Merge pull request #834 from DonLakeFlyer/ThreadingFixes

Threading fixes

libs/opmapcontrol/src/mapwidget/mapgraphicitem.cpp

@@ -133,13 +133,15 @@ namespace mapcontrol
         temp=QImage(size,
                                QImage::Format_ARGB32_Premultiplied);
         temp.fill(0);
-        QPainter imagePainter(&temp);
-        imagePainter.translate(-boundingRect().topLeft());
-        imagePainter.scale(2*zoomdiff,2*zoomdiff);
-        paintImage(&imagePainter);
-        imagePainter.end();
-        lastimagepoint=Point(core->GetrenderOffset().X()*2*zoomdiff,core->GetrenderOffset().Y()*2*zoomdiff);
-        lastimage=temp;
+        if (!temp.isNull()) {
+            QPainter imagePainter(&temp);
+            imagePainter.translate(-boundingRect().topLeft());
+            imagePainter.scale(2*zoomdiff,2*zoomdiff);
+            paintImage(&imagePainter);
+            imagePainter.end();
+            lastimagepoint=Point(core->GetrenderOffset().X()*2*zoomdiff,core->GetrenderOffset().Y()*2*zoomdiff);
+            lastimage=temp;
+        }
     }
     void MapGraphicItem::paintImage(QPainter *painter)
     {

src/comm/ParameterList.cc

@@ -78,7 +78,7 @@ ParameterList::ParameterList()
                     (*paramIter).setOpalID(opalParams->value(s));
                     //                qDebug() << __FILE__ << " Line:" << __LINE__ << ": Successfully added " << s;
                 } else {
-                    qWarning() << __FILE__ << " Line:" << __LINE__ << ": " << s << " was not found in param list";
+                    qDebug() << __FILE__ << " Line:" << __LINE__ << ": " << s << " was not found in param list";
                 }
             }
         }

src/uas/QGCUASParamManager.cc

@@ -5,13 +5,11 @@
 #include <QMessageBox>
 
 #include "UASInterface.h"
-#include "UASParameterCommsMgr.h"
 
 QGCUASParamManager::QGCUASParamManager(QObject *parent) :
     QGCUASParamManagerInterface(parent),
     mav(NULL),
-    paramDataModel(this),
-    paramCommsMgr(NULL)
+    paramDataModel(this)
 {
 
 
@@ -25,8 +23,7 @@ QGCUASParamManager* QGCUASParamManager::initWithUAS(UASInterface* uas)
     loadParamMetaInfoCSV();
 
     paramDataModel.setUASID(mav->getUASID());
-    paramCommsMgr = new UASParameterCommsMgr(this);
-    paramCommsMgr->initWithUAS(uas);
+    paramCommsMgr.initWithUAS(uas);
 
     connectToModelAndComms();
 
@@ -36,10 +33,10 @@ QGCUASParamManager* QGCUASParamManager::initWithUAS(UASInterface* uas)
 void QGCUASParamManager::connectToModelAndComms()
 {
     // Pass along comms mgr status msgs
-    connect(paramCommsMgr, SIGNAL(parameterStatusMsgUpdated(QString,int)),
+    connect(&paramCommsMgr, SIGNAL(parameterStatusMsgUpdated(QString,int)),
             this, SIGNAL(parameterStatusMsgUpdated(QString,int)));
 
-    connect(paramCommsMgr, SIGNAL(parameterListUpToDate()),
+    connect(&paramCommsMgr, SIGNAL(parameterListUpToDate()),
             this, SIGNAL(parameterListUpToDate()));
 
     // Pass along data model updates
@@ -81,7 +78,7 @@ bool QGCUASParamManager::getParameterValue(int component, const QString& paramet
 void QGCUASParamManager::requestParameterUpdate(int component, const QString& parameter)
 {
     if (mav) {
-        paramCommsMgr->requestParameterUpdate(component,parameter);
+        paramCommsMgr.requestParameterUpdate(component,parameter);
     }
 }
 
@@ -95,7 +92,7 @@ void QGCUASParamManager::requestParameterList()
 {
     if (mav) {
         emit parameterStatusMsgUpdated(tr("Requested param list.. waiting"), UASParameterCommsMgr::ParamCommsStatusLevel_OK);
-        paramCommsMgr->requestParameterList();
+        paramCommsMgr.requestParameterList();
     }
 }
 
@@ -126,7 +123,7 @@ void QGCUASParamManager::setParameter(int compId, QString paramName, QVariant va
 
 void QGCUASParamManager::sendPendingParameters(bool persistAfterSend, bool forceSend)
 {
-    paramCommsMgr->sendPendingParameters(persistAfterSend, forceSend);
+    paramCommsMgr.sendPendingParameters(persistAfterSend, forceSend);
 }
 
 
@@ -156,7 +153,7 @@ void QGCUASParamManager::loadParamMetaInfoCSV()
     qDebug() << "loadParamMetaInfoCSV for autopilot: " << autopilot << " from file: " << fileName;
 
     if (!paramMetaFile.open(QIODevice::ReadOnly | QIODevice::Text))  {
-        qWarning() << "loadParamMetaInfoCSV couldn't open:" << fileName;
+        qDebug() << "loadParamMetaInfoCSV couldn't open:" << fileName;
         return;
     }
 
@@ -201,7 +198,7 @@ void QGCUASParamManager::copyVolatileParamsToPersistent()
         msgBox.exec();
     }
     else {
-        paramCommsMgr->writeParamsToPersistentStorage();
+        paramCommsMgr.writeParamsToPersistentStorage();
     }
 }
 
@@ -215,5 +212,5 @@ void QGCUASParamManager::copyPersistentParamsToVolatile()
 
 
 void QGCUASParamManager::requestRcCalibrationParamsUpdate() {
-    paramCommsMgr->requestRcCalibrationParamsUpdate();
+    paramCommsMgr.requestRcCalibrationParamsUpdate();
 }

src/uas/QGCUASParamManager.h

@@ -8,11 +8,11 @@
 
 #include "UASParameterDataModel.h"
 #include "QGCUASParamManagerInterface.h"
+#include "UASParameterCommsMgr.h"
 
 //forward declarations
 class QTextStream;
 class UASInterface;
-class UASParameterCommsMgr;
 
 class QGCUASParamManager : public QGCUASParamManagerInterface
 {
@@ -125,7 +125,7 @@ protected:
     // Parameter data model
     UASInterface*           mav;   ///< The MAV this manager is controlling
     UASParameterDataModel  paramDataModel;///< Shared data model of parameters
-    UASParameterCommsMgr*   paramCommsMgr; ///< Shared comms mgr for parameters
+    UASParameterCommsMgr   paramCommsMgr; ///< Shared comms mgr for parameters
 
 };
 

src/uas/UAS.cc

@@ -1418,7 +1418,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 unknownPackets.append(message.msgid);
 
                 emit unknownPacketReceived(uasId, message.compid, message.msgid);
-                qWarning() << "Unknown message from system:" << uasId << "message:" << message.msgid;
+                qDebug() << "Unknown message from system:" << uasId << "message:" << message.msgid;
             }
         }
             break;
@@ -1787,7 +1787,7 @@ void UAS::sendMessage(mavlink_message_t message)
 {
     if (!LinkManager::instance())
     {
-        qWarning() << "LINKMANAGER NOT AVAILABLE!";
+        qDebug() << "LINKMANAGER NOT AVAILABLE!";
         return;
     }
 
@@ -2931,6 +2931,8 @@ bool UAS::emergencyKILL()
 */
 void UAS::enableHilFlightGear(bool enable, QString options, bool sensorHil, QObject * configuration)
 {
+    Q_UNUSED(configuration);
+    
     QGCFlightGearLink* link = dynamic_cast<QGCFlightGearLink*>(simulation);
     if (!link || !simulation) {
         // Delete wrong sim
@@ -2944,7 +2946,8 @@ void UAS::enableHilFlightGear(bool enable, QString options, bool sensorHil, QObj
     link = dynamic_cast<QGCFlightGearLink*>(simulation);
     link->setStartupArguments(options);
     link->sensorHilEnabled(sensorHil);
-    QObject::connect(configuration, SIGNAL(barometerOffsetChanged(float)), link, SLOT(setBarometerOffset(float)));
+    // FIXME: this signal is not on the base hil configuration widget, only on the FG widget
+    //QObject::connect(configuration, SIGNAL(barometerOffsetChanged(float)), link, SLOT(setBarometerOffset(float)));
     if (enable)
     {
         startHil();

src/uas/UASParameterCommsMgr.cc

@@ -19,8 +19,9 @@ UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent) :
     silenceTimeout(1000),
     transmissionListMode(false)
 {
-
-
+    // We signal to ourselves to start/stop timer on our own thread
+    connect(this, SIGNAL(_startSilenceTimer(void)), this, SLOT(_startSilenceTimerOnThisThread(void)));
+    connect(this, SIGNAL(_stopSilenceTimer(void)), this, SLOT(_stopSilenceTimerOnThisThread(void)));
 }
 
 UASParameterCommsMgr* UASParameterCommsMgr::initWithUAS(UASInterface* uas)
@@ -254,7 +255,7 @@ void UASParameterCommsMgr::silenceTimerExpired()
         qDebug() << "maxSilenceTimeout exceeded: " << totalElapsed;
         int missingReads, missingWrites;
         clearRetransmissionLists(missingReads,missingWrites);
-        silenceTimer.stop();
+        emit _stopSilenceTimer(); // Stop timer on our thread;
         lastReceiveTime = 0;
         lastSilenceTimerReset = curTime;
         setParameterStatusMsg(tr("TIMEOUT: Abandoning %1 reads %2 writes after %3 seconds").arg(missingReads).arg(missingWrites).arg(totalElapsed/1000));
@@ -370,13 +371,14 @@ void UASParameterCommsMgr::updateSilenceTimer()
         if (0 == lastReceiveTime) {
             lastReceiveTime = lastSilenceTimerReset;
         }
-        silenceTimer.start(silenceTimeout);
+        // We signal this to ourselves so timer is started on the right thread
+        emit _startSilenceTimer();
     }
     else {
         //all parameters have been received, broadcast to UI
         emit parameterListUpToDate();
         resetAfterListReceive();
-        silenceTimer.stop();
+        emit _stopSilenceTimer(); // Stop timer on our thread;
         lastReceiveTime = 0;
     }
 
@@ -547,3 +549,12 @@ UASParameterCommsMgr::~UASParameterCommsMgr()
 
 }
 
+void UASParameterCommsMgr::_startSilenceTimerOnThisThread(void)
+{
+    silenceTimer.start(silenceTimeout);
+}
+
+void UASParameterCommsMgr::_stopSilenceTimerOnThisThread(void)
+{
+    silenceTimer.stop();
+}

src/uas/UASParameterCommsMgr.h

@@ -68,6 +68,11 @@ signals:
 
     /** @brief We updated the parameter status message */
     void parameterStatusMsgUpdated(QString msg, int level);
+    
+    
+    /// @brief We signal this to ourselves in order to get timer started/stopped on our own thread.
+    void _startSilenceTimer(void);
+    void _stopSilenceTimer(void);
 
 public slots:
     /** @brief  Iterate through all components, through all pending parameters and send them to UAS */
@@ -113,7 +118,10 @@ protected:
     bool transmissionListMode;       ///< Currently requesting list
     QMap<int, QMap<QString, QVariant>* > writesWaiting; ///< All writes that have not yet been ack'd, by component ID
 
-
+private slots:
+    /// @brief We signal this to ourselves in order to get timer started/stopped on our own thread.
+    void _startSilenceTimerOnThisThread(void);
+    void _stopSilenceTimerOnThisThread(void);
 };
     
 

src/uas/UASParameterDataModel.cc

@@ -268,7 +268,7 @@ void UASParameterDataModel::readUpdateParamsFromStream( QTextStream& stream)
                 if (!userWarned && (uasId != lineMavId)) {
                     //TODO warn the user somehow ?? Appears these are saved currently with mav ID 0 but mav ID is often nonzero?
                     QString msg = tr("The parameters in the stream have been saved from system %1, but the currently selected system has the ID %2.").arg(lineMavId).arg(uasId);
-                    qWarning() << msg ;
+                    qDebug() << msg ;
                     //MainWindow::instance()->showCriticalMessage(
                     //            tr("Parameter loading warning"),
                     //            tr("The parameters from the file %1 have been saved from system %2, but the currently selected system has the ID %3. If this is unintentional, please click on <READ> to revert to the parameters that are currently onboard").arg(fileName).arg(wpParams.at(0).toInt()).arg(mav->getUASID()));

src/uas/UASWaypointManager.cc

@@ -61,6 +61,10 @@ UASWaypointManager::UASWaypointManager(UAS* _uas)
     {
         uasid = 0;
     }
+    
+    // We signal to ourselves here so that tiemrs are started and stopped on correct thread
+    connect(this, SIGNAL(_startProtocolTimer(void)), this, SLOT(_startProtocolTimerOnThisThread(void)));
+    connect(this, SIGNAL(_stopProtocolTimer(void)), this, SLOT(_stopProtocolTimerOnThisThread(void)));
 }
 
 UASWaypointManager::~UASWaypointManager()
@@ -133,7 +137,7 @@ void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double l
 void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
 {
     if (current_state == WP_GETLIST && systemId == current_partner_systemid) {
-        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+        emit _startProtocolTimer(); // Start timer on correct thread
         current_retries = PROTOCOL_MAX_RETRIES;
 
         //Clear the old edit-list before receiving the new one
@@ -152,7 +156,7 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
             current_state = WP_GETLIST_GETWPS;
             sendWaypointRequest(current_wp_id);
         } else {
-            protocol_timer.stop();
+            emit _stopProtocolTimer();  // Stop the time on our thread
             QTime time = QTime::currentTime();
             emit updateStatusString(tr("Done. (updated at %1)").arg(time.toString()));
             current_state = WP_IDLE;
@@ -171,7 +175,7 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
 void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_mission_item_t *wp)
 {
     if (systemId == current_partner_systemid && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id) {
-        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+        emit _startProtocolTimer(); // Start timer on our thread
         current_retries = PROTOCOL_MAX_RETRIES;
 
         if(wp->seq == current_wp_id) {
@@ -202,7 +206,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
                 current_partner_systemid = 0;
                 current_partner_compid = 0;
 
-                protocol_timer.stop();
+                emit _stopProtocolTimer(); // Stop timer on our thread
                 emit readGlobalWPFromUAS(false);
                 QTime time = QTime::currentTime();
                 emit updateStatusString(tr("Done. (updated at %1)").arg(time.toString()));
@@ -230,7 +234,7 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
     if (compId == current_partner_compid || compId == MAV_COMP_ID_ALL) {
         if((current_state == WP_SENDLIST || current_state == WP_SENDLIST_SENDWPS) && (current_wp_id == waypoint_buffer.count()-1 && wpa->type == 0)) {
             //all waypoints sent and ack received
-            protocol_timer.stop();
+            emit _stopProtocolTimer();  // Stop timer on our thread
             current_state = WP_IDLE;
             readWaypoints(false); //Update "Onboard Waypoints"-tab immediately after the waypoint list has been sent.
             QTime time = QTime::currentTime();
@@ -269,10 +273,10 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
                 emit updateStatusString(tr("ERROR: Unspecified error"));
                 break;
             }
-            protocol_timer.stop();
+            emit _stopProtocolTimer();  // Stop timer on our thread
             current_state = WP_IDLE;
         } else if(current_state == WP_CLEARLIST) {
-            protocol_timer.stop();
+            emit _stopProtocolTimer(); // Stop timer on our thread
             current_state = WP_IDLE;
             QTime time = QTime::currentTime();
             emit updateStatusString(tr("Done. (updated at %1)").arg(time.toString()));
@@ -283,7 +287,7 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
 void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_mission_request_t *wpr)
 {
     if (systemId == current_partner_systemid && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1)))) {
-        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+        emit _startProtocolTimer();  // Start timer on our thread
         current_retries = PROTOCOL_MAX_RETRIES;
 
         if (wpr->seq < waypoint_buffer.count()) {
@@ -314,7 +318,7 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
     if (systemId == uasid) {
         // FIXME Petri
         if (current_state == WP_SETCURRENT) {
-            protocol_timer.stop();
+            emit _stopProtocolTimer();  // Stop timer on our thread
             current_state = WP_IDLE;
 
             // update the local main storage
@@ -362,7 +366,7 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
         if(current_state == WP_IDLE) {
 
             //send change to UAS - important to note: if the transmission fails, we have inconsistencies
-            protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+            emit _startProtocolTimer();  // Start timer on our thread
             current_retries = PROTOCOL_MAX_RETRIES;
 
             current_state = WP_SETCURRENT;
@@ -594,7 +598,7 @@ void UASWaypointManager::clearWaypointList()
 {
     if (current_state == WP_IDLE)
     {
-        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+        emit _startProtocolTimer(); // Start timer on our thread
         current_retries = PROTOCOL_MAX_RETRIES;
 
         current_state = WP_CLEARLIST;
@@ -847,7 +851,10 @@ void UASWaypointManager::readWaypoints(bool readToEdit)
             emit waypointEditableListChanged();
         }
         */
-        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+        
+        // We are signalling ourselves here so that the timer gets started on the right thread
+        emit _startProtocolTimer();
+
         current_retries = PROTOCOL_MAX_RETRIES;
 
         current_state = WP_GETLIST;
@@ -899,7 +906,7 @@ void UASWaypointManager::writeWaypoints()
     if (current_state == WP_IDLE) {
         // Send clear all if count == 0
         if (waypointsEditable.count() > 0) {
-            protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+            emit _startProtocolTimer();  // Start timer on our thread
             current_retries = PROTOCOL_MAX_RETRIES;
 
             current_count = waypointsEditable.count();
@@ -1128,3 +1135,14 @@ float UASWaypointManager::getHomeAltitudeOffsetDefault()
 {
     return defaultAltitudeHomeOffset;
 }
+
+
+void UASWaypointManager::_startProtocolTimerOnThisThread(void)
+{
+    protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+}
+
+void UASWaypointManager::_stopProtocolTimerOnThisThread(void)
+{
+    protocol_timer.stop();
+}

src/uas/UASWaypointManager.h

@@ -160,6 +160,13 @@ signals:
 
     void loadWPFile();                              ///< emits signal that a file wp has been load
     void readGlobalWPFromUAS(bool value);           ///< emits signal when finish to read Global WP from UAS
+    
+    void _startProtocolTimer(void);                 ///< emits signal to start protocol timer
+    void _stopProtocolTimer(void);                 ///< emits signal to stop protocol timer
+    
+private slots:
+    void _startProtocolTimerOnThisThread(void);                 ///< Starts the protocol timer
+    void _stopProtocolTimerOnThisThread(void);                 ///< Starts the protocol timer
 
 private:
     UAS* uas;                                       ///< Reference to the corresponding UAS

src/ui/QGCPX4VehicleConfig.cc

@@ -204,12 +204,12 @@ void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
     if (!autopilotdir.exists("general"))
     {
      //TODO: Throw some kind of error here. There is no general configuration directory
-        qWarning() << "Invalid general dir. no general configuration will be loaded.";
+        qDebug() << "Invalid general dir. no general configuration will be loaded.";
     }
     if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
     {
         //TODO: Throw an error here too, no autopilot specific configuration
-        qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
+        qDebug() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
     }
 
     // Generate widgets for the General tab.
@@ -380,23 +380,10 @@ void QGCPX4VehicleConfig::loadConfig()
     QGCToolWidget* tool;
 
     QDir autopilotdir(qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower());
-    QDir generaldir = QDir(autopilotdir.absolutePath() + "/general/widgets");
-    QDir vehicledir = QDir(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/widgets");
-    if (!autopilotdir.exists("general"))
-    {
-     //TODO: Throw some kind of error here. There is no general configuration directory
-        qWarning() << "Invalid general dir. no general configuration will be loaded.";
-    }
-    if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
-    {
-        //TODO: Throw an error here too, no autopilot specific configuration
-        qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
-    }
     qDebug() << autopilotdir.absolutePath();
-    qDebug() << generaldir.absolutePath();
-    qDebug() << vehicledir.absolutePath();
+
     QFile xmlfile(autopilotdir.absolutePath() + "/arduplane.pdef.xml");
-    if (xmlfile.exists() && !xmlfile.open(QIODevice::ReadOnly))
+    if (!xmlfile.open(QIODevice::ReadOnly))
     {
         loadQgcConfig(false);
         doneLoadingConfig = true;

src/ui/QGCVehicleConfig.cc

@@ -251,12 +251,12 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
     if (!autopilotdir.exists("general"))
     {
      //TODO: Throw some kind of error here. There is no general configuration directory
-        qWarning() << "Invalid general dir. no general configuration will be loaded.";
+        qDebug() << "Invalid general dir. no general configuration will be loaded.";
     }
     if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
     {
         //TODO: Throw an error here too, no autopilot specific configuration
-        qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
+        qDebug() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
     }
 
     // Generate widgets for the General tab.
@@ -475,12 +475,12 @@ void QGCVehicleConfig::loadConfig()
     if (!autopilotdir.exists("general"))
     {
      //TODO: Throw some kind of error here. There is no general configuration directory
-        qWarning() << "Invalid general dir. no general configuration will be loaded.";
+        qDebug() << "Invalid general dir. no general configuration will be loaded.";
     }
     if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
     {
         //TODO: Throw an error here too, no autopilot specific configuration
-        qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
+        qDebug() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
     }
     qDebug() << autopilotdir.absolutePath();
     qDebug() << generaldir.absolutePath();

src/ui/designer/QGCParamSlider.cc

@@ -269,7 +269,7 @@ void QGCParamSlider::setParamPending()
         uas->getParamManager()->sendPendingParameters(true, true);
     }
     else {
-        qWarning() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
+        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
     }
 }
 

src/ui/map3D/Pixhawk3DWidget.cc

@@ -66,7 +66,7 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
  , mViewParamWidget(new ViewParamWidget(mGlobalViewParams, mSystemViewParamMap, this, parent))
 {
     connect(m3DWidget, SIGNAL(sizeChanged(int,int)), this, SLOT(sizeChanged(int,int)));
-    connect(m3DWidget, SIGNAL(update()), this, SLOT(update()));
+    connect(m3DWidget, SIGNAL(updateWidget()), this, SLOT(updateWidget()));
 
     m3DWidget->setCameraParams(2.0f, 30.0f, 0.01f, 10000.0f);
     m3DWidget->init(15.0f);
@@ -1078,7 +1078,7 @@ Pixhawk3DWidget::sizeChanged(int width, int height)
 }
 
 void
-Pixhawk3DWidget::update(void)
+Pixhawk3DWidget::updateWidget(void)
 {
     MAV_FRAME frame = mGlobalViewParams->frame();
 

src/ui/map3D/Pixhawk3DWidget.h

@@ -97,7 +97,7 @@ private slots:
     void rotateTerrain(void);
 
     void sizeChanged(int width, int height);
-    void update(void);
+    void updateWidget(void);
 
 protected:
     void addModels(QVector< osg::ref_ptr<osg::Node> >& models,

src/ui/map3D/Q3DWidget.h

@@ -176,7 +176,7 @@ protected slots:
 
 signals:
     void sizeChanged(int width, int height);
-    void update(void);
+    void updateWidget(void);
 
 protected:
     /**

src/ui/px4_configuration/QGCPX4SensorCalibration.cc

@@ -280,22 +280,26 @@ void QGCPX4SensorCalibration::setGpsOrientation(int index)
 
 void QGCPX4SensorCalibration::setAutopilotImage(const QString &path)
 {
-    autopilotIcon.load(path);
+    if (autopilotIcon.load(path)) {
+        int w = ui->autopilotLabel->width();
+        int h = ui->autopilotLabel->height();
 
-    int w = ui->autopilotLabel->width();
-    int h = ui->autopilotLabel->height();
-
-    ui->autopilotLabel->setPixmap(autopilotIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation));
+        ui->autopilotLabel->setPixmap(autopilotIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation));
+    } else {
+        qDebug() << "AutoPilot Icon image did not load" << path;
+    }
 }
 
 void QGCPX4SensorCalibration::setGpsImage(const QString &path)
 {
-    gpsIcon.load(path);
+    if (gpsIcon.load(path)) {
+        int w = ui->gpsLabel->width();
+        int h = ui->gpsLabel->height();
 
-    int w = ui->gpsLabel->width();
-    int h = ui->gpsLabel->height();
-
-    ui->gpsLabel->setPixmap(gpsIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation));
+        ui->gpsLabel->setPixmap(gpsIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation));
+    } else {
+        qDebug() << "GPS Icon image did not load" << path;
+    }
 }
 
 void QGCPX4SensorCalibration::updateIcons()