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

src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml

@@ -8262,6 +8262,21 @@ is less than 50% of this value</short_desc>
       <long_desc>This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.</long_desc>
       <unit>deg</unit>
     </parameter>
+    <parameter default="0" name="SENS_CM8JL65_CFG" type="INT32">
+      <short_desc>Serial Configuration for Lanbao PSK-CM8JL65-CC5</short_desc>
+      <long_desc>Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.</long_desc>
+      <reboot_required>true</reboot_required>
+      <values>
+        <value code="0">Disabled</value>
+        <value code="6">UART 6</value>
+        <value code="101">TELEM 1</value>
+        <value code="102">TELEM 2</value>
+        <value code="103">TELEM 3</value>
+        <value code="104">TELEM/SERIAL 4</value>
+        <value code="201">GPS 1</value>
+        <value code="202">GPS 2</value>
+      </values>
+    </parameter>
     <parameter default="0" name="SENS_EN_BATT" type="INT32">
       <short_desc>SMBUS Smart battery driver (BQ40Z50)</short_desc>
       <boolean />

src/VehicleSetup/Bootloader.h

@@ -74,6 +74,7 @@ public:
     static const int boardIDTAPV1 = 64;         ///< TAP V1 board, as from USB PID
     static const int boardIDASCV1 = 65;         ///< ASC V1 board, as from USB PID
     static const int boardIDCrazyflie2 = 12;    ///< Crazyflie 2.0 board, as from USB PID
+    static const int boardIDOmnibusF4SD = 42;   ///< Omnibus F4 SD, as from USB PID
     static const int boardIDNXPHliteV3 = 28;    ///< NXPHliteV3 board, as from USB PID
 
     /// Simulated board id for V3 which is a V2 board which supports larger flash space

src/VehicleSetup/FirmwareUpgradeController.cc

@@ -262,6 +262,12 @@ void FirmwareUpgradeController::_initFirmwareHash()
         { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/crazyflie_default.px4"},
     };
 
+    FirmwareToUrlElement_t rgOmnibusF4SDFirmwareArray[] = {
+        { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/omnibus_f4sd_default.px4"},
+        { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/omnibus_f4sd_default.px4"},
+        { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/omnibus_f4sd_default.px4"},
+    };
+
     /////////////////////////////// px4flow firmwares ///////////////////////////////////////
     FirmwareToUrlElement_t rgPX4FLowFirmwareArray[] = {
         { PX4FlowPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4" },
@@ -447,6 +453,12 @@ void FirmwareUpgradeController::_initFirmwareHash()
         _rgCrazyflie2Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
     }
 
+    size = sizeof(rgOmnibusF4SDFirmwareArray)/sizeof(rgOmnibusF4SDFirmwareArray[0]);
+    for (int i = 0; i < size; i++) {
+        const FirmwareToUrlElement_t& element = rgOmnibusF4SDFirmwareArray[i];
+        _rgOmnibusF4SDFirmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
+    }
+
     size = sizeof(rgPX4FLowFirmwareArray)/sizeof(rgPX4FLowFirmwareArray[0]);
     for (int i = 0; i < size; i++) {
         const FirmwareToUrlElement_t& element = rgPX4FLowFirmwareArray[i];
@@ -514,6 +526,9 @@ QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeCo
     case Bootloader::boardIDCrazyflie2:
         rgFirmware = &_rgCrazyflie2Firmware;
         break;
+    case Bootloader::boardIDOmnibusF4SD:
+        rgFirmware = &_rgOmnibusF4SDFirmware;
+        break;
     case Bootloader::boardIDNXPHliteV3:
         rgFirmware = &_rgNXPHliteV3Firmware;
         break;

src/VehicleSetup/FirmwareUpgradeController.h

@@ -211,6 +211,7 @@ private:
     QHash<FirmwareIdentifier, QString> _rgTAPV1Firmware;
     QHash<FirmwareIdentifier, QString> _rgASCV1Firmware;
     QHash<FirmwareIdentifier, QString> _rgCrazyflie2Firmware;
+    QHash<FirmwareIdentifier, QString> _rgOmnibusF4SDFirmware;
     QHash<FirmwareIdentifier, QString> _rgNXPHliteV3Firmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FLowFirmware;
     QHash<FirmwareIdentifier, QString> _rg3DRRadioFirmware;

src/VideoStreaming/VideoReceiver.cc

@@ -472,7 +472,7 @@ VideoReceiver::start()
 void
 VideoReceiver::stop()
 {
-    if(qgcApp()->runningUnitTests()) {
+    if(qgcApp() && qgcApp()->runningUnitTests()) {
         return;
     }
 #if defined(QGC_GST_STREAMING)

src/api/QGCCorePlugin.cc

@@ -18,6 +18,10 @@
 #include "VideoReceiver.h"
 #include "QGCLoggingCategory.h"
 
+#if !defined(__mobile__)
+#include "QGCQmlWidgetHolder.h"
+#endif
+
 #include <QtQml>
 #include <QQmlEngine>
 
@@ -324,3 +328,17 @@ QString QGCCorePlugin::stableVersionCheckFileUrl(void) const
     return QString("https://s3-us-west-2.amazonaws.com/qgroundcontrol/latest/QGC.version.txt");
 #endif
 }
+
+#if !defined(__mobile__)
+QGCQmlWidgetHolder* QGCCorePlugin::createMainQmlWidgetHolder(QLayout *mainLayout, QWidget* parent)
+{
+    QGCQmlWidgetHolder* pMainQmlWidgetHolder = new QGCQmlWidgetHolder(QString(), nullptr, parent);
+    mainLayout->addWidget(pMainQmlWidgetHolder);
+    pMainQmlWidgetHolder->setVisible(true);
+    QQmlEngine::setObjectOwnership(parent, QQmlEngine::CppOwnership);
+    pMainQmlWidgetHolder->setContextPropertyObject("controller", parent);
+    pMainQmlWidgetHolder->setContextPropertyObject("debugMessageModel", AppMessages::getModel());
+    pMainQmlWidgetHolder->setSource(QUrl::fromUserInput("qrc:qml/MainWindowHybrid.qml"));
+    return pMainQmlWidgetHolder;
+}
+#endif

src/api/QGCCorePlugin.h

@@ -34,6 +34,12 @@ class QmlObjectListModel;
 class VideoReceiver;
 class PlanMasterController;
 
+#if !defined(__mobile__)
+class QLayout;
+class QMainWindow;
+class QGCQmlWidgetHolder;
+#endif
+
 class QGCCorePlugin : public QGCTool
 {
     Q_OBJECT
@@ -102,6 +108,11 @@ public:
     /// Allows the plugin to override the creation of the root (native) window.
     virtual QQmlApplicationEngine* createRootWindow(QObject* parent);
 
+    /// Allows the plugin to have a chance to initialize the creation of the root (non native) window.
+#if !defined(__mobile__)
+    virtual QGCQmlWidgetHolder* createMainQmlWidgetHolder(QLayout* mainLayout, QWidget *parent);
+#endif
+
     /// Allows the plugin to override the creation of VideoReceiver.
     virtual VideoReceiver* createVideoReceiver(QObject* parent);
 

src/ui/MainWindow.cc

@@ -84,7 +84,7 @@ static const char *rgDockWidgetNames[] = {
 static const char* _visibleWidgetsKey = "VisibleWidgets";
 #endif
 
-static MainWindow* _instance = NULL;   ///< @brief MainWindow singleton
+static MainWindow* _instance = nullptr;   ///< @brief MainWindow singleton
 
 MainWindow* MainWindow::_create()
 {
@@ -106,10 +106,10 @@ void MainWindow::deleteInstance(void)
 ///         by MainWindow::_create method. Hence no other code should have access to
 ///         constructor.
 MainWindow::MainWindow()
-    : _mavlinkDecoder       (NULL)
+    : _mavlinkDecoder       (nullptr)
     , _lowPowerMode         (false)
     , _showStatusBar        (false)
-    , _mainQmlWidgetHolder  (NULL)
+    , _mainQmlWidgetHolder  (nullptr)
     , _forceClose           (false)
 {
     _instance = this;
@@ -138,21 +138,15 @@ MainWindow::MainWindow()
     _centralLayout->setContentsMargins(0, 0, 0, 0);
     centralWidget()->setLayout(_centralLayout);
 
-    _mainQmlWidgetHolder = new QGCQmlWidgetHolder(QString(), NULL, this);
-    _centralLayout->addWidget(_mainQmlWidgetHolder);
-    _mainQmlWidgetHolder->setVisible(true);
-
-    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
-    _mainQmlWidgetHolder->setContextPropertyObject("controller", this);
-    _mainQmlWidgetHolder->setContextPropertyObject("debugMessageModel", AppMessages::getModel());
-    _mainQmlWidgetHolder->setSource(QUrl::fromUserInput("qrc:qml/MainWindowHybrid.qml"));
+    //-- Allow plugin to initialize main QML Widget
+    _mainQmlWidgetHolder = qgcApp()->toolbox()->corePlugin()->createMainQmlWidgetHolder(_centralLayout, this);
 
     // Image provider
     QQuickImageProvider* pImgProvider = dynamic_cast<QQuickImageProvider*>(qgcApp()->toolbox()->imageProvider());
     _mainQmlWidgetHolder->getEngine()->addImageProvider(QStringLiteral("QGCImages"), pImgProvider);
 
     // Set dock options
-    setDockOptions(0);
+    setDockOptions(nullptr);
     // Setup corners
     setCorner(Qt::BottomRightCorner, Qt::BottomDockWidgetArea);
 
@@ -162,7 +156,7 @@ MainWindow::MainWindow()
 #endif
 
 #ifdef UNITTEST_BUILD
-    QAction* qmlTestAction = new QAction("Test QML palette and controls", NULL);
+    QAction* qmlTestAction = new QAction("Test QML palette and controls", nullptr);
     connect(qmlTestAction, &QAction::triggered, this, &MainWindow::_showQmlTestWidget);
     _ui.menuWidgets->addAction(qmlTestAction);
 #endif
@@ -246,14 +240,14 @@ MainWindow::~MainWindow()
         _mavlinkDecoder->finish();
         _mavlinkDecoder->wait(1000);
         _mavlinkDecoder->deleteLater();
-        _mavlinkDecoder = NULL;
+        _mavlinkDecoder = nullptr;
     }
 
     // This needs to happen before we get into the QWidget dtor
     // otherwise  the QML engine reads freed data and tries to
     // destroy MainWindow a second time.
     delete _mainQmlWidgetHolder;
-    _instance = NULL;
+    _instance = nullptr;
 }
 
 QString MainWindow::_getWindowGeometryKey()
@@ -315,7 +309,7 @@ void MainWindow::_showDockWidget(const QString& name, bool show)
 /// Creates the specified inner dock widget and adds to the QDockWidget
 bool MainWindow::_createInnerDockWidget(const QString& widgetName)
 {
-    QGCDockWidget* widget = NULL;
+    QGCDockWidget* widget = nullptr;
     QAction *action = _mapName2Action[widgetName];
     if(action) {
         switch(action->data().toInt()) {
@@ -339,7 +333,7 @@ bool MainWindow::_createInnerDockWidget(const QString& widgetName)
             _mapName2DockWidget[widgetName] = widget;
         }
     }
-    return widget != NULL;
+    return widget != nullptr;
 }
 
 void MainWindow::_hideAllDockWidgets(void)