* LinkManager::createConnectedLink: use make_shared to avoid separate allocation
Also avoids some memory leaks when returning early.
* fix LinkManager: set setAutoConnect()
* fix MAVLinkProtocol: use a weak_ptr to check if the link stays valid
It is not enough to check if the link is valid only on entering the method.
If message handling called VehicleLinkManager::closeVehicle(), the link
was removed, and possibly deleted. If more mavlink messages were in the
same buffer, the link was accessed again, triggering a segfault.
This happened for example when rebooting the vehicle from parameter editor.
* Vehicle: fix uninitialized variable _capabilityBits
From valgrind:
==690288== Conditional jump or move depends on uninitialised value(s)
==690288== at 0x5B5F18: GeoFenceController::supported() const (GeoFenceController.cc:495)
==690288== by 0x5B309E: GeoFenceController::_managerVehicleChanged(Vehicle*) (GeoFenceController.cc:125)
==690288== by 0x5B79AF: QtPrivate::FunctorCall<QtPrivate::IndexesList<0>, QtPrivate::List<Vehicle*>, void, void (GeoFenceController::*)(Vehicle*)>::call(void (GeoFenceController::*)(Vehicle*), GeoFenceController*, void**) (qobjectdefs_impl.h:152)
==690288== by 0x5B7797: void QtPrivate::FunctionPointer<void (GeoFenceController::*)(Vehicle*)>::call<QtPrivate::List<Vehicle*>, void>(void (GeoFenceController::*)(Vehicle*), GeoFenceController*, void**) (qobjectdefs_impl.h:185)
==690288== by 0x5B7325: QtPrivate::QSlotObject<void (GeoFenceController::*)(Vehicle*), QtPrivate::List<Vehicle*>, void>::impl(int, QtPrivate::QSlotObjectBase*, QObject*, void**, bool*) (qobjectdefs_impl.h:414)
==690288== by 0x9D43DF5: QMetaObject::activate(QObject*, int, int, void**) (in /opt/install/qt/5.12.5/gcc_64/lib/libQt5Core.so.5.12.5)
==690288== by 0x913C9C: PlanMasterController::managerVehicleChanged(Vehicle*) (moc_PlanMasterController.cpp:544)
==690288== by 0x5FF00B: PlanMasterController::_activeVehicleChanged(Vehicle*) (PlanMasterController.cc:160)
==690288== by 0x5FE9A4: PlanMasterController::startStaticActiveVehicle(Vehicle*, bool) (PlanMasterController.cc:116)
==690288== by 0x912EB9: PlanMasterController::qt_static_metacall(QObject*, QMetaObject::Call, int, void**) (moc_PlanMasterController.cpp:267)
==690288== by 0x913A2A: PlanMasterController::qt_metacall(QMetaObject::Call, int, void**) (moc_PlanMasterController.cpp:473)
==690288== by 0x880E5C8: QQmlObjectOrGadget::metacall(QMetaObject::Call, int, void**) const (in /opt/install/qt/5.12.5/gcc_64/lib/libQt5Qml.so.5.12.5)
* FTPManager: fix uninitialized variable & message filter logic
From Valgrind:
==690288== Conditional jump or move depends on uninitialised value(s)
==690288== at 0x6E74E6: FTPManager::_mavlinkMessageReceived(__mavlink_message const&) (FTPManager.cc:108)
==690288== by 0x70D164: Vehicle::_mavlinkMessageReceived(LinkInterface*, __mavlink_message) (Vehicle.cc:603)
==690288== by 0x726F53: QtPrivate::FunctorCall<QtPrivate::IndexesList<0, 1>, QtPrivate::List<LinkInterface*, __mavlink_message>, void, void (Vehicle::*)(LinkInterface*, __mavlink_message)>::call(void (Vehicle::*)(LinkInterface*, __mavlink_message), Vehicle*, void**) (qobjectdefs_impl.h:152)
==690288== by 0x725990: void QtPrivate::FunctionPointer<void (Vehicle::*)(LinkInterface*, __mavlink_message)>::call<QtPrivate::List<LinkInterface*, __mavlink_message>, void>(void (Vehicle::*)(LinkInterface*, __mavlink_message), Vehicle*, void**) (qobjectdefs_impl.h:185)
==690288== by 0x723B4B: QtPrivate::QSlotObject<void (Vehicle::*)(LinkInterface*, __mavlink_message), QtPrivate::List<LinkInterface*, __mavlink_message>, void>::impl(int, QtPrivate::QSlotObjectBase*, QObject*, void**, bool*) (qobjectdefs_impl.h:414)
==690288== by 0x9D43DF5: QMetaObject::activate(QObject*, int, int, void**) (in /opt/install/qt/5.12.5/gcc_64/lib/libQt5Core.so.5.12.5)
==690288== by 0x95DE46: MAVLinkProtocol::messageReceived(LinkInterface*, __mavlink_message) (moc_MAVLinkProtocol.cpp:346)
==690288== by 0x757522: MAVLinkProtocol::receiveBytes(LinkInterface*, QByteArray) (MAVLinkProtocol.cc:362)
==690288== by 0x74C71E: QtPrivate::FunctorCall<QtPrivate::IndexesList<0, 1>, QtPrivate::List<LinkInterface*, QByteArray>, void, void (MAVLinkProtocol::*)(LinkInterface*, QByteArray)>::call(void (MAVLinkProtocol::*)(LinkInterface*, QByteArray), MAVLinkProtocol*, void**) (qobjectdefs_impl.h:152)
==690288== by 0x74BAB4: void QtPrivate::FunctionPointer<void (MAVLinkProtocol::*)(LinkInterface*, QByteArray)>::call<QtPrivate::List<LinkInterface*, QByteArray>, void>(void (MAVLinkProtocol::*)(LinkInterface*, QByteArray), MAVLinkProtocol*, void**) (qobjectdefs_impl.h:185)
==690288== by 0x74B3B7: QtPrivate::QSlotObject<void (MAVLinkProtocol::*)(LinkInterface*, QByteArray), QtPrivate::List<LinkInterface*, QByteArray>, void>::impl(int, QtPrivate::QSlotObjectBase*, QObject*, void**, bool*) (qobjectdefs_impl.h:414)
==690288== by 0x9D43DF5: QMetaObject::activate(QObject*, int, int, void**) (in /opt/install/qt/5.12.5/gcc_64/lib/libQt5Core.so.5.12.5)
* FTPManager: fix uninitialized Request
- Parts of the header were uninit
- zero init the payload allows for mavlink trimming
* Fix ~TerrainTile: use delete[] for arrays
* FactGroup: fix expensive & unnecessary object creation and map lookups
Every mavlink message reception was leading to creation of a list and
key lookup for each of the keys. This can easily be avoided and results
in noticeable reduction of CPU load (I'm seeing overall around 4% with
a pixhawk on USB).
The same pattern exists elsewhere as well
QGroundControl (QGC) is an intuitive and powerful ground control station (GCS) for UAVs.
The primary goal of QGC is ease of use for both first time and professional users.
It provides full flight control and mission planning for any MAVLink enabled drone, and vehicle setup for both PX4 and ArduPilot powered UAVs. Instructions for using QGroundControl are provided in the User Manual (you may not need them because the UI is very intuitive!)
All the code is open-source, so you can contribute and evolve it as you want.
The Developer Guide explains how to build and extend QGC.
Beat Küng
d7c2034b53
