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Unverified Commit 2d37f689 authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #6887 from DonLakeFlyer/StableMerge 

Stable merge
parents ce3739ee ca849d3b
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Showing with 54 additions and 29 deletions
ChangeLog.md
View file @ 2d37f689
......@@ -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
View file @ 2d37f689
......@@ -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
View file @ 2d37f689
......@@ -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
View file @ 2d37f689
......@@ -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
View file @ 2d37f689
......@@ -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
View file @ 2d37f689
......@@ -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
View file @ 2d37f689
......@@ -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
View file @ 2d37f689
......@@ -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
View file @ 2d37f689
......@@ -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
View file @ 2d37f689
......@@ -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;
......
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