Merge pull request #7841 from DonLakeFlyer/FollowMeSetup

ArduPilot: Follow Me setup

ChangeLog.md

@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.6.0 - Daily Build
 
+* ArduCopter/Rover: Follow Me setup page
 * More performant flight path display algorithm. Mobile builds no longer show limited path length.
 * ArduCopter/Rover: Add support for Follow Me
 * ArduPilot: Add Motor Test vehicle setup page

qgcimages.qrc

@@ -61,7 +61,7 @@
         <file alias="camera.svg">resources/camera.svg</file>
         <file alias="camera_photo.svg">src/Camera/images/camera_photo.svg</file>
         <file alias="camera_video.svg">src/Camera/images/camera_video.svg</file>
-        <file alias="CameraComponentIcon.png">src/AutoPilotPlugins/PX4/Images/CameraComponentIcon.png</file>
+        <file alias="CameraComponentIcon.png">src/AutoPilotPlugins/Common/Images/CameraComponentIcon.png</file>
         <file alias="CameraIcon.svg">src/ui/toolbar/Images/CameraIcon.svg</file>
         <file alias="CameraTrigger.svg">src/AutoPilotPlugins/PX4/Images/CameraTrigger.svg</file>
         <file alias="check.svg">resources/check.svg</file>
@@ -78,7 +78,8 @@
         <file alias="Disarmed.svg">src/ui/toolbar/Images/Disarmed.svg</file>
         <file alias="Disconnect.svg">src/ui/toolbar/Images/Disconnect.svg</file>
         <file alias="FirmwareUpgradeIcon.png">src/VehicleSetup/FirmwareUpgradeIcon.png</file>
-        <file alias="FlightModesComponentIcon.png">src/AutoPilotPlugins/PX4/Images/FlightModesComponentIcon.png</file>
+        <file alias="FollowComponentIcon.png">src/AutoPilotPlugins/Common/Images/FlightModesComponentIcon.png</file>
+        <file alias="FlightModesComponentIcon.png">src/AutoPilotPlugins/Common/Images/FlightModesComponentIcon.png</file>
         <file alias="Frames/BlueROV1.png">src/AutoPilotPlugins/APM/Images/bluerov-frame.png</file>
         <file alias="Frames/SimpleROV-3.png">src/AutoPilotPlugins/APM/Images/simple3-frame.png</file>
         <file alias="Frames/SimpleROV-4.png">src/AutoPilotPlugins/APM/Images/simple4-frame.png</file>
@@ -132,10 +133,10 @@
         <file alias="PowerComponentBattery_04cell.svg">src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_04cell.svg</file>
         <file alias="PowerComponentBattery_05cell.svg">src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_05cell.svg</file>
         <file alias="PowerComponentBattery_06cell.svg">src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_06cell.svg</file>
-        <file alias="PowerComponentIcon.png">src/AutoPilotPlugins/PX4/Images/PowerComponentIcon.png</file>
+        <file alias="PowerComponentIcon.png">src/AutoPilotPlugins/Common/Images/PowerComponentIcon.png</file>
         <file alias="PX4/BrandImage">src/FirmwarePlugin/PX4/PX4BrandImage.png</file>
         <file alias="Quad.svg">src/ui/toolbar/Images/Quad.svg</file>
-        <file alias="RadioComponentIcon.png">src/AutoPilotPlugins/PX4/Images/RadioComponentIcon.png</file>
+        <file alias="RadioComponentIcon.png">src/AutoPilotPlugins/Common/Images/RadioComponentIcon.png</file>
         <file alias="RC.svg">src/ui/toolbar/Images/RC.svg</file>
         <file alias="RCLoss.svg">src/AutoPilotPlugins/PX4/Images/RCLoss.svg</file>
         <file alias="RCLossLight.svg">src/AutoPilotPlugins/PX4/Images/RCLossLight.svg</file>
@@ -144,12 +145,12 @@
         <file alias="rollDialWhite.svg">src/FlightMap/Images/rollDialWhite.svg</file>
         <file alias="rollPointerWhite.svg">src/FlightMap/Images/rollPointerWhite.svg</file>
         <file alias="RTK.svg">src/ui/toolbar/Images/RTK.svg</file>
-        <file alias="SafetyComponentIcon.png">src/AutoPilotPlugins/PX4/Images/SafetyComponentIcon.png</file>
+        <file alias="SafetyComponentIcon.png">src/AutoPilotPlugins/Common/Images/SafetyComponentIcon.png</file>
         <file alias="scale.png">src/FlightMap/Images/scale.png</file>
         <file alias="scale_end.png">src/FlightMap/Images/scale_end.png</file>
         <file alias="scale_endLight.png">src/FlightMap/Images/scale_endLight.png</file>
         <file alias="scaleLight.png">src/FlightMap/Images/scaleLight.png</file>
-        <file alias="SensorsComponentIcon.png">src/AutoPilotPlugins/PX4/Images/SensorsComponentIcon.png</file>
+        <file alias="SensorsComponentIcon.png">src/AutoPilotPlugins/Common/Images/SensorsComponentIcon.png</file>
         <file alias="Signal0.svg">src/ui/toolbar/Images/Signal0.svg</file>
         <file alias="Signal100.svg">src/ui/toolbar/Images/Signal100.svg</file>
         <file alias="Signal20.svg">src/ui/toolbar/Images/Signal20.svg</file>
@@ -161,7 +162,7 @@
         <file alias="subMenuButtonImage.png">resources/CogWheels.png</file>
         <file alias="subVehicleArrowOpaque.png">src/FlightMap/Images/sub.png</file>
         <file alias="TelemRSSI.svg">src/ui/toolbar/Images/TelemRSSI.svg</file>
-        <file alias="TuningComponentIcon.png">src/AutoPilotPlugins/PX4/Images/TuningComponentIcon.png</file>
+        <file alias="TuningComponentIcon.png">src/AutoPilotPlugins/Common/Images/TuningComponentIcon.png</file>
         <file alias="vehicleArrowOpaque.svg">src/FlightMap/Images/vehicleArrowOpaque.svg</file>
         <file alias="vehicleArrowOutline.svg">src/FlightMap/Images/vehicleArrowOutline.svg</file>
         <file alias="VehicleDown.png">src/AutoPilotPlugins/PX4/Images/VehicleDown.png</file>

qgroundcontrol.pro

@@ -1068,6 +1068,8 @@ APMFirmwarePlugin {
         src/AutoPilotPlugins/APM/APMCompassCal.h \
         src/AutoPilotPlugins/APM/APMFlightModesComponent.h \
         src/AutoPilotPlugins/APM/APMFlightModesComponentController.h \
+        src/AutoPilotPlugins/APM/APMFollowComponent.h \
+        src/AutoPilotPlugins/APM/APMFollowComponentController.h \
         src/AutoPilotPlugins/APM/APMHeliComponent.h \
         src/AutoPilotPlugins/APM/APMLightsComponent.h \
         src/AutoPilotPlugins/APM/APMSubFrameComponent.h \
@@ -1093,6 +1095,8 @@ APMFirmwarePlugin {
         src/AutoPilotPlugins/APM/APMCompassCal.cc \
         src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \
         src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc \
+        src/AutoPilotPlugins/APM/APMFollowComponent.cc \
+        src/AutoPilotPlugins/APM/APMFollowComponentController.cc \
         src/AutoPilotPlugins/APM/APMHeliComponent.cc \
         src/AutoPilotPlugins/APM/APMLightsComponent.cc \
         src/AutoPilotPlugins/APM/APMSubFrameComponent.cc \

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -25,6 +25,7 @@
 #include "APMCameraComponent.h"
 #include "APMLightsComponent.h"
 #include "APMSubFrameComponent.h"
+#include "APMFollowComponent.h"
 #include "ESP8266Component.h"
 #include "APMHeliComponent.h"
 #include "QGCApplication.h"
@@ -51,6 +52,7 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     , _tuningComponent          (nullptr)
     , _esp8266Component         (nullptr)
     , _heliComponent            (nullptr)
+    , _followComponent          (nullptr)
 {
 #if !defined(NO_SERIAL_LINK) && !defined(__android__)
     connect(vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &APMAutoPilotPlugin::_checkForBadCubeBlack);
@@ -101,6 +103,13 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
 
+            if ((qobject_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin()) || qobject_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin())) &&
+                    _vehicle->parameterManager()->parameterExists(-1, QStringLiteral("FOLL_ENABLE"))) {
+                _followComponent = new APMFollowComponent(_vehicle, this);
+                _followComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_followComponent));
+            }
+
             if (_vehicle->vehicleType() == MAV_TYPE_HELICOPTER) {
                 _heliComponent = new APMHeliComponent(_vehicle, this);
                 _heliComponent->setupTriggerSignals();

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -27,6 +27,7 @@ class APMLightsComponent;
 class APMSubFrameComponent;
 class ESP8266Component;
 class APMHeliComponent;
+class APMFollowComponent;
 
 /// This is the APM specific implementation of the AutoPilot class.
 class APMAutoPilotPlugin : public AutoPilotPlugin
@@ -56,6 +57,7 @@ protected:
     APMTuningComponent*         _tuningComponent;
     ESP8266Component*           _esp8266Component;
     APMHeliComponent*           _heliComponent;
+    APMFollowComponent*         _followComponent;
 
 #if !defined(NO_SERIAL_LINK) && !defined(__android__)
 private slots:

src/AutoPilotPlugins/APM/APMFollowComponent.FactMetaData.json

+[
+{
+    "name":             "angle",
+    "shortDescription": "Angle from ground station to vehicle",
+    "type":             "double",
+    "min":              0,
+    "max":              360,
+    "decimalPlaces":    1,
+    "units":            "deg",
+    "defaultValue":     45
+},
+{
+    "name":             "distance",
+    "shortDescription": "Horizontal distance from ground station to vehicle",
+    "type":             "double",
+    "min":              0,
+    "decimalPlaces":    1,
+    "units":            "m",
+    "defaultValue":     5
+},
+{
+    "name":             "height",
+    "shortDescription": "Vertical distance from ground station to vehicle",
+    "type":             "double",
+    "min":              0,
+    "decimalPlaces":    1,
+    "units":            "m",
+    "defaultValue":     5
+}
+]

src/AutoPilotPlugins/APM/APMFollowComponent.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 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 "APMFollowComponent.h"
+#include "APMAutoPilotPlugin.h"
+#include "APMAirframeComponent.h"
+#include "ParameterManager.h"
+
+APMFollowComponent::APMFollowComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, parent),
+    _name(tr("Follow Me"))
+{
+}
+
+QString APMFollowComponent::name(void) const
+{
+    return _name;
+}
+
+QString APMFollowComponent::description(void) const
+{
+    return tr("Follow Me Setup is used to configure support for the vehicle following the ground station location.");
+}
+
+QString APMFollowComponent::iconResource(void) const
+{
+    return QStringLiteral("/qmlimages/FollowComponentIcon.png");
+}
+
+QUrl APMFollowComponent::setupSource(void) const
+{
+    return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMFollowComponent.qml"));
+}
+
+QUrl APMFollowComponent::summaryQmlSource(void) const
+{
+    return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMFollowComponentSummary.qml"));
+}

src/AutoPilotPlugins/APM/APMFollowComponent.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 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 "VehicleComponent.h"
+
+class APMFollowComponent : public VehicleComponent
+{
+    Q_OBJECT
+    
+public:
+    APMFollowComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = nullptr);
+    
+    // Overrides from VehicleComponent
+    QStringList setupCompleteChangedTriggerList(void) const override { return QStringList(); }
+    
+    // Virtuals from VehicleComponent
+    QString name                    (void) const override;
+    QString description             (void) const override;
+    QString iconResource            (void) const override;
+    bool    requiresSetup           (void) const override { return false; }
+    bool    setupComplete           (void) const override { return true; }
+    QUrl    setupSource             (void) const override;
+    QUrl    summaryQmlSource        (void) const override;
+    bool    allowSetupWhileArmed    (void) const override { return true; }
+    bool    allowSetupWhileFlying   (void) const override { return true; }
+
+private:
+    const QString   _name;
+    QVariantList    _summaryItems;
+};

src/AutoPilotPlugins/APM/APMFollowComponentController.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 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 "APMFollowComponentController.h"
+
+const char* APMFollowComponentController::settingsGroup =   "APMFollow";
+const char* APMFollowComponentController::angleName =       "angle";
+const char* APMFollowComponentController::distanceName =    "distance";
+const char* APMFollowComponentController::heightName =      "height";
+
+APMFollowComponentController::APMFollowComponentController(void)
+    : _metaDataMap  (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/APMFollowComponent.FactMetaData.json"), this))
+    , _angleFact    (settingsGroup, _metaDataMap[angleName])
+    , _distanceFact (settingsGroup, _metaDataMap[distanceName])
+    , _heightFact   (settingsGroup, _metaDataMap[heightName])
+{
+
+}

src/AutoPilotPlugins/APM/APMFollowComponentController.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 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 "FactPanelController.h"
+
+class APMFollowComponentController : public FactPanelController
+{
+    Q_OBJECT
+    
+public:
+    APMFollowComponentController(void);
+
+    Q_PROPERTY(Fact* angle      READ angleFact      CONSTANT)
+    Q_PROPERTY(Fact* distance   READ distanceFact   CONSTANT)
+    Q_PROPERTY(Fact* height     READ heightFact     CONSTANT)
+
+    Fact* angleFact     (void) { return &_angleFact; }
+    Fact* distanceFact  (void) { return &_distanceFact; }
+    Fact* heightFact    (void) { return &_heightFact; }
+
+    static const char* settingsGroup;
+    static const char* angleName;
+    static const char* distanceName;
+    static const char* heightName;
+
+private:
+    QMap<QString, FactMetaData*> _metaDataMap;
+
+    SettingsFact _angleFact;
+    SettingsFact _distanceFact;
+    SettingsFact _heightFact;
+};

src/AutoPilotPlugins/APM/APMFollowComponentSummary.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 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.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Palette       1.0
+
+Item {
+    anchors.fill:   parent
+
+    FactPanelController { id: controller; }
+
+    property Fact _batt1Monitor:            controller.getParameterFact(-1, "BATT_MONITOR")
+    property Fact _batt2Monitor:            controller.getParameterFact(-1, "BATT2_MONITOR", false /* reportMissing */)
+    property bool _batt2MonitorAvailable:   controller.parameterExists(-1, "BATT2_MONITOR")
+    property bool _batt1MonitorEnabled:     _batt1Monitor.rawValue !== 0
+    property bool _batt2MonitorEnabled:     _batt2MonitorAvailable && _batt2Monitor.rawValue !== 0
+    property Fact _battCapacity:            controller.getParameterFact(-1, "BATT_CAPACITY", false /* reportMissing */)
+    property Fact _batt2Capacity:           controller.getParameterFact(-1, "BATT2_CAPACITY", false /* reportMissing */)
+    property bool _battCapacityAvailable:   controller.parameterExists(-1, "BATT_CAPACITY")
+
+    Column {
+        anchors.fill:       parent
+
+        VehicleSummaryRow {
+            labelText: qsTr("Batt1 monitor")
+            valueText: _batt1Monitor.enumStringValue
+        }
+
+        VehicleSummaryRow {
+            labelText: qsTr("Batt1 capacity")
+            valueText:  _batt1MonitorEnabled ? _battCapacity.valueString + " " + _battCapacity.units : ""
+            visible:    _batt1MonitorEnabled
+        }
+
+        VehicleSummaryRow {
+            labelText:  qsTr("Batt2 monitor")
+            valueText:  _batt2MonitorAvailable ? _batt2Monitor.enumStringValue : ""
+            visible:    _batt2MonitorAvailable
+        }
+
+        VehicleSummaryRow {
+            labelText:  qsTr("Batt2 capacity")
+            valueText:  _batt2MonitorEnabled ? _batt2Capacity.valueString + " " + _batt2Capacity.units : ""
+            visible:    _batt2MonitorEnabled
+        }
+    }
+}

src/AutoPilotPlugins/Common/SetupPage.qml

@@ -51,14 +51,13 @@ Item {
 
     QGCFlickable {
         anchors.fill:   parent
-        contentWidth:   pageLoader.x + pageLoader.item.width
-        contentHeight:  pageLoader.y + pageLoader.item.height
+        contentWidth:   Math.max(availableWidth, pageLoader.x + pageLoader.item.width)
+        contentHeight:  Math.max(availableHeight, pageLoader.y + pageLoader.item.height)
         clip:           true
 
         RowLayout {
             id:                 headingRow
-            anchors.left:       parent.left
-            anchors.right:      parent.right
+            width:              availableWidth
             spacing:            _margins
             layoutDirection:    Qt.RightToLeft
 
@@ -68,22 +67,22 @@ Item {
                 visible:    showAdvanced
             }
 
-            Column {
+            ColumnLayout {
                 spacing:            _margins
                 Layout.fillWidth:   true
 
                 QGCLabel {
-                    font.pointSize: ScreenTools.largeFontPointSize
-                    text:           !setupView.enabled ? _pageTitle + "<font color=\"red\">" + qsTr(" (Disabled while the vehicle is %1)").arg(_disableReason) + "</font>" : _pageTitle
-                    visible:        !ScreenTools.isShortScreen
+                    Layout.fillWidth:   true
+                    font.pointSize:     ScreenTools.largeFontPointSize
+                    text:               !setupView.enabled ? _pageTitle + "<font color=\"red\">" + qsTr(" (Disabled while the vehicle is %1)").arg(_disableReason) + "</font>" : _pageTitle
+                    visible:            !ScreenTools.isShortScreen
                 }
 
                 QGCLabel {
-                    anchors.left:   parent.left
-                    anchors.right:  parent.right
-                    wrapMode:       Text.WordWrap
-                    text:           pageDescription
-                    visible:        pageDescription !== "" && !ScreenTools.isShortScreen
+                    Layout.fillWidth:   true
+                    wrapMode:           Text.WordWrap
+                    text:               pageDescription
+                    visible:            pageDescription !== "" && !ScreenTools.isShortScreen
                 }
             }
         }
@@ -96,7 +95,7 @@ Item {
         // to be disabled
         Rectangle {
             visible:            !setupView.enabled
-            anchors.fill:       pageLoader
+            anchors.fill:       parent
             color:              "black"
             opacity:            0.5
         }

src/FactSystem/FactControls/FactPanelController.cc

@@ -29,6 +29,10 @@ FactPanelController::FactPanelController()
     } else {
         _vehicle = qgcApp()->toolbox()->multiVehicleManager()->offlineEditingVehicle();
     }
+
+    _missingParametersTimer.setInterval(500);
+    _missingParametersTimer.setSingleShot(true);
+    connect(&_missingParametersTimer, &QTimer::timeout, this, &FactPanelController::_checkForMissingParameters);
 }
 
 void FactPanelController::_notifyPanelMissingParameter(const QString& missingParam)
@@ -114,3 +118,29 @@ void FactPanelController::_showInternalError(const QString& errorMsg)
     qCWarning(FactPanelControllerLog) << "Internal Error" << errorMsg;
     qgcApp()->showMessage(errorMsg);
 }
+
+void FactPanelController::getMissingParameters(QStringList rgNames)
+{
+    for (const QString& name: rgNames) {
+        _missingParameterWaitList.append(name);
+        _vehicle->parameterManager()->refreshParameter(MAV_COMP_ID_AUTOPILOT1, name);
+    }
+
+    _missingParametersTimer.start();
+}
+
+void FactPanelController::_checkForMissingParameters(void)
+{
+    QStringList waitList = _missingParameterWaitList;
+    for (const QString& name: waitList) {
+        if (_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_AUTOPILOT1, name)) {
+            _missingParameterWaitList.removeOne(name);
+        }
+    }
+
+    if (_missingParameterWaitList.isEmpty()) {
+        emit missingParametersAvailable();
+    } else {
+        _missingParametersTimer.start();
+    }
+}

src/FactSystem/FactControls/FactPanelController.h

@@ -34,6 +34,12 @@ public:
     Q_INVOKABLE Fact*   getParameterFact    (int componentId, const QString& name, bool reportMissing = true);
     Q_INVOKABLE bool    parameterExists     (int componentId, const QString& name);
 
+    /// Queries the vehicle for parameters which were not available on initial download but should be available now.
+    /// Signals missingParametersAvailable when done. Only works for MAV_COMP_ID_AUTOPILOT1 parameters.
+    Q_INVOKABLE void    getMissingParameters(QStringList rgNames);
+
+signals:
+    void missingParametersAvailable(void);
 
 protected:
     /// Checks for existence of the specified parameters
@@ -47,10 +53,15 @@ protected:
     UASInterface*       _uas        = nullptr;
     AutoPilotPlugin*    _autopilot  = nullptr;
 
+private slots:
+    void _checkForMissingParameters(void);
+
 private:
     void _notifyPanelMissingParameter(const QString& missingParam);
     void _notifyPanelErrorMsg(const QString& errorMsg);
     void _showInternalError(const QString& errorMsg);
 
     QStringList _delayedMissingParams;
+    QStringList _missingParameterWaitList;
+    QTimer      _missingParametersTimer;
 };

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -14,6 +14,7 @@
 #include "APMFlightModesComponentController.h"
 #include "APMAirframeComponentController.h"
 #include "APMSensorsComponentController.h"
+#include "APMFollowComponentController.h"
 #include "MissionManager.h"
 #include "ParameterManager.h"
 #include "QGCFileDownload.h"
@@ -158,6 +159,7 @@ APMFirmwarePlugin::APMFirmwarePlugin(void)
     qmlRegisterType<APMFlightModesComponentController>  ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
     qmlRegisterType<APMAirframeComponentController>     ("QGroundControl.Controllers", 1, 0, "APMAirframeComponentController");
     qmlRegisterType<APMSensorsComponentController>      ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController");
+    qmlRegisterType<APMFollowComponentController>       ("QGroundControl.Controllers", 1, 0, "APMFollowComponentController");
 }
 
 AutoPilotPlugin* APMFirmwarePlugin::autopilotPlugin(Vehicle* vehicle)
@@ -396,7 +398,8 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess
                 }
 
                 if (supportedMajorNumber != -1) {
-                    if (firmwareVersion.majorNumber() < supportedMajorNumber || firmwareVersion.minorNumber() < supportedMinorNumber) {
+                    if (firmwareVersion.majorNumber() < supportedMajorNumber ||
+                            (firmwareVersion.majorNumber() == supportedMajorNumber && firmwareVersion.minorNumber() < supportedMinorNumber)) {
                         qgcApp()->showMessage(tr("QGroundControl fully supports Version %1.%2 and above. You are using a version prior to that. This combination is untested, you may run into unpredictable results.").arg(supportedMajorNumber).arg(supportedMinorNumber));
                     }
                 }
@@ -1101,7 +1104,7 @@ void APMFirmwarePlugin::_sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMoti
         return;
     }
 
-    if (!(estimationCapabilities & (FollowMe::POS | FollowMe::VEL))) {
+    if (!(estimationCapabilities & (FollowMe::POS | FollowMe::VEL | FollowMe::HEADING))) {
         static bool sentOnce = false;
         if (!sentOnce) {
             sentOnce = true;
@@ -1124,7 +1127,7 @@ void APMFirmwarePlugin::_sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMoti
     globalPositionInt.vx =              static_cast<int16_t>(motionReport.vxMetersPerSec * 100);                                        // cm/sec
     globalPositionInt.vy =              static_cast<int16_t>(motionReport.vyMetersPerSec * 100);                                        // cm/sec
     globalPositionInt.vy =              static_cast<int16_t>(motionReport.vzMetersPerSec * 100);                                        // cm/sec
-    globalPositionInt.hdg =             UINT16_MAX;
+    globalPositionInt.hdg =             static_cast<uint16_t>(motionReport.headingDegrees * 100.0);                                     // centi-degrees
 
     mavlink_message_t message;
     mavlink_msg_global_position_int_encode_chan(static_cast<uint8_t>(mavlinkProtocol->getSystemId()),

src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.6.xml

@@ -3507,7 +3507,7 @@
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
 </param>
-<param humanName="Follow offset type" name="FOLL_OFS_TYPE" documentation="Follow offset type" user="Standard">
+<param humanName="Follow offset type" name="ffolFOLL_OFS_TYPE" documentation="Follow offset type" user="Standard">
 <values>
 <value code="0">North-East-Down</value>
 <value code=" 1">Relative to lead vehicle heading</value>

src/FirmwarePlugin/APM/APMResources.qrc

@@ -7,10 +7,12 @@
         <file alias="APMCameraComponentSummary.qml">../../AutoPilotPlugins/APM/APMCameraComponentSummary.qml</file>
         <file alias="APMFlightModesComponent.qml">../../AutoPilotPlugins/APM/APMFlightModesComponent.qml</file>
         <file alias="APMFlightModesComponentSummary.qml">../../AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml</file>
+        <file alias="APMFollowComponent.qml">../../AutoPilotPlugins/APM/APMFollowComponent.qml</file>
+        <file alias="APMFollowComponentSummary.qml">../../AutoPilotPlugins/APM/APMFollowComponentSummary.qml</file>
         <file alias="APMHeliComponent.qml">../../AutoPilotPlugins/APM/APMHeliComponent.qml</file>
         <file alias="APMLightsComponent.qml">../../AutoPilotPlugins/APM/APMLightsComponent.qml</file>
         <file alias="APMLightsComponentSummary.qml">../../AutoPilotPlugins/APM/APMLightsComponentSummary.qml</file>
-		<file alias="APMMotorComponent.qml">../../AutoPilotPlugins/APM/APMMotorComponent.qml</file>
+        <file alias="APMMotorComponent.qml">../../AutoPilotPlugins/APM/APMMotorComponent.qml</file>
         <file alias="APMSubFrameComponent.qml">../../AutoPilotPlugins/APM/APMSubFrameComponent.qml</file>
         <file alias="APMSubFrameComponentSummary.qml">../../AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml</file>
         <file alias="APMSubMotorComponent.qml">../../AutoPilotPlugins/APM/APMSubMotorComponent.qml</file>
@@ -37,6 +39,7 @@
         <file alias="APM/MavCmdInfoRover.json">MavCmdInfoRover.json</file>
         <file alias="APM/MavCmdInfoSub.json">MavCmdInfoSub.json</file>
         <file alias="APM/MavCmdInfoVTOL.json">MavCmdInfoVTOL.json</file>
+        <file alias="APMFollowComponent.FactMetaData.json">../../AutoPilotPlugins/APM/APMFollowComponent.FactMetaData.json</file>
     </qresource>
     <qresource prefix="/FirmwarePlugin/APM">
         <file alias="APMParameterFactMetaData.Plane.3.8.xml">APMParameterFactMetaData.Plane.3.8.xml</file>

src/FollowMe/FollowMe.cc

@@ -93,6 +93,7 @@ void FollowMe::_sendGCSMotionReport()
     estimatation_capabilities |=    (1 << POS);
 
     if (geoPositionInfo.hasAttribute(QGeoPositionInfo::Direction) == true) {
+        estimatation_capabilities |= (1 << HEADING);
         motionReport.headingDegrees = geoPositionInfo.attribute(QGeoPositionInfo::Direction);
     }
 

src/FollowMe/FollowMe.h

@@ -47,7 +47,8 @@ public:
         POS = 0,
         VEL = 1,
         ACCEL = 2,
-        ATT_RATES = 3
+        ATT_RATES = 3,
+        HEADING = 4
     };
 
     void setToolbox(QGCToolbox* toolbox) override;

src/QmlControls/QGroundControlQmlGlobal.h

@@ -162,6 +162,9 @@ public:
 
     Q_INVOKABLE bool linesIntersect(QPointF xLine1, QPointF yLine1, QPointF xLine2, QPointF yLine2);
 
+    Q_INVOKABLE double degreesToRadians(double degrees) { return qDegreesToRadians(degrees); }
+    Q_INVOKABLE double radiansToDegrees(double radians) { return qRadiansToDegrees(radians); }
+
     // Property accesors
 
     QString                 appName             ()  { return qgcApp()->applicationName(); }