Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into qgc4

# Conflicts:
#	src/FlightDisplay/VirtualJoystick.qml
#	src/ui/preferences/GeneralSettings.qml

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -446,46 +446,55 @@ void APMFirmwarePlugin::_handleIncomingHeartbeat(Vehicle* vehicle, mavlink_messa
 {
     bool flying = false;
 
-    // We pull Vehicle::flying state from HEARTBEAT on ArduPilot. This is a firmware specific test.
+    mavlink_heartbeat_t heartbeat;
+    mavlink_msg_heartbeat_decode(message, &heartbeat);
 
-    if (vehicle->armed()) {
-        mavlink_heartbeat_t heartbeat;
-        mavlink_msg_heartbeat_decode(message, &heartbeat);
+    if (message->compid == MAV_COMP_ID_AUTOPILOT1) {
+        // We pull Vehicle::flying state from HEARTBEAT on ArduPilot. This is a firmware specific test.
+        if (vehicle->armed()) {
 
-        flying = heartbeat.system_status == MAV_STATE_ACTIVE;
-        if (!flying && vehicle->flying()) {
-            // If we were previously flying, and we go into critical or emergency assume we are still flying
-            flying = heartbeat.system_status == MAV_STATE_CRITICAL || heartbeat.system_status == MAV_STATE_EMERGENCY;
+            flying = heartbeat.system_status == MAV_STATE_ACTIVE;
+            if (!flying && vehicle->flying()) {
+                // If we were previously flying, and we go into critical or emergency assume we are still flying
+                flying = heartbeat.system_status == MAV_STATE_CRITICAL || heartbeat.system_status == MAV_STATE_EMERGENCY;
+            }
         }
+        vehicle->_setFlying(flying);
     }
 
-    vehicle->_setFlying(flying);
+    // We need to know whether this component is part of the ArduPilot stack code or not so we can adjust mavlink quirks appropriately.
+    // If the component sends a heartbeat we can know that. If it's doesn't there is pretty much no way to know.
+    _ardupilotComponentMap[message->sysid][message->compid] = heartbeat.autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA;
+
+    // Force the ESP8266 to be non-ArduPilot code (it doesn't send heartbeats)
+    _ardupilotComponentMap[message->sysid][MAV_COMP_ID_UDP_BRIDGE] = false;
 }
 
 bool APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
 {
-    // Only translate messages which come from the autopilot. All other components are expected to follow current mavlink spec.
-    if (message->compid != MAV_COMP_ID_AUTOPILOT1) {
+    if (message->msgid == MAVLINK_MSG_ID_HEARTBEAT) {
+        // We need to look at all heartbeats that go by from any component
+        _handleIncomingHeartbeat(vehicle, message);
         return true;
     }
 
-    switch (message->msgid) {
-    case MAVLINK_MSG_ID_PARAM_VALUE:
-        _handleIncomingParamValue(vehicle, message);
-        break;
-    case MAVLINK_MSG_ID_STATUSTEXT:
-        return _handleIncomingStatusText(vehicle, message, false /* longVersion */);
-    case MAVLINK_MSG_ID_STATUSTEXT_LONG:
-        return _handleIncomingStatusText(vehicle, message, true /* longVersion */);
-    case MAVLINK_MSG_ID_HEARTBEAT:
-        _handleIncomingHeartbeat(vehicle, message);
-        break;
-    case MAVLINK_MSG_ID_RC_CHANNELS:
-        _handleRCChannels(vehicle, message);
-        break;
-    case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
-        _handleRCChannelsRaw(vehicle, message);
-        break;
+    // Only translate messages which come from ArduPilot code. All other components are expected to follow current mavlink spec.
+    if (_ardupilotComponentMap[vehicle->id()][message->compid]) {
+        switch (message->msgid) {
+        case MAVLINK_MSG_ID_PARAM_VALUE:
+            _handleIncomingParamValue(vehicle, message);
+            break;
+        case MAVLINK_MSG_ID_STATUSTEXT:
+            return _handleIncomingStatusText(vehicle, message, false /* longVersion */);
+        case MAVLINK_MSG_ID_STATUSTEXT_LONG:
+            return _handleIncomingStatusText(vehicle, message, true /* longVersion */);
+        case MAVLINK_MSG_ID_RC_CHANNELS:
+            _handleRCChannels(vehicle, message);
+            break;
+        case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
+            _handleRCChannelsRaw(vehicle, message);
+            break;
+        }
     }
 
     return true;
@@ -493,15 +502,13 @@ bool APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_m
 
 void APMFirmwarePlugin::adjustOutgoingMavlinkMessage(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message)
 {
-    //-- Don't process messages to/from UDP Bridge. It doesn't suffer from these issues
-    if (message->compid == MAV_COMP_ID_UDP_BRIDGE) {
-        return;
-    }
-
-    switch (message->msgid) {
-    case MAVLINK_MSG_ID_PARAM_SET:
-        _handleOutgoingParamSet(vehicle, outgoingLink, message);
-        break;
+    // Only translate messages which come from ArduPilot code. All other components are expected to follow current mavlink spec.
+    if (_ardupilotComponentMap[vehicle->id()][message->compid]) {
+        switch (message->msgid) {
+        case MAVLINK_MSG_ID_PARAM_SET:
+            _handleOutgoingParamSet(vehicle, outgoingLink, message);
+            break;
+        }
     }
 }
 

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -137,6 +137,7 @@ private:
     // Vehicle specific data should go into APMFirmwarePluginInstanceData
 
     QList<APMCustomMode>    _supportedModes;
+    QMap<int /* vehicle id */, QMap<int /* componentId */, bool /* true: component is part of ArduPilot stack */>> _ardupilotComponentMap;
 
     static const char*      _artooIP;
     static const int        _artooVideoHandshakePort;

src/FlightDisplay/FlightDisplayView.qml

@@ -559,8 +559,11 @@ Item {
             active:                     (_virtualJoystick ? _virtualJoystick.value : false) && !(activeVehicle ? activeVehicle.highLatencyLink : false)
 
             property bool useLightColors: isBackgroundDark
+            // The default behaviour is not centralized throttle
+            property bool centralizeThrottle: _virtualJoystickCentralized ? _virtualJoystickCentralized.value : false
 
             property Fact _virtualJoystick: QGroundControl.settingsManager.appSettings.virtualJoystick
+            property Fact _virtualJoystickCentralized: QGroundControl.settingsManager.appSettings.virtualJoystickCentralized
         }
 
         ToolStrip {

src/FlightDisplay/FlightDisplayViewWidgets.qml

@@ -85,6 +85,10 @@ Item {
         target:         QGroundControl.settingsManager.appSettings.virtualJoystick
         onValueChanged: _setInstrumentWidget()
     }
+    Connections {
+        target:         QGroundControl.settingsManager.appSettings.virtualJoystickCentralized
+        onValueChanged: _setInstrumentWidget()
+    }
 
     Connections {
         target:         QGroundControl.settingsManager.appSettings.showLargeCompass

src/FlightDisplay/VirtualJoystick.qml

@@ -17,8 +17,8 @@ import QGroundControl.Palette       1.0
 import QGroundControl.Vehicle       1.0
 
 Item {
-    //property bool useLightColors - Must be passed in from loader
-
+    //property bool useLightColors - Must be passed in from loaded
+    //property bool centralizeThrottle - Must be passed in from loaded
     Timer {
         interval:   40  // 25Hz, same as real joystick rate
         running:    QGroundControl.settingsManager.appSettings.virtualJoystick.value && activeVehicle
@@ -39,8 +39,8 @@ Item {
         width:                  parent.height
         height:                 parent.height
         yAxisThrottle:          true
+        yAxisThrottleCentered:  centralizeThrottle
         lightColors:            useLightColors
-        throttle:               true
     }
 
     JoystickThumbPad {

src/QmlControls/JoystickThumbPad.qml

@@ -11,26 +11,36 @@ Item {
     property real   xAxis:          0                   ///< Value range [-1,1], negative values left stick, positive values right stick
     property real   yAxis:          0                   ///< Value range [-1,1], negative values up stick, positive values down stick
     property bool   yAxisThrottle:  false               ///< true: yAxis used for throttle, range [1,0], positive value are stick up
+    property bool   yAxisThrottleCentered: false        ///< false: center yAxis in throttle for reverser and forward
     property real   xPositionDelta: 0                   ///< Amount to move the control on x axis
     property real   yPositionDelta: 0                   ///< Amount to move the control on y axis
-    property bool   throttle:       false
 
     property real   _centerXY:              width / 2
     property bool   _processTouchPoints:    false
-    property bool   _stickCenteredOnce:     false
     property real   stickPositionX:         _centerXY
-    property real   stickPositionY:         yAxisThrottle ? height : _centerXY
+    property real   stickPositionY:         yAxisThrottleCentered ? _centerXY : height
 
     QGCMapPalette { id: mapPal }
 
-    onStickPositionXChanged: {
+    onWidthChanged: calculateXAxis()
+    onStickPositionXChanged: calculateXAxis()
+    onHeightChanged: calculateYAxis()
+    onStickPositionYChanged: calculateYAxis()
+
+    function calculateXAxis() {
+        if(!_joyRoot.visible) {
+            return;
+        }
         var xAxisTemp = stickPositionX / width
         xAxisTemp *= 2.0
         xAxisTemp -= 1.0
         xAxis = xAxisTemp
     }
 
-    onStickPositionYChanged: {
+    function calculateYAxis() {
+        if(!_joyRoot.visible) {
+            return;
+        }
         var yAxisTemp = stickPositionY / height
         yAxisTemp *= 2.0
         yAxisTemp -= 1.0
@@ -40,8 +50,7 @@ Item {
         yAxis = yAxisTemp
     }
 
-    function reCenter()
-    {
+    function reCenter() {
         _processTouchPoints = false
 
         // Move control back to original position
@@ -50,13 +59,12 @@ Item {
 
         // Center sticks
         stickPositionX = _centerXY
-        if (!yAxisThrottle) {
+        if (yAxisThrottleCentered) {
             stickPositionY = _centerXY
         }
     }
 
-    function thumbDown(touchPoints)
-    {
+    function thumbDown(touchPoints) {
         // Position the control around the initial thumb position
         xPositionDelta = touchPoints[0].x - _centerXY
         if (yAxisThrottle) {
@@ -86,7 +94,7 @@ Item {
 
     QGCColoredImage {
         color:                      lightColors ? "white" : "black"
-        visible:                    throttle
+        visible:                    yAxisThrottle
         height:                     ScreenTools.defaultFontPixelHeight
         width:                      height
         sourceSize.height:          height
@@ -100,7 +108,7 @@ Item {
 
     QGCColoredImage {
         color:                      lightColors ? "white" : "black"
-        visible:                    throttle
+        visible:                    yAxisThrottle
         height:                     ScreenTools.defaultFontPixelHeight
         width:                      height
         sourceSize.height:          height
@@ -114,7 +122,7 @@ Item {
 
     QGCColoredImage {
         color:                      lightColors ? "white" : "black"
-        visible:                    throttle
+        visible:                    yAxisThrottle
         height:                     ScreenTools.defaultFontPixelHeight
         width:                      height
         sourceSize.height:          height
@@ -128,7 +136,7 @@ Item {
 
     QGCColoredImage {
         color:                      lightColors ? "white" : "black"
-        visible:                    throttle
+        visible:                    yAxisThrottle
         height:                     ScreenTools.defaultFontPixelHeight
         width:                      height
         sourceSize.height:          height

src/Settings/App.SettingsGroup.json

@@ -103,6 +103,13 @@
     "type":             "bool",
     "defaultValue":     false
 },
+{
+    "name":             "virtualJoystickCentralized",
+    "shortDescription": "Set virtual joystick to be centralize throttle (spring-loaded).",
+    "longDescription":  "If this option is enabled the virtual joystick throttle stick will be centralized.",
+    "type":             "bool",
+    "defaultValue":     false
+},
 {
     "name":             "gstDebugLevel",
     "shortDescription": "Video streaming debug",

src/Settings/AppSettings.cc

@@ -78,6 +78,7 @@ DECLARE_SETTINGSFACT(AppSettings, telemetrySave)
 DECLARE_SETTINGSFACT(AppSettings, telemetrySaveNotArmed)
 DECLARE_SETTINGSFACT(AppSettings, audioMuted)
 DECLARE_SETTINGSFACT(AppSettings, virtualJoystick)
+DECLARE_SETTINGSFACT(AppSettings, virtualJoystickCentralized)
 DECLARE_SETTINGSFACT(AppSettings, appFontPointSize)
 DECLARE_SETTINGSFACT(AppSettings, showLargeCompass)
 DECLARE_SETTINGSFACT(AppSettings, savePath)

src/Settings/AppSettings.h

@@ -33,6 +33,7 @@ public:
     DEFINE_SETTINGFACT(telemetrySaveNotArmed)
     DEFINE_SETTINGFACT(audioMuted)
     DEFINE_SETTINGFACT(virtualJoystick)
+    DEFINE_SETTINGFACT(virtualJoystickCentralized)
     DEFINE_SETTINGFACT(appFontPointSize)
     DEFINE_SETTINGFACT(indoorPalette)
     DEFINE_SETTINGFACT(showLargeCompass)

src/VehicleSetup/JoystickConfig.qml

@@ -818,20 +818,24 @@ SetupPage {
 
 
                                 MouseArea {
-                                    id:             deadbandMouseArea
-                                    anchors.fill:   parent.item
-                                    enabled:        controller.deadbandToggle
+                                    id:                 deadbandMouseArea
+                                    anchors.fill:       parent.item
+                                    enabled:            controller.deadbandToggle
+                                    preventStealing:    true
 
-                                    property real startY
+                                    property real startX
+                                    property real direction
 
                                     onPressed: {
-                                        startY = mouseY
+                                        startX = mouseX
+                                        direction = startX > width/2 ? 1 : -1
                                         parent.item.deadbandColor = "#3C6315"
                                     }
                                     onPositionChanged: {
-                                        var newValue = parent.item.deadbandValue + (startY - mouseY)*15
+                                        var mouseToDeadband = 32768/(width/2) // Factor to have deadband follow the mouse movement
+                                        var newValue = parent.item.deadbandValue + direction*(mouseX - startX)*mouseToDeadband
                                         if ((newValue > 0) && (newValue <32768)){parent.item.deadbandValue=newValue;}
-                                        startY = mouseY
+                                        startX = mouseX
                                     }
                                     onReleased: {
                                         controller.setDeadbandValue(modelData,parent.item.deadbandValue)