Merge pull request #8993 from DonLakeFlyer/ForceArm

Force arm support

ChangeLog.md

@@ -4,6 +4,7 @@ Note: This file only contains high level features or important fixes.
 
 ## 4.1 - Daily build
 
+* Fly: Press and hold on arm button will change it to Force Arm. Click again to force arm.
 * VTOL: General setting for transition distance which affects Plan takeoff, landing pattern creation
 * VTOL: Much better VTOL support throughout QGC
 * Maps: Support zoom up to level 23 even if map provider doesn't provide tiles that high

src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml

@@ -61,8 +61,6 @@ SetupPage {
             property real _margins:     ScreenTools.defaultFontPixelHeight
             property bool _showIcon:    !ScreenTools.isTinyScreen
 
-            ExclusiveGroup { id: fenceActionRadioGroup }
-
             Column {
                 spacing: _margins / 2
 

src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml

@@ -59,10 +59,6 @@ SetupPage {
 
             property bool _loadComplete: false
 
-            ExclusiveGroup { id: fenceActionRadioGroup }
-            ExclusiveGroup { id: landLoiterRadioGroup }
-            ExclusiveGroup { id: returnAltRadioGroup }
-
             Component.onCompleted: {
                 // We use QtCharts only on Desktop platforms
                 showAdvanced = !ScreenTools.isMobile

src/AutoPilotPlugins/APM/APMTuningComponentSub.qml

@@ -34,14 +34,12 @@ SetupPage {
 
             property real _margins: ScreenTools.defaultFontPixelHeight
 
-            ExclusiveGroup { id: buttonGroup }
-
             Row {
                 spacing: _margins
                 QGCButton {
                     id:             atcButton
                     text:           qsTr("Attitude Controller Parameters")
-                    exclusiveGroup: buttonGroup
+                    autoExclusive:  true
                     checked:        true
                     onClicked:      checked = true
                 }
@@ -49,14 +47,14 @@ SetupPage {
                 QGCButton {
                     id:             posButton
                     text:           qsTr("Position Controller Parameters")
-                    exclusiveGroup: buttonGroup
+                    autoExclusive:  true
                     onClicked:      checked = true
                 }
 
                 QGCButton {
                     id:             navButton
                     text:           qsTr("Waypoint navigation parameters")
-                    exclusiveGroup: buttonGroup
+                    autoExclusive:  true
                     onClicked:      checked = true
                 }
             }

src/FlightDisplay/GuidedActionsController.qml

@@ -35,6 +35,7 @@ Item {
 
     readonly property string emergencyStopTitle:            qsTr("EMERGENCY STOP")
     readonly property string armTitle:                      qsTr("Arm")
+    readonly property string forceArmTitle:                 qsTr("Force Arm")
     readonly property string disarmTitle:                   qsTr("Disarm")
     readonly property string rtlTitle:                      qsTr("Return")
     readonly property string takeoffTitle:                  qsTr("Takeoff")
@@ -55,6 +56,7 @@ Item {
     readonly property string actionListTitle:               qsTr("Action")
 
     readonly property string armMessage:                        qsTr("Arm the vehicle.")
+    readonly property string forceArmMessage:                   qsTr("WARNING: This will force arming of the vehicle bypassing any safety checks.")
     readonly property string disarmMessage:                     qsTr("Disarm the vehicle")
     readonly property string emergencyStopMessage:              qsTr("WARNING: THIS WILL STOP ALL MOTORS. IF VEHICLE IS CURRENTLY IN THE AIR IT WILL CRASH.")
     readonly property string takeoffMessage:                    qsTr("Takeoff from ground and hold position.")
@@ -97,6 +99,7 @@ Item {
     readonly property int actionVtolTransitionToMRFlight:   21
     readonly property int actionROI:                        22
     readonly property int actionActionList:                 23
+    readonly property int actionForceArm:                   24
 
     property bool   _useChecklist:              QGroundControl.settingsManager.appSettings.useChecklist.rawValue && QGroundControl.corePlugin.options.preFlightChecklistUrl.toString().length
     property bool   _enforceChecklist:          _useChecklist && QGroundControl.settingsManager.appSettings.enforceChecklist.rawValue
@@ -104,6 +107,7 @@ Item {
 
     property bool showEmergenyStop:     _guidedActionsEnabled && !_hideEmergenyStop && _vehicleArmed && _vehicleFlying
     property bool showArm:              _guidedActionsEnabled && !_vehicleArmed && _canArm
+    property bool showForceArm:         _guidedActionsEnabled && !_vehicleArmed
     property bool showDisarm:           _guidedActionsEnabled && _vehicleArmed && !_vehicleFlying
     property bool showRTL:              _guidedActionsEnabled && _vehicleArmed && activeVehicle.guidedModeSupported && _vehicleFlying && !_vehicleInRTLMode
     property bool showTakeoff:          _guidedActionsEnabled && activeVehicle.takeoffVehicleSupported && !_vehicleFlying && _canArm
@@ -274,6 +278,7 @@ Item {
     Connections {
         target:                             mainWindow
         onArmVehicleRequest:                armVehicleRequest()
+        onForceArmVehicleRequest:           forceArmVehicleRequest()
         onDisarmVehicleRequest:             disarmVehicleRequest()
         onVtolTransitionToFwdFlightRequest: vtolTransitionToFwdFlightRequest()
         onVtolTransitionToMRFlightRequest:  vtolTransitionToMRFlightRequest()
@@ -283,6 +288,10 @@ Item {
         confirmAction(actionArm)
     }
 
+    function forceArmVehicleRequest() {
+        confirmAction(actionForceArm)
+    }
+
     function disarmVehicleRequest() {
         if (showEmergenyStop) {
             confirmAction(actionEmergencyStop)
@@ -325,6 +334,11 @@ Item {
             confirmDialog.message = armMessage
             confirmDialog.hideTrigger = Qt.binding(function() { return !showArm })
             break;
+        case actionForceArm:
+            confirmDialog.title = forceArmTitle
+            confirmDialog.message = forceArmMessage
+            confirmDialog.hideTrigger = Qt.binding(function() { return !showForceArm })
+            break;
         case actionDisarm:
             if (_vehicleFlying) {
                 return
@@ -480,6 +494,9 @@ Item {
         case actionArm:
             activeVehicle.armed = true
             break
+        case actionForceArm:
+            activeVehicle.forceArm()
+            break
         case actionDisarm:
             activeVehicle.armed = false
             break

src/PlanView/CameraCalcCamera.qml

@@ -28,10 +28,6 @@ Column {
 
     QGCPalette { id: qgcPal; colorGroupEnabled: true }
 
-    ExclusiveGroup {
-        id: cameraOrientationGroup
-    }
-
     Column {
         anchors.left:   parent.left
         anchors.right:  parent.right

src/QmlControls/ParameterEditor.qml

@@ -188,8 +188,6 @@ Item {
                         }
                     }
 
-                    ExclusiveGroup { id: buttonGroup }
-
                     Repeater {
                         model: categoryHeader.checked ? controller.getGroupsForCategory(category) : 0
 
@@ -198,7 +196,7 @@ Item {
                             text:           groupName
                             height:         _rowHeight
                             checked:        controller.currentGroup === text
-                            exclusiveGroup: buttonGroup
+                            autoExclusive:  true
 
                             readonly property string groupName: modelData
 

src/QmlControls/QGCButton.qml

-import QtQuick 2.3
-import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.4
+import QtQuick                  2.3
+import QtQuick.Controls         2.12
+import QtQuick.Controls.Styles  1.4
 
 import QGroundControl.Palette 1.0
 import QGroundControl.ScreenTools 1.0
 
 Button {
-    activeFocusOnPress: true
+    id:             control
+    hoverEnabled:   true
+    topPadding:     _verticalPadding
+    bottomPadding:  _verticalPadding
+    leftPadding:    _horizontalPadding
+    rightPadding:   _horizontalPadding
+    focusPolicy:    Qt.ClickFocus
 
     property bool   primary:        false                               ///< primary button for a group of buttons
     property real   pointSize:      ScreenTools.defaultFontPointSize    ///< Point size for button text
-    property bool   showBorder:     _qgcPal.globalTheme === QGCPalette.Light
+    property bool   showBorder:     qgcPal.globalTheme === QGCPalette.Light
     property bool   iconLeft:       false
     property real   backRadius:     0
     property real   heightFactor:   0.5
+    property string iconSource
 
-    property var    _qgcPal:            QGCPalette { colorGroupEnabled: enabled }
-    property bool   _showHighlight:     (pressed | hovered | checked) && !__forceHoverOff
+    property bool   _showHighlight:     pressed | hovered | checked
 
-    // This fixes the issue with button hover where if a Button is near the edge oa QQuickWidget you can
-    // move the mouse fast enough such that the MouseArea does not trigger an onExited. This is turn
-    // cause the hover property to not be cleared correctly.
-
-    property bool __forceHoverOff: false
-
-    property int __lastGlobalMouseX:    0
-    property int __lastGlobalMouseY:    0
     property int _horizontalPadding:    ScreenTools.defaultFontPixelWidth
     property int _verticalPadding:      Math.round(ScreenTools.defaultFontPixelHeight * heightFactor)
 
-    Connections {
-        target: __behavior
-        onMouseXChanged: {
-            __lastGlobalMouseX = ScreenTools.mouseX()
-            __lastGlobalMouseY = ScreenTools.mouseY()
-        }
-        onMouseYChanged: {
-            __lastGlobalMouseX = ScreenTools.mouseX()
-            __lastGlobalMouseY = ScreenTools.mouseY()
-        }
-        onEntered: { __forceHoverOff = false; hoverTimer.start() }
-        onExited: { __forceHoverOff = false; hoverTimer.stop() }
-    }
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
 
-    Timer {
-        id:         hoverTimer
-        interval:   250
-        repeat:     true
-        onTriggered: {
-            __forceHoverOff = (__lastGlobalMouseX !== ScreenTools.mouseX() || __lastGlobalMouseY !== ScreenTools.mouseY());
-        }
+    background: Rectangle {
+        id:             backRect
+        implicitWidth:  ScreenTools.implicitButtonWidth
+        implicitHeight: ScreenTools.implicitButtonHeight
+        radius:         backRadius
+        border.width:   showBorder ? 1 : 0
+        border.color:   qgcPal.buttonText
+        color:          _showHighlight ?
+                            qgcPal.buttonHighlight :
+                            (primary ? qgcPal.primaryButton : qgcPal.button)
     }
 
-    style: ButtonStyle {
-            /*! The padding between the background and the label components. */
-            padding {
-                top:    _verticalPadding
-                bottom: _verticalPadding
-                left:   _horizontalPadding
-                right:  _horizontalPadding
-            }
-
-            /*! This defines the background of the button. */
-            background: Rectangle {
-                id:             backRect
-                implicitWidth:  ScreenTools.implicitButtonWidth
-                implicitHeight: ScreenTools.implicitButtonHeight
-                radius:         backRadius
-                border.width:   showBorder ? 1 : 0
-                border.color:   _qgcPal.buttonText
-                color:          _showHighlight ?
-                                    control._qgcPal.buttonHighlight :
-                                    (primary ? control._qgcPal.primaryButton : control._qgcPal.button)
-            }
-
-            /*! This defines the label of the button.  */
-            label: Item {
-                implicitWidth:          text.implicitWidth + icon.width
-                implicitHeight:         text.implicitHeight
-                baselineOffset:         text.y + text.baselineOffset
+    contentItem: Item {
+        implicitWidth:  text.implicitWidth + icon.width
+        implicitHeight: text.implicitHeight
+        baselineOffset: text.y + text.baselineOffset
 
-                QGCColoredImage {
-                    id:                     icon
-                    source:                 control.iconSource
-                    height:                 source === "" ? 0 : text.height
-                    width:                  height
-                    color:                  text.color
-                    fillMode:               Image.PreserveAspectFit
-                    sourceSize.height:      height
-                    anchors.left:           control.iconLeft ? parent.left : undefined
-                    anchors.leftMargin:     control.iconLeft ? ScreenTools.defaultFontPixelWidth : undefined
-                    anchors.right:          !control.iconLeft ? parent.right : undefined
-                    anchors.rightMargin:    !control.iconLeft ? ScreenTools.defaultFontPixelWidth : undefined
-                    anchors.verticalCenter: parent.verticalCenter
-                }
+        QGCColoredImage {
+            id:                     icon
+            source:                 control.iconSource
+            height:                 source === "" ? 0 : text.height
+            width:                  height
+            color:                  text.color
+            fillMode:               Image.PreserveAspectFit
+            sourceSize.height:      height
+            anchors.left:           control.iconLeft ? parent.left : undefined
+            anchors.leftMargin:     control.iconLeft ? ScreenTools.defaultFontPixelWidth : undefined
+            anchors.right:          !control.iconLeft ? parent.right : undefined
+            anchors.rightMargin:    !control.iconLeft ? ScreenTools.defaultFontPixelWidth : undefined
+            anchors.verticalCenter: parent.verticalCenter
+        }
 
-                Text {
-                    id:                     text
-                    anchors.centerIn:       parent
-                    antialiasing:           true
-                    text:                   control.text
-                    font.pointSize:         pointSize
-                    font.family:            ScreenTools.normalFontFamily
-                    color:                  _showHighlight ?
-                                                control._qgcPal.buttonHighlightText :
-                                                (primary ? control._qgcPal.primaryButtonText : control._qgcPal.buttonText)
-                }
-            }
+        Text {
+            id:                     text
+            anchors.centerIn:       parent
+            antialiasing:           true
+            text:                   control.text
+            font.pointSize:         pointSize
+            font.family:            ScreenTools.normalFontFamily
+            color:                  _showHighlight ?
+                                        qgcPal.buttonHighlightText :
+                                        (primary ? qgcPal.primaryButtonText : qgcPal.buttonText)
         }
+    }
 }

src/Vehicle/Vehicle.cc

@@ -2397,6 +2397,15 @@ void Vehicle::setArmed(bool armed)
                    armed ? 1.0f : 0.0f);
 }
 
+void Vehicle::forceArm(void)
+{
+    sendMavCommand(_defaultComponentId,
+                   MAV_CMD_COMPONENT_ARM_DISARM,
+                   true,    // show error if fails
+                   1.0f,    // arm
+                   2989);   // force arm
+}
+
 bool Vehicle::flightModeSetAvailable()
 {
     return _firmwarePlugin->isCapable(this, FirmwarePlugin::SetFlightModeCapability);

src/Vehicle/Vehicle.h

@@ -791,6 +791,7 @@ public:
     Q_INVOKABLE void gimbalPitchStep    (int direction);
     Q_INVOKABLE void gimbalYawStep      (int direction);
     Q_INVOKABLE void centerGimbal       ();
+    Q_INVOKABLE void forceArm           ();
 
     /// Sends PARAM_MAP_RC message to vehicle
     Q_INVOKABLE void sendParamMapRC(const QString& paramName, double scale, double centerValue, int tuningID, double minValue, double maxValue);

src/ui/AppSettings.qml

@@ -49,8 +49,6 @@ Rectangle {
         flickableDirection: Flickable.VerticalFlick
         clip:               true
 
-        ExclusiveGroup { id: panelActionGroup }
-
         ColumnLayout {
             id:         buttonColumn
             spacing:    _verticalMargin
@@ -62,7 +60,7 @@ Rectangle {
                 QGCButton {
                     height:             _buttonHeight
                     text:               modelData.title
-                    exclusiveGroup:     panelActionGroup
+                    autoExclusive:      true
                     Layout.fillWidth:   true
 
                     onClicked: {

src/ui/MainRootWindow.qml

@@ -96,6 +96,7 @@ ApplicationWindow {
     //-- Actions
 
     signal armVehicleRequest
+    signal forceArmVehicleRequest
     signal disarmVehicleRequest
     signal vtolTransitionToFwdFlightRequest
     signal vtolTransitionToMRFlightRequest

src/ui/preferences/BluetoothSettings.qml

@@ -25,7 +25,6 @@ Column {
     function saveSettings() {
         // No need
     }
-    ExclusiveGroup { id: linkGroup }
     Row {
         spacing:    ScreenTools.defaultFontPixelWidth
         QGCLabel {
@@ -79,10 +78,10 @@ Column {
                     model: subEditConfig && subEditConfig.linkType === LinkConfiguration.TypeBluetooth ? subEditConfig.nameList : ""
                     delegate:
                     QGCButton {
-                        text:   modelData
-                        width:  _secondColumn
+                        text:               modelData
+                        width:              _secondColumn
                         anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 2
-                        exclusiveGroup: linkGroup
+                        autoExclusive:      true
                         onClicked: {
                             checked = true
                             if(subEditConfig && modelData !== "")

src/ui/preferences/LinkSettings.qml

@@ -27,8 +27,6 @@ Rectangle {
     property int _firstColumn:      ScreenTools.defaultFontPixelWidth * 12
     property int _secondColumn:     ScreenTools.defaultFontPixelWidth * 30
 
-    ExclusiveGroup { id: linkGroup }
-
     QGCPalette {
         id:                 qgcPal
         colorGroupEnabled:  enabled
@@ -65,7 +63,7 @@ Rectangle {
                     anchors.horizontalCenter:   settingsColumn.horizontalCenter
                     width:                      _linkRoot.width * 0.5
                     text:                       object.name
-                    exclusiveGroup:             linkGroup
+                    autoExclusive:              true
                     visible:                    !object.dynamic
                     onClicked: {
                         checked = true

src/ui/preferences/UdpSettings.qml

@@ -28,8 +28,6 @@ Column {
 
     property string _currentHost: ""
 
-    ExclusiveGroup { id: linkGroup }
-
     Row {
         spacing:    ScreenTools.defaultFontPixelWidth
         QGCLabel {
@@ -81,10 +79,10 @@ Column {
                     model: subEditConfig && subEditConfig.linkType === LinkConfiguration.TypeUdp ? subEditConfig.hostList : ""
                     delegate:
                     QGCButton {
-                        text:   modelData
-                        width:  _secondColumn
+                        text:               modelData
+                        width:              _secondColumn
                         anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 2
-                        exclusiveGroup: linkGroup
+                        autoExclusive:      true
                         onClicked: {
                             checked = true
                             _udpSetting._currentHost = modelData

src/ui/toolbar/MainStatusIndicator.qml

@@ -190,13 +190,23 @@ RowLayout {
 
                 QGCButton {
                     Layout.alignment:   Qt.AlignHCenter
-                    text:               _armed ?  qsTr("Disarm") : qsTr("Arm")
+                    text:               _armed ?  qsTr("Disarm") : (forceArm ? qsTr("Force Arm") : qsTr("Arm"))
+
+                    property bool forceArm: false
+
+                    onPressAndHold: forceArm = true
+
                     onClicked: {
                         if (_armed) {
                             mainWindow.disarmVehicleRequest()
                         } else {
-                            mainWindow.armVehicleRequest()
+                            if (forceArm) {
+                                mainWindow.forceArmVehicleRequest()
+                            } else {
+                                mainWindow.armVehicleRequest()
+                            }
                         }
+                        forceArm = false
                         mainWindow.hideIndicatorPopup()
                     }
                 }