Merge remote-tracking branch 'upstream/master' into fgfsrate

QGCExternalLibs.pri

@@ -416,9 +416,10 @@ contains(DEFINES, DISABLE_3DMOUSE) {
 	exists(/usr/local/lib/libxdrvlib.so) {
 		message("Including support for 3DConnexion mice")
 
-		DEFINES +=
+                DEFINES += \
 		QGC_MOUSE_ENABLED_LINUX \
-		ParameterCheck                      # Hack: Has to be defined for magellan usage
+                ParameterCheck
+                # Hack: Has to be defined for magellan usage
 
 		HEADERS += src/input/Mouse6dofInput.h
 		SOURCES += src/input/Mouse6dofInput.cpp

qgroundcontrol.pro

@@ -187,7 +187,6 @@ DebugBuild {
         src/qgcunittest/MockUAS.h \
         src/qgcunittest/MockQGCUASParamManager.h \
         src/qgcunittest/MultiSignalSpy.h \
-        src/qgcunittest/TCPLinkTest.h \
         src/qgcunittest/FlightModeConfigTest.h
 
     SOURCES += \
@@ -196,7 +195,6 @@ DebugBuild {
         src/qgcunittest/MockUAS.cc \
         src/qgcunittest/MockQGCUASParamManager.cc \
         src/qgcunittest/MultiSignalSpy.cc \
-        src/qgcunittest/TCPLinkTest.cc \
         src/qgcunittest/FlightModeConfigTest.cc
 }
 
@@ -562,7 +560,9 @@ HEADERS += \
     src/ui/designer/QGCXYPlot.h \
     src/ui/menuactionhelper.h \
     src/uas/UASManagerInterface.h \
-    src/uas/QGCUASParamManagerInterface.h
+    src/uas/QGCUASParamManagerInterface.h \
+    src/uas/QGCUASWorker.h \
+    src/CmdLineOptParser.h
 
 SOURCES += \
     src/main.cc \
@@ -745,4 +745,6 @@ SOURCES += \
     src/ui/px4_configuration/QGCPX4MulticopterConfig.cc \
     src/ui/px4_configuration/QGCPX4SensorCalibration.cc \
     src/ui/designer/QGCXYPlot.cc \
-    src/ui/menuactionhelper.cpp
+    src/ui/menuactionhelper.cpp \
+    src/uas/QGCUASWorker.cc \
+    src/CmdLineOptParser.cc

src/CmdLineOptParser.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @brief Command line option parser
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "CmdLineOptParser.h"
+
+#include <QString>
+
+/// @brief Implements a simple command line parser which sets booleans to true if the option is found.
+void ParseCmdLineOptions(int&           argc,                   ///< count of arguments in argv
+                         char*          argv[],                 ///< command line arguments
+                         CmdLineOpt_t*  prgOpts,                ///< command line options
+                         size_t         cOpts,                  ///< count of command line options
+                         bool           removeParsedOptions)    ///< true: remove parsed option from argc/argv
+{
+    // Start with all options off
+    for (size_t iOption=0; iOption<cOpts; iOption++) {
+        *prgOpts[iOption].flag = false;
+    }
+    
+    for (int iArg=1; iArg<argc; iArg++) {
+        for (size_t iOption=0; iOption<cOpts; iOption++) {
+            if (QString(argv[iArg]).compare(prgOpts[iOption].optionStr, Qt::CaseInsensitive) == 0) {
+                *prgOpts[iOption].flag = true;
+                if (removeParsedOptions) {
+                    for (int iShift=iArg; iShift<argc-1; iShift++) {
+                        argv[iShift] = argv[iShift+1];
+                    }
+                    argc--;
+                    iArg--;
+                }
+            }
+        }
+    }
+}

src/CmdLineOptParser.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @brief Command line option parser
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+#ifndef CMDLINEOPTPARSER_H
+#define CMDLINEOPTPARSER_H
+
+#include <cstring>
+
+/// @brief Structure used to pass command line options to the ParseCmdLineOptions function.
+typedef struct {
+    const char* optionStr;  ///< command line option, for example "--foo"
+    bool*       flag;       ///< if option is found this variable will be set to true
+} CmdLineOpt_t;
+
+void ParseCmdLineOptions(int&           argc,
+                         char*          argv[],
+                         CmdLineOpt_t*  prgOpts,
+                         size_t         cOpts,
+                         bool           removeParsedOptions);
+
+#endif

src/QGCCore.cc

@@ -47,6 +47,7 @@ This file is part of the QGROUNDCONTROL project
 #include "MainWindow.h"
 #include "QGCWelcomeMainWindow.h"
 #include "GAudioOutput.h"
+#include "CmdLineOptParser.h"
 
 #ifdef QGC_RTLAB_ENABLED
 #include "OpalLink.h"
@@ -83,11 +84,24 @@ QGCCore::QGCCore(bool firstStart, int &argc, char* argv[]) : QApplication(argc,
     // Set settings format
     QSettings::setDefaultFormat(QSettings::IniFormat);
     
-    // Check application settings
-    // clear them if they mismatch
-    // QGC then falls back to default
+    // Parse command line options
+    
+    bool fClearSettingsOptions = false; // Clear stored settings
+    
+    CmdLineOpt_t rgCmdLineOptions[] = {
+        { "--clear-settings",   &fClearSettingsOptions },
+        // Add additional command line option flags here
+    };
+
+    ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false);
+    
     QSettings settings;
 
+    if (fClearSettingsOptions) {
+        // User requested settings to be cleared on command line
+        settings.clear();
+    }
+    
     // 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;
@@ -98,7 +112,7 @@ QGCCore::QGCCore(bool firstStart, int &argc, char* argv[]) : QApplication(argc,
         if (qgcVersion != QGC_APPLICATION_VERSION)
         {
             lastApplicationVersion = qgcVersion;
-            settings.clear();
+            settings.clear(); // Clear settings from different version
             // Write current application version
             settings.setValue("QGC_APPLICATION_VERSION", QGC_APPLICATION_VERSION);
             upgraded = true;

src/comm/LinkInterface.h

@@ -36,6 +36,7 @@ along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
 #include <QDateTime>
 #include <QMutex>
 #include <QMutexLocker>
+#include <QMetaType>
 
 /**
 * The link interface defines the interface for all links used to communicate
@@ -62,6 +63,7 @@ public:
             outDataWriteTimes[i] = 0;
         }
 
+        qRegisterMetaType<LinkInterface*>("LinkInterface*");
     }
 
     virtual ~LinkInterface() {

src/comm/MAVLinkProtocol.cc

@@ -44,7 +44,7 @@ Q_DECLARE_METATYPE(mavlink_message_t)
  * the MAVLINK_HEARTBEAT_DEFAULT_RATE to all connected links.
  */
 MAVLinkProtocol::MAVLinkProtocol() :
-    heartbeatTimer(),
+    heartbeatTimer(NULL),
     heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
     m_heartbeatsEnabled(true),
     m_multiplexingEnabled(false),
@@ -58,17 +58,14 @@ MAVLinkProtocol::MAVLinkProtocol() :
     m_actionGuardEnabled(false),
     m_actionRetransmissionTimeout(100),
     versionMismatchIgnore(false),
-    systemId(QGC::defaultSystemId)
+    systemId(QGC::defaultSystemId),
+    _should_exit(false)
 {
     qRegisterMetaType<mavlink_message_t>("mavlink_message_t");
 
     m_authKey = "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx";
     loadSettings();
     moveToThread(this);
-    heartbeatTimer.moveToThread(this);
-    // Start heartbeat timer, emitting a heartbeat at the configured rate
-    connect(&heartbeatTimer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
-    heartbeatTimer.start(1000/heartbeatRate);
 
     // All the *Counter variables are not initialized here, as they should be initialized
     // on a per-link basis before those links are used. @see resetMetadataForLink().
@@ -171,7 +168,7 @@ MAVLinkProtocol::~MAVLinkProtocol()
     }
 
     // Tell the thread to exit
-    quit();
+    _should_exit = true;
     // Wait for it to exit
     wait();
 }
@@ -182,7 +179,22 @@ MAVLinkProtocol::~MAVLinkProtocol()
  **/
 void MAVLinkProtocol::run()
 {
-    exec();
+    heartbeatTimer = new QTimer();
+    heartbeatTimer->moveToThread(this);
+    // Start heartbeat timer, emitting a heartbeat at the configured rate
+    connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
+    heartbeatTimer->start(1000/heartbeatRate);
+
+    while(!_should_exit) {
+
+        if (isFinished()) {
+            qDebug() << "MAVLINK WORKER DONE!";
+            return;
+        }
+
+        QCoreApplication::processEvents();
+        QGC::SLEEP::msleep(2);
+    }
 }
 
 QString MAVLinkProtocol::getLogfileName()
@@ -782,7 +794,7 @@ void MAVLinkProtocol::enableVersionCheck(bool enabled)
 void MAVLinkProtocol::setHeartbeatRate(int rate)
 {
     heartbeatRate = rate;
-    heartbeatTimer.setInterval(1000/heartbeatRate);
+    heartbeatTimer->setInterval(1000/heartbeatRate);
 }
 
 /** @return heartbeat rate in Hertz */

src/comm/MAVLinkProtocol.h

@@ -214,7 +214,7 @@ public slots:
     void storeSettings();
 
 protected:
-    QTimer heartbeatTimer;    ///< Timer to emit heartbeats
+    QTimer *heartbeatTimer;    ///< Timer to emit heartbeats
     int heartbeatRate;         ///< Heartbeat rate, controls the timer interval
     bool m_heartbeatsEnabled;  ///< Enabled/disable heartbeat emission
     bool m_multiplexingEnabled; ///< Enable/disable packet multiplexing
@@ -237,6 +237,8 @@ protected:
     int currLossCounter[MAVLINK_COMM_NUM_BUFFERS];        ///< Lost messages during this sample time window. Used for calculating loss %.
     bool versionMismatchIgnore;
     int systemId;
+    bool _should_exit;
+
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     mavlink::ProtobufManager protobufManager;
 #endif

src/comm/QGCXPlaneLink.cc

@@ -57,7 +57,8 @@ QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress
     simUpdateLastText(QGC::groundTimeMilliseconds()),
     simUpdateLastGroundTruth(QGC::groundTimeMilliseconds()),
     simUpdateHz(0),
-    _sensorHilEnabled(true)
+    _sensorHilEnabled(true),
+    _should_exit(false)
 {
     // We're doing it wrong - because the Qt folks got the API wrong:
     // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
@@ -75,7 +76,7 @@ QGCXPlaneLink::~QGCXPlaneLink()
 {
     storeSettings();
     // Tell the thread to exit
-    quit();
+    _should_exit = true;
     // Wait for it to exit
     wait();
 
@@ -216,7 +217,10 @@ void QGCXPlaneLink::run()
 
     writeBytes((const char*)&ip, sizeof(ip));
 
-    exec();
+    while(!_should_exit) {
+        QCoreApplication::processEvents();
+        QGC::SLEEP::msleep(5);
+    }
 }
 
 void QGCXPlaneLink::setPort(int localPort)

src/comm/QGCXPlaneLink.h

@@ -210,6 +210,7 @@ protected:
     quint64 simUpdateLastGroundTruth;
     float simUpdateHz;
     bool _sensorHilEnabled;
+    bool _should_exit;
 
     void setName(QString name);
 };

src/configuration.h

@@ -4,7 +4,7 @@
 #include <QString>
 
 /** @brief Polling interval in ms */
-#define SERIAL_POLL_INTERVAL 5
+#define SERIAL_POLL_INTERVAL 4
 
 /** @brief Heartbeat emission rate, in Hertz (times per second) */
 #define MAVLINK_HEARTBEAT_DEFAULT_RATE 1

src/main.cc

@@ -36,6 +36,10 @@ This file is part of the QGROUNDCONTROL project
 #include "TCPLink.h"
 #ifdef QT_DEBUG
 #include "AutoTest.h"
+#include "CmdLineOptParser.h"
+#ifdef Q_OS_WIN
+#include <crtdbg.h>
+#endif
 #endif
 
 /* SDL does ugly things to main() */
@@ -44,10 +48,10 @@ This file is part of the QGROUNDCONTROL project
 #endif
 
 
-// Install a message handler so you do not need
-// the MSFT debug tools installed to se
-// qDebug(), qWarning(), qCritical and qAbort
 #ifdef Q_OS_WIN
+
+/// @brief Message handler which is installed using qInstallMsgHandler so you do not need
+/// the MSFT debug tools installed to see qDebug(), qWarning(), qCritical and qAbort
 void msgHandler( QtMsgType type, const char* msg )
 {
     const char symbols[] = { 'I', 'E', '!', 'X' };
@@ -56,6 +60,17 @@ void msgHandler( QtMsgType type, const char* msg )
     if( type == QtFatalMsg ) abort();
 }
 
+/// @brief CRT Report Hook installed using _CrtSetReportHook. We install this hook when
+/// we don't want asserts to pop a dialog on windows.
+int WindowsCrtReportHook(int reportType, char* message, int* returnValue)
+{
+    Q_UNUSED(reportType);
+    
+    std::cerr << message << std::endl;  // Output message to stderr
+    *returnValue = 0;                   // Don't break into debugger
+    return true;                        // We handled this fully ourselves
+}
+
 #endif
 
 /**
@@ -81,13 +96,27 @@ int main(int argc, char *argv[])
     qRegisterMetaType<QAbstractSocket::SocketError>();
     
 #ifdef QT_DEBUG
-    if (argc > 1 && QString(argv[1]).compare("--unittest", Qt::CaseInsensitive) == 0) {
-        // Strip off extra command line args so QTest doesn't complain
-        for (int i=1; i<argc-1; i++)
-        {
-            argv[i] = argv[i+1];
+    // We parse a small set of command line options here prior to QGCCore in order to handle the ones
+    // which need to be handled before a QApplication object is started.
+    
+    bool runUnitTests = false;          // Run unit test
+    bool quietWindowsAsserts = false;   // Don't let asserts pop dialog boxes
+    
+    CmdLineOpt_t rgCmdLineOptions[] = {
+        { "--unittest",             &runUnitTests },
+        { "--no-windows-assert-ui", &quietWindowsAsserts },
+        // Add additional command line option flags here
+    };
+    
+    ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), true);
+    
+    if (quietWindowsAsserts) {
+#ifdef Q_OS_WIN
+        _CrtSetReportHook(WindowsCrtReportHook);
+#endif
     }
     
+    if (runUnitTests) {
         // Run the test
         int failures = AutoTest::run(argc-1, argv);
         if (failures == 0)

src/qgcunittest/UASUnitTest.cc

 #include "UASUnitTest.h"
 #include <stdio.h>
 #include <QObject>
+#include <QThread>
+
 UASUnitTest::UASUnitTest()
 {
 }
@@ -8,7 +10,7 @@ UASUnitTest::UASUnitTest()
 void UASUnitTest::init()
 {
     mav = new MAVLinkProtocol();
-    uas = new UAS(mav, UASID);
+    uas = new UAS(mav, QThread::currentThread(), UASID);
     uas->deleteSettings();
 }
 //this function is called after every test
@@ -24,7 +26,7 @@ void UASUnitTest::cleanup()
 void UASUnitTest::getUASID_test()
 {
     // Test a default ID of zero is assigned
-    UAS* uas2 = new UAS(mav);
+    UAS* uas2 = new UAS(mav, QThread::currentThread());
     QCOMPARE(uas2->getUASID(), 0);
     delete uas2;
 
@@ -49,7 +51,7 @@ void UASUnitTest::getUASName_test()
 
 void UASUnitTest::getUpTime_test()
 {
-    UAS* uas2 = new UAS(mav);
+    UAS* uas2 = new UAS(mav, QThread::currentThread());
     // Test that the uptime starts at zero to a
     // precision of seconds
     QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0);
@@ -281,7 +283,7 @@ void UASUnitTest::signalWayPoint_test()
     delete uas;// delete(destroyed) uas for validating
     uas = NULL;
     QCOMPARE(spyDestroyed.count(), 1);// count destroyed uas should are 1
-    uas = new UAS(mav,UASID);
+    uas = new UAS(mav, QThread::currentThread(), UASID);
     QSignalSpy spy2(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged()));
     QCOMPARE(spy2.count(), 0);
     Waypoint* wp2 = new Waypoint(0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");

src/uas/QGCMAVLinkUASFactory.cc

 #include "QGCMAVLinkUASFactory.h"
 #include "UASManager.h"
+#include "QGCUASWorker.h"
 
 QGCMAVLinkUASFactory::QGCMAVLinkUASFactory(QObject *parent) :
     QObject(parent)
@@ -21,7 +22,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
 
     UASInterface* uas;
 
-    QThread* worker = new QThread();
+    QGCUASWorker* worker = new QGCUASWorker();
 
     switch (heartbeat->autopilot)
     {
@@ -31,8 +32,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
 
-        mav->moveToThread(worker);
-
         // Connect this robot to the UAS object
         connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
 #ifdef QGC_PROTOBUF_ENABLED
@@ -47,8 +46,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
 
-        mav->moveToThread(worker);
-
         // Connect this robot to the UAS object
         // it is IMPORTANT here to use the right object type,
         // else the slot of the parent object is called (and thus the special
@@ -66,8 +63,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
 
-        mav->moveToThread(worker);
-
         // Connect this robot to the UAS object
         // it is IMPORTANT here to use the right object type,
         // else the slot of the parent object is called (and thus the special
@@ -82,8 +77,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
 
-        mav->moveToThread(worker);
-
         // Connect this robot to the UAS object
         // it is IMPORTANT here to use the right object type,
         // else the slot of the parent object is called (and thus the special
@@ -120,6 +113,10 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     break;
     }
 
+    // Get the UAS ready
+    worker->start(QThread::HighPriority);
+    connect(uas, SIGNAL(destroyed()), worker, SLOT(quit()));
+
     // Set the autopilot type
     uas->setAutopilotType((int)heartbeat->autopilot);
 
@@ -129,8 +126,5 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     // Now add UAS to "official" list, which makes the whole application aware of it
     UASManager::instance()->addUAS(uas);
 
-    worker->start(QThread::HighPriority);
-    connect(uas, SIGNAL(destroyed()), worker, SLOT(quit()));
-
     return uas;
 }

src/uas/QGCUASWorker.cc

+#include "QGCUASWorker.h"
+
+#include <QGC.h>
+#include <QCoreApplication>
+#include <QDebug>
+
+QGCUASWorker::QGCUASWorker() : QThread(),
+    _should_exit(false)
+{
+}
+
+void QGCUASWorker::quit()
+{
+    _should_exit = true;
+}
+
+void QGCUASWorker::run()
+{
+    while(!_should_exit) {
+
+        QCoreApplication::processEvents();
+        QGC::SLEEP::msleep(2);
+    }
+}

src/uas/QGCUASWorker.h

+#ifndef QGCUASWORKER_H
+#define QGCUASWORKER_H
+
+#include <QThread>
+
+class QGCUASWorker : public QThread
+{
+public:
+    QGCUASWorker();
+
+public slots:
+    void quit();
+
+protected:
+    void run();
+
+    bool _should_exit;
+};
+
+#endif // QGCUASWORKER_H

src/uas/UAS.cc

@@ -51,7 +51,7 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
     commStatus(COMM_DISCONNECTED),
     receiveDropRate(0),
     sendDropRate(0),
-    statusTimeout(new QTimer(this)),
+    statusTimeout(thread),
 
     name(""),
     type(MAV_TYPE_GENERIC),
@@ -155,6 +155,7 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
     paramsOnceRequested(false),
     paramMgr(this),
     simulation(0),
+    _thread(thread),
 
     // The protected members.
     connectionLost(false),
@@ -167,9 +168,6 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
     lastSendTimeSensors(0)
 {
     moveToThread(thread);
-    waypointManager.moveToThread(thread);
-    paramMgr.moveToThread(thread);
-    statusTimeout->moveToThread(thread);
 
     for (unsigned int i = 0; i<255;++i)
     {
@@ -180,66 +178,66 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
     // Store a list of available actions for this UAS.
     // Basically everything exposed as a SLOT with no return value or arguments.
 
-    QAction* newAction = new QAction(tr("Arm"), this);
+    QAction* newAction = new QAction(tr("Arm"), thread);
     newAction->setToolTip(tr("Enable the UAS so that all actuators are online"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(armSystem()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Disarm"), this);
+    newAction = new QAction(tr("Disarm"), thread);
     newAction->setToolTip(tr("Disable the UAS so that all actuators are offline"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(disarmSystem()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Toggle armed"), this);
+    newAction = new QAction(tr("Toggle armed"), thread);
     newAction->setToolTip(tr("Toggle between armed and disarmed"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(toggleAutonomy()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Go home"), this);
+    newAction = new QAction(tr("Go home"), thread);
     newAction->setToolTip(tr("Command the UAS to return to its home position"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(home()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Land"), this);
+    newAction = new QAction(tr("Land"), thread);
     newAction->setToolTip(tr("Command the UAS to land"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(land()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Launch"), this);
+    newAction = new QAction(tr("Launch"), thread);
     newAction->setToolTip(tr("Command the UAS to launch itself and begin its mission"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(launch()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Resume"), this);
+    newAction = new QAction(tr("Resume"), thread);
     newAction->setToolTip(tr("Command the UAS to continue its mission"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(go()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Stop"), this);
+    newAction = new QAction(tr("Stop"), thread);
     newAction->setToolTip(tr("Command the UAS to halt and hold position"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(halt()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Go autonomous"), this);
+    newAction = new QAction(tr("Go autonomous"), thread);
     newAction->setToolTip(tr("Set the UAS into an autonomous control mode"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(goAutonomous()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Go manual"), this);
+    newAction = new QAction(tr("Go manual"), thread);
     newAction->setToolTip(tr("Set the UAS into a manual control mode"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(goManual()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Toggle autonomy"), this);
+    newAction = new QAction(tr("Toggle autonomy"), thread);
     newAction->setToolTip(tr("Toggle between manual and full-autonomy"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(toggleAutonomy()));
     actions.append(newAction);
 
     color = UASInterface::getNextColor();
     setBatterySpecs(QString(""));
-    connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
+    connect(&statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
     connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
-    statusTimeout->start(500);
+    statusTimeout.start(500);
     readSettings();
     //need to init paramMgr after readSettings have been loaded, to properly set autopilot and so forth
     paramMgr.initWithUAS(this);
@@ -255,8 +253,11 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
 UAS::~UAS()
 {
     writeSettings();
+
+    _thread->quit();
+    _thread->wait();
+
     delete links;
-    delete statusTimeout;
     delete simulation;
 }
 

src/uas/UAS.h

@@ -382,7 +382,7 @@ protected: //COMMENTS FOR TEST UNIT
     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
     quint64 lastHeartbeat;        ///< Time of the last heartbeat message
-    QTimer* statusTimeout;        ///< Timer for various status timeouts
+    QTimer statusTimeout;       ///< Timer for various status timeouts
 
     /// BASIC UAS TYPE, NAME AND STATE
     QString name;                 ///< Human-friendly name of the vehicle, e.g. bravo
@@ -526,6 +526,7 @@ protected: //COMMENTS FOR TEST UNIT
 
     /// SIMULATION
     QGCHilLink* simulation;         ///< Hardware in the loop simulation link
+    QThread* _thread;
 
 public:
     /** @brief Set the current battery type */

src/ui/MainWindow.cc

@@ -760,6 +760,7 @@ void MainWindow::loadDockWidget(const QString& name)
 {
     if(menuActionHelper->containsDockWidget(currentView, name))
         return;
+
     if (name.startsWith("HIL_CONFIG"))
     {
         //It's a HIL widget.
@@ -826,7 +827,7 @@ void MainWindow::loadDockWidget(const QString& name)
     }
     else if (name == "HEAD_UP_DISPLAY_DOCKWIDGET")
     {
-        createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
+        createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
     else if (name == "UAS_INFO_QUICKVIEW_DOCKWIDGET")
     {

src/ui/PrimaryFlightDisplay.cc

@@ -110,6 +110,9 @@ const QString PrimaryFlightDisplay::compassWindNames[] = {
 PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *parent) :
     QWidget(parent),
 
+    _valuesChanged(false),
+    _valuesLastPainted(QGC::groundTimeMilliseconds()),
+
     uas(NULL),
 
     roll(0),
@@ -159,7 +162,7 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
     // Refresh timer
     refreshTimer->setInterval(updateInterval);
     //    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
-    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(update()));
+    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(checkUpdate()));
 }
 
 PrimaryFlightDisplay::~PrimaryFlightDisplay()
@@ -224,6 +227,15 @@ void PrimaryFlightDisplay::paintEvent(QPaintEvent *event)
     doPaint();
 }
 
+void PrimaryFlightDisplay::checkUpdate()
+{
+    if (uas && (_valuesChanged || (QGC::groundTimeMilliseconds() - _valuesLastPainted) > 260)) {
+        update();
+        _valuesChanged = false;
+        _valuesLastPainted = QGC::groundTimeMilliseconds();
+    }
+}
+
 ///*
 // * Interface towards qgroundcontrol
 // */
@@ -280,24 +292,45 @@ void PrimaryFlightDisplay::updateAttitude(UASInterface* uas, double roll, double
 {
     Q_UNUSED(uas);
     Q_UNUSED(timestamp);
+
         // Called from UAS.cc l. 616
         if (isinf(roll)) {
             this->roll = std::numeric_limits<double>::quiet_NaN();
         } else {
-            this->roll = roll * (180.0 / M_PI);
+
+            float rolldeg = roll * (180.0 / M_PI);
+
+            if (fabsf(roll - rolldeg) > 2.5f) {
+                _valuesChanged = true;
+            }
+
+            this->roll = rolldeg;
         }
 
         if (isinf(pitch)) {
             this->pitch = std::numeric_limits<double>::quiet_NaN();
         } else {
-            this->pitch = pitch * (180.0 / M_PI);
+
+            float pitchdeg = pitch * (180.0 / M_PI);
+
+            if (fabsf(pitch - pitchdeg) > 2.5f) {
+                _valuesChanged = true;
+            }
+
+            this->pitch = pitchdeg;
         }
 
         if (isinf(yaw)) {
             this->heading = std::numeric_limits<double>::quiet_NaN();
         } else {
+
             yaw = yaw * (180.0 / M_PI);
             if (yaw<0) yaw+=360;
+
+            if (fabsf(heading - yaw) > 10.0f) {
+                _valuesChanged = true;
+            }
+
             this->heading = yaw;
         }
 
@@ -314,6 +347,14 @@ void PrimaryFlightDisplay::updateSpeed(UASInterface* uas, double _groundSpeed, d
     Q_UNUSED(uas);
     Q_UNUSED(timestamp);
 
+    if (fabsf(groundSpeed - _groundSpeed) > 0.5f) {
+        _valuesChanged = true;
+    }
+
+    if (fabsf(airSpeed - _airSpeed) > 1.0f) {
+        _valuesChanged = true;
+    }
+
     groundSpeed = _groundSpeed;
     airSpeed = _airSpeed;
 }
@@ -321,6 +362,19 @@ void PrimaryFlightDisplay::updateSpeed(UASInterface* uas, double _groundSpeed, d
 void PrimaryFlightDisplay::updateAltitude(UASInterface* uas, double _altitudeAMSL, double _altitudeRelative, double _climbRate, quint64 timestamp) {
     Q_UNUSED(uas);
     Q_UNUSED(timestamp);
+
+    if (fabsf(altitudeAMSL - _altitudeAMSL) > 0.5f) {
+        _valuesChanged = true;
+    }
+
+    if (fabsf(altitudeRelative - _altitudeRelative) > 0.5f) {
+        _valuesChanged = true;
+    }
+
+    if (fabsf(climbRate - _climbRate) > 0.5f) {
+        _valuesChanged = true;
+    }
+
     altitudeAMSL = _altitudeAMSL;
     altitudeRelative = _altitudeRelative;
     climbRate = _climbRate;

src/ui/PrimaryFlightDisplay.h

@@ -27,7 +27,13 @@ public slots:
     void forgetUAS(UASInterface* uas);
     void setActiveUAS(UASInterface* uas);
 
+    void checkUpdate();
+
 protected:
+
+    bool _valuesChanged;
+    quint64 _valuesLastPainted;
+
     enum Layout {
         COMPASS_INTEGRATED,
         COMPASS_SEPARATED               // For a very high container. Feature panels are at bottom.

src/ui/QGCHilXPlaneConfiguration.cc

@@ -25,8 +25,9 @@ QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *
     {
 //        connect(ui->randomAttitudeButton, SIGNAL(clicked()), link, SLOT(setRandomAttitude()));
 //        connect(ui->randomPositionButton, SIGNAL(clicked()), link, SLOT(setRandomPosition()));
-        connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(selectAirframe(QString)));
+
         ui->airframeComboBox->setCurrentIndex(link->getAirFrameIndex());
+        connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(selectAirframe(QString)));
         // XXX not implemented yet
         ui->airframeComboBox->hide();
         ui->sensorHilCheckBox->setChecked(xplane->sensorHilEnabled());

src/ui/QGCMAVLinkLogPlayer.cc

@@ -575,6 +575,7 @@ void QGCMAVLinkLogPlayer::logLoop()
         // have at least 3ms until the next one.
         int nextExecutionTime = 0;
         mavlink_message_t msg;
+        msg.len = 0;    // FIXME: Hack, remove once Issue #647 is fixed
         while (nextExecutionTime < 3) {
 
             // Now we're sitting at the start of a MAVLink message, so read it all into a byte array for feeding to our parser.