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Commit 851d2c9c authored by jaxxzer's avatar jaxxzer Committed by GitHub
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Merge branch 'master' into video-recording

parents 5ce9d168 2a016a3d
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deploy/qgroundcontrol_installer.nsi
View file @ 851d2c9c
......@@ -41,6 +41,8 @@ Var StartMenuFolder
InstallDir $PROGRAMFILES\qgroundcontrol
SetCompressor /SOLID /FINAL lzma
!define MUI_HEADERIMAGE
!define MUI_HEADERIMAGE_BITMAP "installheader.bmp";
......
qgroundcontrol.qrc
View file @ 851d2c9c
......@@ -48,6 +48,7 @@
<file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
<file alias="QGroundControl/Controls/FactSliderPanel.qml">src/QmlControls/FactSliderPanel.qml</file>
<file alias="QGroundControl/Controls/FlightModeDropdown.qml">src/QmlControls/FlightModeDropdown.qml</file>
<file alias="QGroundControl/Controls/FlightModeMenu.qml">src/QmlControls/FlightModeMenu.qml</file>
<file alias="QGroundControl/Controls/GuidedBar.qml">src/QmlControls/GuidedBar.qml</file>
<file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
<file alias="QGroundControl/Controls/JoystickThumbPad.qml">src/QmlControls/JoystickThumbPad.qml</file>
......@@ -167,6 +168,7 @@
<file alias="QGroundControlQmlGlobal.json">src/QmlControls/QGroundControlQmlGlobal.json</file>
<file alias="RallyPoint.FactMetaData.json">src/MissionManager/RallyPoint.FactMetaData.json</file>
<file alias="Survey.FactMetaData.json">src/MissionManager/Survey.FactMetaData.json</file>
<file alias="USBBoardInfo.json">src/comm/USBBoardInfo.json</file>
</qresource>
<qresource prefix="/MockLink">
<file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
......
src/AnalyzeView/ExifParser.cc
View file @ 851d2c9c
......@@ -178,17 +178,17 @@ bool ExifParser::write(QByteArray &buf, QGeoCoordinate coordinate)
// Filling up the additional information that does not fit into the fields
gpsData.readable.extendedData.gpsLat[0] = abs(static_cast<int>(coordinate.latitude()));
gpsData.readable.extendedData.gpsLat[1] = 1;
gpsData.readable.extendedData.gpsLat[2] = static_cast<int>((fabs(coordinate.latitude()) - floor(fabs(coordinate.latitude()))) * 60000.0);
gpsData.readable.extendedData.gpsLat[3] = 1000;
gpsData.readable.extendedData.gpsLat[4] = 0;
gpsData.readable.extendedData.gpsLat[5] = 1;
gpsData.readable.extendedData.gpsLat[2] = static_cast<int>((fabs(coordinate.latitude()) - floor(fabs(coordinate.latitude()))) * 60.0);
gpsData.readable.extendedData.gpsLat[3] = 1;
gpsData.readable.extendedData.gpsLat[4] = static_cast<int>((fabs(coordinate.latitude()) * 60.0 - floor(fabs(coordinate.latitude()) * 60.0)) * 60000.0);
gpsData.readable.extendedData.gpsLat[5] = 1000;
gpsData.readable.extendedData.gpsLon[0] = abs(static_cast<int>(coordinate.longitude()));
gpsData.readable.extendedData.gpsLon[1] = 1;
gpsData.readable.extendedData.gpsLon[2] = static_cast<int>((fabs(coordinate.longitude()) - floor(fabs(coordinate.longitude()))) * 60000.0);
gpsData.readable.extendedData.gpsLon[3] = 1000;
gpsData.readable.extendedData.gpsLon[4] = 0;
gpsData.readable.extendedData.gpsLon[5] = 1;
gpsData.readable.extendedData.gpsLon[2] = static_cast<int>((fabs(coordinate.longitude()) - floor(fabs(coordinate.longitude()))) * 60.0);
gpsData.readable.extendedData.gpsLon[3] = 1;
gpsData.readable.extendedData.gpsLon[4] = static_cast<int>((fabs(coordinate.longitude()) * 60.0 - floor(fabs(coordinate.longitude()) * 60.0)) * 60000.0);
gpsData.readable.extendedData.gpsLon[5] = 1000;
gpsData.readable.extendedData.gpsAlt[0] = coordinate.altitude() * 100;
gpsData.readable.extendedData.gpsAlt[1] = 100;
......
src/FirmwarePlugin/FirmwarePluginManager.cc
View file @ 851d2c9c
......@@ -30,14 +30,11 @@ QList<MAV_AUTOPILOT> FirmwarePluginManager::knownFirmwareTypes(void)
{
if (_knownFirmwareTypes.isEmpty()) {
QList<FirmwarePluginFactory*> factoryList = FirmwarePluginFactoryRegister::instance()->pluginFactories();
for (int i=0; i<factoryList.count(); i++) {
for (int i = 0; i < factoryList.count(); i++) {
_knownFirmwareTypes.append(factoryList[i]->knownFirmwareTypes());
}
_knownFirmwareTypes.append(MAV_AUTOPILOT_GENERIC);
}
_knownFirmwareTypes.append(MAV_AUTOPILOT_GENERIC);
return _knownFirmwareTypes;
}
......
src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json
View file @ 851d2c9c
......@@ -7,7 +7,13 @@
{
"id": 21,
"comment": "MAV_CMD_NAV_LAND",
"paramRemove": "1,4"
"paramRemove": "1,4",
"param7": {
"label": "Altitude:",
"units": "m",
"default": 0,
"decimalPlaces": 1
}
},
{
"id": 22,
......
src/FlightDisplay/MultiVehicleList.qml
View file @ 851d2c9c
......@@ -77,10 +77,10 @@ QGCListView {
color: _textColor
}
QGCLabel {
text: _vehicle.flightMode
font.pointSize: ScreenTools.largeFontPointSize
color: _textColor
FlightModeMenu {
font.pointSize: ScreenTools.largeFontPointSize
color: _textColor
activeVehicle: _vehicle
}
}
......
src/Joystick/JoystickManager.cc
View file @ 851d2c9c
......@@ -53,7 +53,10 @@ void JoystickManager::setToolbox(QGCToolbox *toolbox)
_multiVehicleManager = _toolbox->multiVehicleManager();
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
}
void JoystickManager::discoverJoysticks()
{
#ifdef __sdljoystick__
_name2JoystickMap = JoystickSDL::discover(_multiVehicleManager);
#elif defined(__android__)
......
src/Joystick/JoystickManager.h
View file @ 851d2c9c
......@@ -48,6 +48,9 @@ public:
// Override from QGCTool
virtual void setToolbox(QGCToolbox *toolbox);
public slots:
void discoverJoysticks();
signals:
void activeJoystickChanged(Joystick* joystick);
void activeJoystickNameChanged(const QString& name);
......
src/Joystick/JoystickSDL.cc
View file @ 851d2c9c
......@@ -15,7 +15,7 @@ JoystickSDL::JoystickSDL(const QString& name, int axisCount, int buttonCount, in
QMap<QString, Joystick*> JoystickSDL::discover(MultiVehicleManager* _multiVehicleManager) {
static QMap<QString, Joystick*> ret;
if (SDL_InitSubSystem(SDL_INIT_GAMECONTROLLER | SDL_INIT_NOPARACHUTE) < 0) {
if (SDL_InitSubSystem(SDL_INIT_GAMECONTROLLER | SDL_INIT_JOYSTICK | SDL_INIT_NOPARACHUTE) < 0) {
qWarning() << "Couldn't initialize SimpleDirectMediaLayer:" << SDL_GetError();
return ret;
}
......@@ -33,7 +33,7 @@ QMap<QString, Joystick*> JoystickSDL::discover(MultiVehicleManager* _multiVehicl
int axisCount, buttonCount, hatCount;
bool isGameController;
SDL_Joystick* sdlJoystick = SDL_JoystickOpen(i);
if (SDL_IsGameController(i)) {
isGameController = true;
axisCount = SDL_CONTROLLER_AXIS_MAX;
......@@ -41,15 +41,23 @@ QMap<QString, Joystick*> JoystickSDL::discover(MultiVehicleManager* _multiVehicl
hatCount = 0;
} else {
isGameController = false;
axisCount = SDL_JoystickNumAxes(sdlJoystick);
buttonCount = SDL_JoystickNumButtons(sdlJoystick);
hatCount = SDL_JoystickNumHats(sdlJoystick);
if (SDL_Joystick* sdlJoystick = SDL_JoystickOpen(i)) {
SDL_ClearError();
axisCount = SDL_JoystickNumAxes(sdlJoystick);
buttonCount = SDL_JoystickNumButtons(sdlJoystick);
hatCount = SDL_JoystickNumHats(sdlJoystick);
if (axisCount < 0 || buttonCount < 0 || hatCount < 0) {
qCWarning(JoystickLog) << "\t libsdl error parsing joystick features:" << SDL_GetError();
}
SDL_JoystickClose(sdlJoystick);
} else {
qCWarning(JoystickLog) << "\t libsdl failed opening joystick" << qPrintable(name) << "error:" << SDL_GetError();
continue;
}
}
SDL_JoystickClose(sdlJoystick);
qCDebug(JoystickLog) << "\t" << name << "axes:" << axisCount << "buttons:" << buttonCount << "hats:" << hatCount << "isGC:" << isGameController;
ret[name] = new JoystickSDL(name, axisCount, buttonCount, hatCount, i, isGameController, _multiVehicleManager);
ret[name] = new JoystickSDL(name, qMax(0,axisCount), qMax(0,buttonCount), qMax(0,hatCount), i, isGameController, _multiVehicleManager);
} else {
qCDebug(JoystickLog) << "\tSkipping duplicate" << name;
}
......
src/MissionEditor/MissionEditor.qml
View file @ 851d2c9c
......@@ -37,7 +37,7 @@ QGCView {
readonly property real _margin: ScreenTools.defaultFontPixelHeight * 0.5
readonly property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
readonly property real _rightPanelWidth: Math.min(parent.width / 3, ScreenTools.defaultFontPixelWidth * 30)
readonly property real _rightPanelOpacity: 0.8
readonly property real _rightPanelOpacity: 1
readonly property int _toolButtonCount: 6
readonly property real _toolButtonTopMargin: parent.height - ScreenTools.availableHeight + (ScreenTools.defaultFontPixelHeight / 2)
readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276)
......
src/MissionEditor/MissionItemEditor.qml
View file @ 851d2c9c
......@@ -18,8 +18,8 @@ Rectangle {
color: _currentItem ? qgcPal.buttonHighlight : qgcPal.windowShade
radius: _radius
property var missionItem ///< MissionItem associated with this editor
property bool readOnly ///< true: read only view, false: full editing view
property var missionItem ///< MissionItem associated with this editor
property bool readOnly ///< true: read only view, false: full editing view
signal clicked
signal remove
......@@ -33,6 +33,7 @@ Rectangle {
readonly property real _editFieldWidth: Math.min(width - _margin * 2, ScreenTools.defaultFontPixelWidth * 12)
readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2
readonly property real _radius: ScreenTools.defaultFontPixelWidth / 2
readonly property real _hamburgerSize: commandPicker.height * 0.75
QGCPalette {
id: qgcPal
......@@ -54,16 +55,17 @@ Rectangle {
color: _outerTextColor
}
Image {
QGCColoredImage {
id: hamburger
anchors.rightMargin: ScreenTools.defaultFontPixelWidth
anchors.right: parent.right
anchors.verticalCenter: commandPicker.verticalCenter
width: commandPicker.height
height: commandPicker.height
sourceSize.height: height
width: _hamburgerSize
height: _hamburgerSize
sourceSize.height: _hamburgerSize
source: "qrc:/qmlimages/Hamburger.svg"
visible: missionItem.isCurrentItem && missionItem.sequenceNumber != 0
color: qgcPal.windowShade
MouseArea {
anchors.fill: parent
......
src/MissionEditor/MissionSettingsEditor.qml
View file @ 851d2c9c
......@@ -37,6 +37,7 @@ Rectangle {
property bool _showOfflineEditingCombos: _offlineEditing && _noMissionItemsAdded
property bool _showCruiseSpeed: !_missionVehicle.multiRotor
property bool _showHoverSpeed: _missionVehicle.multiRotor || missionController.vehicle.vtol
property bool _multipleFirmware: QGroundControl.supportedFirmwareCount > 2
readonly property string _firmwareLabel: qsTr("Firmware:")
readonly property string _vehicleLabel: qsTr("Vehicle:")
......@@ -50,7 +51,9 @@ Rectangle {
anchors.top: parent.top
spacing: _margin
QGCLabel { text: qsTr("Planned Home Position:") }
QGCLabel {
text: qsTr("Planned Home Position")
}
Rectangle {
anchors.left: parent.left
......@@ -90,27 +93,25 @@ Rectangle {
}
}
QGCButton {
text: qsTr("Move Home to map center")
visible: missionItem.homePosition
onClicked: editorRoot.moveHomeToMapCenter()
anchors.horizontalCenter: parent.horizontalCenter
}
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("Note: Planned home position for mission display only. Actual home position set by vehicle at flight time.")
text: qsTr("Actual position set by vehicle at flight time.")
horizontalAlignment: Text.AlignHCenter
}
QGCLabel { text: qsTr("Vehicle Info:") }
QGCLabel {
text: qsTr("Vehicle Info:")
visible: _multipleFirmware
}
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
visible: _multipleFirmware
}
GridLayout {
......@@ -119,6 +120,7 @@ Rectangle {
columnSpacing: ScreenTools.defaultFontPixelWidth
rowSpacing: columnSpacing
columns: 2
visible: _multipleFirmware
QGCLabel {
text: _firmwareLabel
......@@ -187,8 +189,23 @@ Rectangle {
width: parent.width
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("Note: Speeds are planned speeds only for time calculations. Actual vehicle will not be affected.")
visible: _multipleFirmware
text: qsTr("Speeds are only for time calculations. Actual vehicle will not be affected.")
}
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
QGCButton {
text: qsTr("Set Home To Map Center")
onClicked: editorRoot.moveHomeToMapCenter()
anchors.horizontalCenter: parent.horizontalCenter
}
} // Column
} // Item
} // Component
......
src/MissionManager/GeoFenceController.cc
View file @ 851d2c9c
......@@ -214,7 +214,7 @@ void GeoFenceController::loadFromFile(const QString& filename)
QFile file(filename);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
errorString = file.errorString();
errorString = file.errorString() + QStringLiteral(" ") + filename;
} else {
QJsonDocument jsonDoc;
QByteArray bytes = file.readAll();
......
src/MissionManager/MissionController.cc
View file @ 851d2c9c
......@@ -87,7 +87,7 @@ void MissionController::_init(void)
{
// We start with an empty mission
_visualItems = new QmlObjectListModel(this);
_addPlannedHomePosition(_visualItems, false /* addToCenter */);
_addPlannedHomePosition(_activeVehicle, _visualItems, false /* addToCenter */);
_initAllVisualItems();
}
......@@ -113,11 +113,11 @@ void MissionController::_newMissionItemsAvailableFromVehicle(void)
_deinitAllVisualItems();
_visualItems->deleteListAndContents();
_visualItems->deleteLater();
_visualItems = newControllerMissionItems;
if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) {
_addPlannedHomePosition(_visualItems,true /* addToCenter */);
_addPlannedHomePosition(_activeVehicle, _visualItems,true /* addToCenter */);
}
_missionItemsRequested = false;
......@@ -139,12 +139,18 @@ void MissionController::loadFromVehicle(void)
void MissionController::sendToVehicle(void)
{
if (_activeVehicle) {
sendItemsToVehicle(_activeVehicle, _visualItems);
_visualItems->setDirty(false);
}
void MissionController::sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems)
{
if (vehicle) {
// Convert to MissionItems so we can send to vehicle
QList<MissionItem*> missionItems;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
for (int i=0; i<visualMissionItems->count(); i++) {
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(visualMissionItems->get(i));
if (visualItem->isSimpleItem()) {
missionItems.append(new MissionItem(qobject_cast<SimpleMissionItem*>(visualItem)->missionItem()));
} else {
......@@ -153,15 +159,14 @@ void MissionController::sendToVehicle(void)
for (int j=0; j<complexMissionItems->count(); j++) {
missionItems.append(new MissionItem(*qobject_cast<MissionItem*>(complexMissionItems->get(j))));
}
delete complexMissionItems;
complexMissionItems->deleteLater();
}
}
_activeVehicle->missionManager()->writeMissionItems(missionItems);
_visualItems->setDirty(false);
vehicle->missionManager()->writeMissionItems(missionItems);
for (int i=0; i<missionItems.count(); i++) {
delete missionItems[i];
missionItems[i]->deleteLater();
}
}
}
......@@ -216,7 +221,7 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
int MissionController::insertComplexMissionItem(QGeoCoordinate coordinate, int i)
{
int sequenceNumber = _nextSequenceNumber();
SurveyMissionItem* newItem = new SurveyMissionItem(_activeVehicle, this);
SurveyMissionItem* newItem = new SurveyMissionItem(_activeVehicle, _visualItems);
newItem->setSequenceNumber(sequenceNumber);
newItem->setCoordinate(coordinate);
_initVisualItem(newItem);
......@@ -260,15 +265,15 @@ void MissionController::removeAll(void)
{
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->deleteListAndContents();
_visualItems->deleteLater();
_visualItems = new QmlObjectListModel(this);
_addPlannedHomePosition(_visualItems, false /* addToCenter */);
_addPlannedHomePosition(_activeVehicle, _visualItems, false /* addToCenter */);
_initAllVisualItems();
_visualItems->setDirty(true);
}
}
bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString)
bool MissionController::_loadJsonMissionFile(Vehicle* vehicle, const QByteArray& bytes, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString)
{
QJsonParseError jsonParseError;
QJsonDocument jsonDoc(QJsonDocument::fromJson(bytes, &jsonParseError));
......@@ -295,13 +300,13 @@ bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectL
}
if (fileVersion == 1) {
return _loadJsonMissionFileV1(json, visualItems, complexItems, errorString);
return _loadJsonMissionFileV1(vehicle, json, visualItems, complexItems, errorString);
} else {
return _loadJsonMissionFileV2(json, visualItems, complexItems, errorString);
return _loadJsonMissionFileV2(vehicle, json, visualItems, complexItems, errorString);
}
}
bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString)
bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString)
{
// Validate root object keys
QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = {
......@@ -325,7 +330,7 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
return false;
}
SurveyMissionItem* item = new SurveyMissionItem(_activeVehicle, this);
SurveyMissionItem* item = new SurveyMissionItem(vehicle, visualItems);
const QJsonObject itemObject = itemValue.toObject();
if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
complexItems->append(item);
......@@ -368,7 +373,7 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
}
const QJsonObject itemObject = itemValue.toObject();
SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
SimpleMissionItem* item = new SimpleMissionItem(vehicle, visualItems);
if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
qCDebug(MissionControllerLog) << "Json load: adding simple item expectedSequence:actualSequence" << nextSequenceNumber << item->sequenceNumber();
visualItems->append(item);
......@@ -381,7 +386,7 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
} while (nextSimpleItemIndex < itemArray.count() || nextComplexItemIndex < complexItems->count());
if (json.contains(_jsonPlannedHomePositionKey)) {
SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
SimpleMissionItem* item = new SimpleMissionItem(vehicle, visualItems);
if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) {
visualItems->insert(0, item);
......@@ -389,13 +394,13 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
return false;
}
} else {
_addPlannedHomePosition(visualItems, true /* addToCenter */);
_addPlannedHomePosition(vehicle, visualItems, true /* addToCenter */);
}
return true;
}
bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString)
bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString)
{
// Validate root object keys
QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = {
......@@ -417,7 +422,7 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
if (!JsonHelper::loadGeoCoordinate(json[_jsonPlannedHomePositionKey], true /* altitudeRequired */, homeCoordinate, errorString)) {
return false;
}
if (json.contains(_jsonVehicleTypeKey) && _activeVehicle->isOfflineEditingVehicle()) {
if (json.contains(_jsonVehicleTypeKey) && vehicle->isOfflineEditingVehicle()) {
QGroundControlQmlGlobal::offlineEditingVehicleType()->setRawValue(json[_jsonVehicleTypeKey].toDouble());
}
if (json.contains(_jsonCruiseSpeedKey)) {
......@@ -427,7 +432,7 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
QGroundControlQmlGlobal::offlineEditingHoverSpeed()->setRawValue(json[_jsonHoverSpeedKey].toDouble());
}
SimpleMissionItem* homeItem = new SimpleMissionItem(_activeVehicle, this);
SimpleMissionItem* homeItem = new SimpleMissionItem(vehicle, visualItems);
homeItem->setCoordinate(homeCoordinate);
visualItems->insert(0, homeItem);
qCDebug(MissionControllerLog) << "plannedHomePosition" << homeCoordinate;
......@@ -457,7 +462,7 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
if (itemType == VisualMissionItem::jsonTypeSimpleItemValue) {
qCDebug(MissionControllerLog) << "Loading MISSION_ITEM: nextSequenceNumber" << nextSequenceNumber;
SimpleMissionItem* simpleItem = new SimpleMissionItem(_activeVehicle, this);
SimpleMissionItem* simpleItem = new SimpleMissionItem(vehicle, visualItems);
if (simpleItem->load(itemObject, nextSequenceNumber++, errorString)) {
visualItems->append(simpleItem);
} else {
......@@ -474,7 +479,7 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
if (complexItemType == SurveyMissionItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Survey: nextSequenceNumber" << nextSequenceNumber;
SurveyMissionItem* surveyItem = new SurveyMissionItem(_activeVehicle, this);
SurveyMissionItem* surveyItem = new SurveyMissionItem(vehicle, visualItems);
if (!surveyItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
......@@ -519,7 +524,7 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
return true;
}
bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString)
bool MissionController::_loadTextMissionFile(Vehicle* vehicle, QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString)
{
bool addPlannedHomePosition = false;
......@@ -540,7 +545,7 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
if (versionOk) {
while (!stream.atEnd()) {
SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
SimpleMissionItem* item = new SimpleMissionItem(vehicle, visualItems);
if (item->load(stream)) {
visualItems->append(item);
......@@ -555,7 +560,7 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
}
if (addPlannedHomePosition || visualItems->count() == 0) {
_addPlannedHomePosition(visualItems, true /* addToCenter */);
_addPlannedHomePosition(vehicle, visualItems, true /* addToCenter */);
// Update sequence numbers in DO_JUMP commands to take into account added home position in index 0
for (int i=1; i<visualItems->count(); i++) {
......@@ -571,19 +576,49 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
void MissionController::loadFromFile(const QString& filename)
{
QmlObjectListModel* newVisualItems = NULL;
QmlObjectListModel* newComplexItems = NULL;
if (!loadItemsFromFile(_activeVehicle, filename, &newVisualItems, &newComplexItems)) {
return;
}
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->deleteLater();
}
if (_complexItems) {
_complexItems->deleteLater();
}
_visualItems = newVisualItems;
_complexItems = newComplexItems;
if (_visualItems->count() == 0) {
_addPlannedHomePosition(_activeVehicle, _visualItems, true /* addToCenter */);
}
_initAllVisualItems();
}
bool MissionController::loadItemsFromFile(Vehicle* vehicle, const QString& filename, QmlObjectListModel** visualItems, QmlObjectListModel** complexItems)
{
*visualItems = NULL;
*complexItems = NULL;
QString errorString;
if (filename.isEmpty()) {
return;
return false;
}
QmlObjectListModel* newVisualItems = new QmlObjectListModel(this);
QmlObjectListModel* newComplexItems = new QmlObjectListModel(this);
*visualItems = new QmlObjectListModel();
*complexItems = new QmlObjectListModel();
QFile file(filename);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
errorString = file.errorString();
errorString = file.errorString() + QStringLiteral(" ") + filename;
} else {
QByteArray bytes = file.readAll();
QTextStream stream(&bytes);
......@@ -591,42 +626,21 @@ void MissionController::loadFromFile(const QString& filename)
QString firstLine = stream.readLine();
if (firstLine.contains(QRegExp("QGC.*WPL"))) {
stream.seek(0);
_loadTextMissionFile(stream, newVisualItems, errorString);
_loadTextMissionFile(vehicle, stream, *visualItems, errorString);
} else {
_loadJsonMissionFile(bytes, newVisualItems, newComplexItems, errorString);
_loadJsonMissionFile(vehicle, bytes, *visualItems, *complexItems, errorString);
}
}
if (!errorString.isEmpty()) {
for (int i=0; i<newVisualItems->count(); i++) {
newVisualItems->get(i)->deleteLater();
}
for (int i=0; i<newComplexItems->count(); i++) {
newComplexItems->get(i)->deleteLater();
}
delete newVisualItems;
delete newComplexItems;
(*visualItems)->deleteLater();
(*complexItems)->deleteLater();
qgcApp()->showMessage(errorString);
return;
}
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->deleteListAndContents();
}
if (_complexItems) {
_complexItems->deleteLater();
}
_visualItems = newVisualItems;
_complexItems = newComplexItems;
if (_visualItems->count() == 0) {
_addPlannedHomePosition(_visualItems, true /* addToCenter */);
return false;
}
_initAllVisualItems();
return true;
}
void MissionController::loadFromFilePicker(void)
......@@ -1394,11 +1408,11 @@ double MissionController::_normalizeLon(double lon)
}
/// Add the home position item to the front of the list
void MissionController::_addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter)
void MissionController::_addPlannedHomePosition(Vehicle* vehicle, QmlObjectListModel* visualItems, bool addToCenter)
{
bool homePositionSet = false;
SimpleMissionItem* homeItem = new SimpleMissionItem(_activeVehicle, this);
SimpleMissionItem* homeItem = new SimpleMissionItem(vehicle, visualItems);
visualItems->insert(0, homeItem);
if (visualItems->count() > 1 && addToCenter) {
......
src/MissionManager/MissionController.h
View file @ 851d2c9c
......@@ -59,6 +59,17 @@ public:
/// @return Sequence number for new item
Q_INVOKABLE int insertComplexMissionItem(QGeoCoordinate coordinate, int i);
/// Loads the mission items from the specified file
/// @param[in] vehicle Vehicle we are loading items for
/// @param[in] filename File to load from
/// @param[out] visualItems Visual items loaded, returns NULL if error
/// @param[out] complexItems Complex items loaded, returns NULL if error
/// @return success/fail
static bool loadItemsFromFile(Vehicle* vehicle, const QString& filename, QmlObjectListModel** visualItems, QmlObjectListModel** complexItems);
/// Sends the mission items to the specified vehicle
static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems);
// Overrides from PlanElementController
void start (bool editMode) final;
void startStaticActiveVehicle (Vehicle* vehicle) final;
......@@ -135,13 +146,13 @@ private:
static double _calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem);
bool _findLastAltitude(double* lastAltitude, MAV_FRAME* frame);
bool _findLastAcceptanceRadius(double* lastAcceptanceRadius);
void _addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter);
double _normalizeLat(double lat);
double _normalizeLon(double lon);
bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
bool _loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
bool _loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
static double _normalizeLat(double lat);
static double _normalizeLon(double lon);
static void _addPlannedHomePosition(Vehicle* vehicle, QmlObjectListModel* visualItems, bool addToCenter);
static bool _loadJsonMissionFile(Vehicle* vehicle, const QByteArray& bytes, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
static bool _loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
static bool _loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
static bool _loadTextMissionFile(Vehicle* vehicle, QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
int _nextSequenceNumber(void);
void _setMissionDistance(double missionDistance);
void _setMissionTime(double missionTime);
......
src/MissionManager/MissionLoader.h 0 → 100644
View file @ 851d2c9c
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#ifndef MissionController_H
#define MissionController_H
#include "PlanElementController.h"
#include "QmlObjectListModel.h"
#include "Vehicle.h"
#include "QGCLoggingCategory.h"
#include "MavlinkQmlSingleton.h"
#include "VisualMissionItem.h"
#include <QHash>
class CoordinateVector;
Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
typedef QPair<VisualMissionItem*,VisualMissionItem*> VisualItemPair;
typedef QHash<VisualItemPair, CoordinateVector*> CoordVectHashTable;
class MissionController : public PlanElementController
{
Q_OBJECT
public:
MissionController(QObject* parent = NULL);
~MissionController();
Q_PROPERTY(QGeoCoordinate plannedHomePosition READ plannedHomePosition NOTIFY plannedHomePositionChanged)
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QmlObjectListModel* complexVisualItems READ complexVisualItems NOTIFY complexVisualItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(double missionDistance READ missionDistance NOTIFY missionDistanceChanged)
Q_PROPERTY(double missionTime READ missionTime NOTIFY missionTimeChanged)
Q_PROPERTY(double missionHoverDistance READ missionHoverDistance NOTIFY missionHoverDistanceChanged)
Q_PROPERTY(double missionCruiseDistance READ missionCruiseDistance NOTIFY missionCruiseDistanceChanged)
Q_PROPERTY(double missionHoverTime READ missionHoverTime NOTIFY missionHoverTimeChanged)
Q_PROPERTY(double missionCruiseTime READ missionCruiseTime NOTIFY missionCruiseTimeChanged)
Q_PROPERTY(double missionMaxTelemetry READ missionMaxTelemetry NOTIFY missionMaxTelemetryChanged)
Q_INVOKABLE void removeMissionItem(int index);
/// Add a new simple mission item to the list
/// @param i: index to insert at
/// @return Sequence number for new item
Q_INVOKABLE int insertSimpleMissionItem(QGeoCoordinate coordinate, int i);
/// Add a new complex mission item to the list
/// @param i: index to insert at
/// @return Sequence number for new item
Q_INVOKABLE int insertComplexMissionItem(QGeoCoordinate coordinate, int i);
// Overrides from PlanElementController
void start (bool editMode) final;
void startStaticActiveVehicle (Vehicle* vehicle) final;
void loadFromVehicle (void) final;
void sendToVehicle (void) final;
void loadFromFilePicker (void) final;
void loadFromFile (const QString& filename) final;
void saveToFilePicker (void) final;
void saveToFile (const QString& filename) final;
void removeAll (void) final;
bool syncInProgress (void) const final;
bool dirty (void) const final;
void setDirty (bool dirty) final;
QString fileExtension(void) const final;
// Property accessors
QGeoCoordinate plannedHomePosition (void);
QmlObjectListModel* visualItems (void) { return _visualItems; }
QmlObjectListModel* complexVisualItems (void) { return _complexItems; }
QmlObjectListModel* waypointLines (void) { return &_waypointLines; }
double missionDistance (void) const { return _missionDistance; }
double missionTime (void) const { return _missionTime; }
double missionHoverDistance (void) const { return _missionHoverDistance; }
double missionHoverTime (void) const { return _missionHoverTime; }
double missionCruiseDistance (void) const { return _missionCruiseDistance; }
double missionCruiseTime (void) const { return _missionCruiseTime; }
double missionMaxTelemetry (void) const { return _missionMaxTelemetry; }
double cruiseSpeed (void) const;
double hoverSpeed (void) const;
static void createVisualItemsFromFile(const QString& filename);
signals:
void plannedHomePositionChanged(QGeoCoordinate plannedHomePosition);
void visualItemsChanged(void);
void complexVisualItemsChanged(void);
void waypointLinesChanged(void);
void newItemsFromVehicle(void);
void missionDistanceChanged(double missionDistance);
void missionTimeChanged(void);
void missionHoverDistanceChanged(double missionHoverDistance);
void missionHoverTimeChanged(void);
void missionCruiseDistanceChanged(double missionCruiseDistance);
void missionCruiseTimeChanged(void);
void missionMaxTelemetryChanged(double missionMaxTelemetry);
void cruiseDistanceChanged(double cruiseDistance);
void hoverDistanceChanged(double hoverDistance);
void cruiseSpeedChanged(double cruiseSpeed);
void hoverSpeedChanged(double hoverSpeed);
private slots:
void _newMissionItemsAvailableFromVehicle();
void _itemCommandChanged(void);
void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable);
void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
void _inProgressChanged(bool inProgress);
void _currentMissionItemChanged(int sequenceNumber);
void _recalcWaypointLines(void);
void _recalcAltitudeRangeBearing(void);
void _homeCoordinateChanged(void);
private:
void _init(void);
void _recalcSequence(void);
void _recalcChildItems(void);
void _recalcAll(void);
void _initAllVisualItems(void);
void _deinitAllVisualItems(void);
void _initVisualItem(VisualMissionItem* item);
void _deinitVisualItem(VisualMissionItem* item);
void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
static void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
static double _calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem);
bool _findLastAltitude(double* lastAltitude, MAV_FRAME* frame);
bool _findLastAcceptanceRadius(double* lastAcceptanceRadius);
void _addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter);
double _normalizeLat(double lat);
double _normalizeLon(double lon);
bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
bool _loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
bool _loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
int _nextSequenceNumber(void);
void _setMissionDistance(double missionDistance);
void _setMissionTime(double missionTime);
void _setMissionHoverDistance(double missionHoverDistance);
void _setMissionHoverTime(double missionHoverTime);
void _setMissionCruiseDistance(double missionCruiseDistance);
void _setMissionCruiseTime(double missionCruiseTime);
void _setMissionMaxTelemetry(double missionMaxTelemetry);
// Overrides from PlanElementController
void _activeVehicleBeingRemoved(void) final;
void _activeVehicleSet(void) final;
private:
QmlObjectListModel* _visualItems;
QmlObjectListModel* _complexItems;
QmlObjectListModel _waypointLines;
CoordVectHashTable _linesTable;
bool _firstItemsFromVehicle;
bool _missionItemsRequested;
bool _queuedSend;
double _missionDistance;
double _missionTime;
double _missionHoverDistance;
double _missionHoverTime;
double _missionCruiseDistance;
double _missionCruiseTime;
double _missionMaxTelemetry;
static const char* _settingsGroup;
static const char* _jsonFileTypeValue;
static const char* _jsonFirmwareTypeKey;
static const char* _jsonVehicleTypeKey;
static const char* _jsonCruiseSpeedKey;
static const char* _jsonHoverSpeedKey;
static const char* _jsonItemsKey;
static const char* _jsonPlannedHomePositionKey;
static const char* _jsonParamsKey;
// Deprecated V1 format keys
static const char* _jsonMavAutopilotKey;
static const char* _jsonComplexItemsKey;
static const int _missionFileVersion;
};
#endif
src/MissionManager/RallyPointController.cc
View file @ 851d2c9c
......@@ -111,7 +111,7 @@ void RallyPointController::loadFromFile(const QString& filename)
QFile file(filename);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
errorString = file.errorString();
errorString = file.errorString() + QStringLiteral(" ") + filename;
} else {
QJsonDocument jsonDoc;
QByteArray bytes = file.readAll();
......
src/QGCApplication.cc
View file @ 851d2c9c
......@@ -429,6 +429,9 @@ bool QGCApplication::_initForNormalAppBoot(void)
// Load known link configurations
toolbox()->linkManager()->loadLinkConfigurationList();
// Probe for joysticks - TODO: manage on a timer or use events to deal with hotplug
toolbox()->joystickManager()->discoverJoysticks();
if (_settingsUpgraded) {
settings.clear();
settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
......
src/QGCPalette.cc
View file @ 851d2c9c
......@@ -42,7 +42,7 @@ QColor QGCPalette::_text[QGCPalette::_cThemes][QGCPalette::_cColorGroups] = {
QColor QGCPalette::_warningText[QGCPalette::_cThemes][QGCPalette::_cColorGroups] = {
{ QColor("#cc0808"), QColor("#cc0808") },
{ QColor("#e4e428"), QColor("#e4e428") }
{ QColor("0xed, 0xd4, 0x69"), QColor("0xed, 0xd4, 0x69") }
};
QColor QGCPalette::_button[QGCPalette::_cThemes][QGCPalette::_cColorGroups] = {
......@@ -57,7 +57,7 @@ QColor QGCPalette::_buttonText[QGCPalette::_cThemes][QGCPalette::_cColorGroups]
QColor QGCPalette::_buttonHighlight[QGCPalette::_cThemes][QGCPalette::_cColorGroups] = {
{ QColor("#e4e4e4"), QColor("#33b5e5") },
{ QColor(0x58, 0x58, 0x58), QColor(237, 235, 51) },
{ QColor(0x58, 0x58, 0x58), QColor(0xed, 0xd4, 0x69) },
};
QColor QGCPalette::_buttonHighlightText[QGCPalette::_cThemes][QGCPalette::_cColorGroups] = {
......
src/QmlControls/FlightModeMenu.qml 0 → 100644
View file @ 851d2c9c
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.5
import QtQuick.Controls 1.2
import QGroundControl 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
// Label control whichs pop up a flight mode change menu when clicked
QGCLabel {
id: flightModeMenuLabel
text: activeVehicle ? activeVehicle.flightMode : qsTr("N/A", "No data to display")
property var activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
Menu {
id: flightModesMenu
}
Component {
id: flightModeMenuItemComponent
MenuItem {
onTriggered: activeVehicle.flightMode = text
}
}
property var flightModesMenuItems: []
function updateFlightModesMenu() {
if (activeVehicle && activeVehicle.flightModeSetAvailable) {
// Remove old menu items
for (var i = 0; i < flightModesMenuItems.length; i++) {
flightModesMenu.removeItem(flightModesMenuItems[i])
}
flightModesMenuItems.length = 0
// Add new items
for (var i = 0; i < activeVehicle.flightModes.length; i++) {
var menuItem = flightModeMenuItemComponent.createObject(null, { "text": activeVehicle.flightModes[i] })
flightModesMenuItems.push(menuItem)
flightModesMenu.insertItem(i, menuItem)
}
}
}
Component.onCompleted: flightModeMenuLabel.updateFlightModesMenu()
Connections {
target: QGroundControl.multiVehicleManager
onActiveVehicleChanged: flightModeMenuLabel.updateFlightModesMenu()
}
MouseArea {
visible: activeVehicle && activeVehicle.flightModeSetAvailable
anchors.fill: parent
onClicked: flightModesMenu.popup()
}
}
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