Merge pull request #5097 from DonLakeFlyer/DefaultHoverCruiseSpeed

Plan: Default hover/cruise speed, stop trying to pull from vehicle

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -247,17 +247,3 @@ bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle*
     }
     return true;
 }
-
-void ArduCopterFirmwarePlugin::missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed)
-{
-    QString hoverSpeedParam("WPNAV_SPEED");
-
-    // First pull settings defaults
-    FirmwarePlugin::missionFlightSpeedInfo(vehicle, hoverSpeed, cruiseSpeed);
-
-    cruiseSpeed = 0;
-    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, hoverSpeedParam)) {
-        Fact* speed = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, hoverSpeedParam);
-        hoverSpeed = speed->rawValue().toDouble() / 100; // cm/s -> m/s
-    }
-}

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -76,7 +76,6 @@ public:
     QString takeControlFlightMode(void) const override { return QString("Stablize"); }
     bool vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const final;
     QString autoDisarmParameter(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral("DISARM_DELAY"); }
-    void missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed) override;
 
 private:
     static bool _remapParamNameIntialized;

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -466,16 +466,6 @@ QString FirmwarePlugin::autoDisarmParameter(Vehicle* vehicle)
     return QString();
 }
 
-void FirmwarePlugin::missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed)
-{
-    Q_UNUSED(vehicle);
-
-    // Best we can do is use settings
-    AppSettings* appSettings = qgcApp()->toolbox()->settingsManager()->appSettings();
-    hoverSpeed = appSettings->offlineEditingHoverSpeed()->rawValue().toDouble();
-    cruiseSpeed = appSettings->offlineEditingCruiseSpeed()->rawValue().toDouble();
-}
-
 bool FirmwarePlugin::hasGimbal(Vehicle* vehicle, bool& rollSupported, bool& pitchSupported, bool& yawSupported)
 {
     Q_UNUSED(vehicle);

src/FirmwarePlugin/FirmwarePlugin.h

@@ -282,11 +282,6 @@ public:
     ///     @param[out] cruiseAmps Current draw in amps during cruise
     virtual void batteryConsumptionData(Vehicle* vehicle, int& mAhBattery, double& hoverAmps, double& cruiseAmps) const;
 
-    /// Returns the default mission flight speeds.
-    ///     @param[out] hoverSpeed Flight speed for vehicle flying in multi-rotor mode. 0 for none, or not available.
-    ///     @param[out] cruiseSpeed Flight speed for vehicle flying in fixed wing forward flight mode. 0 for none, or not available.
-    virtual void missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed);
-
     // Returns the parameter which control auto-disarm. Assume == 0 means no auto disarm
     virtual QString autoDisarmParameter(Vehicle* vehicle);
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -547,21 +547,3 @@ bool PX4FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicl
     }
     return true;
 }
-
-void PX4FirmwarePlugin::missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed)
-{
-    QString hoverSpeedParam("MPC_XY_CRUISE");
-    QString cruiseSpeedParam("FW_AIRSPD_TRIM");
-
-    // First pull settings defaults
-    FirmwarePlugin::missionFlightSpeedInfo(vehicle, hoverSpeed, cruiseSpeed);
-
-    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, hoverSpeedParam)) {
-        Fact* speed = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, hoverSpeedParam);
-        hoverSpeed = speed->rawValue().toDouble();
-    }
-    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, cruiseSpeedParam)) {
-        Fact* speed = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, cruiseSpeedParam);
-        cruiseSpeed = speed->rawValue().toDouble();
-    }
-}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -68,7 +68,6 @@ public:
     QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
     bool                vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const override;
     QString             autoDisarmParameter             (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("COM_DISARM_LAND"); }
-    void                missionFlightSpeedInfo          (Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed) override;
 
 protected:
     typedef struct {

src/MissionManager/SpeedSection.cc

@@ -27,14 +27,11 @@ SpeedSection::SpeedSection(Vehicle* vehicle, QObject* parent)
         _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/SpeedSection.FactMetaData.json"), NULL /* metaDataParent */);
     }
 
-    double hoverSpeed, cruiseSpeed;
     double flightSpeed = 0;
-
-    _vehicle->firmwarePlugin()->missionFlightSpeedInfo(_vehicle, hoverSpeed, cruiseSpeed);
     if (_vehicle->multiRotor()) {
-        flightSpeed = hoverSpeed;
-    } else if (_vehicle->fixedWing()) {
-        flightSpeed = cruiseSpeed;
+        flightSpeed = _vehicle->defaultHoverSpeed();
+    } else {
+        flightSpeed = _vehicle->defaultCruiseSpeed();
     }
 
     _metaDataMap[_flightSpeedName]->setRawDefaultValue(flightSpeed);

src/Settings/App.SettingsGroup.json

@@ -5,7 +5,7 @@
     "type":             "uint32",
     "enumStrings":      "ArduPilot,PX4 Pro,Mavlink Generic",
     "enumValues":       "3,12,0",
-    "defaultValue":     3
+    "defaultValue":     12
 },
 {
     "name":             "OfflineEditingVehicleType",
@@ -13,14 +13,14 @@
     "type":             "uint32",
     "enumStrings":      "Fixed Wing,Multi-Rotor,VTOL,Rover,Sub",
     "enumValues":       "1,2,19,10,12",
-    "defaultValue":     1
+    "defaultValue":     2
 },
 {
     "name":             "OfflineEditingCruiseSpeed",
     "shortDescription": "Offline editing cruise speed",
     "longDescription":  "This value defines the cruising speed for forward flight vehicles for use in calculating mission duration when not connected to a vehicle.",
     "type":             "double",
-    "defaultValue":     16.0,
+    "defaultValue":     15.0,
     "min":              1.0,
     "units":            "m/s",
     "decimalPlaces":    2
@@ -30,7 +30,7 @@
     "shortDescription": "Offline editing hover speed",
     "longDescription":  "This value defines the cruising speed for multi-rotor vehicles for use in calculating mission duration when not connected to a vehicle.",
     "type":             "double",
-    "defaultValue":     4.0,
+    "defaultValue":     5.0,
     "min":              1.0,
     "units":            "m/s",
     "decimalPlaces":    2