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

README.md

@@ -90,7 +90,7 @@ To build on Linux:
 - - -
 1. Install base dependencies (QT + phonon/webkit, SDL)
   * For Ubuntu: `sudo apt-get install libqt4-dev libphonon-dev libphonon4 phonon-backend-gstreamer qtcreator libsdl1.2-dev build-essential libudev-dev`
-  * For Fedora: `sudo yum install qt qt-creator qt-webkit-devel SDL-devel SDL-static systemd-devel`
+  * For Fedora: `sudo yum install qt qt-creator qt-webkit-devel phonon-devel SDL-devel SDL-static systemd-devel`
   * For Arch Linux: `pacman -Sy qtwebkit phonon-qt4`
 
 2. **[OPTIONAL]** Install additional libraries

src/QGC.cc

@@ -30,29 +30,17 @@ namespace QGC
 
 quint64 groundTimeUsecs()
 {
-    QDateTime time = QDateTime::currentDateTime();
-    time = time.toUTC();
-    /* Return seconds and milliseconds, in milliseconds unit */
-    quint64 microseconds = time.toTime_t() * static_cast<quint64>(1000000);
-    return static_cast<quint64>(microseconds + (time.time().msec()*1000));
+    return groundTimeMilliseconds() * 1000;
 }
 
 quint64 groundTimeMilliseconds()
 {
-    QDateTime time = QDateTime::currentDateTime();
-    time = time.toUTC();
-    /* Return seconds and milliseconds, in milliseconds unit */
-    quint64 seconds = time.toTime_t() * static_cast<quint64>(1000);
-    return static_cast<quint64>(seconds + (time.time().msec()));
+    return static_cast<quint64>(QDateTime::currentMSecsSinceEpoch());
 }
 
 qreal groundTimeSeconds()
 {
-    QDateTime time = QDateTime::currentDateTime();
-    time = time.toUTC();
-    /* Return time in seconds unit */
-    quint64 seconds = time.toTime_t();
-    return static_cast<qreal>(seconds + (time.time().msec() / 1000.0));
+    return static_cast<qreal>(groundTimeMilliseconds()) / 1000.0f;
 }
 
 float limitAngleToPMPIf(float angle)

src/QGC.h

@@ -75,11 +75,17 @@ const QColor colorDarkYellow(180, 180, 0);
 const QColor colorBackground("#050508");
 const QColor colorBlack(0, 0, 0);
 
-/** @brief Get the current ground time in microseconds */
+/**
+ * @brief Get the current ground time in microseconds.
+ * @note This does not have microsecond precision, it is limited to millisecond precision.
+ */
 quint64 groundTimeUsecs();
 /** @brief Get the current ground time in milliseconds */
 quint64 groundTimeMilliseconds();
-/** @brief Get the current ground time in seconds */
+/** 
+ * @brief Get the current ground time in fractional seconds
+ * @note Precision is limited to milliseconds.
+ */
 qreal groundTimeSeconds();
 /** @brief Returns the angle limited to -pi - pi */
 float limitAngleToPMPIf(float angle);

src/comm/SerialLink.cc

@@ -99,19 +99,11 @@ QList<QString> SerialLink::getCurrentPorts()
     m_ports.clear();
 
     QList<QSerialPortInfo> portList =  QSerialPortInfo::availablePorts();
-
-    if( portList.count() == 0){
-        qDebug() << "No Ports Found" << m_ports;
-    }
-
     foreach (const QSerialPortInfo &info, portList)
     {
-//        qDebug() << "PortName    : " << info.portName()
-//                 << "Description : " << info.description();
-//        qDebug() << "Manufacturer: " << info.manufacturer();
-
         m_ports.append(info.portName());
     }
+
     return m_ports;
 }
 

src/input/JoystickInput.cc

@@ -272,7 +272,7 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
         tmp = dynamic_cast<UAS*>(this->uas);
         if(tmp)
         {
-            disconnect(this, SIGNAL(joystickChanged(double,double,double,double,int,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double,int,int,int)));
+            disconnect(this, SIGNAL(joystickChanged(float,float,float,float,qint8,qint8,quint16)), tmp, SLOT(setManualControlCommands(float,float,float,float,qint8,qint8,quint16)));
             disconnect(this, SIGNAL(actionTriggered(int)), tmp, SLOT(triggerAction(int)));
         }
         uasCanReverse = false;
@@ -288,7 +288,7 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
 
     if (this->uas && (tmp = dynamic_cast<UAS*>(this->uas)))
     {
-        connect(this, SIGNAL(joystickChanged(double,double,double,double,int,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double,int,int,int)));
+        connect(this, SIGNAL(joystickChanged(float,float,float,float,qint8,qint8,quint16)), tmp, SLOT(setManualControlCommands(float,float,float,float,qint8,qint8,quint16)));
         connect(this, SIGNAL(actionTriggered(int)), tmp, SLOT(triggerAction(int)));
         uasCanReverse = tmp->systemCanReverse();
 
@@ -439,10 +439,10 @@ void JoystickInput::run()
 
         // Build up vectors describing the hat position
         int hatPosition = SDL_JoystickGetHat(joystick, 0);
-        int newYHat = 0;
+        qint8 newYHat = 0;
         if ((SDL_HAT_UP & hatPosition) > 0) newYHat = 1;
         if ((SDL_HAT_DOWN & hatPosition) > 0) newYHat = -1;
-        int newXHat = 0;
+        qint8 newXHat = 0;
         if ((SDL_HAT_LEFT & hatPosition) > 0) newXHat = -1;
         if ((SDL_HAT_RIGHT & hatPosition) > 0) newXHat = 1;
         if (newYHat != yHat || newXHat != xHat)

src/input/JoystickInput.h

@@ -205,7 +205,7 @@ protected:
     // Track the last state of the axes, buttons, and hats for only emitting change signals.
     QList<float> joystickAxes; ///< The values of every axes during the last sample.
     quint16 joystickButtons;   ///< The state of every button. Bitfield supporting 16 buttons with 1s indicating that the button is down.
-    int xHat, yHat;            ///< The horizontal/vertical hat directions. Values are -1, 0, 1, with (-1,-1) indicating bottom-left.
+    qint8 xHat, yHat;            ///< The horizontal/vertical hat directions. Values are -1, 0, 1, with (-1,-1) indicating bottom-left.
 
     /**
      * @brief Called before main run() event loop starts. Waits for joysticks to be connected.
@@ -224,7 +224,7 @@ signals:
      * @param xHat hat vector in forward-backward direction, +1 forward, 0 center, -1 backward
      * @param yHat hat vector in left-right direction, -1 left, 0 center, +1 right
      */
-    void joystickChanged(double roll, double pitch, double yaw, double throttle, int xHat, int yHat, int buttons);
+    void joystickChanged(float roll, float pitch, float yaw, float throttle, qint8 xHat, qint8 yHat, quint16 buttons);
 
     /**
       * @brief Emit a new value for an axis
@@ -267,7 +267,7 @@ signals:
       * @param x vector in left-right direction
       * @param y vector in forward-backward direction
       */
-    void hatDirectionChanged(int x, int y);
+    void hatDirectionChanged(qint8 x, qint8 y);
 
     /** @brief Signal that the UAS has been updated for this JoystickInput
      * Note that any UI updates should NOT query this object for joystick details. That should be done in response to the joystickSettingsChanged signal.

src/uas/SlugsMAV.cc

@@ -126,19 +126,19 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             switch (mlAction.actionId) {
             case SLUGS_ACTION_EEPROM:
                 if (mlAction.actionVal == SLUGS_ACTION_FAIL) {
-                    emit textMessageReceived(message.sysid, message.compid, 255, "EEPROM Write Fail, Data was not saved in Memory!");
+                    emit textMessageReceived(message.sysid, message.compid, MAV_SEVERITY_ERROR, "EEPROM Write Fail, Data was not saved in Memory!");
                 }
                 break;
 
             case SLUGS_ACTION_PT_CHANGE:
                 if (mlAction.actionVal == SLUGS_ACTION_SUCCESS) {
-                    emit textMessageReceived(message.sysid, message.compid, 0, "Passthrough Succesfully Changed");
+                    emit textMessageReceived(message.sysid, message.compid, MAV_SEVERITY_INFO, "Passthrough Succesfully Changed");
                 }
                 break;
 
             case SLUGS_ACTION_MLC_CHANGE:
                 if (mlAction.actionVal == SLUGS_ACTION_SUCCESS) {
-                    emit textMessageReceived(message.sysid, message.compid, 0, "Mid-level Commands Succesfully Changed");
+                    emit textMessageReceived(message.sysid, message.compid, MAV_SEVERITY_INFO, "Mid-level Commands Succesfully Changed");
                 }
                 break;
             }

src/uas/UAS.cc

@@ -350,7 +350,7 @@ void UAS::updateState()
     // Connection gained
     if (connectionLost && (heartbeatInterval < timeoutIntervalHeartbeat))
     {
-        QString audiostring = QString("Link regained to system %1 after %2 seconds").arg(this->getUASID()).arg((int)(connectionLossTime/1000000));
+        QString audiostring = QString("Link regained to system %1").arg(this->getUASID());
         GAudioOutput::instance()->say(audiostring.toLower());
         connectionLost = false;
         connectionLossTime = 0;
@@ -955,7 +955,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                         setGroundSpeed(vel);
                         emit speedChanged(this, groundSpeed, airSpeed, time);
                     } else {
-                        emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(vel));
+                        emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_NOTICE, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(vel));
                     }
                 }
             }
@@ -1056,27 +1056,27 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
             case MAV_RESULT_ACCEPTED:
             {
-                emit textMessageReceived(uasId, message.compid, 0, tr("SUCCESS: Executed CMD: %1").arg(ack.command));
+                emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_INFO, tr("SUCCESS: Executed CMD: %1").arg(ack.command));
             }
                 break;
             case MAV_RESULT_TEMPORARILY_REJECTED:
             {
-                emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Temporarily rejected CMD: %1").arg(ack.command));
+                emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_WARNING, tr("FAILURE: Temporarily rejected CMD: %1").arg(ack.command));
             }
                 break;
             case MAV_RESULT_DENIED:
             {
-                emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Denied CMD: %1").arg(ack.command));
+                emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_ERROR, tr("FAILURE: Denied CMD: %1").arg(ack.command));
             }
                 break;
             case MAV_RESULT_UNSUPPORTED:
             {
-                emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Unsupported CMD: %1").arg(ack.command));
+                emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_WARNING, tr("FAILURE: Unsupported CMD: %1").arg(ack.command));
             }
                 break;
             case MAV_RESULT_FAILED:
             {
-                emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Failed CMD: %1").arg(ack.command));
+                emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_ERROR, tr("FAILURE: Failed CMD: %1").arg(ack.command));
             }
                 break;
             }
@@ -2733,7 +2733,7 @@ void UAS::requestParameter(int component, const QString& parameter)
     // Copy full param name or maximum max field size
     if (parameter.length() > MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN)
     {
-        emit textMessageReceived(uasId, 0, 255, QString("QGC WARNING: Parameter name %1 is more than %2 bytes long. This might lead to errors and mishaps!").arg(parameter).arg(MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN-1));
+        emit textMessageReceived(uasId, 0, MAV_SEVERITY_WARNING, QString("QGC WARNING: Parameter name %1 is more than %2 bytes long. This might lead to errors and mishaps!").arg(parameter).arg(MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN-1));
     }
     memcpy(read.param_id, parameter.toStdString().c_str(), qMax(parameter.length(), MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN));
     read.param_id[15] = '\0'; // Enforce null termination
@@ -2884,34 +2884,70 @@ void UAS::toggleAutonomy()
 * Set the manual control commands.
 * This can only be done if the system has manual inputs enabled and is armed.
 */
-void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons)
+void UAS::setManualControlCommands(float roll, float pitch, float yaw, float thrust, qint8 xHat, qint8 yHat, quint16 buttons)
 {
     Q_UNUSED(xHat);
     Q_UNUSED(yHat);
 
-    // Scale values
-    double rollPitchScaling = 1.0f * 1000.0f;
-    double yawScaling = 1.0f * 1000.0f;
-    double thrustScaling = 1.0f * 1000.0f;
+    // Store the previous manual commands
+    static float manualRollAngle = 0.0;
+    static float manualPitchAngle = 0.0;
+    static float manualYawAngle = 0.0;
+    static float manualThrust = 0.0;
+    static quint16 manualButtons = 0;
+    static quint8 countSinceLastTransmission = 0; // Track how many calls to this function have occurred since the last MAVLink transmission
 
-    manualRollAngle = roll * rollPitchScaling;
-    manualPitchAngle = pitch * rollPitchScaling;
-    manualYawAngle = yaw * yawScaling;
-    manualThrust = thrust * thrustScaling;
-
-    // If system has manual inputs enabled and is armed
+    // We only transmit manual command messages if the system has manual inputs enabled and is armed
     if(((base_mode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) && (base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)) || (base_mode & MAV_MODE_FLAG_HIL_ENABLED))
     {
-        mavlink_message_t message;
-        mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, (float)manualPitchAngle, (float)manualRollAngle, (float)manualThrust, (float)manualYawAngle, buttons);
-        sendMessage(message);
-        //qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust;
 
-        emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds());
-    }
-    else
-    {
-        //qDebug() << "JOYSTICK/MANUAL CONTROL: IGNORING COMMANDS: Set mode to MANUAL to send joystick commands first";
+        // Transmit the manual commands only if they've changed OR if it's been a little bit since they were last transmit. To make sure there aren't issues with
+        // response rate, we make sure that a message is transmit when the commands have changed, then one more time, and then switch to the lower transmission rate
+        // if no command inputs have changed.
+        // The default transmission rate is 50Hz, but when no inputs have changed it drops down to 5Hz.
+        bool sendCommand = false;
+        if (countSinceLastTransmission++ >= 10)
+        {
+            sendCommand = true;
+            countSinceLastTransmission = 0;
+        }
+        else if ((!isnan(roll) && roll != manualRollAngle) || (!isnan(pitch) && pitch != manualPitchAngle) ||
+                   (!isnan(yaw) && yaw != manualYawAngle) || (!isnan(thrust) && thrust != manualThrust) ||
+                   buttons != manualButtons)
+        {
+            sendCommand = true;
+
+            // Ensure that another message will be sent the next time this function is called
+            countSinceLastTransmission = 10;
+        }
+
+        // Now if we should trigger an update, let's do that
+        if (sendCommand)
+        {
+            // Save the new manual control inputs
+            manualRollAngle = roll;
+            manualPitchAngle = pitch;
+            manualYawAngle = yaw;
+            manualThrust = thrust;
+            manualButtons = buttons;
+
+            // Store scaling values for all 3 axes
+            const float axesScaling = 1.0 * 1000.0;
+
+            // Calculate the new commands for roll, pitch, yaw, and thrust
+            const float newRollCommand = roll * axesScaling;
+            const float newPitchCommand = pitch * axesScaling;
+            const float newYawCommand = yaw * axesScaling;
+            const float newThrustCommand = thrust * axesScaling;
+
+            // Send the MANUAL_COMMAND message
+            mavlink_message_t message;
+            mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, newPitchCommand, newRollCommand, newThrustCommand, newYawCommand, buttons);
+            sendMessage(message);
+
+            // Emit an update in control values to other UI elements, like the HSI display
+            emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds());
+        }
     }
 }
 
@@ -3603,7 +3639,7 @@ void UAS::setBatterySpecs(const QString& specs)
         }
         else
         {
-            emit textMessageReceived(0, 0, 0, "Could not set battery options, format is wrong");
+            emit textMessageReceived(0, 0, MAV_SEVERITY_WARNING, "Could not set battery options, format is wrong");
         }
     }
     else
@@ -3629,7 +3665,7 @@ void UAS::setBatterySpecs(const QString& specs)
         }
         else
         {
-            emit textMessageReceived(0, 0, 0, "Could not set battery options, format is wrong");
+            emit textMessageReceived(0, 0, MAV_SEVERITY_WARNING, "Could not set battery options, format is wrong");
         }
     }
 }

src/uas/UAS.h

@@ -838,7 +838,7 @@ public slots:
     void toggleAutonomy();
 
     /** @brief Set the values for the manual control of the vehicle */
-    void setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);
+    void setManualControlCommands(float roll, float pitch, float yaw, float thrust, qint8 xHat, qint8 yHat, quint16 buttons);
 
     /** @brief Set the values for the 6dof manual control of the vehicle */
     void setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw);

src/uas/UASInterface.h

@@ -529,7 +529,7 @@ signals:
     void attitudeChanged(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
     void attitudeChanged(UASInterface*, int component, double roll, double pitch, double yaw, quint64 usec);
     void attitudeRotationRatesChanged(int uas, double rollrate, double pitchrate, double yawrate, quint64 usec);
-    void attitudeThrustSetPointChanged(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
+    void attitudeThrustSetPointChanged(UASInterface*, float rollDesired, float pitchDesired, float yawDesired, float thrustDesired, quint64 usec);
     /** @brief The MAV set a new setpoint in the local (not body) NED X, Y, Z frame */
     void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
     /** @brief A user (or an autonomous mission or obstacle avoidance planner) requested to set a new setpoint */

src/ui/HSIDisplay.cc

@@ -921,7 +921,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
         disconnect(this->uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
         disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
         disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
-        disconnect(this->uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
+        disconnect(this->uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,float,float,float,float,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,float,float,float,float,quint64)));
         disconnect(this->uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
         disconnect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)), this, SLOT(updateUserPositionSetpoints(int,float,float,float,float)));
         disconnect(this->uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
@@ -957,8 +957,8 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
                 this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
         connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)),
                 this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)),
-                this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
+        connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,float,float,float,float,quint64)),
+                this, SLOT(updateAttitudeSetpoints(UASInterface*,float,float,float,float,quint64)));
         connect(uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)),
                 this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
         connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)),
@@ -1100,7 +1100,7 @@ void HSIDisplay::sendBodySetPointCoordinates()
     }
 }
 
-void HSIDisplay::updateAttitudeSetpoints(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec)
+void HSIDisplay::updateAttitudeSetpoints(UASInterface* uas, float rollDesired, float pitchDesired, float yawDesired, float thrustDesired, quint64 usec)
 {
     Q_UNUSED(uas);
     Q_UNUSED(usec);

src/ui/HSIDisplay.h

@@ -55,7 +55,7 @@ public slots:
     /** @brief Set the width in meters this widget shows from top */
     void setMetricWidth(double width);
     void updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used);
-    void updateAttitudeSetpoints(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
+    void updateAttitudeSetpoints(UASInterface*, float rollDesired, float pitchDesired, float yawDesired, float thrustDesired, quint64 usec);
     void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 time);
     void updateUserPositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired);
     void updatePositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);

src/ui/JoystickWidget.cc

@@ -25,7 +25,7 @@ JoystickWidget::JoystickWidget(JoystickInput* joystick, QWidget *parent) :
     connect(this->joystick, SIGNAL(buttonPressed(int)), this, SLOT(joystickButtonPressed(int)));
     connect(this->joystick, SIGNAL(buttonReleased(int)), this, SLOT(joystickButtonReleased(int)));
     connect(this->joystick, SIGNAL(axisValueChanged(int,float)), this, SLOT(updateAxisValue(int,float)));
-    connect(this->joystick, SIGNAL(hatDirectionChanged(int,int)), this, SLOT(setHat(int,int)));
+    connect(this->joystick, SIGNAL(hatDirectionChanged(qint8,qint8)), this, SLOT(setHat(qint8,qint8)));
 
     // Also watch for when new settings were loaded for the current joystick to do a mass UI refresh.
     connect(this->joystick, SIGNAL(joystickSettingsChanged()), this, SLOT(updateUI()));
@@ -238,7 +238,7 @@ void JoystickWidget::updateAxisValue(int axis, float value)
     }
 }
 
-void JoystickWidget::setHat(int x, int y)
+void JoystickWidget::setHat(qint8 x, qint8 y)
 {
     m_ui->statusLabel->setText(tr("Hat position: x: %1, y: %2").arg(x).arg(y));
 }

src/ui/JoystickWidget.h

@@ -65,7 +65,7 @@ public slots:
     /** @brief Update the UI with new values for the hat.
      *  @see JoystickInput::hatDirectionChanged
      */
-    void setHat(int x, int y);
+    void setHat(qint8 x, qint8 y);
     /** @brief Trigger a UI change based on a button being pressed */
     void joystickButtonPressed(int key);
     /** @brief Trigger a UI change based on a button being released */

src/ui/MAVLinkDecoder.cc

@@ -302,7 +302,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
             // Enforce null termination
             str[messageInfo[msgid].fields[fieldid].array_length-1] = '\0';
             QString string(name + ": " + str);
-            if (!textMessageFilter.contains(msgid)) emit textMessageReceived(msg->sysid, msg->compid, 0, string);
+            if (!textMessageFilter.contains(msgid)) emit textMessageReceived(msg->sysid, msg->compid, MAV_SEVERITY_INFO, string);
         }
         else
         {

src/ui/MainWindow.h

@@ -298,6 +298,18 @@ public slots:
 
 protected slots:
     void showDockWidget(const QString &name, bool show);
+    /**
+     * @brief Unchecks the normalActionItem.
+     * Used as a triggered() callback by the fullScreenAction to make sure only one of it or the
+     * normalAction are checked at a time, as they're mutually exclusive.
+     */
+    void fullScreenActionItemCallback();
+    /**
+     * @brief Unchecks the fullScreenActionItem.
+     * Used as a triggered() callback by the normalAction to make sure only one of it or the
+     * fullScreenAction are checked at a time, as they're mutually exclusive.
+     */
+    void normalActionItemCallback();
 
 signals:
     void styleChanged(MainWindow::QGC_MAINWINDOW_STYLE newTheme);

src/ui/MainWindow.ui

@@ -51,7 +51,7 @@
      <x>0</x>
      <y>0</y>
      <width>1024</width>
-     <height>22</height>
+     <height>21</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuMGround">
@@ -95,13 +95,13 @@
     <property name="title">
      <string>Perspectives</string>
     </property>
-    <addaction name="actionMissionView"/>
     <addaction name="actionFlightView"/>
+    <addaction name="actionMissionView"/>
     <addaction name="actionHardwareConfig"/>
     <addaction name="actionSoftwareConfig"/>
     <addaction name="actionTerminalView"/>
-    <addaction name="actionEngineersView"/>
     <addaction name="actionSimulationView"/>
+    <addaction name="actionEngineersView"/>
     <addaction name="actionGoogleEarthView"/>
     <addaction name="actionLocal3DView"/>
     <addaction name="separator"/>
@@ -379,11 +379,23 @@
    </property>
   </action>
   <action name="actionFullscreen">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>false</bool>
+   </property>
    <property name="text">
     <string>Fullscreen</string>
    </property>
   </action>
   <action name="actionNormal">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>false</bool>
+   </property>
    <property name="text">
     <string>Normal</string>
    </property>
@@ -401,30 +413,21 @@
    </property>
   </action>
   <action name="actionFirmwareUpdateView">
-   <property name="icon">
-    <iconset resource="../../qgroundcontrol.qrc">
-     <normaloff>:/files/images/status/software-update-available.svg</normaloff>:/files/images/status/software-update-available.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Firmware Update</string>
-   </property>
-   <property name="toolTip">
-    <string>Update the firmware of one of the connected autopilots</string>
-   </property>
-  </action>
-  <action name="actionSimulation_View">
    <property name="checkable">
     <bool>true</bool>
    </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
    <property name="icon">
     <iconset resource="../../qgroundcontrol.qrc">
-     <normaloff>:/files/images/control/launch.svg</normaloff>:/files/images/control/launch.svg</iconset>
+     <normaloff>:/files/images/status/software-update-available.svg</normaloff>:/files/images/status/software-update-available.svg</iconset>
    </property>
    <property name="text">
-    <string>Simulation</string>
+    <string>Firmware Update</string>
    </property>
    <property name="toolTip">
-    <string>Open the simulation view</string>
+    <string>Update the firmware of one of the connected autopilots</string>
    </property>
   </action>
   <action name="actionHardwareConfig">
@@ -436,7 +439,7 @@
      <normaloff>:/files/images/categories/preferences-system.svg</normaloff>:/files/images/categories/preferences-system.svg</iconset>
    </property>
    <property name="text">
-    <string>Hardware</string>
+    <string>Config</string>
    </property>
    <property name="toolTip">
     <string>Configuration options of the vehicle.</string>
@@ -487,11 +490,17 @@
    </property>
   </action>
   <action name="actionGoogleEarthView">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
    <property name="text">
     <string>Google Earth</string>
    </property>
   </action>
   <action name="actionLocal3DView">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
    <property name="text">
     <string>Local 3D View</string>
    </property>

src/ui/PrimaryFlightDisplay.h

@@ -9,7 +9,7 @@ class PrimaryFlightDisplay : public QWidget
 {
     Q_OBJECT
 public:
-    PrimaryFlightDisplay(int width = 640, int height = 480, QWidget* parent = NULL);
+    PrimaryFlightDisplay(QWidget* parent = NULL);
     ~PrimaryFlightDisplay();
 
 public slots:
@@ -23,7 +23,6 @@ public slots:
     void updateNavigationControllerErrors(UASInterface* uas, double altitudeError, double speedError, double xtrackError);
 
     /** @brief Set the currently monitored UAS */
-    //void addUAS(UASInterface* uas);
     void forgetUAS(UASInterface* uas);
     void setActiveUAS(UASInterface* uas);
 
@@ -57,34 +56,10 @@ protected:
     /** @brief Stop updating widget */
     void hideEvent(QHideEvent* event);
 
-    // dongfang: We have no context menu. Viewonly.
-    // void contextMenuEvent (QContextMenuEvent* event);
-
-    // dongfang: What is that?
-    // dongfang: OK it's for UI interaction. Presently, there is none.
-    void createActions();
-
 signals:
     void visibilityChanged(bool visible);
 
 private:
-    /*
-    enum AltimeterMode {
-        PRIMARY_MAIN_GPS_SUB,   // Show the primary alt. on tape and GPS as extra info
-        GPS_MAIN                // Show GPS on tape and no extra info
-    };
-
-    enum AltimeterFrame {
-        ASL,                    // Show ASL altitudes (plane pilots' normal preference)
-        RELATIVE_TO_HOME        // Show relative-to-home altitude (copter pilots)
-    };
-
-    enum SpeedMode {
-        PRIMARY_MAIN_GROUND_SUB,// Show primary speed (often airspeed) on tape and groundspeed as extra
-        GROUND_MAIN             // Show groundspeed on tape and no extra info
-    };
-    */
-
     /*
      * There are at least these differences between airplane and copter PDF view:
      * - Airplane show absolute altutude in altimeter, copter shows relative to home
@@ -122,12 +97,6 @@ private:
 
     UASInterface* uas;          ///< The uas currently monitored
 
-    /*
-    AltimeterMode altimeterMode;
-    AltimeterFrame altimeterFrame;
-    SpeedMode speedMode;
-    */
-
     bool didReceiveSpeed;
 
     float roll;

src/ui/QGCMAVLinkLogPlayer.cc

@@ -572,10 +572,18 @@ void QGCMAVLinkLogPlayer::logLoop()
     if (mavlinkLogFormat)
     {
         // Now parse MAVLink messages, grabbing their timestamps as we go. We stop once we
-        // have at least 3ms until the next one.
+        // have at least 3ms until the next one. 
+
+        // We track what the next execution time should be in milliseconds, which we use to set
+        // the next timer interrupt.
         int nextExecutionTime = 0;
+
+        // We use the `findNextMavlinkMessage()` function to scan ahead for MAVLink messages. This
+        // is necessary because we don't know how big each MAVLink message is until we finish parsing
+        // one, and since we only output arrays of bytes, we need to know the size of that array.
         mavlink_message_t msg;
-        msg.len = 0;    // FIXME: Hack, remove once Issue #647 is fixed
+        findNextMavlinkMessage(&msg);
+
         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.

src/ui/SerialConfigurationWindow.cc

@@ -55,7 +55,10 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge
         action = new QAction(QIcon(":/files/images/devices/network-wireless.svg"), "", this);
         setLinkName(link->getName());
 
-        setupPortList();
+        // Scan for serial ports. Let the user know if none were found for debugging purposes
+        if (!setupPortList()) {
+            qDebug() << "No serial ports found.";
+        }
 
         // Set up baud rates
         ui.baudRate->clear();
@@ -213,9 +216,9 @@ void SerialConfigurationWindow::configureCommunication()
     this->show();
 }
 
-void SerialConfigurationWindow::setupPortList()
+bool SerialConfigurationWindow::setupPortList()
 {
-    if (!link) return;
+    if (!link) return false;
 
     // Get the ports available on this system
     QList<QString> ports = link->getCurrentPorts();
@@ -240,6 +243,8 @@ void SerialConfigurationWindow::setupPortList()
 
     if (storedFound)
         ui.portName->setEditText(storedName);
+
+    return (ports.count() > 0);
 }
 
 void SerialConfigurationWindow::enableFlowControl(bool flow)

src/ui/SerialConfigurationWindow.h

@@ -60,7 +60,13 @@ public slots:
     void setParityEven(bool accept);
     void setPortName(QString port);
     void setLinkName(QString name);
-    void setupPortList();
+    /**
+     * @brief setupPortList Populates the dropdown with the list of available serial ports.
+     * This function is called at 1s intervals to check that the serial port still exists and to see if
+     * any new ones have been attached.
+     * @return True if any ports were found, false otherwise.
+     */
+    bool setupPortList();
 
 protected:
     void showEvent(QShowEvent* event);