Merge pull request #8968 from DonLakeFlyer/ReadyToFly

Ready To Fly support based on MAV_SYS_STATUS_PREARM_CHECK

qgroundcontrol.pro

@@ -695,6 +695,7 @@ HEADERS += \
     src/Vehicle/MAVLinkLogManager.h \
     src/Vehicle/MultiVehicleManager.h \
     src/Vehicle/StateMachine.h \
+    src/Vehicle/SysStatusSensorInfo.h \
     src/Vehicle/TerrainFactGroup.h \
     src/Vehicle/TerrainProtocolHandler.h \
     src/Vehicle/TrajectoryPoints.h \
@@ -914,6 +915,7 @@ SOURCES += \
     src/Vehicle/MAVLinkLogManager.cc \
     src/Vehicle/MultiVehicleManager.cc \
     src/Vehicle/StateMachine.cc \
+    src/Vehicle/SysStatusSensorInfo.cc \
     src/Vehicle/TerrainFactGroup.cc \
     src/Vehicle/TerrainProtocolHandler.cc \
     src/Vehicle/TrajectoryPoints.cc \

qgroundcontrol.qrc

@@ -49,7 +49,6 @@
         <file alias="FWLandingPatternEditor.qml">src/PlanView/FWLandingPatternEditor.qml</file>
         <file alias="GeneralSettings.qml">src/ui/preferences/GeneralSettings.qml</file>
         <file alias="GeoTagPage.qml">src/AnalyzeView/GeoTagPage.qml</file>
-        <file alias="HealthPageWidget.qml">src/FlightMap/Widgets/HealthPageWidget.qml</file>
         <file alias="HelpSettings.qml">src/ui/preferences/HelpSettings.qml</file>
         <file alias="JoystickConfig.qml">src/VehicleSetup/JoystickConfig.qml</file>
         <file alias="JoystickConfigAdvanced.qml">src/VehicleSetup/JoystickConfigAdvanced.qml</file>
@@ -106,6 +105,7 @@
         <file alias="QGroundControl/Controls/JoystickThumbPad.qml">src/QmlControls/JoystickThumbPad.qml</file>
         <file alias="QGroundControl/Controls/KMLOrSHPFileDialog.qml">src/QmlControls/KMLOrSHPFileDialog.qml</file>
         <file alias="QGroundControl/Controls/LogReplayStatusBar.qml">src/QmlControls/LogReplayStatusBar.qml</file>
+        <file alias="QGroundControl/Controls/MainStatusIndicator.qml">src/ui/toolbar/MainStatusIndicator.qml</file>
         <file alias="QGroundControl/Controls/MainToolBar.qml">src/ui/toolbar/MainToolBar.qml</file>
         <file alias="QGroundControl/Controls/MainWindowSavedState.qml">src/QmlControls/MainWindowSavedState.qml</file>
         <file alias="QGroundControl/Controls/MAVLinkChart.qml">src/QmlControls/MAVLinkChart.qml</file>

src/FlightMap/Widgets/HealthPageWidget.qml

-/****************************************************************************
- *
- * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-import QtQuick          2.3
-import QtQuick.Layouts  1.2
-
-import QGroundControl               1.0
-import QGroundControl.Controls      1.0
-import QGroundControl.ScreenTools   1.0
-
-/// Health page for Instrument Panel PageWidget
-Column {
-    width: pageWidth
-
-    property bool showSettingsIcon: false
-
-    property var _unhealthySensors: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle.unhealthySensors : [ ]
-
-    QGCLabel {
-        width:                  parent.width
-        horizontalAlignment:    Text.AlignHCenter
-        text:                   qsTr("All systems healthy")
-        visible:                healthRepeater.count == 0
-    }
-
-    Repeater {
-        id:     healthRepeater
-        model:  _unhealthySensors
-
-        Row {
-            Image {
-                source:             "/qmlimages/Yield.svg"
-                height:             ScreenTools.defaultFontPixelHeight
-                sourceSize.height:  height
-                fillMode:           Image.PreserveAspectFit
-            }
-
-            QGCLabel {
-                text:   modelData
-            }
-        }
-    }
-}

src/QmlControls/QGroundControl/Controls/qmldir

@@ -31,6 +31,7 @@ InstrumentValueEditDialog               1.0 InstrumentValueEditDialog.qml
 JoystickThumbPad                        1.0 JoystickThumbPad.qml
 KMLOrSHPFileDialog                      1.0 KMLOrSHPFileDialog.qml
 LogReplayStatusBar                      1.0 LogReplayStatusBar.qml
+MainStatusIndicator                     1.0 MainStatusIndicator.qml
 MainToolBar                             1.0 MainToolBar.qml
 MainWindowSavedState                    1.0 MainWindowSavedState.qml
 MAVLinkMessageButton                    1.0 MAVLinkMessageButton.qml

src/Vehicle/SysStatusSensorInfo.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "SysStatusSensorInfo.h"
+
+#include <QDebug>
+
+SysStatusSensorInfo::SysStatusSensorInfo(QObject* parent)
+    : QObject(parent)
+{
+
+}
+
+void SysStatusSensorInfo::update(const mavlink_sys_status_t& sysStatus)
+{
+    bool dirty = false;
+
+    // Walk the bits
+    for (int bitPosition=0; bitPosition<32; bitPosition++) {
+        MAV_SYS_STATUS_SENSOR sensorBitMask = static_cast<MAV_SYS_STATUS_SENSOR>(1 << bitPosition);
+        if (sysStatus.onboard_control_sensors_present & sensorBitMask) {
+            if (_sensorInfoMap.contains(sensorBitMask)) {
+                SensorInfo_t& sensorInfo = _sensorInfoMap[sensorBitMask];
+
+                bool newEnabled = sysStatus.onboard_control_sensors_enabled & sensorBitMask;
+                if (sensorInfo.enabled != newEnabled) {
+                    dirty = true;
+                    sensorInfo.enabled = newEnabled;
+                }
+
+                bool newHealthy = sysStatus.onboard_control_sensors_health & sensorBitMask;
+                if (sensorInfo.healthy != newHealthy) {
+                    dirty = true;
+                    sensorInfo.healthy = newHealthy;
+                }
+            } else {
+                dirty = true;
+                SensorInfo_t sensorInfo = { !!(sysStatus.onboard_control_sensors_enabled & sensorBitMask), !!(sysStatus.onboard_control_sensors_health & sensorBitMask) };
+                _sensorInfoMap[sensorBitMask] = sensorInfo;
+            }
+        } else {
+            if (_sensorInfoMap.contains(sensorBitMask)) {
+                dirty = true;
+                _sensorInfoMap.remove(sensorBitMask);
+            }
+        }
+    }
+
+    if (dirty) {
+        emit sensorInfoChanged();
+    }
+}
+
+QStringList SysStatusSensorInfo::sensorNames (void) const
+{
+    QStringList rgNames;
+
+    // List ordering is unhealthy, healthy, disabled
+    for (int i=0; i<_sensorInfoMap.keys().count(); i++) {
+        const MAV_SYS_STATUS_SENSOR sensorBitMask   = _sensorInfoMap.keys()[i];
+        const SensorInfo_t&         sensorInfo      = _sensorInfoMap[sensorBitMask];
+
+        if (sensorInfo.enabled && !sensorInfo.healthy) {
+            rgNames.append(QGCMAVLink::mavSysStatusSensorToString(sensorBitMask));
+        }
+    }
+    for (int i=0; i<_sensorInfoMap.keys().count(); i++) {
+        const MAV_SYS_STATUS_SENSOR sensorBitMask   = _sensorInfoMap.keys()[i];
+        const SensorInfo_t&         sensorInfo      = _sensorInfoMap[sensorBitMask];
+
+        if (sensorInfo.enabled && sensorInfo.healthy) {
+            rgNames.append(QGCMAVLink::mavSysStatusSensorToString(sensorBitMask));
+        }
+    }
+    for (int i=0; i<_sensorInfoMap.keys().count(); i++) {
+        const MAV_SYS_STATUS_SENSOR sensorBitMask   = _sensorInfoMap.keys()[i];
+        const SensorInfo_t&         sensorInfo      = _sensorInfoMap[sensorBitMask];
+
+        if (!sensorInfo.enabled) {
+            rgNames.append(QGCMAVLink::mavSysStatusSensorToString(sensorBitMask));
+        }
+    }
+
+    return rgNames;
+}
+
+QStringList SysStatusSensorInfo::sensorStatus(void) const
+{
+    QStringList rgStatus;
+
+    // List ordering is unhealthy, healthy, disabled
+    for (int i=0; i<_sensorInfoMap.keys().count(); i++) {
+        const MAV_SYS_STATUS_SENSOR sensorBitMask   = _sensorInfoMap.keys()[i];
+        const SensorInfo_t&         sensorInfo      = _sensorInfoMap[sensorBitMask];
+
+        if (sensorInfo.enabled && !sensorInfo.healthy) {
+            rgStatus.append(tr("Error"));
+        }
+    }
+    for (int i=0; i<_sensorInfoMap.keys().count(); i++) {
+        const MAV_SYS_STATUS_SENSOR sensorBitMask   = _sensorInfoMap.keys()[i];
+        const SensorInfo_t&         sensorInfo      = _sensorInfoMap[sensorBitMask];
+
+        if (sensorInfo.enabled && sensorInfo.healthy) {
+            rgStatus.append(tr("Normal"));
+        }
+    }
+    for (int i=0; i<_sensorInfoMap.keys().count(); i++) {
+        const MAV_SYS_STATUS_SENSOR sensorBitMask   = _sensorInfoMap.keys()[i];
+        const SensorInfo_t&         sensorInfo      = _sensorInfoMap[sensorBitMask];
+
+        if (!sensorInfo.enabled) {
+            rgStatus.append(tr("Disabled"));
+        }
+    }
+
+    return rgStatus;
+}

src/Vehicle/SysStatusSensorInfo.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "QGCMAVLink.h"
+#include "QmlObjectListModel.h"
+
+#include <QObject>
+
+/// Class which represents sensor info from the SYS_STATUS mavlink message
+class SysStatusSensorInfo : public QObject
+{
+    Q_OBJECT
+
+public:
+    SysStatusSensorInfo(QObject* parent = nullptr);
+
+    Q_PROPERTY(QStringList sensorNames  READ sensorNames    NOTIFY sensorInfoChanged)
+    Q_PROPERTY(QStringList sensorStatus READ sensorStatus   NOTIFY sensorInfoChanged)
+
+    void        update      (const mavlink_sys_status_t& sysStatus);
+    QStringList sensorNames (void) const;
+    QStringList sensorStatus(void) const;
+
+signals:
+    void sensorInfoChanged(void);
+
+private:
+    typedef struct {
+        bool enabled;
+        bool healthy;
+    } SensorInfo_t;
+
+    QMap<MAV_SYS_STATUS_SENSOR, SensorInfo_t> _sensorInfoMap;
+};

src/Vehicle/Vehicle.cc

@@ -1429,7 +1429,6 @@ void Vehicle::_handleHighLatency2(mavlink_message_t& message)
         _onboardControlSensorsEnabled = newOnboardControlSensorsEnabled;
         _onboardControlSensorsPresent = newOnboardControlSensorsEnabled;
         _onboardControlSensorsUnhealthy = 0;
-        emit unhealthySensorsChanged();
     }
 }
 
@@ -1652,6 +1651,27 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
     mavlink_sys_status_t sysStatus;
     mavlink_msg_sys_status_decode(&message, &sysStatus);
 
+    _sysStatusSensorInfo.update(sysStatus);
+
+    if (sysStatus.onboard_control_sensors_enabled & MAV_SYS_STATUS_PREARM_CHECK) {
+        if (!_readyToFlyAvailable) {
+            _readyToFlyAvailable = true;
+            emit readyToFlyAvailableChanged(true);
+        }
+
+        bool newReadyToFly = sysStatus.onboard_control_sensors_health & MAV_SYS_STATUS_PREARM_CHECK;
+        if (newReadyToFly != _readyToFly) {
+            _readyToFly = newReadyToFly;
+            emit readyToFlyChanged(_readyToFly);
+        }
+    }
+
+    bool newAllSensorsHealthy = (sysStatus.onboard_control_sensors_enabled & sysStatus.onboard_control_sensors_health) == sysStatus.onboard_control_sensors_enabled;
+    if (newAllSensorsHealthy != _allSensorsHealthy) {
+        _allSensorsHealthy = newAllSensorsHealthy;
+        emit allSensorsHealthyChanged(_allSensorsHealthy);
+    }
+
     if (_onboardControlSensorsPresent != sysStatus.onboard_control_sensors_present) {
         _onboardControlSensorsPresent = sysStatus.onboard_control_sensors_present;
         emit sensorsPresentBitsChanged(_onboardControlSensorsPresent);
@@ -1675,7 +1695,6 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
     uint32_t newSensorsUnhealthy = _onboardControlSensorsEnabled & ~_onboardControlSensorsHealth;
     if (newSensorsUnhealthy != _onboardControlSensorsUnhealthy) {
         _onboardControlSensorsUnhealthy = newSensorsUnhealthy;
-        emit unhealthySensorsChanged();
         emit sensorsUnhealthyBitsChanged(_onboardControlSensorsUnhealthy);
     }
 
@@ -3579,58 +3598,6 @@ QString Vehicle::brandImageOutdoor() const
     return _firmwarePlugin->brandImageOutdoor(this);
 }
 
-QStringList Vehicle::unhealthySensors() const
-{
-    QStringList sensorList;
-
-    struct sensorInfo_s {
-        uint32_t    bit;
-        QString     sensorName;
-    };
-
-    static const sensorInfo_s rgSensorInfo[] = {
-        { MAV_SYS_STATUS_SENSOR_3D_GYRO,                tr("Gyro") },
-        { MAV_SYS_STATUS_SENSOR_3D_ACCEL,               tr("Accelerometer") },
-        { MAV_SYS_STATUS_SENSOR_3D_MAG,                 tr("Magnetometer") },
-        { MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE,      tr("Absolute pressure") },
-        { MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE,  tr("Differential pressure") },
-        { MAV_SYS_STATUS_SENSOR_GPS,                    tr("GPS") },
-        { MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW,           tr("Optical flow") },
-        { MAV_SYS_STATUS_SENSOR_VISION_POSITION,        tr("Computer vision position") },
-        { MAV_SYS_STATUS_SENSOR_LASER_POSITION,         tr("Laser based position") },
-        { MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH,  tr("External ground truth") },
-        { MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL,   tr("Angular rate control") },
-        { MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION, tr("Attitude stabilization") },
-        { MAV_SYS_STATUS_SENSOR_YAW_POSITION,           tr("Yaw position") },
-        { MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL,     tr("Z/altitude control") },
-        { MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL,    tr("X/Y position control") },
-        { MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS,          tr("Motor outputs / control") },
-        { MAV_SYS_STATUS_SENSOR_RC_RECEIVER,            tr("RC receiver") },
-        { MAV_SYS_STATUS_SENSOR_3D_GYRO2,               tr("Gyro 2") },
-        { MAV_SYS_STATUS_SENSOR_3D_ACCEL2,              tr("Accelerometer 2") },
-        { MAV_SYS_STATUS_SENSOR_3D_MAG2,                tr("Magnetometer 2") },
-        { MAV_SYS_STATUS_GEOFENCE,                      tr("GeoFence") },
-        { MAV_SYS_STATUS_AHRS,                          tr("AHRS") },
-        { MAV_SYS_STATUS_TERRAIN,                       tr("Terrain") },
-        { MAV_SYS_STATUS_REVERSE_MOTOR,                 tr("Motors reversed") },
-        { MAV_SYS_STATUS_LOGGING,                       tr("Logging") },
-        { MAV_SYS_STATUS_SENSOR_BATTERY,                tr("Battery") },
-        { MAV_SYS_STATUS_SENSOR_PROXIMITY,              tr("Proximity") },
-        { MAV_SYS_STATUS_SENSOR_SATCOM,                 tr("Satellite Communication") },
-        { MAV_SYS_STATUS_PREARM_CHECK,                  tr("Pre-Arm Check") },
-        { MAV_SYS_STATUS_OBSTACLE_AVOIDANCE,            tr("Avoidance/collision prevention") },
-    };
-
-    for (size_t i=0; i<sizeof(rgSensorInfo)/sizeof(sensorInfo_s); i++) {
-        const sensorInfo_s* pSensorInfo = &rgSensorInfo[i];
-        if ((_onboardControlSensorsEnabled & pSensorInfo->bit) && !(_onboardControlSensorsHealth & pSensorInfo->bit)) {
-            sensorList << pSensorInfo->sensorName;
-        }
-    }
-
-    return sensorList;
-}
-
 void Vehicle::setOfflineEditingDefaultComponentId(int defaultComponentId)
 {
     if (_offlineEditingVehicle) {

src/Vehicle/Vehicle.h

@@ -25,6 +25,7 @@
 #include "SettingsFact.h"
 #include "QGCMapCircle.h"
 #include "TerrainFactGroup.h"
+#include "SysStatusSensorInfo.h"
 
 class UAS;
 class UASInterface;
@@ -596,7 +597,6 @@ public:
     Q_PROPERTY(bool                 isOfflineEditingVehicle READ isOfflineEditingVehicle                                CONSTANT)
     Q_PROPERTY(QString              brandImageIndoor        READ brandImageIndoor                                       NOTIFY firmwareTypeChanged)
     Q_PROPERTY(QString              brandImageOutdoor       READ brandImageOutdoor                                      NOTIFY firmwareTypeChanged)
-    Q_PROPERTY(QStringList          unhealthySensors        READ unhealthySensors                                       NOTIFY unhealthySensorsChanged)
     Q_PROPERTY(int                  sensorsPresentBits      READ sensorsPresentBits                                     NOTIFY sensorsPresentBitsChanged)
     Q_PROPERTY(int                  sensorsEnabledBits      READ sensorsEnabledBits                                     NOTIFY sensorsEnabledBitsChanged)
     Q_PROPERTY(int                  sensorsHealthBits       READ sensorsHealthBits                                      NOTIFY sensorsHealthBitsChanged)
@@ -643,6 +643,10 @@ public:
     Q_PROPERTY(bool                 gimbalData              READ gimbalData                                             NOTIFY gimbalDataChanged)
     Q_PROPERTY(bool                 isROIEnabled            READ isROIEnabled                                           NOTIFY isROIEnabledChanged)
     Q_PROPERTY(CheckList            checkListState          READ checkListState         WRITE setCheckListState         NOTIFY checkListStateChanged)
+    Q_PROPERTY(bool                 readyToFlyAvailable     READ readyToFlyAvailable                                    NOTIFY readyToFlyAvailableChanged)  ///< true: readyToFly signalling is available on this vehicle
+    Q_PROPERTY(bool                 readyToFly              READ readyToFly                                             NOTIFY readyToFlyChanged)
+    Q_PROPERTY(QObject*             sysStatusSensorInfo     READ sysStatusSensorInfo                                    CONSTANT)
+    Q_PROPERTY(bool                 allSensorsHealthy       READ allSensorsHealthy                                      NOTIFY allSensorsHealthyChanged)    //< true: all sensors in SYS_STATUS reported as healthy
 
     // The following properties relate to Orbit status
     Q_PROPERTY(bool             orbitActive     READ orbitActive        NOTIFY orbitActiveChanged)
@@ -940,7 +944,6 @@ public:
     bool            isOfflineEditingVehicle () const { return _offlineEditingVehicle; }
     QString         brandImageIndoor        () const;
     QString         brandImageOutdoor       () const;
-    QStringList     unhealthySensors        () const;
     int             sensorsPresentBits      () const { return static_cast<int>(_onboardControlSensorsPresent); }
     int             sensorsEnabledBits      () const { return static_cast<int>(_onboardControlSensorsEnabled); }
     int             sensorsHealthBits       () const { return static_cast<int>(_onboardControlSensorsHealth); }
@@ -968,6 +971,10 @@ public:
     bool            highLatencyLink         () const { return _highLatencyLink; }
     bool            orbitActive             () const { return _orbitActive; }
     QGCMapCircle*   orbitMapCircle          () { return &_orbitMapCircle; }
+    bool            readyToFlyAvailable     () { return _readyToFlyAvailable; }
+    bool            readyToFly              () { return _readyToFly; }
+    bool            allSensorsHealthy       () { return _allSensorsHealthy; }
+    QObject*        sysStatusSensorInfo     () { return &_sysStatusSensorInfo; }
 
     /// Get the maximum MAVLink protocol version supported
     /// @return the maximum version
@@ -1178,7 +1185,6 @@ signals:
     void vtolInFwdFlightChanged         (bool vtolInFwdFlight);
     void prearmErrorChanged             (const QString& prearmError);
     void soloFirmwareChanged            (bool soloFirmware);
-    void unhealthySensorsChanged        ();
     void defaultCruiseSpeedChanged      (double cruiseSpeed);
     void defaultHoverSpeedChanged       (double hoverSpeed);
     void firmwareTypeChanged            ();
@@ -1223,6 +1229,9 @@ signals:
     void sensorsHealthBitsChanged       (int sensorsHealthBits);
     void sensorsUnhealthyBitsChanged    (int sensorsUnhealthyBits);
     void orbitActiveChanged             (bool orbitActive);
+    void readyToFlyAvailableChanged     (bool readyToFlyAvailable);
+    void readyToFlyChanged              (bool readyToFy);
+    void allSensorsHealthyChanged       (bool allSensorsHealthy);
 
     void firmwareVersionChanged         ();
     void firmwareCustomVersionChanged   ();
@@ -1441,6 +1450,11 @@ private:
     bool            _highLatencyLink;
     bool            _receivingAttitudeQuaternion;
     CheckList       _checkListState                         = CheckListNotSetup;
+    bool            _readyToFlyAvailable                    = false;
+    bool            _readyToFly                             = false;
+    bool            _allSensorsHealthy                      = true;
+
+    SysStatusSensorInfo _sysStatusSensorInfo;
 
     QGCCameraManager* _cameras;
 

src/api/QGCCorePlugin.cc

@@ -100,7 +100,6 @@ public:
     QmlComponentInfo*   valuesPageWidgetInfo    = nullptr;
     QmlComponentInfo*   cameraPageWidgetInfo    = nullptr;
     QmlComponentInfo*   videoPageWidgetInfo     = nullptr;
-    QmlComponentInfo*   healthPageWidgetInfo    = nullptr;
     QmlComponentInfo*   vibrationPageWidgetInfo = nullptr;
 
     QGCOptions*         defaultOptions          = nullptr;
@@ -206,10 +205,6 @@ void QGCCorePlugin::_resetInstrumentPages()
         _p->videoPageWidgetInfo = nullptr;
     }
 #endif
-    if(_p->healthPageWidgetInfo) {
-        _p->healthPageWidgetInfo->deleteLater();
-        _p->healthPageWidgetInfo = nullptr;
-    }
     if(_p->vibrationPageWidgetInfo) {
         _p->vibrationPageWidgetInfo->deleteLater();
         _p->vibrationPageWidgetInfo = nullptr;
@@ -287,7 +282,6 @@ QVariantList& QGCCorePlugin::instrumentPages()
             _p->videoPageWidgetInfo = new QmlComponentInfo(tr("Video Stream"), QUrl::fromUserInput("qrc:/qml/VideoPageWidget.qml"));
         }
 #endif
-        _p->healthPageWidgetInfo    = new QmlComponentInfo(tr("Health"),    QUrl::fromUserInput("qrc:/qml/HealthPageWidget.qml"));
         _p->vibrationPageWidgetInfo = new QmlComponentInfo(tr("Vibration"), QUrl::fromUserInput("qrc:/qml/VibrationPageWidget.qml"));
 
         _p->instrumentPageWidgetList.append(QVariant::fromValue(_p->valuesPageWidgetInfo));
@@ -295,7 +289,6 @@ QVariantList& QGCCorePlugin::instrumentPages()
 #if defined(QGC_GST_STREAMING)
         _p->instrumentPageWidgetList.append(QVariant::fromValue(_p->videoPageWidgetInfo));
 #endif
-        _p->instrumentPageWidgetList.append(QVariant::fromValue(_p->healthPageWidgetInfo));
         _p->instrumentPageWidgetList.append(QVariant::fromValue(_p->vibrationPageWidgetInfo));
     }
     return _p->instrumentPageWidgetList;

src/api/QGCOptions.cc

@@ -23,12 +23,12 @@ QGCOptions::QGCOptions(QObject* parent)
 
 QColor QGCOptions::toolbarBackgroundLight() const
 {
-    return QColor(255,255,255,204);
+    return QColor(255,255,255);
 }
 
 QColor QGCOptions::toolbarBackgroundDark() const
 {
-    return QColor(0,0,0,192);
+    return QColor(0,0,0);
 }
 
 QGCFlyViewOptions* QGCOptions::flyViewOptions(void)

src/comm/QGCMAVLink.cc

@@ -10,6 +10,7 @@
 #include "QGCMAVLink.h"
 
 #include <QtGlobal>
+#include <QDebug>
 
 constexpr QGCMAVLink::FirmwareClass_t QGCMAVLink::FirmwareClassPX4;
 constexpr QGCMAVLink::FirmwareClass_t QGCMAVLink::FirmwareClassArduPilot;
@@ -165,6 +166,58 @@ QString  QGCMAVLink::mavResultToString(MAV_RESULT result)
     }
 }
 
+QString QGCMAVLink::mavSysStatusSensorToString(MAV_SYS_STATUS_SENSOR sysStatusSensor)
+{
+    struct sensorInfo_s {
+        uint32_t    bit;
+        QString     sensorName;
+    };
+
+    static const sensorInfo_s rgSensorInfo[] = {
+        { MAV_SYS_STATUS_SENSOR_3D_GYRO,                QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Gyro") },
+        { MAV_SYS_STATUS_SENSOR_3D_ACCEL,               QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Accelerometer") },
+        { MAV_SYS_STATUS_SENSOR_3D_MAG,                 QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Magnetometer") },
+        { MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE,      QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Absolute pressure") },
+        { MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE,  QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Differential pressure") },
+        { MAV_SYS_STATUS_SENSOR_GPS,                    QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "GPS") },
+        { MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW,           QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Optical flow") },
+        { MAV_SYS_STATUS_SENSOR_VISION_POSITION,        QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Computer vision position") },
+        { MAV_SYS_STATUS_SENSOR_LASER_POSITION,         QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Laser based position") },
+        { MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH,  QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "External ground truth") },
+        { MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL,   QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Angular rate control") },
+        { MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION, QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Attitude stabilization") },
+        { MAV_SYS_STATUS_SENSOR_YAW_POSITION,           QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Yaw position") },
+        { MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL,     QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Z/altitude control") },
+        { MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL,    QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "X/Y position control") },
+        { MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS,          QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Motor outputs / control") },
+        { MAV_SYS_STATUS_SENSOR_RC_RECEIVER,            QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "RC receiver") },
+        { MAV_SYS_STATUS_SENSOR_3D_GYRO2,               QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Gyro 2") },
+        { MAV_SYS_STATUS_SENSOR_3D_ACCEL2,              QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Accelerometer 2") },
+        { MAV_SYS_STATUS_SENSOR_3D_MAG2,                QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Magnetometer 2") },
+        { MAV_SYS_STATUS_GEOFENCE,                      QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "GeoFence") },
+        { MAV_SYS_STATUS_AHRS,                          QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "AHRS") },
+        { MAV_SYS_STATUS_TERRAIN,                       QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Terrain") },
+        { MAV_SYS_STATUS_REVERSE_MOTOR,                 QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Motors reversed") },
+        { MAV_SYS_STATUS_LOGGING,                       QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Logging") },
+        { MAV_SYS_STATUS_SENSOR_BATTERY,                QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Battery") },
+        { MAV_SYS_STATUS_SENSOR_PROXIMITY,              QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Proximity") },
+        { MAV_SYS_STATUS_SENSOR_SATCOM,                 QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Satellite Communication") },
+        { MAV_SYS_STATUS_PREARM_CHECK,                  QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Pre-Arm Check") },
+        { MAV_SYS_STATUS_OBSTACLE_AVOIDANCE,            QT_TRANSLATE_NOOP("MAVLink SYS_STATUS_SENSOR value", "Avoidance/collision prevention") },
+    };
+
+    for (size_t i=0; i<sizeof(rgSensorInfo)/sizeof(sensorInfo_s); i++) {
+        const sensorInfo_s* pSensorInfo = &rgSensorInfo[i];
+        if (sysStatusSensor == pSensorInfo->bit) {
+            return pSensorInfo->sensorName;
+        }
+    }
+
+    qWarning() << "QGCMAVLink::mavSysStatusSensorToString: Unknown sensor" << sysStatusSensor;
+
+    return QT_TRANSLATE_NOOP("MAVLink unknown SYS_STATUS_SENSOR value", "Unknown sensor");
+}
+
 QString MavlinkFTP::opCodeToString(OpCode_t opCode)
 {
     switch (opCode) {
@@ -238,3 +291,4 @@ QString MavlinkFTP::errorCodeToString(ErrorCode_t errorCode)
 
     return "Unknown Error";
 }
+

src/comm/QGCMAVLink.h

@@ -64,10 +64,10 @@ public:
     static constexpr VehicleClass_t VehicleClassGeneric     = MAV_TYPE_GENERIC;
 
     static bool                     isPX4FirmwareClass          (MAV_AUTOPILOT autopilot) { return autopilot == MAV_AUTOPILOT_PX4; }
-    static bool                     isArduPilotFirmwareClass(MAV_AUTOPILOT autopilot) { return autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA; }
+    static bool                     isArduPilotFirmwareClass    (MAV_AUTOPILOT autopilot) { return autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA; }
     static bool                     isGenericFirmwareClass      (MAV_AUTOPILOT autopilot) { return !isPX4FirmwareClass(autopilot) && ! isArduPilotFirmwareClass(autopilot); }
     static FirmwareClass_t          firmwareClass               (MAV_AUTOPILOT autopilot);
-    static MAV_AUTOPILOT            firmwareClassToAutopilot(FirmwareClass_t firmwareClass) { return static_cast<MAV_AUTOPILOT>(firmwareClass); }
+    static MAV_AUTOPILOT            firmwareClassToAutopilot    (FirmwareClass_t firmwareClass) { return static_cast<MAV_AUTOPILOT>(firmwareClass); }
     static QString                  firmwareClassToString       (FirmwareClass_t firmwareClass);
     static QList<FirmwareClass_t>   allFirmwareClasses          (void);
 
@@ -82,6 +82,7 @@ public:
     static QList<VehicleClass_t>    allVehicleClasses           (void);
 
     static QString                  mavResultToString           (MAV_RESULT result);
+    static QString                  mavSysStatusSensorToString  (MAV_SYS_STATUS_SENSOR sysStatusSensor);
 };
 
 class MavlinkFTP {

src/ui/MainRootWindow.qml

@@ -526,15 +526,6 @@ ApplicationWindow {
         source:         "AnalyzeView.qml"
     }