Merge pull request #5713 from mavlink/camControl

Camera control

QGCExternalLibs.pri

@@ -92,46 +92,6 @@ MacBuild {
         -lSDL2
 }
 
-##
-# [OPTIONAL] Speech synthesis library support.
-# Can be forcibly disabled by adding a `DEFINES+=DISABLE_SPEECH` argument to qmake.
-# Linux support requires the eSpeak speech synthesizer (espeak).
-# Mac support is provided in Snow Leopard and newer (10.6+)
-# Windows is supported as of Windows 7
-#
-contains (DEFINES, DISABLE_SPEECH) {
-    message("Skipping support for speech output (manual override from command line)")
-    DEFINES -= DISABLE_SPEECH
-# Otherwise the user can still disable this feature in the user_config.pri file.
-} else:exists(user_config.pri):infile(user_config.pri, DEFINES, DISABLE_SPEECH) {
-    message("Skipping support for speech output (manual override from user_config.pri)")
-} else:LinuxBuild {
-    exists(/usr/include/espeak) | exists(/usr/local/include/espeak) {
-        message("Including support for speech output")
-        DEFINES += QGC_SPEECH_ENABLED
-        LIBS += \
-        -lespeak
-    } else {
-        warning("Skipping support for speech output (missing libraries, see README)")
-    }
-}
-# Mac support is built into OS 10.6+.
-else:MacBuild|iOSBuild {
-    message("Including support for speech output")
-    DEFINES += QGC_SPEECH_ENABLED
-}
-# Windows supports speech through native API.
-else:WindowsBuild {
-    message("Including support for speech output")
-    DEFINES += QGC_SPEECH_ENABLED
-    LIBS    += -lOle32
-}
-# Android supports speech through native (Java) API.
-else:AndroidBuild {
-    message("Including support for speech output")
-    DEFINES += QGC_SPEECH_ENABLED
-}
-
 #
 # [OPTIONAL] Zeroconf for UDP links
 #

android/src/org/mavlink/qgroundcontrol/QGCActivity.java

@@ -45,15 +45,13 @@ import android.widget.Toast;
 import android.util.Log;
 import android.os.PowerManager;
 import android.view.WindowManager;
-//-- Text To Speech
 import android.os.Bundle;
-import android.speech.tts.TextToSpeech;
 
 import com.hoho.android.usbserial.driver.*;
 import org.qtproject.qt5.android.bindings.QtActivity;
 import org.qtproject.qt5.android.bindings.QtApplication;
 
-public class QGCActivity extends QtActivity implements TextToSpeech.OnInitListener
+public class QGCActivity extends QtActivity
 {
     public  static int BAD_PORT = 0;
     private static QGCActivity m_instance;
@@ -66,7 +64,6 @@ public class QGCActivity extends QtActivity implements TextToSpeech.OnInitListen
     private BroadcastReceiver m_UsbReceiver = null;
     private final static ExecutorService m_Executor = Executors.newSingleThreadExecutor();
     private static final String TAG = "QGC_QGCActivity";
-    private static TextToSpeech  m_tts;
     private static PowerManager.WakeLock m_wl;
 
     public static Context m_context;
@@ -111,17 +108,9 @@ public class QGCActivity extends QtActivity implements TextToSpeech.OnInitListen
         Log.i(TAG, "Instance created");
     }
 
-    /////////////////////////////////////////////////////////////////////////////////////////////////////////
-    //
-    //  Text To Speech
-    //  Pigback a ride for providing TTS to QGC
-    //
-    /////////////////////////////////////////////////////////////////////////////////////////////////////////
-
     @Override
     public void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
-        m_tts = new TextToSpeech(this,this);
         PowerManager pm = (PowerManager)m_instance.getSystemService(Context.POWER_SERVICE);
         m_wl = pm.newWakeLock(PowerManager.SCREEN_BRIGHT_WAKE_LOCK, "QGroundControl");
         if(m_wl != null) {
@@ -140,7 +129,6 @@ public class QGCActivity extends QtActivity implements TextToSpeech.OnInitListen
                 m_wl.release();
                 Log.i(TAG, "SCREEN_BRIGHT_WAKE_LOCK released.");
             }
-            m_tts.shutdown();
         } catch(Exception e) {
            Log.e(TAG, "Exception onDestroy()");
         }
@@ -150,12 +138,6 @@ public class QGCActivity extends QtActivity implements TextToSpeech.OnInitListen
     public void onInit(int status) {
     }
 
-    public static void say(String msg)
-    {
-        Log.i(TAG, "Say: " + msg);
-        m_tts.speak(msg, TextToSpeech.QUEUE_FLUSH, null);
-    }
-
     /////////////////////////////////////////////////////////////////////////////////////////////////////////
     //
     //  Find all current devices that match the device filter described in the androidmanifest.xml and the

v2.0 @ 5be9f5bf

-Subproject commit 6bbc8a51d8f37537732d3f5170093d49e64c6f4b
+Subproject commit 5be9f5bf6002d58199cafafb5d416929fb8d8bcd

qgcresources.qrc

@@ -47,6 +47,8 @@
         <file alias="wifi.svg">src/AutoPilotPlugins/Common/Images/wifi.svg</file>
         <file alias="arrow-down.png">src/QmlControls/arrow-down.png</file>
 		<file alias="camera.svg">resources/camera.svg</file>
+        <file alias="camera_photo.svg">src/Camera/images/camera_photo.svg</file>
+        <file alias="camera_video.svg">src/Camera/images/camera_video.svg</file>
         <file alias="check.png">src/QmlControls/check.png</file>
         <file alias="FirmwareUpgradeIcon.png">src/VehicleSetup/FirmwareUpgradeIcon.png</file>
         <file alias="FlightModesComponentIcon.png">src/AutoPilotPlugins/PX4/Images/FlightModesComponentIcon.png</file>

qgroundcontrol.pro

@@ -224,7 +224,8 @@ QT += \
     sql \
     svg \
     widgets \
-    xml
+    xml \
+    texttospeech
 
 # Multimedia only used if QVC is enabled
 !contains (DEFINES, QGC_DISABLE_UVC) {
@@ -333,6 +334,7 @@ INCLUDEPATH += \
     src \
     src/api \
     src/AnalyzeView \
+    src/Camera \
     src/AutoPilotPlugins \
     src/FlightDisplay \
     src/FlightMap \
@@ -485,6 +487,9 @@ HEADERS += \
     src/AnalyzeView/ExifParser.h \
     src/AnalyzeView/ULogParser.h \
     src/AnalyzeView/PX4LogParser.h \
+    src/Camera/QGCCameraControl.h \
+    src/Camera/QGCCameraIO.h \
+    src/Camera/QGCCameraManager.h \
     src/CmdLineOptParser.h \
     src/FirmwarePlugin/PX4/px4_custom_mode.h \
     src/FlightDisplay/VideoManager.h \
@@ -566,7 +571,6 @@ HEADERS += \
     src/Terrain.h \
     src/Vehicle/MAVLinkLogManager.h \
     src/VehicleSetup/JoystickConfigController.h \
-    src/audio/QGCAudioWorker.h \
     src/comm/LinkConfiguration.h \
     src/comm/LinkInterface.h \
     src/comm/LinkManager.h \
@@ -661,7 +665,6 @@ HEADERS += \
 
 iOSBuild {
     OBJECTIVE_SOURCES += \
-        src/audio/QGCAudioWorker_iOS.mm \
         src/MobileScreenMgr.mm \
 }
 
@@ -674,6 +677,9 @@ SOURCES += \
     src/AnalyzeView/ExifParser.cc \
     src/AnalyzeView/ULogParser.cc \
     src/AnalyzeView/PX4LogParser.cc \
+    src/Camera/QGCCameraControl.cc \
+    src/Camera/QGCCameraIO.cc \
+    src/Camera/QGCCameraManager.cc \
     src/CmdLineOptParser.cc \
     src/FlightDisplay/VideoManager.cc \
     src/FlightMap/Widgets/ValuesWidgetController.cc \
@@ -750,7 +756,6 @@ SOURCES += \
     src/Terrain.cc \
     src/Vehicle/MAVLinkLogManager.cc \
     src/VehicleSetup/JoystickConfigController.cc \
-    src/audio/QGCAudioWorker.cpp \
     src/comm/LinkConfiguration.cc \
     src/comm/LinkInterface.cc \
     src/comm/LinkManager.cc \

src/AutoPilotPlugins/APM/APMSensorsComponentController.cc

@@ -588,7 +588,10 @@ void APMSensorsComponentController::nextClicked(void)
                                       &msg,
                                       0,    // command
                                       1,    // result
-                                      0);   // progress
+                                      0,    // progress
+                                      0,    // result_param2
+                                      0,    // target_system
+                                      0);   // target_component
 
     _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 

src/Camera/QGCCameraIO.h

+/*!
+ * @file
+ *   @brief Camera Controller
+ *   @author Gus Grubba <mavlink@grubba.com>
+ *
+ */
+
+#pragma once
+
+#include "QGCApplication.h"
+#include <QLoggingCategory>
+
+class QGCCameraControl;
+
+Q_DECLARE_LOGGING_CATEGORY(CameraIOLog)
+Q_DECLARE_LOGGING_CATEGORY(CameraIOLogVerbose)
+
+MAVPACKED(
+typedef struct {
+    union {
+        float       param_float;
+        int32_t     param_int32;
+        uint32_t    param_uint32;
+        int16_t     param_int16;
+        uint16_t    param_uint16;
+        int8_t      param_int8;
+        uint8_t     param_uint8;
+        uint8_t     bytes[MAVLINK_MSG_PARAM_EXT_SET_FIELD_PARAM_VALUE_LEN];
+    };
+    uint8_t type;
+}) param_ext_union_t;
+
+//-----------------------------------------------------------------------------
+class QGCCameraParamIO : public QObject
+{
+public:
+    QGCCameraParamIO(QGCCameraControl* control, Fact* fact, Vehicle* vehicle);
+
+    void        handleParamAck              (const mavlink_param_ext_ack_t& ack);
+    void        handleParamValue            (const mavlink_param_ext_value_t& value);
+    void        setParamRequest             ();
+    bool        paramDone                   () { return _done; }
+    void        paramRequest                (bool reset = true);
+    void        sendParameter               (bool updateUI = false);
+
+    QStringList  optNames;
+    QVariantList optVariants;
+
+private slots:
+    void        _paramWriteTimeout          ();
+    void        _paramRequestTimeout        ();
+    void        _factChanged                (QVariant value);
+    void        _containerRawValueChanged   (const QVariant value);
+
+private:
+    void        _sendParameter              ();
+    QVariant    _valueFromMessage           (const char* value, uint8_t param_type);
+
+private:
+    QGCCameraControl*   _control;
+    Fact*               _fact;
+    Vehicle*            _vehicle;
+    int                 _sentRetries;
+    int                 _requestRetries;
+    bool                _paramRequestReceived;
+    QTimer              _paramWriteTimer;
+    QTimer              _paramRequestTimer;
+    bool                _done;
+    bool                _updateOnSet;
+    MAV_PARAM_TYPE      _mavParamType;
+    MAVLinkProtocol*    _pMavlink;
+    bool                _forceUIUpdate;
+};
+

src/Camera/QGCCameraManager.cc

+/*!
+ * @file
+ *   @brief Camera Controller
+ *   @author Gus Grubba <mavlink@grubba.com>
+ *
+ */
+
+#include "QGCApplication.h"
+#include "QGCCameraManager.h"
+
+QGC_LOGGING_CATEGORY(CameraManagerLog, "CameraManagerLog")
+
+//-----------------------------------------------------------------------------
+QGCCameraManager::QGCCameraManager(Vehicle *vehicle)
+    : _vehicle(vehicle)
+    , _vehicleReadyState(false)
+    , _currentTask(0)
+{
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
+    qCDebug(CameraManagerLog) << "QGCCameraManager Created";
+    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &QGCCameraManager::_vehicleReady);
+    connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &QGCCameraManager::_mavlinkMessageReceived);
+}
+
+//-----------------------------------------------------------------------------
+QGCCameraManager::~QGCCameraManager()
+{
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_vehicleReady(bool ready)
+{
+    qCDebug(CameraManagerLog) << "_vehicleReady(" << ready << ")";
+    if(ready) {
+        if(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle() == _vehicle) {
+            _vehicleReadyState = true;
+        }
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_mavlinkMessageReceived(const mavlink_message_t& message)
+{
+    if(message.sysid == _vehicle->id()) {
+        switch (message.msgid) {
+            case MAVLINK_MSG_ID_CAMERA_CAPTURE_STATUS:
+                _handleCaptureStatus(message);
+                break;
+            case MAVLINK_MSG_ID_STORAGE_INFORMATION:
+                _handleStorageInfo(message);
+                break;
+            case MAVLINK_MSG_ID_HEARTBEAT:
+                _handleHeartbeat(message);
+                break;
+            case MAVLINK_MSG_ID_CAMERA_INFORMATION:
+                _handleCameraInfo(message);
+                break;
+            case MAVLINK_MSG_ID_CAMERA_SETTINGS:
+                _handleCameraSettings(message);
+                break;
+            case MAVLINK_MSG_ID_PARAM_EXT_ACK:
+                _handleParamAck(message);
+                break;
+            case MAVLINK_MSG_ID_PARAM_EXT_VALUE:
+                _handleParamValue(message);
+                break;
+        }
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
+{
+    mavlink_heartbeat_t heartbeat;
+    mavlink_msg_heartbeat_decode(&message, &heartbeat);
+    //-- If this heartbeat is from a different node within the vehicle
+    if(_vehicleReadyState && _vehicle->id() == message.sysid && _vehicle->defaultComponentId() != message.compid) {
+        if(!_cameraInfoRequested[message.compid]) {
+            _cameraInfoRequested[message.compid] = true;
+            //-- Request camera info
+            _requestCameraInfo(message.compid);
+        }
+    }
+}
+
+//-----------------------------------------------------------------------------
+QGCCameraControl*
+QGCCameraManager::_findCamera(int id)
+{
+    for(int i = 0; i < _cameras.count(); i++) {
+        if(_cameras[i]) {
+            QGCCameraControl* pCamera = qobject_cast<QGCCameraControl*>(_cameras[i]);
+            if(pCamera) {
+                if(pCamera->compID() == id) {
+                    return pCamera;
+                }
+            } else {
+                qCritical() << "Null QGCCameraControl instance";
+            }
+        }
+    }
+    qWarning() << "Camera component id not found:" << id;
+    return NULL;
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message)
+{
+    mavlink_camera_information_t info;
+    mavlink_msg_camera_information_decode(&message, &info);
+    qCDebug(CameraManagerLog) << "_handleCameraInfo:" << (const char*)(void*)&info.model_name[0] << (const char*)(void*)&info.vendor_name[0] << "Comp ID:" << message.compid;
+    QGCCameraControl* pCamera = _vehicle->firmwarePlugin()->createCameraControl(&info, _vehicle, message.compid, this);
+    if(pCamera) {
+        QQmlEngine::setObjectOwnership(pCamera, QQmlEngine::CppOwnership);
+        _cameras.append(pCamera);
+        emit camerasChanged();
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleCaptureStatus(const mavlink_message_t &message)
+{
+    QGCCameraControl* pCamera = _findCamera(message.compid);
+    if(pCamera) {
+        mavlink_camera_capture_status_t cap;
+        mavlink_msg_camera_capture_status_decode(&message, &cap);
+        pCamera->handleCaptureStatus(cap);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleStorageInfo(const mavlink_message_t& message)
+{
+    QGCCameraControl* pCamera = _findCamera(message.compid);
+    if(pCamera) {
+        mavlink_storage_information_t st;
+        mavlink_msg_storage_information_decode(&message, &st);
+        pCamera->handleStorageInfo(st);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleCameraSettings(const mavlink_message_t& message)
+{
+    QGCCameraControl* pCamera = _findCamera(message.compid);
+    if(pCamera) {
+        mavlink_camera_settings_t settings;
+        mavlink_msg_camera_settings_decode(&message, &settings);
+        pCamera->handleSettings(settings);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleParamAck(const mavlink_message_t& message)
+{
+    QGCCameraControl* pCamera = _findCamera(message.compid);
+    if(pCamera) {
+        mavlink_param_ext_ack_t ack;
+        mavlink_msg_param_ext_ack_decode(&message, &ack);
+        pCamera->handleParamAck(ack);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleParamValue(const mavlink_message_t& message)
+{
+    QGCCameraControl* pCamera = _findCamera(message.compid);
+    if(pCamera) {
+        mavlink_param_ext_value_t value;
+        mavlink_msg_param_ext_value_decode(&message, &value);
+        pCamera->handleParamValue(value);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_requestCameraInfo(int compID)
+{
+    qCDebug(CameraManagerLog) << "_requestCameraInfo(" << compID << ")";
+    if(_vehicle) {
+        _vehicle->sendMavCommand(
+            compID,                                 // target component
+            MAV_CMD_REQUEST_CAMERA_INFORMATION,     // command id
+            false,                                  // showError
+            1);                                     // Do Request
+    }
+}

src/Camera/QGCCameraManager.h

+/*!
+ * @file
+ *   @brief Camera Controller
+ *   @author Gus Grubba <mavlink@grubba.com>
+ *
+ */
+
+#pragma once
+
+#include "QGCApplication.h"
+#include <QLoggingCategory>
+#include "QmlObjectListModel.h"
+#include "QGCCameraControl.h"
+
+#include <QObject>
+#include <QTimer>
+
+Q_DECLARE_LOGGING_CATEGORY(CameraManagerLog)
+
+//-----------------------------------------------------------------------------
+class QGCCameraManager : public QObject
+{
+    Q_OBJECT
+public:
+    QGCCameraManager(Vehicle* vehicle);
+    virtual ~QGCCameraManager();
+
+    Q_PROPERTY(QmlObjectListModel*  cameras             READ cameras            NOTIFY camerasChanged)
+
+    //-- Return a list of cameras provided by this vehicle
+    virtual QmlObjectListModel* cameras             () { return &_cameras; }
+
+signals:
+    void    camerasChanged          ();
+
+protected slots:
+    void    _vehicleReady           (bool ready);
+    void    _mavlinkMessageReceived (const mavlink_message_t& message);
+
+protected:
+    QGCCameraControl* _findCamera   (int id);
+    void    _requestCameraInfo      (int compID);
+    void    _handleHeartbeat        (const mavlink_message_t& message);
+    void    _handleCameraInfo       (const mavlink_message_t& message);
+    void    _handleStorageInfo      (const mavlink_message_t& message);
+    void    _handleCameraSettings   (const mavlink_message_t& message);
+    void    _handleParamAck         (const mavlink_message_t& message);
+    void    _handleParamValue       (const mavlink_message_t& message);
+    void    _handleCaptureStatus    (const mavlink_message_t& message);
+
+protected:
+    Vehicle*            _vehicle;
+    bool                _vehicleReadyState;
+    int                 _currentTask;
+    QmlObjectListModel  _cameras;
+    QMap<int, bool>     _cameraInfoRequested;
+};

src/Camera/images/camera_photo.svg

+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 21.1.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 width="72px" height="72px" viewBox="0 0 72 72" style="enable-background:new 0 0 72 72;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:#FFFFFF;}
+</style>
+<g>
+	<path class="st0" d="M63.4,16H51.6l-4.6-6c-0.3-0.3-0.7-0.5-1.1-0.5H26.7c-0.4,0-0.8,0.2-1.1,0.6L21.3,16H8.6c-2.8,0-5,2.2-5,5
+		v36.5c0,2.8,2.2,5,5,5h54.9c2.8,0,5-2.2,5-5V21C68.4,18.3,66.2,16,63.4,16L63.4,16L63.4,16z M36.7,54.8c-8.4,0-15.3-6.9-15.3-15.3
+		s6.9-15.3,15.3-15.3S52,31,52,39.5S45.1,54.8,36.7,54.8L36.7,54.8L36.7,54.8z"/>
+</g>
+</svg>

src/Camera/images/camera_video.svg

+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 21.1.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 width="72px" height="72px" viewBox="0 0 72 72" style="enable-background:new 0 0 72 72;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:#FFFFFF;}
+</style>
+<g>
+	<path class="st0" d="M44,17.1c-5.8,0-11.7,0-17.5,0c-5.8,0-11.6,0-17.4,0c-0.4,0-0.8,0-1.2,0.1c-2.4,0.4-4.2,2.5-4.2,4.9
+		c0,9.3,0,18.6,0,27.8c0,0.8,0.2,1.6,0.6,2.3C5.3,54,6.9,54.9,9,54.9c11.7,0,23.3,0,35,0c3,0,5.5-2.5,5.5-5.5c0-8.9,0-17.8,0-26.8
+		C49.5,19.6,47,17.1,44,17.1z"/>
+	<path class="st0" d="M68.1,22.5c-0.7,0-1.4,0-2.1,0c-0.2,0-0.4,0.1-0.5,0.1c-4.4,2.6-8.7,5.2-13.1,7.8c-0.2,0.1-0.2,0.2-0.2,0.4
+		c0,3.4,0,6.8,0,10.3c0,0.2,0.1,0.3,0.2,0.4c4.2,2.5,8.5,5.1,12.7,7.6c0.4,0.2,0.8,0.4,1.3,0.4c0.7,0,1.3,0,2,0c0-9,0-18,0-27
+		C68.3,22.5,68.2,22.5,68.1,22.5z"/>
+</g>
+</svg>

src/FactSystem/Fact.h

@@ -41,9 +41,9 @@ public:
     Q_PROPERTY(QString      defaultValueString      READ cookedDefaultValueString                           CONSTANT)
     Q_PROPERTY(bool         defaultValueAvailable   READ defaultValueAvailable                              CONSTANT)
     Q_PROPERTY(int          enumIndex               READ enumIndex              WRITE setEnumIndex          NOTIFY valueChanged)
-    Q_PROPERTY(QStringList  enumStrings             READ enumStrings                                        NOTIFY enumStringsChanged)
+    Q_PROPERTY(QStringList  enumStrings             READ enumStrings                                        NOTIFY enumsChanged)
     Q_PROPERTY(QString      enumStringValue         READ enumStringValue        WRITE setEnumStringValue    NOTIFY valueChanged)
-    Q_PROPERTY(QVariantList enumValues              READ enumValues                                         NOTIFY enumValuesChanged)
+    Q_PROPERTY(QVariantList enumValues              READ enumValues                                         NOTIFY enumsChanged)
     Q_PROPERTY(QString      group                   READ group                                              CONSTANT)
     Q_PROPERTY(QString      longDescription         READ longDescription                                    CONSTANT)
     Q_PROPERTY(QVariant     max                     READ cookedMax                                          CONSTANT)
@@ -64,10 +64,14 @@ public:
     Q_PROPERTY(double       increment               READ increment                                          CONSTANT)
     Q_PROPERTY(bool         typeIsString            READ typeIsString                                       CONSTANT)
     Q_PROPERTY(bool         typeIsBool              READ typeIsBool                                         CONSTANT)
+    Q_PROPERTY(bool         hasControl              READ hasControl                                         CONSTANT)
+    Q_PROPERTY(bool         readOnly                READ readOnly                                           CONSTANT)
 
     /// Convert and validate value
     ///     @param convertOnly true: validate type conversion only, false: validate against meta data as well
     Q_INVOKABLE QString validate(const QString& cookedValue, bool convertOnly);
+    /// Convert and clamp value
+    Q_INVOKABLE QVariant clamp(const QString& cookedValue);
 
     QVariant        cookedValue             (void) const;   /// Value after translation
     QVariant        rawValue                (void) const { return _rawValue; }  /// value prior to translation, careful
@@ -106,6 +110,8 @@ public:
     double          increment               (void) const;
     bool            typeIsString            (void) const { return type() == FactMetaData::valueTypeString; }
     bool            typeIsBool              (void) const { return type() == FactMetaData::valueTypeBool; }
+    bool            hasControl              (void) const;
+    bool            readOnly                (void) const;
 
     /// Returns the values as a string with full 18 digit precision if float/double.
     QString rawValueStringFullPrecision(void) const;
@@ -132,17 +138,21 @@ public:
     /// Sets the meta data associated with the Fact.
     void setMetaData(FactMetaData* metaData);
     
+    FactMetaData* metaData() { return _metaData; }
+
+    //-- Value coming from Vehicle. This does NOT send a _containerRawValueChanged signal.
     void _containerSetRawValue(const QVariant& value);
     
     /// Generally you should not change the name of a fact. But if you know what you are doing, you can.
     void _setName(const QString& name) { _name = name; }
 
-    
+    /// Generally this is done during parsing. But if you know what you are doing, you can.
+    void setEnumInfo(const QStringList& strings, const QVariantList& values);
+
 signals:
     void bitmaskStringsChanged(void);
     void bitmaskValuesChanged(void);
-    void enumStringsChanged(void);
-    void enumValuesChanged(void);
+    void enumsChanged(void);
     void sendValueChangedSignalsChanged(bool sendValueChangedSignals);
 
     /// QObject Property System signal for value property changes
@@ -156,7 +166,7 @@ signals:
     
     /// Signalled when property has been changed by a call to the property write accessor
     ///
-    /// This signal is meant for use by Fact container implementations.
+    /// This signal is meant for use by Fact container implementations. Used to send changed values to vehicle.
     void _containerRawValueChanged(const QVariant& value);
     
 protected:

src/FactSystem/FactGroup.cc

@@ -23,14 +23,30 @@ QGC_LOGGING_CATEGORY(FactGroupLog, "FactGroupLog")
 FactGroup::FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent)
     : QObject(parent)
     , _updateRateMSecs(updateRateMsecs)
+{
+    _setupTimer();
+    _nameToFactMetaDataMap = FactMetaData::createMapFromJsonFile(metaDataFile, this);
+}
+
+FactGroup::FactGroup(int updateRateMsecs, QObject* parent)
+    : QObject(parent)
+    , _updateRateMSecs(updateRateMsecs)
+{
+    _setupTimer();
+}
+
+void FactGroup::_loadFromJsonArray(const QJsonArray jsonArray)
+{
+    _nameToFactMetaDataMap = FactMetaData::createMapFromJsonArray(jsonArray, this);
+}
+
+void FactGroup::_setupTimer()
 {
     if (_updateRateMSecs > 0) {
         connect(&_updateTimer, &QTimer::timeout, this, &FactGroup::_updateAllValues);
         _updateTimer.setSingleShot(false);
         _updateTimer.start(_updateRateMSecs);
     }
-
-    _loadMetaData(metaDataFile);
 }
 
 Fact* FactGroup::getFact(const QString& name)
@@ -107,8 +123,3 @@ void FactGroup::_updateAllValues(void)
         fact->sendDeferredValueChangedSignal();
     }
 }
-
-void FactGroup::_loadMetaData(const QString& jsonFilename)
-{
-    _nameToFactMetaDataMap = FactMetaData::createMapFromJsonFile(jsonFilename, this);
-}

src/FactSystem/FactGroup.h

@@ -27,6 +27,7 @@ class FactGroup : public QObject
     
 public:
     FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent = NULL);
+    FactGroup(int updateRateMsecs, QObject* parent = NULL);
 
     Q_PROPERTY(QStringList factNames        READ factNames      CONSTANT)
     Q_PROPERTY(QStringList factGroupNames   READ factGroupNames CONSTANT)
@@ -39,10 +40,11 @@ public:
 
     QStringList factNames(void) const { return _nameToFactMap.keys(); }
     QStringList factGroupNames(void) const { return _nameToFactGroupMap.keys(); }
-    
+
 protected:
     void _addFact(Fact* fact, const QString& name);
     void _addFactGroup(FactGroup* factGroup, const QString& name);
+    void _loadFromJsonArray(const QJsonArray jsonArray);
 
     int _updateRateMSecs;   ///< Update rate for Fact::valueChanged signals, 0: immediate update
 
@@ -50,13 +52,14 @@ private slots:
     void _updateAllValues(void);
 
 private:
-    void _loadMetaData(const QString& filename);
+    void _setupTimer();
+    QTimer _updateTimer;
 
+protected:
     QMap<QString, Fact*>            _nameToFactMap;
     QMap<QString, FactGroup*>       _nameToFactGroupMap;
     QMap<QString, FactMetaData*>    _nameToFactMetaDataMap;
 
-    QTimer _updateTimer;
 };
 
 #endif

src/FactSystem/FactMetaData.h

@@ -41,15 +41,18 @@ public:
         valueTypeString,
         valueTypeBool,
         valueTypeElapsedTimeInSeconds,  // Internally stored as double, valueString displays as HH:MM:SS
+        valueTypeCustom,                // Internally stored as a QByteArray
     } ValueType_t;
 
     typedef QVariant (*Translator)(const QVariant& from);
     
     FactMetaData(QObject* parent = NULL);
     FactMetaData(ValueType_t type, QObject* parent = NULL);
+    FactMetaData(ValueType_t type, const QString name, QObject* parent = NULL);
     FactMetaData(const FactMetaData& other, QObject* parent = NULL);
 
     static QMap<QString, FactMetaData*> createMapFromJsonFile(const QString& jsonFilename, QObject* metaDataParent);
+    static QMap<QString, FactMetaData*> createMapFromJsonArray(const QJsonArray jsonArray, QObject* metaDataParent);
 
     static FactMetaData* createFromJsonObject(const QJsonObject& json, QObject* metaDataParent);
 
@@ -95,6 +98,8 @@ public:
     QString         rawUnits                (void) const { return _rawUnits; }
     QString         cookedUnits             (void) const { return _cookedUnits; }
     bool            rebootRequired          (void) const { return _rebootRequired; }
+    bool            hasControl              (void) const { return _hasControl; }
+    bool            readOnly                (void) const { return _readOnly; }
 
     /// Amount to increment value when used in controls such as spin button or slider with detents.
     /// NaN for no increment available.
@@ -122,6 +127,8 @@ public:
     void setRawUnits        (const QString& rawUnits);
     void setRebootRequired  (bool rebootRequired)               { _rebootRequired = rebootRequired; }
     void setIncrement       (double increment)                  { _increment = increment; }
+    void setHasControl      (bool bValue)                       { _hasControl = bValue; }
+    void setReadOnly        (bool bValue)                       { _readOnly = bValue; }
 
     void setTranslators(Translator rawTranslator, Translator cookedTranslator);
 
@@ -139,6 +146,12 @@ public:
     /// Same as convertAndValidateRaw except for cookedValue input
     bool convertAndValidateCooked(const QVariant& cookedValue, bool convertOnly, QVariant& typedValue, QString& errorString);
 
+    /// Converts the specified cooked value and clamps it (max/min)
+    ///     @param cookedValue Value to convert, can be string
+    ///     @param typeValue Converted value, correctly typed and clamped
+    /// @returns false: Convertion failed
+    bool clampValue(const QVariant& cookedValue, QVariant& typedValue);
+
     static const int defaultDecimalPlaces = 3;  ///< Default value for decimal places if not specified/known
     static const int unknownDecimalPlaces = -1; ///< Number of decimal places to specify is not known
 
@@ -216,6 +229,8 @@ private:
     Translator      _cookedTranslator;
     bool            _rebootRequired;
     double          _increment;
+    bool            _hasControl;
+    bool            _readOnly;
 
     // Exact conversion constants
     static const struct UnitConsts_s {
@@ -248,6 +263,7 @@ private:
     static const char*  _mobileDefaultValueJsonKey;
     static const char*  _minJsonKey;
     static const char*  _maxJsonKey;
+    static const char* _hasControlJsonKey;
 };
 
 #endif

src/FirmwarePlugin/APM/APMParameterMetaData.cc

@@ -18,6 +18,8 @@
 #include <QDebug>
 #include <QStack>
 
+static const char* kInvalidConverstion = "Internal Error: No support for string parameters";
+
 QGC_LOGGING_CATEGORY(APMParameterMetaDataLog,           "APMParameterMetaDataLog")
 QGC_LOGGING_CATEGORY(APMParameterMetaDataVerboseLog,    "APMParameterMetaDataVerboseLog")
 
@@ -57,13 +59,17 @@ QVariant APMParameterMetaData::_stringToTypedVariant(const QString& string,
         convertTo = QVariant::Double;
         break;
     case FactMetaData::valueTypeString:
-        qWarning() << "Internal Error: No support for string parameters";
+        qWarning() << kInvalidConverstion;
         convertTo = QVariant::String;
         break;
     case FactMetaData::valueTypeBool:
-        qWarning() << "Internal Error: No support for string parameters";
+        qWarning() << kInvalidConverstion;
         convertTo = QVariant::Bool;
         break;
+    case FactMetaData::valueTypeCustom:
+        qWarning() << kInvalidConverstion;
+        convertTo = QVariant::ByteArray;
+        break;
     }
 
     *convertOk = var.convert(convertTo);

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -393,6 +393,7 @@ const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle)
                                       false,
                                       0,
                                       this);
+        _cameraList.append(QVariant::fromValue(metaData));
 
         metaData = new CameraMetaData(tr("Canon EOS-M 22mm"),
                                       22.3,
@@ -541,3 +542,20 @@ bool FirmwarePlugin::isVtol(const Vehicle* vehicle) const
         return false;
     }
 }
+
+QGCCameraManager* FirmwarePlugin::createCameraManager(Vehicle* vehicle)
+{
+    Q_UNUSED(vehicle);
+    return NULL;
+}
+
+QGCCameraControl* FirmwarePlugin::createCameraControl(const mavlink_camera_information_t *info, Vehicle *vehicle, int compID, QObject* parent)
+{
+    Q_UNUSED(info);
+    Q_UNUSED(vehicle);
+    Q_UNUSED(compID);
+    Q_UNUSED(parent);
+    return NULL;
+}
+
+

src/FirmwarePlugin/FirmwarePlugin.h

@@ -25,6 +25,8 @@
 #include <QVariantList>
 
 class Vehicle;
+class QGCCameraControl;
+class QGCCameraManager;
 
 /// This is the base class for Firmware specific plugins
 ///
@@ -259,8 +261,15 @@ public:
     virtual const QVariantList& toolBarIndicators(const Vehicle* vehicle);
 
     /// Returns a list of CameraMetaData objects for available cameras on the vehicle.
+    /// TODO: This should go into QGCCameraManager
     virtual const QVariantList& cameraList(const Vehicle* vehicle);
 
+    /// Creates vehicle camera manager. Returns NULL if not supported.
+    virtual QGCCameraManager* createCameraManager(Vehicle *vehicle);
+
+    /// Camera control. Returns NULL if not supported.
+    virtual QGCCameraControl* createCameraControl(const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = NULL);
+
     /// Returns a pointer to a dictionary of firmware-specific FactGroups
     virtual QMap<QString, FactGroup*>* factGroups(void);
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -21,6 +21,7 @@
 #include "SensorsComponentController.h"
 #include "PowerComponentController.h"
 #include "RadioComponentController.h"
+#include "QGCCameraManager.h"
 
 #include <QDebug>
 
@@ -125,6 +126,10 @@ PX4FirmwarePlugin::PX4FirmwarePlugin(void)
     }
 }
 
+PX4FirmwarePlugin::~PX4FirmwarePlugin()
+{
+}
+
 AutoPilotPlugin* PX4FirmwarePlugin::autopilotPlugin(Vehicle* vehicle)
 {
     return new PX4AutoPilotPlugin(vehicle, vehicle);
@@ -546,3 +551,15 @@ bool PX4FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicl
     }
     return true;
 }
+
+QGCCameraManager* PX4FirmwarePlugin::createCameraManager(Vehicle* vehicle)
+{
+    return new QGCCameraManager(vehicle);
+}
+
+QGCCameraControl* PX4FirmwarePlugin::createCameraControl(const mavlink_camera_information_t* info, Vehicle *vehicle, int compID, QObject* parent)
+{
+    return new QGCCameraControl(info, vehicle, compID, parent);
+}
+
+

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -24,6 +24,7 @@ class PX4FirmwarePlugin : public FirmwarePlugin
 
 public:
     PX4FirmwarePlugin(void);
+    ~PX4FirmwarePlugin();
 
     // Overrides from FirmwarePlugin
 
@@ -65,6 +66,8 @@ public:
     QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
     bool                vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const override;
     QString             autoDisarmParameter             (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("COM_DISARM_LAND"); }
+    QGCCameraManager*   createCameraManager             (Vehicle* vehicle) override;
+    QGCCameraControl*   createCameraControl             (const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = NULL) override;
 
 protected:
     typedef struct {

src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc

@@ -20,6 +20,8 @@
 #include <QDir>
 #include <QDebug>
 
+static const char* kInvalidConverstion = "Internal Error: No support for string parameters";
+
 QGC_LOGGING_CATEGORY(PX4ParameterMetaDataLog, "PX4ParameterMetaDataLog")
 
 PX4ParameterMetaData::PX4ParameterMetaData(void)
@@ -57,13 +59,17 @@ QVariant PX4ParameterMetaData::_stringToTypedVariant(const QString& string, Fact
         convertTo = QVariant::Double;
         break;
     case FactMetaData::valueTypeString:
-        qWarning() << "Internal Error: No support for string parameters";
+        qWarning() << kInvalidConverstion;
         convertTo = QVariant::String;
         break;
     case FactMetaData::valueTypeBool:
-        qWarning() << "Internal Error: No support for string parameters";
+        qWarning() << kInvalidConverstion;
         convertTo = QVariant::Bool;
         break;
+    case FactMetaData::valueTypeCustom:
+        qWarning() << kInvalidConverstion;
+        convertTo = QVariant::ByteArray;
+        break;
     }
     
     *convertOk = var.convert(convertTo);

src/FlightDisplay/FlightDisplayView.qml

@@ -54,6 +54,8 @@ QGCView {
     property alias  _altitudeSlider:        altitudeSlider
 
 
+    readonly property var       _dynamicCameras:        _activeVehicle ? _activeVehicle.dynamicCameras : null
+    readonly property bool      _isCamera:              _dynamicCameras ? _dynamicCameras.cameras.count > 0 : false
     readonly property bool      isBackgroundDark:       _mainIsMap ? (_flightMap ? _flightMap.isSatelliteMap : true) : true
     readonly property real      _defaultRoll:           0
     readonly property real      _defaultPitch:          0
@@ -196,7 +198,7 @@ QGCView {
             z:  _mainIsMap ? _panel.z + 1 : _panel.z + 2
             anchors.left:   _panel.left
             anchors.bottom: _panel.bottom
-            visible:        _mainIsMap || _isPipVisible
+            visible:        _mainIsMap || _isPipVisible && !QGroundControl.videoManager.fullScreen
             width:          _mainIsMap ? _panel.width  : _pipSize
             height:         _mainIsMap ? _panel.height : _pipSize * (9/16)
             states: [
@@ -275,7 +277,7 @@ QGCView {
             anchors.left:       _panel.left
             anchors.bottom:     _panel.bottom
             anchors.margins:    ScreenTools.defaultFontPixelHeight
-            visible:            QGroundControl.videoManager.hasVideo
+            visible:            QGroundControl.videoManager.hasVideo && !QGroundControl.videoManager.fullScreen
             isHidden:           !_isPipVisible
             isDark:             isBackgroundDark
             onActivated: {
@@ -327,7 +329,7 @@ QGCView {
             qgcView:            root
             useLightColors:     isBackgroundDark
             missionController:  _missionController
-            visible:            singleVehicleView.checked
+            visible:            singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
         }
 
         //-------------------------------------------------------------------------
@@ -335,6 +337,7 @@ QGCView {
         Loader {
             id:                 flyViewOverlay
             z:                  flightDisplayViewWidgets.z + 1
+            visible:            !QGroundControl.videoManager.fullScreen
             height:             ScreenTools.availableHeight
             anchors.left:       parent.left
             anchors.right:      altitudeSlider.visible ? altitudeSlider.left : parent.right
@@ -351,7 +354,7 @@ QGCView {
             anchors.right:      _flightVideo.right
             height:             ScreenTools.defaultFontPixelHeight * 2
             width:              height
-            visible:            _videoReceiver && _videoReceiver.videoRunning && QGroundControl.settingsManager.videoSettings.showRecControl.rawValue && _flightVideo.visible
+            visible:            _videoReceiver && _videoReceiver.videoRunning && QGroundControl.settingsManager.videoSettings.showRecControl.rawValue && _flightVideo.visible && !_isCamera && !QGroundControl.videoManager.fullScreen
             opacity:            0.75
 
             readonly property string recordBtnBackground: "BackgroundName"
@@ -401,14 +404,13 @@ QGCView {
         }
 
         MultiVehicleList {
-            anchors.margins:            _margins
-            anchors.top:                singleMultiSelector.bottom
-            anchors.right:              parent.right
-            anchors.bottom:             parent.bottom
-            width:                      ScreenTools.defaultFontPixelWidth * 30
-            visible:                    !singleVehicleView.checked
-            z:                          _panel.z + 4
-            guidedActionsController:    _guidedController
+            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
         }
 
         //-- Virtual Joystick
@@ -417,7 +419,7 @@ QGCView {
             z:                          _panel.z + 5
             width:                      parent.width  - (_flightVideoPipControl.width / 2)
             height:                     Math.min(ScreenTools.availableHeight * 0.25, ScreenTools.defaultFontPixelWidth * 16)
-            visible:                    _virtualJoystick ? _virtualJoystick.value : false
+            visible:                    (_virtualJoystick ? _virtualJoystick.value : false) && !QGroundControl.videoManager.fullScreen
             anchors.bottom:             _flightVideoPipControl.top
             anchors.bottomMargin:       ScreenTools.defaultFontPixelHeight * 2
             anchors.horizontalCenter:   flightDisplayViewWidgets.horizontalCenter
@@ -430,7 +432,7 @@ QGCView {
         }
 
         ToolStrip {
-            visible:            _activeVehicle ? _activeVehicle.guidedModeSupported : true
+            visible:            (_activeVehicle ? _activeVehicle.guidedModeSupported : true) && !QGroundControl.videoManager.fullScreen
             id:                 toolStrip
             anchors.leftMargin: ScreenTools.defaultFontPixelWidth
             anchors.left:       _panel.left
@@ -572,6 +574,7 @@ QGCView {
 
             /// Close all dialogs
             function closeAll() {
+                mainWindow.enableToolbar()
                 rootLoader.sourceComponent  = null
                 guidedActionConfirm.visible = false
                 guidedActionList.visible    = false

src/FlightDisplay/FlightDisplayViewVideo.qml

@@ -8,25 +8,26 @@
  ****************************************************************************/
 
 
-import QtQuick                      2.3
-import QtQuick.Controls             1.2
-
-import QGroundControl               1.0
-import QGroundControl.FlightDisplay 1.0
-import QGroundControl.FlightMap     1.0
-import QGroundControl.ScreenTools   1.0
-import QGroundControl.Controls      1.0
-import QGroundControl.Palette       1.0
-import QGroundControl.Vehicle       1.0
-import QGroundControl.Controllers   1.0
+import QtQuick                          2.3
+import QtQuick.Controls                 1.2
 
+import QGroundControl                   1.0
+import QGroundControl.FlightDisplay     1.0
+import QGroundControl.FlightMap         1.0
+import QGroundControl.ScreenTools       1.0
+import QGroundControl.Controls          1.0
+import QGroundControl.Palette           1.0
+import QGroundControl.Vehicle           1.0
+import QGroundControl.Controllers       1.0
 
 Item {
     id: root
-    property double _ar:            QGroundControl.settingsManager.videoSettings.aspectRatio.rawValue
-    property bool   _showGrid:      QGroundControl.settingsManager.videoSettings.gridLines.rawValue > 0
-    property var    _videoReceiver: QGroundControl.videoManager.videoReceiver
-
+    property double _ar:                QGroundControl.settingsManager.videoSettings.aspectRatio.rawValue
+    property bool   _showGrid:          QGroundControl.settingsManager.videoSettings.gridLines.rawValue > 0
+    property var    _videoReceiver:     QGroundControl.videoManager.videoReceiver
+    property var    _activeVehicle:     QGroundControl.multiVehicleManager.activeVehicle
+    property var    _dynamicCameras:    _activeVehicle ? _activeVehicle.dynamicCameras : null
+    property bool   _connected:         _activeVehicle ? !_activeVehicle.connectionLost : false
     Rectangle {
         id:             noVideo
         anchors.fill:   parent
@@ -39,6 +40,12 @@ Item {
             font.pointSize:     _mainIsMap ? ScreenTools.smallFontPointSize : ScreenTools.largeFontPointSize
             anchors.centerIn:   parent
         }
+        MouseArea {
+            anchors.fill: parent
+            onDoubleClicked: {
+                QGroundControl.videoManager.fullScreen = !QGroundControl.videoManager.fullScreen
+            }
+        }
     }
     Rectangle {
         anchors.fill:   parent
@@ -67,28 +74,34 @@ Item {
                 height: parent.height
                 width:  1
                 x:      parent.width * 0.33
-                visible: _showGrid
+                visible: _showGrid && !QGroundControl.videoManager.fullScreen
             }
             Rectangle {
                 color:  Qt.rgba(1,1,1,0.5)
                 height: parent.height
                 width:  1
                 x:      parent.width * 0.66
-                visible: _showGrid
+                visible: _showGrid && !QGroundControl.videoManager.fullScreen
             }
             Rectangle {
                 color:  Qt.rgba(1,1,1,0.5)
                 width:  parent.width
                 height: 1
                 y:      parent.height * 0.33
-                visible: _showGrid
+                visible: _showGrid && !QGroundControl.videoManager.fullScreen
             }
             Rectangle {
                 color:  Qt.rgba(1,1,1,0.5)
                 width:  parent.width
                 height: 1
                 y:      parent.height * 0.66
-                visible: _showGrid
+                visible: _showGrid && !QGroundControl.videoManager.fullScreen
+            }
+        }
+        MouseArea {
+            anchors.fill: parent
+            onDoubleClicked: {
+                QGroundControl.videoManager.fullScreen = !QGroundControl.videoManager.fullScreen
             }
         }
     }

src/FlightDisplay/GuidedActionsController.qml

@@ -129,7 +129,7 @@ Item {
     property bool __flightMode: _flightMode
 
     function _outputState() {
-        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))
+        //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))
     }
 
     Component.onCompleted: _outputState()
@@ -170,10 +170,10 @@ Item {
     property var    _actionData
 
     on_FlightModeChanged: {
-        _vehiclePaused =        _flightMode === _activeVehicle.pauseFlightMode
-        _vehicleInRTLMode =     _flightMode === _activeVehicle.rtlFlightMode
-        _vehicleInLandMode =    _flightMode === _activeVehicle.landFlightMode
-        _vehicleInMissionMode = _flightMode === _activeVehicle.missionFlightMode // Must be last to get correct signalling for showStartMission popups
+        _vehiclePaused =        _activeVehicle ? _flightMode === _activeVehicle.pauseFlightMode : false
+        _vehicleInRTLMode =     _activeVehicle ? _flightMode === _activeVehicle.rtlFlightMode : false
+        _vehicleInLandMode =    _activeVehicle ? _flightMode === _activeVehicle.landFlightMode : false
+        _vehicleInMissionMode = _activeVehicle ? _flightMode === _activeVehicle.missionFlightMode : false // Must be last to get correct signalling for showStartMission popups
     }
 
     // Called when an action is about to be executed in order to confirm

src/FlightDisplay/GuidedAltitudeSlider.qml

@@ -25,8 +25,8 @@ Rectangle {
     property var _activeVehicle:        QGroundControl.multiVehicleManager.activeVehicle
     property real _vehicleAltitude:     _activeVehicle ? _activeVehicle.altitudeRelative.rawValue : 0
     property bool _fixedWing:           _activeVehicle ? _activeVehicle.fixedWing : false
-    property real _sliderMaxAlt:        _fixedWing ? _guidedSettings.fixedWingMaximumAltitude.rawValue : _guidedSettings.vehicleMaximumAltitude.rawValue
-    property real _sliderMinAlt:        _fixedWing ? _guidedSettings.fixedWingMinimumAltitude.rawValue : _guidedSettings.vehicleMinimumAltitude.rawValue
+    property real _sliderMaxAlt:        _guidedSettings ? (_fixedWing ? _guidedSettings.fixedWingMaximumAltitude.rawValue : _guidedSettings.vehicleMaximumAltitude.rawValue) : 0
+    property real _sliderMinAlt:        _guidedSettings ? (_fixedWing ? _guidedSettings.fixedWingMinimumAltitude.rawValue : _guidedSettings.vehicleMinimumAltitude.rawValue) : 0
 
     function reset() {
         altSlider.value = 0

src/FlightDisplay/VideoManager.cc

@@ -34,6 +34,7 @@ VideoManager::VideoManager(QGCApplication* app, QGCToolbox* toolbox)
     : QGCTool(app, toolbox)
     , _videoReceiver(NULL)
     , _videoSettings(NULL)
+    , _fullScreen(false)
 {
 }
 

src/FlightDisplay/VideoManager.h

@@ -35,10 +35,12 @@ public:
     Q_PROPERTY(bool             isGStreamer         READ    isGStreamer                                 NOTIFY isGStreamerChanged)
     Q_PROPERTY(QString          videoSourceID       READ    videoSourceID                               NOTIFY videoSourceIDChanged)
     Q_PROPERTY(bool             uvcEnabled          READ    uvcEnabled                                  CONSTANT)
+    Q_PROPERTY(bool             fullScreen          READ    fullScreen      WRITE   setfullScreen       NOTIFY fullScreenChanged)
     Q_PROPERTY(VideoReceiver*   videoReceiver       READ    videoReceiver                               CONSTANT)
 
     bool        hasVideo            ();
     bool        isGStreamer         ();
+    bool        fullScreen          () { return _fullScreen; }
     QString     videoSourceID       () { return _videoSourceID; }
 
     VideoReceiver*  videoReceiver   () { return _videoReceiver; }
@@ -49,6 +51,8 @@ public:
     bool        uvcEnabled          ();
 #endif
 
+    void        setfullScreen       (bool f) { _fullScreen = f; emit fullScreenChanged(); }
+
     // Override from QGCTool
     void        setToolbox          (QGCToolbox *toolbox);
 
@@ -56,6 +60,7 @@ signals:
     void hasVideoChanged            ();
     void isGStreamerChanged         ();
     void videoSourceIDChanged       ();
+    void fullScreenChanged          ();
 
 private slots:
     void _videoSourceChanged        ();
@@ -70,6 +75,7 @@ private:
     VideoReceiver*  _videoReceiver;
     VideoSettings*  _videoSettings;
     QString         _videoSourceID;
+    bool            _fullScreen;
 };
 
 #endif

src/GAudioOutput.cc

@@ -7,73 +7,132 @@
  *
  ****************************************************************************/
 
-
-/**
- * @file
- *   @brief Implementation of audio output
- *
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *   @author Thomas Gubler <thomasgubler@gmail.com>
- *
- */
-
 #include <QApplication>
 #include <QDebug>
+#include <QRegularExpression>
 
 #include "GAudioOutput.h"
 #include "QGCApplication.h"
 #include "QGC.h"
 #include "SettingsManager.h"
 
-#if defined __android__
-#include <QtAndroidExtras/QtAndroidExtras>
-#include <QtAndroidExtras/QAndroidJniObject>
-#endif
-
 GAudioOutput::GAudioOutput(QGCApplication* app, QGCToolbox* toolbox)
     : QGCTool(app, toolbox)
-#ifndef __android__
-    , thread(new QThread())
-    , worker(new QGCAudioWorker())
-#endif
 {
-#ifndef __android__
-    worker->moveToThread(thread);
-    connect(this, &GAudioOutput::textToSpeak, worker, &QGCAudioWorker::say);
-    connect(thread, &QThread::finished, thread, &QObject::deleteLater);
-    connect(thread, &QThread::finished, worker, &QObject::deleteLater);
-    thread->start();
-#endif
+    _tts = new QTextToSpeech(this);
+    connect(_tts, &QTextToSpeech::stateChanged, this, &GAudioOutput::_stateChanged);
 }
 
-GAudioOutput::~GAudioOutput()
-{
-#ifndef __android__
-    thread->quit();
-#endif
-}
-
-
 bool GAudioOutput::say(const QString& inText)
 {
     bool muted = qgcApp()->toolbox()->settingsManager()->appSettings()->audioMuted()->rawValue().toBool();
     muted |= qgcApp()->runningUnitTests();
     if (!muted && !qgcApp()->runningUnitTests()) {
-#if defined __android__
-#if defined QGC_SPEECH_ENABLED
-        static const char V_jniClassName[] {"org/mavlink/qgroundcontrol/QGCActivity"};
-        QAndroidJniEnvironment env;
-        if (env->ExceptionCheck()) {
-            env->ExceptionDescribe();
-            env->ExceptionClear();
+        QString text = fixTextMessageForAudio(inText);
+        if(_tts->state() == QTextToSpeech::Speaking) {
+            if(!_texts.contains(text)) {
+                //-- Some arbitrary limit
+                if(_texts.size() > 20) {
+                    _texts.removeFirst();
+                }
+                _texts.append(text);
+            }
+        } else {
+            _tts->say(text);
         }
-        QString text = QGCAudioWorker::fixTextMessageForAudio(inText);
-        QAndroidJniObject javaMessage = QAndroidJniObject::fromString(text);
-        QAndroidJniObject::callStaticMethod<void>(V_jniClassName, "say", "(Ljava/lang/String;)V", javaMessage.object<jstring>());
-#endif
-#else
-        emit textToSpeak(inText);
-#endif
     }
     return true;
 }
+
+void GAudioOutput::_stateChanged(QTextToSpeech::State state)
+{
+    if(state == QTextToSpeech::Ready) {
+        if(_texts.size()) {
+            QString text = _texts.first();
+            _texts.removeFirst();
+            _tts->say(text);
+        }
+    }
+}
+
+bool GAudioOutput::getMillisecondString(const QString& string, QString& match, int& number) {
+    static QRegularExpression re("([0-9]+ms)");
+    QRegularExpressionMatchIterator i = re.globalMatch(string);
+    while (i.hasNext()) {
+        QRegularExpressionMatch qmatch = i.next();
+        if (qmatch.hasMatch()) {
+            match = qmatch.captured(0);
+            number = qmatch.captured(0).replace("ms", "").toInt();
+            return true;
+        }
+    }
+    return false;
+}
+
+QString GAudioOutput::fixTextMessageForAudio(const QString& string) {
+    QString match;
+    QString newNumber;
+    QString result = string;
+    //-- Look for codified terms
+    if(result.contains("ERR ", Qt::CaseInsensitive)) {
+        result.replace("ERR ", "error ", Qt::CaseInsensitive);
+    }
+    if(result.contains("ERR:", Qt::CaseInsensitive)) {
+        result.replace("ERR:", "error.", Qt::CaseInsensitive);
+    }
+    if(result.contains("POSCTL", Qt::CaseInsensitive)) {
+        result.replace("POSCTL", "Position Control", Qt::CaseInsensitive);
+    }
+    if(result.contains("ALTCTL", Qt::CaseInsensitive)) {
+        result.replace("ALTCTL", "Altitude Control", Qt::CaseInsensitive);
+    }
+    if(result.contains("AUTO_RTL", Qt::CaseInsensitive)) {
+        result.replace("AUTO_RTL", "auto Return To Launch", Qt::CaseInsensitive);
+    } else if(result.contains("RTL", Qt::CaseInsensitive)) {
+        result.replace("RTL", "Return To Launch", Qt::CaseInsensitive);
+    }
+    if(result.contains("ACCEL ", Qt::CaseInsensitive)) {
+        result.replace("ACCEL ", "accelerometer ", Qt::CaseInsensitive);
+    }
+    if(result.contains("RC_MAP_MODE_SW", Qt::CaseInsensitive)) {
+        result.replace("RC_MAP_MODE_SW", "RC mode switch", Qt::CaseInsensitive);
+    }
+    if(result.contains("REJ.", Qt::CaseInsensitive)) {
+        result.replace("REJ.", "Rejected", Qt::CaseInsensitive);
+    }
+    if(result.contains("WP", Qt::CaseInsensitive)) {
+        result.replace("WP", "way point", Qt::CaseInsensitive);
+    }
+    if(result.contains("CMD", Qt::CaseInsensitive)) {
+        result.replace("CMD", "command", Qt::CaseInsensitive);
+    }
+    if(result.contains("COMPID", Qt::CaseInsensitive)) {
+        result.replace("COMPID", "component eye dee", Qt::CaseInsensitive);
+    }
+    if(result.contains(" params ", Qt::CaseInsensitive)) {
+        result.replace(" params ", " parameters ", Qt::CaseInsensitive);
+    }
+    if(result.contains(" id ", Qt::CaseInsensitive)) {
+        result.replace(" id ", " eye dee ", Qt::CaseInsensitive);
+    }
+    if(result.contains(" ADSB ", Qt::CaseInsensitive)) {
+        result.replace(" ADSB ", " Hey Dee Ess Bee ", Qt::CaseInsensitive);
+    }
+    int number;
+    if(getMillisecondString(string, match, number) && number > 1000) {
+        if(number < 60000) {
+            int seconds = number / 1000;
+            newNumber = QString("%1 second%2").arg(seconds).arg(seconds > 1 ? "s" : "");
+        } else {
+            int minutes = number / 60000;
+            int seconds = (number - (minutes * 60000)) / 1000;
+            if (!seconds) {
+                newNumber = QString("%1 minute%2").arg(minutes).arg(minutes > 1 ? "s" : "");
+            } else {
+                newNumber = QString("%1 minute%2 and %3 second%4").arg(minutes).arg(minutes > 1 ? "s" : "").arg(seconds).arg(seconds > 1 ? "s" : "");
+            }
+        }
+        result.replace(match, newNumber);
+    }
+    return result;
+}

src/GAudioOutput.h

@@ -7,75 +7,35 @@
  *
  ****************************************************************************/
 
-
-/**
- * @file
- *   @brief Definition of audio output
- *
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef GAUDIOOUTPUT_H
-#define GAUDIOOUTPUT_H
+#pragma once
 
 #include <QObject>
 #include <QTimer>
 #include <QThread>
 #include <QStringList>
+#include <QTextToSpeech>
 
-#include "QGCAudioWorker.h"
 #include "QGCToolbox.h"
 
 class QGCApplication;
 
-/**
- * @brief Audio Output (speech synthesizer and "beep" output)
- * This class follows the singleton design pattern
- * @see http://en.wikipedia.org/wiki/Singleton_pattern
- */
 class GAudioOutput : public QGCTool
 {
     Q_OBJECT
-
 public:
     GAudioOutput(QGCApplication* app, QGCToolbox* toolbox);
-    ~GAudioOutput();
-
-    /** @brief List available voices */
-    QStringList listVoices(void);
-    enum
-    {
-        VOICE_MALE = 0,
-        VOICE_FEMALE
-    } QGVoice;
 
-    enum AUDIO_SEVERITY
-    {
-        AUDIO_SEVERITY_EMERGENCY = 0,
-        AUDIO_SEVERITY_ALERT = 1,
-        AUDIO_SEVERITY_CRITICAL = 2,
-        AUDIO_SEVERITY_ERROR = 3,
-        AUDIO_SEVERITY_WARNING = 4,
-        AUDIO_SEVERITY_NOTICE = 5,
-        AUDIO_SEVERITY_INFO = 6,
-        AUDIO_SEVERITY_DEBUG = 7
-    };
+    static bool     getMillisecondString    (const QString& string, QString& match, int& number);
+    static QString  fixTextMessageForAudio  (const QString& string);
 
 public slots:
-    /** @brief Say this text */
-    bool say(const QString& text);
+    bool            say                     (const QString& text);
 
-signals:
-    bool textToSpeak(QString text);
-    void beepOnce();
+private slots:
+    void            _stateChanged           (QTextToSpeech::State state);
 
 protected:
-#if !defined __android__
-    QThread* thread;
-    QGCAudioWorker* worker;
-#endif
+    QTextToSpeech*  _tts;
+    QStringList     _texts;
 };
 
-#endif // AUDIOOUTPUT_H
-

src/JsonHelper.cc

@@ -111,13 +111,36 @@ bool JsonHelper::validateKeyTypes(const QJsonObject& jsonObject, const QStringLi
     return true;
 }
 
-bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString)
+bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName)
 {
-    enumStrings = jsonObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts);
-    enumValues = jsonObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts);
+    if(jsonObject.value(_enumStringsJsonKey).isArray()) {
+        // "enumStrings": ["Auto" , "Manual", "Shutter Priority", "Aperture Priority"],
+        QJsonArray jArray = jsonObject.value(_enumStringsJsonKey).toArray();
+        for(int i = 0; i < jArray.count(); ++i) {
+            enumStrings << jArray.at(i).toString();
+        }
+    } else {
+        // "enumStrings": "Auto,Manual,Shutter Priority,Aperture Priority",
+        enumStrings = jsonObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts);
+    }
+
+    if(jsonObject.value(_enumValuesJsonKey).isArray()) {
+        // "enumValues": [0, 1, 2, 3, 4, 5],
+        QJsonArray jArray = jsonObject.value(_enumValuesJsonKey).toArray();
+        // This should probably be a variant list and not a string list.
+        for(int i = 0; i < jArray.count(); ++i) {
+            if(jArray.at(i).isString())
+                enumValues << jArray.at(i).toString();
+            else
+                enumValues << QString::number(jArray.at(i).toDouble());
+        }
+    } else {
+        // "enumValues": "0,1,2,3,4,5",
+        enumValues = jsonObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts);
+    }
 
     if (enumStrings.count() != enumValues.count()) {
-        errorString = QObject::tr("enum strings/values count mismatch strings:values %1:%2").arg(enumStrings.count()).arg(enumValues.count());
+        errorString = QObject::tr("enum strings/values count mismatch in %3 strings:values %1:%2").arg(enumStrings.count()).arg(enumValues.count()).arg(valueName);
         return false;
     }
 

src/JsonHelper.h

@@ -104,7 +104,7 @@ public:
     static void savePolygon(QmlObjectListModel& list,           ///< List which contains vertices
                             QJsonArray&         polygonArray);  ///< Array to save into
 
-    static bool parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString);
+    static bool parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName = QString());
 
     /// Returns NaN if the value is null, or it not the double value
     static double possibleNaNJsonValue(const QJsonValue& value);

src/MissionManager/CameraSection.FactMetaData.json

@@ -47,10 +47,10 @@
 },
 {
     "name":             "CameraMode",
-    "shortDescription": "Specify whether the camera should switch to photo or video mode",
+    "shortDescription": "Specify whether the camera should switch to Photo, Video or Survey mode",
     "type":             "uint32",
-    "enumStrings":      "Photo,Video",
-    "enumValues":       "0,1",
+    "enumStrings":      "Photo,Video,Survey",
+    "enumValues":       "0,1,2",
     "defaultValue":     0
 }
 ]

src/MissionManager/CameraSection.cc

@@ -120,10 +120,9 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
         MissionItem* item = new MissionItem(nextSequenceNumber++,
                                             MAV_CMD_SET_CAMERA_MODE,
                                             MAV_FRAME_MISSION,
-                                            0,                                      // camera id, all cameras
+                                            0,                                      // Reserved (Set to 0)
                                             _cameraModeFact.rawValue().toDouble(),
-                                            NAN,                                    // Audio off/on
-                                            NAN, NAN, NAN, NAN,                     // param 4-7 reserved
+                                            NAN, NAN, NAN, NAN, NAN,                // param 3-7 reserved
                                             true,                                   // autoContinue
                                             false,                                  // isCurrentItem
                                             missionItemParent);
@@ -153,7 +152,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
             item = new MissionItem(nextSequenceNumber++,
                                    MAV_CMD_IMAGE_START_CAPTURE,
                                    MAV_FRAME_MISSION,
-                                   0,                                               // Camera ID, all cameras
+                                   0,                                               // Reserved (Set to 0)
                                    _cameraPhotoIntervalTimeFact.rawValue().toInt(), // Interval
                                    0,                                               // Unlimited photo count
                                    NAN, NAN, NAN, NAN,                              // param 4-7 reserved
@@ -179,7 +178,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
             item = new MissionItem(nextSequenceNumber++,
                                    MAV_CMD_VIDEO_START_CAPTURE,
                                    MAV_FRAME_MISSION,
-                                   0,                           // camera id = 0, all cameras
+                                   0,                           // Reserved (Set to 0)
                                    0,                           // No CAMERA_CAPTURE_STATUS streaming
                                    NAN, NAN, NAN, NAN, NAN,     // param 3-7 reserved
                                    true,                        // autoContinue
@@ -191,7 +190,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
             item = new MissionItem(nextSequenceNumber++,
                                    MAV_CMD_VIDEO_STOP_CAPTURE,
                                    MAV_FRAME_MISSION,
-                                   0,                               // Camera ID, all cameras
+                                   0,                               // Reserved (Set to 0)
                                    NAN, NAN, NAN, NAN, NAN, NAN,    // param 2-7 reserved
                                    true,                            // autoContinue
                                    false,                           // isCurrentItem
@@ -211,7 +210,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
             item = new MissionItem(nextSequenceNumber++,
                                    MAV_CMD_IMAGE_STOP_CAPTURE,
                                    MAV_FRAME_MISSION,
-                                   0,                               // camera id, all cameras
+                                   0,                               // Reserved (Set to 0)
                                    NAN, NAN, NAN, NAN, NAN, NAN,    // param 2-7 reserved
                                    true,                            // autoContinue
                                    false,                           // isCurrentItem
@@ -222,7 +221,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
             item = new MissionItem(nextSequenceNumber++,
                                    MAV_CMD_IMAGE_START_CAPTURE,
                                    MAV_FRAME_MISSION,
-                                   0,                           // camera id = 0, all cameras
+                                   0,                           // Reserved (Set to 0)
                                    0,                           // Interval (none)
                                    1,                           // Take 1 photo
                                    NAN, NAN, NAN, NAN,          // param 4-7 reserved
@@ -394,7 +393,7 @@ bool CameraSection::_scanSetCameraMode(QmlObjectListModel* visualItems, int scan
         MissionItem& missionItem = item->missionItem();
         if ((MAV_CMD)item->command() == MAV_CMD_SET_CAMERA_MODE) {
             // We specifically don't test param 5/6/7 since we don't have NaN persistence for those fields
-            if (missionItem.param1() == 0 && (missionItem.param2() == 0 || missionItem.param2() == 1) && qIsNaN(missionItem.param3())) {
+            if (missionItem.param1() == 0 && (missionItem.param2() == CAMERA_MODE_IMAGE || missionItem.param2() == CAMERA_MODE_VIDEO || missionItem.param2() == CAMERA_MODE_IMAGE_SURVEY) && qIsNaN(missionItem.param3())) {
                 setSpecifyCameraMode(true);
                 cameraMode()->setRawValue(missionItem.param2());
                 visualItems->removeAt(scanIndex)->deleteLater();

src/MissionManager/CameraSection.h

@@ -34,12 +34,6 @@ public:
     };    
     Q_ENUMS(CameraAction)
 
-    enum CameraMode {
-        CameraModePhoto,
-        CameraModeVideo
-    };
-    Q_ENUMS(CameraMode)
-
     Q_PROPERTY(bool     specifyGimbal                   READ specifyGimbal                  WRITE setSpecifyGimbal              NOTIFY specifyGimbalChanged)
     Q_PROPERTY(Fact*    gimbalPitch                     READ gimbalPitch                                                        CONSTANT)
     Q_PROPERTY(Fact*    gimbalYaw                       READ gimbalYaw                                                          CONSTANT)

src/MissionManager/CameraSectionTest.h

@@ -72,5 +72,6 @@ private:
     SimpleMissionItem*  _validStopTimeItem;
     SimpleMissionItem*  _validCameraPhotoModeItem;
     SimpleMissionItem*  _validCameraVideoModeItem;
+    SimpleMissionItem*  _validCameraSurveyPhotoModeItem;
     SimpleMissionItem*  _validTakePhotoItem;
 };