OP-1628 Added special handling for OPLink boards and Upgrade/Reboot functionality.

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

@@ -0,0 +1,90 @@
+/**
+ ******************************************************************************
+ *
+ * @file       oplinkwatchdog.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup [Group]
+ * @{
+ * @addtogroup OPLinkWatchdog
+ * @{
+ * @brief [Brief]
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "oplinkwatchdog.h"
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjects/uavobjectmanager.h"
+#include "oplinkstatus.h"
+#include <QDebug>
+
+OPLinkWatchdog::OPLinkWatchdog() : QObject(),
+    m_isConnected(false)
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Q_ASSERT(pm);
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(objManager);
+    m_oplinkStatus = OPLinkStatus::GetInstance(objManager);
+    Q_ASSERT(m_oplinkStatus);
+    connect(m_oplinkStatus, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(onOPLinkStatusUpdate()));
+    m_watchdog = new QTimer(this);
+    connect(m_watchdog, SIGNAL(timeout()), this, SLOT(onTimeout()));
+    onOPLinkStatusUpdate();
+}
+
+OPLinkWatchdog::~OPLinkWatchdog()
+{
+}
+
+void OPLinkWatchdog::onOPLinkStatusUpdate()
+{
+    m_watchdog->stop();
+    quint8 type = m_oplinkStatus->getBoardType();
+    if (!m_isConnected) {
+        switch (type) {
+        case 3:
+            m_oplinkType = OPLINK_STANDALONE;
+            m_isConnected = true;
+            emit connected();
+            emit standaloneConnected();
+            break;
+        case 9:
+            m_oplinkType = OPLINK_REVOLUTION;
+            m_isConnected = true;
+            emit connected();
+            emit revolutionConnected();
+            break;
+        default:
+            m_isConnected = false;
+            m_oplinkType = OPLINK_UNKNOWN;
+            return;
+        }
+
+        qDebug() << "OPLink connected";
+    }
+    m_watchdog->start(m_oplinkStatus->getMetadata().flightTelemetryUpdatePeriod * 3);
+}
+
+void OPLinkWatchdog::onTimeout()
+{
+    if (m_isConnected) {
+        m_isConnected = false;
+        m_oplinkType = OPLINK_UNKNOWN;
+        qDebug() << "OPLink disconnected";
+        emit disconnected();
+    }
+}

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

@@ -0,0 +1,64 @@
+/**
+ ******************************************************************************
+ *
+ * @file       oplinkwatchdog.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup [Group]
+ * @{
+ * @addtogroup OPLinkWatchdog
+ * @{
+ * @brief [Brief]
+ *****************************************************************************/
+/*
+ * This program 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.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef OPLINKWATCHDOG_H
+#define OPLINKWATCHDOG_H
+
+#include <QTimer>
+
+class OPLinkStatus;
+class OPLinkWatchdog : public QObject {
+    Q_OBJECT
+public:
+    enum OPLinkType {
+        OPLINK_STANDALONE,
+        OPLINK_REVOLUTION,
+        OPLINK_UNKNOWN
+    };
+
+    OPLinkWatchdog();
+    ~OPLinkWatchdog();
+    bool isConnected() const { return m_isConnected; }
+    OPLinkWatchdog::OPLinkType oplinkType() const { return m_oplinkType; }
+
+signals:
+    void connected();
+    void standaloneConnected();
+    void revolutionConnected();
+    void disconnected();
+
+private slots:
+    void onOPLinkStatusUpdate();
+    void onTimeout();
+
+private:
+    bool m_isConnected;
+    OPLinkType m_oplinkType;
+    QTimer* m_watchdog;
+    OPLinkStatus* m_oplinkStatus;
+};
+#endif // OPLINKWATCHDOG_H

ground/openpilotgcs/src/plugins/uploader/uploader.pro

@@ -31,7 +31,8 @@ HEADERS += uploadergadget.h \
     runningdevicewidget.h \
     uploader_global.h \
     enums.h \
-    rebootdialog.h
+    rebootdialog.h \
+    oplinkwatchdog.h
 
 SOURCES += uploadergadget.cpp \
     uploadergadgetconfiguration.cpp \
@@ -46,7 +47,8 @@ SOURCES += uploadergadget.cpp \
     SSP/qssp.cpp \
     SSP/qsspt.cpp \
     runningdevicewidget.cpp \
-    rebootdialog.cpp
+    rebootdialog.cpp \
+    oplinkwatchdog.cpp
 
 OTHER_FILES += Uploader.pluginspec
 

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

@@ -27,8 +27,8 @@
        <rect>
         <x>0</x>
         <y>0</y>
-        <width>794</width>
+        <width>778</width>
-        <height>505</height>
+        <height>615</height>
        </rect>
       </property>
       <layout class="QVBoxLayout" name="verticalLayout_2">
@@ -311,6 +311,9 @@ through serial or USB)</string>
             <property name="text">
              <string>Progress</string>
             </property>
+            <property name="wordWrap">
+             <bool>true</bool>
+            </property>
            </widget>
           </item>
          </layout>

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

@@ -27,6 +27,7 @@
 #include "uploadergadgetwidget.h"
 
 #include "flightstatus.h"
+#include "oplinkstatus.h"
 #include "delay.h"
 #include "devicewidget.h"
 #include "runningdevicewidget.h"
@@ -138,9 +139,10 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
 {
     m_config    = new Ui_UploaderWidget();
     m_config->setupUi(this);
-    currentStep = IAP_STATE_READY;
+    m_currentIAPStep = IAP_STATE_READY;
-    resetOnly   = false;
+    m_resetOnly   = false;
-    dfu = NULL;
+    m_dfu = NULL;
+    m_autoupdateClosing = false;
 
     // Listen to autopilot connection events
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@@ -230,7 +232,6 @@ void UploaderGadgetWidget::connectSignalSlot(QWidget *widget)
 FlightStatus *UploaderGadgetWidget::getFlightStatus()
 {
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-
     Q_ASSERT(pm);
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
     Q_ASSERT(objManager);
@@ -245,7 +246,7 @@ void UploaderGadgetWidget::bootButtonsSetEnable(bool enabled)
     m_config->safeBootButton->setEnabled(enabled);
 
     // this feature is supported only on BL revision >= 4
-    bool isBL4 = ((dfu != NULL) && (dfu->devices[0].BL_Version >= 4));
+    bool isBL4 = ((m_dfu != NULL) && (m_dfu->devices[0].BL_Version >= 4));
     m_config->eraseBootButton->setEnabled(isBL4 && enabled);
 }
 
@@ -292,7 +293,7 @@ void UploaderGadgetWidget::onAutopilotDisconnect()
     m_config->haltButton->setEnabled(false);
     m_config->resetButton->setEnabled(false);
     bootButtonsSetEnable(true);
-    if (currentStep == IAP_STATE_BOOTLOADER) {
+    if (m_currentIAPStep == IAP_STATE_BOOTLOADER) {
         m_config->rescueButton->setEnabled(false);
         m_config->telemetryLink->setEnabled(false);
     } else {
@@ -322,7 +323,7 @@ void UploaderGadgetWidget::goToBootloader(UAVObject *callerObj, bool success)
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
     UAVObject *fwIAP = dynamic_cast<UAVDataObject *>(objManager->getObject("FirmwareIAPObj"));
 
-    switch (currentStep) {
+    switch (m_currentIAPStep) {
     case IAP_STATE_READY:
         m_config->haltButton->setEnabled(false);
         getSerialPorts(); // Useful in case a new serial port appeared since the initial list,
@@ -332,7 +333,7 @@ void UploaderGadgetWidget::goToBootloader(UAVObject *callerObj, bool success)
         fwIAP->getField("BoardRevision")->setDouble(0);
         fwIAP->getField("BoardType")->setDouble(0);
         connect(fwIAP, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(goToBootloader(UAVObject *, bool)));
-        currentStep = IAP_STATE_STEP_1;
+        m_currentIAPStep = IAP_STATE_STEP_1;
         clearLog();
         log("IAP Step 1");
         fwIAP->updated();
@@ -342,7 +343,7 @@ void UploaderGadgetWidget::goToBootloader(UAVObject *callerObj, bool success)
         if (!success) {
             log("Oops, failure step 1");
             log("Reset did NOT happen");
-            currentStep = IAP_STATE_READY;
+            m_currentIAPStep = IAP_STATE_READY;
             disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(goToBootloader(UAVObject *, bool)));
             m_config->haltButton->setEnabled(true);
             emit progressUpdate(FAILURE, QVariant());
@@ -351,7 +352,7 @@ void UploaderGadgetWidget::goToBootloader(UAVObject *callerObj, bool success)
         }
         sleep(600);
         fwIAP->getField("Command")->setValue("2233");
-        currentStep = IAP_STATE_STEP_2;
+        m_currentIAPStep = IAP_STATE_STEP_2;
         log("IAP Step 2");
         fwIAP->updated();
         emit progressUpdate(JUMP_TO_BL, QVariant(2));
@@ -360,7 +361,7 @@ void UploaderGadgetWidget::goToBootloader(UAVObject *callerObj, bool success)
         if (!success) {
             log("Oops, failure step 2");
             log("Reset did NOT happen");
-            currentStep = IAP_STATE_READY;
+            m_currentIAPStep = IAP_STATE_READY;
             disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(goToBootloader(UAVObject *, bool)));
             m_config->haltButton->setEnabled(true);
             emit progressUpdate(FAILURE, QVariant());
@@ -369,14 +370,14 @@ void UploaderGadgetWidget::goToBootloader(UAVObject *callerObj, bool success)
         }
         sleep(600);
         fwIAP->getField("Command")->setValue("3344");
-        currentStep = IAP_STEP_RESET;
+        m_currentIAPStep = IAP_STEP_RESET;
         log("IAP Step 3");
         emit progressUpdate(JUMP_TO_BL, QVariant(3));
         fwIAP->updated();
         break;
     case IAP_STEP_RESET:
     {
-        currentStep = IAP_STATE_READY;
+        m_currentIAPStep = IAP_STATE_READY;
         if (!success) {
             log("Oops, failure step 3");
             log("Reset did NOT happen");
@@ -407,36 +408,36 @@ void UploaderGadgetWidget::goToBootloader(UAVObject *callerObj, bool success)
 
         disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(goToBootloader(UAVObject *, bool)));
 
-        currentStep = IAP_STATE_BOOTLOADER;
+        m_currentIAPStep = IAP_STATE_BOOTLOADER;
 
         // Tell the mainboard to get into bootloader state:
         log("Detecting devices, please wait a few seconds...");
-        if (!dfu) {
+        if (!m_dfu) {
             if (dlj.startsWith("USB")) {
-                dfu = new DFUObject(DFU_DEBUG, false, QString());
+                m_dfu = new DFUObject(DFU_DEBUG, false, QString());
             } else {
-                dfu = new DFUObject(DFU_DEBUG, true, getPortDevice(dli));
+                m_dfu = new DFUObject(DFU_DEBUG, true, getPortDevice(dli));
             }
         }
-        if (!dfu->ready()) {
+        if (!m_dfu->ready()) {
             log("Could not enter DFU mode.");
-            delete dfu;
+            delete m_dfu;
-            dfu = NULL;
+            m_dfu = NULL;
             cm->resumePolling();
-            currentStep = IAP_STATE_READY;
+            m_currentIAPStep = IAP_STATE_READY;
             m_config->boardStatus->setText(tr("Bootloader?"));
             m_config->haltButton->setEnabled(true);
             emit progressUpdate(FAILURE, QVariant());
             emit bootloaderFailed();
             return;
         }
-        dfu->AbortOperation();
+        m_dfu->AbortOperation();
-        if (!dfu->enterDFU(0)) {
+        if (!m_dfu->enterDFU(0)) {
             log("Could not enter DFU mode.");
-            delete dfu;
+            delete m_dfu;
-            dfu = NULL;
+            m_dfu = NULL;
             cm->resumePolling();
-            currentStep = IAP_STATE_READY;
+            m_currentIAPStep = IAP_STATE_READY;
             m_config->boardStatus->setText(tr("Bootloader?"));
             emit progressUpdate(FAILURE, QVariant());
             emit bootloaderFailed();
@@ -444,12 +445,12 @@ void UploaderGadgetWidget::goToBootloader(UAVObject *callerObj, bool success)
         }
 
         sleep(500);
-        dfu->findDevices();
+        m_dfu->findDevices();
-        log(QString("Found %1 device(s).").arg(QString::number(dfu->numberOfDevices)));
+        log(QString("Found %1 device(s).").arg(QString::number(m_dfu->numberOfDevices)));
-        if (dfu->numberOfDevices < 0 || dfu->numberOfDevices > 3) {
+        if (m_dfu->numberOfDevices < 0 || m_dfu->numberOfDevices > 3) {
             log("Inconsistent number of devices! Aborting");
-            delete dfu;
+            delete m_dfu;
-            dfu = NULL;
+            m_dfu = NULL;
             cm->resumePolling();
             emit progressUpdate(FAILURE, QVariant());
             emit bootloaderFailed();
@@ -461,11 +462,11 @@ void UploaderGadgetWidget::goToBootloader(UAVObject *callerObj, bool success)
             m_config->systemElements->removeTab(0);
             delete qw;
         }
-        for (int i = 0; i < dfu->numberOfDevices; i++) {
+        for (int i = 0; i < m_dfu->numberOfDevices; i++) {
             DeviceWidget *dw = new DeviceWidget(this);
             connectSignalSlot(dw);
             dw->setDeviceID(i);
-            dw->setDfu(dfu);
+            dw->setDfu(m_dfu);
             dw->populate();
             m_config->systemElements->addTab(dw, tr("Device") + QString::number(i));
         }
@@ -477,8 +478,8 @@ void UploaderGadgetWidget::goToBootloader(UAVObject *callerObj, bool success)
         emit progressUpdate(JUMP_TO_BL, QVariant(5));
         emit bootloaderSuccess();
 
-        if (resetOnly) {
+        if (m_resetOnly) {
-            resetOnly = false;
+            m_resetOnly = false;
             delay::msleep(3500);
             systemBoot();
             break;
@@ -518,10 +519,10 @@ void UploaderGadgetWidget::systemReset()
     // The board can not be reset when in armed state.
     // If board is armed, or arming. Show message with notice.
     if (status->getArmed() == FlightStatus::ARMED_DISARMED) {
-        resetOnly = true;
+        m_resetOnly = true;
-        if (dfu) {
+        if (m_dfu) {
-            delete dfu;
+            delete m_dfu;
-            dfu = NULL;
+            m_dfu = NULL;
         }
         clearLog();
         log("Board Reset initiated.");
@@ -618,31 +619,31 @@ void UploaderGadgetWidget::commonSystemBoot(bool safeboot, bool erase)
     log("Attempting to boot the system through " + devName + ".");
     repaint();
 
-    if (!dfu) {
+    if (!m_dfu) {
         if (devName == "USB") {
-            dfu = new DFUObject(DFU_DEBUG, false, QString());
+            m_dfu = new DFUObject(DFU_DEBUG, false, QString());
         } else {
-            dfu = new DFUObject(DFU_DEBUG, true, getPortDevice(devName));
+            m_dfu = new DFUObject(DFU_DEBUG, true, getPortDevice(devName));
         }
     }
-    dfu->AbortOperation();
+    m_dfu->AbortOperation();
-    if (!dfu->enterDFU(0)) {
+    if (!m_dfu->enterDFU(0)) {
         log("Could not enter DFU mode.");
-        delete dfu;
+        delete m_dfu;
-        dfu = NULL;
+        m_dfu = NULL;
         bootButtonsSetEnable(true);
         m_config->rescueButton->setEnabled(true); // Boot not possible, maybe Rescue OK?
         emit bootFailed();
         return;
     }
     log("Booting system...");
-    dfu->JumpToApp(safeboot, erase);
+    m_dfu->JumpToApp(safeboot, erase);
     // Restart the polling thread
     cm->resumePolling();
     m_config->rescueButton->setEnabled(true);
     m_config->telemetryLink->setEnabled(true);
     m_config->boardStatus->setText(tr("Running"));
-    if (currentStep == IAP_STATE_BOOTLOADER) {
+    if (m_currentIAPStep == IAP_STATE_BOOTLOADER) {
         // Freeze the tabs, they are not useful anymore and their buttons
         // will cause segfaults or weird stuff if we use them.
         for (int i = 0; i < m_config->systemElements->count(); i++) {
@@ -657,11 +658,11 @@ void UploaderGadgetWidget::commonSystemBoot(bool safeboot, bool erase)
             }
         }
     }
-    currentStep = IAP_STATE_READY;
+    m_currentIAPStep = IAP_STATE_READY;
     log("You can now reconnect telemetry...");
-    delete dfu; // Frees up the USB/Serial port too
+    delete m_dfu; // Frees up the USB/Serial port too
     emit bootSuccess();
-    dfu = NULL;
+    m_dfu = NULL;
 }
 
 bool UploaderGadgetWidget::autoUpdateCapable()
@@ -671,8 +672,15 @@ bool UploaderGadgetWidget::autoUpdateCapable()
 
 bool UploaderGadgetWidget::autoUpdate(bool erase)
 {
-    ExtensionSystem::PluginManager *pluginManager = ExtensionSystem::PluginManager::instance();
+    if (m_oplinkwatchdog.isConnected() &&
+            m_oplinkwatchdog.oplinkType() == OPLinkWatchdog::OPLINK_STANDALONE) {
+        emit progressUpdate(FAILURE, QVariant(tr("To upgrade OPLink board please disconnect it from the USB port, "
+                                                 "press the Upgrade again button and follow instructions on screen.")));
+        emit autoUpdateFailed();
+        return false;
+    }
 
+    ExtensionSystem::PluginManager *pluginManager = ExtensionSystem::PluginManager::instance();
     Q_ASSERT(pluginManager);
     TelemetryManager *telemetryManager = pluginManager->getObject<TelemetryManager>();
     Q_ASSERT(telemetryManager);
@@ -717,20 +725,20 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
         disconnect(this, SIGNAL(bootloaderFailed()), &eventLoop, SLOT(fail()));
     }
 
-    if (dfu) {
+    if (m_dfu) {
-        delete dfu;
+        delete m_dfu;
-        dfu = NULL;
+        m_dfu = NULL;
     }
 
     Core::ConnectionManager *connectionManager = Core::ICore::instance()->connectionManager();
-    dfu = new DFUObject(DFU_DEBUG, false, QString());
+    m_dfu = new DFUObject(DFU_DEBUG, false, QString());
-    dfu->AbortOperation();
+    m_dfu->AbortOperation();
     emit progressUpdate(JUMP_TO_BL, QVariant());
 
-    if (!dfu->enterDFU(0) || !dfu->findDevices() ||
+    if (!m_dfu->enterDFU(0) || !m_dfu->findDevices() ||
-        (dfu->numberOfDevices != 1) || dfu->numberOfDevices > 5) {
+        (m_dfu->numberOfDevices != 1) || m_dfu->numberOfDevices > 5) {
-        delete dfu;
+        delete m_dfu;
-        dfu = NULL;
+        m_dfu = NULL;
         connectionManager->resumePolling();
         emit progressUpdate(FAILURE, QVariant(tr("Failed to enter bootloader mode.")));
         emit autoUpdateFailed();
@@ -739,7 +747,7 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
 
     QString filename;
     emit progressUpdate(LOADING_FW, QVariant());
-    switch (dfu->devices[0].ID) {
+    switch (m_dfu->devices[0].ID) {
     case 0x301:
         filename = "fw_oplinkmini";
         break;
@@ -760,7 +768,7 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
         filename = "fw_discoveryf4bare";
         break;
     default:
-        emit progressUpdate(FAILURE, QVariant(tr("Unknown board id '0x%1'").arg(QString::number(dfu->devices[0].ID, 16))));
+        emit progressUpdate(FAILURE, QVariant(tr("Unknown board id '0x%1'").arg(QString::number(m_dfu->devices[0].ID, 16))));
         emit autoUpdateFailed();
         return false;
     }
@@ -779,16 +787,16 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
     }
     firmware = file.readAll();
     QEventLoop eventLoop2;
-    connect(dfu, SIGNAL(progressUpdated(int)), this, SLOT(autoUpdateFlashProgress(int)));
+    connect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(autoUpdateFlashProgress(int)));
-    connect(dfu, SIGNAL(uploadFinished(OP_DFU::Status)), &eventLoop2, SLOT(quit()));
+    connect(m_dfu, SIGNAL(uploadFinished(OP_DFU::Status)), &eventLoop2, SLOT(quit()));
     emit progressUpdate(UPLOADING_FW, QVariant());
-    if (!dfu->enterDFU(0)) {
+    if (!m_dfu->enterDFU(0)) {
         emit progressUpdate(FAILURE, QVariant(tr("Could not enter direct firmware upload mode.")));
         emit autoUpdateFailed();
         return false;
     }
-    dfu->AbortOperation();
+    m_dfu->AbortOperation();
-    if (!dfu->UploadFirmware(filename, false, 0)) {
+    if (!m_dfu->UploadFirmware(filename, false, 0)) {
         emit progressUpdate(FAILURE, QVariant(tr("Firmware upload failed.")));
         emit autoUpdateFailed();
         return false;
@@ -796,7 +804,7 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
     eventLoop2.exec();
     QByteArray desc = firmware.right(100);
     emit progressUpdate(UPLOADING_DESC, QVariant());
-    if (dfu->UploadDescription(desc) != OP_DFU::Last_operation_Success) {
+    if (m_dfu->UploadDescription(desc) != OP_DFU::Last_operation_Success) {
         emit progressUpdate(FAILURE, QVariant(tr("Failed to upload firmware description.")));
         emit autoUpdateFailed();
         return false;
@@ -806,10 +814,12 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
 
     // Wait for board to connect to GCS again after boot and erase
     // For older board like CC3D this can take some time
-    if (!telemetryManager->isConnected()) {
+    // Theres a special case with OPLink
+    if (!telemetryManager->isConnected() && !m_oplinkwatchdog.isConnected()) {
         progressUpdate(erase ? BOOTING_AND_ERASING : BOOTING, QVariant());
         ResultEventLoop eventLoop;
         connect(telemetryManager, SIGNAL(connected()), &eventLoop, SLOT(success()));
+        connect(&m_oplinkwatchdog, SIGNAL(standaloneConnected()), &eventLoop, SLOT(success()));
 
         if (eventLoop.run(REBOOT_TIMEOUT + (erase ? ERASE_TIMEOUT : 0)) != 0) {
             emit progressUpdate(FAILURE, QVariant(tr("Timed out while booting.")));
@@ -817,6 +827,7 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
             return false;
         }
 
+        disconnect(&m_oplinkwatchdog, SIGNAL(standaloneConnected()), &eventLoop, SLOT(success()));
         disconnect(telemetryManager, SIGNAL(connected()), &eventLoop, SLOT(success()));
     }
 
@@ -861,9 +872,9 @@ void UploaderGadgetWidget::systemRescue()
 
     // Existing DFU objects will have a handle over USB and will
     // disturb everything for the rescue process:
-    if (dfu) {
+    if (m_dfu) {
-        delete dfu;
+        delete m_dfu;
-        dfu = NULL;
+        m_dfu = NULL;
     }
 
     // Avoid users pressing Rescue twice.
@@ -907,39 +918,39 @@ void UploaderGadgetWidget::systemRescue()
     }
 
     log("Detecting first board...");
-    dfu = new DFUObject(DFU_DEBUG, false, QString());
+    m_dfu = new DFUObject(DFU_DEBUG, false, QString());
-    dfu->AbortOperation();
+    m_dfu->AbortOperation();
-    if (!dfu->enterDFU(0)) {
+    if (!m_dfu->enterDFU(0)) {
         log("Could not enter DFU mode.");
-        delete dfu;
+        delete m_dfu;
-        dfu = NULL;
+        m_dfu = NULL;
         cm->resumePolling();
         m_config->rescueButton->setEnabled(true);
         return;
     }
-    if (!dfu->findDevices() || (dfu->numberOfDevices != 1)) {
+    if (!m_dfu->findDevices() || (m_dfu->numberOfDevices != 1)) {
         log("Could not detect a board, aborting!");
-        delete dfu;
+        delete m_dfu;
-        dfu = NULL;
+        m_dfu = NULL;
         cm->resumePolling();
         m_config->rescueButton->setEnabled(true);
         return;
     }
-    log(QString("Found %1 device(s).").arg(dfu->numberOfDevices));
+    log(QString("Found %1 device(s).").arg(m_dfu->numberOfDevices));
 
-    if (dfu->numberOfDevices > 5) {
+    if (m_dfu->numberOfDevices > 5) {
         log("Inconsistent number of devices, aborting!");
-        delete dfu;
+        delete m_dfu;
-        dfu = NULL;
+        m_dfu = NULL;
         cm->resumePolling();
         m_config->rescueButton->setEnabled(true);
         return;
     }
-    for (int i = 0; i < dfu->numberOfDevices; i++) {
+    for (int i = 0; i < m_dfu->numberOfDevices; i++) {
         DeviceWidget *dw = new DeviceWidget(this);
         connectSignalSlot(dw);
         dw->setDeviceID(i);
-        dw->setDfu(dfu);
+        dw->setDfu(m_dfu);
         dw->populate();
         m_config->systemElements->addTab(dw, tr("Device") + QString::number(i));
     }
@@ -949,7 +960,7 @@ void UploaderGadgetWidget::systemRescue()
     m_config->rescueButton->setEnabled(false);
 
     // So that we can boot from the GUI afterwards.
-    currentStep = IAP_STATE_BOOTLOADER;
+    m_currentIAPStep = IAP_STATE_BOOTLOADER;
 }
 
 void UploaderGadgetWidget::uploadStarted()
@@ -1017,6 +1028,7 @@ void UploaderGadgetWidget::finishAutoUpdate()
 {
     disconnect(this, SIGNAL(progressUpdate(uploader::ProgressStep, QVariant)), this, SLOT(autoUpdateStatus(uploader::ProgressStep, QVariant)));
     m_config->autoUpdateOkButton->setEnabled(true);
+    m_autoupdateClosing = true;
 
     // wait a bit and "close" auto update
     QTimer::singleShot(AUTOUPDATE_CLOSE_TIMEOUT, this, SLOT(closeAutoUpdate()));
@@ -1024,9 +1036,12 @@ void UploaderGadgetWidget::finishAutoUpdate()
 
 void UploaderGadgetWidget::closeAutoUpdate()
 {
-    m_config->autoUpdateGroupBox->setVisible(false);
+    if (m_autoupdateClosing) {
-    m_config->buttonFrame->setEnabled(true);
+        m_config->autoUpdateGroupBox->setVisible(false);
-    m_config->splitter->setEnabled(true);
+        m_config->buttonFrame->setEnabled(true);
+        m_config->splitter->setEnabled(true);
+    }
+    m_autoupdateClosing = false;
 }
 
 void UploaderGadgetWidget::autoUpdateStatus(uploader::ProgressStep status, QVariant value)

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

@@ -35,12 +35,15 @@
 #include "op_dfu.h"
 
 #include <QProgressDialog>
+#include "oplinkwatchdog.h"
 
 using namespace OP_DFU;
 using namespace uploader;
 
 class FlightStatus;
 class UAVObject;
+class OPLinkStatus;
+class OPLinkWatchdog;
 
 class TimedDialog : public QProgressDialog {
     Q_OBJECT
@@ -140,9 +143,11 @@ signals:
 
 private:
     Ui_UploaderWidget *m_config;
-    DFUObject *dfu;
+    DFUObject *m_dfu;
-    IAPStep currentStep;
+    IAPStep m_currentIAPStep;
-    bool resetOnly;
+    bool m_resetOnly;
+    OPLinkWatchdog m_oplinkwatchdog;
+    bool m_autoupdateClosing;
 
     void clearLog();
     QString getPortDevice(const QString &friendName);
@@ -177,6 +182,7 @@ private slots:
     void finishAutoUpdate();
     void closeAutoUpdate();
     void autoUpdateStatus(uploader::ProgressStep status, QVariant value);
+    void oplinkUpdated();
 };
 
 #endif // UPLOADERGADGETWIDGET_H