QGCApplication.cc 37.6 KB
Newer Older
1
/****************************************************************************
2
 *
Gus Grubba's avatar
Gus Grubba committed
3
 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
4 5 6 7 8
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
9

pixhawk's avatar
pixhawk committed
10 11 12

/**
 * @file
Don Gagne's avatar
Don Gagne committed
13
 *   @brief Implementation of class QGCApplication
pixhawk's avatar
pixhawk committed
14 15 16 17 18 19 20 21 22 23 24 25
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QFile>
#include <QFlags>
#include <QPixmap>
#include <QDesktopWidget>
#include <QPainter>
#include <QStyleFactory>
#include <QAction>
26
#include <QStringListModel>
Don Gagne's avatar
Don Gagne committed
27
#include <QRegularExpression>
Gus Grubba's avatar
Gus Grubba committed
28
#include <QFontDatabase>
29
#include <QQuickWindow>
30
#include <QQuickImageProvider>
31
#include <QQuickStyle>
pixhawk's avatar
pixhawk committed
32

dogmaphobic's avatar
dogmaphobic committed
33 34 35 36
#ifdef QGC_ENABLE_BLUETOOTH
#include <QBluetoothLocalDevice>
#endif

37 38
#include <QDebug>

39 40 41
#if defined(QGC_GST_STREAMING)
#include "GStreamer.h"
#endif
Gus Grubba's avatar
Gus Grubba committed
42

43
#include "QGC.h"
Don Gagne's avatar
Don Gagne committed
44
#include "QGCApplication.h"
45
#include "CmdLineOptParser.h"
46 47
#include "UDPLink.h"
#include "LinkManager.h"
48
#include "UASMessageHandler.h"
49
#include "QGCTemporaryFile.h"
50
#include "QGCPalette.h"
Don Gagne's avatar
Don Gagne committed
51
#include "QGCMapPalette.h"
52
#include "QGCLoggingCategory.h"
Don Gagne's avatar
Don Gagne committed
53
#include "ParameterEditorController.h"
dogmaphobic's avatar
dogmaphobic committed
54
#include "ESP8266ComponentController.h"
Don Gagne's avatar
Don Gagne committed
55
#include "ScreenToolsController.h"
56
#include "QGCFileDialogController.h"
Don Gagne's avatar
Don Gagne committed
57
#include "RCChannelMonitorController.h"
58
#include "SyslinkComponentController.h"
59 60
#include "AutoPilotPlugin.h"
#include "VehicleComponent.h"
Don Gagne's avatar
Don Gagne committed
61
#include "FirmwarePluginManager.h"
62 63
#include "MultiVehicleManager.h"
#include "Vehicle.h"
64
#include "JoystickConfigController.h"
65
#include "JoystickManager.h"
66
#include "QmlObjectListModel.h"
67
#include "QGCGeoBoundingCube.h"
Don Gagne's avatar
Don Gagne committed
68
#include "MissionManager.h"
69
#include "QGroundControlQmlGlobal.h"
70
#include "FlightMapSettings.h"
71
#include "FlightPathSegment.h"
72
#include "PlanMasterController.h"
73
#include "VideoManager.h"
74
#include "VideoReceiver.h"
dogmaphobic's avatar
dogmaphobic committed
75
#include "LogDownloadController.h"
Gus Grubba's avatar
Gus Grubba committed
76
#if defined(QGC_ENABLE_MAVLINK_INSPECTOR)
77
#include "MAVLinkInspectorController.h"
Gus Grubba's avatar
Gus Grubba committed
78
#endif
79
#include "HorizontalFactValueGrid.h"
80
#include "InstrumentValueData.h"
81
#include "AppMessages.h"
Jimmy Johnson's avatar
Jimmy Johnson committed
82 83 84
#include "SimulatedPosition.h"
#include "PositionManager.h"
#include "FollowMe.h"
85
#include "MissionCommandTree.h"
86
#include "QGCMapPolygon.h"
87
#include "QGCMapCircle.h"
88
#include "ParameterManager.h"
89
#include "SettingsManager.h"
90
#include "QGCCorePlugin.h"
91
#include "QGCCameraManager.h"
92
#include "CameraCalc.h"
93
#include "VisualMissionItem.h"
94
#include "EditPositionDialogController.h"
95
#include "FactValueSliderListModel.h"
96
#include "ShapeFileHelper.h"
Don Gagne's avatar
Don Gagne committed
97
#include "QGCFileDownload.h"
Don Gagne's avatar
Don Gagne committed
98
#include "FirmwareImage.h"
99
#include "MavlinkConsoleController.h"
100
#include "GeoTagController.h"
101
#include "LogReplayLink.h"
Gus Grubba's avatar
Gus Grubba committed
102
#include "VehicleObjectAvoidance.h"
103
#include "TrajectoryPoints.h"
DoinLakeFlyer's avatar
DoinLakeFlyer committed
104
#include "RCToParamDialogController.h"
105
#include "QGCImageProvider.h"
106
#include "TerrainProfile.h"
107 108
#include "ToolStripAction.h"
#include "ToolStripActionList.h"
109
#include "QGCMAVLink.h"
110

Gus Grubba's avatar
Gus Grubba committed
111 112 113 114
#if defined(QGC_ENABLE_PAIRING)
#include "PairingManager.h"
#endif

Gus Grubba's avatar
Gus Grubba committed
115 116 117
#ifndef __mobile__
#include "FirmwareUpgradeController.h"
#endif
118

Gus Grubba's avatar
Gus Grubba committed
119
#ifndef NO_SERIAL_LINK
120
#include "SerialLink.h"
121 122 123
#endif

#ifndef __mobile__
124
#include "GPS/GPSManager.h"
125
#endif
126

127
#ifdef QGC_RTLAB_ENABLED
128
#include "OpalLink.h"
129
#endif
130

Don Gagne's avatar
Don Gagne committed
131 132 133 134 135 136
#ifdef Q_OS_LINUX
#ifndef __mobile__
#include <unistd.h>
#include <sys/types.h>
#endif
#endif
137

dogmaphobic's avatar
dogmaphobic committed
138 139
#include "QGCMapEngine.h"

140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155
class FinishVideoInitialization : public QRunnable
{
public:
  FinishVideoInitialization(VideoManager* manager)
      : _manager(manager)
  {}

  void run () {
      _manager->_initVideo();
  }

private:
  VideoManager* _manager;
};


156
QGCApplication* QGCApplication::_app = nullptr;
pixhawk's avatar
pixhawk committed
157

158 159
const char* QGCApplication::_deleteAllSettingsKey           = "DeleteAllSettingsNextBoot";
const char* QGCApplication::_settingsVersionKey             = "SettingsVersion";
Don Gagne's avatar
Don Gagne committed
160

161 162 163
// Mavlink status structures for entire app
mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];

164
// Qml Singleton factories
165

Don Gagne's avatar
Don Gagne committed
166
static QObject* screenToolsControllerSingletonFactory(QQmlEngine*, QJSEngine*)
167
{
Don Gagne's avatar
Don Gagne committed
168 169
    ScreenToolsController* screenToolsController = new ScreenToolsController;
    return screenToolsController;
170 171
}

172 173 174 175 176
static QObject* mavlinkSingletonFactory(QQmlEngine*, QJSEngine*)
{
    return new QGCMAVLink();
}

177 178
static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
{
179
    // We create this object as a QGCTool even though it isn't in the toolbox
180
    QGroundControlQmlGlobal* qmlGlobal = new QGroundControlQmlGlobal(qgcApp(), qgcApp()->toolbox());
181 182 183
    qmlGlobal->setToolbox(qgcApp()->toolbox());

    return qmlGlobal;
184 185
}

186
static QObject* shapeFileHelperSingletonFactory(QQmlEngine*, QJSEngine*)
187
{
188
    return new ShapeFileHelper;
189
}
pixhawk's avatar
pixhawk committed
190

191
QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
192
    : QApplication          (argc, argv)
193
    , _runningUnitTests     (unitTesting)
pixhawk's avatar
pixhawk committed
194
{
195
    _app = this;
196 197
    _msecsElapsedTime.start();

198 199
#ifdef Q_OS_LINUX
#ifndef __mobile__
200 201
    if (!_runningUnitTests) {
        if (getuid() == 0) {
202 203 204 205 206 207 208 209
            _exitWithError(QString(
                tr("You are running %1 as root. "
                    "You should not do this since it will cause other issues with %1."
                    "%1 will now exit.<br/><br/>"
                    "If you are having serial port issues on Ubuntu, execute the following commands to fix most issues:<br/>"
                    "<pre>sudo usermod -a -G dialout $USER<br/>"
                    "sudo apt-get remove modemmanager</pre>").arg(qgcApp()->applicationName())));
            return;
210 211 212 213 214 215 216
        }
        // Determine if we have the correct permissions to access USB serial devices
        QFile permFile("/etc/group");
        if(permFile.open(QIODevice::ReadOnly)) {
            while(!permFile.atEnd()) {
                QString line = permFile.readLine();
                if (line.contains("dialout") && !line.contains(getenv("USER"))) {
217 218 219 220 221 222 223 224
                    permFile.close();
                    _exitWithError(QString(
                        tr("The current user does not have the correct permissions to access serial devices. "
                           "You should also remove modemmanager since it also interferes.<br/><br/>"
                           "If you are using Ubuntu, execute the following commands to fix these issues:<br/>"
                           "<pre>sudo usermod -a -G dialout $USER<br/>"
                           "sudo apt-get remove modemmanager</pre>")));
                    return;
225
                }
226
            }
227
            permFile.close();
228
        }
229

DonLakeFlyer's avatar
DonLakeFlyer committed
230 231
        // Always set style to default, this way QT_QUICK_CONTROLS_STYLE environment variable doesn't cause random changes in ui
        QQuickStyle::setStyle("Default");
232 233 234 235
    }
#endif
#endif

236 237 238
    // Setup for network proxy support
    QNetworkProxyFactory::setUseSystemConfiguration(true);

239
    // Parse command line options
dogmaphobic's avatar
dogmaphobic committed
240

241
    bool fClearSettingsOptions = false; // Clear stored settings
Don Gagne's avatar
Don Gagne committed
242
    bool fClearCache = false;           // Clear parameter/airframe caches
243 244
    bool logging = false;               // Turn on logging
    QString loggingOptions;
dogmaphobic's avatar
dogmaphobic committed
245

246
    CmdLineOpt_t rgCmdLineOptions[] = {
247
        { "--clear-settings",   &fClearSettingsOptions, nullptr },
Don Gagne's avatar
Don Gagne committed
248
        { "--clear-cache",      &fClearCache,           nullptr },
249
        { "--logging",          &logging,               &loggingOptions },
250 251
        { "--fake-mobile",      &_fakeMobile,           nullptr },
        { "--log-output",       &_logOutput,            nullptr },
252 253
        // Add additional command line option flags here
    };
dogmaphobic's avatar
dogmaphobic committed
254

255
    ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false);
256

257
    // Set up timer for delayed missing fact display
Don Gagne's avatar
Don Gagne committed
258 259 260
    _missingParamsDelayedDisplayTimer.setSingleShot(true);
    _missingParamsDelayedDisplayTimer.setInterval(_missingParamsDelayedDisplayTimerTimeout);
    connect(&_missingParamsDelayedDisplayTimer, &QTimer::timeout, this, &QGCApplication::_missingParamsDisplay);
dogmaphobic's avatar
dogmaphobic committed
261

Don Gagne's avatar
Don Gagne committed
262
    // Set application information
263
    QString applicationName;
264 265 266
    if (_runningUnitTests) {
        // We don't want unit tests to use the same QSettings space as the normal app. So we tweak the app
        // name. Also we want to run unit tests with clean settings every time.
267
        applicationName = QStringLiteral("%1_unittest").arg(QGC_APPLICATION_NAME);
268
    } else {
269 270 271 272 273 274 275
#ifdef DAILY_BUILD
        // This gives daily builds their own separate settings space. Allowing you to use daily and stable builds
        // side by side without daily screwing up your stable settings.
        applicationName = QStringLiteral("%1 Daily").arg(QGC_APPLICATION_NAME);
#else
        applicationName = QGC_APPLICATION_NAME;
#endif
276
    }
277
    setApplicationName(applicationName);
278 279
    setOrganizationName(QGC_ORG_NAME);
    setOrganizationDomain(QGC_ORG_DOMAIN);
280

Daniel Agar's avatar
Daniel Agar committed
281
    this->setApplicationVersion(QString(GIT_VERSION));
282

283 284
    // Set settings format
    QSettings::setDefaultFormat(QSettings::IniFormat);
285
    QSettings settings;
286
    qDebug() << "Settings location" << settings.fileName() << "Is writable?:" << settings.isWritable();
Don Gagne's avatar
Don Gagne committed
287

288
#ifdef UNITTEST_BUILD
Don Gagne's avatar
Don Gagne committed
289 290 291
    if (!settings.isWritable()) {
        qWarning() << "Setings location is not writable";
    }
292
#endif
293
    // The setting will delete all settings on this boot
Don Gagne's avatar
Don Gagne committed
294
    fClearSettingsOptions |= settings.contains(_deleteAllSettingsKey);
295

Don Gagne's avatar
Don Gagne committed
296
    if (_runningUnitTests) {
297
        // Unit tests run with clean settings
Don Gagne's avatar
Don Gagne committed
298 299
        fClearSettingsOptions = true;
    }
300

301 302 303
    if (fClearSettingsOptions) {
        // User requested settings to be cleared on command line
        settings.clear();
304

305
        // Clear parameter cache
306
        QDir paramDir(ParameterManager::parameterCacheDir());
307 308
        paramDir.removeRecursively();
        paramDir.mkpath(paramDir.absolutePath());
309
    } else {
310
        // Determine if upgrade message for settings version bump is required. Check and clear must happen before toolbox is started since
311 312 313
        // that will write some settings.
        if (settings.contains(_settingsVersionKey)) {
            if (settings.value(_settingsVersionKey).toInt() != QGC_SETTINGS_VERSION) {
314
                settings.clear();
315 316 317
                _settingsUpgraded = true;
            }
        }
318
    }
319
    settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
Gus Grubba's avatar
Gus Grubba committed
320

Don Gagne's avatar
Don Gagne committed
321 322 323
    if (fClearCache) {
        QDir dir(ParameterManager::parameterCacheDir());
        dir.removeRecursively();
324
        QFile airframe(cachedAirframeMetaDataFile());
Don Gagne's avatar
Don Gagne committed
325
        airframe.remove();
326
        QFile parameter(cachedParameterMetaDataFile());
Don Gagne's avatar
Don Gagne committed
327 328 329
        parameter.remove();
    }

330 331 332
    // Set up our logging filters
    QGCLoggingCategoryRegister::instance()->setFilterRulesFromSettings(loggingOptions);

dogmaphobic's avatar
dogmaphobic committed
333 334 335 336 337 338 339 340 341
    // Initialize Bluetooth
#ifdef QGC_ENABLE_BLUETOOTH
    QBluetoothLocalDevice localDevice;
    if (localDevice.isValid())
    {
        _bluetoothAvailable = true;
    }
#endif

342
    // Gstreamer debug settings
343
    int gstDebugLevel = 0;
344
    if (settings.contains(AppSettings::gstDebugLevelName)) {
345
        gstDebugLevel = settings.value(AppSettings::gstDebugLevelName).toInt();
346
    }
347 348 349 350 351 352 353

#if defined(QGC_GST_STREAMING)
    // Initialize Video Receiver
    GStreamer::initialize(argc, argv, gstDebugLevel);
#else
    Q_UNUSED(gstDebugLevel)
#endif
354

355 356 357
    // We need to set language as early as possible prior to loading on JSON files.
    setLanguage();

358
    _toolbox = new QGCToolbox(this);
359
    _toolbox->setChildToolboxes();
Don Gagne's avatar
Don Gagne committed
360

361 362 363 364 365 366 367 368 369 370 371
#ifndef __mobile__
    _gpsRtkFactGroup = new GPSRTKFactGroup(this);
   GPSManager *gpsManager = _toolbox->gpsManager();
   if (gpsManager) {
       connect(gpsManager, &GPSManager::onConnect,          this, &QGCApplication::_onGPSConnect);
       connect(gpsManager, &GPSManager::onDisconnect,       this, &QGCApplication::_onGPSDisconnect);
       connect(gpsManager, &GPSManager::surveyInStatus,     this, &QGCApplication::_gpsSurveyInStatus);
       connect(gpsManager, &GPSManager::satelliteUpdate,    this, &QGCApplication::_gpsNumSatellites);
   }
#endif /* __mobile__ */

Don Gagne's avatar
Don Gagne committed
372
    _checkForNewVersion();
373 374
}

375 376 377 378 379 380 381 382 383 384 385
void QGCApplication::_exitWithError(QString errorMessage)
{
    _error = true;
    QQmlApplicationEngine* pEngine = new QQmlApplicationEngine(this);
    pEngine->addImportPath("qrc:/qml");
    pEngine->rootContext()->setContextProperty("errorMessage", errorMessage);
    pEngine->load(QUrl(QStringLiteral("qrc:/qml/ExitWithErrorWindow.qml")));
    // Exit main application when last window is closed
    connect(this, &QGCApplication::lastWindowClosed, this, QGCApplication::quit);
}

386 387
void QGCApplication::setLanguage()
{
388
    _locale = QLocale::system();
389 390
    qDebug() << "System reported locale:" << _locale << "; Name" << _locale.name() << "; Preffered (used in maps): " << (QLocale::system().uiLanguages().length() > 0 ? QLocale::system().uiLanguages()[0] : "None");

391
    int langID = AppSettings::_languageID();
Gus Grubba's avatar
Gus Grubba committed
392
    //-- See App.SettinsGroup.json for index
393 394 395
    if(langID) {
        switch(langID) {
        case 1:
396
            _locale = QLocale(QLocale::Bulgarian);
397 398
            break;
        case 2:
399
            _locale = QLocale(QLocale::Chinese);
400 401
            break;
        case 3:
402
            _locale = QLocale(QLocale::Dutch);
403 404
            break;
        case 4:
405
            _locale = QLocale(QLocale::English);
406 407
            break;
        case 5:
408
            _locale = QLocale(QLocale::Finnish);
409 410
            break;
        case 6:
411
            _locale = QLocale(QLocale::French);
412 413
            break;
        case 7:
414
            _locale = QLocale(QLocale::German);
415 416
            break;
        case 8:
417
            _locale = QLocale(QLocale::Greek);
Gus Grubba's avatar
Gus Grubba committed
418 419
            break;
        case 9:
420
            _locale = QLocale(QLocale::Hebrew);
421 422
            break;
        case 10:
423
            _locale = QLocale(QLocale::Italian);
424 425
            break;
        case 11:
426
            _locale = QLocale(QLocale::Japanese);
427 428
            break;
        case 12:
429
            _locale = QLocale(QLocale::Korean);
430 431
            break;
        case 13:
432
            _locale = QLocale(QLocale::Norwegian);
433 434
            break;
        case 14:
435
            _locale = QLocale(QLocale::Polish);
436 437
            break;
        case 15:
438
            _locale = QLocale(QLocale::Portuguese);
439 440
            break;
        case 16:
441
            _locale = QLocale(QLocale::Russian);
442 443
            break;
        case 17:
444
            _locale = QLocale(QLocale::Spanish);
445 446
            break;
        case 18:
447
            _locale = QLocale(QLocale::Swedish);
448 449
            break;
        case 19:
450
            _locale = QLocale(QLocale::Turkish);
451
            break;
DonLakeFlyer's avatar
DonLakeFlyer committed
452 453 454
        case 20:
            _locale = QLocale(QLocale::Azerbaijani);
            break;
455 456
        }
    }
457
    //-- We have specific fonts for Korean
458
    if(_locale == QLocale::Korean) {
459
        qCDebug(LocalizationLog) << "Loading Korean fonts" << _locale.name();
460
        if(QFontDatabase::addApplicationFont(":/fonts/NanumGothic-Regular") < 0) {
461
            qCWarning(LocalizationLog) << "Could not load /fonts/NanumGothic-Regular font";
462 463
        }
        if(QFontDatabase::addApplicationFont(":/fonts/NanumGothic-Bold") < 0) {
464
            qCWarning(LocalizationLog) << "Could not load /fonts/NanumGothic-Bold font";
465 466
        }
    }
467 468 469 470 471
    qCDebug(LocalizationLog) << "Loading localizations for" << _locale.name();
    _app->removeTranslator(&_qgcTranslatorJSON);
    _app->removeTranslator(&_qgcTranslatorSourceCode);
    _app->removeTranslator(&_qgcTranslatorQtLibs);
    if (_locale.name() != "en_US") {
DonLakeFlyer's avatar
DonLakeFlyer committed
472
        QLocale::setDefault(_locale);
473 474 475 476 477
        if(_qgcTranslatorQtLibs.load("qt_" + _locale.name(), QLibraryInfo::location(QLibraryInfo::TranslationsPath))) {
            _app->installTranslator(&_qgcTranslatorQtLibs);
        } else {
            qCWarning(LocalizationLog) << "Qt lib localization for" << _locale.name() << "is not present";
        }
478 479 480 481 482 483 484 485 486 487
        if(_qgcTranslatorSourceCode.load(_locale, QLatin1String("qgc_source_"), "", ":/i18n")) {
            _app->installTranslator(&_qgcTranslatorSourceCode);
        } else {
            qCWarning(LocalizationLog) << "Error loading source localization for" << _locale.name();
        }
        if(_qgcTranslatorJSON.load(_locale, QLatin1String("qgc_json_"), "", ":/i18n")) {
            _app->installTranslator(&_qgcTranslatorJSON);
        } else {
            qCWarning(LocalizationLog) << "Error loading json localization for" << _locale.name();
        }
488 489 490
    }
    if(_qmlAppEngine)
        _qmlAppEngine->retranslate();
491
    emit languageChanged(_locale);
492 493
}

494
void QGCApplication::_shutdown()
Don Gagne's avatar
Don Gagne committed
495
{
496 497
    // Close out all Qml before we delete toolbox. This way we don't get all sorts of null reference complaints from Qml.
    delete _qmlAppEngine;
498
    delete _toolbox;
499
    delete _gpsRtkFactGroup;
Don Gagne's avatar
Don Gagne committed
500 501
}

Don Gagne's avatar
Don Gagne committed
502 503 504
QGCApplication::~QGCApplication()
{
    // Place shutdown code in _shutdown
505
    _app = nullptr;
Don Gagne's avatar
Don Gagne committed
506 507
}

508
void QGCApplication::_initCommon()
509
{
510
    static const char* kRefOnly         = "Reference only";
DonLakeFlyer's avatar
DonLakeFlyer committed
511
    static const char* kQGroundControl  = "QGroundControl";
512 513
    static const char* kQGCControllers  = "QGroundControl.Controllers";
    static const char* kQGCVehicle      = "QGroundControl.Vehicle";
514
    static const char* kQGCTemplates    = "QGroundControl.Templates";
515

516
    QSettings settings;
517

Don Gagne's avatar
Don Gagne committed
518
    // Register our Qml objects
dogmaphobic's avatar
dogmaphobic committed
519

Don Gagne's avatar
Don Gagne committed
520 521
    qmlRegisterType<QGCPalette>     ("QGroundControl.Palette", 1, 0, "QGCPalette");
    qmlRegisterType<QGCMapPalette>  ("QGroundControl.Palette", 1, 0, "QGCMapPalette");
dogmaphobic's avatar
dogmaphobic committed
522

Gus Grubba's avatar
Gus Grubba committed
523 524 525 526 527 528 529 530 531 532 533
    qmlRegisterUncreatableType<Vehicle>                 (kQGCVehicle,                       1, 0, "Vehicle",                    kRefOnly);
    qmlRegisterUncreatableType<MissionManager>          (kQGCVehicle,                       1, 0, "MissionManager",             kRefOnly);
    qmlRegisterUncreatableType<ParameterManager>        (kQGCVehicle,                       1, 0, "ParameterManager",           kRefOnly);
    qmlRegisterUncreatableType<VehicleObjectAvoidance>  (kQGCVehicle,                       1, 0, "VehicleObjectAvoidance",     kRefOnly);
    qmlRegisterUncreatableType<QGCCameraManager>        (kQGCVehicle,                       1, 0, "QGCCameraManager",           kRefOnly);
    qmlRegisterUncreatableType<QGCCameraControl>        (kQGCVehicle,                       1, 0, "QGCCameraControl",           kRefOnly);
    qmlRegisterUncreatableType<QGCVideoStreamInfo>      (kQGCVehicle,                       1, 0, "QGCVideoStreamInfo",         kRefOnly);
    qmlRegisterUncreatableType<LinkInterface>           (kQGCVehicle,                       1, 0, "LinkInterface",              kRefOnly);
    qmlRegisterUncreatableType<MissionController>       (kQGCControllers,                   1, 0, "MissionController",          kRefOnly);
    qmlRegisterUncreatableType<GeoFenceController>      (kQGCControllers,                   1, 0, "GeoFenceController",         kRefOnly);
    qmlRegisterUncreatableType<RallyPointController>    (kQGCControllers,                   1, 0, "RallyPointController",       kRefOnly);
534

DonLakeFlyer's avatar
DonLakeFlyer committed
535 536
    qmlRegisterUncreatableType<MissionItem>         (kQGroundControl,                       1, 0, "MissionItem",                kRefOnly);
    qmlRegisterUncreatableType<VisualMissionItem>   (kQGroundControl,                       1, 0, "VisualMissionItem",          kRefOnly);
537
    qmlRegisterUncreatableType<FlightPathSegment>    (kQGroundControl,                       1, 0, "FlightPathSegment",           kRefOnly);
DonLakeFlyer's avatar
DonLakeFlyer committed
538 539 540 541
    qmlRegisterUncreatableType<QmlObjectListModel>  (kQGroundControl,                       1, 0, "QmlObjectListModel",         kRefOnly);
    qmlRegisterUncreatableType<MissionCommandTree>  (kQGroundControl,                       1, 0, "MissionCommandTree",         kRefOnly);
    qmlRegisterUncreatableType<CameraCalc>          (kQGroundControl,                       1, 0, "CameraCalc",                 kRefOnly);
    qmlRegisterUncreatableType<LogReplayLink>       (kQGroundControl,                       1, 0, "LogReplayLink",              kRefOnly);
542
    qmlRegisterUncreatableType<InstrumentValueData> (kQGroundControl,                       1, 0, "InstrumentValueData",        kRefOnly);
DonLakeFlyer's avatar
DonLakeFlyer committed
543
    qmlRegisterType<LogReplayLinkController>        (kQGroundControl,                       1, 0, "LogReplayLinkController");
544 545 546
#if defined(QGC_ENABLE_MAVLINK_INSPECTOR)
    qmlRegisterUncreatableType<MAVLinkChartController> (kQGroundControl,                    1, 0, "MAVLinkChart",               kRefOnly);
#endif
Gus Grubba's avatar
Gus Grubba committed
547
#if defined(QGC_ENABLE_PAIRING)
DonLakeFlyer's avatar
DonLakeFlyer committed
548
    qmlRegisterUncreatableType<PairingManager>      (kQGroundControl,                       1, 0, "PairingManager",             kRefOnly);
Gus Grubba's avatar
Gus Grubba committed
549
#endif
550

551 552 553 554 555 556 557 558 559
    qmlRegisterUncreatableType<AutoPilotPlugin>     ("QGroundControl.AutoPilotPlugin",      1, 0, "AutoPilotPlugin",            kRefOnly);
    qmlRegisterUncreatableType<VehicleComponent>    ("QGroundControl.AutoPilotPlugin",      1, 0, "VehicleComponent",           kRefOnly);
    qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",      1, 0, "JoystickManager",            kRefOnly);
    qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",      1, 0, "Joystick",                   kRefOnly);
    qmlRegisterUncreatableType<QGCPositionManager>  ("QGroundControl.QGCPositionManager",   1, 0, "QGCPositionManager",         kRefOnly);
    qmlRegisterUncreatableType<FactValueSliderListModel>("QGroundControl.FactControls",     1, 0, "FactValueSliderListModel",   kRefOnly);

    qmlRegisterUncreatableType<QGCMapPolygon>       ("QGroundControl.FlightMap",            1, 0, "QGCMapPolygon",              kRefOnly);
    qmlRegisterUncreatableType<QGCGeoBoundingCube>  ("QGroundControl.FlightMap",            1, 0, "QGCGeoBoundingCube",         kRefOnly);
560
    qmlRegisterUncreatableType<TrajectoryPoints>    ("QGroundControl.FlightMap",            1, 0, "TrajectoryPoints",           kRefOnly);
561

562 563
    qmlRegisterUncreatableType<FactValueGrid>       (kQGCTemplates,                         1, 0, "FactValueGrid",              kRefOnly);
    qmlRegisterType<HorizontalFactValueGrid>        (kQGCTemplates,                         1, 0, "HorizontalFactValueGrid");
564

565
    qmlRegisterType<QGCMapCircle>                   ("QGroundControl.FlightMap",            1, 0, "QGCMapCircle");
566

567 568 569 570 571 572 573 574 575 576
    qmlRegisterType<ParameterEditorController>      (kQGCControllers,                       1, 0, "ParameterEditorController");
    qmlRegisterType<ESP8266ComponentController>     (kQGCControllers,                       1, 0, "ESP8266ComponentController");
    qmlRegisterType<ScreenToolsController>          (kQGCControllers,                       1, 0, "ScreenToolsController");
    qmlRegisterType<PlanMasterController>           (kQGCControllers,                       1, 0, "PlanMasterController");
    qmlRegisterType<QGCFileDialogController>        (kQGCControllers,                       1, 0, "QGCFileDialogController");
    qmlRegisterType<RCChannelMonitorController>     (kQGCControllers,                       1, 0, "RCChannelMonitorController");
    qmlRegisterType<JoystickConfigController>       (kQGCControllers,                       1, 0, "JoystickConfigController");
    qmlRegisterType<LogDownloadController>          (kQGCControllers,                       1, 0, "LogDownloadController");
    qmlRegisterType<SyslinkComponentController>     (kQGCControllers,                       1, 0, "SyslinkComponentController");
    qmlRegisterType<EditPositionDialogController>   (kQGCControllers,                       1, 0, "EditPositionDialogController");
DoinLakeFlyer's avatar
DoinLakeFlyer committed
577
    qmlRegisterType<RCToParamDialogController>      (kQGCControllers,                       1, 0, "RCToParamDialogController");
578

579
    qmlRegisterType<TerrainProfile>                 ("QGroundControl.Controls",             1, 0, "TerrainProfile");
580 581
    qmlRegisterType<ToolStripAction>                ("QGroundControl.Controls",             1, 0, "ToolStripAction");
    qmlRegisterType<ToolStripActionList>            ("QGroundControl.Controls",             1, 0, "ToolStripActionList");
582

Don Gagne's avatar
Don Gagne committed
583
#ifndef __mobile__
584
#ifndef NO_SERIAL_LINK
585
    qmlRegisterType<FirmwareUpgradeController>      (kQGCControllers,                       1, 0, "FirmwareUpgradeController");
586
#endif
Don Gagne's avatar
Don Gagne committed
587
#endif
588
    qmlRegisterType<GeoTagController>               (kQGCControllers,                       1, 0, "GeoTagController");
589
    qmlRegisterType<MavlinkConsoleController>       (kQGCControllers,                       1, 0, "MavlinkConsoleController");
590
#if defined(QGC_ENABLE_MAVLINK_INSPECTOR)
591
    qmlRegisterType<MAVLinkInspectorController>     (kQGCControllers,                       1, 0, "MAVLinkInspectorController");
592
#endif
593

594
    // Register Qml Singletons
595 596
    qmlRegisterSingletonType<QGroundControlQmlGlobal>   ("QGroundControl",                          1, 0, "QGroundControl",         qgroundcontrolQmlGlobalSingletonFactory);
    qmlRegisterSingletonType<ScreenToolsController>     ("QGroundControl.ScreenToolsController",    1, 0, "ScreenToolsController",  screenToolsControllerSingletonFactory);
597
    qmlRegisterSingletonType<ShapeFileHelper>           ("QGroundControl.ShapeFileHelper",          1, 0, "ShapeFileHelper",        shapeFileHelperSingletonFactory);
598
    qmlRegisterSingletonType<ShapeFileHelper>           ("MAVLink",                                 1, 0, "MAVLink",                mavlinkSingletonFactory);
599

600
    // Although this should really be in _initForNormalAppBoot putting it here allowws us to create unit tests which pop up more easily
601 602 603 604 605
    if(QFontDatabase::addApplicationFont(":/fonts/opensans") < 0) {
        qWarning() << "Could not load /fonts/opensans font";
    }
    if(QFontDatabase::addApplicationFont(":/fonts/opensans-demibold") < 0) {
        qWarning() << "Could not load /fonts/opensans-demibold font";
Gus Grubba's avatar
Gus Grubba committed
606
    }
607
}
Gus Grubba's avatar
Gus Grubba committed
608

609 610
bool QGCApplication::_initForNormalAppBoot()
{
611
    QSettings settings;
612

613 614
    _qmlAppEngine = toolbox()->corePlugin()->createQmlApplicationEngine(this);
    toolbox()->corePlugin()->createRootWindow(_qmlAppEngine);
615

616 617 618 619
    // Image provider for PX4 Flow
    QQuickImageProvider* pImgProvider = dynamic_cast<QQuickImageProvider*>(qgcApp()->toolbox()->imageProvider());
    _qmlAppEngine->addImageProvider(QStringLiteral("QGCImages"), pImgProvider);

620 621 622 623 624 625 626
    QQuickWindow* rootWindow = (QQuickWindow*)qgcApp()->mainRootWindow();

    if (rootWindow) {
        rootWindow->scheduleRenderJob (new FinishVideoInitialization (toolbox()->videoManager()),
                QQuickWindow::BeforeSynchronizingStage);
    }

627 628 629 630 631
    // Safe to show popup error messages now that main window is created
    UASMessageHandler* msgHandler = qgcApp()->toolbox()->uasMessageHandler();
    if (msgHandler) {
        msgHandler->showErrorsInToolbar();
    }
632

633
    // Now that main window is up check for lost log files
634
    connect(this, &QGCApplication::checkForLostLogFiles, toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
635
    emit checkForLostLogFiles();
636 637

    // Load known link configurations
638
    toolbox()->linkManager()->loadLinkConfigurationList();
639

Jacob Walser's avatar
Jacob Walser committed
640 641
    // Probe for joysticks
    toolbox()->joystickManager()->init();
642

643
    if (_settingsUpgraded) {
644
        showAppMessage(QString(tr("The format for %1 saved settings has been modified. "
645
                    "Your saved settings have been reset to defaults.")).arg(applicationName()));
Don Gagne's avatar
Don Gagne committed
646 647
    }

648 649 650
    // Connect links with flag AutoconnectLink
    toolbox()->linkManager()->startAutoConnectedLinks();

dogmaphobic's avatar
dogmaphobic committed
651
    if (getQGCMapEngine()->wasCacheReset()) {
652
        showAppMessage(tr("The Offline Map Cache database has been upgraded. "
653
                    "Your old map cache sets have been reset."));
dogmaphobic's avatar
dogmaphobic committed
654 655
    }

Don Gagne's avatar
Don Gagne committed
656
    settings.sync();
657
    return true;
pixhawk's avatar
pixhawk committed
658 659
}

660
bool QGCApplication::_initForUnitTests()
pixhawk's avatar
pixhawk committed
661
{
662
    return true;
pixhawk's avatar
pixhawk committed
663 664
}

Don Gagne's avatar
Don Gagne committed
665 666 667 668 669 670 671 672 673 674 675 676 677 678 679
void QGCApplication::deleteAllSettingsNextBoot(void)
{
    QSettings settings;
    settings.setValue(_deleteAllSettingsKey, true);
}

void QGCApplication::clearDeleteAllSettingsNextBoot(void)
{
    QSettings settings;
    settings.remove(_deleteAllSettingsKey);
}

/// @brief Returns the QGCApplication object singleton.
QGCApplication* qgcApp(void)
{
680 681 682
    return QGCApplication::_app;
}

683
void QGCApplication::informationMessageBoxOnMainThread(const QString& /*title*/, const QString& msg)
684
{
685
    showAppMessage(msg);
686 687
}

688
void QGCApplication::warningMessageBoxOnMainThread(const QString& /*title*/, const QString& msg)
689
{
690
    showAppMessage(msg);
691 692
}

693
void QGCApplication::criticalMessageBoxOnMainThread(const QString& /*title*/, const QString& msg)
694
{
695
    showAppMessage(msg);
696 697
}

698
void QGCApplication::saveTelemetryLogOnMainThread(QString tempLogfile)
699
{
700 701 702 703 704 705 706 707
    // The vehicle is gone now and we are shutting down so we need to use a message box for errors to hold shutdown and show the error
    if (_checkTelemetrySavePath(true /* useMessageBox */)) {

        QString saveDirPath = _toolbox->settingsManager()->appSettings()->telemetrySavePath();
        QDir saveDir(saveDirPath);

        QString nameFormat("%1%2.%3");
        QString dtFormat("yyyy-MM-dd hh-mm-ss");
708

709 710
        int tryIndex = 1;
        QString saveFileName = nameFormat.arg(
711
            QDateTime::currentDateTime().toString(dtFormat)).arg(QStringLiteral("")).arg(toolbox()->settingsManager()->appSettings()->telemetryFileExtension);
712 713 714 715 716 717 718 719 720
        while (saveDir.exists(saveFileName)) {
            saveFileName = nameFormat.arg(
                QDateTime::currentDateTime().toString(dtFormat)).arg(QStringLiteral(".%1").arg(tryIndex++)).arg(toolbox()->settingsManager()->appSettings()->telemetryFileExtension);
        }
        QString saveFilePath = saveDir.absoluteFilePath(saveFileName);

        QFile tempFile(tempLogfile);
        if (!tempFile.copy(saveFilePath)) {
            QString error = tr("Unable to save telemetry log. Error copying telemetry to '%1': '%2'.").arg(saveFilePath).arg(tempFile.errorString());
721
            showAppMessage(error);
722
        }
723
    }
724 725
    QFile::remove(tempLogfile);
}
726

727
void QGCApplication::checkTelemetrySavePathOnMainThread()
728 729 730 731 732
{
    // This is called with an active vehicle so don't pop message boxes which holds ui thread
    _checkTelemetrySavePath(false /* useMessageBox */);
}

733
bool QGCApplication::_checkTelemetrySavePath(bool /*useMessageBox*/)
734
{
735
    QString saveDirPath = _toolbox->settingsManager()->appSettings()->telemetrySavePath();
736
    if (saveDirPath.isEmpty()) {
737
        QString error = tr("Unable to save telemetry log. Application save directory is not set.");
738
        showAppMessage(error);
739 740 741 742 743 744
        return false;
    }

    QDir saveDir(saveDirPath);
    if (!saveDir.exists()) {
        QString error = tr("Unable to save telemetry log. Telemetry save directory \"%1\" does not exist.").arg(saveDirPath);
745
        showAppMessage(error);
746 747 748 749 750
        return false;
    }

    return true;
}
751

Don Gagne's avatar
Don Gagne committed
752
void QGCApplication::reportMissingParameter(int componentId, const QString& name)
753
{
754 755 756 757 758
    QPair<int, QString>  missingParam(componentId, name);

    if (!_missingParams.contains(missingParam)) {
        _missingParams.append(missingParam);
    }
Don Gagne's avatar
Don Gagne committed
759
    _missingParamsDelayedDisplayTimer.start();
760
}
761

Don Gagne's avatar
Don Gagne committed
762 763
/// Called when the delay timer fires to show the missing parameters warning
void QGCApplication::_missingParamsDisplay(void)
764
{
DonLakeFlyer's avatar
DonLakeFlyer committed
765 766
    if (_missingParams.count()) {
        QString params;
767 768
        for (QPair<int, QString>& missingParam: _missingParams) {
            QString param = QStringLiteral("%1:%2").arg(missingParam.first).arg(missingParam.second);
DonLakeFlyer's avatar
DonLakeFlyer committed
769
            if (params.isEmpty()) {
770
                params += param;
DonLakeFlyer's avatar
DonLakeFlyer committed
771
            } else {
772
                params += QStringLiteral(", %1").arg(param);
DonLakeFlyer's avatar
DonLakeFlyer committed
773
            }
774

775
        }
DonLakeFlyer's avatar
DonLakeFlyer committed
776
        _missingParams.clear();
dogmaphobic's avatar
dogmaphobic committed
777

778
        showAppMessage(tr("Parameters are missing from firmware. You may be running a version of firmware which is not fully supported or your firmware has a bug in it. Missing params: %1").arg(params));
DonLakeFlyer's avatar
DonLakeFlyer committed
779
    }
780 781
}

Gus Grubba's avatar
Gus Grubba committed
782
QObject* QGCApplication::_rootQmlObject()
Don Gagne's avatar
Don Gagne committed
783
{
784
    if (_qmlAppEngine && _qmlAppEngine->rootObjects().size())
785 786
        return _qmlAppEngine->rootObjects()[0];
    return nullptr;
Don Gagne's avatar
Don Gagne committed
787 788
}

789
void QGCApplication::showCriticalVehicleMessage(const QString& message)
Don Gagne's avatar
Don Gagne committed
790
{
791
    // PreArm messages are handled by Vehicle and shown in Map
792
    if (message.startsWith(QStringLiteral("PreArm")) || message.startsWith(QStringLiteral("preflight"), Qt::CaseInsensitive)) {
Don Gagne's avatar
Don Gagne committed
793 794
        return;
    }
795 796 797 798
    QObject* rootQmlObject = _rootQmlObject();
    if (rootQmlObject) {
        QVariant varReturn;
        QVariant varMessage = QVariant::fromValue(message);
799
        QMetaObject::invokeMethod(_rootQmlObject(), "showCriticalVehicleMessage", Q_RETURN_ARG(QVariant, varReturn), Q_ARG(QVariant, varMessage));
800 801
    } else if (runningUnitTests()) {
        // Unit tests can run without UI
802
        qDebug() << "QGCApplication::showCriticalVehicleMessage unittest" << message;
803 804 805 806 807 808 809 810 811 812 813 814 815
    } else {
        qWarning() << "Internal error";
    }
}

void QGCApplication::showAppMessage(const QString& message, const QString& title)
{
    QString dialogTitle = title.isEmpty() ? applicationName() : title;

    QObject* rootQmlObject = _rootQmlObject();
    if (rootQmlObject) {
        QVariant varReturn;
        QVariant varMessage = QVariant::fromValue(message);
816
        QMetaObject::invokeMethod(_rootQmlObject(), "showMessageDialog", Q_RETURN_ARG(QVariant, varReturn), Q_ARG(QVariant, dialogTitle), Q_ARG(QVariant, varMessage));
Don Gagne's avatar
Don Gagne committed
817 818
    } else if (runningUnitTests()) {
        // Unit tests can run without UI
819
        qDebug() << "QGCApplication::showAppMessage unittest" << message << dialogTitle;
820
    } else {
821 822 823 824 825 826 827 828 829 830 831 832 833 834 835
        // UI isn't ready yet
        _delayedAppMessages.append(QPair<QString, QString>(dialogTitle, message));
        QTimer::singleShot(200, this, &QGCApplication::_showDelayedAppMessages);
    }
}

void QGCApplication::_showDelayedAppMessages(void)
{
    if (_rootQmlObject()) {
        for (const QPair<QString, QString>& appMsg: _delayedAppMessages) {
            showAppMessage(appMsg.second, appMsg.first);
        }
        _delayedAppMessages.clear();
    } else {
        QTimer::singleShot(200, this, &QGCApplication::_showDelayedAppMessages);
836
    }
Don Gagne's avatar
Don Gagne committed
837 838
}

839
QQuickItem* QGCApplication::mainRootWindow()
840
{
841
    if(!_mainRootWindow) {
842
        _mainRootWindow = reinterpret_cast<QQuickItem*>(_rootQmlObject());
843
    }
844
    return _mainRootWindow;
845 846 847
}

void QGCApplication::showSetupView()
Don Gagne's avatar
Don Gagne committed
848
{
849 850 851
    if(_rootQmlObject()) {
        QMetaObject::invokeMethod(_rootQmlObject(), "showSetupView");
    }
Don Gagne's avatar
Don Gagne committed
852 853
}

854
void QGCApplication::qmlAttemptWindowClose()
Don Gagne's avatar
Don Gagne committed
855
{
856 857 858
    if(_rootQmlObject()) {
        QMetaObject::invokeMethod(_rootQmlObject(), "attemptWindowClose");
    }
Don Gagne's avatar
Don Gagne committed
859
}
860 861 862

bool QGCApplication::isInternetAvailable()
{
863 864 865
    if(_toolbox->settingsManager()->appSettings()->checkInternet()->rawValue().toBool())
        return getQGCMapEngine()->isInternetActive();
    return true;
866
}
Don Gagne's avatar
Don Gagne committed
867

868
void QGCApplication::_checkForNewVersion()
Don Gagne's avatar
Don Gagne committed
869 870 871 872 873 874
{
#ifndef __mobile__
    if (!_runningUnitTests) {
        if (_parseVersionText(applicationVersion(), _majorVersion, _minorVersion, _buildVersion)) {
            QString versionCheckFile = toolbox()->corePlugin()->stableVersionCheckFileUrl();
            if (!versionCheckFile.isEmpty()) {
875 876 877
                QGCFileDownload* download = new QGCFileDownload(this);
                connect(download, &QGCFileDownload::downloadComplete, this, &QGCApplication::_qgcCurrentStableVersionDownloadComplete);
                download->download(versionCheckFile);
Don Gagne's avatar
Don Gagne committed
878 879 880 881 882 883
            }
        }
    }
#endif
}

884
void QGCApplication::_qgcCurrentStableVersionDownloadComplete(QString /*remoteFile*/, QString localFile, QString errorMsg)
Don Gagne's avatar
Don Gagne committed
885
{
Don Gagne's avatar
Don Gagne committed
886
#ifdef __mobile__
887 888
    Q_UNUSED(localFile)
    Q_UNUSED(errorMsg)
Don Gagne's avatar
Don Gagne committed
889
#else
890 891 892 893 894 895 896 897 898 899 900 901 902 903 904
    if (errorMsg.isEmpty()) {
        QFile versionFile(localFile);
        if (versionFile.open(QIODevice::ReadOnly)) {
            QTextStream textStream(&versionFile);
            QString version = textStream.readLine();

            qDebug() << version;

            int majorVersion, minorVersion, buildVersion;
            if (_parseVersionText(version, majorVersion, minorVersion, buildVersion)) {
                if (_majorVersion < majorVersion ||
                        (_majorVersion == majorVersion && _minorVersion < minorVersion) ||
                        (_majorVersion == majorVersion && _minorVersion == minorVersion && _buildVersion < buildVersion)) {
                    showAppMessage(tr("There is a newer version of %1 available. You can download it from %2.").arg(applicationName()).arg(toolbox()->corePlugin()->stableDownloadLocation()), tr("New Version Available"));
                }
Don Gagne's avatar
Don Gagne committed
905 906
            }
        }
907 908
    } else {
        qDebug() << "Download QGC stable version failed" << errorMsg;
Don Gagne's avatar
Don Gagne committed
909 910
    }

911
    sender()->deleteLater();
Don Gagne's avatar
Don Gagne committed
912
#endif
Don Gagne's avatar
Don Gagne committed
913 914 915 916 917 918 919 920 921 922 923 924 925 926 927
}

bool QGCApplication::_parseVersionText(const QString& versionString, int& majorVersion, int& minorVersion, int& buildVersion)
{
    QRegularExpression regExp("v(\\d+)\\.(\\d+)\\.(\\d+)");
    QRegularExpressionMatch match = regExp.match(versionString);
    if (match.hasMatch() && match.lastCapturedIndex() == 3) {
        majorVersion = match.captured(1).toInt();
        minorVersion = match.captured(2).toInt();
        buildVersion = match.captured(3).toInt();
        return true;
    }

    return false;
}
928 929 930 931 932 933 934 935 936 937 938 939 940 941 942


void QGCApplication::_onGPSConnect()
{
    _gpsRtkFactGroup->connected()->setRawValue(true);
}

void QGCApplication::_onGPSDisconnect()
{
    _gpsRtkFactGroup->connected()->setRawValue(false);
}

void QGCApplication::_gpsSurveyInStatus(float duration, float accuracyMM,  double latitude, double longitude, float altitude, bool valid, bool active)
{
    _gpsRtkFactGroup->currentDuration()->setRawValue(duration);
943
    _gpsRtkFactGroup->currentAccuracy()->setRawValue(static_cast<double>(accuracyMM) / 1000.0);
944 945 946 947 948 949 950 951 952 953 954 955
    _gpsRtkFactGroup->currentLatitude()->setRawValue(latitude);
    _gpsRtkFactGroup->currentLongitude()->setRawValue(longitude);
    _gpsRtkFactGroup->currentAltitude()->setRawValue(altitude);
    _gpsRtkFactGroup->valid()->setRawValue(valid);
    _gpsRtkFactGroup->active()->setRawValue(active);
}

void QGCApplication::_gpsNumSatellites(int numSatellites)
{
    _gpsRtkFactGroup->numSatellites()->setRawValue(numSatellites);
}

956 957 958 959 960 961 962 963 964 965 966 967 968
QString QGCApplication::cachedParameterMetaDataFile(void)
{
    QSettings settings;
    QDir parameterDir = QFileInfo(settings.fileName()).dir();
    return parameterDir.filePath(QStringLiteral("ParameterFactMetaData.xml"));
}

QString QGCApplication::cachedAirframeMetaDataFile(void)
{
    QSettings settings;
    QDir airframeDir = QFileInfo(settings.fileName()).dir();
    return airframeDir.filePath(QStringLiteral("PX4AirframeFactMetaData.xml"));
}