ChangeLog.md

@@ -7,13 +7,15 @@ Note: This file only contains high level features or important fixes.
 * Support mavlink terrain protocol which queries gcs for terrain height information. Allows planning missions with TERRAIN\_FRAME.
 * Fly: New instrument values display/editing support
 * Plan: Added new VTOL Landing Pattern support
+* Plan: Much better conversion of missions to KML for 3d visualization/verification of missions
 
 ## 4.0
 
 ### 4.0.6 - Not yet released
 
-* Plan: Much better conversion of missions to KML for 3d visualization/verification of missions
 * Analyze/Log Download - Fix download on mobile versions of QGC
+* Fly: Fix problems where Continue Mission and Change Altitude were not available after a Mission Pause.
+* PX4 Flow: Fix video display problem
 
 ### 4.0.5 - Stable
 

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -912,6 +912,11 @@ void APMFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
         return;
     }
 
+    if (abs(altitudeChange) < 0.01) {
+        // This prevents unecessary changes to Guided mode when the users selects pause and doesn't really touch the altitude slider
+        return;
+    }
+
     setGuidedMode(vehicle, true);
 
     mavlink_message_t msg;

src/FlightDisplay/FlightDisplayView.qml

@@ -639,8 +639,7 @@ Item {
                 {
                     name:               qsTr("Action"),
                     iconSource:         "/res/action.svg",
-                    buttonVisible:      !_guidedController.showPause,
-                    buttonEnabled:      _anyActionAvailable,
+                    buttonVisible:      _anyActionAvailable,
                     action:             -1
                 }
             ]

src/FlightDisplay/GuidedActionsController.qml

@@ -203,7 +203,12 @@ Item {
         }
         _outputState()
     }
-    // End of hack
+    onShowChangeAltChanged: {
+        if (_corePlugin.guidedActionsControllerLogging()) {
+            console.log("showChangeAlt", showChangeAlt)
+        }
+        _outputState()
+    }
 
     on_VehicleFlyingChanged: {
         _outputState()

src/FlightDisplay/PreFlightCheckList.qml

@@ -31,6 +31,11 @@ Rectangle {
     }
 
     property bool allChecksPassed:  false
+    property var  vehicleCopy:       activeVehicle
+
+    onVehicleCopyChanged: {
+        checkListRepeater.model.reset()
+    }
 
     onAllChecksPassedChanged: {
         if (allChecksPassed) {

src/QGCApplication.cc

@@ -27,6 +27,7 @@
 #include <QRegularExpression>
 #include <QFontDatabase>
 #include <QQuickWindow>
+#include <QQuickImageProvider>
 
 #ifdef QGC_ENABLE_BLUETOOTH
 #include <QBluetoothLocalDevice>
@@ -102,6 +103,7 @@
 #include "TrajectoryPoints.h"
 #include "ValuesWidgetController.h"
 #include "RCToParamDialogController.h"
+#include "QGCImageProvider.h"
 
 #if defined(QGC_ENABLE_PAIRING)
 #include "PairingManager.h"
@@ -573,6 +575,10 @@ bool QGCApplication::_initForNormalAppBoot()
 
     _qmlAppEngine = toolbox()->corePlugin()->createRootWindow(this);
 
+    // Image provider for PX4 Flow
+    QQuickImageProvider* pImgProvider = dynamic_cast<QQuickImageProvider*>(qgcApp()->toolbox()->imageProvider());
+    _qmlAppEngine->addImageProvider(QStringLiteral("QGCImages"), pImgProvider);
+
     QQuickWindow* rootWindow = (QQuickWindow*)qgcApp()->mainRootWindow();
 
     if (rootWindow) {

src/Settings/AppSettings.cc

@@ -43,7 +43,13 @@ DECLARE_SETTINGGROUP(App, "")
 
     SettingsFact* savePathFact = qobject_cast<SettingsFact*>(savePath());
     QString appName = qgcApp()->applicationName();
+#ifdef __mobile__
+    // Mobile builds always use the runtime generated location for savePath. The reason is that for example on iOS the save path includes
+    // a UID for the app in it. When you then update the app that UID could change which in turn makes any saved value invalid.
+    if (true) {
+#else
     if (savePathFact->rawValue().toString().isEmpty() && _nameToMetaDataMap[savePathName]->rawDefaultValue().toString().isEmpty()) {
+#endif
 #ifdef __mobile__
 #ifdef __ios__
         QDir rootDir = QDir(QStandardPaths::writableLocation(QStandardPaths::AppDataLocation));

src/Settings/Video.SettingsGroup.json

@@ -117,5 +117,12 @@
     "longDescription":  "Disable Video Stream when disarmed.",
     "type":             "bool",
     "defaultValue":     false
+},
+{
+    "name":             "lowLatencyMode",
+    "shortDescription": "Tweaks video for lower latency",
+    "longDescription":  "If this option is enabled, the rtpjitterbuffer is removed and the video sink is set to assynchronous mode, reducing the latency by about 200 ms.",
+    "type":             "bool",
+    "defaultValue":     false
 }
 ]

src/Settings/VideoSettings.cc

@@ -82,6 +82,7 @@ DECLARE_SETTINGSFACT(VideoSettings, enableStorageLimit)
 DECLARE_SETTINGSFACT(VideoSettings, rtspTimeout)
 DECLARE_SETTINGSFACT(VideoSettings, streamEnabled)
 DECLARE_SETTINGSFACT(VideoSettings, disableWhenDisarmed)
+DECLARE_SETTINGSFACT(VideoSettings, lowLatencyMode)
 
 DECLARE_SETTINGSFACT_NO_FUNC(VideoSettings, videoSource)
 {

src/Settings/VideoSettings.h

@@ -34,6 +34,7 @@ public:
     DEFINE_SETTINGFACT(rtspTimeout)
     DEFINE_SETTINGFACT(streamEnabled)
     DEFINE_SETTINGFACT(disableWhenDisarmed)
+    DEFINE_SETTINGFACT(lowLatencyMode)
 
     Q_PROPERTY(bool     streamConfigured        READ streamConfigured       NOTIFY streamConfiguredChanged)
     Q_PROPERTY(QString  rtspVideoSource         READ rtspVideoSource        CONSTANT)

src/Vehicle/Vehicle.cc

@@ -538,6 +538,7 @@ void Vehicle::_commonInit()
     // Set video stream to udp if running ArduSub and Video is disabled
     if (sub() && _settingsManager->videoSettings()->videoSource()->rawValue() == VideoSettings::videoDisabled) {
         _settingsManager->videoSettings()->videoSource()->setRawValue(VideoSettings::videoSourceUDPH264);
+        _settingsManager->videoSettings()->lowLatencyMode()->setRawValue(true);
     }
 
     //-- Airspace Management

src/VideoManager/VideoManager.cc

@@ -89,6 +89,7 @@ VideoManager::setToolbox(QGCToolbox *toolbox)
    connect(_videoSettings->rtspUrl(),       &Fact::rawValueChanged, this, &VideoManager::_rtspUrlChanged);
    connect(_videoSettings->tcpUrl(),        &Fact::rawValueChanged, this, &VideoManager::_tcpUrlChanged);
    connect(_videoSettings->aspectRatio(),   &Fact::rawValueChanged, this, &VideoManager::_aspectRatioChanged);
+   connect(_videoSettings->lowLatencyMode(),&Fact::rawValueChanged, this, &VideoManager::_lowLatencyModeChanged);
    MultiVehicleManager *pVehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
    connect(pVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &VideoManager::_setActiveVehicle);
 
@@ -422,6 +423,13 @@ VideoManager::_tcpUrlChanged()
     _restartVideo();
 }
 
+//-----------------------------------------------------------------------------
+void
+VideoManager::_lowLatencyModeChanged()
+{
+    restartVideo();
+}
+
 //-----------------------------------------------------------------------------
 bool
 VideoManager::hasVideo()

src/VideoManager/VideoManager.h

@@ -105,6 +105,7 @@ protected slots:
     void _udpPortChanged            ();
     void _rtspUrlChanged            ();
     void _tcpUrlChanged             ();
+    void _lowLatencyModeChanged     ();
     void _updateUVC                 ();
     void _setActiveVehicle          (Vehicle* vehicle);
     void _aspectRatioChanged        ();

src/ui/preferences/GeneralSettings.qml

@@ -1033,6 +1033,16 @@ Rectangle {
                                 fact:                   QGroundControl.settingsManager.videoSettings.disableWhenDisarmed
                                 visible:                _isGst && QGroundControl.settingsManager.videoSettings.disableWhenDisarmed.visible
                             }
+
+                            QGCLabel {
+                                text:                   qsTr("Low Latency Mode")
+                                visible:                _isGst && QGroundControl.settingsManager.videoSettings.lowLatencyMode.visible
+                            }
+                            FactCheckBox {
+                                text:                   ""
+                                fact:                   QGroundControl.settingsManager.videoSettings.lowLatencyMode
+                                visible:                _isGst && QGroundControl.settingsManager.videoSettings.lowLatencyMode.visible
+                            }
                         }
                     }