Merge pull request #4958 from DonLakeFlyer/PlanToolbar

Add vehicle heading to plan toolbar

src/MissionManager/MissionController.cc

@@ -77,6 +77,7 @@ void MissionController::_resetMissionFlightStatus(void)
     _missionFlightStatus.cruiseSpeed =          _activeVehicle ? _activeVehicle->defaultCruiseSpeed() : std::numeric_limits<double>::quiet_NaN();
     _missionFlightStatus.hoverSpeed =           _activeVehicle ? _activeVehicle->defaultHoverSpeed() : std::numeric_limits<double>::quiet_NaN();
     _missionFlightStatus.vehicleSpeed =         _activeVehicle ? (_activeVehicle->multiRotor() || _activeVehicle->vtol() ? _missionFlightStatus.hoverSpeed : _missionFlightStatus.cruiseSpeed) : std::numeric_limits<double>::quiet_NaN();
+    _missionFlightStatus.vehicleYaw =           0.0;
     _missionFlightStatus.gimbalYaw =            std::numeric_limits<double>::quiet_NaN();
 
     // Battery information
@@ -97,6 +98,17 @@ void MissionController::_resetMissionFlightStatus(void)
             _missionFlightStatus.ampMinutesAvailable = (double)_missionFlightStatus.mAhBattery / 1000.0 * 60.0 * ((100.0 - batteryPercentRemainingAnnounce) / 100.0);
         }
     }
+
+    emit missionDistanceChanged(_missionFlightStatus.totalDistance);
+    emit missionTimeChanged();
+    emit missionHoverDistanceChanged(_missionFlightStatus.hoverDistance);
+    emit missionCruiseDistanceChanged(_missionFlightStatus.cruiseDistance);
+    emit missionHoverTimeChanged();
+    emit missionCruiseTimeChanged();
+    emit missionMaxTelemetryChanged(_missionFlightStatus.maxTelemetryDistance);
+    emit batteryChangePointChanged(_missionFlightStatus.batteryChangePoint);
+    emit batteriesRequiredChanged(_missionFlightStatus.batteriesRequired);
+
 }
 
 void MissionController::start(bool editMode)
@@ -322,6 +334,7 @@ void MissionController::removeAll(void)
         _addMissionSettings(_activeVehicle, _visualItems, false /* addToCenter */);
         _initAllVisualItems();
         _visualItems->setDirty(true);
+       _resetMissionFlightStatus();
     }
 }
 
@@ -953,8 +966,6 @@ void MissionController::_recalcMissionFlightStatus()
     const double homePositionAltitude = _settingsItem->coordinate().altitude();
     minAltSeen = maxAltSeen = _settingsItem->coordinate().altitude();
 
-    double lastVehicleYaw = 0;
-
     _resetMissionFlightStatus();
 
     bool vtolInHover = true;
@@ -1034,8 +1045,8 @@ void MissionController::_recalcMissionFlightStatus()
         if (item->specifiesCoordinate()) {
             // Update vehicle yaw assuming direction to next waypoint
             if (item != lastCoordinateItem) {
-                lastVehicleYaw = lastCoordinateItem->exitCoordinate().azimuthTo(item->coordinate());
-                lastCoordinateItem->setMissionVehicleYaw(lastVehicleYaw);
+                _missionFlightStatus.vehicleYaw = lastCoordinateItem->exitCoordinate().azimuthTo(item->coordinate());
+                lastCoordinateItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
             }
 
             // Keep track of the min/max altitude for all waypoints so we can show altitudes as a percentage
@@ -1115,7 +1126,7 @@ void MissionController::_recalcMissionFlightStatus()
             lastCoordinateItem = item;
         }
     }
-    lastCoordinateItem->setMissionVehicleYaw(lastVehicleYaw);
+    lastCoordinateItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
 
     if (_missionFlightStatus.mAhBattery != 0 && _missionFlightStatus.batteryChangePoint == -1) {
         _missionFlightStatus.batteryChangePoint = 0;

src/MissionManager/MissionController.h

@@ -48,6 +48,7 @@ public:
         double  cruiseSpeed;
         double  hoverSpeed;
         double  vehicleSpeed;           ///< Either cruise or hover speed based on vehicle type and vtol state
+        double  vehicleYaw;
         double  gimbalYaw;              ///< NaN signals yaw was never changed
         int     mAhBattery;             ///< 0 for not available
         double  hoverAmps;              ///< Amp consumption during hover

src/MissionManager/VisualMissionItem.h

@@ -71,10 +71,10 @@ public:
 
     // The following properties are calculated/set by the MissionController recalc methods
 
-    Q_PROPERTY(double altDifference READ altDifference  WRITE setAltDifference  NOTIFY altDifferenceChanged)    ///< Change in altitude from previous waypoint
-    Q_PROPERTY(double altPercent    READ altPercent     WRITE setAltPercent     NOTIFY altPercentChanged)       ///< Percent of total altitude change in mission altitude
-    Q_PROPERTY(double azimuth       READ azimuth        WRITE setAzimuth        NOTIFY azimuthChanged)          ///< Azimuth to previous waypoint
-    Q_PROPERTY(double distance      READ distance       WRITE setDistance       NOTIFY distanceChanged)         ///< Distance to previous waypoint
+    Q_PROPERTY(double altDifference     READ altDifference      WRITE setAltDifference      NOTIFY altDifferenceChanged)        ///< Change in altitude from previous waypoint
+    Q_PROPERTY(double altPercent        READ altPercent         WRITE setAltPercent         NOTIFY altPercentChanged)           ///< Percent of total altitude change in mission altitude
+    Q_PROPERTY(double azimuth           READ azimuth            WRITE setAzimuth            NOTIFY azimuthChanged)              ///< Azimuth to previous waypoint
+    Q_PROPERTY(double distance          READ distance           WRITE setDistance           NOTIFY distanceChanged)             ///< Distance to previous waypoint
 
     // Property accesors
 

src/PlanView/PlanToolBar.qml

@@ -39,9 +39,10 @@ Rectangle {
     property bool   _controllerValid:           missionController != undefined
     property bool   _manualUpload:              QGroundControl.settingsManager.appSettings.automaticMissionUpload.rawValue == 0
 
-    property real   _dataFontSize:              ScreenTools.isMobile ? ScreenTools.smallFontPointSize : ScreenTools.defaultFontPointSize
+    property real   _dataFontSize:              ScreenTools.defaultFontPointSize
     property real   _largeValueWidth:           ScreenTools.defaultFontPixelWidth * 8
-    property real   _smallValueWidth:           ScreenTools.defaultFontPixelWidth * 4
+    property real   _mediumValueWidth:          ScreenTools.defaultFontPixelWidth * 4
+    property real   _smallValueWidth:           ScreenTools.defaultFontPixelWidth * 3
     property real   _labelToValueSpacing:       ScreenTools.defaultFontPixelWidth
     property real   _rowSpacing:                ScreenTools.isMobile ? 1 : 0
     property real   _distance:                  _statusValid ? currentMissionItem.distance : NaN
@@ -49,6 +50,7 @@ Rectangle {
     property real   _gradient:                  _statusValid && currentMissionItem.distance > 0 ? Math.atan(currentMissionItem.altDifference / currentMissionItem.distance) : NaN
     property real   _gradientPercent:           isNaN(_gradient) ? NaN : _gradient * 100
     property real   _azimuth:                   _statusValid ? currentMissionItem.azimuth : NaN
+    property real   _heading:                   _statusValid ? currentMissionItem.missionVehicleYaw : NaN
     property real   _missionDistance:           _missionValid ? missionDistance : NaN
     property real   _missionMaxTelemetry:       _missionValid ? missionMaxTelemetry : NaN
     property real   _missionTime:               _missionValid ? missionTime : NaN
@@ -57,8 +59,9 @@ Rectangle {
 
     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 _gradientText:              isNaN(_gradient) ?              "-.-" : _gradientPercent.toFixed(0) + " %"
     property string _azimuthText:               isNaN(_azimuth) ?               "-.-" : Math.round(_azimuth)
+    property string _headingText:               isNaN(_azimuth) ?               "-.-" : Math.round(_heading)
     property string _missionDistanceText:       isNaN(_missionDistance) ?       "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_missionDistance).toFixed(0) + " " + QGroundControl.appSettingsDistanceUnitsString
     property string _missionMaxTelemetryText:   isNaN(_missionMaxTelemetry) ?   "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_missionMaxTelemetry).toFixed(0) + " " + QGroundControl.appSettingsDistanceUnitsString
     property string _batteryChangePointText:    _batteryChangePoint < 0 ?       "N/A" : _batteryChangePoint
@@ -120,50 +123,55 @@ Rectangle {
 
         GridLayout {
             anchors.verticalCenter: parent.verticalCenter
-            columns:                5
+            columns:                8
             rowSpacing:             _rowSpacing
             columnSpacing:          _labelToValueSpacing
 
             QGCLabel {
                 text:               qsTr("Selected Waypoint")
-                Layout.columnSpan:  5
+                Layout.columnSpan:  8
                 font.pointSize:     ScreenTools.smallFontPointSize
             }
 
-            QGCLabel { text: qsTr("Distance:"); font.pointSize: _dataFontSize; }
+            QGCLabel { text: qsTr("Alt diff:"); font.pointSize: _dataFontSize; }
             QGCLabel {
-                text:                   _distanceText
+                text:                   _altDifferenceText
                 font.pointSize:         _dataFontSize
-                Layout.minimumWidth:    _largeValueWidth
-                horizontalAlignment:    Text.AlignRight
+                Layout.minimumWidth:    _mediumValueWidth
             }
 
             Item { width: 1; height: 1 }
 
-            QGCLabel { text: qsTr("Gradient:"); font.pointSize: _dataFontSize; }
+            QGCLabel { text: qsTr("Azimuth:"); font.pointSize: _dataFontSize; }
             QGCLabel {
-                text:                   _gradientText
+                text:                   _azimuthText
                 font.pointSize:         _dataFontSize
                 Layout.minimumWidth:    _smallValueWidth
-                horizontalAlignment:    Text.AlignRight
             }
 
-            QGCLabel { text: qsTr("Alt diff:"); font.pointSize: _dataFontSize; }
+            Item { width: 1; height: 1 }
+
+            QGCLabel { text: qsTr("Distance:"); font.pointSize: _dataFontSize; }
             QGCLabel {
-                text:                   _altDifferenceText
+                text:                   _distanceText
                 font.pointSize:         _dataFontSize
                 Layout.minimumWidth:    _largeValueWidth
-                horizontalAlignment:    Text.AlignRight
+            }
+
+            QGCLabel { text: qsTr("Gradient:"); font.pointSize: _dataFontSize; }
+            QGCLabel {
+                text:                   _gradientText
+                font.pointSize:         _dataFontSize
+                Layout.minimumWidth:    _mediumValueWidth
             }
 
             Item { width: 1; height: 1 }
 
-            QGCLabel { text: qsTr("Azimuth:"); font.pointSize: _dataFontSize; }
+            QGCLabel { text: qsTr("Heading:"); font.pointSize: _dataFontSize; }
             QGCLabel {
-                text:                   _azimuthText
+                text:                   _headingText
                 font.pointSize:         _dataFontSize
                 Layout.minimumWidth:    _smallValueWidth
-                horizontalAlignment:    Text.AlignRight
             }
         }
 
@@ -184,7 +192,6 @@ Rectangle {
                 text:                   _missionDistanceText
                 font.pointSize:         _dataFontSize
                 Layout.minimumWidth:    _largeValueWidth
-                horizontalAlignment:    Text.AlignRight
             }
 
             Item { width: 1; height: 1 }
@@ -194,7 +201,6 @@ Rectangle {
                 text:                   _missionMaxTelemetryText
                 font.pointSize:         _dataFontSize
                 Layout.minimumWidth:    _largeValueWidth
-                horizontalAlignment:    Text.AlignRight
             }
 
             QGCLabel { text: qsTr("Time:"); font.pointSize: _dataFontSize; }
@@ -202,7 +208,6 @@ Rectangle {
                 text:                   getMissionTime()
                 font.pointSize:         _dataFontSize
                 Layout.minimumWidth:    _largeValueWidth
-                horizontalAlignment:    Text.AlignRight
             }
         }
 
@@ -222,8 +227,7 @@ Rectangle {
             QGCLabel {
                 text:                   _batteriesRequiredText
                 font.pointSize:         _dataFontSize
-                horizontalAlignment:    Text.AlignRight
-                Layout.minimumWidth:    _smallValueWidth
+                Layout.minimumWidth:    _mediumValueWidth
             }
 
             Item { width: 1; height: 1 }
@@ -232,8 +236,7 @@ Rectangle {
             QGCLabel {
                 text:                   _batteryChangePointText
                 font.pointSize:         _dataFontSize
-                horizontalAlignment:    Text.AlignRight
-                Layout.minimumWidth:    _smallValueWidth
+                Layout.minimumWidth:    _mediumValueWidth
             }
         }
     }
@@ -245,7 +248,7 @@ Rectangle {
         anchors.verticalCenter: parent.verticalCenter
         text:                   missionController ? (missionController.dirty ? qsTr("Upload Required") : qsTr("Upload")) : ""
         enabled:                _activeVehicle
-        visible:                _manualUpload
+        visible:                _activeVehicle && _manualUpload
         onClicked:              missionController.upload()
 
         PropertyAnimation on opacity {