feat(qt6): patch for QT6, testing Kubuntu 24.04

app/telemetry/action/impl/xparam.cpp

@@ -431,20 +431,23 @@ void XParam::check_timeout_param_set()
     std::vector<std::pair<RunningParamCmdSet,SetParamResult>> timed_out_commands{};
     {
         std::lock_guard<std::mutex> lock(m_mutex);
-        for (auto it=m_running_commands.begin(); it!=m_running_commands.end(); ++it){
-            RunningParamCmdSet& running_cmd=*it;
-            const auto elapsed=std::chrono::steady_clock::now()-running_cmd.last_transmission;
-            if(elapsed>running_cmd.retransmit_delay){
-                qDebug()<<"Param cmd set timeout";
-                if(running_cmd.n_transmissions<running_cmd.n_wanted_retransmissions){
-                    qDebug()<<"Param cmd retransmit "<<running_cmd.n_transmissions;
+        for (auto it = m_running_commands.begin(); it != m_running_commands.end(); ) {
+            RunningParamCmdSet& running_cmd = *it;
+            const auto elapsed = std::chrono::steady_clock::now() - running_cmd.last_transmission;
+            if (elapsed > running_cmd.retransmit_delay) {
+                qDebug() << "Param cmd set timeout";
+                if (running_cmd.n_transmissions < running_cmd.n_wanted_retransmissions) {
+                    qDebug() << "Param cmd retransmit " << running_cmd.n_transmissions;
                     send_next_message_running_set(running_cmd);
-                }else{
-                    qDebug()<<"Timeout after "<<running_cmd.n_transmissions<<" transmissions";
-                    SetParamResult result{std::nullopt,running_cmd.n_transmissions};
-                    timed_out_commands.push_back(std::make_pair(running_cmd,result));
-                    it=m_running_commands.erase(it);
+                    ++it;
+                } else {
+                    qDebug() << "Timeout after " << running_cmd.n_transmissions << " transmissions";
+                    SetParamResult result{std::nullopt, running_cmd.n_transmissions};
+                    timed_out_commands.push_back(std::make_pair(running_cmd, result));
+                    it = m_running_commands.erase(it);
                 }
+            } else {
+                ++it;
             }
         }
     }
@@ -458,19 +461,22 @@ void XParam::check_timeout_param_get_all()
     std::vector<std::pair<RunningParamCmdGetAll,GetAllParamResult>> timed_out_commands{};
     {
         std::lock_guard<std::mutex> lock(m_mutex);
-        for (auto it=m_running_get_all.begin(); it!=m_running_get_all.end(); ++it){
-            RunningParamCmdGetAll& running_cmd=*it;
-            const auto elapsed=std::chrono::steady_clock::now()-running_cmd.last_transmission;
-            if(elapsed>running_cmd.retransmit_delay){
-                qDebug()<<"Param get all timeout";
-                if(running_cmd.n_transmissions<running_cmd.n_wanted_retransmissions){
+        for (auto it = m_running_get_all.begin(); it != m_running_get_all.end(); ) {
+            RunningParamCmdGetAll& running_cmd = *it;
+            const auto elapsed = std::chrono::steady_clock::now() - running_cmd.last_transmission;
+            if (elapsed > running_cmd.retransmit_delay) {
+                qDebug() << "Param get all timeout";
+                if (running_cmd.n_transmissions < running_cmd.n_wanted_retransmissions) {
                     send_next_message_running_get_all(running_cmd);
-                }else{
-                    qDebug()<<"Timeout after "<<running_cmd.n_transmissions<<" transmissions";
-                    GetAllParamResult result{false,{}};
-                    timed_out_commands.push_back(std::make_pair(running_cmd,result));
-                    it=m_running_get_all.erase(it);
+                    ++it;
+                } else {
+                    qDebug() << "Timeout after " << running_cmd.n_transmissions << " transmissions";
+                    GetAllParamResult result{false, {}};
+                    timed_out_commands.push_back(std::make_pair(running_cmd, result));
+                    it = m_running_get_all.erase(it);
                 }
+            } else {
+                ++it;
             }
         }
     }

app/telemetry/models/aohdsystem.cpp

@@ -85,7 +85,11 @@ AOHDSystem::AOHDSystem(const bool is_air,QObject *parent)
 {
     m_alive_timer = std::make_unique<QTimer>(this);
     QObject::connect(m_alive_timer.get(), &QTimer::timeout, this, &AOHDSystem::update_alive);
-    m_alive_timer->start(1000);
+    if (QCoreApplication::instance()) {
+        m_alive_timer->start(1000);
+    } else {
+        qDebug() << "AOHDSystem: No QCoreApplication instance, deferring timer start";
+    }
 }
 
 AOHDSystem &AOHDSystem::instanceAir()
@@ -108,6 +112,10 @@ bool AOHDSystem::process_message(const mavlink_message_t &msg)
     }
     autofech_params_if_apropriate();
     m_last_message_ms=QOpenHDMavlinkHelper::getTimeMilliseconds();
+    if (!m_is_alive) {
+        // If we were not alive, update status immediately to make UI responsive
+        update_alive();
+    }
     bool consumed=false;
     switch(msg.msgid){
         case MAVLINK_MSG_ID_OPENHD_VERSION_MESSAGE:{

app/telemetry/models/openhd_core/platform.hpp

@@ -20,7 +20,7 @@ static constexpr int X_PLATFORM_TYPE_X86 = 1;
 static constexpr int X_PLATFORM_TYPE_RPI_OLD = 10;
 static constexpr int X_PLATFORM_TYPE_RPI_4 = 11;
 static constexpr int X_PLATFORM_TYPE_RPI_CM4 = 12;
-static constexpr int X_PLATFORM_TYPE_RPI_5 = 12;
+static constexpr int X_PLATFORM_TYPE_RPI_5 = 13;
 
 // Numbers 20..30 are reserved for rockchip
 static constexpr int X_PLATFORM_TYPE_ROCKCHIP_RK3566_RADXA_ZERO3W =
@@ -58,6 +58,8 @@ static std::string x_platform_type_to_string(int platform_type) {
         return "RPI<=3";
     case X_PLATFORM_TYPE_RPI_4:
         return "RPI 4";
+    case X_PLATFORM_TYPE_RPI_CM4:
+        return "RPI CM4";
     case X_PLATFORM_TYPE_RPI_5:
         return "RPI 5";
     // RPI END

app/telemetry/models/wificard.cpp

@@ -17,7 +17,7 @@ static std::string wifi_card_type_to_string(const int card_type) {
     case 3:
         return "88X2EU";
     case 4:
-        return "OPENHD_8852BU";
+        return "OPENHD_8814AU";
     case 5:
         return "ERR_88X2AU";
     case 6:
@@ -33,8 +33,12 @@ static std::string wifi_card_type_to_string(const int card_type) {
     case 11:
         return "BROADCOM";
     case 12:
-        return "INTERNAL";
+        return "OPENHD_8852BU";
     case 13:
+        return "OPENHD_EMULATED";
+    case 14:
+        return "AIC";
+    case 15:
         return "QUALCOMM";
     default:
         return "UNKNOWN";

app/videostreaming/gstreamer/gst_helper.hpp

@@ -54,7 +54,11 @@ static void init_gstreamer(int argc,char* argv[]){
 // NOTE: Basically, it looks as if you NEED to do this before QT loads any .qml file(s) and if it fails
 // qmlglsink won't work !!
 static bool init_qmlglsink(){
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+    GstElement *sink = gst_element_factory_make("qml6glsink", NULL);
+#else
     GstElement *sink = gst_element_factory_make("qmlglsink", NULL);
+#endif
     if(sink==nullptr){
         return false;
     }

app/videostreaming/gstreamer/gstqmlglsinkstream.cpp

@@ -109,11 +109,19 @@ static std::string constructGstreamerPipeline(const QOpenHDVideoHelper::VideoStr
 
     //ss<<" videoconvert n-threads=2 ! queue ! video/x-raw,format=RGBA !";
     if(false){
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+        ss<<"nvvidconv ! glupload  ! qml6glsink name=qmlglsink sync=false";
+#else
         ss<<"nvvidconv ! glupload  ! qmlglsink name=qmlglsink sync=false";
+#endif
     }else{
         ss << " queue ! ";
         ss << " glupload ! glcolorconvert !";
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+        ss << " qml6glsink name=qmlglsink sync=false";
+#else
         ss << " qmlglsink name=qmlglsink sync=false";
+#endif
     }
     return ss.str();
 }

build_qmake.sh

@@ -28,3 +28,18 @@ else
     make -j$(( $(nproc) / 2 ))
 fi
 
+echo "Installing QOpenHD..."
+if [ -f "release/QOpenHD" ]; then
+    sudo cp release/QOpenHD /usr/local/bin/QOpenHD
+elif [ -f "debug/QOpenHD" ]; then
+    sudo cp debug/QOpenHD /usr/local/bin/QOpenHD
+elif [ -f "QOpenHD" ]; then
+    sudo cp QOpenHD /usr/local/bin/QOpenHD
+else
+    echo "Warning: QOpenHD binary not found in build directory."
+    exit 0
+fi
+
+sudo chmod +x /usr/local/bin/QOpenHD
+echo "QOpenHD installed to /usr/local/bin/QOpenHD"
+

qml/ui/configpopup/openhd_settings/PopupScanChannels.qml

@@ -40,7 +40,9 @@ PopupBigGeneric{
         id: model_chann_to_scan
         ListElement {title: qsTr("OpenHD [1-7] only"); value: 0}
         ListElement {title: qsTr("All 2.4G channels"); value: 1}
-        ListElement {title: qsTr("All 5.8G channels"); value: 2}
+        ListElement {title: qsTr("All 5GHz channels"); value: 2}
+        ListElement {title: qsTr("5.2GHz Lower only"); value: 3}
+        ListElement {title: qsTr("5.8GHz Upper only"); value: 4}
     }
 
     ColumnLayout{

qml/ui/configpopup/status/StatusCardBodyOpenHD.qml

@@ -189,14 +189,14 @@ Column {
         m_left_text: qsTr("SysId:")
         m_right_text: {
             var air_fc_sys_id=_ohdSystemAir.air_reported_fc_sys_id;
-            if(air_fc_sys_id==-1){
+            if(air_fc_sys_id==-1 || air_fc_sys_id==255){
                 return qsTr("NOT FOUND")
             }
             return qsTr("FOUND: %1").arg(air_fc_sys_id);
         }
         m_error_text: {
             var air_fc_sys_id=_ohdSystemAir.air_reported_fc_sys_id;
-            if(air_fc_sys_id==-1){
+            if(air_fc_sys_id==-1 || air_fc_sys_id==255){
                 return qsTr("Your AIR Unit cannot find your FC (UART). Please check:\n1) Wiring\n2) Right serial port enabled (OpenHD AIR param set)\n3) MAVLINK selected on your FC uart");
             }
             return qsTr("Please make sure:\n1) ARDUPILOT / PX4: FC sys id needs to be set to 1 (DEFAULT ARDUPILOT SYSID)\n2) INAV / Betaflight: Nothing needs to be changed, sys id should be 0");