New vehicle health display using SYS_STATUS info

qgroundcontrol.qrc

@@ -128,6 +128,7 @@
         <file alias="QGroundControl/FlightMap/QGCPitchIndicator.qml">src/FlightMap/Widgets/QGCPitchIndicator.qml</file>
         <file alias="QGroundControl/FlightMap/QGCVideoBackground.qml">src/FlightMap/QGCVideoBackground.qml</file>
         <file alias="QGroundControl/FlightMap/ValuesWidget.qml">src/FlightMap/Widgets/ValuesWidget.qml</file>
+        <file alias="QGroundControl/FlightMap/VehicleHealthWidget.qml">src/FlightMap/Widgets/VehicleHealthWidget.qml</file>
         <file alias="QGroundControl/FlightMap/VibrationWidget.qml">src/FlightMap/Widgets/VibrationWidget.qml</file>
         <file alias="QGroundControl/FlightMap/VehicleMapItem.qml">src/FlightMap/MapItems/VehicleMapItem.qml</file>
         <file alias="QGroundControl/FlightMap/InstrumentSwipeView.qml">src/FlightMap/Widgets/InstrumentSwipeView.qml</file>

src/FlightMap/Widgets/InstrumentSwipeView.qml

@@ -15,24 +15,41 @@ Item {
     property color  backgroundColor
     property var    maxHeight   ///< Maximum height that should be taken, smaller than this is ok
 
-    property real   _margins:   ScreenTools.defaultFontPixelWidth / 2
+    property real   _margins:           ScreenTools.defaultFontPixelWidth / 2
+    property real   _pageWidth:         _root.width
+    property int    _currentPage:       0
+    property int    _maxPage:           2
 
     function showPicker() {
         valuesPage.showPicker()
     }
 
+    function showPage(pageIndex) {
+        _root.height = Qt.binding(function() { return _root.children[pageIndex].height + pageIndicatorRow.anchors.topMargin + pageIndicatorRow.height } )
+        _root.children[0].x = -(pageIndex * _pageWidth)
+    }
+
     ValuesWidget {
         id:         valuesPage
-        width:      _root.width
+        width:      _pageWidth
         qgcView:    _root.qgcView
         textColor:  _root.textColor
         maxHeight:  _root.maxHeight
     }
 
+    VehicleHealthWidget {
+        id:             healthPage
+        anchors.left:   valuesPage.right
+        width:          _pageWidth
+        qgcView:        _root.qgcView
+        textColor:      _root.textColor
+        maxHeight:      _root.maxHeight
+    }
+
     VibrationWidget {
         id:                 vibrationPage
-        anchors.left:       valuesPage.right
-        width:              _root.width
+        anchors.left:       healthPage.right
+        width:              _pageWidth
         textColor:          _root.textColor
         backgroundColor:    _root.backgroundColor
         maxHeight:          _root.maxHeight
@@ -44,24 +61,17 @@ Item {
         anchors.horizontalCenter:   parent.horizontalCenter
         spacing:                    _margins
 
-        Rectangle {
-            id:             valuesPageIndicator
-            height:         radius * 2
-            width:          radius * 2
-            radius:         2.5
-            border.color:   textColor
-            border.width:   1
-            color:          textColor
-        }
+        Repeater {
+            model: _maxPage + 1
 
-        Rectangle {
-            id:             vibrationPageIndicator
-            height:         radius * 2
-            width:          radius * 2
-            radius:         2.5
-            border.color:   textColor
-            border.width:   1
-            color:          "transparent"
+            Rectangle {
+                height:         radius * 2
+                width:          radius * 2
+                radius:         2.5
+                border.color:   textColor
+                border.width:   1
+                color:          _currentPage == index ? textColor : "transparent"
+            }
         }
     }
 
@@ -69,40 +79,29 @@ Item {
         anchors.fill: parent
 
         property real xDragStart
-        property real xValuesPageSave
+        property real xFirstPageSave
 
         onPressed: {
             if (mouse.button == Qt.LeftButton) {
                 mouse.accepted = true
                 xDragStart = mouse.x
-                xValuesPageSave = valuesPage.x
+                xFirstPageSave = _root.children[0].x
             }
         }
 
         onPositionChanged: {
-            valuesPage.x = xValuesPageSave + mouse.x - xDragStart
+            _root.children[0].x = xFirstPageSave + mouse.x - xDragStart
         }
 
         onReleased: {
             if (mouse.x < xDragStart) {
-                if (xValuesPageSave == 0) {
-                    valuesPage.x = -valuesPage.width
-                    _root.height = Qt.binding(function() { return vibrationPage.height + pageIndicatorRow.anchors.topMargin + pageIndicatorRow.height } )
-                    valuesPageIndicator.color = "transparent"
-                    vibrationPageIndicator.color = textColor
-                } else {
-                    valuesPage.x = xValuesPageSave
-                }
+                // Swipe left
+                _currentPage = Math.min(_currentPage + 1, _maxPage)
             } else {
-                if (xValuesPageSave != 0) {
-                    valuesPage.x = 0
-                    _root.height = Qt.binding(function() { return valuesPage.height + pageIndicatorRow.anchors.topMargin + pageIndicatorRow.height } )
-                    valuesPageIndicator.color = textColor
-                    vibrationPageIndicator.color = "transparent"
-                } else {
-                    valuesPage.x = xValuesPageSave
-                }
+                // Swipe right
+                _currentPage = Math.max(_currentPage - 1, 0)
             }
+            showPage(_currentPage)
         }
     }
 }

src/FlightMap/Widgets/QGCInstrumentWidget.qml

@@ -128,7 +128,9 @@ Item {
 
             InstrumentSwipeView {
                 id:                 _valuesWidget
-                width:              parent.width
+                anchors.margins:    1
+                anchors.left:       parent.left
+                anchors.right:      parent.right
                 qgcView:            instrumentPanel.qgcView
                 textColor:          qgcPal.text
                 backgroundColor:    _backgroundColor

src/FlightMap/Widgets/VehicleHealthWidget.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 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          2.4
+import QtQuick.Layouts  1.2
+
+import QGroundControl               1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+
+QGCFlickable {
+    id:                 _root
+    height:             Math.min(maxHeight, healthColumn.y + healthColumn.height)
+    contentHeight:      healthColumn.y + healthColumn.height
+    flickableDirection: Flickable.VerticalFlick
+    clip:               true
+
+    property var    qgcView
+    property color  textColor
+    property var    maxHeight
+
+    property var    unhealthySensors:   QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle.unhealthySensors : [ ]
+
+    // Any time the unhealthy sensors list changes, switch to the health page
+    onUnhealthySensorsChanged: {
+        if (unhealthySensors.length != 0) {
+            showPage(1)
+        }
+    }
+
+    Column {
+        id:     healthColumn
+        width:  parent.width
+
+        QGCLabel {
+            width:                  parent.width
+            horizontalAlignment:    Text.AlignHCenter
+            color:                  textColor
+            text:                   qsTr("Vehicle Health")
+        }
+
+        QGCLabel {
+            width:                  parent.width
+            horizontalAlignment:    Text.AlignHCenter
+            color:                  textColor
+            text:                   qsTr("All systems healthy")
+            visible:                healthRepeater.count == 0
+        }
+
+        Repeater {
+            id:     healthRepeater
+            model:  unhealthySensors
+
+            Row {
+                Image {
+                    source:             "/qmlimages/Yield.svg"
+                    height:             ScreenTools.defaultFontPixelHeight
+                    sourceSize.height:  height
+                    fillMode:           Image.PreserveAspectFit
+                }
+
+                QGCLabel {
+                    color:  textColor
+                    text:   modelData
+                }
+            }
+        }
+    }
+}

src/FlightMap/qmldir

@@ -16,6 +16,7 @@ QGCInstrumentWidgetAlternate    1.0 QGCInstrumentWidgetAlternate.qml
 QGCPitchIndicator               1.0 QGCPitchIndicator.qml
 QGCSlider                       1.0 QGCSlider.qml
 ValuesWidget                    1.0 ValuesWidget.qml
+VehicleHealthWidget             1.0 VehicleHealthWidget.qml
 VibrationWidget                 1.0 VibrationWidget.qml
 
 # Map items

src/Vehicle/Vehicle.cc

@@ -96,6 +96,10 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _rcRSSIstore(255)
     , _autoDisconnect(false)
     , _flying(false)
+    , _onboardControlSensorsPresent(0)
+    , _onboardControlSensorsEnabled(0)
+    , _onboardControlSensorsHealth(0)
+    , _onboardControlSensorsUnhealthy(0)
     , _connectionLost(false)
     , _connectionLostEnabled(true)
     , _missionManager(NULL)
@@ -296,6 +300,11 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _rcRSSI(255)
     , _rcRSSIstore(255)
     , _autoDisconnect(false)
+    , _flying(false)
+    , _onboardControlSensorsPresent(0)
+    , _onboardControlSensorsEnabled(0)
+    , _onboardControlSensorsHealth(0)
+    , _onboardControlSensorsUnhealthy(0)
     , _connectionLost(false)
     , _connectionLostEnabled(true)
     , _missionManager(NULL)
@@ -669,6 +678,16 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
             _say(QString("%1 low battery: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
         }
     }
+
+    _onboardControlSensorsPresent = sysStatus.onboard_control_sensors_present;
+    _onboardControlSensorsEnabled = sysStatus.onboard_control_sensors_enabled;
+    _onboardControlSensorsHealth = sysStatus.onboard_control_sensors_health;
+
+    uint32_t newSensorsUnhealthy = _onboardControlSensorsEnabled & ~_onboardControlSensorsHealth;
+    if (newSensorsUnhealthy != _onboardControlSensorsUnhealthy) {
+        _onboardControlSensorsUnhealthy = newSensorsUnhealthy;
+        emit unhealthySensorsChanged();
+    }
 }
 
 void Vehicle::_handleBatteryStatus(mavlink_message_t& message)
@@ -1951,6 +1970,54 @@ QString Vehicle::brandImage(void) const
     return _firmwarePlugin->brandImage(this);
 }
 
+QStringList Vehicle::unhealthySensors(void) const
+{
+    QStringList sensorList;
+
+    struct sensorInfo_s {
+        uint32_t    bit;
+        const char* sensorName;
+    };
+
+    static const sensorInfo_s rgSensorInfo[] = {
+        { MAV_SYS_STATUS_SENSOR_3D_GYRO,                "Gyro" },
+        { MAV_SYS_STATUS_SENSOR_3D_ACCEL,               "Accelerometer" },
+        { MAV_SYS_STATUS_SENSOR_3D_MAG,                 "Magnetometer" },
+        { MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE,      "Absolute pressure" },
+        { MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE,  "Differential pressure" },
+        { MAV_SYS_STATUS_SENSOR_GPS,                    "GPS" },
+        { MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW,           "Optical flow" },
+        { MAV_SYS_STATUS_SENSOR_VISION_POSITION,        "Computer vision position" },
+        { MAV_SYS_STATUS_SENSOR_LASER_POSITION,         "Laser based position" },
+        { MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH,  "External ground truth" },
+        { MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL,   "Angular rate control" },
+        { MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION, "Attitude stabilization" },
+        { MAV_SYS_STATUS_SENSOR_YAW_POSITION,           "Yaw position" },
+        { MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL,     "Z/altitude control" },
+        { MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL,    "X/Y position control" },
+        { MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS,          "Motor outputs / control" },
+        { MAV_SYS_STATUS_SENSOR_RC_RECEIVER,            "RC receiver" },
+        { MAV_SYS_STATUS_SENSOR_3D_GYRO2,               "Gyro 2" },
+        { MAV_SYS_STATUS_SENSOR_3D_ACCEL2,              "Accelerometer 2" },
+        { MAV_SYS_STATUS_SENSOR_3D_MAG2,                "Magnetometer 2" },
+        { MAV_SYS_STATUS_GEOFENCE,                      "GeoFence" },
+        { MAV_SYS_STATUS_AHRS,                          "AHRS" },
+        { MAV_SYS_STATUS_TERRAIN,                       "Terrain" },
+        { MAV_SYS_STATUS_REVERSE_MOTOR,                 "Motors reversed" },
+        { MAV_SYS_STATUS_LOGGING,                       "Logging" },
+    };
+
+    for (size_t i=0; i<sizeof(rgSensorInfo)/sizeof(sensorInfo_s); i++) {
+        const sensorInfo_s* pSensorInfo = &rgSensorInfo[i];
+        if ((_onboardControlSensorsEnabled & pSensorInfo->bit) && !(_onboardControlSensorsHealth & pSensorInfo->bit)) {
+            sensorList << pSensorInfo->sensorName;
+        }
+    }
+
+    return sensorList;
+}
+
+
 const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
 const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
 const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGround";

src/Vehicle/Vehicle.h

@@ -280,6 +280,7 @@ public:
     Q_PROPERTY(bool                 xConfigMotors           READ xConfigMotors                                          CONSTANT)
     Q_PROPERTY(bool                 isOfflineEditingVehicle READ isOfflineEditingVehicle                                CONSTANT)
     Q_PROPERTY(QString              brandImage              READ brandImage                                             CONSTANT)
+    Q_PROPERTY(QStringList          unhealthySensors        READ unhealthySensors                                       NOTIFY unhealthySensorsChanged)
 
     /// true: Vehicle is flying, false: Vehicle is on ground
     Q_PROPERTY(bool flying      READ flying     WRITE setFlying     NOTIFY flyingChanged)
@@ -530,6 +531,7 @@ public:
     uint32_t        customMode              () const { return _custom_mode; }
     bool            isOfflineEditingVehicle () const { return _offlineEditingVehicle; }
     QString         brandImage              () const;
+    QStringList     unhealthySensors        () const;
 
     Fact* roll              (void) { return &_rollFact; }
     Fact* heading           (void) { return &_headingFact; }
@@ -604,6 +606,7 @@ signals:
     void prearmErrorChanged(const QString& prearmError);
     void commandLongAck(uint8_t compID, uint16_t command, uint8_t result);
     void soloFirmwareChanged(bool soloFirmware);
+    void unhealthySensorsChanged(void);
 
     void messagesReceivedChanged    ();
     void messagesSentChanged        ();
@@ -751,6 +754,10 @@ private:
     double          _rcRSSIstore;
     bool            _autoDisconnect;    ///< true: Automatically disconnect vehicle when last connection goes away or lost heartbeat
     bool            _flying;
+    uint32_t        _onboardControlSensorsPresent;
+    uint32_t        _onboardControlSensorsEnabled;
+    uint32_t        _onboardControlSensorsHealth;
+    uint32_t        _onboardControlSensorsUnhealthy;
 
     QString             _prearmError;
     QTimer              _prearmErrorTimer;