First stab at better multi-use / multi-platform requirements

dongfang_qgroundcontrol_notes.txt

-From where is the 3D mouse used?
-
-
-Comm folder:
-============
-
-LinkInterface is a QThread. Appears to describe an interface on the host system (TCP port, serial port, ....).
-  Does it suppport multiple connections?
-SerialLinkInterface: Extension of above
-SerialLink: Implementation
-
-XBeeLinkInterface: Extension of LinkInterface (but without other serial stuff than baudrate, is the rest assumed?)
-XBeeLink: Implementation (with address resetting probably it's Series 1)
-
-UDPLink: UDP implementation. Port is defaulted.
-
-MAVLinkSimulationLink: Simulation/dummy implementation of LinkInterface. Does some file IO.
-MAVLinkSimulationUAV:  Simulation/dummy basic (remote) UAV state (minus mission state) for MAVLinkSimulationLink.
-MAVLinkSimulationWaypointPlanner: imulation/dummy basic (remote) UAV mission state for MAVLinkSimulationLink.
-
-
-ProtocolInterface describes a protocol. Major method:
-    virtual void receiveBytes(LinkInterface *link, QByteArray b) = 0;
-
-MavlinkProtocol: MAVLink implementation of ProtocolInterface
-
-
-Parameter: Identity of a parameter (the value types are not handled here. Oddly there is no type metainfo either)
-ParameterList: Is pretty much what the name impiles.
-QGCParamID: Wrapper if parameter text IDs, conversion to byte* and back
-
-QGCHilLink: Link to a HIL external system
-    QCGFlightGearLink, QGCJSBSimLink, QGCXPlaneLink : Implementations of QGCHilLink
-
-
-QGCMAVLink: Nothing more than in include to raw mavlink.h
-
-
-input folder:
-=============
-Some exotic input devices
-
-
-
-uas folder:
-===========
-UAS.h: Local UAV model. Claims to support some sort of RPC. Uses some properties with notifications. Assumes MAVLink.
-Some methods:
-    int getUASID() const; // the systemId
-    QList<LinkInterface*>* getLinks(); // it knows its links
-
-    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
-
-    float receiveDropRate;      ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
-    float sendDropRate;         ///< Percentage of packets that were not received from the MAV by the GCS
-
-Some fields:
-    bool positionLock;          ///< Status if position information is available or not
-    double localX;  // (what is this?)
-    double localY;
-    double localZ;
-    double latitude;            ///< Global latitude as estimated by position estimator
-    double longitude;           ///< Global longitude as estimated by position estimator
-    double altitude;            ///< Global altitude as estimated by position estimator
-    double satelliteCount;      ///< Number of satellites visible to raw GPS
-    bool globalEstimatorActive; ///< Global position estimator present, do not fall back to GPS raw for position
-    double latitude_gps;        ///< Global latitude as estimated by raw GPS
-    double longitude_gps;       ///< Global longitude as estimated by raw GPS
-    double altitude_gps;        ///< Global altitude as estimated by raw GPS
-
-    and lots ans lots more...
-
-
-*MAV.h: Implementations of UAS
-
-
-QGCUASParamManager.h: A mixture of a widget and a parameter up/download state machine. Has a reference to its associated UAV.
-
-UASWaypointManager: API to waypoint / mission control. Not a widget. Has a reference to its associated UAV.
-
-UASManager.h: Singleton interface to all UASs on all interfaces. Maintains a single selected/active UAS.
-
-Ideas to do
-TCPLink
-XBee Series2 implementation
-Less stress on uplink
-Get rid of hardcoded SystemId of 255
-Quick View should print all altitudes (GPS, mix, ground and/or home), letting user see errors.
-Console debugging is hopefully removed?
-

dongfang_qgroundcontrol_wishlist.txt

-Major
-1) Absolute altitude should absolutely work. Also in face of bad GPS init.
-   How does the mission planning part work with that, how is alt. stored in waypoints?
-   When is home altitude stored in the UAV?
-
-2) Some people have worse datalinks than average - eg. slow or noisy telemetry. GPRS data also easily gets
-   flooded. All data rates should be configurable and uplinks eased off a little.
-
-3) Some streams should be sent always even if not in use. For example using RC override and then stopping
-   using it: If the UAV does not received the final RC override message with zero values for all channels,
-   it will not get out of RC override. A solution is to make the message non final, repeating it every
-   now and then.
-
-Minor
-1) I would like to see initial dummy values for eg. battery voltage go away and be replaced by "unknown".
-   Dummy values confuse, you won't know if your sensors and link are working or not.
-
-2) Suggestion if the DO_JUMP behavior of APM today (where DO_JUMP requires a waypoint command after it):
-   Modify APM code so DO_JUMP is regarded a navigation command. Make non navigation commands appear in
-   planning as sub commands of navigation commands (indent them). Easier to understand.
-
-3) Old style audio with signals/bells/beeps / Morse may be prefered by some. Maybe add slots'n'signals for
-   all audio and different implementation types (speech, beep, ...). Or a generic operator messaging thing.

files/images/actions/qgroundcontrol-wifi.svg

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files/styles/style-dark.css

@@ -5,6 +5,11 @@
     font-size: 11px;
 }
 
+QWidget#viewModeWidget {
+    border-radius: 12px;
+    border: 3px solid #465158;
+}
+
 *::disabled {
     color: #777;
 }
@@ -340,6 +345,16 @@ QPushButton, QToolButton {
     background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #777, stop: 1 #333);
 }
 
+QPushButton#viewModeGeneric, QPushButton#viewModePX4, QPushButton#viewModeAPM, QPushButton#viewModeAR {
+    background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #73D95D, stop: 1 #18A154);
+    border-radius: 12px;
+    min-height: 120px;
+    max-height: 140px;
+    min-width: 120px;
+    max-width: 140px;
+    border: 3px solid #465158;
+}
+
 QPushButton#connectButton, QPushButton#controlButton {
     background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #73D95D, stop: 1 #18A154);
 }

qgroundcontrol.pro

@@ -236,7 +236,9 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/UASRawStatusView.ui \
     src/ui/uas/QGCMessageView.ui \
     src/ui/JoystickButton.ui \
-    src/ui/JoystickAxis.ui
+    src/ui/JoystickAxis.ui \
+    src/ui/main/QGCViewModeSelection.ui \
+    src/ui/main/QGCWelcomeMainWindow.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -252,7 +254,8 @@ INCLUDEPATH += src \
     src/ui/watchdog \
     src/ui/map3D \
     src/ui/mission \
-    src/ui/designer
+    src/ui/designer \
+    src/ui/main
 HEADERS += src/MG.h \
     src/QGCCore.h \
     src/uas/UASInterface.h \
@@ -395,7 +398,9 @@ HEADERS += src/MG.h \
     src/ui/PrimaryFlightDisplay.h \
     src/ui/uas/QGCMessageView.h \
     src/ui/JoystickButton.h \
-    src/ui/JoystickAxis.h
+    src/ui/JoystickAxis.h \
+    src/ui/main/QGCViewModeSelection.h \
+    src/ui/main/QGCWelcomeMainWindow.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -573,7 +578,9 @@ SOURCES += src/main.cc \
     src/ui/PrimaryFlightDisplay.cc \
     src/ui/uas/QGCMessageView.cc \
     src/ui/JoystickButton.cc \
-    src/ui/JoystickAxis.cc
+    src/ui/JoystickAxis.cc \
+    src/ui/main/QGCViewModeSelection.cc \
+    src/ui/main/QGCWelcomeMainWindow.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

qgroundcontrol.qrc

@@ -102,6 +102,11 @@
         <file>files/images/patterns/lenna.jpg</file>
         <file>files/images/rc_stick.svg</file>
         <file>files/images/actions/qgroundcontrol-connect.svg</file>
+        <file>files/images/actions/qgroundcontrol-generic.svg</file>
+        <file>files/images/actions/qgroundcontrol-px4.svg</file>
+        <file>files/images/actions/qgroundcontrol-apm.svg</file>
+        <file>files/images/actions/qgroundcontrol-ardrone.svg</file>
+        <file>files/images/actions/qgroundcontrol-wifi.svg</file>
     </qresource>
     <qresource prefix="/general">
         <file alias="vera.ttf">files/styles/Vera.ttf</file>

src/QGCCore.cc

@@ -45,6 +45,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGC.h"
 #include "QGCCore.h"
 #include "MainWindow.h"
+#include "QGCWelcomeMainWindow.h"
 #include "GAudioOutput.h"
 
 #ifdef OPAL_RT
@@ -65,8 +66,13 @@ This file is part of the QGROUNDCONTROL project
  **/
 
 
-QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
+QGCCore::QGCCore(bool firstStart, int &argc, char* argv[]) : QApplication(argc, argv),
+    restartRequested(false),
+    welcome(NULL)
 {
+    // Exit main application when last window is closed
+    connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));
+
     // Set application name
     this->setApplicationName(QGC_APPLICATION_NAME);
     this->setApplicationVersion(QGC_APPLICATION_VERSION);
@@ -83,8 +89,9 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
 
     // Show user an upgrade message if QGC got upgraded (see code below, after splash screen)
     bool upgraded = false;
+    enum MainWindow::CUSTOM_MODE mode = MainWindow::CUSTOM_MODE_NONE;
     QString lastApplicationVersion("");
-    if (settings.contains("QGC_APPLICATION_VERSION"))
+    if (settings.contains("QGC_APPLICATION_VERSION") && firstStart)
     {
         QString qgcVersion = settings.value("QGC_APPLICATION_VERSION").toString();
         if (qgcVersion != QGC_APPLICATION_VERSION)
@@ -95,6 +102,10 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
             settings.setValue("QGC_APPLICATION_VERSION", QGC_APPLICATION_VERSION);
             upgraded = true;
         }
+        else
+        {
+            mode = (enum MainWindow::CUSTOM_MODE) settings.value("QGC_CUSTOM_MODE", (int)MainWindow::CUSTOM_MODE_NONE).toInt();
+        }
     }
     else
     {
@@ -106,6 +117,15 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
 
     settings.sync();
 
+    // "Bootload" the application
+    if ((!settings.contains("QGC_CUSTOM_MODE_STORED") || settings.value("QGC_CUSTOM_MODE_STORED") == false) && firstStart)
+    {
+        welcome = new QGCWelcomeMainWindow();
+        connect(welcome, SIGNAL(customViewModeSelected(MainWindow::CUSTOM_MODE)), this, SLOT(customViewModeSelected(MainWindow::CUSTOM_MODE)));
+        restartRequested = true;
+        return;
+    }
+
     // Show splash screen
     QPixmap splashImage(":/files/images/splash.png");
     QSplashScreen* splashScreen = new QSplashScreen(splashImage);
@@ -115,9 +135,6 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
     processEvents();
     splashScreen->showMessage(tr("Loading application fonts"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
 
-    // Exit main application when last window is closed
-    connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));
-
     // Load application font
     QFontDatabase fontDatabase = QFontDatabase();
     const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
@@ -140,16 +157,19 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
     splashScreen->showMessage(tr("Starting user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
 
     // The first call to instance() creates the MainWindow, so make sure it's passed the splashScreen.
-    mainWindow = MainWindow::instance(splashScreen);
+    mainWindow = MainWindow::instance_mode(splashScreen, mode);
 
-    // Connect links
-    // to make sure that all components are initialized when the
-    // first messages arrive
-    UDPLink* udpLink = new UDPLink(QHostAddress::Any, 14550);
-    MainWindow::instance()->addLink(udpLink);
-    // Listen on Multicast-Address 239.255.77.77, Port 14550
-    //QHostAddress * multicast_udp = new QHostAddress("239.255.77.77");
-    //UDPLink* udpLink = new UDPLink(*multicast_udp, 14550);
+    UDPLink* udpLink = NULL;
+
+    //if (mainWindow->getCustomMode() == MainWindow::CUSTOM_MODE_WIFI)
+    if (settings.value("QGC_CUSTOM_MODE", (unsigned int)MainWindow::CUSTOM_MODE_NONE) == MainWindow::CUSTOM_MODE_WIFI)
+    {
+        // Connect links
+        // to make sure that all components are initialized when the
+        // first messages arrive
+        udpLink = new UDPLink(QHostAddress::Any, 14550);
+        MainWindow::instance()->addLink(udpLink);
+    }
 
 #ifdef OPAL_RT
     // Add OpalRT Link, but do not connect
@@ -165,7 +185,7 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
     if (upgraded) mainWindow->showInfoMessage(tr("Default Settings Loaded"), tr("QGroundControl has been upgraded from version %1 to version %2. Some of your user preferences have been reset to defaults for safety reasons. Please adjust them where needed.").arg(lastApplicationVersion).arg(QGC_APPLICATION_VERSION));
 
     // Check if link could be connected
-    if (!udpLink->connect())
+    if (udpLink && !udpLink->connect())
     {
         QMessageBox msgBox;
         msgBox.setIcon(QMessageBox::Critical);
@@ -193,17 +213,24 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
  **/
 QGCCore::~QGCCore()
 {
-    //mainWindow->storeSettings();
-    //mainWindow->close();
-    //mainWindow->deleteLater();
-    // Delete singletons
-    // First systems
-    delete UASManager::instance();
-    // then links
-    delete LinkManager::instance();
-    // Finally the main window
-    //delete MainWindow::instance();
-    //The main window now autodeletes on close.
+
+    if (welcome)
+    {
+        welcome->close();
+        delete welcome;
+    } else {
+        //mainWindow->storeSettings();
+        //mainWindow->close();
+        //mainWindow->deleteLater();
+        // Delete singletons
+        // First systems
+        delete UASManager::instance();
+        // then links
+        delete LinkManager::instance();
+        // Finally the main window
+        //delete MainWindow::instance();
+        //The main window now autodeletes on close.
+    }
 }
 
 /**
@@ -258,4 +285,14 @@ void QGCCore::startUASManager()
     }
 }
 
+void QGCCore::customViewModeSelected(enum MainWindow::CUSTOM_MODE mode)
+{
+    qDebug() << "SET MODE =" << (unsigned int)mode;
+    QSettings settings;
+    settings.setValue("QGC_CUSTOM_MODE", (unsigned int)mode);
+    // Store settings only if requested by user
+    settings.setValue("QGC_CUSTOM_MODE_STORED", welcome->getStoreSettings());
+    settings.sync();
+    welcome->close();
 
+}

src/QGCCore.h

@@ -36,6 +36,7 @@ This file is part of the PIXHAWK project
 #include <QApplication>
 
 #include "MainWindow.h"
+#include "QGCWelcomeMainWindow.h"
 #include "UASManager.h"
 #include "LinkManager.h"
 /*#include "ViconTarsusProtocol.h" */
@@ -56,9 +57,17 @@ class QGCCore : public QApplication
     Q_OBJECT
 
 public:
-    QGCCore(int &argc, char* argv[]);
+    QGCCore(bool firstStart, int &argc, char* argv[]);
     ~QGCCore();
 
+    bool getRestartRequested()
+    {
+        return restartRequested;
+    }
+
+public slots:
+    void customViewModeSelected(enum MainWindow::CUSTOM_MODE mode);
+
 protected:
     void startLinkManager();
 
@@ -71,6 +80,8 @@ protected:
 
 private:
     MainWindow* mainWindow;
+    bool restartRequested;
+    QGCWelcomeMainWindow* welcome;
 };
 
 #endif /* _CORE_H_ */

src/configuration.h

@@ -11,14 +11,14 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 1.0.9 (beta RC1)"
+#define QGC_APPLICATION_VERSION "v. 1.1.1 (beta)"
 
 namespace QGC
 
 {
 const QString APPNAME = "QGROUNDCONTROL";
 const QString COMPANYNAME = "QGROUNDCONTROL";
-const int APPLICATIONVERSION = 109; // 1.0.9
+const int APPLICATIONVERSION = 110; // 1.1.0
 }
 
 #endif // QGC_CONFIGURATION_H

src/main.cc

@@ -69,6 +69,18 @@ int main(int argc, char *argv[])
     qInstallMsgHandler( msgHandler );
 #endif
 
-    QGCCore core(argc, argv);
-    return core.exec();
+    QGCCore* core = NULL;
+    int val;
+    bool firstStart = true;
+
+    do {
+        if (core) {
+            delete core;
+            firstStart = false;
+        }
+        core = new QGCCore(firstStart, argc, argv);
+        val = core->exec();
+    } while (core->getRestartRequested());
+
+    return val;
 }

src/ui/MainWindow.cc

@@ -80,12 +80,13 @@ This file is part of the QGROUNDCONTROL project
 const QString MainWindow::defaultDarkStyle = ":files/styles/style-dark.css";
 const QString MainWindow::defaultLightStyle = ":files/styles/style-light.css";
 
-MainWindow* MainWindow::instance(QSplashScreen* screen)
+MainWindow* MainWindow::instance_mode(QSplashScreen* screen, enum MainWindow::CUSTOM_MODE mode)
 {
     static MainWindow* _instance = 0;
     if (_instance == 0)
     {
         _instance = new MainWindow();
+        _instance->setCustomMode(mode);
         if (screen)
         {
             connect(_instance, SIGNAL(initStatusChanged(QString,int,QColor)),
@@ -96,6 +97,11 @@ MainWindow* MainWindow::instance(QSplashScreen* screen)
     return _instance;
 }
 
+MainWindow* MainWindow::instance(QSplashScreen* screen)
+{
+    instance_mode(screen, CUSTOM_MODE_NONE);
+}
+
 /**
 * Create new mainwindow. The constructor instantiates all parts of the user
 * interface. It does NOT show the mainwindow. To display it, call the show()
@@ -115,16 +121,15 @@ MainWindow::MainWindow(QWidget *parent):
     autoReconnect(false),
     lowPowerMode(false),
     isAdvancedMode(false),
-    dockWidgetTitleBarEnabled(true)
+    dockWidgetTitleBarEnabled(true),
+    customMode(CUSTOM_MODE_WIFI)
 {
     this->setAttribute(Qt::WA_DeleteOnClose);
-    hide();
+    loadSettings();
 }
 
 void MainWindow::init()
 {
-    emit initStatusChanged(tr("Loading settings"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
-    loadSettings();
 
     emit initStatusChanged(tr("Loading style"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
     qApp->setStyle("plastique");
@@ -1139,6 +1144,9 @@ void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const
 void MainWindow::loadSettings()
 {
     QSettings settings;
+    settings.sync();
+    customMode = static_cast<enum MainWindow::CUSTOM_MODE>(settings.value("QGC_CUSTOM_MODE", (unsigned int)MainWindow::CUSTOM_MODE_NONE).toInt());
+    qDebug() << "MAINWINDOW: CUSTOM MODE:" << customMode;
     settings.beginGroup("QGC_MAINWINDOW");
     autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool();
     currentStyle = (QGC_MAINWINDOW_STYLE)settings.value("CURRENT_STYLE", currentStyle).toInt();
@@ -1171,6 +1179,7 @@ void MainWindow::storeSettings()
         // Save the current power mode
     }
     settings.setValue("LOW_POWER_MODE", lowPowerMode);
+    settings.setValue("QGC_CUSTOM_MODE", (int)customMode);
     settings.sync();
 }
 

src/ui/MainWindow.h

@@ -97,6 +97,14 @@ class MainWindow : public QMainWindow
     Q_OBJECT
 
 public:
+
+    enum CUSTOM_MODE {
+        CUSTOM_MODE_NONE = 0,
+        CUSTOM_MODE_PX4,
+        CUSTOM_MODE_APM,
+        CUSTOM_MODE_WIFI
+    };
+
     /**
      * A static function for obtaining the sole instance of the MainWindow. The screen
      * argument is only important on the FIRST call to this function. The provided splash
@@ -104,6 +112,7 @@ public:
      * function cannot be used within the MainWindow constructor!
      */
     static MainWindow* instance(QSplashScreen* screen = 0);
+    static MainWindow* instance_mode(QSplashScreen* screen = 0, enum MainWindow::CUSTOM_MODE mode = MainWindow::CUSTOM_MODE_NONE);
 
     /**
      * Initializes the MainWindow. Some variables are initialized and the widget is hidden.
@@ -167,6 +176,16 @@ public:
         return lowPowerMode;
     }
 
+    void setCustomMode(enum MainWindow::CUSTOM_MODE mode)
+    {
+        customMode = mode;
+    }
+
+    enum MainWindow::CUSTOM_MODE getCustomMode()
+    {
+        return customMode;
+    }
+
     QList<QAction*> listLinkMenuActions(void);
 
 public slots:
@@ -480,6 +499,7 @@ private:
     QMap<VIEW_SECTIONS,QMap<QString,QWidget*> > centralWidgetToDockWidgetsMap;
     bool isAdvancedMode; ///< If enabled dock widgets can be moved and floated.
     bool dockWidgetTitleBarEnabled; ///< If enabled, dock widget titlebars are displayed when NOT in advanced mode.
+    CUSTOM_MODE customMode;
     Ui::MainWindow ui;
 
     /** @brief Set the appropriate titlebar for a given dock widget.

src/ui/QGCSettingsWidget.cc

@@ -48,10 +48,20 @@ QGCSettingsWidget::QGCSettingsWidget(QWidget *parent, Qt::WindowFlags flags) :
     ui->lowPowerCheckBox->setChecked(mainWindow->lowPowerModeEnabled());
     connect(ui->lowPowerCheckBox, SIGNAL(clicked(bool)), mainWindow, SLOT(enableLowPowerMode(bool)));
 
-    //Dock widget title bars
+    // Dock widget title bars
     ui->titleBarCheckBox->setChecked(mainWindow->dockWidgetTitleBarsEnabled());
     connect(ui->titleBarCheckBox,SIGNAL(clicked(bool)),mainWindow,SLOT(enableDockWidgetTitleBars(bool)));
 
+    // Custom mode
+
+    ui->customModeComboBox->addItem(tr("Default: Generic MAVLink and serial links"), MainWindow::CUSTOM_MODE_NONE);
+    ui->customModeComboBox->addItem(tr("Wifi: Generic MAVLink, wifi or serial links"), MainWindow::CUSTOM_MODE_WIFI);
+    ui->customModeComboBox->addItem(tr("PX4: Optimized for PX4 Autopilot Users"), MainWindow::CUSTOM_MODE_PX4);
+    ui->customModeComboBox->addItem(tr("APM: Optimized for ArduPilot Users"), MainWindow::CUSTOM_MODE_APM);
+
+    ui->customModeComboBox->setCurrentIndex(ui->customModeComboBox->findData(mainWindow->getCustomMode()));
+    connect(ui->customModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectCustomMode(int)));
+
     // Intialize the style UI to the proper values obtained from the MainWindow.
     MainWindow::QGC_MAINWINDOW_STYLE style = mainWindow->getStyle();
     ui->styleChooser->setCurrentIndex(style);
@@ -177,3 +187,9 @@ void QGCSettingsWidget::setDefaultStyle()
         mainWindow->loadStyle(MainWindow::QGC_MAINWINDOW_STYLE_DARK, MainWindow::defaultDarkStyle);
     }
 }
+
+void QGCSettingsWidget::selectCustomMode(int mode)
+{
+    MainWindow::instance()->setCustomMode(static_cast<enum MainWindow::CUSTOM_MODE>(ui->customModeComboBox->itemData(mode).toInt()));
+    MainWindow::instance()->showInfoMessage(tr("Please restart QGroundControl"), tr("The optimization selection was changed. The application needs to be closed and restarted to put all optimizations into effect."));
+}

src/ui/QGCSettingsWidget.h

@@ -22,6 +22,7 @@ public slots:
     void lineEditFinished();
     void setDefaultStyle();
     void selectStylesheet();
+    void selectCustomMode(int mode);
 
 private:
     MainWindow* mainWindow;

src/ui/QGCSettingsWidget.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>528</width>
-    <height>321</height>
+    <height>455</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -72,6 +72,9 @@
          </property>
         </widget>
        </item>
+       <item>
+        <widget class="QComboBox" name="customModeComboBox"/>
+       </item>
        <item>
         <widget class="QGroupBox" name="groupBox">
          <property name="title">

src/ui/QGCToolBar.cc

@@ -301,7 +301,8 @@ void QGCToolBar::advancedActivityTriggered(QAction* action)
 void QGCToolBar::setActiveUAS(UASInterface* active)
 {
     // Do nothing if system is the same
-    if (mav == active) return;
+    if (mav == active || active == NULL)
+        return;
 
     // If switching UASes, disconnect the only one.
     if (mav)

src/ui/main/QGCViewModeSelection.cc

+#include "QGCViewModeSelection.h"
+#include "ui_QGCViewModeSelection.h"
+#include "QGC.h"
+#include "MainWindow.h"
+
+QGCViewModeSelection::QGCViewModeSelection(QWidget *parent) :
+    QWidget(parent),
+    selected(false),
+    ui(new Ui::QGCViewModeSelection)
+{
+    ui->setupUi(this);
+
+    connect(ui->viewModeGeneric, SIGNAL(clicked()), this, SLOT(selectGeneric()));
+    connect(ui->viewModeAR, SIGNAL(clicked()), this, SLOT(selectWifi()));
+    connect(ui->viewModePX4, SIGNAL(clicked()), this, SLOT(selectPX4()));
+    connect(ui->viewModeAPM, SIGNAL(clicked()), this, SLOT(selectAPM()));
+    connect(ui->notAgainCheckBox, SIGNAL(clicked(bool)), this, SIGNAL(settingsStorageRequested(bool)));
+}
+
+QGCViewModeSelection::~QGCViewModeSelection()
+{
+    delete ui;
+}
+
+enum MainWindow::CUSTOM_MODE QGCViewModeSelection::waitForInput() {
+    while (!selected)
+        QGC::SLEEP::msleep(200);
+
+    return mode;
+}
+
+void QGCViewModeSelection::selectGeneric() {
+    emit customViewModeSelected(MainWindow::CUSTOM_MODE_NONE);
+    mode = MainWindow::CUSTOM_MODE_NONE;
+    selected = true;
+}
+
+void QGCViewModeSelection::selectWifi() {
+    emit customViewModeSelected(MainWindow::CUSTOM_MODE_WIFI);
+    mode = MainWindow::CUSTOM_MODE_WIFI;
+    selected = true;
+}
+
+void QGCViewModeSelection::selectPX4() {
+    emit customViewModeSelected(MainWindow::CUSTOM_MODE_PX4);
+    mode = MainWindow::CUSTOM_MODE_PX4;
+    selected = true;
+}
+
+void QGCViewModeSelection::selectAPM() {
+    emit customViewModeSelected(MainWindow::CUSTOM_MODE_APM);
+    mode = MainWindow::CUSTOM_MODE_APM;
+    selected = true;
+}

src/ui/main/QGCViewModeSelection.h

+#ifndef QGCVIEWMODESELECTION_H
+#define QGCVIEWMODESELECTION_H
+
+#include <QWidget>
+#include "MainWindow.h"
+
+namespace Ui {
+class QGCViewModeSelection;
+}
+
+class QGCViewModeSelection : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit QGCViewModeSelection(QWidget *parent = 0);
+    ~QGCViewModeSelection();
+
+    enum MainWindow::CUSTOM_MODE waitForInput();
+
+public slots:
+
+    void selectGeneric();
+    void selectPX4();
+    void selectAPM();
+    void selectWifi();
+
+signals:
+    void customViewModeSelected(enum MainWindow::CUSTOM_MODE mode);
+    void settingsStorageRequested(bool requested);
+    
+private:
+    Ui::QGCViewModeSelection *ui;
+    bool selected;
+    enum MainWindow::CUSTOM_MODE mode;
+};
+
+#endif // QGCVIEWMODESELECTION_H

src/ui/main/QGCViewModeSelection.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCViewModeSelection</class>
+ <widget class="QWidget" name="QGCViewModeSelection">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>750</width>
+    <height>409</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_2">
+   <item row="2" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>47</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
+    <widget class="QWidget" name="viewModeWidget" native="true">
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="1" column="2">
+       <widget class="QPushButton" name="viewModePX4">
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset resource="../../../qgroundcontrol.qrc">
+          <normaloff>:/files/images/actions/qgroundcontrol-px4.svg</normaloff>:/files/images/actions/qgroundcontrol-px4.svg</iconset>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>120</width>
+          <height>120</height>
+         </size>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="0" colspan="4">
+       <spacer name="verticalSpacer_3">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>20</width>
+          <height>40</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item row="1" column="0">
+       <widget class="QPushButton" name="viewModeGeneric">
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset resource="../../../qgroundcontrol.qrc">
+          <normaloff>:/files/images/actions/qgroundcontrol-generic.svg</normaloff>:/files/images/actions/qgroundcontrol-generic.svg</iconset>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>120</width>
+          <height>120</height>
+         </size>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>Radio / Serial Link</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QPushButton" name="viewModeAR">
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset resource="../../../qgroundcontrol.qrc">
+          <normaloff>:/files/images/actions/qgroundcontrol-wifi.svg</normaloff>:/files/images/actions/qgroundcontrol-wifi.svg</iconset>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>120</width>
+          <height>120</height>
+         </size>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QLabel" name="label_2">
+        <property name="text">
+         <string>PX4 Autopilot</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>WiFi / UDP</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>APM Autopilot</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="3">
+       <widget class="QPushButton" name="viewModeAPM">
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset resource="../../../qgroundcontrol.qrc">
+          <normaloff>:/files/images/actions/qgroundcontrol-apm.svg</normaloff>:/files/images/actions/qgroundcontrol-apm.svg</iconset>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>120</width>
+          <height>120</height>
+         </size>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0" colspan="4">
+       <widget class="QCheckBox" name="notAgainCheckBox">
+        <property name="text">
+         <string>Do not ask again on next startup</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="0" column="1">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>76</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <widget class="QLabel" name="viewModeHintLabel">
+     <property name="text">
+      <string>Please select the connection or autopilot you want to use QGroundControl with.</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="1">
+    <spacer name="verticalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>76</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="2">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>46</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="1">
+    <widget class="QLabel" name="viewModeExplanationLabel">
+     <property name="text">
+      <string>The selection can be changed any time in the preferences.</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources>
+  <include location="../../../qgroundcontrol.qrc"/>
+ </resources>
+ <connections/>
+</ui>

src/ui/main/QGCWelcomeMainWindow.cc

+#include "QGCWelcomeMainWindow.h"
+#include "ui_QGCWelcomeMainWindow.h"
+#include "MainWindow.h"
+#include "QGCViewModeSelection.h"
+
+QGCWelcomeMainWindow::QGCWelcomeMainWindow(QWidget *parent) :
+    QMainWindow(parent),
+    ui(new Ui::QGCWelcomeMainWindow),
+    storeSettings(false)
+{
+    ui->setupUi(this);
+    statusBar()->hide();
+
+    QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
+    setWindowTitle(windowname);
+
+    viewModeSelection = new QGCViewModeSelection(this);
+
+    connect(viewModeSelection, SIGNAL(customViewModeSelected(MainWindow::CUSTOM_MODE)), this, SIGNAL(customViewModeSelected(MainWindow::CUSTOM_MODE)));
+    connect(viewModeSelection, SIGNAL(settingsStorageRequested(bool)), this, SIGNAL(settingsStorageRequested(bool)));
+    connect(viewModeSelection, SIGNAL(settingsStorageRequested(bool)), this, SLOT(setStoreSettings(bool)));
+
+    setCentralWidget(viewModeSelection);
+
+    // Load the new stylesheet.
+    QFile styleSheet(":files/styles/style-dark.css");
+
+    // Attempt to open the stylesheet.
+    if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text))
+    {
+        // Signal to the user that the app will pause to apply a new stylesheet
+        qApp->setOverrideCursor(Qt::WaitCursor);
+
+        qApp->setStyleSheet(styleSheet.readAll());
+
+        // Finally restore the cursor before returning.
+        qApp->restoreOverrideCursor();
+    }
+
+    resize(780, 400);
+    show();
+
+}
+
+QGCWelcomeMainWindow::~QGCWelcomeMainWindow()
+{
+    delete ui;
+    delete viewModeSelection;
+}
+
+enum MainWindow::CUSTOM_MODE QGCWelcomeMainWindow::getCustomMode()
+{
+//    QGCViewModeSelection* s = new QGCViewModeSelection(this);
+//    setCentralWidget(s);
+//    show();
+//    enum MainWindow::CUSTOM_MODE mode = MainWindow::CUSTOM_MODE_WIFI;// = s->waitForInput();
+//    delete s;
+//    return mode;
+}

src/ui/main/QGCWelcomeMainWindow.h

+#ifndef QGCWELCOMEMAINWINDOW_H
+#define QGCWELCOMEMAINWINDOW_H
+
+#include <QMainWindow>
+#include "MainWindow.h"
+#include "QGCViewModeSelection.h"
+
+namespace Ui {
+class QGCWelcomeMainWindow;
+}
+
+class QGCWelcomeMainWindow : public QMainWindow
+{
+    Q_OBJECT
+    
+public:
+    explicit QGCWelcomeMainWindow(QWidget *parent = 0);
+    ~QGCWelcomeMainWindow();
+
+    enum MainWindow::CUSTOM_MODE getCustomMode();
+    bool getStoreSettings()
+    {
+        return storeSettings;
+    }
+
+public slots:
+    void setStoreSettings(bool settings)
+    {
+        storeSettings = settings;
+    }
+
+signals:
+    void customViewModeSelected(enum MainWindow::CUSTOM_MODE mode);
+    void settingsStorageRequested(bool requested);
+    
+private:
+    Ui::QGCWelcomeMainWindow *ui;
+    QGCViewModeSelection* viewModeSelection;
+    bool storeSettings;
+};
+
+#endif // QGCWELCOMEMAINWINDOW_H

src/ui/main/QGCWelcomeMainWindow.ui

+<ui version="4.0">
+ <author/>
+ <comment/>
+ <exportmacro/>
+ <class>QGCWelcomeMainWindow</class>
+ <widget class="QMainWindow" name="QGCWelcomeMainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>800</width>
+    <height>600</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QMenuBar" name="menubar"/>
+  <widget class="QWidget" name="centralwidget"/>
+  <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <pixmapfunction/>
+ <connections/>
+</ui>