Merge branch 'master' into alt_speed_fix

qgroundcontrol.pro

@@ -32,8 +32,15 @@ QT += network \
     sql \
     declarative
 
-TEMPLATE = app
-TARGET = qgroundcontrol
+# Setting this variable allows you to include this .pro file in another such that
+# you can set your own TARGET and main() function. This is used by the unit test
+# build files to build unit test using all built parts of QGCS except for main.
+isEmpty(QGCS_UNITTEST_OVERRIDE) {
+    TEMPLATE = app
+    TARGET = qgroundcontrol
+    SOURCES += src/main.cc
+}
+
 BASEDIR = $${IN_PWD}
 linux-g++|linux-g++-64{
     debug {
@@ -556,7 +563,7 @@ contains(DEPENDENCIES_PRESENT, libfreenect) {
     # Enable only if libfreenect is available
     HEADERS += src/input/Freenect.h
 }
-SOURCES += src/main.cc \
+SOURCES += \
     src/QGCCore.cc \
     src/uas/UASManager.cc \
     src/uas/UAS.cc \

src/GAudioOutput.cc

@@ -44,14 +44,6 @@ This file is part of the QGROUNDCONTROL project
 // Speech synthesis is only supported with MSVC compiler
 #if _MSC_VER
 // Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
-#define _ATL_APARTMENT_THREADED
-
-#include <atlbase.h>
-//You may derive a class from CComModule and use it if you want to override something,
-//but do not change the name of _Module
-extern CComModule _Module;
-#include <atlcom.h>
-
 #include <sapi.h>
 
 //using System;

src/GAudioOutput.h

@@ -65,12 +65,6 @@ extern "C" {
 
 #if _MSC_VER
 // Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
-#define _ATL_APARTMENT_THREADED
-#include <atlbase.h>
-//You may derive a class from CComModule and use it if you want to override something,
-//but do not change the name of _Module
-extern CComModule _Module;
-#include <atlcom.h>
 #include <sapi.h>
 #endif
 

src/comm/LinkInterface.h

@@ -80,88 +80,9 @@ public:
      * Bit/s, NOT 104'857'600 Bit/s).
      *
      * @return The nominal data rate of the interface in bit per second, 0 if unknown
-     * @see getLongTermDataRate() For the mean data rate
-     * @see getShortTermDataRate() For a the mean data rate of the last seconds
-     * @see getCurrentDataRate() For the data rate of the last transferred chunk
-     * @see getMaxDataRate() For the maximum data rate
      **/
     virtual qint64 getNominalDataRate() const = 0;
 
-    /**
-     * @brief Full duplex support of this interface.
-     *
-     * This method returns true if the interface supports full duplex, which implies
-     * the full datarate when sending and receiving data simultaneously.
-     *
-     * @return True if the interface supports full duplex, false otherwise
-     **/
-    virtual bool isFullDuplex() const = 0;
-
-    /**
-     * @brief Get the link quality.
-     *
-     * The link quality is reported as percent, on a scale from 0 to 100% in 1% increments.
-     * If this feature is not supported by the interface, a call to this method return -1.
-     *
-     * @return The link quality in integer percent or -1 if not supported
-     **/
-    virtual int getLinkQuality() const = 0;
-
-    /**
-     * @Brief Get the long term (complete) mean of the data rate
-     *
-     * The mean of the total data rate. It is calculated as
-     * all transferred bits / total link uptime.
-     *
-     * @return The mean data rate of the interface in bit per second, 0 if unknown
-     * @see getNominalDataRate() For the nominal data rate of the interface
-     * @see getShortTermDataRate() For a the mean data rate of the last seconds
-     * @see getCurrentDataRate() For the data rate of the last transferred chunk
-     * @see getMaxDataRate() For the maximum data rate
-     **/
-    virtual qint64 getTotalUpstream() = 0;
-
-    /**
-     * @Brief Get the current data rate
-     *
-     * The datarate of the last 100 ms
-     *
-     * @return The mean data rate of the interface in bit per second, 0 if unknown
-     * @see getNominalDataRate() For the nominal data rate of the interface
-     * @see getLongTermDataRate() For the mean data rate
-     * @see getShortTermDataRate() For a the mean data rate of the last seconds
-     * @see getMaxDataRate() For the maximum data rate
-     **/
-    virtual qint64 getCurrentUpstream() = 0;
-
-    /**
-     * @Brief Get the maximum data rate
-     *
-     * The maximum peak data rate.
-     *
-     * @return The mean data rate of the interface in bit per second, 0 if unknown
-     * @see getNominalDataRate() For the nominal data rate of the interface
-     * @see getLongTermDataRate() For the mean data rate
-     * @see getShortTermDataRate() For a the mean data rate of the last seconds
-     * @see getCurrentDataRate() For the data rate of the last transferred chunk
-     **/
-    virtual qint64 getMaxUpstream() = 0;
-
-    /**
-     * @Brief Get the total number of bits sent
-     *
-     * @return The number of sent bits
-     **/
-    virtual qint64 getBitsSent() const = 0;
-
-    /**
-     * @Brief Get the total number of bits received
-     *
-     * @return The number of received bits
-     * @bug Decide if the bits should be counted fromt the instantiation of the interface or if the counter should reset on disconnect.
-     **/
-    virtual qint64 getBitsReceived() const = 0;
-
     /**
      * @brief Connect this interface logically
      *

src/comm/MAVLinkSimulationLink.cc

@@ -1005,67 +1005,3 @@ qint64 MAVLinkSimulationLink::getNominalDataRate() const
     /* 100 Mbit is reasonable fast and sufficient for all embedded applications */
     return 100000000;
 }
-
-qint64 MAVLinkSimulationLink::getTotalUpstream()
-{
-    return 0;
-    //TODO Add functionality here
-    // @todo Add functionality here
-}
-
-qint64 MAVLinkSimulationLink::getShortTermUpstream()
-{
-    return 0;
-}
-
-qint64 MAVLinkSimulationLink::getCurrentUpstream()
-{
-    return 0;
-}
-
-qint64 MAVLinkSimulationLink::getMaxUpstream()
-{
-    return 0;
-}
-
-qint64 MAVLinkSimulationLink::getBitsSent() const
-{
-    return 0;
-}
-
-qint64 MAVLinkSimulationLink::getBitsReceived() const
-{
-    return 0;
-}
-
-qint64 MAVLinkSimulationLink::getTotalDownstream()
-{
-    return 0;
-}
-
-qint64 MAVLinkSimulationLink::getShortTermDownstream()
-{
-    return 0;
-}
-
-qint64 MAVLinkSimulationLink::getCurrentDownstream()
-{
-    return 0;
-}
-
-qint64 MAVLinkSimulationLink::getMaxDownstream()
-{
-    return 0;
-}
-
-bool MAVLinkSimulationLink::isFullDuplex() const
-{
-    /* Full duplex is no problem when running in pure software, but this is a serial simulation */
-    return false;
-}
-
-int MAVLinkSimulationLink::getLinkQuality() const
-{
-    /* The Link quality is always perfect when running in software */
-    return 100;
-}

src/comm/MAVLinkSimulationLink.h

@@ -60,16 +60,6 @@ public:
 
     /* Extensive statistics for scientific purposes */
     qint64 getNominalDataRate() const;
-    qint64 getTotalUpstream();
-    qint64 getShortTermUpstream();
-    qint64 getCurrentUpstream();
-    qint64 getMaxUpstream();
-    qint64 getTotalDownstream();
-    qint64 getShortTermDownstream();
-    qint64 getCurrentDownstream();
-    qint64 getMaxDownstream();
-    qint64 getBitsSent() const;
-    qint64 getBitsReceived() const;
 
     QString getName() const;
     int getId() const;
@@ -80,9 +70,6 @@ public:
     int getDataBitsType() const;
     int getStopBitsType() const;
 
-    int getLinkQuality() const;
-    bool isFullDuplex() const;
-
 public slots:
     void writeBytes(const char* data, qint64 size);
     void readBytes();

src/comm/OpalLink.cc

@@ -509,50 +509,3 @@ qint64 OpalLink::getNominalDataRate() const
 {
     return 0; //unknown
 }
-
-int OpalLink::getLinkQuality() const
-{
-    return -1; //not supported
-}
-
-qint64 OpalLink::getTotalUpstream()
-{
-    statisticsMutex.lock();
-    qint64 totalUpstream =  bitsSentTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
-    statisticsMutex.unlock();
-    return totalUpstream;
-}
-
-qint64 OpalLink::getTotalDownstream()
-{
-    statisticsMutex.lock();
-    qint64 totalDownstream = bitsReceivedTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
-    statisticsMutex.unlock();
-    return totalDownstream;
-}
-
-qint64 OpalLink::getCurrentUpstream()
-{
-    return 0; //unknown
-}
-
-qint64 OpalLink::getMaxUpstream()
-{
-    return 0; //unknown
-}
-
-qint64 OpalLink::getBitsSent() const
-{
-    return bitsSentTotal;
-}
-
-qint64 OpalLink::getBitsReceived() const
-{
-    return bitsReceivedTotal;
-}
-
-
-bool OpalLink::isFullDuplex() const
-{
-    return false;
-}

src/comm/OpalLink.h

@@ -79,14 +79,6 @@ public:
 
 
     qint64 getNominalDataRate() const;
-    bool isFullDuplex() const;
-    int getLinkQuality() const;
-    qint64 getTotalUpstream();
-    qint64 getTotalDownstream();
-    qint64 getCurrentUpstream();
-    qint64 getMaxUpstream();
-    qint64 getBitsSent() const;
-    qint64 getBitsReceived() const;
 
     bool connect();
 
@@ -124,15 +116,8 @@ protected:
     int id;
     bool connectState;
 
-    quint64 bitsSentTotal;
-    quint64 bitsSentCurrent;
-    quint64 bitsSentMax;
-    quint64 bitsReceivedTotal;
-    quint64 bitsReceivedCurrent;
-    quint64 bitsReceivedMax;
     quint64 connectionStartTime;
 
-    QMutex statisticsMutex;
     QMutex receiveDataMutex;
 
     void setName(QString name);

src/comm/SerialLink.cc

@@ -208,7 +208,6 @@ void SerialLink::run()
 //                qDebug() << "rx of length " << QString::number(readData.length());
 
                 m_bytesRead += readData.length();
-                m_bitsReceivedTotal += readData.length() * 8;
                 linkErrorCount = 0;
             }
         }
@@ -278,9 +277,6 @@ void SerialLink::writeBytes(const char* data, qint64 size)
             m_transmitBuffer.append(byteArray);
         }
 
-        // Increase write counter
-        m_bitsSentTotal += size * 8;
-
         // Extra debug logging
 //            qDebug() << byteArray->toHex();
     } else {
@@ -321,7 +317,6 @@ void SerialLink::readBytes()
             //                fprintf(stderr,"%02x ", v);
             //            }
             //            fprintf(stderr,"\n");
-            m_bitsReceivedTotal += numBytes * 8;
         }
     }
     m_dataMutex.unlock();
@@ -420,7 +415,6 @@ bool SerialLink::hardwareConnect()
                      this, SLOT(linkError(SerialLinkPortError_t)));
 
 //    port->setCommTimeouts(QSerialPort::CtScheme_NonBlockingRead);
-    m_connectionStartTime = MG::TIME::getGroundTimeNow();
 
     if (!m_port->open(QIODevice::ReadWrite)) {
         emit communicationUpdate(getName(),"Error opening port: " + m_port->errorString());
@@ -532,62 +526,6 @@ qint64 SerialLink::getNominalDataRate() const
     return dataRate;
 }
 
-qint64 SerialLink::getTotalUpstream()
-{
-    m_statisticsMutex.lock();
-    return m_bitsSentTotal / ((MG::TIME::getGroundTimeNow() - m_connectionStartTime) / 1000);
-    m_statisticsMutex.unlock();
-}
-
-qint64 SerialLink::getCurrentUpstream()
-{
-    return 0; // TODO
-}
-
-qint64 SerialLink::getMaxUpstream()
-{
-    return 0; // TODO
-}
-
-qint64 SerialLink::getBitsSent() const
-{
-    return m_bitsSentTotal;
-}
-
-qint64 SerialLink::getBitsReceived() const
-{
-    return m_bitsReceivedTotal;
-}
-
-qint64 SerialLink::getTotalDownstream()
-{
-    m_statisticsMutex.lock();
-    return m_bitsReceivedTotal / ((MG::TIME::getGroundTimeNow() - m_connectionStartTime) / 1000);
-    m_statisticsMutex.unlock();
-}
-
-qint64 SerialLink::getCurrentDownstream()
-{
-    return 0; // TODO
-}
-
-qint64 SerialLink::getMaxDownstream()
-{
-    return 0; // TODO
-}
-
-bool SerialLink::isFullDuplex() const
-{
-    /* Serial connections are always half duplex */
-    return false;
-}
-
-int SerialLink::getLinkQuality() const
-{
-    /* This feature is not supported with this interface */
-    return -1;
-}
-
 QString SerialLink::getPortName() const
 {
     return m_portName;

src/comm/SerialLink.h

@@ -97,14 +97,6 @@ public:
 
     /* Extensive statistics for scientific purposes */
     qint64 getNominalDataRate() const;
-    qint64 getTotalUpstream();
-    qint64 getCurrentUpstream();
-    qint64 getMaxUpstream();
-    qint64 getTotalDownstream();
-    qint64 getCurrentDownstream();
-    qint64 getMaxDownstream();
-    qint64 getBitsSent() const;
-    qint64 getBitsReceived() const;
 
     void loadSettings();
     void writeSettings();
@@ -112,8 +104,6 @@ public:
     void run();
     void run2();
 
-    int getLinkQuality() const;
-    bool isFullDuplex() const;
     int getId() const;
 
 signals: //[TODO] Refactor to Linkinterface
@@ -161,16 +151,6 @@ protected:
     int m_timeout;
     int m_id;
 
-    quint64 m_bitsSentTotal;
-    quint64 m_bitsSentShortTerm;
-    quint64 m_bitsSentCurrent;
-    quint64 m_bitsSentMax;
-    quint64 m_bitsReceivedTotal;
-    quint64 m_bitsReceivedShortTerm;
-    quint64 m_bitsReceivedCurrent;
-    quint64 m_bitsReceivedMax;
-    quint64 m_connectionStartTime;
-    QMutex m_statisticsMutex;
     QMutex m_dataMutex;
     QMutex m_writeMutex;
     QList<QString> m_ports;

src/comm/TCPLink.cc

@@ -224,7 +224,6 @@ bool TCPLink::hardwareConnect(void)
     }
     
     socketIsConnected = true;
-    connectionStartTime = QGC::groundTimeUsecs()/1000;
     emit connected(true);
 
     return true;
@@ -232,6 +231,7 @@ bool TCPLink::hardwareConnect(void)
 
 void TCPLink::socketError(QAbstractSocket::SocketError socketError)
 {
+    Q_UNUSED(socketError);
     emit communicationError(getName(), "Error on socket: " + socket->errorString());
 }
 
@@ -266,60 +266,3 @@ qint64 TCPLink::getNominalDataRate() const
 {
     return 54000000; // 54 Mbit
 }
\ No newline at end of file
-
-qint64 TCPLink::getTotalUpstream()
-{
-    statisticsMutex.lock();
-    qint64 totalUpstream = bitsSentTotal / ((QGC::groundTimeUsecs()/1000 - connectionStartTime) / 1000);
-    statisticsMutex.unlock();
-    return totalUpstream;
-}
-
-qint64 TCPLink::getCurrentUpstream()
-{
-    return 0; // TODO
-}
-
-qint64 TCPLink::getMaxUpstream()
-{
-    return 0; // TODO
-}
-
-qint64 TCPLink::getBitsSent() const
-{
-    return bitsSentTotal;
-}
-
-qint64 TCPLink::getBitsReceived() const
-{
-    return bitsReceivedTotal;
-}
-
-qint64 TCPLink::getTotalDownstream()
-{
-    statisticsMutex.lock();
-    qint64 totalDownstream = bitsReceivedTotal / ((QGC::groundTimeUsecs()/1000 - connectionStartTime) / 1000);
-    statisticsMutex.unlock();
-    return totalDownstream;
-}
-
-qint64 TCPLink::getCurrentDownstream()
-{
-    return 0; // TODO
-}
-
-qint64 TCPLink::getMaxDownstream()
-{
-    return 0; // TODO
-}
-
-bool TCPLink::isFullDuplex() const
-{
-    return true;
-}
-
-int TCPLink::getLinkQuality() const
-{
-    /* This feature is not supported with this interface */
-    return -1;
-}

src/comm/TCPLink.h

@@ -71,19 +71,9 @@ public:
     
     /* Extensive statistics for scientific purposes */
     qint64 getNominalDataRate() const;
-    qint64 getTotalUpstream();
-    qint64 getCurrentUpstream();
-    qint64 getMaxUpstream();
-    qint64 getTotalDownstream();
-    qint64 getCurrentDownstream();
-    qint64 getMaxDownstream();
-    qint64 getBitsSent() const;
-    qint64 getBitsReceived() const;
     
     void run();
     
-    int getLinkQuality() const;
-    bool isFullDuplex() const;
     int getId() const;
     
 public slots:
@@ -105,14 +95,6 @@ protected:
     QTcpSocket* socket;
     bool socketIsConnected;
     
-    quint64 bitsSentTotal;
-    quint64 bitsSentCurrent;
-    quint64 bitsSentMax;
-    quint64 bitsReceivedTotal;
-    quint64 bitsReceivedCurrent;
-    quint64 bitsReceivedMax;
-    quint64 connectionStartTime;
-    QMutex statisticsMutex;
     QMutex dataMutex;
     
     void setName(QString name);

src/comm/UDPLink.cc

@@ -344,7 +344,6 @@ bool UDPLink::hardwareConnect(void)
     emit connected(connectState);
     if (connectState) {
         emit connected();
-        connectionStartTime = QGC::groundTimeUsecs()/1000;
     }
 	return connectState;
 }
@@ -381,60 +380,3 @@ qint64 UDPLink::getNominalDataRate() const
 {
     return 54000000; // 54 Mbit
 }
\ No newline at end of file
-
-qint64 UDPLink::getTotalUpstream()
-{
-    statisticsMutex.lock();
-    qint64 totalUpstream = bitsSentTotal / ((QGC::groundTimeUsecs()/1000 - connectionStartTime) / 1000);
-    statisticsMutex.unlock();
-    return totalUpstream;
-}
-
-qint64 UDPLink::getCurrentUpstream()
-{
-    return 0; // TODO
-}
-
-qint64 UDPLink::getMaxUpstream()
-{
-    return 0; // TODO
-}
-
-qint64 UDPLink::getBitsSent() const
-{
-    return bitsSentTotal;
-}
-
-qint64 UDPLink::getBitsReceived() const
-{
-    return bitsReceivedTotal;
-}
-
-qint64 UDPLink::getTotalDownstream()
-{
-    statisticsMutex.lock();
-    qint64 totalDownstream = bitsReceivedTotal / ((QGC::groundTimeUsecs()/1000 - connectionStartTime) / 1000);
-    statisticsMutex.unlock();
-    return totalDownstream;
-}
-
-qint64 UDPLink::getCurrentDownstream()
-{
-    return 0; // TODO
-}
-
-qint64 UDPLink::getMaxDownstream()
-{
-    return 0; // TODO
-}
-
-bool UDPLink::isFullDuplex() const
-{
-    return true;
-}
-
-int UDPLink::getLinkQuality() const
-{
-    /* This feature is not supported with this interface */
-    return -1;
-}

src/comm/UDPLink.h

@@ -73,19 +73,9 @@ public:
 
     /* Extensive statistics for scientific purposes */
     qint64 getNominalDataRate() const;
-    qint64 getTotalUpstream();
-    qint64 getCurrentUpstream();
-    qint64 getMaxUpstream();
-    qint64 getTotalDownstream();
-    qint64 getCurrentDownstream();
-    qint64 getMaxDownstream();
-    qint64 getBitsSent() const;
-    qint64 getBitsReceived() const;
 
     void run();
 
-    int getLinkQuality() const;
-    bool isFullDuplex() const;
     int getId() const;
 
 public slots:
@@ -118,14 +108,6 @@ protected:
     QList<QHostAddress> hosts;
     QList<quint16> ports;
 
-    quint64 bitsSentTotal;
-    quint64 bitsSentCurrent;
-    quint64 bitsSentMax;
-    quint64 bitsReceivedTotal;
-    quint64 bitsReceivedCurrent;
-    quint64 bitsReceivedMax;
-    quint64 connectionStartTime;
-    QMutex statisticsMutex;
     QMutex dataMutex;
 
     void setName(QString name);

src/comm/XbeeLink.cpp

@@ -123,42 +123,6 @@ qint64 XbeeLink::getNominalDataRate() const
 {
 	return this->m_baudRate;
 }
-
-bool XbeeLink::isFullDuplex() const
-{
-	return false;
-}
-
-int XbeeLink::getLinkQuality() const
-{
-	return -1; // TO DO:
-}
-
-qint64 XbeeLink::getTotalUpstream()
-{
-	return 0; // TO DO:
-}
-
-qint64 XbeeLink::getCurrentUpstream()
-{
-	return 0; // TO DO:
-}
-
-qint64 XbeeLink::getMaxUpstream()
-{
-	return 0; // TO DO:
-}
-
-qint64 XbeeLink::getBitsSent() const
-{
-	return 0; // TO DO:
-}
-
-qint64 XbeeLink::getBitsReceived() const
-{
-	return 0; // TO DO:
-}
-
 bool XbeeLink::hardwareConnect()
 {
 	emit tryConnectBegin(true);

src/comm/XbeeLink.h

@@ -35,13 +35,6 @@ public: // virtual functions from LinkInterface
     QString getName() const;
     bool isConnected() const;
     qint64 getNominalDataRate() const;
-    bool isFullDuplex() const;
-    int getLinkQuality() const;
-    qint64 getTotalUpstream();
-    qint64 getCurrentUpstream();
-    qint64 getMaxUpstream();
-    qint64 getBitsSent() const;
-    qint64 getBitsReceived() const;
     bool connect();
     bool disconnect();
     qint64 bytesAvailable();

src/qgcunittest/UASUnitTest.cc

@@ -178,28 +178,28 @@ void UASUnitTest::getSystemType_test()
 
 void UASUnitTest::getAirframe_test()
 {
-    //when uas is constructed, airframe is set to QGC_AIRFRAME_GENERIC which is 0
-    QCOMPARE(uas->getAirframe(), 0);
+    //when uas is constructed, airframe is set to QGC_AIRFRAME_GENERIC
+    QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_GENERIC);
 }
 
 void UASUnitTest::setAirframe_test()
 {
     //check at construction, that airframe=0 (GENERIC)
-    QVERIFY(uas->getAirframe() == 0);
+    QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_GENERIC);
 
     //check that set airframe works
-    uas->setAirframe(11);
-    QVERIFY(uas->getAirframe() == 11);
+    uas->setAirframe(UASInterface::QGC_AIRFRAME_HEXCOPTER);
+    QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_HEXCOPTER);
 
     //check that setAirframe will not assign a number to airframe, that is 
     //not defined in the enum 
-    uas->setAirframe(12);
-    QVERIFY(uas->getAirframe() == 11);
+    uas->setAirframe(UASInterface::QGC_AIRFRAME_END_OF_ENUM);
+    QVERIFY(uas->getAirframe() == UASInterface::QGC_AIRFRAME_HEXCOPTER);
 }
 
 void UASUnitTest::getWaypointList_test()
 {
-    QVector<Waypoint*> kk = uas->getWaypointManager()->getWaypointEditableList();
+    QList<Waypoint*> kk = uas->getWaypointManager()->getWaypointEditableList();
     QCOMPARE(kk.count(), 0);
 
     Waypoint* wp = new Waypoint(0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");
@@ -232,7 +232,7 @@ void UASUnitTest::getWaypoint_test()
 
     uas->getWaypointManager()->addWaypointEditable(wp, true);
 
-    QVector<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
+    QList<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
 
     QCOMPARE(wpList.count(), 1);
     QCOMPARE(static_cast<quint16>(0), static_cast<Waypoint*>(wpList.at(0))->getId());
@@ -281,7 +281,7 @@ void UASUnitTest::signalWayPoint_test()
     QCOMPARE(spy2.count(), 1);
 
     uas->getWaypointManager()->clearWaypointList();
-    QVector<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
+    QList<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
     QCOMPARE(wpList.count(), 1);
     delete uas;
     uas = NULL;
@@ -292,7 +292,7 @@ void UASUnitTest::signalUASLink_test()
 {
 
     QSignalSpy spy(uas, SIGNAL(modeChanged(int,QString,QString)));
-    uas->setMode(2);
+    uas->setMode(2, 0);
     QCOMPARE(spy.count(), 0);// not solve for UAS not receiving message from UAS
 
     QSignalSpy spyS(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)));
@@ -391,10 +391,10 @@ void UASUnitTest::signalIdUASLink_test()
     LinkInterface* b = static_cast<LinkInterface*>(links.at(1));
     LinkInterface* c = static_cast<LinkInterface*>(links.at(2));
     LinkInterface* d = static_cast<LinkInterface*>(links.at(3));
-    QCOMPARE(a->getName(), QString("serial port COM 17"));
-    QCOMPARE(b->getName(), QString("serial port COM 18"));
-    QCOMPARE(c->getName(), QString("serial port COM 19"));
-    QCOMPARE(d->getName(), QString("serial port COM 20"));
+    QCOMPARE(a->getName(), QString("COM 17"));
+    QCOMPARE(b->getName(), QString("COM 18"));
+    QCOMPARE(c->getName(), QString("COM 19"));
+    QCOMPARE(d->getName(), QString("COM 20"));
 
     LinkManager::instance()->removeLink(myLink4);
     delete myLink4;

src/uas/UAS.cc

@@ -144,6 +144,10 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     attitudeStamped(false),
     lastAttitude(0),
 
+    roll(0.0),
+    pitch(0.0),
+    yaw(0.0),
+
     paramsOnceRequested(false),
     simulation(0),
 

src/ui/MAVLinkDecoder.cc

@@ -54,7 +54,10 @@ void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t messag
 
     uint8_t msgid = message.msgid;
 
-    // Handle time sync message
+    // Store an arrival time for this message. This value ends up being calculated later.
+    quint64 time = 0;
+    
+    // The SYSTEM_TIME message is special, in that it's handled here for synchronizing the QGC time with the remote time.
     if (message.msgid == MAVLINK_MSG_ID_SYSTEM_TIME)
     {
         mavlink_system_time_t timebase;
@@ -65,11 +68,7 @@ void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t messag
     else
     {
 
-        QString messageName("%1 (#%2)");
-        messageName = messageName.arg(messageInfo[msgid].name).arg(msgid);
-
-        // See if first value is a time value
-        quint64 time = 0;
+        // See if first value is a time value and if it is, use that as the arrival time for this data.
         uint8_t fieldid = 0;
         uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
         if (QString(messageInfo[msgid].fields[fieldid].name) == QString("time_boot_ms") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT32_T)
@@ -81,21 +80,16 @@ void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t messag
             time = *((quint64*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
             time = (time+500)/1000; // Scale to milliseconds, round up/down correctly
         }
-        else
-        {
-            // First value is not time, send out value 0
-            emitFieldValue(&message, fieldid, getUnixTimeFromMs(message.sysid, 0));
     }
 
-        // Align time to global time
+    // Align UAS time to global time
     time = getUnixTimeFromMs(message.sysid, time);
 
-        // Send out field values from 1..n
-        for (unsigned int i = 1; i < messageInfo[msgid].num_fields; ++i)
+    // Send out all field values for this message
+    for (int i = 0; i < messageInfo[msgid].num_fields; ++i)
     {
         emitFieldValue(&message, i, time);
     }
-    }
 
     // Send out combined math expressions
     // FIXME XXX TODO