Merge branch 'Stable_V4.0' of https://github.com/mavlink/qgroundcontrol into StableSync

.travis.yml

@@ -225,6 +225,7 @@ before_deploy:
 deploy:
   # deploy installers to s3 builds/ if on a branch
   - provider: s3
+    edge: true # Use V2 provider to work around V1 bug
     access_key_id: AKIAIVORNALE7NHD3T6Q
     secret_access_key:
       secure: BsLXeXUPsCJdX4tawrDnO8OFK5Hk4kzlDTiyH93En6TbjUargVAWDMcHVj7TUhr7+3Tao1W1zb0G4SJe9kHv+jrky0yE72KvoG3YAON0VXWKizxBAKkgHE2RxSTNAwDeKbi2G6YJfNDescBBfX7zEohShdXglQu7CGaUQKRaiI4=
@@ -255,6 +256,7 @@ deploy:
 
   # deploy tagged installers to s3 version folder
   - provider: s3
+    edge: true # Use V2 provider to work around V1 bug
     access_key_id: AKIAIVORNALE7NHD3T6Q
     secret_access_key:
       secure: BsLXeXUPsCJdX4tawrDnO8OFK5Hk4kzlDTiyH93En6TbjUargVAWDMcHVj7TUhr7+3Tao1W1zb0G4SJe9kHv+jrky0yE72KvoG3YAON0VXWKizxBAKkgHE2RxSTNAwDeKbi2G6YJfNDescBBfX7zEohShdXglQu7CGaUQKRaiI4=
@@ -270,6 +272,7 @@ deploy:
 
   # deploy installers to Github releases if on a tag
   - provider: releases
+    edge: true # Use V2 provider to work around V1 bug
     api-key:
       secure: K/Zqr/FCC7QvzFxYvBtCinPkacQq2ubJ2qm982+38Zf/KjibVOF1dEbVdrGZmII6Tg5DaQzNXGYkg5PvYmJgT9xRsqeQjeYIUYqYZpAt+HYWA38AVfMU8jip/1P1wmwqD469nzJOBBa8yfsMs6Ca7tBaNl/zTxCRGnAgEzqtkdQ=
     file_glob: true

ChangeLog.md

@@ -4,7 +4,7 @@ Note: This file only contains high level features or important fixes.
 
 ## 4.0
 
-### 4.0.0 - Daily Build
+### 4.0.0 - Stable
 
 * Added ROI option during manual flight.
 * Windows: Move builds to 64 bit, Qt 5.12.5
@@ -15,9 +15,7 @@ Note: This file only contains high level features or important fixes.
 * Plan View: New create plan UI for initial plan creation
 * New Corridor editing tools ui. Includes ability to trace polyline by clicking.
 * New Polygon editing tools ui. Includes ability to trace polygon by clicking.
-* ArduCopter/Rover: Follow Me setup page
 * More performant flight path display algorithm. Mobile builds no longer show limited path length.
-* ArduCopter/Rover: Add support for Follow Me
 * ArduPilot: Add Motor Test vehicle setup page
 * Compass Instrument: Add indicators for Home, COG and Next Waypoint headings.
 * Log Replay: Support changing speed of playback
@@ -52,9 +50,9 @@ Note: This file only contains high level features or important fixes.
 * ArduPilot: Support configurable mavlink stream rates. Available from Settings/Mavlink page.
 * Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans.
 
-### 3.5.6 - Not yet released
+## 3.5
 
-### 3.5.5 - Stable
+### 3.5.5
 * Fix mavlink message memset which cause wrong commands to be sent on ArduPilot GotoLocation.
 * Disable Pause when fixed wing is on landing approach.
 

QGCInstaller.pri

@@ -27,7 +27,7 @@ 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 += && cd $${DESTDIR} && $$dirname(QMAKE_QMAKE)/macdeployqt $${TARGET}.app -appstore-compliant -verbose=2 -qmldir=$${BASEDIR}/src
+        QMAKE_POST_LINK += && cd $${DESTDIR} && $$dirname(QMAKE_QMAKE)/macdeployqt $${TARGET}.app -appstore-compliant -verbose=1 -qmldir=$${BASEDIR}/src
 
         # macdeployqt 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

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -53,7 +53,10 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     , _tuningComponent          (nullptr)
     , _esp8266Component         (nullptr)
     , _heliComponent            (nullptr)
+#if 0
+    // Follow me not ready for Stable
     , _followComponent          (nullptr)
+#endif
 {
 #if !defined(NO_SERIAL_LINK) && !defined(__android__)
     connect(vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &APMAutoPilotPlugin::_checkForBadCubeBlack);
@@ -104,12 +107,16 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
 
+#if 0
+    // Follow me not ready for Stable
+
             if ((qobject_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin()) || qobject_cast<ArduRoverFirmwarePlugin*>(_vehicle->firmwarePlugin())) &&
                     _vehicle->parameterManager()->parameterExists(-1, QStringLiteral("FOLL_ENABLE"))) {
                 _followComponent = new APMFollowComponent(_vehicle, this);
                 _followComponent->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_followComponent));
             }
+#endif
 
             if (_vehicle->vehicleType() == MAV_TYPE_HELICOPTER && (_vehicle->versionCompare(4, 0, 0) >= 0)) {
                 _heliComponent = new APMHeliComponent(_vehicle, this);

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -57,7 +57,10 @@ protected:
     APMTuningComponent*         _tuningComponent;
     ESP8266Component*           _esp8266Component;
     APMHeliComponent*           _heliComponent;
+#if 0
+    // Follow me not ready for Stable
     APMFollowComponent*         _followComponent;
+#endif
 
 #if !defined(NO_SERIAL_LINK) && !defined(__android__)
 private slots:

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -43,7 +43,10 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
         { GUIDED_NOGPS, "Guided No GPS"},
         { SMART_RTL,    "Smart RTL"},
         { FLOWHOLD,     "Flow Hold" },
+#if 0
+    // Follow me not ready for Stable
         { FOLLOW,       "Follow" },
+#endif
         { ZIGZAG,       "ZigZag" },
     });
 }
@@ -71,7 +74,10 @@ ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
         APMCopterMode(APMCopterMode::GUIDED_NOGPS,  true),
         APMCopterMode(APMCopterMode::SMART_RTL,     true),
         APMCopterMode(APMCopterMode::FLOWHOLD,      true),
+#if 0
+    // Follow me not ready for Stable
         APMCopterMode(APMCopterMode::FOLLOW,        true),
+#endif
         APMCopterMode(APMCopterMode::ZIGZAG,        true),
     });
 
@@ -141,7 +147,10 @@ bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle*
     return true;
 }
 
+#if 0
+    // Follow me not ready for Stable
 void ArduCopterFirmwarePlugin::sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities)
 {
     _sendGCSMotionReport(vehicle, motionReport, estimatationCapabilities);
 }
+#endif

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -43,7 +43,10 @@ public:
         GUIDED_NOGPS= 20,
         SMART_RTL   = 21,  // SMART_RTL returns to home by retracing its steps
         FLOWHOLD    = 22,  // FLOWHOLD holds position with optical flow without rangefinder
+#if 0
+    // Follow me not ready for Stable
         FOLLOW      = 23,  // follow attempts to follow another vehicle or ground station
+#endif
         ZIGZAG      = 24,  // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
     };
 
@@ -71,7 +74,10 @@ public:
     bool    vehicleYawsToNextWaypointInMission  (const Vehicle* vehicle) const override;
     QString autoDisarmParameter                 (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("DISARM_DELAY"); }
     bool    supportsSmartRTL                    (void) const override { return true; }
+#if 0
+    // Follow me not ready for Stable
     void    sendGCSMotionReport                 (Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities) override;
+#endif
 
 private:
     static bool _remapParamNameIntialized;

src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc

@@ -22,7 +22,10 @@ APMRoverMode::APMRoverMode(uint32_t mode, bool settable)
         {STEERING,       "Steering"},
         {HOLD,           "Hold"},
         {LOITER,         "Loiter"},
+#if 0
+    // Follow me not ready for Stable
         {FOLLOW,         "Follow"},
+#endif
         {SIMPLE,         "Simple"},
         {AUTO,           "Auto"},
         {RTL,            "RTL"},
@@ -40,7 +43,10 @@ ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(void)
         APMRoverMode(APMRoverMode::STEERING     ,true),
         APMRoverMode(APMRoverMode::HOLD         ,true),
         APMRoverMode(APMRoverMode::LOITER       ,true),
+#if 0
+    // Follow me not ready for Stable
         APMRoverMode(APMRoverMode::FOLLOW       ,true),
+#endif
         APMRoverMode(APMRoverMode::SIMPLE       ,true),
         APMRoverMode(APMRoverMode::AUTO         ,true),
         APMRoverMode(APMRoverMode::RTL          ,true),
@@ -78,7 +84,10 @@ bool ArduRoverFirmwarePlugin::supportsNegativeThrust(Vehicle* /*vehicle*/)
     return true;
 }
 
+#if 0
+    // Follow me not ready for Stable
 void ArduRoverFirmwarePlugin::sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities)
 {
     _sendGCSMotionReport(vehicle, motionReport, estimatationCapabilities);
 }
+#endif

src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h

@@ -25,7 +25,10 @@ public:
         STEERING        = 3,
         HOLD            = 4,
         LOITER          = 5,
+#if 0
+    // Follow me not ready for Stable
         FOLLOW          = 6,
+#endif
         SIMPLE          = 7,
         AUTO            = 10,
         RTL             = 11,
@@ -53,7 +56,10 @@ public:
     bool    supportsNegativeThrust                  (Vehicle *) final;
     bool    supportsSmartRTL                        (void) const override { return true; }
     QString offlineEditingParamFile                 (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Rover.OfflineEditing.params"); }
+#if 0
+    // Follow me not ready for Stable
     void    sendGCSMotionReport                     (Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities) override;
+#endif
 
 private:
     static bool _remapParamNameIntialized;

src/FlightDisplay/PreFlightCheckList.qml

@@ -66,23 +66,25 @@ Rectangle {
 
     //-- Pick a checklist model that matches the current airframe type (if any)
     function _updateModel() {
-        if(activeVehicle) {
-            if(activeVehicle.multiRotor) {
-                modelContainer.source = "/checklists/MultiRotorChecklist.qml"
-            } else if(activeVehicle.vtol) {
-                modelContainer.source = "/checklists/VTOLChecklist.qml"
-            } else if(activeVehicle.rover) {
-                modelContainer.source = "/checklists/RoverChecklist.qml"
-            } else if(activeVehicle.sub) {
-                modelContainer.source = "/checklists/SubChecklist.qml"
-            } else if(activeVehicle.fixedWing) {
-                modelContainer.source = "/checklists/FixedWingChecklist.qml"
-            } else {
-                modelContainer.source = "/checklists/DefaultChecklist.qml"
-            }
-            return
+        var vehicle = activeVehicle
+        if (!vehicle) {
+           vehicle = QGroundControl.multiVehicleManager.offlineEditingVehicle
+        }
+
+        if(vehicle.multiRotor) {
+            modelContainer.source = "/checklists/MultiRotorChecklist.qml"
+        } else if(vehicle.vtol) {
+            modelContainer.source = "/checklists/VTOLChecklist.qml"
+        } else if(vehicle.rover) {
+            modelContainer.source = "/checklists/RoverChecklist.qml"
+        } else if(vehicle.sub) {
+            modelContainer.source = "/checklists/SubChecklist.qml"
+        } else if(vehicle.fixedWing) {
+            modelContainer.source = "/checklists/FixedWingChecklist.qml"
+        } else {
+            modelContainer.source = "/checklists/DefaultChecklist.qml"
         }
-        modelContainer.source = "/checklists/DefaultChecklist.qml"
+        return
     }
 
     Component.onCompleted: {

src/FlightMap/Widgets/MapFitFunctions.qml

@@ -62,8 +62,14 @@ Item {
         var east = normalizeLon(coordList[0].longitude)
         var west = east
         for (var i = 1; i < coordList.length; i++) {
-            var lat = normalizeLat(coordList[i].latitude)
-            var lon = normalizeLon(coordList[i].longitude)
+            var lat = coordList[i].latitude
+            var lon = coordList[i].longitude
+            if (isNaN(lat) || lat == 0 || isNan(lon) || lon == 0) {
+                // Be careful of invalid coords which can happen when items are not yet complete
+                continue
+            }
+            lat = normalizeLat(lat)
+            lon = normalizeLon(lat)
             north = Math.max(north, lat)
             south = Math.min(south, lat)
             east  = Math.max(east,  lon)
@@ -110,19 +116,6 @@ Item {
             // Being called prior to controller.start
             return
         }
-        /*
-        for (var i=1; i<_missionController.visualItems.count; i++) {
-            var missionItem = _missionController.visualItems.get(i)
-            if (missionItem.specifiesCoordinate && !missionItem.isStandaloneCoordinate) {
-                console.log(missionItem.boundingCube.pointNW)
-                console.log(missionItem.boundingCube.pointSE)
-                var loc = QtPositioning.rectangle(missionItem.boundingCube.pointNW, missionItem.boundingCube.pointSE)
-                console.log(loc)
-                map.visibleRegion = loc
-                return
-            }
-        }
-        */
         var coordList = [ ]
         addMissionItemCoordsForFit(coordList)
         fitMapViewportToAllCoordinates(coordList)

src/QmlControls/ToolStrip.qml

@@ -29,6 +29,7 @@ Rectangle {
     property AbstractButton lastClickedButton: null
 
     function simulateClick(buttonIndex) {
+        buttonIndex = buttonIndex + 1 // skip over title
         toolStripColumn.children[buttonIndex].checked = true
         toolStripColumn.children[buttonIndex].clicked()
     }

src/Vehicle/Vehicle.cc

@@ -3323,6 +3323,8 @@ void Vehicle::_sendMavCommandAgain()
 
     _mavCommandAckTimer.start();
 
+    qCDebug(VehicleLog) << "_sendMavCommandAgain sending" << queuedCommand.command;
+
     mavlink_message_t       msg;
     if (queuedCommand.commandInt) {
         mavlink_command_int_t  cmd;
@@ -3428,6 +3430,8 @@ void Vehicle::_handleCommandAck(mavlink_message_t& message)
     mavlink_command_ack_t ack;
     mavlink_msg_command_ack_decode(&message, &ack);
 
+    qCDebug(VehicleLog) << QStringLiteral("_handleCommandAck command(%1) result(%2)").arg(ack.command).arg(ack.result);
+
     if (ack.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES && ack.result != MAV_RESULT_ACCEPTED) {
         qCDebug(VehicleLog) << QStringLiteral("Vehicle responded to MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES with error(%1). Setting no capabilities.").arg(ack.result);
         _handleUnsupportedRequestAutopilotCapabilities();
@@ -3878,7 +3882,8 @@ void Vehicle::_handleADSBVehicle(const mavlink_message_t& message)
         vehicleInfo.availableFlags = 0;
 
         vehicleInfo.location.setLatitude(adsbVehicleMsg.lat / 1e7);
-        vehicleInfo.location.setLatitude(adsbVehicleMsg.lon / 1e7);
+        vehicleInfo.location.setLongitude(adsbVehicleMsg.lon / 1e7);
+        vehicleInfo.availableFlags |= ADSBVehicle::LocationAvailable;
 
         vehicleInfo.callsign = adsbVehicleMsg.callsign;
         vehicleInfo.availableFlags |= ADSBVehicle::CallsignAvailable;

src/VehicleSetup/FirmwareUpgradeController.cc

@@ -724,28 +724,39 @@ void FirmwareUpgradeController::setSelectedFirmwareBuildType(FirmwareBuildType_t
 void FirmwareUpgradeController::_buildAPMFirmwareNames(void)
 {
 #if !defined(NO_ARDUPILOT_DIALECT)
-    qCDebug(FirmwareUpgradeLog) << "_buildAPMFirmwareNames";
 
-    bool                    chibios =       _apmChibiOSSetting->rawValue().toInt() == 0;
-    FirmwareVehicleType_t   vehicleType =   static_cast<FirmwareVehicleType_t>(_apmVehicleTypeSetting->rawValue().toInt());
+    bool                    chibios =           _apmChibiOSSetting->rawValue().toInt() == 0;
+    FirmwareVehicleType_t   vehicleType =       static_cast<FirmwareVehicleType_t>(_apmVehicleTypeSetting->rawValue().toInt());
+    QString                 boardDescription =  _foundBoardInfo.description();
+    quint16                 boardVID =          _foundBoardInfo.vendorIdentifier();
+    quint16                 boardPID =          _foundBoardInfo.productIdentifier();
+
+#if 0
+    // This is left in for debugging manifest problems
+    boardDescription = "KakuteF7";
+    boardVID = 1155;
+    boardPID = 22336;
+#endif
+
+    qCDebug(FirmwareUpgradeLog) << QStringLiteral("_buildAPMFirmwareNames description(%1) vid(%2/0x%3) pid(%4/0x%5)").arg(boardDescription).arg(boardVID).arg(boardVID, 1, 16).arg(boardPID).arg(boardPID, 1, 16);
 
     _apmFirmwareNames.clear();
     _apmFirmwareUrls.clear();
 
     QString apmDescriptionSuffix("-BL");
-    bool    bootloaderMatch = _foundBoardInfo.description().endsWith(apmDescriptionSuffix);
+    bool    bootloaderMatch = boardDescription.endsWith(apmDescriptionSuffix);
 
     for (const ManifestFirmwareInfo_t& firmwareInfo: _rgManifestFirmwareInfo) {
         bool match = false;
         if (firmwareInfo.firmwareBuildType == _selectedFirmwareBuildType && firmwareInfo.chibios == chibios && firmwareInfo.vehicleType == vehicleType) {
             if (bootloaderMatch) {
-                if (firmwareInfo.rgBootloaderPortString.contains(_foundBoardInfo.description())) {
-                    qCDebug(FirmwareUpgradeLog) << "Bootloader match:" << firmwareInfo.friendlyName << _foundBoardInfo.description() << firmwareInfo.rgBootloaderPortString << firmwareInfo.url << firmwareInfo.vehicleType;
+                if (firmwareInfo.rgBootloaderPortString.contains(boardDescription)) {
+                    qCDebug(FirmwareUpgradeLog) << "Bootloader match:" << firmwareInfo.friendlyName << boardDescription << firmwareInfo.rgBootloaderPortString << firmwareInfo.url << firmwareInfo.vehicleType;
                     match = true;
                 }
             } else {
-                if (firmwareInfo.rgVID.contains(_foundBoardInfo.vendorIdentifier()) && firmwareInfo.rgPID.contains(_foundBoardInfo.productIdentifier())) {
-                    qCDebug(FirmwareUpgradeLog) << "Fallback match:" << firmwareInfo.friendlyName << _foundBoardInfo.vendorIdentifier() << _foundBoardInfo.productIdentifier() << _bootloaderBoardID << firmwareInfo.url << firmwareInfo.vehicleType;
+                if (firmwareInfo.rgVID.contains(boardVID) && firmwareInfo.rgPID.contains(boardPID)) {
+                    qCDebug(FirmwareUpgradeLog) << "VID/PID match:" << firmwareInfo.friendlyName << boardVID << boardPID << _bootloaderBoardID << firmwareInfo.url << firmwareInfo.vehicleType;
                     match = true;
                 }
             }