diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000000000000000000000000000000000000..20a84b9da6fb993652d18c86a8163e926bab4a99 --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,9 @@ + +Thank you for considering to contribute to QGroundControl. + +Contributions must be made under QGroundControl's dual-license system, under GPLv3 and Apache 2.0. This by definition rules out the re-use of any copyleft (e.g. GPL) licensed code. All contributions must be original or from a compatible license (BSD 2/3 clause, MIT, Apache 2.0). + + * https://opensource.org/licenses/gpl-3.0.html + * https://opensource.org/licenses/Apache-2.0 + +Users of the codebase are free to use it under either license. The dual approach is necessary to be able to offer QGroundControl through the iOS and Android app stores and offers the open source community choice. diff --git a/QGCExternalLibs.pri b/QGCExternalLibs.pri index aa6e8b20bf727bd88cbcfcba0c76b8771622470b..6524583b72c3ce825b1cc8a0b865bb4d86d2df60 100644 --- a/QGCExternalLibs.pri +++ b/QGCExternalLibs.pri @@ -115,51 +115,6 @@ contains(DEFINES, DISABLE_XBEE) { message("Skipping support for XBee API (unsupported platform)") } -# -# [OPTIONAL] Magellan 3DxWare library. Provides support for 3DConnexion's 3D mice. -# -contains(DEFINES, DISABLE_3DMOUSE) { - message("Skipping support for 3DConnexion mice (manual override from command line)") - DEFINES -= DISABLE_3DMOUSE -# Otherwise the user can still disable this feature in the user_config.pri file. -} else:exists(user_config.pri):infile(user_config.pri, DEFINES, DISABLE_3DMOUSE) { - message("Skipping support for 3DConnexion mice (manual override from user_config.pri)") -} else:LinuxBuild { - exists(/usr/local/lib/libxdrvlib.so) { - message("Including support for 3DConnexion mice") - - DEFINES += \ - QGC_MOUSE_ENABLED_LINUX \ - ParameterCheck - # Hack: Has to be defined for magellan usage - - HEADERS += src/input/Mouse6dofInput.h - SOURCES += src/input/Mouse6dofInput.cpp - LIBS += -L/usr/local/lib/ -lxdrvlib - } else { - warning("Skipping support for 3DConnexion mice (missing libraries, see README)") - } -} else:WindowsBuild { - message("Including support for 3DConnexion mice") - - DEFINES += QGC_MOUSE_ENABLED_WIN - - INCLUDEPATH += libs/thirdParty/3DMouse/win - - HEADERS += \ - libs/thirdParty/3DMouse/win/I3dMouseParams.h \ - libs/thirdParty/3DMouse/win/MouseParameters.h \ - libs/thirdParty/3DMouse/win/Mouse3DInput.h \ - src/input/Mouse6dofInput.h - - SOURCES += \ - libs/thirdParty/3DMouse/win/MouseParameters.cpp \ - libs/thirdParty/3DMouse/win/Mouse3DInput.cpp \ - src/input/Mouse6dofInput.cpp -} else { - message("Skipping support for 3DConnexion mice (unsupported platform)") -} - # # [OPTIONAL] Opal RT-LAB Library. Provides integration with Opal-RT's RT-LAB simulator. # diff --git a/deploy/qgroundcontrol_installer.nsi b/deploy/qgroundcontrol_installer.nsi index 1b7a971727b496523b5da7a3a066471d1d22032b..1b1f1fcde08bf611179a8e8b96e28b48111a0d34 100644 --- a/deploy/qgroundcontrol_installer.nsi +++ b/deploy/qgroundcontrol_installer.nsi @@ -70,6 +70,8 @@ Section "create Start Menu Shortcuts" SetShellVarContext all CreateDirectory "$SMPROGRAMS\$StartMenuFolder" CreateShortCut "$SMPROGRAMS\$StartMenuFolder\QGroundControl.lnk" "$INSTDIR\qgroundcontrol.exe" "" "$INSTDIR\qgroundcontrol.exe" 0 + CreateShortCut "$SMPROGRAMS\$StartMenuFolder\QGroundControl (GPU Compatibility Mode).lnk" "$INSTDIR\qgroundcontrol.exe" "-angle" "$INSTDIR\qgroundcontrol.exe" 0 + CreateShortCut "$SMPROGRAMS\$StartMenuFolder\QGroundControl (GPU Safe Mode).lnk" "$INSTDIR\qgroundcontrol.exe" "-swrast" "$INSTDIR\qgroundcontrol.exe" 0 SectionEnd Function .onInit diff --git a/libs/mavlink/include/mavlink/v1.0 b/libs/mavlink/include/mavlink/v1.0 index eca21980688a7f0abe15993227bb07bb92f22c63..a2f37a142c14acbc56390f7a8c6946730f4ae25e 160000 --- a/libs/mavlink/include/mavlink/v1.0 +++ b/libs/mavlink/include/mavlink/v1.0 @@ -1 +1 @@ -Subproject commit eca21980688a7f0abe15993227bb07bb92f22c63 +Subproject commit a2f37a142c14acbc56390f7a8c6946730f4ae25e diff --git a/libs/thirdParty/3DMouse/win/I3dMouseParams.h b/libs/thirdParty/3DMouse/win/I3dMouseParams.h deleted file mode 100644 index e8932cce03918d6983ceb29ac62bb60b7e527622..0000000000000000000000000000000000000000 --- a/libs/thirdParty/3DMouse/win/I3dMouseParams.h +++ /dev/null @@ -1,84 +0,0 @@ -#ifndef I3D_MOUSE_PARAMS_H -#define I3D_MOUSE_PARAMS_H - -/* - Parameters for the 3D mouse based on the SDK from 3Dconnexion -*/ - -class I3dMouseSensor -{ -public: - - enum ESpeed { - kLowSpeed = 0, - kMidSpeed, - kHighSpeed - }; - -virtual bool IsPanZoom() const = 0; -virtual bool IsRotate() const = 0; -virtual ESpeed GetSpeed() const = 0; - -virtual void SetPanZoom(bool isPanZoom) = 0; -virtual void SetRotate(bool isRotate) = 0; -virtual void SetSpeed(ESpeed speed) = 0; - -protected: - -virtual ~I3dMouseSensor() {} - -}; - - -class I3dMouseNavigation -{ -public: - - enum EPivot { - kManualPivot = 0, - kAutoPivot, - kAutoPivotOverride - }; - - enum ENavigation { - kObjectMode = 0, - kCameraMode, - kFlyMode, - kWalkMode, - kHelicopterMode - }; - - enum EPivotVisibility { - kHidePivot = 0, - kShowPivot, - kShowMovingPivot - }; - - -virtual ENavigation GetNavigationMode() const = 0; -virtual EPivot GetPivotMode() const = 0; -virtual EPivotVisibility GetPivotVisibility() const = 0; -virtual bool IsLockHorizon() const = 0; - -virtual void SetLockHorizon(bool bOn) = 0; -virtual void SetNavigationMode(ENavigation navigation) = 0; -virtual void SetPivotMode(EPivot pivot) = 0; -virtual void SetPivotVisibility(EPivotVisibility visibility) = 0; - -protected: - -virtual ~I3dMouseNavigation(){} - - -}; - - -class I3dMouseParam : public I3dMouseSensor, public I3dMouseNavigation -{ -public: - -virtual ~I3dMouseParam() {} - -}; - -#endif diff --git a/libs/thirdParty/3DMouse/win/Mouse3DInput.cpp b/libs/thirdParty/3DMouse/win/Mouse3DInput.cpp deleted file mode 100644 index e2277a8601d8e3e0ace1dfc5b4c37660945511e7..0000000000000000000000000000000000000000 --- a/libs/thirdParty/3DMouse/win/Mouse3DInput.cpp +++ /dev/null @@ -1,678 +0,0 @@ - -#include "Mouse3DInput.h" - -#include - -#define LOGITECH_VENDOR_ID 0x46d -#define _CONSTANT_INPUT_PERIOD 0 - -#ifndef RIDEV_DEVNOTIFY -#define RIDEV_DEVNOTIFY 0x00002000 -#endif - -#define _TRACE_WM_INPUT_PERIOD 0 -#define _TRACE_RI_TYPE 0 -#define _TRACE_RIDI_DEVICENAME 0 -#define _TRACE_RIDI_DEVICEINFO 0 -#define _TRACE_RI_RAWDATA 0 -#define _TRACE_3DINPUT_PERIOD 0 - -#ifdef _WIN64 -typedef unsigned __int64 QWORD; -#endif - -// object angular velocity per mouse tick 0.008 milliradians per second per count -static const double k3dmouseAngularVelocity = 8.0e-6; // radians per second per count - -static const int kTimeToLive = 5; - -enum e3dconnexion_pid { - eSpacePilot = 0xc625, - eSpaceNavigator = 0xc626, - eSpaceExplorer = 0xc627, - eSpaceNavigatorForNotebooks = 0xc628, - eSpacePilotPRO = 0xc629 -}; - -enum e3dmouse_virtual_key -{ - V3DK_INVALID=0 - , V3DK_MENU=1, V3DK_FIT - , V3DK_TOP, V3DK_LEFT, V3DK_RIGHT, V3DK_FRONT, V3DK_BOTTOM, V3DK_BACK - , V3DK_CW, V3DK_CCW - , V3DK_ISO1, V3DK_ISO2 - , V3DK_1, V3DK_2, V3DK_3, V3DK_4, V3DK_5, V3DK_6, V3DK_7, V3DK_8, V3DK_9, V3DK_10 - , V3DK_ESC, V3DK_ALT, V3DK_SHIFT, V3DK_CTRL - , V3DK_ROTATE, V3DK_PANZOOM, V3DK_DOMINANT - , V3DK_PLUS, V3DK_MINUS -}; - -struct tag_VirtualKeys -{ - e3dconnexion_pid pid; - size_t nKeys; - e3dmouse_virtual_key *vkeys; -}; - -static const e3dmouse_virtual_key SpaceExplorerKeys [] = -{ - V3DK_INVALID // there is no button 0 - , V3DK_1, V3DK_2 - , V3DK_TOP, V3DK_LEFT, V3DK_RIGHT, V3DK_FRONT - , V3DK_ESC, V3DK_ALT, V3DK_SHIFT, V3DK_CTRL - , V3DK_FIT, V3DK_MENU - , V3DK_PLUS, V3DK_MINUS - , V3DK_ROTATE -}; - -static const e3dmouse_virtual_key SpacePilotKeys [] = -{ - V3DK_INVALID - , V3DK_1, V3DK_2, V3DK_3, V3DK_4, V3DK_5, V3DK_6 - , V3DK_TOP, V3DK_LEFT, V3DK_RIGHT, V3DK_FRONT - , V3DK_ESC, V3DK_ALT, V3DK_SHIFT, V3DK_CTRL - , V3DK_FIT, V3DK_MENU - , V3DK_PLUS, V3DK_MINUS - , V3DK_DOMINANT, V3DK_ROTATE -}; - -static const struct tag_VirtualKeys _3dmouseVirtualKeys[]= -{ - eSpacePilot - , sizeof(SpacePilotKeys)/sizeof(SpacePilotKeys[0]) - , const_cast(SpacePilotKeys), - eSpaceExplorer - , sizeof(SpaceExplorerKeys)/sizeof(SpaceExplorerKeys[0]) - , const_cast(SpaceExplorerKeys) -}; - -/*! - Converts a hid device keycode (button identifier) of a pre-2009 3Dconnexion USB device to the standard 3d mouse virtual key definition. - - \a pid USB Product ID (PID) of 3D mouse device - \a hidKeyCode Hid keycode as retrieved from a Raw Input packet - - \return The standard 3d mouse virtual key (button identifier) or zero if an error occurs. - - Converts a hid device keycode (button identifier) of a pre-2009 3Dconnexion USB device - to the standard 3d mouse virtual key definition. -*/ - -unsigned short HidToVirtualKey(unsigned long pid, unsigned short hidKeyCode) -{ - unsigned short virtualkey=hidKeyCode; - for (size_t i=0; imessage == WM_INPUT) { - HRAWINPUT hRawInput = reinterpret_cast(message->lParam); - gMouseInput->OnRawInput(RIM_INPUT,hRawInput); - if (result != 0) { - result = 0; - } - return true; - } - - return false; -} - - -Mouse3DInput::Mouse3DInput(QWidget* widget) : - QObject(widget) -{ - fLast3dmouseInputTime = 0; - - InitializeRawInput((HWND)widget->winId()); - - gMouseInput = this; - qApp->installNativeEventFilter(this); -} - -Mouse3DInput::~Mouse3DInput() -{ - if (gMouseInput == this) { - gMouseInput = 0; - } -} - -/*! - Access the mouse parameters structure -*/ -I3dMouseParam& Mouse3DInput::MouseParams() -{ - return f3dMouseParams; -} - -/*! - Access the mouse parameters structure -*/ -const I3dMouseParam& Mouse3DInput::MouseParams() const -{ - return f3dMouseParams; -} - -/*! - Called with the processed motion data when a 3D mouse event is received - - The default implementation emits a Move3d signal with the motion data -*/ -void Mouse3DInput::Move3d(HANDLE device, std::vector& motionData) -{ - Q_UNUSED(device); - emit Move3d(motionData); -} - -/*! - Called when a 3D mouse key is pressed - - The default implementation emits a On3dmouseKeyDown signal with the key code. -*/ -void Mouse3DInput::On3dmouseKeyDown(HANDLE device, int virtualKeyCode) -{ - Q_UNUSED(device); - emit On3dmouseKeyDown(virtualKeyCode); -} - -/*! - Called when a 3D mouse key is released - - The default implementation emits a On3dmouseKeyUp signal with the key code. -*/ -void Mouse3DInput::On3dmouseKeyUp(HANDLE device, int virtualKeyCode) -{ - Q_UNUSED(device); - emit On3dmouseKeyUp(virtualKeyCode); -} - -/*! - Get an initialized array of PRAWINPUTDEVICE for the 3D devices - - pNumDevices returns the number of devices to register. Currently this is always 1. - */ -static PRAWINPUTDEVICE GetDevicesToRegister(unsigned int* pNumDevices) -{ - // Array of raw input devices to register - static RAWINPUTDEVICE sRawInputDevices[] = { - {0x01, 0x08, 0x00, 0x00} // Usage Page = 0x01 Generic Desktop Page, Usage Id= 0x08 Multi-axis Controller - }; - - if (pNumDevices) { - *pNumDevices = sizeof(sRawInputDevices) / sizeof(sRawInputDevices[0]); - } - - return sRawInputDevices; -} - -/*! - Detect the 3D mouse -*/ -bool Mouse3DInput::Is3dmouseAttached() -{ - unsigned int numDevicesOfInterest = 0; - PRAWINPUTDEVICE devicesToRegister = GetDevicesToRegister(&numDevicesOfInterest); - - unsigned int nDevices = 0; - - if (::GetRawInputDeviceList(NULL, &nDevices, sizeof(RAWINPUTDEVICELIST)) != 0) { - return false; - } - - if (nDevices == 0) return false; - - std::vector rawInputDeviceList(nDevices); - if (::GetRawInputDeviceList(&rawInputDeviceList[0], &nDevices, sizeof(RAWINPUTDEVICELIST)) == static_cast(-1)) { - return false; - } - - for (unsigned int i = 0; i < nDevices; ++i) { - RID_DEVICE_INFO rdi = {sizeof(rdi)}; - unsigned int cbSize = sizeof(rdi); - - if (GetRawInputDeviceInfo(rawInputDeviceList[i].hDevice, RIDI_DEVICEINFO, &rdi, &cbSize) > 0) { - //skip non HID and non logitec (3DConnexion) devices - if (rdi.dwType != RIM_TYPEHID || rdi.hid.dwVendorId != LOGITECH_VENDOR_ID) { - continue; - } - - //check if devices matches Multi-axis Controller - for (unsigned int j = 0; j < numDevicesOfInterest; ++j) { - if (devicesToRegister[j].usUsage == rdi.hid.usUsage - && devicesToRegister[j].usUsagePage == rdi.hid.usUsagePage) { - return true; - } - } - } - } - return false; -} - - - -/*! - Initialize the window to recieve raw-input messages - - This needs to be called initially so that Windows will send the messages from the 3D mouse to the window. -*/ -bool Mouse3DInput::InitializeRawInput(HWND hwndTarget) -{ - fWindow = hwndTarget; - - // Simply fail if there is no window - if (!hwndTarget) return false; - - unsigned int numDevices = 0; - PRAWINPUTDEVICE devicesToRegister = GetDevicesToRegister(&numDevices); - - if (numDevices == 0) return false; - - // Get OS version. - OSVERSIONINFO osvi = {sizeof(OSVERSIONINFO),0}; - ::GetVersionEx(&osvi); - - unsigned int cbSize = sizeof (devicesToRegister[0]); - for (size_t i = 0; i < numDevices; i++) { - // Set the target window to use - //devicesToRegister[i].hwndTarget = hwndTarget; - - // If Vista or newer, enable receiving the WM_INPUT_DEVICE_CHANGE message. - if (osvi.dwMajorVersion >= 6) { - devicesToRegister[i].dwFlags |= RIDEV_DEVNOTIFY; - } - } - return (::RegisterRawInputDevices(devicesToRegister, numDevices, cbSize) != FALSE); -} - - -/*! - Get the raw input data from Windows - - Includes workaround for incorrect alignment of the RAWINPUT structure on x64 os - when running as Wow64 (copied directly from 3DConnexion code) -*/ - -UINT Mouse3DInput::GetRawInputBuffer(PRAWINPUT pData, PUINT pcbSize, UINT cbSizeHeader) -{ -#ifdef _WIN64 - return ::GetRawInputBuffer(pData, pcbSize, cbSizeHeader); -#else - BOOL bIsWow64 = FALSE; - ::IsWow64Process(GetCurrentProcess(), &bIsWow64); - if (!bIsWow64 || pData==NULL) { - return ::GetRawInputBuffer(pData, pcbSize, cbSizeHeader); - } else { - HWND hwndTarget = fWindow; //fParent->winId(); - - size_t cbDataSize=0; - UINT nCount=0; - PRAWINPUT pri = pData; - - MSG msg; - while (PeekMessage(&msg, hwndTarget, WM_INPUT, WM_INPUT, PM_NOREMOVE)) { - HRAWINPUT hRawInput = reinterpret_cast(msg.lParam); - size_t cbSize = *pcbSize - cbDataSize; - if (::GetRawInputData(hRawInput, RID_INPUT, pri, &cbSize, cbSizeHeader) == static_cast(-1)) { - if (nCount==0) { - return static_cast(-1); - } else { - break; - } - } - ++nCount; - - // Remove the message for the data just read - PeekMessage(&msg, hwndTarget, WM_INPUT, WM_INPUT, PM_REMOVE); - - pri = NEXTRAWINPUTBLOCK(pri); - cbDataSize = reinterpret_cast(pri) - reinterpret_cast(pData); - if (cbDataSize >= *pcbSize) { - cbDataSize = *pcbSize; - break; - } - } - return nCount; - } -#endif -} - -/*! - Process the raw input device data - - On3dmouseInput() does all the preprocessing of the rawinput device data before - finally calling the Move3d method. -*/ - -void Mouse3DInput::On3dmouseInput() -{ - // Don't do any data processing in background - bool bIsForeground = (::GetActiveWindow() != NULL); - if (!bIsForeground) { - // set all cached data to zero so that a zero event is seen and the cached data deleted - for (std::map::iterator it = fDevice2Data.begin(); it != fDevice2Data.end(); it++) { - it->second.fAxes.assign(6, .0); - it->second.fIsDirty = true; - } - } - - DWORD dwNow = ::GetTickCount(); // Current time; - DWORD dwElapsedTime; // Elapsed time since we were last here - - if (0 == fLast3dmouseInputTime) { - dwElapsedTime = 10; // System timer resolution - } else { - dwElapsedTime = dwNow - fLast3dmouseInputTime; - if (fLast3dmouseInputTime > dwNow) { - dwElapsedTime = ~dwElapsedTime+1; - } - if (dwElapsedTime<1) { - dwElapsedTime=1; - } else if (dwElapsedTime > 500) { - // Check for wild numbers because the device was removed while sending data - dwElapsedTime = 10; - } - } - -#if _TRACE_3DINPUT_PERIOD - qDebug("On3DmouseInput() period is %dms\n", dwElapsedTime); -#endif - - float mouseData2Rotation = k3dmouseAngularVelocity; - // v = w * r, we don't know r yet so lets assume r=1.) - float mouseData2PanZoom = k3dmouseAngularVelocity; - - // Grab the I3dmouseParam interface - I3dMouseParam& i3dmouseParam = f3dMouseParams; - // Take a look at the users preferred speed setting and adjust the sensitivity accordingly - I3dMouseSensor::ESpeed speedSetting = i3dmouseParam.GetSpeed(); - // See "Programming for the 3D Mouse", Section 5.1.3 - float speed = (speedSetting == I3dMouseSensor::kLowSpeed ? 0.25f : speedSetting == I3dMouseSensor::kHighSpeed ? 4.f : 1.f); - - // Multiplying by the following will convert the 3d mouse data to real world units - mouseData2PanZoom *= speed; - mouseData2Rotation *= speed; - - std::map::iterator iterator=fDevice2Data.begin(); - while (iterator != fDevice2Data.end()) { - - // If we have not received data for a while send a zero event - if ((--(iterator->second.fTimeToLive)) == 0) { - iterator->second.fAxes.assign(6, .0); - } else if (/*!t_bPoll3dmouse &&*/ !iterator->second.fIsDirty) { - // If we are not polling then only handle the data that was actually received - ++iterator; - continue; - } - iterator->second.fIsDirty=false; - - // get a copy of the device - HANDLE hdevice = iterator->first; - - // get a copy of the motion vectors and apply the user filters - std::vector motionData = iterator->second.fAxes; - - // apply the user filters - - // Pan Zoom filter - // See "Programming for the 3D Mouse", Section 5.1.2 - if (!i3dmouseParam.IsPanZoom()) { - // Pan zoom is switched off so set the translation vector values to zero - motionData[0] = motionData[1] = motionData[2] = 0.; - } - - // Rotate filter - // See "Programming for the 3D Mouse", Section 5.1.1 - if (!i3dmouseParam.IsRotate()) { - // Rotate is switched off so set the rotation vector values to zero - motionData[3] = motionData[4] = motionData[5] = 0.; - } - - // convert the translation vector into physical data - for (int axis = 0; axis < 3; axis++) { - motionData[axis] *= mouseData2PanZoom; - } - // convert the directed Rotate vector into physical data - // See "Programming for the 3D Mouse", Section 7.2.2 - for (int axis = 3; axis < 6; axis++) { - motionData[axis] *= mouseData2Rotation; - } - - // Now that the data has had the filters and sensitivty settings applied - // calculate the displacements since the last view update - for (int axis = 0; axis < 6; axis++) { - motionData[axis] *= dwElapsedTime; - } - - - // Now a bit of book keeping before passing on the data - if (iterator->second.IsZero()) { - iterator = fDevice2Data.erase(iterator); - } else { - ++iterator; - } - - // Work out which will be the next device - HANDLE hNextDevice = 0; - if (iterator != fDevice2Data.end()) { - hNextDevice = iterator->first; - } - - // Pass the 3dmouse input to the view controller - Move3d(hdevice, motionData); - - // Because we don't know what happened in the previous call, the cache might have - // changed so reload the iterator - iterator = fDevice2Data.find(hNextDevice); - } - - if (!fDevice2Data.empty()) { - fLast3dmouseInputTime = dwNow; - } else { - fLast3dmouseInputTime = 0; - } -} - -/*! - Called when new raw input data is available -*/ -void Mouse3DInput::OnRawInput(UINT nInputCode, HRAWINPUT hRawInput) -{ - const size_t cbSizeOfBuffer=1024; - BYTE pBuffer[cbSizeOfBuffer]; - - PRAWINPUT pRawInput = reinterpret_cast(pBuffer); - UINT cbSize = cbSizeOfBuffer; - - if (::GetRawInputData(hRawInput, RID_INPUT, pRawInput, &cbSize, sizeof(RAWINPUTHEADER)) == static_cast(-1)) { - return; - } - - bool b3dmouseInput = TranslateRawInputData(nInputCode, pRawInput); - ::DefRawInputProc(&pRawInput, 1, sizeof(RAWINPUTHEADER)); - - // Check for any buffered messages - cbSize = cbSizeOfBuffer; - UINT nCount = this->GetRawInputBuffer(pRawInput, &cbSize, sizeof(RAWINPUTHEADER)); - if (nCount == (UINT)-1) { - qDebug ("GetRawInputBuffer returned error %d\n", GetLastError()); - } - - while (nCount>0 && nCount != static_cast(-1)) { - PRAWINPUT pri = pRawInput; - UINT nInput; - for (nInput=0; nInputGetRawInputBuffer(pRawInput, &cbSize, sizeof(RAWINPUTHEADER)); - } - - // If we have mouse input data for the app then tell tha app about it - if (b3dmouseInput) { - On3dmouseInput(); - } -} - - - -bool Mouse3DInput::TranslateRawInputData(UINT nInputCode, PRAWINPUT pRawInput) -{ - bool bIsForeground = (nInputCode == RIM_INPUT); - -#if _TRACE_RI_TYPE - qDebug("Rawinput.header.dwType=0x%x\n", pRawInput->header.dwType); -#endif - // We are not interested in keyboard or mouse data received via raw input - if (pRawInput->header.dwType != RIM_TYPEHID) return false; - -#if _TRACE_RIDI_DEVICENAME - UINT dwSize=0; - if (::GetRawInputDeviceInfo(pRawInput->header.hDevice, RIDI_DEVICENAME, NULL, &dwSize) == 0) { - std::vector szDeviceName(dwSize+1); - if (::GetRawInputDeviceInfo(pRawInput->header.hDevice, RIDI_DEVICENAME, &szDeviceName[0], &dwSize) >0) { - qDebug("Device Name = %s\nDevice handle = 0x%x\n", &szDeviceName[0], pRawInput->header.hDevice); - } - } -#endif - - RID_DEVICE_INFO sRidDeviceInfo; - sRidDeviceInfo.cbSize = sizeof(RID_DEVICE_INFO); - UINT cbSize = sizeof(RID_DEVICE_INFO); - - if (::GetRawInputDeviceInfo(pRawInput->header.hDevice, RIDI_DEVICEINFO, &sRidDeviceInfo, &cbSize) == cbSize) { -#if _TRACE_RIDI_DEVICEINFO - switch (sRidDeviceInfo.dwType) { - case RIM_TYPEMOUSE: - qDebug("\tsRidDeviceInfo.dwType=RIM_TYPEMOUSE\n"); - break; - case RIM_TYPEKEYBOARD: - qDebug("\tsRidDeviceInfo.dwType=RIM_TYPEKEYBOARD\n"); - break; - case RIM_TYPEHID: - qDebug("\tsRidDeviceInfo.dwType=RIM_TYPEHID\n"); - qDebug("\tVendor=0x%x\n\tProduct=0x%x\n\tUsagePage=0x%x\n\tUsage=0x%x\n", - sRidDeviceInfo.hid.dwVendorId, - sRidDeviceInfo.hid.dwProductId, - sRidDeviceInfo.hid.usUsagePage, - sRidDeviceInfo.hid.usUsage); - break; - } -#endif - - if (sRidDeviceInfo.hid.dwVendorId == LOGITECH_VENDOR_ID) { - if (pRawInput->data.hid.bRawData[0] == 0x01) { // Translation vector - - TInputData& deviceData = fDevice2Data[pRawInput->header.hDevice]; - deviceData.fTimeToLive = kTimeToLive; - if (bIsForeground) { - short* pnRawData = reinterpret_cast(&pRawInput->data.hid.bRawData[1]); - // Cache the pan zoom data - deviceData.fAxes[0] = static_cast(pnRawData[0]); - deviceData.fAxes[1] = static_cast(pnRawData[1]); - deviceData.fAxes[2] = static_cast(pnRawData[2]); - -#if _TRACE_RI_RAWDATA - qDebug("Pan/Zoom RI Data =\t0x%x,\t0x%x,\t0x%x\n", - pnRawData[0], pnRawData[1], pnRawData[2]); -#endif - if (pRawInput->data.hid.dwSizeHid >= 13) {// Highspeed package - // Cache the rotation data - deviceData.fAxes[3] = static_cast(pnRawData[3]); - deviceData.fAxes[4] = static_cast(pnRawData[4]); - deviceData.fAxes[5] = static_cast(pnRawData[5]); - deviceData.fIsDirty = true; -#if _TRACE_RI_RAWDATA - qDebug("Rotation RI Data =\t0x%x,\t0x%x,\t0x%x\n", - pnRawData[3], pnRawData[4], pnRawData[5]); -#endif - return true; - } - } else { // Zero out the data if the app is not in forground - deviceData.fAxes.assign(6, 0.f); - } - } else if (pRawInput->data.hid.bRawData[0] == 0x02) { // Rotation vector - // If we are not in foreground do nothing - // The rotation vector was zeroed out with the translation vector in the previous message - if (bIsForeground) { - TInputData& deviceData = fDevice2Data[pRawInput->header.hDevice]; - deviceData.fTimeToLive = kTimeToLive; - - short* pnRawData = reinterpret_cast(&pRawInput->data.hid.bRawData[1]); - // Cache the rotation data - deviceData.fAxes[3] = static_cast(pnRawData[0]); - deviceData.fAxes[4] = static_cast(pnRawData[1]); - deviceData.fAxes[5] = static_cast(pnRawData[2]); - deviceData.fIsDirty = true; - -#if _TRACE_RI_RAWDATA - qDebug("Rotation RI Data =\t0x%x,\t0x%x,\t0x%x\n", - pnRawData[0], pnRawData[1], pnRawData[2]); -#endif - return true; - } - } else if (pRawInput->data.hid.bRawData[0] == 0x03) { // Keystate change - // this is a package that contains 3d mouse keystate information - // bit0=key1, bit=key2 etc. - - - unsigned long dwKeystate = *reinterpret_cast(&pRawInput->data.hid.bRawData[1]); -#if _TRACE_RI_RAWDATA - qDebug("ButtonData =0x%x\n", dwKeystate); -#endif - // Log the keystate changes - unsigned long dwOldKeystate = fDevice2Keystate[pRawInput->header.hDevice]; - if (dwKeystate != 0) { - fDevice2Keystate[pRawInput->header.hDevice] = dwKeystate; - } else { - fDevice2Keystate.erase(pRawInput->header.hDevice); - } - - // Only call the keystate change handlers if the app is in foreground - if (bIsForeground) { - unsigned long dwChange = dwKeystate ^ dwOldKeystate; - - - for (int nKeycode=1; nKeycode<33; nKeycode++) { - if (dwChange & 0x01) { - int nVirtualKeyCode = HidToVirtualKey(sRidDeviceInfo.hid.dwProductId, nKeycode); - if (nVirtualKeyCode) { - if (dwKeystate&0x01) { - On3dmouseKeyDown(pRawInput->header.hDevice, nVirtualKeyCode); - } else { - On3dmouseKeyUp(pRawInput->header.hDevice, nVirtualKeyCode); - } - } - } - dwChange >>=1; - dwKeystate >>=1; - } - } - } - } - } - return false; -} diff --git a/libs/thirdParty/3DMouse/win/Mouse3DInput.h b/libs/thirdParty/3DMouse/win/Mouse3DInput.h deleted file mode 100644 index 7fb1cd2ca677cad0d9d957467a251dcb5166adb8..0000000000000000000000000000000000000000 --- a/libs/thirdParty/3DMouse/win/Mouse3DInput.h +++ /dev/null @@ -1,100 +0,0 @@ -#ifndef T3DMOUSE_INPUT_H -#define T3DMOUSE_INPUT_H - -#include "MouseParameters.h" - -#include -#include -#include -#include -#include - -#ifndef _WIN32_WINNT -#define _WIN32_WINNT 0x0501 //target at least windows XP -#endif - -#include - - -/* - A class for connecting to and receiving data from a 3D Connexion 3D mouse - - This helper class manages the connection to a 3D mouse, collecting WM_INPUT - messages from Windows and converting the data into 3D motion data. - - This class is based on the SDK from 3D Connexion but is modified to work with Qt. - - It is Windows only since it uses the WM_INPUT messages from windows directly - rather than Qt events. - - Note that it needs to be compiled with _WIN32_WINNT defined as 0x0501 (windows XP) - or later because the raw input API was added in Windows XP. This also means that - Qt needs to be compiled with this enabled otherwise the QEventDispatcherWin32 blocks - in processEvents because the raw input messages do not cause the thread to be woken if - Qt is compiled for Win 2000 targets. -*/ - -class Mouse3DInput : public QObject, public QAbstractNativeEventFilter -{ - Q_OBJECT -public: - Mouse3DInput(QWidget* widget); - ~Mouse3DInput(); -virtual bool nativeEventFilter(const QByteArray& eventType, void* msg, long* result); - -static bool Is3dmouseAttached(); - - I3dMouseParam& MouseParams(); - const I3dMouseParam& MouseParams() const; - -virtual void Move3d(HANDLE device, std::vector& motionData); -virtual void On3dmouseKeyDown(HANDLE device, int virtualKeyCode); -virtual void On3dmouseKeyUp(HANDLE device, int virtualKeyCode); - -signals: - - void Move3d(std::vector& motionData); - void On3dmouseKeyDown(int virtualKeyCode); - void On3dmouseKeyUp(int virtualKeyCode); - -private: - - bool InitializeRawInput(HWND hwndTarget); - - - void OnRawInput(UINT nInputCode, HRAWINPUT hRawInput); - UINT GetRawInputBuffer(PRAWINPUT pData, PUINT pcbSize, UINT cbSizeHeader); - bool TranslateRawInputData(UINT nInputCode, PRAWINPUT pRawInput); - void On3dmouseInput(); - - class TInputData - { - public: - TInputData() : fAxes(6) {} - - bool IsZero() { - return (0.==fAxes[0] && 0.==fAxes[1] && 0.==fAxes[2] && - 0.==fAxes[3] && 0.==fAxes[4] && 0.==fAxes[5]); - } - - int fTimeToLive; // For telling if the device was unplugged while sending data - bool fIsDirty; - std::vector fAxes; - - }; - - HWND fWindow; - - // Data cache to handle multiple rawinput devices - std::map< HANDLE, TInputData> fDevice2Data; - std::map< HANDLE, unsigned long> fDevice2Keystate; - - // 3dmouse parameters - MouseParameters f3dMouseParams; // Rotate, Pan Zoom etc. - - // use to calculate distance traveled since last event - DWORD fLast3dmouseInputTime; - -}; - -#endif diff --git a/libs/thirdParty/3DMouse/win/MouseParameters.cpp b/libs/thirdParty/3DMouse/win/MouseParameters.cpp deleted file mode 100644 index 056253fb5b59ee3683583ce3fd5d9d3b5732c76a..0000000000000000000000000000000000000000 --- a/libs/thirdParty/3DMouse/win/MouseParameters.cpp +++ /dev/null @@ -1,88 +0,0 @@ -#include "MouseParameters.h" - -MouseParameters::MouseParameters(): fNavigation(kObjectMode) - , fPivot(kAutoPivot) - , fPivotVisibility(kShowPivot) - , fIsLockHorizon(true) - , fIsPanZoom(true) - , fIsRotate(true) - , fSpeed(kLowSpeed) -{ -} - -MouseParameters::~MouseParameters() -{ -} - -bool MouseParameters::IsPanZoom() const -{ - return fIsPanZoom; -} - -bool MouseParameters::IsRotate() const -{ - return fIsRotate; -} - -MouseParameters::ESpeed MouseParameters::GetSpeed() const -{ - return fSpeed; -} - -void MouseParameters::SetPanZoom(bool isPanZoom) -{ - fIsPanZoom=isPanZoom; -} - -void MouseParameters::SetRotate(bool isRotate) -{ - fIsRotate=isRotate; -} - -void MouseParameters::SetSpeed(ESpeed speed) -{ - fSpeed=speed; -} - - -MouseParameters::ENavigation MouseParameters::GetNavigationMode() const -{ - return fNavigation; -} - -MouseParameters::EPivot MouseParameters::GetPivotMode() const -{ - return fPivot; -} - -MouseParameters::EPivotVisibility MouseParameters::GetPivotVisibility() const -{ - return fPivotVisibility; -} - -bool MouseParameters::IsLockHorizon() const -{ - return fIsLockHorizon; -} - -void MouseParameters::SetLockHorizon(bool bOn) -{ - fIsLockHorizon=bOn; -} - -void MouseParameters::SetNavigationMode(ENavigation navigation) -{ - fNavigation=navigation; -} - -void MouseParameters::SetPivotMode(EPivot pivot) -{ - if (fPivot!=kManualPivot || pivot!=kAutoPivotOverride) - fPivot = pivot; -} - -void MouseParameters::SetPivotVisibility(EPivotVisibility visibility) -{ - fPivotVisibility = visibility; -} - diff --git a/libs/thirdParty/3DMouse/win/MouseParameters.h b/libs/thirdParty/3DMouse/win/MouseParameters.h deleted file mode 100644 index 70f5b1b6d00f72d4241b375985c72360c50a81dd..0000000000000000000000000000000000000000 --- a/libs/thirdParty/3DMouse/win/MouseParameters.h +++ /dev/null @@ -1,49 +0,0 @@ - -#ifndef T3D_MOUSE_PARAMS_H -#define T3D_MOUSE_PARAMS_H - -#include "I3dMouseParams.h" - - -class MouseParameters : public I3dMouseParam -{ -public: - MouseParameters(); - ~MouseParameters(); - - // I3dmouseSensor interface - bool IsPanZoom() const; - bool IsRotate() const; - ESpeed GetSpeed() const; - - void SetPanZoom(bool isPanZoom); - void SetRotate(bool isRotate); - void SetSpeed(ESpeed speed); - - // I3dmouseNavigation interface - ENavigation GetNavigationMode() const; - EPivot GetPivotMode() const; - EPivotVisibility GetPivotVisibility() const; - bool IsLockHorizon() const; - - void SetLockHorizon(bool bOn); - void SetNavigationMode(ENavigation navigation); - void SetPivotMode(EPivot pivot); - void SetPivotVisibility(EPivotVisibility visibility); - -private: - - MouseParameters (const MouseParameters&); - const MouseParameters& operator =(const MouseParameters&); - - ENavigation fNavigation; - EPivot fPivot; - EPivotVisibility fPivotVisibility; - bool fIsLockHorizon; - - bool fIsPanZoom; - bool fIsRotate; - ESpeed fSpeed; -}; - -#endif diff --git a/qgcresources.qrc b/qgcresources.qrc index cf696aaf9268eedbd5a589bd308b8b2b2606e88d..f7b69b43b782e20e3e16a0d0fee6a9ec784eddc0 100644 --- a/qgcresources.qrc +++ b/qgcresources.qrc @@ -237,4 +237,7 @@ src/FirmwarePlugin/APM/apm.pdef.xml + + resources/opengl/buglist.json + diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index 3ca6477bba4d190621f964b405c9ba04cb80d0d7..3e021fcc90cf63c2e280e1081aa0bb28e17b0d69 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -186,6 +186,7 @@ INCLUDEPATH += \ src/comm \ src/FlightDisplay \ src/FlightMap \ + src/FlightMap/Widgets \ src/input \ src/Joystick \ src/lib/qmapcontrol \ @@ -247,10 +248,12 @@ HEADERS += \ src/comm/UDPLink.h \ src/FlightDisplay/FlightDisplayViewController.h \ src/FlightMap/FlightMapSettings.h \ + src/FlightMap/Widgets/ValuesWidgetController.h \ src/GAudioOutput.h \ src/HomePositionManager.h \ src/Joystick/Joystick.h \ src/Joystick/JoystickManager.h \ + src/JsonHelper.h \ src/LogCompressor.h \ src/MG.h \ src/MissionManager/MissionCommandList.h \ @@ -372,10 +375,12 @@ SOURCES += \ src/comm/UDPLink.cc \ src/FlightDisplay/FlightDisplayViewController.cc \ src/FlightMap/FlightMapSettings.cc \ + src/FlightMap/Widgets/ValuesWidgetController.cc \ src/GAudioOutput.cc \ src/HomePositionManager.cc \ src/Joystick/Joystick.cc \ src/Joystick/JoystickManager.cc \ + src/JsonHelper.cc \ src/LogCompressor.cc \ src/main.cc \ src/MissionManager/MissionCommandList.cc \ @@ -675,6 +680,7 @@ INCLUDEPATH += \ HEADERS += \ src/FactSystem/Fact.h \ + src/FactSystem/FactGroup.h \ src/FactSystem/FactControls/FactPanelController.h \ src/FactSystem/FactMetaData.h \ src/FactSystem/FactSystem.h \ @@ -684,6 +690,7 @@ HEADERS += \ SOURCES += \ src/FactSystem/Fact.cc \ + src/FactSystem/FactGroup.cc \ src/FactSystem/FactControls/FactPanelController.cc \ src/FactSystem/FactMetaData.cc \ src/FactSystem/FactSystem.cc \ diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc index fb1ca4772296cdeaaa876c231a6eebcd7c6eb886..7846913c9dbd15ecbe588f2a050984c40d30de83 100644 --- a/qgroundcontrol.qrc +++ b/qgroundcontrol.qrc @@ -93,6 +93,8 @@ src/FlightDisplay/FlightDisplayViewVideo.qml src/FlightDisplay/FlightDisplayViewWidgets.qml src/FlightDisplay/qmldir + + src/FlightMap/qmldir src/FlightMap/FlightMap.qml src/FlightMap/MapItems/MissionItemIndicator.qml src/FlightMap/MapItems/MissionItemView.qml @@ -102,11 +104,13 @@ src/FlightMap/Widgets/QGCAttitudeWidget.qml src/FlightMap/Widgets/QGCCompassWidget.qml src/FlightMap/Widgets/QGCInstrumentWidget.qml + src/FlightMap/Widgets/QGCInstrumentWidgetAlternate.qml src/FlightMap/Widgets/QGCPitchIndicator.qml src/FlightMap/Widgets/QGCSlider.qml src/FlightMap/QGCVideoBackground.qml - src/FlightMap/qmldir + src/FlightMap/Widgets/ValuesWidget.qml src/FlightMap/MapItems/VehicleMapItem.qml + src/QmlControls/QGroundControl.ScreenTools.qmldir src/QmlControls/ScreenTools.qml src/QmlControls/QmlTest.qml @@ -150,5 +154,8 @@ src/FirmwarePlugin/PX4/MavCmdInfoCommon.json src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json src/FirmwarePlugin/PX4/MavCmdInfoMultiRotor.json + src/Vehicle/VehicleFact.json + src/Vehicle/BatteryFact.json + src/Vehicle/GPSFact.json diff --git a/resources/opengl/buglist.json b/resources/opengl/buglist.json new file mode 100644 index 0000000000000000000000000000000000000000..99ccbc8a267fa961a691be04507b921b47d5e1c8 --- /dev/null +++ b/resources/opengl/buglist.json @@ -0,0 +1,49 @@ +{ + "name": "QGroundControl OpenGL Driver Blacklist", + "version": "5.5", + "entries": [ + { + "id": 1, + "description": "Desktop OpenGL is unreliable on some Intel HD laptops (QTBUG-43263, QTBUG-42240)", + "vendor_id": "0x8086", + "device_id": [ "0x0A16" ], + "os": { + "type": "win" + }, + "driver_version": { + "op": "<=", + "value": "10.18.10.3277" + }, + "features": [ + "disable_desktopgl" + ] + }, + { + "id": 2, + "description": "Desktop OpenGL is unreliable on some Intel Mobile GMA Devices", + "vendor_id": "0x8086", + "device_id": [ "0x2972", "0x2973", + "0x2992", "0x2993", + "0x29A2", "0x29A3", + "0x2982", "0x2983", + "0x2A02", "0x2A03", "0x2A12", "0x2A13", + "0x2E42", "0x2E43", "0x2E92", "0x2E93", + "0x2E12", "0x2E13", + "0x2E32", "0x2E33", + "0x2E22", "0x2E23", + "0x2A42", "0x2A43", + "0x2E5B", + "0x8108", "0x8109", + "0x4102", + "0x0BE0", "0x0BE1", "0x0BE2", "0x0BE0", + "0x08C7", "0x08C8", "0x08C9", "0x08CA", "0x08CB", "0x08CC", "0x08CD", "0x08CE", "0x08CF" + ], + "os": { + "type": "win" + }, + "features": [ + "disable_desktopgl" + ] + } + ] +} diff --git a/src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc b/src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc index 31acdf1de52e625252f3f5b250a20ac1cdd3e944..c7dad8eb0c3190955db193747af80e4b3340765d 100644 --- a/src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc +++ b/src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc @@ -32,6 +32,8 @@ APMFlightModesComponentController::APMFlightModesComponentController(void) : _activeFlightMode(0) , _channelCount(Vehicle::cMaxRcChannels) , _fixedWing(_vehicle->vehicleType() == MAV_TYPE_FIXED_WING) + , _flightModeChannel(4) + { QStringList usedParams; usedParams << QStringLiteral("FLTMODE1") << QStringLiteral("FLTMODE2") << QStringLiteral("FLTMODE3") @@ -40,6 +42,10 @@ APMFlightModesComponentController::APMFlightModesComponentController(void) return; } + if (parameterExists(FactSystem::defaultComponentId, QStringLiteral("FLTMODE_CH"))) { + _flightModeChannel = getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FLTMODE_CH"))->rawValue().toInt(); + } + _rgChannelOptionEnabled << QVariant(false) << QVariant(false) << QVariant(false) << QVariant(false) << QVariant(false) << QVariant(false); connect(_vehicle, &Vehicle::rcChannelsChanged, this, &APMFlightModesComponentController::_rcChannelsChanged); @@ -48,10 +54,12 @@ APMFlightModesComponentController::APMFlightModesComponentController(void) /// Connected to Vehicle::rcChannelsChanged signal void APMFlightModesComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]) { - Q_UNUSED(channelCount); + if (_flightModeChannel > channelCount) { + return; + } _activeFlightMode = 0; - int channelValue = pwmValues[4]; + int channelValue = pwmValues[_flightModeChannel - 1]; if (channelValue != -1) { bool found = false; int rgThreshold[] = { 1230, 1360, 1490, 1620, 1749 }; diff --git a/src/AutoPilotPlugins/APM/APMFlightModesComponentController.h b/src/AutoPilotPlugins/APM/APMFlightModesComponentController.h index 66b57d200744a7f5ed03c24e5f11763a33e7f8a0..c8a13223efe6cf07bdb8cc18029260f07911c593 100644 --- a/src/AutoPilotPlugins/APM/APMFlightModesComponentController.h +++ b/src/AutoPilotPlugins/APM/APMFlightModesComponentController.h @@ -62,6 +62,7 @@ private: int _channelCount; QVariantList _rgChannelOptionEnabled; bool _fixedWing; + int _flightModeChannel; }; #endif diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml index 67345da1a905c41374539111e2ab866b6b29c8c8..6b9ebade819a74b93c9e0bba644902e68655c3ae 100644 --- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml @@ -102,6 +102,12 @@ feed-through of RC AUX3 channel + + + Simon Wilks <simon@uaventure.com> + Octo Coax Wide + + Anton Babushkin <anton@px4.io> @@ -349,9 +355,13 @@ - + Roman Bapst <roman@px4.io> VTOL Duo Tailsitter + motor left + motor right + elevon left + elevon right diff --git a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml index 864f58a0bab0ed26d20d4fd333fd752eff5d88bc..cbeae445e2ebbebe1bdf194cbc5256e358c8e27c 100644 --- a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml @@ -262,9 +262,20 @@ velocity Number of cells Defines the number of cells the attached battery consists of. - 1 + 2 10 S + + 10S Battery + 3S Battery + 2S Battery + 5S Battery + 4S Battery + 7S Battery + 6S Battery + 9S Battery + 8S Battery + Battery capacity @@ -379,6 +390,10 @@ velocity Set to 1 to enable actions triggered when the datalink is lost. 0 1 + + ON: Datalink failse + OFF: No Datalink failsafe + Datalink loss time threshold @@ -452,6 +467,11 @@ velocity The default value of 0 requires a valid RC transmitter setup. Setting this to 1 disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data. 0 2 + + Disable RC Input Checks + RC Transmitter + Virtual RC by Joystick + Time-out for auto disarm after landing @@ -1076,7 +1096,7 @@ velocity L1 period - This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation. + This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 18-25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation. 12.0 50.0 @@ -1170,8 +1190,8 @@ velocity 0: disabled, 1: enabled - Takeoff and landing airspeed scale factor - Multiplying this factor with the minimum airspeed of the plane gives the target airspeed for takeoff and landing approach. + Landing airspeed scale factor + Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. 1.0 1.5 @@ -1492,22 +1512,26 @@ velocity Reduce if the system is too twitchy, increase if the response is too slow and sluggish. 0.15 0.25 + 2 Pitch time constant Reduce if the system is too twitchy, increase if the response is too slow and sluggish. 0.15 0.25 + 2 Roll P gain Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 + 2 Roll rate P gain Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 + 3 Roll rate I gain @@ -1518,69 +1542,82 @@ velocity Roll rate D gain Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 + 4 Roll rate feedforward Improves tracking performance. 0.0 + 4 Pitch P gain Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 1/s + 2 Pitch rate P gain Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 + 3 Pitch rate I gain Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 + 2 Pitch rate D gain Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 + 4 Pitch rate feedforward Improves tracking performance. 0.0 + 4 Yaw P gain Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 1/s + 2 Yaw rate P gain Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 + 2 Yaw rate I gain Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 + 2 Yaw rate D gain Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 + 2 Yaw rate feedforward Improves tracking performance. 0.0 + 4 Yaw feed forward Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 + 2 Max roll rate @@ -1588,6 +1625,7 @@ velocity 0.0 360.0 deg/s + 1 Max pitch rate @@ -1595,6 +1633,7 @@ velocity 0.0 360.0 deg/s + 1 Max yaw rate @@ -1602,6 +1641,7 @@ velocity 0.0 360.0 deg/s + 1 Max yaw rate in auto mode @@ -1609,23 +1649,27 @@ velocity 0.0 120.0 deg/s + 1 Max acro roll rate 0.0 360.0 deg/s + 1 Max acro pitch rate 0.0 360.0 deg/s + 1 Max acro yaw rate 0.0 deg/s + 1 Threshold for Rattitude mode @@ -1633,6 +1677,7 @@ velocity 0.0 1.0 + 2 Roll P gain @@ -1750,41 +1795,49 @@ velocity It's recommended to set it > 0 to avoid free fall with zero thrust. 0.05 1.0 + 3 Maximum thrust in auto thrust control Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended. 0.0 0.95 + 2 Minimum manual thrust Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. 0.0 1.0 + 3 Maximum manual thrust Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended. 0.0 1.0 + 2 Proportional gain for vertical position error 0.0 + 2 Proportional gain for vertical velocity error 0.0 + 2 Integral gain for vertical velocity error Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. 0.0 + 3 Differential gain for vertical velocity error 0.0 + 3 Maximum vertical velocity @@ -1792,41 +1845,49 @@ velocity 0.0 8.0 m/s + 1 Vertical velocity feed forward Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 + 2 Proportional gain for horizontal position error 0.0 + 2 Proportional gain for horizontal velocity error 0.0 + 2 Integral gain for horizontal velocity error Non-zero value allows to resist wind. 0.0 + 3 Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again 0.0 + 3 Maximum horizontal velocity Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). 0.0 m/s + 2 Horizontal velocity feed forward Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 + 2 Maximum tilt angle in air @@ -1834,6 +1895,7 @@ velocity 0.0 90.0 degree + 1 Maximum tilt during landing @@ -1841,66 +1903,78 @@ velocity 0.0 90.0 degree + 1 Landing descend rate 0.0 m/s + 1 Takeoff climb rate 0.0 m/s + 2 Max manual roll 0.0 90.0 degree + 1 Max manual pitch 0.0 90.0 degree + 1 Max manual yaw rate 0.0 degree / s + 1 Deadzone of X,Y sticks where position hold is enabled 0.0 1.0 % + 2 Deadzone of Z stick where altitude hold is enabled 0.0 1.0 % + 2 Maximum horizontal velocity for which position hold is enabled (use 0 to disable check) 0.0 m/s + 2 Maximum vertical velocity for which position hold is enabled (use 0 to disable check) 0.0 m/s + 2 Low pass filter cut freq. for numerical velocity derivative 0.0 Hz + 2 Maximum horizonal acceleration in velocity controlled modes 2.0 10.0 m/s/s + 2 Minimum thrust @@ -2385,7 +2459,7 @@ velocity 0.0 10.0 - + XY axis weight for optical flow Weight (cutoff frequency) for optical flow (velocity) measurements. 0.0 @@ -2409,12 +2483,11 @@ velocity 0.0 0.1 - + Optical flow scale factor - Factor to convert raw optical flow (in pixels) to radians [rad/px]. + Factor to scale optical flow 0.0 - 1.0 - rad/px + 10.0 Minimal acceptable optical flow quality @@ -2422,13 +2495,7 @@ velocity 0.0 1.0 - - Weight for lidar filter - Lidar filter detects spikes on lidar measurements and used to detect new surface level. - 0.0 - 1.0 - - + Sonar maximal error for new surface If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable). 0.0 @@ -2482,6 +2549,19 @@ velocity 0 1 + + Enable LIDAR for altitude estimation + Enable LIDAR for altitude estimation + 0 + 1 + + + LIDAR calibration offset + LIDAR calibration offset. Value will be added to the measured distance + -20 + 20 + m + Disable vision input Set to the appropriate key (328754) to disable vision input. @@ -3961,6 +4041,12 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL 0 1 + + Front transition timeout + Time in seconds after which transition will be cancelled. Disabled if set to 0. + 0.0 + 30.0 + diff --git a/src/FactSystem/Fact.cc b/src/FactSystem/Fact.cc index 645904a153b42e2dc0c9aa746e72c1894ed01bb1..0216cd2daab34be79e06792cca7786f6c6edd927 100644 --- a/src/FactSystem/Fact.cc +++ b/src/FactSystem/Fact.cc @@ -35,6 +35,8 @@ Fact::Fact(QObject* parent) , _rawValue(0) , _type(FactMetaData::valueTypeInt32) , _metaData(NULL) + , _sendValueChangedSignals(true) + , _deferredValueChangeSignal(false) { FactMetaData* metaData = new FactMetaData(_type, this); setMetaData(metaData); @@ -47,6 +49,8 @@ Fact::Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObjec , _rawValue(0) , _type(type) , _metaData(NULL) + , _sendValueChangedSignals(true) + , _deferredValueChangeSignal(false) { FactMetaData* metaData = new FactMetaData(_type, this); setMetaData(metaData); @@ -60,11 +64,13 @@ Fact::Fact(const Fact& other, QObject* parent) const Fact& Fact::operator=(const Fact& other) { - _name = other._name; - _componentId = other._componentId; - _rawValue = other._rawValue; - _type = other._type; - + _name = other._name; + _componentId = other._componentId; + _rawValue = other._rawValue; + _type = other._type; + _sendValueChangedSignals = other._sendValueChangedSignals; + _deferredValueChangeSignal = other._deferredValueChangeSignal; + if (_metaData && other._metaData) { *_metaData = *other._metaData; } else { @@ -82,7 +88,7 @@ void Fact::forceSetRawValue(const QVariant& value) if (_metaData->convertAndValidateRaw(value, true /* convertOnly */, typedValue, errorString)) { _rawValue.setValue(typedValue); - emit valueChanged(cookedValue()); + _sendValueChangedSignal(cookedValue()); emit _containerRawValueChanged(rawValue()); } } else { @@ -99,7 +105,7 @@ void Fact::setRawValue(const QVariant& value) if (_metaData->convertAndValidateRaw(value, true /* convertOnly */, typedValue, errorString)) { if (typedValue != _rawValue) { _rawValue.setValue(typedValue); - emit valueChanged(cookedValue()); + _sendValueChangedSignal(cookedValue()); emit _containerRawValueChanged(rawValue()); } } @@ -141,7 +147,7 @@ void Fact::setEnumIndex(int index) void Fact::_containerSetRawValue(const QVariant& value) { _rawValue = value; - emit valueChanged(cookedValue()); + _sendValueChangedSignal(cookedValue()); emit vehicleUpdated(_rawValue); } @@ -492,3 +498,43 @@ bool Fact::rebootRequired(void) const return false; } } + +void Fact::setSendValueChangedSignals (bool sendValueChangedSignals) +{ + if (sendValueChangedSignals != _sendValueChangedSignals) { + _sendValueChangedSignals = sendValueChangedSignals; + emit sendValueChangedSignalsChanged(_sendValueChangedSignals); + } +} + +void Fact::_sendValueChangedSignal(QVariant value) +{ + if (_sendValueChangedSignals) { + emit valueChanged(value); + _deferredValueChangeSignal = false; + } else { + _deferredValueChangeSignal = true; + } +} + +void Fact::sendDeferredValueChangedSignal(void) +{ + if (_deferredValueChangeSignal) { + _deferredValueChangeSignal = false; + emit valueChanged(cookedValue()); + } +} + +QString Fact::enumOrValueString(void) +{ + if (_metaData) { + if (_metaData->enumStrings().count()) { + return enumStringValue(); + } else { + return cookedValueString(); + } + } else { + qWarning() << "Meta data pointer missing"; + } + return QString(); +} diff --git a/src/FactSystem/Fact.h b/src/FactSystem/Fact.h index 8e3eaa5190f9af1384d1218e40ddc4aaf765f02b..67e8a4a5b24b5d254f80895f9e402a7fd5f44305 100644 --- a/src/FactSystem/Fact.h +++ b/src/FactSystem/Fact.h @@ -72,7 +72,8 @@ public: Q_PROPERTY(QString units READ cookedUnits CONSTANT) Q_PROPERTY(QVariant value READ cookedValue WRITE setCookedValue NOTIFY valueChanged) Q_PROPERTY(bool valueEqualsDefault READ valueEqualsDefault NOTIFY valueChanged) - Q_PROPERTY(QVariant valueString READ cookedValueString NOTIFY valueChanged) + Q_PROPERTY(QString valueString READ cookedValueString NOTIFY valueChanged) + Q_PROPERTY(QString enumOrValueString READ enumOrValueString NOTIFY valueChanged) /// Convert and validate value /// @param convertOnly true: validate type conversion only, false: validate against meta data as well @@ -111,12 +112,22 @@ public: QString cookedValueString (void) const; bool valueEqualsDefault (void) const; bool rebootRequired (void) const; + QString enumOrValueString (void); // This is not const, since an unknown value can modify the enum lists void setRawValue (const QVariant& value); void setCookedValue (const QVariant& value); void setEnumIndex (int index); void setEnumStringValue (const QString& value); + // The following methods allow you to defer sending of the valueChanged signals in order to implement + // rate limited signalling for ui performance. Used by FactGroup for example. + + void setSendValueChangedSignals (bool sendValueChangedSignals); + bool sendValueChangedSignals (void) const { return _sendValueChangedSignals; } + bool deferredValueChangeSignal(void) const { return _deferredValueChangeSignal; } + void clearDeferredValueChangeSignal(void) { _deferredValueChangeSignal = false; } + void sendDeferredValueChangedSignal(void); + // C++ methods /// Sets and sends new value to vehicle even if value is the same @@ -129,12 +140,14 @@ public: /// Generally you should not change the name of a fact. But if you know what you are doing, you can. void _setName(const QString& name) { _name = name; } + signals: void bitmaskStringsChanged(void); void bitmaskValuesChanged(void); void enumStringsChanged(void); void enumValuesChanged(void); + void sendValueChangedSignalsChanged(bool sendValueChangedSignals); /// QObject Property System signal for value property changes /// @@ -151,12 +164,15 @@ signals: protected: QString _variantToString(const QVariant& variant) const; + void _sendValueChangedSignal(QVariant value); QString _name; int _componentId; QVariant _rawValue; FactMetaData::ValueType_t _type; FactMetaData* _metaData; + bool _sendValueChangedSignals; + bool _deferredValueChangeSignal; }; #endif diff --git a/src/FactSystem/FactGroup.cc b/src/FactSystem/FactGroup.cc new file mode 100644 index 0000000000000000000000000000000000000000..4ff0fa628fa7270d8348ca1ce13d98a8c1d5b745 --- /dev/null +++ b/src/FactSystem/FactGroup.cc @@ -0,0 +1,239 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2014 QGROUNDCONTROL PROJECT + + This file is part of the QGROUNDCONTROL project + + QGROUNDCONTROL is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + QGROUNDCONTROL is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with QGROUNDCONTROL. If not, see . + + ======================================================================*/ + +#include "FactGroup.h" +#include "JsonHelper.h" + +#include +#include +#include +#include +#include +#include + +QGC_LOGGING_CATEGORY(FactGroupLog, "FactGroupLog") + +const char* FactGroup::_decimalPlacesJsonKey = "decimalPlaces"; +const char* FactGroup::_nameJsonKey = "name"; +const char* FactGroup::_propertiesJsonKey = "properties"; +const char* FactGroup::_versionJsonKey = "version"; +const char* FactGroup::_typeJsonKey = "type"; +const char* FactGroup::_shortDescriptionJsonKey = "shortDescription"; +const char* FactGroup::_unitsJsonKey = "units"; + +FactGroup::FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent) + : QObject(parent) + , _updateRateMSecs(updateRateMsecs) +{ + if (_updateRateMSecs > 0) { + connect(&_updateTimer, &QTimer::timeout, this, &FactGroup::_updateAllValues); + _updateTimer.setSingleShot(false); + _updateTimer.start(_updateRateMSecs); + } + + _loadMetaData(metaDataFile); +} + +Fact* FactGroup::getFact(const QString& name) +{ + Fact* fact = NULL; + + if (name.contains(".")) { + QStringList parts = name.split("."); + if (parts.count() != 2) { + qWarning() << "Only single level of hierarchy supported"; + return NULL; + } + + FactGroup * factGroup = getFactGroup(parts[0]); + if (!factGroup) { + qWarning() << "Unknown FactGroup" << parts[0]; + return NULL; + } + + return factGroup->getFact(parts[1]); + } + + if (_nameToFactMap.contains(name)) { + fact = _nameToFactMap[name]; + QQmlEngine::setObjectOwnership(fact, QQmlEngine::CppOwnership); + } else { + qWarning() << "Unknown Fact" << name; + } + + return fact; +} + +FactGroup* FactGroup::getFactGroup(const QString& name) +{ + FactGroup* factGroup = NULL; + + if (_nameToFactGroupMap.contains(name)) { + factGroup = _nameToFactGroupMap[name]; + QQmlEngine::setObjectOwnership(factGroup, QQmlEngine::CppOwnership); + } else { + qWarning() << "Unknown FactGroup" << name; + } + + return factGroup; +} + +void FactGroup::_addFact(Fact* fact, const QString& name) +{ + if (_nameToFactMap.contains(name)) { + qWarning() << "Duplicate Fact" << name; + return; + } + + fact->setSendValueChangedSignals(_updateRateMSecs == 0); + if (_nameToFactMetaDataMap.contains(name)) { + fact->setMetaData(_nameToFactMetaDataMap[name]); + } + _nameToFactMap[name] = fact; +} + +void FactGroup::_addFactGroup(FactGroup* factGroup, const QString& name) +{ + if (_nameToFactGroupMap.contains(name)) { + qWarning() << "Duplicate FactGroup" << name; + return; + } + + _nameToFactGroupMap[name] = factGroup; +} + +void FactGroup::_updateAllValues(void) +{ + foreach(Fact* fact, _nameToFactMap) { + fact->sendDeferredValueChangedSignal(); + } +} + +void FactGroup::_loadMetaData(const QString& jsonFilename) +{ + if (jsonFilename.isEmpty()) { + return; + } + + qCDebug(FactGroupLog) << "Loading" << jsonFilename; + + QFile jsonFile(jsonFilename); + if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) { + qWarning() << "Unable to open file" << jsonFilename << jsonFile.errorString(); + return; + } + + QByteArray bytes = jsonFile.readAll(); + jsonFile.close(); + QJsonParseError jsonParseError; + QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError); + if (jsonParseError.error != QJsonParseError::NoError) { + qWarning() << "Unable to open json document" << jsonFilename << jsonParseError.errorString(); + return; + } + + QJsonObject json = doc.object(); + + int version = json.value(_versionJsonKey).toInt(); + if (version != 1) { + qWarning() << "Invalid version" << version; + return; + } + + QJsonValue jsonValue = json.value(_propertiesJsonKey); + if (!jsonValue.isArray()) { + qWarning() << "properties object not array"; + return; + } + + QJsonArray jsonArray = jsonValue.toArray(); + foreach(QJsonValue property, jsonArray) { + if (!property.isObject()) { + qWarning() << "properties object should contain only objects"; + return; + } + QJsonObject jsonObject = property.toObject(); + + // Make sure we have the required keys + QString errorString; + QStringList requiredKeys; + requiredKeys << _nameJsonKey << _decimalPlacesJsonKey << _typeJsonKey << _shortDescriptionJsonKey; + if (!JsonHelper::validateRequiredKeys(jsonObject, requiredKeys, errorString)) { + qWarning() << errorString; + return; + } + + // Validate key types + + QStringList keys; + QList types; + keys << _nameJsonKey << _decimalPlacesJsonKey; + types << QJsonValue::String << QJsonValue::Double; + if (!JsonHelper::validateKeyTypes(jsonObject, keys, types, errorString)) { + qWarning() << errorString; + return; + } + + QString name = jsonObject.value(_nameJsonKey).toString(); + if (_nameToFactMetaDataMap.contains(name)) { + qWarning() << "Duplicate property name" << name; + continue; + } + + bool unknownType; + FactMetaData::ValueType_t type = FactMetaData::stringToType(jsonObject.value(_typeJsonKey).toString(), unknownType); + if (unknownType) { + qWarning() << "Unknown type" << jsonObject.value(_typeJsonKey).toString(); + return; + } + + QStringList enumValues, enumStrings; + if (!JsonHelper::parseEnum(jsonObject, enumStrings, enumValues, errorString)) { + qWarning() << errorString; + return; + } + + FactMetaData* metaData = new FactMetaData(type, this); + + metaData->setDecimalPlaces(jsonObject.value(_decimalPlacesJsonKey).toInt()); + metaData->setShortDescription(jsonObject.value(_shortDescriptionJsonKey).toString()); + metaData->setRawUnits(jsonObject.value(_unitsJsonKey).toString()); + + for (int i=0; iconvertAndValidateRaw(enumValues[i], false /* validate */, enumVariant, errorString)) { + metaData->addEnumInfo(enumStrings[i], enumVariant); + } else { + qWarning() << "Invalid enum value, name:" << metaData->name() + << " type:" << metaData->type() << " value:" << enumValues[i] + << " error:" << errorString; + delete metaData; + return; + } + } + + _nameToFactMetaDataMap[name] = metaData; + } +} diff --git a/src/FactSystem/FactGroup.h b/src/FactSystem/FactGroup.h new file mode 100644 index 0000000000000000000000000000000000000000..5135d9e5c3a1a4ff49508abca2340c45f7e00e34 --- /dev/null +++ b/src/FactSystem/FactGroup.h @@ -0,0 +1,83 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2014 QGROUNDCONTROL PROJECT + + This file is part of the QGROUNDCONTROL project + + QGROUNDCONTROL is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + QGROUNDCONTROL is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with QGROUNDCONTROL. If not, see . + + ======================================================================*/ + +#ifndef FactGroup_H +#define FactGroup_H + +#include "Fact.h" +#include "QGCLoggingCategory.h" + +#include +#include +#include + +Q_DECLARE_LOGGING_CATEGORY(VehicleLog) + +/// Used to group Facts together into an object hierarachy. +class FactGroup : public QObject +{ + Q_OBJECT + +public: + FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent = NULL); + + Q_PROPERTY(QStringList factNames READ factNames CONSTANT) + Q_PROPERTY(QStringList factGroupNames READ factGroupNames CONSTANT) + + /// @return Fact for specified name, NULL if not found + Q_INVOKABLE Fact* getFact(const QString& name); + + /// @return FactGroup for specified name, NULL if not found + Q_INVOKABLE FactGroup* getFactGroup(const QString& name); + + QStringList factNames(void) const { return _nameToFactMap.keys(); } + QStringList factGroupNames(void) const { return _nameToFactGroupMap.keys(); } + +protected: + void _addFact(Fact* fact, const QString& name); + void _addFactGroup(FactGroup* factGroup, const QString& name); + + int _updateRateMSecs; ///< Update rate for Fact::valueChanged signals, 0: immediate update + +private slots: + void _updateAllValues(void); + +private: + void _loadMetaData(const QString& filename); + + QMap _nameToFactMap; + QMap _nameToFactGroupMap; + QMap _nameToFactMetaDataMap; + + QTimer _updateTimer; + + static const char* _propertiesJsonKey; + static const char* _nameJsonKey; + static const char* _decimalPlacesJsonKey; + static const char* _typeJsonKey; + static const char* _versionJsonKey; + static const char* _shortDescriptionJsonKey; + static const char* _unitsJsonKey; +}; + +#endif diff --git a/src/FactSystem/FactMetaData.cc b/src/FactSystem/FactMetaData.cc index 18ab974b1bc5ed45df3eac93f18ab04397806947..dc79a8fb7dd74172080e8e320cc7b8977946361d 100644 --- a/src/FactSystem/FactMetaData.cc +++ b/src/FactSystem/FactMetaData.cc @@ -398,3 +398,39 @@ void FactMetaData::setRawUnits(const QString& rawUnits) _setBuiltInTranslator(); } + +FactMetaData::ValueType_t FactMetaData::stringToType(const QString& typeString, bool& unknownType) +{ + QStringList knownTypeStrings; + QList knownTypes; + + unknownType = false; + + knownTypeStrings << QStringLiteral("Uint8") + << QStringLiteral("Int8") + << QStringLiteral("Uint16") + << QStringLiteral("Int16") + << QStringLiteral("Uint32") + << QStringLiteral("Int32") + << QStringLiteral("Float") + << QStringLiteral("Double"); + + knownTypes << valueTypeUint8 + << valueTypeInt8 + << valueTypeUint16 + << valueTypeInt16 + << valueTypeUint32 + << valueTypeInt32 + << valueTypeFloat + << valueTypeDouble; + + for (int i=0; i #include "FactSystem.h" +#include "FactGroup.h" #include "FactPanelController.h" #include @@ -41,6 +42,8 @@ void FactSystem::setToolbox(QGCToolbox *toolbox) { QGCTool::setToolbox(toolbox); - qmlRegisterType(_factSystemQmlUri, 1, 0, "Fact"); + qmlRegisterType (_factSystemQmlUri, 1, 0, "Fact"); qmlRegisterType(_factSystemQmlUri, 1, 0, "FactPanelController"); + + qmlRegisterUncreatableType(_factSystemQmlUri, 1, 0, "FactGroup", "ReferenceOnly"); } diff --git a/src/FactSystem/ParameterLoader.cc b/src/FactSystem/ParameterLoader.cc index b5fded326a9504a0cd02d8933310533b34b63711..74152027a3bd455869e9566399a406e75136d923 100644 --- a/src/FactSystem/ParameterLoader.cc +++ b/src/FactSystem/ParameterLoader.cc @@ -50,8 +50,10 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, Q , _autopilot(autopilot) , _vehicle(vehicle) , _mavlink(qgcApp()->toolbox()->mavlinkProtocol()) + , _dedicatedLink(_vehicle->priorityLink()) , _parametersReady(false) , _initialLoadComplete(false) + , _saveRequired(false) , _defaultComponentId(FactSystem::defaultComponentId) , _totalParamCount(0) { @@ -290,6 +292,7 @@ void ParameterLoader::_valueUpdated(const QVariant& value) _waitingWriteParamNameMap[componentId].remove(name); // Remove any old entry _waitingWriteParamNameMap[componentId][name] = 0; // Add new entry and set retry count _waitingParamTimeoutTimer.start(); + _saveRequired = true; _dataMutex.unlock(); @@ -327,7 +330,7 @@ void ParameterLoader::refreshAllParameters(uint8_t componentID) mavlink_message_t msg; mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->id(), componentID); - _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg); + _vehicle->sendMessageOnLink(_dedicatedLink, msg); QString what = (componentID == MAV_COMP_ID_ALL) ? "MAV_COMP_ID_ALL" : QString::number(componentID); qCDebug(ParameterLoaderLog) << "Request to refresh all parameters for component ID:" << what; @@ -529,7 +532,7 @@ void ParameterLoader::_tryCacheLookup() mavlink_message_t msg; mavlink_msg_param_request_read_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->id(), MAV_COMP_ID_ALL, "_HASH_CHECK", -1); - _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg); + _vehicle->sendMessageOnLink(_dedicatedLink, msg); } void ParameterLoader::_readParameterRaw(int componentId, const QString& paramName, int paramIndex) @@ -545,7 +548,7 @@ void ParameterLoader::_readParameterRaw(int componentId, const QString& paramNam componentId, // Target component id fixedParamName, // Named parameter being requested paramIndex); // Parameter index being requested, -1 for named - _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg); + _vehicle->sendMessageOnLink(_dedicatedLink, msg); } void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramName, const QVariant& value) @@ -598,7 +601,7 @@ void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramNa mavlink_message_t msg; mavlink_msg_param_set_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &p); - _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg); + _vehicle->sendMessageOnLink(_dedicatedLink, msg); } void ParameterLoader::_writeLocalParamCache() @@ -672,13 +675,16 @@ void ParameterLoader::_tryCacheHashLoad(int uasId, QVariant hash_value) void ParameterLoader::_saveToEEPROM(void) { - if (_vehicle->firmwarePlugin()->isCapable(FirmwarePlugin::MavCmdPreflightStorageCapability)) { - mavlink_message_t msg; - mavlink_msg_command_long_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, _vehicle->id(), 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0); - _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg); - qCDebug(ParameterLoaderLog) << "_saveToEEPROM"; - } else { - qCDebug(ParameterLoaderLog) << "_saveToEEPROM skipped due to FirmwarePlugin::isCapable"; + if (_saveRequired) { + _saveRequired = false; + if (_vehicle->firmwarePlugin()->isCapable(FirmwarePlugin::MavCmdPreflightStorageCapability)) { + mavlink_message_t msg; + mavlink_msg_command_long_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, _vehicle->id(), 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0); + _vehicle->sendMessageOnLink(_dedicatedLink, msg); + qCDebug(ParameterLoaderLog) << "_saveToEEPROM"; + } else { + qCDebug(ParameterLoaderLog) << "_saveToEEPROM skipped due to FirmwarePlugin::isCapable"; + } } } diff --git a/src/FactSystem/ParameterLoader.h b/src/FactSystem/ParameterLoader.h index f4cbd6c3e629dbd7fa96aa565661402daccab94c..7c28709e1f3ca520e2ed046277314b9e95628e3b 100644 --- a/src/FactSystem/ParameterLoader.h +++ b/src/FactSystem/ParameterLoader.h @@ -127,6 +127,8 @@ private: FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType); void _saveToEEPROM(void); void _checkInitialLoadComplete(void); + + LinkInterface* _dedicatedLink; ///< Parameter protocol stays on this link /// First mapping is by component id /// Second mapping is parameter name, to Fact* in QVariant @@ -139,6 +141,7 @@ private: bool _parametersReady; ///< true: full set of parameters correctly loaded bool _initialLoadComplete; ///< true: Initial load of all parameters complete, whether succesful or not + bool _saveRequired; ///< true: _saveToEEPROM should be called int _defaultComponentId; QString _defaultComponentIdParam; diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc index 48623a7b5b1db8e3e40198b87a2dd4dc347870e7..6ebf05d6aa2a74d1cf4acc3b3a5ba137cf2156f7 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc @@ -483,8 +483,8 @@ QList APMFirmwarePlugin::supportedMissionCommands(void) { QList list; - list << MAV_CMD_NAV_WAYPOINT - << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TURNS << MAV_CMD_NAV_LOITER_TIME + list << MAV_CMD_NAV_WAYPOINT << MAV_CMD_NAV_SPLINE_WAYPOINT + << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TURNS << MAV_CMD_NAV_LOITER_TIME << MAV_CMD_NAV_LOITER_TO_ALT << MAV_CMD_NAV_RETURN_TO_LAUNCH << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF << MAV_CMD_NAV_GUIDED_ENABLE << MAV_CMD_DO_SET_ROI << MAV_CMD_DO_GUIDED_LIMITS << MAV_CMD_DO_JUMP << MAV_CMD_DO_CHANGE_SPEED << MAV_CMD_DO_SET_CAM_TRIGG_DIST @@ -492,7 +492,13 @@ QList APMFirmwarePlugin::supportedMissionCommands(void) << MAV_CMD_DO_SET_SERVO << MAV_CMD_DO_REPEAT_SERVO << MAV_CMD_DO_DIGICAM_CONFIGURE << MAV_CMD_DO_DIGICAM_CONTROL << MAV_CMD_DO_MOUNT_CONTROL - << MAV_CMD_CONDITION_DELAY << MAV_CMD_CONDITION_CHANGE_ALT << MAV_CMD_CONDITION_DISTANCE << MAV_CMD_CONDITION_YAW; + << MAV_CMD_DO_SET_HOME + << MAV_CMD_DO_LAND_START + << MAV_CMD_DO_FENCE_ENABLE << MAV_CMD_DO_PARACHUTE << MAV_CMD_DO_INVERTED_FLIGHT << MAV_CMD_DO_GRIPPER + << MAV_CMD_CONDITION_DELAY << MAV_CMD_CONDITION_CHANGE_ALT << MAV_CMD_CONDITION_DISTANCE << MAV_CMD_CONDITION_YAW + << MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND + << MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT; + return list; } diff --git a/src/FirmwarePlugin/APM/MavCmdInfoCommon.json b/src/FirmwarePlugin/APM/MavCmdInfoCommon.json index 77a8d80304d9720f6c282cabc0802eef05cc281a..33ba78d79533ef05907fcb37347738ff279c9c13 100644 --- a/src/FirmwarePlugin/APM/MavCmdInfoCommon.json +++ b/src/FirmwarePlugin/APM/MavCmdInfoCommon.json @@ -2,5 +2,44 @@ "version": 1, "mavCmdInfo": [ + { + "id": 22, + "rawName": "MAV_CMD_NAV_TAKEOFF", + "friendlyName": "Takeoff", + "description": "Take off from the ground.", + "specifiesCoordinate": false, + "friendlyEdit": true, + "category": "Basic", + "param1": { + "label": "Pitch:", + "units": "radians", + "default": 0.26179939, + "decimalPlaces": 2 + } + }, + { + "id": 84, + "rawName": "MAV_CMD_NAV_VTOL_TAKEOFF", + "friendlyName": "VTOL takeoff", + "description": "Takeoff from ground using VTOL mode.", + "specifiesCoordinate": true, + "friendlyEdit": true, + "category": "VTOL" + }, + { + "id": 85, + "rawName": "MAV_CMD_NAV_VTOL_LAND", + "friendlyName": "VTOL land", + "description": "Land using VTOL mode.", + "specifiesCoordinate": true, + "friendlyEdit": true, + "category": "VTOL", + "param7": { + "label": "Altitude:", + "units": "meters", + "default": 0.0, + "decimalPlaces": 2 + } + } ] } diff --git a/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json b/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json index fde6c6960bd4ed33908270720cbc83d9545fe98b..77a8d80304d9720f6c282cabc0802eef05cc281a 100644 --- a/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json +++ b/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json @@ -2,20 +2,5 @@ "version": 1, "mavCmdInfo": [ - { - "id": 22, - "rawName": "MAV_CMD_NAV_TAKEOFF", - "friendlyName": "Takeoff", - "description": "Take off from the ground.", - "specifiesCoordinate": true, - "friendlyEdit": true, - "category": "Basic", - "param1": { - "label": "Pitch:", - "units": "radians", - "default": 0.26179939, - "decimalPlaces": 2 - } - } ] } diff --git a/src/FirmwarePlugin/APM/MavCmdInfoMultiRotor.json b/src/FirmwarePlugin/APM/MavCmdInfoMultiRotor.json index 13c75c6fdadfc7821d7b22928ba9f884e065d81f..850e51d26bcf46e6b04da7b14eca988e9e9f23fd 100644 --- a/src/FirmwarePlugin/APM/MavCmdInfoMultiRotor.json +++ b/src/FirmwarePlugin/APM/MavCmdInfoMultiRotor.json @@ -7,7 +7,7 @@ "rawName": "MAV_CMD_NAV_TAKEOFF", "friendlyName": "Takeoff", "description": "Take off from the ground.", - "specifiesCoordinate": true, + "specifiesCoordinate": false, "friendlyEdit": true, "category": "Basic" }, diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc index bcb6ee483942a6ca0235f6c3f701d1b0be988bff..7da869d0af7f02e3e8a8751ffca68f76ae5fd911 100644 --- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc +++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc @@ -68,7 +68,7 @@ struct Modes2Name { }; /// Tranlates from PX4 custom modes to flight mode names -// FIXME: Doens't handle fixed-wing/multi-rotor name differences + static const struct Modes2Name rgModes2Name[] = { { PX4_CUSTOM_MAIN_MODE_MANUAL, 0, "Manual", true }, { PX4_CUSTOM_MAIN_MODE_ACRO, 0, "Acro", true }, @@ -77,12 +77,12 @@ static const struct Modes2Name rgModes2Name[] = { { PX4_CUSTOM_MAIN_MODE_ALTCTL, 0, "Altitude Control", true }, { PX4_CUSTOM_MAIN_MODE_POSCTL, 0, "Position Control", true }, { PX4_CUSTOM_MAIN_MODE_OFFBOARD, 0, "Offboard Control", true }, - { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, "Auto Ready", false }, - { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, "Taking Off", false }, - { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LOITER, "Loiter", true }, - { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION, "Mission", true }, - { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTL, "Return To Land", true }, - { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LAND, "Landing", false }, + { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, "Auto: Ready", false }, + { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, "Auto: Takeoff", false }, + { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LOITER, "Auto: Pause", true }, + { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION, "Auto: Mission", true }, + { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTL, "Auto: Return To Land", true }, + { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LAND, "Auto: Landing", false }, }; @@ -215,14 +215,15 @@ QList PX4FirmwarePlugin::supportedMissionCommands(void) list << MAV_CMD_NAV_WAYPOINT << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TIME - << MAV_CMD_NAV_RETURN_TO_LAUNCH << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF + << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF << MAV_CMD_NAV_ROI << MAV_CMD_DO_JUMP << MAV_CMD_CONDITION_DELAY - << MAV_CMD_DO_VTOL_TRANSITION + << MAV_CMD_DO_VTOL_TRANSITION << MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND << MAV_CMD_DO_DIGICAM_CONTROL << MAV_CMD_DO_SET_SERVO - << MAV_CMD_DO_CHANGE_SPEED; + << MAV_CMD_DO_CHANGE_SPEED + << MAV_CMD_NAV_PATHPLANNING; return list; } diff --git a/src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc b/src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc index d64380b20014b0c7bdadeeed7be0fabc326e1b59..4fe2703ad98c7b43b0643210e537df6d6fc8b3e1 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc +++ b/src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc @@ -198,30 +198,9 @@ void PX4ParameterMetaData::_loadParameterFactMetaData(void) qCDebug(PX4ParameterMetaDataLog) << "Found parameter name:" << name << " type:" << type << " default:" << strDefault; // Convert type from string to FactMetaData::ValueType_t - - struct String2Type { - const char* strType; - FactMetaData::ValueType_t type; - }; - - static const struct String2Type rgString2Type[] = { - { "FLOAT", FactMetaData::valueTypeFloat }, - { "INT32", FactMetaData::valueTypeInt32 }, - }; - static const size_t crgString2Type = sizeof(rgString2Type) / sizeof(rgString2Type[0]); - - bool found = false; - FactMetaData::ValueType_t foundType; - for (size_t i=0; istrType) { - found = true; - foundType = info->type; - break; - } - } - if (!found) { + bool unknownType; + FactMetaData::ValueType_t foundType = FactMetaData::stringToType(type, unknownType); + if (unknownType) { qWarning() << "Parameter meta data with bad type:" << type << " name:" << name; return; } diff --git a/src/FlightDisplay/FlightDisplayView.qml b/src/FlightDisplay/FlightDisplayView.qml index 36f29eb2ecb3cde7a07a75349aaa742fd5c90ac0..764b89c09e1ce3ed88d9093ce6992cd1993c9a85 100644 --- a/src/FlightDisplay/FlightDisplayView.qml +++ b/src/FlightDisplay/FlightDisplayView.qml @@ -36,10 +36,13 @@ import QGroundControl.Controls 1.0 import QGroundControl.Palette 1.0 import QGroundControl.Vehicle 1.0 import QGroundControl.Controllers 1.0 +import QGroundControl.FactSystem 1.0 /// Flight Display View -Item { - id: root +QGCView { + id: root + viewPanel: _panel + topDialogMargin: height - availableHeight QGCPalette { id: qgcPal; colorGroupEnabled: enabled } @@ -52,10 +55,9 @@ Item { readonly property real _defaultRoll: 0 readonly property real _defaultPitch: 0 readonly property real _defaultHeading: 0 - readonly property real _defaultAltitudeWGS84: 0 + readonly property real _defaultAltitudeAMSL: 0 readonly property real _defaultGroundSpeed: 0 readonly property real _defaultAirSpeed: 0 - readonly property real _defaultClimbRate: 0 readonly property string _mapName: "FlightDisplayView" readonly property string _showMapBackgroundKey: "/showMapBackground" @@ -65,18 +67,18 @@ Item { property bool _mainIsMap: QGroundControl.loadBoolGlobalSetting(_mainIsMapKey, true) property bool _isPipVisible: QGroundControl.loadBoolGlobalSetting(_PIPVisibleKey, true) - property real _roll: _activeVehicle ? (isNaN(_activeVehicle.roll) ? _defaultRoll : _activeVehicle.roll) : _defaultRoll - property real _pitch: _activeVehicle ? (isNaN(_activeVehicle.pitch) ? _defaultPitch : _activeVehicle.pitch) : _defaultPitch - property real _heading: _activeVehicle ? (isNaN(_activeVehicle.heading) ? _defaultHeading : _activeVehicle.heading) : _defaultHeading + property real _roll: _activeVehicle ? _activeVehicle.roll.value : _defaultRoll + property real _pitch: _activeVehicle ? _activeVehicle.pitch.value : _defaultPitch + property real _heading: _activeVehicle ? _activeVehicle.heading.value : _defaultHeading - property real _altitudeWGS84: _activeVehicle ? _activeVehicle.altitudeWGS84 : _defaultAltitudeWGS84 - property real _groundSpeed: _activeVehicle ? _activeVehicle.groundSpeed : _defaultGroundSpeed - property real _airSpeed: _activeVehicle ? _activeVehicle.airSpeed : _defaultAirSpeed - property real _climbRate: _activeVehicle ? _activeVehicle.climbRate : _defaultClimbRate + + property Fact _emptyFact: Fact { } + property Fact _groundSpeedFact: _activeVehicle ? _activeVehicle.groundSpeed : _emptyFact + property Fact _airSpeedFact: _activeVehicle ? _activeVehicle.airSpeed : _emptyFact property bool activeVehicleJoystickEnabled: _activeVehicle ? _activeVehicle.joystickEnabled : false - property var _savedZoomLevel: 0 + property real _savedZoomLevel: 0 property real pipSize: mainWindow.width * 0.2 @@ -138,143 +140,149 @@ Item { px4JoystickCheck() } - //-- Map View - // For whatever reason, if FlightDisplayViewMap is the root item, changing - // width/height has no effect. - Item { - id: _flightMapContainer - z: _mainIsMap ? root.z + 1 : root.z + 2 - anchors.left: root.left - anchors.bottom: root.bottom - visible: _mainIsMap || _isPipVisible - width: _mainIsMap ? root.width : pipSize - height: _mainIsMap ? root.height : pipSize * (9/16) - states: [ - State { - name: "pipMode" - PropertyChanges { - target: _flightMapContainer - anchors.margins: ScreenTools.defaultFontPixelHeight - } - }, - State { - name: "fullMode" - PropertyChanges { - target: _flightMapContainer - anchors.margins: 0 + QGCViewPanel { + id: _panel + anchors.fill: parent + + //-- Map View + // For whatever reason, if FlightDisplayViewMap is the _panel item, changing + // width/height has no effect. + Item { + id: _flightMapContainer + z: _mainIsMap ? _panel.z + 1 : _panel.z + 2 + anchors.left: _panel.left + anchors.bottom: _panel.bottom + visible: _mainIsMap || _isPipVisible + width: _mainIsMap ? _panel.width : pipSize + height: _mainIsMap ? _panel.height : pipSize * (9/16) + states: [ + State { + name: "pipMode" + PropertyChanges { + target: _flightMapContainer + anchors.margins: ScreenTools.defaultFontPixelHeight + } + }, + State { + name: "fullMode" + PropertyChanges { + target: _flightMapContainer + anchors.margins: 0 + } } + ] + FlightDisplayViewMap { + id: _flightMap + anchors.fill: parent } - ] - FlightDisplayViewMap { - id: _flightMap - anchors.fill: parent } - } - //-- Video View - FlightDisplayViewVideo { - id: _flightVideo - z: _mainIsMap ? root.z + 2 : root.z + 1 - width: !_mainIsMap ? root.width : pipSize - height: !_mainIsMap ? root.height : pipSize * (9/16) - anchors.left: root.left - anchors.bottom: root.bottom - visible: _controller.hasVideo && (!_mainIsMap || _isPipVisible) - states: [ - State { - name: "pipMode" - PropertyChanges { - target: _flightVideo - anchors.margins: ScreenTools.defaultFontPixelHeight + //-- Video View + FlightDisplayViewVideo { + id: _flightVideo + z: _mainIsMap ? _panel.z + 2 : _panel.z + 1 + width: !_mainIsMap ? _panel.width : pipSize + height: !_mainIsMap ? _panel.height : pipSize * (9/16) + anchors.left: _panel.left + anchors.bottom: _panel.bottom + visible: _controller.hasVideo && (!_mainIsMap || _isPipVisible) + states: [ + State { + name: "pipMode" + PropertyChanges { + target: _flightVideo + anchors.margins: ScreenTools.defaultFontPixelHeight + } + }, + State { + name: "fullMode" + PropertyChanges { + target: _flightVideo + anchors.margins: 0 + } } - }, - State { - name: "fullMode" - PropertyChanges { - target: _flightVideo - anchors.margins: 0 - } - } - ] - } - - QGCPipable { - id: _flightVideoPipControl - z: _flightVideo.z + 3 - width: pipSize - height: pipSize * (9/16) - anchors.left: root.left - anchors.bottom: root.bottom - anchors.margins: ScreenTools.defaultFontPixelHeight - isHidden: !_isPipVisible - isDark: isBackgroundDark - onActivated: { - _mainIsMap = !_mainIsMap - setStates() + ] } - onHideIt: { - setPipVisibility(!state) + + QGCPipable { + id: _flightVideoPipControl + z: _flightVideo.z + 3 + width: pipSize + height: pipSize * (9/16) + anchors.left: _panel.left + anchors.bottom: _panel.bottom + anchors.margins: ScreenTools.defaultFontPixelHeight + isHidden: !_isPipVisible + isDark: isBackgroundDark + onActivated: { + _mainIsMap = !_mainIsMap + setStates() + } + onHideIt: { + setPipVisibility(!state) + } } - } - //-- Widgets - Loader { - id: widgetsLoader - z: root.z + 4 - anchors.right: parent.right - anchors.left: parent.left - anchors.bottom: parent.bottom - height: availableHeight - property bool isBackgroundDark: root.isBackgroundDark - } + //-- Widgets + Loader { + id: widgetsLoader + z: _panel.z + 4 + anchors.right: parent.right + anchors.left: parent.left + anchors.bottom: parent.bottom + height: availableHeight + property bool isBackgroundDark: root.isBackgroundDark + property var qgcView: root + } - //-- Virtual Joystick - Item { - id: multiTouchItem - z: root.z + 5 - width: parent.width - (_flightVideoPipControl.width / 2) - height: thumbAreaHeight - visible: QGroundControl.virtualTabletJoystick - anchors.bottom: _flightVideoPipControl.top - anchors.bottomMargin: ScreenTools.defaultFontPixelHeight * 2 - anchors.horizontalCenter: parent.horizontalCenter - - readonly property real thumbAreaHeight: Math.min(parent.height * 0.25, ScreenTools.defaultFontPixelWidth * 16) - - QGCMapPalette { id: mapPal; lightColors: !isBackgroundDark } - - Timer { - interval: 40 // 25Hz, same as real joystick rate - running: QGroundControl.virtualTabletJoystick && _activeVehicle - repeat: true - onTriggered: { - if (_activeVehicle) { - _activeVehicle.virtualTabletJoystickValue(rightStick.xAxis, rightStick.yAxis, leftStick.xAxis, leftStick.yAxis) + //-- Virtual Joystick + Item { + id: multiTouchItem + z: _panel.z + 5 + width: parent.width - (_flightVideoPipControl.width / 2) + height: thumbAreaHeight + visible: QGroundControl.virtualTabletJoystick + anchors.bottom: _flightVideoPipControl.top + anchors.bottomMargin: ScreenTools.defaultFontPixelHeight * 2 + anchors.horizontalCenter: parent.horizontalCenter + + readonly property real thumbAreaHeight: Math.min(parent.height * 0.25, ScreenTools.defaultFontPixelWidth * 16) + + QGCMapPalette { id: mapPal; lightColors: !isBackgroundDark } + + Timer { + interval: 40 // 25Hz, same as real joystick rate + running: QGroundControl.virtualTabletJoystick && _activeVehicle + repeat: true + onTriggered: { + if (_activeVehicle) { + _activeVehicle.virtualTabletJoystickValue(rightStick.xAxis, rightStick.yAxis, leftStick.xAxis, leftStick.yAxis) + } } } - } - JoystickThumbPad { - id: leftStick - anchors.leftMargin: xPositionDelta - anchors.bottomMargin: -yPositionDelta - anchors.left: parent.left - anchors.bottom: parent.bottom - width: parent.thumbAreaHeight - height: parent.thumbAreaHeight - yAxisThrottle: true - lightColors: !isBackgroundDark - } + JoystickThumbPad { + id: leftStick + anchors.leftMargin: xPositionDelta + anchors.bottomMargin: -yPositionDelta + anchors.left: parent.left + anchors.bottom: parent.bottom + width: parent.thumbAreaHeight + height: parent.thumbAreaHeight + yAxisThrottle: true + lightColors: !isBackgroundDark + } - JoystickThumbPad { - id: rightStick - anchors.rightMargin: -xPositionDelta - anchors.bottomMargin: -yPositionDelta - anchors.right: parent.right - anchors.bottom: parent.bottom - width: parent.thumbAreaHeight - height: parent.thumbAreaHeight - lightColors: !isBackgroundDark + JoystickThumbPad { + id: rightStick + anchors.rightMargin: -xPositionDelta + anchors.bottomMargin: -yPositionDelta + anchors.right: parent.right + anchors.bottom: parent.bottom + width: parent.thumbAreaHeight + height: parent.thumbAreaHeight + lightColors: !isBackgroundDark + } } } } diff --git a/src/FlightDisplay/FlightDisplayViewMap.qml b/src/FlightDisplay/FlightDisplayViewMap.qml index f3621a37f07953110c06be572bd66f14550d2bd8..0f3147e4d9f55262b8f901b6d47c42f2661def8f 100644 --- a/src/FlightDisplay/FlightDisplayViewMap.qml +++ b/src/FlightDisplay/FlightDisplayViewMap.qml @@ -44,6 +44,9 @@ FlightMap { property bool _activeVehicleCoordinateValid: multiVehicleManager.activeVehicle ? multiVehicleManager.activeVehicle.coordinateValid : false property var activeVehicleCoordinate: multiVehicleManager.activeVehicle ? multiVehicleManager.activeVehicle.coordinate : QtPositioning.coordinate() + Component.onCompleted: QGroundControl.flightMapPosition = center + onCenterChanged: QGroundControl.flightMapPosition = center + onActiveVehicleCoordinateChanged: { if (_followVehicle && _activeVehicleCoordinateValid && activeVehicleCoordinate.isValid) { _initialMapPositionSet = true @@ -62,7 +65,7 @@ FlightMap { delegate: MapPolyline { line.width: 3 - line.color: "orange" + line.color: "red" z: QGroundControl.zOrderMapItems - 1 path: [ { latitude: object.coordinate1.latitude, longitude: object.coordinate1.longitude }, diff --git a/src/FlightDisplay/FlightDisplayViewWidgets.qml b/src/FlightDisplay/FlightDisplayViewWidgets.qml index 3bef36c6e3c030226459ec8bb0b00029529c3acd..ec68a65474afeab1dd517cc6f9f5df5256de9563 100644 --- a/src/FlightDisplay/FlightDisplayViewWidgets.qml +++ b/src/FlightDisplay/FlightDisplayViewWidgets.qml @@ -36,10 +36,10 @@ import QGroundControl.Vehicle 1.0 import QGroundControl.FlightMap 1.0 Item { + id: _root - readonly property string _InstrumentVisibleKey: "IsInstrumentPanelVisible" - - property bool _isInstrumentVisible: QGroundControl.loadBoolGlobalSetting(_InstrumentVisibleKey, true) + property var _activeVehicle: multiVehicleManager.activeVehicle + property bool _isSatellite: _mainIsMap ? _flightMap ? _flightMap.isSatelliteMap : true : true QGCMapPalette { id: mapPal; lightColors: !isBackgroundDark } @@ -95,99 +95,46 @@ Item { anchors.margins: ScreenTools.defaultFontPixelHeight anchors.right: parent.right anchors.verticalCenter: parent.verticalCenter - visible: _isInstrumentVisible && !QGroundControl.virtualTabletJoystick + visible: !QGroundControl.virtualTabletJoystick size: getGadgetWidth() active: _activeVehicle != null heading: _heading rollAngle: _roll pitchAngle: _pitch - altitude: _altitudeWGS84 - groundSpeed: _groundSpeed - airSpeed: _airSpeed - isSatellite: _mainIsMap ? _flightMap ? _flightMap.isSatelliteMap : true : true + groundSpeedFact: _groundSpeedFact + airSpeedFact: _airSpeedFact + isSatellite: _isSatellite z: QGroundControl.zOrderWidgets - onClicked: { - _isInstrumentVisible = false - QGroundControl.saveBoolGlobalSetting(_InstrumentVisibleKey, false) - } + qgcView: parent.parent.qgcView + maxHeight: parent.height - (ScreenTools.defaultFontPixelHeight * 2) } - //-- Alternate Instrument Panel - Rectangle { - visible: QGroundControl.virtualTabletJoystick - anchors.margins: ScreenTools.defaultFontPixelHeight - anchors.right: parent.right - anchors.bottom: parent.bottom - width: pipSize - height: pipSize * (9/16) - color: Qt.rgba(0,0,0,0.75) - Column { - id: instruments - width: parent.width - spacing: ScreenTools.defaultFontPixelSize * 0.33 - anchors.verticalCenter: parent.verticalCenter - QGCLabel { - text: "Altitude (m)" - font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75 - width: parent.width - height: ScreenTools.defaultFontPixelSize * 0.75 - color: "white" - horizontalAlignment: TextEdit.AlignHCenter - } - QGCLabel { - text: _altitudeWGS84 < 10000 ? _altitudeWGS84.toFixed(1) : _altitudeWGS84.toFixed(0) - font.pixelSize: ScreenTools.defaultFontPixelSize * 1.5 - font.weight: Font.DemiBold - width: parent.width - color: "white" - horizontalAlignment: TextEdit.AlignHCenter - } - QGCLabel { - text: "Ground Speed (km/h)" - font.pixelSize: ScreenTools.defaultFontPixelSize * 0.75 - width: parent.width - height: ScreenTools.defaultFontPixelSize * 0.75 - color: "white" - horizontalAlignment: TextEdit.AlignHCenter - } - QGCLabel { - text: (_groundSpeed * 3.6).toFixed(1) - font.pixelSize: ScreenTools.defaultFontPixelSize - font.weight: Font.DemiBold - width: parent.width - color: "white" - horizontalAlignment: TextEdit.AlignHCenter - } - } + QGCInstrumentWidgetAlternate { + id: instrumentGadgetAlternate + anchors.margins: ScreenTools.defaultFontPixelHeight + anchors.top: parent.top + anchors.right: parent.right + visible: QGroundControl.virtualTabletJoystick + width: getGadgetWidth() + active: _activeVehicle != null + heading: _heading + rollAngle: _roll + pitchAngle: _pitch + groundSpeedFact: _groundSpeedFact + airSpeedFact: _airSpeedFact + isSatellite: _isSatellite + z: QGroundControl.zOrderWidgets } - //-- Show (Hidden) Instrument Panel - Rectangle { - id: openButton - anchors.right: parent.right - anchors.bottom: parent.bottom - anchors.margins: ScreenTools.defaultFontPixelHeight - height: ScreenTools.defaultFontPixelSize * 2 - width: ScreenTools.defaultFontPixelSize * 2 - radius: ScreenTools.defaultFontPixelSize / 3 - visible: !_isInstrumentVisible && !QGroundControl.virtualTabletJoystick - color: isBackgroundDark ? Qt.rgba(0,0,0,0.75) : Qt.rgba(0,0,0,0.5) - Image { - width: parent.width * 0.75 - height: parent.height * 0.75 - source: "/res/buttonLeft.svg" - mipmap: true - fillMode: Image.PreserveAspectFit - anchors.verticalCenter: parent.verticalCenter - anchors.horizontalCenter: parent.horizontalCenter - } - MouseArea { - anchors.fill: parent - onClicked: { - _isInstrumentVisible = true - QGroundControl.saveBoolGlobalSetting(_InstrumentVisibleKey, true) - } - } + ValuesWidget { + anchors.topMargin: ScreenTools.defaultFontPixelHeight + anchors.top: instrumentGadgetAlternate.bottom + anchors.left: instrumentGadgetAlternate.left + width: getGadgetWidth() + qgcView: parent.parent.qgcView + textColor: _isSatellite ? "white" : "black" + visible: QGroundControl.virtualTabletJoystick + maxHeight: multiTouchItem.y - y } //-- Vertical Tool Buttons diff --git a/src/FlightMap/FlightMap.qml b/src/FlightMap/FlightMap.qml index 5d5941baa6f9c8d47599df8fc7e7e3041c7db62c..28eef6a0dbba49eba1258f380b61ed1f6b39f78d 100644 --- a/src/FlightMap/FlightMap.qml +++ b/src/FlightMap/FlightMap.qml @@ -51,7 +51,7 @@ Map { readonly property real maxZoomLevel: 20 zoomLevel: 18 - center: QGroundControl.defaultMapPosition + center: QGroundControl.lastKnownHomePosition gesture.flickDeceleration: 3000 gesture.activeGestures: MapGestureArea.ZoomGesture | MapGestureArea.PanGesture | MapGestureArea.FlickGesture diff --git a/src/FlightMap/MapItems/MissionItemView.qml b/src/FlightMap/MapItems/MissionItemView.qml index a364020a969b57c6f830b06cca6b77e93745691e..d23ff871ffbe3501e66b89d2b357a633421b4e93 100644 --- a/src/FlightMap/MapItems/MissionItemView.qml +++ b/src/FlightMap/MapItems/MissionItemView.qml @@ -35,41 +35,13 @@ import QGroundControl.Controls 1.0 MapItemView { id: _root - property var itemDragger ///< Set to item drag control if you want to support drag - delegate: MissionItemIndicator { id: itemIndicator coordinate: object.coordinate - visible: object.specifiesCoordinate && (!object.homePosition || object.homePositionValid) + visible: object.specifiesCoordinate && (index != 0 || object.showHomePosition) z: QGroundControl.zOrderMapItems missionItem: object - onClicked: setCurrentItem(object.sequenceNumber) - - Connections { - target: object - - onIsCurrentItemChanged: { - if (isCurrentItem) { - if (_root.itemDragger) { - // Setup our drag item - if (object.sequenceNumber != 0) { - _root.itemDragger.visible = true - _root.itemDragger.missionItem = Qt.binding(function() { return object }) - _root.itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator }) - } else { - _root.itemDragger.clearItem() - } - } - - // Zoom the map and move to the new position - _root.parent.zoomLevel = _root.parent.maxZoomLevel - _root.parent.latitude = object.coordinate.latitude - _root.parent.longitude = object.coordinate.longitude - } - } - } - // These are the non-coordinate child mission items attached to this item Row { anchors.top: parent.top diff --git a/src/FlightMap/MapItems/MissionLineView.qml b/src/FlightMap/MapItems/MissionLineView.qml index 32c1c7bf7c9eb29686c45ccb759acf3671f9e951..8744d5e22ea7a4b55fb92e8a9c3ff36782237bd3 100644 --- a/src/FlightMap/MapItems/MissionLineView.qml +++ b/src/FlightMap/MapItems/MissionLineView.qml @@ -30,6 +30,10 @@ import QGroundControl.Palette 1.0 /// The MissionLineView control is used to add lines between mission items MapItemView { + id: _root + + property bool homePositionValid: true ///< true: show home position, false: don't show home position + delegate: MapPolyline { line.width: 3 line.color: "#be781c" // Hack, can't get palette to work in here diff --git a/src/FlightMap/MapItems/VehicleMapItem.qml b/src/FlightMap/MapItems/VehicleMapItem.qml index d00f03531f9aaaeed53d84959365420d801c70f9..b29559707f801168b3a2eaaa20ea2d73120921a2 100644 --- a/src/FlightMap/MapItems/VehicleMapItem.qml +++ b/src/FlightMap/MapItems/VehicleMapItem.qml @@ -51,7 +51,7 @@ MapQuickItem { transform: Rotation { origin.x: vehicleIcon.width / 2 origin.y: vehicleIcon.height / 2 - angle: vehicle ? vehicle.heading : 0 + angle: vehicle ? vehicle.heading.value : 0 } } } diff --git a/src/FlightMap/Widgets/QGCInstrumentWidget.qml b/src/FlightMap/Widgets/QGCInstrumentWidget.qml index d2575e6884ae501cf5dc37210bb083c27a90a6a4..c9d15d9e85dbeb31a1a6b7af77da4631703b0fe9 100644 --- a/src/FlightMap/Widgets/QGCInstrumentWidget.qml +++ b/src/FlightMap/Widgets/QGCInstrumentWidget.qml @@ -29,24 +29,30 @@ This file is part of the QGROUNDCONTROL project import QtQuick 2.4 -import QGroundControl.Controls 1.0 -import QGroundControl.ScreenTools 1.0 - -Item { - id: root - height: size - - signal clicked +import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 +import QGroundControl.FactSystem 1.0 +import QGroundControl.FlightMap 1.0 + +Rectangle { + id: instrumentPanel + height: compass.y + compass.height + _topBottomMargin + width: size + radius: size / 2 + color: isSatellite ? Qt.rgba(1,1,1,0.75) : Qt.rgba(0,0,0,0.75) property alias heading: compass.heading property alias rollAngle: attitude.rollAngle property alias pitchAngle: attitude.pitchAngle - property real altitude: 0 - property real groundSpeed: 0 - property real airSpeed: 0 property real size: _defaultSize property bool isSatellite: false property bool active: false + property var qgcView + property real maxHeight + + property Fact _emptyFact: Fact { } + property Fact groundSpeedFact: _emptyFact + property Fact airSpeedFact: _emptyFact property real _defaultSize: ScreenTools.defaultFontPixelSize * (9) @@ -54,122 +60,59 @@ Item { property real _bigFontSize: ScreenTools.defaultFontPixelSize * 2.5 * _sizeRatio property real _normalFontSize:ScreenTools.defaultFontPixelSize * 1.5 * _sizeRatio property real _labelFontSize: ScreenTools.defaultFontPixelSize * 0.75 * _sizeRatio + property real _spacing: ScreenTools.defaultFontPixelSize * 0.33 + property real _topBottomMargin: (size * 0.05) / 2 + property real _availableValueHeight: maxHeight - (attitude.height + _spacer1.height + _spacer2.height + compass.height + (_spacing * 4)) + + MouseArea { + anchors.fill: parent + onClicked: _valuesWidget.showPicker() + } + + QGCAttitudeWidget { + id: attitude + y: _topBottomMargin + size: parent.width * 0.95 + active: active + anchors.horizontalCenter: parent.horizontalCenter + } - //-- Instrument Panel Rectangle { - id: instrumentPanel - height: instruments.height + (size * 0.05) - width: root.size - radius: root.size / 2 - color: isSatellite ? Qt.rgba(1,1,1,0.75) : Qt.rgba(0,0,0,0.75) - anchors.right: parent.right - anchors.verticalCenter: parent.verticalCenter - Column { - id: instruments - width: parent.width - spacing: ScreenTools.defaultFontPixelSize * 0.33 - anchors.verticalCenter: parent.verticalCenter - //-- Attitude Indicator - QGCAttitudeWidget { - id: attitude - size: parent.width * 0.95 - active: root.active - anchors.horizontalCenter: parent.horizontalCenter - } - //-- Altitude - Rectangle { - height: 1 - width: parent.width * 0.9 - color: isSatellite ? Qt.rgba(0,0,0,0.25) : Qt.rgba(1,1,1,0.25) - anchors.horizontalCenter: parent.horizontalCenter - } - QGCLabel { - text: "Altitude (m)" - font.pixelSize: _labelFontSize - width: parent.width - height: _labelFontSize - color: isSatellite ? "black" : "white" - horizontalAlignment: TextEdit.AlignHCenter - } - QGCLabel { - text: altitude < 10000 ? altitude.toFixed(1) : altitude.toFixed(0) - font.pixelSize: _bigFontSize - font.weight: Font.DemiBold - width: parent.width - color: isSatellite ? "black" : "white" - horizontalAlignment: TextEdit.AlignHCenter - } - //-- Ground Speed - Rectangle { - height: 1 - width: parent.width * 0.9 - color: isSatellite ? Qt.rgba(0,0,0,0.25) : Qt.rgba(1,1,1,0.25) - anchors.horizontalCenter: parent.horizontalCenter - visible: airSpeed <= 0 && !ScreenTools.isTinyScreen - } - QGCLabel { - text: "Ground Speed (km/h)" - font.pixelSize: _labelFontSize - width: parent.width - height: _labelFontSize - color: isSatellite ? "black" : "white" - horizontalAlignment: TextEdit.AlignHCenter - visible: airSpeed <= 0 && !ScreenTools.isTinyScreen - } - QGCLabel { - text: (groundSpeed * 3.6).toFixed(1) - font.pixelSize: _normalFontSize - font.weight: Font.DemiBold - width: parent.width - color: isSatellite ? "black" : "white" - horizontalAlignment: TextEdit.AlignHCenter - visible: airSpeed <= 0 && !ScreenTools.isTinyScreen - } - //-- Air Speed - Rectangle { - height: 1 - width: parent.width * 0.9 - color: isSatellite ? Qt.rgba(0,0,0,0.25) : Qt.rgba(1,1,1,0.25) - anchors.horizontalCenter: parent.horizontalCenter - visible: airSpeed > 0 && !ScreenTools.isTinyScreen - } - QGCLabel { - text: "Air Speed (km/h)" - font.pixelSize: _labelFontSize - width: parent.width - height: _labelFontSize - color: isSatellite ? "black" : "white" - visible: airSpeed > 0 && !ScreenTools.isTinyScreen - horizontalAlignment: TextEdit.AlignHCenter - } - QGCLabel { - text: (airSpeed * 3.6).toFixed(1) - font.pixelSize: _normalFontSize - font.weight: Font.DemiBold - width: parent.width - color: isSatellite ? "black" : "white" - visible: airSpeed > 0 && !ScreenTools.isTinyScreen - horizontalAlignment: TextEdit.AlignHCenter - } - //-- Compass - Rectangle { - height: 1 - width: parent.width * 0.9 - color: isSatellite ? Qt.rgba(0,0,0,0.25) : Qt.rgba(1,1,1,0.25) - anchors.horizontalCenter: parent.horizontalCenter - } - QGCCompassWidget { - id: compass - size: parent.width * 0.95 - active: root.active - anchors.horizontalCenter: parent.horizontalCenter - } - } - MouseArea { - anchors.fill: parent - onClicked: { - onClicked: root.clicked() - } - } + id: _spacer1 + anchors.topMargin: _spacing + anchors.top: attitude.bottom + height: 1 + width: parent.width * 0.9 + color: isSatellite ? Qt.rgba(0,0,0,0.25) : Qt.rgba(1,1,1,0.25) + anchors.horizontalCenter: parent.horizontalCenter + } + + ValuesWidget { + id: _valuesWidget + anchors.topMargin: _spacing + anchors.top: _spacer1.bottom + width: parent.width + qgcView: instrumentPanel.qgcView + textColor: isSatellite ? "black" : "white" + maxHeight: _availableValueHeight + } + + Rectangle { + id: _spacer2 + anchors.topMargin: _spacing + anchors.top: _valuesWidget.bottom + height: 1 + width: parent.width * 0.9 + color: isSatellite ? Qt.rgba(0,0,0,0.25) : Qt.rgba(1,1,1,0.25) + anchors.horizontalCenter: parent.horizontalCenter + } + + QGCCompassWidget { + id: compass + anchors.topMargin: _spacing + anchors.top: _spacer2.bottom + size: parent.width * 0.95 + active: active + anchors.horizontalCenter: parent.horizontalCenter } } diff --git a/src/FlightMap/Widgets/QGCInstrumentWidgetAlternate.qml b/src/FlightMap/Widgets/QGCInstrumentWidgetAlternate.qml new file mode 100644 index 0000000000000000000000000000000000000000..21b1b5ac7d26841adf1e090456963864a9685a9e --- /dev/null +++ b/src/FlightMap/Widgets/QGCInstrumentWidgetAlternate.qml @@ -0,0 +1,79 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +This file is part of the QGROUNDCONTROL project + + QGROUNDCONTROL is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + QGROUNDCONTROL is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with QGROUNDCONTROL. If not, see . + +======================================================================*/ + +import QtQuick 2.4 + +import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 +import QGroundControl.FactSystem 1.0 +import QGroundControl.FlightMap 1.0 + +/// Instrument panel shown when virtual thumbsticks are visible +Rectangle { + id: root + height: _outerRadius * 2 + radius: _outerRadius + color: isSatellite ? Qt.rgba(1,1,1,0.75) : Qt.rgba(0,0,0,0.75) + + property alias heading: compass.heading + property alias rollAngle: attitude.rollAngle + property alias pitchAngle: attitude.pitchAngle + property real size: _defaultSize + property bool isSatellite: false + property bool active: false + + property Fact _emptyFact: Fact { } + property Fact groundSpeedFact: _emptyFact + property Fact airSpeedFact: _emptyFact + property Fact altitudeFact: _emptyFact + + property real _innerRadius: (width - (_topBottomMargin * 3)) / 4 + property real _outerRadius: _innerRadius + _topBottomMargin + + property real _defaultSize: ScreenTools.defaultFontPixelSize * (9) + + property real _sizeRatio: ScreenTools.isTinyScreen ? (size / _defaultSize) * 0.5 : size / _defaultSize + property real _bigFontSize: ScreenTools.defaultFontPixelSize * 2.5 * _sizeRatio + property real _normalFontSize:ScreenTools.defaultFontPixelSize * 1.5 * _sizeRatio + property real _labelFontSize: ScreenTools.defaultFontPixelSize * 0.75 * _sizeRatio + property real _spacing: ScreenTools.defaultFontPixelSize * 0.33 + property real _topBottomMargin: (size * 0.05) / 2 + + QGCAttitudeWidget { + id: attitude + anchors.leftMargin: _topBottomMargin + anchors.left: parent.left + size: _innerRadius * 2 + active: active + anchors.verticalCenter: parent.verticalCenter + } + + QGCCompassWidget { + id: compass + anchors.leftMargin: _spacing + anchors.left: attitude.right + size: _innerRadius * 2 + active: active + anchors.verticalCenter: parent.verticalCenter + } +} diff --git a/src/FlightMap/Widgets/ValuesWidget.qml b/src/FlightMap/Widgets/ValuesWidget.qml new file mode 100644 index 0000000000000000000000000000000000000000..c903f6e60043a14586b85bdfb8722e3596fe28d8 --- /dev/null +++ b/src/FlightMap/Widgets/ValuesWidget.qml @@ -0,0 +1,267 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +This file is part of the QGROUNDCONTROL project + + QGROUNDCONTROL is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + QGROUNDCONTROL is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with QGROUNDCONTROL. If not, see . + +======================================================================*/ + +import QtQuick 2.4 +import QtQuick.Dialogs 1.2 + +import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 +import QGroundControl.FactSystem 1.0 +import QGroundControl.Controllers 1.0 +import QGroundControl.Palette 1.0 +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 + clip: true + + property var qgcView + property color textColor + property var maxHeight + + property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle + property real _margins: ScreenTools.defaultFontPixelWidth / 2 + + QGCPalette { id:qgcPal; colorGroupEnabled: true } + + ValuesWidgetController { + id: controller + } + + function showPicker() { + qgcView.showDialog(propertyPicker, "Value Widget Setup", qgcView.showDialogDefaultWidth, StandardButton.Ok) + } + + MouseArea { + anchors.fill: parent + onClicked: showPicker() + } + + Column { + id: _largeColumn + width: parent.width + spacing: _margins + + Repeater { + model: _activeVehicle ? controller.largeValues : 0 + + Column { + id: valueColumn + width: _largeColumn.width + + property Fact fact: _activeVehicle.getFact(modelData.replace("Vehicle.", "")) + + QGCLabel { + width: parent.width + horizontalAlignment: Text.AlignHCenter + color: textColor + text: fact.shortDescription + (fact.units ? " (" + fact.units + ")" : "") + } + QGCLabel { + width: parent.width + horizontalAlignment: Text.AlignHCenter + font.pixelSize: ScreenTools.largeFontPixelSize + font.weight: Font.DemiBold + color: textColor + text: fact.valueString + } + } + } // Repeater - Large + } // Column - Large + + Flow { + id: _smallFlow + width: parent.width + anchors.topMargin: _margins + anchors.top: _largeColumn.bottom + layoutDirection: Qt.LeftToRight + spacing: _margins + + Repeater { + model: _activeVehicle ? controller.smallValues : 0 + + Column { + id: valueColumn + width: (_root.width / 2) - (_margins / 2) - 0.1 + clip: true + + property Fact fact: _activeVehicle.getFact(modelData.replace("Vehicle.", "")) + + QGCLabel { + width: parent.width + horizontalAlignment: Text.AlignHCenter + font.pixelSize: ScreenTools.smallFontPixelSize + color: textColor + text: fact.shortDescription + } + QGCLabel { + width: parent.width + horizontalAlignment: Text.AlignHCenter + color: textColor + text: fact.enumOrValueString + } + QGCLabel { + width: parent.width + horizontalAlignment: Text.AlignHCenter + font.pixelSize: ScreenTools.smallFontPixelSize + color: textColor + text: fact.units + } + } + } // Repeater - Small + } // Flow + + Component { + id: propertyPicker + + QGCViewDialog { + id: _propertyPickerDialog + + QGCLabel { + id: _label + text: "Select the values you want to display:" + } + + Loader { + anchors.left: parent.left + anchors.right: parent.right + anchors.topMargin: _margins + anchors.top: _label.bottom + anchors.bottom: parent.bottom + sourceComponent: factGroupList + + property var factGroup: _activeVehicle + property var factGroupName: "Vehicle" + } + } + } + + Component { + id: factGroupList + + // You must push in the following properties from the Loader + // property var factGroup + // property string factGroupName + + Column { + id: _root + spacing: _margins + + QGCLabel { + width: parent.width + wrapMode: Text.WordWrap + text: factGroup ? factGroupName : "Vehicle must be connected to assign values." + } + + Repeater { + model: factGroup ? factGroup.factNames : 0 + + Row { + spacing: _margins + + property string propertyName: factGroupName + "." + modelData + + function contains(list, value) { + for (var i=0; i + + This file is part of the QGROUNDCONTROL project + + QGROUNDCONTROL is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + QGROUNDCONTROL is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with QGROUNDCONTROL. If not, see . + + ======================================================================*/ + +#include "ValuesWidgetController.h" + +#include + +const char* ValuesWidgetController::_groupKey = "ValuesWidget"; +const char* ValuesWidgetController::_largeValuesKey = "large"; +const char* ValuesWidgetController::_smallValuesKey = "small"; + +ValuesWidgetController::ValuesWidgetController(void) +{ + QSettings settings; + QStringList largeDefaults; + + settings.beginGroup(_groupKey); + + largeDefaults << "Vehicle.altitudeRelative" << "Vehicle.groundSpeed"; + _largeValues = settings.value(_largeValuesKey, largeDefaults).toStringList(); + _smallValues = settings.value(_smallValuesKey, QStringList()).toStringList(); + + // Keep back compat for removed WGS84 value + if (_largeValues.contains ("Vehicle.altitudeWGS84")) { + setLargeValues(_largeValues.replaceInStrings("Vehicle.altitudeWGS84", "Vehicle.altitudeRelative")); + } + if (_smallValues.contains ("Vehicle.altitudeWGS84")) { + setSmallValues(_largeValues.replaceInStrings("Vehicle.altitudeWGS84", "Vehicle.altitudeRelative")); + } +} + +void ValuesWidgetController::setLargeValues(const QStringList& values) +{ + QSettings settings; + + settings.beginGroup(_groupKey); + settings.setValue(_largeValuesKey, values); + + _largeValues = values; + emit largeValuesChanged(values); +} + +void ValuesWidgetController::setSmallValues(const QStringList& values) +{ + QSettings settings; + + settings.beginGroup(_groupKey); + settings.setValue(_smallValuesKey, values); + + _smallValues = values; + emit smallValuesChanged(values); +} diff --git a/src/FlightMap/Widgets/ValuesWidgetController.h b/src/FlightMap/Widgets/ValuesWidgetController.h new file mode 100644 index 0000000000000000000000000000000000000000..418d66b79e9aeeb4b9b4e56552f5f15d095aa444 --- /dev/null +++ b/src/FlightMap/Widgets/ValuesWidgetController.h @@ -0,0 +1,57 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009, 2015 QGROUNDCONTROL PROJECT + + This file is part of the QGROUNDCONTROL project + + QGROUNDCONTROL is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + QGROUNDCONTROL is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with QGROUNDCONTROL. If not, see . + + ======================================================================*/ + +#ifndef ValuesWidgetController_H +#define ValuesWidgetController_H + +#include + +class ValuesWidgetController : public QObject +{ + Q_OBJECT + +public: + ValuesWidgetController(void); + + Q_PROPERTY(QStringList largeValues READ largeValues WRITE setLargeValues NOTIFY largeValuesChanged) + Q_PROPERTY(QStringList smallValues READ smallValues WRITE setSmallValues NOTIFY smallValuesChanged) + + QStringList largeValues(void) const { return _largeValues; } + QStringList smallValues(void) const { return _smallValues; } + void setLargeValues(const QStringList& values); + void setSmallValues(const QStringList& values); + +signals: + void largeValuesChanged(QStringList values); + void smallValuesChanged(QStringList values); + +private: + QStringList _largeValues; + QStringList _smallValues; + + static const char* _groupKey; + static const char* _largeValuesKey; + static const char* _smallValuesKey; +}; + +#endif diff --git a/src/FlightMap/qmldir b/src/FlightMap/qmldir index db985b1d37da44be97a61c1d484e7ae29bbeb56c..f7dfa06b8ddeedca560b6bab06163c75c1caa775 100644 --- a/src/FlightMap/qmldir +++ b/src/FlightMap/qmldir @@ -5,13 +5,15 @@ FlightMap 1.0 FlightMap.qml QGCVideoBackground 1.0 QGCVideoBackground.qml # Widgets -QGCArtificialHorizon 1.0 QGCArtificialHorizon.qml -QGCAttitudeHUD 1.0 QGCAttitudeHUD.qml -QGCAttitudeWidget 1.0 QGCAttitudeWidget.qml -QGCCompassWidget 1.0 QGCCompassWidget.qml -QGCInstrumentWidget 1.0 QGCInstrumentWidget.qml -QGCPitchIndicator 1.0 QGCPitchIndicator.qml -QGCSlider 1.0 QGCSlider.qml +QGCArtificialHorizon 1.0 QGCArtificialHorizon.qml +QGCAttitudeHUD 1.0 QGCAttitudeHUD.qml +QGCAttitudeWidget 1.0 QGCAttitudeWidget.qml +QGCCompassWidget 1.0 QGCCompassWidget.qml +QGCInstrumentWidget 1.0 QGCInstrumentWidget.qml +QGCInstrumentWidgetAlternate 1.0 QGCInstrumentWidgetAlternate.qml +QGCPitchIndicator 1.0 QGCPitchIndicator.qml +QGCSlider 1.0 QGCSlider.qml +ValuesWidget 1.0 ValuesWidget.qml # Map items MissionItemIndicator 1.0 MissionItemIndicator.qml diff --git a/src/JsonHelper.cc b/src/JsonHelper.cc new file mode 100644 index 0000000000000000000000000000000000000000..a22846b64bc451c898a353321dfcf1476fae405d --- /dev/null +++ b/src/JsonHelper.cc @@ -0,0 +1,103 @@ +/*=================================================================== +QGroundControl Open Source Ground Control Station + +(c) 2009, 2010 QGROUNDCONTROL PROJECT + +This file is part of the QGROUNDCONTROL project + + QGROUNDCONTROL is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + QGROUNDCONTROL is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with QGROUNDCONTROL. If not, see . + +======================================================================*/ + +#include "JsonHelper.h" + +#include + +const char* JsonHelper::_enumStringsJsonKey = "enumStrings"; +const char* JsonHelper::_enumValuesJsonKey = "enumValues"; + +bool JsonHelper::validateRequiredKeys(const QJsonObject& jsonObject, const QStringList& keys, QString& errorString) +{ + QString missingKeys; + + foreach(const QString& key, keys) { + if (!jsonObject.contains(key)) { + if (!missingKeys.isEmpty()) { + missingKeys += QStringLiteral(", "); + } + missingKeys += key; + } + } + + if (missingKeys.count() != 0) { + errorString = QString("The following required keys are missing: %1").arg(missingKeys); + return false; + } + + return true; +} + +bool JsonHelper::toQGeoCoordinate(const QJsonValue& jsonValue, QGeoCoordinate& coordinate, bool altitudeRequired, QString& errorString) +{ + if (!jsonValue.isArray()) { + errorString = QStringLiteral("JSon value for coordinate is not array"); + return false; + } + + QJsonArray coordinateArray = jsonValue.toArray(); + int requiredCount = altitudeRequired ? 3 : 2; + if (coordinateArray.count() != requiredCount) { + errorString = QString("Json array must contains %1 values").arg(requiredCount); + return false; + } + + coordinate = QGeoCoordinate(coordinateArray[0].toDouble(), coordinateArray[1].toDouble()); + if (altitudeRequired) { + coordinate.setAltitude(coordinateArray[2].toDouble()); + } + + if (!coordinate.isValid()) { + errorString = QString("Coordinate is invalid: %1").arg(coordinate.toString()); + return false; + } + + return true; +} + +bool JsonHelper::validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList& types, QString& errorString) +{ + for (int i=0; i + + This file is part of the QGROUNDCONTROL project + + QGROUNDCONTROL is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + QGROUNDCONTROL is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with QGROUNDCONTROL. If not, see . + + ======================================================================*/ + +#ifndef JsonHelper_H +#define JsonHelper_H + +#include +#include + +class JsonHelper +{ +public: + static bool validateRequiredKeys(const QJsonObject& jsonObject, const QStringList& keys, QString& errorString); + static bool validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList& types, QString& errorString); + static bool toQGeoCoordinate(const QJsonValue& jsonValue, QGeoCoordinate& coordinate, bool altitudeRequired, QString& errorString); + static bool parseEnum(QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString); + + static const char* _enumStringsJsonKey; + static const char* _enumValuesJsonKey; +}; + +#endif diff --git a/src/MissionEditor/MissionEditor.qml b/src/MissionEditor/MissionEditor.qml index b9e8601c802c04c7bc78a4b189ecb2e839abc66f..fad97ddc722d1e267fde032476646b9f4671c4d6 100644 --- a/src/MissionEditor/MissionEditor.qml +++ b/src/MissionEditor/MissionEditor.qml @@ -65,13 +65,8 @@ QGCView { property bool _firstVehiclePosition: true property var activeVehiclePosition: _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate() - property var liveHomePosition: controller.liveHomePosition - property var liveHomePositionAvailable: controller.liveHomePositionAvailable - property var homePosition: _defaultVehicleCoordinate - property bool _syncInProgress: _activeVehicle ? _activeVehicle.missionManager.inProgress : false - Component.onCompleted: updateMapToVehiclePosition() onActiveVehiclePositionChanged: updateMapToVehiclePosition() Connections { @@ -96,8 +91,20 @@ QGCView { } function loadFromFile() { - controller.loadMissionFromFile() - fitViewportToMissionItems() + if (ScreenTools.isMobile) { + _root.showDialog(mobileFilePicker, "Select Mission File", _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel) + } else { + controller.loadMissionFromFile() + fitViewportToMissionItems() + } + } + + function saveToFile() { + if (ScreenTools.isMobile) { + _root.showDialog(mobileFileSaver, "Save Mission File", _root.showDialogDefaultWidth, StandardButton.Save | StandardButton.Cancel) + } else { + controller.saveMissionToFile() + } } function normalizeLat(lat) { @@ -110,32 +117,32 @@ QGCView { return lon + 180.0 } - /// Fix the map viewport to the current mission items. We don't fit the home position in this process. + /// Fix the map viewport to the current mission items. function fitViewportToMissionItems() { - if (_missionItems.count <= 1) { - return - } - - var missionItem = _missionItems.get(1) - - var north = normalizeLat(missionItem.coordinate.latitude) - var south = north - var east = normalizeLon(missionItem.coordinate.longitude) - var west = east - - for (var i=2; i<_missionItems.count; i++) { - missionItem = _missionItems.get(i) - - var lat = normalizeLat(missionItem.coordinate.latitude) - var lon = normalizeLon(missionItem.coordinate.longitude) - - north = Math.max(north, lat) - south = Math.min(south, lat) - east = Math.max(east, lon) - west = Math.min(west, lon) + if (_missionItems.count == 1) { + editorMap.center = _missionItems.get(0).coordinate + } else { + var missionItem = _missionItems.get(0) + var north = normalizeLat(missionItem.coordinate.latitude) + var south = north + var east = normalizeLon(missionItem.coordinate.longitude) + var west = east + + for (var i=1; i<_missionItems.count; i++) { + missionItem = _missionItems.get(i) + + if (missionItem.specifiesCoordinate && !missionItem.standaloneCoordinate) { + var lat = normalizeLat(missionItem.coordinate.latitude) + var lon = normalizeLon(missionItem.coordinate.longitude) + + north = Math.max(north, lat) + south = Math.min(south, lat) + east = Math.max(east, lon) + west = Math.min(west, lon) + } + } + editorMap.visibleRegion = QtPositioning.rectangle(QtPositioning.coordinate(north - 90.0, west - 180.0), QtPositioning.coordinate(south - 90.0, east - 180.0)) } - - editorMap.visibleRegion = QtPositioning.rectangle(QtPositioning.coordinate(north - 90.0, west - 180.0), QtPositioning.coordinate(south - 90.0, east - 180.0)) } MissionController { @@ -143,6 +150,7 @@ QGCView { Component.onCompleted: { start(true /* editMode */) + setCurrentItem(0) } /* @@ -181,6 +189,55 @@ QGCView { property int _moveDialogMissionItemIndex + Component { + id: mobileFilePicker + + QGCViewDialog { + ListView { + anchors.margins: _margin + anchors.fill: parent + spacing: _margin / 2 + orientation: ListView.Vertical + model: controller.getMobileMissionFiles() + + delegate: QGCButton { + text: modelData + + onClicked: { + hideDialog() + controller.loadMobileMissionFromFile(modelData) + fitViewportToMissionItems() + } + } + } + } + } + + Component { + id: mobileFileSaver + + QGCViewDialog { + function accept() { + hideDialog() + controller.saveMobileMissionToFile(filenameTextField.text) + } + + Column { + anchors.left: parent.left + anchors.right: parent.right + spacing: ScreenTools.defaultFontPixelHeight + + QGCLabel { + text: "File name:" + } + + QGCTextField { + id: filenameTextField + } + } + } + } + Component { id: moveDialog @@ -230,6 +287,9 @@ QGCView { readonly property real animationDuration: 500 + // Initial map position duplicates Fly view position + Component.onCompleted: editorMap.center = QGroundControl.flightMapPosition + Behavior on zoomLevel { NumberAnimation { duration: editorMap.animationDuration @@ -241,13 +301,11 @@ QGCView { anchors.fill: parent onClicked: { - var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y)) - coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces) - coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces) - coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces) - if (false /*homePositionManagerButton.checked*/) { - //offlineHomePosition = coordinate - } else if (addMissionItemsButton.checked) { + if (addMissionItemsButton.checked) { + var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y)) + coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces) + coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces) + coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces) var index = controller.insertMissionItem(coordinate, controller.missionItems.count) setCurrentItem(index) } else { @@ -318,7 +376,7 @@ QGCView { MissionItemIndicator { id: itemIndicator coordinate: object.coordinate - visible: object.specifiesCoordinate && (!object.homePosition || object.homePositionValid) + visible: object.specifiesCoordinate z: QGroundControl.zOrderMapItems missionItem: object @@ -329,13 +387,9 @@ QGCView { if (object.isCurrentItem && itemIndicator.visible) { if (object.specifiesCoordinate) { // Setup our drag item - if (object.sequenceNumber != 0) { itemDragger.visible = true itemDragger.missionItem = Qt.binding(function() { return object }) itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator }) - } else { - itemDragger.clearItem() - } } } } @@ -372,6 +426,19 @@ QGCView { model: controller.waypointLines } + // Add the vehicles to the map + MapItemView { + model: multiVehicleManager.vehicles + delegate: + VehicleMapItem { + vehicle: object + coordinate: object.coordinate + isSatellite: editorMap.isSatelliteMap + size: ScreenTools.defaultFontPixelHeight * 5 + z: QGroundControl.zOrderMapItems - 1 + } + } + // Mission Item Editor Item { id: missionItemEditor @@ -379,33 +446,33 @@ QGCView { anchors.bottom: parent.bottom anchors.right: parent.right width: _rightPanelWidth - visible: _missionItems.count > 1 opacity: _rightPanelOpacity z: QGroundControl.zOrderTopMost MouseArea { // This MouseArea prevents the Map below it from getting Mouse events. Without this // things like mousewheel will scroll the Flickable and then scroll the map as well. - anchors.fill: parent + anchors.fill: editorListView preventStealing: true onWheel: wheel.accepted = true } ListView { - anchors.fill: parent + id: editorListView + anchors.left: parent.left + anchors.right: parent.right + anchors.top: parent.top + height: Math.min(contentHeight, parent.height) spacing: _margin / 2 orientation: ListView.Vertical model: controller.missionItems + cacheBuffer: height * 2 - property real _maxItemHeight: 0 - - delegate: - MissionItemEditor { + delegate: MissionItemEditor { missionItem: object width: parent.width - readOnly: object.sequenceNumber == 0 - visible: !readOnly || object.homePositionValid qgcView: _root + readOnly: false onClicked: setCurrentItem(object.sequenceNumber) @@ -414,15 +481,12 @@ QGCView { controller.removeMissionItem(object.sequenceNumber) } - onRemoveAll: { - itemDragger.clearItem() - controller.removeAllMissionItems() - } - onInsert: { controller.insertMissionItem(editorMap.center, i) setCurrentItem(i) } + + onMoveHomeToMapCenter: controller.missionItems.get(0).coordinate = editorMap.center } } // ListView } // Item - Mission Item editor @@ -467,6 +531,7 @@ QGCView { z: QGroundControl.zOrderWidgets dropDownComponent: syncDropDownComponent enabled: !_syncInProgress + rotateImage: _syncInProgress } DropButton { @@ -485,12 +550,20 @@ QGCView { spacing: ScreenTools.defaultFontPixelWidth QGCButton { - text: "Home" - enabled: liveHomePositionAvailable + text: "Home" onClicked: { centerMapButton.hideDropDown() - editorMap.center = liveHomePosition + editorMap.center = controller.missionItems.get(0).coordinate + } + } + + QGCButton { + text: "Mission" + + onClicked: { + centerMapButton.hideDropDown() + fitViewportToMissionItems() } } @@ -582,7 +655,6 @@ QGCView { currentMissionItem: _currentMissionItem missionItems: controller.missionItems expandedWidth: missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2) - homePositionValid: liveHomePositionAvailable } } // FlightMap } // Item - split view container @@ -616,6 +688,20 @@ QGCView { } } + Component { + id: removeAllPromptDialog + + QGCViewMessage { + message: "Are you sure you want to delete all mission items?" + + function accept() { + itemDragger.clearItem() + controller.removeAllMissionItems() + hideDialog() + } + } + } + Component { id: syncDropDownComponent @@ -662,14 +748,13 @@ QGCView { Row { spacing: ScreenTools.defaultFontPixelWidth - visible: !ScreenTools.isMobile QGCButton { text: "Save to file..." onClicked: { syncButton.hideDropDown() - controller.saveMissionToFile() + saveToFile() } } @@ -686,6 +771,15 @@ QGCView { } } } + + QGCButton { + text: "Remove all" + onClicked: { + syncButton.hideDropDown() + _root.showDialog(removeAllPromptDialog, "Delete all", _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No) + } + } + /* FIXME: autoSync is temporarily disconnected since it's still buggy diff --git a/src/MissionEditor/MissionItemStatus.qml b/src/MissionEditor/MissionItemStatus.qml index 78d99bae1ac16c8354916850d6a5f9995728d529..dd75fdfb49214a5642d0b1b5b21c9a24e7abd53b 100644 --- a/src/MissionEditor/MissionItemStatus.qml +++ b/src/MissionEditor/MissionItemStatus.qml @@ -32,7 +32,6 @@ Rectangle { property var currentMissionItem ///< Mission item to display status for property var missionItems ///< List of all available mission items property real expandedWidth ///< Width of control when expanded - property bool homePositionValid: false /// true: home position in missionItems[0] is valid width: _expanded ? expandedWidth : _collapsedWidth height: expandLabel.y + expandLabel.height + _margins @@ -49,7 +48,7 @@ Rectangle { property real _altDifference: _currentMissionItem ? _currentMissionItem.altDifference : -1 property real _azimuth: _currentMissionItem ? _currentMissionItem.azimuth : -1 property real _isHomePosition: _currentMissionItem ? _currentMissionItem.homePosition : false - property bool _statusValid: _distance != -1 && ((_isHomePosition && homePositionValid) || !_isHomePosition) + property bool _statusValid: _distance != -1 property string _distanceText: _statusValid ? Math.round(_distance) + " meters" : "" property string _altText: _statusValid ? Math.round(_altDifference) + " meters" : "" property string _azimuthText: _statusValid ? Math.round(_azimuth) : "" @@ -97,6 +96,8 @@ Rectangle { anchors.right: parent.right anchors.top: parent.top anchors.bottom: parent.bottom + contentWidth: graphRow.width + clip: true Row { id: graphRow @@ -108,14 +109,14 @@ Rectangle { model: missionItems Item { - height: graphRow.height - width: ScreenTools.smallFontPixelWidth * 2 + height: graphRow.height + width: ScreenTools.smallFontPixelWidth * 2 + visible: object.specifiesCoordinate && !object.standaloneCoordinate + property real availableHeight: height - ScreenTools.smallFontPixelHeight - indicator.height - // If home position is not valid we are graphing relative based on a home alt of 0. Because of this - // we cannot graph absolute altitudes since we have no basis for comparison against the relative values. - property bool graphAbsolute: homePositionValid + property bool graphAbsolute: true MissionItemIndexLabel { id: indicator diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json index 961d35a38885d70cc057c446d378e5fa7fa81caa..74f83dde495ccf32db0db661ddadecba877c1e8c 100644 --- a/src/MissionManager/MavCmdInfoCommon.json +++ b/src/MissionManager/MavCmdInfoCommon.json @@ -6,11 +6,21 @@ "comment": "MAV_CMD_NAV_LAST: Used for fake home position waypoint", "id": 95, "rawName": "HomeRaw", - "friendlyName": "Home", - "description": "Home Position", - "description": "Home Position", + "friendlyName": "Home Position", + "description": "Planned home position for mission.", "specifiesCoordinate": true, - "friendlyEdit": true + "friendlyEdit": true, + "category": "Basic", + "param5": { + "label": "Latitude:", + "default": 37.803784, + "decimalPlaces": 7 + }, + "param6": { + "label": "Longitude:", + "default": -122.462276, + "decimalPlaces": 7 + } }, { "id": 16, @@ -25,12 +35,6 @@ "units": "seconds", "default": 0, "decimalPlaces": 0 - }, - "param2": { - "label": "Accept radius:", - "units": "meters", - "default": 3.0, - "decimalPlaces": 2 } }, { @@ -40,7 +44,7 @@ "description": "Travel to a position and Loiter around the specified radius indefinitely.", "specifiesCoordinate": true, "friendlyEdit": true, - "category": "Basic", + "category": "Loiter", "param3": { "label": "Radius:", "units": "meters", @@ -55,7 +59,7 @@ "description": "Travel to a position and Loiter around the specified radius for a number of turns.", "specifiesCoordinate": true, "friendlyEdit": true, - "category": "Basic", + "category": "Loiter", "param1": { "label": "Turns:", "default": 1, @@ -75,7 +79,7 @@ "description": "Travel to a position and Loiter around the specified radius for an amount of time.", "specifiesCoordinate": true, "friendlyEdit": true, - "category": "Basic", + "category": "Loiter", "param1": { "label": "Hold:", "units": "seconds", @@ -116,6 +120,12 @@ "units": "radians", "default": 0.0, "decimalPlaces": 2 + }, + "param7": { + "label": "Altitude:", + "units": "meters", + "default": 0.0, + "decimalPlaces": 2 } }, { @@ -142,8 +152,50 @@ { "id": 23, "rawName": "MAV_CMD_NAV_LAND_LOCAL", "friendlyName": "MAV_CMD_NAV_LAND_LOCAL" }, { "id": 24, "rawName": "MAV_CMD_NAV_TAKEOFF_LOCAL", "friendlyName": "MAV_CMD_NAV_TAKEOFF_LOCAL" }, { "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "MAV_CMD_NAV_FOLLOW" }, - { "id": 30, "rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT", "friendlyName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT" }, - { "id": 31, "rawName": "MAV_CMD_NAV_LOITER_TO_ALT" }, + { + "id": 30, + "rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT", + "friendlyName": "Change Altitude", + "description": "Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command.", + "specifiesCoordinate": false, + "friendlyEdit": true, + "category": "Flight control", + "param1": { + "label": "Mode:", + "enumStrings": "Climb,Neutral,Descend", + "enumValues": "1,0,2", + "default": 1, + "decimalPlaces": 0 + }, + "param7": { + "label": "Altitude:", + "units": "meters", + "default": 55, + "decimalPlaces": 2 + } + }, + { + "id": 31, + "rawName": "MAV_CMD_NAV_LOITER_TO_ALT", + "friendlyName": "Loiter (altitude)", + "description": "Loiter at specified position until altitude reached.", + "specifiesCoordinate": true, + "friendlyEdit": true, + "category": "Loiter", + "param1": { + "label": "Heading wait:", + "enumStrings": "False,True", + "enumValues": "0,1", + "default": 0, + "decimalPlaces": 0 + }, + "param2": { + "label": "Radius:", + "units": "meters", + "default": 10.0, + "decimalPlaces": 2 + } + }, { "id": 80, "rawName": "MAV_CMD_NAV_ROI", @@ -171,9 +223,87 @@ "decimalPlaces": 0 } }, - { "id": 81, "rawName": "MAV_CMD_NAV_PATHPLANNING", "friendlyName": "MAV_CMD_NAV_PATHPLANNING" }, - { "id": 82, "rawName": "MAV_CMD_NAV_SPLINE_WAYPOINT", "friendlyName": "MAV_CMD_NAV_SPLINE_WAYPOINT" }, + { + "id": 81, + "rawName": "MAV_CMD_NAV_PATHPLANNING", + "friendlyName": "Path planning", + "description": "Control autonomous path planning.", + "specifiesCoordinate": true, + "friendlyEdit": true, + "category": "Advanced", + "param1": { + "label": "Local planning:", + "enumStrings": "Disable,Enable,Enable+reset", + "enumValues": "0,1,2", + "default": 1, + "decimalPlaces": 0 + }, + "param2": { + "label": "Full planning:", + "enumStrings": "Disable,Enable,Enable+reset,Enable+reset route only", + "enumValues": "0,1,2,3", + "default": 1, + "decimalPlaces": 0 + }, + "param4": { + "label": "Heading goal:", + "default": 0, + "units": "degrees", + "decimalPlaces": 2 + } + }, + { + "id": 82, + "rawName": "MAV_CMD_NAV_SPLINE_WAYPOINT", + "friendlyName": "Spline waypoint", + "description": "Travel to a position in 3D space using spline path.", + "specifiesCoordinate": true, + "friendlyEdit": true, + "category": "Basic", + "param1": { + "label": "Hold:", + "units": "seconds", + "default": 0, + "decimalPlaces": 0 + } + }, { "id": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "MAV_CMD_NAV_ALTITUDE_WAIT" }, + { + "id": 84, + "rawName": "MAV_CMD_NAV_VTOL_TAKEOFF", + "friendlyName": "VTOL takeoff", + "description": "Takeoff from ground using VTOL mode.", + "specifiesCoordinate": true, + "friendlyEdit": true, + "category": "VTOL", + "param4": { + "label": "Heading:", + "units": "degrees", + "default": 0.0, + "decimalPlaces": 2 + } + }, + { + "id": 85, + "rawName": "MAV_CMD_NAV_VTOL_LAND", + "friendlyName": "VTOL land", + "description": "Land using VTOL mode.", + "specifiesCoordinate": true, + "friendlyEdit": true, + "category": "VTOL", + "param4": { + "label": "Heading:", + "units": "degrees", + "default": 0.0, + "decimalPlaces": 2 + }, + "param7": { + "label": "Altitude:", + "units": "meters", + "default": 0.0, + "decimalPlaces": 2 + } + }, { "id": 92, "rawName": "MAV_CMD_NAV_GUIDED_ENABLE", @@ -286,6 +416,7 @@ "rawName": "MAV_CMD_DO_CHANGE_SPEED", "friendlyName": "Change speed", "description": "Change speed and/or throttle set points.", + "category": "Flight control", "param1": { "label": "Type:", "enumStrings": "Airspeed,Ground Speed", @@ -303,7 +434,23 @@ "default": -1 } }, - { "id": 179, "rawName": "MAV_CMD_DO_SET_HOME", "friendlyName": "MAV_CMD_DO_SET_HOME" }, + { + "id": 179, + "rawName": "MAV_CMD_DO_SET_HOME", + "friendlyName": "Set home location", + "description": "Changes the home location either to the current location or a specified location.", + "specifiesCoordinate": true, + "standaloneCoordinate": true, + "friendlyEdit": true, + "category": "Advanced", + "param1": { + "label": "Mode:", + "enumStrings": "Vehicle position,Specified position", + "enumValues": "1,0", + "default": 0, + "decimalPlaces": 0 + } + }, { "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "MAV_CMD_DO_SET_PARAMETER" }, { "id": 181, @@ -389,7 +536,15 @@ } }, { "id": 185, "rawName": "MAV_CMD_DO_FLIGHTTERMINATION", "friendlyName": "MAV_CMD_DO_FLIGHTTERMINATION" }, - { "id": 189, "rawName": "MAV_CMD_DO_LAND_START", "friendlyName": "MAV_CMD_DO_LAND_START" }, + { + "id": 189, + "rawName": "MAV_CMD_DO_LAND_START", + "friendlyName": "Land start", + "description": "Marker to indicate start of landing sequence.", + "specifiesCoordinate": true, + "friendlyEdit": true, + "category": "Basic" + }, { "id": 190, "rawName": "MAV_CMD_DO_RALLY_LAND", "friendlyName": "MAV_CMD_DO_RALLY_LAND" }, { "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "MAV_CMD_DO_GO_AROUND" }, { "id": 200, "rawName": "MAV_CMD_DO_CONTROL_VIDEO", "friendlyName": "MAV_CMD_DO_CONTROL_VIDEO" }, @@ -544,16 +699,82 @@ "decimalPlaces": 2 } }, - { "id": 207, "rawName": "MAV_CMD_DO_FENCE_ENABLE", "friendlyName": "MAV_CMD_DO_FENCE_ENABLE" }, - { "id": 208, "rawName": "MAV_CMD_DO_PARACHUTE", "friendlyName": "MAV_CMD_DO_PARACHUTE" }, + { + "id": 207, + "rawName": "MAV_CMD_DO_FENCE_ENABLE", + "friendlyName": "Enable geofence", + "description": "Enable/Disable geofence.", + "specifiesCoordinate": false, + "friendlyEdit": true, + "category": "Safety", + "param1": { + "label": "Enable:", + "enumStrings": "Disable,Disable floor only,Enable", + "enumValues": "0,2,1", + "default": 1, + "decimalPlaces": 0 + } + }, + { + "id": 208, + "rawName": "MAV_CMD_DO_PARACHUTE", + "friendlyName": "Trigger parachute", + "description": "Enable/Disable geofence.", + "specifiesCoordinate": false, + "friendlyEdit": true, + "category": "Safety", + "param1": { + "label": "Trigger:", + "enumStrings": "Disable,Enable,Release", + "enumValues": "0,1,2", + "default": 1, + "decimalPlaces": 0 + } + }, { "id": 209, "rawName": "MAV_CMD_DO_MOTOR_TEST", "friendlyName": "MAV_CMD_DO_MOTOR_TEST" }, - { "id": 210, "rawName": "MAV_CMD_DO_INVERTED_FLIGHT", "friendlyName": "MAV_CMD_DO_INVERTED_FLIGHT" }, + { + "id": 210, + "rawName": "MAV_CMD_DO_INVERTED_FLIGHT", + "friendlyName": "Inverted flight", + "description": "Change to/from inverted flight.", + "specifiesCoordinate": false, + "friendlyEdit": true, + "category": "Flight control", + "param1": { + "label": "Inverted:", + "enumStrings": "Normal,Inverted", + "enumValues": "0,1", + "default": 0, + "decimalPlaces": 0 + } + }, + { + "id": 211, + "rawName": "MAV_CMD_DO_GRIPPER", + "friendlyName": "Gripper", + "description": "Operate EPM gripper.", + "specifiesCoordinate": false, + "friendlyEdit": true, + "category": "Advanced", + "param1": { + "label": "Gripper id:", + "default": 1, + "decimalPlaces": 0 + }, + "param2": { + "label": "Action:", + "enumStrings": "Release,Grab", + "enumValues": "0,1", + "default": 0, + "decimalPlaces": 0 + } + }, { "id": 220, "rawName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT", "friendlyName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT" }, { "id": 221, "rawName": "MAV_CMD_DO_GUIDED_MASTER", "friendlyName": "MAV_CMD_DO_GUIDED_MASTER" }, { "id": 222, "rawName": "MAV_CMD_DO_GUIDED_LIMITS", - "friendlyName": "External control limits", + "friendlyName": "Guided limits", "description": "Set limits for external control", "param1": { "label": "Timeout:", @@ -569,8 +790,9 @@ }, "param3": { "label": "Max Alt:", + "units": "m(AMSL)", "default": 100, - "decimalPlaces": 7 + "decimalPlaces": 2 }, "param4": { "label": "H Limit:", @@ -593,7 +815,7 @@ "rawName": "MAV_CMD_DO_VTOL_TRANSITION", "friendlyName": "VTOL Transition", "description": "Perform flight mode transition", - "category": "Basic", + "category": "VTOL", "param1": { "label": "Mode:", "default": 3, diff --git a/src/MissionManager/MissionCommandList.cc b/src/MissionManager/MissionCommandList.cc index 8a0a6dc228e0ba5a63c30c630906bcbc0b2f4891..2adfabee0280785022e7214e97ad7ffd74bba989 100644 --- a/src/MissionManager/MissionCommandList.cc +++ b/src/MissionManager/MissionCommandList.cc @@ -26,6 +26,7 @@ This file is part of the QGROUNDCONTROL project #include "FirmwarePluginManager.h" #include "QGCApplication.h" #include "QGroundControlQmlGlobal.h" +#include "JsonHelper.h" #include #include @@ -62,20 +63,6 @@ MissionCommandList::MissionCommandList(const QString& jsonFilename, QObject* par _loadMavCmdInfoJson(jsonFilename); } -bool MissionCommandList::_validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList& types) -{ - for (int i=0; i types; keys << _defaultJsonKey << _decimalPlacesJsonKey << _enumStringsJsonKey << _enumValuesJsonKey << _labelJsonKey << _unitsJsonKey; types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String; - if (!_validateKeyTypes(paramObject, keys, types)) { + if (!JsonHelper::validateKeyTypes(jsonObject, keys, types, errorString)) { + qWarning() << errorString; return; } diff --git a/src/MissionManager/MissionCommandList.h b/src/MissionManager/MissionCommandList.h index 98c3ef78c9b29e272d9887295a7b3df2978c8aa7..55afd27c8f532e93361c6605c7d1456d249b0661 100644 --- a/src/MissionManager/MissionCommandList.h +++ b/src/MissionManager/MissionCommandList.h @@ -143,7 +143,6 @@ public: private: void _loadMavCmdInfoJson(const QString& jsonFilename); - bool _validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList& types); private: QMap _mavCmdInfoMap; diff --git a/src/MissionManager/MissionCommands.cc b/src/MissionManager/MissionCommands.cc index e16831c461bc65109bf534cd634c64bba5930055..2eef92741f9513cefb3c5284ae26749f4628680c 100644 --- a/src/MissionManager/MissionCommands.cc +++ b/src/MissionManager/MissionCommands.cc @@ -77,10 +77,14 @@ void MissionCommands::_createCategories(void) foreach (MAV_CMD command, cmdList) { MavCmdInfo* mavCmdInfo = _commonMissionCommands.getMavCmdInfo(command); - if (mavCmdInfo->friendlyEdit()) { - _categoryToMavCmdListMap[firmwareType][mavCmdInfo->category()].append(command); - } else if (!allCommandsSupported) { - qWarning() << "Attempt to add non friendly edit supported command"; + if (mavCmdInfo) { + if (mavCmdInfo->friendlyEdit()) { + _categoryToMavCmdListMap[firmwareType][mavCmdInfo->category()].append(command); + } else if (!allCommandsSupported) { + qWarning() << "Attempt to add non friendly edit supported command" << command; + } + } else { + qCDebug(MissionCommandsLog) << "Command missing from json" << command; } } } @@ -146,20 +150,20 @@ MavCmdInfo* MissionCommands::getMavCmdInfo(MAV_CMD command, Vehicle* vehicle) co if (vehicle) { if (vehicle->fixedWing()) { - if (_autopilotToFixedWingMissionCommands[firmwareType]->contains(command)) { + if (_autopilotToFixedWingMissionCommands.contains(firmwareType) && _autopilotToFixedWingMissionCommands[firmwareType]->contains(command)) { mavCmdInfo = _autopilotToFixedWingMissionCommands[firmwareType]->getMavCmdInfo(command); } } else if (vehicle->multiRotor()) { - if (_autopilotToMultiRotorMissionCommands[firmwareType]->contains(command)) { + if (_autopilotToMultiRotorMissionCommands.contains(firmwareType) && _autopilotToMultiRotorMissionCommands[firmwareType]->contains(command)) { mavCmdInfo = _autopilotToMultiRotorMissionCommands[firmwareType]->getMavCmdInfo(command); } - } else { - if (_autopilotToCommonMissionCommands[firmwareType]->contains(command)) { - mavCmdInfo = _autopilotToCommonMissionCommands[firmwareType]->getMavCmdInfo(command); - } } } + if (!mavCmdInfo && _autopilotToCommonMissionCommands.contains(firmwareType) && _autopilotToCommonMissionCommands[firmwareType]->contains(command)) { + mavCmdInfo = _autopilotToCommonMissionCommands[firmwareType]->getMavCmdInfo(command); + } + if (!mavCmdInfo) { mavCmdInfo = _commonMissionCommands.getMavCmdInfo(command); } diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc index dac7fbb6ee3bb7a554710ef95b28fc8774efd5c1..dddcfdd0e8c1f27e4554c082f406a4ffbb8cf57f 100644 --- a/src/MissionManager/MissionController.cc +++ b/src/MissionManager/MissionController.cc @@ -34,14 +34,18 @@ This file is part of the QGROUNDCONTROL project QGC_LOGGING_CATEGORY(MissionControllerLog, "MissionControllerLog") -const char* MissionController::_settingsGroup = "MissionController"; +const char* MissionController::_settingsGroup = "MissionController"; +const char* MissionController::_jsonVersionKey = "version"; +const char* MissionController::_jsonGroundStationKey = "groundStation"; +const char* MissionController::_jsonMavAutopilotKey = "MAV_AUTOPILOT"; +const char* MissionController::_jsonItemsKey = "items"; +const char* MissionController::_jsonPlannedHomePositionKey = "plannedHomePosition"; MissionController::MissionController(QObject *parent) : QObject(parent) , _editMode(false) , _missionItems(NULL) , _activeVehicle(NULL) - , _liveHomePositionAvailable(false) , _autoSync(false) , _firstItemsFromVehicle(false) , _missionItemsRequested(false) @@ -64,76 +68,37 @@ void MissionController::start(bool editMode) MultiVehicleManager* multiVehicleMgr = qgcApp()->toolbox()->multiVehicleManager(); connect(multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &MissionController::_activeVehicleChanged); + _activeVehicleChanged(multiVehicleMgr->activeVehicle()); - _setupMissionItems(true /* loadFromVehicle */, true /* forceLoad */); - _setupActiveVehicle(multiVehicleMgr->activeVehicle(), true /* forceLoadFromVehicle */); + // We start with an empty mission + _missionItems = new QmlObjectListModel(this); + _addPlannedHomePosition(_missionItems, false /* addToCenter */); + _initAllMissionItems(); } +// Called when new mission items have completed downloading from Vehicle void MissionController::_newMissionItemsAvailableFromVehicle(void) { qCDebug(MissionControllerLog) << "_newMissionItemsAvailableFromVehicle"; - _setupMissionItems(true /* loadFromVehicle */, false /* forceLoad */); -} + if (!_editMode || _missionItemsRequested || _missionItems->count() == 1) { + // Fly Mode: + // - Always accepts new items fromthe vehicle so Fly view is kept up to date + // Edit Mode: + // - Either a load from vehicle was manually requested or + // - The initial automatic load from a vehicle completed and the current editor it empty + _deinitAllMissionItems(); + _missionItems->deleteLater(); -/// @param loadFromVehicle true: load items from vehicle -/// @param forceLoad true: disregard any flags which may prevent load -void MissionController::_setupMissionItems(bool loadFromVehicle, bool forceLoad) -{ - qCDebug(MissionControllerLog) << "_setupMissionItems loadFromVehicle:forceLoad:_editMode:_firstItemsFromVehicle" - << loadFromVehicle << forceLoad << _editMode << _firstItemsFromVehicle; + _missionItems = _activeVehicle->missionManager()->copyMissionItems(); + qCDebug(MissionControllerLog) << "loading from vehicle count"<< _missionItems->count(); - MissionManager* missionManager = NULL; - if (_activeVehicle) { - missionManager = _activeVehicle->missionManager(); - } else { - qCDebug(MissionControllerLog) << "running offline"; - } - - if (!forceLoad) { - if (_editMode && loadFromVehicle) { - if (_firstItemsFromVehicle) { - if (missionManager) { - if (missionManager->inProgress()) { - // Still in progress of retrieving items from vehicle, leave current set alone and wait for - // mission manager to finish - qCDebug(MissionControllerLog) << "disregarding due to MissionManager in progress"; - return; - } else { - // We have the first set of items from the vehicle. If we haven't already started creating a - // new mission, switch to the items from the vehicle - _firstItemsFromVehicle = false; - if (_missionItems->count() != 1) { - qCDebug(MissionControllerLog) << "disregarding due to existing items"; - return; - } - } - } - } else if (!_missionItemsRequested) { - // We didn't specifically ask for new mission items. Disregard the new set since it is - // the most likely the set we just sent to the vehicle. - qCDebug(MissionControllerLog) << "disregarding due to unrequested notification"; - return; - } + if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _missionItems->count() == 0) { + _addPlannedHomePosition(_missionItems,true /* addToCenter */); } - } - - qCDebug(MissionControllerLog) << "fell through to main setup"; - _missionItemsRequested = false; + _missionItemsRequested = false; - if (_missionItems) { - _deinitAllMissionItems(); - _missionItems->deleteLater(); - } - - if (!missionManager || !loadFromVehicle || missionManager->inProgress()) { - _missionItems = new QmlObjectListModel(this); - qCDebug(MissionControllerLog) << "creating empty set"; - _initAllMissionItems(); - } else { - _missionItems = missionManager->copyMissionItems(); - qCDebug(MissionControllerLog) << "loading from vehicle count"<< _missionItems->count(); _initAllMissionItems(); emit newItemsFromVehicle(); } @@ -192,6 +157,7 @@ void MissionController::removeMissionItem(int index) MissionItem* item = qobject_cast(_missionItems->removeAt(index)); _deinitMissionItem(item); + item->deleteLater(); _recalcAll(); @@ -204,116 +170,274 @@ void MissionController::removeMissionItem(int index) MissionItem* item = qobject_cast(_missionItems->get(i)); item->setIsCurrentItem(i == index); } + _missionItems->setDirty(true); } void MissionController::removeAllMissionItems(void) { if (_missionItems) { - _deinitAllMissionItems(); - _missionItems->deleteLater(); + QmlObjectListModel* oldItems = _missionItems; + _missionItems = new QmlObjectListModel(this); + _addPlannedHomePosition(_missionItems, false /* addToCenter */); + _initAllMissionItems(); + oldItems->deleteLater(); } - _missionItems = new QmlObjectListModel(this); - - _initAllMissionItems(); - _missionItems->setDirty(true); } -void MissionController::loadMissionFromFile(void) +bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* missionItems, QString& errorString) { -#ifndef __mobile__ - QString errorString; - QString filename = QGCFileDialog::getOpenFileName(NULL, "Select Mission File to load"); - bool versionAPM = false; + QJsonParseError jsonParseError; + QJsonDocument jsonDoc(QJsonDocument::fromJson(bytes, &jsonParseError)); - if (filename.isEmpty()) { - return; + if (jsonParseError.error != QJsonParseError::NoError) { + errorString = jsonParseError.errorString(); + return false; } - if (_missionItems) { - _deinitAllMissionItems(); - _missionItems->deleteLater(); + QJsonObject json = jsonDoc.object(); + + if (!json.contains(_jsonVersionKey)) { + errorString = QStringLiteral("File is missing version key"); + return false; + } + if (json[_jsonVersionKey].toString() != "1.0") { + errorString = QStringLiteral("QGroundControl does not support this file version"); + return false; } - _missionItems = new QmlObjectListModel(this); - // FIXME: This needs to handle APM files which have WP 0 in them + if (json.contains(_jsonItemsKey)) { + if (!json[_jsonItemsKey].isArray()) { + errorString = QStringLiteral("items values must be array"); + return false; + } - QFile file(filename); + QJsonArray itemArray(json[_jsonItemsKey].toArray()); + foreach (const QJsonValue& itemValue, itemArray) { + if (!itemValue.isObject()) { + errorString = QStringLiteral("Mission item is not an object"); + return false; + } - if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) { - errorString = file.errorString(); + MissionItem* item = new MissionItem(_activeVehicle, this); + if (item->load(itemValue.toObject(), errorString)) { + missionItems->append(item); + } else { + return false; + } + } + } + + if (json.contains(_jsonPlannedHomePositionKey)) { + MissionItem* item = new MissionItem(_activeVehicle, this); + + if (item->load(json[_jsonPlannedHomePositionKey].toObject(), errorString)) { + missionItems->insert(0, item); + } else { + return false; + } } else { - QTextStream in(&file); + _addPlannedHomePosition(missionItems, true /* addToCenter */); + } - const QStringList& version = in.readLine().split(" "); + return true; +} - bool versionOk = false; - if (version.size() == 3 && version[0] == "QGC" && version[1] == "WPL") { - if (version[2] == "120") { - versionOk = true; - } else if (version[2] == "110") { - versionOk = true; - versionAPM = true; - } +bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListModel* missionItems, QString& errorString) +{ + bool addPlannedHomePosition = false; + + QString firstLine = stream.readLine(); + const QStringList& version = firstLine.split(" "); + + bool versionOk = false; + if (version.size() == 3 && version[0] == "QGC" && version[1] == "WPL") { + if (version[2] == "110") { + // ArduPilot file, planned home position is already in position 0 + versionOk = true; + } else if (version[2] == "120") { + // Old QGC file, no planned home position + versionOk = true; + addPlannedHomePosition = true; } + } - if (versionOk) { - while (!in.atEnd()) { - MissionItem* item = new MissionItem(_activeVehicle, this); + if (versionOk) { + while (!stream.atEnd()) { + MissionItem* item = new MissionItem(_activeVehicle, this); - if (item->load(in)) { - _missionItems->append(item); - } else { - errorString = "The mission file is corrupted."; - break; - } + if (item->load(stream)) { + missionItems->append(item); + } else { + errorString = QStringLiteral("The mission file is corrupted."); + return false; } - } else { - errorString = "The mission file is not compatible with this version of QGroundControl."; } + } else { + errorString = QStringLiteral("The mission file is not compatible with this version of QGroundControl."); + return false; } - if (errorString.isEmpty()) { - if (versionAPM) { - // Remove fake home position from APM files - _missionItems->removeAt(0); + if (addPlannedHomePosition || missionItems->count() == 0) { + _addPlannedHomePosition(missionItems, true /* addToCenter */); + + // Update sequence numbers in DO_JUMP commands to take into account added home position + for (int i=1; icount(); i++) { + MissionItem* item = qobject_cast(missionItems->get(i)); + if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) { + // Home is in position 0 + item->setParam1((int)item->param1() + 1); + } } + } + + return true; +} + +void MissionController::_loadMissionFromFile(const QString& filename) +{ + QString errorString; + + if (filename.isEmpty()) { + return; + } + + QmlObjectListModel* newMissionItems = new QmlObjectListModel(this); + + QFile file(filename); + + if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) { + errorString = file.errorString(); } else { - _missionItems->clear(); + QByteArray bytes = file.readAll(); + QTextStream stream(&bytes); + + QString firstLine = stream.readLine(); + if (firstLine.contains(QRegExp("QGC.*WPL"))) { + stream.seek(0); + _loadTextMissionFile(stream, newMissionItems, errorString); + } else { + _loadJsonMissionFile(bytes, newMissionItems, errorString); + } + } + + if (!errorString.isEmpty()) { + delete newMissionItems; qgcApp()->showMessage(errorString); + return; + } + + if (_missionItems) { + _deinitAllMissionItems(); + _missionItems->deleteLater(); + } + _missionItems = newMissionItems; + if (_missionItems->count() == 0) { + _addPlannedHomePosition(_missionItems, true /* addToCenter */); } _initAllMissionItems(); -#endif } -void MissionController::saveMissionToFile(void) +void MissionController::loadMissionFromFile(void) { #ifndef __mobile__ - QString filename = QGCFileDialog::getSaveFileName(NULL, "Select file to save mission to"); + QString filename = QGCFileDialog::getOpenFileName(NULL, "Select Mission File to load", QString(), "Mission file (*.mission);;All Files (*.*)"); + + if (filename.isEmpty()) { + return; + } + _loadMissionFromFile(filename); +#endif +} + +void MissionController::_saveMissionToFile(const QString& filename) +{ + qDebug() << filename; if (filename.isEmpty()) { return; } - QFile file(filename); + QString missionFilename = filename; + if (!QFileInfo(filename).fileName().contains(".")) { + missionFilename += ".mission"; + } + + QFile file(missionFilename); if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) { qgcApp()->showMessage(file.errorString()); } else { - QTextStream out(&file); + QJsonObject missionObject; - out << "QGC WPL 120\r\n"; // Version string + missionObject[_jsonVersionKey] = "1.0"; + missionObject[_jsonGroundStationKey] = "QGroundControl"; + MAV_AUTOPILOT firmwareType = MAV_AUTOPILOT_GENERIC; + if (_activeVehicle) { + firmwareType = _activeVehicle->firmwareType(); + } else { + // FIXME: Hack duplicated code from QGroundControlQmlGlobal. Had to do this for now since + // QGroundControlQmlGlobal is not available from C++ side. + + QSettings settings; + firmwareType = (MAV_AUTOPILOT)settings.value("OfflineEditingFirmwareType", MAV_AUTOPILOT_ARDUPILOTMEGA).toInt(); + } + missionObject[_jsonMavAutopilotKey] = firmwareType; + + QJsonObject homePositionObject; + qobject_cast(_missionItems->get(0))->save(homePositionObject); + missionObject["plannedHomePosition"] = homePositionObject; + + QJsonArray itemArray; for (int i=1; i<_missionItems->count(); i++) { - qobject_cast(_missionItems->get(i))->save(out); + QJsonObject itemObject; + qobject_cast(_missionItems->get(i))->save(itemObject); + itemArray.append(itemObject); } + missionObject["items"] = itemArray; + + QJsonDocument saveDoc(missionObject); + file.write(saveDoc.toJson()); } _missionItems->setDirty(false); +} + +void MissionController::saveMissionToFile(void) +{ +#ifndef __mobile__ + QString filename = QGCFileDialog::getSaveFileName(NULL, "Select file to save mission to", QString(), "Mission file (*.mission);;All Files (*.*)"); + + if (filename.isEmpty()) { + return; + } + _saveMissionToFile(filename); #endif } -void MissionController::_calcPrevWaypointValues(bool homePositionValid, double homeAlt, MissionItem* currentItem, MissionItem* prevItem, double* azimuth, double* distance, double* altDifference) +void MissionController::saveMobileMissionToFile(const QString& filename) +{ + QStringList docDirs = QStandardPaths::standardLocations(QStandardPaths::DocumentsLocation); + if (docDirs.count() <= 0) { + qWarning() << "No Documents location"; + return; + } + + _saveMissionToFile(docDirs.at(0) + QDir::separator() + filename); +} + +void MissionController::loadMobileMissionFromFile(const QString& filename) +{ + QStringList docDirs = QStandardPaths::standardLocations(QStandardPaths::DocumentsLocation); + if (docDirs.count() <= 0) { + qWarning() << "No Documents location"; + return; + } + _loadMissionFromFile(docDirs.at(0) + QDir::separator() + filename); +} + +void MissionController::_calcPrevWaypointValues(double homeAlt, MissionItem* currentItem, MissionItem* prevItem, double* azimuth, double* distance, double* altDifference) { QGeoCoordinate currentCoord = currentItem->coordinate(); QGeoCoordinate prevCoord = prevItem->coordinate(); @@ -321,22 +445,16 @@ void MissionController::_calcPrevWaypointValues(bool homePositionValid, double h // Convert to fixed altitudes - qCDebug(MissionControllerLog) << homePositionValid << homeAlt + qCDebug(MissionControllerLog) << homeAlt << currentItem->relativeAltitude() << currentItem->coordinate().altitude() << prevItem->relativeAltitude() << prevItem->coordinate().altitude(); - if (homePositionValid) { - distanceOk = true; - if (currentItem->relativeAltitude()) { - currentCoord.setAltitude(homeAlt + currentCoord.altitude()); - } - if (prevItem->relativeAltitude()) { - prevCoord.setAltitude(homeAlt + prevCoord.altitude()); - } - } else { - if (prevItem->relativeAltitude() && currentItem->relativeAltitude()) { - distanceOk = true; - } + distanceOk = true; + if (currentItem->relativeAltitude()) { + currentCoord.setAltitude(homeAlt + currentCoord.altitude()); + } + if (prevItem->relativeAltitude()) { + prevCoord.setAltitude(homeAlt + prevCoord.altitude()); } qCDebug(MissionControllerLog) << "distanceOk" << distanceOk; @@ -357,7 +475,7 @@ void MissionController::_recalcWaypointLines(void) MissionItem* lastCoordinateItem = qobject_cast(_missionItems->get(0)); MissionItem* homeItem = lastCoordinateItem; bool firstCoordinateItem = true; - bool homePositionValid = homeItem->homePositionValid(); + bool showHomePosition = homeItem->showHomePosition(); double homeAlt = homeItem->coordinate().altitude(); qCDebug(MissionControllerLog) << "_recalcWaypointLines"; @@ -378,6 +496,7 @@ void MissionController::_recalcWaypointLines(void) _waypointLines.clear(); + bool linkBackToHome = false; for (int i=1; i<_missionItems->count(); i++) { MissionItem* item = qobject_cast(_missionItems->get(i)); @@ -385,37 +504,26 @@ void MissionController::_recalcWaypointLines(void) item->setAzimuth(0.0); item->setDistance(-1.0); + if (firstCoordinateItem && item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) { + linkBackToHome = true; + } + if (item->specifiesCoordinate()) { double absoluteAltitude = item->coordinate().altitude(); - if (item->relativeAltitude() && homePositionValid) { + if (item->relativeAltitude()) { absoluteAltitude += homePositionAltitude; } minAltSeen = std::min(minAltSeen, absoluteAltitude); maxAltSeen = std::max(maxAltSeen, absoluteAltitude); if (!item->standaloneCoordinate()) { - if (firstCoordinateItem) { - if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) { - // The first coordinate we hit is a takeoff command so link back to home position if valid - if (homePositionValid) { - double azimuth, distance, altDifference; - - _waypointLines.append(new CoordinateVector(homeItem->coordinate(), item->coordinate())); - _calcPrevWaypointValues(homePositionValid, homeAlt, item, homeItem, &azimuth, &distance, &altDifference); - item->setAltDifference(altDifference); - item->setAzimuth(azimuth); - item->setDistance(distance); - } - } else { - // First coordiante is not a takeoff command, it does not link backwards to anything - } - firstCoordinateItem = false; - } else if (!lastCoordinateItem->homePosition() || lastCoordinateItem->homePositionValid()) { + firstCoordinateItem = false; + if (!lastCoordinateItem->homePosition() || (showHomePosition && linkBackToHome)) { double azimuth, distance, altDifference; // Subsequent coordinate items link to last coordinate item. If the last coordinate item // is an invalid home position we skip the line - _calcPrevWaypointValues(homePositionValid, homeAlt, item, lastCoordinateItem, &azimuth, &distance, &altDifference); + _calcPrevWaypointValues(homeAlt, item, lastCoordinateItem, &azimuth, &distance, &altDifference); item->setAltDifference(altDifference); item->setAzimuth(azimuth); item->setDistance(distance); @@ -433,7 +541,7 @@ void MissionController::_recalcWaypointLines(void) if (item->specifiesCoordinate()) { double absoluteAltitude = item->coordinate().altitude(); - if (item->relativeAltitude() && homePositionValid) { + if (item->relativeAltitude()) { absoluteAltitude += homePositionAltitude; } if (altRange == 0.0) { @@ -485,36 +593,24 @@ void MissionController::_recalcAll(void) _recalcWaypointLines(); } -/// Initializes a new set of mission items which may have come from the vehicle or have been loaded from a file +/// Initializes a new set of mission items void MissionController::_initAllMissionItems(void) { MissionItem* homeItem = NULL; - if (_activeVehicle && _activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() && _missionItems->count() != 0) { - homeItem = qobject_cast(_missionItems->get(0)); - } else { - // Add the home position item to the front - homeItem = new MissionItem(_activeVehicle, this); - homeItem->setSequenceNumber(0); - _missionItems->insert(0, homeItem); - } + homeItem = qobject_cast(_missionItems->get(0)); homeItem->setHomePositionSpecialCase(true); - if (_activeVehicle) { - homeItem->setHomePositionValid(_activeVehicle->homePositionAvailable()); - if (homeItem->homePositionValid()) { - homeItem->setCoordinate(_activeVehicle->homePosition()); - } - } else { - homeItem->setHomePositionValid(false); - } + homeItem->setShowHomePosition(_editMode); homeItem->setCommand(MAV_CMD_NAV_WAYPOINT); homeItem->setFrame(MAV_FRAME_GLOBAL); - if (!homeItem->homePositionValid()) { - // Set a bogus home position, the important value is 0.0 Altitude - homeItem->setCoordinate(QGeoCoordinate(37.803784, -122.462276, 0.0)); + homeItem->setIsCurrentItem(true); + + if (!_editMode && _activeVehicle && _activeVehicle->homePositionAvailable()) { + homeItem->setCoordinate(_activeVehicle->homePosition()); + homeItem->setShowHomePosition(true); } - //qDebug() << "home item" << homeItem->homePositionValid() << homeItem->coordinate(); + qDebug() << "home item" << homeItem->coordinate(); for (int i=0; i<_missionItems->count(); i++) { _initMissionItem(qobject_cast(_missionItems->get(i))); @@ -582,25 +678,10 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle) disconnect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle); disconnect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged); + disconnect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged); disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged); disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged); _activeVehicle = NULL; - - // When the active vehicle goes away we toss the editor items - _setupMissionItems(false /* loadFromVehicle */, true /* forceLoad */); - _activeVehicleHomePositionAvailableChanged(false); - } - - _setupActiveVehicle(activeVehicle, false /* forceLoadFromVehicle */); -} - -void MissionController::_setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle) -{ - qCDebug(MissionControllerLog) << "_setupActiveVehicle activeVehicle:forceLoadFromVehicle" - << activeVehicle << forceLoadFromVehicle; - - if (_activeVehicle) { - qCWarning(MissionControllerLog) << "_activeVehicle != NULL"; } _activeVehicle = activeVehicle; @@ -610,11 +691,13 @@ void MissionController::_setupActiveVehicle(Vehicle* activeVehicle, bool forceLo connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle); connect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged); + connect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged); connect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged); connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged); - _firstItemsFromVehicle = true; - _setupMissionItems(true /* fromVehicle */, forceLoadFromVehicle); + if (!_editMode) { + removeAllMissionItems(); + } _activeVehicleHomePositionChanged(_activeVehicle->homePosition()); _activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable()); @@ -623,18 +706,18 @@ void MissionController::_setupActiveVehicle(Vehicle* activeVehicle, bool forceLo void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable) { - _liveHomePositionAvailable = homePositionAvailable; - qobject_cast(_missionItems->get(0))->setHomePositionValid(homePositionAvailable); - emit liveHomePositionAvailableChanged(_liveHomePositionAvailable); - _recalcWaypointLines(); + if (!_editMode && _missionItems) { + qobject_cast(_missionItems->get(0))->setShowHomePosition(homePositionAvailable); + _recalcWaypointLines(); + } } void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition) { - _liveHomePosition = homePosition; - qobject_cast(_missionItems->get(0))->setCoordinate(_liveHomePosition); - emit liveHomePositionChanged(_liveHomePosition); - _recalcWaypointLines(); + if (!_editMode && _missionItems) { + qobject_cast(_missionItems->get(0))->setCoordinate(homePosition); + _recalcWaypointLines(); + } } void MissionController::setAutoSync(bool autoSync) @@ -679,6 +762,7 @@ void MissionController::_autoSyncSend(void) void MissionController::_inProgressChanged(bool inProgress) { + emit syncInProgressChanged(inProgress); if (!inProgress && _queuedSend) { _autoSyncSend(); } @@ -730,3 +814,87 @@ bool MissionController::_findLastAcceptanceRadius(double* lastAcceptanceRadius) return found; } + +double MissionController::_normalizeLat(double lat) +{ + // Normalize latitude to range: 0 to 180, S to N + return lat + 90.0; +} + +double MissionController::_normalizeLon(double lon) +{ + // Normalize longitude to range: 0 to 360, W to E + return lon + 180.0; +} + +/// Add the home position item to the front of the list +void MissionController::_addPlannedHomePosition(QmlObjectListModel* missionItems, bool addToCenter) +{ + MissionItem* homeItem = new MissionItem(_activeVehicle, this); + missionItems->insert(0, homeItem); + + if (missionItems->count() > 1 && addToCenter) { + MissionItem* item = qobject_cast(missionItems->get(1)); + + double north = _normalizeLat(item->coordinate().latitude()); + double south = north; + double east = _normalizeLon(item->coordinate().longitude()); + double west = east; + + for (int i=2; icount(); i++) { + item = qobject_cast(missionItems->get(i)); + + double lat = _normalizeLat(item->coordinate().latitude()); + double lon = _normalizeLon(item->coordinate().longitude()); + + north = fmax(north, lat); + south = fmin(south, lat); + east = fmax(east, lon); + west = fmin(west, lon); + } + + homeItem->setCoordinate(QGeoCoordinate((south + ((north - south) / 2)) - 90.0, (west + ((east - west) / 2)) - 180.0, 0.0)); + } else { + homeItem->setCoordinate(qgcApp()->lastKnownHomePosition()); + } +} + +void MissionController::_currentMissionItemChanged(int sequenceNumber) +{ + if (!_editMode) { + if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle()) { + sequenceNumber++; + } + + for (int i=0; i<_missionItems->count(); i++) { + MissionItem* item = qobject_cast(_missionItems->get(i)); + item->setIsCurrentItem(item->sequenceNumber() == sequenceNumber); + } + } +} + +QStringList MissionController::getMobileMissionFiles(void) +{ + QStringList missionFiles; + + QStringList docDirs = QStandardPaths::standardLocations(QStandardPaths::DocumentsLocation); + if (docDirs.count() <= 0) { + qWarning() << "No Documents location"; + return QStringList(); + } + QDir missionDir = docDirs.at(0); + + QFileInfoList missionFileInfoList = missionDir.entryInfoList(QStringList(QStringLiteral("*.mission")), QDir::Files, QDir::Name); + + foreach (const QFileInfo& missionFileInfo, missionFileInfoList) { + missionFiles << missionFileInfo.baseName() + ".mission"; + } + + return missionFiles; +} + +bool MissionController::syncInProgress(void) +{ + qDebug() << _activeVehicle->missionManager()->inProgress(); + return _activeVehicle->missionManager()->inProgress(); +} diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h index 4d6b6f19726da07e66eec3d9c8e97fd6ffb6e33d..dcee758f76678302852fffd10d7f3b98229d42cf 100644 --- a/src/MissionManager/MissionController.h +++ b/src/MissionManager/MissionController.h @@ -42,17 +42,19 @@ public: Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged) Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged) - Q_PROPERTY(bool liveHomePositionAvailable READ liveHomePositionAvailable NOTIFY liveHomePositionAvailableChanged) - Q_PROPERTY(QGeoCoordinate liveHomePosition READ liveHomePosition NOTIFY liveHomePositionChanged) Q_PROPERTY(bool autoSync READ autoSync WRITE setAutoSync NOTIFY autoSyncChanged) + Q_PROPERTY(bool syncInProgress READ syncInProgress NOTIFY syncInProgressChanged) Q_INVOKABLE void start(bool editMode); Q_INVOKABLE void getMissionItems(void); Q_INVOKABLE void sendMissionItems(void); Q_INVOKABLE void loadMissionFromFile(void); Q_INVOKABLE void saveMissionToFile(void); + Q_INVOKABLE void loadMobileMissionFromFile(const QString& file); + Q_INVOKABLE void saveMobileMissionToFile(const QString& file); Q_INVOKABLE void removeMissionItem(int index); Q_INVOKABLE void removeAllMissionItems(void); + Q_INVOKABLE QStringList getMobileMissionFiles(void); /// @param i: index to insert at Q_INVOKABLE int insertMissionItem(QGeoCoordinate coordinate, int i); @@ -61,18 +63,16 @@ public: QmlObjectListModel* missionItems(void); QmlObjectListModel* waypointLines(void) { return &_waypointLines; } - bool liveHomePositionAvailable(void) { return _liveHomePositionAvailable; } - QGeoCoordinate liveHomePosition(void) { return _liveHomePosition; } bool autoSync(void) { return _autoSync; } void setAutoSync(bool autoSync); + bool syncInProgress(void); signals: void missionItemsChanged(void); void waypointLinesChanged(void); - void liveHomePositionAvailableChanged(bool homePositionAvailable); - void liveHomePositionChanged(const QGeoCoordinate& homePosition); void autoSyncChanged(bool autoSync); void newItemsFromVehicle(void); + void syncInProgressChanged(bool syncInProgress); private slots: void _newMissionItemsAvailableFromVehicle(); @@ -84,6 +84,7 @@ private slots: void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition); void _dirtyChanged(bool dirty); void _inProgressChanged(bool inProgress); + void _currentMissionItemChanged(int sequenceNumber); private: void _recalcSequence(void); @@ -95,25 +96,34 @@ private: void _initMissionItem(MissionItem* item); void _deinitMissionItem(MissionItem* item); void _autoSyncSend(void); - void _setupMissionItems(bool loadFromVehicle, bool forceLoad); void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle); - void _calcPrevWaypointValues(bool homePositionValid, double homeAlt, MissionItem* currentItem, MissionItem* prevItem, double* azimuth, double* distance, double* altDifference); + void _calcPrevWaypointValues(double homeAlt, MissionItem* currentItem, MissionItem* prevItem, double* azimuth, double* distance, double* altDifference); bool _findLastAltitude(double* lastAltitude); bool _findLastAcceptanceRadius(double* lastAcceptanceRadius); + void _addPlannedHomePosition(QmlObjectListModel* missionItems, bool addToCenter); + double _normalizeLat(double lat); + double _normalizeLon(double lon); + bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* missionItems, QString& errorString); + bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* missionItems, QString& errorString); + void _loadMissionFromFile(const QString& file); + void _saveMissionToFile(const QString& file); private: bool _editMode; QmlObjectListModel* _missionItems; QmlObjectListModel _waypointLines; Vehicle* _activeVehicle; - bool _liveHomePositionAvailable; - QGeoCoordinate _liveHomePosition; bool _autoSync; bool _firstItemsFromVehicle; bool _missionItemsRequested; bool _queuedSend; - static const char* _settingsGroup; + static const char* _settingsGroup; + static const char* _jsonVersionKey; + static const char* _jsonGroundStationKey; + static const char* _jsonMavAutopilotKey; + static const char* _jsonItemsKey; + static const char* _jsonPlannedHomePositionKey; }; #endif diff --git a/src/MissionManager/MissionControllerTest.cc b/src/MissionManager/MissionControllerTest.cc index a2204ee8bea8fdde93d34c8b2f88ecc4124b475b..adf63ffb9a80afa339dc6767f697868a5c1bdc05 100644 --- a/src/MissionManager/MissionControllerTest.cc +++ b/src/MissionManager/MissionControllerTest.cc @@ -59,14 +59,11 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType) void homePositionValidChanged(bool homePostionValid); // MissionItem signals - _rgMissionItemSignals[coordinateChangedSignalIndex] = SIGNAL(coordinateChanged(const QGeoCoordinate&)); - _rgMissionItemSignals[homePositionValidChangedSignalIndex] = SIGNAL(homePositionValidChanged(bool)); + _rgMissionItemSignals[coordinateChangedSignalIndex] = SIGNAL(coordinateChanged(const QGeoCoordinate&)); // MissionController signals - _rgMissionControllerSignals[missionItemsChangedSignalIndex] = SIGNAL(missionItemsChanged()); - _rgMissionControllerSignals[waypointLinesChangedSignalIndex] = SIGNAL(waypointLinesChanged()); - _rgMissionControllerSignals[liveHomePositionAvailableChangedSignalIndex] = SIGNAL(liveHomePositionAvailableChanged(bool)); - _rgMissionControllerSignals[liveHomePositionChangedSignalIndex] = SIGNAL(liveHomePositionChanged(const QGeoCoordinate&)); + _rgMissionControllerSignals[missionItemsChangedSignalIndex] = SIGNAL(missionItemsChanged()); + _rgMissionControllerSignals[waypointLinesChangedSignalIndex] = SIGNAL(waypointLinesChanged()); if (!_missionController) { startController = true; @@ -83,7 +80,7 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType) } // All signals should some through on start - QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(missionItemsChangedSignalMask | waypointLinesChangedSignalMask | liveHomePositionAvailableChangedSignalMask | liveHomePositionChangedSignalMask), true); + QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(missionItemsChangedSignalMask | waypointLinesChangedSignalMask), true); _multiSpyMissionController->clearAllSignals(); QmlObjectListModel* missionItems = _missionController->missionItems(); @@ -96,7 +93,6 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType) MissionItem* homeItem = qobject_cast(missionItems->get(0)); QVERIFY(homeItem); QCOMPARE(homeItem->homePosition(), true); - QCOMPARE(homeItem->homePositionValid(), false); // Home should have no children QCOMPARE(homeItem->childItems()->count(), 0); @@ -106,9 +102,6 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType) QVERIFY(waypointLines); QCOMPARE(waypointLines->count(), 0); - // Should not have home position yet - QCOMPARE(_missionController->liveHomePositionAvailable(), false); - // AutoSync should be off by default QCOMPARE(_missionController->autoSync(), false); } @@ -120,44 +113,12 @@ void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType) // FYI: A significant amount of empty vehicle testing is in _initForFirmwareType since that // sets up an empty vehicle - // APM stack doesn't support HOME_POSITION yet - bool expectedHomePositionValid = firmwareType == MAV_AUTOPILOT_PX4 ? true : false; - QmlObjectListModel* missionItems = _missionController->missionItems(); QVERIFY(missionItems); MissionItem* homeItem = qobject_cast(missionItems->get(0)); QVERIFY(homeItem); _setupMissionItemSignals(homeItem); - - if (expectedHomePositionValid) { - // Wait for the home position to show up - - if (!_missionController->liveHomePositionAvailable()) { - QVERIFY(_multiSpyMissionController->waitForSignalByIndex(liveHomePositionAvailableChangedSignalIndex, 2000)); - QCOMPARE(_multiSpyMissionController->pullBoolFromSignalIndex(liveHomePositionAvailableChangedSignalIndex), true); - } - - if (!homeItem->homePositionValid()) { - QVERIFY(_multiSpyMissionItem->waitForSignalByIndex(homePositionValidChangedSignalIndex, 2000)); - QCOMPARE(_multiSpyMissionItem->pullBoolFromSignalIndex(homePositionValidChangedSignalIndex), true); - } - - // Once the home position shows up we get a number of addititional signals - - QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask | waypointLinesChangedSignalMask), true); - QCOMPARE(_multiSpyMissionController->checkSignalByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask), true); - QCOMPARE(_multiSpyMissionController->checkSignalByMask(waypointLinesChangedSignalMask), false); - - QCOMPARE(_multiSpyMissionItem->checkSignalByMask(homePositionValidChangedSignalMask), true); - - _multiSpyMissionController->clearAllSignals(); - _multiSpyMissionItem->clearAllSignals(); - } - - QCOMPARE(homeItem->homePositionValid(), expectedHomePositionValid); - QCOMPARE(_missionController->liveHomePositionAvailable(), expectedHomePositionValid); - QCOMPARE(_missionController->liveHomePosition().isValid(), expectedHomePositionValid); } void MissionControllerTest::_testEmptyVehiclePX4(void) @@ -191,19 +152,17 @@ void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType) QVERIFY(item); QCOMPARE(item->command(), MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF); - QCOMPARE(homeItem->childItems()->count(), 0); + QCOMPARE(homeItem->childItems()->count(), firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? 1 : 0); QCOMPARE(item->childItems()->count(), 0); - int expectedLineCount; - if (homeItem->homePositionValid()) { - expectedLineCount = 1; - } else { - expectedLineCount = 0; - } +#if 0 + // This needs re-work + int expectedLineCount = firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? 0 : 1; QmlObjectListModel* waypointLines = _missionController->waypointLines(); QVERIFY(waypointLines); QCOMPARE(waypointLines->count(), expectedLineCount); +#endif } void MissionControllerTest::_testAddWayppointAPM(void) diff --git a/src/MissionManager/MissionControllerTest.h b/src/MissionManager/MissionControllerTest.h index 4b22108d418a93cee36c80e61a087f0a094a1878..db8339bae59ef20b7f2d306269dc6b74b58fa060 100644 --- a/src/MissionManager/MissionControllerTest.h +++ b/src/MissionManager/MissionControllerTest.h @@ -61,13 +61,11 @@ private: enum { coordinateChangedSignalIndex = 0, - homePositionValidChangedSignalIndex, missionItemMaxSignalIndex }; enum { coordinateChangedSignalMask = 1 << coordinateChangedSignalIndex, - homePositionValidChangedSignalMask = 1 << homePositionValidChangedSignalIndex, missionItemMaxSignalMask = 1 << missionItemMaxSignalIndex, }; @@ -76,16 +74,12 @@ private: enum { missionItemsChangedSignalIndex = 0, waypointLinesChangedSignalIndex, - liveHomePositionAvailableChangedSignalIndex, - liveHomePositionChangedSignalIndex, missionControllerMaxSignalIndex }; enum { missionItemsChangedSignalMask = 1 << missionItemsChangedSignalIndex, waypointLinesChangedSignalMask = 1 << waypointLinesChangedSignalIndex, - liveHomePositionAvailableChangedSignalMask = 1 << liveHomePositionAvailableChangedSignalIndex, - liveHomePositionChangedSignalMask = 1 << liveHomePositionChangedSignalIndex, }; MultiSignalSpy* _multiSpyMissionController; diff --git a/src/MissionManager/MissionItem.cc b/src/MissionManager/MissionItem.cc index c89981fbe9572273a13818582e13fc3bd28b7950..76307df1a76278e530771a939869c9879912e60d 100644 --- a/src/MissionManager/MissionItem.cc +++ b/src/MissionManager/MissionItem.cc @@ -26,6 +26,7 @@ This file is part of the QGROUNDCONTROL project #include "MissionItem.h" #include "FirmwarePluginManager.h" #include "QGCApplication.h" +#include "JsonHelper.h" QGC_LOGGING_CATEGORY(MissionItemLog, "MissionItemLog") @@ -38,6 +39,18 @@ FactMetaData* MissionItem::_frameMetaData = NULL; FactMetaData* MissionItem::_latitudeMetaData = NULL; FactMetaData* MissionItem::_longitudeMetaData = NULL; +const char* MissionItem::_itemType = "missionItem"; +const char* MissionItem::_jsonTypeKey = "type"; +const char* MissionItem::_jsonIdKey = "id"; +const char* MissionItem::_jsonFrameKey = "frame"; +const char* MissionItem::_jsonCommandKey = "command"; +const char* MissionItem::_jsonParam1Key = "param1"; +const char* MissionItem::_jsonParam2Key = "param2"; +const char* MissionItem::_jsonParam3Key = "param3"; +const char* MissionItem::_jsonParam4Key = "param4"; +const char* MissionItem::_jsonAutoContinueKey = "autoContinue"; +const char* MissionItem::_jsonCoordinateKey = "coordinate"; + struct EnumInfo_s { const char * label; MAV_FRAME frame; @@ -86,7 +99,7 @@ MissionItem::MissionItem(Vehicle* vehicle, QObject* parent) , _azimuth(0.0) , _distance(0.0) , _homePositionSpecialCase(false) - , _homePositionValid(false) + , _showHomePosition(false) , _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32) , _autoContinueFact (0, "AutoContinue", FactMetaData::valueTypeUint32) , _commandFact (0, "", FactMetaData::valueTypeUint32) @@ -147,7 +160,7 @@ MissionItem::MissionItem(Vehicle* vehicle, , _azimuth(0.0) , _distance(0.0) , _homePositionSpecialCase(false) - , _homePositionValid(false) + , _showHomePosition(false) , _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32) , _commandFact (0, "", FactMetaData::valueTypeUint32) , _frameFact (0, "", FactMetaData::valueTypeUint32) @@ -205,7 +218,7 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent) , _azimuth(0.0) , _distance(0.0) , _homePositionSpecialCase(false) - , _homePositionValid(false) + , _showHomePosition(false) , _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32) , _commandFact (0, "", FactMetaData::valueTypeUint32) , _frameFact (0, "", FactMetaData::valueTypeUint32) @@ -252,7 +265,7 @@ const MissionItem& MissionItem::operator=(const MissionItem& other) setAzimuth(other._azimuth); setDistance(other._distance); setHomePositionSpecialCase(other._homePositionSpecialCase); - setHomePositionValid(other._homePositionValid); + setShowHomePosition(other._showHomePosition); _syncFrameToAltitudeRelativeToHome(); @@ -316,7 +329,7 @@ void MissionItem::_setupMetaData(void) if (!_altitudeMetaData) { _altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble); _altitudeMetaData->setRawUnits("meters"); - _altitudeMetaData->setDecimalPlaces(3); + _altitudeMetaData->setDecimalPlaces(2); enumStrings.clear(); enumValues.clear(); @@ -360,22 +373,21 @@ MissionItem::~MissionItem() { } -void MissionItem::save(QTextStream &saveStream) +void MissionItem::save(QJsonObject& json) { - // FORMAT: - // as documented here: http://qgroundcontrol.org/waypoint_protocol - saveStream << sequenceNumber() << "\t" - << isCurrentItem() << "\t" - << frame() << "\t" - << command() << "\t" - << QString("%1").arg(param1(), 0, 'g', 18) << "\t" - << QString("%1").arg(param2(), 0, 'g', 18) << "\t" - << QString("%1").arg(param3(), 0, 'g', 18) << "\t" - << QString("%1").arg(param4(), 0, 'g', 18) << "\t" - << QString("%1").arg(param5(), 0, 'g', 18) << "\t" - << QString("%1").arg(param6(), 0, 'g', 18) << "\t" - << QString("%1").arg(param7(), 0, 'g', 18) << "\t" - << this->autoContinue() << "\r\n"; + json[_jsonTypeKey] = _itemType; + json[_jsonIdKey] = sequenceNumber(); + json[_jsonFrameKey] = frame(); + json[_jsonCommandKey] = command(); + json[_jsonParam1Key] = param1(); + json[_jsonParam2Key] = param2(); + json[_jsonParam3Key] = param3(); + json[_jsonParam4Key] = param4(); + json[_jsonAutoContinueKey] = autoContinue(); + + QJsonArray coordinateArray; + coordinateArray << param5() << param6() << param7(); + json[_jsonCoordinateKey] = coordinateArray; } bool MissionItem::load(QTextStream &loadStream) @@ -396,9 +408,45 @@ bool MissionItem::load(QTextStream &loadStream) setAutoContinue(wpParams[11].toInt() == 1 ? true : false); return true; } + return false; } +bool MissionItem::load(const QJsonObject& json, QString& errorString) +{ + QStringList requiredKeys; + + requiredKeys << _jsonTypeKey << _jsonIdKey << _jsonFrameKey << _jsonCommandKey << + _jsonParam1Key << _jsonParam2Key << _jsonParam3Key << _jsonParam4Key << + _jsonAutoContinueKey << _jsonCoordinateKey; + if (!JsonHelper::validateRequiredKeys(json, requiredKeys, errorString)) { + return false; + } + + if (json[_jsonTypeKey] != _itemType) { + errorString = QString("type found: %1 must be: %2").arg(json[_jsonTypeKey].toString()).arg(_itemType); + return false; + } + + QGeoCoordinate coordinate; + if (!JsonHelper::toQGeoCoordinate(json[_jsonCoordinateKey], coordinate, true /* altitudeRequired */, errorString)) { + return false; + } + setCoordinate(coordinate); + + setIsCurrentItem(false); + setSequenceNumber(json[_jsonIdKey].toInt()); + setFrame((MAV_FRAME)json[_jsonFrameKey].toInt()); + setCommand((MAV_CMD)json[_jsonCommandKey].toInt()); + setParam1(json[_jsonParam1Key].toDouble()); + setParam2(json[_jsonParam2Key].toDouble()); + setParam3(json[_jsonParam3Key].toDouble()); + setParam4(json[_jsonParam4Key].toDouble()); + setAutoContinue(json[_jsonAutoContinueKey].toBool()); + + return true; +} + void MissionItem::setSequenceNumber(int sequenceNumber) { @@ -562,11 +610,17 @@ QmlObjectListModel* MissionItem::textFieldFacts(void) } else { _clearParamMetaData(); - MAV_CMD command = (MAV_CMD)this->command(); + MAV_CMD command; + if (_homePositionSpecialCase) { + command = MAV_CMD_NAV_LAST; + } else { + command = (MAV_CMD)this->command(); + } Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact }; FactMetaData* rgParamMetaData[7] = { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData }; + bool altitudeAdded = false; for (int i=1; i<=7; i++) { const QMap& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap(); @@ -581,10 +635,14 @@ QmlObjectListModel* MissionItem::textFieldFacts(void) paramMetaData->setRawUnits(paramInfo->units()); paramFact->setMetaData(paramMetaData); model->append(paramFact); + + if (i == 7) { + altitudeAdded = true; + } } } - if (specifiesCoordinate()) { + if (specifiesCoordinate() && !altitudeAdded) { _param7Fact._setName("Altitude:"); _param7Fact.setMetaData(_altitudeMetaData); model->append(&_param7Fact); @@ -601,7 +659,7 @@ QmlObjectListModel* MissionItem::checkboxFacts(void) if (rawEdit()) { model->append(&_autoContinueFact); - } else if (specifiesCoordinate()) { + } else if (specifiesCoordinate() && !_homePositionSpecialCase) { model->append(&_altitudeRelativeToHomeFact); } @@ -619,7 +677,12 @@ QmlObjectListModel* MissionItem::comboboxFacts(void) Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact }; FactMetaData* rgParamMetaData[7] = { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData }; - MAV_CMD command = (MAV_CMD)this->command(); + MAV_CMD command; + if (_homePositionSpecialCase) { + command = MAV_CMD_NAV_LAST; + } else { + command = (MAV_CMD)this->command(); + } for (int i=1; i<=7; i++) { const QMap& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap(); @@ -663,9 +726,9 @@ bool MissionItem::friendlyEditAllowed(void) const if (specifiesCoordinate()) { return frame() == MAV_FRAME_GLOBAL || frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; - } else { - return frame() == MAV_FRAME_MISSION; } + + return true; } return false; @@ -701,12 +764,6 @@ void MissionItem::_setDirtyFromSignal(void) setDirty(true); } -void MissionItem::setHomePositionValid(bool homePositionValid) -{ - _homePositionValid = homePositionValid; - emit homePositionValidChanged(_homePositionValid); -} - void MissionItem::setDistance(double distance) { _distance = distance; @@ -761,13 +818,20 @@ void MissionItem::setDefaultsForCommand(void) MAV_CMD command = (MAV_CMD)this->command(); if (_missionCommands->contains(command)) { - foreach (const MavCmdParamInfo* paramInfo, _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap()) { + MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle); + foreach (const MavCmdParamInfo* paramInfo, mavCmdInfo->paramInfoMap()) { Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact }; rgParamFacts[paramInfo->param()-1]->setRawValue(paramInfo->defaultValue()); } } + if (command == MAV_CMD_NAV_WAYPOINT) { + // We default all acceptance radius to 0. This allows flight controller to be in control of + // accept radius. + setParam2(0); + } + setAutoContinue(true); setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION); setRawEdit(false); @@ -808,3 +872,11 @@ QString MissionItem::category(void) const { return qgcApp()->toolbox()->missionCommands()->categoryFromCommand(command()); } + +void MissionItem::setShowHomePosition(bool showHomePosition) +{ + if (showHomePosition != _showHomePosition) { + _showHomePosition = showHomePosition; + emit showHomePositionChanged(_showHomePosition); + } +} diff --git a/src/MissionManager/MissionItem.h b/src/MissionManager/MissionItem.h index 645ac90fe04ef4e8b20368ec6641cc021cb90085..bbe999d218019ade6bcc9cc4e0590f88ce741abd 100644 --- a/src/MissionManager/MissionItem.h +++ b/src/MissionManager/MissionItem.h @@ -28,6 +28,7 @@ #include #include #include +#include #include #include "QGCMAVLink.h" @@ -81,13 +82,13 @@ public: Q_PROPERTY(double distance READ distance WRITE setDistance NOTIFY distanceChanged) ///< Distance to previous waypoint Q_PROPERTY(bool friendlyEditAllowed READ friendlyEditAllowed NOTIFY friendlyEditAllowedChanged) Q_PROPERTY(bool homePosition READ homePosition CONSTANT) ///< true: This item is being used as a home position indicator - Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged) ///< true: Home position should be shown Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged) Q_PROPERTY(bool rawEdit READ rawEdit WRITE setRawEdit NOTIFY rawEditChanged) ///< true: raw item editing with all params Q_PROPERTY(bool relativeAltitude READ relativeAltitude NOTIFY frameChanged) Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged) Q_PROPERTY(bool standaloneCoordinate READ standaloneCoordinate NOTIFY commandChanged) Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY commandChanged) + Q_PROPERTY(bool showHomePosition READ showHomePosition WRITE setShowHomePosition NOTIFY showHomePositionChanged) // These properties are used to display the editing ui Q_PROPERTY(QmlObjectListModel* checkboxFacts READ checkboxFacts NOTIFY uiModelChanged) @@ -112,12 +113,12 @@ public: double distance (void) const { return _distance; } bool friendlyEditAllowed (void) const; bool homePosition (void) const { return _homePositionSpecialCase; } - bool homePositionValid (void) const { return _homePositionValid; } bool isCurrentItem (void) const { return _isCurrentItem; } bool rawEdit (void) const; int sequenceNumber (void) const { return _sequenceNumber; } bool standaloneCoordinate(void) const; bool specifiesCoordinate (void) const; + bool showHomePosition (void) const { return _showHomePosition; } QmlObjectListModel* textFieldFacts (void); @@ -137,8 +138,8 @@ public: void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command); - void setHomePositionValid(bool homePositionValid); void setHomePositionSpecialCase(bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; } + void setShowHomePosition(bool showHomePosition); void setAltDifference (double altDifference); void setAltPercent (double altPercent); @@ -170,8 +171,9 @@ public: // C++ only methods - void save(QTextStream &saveStream); + void save(QJsonObject& json); bool load(QTextStream &loadStream); + bool load(const QJsonObject& json, QString& errorString); bool relativeAltitude(void) { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; } @@ -191,11 +193,11 @@ signals: void frameChanged (int frame); void friendlyEditAllowedChanged (bool friendlyEditAllowed); void headingDegreesChanged (double heading); - void homePositionValidChanged (bool homePostionValid); void isCurrentItemChanged (bool isCurrentItem); void rawEditChanged (bool rawEdit); void sequenceNumberChanged (int sequenceNumber); void uiModelChanged (void); + void showHomePositionChanged (bool showHomePosition); private slots: void _setDirtyFromSignal(void); @@ -223,7 +225,7 @@ private: double _azimuth; ///< Azimuth to previous waypoint double _distance; ///< Distance to previous waypoint bool _homePositionSpecialCase; ///< true: This item is being used as a ui home position indicator - bool _homePositionValid; ///< true: Home psition should be displayed + bool _showHomePosition; Fact _altitudeRelativeToHomeFact; Fact _autoContinueFact; @@ -260,6 +262,18 @@ private: bool _syncingHeadingDegreesAndParam4; ///< true: already in a sync signal, prevents signal loop const MissionCommands* _missionCommands; + + static const char* _itemType; + static const char* _jsonTypeKey; + static const char* _jsonIdKey; + static const char* _jsonFrameKey; + static const char* _jsonCommandKey; + static const char* _jsonParam1Key; + static const char* _jsonParam2Key; + static const char* _jsonParam3Key; + static const char* _jsonParam4Key; + static const char* _jsonAutoContinueKey; + static const char* _jsonCoordinateKey; }; QDebug operator<<(QDebug dbg, const MissionItem& missionItem); diff --git a/src/MissionManager/MissionItemTest.cc b/src/MissionManager/MissionItemTest.cc index dd6c24dce583977e011d0880c9bb5756ef7987ae..74c650d587eb3ca9a99a7a3817aa32fca8cc0269 100644 --- a/src/MissionManager/MissionItemTest.cc +++ b/src/MissionManager/MissionItemTest.cc @@ -38,7 +38,6 @@ const MissionItemTest::ItemInfo_t MissionItemTest::_rgItemInfo[] = { const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesWaypoint[] = { { "Altitude:", 70.1234567 }, { "Hold:", 10.1234567 }, - { "Accept radius:", 20.1234567 }, }; const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterUnlim[] = { @@ -97,6 +96,9 @@ MissionItemTest::MissionItemTest(void) void MissionItemTest::_test(void) { +#if 0 + // FIXME: Update to json + for (size_t i=0; icommand() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) { + // Home is in position 0 + item->setParam1((int)item->param1() + 1); + } + _missionItems.append(item); } else { qCDebug(MissionManagerLog) << "_handleMissionItem mission item received item index which was not requested, disregrarding:" << missionItem.seq; @@ -415,7 +422,7 @@ void MissionManager::_mavlinkMessageReceived(const mavlink_message_t& message) break; case MAVLINK_MSG_ID_MISSION_CURRENT: - // FIXME: NYI + _handleMissionCurrent(message); break; } } @@ -529,3 +536,16 @@ bool MissionManager::inProgress(void) { return _readTransactionInProgress || _writeTransactionInProgress; } + +void MissionManager::_handleMissionCurrent(const mavlink_message_t& message) +{ + mavlink_mission_current_t missionCurrent; + + mavlink_msg_mission_current_decode(&message, &missionCurrent); + + qCDebug(MissionManagerLog) << "_handleMissionCurrent seq:" << missionCurrent.seq; + if (missionCurrent.seq != _currentMissionItem) { + _currentMissionItem = missionCurrent.seq; + emit currentItemChanged(_currentMissionItem); + } +} diff --git a/src/MissionManager/MissionManager.h b/src/MissionManager/MissionManager.h index 3c80333b47f17678311c13b3fc45d7a64e708e2f..e43e9a590e8189e23e0ed41d68f2d8cda9ce3373 100644 --- a/src/MissionManager/MissionManager.h +++ b/src/MissionManager/MissionManager.h @@ -50,11 +50,13 @@ public: Q_PROPERTY(bool inProgress READ inProgress NOTIFY inProgressChanged) Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems CONSTANT) + Q_PROPERTY(int currentItem READ currentItem NOTIFY currentItemChanged) // Property accessors bool inProgress(void); QmlObjectListModel* missionItems(void) { return &_missionItems; } + int currentItem(void) { return _currentMissionItem; } // C++ methods @@ -88,6 +90,7 @@ signals: void newMissionItemsAvailable(void); void inProgressChanged(bool inProgress); void error(int errorCode, const QString& errorMsg); + void currentItemChanged(int currentItem); private slots: void _mavlinkMessageReceived(const mavlink_message_t& message); @@ -108,6 +111,7 @@ private: void _handleMissionItem(const mavlink_message_t& message); void _handleMissionRequest(const mavlink_message_t& message); void _handleMissionAck(const mavlink_message_t& message); + void _handleMissionCurrent(const mavlink_message_t& message); void _requestNextMissionItem(void); void _clearMissionItems(void); void _sendError(ErrorCode_t errorCode, const QString& errorMsg); @@ -131,6 +135,7 @@ private: QMutex _dataMutex; QmlObjectListModel _missionItems; + int _currentMissionItem; }; #endif diff --git a/src/MissionManager/MissionManagerTest.cc b/src/MissionManager/MissionManagerTest.cc index 8e236884340fb157bf57b287b6a89059d26e9609..0a18fa0ac294c761e475230b1634f0fe01b94f97 100644 --- a/src/MissionManager/MissionManagerTest.cc +++ b/src/MissionManager/MissionManagerTest.cc @@ -31,9 +31,7 @@ const MissionManagerTest::TestCase_t MissionManagerTest::_rgTestCases[] = { { "2\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 2, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } }, { "3\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 3, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } }, { "4\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 4, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } }, - { "5\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 5, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_TAKEOFF, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } }, - { "6\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 6, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } }, - { "7\t0\t2\t177\t3\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 7, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP, 3, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } }, + { "6\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 5, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } }, }; const size_t MissionManagerTest::_cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]); @@ -52,7 +50,6 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f // Editor has a home position item on the front, so we do the same MissionItem* homeItem = new MissionItem(NULL /* Vehicle */, this); homeItem->setHomePositionSpecialCase(true); - homeItem->setHomePositionValid(false); homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT); homeItem->setCoordinate(QGeoCoordinate(47.3769, 8.549444, 0)); homeItem->setSequenceNumber(0); @@ -67,11 +64,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f QVERIFY(item->load(loadStream)); // Mission Manager expects to get 1-base sequence numbers for write - item->setSequenceNumber(item->sequenceNumber() + 1); - if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) { - item->setParam1((int)item->param1() + 1); - } list->append(item); } @@ -215,14 +208,9 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode const TestCase_t* testCase = &_rgTestCases[testCaseIndex]; int expectedSequenceNumber = testCase->expectedItem.sequenceNumber; - int expectedParam1 = (int)testCase->expectedItem.param1; if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { // Account for home position in first item expectedSequenceNumber++; - if (testCase->expectedItem.command == MAV_CMD_DO_JUMP) { - // Expected data in test case is for PX4 - expectedParam1++; - } } MissionItem* actual = qobject_cast(_missionManager->missionItems()->get(actualItemIndex)); @@ -233,7 +221,7 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode QCOMPARE(actual->coordinate().longitude(), testCase->expectedItem.coordinate.longitude()); QCOMPARE(actual->coordinate().altitude(), testCase->expectedItem.coordinate.altitude()); QCOMPARE((int)actual->command(), (int)testCase->expectedItem.command); - QCOMPARE((int)actual->param1(), (int)expectedParam1); + QCOMPARE(actual->param1(), testCase->expectedItem.param1); QCOMPARE(actual->param2(), testCase->expectedItem.param2); QCOMPARE(actual->param3(), testCase->expectedItem.param3); QCOMPARE(actual->param4(), testCase->expectedItem.param4); diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc index 5400dcb1aad4ce0781c3a0c37042bd0df1dcb28f..72bf6b06c8b1c89951fd0d1ecf6249fc5a6cbdb7 100644 --- a/src/QGCApplication.cc +++ b/src/QGCApplication.cc @@ -98,6 +98,7 @@ #include "VideoReceiver.h" #include "LogDownloadController.h" #include "PX4AirframeLoader.h" +#include "ValuesWidgetController.h" #ifndef __ios__ #include "SerialLink.h" @@ -129,8 +130,9 @@ const char* QGCApplication::_settingsVersionKey = "SettingsVersion"; const char* QGCApplication::_promptFlightDataSave = "PromptFLightDataSave"; const char* QGCApplication::_promptFlightDataSaveNotArmed = "PromptFLightDataSaveNotArmed"; const char* QGCApplication::_styleKey = "StyleIsDark"; -const char* QGCApplication::_defaultMapPositionLatKey = "DefaultMapPositionLat"; -const char* QGCApplication::_defaultMapPositionLonKey = "DefaultMapPositionLon"; +const char* QGCApplication::_lastKnownHomePositionLatKey = "LastKnownHomePositionLat"; +const char* QGCApplication::_lastKnownHomePositionLonKey = "LastKnownHomePositionLon"; +const char* QGCApplication::_lastKnownHomePositionAltKey = "LastKnownHomePositionAlt"; const char* QGCApplication::_darkStyleFile = ":/res/styles/style-dark.css"; const char* QGCApplication::_lightStyleFile = ":/res/styles/style-light.css"; @@ -186,7 +188,7 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting) #endif , _toolbox(NULL) , _bluetoothAvailable(false) - , _defaultMapPosition(37.803784, -122.462276) + , _lastKnownHomePosition(37.803784, -122.462276, 0.0) { Q_ASSERT(_app == NULL); _app = this; @@ -375,8 +377,9 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting) QFile::remove(ParameterLoader::parameterCacheFile()); } - _defaultMapPosition.setLatitude(settings.value(_defaultMapPositionLatKey, 37.803784).toDouble()); - _defaultMapPosition.setLongitude(settings.value(_defaultMapPositionLonKey, -122.462276).toDouble()); + _lastKnownHomePosition.setLatitude(settings.value(_lastKnownHomePositionLatKey, 37.803784).toDouble()); + _lastKnownHomePosition.setLongitude(settings.value(_lastKnownHomePositionLonKey, -122.462276).toDouble()); + _lastKnownHomePosition.setAltitude(settings.value(_lastKnownHomePositionAltKey, 0.0).toDouble()); // Initialize Bluetooth #ifdef QGC_ENABLE_BLUETOOTH @@ -443,6 +446,7 @@ void QGCApplication::_initCommon(void) qmlRegisterType ("QGroundControl.Controllers", 1, 0, "MainToolBarController"); qmlRegisterType ("QGroundControl.Controllers", 1, 0, "MissionController"); qmlRegisterType ("QGroundControl.Controllers", 1, 0, "FlightDisplayViewController"); + qmlRegisterType ("QGroundControl.Controllers", 1, 0, "ValuesWidgetController"); #ifndef __mobile__ qmlRegisterType ("QGroundControl.Controllers", 1, 0, "ViewWidgetController"); @@ -773,11 +777,12 @@ void QGCApplication::_showSetupVehicleComponent(VehicleComponent* vehicleCompone QMetaObject::invokeMethod(_rootQmlObject(), "showSetupVehicleComponent", Q_RETURN_ARG(QVariant, varReturn), Q_ARG(QVariant, varComponent)); } -void QGCApplication::setDefaultMapPosition(QGeoCoordinate& defaultMapPosition) +void QGCApplication::setLastKnownHomePosition(QGeoCoordinate& lastKnownHomePosition) { QSettings settings; - settings.setValue(_defaultMapPositionLatKey, defaultMapPosition.latitude()); - settings.setValue(_defaultMapPositionLonKey, defaultMapPosition.longitude()); - _defaultMapPosition = defaultMapPosition; + settings.setValue(_lastKnownHomePositionLatKey, lastKnownHomePosition.latitude()); + settings.setValue(_lastKnownHomePositionLonKey, lastKnownHomePosition.longitude()); + settings.setValue(_lastKnownHomePositionAltKey, lastKnownHomePosition.altitude()); + _lastKnownHomePosition = lastKnownHomePosition; } diff --git a/src/QGCApplication.h b/src/QGCApplication.h index 7e0ce1bda97e68afef7a346cea5befdc25eafece..b74dd003fcd6c8cf4ba13da85bd7034ed8d27bf8 100644 --- a/src/QGCApplication.h +++ b/src/QGCApplication.h @@ -121,8 +121,8 @@ public: /// Do we have Bluetooth Support? bool isBluetoothAvailable() { return _bluetoothAvailable; } - QGeoCoordinate defaultMapPosition(void) { return _defaultMapPosition; } - void setDefaultMapPosition(QGeoCoordinate& defaultMapPosition); + QGeoCoordinate lastKnownHomePosition(void) { return _lastKnownHomePosition; } + void setLastKnownHomePosition(QGeoCoordinate& lastKnownHomePosition); public slots: /// You can connect to this slot to show an information message box from a different thread. @@ -207,15 +207,16 @@ private: bool _bluetoothAvailable; - QGeoCoordinate _defaultMapPosition; ///< Map position when all other sources fail + QGeoCoordinate _lastKnownHomePosition; ///< Map position when all other sources fail static const char* _settingsVersionKey; ///< Settings key which hold settings version static const char* _deleteAllSettingsKey; ///< If this settings key is set on boot, all settings will be deleted static const char* _promptFlightDataSave; ///< Settings key for promptFlightDataSave static const char* _promptFlightDataSaveNotArmed; ///< Settings key for promptFlightDataSaveNotArmed static const char* _styleKey; ///< Settings key for UI style - static const char* _defaultMapPositionLatKey; ///< Settings key for default map location - static const char* _defaultMapPositionLonKey; ///< Settings key for default map location + static const char* _lastKnownHomePositionLatKey; + static const char* _lastKnownHomePositionLonKey; + static const char* _lastKnownHomePositionAltKey; /// Unit Test have access to creating and destroying singletons friend class UnitTest; diff --git a/src/QmlControls/DropButton.qml b/src/QmlControls/DropButton.qml index 281ff7ed8cc1f6a27e31e195a70a06ec406c6943..03b7a12dd58744181eb10c5696d336724c638c1b 100644 --- a/src/QmlControls/DropButton.qml +++ b/src/QmlControls/DropButton.qml @@ -9,7 +9,8 @@ Item { id: _root signal clicked() - property alias buttonImage: button.source + property alias buttonImage: roundButton.buttonImage + property alias rotateImage: roundButton.rotateImage property real radius: ScreenTools.defaultFontPixelHeight * 1.5 property int dropDirection: dropDown property alias dropDownComponent: dropDownLoader.sourceComponent @@ -38,7 +39,7 @@ Item { // Set up ExclusiveGroup support. We use the checked property to drive visibility of drop down. - property bool checked: false + property alias checked: roundButton.checked property ExclusiveGroup exclusiveGroup: null onExclusiveGroupChanged: { @@ -77,7 +78,7 @@ Item { dropItemHolderRect.y = 0 } else { - dropDownItem.y = button.height + _dropMargin + dropDownItem.y = roundButton.height + _dropMargin dropItemHolderRect.y = _arrowPointHeight } @@ -87,7 +88,7 @@ Item { dropDownItem.x = Math.min(dropDownItem.x + dropDownItem.width, _viewportMaxRight) - dropDownItem.width // Arrow points - arrowCanvas.arrowPoint.x = (button.x + radius) - dropDownItem.x + arrowCanvas.arrowPoint.x = (roundButton.x + radius) - dropDownItem.x if (dropDirection == dropUp) { arrowCanvas.arrowPoint.y = dropDownItem.height arrowCanvas.arrowBase1.x = arrowCanvas.arrowPoint.x - (_arrowBaseWidth / 2) @@ -113,7 +114,7 @@ Item { dropItemHolderRect.x = 0 } else { - dropDownItem.x = button.width + _dropMargin + dropDownItem.x = roundButton.width + _dropMargin dropItemHolderRect.x = _arrowPointHeight } @@ -123,7 +124,7 @@ Item { dropDownItem.y = Math.min(dropDownItem.y + dropDownItem.height, _viewportMaxBottom) - dropDownItem.height // Arrow points - arrowCanvas.arrowPoint.y = (button.y + radius) - dropDownItem.y + arrowCanvas.arrowPoint.y = (roundButton.y + radius) - dropDownItem.y if (dropDirection == dropLeft) { arrowCanvas.arrowPoint.x = dropDownItem.width arrowCanvas.arrowBase1.x = arrowCanvas.arrowPoint.x - _arrowPointHeight @@ -155,29 +156,13 @@ Item { } } - // Button - Rectangle { - anchors.fill: parent - radius: width / 2 - border.width: ScreenTools.defaultFontPixelHeight * 0.0625 - border.color: "white" - color: checked ? qgcPal.mapButtonHighlight : qgcPal.mapButton + RoundButton { + id: roundButton + radius: parent.width / 2 - Image { - id: button - anchors.fill: parent - fillMode: Image.PreserveAspectFit - mipmap: true - smooth: true - - MouseArea { - anchors.fill: parent - onClicked: { - checked = !checked - _root.clicked() - } - } - } // Image - button + onClicked: { + _root.clicked() + } } Item { diff --git a/src/QmlControls/MissionCommandDialog.qml b/src/QmlControls/MissionCommandDialog.qml index d9312112aa5c0c302e9bbac38707ae8dac946a9b..b5714d91de2e588e8970cdd0a1a3cada4c174b39 100644 --- a/src/QmlControls/MissionCommandDialog.qml +++ b/src/QmlControls/MissionCommandDialog.qml @@ -73,6 +73,7 @@ QGCViewDialog { anchors.bottom: parent.bottom spacing: ScreenTools.defaultFontPixelHeight / 2 orientation: ListView.Vertical + clip: true delegate: Rectangle { width: parent.width @@ -90,8 +91,9 @@ QGCViewDialog { anchors.top: parent.top QGCLabel { - text: mavCmdInfo.friendlyName - color: textColor + text: mavCmdInfo.friendlyName + color: textColor + font.weight: Font.DemiBold } QGCLabel { diff --git a/src/QmlControls/MissionItemEditor.qml b/src/QmlControls/MissionItemEditor.qml index f24ba3c86d8a95b38068089214c62afa6fa95423..074b52c1451b87ca8eff700eb25a77999d7c7867 100644 --- a/src/QmlControls/MissionItemEditor.qml +++ b/src/QmlControls/MissionItemEditor.qml @@ -20,8 +20,8 @@ Rectangle { signal clicked signal remove - signal removeAll signal insert(int i) + signal moveHomeToMapCenter height: innerItem.height + (_margin * 3) color: missionItem.isCurrentItem ? qgcPal.buttonHighlight : qgcPal.windowShade @@ -31,22 +31,123 @@ Rectangle { readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2 readonly property real _radius: ScreenTools.defaultFontPixelWidth / 2 + property bool _showValues: missionItem.isCurrentItem + QGCPalette { id: qgcPal colorGroupEnabled: enabled } Component { - id: deleteAllPromptDialog + id: valuesComponent - QGCViewMessage { - message: "Are you sure you want to delete all mission items?" + Rectangle { + id: valuesRect + height: valuesItem.height + color: qgcPal.windowShadeDark + visible: missionItem.isCurrentItem + radius: _radius + + Item { + id: valuesItem + anchors.margins: _margin + anchors.left: parent.left + anchors.right: parent.right + anchors.top: parent.top + height: valuesColumn.height + _margin + + Column { + id: valuesColumn + anchors.left: parent.left + anchors.right: parent.right + anchors.top: parent.top + spacing: _margin + + QGCLabel { + width: parent.width + wrapMode: Text.WordWrap + text: missionItem.sequenceNumber == 0 ? + "Planned home position." : + (missionItem.rawEdit ? + "Provides advanced access to all commands/parameters. Be very careful!" : + missionItem.commandDescription) + } + + Repeater { + model: missionItem.comboboxFacts + + Item { + width: valuesColumn.width + height: comboBoxFact.height + + QGCLabel { + id: comboBoxLabel + anchors.baseline: comboBoxFact.baseline + text: object.name + visible: object.name != "" + } + + FactComboBox { + id: comboBoxFact + anchors.right: parent.right + width: comboBoxLabel.visible ? _editFieldWidth : parent.width + indexModel: false + model: object.enumStrings + fact: object + } + } + } + + Repeater { + model: missionItem.textFieldFacts + + Item { + width: valuesColumn.width + height: textField.height + + QGCLabel { + id: textFieldLabel + anchors.baseline: textField.baseline + text: object.name + } + + FactTextField { + id: textField + anchors.right: parent.right + width: _editFieldWidth + showUnits: true + fact: object + visible: !_root.readOnly + } + + FactLabel { + anchors.baseline: textFieldLabel.baseline + anchors.right: parent.right + fact: object + visible: _root.readOnly + } + } + } + + Repeater { + model: missionItem.checkboxFacts + + FactCheckBox { + text: object.name + fact: object + } + } + + QGCButton { + text: "Move Home to map center" + visible: missionItem.homePosition + onClicked: moveHomeToMapCenter() + anchors.horizontalCenter: parent.horizontalCenter + } + } // Column + } // Item + } // Rectangle - function accept() { - removeAll() - hideDialog() - } - } } Item { @@ -55,7 +156,7 @@ Rectangle { anchors.top: parent.top anchors.left: parent.left anchors.right: parent.right - height: valuesRect.visible ? valuesRect.y + valuesRect.height : valuesRect.y + height: _showValues ? valuesLoader.y + valuesLoader.height : valuesLoader.y MouseArea { anchors.fill: parent @@ -98,12 +199,6 @@ Rectangle { onTriggered: remove() } - MenuItem { - text: "Delete all" - - onTriggered: qgcView.showDialog(deleteAllPromptDialog, "Delete all", qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No) - } - MenuSeparator { } MenuItem { @@ -152,110 +247,17 @@ Rectangle { anchors.fill: commandPicker visible: missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem verticalAlignment: Text.AlignVCenter - text: missionItem.sequenceNumber == 0 ? "Home" : missionItem.commandName + text: missionItem.sequenceNumber == 0 ? "Home Position" : missionItem.commandName color: qgcPal.buttonText } - Rectangle { - id: valuesRect + Loader { + id: valuesLoader anchors.topMargin: _margin anchors.top: commandPicker.bottom anchors.left: parent.left anchors.right: parent.right - height: valuesItem.height - color: qgcPal.windowShadeDark - visible: missionItem.sequenceNumber != 0 && missionItem.isCurrentItem - radius: _radius - - Item { - id: valuesItem - anchors.margins: _margin - anchors.left: parent.left - anchors.right: parent.right - anchors.top: parent.top - height: valuesColumn.height + _margin - - Column { - id: valuesColumn - anchors.left: parent.left - anchors.right: parent.right - anchors.top: parent.top - spacing: _margin - - QGCLabel { - width: parent.width - wrapMode: Text.WordWrap - text: missionItem.rawEdit ? - "Provides advanced access to all commands/parameters. Be very careful!" : - missionItem.commandDescription - } - - Repeater { - model: missionItem.comboboxFacts - - Item { - width: valuesColumn.width - height: comboBoxFact.height - - QGCLabel { - id: comboBoxLabel - anchors.baseline: comboBoxFact.baseline - text: object.name - visible: object.name != "" - } - - FactComboBox { - id: comboBoxFact - anchors.right: parent.right - width: comboBoxLabel.visible ? _editFieldWidth : parent.width - indexModel: false - model: object.enumStrings - fact: object - } - } - } - - Repeater { - model: missionItem.textFieldFacts - - Item { - width: valuesColumn.width - height: textField.height - - QGCLabel { - id: textFieldLabel - anchors.baseline: textField.baseline - text: object.name - } - - FactTextField { - id: textField - anchors.right: parent.right - width: _editFieldWidth - showUnits: true - fact: object - visible: !_root.readOnly - } - - FactLabel { - anchors.baseline: textFieldLabel.baseline - anchors.right: parent.right - fact: object - visible: _root.readOnly - } - } - } - - Repeater { - model: missionItem.checkboxFacts - - FactCheckBox { - text: object.name - fact: object - } - } - } // Column - } // Item - } // Rectangle + sourceComponent: _showValues ? valuesComponent : undefined + } } // Item } // Rectangle diff --git a/src/QmlControls/QGCTextField.qml b/src/QmlControls/QGCTextField.qml index 0c7b0f40baf9b7080f7d68c9b20da1c45182290b..9c639c20fd8df5d6a28cf9240458a2a8687e9594 100644 --- a/src/QmlControls/QGCTextField.qml +++ b/src/QmlControls/QGCTextField.qml @@ -71,7 +71,7 @@ TextField { } onActiveFocusChanged: { - if (activeFocus) { + if (!ScreenTools.isMobile && activeFocus) { selectAll() } } diff --git a/src/QmlControls/QGroundControlQmlGlobal.cc b/src/QmlControls/QGroundControlQmlGlobal.cc index 4f91a12be9d6d7a561b2fe493a6985730323c261..1cc5f77348409456b542e80601d2398302d45eca 100644 --- a/src/QmlControls/QGroundControlQmlGlobal.cc +++ b/src/QmlControls/QGroundControlQmlGlobal.cc @@ -50,7 +50,7 @@ QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCApplication* app) QStringList firmwareEnumStrings; QVariantList firmwareEnumValues; - firmwareEnumStrings << "APM Flight Stack" << "PX4 Flight Stack" << "Mavlink Generic Flight Stack"; + firmwareEnumStrings << "ArduPilot Flight Stack" << "PX4 Flight Stack" << "Mavlink Generic Flight Stack"; firmwareEnumValues << QVariant::fromValue((uint32_t)MAV_AUTOPILOT_ARDUPILOTMEGA) << QVariant::fromValue((uint32_t)MAV_AUTOPILOT_PX4) << QVariant::fromValue((uint32_t)MAV_AUTOPILOT_GENERIC); _offlineEditingFirmwareTypeMetaData.setEnumInfo(firmwareEnumStrings, firmwareEnumValues); diff --git a/src/QmlControls/QGroundControlQmlGlobal.h b/src/QmlControls/QGroundControlQmlGlobal.h index 4db3e072ba78f9089427773fe35468e2aa558f85..0970cfa4e4e2ea37eeb8eaf94cf5e15926c85101 100644 --- a/src/QmlControls/QGroundControlQmlGlobal.h +++ b/src/QmlControls/QGroundControlQmlGlobal.h @@ -76,7 +76,8 @@ public: Q_PROPERTY(Fact* offlineEditingFirmwareType READ offlineEditingFirmwareType CONSTANT) - Q_PROPERTY(QGeoCoordinate defaultMapPosition READ defaultMapPosition CONSTANT) + Q_PROPERTY(QGeoCoordinate lastKnownHomePosition READ lastKnownHomePosition CONSTANT) + Q_PROPERTY(QGeoCoordinate flightMapPosition MEMBER _flightMapPosition NOTIFY flightMapPositionChanged) Q_INVOKABLE void saveGlobalSetting (const QString& key, const QString& value); Q_INVOKABLE QString loadGlobalSetting (const QString& key, const QString& defaultValue); @@ -115,7 +116,7 @@ public: bool isVersionCheckEnabled () { return _toolbox->mavlinkProtocol()->versionCheckEnabled(); } int mavlinkSystemID () { return _toolbox->mavlinkProtocol()->getSystemId(); } - QGeoCoordinate defaultMapPosition() { return qgcApp()->defaultMapPosition(); } + QGeoCoordinate lastKnownHomePosition() { return qgcApp()->lastKnownHomePosition(); } Fact* offlineEditingFirmwareType () { return &_offlineEditingFirmwareTypeFact; } @@ -144,6 +145,7 @@ signals: void isMultiplexingEnabledChanged (bool enabled); void isVersionCheckEnabledChanged (bool enabled); void mavlinkSystemIDChanged (int id); + void flightMapPositionChanged (QGeoCoordinate flightMapPosition); private: FlightMapSettings* _flightMapSettings; @@ -155,6 +157,8 @@ private: bool _virtualTabletJoystick; + QGeoCoordinate _flightMapPosition; + SettingsFact _offlineEditingFirmwareTypeFact; FactMetaData _offlineEditingFirmwareTypeMetaData; diff --git a/src/QmlControls/RoundButton.qml b/src/QmlControls/RoundButton.qml index c2a4867b15b449bfa6aadcb096c009f5db7b8d74..ad1d2e20014f7957989ea23c20088b477ce7e557 100644 --- a/src/QmlControls/RoundButton.qml +++ b/src/QmlControls/RoundButton.qml @@ -11,6 +11,7 @@ Item { signal clicked() property alias buttonImage: button.source property real radius: ScreenTools.defaultFontPixelHeight * 1.5 + property bool rotateImage: false width: radius * 2 height: radius * 2 @@ -26,6 +27,15 @@ Item { } } + onRotateImageChanged: { + if (rotateImage) { + imageRotation.running = true + } else { + imageRotation.running = false + button.rotation = 0 + } + } + Rectangle { anchors.fill: parent radius: width / 2 @@ -39,6 +49,14 @@ Item { fillMode: Image.PreserveAspectFit mipmap: true smooth: true + RotationAnimation on rotation { + id: imageRotation + loops: Animation.Infinite + from: 0 + to: 360 + duration: 500 + running: false + } MouseArea { anchors.fill: parent diff --git a/src/Vehicle/BatteryFact.json b/src/Vehicle/BatteryFact.json new file mode 100644 index 0000000000000000000000000000000000000000..3c3b861336c04dbbdc2a1f72a19207e012d8d9e2 --- /dev/null +++ b/src/Vehicle/BatteryFact.json @@ -0,0 +1,47 @@ +{ + "version": 1, + + "properties": [ + { + "name": "voltage", + "shortDescription": "Voltage", + "type": "double", + "decimalPlaces": 2, + "units": "v" + }, + { + "name": "percentRemaining", + "shortDescription": "Percent", + "type": "int32", + "decimalPlaces": 0, + "units": "%" + }, + { + "name": "mahConsumed", + "shortDescription": "Consumed", + "type": "int32", + "decimalPlaces": 0, + "units": "mAh" + }, + { + "name": "current", + "shortDescription": "Current", + "type": "int32", + "decimalPlaces": 0, + "units": "mA" + }, + { + "name": "temperature", + "shortDescription": "Temperature", + "type": "int32", + "decimalPlaces": 2, + "units": "C" + }, + { + "name": "cellCount", + "shortDescription": "Cell Count", + "type": "int32", + "decimalPlaces": 0 + } + ] +} diff --git a/src/Vehicle/GPSFact.json b/src/Vehicle/GPSFact.json new file mode 100644 index 0000000000000000000000000000000000000000..73046fb2f4ac3db04b6bc4d065b41e41d87e6229 --- /dev/null +++ b/src/Vehicle/GPSFact.json @@ -0,0 +1,39 @@ +{ + "version": 1, + + "properties": [ + { + "name": "hdop", + "shortDescription": "HDOP", + "type": "double", + "decimalPlaces": 1 + }, + { + "name": "vdop", + "shortDescription": "VDOP", + "type": "double", + "decimalPlaces": 1 + }, + { + "name": "courseOverGround", + "shortDescription": "Course Over Ground", + "type": "double", + "decimalPlaces": 1, + "units": "degrees" + }, + { + "name": "lock", + "shortDescription": "GPS Lock", + "type": "uint32", + "enumStrings": "None,None,2D Lock,3D Lock,3D DGPS Lock,3D RTK GPS Lock", + "enumValues": "0,1,2,3,4,5", + "decimalPlaces": 0 + }, + { + "name": "count", + "shortDescription": "Sat Count", + "type": "double", + "decimalPlaces": 0 + } + ] +} diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc index be003bd4ab3ff3938e3e59cb0eba2045466f7b66..a0d36052156de73febf2cb4e5623db465d4f86c5 100644 --- a/src/Vehicle/Vehicle.cc +++ b/src/Vehicle/Vehicle.cc @@ -46,6 +46,38 @@ const char* Vehicle::_settingsGroup = "Vehicle%1"; // %1 re const char* Vehicle::_joystickModeSettingsKey = "JoystickMode"; const char* Vehicle::_joystickEnabledSettingsKey = "JoystickEnabled"; +const char* Vehicle::_rollFactName = "roll"; +const char* Vehicle::_pitchFactName = "pitch"; +const char* Vehicle::_headingFactName = "heading"; +const char* Vehicle::_airSpeedFactName = "airSpeed"; +const char* Vehicle::_groundSpeedFactName = "groundSpeed"; +const char* Vehicle::_climbRateFactName = "climbRate"; +const char* Vehicle::_altitudeRelativeFactName = "altitudeRelative"; +const char* Vehicle::_altitudeAMSLFactName = "altitudeAMSL"; + +const char* Vehicle::_gpsFactGroupName = "gps"; +const char* Vehicle::_batteryFactGroupName = "battery"; + +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; + Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType, @@ -53,7 +85,8 @@ Vehicle::Vehicle(LinkInterface* link, FirmwarePluginManager* firmwarePluginManager, AutoPilotPluginManager* autopilotPluginManager, JoystickManager* joystickManager) - : _id(vehicleId) + : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json") + , _id(vehicleId) , _active(false) , _firmwareType(firmwareType) , _vehicleType(vehicleType) @@ -72,31 +105,15 @@ Vehicle::Vehicle(LinkInterface* link, , _currentWarningCount(0) , _currentNormalCount(0) , _currentMessageType(MessageNone) - , _roll(0.0f) - , _pitch(0.0f) - , _heading(0.0f) - , _altitudeAMSL(0.0f) - , _altitudeWGS84(0.0f) - , _altitudeRelative(0.0f) - , _groundSpeed(0.0f) - , _airSpeed(0.0f) - , _climbRate(0.0f) , _navigationAltitudeError(0.0f) , _navigationSpeedError(0.0f) , _navigationCrosstrackError(0.0f) , _navigationTargetBearing(0.0f) , _refreshTimer(new QTimer(this)) - , _batteryVoltage(-1.0f) - , _batteryPercent(0.0) - , _batteryConsumed(-1.0) - , _satelliteCount(-1) - , _satRawHDOP(1e10f) - , _satRawVDOP(1e10f) - , _satRawCOG(0.0) - , _satelliteLock(0) , _updateCount(0) , _rcRSSI(0) , _rcRSSIstore(100.0) + , _autoDisconnect(false) , _connectionLost(false) , _connectionLostEnabled(true) , _missionManager(NULL) @@ -117,6 +134,16 @@ Vehicle::Vehicle(LinkInterface* link, , _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) { _addLink(link); @@ -154,15 +181,6 @@ Vehicle::Vehicle(LinkInterface* link, connect(&_connectionLostTimer, &QTimer::timeout, this, &Vehicle::_connectionLostTimeout); _mav = uas(); - // Reset satellite data (no GPS) - _satelliteCount = -1; - _satRawHDOP = 1e10f; - _satRawVDOP = 1e10f; - _satRawCOG = 0.0; - emit satRawHDOPChanged(); - emit satRawVDOPChanged(); - emit satRawCOGChanged(); - emit satelliteCountChanged(); // Listen for system messages connect(qgcApp()->toolbox()->uasMessageHandler(), &UASMessageHandler::textMessageCountChanged, this, &Vehicle::_handleTextMessage); @@ -176,17 +194,6 @@ Vehicle::Vehicle(LinkInterface* link, connect(_mav, &UASInterface::altitudeChanged, this, &Vehicle::_updateAltitude); connect(_mav, &UASInterface::navigationControllerErrorsChanged,this, &Vehicle::_updateNavigationControllerErrors); connect(_mav, &UASInterface::NavigationControllerDataChanged, this, &Vehicle::_updateNavigationControllerData); - connect(_mav, &UASInterface::batteryChanged, this, &Vehicle::_updateBatteryRemaining); - connect(_mav, &UASInterface::batteryConsumedChanged, this, &Vehicle::_updateBatteryConsumedChanged); - connect(_mav, &UASInterface::localizationChanged, this, &Vehicle::_setSatLoc); - UAS* pUas = dynamic_cast(_mav); - if(pUas) { - _setSatelliteCount(pUas->getSatelliteCount(), QString("")); - connect(pUas, &UAS::satelliteCountChanged, this, &Vehicle::_setSatelliteCount); - connect(pUas, &UAS::satRawHDOPChanged, this, &Vehicle::_setSatRawHDOP); - connect(pUas, &UAS::satRawVDOPChanged, this, &Vehicle::_setSatRawVDOP); - connect(pUas, &UAS::satRawCOGChanged, this, &Vehicle::_setSatRawCOG); - } _loadSettings(); @@ -204,6 +211,22 @@ Vehicle::Vehicle(LinkInterface* link, _mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints); connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint); + + // 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); + _gpsFactGroup.setVehicle(this); + _batteryFactGroup.setVehicle(this); } Vehicle::~Vehicle() @@ -283,6 +306,12 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes case MAVLINK_MSG_ID_RC_CHANNELS_RAW: _handleRCChannelsRaw(message); break; + case MAVLINK_MSG_ID_BATTERY_STATUS: + _handleBatteryStatus(message); + break; + case MAVLINK_MSG_ID_SYS_STATUS: + _handleSysStatus(message); + break; case MAVLINK_MSG_ID_RAW_IMU: emit mavlinkRawImu(message); break; @@ -302,6 +331,53 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes _uas->receiveMessage(message); } +void Vehicle::_handleSysStatus(mavlink_message_t& message) +{ + mavlink_sys_status_t sysStatus; + mavlink_msg_sys_status_decode(&message, &sysStatus); + + if (sysStatus.current_battery == -1) { + _batteryFactGroup.current()->setRawValue(VehicleBatteryFactGroup::_currentUnavailable); + } else { + _batteryFactGroup.current()->setRawValue((double)sysStatus.current_battery * 10); + } + if (sysStatus.voltage_battery == UINT16_MAX) { + _batteryFactGroup.voltage()->setRawValue(VehicleBatteryFactGroup::_voltageUnavailable); + } else { + _batteryFactGroup.voltage()->setRawValue((double)sysStatus.voltage_battery / 1000.0); + } + _batteryFactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining); +} + +void Vehicle::_handleBatteryStatus(mavlink_message_t& message) +{ + mavlink_battery_status_t bat_status; + mavlink_msg_battery_status_decode(&message, &bat_status); + + if (bat_status.temperature == INT16_MAX) { + _batteryFactGroup.temperature()->setRawValue(VehicleBatteryFactGroup::_temperatureUnavailable); + } else { + _batteryFactGroup.temperature()->setRawValue((double)bat_status.temperature / 100.0); + } + if (bat_status.current_consumed == -1) { + _batteryFactGroup.mahConsumed()->setRawValue(VehicleBatteryFactGroup::_mahConsumedUnavailable); + } else { + _batteryFactGroup.mahConsumed()->setRawValue(bat_status.current_consumed); + } + + int cellCount = 0; + for (int i=0; i<10; i++) { + if (bat_status.voltages[i] != UINT16_MAX) { + cellCount++; + } + } + if (cellCount == 0) { + cellCount = -1; + } + + _batteryFactGroup.cellCount()->setRawValue(cellCount); +} + void Vehicle::_handleHomePosition(mavlink_message_t& message) { bool emitHomePositionChanged = false; @@ -326,7 +402,7 @@ void Vehicle::_handleHomePosition(mavlink_message_t& message) if (emitHomePositionChanged) { qCDebug(VehicleLog) << "New home position" << newHomePosition; - qgcApp()->setDefaultMapPosition(_homePosition); + qgcApp()->setLastKnownHomePosition(_homePosition); emit homePositionChanged(_homePosition); } if (emitHomePositionAvailableChanged) { @@ -563,50 +639,21 @@ void Vehicle::setLongitude(double longitude){ void Vehicle::_updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64) { if (isinf(roll)) { - _roll = std::numeric_limits::quiet_NaN(); + _rollFact.setRawValue(0); } else { - float rolldeg = _oneDecimal(roll * (180.0 / M_PI)); - if (fabs(roll - rolldeg) > 0.25) { - _roll = rolldeg; - if(_refreshTimer->isActive()) { - emit rollChanged(); - } - } - if(_roll != rolldeg) { - _roll = rolldeg; - _addChange(ROLL_CHANGED); - } + _rollFact.setRawValue(roll * (180.0 / M_PI)); } if (isinf(pitch)) { - _pitch = std::numeric_limits::quiet_NaN(); + _pitchFact.setRawValue(0); } else { - float pitchdeg = _oneDecimal(pitch * (180.0 / M_PI)); - if (fabs(pitch - pitchdeg) > 0.25) { - _pitch = pitchdeg; - if(_refreshTimer->isActive()) { - emit pitchChanged(); - } - } - if(_pitch != pitchdeg) { - _pitch = pitchdeg; - _addChange(PITCH_CHANGED); - } + _pitchFact.setRawValue(pitch * (180.0 / M_PI)); } if (isinf(yaw)) { - _heading = std::numeric_limits::quiet_NaN(); + _headingFact.setRawValue(0); } else { - yaw = _oneDecimal(yaw * (180.0 / M_PI)); + yaw = yaw * (180.0 / M_PI); if (yaw < 0) yaw += 360; - if (fabs(_heading - yaw) > 0.25) { - _heading = yaw; - if(_refreshTimer->isActive()) { - emit headingChanged(); - } - } - if(_heading != yaw) { - _heading = yaw; - _addChange(HEADING_CHANGED); - } + _headingFact.setRawValue(yaw); } } @@ -617,75 +664,15 @@ void Vehicle::_updateAttitude(UASInterface* uas, int, double roll, double pitch, void Vehicle::_updateSpeed(UASInterface*, double groundSpeed, double airSpeed, quint64) { - groundSpeed = _oneDecimal(groundSpeed); - if (fabs(_groundSpeed - groundSpeed) > 0.5) { - _groundSpeed = groundSpeed; - if(_refreshTimer->isActive()) { - emit groundSpeedChanged(); - } - } - airSpeed = _oneDecimal(airSpeed); - if (fabs(_airSpeed - airSpeed) > 0.5) { - _airSpeed = airSpeed; - if(_refreshTimer->isActive()) { - emit airSpeedChanged(); - } - } - if(_groundSpeed != groundSpeed) { - _groundSpeed = groundSpeed; - _addChange(GROUNDSPEED_CHANGED); - } - if(_airSpeed != airSpeed) { - _airSpeed = airSpeed; - _addChange(AIRSPEED_CHANGED); - } + _groundSpeedFact.setRawValue(groundSpeed); + _airSpeedFact.setRawValue(airSpeed); } -void Vehicle::_updateAltitude(UASInterface*, double altitudeAMSL, double altitudeWGS84, double altitudeRelative, double climbRate, quint64) { - altitudeAMSL = _oneDecimal(altitudeAMSL); - if (fabs(_altitudeAMSL - altitudeAMSL) > 0.5) { - _altitudeAMSL = altitudeAMSL; - if(_refreshTimer->isActive()) { - emit altitudeAMSLChanged(); - } - } - altitudeWGS84 = _oneDecimal(altitudeWGS84); - if (fabs(_altitudeWGS84 - altitudeWGS84) > 0.5) { - _altitudeWGS84 = altitudeWGS84; - if(_refreshTimer->isActive()) { - emit altitudeWGS84Changed(); - } - } - altitudeRelative = _oneDecimal(altitudeRelative); - if (fabs(_altitudeRelative - altitudeRelative) > 0.5) { - _altitudeRelative = altitudeRelative; - if(_refreshTimer->isActive()) { - emit altitudeRelativeChanged(); - } - } - climbRate = _oneDecimal(climbRate); - if (fabs(_climbRate - climbRate) > 0.5) { - _climbRate = climbRate; - if(_refreshTimer->isActive()) { - emit climbRateChanged(); - } - } - if(_altitudeAMSL != altitudeAMSL) { - _altitudeAMSL = altitudeAMSL; - _addChange(ALTITUDEAMSL_CHANGED); - } - if(_altitudeWGS84 != altitudeWGS84) { - _altitudeWGS84 = altitudeWGS84; - _addChange(ALTITUDEWGS84_CHANGED); - } - if(_altitudeRelative != altitudeRelative) { - _altitudeRelative = altitudeRelative; - _addChange(ALTITUDERELATIVE_CHANGED); - } - if(_climbRate != climbRate) { - _climbRate = climbRate; - _addChange(CLIMBRATE_CHANGED); - } +void Vehicle::_updateAltitude(UASInterface*, double altitudeAMSL, double altitudeRelative, double climbRate, quint64) +{ + _altitudeAMSLFact.setRawValue(altitudeAMSL); + _altitudeRelativeFact.setRawValue(altitudeRelative); + _climbRateFact.setRawValue(climbRate); } void Vehicle::_updateNavigationControllerErrors(UASInterface*, double altitudeError, double speedError, double xtrackError) { @@ -704,19 +691,6 @@ void Vehicle::_updateNavigationControllerData(UASInterface *uas, float, float, f * Internal */ -void Vehicle::_addChange(int id) -{ - if(!_changes.contains(id)) { - _changes.append(id); - } -} - -float Vehicle::_oneDecimal(float value) -{ - int i = (value * 10); - return (float)i / 10.0; -} - void Vehicle::_checkUpdate() { // Update current location @@ -728,49 +702,6 @@ void Vehicle::_checkUpdate() setLongitude(_mav->getLongitude()); } } - // The timer rate is 20Hz for the coordinates above. These below we only check - // twice a second. - if(++_updateCount > 9) { - _updateCount = 0; - // Check for changes - // Significant changes, that is, whole number changes, are updated immediatelly. - // For every message however, we set a flag for what changed and this timer updates - // them to bring everything up-to-date. This prevents an avalanche of UI updates. - foreach(int i, _changes) { - switch (i) { - case ROLL_CHANGED: - emit rollChanged(); - break; - case PITCH_CHANGED: - emit pitchChanged(); - break; - case HEADING_CHANGED: - emit headingChanged(); - break; - case GROUNDSPEED_CHANGED: - emit groundSpeedChanged(); - break; - case AIRSPEED_CHANGED: - emit airSpeedChanged(); - break; - case CLIMBRATE_CHANGED: - emit climbRateChanged(); - break; - case ALTITUDERELATIVE_CHANGED: - emit altitudeRelativeChanged(); - break; - case ALTITUDEWGS84_CHANGED: - emit altitudeWGS84Changed(); - break; - case ALTITUDEAMSL_CHANGED: - emit altitudeAMSLChanged(); - break; - default: - break; - } - } - _changes.clear(); - } } QString Vehicle::getMavIconColor() @@ -800,34 +731,6 @@ void Vehicle::_handletextMessageReceived(UASMessage* message) } } -void Vehicle::_updateBatteryRemaining(UASInterface*, double voltage, double, double percent, int) -{ - - if(percent < 0.0) { - percent = 0.0; - } - if(voltage < 0.0) { - voltage = 0.0; - } - if (_batteryVoltage != voltage) { - _batteryVoltage = voltage; - emit batteryVoltageChanged(); - } - if (_batteryPercent != percent) { - _batteryPercent = percent; - emit batteryPercentChanged(); - } -} - -void Vehicle::_updateBatteryConsumedChanged(UASInterface*, double current_consumed) -{ - if(_batteryConsumed != current_consumed) { - _batteryConsumed = current_consumed; - emit batteryConsumedChanged(); - } -} - - void Vehicle::_updateState(UASInterface*, QString name, QString) { if (_currentState != name) { @@ -836,54 +739,6 @@ void Vehicle::_updateState(UASInterface*, QString name, QString) } } -void Vehicle::_setSatelliteCount(double val, QString) -{ - // I'm assuming that a negative value or over 99 means there is no GPS - if(val < 0.0) val = -1.0; - if(val > 99.0) val = -1.0; - if(_satelliteCount != (int)val) { - _satelliteCount = (int)val; - emit satelliteCountChanged(); - } -} - -void Vehicle::_setSatRawHDOP(double val) -{ - if(_satRawHDOP != val) { - _satRawHDOP = val; - emit satRawHDOPChanged(); - } -} - -void Vehicle::_setSatRawVDOP(double val) -{ - if(_satRawVDOP != val) { - _satRawVDOP = val; - emit satRawVDOPChanged(); - } -} - -void Vehicle::_setSatRawCOG(double val) -{ - if(_satRawCOG != val) { - _satRawCOG = val; - emit satRawCOGChanged(); - } -} - -void Vehicle::_setSatLoc(UASInterface*, int fix) -{ - // fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D lock, 3: 3D lock - if(_satelliteLock != fix) { - if (fix > 2) { - _coordinateValid = true; - emit coordinateValidChanged(true); - } - _satelliteLock = fix; - emit satelliteLockChanged(); - } -} - void Vehicle::_handleTextMessage(int newCount) { // Reset? @@ -1316,6 +1171,9 @@ void Vehicle::_connectionLostTimeout(void) _heardFrom = false; emit connectionLostChanged(true); _say(QString("connection lost to vehicle %1").arg(id()), GAudioOutput::AUDIO_SEVERITY_NOTICE); + if (_autoDisconnect) { + disconnectInactiveVehicle(); + } } } @@ -1354,3 +1212,106 @@ bool Vehicle::multiRotor(void) const return false; } } + +void Vehicle::_setCoordinateValid(bool coordinateValid) +{ + if (coordinateValid != _coordinateValid) { + _coordinateValid = coordinateValid; + emit coordinateValidChanged(_coordinateValid); + } +} + + +VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent) + : FactGroup(1000, ":/json/Vehicle/GPSFact.json", parent) + , _vehicle(NULL) + , _hdopFact (0, _hdopFactName, FactMetaData::valueTypeDouble) + , _vdopFact (0, _vdopFactName, FactMetaData::valueTypeDouble) + , _courseOverGroundFact (0, _courseOverGroundFactName, FactMetaData::valueTypeDouble) + , _countFact (0, _countFactName, FactMetaData::valueTypeInt32) + , _lockFact (0, _lockFactName, FactMetaData::valueTypeInt32) +{ + _addFact(&_hdopFact, _hdopFactName); + _addFact(&_vdopFact, _vdopFactName); + _addFact(&_courseOverGroundFact, _courseOverGroundFactName); + _addFact(&_lockFact, _lockFactName); + _addFact(&_countFact, _countFactName); +} + +void VehicleGPSFactGroup::setVehicle(Vehicle* vehicle) +{ + _vehicle = vehicle; + + connect(_vehicle->uas(), &UASInterface::localizationChanged, this, &VehicleGPSFactGroup::_setSatLoc); + + UAS* pUas = dynamic_cast(_vehicle->uas()); + connect(pUas, &UAS::satelliteCountChanged, this, &VehicleGPSFactGroup::_setSatelliteCount); + connect(pUas, &UAS::satRawHDOPChanged, this, &VehicleGPSFactGroup::_setSatRawHDOP); + connect(pUas, &UAS::satRawVDOPChanged, this, &VehicleGPSFactGroup::_setSatRawVDOP); + connect(pUas, &UAS::satRawCOGChanged, this, &VehicleGPSFactGroup::_setSatRawCOG); +} + +void VehicleGPSFactGroup::_setSatelliteCount(double val, QString) +{ + // I'm assuming that a negative value or over 99 means there is no GPS + if(val < 0.0) val = -1.0; + if(val > 99.0) val = -1.0; + + _countFact.setRawValue(val); +} + +void VehicleGPSFactGroup::_setSatRawHDOP(double val) +{ + _hdopFact.setRawValue(val); +} + +void VehicleGPSFactGroup::_setSatRawVDOP(double val) +{ + _vdopFact.setRawValue(val); +} + +void VehicleGPSFactGroup::_setSatRawCOG(double val) +{ + _courseOverGroundFact.setRawValue(val); +} + +void VehicleGPSFactGroup::_setSatLoc(UASInterface*, int fix) +{ + _lockFact.setRawValue(fix); + + // fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D lock, 3: 3D lock + if (fix > 2) { + _vehicle->_setCoordinateValid(true); + } +} + +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); + + // Start out as not available + _voltageFact.setRawValue (_voltageUnavailable); + _percentRemainingFact.setRawValue (_percentRemainingUnavailable); + _mahConsumedFact.setRawValue (_mahConsumedUnavailable); + _currentFact.setRawValue (_currentUnavailable); + _temperatureFact.setRawValue (_temperatureUnavailable); + _cellCountFact.setRawValue (_cellCountUnavailable); +} + +void VehicleBatteryFactGroup::setVehicle(Vehicle* vehicle) +{ + _vehicle = vehicle; +} diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h index 4f35bc05a3d1de8289012024c6e0ebe379c4a077..b44d3e78cf0a656874e88608967da5cb8f8e8ba7 100644 --- a/src/Vehicle/Vehicle.h +++ b/src/Vehicle/Vehicle.h @@ -30,6 +30,7 @@ #include #include +#include "FactGroup.h" #include "LinkInterface.h" #include "QGCMAVLink.h" #include "MissionItem.h" @@ -50,7 +51,99 @@ class UASMessage; Q_DECLARE_LOGGING_CATEGORY(VehicleLog) -class Vehicle : public QObject +class Vehicle; + +class VehicleGPSFactGroup : public FactGroup +{ + Q_OBJECT + +public: + VehicleGPSFactGroup(QObject* parent = NULL); + + Q_PROPERTY(Fact* hdop READ hdop CONSTANT) + Q_PROPERTY(Fact* vdop READ vdop CONSTANT) + Q_PROPERTY(Fact* courseOverGround READ courseOverGround CONSTANT) + 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; } + + void setVehicle(Vehicle* vehicle); + + static const char* _hdopFactName; + static const char* _vdopFactName; + static const char* _courseOverGroundFactName; + static const char* _countFactName; + static const char* _lockFactName; + +private slots: + void _setSatelliteCount(double val, QString); + void _setSatRawHDOP(double val); + void _setSatRawVDOP(double val); + void _setSatRawCOG(double val); + void _setSatLoc(UASInterface*, int fix); + +private: + Vehicle* _vehicle; + Fact _hdopFact; + Fact _vdopFact; + Fact _courseOverGroundFact; + Fact _countFact; + Fact _lockFact; +}; + +class VehicleBatteryFactGroup : public FactGroup +{ + Q_OBJECT + +public: + VehicleBatteryFactGroup(QObject* parent = NULL); + + Q_PROPERTY(Fact* voltage READ voltage CONSTANT) + Q_PROPERTY(Fact* percentRemaining READ percentRemaining CONSTANT) + 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) + + 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* _mahConsumedFactName; + static const char* _currentFactName; + static const char* _temperatureFactName; + static const char* _cellCountFactName; + + static const double _voltageUnavailable; + static const int _percentRemainingUnavailable; + static const int _mahConsumedUnavailable; + static const int _currentUnavailable; + static const double _temperatureUnavailable; + static const int _cellCountUnavailable; + +private: + Vehicle* _vehicle; + Fact _voltageFact; + Fact _percentRemainingFact; + Fact _mahConsumedFact; + Fact _currentFact; + Fact _temperatureFact; + Fact _cellCountFact; +}; + +class Vehicle : public FactGroup { Q_OBJECT @@ -78,26 +171,9 @@ public: Q_PROPERTY(bool hilMode READ hilMode WRITE setHilMode NOTIFY hilModeChanged) Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged) Q_PROPERTY(QmlObjectListModel* trajectoryPoints READ trajectoryPoints CONSTANT) - Q_PROPERTY(float roll READ roll NOTIFY rollChanged) - Q_PROPERTY(float pitch READ pitch NOTIFY pitchChanged) - Q_PROPERTY(float heading READ heading NOTIFY headingChanged) - Q_PROPERTY(float groundSpeed READ groundSpeed NOTIFY groundSpeedChanged) - Q_PROPERTY(float airSpeed READ airSpeed NOTIFY airSpeedChanged) - Q_PROPERTY(float climbRate READ climbRate NOTIFY climbRateChanged) - Q_PROPERTY(float altitudeRelative READ altitudeRelative NOTIFY altitudeRelativeChanged) - Q_PROPERTY(float altitudeWGS84 READ altitudeWGS84 NOTIFY altitudeWGS84Changed) - Q_PROPERTY(float altitudeAMSL READ altitudeAMSL NOTIFY altitudeAMSLChanged) Q_PROPERTY(float latitude READ latitude NOTIFY coordinateChanged) Q_PROPERTY(float longitude READ longitude NOTIFY coordinateChanged) - Q_PROPERTY(double batteryVoltage READ batteryVoltage NOTIFY batteryVoltageChanged) - Q_PROPERTY(double batteryPercent READ batteryPercent NOTIFY batteryPercentChanged) - Q_PROPERTY(double batteryConsumed READ batteryConsumed NOTIFY batteryConsumedChanged) - Q_PROPERTY(int satelliteCount READ satelliteCount NOTIFY satelliteCountChanged) - Q_PROPERTY(double satRawHDOP READ satRawHDOP NOTIFY satRawHDOPChanged) - Q_PROPERTY(double satRawVDOP READ satRawVDOP NOTIFY satRawVDOPChanged) - Q_PROPERTY(double satRawCOG READ satRawCOG NOTIFY satRawCOGChanged) Q_PROPERTY(QString currentState READ currentState NOTIFY currentStateChanged) - Q_PROPERTY(int satelliteLock READ satelliteLock NOTIFY satelliteLockChanged) Q_PROPERTY(QmlObjectListModel* missionItems READ missionItemsModel CONSTANT) Q_PROPERTY(bool messageTypeNone READ messageTypeNone NOTIFY messageTypeChanged) Q_PROPERTY(bool messageTypeNormal READ messageTypeNormal NOTIFY messageTypeChanged) @@ -124,6 +200,21 @@ public: Q_PROPERTY(uint messagesLost READ messagesLost NOTIFY messagesLostChanged) Q_PROPERTY(bool fixedWing READ fixedWing CONSTANT) Q_PROPERTY(bool multiRotor READ multiRotor CONSTANT) + Q_PROPERTY(bool autoDisconnect MEMBER _autoDisconnect NOTIFY autoDisconnectChanged) + + // FactGroup object model properties + + Q_PROPERTY(Fact* roll READ roll CONSTANT) + Q_PROPERTY(Fact* pitch READ pitch CONSTANT) + Q_PROPERTY(Fact* heading READ heading CONSTANT) + Q_PROPERTY(Fact* groundSpeed READ groundSpeed CONSTANT) + Q_PROPERTY(Fact* airSpeed READ airSpeed CONSTANT) + Q_PROPERTY(Fact* climbRate READ climbRate CONSTANT) + Q_PROPERTY(Fact* altitudeRelative READ altitudeRelative CONSTANT) + Q_PROPERTY(Fact* altitudeAMSL READ altitudeAMSL CONSTANT) + + Q_PROPERTY(FactGroup* gps READ gpsFactGroup CONSTANT) + Q_PROPERTY(FactGroup* battery READ batteryFactGroup CONSTANT) /// Resets link status counters Q_INVOKABLE void resetCounters (); @@ -146,6 +237,7 @@ public: QGeoCoordinate coordinate(void) { return _coordinate; } bool coordinateValid(void) { return _coordinateValid; } + void _setCoordinateValid(bool coordinateValid); QmlObjectListModel* missionItemsModel(void); typedef enum { @@ -238,18 +330,6 @@ public: MessageError } MessageType_t; - enum { - ROLL_CHANGED, - PITCH_CHANGED, - HEADING_CHANGED, - GROUNDSPEED_CHANGED, - AIRSPEED_CHANGED, - CLIMBRATE_CHANGED, - ALTITUDERELATIVE_CHANGED, - ALTITUDEWGS84_CHANGED, - ALTITUDEAMSL_CHANGED - }; - bool messageTypeNone () { return _currentMessageType == MessageNone; } bool messageTypeNormal () { return _currentMessageType == MessageNormal; } bool messageTypeWarning () { return _currentMessageType == MessageWarning; } @@ -259,27 +339,10 @@ public: QString formatedMessages (); QString formatedMessage () { return _formatedMessage; } QString latestError () { return _latestError; } - float roll () { return _roll; } - float pitch () { return _pitch; } - float heading () { return _heading; } - float groundSpeed () { return _groundSpeed; } - float airSpeed () { return _airSpeed; } - float climbRate () { return _climbRate; } - float altitudeRelative () { return _altitudeRelative; } - float altitudeWGS84 () { return _altitudeWGS84; } - float altitudeAMSL () { return _altitudeAMSL; } float latitude () { return _coordinate.latitude(); } float longitude () { return _coordinate.longitude(); } bool mavPresent () { return _mav != NULL; } - int satelliteCount () { return _satelliteCount; } - double satRawHDOP () { return _satRawHDOP; } - double satRawVDOP () { return _satRawVDOP; } - double satRawCOG () { return _satRawCOG; } - double batteryVoltage () { return _batteryVoltage; } - double batteryPercent () { return _batteryPercent; } - double batteryConsumed () { return _batteryConsumed; } QString currentState () { return _currentState; } - int satelliteLock () { return _satelliteLock; } int rcRSSI () { return _rcRSSI; } bool px4Firmware () { return _firmwareType == MAV_AUTOPILOT_PX4; } bool apmFirmware () { return _firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA; } @@ -290,6 +353,18 @@ public: uint messagesSent () { return _messagesSent; } uint messagesLost () { return _messagesLost; } + Fact* roll (void) { return &_rollFact; } + Fact* heading (void) { return &_headingFact; } + Fact* pitch (void) { return &_pitchFact; } + Fact* airSpeed (void) { return &_airSpeedFact; } + Fact* groundSpeed (void) { return &_groundSpeedFact; } + Fact* climbRate (void) { return &_climbRateFact; } + Fact* altitudeRelative (void) { return &_altitudeRelativeFact; } + Fact* altitudeAMSL (void) { return &_altitudeAMSLFact; } + + FactGroup* gpsFactGroup (void) { return &_gpsFactGroup; } + FactGroup* batteryFactGroup (void) { return &_batteryFactGroup; } + void setConnectionLostEnabled(bool connectionLostEnabled); ParameterLoader* getParameterLoader(void); @@ -318,6 +393,7 @@ signals: void missingParametersChanged(bool missingParameters); void connectionLostChanged(bool connectionLost); void connectionLostEnabledChanged(bool connectionLostEnabled); + void autoDisconnectChanged(bool autoDisconnectChanged); void messagesReceivedChanged (); void messagesSentChanged (); @@ -333,26 +409,9 @@ signals: void formatedMessagesChanged(); void formatedMessageChanged (); void latestErrorChanged (); - void rollChanged (); - void pitchChanged (); - void headingChanged (); - void groundSpeedChanged (); - void airSpeedChanged (); - void climbRateChanged (); - void altitudeRelativeChanged(); - void altitudeWGS84Changed (); - void altitudeAMSLChanged (); void longitudeChanged (); - void batteryVoltageChanged (); - void batteryPercentChanged (); - void batteryConsumedChanged (); void currentConfigChanged (); - void satelliteCountChanged (); - void satRawHDOPChanged (); - void satRawVDOPChanged (); - void satRawCOGChanged (); void currentStateChanged (); - void satelliteLockChanged (); void flowImageIndexChanged (); void rcRSSIChanged (int rcRSSI); @@ -386,18 +445,11 @@ private slots: /** @brief Attitude from one specific component / redundant autopilot */ void _updateAttitude (UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp); void _updateSpeed (UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp); - void _updateAltitude (UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp); + void _updateAltitude (UASInterface* uas, double _altitudeAMSL, double _altitudeRelative, double _climbRate, quint64 timestamp); void _updateNavigationControllerErrors (UASInterface* uas, double altitudeError, double speedError, double xtrackError); void _updateNavigationControllerData (UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDistance); void _checkUpdate (); - void _updateBatteryRemaining (UASInterface*, double voltage, double, double percent, int); - void _updateBatteryConsumedChanged (UASInterface*, double current_consumed); void _updateState (UASInterface* system, QString name, QString description); - void _setSatelliteCount (double val, QString name); - void _setSatRawHDOP (double val); - void _setSatRawVDOP (double val); - void _setSatRawCOG (double val); - void _setSatLoc (UASInterface* uas, int fix); /** @brief A new camera image has arrived */ void _imageReady (UASInterface* uas); void _connectionLostTimeout(void); @@ -412,15 +464,14 @@ private: void _handleHeartbeat(mavlink_message_t& message); void _handleRCChannels(mavlink_message_t& message); void _handleRCChannelsRaw(mavlink_message_t& message); + void _handleBatteryStatus(mavlink_message_t& message); + void _handleSysStatus(mavlink_message_t& message); void _missionManagerError(int errorCode, const QString& errorMsg); void _mapTrajectoryStart(void); void _mapTrajectoryStop(void); void _connectionActive(void); void _say(const QString& text, int severity); - void _addChange (int id); - float _oneDecimal (float value); - private: int _id; ///< Mavlink system id bool _active; @@ -452,34 +503,17 @@ private: int _currentNormalCount; MessageType_t _currentMessageType; QString _latestError; - float _roll; - float _pitch; - float _heading; - float _altitudeAMSL; - float _altitudeWGS84; - float _altitudeRelative; - float _groundSpeed; - float _airSpeed; - float _climbRate; float _navigationAltitudeError; float _navigationSpeedError; float _navigationCrosstrackError; float _navigationTargetBearing; QTimer* _refreshTimer; - QList _changes; - double _batteryVoltage; - double _batteryPercent; - double _batteryConsumed; QString _currentState; - int _satelliteCount; - double _satRawHDOP; - double _satRawVDOP; - double _satRawCOG; - int _satelliteLock; int _updateCount; QString _formatedMessage; int _rcRSSI; double _rcRSSIstore; + bool _autoDisconnect; ///< true: Automatically disconnect vehicle when last connection goes away or lost heartbeat // Lost connection handling bool _connectionLost; @@ -531,9 +565,37 @@ private: uint8_t _compID; bool _heardFrom; + // FactGroup facts + + Fact _rollFact; + Fact _pitchFact; + Fact _headingFact; + Fact _groundSpeedFact; + Fact _airSpeedFact; + Fact _climbRateFact; + Fact _altitudeRelativeFact; + Fact _altitudeAMSLFact; + + VehicleGPSFactGroup _gpsFactGroup; + VehicleBatteryFactGroup _batteryFactGroup; + + static const char* _rollFactName; + static const char* _pitchFactName; + static const char* _headingFactName; + static const char* _groundSpeedFactName; + static const char* _airSpeedFactName; + static const char* _climbRateFactName; + static const char* _altitudeRelativeFactName; + static const char* _altitudeAMSLFactName; + static const char* _gpsFactGroupName; + static const char* _batteryFactGroupName; + + static const int _vehicleUIUpdateRateMSecs = 100; + // Settings keys static const char* _settingsGroup; static const char* _joystickModeSettingsKey; static const char* _joystickEnabledSettingsKey; + }; #endif diff --git a/src/Vehicle/VehicleFact.json b/src/Vehicle/VehicleFact.json new file mode 100644 index 0000000000000000000000000000000000000000..6af7d4d99b009e59507a4dc1de6483551b29793b --- /dev/null +++ b/src/Vehicle/VehicleFact.json @@ -0,0 +1,62 @@ +{ + "version": 1, + + "properties": [ + { + "name": "roll", + "shortDescription": "Roll", + "type": "double", + "decimalPlaces": 1, + "units": "degrees" + }, + { + "name": "pitch", + "shortDescription": "Pitch", + "type": "double", + "decimalPlaces": 1, + "units": "degrees" + }, + { + "name": "heading", + "shortDescription": "Heading", + "type": "double", + "decimalPlaces": 0, + "units": "degrees" + }, + { + "name": "groundSpeed", + "shortDescription": "Ground Speed", + "type": "double", + "decimalPlaces": 1, + "units": "m/s" + }, + { + "name": "airSpeed", + "shortDescription": "Air Speed", + "type": "double", + "decimalPlaces": 1, + "units": "m/s" + }, + { + "name": "climbRate", + "shortDescription": "Climb Rate", + "type": "double", + "decimalPlaces": 1, + "units": "m/s" + }, + { + "name": "altitudeRelative", + "shortDescription": "Altitude (home)", + "type": "double", + "decimalPlaces": 1, + "units": "m" + }, + { + "name": "altitudeAMSL", + "shortDescription": "Altitude", + "type": "double", + "decimalPlaces": 1, + "units": "m" + } + ] +} diff --git a/src/VehicleSetup/FirmwareUpgrade.qml b/src/VehicleSetup/FirmwareUpgrade.qml index 87d1556f396807acba0f03724e4d742f2662edad..c8f9fc7d04375e4f60ddd7de5f18319a9cf617d3 100644 --- a/src/VehicleSetup/FirmwareUpgrade.qml +++ b/src/VehicleSetup/FirmwareUpgrade.qml @@ -43,7 +43,7 @@ QGCView { readonly property string highlightPrefix: "" readonly property string highlightSuffix: "" readonly property string welcomeText: "QGroundControl can upgrade the firmware on Pixhawk devices, 3DR Radios and PX4 Flow Smart Cameras." - readonly property string plugInText: highlightPrefix + "Plug in your device" + highlightSuffix + " via USB to " + highlightPrefix + "start" + highlightSuffix + " firmware upgrade. " + readonly property string plugInText: "" + highlightPrefix + "Plug in your device" + highlightSuffix + " via USB to " + highlightPrefix + "start" + highlightSuffix + " firmware upgrade." readonly property string flashFailText: "If upgrade failed, make sure to connect " + highlightPrefix + "directly" + highlightSuffix + " to a powered USB port on your computer, not through a USB hub. " + "Also make sure you are only powered via USB " + highlightPrefix + "not battery" + highlightSuffix + "." readonly property string qgcUnplugText1: "All QGroundControl connections to vehicles must be " + highlightPrefix + " disconnected " + highlightSuffix + "prior to firmware upgrade." @@ -58,7 +58,6 @@ QGCView { statusTextArea.append(highlightPrefix + "Upgrade cancelled" + highlightSuffix) statusTextArea.append("------------------------------------------") controller.cancel() - flashCompleteWaitTimer.running = true } QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled } @@ -103,6 +102,7 @@ QGCView { // Board was found right away, so something is already plugged in before we've started upgrade statusTextArea.append(qgcUnplugText1) statusTextArea.append(qgcUnplugText2) + multiVehicleManager.activeVehicle.autoDisconnect = true } else { // We end up here when we detect a board plugged in after we've started upgrade statusTextArea.append(highlightPrefix + "Found device" + highlightSuffix + ": " + controller.boardType) @@ -115,7 +115,6 @@ QGCView { onError: { hideDialog() statusTextArea.append(flashFailText) - flashCompleteWaitTimer.running = true } } @@ -151,8 +150,8 @@ QGCView { } function reject() { - cancelFlash() hideDialog() + cancelFlash() } ExclusiveGroup { @@ -227,7 +226,7 @@ QGCView { QGCRadioButton { id: apmFlightStack exclusiveGroup: firmwareGroup - text: "APM Flight Stack" + text: "ArduPilot Flight Stack" visible: !px4Flow onClicked: parent.firmwareVersionChanged(firmwareTypeList) diff --git a/src/VehicleSetup/SetupView.qml b/src/VehicleSetup/SetupView.qml index d4a69d0b4467ad13783b54e620d7df59256e98c0..63123d52ebafe3ee2b802a21590c1322bf52f234 100644 --- a/src/VehicleSetup/SetupView.qml +++ b/src/VehicleSetup/SetupView.qml @@ -120,9 +120,11 @@ Rectangle { target: multiVehicleManager onParameterReadyVehicleAvailableChanged: { - if (parameterReadyVehicleAvailable || summaryButton.checked) { - // When a new vehicle shows up we switch to the Summary View. If the Summary View is already showing - // and a vehicle goes away, we must reload it to show new disconnected Qml + if (parameterReadyVehicleAvailable || summaryButton.checked || setupButtonGroup.current != firmwareButton) { + // Show/Reload the Summary panel when: + // A new vehicle shows up + // The summary panel is already showing and the active vehicle goes away + // The active vehicle goes away and we are not on the Firmware panel. summaryButton.checked = true showSummaryPanel() } diff --git a/src/VehicleSetup/SetupViewTest.cc b/src/VehicleSetup/SetupViewTest.cc index 5da316bd45dbd533b7aa42a1ac64638e77f0fb36..87f86657d9debd67ed14caec3596138ed209958a 100644 --- a/src/VehicleSetup/SetupViewTest.cc +++ b/src/VehicleSetup/SetupViewTest.cc @@ -30,14 +30,13 @@ #include "QGCApplication.h" void SetupViewTest::_clickThrough_test(void) -{ +{ + _createMainWindow(); _connectMockLink(); - + AutoPilotPlugin* autopilot = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->autopilotPlugin(); Q_ASSERT(autopilot); - _createMainWindow(); - // Switch to the Setup view qgcApp()->showSetupView(); QTest::qWait(1000); diff --git a/src/ViewWidgets/LogDownloadController.cc b/src/ViewWidgets/LogDownloadController.cc index b2a05b75d562d227db1d2aa084e0716bcf70e6d0..db1f8afae354a4edb3c686064ff03476c71c2afe 100644 --- a/src/ViewWidgets/LogDownloadController.cc +++ b/src/ViewWidgets/LogDownloadController.cc @@ -36,10 +36,51 @@ #include #define kTimeOutMilliseconds 500 +#define kGUIRateMilliseconds 17 +#define kTableBins 128 +#define kChunkSize (kTableBins * MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN) QGC_LOGGING_CATEGORY(LogDownloadLog, "LogDownloadLog") static QLocale kLocale; +//----------------------------------------------------------------------------- +struct LogDownloadData { + LogDownloadData(QGCLogEntry* entry); + QBitArray chunk_table; + uint32_t current_chunk; + QFile file; + QString filename; + uint ID; + QGCLogEntry* entry; + uint written; + QElapsedTimer elapsed; + + void advanceChunk() + { + current_chunk++; + chunk_table = QBitArray(chunkBins(), false); + } + + // The number of MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN bins in the current chunk + uint32_t chunkBins() const + { + return qMin(qCeil((entry->size() - current_chunk*kChunkSize)/static_cast(MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN)), + kTableBins); + } + + // The number of kChunkSize chunks in the file + uint32_t numChunks() const + { + return qCeil(entry->size() / static_cast(kChunkSize)); + } + + // True if all bins in the chunk have been set to val + bool chunkEquals(const bool val) const + { + return chunk_table == QBitArray(chunk_table.size(), val); + } + +}; //---------------------------------------------------------------------------------------- LogDownloadData::LogDownloadData(QGCLogEntry* entry_) @@ -274,34 +315,60 @@ LogDownloadController::_logData(UASInterface* uas, uint32_t ofs, uint16_t id, ui qWarning() << "Received log data for wrong log"; return; } + + if ((ofs % MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN) != 0) { + qWarning() << "Ignored misaligned incoming packet @" << ofs; + return; + } + bool result = false; - //-- Find offset table entry - uint o_index = ofs / MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN; - if(o_index <= (uint)_downloadData->offsets.count()) { - _downloadData->offsets[o_index] = count; + uint32_t timeout_time = kTimeOutMilliseconds; + if(ofs <= _downloadData->entry->size()) { + const uint32_t chunk = ofs / kChunkSize; + if (chunk != _downloadData->current_chunk) { + qWarning() << "Ignored packet for out of order chunk" << chunk; + return; + } + const uint16_t bin = (ofs - chunk*kChunkSize) / MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN; + if (bin >= _downloadData->chunk_table.size()) { + qWarning() << "Out of range bin received"; + } else + _downloadData->chunk_table.setBit(bin); + if (_downloadData->file.pos() != ofs) { + // Seek to correct position + if (!_downloadData->file.seek(ofs)) { + qWarning() << "Error while seeking log file offset"; + return; + } + } + //-- Write chunk to file - if(_downloadData->file.seek(ofs)) { - if(_downloadData->file.write((const char*)data, count)) { - _downloadData->written += count; + if(_downloadData->file.write((const char*)data, count)) { + _downloadData->written += count; + if (_downloadData->elapsed.elapsed() >= kGUIRateMilliseconds) { //-- Update status QString comma_value = kLocale.toString(_downloadData->written); _downloadData->entry->setStatus(comma_value); - result = true; - //-- reset retries - _retries = 0; - //-- Reset timer - _timer.start(kTimeOutMilliseconds); - //-- Do we have it all? - if(_logComplete()) { - _downloadData->entry->setStatus(QString("Downloaded")); - //-- Check for more - _receivedAllData(); - } - } else { - qWarning() << "Error while writing log file chunk"; + _downloadData->elapsed.start(); + } + result = true; + //-- reset retries + _retries = 0; + //-- Reset timer + _timer.start(timeout_time); + //-- Do we have it all? + if(_logComplete()) { + _downloadData->entry->setStatus(QString("Downloaded")); + //-- Check for more + _receivedAllData(); + } else if (_chunkComplete()) { + _downloadData->advanceChunk(); + _requestLogData(_downloadData->ID, + _downloadData->current_chunk*kChunkSize, + _downloadData->chunk_table.size()*MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN); } } else { - qWarning() << "Error while seeking log file offset"; + qWarning() << "Error while writing log file chunk"; } } else { qWarning() << "Received log offset greater than expected"; @@ -311,18 +378,19 @@ LogDownloadController::_logData(UASInterface* uas, uint32_t ofs, uint16_t id, ui } } + //---------------------------------------------------------------------------------------- bool -LogDownloadController::_logComplete() +LogDownloadController::_chunkComplete() const { - //-- Iterate entries and look for a gap - int num_ofs = _downloadData->offsets.count(); - for(int i = 0; i < num_ofs; i++) { - if(_downloadData->offsets[i] == 0) { - return false; - } - } - return true; + return _downloadData->chunkEquals(true); +} + +//---------------------------------------------------------------------------------------- +bool +LogDownloadController::_logComplete() const +{ + return _chunkComplete() && (_downloadData->current_chunk+1) == _downloadData->numChunks(); } //---------------------------------------------------------------------------------------- @@ -333,7 +401,7 @@ LogDownloadController::_receivedAllData() //-- Anything queued up for download? if(_prepareLogDownload()) { //-- Request Log - _requestLogData(_downloadData->ID, 0, _downloadData->entry->size()); + _requestLogData(_downloadData->ID, 0, _downloadData->chunk_table.size()*MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN); } else { _resetSelection(); _setDownloading(false); @@ -344,44 +412,38 @@ LogDownloadController::_receivedAllData() void LogDownloadController::_findMissingData() { - int start = -1; - int end = -1; - int num_ofs = _downloadData->offsets.count(); - //-- Iterate offsets and look for a gap - for(int i = 0; i < num_ofs; i++) { - if(_downloadData->offsets[i] == 0) { - if(start < 0) - start = i; - else - end = i; - } else { - if(start >= 0) { - break; - } - } + if (_logComplete()) { + _receivedAllData(); + return; + } else if (_chunkComplete()) { + _downloadData->advanceChunk(); } - //-- Is there something missing? - if(start >= 0) { - //-- Have we tried too many times? - if(_retries++ > 2) { - _downloadData->entry->setStatus(QString("Timed Out")); - //-- Give up - qWarning() << "Too many errors retreiving log data. Giving up."; - _receivedAllData(); - return; + + if(_retries++ > 2) { + _downloadData->entry->setStatus(QString("Timed Out")); + //-- Give up + qWarning() << "Too many errors retreiving log data. Giving up."; + _receivedAllData(); + return; + } + + uint16_t start = 0, end = 0; + const int size = _downloadData->chunk_table.size(); + for (; start < size; start++) { + if (!_downloadData->chunk_table.testBit(start)) { + break; } - //-- Is it a sequence or just one entry? - if(end < 0) { - end = start; + } + + for (end = start; end < size; end++) { + if (_downloadData->chunk_table.testBit(end)) { + break; } - //-- Request these log chunks again - _requestLogData( - _downloadData->ID, - (uint32_t)(start * MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN), - (uint32_t)((end - start + 1) * MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN)); - } else { - _receivedAllData(); } + + const uint32_t pos = _downloadData->current_chunk*kChunkSize + start*MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN, + len = (end - start)*MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN; + _requestLogData(_downloadData->ID, pos, len); } //---------------------------------------------------------------------------------------- @@ -534,11 +596,9 @@ LogDownloadController::_prepareLogDownload() if(!_downloadData->file.resize(entry->size())) { qWarning() << "Failed to allocate space for log file:" << _downloadData->filename; } else { - //-- Prepare Offset Table - uint o_count = (uint)ceil(entry->size() / (double)MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN); - for(uint i = 0; i < o_count; i++) { - _downloadData->offsets.append(0); - } + _downloadData->current_chunk = 0; + _downloadData->chunk_table = QBitArray(_downloadData->chunkBins(), false); + _downloadData->elapsed.start(); result = true; } } diff --git a/src/ViewWidgets/LogDownloadController.h b/src/ViewWidgets/LogDownloadController.h index f4d306fdbb1f5568eb147559646382eefd26cb96..05add74d772987385175e9257ba5554b3ddda427 100644 --- a/src/ViewWidgets/LogDownloadController.h +++ b/src/ViewWidgets/LogDownloadController.h @@ -28,6 +28,7 @@ #include #include #include +#include #include @@ -39,7 +40,7 @@ class MultiVehicleManager; class UASInterface; class Vehicle; class QGCLogEntry; -class LogDownloadData; +struct LogDownloadData; Q_DECLARE_LOGGING_CATEGORY(LogDownloadLog) @@ -121,19 +122,6 @@ private: QString _status; }; -//----------------------------------------------------------------------------- -class LogDownloadData { -public: - LogDownloadData(QGCLogEntry* entry); - QList offsets; - QFile file; - QString filename; - uint ID; - QTimer processDataTimer; - QGCLogEntry* entry; - uint written; -}; - //----------------------------------------------------------------------------- class LogDownloadController : public FactPanelController { @@ -170,7 +158,8 @@ private slots: private: bool _entriesComplete (); - bool _logComplete (); + bool _chunkComplete () const; + bool _logComplete () const; void _findMissingEntries(); void _receivedAllEntries(); void _receivedAllData (); diff --git a/src/comm/MockLink.cc b/src/comm/MockLink.cc index e01fd9e1c16f23f4ea97fe169990adf1b8163e98..0564ea1e1fce2546b27cacc7f2fb17039c628688 100644 --- a/src/comm/MockLink.cc +++ b/src/comm/MockLink.cc @@ -799,29 +799,24 @@ void MockLink::setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode void MockLink::_sendHomePosition(void) { - // APM stack does not yet support HOME_POSITION - - if (_firmwareType != MAV_AUTOPILOT_ARDUPILOTMEGA) { - - mavlink_message_t msg; + mavlink_message_t msg; - float bogus[4]; - bogus[0] = 0.0f; - bogus[1] = 0.0f; - bogus[2] = 0.0f; - bogus[3] = 0.0f; - - mavlink_msg_home_position_pack(_vehicleSystemId, - _vehicleComponentId, - &msg, - (int32_t)(_vehicleLatitude * 1E7), - (int32_t)(_vehicleLongitude * 1E7), - (int32_t)(_vehicleAltitude * 1000), - 0.0f, 0.0f, 0.0f, - &bogus[0], - 0.0f, 0.0f, 0.0f); - respondWithMavlinkMessage(msg); - } + float bogus[4]; + bogus[0] = 0.0f; + bogus[1] = 0.0f; + bogus[2] = 0.0f; + bogus[3] = 0.0f; + + mavlink_msg_home_position_pack(_vehicleSystemId, + _vehicleComponentId, + &msg, + (int32_t)(_vehicleLatitude * 1E7), + (int32_t)(_vehicleLongitude * 1E7), + (int32_t)(_vehicleAltitude * 1000), + 0.0f, 0.0f, 0.0f, + &bogus[0], + 0.0f, 0.0f, 0.0f); + respondWithMavlinkMessage(msg); } void MockLink::_sendGpsRawInt(void) diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc index 5c7e512ac1b4b3c5721a2e93978e17b68570b2ec..487f5b2ea6556c670642a87611e2fc534c8c35be 100644 --- a/src/comm/QGCXPlaneLink.cc +++ b/src/comm/QGCXPlaneLink.cc @@ -933,16 +933,16 @@ void QGCXPlaneLink::setRandomPosition() double offLon = rand() / static_cast(RAND_MAX) / 500.0 + 1.0/500.0; double offAlt = rand() / static_cast(RAND_MAX) * 200.0 + 100.0; - if (_vehicle->altitudeAMSL() + offAlt < 0) + if (_vehicle->altitudeAMSL()->rawValue().toDouble() + offAlt < 0) { offAlt *= -1.0; } setPositionAttitude(_vehicle->latitude() + offLat, _vehicle->longitude() + offLon, - _vehicle->altitudeAMSL() + offAlt, - _vehicle->roll(), - _vehicle->pitch(), + _vehicle->altitudeAMSL()->rawValue().toDouble() + offAlt, + _vehicle->roll()->rawValue().toDouble(), + _vehicle->pitch()->rawValue().toDouble(), _vehicle->uas()->getYaw()); } @@ -957,7 +957,7 @@ void QGCXPlaneLink::setRandomAttitude() setPositionAttitude(_vehicle->latitude(), _vehicle->longitude(), - _vehicle->altitudeAMSL(), + _vehicle->altitudeAMSL()->rawValue().toDouble(), roll, pitch, yaw); diff --git a/src/main.cc b/src/main.cc index 8acb16b63ceb081abd619db1bf876caf0049142f..95bd955d5369521000eed26dfcfbf11578e40c60 100644 --- a/src/main.cc +++ b/src/main.cc @@ -140,9 +140,25 @@ int main(int argc, char *argv[]) #endif #endif - // install the message handler #ifdef Q_OS_WIN + // install the message handler qInstallMessageHandler(msgHandler); + + // Set our own OpenGL buglist + qputenv("QT_OPENGL_BUGLIST", ":/opengl/resources/opengl/buglist.json"); + + // Allow for command line override of renderer + for (int i = 0; i < argc; i++) { + const QString arg(argv[i]); + if (arg == QStringLiteral("-angle")) { + QCoreApplication::setAttribute(Qt::AA_UseOpenGLES); + break; + } else if (arg == QStringLiteral("-swrast")) { + QCoreApplication::setAttribute(Qt::AA_UseSoftwareOpenGL); + break; + } + } + #endif // The following calls to qRegisterMetaType are done to silence debug output which warns diff --git a/src/qgcunittest/UnitTestList.cc b/src/qgcunittest/UnitTestList.cc index a08a32160becd66bc733913da365b2ac4409292a..aafd5a2aa82706c620f61b2ca18aa292b437a9ef 100644 --- a/src/qgcunittest/UnitTestList.cc +++ b/src/qgcunittest/UnitTestList.cc @@ -38,7 +38,6 @@ #include "SetupViewTest.h" #include "MavlinkLogTest.h" -UT_REGISTER_TEST(SetupViewTest) UT_REGISTER_TEST(FactSystemTestGeneric) UT_REGISTER_TEST(FactSystemTestPX4) UT_REGISTER_TEST(FileDialogTest) @@ -65,3 +64,5 @@ UT_REGISTER_TEST(RadioConfigTest) // time to debug. //UT_REGISTER_TEST(TCPLinkUnitTest) +// Windows based unit tests are not working correctly. Needs major reword to support. +//UT_REGISTER_TEST(SetupViewTest) diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index 824e025dc1d758765286fd66c693186451df0549..4d5c1c23234a4a26f1f1b121a75dd5fef5f5a533 100644 --- a/src/uas/UAS.cc +++ b/src/uas/UAS.cc @@ -92,7 +92,6 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi longitude(0.0), altitudeAMSL(0.0), altitudeAMSLFT(0.0), - altitudeWGS84(0.0), altitudeRelative(0.0), satRawHDOP(1e10f), @@ -355,18 +354,6 @@ void UAS::receiveMessage(mavlink_message_t message) break; - case MAVLINK_MSG_ID_BATTERY_STATUS: - { - if (multiComponentSourceDetected && wrongComponent) - { - break; - } - mavlink_battery_status_t bat_status; - mavlink_msg_battery_status_decode(&message, &bat_status); - emit batteryConsumedChanged(this, (double)bat_status.current_consumed); - } - break; - case MAVLINK_MSG_ID_SYS_STATUS: { if (multiComponentSourceDetected && wrongComponent) @@ -391,6 +378,8 @@ 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; @@ -572,7 +561,7 @@ void UAS::receiveMessage(mavlink_message_t message) if (!isnan(hud.airspeed)) setAirSpeed(hud.airspeed); speedZ = -hud.climb; - emit altitudeChanged(this, altitudeAMSL, altitudeWGS84, altitudeRelative, -speedZ, time); + emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time); emit speedChanged(this, groundSpeed, airSpeed, time); } break; @@ -614,7 +603,6 @@ void UAS::receiveMessage(mavlink_message_t message) setLatitude(pos.lat/(double)1E7); setLongitude(pos.lon/(double)1E7); - setAltitudeWGS84(pos.alt/1000.0); setAltitudeRelative(pos.relative_alt/1000.0); globalEstimatorActive = true; @@ -623,8 +611,8 @@ void UAS::receiveMessage(mavlink_message_t message) speedY = pos.vy/100.0; speedZ = pos.vz/100.0; - emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), getAltitudeWGS84(), time); - emit altitudeChanged(this, altitudeAMSL, altitudeWGS84, altitudeRelative, -speedZ, time); + emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time); + emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time); // We had some frame mess here, global and local axes were mixed. emit velocityChanged_NED(this, speedX, speedY, speedZ, time); @@ -661,9 +649,8 @@ void UAS::receiveMessage(mavlink_message_t message) if (!globalEstimatorActive) { setLatitude(latitude_gps); setLongitude(longitude_gps); - setAltitudeWGS84(altitude_gps); - emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), getAltitudeWGS84(), time); - emit altitudeChanged(this, altitudeAMSL, altitudeWGS84, altitudeRelative, -speedZ, time); + emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time); + emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time); float vel = pos.vel/100.0f; // Smaller than threshold and not NaN diff --git a/src/uas/UAS.h b/src/uas/UAS.h index 422ed7edae3d2629c73c002e5b8399f7ca81916d..4917bcbfa9811a224b6703fc5fd9e00cb863eb76 100644 --- a/src/uas/UAS.h +++ b/src/uas/UAS.h @@ -93,7 +93,6 @@ public: Q_PROPERTY(double bearingToWaypoint READ getBearingToWaypoint WRITE setBearingToWaypoint NOTIFY bearingToWaypointChanged) Q_PROPERTY(double altitudeAMSL READ getAltitudeAMSL WRITE setAltitudeAMSL NOTIFY altitudeAMSLChanged) Q_PROPERTY(double altitudeAMSLFT READ getAltitudeAMSLFT NOTIFY altitudeAMSLFTChanged) - Q_PROPERTY(double altitudeWGS84 READ getAltitudeWGS84 WRITE setAltitudeWGS84 NOTIFY altitudeWGS84Changed) Q_PROPERTY(double altitudeRelative READ getAltitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged) Q_PROPERTY(double satRawHDOP READ getSatRawHDOP NOTIFY satRawHDOPChanged) Q_PROPERTY(double satRawVDOP READ getSatRawVDOP NOTIFY satRawVDOPChanged) @@ -203,19 +202,6 @@ public: return altitudeAMSLFT; } - void setAltitudeWGS84(double val) - { - altitudeWGS84 = val; - emit altitudeWGS84Changed(val, "altitudeWGS84"); - emit valueChanged(this->uasId,"altitudeWGS84","m",QVariant(val),getUnixTime()); - } - - double getAltitudeWGS84() const - { - return altitudeWGS84; - } - - void setAltitudeRelative(double val) { altitudeRelative = val; @@ -431,7 +417,6 @@ protected: //COMMENTS FOR TEST UNIT double longitude; ///< Global longitude as estimated by position estimator double altitudeAMSL; ///< Global altitude as estimated by position estimator, AMSL double altitudeAMSLFT; ///< Global altitude as estimated by position estimator, AMSL - double altitudeWGS84; ///< Global altitude as estimated by position estimator, WGS84 double altitudeRelative; ///< Altitude above home as estimated by position estimator double satRawHDOP; @@ -614,7 +599,6 @@ signals: void latitudeChanged(double val,QString name); void altitudeAMSLChanged(double val,QString name); void altitudeAMSLFTChanged(double val,QString name); - void altitudeWGS84Changed(double val,QString name); void altitudeRelativeChanged(double val,QString name); void satRawHDOPChanged (double value); diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h index 533fdb1fe373ff4915f494f2aa8bbfde585a3858..1e2e13732c729aacbf5a81e6c7d221b0e7cd100a 100644 --- a/src/uas/UASInterface.h +++ b/src/uas/UASInterface.h @@ -253,7 +253,6 @@ signals: * @param seconds estimated remaining flight time in seconds */ void batteryChanged(UASInterface* uas, double voltage, double current, double percent, int seconds); - void batteryConsumedChanged(UASInterface* uas, double current_consumed); void statusChanged(UASInterface* uas, QString status); void thrustChanged(UASInterface*, double thrust); void attitudeChanged(UASInterface*, double roll, double pitch, double yaw, quint64 usec); @@ -264,8 +263,8 @@ signals: void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec); /** @brief A user (or an autonomous mission or obstacle avoidance planner) requested to set a new setpoint */ void userPositionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired); - void globalPositionChanged(UASInterface*, double lat, double lon, double altAMSL, double altWGS84, quint64 usec); - void altitudeChanged(UASInterface*, double altitudeAMSL, double altitudeWGS84, double altitudeRelative, double climbRate, quint64 usec); + void globalPositionChanged(UASInterface*, double lat, double lon, double altAMSL, quint64 usec); + void altitudeChanged(UASInterface*, double altitudeAMSL, double altitudeRelative, double climbRate, quint64 usec); /** @brief Update the status of one satellite used for localization */ void gpsSatelliteStatusChanged(int uasid, int satid, float azimuth, float direction, float snr, bool used); diff --git a/src/ui/MAVLinkDecoder.cc b/src/ui/MAVLinkDecoder.cc index 25a9ff1cf566cb739707825d192268c912e67934..b30c49b6ec836c9ef0a82a981817d82e67b903ab 100644 --- a/src/ui/MAVLinkDecoder.cc +++ b/src/ui/MAVLinkDecoder.cc @@ -37,6 +37,7 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) : messageFilter.insert(MAVLINK_MSG_ID_DATA_STREAM, false); messageFilter.insert(MAVLINK_MSG_ID_GPS_STATUS, false); messageFilter.insert(MAVLINK_MSG_ID_RC_CHANNELS_RAW, false); + messageFilter.insert(MAVLINK_MSG_ID_LOG_DATA, false); #ifdef MAVLINK_MSG_ID_ENCAPSULATED_DATA messageFilter.insert(MAVLINK_MSG_ID_ENCAPSULATED_DATA, false); #endif diff --git a/src/ui/toolbar/MainToolBar.qml b/src/ui/toolbar/MainToolBar.qml index 1215c8130f82a522522f7086ff0184cacc0b9da8..88128af86104367523313d4cd4d41248202bba75 100644 --- a/src/ui/toolbar/MainToolBar.qml +++ b/src/ui/toolbar/MainToolBar.qml @@ -165,13 +165,13 @@ Rectangle { function getBatteryColor() { if(activeVehicle) { - if(activeVehicle.batteryPercent > 75) { + if(activeVehicle.battery.percentRemaining.value > 75) { return colorGreen } - if(activeVehicle.batteryPercent > 50) { + if(activeVehicle.battery.percentRemaining.value > 50) { return colorOrange } - if(activeVehicle.batteryPercent > 0.1) { + if(activeVehicle.battery.percentRemaining.value > 0.1) { return colorRed } } @@ -188,28 +188,6 @@ Rectangle { return colorRed; } - function getGpsLockStatus() { - if(activeVehicle) { - if(activeVehicle.satelliteLock < 2) { - return "No Satellite Lock" - } - if(activeVehicle.satelliteLock == 2) { - return "2D Lock" - } - if(activeVehicle.satelliteLock == 3) { - return "3D Lock" - } - if(activeVehicle.satelliteLock == 4) { - return "3D DGPS Lock" - } - if(activeVehicle.satelliteLock == 5) { - return "3D RTK GPS Lock" - } - return "Unkown Lock Type (" + activeVehicle.satelliteLock + ")" - } - return "N/A" - } - Component.onCompleted: { //-- TODO: Get this from the actual state flyButton.checked = true @@ -232,14 +210,14 @@ Rectangle { anchors.centerIn: parent QGCLabel { id: gpsLabel - text: (activeVehicle && activeVehicle.satelliteCount >= 0) ? "GPS Status" : "GPS Data Unavailable" + text: (activeVehicle && activeVehicle.gps.count.value >= 0) ? "GPS Status" : "GPS Data Unavailable" font.weight:Font.DemiBold color: colorWhite anchors.horizontalCenter: parent.horizontalCenter } GridLayout { id: gpsGrid - visible: (activeVehicle && activeVehicle.satelliteCount >= 0) + visible: (activeVehicle && activeVehicle.gps.count.value >= 0) anchors.margins: ScreenTools.defaultFontPixelHeight columnSpacing: ScreenTools.defaultFontPixelWidth anchors.horizontalCenter: parent.horizontalCenter @@ -249,7 +227,7 @@ Rectangle { color: colorWhite } QGCLabel { - text: activeVehicle ? (activeVehicle.satelliteCount) : "N/A" + text: activeVehicle ? activeVehicle.gps.count.valueString : "N/A" color: colorWhite } QGCLabel { @@ -257,7 +235,7 @@ Rectangle { color: colorWhite } QGCLabel { - text: getGpsLockStatus() + text: activeVehicle ? activeVehicle.gps.lock.enumStringValue : "N/A" color: colorWhite } QGCLabel { @@ -265,7 +243,7 @@ Rectangle { color: colorWhite } QGCLabel { - text: activeVehicle ? (activeVehicle.satRawHDOP < 10000 ? activeVehicle.satRawHDOP.toFixed(0) : "N/A") : "N/A" + text: activeVehicle ? (activeVehicle.gps.hdop.value < 10000 ? activeVehicle.gps.hdop.valueString : "N/A") : "N/A" color: colorWhite } QGCLabel { @@ -273,7 +251,7 @@ Rectangle { color: colorWhite } QGCLabel { - text: activeVehicle ? (activeVehicle.satRawVDOP < 10000 ? activeVehicle.satRawVDOP.toFixed(0) : "N/A") : "N/A" + text: activeVehicle ? (activeVehicle.gps.vdop.value < 10000 ? activeVehicle.gps.vdop.valueString : "N/A") : "N/A" color: colorWhite } QGCLabel { @@ -281,7 +259,7 @@ Rectangle { color: colorWhite } QGCLabel { - text: activeVehicle ? (activeVehicle.satRawCOG).toFixed(2) : "N/A" + text: activeVehicle ? activeVehicle.gps.courseOverGround.valueString : "N/A" color: colorWhite } } @@ -298,27 +276,29 @@ Rectangle { // Battery Info Component { id: batteryInfo + Rectangle { color: Qt.rgba(0,0,0,0.75) width: battCol.width + ScreenTools.defaultFontPixelWidth * 3 height: battCol.height + ScreenTools.defaultFontPixelHeight * 2 radius: ScreenTools.defaultFontPixelHeight * 0.5 + Column { id: battCol spacing: ScreenTools.defaultFontPixelHeight * 0.5 width: Math.max(battGrid.width, battLabel.width) anchors.margins: ScreenTools.defaultFontPixelHeight anchors.centerIn: parent + QGCLabel { id: battLabel - text: (activeVehicle && (activeVehicle.batteryVoltage > 0)) ? "Battery Status" : "Battery Data Unavailable" + text: "Battery Status" color: colorWhite font.weight:Font.DemiBold anchors.horizontalCenter: parent.horizontalCenter } GridLayout { id: battGrid - visible: (activeVehicle && (activeVehicle.batteryVoltage > 0)) anchors.margins: ScreenTools.defaultFontPixelHeight columnSpacing: ScreenTools.defaultFontPixelWidth anchors.horizontalCenter: parent.horizontalCenter @@ -328,29 +308,20 @@ Rectangle { color: colorWhite } QGCLabel { - text: activeVehicle ? (activeVehicle.batteryVoltage.toFixed(1) + " V") : "N/A" + text: (activeVehicle && activeVehicle.battery.voltage.value != -1) ? (activeVehicle.battery.voltage.valueString + " " + activeVehicle.battery.voltage.units) : "N/A" color: getBatteryColor() } - // TODO: What "controller" provides "Facts"? - /* - QGCLabel { - text: "Cell Voltage:" - } - QGCLabel { - text: (activeVehicle.batteryVoltage / controller.getParameterFact(-1, "BAT_N_CELLS").value) + "V" - color: getBatteryColor() - } - */ QGCLabel { text: "Accumulated Consumption:" color: colorWhite } QGCLabel { - text: activeVehicle ? (activeVehicle.batteryConsumed + " mA") : "N/A" + text: (activeVehicle && activeVehicle.battery.mahConsumed.value != -1) ? (activeVehicle.battery.mahConsumed.valueString + " " + activeVehicle.battery.mahConsumed.units) : "N/A" color: getBatteryColor() } } } + Component.onCompleted: { var pos = mapFromItem(toolBar, centerX - (width / 2), toolBar.height) x = pos.x diff --git a/src/ui/toolbar/MainToolBarIndicators.qml b/src/ui/toolbar/MainToolBarIndicators.qml index 11eb06b7d9730be88c646eb0543ef5bdf1fb371c..a52b28a6b3b48c217308fd6871369f38101b1647 100644 --- a/src/ui/toolbar/MainToolBarIndicators.qml +++ b/src/ui/toolbar/MainToolBarIndicators.qml @@ -65,27 +65,22 @@ Row { } function getBatteryVoltageText() { - if (activeVehicle.batteryVoltage > 0) { - //-- TODO: Need number of cells so I can show cell voltage instead of total voltage - //if (battNumCells && battNumCells.value) { - // return (activeVehicle.batteryVoltage / battNumCells.value).toFixed(2) + 'V' - //} else { - return activeVehicle.batteryVoltage.toFixed(1) + 'V' - //} + if (activeVehicle.battery.voltage.value >= 0) { + return activeVehicle.battery.voltage.valueString + activeVehicle.battery.voltage.units } return 'N/A'; } function getBatteryPercentageText() { if(activeVehicle) { - if(activeVehicle.batteryPercent > 98.9) { + if(activeVehicle.battery.percentRemaining.value > 98.9) { return "100%" } - if(activeVehicle.batteryPercent > 0.1) { - return activeVehicle.batteryPercent.toFixed(0) + "%" + if(activeVehicle.battery.percentRemaining.value > 0.1) { + return activeVehicle.battery.percentRemaining.valueString + activeVehicle.battery.percentRemaining.units } - if(activeVehicle.batteryVoltage > 0) { - return activeVehicle.batteryVoltage.toFixed(1) + "V" + if(activeVehicle.battery.voltage.value >= 0) { + return activeVehicle.battery.voltage.valueString + activeVehicle.battery.voltage.units } } return "N/A" @@ -176,18 +171,18 @@ Row { smooth: true width: mainWindow.tbCellHeight * 0.65 height: mainWindow.tbCellHeight * 0.5 - opacity: (activeVehicle && activeVehicle.satelliteCount >= 0) ? 1 : 0.5 + opacity: (activeVehicle && activeVehicle.gps.count.value >= 0) ? 1 : 0.5 anchors.verticalCenter: parent.verticalCenter } SignalStrength { size: mainWindow.tbCellHeight * 0.5 - percent: activeVehicle ? getSatStrength(activeVehicle.satRawHDOP) : "" + percent: activeVehicle ? getSatStrength(activeVehicle.gps.hdop.value) : "" anchors.verticalCenter: parent.verticalCenter } } QGCLabel { - text: (activeVehicle && activeVehicle.satelliteCount >= 0) ? activeVehicle.satelliteCount : "" - visible: (activeVehicle && activeVehicle.satelliteCount >= 0) + text: (activeVehicle && activeVehicle.gps.count.value >= 0) ? activeVehicle.gps.count.valueString : "" + visible: (activeVehicle && activeVehicle.gps.count.value >= 0) font.pixelSize: tbFontSmall color: colorWhite anchors.top: parent.top @@ -276,7 +271,7 @@ Row { id: batteryStatus width: battRow.width * 1.1 height: mainWindow.tbCellHeight - opacity: activeVehicle ? ((activeVehicle.batteryVoltage > 0) ? 1 : 0.5) : 0.5 + opacity: (activeVehicle && activeVehicle.battery.voltage.value >= 0) ? 1 : 0.5 Row { id: battRow height: mainWindow.tbCellHeight @@ -299,8 +294,10 @@ Row { MouseArea { anchors.fill: parent onClicked: { - var centerX = mapToItem(toolBar, x, y).x + (width / 2) - mainWindow.showPopUp(batteryInfo, centerX) + if (activeVehicle) { + var centerX = mapToItem(toolBar, x, y).x + (width / 2) + mainWindow.showPopUp(batteryInfo, centerX) + } } } } diff --git a/src/ui/uas/UASQuickView.cc b/src/ui/uas/UASQuickView.cc index b45a6b00fb43ce6ccd232205052605105d15a5f3..05322f058cefe11d3a9379d7ed94144a80bf626e 100644 --- a/src/ui/uas/UASQuickView.cc +++ b/src/ui/uas/UASQuickView.cc @@ -33,7 +33,6 @@ UASQuickView::UASQuickView(QWidget *parent) : QWidget(parent), { valueEnabled("altitudeAMSL"); valueEnabled("altitudeAMSLFT"); - valueEnabled("altitudeWGS84"); valueEnabled("altitudeRelative"); valueEnabled("groundSpeed"); valueEnabled("distToWaypoint"); @@ -41,7 +40,7 @@ UASQuickView::UASQuickView(QWidget *parent) : QWidget(parent), QAction *action = new QAction("Add/Remove Items",this); action->setCheckable(false); - connect(action,&QAction::triggered,this, static_cast(&UASQuickView::actionTriggered)); + connect(action,&QAction::triggered,this, &UASQuickView::addActionTriggered); this->addAction(action); QAction *columnaction = new QAction("Set Column Count",this); @@ -75,7 +74,7 @@ void UASQuickView::columnActionTriggered() saveSettings(); } -void UASQuickView::actionTriggered() +void UASQuickView::addActionTriggered() { if (quickViewSelectDialog) { diff --git a/src/ui/uas/UASQuickView.h b/src/ui/uas/UASQuickView.h index 69b6b64b112d72cc6cb743311740b3776bf00a7c..be73208cde4ca8a65b655854bc8e88c54f90d104 100644 --- a/src/ui/uas/UASQuickView.h +++ b/src/ui/uas/UASQuickView.h @@ -61,7 +61,7 @@ signals: public slots: void valueChanged(const int uasid, const QString& name, const QString& unit, const QVariant& value,const quint64 msecs); void actionTriggered(bool checked); - void actionTriggered(); + void addActionTriggered(); void updateTimerTick(); void selectDialogClosed(); void valueEnabled(QString value); diff --git a/test/100Waypoints.mission b/test/100Waypoints.mission new file mode 100644 index 0000000000000000000000000000000000000000..a9358382fc28c3de332d54772f6a836c1e2d0f9d --- /dev/null +++ b/test/100Waypoints.mission @@ -0,0 +1,1607 @@ +{ + "MAV_AUTOPILOT": 3, + "groundStation": "QGroundControl", + "items": [ + { + "autoContinue": true, + "command": 22, + "coordinate": [ + 0, + 0, + 30 + ], + "frame": 2, + "id": 1, + "param1": 20, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.469586999999997, + -112.534801, + 90 + ], + "frame": 3, + "id": 2, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 206, + "coordinate": [ + 0, + 0, + 0 + ], + "frame": 2, + "id": 3, + "param1": 21.059999000000001, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.462736, + -112.53540099999999, + 90 + ], + "frame": 3, + "id": 4, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.462833000000003, + -112.535104, + 90 + ], + "frame": 3, + "id": 5, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.484993000000003, + -112.533163, + 90 + ], + "frame": 3, + "id": 6, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.500399000000002, + -112.531524, + 90 + ], + "frame": 3, + "id": 7, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.46293, + -112.534807, + 90 + ], + "frame": 3, + "id": 8, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.463026999999997, + -112.53451, + 90 + ], + "frame": 3, + "id": 9, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.515805, + -112.529884, + 90 + ], + "frame": 3, + "id": 10, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.531210999999999, + -112.528244, + 90 + ], + "frame": 3, + "id": 11, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.463124000000001, + -112.53421299999999, + 90 + ], + "frame": 3, + "id": 12, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.463220999999997, + -112.533916, + 90 + ], + "frame": 3, + "id": 13, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.546616, + -112.52660400000001, + 90 + ], + "frame": 3, + "id": 14, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.562021999999999, + -112.524963, + 90 + ], + "frame": 3, + "id": 15, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.463317000000004, + -112.533619, + 90 + ], + "frame": 3, + "id": 16, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.463414, + -112.533322, + 90 + ], + "frame": 3, + "id": 17, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.577427999999998, + -112.52332199999999, + 90 + ], + "frame": 3, + "id": 18, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.592834000000003, + -112.52168, + 90 + ], + "frame": 3, + "id": 19, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.463510999999997, + -112.53302499999999, + 90 + ], + "frame": 3, + "id": 20, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.463608000000001, + -112.53272800000001, + 90 + ], + "frame": 3, + "id": 21, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.608238999999998, + -112.520037, + 90 + ], + "frame": 3, + "id": 22, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.623645000000003, + -112.518395, + 90 + ], + "frame": 3, + "id": 23, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.463704999999997, + -112.532431, + 90 + ], + "frame": 3, + "id": 24, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.463802000000001, + -112.532134, + 90 + ], + "frame": 3, + "id": 25, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.639051000000002, + -112.516751, + 90 + ], + "frame": 3, + "id": 26, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.639721999999999, + -112.516403, + 90 + ], + "frame": 3, + "id": 27, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.463898999999998, + -112.531837, + 90 + ], + "frame": 3, + "id": 28, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.463996000000002, + -112.53154000000001, + 90 + ], + "frame": 3, + "id": 29, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.639439000000003, + -112.516139, + 90 + ], + "frame": 3, + "id": 30, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.639156999999997, + -112.515874, + 90 + ], + "frame": 3, + "id": 31, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.464092000000001, + -112.531243, + 90 + ], + "frame": 3, + "id": 32, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.464188999999998, + -112.530946, + 90 + ], + "frame": 3, + "id": 33, + "param1": 0, + "param2": 0, + "param3": 0, + "param4": 0, + "type": "missionItem" + }, + { + "autoContinue": true, + "command": 16, + "coordinate": [ + 34.638874000000001, + -112.51561, + 90 + 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