Merge pull request #6887 from DonLakeFlyer/StableMerge

Stable merge

ChangeLog.md

@@ -11,6 +11,7 @@ Note: This file only contains high level features or important fixes.
 ## 3.4
 
 ### 3.4.4 - Not yet released
+* Multi-Vehicle Start Mission and Pause now work correctly. Issue #6864.
 
 ### 3.4.3
 * Fix bug where Resume Mission would not display correctly in some cases. Issue #6835.
@@ -22,3 +23,4 @@ Note: This file only contains high level features or important fixes.
 ### 3.4.1
 * Fix crash when Survery with terrain follow is moved quickly
 * Fix terrain follow climb/descent rate fields swapped in ui
+

src/FlightDisplay/FlightDisplayView.qml

@@ -470,13 +470,14 @@ QGCView {
         }
 
         MultiVehicleList {
-            anchors.margins:    _margins
-            anchors.top:        singleMultiSelector.bottom
-            anchors.right:      parent.right
-            anchors.bottom:     parent.bottom
-            width:              ScreenTools.defaultFontPixelWidth * 30
-            visible:            !singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
-            z:                  _panel.z + 4
+            anchors.margins:            _margins
+            anchors.top:                singleMultiSelector.bottom
+            anchors.right:              parent.right
+            anchors.bottom:             parent.bottom
+            width:                      ScreenTools.defaultFontPixelWidth * 30
+            visible:                    !singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
+            z:                          _panel.z + 4
+            guidedActionsController:    _guidedController
         }
 
         //-- Virtual Joystick

src/FlightDisplay/GuidedActionsController.qml

@@ -40,10 +40,12 @@ Item {
     readonly property string takeoffTitle:                  qsTr("Takeoff")
     readonly property string landTitle:                     qsTr("Land")
     readonly property string startMissionTitle:             qsTr("Start Mission")
+    readonly property string mvStartMissionTitle:           qsTr("Start Mission (MV)")
     readonly property string continueMissionTitle:          qsTr("Continue Mission")
     readonly property string resumeMissionTitle:            qsTr("Resume Mission")
     readonly property string resumeMissionUploadFailTitle:  qsTr("Resume FAILED")
     readonly property string pauseTitle:                    qsTr("Pause")
+    readonly property string mvPauseTitle:                  qsTr("Pause (MV)")
     readonly property string changeAltTitle:                qsTr("Change Altitude")
     readonly property string orbitTitle:                    qsTr("Orbit")
     readonly property string landAbortTitle:                qsTr("Land Abort")
@@ -101,18 +103,19 @@ Item {
     property bool showTakeoff:          _guidedActionsEnabled && _activeVehicle.takeoffVehicleSupported && !_vehicleFlying
     property bool showLand:             _guidedActionsEnabled && _activeVehicle.guidedModeSupported && _vehicleArmed && !_activeVehicle.fixedWing && !_vehicleInLandMode
     property bool showStartMission:     _guidedActionsEnabled && _missionAvailable && !_missionActive && !_vehicleFlying
-    property bool showContinueMission:  _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < missionController.visualItems.count - 1)
+    property bool showContinueMission:  _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < _missionItemCount - 1)
     property bool showPause:            _guidedActionsEnabled && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused
     property bool showChangeAlt:        _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
     property bool showOrbit:            _guidedActionsEnabled && !_hideOrbit && _vehicleFlying && _activeVehicle.orbitModeSupported && !_missionActive
     property bool showLandAbort:        _guidedActionsEnabled && _vehicleFlying && _activeVehicle.fixedWing && _vehicleLanding
     property bool showGotoLocation:     _guidedActionsEnabled && _vehicleFlying
 
-    // Note: The 'missionController.visualItems.count - 3' is a hack to not trigger resume mission when a mission ends with an RTL item
-    property bool showResumeMission:    _activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < missionController.visualItems.count - 3)
+    // Note: The '_missionItemCount - 2' is a hack to not trigger resume mission when a mission ends with an RTL item
+    property bool showResumeMission:    _activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < _missionItemCount - 2)
 
     property bool guidedUIVisible:      guidedActionConfirm.visible || guidedActionList.visible
 
+    property var    _corePlugin:            QGroundControl.corePlugin
     property bool   _guidedActionsEnabled:  (!ScreenTools.isDebug && QGroundControl.corePlugin.options.guidedActionsRequireRCRSSI && _activeVehicle) ? _rcRSSIAvailable : _activeVehicle
     property var    _activeVehicle:         QGroundControl.multiVehicleManager.activeVehicle
     property string _flightMode:            _activeVehicle ? _activeVehicle.flightMode : ""
@@ -125,6 +128,7 @@ Item {
     property bool   _vehicleInMissionMode:  false
     property bool   _vehicleInRTLMode:      false
     property bool   _vehicleInLandMode:     false
+    property int    _missionItemCount:      missionController.missionItemCount
     property int    _currentMissionIndex:   missionController.currentMissionIndex
     property int    _resumeMissionIndex:    missionController.resumeMissionIndex
     property bool   _hideEmergenyStop:      !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
@@ -132,15 +136,14 @@ Item {
     property bool   _vehicleWasFlying:      false
     property bool   _rcRSSIAvailable:       _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100 : false
 
-    //Handy code for debugging state problems
-    property bool __debugGuidedStates:      false
+    // You can turn on log output for GuidedActionsController by turning on GuidedActionsControllerLog category
     property bool __guidedModeSupported:    _activeVehicle ? _activeVehicle.guidedModeSupported : false
     property bool __pauseVehicleSupported:  _activeVehicle ? _activeVehicle.pauseVehicleSupported : false
     property bool __flightMode:             _flightMode
 
     function _outputState() {
-        if (__debugGuidedStates) {
-            console.log(qsTr("_activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleInRTLMode(%5) pauseVehicleSupported(%6) _vehiclePaused(%7) _flightMode(%8)").arg(_activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode))
+        if (_corePlugin.guidedActionsControllerLogging()) {
+            console.log(qsTr("_activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleWasFlying(%5) _vehicleInRTLMode(%6) pauseVehicleSupported(%7) _vehiclePaused(%8) _flightMode(%9) _missionItemCount(%10)").arg(_activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleWasFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode).arg(_missionItemCount))
         }
     }
 
@@ -152,31 +155,32 @@ Item {
     on__FlightModeChanged:              _outputState()
     on__GuidedModeSupportedChanged:     _outputState()
     on__PauseVehicleSupportedChanged:   _outputState()
+    on_MissionItemCountChanged:         _outputState()
 
     on_CurrentMissionIndexChanged: {
-        if (__debugGuidedStates) {
+        if (_corePlugin.guidedActionsControllerLogging()) {
             console.log("_currentMissionIndex", _currentMissionIndex)
         }
     }
     on_ResumeMissionIndexChanged: {
-        if (__debugGuidedStates) {
+        if (_corePlugin.guidedActionsControllerLogging()) {
             console.log("_resumeMissionIndex", _resumeMissionIndex)
         }
     }
     onShowResumeMissionChanged: {
-        if (__debugGuidedStates) {
+        if (_corePlugin.guidedActionsControllerLogging()) {
             console.log("showResumeMission", showResumeMission)
         }
         _outputState()
     }
     onShowStartMissionChanged: {
-        if (__debugGuidedStates) {
+        if (_corePlugin.guidedActionsControllerLogging()) {
             console.log("showStartMission", showStartMission)
         }
         _outputState()
     }
     onShowContinueMissionChanged: {
-        if (__debugGuidedStates) {
+        if (_corePlugin.guidedActionsControllerLogging()) {
             console.log("showContinueMission", showContinueMission)
         }
         _outputState()
@@ -245,7 +249,7 @@ Item {
             confirmDialog.hideTrigger = Qt.binding(function() { return !showStartMission })
             break;
         case actionMVStartMission:
-            confirmDialog.title = startMissionTitle
+            confirmDialog.title = mvStartMissionTitle
             confirmDialog.message = startMissionMessage
             confirmDialog.hideTrigger = true
             break;
@@ -317,7 +321,7 @@ Item {
             altitudeSlider.visible = true
             break;
         case actionMVPause:
-            confirmDialog.title = pauseTitle
+            confirmDialog.title = mvPauseTitle
             confirmDialog.message = mvPauseMessage
             confirmDialog.hideTrigger = true
             break;

src/MissionManager/MissionController.cc

@@ -58,6 +58,7 @@ const int   MissionController::_missionFileVersion =            2;
 MissionController::MissionController(PlanMasterController* masterController, QObject *parent)
     : PlanElementController         (masterController, parent)
     , _missionManager               (_managerVehicle->missionManager())
+    , _missionItemCount             (0)
     , _visualItems                  (nullptr)
     , _settingsItem                 (nullptr)
     , _firstItemsFromVehicle        (false)
@@ -163,6 +164,9 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
         const QList<MissionItem*>& newMissionItems = _missionManager->missionItems();
         qCDebug(MissionControllerLog) << "loading from vehicle: count"<< newMissionItems.count();
 
+        _missionItemCount = newMissionItems.count();
+        emit missionItemCountChanged(_missionItemCount);
+
         int i = 0;
         if (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() && newMissionItems.count() != 0) {
             // First item is fake home position

src/MissionManager/MissionController.h

@@ -75,6 +75,7 @@ public:
 
     Q_PROPERTY(double               progressPct             READ progressPct                NOTIFY progressPctChanged)
 
+    Q_PROPERTY(int                  missionItemCount        READ missionItemCount           NOTIFY missionItemCountChanged)     ///< True mission item command count (only valid in Fly View)
     Q_PROPERTY(int                  currentMissionIndex     READ currentMissionIndex        NOTIFY currentMissionIndexChanged)
     Q_PROPERTY(int                  resumeMissionIndex      READ resumeMissionIndex         NOTIFY resumeMissionIndexChanged)   ///< Returns the item index two which a mission should be resumed. -1 indicates resume mission not available.
 
@@ -176,6 +177,7 @@ public:
     QString             corridorScanComplexItemName (void) const { return _corridorScanMissionItemName; }
     QString             structureScanComplexItemName(void) const { return _structureScanMissionItemName; }
 
+    int missionItemCount            (void) const { return _missionItemCount; }
     int currentMissionIndex         (void) const;
     int resumeMissionIndex          (void) const;
     int currentPlanViewIndex        (void) const;
@@ -215,6 +217,7 @@ signals:
     void currentPlanViewIndexChanged    (void);
     void currentPlanViewItemChanged     (void);
     void missionBoundingCubeChanged     (void);
+    void missionItemCountChanged        (int missionItemCount);
 
 private slots:
     void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
@@ -269,6 +272,7 @@ private:
 
 private:
     MissionManager*         _missionManager;
+    int                     _missionItemCount;
     QmlObjectListModel*     _visualItems;
     MissionSettingsItem*    _settingsItem;
     QmlObjectListModel      _waypointLines;

src/QGCLoggingCategory.cc

@@ -16,13 +16,14 @@
 #include <QSettings>
 
 // Add Global logging categories (not class specific) here using QGC_LOGGING_CATEGORY
-QGC_LOGGING_CATEGORY(FirmwareUpgradeLog,        "FirmwareUpgradeLog")
-QGC_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog, "FirmwareUpgradeVerboseLog")
-QGC_LOGGING_CATEGORY(MissionCommandsLog,        "MissionCommandsLog")
-QGC_LOGGING_CATEGORY(MissionItemLog,            "MissionItemLog")
-QGC_LOGGING_CATEGORY(ParameterManagerLog,       "ParameterManagerLog")
-QGC_LOGGING_CATEGORY(GeotaggingLog,             "GeotaggingLog")
-QGC_LOGGING_CATEGORY(RTKGPSLog,                 "RTKGPSLog")
+QGC_LOGGING_CATEGORY(FirmwareUpgradeLog,            "FirmwareUpgradeLog")
+QGC_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog,     "FirmwareUpgradeVerboseLog")
+QGC_LOGGING_CATEGORY(MissionCommandsLog,            "MissionCommandsLog")
+QGC_LOGGING_CATEGORY(MissionItemLog,                "MissionItemLog")
+QGC_LOGGING_CATEGORY(ParameterManagerLog,           "ParameterManagerLog")
+QGC_LOGGING_CATEGORY(GeotaggingLog,                 "GeotaggingLog")
+QGC_LOGGING_CATEGORY(RTKGPSLog,                     "RTKGPSLog")
+QGC_LOGGING_CATEGORY(GuidedActionsControllerLog,    "GuidedActionsControllerLog")
 
 QGCLoggingCategoryRegister* _instance = NULL;
 const char* QGCLoggingCategoryRegister::_filterRulesSettingsGroup = "LoggingFilters";

src/QGCLoggingCategory.h

@@ -25,6 +25,7 @@ Q_DECLARE_LOGGING_CATEGORY(MissionItemLog)
 Q_DECLARE_LOGGING_CATEGORY(ParameterManagerLog)
 Q_DECLARE_LOGGING_CATEGORY(GeotaggingLog)
 Q_DECLARE_LOGGING_CATEGORY(RTKGPSLog)
+Q_DECLARE_LOGGING_CATEGORY(GuidedActionsControllerLog)
 
 /// @def QGC_LOGGING_CATEGORY
 /// This is a QGC specific replacement for Q_LOGGING_CATEGORY. It will register the category name into a

src/api/QGCCorePlugin.cc

@@ -16,6 +16,7 @@
 #include "AppMessages.h"
 #include "QmlObjectListModel.h"
 #include "VideoReceiver.h"
+#include "QGCLoggingCategory.h"
 
 #include <QtQml>
 #include <QQmlEngine>
@@ -313,3 +314,8 @@ VideoReceiver* QGCCorePlugin::createVideoReceiver(QObject* parent)
 {
     return new VideoReceiver(parent);
 }
+
+bool QGCCorePlugin::guidedActionsControllerLogging(void) const
+{
+    return GuidedActionsControllerLog().isDebugEnabled();
+}

src/api/QGCCorePlugin.h

@@ -52,6 +52,8 @@ public:
     Q_PROPERTY(QString              brandImageOutdoor       READ brandImageOutdoor                              CONSTANT)
     Q_PROPERTY(QmlObjectListModel*  customMapItems          READ customMapItems                                 CONSTANT)
 
+    Q_INVOKABLE bool guidedActionsControllerLogging(void) const;
+
     /// The list of settings under the Settings Menu
     /// @return A list of QGCSettings
     virtual QVariantList& settingsPages(void);

src/comm/LogReplayLink.cc

@@ -269,7 +269,7 @@ bool LogReplayLink::_loadLogFile(void)
         // timestamp size. This guarantees that we will hit a MAVLink packet before
         // the end of the file. Unfortunately, it basically guarantees that we will
         // hit more than one. This is why we have to search for a bit.
-        qint64 fileLoc = _logFile.size() - MAVLINK_MAX_PACKET_LEN - cbTimestamp;
+        qint64 fileLoc = _logFile.size() - ((MAVLINK_MAX_PACKET_LEN - cbTimestamp) * 2);
         _logFile.seek(fileLoc);
         quint64 endTimeUSecs = startTimeUSecs; // Set a sane default for the endtime
         mavlink_message_t msg;