From 8283d4280e6577d57b6a68868b8e793e10fe1088 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Wed, 13 Jun 2012 14:57:43 -0700
Subject: [PATCH 1/3] UAVTalk, change private member QIODevice* io to smart
 pointer QPointer<QIODevice>

---
 .../openpilotgcs/src/plugins/uavtalk/uavtalk.cpp  | 15 ++++++++-------
 ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h |  3 ++-
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
index 4c218379d..03da96a6f 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
@@ -112,10 +112,12 @@ void UAVTalk::processInputStream()
 {
     quint8 tmp;
 
-    while (io->bytesAvailable() > 0)
-    {
-        io->read((char*)&tmp, 1);
-        processInputByte(tmp);
+    if (io && io->isReadable()) {
+        while (io->bytesAvailable() > 0)
+        {
+            io->read((char*)&tmp, 1);
+            processInputByte(tmp);
+        }
     }
 }
 
@@ -719,9 +721,8 @@ bool UAVTalk::transmitNack(quint32 objId)
 
     qToLittleEndian<quint16>(dataOffset, &txBuffer[2]);
 
-
     // Send buffer, check that the transmit backlog does not grow above limit
-    if ( io->bytesToWrite() < TX_BUFFER_SIZE )
+    if (io && io->isWritable() && io->bytesToWrite() < TX_BUFFER_SIZE )
     {
         io->write((const char*)txBuffer, dataOffset+CHECKSUM_LENGTH);
     }
@@ -811,7 +812,7 @@ bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstance
     txBuffer[dataOffset+length] = updateCRC(0, txBuffer, dataOffset + length);
 
     // Send buffer, check that the transmit backlog does not grow above limit
-    if ( io->bytesToWrite() < TX_BUFFER_SIZE )
+    if (io && io->isWritable() && io->bytesToWrite() < TX_BUFFER_SIZE )
     {
         io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
     }
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
index 163fb9fa3..de7ca8542 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
@@ -27,6 +27,7 @@
 #ifndef UAVTALK_H
 #define UAVTALK_H
 
+#include <QtCore>
 #include <QIODevice>
 #include <QMutex>
 #include <QMutexLocker>
@@ -93,7 +94,7 @@ private:
     typedef enum {STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxStateType;
 
     // Variables
-    QIODevice* io;
+    QPointer<QIODevice> io;
     UAVObjectManager* objMngr;
     QMutex* mutex;
     UAVObject* respObj;

From 8de40c7847c24becca400a27d38745dcc7067578 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Wed, 13 Jun 2012 15:09:54 -0700
Subject: [PATCH 2/3] BugFix: ConfigFixedWing reset the mixer vectors to zero
 prior to writing anew.

---
 .../plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp  | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
index b1354a447..8b2e428e2 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
@@ -312,7 +312,10 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
     int channel;
     //disable all
     for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
+        resetMixerVector(mixer, channel);
+    }
 
     //motor
     channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;

From a7ae258bc8c0c66cbba5a68cc5b6ac577bf7e68c Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Wed, 13 Jun 2012 15:14:18 -0700
Subject: [PATCH 3/3] Bugfix, oops: missed a couple resetMixerVector
 opportunities.

---
 .../config/cfg_vehicletypes/configfixedwingwidget.cpp       | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
index 8b2e428e2..dc1f6bbcc 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
@@ -399,7 +399,10 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
     double value;
     //disable all
     for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
+        resetMixerVector(mixer, channel);
+    }
 
     //motor
     channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
@@ -481,7 +484,10 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
     double value;
     //disable all
     for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
+        resetMixerVector(mixer, channel);
+    }
 
     //motor
     channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;