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

.appveyor.yml

@@ -15,7 +15,7 @@ environment:
 install:
   - git submodule update --init --recursive
   - call "%ProgramFiles(x86)%\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86
-  - set PATH=C:\Qt\Tools\QtCreator\bin;C:\Qt\5.9.5\msvc2015\bin;%PATH%
+  - set PATH=C:\Qt\Tools\QtCreator\bin;C:\Qt\5.11.0\msvc2015\bin;%PATH%
   - mkdir %LOCALAPPDATA%\QtProject && copy test\qtlogging.ini %LOCALAPPDATA%\QtProject\
   - ps: |
       Write-Host "Installing GStreamer..." -ForegroundColor Cyan
@@ -35,7 +35,7 @@ install:
       Write-Host "Installed" -ForegroundColor Green
 
 build_script:
-  - mkdir %SHADOW_BUILD_DIR% && cd %SHADOW_BUILD_DIR% && C:\Qt\5.9.5\msvc2015\bin\qmake -r CONFIG-=debug_and_release CONFIG+=%CONFIG% CONFIG+=WarningsAsErrorsOn %APPVEYOR_BUILD_FOLDER%\qgroundcontrol.pro
+  - mkdir %SHADOW_BUILD_DIR% && cd %SHADOW_BUILD_DIR% && C:\Qt\5.11.0\msvc2015\bin\qmake -r CONFIG-=debug_and_release CONFIG+=%CONFIG% CONFIG+=WarningsAsErrorsOn %APPVEYOR_BUILD_FOLDER%\qgroundcontrol.pro
   - cd %SHADOW_BUILD_DIR% && jom
   - if "%CONFIG%" EQU "installer" ( copy %SHADOW_BUILD_DIR%\release\QGroundControl-installer.exe %APPVEYOR_BUILD_FOLDER%\QGroundControl-installer.exe )
 # Generate the source server information to embed in the PDB

Jenkinsfile

@@ -9,11 +9,11 @@ pipeline {
           environment {
             CCACHE_BASEDIR = "${env.WORKSPACE}"
             QGC_CONFIG = 'release'
-            QMAKE_VER = "5.9.2/android_armv7/bin/qmake"
+            QMAKE_VER = "5.11.0/android_armv7/bin/qmake"
           }
           agent {
             docker {
-              image 'mavlink/qgc-build-android:2018-04-14'
+              image 'mavlink/qgc-build-android:2018-06-08'
               args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -38,11 +38,11 @@ pipeline {
           environment {
             CCACHE_BASEDIR = "${env.WORKSPACE}"
             QGC_CONFIG = 'debug'
-            QMAKE_VER = "5.9.2/gcc_64/bin/qmake"
+            QMAKE_VER = "5.11.0/gcc_64/bin/qmake"
           }
           agent {
             docker {
-              image 'mavlink/qgc-build-linux:2018-04-14'
+              image 'mavlink/qgc-build-linux:2018-06-08'
               args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -67,11 +67,11 @@ pipeline {
           environment {
             CCACHE_BASEDIR = "${env.WORKSPACE}"
             QGC_CONFIG = 'release'
-            QMAKE_VER = "5.9.2/gcc_64/bin/qmake"
+            QMAKE_VER = "5.11.0/gcc_64/bin/qmake"
           }
           agent {
             docker {
-              image 'mavlink/qgc-build-linux:2018-04-14'
+              image 'mavlink/qgc-build-linux:2018-06-08'
               args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -101,7 +101,7 @@ pipeline {
           environment {
             CCACHE_BASEDIR = "${env.WORKSPACE}"
             QGC_CONFIG = 'debug'
-            QMAKE_VER = "5.9.3/clang_64/bin/qmake"
+            QMAKE_VER = "5.11.0/clang_64/bin/qmake"
           }
           steps {
             sh 'export'
@@ -129,7 +129,7 @@ pipeline {
           environment {
             CCACHE_BASEDIR = "${env.WORKSPACE}"
             QGC_CONFIG = 'installer'
-            QMAKE_VER = "5.9.3/clang_64/bin/qmake"
+            QMAKE_VER = "5.11.0/clang_64/bin/qmake"
           }
           steps {
             sh 'export'
@@ -150,6 +150,7 @@ pipeline {
             }
           }
         }
+
       } // parallel
     } // stage('build')
   } // stages

qgroundcontrol.pro

@@ -951,6 +951,7 @@ APMFirmwarePlugin {
         src/AutoPilotPlugins/APM/APMCompassCal.h \
         src/AutoPilotPlugins/APM/APMFlightModesComponent.h \
         src/AutoPilotPlugins/APM/APMFlightModesComponentController.h \
+        src/AutoPilotPlugins/APM/APMHeliComponent.h \
         src/AutoPilotPlugins/APM/APMLightsComponent.h \
         src/AutoPilotPlugins/APM/APMSubFrameComponent.h \
         src/AutoPilotPlugins/APM/APMPowerComponent.h \
@@ -976,6 +977,7 @@ APMFirmwarePlugin {
         src/AutoPilotPlugins/APM/APMCompassCal.cc \
         src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \
         src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc \
+        src/AutoPilotPlugins/APM/APMHeliComponent.cc \
         src/AutoPilotPlugins/APM/APMLightsComponent.cc \
         src/AutoPilotPlugins/APM/APMSubFrameComponent.cc \
         src/AutoPilotPlugins/APM/APMPowerComponent.cc \

qgroundcontrol.qrc

@@ -91,6 +91,7 @@
 		<file alias="QGroundControl/Controls/PreFlightCheckButton.qml">src/QmlControls/PreFlightCheckButton.qml</file>
 		<file alias="QGroundControl/Controls/PreFlightCheckGroup.qml">src/QmlControls/PreFlightCheckGroup.qml</file>
 		<file alias="QGroundControl/Controls/PreFlightCheckList.qml">src/QmlControls/PreFlightCheckList.qml</file>
+		<file alias="QGroundControl/Controls/PreFlightCheckModel.qml">src/QmlControls/PreFlightCheckModel.qml</file>
         <file alias="QGroundControl/Controls/QGCButton.qml">src/QmlControls/QGCButton.qml</file>
         <file alias="QGroundControl/Controls/QGCCheckBox.qml">src/QmlControls/QGCCheckBox.qml</file>
         <file alias="QGroundControl/Controls/QGCColoredImage.qml">src/QmlControls/QGCColoredImage.qml</file>
@@ -154,11 +155,11 @@
         <file alias="QGroundControl/FlightDisplay/GuidedActionsController.qml">src/FlightDisplay/GuidedActionsController.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedAltitudeSlider.qml">src/FlightDisplay/GuidedAltitudeSlider.qml</file>
         <file alias="QGroundControl/FlightDisplay/MultiVehicleList.qml">src/FlightDisplay/MultiVehicleList.qml</file>
-		<file alias="QGroundControl/FlightDisplay/PreFlightAHRSCheck.qml">src/FlightDisplay/PreFlightAHRSCheck.qml</file>
 		<file alias="QGroundControl/FlightDisplay/PreFlightBatteryCheck.qml">src/FlightDisplay/PreFlightBatteryCheck.qml</file>
-		<file alias="QGroundControl/FlightDisplay/PreFlightCheckModel.qml">src/FlightDisplay/PreFlightCheckModel.qml</file>
+		<file alias="QGroundControl/FlightDisplay/BuiltInPreFlightCheckModel.qml">src/FlightDisplay/BuiltInPreFlightCheckModel.qml</file>
+		<file alias="QGroundControl/FlightDisplay/PreFlightGPSCheck.qml">src/FlightDisplay/PreFlightGPSCheck.qml</file>
 		<file alias="QGroundControl/FlightDisplay/PreFlightRCCheck.qml">src/FlightDisplay/PreFlightRCCheck.qml</file>
-		<file alias="QGroundControl/FlightDisplay/PreFlightSensorsCheck.qml">src/FlightDisplay/PreFlightSensorsCheck.qml</file>
+		<file alias="QGroundControl/FlightDisplay/PreFlightSensorsHealthCheck.qml">src/FlightDisplay/PreFlightSensorsHealthCheck.qml</file>
 		<file alias="QGroundControl/FlightDisplay/PreFlightSoundCheck.qml">src/FlightDisplay/PreFlightSoundCheck.qml</file>
         <file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
         <file alias="QGroundControl/FlightMap/CameraTriggerIndicator.qml">src/FlightMap/MapItems/CameraTriggerIndicator.qml</file>

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -28,27 +28,29 @@
 #include "APMLightsComponent.h"
 #include "APMSubFrameComponent.h"
 #include "ESP8266Component.h"
+#include "APMHeliComponent.h"
 
 /// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
 APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
-    : AutoPilotPlugin(vehicle, parent)
+    : AutoPilotPlugin           (vehicle, parent)
     , _incorrectParameterVersion(false)
-    , _airframeComponent(NULL)
-    , _cameraComponent(NULL)
-    , _lightsComponent(NULL)
-    , _subFrameComponent(NULL)
-    , _flightModesComponent(NULL)
-    , _powerComponent(NULL)
+    , _airframeComponent        (NULL)
+    , _cameraComponent          (NULL)
+    , _lightsComponent          (NULL)
+    , _subFrameComponent        (NULL)
+    , _flightModesComponent     (NULL)
+    , _powerComponent           (NULL)
 #if 0
         // Temporarily removed, waiting for new command implementation
-    , _motorComponent(NULL)
+    , _motorComponent           (NULL)
 #endif
-    , _radioComponent(NULL)
-    , _safetyComponent(NULL)
-    , _sensorsComponent(NULL)
-    , _tuningComponent(NULL)
-    , _airframeFacts(new APMAirframeLoader(this, vehicle->uas(), this))
-    , _esp8266Component(NULL)
+    , _radioComponent           (NULL)
+    , _safetyComponent          (NULL)
+    , _sensorsComponent         (NULL)
+    , _tuningComponent          (NULL)
+    , _airframeFacts            (new APMAirframeLoader(this, vehicle->uas(), this))
+    , _esp8266Component         (NULL)
+    , _heliComponent            (NULL)
 {
     APMAirframeLoader::loadAirframeFactMetaData();
 }
@@ -101,6 +103,12 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
 
+            if (_vehicle->vehicleType() == MAV_TYPE_HELICOPTER) {
+                _heliComponent = new APMHeliComponent(_vehicle, this);
+                _heliComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_heliComponent));
+            }
+
             _tuningComponent = new APMTuningComponent(_vehicle, this);
             _tuningComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -27,6 +27,7 @@ class APMCameraComponent;
 class APMLightsComponent;
 class APMSubFrameComponent;
 class ESP8266Component;
+class APMHeliComponent;
 
 /// This is the APM specific implementation of the AutoPilot class.
 class APMAutoPilotPlugin : public AutoPilotPlugin
@@ -59,6 +60,7 @@ protected:
     APMTuningComponent*         _tuningComponent;
     APMAirframeLoader*          _airframeFacts;
     ESP8266Component*           _esp8266Component;
+    APMHeliComponent*           _heliComponent;
 
 private:
     QVariantList                _components;

src/AutoPilotPlugins/APM/APMHeliComponent.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "APMHeliComponent.h"
+#include "APMAutoPilotPlugin.h"
+
+APMHeliComponent::APMHeliComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, parent)
+    , _name(tr("Heli"))
+{
+}
+
+QString APMHeliComponent::name(void) const
+{
+    return _name;
+}
+
+QString APMHeliComponent::description(void) const
+{
+    return tr("Heli Setup is used to setup parameters which are specific to a helicopter.");
+}
+
+QString APMHeliComponent::iconResource(void) const
+{
+    return QString();
+}
+
+bool APMHeliComponent::requiresSetup(void) const
+{
+    return false;
+}
+
+bool APMHeliComponent::setupComplete(void) const
+{
+    return true;
+}
+
+QStringList APMHeliComponent::setupCompleteChangedTriggerList(void) const
+{
+    return QStringList();
+}
+
+QUrl APMHeliComponent::setupSource(void) const
+{
+    return QStringLiteral("qrc:/qml/APMHeliComponent.qml");
+}
+
+QUrl APMHeliComponent::summaryQmlSource(void) const
+{
+    return QUrl();
+}

src/AutoPilotPlugins/APM/APMHeliComponent.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "VehicleComponent.h"
+
+class APMHeliComponent : public VehicleComponent
+{
+    Q_OBJECT
+    
+public:
+    APMHeliComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    
+    // Virtuals from VehicleComponent
+    QStringList setupCompleteChangedTriggerList(void) const override;
+    
+    // Virtuals from VehicleComponent
+    QString name(void) const override;
+    QString description(void) const override;
+    QString iconResource(void) const override;
+    bool requiresSetup(void) const override;
+    bool setupComplete(void) const override;
+    QUrl setupSource(void) const override;
+    QUrl summaryQmlSource(void) const override;
+    bool allowSetupWhileArmed(void) const override { return true; }
+
+private:
+    const QString   _name;
+    QVariantList    _summaryItems;
+};

src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml

@@ -32,13 +32,6 @@ SetupPage {
 
             QGCPalette { id: palette; colorGroupEnabled: true }
 
-            // Older firmwares use THR_MODE, newer use MOT_THST_HOVER
-            property bool _throttleMidExists: controller.parameterExists(-1, "THR_MID")
-            property Fact _hoverTuneParam:  controller.getParameterFact(-1, _throttleMidExists ? "THR_MID" : "MOT_THST_HOVER")
-            property real _hoverTuneMin:    _throttleMidExists ? 200 : 0
-            property real _hoverTuneMax:    _throttleMidExists ? 800 : 1
-            property real _hoverTuneStep:   _throttleMidExists ? 10 : 0.01
-
             property bool _rcFeelAvailable:     controller.parameterExists(-1, "RC_FEEL")
             property bool _atcInputTCAvailable: controller.parameterExists(-1, "ATC_INPUT_TC")
             property Fact _rcFeel:              controller.getParameterFact(-1, "RC_FEEL", false)
@@ -78,7 +71,6 @@ SetupPage {
                 // handler which updates your property with the new value, this first value change will trash
                 // your bound values. In order to work around this we don't set the values into the Sliders until
                 // after Qml load is done. We also don't track value changes until Qml load completes.
-                throttleHover.value = _hoverTuneParam.value
                 rollPitch.value = _rateRollP.value
                 climb.value = _rateClimbP.value
                 if (_rcFeelAvailable) {
@@ -150,36 +142,6 @@ SetupPage {
                     anchors.top:        parent.top
                     spacing:            _margins
 
-                    Column {
-                        anchors.left:   parent.left
-                        anchors.right:  parent.right
-
-                        QGCLabel {
-                            text:       qsTr("Throttle Hover")
-                            font.family: ScreenTools.demiboldFontFamily
-                        }
-
-                        QGCLabel {
-                            text: qsTr("How much throttle is needed to maintain a steady hover")
-                        }
-
-                        Slider {
-                            id:                 throttleHover
-                            anchors.left:       parent.left
-                            anchors.right:      parent.right
-                            minimumValue:       _hoverTuneMin
-                            maximumValue:       _hoverTuneMax
-                            stepSize:           _hoverTuneStep
-                            tickmarksEnabled:   true
-
-                            onValueChanged: {
-                                if (_loadComplete) {
-                                    _hoverTuneParam.value = value
-                                }
-                            }
-                        }
-                    }
-
                     Column {
                         anchors.left:   parent.left
                         anchors.right:  parent.right

src/Camera/QGCCameraControl.cc

@@ -311,7 +311,7 @@ QGCCameraControl::takePhoto()
     }
     if(capturesPhotos()) {
         _vehicle->sendMavCommand(
-            MAV_COMP_ID_CAMERA,                                         // Target component
+            _compID,                                                    // Target component
             MAV_CMD_IMAGE_START_CAPTURE,                                // Command id
             false,                                                      // ShowError
             0,                                                          // Reserved (Set to 0)
@@ -339,7 +339,7 @@ QGCCameraControl::stopTakePhoto()
     }
     if(capturesPhotos()) {
         _vehicle->sendMavCommand(
-            MAV_COMP_ID_CAMERA,                                         // Target component
+            _compID,                                                    // Target component
             MAV_CMD_IMAGE_STOP_CAPTURE,                                 // Command id
             false,                                                      // ShowError
             0);                                                         // Reserved (Set to 0)
@@ -361,7 +361,7 @@ QGCCameraControl::startVideo()
     }
     if(videoStatus() != VIDEO_CAPTURE_STATUS_RUNNING) {
         _vehicle->sendMavCommand(
-            MAV_COMP_ID_CAMERA,                         // Target component
+            _compID,                                    // Target component
             MAV_CMD_VIDEO_START_CAPTURE,                // Command id
             true,                                       // ShowError
             0,                                          // Reserved (Set to 0)
@@ -378,7 +378,7 @@ QGCCameraControl::stopVideo()
     qCDebug(CameraControlLog) << "stopVideo()";
     if(videoStatus() == VIDEO_CAPTURE_STATUS_RUNNING) {
         _vehicle->sendMavCommand(
-            MAV_COMP_ID_CAMERA,                         // Target component
+            _compID,                                    // Target component
             MAV_CMD_VIDEO_STOP_CAPTURE,                 // Command id
             true,                                       // ShowError
             0);                                         // Reserved (Set to 0)
@@ -399,7 +399,7 @@ QGCCameraControl::setVideoMode()
             MAV_CMD_SET_CAMERA_MODE,                // Command id
             true,                                   // ShowError
             0,                                      // Reserved (Set to 0)
-            CAM_MODE_VIDEO);                     // Camera mode (0: photo, 1: video)
+            CAM_MODE_VIDEO);                        // Camera mode (0: photo, 1: video)
         _setCameraMode(CAM_MODE_VIDEO);
     }
 }

src/Camera/QGCCameraManager.cc

@@ -15,6 +15,7 @@ QGCCameraManager::QGCCameraManager(Vehicle *vehicle)
     : _vehicle(vehicle)
     , _vehicleReadyState(false)
     , _currentTask(0)
+    , _currentCamera(0)
 {
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     qCDebug(CameraManagerLog) << "QGCCameraManager Created";
@@ -27,6 +28,16 @@ QGCCameraManager::~QGCCameraManager()
 {
 }
 
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::setCurrentCamera(int sel)
+{
+    if(sel != _currentCamera && sel >= 0 && sel < _cameras.count()) {
+        _currentCamera = sel;
+        emit currentCameraChanged();
+    }
+}
+
 //-----------------------------------------------------------------------------
 void
 QGCCameraManager::_vehicleReady(bool ready)
@@ -121,7 +132,9 @@ QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message)
         if(pCamera) {
             QQmlEngine::setObjectOwnership(pCamera, QQmlEngine::CppOwnership);
             _cameras.append(pCamera);
+            _cameraLabels << pCamera->modelName();
             emit camerasChanged();
+            emit cameraLabelsChanged();
         }
     }
 }

src/Camera/QGCCameraManager.h

@@ -25,13 +25,23 @@ public:
     QGCCameraManager(Vehicle* vehicle);
     virtual ~QGCCameraManager();
 
-    Q_PROPERTY(QmlObjectListModel*  cameras     READ cameras    NOTIFY camerasChanged)
+    Q_PROPERTY(QmlObjectListModel*  cameras             READ cameras            NOTIFY camerasChanged)
+    Q_PROPERTY(QStringList          cameraLabels        READ cameraLabels       NOTIFY cameraLabelsChanged)
+    Q_PROPERTY(int                  currentCamera       READ currentCamera      WRITE  setCurrentCamera     NOTIFY currentCameraChanged)
 
     //-- Return a list of cameras provided by this vehicle
-    virtual QmlObjectListModel* cameras     () { return &_cameras; }
+    virtual QmlObjectListModel* cameras             () { return &_cameras; }
+    //-- Camera names to show the user (for selection)
+    virtual QStringList          cameraLabels       () { return _cameraLabels; }
+    //-- Current selected camera
+    virtual int                 currentCamera       () { return _currentCamera; }
+    //-- Set current camera
+    virtual void                setCurrentCamera    (int sel);
 
 signals:
-    void    camerasChanged                  ();
+    void    camerasChanged          ();
+    void    cameraLabelsChanged     ();
+    void    currentCameraChanged    ();
 
 protected slots:
     virtual void    _vehicleReady           (bool ready);
@@ -53,5 +63,7 @@ protected:
     bool                _vehicleReadyState;
     int                 _currentTask;
     QmlObjectListModel  _cameras;
+    QStringList         _cameraLabels;
     QMap<int, bool>     _cameraInfoRequested;
+    int                 _currentCamera;
 };

src/FactSystem/FactControls/FactCheckBox.qml

@@ -16,7 +16,5 @@ QGCCheckBox {
                            (fact.value === 0 ? Qt.Unchecked : Qt.Checked)) :
                       Qt.Unchecked
 
-    text: qsTr("Label")
-
     onClicked: fact.value = (checked ? checkedValue : uncheckedValue)
 }

src/FirmwarePlugin/APM/APMResources.qrc

@@ -6,6 +6,7 @@
         <file alias="APMCameraComponentSummary.qml">../../AutoPilotPlugins/APM/APMCameraComponentSummary.qml</file>
         <file alias="APMFlightModesComponent.qml">../../AutoPilotPlugins/APM/APMFlightModesComponent.qml</file>
         <file alias="APMFlightModesComponentSummary.qml">../../AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml</file>
+        <file alias="APMHeliComponent.qml">../../AutoPilotPlugins/APM/APMHeliComponent.qml</file>
         <file alias="APMLightsComponent.qml">../../AutoPilotPlugins/APM/APMLightsComponent.qml</file>
         <file alias="APMLightsComponentSummary.qml">../../AutoPilotPlugins/APM/APMLightsComponentSummary.qml</file>
         <file alias="APMSubFrameComponent.qml">../../AutoPilotPlugins/APM/APMSubFrameComponent.qml</file>

src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml

@@ -5007,6 +5007,17 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
     </parameter>
   </group>
   <group name="PWM Outputs">
+    <parameter default="0" name="MOT_ORDERING" type="INT32">
+      <short_desc>Motor Ordering</short_desc>
+      <long_desc>Determines the motor ordering. This can be used for example in combination with a 4-in-1 ESC that assumes a motor ordering which is different from PX4. ONLY supported for Quads. ONLY supported for fmu output (Pixracer or Omnibus F4). When changing this, make sure to test the motor response without props first.</long_desc>
+      <min>0</min>
+      <max>1</max>
+      <scope>drivers/px4fmu</scope>
+      <values>
+        <value code="0">PX4</value>
+        <value code="1">Betaflight / Cleanflight</value>
+      </values>
+    </parameter>
     <parameter default="0.0" name="MOT_SLEW_MAX" type="FLOAT">
       <short_desc>Minimum motor rise time (slew rate limit)</short_desc>
       <long_desc>Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled.</long_desc>
@@ -7498,13 +7509,14 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
     </parameter>
   </group>
   <group name="Return To Land">
-    <parameter default="0" name="RTL_LAND_TYPE" type="INT32">
-      <short_desc>RTL land location</short_desc>
-      <long_desc>Land at the home location or planned mission landing</long_desc>
+    <parameter default="0" name="RTL_TYPE" type="INT32">
+      <short_desc>Return type</short_desc>
+      <long_desc>Fly straight to the home location or planned mission landing and land there or use the planned mission to get to those points.</long_desc>
       <scope>modules/navigator</scope>
       <values>
-        <value code="0">Home Position</value>
-        <value code="1">Planned Landing (Mission)</value>
+        <value code="0">Return home via direct path</value>
+        <value code="1">Return to a planned mission landing, if available, via direct path, else return to home via direct path</value>
+        <value code="2">Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path</value>
       </values>
     </parameter>
   </group>

src/FlightDisplay/PreFlightCheckModel.qml → src/FlightDisplay/BuiltInPreFlightCheckModel.qml

@@ -17,28 +17,30 @@ import QGroundControl.Controls      1.0
 import QGroundControl.Palette       1.0
 import QGroundControl.Vehicle       1.0
 
-ObjectModel {
+PreFlightCheckModel {
     PreFlightCheckGroup {
         name: qsTr("Initial checks")
 
         // Standard check list items (group 0) - Available from the start
         PreFlightCheckButton {
-            id:             buttonHardware
             name:           qsTr("Hardware")
             manualText:     qsTr("Props mounted? Wings secured? Tail secured?")
         }
+
         PreFlightBatteryCheck {
-            id:                buttonBattery
-            failureVoltage:    40
+            failurePercent:                 40
+            allowFailurePercentOverride:    false
         }
-        PreFlightSensorsCheck {
-            id: buttonSensors
+
+        PreFlightSensorsHealthCheck {
         }
-        PreFlightRCCheck {
-            id: buttonRC
+
+        PreFlightGPSCheck {
+            failureSatCount:        9
+            allowOverrideSatCount:  true
         }
-        PreFlightAHRSCheck {
-            id: buttonEstimator
+
+        PreFlightRCCheck {
         }
     }
 
@@ -46,26 +48,21 @@ ObjectModel {
         name: qsTr("Please arm the vehicle here")
 
         PreFlightCheckButton {
-            id:              buttonActuators
             name:            qsTr("Actuators")
-            group:           1
             manualText:      qsTr("Move all control surfaces. Did they work properly?")
         }
+
         PreFlightCheckButton {
-            id:              buttonMotors
             name:            qsTr("Motors")
-            group:           1
             manualText:      qsTr("Propellers free? Then throttle up gently. Working properly?")
         }
+
         PreFlightCheckButton {
-            id:          buttonMission
             name:        qsTr("Mission")
-            group:       1
             manualText:  qsTr("Please confirm mission is valid (waypoints valid, no terrain collision).")
         }
+
         PreFlightSoundCheck {
-            id:      buttonSoundOutput
-            group:   1
         }
     }
 
@@ -74,21 +71,17 @@ ObjectModel {
 
         // Check list item group 2 - Final checks before launch
         PreFlightCheckButton {
-            id:          buttonPayload
             name:        qsTr("Payload")
-            group:       2
             manualText:  qsTr("Configured and started? Payload lid closed?")
         }
+
         PreFlightCheckButton {
-            id:          buttonWeather
             name:        "Wind & weather"
-            group:       2
             manualText:  qsTr("OK for your platform? Lauching into the wind?")
         }
+
         PreFlightCheckButton {
-            id:          buttonFlightAreaFree
             name:        qsTr("Flight area")
-            group:       2
             manualText:  qsTr("Launch area and path free of obstacles/people?")
         }
     }

src/FlightDisplay/FlightDisplayView.qml

@@ -113,7 +113,7 @@ QGCView {
         Component.onCompleted:  start(true /* flyView */)
     }
 
-    PreFlightCheckModel {
+    BuiltInPreFlightCheckModel {
         id: preFlightCheckModel
     }
 

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -119,7 +119,13 @@ FlightMap {
 
     function recenterNeeded() {
         var vehiclePoint = flightMap.fromCoordinate(_activeVehicleCoordinate, false /* clipToViewport */)
-        var centerViewport = Qt.rect(0, 0, width, height)
+        var toolStripRightEdge = mapFromItem(toolStrip, toolStrip.x, 0).x + toolStrip.width
+        var instrumentsWidth = 0
+        if (QGroundControl.corePlugin.options.instrumentWidget.widgetPosition === CustomInstrumentWidget.POS_TOP_RIGHT) {
+            // Assume standard instruments
+            instrumentsWidth = flightDisplayViewWidgets.getPreferredInstrumentWidth()
+        }
+        var centerViewport = Qt.rect(toolStripRightEdge, 0, width - toolStripRightEdge - instrumentsWidth, height)
         return !pointInRect(vehiclePoint, centerViewport)
     }
 

src/FlightDisplay/GuidedActionConfirm.qml

@@ -18,13 +18,12 @@ import QGroundControl.Palette       1.0
 /// Guided actions confirmation dialog
 Rectangle {
     id:             _root
-    border.color:   qgcPal.alertBorder
-    border.width:   1
     width:          confirmColumn.width  + (_margins * 4)
     height:         confirmColumn.height + (_margins * 4)
     radius:         ScreenTools.defaultFontPixelHeight / 2
-    color:          qgcPal.alertBackground
-    opacity:        0.9
+    color:          qgcPal.window
+    border.color:   _emergencyAction ? "red" : qgcPal.windowShade
+    border.width:   _emergencyAction ? 4 : 1
     z:              guidedController.z
     visible:        false
 
@@ -36,7 +35,8 @@ Rectangle {
     property var    actionData
     property bool   hideTrigger:        false
 
-    property real _margins: ScreenTools.defaultFontPixelWidth
+    property real _margins:         ScreenTools.defaultFontPixelWidth
+    property bool _emergencyAction: action === guidedController.actionEmergencyStop
 
     onHideTriggerChanged: {
         if (hideTrigger) {
@@ -78,7 +78,6 @@ Rectangle {
 
         QGCLabel {
             id:                     titleText
-            color:                  qgcPal.alertText
             anchors.left:           slider.left
             anchors.right:          slider.right
             horizontalAlignment:    Text.AlignHCenter
@@ -87,7 +86,6 @@ Rectangle {
 
         QGCLabel {
             id:                     messageText
-            color:                  qgcPal.alertText
             anchors.left:           slider.left
             anchors.right:          slider.right
             horizontalAlignment:    Text.AlignHCenter
@@ -127,7 +125,7 @@ Rectangle {
         sourceSize.height:  width
         source:             "/res/XDelete.svg"
         fillMode:           Image.PreserveAspectFit
-        color:              qgcPal.alertText
+        color:              qgcPal.text
         QGCMouseArea {
             fillItem:   parent
             onClicked: {

src/FlightDisplay/GuidedActionList.qml

@@ -85,9 +85,9 @@ Rectangle {
                         }
 
                         QGCButton {
-                            id:                         actionButton
-                            anchors.horizontalCenter:   parent.horizontalCenter
-                            text:                       modelData.title
+                            id:                 actionButton
+                            text:               modelData.title
+                            Layout.alignment:   Qt.AlignCenter
 
                             onClicked: {
                                 _root.visible = false

src/FlightDisplay/GuidedActionsController.qml

@@ -32,7 +32,7 @@ Item {
     property var actionList
     property var altitudeSlider
 
-    readonly property string emergencyStopTitle:            qsTr("Emergency Stop")
+    readonly property string emergencyStopTitle:            qsTr("EMERGENCY STOP")
     readonly property string armTitle:                      qsTr("Arm")
     readonly property string disarmTitle:                   qsTr("Disarm")
     readonly property string rtlTitle:                      qsTr("RTL")
@@ -52,7 +52,7 @@ Item {
 
     readonly property string armMessage:                        qsTr("Arm the vehicle.")
     readonly property string disarmMessage:                     qsTr("Disarm the vehicle")
-    readonly property string emergencyStopMessage:              qsTr("WARNING: This will stop all motors. If vehicle is currently in air it will crash.")
+    readonly property string emergencyStopMessage:              qsTr("WARNING: THIS WILL STOP ALL MOTORS. IF VEHICLE IS CURRENTLY IN THE AIR IT WILL CRASH.")
     readonly property string takeoffMessage:                    qsTr("Takeoff from ground and hold position.")
     readonly property string startMissionMessage:               qsTr("Takeoff from ground and start the current mission.")
     readonly property string continueMissionMessage:            qsTr("Continue the mission from the current waypoint.")

src/FlightDisplay/PreFlightBatteryCheck.qml

@@ -15,17 +15,18 @@ import QGroundControl.Vehicle   1.0
 
 // This class stores the data and functions of the check list but NOT the GUI (which is handled somewhere else).
 PreFlightCheckButton {
-    name:                   qsTr("Battery")
-    manualText:             qsTr("Healthy & charged > %1. Battery connector firmly plugged?").arg(failureVoltage)
-    telemetryTextFailure:   _batUnHealthy ?
-                                qsTr("Not healthy. Check console.") :
-                                ("Low (below %1). Please recharge.").arg(failureVoltage)
+    name:                           qsTr("Battery")
+    manualText:                     qsTr("Battery connector firmly plugged?")
+    telemetryFailure:               _batLow
+    telemetryTextFailure:           allowTelemetryFailureOverride ?
+                                        qsTr("Warning - Battery charge below %1%.").arg(failurePercent) :
+                                        qsTr("Battery charge below %1%. Please recharge.").arg(failurePercent)
+    allowTelemetryFailureOverride:  allowFailurePercentOverride
 
-    property int failureVoltage: 40
+    property int    failurePercent:                 40
+    property bool   allowFailurePercentOverride:    false
 
     property var _activeVehicle:        QGroundControl.multiVehicleManager.activeVehicle
-    property int _unhealthySensors:     _activeVehicle ? _activeVehicle.sensorsUnhealthyBits : 0
     property var _batPercentRemaining:  _activeVehicle ? _activeVehicle.battery.percentRemaining.value : 0
-    property bool _batUnHealthy:        _unhealthySensors & Vehicle.SysStatusSensorBattery
-    property bool _batLow:              _batPercentRemaining < failureVoltage
+    property bool _batLow:              _batPercentRemaining < failurePercent
 }

src/FlightDisplay/PreFlightGPSCheck.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.3
+
+import QGroundControl           1.0
+import QGroundControl.Controls  1.0
+import QGroundControl.Vehicle   1.0
+
+PreFlightCheckButton {
+    name:                           qsTr("GPS")
+    telemetryFailure:               _3dLockFailure || _satCountFailure
+    telemetryTextFailure:           _3dLockFailure ?
+                                        qsTr("Waiting for 3D lock.") :
+                                        (_satCountFailure ? _satCountFailureText : "")
+    allowTelemetryFailureOverride:  !_3dLockFailure && _satCountFailure && allowOverrideSatCount
+
+    property bool   allowOverrideSatCount:  false   ///< true: sat count above failureSatCount reguired to pass, false: user can click past satCount <= failureSetCount
+    property int    failureSatCount:        -1      ///< -1 indicates no sat count check
+
+    property var    _activeVehicle:         QGroundControl.multiVehicleManager.activeVehicle
+    property bool   _3dLock:                _activeVehicle ? _activeVehicle.gps.lock.rawValue >= 3 : false
+    property int    _satCount:              _activeVehicle ? _activeVehicle.gps.count.rawValue : 0
+    property bool   _3dLockFailure:         !_3dLock
+    property bool   _satCountFailure:       failureSatCount !== -1 && _satCount <= failureSatCount
+    property string _satCountFailureText:   allowOverrideSatCount ? qsTr("Warning - Sat count below %1.").arg(failureSatCount + 1) : qsTr("Waiting for sat count above %1.").arg(failureSatCount)
+}

src/FlightDisplay/PreFlightSensorsCheck.qml → src/FlightDisplay/PreFlightSensorsHealthCheck.qml

@@ -15,24 +15,18 @@ import QGroundControl.Vehicle   1.0
 
 PreFlightCheckButton {
     name:               qsTr("Sensors")
-    telemetryFailure:   (_unhealthySensors & _allCheckedSensors) || !_gpsLock || _satCountFailure
-
-    property int failureSatCount: -1    ///< -1 indicates no sat count check
+    telemetryFailure:   _unhealthySensors & _allCheckedSensors
 
     property var    _activeVehicle:     QGroundControl.multiVehicleManager.activeVehicle
     property int    _unhealthySensors:  _activeVehicle ? _activeVehicle.sensorsUnhealthyBits : 0
-    property bool   _gpsLock:           _activeVehicle ? _activeVehicle.gps.lock.rawValue >= 3 : 0
-    property int    _satCount:          _activeVehicle ? _activeVehicle.gps.count.rawValue : 0
-    property bool   _satCountFailure:   failureSatCount !== -1 && _satCount <= failureSatCount
     property int    _allCheckedSensors: Vehicle.SysStatusSensor3dMag |
                                         Vehicle.SysStatusSensor3dAccel |
                                         Vehicle.SysStatusSensor3dGyro |
                                         Vehicle.SysStatusSensorAbsolutePressure |
                                         Vehicle.SysStatusSensorDifferentialPressure |
-                                        Vehicle.SysStatusSensorGPS
+                                        Vehicle.SysStatusSensorGPS |
+                                        Vehicle.SysStatusSensorAHRS
 
-    on_GpsLockChanged:          updateTelemetryTextFailure()
-    on_SatCountFailureChanged:  updateTelemetryTextFailure()
     on_UnhealthySensorsChanged: updateTelemetryTextFailure()
 
     Component.onCompleted: updateTelemetryTextFailure()
@@ -44,11 +38,8 @@ PreFlightCheckButton {
             else if(_unhealthySensors & Vehicle.SysStatusSensor3dGyro)                  telemetryTextFailure = qsTr("Failure. Gyroscope issues. Check console.")
             else if(_unhealthySensors & Vehicle.SysStatusSensorAbsolutePressure)        telemetryTextFailure = qsTr("Failure. Barometer issues. Check console.")
             else if(_unhealthySensors & Vehicle.SysStatusSensorDifferentialPressure)    telemetryTextFailure = qsTr("Failure. Airspeed sensor issues. Check console.")
-            else if(_unhealthySensors & Vehicle.SysStatusSensorGPS)                     telemetryTextFailure = qsTr("Failure. No valid or low quality GPS signal. Check console.")
-        } else if (!_gpsLock) {
-            telemetryTextFailure = qsTr("Pending. Waiting for GPS lock.")
-        } else if (_satCountFailure) {
-            telemetryTextFailure = qsTr("Pending. Waiting for Sat Count > %1.").arg(failureSatCount)
+            else if(_unhealthySensors & Vehicle.SysStatusSensorAHRS)                    telemetryTextFailure = qsTr("Failure. AHRS issues. Check console.")
+            else if(_unhealthySensors & Vehicle.SysStatusSensorGPS)                     telemetryTextFailure = qsTr("Failure. GPS issues. Check console.")
         }
     }
 }

src/FlightDisplay/VideoManager.cc

@@ -78,7 +78,7 @@ VideoManager::setToolbox(QGCToolbox *toolbox)
 
     emit isGStreamerChanged();
     qCDebug(VideoManagerLog) << "New Video Source:" << videoSource;
-    _videoReceiver = new VideoReceiver(this);
+    _videoReceiver = toolbox->corePlugin()->createVideoReceiver(this);
     _updateSettings();
     if(isGStreamer()) {
         _videoReceiver->start();

src/FlightDisplay/qmldir

@@ -10,9 +10,9 @@ GuidedActionList            1.0 GuidedActionList.qml
 GuidedAltitudeSlider        1.0 GuidedAltitudeSlider.qml
 MultiVehicleList            1.0 MultiVehicleList.qml
 PreFlightBatteryCheck       1.0 PreFlightBatteryCheck.qml
-PreFlightAHRSCheck          1.0 PreFlightAHRSCheck.qml
-PreFlightCheckModel         1.0 PreFlightCheckModel.qml
+BuiltInPreFlightCheckModel  1.0 BuiltInPreFlightCheckModel.qml
+PreFlightGPSCheck           1.0 PreFlightGPSCheck.qml
 PreFlightRCCheck            1.0 PreFlightRCCheck.qml
-PreFlightSensorsCheck       1.0 PreFlightSensorsCheck.qml
+PreFlightSensorsHealthCheck 1.0 PreFlightSensorsHealthCheck.qml
 PreFlightSoundCheck         1.0 PreFlightSoundCheck.qml
 

src/FlightMap/FlightMap.qml

@@ -11,6 +11,7 @@ import QtQuick          2.3
 import QtQuick.Controls 1.2
 import QtLocation       5.3
 import QtPositioning    5.3
+import QtQuick.Dialogs  1.2
 
 import QGroundControl                       1.0
 import QGroundControl.FactSystem            1.0
@@ -40,6 +41,7 @@ Map {
     property bool   firstGCSPositionReceived:       false   ///< true: first gcs position update was responded to
     property bool   firstVehiclePositionReceived:   false   ///< true: first vehicle position update was responded to
     property bool   planView:                       false   ///< true: map being using for Plan view, items should be draggable
+    property var    qgcView
 
     readonly property real  maxZoomLevel: 20
 
@@ -62,6 +64,20 @@ Map {
         }
     }
 
+    function centerToSpecifiedLocation() {
+        qgcView.showDialog(specifyMapPositionDialog, qsTr("Specify Position"), qgcView.showDialogDefaultWidth, StandardButton.Cancel)
+
+    }
+
+    Component {
+        id: specifyMapPositionDialog
+
+        EditPositionDialog {
+            coordinate:             center
+            onCoordinateChanged:    center = coordinate
+        }
+    }
+
     ExclusiveGroup { id: mapTypeGroup }
 
     // Update ground station position

src/FlightMap/Widgets/CameraPageWidget.qml

@@ -33,10 +33,10 @@ Column {
     property var    _activeVehicle:         QGroundControl.multiVehicleManager.activeVehicle
     property var    _dynamicCameras:        _activeVehicle ? _activeVehicle.dynamicCameras : null
     property bool   _isCamera:              _dynamicCameras ? _dynamicCameras.cameras.count > 0 : false
-    property var    _camera:                _isCamera ? _dynamicCameras.cameras.get(0) : null // Single camera support for the time being
-    property bool   _cameraModeUndefined:   _isCamera ? _dynamicCameras.cameras.get(0).cameraMode === QGCCameraControl.CAMERA_MODE_UNDEFINED : true
-    property bool   _cameraVideoMode:       _isCamera ? _dynamicCameras.cameras.get(0).cameraMode === 1 : false
-    property bool   _cameraPhotoMode:       _isCamera ? _dynamicCameras.cameras.get(0).cameraMode === 0 : false
+    property var    _camera:                _isCamera ? _dynamicCameras.cameras.get(_curCameraIndex) : null
+    property bool   _cameraModeUndefined:   _isCamera ? _dynamicCameras.cameras.get(_curCameraIndex).cameraMode === QGCCameraControl.CAMERA_MODE_UNDEFINED : true
+    property bool   _cameraVideoMode:       _isCamera ? _dynamicCameras.cameras.get(_curCameraIndex).cameraMode === 1 : false
+    property bool   _cameraPhotoMode:       _isCamera ? _dynamicCameras.cameras.get(_curCameraIndex).cameraMode === 0 : false
     property bool   _cameraPhotoIdle:       _isCamera && _camera.photoStatus === QGCCameraControl.PHOTO_CAPTURE_IDLE
     property bool   _cameraElapsedMode:     _isCamera && _camera.cameraMode === QGCCameraControl.CAM_MODE_PHOTO && _camera.photoMode === QGCCameraControl.PHOTO_CAPTURE_TIMELAPSE
     property real   _spacers:               ScreenTools.defaultFontPixelHeight * 0.5
@@ -46,6 +46,7 @@ Column {
     property bool   _hasModes:              _isCamera && _camera && _camera.hasModes
     property bool   _videoRecording:        _camera && _camera.videoStatus === QGCCameraControl.VIDEO_CAPTURE_STATUS_RUNNING
     property bool   _noStorage:             _camera && _camera.storageTotal === 0
+    property int    _curCameraIndex:        _dynamicCameras ? _dynamicCameras.currentCamera : 0
 
     function showSettings() {
         qgcView.showDialog(cameraSettings, _cameraVideoMode ? qsTr("Video Settings") : qsTr("Camera Settings"), 70, StandardButton.Ok)
@@ -202,6 +203,23 @@ Column {
                     anchors.left:   parent.left
                     anchors.right:  parent.right
                     spacing:        _margins
+                    Row {
+                        visible:    _isCamera
+                        spacing:    ScreenTools.defaultFontPixelWidth
+                        anchors.horizontalCenter: parent.horizontalCenter
+                        QGCLabel {
+                            text:           qsTr("Camera Selector:")
+                            width:          _labelFieldWidth
+                            anchors.verticalCenter: parent.verticalCenter
+                        }
+                        QGCComboBox {
+                            id:             cameraSelector
+                            model:          _isCamera ? _dynamicCameras.cameraLabels : []
+                            width:          _editFieldWidth
+                            onActivated:    _dynamicCameras.currentCamera = index
+                            currentIndex:   _dynamicCameras.currentCamera
+                        }
+                    }
                     //-------------------------------------------
                     //-- Camera Settings
                     Repeater {

src/FlightMap/Widgets/CenterMapDropButton.qml

@@ -209,6 +209,17 @@ DropButton {
                 }
             }
 
+
+            QGCButton {
+                text:               qsTr("Specified Location")
+                Layout.fillWidth:   true
+
+                onClicked: {
+                    dropButton.hideDropDown()
+                    map.centerToSpecifiedLocation()
+                }
+            }
+
             QGCButton {
                 text:               qsTr("Vehicle")
                 Layout.fillWidth:   true

src/FlightMap/Widgets/CenterMapDropPanel.qml

@@ -62,6 +62,17 @@ ColumnLayout {
         }
     }
 
+    QGCButton {
+        text:               qsTr("Vehicle")
+        Layout.fillWidth:   true
+        enabled:            _activeVehicle && _activeVehicle.coordinate.isValid
+
+        onClicked: {
+            dropPanel.hide()
+            map.center = activeVehicle.coordinate
+        }
+    }
+
     QGCButton {
         text:               qsTr("Current Location")
         Layout.fillWidth:   true
@@ -74,13 +85,12 @@ ColumnLayout {
     }
 
     QGCButton {
-        text:               qsTr("Vehicle")
+        text:               qsTr("Specified Location")
         Layout.fillWidth:   true
-        enabled:            _activeVehicle && _activeVehicle.coordinate.isValid
 
         onClicked: {
             dropPanel.hide()
-            map.center = activeVehicle.coordinate
+            map.centerToSpecifiedLocation()
         }
     }
 } // Column

src/FlightMap/Widgets/ValuePageWidget.qml

@@ -174,7 +174,7 @@ Column {
                         sourceComponent:    factGroupList
 
                         property var    factGroup:     _activeVehicle
-                        property string factGroupName: qsTr("Vehicle")
+                        property string factGroupName: "Vehicle"
                     }
 
                     Repeater {

src/PlanView/PlanView.qml

@@ -445,6 +445,7 @@ QGCView {
             allowGCSLocationCenter:     true
             allowVehicleLocationCenter: true
             planView:                   true
+            qgcView:                    _qgcView
 
             // This is the center rectangle of the map which is not obscured by tools
             property rect centerViewport:   Qt.rect(_leftToolWidth, _toolbarHeight, editorMap.width - _leftToolWidth - _rightPanelWidth, editorMap.height - _statusHeight - _toolbarHeight)

src/PlanView/SimpleItemEditor.qml

@@ -132,7 +132,7 @@ Rectangle {
                         text:           qsTr("TerrF")
                         exclusiveGroup: altRadios
                         checked:        missionItem.altitudeMode === altModeValue
-                        visible:        missionItem.supportsTerrainFrame || missionItem.altitudeMode === altModeValue
+                        visible:        missionItem.altitudeMode === altModeValue
 
                         readonly property int       altModeValue:   _altModeTerrainFrame
                         readonly property string    helpText:       qsTr("Using terrain reference frame")

src/QmlControls/DropPanel.qml

@@ -35,8 +35,8 @@ Item {
     readonly property int dropUp:       3
     readonly property int dropDown:     4
 
-    readonly property real _arrowBaseWidth:     radius             // Width of long side of arrow
-    readonly property real _arrowPointHeight:   radius * 0.666     // Height is long side to point
+    readonly property real _arrowBaseHeight:    radius             // Height of vertical side of arrow
+    readonly property real _arrowPointWidth:    radius * 0.666     // Distance from vertical side to point
     readonly property real _dropCornerRadius:   ScreenTools.defaultFontPixelWidth * 0.5
     readonly property real _dropCornerRadiusX2: _dropCornerRadius * 2
     readonly property real _dropMargin:         _dropCornerRadius
@@ -44,9 +44,10 @@ Item {
 
     property var    _dropEdgeTopPoint
     property real   _dropEdgeHeight
-    property alias  _dropDownComponent: dropDownLoader.sourceComponent
+    property alias  _dropDownComponent: panelLoader.sourceComponent
     property real   _viewportMaxTop:    0
     property real   _viewportMaxBottom: parent.parent.height - parent.y
+    property real   _viewportMaxHeight: _viewportMaxBottom - _viewportMaxTop
     property var    _dropPanelCancel
 
     function show(panelEdgeTopPoint, panelEdgeHeight, panelComponent) {
@@ -70,37 +71,29 @@ Item {
     }
 
     function _calcPositions() {
-        var dropComponentWidth = dropDownLoader.item.width
-        var dropComponentHeight = dropDownLoader.item.height
-        var dropRectWidth = dropComponentWidth + _dropMarginX2
-        var dropRectHeight = dropComponentHeight + _dropMarginX2
+        var panelComponentWidth = panelLoader.item.width
+        var panelComponentHeight = panelLoader.item.height
 
-        dropItemHolderRect.width = dropRectWidth
-        dropItemHolderRect.height = dropRectHeight
-
-        dropDownItem.width = dropComponentWidth + _dropMarginX2
-        dropDownItem.height = dropComponentHeight + _dropMarginX2
-
-        dropDownItem.width += _arrowPointHeight
-
-        dropDownItem.y = _dropEdgeTopPoint.y -(dropDownItem.height / 2) + radius
-
-        dropItemHolderRect.y = 0
+        dropDownItem.width = panelComponentWidth + _dropMarginX2 + _arrowPointWidth
+        dropDownItem.height = panelComponentHeight + _dropMarginX2
 
         dropDownItem.x = _dropEdgeTopPoint.x + _dropMargin
-        dropItemHolderRect.x = _arrowPointHeight
+        dropDownItem.y = _dropEdgeTopPoint.y -(dropDownItem.height / 2) + radius
 
         // Validate that dropdown is within viewport
         dropDownItem.y = Math.min(dropDownItem.y + dropDownItem.height, _viewportMaxBottom) - dropDownItem.height
         dropDownItem.y = Math.max(dropDownItem.y, _viewportMaxTop)
 
+        // Adjust height to not exceed viewport bounds
+        dropDownItem.height = Math.min(dropDownItem.height, _viewportMaxHeight - dropDownItem.y)
+
         // Arrow points
         arrowCanvas.arrowPoint.y = (_dropEdgeTopPoint.y + radius) - dropDownItem.y
         arrowCanvas.arrowPoint.x = 0
-        arrowCanvas.arrowBase1.x = _arrowPointHeight
-        arrowCanvas.arrowBase1.y = arrowCanvas.arrowPoint.y - (_arrowBaseWidth / 2)
+        arrowCanvas.arrowBase1.x = _arrowPointWidth
+        arrowCanvas.arrowBase1.y = arrowCanvas.arrowPoint.y - (_arrowBaseHeight / 2)
         arrowCanvas.arrowBase2.x = arrowCanvas.arrowBase1.x
-        arrowCanvas.arrowBase2.y = arrowCanvas.arrowBase1.y + _arrowBaseWidth
+        arrowCanvas.arrowBase2.y = arrowCanvas.arrowBase1.y + _arrowBaseHeight
         arrowCanvas.requestPaint()
     } // function - _calcPositions
 
@@ -117,6 +110,7 @@ Item {
         }
     }
 
+    // This item is sized to hold the entirety of the drop panel including the arrow point
     Item {
         id: dropDownItem
 
@@ -133,29 +127,41 @@ Item {
             property point arrowBase2: Qt.point(0, 0)
 
             onPaint: {
+                var panelX = _arrowPointWidth
+                var panelY = 0
+                var panelWidth = parent.width - _arrowPointWidth
+                var panelHeight = parent.height
+
                 var context = getContext("2d")
                 context.reset()
                 context.beginPath()
 
-                context.moveTo(dropItemHolderRect.x, dropItemHolderRect.y)
-                context.lineTo(dropItemHolderRect.x + dropItemHolderRect.width, dropItemHolderRect.y)
-                context.lineTo(dropItemHolderRect.x + dropItemHolderRect.width, dropItemHolderRect.y + dropItemHolderRect.height)
-                context.lineTo(dropItemHolderRect.x, dropItemHolderRect.y + dropItemHolderRect.height)
+                context.moveTo(panelX, panelY)                              // top left
+                context.lineTo(panelX + panelWidth, panelY)                 // top right
+                context.lineTo(panelX + panelWidth, panelX + panelHeight)   // bottom right
+                context.lineTo(panelX, panelY + panelHeight)                // bottom left
                 context.lineTo(arrowBase2.x, arrowBase2.y)
                 context.lineTo(arrowPoint.x, arrowPoint.y)
                 context.lineTo(arrowBase1.x, arrowBase1.y)
-                context.lineTo(dropItemHolderRect.x, dropItemHolderRect.y)
+                context.lineTo(panelX, panelY)                              // top left
+
                 context.closePath()
                 context.fillStyle = qgcPal.windowShade
                 context.fill()
             }
         } // Canvas - arrowCanvas
 
-        Item {
-            id:     dropItemHolderRect
+        QGCFlickable {
+            id:                 panelItemFlickable
+            anchors.margins:    _dropMargin
+            anchors.leftMargin: _dropMargin + _arrowPointWidth
+            anchors.fill:       parent
+            flickableDirection: Flickable.VerticalFlick
+            contentWidth:       panelLoader.width
+            contentHeight:      panelLoader.height
 
             Loader {
-                id: dropDownLoader
+                id: panelLoader
                 x:  _dropMargin
                 y:  _dropMargin
 
@@ -165,6 +171,5 @@ Item {
                 property var dropPanel: _root
             }
         }
-
     } // Item - dropDownItem
 }

src/QmlControls/PreFlightCheckButton.qml

@@ -23,16 +23,15 @@ import QGroundControl.ScreenTools   1.0
 ///     Manual - This is simply a check which the user must verify and confirm. It is not based on any system state.
 ///     Telemetry - This type of check can fail due to some state within the system. A telemetry check failure can be
 ///                 a hard stop in that there is no way to pass the checklist until the system state resolves itself.
-///                 Or it can also optionall be override by the user.
+///                 Or it can also optionally be override by the user.
 /// If a button uses both manual and telemetry checks, the telemetry check takes precendence and must be passed first.
 QGCButton {
-    property string name:                  ""
-    property int    group:                  0
-    property string manualText:             ""      ///< text to show for a manual check, "" signals no manual check
-    property string telemetryTextOverride:  ""      ///< text to show if telemetry check failed and override is allowed
-    property string telemetryTextFailure            ///< text to show if telemetry check failed (override not allowed)
-    property bool   telemetryFailure:       false   ///< true: telemetry check failing, false: telemetry check passing
-    property bool   passed:                 _manualState === _statePassed && _telemetryState === _statePassed
+    property string name:                           ""
+    property string manualText:                     ""      ///< text to show for a manual check, "" signals no manual check
+    property string telemetryTextFailure                    ///< text to show if telemetry check failed (override not allowed)
+    property bool   telemetryFailure:               false   ///< true: telemetry check failing, false: telemetry check passing
+    property bool   allowTelemetryFailureOverride:  false   ///< true: user can click past telemetry failure
+    property bool   passed:                         _manualState === _statePassed && _telemetryState === _statePassed
 
     property int _manualState:          manualText === "" ? _statePassed : _statePending
     property int _telemetryState:       _statePassed
@@ -40,8 +39,8 @@ QGCButton {
     property int _verticalPadding:      Math.round(ScreenTools.defaultFontPixelHeight / 2)
     property real _stateFlagWidth:      ScreenTools.defaultFontPixelWidth * 4
 
-    readonly property int _statePending:    0   ///< Telemetry check has failed or manual check not yet verified, user can click to make it pass
-    readonly property int _stateFailed:     1   ///< Telemetry check has failed, user cannot click to make it pass
+    readonly property int _statePending:    0   ///< Telemetry check is failing or manual check not yet verified, user can click to make it pass
+    readonly property int _stateFailed:     1   ///< Telemetry check is failing, user cannot click to make it pass
     readonly property int _statePassed:     2   ///< Check has passed
 
     readonly property color _passedColor:   Qt.rgba(0.27,0.67,0.42,1)
@@ -50,8 +49,8 @@ QGCButton {
 
     property string _text: "<b>" + name +"</b>: " +
                            ((_telemetryState !== _statePassed) ?
-                               (_telemetryState === _statePending ? telemetryTextOverride : telemetryTextFailure) :
-                               (_manualState !== _statePassed ? manualText : qsTr("OK")))
+                               telemetryTextFailure :
+                               (_manualState !== _statePassed ? manualText : qsTr("Passed")))
     property color  _color: _telemetryState === _statePassed && _manualState === _statePassed ?
                                 _passedColor :
                                 (_telemetryState == _stateFailed ?
@@ -61,7 +60,6 @@ QGCButton {
                                           _failedColor))
 
     property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
-    property bool   _allowTelemetryFailureOverride:  telemetryTextOverride !== ""
 
     width:      40 * ScreenTools.defaultFontPixelWidth
 
@@ -94,21 +92,24 @@ QGCButton {
         }
     }
 
-    onTelemetryFailureChanged: {
+    function _updateTelemetryState() {
         if (telemetryFailure) {
             // We have a new telemetry failure, reset user pass
-            _telemetryState = _allowTelemetryFailureOverride ? _statePending : _stateFailed
+            _telemetryState = allowTelemetryFailureOverride ? _statePending : _stateFailed
         } else {
             _telemetryState = _statePassed
         }
     }
 
+    onTelemetryFailureChanged:              _updateTelemetryState()
+    onAllowTelemetryFailureOverrideChanged: _updateTelemetryState()
+
     onClicked: {
-        if (telemetryFailure && !_allowTelemetryFailureOverride) {
+        if (telemetryFailure && !allowTelemetryFailureOverride) {
             // No way to proceed past this failure
             return
         }
-        if (telemetryFailure && _allowTelemetryFailureOverride && _telemetryState !== _statePassed) {
+        if (telemetryFailure && allowTelemetryFailureOverride && _telemetryState !== _statePassed) {
             // User is allowed to proceed past this failure
             _telemetryState = _statePassed
             return
@@ -131,7 +132,7 @@ QGCButton {
     function reset() {
         _manualState = manualText === "" ? _statePassed : _statePending
         if (telemetryFailure) {
-            _telemetryState = _allowTelemetryFailureOverride ? _statePending : _stateFailed
+            _telemetryState = allowTelemetryFailureOverride ? _statePending : _stateFailed
         } else {
             _telemetryState = _statePassed
         }

src/QmlControls/PreFlightCheckGroup.qml

@@ -22,12 +22,7 @@ Column  {
 
     property alias _checked: header.checked
 
-    onPassedChanged: {
-        parent.groupPassedChanged(ObjectModel.index)
-        if (passed) {
-            header.checked = false
-        }
-    }
+    onPassedChanged: parent.groupPassedChanged(ObjectModel.index)
 
     Component.onCompleted: {
         enabled = _checked

src/QmlControls/PreFlightCheckList.qml

@@ -25,29 +25,18 @@ Rectangle {
 
     property bool _passed: false
 
-    function reset() {
-        for (var i=0; i<model.count; i++) {
-            var group = model.get(i)
-            group.reset()
-            group.enabled = i === 0
-            group._checked = i === 0
-        }
-    }
+    // We delay the updates when a group passes so the user can see all items green for a moment prior to hiding
+    Timer {
+        id:         delayedGroupPassed
+        interval:   750
 
-    Component.onCompleted: reset()
+        property int index
 
-    Column {
-        id:                     mainColumn
-        width:                  40*ScreenTools.defaultFontPixelWidth
-        spacing:                0.8*ScreenTools.defaultFontPixelWidth
-        anchors.left:           parent.left
-        anchors.top:            parent.top
-        anchors.topMargin:      0.6*ScreenTools.defaultFontPixelWidth
-        anchors.leftMargin:     1.5*ScreenTools.defaultFontPixelWidth
-
-        function groupPassedChanged(index) {
+        onTriggered: {
+            var group = checkListRepeater.itemAt(index)
+            group._checked = false
             if (index + 1 < checkListRepeater.count) {
-                var group = checkListRepeater.itemAt(index + 1)
+                group = checkListRepeater.itemAt(index + 1)
                 group.enabled = true
                 group._checked = true
             }
@@ -59,6 +48,21 @@ Rectangle {
             }
             _passed = true
         }
+    }
+
+    Column {
+        id:                     mainColumn
+        width:                  40*ScreenTools.defaultFontPixelWidth
+        spacing:                0.8*ScreenTools.defaultFontPixelWidth
+        anchors.left:           parent.left
+        anchors.top:            parent.top
+        anchors.topMargin:      0.6*ScreenTools.defaultFontPixelWidth
+        anchors.leftMargin:     1.5*ScreenTools.defaultFontPixelWidth
+
+        function groupPassedChanged(index) {
+            delayedGroupPassed.index = index
+            delayedGroupPassed.restart()
+        }
 
         // Header/title of checklist
         Item {
@@ -79,7 +83,7 @@ Rectangle {
                 opacity :               0.2+0.8*(QGroundControl.multiVehicleManager.vehicles.count > 0)
                 tooltip:                qsTr("Reset the checklist (e.g. after a vehicle reboot)")
 
-                onClicked: reset()
+                onClicked: model.reset()
 
                 Image { source:"/qmlimages/MapSyncBlack.svg" ; anchors.fill: parent }
             }

src/FlightDisplay/PreFlightAHRSCheck.qml → src/QmlControls/PreFlightCheckModel.qml

@@ -7,17 +7,21 @@
  *
  ****************************************************************************/
 
-import QtQuick 2.3
+import QtQuick      2.3
+import QtQml.Models 2.1
 
-import QGroundControl           1.0
-import QGroundControl.Controls  1.0
-import QGroundControl.Vehicle   1.0
+ObjectModel {
+    id: _root
 
-PreFlightCheckButton {
-    name:                   qsTr("Global position estimate")
-    telemetryTextFailure:   qsTr("AHRS Unhealthy. Check console.")
-    telemetryFailure:       _unhealthySensors & Vehicle.SysStatusSensorAHRS
+    function reset() {
+        for (var i=0; i<_root.count; i++) {
+            var group = _root.get(i)
+            group.reset()
+            group.enabled = i === 0
+            group._checked = i === 0
+        }
+    }
+
+    Component.onCompleted: reset()
 
-    property var _activeVehicle:    QGroundControl.multiVehicleManager.activeVehicle
-    property int _unhealthySensors: _activeVehicle ? _activeVehicle.sensorsUnhealthyBits : 0
 }

src/QmlControls/QGCFileDialog.qml

@@ -15,7 +15,7 @@ Item {
     visible:    false
 
     property var    qgcView
-    property string folder
+    property string folder              // Due to Qt bug with file url parsing this must be an absolute path
     property var    nameFilters
     property string fileExtension       // Primary file extension to search for
     property string fileExtension2: ""  // Secondary file extension to search for
@@ -75,7 +75,7 @@ Item {
     // the FileDialog fallback mechanism on android 5.9 builds.
     HackFileDialog {
         id:             fullFileDialog
-        folder:         "file://" + _root.folder
+        folder:         "file:///" + _root.folder
         nameFilters:    _root.nameFilters ? _root.nameFilters : []
         title:          _root.title
         selectExisting: _root.selectExisting

src/QmlControls/QGroundControl.Controls.qmldir

@@ -37,6 +37,7 @@ PlanToolBar             1.0 PlanToolBar.qml
 PreFlightCheckButton    1.0 PreFlightCheckButton.qml
 PreFlightCheckGroup     1.0 PreFlightCheckGroup.qml
 PreFlightCheckList      1.0 PreFlightCheckList.qml
+PreFlightCheckModel     1.0 PreFlightCheckModel.qml
 QGCButton               1.0 QGCButton.qml
 QGCCheckBox             1.0 QGCCheckBox.qml
 QGCColoredImage         1.0 QGCColoredImage.qml

src/QmlControls/QmlObjectListModel.cc

@@ -45,7 +45,7 @@ QVariant QmlObjectListModel::data(const QModelIndex &index, int role) const
         return QVariant();
     }
     
-    if (index.row() >= _objectList.count()) {
+    if (index.row() < 0 || index.row() >= _objectList.count()) {
         return QVariant();
     }
     
@@ -118,11 +118,17 @@ bool QmlObjectListModel::removeRows(int position, int rows, const QModelIndex& p
 
 QObject* QmlObjectListModel::operator[](int index)
 {
+    if (index < 0 || index >= _objectList.count()) {
+        return NULL;
+    }
     return _objectList[index];
 }
 
 const QObject* QmlObjectListModel::operator[](int index) const
 {
+    if (index < 0 || index >= _objectList.count()) {
+        return NULL;
+    }
     return _objectList[index];
 }
 

src/QmlControls/SliderSwitch.qml

@@ -11,7 +11,7 @@ Rectangle {
     implicitWidth:  label.contentWidth + (_diameter * 2.5) + (_border * 4)
     implicitHeight: label.height * 2.5
     radius:         height /2
-    color:          qgcPal.text
+    color:          qgcPal.windowShade
 
     signal accept   ///< Action confirmed
     signal reject   ///< Action rejected
@@ -29,7 +29,7 @@ Rectangle {
         anchors.horizontalCenter:   parent.horizontalCenter
         anchors.verticalCenter:     parent.verticalCenter
         text:                       confirmText
-        color:                      qgcPal.window
+        color:                      qgcPal.buttonText
     }
 
     Rectangle {
@@ -39,8 +39,7 @@ Rectangle {
         height:     _diameter
         width:      _diameter
         radius:     _diameter / 2
-        color:      qgcPal.windowShade
-        opacity:    0.8
+        color:      qgcPal.primaryButton
 
         QGCColoredImage {
             anchors.centerIn:       parent
@@ -50,7 +49,7 @@ Rectangle {
             fillMode:               Image.PreserveAspectFit
             smooth:                 false
             mipmap:                 false
-            color:                  qgcPal.text
+            color:                  qgcPal.buttonText
             cache:                  false
             source:                 "/res/ArrowRight.svg"
         }

src/QtLocationPlugin/QMLControl/OfflineMap.qml

@@ -364,6 +364,7 @@ QGCView {
             allowVehicleLocationCenter: false
             gesture.flickDeceleration:  3000
             mapName:                    "OfflineMap"
+            qgcView:                    offlineMapView
 
             property bool isSatelliteMap: activeMapType.name.indexOf("Satellite") > -1 || activeMapType.name.indexOf("Hybrid") > -1
 

src/VideoStreaming/VideoReceiver.cc

@@ -63,6 +63,7 @@ VideoReceiver::VideoReceiver(QObject* parent)
     , _videoSink(NULL)
     , _socket(NULL)
     , _serverPresent(false)
+    , _rtspTestInterval_ms(5000)
 #endif
     , _videoSurface(NULL)
     , _videoRunning(false)
@@ -164,9 +165,9 @@ VideoReceiver::_socketError(QAbstractSocket::SocketError socketError)
     Q_UNUSED(socketError);
     _socket->deleteLater();
     _socket = NULL;
-    //-- Try again in 5 seconds
+    //-- Try again in a while
     if(_videoSettings->streamEnabled()->rawValue().toBool()) {
-        _timer.start(5000);
+        _timer.start(_rtspTestInterval_ms);
     }
 }
 #endif
@@ -194,7 +195,7 @@ VideoReceiver::_timeout()
         connect(_socket, static_cast<void (QTcpSocket::*)(QAbstractSocket::SocketError)>(&QTcpSocket::error), this, &VideoReceiver::_socketError);
         connect(_socket, &QTcpSocket::connected, this, &VideoReceiver::_connected);
         _socket->connectToHost(url.host(), url.port());
-        _timer.start(5000);
+        _timer.start(_rtspTestInterval_ms);
     }
 }
 #endif

src/VideoStreaming/VideoReceiver.h

@@ -49,54 +49,54 @@ public:
     ~VideoReceiver();
 
 #if defined(QGC_GST_STREAMING)
-    bool            running         () { return _running;   }
-    bool            recording       () { return _recording; }
-    bool            streaming       () { return _streaming; }
-    bool            starting        () { return _starting;  }
-    bool            stopping        () { return _stopping;  }
+    virtual bool            running         () { return _running;   }
+    virtual bool            recording       () { return _recording; }
+    virtual bool            streaming       () { return _streaming; }
+    virtual bool            starting        () { return _starting;  }
+    virtual bool            stopping        () { return _stopping;  }
 #endif
 
-    VideoSurface*   videoSurface    () { return _videoSurface; }
-    bool            videoRunning    () { return _videoRunning; }
-    QString         imageFile       () { return _imageFile; }
-    QString         videoFile       () { return _videoFile; }
-    bool            showFullScreen  () { return _showFullScreen; }
+    virtual VideoSurface*   videoSurface    () { return _videoSurface; }
+    virtual bool            videoRunning    () { return _videoRunning; }
+    virtual QString         imageFile       () { return _imageFile; }
+    virtual QString         videoFile       () { return _videoFile; }
+    virtual bool            showFullScreen  () { return _showFullScreen; }
 
-    void            grabImage       (QString imageFile);
+    virtual void            grabImage       (QString imageFile);
 
-    void        setShowFullScreen   (bool show) { _showFullScreen = show; emit showFullScreenChanged(); }
+    virtual void        setShowFullScreen   (bool show) { _showFullScreen = show; emit showFullScreenChanged(); }
 
 signals:
-    void videoRunningChanged        ();
-    void imageFileChanged           ();
-    void videoFileChanged           ();
-    void showFullScreenChanged      ();
+    void videoRunningChanged                ();
+    void imageFileChanged                   ();
+    void videoFileChanged                   ();
+    void showFullScreenChanged              ();
 #if defined(QGC_GST_STREAMING)
-    void recordingChanged           ();
-    void msgErrorReceived           ();
-    void msgEOSReceived             ();
-    void msgStateChangedReceived    ();
+    void recordingChanged                   ();
+    void msgErrorReceived                   ();
+    void msgEOSReceived                     ();
+    void msgStateChangedReceived            ();
 #endif
 
 public slots:
-    void start                      ();
-    void stop                       ();
-    void setUri                     (const QString& uri);
-    void stopRecording              ();
-    void startRecording             (const QString& videoFile = QString());
-
-private slots:
-    void _updateTimer               ();
+    virtual void start                      ();
+    virtual void stop                       ();
+    virtual void setUri                     (const QString& uri);
+    virtual void stopRecording              ();
+    virtual void startRecording             (const QString& videoFile = QString());
+
+protected slots:
+    virtual void _updateTimer               ();
 #if defined(QGC_GST_STREAMING)
-    void _timeout                   ();
-    void _connected                 ();
-    void _socketError               (QAbstractSocket::SocketError socketError);
-    void _handleError               ();
-    void _handleEOS                 ();
-    void _handleStateChanged        ();
+    virtual void _timeout                   ();
+    virtual void _connected                 ();
+    virtual void _socketError               (QAbstractSocket::SocketError socketError);
+    virtual void _handleError               ();
+    virtual void _handleEOS                 ();
+    virtual void _handleStateChanged        ();
 #endif
 
-private:
+protected:
 #if defined(QGC_GST_STREAMING)
 
     typedef struct
@@ -121,11 +121,12 @@ private:
     static gboolean             _onBusMessage           (GstBus* bus, GstMessage* message, gpointer user_data);
     static GstPadProbeReturn    _unlinkCallBack         (GstPad* pad, GstPadProbeInfo* info, gpointer user_data);
     static GstPadProbeReturn    _keyframeWatch          (GstPad* pad, GstPadProbeInfo* info, gpointer user_data);
-    void                        _detachRecordingBranch  (GstPadProbeInfo* info);
-    void                        _shutdownRecordingBranch();
-    void                        _shutdownPipeline       ();
-    void                        _cleanupOldVideos       ();
-    void                        _setVideoSink           (GstElement* sink);
+
+    virtual void                _detachRecordingBranch  (GstPadProbeInfo* info);
+    virtual void                _shutdownRecordingBranch();
+    virtual void                _shutdownPipeline       ();
+    virtual void                _cleanupOldVideos       ();
+    virtual void                _setVideoSink           (GstElement* sink);
 
     GstElement*     _pipeline;
     GstElement*     _pipelineStopRec;
@@ -136,6 +137,7 @@ private:
     QTimer          _timer;
     QTcpSocket*     _socket;
     bool            _serverPresent;
+    int             _rtspTestInterval_ms;
 
 #endif
 

src/api/QGCCorePlugin.cc

@@ -15,6 +15,7 @@
 #include "SettingsManager.h"
 #include "AppMessages.h"
 #include "QmlObjectListModel.h"
+#include "VideoReceiver.h"
 
 #include <QtQml>
 #include <QQmlEngine>
@@ -302,3 +303,8 @@ QmlObjectListModel* QGCCorePlugin::customMapItems(void)
 {
     return &_p->_emptyCustomMapItems;
 }
+
+VideoReceiver* QGCCorePlugin::createVideoReceiver(QObject* parent)
+{
+    return new VideoReceiver(parent);
+}

src/api/QGCCorePlugin.h

@@ -31,6 +31,7 @@ class QQmlApplicationEngine;
 class Vehicle;
 class LinkInterface;
 class QmlObjectListModel;
+class VideoReceiver;
 
 class QGCCorePlugin : public QGCTool
 {
@@ -98,6 +99,9 @@ public:
     /// Allows the plugin to override the creation of the root (native) window.
     virtual QQmlApplicationEngine* createRootWindow(QObject* parent);
 
+    /// Allows the plugin to override the creation of VideoReceiver.
+    virtual VideoReceiver* createVideoReceiver(QObject* parent);
+
     /// Allows the plugin to see all mavlink traffic to a vehicle
     /// @return true: Allow vehicle to continue processing, false: Vehicle should not process message
     virtual bool mavlinkMessage(Vehicle* vehicle, LinkInterface* link, mavlink_message_t message);

src/comm/LinkManager.cc

@@ -121,6 +121,8 @@ LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer&
         }
     }
         break;
+#else
+    Q_UNUSED(isPX4Flow)
 #endif
     case LinkConfiguration::TypeUdp:
         pLink = new UDPLink(config);

src/ui/MainWindowInner.qml

@@ -175,7 +175,7 @@ Item {
     MessageDialog {
         id:                 activeConnectionsCloseDialog
         title:              qsTr("%1 close").arg(QGroundControl.appName)
-        text:               qsTr("There are still active connections to vehicles. Do you want to disconnect these before closing?")
+        text:               qsTr("There are still active connections to vehicles. Are you sure you want to exit?")
         standardButtons:    StandardButton.Yes | StandardButton.Cancel
         modality:           Qt.ApplicationModal
         visible:            false