Merge branch 'Stable_V3.4' of https://github.com/mavlink/qgroundcontrol into UpstreamStableMerge

build_ios.sh

@@ -5,10 +5,10 @@ if [ ! -d /Volumes/RAMDisk ] ; then
     exit 1
 fi
 #-- Set to my local installation
-QMAKE=/Users/gus/Applications/Qt/5.7/ios/bin/qmake
+QMAKE=/Users/gus/Applications/Qt/5.11.0/ios/bin/qmake
 #-- Using Travis variables as this will eventually live there
 SHADOW_BUILD_DIR=/Volumes/RAMDisk/build-qgroundcontrol-iOS-Release
-TRAVIS_BUILD_DIR=/Users/gus/github/work/qgroundcontrol
+TRAVIS_BUILD_DIR=/Users/gus/github/work/UpstreamQGC
 #-- Build it
 mkdir -p ${SHADOW_BUILD_DIR} &&
 cd ${SHADOW_BUILD_DIR} &&

qgroundcontrol.qrc

@@ -39,6 +39,7 @@
         <file alias="GeneralSettings.qml">src/ui/preferences/GeneralSettings.qml</file>
         <file alias="GeoTagPage.qml">src/AnalyzeView/GeoTagPage.qml</file>
         <file alias="HealthPageWidget.qml">src/FlightMap/Widgets/HealthPageWidget.qml</file>
+        <file alias="HelpSettings.qml">src/ui/preferences/HelpSettings.qml</file>
         <file alias="JoystickConfig.qml">src/VehicleSetup/JoystickConfig.qml</file>
         <file alias="LinkSettings.qml">src/ui/preferences/LinkSettings.qml</file>
         <file alias="LogDownloadPage.qml">src/AnalyzeView/LogDownloadPage.qml</file>

src/Audio/AudioOutput.cc

@@ -122,6 +122,9 @@ QString AudioOutput::fixTextMessageForAudio(const QString& string) {
     if(result.contains(" EKF ", Qt::CaseInsensitive)) {
         result.replace(" EKF ", " Eee Kay Eff ", Qt::CaseInsensitive);
     }
+    if(result.contains("PREARM", Qt::CaseInsensitive)) {
+        result.replace("PREARM", "pre arm", Qt::CaseInsensitive);
+    }
 
     // Convert negative numbers
     QRegularExpression re(QStringLiteral("(-)[0-9]*\\.?[0-9]"));

src/AutoPilotPlugins/APM/APMSensorsComponent.qml

@@ -128,9 +128,7 @@ SetupPage {
 
                 onWaitingForCancelChanged: {
                     if (controller.waitingForCancel) {
-                        showMessage(qsTr("Calibration Cancel"), qsTr("Waiting for Vehicle to response to Cancel. This may take a few seconds."), 0)
-                    } else {
-                        hideDialog()
+                        showDialog(waitForCancelDialogComponent, qsTr("Calibration Cancel"), qgcView.showDialogDefaultWidth, 0)
                     }
                 }
 
@@ -163,6 +161,24 @@ SetupPage {
 
             QGCPalette { id: qgcPal; colorGroupEnabled: true }
 
+            Component {
+                id: waitForCancelDialogComponent
+
+                QGCViewMessage {
+                    message: qsTr("Waiting for Vehicle to response to Cancel. This may take a few seconds.")
+
+                    Connections {
+                        target: controller
+
+                        onWaitingForCancelChanged: {
+                            if (!controller.waitingForCancel) {
+                                hideDialog()
+                            }
+                        }
+                    }
+                }
+            }
+
             Component {
                 id: singleCompassOnboardResultsComponent
 
@@ -265,7 +281,10 @@ SetupPage {
 
                         QGCButton {
                             text:       qsTr("Reboot Vehicle")
-                            onClicked:  controller.vehicle.reboot()
+                            onClicked: {
+                                controller.vehicle.rebootVehicle()
+                                hideDialog()
+                            }
                         }
                     }
                 }
@@ -290,8 +309,11 @@ SetupPage {
 
                         QGCButton {
                             text:       qsTr("Reboot Vehicle")
-                            onClicked:  controller.vehicle.rebootVehicle()
-                        }
+                            onClicked: {
+                                controller.vehicle.rebootVehicle()
+                                hideDialog()
+                            }
+                       }
                     }
                 }
             }

src/AutoPilotPlugins/PX4/SensorsComponentController.cc

@@ -167,7 +167,7 @@ void SensorsComponentController::_stopCalibration(SensorsComponentController::St
                 emit resetStatusTextArea();
             }
             if (_magCalInProgress) {
-                emit setCompassRotations();
+                emit magCalComplete();
             }
             break;
             

src/AutoPilotPlugins/PX4/SensorsComponentController.h

@@ -92,7 +92,7 @@ signals:
     void orientationCalSidesRotateChanged(void);
     void resetStatusTextArea(void);
     void waitingForCancelChanged(void);
-    void setCompassRotations(void);
+    void magCalComplete(void);
 
 private slots:
     void _handleUASTextMessage(int uasId, int compId, int severity, QString text);

src/AutoPilotPlugins/PX4/SensorsSetup.qml

@@ -131,11 +131,11 @@ Item {
 
         onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText
 
-        onSetCompassRotations: {
-            if (!_sensorsHaveFixedOrientation && (showCompass0Rot || showCompass1Rot || showCompass2Rot)) {
+        onMagCalComplete: {
+            //if (!_sensorsHaveFixedOrientation && (showCompass0Rot || showCompass1Rot || showCompass2Rot)) {
                 setOrientationsDialogShowBoardOrientation = false
-                showDialog(setOrientationsDialogComponent, qsTr("Set Compass Rotation(s)"), qgcView.showDialogDefaultWidth, StandardButton.Ok)
-            }
+                showDialog(setOrientationsDialogComponent, qsTr("Compass Calibration Complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok)
+            //}
         }
 
         onWaitingForCancelChanged: {
@@ -252,6 +252,20 @@ Item {
                     anchors.top:        parent.top
                     spacing:            ScreenTools.defaultFontPixelHeight
 
+                    QGCLabel {
+                        width:      parent.width
+                        wrapMode:   Text.WordWrap
+                        text:       qsTr("Set your compass orientations below and the make sure to reboot the vehicle prior to flight.")
+                    }
+
+                    QGCButton {
+                        text: qsTr("Reboot Vehicle")
+                        onClicked: {
+                            controller.vehicle.rebootVehicle()
+                            hideDialog()
+                        }
+                    }
+
                     QGCLabel {
                         width:      parent.width
                         wrapMode:   Text.WordWrap

src/FactSystem/FactControls/FactValueSlider.qml

@@ -71,7 +71,8 @@ Rectangle {
         id: editDialogComponent
 
         ParameterEditorDialog {
-            fact:           _fact
+            fact:       _fact
+            setFocus:   ScreenTools.isMobile ? false : true // Works around strange android bug where wrong virtual keyboard is displayed
         }
     }
 

src/FactSystem/FactValueSliderListModel.cc

@@ -27,7 +27,7 @@ FactValueSliderListModel::FactValueSliderListModel(Fact& fact, QObject* parent)
     , _cPrevValues              (0)
     , _cNextValues              (0)
     , _initialValue             (0)
-    , _initialValueRounded      (0)
+    , _initialValueAtPrecision  (0)
     , _increment                (0)
 {
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
@@ -47,14 +47,14 @@ int FactValueSliderListModel::resetInitialValue(void)
     }
 
     _initialValue = _fact.cookedValue().toDouble();
-    _initialValueRounded = qRound(_initialValue);
+    _initialValueAtPrecision = _valueAtPrecision(_initialValue);
     if (qRound(_fact.rawIncrement()) == _fact.rawIncrement()) {
         _increment = qRound(_fact.cookedIncrement());
     } else {
         _increment = _fact.cookedIncrement();
     }
-    _cPrevValues = qMin((_initialValue - _fact.cookedMin().toDouble()), 100.0) / _increment;
-    _cNextValues = qMin((_fact.cookedMax().toDouble() - _initialValue), 100.0) / _increment;
+    _cPrevValues = qMin((_initialValue - _fact.cookedMin().toDouble())  / _increment, 100.0);
+    _cNextValues = qMin((_fact.cookedMax().toDouble() - _initialValue)  / _increment, 100.0);
     _initialValueIndex = _cPrevValues;
 
     int totalValueCount = _cPrevValues + 1 + _cNextValues;
@@ -93,12 +93,9 @@ QVariant FactValueSliderListModel::data(const QModelIndex &index, int role) cons
         if (cIncrementCount == 0) {
             value = _initialValue;
         } else {
-            value = _initialValueRounded + (cIncrementCount * _increment);
+            value = initialValueAtPrecision() + (cIncrementCount * _increment);
         }
-        double precision = qPow(10, _fact.decimalPlaces());
-        double atPrecision = qRound(value * precision) / precision;
-        //qDebug() << value << precision << atPrecision << _fact.decimalPlaces() << _fact.name();
-        return QVariant(atPrecision);
+        return QVariant(_valueAtPrecision(value));
     } else if (role == _valueIndexRole) {
         return QVariant::fromValue(valueIndex);
     } else {
@@ -129,8 +126,8 @@ int FactValueSliderListModel::valueIndexAtModelIndex(int index)
     return data(createIndex(index, 0), _valueIndexRole).toInt();
 }
 
-double FactValueSliderListModel::initialValueAtPrecision(void)
+double FactValueSliderListModel::_valueAtPrecision(double value) const
 {
     double precision = qPow(10, _fact.decimalPlaces());
-    return qRound(_initialValue * precision) / precision;
+    return qRound(value * precision) / precision;
 }

src/FactSystem/FactValueSliderListModel.h

@@ -25,7 +25,7 @@ public:
     /// The initial value of the Fact at the meta data specified decimal place precision
     Q_PROPERTY(double initialValueAtPrecision READ initialValueAtPrecision NOTIFY initialValueAtPrecisionChanged)
 
-    double initialValueAtPrecision(void);
+    double initialValueAtPrecision(void) const { return _initialValueAtPrecision; }
 
     Q_INVOKABLE int resetInitialValue(void);
     Q_INVOKABLE double valueAtModelIndex(int index);
@@ -35,6 +35,8 @@ signals:
     void initialValueAtPrecisionChanged(void);
 
 private:
+    double _valueAtPrecision(double value) const;
+
     // Overrides from QAbstractListModel
     int	rowCount(const QModelIndex & parent = QModelIndex()) const override;
     QVariant data(const QModelIndex & index, int role = Qt::DisplayRole) const override;
@@ -48,7 +50,7 @@ private:
     int     _cNextValues;
     int     _windowSize;
     double  _initialValue;
-    double  _initialValueRounded;
+    double  _initialValueAtPrecision;
     double  _increment;
 
     static const int _valueRole;

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -505,6 +505,30 @@ const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle)
                                       0,        // minTriggerInterval
                                       this);
         _cameraList.append(QVariant::fromValue(metaData));
+
+        metaData = new CameraMetaData(tr("Sentera NDVI Single Sensor"),
+                                      4.68,     // sensorWidth
+                                      3.56,     // sendsorHeight
+                                      1248,     // imageWidth
+                                      952,      // imageHeight
+                                      4.14,     // focalLength
+                                      true,     // landscape
+                                      false,    // fixedOrientation
+                                      0,        // minTriggerInterval
+                                      this);
+        _cameraList.append(QVariant::fromValue(metaData));
+
+        metaData = new CameraMetaData(tr("Sentera Double 4K Sensor"),
+                                      6.2,      // sensorWidth
+                                      4.65,     // sendsorHeight
+                                      4000,     // imageWidth
+                                      3000,     // imageHeight
+                                      5.4,      // focalLength
+                                      true,     // landscape
+                                      false,    // fixedOrientation
+                                      0,        // minTriggerInterval
+                                      this);
+        _cameraList.append(QVariant::fromValue(metaData));
     }
 
     return _cameraList;

src/FlightDisplay/GuidedActionsController.qml

@@ -65,7 +65,7 @@ Item {
     readonly property string changeAltMessage:                  qsTr("Change the altitude of the vehicle up or down.")
     readonly property string gotoMessage:                       qsTr("Move the vehicle to the specified location.")
              property string setWaypointMessage:                qsTr("Adjust current waypoint to %1.").arg(_actionData)
-    readonly property string orbitMessage:                      qsTr("Orbit the vehicle around the specified location. Warning: WORK IN PROGRESS!")
+    readonly property string orbitMessage:                      qsTr("Orbit the vehicle around the specified location.")
     readonly property string landAbortMessage:                  qsTr("Abort the landing sequence.")
     readonly property string pauseMessage:                      qsTr("Pause the vehicle at it's current position, adjusting altitude up or down as needed.")
     readonly property string mvPauseMessage:                    qsTr("Pause all vehicles at their current position.")

src/FlightMap/FlightMap.qml

@@ -65,7 +65,7 @@ Map {
     }
 
     function centerToSpecifiedLocation() {
-        qgcView.showDialog(specifyMapPositionDialog, qsTr("Specify Position"), qgcView.showDialogDefaultWidth, StandardButton.Cancel)
+        qgcView.showDialog(specifyMapPositionDialog, qsTr("Specify Position"), qgcView.showDialogDefaultWidth, StandardButton.Close)
 
     }
 

src/MissionManager/CameraCalc.cc

@@ -26,8 +26,8 @@ const char* CameraCalc::adjustedFootprintSideName =         "AdjustedFootprintSi
 
 const char* CameraCalc::_jsonCameraSpecTypeKey =            "CameraSpecType";
 
-CameraCalc::CameraCalc(Vehicle* vehicle, QString settingsGroup, QObject* parent)
-    : CameraSpec                    (parent)
+CameraCalc::CameraCalc(Vehicle* vehicle, const QString& settingsGroup, QObject* parent)
+    : CameraSpec                    (settingsGroup, parent)
     , _vehicle                      (vehicle)
     , _dirty                        (false)
     , _disableRecalc                (false)

src/MissionManager/CameraCalc.h

@@ -19,7 +19,7 @@ class CameraCalc : public CameraSpec
     Q_OBJECT
 
 public:
-    CameraCalc(Vehicle* vehicle, QString settingsGroup, QObject* parent = NULL);
+    CameraCalc(Vehicle* vehicle, const QString& settingsGroup, QObject* parent = NULL);
 
     Q_PROPERTY(QString          customCameraName            READ customCameraName                                               CONSTANT)                                   ///< Camera name for custom camera setting
     Q_PROPERTY(QString          manualCameraName            READ manualCameraName                                               CONSTANT)                                   ///< Camera name for manual camera setting

src/MissionManager/CameraSpec.cc

@@ -21,38 +21,20 @@ const char* CameraSpec::_landscapeName =            "Landscape";
 const char* CameraSpec::_fixedOrientationName =     "FixedOrientation";
 const char* CameraSpec::_minTriggerIntervalName =   "MinTriggerInterval";
 
-CameraSpec::CameraSpec(QObject* parent)
+CameraSpec::CameraSpec(const QString& settingsGroup, QObject* parent)
     : QObject                   (parent)
     , _dirty                    (false)
     , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraSpec.FactMetaData.json"), this))
-    , _sensorWidthFact          (0, _sensorWidthName,           FactMetaData::valueTypeDouble)
-    , _sensorHeightFact         (0, _sensorHeightName,          FactMetaData::valueTypeDouble)
-    , _imageWidthFact           (0, _imageWidthName,            FactMetaData::valueTypeUint32)
-    , _imageHeightFact          (0, _imageHeightName,           FactMetaData::valueTypeUint32)
-    , _focalLengthFact          (0, _focalLengthName,           FactMetaData::valueTypeDouble)
-    , _landscapeFact            (0, _landscapeName,             FactMetaData::valueTypeBool)
-    , _fixedOrientationFact     (0, _fixedOrientationName,      FactMetaData::valueTypeBool)
-    , _minTriggerIntervalFact   (0, _minTriggerIntervalName,    FactMetaData::valueTypeDouble)
+    , _sensorWidthFact          (settingsGroup, _metaDataMap[_sensorWidthName])
+    , _sensorHeightFact         (settingsGroup, _metaDataMap[_sensorHeightName])
+    , _imageWidthFact           (settingsGroup, _metaDataMap[_imageWidthName])
+    , _imageHeightFact          (settingsGroup, _metaDataMap[_imageHeightName])
+    , _focalLengthFact          (settingsGroup, _metaDataMap[_focalLengthName])
+    , _landscapeFact            (settingsGroup, _metaDataMap[_landscapeName])
+    , _fixedOrientationFact     (settingsGroup, _metaDataMap[_fixedOrientationName])
+    , _minTriggerIntervalFact   (settingsGroup, _metaDataMap[_minTriggerIntervalName])
 {
-    _init(true);
-}
-
-CameraSpec::CameraSpec(const CameraSpec& other, QObject* parent)
-    : QObject                   (parent)
-    , _dirty                    (false)
-    , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraSpec.FactMetaData.json"), this))
-    , _sensorWidthFact          (0, _sensorWidthName,           FactMetaData::valueTypeDouble)
-    , _sensorHeightFact         (0, _sensorHeightName,          FactMetaData::valueTypeDouble)
-    , _imageWidthFact           (0, _imageWidthName,            FactMetaData::valueTypeUint32)
-    , _imageHeightFact          (0, _imageHeightName,           FactMetaData::valueTypeUint32)
-    , _focalLengthFact          (0, _focalLengthName,           FactMetaData::valueTypeDouble)
-    , _landscapeFact            (0, _landscapeName,             FactMetaData::valueTypeBool)
-    , _fixedOrientationFact     (0, _fixedOrientationName,      FactMetaData::valueTypeBool)
-    , _minTriggerIntervalFact   (0, _minTriggerIntervalName,    FactMetaData::valueTypeDouble)
-{
-    _init(false);
-
-    *this = other;
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
 }
 
 const CameraSpec& CameraSpec::operator=(const CameraSpec& other)
@@ -69,20 +51,6 @@ const CameraSpec& CameraSpec::operator=(const CameraSpec& other)
     return *this;
 }
 
-void CameraSpec::_init(bool setDefaults)
-{
-    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
-
-    _sensorWidthFact.setMetaData        (_metaDataMap[_sensorWidthName],        setDefaults);
-    _sensorHeightFact.setMetaData       (_metaDataMap[_sensorHeightName],       setDefaults);
-    _imageWidthFact.setMetaData         (_metaDataMap[_imageWidthName],         setDefaults);
-    _imageHeightFact.setMetaData        (_metaDataMap[_imageHeightName],        setDefaults);
-    _focalLengthFact.setMetaData        (_metaDataMap[_focalLengthName],        setDefaults);
-    _landscapeFact.setMetaData          (_metaDataMap[_landscapeName],          setDefaults);
-    _fixedOrientationFact.setMetaData   (_metaDataMap[_fixedOrientationName],   setDefaults);
-    _minTriggerIntervalFact.setMetaData (_metaDataMap[_minTriggerIntervalName], setDefaults);
-}
-
 void CameraSpec::setDirty(bool dirty)
 {
     if (_dirty != dirty) {

src/MissionManager/CameraSpec.h

@@ -9,15 +9,14 @@
 
 #pragma once
 
-#include "Fact.h"
+#include "SettingsFact.h"
 
 class CameraSpec : public QObject
 {
     Q_OBJECT
 
 public:
-    CameraSpec(QObject* parent = NULL);
-    CameraSpec(const CameraSpec& other, QObject* parent);
+    CameraSpec(const QString& settingsGroup, QObject* parent = NULL);
 
     const CameraSpec& operator=(const CameraSpec& other);
 
@@ -31,14 +30,14 @@ public:
     Q_PROPERTY(Fact* fixedOrientation   READ fixedOrientation   CONSTANT)   ///< true: camera is in fixed orientation
     Q_PROPERTY(Fact* minTriggerInterval READ minTriggerInterval CONSTANT)   ///< Minimum time in seconds between each photo taken, 0 for not specified
 
-    Fact* sensorWidth       (void) { return &_sensorWidthFact; }
-    Fact* sensorHeight      (void) { return &_sensorHeightFact; }
-    Fact* imageWidth        (void) { return &_imageWidthFact; }
-    Fact* imageHeight       (void) { return &_imageHeightFact; }
-    Fact* focalLength       (void) { return &_focalLengthFact; }
-    Fact* landscape         (void) { return &_landscapeFact; }
-    Fact* fixedOrientation  (void) { return &_fixedOrientationFact; }
-    Fact* minTriggerInterval(void) { return &_minTriggerIntervalFact; }
+    SettingsFact* sensorWidth       (void) { return &_sensorWidthFact; }
+    SettingsFact* sensorHeight      (void) { return &_sensorHeightFact; }
+    SettingsFact* imageWidth        (void) { return &_imageWidthFact; }
+    SettingsFact* imageHeight       (void) { return &_imageHeightFact; }
+    SettingsFact* focalLength       (void) { return &_focalLengthFact; }
+    SettingsFact* landscape         (void) { return &_landscapeFact; }
+    SettingsFact* fixedOrientation  (void) { return &_fixedOrientationFact; }
+    SettingsFact* minTriggerInterval(void) { return &_minTriggerIntervalFact; }
 
     bool dirty      (void) const { return _dirty; }
     void setDirty   (bool dirty);
@@ -50,20 +49,18 @@ signals:
     void dirtyChanged(bool dirty);
 
 private:
-    void _init(bool setDefaults);
-
     bool _dirty;
 
     QMap<QString, FactMetaData*> _metaDataMap;
 
-    Fact _sensorWidthFact;
-    Fact _sensorHeightFact;
-    Fact _imageWidthFact;
-    Fact _imageHeightFact;
-    Fact _focalLengthFact;
-    Fact _landscapeFact;
-    Fact _fixedOrientationFact;
-    Fact _minTriggerIntervalFact;
+    SettingsFact _sensorWidthFact;
+    SettingsFact _sensorHeightFact;
+    SettingsFact _imageWidthFact;
+    SettingsFact _imageHeightFact;
+    SettingsFact _focalLengthFact;
+    SettingsFact _landscapeFact;
+    SettingsFact _fixedOrientationFact;
+    SettingsFact _minTriggerIntervalFact;
 
     static const char* _sensorWidthName;
     static const char* _sensorHeightName;

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -225,7 +225,9 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq
     _landingCoordSet = true;
 
     _ignoreRecalcSignals = false;
+
     _recalcFromCoordinateChange();
+    emit coordinateChanged(this->coordinate());    // This will kick off terrain query
 
     return true;
 }

src/MissionManager/QGCMapPolygonVisuals.qml

@@ -123,7 +123,6 @@ Item {
         _circle = false
     }
 
-    /// Reset polygon to a circle which fits within initial polygon
     function setCircleRadius(center, radius) {
         var unboundCenter = center.atDistanceAndAzimuth(0, 0)
         _circleRadius = radius
@@ -231,7 +230,7 @@ Item {
         MenuItem {
             text:           qsTr("Edit position..." )
             enabled:        _circle
-            onTriggered:    qgcView.showDialog(editPositionDialog, qsTr("Edit Position"), qgcView.showDialogDefaultWidth, StandardButton.Cancel)
+            onTriggered:    qgcView.showDialog(editPositionDialog, qsTr("Edit Position"), qgcView.showDialogDefaultWidth, StandardButton.Close)
         }
 
         MenuItem {
@@ -460,7 +459,8 @@ Item {
             }
 
             function setRadiusFromDialog() {
-                setCircleRadius(mapPolygon.center, radiusField.text)
+                var radius = QGroundControl.appSettingsDistanceUnitsToMeters(radiusField.text)
+                setCircleRadius(mapPolygon.center, radius)
                 _editCircleRadius = false
             }
 
@@ -484,7 +484,9 @@ Item {
 
                     QGCTextField {
                         id:                 radiusField
-                        text:               _circleRadius.toFixed(2)
+                        showUnits:          true
+                        unitsLabel:         QGroundControl.appSettingsDistanceUnitsString
+                        text:               QGroundControl.metersToAppSettingsDistanceUnits(_circleRadius).toFixed(2)
                         onEditingFinished:  setRadiusFromDialog()
                         inputMethodHints:   Qt.ImhFormattedNumbersOnly
                     }

src/MissionManager/VisualMissionItem.cc

@@ -173,6 +173,10 @@ void VisualMissionItem::setMissionVehicleYaw(double vehicleYaw)
 
 void VisualMissionItem::_updateTerrainAltitude(void)
 {
+    if (coordinate().latitude() == 0 && coordinate().longitude() == 0) {
+        // This is an intermediate state we don't react to
+        return;
+    }
     if (!_flyView && coordinate().isValid()) {
         // We use a timer so that any additional requests before the timer fires result in only a single request
         _updateTerrainTimer.start();
@@ -195,9 +199,7 @@ void VisualMissionItem::_reallyUpdateTerrainAltitude(void)
 
 void VisualMissionItem::_terrainDataReceived(bool success, QList<double> heights)
 {
-    if (success) {
-        _terrainAltitude = heights[0];
-        emit terrainAltitudeChanged(_terrainAltitude);
-        sender()->deleteLater();
-    }
+    _terrainAltitude = success ? heights[0] : qQNaN();
+    emit terrainAltitudeChanged(_terrainAltitude);
+    sender()->deleteLater();
 }

src/PlanView/FWLandingPatternEditor.qml

@@ -31,8 +31,12 @@ Rectangle {
     //property real   availableWidth    ///< Width for control
     //property var    missionItem       ///< Mission Item for editor
 
-    property real _margin: ScreenTools.defaultFontPixelWidth / 2
-    property real _spacer: ScreenTools.defaultFontPixelWidth / 2
+    property real   _margin:                    ScreenTools.defaultFontPixelWidth / 2
+    property real   _spacer:                    ScreenTools.defaultFontPixelWidth / 2
+    property var    _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
+    property string _setToVehicleHeadingStr:    qsTr("Set to vehicle heading")
+    property string _setToVehicleLocationStr:   qsTr("Set to vehicle location")
+
 
     ExclusiveGroup { id: distanceGlideGroup }
 
@@ -45,34 +49,57 @@ Rectangle {
         visible:            missionItem.landingCoordSet
 
         SectionHeader {
-            text: qsTr("Loiter point")
+            id:     loiterPointSection
+            text:   qsTr("Loiter point")
         }
 
-        Item { width: 1; height: _spacer }
+        Column {
+            anchors.left:       parent.left
+            anchors.right:      parent.right
+            spacing:            _margin
+            visible:            loiterPointSection.checked
 
-        FactTextFieldGrid {
-            anchors.left:   parent.left
-            anchors.right:  parent.right
-            factList:       [ missionItem.loiterAltitude, missionItem.loiterRadius ]
-            factLabels:     [ qsTr("Altitude"), qsTr("Radius") ]
-        }
+            Item { width: 1; height: _spacer }
 
-        Item { width: 1; height: _spacer }
+            FactTextFieldGrid {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                factList:       [ missionItem.loiterAltitude, missionItem.loiterRadius ]
+                factLabels:     [ qsTr("Altitude"), qsTr("Radius") ]
+            }
 
-        QGCCheckBox {
-            text:           qsTr("Loiter clockwise")
-            checked:        missionItem.loiterClockwise
-            onClicked:      missionItem.loiterClockwise = checked
+            Item { width: 1; height: _spacer }
+
+            QGCCheckBox {
+                text:           qsTr("Loiter clockwise")
+                checked:        missionItem.loiterClockwise
+                onClicked:      missionItem.loiterClockwise = checked
+            }
+
+            QGCButton {
+                text:       _setToVehicleHeadingStr
+                visible:    _activeVehicle
+                onClicked:  missionItem.landingHeading.rawValue = _activeVehicle.heading.rawValue
+            }
         }
 
-        SectionHeader { text: qsTr("Landing point") }
+        SectionHeader {
+            id:     landingPointSection
+            text:   qsTr("Landing point")
+        }
 
-        Item { width: 1; height: _spacer }
+        Column {
+            anchors.left:       parent.left
+            anchors.right:      parent.right
+            spacing:            _margin
+            visible:            landingPointSection.checked
+
+            Item { width: 1; height: _spacer }
 
-        GridLayout {
-            anchors.left:    parent.left
-            anchors.right:   parent.right
-            columns:         2
+            GridLayout {
+                anchors.left:    parent.left
+                anchors.right:   parent.right
+                columns:         2
 
                 QGCLabel { text: qsTr("Heading") }
 
@@ -88,34 +115,42 @@ Rectangle {
                     fact:               missionItem.landingAltitude
                 }
 
-            QGCRadioButton {
-                id:                 specifyLandingDistance
-                text:               qsTr("Landing Dist")
-                checked:            missionItem.valueSetIsDistance
-                exclusiveGroup:     distanceGlideGroup
-                onClicked:          missionItem.valueSetIsDistance = checked
-                Layout.fillWidth:   true
-            }
+                QGCRadioButton {
+                    id:                 specifyLandingDistance
+                    text:               qsTr("Landing Dist")
+                    checked:            missionItem.valueSetIsDistance
+                    exclusiveGroup:     distanceGlideGroup
+                    onClicked:          missionItem.valueSetIsDistance = checked
+                    Layout.fillWidth:   true
+                }
 
-            FactTextField {
-                fact:               missionItem.landingDistance
-                enabled:            specifyLandingDistance.checked
-                Layout.fillWidth:   true
-            }
+                FactTextField {
+                    fact:               missionItem.landingDistance
+                    enabled:            specifyLandingDistance.checked
+                    Layout.fillWidth:   true
+                }
 
-            QGCRadioButton {
-                id:                 specifyGlideSlope
-                text:               qsTr("Glide Slope")
-                checked:            !missionItem.valueSetIsDistance
-                exclusiveGroup:     distanceGlideGroup
-                onClicked:          missionItem.valueSetIsDistance = !checked
-                Layout.fillWidth:   true
-            }
+                QGCRadioButton {
+                    id:                 specifyGlideSlope
+                    text:               qsTr("Glide Slope")
+                    checked:            !missionItem.valueSetIsDistance
+                    exclusiveGroup:     distanceGlideGroup
+                    onClicked:          missionItem.valueSetIsDistance = !checked
+                    Layout.fillWidth:   true
+                }
+
+                FactTextField {
+                    fact:               missionItem.glideSlope
+                    enabled:            specifyGlideSlope.checked
+                    Layout.fillWidth:   true
+                }
 
-            FactTextField {
-                fact:               missionItem.glideSlope
-                enabled:            specifyGlideSlope.checked
-                Layout.fillWidth:   true
+                QGCButton {
+                    text:               _setToVehicleLocationStr
+                    visible:            _activeVehicle
+                    Layout.columnSpan:  2
+                    onClicked:          missionItem.landingCoordinate = _activeVehicle.coordinate
+                }
             }
         }
 
@@ -140,10 +175,30 @@ Rectangle {
         spacing:            ScreenTools.defaultFontPixelHeight
 
         QGCLabel {
-            anchors.left:   parent.left
-            anchors.right:  parent.right
-            wrapMode:       Text.WordWrap
-            text:           qsTr("Click in map to set landing point.")
+            anchors.left:           parent.left
+            anchors.right:          parent.right
+            wrapMode:               Text.WordWrap
+            horizontalAlignment:    Text.AlignHCenter
+            text:                   qsTr("Click in map to set landing point.")
+        }
+
+        QGCLabel {
+            anchors.left:           parent.left
+            anchors.right:          parent.right
+            horizontalAlignment:    Text.AlignHCenter
+            text:                   qsTr("- or -")
+            visible:                _activeVehicle
+        }
+
+        QGCButton {
+            anchors.horizontalCenter:   parent.horizontalCenter
+            text:                       _setToVehicleLocationStr
+            visible:                    _activeVehicle
+
+            onClicked: {
+                missionItem.landingCoordinate = _activeVehicle.coordinate
+                missionItem.landingHeading.rawValue = _activeVehicle.heading.rawValue
+            }
         }
     }
 }

src/PlanView/MissionItemEditor.qml

@@ -142,13 +142,13 @@ Rectangle {
             MenuItem {
                 text:           qsTr("Change command...")
                 onTriggered:    commandPicker.clicked()
-                visible:        !_waypointsOnlyMode
+                visible:        missionItem.isSimpleItem && !_waypointsOnlyMode
             }
 
             MenuItem {
                 text:           qsTr("Edit position...")
                 visible:        missionItem.specifiesCoordinate
-                onTriggered:    qgcView.showDialog(editPositionDialog, qsTr("Edit Position"), qgcView.showDialogDefaultWidth, StandardButton.Cancel)
+                onTriggered:    qgcView.showDialog(editPositionDialog, qsTr("Edit Position"), qgcView.showDialogDefaultWidth, StandardButton.Close)
             }
 
             MenuSeparator {

src/PlanView/PlanView.qml

@@ -299,8 +299,13 @@ QGCView {
                 if (retList[0] == KMLFileHelper.Error) {
                     _qgcView.showMessage("Error", retList[1], StandardButton.Ok)
                 } else if (retList[0] == KMLFileHelper.Polygon) {
-                    kmlPolygonSelectDialogKMLFile = file
-                    _qgcView.showDialog(kmlPolygonSelectDialog, fileDialog.title, _qgcView.showDialogDefaultWidth, StandardButton.Ok | StandardButton.Cancel)
+                    var editVehicle = _activeVehicle ? _activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
+                    if (editVehicle.fixedWing) {
+                        insertComplexMissionItemFromKML(_missionController.surveyComplexItemName, file, -1)
+                    } else {
+                        kmlPolygonSelectDialogKMLFile = file
+                        _qgcView.showDialog(kmlPolygonSelectDialog, fileDialog.title, _qgcView.showDialogDefaultWidth, StandardButton.Ok | StandardButton.Cancel)
+                    }
                 } else if (retList[0] == KMLFileHelper.Polyline) {
                     insertComplexMissionItemFromKML(_missionController.corridorScanComplexItemName, file, -1)
                 }
@@ -314,8 +319,6 @@ QGCView {
         id: kmlPolygonSelectDialog
 
         QGCViewDialog {
-            property var editVehicle: _activeVehicle ? _activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
-
             function accept() {
                 var complexItemName
                 if (surveyRadio.checked) {
@@ -327,13 +330,6 @@ QGCView {
                 hideDialog()
             }
 
-            Component.onCompleted: {
-                if (editVehicle.fixedWing) {
-                    // Only Survey available
-                    accept()
-                }
-            }
-
             ExclusiveGroup {
                 id: radioGroup
             }
@@ -360,7 +356,6 @@ QGCView {
                 QGCRadioButton {
                     text:           qsTr("Structure Scan")
                     exclusiveGroup: radioGroup
-                    visible:        !editVehicle.fixedWing
                 }
             }
         }

src/PlanView/SurveyItemEditor.qml

@@ -74,17 +74,18 @@ Rectangle {
         }
 
         SectionHeader {
-            id:     corridorHeader
+            id:     transectsHeader
             text:   qsTr("Transects")
         }
 
         GridLayout {
+            id:             transectsGrid
             anchors.left:   parent.left
             anchors.right:  parent.right
             columnSpacing:  _margin
             rowSpacing:     _margin
             columns:        2
-            visible:        corridorHeader.checked
+            visible:        transectsHeader.checked
 
             QGCLabel { text: qsTr("Angle") }
             FactTextField {
@@ -108,8 +109,8 @@ Rectangle {
 
             QGCLabel { text: qsTr("Turnaround dist") }
             FactTextField {
-                fact:                   missionItem.turnAroundDistance
-                Layout.fillWidth:       true
+                fact:               missionItem.turnAroundDistance
+                Layout.fillWidth:   true
             }
 
             QGCButton {
@@ -132,14 +133,14 @@ Rectangle {
             }
 
             FactCheckBox {
-                text:               qsTr("Refly at 90 degree offset")
+                text:               qsTr("Refly at 90 deg offset")
                 fact:               missionItem.refly90Degrees
                 enabled:            !missionItem.followTerrain
                 Layout.columnSpan:  2
             }
 
             FactCheckBox {
-                text:               qsTr("Take images in turnarounds")
+                text:               qsTr("Images in turnarounds")
                 fact:               missionItem.cameraTriggerInTurnAround
                 enabled:            missionItem.hoverAndCaptureAllowed ? !missionItem.hoverAndCapture.rawValue : true
                 Layout.columnSpan:  2

src/QmlControls/ParameterEditor.qml

@@ -33,6 +33,7 @@ QGCView {
     property var    _searchResults              ///< List of parameter names from search results
     property bool   _showRCToParam:     !ScreenTools.isMobile && QGroundControl.multiVehicleManager.activeVehicle.px4Firmware
     property var    _activeVehicle:     QGroundControl.multiVehicleManager.activeVehicle
+    property var    _appSettings:       QGroundControl.settingsManager.appSettings
 
     ParameterEditorController {
         id:         controller;
@@ -112,28 +113,18 @@ QGCView {
                 MenuItem {
                     text:           qsTr("Load from file...")
                     onTriggered: {
-                        var appSettings = QGroundControl.settingsManager.appSettings
-
                         fileDialog.qgcView =        qgcView
-                        fileDialog.title =          qsTr("Select Parameter File")
+                        fileDialog.title =          qsTr("Load Parameters")
                         fileDialog.selectExisting = true
-                        fileDialog.folder =         appSettings.parameterSavePath
-                        fileDialog.fileExtension =  appSettings.parameterFileExtension
-                        fileDialog.nameFilters =    [ qsTr("Parameter Files (*.%1)").arg(appSettings.parameterFileExtension) , qsTr("All Files (*.*)") ]
                         fileDialog.openForLoad()
                     }
                 }
                 MenuItem {
                     text:           qsTr("Save to file...")
                     onTriggered: {
-                        var appSettings = QGroundControl.settingsManager.appSettings
-
                         fileDialog.qgcView =        qgcView
                         fileDialog.title =          qsTr("Save Parameters")
                         fileDialog.selectExisting = false
-                        fileDialog.folder =         appSettings.parameterSavePath
-                        fileDialog.fileExtension =  appSettings.parameterFileExtension
-                        fileDialog.nameFilters =    [ qsTr("Parameter Files (*.%1)").arg(appSettings.parameterFileExtension) , qsTr("All Files (*.*)") ]
                         fileDialog.openForSave()
                     }
                 }
@@ -292,7 +283,10 @@ QGCView {
     } // QGCViewPanel
 
     QGCFileDialog {
-        id: fileDialog
+        id:             fileDialog
+        folder:         _appSettings.parameterSavePath
+        fileExtension:  _appSettings.parameterFileExtension
+        nameFilters:    [ qsTr("Parameter Files (*.%1)").arg(_appSettings.parameterFileExtension) , qsTr("All Files (*.*)") ]
 
         onAcceptedForSave: {
             controller.saveToFile(file)

src/QmlControls/ParameterEditorController.cc

@@ -98,10 +98,15 @@ void ParameterEditorController::clearRCToParam(void)
 void ParameterEditorController::saveToFile(const QString& filename)
 {
     if (!filename.isEmpty()) {
-        QFile file(filename);
+        QString parameterFilename = filename;
+        if (!QFileInfo(filename).fileName().contains(".")) {
+            parameterFilename += QString(".%1").arg(AppSettings::parameterFileExtension);
+        }
+
+        QFile file(parameterFilename);
         
         if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
-            qgcApp()->showMessage(tr("Unable to create file: %1").arg(filename));
+            qgcApp()->showMessage(tr("Unable to create file: %1").arg(parameterFilename));
             return;
         }
         

src/QmlControls/ParameterEditorDialog.qml

@@ -27,6 +27,7 @@ QGCViewDialog {
     property bool   showRCToParam:  false
     property bool   validate:       false
     property string validateValue
+    property bool   setFocus:       true    ///< true: focus is set to text field on display, false: focus not set (works around strange virtual keyboard bug with FactValueSlider
 
     signal valueChanged
 
@@ -122,7 +123,7 @@ QGCViewDialog {
                     unitsLabel:         fact.units
                     showUnits:          fact.units != ""
                     Layout.fillWidth:   true
-                    focus:              true
+                    focus:              setFocus
                     inputMethodHints:   (fact.typeIsString || ScreenTools.isiOS) ?
                                           Qt.ImhNone :                // iOS numeric keyboard has no done button, we can't use it
                                           Qt.ImhFormattedNumbersOnly  // Forces use of virtual numeric keyboard

src/QmlControls/QGCViewMessage.qml

@@ -20,9 +20,16 @@ import QGroundControl.Palette 1.0
 QGCViewDialog {
     property string message
 
-    QGCLabel {
+    QGCFlickable {
         anchors.fill:   parent
-        wrapMode:       Text.WordWrap
-        text:           message
+        contentHeight:  label.contentHeight
+
+        QGCLabel {
+            id:             label
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            wrapMode:       Text.WordWrap
+            text:           message
+        }
     }
 }

src/QtLocationPlugin/QGCMapUrlEngine.h

@@ -79,7 +79,7 @@ public:
         EsriWorldSatellite      = 7001,
         EsriTerrain             = 7002,
 
-        AirmapElevation         = 8000
+        AirmapElevation         = 8001
     };
 
     UrlFactory      ();

src/QtLocationPlugin/QMLControl/OfflineMap.qml

@@ -286,7 +286,12 @@ QGCView {
 
                     Item { width: 1; height: 1 }
 
-                    QGCLabel { text:       qsTr("Max Cache Memory Size (MB):") }
+                    QGCLabel {
+                        anchors.left:   parent.left
+                        anchors.right:  parent.right
+                        wrapMode:       Text.WordWrap
+                        text:           qsTr("Max Cache Memory Size (MB):")
+                    }
 
                     QGCTextField {
                         id:                 maxCacheMemSize
@@ -297,6 +302,9 @@ QGCView {
                     }
 
                     QGCLabel {
+                        anchors.left:   parent.left
+                        anchors.right:  parent.right
+                        wrapMode:       Text.WordWrap
                         font.pointSize: _adjustableFontPointSize
                         text:           qsTr("Memory cache changes require a restart to take effect.")
                     }
@@ -310,6 +318,9 @@ QGCView {
                         width:              ScreenTools.defaultFontPixelWidth * 30
                     }
                     QGCLabel {
+                        anchors.left:   parent.left
+                        anchors.right:  parent.right
+                        wrapMode:       Text.WordWrap
                         text:           qsTr("To enable Mapbox maps, enter your access token.")
                         visible:        _mapboxFact ? _mapboxFact.visible : false
                         font.pointSize: _adjustableFontPointSize
@@ -324,6 +335,9 @@ QGCView {
                         width:              ScreenTools.defaultFontPixelWidth * 30
                     }
                     QGCLabel {
+                        anchors.left:   parent.left
+                        anchors.right:  parent.right
+                        wrapMode:       Text.WordWrap
                         text:           qsTr("To enable Esri maps, enter your access token.")
                         visible:        _esriFact ? _esriFact.visible : false
                         font.pointSize: _adjustableFontPointSize

src/Settings/App.SettingsGroup.json

@@ -18,7 +18,7 @@
 {
     "name":             "OfflineEditingCruiseSpeed",
     "shortDescription": "Offline editing cruise speed",
-    "longDescription":  "This value defines the cruising speed for forward flight vehicles for use in calculating mission duration.",
+    "longDescription":  "This value defines the default cruising speed for forward flight vehicles for use in calculating mission statistics. It does not modify the flight speed for a specific flight plan.",
     "type":             "double",
     "defaultValue":     15.0,
     "min":              1.0,
@@ -28,7 +28,7 @@
 {
     "name":             "OfflineEditingHoverSpeed",
     "shortDescription": "Offline editing hover speed",
-    "longDescription":  "This value defines the cruising speed for multi-rotor vehicles for use in calculating mission duration.",
+    "longDescription":  "This value defines the default cruising speed for multi-rotor vehicles for use in calculating mission statistics. It does not modify the flight speed for a specific flight plan.",
     "type":             "double",
     "defaultValue":     5.0,
     "min":              1.0,

src/Terrain/TerrainQuery.cc

@@ -338,16 +338,24 @@ void TerrainTileManager::addCoordinateQuery(TerrainOfflineAirMapQuery* terrainQu
     qCDebug(TerrainQueryLog) << "TerrainTileManager::addCoordinateQuery count" << coordinates.count();
 
     if (coordinates.length() > 0) {
+        bool error;
         QList<double> altitudes;
 
-        if (!_getAltitudesForCoordinates(coordinates, altitudes)) {
+        if (!_getAltitudesForCoordinates(coordinates, altitudes, error)) {
+            qCDebug(TerrainQueryLog) << "TerrainTileManager::addPathQuery queue count" << _requestQueue.count();
             QueuedRequestInfo_t queuedRequestInfo = { terrainQueryInterface, QueryMode::QueryModeCoordinates, 0, 0, coordinates };
             _requestQueue.append(queuedRequestInfo);
             return;
         }
 
-        qCDebug(TerrainQueryLog) << "All altitudes taken from cached data";
-        terrainQueryInterface->_signalCoordinateHeights(coordinates.count() == altitudes.count(), altitudes);
+        if (error) {
+            QList<double> noAltitudes;
+            qCWarning(TerrainQueryLog) << "addCoordinateQuery: signalling failure due to internal error";
+            terrainQueryInterface->_signalCoordinateHeights(false, noAltitudes);
+        } else {
+            qCDebug(TerrainQueryLog) << "addCoordinateQuery: All altitudes taken from cached data";
+            terrainQueryInterface->_signalCoordinateHeights(coordinates.count() == altitudes.count(), altitudes);
+        }
     }
 }
 
@@ -370,28 +378,56 @@ void TerrainTileManager::addPathQuery(TerrainOfflineAirMapQuery* terrainQueryInt
 
     qCDebug(TerrainQueryLog) << "TerrainTileManager::addPathQuery start:end:coordCount" << startPoint << endPoint << coordinates.count();
 
+    bool error;
     QList<double> altitudes;
-    if (!_getAltitudesForCoordinates(coordinates, altitudes)) {
+    if (!_getAltitudesForCoordinates(coordinates, altitudes, error)) {
+        qCDebug(TerrainQueryLog) << "TerrainTileManager::addPathQuery queue count" << _requestQueue.count();
         QueuedRequestInfo_t queuedRequestInfo = { terrainQueryInterface, QueryMode::QueryModePath, latStep, lonStep, coordinates };
         _requestQueue.append(queuedRequestInfo);
         return;
     }
 
-    qCDebug(TerrainQueryLog) << "All altitudes taken from cached data";
-    terrainQueryInterface->_signalPathHeights(coordinates.count() == altitudes.count(), latStep, lonStep, altitudes);
+    if (error) {
+        QList<double> noAltitudes;
+        qCWarning(TerrainQueryLog) << "addPathQuery: signalling failure due to internal error";
+        terrainQueryInterface->_signalPathHeights(false, latStep, lonStep, noAltitudes);
+    } else {
+        qCDebug(TerrainQueryLog) << "addPathQuery: All altitudes taken from cached data";
+        terrainQueryInterface->_signalPathHeights(coordinates.count() == altitudes.count(), latStep, lonStep, altitudes);
+    }
 }
 
-bool TerrainTileManager::_getAltitudesForCoordinates(const QList<QGeoCoordinate>& coordinates, QList<double>& altitudes)
+/// Either returns altitudes from cache or queues database request
+///     @param[out] error true: altitude not returned due to error, false: altitudes returned
+/// @return true: altitude returned (check error as well), false: database query queued (altitudes not returned)
+bool TerrainTileManager::_getAltitudesForCoordinates(const QList<QGeoCoordinate>& coordinates, QList<double>& altitudes, bool& error)
 {
+    error = false;
+
     foreach (const QGeoCoordinate& coordinate, coordinates) {
         QString tileHash = _getTileHash(coordinate);
-        _tilesMutex.lock();
-        if (!_tiles.contains(tileHash)) {
-            qCDebug(TerrainQueryLog) << "Need to download tile " << tileHash;
+        qCDebug(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates hash:coordinate" << tileHash << coordinate;
 
-            // Schedule the fetch task
+        _tilesMutex.lock();
+        if (_tiles.contains(tileHash)) {
+            if (_tiles[tileHash].isIn(coordinate)) {
+                double elevation = _tiles[tileHash].elevation(coordinate);
+                if (qIsNaN(elevation)) {
+                    error = true;
+                    qCWarning(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates Internal Error: negative elevation in tile cache";
+                } else {
+                    qCWarning(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates returning elevation from tile cache" << elevation;
+                }
+                altitudes.push_back(elevation);
+            } else {
+                qCWarning(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates Internal Error: coordinate not in tile region";
+                altitudes.push_back(qQNaN());
+                error = true;
+            }
+        } else {
             if (_state != State::Downloading) {
                 QNetworkRequest request = getQGCMapEngine()->urlFactory()->getTileURL(UrlFactory::AirmapElevation, QGCMapEngine::long2elevationTileX(coordinate.longitude(), 1), QGCMapEngine::lat2elevationTileY(coordinate.latitude(), 1), 1, &_networkManager);
+                qCDebug(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates query from database" << request.url();
                 QGeoTileSpec spec;
                 spec.setX(QGCMapEngine::long2elevationTileX(coordinate.longitude(), 1));
                 spec.setY(QGCMapEngine::lat2elevationTileY(coordinate.latitude(), 1));
@@ -404,16 +440,10 @@ bool TerrainTileManager::_getAltitudesForCoordinates(const QList<QGeoCoordinate>
             _tilesMutex.unlock();
 
             return false;
-        } else {
-            if (_tiles[tileHash].isIn(coordinate)) {
-                altitudes.push_back(_tiles[tileHash].elevation(coordinate));
-            } else {
-                qCWarning(TerrainQueryLog) << "Error: coordinate not in tile region";
-                altitudes.push_back(-1.0);
-            }
         }
         _tilesMutex.unlock();
     }
+
     return true;
 }
 
@@ -477,14 +507,29 @@ void TerrainTileManager::_terrainDone(QByteArray responseBytes, QNetworkReply::N
 
     // now try to query the data again
     for (int i = _requestQueue.count() - 1; i >= 0; i--) {
+        bool error;
         QList<double> altitudes;
         QueuedRequestInfo_t& requestInfo = _requestQueue[i];
 
-        if (_getAltitudesForCoordinates(requestInfo.coordinates, altitudes)) {
+        if (_getAltitudesForCoordinates(requestInfo.coordinates, altitudes, error)) {
             if (requestInfo.queryMode == QueryMode::QueryModeCoordinates) {
-                requestInfo.terrainQueryInterface->_signalCoordinateHeights(requestInfo.coordinates.count() == altitudes.count(), altitudes);
+                if (error) {
+                    QList<double> noAltitudes;
+                    qCWarning(TerrainQueryLog) << "_terrainDone(coordinateQuery): signalling failure due to internal error";
+                    requestInfo.terrainQueryInterface->_signalCoordinateHeights(false, noAltitudes);
+                } else {
+                    qCDebug(TerrainQueryLog) << "_terrainDone(coordinateQuery): All altitudes taken from cached data";
+                    requestInfo.terrainQueryInterface->_signalCoordinateHeights(requestInfo.coordinates.count() == altitudes.count(), altitudes);
+                }
             } else if (requestInfo.queryMode == QueryMode::QueryModePath) {
-                requestInfo.terrainQueryInterface->_signalPathHeights(requestInfo.coordinates.count() == altitudes.count(), requestInfo.latStep, requestInfo.lonStep, altitudes);
+                if (error) {
+                    QList<double> noAltitudes;
+                    qCWarning(TerrainQueryLog) << "_terrainDone(coordinateQuery): signalling failure due to internal error";
+                    requestInfo.terrainQueryInterface->_signalPathHeights(false, requestInfo.latStep, requestInfo.lonStep, noAltitudes);
+                } else {
+                    qCDebug(TerrainQueryLog) << "_terrainDone(coordinateQuery): All altitudes taken from cached data";
+                    requestInfo.terrainQueryInterface->_signalPathHeights(requestInfo.coordinates.count() == altitudes.count(), requestInfo.latStep, requestInfo.lonStep, altitudes);
+                }
             }
             _requestQueue.removeAt(i);
         }
@@ -525,7 +570,7 @@ void TerrainAtCoordinateBatchManager::_sendNextBatch(void)
 
     if (_state != State::Idle) {
         // Waiting for last download the complete, wait some more
-        qCDebug(TerrainQueryLog) << "_sendNextBatch restarting timer";
+        qCDebug(TerrainQueryLog) << "TerrainAtCoordinateBatchManager::_sendNextBatch waiting for current batch, restarting timer";
         _batchTimer.start();
         return;
     }
@@ -549,7 +594,7 @@ void TerrainAtCoordinateBatchManager::_sendNextBatch(void)
         }
     }
     _requestQueue = _requestQueue.mid(requestQueueAdded);
-    qCDebug(TerrainQueryLog) << "_sendNextBatch - batch count:request queue count" << coords.count() << _requestQueue.count();
+    qCDebug(TerrainQueryLog) << "TerrainAtCoordinateBatchManager::_sendNextBatch requesting next batch _state:_requestQueue.count:_sentRequests.count" << _stateToString(_state) << _requestQueue.count() << _sentRequests.count();
 
     _state = State::Downloading;
     _terrainQuery.requestCoordinateHeights(coords);
@@ -610,7 +655,7 @@ void TerrainAtCoordinateBatchManager::_coordinateHeights(bool success, QList<dou
 {
     _state = State::Idle;
 
-    qCDebug(TerrainQueryLog) << "TerrainAtCoordinateBatchManager::_coordinateHeights success:count" << success << heights.count();
+    qCDebug(TerrainQueryLog) << "TerrainAtCoordinateBatchManager::_coordinateHeights signalled success:count" << success << heights.count();
 
     if (!success) {
         _batchFailed();

src/Terrain/TerrainQuery.h

@@ -140,9 +140,9 @@ private:
         QList<QGeoCoordinate>       coordinates;
     } QueuedRequestInfo_t;
 
-    void _tileFailed(void);
-    bool _getAltitudesForCoordinates(const QList<QGeoCoordinate>& coordinates, QList<double>& altitudes);
-    QString _getTileHash(const QGeoCoordinate& coordinate);     /// Method to create a unique string for each tile
+    void    _tileFailed                         (void);
+    bool    _getAltitudesForCoordinates         (const QList<QGeoCoordinate>& coordinates, QList<double>& altitudes, bool& error);
+    QString _getTileHash                        (const QGeoCoordinate& coordinate);
 
     QList<QueuedRequestInfo_t>  _requestQueue;
     State                       _state = State::Idle;

src/TerrainTile.cc

@@ -53,88 +53,57 @@ TerrainTile::TerrainTile(QByteArray byteArray)
     , _gridSizeLon(-1)
     , _isValid(false)
 {
-    QDataStream stream(byteArray);
+    int cTileHeaderBytes = static_cast<int>(sizeof(TileInfo_t));
+    int cTileBytesAvailable = byteArray.size();
 
-    float lat,lon;
-    if (stream.atEnd()) {
-        qWarning() << "Terrain tile binary data does not contain all data";
+    if (cTileBytesAvailable < cTileHeaderBytes) {
+        qWarning() << "Terrain tile binary data too small for TileInfo_s header";
         return;
     }
-    stream >> lat;
-    if (stream.atEnd()) {
-        qWarning() << "Terrain tile binary data does not contain all data";
-        return;
-    }
-    stream >> lon;
-    _southWest.setLatitude(lat);
-    _southWest.setLongitude(lon);
 
-    if (stream.atEnd()) {
-        qWarning() << "Terrain tile binary data does not contain all data";
-        return;
-    }
-    stream >> lat;
-    if (stream.atEnd()) {
-        qWarning() << "Terrain tile binary data does not contain all data";
-        return;
-    }
-    stream >> lon;
-    _northEast.setLatitude(lat);
-    _northEast.setLongitude(lon);
+    const TileInfo_t* tileInfo = reinterpret_cast<const TileInfo_t*>(byteArray.constData());
+    _southWest.setLatitude(tileInfo->swLat);
+    _southWest.setLongitude(tileInfo->swLon);
+    _northEast.setLatitude(tileInfo->neLat);
+    _northEast.setLongitude(tileInfo->neLon);
+    _minElevation = tileInfo->minElevation;
+    _maxElevation = tileInfo->maxElevation;
+    _avgElevation = tileInfo->avgElevation;
+    _gridSizeLat = tileInfo->gridSizeLat;
+    _gridSizeLon = tileInfo->gridSizeLon;
 
-    if (stream.atEnd()) {
-        qWarning() << "Terrain tile binary data does not contain all data";
-        return;
-    }
-    stream >> _minElevation;
-    if (stream.atEnd()) {
-        qWarning() << "Terrain tile binary data does not contain all data";
-        return;
-    }
-    stream >> _maxElevation;
-    if (stream.atEnd()) {
-        qWarning() << "Terrain tile binary data does not contain all data";
-        return;
-    }
-    stream >> _avgElevation;
-    if (stream.atEnd()) {
-        qWarning() << "Terrain tile binary data does not contain all data";
-        return;
-    }
-    stream >> _gridSizeLat;
-    if (stream.atEnd()) {
-        qWarning() << "Terrain tile binary data does not contain all data";
+    qCDebug(TerrainTileLog) << "Loading terrain tile: " << _southWest << " - " << _northEast;
+    qCDebug(TerrainTileLog) << "min:max:avg:sizeLat:sizeLon" << _minElevation << _maxElevation << _avgElevation << _gridSizeLat << _gridSizeLon;
+
+    int cTileDataBytes = static_cast<int>(sizeof(int16_t)) * _gridSizeLat * _gridSizeLon;
+    if (cTileBytesAvailable < cTileHeaderBytes + cTileDataBytes) {
+        qWarning() << "Terrain tile binary data too small for tile data";
         return;
     }
-    stream >> _gridSizeLon;
 
-    qCDebug(TerrainTileLog) << "Loading terrain tile: " << _southWest << " - " << _northEast;
-    qCDebug(TerrainTileLog) << "min:max:avg:sizeLat:sizeLon" << _minElevation << _maxElevation << _avgElevation << _gridSizeLat << _gridSizeLon;
+    _data = new int16_t*[_gridSizeLat];
+    for (int k = 0; k < _gridSizeLat; k++) {
+        _data[k] = new int16_t[_gridSizeLon];
+    }
 
+    int valueIndex = 0;
+    const int16_t* pTileData = reinterpret_cast<const int16_t*>(&reinterpret_cast<const uint8_t*>(byteArray.constData())[cTileHeaderBytes]);
     for (int i = 0; i < _gridSizeLat; i++) {
-        if (i == 0) {
-            _data = new int16_t*[_gridSizeLat];
-            for (int k = 0; k < _gridSizeLat; k++) {
-                _data[k] = new int16_t[_gridSizeLon];
-            }
-        }
         for (int j = 0; j < _gridSizeLon; j++) {
-            if (stream.atEnd()) {
-                qWarning() << "Terrain tile binary data does not contain all data";
-                return;
-            }
-            stream >> _data[i][j];
+            _data[i][j] = pTileData[valueIndex++];
         }
     }
 
     _isValid = true;
+
+    return;
 }
 
 
 bool TerrainTile::isIn(const QGeoCoordinate& coordinate) const
 {
     if (!_isValid) {
-        qCDebug(TerrainTileLog) << "isIn requested, but tile not valid";
+        qCWarning(TerrainTileLog) << "isIn requested, but tile not valid";
         return false;
     }
     bool ret = coordinate.latitude() >= _southWest.latitude() && coordinate.longitude() >= _southWest.longitude() &&
@@ -152,13 +121,13 @@ double TerrainTile::elevation(const QGeoCoordinate& coordinate) const
         int indexLon = _lonToDataIndex(coordinate.longitude());
         if (indexLat == -1 || indexLon == -1) {
             qCWarning(TerrainTileLog) << "Internal error indexLat:indexLon == -1" << indexLat << indexLon;
-            return -1.0;
+            return qQNaN();
         }
         qCDebug(TerrainTileLog) << "indexLat:indexLon" << indexLat << indexLon << "elevation" << _data[indexLat][indexLon];
         return static_cast<double>(_data[indexLat][indexLon]);
     } else {
-        qCDebug(TerrainTileLog) << "Asking for elevation, but no valid data.";
-        return -1.0;
+        qCWarning(TerrainTileLog) << "Asking for elevation, but no valid data.";
+        return qQNaN();
     }
 }
 
@@ -176,8 +145,6 @@ QByteArray TerrainTile::serialize(QByteArray input)
         return emptyArray;
     }
 
-    QByteArray byteArray;
-    QDataStream stream(&byteArray, QIODevice::WriteOnly);
     if (!document.isObject()) {
         qCDebug(TerrainTileLog) << "Terrain tile json doc is no object";
         QByteArray emptyArray;
@@ -231,10 +198,6 @@ QByteArray TerrainTile::serialize(QByteArray input)
         QByteArray emptyArray;
         return emptyArray;
     }
-    stream << static_cast<float>(swArray[0].toDouble());
-    stream << static_cast<float>(swArray[1].toDouble());
-    stream << static_cast<float>(neArray[0].toDouble());
-    stream << static_cast<float>(neArray[1].toDouble());
 
     // Stats
     const QJsonObject& statsObject = dataObject[_jsonStatsKey].toObject();
@@ -248,30 +211,46 @@ QByteArray TerrainTile::serialize(QByteArray input)
         QByteArray emptyArray;
         return emptyArray;
     }
-    stream << static_cast<int16_t>(statsObject[_jsonMinElevationKey].toInt());
-    stream << static_cast<int16_t>(statsObject[_jsonMaxElevationKey].toInt());
-    stream << static_cast<float>(statsObject[_jsonAvgElevationKey].toDouble());
 
     // Carpet
     const QJsonArray& carpetArray = dataObject[_jsonCarpetKey].toArray();
     int gridSizeLat = carpetArray.count();
-    stream << static_cast<int16_t>(gridSizeLat);
-    int gridSizeLon = 0;
-    qCDebug(TerrainTileLog) << "Received tile has size in latitude direction: " << carpetArray.count();
+    int gridSizeLon = carpetArray[0].toArray().count();
+    qCDebug(TerrainTileLog) << "Received tile has size in latitude direction: " << gridSizeLat;
+    qCDebug(TerrainTileLog) << "Received tile has size in longitued direction: " << gridSizeLon;
+
+    TileInfo_t tileInfo;
+
+    tileInfo.swLat = swArray[0].toDouble();
+    tileInfo.swLon = swArray[1].toDouble();
+    tileInfo.neLat = neArray[0].toDouble();
+    tileInfo.neLon = neArray[1].toDouble();
+    tileInfo.minElevation = static_cast<int16_t>(statsObject[_jsonMinElevationKey].toInt());
+    tileInfo.maxElevation = static_cast<int16_t>(statsObject[_jsonMaxElevationKey].toInt());
+    tileInfo.avgElevation = statsObject[_jsonAvgElevationKey].toDouble();
+    tileInfo.gridSizeLat = static_cast<int16_t>(gridSizeLat);
+    tileInfo.gridSizeLon = static_cast<int16_t>(gridSizeLon);
+
+    int cTileHeaderBytes = static_cast<int>(sizeof(TileInfo_t));
+    int cTileDataBytes = static_cast<int>(sizeof(int16_t)) * gridSizeLat * gridSizeLon;
+
+    QByteArray byteArray(cTileHeaderBytes + cTileDataBytes, 0);
+
+    TileInfo_t* pTileInfo = reinterpret_cast<TileInfo_t*>(byteArray.data());
+    int16_t*    pTileData = reinterpret_cast<int16_t*>(&reinterpret_cast<uint8_t*>(byteArray.data())[cTileHeaderBytes]);
+
+    *pTileInfo = tileInfo;
+
+    int valueIndex = 0;
     for (int i = 0; i < gridSizeLat; i++) {
         const QJsonArray& row = carpetArray[i].toArray();
-        if (i == 0) {
-            gridSizeLon = row.count();
-            stream << static_cast<int16_t>(gridSizeLon);
-            qCDebug(TerrainTileLog) << "Received tile has size in longitued direction: " << row.count();
-        }
         if (row.count() < gridSizeLon) {
             qCDebug(TerrainTileLog) << "Expected row array of " << gridSizeLon << ", instead got " << row.count();
             QByteArray emptyArray;
             return emptyArray;
         }
         for (int j = 0; j < gridSizeLon; j++) {
-            stream << static_cast<int16_t>(row[j].toDouble());
+            pTileData[valueIndex++] = static_cast<int16_t>(row[j].toDouble());
         }
     }
 
@@ -284,6 +263,7 @@ int TerrainTile::_latToDataIndex(double latitude) const
     if (isValid() && _southWest.isValid() && _northEast.isValid()) {
         return qRound((latitude - _southWest.latitude()) / (_northEast.latitude() - _southWest.latitude()) * (_gridSizeLat - 1));
     } else {
+        qCWarning(TerrainTileLog) << "TerrainTile::_latToDataIndex internal error" << isValid() << _southWest.isValid() << _northEast.isValid();
         return -1;
     }
 }
@@ -293,6 +273,7 @@ int TerrainTile::_lonToDataIndex(double longitude) const
     if (isValid() && _southWest.isValid() && _northEast.isValid()) {
         return qRound((longitude - _southWest.longitude()) / (_northEast.longitude() - _southWest.longitude()) * (_gridSizeLon - 1));
     } else {
+        qCWarning(TerrainTileLog) << "TerrainTile::_lonToDataIndex internal error" << isValid() << _southWest.isValid() << _northEast.isValid();
         return -1;
     }
 }

src/TerrainTile.h

@@ -95,6 +95,15 @@ public:
     static constexpr double terrainAltitudeSpacing = 30.0;
 
 private:
+    typedef struct {
+        double  swLat,swLon, neLat, neLon;
+        int16_t minElevation;
+        int16_t maxElevation;
+        double  avgElevation;
+        int16_t gridSizeLat;
+        int16_t gridSizeLon;
+    } TileInfo_t;
+
     inline int _latToDataIndex(double latitude) const;
     inline int _lonToDataIndex(double longitude) const;
 
@@ -103,7 +112,7 @@ private:
 
     int16_t             _minElevation;                                  /// Minimum elevation in tile
     int16_t             _maxElevation;                                  /// Maximum elevation in tile
-    float               _avgElevation;                                  /// Average elevation of the tile
+    double              _avgElevation;                                  /// Average elevation of the tile
 
     int16_t**           _data;                                          /// 2D elevation data array
     int16_t             _gridSizeLat;                                   /// data grid size in latitude direction

src/Vehicle/Vehicle.cc

@@ -1259,6 +1259,10 @@ void Vehicle::_handleWindCov(mavlink_message_t& message)
     float direction = qRadiansToDegrees(qAtan2(wind.wind_y, wind.wind_x));
     float speed = qSqrt(qPow(wind.wind_x, 2) + qPow(wind.wind_y, 2));
 
+    if (direction < 0) {
+        direction += 360;
+    }
+
     _windFactGroup.direction()->setRawValue(direction);
     _windFactGroup.speed()->setRawValue(speed);
     _windFactGroup.verticalSpeed()->setRawValue(0);

src/api/QGCCorePlugin.cc

@@ -33,6 +33,7 @@ public:
         , pOfflineMaps              (NULL)
         , pMAVLink                  (NULL)
         , pConsole                  (NULL)
+        , pHelp                     (NULL)
     #if defined(QT_DEBUG)
         , pMockLink                 (NULL)
         , pDebug                    (NULL)
@@ -73,6 +74,7 @@ public:
     QmlComponentInfo* pOfflineMaps;
     QmlComponentInfo* pMAVLink;
     QmlComponentInfo* pConsole;
+    QmlComponentInfo* pHelp;
 #if defined(QT_DEBUG)
     QmlComponentInfo* pMockLink;
     QmlComponentInfo* pDebug;
@@ -135,6 +137,9 @@ QVariantList &QGCCorePlugin::settingsPages()
         _p->pConsole = new QmlComponentInfo(tr("Console"),
                                        QUrl::fromUserInput("qrc:/qml/QGroundControl/Controls/AppMessages.qml"));
         _p->settingsList.append(QVariant::fromValue((QmlComponentInfo*)_p->pConsole));
+        _p->pHelp = new QmlComponentInfo(tr("Help"),
+                                       QUrl::fromUserInput("qrc:/qml/HelpSettings.qml"));
+        _p->settingsList.append(QVariant::fromValue((QmlComponentInfo*)_p->pHelp));
 #if defined(QT_DEBUG)
         //-- These are always present on Debug builds
         _p->pMockLink = new QmlComponentInfo(tr("Mock Link"),

src/ui/preferences/HelpSettings.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.3
+import QtQuick.Layouts  1.11
+
+import QGroundControl               1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.ScreenTools   1.0
+
+Rectangle {
+    color:          qgcPal.window
+    anchors.fill:   parent
+
+    readonly property real _margins: ScreenTools.defaultFontPixelHeight
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: true }
+
+    QGCFlickable {
+        anchors.margins:    _margins
+        anchors.fill:       parent
+        contentWidth:       grid.width
+        contentHeight:      grid.height
+        clip:               true
+
+        GridLayout {
+            id:         grid
+            columns:    2
+
+            QGCLabel { text: qsTr("QGroundControl User Guide") }
+            QGCLabel {
+                linkColor:          qgcPal.text
+                text:               "<a href=\"https://docs.qgroundcontrol.com\">https://docs.qgroundcontrol.com</a>"
+                onLinkActivated:    Qt.openUrlExternally(link)
+            }
+
+            QGCLabel { text: qsTr("PX4 Users Discussion Forum") }
+            QGCLabel {
+                linkColor:          qgcPal.text
+                text:               "<a href=\"http://discuss.px4.io/c/qgroundcontrol\">http://discuss.px4.io/c/qgroundcontrol</a>"
+                onLinkActivated:    Qt.openUrlExternally(link)
+            }
+
+            QGCLabel { text: qsTr("ArduPilot Users Discussion Forum") }
+            QGCLabel {
+                linkColor:          qgcPal.text
+                text:               "<a href=\"https://discuss.ardupilot.org/c/ground-control-software/qgroundcontrol\">https://discuss.ardupilot.org/c/ground-control-software/qgroundcontrol</a>"
+                onLinkActivated:    Qt.openUrlExternally(link)
+            }
+        }
+    }
+}