Merge branch 'master' of git@pixhawk.ethz.ch:qgroundcontrol

README

 QGroundControl Open Source Micro Air Vehicle Ground Control Station
 
-http://pixhawk.ethz.ch
+Project:
+http://qgroundcontrol.org
+
+Files:
+http://github.com/pixhawk/qgroundcontrol
+http://github.com/pixhawk/mavlink
+
+
+**********************************************************************************************
+* PLEASE NOTE: YOU NEED TO DOWNLOAD THE MAVLINK LIBRARY IN ORDER TO COMPILE THIS APPLICATION *
+**********************************************************************************************
+
 
 Mac OS X
 ========
@@ -21,7 +32,7 @@ Install QT with Cocoa
 
 Get the MAVLINK Library
 -----------------------
-1) Clone the MAVLINK repository : `git clone git@pixhawk.ethz.ch:mavlink.git` (You need to have emailed  your ssh key). **NOTE:** Make sure that the mavlink directory is in the same directory as groundcontrol. QGround control will look for mavlink library in ../mavlink
+1) Clone the MAVLINK repository : `git clone git@github.com:pixhawk/mavlink.git`. **NOTE:** Make sure that the mavlink directory is in the same directory as groundcontrol. QGround control will look for mavlink library in ../mavlink
 
 Build QGroundControl
 --------------------
@@ -35,13 +46,28 @@ Build QGroundControl
 Linux 
 =====
 
-**********************************************************************************************
-* PLEASE NOTE: YOU NEED TO DOWNLOAD THE MAVLINK LIBRARY IN ORDER TO COMPILE THIS APPLICATION *
-**********************************************************************************************
-
 
 To build on Linux:
-<instructions to be written>
+
+sudo apt-get install phonon libqt4-dev libqt4-phonon-dev \
+libqt4-phonon libphonon-dev libphonon4 phonon-backend-gstreamer \
+qt-creator libsdl1.2-dev libflite1 flite1-dev
+
+cd directory
+
+git clone git@github.com:pixhawk/mavlink.git
+git clone git@github.com:pixhawk/qgroundcontrol.git
+
+Ubuntu Application Menu -> Development -> Qt Creator
+
+QtCreator Menu File -> Open File or Project..
+
+Open directory/qgroundcontrol/qgroundcontrol.pro
+
+Hit the green play button to compile and launch it
+
+Done.
+
 
 Windows
 =======

qgroundcontrol.pro

@@ -45,11 +45,9 @@ INCLUDEPATH += . \
     $$BASEDIR/../mavlink/contrib/slugs/include \
     $$BASEDIR/../mavlink/include
 
-
-   # ../mavlink/include \
-    #MAVLink/include \
-    #mavlink/include
-
+# ../mavlink/include \
+# MAVLink/include \
+# mavlink/include
 # Input
 FORMS += src/ui/MainWindow.ui \
     src/ui/CommSettings.ui \
@@ -73,7 +71,9 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCSensorSettingsWidget.ui \
     src/ui/watchdog/WatchdogControl.ui \
     src/ui/watchdog/WatchdogProcessView.ui \
-    src/ui/watchdog/WatchdogView.ui
+    src/ui/watchdog/WatchdogView.ui \
+    src/ui/QGCFirmwareUpdate.ui \
+    src/ui/QGCPxImuFirmwareUpdate.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -147,7 +147,9 @@ HEADERS += src/MG.h \
     src/ui/watchdog/WatchdogView.h \
     src/uas/UASWaypointManager.h \
     src/ui/HSIDisplay.h \
-    src/QGC.h
+    src/QGC.h \
+    src/ui/QGCFirmwareUpdate.h \
+    src/ui/QGCPxImuFirmwareUpdate.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -203,5 +205,7 @@ SOURCES += src/main.cc \
     src/ui/watchdog/WatchdogView.cc \
     src/uas/UASWaypointManager.cc \
     src/ui/HSIDisplay.cc \
-    src/QGC.cc
+    src/QGC.cc \
+    src/ui/QGCFirmwareUpdate.cc \
+    src/ui/QGCPxImuFirmwareUpdate.cc
 RESOURCES = mavground.qrc

src/Core.cc

@@ -115,7 +115,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
     {
         QMessageBox msgBox;
         msgBox.setIcon(QMessageBox::Critical);
-        msgBox.setText("Could not connect UDP port. Is already an instance of " + qAppName() + " running?");
+        msgBox.setText("Could not connect UDP port. Is an instance of " + qAppName() + "already running?");
         msgBox.setInformativeText("You will not be able to receive data via UDP. Please check that you're running the right executable and then re-start " + qAppName() + ". Do you want to close the application?");
         msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
         msgBox.setDefaultButton(QMessageBox::Cancel);

src/comm/LinkManager.cc

@@ -33,6 +33,8 @@ This file is part of the PIXHAWK project
 #include <QApplication>
 #include "LinkManager.h"
 
+#include <QDebug>
+
 LinkManager* LinkManager::instance() {
 	static LinkManager* _instance = 0;
 	if(_instance == 0) {
@@ -79,7 +81,8 @@ void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
     // the protocol will receive new bytes from the link
     connect(link, SIGNAL(bytesReady(LinkInterface*)), protocol, SLOT(receiveBytes(LinkInterface*)));
     // Store the connection information in the protocol links map
-    protocolLinks.insert(protocol, link);
+    protocolLinks.insertMulti(protocol, link);
+    //qDebug() << __FILE__ << __LINE__ << "ADDED LINK TO PROTOCOL" << link->getName() << protocol->getName() << "NEW SIZE OF LINK LIST:" << protocolLinks.size();
 }
 
 QList<LinkInterface*> LinkManager::getLinksForProtocol(ProtocolInterface* protocol)

src/comm/MAVLinkProtocol.cc

@@ -323,6 +323,7 @@ void MAVLinkProtocol::sendMessage(mavlink_message_t message)
     for (i = links.begin(); i != links.end(); ++i)
     {
         sendMessage(*i, message);
+        qDebug() << __FILE__ << __LINE__ << "SENT HEARTBEAT MESSAGE OVER" << ((LinkInterface*)*i)->getName() << "LIST SIZE:" << links.size();
     }
 }
 

src/comm/MAVLinkXMLParser.cc

@@ -4,6 +4,7 @@
 #include <QList>
 #include <QMap>
 #include <QDateTime>
+#include <QLocale>
 #include "MAVLinkXMLParser.h"
 
 #include <QDebug>
@@ -205,7 +206,7 @@ bool MAVLinkXMLParser::generate()
                                         QString encode = "static inline uint16_t mavlink_msg_%1_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const %2* %1)\n{\n\treturn mavlink_msg_%1_pack(%3);\n}\n";
 
                                         QString decode = "static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n";
-                                        QString pack = "static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\tuint16_t i = 0;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n";
+                                        QString pack = "static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n";
                                         QString compactSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
                                         //QString compactStructSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_struct_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_encode(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
                                         QString unpacking = "";
@@ -222,7 +223,7 @@ bool MAVLinkXMLParser::generate()
                                         while (!f.isNull())
                                         {
                                             QDomElement e2 = f.toElement();
-                                            if (!e2.isNull())
+                                            if (!e2.isNull() && e2.tagName() == "field")
                                             {
                                                 QString fieldType = e2.attribute("type", "");
                                                 QString fieldName = e2.attribute("name", "");
@@ -362,8 +363,9 @@ bool MAVLinkXMLParser::generate()
 
     // XML parsed and converted to C code. Now generating the files
     QDateTime now = QDateTime::currentDateTime().toUTC();
+    QLocale loc(QLocale::English);
     QString dateFormat = "dddd, MMMM d yyyy, hh:mm UTC";
-    QString date = now.toString(dateFormat);
+    QString date = loc.toString(now, dateFormat);
     QString mainHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://pixhawk.ethz.ch/software/mavlink\n *\t Generated on %1\n */\n#ifndef MAVLINK_H\n#define MAVLINK_H\n\n").arg(date); // The main header includes all messages
     // Mark all code as C code
     mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n";

src/comm/UDPLink.cc

@@ -209,7 +209,11 @@ bool UDPLink::connect()
     connectState = socket->bind(host, port);
 
     emit connected(connectState);
-    if (connectState) emit connected();
+    if (connectState)
+    {
+        emit connected();
+        connectionStartTime = MG::TIME::getGroundTimeNow();
+    }
 
     start(HighPriority);
     return connectState;
@@ -247,8 +251,9 @@ qint64 UDPLink::getNominalDataRate() {
 
 qint64 UDPLink::getTotalUpstream() {
     statisticsMutex.lock();
-    return bitsSentTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
+    qint64 totalUpstream = bitsSentTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
     statisticsMutex.unlock();
+    return totalUpstream;
 }
 
 qint64 UDPLink::getCurrentUpstream() {
@@ -269,8 +274,9 @@ qint64 UDPLink::getBitsReceived() {
 
 qint64 UDPLink::getTotalDownstream() {
     statisticsMutex.lock();
-    return bitsReceivedTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
+    qint64 totalDownstream = bitsReceivedTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
     statisticsMutex.unlock();
+    return totalDownstream;
 }
 
 qint64 UDPLink::getCurrentDownstream() {

src/main.cc

@@ -36,7 +36,7 @@ This file is part of the PIXHAWK project
 
 /* SDL does ugly things to main() */
 #ifdef main
-#	undef main
+  #undef main
 #endif
 
 /**

src/uas/SlugsMAV.cc

@@ -38,10 +38,9 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             quint64 time = getUnixTime(0);
             mavlink_msg_cpu_load_decode(&message,&cpu_load);
 
-                emit valueChanged(uasId, "CPU Load", cpu_load.target, time);
-                emit valueChanged(uasId, "SensorDSC Load", cpu_load.sensLoad, time);
-                emit valueChanged(uasId, "ControlDSC Load", cpu_load.ctrlLoad, time);
-                emit valueChanged(uasId, "Battery Volt", cpu_load.batVolt, time);
+                emit valueChanged(uasId, tr("SensorDSC Load"), cpu_load.sensLoad, time);
+                emit valueChanged(uasId, tr("ControlDSC Load"), cpu_load.ctrlLoad, time);
+                emit valueChanged(uasId, tr("Battery Volt"), cpu_load.batVolt, time);
 
             break;
         }
@@ -50,10 +49,9 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_air_data_t air_data;
             quint64 time = getUnixTime(0);
             mavlink_msg_air_data_decode(&message,&air_data);
-                emit valueChanged(uasId, "Air Data",air_data.target,time);
-                emit valueChanged(uasId, "Presion Dinamica", air_data.dynamicPressure,time);
-                emit valueChanged(uasId, "Presion Estatica",air_data.staticPressure, time);
-                emit valueChanged(uasId, "Temperatura",air_data.temperature,time);
+                emit valueChanged(uasId, tr("Dynamic Pressure"), air_data.dynamicPressure,time);
+                emit valueChanged(uasId, tr("Static Pressure"),air_data.staticPressure, time);
+                emit valueChanged(uasId, tr("Temp"),air_data.temperature,time);
 
             break;
         }
@@ -62,13 +60,12 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_sensor_bias_t sensor_bias;
             quint64 time = getUnixTime(0);
             mavlink_msg_sensor_bias_decode(&message,&sensor_bias);
-                emit valueChanged(uasId,"Sensor Bias",sensor_bias.target, time);
-                emit valueChanged(uasId,"Acelerometro X",sensor_bias.axBias, time);
-                emit valueChanged(uasId,"Acelerometro y",sensor_bias.ayBias,time);
-                emit valueChanged(uasId,"Acelerometro Z",sensor_bias.azBias,time);
-                emit valueChanged(uasId,"Gyro X",sensor_bias.gxBias,time);
-                emit valueChanged(uasId,"Gyro Y",sensor_bias.gyBias,time);
-                emit valueChanged(uasId,"Gyro Z",sensor_bias.gzBias,time);
+                emit valueChanged(uasId,tr("Ax Bias"),sensor_bias.axBias, time);
+                emit valueChanged(uasId,tr("Ay Bias"),sensor_bias.ayBias,time);
+                emit valueChanged(uasId,tr("Az Bias"),sensor_bias.azBias,time);
+                emit valueChanged(uasId,tr("Gx Bias"),sensor_bias.gxBias,time);
+                emit valueChanged(uasId,tr("Gy Bias"),sensor_bias.gyBias,time);
+                emit valueChanged(uasId,tr("Gz Bias"),sensor_bias.gzBias,time);
 
             break;
         }
@@ -77,13 +74,12 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_diagnostic_t diagnostic;
             quint64 time = getUnixTime(0);
             mavlink_msg_diagnostic_decode(&message,&diagnostic);
-                emit valueChanged(uasId,"Diagnostico",diagnostic.target,time);
-                emit valueChanged(uasId,"Diagnostico F1",diagnostic.diagFl1,time);
-                emit valueChanged(uasId,"Diagnostico F2",diagnostic.diagFl2,time);
-                emit valueChanged(uasId,"Diagnostico F3",diagnostic.diagFl3,time);
-                emit valueChanged(uasId,"Diagnostico S1",diagnostic.diagSh1,time);
-                emit valueChanged(uasId,"Diagnostico S2",diagnostic.diagSh2,time);
-                emit valueChanged(uasId,"Diagnostico S3",diagnostic.diagSh3,time);
+                emit valueChanged(uasId,tr("Diag F1"),diagnostic.diagFl1,time);
+                emit valueChanged(uasId,tr("Diag F2"),diagnostic.diagFl2,time);
+                emit valueChanged(uasId,tr("Diag F3"),diagnostic.diagFl3,time);
+                emit valueChanged(uasId,tr("Diag S1"),diagnostic.diagSh1,time);
+                emit valueChanged(uasId,tr("Diag S2"),diagnostic.diagSh2,time);
+                emit valueChanged(uasId,tr("Diag S3"),diagnostic.diagSh3,time);
 
             break;
         }
@@ -92,12 +88,11 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_pilot_console_t pilot;
             quint64 time = getUnixTime(0);
             mavlink_msg_pilot_console_decode(&message,&pilot);
-                emit valueChanged(uasId,"Mensajes PWM",pilot.target,time);
-                emit valueChanged(uasId,"Aceleracion Consola",pilot.dt,time);
-                emit valueChanged(uasId,"Aleron Izq Consola",pilot.dla,time);
-                emit valueChanged(uasId,"Aleron Der Consola",pilot.dra,time);
-                emit valueChanged(uasId,"Timon Consola",pilot.dr,time);
-                emit valueChanged(uasId,"Elevador Consola",pilot.de,time);
+                emit valueChanged(uasId,"dt",pilot.dt,time);
+                emit valueChanged(uasId,"dla",pilot.dla,time);
+                emit valueChanged(uasId,"dra",pilot.dra,time);
+                emit valueChanged(uasId,"dr",pilot.dr,time);
+                emit valueChanged(uasId,"de",pilot.de,time);
 
             break;
         }
@@ -106,17 +101,16 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_pwm_commands_t pwm;
             quint64 time = getUnixTime(0);
             mavlink_msg_pwm_commands_decode(&message,&pwm);
-                emit valueChanged(uasId,"Superficies de Control",pwm.target,time);
-                emit valueChanged(uasId,"Comando Aceleracion PA",pwm.dt_c,time);
-                emit valueChanged(uasId,"Comando Aleron Izq PA",pwm.dla_c,time);
-                emit valueChanged(uasId,"Comando Aleron Der PA",pwm.dra_c,time);
-                emit valueChanged(uasId,"Comando Timon PA",pwm.dr_c,time);
-                emit valueChanged(uasId,"Comando elevador Izq PA",pwm.dle_c,time);
-                emit valueChanged(uasId,"Comando Elevador Der PA",pwm.dre_c,time);
-                emit valueChanged(uasId,"Comando Flap Izq PA",pwm.dlf_c,time);
-                emit valueChanged(uasId,"Comando Flap Der PA",pwm.drf_c,time);
-                emit valueChanged(uasId,"Comando Aux1 PA",pwm.aux1,time);
-                emit valueChanged(uasId,"Comando Aux2 PA",pwm.aux2,time);
+                emit valueChanged(uasId,"dt_c",pwm.dt_c,time);
+                emit valueChanged(uasId,"dla_c",pwm.dla_c,time);
+                emit valueChanged(uasId,"dra_c",pwm.dra_c,time);
+                emit valueChanged(uasId,"dr_c",pwm.dr_c,time);
+                emit valueChanged(uasId,"dle_c",pwm.dle_c,time);
+                emit valueChanged(uasId,"dre_c",pwm.dre_c,time);
+                emit valueChanged(uasId,"dlf_c",pwm.dlf_c,time);
+                emit valueChanged(uasId,"drf_c",pwm.drf_c,time);
+                emit valueChanged(uasId,"da1_c",pwm.aux1,time);
+                emit valueChanged(uasId,"da2_c",pwm.aux2,time);
 
 
             break;

src/uas/UAS.cc

@@ -118,9 +118,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
     if (!links->contains(link))
     {
         addLink(link);
+//        qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
     }
+//    else
+//    {
+//        qDebug() << __FILE__ << __LINE__ << "DID NOT ADD LINK" << link->getName() << "ALREADY IN LIST";
+//    }
 
-    //qDebug() << "UAS RECEIVED" << message.sysid << message.compid << message.msgid;
+//    qDebug() << "UAS RECEIVED from" << message.sysid << "component" << message.compid << "msg id" << message.msgid << "seq no" << message.seq;
 
     if (message.sysid == uasId)
     {

src/uas/UASWaypointManager.cc

@@ -497,7 +497,7 @@ void UASWaypointManager::sendWaypointClearAll()
 
     mavlink_msg_waypoint_clear_all_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpca);
     uas.sendMessage(message);
-    usleep(PROTOCOL_DELAY_MS * 1000);
+    MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000);
 
     qDebug() << "sent waypoint clear all to ID " << wpca.target_system;
 }
@@ -515,7 +515,7 @@ void UASWaypointManager::sendWaypointSetCurrent(quint16 seq)
 
     mavlink_msg_waypoint_set_current_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpsc);
     uas.sendMessage(message);
-    usleep(PROTOCOL_DELAY_MS * 1000);
+    MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000);
 
     qDebug() << "sent waypoint set current (" << wpsc.seq << ") to ID " << wpsc.target_system;
 }
@@ -533,7 +533,7 @@ void UASWaypointManager::sendWaypointCount()
 
     mavlink_msg_waypoint_count_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpc);
     uas.sendMessage(message);
-    usleep(PROTOCOL_DELAY_MS * 1000);
+    MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000);
 
     qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system;
 }
@@ -550,7 +550,7 @@ void UASWaypointManager::sendWaypointRequestList()
 
     mavlink_msg_waypoint_request_list_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wprl);
     uas.sendMessage(message);
-    usleep(PROTOCOL_DELAY_MS * 1000);
+    MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000);
 
     qDebug() << "sent waypoint list request to ID " << wprl.target_system;
 }
@@ -568,7 +568,7 @@ void UASWaypointManager::sendWaypointRequest(quint16 seq)
 
     mavlink_msg_waypoint_request_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpr);
     uas.sendMessage(message);
-    usleep(PROTOCOL_DELAY_MS * 1000);
+    MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000);
 
     qDebug() << "sent waypoint request (" << wpr.seq << ") to ID " << wpr.target_system;
 }
@@ -589,7 +589,7 @@ void UASWaypointManager::sendWaypoint(quint16 seq)
 
         mavlink_msg_waypoint_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, wp);
         uas.sendMessage(message);
-        usleep(PROTOCOL_DELAY_MS * 1000);
+        MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000);
 
         qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system;
     }
@@ -606,7 +606,7 @@ void UASWaypointManager::sendWaypointAck(quint8 type)
 
     mavlink_msg_waypoint_ack_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpa);
     uas.sendMessage(message);
-    usleep(PROTOCOL_DELAY_MS * 1000);
+    MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000);
 
     qDebug() << "sent waypoint ack (" << wpa.type << ") to ID " << wpa.target_system;
 }

src/ui/CommConfigurationWindow.cc

@@ -99,7 +99,7 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
     }
     else if (dynamic_cast<UDPLink*>(link) != 0)
     {
-        ui.linkGroupBox->setTitle(tr("serial link"));
+        ui.linkGroupBox->setTitle(tr("udp link"));
     }
     else
     {

src/ui/DebugConsole.cc

@@ -101,6 +101,8 @@ DebugConsole::DebugConsole(QWidget *parent) :
     connect(m_ui->holdCheckBox, SIGNAL(clicked(bool)), this, SLOT(setAutoHold(bool)));
     // Connect hold button
     connect(m_ui->holdButton, SIGNAL(toggled(bool)), this, SLOT(hold(bool)));
+
+    this->setVisible(false);
 }
 
 DebugConsole::~DebugConsole()

src/ui/HDDisplay.cc

@@ -100,6 +100,8 @@ HDDisplay::HDDisplay(QStringList* plotList, QWidget *parent) :
     // Connect with UAS
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
     //start();
+
+    this->setVisible(false);
 }
 
 HDDisplay::~HDDisplay()

src/ui/HSIDisplay.cc

@@ -100,6 +100,7 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
 
     xCenterPos = vwidth/2.0f;
     yCenterPos = vheight/2.0f + topMargin - bottomMargin;
+    this->setVisible(false);
 }
 
 void HSIDisplay::paintEvent(QPaintEvent * event)

src/ui/HUD.cc

@@ -153,6 +153,8 @@ HUD::HUD(int width, int height, QWidget* parent)
     // Connect with UAS
     UASManager* manager = UASManager::instance();
     connect(manager, SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+
+    this->setVisible(false);
 }
 
 HUD::~HUD()

src/ui/MainWindow.cc

@@ -62,94 +62,23 @@ This file is part of the QGROUNDCONTROL project
 *
 * @see QMainWindow::show()
 **/
-MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent),
-settings()
+MainWindow::MainWindow(QWidget *parent) :
+  QMainWindow(parent),
+  settings()
 {
     this->hide();
     this->setVisible(false);
 
-    mavlink = new MAVLinkProtocol();
-
     // Setup user interface
     ui.setupUi(this);
 
-    // Initialize views, NOT show them yet, only initialize model and controller
-    centerStack = new QStackedWidget(this);
-    linechart = new Linecharts(this);
-    linechart->setActive(false);
-    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), linechart, SLOT(addSystem(UASInterface*)));
-    connect(UASManager::instance(), SIGNAL(activeUASSet(int)), linechart, SLOT(selectSystem(int)));
-    centerStack->addWidget(linechart);
-    control = new UASControlWidget(this);
-    //controlDock = new QDockWidget(this);
-    //controlDock->setWidget(control);
-    list = new UASListWidget(this);
-    list->setVisible(false);
-    waypoints = new WaypointList(this, NULL);
-    waypoints->setVisible(false);
-    info = new UASInfoWidget(this);
-    info->setVisible(false);
-    detection = new ObjectDetectionView("patterns", this);
-    detection->setVisible(false);
-    hud = new HUD(640, 480, this);
-    hud->setVisible(false);
-    debugConsole = new DebugConsole(this);
-    debugConsole->setVisible(false);
-    map = new MapWidget(this);
-    map->setVisible(false);
-    protocol = new XMLCommProtocolWidget(this);
-    protocol->setVisible(false);
-    centerStack->addWidget(protocol);
-    parameters = new ParameterInterface(this);
-    parameters->setVisible(false);
-    watchdogControl = new WatchdogControl(this);
-    watchdogControl->setVisible(false);
-    hsi = new HSIDisplay(this);
-    hsi->setVisible(false);
-
-    QStringList* acceptList = new QStringList();
-    acceptList->append("roll IMU");
-    acceptList->append("pitch IMU");
-    acceptList->append("yaw IMU");
-    acceptList->append("rollspeed IMU");
-    acceptList->append("pitchspeed IMU");
-    acceptList->append("yawspeed IMU");
-    headDown1 = new HDDisplay(acceptList, this);
-    headDown1->setVisible(false);
-
-    QStringList* acceptList2 = new QStringList();
-    acceptList2->append("Battery");
-    acceptList2->append("Pressure");
-    headDown2 = new HDDisplay(acceptList2, this);
-    headDown2->setVisible(false);
-    centerStack->addWidget(map);
-    centerStack->addWidget(hud);
-    setCentralWidget(centerStack);
-
-    // Get IPs
-    QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
-
-    QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
-
-    windowname.append(" (" + QHostInfo::localHostName() + ": ");
-    bool prevAddr = false;
-    for (int i = 0; i < hostAddresses.size(); i++)
-    {
-        // Exclude loopback IPv4 and all IPv6 addresses
-        if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
-        {
-            if(prevAddr) windowname.append("/");
-            windowname.append(hostAddresses.at(i).toString());
-            prevAddr = true;
-        }
-    }
+    buildWidgets();
 
-    windowname.append(")");
+    connectWidgets();
 
-    setWindowTitle(windowname);
-#ifndef Q_WS_MAC
-    //qApp->setWindowIcon(QIcon(":/core/images/qtcreator_logo_128.png"));
-#endif
+    arrangeCenterStack();
+
+    configureWindowName();
 
     // Add status bar
     setStatusBar(createStatusBar());
@@ -157,10 +86,10 @@ settings()
     // Set the application style (not the same as a style sheet)
     // Set the style to Plastique
     qApp->setStyle("plastique");
+
     // Set style sheet as last step
     reloadStylesheet();
 
-    joystick = new JoystickInput();
 
     // Create actions
     connectActions();
@@ -170,9 +99,6 @@ settings()
 
     // Adjust the size
     adjustSize();
-
-    //
-    connect(mavlink, SIGNAL(receiveLossChanged(int, float)), info, SLOT(updateSendLoss(int, float)));
 }
 
 MainWindow::~MainWindow()
@@ -181,6 +107,86 @@ MainWindow::~MainWindow()
     statusBar = NULL;
 }
 
+
+void MainWindow::buildWidgets()
+{
+  QStringList* acceptList = new QStringList();
+  acceptList->append("roll IMU");
+  acceptList->append("pitch IMU");
+  acceptList->append("yaw IMU");
+  acceptList->append("rollspeed IMU");
+  acceptList->append("pitchspeed IMU");
+  acceptList->append("yawspeed IMU");
+
+  QStringList* acceptList2 = new QStringList();
+  acceptList2->append("Battery");
+  acceptList2->append("Pressure");
+
+
+  mavlink     = new MAVLinkProtocol();
+  linechart   = new Linecharts(this);
+  control     = new UASControlWidget(this);
+  list        = new UASListWidget(this);
+  waypoints   = new WaypointList(this, NULL);
+  info        = new UASInfoWidget(this);
+  detection   = new ObjectDetectionView("patterns", this);
+  hud         = new HUD(640, 480, this);
+  debugConsole= new DebugConsole(this);
+  map         = new MapWidget(this);
+  protocol    = new XMLCommProtocolWidget(this);
+  parameters  = new ParameterInterface(this);
+  watchdogControl = new WatchdogControl(this);
+  hsi         = new HSIDisplay(this);
+  headDown1   = new HDDisplay(acceptList, this);
+  headDown2   = new HDDisplay(acceptList2, this);
+  joystick    = new JoystickInput();
+}
+
+void MainWindow::connectWidgets(){
+  connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), linechart, SLOT(addSystem(UASInterface*)));
+  connect(UASManager::instance(), SIGNAL(activeUASSet(int)), linechart, SLOT(selectSystem(int)));
+  connect(mavlink, SIGNAL(receiveLossChanged(int, float)), info, SLOT(updateSendLoss(int, float)));
+}
+
+void MainWindow::arrangeCenterStack(){
+
+  centerStack = new QStackedWidget(this);
+
+  centerStack->addWidget(linechart);
+  centerStack->addWidget(protocol);
+  centerStack->addWidget(map);
+  centerStack->addWidget(hud);
+
+  setCentralWidget(centerStack);
+}
+
+void MainWindow::configureWindowName(){
+  QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
+  QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
+  bool prevAddr = false;
+
+  windowname.append(" (" + QHostInfo::localHostName() + ": ");
+
+  for (int i = 0; i < hostAddresses.size(); i++)
+  {
+      // Exclude loopback IPv4 and all IPv6 addresses
+      if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
+      {
+          if(prevAddr) windowname.append("/");
+          windowname.append(hostAddresses.at(i).toString());
+          prevAddr = true;
+      }
+  }
+
+  windowname.append(")");
+
+  setWindowTitle(windowname);
+
+#ifndef Q_WS_MAC
+  //qApp->setWindowIcon(QIcon(":/core/images/qtcreator_logo_128.png"));
+#endif
+}
+
 QStatusBar* MainWindow::createStatusBar()
 {
     QStatusBar* bar = new QStatusBar();

src/ui/MainWindow.h

@@ -129,6 +129,10 @@ protected:
     void loadWidgets();
     void connectActions();
     void clearView();
+    void buildWidgets();
+    void connectWidgets();
+    void arrangeCenterStack();
+    void configureWindowName();
 
     // TODO Should be moved elsewhere, as the protocol does not belong to the UI
     MAVLinkProtocol* mavlink;
@@ -178,6 +182,7 @@ protected:
 
 private:
     Ui::MainWindow ui;
+
 };
 
 #endif /* _MAINWINDOW_H_ */

src/ui/MapWidget.cc

@@ -107,6 +107,8 @@ MapWidget::MapWidget(QWidget *parent) :
     mc->setZoom(3);
 
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
+
+    this->setVisible(false);
 }
 
 MapWidget::~MapWidget()

src/ui/ObjectDetectionView.cc

@@ -57,6 +57,8 @@ ObjectDetectionView::ObjectDetectionView(QString folder, QWidget *parent) :
     letterTimer.start(1000);
     connect(&letterTimer, SIGNAL(timeout()), this, SLOT(decreaseLetterTime()));
     connect(m_ui->clearButton, SIGNAL(clicked()), this, SLOT(clearLists()));
+
+    this->setVisible(false);
 }
 
 ObjectDetectionView::~ObjectDetectionView()

src/ui/ParameterInterface.cc

@@ -23,6 +23,7 @@ ParameterInterface::ParameterInterface(QWidget *parent) :
 
     // Setup MAV connections
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
+    this->setVisible(false);
 }
 
 ParameterInterface::~ParameterInterface()

src/ui/QGCFirmwareUpdate.cc

+#include "QGCFirmwareUpdate.h"
+#include "ui_QGCFirmwareUpdate.h"
+
+QGCFirmwareUpdate::QGCFirmwareUpdate(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCFirmwareUpdate)
+{
+    ui->setupUi(this);
+}
+
+QGCFirmwareUpdate::~QGCFirmwareUpdate()
+{
+    delete ui;
+}
+
+void QGCFirmwareUpdate::changeEvent(QEvent *e)
+{
+    QWidget::changeEvent(e);
+    switch (e->type()) {
+    case QEvent::LanguageChange:
+        ui->retranslateUi(this);
+        break;
+    default:
+        break;
+    }
+}

src/ui/QGCFirmwareUpdate.h

+#ifndef QGCFIRMWAREUPDATE_H
+#define QGCFIRMWAREUPDATE_H
+
+#include <QWidget>
+
+namespace Ui {
+    class QGCFirmwareUpdate;
+}
+
+class QGCFirmwareUpdate : public QWidget {
+    Q_OBJECT
+public:
+    QGCFirmwareUpdate(QWidget *parent = 0);
+    ~QGCFirmwareUpdate();
+
+protected:
+    void changeEvent(QEvent *e);
+
+private:
+    Ui::QGCFirmwareUpdate *ui;
+};
+
+#endif // QGCFIRMWAREUPDATE_H

src/ui/QGCFirmwareUpdate.ui

+<ui version="4.0">
+ <author/>
+ <comment/>
+ <exportmacro/>
+ <class>QGCFirmwareUpdate</class>
+ <widget class="QWidget" name="QGCFirmwareUpdate">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+ </widget>
+ <pixmapfunction/>
+ <connections/>
+</ui>

src/ui/QGCPxImuFirmwareUpdate.cc

+#include "QGCPxImuFirmwareUpdate.h"
+#include "ui_QGCPxImuFirmwareUpdate.h"
+
+QGCPxImuFirmwareUpdate::QGCPxImuFirmwareUpdate(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCPxImuFirmwareUpdate)
+{
+    ui->setupUi(this);
+}
+
+QGCPxImuFirmwareUpdate::~QGCPxImuFirmwareUpdate()
+{
+    delete ui;
+}
+
+void QGCPxImuFirmwareUpdate::changeEvent(QEvent *e)
+{
+    QWidget::changeEvent(e);
+    switch (e->type()) {
+    case QEvent::LanguageChange:
+        ui->retranslateUi(this);
+        break;
+    default:
+        break;
+    }
+}

src/ui/QGCPxImuFirmwareUpdate.h

+#ifndef QGCPXIMUFIRMWAREUPDATE_H
+#define QGCPXIMUFIRMWAREUPDATE_H
+
+#include <QWidget>
+
+namespace Ui {
+    class QGCPxImuFirmwareUpdate;
+}
+
+class QGCPxImuFirmwareUpdate : public QWidget {
+    Q_OBJECT
+public:
+    QGCPxImuFirmwareUpdate(QWidget *parent = 0);
+    ~QGCPxImuFirmwareUpdate();
+
+protected:
+    void changeEvent(QEvent *e);
+
+private:
+    Ui::QGCPxImuFirmwareUpdate *ui;
+};
+
+#endif // QGCPXIMUFIRMWAREUPDATE_H

src/ui/QGCPxImuFirmwareUpdate.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCPxImuFirmwareUpdate</class>
+ <widget class="QWidget" name="QGCPxImuFirmwareUpdate">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0" colspan="5">
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Instructions</string>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <property name="margin">
+       <number>2</number>
+      </property>
+      <item>
+       <widget class="QPlainTextEdit" name="plainTextEdit">
+        <property name="plainText">
+         <string>&lt;h1&gt;pxIMU Firmware Update&lt;/h1&gt;
+
+&lt;li&gt;
+  &lt;item&gt;Item 1&lt;/item&gt;
+&lt;/li&gt;
+</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="1" column="0" colspan="2">
+    <widget class="QRadioButton" name="radioButton">
+     <property name="text">
+      <string>From File</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="2" colspan="2">
+    <widget class="QLabel" name="label_3">
+     <property name="text">
+      <string>Choose file..</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="4">
+    <widget class="QPushButton" name="pushButton_2">
+     <property name="text">
+      <string>Choose File</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0" colspan="2">
+    <widget class="QRadioButton" name="radioButton_2">
+     <property name="text">
+      <string>From Internet</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="2" colspan="2">
+    <widget class="QLabel" name="label_4">
+     <property name="text">
+      <string>Firmware v.0.2.1</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="4">
+    <widget class="QPushButton" name="pushButton_3">
+     <property name="text">
+      <string>Download</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="1" colspan="2">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>Waiting for first user action</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="3" colspan="2">
+    <widget class="QPushButton" name="pushButton">
+     <property name="text">
+      <string>Flash Firmware</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/WaypointList.cc

@@ -82,6 +82,8 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
 
     // STATUS LABEL
     updateStatusLabel("");
+
+    this->setVisible(false);
 }
 
 WaypointList::~WaypointList()

src/ui/XMLCommProtocolWidget.cc

@@ -24,6 +24,8 @@ XMLCommProtocolWidget::XMLCommProtocolWidget(QWidget *parent) :
     connect(m_ui->selectOutputButton, SIGNAL(clicked()), this, SLOT(selectOutputDirectory()));
     connect(m_ui->generateButton, SIGNAL(clicked()), this, SLOT(generate()));
     connect(m_ui->saveButton, SIGNAL(clicked()), this, SLOT(save()));
+
+    this->setVisible(false);
 }
 
 void XMLCommProtocolWidget::selectXMLFile()

src/ui/linechart/Linecharts.cc

@@ -5,6 +5,7 @@ Linecharts::Linecharts(QWidget *parent) :
         plots(),
         active(true)
 {
+  this->setVisible(false);
 }
 
 

src/ui/uas/UASInfoWidget.cc

@@ -75,6 +75,8 @@ UASInfoWidget::UASInfoWidget(QWidget *parent, QString name) : QWidget(parent)
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
     updateTimer->start(50);
 
+    this->setVisible(false);
+
 }
 
 UASInfoWidget::~UASInfoWidget()

src/ui/uas/UASListWidget.cc

@@ -51,6 +51,8 @@ UASListWidget::UASListWidget(QWidget *parent) : QWidget(parent), m_ui(new Ui::UA
     this->setMinimumWidth(250);
 
     uasViews = QMap<UASInterface*, UASView*>();
+
+    this->setVisible(false);
 }
 
 UASListWidget::~UASListWidget()

src/ui/watchdog/WatchdogControl.cc

@@ -24,6 +24,8 @@ WatchdogControl::WatchdogControl(QWidget *parent) :
     ui->mainWidget->setLayout(listLayout);
 
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
+
+    this->setVisible(false);
 }
 
 WatchdogControl::~WatchdogControl()