Adjusted generator, fixed Linux compile issue

qgroundcontrol.pri

@@ -188,7 +188,7 @@ linux-g++ {
     DEFINES += QGC_OSGEARTH_ENABLED
     }
 
-    exists(/usr/local/include/libfreenect) {
+    exists(/usr/local/include/libfreenect/libfreenect.h) {
     message("Building support for libfreenect")
     DEPENDENCIES_PRESENT += libfreenect
     INCLUDEPATH += /usr/include/libusb-1.0

src/comm/MAVLinkProtocol.cc

@@ -325,6 +325,8 @@ void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message
 {
     // Create buffer
     uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+    // Rewriting header to ensure correct link ID is set
+    if (link->getId() != 0) mavlink_finalize_message_chan(&message, this->getSystemId(), this->getComponentId(), link->getId(), message.len);
     // Write message into buffer, prepending start sign
     int len = mavlink_msg_to_send_buffer(buffer, &message);
     // If link is connected

src/comm/MAVLinkXMLParser.cc

@@ -341,7 +341,8 @@ bool MAVLinkXMLParser::generate()
 
                                         QString decode("static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n");
                                         QString pack("static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n");
-                                        QString compactSend("#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif");
+                                        QString packChan("static inline uint16_t mavlink_msg_%1_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);\n}\n\n");
+                                        QString compactSend("#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif");
                                         //QString compactStructSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_struct_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_encode(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
                                         QString unpacking;
                                         QString prepends;
@@ -506,10 +507,11 @@ bool MAVLinkXMLParser::generate()
                                         cStruct = cStruct.arg(cStructName, cStructLines);
                                         lcmStructDefs.append("\n").append(cStruct).append("\n");
                                         pack = pack.arg(messageName, packParameters, messageName.toUpper(), packLines);
+                                        packChan = packChan.arg(messageName, packParameters, messageName.toUpper(), packLines);
                                         encode = encode.arg(messageName).arg(cStructName).arg(packArguments);
                                         decode = decode.arg(messageName).arg(cStructName).arg(decodeLines);
                                         compactSend = compactSend.arg(channelType, messageType, messageName, sendArguments, packParameters);
-                                        QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine + "\n\n" + cStruct + "\n\n" + arrayDefines + "\n\n" + commentContainer.arg(messageName.toLower(), commentLines) + pack + encode + "\n" + compactSend + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + decode;
+                                        QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine + "\n\n" + cStruct + "\n\n" + arrayDefines + "\n\n" + commentContainer.arg(messageName.toLower(), commentLines) + pack + packChan + encode + "\n" + compactSend + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + decode;
                                         cFiles.append(qMakePair(QString("mavlink_msg_%1.h").arg(messageName), cFile));
                                     } // Check if tag = message
                                 } // Check if e = NULL

src/ui/map3D/Pixhawk3DWidget.h

@@ -137,10 +137,10 @@ private:
     osg::ref_ptr<osg::Geode> rgbd3DNode;
 #ifdef QGC_LIBFREENECT_ENABLED
     QScopedPointer<Freenect> freenect;
+    QVector<Freenect::Vector6D> pointCloud;
 #endif
     QSharedPointer<QByteArray> rgb;
     QSharedPointer<QByteArray> coloredDepth;
-    QVector<Freenect::Vector6D> pointCloud;
 
     QVector< osg::ref_ptr<osg::Node> > vehicleModels;