Pile of bugs fixes around map positioning

Plus low battery announce changes

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -401,7 +401,7 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
 
 void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange)
 {
-    if (!vehicle->homePositionAvailable()) {
+    if (!vehicle->homePosition().isValid()) {
         qgcApp()->showMessage(tr("Unable to change altitude, home position unknown."));
         return;
     }

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -133,6 +133,7 @@ FlightMap {
             var visualItem = missionController.visualItems
             if (visualItems && visualItems.count != 1) {
                 mapFitFunctions.fitMapViewportToMissionItems()
+                firstVehiclePositionReceived = true
             }
         }
     }
@@ -309,7 +310,7 @@ FlightMap {
         map:                    flightMap
         myGeoFenceController:   geoFenceController
         interactive:            false
-        homePosition:           _activeVehicle && _activeVehicle.homePositionAvailable ? _activeVehicle.homePosition : undefined
+        homePosition:           _activeVehicle && _activeVehicle.homePosition.isValid ? _activeVehicle.homePosition : undefined
     }
 
     // Rally points on map

src/FlightDisplay/FlightDisplayViewWidgets.qml

@@ -112,7 +112,7 @@ Item {
 
         QGCLabel {
             anchors.horizontalCenter:   parent.horizontalCenter
-            visible:                    _activeVehicle && !_activeVehicle.coordinateValid && _mainIsMap
+            visible:                    _activeVehicle && !_activeVehicle.coordinate.isValid && _mainIsMap
             z:                          QGroundControl.zOrderTopMost
             color:                      mapPal.text
             font.pointSize:             ScreenTools.largeFontPointSize

src/FlightMap/FlightMap.qml

@@ -54,7 +54,6 @@ Map {
 
     function _possiblyCenterToVehiclePosition() {
         if (!firstVehiclePositionReceived && allowVehicleLocationCenter && activeVehicleCoordinate.isValid) {
-            console.log("Moving to initial vehicle position", QGroundControl.flightMapInitialZoom)
             firstVehiclePositionReceived = true
             center = activeVehicleCoordinate
             zoomLevel = QGroundControl.flightMapInitialZoom

src/FlightMap/MapItems/VehicleMapItem.qml

@@ -26,7 +26,7 @@ MapQuickItem {
 
     anchorPoint.x:  vehicleIcon.width  / 2
     anchorPoint.y:  vehicleIcon.height / 2
-    visible:        vehicle && vehicle.coordinateValid
+    visible:        vehicle && vehicle.coordinate.isValid
 
     sourceItem: Image {
         id:                 vehicleIcon

src/MissionManager/MissionController.cc

@@ -139,7 +139,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
         _visualItems = newControllerMissionItems;
 
         if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) {
-            _addMissionSettings(_activeVehicle, _visualItems, _visualItems->count() > 0 /* addToCenter */);
+            _addMissionSettings(_activeVehicle, _visualItems, _editMode && _visualItems->count() > 0 /* addToCenter */);
         }
 
         _missionItemsRequested = false;
@@ -753,7 +753,10 @@ void MissionController::saveToFile(const QString& filename)
         file.write(saveDoc.toJson());
     }
 
+    // If we are connected to a real vehicle, don't clear dirty bit on saving to file since vehicle is still out of date
+    if (_activeVehicle->isOfflineEditingVehicle()) {
         _visualItems->setDirty(false);
+    }
 }
 
 void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference)
@@ -764,10 +767,6 @@ void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionIte
 
     // Convert to fixed altitudes
 
-    qCDebug(MissionControllerLog) << homeAlt
-                                  << currentItem->coordinateHasRelativeAltitude() << currentItem->coordinate().altitude()
-                                  << prevItem->exitCoordinateHasRelativeAltitude() << prevItem->exitCoordinate().altitude();
-
     distanceOk = true;
     if (currentItem->coordinateHasRelativeAltitude()) {
         currentCoord.setAltitude(homeAlt + currentCoord.altitude());
@@ -776,8 +775,6 @@ void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionIte
         prevCoord.setAltitude(homeAlt + prevCoord.altitude());
     }
 
-    qCDebug(MissionControllerLog) << "distanceOk" << distanceOk;
-
     if (distanceOk) {
         *altDifference = currentCoord.altitude() - prevCoord.altitude();
         *distance = prevCoord.distanceTo(currentCoord);
@@ -797,8 +794,6 @@ double MissionController::_calcDistanceToHome(VisualMissionItem* currentItem, Vi
 
     distanceOk = true;
 
-    qCDebug(MissionControllerLog) << "distanceOk" << distanceOk;
-
     return distanceOk ? homeCoord.distanceTo(currentCoord) : 0.0;
 }
 
@@ -809,7 +804,7 @@ void MissionController::_recalcWaypointLines(void)
 
     bool showHomePosition = _settingsItem->coordinate().isValid();
 
-    qCDebug(MissionControllerLog) << "_recalcWaypointLines";
+    qCDebug(MissionControllerLog) << "_recalcWaypointLines showHomePosition" << showHomePosition;
 
     CoordVectHashTable old_table = _linesTable;
     _linesTable.clear();
@@ -1178,7 +1173,9 @@ void MissionController::_setPlannedHomePositionFromFirstCoordinate(void)
 
 void MissionController::_recalcAll(void)
 {
+    if (_editMode) {
         _setPlannedHomePositionFromFirstCoordinate();
+    }
     _recalcSequence();
     _recalcChildItems();
     _recalcWaypointLines();

src/MissionManager/MissionManager.cc

@@ -441,6 +441,13 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message, bool m
         seq =           missionItem.seq;
     }
 
+    // We don't support editing ALT_INT frames so change on the way in.
+    if (frame == MAV_FRAME_GLOBAL_INT) {
+        frame = MAV_FRAME_GLOBAL;
+    } else if (frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
+        frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
+    }
+    
     qCDebug(MissionManagerLog) << "_handleMissionItem sequenceNumber:" << seq << command;
     
     if (_itemIndicesToRead.contains(seq)) {

src/MissionManager/MissionSettingsItem.cc

@@ -364,6 +364,9 @@ void MissionSettingsItem::_setDirty(void)
 
 void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate)
 {
+    if (coordinate.isValid()) {
+    qDebug() << "MissionSettingsItem::setCoordinate" << coordinate.isValid();
+    }
     if (_plannedHomePositionCoordinate != coordinate) {
         _plannedHomePositionCoordinate = coordinate;
         emit coordinateChanged(coordinate);

src/MissionManager/SimpleMissionItem.cc

@@ -502,11 +502,6 @@ bool SimpleMissionItem::friendlyEditAllowed(void) const
             switch (frame) {
             case MAV_FRAME_GLOBAL:
             case MAV_FRAME_GLOBAL_RELATIVE_ALT:
-#if 0
-            Coming soon
-            case MAV_FRAME_GLOBAL_INT:
-            case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
-#endif
                 return true;
                 break;
 

src/Vehicle/Vehicle.cc

@@ -57,8 +57,6 @@ const char* Vehicle::_windFactGroupName =       "wind";
 const char* Vehicle::_vibrationFactGroupName =  "vibration";
 const char* Vehicle::_temperatureFactGroupName = "temperature";
 
-const int Vehicle::_lowBatteryAnnounceRepeatMSecs = 30 * 1000;
-
 Vehicle::Vehicle(LinkInterface*             link,
                  int                        vehicleId,
                  int                        defaultComponentId,
@@ -82,9 +80,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _joystickMode(JoystickModeRC)
     , _joystickEnabled(false)
     , _uas(NULL)
-    , _coordinate(37.803784, -122.462276)
-    , _coordinateValid(false)
-    , _homePositionAvailable(false)
     , _mav(NULL)
     , _currentMessageCount(0)
     , _messageCount(0)
@@ -141,6 +136,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _firmwareMinorVersion(versionNotSetValue)
     , _firmwarePatchVersion(versionNotSetValue)
     , _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL)
+    , _lastAnnouncedLowBatteryPercent(100)
     , _rollFact             (0, _rollFactName,              FactMetaData::valueTypeDouble)
     , _pitchFact            (0, _pitchFactName,             FactMetaData::valueTypeDouble)
     , _headingFact          (0, _headingFactName,           FactMetaData::valueTypeDouble)
@@ -220,9 +216,6 @@ Vehicle::Vehicle(LinkInterface*             link,
 
     _mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints);
     connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint);
-
-    // Invalidate the timer to signal first announce
-    _lowBatteryAnnounceTimer.invalidate();
 }
 
 // Disconnected Vehicle for offline editing
@@ -246,9 +239,6 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _joystickMode(JoystickModeRC)
     , _joystickEnabled(false)
     , _uas(NULL)
-    , _coordinate(37.803784, -122.462276)
-    , _coordinateValid(false)
-    , _homePositionAvailable(false)
     , _mav(NULL)
     , _currentMessageCount(0)
     , _messageCount(0)
@@ -298,6 +288,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _firmwareMinorVersion(versionNotSetValue)
     , _firmwarePatchVersion(versionNotSetValue)
     , _gitHash(versionNotSetValue)
+    , _lastAnnouncedLowBatteryPercent(100)
     , _rollFact             (0, _rollFactName,              FactMetaData::valueTypeDouble)
     , _pitchFact            (0, _pitchFactName,             FactMetaData::valueTypeDouble)
     , _headingFact          (0, _headingFactName,           FactMetaData::valueTypeDouble)
@@ -636,10 +627,6 @@ void Vehicle::_handleGpsRawInt(mavlink_message_t& message)
     _gpsFactGroup.vdop()->setRawValue(gpsRawInt.epv == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.epv / 100.0);
     _gpsFactGroup.courseOverGround()->setRawValue(gpsRawInt.cog == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.cog / 100.0);
     _gpsFactGroup.lock()->setRawValue(gpsRawInt.fix_type);
-
-    if (gpsRawInt.fix_type >= GPS_FIX_TYPE_3D_FIX) {
-        _setCoordinateValid(true);
-    }
 }
 
 void Vehicle::_handleGlobalPositionInt(mavlink_message_t& message)
@@ -854,12 +841,12 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
     }
     _batteryFactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining);
 
-    if (sysStatus.battery_remaining > 0 && sysStatus.battery_remaining < _settingsManager->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toInt()) {
-        if (!_lowBatteryAnnounceTimer.isValid() || _lowBatteryAnnounceTimer.elapsed() > _lowBatteryAnnounceRepeatMSecs) {
-            _lowBatteryAnnounceTimer.restart();
+    if (sysStatus.battery_remaining > 0 &&
+            sysStatus.battery_remaining < _settingsManager->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toInt() &&
+            sysStatus.battery_remaining < _lastAnnouncedLowBatteryPercent) {
+        _lastAnnouncedLowBatteryPercent = sysStatus.battery_remaining;
         _say(QString("%1 low battery: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
     }
-    }
 
     _onboardControlSensorsPresent = sysStatus.onboard_control_sensors_present;
     _onboardControlSensorsEnabled = sysStatus.onboard_control_sensors_enabled;
@@ -903,9 +890,6 @@ void Vehicle::_handleBatteryStatus(mavlink_message_t& message)
 
 void Vehicle::_handleHomePosition(mavlink_message_t& message)
 {
-    bool emitHomePositionChanged =          false;
-    bool emitHomePositionAvailableChanged = false;
-
     mavlink_home_position_t homePos;
 
     mavlink_msg_home_position_decode(&message, &homePos);
@@ -913,23 +897,10 @@ void Vehicle::_handleHomePosition(mavlink_message_t& message)
     QGeoCoordinate newHomePosition (homePos.latitude / 10000000.0,
                                     homePos.longitude / 10000000.0,
                                     homePos.altitude / 1000.0);
-    if (!_homePositionAvailable || newHomePosition != _homePosition) {
-        emitHomePositionChanged = true;
+    if (newHomePosition != _homePosition) {
         _homePosition = newHomePosition;
-    }
-
-    if (!_homePositionAvailable) {
-        emitHomePositionAvailableChanged = true;
-        _homePositionAvailable = true;
-    }
-
-    if (emitHomePositionChanged) {
-        qCDebug(VehicleLog) << "New home position" << newHomePosition;
         emit homePositionChanged(_homePosition);
     }
-    if (emitHomePositionAvailableChanged) {
-        emit homePositionAvailableChanged(true);
-    }
 }
 
 void Vehicle::_handleHeartbeat(mavlink_message_t& message)
@@ -1173,22 +1144,6 @@ void Vehicle::_updatePriorityLink(void)
     }
 }
 
-void Vehicle::setLatitude(double latitude)
-{
-    _coordinate.setLatitude(latitude);
-    emit coordinateChanged(_coordinate);
-}
-
-void Vehicle::setLongitude(double longitude){
-    _coordinate.setLongitude(longitude);
-    emit coordinateChanged(_coordinate);
-}
-
-void Vehicle::setAltitude(double altitude){
-    _coordinate.setAltitude(altitude);
-    emit coordinateChanged(_coordinate);
-}
-
 void Vehicle::_updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64)
 {
     if (qIsInf(roll)) {
@@ -1476,13 +1431,9 @@ void Vehicle::setActive(bool active)
     _startJoystick(_active);
 }
 
-bool Vehicle::homePositionAvailable(void)
-{
-    return _homePositionAvailable;
-}
-
 QGeoCoordinate Vehicle::homePosition(void)
 {
+    qDebug() << "Vehicle::homePosition" << _homePosition.isValid();
     return _homePosition;
 }
 
@@ -1852,14 +1803,6 @@ bool Vehicle::supportsMotorInterference(void) const
     return _firmwarePlugin->supportsMotorInterference();
 }
 
-void Vehicle::_setCoordinateValid(bool coordinateValid)
-{
-    if (coordinateValid != _coordinateValid) {
-        _coordinateValid = coordinateValid;
-        emit coordinateValidChanged(_coordinateValid);
-    }
-}
-
 QString Vehicle::vehicleTypeName() const {
     static QMap<int, QString> typeNames = {
         { MAV_TYPE_GENERIC,         tr("Generic micro air vehicle" )},

src/Vehicle/Vehicle.h

@@ -238,8 +238,6 @@ public:
     Q_PROPERTY(int                  id                      READ id                                                     CONSTANT)
     Q_PROPERTY(AutoPilotPlugin*     autopilot               MEMBER _autopilotPlugin                                     CONSTANT)
     Q_PROPERTY(QGeoCoordinate       coordinate              READ coordinate                                             NOTIFY coordinateChanged)
-    Q_PROPERTY(bool                 coordinateValid         READ coordinateValid                                        NOTIFY coordinateValidChanged)
-    Q_PROPERTY(bool                 homePositionAvailable   READ homePositionAvailable                                  NOTIFY homePositionAvailableChanged)
     Q_PROPERTY(QGeoCoordinate       homePosition            READ homePosition                                           NOTIFY homePositionChanged)
     Q_PROPERTY(bool                 armed                   READ armed                  WRITE setArmed                  NOTIFY armedChanged)
     Q_PROPERTY(bool                 flightModeSetAvailable  READ flightModeSetAvailable                                 CONSTANT)
@@ -436,8 +434,6 @@ public:
     // Property accessors
 
     QGeoCoordinate coordinate(void) { return _coordinate; }
-    bool coordinateValid(void)      { return _coordinateValid; }
-    void _setCoordinateValid(bool coordinateValid);
 
     typedef enum {
         JoystickModeRC,         ///< Joystick emulates an RC Transmitter
@@ -494,7 +490,6 @@ public:
     GeoFenceManager*    geoFenceManager(void)   { return _geoFenceManager; }
     RallyPointManager*  rallyPointManager(void) { return _rallyPointManager; }
 
-    bool homePositionAvailable(void);
     QGeoCoordinate homePosition(void);
 
     bool armed(void) { return _armed; }
@@ -672,22 +667,13 @@ public:
     /// @true: When flying a mission the vehicle is always facing towards the next waypoint
     bool vehicleYawsToNextWaypointInMission(void) const;
 
-public slots:
-    /// Sets the firmware plugin instance data associated with this Vehicle. This object will be parented to the Vehicle
-    /// and destroyed when the vehicle goes away.
-    void setLatitude    (double latitude);
-    void setLongitude   (double longitude);
-    void setAltitude    (double altitude);
-
 signals:
     void allLinksInactive(Vehicle* vehicle);
     void coordinateChanged(QGeoCoordinate coordinate);
-    void coordinateValidChanged(bool coordinateValid);
     void joystickModeChanged(int mode);
     void joystickEnabledChanged(bool enabled);
     void activeChanged(bool active);
     void mavlinkMessageReceived(const mavlink_message_t& message);
-    void homePositionAvailableChanged(bool homePositionAvailable);
     void homePositionChanged(const QGeoCoordinate& homePosition);
     void armedChanged(bool armed);
     void flightModeChanged(const QString& flightMode);
@@ -859,9 +845,6 @@ private:
     UAS* _uas;
 
     QGeoCoordinate  _coordinate;
-    bool            _coordinateValid;       ///< true: vehicle has 3d lock and therefore valid location
-
-    bool            _homePositionAvailable;
     QGeoCoordinate  _homePosition;
 
     UASInterface*   _mav;
@@ -976,8 +959,7 @@ private:
 
     QString _gitHash;
 
-    static const int    _lowBatteryAnnounceRepeatMSecs; // Amount of time in between each low battery announcement
-    QElapsedTimer       _lowBatteryAnnounceTimer;
+    int _lastAnnouncedLowBatteryPercent;
 
     SharedLinkInterfacePointer _priorityLink;  // We always keep a reference to the priority link to manage shutdown ordering