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

QGCExternalLibs.pri

@@ -258,26 +258,6 @@ LinuxBuild : contains(MAVLINK_CONF, pixhawk) {
     message("Skipping support for Protocol Buffers")
 }
 
-#
-# libfreenect Kinect support
-#
-
-MacBuild | LinuxBuild {
-    exists(/opt/local/include/libfreenect) | exists(/usr/local/include/libfreenect) {
-        message("Including support for libfreenect")
-
-        #INCLUDEPATH += /usr/include/libusb-1.0
-        DEFINES += QGC_LIBFREENECT_ENABLED
-        LIBS += -lfreenect
-        HEADERS += src/input/Freenect.h
-        SOURCES += src/input/Freenect.cc
-    } else {
-        message("Skipping support for libfreenect")
-    }
-} else {
-    message("Skipping support for libfreenect")
-}
-
 #
 # EIGEN matrix library (NOMINMAX needed to make internal min/max work)
 #

libs/opmapcontrol/src/internals/projections/lks94projection.cpp

@@ -28,6 +28,11 @@
 #include <qmath.h>
 
 
+// These pragmas are local modifications to this third party library to silence warnings
+#ifdef Q_OS_LINUX
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
+#endif
  
 namespace projections {
 LKS94Projection::LKS94Projection():MinLatitude  (53.33 ), MaxLatitude  (56.55 ), MinLongitude  (20.22 ),
@@ -787,3 +792,8 @@ Size LKS94Projection::GetTileMatrixMaxXY(int const& zoom)
 }
 
 }
+
+#ifdef Q_OS_LINUX
+#pragma GCC diagnostic pop
+#endif
+

libs/opmapcontrol/src/internals/projections/mercatorprojectionyandex.cpp

@@ -57,6 +57,16 @@ Point MercatorProjectionYandex::FromLatLngToPixel(double lat, double lng, const
     return ret;
 
 }
+
+// These pragmas are local modifications to this third party library to silence warnings
+#ifdef Q_OS_LINUX
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
+#elif defined(Q_OS_MAC)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-variable"
+#endif
+    
 internals::PointLatLng MercatorProjectionYandex::FromPixelToLatLng(const int &x, const int &y, const int &zoom)
 {
     Size s = GetTileMatrixSizePixel(zoom);
@@ -82,6 +92,11 @@ internals::PointLatLng MercatorProjectionYandex::FromPixelToLatLng(const int &x,
 
     return ret;
 }
+
+#ifndef Q_OS_WIN
+#pragma GCC diagnostic pop
+#endif
+
 double MercatorProjectionYandex::Clip(const double &n, const double &minValue, const double &maxValue) const
 {
     return qMin(qMax(n, minValue), maxValue);

libs/qwt/qwt_plot_spectrogram.cpp

@@ -533,6 +533,15 @@ QwtRasterData::ContourLines QwtPlotSpectrogram::renderContourLines(
                                       d_data->contourLevels, d_data->conrecAttributes );
 }
 
+// These pragmas are local modifications to this third party library to silence warnings
+#ifdef Q_OS_LINUX
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
+#elif defined(Q_OS_MAC)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-variable"
+#endif
+
 /*!
    Paint the contour lines
 
@@ -578,6 +587,10 @@ void QwtPlotSpectrogram::drawContourLines(QPainter *painter,
     }
 }
 
+#ifndef Q_OS_WIN
+#pragma GCC diagnostic pop
+#endif
+
 /*!
   \brief Draw the spectrogram
 

libs/qwt/qwt_plot_zoomer.h

@@ -85,8 +85,19 @@ public:
 
 public slots:
     void moveBy(double x, double y);
+
+// These pragmas are local modifications to this third party library to silence warnings
+#ifndef Q_OS_WIN
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Woverloaded-virtual"
+#endif
+    
     virtual void move(double x, double y);
 
+#ifndef Q_OS_WIN
+#pragma GCC diagnostic pop
+#endif
+
     virtual void zoom(const QwtDoubleRect &);
     virtual void zoom(int up);
 

libs/serialport/qserialport.pri

@@ -55,4 +55,4 @@ unix:!symbian {
     }
 }
 
-HEADERS += $$PUBLIC_HEADERS $$PRIVATE_HEADERS
+HEADERS *= $$PUBLIC_HEADERS $$PRIVATE_HEADERS

qgroundcontrol.pro

@@ -117,16 +117,23 @@ WindowsBuild {
 }
 
 #
-# Warnings cleanup. Plan of attack is to turn on warnings as error once all warnings are fixed. Please
-# do no change the warning level from what they are currently set to below.
+# We treat all warnings as errors which must be fixed before proceeding. If you run into a problem you can't fix
+# you can always use local pragmas to work around the warning. This should be used sparingly and only in cases where
+# the problem absolultey can't be fixed.
 #
 
 MacBuild | LinuxBuild {
 	QMAKE_CXXFLAGS_WARN_ON += -Wall
 }
 
+MacBuild {
+	QMAKE_CXXFLAGS_WARN_ON += -Werror
+}
+
 WindowsBuild {
-	QMAKE_CXXFLAGS_WARN_ON += /W3
+	QMAKE_CXXFLAGS_WARN_ON += /W3 \
+        /wd4996 \   # silence warnings about deprecated strcpy and whatnot
+        /wd4290     # ignore exception specifications
 }
 
 #

src/comm/MAVLinkProtocol.cc

@@ -196,15 +196,7 @@ void MAVLinkProtocol::linkStatusChanged(bool connected)
             // Start NSH
             const char init[] = {0x0d, 0x0d, 0x0d};
             link->writeBytes(init, sizeof(init));
-
-            // Stop any running mavlink instance
-            const char* cmd = "mavlink stop\n";
-            link->writeBytes(cmd, strlen(cmd));
-            link->writeBytes(init, 2);
-            cmd = "uorb start";
-            link->writeBytes(cmd, strlen(cmd));
-            link->writeBytes(init, 2);
-            cmd = "sh /etc/init.d/rc.usb\n";
+            const char* cmd = "sh /etc/init.d/rc.usb\n";
             link->writeBytes(cmd, strlen(cmd));
             link->writeBytes(init, 4);
         }

src/qgcunittest/MockUAS.h

@@ -168,6 +168,9 @@ public slots:
     virtual void sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites)
         { Q_UNUSED(time_us); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); Q_UNUSED(fix_type); Q_UNUSED(eph); Q_UNUSED(epv); Q_UNUSED(vel); Q_UNUSED(vn); Q_UNUSED(ve); Q_UNUSED(vd); Q_UNUSED(cog); Q_UNUSED(satellites); Q_ASSERT(false); };
     
+    virtual bool isRotaryWing() { Q_ASSERT(false); return false; }
+    virtual bool isFixedWing() { Q_ASSERT(false); return false; }
+
 private:
     int                 _systemType;
     int                 _systemId;

src/uas/UAS.cc

@@ -2115,7 +2115,7 @@ void UAS::requestImage()
     if (imagePacketsArrived == 0)
     {
         mavlink_message_t msg;
-        mavlink_msg_data_transmission_handshake_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, DATA_TYPE_JPEG_IMAGE, 0, 0, 0, 0, 0, 50);
+        mavlink_msg_data_transmission_handshake_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, MAVLINK_DATA_STREAM_IMG_JPEG, 0, 0, 0, 0, 0, 50);
         sendMessage(msg);
     }
 }
@@ -2170,6 +2170,32 @@ void UAS::readParametersFromStorage()
     sendMessage(msg);
 }
 
+bool UAS::isRotaryWing()
+{
+    switch (type) {
+        case MAV_TYPE_QUADROTOR:
+        /* fallthrough */
+        case MAV_TYPE_COAXIAL:
+        case MAV_TYPE_HELICOPTER:
+        case MAV_TYPE_HEXAROTOR:
+        case MAV_TYPE_OCTOROTOR:
+        case MAV_TYPE_TRICOPTER:
+            return true;
+        default:
+            return false;
+    }
+}
+
+bool UAS::isFixedWing()
+{
+    switch (type) {
+        case MAV_TYPE_FIXED_WING:
+            return true;
+        default:
+            return false;
+    }
+}
+
 /**
 * @param rate The update rate in Hz the message should be sent
 */

src/uas/UAS.h

@@ -306,6 +306,9 @@ public:
         return nedAttGlobalOffset;
     }
 
+    bool isRotaryWing();
+    bool isFixedWing();
+
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     px::GLOverlay getOverlay()
     {

src/uas/UASInterface.h

@@ -267,6 +267,9 @@ public:
      */
     virtual QList<QAction*> getActions() const = 0;
 
+    static const unsigned int WAYPOINT_RADIUS_DEFAULT_FIXED_WING = 25;
+    static const unsigned int WAYPOINT_RADIUS_DEFAULT_ROTARY_WING = 5;
+
 public slots:
 
     /** @brief Set a new name for the system */
@@ -376,6 +379,11 @@ public slots:
     virtual void startGyroscopeCalibration() = 0;
     virtual void startPressureCalibration() = 0;
 
+    /** @brief Return if this a rotary wing */
+    virtual bool isRotaryWing() = 0;
+    /** @brief Return if this is a fixed wing */
+    virtual bool isFixedWing() = 0;
+
     /** @brief Set the current battery type and voltages */
     virtual void setBatterySpecs(const QString& specs) = 0;
     /** @brief Get the current battery type and specs */
@@ -393,7 +401,6 @@ public slots:
     /** @brief Send raw GPS for sensor HIL */
     virtual void sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites) = 0;
 
-
 protected:
     QColor color;
 

src/uas/UASWaypointManager.cc

@@ -225,6 +225,17 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
             current_state = WP_IDLE;
             readWaypoints(false); //Update "Onboard Waypoints"-tab immidiately after the waypoint list has been sent.
             emit updateStatusString("done.");
+        } else if((current_state == WP_SENDLIST || current_state == WP_SENDLIST_SENDWPS) && wpa->type != 0) {
+            //give up transmitting if a WP is rejected
+            if (wpa->type == 1) {
+                emit updateStatusString("upload failed: general error");
+            } else if (wpa->type == 2) {
+                emit updateStatusString("upload failed: coordinate frame unsupported.");
+            } else {
+                emit updateStatusString("upload failed: other error.");
+            }
+            protocol_timer.stop();
+            current_state = WP_IDLE;
         } else if(current_state == WP_CLEARLIST) {
             protocol_timer.stop();
             current_state = WP_IDLE;
@@ -905,7 +916,7 @@ void UASWaypointManager::writeWaypoints()
             sendWaypointCount();
         } else if (waypointsEditable.count() == 0)
         {
-            sendWaypointClearAll();
+            clearWaypointList();
         }
     }
     else
@@ -1063,11 +1074,23 @@ int UASWaypointManager::getFrameRecommendation()
 
 float UASWaypointManager::getAcceptanceRadiusRecommendation()
 {
-    if (waypointsEditable.count() > 0) {
+    if (waypointsEditable.count() > 0)
+    {
         return waypointsEditable.last()->getAcceptanceRadius();
-    } else {
-        return 10.0f;
     }
+    else
+    {
+        if (uas->isRotaryWing())
+        {
+            return UASInterface::WAYPOINT_RADIUS_DEFAULT_ROTARY_WING;
+        }
+        else if (uas->isFixedWing())
+        {
+            return UASInterface::WAYPOINT_RADIUS_DEFAULT_FIXED_WING;
+        }
+    }
+
+    return 10.0f;
 }
 
 float UASWaypointManager::getHomeAltitudeOffsetDefault()

src/ui/WaypointList.cc

@@ -283,9 +283,9 @@ void WaypointList::addEditable(bool onCurrentPosition)
             wp->setZ(last->getZ());
         }
         wp->setParam1(last->getParam1());
-        wp->setParam1(last->getParam2());
-        wp->setParam1(last->getParam3());
-        wp->setParam1(last->getParam4());
+        wp->setParam2(last->getParam2());
+        wp->setParam3(last->getParam3());
+        wp->setParam4(last->getParam4());
         wp->setAutocontinue(last->getAutoContinue());
 //        wp->blockSignals(false);
         wp->setAction(last->getAction());

src/ui/map3D/Q3DWidget.h

@@ -39,8 +39,20 @@ This file is part of the QGROUNDCONTROL project
 #include <osg/PositionAttitudeTransform>
 #include <osgGA/TrackballManipulator>
 #include <osgText/Font>
+
+// OpenSceneGraph has overloaded virtuals defined, since third party code we silence the warnings when the
+// headers are used.
+#ifndef Q_OS_WIN
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Woverloaded-virtual"
+#endif
+
 #include <osgViewer/Viewer>
 
+#ifndef Q_OS_WIN
+#pragma GCC diagnostic pop
+#endif
+
 #include "CameraParams.h"
 #include "GCManipulator.h"
 #include "SystemGroupNode.h"