Merge branch 'Stable_V3.5.1' into WindowsDriverInstall

.appveyor.yml

@@ -19,17 +19,17 @@ install:
   - mkdir %LOCALAPPDATA%\QtProject && copy test\qtlogging.ini %LOCALAPPDATA%\QtProject\
   - ps: |
       Write-Host "Installing GStreamer..." -ForegroundColor Cyan
-      $msiPath = "$($env:USERPROFILE)\gstreamer-1.0-x86-1.5.2.msi"
+      $msiPath = "$($env:USERPROFILE)\gstreamer-1.0-x86-1.14.4.msi"
       Write-Host "Downloading..."
-      (New-Object Net.WebClient).DownloadFile('https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/gstreamer-1.0-x86-1.5.2.msi', $msiPath)
+      (New-Object Net.WebClient).DownloadFile('https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/gstreamer-1.0-x86-1.14.4.msi', $msiPath)
       Write-Host "Installing..."
       cmd /c start /wait msiexec /package $msiPath /passive ADDLOCAL=ALL
       Write-Host "Installed" -ForegroundColor Green
   - ps: |
       Write-Host "Installing GStreamer dev..." -ForegroundColor Cyan
-      $msiPath = "$($env:USERPROFILE)\gstreamer-1.0-devel-x86-1.5.2.msi"
+      $msiPath = "$($env:USERPROFILE)\gstreamer-1.0-devel-x86-1.14.4.msi"
       Write-Host "Downloading..."
-      (New-Object Net.WebClient).DownloadFile('https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/gstreamer-1.0-devel-x86-1.5.2.msi', $msiPath)
+      (New-Object Net.WebClient).DownloadFile('https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/gstreamer-1.0-devel-x86-1.14.4.msi', $msiPath)
       Write-Host "Installing..."
       cmd /c start /wait msiexec /package $msiPath /passive ADDLOCAL=ALL
       Write-Host "Installed" -ForegroundColor Green

ChangeLog.md

@@ -10,6 +10,8 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.5.4 - Not yet released
 * Update windows drivers
+* Add support for FMUK66 flashing/connection
+* Guard against null geometry coming from gstreamer which can cause crashes
 * Add .apj file selection support to custom firmware flash
 
 ### 3.5.3 - Stable

src/VehicleSetup/Bootloader.h

@@ -75,7 +75,7 @@ public:
     static const int boardIDASCV1 = 65;         ///< ASC V1 board, as from USB PID
     static const int boardIDCrazyflie2 = 12;    ///< Crazyflie 2.0 board, as from USB PID
     static const int boardIDOmnibusF4SD = 42;   ///< Omnibus F4 SD, as from USB PID
-    static const int boardIDNXPHliteV3 = 28;    ///< NXPHliteV3 board, as from USB PID
+    static const int boardIDFMUK66V3 = 28;    ///< FMUK66V3 board, as from USB PID
 
     /// Simulated board id for V3 which is a V2 board which supports larger flash space
     /// IMPORTANT: Make sure this id does not conflict with any newly added real board ids

src/VehicleSetup/FirmwareUpgradeController.cc

@@ -267,6 +267,13 @@ void FirmwareUpgradeController::_initFirmwareHash()
         { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/omnibus_f4sd_default.px4"},
         { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/omnibus_f4sd_default.px4"},
     };
+    
+    //////////////////////////////////// FMUK66V3 firmwares //////////////////////////////////////////////////
+    FirmwareToUrlElement_t rgFMUK66V3FirmwareArray[] = {
+        { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/nxp_fmuk66-v3_default.px4"},
+        { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/nxp_fmuk66-v3_default.px4"},
+        { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/nxp_fmuk66-v3_default.px4"},
+    };
 
     /////////////////////////////// px4flow firmwares ///////////////////////////////////////
     FirmwareToUrlElement_t rgPX4FLowFirmwareArray[] = {
@@ -458,6 +465,12 @@ void FirmwareUpgradeController::_initFirmwareHash()
         const FirmwareToUrlElement_t& element = rgOmnibusF4SDFirmwareArray[i];
         _rgOmnibusF4SDFirmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
     }
+    
+    size = sizeof(rgFMUK66V3FirmwareArray)/sizeof(rgFMUK66V3FirmwareArray[0]);
+    for (int i = 0; i < size; i++) {
+        const FirmwareToUrlElement_t& element = rgFMUK66V3FirmwareArray[i];
+        _rgFMUK66V3Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
+    }
 
     size = sizeof(rgPX4FLowFirmwareArray)/sizeof(rgPX4FLowFirmwareArray[0]);
     for (int i = 0; i < size; i++) {
@@ -529,8 +542,8 @@ QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeCo
     case Bootloader::boardIDOmnibusF4SD:
         rgFirmware = &_rgOmnibusF4SDFirmware;
         break;
-    case Bootloader::boardIDNXPHliteV3:
-        rgFirmware = &_rgNXPHliteV3Firmware;
+    case Bootloader::boardIDFMUK66V3:
+        rgFirmware = &_rgFMUK66V3Firmware;
         break;
     case Bootloader::boardID3DRRadio:
         rgFirmware = &_rg3DRRadioFirmware;

src/VehicleSetup/FirmwareUpgradeController.h

@@ -212,7 +212,7 @@ private:
     QHash<FirmwareIdentifier, QString> _rgASCV1Firmware;
     QHash<FirmwareIdentifier, QString> _rgCrazyflie2Firmware;
     QHash<FirmwareIdentifier, QString> _rgOmnibusF4SDFirmware;
-    QHash<FirmwareIdentifier, QString> _rgNXPHliteV3Firmware;
+    QHash<FirmwareIdentifier, QString> _rgFMUK66V3Firmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FLowFirmware;
     QHash<FirmwareIdentifier, QString> _rg3DRRadioFirmware;
 

src/VideoStreaming/VideoItem.cc

@@ -78,6 +78,17 @@ void VideoItem::setSurface(VideoSurface *surface)
 }
 
 #if defined(QGC_GST_STREAMING)
+QSGGeometry* VideoItem::_createDefaultGeometry(QRectF& rectBound)
+{
+	QSGGeometry *geometry = new QSGGeometry(QSGGeometry::defaultAttributes_Point2D(), 4);
+	geometry->vertexDataAsPoint2D()[0].set(rectBound.x(), rectBound.y());
+	geometry->vertexDataAsPoint2D()[1].set(rectBound.x(), rectBound.height());
+	geometry->vertexDataAsPoint2D()[2].set(rectBound.width(), rectBound.y());
+	geometry->vertexDataAsPoint2D()[3].set(rectBound.width(), rectBound.height());
+
+	return geometry;
+}
+
 QSGNode* VideoItem::updatePaintNode(QSGNode *oldNode, UpdatePaintNodeData*)
 {
     QRectF r = boundingRect();
@@ -103,19 +114,22 @@ QSGNode* VideoItem::updatePaintNode(QSGNode *oldNode, UpdatePaintNodeData*)
             newNode = oldNode;
         }
         if (r != _data->targetArea) {
-            QSGGeometry *geometry = new QSGGeometry(QSGGeometry::defaultAttributes_Point2D(), 4);
-            geometry->vertexDataAsPoint2D()[0].set(r.x(), r.y());
-            geometry->vertexDataAsPoint2D()[1].set(r.x(), r.height());
-            geometry->vertexDataAsPoint2D()[2].set(r.width(), r.y());
-            geometry->vertexDataAsPoint2D()[3].set(r.width(), r.height());
             QSGGeometryNode *node = static_cast<QSGGeometryNode*>(newNode);
-            node->setGeometry(geometry);
+			node->setGeometry(_createDefaultGeometry(r));
             _data->targetArea = r;
         }
     } else {
         g_signal_emit_by_name(_data->surface.data()->_data->videoSink, "update-node", (void*)oldNode, r.x(), r.y(), r.width(), r.height(), (void**)&newNode);
     }
 
+	// Sometimes we can still end up here with no geometry when gstreamer fails to create it for whatever reason. If that happens it can
+	// cause crashes.
+	QSGGeometryNode *node = static_cast<QSGGeometryNode*>(newNode);
+	if (node->geometry() == nullptr) {
+		qDebug() << "Creating default geom";
+		node->setGeometry(_createDefaultGeometry(r));
+	}
+
     return newNode;
 }
 #endif

src/VideoStreaming/VideoItem.h

@@ -19,6 +19,8 @@
 #include <QtQuick/QQuickItem>
 #include "VideoSurface.h"
 
+class QSGGeometry;
+
 class VideoItem : public QQuickItem
 {
     Q_OBJECT
@@ -40,6 +42,8 @@ protected:
 
 private:
 #if defined(QGC_GST_STREAMING)
+	QSGGeometry* _createDefaultGeometry(QRectF& rectBound);
+	
     struct Private;
     Private* const _data;
 #endif

src/comm/USBBoardInfo.json

@@ -19,7 +19,8 @@
         { "vendorID": 9900, "productID": 65,        "boardClass": "Pixhawk",    "name": "ASC V1" },
         { "vendorID": 9900, "productID": 22,        "boardClass": "Pixhawk",    "name": "Crazyflie 2" },
         { "vendorID": 9900, "productID": 1,         "boardClass": "Pixhawk",    "name": "Omnibus F4 SD" },
-        { "vendorID": 8137, "productID": 28,        "boardClass": "Pixhawk",    "name": "PX4 NXPHlite v3.x" },
+        { "vendorID": 8137, "productID": 28,        "boardClass": "Pixhawk",    "name": "PX4 FMUK66 v3.x" },
+
         { "vendorID": 1155, "productID": 22336,     "boardClass": "Pixhawk",    "name": "ArduPilot ChibiOS" },
         { "vendorID": 4617, "productID": 22336,     "boardClass": "Pixhawk",    "name": "ArduPilot ChibiOS" },