qgroundcontrol.pro

@@ -705,6 +705,7 @@ HEADERS += \
     src/Vehicle/TrajectoryPoints.h \
     src/Vehicle/Vehicle.h \
     src/Vehicle/VehicleObjectAvoidance.h \
+    src/Vehicle/VehicleBatteryFactGroup.h \
     src/VehicleSetup/JoystickConfigController.h \
     src/comm/LinkConfiguration.h \
     src/comm/LinkInterface.h \
@@ -924,6 +925,7 @@ SOURCES += \
     src/Vehicle/TrajectoryPoints.cc \
     src/Vehicle/Vehicle.cc \
     src/Vehicle/VehicleObjectAvoidance.cc \
+    src/Vehicle/VehicleBatteryFactGroup.cc \
     src/VehicleSetup/JoystickConfigController.cc \
     src/comm/LinkConfiguration.cc \
     src/comm/LinkInterface.cc \

src/FactSystem/FactGroup.cc

@@ -18,8 +18,6 @@
 #include <QFile>
 #include <QQmlEngine>
 
-QGC_LOGGING_CATEGORY(FactGroupLog, "FactGroupLog")
-
 FactGroup::FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent, bool ignoreCamelCase)
     : QObject(parent)
     , _updateRateMSecs(updateRateMsecs)
@@ -135,6 +133,8 @@ void FactGroup::_addFact(Fact* fact, const QString& name)
     }
     _nameToFactMap[name] = fact;
     _factNames.append(name);
+
+    emit factNamesChanged();
 }
 
 void FactGroup::_addFactGroup(FactGroup* factGroup, const QString& name)
@@ -145,6 +145,8 @@ void FactGroup::_addFactGroup(FactGroup* factGroup, const QString& name)
     }
 
     _nameToFactGroupMap[name] = factGroup;
+
+    emit factGroupNamesChanged();
 }
 
 void FactGroup::_updateAllValues(void)
@@ -175,3 +177,8 @@ QString FactGroup::_camelCase(const QString& text)
 {
     return text[0].toLower() + text.right(text.length() - 1);
 }
+
+void FactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& /* message */)
+{
+    // Default implementation does nothing
+}

src/FactSystem/FactGroup.h

@@ -7,18 +7,17 @@
  *
  ****************************************************************************/
 
-
-#ifndef FactGroup_H
-#define FactGroup_H
+#pragma once
 
 #include "Fact.h"
+#include "QGCMAVLink.h"
 #include "QGCLoggingCategory.h"
 
 #include <QStringList>
 #include <QMap>
 #include <QTimer>
 
-Q_DECLARE_LOGGING_CATEGORY(VehicleLog)
+class Vehicle;
 
 /// Used to group Facts together into an object hierarachy.
 class FactGroup : public QObject
@@ -29,8 +28,8 @@ public:
     FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent = nullptr, bool ignoreCamelCase = false);
     FactGroup(int updateRateMsecs, QObject* parent = nullptr, bool ignoreCamelCase = false);
 
-    Q_PROPERTY(QStringList factNames        READ factNames      CONSTANT)
-    Q_PROPERTY(QStringList factGroupNames   READ factGroupNames CONSTANT)
+    Q_PROPERTY(QStringList factNames        READ factNames      NOTIFY factNamesChanged)
+    Q_PROPERTY(QStringList factGroupNames   READ factGroupNames NOTIFY factGroupNamesChanged)
 
     /// @ return true: if the fact exists in the group
     Q_INVOKABLE bool factExists(const QString& name);
@@ -49,6 +48,13 @@ public:
     QStringList factNames(void) const { return _factNames; }
     QStringList factGroupNames(void) const { return _nameToFactGroupMap.keys(); }
 
+    /// Allows a FactGroup to parse incoming messages and fill in values
+    virtual void handleMessage(Vehicle* vehicle, mavlink_message_t& message);
+
+signals:
+    void factNamesChanged       (void);
+    void factGroupNamesChanged  (void);
+
 protected slots:
     virtual void _updateAllValues(void);
 
@@ -71,5 +77,3 @@ private:
     bool    _ignoreCamelCase = false;
     QTimer  _updateTimer;
 };
-
-#endif

src/QmlControls/InstrumentValueData.cc

@@ -52,13 +52,7 @@ void InstrumentValueData::_activeVehicleChanged(Vehicle* activeVehicle)
 
     _activeVehicle = activeVehicle;
 
-    _factGroupNames.clear();
-    _factGroupNames = _activeVehicle->factGroupNames();
-    for (QString& name: _factGroupNames) {
-        name[0] = name[0].toUpper();
-    }
-    _factGroupNames.prepend(vehicleFactGroupName);
-    emit factGroupNamesChanged(_factGroupNames);
+    emit factGroupNamesChanged();
 
     if (_fact) {
         _fact = nullptr;
@@ -85,13 +79,11 @@ void InstrumentValueData::clearFact(void)
 {
     _fact = nullptr;
     _factName.clear();
-    _factGroupName.clear();
-    _factValueNames.clear();
     _text.clear();
     _icon.clear();
     _showUnits = true;
 
-    emit factValueNamesChanged  (_factValueNames);
+    emit factValueNamesChanged  ();
     emit factChanged            (_fact);
     emit factNameChanged        (_factName);
     emit factGroupNameChanged   (_factGroupName);
@@ -113,17 +105,12 @@ void InstrumentValueData::setFact(const QString& factGroupName, const QString& f
     } else {
         factGroup = _activeVehicle->getFactGroup(factGroupName);
     }
-
-    _factValueNames.clear();
-    _factValueNames = factGroup->factNames();
-    for (QString& name: _factValueNames) {
-        name[0] = name[0].toUpper();
-    }
+    _factGroupName = factGroupName;
 
     QString nonEmptyFactName;
     if (factGroup) {
         if (factName.isEmpty()) {
-            nonEmptyFactName = _factValueNames[0];
+            nonEmptyFactName = factValueNames()[0];
         } else {
             nonEmptyFactName = factName;
         }
@@ -131,16 +118,14 @@ void InstrumentValueData::setFact(const QString& factGroupName, const QString& f
     }
 
     if (_fact) {
-        _factGroupName = factGroupName;
-        _factName =      nonEmptyFactName;
-
+        _factName = nonEmptyFactName;
         connect(_fact, &Fact::rawValueChanged, this, &InstrumentValueData::_updateRanges);
     } else {
-        _factName.clear();
         _factGroupName.clear();
+        _factName.clear();
     }
 
-    emit factValueNamesChanged  (_factValueNames);
+    emit factValueNamesChanged  ();
     emit factChanged            (_fact);
     emit factNameChanged        (_factName);
     emit factGroupNameChanged   (_factGroupName);
@@ -364,3 +349,32 @@ int InstrumentValueData::_currentRangeIndex(const QVariant& value)
     }
     return _rangeValues.count();
 }
+
+QStringList InstrumentValueData::factGroupNames(void) const
+{
+    QStringList groupNames = _activeVehicle->factGroupNames();
+
+    for (QString& name: groupNames) {
+        name[0] = name[0].toUpper();
+    }
+    groupNames.prepend(vehicleFactGroupName);
+
+    return groupNames;
+}
+
+QStringList InstrumentValueData::factValueNames(void) const
+{
+    FactGroup* factGroup = nullptr;
+    if (_factGroupName == vehicleFactGroupName) {
+        factGroup = _activeVehicle;
+    } else {
+        factGroup = _activeVehicle->getFactGroup(_factGroupName);
+    }
+
+    QStringList valueNames = factGroup->factNames();
+    for (QString& name: valueNames) {
+        name[0] = name[0].toUpper();
+    }
+
+    return valueNames;
+}

src/QmlControls/InstrumentValueData.h

@@ -33,8 +33,8 @@ public:
     explicit InstrumentValueData(FactValueGrid* factValueGrid, QObject* parent);
 
     Q_PROPERTY(FactValueGrid*       factValueGrid       MEMBER _factValueGrid                               CONSTANT)
-    Q_PROPERTY(QStringList          factGroupNames      MEMBER  _factGroupNames                             NOTIFY factGroupNamesChanged)
-    Q_PROPERTY(QStringList          factValueNames      MEMBER  _factValueNames                             NOTIFY factValueNamesChanged)
+    Q_PROPERTY(QStringList          factGroupNames      READ    factGroupNames                              NOTIFY factGroupNamesChanged)
+    Q_PROPERTY(QStringList          factValueNames      READ    factValueNames                              NOTIFY factValueNamesChanged)
     Q_PROPERTY(QString              factGroupName       READ    factGroupName                               NOTIFY factGroupNameChanged)
     Q_PROPERTY(QString              factName            READ    factName                                    NOTIFY factNameChanged)
     Q_PROPERTY(Fact*                fact                READ    fact                                        NOTIFY factChanged)
@@ -58,6 +58,8 @@ public:
     Q_INVOKABLE void    addRangeValue   (void);
     Q_INVOKABLE void    removeRangeValue(int index);
 
+    QStringList     factGroupNames          (void) const;
+    QStringList     factValueNames          (void) const;
     QString         factGroupName           (void) const { return _factGroupName; }
     QString         factName                (void) const { return _factName; }
     Fact*           fact                    (void) { return _fact; }
@@ -88,8 +90,8 @@ signals:
     void textChanged            (QString text);
     void showUnitsChanged       (bool showUnits);
     void iconChanged            (const QString& icon);
-    void factGroupNamesChanged  (const QStringList& factGroupNames);
-    void factValueNamesChanged  (const QStringList& factValueNames);
+    void factGroupNamesChanged  (void);
+    void factValueNamesChanged  (void);
     void rangeTypeChanged       (RangeType rangeType);
     void rangeValuesChanged     (const QVariantList& rangeValues);
     void rangeColorsChanged     (const QVariantList& rangeColors);
@@ -119,8 +121,6 @@ private:
     QString                 _text;
     bool                    _showUnits =            true;
     QString                 _icon;
-    QStringList             _factGroupNames;
-    QStringList             _factValueNames;
     QColor                  _currentColor;
     double                  _currentOpacity =       1.0;
     QString                 _currentIcon;

src/Settings/AppSettings.h

@@ -32,7 +32,7 @@ public:
     DEFINE_SETTINGFACT(offlineEditingHoverSpeed)
     DEFINE_SETTINGFACT(offlineEditingAscentSpeed)
     DEFINE_SETTINGFACT(offlineEditingDescentSpeed)
-    DEFINE_SETTINGFACT(batteryPercentRemainingAnnounce)
+    DEFINE_SETTINGFACT(batteryPercentRemainingAnnounce) // Important: This is only used to calculate battery swaps
     DEFINE_SETTINGFACT(defaultMissionItemAltitude)
     DEFINE_SETTINGFACT(telemetrySave)
     DEFINE_SETTINGFACT(telemetrySaveNotArmed)

src/Vehicle/BatteryFact.json

 {
     "version":      1,
-    "fileType":  "FactMetaData",
+    "fileType":     "FactMetaData",
     "QGC.MetaData.Facts":
 [
+{
+    "name":             "id",
+    "shortDesc":        "Battery Id",
+    "type":             "uint8"
+},
+{
+    "name":             "batteryFunction",
+    "shortDesc":        "Battery Function",
+    "type":             "uint8",
+    "enumStrings":      "n/a,All Flight Systems,Propulsion,Avionics,Payload",
+    "enumValues":       "0,1,2,3,4",
+    "decimalPlaces":    0
+},
+{
+    "name":             "batteryType",
+    "shortDesc":        "Battery Type",
+    "type":             "uint8",
+    "enumStrings":      "n/a,LIPO,LIFE,LION,NIMH",
+    "enumValues":       "0,1,2,3,4",
+    "decimalPlaces":    0
+},
 {
     "name":             "voltage",
-    "shortDesc": "Voltage",
+    "shortDesc":        "Voltage",
     "type":             "double",
     "decimalPlaces":    2,
     "units":            "v"
 },
 {
     "name":             "percentRemaining",
-    "shortDesc": "Percent",
+    "shortDesc":        "Percent",
     "type":             "double",
     "decimalPlaces":    0,
     "units":            "%"
 },
 {
     "name":             "mahConsumed",
-    "shortDesc": "Consumed",
+    "shortDesc":        "Consumed",
     "type":             "double",
     "decimalPlaces":    0,
     "units":            "mAh"
 },
 {
     "name":             "current",
-    "shortDesc": "Current",
+    "shortDesc":        "Current",
     "type":             "double",
     "decimalPlaces":    2,
     "units":            "A"
 },
 {
     "name":             "temperature",
-    "shortDesc": "Temperature",
+    "shortDesc":        "Temperature",
     "type":             "double",
     "decimalPlaces":    0,
     "units":            "C"
 },
 {
     "name":             "instantPower",
-    "shortDesc": "Watts",
+    "shortDesc":        "Watts",
     "type":             "double",
     "decimalPlaces":    2,
     "units":            "W"
 },
 {
     "name":             "timeRemaining",
-    "shortDesc": "Time Remaining",
+    "shortDesc":        "Time Remaining",
     "type":             "double",
     "decimalPlaces":    0,
     "units":            "s"
 },
+{
+    "name":             "timeRemainingStr",
+    "shortDesc":        "Time Remaining",
+    "type":             "string"
+},
 {
     "name":             "chargeState",
-    "shortDesc": "Charge State",
+    "shortDesc":        "Charge State",
     "type":             "uint8",
-    "enumStrings":      "n/a,Normal Operation,Low Battery State,Critical Battery State,Emergency Battery State,Battery Failed,Battery Unhealthy",
-    "enumValues":       "0,1,2,3,4,5,6",
+    "enumStrings":      "n/a,Ok,Low,Critical,Emergency,Failed,Unhealthy,Charging",
+    "enumValues":       "0,1,2,3,4,5,6,7",
     "decimalPlaces":    0
 }
 ]

src/Vehicle/Vehicle.h

@@ -47,6 +47,7 @@ class TerrainProtocolHandler;
 class ComponentInformationManager;
 class FTPManager;
 class InitialConnectStateMachine;
+class VehicleBatteryFactGroup;
 
 #if defined(QGC_AIRMAP_ENABLED)
 class AirspaceVehicleManager;
@@ -257,53 +258,6 @@ private:
     Fact        _lockFact;
 };
 
-class VehicleBatteryFactGroup : public FactGroup
-{
-    Q_OBJECT
-
-public:
-    VehicleBatteryFactGroup(QObject* parent = nullptr);
-
-    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* instantPower       READ instantPower       CONSTANT)
-    Q_PROPERTY(Fact* timeRemaining      READ timeRemaining      CONSTANT)
-    Q_PROPERTY(Fact* chargeState        READ chargeState        CONSTANT)
-
-    Fact* voltage                   () { return &_voltageFact; }
-    Fact* percentRemaining          () { return &_percentRemainingFact; }
-    Fact* mahConsumed               () { return &_mahConsumedFact; }
-    Fact* current                   () { return &_currentFact; }
-    Fact* temperature               () { return &_temperatureFact; }
-    Fact* instantPower              () { return &_instantPowerFact; }
-    Fact* timeRemaining             () { return &_timeRemainingFact; }
-    Fact* chargeState               () { return &_chargeStateFact; }
-
-    static const char* _voltageFactName;
-    static const char* _percentRemainingFactName;
-    static const char* _mahConsumedFactName;
-    static const char* _currentFactName;
-    static const char* _temperatureFactName;
-    static const char* _instantPowerFactName;
-    static const char* _timeRemainingFactName;
-    static const char* _chargeStateFactName;
-
-    static const char* _settingsGroup;
-
-private:
-    Fact            _voltageFact;
-    Fact            _percentRemainingFact;
-    Fact            _mahConsumedFact;
-    Fact            _currentFact;
-    Fact            _temperatureFact;
-    Fact            _instantPowerFact;
-    Fact            _timeRemainingFact;
-    Fact            _chargeStateFact;
-};
-
 class VehicleTemperatureFactGroup : public FactGroup
 {
     Q_OBJECT
@@ -692,17 +646,16 @@ public:
     Q_PROPERTY(Fact* hobbs              READ hobbs              CONSTANT)
     Q_PROPERTY(Fact* throttlePct        READ throttlePct        CONSTANT)
 
-    Q_PROPERTY(FactGroup* gps               READ gpsFactGroup               CONSTANT)
-    Q_PROPERTY(FactGroup* battery           READ battery1FactGroup          CONSTANT)
-    Q_PROPERTY(FactGroup* battery2          READ battery2FactGroup          CONSTANT)
-    Q_PROPERTY(FactGroup* wind              READ windFactGroup              CONSTANT)
-    Q_PROPERTY(FactGroup* vibration         READ vibrationFactGroup         CONSTANT)
-    Q_PROPERTY(FactGroup* temperature       READ temperatureFactGroup       CONSTANT)
-    Q_PROPERTY(FactGroup* clock             READ clockFactGroup             CONSTANT)
-    Q_PROPERTY(FactGroup* setpoint          READ setpointFactGroup          CONSTANT)
-    Q_PROPERTY(FactGroup* estimatorStatus   READ estimatorStatusFactGroup   CONSTANT)
-    Q_PROPERTY(FactGroup* terrain           READ terrainFactGroup           CONSTANT)
-    Q_PROPERTY(FactGroup* distanceSensors   READ distanceSensorFactGroup    CONSTANT)
+    Q_PROPERTY(FactGroup*           gps             READ gpsFactGroup               CONSTANT)
+    Q_PROPERTY(FactGroup*           wind            READ windFactGroup              CONSTANT)
+    Q_PROPERTY(FactGroup*           vibration       READ vibrationFactGroup         CONSTANT)
+    Q_PROPERTY(FactGroup*           temperature     READ temperatureFactGroup       CONSTANT)
+    Q_PROPERTY(FactGroup*           clock           READ clockFactGroup             CONSTANT)
+    Q_PROPERTY(FactGroup*           setpoint        READ setpointFactGroup          CONSTANT)
+    Q_PROPERTY(FactGroup*           estimatorStatus READ estimatorStatusFactGroup   CONSTANT)
+    Q_PROPERTY(FactGroup*           terrain         READ terrainFactGroup           CONSTANT)
+    Q_PROPERTY(FactGroup*           distanceSensors READ distanceSensorFactGroup    CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  batteries       READ batteries                  CONSTANT)
 
     Q_PROPERTY(int      firmwareMajorVersion        READ firmwareMajorVersion       NOTIFY firmwareVersionChanged)
     Q_PROPERTY(int      firmwareMinorVersion        READ firmwareMinorVersion       NOTIFY firmwareVersionChanged)
@@ -720,7 +673,7 @@ public:
     Q_INVOKABLE void resetCounters  ();
 
     // Called when the message drop-down is invoked to clear current count
-    Q_INVOKABLE void        resetMessages();
+    Q_INVOKABLE void resetMessages();
 
     Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust);
     Q_INVOKABLE void disconnectInactiveVehicle();
@@ -1027,8 +980,6 @@ public:
     Fact* throttlePct                       () { return &_throttlePctFact; }
 
     FactGroup* gpsFactGroup                 () { return &_gpsFactGroup; }
-    FactGroup* battery1FactGroup            () { return &_battery1FactGroup; }
-    FactGroup* battery2FactGroup            () { return &_battery2FactGroup; }
     FactGroup* windFactGroup                () { return &_windFactGroup; }
     FactGroup* vibrationFactGroup           () { return &_vibrationFactGroup; }
     FactGroup* temperatureFactGroup         () { return &_temperatureFactGroup; }
@@ -1037,6 +988,7 @@ public:
     FactGroup* distanceSensorFactGroup      () { return &_distanceSensorFactGroup; }
     FactGroup* estimatorStatusFactGroup     () { return &_estimatorStatusFactGroup; }
     FactGroup* terrainFactGroup             () { return &_terrainFactGroup; }
+    QmlObjectListModel* batteries           () { return &_batteryFactGroupListModel; }
 
     void setConnectionLostEnabled(bool connectionLostEnabled);
 
@@ -1404,7 +1356,6 @@ private:
     void _writeCsvLine                  ();
     void _flightTimerStart              ();
     void _flightTimerStop               ();
-    void _batteryStatusWorker           (int batteryId, double voltage, double current, double batteryRemainingPct);
     void _chunkedStatusTextTimeout      (void);
     void _chunkedStatusTextCompleted    (uint8_t compId);
 
@@ -1566,9 +1517,6 @@ private:
     QString _gitHash;
     quint64 _uid;
 
-    QElapsedTimer   _lastBatteryAnnouncement;
-    int     _lastAnnouncedLowBatteryPercent;
-
     SharedLinkInterfacePointer _priorityLink;  // We always keep a reference to the priority link to manage shutdown ordering
     bool _priorityLinkCommanded;
 
@@ -1653,6 +1601,8 @@ private:
 
     void _sendMavCommandWorker(bool commandInt, bool requestMessage, bool showError, MavCmdResultHandler resultHandler, void* resultHandlerData, int compId, MAV_CMD command, MAV_FRAME frame, float param1, float param2, float param3, float param4, float param5, float param6, float param7);
 
+    QMap<uint8_t /* batteryId */, uint8_t /* MAV_BATTERY_CHARGE_STATE_OK */> _lowestBatteryChargeStateAnnouncedMap;
+
     // FactGroup facts
 
     Fact _rollFact;
@@ -1677,8 +1627,6 @@ private:
     Fact _throttlePctFact;
 
     VehicleGPSFactGroup             _gpsFactGroup;
-    VehicleBatteryFactGroup         _battery1FactGroup;
-    VehicleBatteryFactGroup         _battery2FactGroup;
     VehicleWindFactGroup            _windFactGroup;
     VehicleVibrationFactGroup       _vibrationFactGroup;
     VehicleTemperatureFactGroup     _temperatureFactGroup;
@@ -1687,6 +1635,7 @@ private:
     VehicleDistanceSensorFactGroup  _distanceSensorFactGroup;
     VehicleEstimatorStatusFactGroup _estimatorStatusFactGroup;
     TerrainFactGroup                _terrainFactGroup;
+    QmlObjectListModel              _batteryFactGroupListModel;
 
     TerrainProtocolHandler* _terrainProtocolHandler = nullptr;
 
@@ -1712,8 +1661,6 @@ private:
     static const char* _throttlePctFactName;
 
     static const char* _gpsFactGroupName;
-    static const char* _battery1FactGroupName;
-    static const char* _battery2FactGroupName;
     static const char* _windFactGroupName;
     static const char* _vibrationFactGroupName;
     static const char* _temperatureFactGroupName;
@@ -1729,4 +1676,5 @@ private:
     static const char* _joystickEnabledSettingsKey;
 
     friend class InitialConnectStateMachine;
+    friend class VehicleBatteryFactGroup;       // Allow VehicleBatteryFactGroup to call _addFactGroup
 };

src/Vehicle/VehicleBatteryFactGroup.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "VehicleBatteryFactGroup.h"
+#include "QmlObjectListModel.h"
+#include "Vehicle.h"
+
+const char* VehicleBatteryFactGroup::_batteryFactGroupNamePrefix    = "battery";
+
+const char* VehicleBatteryFactGroup::_batteryIdFactName             = "id";
+const char* VehicleBatteryFactGroup::_batteryFunctionFactName       = "batteryFunction";
+const char* VehicleBatteryFactGroup::_batteryTypeFactName           = "batteryType";
+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::_instantPowerFactName          = "instantPower";
+const char* VehicleBatteryFactGroup::_timeRemainingFactName         = "timeRemaining";
+const char* VehicleBatteryFactGroup::_timeRemainingStrFactName      = "timeRemainingStr";
+const char* VehicleBatteryFactGroup::_chargeStateFactName           = "chargeState";
+
+const char* VehicleBatteryFactGroup::_settingsGroup =                       "Vehicle.battery";
+
+VehicleBatteryFactGroup::VehicleBatteryFactGroup(uint8_t batteryId, QObject* parent)
+    : FactGroup             (1000, ":/json/Vehicle/BatteryFact.json", parent)
+    , _batteryIdFact        (0, _batteryIdFactName,                 FactMetaData::valueTypeUint8)
+    , _batteryFunctionFact  (0, _batteryFunctionFactName,           FactMetaData::valueTypeUint8)
+    , _batteryTypeFact      (0, _batteryTypeFactName,               FactMetaData::valueTypeUint8)
+    , _voltageFact          (0, _voltageFactName,                   FactMetaData::valueTypeDouble)
+    , _currentFact          (0, _currentFactName,                   FactMetaData::valueTypeDouble)
+    , _mahConsumedFact      (0, _mahConsumedFactName,               FactMetaData::valueTypeDouble)
+    , _temperatureFact      (0, _temperatureFactName,               FactMetaData::valueTypeDouble)
+    , _percentRemainingFact (0, _percentRemainingFactName,          FactMetaData::valueTypeDouble)
+    , _timeRemainingFact    (0, _timeRemainingFactName,             FactMetaData::valueTypeDouble)
+    , _timeRemainingStrFact (0, _timeRemainingStrFactName,          FactMetaData::valueTypeString)
+    , _chargeStateFact      (0, _chargeStateFactName,               FactMetaData::valueTypeUint8)
+    , _instantPowerFact     (0, _instantPowerFactName,              FactMetaData::valueTypeDouble)
+{
+    _addFact(&_batteryIdFact,               _batteryIdFactName);
+    _addFact(&_batteryFunctionFact,         _batteryFunctionFactName);
+    _addFact(&_batteryTypeFact,             _batteryTypeFactName);
+    _addFact(&_voltageFact,                 _voltageFactName);
+    _addFact(&_currentFact,                 _currentFactName);
+    _addFact(&_mahConsumedFact,             _mahConsumedFactName);
+    _addFact(&_temperatureFact,             _temperatureFactName);
+    _addFact(&_percentRemainingFact,        _percentRemainingFactName);
+    _addFact(&_timeRemainingFact,           _timeRemainingFactName);
+    _addFact(&_timeRemainingStrFact,        _timeRemainingStrFactName);
+    _addFact(&_chargeStateFact,             _chargeStateFactName);
+    _addFact(&_instantPowerFact,            _instantPowerFactName);
+
+    _batteryIdFact.setRawValue          (batteryId);
+    _batteryFunctionFact.setRawValue    (MAV_BATTERY_FUNCTION_UNKNOWN);
+    _batteryTypeFact.setRawValue        (MAV_BATTERY_TYPE_UNKNOWN);
+    _voltageFact.setRawValue            (qQNaN());
+    _currentFact.setRawValue            (qQNaN());
+    _mahConsumedFact.setRawValue        (qQNaN());
+    _temperatureFact.setRawValue        (qQNaN());
+    _percentRemainingFact.setRawValue   (qQNaN());
+    _timeRemainingFact.setRawValue      (qQNaN());
+    _chargeStateFact.setRawValue        (MAV_BATTERY_CHARGE_STATE_UNDEFINED);
+    _instantPowerFact.setRawValue       (qQNaN());
+
+    connect(&_timeRemainingFact, &Fact::rawValueChanged, this, &VehicleBatteryFactGroup::_timeRemainingChanged);
+}
+
+void VehicleBatteryFactGroup::handleMessageForFactGroupCreation(Vehicle* vehicle, mavlink_message_t& message)
+{
+    switch (message.msgid) {
+    case MAVLINK_MSG_ID_HIGH_LATENCY:
+    case MAVLINK_MSG_ID_HIGH_LATENCY2:
+        _findOrAddBatteryGroupById(vehicle, 0);
+        break;
+    case MAVLINK_MSG_ID_BATTERY_STATUS:
+    {
+        mavlink_battery_status_t batteryStatus;
+        mavlink_msg_battery_status_decode(&message, &batteryStatus);
+        _findOrAddBatteryGroupById(vehicle, batteryStatus.id);
+    }
+        break;
+    }
+}
+
+void VehicleBatteryFactGroup::handleMessage(Vehicle* vehicle, mavlink_message_t& message)
+{
+    switch (message.msgid) {
+    case MAVLINK_MSG_ID_HIGH_LATENCY:
+        _handleHighLatency(vehicle, message);
+        break;
+    case MAVLINK_MSG_ID_HIGH_LATENCY2:
+        _handleHighLatency2(vehicle, message);
+        break;
+    case MAVLINK_MSG_ID_BATTERY_STATUS:
+        _handleBatteryStatus(vehicle, message);
+        break;
+    }
+}
+
+void VehicleBatteryFactGroup::_handleHighLatency(Vehicle* vehicle, mavlink_message_t& message)
+{
+    mavlink_high_latency_t highLatency;
+    mavlink_msg_high_latency_decode(&message, &highLatency);
+
+    VehicleBatteryFactGroup* group = _findOrAddBatteryGroupById(vehicle, 0);
+    group->percentRemaining()->setRawValue(highLatency.battery_remaining == UINT8_MAX ? qQNaN() : highLatency.battery_remaining);
+}
+
+void VehicleBatteryFactGroup::_handleHighLatency2(Vehicle* vehicle, mavlink_message_t& message)
+{
+    mavlink_high_latency2_t highLatency2;
+    mavlink_msg_high_latency2_decode(&message, &highLatency2);
+
+    VehicleBatteryFactGroup* group = _findOrAddBatteryGroupById(vehicle, 0);
+    group->percentRemaining()->setRawValue(highLatency2.battery == -1 ? qQNaN() : highLatency2.battery);
+}
+
+void VehicleBatteryFactGroup::_handleBatteryStatus(Vehicle* vehicle, mavlink_message_t& message)
+{
+    mavlink_battery_status_t batteryStatus;
+    mavlink_msg_battery_status_decode(&message, &batteryStatus);
+
+    VehicleBatteryFactGroup* group = _findOrAddBatteryGroupById(vehicle, batteryStatus.id);
+
+    double totalVoltage = qQNaN();
+    for (int i=0; i<10; i++) {
+        double cellVoltage = batteryStatus.voltages[i] == UINT16_MAX ? qQNaN() : static_cast<double>(batteryStatus.voltages[i]) / 1000.0;
+        if (qIsNaN(cellVoltage)) {
+            break;
+        }
+        if (i == 0) {
+            totalVoltage = cellVoltage;
+        } else {
+            totalVoltage += cellVoltage;
+        }
+    }
+
+    group->function()->setRawValue          (batteryStatus.battery_function);
+    group->type()->setRawValue              (batteryStatus.type);
+    group->temperature()->setRawValue       (batteryStatus.temperature == INT16_MAX ?   qQNaN() : static_cast<double>(batteryStatus.temperature) / 100.0);
+    group->voltage()->setRawValue           (totalVoltage);
+    group->current()->setRawValue           (batteryStatus.current_battery == -1 ?      qQNaN() : batteryStatus.current_battery);
+    group->mahConsumed()->setRawValue       (batteryStatus.current_consumed == -1  ?    qQNaN() : batteryStatus.current_consumed);
+    group->percentRemaining()->setRawValue  (batteryStatus.battery_remaining == -1 ?    qQNaN() : batteryStatus.battery_remaining);
+    group->timeRemaining()->setRawValue     (batteryStatus.time_remaining == 0 ?        qQNaN() : batteryStatus.time_remaining);
+    group->chargeState()->setRawValue       (batteryStatus.charge_state);
+    group->instantPower()->setRawValue      (totalVoltage * group->current()->rawValue().toDouble());
+}
+
+VehicleBatteryFactGroup* VehicleBatteryFactGroup::_findOrAddBatteryGroupById(Vehicle* vehicle, uint8_t batteryId)
+{
+    QmlObjectListModel* batteries = vehicle->batteries();
+
+    // We maintain the list in order sorted by battery id so the ui shows them sorted.
+    for (int i=0; i<batteries->count(); i++) {
+        VehicleBatteryFactGroup* group = batteries->value<VehicleBatteryFactGroup*>(i);
+        int listBatteryId = group->id()->rawValue().toInt();
+        if (listBatteryId >  batteryId) {
+            VehicleBatteryFactGroup* newBatteryGroup = new VehicleBatteryFactGroup(batteryId, batteries);
+            batteries->insert(i, newBatteryGroup);
+            vehicle->_addFactGroup(newBatteryGroup, QStringLiteral("%1%2").arg(_batteryFactGroupNamePrefix).arg(batteryId));
+            return newBatteryGroup;
+        } else if (listBatteryId == batteryId) {
+            return group;
+        }
+    }
+
+    VehicleBatteryFactGroup* newBatteryGroup = new VehicleBatteryFactGroup(batteryId, batteries);
+    batteries->append(newBatteryGroup);
+    vehicle->_addFactGroup(newBatteryGroup, QStringLiteral("%1%2").arg(_batteryFactGroupNamePrefix).arg(batteryId));
+
+    return newBatteryGroup;
+}
+
+void VehicleBatteryFactGroup::_timeRemainingChanged(QVariant value)
+{
+    if (qIsNaN(value.toDouble())) {
+        _timeRemainingStrFact.setRawValue("--:--:--");
+    } else {
+        int totalSeconds    = value.toInt();
+        int hours           = totalSeconds / 3600;
+        int minutes         = (totalSeconds % 3600) / 60;
+        int seconds         = totalSeconds % 60;
+
+        _timeRemainingStrFact.setRawValue(QString::asprintf("%02dH:%02dM:%02dS", hours, minutes, seconds));
+    }
+}

src/Vehicle/VehicleBatteryFactGroup.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FactGroup.h"
+#include "QGCMAVLink.h"
+
+class Vehicle;
+
+class VehicleBatteryFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    VehicleBatteryFactGroup(uint8_t batteryId, QObject* parent = nullptr);
+
+    Q_PROPERTY(Fact* id                 READ id                 CONSTANT)
+    Q_PROPERTY(Fact* function           READ function           CONSTANT)
+    Q_PROPERTY(Fact* type               READ type               CONSTANT)
+    Q_PROPERTY(Fact* temperature        READ temperature        CONSTANT)
+    Q_PROPERTY(Fact* voltage            READ voltage            CONSTANT)
+    Q_PROPERTY(Fact* current            READ current            CONSTANT)
+    Q_PROPERTY(Fact* mahConsumed        READ mahConsumed        CONSTANT)
+    Q_PROPERTY(Fact* percentRemaining   READ percentRemaining   CONSTANT)
+    Q_PROPERTY(Fact* timeRemaining      READ timeRemaining      CONSTANT)
+    Q_PROPERTY(Fact* timeRemainingStr   READ timeRemainingStr   CONSTANT)
+    Q_PROPERTY(Fact* chargeState        READ chargeState        CONSTANT)
+    Q_PROPERTY(Fact* instantPower       READ instantPower       CONSTANT)
+
+    Fact* id                        () { return &_batteryIdFact; }
+    Fact* function                  () { return &_batteryFunctionFact; }
+    Fact* type                      () { return &_batteryTypeFact; }
+    Fact* voltage                   () { return &_voltageFact; }
+    Fact* percentRemaining          () { return &_percentRemainingFact; }
+    Fact* mahConsumed               () { return &_mahConsumedFact; }
+    Fact* current                   () { return &_currentFact; }
+    Fact* temperature               () { return &_temperatureFact; }
+    Fact* instantPower              () { return &_instantPowerFact; }
+    Fact* timeRemaining             () { return &_timeRemainingFact; }
+    Fact* timeRemainingStr          () { return &_timeRemainingStrFact; }
+    Fact* chargeState               () { return &_chargeStateFact; }
+
+    static const char* _batteryIdFactName;
+    static const char* _batteryFunctionFactName;
+    static const char* _batteryTypeFactName;
+    static const char* _temperatureFactName;
+    static const char* _voltageFactName;
+    static const char* _currentFactName;
+    static const char* _mahConsumedFactName;
+    static const char* _percentRemainingFactName;
+    static const char* _timeRemainingFactName;
+    static const char* _timeRemainingStrFactName;
+    static const char* _chargeStateFactName;
+    static const char* _instantPowerFactName;
+
+    static const char* _settingsGroup;
+
+    /// Creates a new fact group for the battery id as needed and updates the Vehicle with it
+    static void handleMessageForFactGroupCreation(Vehicle* vehicle, mavlink_message_t& message);
+
+    // Overrides from FactGroup
+    void handleMessage(Vehicle* vehicle, mavlink_message_t& message) override;
+
+private slots:
+    void _timeRemainingChanged(QVariant value);
+
+private:
+    static void                     _handleHighLatency          (Vehicle* vehicle, mavlink_message_t& message);
+    static void                     _handleHighLatency2         (Vehicle* vehicle, mavlink_message_t& message);
+    static void                     _handleBatteryStatus        (Vehicle* vehicle, mavlink_message_t& message);
+    static VehicleBatteryFactGroup* _findOrAddBatteryGroupById  (Vehicle* vehicle, uint8_t batteryId);
+
+    Fact            _batteryIdFact;
+    Fact            _batteryFunctionFact;
+    Fact            _batteryTypeFact;
+    Fact            _voltageFact;
+    Fact            _currentFact;
+    Fact            _mahConsumedFact;
+    Fact            _temperatureFact;
+    Fact            _percentRemainingFact;
+    Fact            _timeRemainingFact;
+    Fact            _timeRemainingStrFact;
+    Fact            _chargeStateFact;
+    Fact            _instantPowerFact;
+
+    static const char* _batteryFactGroupNamePrefix;
+};

src/comm/MockLink.cc

@@ -176,6 +176,7 @@ void MockLink::_run1HzTasks(void)
             _sendHighLatency2();
         } else {
             _sendVibration();
+            _sendBatteryStatus();
             _sendSysStatus();
             _sendADSBVehicles();
             if (!qgcApp()->runningUnitTests()) {
@@ -360,9 +361,6 @@ void MockLink::_sendHighLatency2(void)
 
 void MockLink::_sendSysStatus(void)
 {
-    if(_batteryRemaining > 50) {
-        _batteryRemaining = static_cast<int8_t>(100 - (_runningTime.elapsed() / 1000));
-    }
     mavlink_message_t   msg;
     mavlink_msg_sys_status_pack_chan(
                 _vehicleSystemId,
@@ -375,11 +373,87 @@ void MockLink::_sendSysStatus(void)
                 250,        // load
                 4200 * 4,   // voltage_battery
                 8000,       // current_battery
-                _batteryRemaining, // battery_remaining
+                _battery1PctRemaining, // battery_remaining
                 0,0,0,0,0,0);
     respondWithMavlinkMessage(msg);
 }
 
+void MockLink::_sendBatteryStatus(void)
+{
+    if(_battery1PctRemaining > 1) {
+        _battery1PctRemaining = static_cast<int8_t>(100 - (_runningTime.elapsed() / 1000));
+        _battery1TimeRemaining = static_cast<double>(_batteryMaxTimeRemaining) * (static_cast<double>(_battery1PctRemaining) / 100.0);
+        if (_battery1PctRemaining > 50) {
+            _battery1ChargeState = MAV_BATTERY_CHARGE_STATE_OK;
+        } else if (_battery1PctRemaining > 30) {
+            _battery1ChargeState = MAV_BATTERY_CHARGE_STATE_LOW;
+        } else if (_battery1PctRemaining > 20) {
+            _battery1ChargeState = MAV_BATTERY_CHARGE_STATE_CRITICAL;
+        } else {
+            _battery1ChargeState = MAV_BATTERY_CHARGE_STATE_EMERGENCY;
+        }
+    }
+    if(_battery2PctRemaining > 1) {
+        _battery2PctRemaining = static_cast<int8_t>(100 - ((_runningTime.elapsed() / 1000) / 2));
+        _battery2TimeRemaining = static_cast<double>(_batteryMaxTimeRemaining) * (static_cast<double>(_battery2PctRemaining) / 100.0);
+        if (_battery2PctRemaining > 50) {
+            _battery2ChargeState = MAV_BATTERY_CHARGE_STATE_OK;
+        } else if (_battery2PctRemaining > 30) {
+            _battery2ChargeState = MAV_BATTERY_CHARGE_STATE_LOW;
+        } else if (_battery2PctRemaining > 20) {
+            _battery2ChargeState = MAV_BATTERY_CHARGE_STATE_CRITICAL;
+        } else {
+            _battery2ChargeState = MAV_BATTERY_CHARGE_STATE_EMERGENCY;
+        }
+    }
+
+    mavlink_message_t   msg;
+    uint16_t            rgVoltages[10];
+    uint16_t            rgVoltagesNone[10];
+
+    for (int i=0; i<10; i++) {
+        rgVoltages[i]       = UINT16_MAX;
+        rgVoltagesNone[i]   = UINT16_MAX;
+    }
+    rgVoltages[0] = rgVoltages[1] = rgVoltages[2] = 4200;
+
+    mavlink_msg_battery_status_pack_chan(
+                _vehicleSystemId,
+                _vehicleComponentId,
+                static_cast<uint8_t>(_mavlinkChannel),
+                &msg,
+                1,                          // battery id
+                MAV_BATTERY_FUNCTION_ALL,
+                MAV_BATTERY_TYPE_LIPO,
+                2100,                       // temp cdegC
+                rgVoltages,
+                600,                        // battery cA
+                100,                        // current consumed mAh
+                -1,                         // energy consumed not supported
+                _battery1PctRemaining,
+                _battery1TimeRemaining,
+                _battery1ChargeState);
+    respondWithMavlinkMessage(msg);
+
+    mavlink_msg_battery_status_pack_chan(
+                _vehicleSystemId,
+                _vehicleComponentId,
+                static_cast<uint8_t>(_mavlinkChannel),
+                &msg,
+                2,                          // battery id
+                MAV_BATTERY_FUNCTION_ALL,
+                MAV_BATTERY_TYPE_LIPO,
+                INT16_MAX,                  // temp cdegC
+                rgVoltagesNone,
+                600,                        // battery cA
+                100,                        // current consumed mAh
+                -1,                         // energy consumed not supported
+                _battery2PctRemaining,
+                _battery2TimeRemaining,
+                _battery2ChargeState);
+    respondWithMavlinkMessage(msg);
+}
+
 void MockLink::_sendVibration(void)
 {
     mavlink_message_t   msg;

src/comm/MockLink.h

@@ -224,6 +224,7 @@ private:
     void _sendGpsRawInt                 (void);
     void _sendVibration                 (void);
     void _sendSysStatus                 (void);
+    void _sendBatteryStatus             (void);
     void _sendStatusTextMessages        (void);
     void _sendChunkedStatusText         (uint16_t chunkId, bool missingChunks);
     void _respondWithAutopilotVersion   (void);
@@ -257,8 +258,14 @@ private:
     uint32_t    _mavCustomMode;
     uint8_t     _mavState;
 
-    QElapsedTimer _runningTime;
-    int8_t      _batteryRemaining = 100;
+    QElapsedTimer               _runningTime;
+    static const int32_t        _batteryMaxTimeRemaining    = 15 * 60;
+    int8_t                      _battery1PctRemaining       = 100;
+    int32_t                     _battery1TimeRemaining      = _batteryMaxTimeRemaining;
+    MAV_BATTERY_CHARGE_STATE    _battery1ChargeState        = MAV_BATTERY_CHARGE_STATE_OK;
+    int8_t                      _battery2PctRemaining       = 100;
+    int32_t                     _battery2TimeRemaining      = _batteryMaxTimeRemaining;
+    MAV_BATTERY_CHARGE_STATE    _battery2ChargeState        = MAV_BATTERY_CHARGE_STATE_OK;
 
     MAV_AUTOPILOT       _firmwareType;
     MAV_TYPE            _vehicleType;

src/ui/preferences/GeneralSettings.qml

@@ -30,7 +30,6 @@ Rectangle {
     anchors.fill:       parent
     anchors.margins:    ScreenTools.defaultFontPixelWidth
 
-    property Fact _percentRemainingAnnounce:            QGroundControl.settingsManager.appSettings.batteryPercentRemainingAnnounce
     property Fact _savePath:                            QGroundControl.settingsManager.appSettings.savePath
     property Fact _appFontPointSize:                    QGroundControl.settingsManager.appSettings.appFontPointSize
     property Fact _userBrandImageIndoor:                QGroundControl.settingsManager.brandImageSettings.userBrandImageIndoor
@@ -623,28 +622,6 @@ Rectangle {
                                         }
                                     }
                                 }
-
-                                RowLayout {
-                                    visible: QGroundControl.settingsManager.appSettings.batteryPercentRemainingAnnounce.visible
-
-                                    QGCCheckBox {
-                                        id:         announcePercentCheckbox
-                                        text:       qsTr("Announce battery lower than")
-                                        checked:    _percentRemainingAnnounce.value !== 0
-                                        onClicked: {
-                                            if (checked) {
-                                                _percentRemainingAnnounce.value = _percentRemainingAnnounce.defaultValueString
-                                            } else {
-                                                _percentRemainingAnnounce.value = 0
-                                            }
-                                        }
-                                    }
-                                    FactTextField {
-                                        fact:                   _percentRemainingAnnounce
-                                        Layout.preferredWidth:  _valueFieldWidth
-                                        enabled:                announcePercentCheckbox.checked
-                                    }
-                                }
                             }
                         }