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

qgroundcontrol.pri

@@ -37,7 +37,7 @@ win32-msvc2008|win32-msvc2010 {
 DEFINES += _TTY_NOWARN_
 
 # MAC OS X
-macx-g++42 {
+macx|macx-g++42|macx-g++: {
 
    # COMPILER_VERSION = $$system(gcc -v)
     #message(Using compiler $$COMPILER_VERSION)
@@ -93,7 +93,66 @@ macx-g++42 {
     # Copy parameter tooltip files
     QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
     # Copy libraries
-    QMAKE_POST_LINK += && cp -rf $$BASEDIR/lib/mac64/lib/* $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
+    QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/qgroundcontrol.app/Contents/libs
+    QMAKE_POST_LINK += && cp -rf $$BASEDIR/lib/mac64/lib/* $$TARGETDIR/qgroundcontrol.app/Contents/libs
+
+    # Fix library paths inside executable
+    QMAKE_POST_LINK += && install_name_tool -change libOpenThreads.dylib "@executable_path/../libs/libOpenThreads.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/MacOS/qgroundcontrol
+    QMAKE_POST_LINK += && install_name_tool -change libosg.dylib "@executable_path/../libs/libosg.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/MacOS/qgroundcontrol
+    QMAKE_POST_LINK += && install_name_tool -change libosgViewer.dylib "@executable_path/../libs/libosgViewer.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/MacOS/qgroundcontrol
+    QMAKE_POST_LINK += && install_name_tool -change libosgGA.dylib "@executable_path/../libs/libosgGA.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/MacOS/qgroundcontrol
+    QMAKE_POST_LINK += && install_name_tool -change libosgDB.dylib "@executable_path/../libs/libosgDB.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/MacOS/qgroundcontrol
+    QMAKE_POST_LINK += && install_name_tool -change libosgText.dylib "@executable_path/../libs/libosgText.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/MacOS/qgroundcontrol
+    QMAKE_POST_LINK += && install_name_tool -change libosgWidget.dylib "@executable_path/../libs/libosgWidget.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/MacOS/qgroundcontrol
+
+    # Fix library paths within libraries (inter-library dependencies)
+
+    # OSG GA LIBRARY
+    QMAKE_POST_LINK += && install_name_tool -change libosgGA.dylib "@executable_path/../libs/libosgGA.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgGA.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosgDB.dylib "@executable_path/../libs/libosgDB.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgGA.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosgUtil.dylib "@executable_path/../libs/libosgUtil.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgGA.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosg.dylib "@executable_path/../libs/libosg.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgGA.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libOpenThreads.dylib "@executable_path/../libs/libOpenThreads.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgGA.dylib
+
+    # OSG DB LIBRARY
+    QMAKE_POST_LINK += && install_name_tool -change libosgDB.dylib "@executable_path/../libs/libosgDB.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgDB.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosgUtil.dylib "@executable_path/../libs/libosgUtil.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgDB.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosg.dylib "@executable_path/../libs/libosg.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgDB.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libOpenThreads.dylib "@executable_path/../libs/libOpenThreads.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgDB.dylib
+
+    # OSG TEXT LIBRARY
+    QMAKE_POST_LINK += && install_name_tool -change libosgText.dylib "@executable_path/../libs/libosgText.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgText.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosgDB.dylib "@executable_path/../libs/libosgDB.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgText.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosgUtil.dylib "@executable_path/../libs/libosgUtil.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgText.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosg.dylib "@executable_path/../libs/libosg.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgText.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libOpenThreads.dylib "@executable_path/../libs/libOpenThreads.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgText.dylib
+
+    # OSG UTIL LIBRARY
+    QMAKE_POST_LINK += && install_name_tool -change libosg.dylib "@executable_path/../libs/libosg.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgUtil.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libOpenThreads.dylib "@executable_path/../libs/libOpenThreads.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgUtil.dylib
+
+
+    # OSG VIEWER LIBRARY
+    QMAKE_POST_LINK += && install_name_tool -change libosgGA.dylib "@executable_path/../libs/libosgGA.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgViewer.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosgText.dylib "@executable_path/../libs/libosgText.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgViewer.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosgDB.dylib "@executable_path/../libs/libosgDB.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgViewer.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosgUtil.dylib "@executable_path/../libs/libosgUtil.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgViewer.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosg.dylib "@executable_path/../libs/libosg.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgViewer.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libOpenThreads.dylib "@executable_path/../libs/libOpenThreads.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgViewer.dylib
+
+    # OSG WIDGET LIBRARY
+    QMAKE_POST_LINK += && install_name_tool -change libosgGA.dylib "@executable_path/../libs/libosgGA.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgWidget.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosgText.dylib "@executable_path/../libs/libosgText.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgWidget.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosgDB.dylib "@executable_path/../libs/libosgDB.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgWidget.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosgUtil.dylib "@executable_path/../libs/libosgUtil.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgWidget.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosg.dylib "@executable_path/../libs/libosg.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgWidget.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libOpenThreads.dylib "@executable_path/../libs/libOpenThreads.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgWidget.dylib
+    QMAKE_POST_LINK += && install_name_tool -change libosgViewer.dylib "@executable_path/../libs/libosgViewer.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosgWidget.dylib
+
+    # CORE OSG LIBRARY
+    QMAKE_POST_LINK += && install_name_tool -change libOpenThreads.dylib "@executable_path/../libs/libOpenThreads.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/libs/libosg.dylib
+
+
     # Copy model files
     #QMAKE_POST_LINK += && cp -f $$BASEDIR/models/*.dae $$TARGETDIR/qgroundcontrol.app/Contents/MacOs
 
@@ -131,6 +190,8 @@ macx-g++42 {
 # GNU/Linux
 linux-g++ {
 
+    CONFIG -= console
+
     debug {
         #DESTDIR = $$TARGETDIR/debug
         #CONFIG += debug console
@@ -215,6 +276,8 @@ message("Compiling for linux 32")
 
 linux-g++-64 {
 
+    CONFIG -= console
+
     debug {
         #DESTDIR = $$TARGETDIR/debug
         #CONFIG += debug console

qgroundcontrol.pro

@@ -180,9 +180,11 @@ INCLUDEPATH += . \
 include(thirdParty/qserialport/qgroundcontrol-qserialport.pri)
 
 # Serial port detection (ripped-off from qextserialport library)
-macx::SOURCES += src/libs/qextserialport/qextserialenumerator_osx.cpp
+macx|macx-g++|macx-g++42::SOURCES += src/libs/qextserialport/qextserialenumerator_osx.cpp
 linux-g++::SOURCES += src/libs/qextserialport/qextserialenumerator_unix.cpp
+linux-g++-64::SOURCES += src/libs/qextserialport/qextserialenumerator_unix.cpp
 win32::SOURCES += src/libs/qextserialport/qextserialenumerator_win.cpp
+win32-msvc2008|win32-msvc2010::SOURCES += src/libs/qextserialport/qextserialenumerator_win.cpp
 
 # Input
 FORMS += src/ui/MainWindow.ui \
@@ -233,7 +235,11 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCMAVLinkInspector.ui \
     src/ui/WaypointViewOnlyView.ui \    
     src/ui/WaypointEditableView.ui \    
-    src/ui/UnconnectedUASInfoWidget.ui
+    src/ui/UnconnectedUASInfoWidget.ui \
+    src/ui/mavlink/QGCMAVLinkMessageSender.ui \
+    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui \
+    src/ui/QGCPluginHost.ui \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -351,10 +357,14 @@ HEADERS += src/MG.h \
     src/ui/WaypointViewOnlyView.h \
     src/ui/WaypointEditableView.h \    
     src/ui/UnconnectedUASInfoWidget.h \
-    src/ui/QGCRGBDView.h
+    src/ui/QGCRGBDView.h \
+    src/ui/mavlink/QGCMAVLinkMessageSender.h \
+    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
+    src/ui/QGCPluginHost.h \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
-macx|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
+macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
 contains(DEPENDENCIES_PRESENT, osg) { 
     message("Including headers for OpenSceneGraph")
     
@@ -479,10 +489,14 @@ SOURCES += src/main.cc \
     src/ui/WaypointViewOnlyView.cc \
     src/ui/WaypointEditableView.cc \
     src/ui/UnconnectedUASInfoWidget.cc \
-    src/ui/QGCRGBDView.cc
+    src/ui/QGCRGBDView.cc \
+    src/ui/mavlink/QGCMAVLinkMessageSender.cc \
+    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
+    src/ui/QGCPluginHost.cc \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
-macx|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
+macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
 
 # Enable OSG only if it has been found
 contains(DEPENDENCIES_PRESENT, osg) { 

src/uas/ArduPilotMegaMAV.cc

@@ -50,7 +50,8 @@ void ArduPilotMegaMAV::receiveMessage(LinkInterface* link, mavlink_message_t mes
     if (message.sysid == uasId) {
         // Handle your special messages
         switch (message.msgid) {
-        case MAVLINK_MSG_ID_HEARTBEAT: {
+        case MAVLINK_MSG_ID_HEARTBEAT:
+        {
             //qDebug() << "ARDUPILOT RECEIVED HEARTBEAT";
             break;
         }

src/uas/PxQuadMAV.cc

@@ -100,19 +100,19 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             emit processChanged(this->uasId, payload.watchdog_id, payload.process_id, payload.state, (payload.muted == 1) ? true : false, payload.crashes, payload.pid);
         }
         break;
-        case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE: {
-            mavlink_vision_position_estimate_t pos;
-            mavlink_msg_vision_position_estimate_decode(&message, &pos);
-            quint64 time = getUnixTime(pos.usec);
-            //emit valueChanged(uasId, "vis. time", pos.usec, time);
-            emit valueChanged(uasId, "vis. roll", "rad", pos.roll, time);
-            emit valueChanged(uasId, "vis. pitch", "rad", pos.pitch, time);
-            emit valueChanged(uasId, "vis. yaw", "rad", pos.yaw, time);
-            emit valueChanged(uasId, "vis. x", "m", pos.x, time);
-            emit valueChanged(uasId, "vis. y", "m", pos.y, time);
-            emit valueChanged(uasId, "vis. z", "m", pos.z, time);
-        }
-        break;
+//        case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE: {
+//            mavlink_vision_position_estimate_t pos;
+//            mavlink_msg_vision_position_estimate_decode(&message, &pos);
+//            quint64 time = getUnixTime(pos.usec);
+//            //emit valueChanged(uasId, "vis. time", pos.usec, time);
+//            emit valueChanged(uasId, "vis. roll", "rad", pos.roll, time);
+//            emit valueChanged(uasId, "vis. pitch", "rad", pos.pitch, time);
+//            emit valueChanged(uasId, "vis. yaw", "rad", pos.yaw, time);
+//            emit valueChanged(uasId, "vis. x", "m", pos.x, time);
+//            emit valueChanged(uasId, "vis. y", "m", pos.y, time);
+//            emit valueChanged(uasId, "vis. z", "m", pos.z, time);
+//        }
+//        break;
 //        case MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE: {
 //            mavlink_global_vision_position_estimate_t pos;
 //            mavlink_msg_global_vision_position_estimate_decode(&message, &pos);
@@ -126,29 +126,29 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 //            emit valueChanged(uasId, "glob. vis. z", "m", pos.z, time);
 //        }
 //        break;
-        case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE: {
-            mavlink_vicon_position_estimate_t pos;
-            mavlink_msg_vicon_position_estimate_decode(&message, &pos);
-            quint64 time = getUnixTime(pos.usec);
-            //emit valueChanged(uasId, "vis. time", pos.usec, time);
-            emit valueChanged(uasId, "vicon roll", "rad", pos.roll, time);
-            emit valueChanged(uasId, "vicon pitch", "rad", pos.pitch, time);
-            emit valueChanged(uasId, "vicon yaw", "rad", pos.yaw, time);
-            emit valueChanged(uasId, "vicon x", "m", pos.x, time);
-            emit valueChanged(uasId, "vicon y", "m", pos.y, time);
-            emit valueChanged(uasId, "vicon z", "m", pos.z, time);
-            //emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
-        }
-        break;
-        case MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE: {
-            mavlink_vision_speed_estimate_t speed;
-            mavlink_msg_vision_speed_estimate_decode(&message, &speed);
-            quint64 time = getUnixTime(speed.usec);
-            emit valueChanged(uasId, "vis. speed x", "m/s", speed.x, time);
-            emit valueChanged(uasId, "vis. speed y", "m/s", speed.y, time);
-            emit valueChanged(uasId, "vis. speed z", "m/s", speed.z, time);
-        }
-        break;
+//        case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE: {
+//            mavlink_vicon_position_estimate_t pos;
+//            mavlink_msg_vicon_position_estimate_decode(&message, &pos);
+//            quint64 time = getUnixTime(pos.usec);
+//            //emit valueChanged(uasId, "vis. time", pos.usec, time);
+//            emit valueChanged(uasId, "vicon roll", "rad", pos.roll, time);
+//            emit valueChanged(uasId, "vicon pitch", "rad", pos.pitch, time);
+//            emit valueChanged(uasId, "vicon yaw", "rad", pos.yaw, time);
+//            emit valueChanged(uasId, "vicon x", "m", pos.x, time);
+//            emit valueChanged(uasId, "vicon y", "m", pos.y, time);
+//            emit valueChanged(uasId, "vicon z", "m", pos.z, time);
+//            //emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
+//        }
+//        break;
+//        case MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE: {
+//            mavlink_vision_speed_estimate_t speed;
+//            mavlink_msg_vision_speed_estimate_decode(&message, &speed);
+//            quint64 time = getUnixTime(speed.usec);
+//            emit valueChanged(uasId, "vis. speed x", "m/s", speed.x, time);
+//            emit valueChanged(uasId, "vis. speed y", "m/s", speed.y, time);
+//            emit valueChanged(uasId, "vis. speed z", "m/s", speed.z, time);
+//        }
+//        break;
 //        case MAVLINK_MSG_ID_CONTROL_STATUS:
 //            {
 //                mavlink_control_status_t status;

src/uas/UAS.cc

@@ -164,7 +164,8 @@ void UAS::updateState()
 
 void UAS::setSelected()
 {
-    if (UASManager::instance()->getActiveUAS() != this) {
+    if (UASManager::instance()->getActiveUAS() != this)
+    {
         UASManager::instance()->setActiveUAS(this);
         emit systemSelected(true);
     }
@@ -175,24 +176,6 @@ bool UAS::getSelected() const
     return (UASManager::instance()->getActiveUAS() == this);
 }
 
-void UAS::receiveMessageNamedValue(const mavlink_message_t& message)
-{
-    if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
-    {
-        mavlink_named_value_float_t val;
-        mavlink_msg_named_value_float_decode(&message, &val);
-        QByteArray bytes(val.name, MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN);
-        emit valueChanged(this->getUASID(), QString(bytes), tr("raw"), val.value, getUnixTime());
-    }
-    else if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
-    {
-        mavlink_named_value_int_t val;
-        mavlink_msg_named_value_int_decode(&message, &val);
-        QByteArray bytes(val.name, MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN);
-        emit valueChanged(this->getUASID(), QString(bytes), tr("raw"), val.value, getUnixTime());
-    }
-}
-
 void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 {
     if (!link) return;
@@ -201,10 +184,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         addLink(link);
         //        qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
     }
-    //    else
-    //    {
-    //        qDebug() << __FILE__ << __LINE__ << "DID NOT ADD LINK" << link->getName() << "ALREADY IN LIST";
-    //    }
 
     //    qDebug() << "UAS RECEIVED from" << message.sysid << "component" << message.compid << "msg id" << message.msgid << "seq no" << message.seq;
 
@@ -356,11 +335,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 }
 
             break;
-        case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
-        case MAVLINK_MSG_ID_NAMED_VALUE_INT:
-            // Receive named value message
-            receiveMessageNamedValue(message);
-            break;
+//        case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
+//        case MAVLINK_MSG_ID_NAMED_VALUE_INT:
+//            // Receive named value message
+//            receiveMessageNamedValue(message);
+//            break;
         case MAVLINK_MSG_ID_SYS_STATUS:
         {
                 if (multiComponentSourceDetected && message.compid != MAV_COMP_ID_IMU_2)
@@ -429,6 +408,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 //                    compass = 0.0f;
 //                }
 
+
                 attitudeKnown = true;
                 emit attitudeChanged(this, roll, pitch, yaw, time);
                 emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
@@ -938,20 +918,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_SCALED_PRESSURE:
         case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
         case MAVLINK_MSG_ID_OPTICAL_FLOW:
-            break;
         case MAVLINK_MSG_ID_DEBUG_VECT:
-            {
-                mavlink_debug_vect_t debug;
-                mavlink_msg_debug_vect_decode(&message, &debug);
-                debug.name[MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN-1] = '\0';
-                QString name(debug.name);
-                quint64 time = getUnixTime(debug.time_usec);
-                emit valueChanged(uasId, name+".x", "raw", debug.x, time);
-                emit valueChanged(uasId, name+".y", "raw", debug.y, time);
-                emit valueChanged(uasId, name+".z", "raw", debug.z, time);
-            }
-            break;
         case MAVLINK_MSG_ID_DEBUG:
+        case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
+        case MAVLINK_MSG_ID_NAMED_VALUE_INT:
             break;
         default:
             {

src/uas/UAS.h

@@ -577,9 +577,9 @@ protected slots:
     /** @brief Read settings from disk */
     void readSettings();
 
-    // MESSAGE RECEPTION
-    /** @brief Receive a named value message */
-    void receiveMessageNamedValue(const mavlink_message_t& message);
+//    // MESSAGE RECEPTION
+//    /** @brief Receive a named value message */
+//    void receiveMessageNamedValue(const mavlink_message_t& message);
 
 private:
 //    unsigned int mode;          ///< The current mode of the MAV

src/ui/MAVLinkDecoder.cc

@@ -11,8 +11,11 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
     {
         componentID[i] = -1;
         componentMulti[i] = false;
+        onboardTimeOffset[i] = 0;
     }
 
+
+
     // Fill filter
     messageFilter.insert(MAVLINK_MSG_ID_HEARTBEAT, false);
     messageFilter.insert(MAVLINK_MSG_ID_SYS_STATUS, false);
@@ -24,8 +27,6 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
     messageFilter.insert(MAVLINK_MSG_ID_MISSION_ITEM, false);
     messageFilter.insert(MAVLINK_MSG_ID_MISSION_COUNT, false);
     messageFilter.insert(MAVLINK_MSG_ID_MISSION_ACK, false);
-    messageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, false);
-    messageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_INT, false);
 
     textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG, false);
     textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG_VECT, false);
@@ -41,37 +42,100 @@ void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t messag
     memcpy(receivedMessages+message.msgid, &message, sizeof(mavlink_message_t));
 
     uint8_t msgid = message.msgid;
-    QString messageName("%1 (#%2)");
-    messageName = messageName.arg(messageInfo[msgid].name).arg(msgid);
 
-    // See if first value is a time value
-    quint64 time = 0;
-    uint8_t fieldid = 0;
-    uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
-    if (QString(messageInfo[msgid].fields[fieldid].name) == QString("time_boot_ms") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT32_T)
+    // Handle time sync message
+    if (message.msgid == MAVLINK_MSG_ID_SYSTEM_TIME && message.compid == 200)
     {
-        time = *((quint32*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
-    }
-    else if (QString(messageInfo[msgid].fields[fieldid].name) == QString("time_usec") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT64_T)
-    {
-        time = *((quint64*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+        mavlink_system_time_t timebase;
+        mavlink_msg_system_time_decode(&message, &timebase);
+        onboardTimeOffset[message.sysid] = timebase.time_unix_usec/1000 - timebase.time_boot_ms;
+        onboardToGCSUnixTimeOffsetAndDelay[message.sysid] = static_cast<qint64>(QGC::groundTimeMilliseconds() - timebase.time_unix_usec/1000);
     }
     else
     {
-        // First value is not time, send out value 0
-        emitFieldValue(&message, fieldid, time);
-    }
 
-    // Send out field values from 1..n
-    for (unsigned int i = 1; i < messageInfo[msgid].num_fields; ++i)
-    {
-        emitFieldValue(&message, i, time);
+        QString messageName("%1 (#%2)");
+        messageName = messageName.arg(messageInfo[msgid].name).arg(msgid);
+
+        // See if first value is a time value
+        quint64 time = 0;
+        uint8_t fieldid = 0;
+        uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
+        if (QString(messageInfo[msgid].fields[fieldid].name) == QString("time_boot_ms") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT32_T)
+        {
+            time = *((quint32*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+        }
+        else if (QString(messageInfo[msgid].fields[fieldid].name).contains("usec") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT64_T)
+        {
+            time = *((quint64*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            time = time/1000; // Scale to milliseconds
+        }
+        else
+        {
+            // First value is not time, send out value 0
+            emitFieldValue(&message, fieldid, getUnixTimeFromMs(message.sysid, 0));
+        }
+
+        // Align time to global time
+        time = getUnixTimeFromMs(message.sysid, time);
+
+        // Send out field values from 1..n
+        for (unsigned int i = 1; i < messageInfo[msgid].num_fields; ++i)
+        {
+            emitFieldValue(&message, i, time);
+        }
     }
 
     // Send out combined math expressions
     // FIXME XXX TODO
 }
 
+quint64 MAVLinkDecoder::getUnixTimeFromMs(int systemID, quint64 time)
+{
+    quint64 ret = 0;
+    if (time == 0)
+    {
+        ret = QGC::groundTimeMilliseconds() - onboardToGCSUnixTimeOffsetAndDelay[systemID];
+    }
+    // Check if time is smaller than 40 years,
+    // assuming no system without Unix timestamp
+    // runs longer than 40 years continuously without
+    // reboot. In worst case this will add/subtract the
+    // communication delay between GCS and MAV,
+    // it will never alter the timestamp in a safety
+    // critical way.
+    //
+    // Calculation:
+    // 40 years
+    // 365 days
+    // 24 hours
+    // 60 minutes
+    // 60 seconds
+    // 1000 milliseconds
+    // 1000 microseconds
+#ifndef _MSC_VER
+    else if (time < 1261440000000LLU)
+#else
+    else if (time < 1261440000000)
+#endif
+    {
+        if (onboardTimeOffset[systemID] == 0 || time < (firstOnboardTime[systemID]-2000))
+        {
+            firstOnboardTime[systemID] = time;
+            onboardTimeOffset[systemID] = QGC::groundTimeMilliseconds() - time;
+        }
+        ret = time + onboardTimeOffset[systemID];
+    }
+    else
+    {
+        // Time is not zero and larger than 40 years -> has to be
+        // a Unix epoch timestamp. Do nothing.
+        ret = time;
+    }
+
+    return ret;
+}
+
 void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time)
 {
     bool multiComponentSourceDetected = false;
@@ -102,7 +166,41 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
     uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
     QString name("%1.%2");
     QString unit("");
-    name = name.arg(messageInfo[msgid].name, fieldName);
+
+    // Debug vector messages
+    if (msgid == MAVLINK_MSG_ID_DEBUG_VECT)
+    {
+        mavlink_debug_vect_t debug;
+        mavlink_msg_debug_vect_decode(msg, &debug);
+        name = name.arg(QString(debug.name), fieldName);
+        time = debug.time_usec / 1000;
+    }
+    else if (msgid == MAVLINK_MSG_ID_DEBUG)
+    {
+        mavlink_debug_t debug;
+        mavlink_msg_debug_decode(msg, &debug);
+        name = name.arg(QString("debug")).arg(debug.ind);
+        time = debug.time_boot_ms;
+    }
+    else if (msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
+    {
+        mavlink_named_value_float_t debug;
+        mavlink_msg_named_value_float_decode(msg, &debug);
+        name = name.arg(debug.name).arg(fieldName);
+        time = debug.time_boot_ms;
+    }
+    else if (msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
+    {
+        mavlink_named_value_int_t debug;
+        mavlink_msg_named_value_int_decode(msg, &debug);
+        name = name.arg(debug.name).arg(fieldName);
+        time = debug.time_boot_ms;
+    }
+    else
+    {
+        name = name.arg(messageInfo[msgid].name, fieldName);
+    }
+
     if (multiComponentSourceDetected) name.prepend(QString("C%1:").arg(msg->compid));
     name.prepend(QString("M%1:").arg(msg->sysid));
     switch (messageInfo[msgid].fields[fieldid].type)

src/ui/MAVLinkDecoder.h

@@ -25,6 +25,8 @@ public slots:
 protected:
     /** @brief Emit the value of one message field */
     void emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time);
+    /** @brief Shift a timestamp in Unix time if necessary */
+    quint64 getUnixTimeFromMs(int systemID, quint64 time);
 
     mavlink_message_t receivedMessages[256]; ///< Available / known messages
     mavlink_message_info_t messageInfo[256]; ///< Message information
@@ -32,6 +34,9 @@ protected:
     QMap<uint16_t, bool> textMessageFilter;           ///< Message/field names not to emit in text mode
     int componentID[256];                             ///< Multi component detection
     bool componentMulti[256];                         ///< Multi components detected
+    quint64 onboardTimeOffset[256];                   ///< Offset of onboard time from Unix epoch (of the receiving GCS)
+    qint64 onboardToGCSUnixTimeOffsetAndDelay[256];   ///< Offset of onboard time and GCS Unix time
+    quint64 firstOnboardTime[256];                    ///< First seen onboard time
 
 };
 

src/ui/MAVLinkSettingsWidget.cc

@@ -161,12 +161,14 @@ void MAVLinkSettingsWidget::chooseLogfileName()
 {
     QString fileName = QFileDialog::getSaveFileName(this, tr("Specify MAVLink log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("MAVLink Logfile (*.mavlink);;"));
 
-    if (!fileName.endsWith(".mavlink")) {
+    if (!fileName.endsWith(".mavlink"))
+    {
         fileName.append(".mavlink");
     }
 
     QFileInfo file(fileName);
-    if (file.exists() && !file.isWritable()) {
+    if (file.exists() && !file.isWritable())
+    {
         QMessageBox msgBox;
         msgBox.setIcon(QMessageBox::Critical);
         msgBox.setText(tr("The selected logfile is not writable"));
@@ -174,7 +176,9 @@ void MAVLinkSettingsWidget::chooseLogfileName()
         msgBox.setStandardButtons(QMessageBox::Ok);
         msgBox.setDefaultButton(QMessageBox::Ok);
         msgBox.exec();
-    } else {
+    }
+    else
+    {
         updateLogfileName(fileName);
         protocol->setLogfileName(fileName);
     }
@@ -189,12 +193,15 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable)
     // Delete from all lists first
     UDPLink* firstUdp = NULL;
     QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(protocol);
-    foreach (LinkInterface* link, links) {
+    foreach (LinkInterface* link, links)
+    {
         UDPLink* udp = dynamic_cast<UDPLink*>(link);
-        if (udp) {
+        if (udp)
+        {
             if (!firstUdp) firstUdp = udp;
             // Remove current hosts
-            for (int i = 0; i < m_ui->droneOSComboBox->count(); ++i) {
+            for (int i = 0; i < m_ui->droneOSComboBox->count(); ++i)
+            {
                 QString oldHostString = m_ui->droneOSComboBox->itemText(i);
                 oldHostString = hostString.split(":").first();
                 udp->removeHost(oldHostString);
@@ -203,8 +210,10 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable)
     }
 
     // Re-add if enabled
-    if (enable) {
-        if (firstUdp) {
+    if (enable)
+    {
+        if (firstUdp)
+        {
             firstUdp->addHost(hostString);
         }
         // Set key

src/ui/MainWindow.h

@@ -55,7 +55,6 @@ This file is part of the QGROUNDCONTROL project
 #include "JoystickWidget.h"
 #include "input/JoystickInput.h"
 #include "DebugConsole.h"
-//#include "MapWidget.h"
 #include "ParameterInterface.h"
 #include "XMLCommProtocolWidget.h"
 #include "HDDisplay.h"
@@ -80,6 +79,8 @@ This file is part of the QGROUNDCONTROL project
 #include "MAVLinkDecoder.h"
 
 class QGCMapTool;
+class QGCMAVLinkMessageSender;
+class QGCFirmwareUpdate;
 class QSplashScreen;
 
 /**
@@ -154,6 +155,8 @@ public slots:
     void loadOperatorView();
     /** @brief Load MAVLink XML generator view */
     void loadMAVLinkView();
+    /** @brief Load firmware update view */
+    void loadFirmwareUpdateView();
 
     /** @brief Show the online help for users */
     void showHelp();
@@ -241,13 +244,11 @@ protected:
         VIEW_OPERATOR,
         VIEW_PILOT,
         VIEW_MAVLINK,
+        VIEW_FIRMWAREUPDATE,
         VIEW_UNCONNECTED,    ///< View in unconnected mode, when no UAS is available
         VIEW_FULL            ///< All widgets shown at once
     } VIEW_SECTIONS;
 
-//    QHash<int, QAction*> toolsMenuActions; // Holds ptr to the Menu Actions
-//    QHash<int, QWidget*> dockWidgets;  // Holds ptr to the Actual Dock widget
-
     /**
      * @brief Adds an already instantiated QDockedWidget to the Tools Menu
      *
@@ -314,12 +315,10 @@ protected:
 #ifdef QGC_OSG_ENABLED
     QPointer<QWidget> _3DWidget;
 #endif
-#ifdef QGC_OSGEARTH_ENABLED
-    QPointer<QWidget> _3DMapWidget;
-#endif
 #if (defined _MSC_VER) || (defined Q_OS_MAC)
     QPointer<QGCGoogleEarthView> gEarthWidget;
 #endif
+    QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
 
     // Dock widgets
     QPointer<QDockWidget> controlDockWidget;
@@ -353,6 +352,7 @@ protected:
 
     QPointer<QDockWidget> mavlinkInspectorWidget;
     QPointer<MAVLinkDecoder> mavlinkDecoder;
+    QPointer<QDockWidget> mavlinkSenderWidget;
     QGCMAVLinkLogPlayer* logPlayer;
 
     // Popup widgets

src/ui/MainWindow.ui

@@ -51,7 +51,7 @@
      <x>0</x>
      <y>0</y>
      <width>800</width>
-     <height>25</height>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuMGround">
@@ -108,7 +108,7 @@
    </widget>
    <widget class="QMenu" name="menuTools">
     <property name="title">
-     <string>Widgets</string>
+     <string>Tool Widgets</string>
     </property>
     <addaction name="actionNewCustomWidget"/>
     <addaction name="actionLoadCustomWidgetFile"/>
@@ -129,6 +129,7 @@
     <addaction name="actionEngineersView"/>
     <addaction name="actionPilotsView"/>
     <addaction name="separator"/>
+    <addaction name="actionFirmwareUpdateView"/>
     <addaction name="actionMavlinkView"/>
     <addaction name="actionUnconnectedView"/>
     <addaction name="separator"/>
@@ -137,16 +138,22 @@
    </widget>
    <widget class="QMenu" name="menuMain">
     <property name="title">
-     <string>Main</string>
+     <string>Main Widget</string>
+    </property>
+   </widget>
+   <widget class="QMenu" name="menuPlugins">
+    <property name="title">
+     <string>Plugins</string>
     </property>
    </widget>
    <addaction name="menuMGround"/>
    <addaction name="menuNetwork"/>
    <addaction name="menuConnected_Systems"/>
    <addaction name="menuUnmanned_System"/>
+   <addaction name="menuPerspectives"/>
    <addaction name="menuMain"/>
    <addaction name="menuTools"/>
-   <addaction name="menuPerspectives"/>
+   <addaction name="menuPlugins"/>
    <addaction name="menuHelp"/>
   </widget>
   <widget class="QStatusBar" name="statusBar"/>
@@ -466,6 +473,18 @@
     <string>Load Custom Widget File</string>
    </property>
   </action>
+  <action name="actionFirmwareUpdateView">
+   <property name="icon">
+    <iconset resource="../../qgroundcontrol.qrc">
+     <normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Firmware Update</string>
+   </property>
+   <property name="toolTip">
+    <string>Update the firmware of one of the connected autopilots</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/ui/QGCDataPlot2D.cc

@@ -470,7 +470,8 @@ void QGCDataPlot2D::loadCsvLog(QString file, QString xAxisName, QString yAxisFil
 
     // Read data
 
-    double x,y;
+    double x = 0;
+    double y = 0;
 
     while (!in.atEnd())
     {

src/ui/QGCFirmwareUpdate.ui

@@ -6,13 +6,21 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
-    <height>300</height>
+    <width>596</width>
+    <height>343</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <widget class="QComboBox" name="autopilotComboBox"/>
+   </item>
+   <item row="1" column="0">
+    <widget class="QWidget" name="widget" native="true"/>
+   </item>
+  </layout>
  </widget>
  <resources/>
  <connections/>

src/ui/QGCMAVLinkLogPlayer.cc

@@ -21,6 +21,7 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
     mavlinkLogFormat(true),
     binaryBaudRate(57600),
     isPlaying(false),
+    currPacketCount(0),
     ui(new Ui::QGCMAVLinkLogPlayer)
 {
     ui->setupUi(this);
@@ -102,6 +103,7 @@ void QGCMAVLinkLogPlayer::play()
             loopTimer.start(interval*accelerationFactor);
         }
         isPlaying = true;
+        ui->logStatsLabel->setText(tr("Started playing.."));
         ui->playButton->setIcon(QIcon(":images/actions/media-playback-pause.svg"));
     }
     else
@@ -272,7 +274,8 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
             minutes -= 60*hours;
 
             QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
-            ui->logStatsLabel->setText(tr("%2 MB, %3 packets, %4").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64))).arg(timelabel));
+            currPacketCount = logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64));
+            ui->logStatsLabel->setText(tr("%2 MB, %3 packets, %4").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(currPacketCount).arg(timelabel));
         }
         else
         {
@@ -302,6 +305,10 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
             QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
             ui->logStatsLabel->setText(tr("%2 MB, %4 at %5 KB/s").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(timelabel).arg(binaryBaudRate/10.0f/1024.0f, 0, 'f', 2));
         }
+
+        // Reset current state
+        reset(0);
+
         return true;
     }
 }
@@ -458,7 +465,7 @@ void QGCMAVLinkLogPlayer::logLoop()
 
     // Update status label
     // Update progress bar
-    if (loopCounter % 40 == 0)
+    if (loopCounter % 40 == 0 || currPacketCount < 500)
     {
         QFileInfo logFileInfo(logFile);
         int progress = (ui->positionSlider->maximum()-ui->positionSlider->minimum())*(logFile.pos()/static_cast<float>(logFileInfo.size()));

src/ui/QGCMAVLinkLogPlayer.h

@@ -78,6 +78,7 @@ protected:
     bool mavlinkLogFormat;
     int binaryBaudRate;
     bool isPlaying;
+    unsigned int currPacketCount;
     static const int packetLen = MAVLINK_MAX_PACKET_LEN;
     static const int timeLen = sizeof(quint64);
     void changeEvent(QEvent *e);

src/ui/QGCPluginHost.cc

+#include "QGCPluginHost.h"
+#include "ui_QGCPluginHost.h"
+
+QGCPluginHost::QGCPluginHost(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCPluginHost)
+{
+    ui->setupUi(this);
+}
+
+QGCPluginHost::~QGCPluginHost()
+{
+    delete ui;
+}

src/ui/QGCPluginHost.h

+#ifndef QGCPLUGINHOST_H
+#define QGCPLUGINHOST_H
+
+#include <QWidget>
+
+namespace Ui {
+class QGCPluginHost;
+}
+
+class QGCPluginHost : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit QGCPluginHost(QWidget *parent = 0);
+    ~QGCPluginHost();
+    
+private:
+    Ui::QGCPluginHost *ui;
+};
+
+#endif // QGCPLUGINHOST_H

src/ui/QGCPluginHost.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCPluginHost</class>
+ <widget class="QWidget" name="QGCPluginHost">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>633</width>
+    <height>329</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QListWidget" name="pluginListWidget">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>30</y>
+     <width>256</width>
+     <height>271</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QTextEdit" name="pluginLog">
+   <property name="geometry">
+    <rect>
+     <x>280</x>
+     <y>30</y>
+     <width>341</width>
+     <height>271</height>
+    </rect>
+   </property>
+   <property name="readOnly">
+    <bool>true</bool>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>10</y>
+     <width>121</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Loaded Plugins</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>280</x>
+     <y>10</y>
+     <width>91</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Plugin Log</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/QGCToolBar.cc

@@ -45,7 +45,7 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
     toggleLoggingAction = new QAction(QIcon(":"), "Logging", this);
     toggleLoggingAction->setCheckable(true);
     logReplayAction = new QAction(QIcon(":"), "Replay", this);
-    logReplayAction->setCheckable(true);
+    logReplayAction->setCheckable(false);
 
     addAction(toggleLoggingAction);
     addAction(logReplayAction);
@@ -101,8 +101,8 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
 void QGCToolBar::setLogPlayer(QGCMAVLinkLogPlayer* player)
 {
     this->player = player;
-    connect(toggleLoggingAction, SIGNAL(triggered(bool)), this, SLOT(playLogFile(bool)));
-    connect(logReplayAction, SIGNAL(triggered(bool)), this, SLOT(logging(bool)));
+    connect(toggleLoggingAction, SIGNAL(triggered(bool)), this, SLOT(logging(bool)));
+    connect(logReplayAction, SIGNAL(triggered(bool)), this, SLOT(playLogFile(bool)));
 }
 
 void QGCToolBar::playLogFile(bool enabled)
@@ -143,7 +143,7 @@ void QGCToolBar::logging(bool enabled)
         }
 
         QFileInfo file(fileName);
-        if (file.exists() && !file.isWritable())
+        if ((file.exists() && !file.isWritable()))
         {
             QMessageBox msgBox;
             msgBox.setIcon(QMessageBox::Critical);

src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc

+#include "QGCFirmwareUpdateWidget.h"
+#include "ui_QGCFirmwareUpdateWidget.h"
+
+QGCFirmwareUpdateWidget::QGCFirmwareUpdateWidget(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCFirmwareUpdateWidget)
+{
+    ui->setupUi(this);
+}
+
+QGCFirmwareUpdateWidget::~QGCFirmwareUpdateWidget()
+{
+    delete ui;
+}

src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h

+#ifndef QGCFIRMWAREUPDATEWIDGET_H
+#define QGCFIRMWAREUPDATEWIDGET_H
+
+#include <QWidget>
+
+namespace Ui {
+class QGCFirmwareUpdateWidget;
+}
+
+class QGCFirmwareUpdateWidget : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit QGCFirmwareUpdateWidget(QWidget *parent = 0);
+    ~QGCFirmwareUpdateWidget();
+    
+private:
+    Ui::QGCFirmwareUpdateWidget *ui;
+};
+
+#endif // QGCFIRMWAREUPDATEWIDGET_H

src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCFirmwareUpdateWidget</class>
+ <widget class="QWidget" name="QGCFirmwareUpdateWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>638</width>
+    <height>412</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0" colspan="2">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>1) Select Autopilot</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0" colspan="2">
+    <widget class="QListWidget" name="autopilotListWidget"/>
+   </item>
+   <item row="1" column="2">
+    <widget class="QTextEdit" name="textEdit">
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
+     <property name="html">
+      <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:14px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:large; font-weight:600;&quot;&gt;Autopilot Selection&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Select one of the connected autopilots from the list on the left.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="3" rowspan="4" colspan="2">
+    <widget class="QTextEdit" name="firmwareInfo">
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
+     <property name="html">
+      <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:14px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:large; font-weight:600;&quot;&gt;AP Firmware v0.9.1&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;This software update...&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;FIXES:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;- Fix1&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;FEATURES:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;- New feature 1&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0" colspan="2">
+    <widget class="QLabel" name="label_3">
+     <property name="text">
+      <string>2) Select Software Version</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0" colspan="2">
+    <widget class="QListWidget" name="firmwareListWidget"/>
+   </item>
+   <item row="3" column="2" rowspan="2">
+    <widget class="QTextEdit" name="textEdit_2">
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
+     <property name="html">
+      <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:14px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:large; font-weight:600;&quot;&gt;Software Version Selection&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Select the software version from the online repository on the left or choose the select file button to load a file from the harddisk. Detail information is shown on the right.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="1">
+    <widget class="QPushButton" name="selectFileButton">
+     <property name="text">
+      <string>Select File..</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="0" rowspan="2" colspan="5">
+    <widget class="QProgressBar" name="progressBar">
+     <property name="value">
+      <number>24</number>
+     </property>
+    </widget>
+   </item>
+   <item row="6" column="4" rowspan="2">
+    <widget class="QPushButton" name="flashFirmwareButton">
+     <property name="text">
+      <string>Flash Firmware</string>
+     </property>
+    </widget>
+   </item>
+   <item row="7" column="0">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>Status</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc

+#include "QGCPX4FirmwareUpdate.h"
+#include "ui_QGCPX4FirmwareUpdate.h"
+
+QGCPX4FirmwareUpdate::QGCPX4FirmwareUpdate(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCPX4FirmwareUpdate)
+{
+    ui->setupUi(this);
+}
+
+QGCPX4FirmwareUpdate::~QGCPX4FirmwareUpdate()
+{
+    delete ui;
+}

src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h

+#ifndef QGCPX4FIRMWAREUPDATE_H
+#define QGCPX4FIRMWAREUPDATE_H
+
+#include <QWidget>
+
+namespace Ui {
+class QGCPX4FirmwareUpdate;
+}
+
+class QGCPX4FirmwareUpdate : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit QGCPX4FirmwareUpdate(QWidget *parent = 0);
+    ~QGCPX4FirmwareUpdate();
+    
+private:
+    Ui::QGCPX4FirmwareUpdate *ui;
+};
+
+#endif // QGCPX4FIRMWAREUPDATE_H

src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCPX4FirmwareUpdate</class>
+ <widget class="QWidget" name="QGCPX4FirmwareUpdate">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0" colspan="4">
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>2</number>
+     </property>
+     <widget class="QWidget" name="firmwareSelectTab">
+      <attribute name="title">
+       <string>Firmware</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_2">
+       <property name="leftMargin">
+        <number>6</number>
+       </property>
+       <property name="rightMargin">
+        <number>6</number>
+       </property>
+       <property name="bottomMargin">
+        <number>6</number>
+       </property>
+       <item row="0" column="0" colspan="2">
+        <widget class="QListWidget" name="fileList"/>
+       </item>
+       <item row="1" column="0">
+        <widget class="QLineEdit" name="fileLineEdit"/>
+       </item>
+       <item row="1" column="1">
+        <widget class="QPushButton" name="selectFileButton">
+         <property name="text">
+          <string>Select File</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="settingsBackupTab">
+      <attribute name="title">
+       <string>Settings</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_3">
+       <item row="0" column="0">
+        <widget class="QLineEdit" name="lineEdit"/>
+       </item>
+       <item row="0" column="1">
+        <widget class="QPushButton" name="settingsStoreButton">
+         <property name="text">
+          <string>Select File</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="flashTab">
+      <attribute name="title">
+       <string>Flash Firmware</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_4">
+       <item row="0" column="0">
+        <widget class="QLabel" name="fileLabel">
+         <property name="text">
+          <string>Filename</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QProgressBar" name="progressBar">
+         <property name="value">
+          <number>24</number>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <widget class="QLabel" name="statusLabel">
+         <property name="text">
+          <string>Status</string>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="0">
+        <widget class="QPushButton" name="flashButton">
+         <property name="text">
+          <string>Flash Firmware</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>40</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <widget class="QPushButton" name="pushButton">
+     <property name="text">
+      <string>Prev</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <widget class="QPushButton" name="pushButton_2">
+     <property name="text">
+      <string>Next</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="3">
+    <widget class="QPushButton" name="pushButton_3">
+     <property name="text">
+      <string>Flash</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/linechart/LinechartPlot.cc

@@ -32,9 +32,11 @@
  * @param interval The maximum interval for which data is stored (default: 30 minutes) in milliseconds
  **/
 LinechartPlot::LinechartPlot(QWidget *parent, int plotid, quint64 interval): QwtPlot(parent),
-    minTime(QUINT64_MAX),
-    maxTime(QUINT64_MIN),
+    minTime(0),
+    lastTime(0),
+    maxTime(100),
     maxInterval(MAX_STORAGE_INTERVAL),
+    plotPosition(0),
     timeScaleStep(DEFAULT_SCALE_INTERVAL), // 10 seconds
     automaticScrollActive(false),
     m_active(false),
@@ -84,8 +86,6 @@ LinechartPlot::LinechartPlot(QWidget *parent, int plotid, quint64 interval): Qwt
     colors.append(QColor(87,231,246));
     colors.append(QColor(230,126,23));
 
-    plotPosition = 0;
-
     setAutoReplot(false);
 
     // Set grid
@@ -132,7 +132,29 @@ LinechartPlot::LinechartPlot(QWidget *parent, int plotid, quint64 interval): Qwt
 
 LinechartPlot::~LinechartPlot()
 {
-    removeAllData();
+//    datalock.lock();
+//    // Delete curves
+//    QMap<QString, QwtPlotCurve*>::iterator i;
+//    for(i = curves.begin(); i != curves.end(); ++i) {
+//        // Remove from curve list
+//        QwtPlotCurve* curve = curves.take(i.key());
+//        // Delete the object
+//        delete curve;
+//        // Set the pointer null
+//        curve = NULL;
+//    }
+
+//    // Delete data
+//    QMap<QString, TimeSeriesData*>::iterator j;
+//    for(j = data.begin(); j != data.end(); ++j) {
+//        // Remove from data list
+//        TimeSeriesData* d = data.take(j.key());
+//        // Delete the object
+//        delete d;
+//        // Set the pointer null
+//        d = NULL;
+//    }
+//    datalock.unlock();
 }
 
 void LinechartPlot::showEvent(QShowEvent* event)
@@ -257,12 +279,16 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value)
     /* Check if dataset identifier already exists */
     if(!data.contains(dataname)) {
         addCurve(dataname);
+        enforceGroundTime(m_groundTime);
+        qDebug() << "ADDING CURVE WITH" << dataname << ms << value;
+        qDebug() << "MINTIME:" << minTime << "MAXTIME:" << maxTime;
+        qDebug() << "LASTTIME:" << lastTime;
     }
 
     // Add new value
     TimeSeriesData* dataset = data.value(dataname);
 
-    quint64 time = QGC::groundTimeMilliseconds();
+    quint64 time;
 
     // Append data
     if (!m_groundTime)
@@ -270,6 +296,10 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value)
         // Use timestamp from dataset
         time = ms;
     }
+    else
+    {
+        time = QGC::groundTimeMilliseconds();
+    }
     dataset->append(time, value);
 
     lastUpdate.insert(dataname, time);
@@ -279,7 +309,11 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value)
     if(ms > maxTime) maxTime = ms;
     storageInterval = maxTime - minTime;
 
-    if(time > lastTime) lastTime = time;
+    if(time > lastTime)
+    {
+        //qDebug() << "UPDATED LAST TIME!" << dataname << time << lastTime;
+        lastTime = time;
+    }
 
     //
     if (value < minValue) minValue = value;
@@ -302,7 +336,19 @@ void LinechartPlot::enforceGroundTime(bool enforce)
 {
     m_groundTime = enforce;
 
-    lastTime = QGC::groundTimeUsecs()/1000;
+    if (enforce)
+    {
+        lastTime = QGC::groundTimeMilliseconds();
+        plotPosition = lastTime;
+        maxTime = lastTime;
+    }
+    else
+    {
+        lastTime = 0;
+        plotPosition = 0;
+        minTime = 0;
+        maxTime = 100;
+    }
 }
 
 /**
@@ -504,8 +550,10 @@ bool LinechartPlot::isVisible(QString id)
 bool LinechartPlot::anyCurveVisible()
 {
     bool visible = false;
-    foreach (QString key, curves.keys()) {
-        if (curves.value(key)->isVisible()) {
+    foreach (QString key, curves.keys())
+    {
+        if (curves.value(key)->isVisible())
+        {
             visible = true;
         }
     }
@@ -579,7 +627,8 @@ void LinechartPlot::setPlotInterval(int interval)
 {
     plotInterval = interval;
     QMap<QString, TimeSeriesData*>::iterator j;
-    for(j = data.begin(); j != data.end(); ++j) {
+    for(j = data.begin(); j != data.end(); ++j)
+    {
         TimeSeriesData* d = data.value(j.key());
         d->setInterval(interval);
     }
@@ -624,7 +673,8 @@ void LinechartPlot::setLinearScaling()
 void LinechartPlot::setAverageWindow(int windowSize)
 {
     this->averageWindowSize = windowSize;
-    foreach(TimeSeriesData* series, data) {
+    foreach(TimeSeriesData* series, data)
+    {
         series->setAverageWindowSize(windowSize);
     }
 }
@@ -644,7 +694,8 @@ void LinechartPlot::paintRealtime()
 #endif
         // Update plot window value to new max time if the last time was also the max time
         windowLock.lock();
-        if (automaticScrollActive) {
+        if (automaticScrollActive)
+        {
 
             // FIXME Check, but commenting this out should have been
             // beneficial (does only add complexity)
@@ -721,7 +772,8 @@ void LinechartPlot::removeAllData()
     datalock.lock();
     // Delete curves
     QMap<QString, QwtPlotCurve*>::iterator i;
-    for(i = curves.begin(); i != curves.end(); ++i) {
+    for(i = curves.begin(); i != curves.end(); ++i)
+    {
         // Remove from curve list
         QwtPlotCurve* curve = curves.take(i.key());
         // Delete the object
@@ -735,7 +787,8 @@ void LinechartPlot::removeAllData()
 
     // Delete data
     QMap<QString, TimeSeriesData*>::iterator j;
-    for(j = data.begin(); j != data.end(); ++j) {
+    for(j = data.begin(); j != data.end(); ++j)
+    {
         // Remove from data list
         TimeSeriesData* d = data.take(j.key());
         // Delete the object

src/ui/linechart/LinechartPlot.h

@@ -298,8 +298,8 @@ protected:
     // TODO CHECK THIS!!!
     int scaling;
     QwtScaleEngine* yScaleEngine;
-    quint64 lastTime; ///< Last added timestamp
     quint64 minTime; ///< The smallest timestamp occured so far
+    quint64 lastTime; ///< Last added timestamp
     quint64 maxTime; ///< The biggest timestamp occured so far
     quint64 maxInterval;
     quint64 storageInterval;

src/ui/linechart/LinechartWidget.cc

@@ -153,6 +153,8 @@ LinechartWidget::~LinechartWidget()
 {
     writeSettings();
     stopLogging();
+    if (activePlot) delete activePlot;
+    activePlot = NULL;
     delete listedCurves;
     listedCurves = NULL;
 }
@@ -184,6 +186,7 @@ void LinechartWidget::readSettings()
     if (activePlot) {
         timeButton->setChecked(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool());
         activePlot->enforceGroundTime(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool());
+        timeButton->setChecked(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool());
     }
     if (unitsCheckBox) unitsCheckBox->setChecked(settings.value("SHOW_UNITS", unitsCheckBox->isChecked()).toBool());
     if (ui.shortNameCheckBox) ui.shortNameCheckBox->setChecked(settings.value("SHORT_NAMES", ui.shortNameCheckBox->isChecked()).toBool());
@@ -258,9 +261,6 @@ void LinechartWidget::createLayout()
     timeButton->setText(tr("Ground Time"));
     timeButton->setToolTip(tr("Overwrite timestamp of data from vehicle with ground receive time. Helps if the plots are not visible because of missing or invalid onboard time."));
     timeButton->setWhatsThis(tr("Overwrite timestamp of data from vehicle with ground receive time. Helps if the plots are not visible because of missing or invalid onboard time."));
-    bool gTimeDefault = true;
-    if (activePlot) activePlot->enforceGroundTime(gTimeDefault);
-    timeButton->setChecked(gTimeDefault);
     layout->addWidget(timeButton, 1, 4);
     layout->setColumnStretch(4, 0);
     connect(timeButton, SIGNAL(clicked(bool)), activePlot, SLOT(enforceGroundTime(bool)));

src/ui/map3D/Pixhawk3DWidget.cc

@@ -663,15 +663,19 @@ void
 Pixhawk3DWidget::getPosition(double& x, double& y, double& z,
                              QString& utmZone)
 {
-    if (uas) {
-        if (frame == MAV_FRAME_GLOBAL) {
+    if (uas)
+    {
+        if (frame == MAV_FRAME_GLOBAL)
+        {
             double latitude = uas->getLatitude();
             double longitude = uas->getLongitude();
             double altitude = uas->getAltitude();
 
             Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
             z = -altitude;
-        } else if (frame == MAV_FRAME_LOCAL_NED) {
+        }
+        else if (frame == MAV_FRAME_LOCAL_NED)
+        {
             x = uas->getLocalX();
             y = uas->getLocalY();
             z = uas->getLocalZ();
@@ -881,7 +885,8 @@ Pixhawk3DWidget::resizeHUD(void)
     int bottomHUDHeight = 25;
 
     osg::Vec3Array* vertices = static_cast<osg::Vec3Array*>(hudBackgroundGeometry->getVertexArray());
-    if (vertices == NULL || vertices->size() != 8) {
+    if (vertices == NULL || vertices->size() != 8)
+    {
         osg::ref_ptr<osg::Vec3Array> newVertices = new osg::Vec3Array(8);
         hudBackgroundGeometry->setVertexArray(newVertices);
 
@@ -899,7 +904,8 @@ Pixhawk3DWidget::resizeHUD(void)
 
     statusText->setPosition(osg::Vec3(10, height() - 15, -1.5));
 
-    if (rgb2DGeode.valid() && depth2DGeode.valid()) {
+    if (rgb2DGeode.valid() && depth2DGeode.valid())
+    {
         int windowWidth = (width() - 20) / 2;
         int windowHeight = 3 * windowWidth / 4;
         rgb2DGeode->setAttributes(10, (height() - windowHeight) / 2,
@@ -922,7 +928,8 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
     std::ostringstream oss;
     oss.setf(std::ios::fixed, std::ios::floatfield);
     oss.precision(2);
-    if (frame == MAV_FRAME_GLOBAL) {
+    if (frame == MAV_FRAME_GLOBAL)
+    {
         double latitude, longitude;
         Imagery::UTMtoLL(robotX, robotY, utmZone, latitude, longitude);
 
@@ -943,7 +950,9 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
         oss.precision(6);
         oss << " Cursor [" << cursorLatitude <<
             " " << cursorLongitude << "]";
-    } else if (frame == MAV_FRAME_LOCAL_NED) {
+    }
+    else if (frame == MAV_FRAME_LOCAL_NED)
+    {
         oss << " x = " << robotX <<
             " y = " << robotY <<
             " z = " << robotZ <<
@@ -957,7 +966,8 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
     statusText->setText(oss.str());
 
     bool darkBackground = true;
-    if (mapNode->getImageryType() == Imagery::GOOGLE_MAP) {
+    if (mapNode->getImageryType() == Imagery::GOOGLE_MAP)
+    {
         darkBackground = false;
     }
 
@@ -968,34 +978,44 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
 void
 Pixhawk3DWidget::updateTrail(double robotX, double robotY, double robotZ)
 {
-    if (robotX == 0.0f || robotY == 0.0f || robotZ == 0.0f) {
+    if (robotX == 0.0f || robotY == 0.0f || robotZ == 0.0f)
+    {
         return;
     }
 
     bool addToTrail = false;
-    if (trail.size() > 0) {
+    if (trail.size() > 0)
+    {
         if (fabs(robotX - trail[trail.size() - 1].x()) > 0.01f ||
                 fabs(robotY - trail[trail.size() - 1].y()) > 0.01f ||
-                fabs(robotZ - trail[trail.size() - 1].z()) > 0.01f) {
+                fabs(robotZ - trail[trail.size() - 1].z()) > 0.01f)
+        {
             addToTrail = true;
         }
-    } else {
+    }
+    else
+    {
         addToTrail = true;
     }
 
-    if (addToTrail) {
+    if (addToTrail)
+    {
         osg::Vec3d p(robotX, robotY, robotZ);
-        if (trail.size() == trail.capacity()) {
+        if (trail.size() == trail.capacity())
+        {
             memcpy(trail.data(), trail.data() + 1,
                    (trail.size() - 1) * sizeof(osg::Vec3d));
             trail[trail.size() - 1] = p;
-        } else {
+        }
+        else
+        {
             trail.append(p);
         }
     }
 
     trailVertices->clear();
-    for (int i = 0; i < trail.size(); ++i) {
+    for (int i = 0; i < trail.size(); ++i)
+    {
         trailVertices->push_back(osg::Vec3d(trail[i].y() - robotY,
                                             trail[i].x() - robotX,
                                             -(trail[i].z() - robotZ)));
@@ -1010,12 +1030,14 @@ void
 Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
                                const QString& zone)
 {
-    if (mapNode->getImageryType() == Imagery::BLANK_MAP) {
+    if (mapNode->getImageryType() == Imagery::BLANK_MAP)
+    {
         return;
     }
 
     double viewingRadius = cameraManipulator->getDistance() * 10.0;
-    if (viewingRadius < 100.0) {
+    if (viewingRadius < 100.0)
+    {
         viewingRadius = 100.0;
     }
 
@@ -1024,7 +1046,8 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
     double maxResolution = 1048576.0;
 
     Imagery::ImageryType imageryType = mapNode->getImageryType();
-    switch (imageryType) {
+    switch (imageryType)
+    {
     case Imagery::GOOGLE_MAP:
         minResolution = 0.25;
         break;
@@ -1040,10 +1063,13 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
     }
 
     double resolution = minResolution;
-    while (resolution * 2.0 < centerResolution) {
+    while (resolution * 2.0 < centerResolution)
+    {
         resolution *= 2.0;
     }
-    if (resolution > maxResolution) {
+
+    if (resolution > maxResolution)
+    {
         resolution = maxResolution;
     }
 
@@ -1057,14 +1083,16 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
                     zone);
 
     // prefetch map tiles
-    if (resolution / 2.0 >= minResolution) {
+    if (resolution / 2.0 >= minResolution)
+    {
         mapNode->prefetch3D(viewingRadius / 2.0,
                             resolution / 2.0,
                             cameraManipulator->getCenter().y(),
                             cameraManipulator->getCenter().x(),
                             zone);
     }
-    if (resolution * 2.0 <= maxResolution) {
+    if (resolution * 2.0 <= maxResolution)
+    {
         mapNode->prefetch3D(viewingRadius * 2.0,
                             resolution * 2.0,
                             cameraManipulator->getCenter().y(),

src/ui/mavlink/QGCMAVLinkMessageSender.h

+#ifndef QGCMAVLINKMESSAGESENDER_H
+#define QGCMAVLINKMESSAGESENDER_H
+
+#include <QWidget>
+#include <QTreeWidgetItem>
+#include <QMap>
+#include <QTimer>
+#include "MAVLinkProtocol.h"
+
+namespace Ui {
+class QGCMAVLinkMessageSender;
+}
+
+class QGCMAVLinkMessageSender : public QWidget
+{
+    Q_OBJECT
+
+    friend class QTimer;
+    
+public:
+    explicit QGCMAVLinkMessageSender(MAVLinkProtocol* mavlink, QWidget *parent = 0);
+    ~QGCMAVLinkMessageSender();
+    
+protected:
+    mavlink_message_info_t messageInfo[256];    ///< Meta information about all messages
+    MAVLinkProtocol* protocol;                  ///< MAVLink protocol
+    QMap<int, float> messagesHz;                ///< Used to store update rate in Hz
+    QTimer refreshTimer;
+    QMap<unsigned int, QTimer*> sendTimers;
+    QMap<unsigned int, QTreeWidgetItem*> managementItems;
+    QMap<unsigned int, QTreeWidgetItem*> treeWidgetItems;  ///< Messages
+
+    /** @brief Create the tree view of all messages */
+    void createTreeView();
+    /** @brief Create one field of one message in the tree view of all messages */
+    void createField(int msgid, int fieldid, QTreeWidgetItem* item);
+    /** @brief Send message with values taken from tree view */
+    bool sendMessage(unsigned int id);
+
+protected slots:
+    /** @brief Read / display values in UI */
+    void refresh();
+
+private:
+    Ui::QGCMAVLinkMessageSender *ui;
+};
+
+#endif // QGCMAVLINKMESSAGESENDER_H

src/ui/mavlink/QGCMAVLinkMessageSender.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMAVLinkMessageSender</class>
+ <widget class="QWidget" name="QGCMAVLinkMessageSender">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="margin">
+    <number>6</number>
+   </property>
+   <item row="0" column="0" colspan="2">
+    <widget class="QTreeWidget" name="treeWidget">
+     <column>
+      <property name="text">
+       <string notr="true">1</string>
+      </property>
+     </column>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>