Merge pull request #5073 from DonLakeFlyer/Fixes

Pile of fixes

src/AnalyzeView/MavlinkConsoleController.cc

@@ -80,9 +80,10 @@ MavlinkConsoleController::_receiveData(uint8_t device, uint8_t, uint16_t, uint32
 void
 MavlinkConsoleController::_sendSerialData(QByteArray data, bool close)
 {
-    Q_ASSERT(_vehicle);
-    if (!_vehicle)
+    if (!_vehicle) {
+        qWarning() << "Internal error";
         return;
+    }
 
     // Send maximum sized chunks until the complete buffer is transmitted
     while(data.size()) {

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -21,7 +21,7 @@ AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     : QObject(parent)
     , _vehicle(vehicle)
     , _firmwarePlugin(vehicle->firmwarePlugin())
-	, _setupComplete(false)
+    , _setupComplete(false)
 {
 
 }
@@ -33,27 +33,29 @@ AutoPilotPlugin::~AutoPilotPlugin()
 
 void AutoPilotPlugin::_recalcSetupComplete(void)
 {
-	bool newSetupComplete = true;
-	
-	foreach(const QVariant componentVariant, vehicleComponents()) {
-		VehicleComponent* component = qobject_cast<VehicleComponent*>(qvariant_cast<QObject *>(componentVariant));
-		Q_ASSERT(component);
-		
-		if (!component->setupComplete()) {
-			newSetupComplete = false;
-			break;
-		}
-	}
-	
-	if (_setupComplete != newSetupComplete) {
-		_setupComplete = newSetupComplete;
-		emit setupCompleteChanged(_setupComplete);
-	}
+    bool newSetupComplete = true;
+
+    foreach(const QVariant componentVariant, vehicleComponents()) {
+        VehicleComponent* component = qobject_cast<VehicleComponent*>(qvariant_cast<QObject *>(componentVariant));
+        if (component) {
+            if (!component->setupComplete()) {
+                newSetupComplete = false;
+                break;
+            }
+        } else {
+            qWarning() << "AutoPilotPlugin::_recalcSetupComplete Incorrectly typed VehicleComponent";
+        }
+    }
+
+    if (_setupComplete != newSetupComplete) {
+        _setupComplete = newSetupComplete;
+        emit setupCompleteChanged(_setupComplete);
+    }
 }
 
 bool AutoPilotPlugin::setupComplete(void)
 {
-	return _setupComplete;
+    return _setupComplete;
 }
 
 void AutoPilotPlugin::parametersReadyPreChecks(void)

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -16,7 +16,9 @@
 GenericAutoPilotPlugin::GenericAutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
     AutoPilotPlugin(vehicle, parent)
 {
-    Q_ASSERT(vehicle);
+    if (!vehicle) {
+        qWarning() << "Internal error";
+    }
 }
 
 const QVariantList& GenericAutoPilotPlugin::vehicleComponents(void)

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -15,96 +15,11 @@
 #include "QGCQmlWidgetHolder.h"
 #include "ParameterManager.h"
 
-#if 0
-// Broken by latest mavlink module changes. Not used yet. Comment out for now.
-// Discussing mavlink fix.
-struct mavType {
-    int         type;
-    const char* description;
-};
-
-/// @brief Used to translate from MAV_TYPE_* id to user string
-static const struct mavType mavTypeInfo[] = {
-    { MAV_TYPE_GENERIC,             "Generic" },
-    { MAV_TYPE_FIXED_WING,          "Fixed Wing" },
-    { MAV_TYPE_QUADROTOR,           "Quadrotor" },
-    { MAV_TYPE_COAXIAL,             "Coaxial" },
-    { MAV_TYPE_HELICOPTER,          "Helicopter"},
-    { MAV_TYPE_ANTENNA_TRACKER,     "Antenna Tracker" },
-    { MAV_TYPE_GCS,                 "Ground Control Station" },
-    { MAV_TYPE_AIRSHIP,             "Airship" },
-    { MAV_TYPE_FREE_BALLOON,        "Free Balloon" },
-    { MAV_TYPE_ROCKET,              "Rocket" },
-    { MAV_TYPE_GROUND_ROVER,        "Ground Rover" },
-    { MAV_TYPE_SURFACE_BOAT,        "Boat" },
-    { MAV_TYPE_SUBMARINE,           "Submarine" },
-    { MAV_TYPE_HEXAROTOR,           "Hexarotor" },
-    { MAV_TYPE_OCTOROTOR,           "Octorotor" },
-    { MAV_TYPE_TRICOPTER,           "Tricopter" },
-    { MAV_TYPE_FLAPPING_WING,       "Flapping Wing" },
-    { MAV_TYPE_KITE,                "Kite" },
-    { MAV_TYPE_ONBOARD_CONTROLLER,  "Onbard companion controller" },
-    { MAV_TYPE_VTOL_DUOROTOR,       "Two-rotor VTOL" },
-    { MAV_TYPE_VTOL_QUADROTOR,      "Quad-rotor VTOL" },
-    { MAV_TYPE_VTOL_RESERVED1,      "Reserved" },
-    { MAV_TYPE_VTOL_RESERVED2,      "Reserved" },
-    { MAV_TYPE_VTOL_RESERVED3,      "Reserved" },
-    { MAV_TYPE_VTOL_RESERVED4,      "Reserved" },
-    { MAV_TYPE_VTOL_RESERVED5,      "Reserved" },
-    { MAV_TYPE_GIMBAL,              "Gimbal" },
-};
-static size_t cMavTypes = sizeof(mavTypeInfo) / sizeof(mavTypeInfo[0]);
-#endif
-
 AirframeComponent::AirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
     VehicleComponent(vehicle, autopilot, parent),
     _name(tr("Airframe"))
 {
-#if 0
-    // Broken by latest mavlink module changes. Not used yet. Comment out for now.
-    // Discussing mavlink fix.
-    Q_UNUSED(mavTypeInfo);  // Keeping this around for later use
-    
-    // Validate that our mavTypeInfo array hasn't gotten out of sync
-    
-    qDebug() << cMavTypes << MAV_TYPE_ENUM_END;
-    Q_ASSERT(cMavTypes == MAV_TYPE_ENUM_END);
-    
-    static const int mavTypes[] = {
-        MAV_TYPE_GENERIC,
-        MAV_TYPE_FIXED_WING,
-        MAV_TYPE_QUADROTOR,
-        MAV_TYPE_COAXIAL,
-        MAV_TYPE_HELICOPTER,
-        MAV_TYPE_ANTENNA_TRACKER,
-        MAV_TYPE_GCS,
-        MAV_TYPE_AIRSHIP,
-        MAV_TYPE_FREE_BALLOON,
-        MAV_TYPE_ROCKET,
-        MAV_TYPE_GROUND_ROVER,
-        MAV_TYPE_SURFACE_BOAT,
-        MAV_TYPE_SUBMARINE,
-        MAV_TYPE_HEXAROTOR,
-        MAV_TYPE_OCTOROTOR,
-        MAV_TYPE_TRICOPTER,
-        MAV_TYPE_FLAPPING_WING,
-        MAV_TYPE_KITE,
-        MAV_TYPE_ONBOARD_CONTROLLER,
-        MAV_TYPE_VTOL_DUOROTOR,
-        MAV_TYPE_VTOL_QUADROTOR,
-        MAV_TYPE_VTOL_RESERVED1,
-        MAV_TYPE_VTOL_RESERVED2,
-        MAV_TYPE_VTOL_RESERVED3,
-        MAV_TYPE_VTOL_RESERVED4,
-        MAV_TYPE_VTOL_RESERVED5,
-        MAV_TYPE_GIMBAL,
-    };
-    Q_UNUSED(mavTypes); // Keeping this around for later use
-    
-    for (size_t i=0; i<cMavTypes; i++) {
-        Q_ASSERT(mavTypeInfo[i].type == mavTypes[i]);
-    }
-#endif
+
 }
 
 QString AirframeComponent::name(void) const

src/AutoPilotPlugins/PX4/AirframeComponentController.cc

@@ -57,7 +57,9 @@ AirframeComponentController::AirframeComponentController(void) :
             Q_CHECK_PTR(pInfo);
 
             if (_autostartId == pInfo->autostartId) {
-                Q_ASSERT(!autostartFound);
+                if (autostartFound) {
+                    qWarning() << "AirframeComponentController::AirframeComponentController duplicate ids found:" << _autostartId;
+                }
                 autostartFound = true;
                 _currentAirframeType = pType->name;
                 _currentVehicleName = pInfo->name;

src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc

@@ -30,7 +30,6 @@ PX4AirframeLoader::PX4AirframeLoader(AutoPilotPlugin* autopilot, UASInterface* u
     Q_UNUSED(autopilot);
     Q_UNUSED(uas);
     Q_UNUSED(parent);
-    Q_ASSERT(uas);
 }
 
 QString PX4AirframeLoader::aiframeMetaDataFile(void)
@@ -51,7 +50,10 @@ void PX4AirframeLoader::loadAirframeMetaData(void)
 
     qCDebug(PX4AirframeLoaderLog) << "Loading PX4 airframe fact meta data";
 
-    Q_ASSERT(AirframeComponentAirframes::get().count() == 0);
+    if (AirframeComponentAirframes::get().count() != 0) {
+        qCWarning(PX4AirframeLoaderLog) << "Internal error";
+        return;
+    }
 
     QString airframeFilename;
 
@@ -67,11 +69,12 @@ void PX4AirframeLoader::loadAirframeMetaData(void)
     qCDebug(PX4AirframeLoaderLog) << "Loading meta data file:" << airframeFilename;
 
     QFile xmlFile(airframeFilename);
-    Q_ASSERT(xmlFile.exists());
+    if (!xmlFile.exists()) {
+        qCWarning(PX4AirframeLoaderLog) << "Internal error";
+        return;
+    }
 
     bool success = xmlFile.open(QIODevice::ReadOnly);
-    Q_UNUSED(success);
-    Q_ASSERT(success);
 
     if (!success) {
         qCWarning(PX4AirframeLoaderLog) << "Failed opening airframe XML";

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -41,7 +41,10 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     , _tuningComponent(NULL)
     , _mixersComponent(NULL)
 {
-    Q_ASSERT(vehicle);
+    if (!vehicle) {
+        qWarning() << "Internal error";
+        return;
+    }
 
     _airframeFacts = new PX4AirframeLoader(this, _vehicle->uas(), this);
     Q_CHECK_PTR(_airframeFacts);
@@ -57,68 +60,70 @@ PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
 const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
 {
     if (_components.count() == 0 && !_incorrectParameterVersion) {
-        Q_ASSERT(_vehicle);
-
-        if (_vehicle->parameterManager()->parametersReady()) {
-            _airframeComponent = new AirframeComponent(_vehicle, this);
-            _airframeComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
-
-            _radioComponent = new PX4RadioComponent(_vehicle, this);
-            _radioComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
-
-            if (!_vehicle->hilMode()) {
-                _sensorsComponent = new SensorsComponent(_vehicle, this);
-                _sensorsComponent->setupTriggerSignals();
-                _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
-            }
-
-            _flightModesComponent = new FlightModesComponent(_vehicle, this);
-            _flightModesComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
-
-            _powerComponent = new PowerComponent(_vehicle, this);
-            _powerComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
+        if (_vehicle) {
+            if (_vehicle->parameterManager()->parametersReady()) {
+                _airframeComponent = new AirframeComponent(_vehicle, this);
+                _airframeComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
+
+                _radioComponent = new PX4RadioComponent(_vehicle, this);
+                _radioComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
+
+                if (!_vehicle->hilMode()) {
+                    _sensorsComponent = new SensorsComponent(_vehicle, this);
+                    _sensorsComponent->setupTriggerSignals();
+                    _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
+                }
+
+                _flightModesComponent = new FlightModesComponent(_vehicle, this);
+                _flightModesComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
+
+                _powerComponent = new PowerComponent(_vehicle, this);
+                _powerComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
 
 #if 0
-            // Coming soon
-            _motorComponent = new MotorComponent(_vehicle, this);
-            _motorComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_motorComponent));
+                // Coming soon
+                _motorComponent = new MotorComponent(_vehicle, this);
+                _motorComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_motorComponent));
 #endif
 
-            _safetyComponent = new SafetyComponent(_vehicle, this);
-            _safetyComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
+                _safetyComponent = new SafetyComponent(_vehicle, this);
+                _safetyComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
 
-            _tuningComponent = new PX4TuningComponent(_vehicle, this);
-            _tuningComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));
+                _tuningComponent = new PX4TuningComponent(_vehicle, this);
+                _tuningComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));
 
 #if 0
-            // Coming soon
-            _mixersComponent = new MixersComponent(_vehicle, this);
-            _mixersComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_mixersComponent));
+                // Coming soon
+                _mixersComponent = new MixersComponent(_vehicle, this);
+                _mixersComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_mixersComponent));
 #endif
 
-            //-- Is there support for cameras?
-            if(_vehicle->parameterManager()->parameterExists(_vehicle->id(), "TRIG_MODE")) {
-                _cameraComponent = new CameraComponent(_vehicle, this);
-                _cameraComponent->setupTriggerSignals();
-                _components.append(QVariant::fromValue((VehicleComponent*)_cameraComponent));
-            }
-
-            //-- Is there an ESP8266 Connected?
-            if(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
-                _esp8266Component = new ESP8266Component(_vehicle, this);
-                _esp8266Component->setupTriggerSignals();
-                _components.append(QVariant::fromValue((VehicleComponent*)_esp8266Component));
+                //-- Is there support for cameras?
+                if(_vehicle->parameterManager()->parameterExists(_vehicle->id(), "TRIG_MODE")) {
+                    _cameraComponent = new CameraComponent(_vehicle, this);
+                    _cameraComponent->setupTriggerSignals();
+                    _components.append(QVariant::fromValue((VehicleComponent*)_cameraComponent));
+                }
+
+                //-- Is there an ESP8266 Connected?
+                if(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
+                    _esp8266Component = new ESP8266Component(_vehicle, this);
+                    _esp8266Component->setupTriggerSignals();
+                    _components.append(QVariant::fromValue((VehicleComponent*)_esp8266Component));
+                }
+            } else {
+                qWarning() << "Call to vehicleCompenents prior to parametersReady";
             }
         } else {
-            qWarning() << "Call to vehicleCompenents prior to parametersReady";
+            qWarning() << "Internal error";
         }
     }
 

src/AutoPilotPlugins/PX4/SafetyComponent.qml

@@ -123,7 +123,7 @@ SetupPage {
                         sourceSize.height:  height
                         mipmap:             true
                         fillMode:           Image.PreserveAspectFit
-                        source:             "/qmlimages/check.png"///qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
+                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
                         Layout.rowSpan:     3
                         Layout.minimumWidth:    _imageWidth
                     }
@@ -177,7 +177,7 @@ SetupPage {
                         sourceSize.height:  height
                         mipmap:             true
                         fillMode:           Image.PreserveAspectFit
-                        //source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
+                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
                         Layout.rowSpan:     3
                         Layout.minimumWidth:    _imageWidth
                     }
@@ -222,7 +222,7 @@ SetupPage {
                         sourceSize.height:  height
                         mipmap:             true
                         fillMode:           Image.PreserveAspectFit
-                        //source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
+                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
                         Layout.rowSpan:     3
                         Layout.minimumWidth:    _imageWidth
                     }
@@ -267,7 +267,7 @@ SetupPage {
                         sourceSize.height:  height
                         mipmap:             true
                         fillMode:           Image.PreserveAspectFit
-                        //source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
+                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
                         Layout.rowSpan:     3
                         Layout.minimumWidth:    _imageWidth
                     }
@@ -330,7 +330,7 @@ SetupPage {
                         sourceSize.height:      height
                         mipmap:                 true
                         fillMode:               Image.PreserveAspectFit
-                        //source:                 controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
+                        source:                 controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
                         Layout.rowSpan:         7
                         Layout.minimumWidth:    _imageWidth
                     }
@@ -424,7 +424,7 @@ SetupPage {
                         sourceSize.height:      height
                         mipmap:                 true
                         fillMode:               Image.PreserveAspectFit
-                        //source:                 controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
+                        source:                 controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
                         Layout.rowSpan:         landVelocityLabel.visible ? 2 : 1
                         Layout.minimumWidth:    _imageWidth
                     }

src/AutoPilotPlugins/PX4/SensorsComponentController.cc

@@ -73,7 +73,10 @@ bool SensorsComponentController::usingUDPLink(void)
 /// Appends the specified text to the status log area in the ui
 void SensorsComponentController::_appendStatusLog(const QString& text)
 {
-    Q_ASSERT(_statusLog);
+    if (!_statusLog) {
+        qWarning() << "Internal error";
+        return;
+    }
     
     QVariant returnedValue;
     QVariant varText = text;
@@ -229,8 +232,11 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
         bool ok;
         int p = percent.toInt(&ok);
         if (ok) {
-            Q_ASSERT(_progressBar);
-            _progressBar->setProperty("value", (float)(p / 100.0));
+            if (_progressBar) {
+                _progressBar->setProperty("value", (float)(p / 100.0));
+            } else {
+                qWarning() << "Internal error";
+            }
         }
         return;
     }
@@ -324,7 +330,7 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
                 _gyroCalInProgress = true;
                 _orientationCalDownSideVisible = true;
             } else {
-                Q_ASSERT(false);
+                qWarning() << "Unknown calibration message type" << text;
             }
             emit orientationCalSidesDoneChanged();
             emit orientationCalSidesVisibleChanged();

src/FactSystem/ParameterManager.cc

@@ -303,11 +303,15 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
 
     _dataMutex.unlock();
 
-    Q_ASSERT(_mapParameterName2Variant[componentId].contains(parameterName));
-
-    Fact* fact = _mapParameterName2Variant[componentId][parameterName].value<Fact*>();
-    Q_ASSERT(fact);
-    fact->_containerSetRawValue(value);
+    Fact* fact = NULL;
+    if (_mapParameterName2Variant[componentId].contains(parameterName)) {
+        fact = _mapParameterName2Variant[componentId][parameterName].value<Fact*>();
+    }
+    if (fact) {
+        fact->_containerSetRawValue(value);
+    } else {
+        qWarning() << "Internal error";
+    }
 
     if (componentParamsComplete) {
         if (componentId == _vehicle->defaultComponentId()) {
@@ -352,18 +356,24 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
 void ParameterManager::_valueUpdated(const QVariant& value)
 {
     Fact* fact = qobject_cast<Fact*>(sender());
-    Q_ASSERT(fact);
+    if (!fact) {
+        qWarning() << "Internal error";
+        return;
+    }
 
     int componentId = fact->componentId();
     QString name = fact->name();
 
     _dataMutex.lock();
 
-    Q_ASSERT(_waitingWriteParamNameMap.contains(componentId));
-    _waitingWriteParamNameMap[componentId].remove(name);    // Remove any old entry
-    _waitingWriteParamNameMap[componentId][name] = 0;       // Add new entry and set retry count
-    _waitingParamTimeoutTimer.start();
-    _saveRequired = true;
+    if (_waitingWriteParamNameMap.contains(componentId)) {
+        _waitingWriteParamNameMap[componentId].remove(name);    // Remove any old entry
+        _waitingWriteParamNameMap[componentId][name] = 0;       // Add new entry and set retry count
+        _waitingParamTimeoutTimer.start();
+        _saveRequired = true;
+    } else {
+        qWarning() << "Internal error";
+    }
 
     _dataMutex.unlock();
 
@@ -397,7 +407,6 @@ void ParameterManager::refreshAllParameters(uint8_t componentId)
     _dataMutex.unlock();
 
     MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
-    Q_ASSERT(mavlink);
 
     mavlink_message_t msg;
     mavlink_msg_param_request_list_pack_chan(mavlink->getSystemId(),
@@ -432,8 +441,6 @@ void ParameterManager::refreshParameter(int componentId, const QString& name)
 
     _dataMutex.lock();
 
-    Q_ASSERT(_waitingReadParamNameMap.contains(componentId));
-
     if (_waitingReadParamNameMap.contains(componentId)) {
         QString mappedParamName = _remapParamNameToVersion(name);
 
@@ -441,6 +448,8 @@ void ParameterManager::refreshParameter(int componentId, const QString& name)
         _waitingReadParamNameMap[componentId][mappedParamName] = 0;     // Add new wait entry and update retry count
         qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "restarting _waitingParamTimeout";
         _waitingParamTimeoutTimer.start();
+    } else {
+        qWarning() << "Internal error";
     }
 
     _dataMutex.unlock();

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -245,9 +245,9 @@ FlightMap {
         }
     }    
 
-    // Camera points
+    // Camera trigger points
     MapItemView {
-        model: _missionController.cameraPoints
+        model: _activeVehicle ? _activeVehicle.cameraTriggerPoints : 0
 
         delegate: CameraTriggerIndicator {
             coordinate:     object.coordinate

src/GPS/GPSManager.cc

@@ -28,8 +28,6 @@ GPSManager::~GPSManager()
 
 void GPSManager::connectGPS(const QString& device)
 {
-    Q_ASSERT(_toolbox);
-
     RTKSettings* rtkSettings = qgcApp()->toolbox()->settingsManager()->rtkSettings();
 
     cleanup();

src/MissionManager/MissionController.cc

@@ -1384,7 +1384,6 @@ void MissionController::managerVehicleChanged(Vehicle* managerVehicle)
     connect(_missionManager, &MissionManager::currentIndexChanged,      this, &MissionController::_currentMissionIndexChanged);
     connect(_missionManager, &MissionManager::lastCurrentIndexChanged,  this, &MissionController::resumeMissionIndexChanged);
     connect(_missionManager, &MissionManager::resumeMissionReady,       this, &MissionController::resumeMissionReady);
-    connect(_missionManager, &MissionManager::cameraFeedback,           this, &MissionController::_cameraFeedback);
     connect(_managerVehicle, &Vehicle::homePositionChanged,             this, &MissionController::_managerVehicleHomePositionChanged);
     connect(_managerVehicle, &Vehicle::defaultCruiseSpeedChanged,       this, &MissionController::_recalcMissionFlightStatus);
     connect(_managerVehicle, &Vehicle::defaultHoverSpeedChanged,        this, &MissionController::_recalcMissionFlightStatus);
@@ -1664,19 +1663,6 @@ void MissionController::applyDefaultMissionAltitude(void)
     }
 }
 
-void MissionController::_cameraFeedback(QGeoCoordinate imageCoordinate, int index)
-{
-    Q_UNUSED(index);
-    if (!_editMode) {
-        _cameraPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
-    }
-}
-
-void MissionController::clearCameraPoints(void)
-{
-    _cameraPoints.clearAndDeleteContents();
-}
-
 void MissionController::_progressPctChanged(double progressPct)
 {
     if (!qFuzzyCompare(progressPct, _progressPct)) {

src/MissionManager/MissionController.h

@@ -64,7 +64,6 @@ public:
 
     Q_PROPERTY(QmlObjectListModel*  visualItems             READ visualItems                NOTIFY visualItemsChanged)
     Q_PROPERTY(QmlObjectListModel*  waypointLines           READ waypointLines              NOTIFY waypointLinesChanged)
-    Q_PROPERTY(QmlObjectListModel*  cameraPoints            READ cameraPoints               CONSTANT)
     Q_PROPERTY(QStringList          complexMissionItemNames READ complexMissionItemNames    NOTIFY complexMissionItemNamesChanged)
     Q_PROPERTY(QGeoCoordinate       plannedHomePosition     READ plannedHomePosition        NOTIFY plannedHomePositionChanged)
 
@@ -106,8 +105,6 @@ public:
     /// Sends the mission items to the specified vehicle
     static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems);
 
-    Q_INVOKABLE void clearCameraPoints(void);
-
     bool loadJsonFile(QFile& file, QString& errorString);
     bool loadTextFile(QFile& file, QString& errorString);
 
@@ -130,7 +127,6 @@ public:
 
     QmlObjectListModel* visualItems             (void) { return _visualItems; }
     QmlObjectListModel* waypointLines           (void) { return &_waypointLines; }
-    QmlObjectListModel* cameraPoints            (void) { return &_cameraPoints; }
     QStringList         complexMissionItemNames (void) const;
     QGeoCoordinate      plannedHomePosition     (void) const;
     double              progressPct             (void) const { return _progressPct; }
@@ -178,7 +174,6 @@ private slots:
     void _recalcWaypointLines(void);
     void _recalcMissionFlightStatus(void);
     void _updateContainsItems(void);
-    void _cameraFeedback(QGeoCoordinate imageCoordinate, int index);
     void _progressPctChanged(double progressPct);
     void _visualItemsDirtyChanged(bool dirty);
     void _managerSendComplete(void);
@@ -220,7 +215,6 @@ private:
     QmlObjectListModel*     _visualItems;
     MissionSettingsItem*    _settingsItem;
     QmlObjectListModel      _waypointLines;
-    QmlObjectListModel      _cameraPoints;
     CoordVectHashTable      _linesTable;
     bool                    _firstItemsFromVehicle;
     bool                    _itemsRequested;

src/MissionManager/MissionManager.cc

@@ -680,31 +680,6 @@ void MissionManager::_handleMissionAck(const mavlink_message_t& message)
         break;
     }
 }
-
-void MissionManager::_handleCameraFeedback(const mavlink_message_t& message)
-{
-    mavlink_camera_feedback_t feedback;
-
-    mavlink_msg_camera_feedback_decode(&message, &feedback);
-
-    QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lng / qPow(10.0, 7.0), feedback.alt_msl);
-    qCDebug(MissionManagerLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.img_idx;
-    emit cameraFeedback(imageCoordinate, feedback.img_idx);
-}
-
-void MissionManager::_handleCameraImageCaptured(const mavlink_message_t& message)
-{
-    mavlink_camera_image_captured_t feedback;
-
-    mavlink_msg_camera_image_captured_decode(&message, &feedback);
-
-    QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lon / qPow(10.0, 7.0), feedback.alt);
-    qCDebug(MissionManagerLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.image_index << feedback.capture_result;
-    if (feedback.capture_result == 1) {
-        emit cameraFeedback(imageCoordinate, feedback.image_index);
-    }
-}
-
 /// Called when a new mavlink message for out vehicle is received
 void MissionManager::_mavlinkMessageReceived(const mavlink_message_t& message)
 {
@@ -740,14 +715,6 @@ void MissionManager::_mavlinkMessageReceived(const mavlink_message_t& message)
     case MAVLINK_MSG_ID_MISSION_CURRENT:
         _handleMissionCurrent(message);
         break;
-
-    case MAVLINK_MSG_ID_CAMERA_FEEDBACK:
-        _handleCameraFeedback(message);
-        break;
-
-    case MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED:
-        _handleCameraImageCaptured(message);
-        break;
     }
 }
 

src/MissionManager/MissionManager.h

@@ -88,7 +88,6 @@ signals:
     void currentIndexChanged(int currentIndex);
     void lastCurrentIndexChanged(int lastCurrentIndex);
     void resumeMissionReady(void);
-    void cameraFeedback(QGeoCoordinate imageCoordinate, int index);
     void progressPct(double progressPercentPct);
     void removeAllComplete              (void);
     void sendComplete                   (void);
@@ -122,8 +121,6 @@ private:
     void _handleMissionRequest(const mavlink_message_t& message, bool missionItemInt);
     void _handleMissionAck(const mavlink_message_t& message);
     void _handleMissionCurrent(const mavlink_message_t& message);
-    void _handleCameraFeedback(const mavlink_message_t& message);
-    void _handleCameraImageCaptured(const mavlink_message_t& message);
     void _requestNextMissionItem(void);
     void _clearMissionItems(void);
     void _sendError(ErrorCode_t errorCode, const QString& errorMsg);

src/PlanView/PlanView.qml

@@ -231,7 +231,8 @@ QGCView {
         id:             fileDialog
         qgcView:        _qgcView
         folder:         QGroundControl.settingsManager.appSettings.missionSavePath
-        fileExtension:  masterController.fileExtension
+        fileExtension:  QGroundControl.settingsManager.appSettings.planFileExtension
+        fileExtension2: QGroundControl.settingsManager.appSettings.missionFileExtension
 
         onAcceptedForSave: {
             masterController.saveToFile(file)
@@ -653,7 +654,7 @@ QGCView {
         id: syncLoadFromFileOverwrite
         QGCViewMessage {
             id:         syncLoadFromVehicleCheck
-            message:   qsTr("You have unsaved/unsent changes. Loading a from a file will lose these changes. Are you sure you want to load from a file?")
+            message:   qsTr("You have unsaved/unsent changes. Loading from a file will lose these changes. Are you sure you want to load from a file?")
             function accept() {
                 hideDialog()
                 masterController.loadFromSelectedFile()

src/QGCApplication.cc

@@ -176,7 +176,6 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
     , _toolbox(NULL)
     , _bluetoothAvailable(false)
 {
-    Q_ASSERT(_app == NULL);
     _app = this;
 
     // This prevents usage of QQuickWidget to fail since it doesn't support native widget siblings
@@ -193,11 +192,11 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
         if (getuid() == 0) {
             QMessageBox msgBox;
             msgBox.setInformativeText(tr("You are running %1 as root. "
-                                      "You should not do this since it will cause other issues with %1. "
-                                      "%1 will now exit. "
-                                      "If you are having serial port issues on Ubuntu, execute the following commands to fix most issues:\n"
-                                      "sudo usermod -a -G dialout $USER\n"
-                                      "sudo apt-get remove modemmanager").arg(qgcApp()->applicationName()));
+                                         "You should not do this since it will cause other issues with %1. "
+                                         "%1 will now exit. "
+                                         "If you are having serial port issues on Ubuntu, execute the following commands to fix most issues:\n"
+                                         "sudo usermod -a -G dialout $USER\n"
+                                         "sudo apt-get remove modemmanager").arg(qgcApp()->applicationName()));
             msgBox.setStandardButtons(QMessageBox::Ok);
             msgBox.setDefaultButton(QMessageBox::Ok);
             msgBox.exec();
@@ -473,7 +472,6 @@ void QGCApplication::clearDeleteAllSettingsNextBoot(void)
 /// @brief Returns the QGCApplication object singleton.
 QGCApplication* qgcApp(void)
 {
-    Q_ASSERT(QGCApplication::_app);
     return QGCApplication::_app;
 }
 
@@ -612,19 +610,19 @@ void QGCApplication::reportMissingParameter(int componentId, const QString& name
 /// Called when the delay timer fires to show the missing parameters warning
 void QGCApplication::_missingParamsDisplay(void)
 {
-    Q_ASSERT(_missingParams.count());
-
-    QString params;
-    foreach (const QString &name, _missingParams) {
-        if (params.isEmpty()) {
-            params += name;
-        } else {
-            params += QString(", %1").arg(name);
+    if (_missingParams.count()) {
+        QString params;
+        foreach (const QString &name, _missingParams) {
+            if (params.isEmpty()) {
+                params += name;
+            } else {
+                params += QString(", %1").arg(name);
+            }
         }
-    }
-    _missingParams.clear();
+        _missingParams.clear();
 
-    showMessage(QString("Parameters are missing from firmware. You may be running a version of firmware QGC does not work correctly with or your firmware has a bug in it. Missing params: %1").arg(params));
+        showMessage(QString("Parameters are missing from firmware. You may be running a version of firmware QGC does not work correctly with or your firmware has a bug in it. Missing params: %1").arg(params));
+    }
 }
 
 QObject* QGCApplication::_rootQmlObject()

src/QGCFileDownload.cc

@@ -110,19 +110,24 @@ void QGCFileDownload::_downloadFinished(void)
 
     // Download file location is in user attribute
     QString downloadFilename = reply->request().attribute(QNetworkRequest::User).toString();
-    Q_ASSERT(!downloadFilename.isEmpty());
-    
-    // Store downloaded file in download location
-    QFile file(downloadFilename);
-    if (!file.open(QIODevice::WriteOnly)) {
-        emit error(QString("Could not save downloaded file to %1. Error: %2").arg(downloadFilename).arg(file.errorString()));
-        return;
-    }
-    
-    file.write(reply->readAll());
-    file.close();
 
-    emit downloadFinished(_originalRemoteFile, downloadFilename);
+    if (!downloadFilename.isEmpty()) {
+        // Store downloaded file in download location
+        QFile file(downloadFilename);
+        if (!file.open(QIODevice::WriteOnly)) {
+            emit error(QString("Could not save downloaded file to %1. Error: %2").arg(downloadFilename).arg(file.errorString()));
+            return;
+        }
+
+        file.write(reply->readAll());
+        file.close();
+
+        emit downloadFinished(_originalRemoteFile, downloadFilename);
+    } else {
+        QString errorMsg = "Internal error";
+        qWarning() << errorMsg;
+        emit error(errorMsg);
+    }
 }
 
 /// @brief Called when an error occurs during download

src/QGCPalette.cc

@@ -39,8 +39,9 @@ QGCPalette::QGCPalette(QObject* parent) :
 QGCPalette::~QGCPalette()
 {
     bool fSuccess = _paletteObjects.removeOne(this);
-    Q_ASSERT(fSuccess);
-    Q_UNUSED(fSuccess);
+    if (!fSuccess) {
+        qWarning() << "Internal error";
+    }
 }
 
 void QGCPalette::_buildMap(void)

src/QGCQFileDialog.cc

@@ -126,7 +126,9 @@ QString QGCQFileDialog::getSaveFileName(
                             defaultSuffixCopy = _getFirstExtensionInFilter(filter);
                         }
                         //-- If this is set to strict, we have to have a default extension
-                        Q_ASSERT(defaultSuffixCopy.isEmpty() == false);
+                        if (defaultSuffixCopy.isEmpty()) {
+                            qWarning() << "Internal error";
+                        }
                         //-- Forcefully append our desired extension
                         result += ".";
                         result += defaultSuffixCopy;
@@ -197,9 +199,13 @@ void QGCQFileDialog::_validate(Options& options)
     Q_UNUSED(options)
 
     // You can't use QGCQFileDialog if QGCApplication is not created yet.
-    Q_ASSERT(qgcApp());
+    if (!qgcApp()) {
+        qWarning() << "Internal error";
+        return;
+    }
     
-    Q_ASSERT_X(QThread::currentThread() == qgcApp()->thread(), "Threading issue", "QGCQFileDialog can only be called from main thread");
-    if (MainWindow::instance()) {
+    if (QThread::currentThread() != qgcApp()->thread()) {
+        qWarning() << "Threading issue: QGCQFileDialog can only be called from main thread";
+        return;
     }
 }

src/QmlControls/ParameterEditorController.cc

@@ -89,8 +89,9 @@ QStringList ParameterEditorController::searchParametersForComponent(int componen
 
 void ParameterEditorController::clearRCToParam(void)
 {
-    Q_ASSERT(_uas);
-    _uas->unsetRCToParameterMap();
+    if (_uas) {
+        _uas->unsetRCToParameterMap();
+    }
 }
 
 void ParameterEditorController::saveToFile(const QString& filename)
@@ -147,9 +148,10 @@ void ParameterEditorController::setRCToParam(const QString& paramName)
 #ifdef __mobile__
     Q_UNUSED(paramName)
 #else
-    Q_ASSERT(_uas);
-    QGCMapRCToParamDialog * d = new QGCMapRCToParamDialog(paramName, _uas, qgcApp()->toolbox()->multiVehicleManager(), MainWindow::instance());
-    d->exec();
+    if (_uas) {
+        QGCMapRCToParamDialog * d = new QGCMapRCToParamDialog(paramName, _uas, qgcApp()->toolbox()->multiVehicleManager(), MainWindow::instance());
+        d->exec();
+    }
 #endif
 }
 

src/QmlControls/QGCCheckBox.qml

@@ -11,7 +11,7 @@ CheckBox {
     style: CheckBoxStyle {
         label: Item {
             implicitWidth:  text.implicitWidth + 2
-            implicitHeight: text.implicitHeight
+            implicitHeight: ScreenTools.implicitCheckBoxHeight
             baselineOffset: text.baselineOffset
 
             Rectangle {
@@ -39,7 +39,7 @@ CheckBox {
         } // label
 
         indicator:  Item {
-            implicitWidth:  ScreenTools.implicitCheckBoxWidth
+            implicitWidth:  ScreenTools.checkBoxIndicatorSize
             implicitHeight: implicitWidth
 
             Rectangle {

src/QmlControls/QGCFileDialog.qml

@@ -18,6 +18,7 @@ Item {
     property string folder
     property var    nameFilters
     property string fileExtension
+    property string fileExtension2
     property string title
     property bool   selectExisting
     property bool   selectFolder
@@ -90,7 +91,7 @@ Item {
                     spacing:        ScreenTools.defaultFontPixelHeight / 2
 
                     Repeater {
-                        id:     fileList;
+                        id:     fileList
                         model:  controller.getFiles(folder, fileExtension)
 
                         QGCButton {
@@ -105,9 +106,25 @@ Item {
                         }
                     }
 
+                    Repeater {
+                        id:     fileList2
+                        model:  fileExtension2 == "" ? [ ] : controller.getFiles(folder, fileExtension2)
+
+                        QGCButton {
+                            anchors.left:   parent.left
+                            anchors.right:  parent.right
+                            text:           modelData
+
+                            onClicked: {
+                                hideDialog()
+                                _root.acceptedForLoad(controller.fullyQualifiedFilename(folder, modelData, fileExtension2))
+                            }
+                        }
+                    }
+
                     QGCLabel {
                         text:       qsTr("No files")
-                        visible:    fileList.model.length == 0
+                        visible:    fileList.model.length == 0 && fileList2.model.length == 0
                     }
                 }
             }

src/QmlControls/QGCRadioButton.qml

@@ -15,7 +15,7 @@ RadioButton {
     style: RadioButtonStyle {
         label: Item {
             implicitWidth:          text.implicitWidth + ScreenTools.defaultFontPixelWidth * 0.25
-            implicitHeight:         text.implicitHeight
+            implicitHeight:         ScreenTools.implicitRadioButtonHeight
             baselineOffset:         text.y + text.baselineOffset
 
             Rectangle {
@@ -43,5 +43,23 @@ RadioButton {
                 anchors.centerIn:   parent
             }
         }
+
+        indicator: Rectangle {
+            width:          ScreenTools.radioButtonIndicatorSize
+            height:         width
+            border.color:   qgcPal.text
+            antialiasing:   true
+            radius:         height / 2
+
+            Rectangle {
+                anchors.centerIn:   parent
+                width:              Math.round(parent.width * 0.5)
+                height:             width
+                antialiasing:       true
+                radius:             height/2
+                color:              qgcPal.text
+                opacity:            control.checked ? (control.enabled ? 1 : 0.5) : 0
+            }
+        }
     }
 }

src/QmlControls/ScreenTools.qml

@@ -64,13 +64,16 @@ Item {
     property real minTouchPixels:               0       ///< Minimum touch size in pixels
 
     // The implicit heights/widths for our custom control set
-    property real implicitButtonWidth:      Math.round(defaultFontPixelWidth *  (isMobile ? 7.0 : 5.0))
-    property real implicitButtonHeight:     Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
-    property real implicitCheckBoxWidth:    Math.round(defaultFontPixelHeight * (isMobile ? 1.5 : 1.0))
-    property real implicitTextFieldHeight:  Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
-    property real implicitComboBoxHeight:   Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
-    property real implicitComboBoxWidth:    Math.round(defaultFontPixelWidth *  (isMobile ? 7.0 : 5.0))
-    property real implicitSliderHeight:     isMobile ? Math.max(defaultFontPixelHeight, minTouchPixels) : defaultFontPixelHeight
+    property real implicitButtonWidth:              Math.round(defaultFontPixelWidth *  (isMobile ? 7.0 : 5.0))
+    property real implicitButtonHeight:             Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
+    property real implicitCheckBoxHeight:           Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.0))
+    property real implicitRadioButtonHeight:        implicitCheckBoxHeight
+    property real implicitTextFieldHeight:          Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
+    property real implicitComboBoxHeight:           Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
+    property real implicitComboBoxWidth:            Math.round(defaultFontPixelWidth *  (isMobile ? 7.0 : 5.0))
+    property real implicitSliderHeight:             isMobile ? Math.max(defaultFontPixelHeight, minTouchPixels) : defaultFontPixelHeight
+    property real checkBoxIndicatorSize:            Math.round(defaultFontPixelHeight * (isMobile ? 1.5 : 1.0))
+    property real radioButtonIndicatorSize:         checkBoxIndicatorSize
 
     readonly property string normalFontFamily:      "opensans"
     readonly property string demiboldFontFamily:    "opensans-demibold"

src/Settings/App.SettingsGroup.json

@@ -116,13 +116,6 @@
     "type":             "bool",
     "defaultValue":     false
 },
-{
-    "name":             "AutomaticMissionUpload",
-    "shortDescription": "Automatic mission upload",
-    "longDescription":  "Automatically upload mission to vehicle after changes",
-    "type":             "bool",
-    "defaultValue":     true
-},
 {
     "name":             "SavePath",
     "shortDescription": "Application save directory",

src/Settings/AppSettings.cc

@@ -31,7 +31,6 @@ const char* AppSettings::indoorPaletteName =                            "StyleIs
 const char* AppSettings::showLargeCompassName =                         "ShowLargeCompass";
 const char* AppSettings::savePathName =                                 "SavePath";
 const char* AppSettings::autoLoadMissionsName =                         "AutoLoadMissions";
-const char* AppSettings::automaticMissionUploadName =                   "AutomaticMissionUpload";
 
 const char* AppSettings::parameterFileExtension =   "params";
 const char* AppSettings::planFileExtension =        "plan";
@@ -62,7 +61,6 @@ AppSettings::AppSettings(QObject* parent)
     , _showLargeCompassFact(NULL)
     , _savePathFact(NULL)
     , _autoLoadMissionsFact(NULL)
-    , _automaticMissionUpload(NULL)
 {
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     qmlRegisterUncreatableType<AppSettings>("QGroundControl.SettingsManager", 1, 0, "AppSettings", "Reference only");
@@ -280,15 +278,6 @@ Fact* AppSettings::autoLoadMissions(void)
     return _autoLoadMissionsFact;
 }
 
-Fact* AppSettings::automaticMissionUpload(void)
-{
-    if (!_automaticMissionUpload) {
-        _automaticMissionUpload = _createSettingsFact(automaticMissionUploadName);
-    }
-
-    return _automaticMissionUpload;
-}
-
 MAV_AUTOPILOT AppSettings::offlineEditingFirmwareTypeFromFirmwareType(MAV_AUTOPILOT firmwareType)
 {
     if (firmwareType != MAV_AUTOPILOT_PX4 && firmwareType != MAV_AUTOPILOT_ARDUPILOTMEGA) {

src/Settings/AppSettings.h

@@ -35,7 +35,6 @@ public:
     Q_PROPERTY(Fact* showLargeCompass                   READ showLargeCompass                   CONSTANT)
     Q_PROPERTY(Fact* savePath                           READ savePath                           CONSTANT)
     Q_PROPERTY(Fact* autoLoadMissions                   READ autoLoadMissions                   CONSTANT)
-    Q_PROPERTY(Fact* automaticMissionUpload             READ automaticMissionUpload             CONSTANT)
 
     Q_PROPERTY(QString missionSavePath      READ missionSavePath    NOTIFY savePathsChanged)
     Q_PROPERTY(QString parameterSavePath    READ parameterSavePath  NOTIFY savePathsChanged)
@@ -62,7 +61,6 @@ public:
     Fact* showLargeCompass                  (void);
     Fact* savePath                          (void);
     Fact* autoLoadMissions                  (void);
-    Fact* automaticMissionUpload            (void);
 
     QString missionSavePath     (void);
     QString parameterSavePath   (void);
@@ -88,7 +86,6 @@ public:
     static const char* showLargeCompassName;
     static const char* savePathName;
     static const char* autoLoadMissionsName;
-    static const char* automaticMissionUploadName;
 
     // Application wide file extensions
     static const char* parameterFileExtension;
@@ -127,7 +124,6 @@ private:
     SettingsFact* _showLargeCompassFact;
     SettingsFact* _savePathFact;
     SettingsFact* _autoLoadMissionsFact;
-    SettingsFact* _automaticMissionUpload;
 };
 
 #endif

src/Vehicle/MAVLinkLogManager.cc

@@ -150,10 +150,10 @@ bool
 MAVLinkLogProcessor::create(MAVLinkLogManager* manager, const QString path, uint8_t id)
 {
     _fileName.sprintf("%s/%03d-%s%s",
-        path.toLatin1().data(),
-        id,
-        QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz").toLatin1().data(),
-        kUlogExtension);
+                      path.toLatin1().data(),
+                      id,
+                      QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz").toLatin1().data(),
+                      kUlogExtension);
     _fd = fopen(_fileName.toLatin1().data(), "wb");
     if(_fd) {
         _record = new MAVLinkLogFiles(manager, _fileName, true);
@@ -498,17 +498,20 @@ MAVLinkLogManager::uploadLog()
     }
     for(int i = 0; i < _logFiles.count(); i++) {
         _currentLogfile = qobject_cast<MAVLinkLogFiles*>(_logFiles.get(i));
-        Q_ASSERT(_currentLogfile);
-        if(_currentLogfile->selected()) {
-            _currentLogfile->setSelected(false);
-            if(!_currentLogfile->uploaded() && !_emailAddress.isEmpty() && !_uploadURL.isEmpty()) {
-                _currentLogfile->setUploading(true);
-                _currentLogfile->setProgress(0.0);
-                QString filePath = _makeFilename(_currentLogfile->name());
-                _sendLog(filePath);
-                emit uploadingChanged();
-                return;
+        if (_currentLogfile) {
+            if(_currentLogfile->selected()) {
+                _currentLogfile->setSelected(false);
+                if(!_currentLogfile->uploaded() && !_emailAddress.isEmpty() && !_uploadURL.isEmpty()) {
+                    _currentLogfile->setUploading(true);
+                    _currentLogfile->setProgress(0.0);
+                    QString filePath = _makeFilename(_currentLogfile->name());
+                    _sendLog(filePath);
+                    emit uploadingChanged();
+                    return;
+                }
             }
+        } else {
+            qWarning() << "Internal error";
         }
     }
     _currentLogfile = NULL;
@@ -541,9 +544,12 @@ MAVLinkLogManager::_getFirstSelected()
 {
     for(int i = 0; i < _logFiles.count(); i++) {
         MAVLinkLogFiles* f = qobject_cast<MAVLinkLogFiles*>(_logFiles.get(i));
-        Q_ASSERT(f);
-        if(f->selected()) {
-            return i;
+        if (f) {
+            if(f->selected()) {
+                return i;
+            }
+        } else {
+            qWarning() << "Internal error";
         }
     }
     return -1;
@@ -590,9 +596,12 @@ MAVLinkLogManager::cancelUpload()
 {
     for(int i = 0; i < _logFiles.count(); i++) {
         MAVLinkLogFiles* pLogFile = qobject_cast<MAVLinkLogFiles*>(_logFiles.get(i));
-        Q_ASSERT(pLogFile);
-        if(pLogFile->selected() && pLogFile != _currentLogfile) {
-            pLogFile->setSelected(false);
+        if (pLogFile) {
+            if(pLogFile->selected() && pLogFile != _currentLogfile) {
+                pLogFile->setSelected(false);
+            }
+        } else {
+            qWarning() << "Internal error";
         }
     }
     if(_currentLogfile) {

src/Vehicle/Vehicle.cc

@@ -29,6 +29,7 @@
 #include "MissionCommandTree.h"
 #include "QGroundControlQmlGlobal.h"
 #include "SettingsManager.h"
+#include "QGCQGeoCoordinate.h"
 
 QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 
@@ -316,6 +317,10 @@ void Vehicle::_commonInit(void)
     _missionManager = new MissionManager(this);
     connect(_missionManager, &MissionManager::error,                    this, &Vehicle::_missionManagerError);
     connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_missionLoadComplete);
+    connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearCameraTriggerPoints);
+    connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearTrajectoryPoints);
+    connect(_missionManager, &MissionManager::sendComplete,             this, &Vehicle::_clearCameraTriggerPoints);
+    connect(_missionManager, &MissionManager::sendComplete,             this, &Vehicle::_clearTrajectoryPoints);
 
     _parameterManager = new ParameterManager(this);
     connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
@@ -584,6 +589,13 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         break;
     case MAVLINK_MSG_ID_SCALED_PRESSURE3:
         _handleScaledPressure3(message);
+        break;        
+    case MAVLINK_MSG_ID_CAMERA_FEEDBACK:
+        _handleCameraFeedback(message);
+        break;
+
+    case MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED:
+        _handleCameraImageCaptured(message);
         break;
 
     case MAVLINK_MSG_ID_SERIAL_CONTROL:
@@ -605,6 +617,31 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     _uas->receiveMessage(message);
 }
 
+
+void Vehicle::_handleCameraFeedback(const mavlink_message_t& message)
+{
+    mavlink_camera_feedback_t feedback;
+
+    mavlink_msg_camera_feedback_decode(&message, &feedback);
+
+    QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lng / qPow(10.0, 7.0), feedback.alt_msl);
+    qCDebug(VehicleLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.img_idx;
+    _cameraTriggerPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
+}
+
+void Vehicle::_handleCameraImageCaptured(const mavlink_message_t& message)
+{
+    mavlink_camera_image_captured_t feedback;
+
+    mavlink_msg_camera_image_captured_decode(&message, &feedback);
+
+    QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lon / qPow(10.0, 7.0), feedback.alt);
+    qCDebug(VehicleLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.image_index << feedback.capture_result;
+    if (feedback.capture_result == 1) {
+        _cameraTriggerPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
+    }
+}
+
 void Vehicle::_handleVfrHud(mavlink_message_t& message)
 {
     mavlink_vfr_hud_t vfrHud;
@@ -945,15 +982,24 @@ void Vehicle::_handleHeartbeat(mavlink_message_t& message)
         // We are transitioning to the armed state, begin tracking trajectory points for the map
         if (_armed) {
             _mapTrajectoryStart();
+            _clearCameraTriggerPoints();
         } else {
             _mapTrajectoryStop();
         }
     }
 
     if (heartbeat.base_mode != _base_mode || heartbeat.custom_mode != _custom_mode) {
+        QString previousFlightMode;
+        if (_base_mode != 0 || _custom_mode != 0){
+            // Vehicle is initialized with _base_mode=0 and _custom_mode=0. Don't pass this to flightMode() since it will complain about
+            // bad modes while unit testing.
+            previousFlightMode = flightMode();
+        }
         _base_mode = heartbeat.base_mode;
         _custom_mode = heartbeat.custom_mode;
-        emit flightModeChanged(flightMode());
+        if (previousFlightMode != flightMode()) {
+            emit flightModeChanged(flightMode());
+        }
     }
 }
 
@@ -1277,7 +1323,6 @@ void Vehicle::_handleTextMessage(int newCount)
     }
 
     UASMessageHandler* pMh = qgcApp()->toolbox()->uasMessageHandler();
-    Q_ASSERT(pMh);
     MessageType_t type = newCount ? _currentMessageType : MessageNone;
     int errorCount     = _currentErrorCount;
     int warnCount      = _currentWarningCount;
@@ -1622,10 +1667,20 @@ void Vehicle::_addNewMapTrajectoryPoint(void)
     _mapTrajectoryLastCoordinate = _coordinate;
 }
 
+void Vehicle::_clearTrajectoryPoints(void)
+{
+    _mapTrajectoryList.clearAndDeleteContents();
+}
+
+void Vehicle::_clearCameraTriggerPoints(void)
+{
+    _cameraTriggerPoints.clearAndDeleteContents();
+}
+
 void Vehicle::_mapTrajectoryStart(void)
 {
     _mapTrajectoryHaveFirstCoordinate = false;
-    _mapTrajectoryList.clear();
+    _clearTrajectoryPoints();
     _mapTrajectoryTimer.start();
     _flightDistanceFact.setRawValue(0);
 }
@@ -1907,11 +1962,6 @@ void Vehicle::_announceArmedChanged(bool armed)
     _say(QString("%1 %2").arg(_vehicleIdSpeech()).arg(armed ? QStringLiteral("armed") : QStringLiteral("disarmed")));
 }
 
-void Vehicle::clearTrajectoryPoints(void)
-{
-    _mapTrajectoryList.clearAndDeleteContents();
-}
-
 void Vehicle::setFlying(bool flying)
 {
     if (armed() && _flying != flying) {

src/Vehicle/Vehicle.h

@@ -246,6 +246,7 @@ public:
     Q_PROPERTY(QString              flightMode              READ flightMode             WRITE setFlightMode             NOTIFY flightModeChanged)
     Q_PROPERTY(bool                 hilMode                 READ hilMode                WRITE setHilMode                NOTIFY hilModeChanged)
     Q_PROPERTY(QmlObjectListModel*  trajectoryPoints        READ trajectoryPoints                                       CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  cameraTriggerPoints     READ cameraTriggerPoints                                    CONSTANT)
     Q_PROPERTY(float                latitude                READ latitude                                               NOTIFY coordinateChanged)
     Q_PROPERTY(float                longitude               READ longitude                                              NOTIFY coordinateChanged)
     Q_PROPERTY(bool                 messageTypeNone         READ messageTypeNone                                        NOTIFY messageTypeChanged)
@@ -371,8 +372,6 @@ public:
     Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust);
     Q_INVOKABLE void disconnectInactiveVehicle(void);
 
-    Q_INVOKABLE void clearTrajectoryPoints(void);
-
     /// Command vehicle to return to launch
     Q_INVOKABLE void guidedModeRTL(void);
 
@@ -524,6 +523,7 @@ public:
     void setPrearmError(const QString& prearmError);
 
     QmlObjectListModel* trajectoryPoints(void) { return &_mapTrajectoryList; }
+    QmlObjectListModel* cameraTriggerPoints(void) { return &_cameraTriggerPoints; }
 
     int  flowImageIndex() { return _flowImageIndex; }
 
@@ -791,8 +791,9 @@ private slots:
     void _geoFenceLoadComplete(void);
     void _rallyPointLoadComplete(void);
     void _sendMavCommandAgain(void);
-
     void _activeJoystickChanged(void);
+    void _clearTrajectoryPoints(void);
+    void _clearCameraTriggerPoints(void);
 
 private:
     bool _containsLink(LinkInterface* link);
@@ -820,6 +821,8 @@ private:
     void _handleScaledPressure(mavlink_message_t& message);
     void _handleScaledPressure2(mavlink_message_t& message);
     void _handleScaledPressure3(mavlink_message_t& message);
+    void _handleCameraFeedback(const mavlink_message_t& message);
+    void _handleCameraImageCaptured(const mavlink_message_t& message);
     void _missionManagerError(int errorCode, const QString& errorMsg);
     void _geoFenceManagerError(int errorCode, const QString& errorMsg);
     void _rallyPointManagerError(int errorCode, const QString& errorMsg);
@@ -954,6 +957,8 @@ private:
     bool                _mapTrajectoryHaveFirstCoordinate;
     static const int    _mapTrajectoryMsecsBetweenPoints = 1000;
 
+    QmlObjectListModel  _cameraTriggerPoints;
+
     // Toolbox references
     FirmwarePluginManager*      _firmwarePluginManager;
     JoystickManager*            _joystickManager;

src/VehicleSetup/VehicleComponent.cc

@@ -20,8 +20,9 @@ VehicleComponent::VehicleComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot,
     _vehicle(vehicle),
     _autopilot(autopilot)
 {
-    Q_ASSERT(vehicle);
-    Q_ASSERT(autopilot);
+    if (!vehicle || !autopilot) {
+        qWarning() << "Internal error";
+    }
 }
 
 VehicleComponent::~VehicleComponent()
@@ -31,19 +32,23 @@ VehicleComponent::~VehicleComponent()
 
 void VehicleComponent::addSummaryQmlComponent(QQmlContext* context, QQuickItem* parent)
 {
-    Q_ASSERT(context);
-    
-    // FIXME: We own this object now, need to delete somewhere
-    QQmlComponent component(context->engine(), QUrl::fromUserInput("qrc:/qml/VehicleComponentSummaryButton.qml"));
-    if (component.status() == QQmlComponent::Error) {
-        qDebug() << component.errors();
-        Q_ASSERT(false);
+    if (context) {
+        // FIXME: We own this object now, need to delete somewhere
+        QQmlComponent component(context->engine(), QUrl::fromUserInput("qrc:/qml/VehicleComponentSummaryButton.qml"));
+        if (component.status() == QQmlComponent::Error) {
+            qWarning() << component.errors();
+        } else {
+            QQuickItem* item = qobject_cast<QQuickItem*>(component.create(context));
+            if (item) {
+                item->setParentItem(parent);
+                item->setProperty("vehicleComponent", QVariant::fromValue(this));
+            } else {
+                qWarning() << "Internal error";
+            }
+        }
+    } else {
+        qWarning() << "Internal error";
     }
-    
-    QQuickItem* item = qobject_cast<QQuickItem*>(component.create(context));
-    Q_ASSERT(item);
-    item->setParentItem(parent);
-    item->setProperty("vehicleComponent", QVariant::fromValue(this));
 }
 
 void VehicleComponent::setupTriggerSignals(void)

src/ViewWidgets/ViewWidgetController.cc

@@ -33,11 +33,11 @@ void ViewWidgetController::_vehicleAvailable(bool available)
         
         _uas = vehicle->uas();
         _autopilot = vehicle->autopilotPlugin();
-        Q_ASSERT(_autopilot);
         emit pluginConnected(QVariant::fromValue(_autopilot));
     }
 }
-Q_INVOKABLE void ViewWidgetController::checkForVehicle(void)
+
+void ViewWidgetController::checkForVehicle(void)
 {
     _vehicleAvailable(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
 }

src/comm/LinkInterface.cc

@@ -152,7 +152,9 @@ qint64 LinkInterface::_getCurrentDataRate(int index, const qint64 dataWriteTimes
 /// Sets the mavlink channel to use for this link
 void LinkInterface::_setMavlinkChannel(uint8_t channel)
 {
-    Q_ASSERT(!_mavlinkChannelSet);
+    if (_mavlinkChannelSet) {
+        qWarning() << "Mavlink channel set multiple times";
+    }
     _mavlinkChannelSet = true;
     _mavlinkChannel = channel;
 }

src/comm/LogReplayLink.cc

@@ -35,8 +35,11 @@ void LogReplayLinkConfiguration::copyFrom(LinkConfiguration *source)
 {
     LinkConfiguration::copyFrom(source);
     LogReplayLinkConfiguration* ssource = dynamic_cast<LogReplayLinkConfiguration*>(source);
-    Q_ASSERT(ssource != NULL);
-    _logFilename = ssource->logFilename();
+    if (ssource) {
+        _logFilename = ssource->logFilename();
+    } else {
+        qWarning() << "Internal error";
+    }
 }
 
 void LogReplayLinkConfiguration::saveSettings(QSettings& settings, const QString& root)
@@ -70,7 +73,9 @@ LogReplayLink::LogReplayLink(SharedLinkConfigurationPointer& config)
     , _connected(false)
     , _replayAccelerationFactor(1.0f)
 {
-    Q_ASSERT(_logReplayConfig);
+    if (!_logReplayConfig) {
+        qWarning() << "Internal error";
+    }
     
     _readTickTimer.moveToThread(this);
     

src/comm/SerialLink.cc

@@ -38,10 +38,13 @@ SerialLink::SerialLink(SharedLinkConfigurationPointer& config)
     , _reqReset(false)
     , _serialConfig(qobject_cast<SerialConfiguration*>(config.data()))
 {
-    Q_ASSERT(_serialConfig);
+    if (!_serialConfig) {
+        qWarning() << "Internal error";
+        return;
+    }
 
     qCDebug(SerialLinkLog) << "Create SerialLink " << _serialConfig->portName() << _serialConfig->baud() << _serialConfig->flowControl()
-             << _serialConfig->parity() << _serialConfig->dataBits() << _serialConfig->stopBits();
+                           << _serialConfig->parity() << _serialConfig->dataBits() << _serialConfig->stopBits();
     qCDebug(SerialLinkLog) << "portName: " << _serialConfig->portName();
 }
 
@@ -76,7 +79,7 @@ bool SerialLink::_isBootloader()
                  info.description().toLower().contains("px4 fmu v1.6"))) {
             qCDebug(SerialLinkLog) << "BOOTLOADER FOUND";
             return true;
-       }
+        }
     }
     // Not found
     return false;
@@ -229,7 +232,7 @@ bool SerialLink::_hardwareConnect(QSerialPort::SerialPortError& error, QString&
     emit connected();
 
     qCDebug(SerialLinkLog) << "Connection SeriaLink: " << "with settings" << _serialConfig->portName()
-             << _serialConfig->baud() << _serialConfig->dataBits() << _serialConfig->parity() << _serialConfig->stopBits();
+                           << _serialConfig->baud() << _serialConfig->dataBits() << _serialConfig->parity() << _serialConfig->stopBits();
 
     return true; // successful connection
 }
@@ -299,34 +302,34 @@ qint64 SerialLink::getConnectionSpeed() const
     qint64 dataRate;
     switch (baudRate)
     {
-        case QSerialPort::Baud1200:
-            dataRate = 1200;
-            break;
-        case QSerialPort::Baud2400:
-            dataRate = 2400;
-            break;
-        case QSerialPort::Baud4800:
-            dataRate = 4800;
-            break;
-        case QSerialPort::Baud9600:
-            dataRate = 9600;
-            break;
-        case QSerialPort::Baud19200:
-            dataRate = 19200;
-            break;
-        case QSerialPort::Baud38400:
-            dataRate = 38400;
-            break;
-        case QSerialPort::Baud57600:
-            dataRate = 57600;
-            break;
-        case QSerialPort::Baud115200:
-            dataRate = 115200;
-            break;
-            // Otherwise do nothing.
-        default:
-            dataRate = -1;
-            break;
+    case QSerialPort::Baud1200:
+        dataRate = 1200;
+        break;
+    case QSerialPort::Baud2400:
+        dataRate = 2400;
+        break;
+    case QSerialPort::Baud4800:
+        dataRate = 4800;
+        break;
+    case QSerialPort::Baud9600:
+        dataRate = 9600;
+        break;
+    case QSerialPort::Baud19200:
+        dataRate = 19200;
+        break;
+    case QSerialPort::Baud38400:
+        dataRate = 38400;
+        break;
+    case QSerialPort::Baud57600:
+        dataRate = 57600;
+        break;
+    case QSerialPort::Baud115200:
+        dataRate = 115200;
+        break;
+        // Otherwise do nothing.
+    default:
+        dataRate = -1;
+        break;
     }
     return dataRate;
 }
@@ -378,15 +381,18 @@ void SerialConfiguration::copyFrom(LinkConfiguration *source)
 {
     LinkConfiguration::copyFrom(source);
     SerialConfiguration* ssource = dynamic_cast<SerialConfiguration*>(source);
-    Q_ASSERT(ssource != NULL);
-    _baud               = ssource->baud();
-    _flowControl        = ssource->flowControl();
-    _parity             = ssource->parity();
-    _dataBits           = ssource->dataBits();
-    _stopBits           = ssource->stopBits();
-    _portName           = ssource->portName();
-    _portDisplayName    = ssource->portDisplayName();
-    _usbDirect          = ssource->_usbDirect;
+    if (ssource) {
+        _baud               = ssource->baud();
+        _flowControl        = ssource->flowControl();
+        _parity             = ssource->parity();
+        _dataBits           = ssource->dataBits();
+        _stopBits           = ssource->stopBits();
+        _portName           = ssource->portName();
+        _portDisplayName    = ssource->portDisplayName();
+        _usbDirect          = ssource->_usbDirect;
+    } else {
+        qWarning() << "Internal error";
+    }
 }
 
 void SerialConfiguration::updateSettings()

src/comm/UDPLink.cc

@@ -67,15 +67,17 @@ static QString get_ip_address(const QString& address)
 
 UDPLink::UDPLink(SharedLinkConfigurationPointer& config)
     : LinkInterface(config)
-#if defined(QGC_ZEROCONF_ENABLED)
+    #if defined(QGC_ZEROCONF_ENABLED)
     , _dnssServiceRef(NULL)
-#endif
+    #endif
     , _running(false)
     , _socket(NULL)
     , _udpConfig(qobject_cast<UDPConfiguration*>(config.data()))
     , _connectState(false)
 {
-    Q_ASSERT(_udpConfig);
+    if (!_udpConfig) {
+        qWarning() << "Internal error";
+    }
     moveToThread(this);
 }
 
@@ -292,14 +294,14 @@ void UDPLink::_registerZeroconf(uint16_t port, const std::string &regType)
 {
 #if defined(QGC_ZEROCONF_ENABLED)
     DNSServiceErrorType result = DNSServiceRegister(&_dnssServiceRef, 0, 0, 0,
-        regType.c_str(),
-        NULL,
-        NULL,
-        htons(port),
-        0,
-        NULL,
-        NULL,
-        NULL);
+                                                    regType.c_str(),
+                                                    NULL,
+                                                    NULL,
+                                                    htons(port),
+                                                    0,
+                                                    NULL,
+                                                    NULL,
+                                                    NULL);
     if (result != kDNSServiceErr_NoError)
     {
         emit communicationError("UDP Link Error", "Error registering Zeroconf");
@@ -315,10 +317,10 @@ void UDPLink::_deregisterZeroconf()
 {
 #if defined(QGC_ZEROCONF_ENABLED)
     if (_dnssServiceRef)
-     {
-         DNSServiceRefDeallocate(_dnssServiceRef);
-         _dnssServiceRef = NULL;
-     }
+    {
+        DNSServiceRefDeallocate(_dnssServiceRef);
+        _dnssServiceRef = NULL;
+    }
 #endif
 }
 
@@ -347,15 +349,18 @@ void UDPConfiguration::copyFrom(LinkConfiguration *source)
 {
     LinkConfiguration::copyFrom(source);
     UDPConfiguration* usource = dynamic_cast<UDPConfiguration*>(source);
-    Q_ASSERT(usource != NULL);
-    _localPort = usource->localPort();
-    _hosts.clear();
-    QString host;
-    int port;
-    if(usource->firstHost(host, port)) {
-        do {
-            addHost(host, port);
-        } while(usource->nextHost(host, port));
+    if (usource) {
+        _localPort = usource->localPort();
+        _hosts.clear();
+        QString host;
+        int port;
+        if(usource->firstHost(host, port)) {
+            do {
+                addHost(host, port);
+            } while(usource->nextHost(host, port));
+        }
+    } else {
+        qWarning() << "Internal error";
     }
 }
 

src/ui/MainWindow.cc

@@ -92,10 +92,7 @@ static MainWindow* _instance = NULL;   ///< @brief MainWindow singleton
 
 MainWindow* MainWindow::_create()
 {
-    Q_ASSERT(_instance == NULL);
     new MainWindow();
-    // _instance is set in constructor
-    Q_ASSERT(_instance);
     return _instance;
 }
 
@@ -118,7 +115,6 @@ MainWindow::MainWindow()
     , _mainQmlWidgetHolder(NULL)
     , _forceClose(false)
 {
-    Q_ASSERT(_instance == NULL);
     _instance = this;
 
     //-- Load fonts
@@ -337,7 +333,7 @@ void MainWindow::_showDockWidget(const QString& name, bool show)
     // Create the inner widget if we need to
     if (!_mapName2DockWidget.contains(name)) {
         if(!_createInnerDockWidget(name)) {
-            qWarning() << "Trying to load non existing widget:" << name;
+            qWarning() << "Trying to load non existent widget:" << name;
             return;
         }
     }