Merge branch 'v10release' of git://github.com/pixhawk/qgroundcontrol into v10release

qgroundcontrol.pri

@@ -42,8 +42,8 @@ macx {
    # COMPILER_VERSION = $$system(gcc -v)
     #message(Using compiler $$COMPILER_VERSION)
 
-        CONFIG += x86 cocoa phonon
-        CONFIG -= x86_64
+        CONFIG += x86_64 cocoa phonon
+        CONFIG -= x86
 
     #HARDWARE_PLATFORM = $$system(uname -a)
     #contains( $$HARDWARE_PLATFORM, "9.6.0" ) || contains( $$HARDWARE_PLATFORM, "9.7.0" ) || contains( $$HARDWARE_PLATFORM, "9.8.0" ) || contains( $$HARDWARE_PLATFORM, "9.9.0" ) {
@@ -65,11 +65,10 @@ macx {
       #          debug {
                         #QMAKE_CXXFLAGS += -finstrument-functions
                         #LIBS += -lSaturn
-                        CONFIG += console
       #          }
     #}
 
-    QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5
+    QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
 
     #DESTDIR = $$BASEDIR/bin/mac
     INCLUDEPATH += -framework SDL
@@ -103,7 +102,7 @@ macx {
     DEFINES += QGC_OSG_ENABLED
     # Include OpenSceneGraph libraries
     INCLUDEPATH += -framework GLUT \
-            -framework Carbon \
+            -framework Cocoa \
             -framework OpenThreads \
             -framework osg \
             -framework osgViewer \
@@ -113,7 +112,7 @@ macx {
             -framework osgWidget
 
     LIBS += -framework GLUT \
-            -framework Carbon \
+            -framework Cocoa \
             -framework OpenThreads \
             -framework osg \
             -framework osgViewer \
@@ -123,37 +122,13 @@ macx {
             -framework osgWidget
     }
 
-    exists(/usr/include/osgEarth) {
-    message("Building support for osgEarth")
-    DEPENDENCIES_PRESENT += osgearth
-    # Include osgEarth libraries
-    INCLUDEPATH += -framework GDAL \
-            $$IN_PWD/lib/mac32-gcc/include \
-            -framework GEOS \
-            -framework SQLite3 \
-            -framework osgFX \
-            -framework osgTerrain
-
-    LIBS += -framework GDAL \
-            -framework GEOS \
-            -framework SQLite3 \
-            -framework osgFX \
-            -framework osgTerrain
-    DEFINES += QGC_OSGEARTH_ENABLED
-    }
-
-
-    exists(/opt/local/include/libfreenect) {
+    exists(/opt/local/include/libfreenect)|exists(/usr/local/include/libfreenect) {
     message("Building support for libfreenect")
     DEPENDENCIES_PRESENT += libfreenect
     # Include libfreenect libraries
     LIBS += -lfreenect
     DEFINES += QGC_LIBFREENECT_ENABLED
     }
-
-    # osg/osgEarth dynamic casts might fail without this compiler option.
-    # see http://osgearth.org/wiki/FAQ for details.
-    #QMAKE_CXXFLAGS += -Wl,-E
 }
 
 # GNU/Linux

src/comm/MAVLinkSimulationMAV.cc

@@ -303,12 +303,12 @@ void MAVLinkSimulationMAV::mainloop()
     timer25Hz--;
 }
 
-static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
+//static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
 
 static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
-static unsigned error_count;
+//static unsigned error_count;
 
-static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
+mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
 
 static void print_one_field(const mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
 {

src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp

@@ -33,7 +33,18 @@
 namespace mapcontrol
 {
 
-    OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),GPS(0),Home(0),followmouse(true),compass(0),showuav(false),showhome(false),showDiag(false),diagGraphItem(0),diagTimer(0)
+    OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView(parent),
+        configuration(config),
+        UAV(0),
+        GPS(0),
+        Home(0),
+        followmouse(true),
+        compass(0),
+        showuav(false),
+        showhome(false),
+        diagTimer(0),
+        showDiag(false),
+        diagGraphItem(0)
     {
         setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
         core=new internals::Core;
@@ -277,6 +288,7 @@ namespace mapcontrol
     }
     void OPMapWidget::WPCreate(int id, WayPointItem* item)
     {
+        Q_UNUSED(id);
         static internals::PointLatLng lastPos;
 
         ConnectWP(item);

src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp

@@ -29,14 +29,14 @@ namespace mapcontrol
 {
     WayPointItem::WayPointItem(const internals::PointLatLng &coord,double const& altitude, MapGraphicItem *map) :
         map(map),
+        autoreachedEnabled(true),
         coord(coord),
         reached(false),
         description(""),
         shownumber(true),
         isDragging(false),
         altitude(altitude),
-        heading(0),
-        autoreachedEnabled(true)
+        heading(0)
     {
         text=0;
         numberI=0;
@@ -53,13 +53,13 @@ namespace mapcontrol
         RefreshPos();
     }
     WayPointItem::WayPointItem(const internals::PointLatLng &coord,double const& altitude, const QString &description, MapGraphicItem *map) :
+        map(map),
         coord(coord),
         reached(false),
         description(description),
         shownumber(true),
         isDragging(false),
         altitude(altitude),
-        map(map),
         heading(0)
     {
         text=0;

src/libs/utils/xmlconfig.cpp

@@ -63,7 +63,7 @@ bool XmlConfig::readXmlFile(QIODevice &device, QSettings::SettingsMap &map)
                       .arg(errorLine)
                       .arg(errorColumn)
                       .arg(errorStr);
-        qFatal(err.toLatin1().data());
+        qFatal("%s", err.toLatin1().data());
         return false;
     }
     root = domDoc.documentElement();

src/uas/UAS.cc

@@ -1459,6 +1459,7 @@ void UAS::writeParametersToStorage()
 {
     mavlink_message_t msg;
     mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
+    qDebug() << "SENT COMMAND" << MAV_CMD_PREFLIGHT_STORAGE;
     sendMessage(msg);
 }
 
@@ -1492,7 +1493,6 @@ void UAS::enableAllDataTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 void UAS::enableRawSensorDataTransmission(int rate)
@@ -1514,7 +1514,6 @@ void UAS::enableRawSensorDataTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 void UAS::enableExtendedSystemStatusTransmission(int rate)
@@ -1536,7 +1535,6 @@ void UAS::enableExtendedSystemStatusTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 void UAS::enableRCChannelDataTransmission(int rate)
@@ -1562,7 +1560,6 @@ void UAS::enableRCChannelDataTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 #endif
 }
 
@@ -1585,7 +1582,6 @@ void UAS::enableRawControllerDataTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 //void UAS::enableRawSensorFusionTransmission(int rate)
@@ -1629,7 +1625,6 @@ void UAS::enablePositionTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 void UAS::enableExtra1Transmission(int rate)
@@ -2122,7 +2117,7 @@ void UAS::shutdown()
     {
         // If the active UAS is set, execute command
         mavlink_message_t msg;
-        mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 0, 2, 0, 0, 0, 0, 0, 0);
+        mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 0, 2, 0, 0, 0, 0, 0);
         sendMessage(msg);
         result = true;
     }
@@ -2165,33 +2160,34 @@ QString UAS::getShortModeTextFor(int id)
     qDebug() << "MODE:" << modeid;
 
     // BASE MODE DECODING
-    if (modeid & MAV_MODE_FLAG_DECODE_POSITION_AUTO)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO)
     {
-        mode = "AUTO";
+        mode += "AUTO";
     }
-    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
     {
-        mode = "GUIDED";
+        mode += "GUIDED";
     }
-    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
     {
-        mode = "STABILIZED";
+        mode += "STABILIZED";
     }
-    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_TEST)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST)
     {
-        mode = "TEST";
+        mode += "TEST";
     }
-    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
     {
-        mode = "MANUAL";
+        mode += "MANUAL";
     }
-    else
+
+    if (modeid == 0)
     {
         mode = "PREFLIGHT";
     }
 
     // ARMED STATE DECODING
-    if (modeid & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_SAFETY)
     {
         mode.prepend("A|");
     }
@@ -2201,7 +2197,7 @@ QString UAS::getShortModeTextFor(int id)
     }
 
     // HARDWARE IN THE LOOP DECODING
-    if (modeid & MAV_MODE_FLAG_DECODE_POSITION_HIL)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_HIL)
     {
         mode.prepend("HIL:");
     }

src/uas/UASWaypointManager.cc

@@ -45,8 +45,8 @@ UASWaypointManager::UASWaypointManager(UAS* _uas)
       current_state(WP_IDLE),
       current_partner_systemid(0),
       current_partner_compid(0),
-      protocol_timer(this),
-      currentWaypointEditable(NULL)
+      currentWaypointEditable(NULL),
+      protocol_timer(this)
 {
     if (uas)
     {
@@ -112,7 +112,14 @@ void UASWaypointManager::handleLocalPositionChanged(UASInterface* mav, double x,
 
 void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double alt, quint64 time)
 {
-
+    Q_UNUSED(mav);
+    Q_UNUSED(time);
+    if (waypointsEditable.count() > 0 && currentWaypointEditable && (currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL || currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT))
+    {
+        // TODO FIXME Calculate distance
+        double dist = 0;
+        emit waypointDistanceChanged(dist);
+    }
 }
 
 void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
@@ -240,6 +247,7 @@ void UASWaypointManager::handleWaypointReached(quint8 systemId, quint8 compId, m
 
 void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, mavlink_mission_current_t *wpc)
 {
+    Q_UNUSED(compId);
     if (!uas) return;
     if (systemId == uasid) {
         // FIXME Petri

src/ui/HSIDisplay.cc

@@ -100,11 +100,12 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
     mavInitialized(false),
     bottomMargin(10.0f),
     topMargin(12.0f),
-    userSetPointSet(false),
     dragStarted(false),
     leftDragStarted(false),
     mouseHasMoved(false),
-    actionPending(false)
+    actionPending(false),
+    userSetPointSet(false),
+    userXYSetPointSet(false)
 {
     refreshTimer->setInterval(updateInterval);
 

src/ui/MainWindow.cc

@@ -88,11 +88,11 @@ MainWindow* MainWindow::instance(QSplashScreen* screen)
 MainWindow::MainWindow(QWidget *parent):
     QMainWindow(parent),
     currentView(VIEW_UNCONNECTED),
+    currentStyle(QGC_MAINWINDOW_STYLE_INDOOR),
     aboutToCloseFlag(false),
     changingViewsFlag(false),
     styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"),
     autoReconnect(false),
-    currentStyle(QGC_MAINWINDOW_STYLE_INDOOR),
     centerStackActionGroup(this),
     lowPowerMode(false)
 {

src/ui/MainWindow.h

@@ -279,6 +279,7 @@ protected:
 
     /** @brief Keeps track of the current view */
     VIEW_SECTIONS currentView;
+    QGC_MAINWINDOW_STYLE currentStyle;
     bool aboutToCloseFlag;
     bool changingViewsFlag;
 
@@ -371,7 +372,6 @@ protected:
     QTimer* videoTimer;
     QString styleFileName;
     bool autoReconnect;
-    QGC_MAINWINDOW_STYLE currentStyle;
     Qt::WindowStates windowStateVal;
     bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
     QGCFlightGearLink* fgLink;

src/ui/QGCParamWidget.cc

@@ -707,15 +707,15 @@ void QGCParamWidget::saveParameters()
                 {
                 case QVariant::Int:
                     paramValue = paramValue.arg(j.value().toInt());
-                    paramType.arg(MAVLINK_TYPE_INT32_T);
+                    paramType = paramType.arg(MAVLINK_TYPE_INT32_T);
                     break;
                 case QVariant::UInt:
                     paramValue = paramValue.arg(j.value().toUInt());
-                    paramType.arg(MAVLINK_TYPE_UINT32_T);
+                    paramType = paramType.arg(MAVLINK_TYPE_UINT32_T);
                     break;
                 case QMetaType::Float:
                     paramValue = paramValue.arg(j.value().toDouble(), 25, 'g', 12);
-                    paramType.arg(MAVLINK_TYPE_FLOAT);
+                    paramType = paramType.arg(MAVLINK_TYPE_FLOAT);
                     break;
                 default:
                     qCritical() << "ABORTED PARAM WRITE TO FILE, NO VALID QVARIANT TYPE" << j.value();

src/ui/uas/UASControlWidget.cc

@@ -50,12 +50,12 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
     ui.modeComboBox->clear();
-    ui.modeComboBox->insertItem(MAV_MODE_PREFLIGHT, UAS::getShortModeTextFor(MAV_MODE_PREFLIGHT));
-    ui.modeComboBox->insertItem(MAV_MODE_STABILIZE_ARMED, UAS::getShortModeTextFor(MAV_MODE_STABILIZE_ARMED));
-    ui.modeComboBox->insertItem(MAV_MODE_MANUAL_ARMED, UAS::getShortModeTextFor(MAV_MODE_MANUAL_ARMED));
-    ui.modeComboBox->insertItem(MAV_MODE_GUIDED_DISARMED, UAS::getShortModeTextFor(MAV_MODE_GUIDED_ARMED));
-    ui.modeComboBox->insertItem(MAV_MODE_AUTO_ARMED, UAS::getShortModeTextFor(MAV_MODE_AUTO_ARMED));
-    ui.modeComboBox->insertItem(MAV_MODE_TEST_ARMED, UAS::getShortModeTextFor(MAV_MODE_TEST_ARMED));
+    ui.modeComboBox->insertItem(0, UAS::getShortModeTextFor(MAV_MODE_PREFLIGHT), MAV_MODE_PREFLIGHT);
+    ui.modeComboBox->insertItem(1, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED));
+    ui.modeComboBox->insertItem(2, UAS::getShortModeTextFor(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED), MAV_MODE_FLAG_MANUAL_INPUT_ENABLED);
+    ui.modeComboBox->insertItem(3, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED)), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED));
+    ui.modeComboBox->insertItem(4, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED)), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED));
+    ui.modeComboBox->insertItem(5, UAS::getShortModeTextFor((MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED)), (MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED));
     connect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
     connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));
 
@@ -157,7 +157,7 @@ void UASControlWidget::updateState(int state)
 void UASControlWidget::setMode(int mode)
 {
     // Adapt context button mode
-    uasMode = mode;
+    uasMode = ui.modeComboBox->itemData(mode).toInt();
     ui.modeComboBox->blockSignals(true);
     ui.modeComboBox->setCurrentIndex(mode);
     ui.modeComboBox->blockSignals(false);