Merge branch 'rel-13.06.01'

CREDITS.txt

@@ -26,10 +26,11 @@ Joe Hlebasko
 Andy Honecker
 Ryan Hunt
 Mark James
-Sami Korhonen
-Thorsten Klose
 Ricky King
+Thorsten Klose
+Sami Korhonen
 Hallvard Kristiansen
+Alan Krum
 Edouard Lafargue
 Mike Labranche
 Fredrik Larsson

WHATSNEW.txt

@@ -1,4 +1,18 @@
---- RELEASE-13.06 --- Italian Stallion Release ---
+--- RELEASE-13.06.01 --- Italian Stallion Release ---
+It applies the following changes to previously not released to public RELEASE-13.06
+
+- Temporary disabled AltitudeHold and AltitudeVario flight modes. They were not
+officially supported. But since people expected well-known production quality
+behavior, it is better to make them final, then reenable
+- Fix windows hid connection failure if board was already connected and gcs started;
+- Fixed a bug that lead to disabled controls with some settings combination in CC/CC3D hardware page
+- Fixed a bug that prevent to correct saving stabilization settings for CC/CC3D
+- Fixes Uploader GUI and automatically close AutoUpdate panel after 7s
+
+JIRA issues addressed in this release:
+OP-1028 OP-1020 OP-1024  
+
+--- RELEASE-13.06 ---
 
 This is the first official OpenPilot Revolution software release. This version
 also supports the CopterControl, CC3D, OPLinkMini and the upcoming OP OSD.
@@ -133,14 +147,14 @@ KNOWN ISSUES:
   enabled, but you should properly calibrate them first. That's the reason
   why they are disabled by default.
 
-- AltitudeHold mode is enabled, but it is not officially supported. Do
+- AltitudeHold/Vario modes are enabled but not officially supported. Do
   not expect it to work perfectly and be considered production quality.
   You may play with it and report your issues and suggestions at your own
   risk. If you are not using a case for your Revo, we strongly recommend
   covering the barometer sensor with some foam to shield the sensor from
   wind and light.
 
-- Note that throttle stick in AltitudeHold mode is used to control vertical
+- Note that throttle stick in AltitudeVario mode is used to control vertical
   velocity, sometimes called vario altitude in other platforms, centre stick
   means hold altitude and there is a dead band around centre stick.
 
@@ -175,17 +189,17 @@ Due to major rework of all code and integration of Revo code into mainline
 list above. Some of them can be found using this link:
   http://progress.openpilot.org/issues/?filter=10860
 
-OP-678,  OP-693,  OP-719,  OP-726,  OP-727,  OP-747,  OP-761,  OP-769,  OP-770,
+OP-678,  OP-682,  OP-693,  OP-719,  OP-726,  OP-727,  OP-747,  OP-761,  OP-769,
-OP-772,  OP-784,  OP-792,  OP-804,  OP-807,  OP-812,  OP-816,  OP-817,  OP-820,
+OP-770,  OP-772,  OP-781,  OP-784,  OP-792,  OP-804,  OP-807,  OP-812,  OP-816,
-OP-821,  OP-843,  OP-846,  OP-854,  OP-855,  OP-856,  OP-861,  OP-864,  OP-867,
+OP-817,  OP-820,  OP-821,  OP-834,  OP-843,  OP-846,  OP-854,  OP-855,  OP-856,
-OP-871,  OP-873,  OP-874,  OP-875,  OP-879,  OP-885,  OP-886,  OP-888,  OP-889,
+OP-861,  OP-864,  OP-867,  OP-871,  OP-873,  OP-874,  OP-875,  OP-879,  OP-885,
-OP-890,  OP-891,  OP-892,  OP-893,  OP-894,  OP-895,  OP-896,  OP-897,  OP-898,
+OP-886,  OP-888,  OP-889,  OP-890,  OP-891,  OP-892,  OP-893,  OP-894,  OP-895,
-OP-899,  OP-900,  OP-903,  OP-905,  OP-906,  OP-907,  OP-910,  OP-912,  OP-917,
+OP-896,  OP-897,  OP-898,  OP-899,  OP-900,  OP-903,  OP-905,  OP-906,  OP-907,
-OP-920,  OP-925,  OP-926,  OP-928,  OP-935,  OP-936,  OP-939,  OP-952,  OP-955,
+OP-910,  OP-912,  OP-917,  OP-920,  OP-925,  OP-926,  OP-928,  OP-935,  OP-936,
-OP-957,  OP-958,  OP-965,  OP-968,  OP-969,  OP-970,  OP-977,  OP-979,  OP-980,
+OP-939,  OP-952,  OP-955,  OP-957,  OP-958,  OP-965,  OP-968,  OP-969,  OP-970,
-OP-981,  OP-982,  OP-983,  OP-988,  OP-989,  OP-990,  OP-991,  OP-993,  OP-997,
+OP-977,  OP-979,  OP-980,  OP-981,  OP-982,  OP-983,  OP-988,  OP-989,  OP-990,
-OP-998,  OP-999,  OP-1000, OP-1002, OP-1005, OP-1007, OP-1008, OP-1009, OP-1010,
+OP-991,  OP-993,  OP-997,  OP-998,  OP-999,  OP-1000, OP-1002, OP-1005, OP-1007,
-OP-1011, OP-1012, OP-1013, OP-1015, OP-1016, OP-1021
+OP-1008, OP-1009, OP-1010, OP-1011, OP-1012, OP-1013, OP-1015, OP-1016, OP-1021
 
 Short summary of changes. For a complete list see the git log.
 
@@ -214,7 +228,7 @@ Flight code changes:
 - added visualisation of errors in bootloader updater;
 - added numerous sanity checks to the flight code to prevent unsafe arming;
 - new flash file system, much faster and higly optimised;
-- Revo settings are now stored in embedded MCU flash freeing up external one for flight logs;
+- Revo data flash is splitted into two partitions, one for settings, another for user data (logs, etc);
 - OPLinkMini now stores settings in the MCU flash using FlashFS too;
 - a catalog of known flash types is used to support different flash types by the same firmware;
 - fixed broken overo submodule remote repository link;

flight/targets/boards/revolution/board_hw_defs.c

@@ -683,7 +683,7 @@ static const struct flashfs_logfs_cfg flashfs_external_user_cfg = {
     .arena_size    = 0x00010000, /* 256 * slot size */
     .slot_size     = 0x00000100, /* 256 bytes */
 
-    .start_offset  = 0x40000,     /* start at the beginning of the chip */
+    .start_offset  = 0x40000,    /* start offset */
     .sector_size   = 0x00010000, /* 64K bytes */
     .page_size     = 0x00000100, /* 256 bytes */
 };

ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp

@@ -84,7 +84,7 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
     addUAVObjectToWidgetRelation("HwSettings", "GPSSpeed", m_telemetry->gpsSpeed);
     addUAVObjectToWidgetRelation("HwSettings", "ComUsbBridgeSpeed", m_telemetry->comUsbBridgeSpeed);
     connect(m_telemetry->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
-    enableControls(false);
+    enableSaveButtons(false);
     populateWidgets();
     refreshWidgetsValues();
     forceConnectedState();
@@ -108,26 +108,32 @@ void ConfigCCHWWidget::widgetsContentsChanged()
          (m_telemetry->cbUsbVcp->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE)) ||
         ((m_telemetry->cbUsbVcp->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) &&
          (m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_DEBUGCONSOLE))) {
-        enableControls(false);
+        enableSaveButtons(false);
         m_telemetry->problems->setText(tr("Warning: you have configured more than one DebugConsole, this currently is not supported"));
     } else if (((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_TELEMETRY) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_TELEMETRY)) ||
                ((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_GPS) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_GPS)) ||
                ((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_DEBUGCONSOLE) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_DEBUGCONSOLE)) ||
                ((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_COMBRIDGE) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_COMBRIDGE))) {
-        enableControls(false);
+        enableSaveButtons(false);
         m_telemetry->problems->setText(tr("Warning: you have configured both MainPort and FlexiPort for the same function, this currently is not supported"));
     } else if ((m_telemetry->cbUsbHid->currentIndex() == HwSettings::USB_HIDPORT_USBTELEMETRY) && (m_telemetry->cbUsbVcp->currentIndex() == HwSettings::USB_VCPPORT_USBTELEMETRY)) {
-        enableControls(false);
+        enableSaveButtons(false);
         m_telemetry->problems->setText(tr("Warning: you have configured both USB HID Port and USB VCP Port for the same function, this currently is not supported"));
     } else if ((m_telemetry->cbUsbHid->currentIndex() != HwSettings::USB_HIDPORT_USBTELEMETRY) && (m_telemetry->cbUsbVcp->currentIndex() != HwSettings::USB_VCPPORT_USBTELEMETRY)) {
-        enableControls(false);
+        enableSaveButtons(false);
         m_telemetry->problems->setText(tr("Warning: you have disabled USB Telemetry on both USB HID Port and USB VCP Port, this currently is not supported"));
     } else {
         m_telemetry->problems->setText("");
-        enableControls(true);
+        enableSaveButtons(true);
     }
 }
 
+void ConfigCCHWWidget::enableSaveButtons(bool enable)
+{
+    m_telemetry->saveTelemetryToRAM->setEnabled(enable);
+    m_telemetry->saveTelemetryToSD->setEnabled(enable);
+}
+
 void ConfigCCHWWidget::openHelp()
 {
     QDesktopServices::openUrl(QUrl("http://wiki.openpilot.org/x/D4AUAQ", QUrl::StrictMode));

ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.h

@@ -46,6 +46,7 @@ private slots:
     void openHelp();
     void refreshValues();
     void widgetsContentsChanged();
+    void enableSaveButtons(bool enable);
 
 private:
     Ui_CC_HW_Widget *m_telemetry;

ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp

@@ -38,8 +38,10 @@
 
 #include <extensionsystem/pluginmanager.h>
 #include <coreplugin/generalsettings.h>
+#include "altitudeholdsettings.h"
 
-ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
+ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent),
+    boardModel(0)
 {
     ui = new Ui_StabilizationWidget();
     ui->setupUi(this);
@@ -198,7 +200,17 @@ void ConfigStabilizationWidget::onBoardConnected()
     UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
 
     Q_ASSERT(utilMngr);
-
+    boardModel = utilMngr->getBoardModel();
     // If Revolution board enable misc tab, otherwise disable it
-    ui->AltitudeHold->setEnabled((utilMngr->getBoardModel() & 0xff00) == 0x0900);
+    ui->AltitudeHold->setEnabled((boardModel & 0xff00) == 0x0900);
+}
+
+bool ConfigStabilizationWidget::shouldObjectBeSaved(UAVObject *object)
+{
+    // AltitudeHoldSettings should only be saved for Revolution board to avoid error.
+    if ((boardModel & 0xff00) != 0x0900) {
+        return dynamic_cast<AltitudeHoldSettings *>(object) == 0;
+    } else {
+        return true;
+    }
 }

ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h

@@ -43,6 +43,7 @@ class ConfigStabilizationWidget : public ConfigTaskWidget {
 public:
     ConfigStabilizationWidget(QWidget *parent = 0);
     ~ConfigStabilizationWidget();
+    bool shouldObjectBeSaved(UAVObject *object);
 
 private:
     Ui_StabilizationWidget *ui;
@@ -51,6 +52,8 @@ private:
     // Milliseconds between automatic 'Instant Updates'
     static const int AUTOMATIC_UPDATE_RATE = 500;
 
+    int boardModel;
+
 protected slots:
     void refreshWidgetsValues(UAVObject *o = NULL);
 

ground/openpilotgcs/src/plugins/ophid/hidapi/windows/hid.c

@@ -219,9 +219,7 @@ static HANDLE open_device(const char *path, BOOL enumerate)
 {
 	HANDLE handle;
 	DWORD desired_access = (enumerate)? 0: (GENERIC_WRITE | GENERIC_READ);
-	DWORD share_mode = (enumerate)?
+	DWORD share_mode = FILE_SHARE_READ | FILE_SHARE_WRITE;
-	                      FILE_SHARE_READ|FILE_SHARE_WRITE:
-	                      FILE_SHARE_READ;
 
 	handle = CreateFileA(path,
 		desired_access,
@@ -230,7 +228,7 @@ static HANDLE open_device(const char *path, BOOL enumerate)
 		OPEN_EXISTING,
 		FILE_FLAG_OVERLAPPED,/*FILE_ATTRIBUTE_NORMAL,*/
 		0);
-
+	DWORD error = GetLastError();
 	return handle;
 }
 

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp

@@ -413,7 +413,7 @@ void ConfigTaskWidget::helpButtonPressed()
 void ConfigTaskWidget::addApplySaveButtons(QPushButton *update, QPushButton *save)
 {
     if (!smartsave) {
-        smartsave = new smartSaveButton();
+        smartsave = new smartSaveButton(this);
         connect(smartsave, SIGNAL(preProcessOperations()), this, SLOT(updateObjectsFromWidgets()));
         connect(smartsave, SIGNAL(saveSuccessfull()), this, SLOT(clearDirty()));
         connect(smartsave, SIGNAL(beginOp()), this, SLOT(disableObjUpdates()));
@@ -459,6 +459,12 @@ void ConfigTaskWidget::enableControls(bool enable)
     }
 }
 
+bool ConfigTaskWidget::shouldObjectBeSaved(UAVObject *object)
+{
+    Q_UNUSED(object);
+    return true;
+}
+
 /**
  * SLOT function called when on of the widgets contents added to the framework changes
  */

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h

@@ -144,6 +144,7 @@ public:
     void addHelpButton(QPushButton *button, QString url);
     void forceShadowUpdates();
     void forceConnectedState();
+    virtual bool shouldObjectBeSaved(UAVObject *object);
 public slots:
     void onAutopilotDisconnect();
     void onAutopilotConnect();
@@ -204,8 +205,10 @@ protected slots:
     virtual void refreshWidgetsValues(UAVObject *obj = NULL);
     virtual void updateObjectsFromWidgets();
     virtual void helpButtonPressed();
+
 protected:
     virtual void enableControls(bool enable);
+
     void checkWidgetsLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, QVariant value, double scale);
     void updateEnableControls();
 };

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp

@@ -25,8 +25,9 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "smartsavebutton.h"
+#include "configtaskwidget.h"
 
-smartSaveButton::smartSaveButton()
+smartSaveButton::smartSaveButton(ConfigTaskWidget *configTaskWidget) : configWidget(configTaskWidget)
 {}
 
 void smartSaveButton::addButtons(QPushButton *save, QPushButton *apply)
@@ -77,60 +78,65 @@ void smartSaveButton::processOperation(QPushButton *button, bool save)
     foreach(UAVDataObject * obj, objects) {
         UAVObject::Metadata mdata = obj->getMetadata();
 
-        if (UAVObject::GetGcsAccess(mdata) == UAVObject::ACCESS_READONLY) {
+        // Should we really save this object to the board?
+        if (!configWidget->shouldObjectBeSaved(obj) || UAVObject::GetGcsAccess(mdata) == UAVObject::ACCESS_READONLY) {
+            qDebug() << obj->getName() << "was skipped.";
             continue;
         }
+
         up_result = false;
         current_object = obj;
         for (int i = 0; i < 3; ++i) {
-            qDebug() << "SMARTSAVEBUTTON" << "Upload try number" << i << "Object" << obj->getName();
+            qDebug() << "Uploading" << obj->getName() << "to board.";
             connect(obj, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(transaction_finished(UAVObject *, bool)));
             connect(&timer, SIGNAL(timeout()), &loop, SLOT(quit()));
             obj->updated();
+
             timer.start(3000);
-            // qDebug()<<"begin loop";
             loop.exec();
-            if (timer.isActive()) {
+            if (!timer.isActive()) {
-                qDebug() << "SMARTSAVEBUTTON" << "Upload did not timeout" << i << "Object" << obj->getName();
+                qDebug() << "Upload of" << obj->getName() << "timed out.";
-            } else {
-                qDebug() << "SMARTSAVEBUTTON" << "Upload TIMEOUT" << i << "Object" << obj->getName();
             }
             timer.stop();
+
             disconnect(obj, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(transaction_finished(UAVObject *, bool)));
             disconnect(&timer, SIGNAL(timeout()), &loop, SLOT(quit()));
             if (up_result) {
+                qDebug() << "Upload of" << obj->getName() << "successful.";
                 break;
             }
         }
         if (up_result == false) {
-            qDebug() << "SMARTSAVEBUTTON" << "Object upload error:" << obj->getName();
+            qDebug() << "Upload of" << obj->getName() << "failed after 3 tries.";
             error = true;
             continue;
         }
+
         sv_result = false;
         current_objectID = obj->getObjID();
         if (save && (obj->isSettings())) {
             for (int i = 0; i < 3; ++i) {
-                qDebug() << "SMARTSAVEBUTTON" << "Save try number" << i << "Object" << obj->getName();
+                qDebug() << "Saving" << obj->getName() << "to board.";
                 connect(utilMngr, SIGNAL(saveCompleted(int, bool)), this, SLOT(saving_finished(int, bool)));
                 connect(&timer, SIGNAL(timeout()), &loop, SLOT(quit()));
                 utilMngr->saveObjectToSD(obj);
+
                 timer.start(3000);
                 loop.exec();
-                if (timer.isActive()) {
+                if (!timer.isActive()) {
-                    qDebug() << "SMARTSAVEBUTTON" << "Saving did not timeout" << i << "Object" << obj->getName();
+                    qDebug() << "Saving of" << obj->getName() << "timed out.";
-                } else {
-                    qDebug() << "SMARTSAVEBUTTON" << "Saving TIMEOUT" << i << "Object" << obj->getName();
                 }
                 timer.stop();
+
                 disconnect(utilMngr, SIGNAL(saveCompleted(int, bool)), this, SLOT(saving_finished(int, bool)));
                 disconnect(&timer, SIGNAL(timeout()), &loop, SLOT(quit()));
                 if (sv_result) {
+                    qDebug() << "Saving of" << obj->getName() << "successful.";
                     break;
                 }
             }
             if (sv_result == false) {
-                qDebug() << "SMARTSAVEBUTTON" << "failed to save:" << obj->getName();
+                qDebug() << "Saving of" << obj->getName() << "failed after 3 tries.";
                 error = true;
             }
         }
@@ -189,7 +195,6 @@ void smartSaveButton::saving_finished(int id, bool result)
 {
     if (id == current_objectID) {
         sv_result = result;
-        // qDebug()<<"saving_finished result="<<result;
         loop.quit();
     }
 }

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.h

@@ -38,13 +38,15 @@
 #include <QObject>
 #include <QDebug>
 
+class ConfigTaskWidget;
+
 class smartSaveButton : public QObject {
     enum buttonTypeEnum { save_button, apply_button };
 public:
     Q_OBJECT
 
 public:
-    smartSaveButton();
+    smartSaveButton(ConfigTaskWidget *configTaskWidget);
     void addButtons(QPushButton *save, QPushButton *apply);
     void setObjects(QList<UAVDataObject *>);
     void addObject(UAVDataObject *);
@@ -79,6 +81,7 @@ private:
     QEventLoop loop;
     QList<UAVDataObject *> objects;
     QMap<QPushButton *, buttonTypeEnum> buttonList;
+    ConfigTaskWidget *configWidget;
 
 public slots:
     void enableControls(bool value);

ground/openpilotgcs/src/plugins/uploader/uploader.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>822</width>
+    <width>812</width>
     <height>523</height>
    </rect>
   </property>
@@ -27,7 +27,7 @@
        <rect>
         <x>0</x>
         <y>0</y>
-        <width>804</width>
+        <width>794</width>
         <height>505</height>
        </rect>
       </property>
@@ -51,55 +51,20 @@
            <number>0</number>
           </property>
           <item>
-           <layout class="QHBoxLayout" name="horizontalLayout">
+           <layout class="QGridLayout" name="gridLayout">
-            <item>
+            <property name="leftMargin">
-             <widget class="QPushButton" name="autoUpdateButton">
+             <number>0</number>
-              <property name="enabled">
-               <bool>false</bool>
             </property>
-              <property name="toolTip">
+            <property name="topMargin">
-               <string>Start a guided procedure to manually
+             <number>0</number>
-recover a system which does not boot.
-
-Rescue is possible in USB mode only.</string>
             </property>
-              <property name="text">
+            <property name="rightMargin">
-               <string>Auto Update</string>
+             <number>0</number>
             </property>
-             </widget>
+            <property name="horizontalSpacing">
-            </item>
+             <number>6</number>
-            <item>
-             <widget class="QPushButton" name="haltButton">
-              <property name="enabled">
-               <bool>false</bool>
             </property>
-              <property name="toolTip">
+            <item row="0" column="3" colspan="2">
-               <string>Tells the mainboard to go down
-to bootloader mode.
-(Only enabled if telemetry link is established, either
-through serial or USB)</string>
-              </property>
-              <property name="text">
-               <string>Halt</string>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QPushButton" name="resetButton">
-              <property name="enabled">
-               <bool>false</bool>
-              </property>
-              <property name="toolTip">
-               <string>Reset the system.
-(Only enabled if telemetry link is established, either
-through serial or USB)</string>
-              </property>
-              <property name="text">
-               <string>Reset</string>
-              </property>
-             </widget>
-            </item>
-            <item>
              <widget class="QPushButton" name="bootButton">
               <property name="enabled">
                <bool>true</bool>
@@ -117,7 +82,33 @@ menu on the right.</string>
               </property>
              </widget>
             </item>
-            <item>
+            <item row="1" column="5" colspan="3">
+             <widget class="QPushButton" name="eraseBootButton">
+              <property name="enabled">
+               <bool>true</bool>
+              </property>
+              <property name="toolTip">
+               <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Reboot the board and clear its settings memory.&lt;/p&gt;&lt;p&gt;        Useful if the board cannot boot properly.&lt;/p&gt;&lt;p&gt;        Blue led starts blinking quick for 20-30 seconds than the board will start normally&lt;/p&gt;&lt;p&gt;&lt;br/&gt;&lt;/p&gt;&lt;p&gt;If telemetry is not running, select the link using the dropdown&lt;/p&gt;&lt;p&gt;menu on the right.&lt;/p&gt;&lt;p&gt;PLEASE NOTE: Supported with bootloader versions 4.0 and earlier&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+              </property>
+              <property name="text">
+               <string>Erase settings</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="5" colspan="3">
+             <widget class="QPushButton" name="rescueButton">
+              <property name="toolTip">
+               <string>Start a guided procedure to manually
+recover a system which does not boot.
+
+Rescue is possible in USB mode only.</string>
+              </property>
+              <property name="text">
+               <string>Rescue</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="3" colspan="2">
              <widget class="QPushButton" name="safeBootButton">
               <property name="enabled">
                <bool>true</bool>
@@ -135,53 +126,8 @@ menu on the right.</string>
               </property>
              </widget>
             </item>
-            <item>
+            <item row="0" column="9">
-             <widget class="QPushButton" name="rescueButton">
-              <property name="toolTip">
-               <string>Start a guided procedure to manually
-recover a system which does not boot.
-
-Rescue is possible in USB mode only.</string>
-              </property>
-              <property name="text">
-               <string>Rescue</string>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QPushButton" name="eraseBootButton">
-              <property name="enabled">
-               <bool>true</bool>
-              </property>
-              <property name="toolTip">
-               <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Reboot the board and clear its settings memory.&lt;/p&gt;&lt;p&gt;        Useful if the board cannot boot properly.&lt;/p&gt;&lt;p&gt;        Blue led starts blinking quick for 20-30 seconds than the board will start normally&lt;/p&gt;&lt;p&gt;&lt;br/&gt;&lt;/p&gt;&lt;p&gt;If telemetry is not running, select the link using the dropdown&lt;/p&gt;&lt;p&gt;menu on the right.&lt;/p&gt;&lt;p&gt;PLEASE NOTE: Supported with bootloader versions 4.0 and earlier&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-              </property>
-              <property name="text">
-               <string>Erase settings</string>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <spacer name="horizontalSpacer">
-              <property name="orientation">
-               <enum>Qt::Horizontal</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>40</width>
-                <height>20</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
-            <item>
              <widget class="QComboBox" name="telemetryLink">
-              <property name="minimumSize">
-               <size>
-                <width>0</width>
-                <height>0</height>
-               </size>
-              </property>
               <property name="toolTip">
                <string>When telemetry is not connected, select the communication
 method using this combo box.
@@ -192,8 +138,14 @@ halting a running board.</string>
               </property>
              </widget>
             </item>
-            <item>
+            <item row="0" column="10">
              <widget class="QToolButton" name="refreshPorts">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>23</height>
+               </size>
+              </property>
               <property name="toolTip">
                <string>Refresh the list of serial ports</string>
               </property>
@@ -202,7 +154,43 @@ halting a running board.</string>
               </property>
              </widget>
             </item>
-            <item>
+            <item row="0" column="2">
+             <widget class="QPushButton" name="haltButton">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="toolTip">
+               <string>Tells the mainboard to go down
+to bootloader mode.
+(Only enabled if telemetry link is established, either
+through serial or USB)</string>
+              </property>
+              <property name="text">
+               <string>Halt</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="12">
+             <widget class="QPushButton" name="pbHelp">
+              <property name="text">
+               <string/>
+              </property>
+              <property name="icon">
+               <iconset resource="../coreplugin/core.qrc">
+                <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+              </property>
+              <property name="iconSize">
+               <size>
+                <width>18</width>
+                <height>18</height>
+               </size>
+              </property>
+              <property name="flat">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="11">
              <widget class="QLabel" name="boardStatus">
               <property name="font">
                <font>
@@ -215,26 +203,56 @@ halting a running board.</string>
               </property>
              </widget>
             </item>
-            <item>
+            <item row="1" column="2">
-             <widget class="QPushButton" name="pbHelp">
+             <widget class="QPushButton" name="resetButton">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="toolTip">
+               <string>Reset the system.
+(Only enabled if telemetry link is established, either
+through serial or USB)</string>
+              </property>
               <property name="text">
-               <string/>
+               <string>Reset</string>
-              </property>
-              <property name="icon">
-               <iconset resource="../coreplugin/core.qrc">
-                <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-              </property>
-              <property name="iconSize">
-               <size>
-                <width>30</width>
-                <height>30</height>
-               </size>
-              </property>
-              <property name="flat">
-               <bool>true</bool>
               </property>
              </widget>
             </item>
+            <item row="0" column="0">
+             <widget class="QPushButton" name="autoUpdateButton">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>75</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="toolTip">
+               <string>Start a guided procedure to manually
+recover a system which does not boot.
+
+Rescue is possible in USB mode only.</string>
+              </property>
+              <property name="text">
+               <string>Auto Update</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <spacer name="horizontalSpacer">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>40</width>
+                <height>20</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
            </layout>
           </item>
          </layout>

ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp

@@ -32,6 +32,8 @@
 
 #define DFU_DEBUG true
 
+const int UploaderGadgetWidget::AUTOUPDATE_CLOSE_TIMEOUT = 7000;
+
 UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
 {
     m_config    = new Ui_UploaderWidget();
@@ -358,16 +360,10 @@ void UploaderGadgetWidget::goToBootloader(UAVObject *callerObj, bool success)
             dw->populate();
             m_config->systemElements->addTab(dw, QString("Device") + QString::number(i));
         }
-        /*
+
-           m_config->haltButton->setEnabled(false);
-           m_config->resetButton->setEnabled(false);
-         */
         // Need to re-enable in case we were not connected
         bootButtonsSetEnable(true);
-        /*
+
-           m_config->telemetryLink->setEnabled(false);
-           m_config->rescueButton->setEnabled(false);
-         */
         if (resetOnly) {
             resetOnly = false;
             delay::msleep(3500);
@@ -835,10 +831,14 @@ void UploaderGadgetWidget::finishAutoUpdate()
 {
     disconnect(this, SIGNAL(autoUpdateSignal(uploader::AutoUpdateStep, QVariant)), this, SLOT(autoUpdateStatus(uploader::AutoUpdateStep, QVariant)));
     m_config->autoUpdateOkButton->setEnabled(true);
+    connect(&autoUpdateCloseTimer, SIGNAL(timeout()), this, SLOT(closeAutoUpdate()));
+    autoUpdateCloseTimer.start(AUTOUPDATE_CLOSE_TIMEOUT);
 }
 
 void UploaderGadgetWidget::closeAutoUpdate()
 {
+    autoUpdateCloseTimer.stop();
+    disconnect(&autoUpdateCloseTimer, SIGNAL(timeout()), this, SLOT(closeAutoUpdate()));
     m_config->autoUpdateGroupBox->setVisible(false);
     m_config->buttonFrame->setEnabled(true);
     m_config->splitter->setEnabled(true);

ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h

@@ -97,6 +97,8 @@ private:
     int autoUpdateConnectTimeout;
     FlightStatus *getFlightStatus();
     void bootButtonsSetEnable(bool enabled);
+    static const int AUTOUPDATE_CLOSE_TIMEOUT;
+    QTimer autoUpdateCloseTimer;
 private slots:
     void onPhisicalHWConnect();
     void versionMatchCheck();

shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -48,27 +48,27 @@
                limits="\
                        %0401NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
                        %0402NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
                        \
                        %0401NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
                        %0402NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
                        \
                        %0401NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
                        %0402NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
                        \
                        %0401NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
                        %0402NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
                        \
                        %0401NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
                        %0402NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
                        \
                        %0401NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
                        %0402NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI"/>
+                       %0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI"/>
 
         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
         <field name="FailsafeBehavior" units="" type="enum" elements="1" options="None" defaultvalue="None"/>