Merge remote-tracking branch 'origin/next' into thread/OP-1763_CloudConfigs_outside_of_Wizard

Makefile

@@ -792,18 +792,10 @@ PACKAGE_NAME      := OpenPilot
 PACKAGE_SEP       := -
 PACKAGE_FULL_NAME := $(PACKAGE_NAME)$(PACKAGE_SEP)$(PACKAGE_LBL)
 
-# Source distribution is never dirty because it uses git archive
-DIST_NAME := $(DIST_DIR)/$(subst dirty-,,$(PACKAGE_FULL_NAME)).tar
-
-.PHONY: package
-
 include $(ROOT_DIR)/package/$(UNAME).mk
 
-package: all_fw all_ground uavobjects_matlab | $(PACKAGE_DIR)
+# Source distribution is never dirty because it uses git archive
-ifneq ($(GCS_BUILD_CONF),release)
+DIST_NAME := $(DIST_DIR)/$(subst dirty-,,$(PACKAGE_FULL_NAME)).tar
-	# We can only package release builds
-	$(error Packaging is currently supported for release builds only)
-endif
 
 ##############################
 #

flight/modules/GPS/GPS.c

@@ -275,6 +275,12 @@ static void gpsTask(__attribute__((unused)) void *parameters)
             ubx_autoconfig_run(&buffer, &count, status != GPSPOSITIONSENSOR_STATUS_NOGPS);
             // Something to send?
             if (count) {
+                // clear ack/nak
+                ubxLastAck.clsID = 0x00;
+                ubxLastAck.msgID = 0x00;
+                ubxLastNak.clsID = 0x00;
+                ubxLastNak.msgID = 0x00;
+
                 PIOS_COM_SendBuffer(gpsPort, (uint8_t *)buffer, count);
             }
         }
@@ -479,6 +485,7 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
     uint8_t ubxSbasMode;
     ubx_autoconfig_settings_t newconfig;
     uint8_t ubxSbasSats;
+    uint8_t ubxGnssMode;
 
     GPSSettingsUbxRateGet(&newconfig.navRate);
 
@@ -541,6 +548,41 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
                          ubxSbasSats == GPSSETTINGS_UBXSBASSATS_GAGAN ? UBX_SBAS_SATS_GAGAN :
                          ubxSbasSats == GPSSETTINGS_UBXSBASSATS_SDCM ? UBX_SBAS_SATS_SDCM : UBX_SBAS_SATS_AUTOSCAN;
 
+    GPSSettingsUbxGNSSModeGet(&ubxGnssMode);
+
+    switch (ubxGnssMode) {
+    case GPSSETTINGS_UBXGNSSMODE_GPSGLONASS:
+        newconfig.enableGPS     = true;
+        newconfig.enableGLONASS = true;
+        newconfig.enableBeiDou  = false;
+        break;
+    case GPSSETTINGS_UBXGNSSMODE_GLONASS:
+        newconfig.enableGPS     = false;
+        newconfig.enableGLONASS = true;
+        newconfig.enableBeiDou  = false;
+        break;
+    case GPSSETTINGS_UBXGNSSMODE_GPS:
+        newconfig.enableGPS     = true;
+        newconfig.enableGLONASS = false;
+        newconfig.enableBeiDou  = false;
+        break;
+    case GPSSETTINGS_UBXGNSSMODE_GPSBEIDOU:
+        newconfig.enableGPS     = true;
+        newconfig.enableGLONASS = false;
+        newconfig.enableBeiDou  = true;
+        break;
+    case GPSSETTINGS_UBXGNSSMODE_GLONASSBEIDOU:
+        newconfig.enableGPS     = false;
+        newconfig.enableGLONASS = true;
+        newconfig.enableBeiDou  = true;
+        break;
+    default:
+        newconfig.enableGPS     = false;
+        newconfig.enableGLONASS = false;
+        newconfig.enableBeiDou  = false;
+        break;
+    }
+
     ubx_autoconfig_set(newconfig);
 }
 #endif /* if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL) */

flight/modules/GPS/UBX.c

@@ -107,7 +107,7 @@ struct UBX_ACK_NAK ubxLastNak;
 #define UBX_PVT_TIMEOUT (1000)
 // parse incoming character stream for messages in UBX binary format
 
-int parse_ubx_stream(uint8_t *rx, uint8_t len, char *gps_rx_buffer, GPSPositionSensorData *GpsData, struct GPS_RX_STATS *gpsRxStats)
+int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPositionSensorData *GpsData, struct GPS_RX_STATS *gpsRxStats)
 {
     int ret = PARSER_INCOMPLETE; // message not (yet) complete
     enum proto_states {
@@ -124,7 +124,7 @@ int parse_ubx_stream(uint8_t *rx, uint8_t len, char *gps_rx_buffer, GPSPositionS
     };
     uint8_t c;
     static enum proto_states proto_state = START;
-    static uint8_t rx_count = 0;
+    static uint16_t rx_count = 0;
     struct UBXPacket *ubx    = (struct UBXPacket *)gps_rx_buffer;
 
     for (int i = 0; i < len; i++) {
@@ -413,8 +413,10 @@ static void parse_ubx_nav_svinfo(struct UBXPacket *ubx, __attribute__((unused))
     struct UBX_NAV_SVINFO *svinfo = &ubx->payload.nav_svinfo;
 
     svdata.SatsInView = 0;
+
+    // First, use slots for SVs actually being received
     for (chan = 0; chan < svinfo->numCh; chan++) {
-        if (svdata.SatsInView < GPSSATELLITES_PRN_NUMELEM) {
+        if (svdata.SatsInView < GPSSATELLITES_PRN_NUMELEM && svinfo->sv[chan].cno > 0) {
             svdata.Azimuth[svdata.SatsInView]   = svinfo->sv[chan].azim;
             svdata.Elevation[svdata.SatsInView] = svinfo->sv[chan].elev;
             svdata.PRN[svdata.SatsInView] = svinfo->sv[chan].svid;
@@ -422,6 +424,18 @@ static void parse_ubx_nav_svinfo(struct UBXPacket *ubx, __attribute__((unused))
             svdata.SatsInView++;
         }
     }
+
+    // Now try to add the rest
+    for (chan = 0; chan < svinfo->numCh; chan++) {
+        if (svdata.SatsInView < GPSSATELLITES_PRN_NUMELEM && 0 == svinfo->sv[chan].cno) {
+            svdata.Azimuth[svdata.SatsInView]   = svinfo->sv[chan].azim;
+            svdata.Elevation[svdata.SatsInView] = svinfo->sv[chan].elev;
+            svdata.PRN[svdata.SatsInView] = svinfo->sv[chan].svid;
+            svdata.SNR[svdata.SatsInView] = svinfo->sv[chan].cno;
+            svdata.SatsInView++;
+        }
+    }
+
     // fill remaining slots (if any)
     for (chan = svdata.SatsInView; chan < GPSSATELLITES_PRN_NUMELEM; chan++) {
         svdata.Azimuth[chan]   = 0;

flight/modules/GPS/inc/UBX.h

@@ -102,6 +102,7 @@ typedef enum {
     UBX_ID_CFG_MSG  = 0x01,
     UBX_ID_CFG_CFG  = 0x09,
     UBX_ID_CFG_SBAS = 0x16,
+    UBX_ID_CFG_GNSS = 0x3E
 } ubx_class_cfg_id;
 
 typedef enum {
@@ -310,7 +311,7 @@ struct UBX_NAV_SVINFO_SV {
 };
 
 // SV information message
-#define MAX_SVS 16
+#define MAX_SVS 32
 
 struct UBX_NAV_SVINFO {
     uint32_t iTOW; // GPS Millisecond Time of Week (ms)
@@ -404,7 +405,7 @@ extern struct UBX_ACK_NAK ubxLastNak;
 bool checksum_ubx_message(struct UBXPacket *);
 uint32_t parse_ubx_message(struct UBXPacket *, GPSPositionSensorData *);
 
-int parse_ubx_stream(uint8_t *rx, uint8_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
+int parse_ubx_stream(uint8_t *rx, uint16_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
 void load_mag_settings();
 
 #endif /* UBX_H */

flight/modules/GPS/inc/ubx_autoconfig.h

@@ -88,6 +88,10 @@ typedef struct {
 
     int8_t  navRate;
     ubx_config_dynamicmodel_t dynamicModel;
+
+    bool    enableGPS;
+    bool    enableGLONASS;
+    bool    enableBeiDou;
 } ubx_autoconfig_settings_t;
 
 // Mask for "all supported devices": battery backed RAM, Flash, EEPROM, SPI Flash
@@ -164,6 +168,44 @@ typedef struct {
     uint32_t scanmode1;
 } __attribute__((packed)) ubx_cfg_sbas_t;
 
+typedef enum {
+    UBX_GNSS_ID_GPS     = 0,
+    UBX_GNSS_ID_SBAS    = 1,
+    UBX_GNSS_ID_GALILEO = 2,
+    UBX_GNSS_ID_BEIDOU  = 3,
+    UBX_GNSS_ID_IMES    = 4,
+    UBX_GNSS_ID_QZSS    = 5,
+    UBX_GNSS_ID_GLONASS = 6,
+    UBX_GNSS_ID_MAX
+} ubx_config_gnss_id_t;
+
+#define UBX_CFG_GNSS_FLAGS_ENABLED      0x01
+#define UBX_CFG_GNSS_FLAGS_GPS_L1CA     0x010000
+#define UBX_CFG_GNSS_FLAGS_SBAS_L1CA    0x010000
+#define UBX_CFG_GNSS_FLAGS_BEIDOU_B1I   0x010000
+#define UBX_CFG_GNSS_FLAGS_QZSS_L1CA    0x010000
+#define UBX_CFG_GNSS_FLAGS_QZSS_L1SAIF  0x040000
+#define UBX_CFG_GNSS_FLAGS_GLONASS_L1OF 0x010000
+
+#define UBX_CFG_GNSS_NUMCH_VER7         22
+#define UBX_CFG_GNSS_NUMCH_VER8         32
+
+typedef struct {
+    uint8_t  gnssId;
+    uint8_t  resTrkCh;
+    uint8_t  maxTrkCh;
+    uint8_t  resvd;
+    uint32_t flags;
+} __attribute__((packed)) ubx_cfg_gnss_cfgblock_t;
+
+typedef struct {
+    uint8_t msgVer;
+    uint8_t numTrkChHw;
+    uint8_t numTrkChUse;
+    uint8_t numConfigBlocks;
+    ubx_cfg_gnss_cfgblock_t cfgBlocks[UBX_GNSS_ID_MAX];
+} __attribute__((packed)) ubx_cfg_gnss_t;
+
 typedef struct {
     uint8_t  prolog[2];
     uint8_t  class;
@@ -181,6 +223,7 @@ typedef union {
             ubx_cfg_nav5_t cfg_nav5;
             ubx_cfg_rate_t cfg_rate;
             ubx_cfg_sbas_t cfg_sbas;
+            ubx_cfg_gnss_t cfg_gnss;
         } payload;
         uint8_t resvd[2]; // added space for checksum bytes
     } message;

flight/modules/GPS/ubx_autoconfig.c

@@ -224,6 +224,65 @@ void config_sbas(uint16_t *bytes_to_send)
     status->requiredAck.msgID = UBX_ID_CFG_SBAS;
 }
 
+void config_gnss(uint16_t *bytes_to_send)
+{
+    int32_t i;
+
+    memset(status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_gnss_t));
+
+    status->working_packet.message.payload.cfg_gnss.numConfigBlocks = UBX_GNSS_ID_MAX;
+    status->working_packet.message.payload.cfg_gnss.numTrkChHw = (ubxHwVersion > UBX_HW_VERSION_7) ? UBX_CFG_GNSS_NUMCH_VER8 : UBX_CFG_GNSS_NUMCH_VER7;
+    status->working_packet.message.payload.cfg_gnss.numTrkChUse     = status->working_packet.message.payload.cfg_gnss.numTrkChHw;
+
+    for (i = 0; i < UBX_GNSS_ID_MAX; i++) {
+        status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].gnssId = i;
+
+        switch (i) {
+        case UBX_GNSS_ID_GPS:
+            if (status->currentSettings.enableGPS) {
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags    = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_GPS_L1CA;
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 16;
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8;
+            }
+            break;
+        case UBX_GNSS_ID_QZSS:
+            if (status->currentSettings.enableGPS) {
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags    = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_QZSS_L1CA;
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 3;
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 0;
+            }
+            break;
+        case UBX_GNSS_ID_SBAS:
+            if (status->currentSettings.SBASCorrection || status->currentSettings.SBASIntegrity || status->currentSettings.SBASRanging) {
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags    = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_SBAS_L1CA;
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = status->currentSettings.SBASChannelsUsed < 4 ? status->currentSettings.SBASChannelsUsed : 3;
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 1;
+            }
+            break;
+        case UBX_GNSS_ID_GLONASS:
+            if (status->currentSettings.enableGLONASS) {
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags    = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_GLONASS_L1OF;
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 14;
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8;
+            }
+            break;
+        case UBX_GNSS_ID_BEIDOU:
+            if (status->currentSettings.enableBeiDou) {
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags    = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_BEIDOU_B1I;
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 14;
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8;
+            }
+            break;
+        default:
+            break;
+        }
+    }
+
+    *bytes_to_send = prepare_packet(&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_GNSS, sizeof(ubx_cfg_gnss_t));
+    status->requiredAck.clsID = UBX_CLASS_CFG;
+    status->requiredAck.msgID = UBX_ID_CFG_GNSS;
+}
+
 void config_save(uint16_t *bytes_to_send)
 {
     memset(status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_cfg_t));
@@ -244,13 +303,21 @@ static void configure(uint16_t *bytes_to_send)
         config_nav(bytes_to_send);
         break;
     case LAST_CONFIG_SENT_START + 2:
+        if (status->currentSettings.enableGLONASS || status->currentSettings.enableGPS) {
+            config_gnss(bytes_to_send);
+            break;
+        } else {
+            // Skip and fall through to next step
+            status->lastConfigSent++;
+        }
+    case LAST_CONFIG_SENT_START + 3:
         config_sbas(bytes_to_send);
         if (!status->currentSettings.storeSettings) {
             // skips saving
             status->lastConfigSent = LAST_CONFIG_SENT_COMPLETED;
         }
         break;
-    case LAST_CONFIG_SENT_START + 3:
+    case LAST_CONFIG_SENT_START + 4:
         config_save(bytes_to_send);
         status->lastConfigSent = LAST_CONFIG_SENT_COMPLETED;
         return;
@@ -308,22 +375,12 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send, bool gps_connec
 
     switch (status->currentStep) {
     case INIT_STEP_ERROR:
-        if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) > UBX_ERROR_RETRY_TIMEOUT) {
-            status->currentStep = INIT_STEP_START;
-            status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
-        }
-        return;
-
     case INIT_STEP_DISABLED:
     case INIT_STEP_DONE:
         return;
 
     case INIT_STEP_START:
     case INIT_STEP_ASK_VER:
-        // clear ack
-        ubxLastAck.clsID = 0x00;
-        ubxLastAck.msgID = 0x00;
-
         status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
         build_request(&status->working_packet, UBX_CLASS_MON, UBX_ID_MON_VER, bytes_to_send);
         status->currentStep = INIT_STEP_WAIT_VER;
@@ -366,15 +423,12 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send, bool gps_connec
     {
         bool step_configure = (status->currentStep == INIT_STEP_CONFIGURE_WAIT_ACK);
         if (ubxLastAck.clsID == status->requiredAck.clsID && ubxLastAck.msgID == status->requiredAck.msgID) {
-            // clear ack
-            ubxLastAck.clsID   = 0x00;
-            ubxLastAck.msgID   = 0x00;
-
             // Continue with next configuration option
             status->retryCount = 0;
             status->lastConfigSent++;
-        } else if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) > UBX_REPLY_TIMEOUT) {
+        } else if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) > UBX_REPLY_TIMEOUT ||
-            // timeout, resend the message or abort
+                   (ubxLastNak.clsID == status->requiredAck.clsID && ubxLastNak.msgID == status->requiredAck.msgID)) {
+            // timeout or NAK, resend the message or abort
             status->retryCount++;
             if (status->retryCount > UBX_MAX_RETRIES) {
                 status->currentStep = INIT_STEP_ERROR;

flight/pios/common/pios_rfm22b.c

@@ -1376,7 +1376,7 @@ static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
         }
 
         // Wait 1ms if not.
-        PIOS_DELAY_WaitmS(1);
+        vTaskDelay(1 + (1 / (portTICK_RATE_MS + 1)));
     }
 
     // ****************
@@ -1481,6 +1481,15 @@ static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
     // x-nibbles rx preamble detection
     rfm22_write(rfm22b_dev, RFM22_preamble_detection_ctrl1, RX_PREAMBLE_NIBBLES << 3);
 
+    // Release the bus
+    rfm22_releaseBus(rfm22b_dev);
+
+    // Yield the CPU.
+    vTaskDelay(1 + (1 / (portTICK_RATE_MS + 1)));
+
+    // Claim the SPI bus.
+    rfm22_claimBus(rfm22b_dev);
+
     // header control - using a 4 by header with broadcast of 0xffffffff
     rfm22_write(rfm22b_dev, RFM22_header_control1,
                 RFM22_header_cntl1_bcen_0 |
@@ -1530,6 +1539,9 @@ static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
     // Release the bus
     rfm22_releaseBus(rfm22b_dev);
 
+    // Yield the CPU.
+    vTaskDelay(1 + (1 / (portTICK_RATE_MS + 1)));
+
     // Initialize the frequency and datarate to te default.
     rfm22_setNominalCarrierFrequency(rfm22b_dev, 0);
     pios_rfm22_setDatarate(rfm22b_dev);

ground/openpilotgcs/src/plugins/coreplugin/uavgadgetdecorator.cpp

@@ -44,7 +44,7 @@ UAVGadgetDecorator::UAVGadgetDecorator(IUAVGadget *gadget, QList<IUAVGadgetConfi
     m_toolbar->setMinimumContentsLength(15);
     foreach(IUAVGadgetConfiguration * config, *m_configurations)
     m_toolbar->addItem(config->name());
-    connect(m_toolbar, SIGNAL(activated(int)), this, SLOT(loadConfiguration(int)));
+    connect(m_toolbar, SIGNAL(currentIndexChanged(int)), this, SLOT(loadConfiguration(int)));
     updateToolbar();
 }
 
@@ -63,15 +63,22 @@ void UAVGadgetDecorator::loadConfiguration(int index)
 
 void UAVGadgetDecorator::loadConfiguration(IUAVGadgetConfiguration *config)
 {
+    if (m_activeConfiguration == config) {
+        return;
+    }
     m_activeConfiguration = config;
     int index = m_toolbar->findText(config->name());
+    if (m_toolbar->currentIndex() != index) {
         m_toolbar->setCurrentIndex(index);
+    }
     m_gadget->loadConfiguration(config);
 }
 
 void UAVGadgetDecorator::configurationChanged(IUAVGadgetConfiguration *config)
 {
     if (config == m_activeConfiguration) {
+        // force a configuration reload
+        m_activeConfiguration = NULL;
         loadConfiguration(config);
     }
 }
@@ -133,7 +140,6 @@ void UAVGadgetDecorator::restoreState(QSettings *qSettings)
 
     foreach(IUAVGadgetConfiguration * config, *m_configurations) {
         if (config->name() == configName) {
-            m_activeConfiguration = config;
             loadConfiguration(config);
             break;
         }

ground/openpilotgcs/src/plugins/coreplugin/uavgadgetinstancemanager.cpp

@@ -166,7 +166,7 @@ void UAVGadgetInstanceManager::readConfigs_1_1_0(QSettings *qs)
 
         configs = qs->childGroups();
         foreach(QString configName, configs) {
-            qDebug() << "Loading config: " << classId << "," << configName;
+            qDebug().nospace() << "Loading config: " << classId << ", " << configName;
             qs->beginGroup(configName);
             bool locked = qs->value("config.locked").toBool();
             configInfo.setNameOfConfigurable(classId + "-" + configName);

ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/splitterorview.cpp

@@ -34,7 +34,6 @@
 
 #include <QtCore/QDebug>
 
-
 #ifdef Q_WS_MAC
 #include <qmacstyle_mac.h>
 #endif
@@ -47,21 +46,27 @@ SplitterOrView::SplitterOrView(Core::UAVGadgetManager *uavGadgetManager, Core::I
     m_splitter(0)
 {
     m_view = new UAVGadgetView(m_uavGadgetManager, uavGadget, this);
-    m_layout = new QStackedLayout(this);
+    setLayout(new QStackedLayout());
-    m_layout->addWidget(m_view);
+    layout()->addWidget(m_view);
+}
+
+SplitterOrView::SplitterOrView(SplitterOrView &splitterOrView, QWidget *parent) :
+    QWidget(parent),
+    m_uavGadgetManager(splitterOrView.m_uavGadgetManager),
+    m_view(splitterOrView.m_view),
+    m_splitter(splitterOrView.m_splitter)
+{
+    Q_ASSERT((m_view || m_splitter) && !(m_view && m_splitter));
+    setLayout(new QStackedLayout());
+    if (m_view) {
+        layout()->addWidget(m_view);
+    } else if (m_splitter) {
+        layout()->addWidget(m_splitter);
+    }
 }
 
 SplitterOrView::~SplitterOrView()
-{
+{}
-    if (m_view) {
-        delete m_view;
-        m_view = 0;
-    }
-    if (m_splitter) {
-        delete m_splitter;
-        m_splitter = 0;
-    }
-}
 
 void SplitterOrView::mousePressEvent(QMouseEvent *e)
 {
@@ -221,7 +226,7 @@ QSplitter *SplitterOrView::takeSplitter()
     QSplitter *oldSplitter = m_splitter;
 
     if (m_splitter) {
-        m_layout->removeWidget(m_splitter);
+        layout()->removeWidget(m_splitter);
     }
     m_splitter = 0;
     return oldSplitter;
@@ -232,7 +237,7 @@ UAVGadgetView *SplitterOrView::takeView()
     UAVGadgetView *oldView = m_view;
 
     if (m_view) {
-        m_layout->removeWidget(m_view);
+        layout()->removeWidget(m_splitter);
     }
     m_view = 0;
     return oldView;
@@ -255,35 +260,6 @@ QList<IUAVGadget *> SplitterOrView::gadgets()
     return g;
 }
 
-void SplitterOrView::split(Qt::Orientation orientation)
-{
-    Q_ASSERT(m_view);
-    Q_ASSERT(!m_splitter);
-    m_splitter = new MiniSplitter(this);
-    m_splitter->setOrientation(orientation);
-    connect(m_splitter, SIGNAL(splitterMoved(int, int)), this, SLOT(onSplitterMoved(int, int)));
-    m_layout->addWidget(m_splitter);
-    Core::IUAVGadget *ourGadget = m_view->gadget();
-
-    if (ourGadget) {
-        // Give our gadget to the new left or top SplitterOrView.
-        m_view->removeGadget();
-        m_splitter->addWidget(new SplitterOrView(m_uavGadgetManager, ourGadget));
-        m_splitter->addWidget(new SplitterOrView(m_uavGadgetManager));
-    } else {
-        m_splitter->addWidget(new SplitterOrView(m_uavGadgetManager));
-        m_splitter->addWidget(new SplitterOrView(m_uavGadgetManager));
-    }
-
-    m_layout->setCurrentWidget(m_splitter);
-
-    if (m_view) {
-        m_uavGadgetManager->emptyView(m_view);
-        delete m_view;
-        m_view = 0;
-    }
-}
-
 void SplitterOrView::onSplitterMoved(int pos, int index)
 {
     Q_UNUSED(pos);
@@ -292,66 +268,107 @@ void SplitterOrView::onSplitterMoved(int pos, int index)
     m_sizes = m_splitter->sizes();
 }
 
-void SplitterOrView::unsplitAll(IUAVGadget *currentGadget)
+void SplitterOrView::split(Qt::Orientation orientation)
 {
-    Q_ASSERT(m_splitter);
+    Q_ASSERT(m_view);
-    Q_ASSERT(!m_view);
+    Q_ASSERT(!m_splitter);
-    m_splitter->hide();
-    m_layout->removeWidget(m_splitter); // workaround Qt bug
-    unsplitAll_helper();
-    delete m_splitter;
-    m_splitter = 0;
 
-    m_view     = new UAVGadgetView(m_uavGadgetManager, currentGadget, this);
+    MiniSplitter *splitter = new MiniSplitter(this);
-    m_layout->addWidget(m_view);
+    splitter->setOrientation(orientation);
+    layout()->addWidget(splitter);
+
+    // [OP-1586] make sure that the view never becomes parent less otherwise a rendering bug happens
+    // in osgearth QML views (not all kind of scenes are affected but those containing terrain are)
+    // Making the view parent less will destroy the OpenGL context used by the QQuickFramebufferObject used OSGViewport
+    // A new OpenGL context will be created but for some reason, osgearth does not switch to it gracefully.
+    // Enabling the stats overlay (by pressing the 's' key in the view) will restore proper rendering (?).
+    // Note : avoiding to make the view parent less is a workaround... the real cause of the rendering bug needs to be
+    // understood and fixed (the same workaround is also need in unsplit and unsplitAll)
+    // Important : the changes also apparently make splitting and un-splitting more reactive and less jumpy!
+
+    // Give our view to the new left or top SplitterOrView.
+    splitter->addWidget(new SplitterOrView(*this, splitter));
+    splitter->addWidget(new SplitterOrView(m_uavGadgetManager));
+
+    m_view     = 0;
+    m_splitter = splitter;
+
+    connect(m_splitter, SIGNAL(splitterMoved(int, int)), this, SLOT(onSplitterMoved(int, int)));
 }
 
-void SplitterOrView::unsplitAll_helper()
+void SplitterOrView::unsplit(IUAVGadget *gadget)
-{
-    if (m_view) {
-        m_uavGadgetManager->emptyView(m_view);
-    }
-    if (m_splitter) {
-        for (int i = 0; i < m_splitter->count(); ++i) {
-            if (SplitterOrView * splitterOrView = qobject_cast<SplitterOrView *>(m_splitter->widget(i))) {
-                splitterOrView->unsplitAll_helper();
-            }
-        }
-    }
-}
-
-void SplitterOrView::unsplit()
 {
     if (!m_splitter) {
         return;
     }
-    Q_ASSERT(m_splitter->count() == 1);
+    SplitterOrView *view = findView(gadget);
-    SplitterOrView *childSplitterOrView = qobject_cast<SplitterOrView *>(m_splitter->widget(0));
+    if (!view || view == this) {
-    QSplitter *oldSplitter = m_splitter;
+        return;
-    m_splitter = 0;
+    }
 
-    if (childSplitterOrView->isSplitter()) {
+    // find the other gadgets
-        Q_ASSERT(childSplitterOrView->view() == 0);
+    // TODO handle case where m_splitter->count() > 2
-        m_splitter = childSplitterOrView->takeSplitter();
+    SplitterOrView *splitterOrView = NULL;
-        m_layout->addWidget(m_splitter);
+    for (int i = 0; i < m_splitter->count(); ++i) {
-        m_layout->setCurrentWidget(m_splitter);
+        splitterOrView = qobject_cast<SplitterOrView *>(m_splitter->widget(i));
+        if (splitterOrView && (splitterOrView != view)) {
+            break;
+        }
+    }
+    if (splitterOrView) {
+        if (splitterOrView->isView()) {
+            layout()->addWidget(splitterOrView->m_view);
         } else {
-        UAVGadgetView *childView = childSplitterOrView->view();
+            layout()->addWidget(splitterOrView->m_splitter);
-        Q_ASSERT(childView);
-        if (m_view) {
-            if (IUAVGadget * e = childView->gadget()) {
-                childView->removeGadget();
-                m_view->setGadget(e);
         }
-            m_uavGadgetManager->emptyView(childView);
+        layout()->removeWidget(m_splitter);
-        } else {
+
-            m_view = childSplitterOrView->takeView();
+        m_uavGadgetManager->emptyView(view->m_view);
-            m_layout->addWidget(m_view);
+        delete view;
+        delete m_splitter;
+
+        m_view     = splitterOrView->m_view;
+        m_splitter = splitterOrView->m_splitter;
+    }
+}
+
+void SplitterOrView::unsplitAll(Core::IUAVGadget *gadget)
+{
+    Q_ASSERT(m_splitter);
+    Q_ASSERT(!m_view);
+
+    SplitterOrView *splitterOrView = findView(gadget);
+    if (!splitterOrView || splitterOrView == this) {
+        return;
+    }
+
+    // first re-parent the gadget (see split for an explanation)
+    m_view = splitterOrView->m_view;
+    layout()->addWidget(m_view);
+    layout()->removeWidget(m_splitter);
+    // make sure the old m_view is not emptied...
+    splitterOrView->m_view = NULL;
+
+    // cleanup
+    unsplitAll_helper(m_uavGadgetManager, m_splitter);
+
+    delete m_splitter;
+    m_splitter = 0;
+}
+
+void SplitterOrView::unsplitAll_helper(UAVGadgetManager *uavGadgetManager, QSplitter *splitter)
+{
+    for (int i = 0; i < splitter->count(); ++i) {
+        if (SplitterOrView * splitterOrView = qobject_cast<SplitterOrView *>(splitter->widget(i))) {
+            if (splitterOrView->m_view) {
+                uavGadgetManager->emptyView(splitterOrView->m_view);
+            }
+            if (splitterOrView->m_splitter) {
+                unsplitAll_helper(uavGadgetManager, splitterOrView->m_splitter);
+            }
+            delete splitterOrView;
         }
-        m_layout->setCurrentWidget(m_view);
     }
-    delete oldSplitter;
-    m_uavGadgetManager->setCurrentGadget(findFirstView()->gadget());
 }
 
 void SplitterOrView::saveState(QSettings *qSettings) const

ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/splitterorview.h

@@ -43,7 +43,11 @@ public:
     ~SplitterOrView();
 
     void split(Qt::Orientation orientation);
-    void unsplit();
+
+    void unsplit(IUAVGadget *gadget);
+
+    // un-split all and keep only the specified gadget
+    void unsplitAll(IUAVGadget *gadget);
 
     inline bool isView() const
     {
@@ -95,10 +99,7 @@ public:
     }
     QSize minimumSizeHint() const;
 
-    void unsplitAll(IUAVGadget *currentGadget);
-
 protected:
-// void paintEvent(QPaintEvent *);
     void mousePressEvent(QMouseEvent *e);
 
 private slots:
@@ -106,19 +107,19 @@ private slots:
     void onSplitterMoved(int pos, int index);
 
 private:
-    void unsplitAll_helper();
+    // private "copy" constructor
+    SplitterOrView(SplitterOrView &splitterOrView, QWidget *parent);
+
+    static void unsplitAll_helper(UAVGadgetManager *uavGadgetManager, QSplitter *splitter);
     SplitterOrView *findNextView_helper(SplitterOrView *view, bool *found);
 
     // The gadget manager that controls us.
     QPointer<UAVGadgetManager> m_uavGadgetManager;
 
-    // Our layout, we use stacked so we can change stuff without visual artifacts (I think...)
-    QPointer<QStackedLayout> m_layout;
-
     // Our view, if we are a view (showing 1 gadget) and not a splitter.
     QPointer<UAVGadgetView> m_view;
 
-    // Out splitter, if we are a splitter.
+    // Our splitter, if we are a splitter.
     QPointer<QSplitter> m_splitter;
 
     // The splitter sizes. We keep our own copy of these, since after loading they can't realiably be retrieved.

ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.cpp

@@ -108,7 +108,7 @@ UAVGadgetManager::UAVGadgetManager(ICore *core, QString name, QIcon icon, int pr
             this, SLOT(modeChanged(Core::IMode *)));
 
     // other setup
-    m_splitterOrView = new SplitterOrView(this, 0);
+    m_splitterOrView = new SplitterOrView(this);
 
     // SplitterOrView with 0 as gadget calls our setCurrentGadget, which relies on currentSplitterOrView(),
     // which needs our m_splitterorView to be set, which isn't set yet at that time.
@@ -209,10 +209,10 @@ void UAVGadgetManager::emptyView(Core::Internal::UAVGadgetView *view)
     }
 
     IUAVGadget *uavGadget = view->gadget();
-// emit uavGadgetAboutToClose(uavGadget);
+    // emit uavGadgetAboutToClose(uavGadget);
     removeGadget(uavGadget);
     view->removeGadget();
-// emit uavGadgetsClosed(uavGadgets);
+    // emit uavGadgetsClosed(uavGadgets);
 }
 
 
@@ -221,26 +221,21 @@ void UAVGadgetManager::closeView(Core::Internal::UAVGadgetView *view)
     if (!view) {
         return;
     }
-    SplitterOrView *splitterOrView = m_splitterOrView->findView(view);
-    Q_ASSERT(splitterOrView);
-    Q_ASSERT(splitterOrView->view() == view);
-    if (splitterOrView == m_splitterOrView) {
-        return;
-    }
 
     IUAVGadget *gadget = view->gadget();
-    emptyView(view);
+
+    // find SplitterOrView splitter that contains the view to delete
+    SplitterOrView *splitter = m_splitterOrView->findSplitter(gadget);
+    if (!splitter) {
+        return;
+    }
+    Q_ASSERT(splitter->isSplitter() == true);
+
+    splitter->unsplit(gadget);
+
     UAVGadgetInstanceManager *im = ICore::instance()->uavGadgetInstanceManager();
     im->removeGadget(gadget);
 
-    SplitterOrView *splitter     = m_splitterOrView->findSplitter(splitterOrView);
-    Q_ASSERT(splitterOrView->hasGadget() == false);
-    Q_ASSERT(splitter->isSplitter() == true);
-    splitterOrView->hide();
-    delete splitterOrView;
-
-    splitter->unsplit();
-
     SplitterOrView *newCurrent   = splitter->findFirstView();
     Q_ASSERT(newCurrent);
     if (newCurrent) {
@@ -254,8 +249,7 @@ void UAVGadgetManager::addGadgetToContext(IUAVGadget *gadget)
         return;
     }
     m_core->addContextObject(gadget);
-
+    // emit uavGadgetOpened(uavGadget);
-// emit uavGadgetOpened(uavGadget);
 }
 
 void UAVGadgetManager::removeGadget(IUAVGadget *gadget)

ground/openpilotgcs/src/plugins/gpsdisplay/gpsconstellationwidget.cpp

@@ -129,13 +129,25 @@ void GpsConstellationWidget::updateSat(int index, int prn, int elevation, int az
                        -satIcons[index]->boundingRect().center().y());
         satIcons[index]->setTransform(QTransform::fromTranslate(opd.x(), opd.y()), false);
 
-        // Show normal GPS or SBAS (120 - 158 range)
+        // Show normal GPS, SBAS/QZSS (120-158,193-197 range), BeiDou (33-64, 159-163) or GLONASS (65-96, 255 if unidentified)
-        if (prn > 119 && prn < 159) {
+        if ((prn > 119 && prn < 159) || (prn > 192 && prn < 198)) {
             if (snr) {
                 satIcons[index]->setElementId("satellite-sbas");
             } else {
                 satIcons[index]->setElementId("sat-sbas-notSeen");
             }
+        } else if ((prn > 64 && prn < 97) || 255 == prn) {
+            if (snr) {
+                satIcons[index]->setElementId("satellite-glonass");
+            } else {
+                satIcons[index]->setElementId("sat-glonass-notSeen");
+            }
+        } else if ((prn > 32 && prn < 65) || (prn > 158 && prn < 164)) {
+            if (snr) {
+                satIcons[index]->setElementId("satellite-beidou");
+            } else {
+                satIcons[index]->setElementId("sat-beidou-notSeen");
+            }
         } else {
             if (snr) {
                 satIcons[index]->setElementId("satellite");

ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaywidget.ui

@@ -127,7 +127,7 @@
           </palette>
          </property>
          <property name="toolTip">
-          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Displays the SNR for each detected sat. Satellite number (PRN) is displayed inside the green bar (GPS) or orange bar (SBAS). Sat SNR is displayed above (in dBHz)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Displays the SNR for each detected sat. GPS satellites are shown in green, GLONASS in cyan, BeiDou in red and SBAS/QZSS in orange. Satellite number (PRN) is displayed inside the bar. Sat SNR is displayed above (in dBHz)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
          </property>
          <property name="autoFillBackground">
           <bool>false</bool>

ground/openpilotgcs/src/plugins/gpsdisplay/gpssnrwidget.cpp

@@ -104,9 +104,14 @@ void GpsSnrWidget::drawSat(int index)
 
         QRectF boxRect = boxes[index]->boundingRect();
 
-        // Change color for SBAS sat (Egnos, etc..) 120 - 158 range
+        // Change color for SBAS & QZSS 120-158, 193-197 range
-        if (prn > 119 && prn < 159) {
+        // GLONASS range 65-96 or 255, BeiDou 33-64 or 159-163
+        if ((prn > 119 && prn < 159) || (prn > 192 && prn < 198)) {
             boxes[index]->setBrush(QColor("#fd700b"));
+        } else if ((prn > 64 && prn < 97) || 255 == prn) {
+            boxes[index]->setBrush(QColor("Cyan"));
+        } else if ((prn > 32 && prn < 65) || (prn > 158 && prn < 164)) {
+            boxes[index]->setBrush(QColor("Red"));
         } else {
             boxes[index]->setBrush(QColor("Green"));
         }

ground/openpilotgcs/src/plugins/gpsdisplay/images/gpsEarth.svg

@@ -14,8 +14,8 @@
    height="691.54303"
    id="svg2"
    version="1.1"
-   inkscape:version="0.48.5 r10040"
+   inkscape:version="0.48.4 r9939"
-   sodipodi:docname="gpsEarth_work.svg">
+   sodipodi:docname="gpsEarth.svg">
   <defs
      id="defs4">
     <linearGradient
@@ -618,7 +618,7 @@
     <linearGradient
        id="linearGradient3845-3">
       <stop
-         style="stop-color:#ffe054;stop-opacity:1;"
+         style="stop-color:#00e054;stop-opacity:1;"
          offset="0"
          id="stop3847-6" />
       <stop
@@ -907,6 +907,102 @@
        y1="353.18066"
        x2="148.63506"
        y2="481.89807" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3815-6-7"
+       id="radialGradient3937-6-0"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(-0.11243486,0.51064271,-0.68854473,-0.15160586,748.65596,-75.556107)"
+       cx="559.92383"
+       cy="182.67093"
+       fx="559.92383"
+       fy="182.67093"
+       r="21.496641" />
+    <linearGradient
+       id="linearGradient3815-6-7">
+      <stop
+         style="stop-color:#f1f4fc;stop-opacity:1;"
+         offset="0"
+         id="stop3817-4-6" />
+      <stop
+         style="stop-color:#f1f4fc;stop-opacity:0;"
+         offset="1"
+         id="stop3819-6-4" />
+    </linearGradient>
+    <filter
+       inkscape:collect="always"
+       id="filter3985-6-8"
+       color-interpolation-filters="sRGB">
+      <feGaussianBlur
+         inkscape:collect="always"
+         stdDeviation="0.8285714"
+         id="feGaussianBlur3987-7-5" />
+    </filter>
+    <radialGradient
+       r="21.496641"
+       fy="182.67093"
+       fx="559.92383"
+       cy="182.67093"
+       cx="559.92383"
+       gradientTransform="matrix(-0.11243486,0.51064271,-0.68854473,-0.15160586,748.65596,-75.556107)"
+       gradientUnits="userSpaceOnUse"
+       id="radialGradient3207"
+       xlink:href="#linearGradient3815-6-7"
+       inkscape:collect="always" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3815-6-9"
+       id="radialGradient4015-9-9"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(-0.11243486,0.51064271,-0.68854473,-0.15160586,748.65596,-75.556107)"
+       cx="559.92383"
+       cy="182.67093"
+       fx="559.92383"
+       fy="182.67093"
+       r="21.496641" />
+    <linearGradient
+       inkscape:collect="always"
+       id="linearGradient3815-6-9">
+      <stop
+         style="stop-color:#f1f4fc;stop-opacity:1;"
+         offset="0"
+         id="stop3817-4-7" />
+      <stop
+         style="stop-color:#f1f4fc;stop-opacity:0;"
+         offset="1"
+         id="stop3819-6-3" />
+    </linearGradient>
+    <filter
+       inkscape:collect="always"
+       id="filter3985-6-6"
+       color-interpolation-filters="sRGB">
+      <feGaussianBlur
+         inkscape:collect="always"
+         stdDeviation="0.8285714"
+         id="feGaussianBlur3987-7-8" />
+    </filter>
+    <radialGradient
+       r="21.496641"
+       fy="182.67093"
+       fx="559.92383"
+       cy="182.67093"
+       cx="559.92383"
+       gradientTransform="matrix(-0.11243486,0.51064271,-0.68854473,-0.15160586,748.65596,-75.556107)"
+       gradientUnits="userSpaceOnUse"
+       id="radialGradient4023"
+       xlink:href="#linearGradient3815-6-9"
+       inkscape:collect="always" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3815-6-7"
+       id="radialGradient4050"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(-0.11243486,0.51064271,-0.68854473,-0.15160586,748.65596,-75.556107)"
+       cx="559.92383"
+       cy="182.67093"
+       fx="559.92383"
+       fy="182.67093"
+       r="21.496641" />
   </defs>
   <sodipodi:namedview
      id="base"
@@ -915,16 +1011,16 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.43130409"
+     inkscape:zoom="1.2199122"
-     inkscape:cx="302.55734"
+     inkscape:cx="466.74374"
-     inkscape:cy="389.84143"
+     inkscape:cy="457.17106"
      inkscape:document-units="px"
-     inkscape:current-layer="layer10"
+     inkscape:current-layer="layer13"
      showgrid="false"
-     inkscape:window-width="1280"
+     inkscape:window-width="2560"
-     inkscape:window-height="928"
+     inkscape:window-height="1414"
      inkscape:window-x="0"
-     inkscape:window-y="27"
+     inkscape:window-y="18"
      inkscape:window-maximized="1"
      inkscape:snap-object-midpoints="true"
      inkscape:object-nodes="false"
@@ -943,7 +1039,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
+        <dc:title />
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -1007,7 +1103,7 @@
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         <path
            transform="translate(-16.439758,-3.266917)"
-           d="M 598.0103,404.8544 A 227.28432,227.28432 0 1 1 143.44167,404.8544 A 227.28432,227.28432 0 1 1 598.0103,404.8544 z"
+           d="m 598.0103,404.8544 c 0,125.52566 -101.75866,227.28432 -227.28432,227.28432 -125.52566,0 -227.28431,-101.75866 -227.28431,-227.28432 0,-125.52566 101.75865,-227.28432 227.28431,-227.28432 125.52566,0 227.28432,101.75866 227.28432,227.28432 z"
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            sodipodi:rx="227.28432"
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@@ -1017,7 +1113,7 @@
            sodipodi:type="arc" />
         <path
            transform="matrix(1.0229478,0,0,0.27614188,-24.947098,289.79023)"
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            sodipodi:ry="227.28432"
            sodipodi:rx="227.28432"
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@@ -1056,14 +1152,14 @@
                sodipodi:cy="410.41025"
                sodipodi:rx="89.398499"
                sodipodi:ry="89.398499"
-               d="M 451.71402,343.4835 A 89.398499,89.398499 0 1 1 437.72993,333.33041"
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                transform="matrix(1.2638612,0,0,1.2638612,-124.40402,-114.71229)"
                sodipodi:start="5.4371862"
                sodipodi:end="11.526764"
                sodipodi:open="true" />
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@@ -1340,7 +1436,7 @@
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   </g>
 </svg>

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

@@ -1298,6 +1298,7 @@ int HID_API_EXPORT_CALL hid_get_indexed_string(hid_device *dev, int string_index
 
 HID_API_EXPORT const wchar_t * HID_API_CALL hid_error(hid_device *dev)
 {
+	(void)dev; // avoid unused arg warning
 	return NULL;
 }
 

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

@@ -166,6 +166,7 @@ static void free_hid_device(hid_device *dev)
 
 static void register_error(hid_device *device, const char *op)
 {
+	(void)op; // avoid unused arg warning
 	WCHAR *ptr, *msg;
 
 	FormatMessageW(FORMAT_MESSAGE_ALLOCATE_BUFFER |
@@ -232,7 +233,7 @@ static HANDLE open_device(const char *path, BOOL enumerate)
 		OPEN_EXISTING,
 		FILE_FLAG_OVERLAPPED,/*FILE_ATTRIBUTE_NORMAL,*/
 		0);
-	DWORD error = GetLastError();
+	/*DWORD error =*/ GetLastError();
 	return handle;
 }
 

ground/openpilotgcs/src/plugins/ophid/inc/ophid_const.h

@@ -27,9 +27,9 @@
 
 #ifndef OPHID_CONST_H
 #define OPHID_CONST_H
-#include "QtDebug"
 
-#define OPHID_DEBUG_ON 1
+#include <QDebug>
+
 #ifdef OPHID_DEBUG_ON
 #define OPHID_DEBUG(fmt, args ...)   qDebug("[DEBUG] "fmt,##args)
 #define OPHID_TRACE(fmt, args ...)   qDebug("[TRACE] %s:%s:%d: "fmt, __FILE__, __func__, __LINE__,##args)
@@ -42,7 +42,6 @@
 #define OPHID_WARNING(fmt, args ...)
 #endif
 
-
 // USB
 #define USB_MAX_DEVICES         10
 #define USB_VID                 0x20A0

ground/openpilotgcs/src/plugins/ophid/inc/ophid_hidapi.h

@@ -30,7 +30,6 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <stdint.h>
-#include <QDebug>
 #include <QString>
 #include <QMutex>
 #include "../hidapi/hidapi.h"

ground/openpilotgcs/src/plugins/ophid/ophid.pro

@@ -1,10 +1,15 @@
 TEMPLATE = lib
 TARGET = opHID
 
+DEFINES += OPHID_LIBRARY
+
+//DEFINES += OPHID_DEBUG_ON
+
 include(../../openpilotgcsplugin.pri)
 include(ophid_dependencies.pri)
 
-HEADERS += inc/ophid_global.h \
+HEADERS += \
+    inc/ophid_global.h \
     inc/ophid_plugin.h \
     inc/ophid.h \
     inc/ophid_hidapi.h \
@@ -12,13 +17,15 @@ HEADERS += inc/ophid_global.h \
     inc/ophid_usbmon.h \
     inc/ophid_usbsignal.h \
     hidapi/hidapi.h
-SOURCES += src/ophid_plugin.cpp \
+
+SOURCES += \
+    src/ophid_plugin.cpp \
     src/ophid.cpp \
     src/ophid_usbsignal.cpp \
     src/ophid_hidapi.cpp
+
 FORMS += 
 RESOURCES += 
-DEFINES += OPHID_LIBRARY
 OTHER_FILES += opHID.pluginspec
 
 INCLUDEPATH += ./inc
@@ -26,25 +33,30 @@ INCLUDEPATH += ./inc
 # Platform Specific
 
 win32 { 
-    SOURCES += src/ophid_usbmon_win.cpp \
+    SOURCES += \
+        src/ophid_usbmon_win.cpp \
         hidapi/windows/hid.c
+
     LIBS += -lhid -lsetupapi
 }
 
 macx { 
-    SOURCES += src/ophid_usbmon_mac.cpp \
+    SOURCES += \
+        src/ophid_usbmon_mac.cpp \
         hidapi/mac/hid.c
-    LIBS += -framework CoreFoundation \
+
-            -framework IOKit
+    LIBS += -framework CoreFoundation -framework IOKit
 }
 
 linux {
-    SOURCES += src/ophid_usbmon_linux.cpp
+    SOURCES += \
+        src/ophid_usbmon_linux.cpp
+
     LIBS += -ludev -lrt -lpthread
 
     # hidapi library
     ## rawhid
-    #  SOURCES += hidapi/linux/hid.c
+    #SOURCES += hidapi/linux/hid.c
     ## libusb
     SOURCES += hidapi/libusb/hid.c
 

ground/openpilotgcs/src/plugins/ophid/src/ophid.cpp

@@ -146,7 +146,7 @@ RawHIDReadThread::~RawHIDReadThread()
     m_running = false;
     // wait for the thread to terminate
     if (wait(10000) == false) {
-        qDebug() << "Cannot terminate RawHIDReadThread";
+        qWarning() << "Cannot terminate RawHIDReadThread";
     }
 }
 
@@ -219,7 +219,7 @@ RawHIDWriteThread::~RawHIDWriteThread()
     m_running = false;
     // wait for the thread to terminate
     if (wait(10000) == false) {
-        qDebug() << "Cannot terminate RawHIDReadThread";
+        qWarning() << "Cannot terminate RawHIDReadThread";
     }
 }
 
@@ -264,9 +264,9 @@ void RawHIDWriteThread::run()
         } else if (ret < 0) { // < 0 => error
             // TODO! make proper error handling, this only quick hack for unplug freeze
             m_running = false;
-            qDebug() << "Error writing to device (" << ret << ")";
+            qCritical() << "Error writing to device (" << ret << ")";
         } else {
-            qDebug() << "No data written to device ??";
+            qCritical() << "No data written to device ??";
         }
     }
 }

ground/openpilotgcs/src/plugins/ophid/src/ophid_hidapi.cpp

@@ -129,6 +129,10 @@ int opHID_hidapi::enumerate(struct hid_device_info * *current_device_pptr, int *
  */
 int opHID_hidapi::open(int max, int vid, int pid, int usage_page, int usage)
 {
+    Q_UNUSED(max);
+    Q_UNUSED(usage_page);
+    Q_UNUSED(usage);
+
     int devices_found = false;
     struct hid_device_info *current_device_ptr    = NULL;
     struct hid_device_info *tmp_device_ptr        = NULL;

ground/openpilotgcs/src/plugins/ophid/src/ophid_plugin.cpp

@@ -35,7 +35,6 @@
 #include "ophid_hidapi.h"
 #include "ophid_const.h"
 
-
 /**
  * \brief Constructor
  *
@@ -95,7 +94,7 @@ void RawHIDConnection::onDeviceConnected()
  */
 void RawHIDConnection::onDeviceDisconnected()
 {
-    qDebug() << "onDeviceDisconnected()";
+    OPHID_DEBUG("onDeviceDisconnected()");
     if (enablePolling) {
         emit availableDevChanged(this);
     }

ground/openpilotgcs/src/plugins/ophid/src/ophid_usbmon_linux.cpp

@@ -26,7 +26,6 @@
  */
 
 #include "ophid_usbmon.h"
-#include <QDebug>
 #include "ophid_const.h"
 
 
@@ -41,6 +40,8 @@
  */
 void printPortInfo(struct udev_device *dev)
 {
+    Q_UNUSED(dev);
+
     OPHID_DEBUG("   Node: %s", udev_device_get_devnode(dev));
     OPHID_DEBUG("   Subsystem: %s", udev_device_get_subsystem(dev));
     OPHID_DEBUG("   Devtype: %s", udev_device_get_devtype(dev));
@@ -73,7 +74,7 @@ void USBMonitor::deviceEventReceived()
         // this->monitorNotifier->setEnabled(0);
         QString action  = QString(udev_device_get_action(dev));
         QString devtype = QString(udev_device_get_devtype(dev));
-        qDebug() << "[DEBUG] Action: " << action << " device: " << devtype;
+        OPHID_DEBUG("Action: %s device: %s", qPrintable(action), qPrintable(devtype));
         if (action == "add" && devtype == "usb_device") {
             printPortInfo(dev);
             emit deviceDiscovered(makePortInfo(dev));

ground/openpilotgcs/src/plugins/ophid/src/ophid_usbmon_mac.cpp

@@ -32,7 +32,6 @@
 #include <CoreFoundation/CFString.h>
 #include <CoreFoundation/CFArray.h>
 #include <QMutexLocker>
-#include <QDebug>
 #include "ophid_const.h"
 
 // Local helper functions
@@ -72,7 +71,7 @@ USBMonitor::~USBMonitor()
  */
 void USBMonitor::deviceEventReceived()
 {
-    qDebug() << "Device event";
+    OPHID_DEBUG("Device event");
 }
 
 /**
@@ -119,7 +118,7 @@ void USBMonitor::detach_callback(void *context, IOReturn r, void *hid_mgr, IOHID
     Q_UNUSED(r);
     Q_UNUSED(hid_mgr);
 
-    qDebug() << "USBMonitor: Device detached event";
+    OPHID_DEBUG("USBMonitor: Device detached event");
     instance()->removeDevice(dev);
 }
 
@@ -156,7 +155,7 @@ void USBMonitor::attach_callback(void *context, IOReturn r, void *hid_mgr, IOHID
 
     deviceInfo.dev_handle = dev;
 
-    qDebug() << "USBMonitor: Device attached event";
+    OPHID_DEBUG("USBMonitor: Device attached event");
 
     // Populate the device info structure
     got_properties &= HID_GetIntProperty(dev, CFSTR(kIOHIDVendorIDKey), &deviceInfo.vendorID);
@@ -171,7 +170,7 @@ void USBMonitor::attach_callback(void *context, IOReturn r, void *hid_mgr, IOHID
 
     // Currently only enumerating objects that have the complete list of properties
     if (got_properties) {
-        qDebug() << "USBMonitor: Adding device";
+        OPHID_DEBUG("USBMonitor: Adding device");
         instance()->addDevice(deviceInfo);
     }
 }

ground/openpilotgcs/src/plugins/ophid/src/ophid_usbmon_win.cpp

@@ -31,7 +31,6 @@
 #include <QEventLoop>
 #include <QTimer>
 #include "ophid_usbmon.h"
-#include <QDebug>
 #include "ophid_const.h"
 
 /* Gordon Schumacher's macros for TCHAR -> QString conversions and vice versa */
@@ -122,11 +121,9 @@ QList<USBPortInfo> USBMonitor::availableDevices(int vid, int pid, int bcdDeviceM
     OPHID_TRACE("IN");
 
     // Print the list
-    qDebug() << "List off (" << knowndevices.length() << ") devices that are tracked:";
+    OPHID_DEBUG("List off (%d) devices that are tracked:", knowndevices.length());
     foreach(USBPortInfo info, knowndevices /*thePortsWeWant*/) {
-        qDebug() << "product:" << info.product
+        OPHID_DEBUG("product: %s bcdDevice: %d devicePath: %s", qPrintable(info.product), info.bcdDevice, qPrintable(info.devicePath));
-                 << " bcdDevice:" << info.bcdDevice
-                 << " devicePath:" << info.devicePath;
 
         // Filter to return only the one request (if exists)
         if ((info.vendorID == vid || vid == -1) &&
@@ -249,7 +246,7 @@ bool USBMonitor::matchAndDispatchChangedDevice(const QString & deviceID, const G
 {
     OPHID_TRACE("IN");
 
-    qDebug() << "[STATUS CHANGE] from device ID: " << deviceID;
+    OPHID_DEBUG("[STATUS CHANGE] from device ID: %s", qPrintable(deviceID));
     bool rc;
     SP_DEVINFO_DATA spDevInfoData;
     DWORD dwFlag = (DBT_DEVICEARRIVAL == wParam) ? DIGCF_PRESENT : 0 /*DIGCF_ALLCLASSES*/;
@@ -263,13 +260,13 @@ bool USBMonitor::matchAndDispatchChangedDevice(const QString & deviceID, const G
             DWORD nSize = 0;
             TCHAR buf[MAX_PATH];
             rc = SetupDiGetDeviceInstanceId(devInfo, &spDevInfoData, buf, MAX_PATH, &nSize);
-            qDebug() << "Found:" << TCHARToQString(buf);
+            OPHID_DEBUG("Found: %s", qPrintable(TCHARToQString(buf)));
             if (rc && deviceID.contains(TCHARToQString(buf))) {
-                qDebug() << "[MATCH] " << TCHARToQString(buf);
+                OPHID_DEBUG("[MATCH] %s", qPrintable(TCHARToQString(buf)));
                 USBPortInfo info;
                 info.devicePath = deviceID;
                 if (wParam == DBT_DEVICEARRIVAL) {
-                    qDebug() << "[INSERTED]";
+                    OPHID_DEBUG("[INSERTED]");
                     if (infoFromHandle(guid, info, devInfo, i) != OPHID_NO_ERROR) {
                         OPHID_ERROR("Not found");
                         break;
@@ -290,18 +287,14 @@ bool USBMonitor::matchAndDispatchChangedDevice(const QString & deviceID, const G
                         break;
                     }
                     knowndevices.append(info);
-                    qDebug() << "[SIGNAL] Device discovered on device:"
+                    OPHID_DEBUG("[SIGNAL] Device discovered on device: %s %d", qPrintable(info.product), info.bcdDevice);
-                             << info.product
-                             << info.bcdDevice;
                     emit deviceDiscovered(info);
                     break;
                 } else if (wParam == DBT_DEVICEREMOVECOMPLETE) {
                     for (int x = 0; x < knowndevices.count(); ++x) {
                         USBPortInfo temp = knowndevices.at(x);
                         knowndevices.removeAt(x);
-                        qDebug() << "[SIGNAL] Device removed on device:"
+                        OPHID_DEBUG("[SIGNAL] Device removed on device: %s %d", qPrintable(temp.product), temp.bcdDevice);
-                                 << temp.product
-                                 << temp.bcdDevice;
                     }
                     emit deviceRemoved(info);
                     break;
@@ -362,7 +355,7 @@ void USBMonitor::enumerateDevicesWin(const GUID & guid)
         }
         SetupDiDestroyDeviceInfoList(devInfo);
     }
-    OPHID_DEBUG("Added %d device(s).", j);
+    OPHID_DEBUG("Added %lu device(s).", j);
     OPHID_TRACE("OUT");
 }
 
@@ -429,7 +422,7 @@ int USBMonitor::infoFromHandle(const GUID & guid, USBPortInfo & info, HDEVINFO &
         goto leave;
     }
 
-    qDebug() << "Found device with valid PATH: " << qDevicePath;
+    OPHID_DEBUG("Found device with valid PATH: %s", qPrintable(qDevicePath));
     h = CreateFile(details->DevicePath,
                    GENERIC_READ | GENERIC_WRITE,
                    FILE_SHARE_READ | FILE_SHARE_WRITE,
@@ -449,8 +442,7 @@ int USBMonitor::infoFromHandle(const GUID & guid, USBPortInfo & info, HDEVINFO &
             goto leave;
         }
 
-        qDebug() << "Problem opening handle, path: "
+        OPHID_DEBUG("Problem opening handle, path: %s", qPrintable(QString::fromWCharArray(details->DevicePath)));
-                 << QString().fromWCharArray(details->DevicePath);
 
         free(details);
         ret = OPHID_ERROR_RET;

ground/openpilotgcs/src/plugins/ophid/src/ophid_usbsignal.cpp

@@ -26,8 +26,7 @@
  */
 
 #include "ophid_usbsignal.h"
-#include <QDebug>
+#include "ophid_const.h"
-
 
 /**
  * \brief trigger device discovered signal
@@ -42,7 +41,7 @@ void USBSignalFilter::m_deviceDiscovered(USBPortInfo port)
         (port.productID == m_pid || m_pid == -1) &&
         ((port.bcdDevice >> 8) == m_boardModel || m_boardModel == -1) &&
         ((port.bcdDevice & 0x00ff) == m_runState || m_runState == -1)) {
-        qDebug() << "USBSignalFilter emit device discovered";
+        OPHID_DEBUG("USBSignalFilter emit device discovered");
         emit deviceDiscovered();
     }
 }

package/Darwin.mk

@@ -7,7 +7,11 @@ ifndef OPENPILOT_IS_COOL
 endif
 
 .PHONY: package
-package:
+package: openpilotgcs uavobjects_matlab | $(PACKAGE_DIR)
+ifneq ($(GCS_BUILD_CONF),release)
+	# We can only package release builds
+	$(error Packaging is currently supported for release builds only)
+endif
 	( \
 	  ROOT_DIR="$(ROOT_DIR)" \
 	  BUILD_DIR="$(BUILD_DIR)" \

package/Linux.mk

@@ -42,12 +42,10 @@ PACKAGE_DEPS_SED     := s/python.*/python/;s/{misc:Depends}.*/{misc:Depends}/;
 .PHONY: package
 package: debian
 	@$(ECHO) "Building Linux package, please wait..."
-	# Override clean and build because OP has already performed them.
-	$(V1) printf "override_dh_auto_clean:\noverride_dh_auto_build:\n\t#\n" >> debian/rules
 	$(V1) sed -i -e "$(PACKAGE_DEPS_SED)" debian/control
-	$(V1) dpkg-buildpackage -b -us -uc
+	$(V1) dpkg-buildpackage -b -us -uc -nc
-	$(V1) mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).deb $(PACKAGE_DIR)
+	$(V1) mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).deb $(BUILD_DIR)
-	$(V1) mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).changes $(PACKAGE_DIR)
+	$(V1) mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).changes $(BUILD_DIR)
 	$(V1) rm -r debian
 
 .PHONY: debian

package/Windows.mk

@@ -15,7 +15,11 @@ NSIS_TEMPLATE := $(NSIS_WINX86)/openpilotgcs.tpl
 NSIS_HEADER   := $(OPGCSSYNTHDIR)/openpilotgcs.nsh
 
 .PHONY: package
-package:
+package: openpilotgcs uavobjects_matlab | $(PACKAGE_DIR)
+ifneq ($(GCS_BUILD_CONF),release)
+	# We can only package release builds
+	$(error Packaging is currently supported for release builds only)
+endif
 	$(V1) mkdir -p "$(dir $(NSIS_HEADER))"
 	$(VERSION_CMD) \
 		--template='$(NSIS_TEMPLATE)' \

package/linux/debian/changelog

@@ -1,5 +1,5 @@
 openpilot (<VERSION>) <DIST>; urgency=low
 
-  * Release from upstream Git (testing - unstable)
+  * Release from upstream Git repository
 
  -- James Duley <james@openpilot.org>  <DATE>

package/linux/debian/rules

@@ -12,7 +12,7 @@ export DH_OPTIONS
 	dh $@ 
 
 override_dh_auto_build:
-	dh_auto_build -- all
+	dh_auto_build -- opfw_resource openpilotgcs
 
 override_dh_auto_install:
 	dh_auto_install -- prefix=/usr

shared/uavobjectdefinition/gpssatellites.xml

@@ -2,7 +2,7 @@
     <object name="GPSSatellites" singleinstance="true" settings="false" category="Sensors">
         <description>Contains information about the GPS satellites in view from @ref GPSModule.</description>
         <field name="SatsInView" units="" type="int8" elements="1"/>
-        <field name="PRN" units="" type="int8" elements="16"/>
+        <field name="PRN" units="" type="uint8" elements="16"/>
         <field name="Elevation" units="degrees" type="int8" elements="16"/>
         <field name="Azimuth" units="degrees" type="int16" elements="16"/>
         <field name="SNR" units="" type="int8" elements="16"/>

shared/uavobjectdefinition/gpssettings.xml

@@ -16,6 +16,8 @@
         <field name="UbxSBASMode" units="" type="enum" elements="1" options="Disabled,Ranging,Correction,Integrity,Ranging+Correction,Ranging+Integrity,Ranging+Correction+Integrity,Correction+Integrity" defaultvalue="Ranging" />
         <field name="UbxSBASChannelsUsed" units="" type="uint8" elements="1" defaultvalue="3"/>
         <field name="UbxSBASSats" units="" type="enum" elements="1" options="AutoScan,WAAS,EGNOS,MSAS,GAGAN,SDCM" defaultvalue="Auto-Scan" />
+        <!-- Ubx GNSS configuration, only applies to Ublox generation 7+ and concurrent GNSS only to generation 8 -->
+        <field name="UbxGNSSMode" units="" type="enum" elements="1" options="Default,GPS,GLONASS,GPS+GLONASS,GPS+BeiDou,GLONASS+BeiDou" defaultvalue="Default" />
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>