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

.appveyor.yml

@@ -15,7 +15,7 @@ environment:
 install:
   - git submodule update --init --recursive
   - call "%ProgramFiles(x86)%\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86
-  - set PATH=C:\Qt\Tools\QtCreator\bin;C:\Qt\5.9.3\msvc2015\bin;%PATH%
+  - set PATH=C:\Qt\Tools\QtCreator\bin;C:\Qt\5.11.0\msvc2015\bin;%PATH%
   - mkdir %LOCALAPPDATA%\QtProject && copy test\qtlogging.ini %LOCALAPPDATA%\QtProject\
   - ps: |
       Write-Host "Installing GStreamer..." -ForegroundColor Cyan
@@ -35,7 +35,7 @@ install:
       Write-Host "Installed" -ForegroundColor Green
 
 build_script:
-  - mkdir %SHADOW_BUILD_DIR% && cd %SHADOW_BUILD_DIR% && C:\Qt\5.9.3\msvc2015\bin\qmake -r CONFIG-=debug_and_release CONFIG+=%CONFIG% CONFIG+=WarningsAsErrorsOn %APPVEYOR_BUILD_FOLDER%\qgroundcontrol.pro
+  - mkdir %SHADOW_BUILD_DIR% && cd %SHADOW_BUILD_DIR% && C:\Qt\5.11.0\msvc2015\bin\qmake -r CONFIG-=debug_and_release CONFIG+=%CONFIG% CONFIG+=WarningsAsErrorsOn %APPVEYOR_BUILD_FOLDER%\qgroundcontrol.pro
   - cd %SHADOW_BUILD_DIR% && jom
   - if "%CONFIG%" EQU "installer" ( copy %SHADOW_BUILD_DIR%\release\QGroundControl-installer.exe %APPVEYOR_BUILD_FOLDER%\QGroundControl-installer.exe )
 # Generate the source server information to embed in the PDB

.travis.yml

@@ -73,9 +73,9 @@ before_install:
 install:
   # linux dependencies: qt
   - if [ "${SPEC}" = "linux-g++-64" ]; then
-        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.9.3-gcc_64-min.tar.bz2 &&
-        tar jxf Qt5.9.3-gcc_64-min.tar.bz2 -C /tmp &&
-        export PATH=/tmp/Qt5.9-gcc_64/5.9.3/gcc_64/bin:$PATH &&
+        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.11.0-gcc_64-min.tar.bz2 &&
+        tar jxf Qt5.11.0-gcc_64-min.tar.bz2 -C /tmp &&
+        export PATH=/tmp/Qt5.11-gcc_64/5.11.0/gcc_64/bin:$PATH &&
         export DISPLAY=:99.0 &&
         sh -e /etc/init.d/xvfb start
         ;
@@ -83,8 +83,8 @@ install:
 
   # android dependencies: qt, gstreamer, android-ndk
   - if [ "${SPEC}" = "android-g++" ]; then
-        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.9.3-android_armv7-min.tar.bz2 &&
-        tar jxf Qt5.9.3-android_armv7-min.tar.bz2 -C /tmp &&
+        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.11.0-android_armv7-min.tar.bz2 &&
+        tar jxf Qt5.11.0-android_armv7-min.tar.bz2 -C /tmp &&
         wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/gstreamer-1.0-android-armv7-1.5.2.tar.bz2 &&
         mkdir -p ${TRAVIS_BUILD_DIR}/gstreamer-1.0-android-armv7-1.5.2 &&
         tar jxf gstreamer-1.0-android-armv7-1.5.2.tar.bz2 -C ${TRAVIS_BUILD_DIR}/gstreamer-1.0-android-armv7-1.5.2 &&
@@ -93,14 +93,14 @@ install:
         ./android-ndk-r10e-linux-x86_64.bin > /dev/null &&
         export ANDROID_NDK_ROOT=`pwd`/android-ndk-r10e &&
         export ANDROID_SDK_ROOT=/usr/local/android-sdk &&
-        export PATH=/tmp/Qt5.9-android_armv7/5.9.3/android_armv7/bin:`pwd`/android-ndk-r10e:$PATH && echo $PATH
+        export PATH=/tmp/Qt5.11-android_armv7/5.11.0/android_armv7/bin:`pwd`/android-ndk-r10e:$PATH && echo $PATH
         ;
     fi
 
   # osx dependencies: qt (master builds only: gstreamer, gstreamer-devel)
   - if [ "${SPEC}" = "macx-clang" ]; then
-        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.9.3-clang_64-min.tar.bz2 &&
-        tar jxf Qt5.9.3-clang_64-min.tar.bz2 -C /tmp
+        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.11.0-clang_64-min.tar.bz2 &&
+        tar jxf Qt5.11.0-clang_64-min.tar.bz2 -C /tmp
         ;
     fi
 
@@ -123,7 +123,7 @@ install:
     fi
 
   - if [ "${SPEC}" = "macx-clang" ]; then
-        export QT_DIR=Qt5.9-clang_64/5.9.3/clang_64 &&
+        export QT_DIR=Qt5.11-clang_64/5.11.0/clang_64 &&
         export QT_QPA_PLATFORM_PLUGIN_PATH=/tmp/$QT_DIR/plugins &&
         export QML2_IMPORT_PATH=/tmp/$QT_DIR/qml &&
         export PATH=/tmp/$QT_DIR/bin:$PATH
@@ -161,7 +161,12 @@ before_script:
 script:
   # run qmake
   - mkdir ${SHADOW_BUILD_DIR} && cd ${SHADOW_BUILD_DIR}
-  - qmake -r ${TRAVIS_BUILD_DIR}/qgroundcontrol.pro CONFIG+=${CONFIG} CONFIG+=WarningsAsErrorsOn -spec ${SPEC}
+  # Due to possible bug in Qt 5.11 WarningsAsErrorsOn is off for Linux builds. Hopefully back on once that is resolved.
+  - if [ "${SPEC}" = "macx-clang" ]; then
+        qmake -r ${TRAVIS_BUILD_DIR}/qgroundcontrol.pro CONFIG+=${CONFIG} CONFIG+=WarningsAsErrorsOn -spec ${SPEC};
+    else
+        qmake -r ${TRAVIS_BUILD_DIR}/qgroundcontrol.pro CONFIG+=${CONFIG} -spec ${SPEC};
+    fi
 
   # compile
   - if [ "${SPEC}" != "macx-ios-clang" ]; then

.vagrantconfig.yml

 configs:
     dev:
-        'qt_deps_tarball': 'Qt5.9.1-linux-vagrant.tar.bz2'
+        'qt_deps_tarball': 'Qt5.11.0-gcc_64-min.tar.bz2'
         'qt_deps_unpack_parent_dir': '/tmp'
 
-        'qt_deps_unpack_dir': '/tmp/Qt5.9-vagrant/5.9.1'
-        'qt_deps_bin_unpack_dir': '/tmp/Qt5.9-vagrant/5.9.1/gcc_64/bin'
-        'qt_deps_lib_unpack_dir': '/tmp/Qt5.9-vagrant/5.9.1/gcc_64/lib'
-        'qt_deps_plugins_unpack_dir': '/tmp/Qt5.9-vagrant/5.9.1/gcc_64/plugins'
-        'qt_deps_qml_unpack_dir': '/tmp/Qt5.9-vagrant/5.9.1/gcc_64/qml'
+        'qt_deps_unpack_dir': '/tmp/Qt5.11-gcc_64/5.11.0'
+        'qt_deps_bin_unpack_dir': '/tmp/Qt5.11-gcc_64/5.11.0/gcc_64/bin'
+        'qt_deps_lib_unpack_dir': '/tmp/Qt5.11-gcc_64/5.11.0/gcc_64/lib'
+        'qt_deps_plugins_unpack_dir': '/tmp/Qt5.11-gcc_64/5.11.0/gcc_64/plugins'
+        'qt_deps_qml_unpack_dir': '/tmp/Qt5.11-gcc_64/5.11.0/gcc_64/qml'
 
         'project_root_dir': '/vagrant'
 
@@ -20,4 +20,4 @@ configs:
         'spec': 'linux-g++-64'
         'shadow_build_dir': '/vagrant/shadow-build'
         'pro': '/vagrant/qgroundcontrol.pro'
-        'deps_url': 'https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.9.1-linux-vagrant.tar.bz2'
+        'deps_url': 'https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.11.0-gcc_64-min.tar.bz2'

ISSUE_TEMPLATE.md

@@ -4,6 +4,7 @@ This system is for posting bugs or feature requests ONLY. For questions about ho
 When posting bug reports, include the following informaiton:
 - Ground station operating system.
 - QGroundControl version and build (daily, stable, self-built from source, etc.)
+- **If you are using a Stable build which is not the latest, first step is to install latest Stable build and try again prior to entering a bug report.**
 - Autopilot board: Pixhawk I, Pixhawk Mini, Pixhawk 2, etc.
 - Autopilot firmware (e.g. PX4, ArduPilot, custom) and version.
 - Exact steps to reproduce the problem. Starting from booting QGroundControl to when the problem occurs.

Jenkinsfile

 pipeline {
-  agent any
+  agent none
   stages {
+
     stage('build') {
       parallel {
+
+        stage('Android Release') {
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+            QGC_CONFIG = 'release'
+            QMAKE_VER = "5.9.2/android_armv7/bin/qmake"
+          }
+          agent {
+            docker {
+              image 'mavlink/qgc-build-android:2018-04-14'
+              args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'ccache -z'
+            sh 'git submodule deinit -f .'
+            sh 'git clean -ff -x -d .'
+            sh 'git submodule update --init --recursive --force'
+            sh 'mkdir build; cd build; ${QT_PATH}/${QMAKE_VER} -r ${WORKSPACE}/qgroundcontrol.pro CONFIG+=${QGC_CONFIG} CONFIG+=WarningsAsErrorsOn'
+            sh 'cd build; make -j`nproc --all`'
+            sh 'ccache -s'
+          }
+          post {
+            cleanup {
+              sh 'git clean -ff -x -d .'
+            }
+          }
+        }
+
         stage('Linux Debug') {
           environment {
             CCACHE_BASEDIR = "${env.WORKSPACE}"
@@ -11,7 +42,7 @@ pipeline {
           }
           agent {
             docker {
-              image 'mavlink/qgc-build-linux'
+              image 'mavlink/qgc-build-linux:2018-04-14'
               args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -25,7 +56,13 @@ pipeline {
             sh 'cd build; make -j`nproc --all`'
             sh 'ccache -s'
           }
+          post {
+            cleanup {
+              sh 'git clean -ff -x -d .'
+            }
+          }
         }
+
         stage('Linux Release') {
           environment {
             CCACHE_BASEDIR = "${env.WORKSPACE}"
@@ -34,7 +71,7 @@ pipeline {
           }
           agent {
             docker {
-              image 'mavlink/qgc-build-linux'
+              image 'mavlink/qgc-build-linux:2018-04-14'
               args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -48,7 +85,13 @@ pipeline {
             sh 'cd build; make -j`nproc --all`'
             sh 'ccache -s'
           }
+          post {
+            cleanup {
+              sh 'git clean -ff -x -d .'
+            }
+          }
         }
+
         stage('OSX Debug') {
           agent {
             node {
@@ -70,7 +113,13 @@ pipeline {
             sh 'cd build; make -j`sysctl -n hw.ncpu`'
             sh 'ccache -s'
           }
+          post {
+            cleanup {
+              sh 'git clean -ff -x -d .'
+            }
+          }
         }
+
         stage('OSX Release') {
           agent {
             node {
@@ -79,7 +128,7 @@ pipeline {
           }
           environment {
             CCACHE_BASEDIR = "${env.WORKSPACE}"
-            QGC_CONFIG = 'release'
+            QGC_CONFIG = 'installer'
             QMAKE_VER = "5.9.3/clang_64/bin/qmake"
           }
           steps {
@@ -92,13 +141,27 @@ pipeline {
             sh 'cd build; make -j`sysctl -n hw.ncpu`'
             sh 'ccache -s'
           }
+          post {
+            success {
+              archiveArtifacts(artifacts: 'build/**/*.dmg', fingerprint: true)
+            }
+            cleanup {
+              sh 'git clean -ff -x -d .'
+            }
+          }
         }
-      }
-    }
-  }
+      } // parallel
+    } // stage('build')
+  } // stages
+
   environment {
     CCACHE_CPP2 = '1'
     CCACHE_DIR = '/tmp/ccache'
     QT_FATAL_WARNINGS = '1'
   }
+
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
 }

QGCInstaller.pri

@@ -26,12 +26,12 @@ installer {
         # We cd to release directory so we can run macdeployqt without a path to the
         # qgroundcontrol.app file. If you specify a path to the .app file the symbolic
         # links to plugins will not be created correctly.
-        QMAKE_POST_LINK += && mkdir -p $${DESTDIR}/package
         QMAKE_POST_LINK += && cd $${DESTDIR} && $$dirname(QMAKE_QMAKE)/macdeployqt $${TARGET}.app -appstore-compliant -verbose=2 -qmldir=$${BASEDIR}/src
         # macdeploy is missing some relocations once in a while. "Fix" it:
         QMAKE_POST_LINK += && python $$BASEDIR/tools/osxrelocator.py $${TARGET}.app/Contents @rpath @executable_path/../Frameworks -r > /dev/null 2>&1
         # Create package
         QMAKE_POST_LINK += && hdiutil create /tmp/tmp.dmg -ov -volname "$${TARGET}-$${MAC_VERSION}" -fs HFS+ -srcfolder "$${DESTDIR}/"
+        QMAKE_POST_LINK += && mkdir -p $${DESTDIR}/package
         QMAKE_POST_LINK += && hdiutil convert /tmp/tmp.dmg -format UDBZ -o $${DESTDIR}/package/$${TARGET}.dmg
         QMAKE_POST_LINK += && rm /tmp/tmp.dmg
     }

QGCSetup.pri

@@ -63,7 +63,9 @@ WindowsBuild {
     ReleaseBuild: DLL_QT_DEBUGCHAR = ""
     COPY_FILE_LIST = \
         $$BASEDIR\\libs\\lib\\sdl2\\msvc\\lib\\x86\\SDL2.dll \
-        $$BASEDIR\\deploy\\libeay32.dll
+        $$BASEDIR\\deploy\\libeay32.dll \
+        $$BASEDIR_WIN\\deploy\\libssl32.dll \
+        $$BASEDIR_WIN\\deploy\\ssleay32.dll
 
     for(COPY_FILE, COPY_FILE_LIST) {
         QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY \"$$COPY_FILE\" \"$$DESTDIR_WIN\"
@@ -102,15 +104,17 @@ LinuxBuild {
 
     # QT_INSTALL_LIBS
     QT_LIB_LIST = \
+        libQt5Charts.so.5 \
         libQt5Core.so.5 \
         libQt5DBus.so.5 \
         libQt5Gui.so.5 \
         libQt5Location.so.5 \
         libQt5Multimedia.so.5 \
-        libQt5MultimediaQuick_p.so.5 \
+        libQt5MultimediaQuick.so.5 \
         libQt5Network.so.5 \
         libQt5OpenGL.so.5 \
         libQt5Positioning.so.5 \
+        libQt5PositioningQuick.so.5 \
         libQt5PrintSupport.so.5 \
         libQt5Qml.so.5 \
         libQt5Quick.so.5 \

README.md

@@ -6,83 +6,20 @@
 
 [![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/mavlink/qgroundcontrol?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
 
-Website: <http://qgroundcontrol.com>
 
-## Obtaining source code
+*QGroundControl* (QGC) is an intuitive and powerful ground control station (GCS) for UAVs.
 
-Source code for QGroundControl is kept on GitHub: https://github.com/mavlink/qgroundcontrol.
-```
-git clone --recursive https://github.com/mavlink/qgroundcontrol.git
-```
-Each time you pull new source to your repository you should run `git submodule update` to get the latest submodules as well. Since QGroundControl uses submodules, using the zip file for source download will not work. You must use git.
+The primary goal of QGC is ease of use for both first time and professional users. 
+It provides full flight control and mission planning for any MAVLink enabled drone, and vehicle setup for both PX4 and ArduPilot powered UAVs. Instructions for *using QGroundControl* are provided in the [User Manual](https://docs.qgroundcontrol.com/en/) (you may not need them because the UI is very intuitive!)
 
-The source code is [dual-licensed under Apache 2.0 and GPLv3](https://github.com/mavlink/qgroundcontrol/blob/master/COPYING.md).
+All the code is open-source, so you can contribute and evolve it as you want. 
+The [Developer Guide](https://dev.qgroundcontrol.com/en/) explains how to [build](https://dev.qgroundcontrol.com/en/getting_started/) and extend QGC.
 
-### User Manual
-https://docs.qgroundcontrol.com/en/
 
-### Supported Builds
-
-#### Native Builds
-QGroundControl builds are supported for OSX, Linux, Windows, iOS and Android. QGroundControl uses [Qt](http://www.qt.io) as its cross-platform support library and uses [QtCreator](http://doc.qt.io/qtcreator/index.html) as its default build environment.
-
-* OSX: OSX 10.7 or higher, 64 bit, clang compiler (IMPORTANT: XCode 8 requires a workaround described below)
-* Ubuntu: 64 bit, gcc compiler
-* Windows: Vista or higher, 32 bit, [Visual Studio 2015 compiler](http://www.visualstudio.com/downloads/download-visual-studio-vs#d-express-windows-desktop)
-* iOS: 8.0 and higher
-* Android: Jelly Bean (4.1) and higher. Standard QGC is built against ndk version 19.
-* Qt version: **5.9.3 only**
-
-###### Install QT
-You **need to install Qt as described below** instead of using pre-built packages from say, a Linux distribution, because QGroundControl needs access to private Qt headers.
-* Download the [Qt installer](http://www.qt.io/download-open-source)
-    * Make sure to install Qt version **5.9.3**. You will also need to install the Qt Speech package.
-    * Ubuntu: Set the downloaded file to executable using:`chmod +x`. Install to default location for use with ./qgroundcontrol-start.sh. If you install Qt to a non-default location you will need to modify qgroundcontrol-start.sh in order to run downloaded builds.
-    * Windows: Make sure to install VS 2015 32 bit package.
-
-###### Install additional packages:
-* Ubuntu: sudo apt-get install speech-dispatcher libudev-dev libsdl2-dev libgstreamer1.0-0 gstreamer1.0-plugins-base libgstreamer-plugins-base1.0-dev gstreamer1.0*
-* Fedora: sudo dnf install speech-dispatcher SDL2-devel SDL2 systemd-devel
-* Arch Linux: pacman -Sy speech-dispatcher
-* Windows: [USB Driver](http://www.pixhawk.org/firmware/downloads) to connect to Pixhawk/PX4Flow/3DR Radio
-* Android: [Qt Android Setup](http://doc.qt.io/qt-5/androidgs.html)
-
-###### Building using Qt Creator
-
-* Launch Qt Creator and open the `qgroundcontrol.pro` project.
-* Select the appropriate kit for your needs:
-    * OSX: Desktop Qt 5.9.3 clang 64 bit
-    * Ubuntu: Desktop Qt 5.9.3 GCC bit
-    * Windows: Desktop Qt 5.9.3 MSVC2015 32bit
-    * Android: Android for armeabi-v7a (GCC 4.9, Qt 5.9.3)
-* Note: iOS builds must be built using xCode: http://doc.qt.io/qt-5/ios-support.html. Use Qt Creator to generate the XCode project (*Run Qmake* from the context menu).
-
-#### Vagrant
-
-A Vagrantfile is provided to build QGroundControl using the [Vagrant](https://www.vagrantup.com/) system. This will produce a native Linux build which can be run in the Vagrant Virtual Machine or on the host machine if it is compatible.
-
-* [Download](https://www.vagrantup.com/downloads.html) Vagrant
-* [Install](https://www.vagrantup.com/docs/getting-started/) Vagrant
-* From the root directory of the QGroundControl repository run "vagrant up"
-* To use the graphical environment run "vagrant reload"
-
-#### Additional build notes for all supported OS
-
-* Warnings as Errors: Specifying `CONFIG+=WarningsAsErrorsOn` will turn all warnings into errors which breaks the build. If you are working on a pull request you plan to submit to github for consideration, you should always run with this setting turned on, since it is required for all pull requests. NOTE: Putting this line into a file called "user_config.pri" in the top-level directory (same directory as `qgroundcontrol.pro`) will set this flag on all builds without interfering with the GIT history.
-* Parallel builds: For non Windows builds, you can use the '-j#' option to run parellel builds.
-* Location of built files: Individual build file results can be found in the `build_debug` or `build_release` directories. The built executable can be found in the `debug` or `release` directory.
-* If you get this error when running qgroundcontrol: /usr/lib/x86_64-linux-gnu/libstdc++.so.6: version 'GLIBCXX_3.4.20' not found. You need to either update to the latest gcc, or install the latest libstdc++.6 using: sudo apt-get install libstdc++6.
-
-## Additional functionality
-QGroundControl has functionality that is dependent on the operating system and libraries installed by the user. The following sections describe these features, their dependencies, and how to disable/alter them during the build process. These features can be forcibly enabled/disabled by specifying additional values to qmake. 
-
-### Opal-RT's RT-LAB simulator
-Integration with Opal-RT's RT-LAB simulator can be enabled on Windows by installing RT-LAB 7.2.4. This allows vehicles to be simulated in RT-LAB and communicate directly with QGC on the same computer as if the UAS was actually deployed. This support is enabled by default once the requisite RT-LAB software is installed. Disabling this can be done by adding `DEFINES+=DISABLE_RTLAB` to qmake.
-
-### XBee support
-QGroundControl can talk to XBee wireless devices using their proprietary protocol directly on Windows and Linux platforms. This support is not necessary if you're not using XBee devices or aren't using their proprietary protocol. On Windows, the necessary dependencies are included in this repository and no additional steps are required. For Linux, change to the `libs/thirdParty/libxbee` folder and run `make;sudo make install` to install libxbee on your system (uninstalling can be done with a `sudo make uninstall`). `qmake` will automatically detect the library on Linux, so no other work is necessary.
-
-To disable XBee support you may add `DEFINES+=DISABLE_XBEE` to qmake.
-
-### Video Streaming
-Check the [Video Streaming](https://github.com/mavlink/qgroundcontrol/tree/master/src/VideoStreaming) directory for further instructions.
+Key Links: 
+* [Website](http://qgroundcontrol.com) (qgroundcontrol.com)
+* [User Manual](https://docs.qgroundcontrol.com/en/)
+* [Developer Guide](https://dev.qgroundcontrol.com/en/)
+* [Discussion/Support](https://docs.qgroundcontrol.com/en/Support/Support.html)
+* [Contributing](https://dev.qgroundcontrol.com/en/contribute/)
+* [License](https://github.com/mavlink/qgroundcontrol/blob/master/COPYING.md)

Vagrantfile

@@ -45,6 +45,7 @@ Vagrant.configure(2) do |config|
 
   $config_shell = <<-'SHELL'
      set -e
+     set -x
 
      export %{build_env}
      export JOBS=$((`cat /proc/cpuinfo | grep -c ^processor`+1))

android/AndroidManifest.xml

@@ -59,7 +59,15 @@
 
     <!-- Support devices without USB host mode since there are other connection types -->
     <uses-feature android:name="android.hardware.usb.host" android:required="false"/>
-    <uses-feature android:name="android.hardware.location.GPS" android:required="false" />
+	
+	<!-- Support devices without Bluetooth since there are other connection types -->
+	<uses-feature android:name="android.hardware.bluetooth" android:required="false"/>
+	
+	<!-- Support devices that don't have location services -->
+    <uses-feature android:name="android.hardware.location.gps" android:required="false" />
+	<uses-feature android:name="android.hardware.location.network" android:required="false"/>
+	<uses-feature android:name="android.hardware.location" android:required="false"/>
+	
     <!-- The following comment will be replaced upon deployment with default features based on the dependencies of the application.
          Remove the comment if you do not require these default features. -->
     <!-- %%INSERT_FEATURES -->

android/build.gradle

 buildscript {
+
     repositories {
-        jcenter()
+        maven  {
+            url "http://repo1.maven.org/maven2"
+        }
     }
 
     dependencies {
@@ -51,6 +54,10 @@ android {
        }
     }
 
+    aaptOptions {
+        cruncherEnabled = false
+    }
+
     lintOptions {
         abortOnError false
     }

deploy/MakeQtTravisTarball.sh

 #!/bin/bash -x
 
-if [[ $# -eq 0 ]]; then
-        echo 'MakeQtTravisTarball.sh QtDirectory QtFullVersion QtBaseVersion BuildType'
-        exit 1
+if [ $# -ne 2 ]; then
+	echo 'MakeQtTravisTarball.sh QtDirectory BuildType'
+	exit 1
 fi
 
 QT_DIRECTORY=$1
 if [ ! -d ${QT_DIRECTORY} ]; then
-        echo 'Specify directory for Qt Directory.'
-        exit 1
+	echo 'Specify directory for Qt Directory to copy from.'
+	exit 1
 fi
 
-QT_FULL_VERSION=$2
-if [ ! -d ${QT_DIRECTORY}/${QT_FULL_VERSION} ]; then
-        echo 'Qt version directory not found'
-        exit 1
-fi
-
-QT_BASE_VERSION=$3
+QT_FULL_VERSION=5.11.0
+QT_BASE_VERSION=5.11
 
-QT_BUILD_TYPE=$4
+QT_BUILD_TYPE=$2
 if [ ! -d ${QT_DIRECTORY}/${QT_FULL_VERSION}/${QT_BUILD_TYPE} ]; then
-        echo 'Qt build type directory not found'
-        exit 1
+        echo 'Qt build type directory not found. Specify example: clang_64'
+    exit 1
 fi
 
 mkdir -p Qt${QT_BASE_VERSION}-${QT_BUILD_TYPE}/${QT_FULL_VERSION}/${QT_BUILD_TYPE}

deploy/qgroundcontrol_installer.nsi

@@ -73,8 +73,12 @@ doinstall:
   File /r /x ${EXENAME}.pdb /x ${EXENAME}.lib /x ${EXENAME}.exp ${DESTDIR}\*.*
   File deploy\px4driver.msi
   WriteUninstaller $INSTDIR\${EXENAME}-Uninstall.exe
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${APPNAME}" "DisplayName" "${APPNAME}"
-  WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${APPNAME}" "UninstallString" "$\"$INSTDIR\${EXENAME}-Uninstall.exe$\""
+  WriteRegStr HKLM "SOFTWARE\Microsoft\Windows\CurrentVersion\Uninstall\${APPNAME}" "DisplayName" "${APPNAME}"
+  WriteRegStr HKLM "SOFTWARE\Microsoft\Windows\CurrentVersion\Uninstall\${APPNAME}" "UninstallString" "$\"$INSTDIR\${EXENAME}-Uninstall.exe$\""
+  SetRegView 64
+  WriteRegDWORD HKLM "SOFTWARE\Microsoft\Windows\Windows Error Reporting\LocalDumps\${EXENAME}.exe" "DumpCount" 5 
+  WriteRegDWORD HKLM "SOFTWARE\Microsoft\Windows\Windows Error Reporting\LocalDumps\${EXENAME}.exe" "DumpType" 2 
+  WriteRegExpandStr HKLM "SOFTWARE\Microsoft\Windows\Windows Error Reporting\LocalDumps\${EXENAME}.exe" "DumpFolder" "%LOCALAPPDATA%\QGCCrashDumps"
 
   ; Only attempt to install the PX4 driver if the version isn't present
   !define ROOTKEY "SOFTWARE\Microsoft\Windows\CurrentVersion\Uninstall\434608CF2B6E31F0DDBA5C511053F957B55F098E"
@@ -106,7 +110,8 @@ Section "Uninstall"
   RMDir /r /REBOOTOK "$SMPROGRAMS\$StartMenuFolder\"
   SetShellVarContext current
   RMDir /r /REBOOTOK "$APPDATA\${ORGNAME}\"
-  DeleteRegKey HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${APPNAME}"
+  DeleteRegKey HKLM "SOFTWARE\Microsoft\Windows\CurrentVersion\Uninstall\${APPNAME}"
+  DeleteRegKey HKLM "SOFTWARE\Microsoft\Windows\Windows Error Reporting\LocalDumps\${EXENAME}.exe"
 SectionEnd
 
 Section "create Start Menu Shortcuts"

v2.0 @ 653ac745

-Subproject commit 3ddcbdfcd360c846246d8905d877add3488c8363
+Subproject commit 653ac745a57794a38c831f1ff296066a2e09c09b

qgcresources.qrc

@@ -171,6 +171,7 @@
         <file alias="APM/BrandImageSub">src/FirmwarePlugin/APM/APMBrandImageSub.png</file>
         <file alias="PX4/BrandImage">src/FirmwarePlugin/PX4/PX4BrandImage.png</file>
         <file alias="subVehicleArrowOpaque.png">src/FlightMap/Images/sub.png</file>
+        <file alias="check.svg">resources/check.svg</file>
     </qresource>
     <qresource prefix="/res">
         <file alias="action.svg">resources/action.svg</file>

qgroundcontrol.pro

@@ -240,6 +240,7 @@ AndroidBuild || iOSBuild {
     QT += \
         printsupport \
         serialport \
+        charts \
 }
 
 contains(DEFINES, QGC_ENABLE_BLUETOOTH) {
@@ -346,6 +347,7 @@ INCLUDEPATH += \
     src/QtLocationPlugin \
     src/QtLocationPlugin/QMLControl \
     src/Settings \
+    src/Terrain \
     src/VehicleSetup \
     src/ViewWidgets \
     src/Audio \
@@ -391,12 +393,14 @@ HEADERS += \
     src/api/QGCOptions.h \
     src/api/QGCSettings.h \
     src/api/QmlComponentInfo.h \
+    src/comm/HeartbeatTimer.h
 
 SOURCES += \
     src/api/QGCCorePlugin.cc \
     src/api/QGCOptions.cc \
     src/api/QGCSettings.cc \
     src/api/QmlComponentInfo.cc \
+    src/comm/HeartbeatTimer.cc
 
 #
 # Unit Test specific configuration goes here (requires full debug build with all plugins)
@@ -431,7 +435,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
         src/MissionManager/SimpleMissionItemTest.h \
         src/MissionManager/SpeedSectionTest.h \
         src/MissionManager/StructureScanComplexItemTest.h \
-        src/MissionManager/SurveyMissionItemTest.h \
+        src/MissionManager/SurveyComplexItemTest.h \
         src/MissionManager/TransectStyleComplexItemTest.h \
         src/MissionManager/VisualMissionItemTest.h \
         src/qgcunittest/FileDialogTest.h \
@@ -472,7 +476,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
         src/MissionManager/SimpleMissionItemTest.cc \
         src/MissionManager/SpeedSectionTest.cc \
         src/MissionManager/StructureScanComplexItemTest.cc \
-        src/MissionManager/SurveyMissionItemTest.cc \
+        src/MissionManager/SurveyComplexItemTest.cc \
         src/MissionManager/TransectStyleComplexItemTest.cc \
         src/MissionManager/VisualMissionItemTest.cc \
         src/qgcunittest/FileDialogTest.cc \
@@ -511,6 +515,7 @@ HEADERS += \
     src/Joystick/Joystick.h \
     src/Joystick/JoystickManager.h \
     src/JsonHelper.h \
+    src/KMLFileHelper.h \
     src/LogCompressor.h \
     src/MG.h \
     src/MissionManager/CameraCalc.h \
@@ -544,7 +549,7 @@ HEADERS += \
     src/MissionManager/Section.h \
     src/MissionManager/SpeedSection.h \
     src/MissionManager/StructureScanComplexItem.h \
-    src/MissionManager/SurveyMissionItem.h \
+    src/MissionManager/SurveyComplexItem.h \
     src/MissionManager/TransectStyleComplexItem.h \
     src/MissionManager/VisualMissionItem.h \
     src/PositionManager/PositionManager.h \
@@ -567,7 +572,6 @@ HEADERS += \
     src/QmlControls/AppMessages.h \
     src/QmlControls/CoordinateVector.h \
     src/QmlControls/EditPositionDialogController.h \
-    src/QmlControls/MavlinkQmlSingleton.h \
     src/QmlControls/ParameterEditorController.h \
     src/QmlControls/QGCFileDialogController.h \
     src/QmlControls/QGCImageProvider.h \
@@ -586,7 +590,8 @@ HEADERS += \
     src/Settings/SettingsManager.h \
     src/Settings/UnitsSettings.h \
     src/Settings/VideoSettings.h \
-    src/Terrain.h \
+    src/Terrain/TerrainQuery.h \
+    src/TerrainTile.h \
     src/Vehicle/MAVLinkLogManager.h \
     src/VehicleSetup/JoystickConfigController.h \
     src/comm/LinkConfiguration.h \
@@ -707,6 +712,7 @@ SOURCES += \
     src/Joystick/Joystick.cc \
     src/Joystick/JoystickManager.cc \
     src/JsonHelper.cc \
+    src/KMLFileHelper.cc \
     src/LogCompressor.cc \
     src/MissionManager/CameraCalc.cc \
     src/MissionManager/CameraSection.cc \
@@ -738,7 +744,7 @@ SOURCES += \
     src/MissionManager/SimpleMissionItem.cc \
     src/MissionManager/SpeedSection.cc \
     src/MissionManager/StructureScanComplexItem.cc \
-    src/MissionManager/SurveyMissionItem.cc \
+    src/MissionManager/SurveyComplexItem.cc \
     src/MissionManager/TransectStyleComplexItem.cc \
     src/MissionManager/VisualMissionItem.cc \
     src/PositionManager/PositionManager.cpp \
@@ -778,7 +784,8 @@ SOURCES += \
     src/Settings/SettingsManager.cc \
     src/Settings/UnitsSettings.cc \
     src/Settings/VideoSettings.cc \
-    src/Terrain.cc \
+    src/Terrain/TerrainQuery.cc \
+    src/TerrainTile.cc\
     src/Vehicle/MAVLinkLogManager.cc \
     src/VehicleSetup/JoystickConfigController.cc \
     src/comm/LinkConfiguration.cc \
@@ -941,6 +948,7 @@ APMFirmwarePlugin {
         src/AutoPilotPlugins/APM/APMCompassCal.h \
         src/AutoPilotPlugins/APM/APMFlightModesComponent.h \
         src/AutoPilotPlugins/APM/APMFlightModesComponentController.h \
+        src/AutoPilotPlugins/APM/APMHeliComponent.h \
         src/AutoPilotPlugins/APM/APMLightsComponent.h \
         src/AutoPilotPlugins/APM/APMSubFrameComponent.h \
         src/AutoPilotPlugins/APM/APMPowerComponent.h \
@@ -966,6 +974,7 @@ APMFirmwarePlugin {
         src/AutoPilotPlugins/APM/APMCompassCal.cc \
         src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \
         src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc \
+        src/AutoPilotPlugins/APM/APMHeliComponent.cc \
         src/AutoPilotPlugins/APM/APMLightsComponent.cc \
         src/AutoPilotPlugins/APM/APMSubFrameComponent.cc \
         src/AutoPilotPlugins/APM/APMPowerComponent.cc \
@@ -1054,7 +1063,7 @@ HEADERS += \
     src/FactSystem/FactGroup.h \
     src/FactSystem/FactMetaData.h \
     src/FactSystem/FactSystem.h \
-    src/FactSystem/FactValidator.h \
+    src/FactSystem/FactValueSliderListModel.h \
     src/FactSystem/ParameterManager.h \
     src/FactSystem/SettingsFact.h \
 
@@ -1064,7 +1073,7 @@ SOURCES += \
     src/FactSystem/FactGroup.cc \
     src/FactSystem/FactMetaData.cc \
     src/FactSystem/FactSystem.cc \
-    src/FactSystem/FactValidator.cc \
+    src/FactSystem/FactValueSliderListModel.cc \
     src/FactSystem/ParameterManager.cc \
     src/FactSystem/SettingsFact.cc \
 

qgroundcontrol.qrc

@@ -9,10 +9,11 @@
         <file alias="GPSRTKIndicator.qml">src/ui/toolbar/GPSRTKIndicator.qml</file>
         <file alias="MessageIndicator.qml">src/ui/toolbar/MessageIndicator.qml</file>
         <file alias="ModeIndicator.qml">src/ui/toolbar/ModeIndicator.qml</file>
-		<file alias="VTOLModeIndicator.qml">src/ui/toolbar/VTOLModeIndicator.qml</file>
+        <file alias="VTOLModeIndicator.qml">src/ui/toolbar/VTOLModeIndicator.qml</file>
         <file alias="RCRSSIIndicator.qml">src/ui/toolbar/RCRSSIIndicator.qml</file>
         <file alias="TelemetryRSSIIndicator.qml">src/ui/toolbar/TelemetryRSSIIndicator.qml</file>
         <file alias="JoystickIndicator.qml">src/ui/toolbar/JoystickIndicator.qml</file>
+        <file alias="LinkIndicator.qml">src/ui/toolbar/LinkIndicator.qml</file>
     </qresource>
     <qresource prefix="/qml">
         <file alias="CorridorScanEditor.qml">src/PlanView/CorridorScanEditor.qml</file>
@@ -85,7 +86,12 @@
         <file alias="QGroundControl/Controls/PageView.qml">src/QmlControls/PageView.qml</file>
         <file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>
         <file alias="QGroundControl/Controls/ParameterEditorDialog.qml">src/QmlControls/ParameterEditorDialog.qml</file>
+		<file alias="QGroundControl/Controls/PIDTuning.qml">src/QmlControls/PIDTuning.qml</file>
         <file alias="QGroundControl/Controls/PlanToolBar.qml">src/PlanView/PlanToolBar.qml</file>
+		<file alias="QGroundControl/Controls/PreFlightCheckButton.qml">src/QmlControls/PreFlightCheckButton.qml</file>
+		<file alias="QGroundControl/Controls/PreFlightCheckGroup.qml">src/QmlControls/PreFlightCheckGroup.qml</file>
+		<file alias="QGroundControl/Controls/PreFlightCheckList.qml">src/QmlControls/PreFlightCheckList.qml</file>
+		<file alias="QGroundControl/Controls/PreFlightCheckModel.qml">src/QmlControls/PreFlightCheckModel.qml</file>
         <file alias="QGroundControl/Controls/QGCButton.qml">src/QmlControls/QGCButton.qml</file>
         <file alias="QGroundControl/Controls/QGCCheckBox.qml">src/QmlControls/QGCCheckBox.qml</file>
         <file alias="QGroundControl/Controls/QGCColoredImage.qml">src/QmlControls/QGCColoredImage.qml</file>
@@ -118,13 +124,14 @@
         <file alias="QGroundControl/Controls/RallyPointMapVisuals.qml">src/PlanView/RallyPointMapVisuals.qml</file>
         <file alias="QGroundControl/Controls/RCChannelMonitor.qml">src/QmlControls/RCChannelMonitor.qml</file>
         <file alias="QGroundControl/Controls/RoundButton.qml">src/QmlControls/RoundButton.qml</file>
-        <file alias="QGroundControl/Controls/SectionHeader.qml">src/PlanView/SectionHeader.qml</file>
+        <file alias="QGroundControl/Controls/SectionHeader.qml">src/QmlControls/SectionHeader.qml</file>
         <file alias="QGroundControl/Controls/SetupPage.qml">src/AutoPilotPlugins/Common/SetupPage.qml</file>
         <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/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
         <file alias="QGroundControl/Controls/SurveyMapVisual.qml">src/PlanView/SurveyMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/TransectStyleComplexItemStats.qml">src/PlanView/TransectStyleComplexItemStats.qml</file>
         <file alias="QGroundControl/Controls/ToolStrip.qml">src/QmlControls/ToolStrip.qml</file>
         <file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
         <file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file>
@@ -137,6 +144,7 @@
         <file alias="QGroundControl/FactControls/FactTextField.qml">src/FactSystem/FactControls/FactTextField.qml</file>
         <file alias="QGroundControl/FactControls/FactTextFieldGrid.qml">src/FactSystem/FactControls/FactTextFieldGrid.qml</file>
         <file alias="QGroundControl/FactControls/FactTextFieldRow.qml">src/FactSystem/FactControls/FactTextFieldRow.qml</file>
+        <file alias="QGroundControl/FactControls/FactValueSlider.qml">src/FactSystem/FactControls/FactValueSlider.qml</file>
         <file alias="QGroundControl/FactControls/qmldir">src/FactSystem/FactControls/qmldir</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewMap.qml">src/FlightDisplay/FlightDisplayViewMap.qml</file>
@@ -147,6 +155,12 @@
         <file alias="QGroundControl/FlightDisplay/GuidedActionsController.qml">src/FlightDisplay/GuidedActionsController.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedAltitudeSlider.qml">src/FlightDisplay/GuidedAltitudeSlider.qml</file>
         <file alias="QGroundControl/FlightDisplay/MultiVehicleList.qml">src/FlightDisplay/MultiVehicleList.qml</file>
+		<file alias="QGroundControl/FlightDisplay/PreFlightBatteryCheck.qml">src/FlightDisplay/PreFlightBatteryCheck.qml</file>
+		<file alias="QGroundControl/FlightDisplay/BuiltInPreFlightCheckModel.qml">src/FlightDisplay/BuiltInPreFlightCheckModel.qml</file>
+		<file alias="QGroundControl/FlightDisplay/PreFlightGPSCheck.qml">src/FlightDisplay/PreFlightGPSCheck.qml</file>
+		<file alias="QGroundControl/FlightDisplay/PreFlightRCCheck.qml">src/FlightDisplay/PreFlightRCCheck.qml</file>
+		<file alias="QGroundControl/FlightDisplay/PreFlightSensorsHealthCheck.qml">src/FlightDisplay/PreFlightSensorsHealthCheck.qml</file>
+		<file alias="QGroundControl/FlightDisplay/PreFlightSoundCheck.qml">src/FlightDisplay/PreFlightSoundCheck.qml</file>
         <file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
         <file alias="QGroundControl/FlightMap/CameraTriggerIndicator.qml">src/FlightMap/MapItems/CameraTriggerIndicator.qml</file>
         <file alias="QGroundControl/FlightMap/CenterMapDropButton.qml">src/FlightMap/Widgets/CenterMapDropButton.qml</file>
@@ -221,8 +235,10 @@
         <file alias="USBBoardInfo.json">src/comm/USBBoardInfo.json</file>
         <file alias="Vehicle/BatteryFact.json">src/Vehicle/BatteryFact.json</file>
         <file alias="Vehicle/ClockFact.json">src/Vehicle/ClockFact.json</file>
+        <file alias="Vehicle/DistanceSensorFact.json">src/Vehicle/DistanceSensorFact.json</file>
         <file alias="Vehicle/GPSFact.json">src/Vehicle/GPSFact.json</file>
         <file alias="Vehicle/GPSRTKFact.json">src/Vehicle/GPSRTKFact.json</file>
+        <file alias="Vehicle/SetpointFact.json">src/Vehicle/SetpointFact.json</file>
         <file alias="Vehicle/SubmarineFact.json">src/Vehicle/SubmarineFact.json</file>
         <file alias="Vehicle/TemperatureFact.json">src/Vehicle/TemperatureFact.json</file>
         <file alias="Vehicle/VehicleFact.json">src/Vehicle/VehicleFact.json</file>

resources/check.svg

+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Generator: Adobe Illustrator 19.1.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+
+<svg
+   xmlns:osb="http://www.openswatchbook.org/uri/2009/osb"
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   version="1.1"
+   id="Layer_1"
+   x="0px"
+   y="0px"
+   viewBox="0 0 72 72"
+   style="enable-background:new 0 0 72 72;"
+   xml:space="preserve"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="check.svg"><metadata
+     id="metadata3416"><rdf:RDF><cc:Work
+         rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" /><dc:title /></cc:Work></rdf:RDF></metadata><defs
+     id="defs3414"><linearGradient
+       id="linearGradient4141"
+       osb:paint="solid"><stop
+         style="stop-color:#ffffff;stop-opacity:1;"
+         offset="0"
+         id="stop4143" /></linearGradient><linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4141"
+       id="linearGradient4145"
+       x1="48.508473"
+       y1="58.423729"
+       x2="79.322032"
+       y2="58.423729"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1.8414091,0,0,2.2407508,-82.18242,-94.289127)" /></defs><sodipodi:namedview
+     pagecolor="#000000"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1855"
+     inkscape:window-height="1056"
+     id="namedview3412"
+     showgrid="false"
+     inkscape:zoom="3.2777778"
+     inkscape:cx="-54.305085"
+     inkscape:cy="36"
+     inkscape:window-x="65"
+     inkscape:window-y="24"
+     inkscape:window-maximized="1"
+     inkscape:current-layer="Layer_1" /><style
+     type="text/css"
+     id="style3406">
+	.st0{fill:#66BD59;stroke:#FFFFFF;stroke-width:5;stroke-miterlimit:10;}
+	.st1{fill:none;stroke:#FFFFFF;stroke-width:5;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:10;}
+</style><polyline
+     class="st1"
+     points="55.1,19.8 30.2,52.2 16.9,36.5 "
+     id="polyline3410"
+     transform="matrix(0.85559226,0,0,0.85559226,5.1269823,8.2041673)"
+     style="fill:none;stroke:#ffffff;stroke-width:5;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:10" /><style
+     id="style3419"
+     type="text/css">
+	.st0{fill:none;stroke:#FFFFFF;stroke-width:3;stroke-miterlimit:10;}
+	.st1{fill:none;stroke:#FFFFFF;stroke-width:8;stroke-miterlimit:10;}
+	.st2{fill:#FFFFFF;}
+</style><circle
+     style="fill:none;stroke:url(#linearGradient4145);stroke-width:3.25963402;stroke-miterlimit:4;stroke-dasharray:none"
+     id="path3339"
+     cx="35.5117"
+     cy="36.62389"
+     r="28.370182" /></svg>
\ No newline at end of file

src/AnalyzeView/GeoTagController.cc

@@ -70,8 +70,7 @@ void GeoTagController::startTagging(void)
 
     QDir imageDirectory = QDir(_worker.imageDirectory());
     if(!imageDirectory.exists()) {
-        _errorMessage = tr("Cannot find the image directory");
-        emit errorMessageChanged(_errorMessage);
+        _setErrorMessage(tr("Cannot find the image directory"));
         return;
     }
     if(_worker.saveDirectory() == "") {
@@ -83,23 +82,20 @@ void GeoTagController::startTagging(void)
             msgBox.setWindowModality(Qt::ApplicationModal);
             msgBox.addButton(tr("Replace"), QMessageBox::ActionRole);
             if (msgBox.exec() == QMessageBox::Cancel) {
-                _errorMessage = tr("Images have already been tagged");
-                emit errorMessageChanged(_errorMessage);
+                _setErrorMessage(tr("Images have already been tagged"));
                 return;
             }
             QDir oldTaggedFolder = QDir(_worker.imageDirectory() + "/TAGGED");
             oldTaggedFolder.removeRecursively();
             if(!imageDirectory.mkdir(_worker.imageDirectory() + "/TAGGED")) {
-                _errorMessage = tr("Couldn't replace the previously tagged images");
-                emit errorMessageChanged(_errorMessage);
+                _setErrorMessage(tr("Couldn't replace the previously tagged images"));
                 return;
             }
         }
     } else {
         QDir saveDirectory = QDir(_worker.saveDirectory());
         if(!saveDirectory.exists()) {
-            _errorMessage = tr("Cannot find the save directory");
-            emit errorMessageChanged(_errorMessage);
+            _setErrorMessage(tr("Cannot find the save directory"));
             return;
         }
         saveDirectory.setFilter(QDir::Files | QDir::Readable | QDir::NoSymLinks | QDir::Writable);
@@ -115,15 +111,13 @@ void GeoTagController::startTagging(void)
             msgBox.setWindowModality(Qt::ApplicationModal);
             msgBox.addButton(tr("Replace"), QMessageBox::ActionRole);
             if (msgBox.exec() == QMessageBox::Cancel) {
-                _errorMessage = tr("Save folder not empty");
-                emit errorMessageChanged(_errorMessage);
+                _setErrorMessage(tr("Save folder not empty"));
                 return;
             }
             foreach(QString dirFile, imageList)
             {
                 if(!saveDirectory.remove(dirFile)) {
-                    _errorMessage = tr("Couldn't replace the existing images");
-                    emit errorMessageChanged(_errorMessage);
+                    _setErrorMessage(tr("Couldn't replace the existing images"));
                     return;
                 }
             }
@@ -144,6 +138,13 @@ void GeoTagController::_workerError(QString errorMessage)
     emit errorMessageChanged(errorMessage);
 }
 
+
+void GeoTagController::_setErrorMessage(const QString& error)
+{
+    _errorMessage = error;
+    emit errorMessageChanged(error);
+}
+
 GeoTagWorker::GeoTagWorker(void)
     : _cancel(false)
     , _logFile("")
@@ -210,9 +211,10 @@ void GeoTagWorker::run(void)
     // Instantiate appropriate parser
     _triggerList.clear();
     bool parseComplete = false;
-    if(isULog) {
+    QString errorString;
+    if (isULog) {
         ULogParser parser;
-        parseComplete = parser.getTagsFromLog(log, _triggerList);
+        parseComplete = parser.getTagsFromLog(log, _triggerList, errorString);
 
     } else {
         PX4LogParser parser;
@@ -227,7 +229,8 @@ void GeoTagWorker::run(void)
             return;
         } else {
             qCDebug(GeotaggingLog) << "Log parsing failed";
-            emit error(tr("Log parsing failed - tagging cancelled"));
+            errorString = tr("%1 - tagging cancelled").arg(errorString.isEmpty() ? tr("Log parsing failed") : errorString);
+            emit error(errorString);
             return;
         }
     }
@@ -259,6 +262,11 @@ void GeoTagWorker::run(void)
     int maxIndex = std::min(_imageIndices.count(), _triggerIndices.count());
     maxIndex = std::min(maxIndex, _imageList.count());
     for(int i = 0; i < maxIndex; i++) {
+        int imageIndex = _imageIndices[i];
+        if (imageIndex >= _imageList.count()) {
+            emit error(tr("Geotagging failed. Image requested not present."));
+            return;
+        }
         QFile fileRead(_imageList.at(_imageIndices[i]).absoluteFilePath());
         if (!fileRead.open(QIODevice::ReadOnly)) {
             emit error(tr("Geotagging failed. Couldn't open an image."));

src/AnalyzeView/GeoTagController.h

@@ -117,8 +117,9 @@ signals:
     void errorMessageChanged            (QString errorMessage);
 
 private slots:
-    void _workerProgressChanged(double progress);
-    void _workerError(QString errorMsg);
+    void _workerProgressChanged (double progress);
+    void _workerError           (QString errorMsg);
+    void _setErrorMessage       (const QString& error);
 
 private:
     QString             _errorMessage;

src/AnalyzeView/GeoTagPage.qml

@@ -124,8 +124,9 @@ AnalyzePage {
             }
 
             QGCButton {
-                text: geoController.inProgress ? qsTr("Cancel Tagging") : qsTr("Start Tagging")
-                width:      ScreenTools.defaultFontPixelWidth * 30
+                text:   geoController.inProgress ? qsTr("Cancel Tagging") : qsTr("Start Tagging")
+                width:  ScreenTools.defaultFontPixelWidth * 30
+
                 onClicked: {
                     if (geoController.inProgress) {
                         geoController.cancelTagging()

src/AnalyzeView/LogDownloadController.cc

@@ -321,7 +321,7 @@ LogDownloadController::_logData(UASInterface* uas, uint32_t ofs, uint16_t id, ui
     if(ofs <= _downloadData->entry->size()) {
         const uint32_t chunk = ofs / kChunkSize;
         if (chunk != _downloadData->current_chunk) {
-            qWarning() << "Ignored packet for out of order chunk" << chunk;
+            qWarning() << "Ignored packet for out of order chunk actual:expected" << chunk << _downloadData->current_chunk;
             return;
         }
         const uint16_t bin = (ofs - chunk*kChunkSize) / MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN;

src/AnalyzeView/LogDownloadPage.qml

@@ -51,8 +51,7 @@ AnalyzePage {
 
             TableView {
                 id: tableView
-                anchors.top:        parent.top
-                anchors.bottom:     parent.bottom
+                Layout.fillHeight:  true
                 model:              logController.model
                 selectionMode:      SelectionMode.MultiSelection
                 Layout.fillWidth:   true
@@ -155,7 +154,7 @@ AnalyzePage {
                         fileDialog.qgcView =        logDownloadPage
                         fileDialog.title =          qsTr("Select save directory")
                         fileDialog.selectExisting = true
-                        fileDialog.folder =         QGroundControl.settingsManager.appSettings.telemetrySavePath
+                        fileDialog.folder =         QGroundControl.settingsManager.appSettings.logSavePath
                         fileDialog.selectFolder =   true
                         fileDialog.openForLoad()
                     }
@@ -186,7 +185,7 @@ AnalyzePage {
                             message:    qsTr("All log files will be erased permanently. Is this really what you want?")
 
                             function accept() {
-                                logDownloadPage.hideDialog()
+                                hideDialog()
                                 logController.eraseAll()
                             }
                         }

src/AnalyzeView/MavlinkConsoleController.cc

@@ -33,12 +33,25 @@ MavlinkConsoleController::~MavlinkConsoleController()
 void
 MavlinkConsoleController::sendCommand(QString command)
 {
+    _history.append(command);
     command.append("\n");
     _sendSerialData(qPrintable(command));
     _cursor_home_pos = -1;
     _cursor = rowCount();
 }
 
+QString
+MavlinkConsoleController::historyUp(const QString& current)
+{
+    return _history.up(current);
+}
+
+QString
+MavlinkConsoleController::historyDown(const QString& current)
+{
+    return _history.down(current);
+}
+
 void
 MavlinkConsoleController::_setActiveVehicle(Vehicle* vehicle)
 {
@@ -192,3 +205,43 @@ MavlinkConsoleController::writeLine(int line, const QByteArray &text)
     auto idx = index(line);
     setData(idx, data(idx, Qt::DisplayRole).toString() + text);
 }
+
+void MavlinkConsoleController::CommandHistory::append(const QString& command)
+{
+    if (command.length() > 0) {
+
+        // do not append duplicates
+        if (_history.length() == 0 || _history.last() != command) {
+
+            if (_history.length() >= maxHistoryLength) {
+                _history.removeFirst();
+            }
+            _history.append(command);
+        }
+    }
+    _index = _history.length();
+}
+
+QString MavlinkConsoleController::CommandHistory::up(const QString& current)
+{
+    if (_index <= 0)
+        return current;
+
+    --_index;
+    if (_index < _history.length()) {
+        return _history[_index];
+    }
+    return "";
+}
+
+QString MavlinkConsoleController::CommandHistory::down(const QString& current)
+{
+    if (_index >= _history.length())
+        return current;
+
+    ++_index;
+    if (_index < _history.length()) {
+        return _history[_index];
+    }
+    return "";
+}

src/AnalyzeView/MavlinkConsoleController.h

@@ -27,13 +27,12 @@ class MavlinkConsoleController : public QStringListModel
 
 public:
     MavlinkConsoleController();
-    ~MavlinkConsoleController();
+    virtual ~MavlinkConsoleController();
 
-public slots:
-    void sendCommand(QString command);
+    Q_INVOKABLE void sendCommand(QString command);
 
-signals:
-    void cursorChanged(int);
+    Q_INVOKABLE QString historyUp(const QString& current);
+    Q_INVOKABLE QString historyDown(const QString& current);
 
 private slots:
     void _setActiveVehicle  (Vehicle* vehicle);
@@ -44,10 +43,23 @@ private:
     void _sendSerialData(QByteArray, bool close = false);
     void writeLine(int line, const QByteArray &text);
 
+    class CommandHistory
+    {
+    public:
+        void append(const QString& command);
+        QString up(const QString& current);
+        QString down(const QString& current);
+    private:
+        static constexpr int maxHistoryLength = 100;
+        QList<QString> _history;
+        int _index = 0;
+    };
+
     int           _cursor_home_pos;
     int           _cursor;
     QByteArray    _incoming_buffer;
     Vehicle*      _vehicle;
     QList<QMetaObject::Connection> _uas_connections;
+    CommandHistory _history;
 
 };

src/AnalyzeView/MavlinkConsolePage.qml

@@ -26,7 +26,7 @@ AnalyzePage {
     pageName:        qsTr("Mavlink Console")
     pageDescription: qsTr("Mavlink Console provides a connection to the vehicle's system shell.")
 
-    property bool loaded: false
+    property bool isLoaded: false
 
     Component {
         id: pageComponent
@@ -41,7 +41,7 @@ AnalyzePage {
 
                 onDataChanged: {
                     // Keep the view in sync if the button is checked
-                    if (loaded) {
+                    if (isLoaded) {
                         if (followTail.checked) {
                             listview.positionViewAtEnd();
                         }
@@ -53,7 +53,7 @@ AnalyzePage {
                 id: delegateItem
                 Rectangle {
                     color:  qgcPal.windowShade
-                    height: Math.round(ScreenTools.defaultFontPixelHeight * 0.5 + field.height)
+                    height: Math.round(ScreenTools.defaultFontPixelHeight * 0.1 + field.height)
                     width:  listview.width
 
                     QGCLabel {
@@ -69,11 +69,10 @@ AnalyzePage {
 
             QGCListView {
                 Component.onCompleted: {
-                    loaded = true
+                    isLoaded = true
                 }
                 Layout.fillHeight: true
-                anchors.left:      parent.left
-                anchors.right:     parent.right
+                Layout.fillWidth:  true
                 clip:              true
                 id:                listview
                 model:             conController
@@ -86,8 +85,7 @@ AnalyzePage {
             }
 
             RowLayout {
-                anchors.left:  parent.left
-                anchors.right: parent.right
+                Layout.fillWidth:   true
                 QGCTextField {
                     id:               command
                     Layout.fillWidth: true
@@ -96,6 +94,15 @@ AnalyzePage {
                         conController.sendCommand(text)
                         text = ""
                     }
+                    Keys.onPressed: {
+                        if (event.key == Qt.Key_Up) {
+                            text = conController.historyUp(text);
+                            event.accepted = true;
+                        } else if (event.key == Qt.Key_Down) {
+                            text = conController.historyDown(text);
+                            event.accepted = true;
+                        }
+                    }
                 }
 
                 QGCButton {
@@ -105,7 +112,7 @@ AnalyzePage {
                     checked:   true
 
                     onCheckedChanged: {
-                        if (checked && loaded) {
+                        if (checked && isLoaded) {
                             listview.positionViewAtEnd();
                         }
                     }

src/AnalyzeView/ULogParser.cc

@@ -86,11 +86,13 @@ bool ULogParser::parseFieldFormat(QString& fields)
     return false;
 }
 
-bool ULogParser::getTagsFromLog(QByteArray& log, QList<GeoTagWorker::cameraFeedbackPacket>& cameraFeedback)
+bool ULogParser::getTagsFromLog(QByteArray& log, QList<GeoTagWorker::cameraFeedbackPacket>& cameraFeedback, QString& errorMessage)
 {
+    errorMessage.clear();
+
     //verify it's an ULog file
     if(!log.contains(_ULogMagic)) {
-        qWarning() << "Could not detect ULog file header magic";
+        errorMessage = tr("Could not detect ULog file header magic");
         return false;
     }
 
@@ -139,15 +141,10 @@ bool ULogParser::getTagsFromLog(QByteArray& log, QList<GeoTagWorker::cameraFeedb
 
             case (int)ULogMessageType::DATA:
             {
-                if (!geotagFound) {
-                    qWarning() << "Could not detect geotag packets in ULog";
-                    return false;
-                }
-
                 uint16_t msgID = -1;
                 memcpy(&msgID, log.data() + index + ULOG_MSG_HEADER_LEN, 2);
 
-                if(msgID == _cameraCaptureMsgID) {
+                if (geotagFound && msgID == _cameraCaptureMsgID) {
 
                     // Completely dynamic parsing, so that changing/reordering the message format will not break the parser
                     GeoTagWorker::cameraFeedbackPacket feedback;
@@ -179,5 +176,10 @@ bool ULogParser::getTagsFromLog(QByteArray& log, QList<GeoTagWorker::cameraFeedb
 
     }
 
+    if (cameraFeedback.count() == 0) {
+        errorMessage = tr("Could not detect camera_capture packets in ULog");
+        return false;
+    }
+
     return true;
 }

src/AnalyzeView/ULogParser.h

@@ -3,6 +3,7 @@
 
 #include <QGeoCoordinate>
 #include <QDebug>
+#include <QCoreApplication>
 
 #include "GeoTagController.h"
 
@@ -10,10 +11,14 @@
 
 class ULogParser
 {
+    Q_DECLARE_TR_FUNCTIONS(ULogParser)
+
 public:
     ULogParser();
     ~ULogParser();
-    bool getTagsFromLog(QByteArray& log, QList<GeoTagWorker::cameraFeedbackPacket>& cameraFeedback);
+
+    /// @return true: failed, errorMessage set
+    bool getTagsFromLog(QByteArray& log, QList<GeoTagWorker::cameraFeedbackPacket>& cameraFeedback, QString& errorMessage);
 
 private:
 

src/Audio/AudioOutput.cc

@@ -18,8 +18,8 @@
 
 AudioOutput::AudioOutput(QGCApplication* app, QGCToolbox* toolbox)
     : QGCTool(app, toolbox)
+    , _tts(new QTextToSpeech(this))
 {
-    _tts = new QTextToSpeech(this);
     connect(_tts, &QTextToSpeech::stateChanged, this, &AudioOutput::_stateChanged);
 }
 
@@ -73,6 +73,7 @@ QString AudioOutput::fixTextMessageForAudio(const QString& string) {
     QString match;
     QString newNumber;
     QString result = string;
+
     //-- Look for codified terms
     if(result.contains("ERR ", Qt::CaseInsensitive)) {
         result.replace("ERR ", "error ", Qt::CaseInsensitive);
@@ -118,6 +119,9 @@ QString AudioOutput::fixTextMessageForAudio(const QString& string) {
     if(result.contains(" ADSB ", Qt::CaseInsensitive)) {
         result.replace(" ADSB ", " Hey Dee Ess Bee ", Qt::CaseInsensitive);
     }
+    if(result.contains(" EKF ", Qt::CaseInsensitive)) {
+        result.replace(" EKF ", " Eee Kay Eff ", Qt::CaseInsensitive);
+    }
 
     // Convert negative numbers
     QRegularExpression re(QStringLiteral("(-)[0-9]*\\.?[0-9]"));
@@ -125,9 +129,18 @@ QString AudioOutput::fixTextMessageForAudio(const QString& string) {
     while (reMatch.hasMatch()) {
         if (!reMatch.captured(1).isNull()) {
             // There is a negative prefix
-            qDebug() << "negative" << reMatch.captured(1) << reMatch.capturedStart(1) << reMatch.capturedEnd(1);
             result.replace(reMatch.capturedStart(1), reMatch.capturedEnd(1) - reMatch.capturedStart(1), tr(" negative "));
-            qDebug() << result;
+        }
+        reMatch = re.match(result);
+    }
+
+    // Convert real number with decimal point
+    re.setPattern(QStringLiteral("([0-9]+)(\\.)([0-9]+)"));
+    reMatch = re.match(result);
+    while (reMatch.hasMatch()) {
+        if (!reMatch.captured(2).isNull()) {
+            // There is a decimal point
+            result.replace(reMatch.capturedStart(2), reMatch.capturedEnd(2) - reMatch.capturedStart(2), tr(" point "));
         }
         reMatch = re.match(result);
     }
@@ -138,9 +151,7 @@ QString AudioOutput::fixTextMessageForAudio(const QString& string) {
     while (reMatch.hasMatch()) {
         if (!reMatch.captured(1).isNull()) {
             // There is a meter postfix
-            qDebug() << "meters" << reMatch.captured(1) << reMatch.capturedStart(1) << reMatch.capturedEnd(1);
             result.replace(reMatch.capturedStart(1), reMatch.capturedEnd(1) - reMatch.capturedStart(1), tr(" meters"));
-            qDebug() << result;
         }
         reMatch = re.match(result);
     }

src/Audio/AudioOutputTest.cc

@@ -18,7 +18,7 @@ AudioOutputTest::AudioOutputTest(void)
 void AudioOutputTest::_testSpokenReplacements(void)
 {
     QString result = AudioOutput::fixTextMessageForAudio(QStringLiteral("-10.5m, -10.5m. -10.5 m"));
-    QCOMPARE(result, QStringLiteral(" negative 10.5 meters,  negative 10.5 meters.  negative 10.5  meters"));
+    QCOMPARE(result, QStringLiteral(" negative 10 point 5 meters,  negative 10 point 5 meters.  negative 10 point 5  meters"));
     result = AudioOutput::fixTextMessageForAudio(QStringLiteral("-10m -10 m"));
     QCOMPARE(result, QStringLiteral(" negative 10 meters  negative 10  meters"));
     result = AudioOutput::fixTextMessageForAudio(QStringLiteral("foo -10m -10 m bar"));

src/AutoPilotPlugins/APM/APMAirframeComponent.qml

@@ -83,10 +83,9 @@ SetupPage {
         id: newFramePageComponent
 
         Grid {
-            anchors.left:   parent.left
-            anchors.right:  parent.right
-            spacing:        _margins
-            columns:        2
+            width:      availableWidth
+            spacing:    _margins
+            columns:    2
 
             QGCLabel {
                 text: qsTr("Frame Class:")

src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml

@@ -18,36 +18,36 @@ FactPanel {
         factPanel:  panel
     }
 
-    property bool _useOldFrameParam:    controller.parameterExists(-1, "FRAME")
-    property Fact _oldFrameParam:       controller.getParameterFact(-1, "FRAME", false)
-    property Fact _newFrameParam:       controller.getParameterFact(-1, "FRAME_CLASS", false)
-    property Fact _frameTypeParam:      controller.getParameterFact(-1, "FRAME_TYPE", false)
+    property bool _frameAvailable:      controller.parameterExists(-1, "FRAME")
+
+    property Fact _frame:               controller.getParameterFact(-1, "FRAME", false)
+    property Fact _frameClass:          controller.getParameterFact(-1, "FRAME_CLASS", false)
+    property Fact _frameType:           controller.getParameterFact(-1, "FRAME_TYPE", false)
 
     Column {
         anchors.fill:       parent
 
         VehicleSummaryRow {
-            labelText:  qsTr("Frame Type:")
-            valueText:  controller.currentAirframeTypeName() + " " + _oldFrameParam.enumStringValue
-            visible:    _useOldFrameParam
+            labelText:  qsTr("Frame Type")
+            valueText:  visible ? controller.currentAirframeTypeName() + " " + _frame.enumStringValue : ""
+            visible:    _frameAvailable
         }
 
         VehicleSummaryRow {
-            labelText:  qsTr("Frame Class:")
-            valueText:  _newFrameParam.enumStringValue
-            visible:    !_useOldFrameParam
+            labelText:  qsTr("Frame Class")
+            valueText:  visible ? _frameClass.enumStringValue : ""
+            visible:    !_frameAvailable
 
         }
 
         VehicleSummaryRow {
-            labelText:  qsTr("Frame Type:")
-            valueText:  _frameTypeParam.enumStringValue
-            visible:    !_useOldFrameParam
-
+            labelText:  qsTr("Frame Type")
+            valueText:  visible ? _frameType.enumStringValue : ""
+            visible:    !_frameAvailable
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Firmware Version:")
+            labelText: qsTr("Firmware Version")
             valueText: activeVehicle.firmwareMajorVersion == -1 ? qsTr("Unknown") : activeVehicle.firmwareMajorVersion + "." + activeVehicle.firmwareMinorVersion + "." + activeVehicle.firmwarePatchVersion + activeVehicle.firmwareVersionTypeString
         }
     }

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -28,27 +28,29 @@
 #include "APMLightsComponent.h"
 #include "APMSubFrameComponent.h"
 #include "ESP8266Component.h"
+#include "APMHeliComponent.h"
 
 /// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
 APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
-    : AutoPilotPlugin(vehicle, parent)
+    : AutoPilotPlugin           (vehicle, parent)
     , _incorrectParameterVersion(false)
-    , _airframeComponent(NULL)
-    , _cameraComponent(NULL)
-    , _lightsComponent(NULL)
-    , _subFrameComponent(NULL)
-    , _flightModesComponent(NULL)
-    , _powerComponent(NULL)
+    , _airframeComponent        (NULL)
+    , _cameraComponent          (NULL)
+    , _lightsComponent          (NULL)
+    , _subFrameComponent        (NULL)
+    , _flightModesComponent     (NULL)
+    , _powerComponent           (NULL)
 #if 0
         // Temporarily removed, waiting for new command implementation
-    , _motorComponent(NULL)
+    , _motorComponent           (NULL)
 #endif
-    , _radioComponent(NULL)
-    , _safetyComponent(NULL)
-    , _sensorsComponent(NULL)
-    , _tuningComponent(NULL)
-    , _airframeFacts(new APMAirframeLoader(this, vehicle->uas(), this))
-    , _esp8266Component(NULL)
+    , _radioComponent           (NULL)
+    , _safetyComponent          (NULL)
+    , _sensorsComponent         (NULL)
+    , _tuningComponent          (NULL)
+    , _airframeFacts            (new APMAirframeLoader(this, vehicle->uas(), this))
+    , _esp8266Component         (NULL)
+    , _heliComponent            (NULL)
 {
     APMAirframeLoader::loadAirframeFactMetaData();
 }
@@ -101,6 +103,12 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
 
+            if (_vehicle->vehicleType() == MAV_TYPE_HELICOPTER) {
+                _heliComponent = new APMHeliComponent(_vehicle, this);
+                _heliComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_heliComponent));
+            }
+
             _tuningComponent = new APMTuningComponent(_vehicle, this);
             _tuningComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -27,6 +27,7 @@ class APMCameraComponent;
 class APMLightsComponent;
 class APMSubFrameComponent;
 class ESP8266Component;
+class APMHeliComponent;
 
 /// This is the APM specific implementation of the AutoPilot class.
 class APMAutoPilotPlugin : public AutoPilotPlugin
@@ -59,6 +60,7 @@ protected:
     APMTuningComponent*         _tuningComponent;
     APMAirframeLoader*          _airframeFacts;
     ESP8266Component*           _esp8266Component;
+    APMHeliComponent*           _heliComponent;
 
 private:
     QVariantList                _components;

src/AutoPilotPlugins/APM/APMCameraComponent.qml

@@ -170,17 +170,29 @@ SetupPage {
 
             ListModel {
                 id: gimbalOutModel
+                // It appears that QGCComboBox can't handle models that don't have a initial item
+                // after onModelChanged
                 ListElement { text: qsTr("Disabled"); value: 0 }
-                ListElement { text: qsTr("Channel 5"); value: 5 }
-                ListElement { text: qsTr("Channel 6"); value: 6 }
-                ListElement { text: qsTr("Channel 7"); value: 7 }
-                ListElement { text: qsTr("Channel 8"); value: 8 }
-                ListElement { text: qsTr("Channel 9"); value: 9 }
-                ListElement { text: qsTr("Channel 10"); value: 10 }
-                ListElement { text: qsTr("Channel 11"); value: 11 }
-                ListElement { text: qsTr("Channel 12"); value: 12 }
-                ListElement { text: qsTr("Channel 13"); value: 13 }
-                ListElement { text: qsTr("Channel 14"); value: 14 }
+
+                function update(number) {
+                    // Not enough channels
+                    if(number < 6) {
+                        return
+                    }
+                    for(var i = 5; i <= number; i++) {
+                        var text = qsTr("Channel ") + i
+                        append({"text": text, "value": i})
+                    }
+                }
+
+                Component.onCompleted: {
+                    // Number of main outputs
+                    var baseValue = 8
+                    // Extra outputs
+                    // http://ardupilot.org/copter/docs/parameters.html#brd-pwm-count-auxiliary-pin-config
+                    var brd_pwm_count_value = controller.getParameterFact(-1, "BRD_PWM_COUNT").value
+                    update(8 + (brd_pwm_count_value == 7 ? 3 : brd_pwm_count_value))
+                }
             }
 
             Component {

src/AutoPilotPlugins/APM/APMCameraComponentSummary.qml

@@ -27,22 +27,22 @@ FactPanel {
 
         VehicleSummaryRow {
             visible:    _mountTypeExists
-            labelText:  qsTr("Gimbal type:")
+            labelText:  qsTr("Gimbal type")
             valueText:  _mountTypeValue
         }
 
         VehicleSummaryRow {
-            labelText:  qsTr("Tilt input channel:")
+            labelText:  qsTr("Tilt input channel")
             valueText:  _mountRCInTilt.enumStringValue
         }
 
         VehicleSummaryRow {
-            labelText:  qsTr("Pan input channel:")
+            labelText:  qsTr("Pan input channel")
             valueText:  _mountRCInPan.enumStringValue
         }
 
         VehicleSummaryRow {
-            labelText:  qsTr("Roll input channel:")
+            labelText:  qsTr("Roll input channel")
             valueText:  _mountRCInRoll.enumStringValue
         }
     }

src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc

@@ -68,7 +68,7 @@ void APMFlightModesComponentController::_rcChannelsChanged(int channelCount, int
     for (int i=0; i<6; i++) {
         _rgChannelOptionEnabled[i] = QVariant(false);
         channelValue = pwmValues[i+6];
-        if (channelValue != -1 && channelValue > 1800) {
+        if (channelValue > 1800) {
             _rgChannelOptionEnabled[i] = QVariant(true);
         }
     }

src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml

@@ -27,32 +27,32 @@ FactPanel {
         anchors.fill:       parent
 
         VehicleSummaryRow {
-            labelText: qsTr("Flight Mode 1:")
+            labelText: qsTr("Flight Mode 1")
             valueText: flightMode1.enumStringValue
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Flight Mode 2:")
+            labelText: qsTr("Flight Mode 2")
             valueText: flightMode2.enumStringValue
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Flight Mode 3:")
+            labelText: qsTr("Flight Mode 3")
             valueText: flightMode3.enumStringValue
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Flight Mode 4:")
+            labelText: qsTr("Flight Mode 4")
             valueText: flightMode4.enumStringValue
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Flight Mode 5:")
+            labelText: qsTr("Flight Mode 5")
             valueText: flightMode5.enumStringValue
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Flight Mode 6:")
+            labelText: qsTr("Flight Mode 6")
             valueText: flightMode6.enumStringValue
         }
     }

src/AutoPilotPlugins/APM/APMHeliComponent.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 "APMHeliComponent.h"
+#include "APMAutoPilotPlugin.h"
+
+APMHeliComponent::APMHeliComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, parent)
+    , _name(tr("Heli"))
+{
+}
+
+QString APMHeliComponent::name(void) const
+{
+    return _name;
+}
+
+QString APMHeliComponent::description(void) const
+{
+    return tr("Heli Setup is used to setup parameters which are specific to a helicopter.");
+}
+
+QString APMHeliComponent::iconResource(void) const
+{
+    return QString();
+}
+
+bool APMHeliComponent::requiresSetup(void) const
+{
+    return false;
+}
+
+bool APMHeliComponent::setupComplete(void) const
+{
+    return true;
+}
+
+QStringList APMHeliComponent::setupCompleteChangedTriggerList(void) const
+{
+    return QStringList();
+}
+
+QUrl APMHeliComponent::setupSource(void) const
+{
+    return QStringLiteral("qrc:/qml/APMHeliComponent.qml");
+}
+
+QUrl APMHeliComponent::summaryQmlSource(void) const
+{
+    return QUrl();
+}

src/AutoPilotPlugins/APM/APMHeliComponent.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 "VehicleComponent.h"
+
+class APMHeliComponent : public VehicleComponent
+{
+    Q_OBJECT
+    
+public:
+    APMHeliComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    
+    // Virtuals from VehicleComponent
+    QStringList setupCompleteChangedTriggerList(void) const override;
+    
+    // Virtuals from VehicleComponent
+    QString name(void) const override;
+    QString description(void) const override;
+    QString iconResource(void) const override;
+    bool requiresSetup(void) const override;
+    bool setupComplete(void) const override;
+    QUrl setupSource(void) const override;
+    QUrl summaryQmlSource(void) const override;
+    bool allowSetupWhileArmed(void) const override { return true; }
+
+private:
+    const QString   _name;
+    QVariantList    _summaryItems;
+};

src/AutoPilotPlugins/APM/APMLightsComponent.qml

@@ -132,17 +132,29 @@ SetupPage {
 
             ListModel {
                 id: lightsOutModel
+                // It appears that QGCComboBox can't handle models that don't have a initial item
+                // after onModelChanged
                 ListElement { text: qsTr("Disabled"); value: 0 }
-                ListElement { text: qsTr("Channel 5"); value: 5 }
-                ListElement { text: qsTr("Channel 6"); value: 6 }
-                ListElement { text: qsTr("Channel 7"); value: 7 }
-                ListElement { text: qsTr("Channel 8"); value: 8 }
-                ListElement { text: qsTr("Channel 9"); value: 9 }
-                ListElement { text: qsTr("Channel 10"); value: 10 }
-                ListElement { text: qsTr("Channel 11"); value: 11 }
-                ListElement { text: qsTr("Channel 12"); value: 12 }
-                ListElement { text: qsTr("Channel 13"); value: 13 }
-                ListElement { text: qsTr("Channel 14"); value: 14 }
+
+                function update(number) {
+                    // Not enough channels
+                    if(number < 6) {
+                        return
+                    }
+                    for(var i = 5; i <= number; i++) {
+                        var text = qsTr("Channel ") + i
+                        append({"text": text, "value": i})
+                    }
+                }
+
+                Component.onCompleted: {
+                    // Number of main outputs
+                    var baseValue = 8
+                    // Extra outputs
+                    // http://ardupilot.org/copter/docs/parameters.html#brd-pwm-count-auxiliary-pin-config
+                    var brd_pwm_count_value = controller.getParameterFact(-1, "BRD_PWM_COUNT").value
+                    update(8 + (brd_pwm_count_value == 7 ? 3 : brd_pwm_count_value))
+                }
             }
 
             Component {

src/AutoPilotPlugins/APM/APMLightsComponentSummary.qml

@@ -89,12 +89,12 @@ FactPanel {
         anchors.fill:       parent
 
         VehicleSummaryRow {
-            labelText:  qsTr("Lights Output 1:")
+            labelText:  qsTr("Lights Output 1")
             valueText:  lightsOutModel.get(lightsLoader.lights1OutIndex).text
         }
 
         VehicleSummaryRow {
-            labelText:  qsTr("Lights Output 2:")
+            labelText:  qsTr("Lights Output 2")
             valueText:  lightsOutModel.get(lightsLoader.lights2OutIndex).text
         }
     }

src/AutoPilotPlugins/APM/APMPowerComponent.h

@@ -20,18 +20,19 @@ class APMPowerComponent : public VehicleComponent
 public:
     APMPowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
-    // Virtuals from VehicleComponent
-    QStringList setupCompleteChangedTriggerList(void) const final;
+    // Overrides from VehicleComponent
+    QStringList setupCompleteChangedTriggerList(void) const override;
     
     // Virtuals from VehicleComponent
-    QString     name                    (void) const final;
-    QString     description             (void) const final;
-    QString     iconResource            (void) const final;
-    bool        requiresSetup           (void) const final;
-    bool        setupComplete           (void) const final;
-    QUrl        setupSource             (void) const final;
-    QUrl        summaryQmlSource        (void) const final;
-    
+    QString name                    (void) const override;
+    QString description             (void) const override;
+    QString iconResource            (void) const override;
+    bool    requiresSetup           (void) const override;
+    bool    setupComplete           (void) const override;
+    QUrl    setupSource             (void) const override;
+    QUrl    summaryQmlSource        (void) const override;
+    bool    allowSetupWhileArmed    (void) const override { return true; }
+
 private:
     const QString   _name;
     QVariantList    _summaryItems;

src/AutoPilotPlugins/APM/APMPowerComponentSummary.qml

@@ -24,20 +24,37 @@ FactPanel {
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     FactPanelController { id: controller; factPanel: panel }
 
-    property Fact battCapacity: controller.getParameterFact(-1, "BATT_CAPACITY")
-    property Fact battMonitor:  controller.getParameterFact(-1, "BATT_MONITOR")
+    property bool _batt2MonitorAvailable:   controller.parameterExists(-1, "BATT2_MONITOR")
+    property bool _batt2CapacityAvailable:  controller.parameterExists(-1, "BATT2_CAPACITY")
+
+    property Fact _battCapacity:            controller.getParameterFact(-1, "BATT_CAPACITY")
+    property Fact _batt2Capacity:           controller.getParameterFact(-1, "BATT2_CAPACITY", false /* reportMissing */)
+    property Fact _battMonitor:             controller.getParameterFact(-1, "BATT_MONITOR")
+    property Fact _batt2Monitor:            controller.getParameterFact(-1, "BATT2_MONITOR", false /* reportMissing */)
 
     Column {
         anchors.fill:       parent
 
         VehicleSummaryRow {
-            labelText: qsTr("Battery monitor:")
-            valueText: battMonitor.enumStringValue
+            labelText: qsTr("Battery monitor")
+            valueText: _battMonitor.enumStringValue
+        }
+
+        VehicleSummaryRow {
+            labelText: qsTr("Battery capacity")
+            valueText: _battCapacity.valueString + " " + _battCapacity.units
+        }
+
+        VehicleSummaryRow {
+            labelText:  qsTr("Battery2 monitor")
+            valueText:  _batt2MonitorAvailable ? _batt2Monitor.enumStringValue : ""
+            visible:    _batt2MonitorAvailable
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Battery capacity:")
-            valueText: battCapacity.valueString + " " + battCapacity.units
+            labelText:  qsTr("Battery2 capacity")
+            valueText:  _batt2CapacityAvailable ? _batt2Capacity.valueString + " " + _battCapacity.units : ""
+            visible:    _batt2CapacityAvailable
         }
     }
 }

src/AutoPilotPlugins/APM/APMRadioComponentSummary.qml

@@ -23,22 +23,22 @@ FactPanel {
         anchors.fill:       parent
 
         VehicleSummaryRow {
-            labelText: qsTr("Roll:")
+            labelText: qsTr("Roll")
             valueText: mapRollFact.value == 0 ? qsTr("Setup required") : qsTr("Channel %1").arg(mapRollFact.valueString)
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Pitch:")
+            labelText: qsTr("Pitch")
             valueText: mapPitchFact.value == 0 ? qsTr("Setup required") : qsTr("Channel %1").arg(mapPitchFact.valueString)
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Yaw:")
+            labelText: qsTr("Yaw")
             valueText: mapYawFact.value == 0 ? qsTr("Setup required") : qsTr("Channel %1").arg(mapYawFact.valueString)
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Throttle:")
+            labelText: qsTr("Throttle")
             valueText: mapThrottleFact.value == 0 ? qsTr("Setup required") : qsTr("Channel %1").arg(mapThrottleFact.valueString)
         }
     }

src/AutoPilotPlugins/APM/APMSafetyComponentPlane.qml

@@ -34,8 +34,8 @@ SetupPage {
 
             QGCPalette { id: palette; colorGroupEnabled: true }
 
-            property Fact _failsafeBattMah:     controller.getParameterFact(-1, "FS_BATT_MAH")
-            property Fact _failsafeBattVoltage: controller.getParameterFact(-1, "FS_BATT_VOLTAGE")
+            property Fact _failsafeBattMah:     controller.getParameterFact(-1, "r.BATT_LOW_MAH")
+            property Fact _failsafeBattVoltage: controller.getParameterFact(-1, "r.BATT_LOW_VOLT")
             property Fact _failsafeThrEnable:   controller.getParameterFact(-1, "THR_FAILSAFE")
             property Fact _failsafeThrValue:    controller.getParameterFact(-1, "THR_FS_VALUE")
             property Fact _failsafeGCSEnable:   controller.getParameterFact(-1, "FS_GCS_ENABL")

src/AutoPilotPlugins/APM/APMSafetyComponentSummaryCopter.qml

@@ -14,7 +14,7 @@ FactPanel {
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     FactPanelController { id: controller; factPanel: panel }
 
-    property Fact _failsafeBattEnable:  controller.getParameterFact(-1, "FS_BATT_ENABLE")
+    property Fact _failsafeBattLowAct:  controller.getParameterFact(-1, "r.BATT_FS_LOW_ACT")
     property Fact _failsafeThrEnable:   controller.getParameterFact(-1, "FS_THR_ENABLE")
 
     property Fact _fenceAction: controller.getParameterFact(-1, "FENCE_ACTION")
@@ -28,60 +28,14 @@ FactPanel {
 
     property Fact _armingCheck: controller.getParameterFact(-1, "ARMING_CHECK")
 
-    property string _failsafeBattEnableText
-    property string _failsafeThrEnableText
+    property bool _failsafeBattCritActAvailable:    controller.parameterExists(-1, "BATT_FS_CRT_ACT")
+    property bool _failsafeBatt2LowActAvailable:    controller.parameterExists(-1, "BATT2_FS_LOW_ACT")
+    property bool _failsafeBatt2CritActAvailable:   controller.parameterExists(-1, "BATT2_FS_CRT_ACT")
 
-    Component.onCompleted: {
-        setFailsafeBattEnableText()
-        setFailsafeThrEnableText()
-    }
-
-    Connections {
-        target: _failsafeBattEnable
-
-        onValueChanged: setFailsafeBattEnableText()
-    }
-
-    Connections {
-        target: _failsafeThrEnable
-
-        onValueChanged: setFailsafeThrEnableText()
-    }
-
-    function setFailsafeThrEnableText() {
-        switch (_failsafeThrEnable.value) {
-        case 0:
-            _failsafeThrEnableText = qsTr("Disabled")
-            break
-        case 1:
-            _failsafeThrEnableText = qsTr("Always RTL")
-            break
-        case 2:
-            _failsafeThrEnableText = qsTr("Continue with Mission in Auto Mode")
-            break
-        case 3:
-            _failsafeThrEnableText = qsTr("Always Land")
-            break
-        default:
-            _failsafeThrEnableText = qsTr("Unknown")
-        }
-    }
-
-    function setFailsafeBattEnableText() {
-        switch (_failsafeBattEnable.value) {
-        case 0:
-            _failsafeBattEnableText = qsTr("Disabled")
-            break
-        case 1:
-            _failsafeBattEnableText = qsTr("Land")
-            break
-        case 2:
-            _failsafeBattEnableText = qsTr("Return to Launch")
-            break
-        default:
-            _failsafeThrEnableText = qsTr("Unknown")
-        }
-    }
+    property Fact _failsafeBattCritAct:             controller.getParameterFact(-1, "BATT_FS_CRT_ACT", false /* reportMissing */)
+    property Fact _batt2Monitor:                    controller.getParameterFact(-1, "BATT2_MONITOR", false /* reportMissing */)
+    property Fact _failsafeBatt2LowAct:             controller.getParameterFact(-1, "BATT2_FS_LOW_ACT", false /* reportMissing */)
+    property Fact _failsafeBatt2CritAct:            controller.getParameterFact(-1, "BATT2_FS_CRT_ACT", false /* reportMissing */)
 
     Column {
         anchors.fill:       parent
@@ -93,12 +47,30 @@ FactPanel {
 
         VehicleSummaryRow {
             labelText: qsTr("Throttle failsafe:")
-            valueText:  _failsafeThrEnableText
+            valueText:  _failsafeBattLowAct.enumStringValue
+        }
+
+        VehicleSummaryRow {
+            labelText: qsTr("Batt low failsafe:")
+            valueText:  _failsafeBattLowAct.enumStringValue
+        }
+
+        VehicleSummaryRow {
+            labelText:  qsTr("Batt critical failsafe:")
+            valueText:  _failsafeBattCritActAvailable ? _failsafeBattCritAct.enumStringValue : ""
+            visible:    _failsafeBattCritActAvailable
+        }
+
+        VehicleSummaryRow {
+            labelText: qsTr("Batt2 low failsafe:")
+            valueText:  _failsafeBatt2LowActAvailable ? _failsafeBatt2LowAct.enumStringValue : ""
+            visible:    _failsafeBatt2LowActAvailable
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Battery failsafe:")
-            valueText:  _failsafeBattEnableText
+            labelText: qsTr("Batt2 critical failsafe:")
+            valueText:  _failsafeBatt2CritActAvailable ? _failsafeBatt2CritAct.enumStringValue : ""
+            visible:    _failsafeBatt2CritActAvailable
         }
 
         VehicleSummaryRow {

src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml

@@ -34,7 +34,7 @@ FactPanel {
             model: 3
 
             VehicleSummaryRow {
-                labelText:  qsTr("Compass ") + (index + 1) + ":"
+                labelText:  qsTr("Compass ") + (index + 1) + ""
                 valueText:  sensorParams.rgCompassAvailable[index] ?
                                 (sensorParams.rgCompassCalibrated[index] ?
                                      (sensorParams.rgCompassPrimary[index] ? "Primary" : "Secondary") +
@@ -47,7 +47,7 @@ FactPanel {
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Accelerometer(s):")
+            labelText: qsTr("Accelerometer(s)")
             valueText: controller.accelSetupNeeded ? qsTr("Setup required") : qsTr("Ready")
         }
     }

src/AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml

@@ -45,17 +45,17 @@ FactPanel {
         anchors.fill:       parent
         VehicleSummaryRow {
             id: nameRow;
-            labelText: qsTr("Frame Type:")
+            labelText: qsTr("Frame Type")
             valueText: frameName()
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Firmware Version:")
+            labelText: qsTr("Firmware Version")
             valueText: activeVehicle.firmwareMajorVersion == -1 ? qsTr("Unknown") : activeVehicle.firmwareMajorVersion + "." + activeVehicle.firmwareMinorVersion + "." + activeVehicle.firmwarePatchVersion + " " + activeVehicle.firmwareVersionTypeString
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Git Revision:")
+            labelText: qsTr("Git Revision")
             valueText: activeVehicle.gitHash == -1 ? qsTr("Unknown") : activeVehicle.gitHash
         }
     }

src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml

@@ -32,20 +32,16 @@ SetupPage {
 
             QGCPalette { id: palette; colorGroupEnabled: true }
 
-            // Older firmwares use THR_MODE, newer use MOT_THST_HOVER
-            property bool _throttleMidExists: controller.parameterExists(-1, "THR_MID")
-            property Fact _hoverTuneParam:  controller.getParameterFact(-1, _throttleMidExists ? "THR_MID" : "MOT_THST_HOVER")
-            property real _hoverTuneMin:    _throttleMidExists ? 200 : 0
-            property real _hoverTuneMax:    _throttleMidExists ? 800 : 1
-            property real _hoverTuneStep:   _throttleMidExists ? 10 : 0.01
-
-            property Fact _rcFeel:          controller.getParameterFact(-1, "RC_FEEL_RP")
-            property Fact _rateRollP:       controller.getParameterFact(-1, "r.ATC_RAT_RLL_P")
-            property Fact _rateRollI:       controller.getParameterFact(-1, "r.ATC_RAT_RLL_I")
-            property Fact _ratePitchP:      controller.getParameterFact(-1, "r.ATC_RAT_PIT_P")
-            property Fact _ratePitchI:      controller.getParameterFact(-1, "r.ATC_RAT_PIT_I")
-            property Fact _rateClimbP:      controller.getParameterFact(-1, "ACCEL_Z_P")
-            property Fact _rateClimbI:      controller.getParameterFact(-1, "ACCEL_Z_I")
+            property bool _rcFeelAvailable:     controller.parameterExists(-1, "RC_FEEL")
+            property bool _atcInputTCAvailable: controller.parameterExists(-1, "ATC_INPUT_TC")
+            property Fact _rcFeel:              controller.getParameterFact(-1, "RC_FEEL", false)
+            property Fact _atcInputTC:          controller.getParameterFact(-1, "ATC_INPUT_TC", false)
+            property Fact _rateRollP:           controller.getParameterFact(-1, "r.ATC_RAT_RLL_P")
+            property Fact _rateRollI:           controller.getParameterFact(-1, "r.ATC_RAT_RLL_I")
+            property Fact _ratePitchP:          controller.getParameterFact(-1, "r.ATC_RAT_PIT_P")
+            property Fact _ratePitchI:          controller.getParameterFact(-1, "r.ATC_RAT_PIT_I")
+            property Fact _rateClimbP:          controller.getParameterFact(-1, "r.PSC_ACCZ_P")
+            property Fact _rateClimbI:          controller.getParameterFact(-1, "r.PSC_ACCZ_I")
 
             property Fact _ch7Opt:  controller.getParameterFact(-1, "CH7_OPT")
             property Fact _ch8Opt:  controller.getParameterFact(-1, "CH8_OPT")
@@ -75,10 +71,14 @@ SetupPage {
                 // handler which updates your property with the new value, this first value change will trash
                 // your bound values. In order to work around this we don't set the values into the Sliders until
                 // after Qml load is done. We also don't track value changes until Qml load completes.
-                throttleHover.value = _hoverTuneParam.value
                 rollPitch.value = _rateRollP.value
                 climb.value = _rateClimbP.value
-                rcFeel.value = _rcFeel.value
+                if (_rcFeelAvailable) {
+                    rcFeel.value = _rcFeel.value
+                }
+                if (_atcInputTCAvailable) {
+                    atcInputTC.value = _atcInputTC.value
+                }
                 _loadComplete = true
 
                 calcAutoTuneChannel()
@@ -142,36 +142,6 @@ SetupPage {
                     anchors.top:        parent.top
                     spacing:            _margins
 
-                    Column {
-                        anchors.left:   parent.left
-                        anchors.right:  parent.right
-
-                        QGCLabel {
-                            text:       qsTr("Throttle Hover")
-                            font.family: ScreenTools.demiboldFontFamily
-                        }
-
-                        QGCLabel {
-                            text: qsTr("How much throttle is needed to maintain a steady hover")
-                        }
-
-                        Slider {
-                            id:                 throttleHover
-                            anchors.left:       parent.left
-                            anchors.right:      parent.right
-                            minimumValue:       _hoverTuneMin
-                            maximumValue:       _hoverTuneMax
-                            stepSize:           _hoverTuneStep
-                            tickmarksEnabled:   true
-
-                            onValueChanged: {
-                                if (_loadComplete) {
-                                    _hoverTuneParam.value = value
-                                }
-                            }
-                        }
-                    }
-
                     Column {
                         anchors.left:   parent.left
                         anchors.right:  parent.right
@@ -240,6 +210,7 @@ SetupPage {
                     Column {
                         anchors.left:   parent.left
                         anchors.right:  parent.right
+                        visible:        _rcFeelAvailable
 
                         QGCLabel {
                             text:       qsTr("RC Roll/Pitch Feel")
@@ -266,6 +237,37 @@ SetupPage {
                             }
                         }
                     }
+
+                    Column {
+                        anchors.left:   parent.left
+                        anchors.right:  parent.right
+                        visible:        _atcInputTCAvailable
+
+                        QGCLabel {
+                            text:       qsTr("RC Roll/Pitch Feel")
+                            font.family: ScreenTools.demiboldFontFamily
+                        }
+
+                        QGCLabel {
+                            text: qsTr("Slide to the left for soft control, slide to the right for crisp control")
+                        }
+
+                        Slider {
+                            id:                 atcInputTC
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
+                            minimumValue:       _atcInputTC.min
+                            maximumValue:       _atcInputTC.max
+                            stepSize:           _atcInputTC.increment
+                            tickmarksEnabled:   true
+
+                            onValueChanged: {
+                                if (_loadComplete) {
+                                    _atcInputTC.value = value
+                                }
+                            }
+                        }
+                    }
                 }
             } // Rectangle - Basic tuning
 

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -13,8 +13,6 @@
 
 #include "AutoPilotPlugin.h"
 #include "QGCApplication.h"
-#include "ParameterManager.h"
-#include "UAS.h"
 #include "FirmwarePlugin.h"
 
 AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
@@ -28,7 +26,7 @@ AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
 
 AutoPilotPlugin::~AutoPilotPlugin()
 {
-    
+
 }
 
 void AutoPilotPlugin::_recalcSetupComplete(void)

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -19,7 +19,6 @@
 #include "FactSystem.h"
 #include "Vehicle.h"
 
-class ParameterManager;
 class Vehicle;
 class FirmwarePlugin;
 

src/AutoPilotPlugins/Common/ESP8266ComponentSummary.qml

@@ -30,38 +30,38 @@ FactPanel {
     Column {
         anchors.fill:       parent
         VehicleSummaryRow {
-            labelText: qsTr("Firmware Version:")
+            labelText: qsTr("Firmware Version")
             valueText: esp8266.version
         }
         VehicleSummaryRow {
-            labelText: qsTr("WiFi Mode:")
+            labelText: qsTr("WiFi Mode")
             valueText: wifiMode ? (wifiMode.value === 0 ? "AP Mode" : "Station Mode") : "AP Mode"
         }
         VehicleSummaryRow {
-            labelText:  qsTr("WiFi Channel:")
+            labelText:  qsTr("WiFi Channel")
             valueText:  wifiChannel ? wifiChannel.valueString : ""
             visible:    wifiMode ? wifiMode.value === 0 : true
         }
         VehicleSummaryRow {
-            labelText: qsTr("WiFi AP SSID:")
+            labelText: qsTr("WiFi AP SSID")
             valueText: esp8266.wifiSSID
         }
         VehicleSummaryRow {
-            labelText: qsTr("WiFi AP Password:")
+            labelText: qsTr("WiFi AP Password")
             valueText: esp8266.wifiPassword
         }
         /* Too much info makes it all crammed
         VehicleSummaryRow {
-            labelText: qsTr("WiFi STA SSID:")
+            labelText: qsTr("WiFi STA SSID")
             valueText: esp8266.wifiSSIDSta
         }
         VehicleSummaryRow {
-            labelText: qsTr("WiFi STA Password:")
+            labelText: qsTr("WiFi STA Password")
             valueText: esp8266.wifiPasswordSta
         }
         */
         VehicleSummaryRow {
-            labelText: qsTr("UART Baud Rate:")
+            labelText: qsTr("UART Baud Rate")
             valueText: uartBaud ? uartBaud.valueString : ""
         }
     }

src/AutoPilotPlugins/Common/SetupPage.qml

@@ -10,6 +10,7 @@
 import QtQuick          2.3
 import QtQuick.Controls 1.2
 import QtQuick.Dialogs  1.2
+import QtQuick.Layouts  1.2
 
 import QGroundControl               1.0
 import QGroundControl.FactSystem    1.0
@@ -23,21 +24,26 @@ import QGroundControl.Controllers   1.0
 QGCView {
     id:             setupView
     viewPanel:      setupPanel
-    enabled:        !_shouldDisableWhenArmed
+    enabled:        !_disableDueToArmed && !_disableDueToFlying
 
     property alias  pageComponent:      pageLoader.sourceComponent
     property string pageName:           vehicleComponent ? vehicleComponent.name : ""
     property string pageDescription:    vehicleComponent ? vehicleComponent.description : ""
     property real   availableWidth:     width - pageLoader.x
     property real   availableHeight:    height - pageLoader.y
+    property bool   showAdvanced:       false
+    property alias  advanced:           advancedCheckBox.checked
 
-    property bool _vehicleArmed:         QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle.armed : false
-    property bool _shouldDisableWhenArmed: _vehicleArmed ? (vehicleComponent ? !vehicleComponent.allowSetupWhileArmed : false) : false
+    property var    _activeVehicle:         QGroundControl.multiVehicleManager.activeVehicle
+    property bool   _vehicleArmed:          _activeVehicle ? _activeVehicle.armed : false
+    property bool   _vehicleFlying:         _activeVehicle ? _activeVehicle.flying : false
+    property bool   _disableDueToArmed:     vehicleComponent ? (!vehicleComponent.allowSetupWhileArmed && _vehicleArmed) : false
+    property bool   _disableDueToFlying:    vehicleComponent ? (!vehicleComponent.allowSetupWhileFlying && _vehicleFlying) : false
+    property string _disableReason:         _disableDueToArmed ? qsTr("armed") : qsTr("flying")
 
     property real _margins:             ScreenTools.defaultFontPixelHeight * 0.5
     property string _pageTitle:         qsTr("%1 Setup").arg(pageName)
 
-
     QGCPalette { id: qgcPal; colorGroupEnabled: setupPanel.enabled }
 
     QGCViewPanel {
@@ -50,35 +56,49 @@ QGCView {
             contentHeight:  pageLoader.y + pageLoader.item.height
             clip:           true
 
-            Column {
-                id:                 headingColumn
-                width:              setupPanel.width
+            RowLayout {
+                id:                 headingRow
+                anchors.left:       parent.left
+                anchors.right:      parent.right
                 spacing:            _margins
+                layoutDirection:    Qt.RightToLeft
 
-                QGCLabel {
-                    font.pointSize: ScreenTools.largeFontPointSize
-                    text:           _shouldDisableWhenArmed ? _pageTitle + "<font color=\"red\">" + qsTr(" (Disabled while the vehicle is armed)") + "</font>" : _pageTitle
-                    visible:        !ScreenTools.isShortScreen
+                QGCCheckBox {
+                    id:         advancedCheckBox
+                    text:       qsTr("Advanced")
+                    visible:    showAdvanced
                 }
 
-                QGCLabel {
-                    anchors.left:   parent.left
-                    anchors.right:  parent.right
-                    wrapMode:       Text.WordWrap
-                    text:           pageDescription
-                    visible:        !ScreenTools.isShortScreen
+                Column {
+                    spacing:            _margins
+                    Layout.fillWidth:   true
+
+                    QGCLabel {
+                        font.pointSize: ScreenTools.largeFontPointSize
+                        text:           !setupView.enabled ? _pageTitle + "<font color=\"red\">" + qsTr(" (Disabled while the vehicle is %1)").arg(_disableReason) + "</font>" : _pageTitle
+                        visible:        !ScreenTools.isShortScreen
+                    }
+
+                    QGCLabel {
+                        anchors.left:   parent.left
+                        anchors.right:  parent.right
+                        wrapMode:       Text.WordWrap
+                        text:           pageDescription
+                        visible:        !ScreenTools.isShortScreen
+                    }
                 }
             }
 
             Loader {
                 id:                 pageLoader
                 anchors.topMargin:  _margins
-                anchors.top:        headingColumn.bottom
+                anchors.top:        headingRow.bottom
             }
+
             // Overlay to display when vehicle is armed and this setup page needs
             // to be disabled
             Rectangle {
-                visible:            _shouldDisableWhenArmed
+                visible:            !setupView.enabled
                 anchors.fill:       pageLoader
                 color:              "black"
                 opacity:            0.5

src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml

@@ -23,20 +23,20 @@ FactPanel {
     Column {
         anchors.fill:       parent
         VehicleSummaryRow {
-            labelText: qsTr("System ID:")
+            labelText: qsTr("System ID")
             valueText: sysIdFact ? sysIdFact.valueString : ""
         }
         VehicleSummaryRow {
-            labelText: qsTr("Airframe type:")
+            labelText: qsTr("Airframe type")
             valueText: autoStartSet ? controller.currentAirframeType : qsTr("Setup required")
         }
         VehicleSummaryRow {
-            labelText: qsTr("Vehicle:")
+            labelText: qsTr("Vehicle")
             valueText: autoStartSet ? controller.currentVehicleName : qsTr("Setup required")
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Firmware Version:")
+            labelText: qsTr("Firmware Version")
             valueText: activeVehicle.firmwareMajorVersion === -1 ? qsTr("Unknown") : activeVehicle.firmwareMajorVersion + "." + activeVehicle.firmwareMinorVersion + "." + activeVehicle.firmwarePatchVersion + activeVehicle.firmwareVersionTypeString
         }
     }

src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml

@@ -329,6 +329,11 @@
       <maintainer>Michael Schaeuble</maintainer>
       <type>Quadrotor x</type>
     </airframe>
+    <airframe id="4014" maintainer="Lorenz Meier &lt;lorenz@px4.io&gt;" name="S500">
+      <class>Copter</class>
+      <maintainer>Lorenz Meier &lt;lorenz@px4.io&gt;</maintainer>
+      <type>Quadrotor x</type>
+    </airframe>
     <airframe id="4020" maintainer="Thomas Gubler &lt;thomas@px4.io&gt;" name="Hobbyking Micro PCB">
       <class>Copter</class>
       <maintainer>Thomas Gubler &lt;thomas@px4.io&gt;</maintainer>

src/AutoPilotPlugins/PX4/CameraComponent.qml

@@ -121,14 +121,14 @@ SetupPage {
                         }
 
                         QGCLabel {
-                            anchors.baseline:   camTrigCombo.baseline
+                            Layout.alignment:   Qt.AlignVCenter
                             text:               qsTr("Trigger mode")
                         }
                         FactComboBox {
-                            id:                 camTrigCombo
                             fact:               _camTriggerMode
                             indexModel:         false
                             enabled:            !_rebooting
+                            Layout.alignment:   Qt.AlignVCenter
                             Layout.minimumWidth: _editFieldWidth
                             onActivated: {
                                 applyAndRestart.visible = true
@@ -136,14 +136,14 @@ SetupPage {
                         }
 
                         QGCLabel {
-                            anchors.baseline:   camInterfaceCombo.baseline
+                            Layout.alignment:   Qt.AlignVCenter
                             text:               qsTr("Trigger interface")
                         }
                         FactComboBox {
-                            id:                 camInterfaceCombo
                             fact:               _camTriggerInterface
                             indexModel:         false
                             enabled:            !_rebooting && (_camTriggerInterface ? true : false)
+                            Layout.alignment:   Qt.AlignVCenter
                             Layout.minimumWidth: _editFieldWidth
                             onActivated: {
                                 applyAndRestart.visible = true
@@ -152,7 +152,7 @@ SetupPage {
 
                         QGCLabel {
                             text:               qsTr("Time Interval")
-                            anchors.baseline:   timeIntervalField.baseline
+                            Layout.alignment:   Qt.AlignVCenter
                             color:              qgcPal.text
                             visible:            timeIntervalField.visible
                         }
@@ -161,12 +161,13 @@ SetupPage {
                             fact:               controller.getParameterFact(-1, "TRIG_INTERVAL", false)
                             showUnits:          true
                             Layout.minimumWidth: _editFieldWidth
+                            Layout.alignment:   Qt.AlignVCenter
                             visible:            _camTriggerMode.value === 2
                         }
 
                         QGCLabel {
                             text:               qsTr("Distance Interval")
-                            anchors.baseline:   trigDistField.baseline
+                            Layout.alignment:   Qt.AlignVCenter
                             color:              qgcPal.text
                             visible:            trigDistField.visible
                         }
@@ -174,6 +175,7 @@ SetupPage {
                             id:                 trigDistField
                             fact:               controller.getParameterFact(-1, "TRIG_DISTANCE", false)
                             showUnits:          true
+                            Layout.alignment:   Qt.AlignVCenter
                             Layout.minimumWidth: _editFieldWidth
                             visible:            _camTriggerMode.value === 3
                         }
@@ -199,8 +201,8 @@ SetupPage {
                             }
 
                             Row {
-                                spacing:                    _margins
-                                anchors.horizontalCenter:   parent.horizontalCenter
+                                spacing:                _margins
+                                Layout.alignment:       Qt.AlignHCenter
 
                                 GridLayout {
                                     rows: 2

src/AutoPilotPlugins/PX4/CameraComponentSummary.qml

@@ -25,36 +25,36 @@ FactPanel {
         anchors.fill:       parent
 
         VehicleSummaryRow {
-            labelText: qsTr("Trigger interface:")
+            labelText: qsTr("Trigger interface")
             valueText: _camTriggerInterface ? _camTriggerInterface.enumStringValue : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Trigger mode:")
+            labelText: qsTr("Trigger mode")
             valueText: _camTriggerMode ? _camTriggerMode.enumStringValue : ""
         }
 
         VehicleSummaryRow {
             visible:    _timeInterval && _camTriggerMode.value === 2
-            labelText:  qsTr("Time interval:")
+            labelText:  qsTr("Time interval")
             valueText:  _timeInterval ? _timeInterval.value : ""
         }
 
         VehicleSummaryRow {
             visible:    _distanceInterval && _camTriggerMode.value === 3
-            labelText:  qsTr("Distance interval:")
+            labelText:  qsTr("Distance interval")
             valueText:  _distanceInterval ? _distanceInterval.value : ""
         }
 
         VehicleSummaryRow {
             visible:    _auxPins
-            labelText:  qsTr("AUX pins:")
+            labelText:  qsTr("AUX pins")
             valueText:  _auxPins ? _auxPins.value : ""
         }
 
         VehicleSummaryRow {
             visible:    _camTriggerPol
-            labelText:  qsTr("AUX pin polarity:")
+            labelText:  qsTr("AUX pin polarity")
             valueText:  _camTriggerPol ? (_camTriggerPol.value ? "High (3.3V)" : "Low (0V)") : ""
         }
 

src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml

@@ -29,13 +29,13 @@ FactPanel {
         id: simple
         Column {
             VehicleSummaryRow {
-                labelText: qsTr("Mode switch:")
+                labelText: qsTr("Mode switch")
                 valueText: _rcMapFltmode.value === 0 ? qsTr("Setup required") : _rcMapFltmode.enumStringValue
             }
             Repeater {
                 model: 6
                 VehicleSummaryRow {
-                    labelText: qsTr("Flight Mode %1 :").arg(index + 1)
+                    labelText: qsTr("Flight Mode %1 ").arg(index + 1)
                     valueText: controller.getParameterFact(-1, "COM_FLTMODE" + (index + 1)).enumStringValue
                 }
             }
@@ -49,19 +49,19 @@ FactPanel {
             property Fact loiterSwFact: controller.getParameterFact(-1, "RC_MAP_LOITER_SW")
             property Fact returnSwFact: controller.getParameterFact(-1, "RC_MAP_RETURN_SW")
             VehicleSummaryRow {
-                labelText: qsTr("Mode switch:")
+                labelText: qsTr("Mode switch")
                 valueText: _rcMapModeSw.value === 0 ? qsTr("Setup required") : _rcMapModeSw.valueString
             }
             VehicleSummaryRow {
-                labelText: qsTr("Position Ctl switch:")
+                labelText: qsTr("Position Ctl switch")
                 valueText: posCtlSwFact.value === 0 ? qsTr("Disabled") : posCtlSwFact.valueString
             }
             VehicleSummaryRow {
-                labelText: qsTr("Loiter switch:")
+                labelText: qsTr("Loiter switch")
                 valueText: loiterSwFact.value === 0 ? qsTr("Disabled") : loiterSwFact.valueString
             }
             VehicleSummaryRow {
-                labelText: qsTr("Return switch:")
+                labelText: qsTr("Return switch")
                 valueText: returnSwFact.value === 0 ? qsTr("Disabled") : returnSwFact.valueString
             }
         }

src/AutoPilotPlugins/PX4/PX4RadioComponentSummary.qml

@@ -26,38 +26,38 @@ FactPanel {
         anchors.fill:       parent
 
         VehicleSummaryRow {
-            labelText: qsTr("Roll:")
+            labelText: qsTr("Roll")
             valueText: mapRollFact ? (mapRollFact.value === 0 ? qsTr("Setup required") : mapRollFact.valueString) : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Pitch:")
+            labelText: qsTr("Pitch")
             valueText: mapPitchFact ? (mapPitchFact.value === 0 ? qsTr("Setup required") : mapPitchFact.valueString) : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Yaw:")
+            labelText: qsTr("Yaw")
             valueText: mapYawFact ? (mapYawFact.value === 0 ? qsTr("Setup required") : mapYawFact.valueString) : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Throttle:")
+            labelText: qsTr("Throttle")
             valueText: mapThrottleFact ? (mapThrottleFact.value === 0 ? qsTr("Setup required") : mapThrottleFact.valueString) : ""
         }
 
         VehicleSummaryRow {
-            labelText:  qsTr("Flaps:")
+            labelText:  qsTr("Flaps")
             valueText:  mapFlapsFact ? (mapFlapsFact.value === 0 ? qsTr("Disabled") : mapFlapsFact.valueString) : ""
             visible:    !controller.vehicle.multiRotor
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Aux1:")
+            labelText: qsTr("Aux1")
             valueText: mapAux1Fact ? (mapAux1Fact.value === 0 ? qsTr("Disabled") : mapAux1Fact.valueString) : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Aux2:")
+            labelText: qsTr("Aux2")
             valueText: mapAux2Fact ? (mapAux2Fact.value === 0 ? qsTr("Disabled") : mapAux2Fact.valueString) : ""
         }
     }

src/AutoPilotPlugins/PX4/PX4TuningComponent.h

@@ -32,6 +32,7 @@ public:
     QUrl setupSource(void) const final;
     QUrl summaryQmlSource(void) const final;
     bool allowSetupWhileArmed(void) const final { return true; }
+    bool allowSetupWhileFlying(void) const final { return true; }
 
 private:
     const QString   _name;

src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml

@@ -7,11 +7,16 @@
  *
  ****************************************************************************/
 
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtCharts         2.2
+import QtQuick.Layouts  1.2
 
-import QtQuick              2.3
-import QtQuick.Controls     1.2
-
-import QGroundControl.Controls  1.0
+import QGroundControl               1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.ScreenTools   1.0
 
 SetupPage {
     id:             tuningPage
@@ -20,47 +25,97 @@ SetupPage {
     Component {
         id: pageComponent
 
-        FactSliderPanel {
-            width:          availableWidth
-            qgcViewPanel:   tuningPage.viewPanel
+        Column {
+            width: availableWidth
 
-            sliderModel: ListModel {
-                ListElement {
-                    title:          qsTr("Hover Throttle")
-                    description:    qsTr("Adjust throttle so hover is at mid-throttle. Slide to the left if hover is lower than throttle center. Slide to the right if hover is higher than throttle center.")
-                    param:          "MPC_THR_HOVER"
-                    min:            20
-                    max:            80
-                    step:           1
-                }
+            Component.onCompleted: {
+                showAdvanced = !ScreenTools.isMobile
+            }
 
-                ListElement {
-                    title:          qsTr("Manual minimum throttle")
-                    description:    qsTr("Slide to the left to start the motors with less idle power. Slide to the right if descending in manual flight becomes unstable.")
-                    param:          "MPC_MANTHR_MIN"
-                    min:            0
-                    max:            15
-                    step:           1
-                }
+            FactPanelController {
+                id:         controller
+                factPanel:  tuningPage.viewPanel
+            }
 
-                ListElement {
-                    title:          qsTr("Roll sensitivity")
-                    description:    qsTr("Slide to the left to make roll control faster and more accurate. Slide to the right if roll oscillates or is too twitchy.")
-                    param:          "MC_ROLL_TC"
-                    min:            0.15
-                    max:            0.25
-                    step:           0.01
-                }
+            // Standard tuning page
+            FactSliderPanel {
+                width:          availableWidth
+                qgcViewPanel:   tuningPage.viewPanel
+                visible:        !advanced
+
+                sliderModel: ListModel {
+                    ListElement {
+                        title:          qsTr("Hover Throttle")
+                        description:    qsTr("Adjust throttle so hover is at mid-throttle. Slide to the left if hover is lower than throttle center. Slide to the right if hover is higher than throttle center.")
+                        param:          "MPC_THR_HOVER"
+                        min:            20
+                        max:            80
+                        step:           1
+                    }
 
-                ListElement {
-                    title:          qsTr("Pitch sensitivity")
-                    description:    qsTr("Slide to the left to make pitch control faster and more accurate. Slide to the right if pitch oscillates or is too twitchy.")
-                    param:          "MC_PITCH_TC"
-                    min:            0.15
-                    max:            0.25
-                    step:           0.01
+                    ListElement {
+                        title:          qsTr("Manual minimum throttle")
+                        description:    qsTr("Slide to the left to start the motors with less idle power. Slide to the right if descending in manual flight becomes unstable.")
+                        param:          "MPC_MANTHR_MIN"
+                        min:            0
+                        max:            15
+                        step:           1
+                    }
+                    /*
+  These seem to have disappeared from PX4 firmware!
+                    ListElement {
+                        title:          qsTr("Roll sensitivity")
+                        description:    qsTr("Slide to the left to make roll control faster and more accurate. Slide to the right if roll oscillates or is too twitchy.")
+                        param:          "MC_ROLL_TC"
+                        min:            0.15
+                        max:            0.25
+                        step:           0.01
+                    }
+
+                    ListElement {
+                        title:          qsTr("Pitch sensitivity")
+                        description:    qsTr("Slide to the left to make pitch control faster and more accurate. Slide to the right if pitch oscillates or is too twitchy.")
+                        param:          "MC_PITCH_TC"
+                        min:            0.15
+                        max:            0.25
+                        step:           0.01
+                    }
+*/
                 }
             }
-        }
-    } // Component
+
+            Loader {
+                anchors.left:       parent.left
+                anchors.right:      parent.right
+                sourceComponent:    advanced ? advancePageComponent : undefined
+            }
+
+            Component {
+                id: advancePageComponent
+
+                PIDTuning {
+                    anchors.left:   parent.left
+                    anchors.right:  parent.right
+                    tuneList:            [ qsTr("Roll"), qsTr("Pitch"), qsTr("Yaw") ]
+                    params:              [
+                        [ controller.getParameterFact(-1, "MC_ROLL_P"),
+                         controller.getParameterFact(-1, "MC_ROLLRATE_P"),
+                         controller.getParameterFact(-1, "MC_ROLLRATE_I"),
+                         controller.getParameterFact(-1, "MC_ROLLRATE_D"),
+                         controller.getParameterFact(-1, "MC_ROLLRATE_FF") ],
+                        [ controller.getParameterFact(-1, "MC_PITCH_P"),
+                         controller.getParameterFact(-1, "MC_PITCHRATE_P"),
+                         controller.getParameterFact(-1, "MC_PITCHRATE_I"),
+                         controller.getParameterFact(-1, "MC_PITCHRATE_D"),
+                         controller.getParameterFact(-1, "MC_PITCHRATE_FF") ],
+                        [ controller.getParameterFact(-1, "MC_YAW_P"),
+                         controller.getParameterFact(-1, "MC_YAWRATE_P"),
+                         controller.getParameterFact(-1, "MC_YAWRATE_I"),
+                         controller.getParameterFact(-1, "MC_YAWRATE_D"),
+                         controller.getParameterFact(-1, "MC_YAW_FF"),
+                         controller.getParameterFact(-1, "MC_YAWRATE_FF") ] ]
+                }
+            } // Component - Advanced Page
+        } // Column
+    } // Component - pageComponent
 } // SetupPage

src/AutoPilotPlugins/PX4/PX4TuningComponentPlane.qml

@@ -7,11 +7,16 @@
  *
  ****************************************************************************/
 
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtCharts         2.2
+import QtQuick.Layouts  1.2
 
-import QtQuick              2.3
-import QtQuick.Controls     1.2
-
-import QGroundControl.Controls  1.0
+import QGroundControl               1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.ScreenTools   1.0
 
 SetupPage {
     id:             tuningPage
@@ -20,47 +25,64 @@ SetupPage {
     Component {
         id: pageComponent
 
-        FactSliderPanel {
-            width:          availableWidth
-            qgcViewPanel:   tuningPage.viewPanel
+        Column {
+            width: availableWidth
 
-            sliderModel: ListModel {
-                ListElement {
-                    title:          qsTr("Roll sensitivity")
-                    description:    qsTr("Slide to the left to make roll control faster and more accurate. Slide to the right if roll oscillates or is too twitchy.")
-                    param:          "FW_R_TC"
-                    min:            0.2
-                    max:            0.8
-                    step:           0.01
-                }
+            Component.onCompleted: {
+                showAdvanced = !ScreenTools.isMobile
+            }
 
-                ListElement {
-                    title:          qsTr("Pitch sensitivity")
-                    description:    qsTr("Slide to the left to make pitch control faster and more accurate. Slide to the right if pitch oscillates or is too twitchy.")
-                    param:          "FW_P_TC"
-                    min:            0.2
-                    max:            0.8
-                    step:           0.01
-                }
+            FactPanelController {
+                id:         controller
+                factPanel:  tuningPage.viewPanel
+            }
 
-                ListElement {
-                    title:          qsTr("Cruise throttle")
-                    description:    qsTr("This is the throttle setting required to achieve the desired cruise speed. Most planes need 50-60%.")
-                    param:          "FW_THR_CRUISE"
-                    min:            20
-                    max:            80
-                    step:           1
-                }
+            // Standard tuning page
+            FactSliderPanel {
+                width:          availableWidth
+                qgcViewPanel:   tuningPage.viewPanel
+                visible:        !advanced
 
-                ListElement {
-                    title:          qsTr("Mission mode sensitivity")
-                    description:    qsTr("Slide to the left to make position control more accurate and more aggressive. Slide to the right to make flight in mission mode smoother and less twitchy.")
-                    param:          "FW_L1_PERIOD"
-                    min:            12
-                    max:            50
-                    step:           0.5
+                sliderModel: ListModel {
+                    ListElement {
+                        title:          qsTr("Cruise throttle")
+                        description:    qsTr("This is the throttle setting required to achieve the desired cruise speed. Most planes need 50-60%.")
+                        param:          "FW_THR_CRUISE"
+                        min:            20
+                        max:            80
+                        step:           1
+                    }
                 }
             }
-        }
-    }
-}
+
+
+            Loader {
+                anchors.left:       parent.left
+                anchors.right:      parent.right
+                sourceComponent:    advanced ? advancePageComponent : undefined
+            }
+
+            Component {
+                id: advancePageComponent
+
+                PIDTuning {
+                    anchors.left:   parent.left
+                    anchors.right:  parent.right
+                    tuneList:            [ qsTr("Roll"), qsTr("Pitch"), qsTr("Yaw") ]
+                    params:              [
+                        [ controller.getParameterFact(-1, "FW_RR_P"),
+                         controller.getParameterFact(-1, "FW_RR_I"),
+                         controller.getParameterFact(-1, "FW_RR_FF"),
+                         controller.getParameterFact(-1, "FW_R_TC"),],
+                        [ controller.getParameterFact(-1, "FW_PR_P"),
+                         controller.getParameterFact(-1, "FW_PR_I"),
+                         controller.getParameterFact(-1, "FW_PR_FF"),
+                         controller.getParameterFact(-1, "FW_P_TC") ],
+                        [ controller.getParameterFact(-1, "FW_YR_P"),
+                         controller.getParameterFact(-1, "FW_YR_I"),
+                         controller.getParameterFact(-1, "FW_YR_FF") ] ]
+                }
+            } // Component - Advanced Page
+        } // Column
+    } // Component - pageComponent
+} // SetupPage

src/AutoPilotPlugins/PX4/PX4TuningComponentVTOL.qml

@@ -26,24 +26,6 @@ SetupPage {
 
             sliderModel: ListModel {
 
-                ListElement {
-                    title:          qsTr("Hover Roll sensitivity")
-                    description:    qsTr("Slide to the left to make roll control during hover faster and more accurate. Slide to the right if roll oscillates or is too twitchy.")
-                    param:          "MC_ROLL_TC"
-                    min:            0.15
-                    max:            0.25
-                    step:           0.01
-                }
-
-                ListElement {
-                    title:          qsTr("Hover Pitch sensitivity")
-                    description:    qsTr("Slide to the left to make pitch control during hover faster and more accurate. Slide to the right if pitch oscillates or is too twitchy.")
-                    param:          "MC_PITCH_TC"
-                    min:            0.15
-                    max:            0.25
-                    step:           0.01
-                }
-
                 ListElement {
                     title:          qsTr("Plane Roll sensitivity")
                     description:    qsTr("Slide to the left to make roll control faster and more accurate. Slide to the right if roll oscillates or is too twitchy.")
@@ -81,7 +63,7 @@ SetupPage {
                 }
 
                 ListElement {
-                    title:          qsTr("Hoever manual minimum throttle")
+                    title:          qsTr("Hover manual minimum throttle")
                     description:    qsTr("Slide to the left to start the motors with less idle power. Slide to the right if descending in manual flight becomes unstable.")
                     param:          "MPC_MANTHR_MIN"
                     min:            0

src/AutoPilotPlugins/PX4/PowerComponent.h

@@ -24,18 +24,19 @@ class PowerComponent : public VehicleComponent
 public:
     PowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
-    // Virtuals from VehicleComponent
-    virtual QStringList setupCompleteChangedTriggerList(void) const;
-    
-    // Virtuals from VehicleComponent
-    virtual QString     name                    (void) const;
-    virtual QString     description             (void) const;
-    virtual QString     iconResource            (void) const;
-    virtual bool        requiresSetup           (void) const;
-    virtual bool        setupComplete           (void) const;
-    virtual QUrl        setupSource             (void) const;
-    virtual QUrl        summaryQmlSource        (void) const;
+    // Overrides from VehicleComponent
+    QStringList setupCompleteChangedTriggerList(void) const override;
     
+    // Overrides from VehicleComponent
+    QString name                    (void) const override;
+    QString description             (void) const override;
+    QString iconResource            (void) const override;
+    bool    requiresSetup           (void) const override;
+    bool    setupComplete           (void) const override;
+    QUrl    setupSource             (void) const override;
+    QUrl    summaryQmlSource        (void) const override;
+    bool    allowSetupWhileArmed    (void) const override { return true; }
+
 private:
     const QString   _name;
     QVariantList    _summaryItems;

src/AutoPilotPlugins/PX4/PowerComponent.qml

@@ -348,9 +348,9 @@ SetupPage {
                 } // QGCGroupBox - Battery settings
 
                 QGCGroupBox {
-                    anchors.left:   batteryGroup.left
-                    anchors.right:  batteryGroup.right
-                    title:          qsTr("ESC PWM Minimum and Maximum Calibration")
+                    Layout.maximumWidth:    batteryGroup.width
+                    Layout.fillWidth:       true
+                    title:                  qsTr("ESC PWM Minimum and Maximum Calibration")
 
                     ColumnLayout {
                         anchors.left:   parent.left
@@ -383,10 +383,10 @@ SetupPage {
                 }
 
                 QGCGroupBox {
-                    anchors.left:   batteryGroup.left
-                    anchors.right:  batteryGroup.right
-                    title:          qsTr("UAVCAN Bus Configuration")
-                    visible:        showUAVCAN.checked
+                    Layout.maximumWidth:    batteryGroup.width
+                    Layout.fillWidth:       true
+                    title:                  qsTr("UAVCAN Bus Configuration")
+                    visible:                showUAVCAN.checked
 
                     Row {
                         id:         uavCanConfigRow
@@ -407,10 +407,10 @@ SetupPage {
                 }
 
                 QGCGroupBox {
-                    anchors.left:   batteryGroup.left
-                    anchors.right:  batteryGroup.right
-                    title:          qsTr("UAVCAN Motor Index and Direction Assignment")
-                    visible:        showUAVCAN.checked
+                    Layout.maximumWidth:    batteryGroup.width
+                    Layout.fillWidth:       true
+                    title:                  qsTr("UAVCAN Motor Index and Direction Assignment")
+                    visible:                showUAVCAN.checked
 
                     ColumnLayout {
                         anchors.left:   parent.left
@@ -456,10 +456,10 @@ SetupPage {
                 }
 
                 QGCGroupBox {
-                    anchors.left:   batteryGroup.left
-                    anchors.right:  batteryGroup.right
-                    title:          qsTr("Advanced Power Settings")
-                    visible:        showAdvanced.checked
+                    Layout.maximumWidth:    batteryGroup.width
+                    Layout.fillWidth:       true
+                    title:                  qsTr("Advanced Power Settings")
+                    visible:                showAdvanced.checked
 
                     ColumnLayout {
                         anchors.left:   parent.left
@@ -487,7 +487,7 @@ SetupPage {
                             text:               qsTr("Batteries show less voltage at high throttle. Enter the difference in Volts between idle throttle and full ") +
                                                 qsTr("throttle, divided by the number of battery cells. Leave at the default if unsure. ") +
                                                 highlightPrefix + qsTr("If this value is set too high, the battery might be deep discharged and damaged.") + highlightSuffix
-                            Layout.fillWidth:   true
+                            Layout.maximumWidth: ScreenTools.defaultFontPixelWidth * 60
                         }
 
                         Row {

src/AutoPilotPlugins/PX4/PowerComponentSummary.qml

@@ -36,17 +36,17 @@ FactPanel {
         anchors.fill:       parent
 
         VehicleSummaryRow {
-            labelText: qsTr("Battery Full:")
+            labelText: qsTr("Battery Full")
             valueText: batVChargedFact ? batVChargedFact.valueString + " " + batVChargedFact.units : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Battery Empty:")
+            labelText: qsTr("Battery Empty")
             valueText: batVEmptyFact ? batVEmptyFact.valueString + " " + batVEmptyFact.units : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Number of Cells:")
+            labelText: qsTr("Number of Cells")
             valueText: batCellsFact ? batCellsFact.valueString : ""
         }
     }

src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml

@@ -14,46 +14,64 @@ FactPanel {
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     FactPanelController { id: controller; factPanel: panel }
 
-    property Fact returnAltFact:    controller.getParameterFact(-1, "RTL_RETURN_ALT")
-    property Fact descendAltFact:   controller.getParameterFact(-1, "RTL_DESCEND_ALT")
-    property Fact landDelayFact:    controller.getParameterFact(-1, "RTL_LAND_DELAY")
-    property Fact commRCLossFact:   controller.getParameterFact(-1, "COM_RC_LOSS_T")
-    property Fact lowBattAction:    controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
-    property Fact rcLossAction:     controller.getParameterFact(-1, "NAV_RCL_ACT")
-    property Fact dataLossAction:   controller.getParameterFact(-1, "NAV_DLL_ACT")
+    property Fact   returnAltFact:      controller.getParameterFact(-1, "RTL_RETURN_ALT")
+    property Fact   _descendAltFact:    controller.getParameterFact(-1, "RTL_DESCEND_ALT")
+    property Fact   landDelayFact:      controller.getParameterFact(-1, "RTL_LAND_DELAY")
+    property Fact   commRCLossFact:     controller.getParameterFact(-1, "COM_RC_LOSS_T")
+    property Fact   lowBattAction:      controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
+    property Fact   rcLossAction:       controller.getParameterFact(-1, "NAV_RCL_ACT")
+    property Fact   dataLossAction:     controller.getParameterFact(-1, "NAV_DLL_ACT")
+    property Fact   _rtlLandDelayFact:  controller.getParameterFact(-1, "RTL_LAND_DELAY")
+    property int    _rtlLandDelayValue: _rtlLandDelayFact.value
 
     Column {
         anchors.fill:       parent
 
         VehicleSummaryRow {
-            labelText: qsTr("RTL min alt:")
-            valueText: returnAltFact ? returnAltFact.valueString + " " + returnAltFact.units : ""
+            labelText: qsTr("Low Battery Failsafe")
+            valueText: lowBattAction ? lowBattAction.enumStringValue : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("RTL home alt:")
-            valueText: descendAltFact ? descendAltFact.valueString + " " + descendAltFact.units : ""
+            labelText: qsTr("RC Loss Failsafe")
+            valueText: rcLossAction ? rcLossAction.enumStringValue : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("RC loss RTL:")
+            labelText: qsTr("RC Loss Timeout")
             valueText: commRCLossFact ? commRCLossFact.valueString + " " + commRCLossFact.units : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("RC loss action:")
-            valueText: rcLossAction ? rcLossAction.enumStringValue : ""
+            labelText: qsTr("Data Link Loss Failsafe")
+            valueText: dataLossAction ? dataLossAction.enumStringValue : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Link loss action:")
-            valueText: dataLossAction ? dataLossAction.enumStringValue : ""
+            labelText: qsTr("RTL Climb To")
+            valueText: returnAltFact ? returnAltFact.valueString + " " + returnAltFact.units : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Low battery action:")
-            valueText: lowBattAction ? lowBattAction.enumStringValue : ""
+            labelText: qsTr("RTL, Then")
+            valueText: _rtlLandDelayValue === 0 ?
+                           qsTr("Land immediately") :
+                           (_rtlLandDelayValue < 0 ?
+                                qsTr("Loiter and do not land") :
+                                qsTr("Loiter and land after specified time"))
+
         }
 
+        VehicleSummaryRow {
+            labelText: qsTr("Loiter Alt")
+            valueText: _descendAltFact.valueString + " " + _descendAltFact.units
+            visible:    _rtlLandDelayValue !== 0
+        }
+
+        VehicleSummaryRow {
+            labelText: qsTr("Land Delay")
+            valueText: _rtlLandDelayValue + " " + _rtlLandDelayFact.units
+            visible:    _rtlLandDelayValue > 0
+        }
     }
 }

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -20,11 +20,14 @@ const char* SensorsComponent::_airspeedBreakerParam =   "CBRK_AIRSPD_CHK";
 const char* SensorsComponent::_airspeedDisabledParam =  "FW_ARSP_MODE";
 const char* SensorsComponent::_airspeedCalParam =       "SENS_DPRES_OFF";
 
+const char* SensorsComponent::_magEnabledParam =  "SYS_HAS_MAG";
+const char* SensorsComponent::_magCalParam =  "CAL_MAG0_ID";
+
 SensorsComponent::SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
     VehicleComponent(vehicle, autopilot, parent),
     _name(tr("Sensors"))
 {
-    _deviceIds << QStringLiteral("CAL_MAG0_ID") << QStringLiteral("CAL_GYRO0_ID") << QStringLiteral("CAL_ACC0_ID");
+    _deviceIds << QStringLiteral("CAL_GYRO0_ID") << QStringLiteral("CAL_ACC0_ID");
 }
 
 QString SensorsComponent::name(void) const
@@ -54,6 +57,14 @@ bool SensorsComponent::setupComplete(void) const
             return false;
         }
     }
+    bool magEnabled = true;
+    if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _magEnabledParam)) {
+        magEnabled = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _magEnabledParam)->rawValue().toBool();
+    }
+
+    if (magEnabled && _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _magCalParam)->rawValue().toFloat() == 0.0f) {
+        return false;
+    }
 
     if (_vehicle->fixedWing() || _vehicle->vtol()) {
         if (!_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedDisabledParam)->rawValue().toBool() &&
@@ -70,7 +81,7 @@ QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const
 {
     QStringList triggers;
     
-    triggers << _deviceIds;
+    triggers << _deviceIds << _magCalParam << _magEnabledParam;
     if (_vehicle->fixedWing() || _vehicle->vtol()) {
         triggers << _airspeedCalParam << _airspeedBreakerParam;
     }

src/AutoPilotPlugins/PX4/SensorsComponent.h

@@ -44,6 +44,9 @@ private:
     static const char* _airspeedDisabledParam;
     static const char* _airspeedBreakerParam;
     static const char* _airspeedCalParam;
+
+    static const char* _magEnabledParam;
+    static const char* _magCalParam;
 };
 
 #endif

src/AutoPilotPlugins/PX4/SensorsComponentController.cc

@@ -7,10 +7,6 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #include "SensorsComponentController.h"
 #include "QGCMAVLink.h"
 #include "UAS.h"
@@ -22,46 +18,48 @@
 
 QGC_LOGGING_CATEGORY(SensorsComponentControllerLog, "SensorsComponentControllerLog")
 
-SensorsComponentController::SensorsComponentController(void) :
-    _statusLog(NULL),
-    _progressBar(NULL),
-    _compassButton(NULL),
-    _gyroButton(NULL),
-    _accelButton(NULL),
-    _airspeedButton(NULL),
-    _levelButton(NULL),
-    _cancelButton(NULL),
-    _setOrientationsButton(NULL),
-    _showOrientationCalArea(false),
-    _gyroCalInProgress(false),
-    _magCalInProgress(false),
-    _accelCalInProgress(false),
-    _orientationCalDownSideDone(false),
-    _orientationCalUpsideDownSideDone(false),
-    _orientationCalLeftSideDone(false),
-    _orientationCalRightSideDone(false),
-    _orientationCalNoseDownSideDone(false),
-    _orientationCalTailDownSideDone(false),
-    _orientationCalDownSideVisible(false),
-    _orientationCalUpsideDownSideVisible(false),
-    _orientationCalLeftSideVisible(false),
-    _orientationCalRightSideVisible(false),
-    _orientationCalNoseDownSideVisible(false),
-    _orientationCalTailDownSideVisible(false),
-    _orientationCalDownSideInProgress(false),
-    _orientationCalUpsideDownSideInProgress(false),
-    _orientationCalLeftSideInProgress(false),
-    _orientationCalRightSideInProgress(false),
-    _orientationCalNoseDownSideInProgress(false),
-    _orientationCalTailDownSideInProgress(false),
-    _orientationCalDownSideRotate(false),
-    _orientationCalUpsideDownSideRotate(false),
-    _orientationCalLeftSideRotate(false),
-    _orientationCalRightSideRotate(false),
-    _orientationCalNoseDownSideRotate(false),
-    _orientationCalTailDownSideRotate(false),
-    _unknownFirmwareVersion(false),
-    _waitingForCancel(false)
+SensorsComponentController::SensorsComponentController(void)
+    : _statusLog                                (NULL)
+    , _progressBar                              (NULL)
+    , _compassButton                            (NULL)
+    , _gyroButton                               (NULL)
+    , _accelButton                              (NULL)
+    , _airspeedButton                           (NULL)
+    , _levelButton                              (NULL)
+    , _cancelButton                             (NULL)
+    , _setOrientationsButton                    (NULL)
+    , _showOrientationCalArea                   (false)
+    , _gyroCalInProgress                        (false)
+    , _magCalInProgress                         (false)
+    , _accelCalInProgress                       (false)
+    , _airspeedCalInProgress                    (false)
+    , _levelCalInProgress                       (false)
+    , _orientationCalDownSideDone               (false)
+    , _orientationCalUpsideDownSideDone         (false)
+    , _orientationCalLeftSideDone               (false)
+    , _orientationCalRightSideDone              (false)
+    , _orientationCalNoseDownSideDone           (false)
+    , _orientationCalTailDownSideDone           (false)
+    , _orientationCalDownSideVisible            (false)
+    , _orientationCalUpsideDownSideVisible      (false)
+    , _orientationCalLeftSideVisible            (false)
+    , _orientationCalRightSideVisible           (false)
+    , _orientationCalNoseDownSideVisible        (false)
+    , _orientationCalTailDownSideVisible        (false)
+    , _orientationCalDownSideInProgress         (false)
+    , _orientationCalUpsideDownSideInProgress   (false)
+    , _orientationCalLeftSideInProgress         (false)
+    , _orientationCalRightSideInProgress        (false)
+    , _orientationCalNoseDownSideInProgress     (false)
+    , _orientationCalTailDownSideInProgress     (false)
+    , _orientationCalDownSideRotate             (false)
+    , _orientationCalUpsideDownSideRotate       (false)
+    , _orientationCalLeftSideRotate             (false)
+    , _orientationCalRightSideRotate            (false)
+    , _orientationCalNoseDownSideRotate         (false)
+    , _orientationCalTailDownSideRotate         (false)
+    , _unknownFirmwareVersion                   (false)
+    , _waitingForCancel                         (false)
 {
 }
 
@@ -165,7 +163,9 @@ void SensorsComponentController::_stopCalibration(SensorsComponentController::St
     switch (code) {
         case StopCalibrationSuccess:
             _orientationCalAreaHelpText->setProperty("text", tr("Calibration complete"));
-            emit resetStatusTextArea();
+            if (!_airspeedCalInProgress && !_levelCalInProgress) {
+                emit resetStatusTextArea();
+            }
             if (_magCalInProgress) {
                 emit setCompassRotations();
             }
@@ -186,6 +186,7 @@ void SensorsComponentController::_stopCalibration(SensorsComponentController::St
     _magCalInProgress = false;
     _accelCalInProgress = false;
     _gyroCalInProgress = false;
+    _airspeedCalInProgress = false;
 }
 
 void SensorsComponentController::calibrateGyro(void)
@@ -336,6 +337,10 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
             emit orientationCalSidesVisibleChanged();
             emit orientationCalSidesInProgressChanged();
             _updateAndEmitShowOrientationCalArea(true);
+        } else if (text == "airspeed") {
+            _airspeedCalInProgress = true;
+        } else if (text == "level") {
+            _levelCalInProgress = true;
         }
         return;
     }

src/AutoPilotPlugins/PX4/SensorsComponentController.h

@@ -131,7 +131,9 @@ private:
     bool _gyroCalInProgress;
     bool _magCalInProgress;
     bool _accelCalInProgress;
-    
+    bool _airspeedCalInProgress;
+    bool _levelCalInProgress;
+
     bool _orientationCalDownSideDone;
     bool _orientationCalUpsideDownSideDone;
     bool _orientationCalLeftSideDone;

src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml

@@ -29,29 +29,29 @@ FactPanel {
         anchors.fill:       parent
 
         VehicleSummaryRow {
-            labelText: qsTr("Compass 0:")
+            labelText: qsTr("Compass 0")
             valueText: mag0IdFact ? (mag0IdFact.value === 0 ? qsTr("Setup required") : qsTr("Ready")) : ""
         }
 
         VehicleSummaryRow {
-            labelText:  qsTr("Compass 1:")
+            labelText:  qsTr("Compass 1")
             visible:    mag1IdFact.value !== 0
             valueText:  qsTr("Ready")
         }
 
         VehicleSummaryRow {
-            labelText:  qsTr("Compass 2:")
+            labelText:  qsTr("Compass 2")
             visible:    mag2IdFact.value !== 0
             valueText:  qsTr("Ready")
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Gyro:")
+            labelText: qsTr("Gyro")
             valueText: gyro0IdFact ? (gyro0IdFact.value === 0 ? qsTr("Setup required") : qsTr("Ready")) : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("Accelerometer:")
+            labelText: qsTr("Accelerometer")
             valueText: accel0IdFact ? (accel0IdFact.value === 0 ? qsTr("Setup required") : qsTr("Ready")) : ""
         }
     }

src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml

@@ -25,7 +25,7 @@ FactPanel {
     property Fact airspeedDisabledFact: controller.getParameterFact(-1, "FW_ARSP_MODE")
     property Fact airspeedBreakerFact:  controller.getParameterFact(-1, "CBRK_AIRSPD_CHK")
 
-    property bool _airspeedVisible:     airspeedDisabledFact.value === false && airspeedBreakerFact.value !== 162128
+    property bool _airspeedVisible:     airspeedDisabledFact.value == 0 && airspeedBreakerFact.value !== 162128
     property bool _airspeedCalRequired: _airspeedVisible && dpressOffFact.value === 0
 
     Column {

src/AutoPilotPlugins/PX4/SensorsSetup.qml

@@ -140,9 +140,7 @@ Item {
 
         onWaitingForCancelChanged: {
             if (controller.waitingForCancel) {
-                showMessage(qsTr("Calibration Cancel"), qsTr("Waiting for Vehicle to response to Cancel. This may take a few seconds."), 0)
-            } else {
-                hideDialog()
+                showDialog(waitForCancelDialogComponent, qsTr("Calibration Cancel"), qgcView.showDialogDefaultWidth, 0)
             }
         }
     }
@@ -154,6 +152,24 @@ Item {
         }
     }
 
+    Component {
+        id: waitForCancelDialogComponent
+
+        QGCViewMessage {
+            message: qsTr("Waiting for Vehicle to response to Cancel. This may take a few seconds.")
+
+            Connections {
+                target: controller
+
+                onWaitingForCancelChanged: {
+                    if (!controller.waitingForCancel) {
+                        hideDialog()
+                    }
+                }
+            }
+        }
+    }
+
     Component {
         id: preCalibrationDialogComponent
 
@@ -349,11 +365,12 @@ Item {
             spacing:    ScreenTools.defaultFontPixelHeight / 2
 
             IndicatorButton {
+                property bool 	_hasMag: controller.parameterExists(-1, "SYS_HAS_MAG") ? controller.getParameterFact(-1, "SYS_HAS_MAG").value !== 0 : true
                 id:             compassButton
                 width:          _buttonWidth
                 text:           qsTr("Compass")
                 indicatorGreen: cal_mag0_id.value !== 0
-                visible:        QGroundControl.corePlugin.options.showSensorCalibrationCompass && showSensorCalibrationCompass
+                visible:        _hasMag && QGroundControl.corePlugin.options.showSensorCalibrationCompass && showSensorCalibrationCompass
 
                 onClicked: {
                     preCalibrationDialogType = "compass"
@@ -410,7 +427,7 @@ Item {
                 width:          _buttonWidth
                 text:           qsTr("Airspeed")
                 visible:        (controller.vehicle.fixedWing || controller.vehicle.vtol) &&
-                                controller.getParameterFact(-1, "FW_ARSP_MODE").value === false &&
+                                controller.getParameterFact(-1, "FW_ARSP_MODE").value == 0 &&
                                 controller.getParameterFact(-1, "CBRK_AIRSPD_CHK").value !== 162128 &&
                                 QGroundControl.corePlugin.options.showSensorCalibrationAirspeed &&
                                 showSensorCalibrationAirspeed

src/Camera/QGCCameraControl.cc

@@ -790,7 +790,7 @@ QGCCameraControl::_loadSettings(const QDomNodeList nodeList)
                     QVariant typedValue;
                     QString  errorString;
                     if (metaData->convertAndValidateRaw(attr, true /* convertOnly */, typedValue, errorString)) {
-                        metaData->setIncrement(typedValue.toDouble());
+                        metaData->setRawIncrement(typedValue.toDouble());
                     } else {
                         qWarning() << "Invalid step value for" << factName
                                    << " type:"  << metaData->type()

src/FactSystem/Fact.cc

@@ -8,6 +8,7 @@
  ****************************************************************************/
 
 #include "Fact.h"
+#include "FactValueSliderListModel.h"
 #include "QGCMAVLink.h"
 #include "QGCApplication.h"
 #include "QGCCorePlugin.h"
@@ -18,13 +19,14 @@
 static const char* kMissingMetadata = "Meta data pointer missing";
 
 Fact::Fact(QObject* parent)
-    : QObject(parent)
-    , _componentId(-1)
-    , _rawValue(0)
-    , _type(FactMetaData::valueTypeInt32)
-    , _metaData(NULL)
-    , _sendValueChangedSignals(true)
+    : QObject                   (parent)
+    , _componentId              (-1)
+    , _rawValue                 (0)
+    , _type                     (FactMetaData::valueTypeInt32)
+    , _metaData                 (NULL)
+    , _sendValueChangedSignals  (true)
     , _deferredValueChangeSignal(false)
+    , _valueSliderModel         (NULL)
 {    
     FactMetaData* metaData = new FactMetaData(_type, this);
     setMetaData(metaData);
@@ -34,14 +36,15 @@ Fact::Fact(QObject* parent)
 }
 
 Fact::Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent)
-    : QObject(parent)
-    , _name(name)
-    , _componentId(componentId)
-    , _rawValue(0)
-    , _type(type)
-    , _metaData(NULL)
-    , _sendValueChangedSignals(true)
+    : QObject                   (parent)
+    , _name                     (name)
+    , _componentId              (componentId)
+    , _rawValue                 (0)
+    , _type                     (type)
+    , _metaData                 (NULL)
+    , _sendValueChangedSignals  (true)
     , _deferredValueChangeSignal(false)
+    , _valueSliderModel         (NULL)
 {
     FactMetaData* metaData = new FactMetaData(_type, this);
     setMetaData(metaData);
@@ -57,9 +60,8 @@ Fact::Fact(FactMetaData* metaData, QObject* parent)
     , _metaData                 (NULL)
     , _sendValueChangedSignals  (true)
     , _deferredValueChangeSignal(false)
+    , _valueSliderModel         (NULL)
 {
-    // Allow core plugin a chance to override the default value
-    qgcApp()->toolbox()->corePlugin()->adjustSettingMetaData(*metaData);
     setMetaData(metaData, true /* setDefaultFromMetaData */);
 }
 
@@ -78,7 +80,7 @@ const Fact& Fact::operator=(const Fact& other)
     _type                       = other._type;
     _sendValueChangedSignals    = other._sendValueChangedSignals;
     _deferredValueChangeSignal  = other._deferredValueChangeSignal;
-
+    _valueSliderModel       = NULL;
     if (_metaData && other._metaData) {
         *_metaData = *other._metaData;
     } else {
@@ -633,10 +635,20 @@ QString Fact::enumOrValueString(void)
     return QString();
 }
 
-double Fact::increment(void) const
+double Fact::rawIncrement(void) const
 {
     if (_metaData) {
-        return _metaData->increment();
+        return _metaData->rawIncrement();
+    } else {
+        qWarning() << kMissingMetadata << name();
+    }
+    return std::numeric_limits<double>::quiet_NaN();
+}
+
+double Fact::cookedIncrement(void) const
+{
+    if (_metaData) {
+        return _metaData->cookedIncrement();
     } else {
         qWarning() << kMissingMetadata << name();
     }
@@ -682,3 +694,11 @@ bool Fact::volatileValue(void) const
         return false;
     }
 }
+
+FactValueSliderListModel* Fact::valueSliderModel(void)
+{
+    if (!_valueSliderModel) {
+        _valueSliderModel = new FactValueSliderListModel(*this);
+    }
+    return _valueSliderModel;
+}

src/FactSystem/Fact.h

@@ -20,6 +20,9 @@
 #include <QString>
 #include <QVariant>
 #include <QDebug>
+#include <QAbstractListModel>
+
+class FactValueSliderListModel;
 
 /// @brief A Fact is used to hold a single value within the system.
 class Fact : public QObject
@@ -66,7 +69,7 @@ public:
     Q_PROPERTY(bool         valueEqualsDefault      READ valueEqualsDefault                                 NOTIFY valueChanged)
     Q_PROPERTY(QString      valueString             READ cookedValueString                                  NOTIFY valueChanged)
     Q_PROPERTY(QString      enumOrValueString       READ enumOrValueString                                  NOTIFY valueChanged)
-    Q_PROPERTY(double       increment               READ increment                                          CONSTANT)
+    Q_PROPERTY(double       increment               READ cookedIncrement                                    CONSTANT)
     Q_PROPERTY(bool         typeIsString            READ typeIsString                                       CONSTANT)
     Q_PROPERTY(bool         typeIsBool              READ typeIsBool                                         CONSTANT)
     Q_PROPERTY(bool         hasControl              READ hasControl                                         CONSTANT)
@@ -115,7 +118,8 @@ public:
     bool            valueEqualsDefault      (void) const;
     bool            rebootRequired          (void) const;
     QString         enumOrValueString       (void);         // This is not const, since an unknown value can modify the enum lists
-    double          increment               (void) const;
+    double          rawIncrement            (void) const;
+    double          cookedIncrement         (void) const;
     bool            typeIsString            (void) const { return type() == FactMetaData::valueTypeString; }
     bool            typeIsBool              (void) const { return type() == FactMetaData::valueTypeBool; }
     bool            hasControl              (void) const;
@@ -123,6 +127,8 @@ public:
     bool            writeOnly               (void) const;
     bool            volatileValue           (void) const;
 
+    Q_INVOKABLE FactValueSliderListModel* valueSliderModel(void);
+
     /// Returns the values as a string with full 18 digit precision if float/double.
     QString rawValueStringFullPrecision(void) const;
 
@@ -192,6 +198,7 @@ protected:
     FactMetaData*               _metaData;
     bool                        _sendValueChangedSignals;
     bool                        _deferredValueChangeSignal;
+    FactValueSliderListModel*   _valueSliderModel;
 };
 
 #endif

src/FactSystem/FactControls/FactCheckBox.qml

@@ -8,14 +8,13 @@ import QGroundControl.Controls 1.0
 
 QGCCheckBox {
     property Fact fact: Fact { }
-
+    property variant checkedValue:   1
+    property variant uncheckedValue: 0
     checkedState: fact ?
                       (fact.typeIsBool ?
                            (fact.value === false ? Qt.Unchecked : Qt.Checked) :
                            (fact.value === 0 ? Qt.Unchecked : Qt.Checked)) :
                       Qt.Unchecked
 
-    text: qsTr("Label")
-
-    onClicked: fact.value = checked ? 1 : 0
+    onClicked: fact.value = (checked ? checkedValue : uncheckedValue)
 }

src/FactSystem/FactControls/FactPanelController.cc

@@ -88,6 +88,8 @@ void FactPanelController::_reportMissingParameter(int componentId, const QString
 
     QString missingParam = QString("%1:%2").arg(componentId).arg(name);
 
+    qCWarning(FactPanelControllerLog) << "Missing parameter:" << missingParam;
+
     // If missing parameters a reported from the constructor of a derived class we
     // will not have access to _factPanel yet. Just record list of missing facts
     // in that case instead of notify. Once _factPanel is available they will be

src/FactSystem/FactControls/FactTextField.qml

@@ -20,16 +20,11 @@ QGCTextField {
 
     property string _validateString
 
-    // At this point all Facts are numeric
     inputMethodHints: ((fact && fact.typeIsString) || ScreenTools.isiOS) ?
                           Qt.ImhNone :                // iOS numeric keyboard has no done button, we can't use it
                           Qt.ImhFormattedNumbersOnly  // Forces use of virtual numeric keyboard
 
     onEditingFinished: {
-        if (ScreenTools.isMobile) {
-            // Toss focus on mobile after Done on virtual keyboard. Prevent strange interactions.
-            focus = false
-        }
         if (typeof qgcView !== 'undefined' && qgcView) {
             var errorString = fact.validate(text, false /* convertOnly */)
             if (errorString === "") {

src/FactSystem/FactControls/FactValueSlider.qml

+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtQuick.Dialogs  1.2
+
+import QGroundControl.Palette       1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FactSystem    1.0
+
+Rectangle {
+    height: _itemHeight
+    width:  _totalSlots * _itemWidth
+    color:  qgcPal.textField
+
+    property Fact   fact:               undefined
+    property int    digitCount:         4           ///< The number of digits to show for each value
+    property int    incrementSlots:     1           ///< The number of visible slots to left/right of center value
+
+    property int    _totalDigitCount:       digitCount + 1 + fact.units.length
+    property real   _margins:               (ScreenTools.implicitTextFieldHeight - ScreenTools.defaultFontPixelHeight) / 2
+    property real   _increment:             fact.increment
+    property real   _value:                 fact.value
+    property int    _decimalPlaces:         fact.decimalPlaces
+    property string _units:                 fact.units
+    property real   _prevValue:             _value - _increment
+    property real   _nextValue:             _value + _increment
+    property real   _itemWidth:             (_totalDigitCount * ScreenTools.defaultFontPixelWidth) + (_margins * 2)
+    property real   _itemHeight:            ScreenTools.implicitTextFieldHeight
+    property var    _valueModel
+    property int    _totalSlots:            (incrementSlots * 2) + 1
+    property int    _currentIndex:          _totalSlots / 2
+    property int    _currentRelativeIndex:  _currentIndex
+    property int    _prevIncrementSlots:    incrementSlots
+    property int    _nextIncrementSlots:    incrementSlots
+    property int    _selectionWidth:        3
+    property var    _model:                 fact.valueSliderModel()
+    property var    _fact:                  fact
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: parent.enabled }
+    QGCPalette { id: qgcPalDisabled; colorGroupEnabled: false }
+
+    function firstVisibleIndex() {
+        return valueListView.contentX / _itemWidth
+    }
+
+    function recalcRelativeIndex() {
+        _currentRelativeIndex = _currentIndex - firstVisibleIndex()
+        _prevIncrementSlots = _currentRelativeIndex
+        _nextIncrementSlots = _totalSlots - _currentRelativeIndex - 1
+    }
+
+    function reset() {
+        valueListView.positionViewAtIndex(0, ListView.Beginning)
+        _currentIndex = _model.resetInitialValue()
+        valueListView.positionViewAtIndex(_currentIndex, ListView.Center)
+        recalcRelativeIndex()
+    }
+
+    Component.onCompleted: {
+        valueListView.maximumFlickVelocity = valueListView.maximumFlickVelocity / 2
+        reset()
+    }
+
+    Connections {
+        target:         _fact
+        onValueChanged: reset()
+    }
+
+    Component {
+        id: editDialogComponent
+
+        ParameterEditorDialog {
+            fact:           _fact
+        }
+    }
+
+    QGCListView {
+        id:             valueListView
+        anchors.fill:   parent
+        orientation:    ListView.Horizontal
+        snapMode:       ListView.SnapToItem
+        clip:           true
+        model:          _model
+
+        delegate: QGCLabel {
+            width:                  _itemWidth
+            height:                 _itemHeight
+            verticalAlignment:      Text.AlignVCenter
+            horizontalAlignment:    Text.AlignHCenter
+            text:                   value + " " + _units
+            color:                  qgcPal.textFieldText
+
+            MouseArea {
+                anchors.fill:   parent
+                onClicked: {
+                    valueListView.focus = true
+                    if (_currentIndex === index) {
+                        qgcView.showDialog(editDialogComponent, qsTr("Value Details"), qgcView.showDialogDefaultWidth, StandardButton.Save | StandardButton.Cancel)
+                    } else {
+                        _currentIndex = index
+                        valueListView.positionViewAtIndex(_currentIndex, ListView.Center)
+                        recalcRelativeIndex()
+                        fact.value = value
+                    }
+                }
+            }
+        }
+
+        onMovementStarted: valueListView.focus = true
+
+        onMovementEnded: {
+            _currentIndex = firstVisibleIndex() + _currentRelativeIndex
+            fact.value = _model.valueAtModelIndex(_currentIndex)
+        }
+    }
+
+    Rectangle {
+        id:         leftOverlay
+        width:      _itemWidth * _prevIncrementSlots
+        height:     _itemHeight
+        color:      qgcPal.textField
+        opacity:    0.5
+    }
+
+    Rectangle {
+        width:          _itemWidth * _nextIncrementSlots
+        height:         _itemHeight
+        anchors.right:  parent.right
+        color:          qgcPal.textField
+        opacity:        0.5
+    }
+
+    Rectangle {
+        x:              _currentRelativeIndex * _itemWidth - _borderWidth
+        y:              -_borderWidth
+        width:          _itemWidth + (_borderWidth * 2)
+        height:         _itemHeight + (_borderWidth * 2)
+        border.width:   _borderWidth
+        border.color:   qgcPal.brandingBlue
+        color:          "transparent"
+
+        readonly property int _borderWidth: 3
+    }
+}

src/FactSystem/FactControls/qmldir

@@ -8,3 +8,4 @@ FactPanel           1.0 FactPanel.qml
 FactTextField       1.0 FactTextField.qml
 FactTextFieldGrid   1.0 FactTextFieldGrid.qml
 FactTextFieldRow    1.0 FactTextFieldRow.qml
+FactValueSlider     1.0 FactValueSlider.qml

src/FactSystem/FactGroup.cc

@@ -105,6 +105,7 @@ void FactGroup::_addFact(Fact* fact, const QString& name)
         fact->setMetaData(_nameToFactMetaDataMap[name]);
     }
     _nameToFactMap[name] = fact;
+    _factNames.append(name);
 }
 
 void FactGroup::_addFactGroup(FactGroup* factGroup, const QString& name)

src/FactSystem/FactGroup.h

@@ -38,7 +38,7 @@ public:
     /// @return FactGroup for specified name, NULL if not found
     Q_INVOKABLE FactGroup* getFactGroup(const QString& name);
 
-    QStringList factNames(void) const { return _nameToFactMap.keys(); }
+    QStringList factNames(void) const { return _factNames; }
     QStringList factGroupNames(void) const { return _nameToFactGroupMap.keys(); }
 
 protected:
@@ -59,7 +59,7 @@ protected:
     QMap<QString, Fact*>            _nameToFactMap;
     QMap<QString, FactGroup*>       _nameToFactGroupMap;
     QMap<QString, FactMetaData*>    _nameToFactMetaDataMap;
-
+    QStringList                     _factNames;
 };
 
 #endif

src/FactSystem/FactMetaData.h

@@ -111,7 +111,8 @@ public:
 
     /// Amount to increment value when used in controls such as spin button or slider with detents.
     /// NaN for no increment available.
-    double          increment               (void) const { return _increment; }
+    double          rawIncrement            (void) const { return _rawIncrement; }
+    double          cookedIncrement         (void) const;
 
     Translator      rawTranslator           (void) const { return _rawTranslator; }
     Translator      cookedTranslator        (void) const { return _cookedTranslator; }
@@ -135,7 +136,7 @@ public:
     void setShortDescription(const QString& shortDescription)   { _shortDescription = shortDescription; }
     void setRawUnits        (const QString& rawUnits);
     void setRebootRequired  (bool rebootRequired)               { _rebootRequired = rebootRequired; }
-    void setIncrement       (double increment)                  { _increment = increment; }
+    void setRawIncrement    (double increment)                  { _rawIncrement = increment; }
     void setHasControl      (bool bValue)                       { _hasControl = bValue; }
     void setReadOnly        (bool bValue)                       { _readOnly = bValue; }
     void setWriteOnly       (bool bValue)                       { _writeOnly = bValue; }
@@ -215,7 +216,7 @@ private:
     };
 
     struct AppSettingsTranslation_s {
-        const char*     rawUnits;
+        QString     rawUnits;
         const char*     cookedUnits;
         UnitTypes       unitType;
         uint32_t        unitOption;
@@ -248,7 +249,7 @@ private:
     Translator      _rawTranslator;
     Translator      _cookedTranslator;
     bool            _rebootRequired;
-    double          _increment;
+    double          _rawIncrement;
     bool            _hasControl;
     bool            _readOnly;
     bool            _writeOnly;
@@ -264,7 +265,7 @@ private:
     } constants;
 
     struct BuiltInTranslation_s {
-        const char* rawUnits;
+        QString rawUnits;
         const char* cookedUnits;
         Translator  rawTranslator;
         Translator  cookedTranslator;
@@ -285,6 +286,7 @@ private:
     static const char*  _mobileDefaultValueJsonKey;
     static const char*  _minJsonKey;
     static const char*  _maxJsonKey;
+    static const char*  _incrementJsonKey;
     static const char* _hasControlJsonKey;
 };
 

src/FactSystem/FactSystem.h

@@ -20,10 +20,6 @@
 
 /// The components of the FactSystem are a Fact which holds an individual value. FactMetaData holds
 /// additional meta data associated with a Fact such as description, min/max ranges and so forth.
-/// The FactValidator object is a QML validator which validates input according to the FactMetaData
-/// settings. Client code can then use this system to expose sets of Facts to QML code. An example
-/// of this is the PX4ParameterMetaData onbject which is part of the PX4 AutoPilot plugin. It exposes
-/// the firmware parameters to QML such that you can bind QML ui elements directly to parameters.
 
 class FactSystem : public QGCTool
 {

src/FactSystem/FactValidator.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.
- *
- ****************************************************************************/
-
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#ifndef FactValidator_H
-#define FactValidator_H
-
-#include <QValidator>
-
-class Fact;
-
-/// QML Validator for Facts (Work In Progress)
-///
-/// The validator uses the FactMetaData to impose restrictions on the input. It is used as follows:
-/// @code{.unparsed}
-///     TextInput {
-///         validator: FactValidator { fact: parameters["RC_MAP_THROTTLE"]; }
-///     }
-/// @endcode
-class FactValidator : public QValidator
-{
-    Q_OBJECT
-    
-    Q_PROPERTY(Fact* fact READ fact WRITE setFact)
-    
-public:
-    FactValidator(QObject* parent = NULL);
-    
-    // Property system methods
-    
-    /// Read accessor for fact property
-    Fact* fact(void) { return _fact; }
-    
-    /// Write accessor for fact property
-    void setFact(Fact* fact) { _fact = fact; }
-    
-    /// Override from QValidator
-    virtual void fixup(QString& input) const;
-    
-    /// Override from QValidator
-    virtual State validate(QString& input, int& pos) const;
-    
-private:
-    Fact* _fact;    ///< Fact that the validator is working on
-};
-
-#endif
\ No newline at end of file

src/FactSystem/FactValueSliderListModel.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 "FactValueSliderListModel.h"
+
+#include <QDebug>
+#include <QQmlEngine>
+#include <QtMath>
+
+#include <math.h>
+
+const int FactValueSliderListModel::_valueRole =        Qt::UserRole;
+const int FactValueSliderListModel::_valueIndexRole =   Qt::UserRole + 1;
+
+FactValueSliderListModel::FactValueSliderListModel(Fact& fact, QObject* parent)
+    : QAbstractListModel        (parent)
+    , _fact                     (fact)
+    , _cValues                  (0)
+    , _firstValueIndexInWindow  (0)
+    , _initialValueIndex        (0)
+    , _cPrevValues              (0)
+    , _cNextValues              (0)
+    , _initialValue             (0)
+    , _initialValueRounded      (0)
+    , _increment                (0)
+{
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
+}
+
+FactValueSliderListModel::~FactValueSliderListModel()
+{
+}
+
+int FactValueSliderListModel::resetInitialValue(void)
+{
+    if (_cValues > 0) {
+        // Remove any old rows
+        beginRemoveRows(QModelIndex(), 0, _cValues - 1);
+        _cValues = 0;
+        endRemoveRows();
+    }
+
+    _initialValue = _fact.cookedValue().toDouble();
+    _initialValueRounded = qRound(_initialValue);
+    if (qRound(_fact.rawIncrement()) == _fact.rawIncrement()) {
+        _increment = qRound(_fact.cookedIncrement());
+    } else {
+        _increment = _fact.cookedIncrement();
+    }
+    _cPrevValues = qMin((_initialValue - _fact.cookedMin().toDouble()), 1000.0) / _increment;
+    _cNextValues = qMin((_fact.cookedMax().toDouble() - _initialValue), 1000.0) / _increment;
+    _initialValueIndex = _cPrevValues;
+
+    int totalValueCount = _cPrevValues + 1 + _cNextValues;
+    beginInsertRows(QModelIndex(), 0, totalValueCount - 1);
+    _cValues = totalValueCount;
+    endInsertRows();
+
+    return _initialValueIndex;
+}
+
+int FactValueSliderListModel::rowCount(const QModelIndex& parent) const
+{
+    Q_UNUSED(parent);
+    
+    return _cValues;
+}
+
+QVariant FactValueSliderListModel::data(const QModelIndex &index, int role) const
+{
+    Q_UNUSED(role);
+
+    if (!index.isValid()) {
+        return QVariant();
+    }
+    
+    int valueIndex = index.row();
+    if (valueIndex >= _cValues) {
+        return QVariant();
+    }
+
+    if (role == _valueRole) {
+        double value;
+        int cIncrementCount = valueIndex - _initialValueIndex;
+        if (cIncrementCount == 0) {
+            value = _initialValue;
+        } else {
+            value = _initialValueRounded + (cIncrementCount * _increment);
+        }
+        double precision = qPow(10, _fact.decimalPlaces());
+        double atPrecision = qRound(value * precision) / precision;
+        //qDebug() << value << precision << atPrecision << _fact.decimalPlaces() << _fact.name();
+        return QVariant(atPrecision);
+    } else if (role == _valueIndexRole) {
+        return QVariant::fromValue(valueIndex);
+    } else {
+        return QVariant();
+    }
+
+
+}
+
+QHash<int, QByteArray> FactValueSliderListModel::roleNames(void) const
+{
+    QHash<int, QByteArray> hash;
+
+    hash[_valueRole] = "value";
+    hash[_valueIndexRole] = "valueIndex";
+
+    return hash;
+}
+
+double FactValueSliderListModel::valueAtModelIndex(int index)
+{
+    return data(createIndex(index, 0), _valueRole).toDouble();
+
+}
+
+int FactValueSliderListModel::valueIndexAtModelIndex(int index)
+{
+    return data(createIndex(index, 0), _valueIndexRole).toInt();
+}

src/FactSystem/FactValueSliderListModel.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 <QAbstractListModel>
+
+#include "Fact.h"
+
+/// Provides a list model of values for incrementing/decrementing the value of a Fact
+class FactValueSliderListModel : public QAbstractListModel
+{
+    Q_OBJECT
+    
+public:
+    FactValueSliderListModel(Fact& fact, QObject* parent = NULL);
+    ~FactValueSliderListModel();
+
+    Q_INVOKABLE int resetInitialValue(void);
+    Q_INVOKABLE double valueAtModelIndex(int index);
+    Q_INVOKABLE int valueIndexAtModelIndex(int index);
+
+private:
+    // Overrides from QAbstractListModel
+    int	rowCount(const QModelIndex & parent = QModelIndex()) const override;
+    QVariant data(const QModelIndex & index, int role = Qt::DisplayRole) const override;
+    QHash<int, QByteArray> roleNames(void) const override;
+
+    Fact&   _fact;
+    int     _cValues;
+    int     _firstValueIndexInWindow;
+    int     _initialValueIndex;
+    int     _cPrevValues;
+    int     _cNextValues;
+    int     _windowSize;
+    double  _initialValue;
+    double  _initialValueRounded;
+    double  _increment;
+
+    static const int _valueRole;
+    static const int _valueIndexRole;
+};