Rework guided takeoff to be a capability bit

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -530,3 +530,19 @@ bool FirmwarePlugin::hasGimbal(Vehicle* vehicle, bool& rollSupported, bool& pitc
     yawSupported = false;
     return false;
 }
+
+bool FirmwarePlugin::isVtol(const Vehicle* vehicle) const
+{
+    switch (vehicle->vehicleType()) {
+    case MAV_TYPE_VTOL_DUOROTOR:
+    case MAV_TYPE_VTOL_QUADROTOR:
+    case MAV_TYPE_VTOL_TILTROTOR:
+    case MAV_TYPE_VTOL_RESERVED2:
+    case MAV_TYPE_VTOL_RESERVED3:
+    case MAV_TYPE_VTOL_RESERVED4:
+    case MAV_TYPE_VTOL_RESERVED5:
+        return true;
+    default:
+        return false;
+    }
+}

src/FirmwarePlugin/FirmwarePlugin.h

@@ -45,6 +45,7 @@ public:
         PauseVehicleCapability =            1 << 2, ///< Vehicle supports pausing at current location
         GuidedModeCapability =              1 << 3, ///< Vehicle supports guided mode commands
         OrbitModeCapability =               1 << 4, ///< Vehicle supports orbit mode
+        TakeoffVehicleCapability =          1 << 5, ///< Vehicle supports guided takeoff
     } FirmwareCapabilities;
 
     /// Maps from on parameter name to another
@@ -286,6 +287,9 @@ public:
     /// @return true: vehicle has gimbal, false: gimbal support unknown
     virtual bool hasGimbal(Vehicle* vehicle, bool& rollSupported, bool& pitchSupported, bool& yawSupported);
 
+    /// Returns true if the vehicle is a VTOL
+    virtual bool isVtol(const Vehicle* vehicle) const;
+
     // FIXME: Hack workaround for non pluginize FollowMe support
     static const char* px4FollowMeFlightMode;
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -227,11 +227,12 @@ bool PX4FirmwarePlugin::supportsManualControl(void)
 
 bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
 {
-    if (vehicle->multiRotor()) {
-        return (capabilities & (MavCmdPreflightStorageCapability | GuidedModeCapability | SetFlightModeCapability | PauseVehicleCapability /*| OrbitModeCapability still NYI*/)) == capabilities;
-    } else {
-        return (capabilities & (MavCmdPreflightStorageCapability | GuidedModeCapability | SetFlightModeCapability | PauseVehicleCapability)) == capabilities;
+    int available = MavCmdPreflightStorageCapability | SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
+    if (vehicle->multiRotor() || vehicle->vtol()) {
+        available |= TakeoffVehicleCapability;
     }
+
+    return (capabilities & available) == capabilities;
 }
 
 void PX4FirmwarePlugin::initializeVehicle(Vehicle* vehicle)

src/FlightDisplay/GuidedActionsController.qml

@@ -92,7 +92,7 @@ Item {
     property bool showArm:              _activeVehicle && !_vehicleArmed
     property bool showDisarm:           _activeVehicle && _vehicleArmed && !_vehicleFlying
     property bool showRTL:              _activeVehicle && _vehicleArmed && _activeVehicle.guidedModeSupported && _vehicleFlying && !_vehicleInRTLMode
-    property bool showTakeoff:          _activeVehicle && _activeVehicle.guidedModeSupported && !_vehicleFlying  && !_activeVehicle.fixedWing
+    property bool showTakeoff:          _activeVehicle && _activeVehicle.takeoffVehicleSupported && !_vehicleFlying
     property bool showLand:             _activeVehicle && _activeVehicle.guidedModeSupported && _vehicleArmed && !_activeVehicle.fixedWing && !_vehicleInLandMode
     property bool showStartMission:     _activeVehicle && _missionAvailable && !_missionActive && !_vehicleFlying
     property bool showContinueMission:  _activeVehicle && _missionAvailable && !_missionActive && _vehicleFlying && (_currentMissionIndex < missionController.visualItems.count - 1)

src/Vehicle/Vehicle.cc

@@ -2094,18 +2094,7 @@ bool Vehicle::multiRotor(void) const
 
 bool Vehicle::vtol(void) const
 {
-    switch (vehicleType()) {
-    case MAV_TYPE_VTOL_DUOROTOR:
-    case MAV_TYPE_VTOL_QUADROTOR:
-    case MAV_TYPE_VTOL_TILTROTOR:
-    case MAV_TYPE_VTOL_RESERVED2:
-    case MAV_TYPE_VTOL_RESERVED3:
-    case MAV_TYPE_VTOL_RESERVED4:
-    case MAV_TYPE_VTOL_RESERVED5:
-        return true;
-    default:
-        return false;
-    }
+    return _firmwarePlugin->isVtol(this);
 }
 
 bool Vehicle::supportsManualControl(void) const
@@ -2224,6 +2213,11 @@ bool Vehicle::orbitModeSupported() const
     return _firmwarePlugin->isCapable(this, FirmwarePlugin::OrbitModeCapability);
 }
 
+bool Vehicle::takeoffVehicleSupported() const
+{
+    return _firmwarePlugin->isCapable(this, FirmwarePlugin::TakeoffVehicleCapability);
+}
+
 void Vehicle::guidedModeRTL(void)
 {
     if (!guidedModeSupported()) {

src/Vehicle/Vehicle.h

@@ -319,23 +319,14 @@ public:
     Q_PROPERTY(QmlObjectListModel*  adsbVehicles            READ adsbVehicles                                           CONSTANT)
     Q_PROPERTY(bool              initialPlanRequestComplete READ initialPlanRequestComplete                             NOTIFY initialPlanRequestCompleteChanged)
 
-    /// true: Vehicle is flying, false: Vehicle is on ground
-    Q_PROPERTY(bool flying READ flying NOTIFY flyingChanged)
-
-    /// true: Vehicle is flying, false: Vehicle is on ground
-    Q_PROPERTY(bool landing READ landing NOTIFY landingChanged)
-
-    /// true: Vehicle is in Guided mode and can respond to guided commands, false: vehicle cannot respond to direct control commands
-    Q_PROPERTY(bool guidedMode READ guidedMode WRITE setGuidedMode NOTIFY guidedModeChanged)
-
-    /// true: Guided mode commands are supported by this vehicle
-    Q_PROPERTY(bool guidedModeSupported READ guidedModeSupported CONSTANT)
-
-    /// true: pauseVehicle command is supported
-    Q_PROPERTY(bool pauseVehicleSupported READ pauseVehicleSupported CONSTANT)
-
-    /// true: Orbit mode is supported by this vehicle
-    Q_PROPERTY(bool orbitModeSupported READ orbitModeSupported CONSTANT)
+    // Vehicle state used for guided control
+    Q_PROPERTY(bool flying                  READ flying NOTIFY flyingChanged)                               ///< Vehicle is flying
+    Q_PROPERTY(bool landing                 READ landing NOTIFY landingChanged)                             ///< Vehicle is in landing pattern (DO_LAND_START)
+    Q_PROPERTY(bool guidedMode              READ guidedMode WRITE setGuidedMode NOTIFY guidedModeChanged)   ///< Vehicle is in Guided mode and can respond to guided commands
+    Q_PROPERTY(bool guidedModeSupported     READ guidedModeSupported CONSTANT)                              ///< Guided mode commands are supported by this vehicle
+    Q_PROPERTY(bool pauseVehicleSupported   READ pauseVehicleSupported CONSTANT)                            ///< Pause vehicle command is supported
+    Q_PROPERTY(bool orbitModeSupported      READ orbitModeSupported CONSTANT)                               ///< Orbit mode is supported by this vehicle
+    Q_PROPERTY(bool takeoffVehicleSupported READ takeoffVehicleSupported CONSTANT)                          ///< Guided takeoff supported
 
     Q_PROPERTY(ParameterManager* parameterManager READ parameterManager CONSTANT)
 
@@ -441,9 +432,10 @@ public:
     Q_INVOKABLE void motorTest(int motor, int percent, int timeoutSecs);
 #endif
 
-    bool guidedModeSupported(void) const;
-    bool pauseVehicleSupported(void) const;
-    bool orbitModeSupported(void) const;
+    bool guidedModeSupported    (void) const;
+    bool pauseVehicleSupported  (void) const;
+    bool orbitModeSupported     (void) const;
+    bool takeoffVehicleSupported(void) const;
 
     // Property accessors