diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index 312d45503aaf934410bae786ae1dc5949128bba2..bc33589594d877d8f964a40dd76e43c52efb279f 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -102,7 +102,7 @@
src/QmlControls/QGroundControl.Controls.qmldir
src/PlanView/RallyPointEditorHeader.qml
src/PlanView/RallyPointItemEditor.qml
- src/PlanView/RallyPointMapVisuals.qml
+ src/PlanView/RallyPointMapVisuals.qml
src/QmlControls/RCChannelMonitor.qml
src/QmlControls/RoundButton.qml
src/PlanView/SectionHeader.qml
@@ -136,7 +136,7 @@
src/FlightDisplay/GuidedAltitudeSlider.qml
src/FlightDisplay/MultiVehicleList.qml
src/FlightDisplay/qmldir
- src/FlightMap/MapItems/CameraTriggerIndicator.qml
+ src/FlightMap/MapItems/CameraTriggerIndicator.qml
src/FlightMap/Widgets/CenterMapDropButton.qml
src/FlightMap/Widgets/CenterMapDropPanel.qml
src/FlightMap/Widgets/CompassRing.qml
@@ -212,6 +212,7 @@
src/Vehicle/WindFact.json
src/Vehicle/VibrationFact.json
src/Vehicle/TemperatureFact.json
+ src/Vehicle/SubmarineFact.json
src/comm/APMArduCopterMockLink.params
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
index ce46554f0dd46c7bc2b17a5a09ed40cf698c2522..19faca6667f2154f8249ecde20c2c720b2bda0d1 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
@@ -76,27 +76,27 @@ public:
QList supportedMissionCommands(void) final;
AutoPilotPlugin* autopilotPlugin (Vehicle* vehicle) final;
- bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities);
+ bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities) override;
QStringList flightModes (Vehicle* vehicle) final;
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
bool isGuidedMode (const Vehicle* vehicle) const final;
- void pauseVehicle (Vehicle* vehicle);
- int manualControlReservedButtonCount(void);
- bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
+ void pauseVehicle (Vehicle* vehicle) override;
+ int manualControlReservedButtonCount(void) override;
+ bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) override;
void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final;
void initializeVehicle (Vehicle* vehicle) final;
bool sendHomePositionToVehicle (void) final;
void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
- QString missionCommandOverrides (MAV_TYPE vehicleType) const;
+ QString missionCommandOverrides (MAV_TYPE vehicleType) const override;
QString getVersionParam (void) final { return QStringLiteral("SYSID_SW_MREV"); }
QString internalParameterMetaDataFile (Vehicle* vehicle) final;
void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
- QObject* loadParameterMetaData (const QString& metaDataFile);
- GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); }
- RallyPointManager* newRallyPointManager (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
- QString brandImageIndoor (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
- QString brandImageOutdoor (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
+ QObject* loadParameterMetaData (const QString& metaDataFile) final;
+ GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) final { return new APMGeoFenceManager(vehicle); }
+ RallyPointManager* newRallyPointManager (Vehicle* vehicle) final { return new APMRallyPointManager(vehicle); }
+ QString brandImageIndoor (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
+ QString brandImageOutdoor (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
protected:
/// All access to singleton is through stack specific implementation
diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
index 5e08573278e143be28de099371929cc4c2b87072..a3a76850db6c21c1ebe72a9aa99fea3f933492cf 100644
--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
@@ -40,7 +40,8 @@ APMSubMode::APMSubMode(uint32_t mode, bool settable) :
setEnumToStringMapping(enumToString);
}
-ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void)
+ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void):
+ _infoFactGroup(this)
{
QList supportedFlightModes;
supportedFlightModes << APMSubMode(APMSubMode::MANUAL ,true);
@@ -99,6 +100,8 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void)
_remapParamNameIntialized = true;
}
+
+ _nameToFactGroupMap.insert("APMSubInfo", &_infoFactGroup);
}
int ArduSubFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
@@ -150,3 +153,69 @@ const QVariantList& ArduSubFirmwarePlugin::toolBarIndicators(const Vehicle* vehi
}
return _toolBarIndicators;
}
+
+void ArduSubFirmwarePlugin::_handleNamedValueFloat(mavlink_message_t* message)
+{
+ mavlink_named_value_float_t value;
+ mavlink_msg_named_value_float_decode(message, &value);
+
+ QString name = QString(value.name);
+
+ if (name == "CamTilt") {
+ _infoFactGroup.getFact("camera tilt")->setRawValue(value.value * 100);
+ } else if (name == "TetherTrn") {
+ _infoFactGroup.getFact("tether turns")->setRawValue(value.value);
+ } else if (name == "Lights1") {
+ _infoFactGroup.getFact("lights 1")->setRawValue(value.value * 100);
+ } else if (name == "Lights2") {
+ _infoFactGroup.getFact("lights 2")->setRawValue(value.value * 100);
+ } else if (name == "PilotGain") {
+ _infoFactGroup.getFact("pilot gain")->setRawValue(value.value * 100);
+ }
+}
+
+void ArduSubFirmwarePlugin::_handleMavlinkMessage(mavlink_message_t* message)
+{
+ switch (message->msgid) {
+ case (MAVLINK_MSG_ID_NAMED_VALUE_FLOAT):
+ _handleNamedValueFloat(message);
+ }
+}
+
+bool ArduSubFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
+{
+ _handleMavlinkMessage(message);
+ return APMFirmwarePlugin::adjustIncomingMavlinkMessage(vehicle, message);
+}
+
+QMap* ArduSubFirmwarePlugin::factGroups(void) {
+ return &_nameToFactGroupMap;
+}
+
+const char* APMSubmarineFactGroup::_camTiltFactName = "camera tilt";
+const char* APMSubmarineFactGroup::_tetherTurnsFactName = "tether turns";
+const char* APMSubmarineFactGroup::_lightsLevel1FactName = "lights 1";
+const char* APMSubmarineFactGroup::_lightsLevel2FactName = "lights 2";
+const char* APMSubmarineFactGroup::_pilotGainFactName = "pilot gain";
+
+APMSubmarineFactGroup::APMSubmarineFactGroup(QObject* parent)
+ : FactGroup(300, ":/json/Vehicle/SubmarineFact.json", parent)
+ , _camTiltFact (0, _camTiltFactName, FactMetaData::valueTypeDouble)
+ , _tetherTurnsFact (0, _tetherTurnsFactName, FactMetaData::valueTypeDouble)
+ , _lightsLevel1Fact (0, _lightsLevel1FactName, FactMetaData::valueTypeDouble)
+ , _lightsLevel2Fact (0, _lightsLevel2FactName, FactMetaData::valueTypeDouble)
+ , _pilotGainFact (0, _pilotGainFactName, FactMetaData::valueTypeDouble)
+{
+ _addFact(&_camTiltFact, _camTiltFactName);
+ _addFact(&_tetherTurnsFact, _tetherTurnsFactName);
+ _addFact(&_lightsLevel1Fact, _lightsLevel1FactName);
+ _addFact(&_lightsLevel2Fact, _lightsLevel2FactName);
+ _addFact(&_pilotGainFact, _pilotGainFactName);
+
+ // Start out as not available "--.--"
+ _camTiltFact.setRawValue (std::numeric_limits::quiet_NaN());
+ _tetherTurnsFact.setRawValue (std::numeric_limits::quiet_NaN());
+ _lightsLevel1Fact.setRawValue (std::numeric_limits::quiet_NaN());
+ _lightsLevel2Fact.setRawValue (std::numeric_limits::quiet_NaN());
+ _pilotGainFact.setRawValue (std::numeric_limits::quiet_NaN());
+}
diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
index 8307da0383d1f8d4fe660454161ec8bb2c8b7e4a..2b0c7aa04c986ca8797d11aa849f4d239e1826ad 100644
--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
@@ -28,6 +28,40 @@
#define ArduSubFirmwarePlugin_H
#include "APMFirmwarePlugin.h"
+class APMSubmarineFactGroup : public FactGroup
+{
+ Q_OBJECT
+
+public:
+ APMSubmarineFactGroup(QObject* parent = NULL);
+
+ Q_PROPERTY(Fact* camTilt READ camTilt CONSTANT)
+ Q_PROPERTY(Fact* tetherTurns READ tetherTurns CONSTANT)
+ Q_PROPERTY(Fact* lightsLevel1 READ lightsLevel1 CONSTANT)
+ Q_PROPERTY(Fact* lightsLevel2 READ lightsLevel2 CONSTANT)
+ Q_PROPERTY(Fact* pilotGain READ pilotGain CONSTANT)
+
+ Fact* camTilt (void) { return &_camTiltFact; }
+ Fact* tetherTurns (void) { return &_tetherTurnsFact; }
+ Fact* lightsLevel1 (void) { return &_lightsLevel1Fact; }
+ Fact* lightsLevel2 (void) { return &_lightsLevel2Fact; }
+ Fact* pilotGain (void) { return &_pilotGainFact; }
+
+ static const char* _camTiltFactName;
+ static const char* _tetherTurnsFactName;
+ static const char* _lightsLevel1FactName;
+ static const char* _lightsLevel2FactName;
+ static const char* _pilotGainFactName;
+
+ static const char* _settingsGroup;
+
+private:
+ Fact _camTiltFact;
+ Fact _tetherTurnsFact;
+ Fact _lightsLevel1Fact;
+ Fact _lightsLevel2Fact;
+ Fact _pilotGainFact;
+};
class APMSubMode : public APMCustomMode
{
@@ -86,11 +120,18 @@ public:
const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
const QVariantList& toolBarIndicators(const Vehicle* vehicle) final;
+ bool adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message);
+ virtual QMap* factGroups(void);
+
private:
QVariantList _toolBarIndicators;
static bool _remapParamNameIntialized;
static FirmwarePlugin::remapParamNameMajorVersionMap_t _remapParamName;
-};
+ void _handleNamedValueFloat(mavlink_message_t* message);
+ void _handleMavlinkMessage(mavlink_message_t* message);
+ QMap _nameToFactGroupMap;
+ APMSubmarineFactGroup _infoFactGroup;
+};
#endif
diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc
index 19a494528a9e728205823bf2686cfa586d5e995d..ea03a0e66830134662916d4cadce813f0ff5f73d 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -414,6 +414,11 @@ const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle)
return _cameraList;
}
+QMap* FirmwarePlugin::factGroups(void) {
+ // Generic plugin has no FactGroups
+ return NULL;
+}
+
bool FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
{
return vehicle->multiRotor() ? false : true;
diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h
index 995a9d1e35d70ca1a896fa3254ef194d848c4f46..0aae9367fc4a99ed278206da3a5f1c6aa97767eb 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.h
+++ b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -269,6 +269,9 @@ public:
/// Returns a list of CameraMetaData objects for available cameras on the vehicle.
virtual const QVariantList& cameraList(const Vehicle* vehicle);
+ /// Returns a pointer to a dictionary of firmware-specific FactGroups
+ virtual QMap* factGroups(void);
+
/// @true: When flying a mission the vehicle is always facing towards the next waypoint
virtual bool vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const;
@@ -303,7 +306,6 @@ protected:
private:
QVariantList _toolBarIndicatorList;
static QVariantList _cameraList; ///< Standard QGC camera list
-
};
class FirmwarePluginFactory : public QObject
diff --git a/src/FlightMap/Widgets/ValuesWidget.qml b/src/FlightMap/Widgets/ValuesWidget.qml
index f9495390a902b712bc524702e45cc280c6d17ee5..1d8733363e57cef25646f424a6c94dfee06d73cb 100644
--- a/src/FlightMap/Widgets/ValuesWidget.qml
+++ b/src/FlightMap/Widgets/ValuesWidget.qml
@@ -65,33 +65,39 @@ QGCFlickable {
Repeater {
model: _activeVehicle ? controller.largeValues : 0
-
- Column {
- width: _largeColumn.width
-
+ Loader {
+ sourceComponent: fact ? largeValue : undefined
property Fact fact: _activeVehicle.getFact(modelData.replace("Vehicle.", ""))
- property bool largeValue: _root.listContains(controller.altitudeProperties, fact.name)
-
- QGCLabel {
- width: parent.width
- horizontalAlignment: Text.AlignHCenter
- color: textColor
- fontSizeMode: Text.HorizontalFit
- text: fact.shortDescription + (fact.units ? " (" + fact.units + ")" : "")
- }
- QGCLabel {
- width: parent.width
- horizontalAlignment: Text.AlignHCenter
- font.pointSize: ScreenTools.mediumFontPointSize * (largeValue ? 1.3 : 1.0)
- font.family: largeValue ? ScreenTools.demiboldFontFamily : ScreenTools.normalFontFamily
- fontSizeMode: Text.HorizontalFit
- color: textColor
- text: fact.valueString
- }
}
} // Repeater - Large
} // Column - Large
+ Component {
+ id: largeValue
+
+ Column {
+ width: _largeColumn.width
+ property bool largeValue: _root.listContains(controller.altitudeProperties, fact.name)
+
+ QGCLabel {
+ width: parent.width
+ horizontalAlignment: Text.AlignHCenter
+ color: textColor
+ fontSizeMode: Text.HorizontalFit
+ text: fact.shortDescription + (fact.units ? " (" + fact.units + ")" : "")
+ }
+ QGCLabel {
+ width: parent.width
+ horizontalAlignment: Text.AlignHCenter
+ font.pointSize: ScreenTools.mediumFontPointSize * (largeValue ? 1.3 : 1.0)
+ font.family: largeValue ? ScreenTools.demiboldFontFamily : ScreenTools.normalFontFamily
+ fontSizeMode: Text.HorizontalFit
+ color: textColor
+ text: fact.valueString
+ }
+ }
+ }
+
Flow {
id: _smallFlow
width: parent.width
@@ -102,40 +108,46 @@ QGCFlickable {
Repeater {
model: _activeVehicle ? controller.smallValues : 0
-
- Column {
- width: (_root.width / 2) - (_margins / 2) - 0.1
- clip: true
-
+ Loader {
+ sourceComponent: fact ? smallValue : undefined
property Fact fact: _activeVehicle.getFact(modelData.replace("Vehicle.", ""))
-
- QGCLabel {
- width: parent.width
- horizontalAlignment: Text.AlignHCenter
- font.pointSize: ScreenTools.isTinyScreen ? ScreenTools.smallFontPointSize * 0.75 : ScreenTools.smallFontPointSize
- fontSizeMode: Text.HorizontalFit
- color: textColor
- text: fact.shortDescription
- }
- QGCLabel {
- width: parent.width
- horizontalAlignment: Text.AlignHCenter
- color: textColor
- fontSizeMode: Text.HorizontalFit
- text: fact.enumOrValueString
- }
- QGCLabel {
- width: parent.width
- horizontalAlignment: Text.AlignHCenter
- font.pointSize: ScreenTools.isTinyScreen ? ScreenTools.smallFontPointSize * 0.75 : ScreenTools.smallFontPointSize
- fontSizeMode: Text.HorizontalFit
- color: textColor
- text: fact.units
- }
}
} // Repeater - Small
} // Flow
+ Component {
+ id: smallValue
+
+ Column {
+ width: (_root.width / 2) - (_margins / 2) - 0.1
+ clip: true
+
+ QGCLabel {
+ width: parent.width
+ horizontalAlignment: Text.AlignHCenter
+ font.pointSize: ScreenTools.isTinyScreen ? ScreenTools.smallFontPointSize * 0.75 : ScreenTools.smallFontPointSize
+ fontSizeMode: Text.HorizontalFit
+ color: textColor
+ text: fact.shortDescription
+ }
+ QGCLabel {
+ width: parent.width
+ horizontalAlignment: Text.AlignHCenter
+ color: textColor
+ fontSizeMode: Text.HorizontalFit
+ text: fact.enumOrValueString
+ }
+ QGCLabel {
+ width: parent.width
+ horizontalAlignment: Text.AlignHCenter
+ font.pointSize: ScreenTools.isTinyScreen ? ScreenTools.smallFontPointSize * 0.75 : ScreenTools.smallFontPointSize
+ fontSizeMode: Text.HorizontalFit
+ color: textColor
+ text: fact.units
+ }
+ }
+ }
+
Component {
id: propertyPicker
diff --git a/src/Vehicle/SubmarineFact.json b/src/Vehicle/SubmarineFact.json
new file mode 100644
index 0000000000000000000000000000000000000000..a32ae63d0a54a20eaa70c169d9e031672eec4e59
--- /dev/null
+++ b/src/Vehicle/SubmarineFact.json
@@ -0,0 +1,32 @@
+[
+{
+ "name": "camera tilt",
+ "shortDescription": "Camera Tilt",
+ "type": "int16",
+ "units": "%"
+},
+{
+ "name": "tether turns",
+ "shortDescription": "Tether Turns",
+ "type": "int16",
+ "units": "clockwise"
+},
+{
+ "name": "lights 1",
+ "shortDescription": "Lights 1 level",
+ "type": "int16",
+ "units": "%"
+},
+{
+ "name": "lights 2",
+ "shortDescription": "Lights 2 level",
+ "type": "int16",
+ "units": "%"
+},
+{
+ "name": "pilot gain",
+ "shortDescription": "Pilot Gain",
+ "type": "int16",
+ "units": "%"
+}
+]
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 1cef4e08af2b095e14ff79c744b5aac669eecc2b..078be78e99da0bf63c6652a1ac9be8317bf1cfd7 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -372,6 +372,16 @@ void Vehicle::_commonInit(void)
_addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);
_addFactGroup(&_temperatureFactGroup, _temperatureFactGroupName);
+ // Add firmware-specific fact groups, if provided
+ QMap* fwFactGroups = _firmwarePlugin->factGroups();
+ if (fwFactGroups) {
+ QMapIterator i(*fwFactGroups);
+ while(i.hasNext()) {
+ i.next();
+ _addFactGroup(i.value(), i.key());
+ }
+ }
+
_flightDistanceFact.setRawValue(0);
_flightTimeFact.setRawValue(0);
}