Merge branch 'Stable_V3.5.1' into ArduPilotHash

.appveyor.yml

@@ -50,23 +50,11 @@ build_script:
 test_script:
   - if "%CONFIG%" EQU "debug" ( %SHADOW_BUILD_DIR%\debug\qgroundcontrol --unittest )
 
-for:
--
-  branches:
-    only:
-      - master
-  artifacts:
+artifacts:
   - path: QGroundControl-installer.exe
     name: qgcinstaller
--
-  branches:
-    only:
-      - Stable_V3.5
-  artifacts:
-    - path: QGroundControl-installer.exe
-      name: qgcinstaller
-    - path: symbols\**\*.*_
-      name: symbols
+  - path: build_windows_install\release\qgroundcontrol.pdb
+    name: pdb
 
 deploy:
 # deploy continuous builds to s3
@@ -101,19 +89,19 @@ deploy:
 #      appveyor_repo_tag: false
 
 # deploy release symbols to s3
-  - provider: S3
-    access_key_id:
-      secure: IGAojLMqokL+76DbdulmWDA3MTsxEBBi3ReVVSqTy9c=
-    secret_access_key:
-      secure: RiYqaR+3T2PMNz2j5ur8LCA6H/Zfd4jTX33CZE5iBxm+zaz4QLs25p0B7prpaoNN
-    bucket: qgroundcontrol
-    region: us-west-2
-    set_public: true
-    folder: releasesyms
-    artifact: symbols
-    on:
-      CONFIG: installer
-      appveyor_repo_tag: true
+#  - provider: S3
+#    access_key_id:
+#      secure: IGAojLMqokL+76DbdulmWDA3MTsxEBBi3ReVVSqTy9c=
+#    secret_access_key:
+#      secure: RiYqaR+3T2PMNz2j5ur8LCA6H/Zfd4jTX33CZE5iBxm+zaz4QLs25p0B7prpaoNN
+#    bucket: qgroundcontrol
+#    region: us-west-2
+#    set_public: true
+#    folder: releasesyms
+#    artifact: symbols
+#    on:
+#      CONFIG: installer
+#      appveyor_repo_tag: true
 
 # deploy tagged releases to Github releases
   - provider: GitHub
@@ -155,3 +143,18 @@ deploy:
     on:
       CONFIG: installer
       appveyor_repo_tag: true
+
+# deploy pdb for tagged releases to s3 latest folder
+  - provider: S3
+    access_key_id:
+        secure: IGAojLMqokL+76DbdulmWDA3MTsxEBBi3ReVVSqTy9c=
+    secret_access_key:
+        secure: RiYqaR+3T2PMNz2j5ur8LCA6H/Zfd4jTX33CZE5iBxm+zaz4QLs25p0B7prpaoNN
+    bucket: qgroundcontrol
+    region: us-west-2
+    set_public: true
+    folder: latest
+    artifact: pdb
+    on:
+       CONFIG: installer
+       appveyor_repo_tag: true

ChangeLog.md

@@ -8,10 +8,15 @@ Note: This file only contains high level features or important fixes.
 
 * Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans.
 
-### 3.5.2 - Not yet released
+### 3.5.3 - Not yet released
 * ArduPilot: Fix parameter file save generating bad characters from git hash
 
+### 3.5.2 - Stable
+* Fix Ubuntu AppImage startup failure
+
 ### 3.5.1
+* Update Windows usb drivers
+* Add ArduPilot CubeBlack Service Bulletin check
 * Fix visibility of PX4/ArduPilot logo in toolbar
 * Fix tile set count but in OfflineMaps which would cause image and elevation tile set to have incorrect counts and be incorrectly marked as download incomplete.
 

QGCSetup.pri

@@ -136,9 +136,9 @@ LinuxBuild {
 
     !contains(DEFINES, __rasp_pi2__) {
         QT_LIB_LIST += \
-            libicudata.so \
-            libicui18n.so \
-            libicuuc.so
+            libicudata.so.56 \
+            libicui18n.so.56 \
+            libicuuc.so.56
     }
 
     for(QT_LIB, QT_LIB_LIST) {

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -29,6 +29,11 @@
 #include "APMSubFrameComponent.h"
 #include "ESP8266Component.h"
 #include "APMHeliComponent.h"
+#include "QGCApplication.h"
+
+#if !defined(NO_SERIAL_LINK) && !defined(__android__)
+#include <QSerialPortInfo>
+#endif
 
 /// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
 APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
@@ -50,6 +55,10 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     , _heliComponent            (NULL)
 {
     APMAirframeLoader::loadAirframeFactMetaData();
+
+#if !defined(NO_SERIAL_LINK) && !defined(__android__)
+    connect(vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &APMAutoPilotPlugin::_checkForBadCubeBlack);
+#endif
 }
 
 APMAutoPilotPlugin::~APMAutoPilotPlugin()
@@ -170,3 +179,34 @@ QString APMAutoPilotPlugin::prerequisiteSetup(VehicleComponent* component) const
 
     return QString();
 }
+
+#if !defined(NO_SERIAL_LINK) && !defined(__android__)
+/// The following code is executed when the Vehicle is parameter ready. It checks for the service bulletin against Cube Blacks.
+void APMAutoPilotPlugin::_checkForBadCubeBlack(void)
+{
+    bool cubeBlackFound = false;
+    for (const QVariant& varLink: _vehicle->links()) {
+        SerialLink* serialLink = varLink.value<SerialLink*>();
+        if (serialLink && QSerialPortInfo(*serialLink->_hackAccessToPort()).description().contains(QStringLiteral("CubeBlack"))) {
+            cubeBlackFound = true;
+        }
+
+    }
+    if (!cubeBlackFound) {
+        return;
+    }
+
+    ParameterManager* paramMgr = _vehicle->parameterManager();
+
+    QString paramAcc3("INS_ACC3_ID");
+    QString paramGyr3("INS_GYR3_ID");
+    QString paramEnableMask("INS_ENABLE_MASK");
+
+    if (paramMgr->parameterExists(-1, paramAcc3) && paramMgr->getParameter(-1, paramAcc3)->rawValue().toInt() == 0 &&
+            paramMgr->parameterExists(-1, paramGyr3) && paramMgr->getParameter(-1, paramGyr3)->rawValue().toInt() == 0 &&
+            paramMgr->parameterExists(-1, paramEnableMask) && paramMgr->getParameter(-1, paramEnableMask)->rawValue().toInt() >= 7) {
+        qgcApp()->showMessage(tr("WARNING: The flight board you are using has a critical service bulletin against ti which advise against flying. https://discuss.cubepilot.org/t/sb-0000002-critical-service-bulletin-for-cubes-purchased-between-january-2019-to-present-do-not-fly/406"));
+
+    }
+}
+#endif

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -59,6 +59,11 @@ protected:
     ESP8266Component*           _esp8266Component;
     APMHeliComponent*           _heliComponent;
 
+#if !defined(NO_SERIAL_LINK) && !defined(__android__)
+private slots:
+    void _checkForBadCubeBlack(void);
+#endif
+
 private:
     QVariantList                _components;
 };

src/MissionManager/MavCmdInfoCommon.json

@@ -52,7 +52,7 @@
             },
             "param4": {
                 "label":            "Heading",
-                "units":            "radians",
+                "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
                 "decimalPlaces":    2
@@ -74,7 +74,7 @@
             },
             "param4": {
                 "label":            "Heading",
-                "units":            "radians",
+                "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
                 "decimalPlaces":    2
@@ -101,7 +101,7 @@
             },
             "param4": {
                 "label":            "Heading",
-                "units":            "radians",
+                "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
                 "decimalPlaces":    2
@@ -129,7 +129,7 @@
             },
             "param4": {
                 "label":            "Heading",
-                "units":            "radians",
+                "units":            "deg",
                 "nanUnchanged":     true,
                 "decimalPlaces":    2
             }
@@ -158,7 +158,7 @@
             },
             "param4": {
                 "label":            "Heading",
-                "units":            "radians",
+                "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
                 "decimalPlaces":    2
@@ -180,7 +180,7 @@
             },
             "param4": {
                 "label":            "Heading",
-                "units":            "radians",
+                "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
                 "decimalPlaces":    2

src/MissionManager/StructureScanComplexItem.cc

@@ -293,7 +293,7 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
 {
     int     seqNum =        _sequenceNumber;
     bool    startFromTop =  _startFromTopFact.rawValue().toBool();
-    double  startAltitude = _scanBottomAltFact.rawValue().toDouble() + (startFromTop ? _structureHeightFact.rawValue().toDouble() : 0);
+    double  startAltitude = (startFromTop ? _structureHeightFact.rawValue().toDouble() : _scanBottomAltFact.rawValue().toDouble());
 
     MissionItem* item = nullptr;
 

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -144,6 +144,15 @@ void QGroundControlQmlGlobal::startAPMArduSubMockLink(bool sendStatusText)
 #endif
 }
 
+void QGroundControlQmlGlobal::startAPMArduRoverMockLink(bool sendStatusText)
+{
+#ifdef QT_DEBUG
+    MockLink::startAPMArduRoverMockLink(sendStatusText);
+#else
+    Q_UNUSED(sendStatusText);
+#endif
+}
+
 void QGroundControlQmlGlobal::stopOneMockLink(void)
 {
 #ifdef QT_DEBUG

src/QmlControls/QGroundControlQmlGlobal.h

@@ -112,6 +112,7 @@ public:
     Q_INVOKABLE void    startAPMArduCopterMockLink  (bool sendStatusText);
     Q_INVOKABLE void    startAPMArduPlaneMockLink   (bool sendStatusText);
     Q_INVOKABLE void    startAPMArduSubMockLink     (bool sendStatusText);
+    Q_INVOKABLE void    startAPMArduRoverMockLink   (bool sendStatusText);
     Q_INVOKABLE void    stopOneMockLink             (void);
 
     /// Converts from meters to the user specified distance unit

src/comm/MockLink.cc

@@ -1159,64 +1159,46 @@ MockLink*  MockLink::_startMockLink(MockConfiguration* mockConfig)
     return qobject_cast<MockLink*>(linkMgr->createConnectedLink(config));
 }
 
-MockLink*  MockLink::startPX4MockLink(bool sendStatusText, MockConfiguration::FailureMode_t failureMode)
+MockLink* MockLink::_startMockLinkWorker(QString configName, MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, bool sendStatusText, MockConfiguration::FailureMode_t failureMode)
 {
-    MockConfiguration* mockConfig = new MockConfiguration("PX4 MockLink");
+    MockConfiguration* mockConfig = new MockConfiguration(configName);
 
-    mockConfig->setFirmwareType(MAV_AUTOPILOT_PX4);
-    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
+    mockConfig->setFirmwareType(firmwareType);
+    mockConfig->setVehicleType(vehicleType);
     mockConfig->setSendStatusText(sendStatusText);
     mockConfig->setFailureMode(failureMode);
 
     return _startMockLink(mockConfig);
 }
 
-MockLink*  MockLink::startGenericMockLink(bool sendStatusText, MockConfiguration::FailureMode_t failureMode)
+MockLink*  MockLink::startPX4MockLink(bool sendStatusText, MockConfiguration::FailureMode_t failureMode)
 {
-    MockConfiguration* mockConfig = new MockConfiguration("Generic MockLink");
-
-    mockConfig->setFirmwareType(MAV_AUTOPILOT_GENERIC);
-    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
-    mockConfig->setSendStatusText(sendStatusText);
-    mockConfig->setFailureMode(failureMode);
+    return _startMockLinkWorker("PX4 MultiRotor MockLink", MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, sendStatusText, failureMode);
+}
 
-    return _startMockLink(mockConfig);
+MockLink*  MockLink::startGenericMockLink(bool sendStatusText, MockConfiguration::FailureMode_t failureMode)
+{
+    return _startMockLinkWorker("Generic MockLink", MAV_AUTOPILOT_GENERIC, MAV_TYPE_QUADROTOR, sendStatusText, failureMode);
 }
 
 MockLink*  MockLink::startAPMArduCopterMockLink(bool sendStatusText, MockConfiguration::FailureMode_t failureMode)
 {
-    MockConfiguration* mockConfig = new MockConfiguration("APM ArduCopter MockLink");
-
-    mockConfig->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
-    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
-    mockConfig->setSendStatusText(sendStatusText);
-    mockConfig->setFailureMode(failureMode);
-
-    return _startMockLink(mockConfig);
+    return _startMockLinkWorker("ArduCopter MockLink",MAV_AUTOPILOT_ARDUPILOTMEGA, MAV_TYPE_QUADROTOR, sendStatusText, failureMode);
 }
 
 MockLink*  MockLink::startAPMArduPlaneMockLink(bool sendStatusText, MockConfiguration::FailureMode_t failureMode)
 {
-    MockConfiguration* mockConfig = new MockConfiguration("APM ArduPlane MockLink");
-
-    mockConfig->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
-    mockConfig->setVehicleType(MAV_TYPE_FIXED_WING);
-    mockConfig->setSendStatusText(sendStatusText);
-    mockConfig->setFailureMode(failureMode);
-
-    return _startMockLink(mockConfig);
+    return _startMockLinkWorker("ArduPlane MockLink", MAV_AUTOPILOT_ARDUPILOTMEGA, MAV_TYPE_FIXED_WING, sendStatusText, failureMode);
 }
 
 MockLink*  MockLink::startAPMArduSubMockLink(bool sendStatusText, MockConfiguration::FailureMode_t failureMode)
 {
-    MockConfiguration* mockConfig = new MockConfiguration("APM ArduSub MockLink");
-
-    mockConfig->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
-    mockConfig->setVehicleType(MAV_TYPE_SUBMARINE);
-    mockConfig->setSendStatusText(sendStatusText);
-    mockConfig->setFailureMode(failureMode);
+    return _startMockLinkWorker("ArduSub MockLink", MAV_AUTOPILOT_ARDUPILOTMEGA, MAV_TYPE_SUBMARINE, sendStatusText, failureMode);
+}
 
-    return _startMockLink(mockConfig);
+MockLink*  MockLink::startAPMArduRoverMockLink(bool sendStatusText, MockConfiguration::FailureMode_t failureMode)
+{
+    return _startMockLinkWorker("ArduRover MockLink", MAV_AUTOPILOT_ARDUPILOTMEGA, MAV_TYPE_GROUND_ROVER, sendStatusText, failureMode);
 }
 
 void MockLink::_sendRCChannels(void)

src/comm/MockLink.h

@@ -156,6 +156,7 @@ public:
     static MockLink* startAPMArduCopterMockLink  (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
     static MockLink* startAPMArduPlaneMockLink   (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
     static MockLink* startAPMArduSubMockLink     (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
+    static MockLink* startAPMArduRoverMockLink   (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
 
 private slots:
     virtual void _writeBytes(const QByteArray bytes);
@@ -203,6 +204,7 @@ private:
     void _sendADSBVehicles(void);
     void _moveADSBVehicle(void);
 
+    static MockLink* _startMockLinkWorker(QString configName, MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, bool sendStatusText, MockConfiguration::FailureMode_t failureMode);
     static MockLink* _startMockLink(MockConfiguration* mockConfig);
 
     MockLinkMissionItemHandler  _missionItemHandler;

src/comm/SerialLink.h

@@ -145,6 +145,9 @@ public:
     bool    connect(void);
     bool    disconnect(void);
 
+    /// Don't even think of calling this method!
+    QSerialPort* _hackAccessToPort(void) { return _port; }
+
 private slots:
     /**
      * @brief Write a number of bytes to the interface.

src/ui/preferences/MockLink.qml

@@ -52,6 +52,10 @@ Rectangle {
                 text:       qsTr("APM ArduSub Vehicle")
                 onClicked:  QGroundControl.startAPMArduSubMockLink(sendStatusText.checked)
             }
+            QGCButton {
+                text:       qsTr("APM ArduRover Vehicle")
+                onClicked:  QGroundControl.startAPMArduRoverMockLink(sendStatusText.checked)
+            }
             QGCButton {
                 text:       qsTr("Generic Vehicle")
                 onClicked:  QGroundControl.startGenericMockLink(sendStatusText.checked)