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

qgcresources.qrc

@@ -109,6 +109,7 @@
         <file alias="compassInstrumentDial.svg">src/FlightMap/Images/compassInstrumentDial.svg</file>
         <file alias="crossHair.svg">src/FlightMap/Images/crossHair.svg</file>
         <file alias="PiP.svg">src/FlightMap/Images/PiP.svg</file>
+        <file alias="pipResize.svg">src/FlightMap/Images/pipResize.svg</file>
         <file alias="rollDialWhite.svg">src/FlightMap/Images/rollDialWhite.svg</file>
         <file alias="rollPointerWhite.svg">src/FlightMap/Images/rollPointerWhite.svg</file>
         <file alias="scale.png">src/FlightMap/Images/scale.png</file>

qgroundcontrol.pro

@@ -527,6 +527,7 @@ HEADERS += \
     src/MissionManager/SimpleMissionItem.h \
     src/MissionManager/Section.h \
     src/MissionManager/SpeedSection.h \
+    src/MissionManager/StructureScanComplexItem.h \
     src/MissionManager/SurveyMissionItem.h \
     src/MissionManager/VisualMissionItem.h \
     src/PositionManager/PositionManager.h \
@@ -713,6 +714,7 @@ SOURCES += \
     src/MissionManager/RallyPointManager.cc \
     src/MissionManager/SimpleMissionItem.cc \
     src/MissionManager/SpeedSection.cc \
+    src/MissionManager/StructureScanComplexItem.cc \
     src/MissionManager/SurveyMissionItem.cc \
     src/MissionManager/VisualMissionItem.cc \
     src/PositionManager/PositionManager.cpp \

qgroundcontrol.qrc

@@ -115,6 +115,7 @@
         <file alias="QGroundControl/Controls/SignalStrength.qml">src/ui/toolbar/SignalStrength.qml</file>
         <file alias="QGroundControl/Controls/SimpleItemMapVisual.qml">src/PlanView/SimpleItemMapVisual.qml</file>
         <file alias="QGroundControl/Controls/SliderSwitch.qml">src/QmlControls/SliderSwitch.qml</file>
+		<file alias="QGroundControl/Controls/StructureScanMapVisual.qml">src/PlanView/StructureScanMapVisual.qml</file>
         <file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
         <file alias="QGroundControl/Controls/SurveyMapVisual.qml">src/PlanView/SurveyMapVisual.qml</file>
         <file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
@@ -179,7 +180,7 @@
         <file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
         <file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
         <file alias="SimpleItemEditor.qml">src/PlanView/SimpleItemEditor.qml</file>
-        <file alias="SurveyItemEditor.qml">src/PlanView/SurveyItemEditor.qml</file>
+        <file alias="StructureScanEditor.qml">src/PlanView/StructureScanEditor.qml</file>
         <file alias="FWLandingPatternEditor.qml">src/PlanView/FWLandingPatternEditor.qml</file>
         <file alias="MissionSettingsEditor.qml">src/PlanView/MissionSettingsEditor.qml</file>
         <file alias="TcpSettings.qml">src/ui/preferences/TcpSettings.qml</file>
@@ -206,6 +207,7 @@
 		<file alias="QGCMapCircle.Facts.json">src/MissionManager/QGCMapCircle.Facts.json</file>
         <file alias="RTK.SettingsGroup.json">src/Settings/RTK.SettingsGroup.json</file>
         <file alias="Survey.SettingsGroup.json">src/MissionManager/Survey.SettingsGroup.json</file>
+		<file alias="StructureScan.SettingsGroup.json">src/MissionManager/StructureScan.SettingsGroup.json</file>
         <file alias="Units.SettingsGroup.json">src/Settings/Units.SettingsGroup.json</file>
         <file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
         <file alias="RallyPoint.FactMetaData.json">src/MissionManager/RallyPoint.FactMetaData.json</file>

src/AnalyzeView/LogDownloadController.cc

@@ -173,7 +173,7 @@ LogDownloadController::_logEntry(UASInterface* uas, uint32_t time_utc, uint32_t
     //-- Update this log record
     if(num_logs > 0) {
         //-- Skip if empty (APM first packet)
-        if(size) {
+        if(size || _vehicle->firmwareType() != MAV_AUTOPILOT_ARDUPILOTMEGA) {
             id -= _apmOneBased;
             if(id < _logEntriesModel.count()) {
                 QGCLogEntry* entry = _logEntriesModel[id];

src/AnalyzeView/ULogParser.cc

@@ -36,7 +36,7 @@ int ULogParser::sizeOfType(QString& typeName)
         return 1;
     }
 
-    qWarning() << "Unkown type in ULog : " << typeName;
+    qWarning() << "Unknown type in ULog : " << typeName;
     return 0;
 }
 

src/FactSystem/FactMetaData.cc

@@ -68,6 +68,7 @@ const char* FactMetaData::_shortDescriptionJsonKey =    "shortDescription";
 const char* FactMetaData::_longDescriptionJsonKey =     "longDescription";
 const char* FactMetaData::_unitsJsonKey =               "units";
 const char* FactMetaData::_defaultValueJsonKey =        "defaultValue";
+const char* FactMetaData::_mobileDefaultValueJsonKey =  "mobileDefaultValue";
 const char* FactMetaData::_minJsonKey =                 "min";
 const char* FactMetaData::_maxJsonKey =                 "max";
 const char* FactMetaData::_hasControlJsonKey =          "control";
@@ -971,9 +972,17 @@ FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QObjec
     if (json.contains(_unitsJsonKey)) {
         metaData->setRawUnits(json[_unitsJsonKey].toString());
     }
+#ifdef __mobile__
+    if (json.contains(_mobileDefaultValueJsonKey)) {
+        metaData->setRawDefaultValue(json[_mobileDefaultValueJsonKey].toVariant());
+    } else if (json.contains(_defaultValueJsonKey)) {
+        metaData->setRawDefaultValue(json[_defaultValueJsonKey].toVariant());
+    }
+#else
     if (json.contains(_defaultValueJsonKey)) {
         metaData->setRawDefaultValue(json[_defaultValueJsonKey].toVariant());
     }
+#endif
     if (json.contains(_minJsonKey)) {
         QVariant typedValue;
         QString errorString;

src/FactSystem/FactMetaData.h

@@ -260,6 +260,7 @@ private:
     static const char*  _longDescriptionJsonKey;
     static const char*  _unitsJsonKey;
     static const char*  _defaultValueJsonKey;
+    static const char*  _mobileDefaultValueJsonKey;
     static const char*  _minJsonKey;
     static const char*  _maxJsonKey;
     static const char* _hasControlJsonKey;

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -162,12 +162,10 @@ bool APMFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities c
     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;
-        }
+    } else if (vehicle->fixedWing() || vehicle->vtol()) {
+        // Due to the way ArduPilot marks a vtol aircraft, we don't know if something is a vtol at initial connection.
+        // So we always enabled takeoff for fixed wing.
+        available |= TakeoffVehicleCapability;
     }
 
     return (capabilities & available) == capabilities;
@@ -908,6 +906,11 @@ void APMFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle)
 
 bool APMFirmwarePlugin::_guidedModeTakeoff(Vehicle* vehicle)
 {
+    if (!vehicle->multiRotor() && !vehicle->vtol()) {
+        qgcApp()->showMessage(tr("Vehicle does not support guided takeoff"));
+        return false;
+    }
+
     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
 
@@ -965,6 +968,8 @@ void APMFirmwarePlugin::startMission(Vehicle* vehicle)
                 qgcApp()->showMessage(QStringLiteral("Unable to start mission. Vehicle takeoff failed."));
                 return;
             }
+        } else {
+            return;
         }
     }
 

src/FlightDisplay/FlightDisplayView.qml

@@ -49,7 +49,7 @@ QGCView {
     property bool   _isPipVisible:          QGroundControl.videoManager.hasVideo ? QGroundControl.loadBoolGlobalSetting(_PIPVisibleKey, true) : false
     property real   _savedZoomLevel:        0
     property real   _margins:               ScreenTools.defaultFontPixelWidth / 2
-    property real   _pipSize:               mainWindow.width * 0.2
+    property real   _pipSize:               flightView.width * 0.2
     property alias  _guidedController:      guidedActionsController
     property alias  _altitudeSlider:        altitudeSlider
 
@@ -287,6 +287,9 @@ QGCView {
             onHideIt: {
                 setPipVisibility(!state)
             }
+            onNewWidth: {
+                _pipSize = newWidth
+            }
         }
 
         Row {

src/FlightDisplay/FlightDisplayViewWidgets.qml

@@ -42,8 +42,7 @@ Item {
         if(ScreenTools.isMobile) {
             return ScreenTools.isTinyScreen ? mainWindow.width * 0.2 : mainWindow.width * 0.15
         }
-        var w = mainWindow.width * 0.15
-        return Math.min(w, 200)
+        return ScreenTools.defaultFontPixelWidth * 30
     }
 
     function _setInstrumentWidget() {

src/Joystick/Joystick.cc

@@ -75,6 +75,8 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
         _rgButtonValues[i] = false;
     }
 
+    _updateTXModeSettingsKey(_multiVehicleManager->activeVehicle());
+
     _loadSettings();
 
     connect(_multiVehicleManager, &MultiVehicleManager::activeVehicleChanged, this, &Joystick::_activeVehicleChanged);
@@ -119,7 +121,7 @@ void Joystick::_setDefaultCalibration(void) {
     _saveSettings();
 }
 
-void Joystick::_activeVehicleChanged(Vehicle *activeVehicle)
+void Joystick::_updateTXModeSettingsKey(Vehicle* activeVehicle)
 {
     if(activeVehicle) {
         if(activeVehicle->fixedWing()) {
@@ -137,7 +139,16 @@ void Joystick::_activeVehicleChanged(Vehicle *activeVehicle)
             qWarning() << "No valid joystick TXmode settings key for selected vehicle";
             return;
         }
+    } else {
+        _txModeSettingsKey = NULL;
+    }
+}
 
+void Joystick::_activeVehicleChanged(Vehicle* activeVehicle)
+{
+    _updateTXModeSettingsKey(activeVehicle);
+
+    if(activeVehicle) {
         QSettings settings;
         settings.beginGroup(_settingsGroup);
         int mode = settings.value(_txModeSettingsKey, activeVehicle->firmwarePlugin()->defaultJoystickTXMode()).toInt();
@@ -152,8 +163,10 @@ void Joystick::_loadSettings(void)
 
     settings.beginGroup(_settingsGroup);
 
-    if(_txModeSettingsKey)
-        _transmitterMode = settings.value(_txModeSettingsKey, 2).toInt();
+    Vehicle* activeVehicle = _multiVehicleManager->activeVehicle();
+
+    if(_txModeSettingsKey && activeVehicle)
+        _transmitterMode = settings.value(_txModeSettingsKey, activeVehicle->firmwarePlugin()->defaultJoystickTXMode()).toInt();
 
     settings.beginGroup(_name);
 

src/Joystick/Joystick.h

@@ -181,6 +181,7 @@ private:
     virtual int _getAxis(int i) = 0;
     virtual uint8_t _getHat(int hat,int i) = 0;
 
+    void _updateTXModeSettingsKey(Vehicle* activeVehicle);
     int _mapFunctionMode(int mode, int function);
     void _remapAxes(int currentMode, int newMode, int (&newMapping)[maxFunction]);
 

src/Joystick/JoystickSDL.cc

@@ -65,7 +65,7 @@ QMap<QString, Joystick*> JoystickSDL::discover(MultiVehicleManager* _multiVehicl
 
             qCDebug(JoystickLog) << "\t" << name << "axes:" << axisCount << "buttons:" << buttonCount << "hats:" << hatCount << "isGC:" << isGameController;
 
-            // Check for joysticks with duplicate names and differentiate the keys when neccessary.
+            // Check for joysticks with duplicate names and differentiate the keys when necessary.
             // This is required when using an Xbox 360 wireless receiver that always identifies as
             // 4 individual joysticks, regardless of how many joysticks are actually connected to the
             // receiver. Using GUID does not help, all of these devices present the same GUID.

src/MissionManager/ComplexMissionItem.h

@@ -24,6 +24,7 @@ public:
     Q_PROPERTY(double   complexDistance     READ complexDistance    NOTIFY complexDistanceChanged)
 
     /// @return The distance covered the complex mission item in meters.
+    /// Signals complexDistanceChanged
     virtual double complexDistance(void) const = 0;
 
     /// @return Amount of additional time delay in seconds needed to fly the complex item
@@ -39,6 +40,7 @@ public:
     /// Get the point of complex mission item furthest away from a coordinate
     ///     @param other QGeoCoordinate to which distance is calculated
     /// @return the greatest distance from any point of the complex item to some coordinate
+    /// Signals greatestDistanceToChanged
     virtual double greatestDistanceTo(const QGeoCoordinate &other) const = 0;
 
     /// This mission item attribute specifies the type of the complex item.
@@ -46,6 +48,7 @@ public:
 
 signals:
     void complexDistanceChanged     (double complexDistance);
+    void greatestDistanceToChanged  (void);
     void additionalTimeDelayChanged (double additionalTimeDelay);
 };
 

src/MissionManager/MissionController.cc

@@ -18,6 +18,7 @@
 #include "SimpleMissionItem.h"
 #include "SurveyMissionItem.h"
 #include "FixedWingLandingComplexItem.h"
+#include "StructureScanComplexItem.h"
 #include "JsonHelper.h"
 #include "ParameterManager.h"
 #include "QGroundControlQmlGlobal.h"
@@ -60,6 +61,7 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
     , _itemsRequested(false)
     , _surveyMissionItemName(tr("Survey"))
     , _fwLandingMissionItemName(tr("Fixed Wing Landing"))
+    , _structureScanMissionItemName(tr("Structure Scan"))
     , _appSettings(qgcApp()->toolbox()->settingsManager()->appSettings())
     , _progressPct(0)
 {
@@ -283,11 +285,11 @@ void MissionController::convertToKMLDocument(QDomDocument& document)
             qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, item->command());
 
         if (uiInfo && uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate()) {
-            coord = QString::number(item->param6()) \
+            coord = QString::number(item->param6(),'f',7) \
                 + "," \
-                + QString::number(item->param5()) \
+                + QString::number(item->param5(),'f',7) \
                 + "," \
-                + QString::number(item->param7() + altitude);
+                + QString::number(item->param7() + altitude,'f',2);
             coords.append(coord);
         }
     }
@@ -379,6 +381,8 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
         }
     } else if (itemName == _fwLandingMissionItemName) {
         newItem = new FixedWingLandingComplexItem(_controllerVehicle, _visualItems);
+    } else if (itemName == _structureScanMissionItemName) {
+        newItem = new StructureScanComplexItem(_controllerVehicle, _visualItems);
     } else {
         qWarning() << "Internal error: Unknown complex item:" << itemName;
         return sequenceNumber;
@@ -1475,6 +1479,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
         ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
         if (complexItem) {
             connect(complexItem, &ComplexMissionItem::complexDistanceChanged,       this, &MissionController::_recalcMissionFlightStatus);
+            connect(complexItem, &ComplexMissionItem::greatestDistanceToChanged,    this, &MissionController::_recalcMissionFlightStatus);
             connect(complexItem, &ComplexMissionItem::additionalTimeDelayChanged,   this, &MissionController::_recalcMissionFlightStatus);
         } else {
             qWarning() << "ComplexMissionItem not found";
@@ -1769,6 +1774,9 @@ QStringList MissionController::complexMissionItemNames(void) const
     if (_controllerVehicle->fixedWing()) {
         complexItems.append(_fwLandingMissionItemName);
     }
+    if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
+        complexItems.append(_structureScanMissionItemName);
+    }
 
     return complexItems;
 }

src/MissionManager/MissionController.h

@@ -231,6 +231,7 @@ private:
     MissionFlightStatus_t   _missionFlightStatus;
     QString                 _surveyMissionItemName;
     QString                 _fwLandingMissionItemName;
+    QString                 _structureScanMissionItemName;
     AppSettings*            _appSettings;
     double                  _progressPct;
 

src/MissionManager/MissionItemTest.cc

@@ -297,7 +297,7 @@ void MissionItemTest::_testLoadFromJsonV1(void)
     QString     errorString;
     QJsonObject jsonObject = _createV1Json();
 
-    // V1 format has param 1-4 in seperate items instead of in params array
+    // V1 format has param 1-4 in separate items instead of in params array
 
     QStringList removeKeys;
     removeKeys << MissionItem::_jsonParam1Key << MissionItem::_jsonParam2Key << MissionItem::_jsonParam3Key << MissionItem::_jsonParam4Key;