Restructure guided takeoff support to work for vtol

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -15,6 +15,7 @@
 #include "APMAirframeComponentController.h"
 #include "APMSensorsComponentController.h"
 #include "MissionManager.h"
+#include "ParameterManager.h"
 
 #include <QTcpSocket>
 
@@ -158,11 +159,18 @@ AutoPilotPlugin* APMFirmwarePlugin::autopilotPlugin(Vehicle* vehicle)
 
 bool APMFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities capabilities)
 {
-    Q_UNUSED(vehicle);
-
-    uint32_t vehicleCapabilities = SetFlightModeCapability | GuidedModeCapability | PauseVehicleCapability;
+    uint32_t available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
+    if (vehicle->multiRotor()) {
+        available |= TakeoffVehicleCapability;
+    } else if (vehicle->fixedWing()) {
+        // Quad plane supports takeoff
+        if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("Q_ENABLE")) &&
+            vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("Q_ENABLE"))->rawValue().toBool()) {
+            available |= TakeoffVehicleCapability;
+        }
+    }
 
-    return (capabilities & vehicleCapabilities) == capabilities;
+    return (capabilities & available) == capabilities;
 }
 
 QList<VehicleComponent*> APMFirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
@@ -880,3 +888,88 @@ void APMFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
 
     vehicle->sendMessageOnLink(vehicle->priorityLink(), msg);
 }
+
+bool APMFirmwarePlugin::isVtol(const Vehicle* vehicle) const
+{
+    if (vehicle->fixedWing()) {
+        if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("Q_ENABLE")) &&
+            vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("Q_ENABLE"))->rawValue().toBool()) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+void APMFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle)
+{
+    _guidedModeTakeoff(vehicle);
+}
+
+bool APMFirmwarePlugin::_guidedModeTakeoff(Vehicle* vehicle)
+{
+    QString takeoffAltParam(vehicle->vtol() ? QStringLiteral("Q_RTL_ALT") : QStringLiteral("PILOT_TKOFF_ALT"));
+    float paramDivisor = vehicle->vtol() ? 1.0 : 100.0; // PILOT_TAKEOFF_ALT is in centimeters
+
+    float takeoffAlt = 0;
+    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, takeoffAltParam)) {
+        Fact* takeoffAltFact = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, takeoffAltParam);
+        takeoffAlt = takeoffAltFact->rawValue().toDouble();
+    }
+    if (takeoffAlt <= 0) {
+        takeoffAlt = 2.5;
+    } else {
+        takeoffAlt /= paramDivisor;   // centimeters -> meters
+    }
+
+    if (!_setFlightModeAndValidate(vehicle, "Guided")) {
+        qgcApp()->showMessage(tr("Unable to takeoff: Vehicle failed to change to Guided mode."));
+        return false;
+    }
+
+    // FIXME: Is this needed?
+    if (!_armVehicleAndValidate(vehicle)) {
+        qgcApp()->showMessage(tr("Unable to takeoff: Vehicle failed to arm."));
+        return false;
+    }
+
+    vehicle->sendMavCommand(vehicle->defaultComponentId(),
+                            MAV_CMD_NAV_TAKEOFF,
+                            true, // show error
+                            0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
+                            takeoffAlt);
+
+    return true;
+}
+
+// FIXME: Review for a better way to do this
+void APMFirmwarePlugin::startMission(Vehicle* vehicle)
+{
+    double currentAlt = vehicle->altitudeRelative()->rawValue().toDouble();
+
+    if (!vehicle->flying()) {
+        if (_guidedModeTakeoff(vehicle)) {
+
+            // Wait for vehicle to get off ground before switching to auto (10 seconds)
+            bool didTakeoff = false;
+            for (int i=0; i<100; i++) {
+                if (vehicle->altitudeRelative()->rawValue().toDouble() >= currentAlt + 1.0) {
+                    didTakeoff = true;
+                    break;
+                }
+                QGC::SLEEP::msleep(100);
+                qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
+            }
+
+            if (!didTakeoff) {
+                qgcApp()->showMessage(QStringLiteral("Unable to start mission. Vehicle takeoff failed."));
+                return;
+            }
+        }
+    }
+
+    if (!_setFlightModeAndValidate(vehicle, missionFlightMode())) {
+        qgcApp()->showMessage(QStringLiteral("Unable to start mission. Vehicle failed to change to auto."));
+        return;
+    }
+}

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -74,9 +74,12 @@ public:
     QList<MAV_CMD> supportedMissionCommands(void) final;
 
     AutoPilotPlugin*    autopilotPlugin                 (Vehicle* vehicle) final;
-    bool                isCapable                       (const Vehicle *vehicle, FirmwareCapabilities capabilities) final;
+    bool                isVtol                          (const Vehicle* vehicle) const final;
+    bool                isCapable                       (const Vehicle *vehicle, FirmwareCapabilities capabilities) override;
     void                setGuidedMode                   (Vehicle* vehicle, bool guidedMode) final;
+    void                guidedModeTakeoff               (Vehicle* vehicle) final;
     void                guidedModeGotoLocation          (Vehicle* vehicle, const QGeoCoordinate& gotoCoord) final;
+    void                startMission                    (Vehicle* vehicle) final;
     QStringList         flightModes                     (Vehicle* vehicle) final;
     QString             flightMode                      (uint8_t base_mode, uint32_t custom_mode) const final;
     bool                setFlightMode                   (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
@@ -121,6 +124,7 @@ private:
     void _handleIncomingHeartbeat(Vehicle* vehicle, mavlink_message_t* message);
     void _handleOutgoingParamSet(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message);
     void _soloVideoHandshake(Vehicle* vehicle);    
+    bool _guidedModeTakeoff(Vehicle* vehicle);
 
     // Any instance data here must be global to all vehicles
     // Vehicle specific data should go into APMFirmwarePluginInstanceData

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -160,45 +160,6 @@ void ArduCopterFirmwarePlugin::guidedModeLand(Vehicle* vehicle)
     _setFlightModeAndValidate(vehicle, "Land");
 }
 
-void ArduCopterFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle)
-{
-    _guidedModeTakeoff(vehicle);
-}
-
-bool ArduCopterFirmwarePlugin::_guidedModeTakeoff(Vehicle* vehicle)
-{
-    QString takeoffAltParam("PILOT_TKOFF_ALT");
-
-    float takeoffAlt = 0;
-    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, takeoffAltParam)) {
-        Fact* takeoffAltFact = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, takeoffAltParam);
-        takeoffAlt = takeoffAltFact->rawValue().toDouble();
-    }
-    if (takeoffAlt <= 0) {
-        takeoffAlt = 2.5;
-    } else {
-        takeoffAlt /= 100;   // centimeters -> meters
-    }
-
-    if (!_setFlightModeAndValidate(vehicle, "Guided")) {
-        qgcApp()->showMessage(tr("Unable to takeoff: Vehicle failed to change to Guided mode."));
-        return false;
-    }
-
-    if (!_armVehicleAndValidate(vehicle)) {
-        qgcApp()->showMessage(tr("Unable to takeoff: Vehicle failed to arm."));
-        return false;
-    }
-
-    vehicle->sendMavCommand(vehicle->defaultComponentId(),
-                            MAV_CMD_NAV_TAKEOFF,
-                            true, // show error
-                            0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
-                            takeoffAlt);
-
-    return true;
-}
-
 bool ArduCopterFirmwarePlugin::multiRotorCoaxialMotors(Vehicle* vehicle)
 {
     Q_UNUSED(vehicle);
@@ -223,34 +184,3 @@ bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle*
     return true;
 }
 
-void ArduCopterFirmwarePlugin::startMission(Vehicle* vehicle)
-{
-    double currentAlt = vehicle->altitudeRelative()->rawValue().toDouble();
-
-    if (!vehicle->flying()) {
-        if (_guidedModeTakeoff(vehicle)) {
-
-            // Wait for vehicle to get off ground before switching to auto (10 seconds)
-            bool didTakeoff = false;
-            for (int i=0; i<100; i++) {
-                if (vehicle->altitudeRelative()->rawValue().toDouble() >= currentAlt + 1.0) {
-                    didTakeoff = true;
-                    break;
-                }
-                QGC::SLEEP::msleep(100);
-                qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
-            }
-
-            if (!didTakeoff) {
-                qgcApp()->showMessage(QStringLiteral("Unable to start mission. Vehicle takeoff failed."));
-                return;
-            }
-        }
-    }
-
-    if (!_setFlightModeAndValidate(vehicle, missionFlightMode())) {
-        qgcApp()->showMessage(QStringLiteral("Unable to start mission. Vehicle failed to change to auto."));
-        return;
-    }
-}
-

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -57,7 +57,6 @@ public:
 
     // Overrides from FirmwarePlugin
     void    guidedModeLand                      (Vehicle* vehicle) final;
-    void    guidedModeTakeoff                   (Vehicle* vehicle) final;
     const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
     int     remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
     bool    multiRotorCoaxialMotors             (Vehicle* vehicle) final;
@@ -68,13 +67,10 @@ public:
     QString takeControlFlightMode               (void) const override { return QString("Loiter"); }
     bool    vehicleYawsToNextWaypointInMission  (const Vehicle* vehicle) const final;
     QString autoDisarmParameter                 (Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral("DISARM_DELAY"); }
-    void    startMission                        (Vehicle* vehicle) override;
 
 private:
     static bool _remapParamNameIntialized;
     static FirmwarePlugin::remapParamNameMajorVersionMap_t  _remapParamName;
-
-    bool _guidedModeTakeoff(Vehicle* vehicle);
 };
 
 #endif

src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h

@@ -60,7 +60,6 @@ public:
     QString offlineEditingParamFile                 (Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Plane.OfflineEditing.params"); }
     QString autoDisarmParameter                     (Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral("LAND_DISARMDELAY"); }
     int     remapParamNameHigestMinorVersionNumber  (int majorVersionNumber) const final;
-    const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
 
 private:
     static bool _remapParamNameIntialized;