Merge branch 'next' into theothercliff/OP-1259_Cruise_Control_Tweaks

Makefile

@@ -450,11 +450,25 @@ else
     GCS_SILENT := silent
 endif
 
+.NOTPARALLEL:
 .PHONY: openpilotgcs
-openpilotgcs: uavobjects_gcs
+openpilotgcs: uavobjects_gcs openpilotgcs_qmake openpilotgcs_make
-	$(V1) $(MKDIR) -p $(BUILD_DIR)/$@_$(GCS_BUILD_CONF)
+
-	$(V1) ( cd $(BUILD_DIR)/$@_$(GCS_BUILD_CONF) && \
+.PHONY: openpilotgcs_qmake
-	    $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) && \
+openpilotgcs_qmake:
+ifeq ($(QMAKE_SKIP),)
+	$(V1) $(MKDIR) -p $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)
+	$(V1) ( cd $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF) && \
+	    $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) \
+	)
+else
+	@$(ECHO) "skipping qmake"
+endif
+
+.PHONY: openpilotgcs_make
+openpilotgcs_make:
+	$(V1) $(MKDIR) -p $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)
+	$(V1) ( cd $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)/$(MAKE_DIR) && \
 	    $(MAKE) -w ; \
 	)
 
@@ -947,6 +961,9 @@ help:
 	@$(ECHO)
 	@$(ECHO) "   [GCS]"
 	@$(ECHO) "     gcs                  - Build the Ground Control System (GCS) application (debug|release)"
+	@$(ECHO) "                            Skip qmake: QMAKE_SKIP=1"
+	@$(ECHO) "                            Compile specific directory: MAKE_DIR=<dir>"
+	@$(ECHO) "                            Example: make gcs QMAKE_SKIP=1 MAKE_DIR=src/plugins/coreplugin"
 	@$(ECHO) "     gcs_clean            - Remove the Ground Control System (GCS) application (debug|release)"
 	@$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
 	@$(ECHO)

flight/modules/OPLink/oplinkmod.c

@@ -63,8 +63,6 @@
 // Private types
 
 // Private variables
-static uint32_t idleCounter;
-static uint32_t idleCounterClear;
 static xTaskHandle systemTaskHandle;
 static bool stackOverflow;
 static bool mallocFailed;
@@ -130,8 +128,6 @@ static void systemTask(__attribute__((unused)) void *parameters)
     }
 
     // Initialize vars
-    idleCounter = 0;
-    idleCounterClear = 0;
     lastSysTime = xTaskGetTickCount();
 
     // Main system loop
@@ -205,15 +201,7 @@ static void systemTask(__attribute__((unused)) void *parameters)
  * Called by the RTOS when the CPU is idle, used to measure the CPU idle time.
  */
 void vApplicationIdleHook(void)
-{
+{}
-    // Called when the scheduler has no tasks to run
-    if (idleCounterClear == 0) {
-        ++idleCounter;
-    } else {
-        idleCounter = 0;
-        idleCounterClear = 0;
-    }
-}
 
 /**
  * Called by the RTOS when a stack overflow is detected.

flight/modules/System/systemmod.c

@@ -92,8 +92,6 @@
 // Private types
 
 // Private variables
-static uint32_t idleCounter;
-static uint32_t idleCounterClear;
 static xTaskHandle systemTaskHandle;
 static xQueueHandle objectPersistenceQueue;
 static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_CRITICAL = 3 } stackOverflow;
@@ -132,6 +130,7 @@ int32_t SystemModStart(void)
     // Register task
     PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
 
+
     return 0;
 }
 
@@ -186,15 +185,12 @@ static void systemTask(__attribute__((unused)) void *parameters)
          */
         PIOS_SYS_Reset();
     }
-
 #if defined(PIOS_INCLUDE_IAP)
     /* Record a successful boot */
     PIOS_IAP_WriteBootCount(0);
 #endif
 
     // Initialize vars
-    idleCounter = 0;
-    idleCounterClear = 0;
 
     // Listen for SettingPersistance object updates, connect a callback function
     ObjectPersistenceConnectQueue(objectPersistenceQueue);
@@ -212,9 +208,10 @@ static void systemTask(__attribute__((unused)) void *parameters)
     // Main system loop
     while (1) {
         // Update the system statistics
-        updateStats();
-        cycleCount = cycleCount > 0 ? cycleCount - 1 : 7;
 
+        cycleCount = cycleCount > 0 ? cycleCount - 1 : 7;
+// if(cycleCount == 1){
+        updateStats();
         // Update the system alarms
         updateSystemAlarms();
 #ifdef DIAG_I2C_WDG_STATS
@@ -227,10 +224,12 @@ static void systemTask(__attribute__((unused)) void *parameters)
         PIOS_TASK_MONITOR_ForEachTask(taskMonitorForEachCallback, &taskInfoData);
         TaskInfoSet(&taskInfoData);
         // Update the callback status object
+// if(FALSE){
         PIOS_CALLBACKSCHEDULER_ForEachCallback(callbackSchedulerForEachCallback, &callbackInfoData);
         CallbackInfoSet(&callbackInfoData);
+// }
 #endif
-
+// }
         // Flash the heartbeat LED
 #if defined(PIOS_LED_HEARTBEAT)
         uint8_t armingStatus;
@@ -541,7 +540,6 @@ static uint16_t GetFreeIrqStackSize(void)
  */
 static void updateStats()
 {
-    static portTickType lastTickCount = 0;
     SystemStatsData stats;
 
     // Get stats and update
@@ -559,10 +557,6 @@ static void updateStats()
     // Get Irq stack status
     stats.IRQStackRemaining = GetFreeIrqStackSize();
 
-    // When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
-    if (idleCounterClear) {
-        idleCounter = 0;
-    }
 #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
     if (pios_uavo_settings_fs_id) {
         PIOS_FLASHFS_GetStats(pios_uavo_settings_fs_id, &fsStats);
@@ -575,16 +569,11 @@ static void updateStats()
         stats.UsrSlotsActive = fsStats.num_active_slots;
     }
 #endif
-    portTickType now = xTaskGetTickCount();
+    stats.CPULoad = 100 - PIOS_TASK_MONITOR_GetIdlePercentage();
-    if (now > lastTickCount) {
+
-        uint32_t dT = (xTaskGetTickCount() - lastTickCount) * portTICK_RATE_MS; // in ms
-        stats.CPULoad = 100 - (uint8_t)roundf(100.0f * ((float)idleCounter / ((float)dT / 1000.0f)) / (float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
-    } // else: TickCount has wrapped, do not calc now
-    lastTickCount    = now;
-    idleCounterClear = 1;
 #if defined(PIOS_INCLUDE_ADC) && defined(PIOS_ADC_USE_TEMP_SENSOR)
     float temp_voltage = PIOS_ADC_PinGetVolt(PIOS_ADC_TEMPERATURE_PIN);
-    stats.CPUTemp    = PIOS_CONVERT_VOLT_TO_CPU_TEMP(temp_voltage);;
+    stats.CPUTemp = PIOS_CONVERT_VOLT_TO_CPU_TEMP(temp_voltage);;
 #endif
     SystemStatsSet(&stats);
 }
@@ -663,15 +652,7 @@ static void updateSystemAlarms()
  * Called by the RTOS when the CPU is idle, used to measure the CPU idle time.
  */
 void vApplicationIdleHook(void)
-{
+{}
-    // Called when the scheduler has no tasks to run
-    if (idleCounterClear == 0) {
-        ++idleCounter;
-    } else {
-        idleCounter = 0;
-        idleCounterClear = 0;
-    }
-}
 
 /**
  * Called by the RTOS when a stack overflow is detected.

flight/pios/common/pios_task_monitor.c

@@ -33,6 +33,7 @@
 static xSemaphoreHandle mLock;
 static xTaskHandle *mTaskHandles;
 static uint32_t mLastMonitorTime;
+static uint32_t mLastIdleMonitorTime;
 static uint16_t mMaxTasks;
 
 /**
@@ -53,9 +54,11 @@ int32_t PIOS_TASK_MONITOR_Initialize(uint16_t max_tasks)
 
     mMaxTasks = max_tasks;
 #if (configGENERATE_RUN_TIME_STATS == 1)
-    mLastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
+    mLastMonitorTime     = portGET_RUN_TIME_COUNTER_VALUE();
+    mLastIdleMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
 #else
-    mLastMonitorTime = 0;
+    mLastMonitorTime     = 0;
+    mLastIdleMonitorTime = 0;
 #endif
     return 0;
 }
@@ -146,4 +149,31 @@ void PIOS_TASK_MONITOR_ForEachTask(TaskMonitorTaskInfoCallback callback, void *c
     xSemaphoreGiveRecursive(mLock);
 }
 
+uint8_t PIOS_TASK_MONITOR_GetIdlePercentage()
+{
+#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
+    return 50;
+
+#elif (configGENERATE_RUN_TIME_STATS == 1)
+    xSemaphoreTakeRecursive(mLock, portMAX_DELAY);
+
+    uint32_t currentTime = portGET_RUN_TIME_COUNTER_VALUE();
+
+    /* avoid divide-by-zero if the interval is too small */
+    uint32_t deltaTime   = ((currentTime - mLastIdleMonitorTime) / 100) ? : 1;
+    mLastIdleMonitorTime = currentTime;
+    uint8_t running_time_percentage = 0;
+
+    /* Generate idle time percentage stats */
+    running_time_percentage = uxTaskGetRunTime(xTaskGetIdleTaskHandle()) / deltaTime;
+    xSemaphoreGiveRecursive(mLock);
+    return running_time_percentage;
+
+#else
+    return 0;
+
+#endif
+}
+
+
 #endif // PIOS_INCLUDE_TASK_MONITOR

flight/pios/inc/pios_task_monitor.h

@@ -104,4 +104,9 @@ typedef void (*TaskMonitorTaskInfoCallback)(uint16_t task_id, const struct pios_
  */
 extern void PIOS_TASK_MONITOR_ForEachTask(TaskMonitorTaskInfoCallback callback, void *context);
 
+/**
+ * Return the idle task running time percentage.
+ */
+extern uint8_t PIOS_TASK_MONITOR_GetIdlePercentage();
+
 #endif // PIOS_TASK_MONITOR_H

flight/targets/boards/coptercontrol/firmware/inc/FreeRTOSConfig.h

@@ -75,11 +75,9 @@
 #endif
 
 /* Enable run time stats collection */
-#ifdef DIAG_TASKS
-#define configCHECK_FOR_STACK_OVERFLOW 2
-
 #define configGENERATE_RUN_TIME_STATS  1
 #define INCLUDE_uxTaskGetRunTime       1
+#define INCLUDE_xTaskGetIdleTaskHandle 1
 #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() \
     do { \
         (*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */ \
@@ -87,6 +85,9 @@
     } \
     while (0)
 #define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004) /* DWT_CYCCNT */
+
+#ifdef DIAG_TASKS
+#define configCHECK_FOR_STACK_OVERFLOW 2
 #else
 #define configCHECK_FOR_STACK_OVERFLOW 1
 #endif

flight/targets/boards/oplinkmini/firmware/inc/FreeRTOSConfig.h

@@ -75,11 +75,9 @@
 #endif
 
 /* Enable run time stats collection */
-#ifdef DIAG_TASKS
-#define configCHECK_FOR_STACK_OVERFLOW 2
-
 #define configGENERATE_RUN_TIME_STATS  1
 #define INCLUDE_uxTaskGetRunTime       1
+#define INCLUDE_xTaskGetIdleTaskHandle 1
 #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() \
     do { \
         (*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */ \
@@ -87,6 +85,9 @@
     } \
     while (0)
 #define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004) /* DWT_CYCCNT */
+
+#ifdef DIAG_TASKS
+#define configCHECK_FOR_STACK_OVERFLOW 2
 #else
 #define configCHECK_FOR_STACK_OVERFLOW 1
 #endif

flight/targets/boards/osd/firmware/inc/FreeRTOSConfig.h

@@ -79,6 +79,7 @@
 /* Enable run time stats collection */
 #define configGENERATE_RUN_TIME_STATS                1
 #define INCLUDE_uxTaskGetRunTime                     1
+#define INCLUDE_xTaskGetIdleTaskHandle               1
 
 /*
  * Once we move to CMSIS2 we can at least use:

flight/targets/boards/revolution/firmware/inc/FreeRTOSConfig.h

@@ -64,6 +64,7 @@
 #define INCLUDE_xTaskGetSchedulerState               1
 #define INCLUDE_xTaskGetCurrentTaskHandle            1
 #define INCLUDE_uxTaskGetStackHighWaterMark          1
+#define INCLUDE_xTaskGetIdleTaskHandle               1
 
 /* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
    (lowest) to 1 (highest maskable) to 0 (highest non-maskable). */

flight/targets/boards/revoproto/firmware/inc/FreeRTOSConfig.h

@@ -79,6 +79,7 @@
 /* Enable run time stats collection */
 #define configGENERATE_RUN_TIME_STATS                1
 #define INCLUDE_uxTaskGetRunTime                     1
+#define INCLUDE_xTaskGetIdleTaskHandle               1
 
 /*
  * Once we move to CMSIS2 we can at least use:

ground/openpilotgcs/src/plugins/config/stabilization.ui

@@ -13378,6 +13378,7 @@ border-radius: 5;</string>
                       <property name="decimals">
                        <number>5</number>
 
+
                       </property>
                       <property name="singleStep">
                        <double>0.000100000000000</double>
@@ -15942,6 +15943,7 @@ border-radius: 5;</string>
                         <string>element:Kp</string>
                         <string>haslimits:no</string>
                         <string>scale:1</string>
+
                         <string>buttongroup:5,20</string>
                        </stringlist>
                       </property>
@@ -17353,6 +17355,7 @@ border-radius: 5;</string>
                             <red>26</red>
                             <green>26</green>
                             <blue>26</blue>
+
                            </color>
                           </brush>
                          </colorrole>
@@ -24307,6 +24310,7 @@ border-radius: 5;</string>
                      <string>buttongroup:16</string>
                     </stringlist>
                    </property>
+
                   </widget>
                  </item>
                  <item row="2" column="1">

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

@@ -121,6 +121,10 @@ void UAVGadgetDecorator::saveState(QSettings *qSettings)
     if (m_activeConfiguration) {
         qSettings->setValue("activeConfiguration", m_activeConfiguration->name());
     }
+    // save gadget individual state
+    qSettings->beginGroup("state");
+    m_gadget->saveState(qSettings);
+    qSettings->endGroup();
 }
 
 void UAVGadgetDecorator::restoreState(QSettings *qSettings)
@@ -134,4 +138,8 @@ void UAVGadgetDecorator::restoreState(QSettings *qSettings)
             break;
         }
     }
+    // restore gadget individual state
+    qSettings->beginGroup("state");
+    m_gadget->restoreState(qSettings);
+    qSettings->endGroup();
 }

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

@@ -131,7 +131,8 @@ struct hid_device_ {
 		DWORD last_error_num;
 		BOOL read_pending;
 		char *read_buf;
-		OVERLAPPED ol;
+		OVERLAPPED rx_ol;
+		OVERLAPPED tx_ol;
 };
 
 static hid_device *new_hid_device()
@@ -145,15 +146,18 @@ static hid_device *new_hid_device()
 	dev->last_error_num = 0;
 	dev->read_pending = FALSE;
 	dev->read_buf = NULL;
-	memset(&dev->ol, 0, sizeof(dev->ol));
+	memset(&dev->rx_ol, 0, sizeof(dev->rx_ol));
-	dev->ol.hEvent = CreateEvent(NULL, FALSE, FALSE /*inital state f=nonsignaled*/, NULL);
+	memset(&dev->tx_ol, 0, sizeof(dev->tx_ol));
+	dev->rx_ol.hEvent = CreateEvent(NULL, FALSE, FALSE /*inital state f=nonsignaled*/, NULL);
+	dev->tx_ol.hEvent = CreateEvent(NULL, FALSE, FALSE /*inital state f=nonsignaled*/, NULL);
 
 	return dev;
 }
 
 static void free_hid_device(hid_device *dev)
 {
-	CloseHandle(dev->ol.hEvent);
+	CloseHandle(dev->rx_ol.hEvent);
+	CloseHandle(dev->tx_ol.hEvent);
 	CloseHandle(dev->device_handle);
 	LocalFree(dev->last_error_str);
 	free(dev->read_buf);
@@ -596,9 +600,7 @@ int HID_API_EXPORT HID_API_CALL hid_write(hid_device *dev, const unsigned char *
 	DWORD bytes_written;
 	BOOL res;
 
-	OVERLAPPED ol;
 	unsigned char *buf;
-	memset(&ol, 0, sizeof(ol));
 
 	/* Make sure the right number of bytes are passed to WriteFile. Windows
 	   expects the number of bytes which are in the _longest_ report (plus
@@ -618,7 +620,8 @@ int HID_API_EXPORT HID_API_CALL hid_write(hid_device *dev, const unsigned char *
 		length = dev->output_report_length;
 	}
 
-	res = WriteFile(dev->device_handle, buf, length, NULL, &ol);
+	ResetEvent(dev->tx_ol.hEvent);
+	res = WriteFile(dev->device_handle, buf, length, NULL, &dev->tx_ol);
 	
 	if (!res) {
 		if (GetLastError() != ERROR_IO_PENDING) {
@@ -631,7 +634,7 @@ int HID_API_EXPORT HID_API_CALL hid_write(hid_device *dev, const unsigned char *
 
 	/* Wait here until the write is done. This makes
 	   hid_write() synchronous. */
-	res = GetOverlappedResult(dev->device_handle, &ol, &bytes_written, TRUE/*wait*/);
+	res = GetOverlappedResult(dev->device_handle, &dev->tx_ol, &bytes_written, TRUE/*wait*/);
 	if (!res) {
 		/* The Write operation failed. */
 		register_error(dev, "WriteFile");
@@ -653,14 +656,14 @@ int HID_API_EXPORT HID_API_CALL hid_read_timeout(hid_device *dev, unsigned char
 	BOOL res;
 
 	/* Copy the handle for convenience. */
-	HANDLE ev = dev->ol.hEvent;
+	HANDLE ev = dev->rx_ol.hEvent;
 
 	if (!dev->read_pending) {
 		/* Start an Overlapped I/O read. */
 		dev->read_pending = TRUE;
 		memset(dev->read_buf, 0, dev->input_report_length);
 		ResetEvent(ev);
-		res = ReadFile(dev->device_handle, dev->read_buf, dev->input_report_length, &bytes_read, &dev->ol);
+		res = ReadFile(dev->device_handle, dev->read_buf, dev->input_report_length, &bytes_read, &dev->rx_ol);
 		
 		if (!res) {
 			if (GetLastError() != ERROR_IO_PENDING) {
@@ -686,7 +689,7 @@ int HID_API_EXPORT HID_API_CALL hid_read_timeout(hid_device *dev, unsigned char
 	/* Either WaitForSingleObject() told us that ReadFile has completed, or
 	   we are in non-blocking mode. Get the number of bytes read. The actual
 	   data has been copied to the data[] array which was passed to ReadFile(). */
-	res = GetOverlappedResult(dev->device_handle, &dev->ol, &bytes_read, TRUE/*wait*/);
+	res = GetOverlappedResult(dev->device_handle, &dev->rx_ol, &bytes_read, TRUE/*wait*/);
 	
 	/* Set pending back to false, even if GetOverlappedResult() returned error. */
 	dev->read_pending = FALSE;

ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp

@@ -333,26 +333,30 @@ void OPMapGadgetWidget::wpDoubleClickEvent(WayPointItem *wp)
 }
 
 void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
-{ // the user has right clicked on the map - create the pop-up context menu and display it
+{
-    QString s;
+    // the user has right clicked on the map - create the pop-up context menu and display it
 
     if (!m_widget || !m_map) {
         return;
     }
 
     if (event->reason() != QContextMenuEvent::Mouse) {
-        return; // not a mouse click event
+        // not a mouse click event
+        return;
     }
+
     // current mouse position
     QPoint p = m_map->mapFromGlobal(event->globalPos());
     m_context_menu_lat_lon = m_map->GetFromLocalToLatLng(p);
 
     if (!m_map->contentsRect().contains(p)) {
-        return; // the mouse click was not on the map
+        // the mouse click was not on the map
+        return;
     }
+
     // show the mouse position
-    s = QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + "  " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7);
+    QString mousePosString = QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + "  " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7);
-    m_widget->labelMousePos->setText(s);
+    m_widget->labelMousePos->setText(mousePosString);
 
     // find out if we have a waypoint under the mouse cursor
     QGraphicsItem *item = m_map->itemAt(p);
@@ -364,11 +368,9 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
         waypoint_locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
     }
 
-    // ****************
     // Dynamically create the popup menu
+    QMenu contextMenu;
 
-    contextMenu.addAction(closeAct1);
-    contextMenu.addSeparator();
     contextMenu.addAction(reloadAct);
     contextMenu.addSeparator();
     contextMenu.addAction(ripAct);
@@ -382,12 +384,20 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
 
     contextMenu.addSeparator();
 
+    QString mapMode;
     switch (m_map_mode) {
-    case Normal_MapMode: s = tr(" (Normal)"); break;
+    case Normal_MapMode:
-    case MagicWaypoint_MapMode: s = tr(" (Magic Waypoint)"); break;
+        mapMode = tr(" (Normal)");
-    default: s = tr(" (Unknown)"); break;
+        break;
+    case MagicWaypoint_MapMode:
+        mapMode = tr(" (Magic Waypoint)");
+        break;
+    default:
+        mapMode = tr(" (Unknown)");
+        break;
     }
-    for (int i = 0; i < mapModeAct.count(); i++) { // set the menu to checked (or not)
+    for (int i = 0; i < mapModeAct.count(); i++) {
+        // set the menu to checked (or not)
         QAction *act = mapModeAct.at(i);
         if (!act) {
             continue;
@@ -396,7 +406,7 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
             act->setChecked(true);
         }
     }
-    QMenu mapModeSubMenu(tr("Map mode") + s, this);
+    QMenu mapModeSubMenu(tr("Map mode") + mapMode, this);
     for (int i = 0; i < mapModeAct.count(); i++) {
         mapModeSubMenu.addAction(mapModeAct.at(i));
     }
@@ -432,7 +442,8 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
 
     contextMenu.addAction(showUAVInfo);
 
-    contextMenu.addSeparator()->setText(tr("Zoom"));
+    // Zoom section
+    contextMenu.addSection(tr("Zoom"));
 
     contextMenu.addAction(zoomInAct);
     contextMenu.addAction(zoomOutAct);
@@ -447,16 +458,16 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
 
     contextMenu.addAction(goMouseClickAct);
 
-    contextMenu.addSeparator()->setText(tr("HOME"));
+    // Home section
+    contextMenu.addSection(tr("Home"));
 
     contextMenu.addAction(setHomeAct);
     contextMenu.addAction(showHomeAct);
     contextMenu.addAction(goHomeAct);
 
-    // ****
     // uav trails
     QMenu uav_menu(tr("UAV"));
-    uav_menu.addSeparator()->setText(tr("UAV Trail"));
+    uav_menu.addSection(tr("UAV Trail"));
     contextMenu.addMenu(&uav_menu);
     QMenu uavTrailTypeSubMenu(tr("UAV trail type") + " (" + mapcontrol::Helper::StrFromUAVTrailType(m_map->UAV->GetTrailType()) + ")", this);
     for (int i = 0; i < uavTrailTypeAct.count(); i++) {
@@ -482,22 +493,21 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
 
     uav_menu.addAction(clearUAVtrailAct);
 
-    // ****
+    // UAV section
-
+    uav_menu.addSection(tr("UAV"));
-    uav_menu.addSeparator()->setText(tr("UAV"));
 
     uav_menu.addAction(showUAVAct);
     uav_menu.addAction(followUAVpositionAct);
     uav_menu.addAction(followUAVheadingAct);
     uav_menu.addAction(goUAVAct);
 
-    // *********
+    // waypoint section
 #ifdef USE_PATHPLANNER
     switch (m_map_mode) {
     case Normal_MapMode:
         // only show the waypoint stuff if not in 'magic waypoint' mode
 
-        contextMenu.addSeparator()->setText(tr("Waypoints"));
+        contextMenu.addSection(tr("Waypoints"));
 
         contextMenu.addAction(wayPointEditorAct);
         contextMenu.addAction(addWayPointActFromContextMenu);
@@ -515,30 +525,29 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
         }
 
         if (m_map->WPPresent()) {
-            contextMenu.addAction(clearWayPointsAct); // we have waypoints
+            // we have waypoints
+            contextMenu.addAction(clearWayPointsAct);
         }
         break;
 
     case MagicWaypoint_MapMode:
-        contextMenu.addSeparator()->setText(tr("Waypoints"));
+        contextMenu.addSection(tr("Waypoints"));
         contextMenu.addAction(homeMagicWaypointAct);
         break;
     }
 #endif // ifdef USE_PATHPLANNER
-       // *********
 
     QMenu overlaySubMenu(tr("&Overlay Opacity "), this);
     for (int i = 0; i < overlayOpacityAct.count(); i++) {
         overlaySubMenu.addAction(overlayOpacityAct.at(i));
     }
     contextMenu.addMenu(&overlaySubMenu);
-    contextMenu.addSeparator();
 
-    contextMenu.addAction(closeAct2);
+    // accept the event
+    event->accept();
 
-    contextMenu.exec(event->globalPos()); // popup the menu
+    // popup the menu
-
+    contextMenu.exec(event->globalPos());
-    // ****************
 }
 
 void OPMapGadgetWidget::closeEvent(QCloseEvent *event)
@@ -1300,12 +1309,6 @@ void OPMapGadgetWidget::createActions()
     // ***********************
     // create menu actions
 
-    closeAct1 = new QAction(tr("Close menu"), this);
-    closeAct1->setStatusTip(tr("Close the context menu"));
-
-    closeAct2 = new QAction(tr("Close menu"), this);
-    closeAct2->setStatusTip(tr("Close the context menu"));
-
     reloadAct = new QAction(tr("&Reload map"), this);
     reloadAct->setShortcut(tr("F5"));
     reloadAct->setStatusTip(tr("Reload the map tiles"));

ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h

@@ -236,8 +236,6 @@ private:
     QPointer<ModelUavoProxy> UAVProxy;
     QMutex m_map_mutex;
     bool m_telemetry_connected;
-    QAction *closeAct1;
-    QAction *closeAct2;
     QAction *reloadAct;
     QAction *ripAct;
     QAction *copyMouseLatLonToClipAct;
@@ -310,7 +308,6 @@ private:
     void setMapFollowingMode();
 
     bool setHomeLocationObject();
-    QMenu contextMenu;
     internals::PointLatLng lastLatLngMouse;
     WayPointItem *magicWayPoint;
 

ground/openpilotgcs/src/plugins/scope/scope.pro

@@ -1,22 +1,30 @@
 TEMPLATE = lib
 TARGET = ScopeGadget
+
 DEFINES += SCOPE_LIBRARY
+
 include(../../openpilotgcsplugin.pri)
 include (scope_dependencies.pri)
-HEADERS += scopeplugin.h \
+
+HEADERS += \
+    scopeplugin.h \
     plotdata.h \
-    scope_global.h
+    scope_global.h \
-HEADERS += scopegadgetoptionspage.h
+    scopegadgetoptionspage.h \
-HEADERS += scopegadgetconfiguration.h
+    scopegadgetconfiguration.h \
-HEADERS += scopegadget.h
+    scopegadget.h \
-HEADERS += scopegadgetwidget.h
+    scopegadgetwidget.h \
-HEADERS += scopegadgetfactory.h
+    scopegadgetfactory.h
-SOURCES += scopeplugin.cpp \
+
-    plotdata.cpp
+SOURCES += \
-SOURCES += scopegadgetoptionspage.cpp
+    scopeplugin.cpp \
-SOURCES += scopegadgetconfiguration.cpp
+    plotdata.cpp \
-SOURCES += scopegadget.cpp
+    scopegadgetoptionspage.cpp \
-SOURCES += scopegadgetfactory.cpp
+    scopegadgetconfiguration.cpp \
-SOURCES += scopegadgetwidget.cpp
+    scopegadget.cpp \
+    scopegadgetfactory.cpp \
+    scopegadgetwidget.cpp
+
 OTHER_FILES += ScopeGadget.pluginspec
+
 FORMS += scopegadgetoptionspage.ui

ground/openpilotgcs/src/plugins/scope/scopegadget.cpp

@@ -25,7 +25,6 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "scopeplugin.h"
 #include "scopegadget.h"
 #include "scopegadgetconfiguration.h"
 #include "scopegadgetwidget.h"
@@ -33,9 +32,7 @@
 #include <qcolor.h>
 
 ScopeGadget::ScopeGadget(QString classId, ScopeGadgetWidget *widget, QWidget *parent) :
-    IUAVGadget(classId, parent),
+    IUAVGadget(classId, parent), m_widget(widget)
-    m_widget(widget),
-    configLoaded(false)
 {}
 
 void ScopeGadget::loadConfiguration(IUAVGadgetConfiguration *config)
@@ -86,10 +83,19 @@ void ScopeGadget::loadConfiguration(IUAVGadgetConfiguration *config)
 }
 
 /**
-   Scope gadget destructor: should delete the associated
+   Scope gadget destructor: should delete the associated scope gadget widget too!
-   scope gadget widget too!
  */
 ScopeGadget::~ScopeGadget()
 {
     delete m_widget;
 }
+
+void ScopeGadget::saveState(QSettings *qSettings)
+{
+    m_widget->saveState(qSettings);
+}
+
+void ScopeGadget::restoreState(QSettings *qSettings)
+{
+    m_widget->restoreState(qSettings);
+}

ground/openpilotgcs/src/plugins/scope/scopegadget.h

@@ -32,10 +32,10 @@
 #include <coreplugin/iuavgadget.h>
 #include "scopegadgetwidget.h"
 
-class IUAVGadget;
-// class QList<int>;
 class QWidget;
 class QString;
+class QSettings;
+class IUAVGadget;
 class ScopeGadgetWidget;
 
 using namespace Core;
@@ -52,20 +52,23 @@ public:
     {
         return m_context;
     }
+
     QWidget *widget()
     {
         return m_widget;
     }
+
     QString contextHelpId() const
     {
         return QString();
     }
 
+    void saveState(QSettings *qSettings);
+    void restoreState(QSettings *qSettings);
+
 private:
     ScopeGadgetWidget *m_widget;
     QList<int> m_context;
-
-    bool configLoaded;
 };
 
 

ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp

@@ -25,8 +25,6 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
-#include <QDir>
 #include "scopegadgetwidget.h"
 #include "utils/stylehelper.h"
 
@@ -44,6 +42,7 @@
 #include <iostream>
 #include <math.h>
 #include <QDebug>
+#include <QDir>
 #include <QColor>
 #include <QStringList>
 #include <QWidget>
@@ -52,14 +51,10 @@
 #include <QMutexLocker>
 #include <QWheelEvent>
 
-// using namespace Core;
-
-// ******************************************************************
-
 ScopeGadgetWidget::ScopeGadgetWidget(QWidget *parent) : QwtPlot(parent)
 {
     setMouseTracking(true);
-// canvas()->setMouseTracking(true);
+    // canvas()->setMouseTracking(true);
 
     // Setup the timer that replots data
     replotTimer = new QTimer(this);
@@ -109,8 +104,6 @@ ScopeGadgetWidget::~ScopeGadgetWidget()
     clearCurvePlots();
 }
 
-// ******************************************************************
-
 void ScopeGadgetWidget::mousePressEvent(QMouseEvent *e)
 {
     QwtPlot::mousePressEvent(e);
@@ -214,7 +207,6 @@ void ScopeGadgetWidget::deleteLegend()
     disconnect(this, SIGNAL(legendChecked(QwtPlotItem *, bool)), this, 0);
 
     insertLegend(NULL, QwtPlot::TopLegend);
-// insertLegend(NULL, QwtPlot::ExternalLegend);
 }
 
 void ScopeGadgetWidget::addLegend()
@@ -227,27 +219,19 @@ void ScopeGadgetWidget::addLegend()
     QwtLegend *legend = new QwtLegend();
     legend->setItemMode(QwtLegend::CheckableItem);
     legend->setFrameStyle(QFrame::Box | QFrame::Sunken);
-    legend->setToolTip(tr("Click legend to show/hide scope trace"));
+    legend->setToolTip(tr("Click legend to show/hide scope trace.\nDouble click legend or plot to show/hide legend."));
 
+    // set colors
     QPalette pal = legend->palette();
-    pal.setColor(legend->backgroundRole(), QColor(100, 100, 100)); // background colour
+    pal.setColor(legend->backgroundRole(), QColor(100, 100, 100));
-// pal.setColor(legend->backgroundRole(), Qt::transparent);		// background colour
+    pal.setColor(QPalette::Text, QColor(0, 0, 0));
-// pal.setColor(QPalette::Text, QColor(255, 255, 255));			// text colour
-    pal.setColor(QPalette::Text, QColor(0, 0, 0)); // text colour
     legend->setPalette(pal);
 
     insertLegend(legend, QwtPlot::TopLegend);
-// insertLegend(legend, QwtPlot::ExternalLegend);
-
-//// Show a legend at the bottom
-// QwtLegend *legend = new QwtLegend();
-// legend->setItemMode(QwtLegend::CheckableItem);
-// legend->setFrameStyle(QFrame::Box | QFrame::Sunken);
-// insertLegend(legend, QwtPlot::BottomLegend);
 
     // Update the checked/unchecked state of the legend items
     // -> this is necessary when hiding a legend where some plots are
-    // not visible, and the un-hiding it.
+    // not visible, and then un-hiding it.
     foreach(QwtPlotItem * item, this->itemList()) {
         bool on    = item->isVisible();
         QWidget *w = legend->find(item);
@@ -269,15 +253,6 @@ void ScopeGadgetWidget::preparePlot(PlotType plotType)
     setMinimumSize(64, 64);
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
 
-// setMargin(1);
-
-// QPalette pal = palette();
-// QPalette::ColorRole cr = backgroundRole();
-// pal.setColor(cr, QColor(128, 128, 128));				// background colour
-// pal.setColor(QPalette::Text, QColor(255, 255, 255));	// text colour
-// setPalette(pal);
-
-// setCanvasBackground(Utils::StyleHelper::baseColor());
     setCanvasBackground(QColor(64, 64, 64));
 
     // Add grid lines
@@ -287,9 +262,6 @@ void ScopeGadgetWidget::preparePlot(PlotType plotType)
     grid->setPen(QPen(Qt::darkGray, 1, Qt::DotLine));
     grid->attach(this);
 
-    // Add the legend
-    addLegend();
-
     // Only start the timer if we are already connected
     Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
     if (cm->getCurrentConnection() && replotTimer) {
@@ -304,9 +276,11 @@ void ScopeGadgetWidget::preparePlot(PlotType plotType)
 void ScopeGadgetWidget::showCurve(QwtPlotItem *item, bool on)
 {
     item->setVisible(!on);
-    QWidget *w = legend()->find(item);
+    if (legend()) {
-    if (w && w->inherits("QwtLegendItem")) {
+        QWidget *w = legend()->find(item);
-        ((QwtLegendItem *)w)->setChecked(on);
+        if (w && w->inherits("QwtLegendItem")) {
+            ((QwtLegendItem *)w)->setChecked(on);
+        }
     }
 
     mutex.lock();
@@ -540,6 +514,42 @@ void ScopeGadgetWidget::clearCurvePlots()
     m_curvesData.clear();
 }
 
+void ScopeGadgetWidget::saveState(QSettings *qSettings)
+{
+    // plot state
+    int i = 1;
+
+    foreach(PlotData * plotData, m_curvesData.values()) {
+        bool plotVisible = plotData->curve->isVisible();
+
+        if (!plotVisible) {
+            qSettings->setValue(QString("plot%1").arg(i), plotVisible);
+        }
+        i++;
+    }
+    // legend state
+    qSettings->setValue("legendVisible", legend() != NULL);
+}
+
+void ScopeGadgetWidget::restoreState(QSettings *qSettings)
+{
+    // plot state
+    int i = 1;
+
+    foreach(PlotData * plotData, m_curvesData.values()) {
+        bool visible = qSettings->value(QString("plot%1").arg(i), true).toBool();
+
+        showCurve(plotData->curve, !visible);
+        i++;
+    }
+    // legend state
+    bool legendVisible = qSettings->value("legendVisible", true).toBool();
+    if (legendVisible) {
+        addLegend();
+    } else {
+        deleteLegend();
+    }
+}
 
 /*
    int csvLoggingEnable;
@@ -697,6 +707,7 @@ void ScopeGadgetWidget::csvLoggingConnect()
         csvLoggingStart();
     }
 }
+
 void ScopeGadgetWidget::csvLoggingDisconnect()
 {
     m_csvLoggingHeaderSaved = 0;

ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.h

@@ -41,6 +41,8 @@
 #include <QVector>
 #include <QMutex>
 
+class QSettings;
+
 /*!
    \brief This class is used to render the time values on the horizontal axis for the
    ChronoPlot.
@@ -95,9 +97,14 @@ public:
     void addCurvePlot(QString uavObject, QString uavFieldSubField, int scaleOrderFactor = 0, int meanSamples = 1,
                       QString mathFunction = "None", QPen pen = QPen(Qt::black), bool antialiased = true);
     void clearCurvePlots();
+
+    void saveState(QSettings *qSettings);
+    void restoreState(QSettings *qSettings);
+
     int csvLoggingStart();
     int csvLoggingStop();
     void csvLoggingSetName(QString);
+
     void setLoggingEnabled(bool value)
     {
         m_csvLoggingEnabled = value;