Merge pull request #2810 from DonLakeFlyer/Vehicle.battery

Vehicle.battery FactGroup

src/FlightDisplay/FlightDisplayView.qml

@@ -55,7 +55,7 @@ QGCView {
     readonly property real _defaultRoll:                0
     readonly property real _defaultPitch:               0
     readonly property real _defaultHeading:             0
-    readonly property real _defaultAltitudeWGS84:       0
+    readonly property real _defaultAltitudeAMSL:        0
     readonly property real _defaultGroundSpeed:         0
     readonly property real _defaultAirSpeed:            0
 
@@ -75,7 +75,7 @@ QGCView {
     property Fact _emptyFact:           Fact { }
     property Fact _groundSpeedFact:     _activeVehicle ? _activeVehicle.groundSpeed   : _emptyFact
     property Fact _airSpeedFact:        _activeVehicle ? _activeVehicle.airSpeed      : _emptyFact
-    property Fact _altitudeWGS84Fact:   _activeVehicle ? _activeVehicle.altitudeWGS84 : _emptyFact
+    property Fact _altitudeAMSLFact:    _activeVehicle ? _activeVehicle.altitudeAMSL : _emptyFact
 
     property bool activeVehicleJoystickEnabled: _activeVehicle ? _activeVehicle.joystickEnabled : false
 

src/FlightDisplay/FlightDisplayViewWidgets.qml

@@ -100,7 +100,7 @@ Item {
         heading:                _heading
         rollAngle:              _roll
         pitchAngle:             _pitch
-        altitudeFact:           _altitudeWGS84Fact
+        altitudeFact:           _altitudeAMSLFact
         groundSpeedFact:        _groundSpeedFact
         airSpeedFact:           _airSpeedFact
         isSatellite:            _mainIsMap ? _flightMap ? _flightMap.isSatelliteMap : true : true
@@ -124,7 +124,7 @@ Item {
             spacing:            ScreenTools.defaultFontPixelSize * 0.33
             anchors.verticalCenter: parent.verticalCenter
             QGCLabel {
-                text:           _altitudeWGS84Fact.shortDescription + "(" + _altitudeWGS84Fact.units + ")"
+                text:           _altitudeAMSLFact.shortDescription + "(" + _altitudeAMSLFact.units + ")"
                 font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75
                 width:          parent.width
                 height:         ScreenTools.defaultFontPixelSize * 0.75
@@ -132,7 +132,7 @@ Item {
                 horizontalAlignment: TextEdit.AlignHCenter
             }
             QGCLabel {
-                text:           _altitudeWGS84Fact.valueString
+                text:           _altitudeAMSLFact.valueString
                 font.pixelSize: ScreenTools.defaultFontPixelSize * 1.5
                 font.weight:    Font.DemiBold
                 width:          parent.width

src/FlightMap/Widgets/ValuesWidgetController.cc

@@ -36,9 +36,17 @@ ValuesWidgetController::ValuesWidgetController(void)
 
     settings.beginGroup(_groupKey);
 
-    largeDefaults << "Vehicle.altitudeWGS84" << "Vehicle.groundSpeed";
+    largeDefaults << "Vehicle.altitudeRelative" << "Vehicle.groundSpeed";
     _largeValues = settings.value(_largeValuesKey, largeDefaults).toStringList();
     _smallValues = settings.value(_smallValuesKey, QStringList()).toStringList();
+
+    // Keep back compat for removed WGS84 value
+    if (_largeValues.contains ("Vehicle.altitudeWGS84")) {
+        setLargeValues(_largeValues.replaceInStrings("Vehicle.altitudeWGS84", "Vehicle.altitudeRelative"));
+    }
+    if (_smallValues.contains ("Vehicle.altitudeWGS84")) {
+        setSmallValues(_largeValues.replaceInStrings("Vehicle.altitudeWGS84", "Vehicle.altitudeRelative"));
+    }
 }
 
 void ValuesWidgetController::setLargeValues(const QStringList& values)

src/Vehicle/BatteryFact.json

@@ -3,67 +3,45 @@
 
     "properties": [
         {
-            "name":             "roll",
-            "shortDescription": "Roll",
+            "name":             "voltage",
+            "shortDescription": "Voltage",
             "type":             "double",
-            "decimalPlaces":    1,
-            "units":            "degrees"
+            "decimalPlaces":    2,
+            "units":            "v"
         },
         {
-            "name":             "pitch",
-            "shortDescription": "Pitch",
-            "type":             "double",
-            "decimalPlaces":    1,
-            "units":            "degrees"
-        },
-        {
-            "name":             "heading",
-            "shortDescription": "Heading",
-            "type":             "double",
+            "name":             "percentRemaining",
+            "shortDescription": "Percent",
+            "type":             "int32",
             "decimalPlaces":    0,
-            "units":            "degrees"
-        },
-        {
-            "name":             "groundSpeed",
-            "shortDescription": "Ground Speed",
-            "type":             "double",
-            "decimalPlaces":    1,
-            "units":            "m/s"
-        },
-        {
-            "name":             "airSpeed",
-            "shortDescription": "Air Speed",
-            "type":             "double",
-            "decimalPlaces":    1,
-            "units":            "m/s"
+            "units":            "%"
         },
         {
-            "name":             "climbRate",
-            "shortDescription": "Climb Rate",
-            "type":             "double",
-            "decimalPlaces":    1,
-            "units":            "m/s"
+            "name":             "mahConsumed",
+            "shortDescription": "Consumed",
+            "type":             "int32",
+            "decimalPlaces":    0,
+            "units":            "mAh"
         },
         {
-            "name":             "altitudeRelative",
-            "shortDescription": "Altitude",
-            "type":             "double",
-            "decimalPlaces":    1,
-            "units":            "m"
+            "name":             "current",
+            "shortDescription": "Current",
+            "type":             "int32",
+            "decimalPlaces":    0,
+            "units":            "mA"
         },
         {
-            "name":             "altitudeQGS84",
-            "shortDescription": "Altitude",
-            "type":             "double",
-            "decimalPlaces":    1,
-            "units":            "m"
+            "name":             "temperature",
+            "shortDescription": "Temperature",
+            "type":             "int32",
+            "decimalPlaces":    2,
+            "units":            "C"
         },
         {
-            "name":             "altitudeAMSL",
-            "shortDescription": "Altitude",
-            "type":             "double",
-            "decimalPlaces":    1,
-            "units":            "m"
+            "name":             "cellCount",
+            "shortDescription": "Cell Count",
+            "type":             "int32",
+            "decimalPlaces":    0
         }
     ]
 }

src/Vehicle/Vehicle.cc

@@ -53,9 +53,10 @@ const char* Vehicle::_airSpeedFactName =            "airSpeed";
 const char* Vehicle::_groundSpeedFactName =         "groundSpeed";
 const char* Vehicle::_climbRateFactName =           "climbRate";
 const char* Vehicle::_altitudeRelativeFactName =    "altitudeRelative";
-const char* Vehicle::_altitudeWGS84FactName =       "altitudeWGS84";
 const char* Vehicle::_altitudeAMSLFactName =        "altitudeAMSL";
+
 const char* Vehicle::_gpsFactGroupName =        "gps";
+const char* Vehicle::_batteryFactGroupName =    "battery";
 
 const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
 const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
@@ -63,6 +64,20 @@ const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGroun
 const char* VehicleGPSFactGroup::_countFactName =               "count";
 const char* VehicleGPSFactGroup::_lockFactName =                "lock";
 
+const char* VehicleBatteryFactGroup::_voltageFactName =             "voltage";
+const char* VehicleBatteryFactGroup::_percentRemainingFactName =    "percentRemaining";
+const char* VehicleBatteryFactGroup::_mahConsumedFactName =         "mahConsumed";
+const char* VehicleBatteryFactGroup::_currentFactName =             "current";
+const char* VehicleBatteryFactGroup::_temperatureFactName =         "temperature";
+const char* VehicleBatteryFactGroup::_cellCountFactName =           "cellCount";
+
+const double VehicleBatteryFactGroup::_voltageUnavailable =           -1.0;
+const int    VehicleBatteryFactGroup::_percentRemainingUnavailable =  -1;
+const int    VehicleBatteryFactGroup::_mahConsumedUnavailable =       -1;
+const int    VehicleBatteryFactGroup::_currentUnavailable =           -1;
+const double VehicleBatteryFactGroup::_temperatureUnavailable =       -1.0;
+const int    VehicleBatteryFactGroup::_cellCountUnavailable =         -1.0;
+
 Vehicle::Vehicle(LinkInterface*             link,
                  int                        vehicleId,
                  MAV_AUTOPILOT              firmwareType,
@@ -95,9 +110,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _navigationCrosstrackError(0.0f)
     , _navigationTargetBearing(0.0f)
     , _refreshTimer(new QTimer(this))
-    , _batteryVoltage(-1.0f)
-    , _batteryPercent(0.0)
-    , _batteryConsumed(-1.0)
     , _updateCount(0)
     , _rcRSSI(0)
     , _rcRSSIstore(100.0)
@@ -129,9 +141,9 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _airSpeedFact         (0, _airSpeedFactName,          FactMetaData::valueTypeDouble)
     , _climbRateFact        (0, _climbRateFactName,         FactMetaData::valueTypeDouble)
     , _altitudeRelativeFact (0, _altitudeRelativeFactName,  FactMetaData::valueTypeDouble)
-    , _altitudeWGS84Fact    (0, _altitudeWGS84FactName,     FactMetaData::valueTypeDouble)
     , _altitudeAMSLFact     (0, _altitudeAMSLFactName,      FactMetaData::valueTypeDouble)
     , _gpsFactGroup(this)
+    , _batteryFactGroup(this)
 {
     _addLink(link);
 
@@ -182,8 +194,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     connect(_mav, &UASInterface::altitudeChanged, this, &Vehicle::_updateAltitude);
     connect(_mav, &UASInterface::navigationControllerErrorsChanged,this, &Vehicle::_updateNavigationControllerErrors);
     connect(_mav, &UASInterface::NavigationControllerDataChanged,   this, &Vehicle::_updateNavigationControllerData);
-    connect(_mav, &UASInterface::batteryChanged,                    this, &Vehicle::_updateBatteryRemaining);
-    connect(_mav, &UASInterface::batteryConsumedChanged,            this, &Vehicle::_updateBatteryConsumedChanged);
 
     _loadSettings();
 
@@ -211,11 +221,12 @@ Vehicle::Vehicle(LinkInterface*             link,
     _addFact(&_airSpeedFact,            _airSpeedFactName);
     _addFact(&_climbRateFact,           _climbRateFactName);
     _addFact(&_altitudeRelativeFact,    _altitudeRelativeFactName);
-    _addFact(&_altitudeWGS84Fact,       _altitudeWGS84FactName);
     _addFact(&_altitudeAMSLFact,        _altitudeAMSLFactName);
 
     _addFactGroup(&_gpsFactGroup,       _gpsFactGroupName);
+    _addFactGroup(&_batteryFactGroup,   _batteryFactGroupName);
     _gpsFactGroup.setVehicle(this);
+    _batteryFactGroup.setVehicle(this);
 }
 
 Vehicle::~Vehicle()
@@ -295,6 +306,12 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
         _handleRCChannelsRaw(message);
         break;
+    case MAVLINK_MSG_ID_BATTERY_STATUS:
+        _handleBatteryStatus(message);
+        break;
+    case MAVLINK_MSG_ID_SYS_STATUS:
+        _handleSysStatus(message);
+        break;
     case MAVLINK_MSG_ID_RAW_IMU:
         emit mavlinkRawImu(message);
         break;
@@ -314,6 +331,53 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     _uas->receiveMessage(message);
 }
 
+void Vehicle::_handleSysStatus(mavlink_message_t& message)
+{
+    mavlink_sys_status_t sysStatus;
+    mavlink_msg_sys_status_decode(&message, &sysStatus);
+
+    if (sysStatus.current_battery == -1) {
+        _batteryFactGroup.current()->setRawValue(VehicleBatteryFactGroup::_currentUnavailable);
+    } else {
+        _batteryFactGroup.current()->setRawValue((double)sysStatus.current_battery * 10);
+    }
+    if (sysStatus.voltage_battery == UINT16_MAX) {
+        _batteryFactGroup.voltage()->setRawValue(VehicleBatteryFactGroup::_voltageUnavailable);
+    } else {
+        _batteryFactGroup.voltage()->setRawValue((double)sysStatus.voltage_battery / 1000.0);
+    }
+    _batteryFactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining);
+}
+
+void Vehicle::_handleBatteryStatus(mavlink_message_t& message)
+{
+    mavlink_battery_status_t bat_status;
+    mavlink_msg_battery_status_decode(&message, &bat_status);
+
+    if (bat_status.temperature == INT16_MAX) {
+        _batteryFactGroup.temperature()->setRawValue(VehicleBatteryFactGroup::_temperatureUnavailable);
+    } else {
+        _batteryFactGroup.temperature()->setRawValue((double)bat_status.temperature / 100.0);
+    }
+    if (bat_status.current_consumed == -1) {
+        _batteryFactGroup.mahConsumed()->setRawValue(VehicleBatteryFactGroup::_mahConsumedUnavailable);
+    } else {
+        _batteryFactGroup.mahConsumed()->setRawValue(bat_status.current_consumed);
+    }
+
+    int cellCount = 0;
+    for (int i=0; i<10; i++) {
+        if (bat_status.voltages[i] != UINT16_MAX) {
+            cellCount++;
+        }
+    }
+    if (cellCount == 0) {
+        cellCount = -1;
+    }
+
+    _batteryFactGroup.cellCount()->setRawValue(cellCount);
+}
+
 void Vehicle::_handleHomePosition(mavlink_message_t& message)
 {
     bool emitHomePositionChanged =          false;
@@ -604,9 +668,9 @@ void Vehicle::_updateSpeed(UASInterface*, double groundSpeed, double airSpeed, q
     _airSpeedFact.setRawValue(airSpeed);
 }
 
-void Vehicle::_updateAltitude(UASInterface*, double altitudeAMSL, double altitudeWGS84, double altitudeRelative, double climbRate, quint64) {
+void Vehicle::_updateAltitude(UASInterface*, double altitudeAMSL, double altitudeRelative, double climbRate, quint64)
+{
     _altitudeAMSLFact.setRawValue(altitudeAMSL);
-    _altitudeWGS84Fact.setRawValue(altitudeWGS84);
     _altitudeRelativeFact.setRawValue(altitudeRelative);
     _climbRateFact.setRawValue(climbRate);
 }
@@ -667,34 +731,6 @@ void Vehicle::_handletextMessageReceived(UASMessage* message)
     }
 }
 
-void Vehicle::_updateBatteryRemaining(UASInterface*, double voltage, double, double percent, int)
-{
-
-    if(percent < 0.0) {
-        percent = 0.0;
-    }
-    if(voltage < 0.0) {
-        voltage = 0.0;
-    }
-    if (_batteryVoltage != voltage) {
-        _batteryVoltage = voltage;
-        emit batteryVoltageChanged();
-    }
-    if (_batteryPercent != percent) {
-        _batteryPercent = percent;
-        emit batteryPercentChanged();
-    }
-}
-
-void Vehicle::_updateBatteryConsumedChanged(UASInterface*, double current_consumed)
-{
-    if(_batteryConsumed != current_consumed) {
-        _batteryConsumed = current_consumed;
-        emit batteryConsumedChanged();
-    }
-}
-
-
 void Vehicle::_updateState(UASInterface*, QString name, QString)
 {
     if (_currentState != name) {
@@ -1195,8 +1231,6 @@ VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent)
     , _countFact            (0, _countFactName,             FactMetaData::valueTypeInt32)
     , _lockFact             (0, _lockFactName,              FactMetaData::valueTypeInt32)
 {
-    // Build FactGroup object model
-
     _addFact(&_hdopFact,                _hdopFactName);
     _addFact(&_vdopFact,                _vdopFactName);
     _addFact(&_courseOverGroundFact,    _courseOverGroundFactName);
@@ -1208,14 +1242,6 @@ void VehicleGPSFactGroup::setVehicle(Vehicle* vehicle)
 {
     _vehicle = vehicle;
 
-#if 0
-    // Reset satellite data (no GPS)
-    _satelliteCount = -1;
-    _satRawHDOP     = 1e10f;
-    _satRawVDOP     = 1e10f;
-    _satRawCOG      = 0.0;
-#endif
-
     connect(_vehicle->uas(), &UASInterface::localizationChanged, this, &VehicleGPSFactGroup::_setSatLoc);
 
     UAS* pUas = dynamic_cast<UAS*>(_vehicle->uas());
@@ -1259,3 +1285,33 @@ void VehicleGPSFactGroup::_setSatLoc(UASInterface*, int fix)
     }
 }
 
+VehicleBatteryFactGroup::VehicleBatteryFactGroup(QObject* parent)
+    : FactGroup(1000, ":/json/Vehicle/BatteryFact.json", parent)
+    , _vehicle(NULL)
+    , _voltageFact          (0, _voltageFactName,           FactMetaData::valueTypeDouble)
+    , _percentRemainingFact (0, _percentRemainingFactName,  FactMetaData::valueTypeInt32)
+    , _mahConsumedFact      (0, _mahConsumedFactName,       FactMetaData::valueTypeInt32)
+    , _currentFact          (0, _currentFactName,           FactMetaData::valueTypeInt32)
+    , _temperatureFact      (0, _temperatureFactName,       FactMetaData::valueTypeDouble)
+    , _cellCountFact        (0, _cellCountFactName,         FactMetaData::valueTypeInt32)
+{
+    _addFact(&_voltageFact,             _voltageFactName);
+    _addFact(&_percentRemainingFact,    _percentRemainingFactName);
+    _addFact(&_mahConsumedFact,         _mahConsumedFactName);
+    _addFact(&_currentFact,             _currentFactName);
+    _addFact(&_temperatureFact,         _temperatureFactName);
+    _addFact(&_cellCountFact,           _cellCountFactName);
+
+    // Start out as not available
+    _voltageFact.setRawValue            (_voltageUnavailable);
+    _percentRemainingFact.setRawValue   (_percentRemainingUnavailable);
+    _mahConsumedFact.setRawValue        (_mahConsumedUnavailable);
+    _currentFact.setRawValue            (_currentUnavailable);
+    _temperatureFact.setRawValue        (_temperatureUnavailable);
+    _cellCountFact.setRawValue          (_cellCountUnavailable);
+}
+
+void VehicleBatteryFactGroup::setVehicle(Vehicle* vehicle)
+{
+    _vehicle = vehicle;
+}

src/Vehicle/Vehicle.h

@@ -74,6 +74,12 @@ public:
 
     void setVehicle(Vehicle* vehicle);
 
+    static const char* _hdopFactName;
+    static const char* _vdopFactName;
+    static const char* _courseOverGroundFactName;
+    static const char* _countFactName;
+    static const char* _lockFactName;
+
 private slots:
     void _setSatelliteCount(double val, QString);
     void _setSatRawHDOP(double val);
@@ -88,12 +94,53 @@ private:
     Fact        _courseOverGroundFact;
     Fact        _countFact;
     Fact        _lockFact;
+};
 
-    static const char* _hdopFactName;
-    static const char* _vdopFactName;
-    static const char* _courseOverGroundFactName;
-    static const char* _countFactName;
-    static const char* _lockFactName;
+class VehicleBatteryFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    VehicleBatteryFactGroup(QObject* parent = NULL);
+
+    Q_PROPERTY(Fact* voltage            READ voltage            CONSTANT)
+    Q_PROPERTY(Fact* percentRemaining   READ percentRemaining   CONSTANT)
+    Q_PROPERTY(Fact* mahConsumed        READ mahConsumed        CONSTANT)
+    Q_PROPERTY(Fact* current            READ current            CONSTANT)
+    Q_PROPERTY(Fact* temperature        READ temperature        CONSTANT)
+    Q_PROPERTY(Fact* cellCount          READ cellCount        CONSTANT)
+
+    Fact* voltage(void)             { return &_voltageFact; }
+    Fact* percentRemaining(void)    { return &_percentRemainingFact; }
+    Fact* mahConsumed(void)         { return &_mahConsumedFact; }
+    Fact* current(void)             { return &_currentFact; }
+    Fact* temperature(void)         { return &_temperatureFact; }
+    Fact* cellCount(void)           { return &_cellCountFact; }
+
+    void setVehicle(Vehicle* vehicle);
+
+    static const char* _voltageFactName;
+    static const char* _percentRemainingFactName;
+    static const char* _mahConsumedFactName;
+    static const char* _currentFactName;
+    static const char* _temperatureFactName;
+    static const char* _cellCountFactName;
+
+    static const double _voltageUnavailable;
+    static const int    _percentRemainingUnavailable;
+    static const int    _mahConsumedUnavailable;
+    static const int    _currentUnavailable;
+    static const double _temperatureUnavailable;
+    static const int    _cellCountUnavailable;
+
+private:
+    Vehicle*    _vehicle;
+    Fact        _voltageFact;
+    Fact        _percentRemainingFact;
+    Fact        _mahConsumedFact;
+    Fact        _currentFact;
+    Fact        _temperatureFact;
+    Fact        _cellCountFact;
 };
 
 class Vehicle : public FactGroup
@@ -126,9 +173,6 @@ public:
     Q_PROPERTY(QmlObjectListModel*  trajectoryPoints        READ trajectoryPoints                       CONSTANT)
     Q_PROPERTY(float                latitude                READ latitude                               NOTIFY coordinateChanged)
     Q_PROPERTY(float                longitude               READ longitude                              NOTIFY coordinateChanged)
-    Q_PROPERTY(double               batteryVoltage          READ batteryVoltage                         NOTIFY batteryVoltageChanged)
-    Q_PROPERTY(double               batteryPercent          READ batteryPercent                         NOTIFY batteryPercentChanged)
-    Q_PROPERTY(double               batteryConsumed         READ batteryConsumed                        NOTIFY batteryConsumedChanged)
     Q_PROPERTY(QString              currentState            READ currentState                           NOTIFY currentStateChanged)
     Q_PROPERTY(QmlObjectListModel*  missionItems            READ missionItemsModel                      CONSTANT)
     Q_PROPERTY(bool                 messageTypeNone         READ messageTypeNone                        NOTIFY messageTypeChanged)
@@ -167,10 +211,10 @@ public:
     Q_PROPERTY(Fact* airSpeed           READ airSpeed           CONSTANT)
     Q_PROPERTY(Fact* climbRate          READ climbRate          CONSTANT)
     Q_PROPERTY(Fact* altitudeRelative   READ altitudeRelative   CONSTANT)
-    Q_PROPERTY(Fact* altitudeWGS84      READ altitudeWGS84      CONSTANT)
     Q_PROPERTY(Fact* altitudeAMSL       READ altitudeAMSL       CONSTANT)
 
     Q_PROPERTY(FactGroup* gps       READ gpsFactGroup       CONSTANT)
+    Q_PROPERTY(FactGroup* battery   READ batteryFactGroup   CONSTANT)
 
     /// Resets link status counters
     Q_INVOKABLE void resetCounters  ();
@@ -298,9 +342,6 @@ public:
     float           latitude            () { return _coordinate.latitude(); }
     float           longitude           () { return _coordinate.longitude(); }
     bool            mavPresent          () { return _mav != NULL; }
-    double          batteryVoltage      () { return _batteryVoltage; }
-    double          batteryPercent      () { return _batteryPercent; }
-    double          batteryConsumed     () { return _batteryConsumed; }
     QString         currentState        () { return _currentState; }
     int             rcRSSI              () { return _rcRSSI; }
     bool            px4Firmware         () { return _firmwareType == MAV_AUTOPILOT_PX4; }
@@ -319,10 +360,10 @@ public:
     Fact* groundSpeed       (void) { return &_groundSpeedFact; }
     Fact* climbRate         (void) { return &_climbRateFact; }
     Fact* altitudeRelative  (void) { return &_altitudeRelativeFact; }
-    Fact* altitudeWGS84     (void) { return &_altitudeWGS84Fact; }
     Fact* altitudeAMSL      (void) { return &_altitudeAMSLFact; }
 
-    FactGroup* gpsFactGroup(void) { return &_gpsFactGroup; }
+    FactGroup* gpsFactGroup     (void) { return &_gpsFactGroup; }
+    FactGroup* batteryFactGroup (void) { return &_batteryFactGroup; }
 
     void setConnectionLostEnabled(bool connectionLostEnabled);
 
@@ -369,9 +410,6 @@ signals:
     void formatedMessageChanged ();
     void latestErrorChanged     ();
     void longitudeChanged       ();
-    void batteryVoltageChanged  ();
-    void batteryPercentChanged  ();
-    void batteryConsumedChanged ();
     void currentConfigChanged   ();
     void currentStateChanged    ();
     void flowImageIndexChanged  ();
@@ -407,12 +445,10 @@ private slots:
     /** @brief Attitude from one specific component / redundant autopilot */
     void _updateAttitude                    (UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
     void _updateSpeed                       (UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp);
-    void _updateAltitude                    (UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp);
+    void _updateAltitude                    (UASInterface* uas, double _altitudeAMSL, double _altitudeRelative, double _climbRate, quint64 timestamp);
     void _updateNavigationControllerErrors  (UASInterface* uas, double altitudeError, double speedError, double xtrackError);
     void _updateNavigationControllerData    (UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDistance);
     void _checkUpdate                       ();
-    void _updateBatteryRemaining            (UASInterface*, double voltage, double, double percent, int);
-    void _updateBatteryConsumedChanged      (UASInterface*, double current_consumed);
     void _updateState                       (UASInterface* system, QString name, QString description);
     /** @brief A new camera image has arrived */
     void _imageReady                        (UASInterface* uas);
@@ -428,6 +464,8 @@ private:
     void _handleHeartbeat(mavlink_message_t& message);
     void _handleRCChannels(mavlink_message_t& message);
     void _handleRCChannelsRaw(mavlink_message_t& message);
+    void _handleBatteryStatus(mavlink_message_t& message);
+    void _handleSysStatus(mavlink_message_t& message);
     void _missionManagerError(int errorCode, const QString& errorMsg);
     void _mapTrajectoryStart(void);
     void _mapTrajectoryStop(void);
@@ -470,9 +508,6 @@ private:
     float           _navigationCrosstrackError;
     float           _navigationTargetBearing;
     QTimer*         _refreshTimer;
-    double          _batteryVoltage;
-    double          _batteryPercent;
-    double          _batteryConsumed;
     QString         _currentState;
     int             _updateCount;
     QString         _formatedMessage;
@@ -539,10 +574,10 @@ private:
     Fact _airSpeedFact;
     Fact _climbRateFact;
     Fact _altitudeRelativeFact;
-    Fact _altitudeWGS84Fact;
     Fact _altitudeAMSLFact;
 
     VehicleGPSFactGroup     _gpsFactGroup;
+    VehicleBatteryFactGroup _batteryFactGroup;
 
     static const char* _rollFactName;
     static const char* _pitchFactName;
@@ -551,9 +586,9 @@ private:
     static const char* _airSpeedFactName;
     static const char* _climbRateFactName;
     static const char* _altitudeRelativeFactName;
-    static const char* _altitudeWGS84FactName;
     static const char* _altitudeAMSLFactName;
     static const char* _gpsFactGroupName;
+    static const char* _batteryFactGroupName;
 
     static const int _vehicleUIUpdateRateMSecs = 100;
 

src/Vehicle/VehicleFact.json

@@ -46,14 +46,7 @@
         },
         {
             "name":             "altitudeRelative",
-            "shortDescription": "Altitude",
-            "type":             "double",
-            "decimalPlaces":    1,
-            "units":            "m"
-        },
-        {
-            "name":             "altitudeWGS84",
-            "shortDescription": "Altitude",
+            "shortDescription": "Altitude (home)",
             "type":             "double",
             "decimalPlaces":    1,
             "units":            "m"

src/uas/UAS.cc

@@ -92,7 +92,6 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
     longitude(0.0),
     altitudeAMSL(0.0),
     altitudeAMSLFT(0.0),
-    altitudeWGS84(0.0),
     altitudeRelative(0.0),
 
     satRawHDOP(1e10f),
@@ -355,18 +354,6 @@ void UAS::receiveMessage(mavlink_message_t message)
 
             break;
 
-        case MAVLINK_MSG_ID_BATTERY_STATUS:
-        {
-            if (multiComponentSourceDetected && wrongComponent)
-            {
-                break;
-            }
-            mavlink_battery_status_t bat_status;
-            mavlink_msg_battery_status_decode(&message, &bat_status);
-            emit batteryConsumedChanged(this, (double)bat_status.current_consumed);
-        }
-            break;
-
         case MAVLINK_MSG_ID_SYS_STATUS:
         {
             if (multiComponentSourceDetected && wrongComponent)
@@ -391,6 +378,8 @@ void UAS::receiveMessage(mavlink_message_t message)
             emit loadChanged(this,state.load/10.0f);
             emit valueChanged(uasId, name.arg("load"), "%", state.load/10.0f, time);
 
+            currentVoltage = state.voltage_battery/1000.0f;
+
             if (state.voltage_battery > 0.0f && state.voltage_battery != UINT16_MAX) {
                 // Battery charge/time remaining/voltage calculations
                 currentVoltage = state.voltage_battery/1000.0f;
@@ -572,7 +561,7 @@ void UAS::receiveMessage(mavlink_message_t message)
             if (!isnan(hud.airspeed))
                 setAirSpeed(hud.airspeed);
             speedZ = -hud.climb;
-            emit altitudeChanged(this, altitudeAMSL, altitudeWGS84, altitudeRelative, -speedZ, time);
+            emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
             emit speedChanged(this, groundSpeed, airSpeed, time);
         }
             break;
@@ -614,7 +603,6 @@ void UAS::receiveMessage(mavlink_message_t message)
 
             setLatitude(pos.lat/(double)1E7);
             setLongitude(pos.lon/(double)1E7);
-            setAltitudeWGS84(pos.alt/1000.0);
             setAltitudeRelative(pos.relative_alt/1000.0);
 
             globalEstimatorActive = true;
@@ -623,8 +611,8 @@ void UAS::receiveMessage(mavlink_message_t message)
             speedY = pos.vy/100.0;
             speedZ = pos.vz/100.0;
 
-            emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), getAltitudeWGS84(), time);
-            emit altitudeChanged(this, altitudeAMSL, altitudeWGS84, altitudeRelative, -speedZ, time);
+            emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
+            emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
             // We had some frame mess here, global and local axes were mixed.
             emit velocityChanged_NED(this, speedX, speedY, speedZ, time);
 
@@ -661,9 +649,8 @@ void UAS::receiveMessage(mavlink_message_t message)
                 if (!globalEstimatorActive) {
                     setLatitude(latitude_gps);
                     setLongitude(longitude_gps);
-                    setAltitudeWGS84(altitude_gps);
-                    emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), getAltitudeWGS84(), time);
-                    emit altitudeChanged(this, altitudeAMSL, altitudeWGS84, altitudeRelative, -speedZ, time);
+                    emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
+                    emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
 
                     float vel = pos.vel/100.0f;
                     // Smaller than threshold and not NaN

src/uas/UAS.h

@@ -93,7 +93,6 @@ public:
     Q_PROPERTY(double   bearingToWaypoint       READ getBearingToWaypoint   WRITE setBearingToWaypoint  NOTIFY bearingToWaypointChanged)
     Q_PROPERTY(double   altitudeAMSL            READ getAltitudeAMSL        WRITE setAltitudeAMSL       NOTIFY altitudeAMSLChanged)
     Q_PROPERTY(double   altitudeAMSLFT          READ getAltitudeAMSLFT                                  NOTIFY altitudeAMSLFTChanged)
-    Q_PROPERTY(double   altitudeWGS84           READ getAltitudeWGS84       WRITE setAltitudeWGS84      NOTIFY altitudeWGS84Changed)
     Q_PROPERTY(double   altitudeRelative        READ getAltitudeRelative    WRITE setAltitudeRelative   NOTIFY altitudeRelativeChanged)
     Q_PROPERTY(double   satRawHDOP              READ getSatRawHDOP                                      NOTIFY satRawHDOPChanged)
     Q_PROPERTY(double   satRawVDOP              READ getSatRawVDOP                                      NOTIFY satRawVDOPChanged)
@@ -203,19 +202,6 @@ public:
         return altitudeAMSLFT;
     }
 
-    void setAltitudeWGS84(double val)
-    {
-        altitudeWGS84 = val;
-        emit altitudeWGS84Changed(val, "altitudeWGS84");
-        emit valueChanged(this->uasId,"altitudeWGS84","m",QVariant(val),getUnixTime());
-    }
-
-    double getAltitudeWGS84() const
-    {
-        return altitudeWGS84;
-    }
-
-
     void setAltitudeRelative(double val)
     {
         altitudeRelative = val;
@@ -431,7 +417,6 @@ protected: //COMMENTS FOR TEST UNIT
     double longitude;           ///< Global longitude as estimated by position estimator
     double altitudeAMSL;        ///< Global altitude as estimated by position estimator, AMSL
     double altitudeAMSLFT;      ///< Global altitude as estimated by position estimator, AMSL
-    double altitudeWGS84;       ///< Global altitude as estimated by position estimator, WGS84
     double altitudeRelative;    ///< Altitude above home as estimated by position estimator
 
     double satRawHDOP;
@@ -614,7 +599,6 @@ signals:
     void latitudeChanged(double val,QString name);
     void altitudeAMSLChanged(double val,QString name);
     void altitudeAMSLFTChanged(double val,QString name);
-    void altitudeWGS84Changed(double val,QString name);
     void altitudeRelativeChanged(double val,QString name);
 
     void satRawHDOPChanged  (double value);

src/uas/UASInterface.h

@@ -253,7 +253,6 @@ signals:
      * @param seconds estimated remaining flight time in seconds
      */
     void batteryChanged(UASInterface* uas, double voltage, double current, double percent, int seconds);
-    void batteryConsumedChanged(UASInterface* uas, double current_consumed);
     void statusChanged(UASInterface* uas, QString status);
     void thrustChanged(UASInterface*, double thrust);
     void attitudeChanged(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
@@ -264,8 +263,8 @@ signals:
     void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
     /** @brief A user (or an autonomous mission or obstacle avoidance planner) requested to set a new setpoint */
     void userPositionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired);
-    void globalPositionChanged(UASInterface*, double lat, double lon, double altAMSL, double altWGS84, quint64 usec);
-    void altitudeChanged(UASInterface*, double altitudeAMSL, double altitudeWGS84, double altitudeRelative, double climbRate, quint64 usec);
+    void globalPositionChanged(UASInterface*, double lat, double lon, double altAMSL, quint64 usec);
+    void altitudeChanged(UASInterface*, double altitudeAMSL, double altitudeRelative, double climbRate, quint64 usec);
     /** @brief Update the status of one satellite used for localization */
     void gpsSatelliteStatusChanged(int uasid, int satid, float azimuth, float direction, float snr, bool used);
 

src/ui/toolbar/MainToolBar.qml

@@ -165,13 +165,13 @@ Rectangle {
 
     function getBatteryColor() {
         if(activeVehicle) {
-            if(activeVehicle.batteryPercent > 75) {
+            if(activeVehicle.battery.percentRemaining.value > 75) {
                 return colorGreen
             }
-            if(activeVehicle.batteryPercent > 50) {
+            if(activeVehicle.battery.percentRemaining.value > 50) {
                 return colorOrange
             }
-            if(activeVehicle.batteryPercent > 0.1) {
+            if(activeVehicle.battery.percentRemaining.value > 0.1) {
                 return colorRed
             }
         }
@@ -276,27 +276,29 @@ Rectangle {
     // Battery Info
     Component {
         id: batteryInfo
+
         Rectangle {
             color:          Qt.rgba(0,0,0,0.75)
             width:          battCol.width   + ScreenTools.defaultFontPixelWidth  * 3
             height:         battCol.height  + ScreenTools.defaultFontPixelHeight * 2
             radius:         ScreenTools.defaultFontPixelHeight * 0.5
+
             Column {
                 id:                 battCol
                 spacing:            ScreenTools.defaultFontPixelHeight * 0.5
                 width:              Math.max(battGrid.width, battLabel.width)
                 anchors.margins:    ScreenTools.defaultFontPixelHeight
                 anchors.centerIn:   parent
+
                 QGCLabel {
                     id:         battLabel
-                    text:       (activeVehicle && (activeVehicle.batteryVoltage > 0)) ? "Battery Status" : "Battery Data Unavailable"
+                    text:       "Battery Status"
                     color:      colorWhite
                     font.weight:Font.DemiBold
                     anchors.horizontalCenter: parent.horizontalCenter
                 }
                 GridLayout {
                     id:                 battGrid
-                    visible:            (activeVehicle && (activeVehicle.batteryVoltage > 0))
                     anchors.margins:    ScreenTools.defaultFontPixelHeight
                     columnSpacing:      ScreenTools.defaultFontPixelWidth
                     anchors.horizontalCenter: parent.horizontalCenter
@@ -306,29 +308,20 @@ Rectangle {
                         color:  colorWhite
                     }
                     QGCLabel {
-                        text:   activeVehicle ? (activeVehicle.batteryVoltage.toFixed(1) + " V") : "N/A"
+                        text:   (activeVehicle && activeVehicle.battery.voltage.value != -1) ? (activeVehicle.battery.voltage.valueString + " " + activeVehicle.battery.voltage.units) : "N/A"
                         color:  getBatteryColor()
                     }
-                    // TODO: What "controller" provides "Facts"?
-                    /*
-                    QGCLabel {
-                        text:   "Cell Voltage:"
-                    }
-                    QGCLabel {
-                        text:   (activeVehicle.batteryVoltage / controller.getParameterFact(-1, "BAT_N_CELLS").value) + "V"
-                        color:  getBatteryColor()
-                    }
-                    */
                     QGCLabel {
                         text:   "Accumulated Consumption:"
                         color:  colorWhite
                     }
                     QGCLabel {
-                        text:   activeVehicle ? (activeVehicle.batteryConsumed + " mA") : "N/A"
+                        text:   (activeVehicle && activeVehicle.battery.mahConsumed.value != -1) ? (activeVehicle.battery.mahConsumed.valueString + " " + activeVehicle.battery.mahConsumed.units) : "N/A"
                         color:  getBatteryColor()
                     }
                 }
             }
+
             Component.onCompleted: {
                 var pos = mapFromItem(toolBar, centerX - (width / 2), toolBar.height)
                 x = pos.x

src/ui/toolbar/MainToolBarIndicators.qml

@@ -65,27 +65,22 @@ Row {
     }
 
     function getBatteryVoltageText() {
-        if (activeVehicle.batteryVoltage > 0) {
-            //-- TODO: Need number of cells so I can show cell voltage instead of total voltage
-            //if (battNumCells && battNumCells.value) {
-            //    return (activeVehicle.batteryVoltage / battNumCells.value).toFixed(2) + 'V'
-            //} else {
-                return activeVehicle.batteryVoltage.toFixed(1) + 'V'
-            //}
+        if (activeVehicle.battery.voltage.value >= 0) {
+            return activeVehicle.battery.voltage.valueString + activeVehicle.battery.voltage.units
         }
         return 'N/A';
     }
 
     function getBatteryPercentageText() {
         if(activeVehicle) {
-            if(activeVehicle.batteryPercent > 98.9) {
+            if(activeVehicle.battery.percentRemaining.value > 98.9) {
                 return "100%"
             }
-            if(activeVehicle.batteryPercent > 0.1) {
-                return activeVehicle.batteryPercent.toFixed(0) + "%"
+            if(activeVehicle.battery.percentRemaining.value > 0.1) {
+                return activeVehicle.battery.percentRemaining.valueString + activeVehicle.battery.percentRemaining.units
             }
-            if(activeVehicle.batteryVoltage > 0) {
-                return activeVehicle.batteryVoltage.toFixed(1) + "V"
+            if(activeVehicle.battery.voltage.value >= 0) {
+                return activeVehicle.battery.voltage.valueString + activeVehicle.battery.voltage.units
             }
         }
         return "N/A"
@@ -276,7 +271,7 @@ Row {
         id: batteryStatus
         width:  battRow.width * 1.1
         height: mainWindow.tbCellHeight
-        opacity: activeVehicle ? ((activeVehicle.batteryVoltage > 0) ? 1 : 0.5) : 0.5
+        opacity: (activeVehicle && activeVehicle.battery.voltage.value >= 0) ? 1 : 0.5
         Row {
             id:         battRow
             height:     mainWindow.tbCellHeight
@@ -299,11 +294,13 @@ Row {
         MouseArea {
             anchors.fill:   parent
             onClicked: {
+                if (activeVehicle) {
                     var centerX = mapToItem(toolBar, x, y).x + (width / 2)
                     mainWindow.showPopUp(batteryInfo, centerX)
                 }
             }
         }
+    }
 
     //-------------------------------------------------------------------------
     //-- Vehicle Selector

src/ui/uas/UASQuickView.cc

@@ -33,7 +33,6 @@ UASQuickView::UASQuickView(QWidget *parent) : QWidget(parent),
     {
         valueEnabled("altitudeAMSL");
         valueEnabled("altitudeAMSLFT");
-        valueEnabled("altitudeWGS84");
         valueEnabled("altitudeRelative");
         valueEnabled("groundSpeed");
         valueEnabled("distToWaypoint");