Merge pull request #7627 from mavlink/customGimbalControl

Custom gimbal control

custom-example/res/CustomCameraControl.qml

@@ -39,6 +39,7 @@ Item {
     property real   _spacers:               ScreenTools.defaultFontPixelHeight
     property real   _labelFieldWidth:       ScreenTools.defaultFontPixelWidth  * 28
     property real   _editFieldWidth:        ScreenTools.defaultFontPixelWidth  * 30
+    property real   _editFieldHeight:       ScreenTools.defaultFontPixelHeight * 2
 
     property var    _dynamicCameras:        activeVehicle ? activeVehicle.dynamicCameras : null
     property bool   _isCamera:              _dynamicCameras ? _dynamicCameras.cameras.count > 0 : false
@@ -364,6 +365,7 @@ Item {
                         QGCComboBox {
                             model:          _isCamera ? _dynamicCameras.cameraLabels : []
                             width:          _editFieldWidth
+                            height:         _editFieldHeight
                             onActivated:    _dynamicCameras.currentCamera = index
                             currentIndex:   _dynamicCameras ? _dynamicCameras.currentCamera : 0
                         }
@@ -388,6 +390,7 @@ Item {
                         QGCComboBox {
                             model:          _camera ? _camera.streamLabels : []
                             width:          _editFieldWidth
+                            height:         _editFieldHeight
                             onActivated:    _camera.currentStream = index
                             currentIndex:   _camera ? _camera.currentStream : 0
                         }
@@ -412,6 +415,7 @@ Item {
                         }
                         QGCComboBox {
                             width:          _editFieldWidth
+                            height:         _editFieldHeight
                             model:          parent.thermalModes
                             currentIndex:   _camera ? _camera.thermalMode : 0
                             onActivated:    _camera.thermalMode = index
@@ -436,6 +440,7 @@ Item {
                         }
                         Slider {
                             width:          _editFieldWidth
+                            height:         _editFieldHeight
                             to:             100
                             from:           0
                             value:          _camera ? _camera.thermalOpacity : 0
@@ -477,6 +482,7 @@ Item {
                                     }
                                     FactComboBox {
                                         width:      parent._isCombo ? _editFieldWidth  : 0
+                                        height:     parent._isCombo ? _editFieldHeight : 0
                                         fact:       parent.parent._fact
                                         indexModel: false
                                         visible:    parent._isCombo
@@ -485,6 +491,7 @@ Item {
                                     QGCButton {
                                         visible:    parent._isEdit
                                         width:      parent._isEdit ? _editFieldWidth  : 0
+                                        height:     parent._isEdit ? _editFieldHeight : 0
                                         text:       parent.parent._fact.valueString
                                         onClicked: {
                                             showEditFact(parent.parent._fact)
@@ -492,6 +499,7 @@ Item {
                                     }
                                     QGCSlider {
                                         width:          parent._isSlider ? _editFieldWidth  : 0
+                                        height:         parent._isSlider ? _editFieldHeight : 0
                                         maximumValue:   parent.parent._fact.max
                                         minimumValue:   parent.parent._fact.min
                                         stepSize:       parent.parent._fact.increment
@@ -507,6 +515,7 @@ Item {
                                     }
                                     CustomOnOffSwitch {
                                         width:      parent._isBool ? _editFieldWidth  : 0
+                                        height:     parent._isBool ? _editFieldHeight : 0
                                         checked:    parent.parent._fact ? parent.parent._fact.value : false
                                         onClicked:  parent.parent._fact.value = checked ? 1 : 0
                                         visible:    parent._isBool
@@ -535,6 +544,7 @@ Item {
                         }
                         QGCComboBox {
                             width:          _editFieldWidth
+                            height:         _editFieldHeight
                             model:          parent.photoModes
                             currentIndex:   _camera ? _camera.photoMode : 0
                             onActivated:    _camera.photoMode = index
@@ -559,6 +569,7 @@ Item {
                         }
                         QGCSlider {
                             width:          _editFieldWidth
+                            height:         _editFieldHeight
                             maximumValue:   60
                             minimumValue:   _camera ? (_camera.isE90 ? 3 : 5) : 5
                             stepSize:       1
@@ -579,6 +590,31 @@ Item {
                         visible:    _cameraPhotoMode && _camera.photoMode === QGCCameraControl.PHOTO_CAPTURE_TIMELAPSE && !_noSdCard
                     }
                     //-------------------------------------------
+                    //-- Gimbal Control
+                    Row {
+                        spacing:        ScreenTools.defaultFontPixelWidth
+                        visible:        _camera && !_camera.isThermal
+                        anchors.horizontalCenter: parent.horizontalCenter
+                        QGCLabel {
+                            text:       qsTr("Show Gimbal Control")
+                            width:      _labelFieldWidth
+                            anchors.verticalCenter: parent.verticalCenter
+                        }
+                        CustomOnOffSwitch {
+                            checked:    CustomQuickInterface.showGimbalControl
+                            width:      _editFieldWidth
+                            height:     _editFieldHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            onClicked:  CustomQuickInterface.showGimbalControl = checked
+                        }
+                    }
+                    Rectangle {
+                        color:      qgcPal.button
+                        height:     1
+                        width:      cameraSettingsCol.width
+                        visible:    _camera && !_camera.isThermal
+                    }
+                    //-------------------------------------------
                     //-- Screen Grid
                     Row {
                         spacing:        ScreenTools.defaultFontPixelWidth
@@ -592,6 +628,7 @@ Item {
                         CustomOnOffSwitch {
                             checked:     QGroundControl.settingsManager.videoSettings.gridLines.rawValue
                             width:      _editFieldWidth
+                            height:     _editFieldHeight
                             anchors.verticalCenter: parent.verticalCenter
                             onClicked:  QGroundControl.settingsManager.videoSettings.gridLines.rawValue = checked
                         }
@@ -615,6 +652,7 @@ Item {
                         }
                         FactComboBox {
                             width:      _editFieldWidth
+                            height:     _editFieldHeight
                             fact:       QGroundControl.settingsManager.videoSettings.videoFit
                             indexModel: false
                             anchors.verticalCenter: parent.verticalCenter
@@ -640,6 +678,7 @@ Item {
                             text:       qsTr("Reset")
                             onClicked:  resetPrompt.open()
                             width:      _editFieldWidth
+                            height:     _editFieldHeight
                             enabled:    !_recordingVideo
                             anchors.verticalCenter: parent.verticalCenter
                             MessageDialog {

custom-example/res/CustomFlyView.qml

@@ -60,7 +60,7 @@ Item {
     property real   _distance:              0.0
     property string _messageTitle:          ""
     property string _messageText:           ""
-    property bool   _showAttitude:          false
+    property bool   _showAttitude:          true
 
     function secondsToHHMMSS(timeS) {
         var sec_num = parseInt(timeS, 10);
@@ -508,6 +508,42 @@ Item {
         }
     }
 
+    //-- Gimbal Control
+    Item {
+        id:                     gimbalControl
+        visible:                camControlLoader.visible && CustomQuickInterface.showGimbalControl
+        anchors.top:            camControlLoader.bottom
+        anchors.topMargin:      height * -0.5
+        anchors.right:          camControlLoader.left
+        anchors.rightMargin:    ScreenTools.defaultFontPixelWidth * 2
+        height:                 parent.width * 0.125
+        width:                  height
+        property real curPitch: 0
+        property real curYaw:   0
+        Timer {
+            interval:   100  //-- 10Hz
+            running:    gimbalControl.visible && activeVehicle
+            repeat:     true
+            onTriggered: {
+                if (activeVehicle) {
+                    var p = Math.round(stick.yAxis * -90)
+                    var y = Math.round(stick.xAxis * 180)
+                    if(p !== gimbalControl.curPitch || y !== gimbalControl.curYaw) {
+                        gimbalControl.curPitch = p
+                        gimbalControl.curYaw   = y
+                        activeVehicle.gimbalControlValue(p, y)
+                    }
+                }
+            }
+        }
+        JoystickThumbPad {
+            id:                     stick
+            anchors.fill:           parent
+            lightColors:            true
+            yAxisThrottleCentered:  true
+            springYToCenter:        false
+        }
+    }
     //-- Connection Lost While Armed
     Popup {
         id:         connectionLostArmed

custom-example/src/CustomQuickInterface.cc

@@ -21,8 +21,10 @@
 #include "CustomPlugin.h"
 #include "CustomQuickInterface.h"
 
-#include <QDirIterator>
-#include <QtAlgorithms>
+#include <QSettings>
+
+static const char* kGroupName       = "CustomSettings";
+static const char* kShowGimbalCtl   = "ShowGimbalCtl";
 
 //-----------------------------------------------------------------------------
 CustomQuickInterface::CustomQuickInterface(QObject* parent)
@@ -41,4 +43,20 @@ CustomQuickInterface::~CustomQuickInterface()
 void
 CustomQuickInterface::init()
 {
+    QSettings settings;
+    settings.beginGroup(kGroupName);
+    _showGimbalControl = settings.value(kShowGimbalCtl, true).toBool();
+}
+
+//-----------------------------------------------------------------------------
+void
+CustomQuickInterface::setShowGimbalControl(bool set)
+{
+    if(_showGimbalControl != set) {
+        _showGimbalControl = set;
+        QSettings settings;
+        settings.beginGroup(kGroupName);
+        settings.setValue(kShowGimbalCtl,set);
+        emit showGimbalControlChanged();
+    }
 }

custom-example/src/CustomQuickInterface.h

@@ -28,5 +28,13 @@ class CustomQuickInterface : public QObject
 public:
     CustomQuickInterface(QObject* parent = nullptr);
     ~CustomQuickInterface();
+    Q_PROPERTY(bool     showGimbalControl   READ showGimbalControl  WRITE setShowGimbalControl  NOTIFY showGimbalControlChanged)
+
+    bool    showGimbalControl           () { return _showGimbalControl; }
+    void    setShowGimbalControl        (bool set);
     void    init                        ();
+signals:
+    void    showGimbalControlChanged    ();
+private:
+    bool    _showGimbalControl  = true;
 };

src/FlightDisplay/VideoManager.cc

@@ -172,12 +172,14 @@ VideoManager::hasThermal()
 bool
 VideoManager::autoStreamConfigured()
 {
+#if defined(QGC_GST_STREAMING)
     if(_activeVehicle && _activeVehicle->dynamicCameras()) {
         QGCVideoStreamInfo* pInfo = _activeVehicle->dynamicCameras()->currentStreamInstance();
         if(pInfo) {
             return !pInfo->uri().isEmpty();
         }
     }
+#endif
     return false;
 }
 

src/QmlControls/JoystickThumbPad.qml

@@ -14,6 +14,7 @@ Item {
     property bool   yAxisThrottleCentered: false        ///< false: center yAxis in throttle for reverser and forward
     property real   xPositionDelta: 0                   ///< Amount to move the control on x axis
     property real   yPositionDelta: 0                   ///< Amount to move the control on y axis
+    property bool   springYToCenter:true                ///< true: Spring Y to center on release
 
     property real   _centerXY:              width / 2
     property bool   _processTouchPoints:    false
@@ -72,7 +73,6 @@ Item {
         } else {
             yPositionDelta = touchPoints[0].y - _centerXY
         }
-
         // We need to wait until we move the control to the right position before we process touch points
         _processTouchPoints = true
     }
@@ -199,8 +199,10 @@ Item {
         minimumTouchPoints: 1
         maximumTouchPoints: 1
         touchPoints:        [ TouchPoint { id: touchPoint } ]
-
         onPressed:          _joyRoot.thumbDown(touchPoints)
-        onReleased: _joyRoot.reCenter()
+        onReleased: {
+            if(springYToCenter)
+                _joyRoot.reCenter()
+        }
     }
 }