Updated MAVLink, fixed minor issues with contributed style updates, ready for prime time

files/styles/style-dark.css

@@ -111,24 +111,34 @@ QGCToolBar QLabel#toolBarBatteryBar {
 }
 
 QGCToolBar QLabel#toolBarTimeoutLabel {
-    color: #000;
+    color: #FFFFFF;
     background-color: #FF0037;
+    font-size: 15pt;
+}
+
+QGCToolBar QLabel#toolBarSafetyLabel {
+    /* color is for this label defined within the code */
+    font-size: 15pt;
 }
 
 QGCToolBar QLabel#toolBarModeLabel {
     color: #ACEBFE;
+    font-size: 15pt;
 }
 
 QGCToolBar QLabel#toolBarStateLabel {
     color: #FEC654;
+    font-size: 15pt;
 }
 
 QGCToolBar QLabel#toolBarBatteryVoltageLabel {
     color: #0F0;
+    font-size: 15pt;
 }
 
 QGCToolBar QLabel#toolBarWpLabel {
     color: #ACEBFE;
+    font-size: 15pt;
 }
 
 QGCToolBar QLabel#toolBarMessageLabel {

files/styles/style-light.css

@@ -111,24 +111,34 @@ QGCToolBar QLabel#toolBarBatteryBar {
 }
 
 QGCToolBar QLabel#toolBarTimeoutLabel {
-    color: #000;
+    color: #FFFFFF;
     background-color: #FF0037;
+    font-size: 15pt;
+}
+
+QGCToolBar QLabel#toolBarSafetyLabel {
+    /* color is for this label defined within the code */
+    font-size: 15pt;
 }
 
 QGCToolBar QLabel#toolBarModeLabel {
     color: #475E66;
+    font-size: 15pt;
 }
 
 QGCToolBar QLabel#toolBarStateLabel {
     color: #80632A;
+    font-size: 15pt;
 }
 
 QGCToolBar QLabel#toolBarBatteryVoltageLabel {
     color: #008000;
+    font-size: 15pt;
 }
 
 QGCToolBar QLabel#toolBarWpLabel {
     color: #475E66;
+    font-size: 15pt;
 }
 
 QGCToolBar QLabel#toolBarMessageLabel {

libs/mavlink/include/mavlink/v1.0/ardupilotmega/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Jul  1 09:49:34 2013"
+#define MAVLINK_BUILD_DATE "Thu Jul  4 13:11:17 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
  

libs/mavlink/include/mavlink/v1.0/autoquad/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Jul  1 09:49:48 2013"
+#define MAVLINK_BUILD_DATE "Thu Jul  4 13:11:37 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
  

libs/mavlink/include/mavlink/v1.0/common/testsuite.h

@@ -3346,25 +3346,28 @@ static void mavlink_test_hil_state(uint8_t system_id, uint8_t component_id, mavl
         uint16_t i;
 	mavlink_hil_state_t packet_in = {
 		93372036854775807ULL,
-	{ 73.0, 74.0, 75.0, 76.0 },
+	73.0,
+	101.0,
+	129.0,
+	157.0,
 	185.0,
 	213.0,
-	241.0,
+	963499128,
 	963499336,
 	963499544,
-	963499752,
+	19523,
+	19627,
 	19731,
 	19835,
 	19939,
 	20043,
-	20147,
-	20251,
-	20355,
-	20459,
 	};
 	mavlink_hil_state_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
         	packet1.time_usec = packet_in.time_usec;
+        	packet1.roll = packet_in.roll;
+        	packet1.pitch = packet_in.pitch;
+        	packet1.yaw = packet_in.yaw;
         	packet1.rollspeed = packet_in.rollspeed;
         	packet1.pitchspeed = packet_in.pitchspeed;
         	packet1.yawspeed = packet_in.yawspeed;
@@ -3374,13 +3377,10 @@ static void mavlink_test_hil_state(uint8_t system_id, uint8_t component_id, mavl
         	packet1.vx = packet_in.vx;
         	packet1.vy = packet_in.vy;
         	packet1.vz = packet_in.vz;
-        	packet1.ind_airspeed = packet_in.ind_airspeed;
-        	packet1.true_airspeed = packet_in.true_airspeed;
         	packet1.xacc = packet_in.xacc;
         	packet1.yacc = packet_in.yacc;
         	packet1.zacc = packet_in.zacc;
         
-        	mav_array_memcpy(packet1.attitude_quaternion, packet_in.attitude_quaternion, sizeof(float)*4);
         
 
         memset(&packet2, 0, sizeof(packet2));
@@ -3389,12 +3389,12 @@ static void mavlink_test_hil_state(uint8_t system_id, uint8_t component_id, mavl
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_state_pack(system_id, component_id, &msg , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc );
+	mavlink_msg_hil_state_pack(system_id, component_id, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc );
 	mavlink_msg_hil_state_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc );
+	mavlink_msg_hil_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc );
 	mavlink_msg_hil_state_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -3407,7 +3407,7 @@ static void mavlink_test_hil_state(uint8_t system_id, uint8_t component_id, mavl
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_state_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc );
+	mavlink_msg_hil_state_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc );
 	mavlink_msg_hil_state_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
@@ -4415,6 +4415,79 @@ static void mavlink_test_hil_optical_flow(uint8_t system_id, uint8_t component_i
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_hil_state_quaternion(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_hil_state_quaternion_t packet_in = {
+		93372036854775807ULL,
+	{ 73.0, 74.0, 75.0, 76.0 },
+	185.0,
+	213.0,
+	241.0,
+	963499336,
+	963499544,
+	963499752,
+	19731,
+	19835,
+	19939,
+	20043,
+	20147,
+	20251,
+	20355,
+	20459,
+	};
+	mavlink_hil_state_quaternion_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.time_usec = packet_in.time_usec;
+        	packet1.rollspeed = packet_in.rollspeed;
+        	packet1.pitchspeed = packet_in.pitchspeed;
+        	packet1.yawspeed = packet_in.yawspeed;
+        	packet1.lat = packet_in.lat;
+        	packet1.lon = packet_in.lon;
+        	packet1.alt = packet_in.alt;
+        	packet1.vx = packet_in.vx;
+        	packet1.vy = packet_in.vy;
+        	packet1.vz = packet_in.vz;
+        	packet1.ind_airspeed = packet_in.ind_airspeed;
+        	packet1.true_airspeed = packet_in.true_airspeed;
+        	packet1.xacc = packet_in.xacc;
+        	packet1.yacc = packet_in.yacc;
+        	packet1.zacc = packet_in.zacc;
+        
+        	mav_array_memcpy(packet1.attitude_quaternion, packet_in.attitude_quaternion, sizeof(float)*4);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_hil_state_quaternion_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_hil_state_quaternion_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_hil_state_quaternion_pack(system_id, component_id, &msg , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc );
+	mavlink_msg_hil_state_quaternion_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_hil_state_quaternion_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc );
+	mavlink_msg_hil_state_quaternion_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_hil_state_quaternion_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_hil_state_quaternion_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc );
+	mavlink_msg_hil_state_quaternion_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_battery_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_message_t msg;
@@ -4957,6 +5030,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
 	mavlink_test_file_transfer_res(system_id, component_id, last_msg);
 	mavlink_test_hil_gps(system_id, component_id, last_msg);
 	mavlink_test_hil_optical_flow(system_id, component_id, last_msg);
+	mavlink_test_hil_state_quaternion(system_id, component_id, last_msg);
 	mavlink_test_battery_status(system_id, component_id, last_msg);
 	mavlink_test_setpoint_8dof(system_id, component_id, last_msg);
 	mavlink_test_setpoint_6dof(system_id, component_id, last_msg);

libs/mavlink/include/mavlink/v1.0/common/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Jul  1 09:51:07 2013"
+#define MAVLINK_BUILD_DATE "Thu Jul  4 13:47:40 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
  

libs/mavlink/include/mavlink/v1.0/matrixpilot/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Jul  1 09:50:15 2013"
+#define MAVLINK_BUILD_DATE "Thu Jul  4 13:11:50 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
  

libs/mavlink/include/mavlink/v1.0/mavlink_conversions.h

+#ifndef  _MAVLINK_CONVERSIONS_H_
+#define  _MAVLINK_CONVERSIONS_H_
+
+#include <math.h>
+
+/**
+ * @file mavlink_conversions.h
+ *
+ * These conversion functions follow the NASA rotation standards definition file
+ * available online.
+ *
+ * Their intent is to lower the barrier for MAVLink adopters to use gimbal-lock free
+ * (both rotation matrices, sometimes called DCM, and quaternions are gimbal-lock free)
+ * rotation representations. Euler angles (roll, pitch, yaw) will be phased out of the
+ * protocol as widely as possible.
+ *
+ * @author James Goppert
+ */
+
+MAVLINK_HELPER void mavlink_quaternion_to_dcm(const float quaternion[4], float dcm[3][3])
+{
+    double a = quaternion[0];
+    double b = quaternion[1];
+    double c = quaternion[2];
+    double d = quaternion[3];
+    double aSq = a * a;
+    double bSq = b * b;
+    double cSq = c * c;
+    double dSq = d * d;
+    dcm[0][0] = aSq + bSq - cSq - dSq;
+    dcm[0][1] = 2.0 * (b * c - a * d);
+    dcm[0][2] = 2.0 * (a * c + b * d);
+    dcm[1][0] = 2.0 * (b * c + a * d);
+    dcm[1][1] = aSq - bSq + cSq - dSq;
+    dcm[1][2] = 2.0 * (c * d - a * b);
+    dcm[2][0] = 2.0 * (b * d - a * c);
+    dcm[2][1] = 2.0 * (a * b + c * d);
+    dcm[2][2] = aSq - bSq - cSq + dSq;
+}
+
+MAVLINK_HELPER void mavlink_dcm_to_euler(const float dcm[3][3], float* roll, float* pitch, float* yaw)
+{
+    float phi, theta, psi;
+    theta = asin(-dcm[2][0]);
+
+    if (fabs(theta - M_PI_2) < 1.0e-3f) {
+        phi = 0.0f;
+        psi = (atan2(dcm[1][2] - dcm[0][1],
+                dcm[0][2] + dcm[1][1]) + phi);
+
+    } else if (fabs(theta + M_PI_2) < 1.0e-3f) {
+        phi = 0.0f;
+        psi = atan2f(dcm[1][2] - dcm[0][1],
+                  dcm[0][2] + dcm[1][1] - phi);
+
+    } else {
+        phi = atan2f(dcm[2][1], dcm[2][2]);
+        psi = atan2f(dcm[1][0], dcm[0][0]);
+    }
+
+    *roll = phi;
+    *pitch = theta;
+    *yaw = psi;
+}
+
+MAVLINK_HELPER void mavlink_quaternion_to_euler(const float quaternion[4], float* roll, float* pitch, float* yaw)
+{
+    float dcm[3][3];
+    mavlink_quaternion_to_dcm(quaternion, dcm);
+    mavlink_dcm_to_euler(dcm, roll, pitch, yaw);
+}
+
+MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float yaw, float quaternion[4])
+{
+    double cosPhi_2 = cos((double)roll / 2.0);
+    double sinPhi_2 = sin((double)roll / 2.0);
+    double cosTheta_2 = cos((double)pitch / 2.0);
+    double sinTheta_2 = sin((double)pitch / 2.0);
+    double cosPsi_2 = cos((double)yaw / 2.0);
+    double sinPsi_2 = sin((double)yaw / 2.0);
+    quaternion[0] = (cosPhi_2 * cosTheta_2 * cosPsi_2 +
+            sinPhi_2 * sinTheta_2 * sinPsi_2);
+    quaternion[1] = (sinPhi_2 * cosTheta_2 * cosPsi_2 -
+            cosPhi_2 * sinTheta_2 * sinPsi_2);
+    quaternion[2] = (cosPhi_2 * sinTheta_2 * cosPsi_2 +
+            sinPhi_2 * cosTheta_2 * sinPsi_2);
+    quaternion[3] = (cosPhi_2 * cosTheta_2 * sinPsi_2 -
+            sinPhi_2 * sinTheta_2 * cosPsi_2);
+}
+
+MAVLINK_HELPER void mavlink_dcm_to_quaternion(const float dcm[3][3], float quaternion[4])
+{
+    quaternion[0] = (0.5 * sqrt(1.0 +
+            (double)(dcm[0][0] + dcm[1][1] + dcm[2][2])));
+    quaternion[1] = (0.5 * sqrt(1.0 +
+            (double)(dcm[0][0] - dcm[1][1] - dcm[2][2])));
+    quaternion[2] = (0.5 * sqrt(1.0 +
+            (double)(-dcm[0][0] + dcm[1][1] - dcm[2][2])));
+    quaternion[3] = (0.5 * sqrt(1.0 +
+            (double)(-dcm[0][0] - dcm[1][1] + dcm[2][2])));
+}
+
+MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, float dcm[3][3])
+{
+    double cosPhi = cos(roll);
+    double sinPhi = sin(roll);
+    double cosThe = cos(pitch);
+    double sinThe = sin(pitch);
+    double cosPsi = cos(yaw);
+    double sinPsi = sin(yaw);
+
+    dcm[0][0] = cosThe * cosPsi;
+    dcm[0][1] = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
+    dcm[0][2] = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;
+
+    dcm[1][0] = cosThe * sinPsi;
+    dcm[1][1] = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
+    dcm[1][2] = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
+
+    dcm[2][0] = -sinThe;
+    dcm[2][1] = sinPhi * cosThe;
+    dcm[2][2] = cosPhi * cosThe;
+}
+
+#endif
\ No newline at end of file

libs/mavlink/include/mavlink/v1.0/mavlink_helpers.h

@@ -4,6 +4,7 @@
 #include "string.h"
 #include "checksum.h"
 #include "mavlink_types.h"
+#include "mavlink_conversions.h"
 
 #ifndef MAVLINK_HELPER
 #define MAVLINK_HELPER

libs/mavlink/include/mavlink/v1.0/pixhawk/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Jul  1 09:50:30 2013"
+#define MAVLINK_BUILD_DATE "Thu Jul  4 13:12:05 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

libs/mavlink/include/mavlink/v1.0/sensesoar/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Jul  1 09:50:52 2013"
+#define MAVLINK_BUILD_DATE "Thu Jul  4 13:12:22 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
  

src/comm/MAVLinkSimulationMAV.cc

@@ -406,10 +406,10 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
         if (systemid == mode.target_system) sys_mode = mode.base_mode;
     }
     break;
-    case MAVLINK_MSG_ID_HIL_STATE:
+    case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
     {
-        mavlink_hil_state_t state;
-        mavlink_msg_hil_state_decode(&msg, &state);
+        mavlink_hil_state_quaternion_t state;
+        mavlink_msg_hil_state_quaternion_decode(&msg, &state);
 
         double a = state.attitude_quaternion[0];
         double b = state.attitude_quaternion[1];

src/uas/UAS.cc

@@ -3033,7 +3033,7 @@ void UAS::sendHilState(quint64 time_us, float roll, float pitch, float yaw, floa
                 sinPhi_2 * sinTheta_2 * cosPsi_2);
 
         mavlink_message_t msg;
-        mavlink_msg_hil_state_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
+        mavlink_msg_hil_state_quaternion_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
                                    time_us, q, rollspeed, pitchspeed, yawspeed,
                                    lat*1e7f, lon*1e7f, alt*1000, vx*100, vy*100, vz*100, ind_airspeed*100, true_airspeed*100, xacc*1000/9.81, yacc*1000/9.81, zacc*1000/9.81);
         sendMessage(msg);

src/ui/QGCToolBar.cc

@@ -416,18 +416,18 @@ void QGCToolBar::updateView()
     // Display the system armed state with a red-on-yellow background if armed or green text if safe.
     if (systemArmed)
     {
-        toolBarSafetyLabel->setStyleSheet(QString("QLabel {color: %1; background-color: %2;}").arg(QGC::colorRed.name()).arg(QGC::colorYellow.name()));
+        toolBarSafetyLabel->setStyleSheet(QString("QLabel {color: %1; background-color: %2; font-size: 15pt;}").arg(QGC::colorRed.name()).arg(QGC::colorYellow.name()));
         toolBarSafetyLabel->setText(tr("ARMED"));
     }
     else
     {
         if (MainWindow::instance()->getStyle() == MainWindow::QGC_MAINWINDOW_STYLE_LIGHT)
         {
-            toolBarSafetyLabel->setStyleSheet("QLabel {color: #0D820D;}");
+            toolBarSafetyLabel->setStyleSheet("QLabel {color: #0D820D; font-size: 15pt;}");
         }
         else
         {
-            toolBarSafetyLabel->setStyleSheet("QLabel {color: #14C814;}");
+            toolBarSafetyLabel->setStyleSheet("QLabel {color: #14C814; font-size: 15pt;}");
         }
         toolBarSafetyLabel->setText(tr("SAFE"));
     }