Merge branch 'next' into revo

Makefile

@@ -656,6 +656,12 @@ endef
 
 ALL_BOARDS := coptercontrol pipxtreme revolution simposix
 
+# SimPosix only builds on Linux so drop it from the list for
+# all other platforms.
+ifneq ($(UNAME), Linux)
+ALL_BOARDS  := $(filter-out simposix, $(ALL_BOARDS))
+endif
+
 # Friendly names of each board (used to find source tree)
 coptercontrol_friendly := CopterControl
 pipxtreme_friendly     := PipXtreme
@@ -675,6 +681,13 @@ ifneq ($(UNAME), Linux)
 ALL_BOARDS  := $(filter-out simposix, $(ALL_BOARDS))
 endif
 
+# Short hames of each board (used to display board name in parallel builds)
+coptercontrol_short    := 'cc  '
+pipxtreme_short        := 'pipx'
+revolution_short       := 'revo'
+simposix_short         := 'posx'
+osd_short              := 'osd '
+
 # Start out assuming that we'll build fw, bl and bu for all boards
 FW_BOARDS  := $(ALL_BOARDS)
 BL_BOARDS  := $(ALL_BOARDS)
@@ -691,6 +704,12 @@ BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
 BU_BOARDS  := $(filter-out simposix, $(BU_BOARDS))
 EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
 
+# SimPosix doesn't have a BL, BU or EF target so we need to
+# filter them out to prevent errors on the all_flight target.
+BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
+BU_BOARDS  := $(filter-out simposix, $(BU_BOARDS))
+EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
+
 # Generate the targets for whatever boards are left in each list
 FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
 BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))

flight/Modules/Actuator/actuator.c

@@ -67,7 +67,8 @@ static xTaskHandle taskHandle;
 static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
 static float lastFilteredResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
 static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
-
+// used to inform the actuator thread that actuator update rate is changed
+static uint8_t updateRateChanged = 0;
 
 // Private functions
 static void actuatorTask(void* parameters);
@@ -76,10 +77,12 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
 static void setFailsafe();
 static float MixerCurve(const float throttle, const float* curve, uint8_t elements);
 static bool set_channel(uint8_t mixer_channel, uint16_t value);
+static void change_update_rate();
 float ProcessMixer(const int index, const float curve1, const float curve2,
 		   MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
 		   const float period);
 
+static uint16_t lastChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM] = {0,0,0,0};
 //this structure is equivalent to the UAVObjects for one mixer.
 typedef struct {
 	uint8_t type;
@@ -157,10 +160,9 @@ static void actuatorTask(void* parameters)
 	int16_t ChannelMax[ACTUATORCOMMAND_CHANNEL_NUMELEM];
 	int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
 	int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
-	uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
-	ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
-	PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
 
+	change_update_rate();
+	
 	float * status = (float *)&mixerStatus; //access status objects as an array of floats
 
 	// Go to the neutral (failsafe) values until an ActuatorDesired update is received
@@ -179,6 +181,12 @@ static void actuatorTask(void* parameters)
 			continue;
 		}
 
+		if(updateRateChanged!=0)
+		{
+			change_update_rate();
+			updateRateChanged=0;
+		}
+		
 		// Check how long since last update
 		thisSysTime = xTaskGetTickCount();
 		if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
@@ -547,10 +555,27 @@ static void setFailsafe()
 static void actuator_update_rate(UAVObjEvent * ev)
 {
 	uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
-	if ( ev->obj == ActuatorSettingsHandle() ) {
-		ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
-		PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
-	}
+	// ActuatoSettings are not changed 
+	if ( ev->obj != ActuatorSettingsHandle() )
+		return;
+	
+	ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
+	// check if the any rate setting is changed 	
+	if (lastChannelUpdateFreq[0]!=0 && memcmp(&lastChannelUpdateFreq[0], &ChannelUpdateFreq[0], sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM) ==0)
+		return;
+		// signal to the actuator task that ChannelUpdateFreq are changed 
+	updateRateChanged = 1;	
+}
+/**
+ * @brief Change the update rates according to the ActuatorSettingsChannelUpdateFreq.
+ */
+static void change_update_rate()
+{
+	uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
+	// save the new rates 
+	ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
+	memcpy(lastChannelUpdateFreq, ChannelUpdateFreq, sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
+	PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
 }
 
 #if defined(ARCH_POSIX) || defined(ARCH_WIN32)

flight/PiOS/Common/pios_flash_jedec.c

@@ -331,10 +331,10 @@ int32_t PIOS_Flash_Jedec_EraseChip()
 	// Keep polling when bus is busy too
 	int i = 0;
 	while(PIOS_Flash_Jedec_Busy() != 0) {
-#if defined(PIOS_INCLUDE_FREERTOS)
+#if defined(FLASH_FREERTOS)
 		vTaskDelay(1);
 #endif
-		if ((i++) % 100 == 0)
+		if ((i++) % 10000 == 0)
 			PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
 	
 }

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp

@@ -554,7 +554,7 @@ void ConfigCcpmWidget::updateThrottleCurveValue(QList<double> curveValues0,doubl
 
     for (i=0; i<internalCurveValues.length(); i++)
     {
-        CurrentValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
+        CurrentValue=m_ccpm->CurveSettings->item(i, 0 )->text().toDouble();
         if (CurrentValue!=internalCurveValues[i])
         {
             m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",internalCurveValues.at(i)));
@@ -1224,11 +1224,10 @@ void ConfigCcpmWidget::setMixer()
     }
 
     //get the user data for the curve into the mixer settings
-    for (i=0;i<5;i++)
+    for (i=0;i<5;i++) {
         mixerSettingsData.ThrottleCurve1[i] = m_ccpm->CurveSettings->item(i, 0)->text().toDouble();
-
-    for (i=0;i<5;i++)
         mixerSettingsData.ThrottleCurve2[i] = m_ccpm->CurveSettings->item(i, 1)->text().toDouble();
+    }
     
     //mapping of collective input to curve 2...
     //MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5

ground/openpilotgcs/src/plugins/config/configinputwidget.cpp

@@ -46,7 +46,7 @@
 #define STICK_MIN_MOVE -8
 #define STICK_MAX_MOVE 8
 
-ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),loop(NULL),skipflag(false),transmitterType(heli)
+ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),transmitterType(heli),loop(NULL),skipflag(false)
 {
     manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
     manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());

ground/openpilotgcs/src/plugins/hitlv2/hitlv2.pro

@@ -1,5 +1,5 @@
 TEMPLATE = lib
-TARGET = HITLV2
+TARGET = HITLv2
 QT += network
 include(../../openpilotgcsplugin.pri)
 include(hitlv2_dependencies.pri)

ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp

@@ -128,7 +128,7 @@ QList <Core::IConnection::device> SerialConnection::availableDevices()
         foreach( QextPortInfo port, ports ) {
            device d;
            d.displayName=port.friendName;
-           d.name=port.friendName;
+           d.name=port.physName;
            list.append(d);
         }
     }
@@ -143,7 +143,7 @@ QIODevice *SerialConnection::openDevice(const QString &deviceName)
     }
     QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();
     foreach( QextPortInfo port, ports ) {
-           if(port.friendName == deviceName)
+           if(port.physName == deviceName)
             {
             //we need to handle port settings here...
             PortSettings set;

ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp

@@ -27,6 +27,77 @@
 
 #include "treeitem.h"
 
+/* Constructor */
+HighLightManager::HighLightManager(long checkingInterval)
+{
+    // Start the timer and connect it to the callback
+    m_expirationTimer.start(checkingInterval);
+    connect(&m_expirationTimer, SIGNAL(timeout()), this, SLOT(checkItemsExpired()));
+}
+
+/*
+ * Called to add item to list. Item is only added if absent.
+ * Returns true if item was added, otherwise false.
+ */
+bool HighLightManager::add(TreeItem *itemToAdd)
+{
+    // Lock to ensure thread safety
+    QMutexLocker locker(&m_listMutex);
+
+    // Check so that the item isn't already in the list
+    if(!m_itemsList.contains(itemToAdd))
+    {
+        m_itemsList.append(itemToAdd);
+        return true;
+    }
+    return false;
+}
+
+/*
+ * Called to remove item from list.
+ * Returns true if item was removed, otherwise false.
+ */
+bool HighLightManager::remove(TreeItem *itemToRemove)
+{
+    // Lock to ensure thread safety
+    QMutexLocker locker(&m_listMutex);
+
+    // Remove item and return result
+    return m_itemsList.removeOne(itemToRemove);
+}
+
+/*
+ * Callback called periodically by the timer.
+ * This method checks for expired highlights and
+ * removes them if they are expired.
+ * Expired highlights are restored.
+ */
+void HighLightManager::checkItemsExpired()
+{
+    // Lock to ensure thread safety
+    QMutexLocker locker(&m_listMutex);
+
+    // Get a mutable iterator for the list
+    QMutableLinkedListIterator<TreeItem*> iter(m_itemsList);
+
+    // This is the timestamp to compare with
+    QTime now = QTime::currentTime();
+
+    // Loop over all items, check if they expired.
+    while(iter.hasNext())
+    {
+        TreeItem* item = iter.next();
+        if(item->getHiglightExpires() < now)
+        {
+            // If expired, call removeHighlight
+            item->removeHighlight();
+
+            // Remove from list since it is restored.
+            iter.remove();
+        }
+    }
+}
+
 int TreeItem::m_highlightTimeMs = 500;
 
 TreeItem::TreeItem(const QList<QVariant> &data, TreeItem *parent) :
@@ -36,7 +107,6 @@ TreeItem::TreeItem(const QList<QVariant> &data, TreeItem *parent) :
         m_highlight(false),
         m_changed(false)
 {
-    connect(&m_timer, SIGNAL(timeout()), this, SLOT(removeHighlight()));
 }
 
 TreeItem::TreeItem(const QVariant &data, TreeItem *parent) :
@@ -46,7 +116,6 @@ TreeItem::TreeItem(const QVariant &data, TreeItem *parent) :
         m_changed(false)
 {
     m_data << data << "" << "";
-    connect(&m_timer, SIGNAL(timeout()), this, SLOT(removeHighlight()));
 }
 
 TreeItem::~TreeItem()
@@ -108,21 +177,50 @@ void TreeItem::apply() {
         child->apply();
 }
 
+/*
+ * Called after a value has changed to trigger highlightning of tree item.
+ */
 void TreeItem::setHighlight(bool highlight) {
     m_highlight = highlight;
     m_changed = false;
     if (highlight) {
-        if (m_timer.isActive()) {
-            m_timer.stop();
+        // Update the expires timestamp
+        m_highlightExpires = QTime::currentTime().addMSecs(m_highlightTimeMs);
+
+        // Add to highlightmanager
+        if(m_highlightManager->add(this))
+        {
+            // Only emit signal if it was added
+            emit updateHighlight(this);
         }
-        m_timer.setSingleShot(true);
-        m_timer.start(m_highlightTimeMs);
     }
-    emit updateHighlight(this);
+    else if(m_highlightManager->remove(this))
+    {
+        // Only emit signal if it was removed
+        emit updateHighlight(this);
+    }
+
+    // If we have a parent, call recursively to update highlight status of parents.
+    // This will ensure that the root of a leaf that is changed also is highlighted.
+    // Only updates that really changes values will trigger highlight of parents.
+    if(m_parent)
+    {
+        m_parent->setHighlight(highlight);
+    }
 }
 
 void TreeItem::removeHighlight() {
     m_highlight = false;
-    update();
+    //update();
     emit updateHighlight(this);
 }
+
+void TreeItem::setHighlightManager(HighLightManager *mgr)
+{
+    m_highlightManager = mgr;
+}
+
+QTime TreeItem::getHiglightExpires()
+{
+    return m_highlightExpires;
+}

ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h

@@ -32,10 +32,58 @@
 #include "uavmetaobject.h"
 #include "uavobjectfield.h"
 #include <QtCore/QList>
+#include <QtCore/QLinkedList>
 #include <QtCore/QVariant>
+#include <QtCore/QTime>
 #include <QtCore/QTimer>
 #include <QtCore/QObject>
+#include <QtCore/QDebug>
 
+class TreeItem;
+
+/*
+* Small utility class that handles the higlighting of
+* tree grid items.
+* Basicly it maintains all items due to be restored to
+* non highlighted state in a linked list.
+* A timer traverses this list periodically to find out
+* if any of the items should be restored. All items are
+* updated withan expiration timestamp when they expires.
+* An item that is beeing restored is removed from the
+* list and its removeHighlight() method is called. Items
+* that are not expired are left in the list til next time.
+* Items that are updated during the expiration time are
+* left untouched in the list. This reduces unwanted emits
+* of signals to the repaint/update function.
+*/
+class HighLightManager : public QObject
+{
+Q_OBJECT
+public:
+    // Constructor taking the checking interval in ms.
+    HighLightManager(long checkingInterval);
+
+    // This is called when an item has been set to
+    // highlighted = true.
+    bool add(TreeItem* itemToAdd);
+
+    //This is called when an item is set to highlighted = false;
+    bool remove(TreeItem* itemToRemove);
+
+private slots:
+    // Timer callback method.
+    void checkItemsExpired();
+
+private:
+    // The timer checking highlight expiration.
+    QTimer m_expirationTimer;
+
+    // The list holding all items due to be updated.
+    QLinkedList<TreeItem*> m_itemsList;
+
+    //Mutex to lock when accessing list.
+    QMutex m_listMutex;
+};
 
 class TreeItem : public QObject
 {
@@ -77,11 +125,16 @@ public:
     inline bool changed() { return m_changed; }
     inline void setChanged(bool changed) { m_changed = changed; }
 
+    virtual void setHighlightManager(HighLightManager* mgr);
+
+    QTime getHiglightExpires();
+
+    virtual void removeHighlight();
+
 signals:
     void updateHighlight(TreeItem*);
 
 private slots:
-    void removeHighlight();
 
 private:
     QList<TreeItem*> m_children;
@@ -91,7 +144,8 @@ private:
     TreeItem *m_parent;
     bool m_highlight;
     bool m_changed;
-    QTimer m_timer;
+    QTime m_highlightExpires;
+    HighLightManager* m_highlightManager;
 public:
     static const int dataColumn = 1;
 private:

ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp

@@ -47,6 +47,8 @@ UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent) :
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
 
+    // Create highlight manager, let it run every 300 ms.
+    m_highlightManager = new HighLightManager(300);
     connect(objManager, SIGNAL(newObject(UAVObject*)), this, SLOT(newObject(UAVObject*)));
     connect(objManager, SIGNAL(newInstance(UAVObject*)), this, SLOT(newObject(UAVObject*)));
 
@@ -56,6 +58,7 @@ UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent) :
 
 UAVObjectTreeModel::~UAVObjectTreeModel()
 {
+    delete m_highlightManager;
     delete m_rootItem;
 }
 
@@ -67,9 +70,12 @@ void UAVObjectTreeModel::setupModelData(UAVObjectManager *objManager)
     m_rootItem = new TreeItem(rootData);
 
     m_settingsTree = new TopTreeItem(tr("Settings"), m_rootItem);
+    m_settingsTree->setHighlightManager(m_highlightManager);
     m_rootItem->appendChild(m_settingsTree);
     m_nonSettingsTree = new TopTreeItem(tr("Data Objects"), m_rootItem);
+    m_nonSettingsTree->setHighlightManager(m_highlightManager);
     m_rootItem->appendChild(m_nonSettingsTree);
+    m_rootItem->setHighlightManager(m_highlightManager);
     connect(m_settingsTree, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
     connect(m_nonSettingsTree, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
 
@@ -96,6 +102,7 @@ void UAVObjectTreeModel::addDataObject(UAVDataObject *obj)
         addInstance(obj, root->child(index));
     } else {
         DataObjectTreeItem *data = new DataObjectTreeItem(obj->getName() + " (" + QString::number(obj->getNumBytes()) + " bytes)");
+        data->setHighlightManager(m_highlightManager);
         connect(data, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
         int index = root->nameIndex(obj->getName());
         root->insert(index, data);
@@ -110,6 +117,7 @@ void UAVObjectTreeModel::addMetaObject(UAVMetaObject *obj, TreeItem *parent)
 {
     connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(highlightUpdatedObject(UAVObject*)));
     MetaObjectTreeItem *meta = new MetaObjectTreeItem(obj, tr("Meta Data"));
+    meta->setHighlightManager(m_highlightManager);
     connect(meta, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
     foreach (UAVObjectField *field, obj->getFields()) {
         if (field->getNumElements() > 1) {
@@ -132,6 +140,7 @@ void UAVObjectTreeModel::addInstance(UAVObject *obj, TreeItem *parent)
     } else {
         QString name = tr("Instance") +  " " + QString::number(obj->getInstID());
         item = new InstanceTreeItem(obj, name);
+        item->setHighlightManager(m_highlightManager);
         connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
         parent->appendChild(item);
     }
@@ -148,6 +157,7 @@ void UAVObjectTreeModel::addInstance(UAVObject *obj, TreeItem *parent)
 void UAVObjectTreeModel::addArrayField(UAVObjectField *field, TreeItem *parent)
 {
     TreeItem *item = new ArrayFieldTreeItem(field->getName());
+    item->setHighlightManager(m_highlightManager);
     connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
     for (uint i = 0; i < field->getNumElements(); ++i) {
         addSingleField(i, field, item);
@@ -192,6 +202,7 @@ void UAVObjectTreeModel::addSingleField(int index, UAVObjectField *field, TreeIt
     default:
         Q_ASSERT(false);
     }
+    item->setHighlightManager(m_highlightManager);
     connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
     parent->appendChild(item);
 }
@@ -352,7 +363,6 @@ void UAVObjectTreeModel::highlightUpdatedObject(UAVObject *obj)
     Q_ASSERT(obj);
     ObjectTreeItem *item = findObjectTreeItem(obj);
     Q_ASSERT(item);
-    item->setHighlight(true);
     item->update();
     QModelIndex itemIndex = index(item);
     Q_ASSERT(itemIndex != QModelIndex());

ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.h

@@ -97,6 +97,9 @@ private:
     int m_recentlyUpdatedTimeout;
     QColor m_recentlyUpdatedColor;
     QColor m_manuallyChangedColor;
+
+    // Highlight manager to handle highlighting of tree items.
+    HighLightManager *m_highlightManager;
 };
 
 #endif // UAVOBJECTTREEMODEL_H

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h

@@ -84,7 +84,7 @@ public:
     };
 
     ConfigTaskWidget(QWidget *parent = 0);
-    ~ConfigTaskWidget();
+    virtual ~ConfigTaskWidget();
 
     void disableMouseWheelEvents();
     bool eventFilter( QObject * obj, QEvent * evt );

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp

@@ -43,6 +43,7 @@ Node::Node(MixerCurveWidget *graphWidget)
     setCacheMode(DeviceCoordinateCache);
     setZValue(-1);
     vertical = false;
+    value = 0;
 }
 
 void Node::addEdge(Edge *edge)
@@ -98,6 +99,15 @@ void Node::verticalMove(bool flag){
     vertical = flag;
 }
 
+double Node::getValue() {
+    return value;
+}
+
+void Node::setValue(double val) {
+    value = val;
+}
+
+
 QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
 {
 
@@ -117,11 +127,19 @@ QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
                 newPos.setY(h);
               return newPos;
     }
-    case ItemPositionHasChanged:
+    case ItemPositionHasChanged: {
         foreach (Edge *edge, edgeList)
             edge->adjust();
-        graph->itemMoved((h-newPos.y())/h);
+
+        double min = graph->getMin();
+        double range = graph->getMax() - min;
+        double ratio = (h - newPos.y()) / h;
+        double val = (range * ratio ) + min;
+        setValue(val);
+
+        graph->itemMoved(val);
         break;
+    }
     default:
         break;
     };

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h

@@ -48,12 +48,16 @@ public:
     enum { Type = UserType + 1 };
     int type() const { return Type; }
 
+
     void verticalMove(bool flag);
 
     QRectF boundingRect() const;
     QPainterPath shape() const;
     void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
 
+    void   setValue(double val);
+    double getValue();
+
 protected:
     QVariant itemChange(GraphicsItemChange change, const QVariant &value);
 
@@ -61,6 +65,8 @@ protected:
     void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
     
 private:
+
+    double value;
     QList<Edge *> edgeList;
     QPointF newPos;
     MixerCurveWidget *graph;

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp

@@ -32,8 +32,6 @@
 #include <QtGui>
 #include <QDebug>
 
-
-
 /*
  * Initialize the widget
  */
@@ -74,11 +72,48 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     scene->setSceneRect(plot->boundingRect());
     setScene(scene);
 
+    initNodes(MixerCurveWidget::NODE_NUMELEM);
 }
 
 MixerCurveWidget::~MixerCurveWidget()
 {
+    for (int i=0; i<nodePool.count(); i++)
+        delete nodePool.at(i);
 
+    for (int i=0; i<edgePool.count(); i++)
+        delete edgePool.at(i);
+}
+
+Node* MixerCurveWidget::getNode(int index)
+{
+    Node* node;
+
+    if (index >= 0 && index < nodePool.count())
+    {
+        node = nodePool.at(index);
+    }
+    else {
+        node = new Node(this);
+        nodePool.append(node);
+    }
+    return node;
+}
+
+Edge* MixerCurveWidget::getEdge(int index, Node* sourceNode, Node* destNode)
+{
+    Edge* edge;
+
+    if (index >= 0 && index < edgePool.count())
+    {
+        edge = edgePool.at(index);
+        edge->setSourceNode(sourceNode);
+        edge->setDestNode(destNode);
+    }
+    else {
+        edge = new Edge(sourceNode,destNode);
+        edgePool.append(edge);
+    }
+    return edge;
 }
 
 /**
@@ -89,60 +124,62 @@ MixerCurveWidget::~MixerCurveWidget()
   */
 void MixerCurveWidget::initCurve(QList<double> points)
 {
-
     if (points.length() < 2)
         return; // We need at least 2 points on a curve!
 
-    // First of all, reset the list
-    // TODO: one edge might not get deleted properly, small mem leak maybe...
+    if (nodeList.count() != points.count())
+        initNodes(points.count());
+
+    // finally, set node positions
+    setCurve(points);
+}
+
+void MixerCurveWidget::initNodes(int numPoints)
+{
+    // First of all, clear any existing list
+    if (nodeList.count()) {
         foreach (Node *node, nodeList ) {
             QList<Edge*> edges = node->edges();
             foreach(Edge *edge, edges) {
-                if (scene()->items().contains(edge))
-                        scene()->removeItem(edge);
-                else
+                if (edge->destNode() == node) {
                     delete edge;
+                }
+                else {
+                    scene()->removeItem(edge);
+                }
             }
-        scene()->removeItem(node);
-        delete node;
-    }
-    nodeList.clear();
+            scene()->removeItem(node);
+        }
+
+        nodeList.clear();
+    }
+
+    // Create the nodes and edges
+    Node* prevNode = 0;
+    for (int i=0; i<numPoints; i++) {
+
+        Node *node = getNode(i);
 
-    // Create the nodes
-    qreal w = plot->boundingRect().width()/(points.length()-1);
-    qreal h = plot->boundingRect().height();
-    for (int i=0; i<points.length(); i++) {
-        Node *node = new Node(this);
-        scene()->addItem(node);
         nodeList.append(node);
-        double val = points.at(i);
-        if (val>curveMax)
-                val=curveMax;
-        if (val<curveMin)
-                val=curveMin;
-        val+=curveMin;
-        val/=(curveMax-curveMin);
-        node->setPos(w*i,h-val*h);
-        node->verticalMove(true);
-    }
+        scene()->addItem(node);
 
-    // ... and link them together:
-    for (int i=0; i<(points.length()-1); i++) {
-        scene()->addItem(new Edge(nodeList.at(i),nodeList.at(i+1)));
-    }
+        if (prevNode) {
+            scene()->addItem(getEdge(i, prevNode, node));
+        }
 
+        prevNode = node;
+    }
 }
 
-
 /**
   Returns the current curve settings
   */
 QList<double> MixerCurveWidget::getCurve() {
+
     QList<double> list;
 
-    qreal h = plot->boundingRect().height();
     foreach(Node *node, nodeList) {
-        list.append(((curveMax-curveMin)*(h-node->pos().y())/h)+curveMin);
+        list.append(node->getValue());
     }
 
     return list;
@@ -150,11 +187,15 @@ QList<double> MixerCurveWidget::getCurve() {
 /**
   Sets a linear graph
   */
-void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue)
+void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue, double minValue)
 {
+    Q_UNUSED(maxValue);
+    Q_UNUSED(minValue);
+
     QList<double> points;
     for (double i=0; i<numPoints;i++) {
-        points.append(maxValue*(i/(numPoints-1)));
+        double val = ((curveMax - curveMin) * (i/(numPoints-1))) + curveMin;
+        points.append(val);
     }
     initCurve(points);
 }
@@ -163,25 +204,35 @@ void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue)
   */
 void MixerCurveWidget::setCurve(QList<double> points)
 {
-    if (nodeList.length()<1)
-    {
-        initCurve(points);
-    }
-    else
-    {
-        qreal w = plot->boundingRect().width()/(points.length()-1);
-        qreal h = plot->boundingRect().height();
-        for (int i=0; i<points.length(); i++) {
-            double val = points.at(i);
-            if (val>curveMax)
-                    val=curveMax;
-            if (val<curveMin)
-                    val=curveMin;
-            val-=curveMin;
-            val/=(curveMax-curveMin);
-            nodeList.at(i)->setPos(w*i,h-val*h);
-        }
+    curveUpdating = true;
+
+    if (nodeList.count() != points.count())
+        initNodes(points.count());
+
+    double min = curveMin + 10;
+    double max = curveMax + 10;
+
+    qreal w = plot->boundingRect().width()/(points.count()-1);
+    qreal h = plot->boundingRect().height();
+    for (int i=0; i<points.count(); i++) {
+
+        double val = points.at(i);
+        if (val < curveMin)
+            val = curveMin;
+        if (val > curveMax)
+            val = curveMax;
+
+        val += 10;
+        val -= min;
+        val /= (max - min);
+
+        nodeList.at(i)->setPos(w*i, h - (val*h));
+        nodeList.at(i)->verticalMove(true);
     }
+
+    curveUpdating = false;
+
+    emit curveUpdated(points, (double)0);
 }
 
 
@@ -205,8 +256,10 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
 
 void MixerCurveWidget::itemMoved(double itemValue)
 {
-    QList<double> list = getCurve();
-    emit curveUpdated(list, itemValue);
+    if (!curveUpdating) {
+        QList<double> list = getCurve();
+        emit curveUpdated(list, itemValue);
+    }
 }
 
 void MixerCurveWidget::setMin(double value)
@@ -217,6 +270,14 @@ void MixerCurveWidget::setMax(double value)
 {
     curveMax = value;
 }
+double MixerCurveWidget::getMin()
+{
+    return curveMin;
+}
+double MixerCurveWidget::getMax()
+{
+    return curveMax;
+}
 void MixerCurveWidget::setRange(double min, double max)
 {
     curveMin = min;

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h

@@ -31,6 +31,7 @@
 #include <QGraphicsView>
 #include <QtSvg/QSvgRenderer>
 #include <QtSvg/QGraphicsSvgItem>
+#include <QtCore/QPointer>
 #include "mixercurvepoint.h"
 #include "mixercurveline.h"
 #include "uavobjectwidgetutils_global.h"
@@ -45,12 +46,16 @@ public:
    void itemMoved(double itemValue); // Callback when a point is moved, to be updated
    void initCurve (QList<double> points);
    QList<double> getCurve();
-   void initLinearCurve(quint32 numPoints, double maxValue);
+   void initLinearCurve(quint32 numPoints, double maxValue = 1, double minValue = 0);
    void setCurve(QList<double>);
    void setMin(double value);
+   double getMin();
    void setMax(double value);
+   double getMax();
    void setRange(double min, double max);
 
+   static const int NODE_NUMELEM = 5;
+
 signals:
    void curveUpdated(QList<double>, double );
 
@@ -58,9 +63,19 @@ private slots:
 
 private:
    QGraphicsSvgItem *plot;
+
+   QList<Node*> nodePool;
+   QList<Edge*> edgePool;
    QList<Node*> nodeList;
+   QList<double> points;
+
    double curveMin;
    double curveMax;
+   bool   curveUpdating;
+
+   void  initNodes(int numPoints);
+   Node* getNode(int index);
+   Edge* getEdge(int index, Node* sourceNode, Node* destNode);
 
 protected:
     void showEvent(QShowEvent *event);

package/winx86/openpilotgcs.nsi

@@ -200,6 +200,8 @@ Section "Shortcuts" InSecShortcuts
   CreateDirectory "$SMPROGRAMS\OpenPilot"
   CreateShortCut "$SMPROGRAMS\OpenPilot\OpenPilot GCS.lnk" "$INSTDIR\bin\openpilotgcs.exe" \
 	"" "$INSTDIR\bin\openpilotgcs.exe" 0 "" "" "${PRODUCT_NAME} ${PRODUCT_VERSION}. ${BUILD_DESCRIPTION}"
+  CreateShortCut "$SMPROGRAMS\OpenPilot\OpenPilot GCS (clean configuration).lnk" "$INSTDIR\bin\openpilotgcs.exe" \
+	"-clean-config" "$INSTDIR\bin\openpilotgcs.exe" 0 "" "" "${PRODUCT_NAME} ${PRODUCT_VERSION}. ${BUILD_DESCRIPTION}"
   CreateShortCut "$SMPROGRAMS\OpenPilot\OpenPilot ChangeLog.lnk" "$INSTDIR\HISTORY.txt" \
 	"" "$INSTDIR\bin\openpilotgcs.exe" 0
   CreateShortCut "$SMPROGRAMS\OpenPilot\OpenPilot Website.lnk" "http://www.openpilot.org" \