Added angle conversion testing, added battery settings option, added option to...

Added angle conversion testing, added battery settings option, added option to set MAVLink ID of groundstation

qgcunittest/UASUnitTest.cc

@@ -6,14 +6,15 @@ UASUnitTest::UASUnitTest()
 
 void UASUnitTest::initTestCase()
 {
-  mav= new MAVLinkProtocol();
-  uas=new UAS(mav,UASID);
+    mav= new MAVLinkProtocol();
+    link = new SerialLink();
+    uas=new UAS(mav,UASID);
 }
 
 void UASUnitTest::cleanupTestCase()
 {
-  delete uas;
-  delete mav;
+    delete uas;
+    delete mav;
 
 }
 
@@ -34,123 +35,244 @@ void UASUnitTest::getUASID_test()
 
 void UASUnitTest::getUASName_test()
 {
-  // Test that the name is build as MAV + ID
-  QCOMPARE(uas->getUASName(), "MAV 0" + QString::number(UASID));
+    // Test that the name is build as MAV + ID
+    QCOMPARE(uas->getUASName(), "MAV 0" + QString::number(UASID));
 
 }
 
 void UASUnitTest::getUpTime_test()
 {
-  UAS* uas2 = new UAS(mav);
-  // Test that the uptime starts at zero to a
-  // precision of seconds
-  QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0);
+    UAS* uas2 = new UAS(mav);
+    // Test that the uptime starts at zero to a
+    // precision of seconds
+    QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0);
 
-  // Sleep for three seconds
-  QTest::qSleep(3000);
+    // Sleep for three seconds
+    QTest::qSleep(3000);
 
-  // Test that the up time is computed correctly to a
-  // precision of seconds
-  QCOMPARE(floor(uas2->getUptime()/1000.0), 3.0);
+    // Test that the up time is computed correctly to a
+    // precision of seconds
+    QCOMPARE(floor(uas2->getUptime()/1000.0), 3.0);
 
-  delete uas2;
+    delete uas2;
 }
 
 void UASUnitTest::getCommunicationStatus_test()
 {
-  // Verify that upon construction the Comm status is disconnected
-  QCOMPARE(uas->getCommunicationStatus(), static_cast<int>(UASInterface::COMM_DISCONNECTED));
+    // Verify that upon construction the Comm status is disconnected
+    QCOMPARE(uas->getCommunicationStatus(), static_cast<int>(UASInterface::COMM_DISCONNECTED));
 }
 
 void UASUnitTest::filterVoltage_test()
 {
     float verificar=uas->filterVoltage(0.4f);
-  // Verify that upon construction the Comm status is disconnected
-  QCOMPARE(verificar, 8.52f);
+    // Verify that upon construction the Comm status is disconnected
+    QCOMPARE(verificar, 8.52f);
 }
 void UASUnitTest:: getAutopilotType_test()
 {
-    int verificar=uas->getAutopilotType();
-  // Verify that upon construction the autopilot is set to -1
-  QCOMPARE(verificar, -1);
+    int type = uas->getAutopilotType();
+    // Verify that upon construction the autopilot is set to -1
+    QCOMPARE(type, -1);
 }
 void UASUnitTest::setAutopilotType_test()
 {
-  uas->setAutopilotType(2);
-  // Verify that the autopilot is set
-  QCOMPARE(uas->getAutopilotType(), 2);
+    uas->setAutopilotType(2);
+    // Verify that the autopilot is set
+    QCOMPARE(uas->getAutopilotType(), 2);
 }
 
 void UASUnitTest::getStatusForCode_test()
 {
-  QString state, desc;
-  state = "";
-  desc = "";
+    QString state, desc;
+    state = "";
+    desc = "";
 
-  uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
-  QVERIFY(state == "UNINIT");
+    uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
+    QVERIFY(state == "UNINIT");
 
-  uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
-  QVERIFY(state == "UNINIT");
+    uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
+    QVERIFY(state == "UNINIT");
 
-  uas->getStatusForCode(MAV_STATE_BOOT, state, desc);
-  QVERIFY(state == "BOOT");
+    uas->getStatusForCode(MAV_STATE_BOOT, state, desc);
+    QVERIFY(state == "BOOT");
 
-  uas->getStatusForCode(MAV_STATE_CALIBRATING, state, desc);
-  QVERIFY(state == "CALIBRATING");
+    uas->getStatusForCode(MAV_STATE_CALIBRATING, state, desc);
+    QVERIFY(state == "CALIBRATING");
 
-  uas->getStatusForCode(MAV_STATE_ACTIVE, state, desc);
-  QVERIFY(state == "ACTIVE");
+    uas->getStatusForCode(MAV_STATE_ACTIVE, state, desc);
+    QVERIFY(state == "ACTIVE");
 
-  uas->getStatusForCode(MAV_STATE_STANDBY, state, desc);
-  QVERIFY(state == "STANDBY");
+    uas->getStatusForCode(MAV_STATE_STANDBY, state, desc);
+    QVERIFY(state == "STANDBY");
 
-  uas->getStatusForCode(MAV_STATE_CRITICAL, state, desc);
-  QVERIFY(state == "CRITICAL");
+    uas->getStatusForCode(MAV_STATE_CRITICAL, state, desc);
+    QVERIFY(state == "CRITICAL");
 
-  uas->getStatusForCode(MAV_STATE_EMERGENCY, state, desc);
-  QVERIFY(state == "EMERGENCY");
+    uas->getStatusForCode(MAV_STATE_EMERGENCY, state, desc);
+    QVERIFY(state == "EMERGENCY");
 
-  uas->getStatusForCode(MAV_STATE_POWEROFF, state, desc);
-  QVERIFY(state == "SHUTDOWN");
+    uas->getStatusForCode(MAV_STATE_POWEROFF, state, desc);
+    QVERIFY(state == "SHUTDOWN");
 
-  uas->getStatusForCode(5325, state, desc);
-  QVERIFY(state == "UNKNOWN");
+    uas->getStatusForCode(5325, state, desc);
+    QVERIFY(state == "UNKNOWN");
 }
 
 
 void UASUnitTest::getLocalX_test()
 {
-  QCOMPARE(uas->getLocalX(), 0.0);
+    QCOMPARE(uas->getLocalX(), 0.0);
 }
 void UASUnitTest::getLocalY_test()
 {
-  QCOMPARE(uas->getLocalY(), 0.0);
+    QCOMPARE(uas->getLocalY(), 0.0);
 }
 void UASUnitTest::getLocalZ_test()
 {
-  QCOMPARE(uas->getLocalZ(), 0.0);
+    QCOMPARE(uas->getLocalZ(), 0.0);
 }
 void UASUnitTest::getLatitude_test()
 {  QCOMPARE(uas->getLatitude(), 0.0);
 }
 void UASUnitTest::getLongitude_test()
 {
-  QCOMPARE(uas->getLongitude(), 0.0);
+    QCOMPARE(uas->getLongitude(), 0.0);
 }
 void UASUnitTest::getAltitude_test()
 {
-  QCOMPARE(uas->getAltitude(), 0.0);
+    QCOMPARE(uas->getAltitude(), 0.0);
 }
 void UASUnitTest::getRoll_test()
 {
-  QCOMPARE(uas->getRoll(), 0.0);
+    QCOMPARE(uas->getRoll(), 0.0);
 }
 void UASUnitTest::getPitch_test()
 {
-  QCOMPARE(uas->getPitch(), 0.0);
+    QCOMPARE(uas->getPitch(), 0.0);
 }
 void UASUnitTest::getYaw_test()
 {
-  QCOMPARE(uas->getYaw(), 0.0);
+    QCOMPARE(uas->getYaw(), 0.0);
+}
+void UASUnitTest::attitudeLimitsZero_test()
+{
+    mavlink_message_t msg;
+    mavlink_attitude_t att;
+
+    // Set zero values and encode them
+    att.roll  = 0.0f;
+    att.pitch = 0.0f;
+    att.yaw   = 0.0f;
+    mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
+    // Let UAS decode message
+    uas->receiveMessage(link, msg);
+    // Check result
+    QCOMPARE(uas->getRoll(), 0.0);
+    QCOMPARE(uas->getPitch(), 0.0);
+    QCOMPARE(uas->getYaw(), 0.0);
+}
+
+void UASUnitTest::attitudeLimitsPi_test()
+{
+    mavlink_message_t msg;
+    mavlink_attitude_t att;
+    // Set PI values and encode them
+    att.roll  = M_PI;
+    att.pitch = M_PI;
+    att.yaw   = M_PI;
+    mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
+    // Let UAS decode message
+    uas->receiveMessage(link, msg);
+    // Check result
+    QVERIFY((uas->getRoll() < M_PI+0.000001) && (uas->getRoll() > M_PI+-0.000001));
+    QVERIFY((uas->getPitch() < M_PI+0.000001) && (uas->getPitch() > M_PI+-0.000001));
+    QVERIFY((uas->getYaw() < M_PI+0.000001) && (uas->getYaw() > M_PI+-0.000001));
+}
+
+void UASUnitTest::attitudeLimitsMinusPi_test()
+{
+    mavlink_message_t msg;
+    mavlink_attitude_t att;
+    // Set -PI values and encode them
+    att.roll  = -M_PI;
+    att.pitch = -M_PI;
+    att.yaw   = -M_PI;
+    mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
+    // Let UAS decode message
+    uas->receiveMessage(link, msg);
+    // Check result
+    QVERIFY((uas->getRoll() > -M_PI-0.000001) && (uas->getRoll() < -M_PI+0.000001));
+    QVERIFY((uas->getPitch() > -M_PI-0.000001) && (uas->getPitch() < -M_PI+0.000001));
+    QVERIFY((uas->getYaw() > -M_PI-0.000001) && (uas->getYaw() < -M_PI+0.000001));
+}
+
+void UASUnitTest::attitudeLimitsTwoPi_test()
+{
+    mavlink_message_t msg;
+    mavlink_attitude_t att;
+    // Set off-limit values and check
+    // correct wrapping
+    // Set 2PI values and encode them
+    att.roll  = 2*M_PI;
+    att.pitch = 2*M_PI;
+    att.yaw   = 2*M_PI;
+    mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
+    // Let UAS decode message
+    uas->receiveMessage(link, msg);
+    // Check result
+    QVERIFY((uas->getRoll() < 0.000001) && (uas->getRoll() > -0.000001));
+    QVERIFY((uas->getPitch() < 0.000001) && (uas->getPitch() > -0.000001));
+    QVERIFY((uas->getYaw() < 0.000001) && (uas->getYaw() > -0.000001));
+}
+
+void UASUnitTest::attitudeLimitsMinusTwoPi_test()
+{
+    mavlink_message_t msg;
+    mavlink_attitude_t att;
+    // Set -2PI values and encode them
+    att.roll  = -2*M_PI;
+    att.pitch = -2*M_PI;
+    att.yaw   = -2*M_PI;
+    mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
+    // Let UAS decode message
+    uas->receiveMessage(link, msg);
+    // Check result
+    QVERIFY((uas->getRoll() < 0.000001) && (uas->getRoll() > -0.000001));
+    QVERIFY((uas->getPitch() < 0.000001) && (uas->getPitch() > -0.000001));
+    QVERIFY((uas->getYaw() < 0.000001) && (uas->getYaw() > -0.000001));
+}
+
+void UASUnitTest::attitudeLimitsTwoPiOne_test()
+{
+    mavlink_message_t msg;
+    mavlink_attitude_t att;
+    // Set over 2 PI values and encode them
+    att.roll  = 2*M_PI+1.0f;
+    att.pitch = 2*M_PI+1.0f;
+    att.yaw   = 2*M_PI+1.0f;
+    mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
+    // Let UAS decode message
+    uas->receiveMessage(link, msg);
+    // Check result
+    QVERIFY((uas->getRoll() < 1.000001) && (uas->getRoll() > 0.999999));
+    QVERIFY((uas->getPitch() < 1.000001) && (uas->getPitch() > 0.999999));
+    QVERIFY((uas->getYaw() < 1.000001) && (uas->getYaw() > 0.999999));
+}
+
+void UASUnitTest::attitudeLimitsMinusTwoPiOne_test()
+{
+    mavlink_message_t msg;
+    mavlink_attitude_t att;
+    // Set 3PI values and encode them
+    att.roll  = -2*M_PI-1.0f;
+    att.pitch = -2*M_PI-1.0f;
+    att.yaw   = -2*M_PI-1.0f;
+    mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
+    // Let UAS decode message
+    uas->receiveMessage(link, msg);
+    // Check result
+    QVERIFY((uas->getRoll() > -1.000001) && (uas->getRoll() < -0.999999));
+    QVERIFY((uas->getPitch() > -1.000001) && (uas->getPitch() < -0.999999));
+    QVERIFY((uas->getYaw() > -1.000001) && (uas->getYaw() < -0.999999));
 }

qgcunittest/UASUnitTest.h

@@ -6,6 +6,7 @@
 #include <QtTest/QtTest>
 #include "UAS.h"
 #include "MAVLinkProtocol.h"
+#include "SerialLink.h"
 #include "UASInterface.h"
 #include "AutoTest.h"
 
@@ -13,36 +14,44 @@ class UASUnitTest : public QObject
 {
     Q_OBJECT
 public:
-  #define  UASID  50
-  MAVLinkProtocol* mav;
-  UAS* uas;
-  UASUnitTest();
+#define  UASID  50
+    MAVLinkProtocol* mav;
+    UAS* uas;
+    SerialLink* link;
+    UASUnitTest();
 
 signals:
 
 private slots:
-  void initTestCase();
-  void cleanupTestCase();
-  void getUASID_test();
-  void getUASName_test();
-  void getUpTime_test();
-  void getCommunicationStatus_test();
-  void filterVoltage_test();
-  void getAutopilotType_test();
-  void setAutopilotType_test();
-  void getStatusForCode_test();
-  void getLocalX_test();
-  void getLocalY_test();
-  void getLocalZ_test();
-  void getLatitude_test();
-  void getLongitude_test();
-  void getAltitude_test();
-  void getRoll_test();
-  void getPitch_test();
-  void getYaw_test();
+    void initTestCase();
+    void cleanupTestCase();
+    void getUASID_test();
+    void getUASName_test();
+    void getUpTime_test();
+    void getCommunicationStatus_test();
+    void filterVoltage_test();
+    void getAutopilotType_test();
+    void setAutopilotType_test();
+    void getStatusForCode_test();
+    void getLocalX_test();
+    void getLocalY_test();
+    void getLocalZ_test();
+    void getLatitude_test();
+    void getLongitude_test();
+    void getAltitude_test();
+    void getRoll_test();
+    void getPitch_test();
+    void getYaw_test();
+    void attitudeLimitsZero_test();
+    void attitudeLimitsPi_test();
+    void attitudeLimitsMinusPi_test();
+    void attitudeLimitsTwoPi_test();
+    void attitudeLimitsMinusTwoPi_test();
+    void attitudeLimitsTwoPiOne_test();
+    void attitudeLimitsMinusTwoPiOne_test();
 
 protected:
-   UAS *prueba;
+    UAS *prueba;
 
 };
 

qgroundcontrol-plugins.pro

-# -------------------------------------------------
-# QGroundControl - Micro Air Vehicle Groundstation
-# Please see our website at <http://qgroundcontrol.org>
-# Author:
-# Lorenz Meier <mavteam@student.ethz.ch>
-# (c) 2009-2010 PIXHAWK Team
-# This file is part of the mav groundstation project
-# QGroundControl is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-# QGroundControl is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with QGroundControl. If not, see <http://www.gnu.org/licenses/>.
-# -------------------------------------------------
-# Include QMapControl map library
-# prefer version from external directory /
-# from http://github.com/pixhawk/qmapcontrol/
-# over bundled version in lib directory
-# Version from GIT repository is preferred
-# include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
-# Include bundled version if necessary
-
- CONFIG      += designer plugin
- TARGET      = $$qtLibraryTarget($$TARGET)
- TEMPLATE    = lib
- QTDIR_build:DESTDIR     = $$QT_BUILD_TREE/plugins/designer
-
- FORMS       = src/ui/designer/QGCParamSlider.ui
-
- HEADERS     = src/ui/designer/QGCParamSlider.h \
-               src/ui/designer/QGCParamSliderPlugin.h
- SOURCES     = src/ui/designer/QGCParamSlider.cc \
-               src/ui/designer/QGCParamSliderPlugin.cc
-
- # install
- target.path = $$[QT_INSTALL_PLUGINS]/designer
- sources.files = $$SOURCES $$HEADERS *.pro
- sources.path = $$[QT_INSTALL_EXAMPLES]/designer/worldtimeclockplugin
- INSTALLS += target
-
- symbian: include($$QT_SOURCE_TREE/examples/symbianpkgrules.pri)

src/QGC.cc

@@ -24,6 +24,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGC.h"
 
 #include <qmath.h>
+#include <float.h>
 
 namespace QGC {
 
@@ -36,7 +37,22 @@ quint64 groundTimeUsecs()
     return static_cast<quint64>(microseconds + (time.time().msec()*1000));
 }
 
-double limitAngleToPMPI(double angle)
+float limitAngleToPMPIf(float angle)
+{
+    while (angle > (M_PI+FLT_EPSILON))
+    {
+        angle -= 2 * M_PI;
+    }
+
+    while (angle <= -(M_PI+FLT_EPSILON))
+    {
+        angle += 2 * M_PI;
+    }
+
+    return angle;
+}
+
+double limitAngleToPMPId(double angle)
 {
     if (angle < -M_PI)
     {

src/QGC.h

@@ -9,6 +9,9 @@
 
 namespace QGC
 {
+    const static int defaultSystemId = 255;
+    const static int defaultComponentId = 0;
+
     const QColor colorCyan(55, 154, 195);
     const QColor colorRed(154, 20, 20);
     const QColor colorGreen(20, 200, 20);
@@ -19,7 +22,9 @@ namespace QGC
     /** @brief Get the current ground time in microseconds */
     quint64 groundTimeUsecs();
     /** @brief Returns the angle limited to -pi - pi */
-    double limitAngleToPMPI(double angle);
+    float limitAngleToPMPIf(float angle);
+    /** @brief Returns the angle limited to -pi - pi */
+    double limitAngleToPMPId(double angle);
     int applicationVersion();
 
     const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;

src/comm/MAVLinkProtocol.cc

@@ -14,8 +14,10 @@
 #include <QTime>
 #include <QApplication>
 #include <QMessageBox>
+#include <QSettings>
+#include <QDesktopServices>
 
-#include "MG.h"
+//#include "MG.h"
 #include "MAVLinkProtocol.h"
 #include "UASInterface.h"
 #include "UASManager.h"
@@ -40,11 +42,13 @@ MAVLinkProtocol::MAVLinkProtocol() :
         heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
         m_heartbeatsEnabled(false),
         m_loggingEnabled(false),
-        m_logfile(new QFile(QCoreApplication::applicationDirPath()+"/mavlink_packetlog.mavlink")),
+        m_logfile(NULL),
         m_enable_version_check(true),
-        versionMismatchIgnore(false)
+        versionMismatchIgnore(false),
+        systemId(QGC::defaultSystemId)
 {
-    start(QThread::LowPriority);
+    loadSettings();
+    //start(QThread::LowPriority);
     // Start heartbeat timer, emitting a heartbeat at the configured rate
     connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
     heartbeatTimer->start(1000/heartbeatRate);
@@ -63,8 +67,53 @@ MAVLinkProtocol::MAVLinkProtocol() :
     emit versionCheckChanged(m_enable_version_check);
 }
 
+void MAVLinkProtocol::loadSettings()
+{
+    // Load defaults from settings
+    QSettings settings;
+    settings.sync();
+    settings.beginGroup("QGC_MAVLINK_PROTOCOL");
+    m_heartbeatsEnabled = settings.value("HEARTBEATS_ENABLED", m_heartbeatsEnabled).toBool();
+    m_loggingEnabled = settings.value("LOGGING_ENABLED", m_loggingEnabled).toBool();
+    m_enable_version_check = settings.value("VERION_CHECK_ENABLED", m_enable_version_check).toBool();
+
+    // Only set logfile if there is a name present in settings
+    if (settings.contains("LOGFILE_NAME") && m_logfile == NULL)
+    {
+        m_logfile = new QFile(settings.value("LOGFILE_NAME").toString());
+    }
+
+    // Only set system id if it was valid
+    int temp = settings.value("GCS_SYSTEM_ID", systemId).toInt();
+    if (temp > 0 && temp < 256)
+    {
+        systemId = temp;
+    }
+    settings.endGroup();
+}
+
+void MAVLinkProtocol::storeSettings()
+{
+    // Store settings
+    QSettings settings;
+    settings.beginGroup("QGC_MAVLINK_PROTOCOL");
+    settings.setValue("HEARTBEATS_ENABLED", m_heartbeatsEnabled);
+    settings.setValue("LOGGING_ENABLED", m_loggingEnabled);
+    settings.setValue("VERION_CHECK_ENABLED", m_enable_version_check);
+    settings.setValue("GCS_SYSTEM_ID", systemId);
+    if (m_logfile)
+    {
+        // Logfile exists, store the name
+        settings.setValue("LOGFILE_NAME", m_logfile->fileName());
+    }
+    settings.endGroup();
+    settings.sync();
+    //qDebug() << "Storing settings!";
+}
+
 MAVLinkProtocol::~MAVLinkProtocol()
 {
+    storeSettings();
     if (m_logfile)
     {
         m_logfile->flush();
@@ -82,7 +131,14 @@ void MAVLinkProtocol::run()
 
 QString MAVLinkProtocol::getLogfileName()
 {
-    return m_logfile->fileName();
+    if (m_logfile)
+    {
+        return m_logfile->fileName();
+    }
+    else
+    {
+        return QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "qgrouncontrol_packetlog.mavlink";
+    }
 }
 
 /**
@@ -254,13 +310,18 @@ QString MAVLinkProtocol::getName()
 /** @return System id of this application */
 int MAVLinkProtocol::getSystemId()
 {
-    return MG::SYSTEM::ID;
+    return systemId;
+}
+
+void MAVLinkProtocol::setSystemId(int id)
+{
+    systemId = id;
 }
 
 /** @return Component id of this application */
 int MAVLinkProtocol::getComponentId()
 {
-    return MG::SYSTEM::COMPID;
+    return QGC::defaultComponentId;
 }
 
 /**
@@ -329,21 +390,29 @@ void MAVLinkProtocol::enableLogging(bool enabled)
 
     if (enabled)
     {
-        if (m_logfile->isOpen())
+        if (m_logfile && m_logfile->isOpen())
         {
             m_logfile->flush();
             m_logfile->close();
         }
-        if (!m_logfile->open(QIODevice::WriteOnly | QIODevice::Append))
+        if (m_logfile)
         {
-            emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot log to the file %1, please choose a different file.").arg(m_logfile->fileName()));
-            qDebug() << "OPENING LOGFILE FAILED!";
+            if (!m_logfile->open(QIODevice::WriteOnly | QIODevice::Append))
+            {
+                emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot log to the file %1, please choose a different file.").arg(m_logfile->fileName()));
+                qDebug() << "OPENING LOGFILE FAILED!";
+            }
         }
     }
     else if (!enabled)
     {
-        m_logfile->flush();
-        m_logfile->close();
+        if (m_logfile)
+        {
+            m_logfile->flush();
+            m_logfile->close();
+            delete m_logfile;
+            m_logfile = NULL;
+        }
     }
     m_loggingEnabled = enabled;
     if (changed) emit loggingChanged(enabled);
@@ -351,8 +420,15 @@ void MAVLinkProtocol::enableLogging(bool enabled)
 
 void MAVLinkProtocol::setLogfileName(const QString& filename)
 {
-    m_logfile->flush();
-    m_logfile->close();
+    if (!m_logfile)
+    {
+        m_logfile = new QFile(filename);
+    }
+    else
+    {
+        m_logfile->flush();
+        m_logfile->close();
+    }
     m_logfile->setFileName(filename);
     enableLogging(m_loggingEnabled);
 }

src/comm/MAVLinkProtocol.h

@@ -40,6 +40,7 @@ This file is part of the QGROUNDCONTROL project
 #include "ProtocolInterface.h"
 #include "LinkInterface.h"
 #include "QGCMAVLink.h"
+#include "QGC.h"
 
 /**
  * @brief MAVLink micro air vehicle protocol reference implementation.
@@ -84,6 +85,8 @@ public slots:
     void sendMessage(LinkInterface* link, mavlink_message_t message);
     /** @brief Set the rate at which heartbeats are emitted */
     void setHeartbeatRate(int rate);
+    /** @brief Set the system id of this application */
+    void setSystemId(int id);
 
     /** @brief Enable / disable the heartbeat emission */
     void enableHeartbeats(bool enabled);
@@ -100,6 +103,11 @@ public slots:
     /** @brief Send an extra heartbeat to all connected units */
     void sendHeartbeat();
 
+    /** @brief Load protocol settings */
+    void loadSettings();
+    /** @brief Store protocol settings */
+    void storeSettings();
+
 protected:
     QTimer* heartbeatTimer;    ///< Timer to emit heartbeats
     int heartbeatRate;         ///< Heartbeat rate, controls the timer interval
@@ -114,6 +122,7 @@ protected:
     int currReceiveCounter;
     int currLossCounter;
     bool versionMismatchIgnore;
+    int systemId;
 
 signals:
     /** @brief Message received and directly copied via signal */

src/uas/UAS.cc

@@ -106,6 +106,7 @@ void UAS::writeSettings()
     settings.setValue("NAME", this->name);
     settings.setValue("AIRFRAME", this->airframe);
     settings.setValue("AP_TYPE", this->autopilot);
+    settings.setValue("BATTERY_SPECS", getBatterySpecs());
     settings.endGroup();
     settings.sync();
 }
@@ -117,6 +118,10 @@ void UAS::readSettings()
     this->name = settings.value("NAME", this->name).toString();
     this->airframe = settings.value("AIRFRAME", this->airframe).toInt();
     this->autopilot = settings.value("AP_TYPE", this->autopilot).toInt();
+    if (settings.contains("BATTERY_SPECS"))
+    {
+        setBatterySpecs(settings.value("BATTERY_SPECS").toString());
+    }
     settings.endGroup();
 }
 
@@ -382,50 +387,28 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_attitude_t attitude;
                 mavlink_msg_attitude_decode(&message, &attitude);
                 quint64 time = getUnixTime(attitude.usec);
-                roll = attitude.roll;
-                pitch = attitude.pitch;
-                yaw = attitude.yaw;