diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index fc2c9105b69288fb3e9a6258151b17aa3cdd91b7..4c1deeab950f8315938b7259c8acf480ab478fac 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -272,6 +272,8 @@
<file alias="VibrationPage.qml">src/AnalyzeView/VibrationPage.qml</file>
<file alias="VirtualJoystick.qml">src/FlightDisplay/VirtualJoystick.qml</file>
<file alias="VTOLLandingPatternEditor.qml">src/PlanView/VTOLLandingPatternEditor.qml</file>
+ <file alias="QGroundControl/FlightMap/ProximityRadarMapView.qml">src/FlightMap/MapItems/ProximityRadarMapView.qml</file>
+ <file alias="QGroundControl/FlightDisplay/ProximityRadarVideoView.qml">src/FlightDisplay/ProximityRadarVideoView.qml</file>
</qresource>
<qresource prefix="/FirstRunPromptDialogs">
<file alias="UnitsFirstRunPrompt.qml">src/FirstRunPromptDialogs/UnitsFirstRunPrompt.qml</file>
diff --git a/src/FlightDisplay/FlyViewMap.qml b/src/FlightDisplay/FlyViewMap.qml
index f38f8bf0dac2842d6609a417cd881501feafece4..f3e79932cac3d214957d25a906376b71f4d032e8 100644
--- a/src/FlightDisplay/FlyViewMap.qml
+++ b/src/FlightDisplay/FlyViewMap.qml
@@ -253,7 +253,16 @@ FlightMap {
z: QGroundControl.zOrderVehicles
}
}
-
+ // Add distance sensor view
+ MapItemView{
+ model: QGroundControl.multiVehicleManager.vehicles
+ delegate: ProximityRadarMapView {
+ vehicle: object
+ coordinate: object.coordinate
+ map: _root
+ z: QGroundControl.zOrderVehicles
+ }
+ }
// Add ADSB vehicles to the map
MapItemView {
model: QGroundControl.adsbVehicleManager.adsbVehicles
diff --git a/src/FlightDisplay/FlyViewVideo.qml b/src/FlightDisplay/FlyViewVideo.qml
index f90613aaac7d3a784965378f67aa33ad79338b58..0fa32bd115b6e810c571498bc3b07c0728500f46 100644
--- a/src/FlightDisplay/FlyViewVideo.qml
+++ b/src/FlightDisplay/FlyViewVideo.qml
@@ -9,8 +9,9 @@
import QtQuick 2.12
-import QGroundControl 1.0
-import QGroundControl.Controls 1.0
+import QGroundControl 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Controllers 1.0
Item {
id: _root
@@ -67,4 +68,9 @@ Item {
enabled: pipState.state === pipState.fullState
onDoubleClicked: QGroundControl.videoManager.fullScreen = !QGroundControl.videoManager.fullScreen
}
+
+ ProximityRadarVideoView{
+ anchors.fill: parent
+ vehicle: QGroundControl.multiVehicleManager.activeVehicle
+ }
}
diff --git a/src/FlightDisplay/ProximityRadarVideoView.qml b/src/FlightDisplay/ProximityRadarVideoView.qml
new file mode 100644
index 0000000000000000000000000000000000000000..ea5d0e71c4c0773a2a818cda649105b5fe2e2a36
--- /dev/null
+++ b/src/FlightDisplay/ProximityRadarVideoView.qml
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ * (c) 2009-2020 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 2.12
+import QtLocation 5.3
+import QtPositioning 5.3
+import QtGraphicalEffects 1.0
+
+import QGroundControl 1.0
+import QGroundControl.ScreenTools 1.0
+import QGroundControl.Vehicle 1.0
+import QGroundControl.Controls 1.0
+//import QGroundControl.Controllers 1.0
+
+
+
+/// Marker for displaying a vehicle location on the map
+Item {
+ id: _root
+ anchors.fill: parent
+
+ property var vehicle /// Vehicle object, undefined for ADSB vehicle
+ property var range
+
+ property var _distanceSensor: vehicle?vehicle.distanceSensors:null
+ property var _range: range?range:6 // default 6m view
+
+ property var _rotationNone: _distanceSensor?_distanceSensor.rotationNone.value:0
+ property var _rotationYaw45: _distanceSensor?_distanceSensor.rotationYaw45.value:0
+ property var _rotationYaw90: _distanceSensor?_distanceSensor.rotationYaw90.value:0
+ property var _rotationYaw135: _distanceSensor?_distanceSensor.rotationYaw135.value:0
+ property var _rotationYaw180: _distanceSensor?_distanceSensor.rotationYaw180.value:0
+ property var _rotationYaw225: _distanceSensor?_distanceSensor.rotationYaw225.value:0
+ property var _rotationYaw270: _distanceSensor?_distanceSensor.rotationYaw270.value:0
+ property var _rotationYaw315: _distanceSensor?_distanceSensor.rotationYaw315.value:0
+ property var _rottab: [_rotationNone,_rotationYaw45,_rotationYaw90,_rotationYaw135,_rotationYaw180,_rotationYaw225,_rotationYaw270,_rotationYaw315]
+
+// on_RottabChanged: _sectorViewEllipsoid.requestPaint()
+ on_RotationNoneChanged: _sectorViewEllipsoid.requestPaint()
+ on_RotationYaw45Changed: _sectorViewEllipsoid.requestPaint()
+ on_RotationYaw90Changed: _sectorViewEllipsoid.requestPaint()
+ on_RotationYaw135Changed: _sectorViewEllipsoid.requestPaint()
+ on_RotationYaw180Changed: _sectorViewEllipsoid.requestPaint()
+ on_RotationYaw225Changed: _sectorViewEllipsoid.requestPaint()
+ on_RotationYaw270Changed: _sectorViewEllipsoid.requestPaint()
+ on_RotationYaw315Changed: _sectorViewEllipsoid.requestPaint()
+
+ property var _minlength: Math.min(_root.width,_root.height)
+ property var _ratio: (_minlength/2)/_root._range
+
+ Canvas{
+ id:_sectorViewEllipsoid
+ anchors.fill: _root
+ opacity: 0.5
+ visible: _distanceSensor?true:false
+ onPaint: {
+ if(_distanceSensor) {
+ var ctx = getContext("2d");
+ ctx.reset();
+ ctx.translate(width/2,height/2)
+ ctx.strokeStyle = Qt.rgba(1, 0, 0, 1);
+ ctx.lineWidth = width/100;
+ ctx.scale(_root.width / _minlength,_root.height / _minlength);
+ ctx.rotate(-Math.PI/2-Math.PI/8);
+ for(var i=0; i< _rottab.length; i++)
+ {
+ var a=Math.PI/4*i;
+ ctx.beginPath();
+ ctx.arc(0,0,_rottab[i]*_ratio,0+a+Math.PI/50,Math.PI/4+a-Math.PI/50,false);
+ ctx.stroke();
+ }
+ }
+ }
+ }
+ Item{
+ anchors.fill: parent
+ visible: _distanceSensor?true:false
+ Repeater{
+ model: _rottab
+ QGCLabel{
+ x: _sectorViewEllipsoid.width / 2-width/2
+ y: _sectorViewEllipsoid.height / 2-height/2
+ text: modelData
+ font.family: ScreenTools.demiboldFontFamily
+ transform: Translate {
+ x: Math.cos(-Math.PI/2+Math.PI/4*index)*(modelData*_ratio)
+ y: Math.sin(-Math.PI/2+Math.PI/4*index)*(modelData*_ratio)
+ }
+ }
+ }
+ transform: Scale {
+ origin.x: _sectorViewEllipsoid.width / 2
+ origin.y: _sectorViewEllipsoid.height / 2
+ xScale: _root.width / _minlength
+ yScale: _root.height / _minlength
+ }
+
+
+ }
+
+}
+
diff --git a/src/FlightMap/MapItems/ProximityRadarMapView.qml b/src/FlightMap/MapItems/ProximityRadarMapView.qml
new file mode 100644
index 0000000000000000000000000000000000000000..71273981610b96ec66a53c0ff75d2868ac0d2d23
--- /dev/null
+++ b/src/FlightMap/MapItems/ProximityRadarMapView.qml
@@ -0,0 +1,148 @@
+/****************************************************************************
+ *
+ * (c) 2009-2020 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 2.12
+import QtLocation 5.3
+import QtPositioning 5.3
+import QtGraphicalEffects 1.0
+
+import QGroundControl 1.0
+import QGroundControl.ScreenTools 1.0
+import QGroundControl.Vehicle 1.0
+import QGroundControl.Controls 1.0
+
+
+
+/// Marker for displaying a vehicle location on the map
+MapQuickItem {
+ id: _root
+ property var vehicle /// Vehicle object, undefined for ADSB vehicle
+ property var map
+ property double heading: vehicle ? vehicle.heading.value : Number.NaN ///< Vehicle heading, NAN for none
+
+ anchorPoint.x: vehicleItem.width / 2
+ anchorPoint.y: vehicleItem.height / 2
+ visible: coordinate.isValid
+
+ property bool _adsbVehicle: vehicle ? false : true
+ property real _uavSize: ScreenTools.defaultFontPixelHeight * 5
+ property real _adsbSize: ScreenTools.defaultFontPixelHeight * 2.5
+ property var _map: map
+ property bool _multiVehicle: QGroundControl.multiVehicleManager.vehicles.count > 1
+ property real _ratio: 1
+
+ property var _distanceSensor: vehicle?vehicle.distanceSensors:null
+ property var _maxSensor: _distanceSensor?_distanceSensor.maxDistance.value:1 //need to change in cc
+ property var _rotationNone: _distanceSensor?_distanceSensor.rotationNone.value:0
+ property var _rotationYaw45: _distanceSensor?_distanceSensor.rotationYaw45.value:0
+ property var _rotationYaw90: _distanceSensor?_distanceSensor.rotationYaw90.value:0
+ property var _rotationYaw135: _distanceSensor?_distanceSensor.rotationYaw135.value:0
+ property var _rotationYaw180: _distanceSensor?_distanceSensor.rotationYaw180.value:0
+ property var _rotationYaw225: _distanceSensor?_distanceSensor.rotationYaw225.value:0
+ property var _rotationYaw270: _distanceSensor?_distanceSensor.rotationYaw270.value:0
+ property var _rotationYaw315: _distanceSensor?_distanceSensor.rotationYaw315.value:0
+ property var _rottab: [_rotationNone,_rotationYaw45,_rotationYaw90,_rotationYaw135,_rotationYaw180,_rotationYaw225,_rotationYaw270,_rotationYaw315]
+
+ function calcSize(){
+ if(_map) {
+ var scaleLinePixelLength = 100
+ var leftCoord = _map.toCoordinate(Qt.point(0, 0), false /* clipToViewPort */)
+ var rightCoord = _map.toCoordinate(Qt.point(scaleLinePixelLength, 0), false /* clipToViewPort */)
+ var scaleLineMeters = Math.round(leftCoord.distanceTo(rightCoord))
+ }
+ _ratio=scaleLinePixelLength/scaleLineMeters;
+ }
+
+ on_RotationNoneChanged: vehicleSensors.requestPaint()
+ on_RotationYaw45Changed: vehicleSensors.requestPaint()
+ on_RotationYaw90Changed: vehicleSensors.requestPaint()
+ on_RotationYaw135Changed: vehicleSensors.requestPaint()
+ on_RotationYaw180Changed: vehicleSensors.requestPaint()
+ on_RotationYaw225Changed: vehicleSensors.requestPaint()
+ on_RotationYaw270Changed: vehicleSensors.requestPaint()
+ on_RotationYaw315Changed: vehicleSensors.requestPaint()
+
+
+
+ Connections {
+ target: map
+ onWidthChanged: scaleTimer.restart()
+ onHeightChanged: scaleTimer.restart()
+ onZoomLevelChanged: scaleTimer.restart()
+ }
+
+ Timer {
+ id: scaleTimer
+ interval: 100
+ running: false
+ repeat: false
+ onTriggered: calcSize()
+ }
+
+ sourceItem: Item {
+ id: vehicleItem
+ width: detectionLimitCircle.width
+ height: detectionLimitCircle.height
+ opacity: 0.5
+
+ Canvas{
+ id: vehicleSensors
+ anchors.fill: detectionLimitCircle
+ transform: Rotation {
+ origin.x: detectionLimitCircle.width / 2
+ origin.y: detectionLimitCircle.height / 2
+ angle: isNaN(heading) ? 0 : heading
+ }
+ function deg2rad(degrees)
+ {
+ var pi = Math.PI;
+ return degrees * (pi/180);
+ }
+ onPaint: {
+ if(_distanceSensor)
+ {
+ var ctx = getContext("2d");
+ ctx.reset();
+ ctx.translate(width/2,height/2)
+ ctx.rotate(-Math.PI/2);
+ ctx.lineWidth = 5;
+ ctx.strokeStyle = Qt.rgba(1, 0, 0, 1);
+ for(var i=0; i<_rottab.length;i++){
+ var a=deg2rad(360-22.5)+Math.PI/4*i;
+ ctx.beginPath();
+ ctx.arc(0,0,_rottab[i]*_ratio, a,a+Math.PI/4,false);
+ ctx.stroke();
+ }
+
+ }
+ }
+ }
+
+ Rectangle {
+ id: detectionLimitCircle
+ width: _maxSensor*2*_ratio
+ height: _maxSensor*2*_ratio
+ anchors.fill: detectionLimitCircle
+ color: Qt.rgba(1,1,1,0)
+ border.color: Qt.rgba(1,1,1,1)
+ border.width: 5
+ radius: width*0.5
+ transform: Rotation {
+ origin.x: detectionLimitCircle.width / 2
+ origin.y: detectionLimitCircle.height / 2
+ angle: isNaN(heading) ? 0 : heading
+ }
+ }
+
+ Component.onCompleted: {
+ calcSize();
+ }
+ }
+}
+
diff --git a/src/QmlControls/QGroundControl/FlightDisplay/qmldir b/src/QmlControls/QGroundControl/FlightDisplay/qmldir
index 5cf441110e21c00531949447d7be84df5b3ae859..0da559c1cd0c449c6b195f78a149c457d58a8491 100644
--- a/src/QmlControls/QGroundControl/FlightDisplay/qmldir
+++ b/src/QmlControls/QGroundControl/FlightDisplay/qmldir
@@ -28,6 +28,7 @@ PreFlightGPSCheck 1.0 PreFlightGPSCheck.qml
PreFlightRCCheck 1.0 PreFlightRCCheck.qml
PreFlightSensorsHealthCheck 1.0 PreFlightSensorsHealthCheck.qml
PreFlightSoundCheck 1.0 PreFlightSoundCheck.qml
+ProximityRadarVideoView 1.0 ProximityRadarVideoView.qml
TerrainProgress 1.0 TerrainProgress.qml
TelemetryValuesBar 1.0 TelemetryValuesBar.qml
VehicleWarnings 1.0 VehicleWarnings.qml
diff --git a/src/QmlControls/QGroundControl/FlightMap/qmldir b/src/QmlControls/QGroundControl/FlightMap/qmldir
index 1d863ace4ecc8ae367ba40bc369e403aaf1f4d48..bf52d1de4a402525e361c8425248c468cb2ab0cb 100644
--- a/src/QmlControls/QGroundControl/FlightMap/qmldir
+++ b/src/QmlControls/QGroundControl/FlightMap/qmldir
@@ -28,5 +28,6 @@ MissionItemView 1.0 MissionItemView.qml
MissionLineView 1.0 MissionLineView.qml
PlanMapItems 1.0 PlanMapItems.qml
PolygonEditor 1.0 PolygonEditor.qml
+ProximityRadarMapView 1.0 ProximityRadarMapView.qml
SplitIndicator 1.0 SplitIndicator.qml
VehicleMapItem 1.0 VehicleMapItem.qml
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index e3083c13ad3565de942c964010301423fa2ed738..f5be62ef85da2db22d315abc7dd36bf5f62d691f 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1139,6 +1139,7 @@ void Vehicle::_handleDistanceSensor(mavlink_message_t& message)
if (orientation2Fact.orientation == distanceSensor.orientation) {
orientation2Fact.fact->setRawValue(distanceSensor.current_distance / 100.0); // cm to meters
}
+ _distanceSensorFactGroup.maxDistance()->setRawValue(distanceSensor.max_distance/100.0);
}
}
@@ -4483,6 +4484,7 @@ const char* VehicleDistanceSensorFactGroup::_rotationYaw270FactName = "rotatio
const char* VehicleDistanceSensorFactGroup::_rotationYaw315FactName = "rotationYaw315";
const char* VehicleDistanceSensorFactGroup::_rotationPitch90FactName = "rotationPitch90";
const char* VehicleDistanceSensorFactGroup::_rotationPitch270FactName = "rotationPitch270";
+const char* VehicleDistanceSensorFactGroup::_maxDistanceFactName = "maxDistance";
VehicleDistanceSensorFactGroup::VehicleDistanceSensorFactGroup(QObject* parent)
: FactGroup (1000, ":/json/Vehicle/DistanceSensorFact.json", parent)
@@ -4496,6 +4498,7 @@ VehicleDistanceSensorFactGroup::VehicleDistanceSensorFactGroup(QObject* parent)
, _rotationYaw315Fact (0, _rotationYaw315FactName, FactMetaData::valueTypeDouble)
, _rotationPitch90Fact (0, _rotationPitch90FactName, FactMetaData::valueTypeDouble)
, _rotationPitch270Fact (0, _rotationPitch270FactName, FactMetaData::valueTypeDouble)
+ , _maxDistanceFact (0, _maxDistanceFactName, FactMetaData::valueTypeDouble)
{
_addFact(&_rotationNoneFact, _rotationNoneFactName);
_addFact(&_rotationYaw45Fact, _rotationYaw45FactName);
@@ -4507,6 +4510,7 @@ VehicleDistanceSensorFactGroup::VehicleDistanceSensorFactGroup(QObject* parent)
_addFact(&_rotationYaw315Fact, _rotationYaw315FactName);
_addFact(&_rotationPitch90Fact, _rotationPitch90FactName);
_addFact(&_rotationPitch270Fact, _rotationPitch270FactName);
+ _addFact(&_maxDistanceFact, _maxDistanceFactName);
// Start out as not available "--.--"
_rotationNoneFact.setRawValue(qQNaN());
@@ -4518,6 +4522,7 @@ VehicleDistanceSensorFactGroup::VehicleDistanceSensorFactGroup(QObject* parent)
_rotationYaw270Fact.setRawValue(qQNaN());
_rotationPitch90Fact.setRawValue(qQNaN());
_rotationPitch270Fact.setRawValue(qQNaN());
+ _maxDistanceFact.setRawValue(qQNaN());
}
const char* VehicleEstimatorStatusFactGroup::_goodAttitudeEstimateFactName = "goodAttitudeEsimate";
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 9044fcdf7aac28ab53c0418d7d3c90e92d7149da..f8790850ee0a90a91402014908553a229fd1ae90 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -73,17 +73,19 @@ public:
Q_PROPERTY(Fact* rotationYaw315 READ rotationYaw315 CONSTANT)
Q_PROPERTY(Fact* rotationPitch90 READ rotationPitch90 CONSTANT)
Q_PROPERTY(Fact* rotationPitch270 READ rotationPitch270 CONSTANT)
+ Q_PROPERTY(Fact* maxDistance READ maxDistance CONSTANT)
Fact* rotationNone () { return &_rotationNoneFact; }
Fact* rotationYaw45 () { return &_rotationYaw45Fact; }
Fact* rotationYaw90 () { return &_rotationYaw90Fact; }
- Fact* rotationYaw135 () { return &_rotationYaw90Fact; }
+ Fact* rotationYaw135 () { return &_rotationYaw135Fact; }
Fact* rotationYaw180 () { return &_rotationYaw180Fact; }
- Fact* rotationYaw225 () { return &_rotationYaw180Fact; }
+ Fact* rotationYaw225 () { return &_rotationYaw225Fact; }
Fact* rotationYaw270 () { return &_rotationYaw270Fact; }
Fact* rotationYaw315 () { return &_rotationYaw315Fact; }
Fact* rotationPitch90 () { return &_rotationPitch90Fact; }
Fact* rotationPitch270 () { return &_rotationPitch270Fact; }
+ Fact* maxDistance () { return &_maxDistanceFact; }
static const char* _rotationNoneFactName;
static const char* _rotationYaw45FactName;
@@ -95,6 +97,7 @@ public:
static const char* _rotationYaw315FactName;
static const char* _rotationPitch90FactName;
static const char* _rotationPitch270FactName;
+ static const char* _maxDistanceFactName;
private:
Fact _rotationNoneFact;
@@ -107,6 +110,7 @@ private:
Fact _rotationYaw315Fact;
Fact _rotationPitch90Fact;
Fact _rotationPitch270Fact;
+ Fact _maxDistanceFact;
};
class VehicleSetpointFactGroup : public FactGroup
@@ -698,6 +702,7 @@ public:
Q_PROPERTY(FactGroup* setpoint READ setpointFactGroup CONSTANT)
Q_PROPERTY(FactGroup* estimatorStatus READ estimatorStatusFactGroup CONSTANT)
Q_PROPERTY(FactGroup* terrain READ terrainFactGroup CONSTANT)
+ Q_PROPERTY(FactGroup* distanceSensors READ distanceSensorFactGroup CONSTANT)
Q_PROPERTY(int firmwareMajorVersion READ firmwareMajorVersion NOTIFY firmwareVersionChanged)
Q_PROPERTY(int firmwareMinorVersion READ firmwareMinorVersion NOTIFY firmwareVersionChanged)