Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into camControl

qgcresources.qrc

@@ -109,6 +109,7 @@
         <file alias="compassInstrumentDial.svg">src/FlightMap/Images/compassInstrumentDial.svg</file>
         <file alias="crossHair.svg">src/FlightMap/Images/crossHair.svg</file>
         <file alias="PiP.svg">src/FlightMap/Images/PiP.svg</file>
+        <file alias="pipResize.svg">src/FlightMap/Images/pipResize.svg</file>
         <file alias="rollDialWhite.svg">src/FlightMap/Images/rollDialWhite.svg</file>
         <file alias="rollPointerWhite.svg">src/FlightMap/Images/rollPointerWhite.svg</file>
         <file alias="scale.png">src/FlightMap/Images/scale.png</file>

qgroundcontrol.pro

@@ -527,6 +527,7 @@ HEADERS += \
     src/MissionManager/SimpleMissionItem.h \
     src/MissionManager/Section.h \
     src/MissionManager/SpeedSection.h \
+    src/MissionManager/StructureScanComplexItem.h \
     src/MissionManager/SurveyMissionItem.h \
     src/MissionManager/VisualMissionItem.h \
     src/PositionManager/PositionManager.h \
@@ -713,6 +714,7 @@ SOURCES += \
     src/MissionManager/RallyPointManager.cc \
     src/MissionManager/SimpleMissionItem.cc \
     src/MissionManager/SpeedSection.cc \
+    src/MissionManager/StructureScanComplexItem.cc \
     src/MissionManager/SurveyMissionItem.cc \
     src/MissionManager/VisualMissionItem.cc \
     src/PositionManager/PositionManager.cpp \

qgroundcontrol.qrc

@@ -115,6 +115,7 @@
         <file alias="QGroundControl/Controls/SignalStrength.qml">src/ui/toolbar/SignalStrength.qml</file>
         <file alias="QGroundControl/Controls/SimpleItemMapVisual.qml">src/PlanView/SimpleItemMapVisual.qml</file>
         <file alias="QGroundControl/Controls/SliderSwitch.qml">src/QmlControls/SliderSwitch.qml</file>
+		<file alias="QGroundControl/Controls/StructureScanMapVisual.qml">src/PlanView/StructureScanMapVisual.qml</file>
         <file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
         <file alias="QGroundControl/Controls/SurveyMapVisual.qml">src/PlanView/SurveyMapVisual.qml</file>
         <file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
@@ -179,7 +180,7 @@
         <file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
         <file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
         <file alias="SimpleItemEditor.qml">src/PlanView/SimpleItemEditor.qml</file>
-        <file alias="SurveyItemEditor.qml">src/PlanView/SurveyItemEditor.qml</file>
+        <file alias="StructureScanEditor.qml">src/PlanView/StructureScanEditor.qml</file>
         <file alias="FWLandingPatternEditor.qml">src/PlanView/FWLandingPatternEditor.qml</file>
         <file alias="MissionSettingsEditor.qml">src/PlanView/MissionSettingsEditor.qml</file>
         <file alias="TcpSettings.qml">src/ui/preferences/TcpSettings.qml</file>
@@ -206,6 +207,7 @@
 		<file alias="QGCMapCircle.Facts.json">src/MissionManager/QGCMapCircle.Facts.json</file>
         <file alias="RTK.SettingsGroup.json">src/Settings/RTK.SettingsGroup.json</file>
         <file alias="Survey.SettingsGroup.json">src/MissionManager/Survey.SettingsGroup.json</file>
+		<file alias="StructureScan.SettingsGroup.json">src/MissionManager/StructureScan.SettingsGroup.json</file>
         <file alias="Units.SettingsGroup.json">src/Settings/Units.SettingsGroup.json</file>
         <file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
         <file alias="RallyPoint.FactMetaData.json">src/MissionManager/RallyPoint.FactMetaData.json</file>

src/AnalyzeView/LogDownloadController.cc

@@ -173,7 +173,7 @@ LogDownloadController::_logEntry(UASInterface* uas, uint32_t time_utc, uint32_t
     //-- Update this log record
     if(num_logs > 0) {
         //-- Skip if empty (APM first packet)
-        if(size) {
+        if(size || _vehicle->firmwareType() != MAV_AUTOPILOT_ARDUPILOTMEGA) {
             id -= _apmOneBased;
             if(id < _logEntriesModel.count()) {
                 QGCLogEntry* entry = _logEntriesModel[id];

src/AnalyzeView/ULogParser.cc

@@ -36,7 +36,7 @@ int ULogParser::sizeOfType(QString& typeName)
         return 1;
     }
 
-    qWarning() << "Unkown type in ULog : " << typeName;
+    qWarning() << "Unknown type in ULog : " << typeName;
     return 0;
 }
 

src/FactSystem/FactMetaData.cc

@@ -68,6 +68,7 @@ const char* FactMetaData::_shortDescriptionJsonKey =    "shortDescription";
 const char* FactMetaData::_longDescriptionJsonKey =     "longDescription";
 const char* FactMetaData::_unitsJsonKey =               "units";
 const char* FactMetaData::_defaultValueJsonKey =        "defaultValue";
+const char* FactMetaData::_mobileDefaultValueJsonKey =  "mobileDefaultValue";
 const char* FactMetaData::_minJsonKey =                 "min";
 const char* FactMetaData::_maxJsonKey =                 "max";
 const char* FactMetaData::_hasControlJsonKey =          "control";
@@ -971,9 +972,17 @@ FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QObjec
     if (json.contains(_unitsJsonKey)) {
         metaData->setRawUnits(json[_unitsJsonKey].toString());
     }
+#ifdef __mobile__
+    if (json.contains(_mobileDefaultValueJsonKey)) {
+        metaData->setRawDefaultValue(json[_mobileDefaultValueJsonKey].toVariant());
+    } else if (json.contains(_defaultValueJsonKey)) {
+        metaData->setRawDefaultValue(json[_defaultValueJsonKey].toVariant());
+    }
+#else
     if (json.contains(_defaultValueJsonKey)) {
         metaData->setRawDefaultValue(json[_defaultValueJsonKey].toVariant());
     }
+#endif
     if (json.contains(_minJsonKey)) {
         QVariant typedValue;
         QString errorString;

src/FactSystem/FactMetaData.h

@@ -260,6 +260,7 @@ private:
     static const char*  _longDescriptionJsonKey;
     static const char*  _unitsJsonKey;
     static const char*  _defaultValueJsonKey;
+    static const char*  _mobileDefaultValueJsonKey;
     static const char*  _minJsonKey;
     static const char*  _maxJsonKey;
     static const char* _hasControlJsonKey;

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -162,12 +162,10 @@ bool APMFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities c
     uint32_t available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
     if (vehicle->multiRotor()) {
         available |= TakeoffVehicleCapability;
-    } else if (vehicle->fixedWing()) {
-        // Quad plane supports takeoff
-        if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("Q_ENABLE")) &&
-            vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("Q_ENABLE"))->rawValue().toBool()) {
-            available |= TakeoffVehicleCapability;
-        }
+    } else if (vehicle->fixedWing() || vehicle->vtol()) {
+        // Due to the way ArduPilot marks a vtol aircraft, we don't know if something is a vtol at initial connection.
+        // So we always enabled takeoff for fixed wing.
+        available |= TakeoffVehicleCapability;
     }
 
     return (capabilities & available) == capabilities;
@@ -908,6 +906,11 @@ void APMFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle)
 
 bool APMFirmwarePlugin::_guidedModeTakeoff(Vehicle* vehicle)
 {
+    if (!vehicle->multiRotor() && !vehicle->vtol()) {
+        qgcApp()->showMessage(tr("Vehicle does not support guided takeoff"));
+        return false;
+    }
+
     QString takeoffAltParam(vehicle->vtol() ? QStringLiteral("Q_RTL_ALT") : QStringLiteral("PILOT_TKOFF_ALT"));
     float paramDivisor = vehicle->vtol() ? 1.0 : 100.0; // PILOT_TAKEOFF_ALT is in centimeters
 
@@ -965,6 +968,8 @@ void APMFirmwarePlugin::startMission(Vehicle* vehicle)
                 qgcApp()->showMessage(QStringLiteral("Unable to start mission. Vehicle takeoff failed."));
                 return;
             }
+        } else {
+            return;
         }
     }
 

src/FlightDisplay/FlightDisplayView.qml

@@ -49,7 +49,7 @@ QGCView {
     property bool   _isPipVisible:          QGroundControl.videoManager.hasVideo ? QGroundControl.loadBoolGlobalSetting(_PIPVisibleKey, true) : false
     property real   _savedZoomLevel:        0
     property real   _margins:               ScreenTools.defaultFontPixelWidth / 2
-    property real   _pipSize:               mainWindow.width * 0.2
+    property real   _pipSize:               flightView.width * 0.2
     property alias  _guidedController:      guidedActionsController
     property alias  _altitudeSlider:        altitudeSlider
 
@@ -287,6 +287,9 @@ QGCView {
             onHideIt: {
                 setPipVisibility(!state)
             }
+            onNewWidth: {
+                _pipSize = newWidth
+            }
         }
 
         Row {

src/FlightDisplay/FlightDisplayViewWidgets.qml

@@ -42,8 +42,7 @@ Item {
         if(ScreenTools.isMobile) {
             return ScreenTools.isTinyScreen ? mainWindow.width * 0.2 : mainWindow.width * 0.15
         }
-        var w = mainWindow.width * 0.15
-        return Math.min(w, 200)
+        return ScreenTools.defaultFontPixelWidth * 30
     }
 
     function _setInstrumentWidget() {

src/Joystick/Joystick.cc

@@ -75,6 +75,8 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
         _rgButtonValues[i] = false;
     }
 
+    _updateTXModeSettingsKey(_multiVehicleManager->activeVehicle());
+
     _loadSettings();
 
     connect(_multiVehicleManager, &MultiVehicleManager::activeVehicleChanged, this, &Joystick::_activeVehicleChanged);
@@ -119,7 +121,7 @@ void Joystick::_setDefaultCalibration(void) {
     _saveSettings();
 }
 
-void Joystick::_activeVehicleChanged(Vehicle *activeVehicle)
+void Joystick::_updateTXModeSettingsKey(Vehicle* activeVehicle)
 {
     if(activeVehicle) {
         if(activeVehicle->fixedWing()) {
@@ -137,7 +139,16 @@ void Joystick::_activeVehicleChanged(Vehicle *activeVehicle)
             qWarning() << "No valid joystick TXmode settings key for selected vehicle";
             return;
         }
+    } else {
+        _txModeSettingsKey = NULL;
+    }
+}
 
+void Joystick::_activeVehicleChanged(Vehicle* activeVehicle)
+{
+    _updateTXModeSettingsKey(activeVehicle);
+
+    if(activeVehicle) {
         QSettings settings;
         settings.beginGroup(_settingsGroup);
         int mode = settings.value(_txModeSettingsKey, activeVehicle->firmwarePlugin()->defaultJoystickTXMode()).toInt();
@@ -152,8 +163,10 @@ void Joystick::_loadSettings(void)
 
     settings.beginGroup(_settingsGroup);
 
-    if(_txModeSettingsKey)
-        _transmitterMode = settings.value(_txModeSettingsKey, 2).toInt();
+    Vehicle* activeVehicle = _multiVehicleManager->activeVehicle();
+
+    if(_txModeSettingsKey && activeVehicle)
+        _transmitterMode = settings.value(_txModeSettingsKey, activeVehicle->firmwarePlugin()->defaultJoystickTXMode()).toInt();
 
     settings.beginGroup(_name);
 

src/Joystick/Joystick.h

@@ -181,6 +181,7 @@ private:
     virtual int _getAxis(int i) = 0;
     virtual uint8_t _getHat(int hat,int i) = 0;
 
+    void _updateTXModeSettingsKey(Vehicle* activeVehicle);
     int _mapFunctionMode(int mode, int function);
     void _remapAxes(int currentMode, int newMode, int (&newMapping)[maxFunction]);
 

src/Joystick/JoystickSDL.cc

@@ -65,7 +65,7 @@ QMap<QString, Joystick*> JoystickSDL::discover(MultiVehicleManager* _multiVehicl
 
             qCDebug(JoystickLog) << "\t" << name << "axes:" << axisCount << "buttons:" << buttonCount << "hats:" << hatCount << "isGC:" << isGameController;
 
-            // Check for joysticks with duplicate names and differentiate the keys when neccessary.
+            // Check for joysticks with duplicate names and differentiate the keys when necessary.
             // This is required when using an Xbox 360 wireless receiver that always identifies as
             // 4 individual joysticks, regardless of how many joysticks are actually connected to the
             // receiver. Using GUID does not help, all of these devices present the same GUID.

src/MissionManager/ComplexMissionItem.h

@@ -24,6 +24,7 @@ public:
     Q_PROPERTY(double   complexDistance     READ complexDistance    NOTIFY complexDistanceChanged)
 
     /// @return The distance covered the complex mission item in meters.
+    /// Signals complexDistanceChanged
     virtual double complexDistance(void) const = 0;
 
     /// @return Amount of additional time delay in seconds needed to fly the complex item
@@ -39,6 +40,7 @@ public:
     /// Get the point of complex mission item furthest away from a coordinate
     ///     @param other QGeoCoordinate to which distance is calculated
     /// @return the greatest distance from any point of the complex item to some coordinate
+    /// Signals greatestDistanceToChanged
     virtual double greatestDistanceTo(const QGeoCoordinate &other) const = 0;
 
     /// This mission item attribute specifies the type of the complex item.
@@ -46,6 +48,7 @@ public:
 
 signals:
     void complexDistanceChanged     (double complexDistance);
+    void greatestDistanceToChanged  (void);
     void additionalTimeDelayChanged (double additionalTimeDelay);
 };
 

src/MissionManager/MissionController.cc

@@ -18,6 +18,7 @@
 #include "SimpleMissionItem.h"
 #include "SurveyMissionItem.h"
 #include "FixedWingLandingComplexItem.h"
+#include "StructureScanComplexItem.h"
 #include "JsonHelper.h"
 #include "ParameterManager.h"
 #include "QGroundControlQmlGlobal.h"
@@ -60,6 +61,7 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
     , _itemsRequested(false)
     , _surveyMissionItemName(tr("Survey"))
     , _fwLandingMissionItemName(tr("Fixed Wing Landing"))
+    , _structureScanMissionItemName(tr("Structure Scan"))
     , _appSettings(qgcApp()->toolbox()->settingsManager()->appSettings())
     , _progressPct(0)
 {
@@ -283,11 +285,11 @@ void MissionController::convertToKMLDocument(QDomDocument& document)
             qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, item->command());
 
         if (uiInfo && uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate()) {
-            coord = QString::number(item->param6()) \
+            coord = QString::number(item->param6(),'f',7) \
                 + "," \
-                + QString::number(item->param5()) \
+                + QString::number(item->param5(),'f',7) \
                 + "," \
-                + QString::number(item->param7() + altitude);
+                + QString::number(item->param7() + altitude,'f',2);
             coords.append(coord);
         }
     }
@@ -379,6 +381,8 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
         }
     } else if (itemName == _fwLandingMissionItemName) {
         newItem = new FixedWingLandingComplexItem(_controllerVehicle, _visualItems);
+    } else if (itemName == _structureScanMissionItemName) {
+        newItem = new StructureScanComplexItem(_controllerVehicle, _visualItems);
     } else {
         qWarning() << "Internal error: Unknown complex item:" << itemName;
         return sequenceNumber;
@@ -1475,6 +1479,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
         ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
         if (complexItem) {
             connect(complexItem, &ComplexMissionItem::complexDistanceChanged,       this, &MissionController::_recalcMissionFlightStatus);
+            connect(complexItem, &ComplexMissionItem::greatestDistanceToChanged,    this, &MissionController::_recalcMissionFlightStatus);
             connect(complexItem, &ComplexMissionItem::additionalTimeDelayChanged,   this, &MissionController::_recalcMissionFlightStatus);
         } else {
             qWarning() << "ComplexMissionItem not found";
@@ -1769,6 +1774,9 @@ QStringList MissionController::complexMissionItemNames(void) const
     if (_controllerVehicle->fixedWing()) {
         complexItems.append(_fwLandingMissionItemName);
     }
+    if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
+        complexItems.append(_structureScanMissionItemName);
+    }
 
     return complexItems;
 }

src/MissionManager/MissionController.h

@@ -231,6 +231,7 @@ private:
     MissionFlightStatus_t   _missionFlightStatus;
     QString                 _surveyMissionItemName;
     QString                 _fwLandingMissionItemName;
+    QString                 _structureScanMissionItemName;
     AppSettings*            _appSettings;
     double                  _progressPct;
 

src/MissionManager/MissionItemTest.cc

@@ -297,7 +297,7 @@ void MissionItemTest::_testLoadFromJsonV1(void)
     QString     errorString;
     QJsonObject jsonObject = _createV1Json();
 
-    // V1 format has param 1-4 in seperate items instead of in params array
+    // V1 format has param 1-4 in separate items instead of in params array
 
     QStringList removeKeys;
     removeKeys << MissionItem::_jsonParam1Key << MissionItem::_jsonParam2Key << MissionItem::_jsonParam3Key << MissionItem::_jsonParam4Key;

src/MissionManager/MissionManager.cc

@@ -40,8 +40,6 @@ void MissionManager::writeArduPilotGuidedMissionItem(const QGeoCoordinate& gotoC
 
     _transactionInProgress = TransactionWrite;
 
-    _connectToMavlink();
-
     mavlink_message_t       messageOut;
     mavlink_mission_item_t  missionItem;
 

src/MissionManager/PlanManager.cc

@@ -38,6 +38,7 @@ PlanManager::PlanManager(Vehicle* vehicle, MAV_MISSION_TYPE planType)
     _ackTimeoutTimer->setInterval(_ackTimeoutMilliseconds);
     
     connect(_ackTimeoutTimer, &QTimer::timeout, this, &PlanManager::_ackTimeout);
+    connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &PlanManager::_mavlinkMessageReceived);
 }
 
 PlanManager::~PlanManager()
@@ -62,7 +63,6 @@ void PlanManager::_writeMissionItemsWorker(void)
     _transactionInProgress = TransactionWrite;
     _retryCount = 0;
     emit inProgressChanged(true);
-    _connectToMavlink();
     _writeMissionCount();
 }
 
@@ -139,7 +139,6 @@ void PlanManager::loadFromVehicle(void)
     _retryCount = 0;
     _transactionInProgress = TransactionRead;
     emit inProgressChanged(true);
-    _connectToMavlink();
     _requestList();
 }
 
@@ -803,7 +802,6 @@ QString PlanManager::_missionResultToString(MAV_MISSION_RESULT result)
 void PlanManager::_finishTransaction(bool success)
 {
     emit progressPct(1);
-    _disconnectFromMavlink();
 
     _itemIndicesToRead.clear();
     _itemIndicesToWrite.clear();
@@ -892,7 +890,6 @@ void PlanManager::_removeAllWorker(void)
 
     emit progressPct(0);
 
-    _connectToMavlink();
     _dedicatedLink = _vehicle->priorityLink();
     mavlink_msg_mission_clear_all_pack_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
                                             qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
@@ -944,16 +941,6 @@ void PlanManager::_clearAndDeleteWriteMissionItems(void)
     _writeMissionItems.clear();
 }
 
-void PlanManager::_connectToMavlink(void)
-{
-    connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &PlanManager::_mavlinkMessageReceived);
-}
-
-void PlanManager::_disconnectFromMavlink(void)
-{
-    disconnect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &PlanManager::_mavlinkMessageReceived);
-}
-
 QString PlanManager::_planTypeString(void)
 {
     switch (_planType) {

src/MissionManager/PlanManager.h

@@ -126,8 +126,6 @@ protected:
     void _clearAndDeleteWriteMissionItems(void);
     QString _lastMissionReqestString(MAV_MISSION_RESULT result);
     void _removeAllWorker(void);
-    void _connectToMavlink(void);
-    void _disconnectFromMavlink(void);
     QString _planTypeString(void);
 
 protected:

src/MissionManager/QGCMapPolygon.cc

@@ -354,3 +354,13 @@ void QGCMapPolygon::setInteractive(bool interactive)
         emit interactiveChanged(interactive);
     }
 }
+
+QGeoCoordinate QGCMapPolygon::vertexCoordinate(int vertex) const
+{
+    if (vertex >= 0 && vertex < _polygonPath.count()) {
+        return _polygonPath[vertex].value<QGeoCoordinate>();
+    } else {
+        qWarning() << "QGCMapPolygon::vertexCoordinate bad vertex requested";
+        return QGeoCoordinate();
+    }
+}

src/MissionManager/QGCMapPolygon.h

@@ -55,6 +55,9 @@ public:
     /// Returns the path in a list of QGeoCoordinate's format
     QList<QGeoCoordinate> coordinateList(void) const;
 
+    /// Returns the QGeoCoordinate for the vertex specified
+    QGeoCoordinate vertexCoordinate(int vertex) const;
+
     /// Saves the polygon to the json object.
     ///     @param json Json object to save to
     void saveToJson(QJsonObject& json);

src/MissionManager/StructureScan.SettingsGroup.json

+[
+{
+    "name":             "Altitude",
+    "shortDescription": "Altitude for the bottom layer of the structure scan.",
+    "type":             "double",
+    "units":            "m",
+    "decimalPlaces":    1,
+    "defaultValue":     50
+},
+{
+    "name":             "Layers",
+    "shortDescription": "Number of scan layers.",
+    "type":             "uint32",
+    "min":              1,
+    "defaultValue":     1
+},
+{
+    "name":             "Layer distance",
+    "shortDescription": "Distance between each layer.",
+    "type":             "double",
+    "decimalPlaces":    2,
+    "min":              0,
+    "units":            "m",
+    "defaultValue":     25
+},
+{
+    "name":             "Trigger distance",
+    "shortDescription": "Distance between each triggering of the camera. 0 specifies not camera trigger.",
+    "type":             "double",
+    "decimalPlaces":    2,
+    "min":              0,
+    "units":            "m",
+    "defaultValue":     25
+}
+]

src/MissionManager/StructureScanComplexItem.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+#ifndef StructureScanComplexItem_H
+#define StructureScanComplexItem_H
+
+#include "ComplexMissionItem.h"
+#include "MissionItem.h"
+#include "SettingsFact.h"
+#include "QGCLoggingCategory.h"
+#include "QGCMapPolygon.h"
+
+Q_DECLARE_LOGGING_CATEGORY(StructureScanComplexItemLog)
+
+class StructureScanComplexItem : public ComplexMissionItem
+{
+    Q_OBJECT
+
+public:
+    StructureScanComplexItem(Vehicle* vehicle, QObject* parent = NULL);
+
+    Q_PROPERTY(Fact*            altitude                    READ altitude                       CONSTANT)
+    Q_PROPERTY(Fact*            layers                      READ layers                         CONSTANT)
+    Q_PROPERTY(Fact*            layerDistance               READ layerDistance                  CONSTANT)
+    Q_PROPERTY(Fact*            cameraTriggerDistance       READ cameraTriggerDistance          CONSTANT)
+    Q_PROPERTY(bool             altitudeRelative            MEMBER _altitudeRelative            NOTIFY altitudeRelativeChanged)
+    Q_PROPERTY(int              cameraShots                 READ cameraShots                    NOTIFY cameraShotsChanged)
+    Q_PROPERTY(double           timeBetweenShots            READ timeBetweenShots               NOTIFY timeBetweenShotsChanged)
+    Q_PROPERTY(double           cameraMinTriggerInterval    MEMBER _cameraMinTriggerInterval    NOTIFY cameraMinTriggerIntervalChanged)
+    Q_PROPERTY(QGCMapPolygon*   mapPolygon                  READ mapPolygon                     CONSTANT)
+
+    Fact* altitude              (void) { return &_altitudeFact; }
+    Fact* layers                (void) { return &_layersFact; }
+    Fact* layerDistance         (void) { return &_layerDistanceFact; }
+    Fact* cameraTriggerDistance (void) { return &_cameraTriggerDistanceFact; }
+
+    int             cameraShots     (void) const;
+    double          timeBetweenShots(void) const;
+    QGCMapPolygon*  mapPolygon      (void) { return &_mapPolygon; }
+
+    Q_INVOKABLE void rotateEntryPoint(void);
+
+    // Overrides from ComplexMissionItem
+
+    double          complexDistance     (void) const final { return _scanDistance; }
+    int             lastSequenceNumber  (void) const final;
+    bool            load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
+    double          greatestDistanceTo  (const QGeoCoordinate &other) const final;
+    QString         mapVisualQML        (void) const final { return QStringLiteral("StructureScanMapVisual.qml"); }
+
+    // Overrides from VisualMissionItem
+
+    bool            dirty                   (void) const final { return _dirty; }
+    bool            isSimpleItem            (void) const final { return false; }
+    bool            isStandaloneCoordinate  (void) const final { return false; }
+    bool            specifiesCoordinate     (void) const final;
+    bool            specifiesAltitudeOnly   (void) const final { return false; }
+    QString         commandDescription      (void) const final { return tr("Structure Scan"); }
+    QString         commandName             (void) const final { return tr("Structure Scan"); }
+    QString         abbreviation            (void) const final { return "S"; }
+    QGeoCoordinate  coordinate              (void) const final;
+    QGeoCoordinate  exitCoordinate          (void) const final;
+    int             sequenceNumber          (void) const final { return _sequenceNumber; }
+    double          specifiedFlightSpeed    (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    double          specifiedGimbalYaw      (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
+    void            setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
+    void            applyNewAltitude        (double newAltitude) final;
+
+    bool coordinateHasRelativeAltitude      (void) const final { return _altitudeRelative; }
+    bool exitCoordinateHasRelativeAltitude  (void) const final { return _altitudeRelative; }
+    bool exitCoordinateSameAsEntry          (void) const final { return true; }
+
+    void setDirty           (bool dirty) final;
+    void setCoordinate      (const QGeoCoordinate& coordinate) final { Q_UNUSED(coordinate); }
+    void setSequenceNumber  (int sequenceNumber) final;
+    void save               (QJsonArray&  missionItems) final;
+
+    static const char* jsonComplexItemTypeValue;
+
+signals:
+    void cameraShotsChanged             (int cameraShots);
+    void timeBetweenShotsChanged        (void);
+    void cameraMinTriggerIntervalChanged(double cameraMinTriggerInterval);
+    void altitudeRelativeChanged        (bool altitudeRelative);
+
+private slots:
+    void _setDirty(void);
+    void _polygonDirtyChanged(bool dirty);
+    void _polygonCountChanged(int count);
+    void _polygonPathChanged(void);
+    void _clearInternal(void);
+    void _updateCoordinateAltitudes(void);
+
+private:
+    void _setExitCoordinate(const QGeoCoordinate& coordinate);
+    void _setScanDistance(double scanDistance);
+    void _setCameraShots(int cameraShots);
+    double _triggerDistance(void) const;
+
+    int             _sequenceNumber;
+    bool            _dirty;
+    QGCMapPolygon   _mapPolygon;
+    bool            _altitudeRelative;
+    int             _entryVertex;       // Polygon vertext which is used as the mission entry point
+
+    bool            _ignoreRecalc;
+    double          _scanDistance;
+    int             _cameraShots;
+    double          _timeBetweenShots;
+    double          _cameraMinTriggerInterval;
+    double          _cruiseSpeed;
+
+    static QMap<QString, FactMetaData*> _metaDataMap;
+
+    Fact    _altitudeFact;
+    Fact    _layersFact;
+    Fact    _layerDistanceFact;
+    Fact    _cameraTriggerDistanceFact;
+
+    static const char* _altitudeFactName;
+    static const char* _layersFactName;
+    static const char* _layerDistanceFactName;
+    static const char* _cameraTriggerDistanceFactName;
+
+    static const char* _jsonGridObjectKey;
+    static const char* _jsonGridAltitudeKey;
+    static const char* _jsonGridAltitudeRelativeKey;
+    static const char* _jsonGridAngleKey;
+    static const char* _jsonGridSpacingKey;
+    static const char* _jsonGridEntryLocationKey;
+    static const char* _jsonTurnaroundDistKey;
+    static const char* _jsonCameraTriggerDistanceKey;
+    static const char* _jsonCameraTriggerInTurnaroundKey;
+    static const char* _jsonHoverAndCaptureKey;
+    static const char* _jsonGroundResolutionKey;
+    static const char* _jsonFrontalOverlapKey;
+    static const char* _jsonSideOverlapKey;
+    static const char* _jsonCameraSensorWidthKey;
+    static const char* _jsonCameraSensorHeightKey;
+    static const char* _jsonCameraResolutionWidthKey;
+    static const char* _jsonCameraResolutionHeightKey;
+    static const char* _jsonCameraFocalLengthKey;
+    static const char* _jsonCameraMinTriggerIntervalKey;
+    static const char* _jsonManualGridKey;
+    static const char* _jsonCameraObjectKey;
+    static const char* _jsonCameraNameKey;
+    static const char* _jsonCameraOrientationLandscapeKey;
+    static const char* _jsonFixedValueIsAltitudeKey;
+    static const char* _jsonRefly90DegreesKey;
+
+    static const int _hoverAndCaptureDelaySeconds = 1;
+};
+
+#endif

src/MissionManager/SurveyMissionItem.cc

@@ -1322,7 +1322,7 @@ double SurveyMissionItem::timeBetweenShots(void) const
     return _cruiseSpeed == 0 ? 0 : _triggerDistance() / _cruiseSpeed;
 }
 
-void SurveyMissionItem::setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus)
+void SurveyMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
 {
     ComplexMissionItem::setMissionFlightStatus(missionFlightStatus);
     if (!qFuzzyCompare(_cruiseSpeed, missionFlightStatus.vehicleSpeed)) {

src/PlanView/MissionItemStatus.qml

@@ -19,6 +19,7 @@ import QGroundControl.FactSystem    1.0
 import QGroundControl.FactControls  1.0
 
 Rectangle {
+    id:         root
     height:     ScreenTools.defaultFontPixelHeight * 7
     radius:     ScreenTools.defaultFontPixelWidth * 0.5
     color:      qgcPal.window
@@ -27,8 +28,14 @@ Rectangle {
 
     property var missionItems                ///< List of all available mission items
 
+    property real maxWidth:          parent.width
     readonly property real _margins: ScreenTools.defaultFontPixelWidth
 
+    onMaxWidthChanged: {
+        var calcLength = (statusListView.count + 1)*statusListView.contentItem.children[0].width
+        root.width = root.maxWidth > calcLength ? calcLength : root.maxWidth
+    }
+
     QGCPalette { id: qgcPal }
 
     QGCLabel {
@@ -56,6 +63,11 @@ Rectangle {
         clip:                   true
         currentIndex:           _currentMissionIndex
 
+        onCountChanged: {
+            var calcLength = (statusListView.count + 1)*statusListView.contentItem.children[0].width
+            root.width = root.maxWidth > calcLength ? calcLength : root.maxWidth
+        }
+
         delegate: Item {
             height:     statusListView.height
             width:      display ? (indicator.width + spacing)  : 0

src/PlanView/PlanView.qml

@@ -640,7 +640,7 @@ QGCView {
             id:                 waypointValuesDisplay
             anchors.margins:    ScreenTools.defaultFontPixelWidth
             anchors.left:       parent.left
-            anchors.right:      rightPanel.left
+            maxWidth:           parent.width - rightPanel.width - x
             anchors.bottom:     parent.bottom
             missionItems:       _missionController.visualItems
             visible:            _editingLayer === _layerMission && !ScreenTools.isShortScreen

src/PlanView/StructureScanEditor.qml

+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.4
+import QtQuick.Dialogs  1.2
+import QtQuick.Extras   1.4
+import QtQuick.Layouts  1.2
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Vehicle       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.FlightMap     1.0
+
+// Editor for Survery mission items
+Rectangle {
+    id:         _root
+    height:     visible ? (editorColumn.height + (_margin * 2)) : 0
+    width:      availableWidth
+    color:      qgcPal.windowShadeDark
+    radius:     _radius
+
+    // The following properties must be available up the hierarchy chain
+    //property real   availableWidth    ///< Width for control
+    //property var    missionItem       ///< Mission Item for editor
+
+    property real   _margin:        ScreenTools.defaultFontPixelWidth / 2
+    property real   _fieldWidth:    ScreenTools.defaultFontPixelWidth * 10.5
+    property var    _vehicle:       QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
+
+
+    function polygonCaptureStarted() {
+        missionItem.clearPolygon()
+    }
+
+    function polygonCaptureFinished(coordinates) {
+        for (var i=0; i<coordinates.length; i++) {
+            missionItem.addPolygonCoordinate(coordinates[i])
+        }
+    }
+
+    function polygonAdjustVertex(vertexIndex, vertexCoordinate) {
+        missionItem.adjustPolygonCoordinate(vertexIndex, vertexCoordinate)
+    }
+
+    function polygonAdjustStarted() { }
+    function polygonAdjustFinished() { }
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: true }
+
+    Column {
+        id:                 editorColumn
+        anchors.margins:    _margin
+        anchors.top:        parent.top
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+        spacing:            _margin
+
+        QGCLabel {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            text:           qsTr("WARNING: WORK IN PROGRESS. USE AT YOUR OWN RISK.")
+            wrapMode:       Text.WordWrap
+            color:          qgcPal.warningText
+        }
+
+        QGCLabel {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            text:           qsTr("WARNING: Photo interval is below minimum interval (%1 secs) supported by camera.").arg(missionItem.cameraMinTriggerInterval.toFixed(1))
+            wrapMode:       Text.WordWrap
+            color:          qgcPal.warningText
+            visible:        missionItem.cameraShots > 0 && missionItem.cameraMinTriggerInterval !== 0 && missionItem.cameraMinTriggerInterval > missionItem.timeBetweenShots
+        }
+
+        GridLayout {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            columnSpacing:  _margin
+            rowSpacing:     _margin
+            columns:        2
+
+            QGCLabel { text: qsTr("Altitude") }
+            FactTextField {
+                fact:               missionItem.altitude
+                Layout.fillWidth:   true
+            }
+
+            QGCLabel { text: qsTr("Layers") }
+            FactTextField {
+                fact:               missionItem.layers
+                Layout.fillWidth:   true
+            }
+
+            QGCLabel { text: qsTr("Layer distance") }
+            FactTextField {
+                fact:               missionItem.layerDistance
+                Layout.fillWidth:   true
+            }
+
+            QGCLabel { text: qsTr("Trigger Distance") }
+            FactTextField {
+                fact:               missionItem.cameraTriggerDistance
+                Layout.fillWidth:   true
+            }
+
+            QGCCheckBox {
+                text:               qsTr("Relative altitude")
+                checked:            missionItem.altitudeRelative
+                Layout.columnSpan:  2
+                onClicked:          missionItem.altitudeRelative = checked
+            }
+        }
+
+        QGCLabel { text: qsTr("Point camera to structure using:") }
+        QGCRadioButton { text: qsTr("Vehicle yaw"); enabled: false }
+        QGCRadioButton { text: qsTr("Gimbal yaw"); checked: true; enabled: false }
+
+        QGCButton {
+            text:       qsTr("Rotate entry point")
+            onClicked:  missionItem.rotateEntryPoint()
+        }
+
+        SectionHeader {
+            id:     statsHeader
+            text:   qsTr("Statistics")
+        }
+
+        Grid {
+            columns:        2
+            columnSpacing:  ScreenTools.defaultFontPixelWidth
+            visible:        statsHeader.checked
+
+            QGCLabel { text: qsTr("Photo count") }
+            QGCLabel { text: missionItem.cameraShots }
+
+            QGCLabel { text: qsTr("Photo interval") }
+            QGCLabel { text: missionItem.timeBetweenShots.toFixed(1) + " " + qsTr("secs") }
+        }
+    }
+}
+

src/PlanView/StructureScanMapVisual.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtLocation       5.3
+import QtPositioning    5.3
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FlightMap     1.0
+
+/// Survey Complex Mission Item visuals
+Item {
+    id: _root
+
+    property var map    ///< Map control to place item in
+
+    property var _missionItem:      object
+    property var _mapPolygon:       object.mapPolygon
+    property var _gridComponent
+    property var _entryCoordinate
+    property var _exitCoordinate
+
+    signal clicked(int sequenceNumber)
+
+    function _addVisualElements() {
+        _gridComponent = gridComponent.createObject(map)
+        _entryCoordinate = entryPointComponent.createObject(map)
+        _exitCoordinate = exitPointComponent.createObject(map)
+        map.addMapItem(_gridComponent)
+        map.addMapItem(_entryCoordinate)
+        map.addMapItem(_exitCoordinate)
+    }
+
+    function _destroyVisualElements() {
+        _gridComponent.destroy()
+        _entryCoordinate.destroy()
+        _exitCoordinate.destroy()
+    }
+
+    /// Add an initial 4 sided polygon if there is none
+    function _addInitialPolygon() {
+        if (_mapPolygon.count < 3) {
+            // Initial polygon is inset to take 2/3rds space
+            var rect = Qt.rect(map.centerViewport.x, map.centerViewport.y, map.centerViewport.width, map.centerViewport.height)
+            rect.x += (rect.width * 0.25) / 2
+            rect.y += (rect.height * 0.25) / 2
+            rect.width *= 0.75
+            rect.height *= 0.75
+
+            var centerCoord =       map.toCoordinate(Qt.point(rect.x + (rect.width / 2), rect.y + (rect.height / 2)),   false /* clipToViewPort */)
+            var topLeftCoord =      map.toCoordinate(Qt.point(rect.x, rect.y),                                          false /* clipToViewPort */)
+            var topRightCoord =     map.toCoordinate(Qt.point(rect.x + rect.width, rect.y),                             false /* clipToViewPort */)
+            var bottomLeftCoord =   map.toCoordinate(Qt.point(rect.x, rect.y + rect.height),                            false /* clipToViewPort */)
+            var bottomRightCoord =  map.toCoordinate(Qt.point(rect.x + rect.width, rect.y + rect.height),               false /* clipToViewPort */)
+
+            // Initial polygon has max width and height of 3000 meters
+            var halfWidthMeters =   Math.min(topLeftCoord.distanceTo(topRightCoord), 3000) / 2
+            var halfHeightMeters =  Math.min(topLeftCoord.distanceTo(bottomLeftCoord), 3000) / 2
+            topLeftCoord =      centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 0)
+            topRightCoord =     centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 0)
+            bottomLeftCoord =   centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 180)
+            bottomRightCoord =  centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 180)
+
+            _mapPolygon.appendVertex(topLeftCoord)
+            _mapPolygon.appendVertex(topRightCoord)
+            _mapPolygon.appendVertex(bottomRightCoord)
+            _mapPolygon.appendVertex(bottomLeftCoord)
+        }
+    }
+
+    Component.onCompleted: {
+        _addInitialPolygon()
+        _addVisualElements()
+    }
+
+    Component.onDestruction: {
+        _destroyVisualElements()
+    }
+
+    QGCMapPolygonVisuals {
+        id:                 mapPolygonVisuals
+        mapControl:         map
+        mapPolygon:         _mapPolygon
+        interactive:        _missionItem.isCurrentItem
+        borderWidth:        1
+        borderColor:        "black"
+        interiorColor:      "green"
+        interiorOpacity:    0.5
+    }
+
+    // Survey grid lines
+    Component {
+        id: gridComponent
+
+        MapPolyline {
+            line.color: "white"
+            line.width: 2
+            path:       _missionItem.gridPoints
+        }
+    }
+
+    // Entry point
+    Component {
+        id: entryPointComponent
+
+        MapQuickItem {
+            anchorPoint.x:  sourceItem.anchorPointX
+            anchorPoint.y:  sourceItem.anchorPointY
+            z:              QGroundControl.zOrderMapItems
+            coordinate:     _missionItem.coordinate
+            visible:        _missionItem.exitCoordinate.isValid
+
+            sourceItem: MissionItemIndexLabel {
+                index:      _missionItem.sequenceNumber
+                label:      "Entry"
+                checked:    _missionItem.isCurrentItem
+                onClicked:  _root.clicked(_missionItem.sequenceNumber)
+            }
+        }
+    }
+
+    // Exit point
+    Component {
+        id: exitPointComponent
+
+        MapQuickItem {
+            anchorPoint.x:  sourceItem.anchorPointX
+            anchorPoint.y:  sourceItem.anchorPointY
+            z:              QGroundControl.zOrderMapItems
+            coordinate:     _missionItem.exitCoordinate
+            visible:        _missionItem.exitCoordinate.isValid
+
+            sourceItem: MissionItemIndexLabel {
+                index:      _missionItem.lastSequenceNumber
+                label:      "Exit"
+                checked:    _missionItem.isCurrentItem
+                onClicked:  _root.clicked(_missionItem.sequenceNumber)
+            }
+        }
+    }
+}

src/QmlControls/ParameterEditor.qml

@@ -32,7 +32,7 @@ QGCView {
     property Fact   _editorDialogFact: Fact { }
     property int    _rowHeight:         ScreenTools.defaultFontPixelHeight * 2
     property int    _rowWidth:          10      // Dynamic adjusted at runtime
-    property bool   _searchFilter:      searchText.text != ""   ///< true: showing results of search
+    property bool   _searchFilter:      searchText.text.trim() != ""   ///< true: showing results of search
     property var    _searchResults              ///< List of parameter names from search results
     property bool   _showRCToParam:     !ScreenTools.isMobile && QGroundControl.multiVehicleManager.activeVehicle.px4Firmware
 

src/QmlControls/ParameterEditorController.cc

@@ -158,8 +158,9 @@ void ParameterEditorController::setRCToParam(const QString& paramName)
 void ParameterEditorController::_updateParameters(void)
 {
     QObjectList newParameterList;
+    QStringList searchItems = _searchText.split(' ', QString::SkipEmptyParts);
 
-    if (_searchText.isEmpty()) {
+    if (searchItems.isEmpty()) {
         const QMap<int, QMap<QString, QStringList> >& groupMap = _vehicle->parameterManager()->getGroupMap();
         foreach (const QString& parameter, groupMap[_currentComponentId][_currentGroup]) {
             newParameterList.append(_vehicle->parameterManager()->getParameter(_currentComponentId, parameter));
@@ -167,9 +168,17 @@ void ParameterEditorController::_updateParameters(void)
     } else {
         foreach(const QString &parameter, _vehicle->parameterManager()->parameterNames(_vehicle->defaultComponentId())) {
             Fact* fact = _vehicle->parameterManager()->getParameter(_vehicle->defaultComponentId(), parameter);
-            if (fact->name().contains(_searchText, Qt::CaseInsensitive) ||
-                    fact->shortDescription().contains(_searchText, Qt::CaseInsensitive) ||
-                    fact->longDescription().contains(_searchText, Qt::CaseInsensitive)) {
+            bool matched = true;
+
+            // all of the search items must match in order for the parameter to be added to the list
+            for (const auto& searchItem : searchItems) {
+                if (!fact->name().contains(searchItem, Qt::CaseInsensitive) &&
+                        !fact->shortDescription().contains(searchItem, Qt::CaseInsensitive) &&
+                        !fact->longDescription().contains(searchItem, Qt::CaseInsensitive)) {
+                    matched = false;
+                }
+            }
+            if (matched) {
                 newParameterList.append(fact);
             }
         }

src/QmlControls/ParameterEditorDialog.qml

@@ -85,6 +85,11 @@ QGCViewDialog {
         }
     }
 
+	// set focus to the text field when becoming visible (in case of an Enum,
+	// the valueField is not visible, but it's not an issue because the combo
+	// box cannot have a focus)
+	onVisibleChanged: if (visible && !ScreenTools.isMobile) valueField.forceActiveFocus()
+
     QGCFlickable {
         anchors.fill:       parent
         contentHeight:      _column.y + _column.height

src/QmlControls/QGCPipable.qml

@@ -22,17 +22,100 @@ Item {
     property bool isHidden:  false
     property bool isDark:    false
 
+    // As a percentage of the window width
+    property real maxSize: 0.75
+    property real minSize: 0.10
+
     signal  activated()
     signal  hideIt(bool state)
+    signal  newWidth(real newWidth)
 
     MouseArea {
+        id: pipMouseArea
         anchors.fill: parent
         enabled:      !isHidden
+        hoverEnabled: true
         onClicked: {
             pip.activated()
         }
     }
 
+    // MouseArea to drag in order to resize the PiP area
+    MouseArea {
+        id: pipResize
+        anchors.top: parent.top
+        anchors.right: parent.right
+        height: ScreenTools.minTouchPixels
+        width: height
+        property var initialX: 0
+        property var initialWidth: 0
+
+        onClicked: {
+            // TODO propagate
+        }
+
+        // When we push the mouse button down, we un-anchor the mouse area to prevent a resizing loop
+        onPressed: {
+            pipResize.anchors.top = undefined // Top doesn't seem to 'detach'
+            pipResize.anchors.right = undefined // This one works right, which is what we really need
+            pipResize.initialX = mouse.x
+            pipResize.initialWidth = pip.width
+        }
+
+        // When we let go of the mouse button, we re-anchor the mouse area in the correct position
+        onReleased: {
+            pipResize.anchors.top = pip.top
+            pipResize.anchors.right = pip.right
+        }
+
+        // Drag
+        onPositionChanged: {
+            if (pipResize.pressed) {
+                var parentW = pip.parent.width // flightView
+                var newW = pipResize.initialWidth + mouse.x - pipResize.initialX
+                if (newW < parentW * maxSize && newW > parentW * minSize) {
+                    newWidth(newW)
+                }
+            }
+        }
+    }
+
+    // Resize icon
+    Image {
+        source:         "/qmlimages/pipResize.svg"
+        fillMode:       Image.PreserveAspectFit
+        mipmap: true
+        anchors.right:  parent.right
+        anchors.top:    parent.top
+        visible:        !isHidden && (ScreenTools.isMobile || pipMouseArea.containsMouse)
+        height:         ScreenTools.defaultFontPixelHeight * 2.5
+        width:          ScreenTools.defaultFontPixelHeight * 2.5
+        sourceSize.height:  height
+    }
+
+    // Resize pip window if necessary when main window is resized
+    property var pipLock: 2
+
+    Connections {
+        target: pip.parent
+        onWidthChanged: {
+            // hackity hack...
+            // don't fire this while app is loading/initializing (it happens twice)
+            if (pipLock) {
+                pipLock--
+                return
+            }
+
+            var parentW = pip.parent.width
+
+            if (pip.width > parentW * maxSize) {
+                newWidth(parentW * maxSize)
+            } else if (pip.width < parentW * minSize) {
+                newWidth(parentW * minSize)
+            }
+        }
+    }
+
     //-- PIP Corner Indicator
     Image {
         id:             closePIP
@@ -41,7 +124,7 @@ Item {
         fillMode:       Image.PreserveAspectFit
         anchors.left:   parent.left
         anchors.bottom: parent.bottom
-        visible:        !isHidden
+        visible:        !isHidden && (ScreenTools.isMobile || pipMouseArea.containsMouse)
         height:         ScreenTools.defaultFontPixelHeight * 2.5
         width:          ScreenTools.defaultFontPixelHeight * 2.5
         sourceSize.height:  height

src/QmlControls/QGCViewDialog.qml

@@ -31,7 +31,7 @@ FactPanel {
         if (event.key == Qt.Key_Escape) {
             reject()
             event.accepted = true
-        } else if (event.key == Qt.Key_Return) {
+        } else if (event.key == Qt.Key_Return || event.key == Qt.Key_Enter) {
             accept()
             event.accepted = true
         }

src/Vehicle/Vehicle.cc

@@ -507,6 +507,14 @@ void Vehicle::resetCounters()
 
 void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
 {
+    // if the minimum supported version of MAVLink is already 2.0
+    // set our max proto version to it.
+    unsigned mavlinkVersion = _mavlink->getCurrentVersion();
+    if (_maxProtoVersion != mavlinkVersion && mavlinkVersion >= 200) {
+        _maxProtoVersion = _mavlink->getCurrentVersion();
+        qCDebug(VehicleLog) << "Vehicle::_mavlinkMessageReceived setting _maxProtoVersion" << _maxProtoVersion;
+    }
+
     if (message.sysid != _id && message.sysid != 0) {
         // We allow RADIO_STATUS messages which come from a link the vehicle is using to pass through and be handled
         if (!(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS && _containsLink(link))) {
@@ -516,12 +524,6 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
 
     if (!_containsLink(link)) {
         _addLink(link);
-
-        // if the minimum supported version of MAVLink is already 2.0
-        // set our max proto version to it.
-        if (_mavlink->getCurrentVersion() >= 200) {
-            _maxProtoVersion = _mavlink->getCurrentVersion();
-        }
     }
 
     //-- Check link status
@@ -861,6 +863,7 @@ void Vehicle::_setMaxProtoVersion(unsigned version) {
 
     // Set only once or if we need to reduce the max version
     if (_maxProtoVersion == 0 || version < _maxProtoVersion) {
+        qCDebug(VehicleLog) << "_setMaxProtoVersion before:after" << _maxProtoVersion << version;
         _maxProtoVersion = version;
         emit requestProtocolVersion(_maxProtoVersion);
 
@@ -911,60 +914,6 @@ void Vehicle::_handleHilActuatorControls(mavlink_message_t &message)
                                     hil.mode);
 }
 
-void Vehicle::_handleCommandAck(mavlink_message_t& message)
-{
-    bool showError = false;
-
-    mavlink_command_ack_t ack;
-    mavlink_msg_command_ack_decode(&message, &ack);
-
-    if (ack.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES && ack.result != MAV_RESULT_ACCEPTED) {
-        // We aren't going to get a response back for capabilities, so stop waiting for it before we ask for mission items
-        qCDebug(VehicleLog) << "Vehicle failed to responded to MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES with error. Starting mission request.";
-        _setCapabilities(0);
-    }
-
-    if (ack.command == MAV_CMD_REQUEST_PROTOCOL_VERSION && ack.result != MAV_RESULT_ACCEPTED) {
-        // The autopilot does not understand the request and consequently is likely handling only
-        // MAVLink 1
-        if (_maxProtoVersion == 0) {
-            _setMaxProtoVersion(100);
-        }
-    }
-
-    if (_mavCommandQueue.count() && ack.command == _mavCommandQueue[0].command) {
-        _mavCommandAckTimer.stop();
-        showError = _mavCommandQueue[0].showError;
-        _mavCommandQueue.removeFirst();
-    }
-
-    emit mavCommandResult(_id, message.compid, ack.command, ack.result, false /* noResponsefromVehicle */);
-
-    if (showError) {
-        QString commandName = _toolbox->missionCommandTree()->friendlyName((MAV_CMD)ack.command);
-
-        switch (ack.result) {
-        case MAV_RESULT_TEMPORARILY_REJECTED:
-            qgcApp()->showMessage(tr("%1 command temporarily rejected").arg(commandName));
-            break;
-        case MAV_RESULT_DENIED:
-            qgcApp()->showMessage(tr("%1 command denied").arg(commandName));
-            break;
-        case MAV_RESULT_UNSUPPORTED:
-            qgcApp()->showMessage(tr("%1 command not supported").arg(commandName));
-            break;
-        case MAV_RESULT_FAILED:
-            qgcApp()->showMessage(tr("%1 command failed").arg(commandName));
-            break;
-        default:
-            // Do nothing
-            break;
-        }
-    }
-
-    _sendNextQueuedMavCommand();
-}
-
 void Vehicle::_handleCommandLong(mavlink_message_t& message)
 {
 #ifdef __ios__
@@ -2407,6 +2356,7 @@ void Vehicle::_sendMavCommandAgain(void)
     if (_mavCommandRetryCount++ > _mavCommandMaxRetryCount) {
         if (queuedCommand.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
             // We aren't going to get a response back for capabilities, so stop waiting for it before we ask for mission items
+            qCDebug(VehicleLog) << "Vehicle failed to responded to MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES. Setting no capabilities. Starting Plan request.";
             _setCapabilities(0);
             _startPlanRequest();
         }
@@ -2414,8 +2364,12 @@ void Vehicle::_sendMavCommandAgain(void)
         if (queuedCommand.command == MAV_CMD_REQUEST_PROTOCOL_VERSION) {
             // We aren't going to get a response back for the protocol version, so assume v1 is all we can do.
             // If the max protocol version is uninitialized, fall back to v1.
+            qCDebug(VehicleLog) << "Vehicle failed to responded to MAV_CMD_REQUEST_PROTOCOL_VERSION. Starting Plan request.";
             if (_maxProtoVersion == 0) {
+                qCDebug(VehicleLog) << "Setting _maxProtoVersion to 100 since not yet set.";
                 _setMaxProtoVersion(100);
+            } else {
+                qCDebug(VehicleLog) << "Leaving _maxProtoVersion at current value" << _maxProtoVersion;
             }
         }
 
@@ -2487,6 +2441,66 @@ void Vehicle::_sendNextQueuedMavCommand(void)
 }
 
 
+void Vehicle::_handleCommandAck(mavlink_message_t& message)
+{
+    bool showError = false;
+
+    mavlink_command_ack_t ack;
+    mavlink_msg_command_ack_decode(&message, &ack);
+
+    if (ack.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES && ack.result != MAV_RESULT_ACCEPTED) {
+        // We aren't going to get a response back for capabilities, so stop waiting for it before we ask for mission items
+        qCDebug(VehicleLog) << QStringLiteral("Vehicle responded to MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES with error(%1). Setting no capabilities. Starting Plan request.").arg(ack.result);
+        _setCapabilities(0);
+    }
+
+    if (ack.command == MAV_CMD_REQUEST_PROTOCOL_VERSION && ack.result != MAV_RESULT_ACCEPTED) {
+        // The autopilot does not understand the request and consequently is likely handling only
+        // MAVLink 1
+        qCDebug(VehicleLog) << QStringLiteral("Vehicle responded to MAV_CMD_REQUEST_PROTOCOL_VERSION with error(%1).").arg(ack.result);
+        if (_maxProtoVersion == 0) {
+            qCDebug(VehicleLog) << "Setting _maxProtoVersion to 100 since not yet set.";
+            _setMaxProtoVersion(100);
+        } else {
+            qCDebug(VehicleLog) << "Leaving _maxProtoVersion at current value" << _maxProtoVersion;
+        }
+        // FIXME: Is this missing here. I believe it is a bug. Debug to verify. May need to go into Stable.
+        //_startPlanRequest();
+    }
+
+    if (_mavCommandQueue.count() && ack.command == _mavCommandQueue[0].command) {
+        _mavCommandAckTimer.stop();
+        showError = _mavCommandQueue[0].showError;
+        _mavCommandQueue.removeFirst();
+    }
+
+    emit mavCommandResult(_id, message.compid, ack.command, ack.result, false /* noResponsefromVehicle */);
+
+    if (showError) {
+        QString commandName = _toolbox->missionCommandTree()->friendlyName((MAV_CMD)ack.command);
+
+        switch (ack.result) {
+        case MAV_RESULT_TEMPORARILY_REJECTED:
+            qgcApp()->showMessage(tr("%1 command temporarily rejected").arg(commandName));
+            break;
+        case MAV_RESULT_DENIED:
+            qgcApp()->showMessage(tr("%1 command denied").arg(commandName));
+            break;
+        case MAV_RESULT_UNSUPPORTED:
+            qgcApp()->showMessage(tr("%1 command not supported").arg(commandName));
+            break;
+        case MAV_RESULT_FAILED:
+            qgcApp()->showMessage(tr("%1 command failed").arg(commandName));
+            break;
+        default:
+            // Do nothing
+            break;
+        }
+    }
+
+    _sendNextQueuedMavCommand();
+}
+
 void Vehicle::setPrearmError(const QString& prearmError)
 {
     _prearmError = prearmError;

src/comm/MAVLinkProtocol.cc

@@ -382,8 +382,6 @@ void MAVLinkProtocol::_vehicleCountChanged(void)
     if (count == 0) {
         // Last vehicle is gone, close out logging
         _stopLogging();
-        // Reset protocol version handling
-        _current_version = 0;
         _radio_version_mismatch_count = 0;
     }
 }

tools/fix_code_style.sh

-#!/bin/sh
-astyle \
-    --style=allman		\
-    --indent=spaces=4	\
-    --indent-cases		\
-    --indent-preprocessor	\
-    --break-blocks=all		\
-    --pad-oper			\
-    --pad-header		\
-    --unpad-paren		\
-    --keep-one-line-blocks	\
-    --keep-one-line-statements	\
-    --align-pointer=name	\
-    --align-reference=name	\
-    --suffix=none		\
-    --ignore-exclude-errors-x	\
-    --lineend=linux		\
-    --exclude=EASTL		\
-    $*