[Hold for 4.2] add pseudo oblique function to CMD 206 CAM_TRIGG_DIST

.github/workflows/android_32_release.yml

@@ -38,7 +38,7 @@ jobs:
           git fetch --all --tags -f
 
       - name: Install Qt
-        uses: jurplel/install-qt-action@v2
+        uses: jurplel/install-qt-action@v3
         with:
           version:      ${{ env.QT_VERSION }}
           host:         linux
@@ -47,6 +47,18 @@ jobs:
           modules:      qtcharts
           setup-python: true
 
+      - name: Install Android NDK
+        uses: nttld/setup-ndk@v1
+        id: setup-ndk
+        with:
+          ndk-version: r21e
+          add-to-path: false
+
+      - name: Remove Android SDK android-33-ext
+        run: |
+            ${ANDROID_SDK_ROOT}/cmdline-tools/latest/bin/sdkmanager --uninstall "platforms;android-33-ext5"
+            ${ANDROID_SDK_ROOT}/cmdline-tools/latest/bin/sdkmanager --uninstall "platforms;android-33-ext4"
+
       - name: Install ccache
         run:  sudo apt-get install ccache
 
@@ -98,6 +110,10 @@ jobs:
         working-directory: ${{ runner.temp }}/shadow_build_dir
         env:
           ANDROID_KEYSTORE_PASSWORD: ${{ secrets.ANDROID_KEYSTORE_PASSWORD }}
+          ANDROID_NDK_ROOT: ${{ steps.setup-ndk.outputs.ndk-path }}
+          ANDROID_NDK_HOME: ${{ steps.setup-ndk.outputs.ndk-path }}
+          ANDROID_NDK_LATEST_HOME: ${{ steps.setup-ndk.outputs.ndk-path }}
+          ANDROID_NDK: ${{ steps.setup-ndk.outputs.ndk-path }}
         run:  |
             qmake -r ${SOURCE_DIR}/qgroundcontrol.pro -spec android-clang CONFIG+=${BUILD_TYPE} CONFIG+=installer ANDROID_ABIS="armeabi-v7a"
             make -j2

.github/workflows/android_64_release.yml

@@ -38,7 +38,7 @@ jobs:
           git fetch --all --tags -f
 
       - name: Install Qt
-        uses: jurplel/install-qt-action@v2
+        uses: jurplel/install-qt-action@v3
         with:
           version:      ${{ env.QT_VERSION }}
           host:         linux
@@ -47,6 +47,18 @@ jobs:
           modules:      qtcharts
           setup-python: true
 
+      - name: Install Android NDK
+        uses: nttld/setup-ndk@v1
+        id: setup-ndk
+        with:
+          ndk-version: r21e
+          add-to-path: false
+
+      - name: Remove Android SDK android-33-ext
+        run: |
+            ${ANDROID_SDK_ROOT}/cmdline-tools/latest/bin/sdkmanager --uninstall "platforms;android-33-ext5"
+            ${ANDROID_SDK_ROOT}/cmdline-tools/latest/bin/sdkmanager --uninstall "platforms;android-33-ext4"
+
       - name: Install ccache
         run:  sudo apt-get install ccache
 
@@ -98,6 +110,10 @@ jobs:
         working-directory: ${{ runner.temp }}/shadow_build_dir
         env:
           ANDROID_KEYSTORE_PASSWORD: ${{ secrets.ANDROID_KEYSTORE_PASSWORD }}
+          ANDROID_NDK_ROOT: ${{ steps.setup-ndk.outputs.ndk-path }}
+          ANDROID_NDK_HOME: ${{ steps.setup-ndk.outputs.ndk-path }}
+          ANDROID_NDK_LATEST_HOME: ${{ steps.setup-ndk.outputs.ndk-path }}
+          ANDROID_NDK: ${{ steps.setup-ndk.outputs.ndk-path }}
         run:  |
             qmake -r ${SOURCE_DIR}/qgroundcontrol.pro -spec android-clang CONFIG+=${BUILD_TYPE} CONFIG+=installer ANDROID_ABIS="arm64-v8a"
             make -j2

.github/workflows/linux_debug.yml

@@ -19,7 +19,7 @@ env:
 
 jobs:
   build:
-    runs-on:  ubuntu-18.04
+    runs-on:  ubuntu-20.04
 
     steps:
       - name: Checkout repo

.github/workflows/linux_release.yml

@@ -23,7 +23,7 @@ env:
 
 jobs:
   build:
-    runs-on:  ubuntu-18.04
+    runs-on:  ubuntu-20.04
 
     steps:
       - name: Checkout repo

.github/workflows/macos_release.yml

@@ -37,7 +37,7 @@ jobs:
           git fetch --all --tags -f
 
       - name: Install Qt
-        uses: jurplel/install-qt-action@v2
+        uses: jurplel/install-qt-action@v3
         with:
           version:      ${{ env.QT_VERSION }}
           host:         mac
@@ -47,9 +47,12 @@ jobs:
           setup-python: false
 
       - name: Install Gstreamer
-        run:  |
-            wget --quiet https://qgroundcontrol.s3-us-west-2.amazonaws.com/dependencies/gstreamer-osx-1.18.1.tar.bz2 &&
-            sudo tar zxf gstreamer-osx-1.18.1.tar.bz2 -C /Library/Frameworks
+        run: |
+            wget https://gstreamer.freedesktop.org/data/pkg/osx/1.18.1/gstreamer-1.0-devel-1.18.1-x86_64.pkg
+            wget https://gstreamer.freedesktop.org/data/pkg/osx/1.18.1/gstreamer-1.0-1.18.1-x86_64.pkg
+            for package in *.pkg ;
+              do sudo installer -verbose -pkg "$package" -target /
+            done
 
       - name: Install ccache
         run:  brew install ccache
@@ -83,8 +86,10 @@ jobs:
       - name: Build
         working-directory: ${{ runner.temp }}/shadow_build_dir
         run:  |
+              export JOBS=$((`sysctl -n hw.ncpu`+1))
+              export LIBRARY_PATH=/Library/Frameworks/GStreamer.framework/Versions/1.0/lib/
               qmake -r ${SOURCE_DIR}/qgroundcontrol.pro CONFIG+=installer CONFIG+=${BUILD_TYPE}
-              make -j3
+              make -j$JOBS
 
       - name: ccache post-run
         run:  ccache -s

CMakeLists.txt

@@ -45,7 +45,7 @@ add_definitions(
 	)
 
 include(Git)
-message(STATUS "QGroundControl version: ${GIT_VERSION}")
+message(STATUS "QGroundControl version: ${APP_VERSION_STR}")
 
 #=============================================================================
 # ccache

QGCCommon.pri

@@ -106,7 +106,8 @@ linux {
         DEFINES += QGC_GST_MICROHARD_ENABLED 
         QMAKE_CXXFLAGS += -fvisibility=hidden
         QMAKE_CXXFLAGS_WARN_ON += -Werror \
-            -Wno-unused-parameter           # gst-plugins-good
+            -Wno-unused-parameter \         # gst-plugins-good
+            -Wno-deprecated-declarations    # eigen
     } else {
         error("Unsupported Mac toolchain, only 64-bit LLVM+clang is supported")
     }

QGCPostLinkInstaller.pri

@@ -12,24 +12,16 @@
 installer {
     DEFINES += QGC_INSTALL_RELEASE
     MacBuild {
-        #QMAKE_POST_LINK += && rsync -a --delete $BUILT_PRODUCTS_DIR/$${TARGET}.app .
-        VideoEnabled {
-            # Install the gstreamer framework
-            # This will:
-            # Copy from the original distibution into DESTDIR/gstwork (if not already there)
-            # Prune the framework, removing stuff we don't need
-            # Relocate all dylibs so they can work under @executable_path/...
-            # Copy the result into the app bundle
-            # Make sure qgroundcontrol can find them
-            QMAKE_POST_LINK += && $$SOURCE_DIR/tools/prepare_gstreamer_framework.sh $${OUT_PWD}/gstwork/ $${TARGET}.app $${TARGET}
-        }
-
         QMAKE_POST_LINK += && echo macdeployqt
         QMAKE_POST_LINK += && $$dirname(QMAKE_QMAKE)/macdeployqt $${TARGET}.app -appstore-compliant -verbose=1 -qmldir=$${SOURCE_DIR}/src
 
         # macdeployqt is missing some relocations once in a while. "Fix" it:
-        QMAKE_POST_LINK += && echo osxrelocator
-        QMAKE_POST_LINK += && python $$SOURCE_DIR/tools/osxrelocator.py $${TARGET}.app/Contents @rpath @executable_path/../Frameworks -r > /dev/null 2>&1
+        QMAKE_POST_LINK += && cp -R /Library/Frameworks/GStreamer.framework $${TARGET}.app/Contents/Frameworks
+        QMAKE_POST_LINK += && echo libexec
+        QMAKE_POST_LINK += && ln -sf $${TARGET}.app/Contents/Frameworks $${TARGET}.app/Contents/Frameworks/GStreamer.framework/Versions/1.0/libexec/Frameworks
+        QMAKE_POST_LINK += && install_name_tool -change /Library/Frameworks/GStreamer.framework/Versions/1.0/lib/GStreamer @executable_path/../Frameworks/GStreamer.framework/Versions/1.0/lib/GStreamer $${TARGET}.app/Contents/MacOS/QGroundControl
+        QMAKE_POST_LINK += && rm -rf $${TARGET}.app/Contents/Frameworks/GStreamer.framework/Versions/1.0/{bin,etc,share,Headers,include,Commands}
+        QMAKE_POST_LINK += && rm -rf $${TARGET}.app/Contents/Frameworks/GStreamer.framework/Versions/1.0/lib/{*.a,*.la,glib-2.0,gst-validate-launcher,pkgconfig}
 
         codesign {
             # Disabled for now since it's not working correctly yet

VideoReceiverApp/CMakeLists.txt

@@ -39,7 +39,7 @@ set(COPYRIGHT "Copyright (c) 2020 VideoReceiverApp. All rights reserved.")
 set(IDENTIFIER "labs.auterion.VideoReceiverApp")
 
 include(Git)
-message(STATUS "VideoReceiverApp version: ${GIT_VERSION}")
+message(STATUS "VideoReceiverApp version: ${APP_VERSION_STR}")
 
 #=============================================================================
 # ccache

cmake/Git.cmake

@@ -21,5 +21,5 @@ endif()
 # Fetch the necessary git variables
 execute_process(COMMAND ${GIT_EXECUTABLE} describe --always --tags
                 WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-                OUTPUT_VARIABLE GIT_VERSION
+                OUTPUT_VARIABLE APP_VERSION_STR
                 OUTPUT_STRIP_TRAILING_WHITESPACE)

cmake/QGCDeploy.cmake

@@ -40,7 +40,7 @@ elseif(APPLE)
 		COMMAND
 			rsync -a --delete ${CMAKE_BINARY_DIR}/QGroundControl.app ${CMAKE_BINARY_DIR}/staging
 		COMMAND
-			hdiutil create /tmp/tmp.dmg -ov -volname "QGroundControl-$${GIT_VERSION}" -fs HFS+ -srcfolder "staging"
+			hdiutil create /tmp/tmp.dmg -ov -volname "QGroundControl-$${APP_VERSION_STR}" -fs HFS+ -srcfolder "staging"
 		COMMAND
 			hdiutil convert /tmp/tmp.dmg -format UDBZ -o ${CMAKE_BINARY_DIR}/package/QGroundControl.dmg
 	)

custom-example/custom.pri

@@ -17,8 +17,8 @@ win32 {
 }
 CUSTOM_QGC_VERSION = $${CUSTOM_QGC_VER_MAJOR}.$${CUSTOM_QGC_VER_MINOR}.$${CUSTOM_QGC_VER_BUILD}
 
-DEFINES -= GIT_VERSION=\"\\\"$$GIT_VERSION\\\"\"
-DEFINES += GIT_VERSION=\"\\\"$$CUSTOM_QGC_VERSION\\\"\"
+DEFINES -= APP_VERSION_STR=\"\\\"$$APP_VERSION_STR\\\"\"
+DEFINES += APP_VERSION_STR=\"\\\"$$CUSTOM_QGC_VERSION\\\"\"
 
 message(Custom QGC Version: $${CUSTOM_QGC_VERSION})
 

qgroundcontrol.qrc

@@ -84,6 +84,7 @@
         <file alias="QGroundControl/Controls/CameraCalcCamera.qml">src/PlanView/CameraCalcCamera.qml</file>
         <file alias="QGroundControl/Controls/CameraCalcGrid.qml">src/PlanView/CameraCalcGrid.qml</file>
         <file alias="QGroundControl/Controls/CameraSection.qml">src/PlanView/CameraSection.qml</file>
+        <file alias="QGroundControl/Controls/Campos.qml">src/PlanView/Campos.qml</file>
         <file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
         <file alias="QGroundControl/Controls/CorridorScanMapVisual.qml">src/PlanView/CorridorScanMapVisual.qml</file>
         <file alias="QGroundControl/Controls/DeadMouseArea.qml">src/QmlControls/DeadMouseArea.qml</file>
@@ -183,7 +184,7 @@
         <file alias="QGroundControl/Controls/TerrainStatus.qml">src/PlanView/TerrainStatus.qml</file>
         <file alias="QGroundControl/Controls/TakeoffItemMapVisual.qml">src/PlanView/TakeoffItemMapVisual.qml</file>
         <file alias="QGroundControl/Controls/ToolStrip.qml">src/QmlControls/ToolStrip.qml</file>
-       	<file alias="QGroundControl/Controls/ToolStripHoverButton.qml">src/QmlControls/ToolStripHoverButton.qml</file>
+        <file alias="QGroundControl/Controls/ToolStripHoverButton.qml">src/QmlControls/ToolStripHoverButton.qml</file>
         <file alias="QGroundControl/Controls/TransectStyleComplexItemEditor.qml">src/PlanView/TransectStyleComplexItemEditor.qml</file>
         <file alias="QGroundControl/Controls/TransectStyleComplexItemStats.qml">src/PlanView/TransectStyleComplexItemStats.qml</file>
         <file alias="QGroundControl/Controls/TransectStyleComplexItemTabBar.qml">src/PlanView/TransectStyleComplexItemTabBar.qml</file>

src/AnalyzeView/MavlinkConsoleController.cc

@@ -143,6 +143,7 @@ MavlinkConsoleController::_sendSerialData(QByteArray data, bool close)
     // Send maximum sized chunks until the complete buffer is transmitted
     while(data.size()) {
         QByteArray chunk{data.left(MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN)};
+        int dataSize = chunk.size();
         // Ensure the buffer is large enough, as the MAVLink parser expects MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN bytes
         chunk.append(MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN - chunk.size(), '\0');
         uint8_t flags = SERIAL_CONTROL_FLAG_EXCLUSIVE |  SERIAL_CONTROL_FLAG_RESPOND | SERIAL_CONTROL_FLAG_MULTI;
@@ -159,7 +160,7 @@ MavlinkConsoleController::_sendSerialData(QByteArray data, bool close)
                     flags,
                     0,
                     0,
-                    chunk.size(),
+                    dataSize,
                     reinterpret_cast<uint8_t*>(chunk.data()),
                     _vehicle->id(), _vehicle->defaultComponentId());
         _vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg);

src/AutoPilotPlugins/APM/APMPowerComponent.qml

@@ -349,6 +349,15 @@ SetupPage {
                     ampOffset:  0.330
                 }
 
+                ListElement {
+                    text:       qsTr("Navigator w/ Blue Robotics Power Sense Module")
+                    voltPin:    5
+                    currPin:    4
+                    voltMult:   11.000
+                    ampPerVolt: 37.8788
+                    ampOffset:  0.330
+                }
+
                 ListElement {
                     text:       qsTr("Other")
                 }

src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml

@@ -38,7 +38,7 @@ SetupPage {
             property bool _firmware34:       globals.activeVehicle.versionCompare(3, 5, 0) < 0
 
             // Enable/Action parameters
-            property Fact _failsafeBatteryEnable:     controller.getParameterFact(-1, "r.BATT_FS_LOW_ACT")
+            property Fact _failsafeBatteryEnable:     controller.getParameterFact(-1, "r.BATT_FS_LOW_ACT", false)
             property Fact _failsafeEKFEnable:         controller.getParameterFact(-1, "FS_EKF_ACTION")
             property Fact _failsafeGCSEnable:         controller.getParameterFact(-1, "FS_GCS_ENABLE")
             property Fact _failsafeLeakEnable:        controller.getParameterFact(-1, "FS_LEAK_ENABLE")
@@ -53,8 +53,9 @@ SetupPage {
             property Fact _failsafeLeakPin:              controller.getParameterFact(-1, "LEAK1_PIN")
             property Fact _failsafeLeakLogic:            controller.getParameterFact(-1, "LEAK1_LOGIC")
             property Fact _failsafeEKFThreshold:         controller.getParameterFact(-1, "FS_EKF_THRESH")
-            property Fact _failsafeBatteryVoltage:       controller.getParameterFact(-1, "r.BATT_LOW_VOLT")
-            property Fact _failsafeBatteryCapacity:      controller.getParameterFact(-1, "r.BATT_LOW_MAH")
+            property Fact _failsafeBatteryVoltage:       controller.getParameterFact(-1, "r.BATT_LOW_VOLT", false)
+            property Fact _failsafeBatteryCapacity:      controller.getParameterFact(-1, "r.BATT_LOW_MAH", false)
+            property bool _batteryDetected:              controller.parameterExists(-1, "r.BATT_LOW_MAH")
 
             property Fact _armingCheck: controller.getParameterFact(-1, "ARMING_CHECK")
 
@@ -167,11 +168,20 @@ SetupPage {
 
                             FactComboBox {
                                 id:                 batteryEnableCombo
+                                enabled:            _batteryDetected
                                 width:              failsafeSettings._editWidth
                                 fact:               _failsafeBatteryEnable
                                 indexModel:         false
                             }
 
+                            QGCLabel {
+                                text:                   qsTr("Power module not set up")
+                                width:                  failsafeSettings._labelWidth
+                                color:                  ggcPal.warningText
+                                anchors.verticalCenter: batteryEnableCombo.verticalCenter
+                                visible:                !_batteryDetected
+                            }
+
                             QGCLabel {
                                 text:                   qsTr("Voltage:")
                                 width:                  failsafeSettings._labelWidth