Merge remote-tracking branch 'remotes/pixhawk/master' into dev_sensSoarNew

Conflicts:
	images/earth.html
	thirdParty/mavlink/include/common/common.h
	thirdParty/mavlink/include/common/mavlink.h

.gitignore

@@ -8,6 +8,7 @@ Info.plist
 obj
 *.log
 *~
+*~.skp
 bin/*.exe
 bin/*.txt
 bin/mac

README

@@ -78,11 +78,39 @@ Done.
 Windows
 =======
 
+DETAILED STEPS BELOW THE VISUAL STUDIO 2010 NOTES.
+GNU GCC / MINGW IS UNTESTED, COULD WORK
+VISUAL STUDIO 2008 / 2010 EXPRESS EDITION IS FREE!
+
+-------------------------------------------------------------------------------------
+VISUAL STUDIO 2010 NOTES (VS 2008 runs out-of-the-box, just follow the steps below):
+
+For use of Qt 4x with Visual Studio 2010 Add-in.
+
+Visual studio adds automatically certain defines that are wrong and cause errors.
+To resolve this, execute these steps:
+
+In the projects properties -> C/C++ ->preprocessor change:
+
+in DEBUG:
+	delete QT_NO_DEBUG
+
+in both (DEBUG / RELEASE):
+	delete QT_NO_DYNAMIC_CAST
+-------------------------------------------------------------------------------------
+
+
+
+
+Steps for Visual Studio 2008 / 2010. (VS 2008 is easier, VS 2010 only recommended for
+expert developers)
+
+
 Windows XP/7:
 
-1) Download and install the QT SDK for Windows from http://qt.nokia.com/downloads/ (Visual Studio 2008 version)
+1) Download and install the Qt SDK for Windows from http://qt.nokia.com/downloads/ (Visual Studio 2008 version) OR download Qt source and compile with VS 2010
 
-2) Download and install Visual Studio 2008 Express Edition (free)
+2) Download and install Visual Studio 2008 Express Edition (free) OR VS 2010 Express Edition
 
 3) Go to the QGroundControl folder and then to thirdParty -> libxbee
 

flightgear/connector_flightgear_uav.xml

+<PropertyList>
+ <generic>
+  <output>
+   <line_separator>newline</line_separator>
+   <var_separator>,</var_separator>
+
+   <chunk>
+    <name>lat</name>
+    <type>float</type>
+    <format>%+1.8f</format>
+    <node>/position/latitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>lon</name>
+    <type>float</type>
+    <format>%+1.8f</format>
+    <node>/position/longitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>alt</name>
+    <type>float</type>
+    <format>%+1.4f</format>
+    <node>/position/altitude-ft</node>
+   </chunk>
+
+
+   <chunk>
+    <name>speed</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/velocities/groundspeed-kt</node>
+   </chunk>
+
+   <chunk>
+    <name>airspeed</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/velocities/airspeed-kt</node>
+   </chunk>
+
+
+
+   <chunk>
+    <name>pitch</name>
+    <type>float</type>
+    <format>%+1.3f</format>
+    <node>/orientation/pitch-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>roll</name>
+    <type>float</type>
+    <format>%+1.3f</format>
+    <node>/orientation/roll-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>heading</name>
+    <type>float</type>
+    <format>%+1.3f</format>
+    <node>/orientation/heading-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>v_n</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/velocities/speed-north-fps</node>
+   </chunk>
+
+   <chunk>
+    <name>v_e</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/velocities/speed-east-fps</node>
+   </chunk>
+
+   <chunk>
+    <name>v_d</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/velocities/speed-down-fps</node>
+   </chunk>
+
+
+   <chunk>
+    <name>rate_phi</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/orientation/roll-rate-degps</node>
+   </chunk>
+
+   <chunk>
+    <name>rate_theta</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/orientation/pitch-rate-degps</node>
+   </chunk>
+
+   <chunk>
+    <name>rate_psi</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/orientation/yaw-rate-degps</node>
+   </chunk>
+
+
+  </output>
+
+ <input>
+   <line_separator>newline</line_separator>
+   <var_separator>,</var_separator>
+
+   <chunk>
+    <name>pitch</name>
+    <type>float</type>
+    <format>%+1.3f</format>
+    <node>/autopilot/settings/target-pitch-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>roll</name>
+    <type>float</type>
+    <format>%+1.3f</format>
+    <node>/autopilot/settings/target-roll-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>throttle</name>
+    <type>float</type>
+    <format>%+1.3f</format>
+    <node>/controls/engines/engine/throttle</node>
+   </chunk>
+
+   <chunk>
+    <name>lat</name>
+    <type>float</type>
+    <format>%+1.8f</format>
+    <node>/sim/view/target/latitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>lon</name>
+    <type>float</type>
+    <format>%+1.8f</format>
+    <node>/sim/view/target/longitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>alt</name>
+    <type>float</type>
+    <format>%+1.4f</format>
+    <node>/sim/view/target/alt</node>
+   </chunk>
+
+  </input>
+
+ </generic>
+</PropertyList>

models/ascent-park-glider.skp

 ໿SketchUp Model૿{8.0.4810}Ƕ『時҆✱闊ÿ主乁￿噃牥楳湯慍ｰ￾䌉䄀爀挀䌀甀爀瘀攀Ā＀￾䌊䄀琀琀爀椀戀甀琀攀＀￾䌓䄀琀琀爀椀戀甀琀攀䌀漀渀琀愀椀渀攀爀＀￾䌏䄀琀琀爀椀戀甀琀攀一愀洀攀搀Ā＀￾䌐䈀愀挀欀最爀漀甀渀搀䤀洀愀最攀਀＀￾䌇䌀愀洀攀爀愀Ԁ＀￾䌊䌀漀洀瀀漀渀攀渀琀଀＀￾䌒䌀漀洀瀀漀渀攀渀琀䈀攀栀愀瘀椀漀爀Ԁ＀￾䌔䌀漀洀瀀漀渀攀渀琀䐀攀昀椀渀椀琀椀漀渀਀＀￾䌒䌀漀洀瀀漀渀攀渀琀䤀渀猀琀愀渀挀攀Ѐ＀￾䌕䌀漀渀猀琀爀甀挀琀椀漀渀䜀攀漀洀攀琀爀礀＀￾䌑䌀漀渀猀琀爀甀挀琀椀漀渀䰀椀渀攀Ā＀￾䌒䌀漀渀猀琀爀甀挀琀椀漀渀倀漀椀渀琀＀￾䌆䌀甀爀瘀攀Ѐ＀￾䌏䐀攀昀椀渀椀琀椀漀渀䰀椀猀琀＀￾䌄䐀椀戀̀＀￾䌊䐀椀洀攀渀猀椀漀渀Ā＀￾䌐䐀椀洀攀渀猀椀漀渀䰀椀渀攀愀爀؀＀￾䌐䐀椀洀攀渀猀椀漀渀刀愀搀椀愀氀Ȁ＀￾䌏䐀椀洀攀渀猀椀漀渀匀琀礀氀攀Ѐ＀￾䌏䐀爀愀眀椀渀最䔀氀攀洀攀渀琀ऀ＀￾䌅䔀搀最攀Ȁ＀￾䌈䔀搀最攀唀猀攀Ā＀￾䌇䔀渀琀椀琀礀̀＀￾䌅䘀愀挀攀̀＀￾䌒䘀愀挀攀吀攀砀琀甀爀攀䌀漀漀爀搀猀Ѐ＀￾䌌䘀漀渀琀䴀愀渀愀最攀爀＀￾䌆䜀爀漀甀瀀Ā＀￾䌆䤀洀愀最攀Ā＀￾䌆䰀愀礀攀爀Ȁ＀￾䌍䰀愀礀攀爀䴀愀渀愀最攀爀Ѐ＀￾䌅䰀漀漀瀀Ā＀￾䌉䴀愀琀攀爀椀愀氀ఀ＀￾䌐䴀愀琀攀爀椀愀氀䴀愀渀愀最攀爀Ѐ＀￾䌉倀愀最攀䰀椀猀琀Ā＀￾䌋倀漀氀礀氀椀渀攀㌀搀＀￾䌍刀攀氀愀琀椀漀渀猀栀椀瀀＀￾䌐刀攀氀愀琀椀漀渀猀栀椀瀀䴀愀瀀＀￾䌑刀攀渀搀攀爀椀渀最伀瀀琀椀漀渀猀␀＀￾䌍匀攀挀琀椀漀渀倀氀愀渀攀Ȁ＀￾䌋匀栀愀搀漀眀䤀渀昀漀܀＀￾䌇匀欀䘀漀渀琀Ā＀￾䌉匀欀攀琀挀栀䌀匀＀￾䌎匀欀攀琀挀栀唀瀀䴀漀搀攀氀ᘀ＀￾䌍匀欀攀琀挀栀唀瀀倀愀最攀Ā＀￾䌉匀欀瀀匀琀礀氀攀Ā＀￾䌐匀欀瀀匀琀礀氀攀䴀愀渀愀最攀爀Ȁ＀￾䌅吀攀砀琀ऀ＀￾䌊吀攀砀琀匀琀礀氀攀Ԁ＀￾䌈吀攀砀琀甀爀攀؀＀￾䌊吀栀甀洀戀渀愀椀氀Ā＀￾䌇嘀攀爀琀攀砀＀￾䌉嘀椀攀眀倀愀最攀ఀ＀￾䌊圀愀琀攀爀洀愀爀欀Ā＀￾䌑圀愀琀攀爀洀愀爀欀䴀愀渀愀最攀爀Ȁ＀￾䔒渀搀ⴀ伀昀ⴀ嘀攀爀猀椀漀渀ⴀ䴀愀瀀Ȁ뀀Ā＀ϿЀ䌀楄Ѣꨀ褀乐േᨊ

models/multiplex-twinstar.skp

 ໿SketchUp Model૿{8.0.4810}∳꛺䧕灁骨鎠讠ÿ侘乁￿噃牥楳湯慍ｰ￾䌉䄀爀挀䌀甀爀瘀攀Ā＀￾䌊䄀琀琀爀椀戀甀琀攀＀￾䌓䄀琀琀爀椀戀甀琀攀䌀漀渀琀愀椀渀攀爀＀￾䌏䄀琀琀爀椀戀甀琀攀一愀洀攀搀Ā＀￾䌐䈀愀挀欀最爀漀甀渀搀䤀洀愀最攀਀＀￾䌇䌀愀洀攀爀愀Ԁ＀￾䌊䌀漀洀瀀漀渀攀渀琀଀＀￾䌒䌀漀洀瀀漀渀攀渀琀䈀攀栀愀瘀椀漀爀Ԁ＀￾䌔䌀漀洀瀀漀渀攀渀琀䐀攀昀椀渀椀琀椀漀渀਀＀￾䌒䌀漀洀瀀漀渀攀渀琀䤀渀猀琀愀渀挀攀Ѐ＀￾䌕䌀漀渀猀琀爀甀挀琀椀漀渀䜀攀漀洀攀琀爀礀＀￾䌑䌀漀渀猀琀爀甀挀琀椀漀渀䰀椀渀攀Ā＀￾䌒䌀漀渀猀琀爀甀挀琀椀漀渀倀漀椀渀琀＀￾䌆䌀甀爀瘀攀Ѐ＀￾䌏䐀攀昀椀渀椀琀椀漀渀䰀椀猀琀＀￾䌄䐀椀戀̀＀￾䌊䐀椀洀攀渀猀椀漀渀Ā＀￾䌐䐀椀洀攀渀猀椀漀渀䰀椀渀攀愀爀؀＀￾䌐䐀椀洀攀渀猀椀漀渀刀愀搀椀愀氀Ȁ＀￾䌏䐀椀洀攀渀猀椀漀渀匀琀礀氀攀Ѐ＀￾䌏䐀爀愀眀椀渀最䔀氀攀洀攀渀琀ऀ＀￾䌅䔀搀最攀Ȁ＀￾䌈䔀搀最攀唀猀攀Ā＀￾䌇䔀渀琀椀琀礀̀＀￾䌅䘀愀挀攀̀＀￾䌒䘀愀挀攀吀攀砀琀甀爀攀䌀漀漀爀搀猀Ѐ＀￾䌌䘀漀渀琀䴀愀渀愀最攀爀＀￾䌆䜀爀漀甀瀀Ā＀￾䌆䤀洀愀最攀Ā＀￾䌆䰀愀礀攀爀Ȁ＀￾䌍䰀愀礀攀爀䴀愀渀愀最攀爀Ѐ＀￾䌅䰀漀漀瀀Ā＀￾䌉䴀愀琀攀爀椀愀氀ఀ＀￾䌐䴀愀琀攀爀椀愀氀䴀愀渀愀最攀爀Ѐ＀￾䌉倀愀最攀䰀椀猀琀Ā＀￾䌋倀漀氀礀氀椀渀攀㌀搀＀￾䌍刀攀氀愀琀椀漀渀猀栀椀瀀＀￾䌐刀攀氀愀琀椀漀渀猀栀椀瀀䴀愀瀀＀￾䌑刀攀渀搀攀爀椀渀最伀瀀琀椀漀渀猀␀＀￾䌍匀攀挀琀椀漀渀倀氀愀渀攀Ȁ＀￾䌋匀栀愀搀漀眀䤀渀昀漀܀＀￾䌇匀欀䘀漀渀琀Ā＀￾䌉匀欀攀琀挀栀䌀匀＀￾䌎匀欀攀琀挀栀唀瀀䴀漀搀攀氀ᘀ＀￾䌍匀欀攀琀挀栀唀瀀倀愀最攀Ā＀￾䌉匀欀瀀匀琀礀氀攀Ā＀￾䌐匀欀瀀匀琀礀氀攀䴀愀渀愀最攀爀Ȁ＀￾䌅吀攀砀琀ऀ＀￾䌊吀攀砀琀匀琀礀氀攀Ԁ＀￾䌈吀攀砀琀甀爀攀؀＀￾䌊吀栀甀洀戀渀愀椀氀Ā＀￾䌇嘀攀爀琀攀砀＀￾䌉嘀椀攀眀倀愀最攀ఀ＀￾䌊圀愀琀攀爀洀愀爀欀Ā＀￾䌑圀愀琀攀爀洀愀爀欀䴀愀渀愀最攀爀Ȁ＀￾䔒渀搀ⴀ伀昀ⴀ嘀攀爀猀椀漀渀ⴀ䴀愀瀀Ȁ뀀Ā＀ϿЀ䌀楄Ѣ⼀褀乐േᨊ

price.txt

-price	quantity
-210	81
-250	73
-280	64
-300	61
-320	50
-340	46
-360	45
-380	44
-400	43
-420	39
-440	36

qgroundcontrol.pro

@@ -246,6 +246,7 @@ HEADERS += src/MG.h \
     src/comm/ProtocolInterface.h \
     src/comm/MAVLinkProtocol.h \
     src/comm/AS4Protocol.h \
+    src/comm/QGCFlightGearLink.h \
     src/ui/CommConfigurationWindow.h \
     src/ui/SerialConfigurationWindow.h \
     src/ui/MainWindow.h \
@@ -376,6 +377,7 @@ SOURCES += src/main.cc \
     src/comm/SerialSimulationLink.cc \
     src/comm/MAVLinkProtocol.cc \
     src/comm/AS4Protocol.cc \
+    src/comm/QGCFlightGearLink.cc \
     src/ui/CommConfigurationWindow.cc \
     src/ui/SerialConfigurationWindow.cc \
     src/ui/MainWindow.cc \

src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class MAVLinkXMLParserV10
+ *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ */
+
+#ifndef MAVLINKXMLPARSERV10_H
+#define MAVLINKXMLPARSERV10_H
+
+#include <QObject>
+#include <QDomDocument>
+#include <QString>
+
+/**
+ * @brief MAVLink micro air vehicle protocol generator
+ *
+ * MAVLink is a generic communication protocol for micro air vehicles.
+ * for more information, please see the official website.
+ * @ref http://pixhawk.ethz.ch/software/mavlink/
+ **/
+class MAVLinkXMLParserV10 : public QObject
+{
+    Q_OBJECT
+public:
+    MAVLinkXMLParserV10(QDomDocument* document, QString outputDirectory, QObject* parent=0);
+    MAVLinkXMLParserV10(QString document, QString outputDirectory, QObject* parent=0);
+    ~MAVLinkXMLParserV10();
+
+public slots:
+    /** @brief Parse XML and generate C files */
+    bool generate();
+
+signals:
+    /** @brief Status message on the parsing */
+    void parseState(QString message);
+
+protected:
+    QDomDocument* doc;
+    QString outputDirName;
+    QString fileName;
+};
+
+#endif // MAVLINKXMLPARSERV10_H

src/apps/mavlinkgen/mavlinkgen.pri

@@ -29,6 +29,7 @@ FORMS += ui/XMLCommProtocolWidget.ui
 HEADERS += \
     ui/XMLCommProtocolWidget.h \
     generator/MAVLinkXMLParser.h \
+    generator/MAVLinkXMLParserV10.h \
     ui/DomItem.h \
     ui/DomModel.h \
     ui/QGCMAVLinkTextEdit.h
@@ -37,6 +38,7 @@ SOURCES += \
     ui/DomItem.cc \
     ui/DomModel.cc \
     generator/MAVLinkXMLParser.cc \
+    generator/MAVLinkXMLParserV10.cc \
     ui/QGCMAVLinkTextEdit.cc
 
 RESOURCES += mavlinkgen.qrc

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.cc

@@ -6,6 +6,7 @@
 #include "XMLCommProtocolWidget.h"
 #include "ui_XMLCommProtocolWidget.h"
 #include "MAVLinkXMLParser.h"
+#include "MAVLinkXMLParserV10.h"
 
 #include <QDebug>
 #include <iostream>
@@ -131,18 +132,37 @@ void XMLCommProtocolWidget::generate()
         // Syntax check already gives output
         return;
     }
-	
-    MAVLinkXMLParser* parser = new MAVLinkXMLParser(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
-    connect(parser, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
-    bool result = parser->generate();
-    if (result) {
+
+    MAVLinkXMLParser* parser = NULL;
+    MAVLinkXMLParserV10* parserV10 = NULL;
+
+    bool result = false;
+
+    if (m_ui->versionComboBox->currentIndex() == 0)
+    {
+        MAVLinkXMLParser* parser = new MAVLinkXMLParser(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
+        connect(parser, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
+        result = parser->generate();
+    }
+    else if (m_ui->versionComboBox->currentIndex() == 1)
+    {
+        MAVLinkXMLParserV10* parserV10 = new MAVLinkXMLParserV10(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
+        connect(parserV10, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
+        result = parserV10->generate();
+    }
+
+    if (result)
+    {
         QMessageBox msgBox;
         msgBox.setText(QString("The C code / headers have been generated in folder\n%1").arg(m_ui->outputDirNameLabel->text().trimmed()));
         msgBox.exec();
-    } else {
+    }
+    else
+    {
         QMessageBox::critical(this, tr("C code generation failed, please see the compile log for further information"), QString("The C code / headers could not be written to folder\n%1").arg(m_ui->outputDirNameLabel->text().trimmed()), QMessageBox::Ok);
     }
-    delete parser;
+    if (parser) delete parser;
+    if (parserV10) delete parserV10;
 }
 
 void XMLCommProtocolWidget::save()

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.ui

@@ -13,7 +13,7 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="1,1,100,1,1,1" columnstretch="1,1,1,100">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="1,1,100,1,1,1,0" columnstretch="1,1,1,100">
    <property name="topMargin">
     <number>6</number>
    </property>
@@ -51,12 +51,12 @@
       <string>Select input file</string>
      </property>
      <property name="icon">
-      <iconset resource="../mavlinkgen.qrc">
+      <iconset resource="../../../../qgroundcontrol.qrc">
        <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
      </property>
     </widget>
    </item>
-   <item row="0" column="3" rowspan="6">
+   <item row="0" column="3" rowspan="7">
     <widget class="QGCMAVLinkTextEdit" name="xmlTextView">
      <property name="minimumSize">
       <size>
@@ -97,49 +97,70 @@
       <string>Select directory</string>
      </property>
      <property name="icon">
-      <iconset resource="../mavlinkgen.qrc">
+      <iconset resource="../../../../qgroundcontrol.qrc">
        <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
      </property>
     </widget>
    </item>
-   <item row="2" column="0" colspan="3">
+   <item row="3" column="0" colspan="3">
     <widget class="QTreeView" name="xmlTreeView"/>
    </item>
-   <item row="3" column="0" colspan="2">
+   <item row="4" column="0" colspan="2">
     <widget class="QLabel" name="label">
      <property name="text">
       <string>Compile Output</string>
      </property>
     </widget>
    </item>
-   <item row="4" column="0" colspan="3">
+   <item row="5" column="0" colspan="3">
     <widget class="QPlainTextEdit" name="compileLog"/>
    </item>
-   <item row="5" column="0">
+   <item row="6" column="0">
     <widget class="QLabel" name="validXMLLabel">
      <property name="text">
       <string>No file loaded</string>
      </property>
     </widget>
    </item>
-   <item row="5" column="1">
+   <item row="6" column="1">
     <widget class="QPushButton" name="saveButton">
      <property name="text">
       <string>Save file</string>
      </property>
     </widget>
    </item>
-   <item row="5" column="2">
+   <item row="6" column="2">
     <widget class="QPushButton" name="generateButton">
      <property name="text">
       <string>Save and generate</string>
      </property>
      <property name="icon">
-      <iconset resource="../mavlinkgen.qrc">
+      <iconset resource="../../../../qgroundcontrol.qrc">
        <normaloff>:/images/categories/applications-system.svg</normaloff>:/images/categories/applications-system.svg</iconset>
      </property>
     </widget>
    </item>
+   <item row="2" column="0" colspan="2">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>Select MAVLink Version</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <widget class="QComboBox" name="versionComboBox">
+     <item>
+      <property name="text">
+       <string>MAVLink v0.9 (-Aug'10)</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>MAVLink v1.0 (Sept'10+)</string>
+      </property>
+     </item>
+    </widget>
+   </item>
   </layout>
  </widget>
  <customwidgets>
@@ -150,7 +171,7 @@
   </customwidget>
  </customwidgets>
  <resources>
-  <include location="../mavlinkgen.qrc"/>
+  <include location="../../../../qgroundcontrol.qrc"/>
  </resources>
  <connections/>
 </ui>

src/comm/MAVLinkProtocol.cc

@@ -17,7 +17,6 @@
 #include <QSettings>
 #include <QDesktopServices>
 
-//#include "MG.h"
 #include "MAVLinkProtocol.h"
 #include "UASInterface.h"
 #include "UASManager.h"
@@ -28,7 +27,6 @@
 #include "ArduPilotMegaMAV.h"
 #include "configuration.h"
 #include "LinkManager.h"
-//#include "MainWindow.h"
 #include "QGCMAVLink.h"
 #include "QGCMAVLinkUASFactory.h"
 #include "QGC.h"
@@ -182,14 +180,14 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
         unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b.at(position)), &message, &status);
 
         if (decodeState == 1) {
-#ifdef MAVLINK_MESSAGE_LENGTHS
-	    const uint8_t message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
-	    if (message.msgid >= sizeof(message_lengths) ||
-		message.len != message_lengths[message.msgid]) {
-                    qDebug() << "MAVLink message " << message.msgid << " length incorrect (was " << message.len << " expected " << message_lengths[message.msgid] << ")";
-		    continue;
-	    }
-#endif
+//#ifdef MAVLINK_MESSAGE_LENGTHS
+//	    const uint8_t message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
+//	    if (message.msgid >= sizeof(message_lengths) ||
+//		message.len != message_lengths[message.msgid]) {
+//                    qDebug() << "MAVLink message " << message.msgid << " length incorrect (was " << message.len << " expected " << message_lengths[message.msgid] << ")";
+//		    continue;
+//	    }
+//#endif
             // Log data
             if (m_loggingEnabled && m_logfile) {
                 const int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);

src/comm/MAVLinkSimulationLink.cc

@@ -36,7 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QTime>
 #include <QImage>
 #include <QDebug>
-#include "MG.h"
+#include <QFileInfo>
 #include "LinkManager.h"
 #include "MAVLinkProtocol.h"
 #include "MAVLinkSimulationLink.h"
@@ -78,7 +78,7 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
         simulationHeader = simulationFile->readLine();
     }
     receiveFile = new QFile(writeFile, this);
-    lastSent = MG::TIME::getGroundTimeNow() * 1000;
+    lastSent = QGC::groundTimeMilliseconds();
 
     if (simulationFile->exists()) {
         this->name = "Simulation: " + QFileInfo(simulationFile->fileName()).fileName();
@@ -118,7 +118,7 @@ void MAVLinkSimulationLink::run()
 
         static quint64 last = 0;
 
-        if (MG::TIME::getGroundTimeNow() - last >= rate) {
+        if (QGC::groundTimeMilliseconds() - last >= rate) {
             if (_isConnected) {
                 mainloop();
 
@@ -132,7 +132,7 @@ void MAVLinkSimulationLink::run()
 
                 readBytes();
             }
-            last = MG::TIME::getGroundTimeNow();
+            last = QGC::groundTimeMilliseconds();
         }
         QGC::SLEEP::msleep(3);
 
@@ -265,9 +265,6 @@ void MAVLinkSimulationLink::mainloop()
                     double d = QString(parts.at(i)).toDouble(&res);
                     if (!res