Merge pull request #8586 from DonLakeFlyer/VTOLFixes

VTOL Fixes

src/FirmwarePlugin/PX4/MavCmdInfoMultiRotor.json

@@ -25,7 +25,8 @@
         {
             "id":           22,
             "comment":      "MAV_CMD_NAV_TAKEOFF",
-            "paramRemove":  "1"
+            "paramRemove":  "1",
+            "description":  "Hover straight up to specified altitude. Then travel to specified position."
         }
     ]
 }

src/MissionManager/MavCmdInfoCommon.json

@@ -51,7 +51,7 @@
                 "decimalPlaces":    2
             },
             "param4": {
-                "label":            "Heading",
+                "label":            "Yaw",
                 "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
@@ -73,7 +73,7 @@
                 "decimalPlaces":    2
             },
             "param4": {
-                "label":            "Heading",
+                "label":            "Yaw",
                 "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
@@ -100,7 +100,7 @@
                 "decimalPlaces":    2
             },
             "param4": {
-                "label":            "Heading",
+                "label":            "Yaw",
                 "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
@@ -128,7 +128,7 @@
                 "decimalPlaces":    2
             },
             "param4": {
-                "label":            "Heading",
+                "label":            "Yaw",
                 "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
@@ -149,6 +149,7 @@
             "friendlyName":         "Land",
             "description":          "Land vehicle at the specified location.",
             "specifiesCoordinate":  true,
+            "isLandCommand":        true,
             "friendlyEdit":         true,
             "category":             "Basic",
             "param1": {
@@ -158,7 +159,7 @@
                 "decimalPlaces":    2
             },
             "param4": {
-                "label":            "Heading",
+                "label":            "Yaw",
                 "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
@@ -169,7 +170,7 @@
             "id":                   22,
             "rawName":              "MAV_CMD_NAV_TAKEOFF",
             "friendlyName":         "Takeoff",
-            "description":          "Take off from the ground and travel towards the specified position.",
+            "description":          "Launch from the ground and travel towards the specified takeoff position.",
             "specifiesCoordinate":  true,
             "friendlyEdit":         true,
             "category":             "Basic",
@@ -180,7 +181,7 @@
                 "decimalPlaces":    2
             },
             "param4": {
-                "label":            "Heading",
+                "label":            "Yaw",
                 "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
@@ -287,12 +288,12 @@
             "id":                   84,
             "rawName":              "MAV_CMD_NAV_VTOL_TAKEOFF",
             "friendlyName":         "VTOL takeoff",
-            "description":          "Takeoff in VTOL mode, transition to forward flight and fly to the specified location.",
+            "description":          "Hover straight up to specified altitude, transition to fixed-wing and fly to the specified takeoff location.",
             "specifiesCoordinate":  true,
             "friendlyEdit":         true,
-            "category":             "VTOL",
+            "category":             "Basic",
             "param4": {
-                "label":            "Heading",
+                "label":            "Yaw",
                 "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
@@ -302,13 +303,14 @@
         {
             "id":                   85,
             "rawName":              "MAV_CMD_NAV_VTOL_LAND",
-            "friendlyName":         "VTOL transition and land",
-            "description":          "Transition to VTOL mode and land.",
+            "friendlyName":         "VTOL land",
+            "description":          "Fly to specified location at current altitude, transition to multi-rotor and land.",
             "specifiesCoordinate":  true,
+            "isLandCommand":        true,
             "friendlyEdit":         true,
-            "category":             "VTOL",
+            "category":             "Basic",
             "param4": {
-                "label":            "Heading",
+                "label":            "Yaw",
                 "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
@@ -400,11 +402,11 @@
         {
             "id":           115,
             "rawName":      "MAV_CMD_CONDITION_YAW",
-            "friendlyName": "Wait for Heading",
-            "description":  "Delay the mission until the specified heading is reached.",
+            "friendlyName": "Wait for Yaw",
+            "description":  "Delay the mission until the specified yaw is reached.",
             "category":     "Conditionals",
             "param1": {
-                "label":            "Heading",
+                "label":            "Yaw",
                 "units":            "deg",
                 "default":          0,
                 "decimalPlaces":    1

src/MissionManager/MissionCommandUIInfo.cc

@@ -37,6 +37,7 @@ const char* MissionCommandUIInfo::_rawNameJsonKey               = "rawName";
 const char* MissionCommandUIInfo::_standaloneCoordinateJsonKey  = "standaloneCoordinate";
 const char* MissionCommandUIInfo::_specifiesCoordinateJsonKey   = "specifiesCoordinate";
 const char* MissionCommandUIInfo::_specifiesAltitudeOnlyJsonKey = "specifiesAltitudeOnly";
+const char* MissionCommandUIInfo::_isLandCommandJsonKey         = "isLandCommand";
 const char* MissionCommandUIInfo::_unitsJsonKey                 = "units";
 const char* MissionCommandUIInfo::_commentJsonKey               = "comment";
 const char* MissionCommandUIInfo::_advancedCategory             = "Advanced";
@@ -164,6 +165,15 @@ bool MissionCommandUIInfo::specifiesAltitudeOnly(void) const
     }
 }
 
+bool MissionCommandUIInfo::isLandCommand(void) const
+{
+    if (_infoMap.contains(_isLandCommandJsonKey)) {
+        return _infoMap[_isLandCommandJsonKey].toBool();
+    } else {
+        return false;
+    }
+}
+
 void MissionCommandUIInfo::_overrideInfo(MissionCommandUIInfo* uiInfo)
 {
     // Override info values
@@ -199,7 +209,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
     QStringList allKeys;
     allKeys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _standaloneCoordinateJsonKey << _specifiesCoordinateJsonKey
             <<_friendlyEditJsonKey << _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _param5JsonKey << _param6JsonKey << _param7JsonKey
-            << _paramRemoveJsonKey << _categoryJsonKey << _specifiesAltitudeOnlyJsonKey;
+            << _paramRemoveJsonKey << _categoryJsonKey << _specifiesAltitudeOnlyJsonKey << _isLandCommandJsonKey;
 
     // Look for unknown keys in top level object
     for (const QString& key: jsonObject.keys()) {
@@ -231,7 +241,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
     QList<QJsonValue::Type> types;
     types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool << QJsonValue::Bool
           << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object
-          << QJsonValue::String << QJsonValue::String << QJsonValue::Bool;
+          << QJsonValue::String << QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool;
     if (!JsonHelper::validateKeyTypes(jsonObject, allKeys, types, internalError)) {
         errorString = _loadErrorString(internalError);
         return false;
@@ -262,6 +272,9 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
     if (jsonObject.contains(_specifiesAltitudeOnlyJsonKey)) {
         _infoMap[_specifiesAltitudeOnlyJsonKey] = jsonObject.value(_specifiesAltitudeOnlyJsonKey).toBool();
     }
+    if (jsonObject.contains(_isLandCommandJsonKey)) {
+        _infoMap[_isLandCommandJsonKey] = jsonObject.value(_isLandCommandJsonKey).toBool();
+    }
     if (jsonObject.contains(_friendlyEditJsonKey)) {
         _infoMap[_friendlyEditJsonKey] = jsonObject.value(_friendlyEditJsonKey).toVariant();
     }
@@ -289,6 +302,9 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
         if (!_infoAvailable(_specifiesCoordinateJsonKey)) {
             _setInfoValue(_specifiesCoordinateJsonKey, false);
         }
+        if (!_infoAvailable(_isLandCommandJsonKey)) {
+            _setInfoValue(_isLandCommandJsonKey, false);
+        }
         if (!_infoAvailable(_friendlyEditJsonKey)) {
             _setInfoValue(_friendlyEditJsonKey, false);
         }

src/MissionManager/MissionCommandUIInfo.h

@@ -96,6 +96,7 @@ private:
 /// specifiesCoordinate     bool    false       true: Command specifies a lat/lon/alt coordinate
 /// specifiesAltitudeOnly   bool    false       true: Command specifies an altitude only (no coordinate)
 /// standaloneCoordinate    bool    false       true: Vehicle does not fly through coordinate associated with command (exampl: ROI)
+/// isLandCommand           bool    false       true: Command specifies a land command (LAND, VTOL_LAND, ...)
 /// friendlyEdit            bool    false       true: Command supports friendly editing dialog, false: Command supports 'Show all values" style editing only
 /// category                string  Advanced    Category which this command belongs to
 /// paramRemove             string              Used by an override to remove params, example: "1,3" will remove params 1 and 3 on the override
@@ -118,6 +119,7 @@ public:
     Q_PROPERTY(bool     isStandaloneCoordinate  READ isStandaloneCoordinate CONSTANT)
     Q_PROPERTY(bool     specifiesCoordinate     READ specifiesCoordinate    CONSTANT)
     Q_PROPERTY(bool     specifiesAltitudeOnly   READ specifiesAltitudeOnly  CONSTANT)
+    Q_PROPERTY(bool     isLandCommand           READ isLandCommand          CONSTANT)
     Q_PROPERTY(int      command                 READ intCommand             CONSTANT)
 
     MAV_CMD command(void) const { return _command; }
@@ -131,6 +133,7 @@ public:
     bool    isStandaloneCoordinate  (void) const;
     bool    specifiesCoordinate     (void) const;
     bool    specifiesAltitudeOnly   (void) const;
+    bool    isLandCommand           (void) const;
 
     /// Load the data in the object from the specified json
     ///     @param jsonObject Json object to load from
@@ -190,6 +193,7 @@ private:
     static const char* _standaloneCoordinateJsonKey;
     static const char* _specifiesCoordinateJsonKey;
     static const char* _specifiesAltitudeOnlyJsonKey;
+    static const char* _isLandCommandJsonKey;
     static const char* _unitsJsonKey;
     static const char* _commentJsonKey;    
     static const char* _advancedCategory;

src/MissionManager/MissionController.cc

@@ -348,6 +348,8 @@ VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordin
     _initVisualItem(newItem);
 
     if (newItem->specifiesAltitude()) {
+        const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, command);
+        if (!uiInfo->isLandCommand()) {
             double  prevAltitude;
             int     prevAltitudeMode;
 
@@ -356,6 +358,7 @@ VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordin
                 newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
             }
         }
+    }
     newItem->setMissionFlightStatus(_missionFlightStatus);
     if (visualItemIndex == -1) {
         _visualItems->append(newItem);
@@ -418,7 +421,7 @@ VisualMissionItem* MissionController::insertLandItem(QGeoCoordinate coordinate,
         fwLanding->setLoiterDragAngleOnly(true);
         return fwLanding;
     } else {
-        return _insertSimpleMissionItemWorker(coordinate, MAV_CMD_NAV_RETURN_TO_LAUNCH, visualItemIndex, makeCurrentItem);
+        return _insertSimpleMissionItemWorker(coordinate, _managerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_RETURN_TO_LAUNCH, visualItemIndex, makeCurrentItem);
     }
 }
 

src/MissionManager/SimpleMissionItem.cc

@@ -182,6 +182,7 @@ void SimpleMissionItem::_connectSignals(void)
     connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::specifiesCoordinateChanged);
     connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::specifiesAltitudeOnlyChanged);
     connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::isStandaloneCoordinateChanged);
+    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::isLandCommandChanged);
 
     // Whenever these properties change the ui model changes as well
     connect(this, &SimpleMissionItem::commandChanged,       this, &SimpleMissionItem::_rebuildFacts);
@@ -743,21 +744,13 @@ void SimpleMissionItem::_setDefaultsForCommand(void)
         }
     }
 
-    switch (command) {
-    case MAV_CMD_NAV_WAYPOINT:
+    if (command == MAV_CMD_NAV_WAYPOINT) {
         // We default all acceptance radius to 0. This allows flight controller to be in control of
         // accept radius.
         _missionItem.setParam2(0);
-        break;
-
-    case MAV_CMD_NAV_LAND:
-    case MAV_CMD_NAV_VTOL_LAND:
-    case MAV_CMD_DO_SET_ROI_LOCATION:
+    } else if ((uiInfo && uiInfo->isLandCommand()) || command == MAV_CMD_DO_SET_ROI_LOCATION) {
         _altitudeFact.setRawValue(0);
         _missionItem.setParam7(0);
-        break;
-    default:
-        break;
     }
 
     _missionItem.setAutoContinue(true);
@@ -984,3 +977,10 @@ void SimpleMissionItem::_possibleAdditionalTimeDelayChanged(void)
 
     return;
 }
+
+bool SimpleMissionItem::isLandCommand(void) const
+{
+    MAV_CMD command = static_cast<MAV_CMD>(this->command());
+    const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, command);
+    return uiInfo->isLandCommand();
+}

src/MissionManager/SimpleMissionItem.h

@@ -100,6 +100,7 @@ public:
     bool            dirty                   (void) const override { return _dirty; }
     bool            isSimpleItem            (void) const final { return true; }
     bool            isStandaloneCoordinate  (void) const final;
+    bool            isLandCommand           (void) const final;
     bool            specifiesCoordinate     (void) const final;
     bool            specifiesAltitudeOnly   (void) const final;
     QString         commandDescription      (void) const final;

src/MissionManager/TakeoffMissionItem.cc

@@ -125,7 +125,7 @@ void TakeoffMissionItem::_initLaunchTakeoffAtSameLocation(void)
         if (_controllerVehicle->fixedWing() || _controllerVehicle->vtol()) {
             setLaunchTakeoffAtSameLocation(false);
         } else {
-            // PX4 specifies a coordinate for takeoff even for non fixed wing. But it makes more sense to not have a coordinate
+            // PX4 specifies a coordinate for takeoff even for multi-rotor. But it makes more sense to not have a coordinate
             // from and end user standpoint. So even for PX4 we try to keep launch and takeoff at the same position. Unless the
             // user has moved/loaded launch at a different location than takeoff.
             if (coordinate().isValid() && _settingsItem->coordinate().isValid()) {

src/MissionManager/VisualMissionItem.h

@@ -68,6 +68,7 @@ public:
     Q_PROPERTY(bool             specifiesAltitudeOnly               READ specifiesAltitudeOnly                                              NOTIFY specifiesAltitudeOnlyChanged)                ///< true: Item has altitude only, no full coordinate
     Q_PROPERTY(bool             isSimpleItem                        READ isSimpleItem                                                       NOTIFY isSimpleItemChanged)                         ///< Simple or Complex MissionItem
     Q_PROPERTY(bool             isTakeoffItem                       READ isTakeoffItem                                                      NOTIFY isTakeoffItemChanged)                        ///< true: Takeoff item special case
+    Q_PROPERTY(bool             isLandCommand                       READ isLandCommand                                                      NOTIFY isLandCommandChanged)                        ///< true: Takeoff item special case
     Q_PROPERTY(QString          editorQml                           MEMBER _editorQml                                                       CONSTANT)                                           ///< Qml code for editing this item
     Q_PROPERTY(QString          mapVisualQML                        READ mapVisualQML                                                       CONSTANT)                                           ///< QMl code for map visuals
     Q_PROPERTY(double           specifiedFlightSpeed                READ specifiedFlightSpeed                                               NOTIFY specifiedFlightSpeedChanged)                 ///< NaN for not specified
@@ -131,6 +132,7 @@ public:
     virtual bool            dirty                   (void) const = 0;
     virtual bool            isSimpleItem            (void) const = 0;
     virtual bool            isTakeoffItem           (void) const { return false; }
+    virtual bool            isLandCommand           (void) const { return false; }
     virtual bool            isStandaloneCoordinate  (void) const = 0;
     virtual bool            specifiesCoordinate     (void) const = 0;
     virtual bool            specifiesAltitudeOnly   (void) const = 0;
@@ -208,6 +210,7 @@ signals:
     void sequenceNumberChanged          (int sequenceNumber);
     void isSimpleItemChanged            (bool isSimpleItem);
     void isTakeoffItemChanged           (bool isTakeoffItem);
+    void isLandCommandChanged           (void);
     void specifiesCoordinateChanged     (void);
     void isStandaloneCoordinateChanged  (void);
     void specifiesAltitudeOnlyChanged   (void);

src/PlanView/PlanView.qml

@@ -629,7 +629,7 @@ Item {
                     dropPanelComponent: _singleComplexItem ? undefined : patternDropPanel
                 },
                 {
-                    name:               _planMasterController.controllerVehicle.fixedWing ? qsTr("Land") : qsTr("Return"),
+                    name:               _planMasterController.controllerVehicle.multiRotor ? qsTr("Return") : qsTr("Land"),
                     iconSource:         "/res/rtl.svg",
                     buttonEnabled:      _missionController.isInsertLandValid,
                     buttonVisible:      _isMissionLayer

src/PlanView/SimpleItemEditor.qml

@@ -59,6 +59,16 @@ Rectangle {
         anchors.left:       parent.left
         anchors.right:      parent.right
         anchors.top:        parent.top
+        spacing:            _margin
+
+        QGCLabel {
+            width:          parent.width
+            wrapMode:       Text.WordWrap
+            font.pointSize: ScreenTools.smallFontPointSize
+            text:           missionItem.rawEdit ?
+                                qsTr("Provides advanced access to all commands/parameters. Be very careful!") :
+                                missionItem.commandDescription
+        }
 
         ColumnLayout {
             anchors.left:       parent.left
@@ -67,7 +77,7 @@ Rectangle {
             visible:            missionItem.isTakeoffItem && missionItem.wizardMode // Hack special case for takeoff item
 
             QGCLabel {
-                text:               qsTr("Move 'T' Takeoff to the %1 location.").arg(_controllerVehicle.vtol ? qsTr("desired") : qsTr("climbout"))
+                text:               qsTr("Move '%1' Takeoff to the %2 location.").arg(_controllerVehicle.vtol ? qsTr("V") : qsTr("T")).arg(_controllerVehicle.vtol ? qsTr("desired") : qsTr("climbout"))
                 Layout.fillWidth:   true
                 wrapMode:           Text.WordWrap
                 visible:            !initialClickLabel.visible
@@ -77,7 +87,7 @@ Rectangle {
                 text:               qsTr("Ensure clear of obstacles and into the wind.")
                 Layout.fillWidth:   true
                 wrapMode:           Text.WordWrap
-                visible:            !initialClickLabel.visible && !_controllerVehicle.vtol
+                visible:            !initialClickLabel.visible
             }
 
             QGCButton {
@@ -107,15 +117,6 @@ Rectangle {
             spacing:            _margin
             visible:            !missionItem.wizardMode
 
-            QGCLabel {
-                width:          parent.width
-                wrapMode:       Text.WordWrap
-                font.pointSize: ScreenTools.smallFontPointSize
-                text:           missionItem.rawEdit ?
-                                    qsTr("Provides advanced access to all commands/parameters. Be very careful!") :
-                                    missionItem.commandDescription
-            }
-
             GridLayout {
                 anchors.left:   parent.left
                 anchors.right:  parent.right
@@ -162,6 +163,14 @@ Rectangle {
                     anchors.right:      parent.right
                     spacing:            _margin
 
+                    QGCLabel {
+                        width:          parent.width
+                        wrapMode:       Text.WordWrap
+                        font.pointSize: ScreenTools.smallFontPointSize
+                        text:           qsTr("Altitude below specifies the approximate altitude of the ground. Normally 0 for landing back at original launch location.")
+                        visible:        missionItem.isLandCommand
+                    }
+
                     Item {
                         width:  altHamburger.x + altHamburger.width
                         height: altModeLabel.height