Merge pull request #8956 from DonLakeFlyer/SupportedCommands

Plan: supportedMissionCommands is vehicle class sensitive

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -715,12 +715,19 @@ FactMetaData* APMFirmwarePlugin::_getMetaDataForFact(QObject* parameterMetaData,
     return nullptr;
 }
 
-QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
+QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(QGCMAVLink::VehicleClass_t vehicleClass)
 {
     return {
+#if 0
+    // Waiting for module update
+        MAV_CMD_DO_SET_REVERSE,
+#endif
+    };
+
+    QList<MAV_CMD> supportedCommands = {
         MAV_CMD_NAV_WAYPOINT,
         MAV_CMD_NAV_LOITER_UNLIM, MAV_CMD_NAV_LOITER_TURNS, MAV_CMD_NAV_LOITER_TIME,
-        MAV_CMD_NAV_RETURN_TO_LAUNCH, MAV_CMD_NAV_LAND, MAV_CMD_NAV_TAKEOFF,
+        MAV_CMD_NAV_RETURN_TO_LAUNCH,
         MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT,
         MAV_CMD_NAV_LOITER_TO_ALT,
         MAV_CMD_NAV_SPLINE_WAYPOINT,
@@ -744,12 +751,32 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
         MAV_CMD_DO_GRIPPER,
         MAV_CMD_DO_GUIDED_LIMITS,
         MAV_CMD_DO_AUTOTUNE_ENABLE,
+    };
+
+    QList<MAV_CMD> vtolCommands = {
         MAV_CMD_NAV_VTOL_TAKEOFF, MAV_CMD_NAV_VTOL_LAND, MAV_CMD_DO_VTOL_TRANSITION,
-#if 0
-    // Waiting for module update
-        MAV_CMD_DO_SET_REVERSE,
-#endif
     };
+
+    QList<MAV_CMD> flightCommands = {
+        MAV_CMD_NAV_LAND, MAV_CMD_NAV_TAKEOFF,
+    };
+
+    if (vehicleClass == QGCMAVLink::VehicleClassGeneric) {
+        supportedCommands   += vtolCommands;
+        supportedCommands   += flightCommands;
+    }
+    if (vehicleClass == QGCMAVLink::VehicleClassVTOL) {
+        supportedCommands += vtolCommands;
+        supportedCommands += flightCommands;
+    } else if (vehicleClass == QGCMAVLink::VehicleClassFixedWing || vehicleClass == QGCMAVLink::VehicleClassMultiRotor) {
+        supportedCommands += flightCommands;
+    }
+
+    if (qgcApp()->toolbox()->settingsManager()->planViewSettings()->useConditionGate()->rawValue().toBool()) {
+        supportedCommands.append(MAV_CMD_CONDITION_GATE);
+    }
+
+    return supportedCommands;
 }
 
 QString APMFirmwarePlugin::missionCommandOverrides(QGCMAVLink::VehicleClass_t vehicleClass) const

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -72,7 +72,7 @@ public:
     // Overrides from FirmwarePlugin
 
     QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) override;
-    QList<MAV_CMD> supportedMissionCommands(void) override;
+    QList<MAV_CMD> supportedMissionCommands(QGCMAVLink::VehicleClass_t vehicleClass) override;
 
     AutoPilotPlugin*    autopilotPlugin                 (Vehicle* vehicle) override;
     bool                isCapable                       (const Vehicle *vehicle, FirmwareCapabilities capabilities) override;

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

@@ -144,36 +144,6 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void):
     _factRenameMap[QStringLiteral("airSpeed")] = QStringLiteral("");
 }
 
-QList<MAV_CMD> ArduSubFirmwarePlugin::supportedMissionCommands(void)
-{
-    return {
-        MAV_CMD_NAV_WAYPOINT,
-        MAV_CMD_NAV_RETURN_TO_LAUNCH,
-        MAV_CMD_NAV_LAND,
-        MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT,
-        MAV_CMD_NAV_SPLINE_WAYPOINT,
-        MAV_CMD_NAV_GUIDED_ENABLE,
-        MAV_CMD_NAV_DELAY,
-        MAV_CMD_CONDITION_DELAY, MAV_CMD_CONDITION_DISTANCE, MAV_CMD_CONDITION_YAW,
-        MAV_CMD_DO_SET_MODE,
-        MAV_CMD_DO_JUMP,
-        MAV_CMD_DO_CHANGE_SPEED,
-        MAV_CMD_DO_SET_HOME,
-        MAV_CMD_DO_SET_RELAY, MAV_CMD_DO_REPEAT_RELAY,
-        MAV_CMD_DO_SET_SERVO, MAV_CMD_DO_REPEAT_SERVO,
-        MAV_CMD_DO_LAND_START,
-        MAV_CMD_DO_SET_ROI,
-        MAV_CMD_DO_DIGICAM_CONFIGURE, MAV_CMD_DO_DIGICAM_CONTROL,
-        MAV_CMD_DO_MOUNT_CONTROL,
-        MAV_CMD_DO_SET_CAM_TRIGG_DIST,
-        MAV_CMD_DO_FENCE_ENABLE,
-        MAV_CMD_DO_INVERTED_FLIGHT,
-        MAV_CMD_DO_GRIPPER,
-        MAV_CMD_DO_GUIDED_LIMITS,
-        MAV_CMD_DO_AUTOTUNE_ENABLE,
-    };
-}
-
 int ArduSubFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
 {
     // Remapping supports up to 3.6

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h

@@ -110,8 +110,6 @@ class ArduSubFirmwarePlugin : public APMFirmwarePlugin
 public:
     ArduSubFirmwarePlugin(void);
 
-    QList<MAV_CMD> supportedMissionCommands(void) final;
-
     int defaultJoystickTXMode(void) final { return 3; }
 
     void initializeStreamRates(Vehicle* vehicle) override final;

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -174,7 +174,7 @@ bool FirmwarePlugin::sendHomePositionToVehicle(void)
     return false;
 }
 
-QList<MAV_CMD> FirmwarePlugin::supportedMissionCommands(void)
+QList<MAV_CMD> FirmwarePlugin::supportedMissionCommands(QGCMAVLink::VehicleClass_t vehicleClass)
 {
     // Generic supports all commands
     return QList<MAV_CMD>();

src/FirmwarePlugin/FirmwarePlugin.h

@@ -238,7 +238,7 @@ public:
     virtual bool _isParameterVolatile(QObject* /*parameterMetaData*/, const QString& /*name*/, MAV_TYPE /*vehicleType*/) { return false; }
 
     /// List of supported mission commands. Empty list for all commands supported.
-    virtual QList<MAV_CMD> supportedMissionCommands(void);
+    virtual QList<MAV_CMD> supportedMissionCommands(QGCMAVLink::VehicleClass_t vehicleClass);
 
     /// Returns the name of the mission command json override file for the specified vehicle type.
     ///     @param vehicleClass Vehicle class to return file for, VehicleClassGeneric is a request for overrides for all vehicle types

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -268,14 +268,13 @@ void PX4FirmwarePlugin::_getParameterMetaDataVersionInfo(const QString& metaData
     return PX4ParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion);
 }
 
-QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
+QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(QGCMAVLink::VehicleClass_t vehicleClass)
 {
-    QList<MAV_CMD> cmds = {
+    QList<MAV_CMD> supportedCommands = {
         MAV_CMD_NAV_WAYPOINT,
-        MAV_CMD_NAV_LOITER_UNLIM, MAV_CMD_NAV_LOITER_TIME, MAV_CMD_NAV_LOITER_TO_ALT,
-        MAV_CMD_NAV_LAND, MAV_CMD_NAV_TAKEOFF, MAV_CMD_NAV_RETURN_TO_LAUNCH,
+        MAV_CMD_NAV_LOITER_UNLIM, MAV_CMD_NAV_LOITER_TIME,
+        MAV_CMD_NAV_RETURN_TO_LAUNCH,
         MAV_CMD_DO_JUMP,
-        MAV_CMD_DO_VTOL_TRANSITION, MAV_CMD_NAV_VTOL_TAKEOFF, MAV_CMD_NAV_VTOL_LAND,
         MAV_CMD_DO_DIGICAM_CONTROL,
         MAV_CMD_DO_SET_CAM_TRIGG_DIST,
         MAV_CMD_DO_SET_SERVO,
@@ -288,13 +287,33 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
         MAV_CMD_IMAGE_START_CAPTURE, MAV_CMD_IMAGE_STOP_CAPTURE, MAV_CMD_VIDEO_START_CAPTURE, MAV_CMD_VIDEO_STOP_CAPTURE,
         MAV_CMD_NAV_DELAY,
         MAV_CMD_CONDITION_YAW,
+        MAV_CMD_NAV_LOITER_TO_ALT,
     };
 
+    QList<MAV_CMD> vtolCommands = {
+        MAV_CMD_DO_VTOL_TRANSITION, MAV_CMD_NAV_VTOL_TAKEOFF, MAV_CMD_NAV_VTOL_LAND,
+    };
+
+    QList<MAV_CMD> flightCommands = {
+        MAV_CMD_NAV_LAND, MAV_CMD_NAV_TAKEOFF,
+    };
+
+    if (vehicleClass == QGCMAVLink::VehicleClassGeneric) {
+        supportedCommands   += vtolCommands;
+        supportedCommands   += flightCommands;
+    }
+    if (vehicleClass == QGCMAVLink::VehicleClassVTOL) {
+        supportedCommands += vtolCommands;
+        supportedCommands += flightCommands;
+    } else if (vehicleClass == QGCMAVLink::VehicleClassFixedWing || vehicleClass == QGCMAVLink::VehicleClassMultiRotor) {
+        supportedCommands += flightCommands;
+    }
+
     if (qgcApp()->toolbox()->settingsManager()->planViewSettings()->useConditionGate()->rawValue().toBool()) {
-        cmds.append(MAV_CMD_CONDITION_GATE);
+        supportedCommands.append(MAV_CMD_CONDITION_GATE);
     }
 
-    return cmds;
+    return supportedCommands;
 }
 
 QString PX4FirmwarePlugin::missionCommandOverrides(QGCMAVLink::VehicleClass_t vehicleClass) const

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -29,7 +29,7 @@ public:
     // Overrides from FirmwarePlugin
 
     QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) override;
-    QList<MAV_CMD> supportedMissionCommands(void) override;
+    QList<MAV_CMD> supportedMissionCommands(QGCMAVLink::VehicleClass_t vehicleClass) override;
 
     AutoPilotPlugin*    autopilotPlugin                 (Vehicle* vehicle) override;
     bool                isCapable                       (const Vehicle *vehicle, FirmwareCapabilities capabilities) override;

src/MissionManager/CameraSection.cc

@@ -580,7 +580,7 @@ void CameraSection::_cameraActionChanged(void)
 
 bool CameraSection::cameraModeSupported(void) const
 {
-    return _specifyCameraMode || _masterController->controllerVehicle()->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_SET_CAMERA_MODE);
+    return _specifyCameraMode || _masterController->controllerVehicle()->firmwarePlugin()->supportedMissionCommands(QGCMAVLink::VehicleClassGeneric).contains(MAV_CMD_SET_CAMERA_MODE);
 }
 
 void CameraSection::_dirtyIfSpecified(void)

src/MissionManager/MissionCommandTree.cc

@@ -114,7 +114,7 @@ void MissionCommandTree::_buildAllCommands(Vehicle* vehicle, QGCMAVLink::Vehicle
     }
 
     // Build category list from supported commands
-    QList<MAV_CMD> supportedCommands = vehicle->firmwarePlugin()->supportedMissionCommands();
+    QList<MAV_CMD> supportedCommands = vehicle->firmwarePlugin()->supportedMissionCommands(vehicleClass);
     for (MAV_CMD cmd: collapsedTree.keys()) {
         if (supportedCommands.contains(cmd)) {
             QString newCategory = collapsedTree[cmd]->category();
@@ -193,15 +193,14 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const
     // vehicle can be null in which case _firmwareAndVehicleClassInfo will tell of the firmware/vehicle type for the offline editing vehicle.
     // We then use that to get a firmware plugin so we can get the list of supported commands.
     FirmwarePlugin* firmwarePlugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(QGCMAVLink::firmwareClassToAutopilot(firmwareClass), QGCMAVLink::vehicleClassToMavType(vehicleClass));
-    QList<MAV_CMD>  supportedCommands = firmwarePlugin->supportedMissionCommands();
+    QList<MAV_CMD>  supportedCommands = firmwarePlugin->supportedMissionCommands(vehicleClass);
 
     QVariantList list;
     QMap<MAV_CMD, MissionCommandUIInfo*> commandMap = _allCommands[firmwareClass][vehicleClass];
     for (MAV_CMD command: commandMap.keys()) {
-        if (supportedCommands.contains(command)) {
+        if (supportedCommands.isEmpty() || supportedCommands.contains(command)) {
             MissionCommandUIInfo* uiInfo = commandMap[command];
-            if ((uiInfo->category() == category || category == _allCommandsCategory) &&
-                    (showFlyThroughCommands || !uiInfo->specifiesCoordinate() || uiInfo->isStandaloneCoordinate())) {
+            if ((uiInfo->category() == category || category == _allCommandsCategory) && (showFlyThroughCommands || !uiInfo->specifiesCoordinate() || uiInfo->isStandaloneCoordinate())) {
                 list.append(QVariant::fromValue(uiInfo));
             }
         }

src/MissionManager/MissionCommandTreeEditorTest.cc

@@ -29,13 +29,13 @@ void MissionCommandTreeEditorTest::_testEditorsWorker(QGCMAVLink::FirmwareClass_
     PlanMasterController* masterController = new PlanMasterController();
 
     FirmwarePlugin* firmwarePlugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(QGCMAVLink::firmwareClassToAutopilot(firmwareClass), QGCMAVLink::vehicleClassToMavType(vehicleClass));
-    if (firmwarePlugin->supportedMissionCommands().count() == 0) {
+    if (firmwarePlugin->supportedMissionCommands(vehicleClass).count() == 0) {
         firmwarePlugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(QGCMAVLink::firmwareClassToAutopilot(QGCMAVLink::FirmwareClassPX4), QGCMAVLink::vehicleClassToMavType(vehicleClass));
     }
-    int cColumns = firmwarePlugin->supportedMissionCommands().count();
+    int cColumns = firmwarePlugin->supportedMissionCommands(vehicleClass).count();
 
     QVariantList varSimpleItems;
-    for (MAV_CMD command: firmwarePlugin->supportedMissionCommands()) {
+    for (MAV_CMD command: firmwarePlugin->supportedMissionCommands(vehicleClass)) {
         SimpleMissionItem* simpleItem = new SimpleMissionItem(masterController, false /* flyView */, false /* forLoad */, this);
         simpleItem->setCommand(command);
         varSimpleItems.append(QVariant::fromValue(simpleItem));

src/MissionManager/MissionController.cc

@@ -406,7 +406,7 @@ VisualMissionItem* MissionController::insertROIMissionItem(QGeoCoordinate coordi
 {
     SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(_insertSimpleMissionItemWorker(coordinate, MAV_CMD_DO_SET_ROI_LOCATION, visualItemIndex, makeCurrentItem));
 
-    if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_LOCATION)) {
+    if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands(QGCMAVLink::VehicleClassGeneric).contains(MAV_CMD_DO_SET_ROI_LOCATION)) {
         simpleItem->setCommand(MAV_CMD_DO_SET_ROI)  ;
         simpleItem->missionItem().setParam1(MAV_ROI_LOCATION);
     }
@@ -418,7 +418,7 @@ VisualMissionItem* MissionController::insertCancelROIMissionItem(int visualItemI
 {
     SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(_insertSimpleMissionItemWorker(QGeoCoordinate(), MAV_CMD_DO_SET_ROI_NONE, visualItemIndex, makeCurrentItem));
 
-    if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_NONE)) {
+    if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands(QGCMAVLink::VehicleClassGeneric).contains(MAV_CMD_DO_SET_ROI_NONE)) {
         simpleItem->setCommand(MAV_CMD_DO_SET_ROI)  ;
         simpleItem->missionItem().setParam1(MAV_ROI_NONE);
     }

src/MissionManager/TransectStyleComplexItem.cc

@@ -1018,7 +1018,7 @@ void TransectStyleComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>&
     bool imagesInTurnaround =       _cameraTriggerInTurnAroundFact.rawValue().toBool();
     bool hasTurnarounds =           _turnAroundDistance() != 0;
     bool addTriggerAtBeginningEnd = !hoverAndCaptureEnabled() && imagesInTurnaround && triggerCamera();
-    bool useConditionGate =         _controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_CONDITION_GATE) &&
+    bool useConditionGate =         _controllerVehicle->firmwarePlugin()->supportedMissionCommands(QGCMAVLink::VehicleClassGeneric).contains(MAV_CMD_CONDITION_GATE) &&
             triggerCamera() &&
             !hoverAndCaptureEnabled();
 

src/PlanView/PlanView.qml

@@ -652,7 +652,7 @@ Item {
                         text:       qsTr("Takeoff")
                         iconSource: "/res/takeoff.svg"
                         enabled:    _missionController.isInsertTakeoffValid
-                        visible:    toolStrip._isMissionLayer
+                        visible:    toolStrip._isMissionLayer && !_planMasterController.controllerVehicle.rover
                         onTriggered: {
                             toolStrip.allAddClickBoolsOff()
                             insertTakeItemAfterCurrent()