Receiving and writing logs.

Forcing QGC to use Mavlink V2 if vehicle supports it.

src/Vehicle/Vehicle.cc

@@ -481,7 +481,7 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         _handleCommandAck(message);
         break;
     case MAVLINK_MSG_ID_AUTOPILOT_VERSION:
-        _handleAutopilotVersion(message);
+        _handleAutopilotVersion(link, message);
         break;
     case MAVLINK_MSG_ID_WIND_COV:
         _handleWindCov(message);
@@ -508,11 +508,17 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     _uas->receiveMessage(message);
 }
 
-void Vehicle::_handleAutopilotVersion(mavlink_message_t& message)
+void Vehicle::_handleAutopilotVersion(LinkInterface *link, mavlink_message_t& message)
 {
     mavlink_autopilot_version_t autopilotVersion;
     mavlink_msg_autopilot_version_decode(&message, &autopilotVersion);
 
+    bool isMavlink2 = (autopilotVersion.capabilities & MAV_PROTOCOL_CAPABILITY_MAVLINK2) != 0;
+    if(isMavlink2) {
+        mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(link->mavlinkChannel());
+        mavlinkStatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
+    }
+
     if (autopilotVersion.flight_sw_version != 0) {
         int majorVersion, minorVersion, patchVersion;
         FIRMWARE_VERSION_TYPE versionType;
@@ -2002,7 +2008,6 @@ Vehicle::_ackMavlinkLogData(uint16_t sequence)
 void
 Vehicle::_handleMavlinkLoggingData(mavlink_message_t& message)
 {
-    qDebug() << "MAVLINK_MSG_ID_LOGGING_DATA";
     mavlink_logging_data_t log;
     mavlink_msg_logging_data_decode(&message, &log);
     emit mavlinkLogData(this, log.target_system, log.target_component, log.sequence, log.length, log.first_message_offset, log.data, false);
@@ -2012,7 +2017,6 @@ Vehicle::_handleMavlinkLoggingData(mavlink_message_t& message)
 void
 Vehicle::_handleMavlinkLoggingDataAcked(mavlink_message_t& message)
 {
-    qDebug() << "MAVLINK_MSG_ID_LOGGING_DATA_ACKED";
     mavlink_logging_data_t log;
     mavlink_msg_logging_data_decode(&message, &log);
     _ackMavlinkLogData(log.sequence);

src/Vehicle/Vehicle.h

@@ -692,7 +692,7 @@ private:
     void _handleVibration(mavlink_message_t& message);
     void _handleExtendedSysState(mavlink_message_t& message);
     void _handleCommandAck(mavlink_message_t& message);
-    void _handleAutopilotVersion(mavlink_message_t& message);
+    void _handleAutopilotVersion(LinkInterface* link, mavlink_message_t& message);
     void _handleHilActuatorControls(mavlink_message_t& message);
     void _missionManagerError(int errorCode, const QString& errorMsg);
     void _geoFenceManagerError(int errorCode, const QString& errorMsg);

src/comm/MAVLinkProtocol.cc

@@ -73,7 +73,7 @@ MAVLinkProtocol::MAVLinkProtocol(QGCApplication* app)
 MAVLinkProtocol::~MAVLinkProtocol()
 {
     storeSettings();
-    
+
 #ifndef __mobile__
     _closeLogFile();
 #endif
@@ -162,7 +162,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
     if (!_linkMgr->links()->contains(link)) {
         return;
     }
-    
+
 //    receiveMutex.lock();
     mavlink_message_t message;
     mavlink_status_t status;
@@ -214,6 +214,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
         {
             decodedFirstPacket = true;
 
+            /*
+             * Handled in Vehicle.cc now.
             mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(mavlinkChannel);
             if (!(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && (mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
                 qDebug() << "switch to mavlink 2.0" << mavlinkStatus << mavlinkChannel << mavlinkStatus->flags;
@@ -222,6 +224,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 qDebug() << "switch to mavlink 1.0" << mavlinkStatus << mavlinkChannel << mavlinkStatus->flags;
                 mavlinkStatus->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
             }
+            */
 
             if(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS)
             {
@@ -255,7 +258,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
 
 #ifndef __mobile__
             // Log data
-            
+
             if (!_logSuspendError && !_logSuspendReplay && _tempLogFile.isOpen()) {
                 uint8_t buf[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
 
@@ -280,7 +283,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                     _stopLogging();
                     _logSuspendError = true;
                 }
-                
+
                 // Check for the vehicle arming going by. This is used to trigger log save.
                 if (!_logPromptForSave && message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
                     mavlink_heartbeat_t state;
@@ -412,7 +415,7 @@ bool MAVLinkProtocol::_closeLogFile(void)
             return true;
         }
     }
-    
+
     return false;
 }
 
@@ -458,11 +461,11 @@ void MAVLinkProtocol::_stopLogging(void)
 void MAVLinkProtocol::checkForLostLogFiles(void)
 {
     QDir tempDir(QStandardPaths::writableLocation(QStandardPaths::TempLocation));
-    
+
     QString filter(QString("*.%1").arg(_logFileExtension));
     QFileInfoList fileInfoList = tempDir.entryInfoList(QStringList(filter), QDir::Files);
     qDebug() << "Orphaned log file count" << fileInfoList.count();
-    
+
     foreach(const QFileInfo fileInfo, fileInfoList) {
         qDebug() << "Orphaned log file" << fileInfo.filePath();
         if (fileInfo.size() == 0) {
@@ -488,10 +491,10 @@ void MAVLinkProtocol::suspendLogForReplay(bool suspend)
 void MAVLinkProtocol::deleteTempLogFiles(void)
 {
     QDir tempDir(QStandardPaths::writableLocation(QStandardPaths::TempLocation));
-    
+
     QString filter(QString("*.%1").arg(_logFileExtension));
     QFileInfoList fileInfoList = tempDir.entryInfoList(QStringList(filter), QDir::Files);
-    
+
     foreach(const QFileInfo fileInfo, fileInfoList) {
         QFile::remove(fileInfo.filePath());
     }

src/uas/MavlinkLogManager.h

@@ -131,6 +131,8 @@ private slots:
 private:
     bool _sendLog                   (const QString& logFile);
     bool _processUploadResponse     (int http_code, QByteArray &data);
+    bool _createNewLog              ();
+    int  _getFirstSelected          ();
 
 private:
     QString                 _description;
@@ -144,6 +146,10 @@ private:
     MavlinkLogFiles*        _currentLogfile;
     Vehicle*                _vehicle;
     bool                    _logRunning;
+    bool                    _loggingDisabled;
+    FILE*                   _currentSavingFileFd;
+    QString                 _currentSavingFileStr;
+    uint16_t                _sequence;
 };
 
 #endif

src/ui/preferences/MavlinkSettings.qml

@@ -37,12 +37,10 @@ Rectangle {
             var selected = 0
             for(var i = 0; i < QGroundControl.mavlinkLogManager.logFiles.count; i++) {
                 var logFile = QGroundControl.mavlinkLogManager.logFiles.get(i)
-                console.log(logFile.selected)
                 if(logFile.selected)
                     selected++
             }
             _selectedCount = selected
-            console.log(_selectedCount)
         }
     }
 
@@ -296,26 +294,27 @@ Rectangle {
                     id:         logFilesColumn
                     spacing:    ScreenTools.defaultFontPixelWidth
                     anchors.centerIn: parent
+                    width:          ScreenTools.defaultFontPixelWidth * 68
                     Rectangle {
-                        width:          ScreenTools.defaultFontPixelWidth  * 52
+                        width:          ScreenTools.defaultFontPixelWidth  * 64
                         height:         ScreenTools.defaultFontPixelHeight * 10
                         anchors.horizontalCenter: parent.horizontalCenter
-                        color:          qgcPal.windowShade
+                        color:          qgcPal.window
                         border.color:   qgcPal.text
                         border.width:   0.5
                         ListView {
-                            width:          ScreenTools.defaultFontPixelWidth  * 50
-                            height:         ScreenTools.defaultFontPixelHeight * 9
+                            width:          ScreenTools.defaultFontPixelWidth  * 56
+                            height:         ScreenTools.defaultFontPixelHeight * 8.75
                             anchors.centerIn: parent
                             orientation:    ListView.Vertical
                             model:          QGroundControl.mavlinkLogManager.logFiles
+                            clip:           true
                             delegate: Rectangle {
-                                width:          ScreenTools.defaultFontPixelWidth  * 48
+                                width:          ScreenTools.defaultFontPixelWidth  * 52
                                 height:         ScreenTools.defaultFontPixelHeight * 1.25
-                                color:          index % 2 == 0 ? qgcPal.window : qgcPal.windowShade
-                                anchors.horizontalCenter: parent.horizontalCenter;
+                                color:          qgcPal.window
                                 Row {
-                                    width:  ScreenTools.defaultFontPixelWidth  * 46
+                                    width:  ScreenTools.defaultFontPixelWidth  * 50
                                     anchors.centerIn: parent
                                     spacing: ScreenTools.defaultFontPixelWidth
                                     QGCCheckBox {
@@ -327,10 +326,10 @@ Rectangle {
                                     }
                                     QGCLabel {
                                         text:       object.name
-                                        width:      ScreenTools.defaultFontPixelWidth * 20
+                                        width:      ScreenTools.defaultFontPixelWidth * 28
                                     }
                                     QGCLabel {
-                                        text:       object.size
+                                        text:       Number(object.size).toLocaleString(Qt.locale(), 'f', 0)
                                         visible:    !object.uploading
                                         width:      ScreenTools.defaultFontPixelWidth * 20;
                                         horizontalAlignment: Text.AlignRight