- bug fix in distance sensor message handler

- add NOTIFY for distanceSensor property
- add DistanceSensorReadingsChange() callback prototype

- revert excessive NOTIFY
- adding MaxSensor into DistanceSensor frame handling

- add proximity radar view in map view
- add proximity radar view in video view

change distance label positioning in video view

clean up unwanted comments

- space up proximity sectors
- revert unwanted changes in qgroundcontrol.qrc

squashed commits

qgroundcontrol.qrc

@@ -273,6 +273,8 @@
         <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>

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

src/FlightDisplay/FlyViewVideo.qml

@@ -11,6 +11,7 @@ import QtQuick 2.12
 
 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
+    }
 }

src/FlightDisplay/ProximityRadarVideoView.qml

+/****************************************************************************
+ *
+ * (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
+                        }
+
+
+        }
+
+}
+

src/FlightMap/MapItems/ProximityRadarMapView.qml

+/****************************************************************************
+ *
+ * (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();
+            }
+    }
+}
+

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

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

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";

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)