Merge branch 'feature/offlineElevationData' into feature/offlineElevationDataBinary

Conflicts:
	src/Terrain.cc
	src/TerrainTile.cc
	src/TerrainTile.h

README.md

@@ -41,7 +41,7 @@ You **need to install Qt as described below** instead of using pre-built package
     * Windows: Make sure to install VS 2015 32 bit package.
 
 ###### Install additional packages:
-* Ubuntu: sudo apt-get install speech-dispatcher libudev-dev libsdl2-dev libgstreamer1.0-0 gstreamer1.0-plugins-base libgstreamer-plugins-base1.0-dev gstreamer1.0*
+* Ubuntu: sudo apt-get install speech-dispatcher libudev-dev libsdl2-dev
 * Fedora: sudo dnf install speech-dispatcher SDL2-devel SDL2 systemd-devel
 * Arch Linux: pacman -Sy speech-dispatcher
 * Windows: [USB Driver](http://www.pixhawk.org/firmware/downloads) to connect to Pixhawk/PX4Flow/3DR Radio

qgroundcontrol.pro

@@ -346,6 +346,7 @@ INCLUDEPATH += \
     src/QtLocationPlugin \
     src/QtLocationPlugin/QMLControl \
     src/Settings \
+    src/Terrain \
     src/VehicleSetup \
     src/ViewWidgets \
     src/Audio \
@@ -586,7 +587,7 @@ HEADERS += \
     src/Settings/SettingsManager.h \
     src/Settings/UnitsSettings.h \
     src/Settings/VideoSettings.h \
-    src/Terrain.h \
+    src/Terrain/TerrainQuery.h \
     src/TerrainTile.h \
     src/Vehicle/MAVLinkLogManager.h \
     src/VehicleSetup/JoystickConfigController.h \
@@ -779,7 +780,7 @@ SOURCES += \
     src/Settings/SettingsManager.cc \
     src/Settings/UnitsSettings.cc \
     src/Settings/VideoSettings.cc \
-    src/Terrain.cc \
+    src/Terrain/TerrainQuery.cc \
     src/TerrainTile.cc\
     src/Vehicle/MAVLinkLogManager.cc \
     src/VehicleSetup/JoystickConfigController.cc \

src/MissionManager/CorridorScanComplexItem.h

@@ -36,18 +36,19 @@ public:
     Q_INVOKABLE void rotateEntryPoint(void);
 
     // Overrides from ComplexMissionItem
-
     int     lastSequenceNumber  (void) const final;
     bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
     QString mapVisualQML        (void) const final { return QStringLiteral("CorridorScanMapVisual.qml"); }
 
     // Overrides from TransectStyleComplexItem
-
-    void        save                (QJsonArray&  missionItems) final;
+    void    save                (QJsonArray&  planItems) final;
     bool    specifiesCoordinate (void) const final;
     void    appendMissionItems  (QList<MissionItem*>& items, QObject* missionItemParent) final;
     void    applyNewAltitude    (double newAltitude) final;
 
+    // Overrides from VisualMissionionItem
+    bool    readyForSave        (void) const;
+
     static const char* jsonComplexItemTypeValue;
 
     static const char* settingsGroup;
@@ -59,12 +60,14 @@ private slots:
     void _rebuildCorridor           (void);
 
     // Overrides from TransectStyleComplexItem
-    virtual void _rebuildTransects          (void) final;
+    void _rebuildTransectsPhase1    (void) final;
+    void _rebuildTransectsPhase2    (void) final;
 
 private:
     int _transectCount              (void) const;
-    void _rebuildCorridorPolygon(void);
-
+    void _rebuildCorridorPolygon    (void);
+    void _buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent);
+    void _appendLoadedMissionItems  (QList<MissionItem*>& items, QObject* missionItemParent);
 
     QGCMapPolyline                  _corridorPolyline;
     QList<QList<QGeoCoordinate>>    _transectSegments;      ///< Internal transect segments including grid exit, turnaround and internal camera points
@@ -75,5 +78,5 @@ private:
     QMap<QString, FactMetaData*>    _metaDataMap;
     SettingsFact                    _corridorWidthFact;
 
-    static const char* _entryPointName;
+    static const char* _jsonEntryPointKey;
 };

src/MissionManager/CorridorScanComplexItemTest.cc

@@ -134,13 +134,26 @@ void CorridorScanComplexItemTest::_testItemCount(void)
 {
     QList<MissionItem*> items;
 
-    _corridorItem->turnAroundDistance()->setRawValue(20);
 
+    _corridorItem->turnAroundDistance()->setRawValue(0);
     _corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
     _corridorItem->appendMissionItems(items, this);
     QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
     items.clear();
 
+    _corridorItem->turnAroundDistance()->setRawValue(0);
+    _corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
+    _corridorItem->appendMissionItems(items, this);
+    QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
+    items.clear();
+
+    _corridorItem->turnAroundDistance()->setRawValue(20);
+    _corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
+    _corridorItem->appendMissionItems(items, this);
+    QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
+    items.clear();
+
+    _corridorItem->turnAroundDistance()->setRawValue(20);
     _corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
     _corridorItem->appendMissionItems(items, this);
     QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());

src/MissionManager/MissionController.cc

@@ -277,7 +277,7 @@ void MissionController::convertToKMLDocument(QDomDocument& document)
         return;
     }
 
-    float altitude = missionJson[_jsonPlannedHomePositionKey].toArray()[2].toDouble();
+    float homeAltitude = missionJson[_jsonPlannedHomePositionKey].toArray()[2].toDouble();
 
     QString coord;
     QStringList coords;
@@ -292,11 +292,12 @@ void MissionController::convertToKMLDocument(QDomDocument& document)
                 qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, item->command());
 
         if (uiInfo && uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate()) {
+            double amslAltitude = item->param7() + (item->frame() == MAV_FRAME_GLOBAL ? 0 : homeAltitude);
             coord = QString::number(item->param6(),'f',7) \
                     + "," \
                     + QString::number(item->param5(),'f',7) \
                     + "," \
-                    + QString::number(item->param7() + altitude,'f',2);
+                    + QString::number(amslAltitude,'f',2);
             coords.append(coord);
         }
     }

src/MissionManager/TransectStyle.SettingsGroup.json

@@ -34,5 +34,32 @@
     "shortDescription": "Refly the pattern at a 90 degree angle",
     "type":             "bool",
     "defaultValue":     false
+},
+{
+    "name":             "TerrainAdjustTolerance",
+    "shortDescription": "TerrainAdjustTolerance",
+    "type":             "double",
+    "decimalPlaces":    2,
+    "min":              0,
+    "units":            "m",
+    "defaultValue":     10
+},
+{
+    "name":             "TerrainAdjustMaxClimbRate",
+    "shortDescription": "TerrainAdjustMaxClimbRate",
+    "type":             "double",
+    "decimalPlaces":    2,
+    "min":              0,
+    "units":            "m/s",
+    "defaultValue":     0
+},
+{
+    "name":             "TerrainAdjustMaxDescentRate",
+    "shortDescription": "TerrainAdjustMaxDescentRate",
+    "type":             "double",
+    "decimalPlaces":    2,
+    "min":              0,
+    "units":            "m/s",
+    "defaultValue":     0
 }
 ]

src/MissionManager/TransectStyleComplexItem.h

@@ -16,6 +16,7 @@
 #include "QGCMapPolyline.h"
 #include "QGCMapPolygon.h"
 #include "CameraCalc.h"
+#include "TerrainQuery.h"
 
 Q_DECLARE_LOGGING_CATEGORY(TransectStyleComplexItemLog)
 
@@ -40,6 +41,11 @@ public:
     Q_PROPERTY(bool             hoverAndCaptureAllowed      READ hoverAndCaptureAllowed                             CONSTANT)
     Q_PROPERTY(QVariantList     transectPoints              READ transectPoints                                     NOTIFY transectPointsChanged)
 
+    Q_PROPERTY(bool             followTerrain               READ followTerrain              WRITE setFollowTerrain  NOTIFY followTerrainChanged)
+    Q_PROPERTY(Fact*            terrainAdjustTolerance      READ terrainAdjustTolerance                             CONSTANT)
+    Q_PROPERTY(Fact*            terrainAdjustMaxDescentRate READ terrainAdjustMaxDescentRate                        CONSTANT)
+    Q_PROPERTY(Fact*            terrainAdjustMaxClimbRate   READ terrainAdjustMaxClimbRate                          CONSTANT)
+
     QGCMapPolygon*  surveyAreaPolygon   (void) { return &_surveyAreaPolygon; }
     CameraCalc*     cameraCalc          (void) { return &_cameraCalc; }
     QVariantList    transectPoints      (void) { return _transectPoints; }
@@ -48,12 +54,18 @@ public:
     Fact* cameraTriggerInTurnAround     (void) { return &_cameraTriggerInTurnAroundFact; }
     Fact* hoverAndCapture               (void) { return &_hoverAndCaptureFact; }
     Fact* refly90Degrees                (void) { return &_refly90DegreesFact; }
+    Fact* terrainAdjustTolerance        (void) { return &_terrainAdjustToleranceFact; }
+    Fact* terrainAdjustMaxDescentRate   (void) { return &_terrainAdjustMaxClimbRateFact; }
+    Fact* terrainAdjustMaxClimbRate     (void) { return &_terrainAdjustMaxDescentRateFact; }
 
     int             cameraShots             (void) const { return _cameraShots; }
     double          timeBetweenShots        (void);
     double          coveredArea             (void) const;
     double          cameraMinTriggerInterval(void) const { return _cameraMinTriggerInterval; }
     bool            hoverAndCaptureAllowed  (void) const;
+    bool            followTerrain           (void) const { return _followTerrain; }
+
+    void setFollowTerrain(bool followTerrain);
 
     // Overrides from ComplexMissionItem
 
@@ -66,7 +78,7 @@ public:
 
     // Overrides from VisualMissionItem
 
-    void            save                    (QJsonArray&  missionItems) override = 0;
+    void            save                    (QJsonArray&  planItems) override = 0;
     bool            specifiesCoordinate     (void) const override = 0;
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) override = 0;
     void            applyNewAltitude        (double newAltitude) override = 0;
@@ -85,6 +97,7 @@ public:
     double          specifiedGimbalYaw      (void) final { return std::numeric_limits<double>::quiet_NaN(); }
     double          specifiedGimbalPitch    (void) final { return std::numeric_limits<double>::quiet_NaN(); }
     void            setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
+    bool            readyForSave            (void) const override;
 
     bool coordinateHasRelativeAltitude      (void) const final { return true /*_altitudeRelative*/; }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return true /*_altitudeRelative*/; }
@@ -99,6 +112,9 @@ public:
     static const char* cameraTriggerInTurnAroundName;
     static const char* hoverAndCaptureName;
     static const char* refly90DegreesName;
+    static const char* terrainAdjustToleranceName;
+    static const char* terrainAdjustMaxClimbRateName;
+    static const char* terrainAdjustMaxDescentRateName;
 
 signals:
     void cameraShotsChanged             (void);
@@ -106,14 +122,17 @@ signals:
     void cameraMinTriggerIntervalChanged(double cameraMinTriggerInterval);
     void transectPointsChanged          (void);
     void coveredAreaChanged             (void);
+    void followTerrainChanged           (bool followTerrain);
 
 protected slots:
-    virtual void _rebuildTransects          (void) = 0;
+    virtual void _rebuildTransectsPhase1    (void) = 0;
+    virtual void _rebuildTransectsPhase2    (void) = 0;
 
     void _setDirty                          (void);
     void _setIfDirty                        (bool dirty);
     void _updateCoordinateAltitudes         (void);
     void _signalLastSequenceNumberChanged   (void);
+    void _polyPathTerrainData               (bool success, const QList<TerrainPathQuery::PathHeightInfo_t>& rgPathHeightInfo);
 
 protected:
     void    _save                           (QJsonObject& saveObject);
@@ -121,18 +140,23 @@ protected:
     void    _setExitCoordinate              (const QGeoCoordinate& coordinate);
     void    _setCameraShots                 (int cameraShots);
     double  _triggerDistance                (void) const;
-    int     _transectCount      (void) const;
     bool    _hasTurnaround                  (void) const;
     double  _turnaroundDistance             (void) const;
+    void    _queryTransectsPathHeightInfo   (void);
+    void    _adjustTransectPointsForTerrain (void);
 
     QString         _settingsGroup;
     int             _sequenceNumber;
     bool            _dirty;
     QGeoCoordinate  _coordinate;
     QGeoCoordinate  _exitCoordinate;
-    QVariantList    _transectPoints;
     QGCMapPolygon   _surveyAreaPolygon;
 
+    QVariantList                                _transectPoints;
+    QList<TerrainPathQuery::PathHeightInfo_t>   _transectsPathHeightInfo;
+    TerrainPolyPathQuery*                       _terrainPolyPathQuery;
+    QTimer                                      _terrainQueryTimer;
+
     bool            _ignoreRecalc;
     double          _complexDistance;
     int             _cameraShots;
@@ -140,6 +164,10 @@ protected:
     double          _cameraMinTriggerInterval;
     double          _cruiseSpeed;
     CameraCalc      _cameraCalc;
+    bool            _followTerrain;
+
+    QObject*            _loadedMissionItemsParent;	///< Parent for all items in _loadedMissionItems for simpler delete
+    QList<MissionItem*> _loadedMissionItems;		///< Mission items loaded from plan file
 
     QMap<QString, FactMetaData*> _metaDataMap;
 
@@ -147,6 +175,25 @@ protected:
     SettingsFact _cameraTriggerInTurnAroundFact;
     SettingsFact _hoverAndCaptureFact;
     SettingsFact _refly90DegreesFact;
+    SettingsFact _terrainAdjustToleranceFact;
+    SettingsFact _terrainAdjustMaxClimbRateFact;
+    SettingsFact _terrainAdjustMaxDescentRateFact;
 
     static const char* _jsonCameraCalcKey;
+    static const char* _jsonTransectStyleComplexItemKey;
+    static const char* _jsonTransectPointsKey;
+    static const char* _jsonItemsKey;
+    static const char* _jsonFollowTerrainKey;
+
+    static const int _terrainQueryTimeoutMsecs;
+    static const double _surveyEdgeIndicator;   ///< Altitude value in _transectPoints which indicates survey entry
+
+private slots:
+    void _rebuildTransects                      (void);
+    void _reallyQueryTransectsPathHeightInfo    (void);
+
+private:
+    void    _addInterstitialTransectsForTerrain (void);
+    double  _altitudeBetweenCoords              (const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord, double percentTowardsTo);
+    int     _maxPathHeight                      (const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo, int fromIndex, int toIndex, double& maxHeight);
 };

src/MissionManager/TransectStyleComplexItemTest.cc

@@ -174,7 +174,12 @@ TransectStyleItem::TransectStyleItem(Vehicle* vehicle, QObject* parent)
 
 }
 
-void TransectStyleItem::_rebuildTransects(void)
+void TransectStyleItem::_rebuildTransectsPhase1(void)
 {
     rebuildTransectsCalled = true;
 }
+
+void TransectStyleItem::_rebuildTransectsPhase2(void)
+{
+
+}

src/MissionManager/TransectStyleComplexItemTest.h

@@ -101,5 +101,6 @@ public:
 
 private slots:
     // Overrides from TransectStyleComplexItem
-    void    _rebuildTransects   (void) final;
+    void _rebuildTransectsPhase1(void) final;
+    void _rebuildTransectsPhase2(void) final;
 };

src/MissionManager/VisualMissionItem.cc

@@ -15,7 +15,7 @@
 #include "FirmwarePluginManager.h"
 #include "QGCApplication.h"
 #include "JsonHelper.h"
-#include "Terrain.h"
+#include "TerrainQuery.h"
 
 const char* VisualMissionItem::jsonTypeKey =                "type";
 const char* VisualMissionItem::jsonTypeSimpleItemValue =    "SimpleItem";
@@ -172,18 +172,18 @@ void VisualMissionItem::_reallyUpdateTerrainAltitude(void)
     if (coord.isValid() && (qIsNaN(_terrainAltitude) || !qFuzzyCompare(_lastLatTerrainQuery, coord.latitude()) || qFuzzyCompare(_lastLonTerrainQuery, coord.longitude()))) {
         _lastLatTerrainQuery = coord.latitude();
         _lastLonTerrainQuery = coord.longitude();
-        ElevationProvider* terrain = new ElevationProvider(this);
-        connect(terrain, &ElevationProvider::terrainData, this, &VisualMissionItem::_terrainDataReceived);
+        TerrainAtCoordinateQuery* terrain = new TerrainAtCoordinateQuery(this);
+        connect(terrain, &TerrainAtCoordinateQuery::terrainData, this, &VisualMissionItem::_terrainDataReceived);
         QList<QGeoCoordinate> rgCoord;
         rgCoord.append(coordinate());
-        terrain->queryTerrainData(rgCoord);
+        terrain->requestData(rgCoord);
     }
 }
 
-void VisualMissionItem::_terrainDataReceived(bool success, QList<float> altitudes)
+void VisualMissionItem::_terrainDataReceived(bool success, QList<double> heights)
 {
     if (success) {
-        _terrainAltitude = altitudes[0];
+        _terrainAltitude = heights[0];
         emit terrainAltitudeChanged(_terrainAltitude);
         sender()->deleteLater();
     }

src/MissionManager/VisualMissionItem.h

@@ -211,7 +211,7 @@ protected:
 private slots:
     void _updateTerrainAltitude (void);
     void _reallyUpdateTerrainAltitude (void);
-    void _terrainDataReceived   (bool success, QList<float> altitudes);
+    void _terrainDataReceived   (bool success, QList<double> heights);
 
 private:
     QTimer _updateTerrainTimer;

src/PlanView/CorridorScanEditor.qml

@@ -56,6 +56,11 @@ Rectangle {
         anchors.right:      parent.right
         spacing:            _margin
 
+        QGCLabel {
+            text: "WIP: Careful!"
+            color:  qgcPal.warningText
+        }
+
         QGCLabel {
             anchors.left:   parent.left
             anchors.right:  parent.right
@@ -126,6 +131,59 @@ Rectangle {
             onClicked:  missionItem.rotateEntryPoint()
         }
 
+        SectionHeader {
+            id:         terrainHeader
+            text:       qsTr("Terrain")
+            checked:    false
+        }
+
+        ColumnLayout {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            spacing:        _margin
+            visible:        terrainHeader.checked
+
+            QGCCheckBox {
+                id:         followsTerrainCheckBox
+                text:       qsTr("Vehicle follows terrain")
+                checked:    missionItem.followTerrain
+                onClicked:  missionItem.followTerrain = checked
+            }
+
+            GridLayout {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                columnSpacing:  _margin
+                rowSpacing:     _margin
+                columns:        2
+                visible:        followsTerrainCheckBox.checked
+
+                QGCLabel {
+                    text: "WIP: Careful!"
+                    color:  qgcPal.warningText
+                    Layout.columnSpan: 2
+                }
+
+                QGCLabel { text: qsTr("Tolerance") }
+                FactTextField {
+                    fact:               missionItem.terrainAdjustTolerance
+                    Layout.fillWidth:   true
+                }
+
+                QGCLabel { text: qsTr("Max Climb Rate") }
+                FactTextField {
+                    fact:               missionItem.terrainAdjustMaxClimbRate
+                    Layout.fillWidth:   true
+                }
+
+                QGCLabel { text: qsTr("Max Descent Rate") }
+                FactTextField {
+                    fact:               missionItem.terrainAdjustMaxDescentRate
+                    Layout.fillWidth:   true
+                }
+            }
+        }
+
         SectionHeader {
             id:     statsHeader
             text:   qsTr("Statistics")

src/Terrain.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 "Terrain.h"
-#include "QGCMapEngine.h"
-#include "QGeoMapReplyQGC.h"
-
-#include <QUrl>
-#include <QUrlQuery>
-#include <QNetworkRequest>
-#include <QNetworkProxy>
-#include <QNetworkReply>
-#include <QJsonDocument>
-#include <QJsonObject>
-#include <QJsonArray>
-#include <QTimer>
-#include <QtLocation/private/qgeotilespec_p.h>
-
-QGC_LOGGING_CATEGORY(ElevationProviderLog, "ElevationProviderLog")
-
-Q_GLOBAL_STATIC(TerrainBatchManager, _terrainBatchManager)
-
-TerrainBatchManager::TerrainBatchManager(void)
-{
-}
-
-void TerrainBatchManager::addQuery(ElevationProvider* elevationProvider, const QList<QGeoCoordinate>& coordinates)
-{
-    if (coordinates.length() > 0) {
-        QList<float> altitudes;
-
-        if (!_getAltitudesForCoordinates(coordinates, altitudes)) {
-            QueuedRequestInfo_t queuedRequestInfo = { elevationProvider, coordinates };
-            _requestQueue.append(queuedRequestInfo);
-            return;
-        }
-
-        qCDebug(ElevationProviderLog) << "All altitudes taken from cached data";
-        elevationProvider->_signalTerrainData(coordinates.count() == altitudes.count(), altitudes);
-    }
-}
-
-bool TerrainBatchManager::_getAltitudesForCoordinates(const QList<QGeoCoordinate>& coordinates, QList<float>& altitudes)
-{
-    foreach (const QGeoCoordinate& coordinate, coordinates) {
-        QString tileHash = _getTileHash(coordinate);
-        _tilesMutex.lock();
-        if (!_tiles.contains(tileHash)) {
-            qCDebug(ElevationProviderLog) << "Need to download tile " << tileHash;
-
-            // Schedule the fetch task
-            if (_state != State::Downloading) {
-                QNetworkRequest request = getQGCMapEngine()->urlFactory()->getTileURL(UrlFactory::AirmapElevation, QGCMapEngine::long2elevationTileX(coordinate.longitude(), 1), QGCMapEngine::lat2elevationTileY(coordinate.latitude(), 1), 1, &_networkManager);
-                QGeoTileSpec spec;
-                spec.setX(QGCMapEngine::long2elevationTileX(coordinate.longitude(), 1));
-                spec.setY(QGCMapEngine::lat2elevationTileY(coordinate.latitude(), 1));
-                spec.setZoom(1);
-                spec.setMapId(UrlFactory::AirmapElevation);
-                QGeoTiledMapReplyQGC* reply = new QGeoTiledMapReplyQGC(&_networkManager, request, spec);
-                connect(reply, &QGeoTiledMapReplyQGC::finished, this, &TerrainBatchManager::_fetchedTile);
-                connect(reply, &QGeoTiledMapReplyQGC::aborted, this, &TerrainBatchManager::_fetchedTile);
-                _state = State::Downloading;
-            }
-            _tilesMutex.unlock();
-
-            return false;
-        } else {
-            if (_tiles[tileHash].isIn(coordinate)) {
-                altitudes.push_back(_tiles[tileHash].elevation(coordinate));
-            } else {
-                qCDebug(ElevationProviderLog) << "Error: coordinate not in tile region";
-                altitudes.push_back(-1.0);
-            }
-        }
-        _tilesMutex.unlock();
-    }
-    return true;
-}
-
-void TerrainBatchManager::_tileFailed(void)
-{
-    QList<float>    noAltitudes;
-
-    foreach (const QueuedRequestInfo_t& requestInfo, _requestQueue) {
-        requestInfo.elevationProvider->_signalTerrainData(false, noAltitudes);
-    }
-    _requestQueue.clear();
-}
-
-void TerrainBatchManager::_fetchedTile()
-{
-    QGeoTiledMapReplyQGC* reply = qobject_cast<QGeoTiledMapReplyQGC*>(QObject::sender());
-    _state = State::Idle;
-
-    if (!reply) {
-        qCDebug(ElevationProviderLog) << "Elevation tile fetched but invalid reply data type.";
-        return;
-    }
-
-    // remove from download queue
-    QGeoTileSpec spec = reply->tileSpec();
-    QString hash = QGCMapEngine::getTileHash(UrlFactory::AirmapElevation, spec.x(), spec.y(), spec.zoom());
-
-    // handle potential errors
-    if (reply->error() != QGeoTiledMapReply::NoError) {
-        if (reply->error() == QGeoTiledMapReply::CommunicationError) {
-            qCDebug(ElevationProviderLog) << "Elevation tile fetching returned communication error. " << reply->errorString();
-        } else {
-            qCDebug(ElevationProviderLog) << "Elevation tile fetching returned error. " << reply->errorString();
-        }
-        _tileFailed();
-        reply->deleteLater();
-        return;
-    }
-    if (!reply->isFinished()) {
-        qCDebug(ElevationProviderLog) << "Error in fetching elevation tile. Not finished. " << reply->errorString();
-        _tileFailed();
-        reply->deleteLater();
-        return;
-    }
-
-    // parse received data and insert into hash table
-    QByteArray responseBytes = reply->mapImageData();
-
-    TerrainTile* terrainTile = new TerrainTile(responseBytes);
-    if (terrainTile->isValid()) {
-        _tilesMutex.lock();
-        if (!_tiles.contains(hash)) {
-            _tiles.insert(hash, *terrainTile);
-        } else {
-            delete terrainTile;
-        }
-        _tilesMutex.unlock();
-    } else {
-        qCDebug(ElevationProviderLog) << "Received invalid tile";
-    }
-    reply->deleteLater();
-
-    // now try to query the data again
-    for (int i = _requestQueue.count() - 1; i >= 0; i--) {
-        QList<float> altitudes;
-        if (_getAltitudesForCoordinates(_requestQueue[i].coordinates, altitudes)) {
-            _requestQueue[i].elevationProvider->_signalTerrainData(_requestQueue[i].coordinates.count() == altitudes.count(), altitudes);
-            _requestQueue.removeAt(i);
-        }
-    }
-}
-
-QString TerrainBatchManager::_getTileHash(const QGeoCoordinate& coordinate)
-{
-    QString ret = QGCMapEngine::getTileHash(UrlFactory::AirmapElevation, QGCMapEngine::long2elevationTileX(coordinate.longitude(), 1), QGCMapEngine::lat2elevationTileY(coordinate.latitude(), 1), 1);
-    qCDebug(ElevationProviderLog) << "Computing unique tile hash for " << coordinate << ret;
-
-    return ret;
-}
-
-ElevationProvider::ElevationProvider(QObject* parent)
-    : QObject(parent)
-{
-
-}
-
-bool ElevationProvider::queryTerrainData(const QList<QGeoCoordinate>& coordinates)
-{
-    if (coordinates.length() == 0) {
-        return false;
-    }
-
-    _terrainBatchManager->addQuery(this, coordinates);
-
-    return false;
-}
-
-void ElevationProvider::_signalTerrainData(bool success, QList<float>& altitudes)
-{
-    emit terrainData(success, altitudes);
-}

src/Terrain.h

-/****************************************************************************
- *
- *   (c) 2017 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 "TerrainTile.h"
-#include "QGCMapEngineData.h"
-#include "QGCLoggingCategory.h"
-
-#include <QObject>
-#include <QGeoCoordinate>
-#include <QNetworkAccessManager>
-#include <QHash>
-#include <QMutex>
-#include <QtLocation/private/qgeotiledmapreply_p.h>
-
-Q_DECLARE_LOGGING_CATEGORY(ElevationProviderLog)
-
-class ElevationProvider;
-
-/// Used internally by ElevationProvider to batch requests together
-class TerrainBatchManager : public QObject {
-    Q_OBJECT
-
-public:
-    TerrainBatchManager(void);
-
-    void addQuery(ElevationProvider* elevationProvider, const QList<QGeoCoordinate>& coordinates);
-
-private slots:
-    void _fetchedTile       (void);                             /// slot to handle fetched elevation tiles
-
-private:
-    typedef struct {
-        ElevationProvider*      elevationProvider;
-        QList<QGeoCoordinate>   coordinates;
-    } QueuedRequestInfo_t;
-
-    enum class State {
-        Idle,
-        Downloading,
-    };
-
-    void _tileFailed(void);
-    bool _getAltitudesForCoordinates(const QList<QGeoCoordinate>& coordinates, QList<float>& altitudes);
-    QString _getTileHash(const QGeoCoordinate& coordinate);     /// Method to create a unique string for each tile
-
-    QList<QueuedRequestInfo_t>  _requestQueue;
-    State                       _state = State::Idle;
-    QNetworkAccessManager       _networkManager;
-
-    QMutex                      _tilesMutex;
-    QHash<QString, TerrainTile> _tiles;
-};
-
-class ElevationProvider : public QObject
-{
-    Q_OBJECT
-public:
-    ElevationProvider(QObject* parent = NULL);
-
-    /**
-     * Async elevation query for a list of lon,lat coordinates. When the query is done, the terrainData() signal
-     * is emitted. This call caches local elevation tables for faster lookup in the future.
-     * @param coordinates
-     * @return true on success
-     */
-    bool queryTerrainData(const QList<QGeoCoordinate>& coordinates);
-
-    /// Internal method
-    void _signalTerrainData(bool success, QList<float>& altitudes);
-
-signals:
-    /// signal returning requested elevation data
-    void terrainData(bool success, QList<float> altitudes);
-};

src/TerrainTile.cc

@@ -100,7 +100,7 @@ bool TerrainTile::isIn(const QGeoCoordinate& coordinate) const
     return ret;
 }
 
-float TerrainTile::elevation(const QGeoCoordinate& coordinate) const
+double TerrainTile::elevation(const QGeoCoordinate& coordinate) const
 {
     if (_isValid) {
         qCDebug(TerrainTileLog) << "elevation: " << coordinate << " , in sw " << _southWest << " , ne " << _northEast;

src/TerrainTile.h

@@ -54,28 +54,28 @@ public:
     * @param coordinate
     * @return elevation
     */
-    float elevation(const QGeoCoordinate& coordinate) const;
+    double elevation(const QGeoCoordinate& coordinate) const;
 
     /**
     * Accessor for the minimum elevation of the tile
     *
     * @return minimum elevation
     */
-    float minElevation(void) const { return _minElevation; }
+    double minElevation(void) const { return _minElevation; }
 
     /**
     * Accessor for the maximum elevation of the tile
     *
     * @return maximum elevation
     */
-    float maxElevation(void) const { return _maxElevation; }
+    double maxElevation(void) const { return _maxElevation; }
 
     /**
     * Accessor for the average elevation of the tile
     *
     * @return average elevation
     */
-    float avgElevation(void) const { return _avgElevation; }
+    double avgElevation(void) const { return _avgElevation; }
 
     /**
     * Accessor for the center coordinate
@@ -91,6 +91,9 @@ public:
     */
     static QByteArray serialize(QByteArray input);
 
+    /// Approximate spacing of the elevation data measurement points
+    static constexpr double terrainAltitudeSpacing = 30.0;
+
 private:
     inline int _latToDataIndex(double latitude) const;
     inline int _lonToDataIndex(double longitude) const;

src/VideoStreaming/README.md

@@ -40,6 +40,9 @@ list=$(apt-cache --names-only search ^gstreamer1.0-* | awk '{ print $1 }' | grep
 ```
 sudo apt-get install $list
 ```
+```
+sudo apt-get install libgstreamer-plugins-base1.0-dev
+```
 
 The build system is setup to use pkgconfig and it will find the necessary headers and libraries automatically.
 

src/VideoStreaming/VideoStreaming.pri

@@ -181,24 +181,7 @@ VideoEnabled {
 } else {
     LinuxBuild|MacBuild|iOSBuild|WindowsBuild|AndroidBuild {
         message("Skipping support for video streaming (GStreamer libraries not installed)")
-        MacBuild {
-            message("  You can download it from http://gstreamer.freedesktop.org/data/pkg/osx/")
-            message("  Select the devel package and install it (gstreamer-1.0-devel-1.x.x-x86_64.pkg)")
-            message("  It will be installed in /Libraries/Frameworks")
-        }
-        LinuxBuild {
-            message("  You can install it using apt-get")
-            message("  sudo apt-get install gstreamer1.0*")
-        }
-        WindowsBuild {
-            message("  You can download it from http://gstreamer.freedesktop.org/data/pkg/windows/")
-            message("  Select the devel AND runtime packages and install them (x86, not the 64-Bit)")
-            message("  It will be installed in C:/gstreamer. You need to update you PATH to point to the bin directory.")
-        }
-        AndroidBuild {
-            message("  You can download it from http://gstreamer.freedesktop.org/data/pkg/android/")
-            message("  Uncompress the archive into the qgc root source directory (same directory where qgroundcontrol.pro is found.")
-        }
+        message("Installation instructions here: https://github.com/mavlink/qgroundcontrol/blob/master/src/VideoStreaming/README.md")
     } else {
         message("Skipping support for video streaming (Unsupported platform)")
     }

src/comm/MockLink.cc

@@ -35,9 +35,15 @@ QGC_LOGGING_CATEGORY(MockLinkVerboseLog, "MockLinkVerboseLog")
 
 // Vehicle position is set close to default Gazebo vehicle location. This allows for multi-vehicle
 // testing of a gazebo vehicle and a mocklink vehicle
-double      MockLink::_defaultVehicleLatitude =     47.397f;
-double      MockLink::_defaultVehicleLongitude =    8.5455f;
-double      MockLink::_defaultVehicleAltitude =     488.056f;
+#if 1
+double      MockLink::_defaultVehicleLatitude =     47.397;
+double      MockLink::_defaultVehicleLongitude =    8.5455;
+double      MockLink::_defaultVehicleAltitude =     488.056;
+#else
+double      MockLink::_defaultVehicleLatitude =     47.6333022928789;
+double      MockLink::_defaultVehicleLongitude =    -122.08833157994995;
+double      MockLink::_defaultVehicleAltitude =     19.0;
+#endif
 int         MockLink::_nextVehicleSystemId =        128;
 const char* MockLink::_failParam =                  "COM_FLTMODE6";