ -824,6 +892,7 @@ void MockConfiguration::copyFrom(LinkConfiguration *source)
     }
 
     _firmwareType =     usource->_firmwareType;
+    _vehicleType =      usource->_vehicleType;
     _sendStatusText =   usource->_sendStatusText;
 }
 
@@ -831,6 +900,7 @@ void MockConfiguration::saveSettings(QSettings& settings, const QString& root)
 {
     settings.beginGroup(root);
     settings.setValue(_firmwareTypeKey, (int)_firmwareType);
+    settings.setValue(_vehicleTypeKey, (int)_vehicleType);
     settings.setValue(_sendStatusTextKey, _sendStatusText);
     settings.sync();
     settings.endGroup();
@@ -840,6 +910,7 @@ void MockConfiguration::loadSettings(QSettings& settings, const QString& root)
 {
     settings.beginGroup(root);
     _firmwareType = (MAV_AUTOPILOT)settings.value(_firmwareTypeKey, (int)MAV_AUTOPILOT_PX4).toInt();
+    _vehicleType = (MAV_TYPE)settings.value(_vehicleTypeKey, (int)MAV_TYPE_QUADROTOR).toInt();
     _sendStatusText = settings.value(_sendStatusTextKey, false).toBool();
     settings.endGroup();
 }

src/comm/MockLink.h

@@ -44,6 +44,9 @@ public:
     MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
     void setFirmwareType(MAV_AUTOPILOT firmwareType) { _firmwareType = firmwareType; }
 
+    MAV_TYPE vehicleType(void) { return _vehicleType; }
+    void setVehicleType(MAV_TYPE vehicleType) { _vehicleType = vehicleType; }
+
     /// @param sendStatusText true: mavlink status text messages will be sent for each severity, as well as voice output info message
     void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; }
     bool sendStatusText(void) { return _sendStatusText; }
@@ -57,9 +60,11 @@ public:
 
 private:
     MAV_AUTOPILOT   _firmwareType;
+    MAV_TYPE        _vehicleType;
     bool            _sendStatusText;
 
     static const char* _firmwareTypeKey;
+    static const char* _vehicleTypeKey;
     static const char* _sendStatusTextKey;
 };
 
@@ -183,8 +188,9 @@ private:
     uint32_t    _mavCustomMode;
     uint8_t     _mavState;
 
-    MockConfiguration* _config;
-    MAV_AUTOPILOT _firmwareType;
+    MockConfiguration*  _config;
+    MAV_AUTOPILOT       _firmwareType;
+    MAV_TYPE            _vehicleType;
     
     MockLinkFileServer* _fileServer;
 

src/ui/MainWindow.cc

@@ -84,15 +84,29 @@ This file is part of the QGROUNDCONTROL project
 const char* MAIN_SETTINGS_GROUP = "QGC_MAINWINDOW";
 
 #ifndef __mobile__
-const char* MainWindow::_mavlinkDockWidgetName =            "MAVLink Inspector";
-const char* MainWindow::_customCommandWidgetName =          "Custom Command";
-const char* MainWindow::_filesDockWidgetName =              "Onboard Files";
-const char* MainWindow::_uasStatusDetailsDockWidgetName =   "Status Details";
-const char* MainWindow::_uasInfoViewDockWidgetName =        "Info View";
-const char* MainWindow::_hilDockWidgetName =                "HIL Config";
-const char* MainWindow::_analyzeDockWidgetName =            "Analyze";
-
-const char* MainWindow::_visibleWidgetsKey =                "VisibleWidgets";
+enum DockWidgetTypes { 
+    MAVLINK_INSPECTOR, 
+    CUSTOM_COMMAND, 
+    ONBOARD_FILES,
+    STATUS_DETAILS,
+    INFO_VIEW,
+    HIL_CONFIG,
+    ANALYZE
+};
+
+static const char *rgDockWidgetNames[] = {
+    "MAVLink Inspector",
+    "Custom Command",
+    "Onboard Files",
+    "Status Details",
+    "Info View",
+    "HIL Config",
+    "Analyze"
+};
+
+#define ARRAY_SIZE(ARRAY) (sizeof(ARRAY) / sizeof(ARRAY[0]))
+
+static const char* _visibleWidgetsKey = "VisibleWidgets";
 #endif
 
 static MainWindow* _instance = NULL;   ///< @brief MainWindow singleton
@@ -318,27 +332,16 @@ void MainWindow::_buildCommonWidgets(void)
     logPlayer = new QGCMAVLinkLogPlayer(statusBar());
     statusBar()->addPermanentWidget(logPlayer);
 
-    static const char* rgDockWidgetNames[] = {
-        _mavlinkDockWidgetName,
-        _customCommandWidgetName,
-        _filesDockWidgetName,
-        _uasStatusDetailsDockWidgetName,
-        _uasInfoViewDockWidgetName,
-        _hilDockWidgetName,
-        _analyzeDockWidgetName,
-    };
-    static const size_t cDockWidgetNames = sizeof(rgDockWidgetNames) / sizeof(rgDockWidgetNames[0]);
-
-    for (size_t i=0; i<cDockWidgetNames; i++) {
+    for (int i = 0, end = ARRAY_SIZE(rgDockWidgetNames); i < end; i++) {
+
         const char* pDockWidgetName = rgDockWidgetNames[i];
 
         // Add to menu
-        QAction* action = new QAction(pDockWidgetName, NULL);
+        QAction* action = new QAction(tr(pDockWidgetName), NULL);
         action->setCheckable(true);
-        action->setData(pDockWidgetName);
+        action->setData(i);
         connect(action, &QAction::triggered, this, &MainWindow::_showDockWidgetAction);
         _ui.menuWidgets->addAction(action);
-
         _mapName2Action[pDockWidgetName] = action;
     }
 }
@@ -365,28 +368,35 @@ void MainWindow::_showDockWidget(const QString& name, bool show)
 void MainWindow::_createInnerDockWidget(const QString& widgetName)
 {
     QGCDockWidget* widget = NULL;
-
-    if (widgetName == _mavlinkDockWidgetName) {
-        widget = new QGCMAVLinkInspector(widgetName, _mapName2Action[widgetName], MAVLinkProtocol::instance(),this);
-    } else if (widgetName == _customCommandWidgetName) {
-        widget = new CustomCommandWidget(widgetName, _mapName2Action[widgetName], this);
-    } else if (widgetName == _filesDockWidgetName) {
-        widget = new QGCUASFileViewMulti(widgetName, _mapName2Action[widgetName], this);
-    } else if (widgetName == _uasStatusDetailsDockWidgetName) {
-        widget = new UASInfoWidget(widgetName, _mapName2Action[widgetName], this);
-    } else if (widgetName == _hilDockWidgetName) {
-        widget = new HILDockWidget(widgetName, _mapName2Action[widgetName], this);
-    } else if (widgetName == _analyzeDockWidgetName) {
-        widget = new Linecharts(widgetName, _mapName2Action[widgetName], mavlinkDecoder, this);
-    } else if (widgetName == _uasInfoViewDockWidgetName) {
-        QGCTabbedInfoView* pInfoView = new QGCTabbedInfoView(widgetName, _mapName2Action[widgetName], this);
-        pInfoView->addSource(mavlinkDecoder);
-        widget = pInfoView;
-    } else {
-        qWarning() << "Attempt to create unknown Inner Dock Widget" << widgetName;
-    return;
+    QAction *action = _mapName2Action[widgetName];
+    
+    switch(action->data().toInt()) {
+        case MAVLINK_INSPECTOR:
+            widget = new QGCMAVLinkInspector(widgetName, action, MAVLinkProtocol::instance(),this);
+            break;
+        case CUSTOM_COMMAND:
+            widget = new CustomCommandWidget(widgetName, action, this);
+            break;
+        case ONBOARD_FILES:
+            widget = new QGCUASFileViewMulti(widgetName, action, this);
+            break;
+        case STATUS_DETAILS:
+            widget = new UASInfoWidget(widgetName, action, this);
+            break;
+        case HIL_CONFIG:
+            widget = new HILDockWidget(widgetName, action, this);
+            break;
+        case ANALYZE:
+            widget = new Linecharts(widgetName, action, mavlinkDecoder, this);
+            break;
+        case INFO_VIEW:
+            widget= new QGCTabbedInfoView(widgetName, action, this);
+            break;
     }
 
+    if(action->data().toInt() == INFO_VIEW) {
+        qobject_cast<QGCTabbedInfoView*>(widget)->addSource(mavlinkDecoder);
+    }
     _mapName2DockWidget[widgetName] = widget;
 }
 
@@ -399,19 +409,23 @@ void MainWindow::_hideAllDockWidgets(void)
 
 void MainWindow::_showDockWidgetAction(bool show)
 {
-    QAction* action = dynamic_cast<QAction*>(QObject::sender());
+    QAction* action = qobject_cast<QAction*>(QObject::sender());
     Q_ASSERT(action);
-    _showDockWidget(action->text(), show);
+    _showDockWidget(rgDockWidgetNames[action->data().toInt()], show);
 }
 #endif
 
 void MainWindow::fullScreenActionItemCallback(bool)
 {
+    if (!_ui.actionFullscreen->isChecked())
+        _ui.actionFullscreen->setChecked(true);
     _ui.actionNormal->setChecked(false);
 }
 
 void MainWindow::normalActionItemCallback(bool)
 {
+    if (!_ui.actionNormal->isChecked())
+        _ui.actionNormal->setChecked(true);
     _ui.actionFullscreen->setChecked(false);
 }
 

src/ui/MainWindow.h

@@ -227,15 +227,6 @@ private:
     QPointer<QWidget> _missionEditorView;
 
 #ifndef __mobile__
-    // Dock widget names
-    static const char* _mavlinkDockWidgetName;
-    static const char* _customCommandWidgetName;
-    static const char* _filesDockWidgetName;
-    static const char* _uasStatusDetailsDockWidgetName;
-    static const char* _uasInfoViewDockWidgetName;
-    static const char* _hilDockWidgetName;
-    static const char* _analyzeDockWidgetName;
-
     QMap<QString, QGCDockWidget*>   _mapName2DockWidget;
     QMap<QString, QAction*>         _mapName2Action;
 #endif
@@ -250,8 +241,6 @@ private:
     void _showDockWidget(const QString &name, bool show);
     void _loadVisibleWidgetsSettings(void);
     void _storeVisibleWidgetsSettings(void);
-
-    static const char* _visibleWidgetsKey;
 #endif
 
     bool                    _autoReconnect;

src/ui/MockLinkConfiguration.cc

@@ -43,11 +43,23 @@ MockLinkConfiguration::MockLinkConfiguration(MockConfiguration *config, QWidget
             break;
     }
 
+    switch (config->vehicleType()) {
+        case MAV_TYPE_FIXED_WING:
+            _ui->apmArduPlaneRadio->setChecked(true);
+            break;
+        default:
+            _ui->apmArduCopterRadio->setChecked(true);
+            break;
+    }
+
     _ui->sendStatusTextCheckBox->setChecked(config->sendStatusText());
 
     connect(_ui->px4Radio,                  &QRadioButton::clicked, this, &MockLinkConfiguration::_px4RadioClicked);
     connect(_ui->apmRadio,                  &QRadioButton::clicked, this, &MockLinkConfiguration::_apmRadioClicked);
     connect(_ui->genericRadio,              &QRadioButton::clicked, this, &MockLinkConfiguration::_genericRadioClicked);
+    connect(_ui->apmArduCopterRadio,        &QRadioButton::clicked, this, &MockLinkConfiguration::_apmArduCopterRadioClicked);
+    connect(_ui->apmArduPlaneRadio,         &QRadioButton::clicked, this, &MockLinkConfiguration::_apmArduPlaneRadioClicked);
+    connect(_ui->genericRadio,              &QRadioButton::clicked, this, &MockLinkConfiguration::_genericRadioClicked);
     connect(_ui->sendStatusTextCheckBox,    &QCheckBox::clicked,    this, &MockLinkConfiguration::_sendStatusTextClicked);
 }
 
@@ -77,6 +89,20 @@ void MockLinkConfiguration::_genericRadioClicked(bool checked)
     }
 }
 
+void MockLinkConfiguration::_apmArduCopterRadioClicked(bool checked)
+{
+    if (checked) {
+        _config->setVehicleType(MAV_TYPE_QUADROTOR);
+    }
+}
+
+void MockLinkConfiguration::_apmArduPlaneRadioClicked(bool checked)
+{
+    if (checked) {
+        _config->setVehicleType(MAV_TYPE_FIXED_WING);
+    }
+}
+
 void MockLinkConfiguration::_sendStatusTextClicked(bool checked)
 {
     _config->setSendStatusText(checked);

src/ui/MockLinkConfiguration.h

@@ -44,6 +44,8 @@ private slots:
     void _px4RadioClicked(bool checked);
     void _apmRadioClicked(bool checked);
     void _genericRadioClicked(bool checked);
+    void _apmArduCopterRadioClicked(bool checked);
+    void _apmArduPlaneRadioClicked(bool checked);
     void _sendStatusTextClicked(bool checked);
 
 private:

src/ui/MockLinkConfiguration.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>187</width>
-    <height>116</height>
+    <width>238</width>
+    <height>188</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -42,6 +42,29 @@
      </property>
     </widget>
    </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>APM vehicle type</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <item>
+       <widget class="QRadioButton" name="apmArduCopterRadio">
+        <property name="text">
+         <string>ArduCopter</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QRadioButton" name="apmArduPlaneRadio">
+        <property name="text">
+         <string>ArduPlane</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>