Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into qgc4

# Conflicts:
#	qgroundcontrol.qrc
#	src/Microhard/MicrohardSettings.qml
#	src/VehicleSetup/FirmwareUpgrade.qml

v2.0 @ 600bbff7

-Subproject commit 171c83700c6318af9ffb4a7ee733567b55a14543
+Subproject commit 600bbff722a13cfa61fe053de1da07069bab1d10

qgroundcontrol.pro

@@ -482,6 +482,7 @@ HEADERS += \
     src/Settings/AppSettings.h \
     src/Settings/AutoConnectSettings.h \
     src/Settings/BrandImageSettings.h \
+    src/Settings/FirmwareUpgradeSettings.h \
     src/Settings/FlightMapSettings.h \
     src/Settings/FlyViewSettings.h \
     src/Settings/OfflineMapsSettings.h \
@@ -659,6 +660,7 @@ SOURCES += \
     src/Settings/AppSettings.cc \
     src/Settings/AutoConnectSettings.cc \
     src/Settings/BrandImageSettings.cc \
+    src/Settings/FirmwareUpgradeSettings.cc \
     src/Settings/FlightMapSettings.cc \
     src/Settings/FlyViewSettings.cc \
     src/Settings/OfflineMapsSettings.cc \

qgroundcontrol.qrc

@@ -213,8 +213,6 @@
     <qresource prefix="/json">
         <file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>
         <file alias="BreachReturn.FactMetaData.json">src/MissionManager/BreachReturn.FactMetaData.json</file>
-        <file alias="OfflineMaps.SettingsGroup.json">src/Settings/OfflineMaps.SettingsGroup.json</file>
-        <file alias="PlanView.SettingsGroup.json">src/Settings/PlanView.SettingsGroup.json</file>
         <file alias="App.SettingsGroup.json">src/Settings/App.SettingsGroup.json</file>
         <file alias="AutoConnect.SettingsGroup.json">src/Settings/AutoConnect.SettingsGroup.json</file>
         <file alias="BrandImage.SettingsGroup.json">src/Settings/BrandImage.SettingsGroup.json</file>
@@ -223,6 +221,7 @@
         <file alias="CameraSpec.FactMetaData.json">src/MissionManager/CameraSpec.FactMetaData.json</file>
         <file alias="CorridorScan.SettingsGroup.json">src/MissionManager/CorridorScan.SettingsGroup.json</file>
         <file alias="EditPositionDialog.FactMetaData.json">src/QmlControls/EditPositionDialog.FactMetaData.json</file>
+        <file alias="FirmwareUpgrade.SettingsGroup.json">src/Settings/FirmwareUpgrade.SettingsGroup.json</file>
         <file alias="FlightMap.SettingsGroup.json">src/Settings/FlightMap.SettingsGroup.json</file>
         <file alias="FlyView.SettingsGroup.json">src/Settings/FlyView.SettingsGroup.json</file>
         <file alias="FWLandingPattern.FactMetaData.json">src/MissionManager/FWLandingPattern.FactMetaData.json</file>
@@ -233,6 +232,8 @@
         <file alias="MavCmdInfoSub.json">src/MissionManager/MavCmdInfoSub.json</file>
         <file alias="MavCmdInfoVTOL.json">src/MissionManager/MavCmdInfoVTOL.json</file>
         <file alias="MissionSettings.FactMetaData.json">src/MissionManager/MissionSettings.FactMetaData.json</file>
+        <file alias="OfflineMaps.SettingsGroup.json">src/Settings/OfflineMaps.SettingsGroup.json</file>
+        <file alias="PlanView.SettingsGroup.json">src/Settings/PlanView.SettingsGroup.json</file>
         <file alias="QGCMapCircle.Facts.json">src/MissionManager/QGCMapCircle.Facts.json</file>
         <file alias="RallyPoint.FactMetaData.json">src/MissionManager/RallyPoint.FactMetaData.json</file>
         <file alias="RTK.SettingsGroup.json">src/Settings/RTK.SettingsGroup.json</file>

src/AutoPilotPlugins/CMakeLists.txt

 
 add_library(AutoPilotPlugins
 	APM/APMAirframeComponent.cc
-	APM/APMAirframeComponentAirframes.cc
 	APM/APMAirframeComponentController.cc
-	APM/APMAirframeLoader.cc
 	APM/APMAutoPilotPlugin.cc
 	APM/APMCameraComponent.cc
 	APM/APMCompassCal.cc

src/Camera/QGCCameraManager.cc

@@ -107,8 +107,8 @@ QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
 {
     mavlink_heartbeat_t heartbeat;
     mavlink_msg_heartbeat_decode(&message, &heartbeat);
-    //-- If this heartbeat is from a different component within the vehicle
-    if(_vehicleReadyState && _vehicle->id() == message.sysid && _vehicle->defaultComponentId() != message.compid) {
+    //-- Only pay attention to "camera" component IDs
+    if(_vehicleReadyState && _vehicle->id() == message.sysid && message.compid >= MAV_COMP_ID_CAMERA && message.compid <= MAV_COMP_ID_CAMERA6) {
         //-- First time hearing from this one?
         QString sCompID = QString::number(message.compid);
         if(!_cameraInfoRequest.contains(sCompID)) {
@@ -135,8 +135,7 @@ QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
                             }
                         } else {
                             pInfo->tryCount++;
-                            //-- Request camera info. Again. It could be something other than a camera, in which
-                            //   case, we won't ever receive it.
+                            //-- Request camera info again.
                             _requestCameraInfo(message.compid);
                         }
                     }

src/Microhard/MicrohardManager.cc

@@ -15,13 +15,12 @@
 
 #include <QSettings>
 
-#define LONG_TIMEOUT 5000
+#define SHORT_TIMEOUT 2500
+#define LONG_TIMEOUT  5000
 
 static const char *kMICROHARD_GROUP     = "Microhard";
 static const char *kLOCAL_IP            = "LocalIP";
 static const char *kREMOTE_IP           = "RemoteIP";
-static const char *kGROUND_IP           = "GroundIP";
-static const char *kAIR_IP              = "AirIP";
 static const char *kNET_MASK            = "NetMask";
 static const char *kCFG_PASSWORD        = "ConfigPassword";
 static const char *kENC_KEY             = "EncryptionKey";
@@ -38,8 +37,6 @@ MicrohardManager::MicrohardManager(QGCApplication* app, QGCToolbox* toolbox)
     settings.beginGroup(kMICROHARD_GROUP);
     _localIPAddr    = settings.value(kLOCAL_IP,       QString("192.168.168.1")).toString();
     _remoteIPAddr   = settings.value(kREMOTE_IP,      QString("192.168.168.2")).toString();
-    _groundIPAddr   = settings.value(kGROUND_IP,      QString("192.168.168.101")).toString();
-    _airIPAddr      = settings.value(kAIR_IP,         QString("192.168.168.213")).toString();
     _netMask        = settings.value(kNET_MASK,       QString("255.255.255.0")).toString();
     _configPassword = settings.value(kCFG_PASSWORD,   QString("admin")).toString();
     _encryptionKey  = settings.value(kENC_KEY,        QString("1234567890")).toString();
@@ -117,10 +114,10 @@ MicrohardManager::setToolbox(QGCToolbox* toolbox)
 
 //-----------------------------------------------------------------------------
 bool
-MicrohardManager::setIPSettings(QString localIP_, QString remoteIP_, QString groundIP_, QString airIP_, QString netMask_, QString cfgPassword_, QString encryptionKey_)
+MicrohardManager::setIPSettings(QString localIP_, QString remoteIP_, QString netMask_, QString cfgPassword_, QString encryptionKey_)
 {
     if (_localIPAddr != localIP_ || _remoteIPAddr != remoteIP_ || _netMask != netMask_ ||
-        _configPassword != cfgPassword_ || _encryptionKey != encryptionKey_ || _groundIPAddr != groundIP_ || _airIPAddr != airIP_)
+        _configPassword != cfgPassword_ || _encryptionKey != encryptionKey_)
     {
         if (_mhSettingsLoc && _encryptionKey != encryptionKey_) {
             _mhSettingsLoc->setEncryptionKey(encryptionKey_);
@@ -128,8 +125,6 @@ MicrohardManager::setIPSettings(QString localIP_, QString remoteIP_, QString gro
 
         _localIPAddr    = localIP_;
         _remoteIPAddr   = remoteIP_;
-        _groundIPAddr   = groundIP_;
-        _airIPAddr      = airIP_;
         _netMask        = netMask_;
         _configPassword = cfgPassword_;
         _encryptionKey  = encryptionKey_;
@@ -138,8 +133,6 @@ MicrohardManager::setIPSettings(QString localIP_, QString remoteIP_, QString gro
         settings.beginGroup(kMICROHARD_GROUP);
         settings.setValue(kLOCAL_IP, localIP_);
         settings.setValue(kREMOTE_IP, remoteIP_);
-        settings.setValue(kGROUND_IP, groundIP_);
-        settings.setValue(kAIR_IP, airIP_);
         settings.setValue(kNET_MASK, netMask_);
         settings.setValue(kCFG_PASSWORD, cfgPassword_);
         settings.setValue(kENC_KEY, encryptionKey_);
@@ -169,7 +162,7 @@ MicrohardManager::_setEnabled()
             connect(_mhSettingsRem, &MicrohardSettings::connected,      this, &MicrohardManager::_connectedRem);
             connect(_mhSettingsRem, &MicrohardSettings::rssiUpdated,    this, &MicrohardManager::_rssiUpdatedRem);
         }
-        _workTimer.start(1000);
+        _workTimer.start(SHORT_TIMEOUT);
     } else {
         //-- Stop everything
         _close();
@@ -268,5 +261,5 @@ MicrohardManager::_checkMicrohard()
             _mhSettingsRem->getStatus();
         }
     }
-    _workTimer.start(_isConnected ? 1000 : LONG_TIMEOUT);
+    _workTimer.start(_isConnected ? SHORT_TIMEOUT : LONG_TIMEOUT);
 }

src/Microhard/MicrohardManager.h

@@ -32,13 +32,11 @@ public:
     Q_PROPERTY(int          downlinkRSSI        READ downlinkRSSI                               NOTIFY linkChanged)
     Q_PROPERTY(QString      localIPAddr         READ localIPAddr                                NOTIFY localIPAddrChanged)
     Q_PROPERTY(QString      remoteIPAddr        READ remoteIPAddr                               NOTIFY remoteIPAddrChanged)
-    Q_PROPERTY(QString      groundIPAddr        READ groundIPAddr                               NOTIFY groundIPAddrChanged)
-    Q_PROPERTY(QString      airIPAddr           READ airIPAddr                                  NOTIFY airIPAddrChanged)
     Q_PROPERTY(QString      netMask             READ netMask                                    NOTIFY netMaskChanged)
     Q_PROPERTY(QString      configPassword      READ configPassword                             NOTIFY configPasswordChanged)
     Q_PROPERTY(QString      encryptionKey       READ encryptionKey                              NOTIFY encryptionKeyChanged)
 
-    Q_INVOKABLE bool setIPSettings              (QString localIP, QString remoteIP, QString groundIP, QString airIP, QString netMask, QString cfgPassword, QString encyrptionKey);
+    Q_INVOKABLE bool setIPSettings              (QString localIP, QString remoteIP, QString netMask, QString cfgPassword, QString encyrptionKey);
 
     explicit MicrohardManager                   (QGCApplication* app, QGCToolbox* toolbox);
     ~MicrohardManager                           () override;
@@ -51,8 +49,6 @@ public:
     int         downlinkRSSI                    () { return _uplinkRSSI; }
     QString     localIPAddr                     () { return _localIPAddr; }
     QString     remoteIPAddr                    () { return _remoteIPAddr; }
-    QString     airIPAddr                       () { return _airIPAddr; }
-    QString     groundIPAddr                    () { return _groundIPAddr; }
     QString     netMask                         () { return _netMask; }
     QString     configPassword                  () { return _configPassword; }
     QString     encryptionKey                   () { return _encryptionKey; }
@@ -63,8 +59,6 @@ signals:
     void    connectedChanged                ();
     void    localIPAddrChanged              ();
     void    remoteIPAddrChanged             ();
-    void    airIPAddrChanged                ();
-    void    groundIPAddrChanged             ();
     void    netMaskChanged                  ();
     void    configPasswordChanged           ();
     void    encryptionKeyChanged            ();
@@ -98,8 +92,6 @@ private:
     int             _uplinkRSSI             = 0;
     QString         _localIPAddr;
     QString         _remoteIPAddr;
-    QString         _groundIPAddr;
-    QString         _airIPAddr;
     QString         _netMask;
     QString         _configPassword;
     QString         _encryptionKey;

src/Settings/FirmwareUpgrade.SettingsGroup.json

+[
+{
+    "name":             "defaultFirmwareType",
+    "shortDescription": "Default firmware type for flashing",
+    "type":             "uint32",
+    "defaultValue":     12
+},
+{
+    "name":             "apmChibiOS",
+    "type":             "uint32",
+    "enumStrings":      "ChibiOS,NuttX",
+    "enumValues":       "0,1",
+    "defaultValue":     0
+},
+{
+    "name":             "apmVehicleType",
+    "type":             "uint32",
+    "enumStrings":      "Multi-Rotor,Helicopter,Plane,Rover,Sub",
+    "enumValues":       "0,1,2,3,4",
+    "defaultValue":     0
+}
+]

src/Settings/FirmwareUpgradeSettings.cc

+/****************************************************************************
+ *
+ *   (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.
+ *
+ ****************************************************************************/
+
+#include "FirmwareUpgradeSettings.h"
+
+#include <QQmlEngine>
+#include <QtQml>
+
+DECLARE_SETTINGGROUP(FirmwareUpgrade, "FirmwareUpgrade")
+{
+    qmlRegisterUncreatableType<FirmwareUpgradeSettings>("QGroundControl.SettingsManager", 1, 0, "FirmwareUpgradeSettings", "Reference only");
+}
+
+DECLARE_SETTINGSFACT(FirmwareUpgradeSettings, defaultFirmwareType)
+DECLARE_SETTINGSFACT(FirmwareUpgradeSettings, apmChibiOS)
+DECLARE_SETTINGSFACT(FirmwareUpgradeSettings, apmVehicleType)

src/Settings/FirmwareUpgradeSettings.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.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include "SettingsGroup.h"
+#include "QGCMAVLink.h"
+
+class FirmwareUpgradeSettings : public SettingsGroup
+{
+    Q_OBJECT
+
+public:
+    FirmwareUpgradeSettings(QObject* parent = nullptr);
+
+    DEFINE_SETTING_NAME_GROUP()
+
+    DEFINE_SETTINGFACT(defaultFirmwareType)
+    DEFINE_SETTINGFACT(apmChibiOS)
+    DEFINE_SETTINGFACT(apmVehicleType)
+};

src/Settings/SettingsManager.cc

@@ -27,6 +27,7 @@ SettingsManager::SettingsManager(QGCApplication* app, QGCToolbox* toolbox)
     , _planViewSettings             (nullptr)
     , _brandImageSettings           (nullptr)
     , _offlineMapsSettings          (nullptr)
+    , _firmwareUpgradeSettings      (nullptr)
 #if !defined(NO_ARDUPILOT_DIALECT)
     , _apmMavlinkStreamRateSettings (nullptr)
 #endif
@@ -40,20 +41,21 @@ void SettingsManager::setToolbox(QGCToolbox *toolbox)
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     qmlRegisterUncreatableType<SettingsManager>("QGroundControl.SettingsManager", 1, 0, "SettingsManager", "Reference only");
 
-    _unitsSettings =                new UnitsSettings       (this);        // Must be first since AppSettings references it
-    _appSettings =                  new AppSettings         (this);
-    _autoConnectSettings =          new AutoConnectSettings (this);
-    _videoSettings =                new VideoSettings       (this);
-    _flightMapSettings =            new FlightMapSettings   (this);
-    _rtkSettings =                  new RTKSettings         (this);
-    _flyViewSettings =              new FlyViewSettings     (this);
-    _planViewSettings =             new PlanViewSettings    (this);
-    _brandImageSettings =           new BrandImageSettings  (this);
-    _offlineMapsSettings =          new OfflineMapsSettings (this);
+    _unitsSettings =                new UnitsSettings           (this);        // Must be first since AppSettings references it
+    _appSettings =                  new AppSettings             (this);
+    _autoConnectSettings =          new AutoConnectSettings     (this);
+    _videoSettings =                new VideoSettings           (this);
+    _flightMapSettings =            new FlightMapSettings       (this);
+    _rtkSettings =                  new RTKSettings             (this);
+    _flyViewSettings =              new FlyViewSettings         (this);
+    _planViewSettings =             new PlanViewSettings        (this);
+    _brandImageSettings =           new BrandImageSettings      (this);
+    _offlineMapsSettings =          new OfflineMapsSettings     (this);
+    _firmwareUpgradeSettings =      new FirmwareUpgradeSettings (this);
 #if !defined(NO_ARDUPILOT_DIALECT)
-    _apmMavlinkStreamRateSettings = new APMMavlinkStreamRateSettings     (this);
+    _apmMavlinkStreamRateSettings = new APMMavlinkStreamRateSettings(this);
 #endif
 #if defined(QGC_AIRMAP_ENABLED)
-    _airMapSettings =               new AirMapSettings      (this);
+    _airMapSettings =               new AirMapSettings          (this);
 #endif
 }

src/Settings/SettingsManager.h

@@ -25,6 +25,7 @@
 #include "BrandImageSettings.h"
 #include "OfflineMapsSettings.h"
 #include "APMMavlinkStreamRateSettings.h"
+#include "FirmwareUpgradeSettings.h"
 #if defined(QGC_AIRMAP_ENABLED)
 #include "AirMapSettings.h"
 #endif
@@ -50,7 +51,8 @@ public:
     Q_PROPERTY(QObject* flyViewSettings                 READ flyViewSettings                CONSTANT)
     Q_PROPERTY(QObject* planViewSettings                READ planViewSettings               CONSTANT)
     Q_PROPERTY(QObject* brandImageSettings              READ brandImageSettings             CONSTANT)
-    Q_PROPERTY(QObject* offlineMapsSettings             READ offlineMapsSettings             CONSTANT)
+    Q_PROPERTY(QObject* offlineMapsSettings             READ offlineMapsSettings            CONSTANT)
+    Q_PROPERTY(QObject* firmwareUpgradeSettings         READ firmwareUpgradeSettings        CONSTANT)
 #if !defined(NO_ARDUPILOT_DIALECT)
     Q_PROPERTY(QObject* apmMavlinkStreamRateSettings    READ apmMavlinkStreamRateSettings   CONSTANT)
 #endif
@@ -70,6 +72,7 @@ public:
     PlanViewSettings*               planViewSettings            (void) { return _planViewSettings; }
     BrandImageSettings*             brandImageSettings          (void) { return _brandImageSettings; }
     OfflineMapsSettings*            offlineMapsSettings         (void) { return _offlineMapsSettings; }
+    FirmwareUpgradeSettings*        firmwareUpgradeSettings     (void) { return _firmwareUpgradeSettings; }
 #if !defined(NO_ARDUPILOT_DIALECT)
     APMMavlinkStreamRateSettings*   apmMavlinkStreamRateSettings(void) { return _apmMavlinkStreamRateSettings; }
 #endif
@@ -87,6 +90,7 @@ private:
     PlanViewSettings*               _planViewSettings;
     BrandImageSettings*             _brandImageSettings;
     OfflineMapsSettings*            _offlineMapsSettings;
+    FirmwareUpgradeSettings*        _firmwareUpgradeSettings;
 #if !defined(NO_ARDUPILOT_DIALECT)
     APMMavlinkStreamRateSettings*   _apmMavlinkStreamRateSettings;
 #endif

src/Vehicle/Vehicle.cc

@@ -3333,6 +3333,10 @@ void Vehicle::_handleCommandAck(mavlink_message_t& message)
         //_startPlanRequest();
     }
 
+    if (ack.command == MAV_CMD_FLASH_BOOTLOADER && ack.result == MAV_RESULT_ACCEPTED) {
+        qgcApp()->showMessage(tr("Bootloader flash succeeded"));
+    }
+
     if (_mavCommandQueue.count() && ack.command == _mavCommandQueue[0].command) {
         _mavCommandAckTimer.stop();
         showError = _mavCommandQueue[0].showError;

src/VideoStreaming/VideoReceiver.cc

@@ -712,17 +712,18 @@ VideoReceiver::startRecording(const QString &videoFile)
     gst_object_ref(_sink->mux);
     gst_object_ref(_sink->filesink);
 
-    gst_bin_add_many(GST_BIN(_pipeline), _sink->queue, _sink->parse, _sink->mux, _sink->filesink, nullptr);
-    gst_element_link_many(_sink->queue, _sink->parse, _sink->mux, _sink->filesink, nullptr);
+    gst_bin_add_many(GST_BIN(_pipeline), _sink->queue, _sink->parse, _sink->mux, nullptr);
+    gst_element_link_many(_sink->queue, _sink->parse, _sink->mux, nullptr);
 
     gst_element_sync_state_with_parent(_sink->queue);
     gst_element_sync_state_with_parent(_sink->parse);
     gst_element_sync_state_with_parent(_sink->mux);
-    gst_element_sync_state_with_parent(_sink->filesink);
 
     // Install a probe on the recording branch to drop buffers until we hit our first keyframe
     // When we hit our first keyframe, we can offset the timestamps appropriately according to the first keyframe time
     // This will ensure the first frame is a keyframe at t=0, and decoding can begin immediately on playback
+    // Once we have this valid frame, we attach the filesink.
+    // Attaching it here would cause the filesink to fail to preroll and to stall the pipeline for a few seconds.
     GstPad* probepad = gst_element_get_static_pad(_sink->queue, "src");
     gst_pad_add_probe(probepad, (GstPadProbeType)(GST_PAD_PROBE_TYPE_BUFFER /* | GST_PAD_PROBE_TYPE_BLOCK */), _keyframeWatch, this, nullptr); // to drop the buffer or to block the buffer?
     gst_object_unref(probepad);
@@ -875,6 +876,12 @@ VideoReceiver::_keyframeWatch(GstPad* pad, GstPadProbeInfo* info, gpointer user_
             gst_element_set_base_time(pThis->_pipeline, time); // offset pipeline timestamps to start at zero again
             buf->dts = 0; // The offset will not apply to this current buffer, our first frame, timestamp is zero
             buf->pts = 0;
+
+            // Add the filesink once we have a valid I-frame
+            gst_bin_add_many(GST_BIN(pThis->_pipeline), pThis->_sink->filesink, nullptr);
+            gst_element_link_many(pThis->_sink->mux, pThis->_sink->filesink, nullptr);
+            gst_element_sync_state_with_parent(pThis->_sink->filesink);
+
             qCDebug(VideoReceiverLog) << "Got keyframe, stop dropping buffers";
         }
     }