From 4b34688a424635bb7daefe00174060e2f20de604 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Mon, 14 Jul 2014 11:21:17 +0200
Subject: [PATCH 1/2] Fixed video transmission.

---
 src/uas/UAS.cc | 12 ++++++++++--
 src/ui/HUD.cc  |  7 +++++--
 2 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 020516b..8201184 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1329,10 +1329,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             ++imagePacketsArrived;
 
             // emit signal if all packets arrived
+            // && seq >= imagePackets-1
             if ((imagePacketsArrived >= imagePackets))
             {
                 // Restart statemachine
                 emit imageReady(this);
+                //imagePacketsArrived = 0;
+                //imagePackets = 0;
                 //qDebug() << "imageReady emitted. all packets arrived";
             }
         }
@@ -2142,11 +2145,16 @@ QImage UAS::getImage()
         if (!image.loadFromData(imageRecBuffer))
         {
             qDebug() << __FILE__ << __LINE__ << "Loading data from image buffer failed!";
+            //imagePacketsArrived = 0;
+            //imagePackets = 0;
+            return QImage();
         }
     }
+
     // Restart statemachine
     imagePacketsArrived = 0;
-    //imageRecBuffer.clear();
+    imagePackets = 0;
+    imageRecBuffer.clear();
     return image;
 
 }
@@ -3148,7 +3156,7 @@ void UAS::sendHilGroundTruth(quint64 time_us, float roll, float pitch, float yaw
     Q_UNUSED(xacc);
     Q_UNUSED(yacc);
     Q_UNUSED(zacc);
-    
+
         // Emit attitude for cross-check
         emit valueChanged(uasId, "roll sim", "rad", roll, getUnixTime());
         emit valueChanged(uasId, "pitch sim", "rad", pitch, getUnixTime());
diff --git a/src/ui/HUD.cc b/src/ui/HUD.cc
index 90b1ca0..e4386ae 100644
--- a/src/ui/HUD.cc
+++ b/src/ui/HUD.cc
@@ -119,7 +119,7 @@ HUD::HUD(int width, int height, QWidget* parent)
 {
     Q_UNUSED(width);
     Q_UNUSED(height);
-    
+
     // Set auto fill to false
     setAutoFillBackground(false);
 
@@ -1374,7 +1374,10 @@ void HUD::copyImage(UASInterface* uas)
     UAS* u = qobject_cast<UAS*>(uas);
     if (u)
     {
-        this->glImage = u->getImage();
+        QImage temp_im = u->getImage();
+        if (temp_im.byteCount() > 0) {
+            this->glImage = temp_im;//u->getImage();
+        }
 
         // Save to directory if logging is enabled
         if (imageLoggingEnabled)

From f3bd14524161926ee78730fc956a6e4bb7277ea1 Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Mon, 14 Jul 2014 13:10:05 +0200
Subject: [PATCH 2/2] Clean-up for video transmission.

---
 src/uas/UAS.cc | 8 +-------
 src/ui/HUD.cc  | 2 +-
 2 files changed, 2 insertions(+), 8 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index ca4e6c0..9bc6ca3 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1387,15 +1387,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             ++imagePacketsArrived;
 
             // emit signal if all packets arrived
-            // && seq >= imagePackets-1
-            if ((imagePacketsArrived >= imagePackets))
+            if (imagePacketsArrived >= imagePackets)
             {
                 // Restart statemachine
                 imagePackets = 0;
                 imagePacketsArrived = 0;
                 emit imageReady(this);
-                //imagePacketsArrived = 0;
-                //imagePackets = 0;
                 //qDebug() << "imageReady emitted. all packets arrived";
             }
         }
@@ -2205,8 +2202,6 @@ QImage UAS::getImage()
         if (!image.loadFromData(imageRecBuffer))
         {
             qDebug() << __FILE__ << __LINE__ << "Loading data from image buffer failed!";
-            //imagePacketsArrived = 0;
-            //imagePackets = 0;
             return QImage();
         }
     }
@@ -2216,7 +2211,6 @@ QImage UAS::getImage()
     imagePackets = 0;
     imageRecBuffer.clear();
     return image;
-
 }
 
 void UAS::requestImage()
diff --git a/src/ui/HUD.cc b/src/ui/HUD.cc
index c832228..48a74c0 100644
--- a/src/ui/HUD.cc
+++ b/src/ui/HUD.cc
@@ -1376,7 +1376,7 @@ void HUD::copyImage(UASInterface* uas)
     {
         QImage temp_im = u->getImage();
         if (temp_im.byteCount() > 0) {
-            this->glImage = temp_im;//u->getImage();
+            this->glImage = temp_im;
         }
 
         // Save to directory if logging is enabled