Merge pull request #4903 from DonLakeFlyer/BatteryCalc

Plan: Support battery calculations

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -437,3 +437,11 @@ bool FirmwarePlugin::_armVehicle(Vehicle* vehicle)
     }
     return vehicle->armed();
 }
+
+void FirmwarePlugin::batteryConsumptionData(Vehicle* vehicle, int& mAhBattery, int& hoverAmps, int& cruiseAmps) const
+{
+    Q_UNUSED(vehicle);
+    mAhBattery = 0;
+    hoverAmps = 0;
+    cruiseAmps = 0;
+}

src/FirmwarePlugin/FirmwarePlugin.h

@@ -276,6 +276,12 @@ public:
     /// @true: When flying a mission the vehicle is always facing towards the next waypoint
     virtual bool vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const;
 
+    /// Returns the data needed to do battery consumption calculations
+    ///     @param[out] mAhBattery Battery milliamp-hours rating (0 for no battery data available)
+    ///     @param[out] hoverAmps Current draw in amps during hover
+    ///     @param[out] cruiseAmps Current draw in amps during cruise
+    virtual void batteryConsumptionData(Vehicle* vehicle, int& mAhBattery, int& hoverAmps, int& cruiseAmps) const;
+
     // FIXME: Hack workaround for non pluginize FollowMe support
     static const char* px4FollowMeFlightMode;
 

src/MissionManager/MissionController.h

@@ -38,17 +38,25 @@ public:
     ~MissionController();
 
     typedef struct {
-        double maxTelemetryDistance;
-        double totalDistance;
-        double totalTime;
-        double hoverDistance;
-        double hoverTime;
-        double cruiseDistance;
-        double cruiseTime;
-        double cruiseSpeed;
-        double hoverSpeed;
-        double vehicleSpeed;    //</ Either cruise or hover speed based on vehicle type and vtol state
-        double gimbalYaw;       ///< NaN signals yaw was never changed
+        double  maxTelemetryDistance;
+        double  totalDistance;
+        double  totalTime;
+        double  hoverDistance;
+        double  hoverTime;
+        double  cruiseDistance;
+        double  cruiseTime;
+        double  cruiseSpeed;
+        double  hoverSpeed;
+        double  vehicleSpeed;           ///< Either cruise or hover speed based on vehicle type and vtol state
+        double  gimbalYaw;              ///< NaN signals yaw was never changed
+        int     mAhBattery;             ///< 0 for not available
+        int     hoverAmps;              ///< Amp consumption during hover
+        int     cruiseAmps;             ///< Amp consumption during cruise
+        double  ampMinutesAvailable;    ///< Amp minutes available from single battery
+        double  hoverAmpsTotal;         ///< Total hover amps used
+        double  cruiseAmpsTotal;        ///< Total cruise amps used
+        int     batteryChangePoint;     ///< -1 for not supported, 0 for not needed
+        int     batteriesRequired;      ///< -1 for not supported
     } MissionFlightStatus_t;
 
     Q_PROPERTY(QmlObjectListModel*  visualItems             READ visualItems                NOTIFY visualItemsChanged)
@@ -65,6 +73,9 @@ public:
     Q_PROPERTY(double               missionCruiseTime       READ missionCruiseTime          NOTIFY missionCruiseTimeChanged)
     Q_PROPERTY(double               missionMaxTelemetry     READ missionMaxTelemetry        NOTIFY missionMaxTelemetryChanged)
 
+    Q_PROPERTY(int                  batteryChangePoint      READ batteryChangePoint         NOTIFY batteryChangePointChanged)
+    Q_PROPERTY(int                  batteriesRequired       READ batteriesRequired          NOTIFY batteriesRequiredChanged)
+
     Q_INVOKABLE void removeMissionItem(int index);
 
     /// Add a new simple mission item to the list
@@ -124,6 +135,9 @@ public:
     double  missionCruiseTime       (void) const { return _missionFlightStatus.cruiseTime; }
     double  missionMaxTelemetry     (void) const { return _missionFlightStatus.maxTelemetryDistance; }
 
+    int  batteryChangePoint         (void) const { return _missionFlightStatus.batteryChangePoint; }    ///< -1 for not supported, 0 for not needed
+    int  batteriesRequired          (void) const { return _missionFlightStatus.batteriesRequired; }     ///< -1 for not supported
+
 signals:
     void visualItemsChanged(void);
     void waypointLinesChanged(void);
@@ -138,6 +152,8 @@ signals:
     void complexMissionItemNamesChanged(void);
     void resumeMissionItemChanged(void);
     void resumeMissionReady(void);
+    void batteryChangePointChanged(int batteryChangePoint);
+    void batteriesRequiredChanged(int batteriesRequired);
 
 private slots:
     void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
@@ -171,16 +187,13 @@ private:
     static bool _loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
     static bool _loadTextMissionFile(Vehicle* vehicle, QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
     int _nextSequenceNumber(void);
-    void _setMissionDistance(double missionDistance);
-    void _setMissionTime(double missionTime);
-    void _setMissionHoverDistance(double missionHoverDistance);
-    void _setMissionHoverTime(double missionHoverTime);
-    void _setMissionCruiseDistance(double missionCruiseDistance);
-    void _setMissionCruiseTime(double missionCruiseTime);
-    void _setMissionMaxTelemetry(double missionMaxTelemetry);
     static void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
     static bool _convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent);
     void _setPlannedHomePositionFromFirstCoordinate(void);
+    void _resetMissionFlightStatus(void);
+    void _addHoverTime(double hoverTime, double hoverDistance, int waypointIndex);
+    void _addCruiseTime(double cruiseTime, double cruiseDistance, int wayPointIndex);
+    void _updateBatteryInfo(int waypointIndex);
 
     // Overrides from PlanElementController
     void _activeVehicleBeingRemoved(void) final;

src/PlanView/PlanToolBar.qml

@@ -51,14 +51,18 @@ Rectangle {
     property real   _missionDistance:           _missionValid ? missionDistance : NaN
     property real   _missionMaxTelemetry:       _missionValid ? missionMaxTelemetry : NaN
     property real   _missionTime:               _missionValid ? missionTime : NaN
-
-    property string _distanceText:              isNaN(_distance) ? "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_distance).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString
-    property string _altDifferenceText:         isNaN(_altDifference) ? "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_altDifference).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString
-    property string _gradientText:              isNaN(_gradient) ? "-.-" : _gradientPercent.toFixed(0) + "%"
-    property string _azimuthText:               isNaN(_azimuth) ? "-.-" : Math.round(_azimuth)
-    property string _missionDistanceText:       isNaN(_missionDistance) ? "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_missionDistance).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString
-    property string _missionTimeText:           isNaN(_missionTime) ? "-.-" : Number(_missionTime / 60).toFixed(1) + " min"
-    property string _missionMaxTelemetryText:   isNaN(_missionMaxTelemetry) ? "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_missionMaxTelemetry).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString
+    property int    _batteryChangePoint:        _controllerValid ? missionController.batteryChangePoint : -1
+    property int    _batteriesRequired:         _controllerValid ? missionController.batteriesRequired : -1
+
+    property string _distanceText:              isNaN(_distance) ?              "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_distance).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString
+    property string _altDifferenceText:         isNaN(_altDifference) ?         "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_altDifference).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString
+    property string _gradientText:              isNaN(_gradient) ?              "-.-" : _gradientPercent.toFixed(0) + "%"
+    property string _azimuthText:               isNaN(_azimuth) ?               "-.-" : Math.round(_azimuth)
+    property string _missionDistanceText:       isNaN(_missionDistance) ?       "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_missionDistance).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString
+    property string _missionTimeText:           isNaN(_missionTime) ?           "-.-" : Number(_missionTime / 60).toFixed(1) + " min"
+    property string _missionMaxTelemetryText:   isNaN(_missionMaxTelemetry) ?   "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_missionMaxTelemetry).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString
+    property string _batteryChangePointText:    _batteryChangePoint < 0 ?       "N/A" : _batteryChangePoint
+    property string _batteriesRequiredText:     _batteriesRequired < 0 ?        "N/A" : _batteriesRequired
 
     readonly property real _margins: ScreenTools.defaultFontPixelWidth
 
@@ -164,12 +168,12 @@ Rectangle {
             }
 
             QGCLabel { text: qsTr("Batteries required:") }
-            QGCLabel { text: "--.--" }
+            QGCLabel { text: _batteriesRequiredText }
 
             Item { width: 1; height: 1 }
 
             QGCLabel { text: qsTr("Swap waypoint:") }
-            QGCLabel { text: "--" }
+            QGCLabel { text: _batteryChangePointText }
         }
     }