Merge pull request #2921 from DonLakeFlyer/TalkingBattery

Talking battery, plus other stuff

qgroundcontrol.pro

@@ -92,10 +92,6 @@ QT += \
     bluetooth \
 }
 
-contains(DEFINES, QGC_NOTIFY_TUNES_ENABLED) {
-    QT += multimedia
-}
-
 #  testlib is needed even in release flavor for QSignalSpy support
 QT += testlib
 

src/FactSystem/FactControls/FactTextField.qml

@@ -23,7 +23,7 @@ QGCTextField {
     inputMethodHints:   Qt.ImhFormattedNumbersOnly
 
     onEditingFinished: {
-        if (qgcView) {
+        if (typeof qgcView !== 'undefined' && qgcView) {
             var errorString = fact.validate(text, false /* convertOnly */)
             if (errorString == "") {
                 fact.value = text

src/FactSystem/FactGroup.cc

@@ -40,6 +40,9 @@ const char* FactGroup::_versionJsonKey =            "version";
 const char* FactGroup::_typeJsonKey =               "type";
 const char* FactGroup::_shortDescriptionJsonKey =   "shortDescription";
 const char* FactGroup::_unitsJsonKey =              "units";
+const char* FactGroup::_defaultValueJsonKey =       "defaultValue";
+const char* FactGroup::_minJsonKey =                "min";
+const char* FactGroup::_maxJsonKey =                "max";
 
 FactGroup::FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent)
     : QObject(parent)
@@ -187,8 +190,8 @@ void FactGroup::_loadMetaData(const QString& jsonFilename)
 
         QStringList             keys;
         QList<QJsonValue::Type> types;
-        keys << _nameJsonKey << _decimalPlacesJsonKey;
-        types << QJsonValue::String << QJsonValue::Double;
+        keys << _nameJsonKey << _decimalPlacesJsonKey << _typeJsonKey << _shortDescriptionJsonKey << _unitsJsonKey << _defaultValueJsonKey << _minJsonKey << _maxJsonKey;
+        types << QJsonValue::String << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::Double << QJsonValue::Double << QJsonValue::Double;
         if (!JsonHelper::validateKeyTypes(jsonObject, keys, types, errorString)) {
             qWarning() << errorString;
             return;
@@ -219,6 +222,16 @@ void FactGroup::_loadMetaData(const QString& jsonFilename)
         metaData->setShortDescription(jsonObject.value(_shortDescriptionJsonKey).toString());
         metaData->setRawUnits(jsonObject.value(_unitsJsonKey).toString());
 
+        if (jsonObject.contains(_defaultValueJsonKey)) {
+            metaData->setRawDefaultValue(jsonObject.value(_defaultValueJsonKey).toDouble());
+        }
+        if (jsonObject.contains(_minJsonKey)) {
+            metaData->setRawMin(jsonObject.value(_minJsonKey).toDouble());
+        }
+        if (jsonObject.contains(_maxJsonKey)) {
+            metaData->setRawMax(jsonObject.value(_maxJsonKey).toDouble());
+        }
+
         for (int i=0; i<enumValues.count(); i++) {
             QVariant    enumVariant;
             QString     errorString;

src/FactSystem/FactGroup.h

@@ -78,6 +78,9 @@ private:
     static const char*  _versionJsonKey;
     static const char*  _shortDescriptionJsonKey;
     static const char*  _unitsJsonKey;
+    static const char*  _defaultValueJsonKey;
+    static const char*  _minJsonKey;
+    static const char*  _maxJsonKey;
 };
 
 #endif

src/FlightMap/Widgets/QGCInstrumentWidget.qml

@@ -131,7 +131,7 @@ Item {
             Rectangle {
                 anchors.fill:   _valuesWidget
                 color:          _backgroundColor
-                visible:        !_showCompass && _activeVehicle
+                visible:        !_showCompass
                 radius:         _spacing
             }
 
@@ -145,7 +145,6 @@ Item {
             }
         }
 
-
         Rectangle {
             id:                 _spacer2
             height:             1

src/FlightMap/Widgets/ValuesWidget.qml

@@ -33,7 +33,6 @@ import QGroundControl               1.0
 
 QGCFlickable {
     id:                 _root
-    visible:            _activeVehicle
     height:             Math.min(maxHeight, _smallFlow.y + _smallFlow.height)
     contentHeight:      _smallFlow.y + _smallFlow.height
     flickableDirection: Flickable.VerticalFlick
@@ -43,7 +42,7 @@ QGCFlickable {
     property color  textColor
     property var    maxHeight
 
-    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.disconnectedVehicle
     property real   _margins:       ScreenTools.defaultFontPixelWidth / 2
 
     QGCPalette { id:qgcPal; colorGroupEnabled: true }

src/FlightMap/Widgets/VibrationWidget.qml

@@ -33,7 +33,6 @@ import QGroundControl               1.0
 
 QGCFlickable {
     id:                 _root
-    visible:            _activeVehicle
     height:             Math.min(maxHeight, innerItem.height)
     contentHeight:      innerItem.height
     flickableDirection: Flickable.VerticalFlick
@@ -43,7 +42,7 @@ QGCFlickable {
     property color  backgroundColor
     property var    maxHeight
 
-    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.disconnectedVehicle
     property real   _margins:       ScreenTools.defaultFontPixelWidth / 2
     property real   _barWidth:      Math.round(ScreenTools.defaultFontPixelWidth * 3)
 

src/GAudioOutput.cc

@@ -88,12 +88,11 @@ bool GAudioOutput::isMuted()
     return muted;
 }
 
-bool GAudioOutput::say(const QString& inText, int severity)
+bool GAudioOutput::say(const QString& inText)
 {
-    if (!muted) {
+    if (!muted && !qgcApp()->runningUnitTests()) {
 #if defined __android__
 #if defined QGC_SPEECH_ENABLED
-        Q_UNUSED(severity);
         static const char V_jniClassName[] {"org/qgroundcontrol/qgchelper/UsbDeviceJNI"};
         QAndroidJniEnvironment env;
         if (env->ExceptionCheck()) {
@@ -105,7 +104,7 @@ bool GAudioOutput::say(const QString& inText, int severity)
         QAndroidJniObject::callStaticMethod<void>(V_jniClassName, "say", "(Ljava/lang/String;)V", javaMessage.object<jstring>());
 #endif
 #else
-        emit textToSpeak(inText, severity);
+        emit textToSpeak(inText);
 #endif
     }
     return true;

src/GAudioOutput.h

@@ -79,14 +79,14 @@ public:
     bool isMuted();
 
 public slots:
-    /** @brief Say this text if current output priority matches */
-    bool say(const QString& text, int severity = 6);
+    /** @brief Say this text */
+    bool say(const QString& text);
     /** @brief Mute/unmute sound */
     void mute(bool mute);
 
 signals:
     void mutedChanged(bool);
-    bool textToSpeak(QString text, int severity = 1);
+    bool textToSpeak(QString text);
     void beepOnce();
 
 protected:

src/QmlControls/QGroundControlQmlGlobal.h

@@ -55,7 +55,7 @@ public:
     Q_PROPERTY(LinkManager*         linkManager         READ linkManager            CONSTANT)
     Q_PROPERTY(MissionCommands*     missionCommands     READ missionCommands        CONSTANT)
     Q_PROPERTY(MultiVehicleManager* multiVehicleManager READ multiVehicleManager    CONSTANT)
-    Q_PROPERTY(QGCMapEngineManager*  mapEngineManager  READ mapEngineManager     CONSTANT)
+    Q_PROPERTY(QGCMapEngineManager* mapEngineManager    READ mapEngineManager       CONSTANT)
 
     Q_PROPERTY(qreal                zOrderTopMost       READ zOrderTopMost          CONSTANT) ///< z order for top most items, toolbar, main window sub view
     Q_PROPERTY(qreal                zOrderWidgets       READ zOrderWidgets          CONSTANT) ///< z order value to widgets, for example: zoom controls, hud widgetss

src/Vehicle/BatteryFact.json

@@ -16,6 +16,16 @@
             "decimalPlaces":    0,
             "units":            "%"
         },
+        {
+            "name":             "percentRemainingAnnounce",
+            "shortDescription": "Percent",
+            "type":             "int32",
+            "decimalPlaces":    0,
+            "units":            "%",
+            "defaultValue":     30,
+            "min":              0,
+            "max":              100
+        },
         {
             "name":             "mahConsumed",
             "shortDescription": "Consumed",

src/Vehicle/MultiVehicleManager.cc

@@ -50,6 +50,7 @@ MultiVehicleManager::MultiVehicleManager(QGCApplication* app)
     , _activeVehicleAvailable(false)
     , _parameterReadyVehicleAvailable(false)
     , _activeVehicle(NULL)
+    , _disconnectedVehicle(NULL)
     , _firmwarePluginManager(NULL)
     , _autopilotPluginManager(NULL)
     , _joystickManager(NULL)
@@ -66,6 +67,8 @@ MultiVehicleManager::MultiVehicleManager(QGCApplication* app)
     if (_gcsHeartbeatEnabled) {
         _gcsHeartbeatTimer.start();
     }
+
+    _disconnectedVehicle = new Vehicle(this);
 }
 
 void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)

src/Vehicle/MultiVehicleManager.h

@@ -57,6 +57,9 @@ public:
     Q_PROPERTY(QmlObjectListModel*  vehicles                        READ vehicles                                                       CONSTANT)
     Q_PROPERTY(bool                 gcsHeartBeatEnabled             READ gcsHeartbeatEnabled            WRITE setGcsHeartbeatEnabled    NOTIFY gcsHeartBeatEnabledChanged)
 
+    /// A disconnected vehicle is used to access FactGroup information for the Vehicle object when no active vehicle is available
+    Q_PROPERTY(Vehicle*             disconnectedVehicle             MEMBER _disconnectedVehicle                                         CONSTANT)
+
     // Methods
 
     Q_INVOKABLE Vehicle* getVehicleById(int vehicleId);
@@ -104,6 +107,7 @@ private:
     bool        _activeVehicleAvailable;            ///< true: An active vehicle is available
     bool        _parameterReadyVehicleAvailable;    ///< true: An active vehicle with ready parameters is available
     Vehicle*    _activeVehicle;                     ///< Currently active vehicle from a ui perspective
+    Vehicle*    _disconnectedVehicle;               ///< Disconnected vechicle for FactGroup access
 
     QList<Vehicle*> _vehiclesBeingDeleted;          ///< List of Vehicles being deleted in queued phases
     Vehicle*        _vehicleBeingSetActive;         ///< Vehicle being set active in queued phases

src/Vehicle/Vehicle.cc

@@ -60,36 +60,7 @@ const char* Vehicle::_batteryFactGroupName =    "battery";
 const char* Vehicle::_windFactGroupName =       "wind";
 const char* Vehicle::_vibrationFactGroupName =  "vibration";
 
-const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
-const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
-const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGround";
-const char* VehicleGPSFactGroup::_countFactName =               "count";
-const char* VehicleGPSFactGroup::_lockFactName =                "lock";
-
-const char* VehicleBatteryFactGroup::_voltageFactName =             "voltage";
-const char* VehicleBatteryFactGroup::_percentRemainingFactName =    "percentRemaining";
-const char* VehicleBatteryFactGroup::_mahConsumedFactName =         "mahConsumed";
-const char* VehicleBatteryFactGroup::_currentFactName =             "current";
-const char* VehicleBatteryFactGroup::_temperatureFactName =         "temperature";
-const char* VehicleBatteryFactGroup::_cellCountFactName =           "cellCount";
-
-const double VehicleBatteryFactGroup::_voltageUnavailable =           -1.0;
-const int    VehicleBatteryFactGroup::_percentRemainingUnavailable =  -1;
-const int    VehicleBatteryFactGroup::_mahConsumedUnavailable =       -1;
-const int    VehicleBatteryFactGroup::_currentUnavailable =           -1;
-const double VehicleBatteryFactGroup::_temperatureUnavailable =       -1.0;
-const int    VehicleBatteryFactGroup::_cellCountUnavailable =         -1.0;
-
-const char* VehicleWindFactGroup::_directionFactName =      "direction";
-const char* VehicleWindFactGroup::_speedFactName =          "speed";
-const char* VehicleWindFactGroup::_verticalSpeedFactName =  "verticalSpeed";
-
-const char* VehicleVibrationFactGroup::_xAxisFactName =      "xAxis";
-const char* VehicleVibrationFactGroup::_yAxisFactName =      "yAxis";
-const char* VehicleVibrationFactGroup::_zAxisFactName =      "zAxis";
-const char* VehicleVibrationFactGroup::_clipCount1FactName = "clipCount1";
-const char* VehicleVibrationFactGroup::_clipCount2FactName = "clipCount2";
-const char* VehicleVibrationFactGroup::_clipCount3FactName = "clipCount3";
+const int Vehicle::_lowBatteryAnnounceRepeatMSecs = 30 * 1000;
 
 Vehicle::Vehicle(LinkInterface*             link,
                  int                        vehicleId,
@@ -101,6 +72,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json")
     , _id(vehicleId)
     , _active(false)
+    , _disconnectedVehicle(false)
     , _firmwareType(firmwareType)
     , _vehicleType(vehicleType)
     , _firmwarePlugin(NULL)
@@ -165,8 +137,10 @@ Vehicle::Vehicle(LinkInterface*             link,
     _mavlink = qgcApp()->toolbox()->mavlinkProtocol();
 
     connect(_mavlink, &MAVLinkProtocol::messageReceived,     this, &Vehicle::_mavlinkMessageReceived);
-    connect(this, &Vehicle::_sendMessageOnThread, this, &Vehicle::_sendMessage, Qt::QueuedConnection);
+
+    connect(this, &Vehicle::_sendMessageOnThread,       this, &Vehicle::_sendMessage, Qt::QueuedConnection);
     connect(this, &Vehicle::_sendMessageOnLinkOnThread, this, &Vehicle::_sendMessageOnLink, Qt::QueuedConnection);
+    connect(this, &Vehicle::flightModeChanged,          this, &Vehicle::_announceflightModeChanged);
 
     _uas = new UAS(_mavlink, this, _firmwarePluginManager);
 
@@ -227,6 +201,9 @@ Vehicle::Vehicle(LinkInterface*             link,
     _mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints);
     connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint);
 
+    // Invalidate the timer to signal first announce
+    _lowBatteryAnnounceTimer.invalidate();
+
     // Build FactGroup object model
 
     _addFact(&_rollFact,                _rollFactName);
@@ -249,6 +226,93 @@ Vehicle::Vehicle(LinkInterface*             link,
     _vibrationFactGroup.setVehicle(this);
 }
 
+// Disconnected Vehicle
+Vehicle::Vehicle(QObject* parent)
+    : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json", parent)
+    , _id(0)
+    , _active(false)
+    , _disconnectedVehicle(false)
+    , _firmwareType(MAV_AUTOPILOT_PX4)
+    , _vehicleType(MAV_TYPE_QUADROTOR)
+    , _firmwarePlugin(NULL)
+    , _autopilotPlugin(NULL)
+    , _joystickMode(JoystickModeRC)
+    , _joystickEnabled(false)
+    , _uas(NULL)
+    , _coordinate(37.803784, -122.462276)
+    , _coordinateValid(false)
+    , _homePositionAvailable(false)
+    , _mav(NULL)
+    , _currentMessageCount(0)
+    , _messageCount(0)
+    , _currentErrorCount(0)
+    , _currentWarningCount(0)
+    , _currentNormalCount(0)
+    , _currentMessageType(MessageNone)
+    , _navigationAltitudeError(0.0f)
+    , _navigationSpeedError(0.0f)
+    , _navigationCrosstrackError(0.0f)
+    , _navigationTargetBearing(0.0f)
+    , _refreshTimer(new QTimer(this))
+    , _updateCount(0)
+    , _rcRSSI(0)
+    , _rcRSSIstore(100.0)
+    , _autoDisconnect(false)
+    , _connectionLost(false)
+    , _connectionLostEnabled(true)
+    , _missionManager(NULL)
+    , _missionManagerInitialRequestComplete(false)
+    , _parameterLoader(NULL)
+    , _armed(false)
+    , _base_mode(0)
+    , _custom_mode(0)
+    , _nextSendMessageMultipleIndex(0)
+    , _firmwarePluginManager(NULL)
+    , _autopilotPluginManager(NULL)
+    , _joystickManager(NULL)
+    , _flowImageIndex(0)
+    , _allLinksInactiveSent(false)
+    , _messagesReceived(0)
+    , _messagesSent(0)
+    , _messagesLost(0)
+    , _messageSeq(0)
+    , _compID(0)
+    , _heardFrom(false)
+    , _rollFact             (0, _rollFactName,              FactMetaData::valueTypeDouble)
+    , _pitchFact            (0, _pitchFactName,             FactMetaData::valueTypeDouble)
+    , _headingFact          (0, _headingFactName,           FactMetaData::valueTypeDouble)
+    , _groundSpeedFact      (0, _groundSpeedFactName,       FactMetaData::valueTypeDouble)
+    , _airSpeedFact         (0, _airSpeedFactName,          FactMetaData::valueTypeDouble)
+    , _climbRateFact        (0, _climbRateFactName,         FactMetaData::valueTypeDouble)
+    , _altitudeRelativeFact (0, _altitudeRelativeFactName,  FactMetaData::valueTypeDouble)
+    , _altitudeAMSLFact     (0, _altitudeAMSLFactName,      FactMetaData::valueTypeDouble)
+    , _gpsFactGroup(this)
+    , _batteryFactGroup(this)
+    , _windFactGroup(this)
+    , _vibrationFactGroup(this)
+{
+    // Build FactGroup object model
+
+    _addFact(&_rollFact,                _rollFactName);
+    _addFact(&_pitchFact,               _pitchFactName);
+    _addFact(&_headingFact,             _headingFactName);
+    _addFact(&_groundSpeedFact,         _groundSpeedFactName);
+    _addFact(&_airSpeedFact,            _airSpeedFactName);
+    _addFact(&_climbRateFact,           _climbRateFactName);
+    _addFact(&_altitudeRelativeFact,    _altitudeRelativeFactName);
+    _addFact(&_altitudeAMSLFact,        _altitudeAMSLFactName);
+
+    _addFactGroup(&_gpsFactGroup,       _gpsFactGroupName);
+    _addFactGroup(&_batteryFactGroup,   _batteryFactGroupName);
+    _addFactGroup(&_windFactGroup,      _windFactGroupName);
+    _addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);
+
+    _gpsFactGroup.setVehicle(NULL);
+    _batteryFactGroup.setVehicle(NULL);
+    _windFactGroup.setVehicle(NULL);
+    _vibrationFactGroup.setVehicle(NULL);
+}
+
 Vehicle::~Vehicle()
 {
     qCDebug(VehicleLog) << "~Vehicle" << this;
@@ -399,6 +463,13 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
         _batteryFactGroup.voltage()->setRawValue((double)sysStatus.voltage_battery / 1000.0);
     }
     _batteryFactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining);
+
+    if (sysStatus.battery_remaining > 0 && sysStatus.battery_remaining < _batteryFactGroup.percentRemainingAnnounce()->rawValue().toInt()) {
+        if (!_lowBatteryAnnounceTimer.isValid() || _lowBatteryAnnounceTimer.elapsed() > _lowBatteryAnnounceRepeatMSecs) {
+            _lowBatteryAnnounceTimer.restart();
+            _say(QString("Low battery on %1: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
+        }
+    }
 }
 
 void Vehicle::_handleBatteryStatus(mavlink_message_t& message)
@@ -1217,7 +1288,7 @@ void Vehicle::_connectionLostTimeout(void)
         _connectionLost = true;
         _heardFrom = false;
         emit connectionLostChanged(true);
-        _say(QString("connection lost to vehicle %1").arg(id()), GAudioOutput::AUDIO_SEVERITY_NOTICE);
+        _say(QString("communication lost to %1").arg(_vehicleIdSpeech()));
         if (_autoDisconnect) {
             disconnectInactiveVehicle();
         }
@@ -1230,14 +1301,13 @@ void Vehicle::_connectionActive(void)
     if (_connectionLost) {
         _connectionLost = false;
         emit connectionLostChanged(false);
-        _say(QString("connection regained to vehicle %1").arg(id()), GAudioOutput::AUDIO_SEVERITY_NOTICE);
+        _say(QString("communication regained to %1").arg(_vehicleIdSpeech()));
     }
 }
 
-void Vehicle::_say(const QString& text, int severity)
+void Vehicle::_say(const QString& text)
 {
-    if (!qgcApp()->runningUnitTests())
-        qgcApp()->toolbox()->audioOutput()->say(text.toLower(), severity);
+    qgcApp()->toolbox()->audioOutput()->say(text.toLower());
 }
 
 bool Vehicle::fixedWing(void) const
@@ -1268,6 +1338,26 @@ void Vehicle::_setCoordinateValid(bool coordinateValid)
     }
 }
 
+/// Returns the string to speak to identify the vehicle
+QString Vehicle::_vehicleIdSpeech(void)
+{
+    if (qgcApp()->toolbox()->multiVehicleManager()->vehicles()->count() > 1) {
+        return QString("vehicle %1").arg(id());
+    } else {
+        return QStringLiteral("vehicle");
+    }
+}
+
+void Vehicle::_announceflightModeChanged(const QString& flightMode)
+{
+    _say(QString("%1 is now in %2 flight mode").arg(_vehicleIdSpeech()).arg(flightMode));
+}
+
+const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
+const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
+const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGround";
+const char* VehicleGPSFactGroup::_countFactName =               "count";
+const char* VehicleGPSFactGroup::_lockFactName =                "lock";
 
 VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent)
     : FactGroup(1000, ":/json/Vehicle/GPSFact.json", parent)
@@ -1293,6 +1383,11 @@ void VehicleGPSFactGroup::setVehicle(Vehicle* vehicle)
 {
     _vehicle = vehicle;
 
+    if (!vehicle) {
+        // Disconnected Vehicle
+        return;
+    }
+
     connect(_vehicle->uas(), &UASInterface::localizationChanged, this, &VehicleGPSFactGroup::_setSatLoc);
 
     UAS* pUas = dynamic_cast<UAS*>(_vehicle->uas());
@@ -1336,22 +1431,43 @@ void VehicleGPSFactGroup::_setSatLoc(UASInterface*, int fix)
     }
 }
 
+const char* VehicleBatteryFactGroup::_voltageFactName =                     "voltage";
+const char* VehicleBatteryFactGroup::_percentRemainingFactName =            "percentRemaining";
+const char* VehicleBatteryFactGroup::_percentRemainingAnnounceFactName =    "percentRemainingAnnounce";
+const char* VehicleBatteryFactGroup::_mahConsumedFactName =                 "mahConsumed";
+const char* VehicleBatteryFactGroup::_currentFactName =                     "current";
+const char* VehicleBatteryFactGroup::_temperatureFactName =                 "temperature";
+const char* VehicleBatteryFactGroup::_cellCountFactName =                   "cellCount";
+
+const char* VehicleBatteryFactGroup::_settingsGroup =                       "Vehicle.battery";
+const int   VehicleBatteryFactGroup::_percentRemainingAnnounceDefault =     30;
+
+const double VehicleBatteryFactGroup::_voltageUnavailable =           -1.0;
+const int    VehicleBatteryFactGroup::_percentRemainingUnavailable =  -1;
+const int    VehicleBatteryFactGroup::_mahConsumedUnavailable =       -1;
+const int    VehicleBatteryFactGroup::_currentUnavailable =           -1;
+const double VehicleBatteryFactGroup::_temperatureUnavailable =       -1.0;
+const int    VehicleBatteryFactGroup::_cellCountUnavailable =         -1.0;
+
+SettingsFact VehicleBatteryFactGroup::_percentRemainingAnnounceFact (_settingsGroup, _percentRemainingAnnounceFactName, FactMetaData::valueTypeInt32, _percentRemainingAnnounceDefault);
+
 VehicleBatteryFactGroup::VehicleBatteryFactGroup(QObject* parent)
     : FactGroup(1000, ":/json/Vehicle/BatteryFact.json", parent)
     , _vehicle(NULL)
-    , _voltageFact          (0, _voltageFactName,           FactMetaData::valueTypeDouble)
-    , _percentRemainingFact (0, _percentRemainingFactName,  FactMetaData::valueTypeInt32)
-    , _mahConsumedFact      (0, _mahConsumedFactName,       FactMetaData::valueTypeInt32)
-    , _currentFact          (0, _currentFactName,           FactMetaData::valueTypeInt32)
-    , _temperatureFact      (0, _temperatureFactName,       FactMetaData::valueTypeDouble)
-    , _cellCountFact        (0, _cellCountFactName,         FactMetaData::valueTypeInt32)
-{
-    _addFact(&_voltageFact,             _voltageFactName);
-    _addFact(&_percentRemainingFact,    _percentRemainingFactName);
-    _addFact(&_mahConsumedFact,         _mahConsumedFactName);
-    _addFact(&_currentFact,             _currentFactName);
-    _addFact(&_temperatureFact,         _temperatureFactName);
-    _addFact(&_cellCountFact,           _cellCountFactName);
+    , _voltageFact                  (0, _voltageFactName,                   FactMetaData::valueTypeDouble)
+    , _percentRemainingFact         (0, _percentRemainingFactName,          FactMetaData::valueTypeInt32)
+    , _mahConsumedFact              (0, _mahConsumedFactName,               FactMetaData::valueTypeInt32)
+    , _currentFact                  (0, _currentFactName,                   FactMetaData::valueTypeInt32)
+    , _temperatureFact              (0, _temperatureFactName,               FactMetaData::valueTypeDouble)
+    , _cellCountFact                (0, _cellCountFactName,                 FactMetaData::valueTypeInt32)
+{
+    _addFact(&_voltageFact,                     _voltageFactName);
+    _addFact(&_percentRemainingFact,            _percentRemainingFactName);
+    _addFact(&_percentRemainingAnnounceFact,    _percentRemainingAnnounceFactName);
+    _addFact(&_mahConsumedFact,                 _mahConsumedFactName);
+    _addFact(&_currentFact,                     _currentFactName);
+    _addFact(&_temperatureFact,                 _temperatureFactName);
+    _addFact(&_cellCountFact,                   _cellCountFactName);
 
     // Start out as not available
     _voltageFact.setRawValue            (_voltageUnavailable);
@@ -1367,6 +1483,10 @@ void VehicleBatteryFactGroup::setVehicle(Vehicle* vehicle)
     _vehicle = vehicle;
 }
 
+const char* VehicleWindFactGroup::_directionFactName =      "direction";
+const char* VehicleWindFactGroup::_speedFactName =          "speed";
+const char* VehicleWindFactGroup::_verticalSpeedFactName =  "verticalSpeed";
+
 VehicleWindFactGroup::VehicleWindFactGroup(QObject* parent)
     : FactGroup(1000, ":/json/Vehicle/WindFact.json", parent)
     , _vehicle(NULL)
@@ -1389,6 +1509,13 @@ void VehicleWindFactGroup::setVehicle(Vehicle* vehicle)
     _vehicle = vehicle;
 }
 
+const char* VehicleVibrationFactGroup::_xAxisFactName =      "xAxis";
+const char* VehicleVibrationFactGroup::_yAxisFactName =      "yAxis";
+const char* VehicleVibrationFactGroup::_zAxisFactName =      "zAxis";
+const char* VehicleVibrationFactGroup::_clipCount1FactName = "clipCount1";
+const char* VehicleVibrationFactGroup::_clipCount2FactName = "clipCount2";
+const char* VehicleVibrationFactGroup::_clipCount3FactName = "clipCount3";
+
 VehicleVibrationFactGroup::VehicleVibrationFactGroup(QObject* parent)
     : FactGroup(1000, ":/json/Vehicle/VibrationFact.json", parent)
     , _vehicle(NULL)

src/Vehicle/Vehicle.h

@@ -29,6 +29,7 @@
 
 #include <QObject>
 #include <QGeoCoordinate>
+#include <QElapsedTimer>
 
 #include "FactGroup.h"
 #include "LinkInterface.h"
@@ -36,6 +37,7 @@
 #include "QmlObjectListModel.h"
 #include "MAVLinkProtocol.h"
 #include "UASMessageHandler.h"
+#include "SettingsFact.h"
 
 class UAS;
 class UASInterface;
@@ -66,12 +68,12 @@ public:
     Q_PROPERTY(Fact* clipCount2 READ clipCount2 CONSTANT)
     Q_PROPERTY(Fact* clipCount3 READ clipCount3 CONSTANT)
 
-    Fact* xAxis(void)       { return &_xAxisFact; }
-    Fact* yAxis(void)       { return &_yAxisFact; }
-    Fact* zAxis(void)       { return &_zAxisFact; }
-    Fact* clipCount1(void)  { return &_clipCount1Fact; }
-    Fact* clipCount2(void)  { return &_clipCount2Fact; }
-    Fact* clipCount3(void)  { return &_clipCount3Fact; }
+    Fact* xAxis         (void) { return &_xAxisFact; }
+    Fact* yAxis         (void) { return &_yAxisFact; }
+    Fact* zAxis         (void) { return &_zAxisFact; }
+    Fact* clipCount1    (void) { return &_clipCount1Fact; }
+    Fact* clipCount2    (void) { return &_clipCount2Fact; }
+    Fact* clipCount3    (void) { return &_clipCount3Fact; }
 
     void setVehicle(Vehicle* vehicle);
 
@@ -103,9 +105,9 @@ public:
     Q_PROPERTY(Fact* speed          READ speed          CONSTANT)
     Q_PROPERTY(Fact* verticalSpeed  READ verticalSpeed  CONSTANT)
 
-    Fact* direction(void)       { return &_directionFact; }
-    Fact* speed(void)           { return &_speedFact; }
-    Fact* verticalSpeed(void)   { return &_verticalSpeedFact; }
+    Fact* direction     (void) { return &_directionFact; }
+    Fact* speed         (void) { return &_speedFact; }
+    Fact* verticalSpeed (void) { return &_verticalSpeedFact; }
 
     void setVehicle(Vehicle* vehicle);
 
@@ -133,11 +135,11 @@ public:
     Q_PROPERTY(Fact* count              READ count              CONSTANT)
     Q_PROPERTY(Fact* lock               READ lock               CONSTANT)
 
-    Fact* hdop(void)                { return &_hdopFact; }
-    Fact* vdop(void)                { return &_vdopFact; }
-    Fact* courseOverGround(void)    { return &_courseOverGroundFact; }
-    Fact* count(void)               { return &_countFact; }
-    Fact* lock(void)                { return &_lockFact; }
+    Fact* hdop              (void) { return &_hdopFact; }
+    Fact* vdop              (void) { return &_vdopFact; }
+    Fact* courseOverGround  (void) { return &_courseOverGroundFact; }
+    Fact* count             (void) { return &_countFact; }
+    Fact* lock              (void) { return &_lockFact; }
 
     void setVehicle(Vehicle* vehicle);
 
@@ -175,24 +177,33 @@ public:
     Q_PROPERTY(Fact* mahConsumed        READ mahConsumed        CONSTANT)
     Q_PROPERTY(Fact* current            READ current            CONSTANT)
     Q_PROPERTY(Fact* temperature        READ temperature        CONSTANT)
-    Q_PROPERTY(Fact* cellCount          READ cellCount        CONSTANT)
+    Q_PROPERTY(Fact* cellCount          READ cellCount          CONSTANT)
+
+    /// If percentRemaining falls below this value, warning will be output through speech
+    Q_PROPERTY(Fact* percentRemainingAnnounce READ percentRemainingAnnounce CONSTANT)
+
+    Fact* voltage                   (void) { return &_voltageFact; }
+    Fact* percentRemaining          (void) { return &_percentRemainingFact; }
+    Fact* percentRemainingAnnounce  (void) { return &_percentRemainingAnnounceFact; }
+    Fact* mahConsumed               (void) { return &_mahConsumedFact; }
+    Fact* current                   (void) { return &_currentFact; }
+    Fact* temperature               (void) { return &_temperatureFact; }
+    Fact* cellCount                 (void) { return &_cellCountFact; }
 
-    Fact* voltage(void)             { return &_voltageFact; }
-    Fact* percentRemaining(void)    { return &_percentRemainingFact; }
-    Fact* mahConsumed(void)         { return &_mahConsumedFact; }
-    Fact* current(void)             { return &_currentFact; }
-    Fact* temperature(void)         { return &_temperatureFact; }
-    Fact* cellCount(void)           { return &_cellCountFact; }
 
     void setVehicle(Vehicle* vehicle);
 
     static const char* _voltageFactName;
     static const char* _percentRemainingFactName;
+    static const char* _percentRemainingAnnounceFactName;
     static const char* _mahConsumedFactName;
     static const char* _currentFactName;
     static const char* _temperatureFactName;
     static const char* _cellCountFactName;
 
+    static const char* _settingsGroup;
+    static const int   _percentRemainingAnnounceDefault;
+
     static const double _voltageUnavailable;
     static const int    _percentRemainingUnavailable;
     static const int    _mahConsumedUnavailable;
@@ -201,13 +212,15 @@ public:
     static const int    _cellCountUnavailable;
 
 private:
-    Vehicle*    _vehicle;
-    Fact        _voltageFact;
-    Fact        _percentRemainingFact;
-    Fact        _mahConsumedFact;
-    Fact        _currentFact;
-    Fact        _temperatureFact;
-    Fact        _cellCountFact;
+    Vehicle*        _vehicle;
+    Fact            _voltageFact;
+    Fact            _percentRemainingFact;
+    Fact            _mahConsumedFact;
+    Fact            _currentFact;
+    Fact            _temperatureFact;
+    Fact            _cellCountFact;
+
+    static SettingsFact    _percentRemainingAnnounceFact;
 };
 
 class Vehicle : public FactGroup
@@ -222,6 +235,11 @@ public:
             FirmwarePluginManager*  firmwarePluginManager,
             AutoPilotPluginManager* autopilotPluginManager,
             JoystickManager*        joystickManager);
+
+    // The following is used to create a disconnected Vehicle. A disconnected vehicle is primarily used to access FactGroup information
+    // without needing a real connection.
+    Vehicle(QObject* parent = NULL);
+
     ~Vehicle();
 
     Q_PROPERTY(int                  id                      READ id                                     CONSTANT)
@@ -505,6 +523,7 @@ private slots:
     void _addNewMapTrajectoryPoint(void);
     void _parametersReady(bool parametersReady);
     void _remoteControlRSSIChanged(uint8_t rssi);
+    void _announceflightModeChanged(const QString& flightMode);
 
     void _handleTextMessage                 (int newCount);
     void _handletextMessageReceived         (UASMessage* message);
@@ -540,11 +559,13 @@ private:
     void _mapTrajectoryStart(void);
     void _mapTrajectoryStop(void);
     void _connectionActive(void);
-    void _say(const QString& text, int severity);
+    void _say(const QString& text);
+    QString _vehicleIdSpeech(void);
 
 private:
     int     _id;            ///< Mavlink system id
     bool    _active;
+    bool    _disconnectedVehicle;   ///< This Vehicle is a "disconnected" vehicle for ui use when no active vehicle is available
 
     MAV_AUTOPILOT       _firmwareType;
     MAV_TYPE            _vehicleType;
@@ -635,6 +656,9 @@ private:
     uint8_t             _compID;
     bool                _heardFrom;
 
+    static const int    _lowBatteryAnnounceRepeatMSecs; // Amount of time in between each low battery announcement
+    QElapsedTimer       _lowBatteryAnnounceTimer;
+
     // FactGroup facts
 
     Fact _rollFact;

src/audio/QGCAudioWorker.cpp

@@ -76,9 +76,6 @@ QGCAudioWorker::QGCAudioWorker(QObject *parent) :
     #if defined _MSC_VER && defined QGC_SPEECH_ENABLED
     pVoice(NULL),
     #endif
-    #ifdef QGC_NOTIFY_TUNES_ENABLED
-    sound(NULL),
-    #endif
     emergency(false),
     muted(false)
 {
@@ -89,10 +86,6 @@ QGCAudioWorker::QGCAudioWorker(QObject *parent) :
 
 void QGCAudioWorker::init()
 {
-#ifdef QGC_NOTIFY_TUNES_ENABLED
-    sound = new QSound(":/res/Alert");
-#endif
-
 #if defined Q_OS_LINUX && !defined __android__ && defined QGC_SPEECH_ENABLED
     espeak_Initialize(AUDIO_OUTPUT_SYNCH_PLAYBACK, 500, NULL, 0); // initialize for playback with 500ms buffer and no options (see speak_lib.h)
     espeak_VOICE *espeak_voice = espeak_GetCurrentVoice();
@@ -135,11 +128,10 @@ QGCAudioWorker::~QGCAudioWorker()
 #endif
 }
 
-void QGCAudioWorker::say(QString inText, int severity)
+void QGCAudioWorker::say(QString inText)
 {
 #ifdef __android__
     Q_UNUSED(inText);
-    Q_UNUSED(severity);
 #else
     static bool threadInit = false;
     if (!threadInit) {
@@ -150,17 +142,6 @@ void QGCAudioWorker::say(QString inText, int severity)
     if (!muted)
     {
         QString text = fixTextMessageForAudio(inText);
-        // Prepend high priority text with alert beep
-        if (severity < GAudioOutput::AUDIO_SEVERITY_CRITICAL) {
-            beep();
-        }
-
-#ifdef QGC_NOTIFY_TUNES_ENABLED
-        // Wait for the last sound to finish
-        while (!sound->isFinished()) {
-            QGC::SLEEP::msleep(100);
-        }
-#endif
 
 #if defined _MSC_VER && defined QGC_SPEECH_ENABLED
         HRESULT hr = pVoice->Speak(text.toStdWString().c_str(), SPF_DEFAULT, NULL);
@@ -195,17 +176,6 @@ void QGCAudioWorker::mute(bool mute)
     }
 }
 
-void QGCAudioWorker::beep()
-{
-
-    if (!muted)
-    {
-#ifdef QGC_NOTIFY_TUNES_ENABLED
-        sound->play(":/res/Alert");
-#endif
-    }
-}
-
 bool QGCAudioWorker::isMuted()
 {
     return this->muted;

src/audio/QGCAudioWorker.h

@@ -3,9 +3,6 @@
 
 #include <QObject>
 #include <QTimer>
-#ifdef QGC_NOTIFY_TUNES_ENABLED
-#include <QSound>
-#endif
 
 #if defined _MSC_VER && defined QGC_SPEECH_ENABLED
 // Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
@@ -29,19 +26,13 @@ public:
 signals:
 
 public slots:
-    /** @brief Say this text if current output priority matches */
-    void say(QString text, int severity = 1);
-
-    /** @brief Sound a single beep */
-    void beep();
+    /** @brief Say this text */
+    void say(QString text);
 
 protected:
     int voiceIndex;   ///< The index of the flite voice to use (awb, slt, rms)
 #if defined _MSC_VER && defined QGC_SPEECH_ENABLED
     ISpVoice *pVoice;
-#endif
-#ifdef QGC_NOTIFY_TUNES_ENABLED
-    QSound *sound;
 #endif
     bool emergency;   ///< Emergency status flag
     QTimer *emergencyTimer;

src/uas/UAS.cc

@@ -41,8 +41,6 @@
 
 QGC_LOGGING_CATEGORY(UASLog, "UASLog")
 
-#define UAS_DEFAULT_BATTERY_WARNLEVEL 20
-
 /**
 * Gets the settings from the previous UAS (name, airframe, autopilot, battery specs)
 * by calling readSettings. This means the new UAS will have the same settings
@@ -63,17 +61,6 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
     custom_mode(0),
     status(-1),
 
-    startVoltage(-1.0f),
-    tickVoltage(10.5f),
-    lastTickVoltageValue(13.0f),
-    tickLowpassVoltage(12.0f),
-    warnLevelPercent(UAS_DEFAULT_BATTERY_WARNLEVEL),
-    currentVoltage(12.6f),
-    lpVoltage(-1.0f),
-    currentCurrent(0.4f),
-    chargeLevel(-1),
-    lowBattAlarm(false),
-
     startTime(QGC::groundTimeMilliseconds()),
     onboardTimeOffset(0),
 
@@ -294,12 +281,8 @@ void UAS::receiveMessage(mavlink_message_t message)
 
             QString audiostring = QString("System %1").arg(uasId);
             QString stateAudio = "";
-            QString modeAudio = "";
             QString navModeAudio = "";
             bool statechanged = false;
-            bool modechanged = false;
-
-            QString audiomodeText = _firmwarePluginManager->firmwarePluginForAutopilot((MAV_AUTOPILOT)state.autopilot, (MAV_TYPE)state.type)->flightMode(state.base_mode, state.custom_mode);
 
             if ((state.system_status != this->status) && state.system_status != MAV_STATE_UNINIT)
             {
@@ -318,27 +301,14 @@ void UAS::receiveMessage(mavlink_message_t message)
                 stateAudio = uasState;
             }
 
-            if (this->base_mode != state.base_mode || this->custom_mode != state.custom_mode)
-            {
-                modechanged = true;
-                this->base_mode = state.base_mode;
-                this->custom_mode = state.custom_mode;
-                modeAudio = " is now in " + audiomodeText + " flight mode";
-            }
-
             // We got the mode
             receivedMode = true;
 
             // AUDIO
-            if (modechanged && statechanged)
-            {
-                // Output both messages
-                audiostring += modeAudio + " and " + stateAudio;
-            }
-            else if (modechanged || statechanged)
+            if (statechanged)
             {
                 // Output the one message
-                audiostring += modeAudio + stateAudio;
+                audiostring += stateAudio;
             }
 
             if (statechanged && ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY))
@@ -346,7 +316,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                 _say(QString("Emergency for system %1").arg(this->getUASID()), GAudioOutput::AUDIO_SEVERITY_EMERGENCY);
                 QTimer::singleShot(3000, qgcApp()->toolbox()->audioOutput(), SLOT(startEmergency()));
             }
-            else if (modechanged || statechanged)
+            else if (statechanged)
             {
                 _say(audiostring.toLower());
             }
@@ -378,62 +348,6 @@ void UAS::receiveMessage(mavlink_message_t message)
             emit loadChanged(this,state.load/10.0f);
             emit valueChanged(uasId, name.arg("load"), "%", state.load/10.0f, time);
 
-            currentVoltage = state.voltage_battery/1000.0f;
-
-            if (state.voltage_battery > 0.0f && state.voltage_battery != UINT16_MAX) {
-                // Battery charge/time remaining/voltage calculations
-                currentVoltage = state.voltage_battery/1000.0f;
-                filterVoltage(currentVoltage);
-                tickLowpassVoltage = tickLowpassVoltage * 0.8f + 0.2f * currentVoltage;
-
-                // We don't want to tick above the threshold
-                if (tickLowpassVoltage > tickVoltage)
-                {
-                    lastTickVoltageValue = tickLowpassVoltage;
-                }
-
-                if ((startVoltage > 0.0f) && (tickLowpassVoltage < tickVoltage) && (fabs(lastTickVoltageValue - tickLowpassVoltage) > 0.1f)
-                        /* warn if lower than treshold */
-                        && (lpVoltage < tickVoltage)
-                        /* warn only if we have at least the voltage of an empty LiPo cell, else we're sampling something wrong */
-                        && (currentVoltage > 3.3f)
-                        /* warn only if current voltage is really still lower by a reasonable amount */
-                        && ((currentVoltage - 0.2f) < tickVoltage)
-                        /* warn only every 20 seconds */
-                        && (QGC::groundTimeUsecs() - lastVoltageWarning) > 20000000)
-                {
-                    _say(QString("Low battery system %1: %2 volts").arg(getUASID()).arg(lpVoltage, 0, 'f', 1, QChar(' ')));
-                    lastVoltageWarning = QGC::groundTimeUsecs();
-                    lastTickVoltageValue = tickLowpassVoltage;
-                }
-
-                if (startVoltage == -1.0f && currentVoltage > 0.1f) startVoltage = currentVoltage;
-                chargeLevel = state.battery_remaining;
-
-                emit batteryChanged(this, lpVoltage, currentCurrent, getChargeLevel(), 0);
-            }
-
-            emit valueChanged(uasId, name.arg("battery_remaining"), "%", getChargeLevel(), time);
-            emit valueChanged(uasId, name.arg("battery_voltage"), "V", currentVoltage, time);
-
-            // And if the battery current draw is measured, log that also.
-            if (state.current_battery != -1)
-            {
-                currentCurrent = ((double)state.current_battery)/100.0f;
-                emit valueChanged(uasId, name.arg("battery_current"), "A", currentCurrent, time);
-            }
-
-            // LOW BATTERY ALARM
-            if (chargeLevel >= 0 && (getChargeLevel() < warnLevelPercent))
-            {
-                // An audio alarm. Does not generate any signals.
-                startLowBattAlarm();
-            }
-            else
-            {
-                stopLowBattAlarm();
-            }
-
             // control_sensors_enabled:
             // relevant bits: 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control
             emit attitudeControlEnabled(state.onboard_control_sensors_enabled & (1 << 11));
@@ -1178,19 +1092,6 @@ quint64 UAS::getUnixTime(quint64 time)
     return ret;
 }
 
-/**
- * @param value battery voltage
- */
-float UAS::filterVoltage(float value)
-{
-    if (lpVoltage < 0.0f) {
-        lpVoltage = value;
-    }
-
-    lpVoltage = lpVoltage * 0.6f + value * 0.4f;
-    return lpVoltage;
-}
-
 /**
 * Get the status of the code and a description of the status.
 * Status can be unitialized, booting up, calibrating sensors, active
@@ -2077,31 +1978,6 @@ QMap<int, QString> UAS::getComponents()
     return components;
 }
 
-/**
- * @return charge level in percent - 0 - 100
- */
-float UAS::getChargeLevel()
-{
-    return chargeLevel;
-}
-
-void UAS::startLowBattAlarm()
-{
-    if (!lowBattAlarm)
-    {
-        _say(tr("System %1 has low battery").arg(getUASID()));
-        lowBattAlarm = true;
-    }
-}
-
-void UAS::stopLowBattAlarm()
-{
-    if (lowBattAlarm)
-    {
-        lowBattAlarm = false;
-    }
-}
-
 void UAS::sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax)
 {
     if (!_vehicle) {
@@ -2164,8 +2040,8 @@ void UAS::unsetRCToParameterMap()
 
 void UAS::_say(const QString& text, int severity)
 {
-    if (!qgcApp()->runningUnitTests())
-        qgcApp()->toolbox()->audioOutput()->say(text, severity);
+    Q_UNUSED(severity);
+    qgcApp()->toolbox()->audioOutput()->say(text);
 }
 
 void UAS::shutdownVehicle(void)

src/uas/UAS.h

@@ -77,8 +77,6 @@ public:
 
     /** @brief The time interval the robot is switched on */
     quint64 getUptime() const;
-    /** @brief Add one measurement and get low-passed voltage */
-    float filterVoltage(float value);
 
     Q_PROPERTY(double   latitude                READ getLatitude            WRITE setLatitude           NOTIFY latitudeChanged)
     Q_PROPERTY(double   longitude               READ getLongitude           WRITE setLongitude          NOTIFY longitudeChanged)
@@ -376,21 +374,6 @@ protected: //COMMENTS FOR TEST UNIT
     uint32_t custom_mode;         ///< The current mode of the MAV
     int status;                   ///< The current status of the MAV
 
-    // dongfang: This looks like a candidate for being moved off to a separate class.
-    /// BATTERY / ENERGY
-    float startVoltage;         ///< Voltage at system start
-    float tickVoltage;          ///< Voltage where 0.1 V ticks are told
-    float lastTickVoltageValue; ///< The last voltage where a tick was announced
-    float tickLowpassVoltage;   ///< Lowpass-filtered voltage for the tick announcement
-    float warnLevelPercent;     ///< Warning level, in percent
-    double currentVoltage;      ///< Voltage currently measured
-    float lpVoltage;            ///< Low-pass filtered voltage
-    double currentCurrent;      ///< Battery current currently measured
-    bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
-    float chargeLevel;          ///< Charge level of battery, in percent
-    bool lowBattAlarm;          ///< Switch if battery is low
-
-
     /// TIMEKEEPING
     quint64 startTime;            ///< The time the UAS was switched on
     quint64 onboardTimeOffset;
@@ -486,8 +469,6 @@ protected: //COMMENTS FOR TEST UNIT
 #endif
 
 public:
-    /** @brief Get the current charge level */
-    float getChargeLevel();
     /** @brief Get the human-readable status message for this code */
     void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
 
@@ -559,9 +540,6 @@ public slots:
     void stopHil();
 #endif
 
-    void startLowBattAlarm();
-    void stopLowBattAlarm();
-
     /** @brief Set the values for the manual control of the vehicle */
     void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode);
 

src/ui/preferences/GeneralSettings.qml

@@ -40,6 +40,8 @@ Rectangle {
     anchors.fill:       parent
     anchors.margins:    ScreenTools.defaultFontPixelWidth
 
+    property Fact _percentRemainingAnnounce: QGroundControl.multiVehicleManager.disconnectedVehicle.battery.percentRemainingAnnounce
+
     QGCPalette {
         id:                 qgcPal
         colorGroupEnabled:  enabled
@@ -127,6 +129,32 @@ Rectangle {
                     }
                 }
             }
+            //-----------------------------------------------------------------
+            //-- Battery talker
+            Row {
+                spacing: ScreenTools.defaultFontPixelWidth
+
+                QGCCheckBox {
+                    id:                 announcePercentCheckbox
+                    anchors.baseline:   announcePercent.baseline
+                    text:               "Announce battery percent lower than:"
+                    checked:            _percentRemainingAnnounce.value != 0
+
+                    onClicked: {
+                        if (checked) {
+                            _percentRemainingAnnounce.value = _percentRemainingAnnounce.defaultValueString
+                        } else {
+                            _percentRemainingAnnounce.value = 0
+                        }
+                    }
+                }
+
+                FactTextField {
+                    id:         announcePercent
+                    fact:       _percentRemainingAnnounce
+                    enabled:    announcePercentCheckbox.checked
+                }
+            }
 
             Item {
                 height: ScreenTools.defaultFontPixelHeight / 2