Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into Airmap

CODE_OF_CONDUCT.md

@@ -0,0 +1,46 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at lm@qgroundcontrol.org. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version]
+
+[homepage]: http://contributor-covenant.org
+[version]: http://contributor-covenant.org/version/1/4/

qgroundcontrol.pro

@@ -644,6 +644,8 @@ HEADERS += \
     src/AnalyzeView/GeoTagController.h \
     src/AnalyzeView/MavlinkConsoleController.h \
     src/GPS/Drivers/src/gps_helper.h \
+    src/GPS/Drivers/src/rtcm.h \
+    src/GPS/Drivers/src/ashtech.h \
     src/GPS/Drivers/src/ubx.h \
     src/GPS/GPSManager.h \
     src/GPS/GPSPositionMessage.h \
@@ -826,6 +828,8 @@ SOURCES += \
     src/AnalyzeView/GeoTagController.cc \
     src/AnalyzeView/MavlinkConsoleController.cc \
     src/GPS/Drivers/src/gps_helper.cpp \
+    src/GPS/Drivers/src/rtcm.cpp \
+    src/GPS/Drivers/src/ashtech.cpp \
     src/GPS/Drivers/src/ubx.cpp \
     src/GPS/GPSManager.cc \
     src/GPS/GPSProvider.cc \

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -321,12 +321,11 @@ FlightMap {
         visible:    false
 
         property alias center:  _mapCircle.center
-        property real radius:   defaultRadius
 
         readonly property real defaultRadius: 30
 
         function show(coord) {
-            orbitMapCircle.radius = defaultRadius
+            _mapCircle.radius.rawValue = defaultRadius
             orbitMapCircle.center = coord
             orbitMapCircle.visible = true
         }
@@ -335,12 +334,16 @@ FlightMap {
             orbitMapCircle.visible = false
         }
 
+        function radius() {
+            return _mapCircle.radius.rawValue
+        }
+
         Component.onCompleted: guidedActionsController.orbitMapCircle = orbitMapCircle
 
         QGCMapCircle {
             id:                 _mapCircle
             interactive:        true
-            radius.rawValue:    orbitMapCircle.radius
+            radius.rawValue:    30
         }
     }
 

src/FlightDisplay/GuidedActionsController.qml

@@ -130,7 +130,7 @@ Item {
     property bool   _hideEmergenyStop:      !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
     property bool   _hideOrbit:             !QGroundControl.corePlugin.options.guidedBarShowOrbit
     property bool   _vehicleWasFlying:      false
-    property bool   _rcRSSIAvailable:       _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI < 255 : false
+    property bool   _rcRSSIAvailable:       _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100 : false
 
     //Handy code for debugging state problems
     property bool __debugGuidedStates:      false
@@ -389,7 +389,7 @@ Item {
             _activeVehicle.setCurrentMissionSequence(actionData)
             break
         case actionOrbit:
-            _activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius, _activeVehicle.altitudeAMSL.rawValue + actionAltitudeChange)
+            _activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius(), _activeVehicle.altitudeAMSL.rawValue + actionAltitudeChange)
             orbitMapCircle.hide()
             break
         case actionLandAbort:

src/GPS/Drivers

@@ -1 +1 @@
-Subproject commit 41223e860e0f3b7fed5075be8ac17ecb7e07e428
+Subproject commit d7854b7bcf1610bb42d89f4bae553744cbe4408c

src/GPS/GPSManager.cc

@@ -26,13 +26,22 @@ GPSManager::~GPSManager()
     disconnectGPS();
 }
 
-void GPSManager::connectGPS(const QString& device)
+void GPSManager::connectGPS(const QString& device, const QString& gps_type)
 {
     RTKSettings* rtkSettings = qgcApp()->toolbox()->settingsManager()->rtkSettings();
 
+    GPSProvider::GPSType type;
+    if (gps_type.contains("trimble",  Qt::CaseInsensitive)) {
+        type = GPSProvider::GPSType::trimble;
+        qCDebug(RTKGPSLog) << "Connecting Trimble device";
+    } else {
+        type = GPSProvider::GPSType::u_blox;
+        qCDebug(RTKGPSLog) << "Connecting U-blox device";
+    }
+
     disconnectGPS();
     _requestGpsStop = false;
-    _gpsProvider = new GPSProvider(device, true, rtkSettings->surveyInAccuracyLimit()->rawValue().toDouble(), rtkSettings->surveyInMinObservationDuration()->rawValue().toInt(), _requestGpsStop);
+    _gpsProvider = new GPSProvider(device, type, true, rtkSettings->surveyInAccuracyLimit()->rawValue().toDouble(), rtkSettings->surveyInMinObservationDuration()->rawValue().toInt(), _requestGpsStop);
     _gpsProvider->start();
 
     //create RTCM device

src/GPS/GPSManager.h

@@ -28,7 +28,7 @@ public:
     GPSManager(QGCApplication* app, QGCToolbox* toolbox);
     ~GPSManager();
 
-    void connectGPS     (const QString& device);
+    void connectGPS     (const QString& device, const QString& gps_type);
     void disconnectGPS  (void);
     bool connected      (void) const { return _gpsProvider && _gpsProvider->isRunning(); }
 

src/GPS/GPSProvider.cc

@@ -16,6 +16,7 @@
 #include <QDebug>
 
 #include "Drivers/src/ubx.h"
+#include "Drivers/src/ashtech.h"
 #include "Drivers/src/gps_helper.h"
 #include "definitions.h"
 
@@ -53,7 +54,7 @@ void GPSProvider::run()
     _serial->setFlowControl(QSerialPort::NoFlowControl);
 
     unsigned int baudrate;
-    GPSDriverUBX* gpsDriver = nullptr;
+    GPSHelper* gpsDriver = nullptr;
 
     while (!_requestStop) {
 
@@ -62,7 +63,13 @@ void GPSProvider::run()
             gpsDriver = nullptr;
         }
 
-        gpsDriver = new GPSDriverUBX(GPSDriverUBX::Interface::UART, &callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
+        if (_type == GPSType::trimble) {
+            gpsDriver = new GPSDriverAshtech(&callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
+            baudrate = 115200;
+        } else {
+            gpsDriver = new GPSDriverUBX(GPSDriverUBX::Interface::UART, &callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
+            baudrate = 0; // auto-configure
+        }
         gpsDriver->setSurveyInSpecs(_surveyInAccMeters * 10000, _surveryInDurationSecs);
 
         if (gpsDriver->configure(baudrate, GPSDriverUBX::OutputMode::RTCM) == 0) {
@@ -101,8 +108,9 @@ void GPSProvider::run()
     qCDebug(RTKGPSLog) << "Exiting GPS thread";
 }
 
-GPSProvider::GPSProvider(const QString& device, bool enableSatInfo, double surveyInAccMeters, int surveryInDurationSecs, const std::atomic_bool& requestStop)
+GPSProvider::GPSProvider(const QString& device, GPSType type, bool enableSatInfo, double surveyInAccMeters, int surveryInDurationSecs, const std::atomic_bool& requestStop)
     : _device(device)
+    , _type(type)
     , _requestStop(requestStop)
     , _surveyInAccMeters(surveyInAccMeters)
     , _surveryInDurationSecs(surveryInDurationSecs)

src/GPS/GPSProvider.h

@@ -29,7 +29,14 @@ class GPSProvider : public QThread
 {
     Q_OBJECT
 public:
-    GPSProvider(const QString& device, bool enableSatInfo, double surveyInAccMeters, int surveryInDurationSecs, const std::atomic_bool& requestStop);
+
+    enum class GPSType {
+        u_blox,
+        trimble
+    };
+
+    GPSProvider(const QString& device, GPSType type, bool enableSatInfo, double surveyInAccMeters, int surveryInDurationSecs,
+            const std::atomic_bool& requestStop);
     ~GPSProvider();
 
     /**
@@ -57,6 +64,7 @@ private:
 	int callback(GPSCallbackType type, void *data1, int data2);
 
     QString _device;
+    GPSType _type;
     const std::atomic_bool& _requestStop;
     double  _surveyInAccMeters;
     int     _surveryInDurationSecs;

src/GPS/vehicle_gps_position.h

@@ -63,6 +63,7 @@ struct vehicle_gps_position_s {
 	float vel_d_m_s;
 	float cog_rad;
 	int32_t timestamp_time_relative;
+	float heading;
 	uint8_t fix_type;
 	bool vel_ned_valid;
 	uint8_t satellites_used;

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -336,8 +336,7 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, b
     complexItem->_altitudesAreRelative = landPointFrame == MAV_FRAME_GLOBAL_RELATIVE_ALT;
     complexItem->_loiterRadiusFact.setRawValue(qAbs(missionItemLoiter.param2()));
     complexItem->_loiterClockwise = missionItemLoiter.param2() > 0;
-    complexItem->_loiterCoordinate.setLatitude(missionItemLoiter.param5());
+    complexItem->setLoiterCoordinate(QGeoCoordinate(missionItemLoiter.param5(), missionItemLoiter.param6()));
-    complexItem->_loiterCoordinate.setLongitude(missionItemLoiter.param6());
     complexItem->_loiterAltitudeFact.setRawValue(missionItemLoiter.param7());
 
     complexItem->_landingCoordinate.setLatitude(missionItemLand.param5());

src/MissionManager/PlanManager.cc

@@ -588,6 +588,14 @@ void PlanManager::_handleMissionAck(const mavlink_message_t& message)
         return;
     }
 
+    if (_vehicle->apmFirmware() && missionAck.type == MAV_MISSION_INVALID_SEQUENCE) {
+        // ArduPilot sends these Acks which can happen just due to noisy links causing duplicated requests being responded to.
+        // As far as I'm concerned this is incorrect protocol implementation but we need to deal with it anyway. So we just
+        // ignore it and if things really go haywire the timeouts will fire to fail the overall transaction.
+        qCDebug(PlanManagerLog) << QStringLiteral("_handleMissionAck ArduPilot sending possibly bogus MAV_MISSION_INVALID_SEQUENCE").arg(_planTypeString()) << _planType;
+        return;
+    }
+
     // Save the retry ack before calling _checkForExpectedAck since we'll need it to determine what
     // type of a protocol sequence we are in.
     AckType_t savedExpectedAck = _expectedAck;

src/MissionManager/PlanManager.h

@@ -71,7 +71,7 @@ public:
 
     // These values are public so the unit test can set appropriate signal wait times
     // When passively waiting for a mission process, use a longer timeout.
-    static const int _ackTimeoutMilliseconds = 1000;
+    static const int _ackTimeoutMilliseconds = 1500;
     // When actively retrying to request mission items, use a shorter timeout instead.
     static const int _retryTimeoutMilliseconds = 250;
     static const int _maxRetryCount = 5;

src/MissionManager/QGCMapPolygonVisuals.qml

@@ -38,6 +38,7 @@ Item {
     property var    _centerDragHandleComponent
     property bool   _circle:                    false
     property real   _circleRadius
+    property bool   _editCircleRadius:          false
 
     property real _zorderDragHandle:    QGroundControl.zOrderMapItems + 3   // Highest to prevent splitting when items overlap
     property real _zorderSplitHandle:   QGroundControl.zOrderMapItems + 2
@@ -224,7 +225,7 @@ Item {
         MenuItem {
             text:           qsTr("Set radius..." )
             visible:        _circle
-            onTriggered:    radiusDialog.visible = true
+            onTriggered:    _editCircleRadius = true
         }
 
         MenuItem {
@@ -460,18 +461,17 @@ Item {
 
             function setRadiusFromDialog() {
                 setCircleRadius(mapPolygon.center, radiusField.text)
-                radiusDialog.visible = false
+                _editCircleRadius = false
             }
 
             Rectangle {
-                id:                 radiusDialog
                 anchors.margins:    _margin
                 anchors.left:       parent.right
                 width:              radiusColumn.width + (_margin *2)
                 height:             radiusColumn.height + (_margin *2)
                 color:              qgcPal.window
                 border.color:       qgcPal.text
-                visible:            false
+                visible:            _editCircleRadius
 
                 Column {
                     id:                 radiusColumn

src/MissionManager/StructureScan.SettingsGroup.json

@@ -10,16 +10,6 @@
     "defaultValue":     0
 },
 {
-    "name":             "GimbalYaw",
-    "shortDescription": "Gimbal yaw rotation.",
-    "type":             "double",
-    "units":            "deg",
-    "min":              -180.0,
-    "max":              180.0,
-    "decimalPlaces":    0,
-    "defaultValue":     90
-},
-{
     "name":             "Altitude",
     "shortDescription": "Altitude for the bottom layer of the structure scan.",
     "type":             "double",
@@ -41,32 +31,5 @@
     "units":            "m",
     "min":              1,
     "defaultValue":     100
-},
-{
-    "name":             "Layer distance",
-    "shortDescription": "Distance between each layer.",
-    "type":             "double",
-    "decimalPlaces":    2,
-    "min":              0,
-    "units":            "m",
-    "defaultValue":     25
-},
-{
-    "name":             "Scan distance",
-    "shortDescription": "Scan distance away from structure.",
-    "type":             "double",
-    "decimalPlaces":    2,
-    "min":              0,
-    "units":            "m",
-    "defaultValue":     25
-},
-{
-    "name":             "Trigger distance",
-    "shortDescription": "Distance between each triggering of the camera. 0 specifies not camera trigger.",
-    "type":             "double",
-    "decimalPlaces":    2,
-    "min":              0,
-    "units":            "m",
-    "defaultValue":     25
 }
 ]

src/MissionManager/StructureScanComplexItem.cc

@@ -25,6 +25,7 @@ const char* StructureScanComplexItem::settingsGroup =               "StructureSc
 const char* StructureScanComplexItem::altitudeName =                "Altitude";
 const char* StructureScanComplexItem::structureHeightName =         "StructureHeight";
 const char* StructureScanComplexItem::layersName =                  "Layers";
+const char* StructureScanComplexItem::gimbalPitchName =             "GimbalPitch";
 
 const char* StructureScanComplexItem::jsonComplexItemTypeValue =    "StructureScan";
 const char* StructureScanComplexItem::_jsonCameraCalcKey =          "CameraCalc";
@@ -44,6 +45,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
     , _altitudeFact             (settingsGroup, _metaDataMap[altitudeName])
     , _structureHeightFact      (settingsGroup, _metaDataMap[structureHeightName])
     , _layersFact               (settingsGroup, _metaDataMap[layersName])
+    , _gimbalPitchFact          (settingsGroup, _metaDataMap[gimbalPitchName])
 {
     _editorQml = "qrc:/qml/StructureScanEditor.qml";
 
@@ -51,6 +53,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
 
     connect(&_altitudeFact,     &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
     connect(&_layersFact,       &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
+    connect(&_gimbalPitchFact,  &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
 
     connect(&_layersFact,                           &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);
     connect(&_structureHeightFact,                  &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);
@@ -76,6 +79,8 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
     connect(_cameraCalc.adjustedFootprintSide(),    &Fact::valueChanged,            this, &StructureScanComplexItem::_recalcCameraShots);
     connect(&_layersFact,                           &Fact::valueChanged,            this, &StructureScanComplexItem::_recalcCameraShots);
 
+    connect(&_cameraCalc, &CameraCalc::isManualCameraChanged, this, &StructureScanComplexItem::_updateGimbalPitch);
+
     _recalcLayerInfo();
 
     if (!kmlFile.isEmpty()) {
@@ -147,9 +152,10 @@ void StructureScanComplexItem::save(QJsonArray&  missionItems)
     saveObject[ComplexMissionItem::jsonComplexItemTypeKey] =    jsonComplexItemTypeValue;
 
     saveObject[altitudeName] =              _altitudeFact.rawValue().toDouble();
-    saveObject[structureHeightName] =      _structureHeightFact.rawValue().toDouble();
+    saveObject[structureHeightName] =       _structureHeightFact.rawValue().toDouble();
-    saveObject[_jsonAltitudeRelativeKey] =   _altitudeRelative;
+    saveObject[_jsonAltitudeRelativeKey] =  _altitudeRelative;
     saveObject[layersName] =                _layersFact.rawValue().toDouble();
+    saveObject[gimbalPitchName] =           _gimbalPitchFact.rawValue().toDouble();
 
     QJsonObject cameraCalcObject;
     _cameraCalc.save(cameraCalcObject);
@@ -180,6 +186,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
         { structureHeightName,                          QJsonValue::Double, true },
         { _jsonAltitudeRelativeKey,                     QJsonValue::Bool,   true },
         { layersName,                                   QJsonValue::Double, true },
+        { gimbalPitchName,                              QJsonValue::Double, false },    // This value was added after initial implementation so may be missing from older files
         { _jsonCameraCalcKey,                           QJsonValue::Object, true },
     };
     if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
@@ -212,6 +219,12 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
     _layersFact.setRawValue     (complexObject[layersName].toDouble());
     _altitudeRelative =         complexObject[_jsonAltitudeRelativeKey].toBool(true);
 
+    double gimbalPitchValue = 0;
+    if (complexObject.contains(gimbalPitchName)) {
+        gimbalPitchValue = complexObject[gimbalPitchName].toDouble();
+    }
+    _gimbalPitchFact.setRawValue(gimbalPitchValue);
+
     if (!_structurePolygon.loadFromJson(complexObject, true /* required */, errorString)) {
         _structurePolygon.clear();
         return false;
@@ -256,11 +269,12 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
     MissionItem* item = new MissionItem(seqNum++,
                                         MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET,
                                         MAV_FRAME_MISSION,
-                                        0, 0, 0, 0,                         // param 1-4 not used
+                                        0, 0, 0, 0,                             // param 1-4 not used
-                                        0, 0,                               // Pitch and Roll stay in standard orientation
+                                        _gimbalPitchFact.rawValue().toDouble(),
-                                        90,                                 // 90 degreee yaw offset to point to structure
+                                        0,                                      // Roll stays in standard orientation
-                                        true,                               // autoContinue
+                                        90,                                     // 90 degreee yaw offset to point to structure
-                                        false,                              // isCurrentItem
+                                        true,                                   // autoContinue
+                                        false,                                  // isCurrentItem
                                         missionItemParent);
     items.append(item);
 
@@ -464,3 +478,10 @@ void StructureScanComplexItem::_recalcLayerInfo(void)
         _layersFact.setSendValueChangedSignals(true);
     }
 }
+
+void StructureScanComplexItem::_updateGimbalPitch(void)
+{
+    if (!_cameraCalc.isManualCamera()) {
+        _gimbalPitchFact.setRawValue(0);
+    }
+}

src/MissionManager/StructureScanComplexItem.h

@@ -34,6 +34,7 @@ public:
     Q_PROPERTY(Fact*            altitude                    READ altitude                                                   CONSTANT)
     Q_PROPERTY(Fact*            structureHeight             READ structureHeight                                            CONSTANT)
     Q_PROPERTY(Fact*            layers                      READ layers                                                     CONSTANT)
+    Q_PROPERTY(Fact*            gimbalPitch                 READ gimbalPitch                                                CONSTANT)
     Q_PROPERTY(bool             altitudeRelative            READ altitudeRelative           WRITE setAltitudeRelative       NOTIFY altitudeRelativeChanged)
     Q_PROPERTY(int              cameraShots                 READ cameraShots                                                NOTIFY cameraShotsChanged)
     Q_PROPERTY(double           timeBetweenShots            READ timeBetweenShots                                           NOTIFY timeBetweenShotsChanged)
@@ -44,6 +45,7 @@ public:
     Fact* altitude          (void) { return &_altitudeFact; }
     Fact* structureHeight   (void) { return &_structureHeightFact; }
     Fact* layers            (void) { return &_layersFact; }
+    Fact* gimbalPitch       (void) { return &_gimbalPitchFact; }
 
     bool            altitudeRelative        (void) const { return _altitudeRelative; }
     int             cameraShots             (void) const;
@@ -98,6 +100,7 @@ public:
     static const char* altitudeName;
     static const char* structureHeightName;
     static const char* layersName;
+    static const char* gimbalPitchName;
 
 signals:
     void cameraShotsChanged             (int cameraShots);
@@ -114,6 +117,7 @@ private slots:
     void _recalcCameraShots         (void);
     void _recalcLayerInfo           (void);
     void _updateLastSequenceNumber  (void);
+    void _updateGimbalPitch         (void);
 
 private:
     void _setExitCoordinate(const QGeoCoordinate& coordinate);
@@ -141,6 +145,7 @@ private:
     SettingsFact    _altitudeFact;
     SettingsFact    _structureHeightFact;
     SettingsFact    _layersFact;
+    SettingsFact    _gimbalPitchFact;
 
     static const char* _jsonCameraCalcKey;
     static const char* _jsonAltitudeRelativeKey;

src/PlanView/FWLandingPatternMapVisual.qml

@@ -159,7 +159,8 @@ Item {
         id:  mouseAreaComponent
 
         MouseArea {
-            anchors.fill: map
+            anchors.fill:   map
+            z:              QGroundControl.zOrderMapItems + 1   // Over item indicators
 
             onClicked: {
                 var coordinate = map.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)

src/PlanView/StructureScanEditor.qml

@@ -126,6 +126,16 @@ Rectangle {
                     Layout.fillWidth:   true
                 }
 
+                QGCLabel {
+                    text:       qsTr("Gimbal pitch")
+                    visible:    missionItem.cameraCalc.isManualCamera
+                }
+                FactTextField {
+                    fact:               missionItem.gimbalPitch
+                    Layout.fillWidth:   true
+                    visible:            missionItem.cameraCalc.isManualCamera
+                }
+
                 QGCCheckBox {
                     text:               qsTr("Relative altitude")
                     checked:            missionItem.altitudeRelative

src/Vehicle/Vehicle.cc

@@ -113,7 +113,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _currentMessageType(MessageNone)
     , _updateCount(0)
     , _rcRSSI(255)
-    , _rcRSSIstore(255)
+    , _rcRSSIstore(255.)
     , _autoDisconnect(false)
     , _flying(false)
     , _landing(false)
@@ -313,7 +313,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _currentMessageType(MessageNone)
     , _updateCount(0)
     , _rcRSSI(255)
-    , _rcRSSIstore(255)
+    , _rcRSSIstore(255.)
     , _autoDisconnect(false)
     , _flying(false)
     , _landing(false)
@@ -2475,10 +2475,18 @@ void Vehicle::_imageReady(UASInterface*)
 
 void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
 {
-    if (_rcRSSIstore < 0 || _rcRSSIstore > 100) {
+    //-- 0 <= rssi <= 100 - 255 means "invalid/unknown"
-        _rcRSSIstore = rssi;
+    if(rssi > 100) { // Anything over 100 doesn't make sense
+        if(_rcRSSI != 255) {
+            _rcRSSI = 255;
+            emit rcRSSIChanged(_rcRSSI);
+        }
+        return;
+    }
+    //-- Initialize it
+    if(_rcRSSIstore == 255.) {
+        _rcRSSIstore = (double)rssi;
     }
-
     // Low pass to git rid of jitter
     _rcRSSIstore = (_rcRSSIstore * 0.9f) + ((float)rssi * 0.1);
     uint8_t filteredRSSI = (uint8_t)ceil(_rcRSSIstore);

src/comm/LinkManager.cc

@@ -586,7 +586,7 @@ void LinkManager::_updateAutoConnectLinks(void)
                     if (_autoConnectSettings->autoConnectRTKGPS()->rawValue().toBool() && !_toolbox->gpsManager()->connected()) {
                         qCDebug(LinkManagerLog) << "RTK GPS auto-connected" << portInfo.portName().trimmed();
                         _autoConnectRTKPort = portInfo.systemLocation();
-                        _toolbox->gpsManager()->connectGPS(portInfo.systemLocation());
+                        _toolbox->gpsManager()->connectGPS(portInfo.systemLocation(), boardName);
                     }
                     break;
 #endif

src/comm/USBBoardInfo.json

@@ -27,7 +27,8 @@
         { "vendorID": 1027, "productID": 24577,     "boardClass": "SiK Radio",  "name": "SiK Radio",            "comment": "3DR Radio on FTDI" },
         { "vendorID": 4292, "productID": 60000,     "boardClass": "SiK Radio",  "name": "SiK Radio",            "comment": "SILabs Radio" },
 
-        { "vendorID": 5446, "productID": 424,       "boardClass": "RTK GPS",    "name": "RTK GPS",              "comment": "Ublox RTK GPS" },
+        { "vendorID": 5446, "productID": 424,        "boardClass": "RTK GPS",    "name": "U-blox RTK GPS",               "comment": "U-blox RTK GPS" },
+        { "vendorID": 1317, "productID": 42151,      "boardClass": "RTK GPS",    "name": "Trimble RTK GPS",              "comment": "Trimble RTK GPS" },
 
         { "vendorID": 8352, "productID": 16732,     "boardClass": "OpenPilot",  "name": "OpenPilot OPLink" },
         { "vendorID": 8352, "productID": 16733,     "boardClass": "OpenPilot",  "name": "OpenPilot CC3D" },

src/ui/preferences/GeneralSettings.qml

@@ -402,7 +402,7 @@ QGCView {
                             anchors.horizontalCenter:   parent.horizontalCenter
                             columns:                    2
 
-                            QGCLabel { text: qsTr("Survey in accuracy") }
+                            QGCLabel { text: qsTr("Survey in accuracy (U-blox only)") }
                             FactTextField {
                                 Layout.preferredWidth:  _valueFieldWidth
                                 fact:                   QGroundControl.settingsManager.rtkSettings.surveyInAccuracyLimit

src/ui/toolbar/GPSRTKIndicator.qml

@@ -69,9 +69,11 @@ Item {
                     QGCLabel {
                         // during survey-in show the current accuracy, after that show the final accuracy
                         text: QGroundControl.gpsRtk.valid.value ? qsTr("Accuracy:") : qsTr("Current Accuracy:")
+                        visible: QGroundControl.gpsRtk.currentAccuracy.value > 0
                         }
                     QGCLabel {
                         text: QGroundControl.gpsRtk.currentAccuracy.valueString + " " + QGroundControl.appSettingsDistanceUnitsString
+                        visible: QGroundControl.gpsRtk.currentAccuracy.value > 0
                         }
                     QGCLabel { text: qsTr("Satellites:") }
                     QGCLabel { text: QGroundControl.gpsRtk.numSatellites.value }

src/ui/toolbar/RCRSSIIndicator.qml

@@ -26,7 +26,8 @@ Item {
     anchors.bottom: parent.bottom
     visible:        _activeVehicle ? _activeVehicle.supportsRadio : true
 
-    property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+    property var    _activeVehicle:     QGroundControl.multiVehicleManager.activeVehicle
+    property bool   _rcRSSIAvailable:   _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100 : false
 
     Component {
         id: rcRSSIInfo
@@ -54,7 +55,7 @@ Item {
 
                 GridLayout {
                     id:                 rcrssiGrid
-                    visible:            _activeVehicle && _activeVehicle.rcRSSI != 255
+                    visible:            _rcRSSIAvailable
                     anchors.margins:    ScreenTools.defaultFontPixelHeight
                     columnSpacing:      ScreenTools.defaultFontPixelWidth
                     columns:            2
@@ -86,14 +87,14 @@ Item {
             sourceSize.height:  height
             source:             "/qmlimages/RC.svg"
             fillMode:           Image.PreserveAspectFit
-            opacity:            _activeVehicle ? (((_activeVehicle.rcRSSI < 0) || (_activeVehicle.rcRSSI > 100)) ? 0.5 : 1) : 0.5
+            opacity:            _rcRSSIAvailable ? 1 : 0.5
             color:              qgcPal.buttonText
         }
 
         SignalStrength {
             anchors.verticalCenter: parent.verticalCenter
             size:                   parent.height * 0.5
-            percent:                _activeVehicle ? ((_activeVehicle.rcRSSI > 100) ? 0 : _activeVehicle.rcRSSI) : 0
+            percent:                _rcRSSIAvailable ? _activeVehicle.rcRSSI : 0
         }
     }