Add support for flight track lines

QGCApplication.pro

@@ -260,9 +260,11 @@ HEADERS += \
     src/QGCQuickWidget.h \
     src/QGCSingleton.h \
     src/QGCTemporaryFile.h \
+    src/QmlControls/CoordinateVector.h \
     src/QmlControls/MavlinkQmlSingleton.h \
     src/QmlControls/ParameterEditorController.h \
     src/QmlControls/ScreenToolsController.h \
+    src/QmlControls/QGCQGeoCoordinate.h \
     src/QmlControls/QGroundControlQmlGlobal.h \
     src/QmlControls/QmlObjectListModel.h \
     src/SerialPortIds.h \
@@ -390,8 +392,10 @@ SOURCES += \
     src/QGCQuickWidget.cc \
     src/QGCSingleton.cc \
     src/QGCTemporaryFile.cc \
+    src/QmlControls/CoordinateVector.cc \
     src/QmlControls/ParameterEditorController.cc \
     src/QmlControls/ScreenToolsController.cc \
+    src/QmlControls/QGCQGeoCoordinate.cc \
     src/QmlControls/QGroundControlQmlGlobal.cc \
     src/QmlControls/QmlObjectListModel.cc \
     src/uas/FileManager.cc \

src/FlightDisplay/FlightDisplayView.qml

@@ -120,6 +120,22 @@ Item {
             visible:        _activeVehicle ? _activeVehicle.homePositionAvailable : false
         }
 
+        // Add trajectory points to the map
+        MapItemView {
+            model: multiVehicleManager.activeVehicle ? multiVehicleManager.activeVehicle.trajectoryPoints : 0
+            
+            delegate:
+                MapPolyline {
+                    line.width: 3
+                    line.color: "orange"
+
+                    path: [
+                        { latitude: object.coordinate1.latitude, longitude: object.coordinate1.longitude },
+                        { latitude: object.coordinate2.latitude, longitude: object.coordinate2.longitude },
+                    ]
+                }
+        }
+
         // Add the vehicles to the map
         MapItemView {
             model: multiVehicleManager.vehicles

src/QGCApplication.cc

@@ -84,6 +84,8 @@
 #include "QGroundControlQmlGlobal.h"
 #include "HomePositionManager.h"
 #include "FlightMapSettings.h"
+#include "QGCQGeoCoordinate.h"
+#include "CoordinateVector.h"
 
 #ifndef __ios__
     #include "SerialLink.h"
@@ -343,6 +345,8 @@ void QGCApplication::_initCommon(void)
     qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",  1, 0, "JoystickManager",        "Reference only");
     qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",  1, 0, "Joystick",               "Reference only");
     qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                  1, 0, "QmlObjectListModel",     "Reference only");
+    qmlRegisterUncreatableType<QGCQGeoCoordinate>   ("QGroundControl",                  1, 0, "QGCQGeoCoordinate",      "Reference only");
+    qmlRegisterUncreatableType<CoordinateVector>    ("QGroundControl",                  1, 0, "CoordinateVector",       "Reference only");
     
     qmlRegisterType<ViewWidgetController>           ("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
     qmlRegisterType<ParameterEditorController>      ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");

src/QmlControls/CoordinateVector.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ 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 <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "CoordinateVector.h"
+
+CoordinateVector::CoordinateVector(QObject* parent)
+    : QObject(parent)
+{
+
+}
+
+CoordinateVector::CoordinateVector(const QGeoCoordinate& coordinate1, const QGeoCoordinate& coordinate2, QObject* parent)
+    : QObject(parent)
+    , _coordinate1(coordinate1)
+    , _coordinate2(coordinate2)
+{
+    
+}
+
+CoordinateVector::~CoordinateVector()
+{
+    
+}
+
+void CoordinateVector::setCoordinates(const QGeoCoordinate& coordinate1, const QGeoCoordinate& coordinate2)
+{
+    _coordinate1 = coordinate1;
+    _coordinate2 = coordinate2;
+    emit coordinate1Changed(_coordinate1);
+    emit coordinate2Changed(_coordinate2);
+}

src/QmlControls/CoordinateVector.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ 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 <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef CoordinateVector_H
+#define CoordinateVector_H
+
+#include <QObject>
+#include <QGeoCoordinate>
+
+class CoordinateVector : public QObject
+{
+    Q_OBJECT
+    
+public:
+    CoordinateVector(QObject* parent = NULL);
+    CoordinateVector(const QGeoCoordinate& coordinate1, const QGeoCoordinate& coordinate2, QObject* parent = NULL);
+    ~CoordinateVector();
+    
+    Q_PROPERTY(QGeoCoordinate coordinate1 MEMBER _coordinate1 NOTIFY coordinate1Changed)
+    Q_PROPERTY(QGeoCoordinate coordinate2 MEMBER _coordinate2 NOTIFY coordinate2Changed)
+    
+    void setCoordinates(const QGeoCoordinate& coordinate1, const QGeoCoordinate& coordinate2);
+    
+signals:
+    void coordinate1Changed(QGeoCoordinate coordinate);
+    void coordinate2Changed(QGeoCoordinate coordinate);
+    
+private:
+    QGeoCoordinate  _coordinate1;
+    QGeoCoordinate  _coordinate2;
+};
+
+#endif

src/QmlControls/QGCQGeoCoordinate.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ 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 <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "QGCQGeoCoordinate.h"
+
+QGCQGeoCoordinate::QGCQGeoCoordinate(QObject* parent)
+    : QObject(parent)
+{
+
+}
+
+QGCQGeoCoordinate::QGCQGeoCoordinate(const QGeoCoordinate& coordinate, QObject* parent)
+    : QObject(parent)
+    , _coordinate(coordinate)
+{
+    
+}
+
+QGCQGeoCoordinate::~QGCQGeoCoordinate()
+{
+    
+}
+
+void QGCQGeoCoordinate::setCoordinate(const QGeoCoordinate& coordinate)
+{
+    _coordinate = coordinate;
+    emit coordinateChanged(_coordinate);
+}

src/QmlControls/QGCQGeoCoordinate.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ 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 <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef QGCQGeoCoordinate_H
+#define QGCQGeoCoordinate_H
+
+#include <QObject>
+#include <QGeoCoordinate>
+
+
+/// This class wraps a QGeoCoordinate in a QObject so that it can be used from within a
+/// QmlObjectListModel.
+class QGCQGeoCoordinate : public QObject
+{
+    Q_OBJECT
+    
+public:
+    QGCQGeoCoordinate(QObject* parent = NULL);
+    QGCQGeoCoordinate(const QGeoCoordinate& coordinate, QObject* parent = NULL);
+    ~QGCQGeoCoordinate();
+    
+    Q_PROPERTY(QGeoCoordinate coordinate MEMBER _coordinate NOTIFY coordinateChanged)
+    
+    void setCoordinate(const QGeoCoordinate& coordinate);
+    
+signals:
+    void coordinateChanged(QGeoCoordinate coordinate);
+    
+private:
+    QGeoCoordinate  _coordinate;
+};
+
+#endif

src/Vehicle/Vehicle.cc

@@ -31,6 +31,7 @@
 #include "UAS.h"
 #include "JoystickManager.h"
 #include "MissionManager.h"
+#include "CoordinateVector.h"
 
 QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 
@@ -169,6 +170,9 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType,
     
     _sendMultipleTimer.start(_sendMessageMultipleIntraMessageDelay);
     connect(&_sendMultipleTimer, &QTimer::timeout, this, &Vehicle::_sendMessageMultipleNext);
+    
+    _mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints);
+    connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint);
 }
 
 Vehicle::~Vehicle()
@@ -257,6 +261,13 @@ void Vehicle::_handleHeartbeat(mavlink_message_t& message)
     if (_armed != newArmed) {
         _armed = newArmed;
         emit armedChanged(_armed);
+        
+        // We are transitioning to the armed state, begin tracking trajectory points for the map
+        if (_armed) {
+            _mapTrajectoryStart();
+        } else {
+            _mapTrajectoryStop();
+        }
     }
 
     if (heartbeat.base_mode != _base_mode || heartbeat.custom_mode != _custom_mode) {
@@ -1129,3 +1140,24 @@ void Vehicle::_missionManagerError(int errorCode, const QString& errorMsg)
     Q_UNUSED(errorCode);
     qgcApp()->showToolBarMessage(QString("Error during Mission communication with Vehicle: %1").arg(errorMsg));
 }
+
+void Vehicle::_addNewMapTrajectoryPoint(void)
+{
+    if (_mapTrajectoryHaveFirstCoordinate) {
+        _mapTrajectoryList.append(new CoordinateVector(_mapTrajectoryLastCoordinate, _geoCoordinate, this));
+    }
+    _mapTrajectoryHaveFirstCoordinate = true;
+    _mapTrajectoryLastCoordinate = _geoCoordinate;
+}
+
+void Vehicle::_mapTrajectoryStart(void)
+{
+    _mapTrajectoryHaveFirstCoordinate = false;
+    _mapTrajectoryList.clear();
+    _mapTrajectoryTimer.start();
+}
+
+void Vehicle::_mapTrajectoryStop()
+{
+    _mapTrajectoryTimer.stop();
+}

src/Vehicle/Vehicle.h

@@ -73,6 +73,8 @@ public:
     
     Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
     
+    Q_PROPERTY(QmlObjectListModel* trajectoryPoints READ trajectoryPoints CONSTANT)
+    
     Q_INVOKABLE QString     getMavIconColor();
     
     //-- System Messages
@@ -185,6 +187,8 @@ public:
     bool hilMode(void);
     void setHilMode(bool hilMode);
     
+    QmlObjectListModel* trajectoryPoints(void) { return &_mapTrajectoryList; }
+    
     /// Requests the specified data stream from the vehicle
     ///     @param stream Stream which is being requested
     ///     @param rate Rate at which to send stream in Hz
@@ -300,6 +304,7 @@ private slots:
     void _linkDisconnected(LinkInterface* link);
     void _sendMessage(mavlink_message_t message);
     void _sendMessageMultipleNext(void);
+    void _addNewMapTrajectoryPoint(void);
 
     void _handleTextMessage                 (int newCount);
     /** @brief Attitude from main autopilot / system state */
@@ -335,6 +340,8 @@ private:
     void _handleHomePosition(mavlink_message_t& message);
     void _handleHeartbeat(mavlink_message_t& message);
     void _missionManagerError(int errorCode, const QString& errorMsg);
+    void _mapTrajectoryStart(void);
+    void _mapTrajectoryStop(void);
 
     bool    _isAirplane                     ();
     void    _addChange                      (int id);
@@ -425,6 +432,12 @@ private:
     QTimer  _sendMultipleTimer;
     int     _nextSendMessageMultipleIndex;
     
+    QTimer              _mapTrajectoryTimer;
+    QmlObjectListModel  _mapTrajectoryList;
+    QGeoCoordinate      _mapTrajectoryLastCoordinate;
+    bool                _mapTrajectoryHaveFirstCoordinate;
+    static const int    _mapTrajectoryMsecsBetweenPoints = 1000;
+    
     // Settings keys
     static const char* _settingsGroup;
     static const char* _joystickModeSettingsKey;