Merge remote-tracking branch 'upstream/next' into filnet/LP-29_osgearth_integration

# Conflicts:
#	ground/gcs/src/libs/osgearth/osgearth.pro

Makefile

@@ -147,7 +147,11 @@ include $(ROOT_DIR)/make/tools.mk
 
 # We almost need to consider autoconf/automake instead of this
 ifeq ($(UNAME), Linux)
-    QT_SPEC := linux-g++
+    ifeq ($(ARCH), x86_64)
+        QT_SPEC := linux-g++-64
+    else
+        QT_SPEC := linux-g++-32
+    endif
     UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
 else ifeq ($(UNAME), Darwin)
     QT_SPEC := macx-g++

flight/libraries/WorldMagModel.c

@@ -2,11 +2,12 @@
  ******************************************************************************
  *
  * @file       WorldMagModel.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Source file for the World Magnetic Model
  *             This is a port of code available from the US NOAA.
  *
- *             The hard coded coefficients should be valid until 2015.
+ *             The hard coded coefficients should be valid until 2020.
  *
  *             Updated coeffs from ..
  *             http://www.ngdc.noaa.gov/geomag/WMM/wmm_ddownload.shtml
@@ -60,96 +61,96 @@
 // first column not used but it will be optimized out by compiler
 static const float CoeffFile[91][6] = {
     { 0.0f,  0.0f,  0.0f,      0.0f,     0.0f,   0.0f   },
-    { 1.0f,  0.0f,  -29496.6f, 0.0f,     11.6f,  0.0f   },
+    { 1.0f,  0.0f,  -29438.5f, 0.0f,     10.7f,  0.0f   },
-    { 1.0f,  1.0f,  -1586.3f,  4944.4f,  16.5f,  -25.9f },
+    { 1.0f,  1.0f,  -1501.1f,  4796.2f,  17.9f,  -26.8f },
-    { 2.0f,  0.0f,  -2396.6f,  0.0f,     -12.1f, 0.0f   },
+    { 2.0f,  0.0f,  -2445.3f,  0.0f,     -8.6f,  0.0f   },
-    { 2.0f,  1.0f,  3026.1f,   -2707.7f, -4.4f,  -22.5f },
+    { 2.0f,  1.0f,  3012.5f,   -2845.6f, -3.3f,  -27.1f },
-    { 2.0f,  2.0f,  1668.6f,   -576.1f,  1.9f,   -11.8f },
+    { 2.0f,  2.0f,  1676.6f,   -642.0f,  2.4f,   -13.3f },
-    { 3.0f,  0.0f,  1340.1f,   0.0f,     0.4f,   0.0f   },
+    { 3.0f,  0.0f,  1351.1f,   0.0f,     3.1f,   0.0f   },
-    { 3.0f,  1.0f,  -2326.2f,  -160.2f,  -4.1f,  7.3f   },
+    { 3.0f,  1.0f,  -2352.3f,  -115.3f,  -6.2f,  8.4f   },
-    { 3.0f,  2.0f,  1231.9f,   251.9f,   -2.9f,  -3.9f  },
+    { 3.0f,  2.0f,  1225.6f,   245.0f,   -0.4f,  -0.4f  },
-    { 3.0f,  3.0f,  634.0f,    -536.6f,  -7.7f,  -2.6f  },
+    { 3.0f,  3.0f,  581.9f,    -538.3f,  -10.4f, 2.3f   },
-    { 4.0f,  0.0f,  912.6f,    0.0f,     -1.8f,  0.0f   },
+    { 4.0f,  0.0f,  907.2f,    0.0f,     -0.4f,  0.0f   },
-    { 4.0f,  1.0f,  808.9f,    286.4f,   2.3f,   1.1f   },
+    { 4.0f,  1.0f,  813.7f,    283.4f,   0.8f,   -0.6f  },
-    { 4.0f,  2.0f,  166.7f,    -211.2f,  -8.7f,  2.7f   },
+    { 4.0f,  2.0f,  120.3f,    -188.6f,  -9.2f,  5.3f   },
-    { 4.0f,  3.0f,  -357.1f,   164.3f,   4.6f,   3.9f   },
+    { 4.0f,  3.0f,  -335.0f,   180.9f,   4.0f,   3.0f   },
-    { 4.0f,  4.0f,  89.4f,     -309.1f,  -2.1f,  -0.8f  },
+    { 4.0f,  4.0f,  70.3f,     -329.5f,  -4.2f,  -5.3f  },
-    { 5.0f,  0.0f,  -230.9f,   0.0f,     -1.0f,  0.0f   },
+    { 5.0f,  0.0f,  -232.6f,   0.0f,     -0.2f,  0.0f   },
-    { 5.0f,  1.0f,  357.2f,    44.6f,    0.6f,   0.4f   },
+    { 5.0f,  1.0f,  360.1f,    47.4f,    0.1f,   0.4f   },
-    { 5.0f,  2.0f,  200.3f,    188.9f,   -1.8f,  1.8f   },
+    { 5.0f,  2.0f,  192.4f,    196.9f,   -1.4f,  1.6f   },
-    { 5.0f,  3.0f,  -141.1f,   -118.2f,  -1.0f,  1.2f   },
+    { 5.0f,  3.0f,  -141.0f,   -119.4f,  0.0f,   -1.1f  },
-    { 5.0f,  4.0f,  -163.0f,   0.0f,     0.9f,   4.0f   },
+    { 5.0f,  4.0f,  -157.4f,   16.1f,    1.3f,   3.3f   },
-    { 5.0f,  5.0f,  -7.8f,     100.9f,   1.0f,   -0.6f  },
+    { 5.0f,  5.0f,  4.3f,      100.1f,   3.8f,   0.1f   },
-    { 6.0f,  0.0f,  72.8f,     0.0f,     -0.2f,  0.0f   },
+    { 6.0f,  0.0f,  69.5f,     0.0f,     -0.5f,  0.0f   },
-    { 6.0f,  1.0f,  68.6f,     -20.8f,   -0.2f,  -0.2f  },
+    { 6.0f,  1.0f,  67.4f,     -20.7f,   -0.2f,  0.0f   },
-    { 6.0f,  2.0f,  76.0f,     44.1f,    -0.1f,  -2.1f  },
+    { 6.0f,  2.0f,  72.8f,     33.2f,    -0.6f,  -2.2f  },
-    { 6.0f,  3.0f,  -141.4f,   61.5f,    2.0f,   -0.4f  },
+    { 6.0f,  3.0f,  -129.8f,   58.8f,    2.4f,   -0.7f  },
-    { 6.0f,  4.0f,  -22.8f,    -66.3f,   -1.7f,  -0.6f  },
+    { 6.0f,  4.0f,  -29.0f,    -66.5f,   -1.1f,  0.1f   },
-    { 6.0f,  5.0f,  13.2f,     3.1f,     -0.3f,  0.5f   },
+    { 6.0f,  5.0f,  13.2f,     7.3f,     0.3f,   1.0f   },
-    { 6.0f,  6.0f,  -77.9f,    55.0f,    1.7f,   0.9f   },
+    { 6.0f,  6.0f,  -70.9f,    62.5f,    1.5f,   1.3f   },
-    { 7.0f,  0.0f,  80.5f,     0.0f,     0.1f,   0.0f   },
+    { 7.0f,  0.0f,  81.6f,     0.0f,     0.2f,   0.0f   },
-    { 7.0f,  1.0f,  -75.1f,    -57.9f,   -0.1f,  0.7f   },
+    { 7.0f,  1.0f,  -76.1f,    -54.1f,   -0.2f,  0.7f   },
-    { 7.0f,  2.0f,  -4.7f,     -21.1f,   -0.6f,  0.3f   },
+    { 7.0f,  2.0f,  -6.8f,     -19.4f,   -0.4f,  0.5f   },
-    { 7.0f,  3.0f,  45.3f,     6.5f,     1.3f,   -0.1f  },
+    { 7.0f,  3.0f,  51.9f,     5.6f,     1.3f,   -0.2f  },
-    { 7.0f,  4.0f,  13.9f,     24.9f,    0.4f,   -0.1f  },
+    { 7.0f,  4.0f,  15.0f,     24.4f,    0.2f,   -0.1f  },
-    { 7.0f,  5.0f,  10.4f,     7.0f,     0.3f,   -0.8f  },
+    { 7.0f,  5.0f,  9.3f,      3.3f,     -0.4f,  -0.7f  },
-    { 7.0f,  6.0f,  1.7f,      -27.7f,   -0.7f,  -0.3f  },
+    { 7.0f,  6.0f,  -2.8f,     -27.5f,   -0.9f,  0.1f   },
-    { 7.0f,  7.0f,  4.9f,      -3.3f,    0.6f,   0.3f   },
+    { 7.0f,  7.0f,  6.7f,      -2.3f,    0.3f,   0.1f   },
-    { 8.0f,  0.0f,  24.4f,     0.0f,     -0.1f,  0.0f   },
+    { 8.0f,  0.0f,  24.0f,     0.0f,     0.0f,   0.0f   },
-    { 8.0f,  1.0f,  8.1f,      11.0f,    0.1f,   -0.1f  },
+    { 8.0f,  1.0f,  8.6f,      10.2f,    0.1f,   -0.3f  },
-    { 8.0f,  2.0f,  -14.5f,    -20.0f,   -0.6f,  0.2f   },
+    { 8.0f,  2.0f,  -16.9f,    -18.1f,   -0.5f,  0.3f   },
-    { 8.0f,  3.0f,  -5.6f,     11.9f,    0.2f,   0.4f   },
+    { 8.0f,  3.0f,  -3.2f,     13.2f,    0.5f,   0.3f   },
-    { 8.0f,  4.0f,  -19.3f,    -17.4f,   -0.2f,  0.4f   },
+    { 8.0f,  4.0f,  -20.6f,    -14.6f,   -0.2f,  0.6f   },
-    { 8.0f,  5.0f,  11.5f,     16.7f,    0.3f,   0.1f   },
+    { 8.0f,  5.0f,  13.3f,     16.2f,    0.4f,   -0.1f  },
-    { 8.0f,  6.0f,  10.9f,     7.0f,     0.3f,   -0.1f  },
+    { 8.0f,  6.0f,  11.7f,     5.7f,     0.2f,   -0.2f  },
-    { 8.0f,  7.0f,  -14.1f,    -10.8f,   -0.6f,  0.4f   },
+    { 8.0f,  7.0f,  -16.0f,    -9.1f,    -0.4f,  0.3f   },
-    { 8.0f,  8.0f,  -3.7f,     1.7f,     0.2f,   0.3f   },
+    { 8.0f,  8.0f,  -2.0f,     2.2f,     0.3f,   0.0f   },
     { 9.0f,  0.0f,  5.4f,      0.0f,     0.0f,   0.0f   },
-    { 9.0f,  1.0f,  9.4f,      -20.5f,   -0.1f,  0.0f   },
+    { 9.0f,  1.0f,  8.8f,      -21.6f,   -0.1f,  -0.2f  },
-    { 9.0f,  2.0f,  3.4f,      11.5f,    0.0f,   -0.2f  },
+    { 9.0f,  2.0f,  3.1f,      10.8f,    -0.1f,  -0.1f  },
-    { 9.0f,  3.0f,  -5.2f,     12.8f,    0.3f,   0.0f   },
+    { 9.0f,  3.0f,  -3.1f,     11.7f,    0.4f,   -0.2f  },
-    { 9.0f,  4.0f,  3.1f,      -7.2f,    -0.4f,  -0.1f  },
+    { 9.0f,  4.0f,  0.6f,      -6.8f,    -0.5f,  0.1f   },
-    { 9.0f,  5.0f,  -12.4f,    -7.4f,    -0.3f,  0.1f   },
+    { 9.0f,  5.0f,  -13.3f,    -6.9f,    -0.2f,  0.1f   },
-    { 9.0f,  6.0f,  -0.7f,     8.0f,     0.1f,   0.0f   },
+    { 9.0f,  6.0f,  -0.1f,     7.8f,     0.1f,   0.0f   },
-    { 9.0f,  7.0f,  8.4f,      2.1f,     -0.1f,  -0.2f  },
+    { 9.0f,  7.0f,  8.7f,      1.0f,     0.0f,   -0.2f  },
-    { 9.0f,  8.0f,  -8.5f,     -6.1f,    -0.4f,  0.3f   },
+    { 9.0f,  8.0f,  -9.1f,     -3.9f,    -0.2f,  0.4f   },
-    { 9.0f,  9.0f,  -10.1f,    7.0f,     -0.2f,  0.2f   },
+    { 9.0f,  9.0f,  -10.5f,    8.5f,     -0.1f,  0.3f   },
-    { 10.0f, 0.0f,  -2.0f,     0.0f,     0.0f,   0.0f   },
+    { 10.0f, 0.0f,  -1.9f,     0.0f,     0.0f,   0.0f   },
-    { 10.0f, 1.0f,  -6.3f,     2.8f,     0.0f,   0.1f   },
+    { 10.0f, 1.0f,  -6.5f,     3.3f,     0.0f,   0.1f   },
-    { 10.0f, 2.0f,  0.9f,      -0.1f,    -0.1f,  -0.1f  },
+    { 10.0f, 2.0f,  0.2f,      -0.3f,    -0.1f,  -0.1f  },
-    { 10.0f, 3.0f,  -1.1f,     4.7f,     0.2f,   0.0f   },
+    { 10.0f, 3.0f,  0.6f,      4.6f,     0.3f,   0.0f   },
-    { 10.0f, 4.0f,  -0.2f,     4.4f,     0.0f,   -0.1f  },
+    { 10.0f, 4.0f,  -0.6f,     4.4f,     -0.1f,  0.0f   },
-    { 10.0f, 5.0f,  2.5f,      -7.2f,    -0.1f,  -0.1f  },
+    { 10.0f, 5.0f,  1.7f,      -7.9f,    -0.1f,  -0.2f  },
-    { 10.0f, 6.0f,  -0.3f,     -1.0f,    -0.2f,  0.0f   },
+    { 10.0f, 6.0f,  -0.7f,     -0.6f,    -0.1f,  0.1f   },
-    { 10.0f, 7.0f,  2.2f,      -3.9f,    0.0f,   -0.1f  },
+    { 10.0f, 7.0f,  2.1f,      -4.1f,    0.0f,   -0.1f  },
-    { 10.0f, 8.0f,  3.1f,      -2.0f,    -0.1f,  -0.2f  },
+    { 10.0f, 8.0f,  2.3f,      -2.8f,    -0.2f,  -0.2f  },
-    { 10.0f, 9.0f,  -1.0f,     -2.0f,    -0.2f,  0.0f   },
+    { 10.0f, 9.0f,  -1.8f,     -1.1f,    -0.1f,  0.1f   },
-    { 10.0f, 10.0f, -2.8f,     -8.3f,    -0.2f,  -0.1f  },
+    { 10.0f, 10.0f, -3.6f,     -8.7f,    -0.2f,  -0.1f  },
-    { 11.0f, 0.0f,  3.0f,      0.0f,     0.0f,   0.0f   },
+    { 11.0f, 0.0f,  3.1f,      0.0f,     0.0f,   0.0f   },
-    { 11.0f, 1.0f,  -1.5f,     0.2f,     0.0f,   0.0f   },
+    { 11.0f, 1.0f,  -1.5f,     -0.1f,    0.0f,   0.0f   },
-    { 11.0f, 2.0f,  -2.1f,     1.7f,     0.0f,   0.1f   },
+    { 11.0f, 2.0f,  -2.3f,     2.1f,     -0.1f,  0.1f   },
-    { 11.0f, 3.0f,  1.7f,      -0.6f,    0.1f,   0.0f   },
+    { 11.0f, 3.0f,  2.1f,      -0.7f,    0.1f,   0.0f   },
-    { 11.0f, 4.0f,  -0.5f,     -1.8f,    0.0f,   0.1f   },
+    { 11.0f, 4.0f,  -0.9f,     -1.1f,    0.0f,   0.1f   },
-    { 11.0f, 5.0f,  0.5f,      0.9f,     0.0f,   0.0f   },
+    { 11.0f, 5.0f,  0.6f,      0.7f,     0.0f,   0.0f   },
-    { 11.0f, 6.0f,  -0.8f,     -0.4f,    0.0f,   0.1f   },
+    { 11.0f, 6.0f,  -0.7f,     -0.2f,    0.0f,   0.0f   },
-    { 11.0f, 7.0f,  0.4f,      -2.5f,    0.0f,   0.0f   },
+    { 11.0f, 7.0f,  0.2f,      -2.1f,    0.0f,   0.1f   },
-    { 11.0f, 8.0f,  1.8f,      -1.3f,    0.0f,   -0.1f  },
+    { 11.0f, 8.0f,  1.7f,      -1.5f,    0.0f,   0.0f   },
-    { 11.0f, 9.0f,  0.1f,      -2.1f,    0.0f,   -0.1f  },
+    { 11.0f, 9.0f,  -0.2f,     -2.5f,    0.0f,   -0.1f  },
-    { 11.0f, 10.0f, 0.7f,      -1.9f,    -0.1f,  0.0f   },
+    { 11.0f, 10.0f, 0.4f,      -2.0f,    -0.1f,  0.0f   },
-    { 11.0f, 11.0f, 3.8f,      -1.8f,    0.0f,   -0.1f  },
+    { 11.0f, 11.0f, 3.5f,      -2.3f,    -0.1f,  -0.1f  },
-    { 12.0f, 0.0f,  -2.2f,     0.0f,     0.0f,   0.0f   },
+    { 12.0f, 0.0f,  -2.0f,     0.0f,     0.1f,   0.0f   },
-    { 12.0f, 1.0f,  -0.2f,     -0.9f,    0.0f,   0.0f   },
+    { 12.0f, 1.0f,  -0.3f,     -1.0f,    0.0f,   0.0f   },
-    { 12.0f, 2.0f,  0.3f,      0.3f,     0.1f,   0.0f   },
+    { 12.0f, 2.0f,  0.4f,      0.5f,     0.0f,   0.0f   },
-    { 12.0f, 3.0f,  1.0f,      2.1f,     0.1f,   0.0f   },
+    { 12.0f, 3.0f,  1.3f,      1.8f,     0.1f,   -0.1f  },
-    { 12.0f, 4.0f,  -0.6f,     -2.5f,    -0.1f,  0.0f   },
+    { 12.0f, 4.0f,  -0.9f,     -2.2f,    -0.1f,  0.0f   },
-    { 12.0f, 5.0f,  0.9f,      0.5f,     0.0f,   0.0f   },
+    { 12.0f, 5.0f,  0.9f,      0.3f,     0.0f,   0.0f   },
-    { 12.0f, 6.0f,  -0.1f,     0.6f,     0.0f,   0.1f   },
+    { 12.0f, 6.0f,  0.1f,      0.7f,     0.1f,   0.0f   },
-    { 12.0f, 7.0f,  0.5f,      0.0f,     0.0f,   0.0f   },
+    { 12.0f, 7.0f,  0.5f,      -0.1f,    0.0f,   0.0f   },
-    { 12.0f, 8.0f,  -0.4f,     0.1f,     0.0f,   0.0f   },
+    { 12.0f, 8.0f,  -0.4f,     0.3f,     0.0f,   0.0f   },
-    { 12.0f, 9.0f,  -0.4f,     0.3f,     0.0f,   0.0f   },
+    { 12.0f, 9.0f,  -0.4f,     0.2f,     0.0f,   0.0f   },
     { 12.0f, 10.0f, 0.2f,      -0.9f,    0.0f,   0.0f   },
-    { 12.0f, 11.0f, -0.8f,     -0.2f,    -0.1f,  0.0f   },
+    { 12.0f, 11.0f, -0.9f,     -0.2f,    0.0f,   0.0f   },
-    { 12.0f, 12.0f, 0.0f,      0.9f,     0.1f,   0.0f   }
+    { 12.0f, 12.0f, 0.0f,      0.7f,     0.0f,   0.0f   }
 };
 
 static WMMtype_Ellipsoid *Ellip = NULL;
@@ -190,10 +191,10 @@ int WMM_Initialize()
     MagneticModel->nMaxSecVar = WMM_MAX_SECULAR_VARIATION_MODEL_DEGREES;
     MagneticModel->SecularVariationUsed = 0;
 
-    // Really, Really needs to be read from a file - out of date in 2015 at latest
+    // Really, Really needs to be read from a file - out of date in 2020 at latest
     MagneticModel->EditionDate = 0.0f; /* OP change. Originally 5.7863328170559505e-307, truncates to 0.0f */
-    MagneticModel->epoch = 2010.0f;
+    MagneticModel->epoch = 2015.0f;
-    sprintf(MagneticModel->ModelName, "WMM-2010");
+    sprintf(MagneticModel->ModelName, "WMM-2015");
 
     return 0; // OK
 }

flight/modules/Receiver/receiver.c

@@ -99,8 +99,8 @@ static uint8_t isAssistedFlightMode(uint8_t position);
 static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsResponseTimeData *responseTime, uint8_t deadband, float dT);
 #endif
 
-#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
+#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 18 // Sbus max channel
-#define RCVR_ACTIVITY_MONITOR_MIN_RANGE          10
+#define RCVR_ACTIVITY_MONITOR_MIN_RANGE          15
 struct rcvr_activity_fsm {
     ManualControlSettingsChannelGroupsOptions group;
     uint16_t prev[RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP];

flight/modules/Telemetry/telemetry.c

@@ -114,8 +114,8 @@ typedef struct {
 #endif /* PIOS_TELEM_PRIORITY_QUEUE */
 
     // Transmit/receive task handles
-    xTaskHandle  txTaskHandle;
+    xTaskHandle txTaskHandle;
-    xTaskHandle  rxTaskHandle;
+    xTaskHandle rxTaskHandle;
     // Telemetry stream
     UAVTalkConnection uavTalkCon;
 } channelContext;
@@ -170,7 +170,6 @@ static void gcsTelemetryStatsUpdated();
  */
 int32_t TelemetryStart(void)
 {
-
 #ifdef HAS_RADIO
     // Only start the local telemetry tasks if needed
     if (localPort()) {
@@ -623,7 +622,6 @@ static void telemetryTxTask(void *parameters)
             processObjEvent(channel, &ev);
         }
 #endif /* PIOS_TELEM_PRIORITY_QUEUE */
-
     }
 }
 

flight/pios/common/libraries/msheap/pios_msheap.c

@@ -62,7 +62,7 @@ extern char _efastheap;
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
 heap_handle_t sram_heap;
-#if PIOS_TARGET_PROVIDES_FAST_HEAP
+#ifdef PIOS_TARGET_PROVIDES_FAST_HEAP
 heap_handle_t fast_heap;
 #else
 #define fast_heap sram_heap
@@ -131,7 +131,7 @@ void
 vPortInitialiseBlocks(void)
 {
 	msheap_init(&sram_heap, &_sheap, &_eheap);
-#if PIOS_TARGET_PROVIDES_FAST_HEAP
+#ifdef PIOS_TARGET_PROVIDES_FAST_HEAP
 	msheap_init(&fast_heap, &_sfastheap, &_efastheap);
 #endif
 }

flight/pios/stm32f4xx/library.mk

@@ -16,12 +16,26 @@ LINKER_SCRIPTS_COMPAT	=  $(PIOS_DEVLIB)link_$(BOARD)_fw_memory.ld \
 
 # Compiler options implied by the F4xx
 CDEFS			+= -DSTM32F4XX
+ifeq ($(CHIPFAMILY),STM32F427_437xx)
+CDEFS			+= -DPIOS_TARGET_PROVIDES_FAST_HEAP
+#large heap support must be enabled if SRAM > 128K
+CDEFS			+= -DHEAP_SUPPORT_LARGE
+CDEFS			+= -DSTM32F427_437xx
+else
+ifeq ($(CHIPFAMILY),STM32F429_439xx)
+CDEFS			+= -DPIOS_TARGET_PROVIDES_FAST_HEAP
+#large heap support must be enabled if SRAM > 128K
+CDEFS			+= -DHEAP_SUPPORT_LARGE
+CDEFS			+= -DSTM32F429_439xx
+else
 ifneq ($(CHIPFAMILY),STM32F411xx)
 CDEFS			+= -DPIOS_TARGET_PROVIDES_FAST_HEAP
 CDEFS			+= -DSTM32F40_41xxx
 else
 CDEFS			+= -DSTM32F411xE
 endif
+endif #STM32F429_439xx
+endif #STM32F427_437xx
 CDEFS			+= -DSYSCLK_FREQ=$(SYSCLK_FREQ)
 CDEFS			+= -DHSE_VALUE=$(OSCILLATOR_FREQ)
 CDEFS 			+= -DUSE_STDPERIPH_DRIVER

flight/pios/stm32f4xx/link_STM32F4xx_RQ_bl_memory.ld

@@ -0,0 +1,9 @@
+MEMORY
+{
+    FLASH (rx)    : ORIGIN = 0x08000000,        LENGTH = 0x008000 - 0x000080
+    BD_INFO (r)   : ORIGIN = 0x08008000 - 0x80, LENGTH =            0x000080
+    RSVD (rx)     : ORIGIN = 0x08008000,        LENGTH = 0x020000 - 0x008000
+    FW    (rx)    : ORIGIN = 0x08020000,        LENGTH = 0x1e0000
+    CCSRAM (rw)   : ORIGIN = 0x10000000,        LENGTH = 0x010000
+    SRAM (rwx)    : ORIGIN = 0x20000000,        LENGTH = 0x030000
+}

flight/pios/stm32f4xx/link_STM32F4xx_RQ_fw_memory.ld

@@ -0,0 +1,9 @@
+MEMORY
+{
+    BL (rx)       : ORIGIN = 0x08000000,        LENGTH = 0x008000 - 0x000080
+    BD_INFO (r)   : ORIGIN = 0x08008000 - 0x80, LENGTH =            0x000080
+    RSVD (rx)     : ORIGIN = 0x08008000,        LENGTH = 0x020000 - 0x008000
+    FLASH (rx)    : ORIGIN = 0x08020000,        LENGTH = 0x1e0000
+    CCSRAM (rw)   : ORIGIN = 0x10000000,        LENGTH = 0x010000
+    SRAM (rwx)    : ORIGIN = 0x20000000,        LENGTH = 0x030000
+}

flight/pios/stm32f4xx/link_STM32F4xx_RQ_sections.ld

@@ -0,0 +1,193 @@
+
+/* Section Definitions */
+SECTIONS
+{
+    /*
+     * Vectors, code and constant data.
+     */
+    .text :
+    {
+        PROVIDE (pios_isr_vector_table_base = .);
+        KEEP(*(.cpu_vectors))    /* CPU exception vectors */
+        KEEP(*(.io_vectors))    /* I/O interrupt vectors */
+        *(.text .text.* .gnu.linkonce.t.*)
+        *(.glue_7t) *(.glue_7)
+        *(.rodata .rodata* .gnu.linkonce.r.*)
+    } > FLASH
+
+    /* 
+     * Init section for UAVObjects. 
+     */
+    .initcalluavobj.init :
+    {
+        . = ALIGN(4);
+        __uavobj_initcall_start = .;
+        KEEP(*(.initcalluavobj.init))
+        . = ALIGN(4);
+        __uavobj_initcall_end   = .;
+    } >FLASH
+
+    /* 
+     * Module init section section
+     */
+    .initcallmodule.init :
+    {
+        . = ALIGN(4);
+        __module_initcall_start = .;
+        KEEP(*(.initcallmodule.init))
+        . = ALIGN(4);
+        __module_initcall_end   = .;
+    } >FLASH
+
+    /*
+     * C++ exception handling.
+     */
+    .ARM.extab :
+    {
+        *(.ARM.extab* .gnu.linkonce.armextab.*)
+    } > FLASH
+    .ARM.exidx :
+    {
+        __exidx_start = .;
+        *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+        __exidx_end = .;
+    } > FLASH
+
+    /*
+     * Markers for the end of the 'text' section and the in-flash start of 
+     * non-constant data 
+     */
+    . = ALIGN(4);
+    _etext = .;
+    _sidata = .;
+
+    /*
+     * Board info structure, normally only generated by the bootloader but can
+     * be read by the application.
+     */
+    PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
+    .boardinfo :
+    {
+        . = ALIGN(4);
+        KEEP(*(.boardinfo))
+        . = ALIGN(ORIGIN(BD_INFO)+LENGTH(BD_INFO));
+    } > BD_INFO
+
+    /*
+     * Place the IRQ/bootstrap stack at the bottom of SRAM so that an overflow
+     * results in a hard fault.
+     */
+    .istack (NOLOAD) :
+    {
+        . = ALIGN(4);
+        _irq_stack_end = . ;
+        *(.irqstack)
+        _irq_stack_top = . ;
+    } > CCSRAM
+    
+
+    /*
+     * Non-const initialised data.
+     */
+    .data : AT (_sidata)
+    {
+        . = ALIGN(4);
+        _sdata = .;
+        *(.data .data.*)
+        . = ALIGN(4);
+        _edata = . ;
+    } > SRAM
+
+    /*
+     * Uninitialised data (BSS + commons).
+     */
+    .bss (NOLOAD) :
+    {
+        _sbss = . ;
+        *(.bss .bss.*)
+        *(COMMON)
+        _ebss = . ;
+        PROVIDE ( _end = _ebss ) ;    
+    } > SRAM
+
+    /*
+     * The heap consumes the remainder of the SRAM.
+     */
+    .heap (NOLOAD) :
+    {
+        . = ALIGN(4);
+        _sheap = . ;
+        
+        /*
+         * This allows us to declare an object or objects up to the minimum acceptable
+         * heap size and receive a linker error if the space available for the heap is
+         * not sufficient.
+         */
+        *(.heap)
+        
+        /* extend the heap up to the top of SRAM */
+        . = ORIGIN(SRAM) + LENGTH(SRAM) - ABSOLUTE(_sheap);
+        _eheap = .;
+    } > SRAM
+
+    /*
+     * 'Fast' memory goes in the CCM SRAM
+     */
+    .fast (NOLOAD) :
+    {
+        _sfast = . ;
+        *(.fast)
+        _efast = . ;
+    } > CCSRAM
+    
+    .fastheap (NOLOAD) :
+    {
+        . = ALIGN(4);
+        _sfastheap = . ;
+        
+        /*
+         * This allows us to declare an object or objects up to the minimum acceptable
+         * heap size and receive a linker error if the space available for the heap is
+         * not sufficient.
+         */
+        *(.fastheap)
+        
+        /* extend the fastheap up to the top of CCSRAM */
+        . = ORIGIN(CCSRAM) + LENGTH(CCSRAM) - ABSOLUTE(_sfastheap);
+        _efastheap = .;
+    } > CCSRAM
+    
+    /* Stabs debugging sections.  */
+    .stab          0 : { *(.stab) }
+    .stabstr       0 : { *(.stabstr) }
+    .stab.excl     0 : { *(.stab.excl) }
+    .stab.exclstr  0 : { *(.stab.exclstr) }
+    .stab.index    0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment       0 : { *(.comment) }
+    /* DWARF debug sections.
+       Symbols in the DWARF debugging sections are relative to the beginning
+       of the section so we begin them at 0.  */
+    /* DWARF 1 */
+    .debug          0 : { *(.debug) }
+    .line           0 : { *(.line) }
+    /* GNU DWARF 1 extensions */
+    .debug_srcinfo  0 : { *(.debug_srcinfo) }
+    .debug_sfnames  0 : { *(.debug_sfnames) }
+    /* DWARF 1.1 and DWARF 2 */
+    .debug_aranges  0 : { *(.debug_aranges) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    /* DWARF 2 */
+    .debug_info     0 : { *(.debug_info .gnu.linkonce.wi.*) }
+    .debug_abbrev   0 : { *(.debug_abbrev) }
+    .debug_line     0 : { *(.debug_line) }
+    .debug_frame    0 : { *(.debug_frame) }
+    .debug_str      0 : { *(.debug_str) }
+    .debug_loc      0 : { *(.debug_loc) }
+    .debug_macinfo  0 : { *(.debug_macinfo) }
+    /* SGI/MIPS DWARF 2 extensions */
+    .debug_weaknames 0 : { *(.debug_weaknames) }
+    .debug_funcnames 0 : { *(.debug_funcnames) }
+    .debug_typenames 0 : { *(.debug_typenames) }
+    .debug_varnames  0 : { *(.debug_varnames) }
+}

flight/pios/stm32f4xx/link_STM32F4xx_RQ_sections_compat.ld

@@ -0,0 +1,176 @@
+
+/* Section Definitions */
+SECTIONS
+{
+    /*
+     * Vectors, code and constant data.
+     */
+    .text :
+    {
+        PROVIDE (pios_isr_vector_table_base = .);
+        KEEP(*(.cpu_vectors))    /* CPU exception vectors */
+        KEEP(*(.io_vectors))    /* I/O interrupt vectors */
+        *(.text .text.* .gnu.linkonce.t.*)
+        *(.glue_7t) *(.glue_7)
+        *(.rodata .rodata* .gnu.linkonce.r.*)
+    } > FLASH
+
+    /* 
+     * Init section for UAVObjects. 
+     */
+    .initcalluavobj.init :
+    {
+        . = ALIGN(4);
+        __uavobj_initcall_start = .;
+        KEEP(*(.initcalluavobj.init))
+        . = ALIGN(4);
+        __uavobj_initcall_end   = .;
+    } >FLASH
+
+    /* 
+     * Module init section section
+     */
+    .initcallmodule.init :
+    {
+        . = ALIGN(4);
+        __module_initcall_start = .;
+        KEEP(*(.initcallmodule.init))
+        . = ALIGN(4);
+        __module_initcall_end   = .;
+    } >FLASH
+
+    /*
+     * C++ exception handling.
+     */
+    .ARM.extab :
+    {
+        *(.ARM.extab* .gnu.linkonce.armextab.*)
+    } > FLASH
+    .ARM.exidx :
+    {
+        __exidx_start = .;
+        *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+        __exidx_end = .;
+    } > FLASH
+
+    /*
+     * Markers for the end of the 'text' section and the in-flash start of 
+     * non-constant data 
+     */
+    . = ALIGN(4);
+    _etext = .;
+    _sidata = .;
+
+    /*
+     * Board info structure, normally only generated by the bootloader but can
+     * be read by the application.
+     */
+    PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
+    .boardinfo :
+    {
+        . = ALIGN(4);
+        KEEP(*(.boardinfo))
+        . = ALIGN(ORIGIN(BD_INFO)+LENGTH(BD_INFO));
+    } > BD_INFO
+
+    /*
+        * Place the IRQ/bootstrap stack at the bottom of SRAM so that an overflow
+        * results in a hard fault.
+        */
+       .istack (NOLOAD) :
+       {
+           . = ALIGN(4);
+        _irq_stack_end = . ;
+        *(.irqstack)
+        _irq_stack_top = . ;
+    } > SRAM
+    
+
+    /*
+     * Non-const initialised data.
+     */
+    .data : AT (_sidata)
+    {
+        . = ALIGN(4);
+        _sdata = .;
+        *(.data .data.*)
+        . = ALIGN(4);
+        _edata = . ;
+    } > SRAM
+
+    /*
+     * Uninitialised data (BSS + commons).
+     */
+    .bss (NOLOAD) :
+    {
+        _sbss = . ;
+        *(.bss .bss.*)
+        *(COMMON)
+        _ebss = . ;
+        PROVIDE ( _end = _ebss ) ;    
+    } > SRAM
+
+    /*
+     * The heap consumes the remainder of the SRAM.
+     */
+    .heap (NOLOAD) :
+    {
+        . = ALIGN(4);
+        _sheap = . ;
+        
+        /*
+         * This allows us to declare an object or objects up to the minimum acceptable
+         * heap size and receive a linker error if the space available for the heap is
+         * not sufficient.
+         */
+        *(.heap)
+        
+        /* extend the heap up to the top of SRAM */
+        . = ORIGIN(SRAM) + LENGTH(SRAM) - ABSOLUTE(_sheap);
+        _eheap = .;
+    } > SRAM
+
+    /*
+     * 'Fast' memory goes in the CCM SRAM
+     */
+    .fast (NOLOAD) :
+    {
+        _sfast = . ;
+        *(.fast)
+        _efast = . ;
+    } > CCSRAM
+
+    /* Stabs debugging sections.  */
+    .stab          0 : { *(.stab) }
+    .stabstr       0 : { *(.stabstr) }
+    .stab.excl     0 : { *(.stab.excl) }
+    .stab.exclstr  0 : { *(.stab.exclstr) }
+    .stab.index    0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment       0 : { *(.comment) }
+    /* DWARF debug sections.
+       Symbols in the DWARF debugging sections are relative to the beginning
+       of the section so we begin them at 0.  */
+    /* DWARF 1 */
+    .debug          0 : { *(.debug) }
+    .line           0 : { *(.line) }
+    /* GNU DWARF 1 extensions */
+    .debug_srcinfo  0 : { *(.debug_srcinfo) }
+    .debug_sfnames  0 : { *(.debug_sfnames) }
+    /* DWARF 1.1 and DWARF 2 */
+    .debug_aranges  0 : { *(.debug_aranges) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    /* DWARF 2 */
+    .debug_info     0 : { *(.debug_info .gnu.linkonce.wi.*) }
+    .debug_abbrev   0 : { *(.debug_abbrev) }
+    .debug_line     0 : { *(.debug_line) }
+    .debug_frame    0 : { *(.debug_frame) }
+    .debug_str      0 : { *(.debug_str) }
+    .debug_loc      0 : { *(.debug_loc) }
+    .debug_macinfo  0 : { *(.debug_macinfo) }
+    /* SGI/MIPS DWARF 2 extensions */
+    .debug_weaknames 0 : { *(.debug_weaknames) }
+    .debug_funcnames 0 : { *(.debug_funcnames) }
+    .debug_typenames 0 : { *(.debug_typenames) }
+    .debug_varnames  0 : { *(.debug_varnames) }
+}

flight/pios/stm32f4xx/pios_bl_helper.c

@@ -119,6 +119,66 @@ static struct device_flash_sector flash_sectors[] = {
         .size      = 128 * 1024,
         .st_sector = FLASH_Sector_11,
     },
+    [12] = {
+        .start     = 0x08100000,
+        .size      = 16 * 1024,
+        .st_sector = FLASH_Sector_12,
+    },
+    [13] = {
+        .start     = 0x08104000,
+        .size      = 16 * 1024,
+        .st_sector = FLASH_Sector_13,
+    },
+    [14] = {
+        .start     = 0x08108000,
+        .size      = 16 * 1024,
+        .st_sector = FLASH_Sector_14,
+    },
+    [15] = {
+        .start     = 0x0810C000,
+        .size      = 16 * 1024,
+        .st_sector = FLASH_Sector_15,
+    },
+    [16] = {
+        .start     = 0x08110000,
+        .size      = 64 * 1024,
+        .st_sector = FLASH_Sector_16,
+    },
+    [17] = {
+        .start     = 0x08120000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_17,
+    },
+    [18] = {
+        .start     = 0x08140000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_18,
+    },
+    [19] = {
+        .start     = 0x08160000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_19,
+    },
+    [20] = {
+        .start     = 0x08180000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_20,
+    },
+    [21] = {
+        .start     = 0x081A0000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_21,
+    },
+    [22] = {
+        .start     = 0x081C0000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_22,
+    },
+    [23] = {
+        .start     = 0x081E0000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_23,
+    },
 };
 
 static bool PIOS_BL_HELPER_FLASH_GetSectorInfo(uint32_t address, uint8_t *sector_number, uint32_t *sector_start, uint32_t *sector_size)
@@ -178,7 +238,19 @@ static bool erase_flash(uint32_t startAddress, uint32_t endAddress)
             PIOS_Assert(0);
         }
         for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
-            if (FLASH_EraseSector(sector_number, VoltageRange_3) == FLASH_COMPLETE) {
+            // if erasing area contain whole bank2 area, using bank erase
+            // bank2: sector 12 to sector 23
+            if (sector_start == flash_sectors[12].start &&
+                endAddress >= (flash_sectors[23].start + flash_sectors[23].size)) {
+                if (FLASH_EraseAllBank2Sectors(VoltageRange_3) == FLASH_COMPLETE) {
+                    fail = false;
+                    // using bank2 total size substitute sector_size
+                    sector_size = flash_sectors[23].start - flash_sectors[12].start + flash_sectors[23].size;
+                    break;
+                } else {
+                    fail = true;
+                }
+            } else if (FLASH_EraseSector(sector_number, VoltageRange_3) == FLASH_COMPLETE) {
                 fail = false;
                 break;
             } else {

flight/pios/stm32f4xx/pios_flash_internal.c

@@ -100,6 +100,66 @@ static struct device_flash_sector flash_sectors[] = {
         .size      = 128 * 1024,
         .st_sector = FLASH_Sector_11,
     },
+    [12] = {
+        .start     = 0x08100000,
+        .size      = 16 * 1024,
+        .st_sector = FLASH_Sector_12,
+    },
+    [13] = {
+        .start     = 0x08104000,
+        .size      = 16 * 1024,
+        .st_sector = FLASH_Sector_13,
+    },
+    [14] = {
+        .start     = 0x08108000,
+        .size      = 16 * 1024,
+        .st_sector = FLASH_Sector_14,
+    },
+    [15] = {
+        .start     = 0x0810C000,
+        .size      = 16 * 1024,
+        .st_sector = FLASH_Sector_15,
+    },
+    [16] = {
+        .start     = 0x08110000,
+        .size      = 64 * 1024,
+        .st_sector = FLASH_Sector_16,
+    },
+    [17] = {
+        .start     = 0x08120000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_17,
+    },
+    [18] = {
+        .start     = 0x08140000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_18,
+    },
+    [19] = {
+        .start     = 0x08160000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_19,
+    },
+    [20] = {
+        .start     = 0x08180000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_20,
+    },
+    [21] = {
+        .start     = 0x081A0000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_21,
+    },
+    [22] = {
+        .start     = 0x081C0000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_22,
+    },
+    [23] = {
+        .start     = 0x081E0000,
+        .size      = 128 * 1024,
+        .st_sector = FLASH_Sector_23,
+    },
 };
 
 static bool PIOS_Flash_Internal_GetSectorInfo(uint32_t address, uint8_t *sector_number, uint32_t *sector_start, uint32_t *sector_size)

flight/pios/stm32f4xx/pios_sys.c

@@ -74,7 +74,7 @@ void PIOS_SYS_Init(void)
         RCC_AHB1Periph_GPIOC |
         RCC_AHB1Periph_GPIOD |
         RCC_AHB1Periph_GPIOE |
-#ifdef STM32F40_41xxx
+#if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx)
         RCC_AHB1Periph_GPIOF |
         RCC_AHB1Periph_GPIOG |
         RCC_AHB1Periph_GPIOH |
@@ -85,6 +85,9 @@ void PIOS_SYS_Init(void)
         RCC_AHB1Periph_SRAM1 |
         RCC_AHB1Periph_SRAM2 |
         RCC_AHB1Periph_BKPSRAM |
+#if defined(STM32F427_437xx) || defined(STM32F429_439xx)
+        RCC_AHB1Periph_SRAM3 |
+#endif
         RCC_AHB1Periph_DMA1 |
         RCC_AHB1Periph_DMA2 |
         // RCC_AHB1Periph_ETH_MAC |			No ethernet
@@ -171,7 +174,7 @@ void PIOS_SYS_Init(void)
     GPIO_Init(GPIOD, &GPIO_InitStructure);
     GPIO_Init(GPIOE, &GPIO_InitStructure);
 
-#ifdef STM32F40_41xxx
+#if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx)
     GPIO_Init(GPIOF, &GPIO_InitStructure);
     GPIO_Init(GPIOG, &GPIO_InitStructure);
     GPIO_Init(GPIOH, &GPIO_InitStructure);

ground/gcs/copydata.pro

@@ -28,10 +28,12 @@ equals(copyqt, 1) {
                   libQt5QuickParticles.so.5 \
                   libQt5XcbQpa.so.5 \
                   libQt5X11Extras.so.5 \
-                  libqgsttools_p.so.1 \
                   libicui18n.so.54 \
                   libicuuc.so.54 \
                   libicudata.so.54
+        *-64 {
+            QT_LIBS += libqgsttools_p.so.1
+        }
         for(lib, QT_LIBS) {
             addCopyFileTarget($${lib},$$[QT_INSTALL_LIBS],$${GCS_QT_LIBRARY_PATH})
         }
@@ -43,11 +45,16 @@ equals(copyqt, 1) {
                      imageformats/libqmng.so \
                      imageformats/libqsvg.so \
                      imageformats/libqtiff.so \
-                     mediaservice/libgstaudiodecoder.so \
-                     mediaservice/libgstmediaplayer.so \
                      platforms/libqxcb.so \
                      xcbglintegrations/libqxcb-glx-integration.so \
                      sqldrivers/libqsqlite.so
+        *-32 {
+            QT_PLUGINS += mediaservice/libqtmedia_audioengine.so
+        }
+        *-64 {
+            QT_PLUGINS += mediaservice/libgstaudiodecoder.so \
+                          mediaservice/libgstmediaplayer.so
+        }
     }
 
     win32 {

ground/gcs/src/app/main.cpp

@@ -209,6 +209,11 @@ inline QString msgSendArgumentFailed()
                                        "Unable to send command line arguments to the already running instance. It appears to be not responding.");
 }
 
+inline QString msgLogfileOpenFailed(const QString &fileName)
+{
+    return QCoreApplication::translate("Application", "Failed to open log file %1").arg(fileName);
+}
+
 // Prepare a remote argument: If it is a relative file, add the current directory
 // since the the central instance might be running in a different directory.
 inline QString prepareRemoteArgument(const QString &arg)
@@ -313,7 +318,7 @@ void logInit(QString fileName)
         logStream = new QTextStream(file);
         qInstallMessageHandler(mainMessageOutput);
     } else {
-        // TODO error popup
+        displayError(msgLogfileOpenFailed(fileName));
     }
 }
 
@@ -426,16 +431,19 @@ void loadTranslators(QString language, QTranslator &translator, QTranslator &qtT
     const QString &creatorTrPath = Utils::GetDataPath() + QLatin1String("translations");
 
     if (translator.load(QLatin1String("gcs_") + language, creatorTrPath)) {
+        // Install gcs_xx.qm translation file
+        QCoreApplication::installTranslator(&translator);
+
         const QString &qtTrPath = QLibraryInfo::location(QLibraryInfo::TranslationsPath);
         const QString &qtTrFile = QLatin1String("qt_") + language;
         // Binary installer puts Qt tr files into creatorTrPath
         if (qtTranslator.load(qtTrFile, qtTrPath) || qtTranslator.load(qtTrFile, creatorTrPath)) {
-            QCoreApplication::installTranslator(&translator);
+            // Install main qt_xx.qm translation file
             QCoreApplication::installTranslator(&qtTranslator);
-        } else {
-            // unload()
-            translator.load(QString());
         }
+    } else {
+        // unload(), no gcs translation found
+        translator.load(QString());
     }
 }
 } // namespace anonymous

ground/gcs/src/libs/osgearth/copydata.pro

@@ -9,10 +9,10 @@ equals(copyosg, 1) {
         # copy osg libraries
 
         data_copy.commands += $(MKDIR) $${GCS_LIBRARY_PATH}/osg $$addNewline()
-        exists( $${OSG_SDK_DIR}/lib64 ) {
+        *-64 {
             data_copy.commands += $(COPY_DIR) $$shell_quote($$OSG_SDK_DIR/lib64/)* $$shell_quote($$GCS_LIBRARY_PATH/osg/)
         }
-        else {
+        *-32 {
             data_copy.commands += $(COPY_DIR) $$shell_quote($$OSG_SDK_DIR/lib/)* $$shell_quote($$GCS_LIBRARY_PATH/osg/)
         }
 

ground/gcs/src/plugins/config/configccattitudewidget.h

@@ -65,7 +65,6 @@ private:
     QList<double> x_accum, y_accum, z_accum;
     QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
 
-    static const float DEFAULT_ENABLED_ACCEL_TAU = 0.1;
     static const int NUM_SENSOR_UPDATES = 300;
 protected:
     virtual void enableControls(bool enable);

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

@@ -275,7 +275,7 @@ void ConfigStabilizationWidget::updateThrottleCurveFromObject()
     field = stabBank->getField("EnableThrustPIDScaling");
     Q_ASSERT(field);
 
-    bool enabled = field->getValue() == "TRUE";
+    bool enabled = field->getValue() == "True";
     ui->enableThrustPIDScalingCheckBox->setChecked(enabled);
     ui->thrustPIDScalingCurve->setEnabled(enabled);
     setDirty(dirty);
@@ -297,7 +297,7 @@ void ConfigStabilizationWidget::updateObjectFromThrottleCurve()
 
     field = stabBank->getField("EnableThrustPIDScaling");
     Q_ASSERT(field);
-    field->setValue(ui->enableThrustPIDScalingCheckBox->isChecked() ? "TRUE" : "FALSE");
+    field->setValue(ui->enableThrustPIDScalingCheckBox->isChecked() ? "True" : "False");
 }
 
 void ConfigStabilizationWidget::setupExpoPlot()
@@ -371,7 +371,7 @@ void ConfigStabilizationWidget::resetThrottleCurveToDefault()
     field = defaultStabBank->getField("EnableThrustPIDScaling");
     Q_ASSERT(field);
 
-    bool enabled = field->getValue() == "TRUE";
+    bool enabled = field->getValue() == "True";
     ui->enableThrustPIDScalingCheckBox->setChecked(enabled);
     ui->thrustPIDScalingCurve->setEnabled(enabled);
 

ground/gcs/src/plugins/config/inputchannelform.cpp

@@ -143,10 +143,10 @@ void InputChannelForm::groupUpdated()
         count = 0;
         break;
     case ManualControlSettings::CHANNELGROUPS_PWM:
+    case ManualControlSettings::CHANNELGROUPS_OPLINK:
         count = 8; // Need to make this 6 for CC
         break;
     case ManualControlSettings::CHANNELGROUPS_PPM:
-    case ManualControlSettings::CHANNELGROUPS_OPLINK:
     case ManualControlSettings::CHANNELGROUPS_DSMMAINPORT:
     case ManualControlSettings::CHANNELGROUPS_DSMFLEXIPORT:
         count = 12;

ground/gcs/src/plugins/coreplugin/core.qrc

@@ -64,6 +64,5 @@
         <file>qml/images/tab.png</file>
         <file>qml/AboutDialog.qml</file>
         <file alias="qml/AuthorsModel.qml">../../../../../build/gcs-synthetics/AuthorsModel.qml</file>
-        <file>images/opie_90x120.gif</file>
     </qresource>
 </RCC>