Merge branch 'v10release' of github.com:pixhawk/qgroundcontrol into dev-win

.gitignore

@@ -8,6 +8,7 @@ Info.plist
 obj
 *.log
 *~
+*~.skp
 bin/*.exe
 bin/*.txt
 bin/mac

README

@@ -78,11 +78,39 @@ Done.
 Windows
 =======
 
+DETAILED STEPS BELOW THE VISUAL STUDIO 2010 NOTES.
+GNU GCC / MINGW IS UNTESTED, COULD WORK
+VISUAL STUDIO 2008 / 2010 EXPRESS EDITION IS FREE!
+
+-------------------------------------------------------------------------------------
+VISUAL STUDIO 2010 NOTES (VS 2008 runs out-of-the-box, just follow the steps below):
+
+For use of Qt 4x with Visual Studio 2010 Add-in.
+
+Visual studio adds automatically certain defines that are wrong and cause errors.
+To resolve this, execute these steps:
+
+In the projects properties -> C/C++ ->preprocessor change:
+
+in DEBUG:
+	delete QT_NO_DEBUG
+
+in both (DEBUG / RELEASE):
+	delete QT_NO_DYNAMIC_CAST
+-------------------------------------------------------------------------------------
+
+
+
+
+Steps for Visual Studio 2008 / 2010. (VS 2008 is easier, VS 2010 only recommended for
+expert developers)
+
+
 Windows XP/7:
 
-1) Download and install the QT SDK for Windows from http://qt.nokia.com/downloads/ (Visual Studio 2008 version)
+1) Download and install the Qt SDK for Windows from http://qt.nokia.com/downloads/ (Visual Studio 2008 version) OR download Qt source and compile with VS 2010
 
-2) Download and install Visual Studio 2008 Express Edition (free)
+2) Download and install Visual Studio 2008 Express Edition (free) OR VS 2010 Express Edition
 
 3) Go to the QGroundControl folder and then to thirdParty -> libxbee
 

flightgear/connector_flightgear_uav.xml

+<PropertyList>
+ <generic>
+  <output>
+   <line_separator>newline</line_separator>
+   <var_separator>,</var_separator>
+
+   <chunk>
+    <name>lat</name>
+    <type>float</type>
+    <format>%+1.8f</format>
+    <node>/position/latitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>lon</name>
+    <type>float</type>
+    <format>%+1.8f</format>
+    <node>/position/longitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>alt</name>
+    <type>float</type>
+    <format>%+1.4f</format>
+    <node>/position/altitude-ft</node>
+   </chunk>
+
+
+   <chunk>
+    <name>speed</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/velocities/groundspeed-kt</node>
+   </chunk>
+
+   <chunk>
+    <name>airspeed</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/velocities/airspeed-kt</node>
+   </chunk>
+
+
+
+   <chunk>
+    <name>pitch</name>
+    <type>float</type>
+    <format>%+1.3f</format>
+    <node>/orientation/pitch-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>roll</name>
+    <type>float</type>
+    <format>%+1.3f</format>
+    <node>/orientation/roll-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>heading</name>
+    <type>float</type>
+    <format>%+1.3f</format>
+    <node>/orientation/heading-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>v_n</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/velocities/speed-north-fps</node>
+   </chunk>
+
+   <chunk>
+    <name>v_e</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/velocities/speed-east-fps</node>
+   </chunk>
+
+   <chunk>
+    <name>v_d</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/velocities/speed-down-fps</node>
+   </chunk>
+
+
+   <chunk>
+    <name>rate_phi</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/orientation/roll-rate-degps</node>
+   </chunk>
+
+   <chunk>
+    <name>rate_theta</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/orientation/pitch-rate-degps</node>
+   </chunk>
+
+   <chunk>
+    <name>rate_psi</name>
+    <type>float</type>
+    <format>%2.3f</format>
+    <node>/orientation/yaw-rate-degps</node>
+   </chunk>
+
+
+  </output>
+
+ <input>
+   <line_separator>newline</line_separator>
+   <var_separator>,</var_separator>
+
+   <chunk>
+    <name>pitch</name>
+    <type>float</type>
+    <format>%+1.3f</format>
+    <node>/autopilot/settings/target-pitch-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>roll</name>
+    <type>float</type>
+    <format>%+1.3f</format>
+    <node>/autopilot/settings/target-roll-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>throttle</name>
+    <type>float</type>
+    <format>%+1.3f</format>
+    <node>/controls/engines/engine/throttle</node>
+   </chunk>
+
+   <chunk>
+    <name>lat</name>
+    <type>float</type>
+    <format>%+1.8f</format>
+    <node>/sim/view/target/latitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>lon</name>
+    <type>float</type>
+    <format>%+1.8f</format>
+    <node>/sim/view/target/longitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>alt</name>
+    <type>float</type>
+    <format>%+1.4f</format>
+    <node>/sim/view/target/alt</node>
+   </chunk>
+
+  </input>
+
+ </generic>
+</PropertyList>

models/ascent-park-glider.skp

 ໿SketchUp Model૿{8.0.4810}Ƕ『時҆✱闊ÿ主乁￿噃牥楳湯慍ｰ￾䌉䄀爀挀䌀甀爀瘀攀Ā＀￾䌊䄀琀琀爀椀戀甀琀攀＀￾䌓䄀琀琀爀椀戀甀琀攀䌀漀渀琀愀椀渀攀爀＀￾䌏䄀琀琀爀椀戀甀琀攀一愀洀攀搀Ā＀￾䌐䈀愀挀欀最爀漀甀渀搀䤀洀愀最攀਀＀￾䌇䌀愀洀攀爀愀Ԁ＀￾䌊䌀漀洀瀀漀渀攀渀琀଀＀￾䌒䌀漀洀瀀漀渀攀渀琀䈀攀栀愀瘀椀漀爀Ԁ＀￾䌔䌀漀洀瀀漀渀攀渀琀䐀攀昀椀渀椀琀椀漀渀਀＀￾䌒䌀漀洀瀀漀渀攀渀琀䤀渀猀琀愀渀挀攀Ѐ＀￾䌕䌀漀渀猀琀爀甀挀琀椀漀渀䜀攀漀洀攀琀爀礀＀￾䌑䌀漀渀猀琀爀甀挀琀椀漀渀䰀椀渀攀Ā＀￾䌒䌀漀渀猀琀爀甀挀琀椀漀渀倀漀椀渀琀＀￾䌆䌀甀爀瘀攀Ѐ＀￾䌏䐀攀昀椀渀椀琀椀漀渀䰀椀猀琀＀￾䌄䐀椀戀̀＀￾䌊䐀椀洀攀渀猀椀漀渀Ā＀￾䌐䐀椀洀攀渀猀椀漀渀䰀椀渀攀愀爀؀＀￾䌐䐀椀洀攀渀猀椀漀渀刀愀搀椀愀氀Ȁ＀￾䌏䐀椀洀攀渀猀椀漀渀匀琀礀氀攀Ѐ＀￾䌏䐀爀愀眀椀渀最䔀氀攀洀攀渀琀ऀ＀￾䌅䔀搀最攀Ȁ＀￾䌈䔀搀最攀唀猀攀Ā＀￾䌇䔀渀琀椀琀礀̀＀￾䌅䘀愀挀攀̀＀￾䌒䘀愀挀攀吀攀砀琀甀爀攀䌀漀漀爀搀猀Ѐ＀￾䌌䘀漀渀琀䴀愀渀愀最攀爀＀￾䌆䜀爀漀甀瀀Ā＀￾䌆䤀洀愀最攀Ā＀￾䌆䰀愀礀攀爀Ȁ＀￾䌍䰀愀礀攀爀䴀愀渀愀最攀爀Ѐ＀￾䌅䰀漀漀瀀Ā＀￾䌉䴀愀琀攀爀椀愀氀ఀ＀￾䌐䴀愀琀攀爀椀愀氀䴀愀渀愀最攀爀Ѐ＀￾䌉倀愀最攀䰀椀猀琀Ā＀￾䌋倀漀氀礀氀椀渀攀㌀搀＀￾䌍刀攀氀愀琀椀漀渀猀栀椀瀀＀￾䌐刀攀氀愀琀椀漀渀猀栀椀瀀䴀愀瀀＀￾䌑刀攀渀搀攀爀椀渀最伀瀀琀椀漀渀猀␀＀￾䌍匀攀挀琀椀漀渀倀氀愀渀攀Ȁ＀￾䌋匀栀愀搀漀眀䤀渀昀漀܀＀￾䌇匀欀䘀漀渀琀Ā＀￾䌉匀欀攀琀挀栀䌀匀＀￾䌎匀欀攀琀挀栀唀瀀䴀漀搀攀氀ᘀ＀￾䌍匀欀攀琀挀栀唀瀀倀愀最攀Ā＀￾䌉匀欀瀀匀琀礀氀攀Ā＀￾䌐匀欀瀀匀琀礀氀攀䴀愀渀愀最攀爀Ȁ＀￾䌅吀攀砀琀ऀ＀￾䌊吀攀砀琀匀琀礀氀攀Ԁ＀￾䌈吀攀砀琀甀爀攀؀＀￾䌊吀栀甀洀戀渀愀椀氀Ā＀￾䌇嘀攀爀琀攀砀＀￾䌉嘀椀攀眀倀愀最攀ఀ＀￾䌊圀愀琀攀爀洀愀爀欀Ā＀￾䌑圀愀琀攀爀洀愀爀欀䴀愀渀愀最攀爀Ȁ＀￾䔒渀搀ⴀ伀昀ⴀ嘀攀爀猀椀漀渀ⴀ䴀愀瀀Ȁ뀀Ā＀ϿЀ䌀楄Ѣꨀ褀乐േᨊ

models/multiplex-twinstar.skp

 ໿SketchUp Model૿{8.0.4810}∳꛺䧕灁骨鎠讠ÿ侘乁￿噃牥楳湯慍ｰ￾䌉䄀爀挀䌀甀爀瘀攀Ā＀￾䌊䄀琀琀爀椀戀甀琀攀＀￾䌓䄀琀琀爀椀戀甀琀攀䌀漀渀琀愀椀渀攀爀＀￾䌏䄀琀琀爀椀戀甀琀攀一愀洀攀搀Ā＀￾䌐䈀愀挀欀最爀漀甀渀搀䤀洀愀最攀਀＀￾䌇䌀愀洀攀爀愀Ԁ＀￾䌊䌀漀洀瀀漀渀攀渀琀଀＀￾䌒䌀漀洀瀀漀渀攀渀琀䈀攀栀愀瘀椀漀爀Ԁ＀￾䌔䌀漀洀瀀漀渀攀渀琀䐀攀昀椀渀椀琀椀漀渀਀＀￾䌒䌀漀洀瀀漀渀攀渀琀䤀渀猀琀愀渀挀攀Ѐ＀￾䌕䌀漀渀猀琀爀甀挀琀椀漀渀䜀攀漀洀攀琀爀礀＀￾䌑䌀漀渀猀琀爀甀挀琀椀漀渀䰀椀渀攀Ā＀￾䌒䌀漀渀猀琀爀甀挀琀椀漀渀倀漀椀渀琀＀￾䌆䌀甀爀瘀攀Ѐ＀￾䌏䐀攀昀椀渀椀琀椀漀渀䰀椀猀琀＀￾䌄䐀椀戀̀＀￾䌊䐀椀洀攀渀猀椀漀渀Ā＀￾䌐䐀椀洀攀渀猀椀漀渀䰀椀渀攀愀爀؀＀￾䌐䐀椀洀攀渀猀椀漀渀刀愀搀椀愀氀Ȁ＀￾䌏䐀椀洀攀渀猀椀漀渀匀琀礀氀攀Ѐ＀￾䌏䐀爀愀眀椀渀最䔀氀攀洀攀渀琀ऀ＀￾䌅䔀搀最攀Ȁ＀￾䌈䔀搀最攀唀猀攀Ā＀￾䌇䔀渀琀椀琀礀̀＀￾䌅䘀愀挀攀̀＀￾䌒䘀愀挀攀吀攀砀琀甀爀攀䌀漀漀爀搀猀Ѐ＀￾䌌䘀漀渀琀䴀愀渀愀最攀爀＀￾䌆䜀爀漀甀瀀Ā＀￾䌆䤀洀愀最攀Ā＀￾䌆䰀愀礀攀爀Ȁ＀￾䌍䰀愀礀攀爀䴀愀渀愀最攀爀Ѐ＀￾䌅䰀漀漀瀀Ā＀￾䌉䴀愀琀攀爀椀愀氀ఀ＀￾䌐䴀愀琀攀爀椀愀氀䴀愀渀愀最攀爀Ѐ＀￾䌉倀愀最攀䰀椀猀琀Ā＀￾䌋倀漀氀礀氀椀渀攀㌀搀＀￾䌍刀攀氀愀琀椀漀渀猀栀椀瀀＀￾䌐刀攀氀愀琀椀漀渀猀栀椀瀀䴀愀瀀＀￾䌑刀攀渀搀攀爀椀渀最伀瀀琀椀漀渀猀␀＀￾䌍匀攀挀琀椀漀渀倀氀愀渀攀Ȁ＀￾䌋匀栀愀搀漀眀䤀渀昀漀܀＀￾䌇匀欀䘀漀渀琀Ā＀￾䌉匀欀攀琀挀栀䌀匀＀￾䌎匀欀攀琀挀栀唀瀀䴀漀搀攀氀ᘀ＀￾䌍匀欀攀琀挀栀唀瀀倀愀最攀Ā＀￾䌉匀欀瀀匀琀礀氀攀Ā＀￾䌐匀欀瀀匀琀礀氀攀䴀愀渀愀最攀爀Ȁ＀￾䌅吀攀砀琀ऀ＀￾䌊吀攀砀琀匀琀礀氀攀Ԁ＀￾䌈吀攀砀琀甀爀攀؀＀￾䌊吀栀甀洀戀渀愀椀氀Ā＀￾䌇嘀攀爀琀攀砀＀￾䌉嘀椀攀眀倀愀最攀ఀ＀￾䌊圀愀琀攀爀洀愀爀欀Ā＀￾䌑圀愀琀攀爀洀愀爀欀䴀愀渀愀最攀爀Ȁ＀￾䔒渀搀ⴀ伀昀ⴀ嘀攀爀猀椀漀渀ⴀ䴀愀瀀Ȁ뀀Ā＀ϿЀ䌀楄Ѣ⼀褀乐േᨊ

price.txt

-price	quantity
-210	81
-250	73
-280	64
-300	61
-320	50
-340	46
-360	45
-380	44
-400	43
-420	39
-440	36

qgroundcontrol.pro

@@ -38,6 +38,7 @@ MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = $$BUILDDIR/ui
 RCC_DIR = $$BUILDDIR/rcc
 MAVLINK_CONF = ""
+DEFINES += MAVLINK_NO_DATA
 
 
 #################################################################
@@ -235,7 +236,7 @@ HEADERS += src/MG.h \
     src/comm/SerialSimulationLink.h \
     src/comm/ProtocolInterface.h \
     src/comm/MAVLinkProtocol.h \
-    src/comm/AS4Protocol.h \
+    src/comm/QGCFlightGearLink.h \
     src/ui/CommConfigurationWindow.h \
     src/ui/SerialConfigurationWindow.h \
     src/ui/MainWindow.h \
@@ -299,7 +300,6 @@ HEADERS += src/MG.h \
     src/ui/uas/QGCUnconnectedInfoWidget.h \
     src/ui/designer/QGCToolWidget.h \
     src/ui/designer/QGCParamSlider.h \
-    src/ui/designer/QGCActionButton.h \
     src/ui/designer/QGCCommandButton.h \
     src/ui/designer/QGCToolWidgetItem.h \
     src/ui/QGCMAVLinkLogPlayer.h \
@@ -364,7 +364,7 @@ SOURCES += src/main.cc \
     src/comm/SerialLink.cc \
     src/comm/SerialSimulationLink.cc \
     src/comm/MAVLinkProtocol.cc \
-    src/comm/AS4Protocol.cc \
+    src/comm/QGCFlightGearLink.cc \
     src/ui/CommConfigurationWindow.cc \
     src/ui/SerialConfigurationWindow.cc \
     src/ui/MainWindow.cc \
@@ -426,7 +426,6 @@ SOURCES += src/main.cc \
     src/ui/uas/QGCUnconnectedInfoWidget.cc \
     src/ui/designer/QGCToolWidget.cc \
     src/ui/designer/QGCParamSlider.cc \
-    src/ui/designer/QGCActionButton.cc \
     src/ui/designer/QGCCommandButton.cc \
     src/ui/designer/QGCToolWidgetItem.cc \
     src/ui/QGCMAVLinkLogPlayer.cc \

src/QGCCore.cc

@@ -44,7 +44,6 @@ This file is part of the QGROUNDCONTROL project
 #include "configuration.h"
 #include "QGC.h"
 #include "QGCCore.h"
-#include "MG.h"
 #include "MainWindow.h"
 #include "GAudioOutput.h"
 

src/Waypoint.cc

@@ -109,7 +109,8 @@ void Waypoint::setId(quint16 id)
 
 void Waypoint::setX(double x)
 {
-    if (this->x != x && (this->frame == MAV_FRAME_LOCAL)) {
+    if (!isinf(x) && !isnan(x) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU)))
+    {
         this->x = x;
         emit changed(this);
     }
@@ -117,7 +118,8 @@ void Waypoint::setX(double x)
 
 void Waypoint::setY(double y)
 {
-    if (this->y != y && (this->frame == MAV_FRAME_LOCAL)) {
+    if (!isinf(y) && !isnan(y) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU)))
+    {
         this->y = y;
         emit changed(this);
     }
@@ -125,7 +127,8 @@ void Waypoint::setY(double y)
 
 void Waypoint::setZ(double z)
 {
-    if (this->z != z && (this->frame == MAV_FRAME_LOCAL)) {
+    if (!isinf(z) && !isnan(z) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU)))
+    {
         this->z = z;
         emit changed(this);
     }
@@ -133,7 +136,8 @@ void Waypoint::setZ(double z)
 
 void Waypoint::setLatitude(double lat)
 {
-    if (this->x != lat && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) {
+    if (this->x != lat && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    {
         this->x = lat;
         emit changed(this);
     }
@@ -141,7 +145,8 @@ void Waypoint::setLatitude(double lat)
 
 void Waypoint::setLongitude(double lon)
 {
-    if (this->y != lon && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) {
+    if (this->y != lon && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    {
         this->y = lon;
         emit changed(this);
     }
@@ -149,7 +154,8 @@ void Waypoint::setLongitude(double lon)
 
 void Waypoint::setAltitude(double altitude)
 {
-    if (this->z != altitude && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) {
+    if (this->z != altitude && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    {
         this->z = altitude;
         emit changed(this);
     }
@@ -157,7 +163,8 @@ void Waypoint::setAltitude(double altitude)
 
 void Waypoint::setYaw(int yaw)
 {
-    if (this->yaw != yaw) {
+    if (this->yaw != yaw)
+    {
         this->yaw = yaw;
         emit changed(this);
     }
@@ -165,7 +172,8 @@ void Waypoint::setYaw(int yaw)
 
 void Waypoint::setYaw(double yaw)
 {
-    if (this->yaw != yaw) {
+    if (this->yaw != yaw)
+    {
         this->yaw = yaw;
         emit changed(this);
     }
@@ -173,7 +181,8 @@ void Waypoint::setYaw(double yaw)
 
 void Waypoint::setAction(int action)
 {
-    if (this->action != (MAV_CMD)action) {
+    if (this->action != (MAV_CMD)action)
+    {
         this->action = (MAV_CMD)action;
         emit changed(this);
     }
@@ -205,7 +214,8 @@ void Waypoint::setAutocontinue(bool autoContinue)
 
 void Waypoint::setCurrent(bool current)
 {
-    if (this->current != current) {
+    if (this->current != current)
+    {
         this->current = current;
         emit changed(this);
     }
@@ -213,7 +223,8 @@ void Waypoint::setCurrent(bool current)
 
 void Waypoint::setAcceptanceRadius(double radius)
 {
-    if (this->param2 != radius) {
+    if (this->param2 != radius)
+    {
         this->param2 = radius;
         emit changed(this);
     }
@@ -223,7 +234,8 @@ void Waypoint::setParam1(double param1)
 {
     //qDebug() << "SENDER:" << QObject::sender();
     //qDebug() << "PARAM1 SET REQ:" << param1;
-    if (this->param1 != param1) {
+    if (this->param1 != param1)
+    {
         this->param1 = param1;
         emit changed(this);
     }
@@ -231,7 +243,8 @@ void Waypoint::setParam1(double param1)
 
 void Waypoint::setParam2(double param2)
 {
-    if (this->param2 != param2) {
+    if (this->param2 != param2)
+    {
         this->param2 = param2;
         emit changed(this);
     }

src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class MAVLinkXMLParserV10
+ *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ */
+
+#ifndef MAVLINKXMLPARSERV10_H
+#define MAVLINKXMLPARSERV10_H
+
+#include <QObject>
+#include <QDomDocument>
+#include <QString>
+
+/**
+ * @brief MAVLink micro air vehicle protocol generator
+ *
+ * MAVLink is a generic communication protocol for micro air vehicles.
+ * for more information, please see the official website.
+ * @ref http://pixhawk.ethz.ch/software/mavlink/
+ **/
+class MAVLinkXMLParserV10 : public QObject
+{
+    Q_OBJECT
+public:
+    MAVLinkXMLParserV10(QDomDocument* document, QString outputDirectory, QObject* parent=0);
+    MAVLinkXMLParserV10(QString document, QString outputDirectory, QObject* parent=0);
+    ~MAVLinkXMLParserV10();
+
+public slots:
+    /** @brief Parse XML and generate C files */
+    bool generate();
+
+signals:
+    /** @brief Status message on the parsing */
+    void parseState(QString message);
+
+protected:
+    /** @brief Accumulate the X.25 CRC by adding one char at a time. */
+    void crcAccumulate(uint8_t data, uint16_t *crcAccum);
+
+    /** @brief Initialize the buffer for the X.25 CRC */
+    void crcInit(uint16_t* crcAccum);
+
+    QDomDocument* doc;
+    QString outputDirName;
+    QString fileName;
+};
+
+#endif // MAVLINKXMLPARSERV10_H

src/apps/mavlinkgen/mavlinkgen.pri

@@ -29,6 +29,7 @@ FORMS += ui/XMLCommProtocolWidget.ui
 HEADERS += \
     ui/XMLCommProtocolWidget.h \
     generator/MAVLinkXMLParser.h \
+    generator/MAVLinkXMLParserV10.h \
     ui/DomItem.h \
     ui/DomModel.h \
     ui/QGCMAVLinkTextEdit.h
@@ -37,6 +38,7 @@ SOURCES += \
     ui/DomItem.cc \
     ui/DomModel.cc \
     generator/MAVLinkXMLParser.cc \
+    generator/MAVLinkXMLParserV10.cc \
     ui/QGCMAVLinkTextEdit.cc
 
 RESOURCES += mavlinkgen.qrc

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.cc

@@ -6,6 +6,7 @@
 #include "XMLCommProtocolWidget.h"
 #include "ui_XMLCommProtocolWidget.h"
 #include "MAVLinkXMLParser.h"
+#include "MAVLinkXMLParserV10.h"
 
 #include <QDebug>
 #include <iostream>
@@ -131,18 +132,37 @@ void XMLCommProtocolWidget::generate()
         // Syntax check already gives output
         return;
     }
-	
-    MAVLinkXMLParser* parser = new MAVLinkXMLParser(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
-    connect(parser, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
-    bool result = parser->generate();
-    if (result) {
+
+    MAVLinkXMLParser* parser = NULL;
+    MAVLinkXMLParserV10* parserV10 = NULL;
+
+    bool result = false;
+
+    if (m_ui->versionComboBox->currentIndex() == 0)
+    {
+        MAVLinkXMLParser* parser = new MAVLinkXMLParser(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
+        connect(parser, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
+        result = parser->generate();
+    }
+    else if (m_ui->versionComboBox->currentIndex() == 1)
+    {
+        MAVLinkXMLParserV10* parserV10 = new MAVLinkXMLParserV10(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
+        connect(parserV10, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
+        result = parserV10->generate();
+    }
+
+    if (result)
+    {
         QMessageBox msgBox;
         msgBox.setText(QString("The C code / headers have been generated in folder\n%1").arg(m_ui->outputDirNameLabel->text().trimmed()));
         msgBox.exec();
-    } else {
+    }
+    else
+    {
         QMessageBox::critical(this, tr("C code generation failed, please see the compile log for further information"), QString("The C code / headers could not be written to folder\n%1").arg(m_ui->outputDirNameLabel->text().trimmed()), QMessageBox::Ok);
     }
-    delete parser;
+    if (parser) delete parser;
+    if (parserV10) delete parserV10;
 }
 
 void XMLCommProtocolWidget::save()

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.ui

@@ -13,7 +13,7 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="1,1,100,1,1,1" columnstretch="1,1,1,100">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="1,1,100,1,1,1,0" columnstretch="1,1,1,100">
    <property name="topMargin">
     <number>6</number>
    </property>
@@ -51,12 +51,12 @@
       <string>Select input file</string>
      </property>
      <property name="icon">
-      <iconset resource="../mavlinkgen.qrc">
+      <iconset resource="../../../../qgroundcontrol.qrc">
        <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
      </property>
     </widget>
    </item>
-   <item row="0" column="3" rowspan="6">
+   <item row="0" column="3" rowspan="7">
     <widget class="QGCMAVLinkTextEdit" name="xmlTextView">
      <property name="minimumSize">
       <size>
@@ -97,49 +97,70 @@
       <string>Select directory</string>
      </property>
      <property name="icon">
-      <iconset resource="../mavlinkgen.qrc">
+      <iconset resource="../../../../qgroundcontrol.qrc">
        <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
      </property>
     </widget>
    </item>
-   <item row="2" column="0" colspan="3">
+   <item row="3" column="0" colspan="3">
     <widget class="QTreeView" name="xmlTreeView"/>
    </item>
-   <item row="3" column="0" colspan="2">
+   <item row="4" column="0" colspan="2">
     <widget class="QLabel" name="label">
      <property name="text">
       <string>Compile Output</string>
      </property>
     </widget>
    </item>
-   <item row="4" column="0" colspan="3">
+   <item row="5" column="0" colspan="3">
     <widget class="QPlainTextEdit" name="compileLog"/>
    </item>
-   <item row="5" column="0">
+   <item row="6" column="0">
     <widget class="QLabel" name="validXMLLabel">
      <property name="text">
       <string>No file loaded</string>
      </property>
     </widget>
    </item>
-   <item row="5" column="1">
+   <item row="6" column="1">
     <widget class="QPushButton" name="saveButton">
      <property name="text">
       <string>Save file</string>
      </property>
     </widget>
    </item>
-   <item row="5" column="2">
+   <item row="6" column="2">
     <widget class="QPushButton" name="generateButton">
      <property name="text">
       <string>Save and generate</string>
      </property>
      <property name="icon">
-      <iconset resource="../mavlinkgen.qrc">
+      <iconset resource="../../../../qgroundcontrol.qrc">
        <normaloff>:/images/categories/applications-system.svg</normaloff>:/images/categories/applications-system.svg</iconset>
      </property>
     </widget>
    </item>
+   <item row="2" column="0" colspan="2">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>Select MAVLink Version</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <widget class="QComboBox" name="versionComboBox">
+     <item>
+      <property name="text">
+       <string>MAVLink v0.9 (-Aug'10)</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>MAVLink v1.0 (Sept'10+)</string>
+      </property>
+     </item>
+    </widget>
+   </item>
   </layout>
  </widget>
  <customwidgets>
@@ -150,7 +171,7 @@
   </customwidget>
  </customwidgets>
  <resources>
-  <include location="../mavlinkgen.qrc"/>
+  <include location="../../../../qgroundcontrol.qrc"/>
  </resources>
  <connections/>
 </ui>

src/comm/AS4Protocol.cc

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Brief Description
- *
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#include <QDebug>
-#include <QTime>
-
-#include <MG.h>
-#include <AS4Protocol.h>
-#include <UASInterface.h>
-#include <UASManager.h>
-#include <UASInterface.h>
-#include <UAS.h>
-#include <configuration.h>
-#include <LinkManager.h>
-#include <inttypes.h>
-#include <iostream>
-
-#include "QGC.h"
-
-
-AS4Protocol::AS4Protocol()
-{
-
-    // Start heartbeat timer, emitting a heartbeat at the configured rate
-    heartbeatRate = 1; ///< SAE AS-4 has a fixed heartbeat rate of 1 hz.
-//    heartbeatTimer = new QTimer(this);
-//    connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT());
-//    heartbeatTimer->start(1000/heartbeatRate);
-    /*
-        // Start the node manager
-        configData = new FileLoader("nodeManager.conf");
-        handler = new MyHandler();
-
-            try
-            {
-                    nodeManager = new NodeManager(configData, handler);
-                    qDebug() << "SAE AS-4 NODE MANAGER constructed";
-            }
-            catch(char *exceptionString)
-            {
-                    printf("%s", exceptionString);
-                    printf("Terminating Program...\n");
-            }
-            catch(...)
-            {
-                    printf("Node Manager Construction Failed. Terminating Program...\n");
-            }
-            */
-
-}
-
-AS4Protocol::~AS4Protocol()
-{
-//        delete nodeManager;
-//        delete handler;
-//        delete configData;
-}
-
-void AS4Protocol::run()
-{
-    forever {
-        QGC::SLEEP::msleep(5000);
-    }
-}
-
-
-/**
- * @brief Receive bytes from a communication interface.
- *
- * The bytes copied by calling the LinkInterface::readBytes() method.
- *
- * @param link The interface to read from
- * @see LinkInterface
- **/
-void AS4Protocol::receiveBytes(LinkInterface* link)
-{
-//    receiveMutex.lock();
-    // Prepare buffer
-    //static const int maxlen = 4096 * 100;
-    //static char buffer[maxlen];
-
-    qint64 bytesToRead = link->bytesAvailable();
-
-    // Get all data at once, let link read the bytes in the buffer array
-    //link->readBytes(buffer, maxlen);
-//
-//    /*
-//    // Debug output
-//    std::cerr << "receive buffer: ";
-//    for (int i = 0; i < bytesToRead; i++)
-//    {
-//            std::cerr << std::hex << static_cast<unsigned char>(buffer[i]);
-//    }
-//    std::cerr << std::dec << " length: " << bytesToRead;
-//    */
-//
-//    qDebug() << __FILE__ << __LINE__ << ": buffer size:" << maxlen << "bytes:" << bytesToRead;
-//
-
-    for (int position = 0; position < bytesToRead; position++) {
-    }
-//    receiveMutex.unlock();
-
-}
-
-
-/**
- * @brief Get the human-readable name of this protocol.
- *
- * @return The name of this protocol
- **/
-QString AS4Protocol::getName()
-{
-    return QString(tr("SAE AS-4"));
-}
-
-void AS4Protocol::setHeartbeatRate(int rate)
-{
-    heartbeatRate = rate;
-    heartbeatTimer->setInterval(1000/heartbeatRate);
-}
-
-int AS4Protocol::getHeartbeatRate()
-{
-    return heartbeatRate;
-}

src/comm/AS4Protocol.h

-/*=====================================================================
-
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
-
-(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
-
-This file is part of the PIXHAWK project
-
-    PIXHAWK is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    PIXHAWK is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Brief Description
- *
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef AS4PROTOCOL_H_
-#define AS4PROTOCOL_H_
-
-#include <QObject>
-#include <QMutex>
-#include <QString>
-#include <QTimer>
-#include <QByteArray>
-#include <ProtocolInterface.h>
-#include <LinkInterface.h>
-#include <protocol.h>
-/*#include <openJaus.h>
-
-class MyHandler : public EventHandler
-{
-public:
-    ~MyHandler()
-    {
-
-    }
-
-    void handleEvent(NodeManagerEvent *e)
-    {
-        SystemTreeEvent *treeEvent;
-        ErrorEvent *errorEvent;
-        JausMessageEvent *messageEvent;
-        DebugEvent *debugEvent;
-        ConfigurationEvent *configEvent;
-
-        switch(e->getType())
-        {
-                        case NodeManagerEvent::SystemTreeEvent:
-            treeEvent = (SystemTreeEvent *)e;
-            printf("%s\n", treeEvent->toString().c_str());
-            delete e;
-            break;
-
-                        case NodeManagerEvent::ErrorEvent:
-            errorEvent = (ErrorEvent *)e;
-            printf("%s\n", errorEvent->toString().c_str());
-            delete e;
-            break;
-
-                        case NodeManagerEvent::JausMessageEvent:
-            messageEvent = (JausMessageEvent *)e;
-            // If you turn this on, the system gets spam-y this is very useful for debug purposes
-            if(messageEvent->getJausMessage()->commandCode != JAUS_REPORT_HEARTBEAT_PULSE)
-            {
-                //printf("%s\n", messageEvent->toString().c_str());
-            }
-            else
-            {
-                //printf("%s\n", messageEvent->toString().c_str());
-            }
-            delete e;
-            break;
-
-                        case NodeManagerEvent::DebugEvent:
-            debugEvent = (DebugEvent *)e;
-            //printf("%s\n", debugEvent->toString().c_str());
-            delete e;
-            break;
-
-                        case NodeManagerEvent::ConfigurationEvent:
-            configEvent = (ConfigurationEvent *)e;
-            printf("%s\n", configEvent->toString().c_str());
-            delete e;
-            break;
-
-                        default:
-            delete e;
-            break;
-        }
-    }
-};*/
-
-/**
- * SAE AS-4 Nodemanager
- *
- **/
-class AS4Protocol : public ProtocolInterface
-{
-    Q_OBJECT
-
-public:
-    AS4Protocol();
-    ~AS4Protocol();
-
-    void run();
-    QString getName();
-    int getHeartbeatRate();
-
-public slots:
-    void receiveBytes(LinkInterface* link);
-    /**
-         * @brief Set the rate at which heartbeats are emitted
-         *
-         * The default rate is 1 Hertz.
-         *
-         * @param rate heartbeat rate in hertz (times per second)
-         */
-    void setHeartbeatRate(int rate);
-
-    /**
-         * @brief Send an extra heartbeat to all connected units
-         *
-         * The heartbeat is sent out of order and does not reset the
-         * periodic heartbeat emission. It will be just sent in addition.
-         */
-//    void sendHeartbeat();
-
-protected:
-    QTimer* heartbeatTimer;
-    int heartbeatRate;
-    QMutex receiveMutex;
-//    NodeManager* nodeManager;
-//    MyHandler* handler;
-//    FileLoader* configData;
-
-signals:
-
-};
-
-#endif // AS4PROTOCOL_H_

src/comm/MAVLinkProtocol.cc

@@ -17,7 +17,6 @@
 #include <QSettings>
 #include <QDesktopServices>
 
-//#include "MG.h"
 #include "MAVLinkProtocol.h"
 #include "UASInterface.h"
 #include "UASManager.h"
@@ -28,11 +27,13 @@
 #include "ArduPilotMegaMAV.h"
 #include "configuration.h"
 #include "LinkManager.h"
-//#include "MainWindow.h"
 #include "QGCMAVLink.h"
 #include "QGCMAVLinkUASFactory.h"
 #include "QGC.h"
 
+// Instantiate MAVLink data
+#include "mavlink_data.h"
+
 /**
  * The default constructor will create a new MAVLink object sending heartbeats at
  * the MAVLINK_HEARTBEAT_DEFAULT_RATE to all connected links.
@@ -395,7 +396,7 @@ void MAVLinkProtocol::sendHeartbeat()
 {
     if (m_heartbeatsEnabled) {
         mavlink_message_t beat;
-        mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, OCU, MAV_AUTOPILOT_GENERIC);
+        mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, MAV_TYPE_OCU, MAV_CLASS_INVALID);
         sendMessage(beat);
     }
     if (m_authEnabled) {

src/comm/MAVLinkSimulationLink.cc

@@ -409,7 +409,7 @@ void MAVLinkSimulationLink::mainloop()
 //        streampointer += bufferlength;
 
         // GLOBAL POSITION
-        mavlink_msg_global_position_int_pack(systemId, componentId, &ret, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, xSpeed, ySpeed, zSpeed);
+        mavlink_msg_global_position_int_pack(systemId, componentId, &ret, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, xSpeed, ySpeed, zSpeed, yaw);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
@@ -546,16 +546,17 @@ void MAVLinkSimulationLink::mainloop()
         static int typeCounter = 0;
         uint8_t mavType;
         if (typeCounter < 10) {
-            mavType = MAV_QUADROTOR;
+            mavType = MAV_TYPE_QUADROTOR;
         } else {
-            mavType = typeCounter % (OCU);
+            mavType = typeCounter % (MAV_TYPE_OCU);
         }
         typeCounter++;
 
         // Pack message and get size of encoded byte string
-        messageSize = mavlink_msg_heartbeat_pack(systemId, componentId, &msg, mavType, MAV_AUTOPILOT_PIXHAWK);
+        messageSize = mavlink_msg_heartbeat_pack(systemId, componentId, &msg, mavType, MAV_CLASS_PIXHAWK);
         // Allocate buffer with packet data
         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
+        qDebug() << "CRC:" << msg.ck_a << msg.ck_b;
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
@@ -716,37 +717,38 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
             }
             break;
             // EXECUTE OPERATOR ACTIONS
-            case MAVLINK_MSG_ID_ACTION: {
-                mavlink_action_t action;
-                mavlink_msg_action_decode(&msg, &action);
-
-                qDebug() << "SIM" << "received action" << action.action << "for system" << action.target;
-
-                switch (action.action) {
-                case MAV_ACTION_LAUNCH:
-                    status.status = MAV_STATE_ACTIVE;
-                    status.mode = MAV_MODE_AUTO;
-                    break;
-                case MAV_ACTION_RETURN:
-                    status.status = MAV_STATE_ACTIVE;
-                    break;
-                case MAV_ACTION_MOTORS_START:
-                    status.status = MAV_STATE_ACTIVE;
-                    status.mode = MAV_MODE_LOCKED;
-                    break;
-                case MAV_ACTION_MOTORS_STOP:
-                    status.status = MAV_STATE_STANDBY;
-                    status.mode = MAV_MODE_LOCKED;
-                    break;
-                case MAV_ACTION_EMCY_KILL:
-                    status.status = MAV_STATE_EMERGENCY;
-                    status.mode = MAV_MODE_MANUAL;
-                    break;
-                case MAV_ACTION_SHUTDOWN:
-                    status.status = MAV_STATE_POWEROFF;
-                    status.mode = MAV_MODE_LOCKED;
-                    break;
-                }
+            case MAVLINK_MSG_ID_COMMAND: {
+                mavlink_command_t action;
+                mavlink_msg_command_decode(&msg, &action);
+
+                qDebug() << "SIM" << "received action" << action.command << "for system" << action.target_system;
+
+                // FIXME MAVLINKV10PORTINGNEEDED
+//                switch (action.action) {
+//                case MAV_ACTION_LAUNCH:
+//                    status.status = MAV_STATE_ACTIVE;
+//                    status.mode = MAV_MODE_AUTO;
+//                    break;
+//                case MAV_ACTION_RETURN:
+//                    status.status = MAV_STATE_ACTIVE;
+//                    break;
+//                case MAV_ACTION_MOTORS_START:
+//                    status.status = MAV_STATE_ACTIVE;
+//                    status.mode = MAV_MODE_LOCKED;
+//                    break;
+//                case MAV_ACTION_MOTORS_STOP:
+//                    status.status = MAV_STATE_STANDBY;
+//                    status.mode = MAV_MODE_LOCKED;
+//                    break;
+//                case MAV_ACTION_EMCY_KILL:
+//                    status.status = MAV_STATE_EMERGENCY;
+//                    status.mode = MAV_MODE_MANUAL;
+//                    break;
+//                case MAV_ACTION_SHUTDOWN:
+//                    status.status = MAV_STATE_POWEROFF;
+//                    status.mode = MAV_MODE_LOCKED;
+//                    break;
+//                }
             }
             break;
 #ifdef MAVLINK_ENABLED_PIXHAWK
@@ -771,7 +773,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                 for (i = onboardParams.begin(); i != onboardParams.end(); ++i) {
                     if (j != 5) {
                         // Pack message and get size of encoded byte string
-                        mavlink_msg_param_value_pack(read.target_system, componentId, &msg, (int8_t*)i.key().toStdString().c_str(), i.value(), onboardParams.size(), j);
+                        mavlink_msg_param_value_pack(read.target_system, componentId, &msg, i.key().toStdString().c_str(), i.value(), onboardParams.size(), j);
                         // Allocate buffer with packet data
                         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                         //add data into datastream
@@ -799,7 +801,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                         onboardParams.insert(key, set.param_value);
 
                         // Pack message and get size of encoded byte string
-                        mavlink_msg_param_value_pack(set.target_system, componentId, &msg, (int8_t*)key.toStdString().c_str(), set.param_value, onboardParams.size(), onboardParams.keys().indexOf(key));
+                        mavlink_msg_param_value_pack(set.target_system, componentId, &msg, key.toStdString().c_str(), set.param_value, onboardParams.size(), onboardParams.keys().indexOf(key));
                         // Allocate buffer with packet data
                         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                         //add data into datastream
@@ -820,7 +822,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                     float paramValue = onboardParams.value(key);
 
                     // Pack message and get size of encoded byte string
-                    mavlink_msg_param_value_pack(read.target_system, componentId, &msg, (int8_t*)key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
+                    mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
                     // Allocate buffer with packet data
                     bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                     //add data into datastream
@@ -832,7 +834,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                     float paramValue = onboardParams.value(key);
 
                     // Pack message and get size of encoded byte string
-                    mavlink_msg_param_value_pack(read.target_system, componentId, &msg, (int8_t*)key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
+                    mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
                     // Allocate buffer with packet data
                     bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                     //add data into datastream

src/comm/MAVLinkSimulationMAV.cc

@@ -68,7 +68,7 @@ void MAVLinkSimulationMAV::mainloop()
     // 1 Hz execution
     if (timer1Hz <= 0) {
         mavlink_message_t msg;
-        mavlink_msg_heartbeat_pack_version_free(systemid, MAV_COMP_ID_IMU, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_PIXHAWK, mavlink_version);
+        mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_TYPE_FIXED_WING, MAV_CLASS_PIXHAWK);
         link->sendMAVLinkMessage(&msg);
         planner.handleMessage(msg);
 
@@ -306,30 +306,31 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
         if (systemid == mode.target) sys_mode = mode.mode;
     }
     break;
-    case MAVLINK_MSG_ID_ACTION: {
-        mavlink_action_t action;
-        mavlink_msg_action_decode(&msg, &action);
-        if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) {
-            mavlink_action_ack_t ack;
-            ack.action = action.action;
-            switch (action.action) {
-            case MAV_ACTION_TAKEOFF:
-                flying = true;
-                nav_mode = MAV_NAV_LIFTOFF;
-                ack.result = 1;
-                break;
-            default: {
-                ack.result = 0;
-            }
-            break;
-            }
-
-            // Give feedback about action
-            mavlink_message_t r_msg;
-            mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack);
-            link->sendMAVLinkMessage(&r_msg);
-        }
-    }
+    // FIXME MAVLINKV10PORTINGNEEDED
+//    case MAVLINK_MSG_ID_ACTION: {
+//        mavlink_action_t action;
+//        mavlink_msg_action_decode(&msg, &action);
+//        if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) {
+//            mavlink_action_ack_t ack;
+//            ack.action = action.action;
+////            switch (action.action) {
+////            case MAV_ACTION_TAKEOFF:
+////                flying = true;
+////                nav_mode = MAV_NAV_LIFTOFF;
+////                ack.result = 1;
+////                break;
+////            default: {
+////                ack.result = 0;
+////            }
+////            break;
+////            }
+
+//            // Give feedback about action
+//            mavlink_message_t r_msg;
+//            mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack);
+//            link->sendMAVLinkMessage(&r_msg);
+//        }
+//    }
     break;
     case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET: {
         mavlink_local_position_setpoint_set_t sp;

src/comm/MAVLinkSimulationMAV.h

@@ -55,16 +55,17 @@ protected:
     bool flying;
     int mavlink_version;
 
-    static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version) {
-        uint16_t i = 0;
-        msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
+    // FIXME MAVLINKV10PORTINGNEEDED
+//    static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version) {
+//        uint16_t i = 0;
+//        msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
 
-        i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
-        i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
-        i += put_uint8_t_by_index(version, i, msg->payload); // MAVLink version
+//        i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+//        i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+//        i += put_uint8_t_by_index(version, i, msg->payload); // MAVLink version
 
-        return mavlink_finalize_message(msg, system_id, component_id, i);
-    }
+//        return mavlink_finalize_message(msg, system_id, component_id, i);
+//    }
 
 };
 

src/comm/MAVLinkSimulationWaypointPlanner.cc

@@ -815,11 +815,11 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
         break;
     }
 
-    case MAVLINK_MSG_ID_ACTION: { // special action from ground station
-        mavlink_action_t action;
-        mavlink_msg_action_decode(msg, &action);
-        if(action.target == systemid) {
-            if (verbose) qDebug("Waypoint: received message with action %d\n", action.action);
+    case MAVLINK_MSG_ID_COMMAND: { // special action from ground station
+        mavlink_command_t action;
+        mavlink_msg_command_decode(msg, &action);
+        if(action.target_system == systemid) {
+            if (verbose) qDebug("Waypoint: received message with action %d\n", action.command);
 //            switch (action.action) {
 //				case MAV_ACTION_LAUNCH:
 //					if (verbose) std::cerr << "Launch received" << std::endl;

src/comm/QGCFlightGearLink.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of UDP connection (server) for unmanned vehicles
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#include <QTimer>
+#include <QList>
+#include <QDebug>
+#include <QMutexLocker>
+#include <iostream>
+#include "QGCFlightGearLink.h"
+#include "QGC.h"
+#include <QHostInfo>
+
+QGCFlightGearLink::QGCFlightGearLink(QString remoteHost, QHostAddress host, quint16 port)
+{
+    this->host = host;
+    this->port = port;
+    this->connectState = false;
+    this->currentPort = 49000;
+
+    // Set unique ID and add link to the list of links
+    this->name = tr("FlightGear Link (port:%1)").arg(port);
+    setRemoteHost(remoteHost);
+    connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
+    refreshTimer.start(20); // 50 Hz UAV -> Simulation update rate
+}
+
+QGCFlightGearLink::~QGCFlightGearLink()
+{
+    disconnect();
+}
+
+/**
+ * @brief Runs the thread
+ *
+ **/
+void QGCFlightGearLink::run()
+{
+//    forever
+//    {
+//        QGC::SLEEP::msleep(5000);
+//    }
+    exec();
+}
+
+void QGCFlightGearLink::setPort(int port)
+{
+    this->port = port;
+    disconnectSimulation();
+    connectSimulation();
+}
+
+/**
+ * @param host Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551
+ */
+void QGCFlightGearLink::setRemoteHost(const QString& host)
+{
+    //qDebug() << "UDP:" << "ADDING HOST:" << host;
+    if (host.contains(":"))
+    {
+        //qDebug() << "HOST: " << host.split(":").first();
+        QHostInfo info = QHostInfo::fromName(host.split(":").first());
+        if (info.error() == QHostInfo::NoError)
+        {
+            // Add host
+            QList<QHostAddress> hostAddresses = info.addresses();
+            QHostAddress address;
+            for (int i = 0; i < hostAddresses.size(); i++)
+            {
+                // Exclude loopback IPv4 and all IPv6 addresses
+                if (!hostAddresses.at(i).toString().contains(":"))
+                {
+                    address = hostAddresses.at(i);
+                }
+            }
+            currentHost = address;
+            //qDebug() << "Address:" << address.toString();
+            // Set port according to user input
+            currentPort = host.split(":").last().toInt();
+        }
+    }
+    else
+    {
+        QHostInfo info = QHostInfo::fromName(host);
+        if (info.error() == QHostInfo::NoError)
+        {
+            // Add host
+            currentHost = info.addresses().first();
+        }
+    }
+}
+
+void QGCFlightGearLink::updateGlobalPosition(quint64 time, double lat, double lon, double alt)
+{
+
+}
+
+void QGCFlightGearLink::sendUAVUpdate()
+{
+    // 37.613548,-122.357246,-9999.000000,0.000000,0.424000,297.899994,0.000000\n
+    // magnetos,aileron,elevator,rudder,throttle\n
+
+    float magnetos = 3.0f;
+    float aileron = 0.0f;
+    float elevator = 0.0f;
+    float rudder = 0.0f;
+    float throttle = 90.0f;
+
+    QString state("%1,%2,%3,%4,%5\n");
+    state = state.arg(magnetos).arg(aileron).arg(elevator).arg(rudder).arg(throttle);
+    writeBytes(state.toAscii().constData(), state.length());
+}
+
+void QGCFlightGearLink::writeBytes(const char* data, qint64 size)
+{
+//#define QGCFlightGearLink_DEBUG
+#ifdef QGCFlightGearLink_DEBUG
+        QString bytes;
+        QString ascii;
+        for (int i=0; i<size; i++)
+        {
+            unsigned char v = data[i];
+            bytes.append(QString().sprintf("%02x ", v));
+            if (data[i] > 31 && data[i] < 127)
+            {
+                ascii.append(data[i]);
+            }
+            else
+            {
+                ascii.append(219);
+            }
+        }
+        qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:";
+        qDebug() << bytes;
+        qDebug() << "ASCII:" << ascii;
+#endif
+        socket->writeDatagram(data, size, currentHost, currentPort);
+}
+
+/**
+ * @brief Read a number of bytes from the interface.
+ *
+ * @param data Pointer to the data byte array to write the bytes to
+ * @param maxLength The maximum number of bytes to write
+ **/
+void QGCFlightGearLink::readBytes()
+{
+    const qint64 maxLength = 65536;
+    static char data[maxLength];
+    QHostAddress sender;
+    quint16 senderPort;
+
+    unsigned int s = socket->pendingDatagramSize();
+    if (s > maxLength) std::cerr << __FILE__ << __LINE__ << " UDP datagram overflow, allowed to read less bytes than datagram size" << std::endl;
+    socket->readDatagram(data, maxLength, &sender, &senderPort);
+
+    // FIXME TODO Check if this method is better than retrieving the data by individual processes
+    QByteArray b(data, s);
+    //emit bytesReceived(this, b);
+	
+	// Print string
+	qDebug() << "FG LINK GOT:" << QString(b);
+
+//    // Echo data for debugging purposes
+//    std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl;
+//    int i;
+//    for (i=0; i<s; i++)
+//    {
+//        unsigned int v=data[i];
+//        fprintf(stderr,"%02x ", v);
+//    }
+//    std::cerr << std::endl;
+}
+
+
+/**
+ * @brief Get the number of bytes to read.
+ *
+ * @return The number of bytes to read
+ **/
+qint64 QGCFlightGearLink::bytesAvailable()
+{
+    return socket->pendingDatagramSize();
+}
+
+/**
+ * @brief Disconnect the connection.
+ *
+ * @return True if connection has been disconnected, false if connection couldn't be disconnected.
+ **/
+bool QGCFlightGearLink::disconnectSimulation()
+{
+    delete socket;
+    socket = NULL;
+
+    connectState = false;
+
+    emit flightGearDisconnected();
+    emit flightGearConnected(false);
+    return !connectState;
+}
+
+/**
+ * @brief Connect the connection.
+ *
+ * @return True if connection has been established, false if connection couldn't be established.
+ **/
+bool QGCFlightGearLink::connectSimulation()
+{
+    socket = new QUdpSocket(this);
+
+    //Check if we are using a multicast-address
+//    bool multicast = false;
+//    if (host.isInSubnet(QHostAddress("224.0.0.0"),4))
+//    {
+//        multicast = true;
+//        connectState = socket->bind(port, QUdpSocket::ShareAddress);
+//    }
+//    else
+//    {
+    connectState = socket->bind(host, port);
+//    }
+
+    //Provides Multicast functionality to UdpSocket
+    /* not working yet
+    if (multicast)
+    {
+        int sendingFd = socket->socketDescriptor();
+
+        if (sendingFd != -1)
+        {
+            // set up destination address
+            struct sockaddr_in sendAddr;
+            memset(&sendAddr,0,sizeof(sendAddr));
+            sendAddr.sin_family=AF_INET;
+            sendAddr.sin_addr.s_addr=inet_addr(HELLO_GROUP);
+            sendAddr.sin_port=htons(port);
+
+            // set TTL
+            unsigned int ttl = 1; // restricted to the same subnet
+            if (setsockopt(sendingFd, IPPROTO_IP, IP_MULTICAST_TTL, (unsigned int*)&ttl, sizeof(ttl) ) < 0)
+            {
+                std::cout << "TTL failed\n";
+            }
+        }
+    }
+    */
+
+    //QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readPendingDatagrams()));
+    QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
+
+    emit flightGearConnected(connectState);
+    if (connectState) {
+        emit flightGearConnected();
+        connectionStartTime = QGC::groundTimeUsecs()/1000;
+    }
+
+    start(HighPriority);
+    return connectState;
+}
+
+/**
+ * @brief Check if connection is active.
+ *
+ * @return True if link is connected, false otherwise.
+ **/
+bool QGCFlightGearLink::isConnected()
+{
+    return connectState;
+}
+
+QString QGCFlightGearLink::getName()
+{
+    return name;
+}
+
+void QGCFlightGearLink::setName(QString name)
+{
+    this->name = name;
+//    emit nameChanged(this->name);
+}

src/comm/QGCFlightGearLink.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief UDP connection (server) for unmanned vehicles
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#ifndef QGCFLIGHTGEARLINK_H
+#define QGCFLIGHTGEARLINK_H
+
+#include <QString>
+#include <QList>
+#include <QMap>
+#include <QMutex>
+#include <QUdpSocket>
+#include <QTimer>
+#include <LinkInterface.h>
+#include <configuration.h>
+
+class QGCFlightGearLink : public QThread
+{
+    Q_OBJECT
+    //Q_INTERFACES(QGCFlightGearLinkInterface:LinkInterface)
+
+public:
+    QGCFlightGearLink(QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
+    ~QGCFlightGearLink();
+
+    bool isConnected();
+    qint64 bytesAvailable();
+    int getPort() const {
+        return port;
+    }
+
+    /**
+     * @brief The human readable port name
+     */
+    QString getName();
+
+    void run();
+
+public slots:
+//    void setAddress(QString address);
+    void setPort(int port);
+    /** @brief Add a new host to broadcast messages to */
+    void setRemoteHost(const QString& host);
+    void updateGlobalPosition(quint64 time, double lat, double lon, double alt);
+    void sendUAVUpdate();
+//    /** @brief Remove a host from broadcasting messages to */
+//    void removeHost(const QString& host);
+    //    void readPendingDatagrams();
+
+    void readBytes();
+    /**
+     * @brief Write a number of bytes to the interface.
+     *
+     * @param data Pointer to the data byte array
+     * @param size The size of the bytes array
+     **/
+    void writeBytes(const char* data, qint64 length);
+    bool connectSimulation();
+    bool disconnectSimulation();
+
+protected:
+    QString name;
+    QHostAddress host;
+    QHostAddress currentHost;
+    quint16 currentPort;
+    quint16 port;
+    int id;
+    QUdpSocket* socket;
+    bool connectState;
+
+    quint64 bitsSentTotal;
+    quint64 bitsSentCurrent;
+    quint64 bitsSentMax;
+    quint64 bitsReceivedTotal;
+    quint64 bitsReceivedCurrent;
+    quint64 bitsReceivedMax;
+    quint64 connectionStartTime;
+    QMutex statisticsMutex;
+    QMutex dataMutex;
+    QTimer refreshTimer;
+
+    void setName(QString name);
+
+signals:
+    /**
+     * @brief This signal is emitted instantly when the link is connected
+     **/
+    void flightGearConnected();
+
+    /**
+     * @brief This signal is emitted instantly when the link is disconnected
+     **/
+    void flightGearDisconnected();
+
+    /**
+     * @brief This signal is emitted instantly when the link status changes
+     **/
+    void flightGearConnected(bool connected);
+
+
+};
+
+#endif // QGCFLIGHTGEARLINK_H

src/comm/UDPLink.cc

@@ -86,7 +86,8 @@ void UDPLink::setPort(int port)
 void UDPLink::addHost(const QString& host)
 {
     //qDebug() << "UDP:" << "ADDING HOST:" << host;
-    if (host.contains(":")) {
+    if (host.contains(":"))
+    {
         //qDebug() << "HOST: " << host.split(":").first();
         QHostInfo info = QHostInfo::fromName(host.split(":").first());
         if (info.error() == QHostInfo::NoError)
@@ -129,14 +130,18 @@ void UDPLink::removeHost(const QString& hostname)
     QHostInfo info = QHostInfo::fromName(host);
     QHostAddress address;
     QList<QHostAddress> hostAddresses = info.addresses();
-    for (int i = 0; i < hostAddresses.size(); i++) {
+    for (int i = 0; i < hostAddresses.size(); i++)
+    {
         // Exclude loopback IPv4 and all IPv6 addresses
-        if (!hostAddresses.at(i).toString().contains(":")) {
+        if (!hostAddresses.at(i).toString().contains(":"))
+        {
             address = hostAddresses.at(i);
         }
     }
-    for (int i = 0; i < hosts.count(); ++i) {
-        if (hosts.at(i) == address) {
+    for (int i = 0; i < hosts.count(); ++i)
+    {
+        if (hosts.at(i) == address)
+        {
             hosts.removeAt(i);
             ports.removeAt(i);
         }
@@ -154,7 +159,8 @@ void UDPLink::writeBytes(const char* data, qint64 size)
 #ifdef UDPLINK_DEBUG
         QString bytes;
         QString ascii;
-        for (int i=0; i<size; i++) {
+        for (int i=0; i<size; i++)
+        {
             unsigned char v = data[i];
             bytes.append(QString().sprintf("%02x ", v));
             if (data[i] > 31 && data[i] < 127)
@@ -183,7 +189,7 @@ void UDPLink::writeBytes(const char* data, qint64 size)
 void UDPLink::readBytes()
 {
     const qint64 maxLength = 65536;
-    char data[maxLength];
+    static char data[maxLength];
     QHostAddress sender;
     quint16 senderPort;
 
@@ -207,11 +213,14 @@ void UDPLink::readBytes()
 
 
     // Add host to broadcast list if not yet present
-    if (!hosts.contains(sender)) {
+    if (!hosts.contains(sender))
+    {
         hosts.append(sender);
         ports.append(senderPort);
         //        ports->insert(sender, senderPort);
-    } else {
+    }
+    else
+    {
         int index = hosts.indexOf(sender);
         ports.replace(index, senderPort);
     }

src/main.cc

@@ -2,7 +2,7 @@
 
 QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 

src/uas/PxQuadMAV.cc

@@ -65,7 +65,7 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_msg_pattern_detected_decode(&message, &detected);
             QByteArray b;
             b.resize(256);
-            mavlink_msg_pattern_detected_get_file(&message, (int8_t*)b.data());
+            mavlink_msg_pattern_detected_get_file(&message, b.data());
             b.append('\0');
             QString name = QString(b);
             if (detected.type == 0)

src/uas/QGCMAVLinkUASFactory.cc

@@ -10,16 +10,21 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
 {
     QPointer<QObject> p;
 
-    if (parent != NULL) {
+    if (parent != NULL)
+    {
         p = parent;
-    } else {
+    }
+    else
+    {
         p = mavlink;
     }
 
     UASInterface* uas;
 
-    switch (heartbeat->autopilot) {
-    case MAV_AUTOPILOT_GENERIC: {
+    switch (heartbeat->autopilot)
+    {
+    case MAV_CLASS_GENERIC:
+    {
         UAS* mav = new UAS(mavlink, sysid);
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
@@ -28,7 +33,8 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         uas = mav;
     }
     break;
-    case MAV_AUTOPILOT_PIXHAWK: {
+    case MAV_CLASS_PIXHAWK:
+    {
         PxQuadMAV* mav = new PxQuadMAV(mavlink, sysid);
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
@@ -40,7 +46,8 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         uas = mav;
     }
     break;
-    case MAV_AUTOPILOT_SLUGS: {
+    case MAV_CLASS_SLUGS:
+    {
         SlugsMAV* mav = new SlugsMAV(mavlink, sysid);
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
@@ -52,7 +59,8 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         uas = mav;
     }
     break;
-    case MAV_AUTOPILOT_ARDUPILOTMEGA: {
+    case MAV_CLASS_ARDUPILOTMEGA:
+    {
         ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(mavlink, sysid);
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
@@ -64,7 +72,8 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         uas = mav;
     }
     break;
-    default: {
+    default:
+    {
         UAS* mav = new UAS(mavlink, sysid);
         mav->setSystemType((int)heartbeat->type);
         // Connect this robot to the UAS object

src/uas/UAS.h

@@ -204,6 +204,8 @@ protected: //COMMENTS FOR TEST UNIT
     QGCUASParamManager* paramManager; ///< Parameter manager class
     QString shortStateText;     ///< Short textual state description
     QString shortModeText;      ///< Short textual mode description
+    bool attitudeStamped;       ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
+    quint64 lastAttitude;       ///< Timestamp of last attitude measurement
 
 public:
     /** @brief Set the current battery type */
@@ -253,8 +255,6 @@ public slots:
     }
     /** @brief Set a new name **/
     void setUASName(const QString& name);
-    /** @brief Executes an action **/
-    void setAction(MAV_ACTION action);
     /** @brief Executes a command **/
     void executeCommand(MAV_CMD command);
     /** @brief Executes a command **/
@@ -403,6 +403,8 @@ signals:
 protected:
     /** @brief Get the UNIX timestamp in milliseconds */
     quint64 getUnixTime(quint64 time=0);
+    /** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
+    quint64 getUnixReferenceTime(quint64 time);
 
 protected slots:
     /** @brief Write settings to disk */

src/uas/UASInterface.h

@@ -188,8 +188,6 @@ public slots:
 
     /** @brief Set a new name for the system */
     virtual void setUASName(const QString& name) = 0;
-    /** @brief Sets an action **/
-    virtual void setAction(MAV_ACTION action) = 0;
     /** @brief Execute command immediately **/
     virtual void executeCommand(MAV_CMD command) = 0;
     /** @brief Executes a command **/

src/uas/UASWaypointManager.cc

@@ -32,7 +32,6 @@ This file is part of the QGROUNDCONTROL project
 #include "UASWaypointManager.h"
 #include "UAS.h"
 #include "mavlink_types.h"
-//#include "MainWindow.h"
 
 #define PROTOCOL_TIMEOUT_MS 2000    ///< maximum time to wait for pending messages until timeout
 #define PROTOCOL_DELAY_MS 40        ///< minimum delay between sent messages
@@ -586,8 +585,10 @@ int UASWaypointManager::getLocalFrameCount()
     // Search through all waypoints,
     // counting only those in global frame
     int i = 0;
-    foreach (Waypoint* p, waypoints) {
-        if (p->getFrame() == MAV_FRAME_GLOBAL) {
+    foreach (Waypoint* p, waypoints)
+    {
+        if (p->getFrame() == MAV_FRAME_GLOBAL)
+        {
             i++;
         }
     }
@@ -600,8 +601,10 @@ int UASWaypointManager::getLocalFrameIndexOf(Waypoint* wp)
     // Search through all waypoints,
     // counting only those in local frame
     int i = 0;
-    foreach (Waypoint* p, waypoints) {
-        if (p->getFrame() == MAV_FRAME_LOCAL) {
+    foreach (Waypoint* p, waypoints)
+    {
+        if (p->getFrame() == MAV_FRAME_LOCAL_NED || p->getFrame() == MAV_FRAME_LOCAL_ENU)
+        {
             if (p == wp) {
                 return i;
             }
@@ -617,7 +620,8 @@ int UASWaypointManager::getMissionFrameIndexOf(Waypoint* wp)
     // Search through all waypoints,
     // counting only those in mission frame
     int i = 0;
-    foreach (Waypoint* p, waypoints) {
+    foreach (Waypoint* p, waypoints)
+    {
         if (p->getFrame() == MAV_FRAME_MISSION) {
             if (p == wp) {
                 return i;

src/ui/DebugConsole.cc

@@ -355,7 +355,7 @@ void DebugConsole::receiveBytes(LinkInterface* link, QByteArray bytes)
         for (int j = 0; j < len; j++)
         {
             unsigned char byte = bytes.at(j);
-            // Filter MAVLink (http://pixhawk.ethz.ch/wiki/mavlink/) messages out of the stream.
+            // Filter MAVLink (http://qgroundcontrol.org/mavlink/) messages out of the stream.
             if (filterMAVLINK)
             {
                 if (this->bytesToIgnore > 0)

src/ui/HSIDisplay.cc

@@ -792,7 +792,8 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
 
         for (int i = 0; i < list.size(); i++) {
             QPointF in;
-            if (list.at(i)->getFrame() == MAV_FRAME_LOCAL) {
+            if (list.at(i)->getFrame() == MAV_FRAME_LOCAL_NED)
+            {
                 // Do not transform
                 in = QPointF(list.at(i)->getX(), list.at(i)->getY());
             } else {

src/ui/MainWindow.cc

@@ -157,6 +157,11 @@ MainWindow::MainWindow(QWidget *parent):
     joystickWidget = 0;
     joystick = new JoystickInput();
 
+    // Connect flighgear test link
+    // FIXME MOVE INTO UAV OBJECT
+    fgLink = new QGCFlightGearLink();
+    fgLink->connectSimulation();
+
     // Load Toolbar
     toolBar = new QGCToolBar(this);
     this->addToolBar(toolBar);
@@ -1629,7 +1634,7 @@ void MainWindow::UASCreated(UASInterface* uas)
         }
 
         switch (uas->getAutopilotType()) {
-        case (MAV_AUTOPILOT_SLUGS): {
+        case (MAV_CLASS_SLUGS): {
             // Build Slugs Widgets
             buildSlugsWidgets();
 
@@ -1667,9 +1672,9 @@ void MainWindow::UASCreated(UASInterface* uas)
         }
         break;
         default:
-        case (MAV_AUTOPILOT_GENERIC):
-        case (MAV_AUTOPILOT_ARDUPILOTMEGA):
-        case (MAV_AUTOPILOT_PIXHAWK): {
+        case (MAV_CLASS_GENERIC):
+        case (MAV_CLASS_ARDUPILOTMEGA):
+        case (MAV_CLASS_PIXHAWK): {
             // Build Pixhawk Widgets
             buildPxWidgets();
 
@@ -2005,4 +2010,4 @@ void MainWindow::loadDataView(QString fileName)
 QList<QAction*> MainWindow::listLinkMenuActions(void)
 {
 	return ui.menuNetwork->actions();
-}
+}
\ No newline at end of file

src/ui/MainWindow.h

@@ -50,7 +50,6 @@ This file is part of the QGROUNDCONTROL project
 #include "UASListWidget.h"
 #include "MAVLinkProtocol.h"
 #include "MAVLinkSimulationLink.h"
-#include "AS4Protocol.h"
 #include "ObjectDetectionView.h"
 #include "HUD.h"
 #include "JoystickWidget.h"
@@ -76,6 +75,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "SlugsPadCameraControl.h"
 #include "UASControlParameters.h"
+#include "QGCFlightGearLink.h"
 
 class QGCMapTool;
 
@@ -372,7 +372,6 @@ protected:
 
     // TODO Should be moved elsewhere, as the protocol does not belong to the UI
     MAVLinkProtocol* mavlink;
-    AS4Protocol* as4link;
 
     MAVLinkSimulationLink* simulationLink;
     LinkInterface* udpLink;
@@ -449,6 +448,7 @@ protected:
     QGC_MAINWINDOW_STYLE currentStyle;
     Qt::WindowStates windowStateVal;
     bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
+    QGCFlightGearLink* fgLink;
 
 private:
     Ui::MainWindow ui;

src/ui/RadioCalibration/RadioCalibrationWindow.cc

@@ -270,13 +270,14 @@ void RadioCalibrationWindow::send()
 
 void RadioCalibrationWindow::request()
 {
-    qDebug() << __FILE__ << __LINE__ << "READ FROM UAV";
-    UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getUASForId(uasId));
-    if (uas) {
-        mavlink_message_t msg;
-        mavlink_msg_action_pack(uasId, 0, &msg, 0, 0, ::MAV_ACTION_CALIBRATE_RC);
-        uas->sendMessage(msg);
-    }
+    // FIXME MAVLINKV10PORTINGNEEDED
+//    qDebug() << __FILE__ << __LINE__ << "READ FROM UAV";
+//    UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getUASForId(uasId));
+//    if (uas) {
+//        mavlink_message_t msg;
+//        mavlink_msg_action_pack(uasId, 0, &msg, 0, 0, ::MAV_ACTION_CALIBRATE_RC);
+//        uas->sendMessage(msg);
+//    }
 }
 
 void RadioCalibrationWindow::receive(const QPointer<RadioCalibrationData>& radio)

src/ui/designer/QGCToolWidget.h

@@ -82,8 +82,6 @@ protected:
 
 protected slots:
     void addParam();
-    /** @deprecated */
-    void addAction();
     void addCommand();
     void setTitle();
     void setTitle(QString title);

thirdParty/mavlink/.gitignore

 *~
 doc/html
 doc/*.log
+missionlib/testing/*.xcodeproj/*