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Commit 724a0c8c authored by Don Gagne's avatar Don Gagne
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All MavManager functionality now in Vehicle 

- Moved all MavManager functionality to Vehicle
- Updated all code to use Vehicle instead of MavManager
- Removed MavManager
parent 5a18381d
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Inline Side-by-side
Showing with 1091 additions and 442 deletions
QGCApplication.pro
View file @ 724a0c8c
......@@ -256,7 +256,6 @@ HEADERS += \
src/QGCQuickWidget.h \
src/QGCSingleton.h \
src/QGCTemporaryFile.h \
src/QmlControls/MavManager.h \
src/QmlControls/ParameterEditorController.h \
src/QmlControls/ScreenToolsController.h \
src/SerialPortIds.h \
......@@ -389,7 +388,6 @@ SOURCES += \
src/QGCQuickWidget.cc \
src/QGCSingleton.cc \
src/QGCTemporaryFile.cc \
src/QmlControls/MavManager.cc \
src/QmlControls/ParameterEditorController.cc \
src/QmlControls/ScreenToolsController.cc \
src/uas/FileManager.cc \
......
qgroundcontrol.qrc
View file @ 724a0c8c
......@@ -132,7 +132,6 @@
<file alias="QGroundControl/FlightMap/QGCCompassHUD.qml">src/FlightMap/Widgets/QGCCompassHUD.qml</file>
<file alias="QGroundControl/FlightMap/QGCCurrentAltitude.qml">src/FlightMap/Widgets/QGCCurrentAltitude.qml</file>
<file alias="QGroundControl/FlightMap/QGCCurrentSpeed.qml">src/FlightMap/Widgets/QGCCurrentSpeed.qml</file>
<file alias="QGroundControl/FlightMap/QGCHudMessage.qml">src/FlightMap/Widgets/QGCHudMessage.qml</file>
<file alias="QGroundControl/FlightMap/QGCMapToolButton.qml">src/FlightMap/Widgets/QGCMapToolButton.qml</file>
<file alias="QGroundControl/FlightMap/QGCPitchIndicator.qml">src/FlightMap/Widgets/QGCPitchIndicator.qml</file>
<file alias="QGroundControl/FlightMap/QGCSlider.qml">src/FlightMap/Widgets/QGCSlider.qml</file>
......
src/FlightMap/FlightMap.qml
View file @ 724a0c8c
......@@ -35,7 +35,6 @@ import QtPositioning 5.3
import QGroundControl.Controls 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.MavManager 1.0
import QGroundControl.MultiVehicleManager 1.0
import QGroundControl.Vehicle 1.0
......@@ -50,16 +49,13 @@ Item {
property bool alwaysNorth: true
property bool interactive: true
property bool showVehicles: true
property bool showWaypoints: false
property string mapName: 'defaultMap'
property alias mapItem: map
property alias waypoints: polyLine
property alias mapMenu: mapTypeMenu
property alias readOnly: map.readOnly
Component.onCompleted: {
map.zoomLevel = 18
map.markers = []
mapTypeMenu.update();
if (showVehicles) {
addExistingVehicles()
......@@ -76,7 +72,7 @@ Item {
for (var i = 0; i < map.supportedMapTypes.length; i++) {
if (mapID === map.supportedMapTypes[i].name) {
map.activeMapType = map.supportedMapTypes[i]
MavManager.saveSetting(root.mapName + "/currentMapType", mapID);
multiVehicleManager.saveSetting(root.mapName + "/currentMapType", mapID);
return;
}
}
......@@ -94,7 +90,7 @@ Item {
var mapID = ''
if (map.supportedMapTypes.length > 0)
mapID = map.activeMapType.name;
mapID = MavManager.loadSetting(root.mapName + "/currentMapType", mapID);
mapID = multiVehicleManager.loadSetting(root.mapName + "/currentMapType", mapID);
for (var i = 0; i < map.supportedMapTypes.length; i++) {
var name = map.supportedMapTypes[i].name;
addMap(name, mapID === name);
......@@ -139,26 +135,6 @@ Item {
return dist
}
function updateWaypoints() {
polyLine.path = []
// Are we initialized?
if (typeof map.markers != 'undefined' && typeof root.longitude != 'undefined') {
map.deleteMarkers()
if(root.showWaypoints) {
for(var i = 0; i < MavManager.waypoints.length; i++) {
var coord = QtPositioning.coordinate(MavManager.waypoints[i].latitude, MavManager.waypoints[i].longitude, MavManager.waypoints[i].altitude);
polyLine.addCoordinate(coord);
map.addMarker(coord, MavManager.waypoints[i].id);
}
if (typeof MavManager.waypoints != 'undefined' && MavManager.waypoints.length > 0) {
root.longitude = MavManager.waypoints[0].longitude
root.latitude = MavManager.waypoints[0].latitude
}
map.changed = false
}
}
}
property var vehicles: [] ///< List of known vehicles
property var vehicleMapItems: [] ///< List of know vehicle map items
......@@ -202,13 +178,6 @@ Item {
name: "QGroundControl"
}
Connections {
target: MavManager
onWaypointsChanged: {
root.updateWaypoints();
}
}
Connections {
target: multiVehicleManager
......@@ -216,10 +185,6 @@ Item {
onVehicleRemoved: removeVehicle(vehicle)
}
onShowWaypointsChanged: {
root.updateWaypoints();
}
Map {
id: map
......@@ -231,7 +196,6 @@ Item {
property bool changed: false
property bool readOnly: false
property variant scaleLengths: [5, 10, 25, 50, 100, 150, 250, 500, 1000, 2000, 5000, 10000, 20000, 50000, 100000, 200000, 500000, 1000000, 2000000]
property variant markers
plugin: mapPlugin
width: 1
......@@ -276,44 +240,6 @@ Item {
}
}
function updateMarker(coord, wpid)
{
if(wpid < polyLine.path.length) {
var tmpPath = polyLine.path;
tmpPath[wpid] = coord;
polyLine.path = tmpPath;
map.changed = true;
}
}
function addMarker(coord, wpid)
{
var marker = Qt.createQmlObject ('QGCWaypoint {}', map)
map.addMapItem(marker)
marker.z = map.z + 1
marker.coordinate = coord
marker.waypointID = wpid
// Update list of markers
var count = map.markers.length
var myArray = []
for (var i = 0; i < count; i++){
myArray.push(markers[i])
}
myArray.push(marker)
markers = myArray
}
function deleteMarkers()
{
if (typeof map.markers != 'undefined') {
var count = map.markers.length
for (var i = 0; i < count; i++) {
map.markers[i].destroy()
}
}
map.markers = []
}
function calculateScale() {
var coord1, coord2, dist, text, f
f = 0
......@@ -339,15 +265,6 @@ Item {
scaleImage.width = (scaleImage.sourceSize.width * f) - 2 * scaleImageLeft.sourceSize.width
scaleText.text = text
}
MapPolyline {
id: polyLine
visible: path.length > 1 && root.showWaypoints
line.width: 3
line.color: map.changed ? "#f97a2e" : "#e35cd8"
smooth: true
antialiasing: true
}
}
QGCSlider {
......
src/FlightMap/Widgets/QGCHudMessage.qml deleted 100644 → 0
View file @ 5a18381d
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief QGC HUD Message
* @author Gus Grubba <mavlink@grubba.com>
*/
import QtQuick 2.4
import QtQuick.Controls 1.3
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.MavManager 1.0
Item {
id: root
visible: MavManager.latestError !== ''
Rectangle {
anchors.fill: parent
color: Qt.rgba(0,0,0,0.75)
border.color: Qt.rgba(1,1,1,0.75)
radius: 4
QGCLabel {
anchors.horizontalCenter: parent.horizontalCenter
anchors.verticalCenter: parent.verticalCenter
antialiasing: true
font.weight: Font.DemiBold
text: MavManager.latestError
color: "#f84444"
}
OpacityAnimator {
id: vanish
target: root;
from: 1;
to: 0;
duration: 2000
running: false
}
}
Timer {
id: vanishTimer
interval: 30000
running: false
repeat: false
onTriggered: {
vanish.start();
}
}
MouseArea {
anchors.fill: parent
z: 1000
acceptedButtons: Qt.LeftButton
onClicked: {
if (mouse.button == Qt.LeftButton)
{
vanishTimer.stop();
vanish.stop();
root.opacity = 0;
}
}
}
Connections {
target: MavManager
onLatestErrorChanged: {
vanishTimer.stop();
vanish.stop();
vanishTimer.start();
root.opacity = 1;
}
}
}
src/FlightMap/qmldir
View file @ 724a0c8c
......@@ -13,7 +13,6 @@ QGCCompassHUD 1.0 QGCCompassHUD.qml
QGCCompassWidget 1.0 QGCCompassWidget.qml
QGCCurrentAltitude 1.0 QGCCurrentAltitude.qml
QGCCurrentSpeed 1.0 QGCCurrentSpeed.qml
QGCHudMessage 1.0 QGCHudMessage.qml
QGCMapToolButton 1.0 QGCMapToolButton.qml
QGCPitchIndicator 1.0 QGCPitchIndicator.qml
QGCSlider 1.0 QGCSlider.qml
......
src/QGCApplication.cc
View file @ 724a0c8c
......@@ -83,7 +83,6 @@ G_END_DECLS
#endif
#include "AutoPilotPlugin.h"
#include "VehicleComponent.h"
#include "MavManager.h"
#include "FirmwarePluginManager.h"
#include "MultiVehicleManager.h"
#include "Generic/GenericFirmwarePlugin.h"
......@@ -122,19 +121,6 @@ static QObject* screenToolsControllerSingletonFactory(QQmlEngine*, QJSEngine*)
return screenToolsController;
}
/**
* @brief MavManager creation callback
*
* This is called by the QtQuick engine for creating the singleton
**/
static QObject* mavManagerSingletonFactory(QQmlEngine*, QJSEngine*)
{
MavManager* mavManager = new MavManager;
qgcApp()->setMavManager(mavManager);
return mavManager;
}
#if defined(QGC_GST_STREAMING)
#ifdef Q_OS_MAC
#ifndef __ios__
......@@ -163,7 +149,6 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
: QApplication(argc, argv)
, _runningUnitTests(unitTesting)
, _styleIsDark(true)
, _pMavManager(NULL)
, _fakeMobile(false)
{
Q_ASSERT(_app == NULL);
......@@ -356,7 +341,6 @@ void QGCApplication::_initCommon(void)
//-- Create QML Singleton Interfaces
qmlRegisterSingletonType<ScreenToolsController>("QGroundControl.ScreenToolsController", 1, 0, "ScreenToolsController", screenToolsControllerSingletonFactory);
qmlRegisterSingletonType<MavManager>("QGroundControl.MavManager", 1, 0, "MavManager", mavManagerSingletonFactory);
//-- Register Waypoint Interface
qmlRegisterInterface<Waypoint>("Waypoint");
......@@ -788,17 +772,6 @@ void QGCApplication::_missingParamsDisplay(void)
"You should quit QGroundControl immediately and update your firmware.").arg(params));
}
void QGCApplication::setMavManager(MavManager* pMgr)
{
if(!_pMavManager)
_pMavManager = pMgr;
}
MavManager* QGCApplication::getMavManager()
{
return _pMavManager;
}
void QGCApplication::showToolBarMessage(const QString& message)
{
MainWindow* mainWindow = MainWindow::instance();
......
src/QGCApplication.h
View file @ 724a0c8c
......@@ -44,7 +44,6 @@
// Work around circular header includes
class QGCSingleton;
class MainWindow;
class MavManager;
/**
* @brief The main application and management class.
......@@ -101,12 +100,6 @@ public:
/// multiple times.
void reportMissingParameter(int componentId, const QString& name);
/// When the singleton is created, it sets a pointer for subsequent use
void setMavManager(MavManager* pMgr);
/// MavManager accessor
MavManager* getMavManager();
/// Show a non-modal message to the user
void showToolBarMessage(const QString& message);
......@@ -179,7 +172,6 @@ private:
static const int _missingParamsDelayedDisplayTimerTimeout = 1000; ///< Timeout to wait for next missing fact to come in before display
QTimer _missingParamsDelayedDisplayTimer; ///< Timer use to delay missing fact display
QStringList _missingParams; ///< List of missing facts to be displayed
MavManager* _pMavManager;
bool _fakeMobile; ///< true: Fake ui into displaying mobile interface
......
src/Vehicle/MultiVehicleManager.cc
View file @ 724a0c8c
......@@ -240,3 +240,15 @@ QVariantList MultiVehicleManager::vehiclesAsVariants(void)
return list;
}
void MultiVehicleManager::saveSetting(const QString &name, const QString& value)
{
QSettings settings;
settings.setValue(name, value);
}
QString MultiVehicleManager::loadSetting(const QString &name, const QString& defaultValue)
{
QSettings settings;
return settings.value(name, defaultValue).toString();
}
src/Vehicle/MultiVehicleManager.h
View file @ 724a0c8c
......@@ -39,6 +39,9 @@ class MultiVehicleManager : public QGCSingleton
DECLARE_QGC_SINGLETON(MultiVehicleManager, MultiVehicleManager)
public:
Q_INVOKABLE void saveSetting (const QString &key, const QString& value);
Q_INVOKABLE QString loadSetting (const QString &key, const QString& defaultValue);
Q_PROPERTY(bool activeVehicleAvailable READ activeVehicleAvailable NOTIFY activeVehicleAvailableChanged)
Q_PROPERTY(bool parameterReadyVehicleAvailable READ parameterReadyVehicleAvailable NOTIFY parameterReadyVehicleAvailableChanged)
Q_PROPERTY(Vehicle* activeVehicle READ activeVehicle WRITE setActiveVehicle NOTIFY activeVehicleChanged)
......
src/Vehicle/Vehicle.cc
View file @ 724a0c8c
......@@ -21,22 +21,58 @@
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "Vehicle.h"
#include "MAVLinkProtocol.h"
#include "FirmwarePluginManager.h"
#include "LinkManager.h"
#include "FirmwarePlugin.h"
#include "AutoPilotPluginManager.h"
#include "UASMessageHandler.h"
QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
#define UPDATE_TIMER 50
#define DEFAULT_LAT 38.965767f
#define DEFAULT_LON -120.083923f
Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
: _id(vehicleId)
, _firmwareType(firmwareType)
, _uas(NULL)
, _mav(NULL)
, _currentMessageCount(0)
, _messageCount(0)
, _currentErrorCount(0)
, _currentWarningCount(0)
, _currentNormalCount(0)
, _currentMessageType(MessageNone)
, _roll(0.0f)
, _pitch(0.0f)
, _heading(0.0f)
, _altitudeAMSL(0.0f)
, _altitudeWGS84(0.0f)
, _altitudeRelative(0.0f)
, _groundSpeed(0.0f)
, _airSpeed(0.0f)
, _climbRate(0.0f)
, _navigationAltitudeError(0.0f)
, _navigationSpeedError(0.0f)
, _navigationCrosstrackError(0.0f)
, _navigationTargetBearing(0.0f)
, _latitude(DEFAULT_LAT)
, _longitude(DEFAULT_LON)
, _refreshTimer(new QTimer(this))
, _batteryVoltage(0.0)
, _batteryPercent(0.0)
, _batteryConsumed(-1.0)
, _systemArmed(false)
, _currentHeartbeatTimeout(0)
, _waypointDistance(0.0)
, _currentWaypoint(0)
, _satelliteCount(-1)
, _satelliteLock(0)
, _wpm(NULL)
, _updateCount(0)
{
_addLink(link);
......@@ -47,14 +83,91 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
setLatitude(_uas->getLatitude());
setLongitude(_uas->getLongitude());
_setYaw(_uas->getYaw());
connect(_uas, &UAS::latitudeChanged, this, &Vehicle::setLatitude);
connect(_uas, &UAS::longitudeChanged, this, &Vehicle::setLongitude);
connect(_uas, &UAS::yawChanged, this, &Vehicle::_setYaw);
_firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(firmwareType);
_autopilotPlugin = AutoPilotPluginManager::instance()->newAutopilotPluginForVehicle(this);
// Refresh timer
connect(_refreshTimer, SIGNAL(timeout()), this, SLOT(_checkUpdate()));
_refreshTimer->setInterval(UPDATE_TIMER);
_refreshTimer->start(UPDATE_TIMER);
emit heartbeatTimeoutChanged();
_mav = uas();
// Reset satellite count (no GPS)
_satelliteCount = -1;
emit satelliteCountChanged();
// Reset connection lost (if any)
_currentHeartbeatTimeout = 0;
emit heartbeatTimeoutChanged();
// Listen for system messages
connect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged, this, &Vehicle::_handleTextMessage);
// Now connect the new UAS
connect(_mav, SIGNAL(attitudeChanged (UASInterface*,double,double,double,quint64)), this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
connect(_mav, SIGNAL(attitudeChanged (UASInterface*,int,double,double,double,quint64)), this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
connect(_mav, SIGNAL(speedChanged (UASInterface*, double, double, quint64)), this, SLOT(_updateSpeed(UASInterface*, double, double, quint64)));
connect(_mav, SIGNAL(altitudeChanged (UASInterface*, double, double, double, double, quint64)), this, SLOT(_updateAltitude(UASInterface*, double, double, double, double, quint64)));
connect(_mav, SIGNAL(navigationControllerErrorsChanged (UASInterface*, double, double, double)), this, SLOT(_updateNavigationControllerErrors(UASInterface*, double, double, double)));
connect(_mav, SIGNAL(statusChanged (UASInterface*,QString,QString)), this, SLOT(_updateState(UASInterface*, QString,QString)));
connect(_mav, SIGNAL(armingChanged (bool)), this, SLOT(_updateArmingState(bool)));
connect(_mav, &UASInterface::NavigationControllerDataChanged, this, &Vehicle::_updateNavigationControllerData);
connect(_mav, &UASInterface::heartbeatTimeout, this, &Vehicle::_heartbeatTimeout);
connect(_mav, &UASInterface::batteryChanged, this, &Vehicle::_updateBatteryRemaining);
connect(_mav, &UASInterface::batteryConsumedChanged, this, &Vehicle::_updateBatteryConsumedChanged);
connect(_mav, &UASInterface::modeChanged, this, &Vehicle::_updateMode);
connect(_mav, &UASInterface::nameChanged, this, &Vehicle::_updateName);
connect(_mav, &UASInterface::systemTypeSet, this, &Vehicle::_setSystemType);
connect(_mav, &UASInterface::localizationChanged, this, &Vehicle::_setSatLoc);
_wpm = _mav->getWaypointManager();
if (_wpm) {
connect(_wpm, &UASWaypointManager::currentWaypointChanged, this, &Vehicle::_updateCurrentWaypoint);
connect(_wpm, &UASWaypointManager::waypointDistanceChanged, this, &Vehicle::_updateWaypointDistance);
connect(_wpm, SIGNAL(waypointViewOnlyListChanged(void)), this, SLOT(_waypointViewOnlyListChanged(void)));
connect(_wpm, SIGNAL(waypointViewOnlyChanged(int,Waypoint*)),this, SLOT(_updateWaypointViewOnly(int,Waypoint*)));
_wpm->readWaypoints(true);
}
UAS* pUas = dynamic_cast<UAS*>(_mav);
if(pUas) {
_setSatelliteCount(pUas->getSatelliteCount(), QString(""));
connect(pUas, &UAS::satelliteCountChanged, this, &Vehicle::_setSatelliteCount);
}
_setSystemType(_mav, _mav->getSystemType());
_updateArmingState(_mav->isArmed());
}
Vehicle::~Vehicle()
{
// Stop listening for system messages
disconnect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged, this, &Vehicle::_handleTextMessage);
// Disconnect any previously connected active MAV
disconnect(_mav, SIGNAL(attitudeChanged (UASInterface*, double,double,double,quint64)), this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
disconnect(_mav, SIGNAL(attitudeChanged (UASInterface*, int,double,double,double,quint64)), this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
disconnect(_mav, SIGNAL(speedChanged (UASInterface*, double, double, quint64)), this, SLOT(_updateSpeed(UASInterface*, double, double, quint64)));
disconnect(_mav, SIGNAL(altitudeChanged (UASInterface*, double, double, double, double, quint64)), this, SLOT(_updateAltitude(UASInterface*, double, double, double, double, quint64)));
disconnect(_mav, SIGNAL(navigationControllerErrorsChanged (UASInterface*, double, double, double)), this, SLOT(_updateNavigationControllerErrors(UASInterface*, double, double, double)));
disconnect(_mav, SIGNAL(statusChanged (UASInterface*,QString,QString)), this, SLOT(_updateState(UASInterface*,QString,QString)));
disconnect(_mav, SIGNAL(armingChanged (bool)), this, SLOT(_updateArmingState(bool)));
disconnect(_mav, &UASInterface::NavigationControllerDataChanged, this, &Vehicle::_updateNavigationControllerData);
disconnect(_mav, &UASInterface::heartbeatTimeout, this, &Vehicle::_heartbeatTimeout);
disconnect(_mav, &UASInterface::batteryChanged, this, &Vehicle::_updateBatteryRemaining);
disconnect(_mav, &UASInterface::batteryConsumedChanged, this, &Vehicle::_updateBatteryConsumedChanged);
disconnect(_mav, &UASInterface::modeChanged, this, &Vehicle::_updateMode);
disconnect(_mav, &UASInterface::nameChanged, this, &Vehicle::_updateName);
disconnect(_mav, &UASInterface::systemTypeSet, this, &Vehicle::_setSystemType);
disconnect(_mav, &UASInterface::localizationChanged, this, &Vehicle::_setSatLoc);
if (_wpm) {
disconnect(_wpm, &UASWaypointManager::currentWaypointChanged, this, &Vehicle::_updateCurrentWaypoint);
disconnect(_wpm, &UASWaypointManager::waypointDistanceChanged, this, &Vehicle::_updateWaypointDistance);
disconnect(_wpm, SIGNAL(waypointViewOnlyListChanged(void)), this, SLOT(_waypointViewOnlyListChanged(void)));
disconnect(_wpm, SIGNAL(waypointViewOnlyChanged(int,Waypoint*)), this, SLOT(_updateWaypointViewOnly(int,Waypoint*)));
}
UAS* pUas = dynamic_cast<UAS*>(_mav);
if(pUas) {
disconnect(pUas, &UAS::satelliteCountChanged, this, &Vehicle::_setSatelliteCount);
}
}
void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
......@@ -159,8 +272,540 @@ void Vehicle::setLongitude(double longitude){
emit coordinateChanged(_geoCoordinate);
}
void Vehicle::_setYaw(double yaw)
void Vehicle::_updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64)
{
if (isinf(roll)) {
_roll = std::numeric_limits<double>::quiet_NaN();
} else {
float rolldeg = _oneDecimal(roll * (180.0 / M_PI));
if (fabs(roll - rolldeg) > 1.0) {
_roll = rolldeg;
if(_refreshTimer->isActive()) {
emit rollChanged();
}
}
if(_roll != rolldeg) {
_roll = rolldeg;
_addChange(ROLL_CHANGED);
}
}
if (isinf(pitch)) {
_pitch = std::numeric_limits<double>::quiet_NaN();
} else {
float pitchdeg = _oneDecimal(pitch * (180.0 / M_PI));
if (fabs(pitch - pitchdeg) > 1.0) {
_pitch = pitchdeg;
if(_refreshTimer->isActive()) {
emit pitchChanged();
}
}
if(_pitch != pitchdeg) {
_pitch = pitchdeg;
_addChange(PITCH_CHANGED);
}
}
if (isinf(yaw)) {
_heading = std::numeric_limits<double>::quiet_NaN();
} else {
yaw = _oneDecimal(yaw * (180.0 / M_PI));
if (yaw < 0) yaw += 360;
if (fabs(_heading - yaw) > 1.0) {
_heading = yaw;
if(_refreshTimer->isActive()) {
emit headingChanged();
}
}
if(_heading != yaw) {
_heading = yaw;
_addChange(HEADING_CHANGED);
}
}
}
void Vehicle::_updateAttitude(UASInterface* uas, int, double roll, double pitch, double yaw, quint64 timestamp)
{
_updateAttitude(uas, roll, pitch, yaw, timestamp);
}
void Vehicle::_updateSpeed(UASInterface*, double groundSpeed, double airSpeed, quint64)
{
groundSpeed = _oneDecimal(groundSpeed);
if (fabs(_groundSpeed - groundSpeed) > 0.5) {
_groundSpeed = groundSpeed;
if(_refreshTimer->isActive()) {
emit groundSpeedChanged();
}
}
airSpeed = _oneDecimal(airSpeed);
if (fabs(_airSpeed - airSpeed) > 1.0) {
_airSpeed = airSpeed;
if(_refreshTimer->isActive()) {
emit airSpeedChanged();
}
}
if(_groundSpeed != groundSpeed) {
_groundSpeed = groundSpeed;
_addChange(GROUNDSPEED_CHANGED);
}
if(_airSpeed != airSpeed) {
_airSpeed = airSpeed;
_addChange(AIRSPEED_CHANGED);
}
}
void Vehicle::_updateAltitude(UASInterface*, double altitudeAMSL, double altitudeWGS84, double altitudeRelative, double climbRate, quint64) {
altitudeAMSL = _oneDecimal(altitudeAMSL);
if (fabs(_altitudeAMSL - altitudeAMSL) > 0.5) {
_altitudeAMSL = altitudeAMSL;
if(_refreshTimer->isActive()) {
emit altitudeAMSLChanged();
}
}
altitudeWGS84 = _oneDecimal(altitudeWGS84);
if (fabs(_altitudeWGS84 - altitudeWGS84) > 0.5) {
_altitudeWGS84 = altitudeWGS84;
if(_refreshTimer->isActive()) {
emit altitudeWGS84Changed();
}
}
altitudeRelative = _oneDecimal(altitudeRelative);
if (fabs(_altitudeRelative - altitudeRelative) > 0.5) {
_altitudeRelative = altitudeRelative;
if(_refreshTimer->isActive()) {
emit altitudeRelativeChanged();
}
}
climbRate = _oneDecimal(climbRate);
if (fabs(_climbRate - climbRate) > 0.5) {
_climbRate = climbRate;
if(_refreshTimer->isActive()) {
emit climbRateChanged();
}
}
if(_altitudeAMSL != altitudeAMSL) {
_altitudeAMSL = altitudeAMSL;
_addChange(ALTITUDEAMSL_CHANGED);
}
if(_altitudeWGS84 != altitudeWGS84) {
_altitudeWGS84 = altitudeWGS84;
_addChange(ALTITUDEWGS84_CHANGED);
}
if(_altitudeRelative != altitudeRelative) {
_altitudeRelative = altitudeRelative;
_addChange(ALTITUDERELATIVE_CHANGED);
}
if(_climbRate != climbRate) {
_climbRate = climbRate;
_addChange(CLIMBRATE_CHANGED);
}
}
void Vehicle::_updateNavigationControllerErrors(UASInterface*, double altitudeError, double speedError, double xtrackError) {
_navigationAltitudeError = altitudeError;
_navigationSpeedError = speedError;
_navigationCrosstrackError = xtrackError;
}
void Vehicle::_updateNavigationControllerData(UASInterface *uas, float, float, float, float targetBearing, float) {
if (_mav == uas) {
_navigationTargetBearing = targetBearing;
}
}
/*
* Internal
*/
bool Vehicle::_isAirplane() {
if (_mav)
return _mav->isAirplane();
return false;
}
void Vehicle::_addChange(int id)
{
if(!_changes.contains(id)) {
_changes.append(id);
}
}
float Vehicle::_oneDecimal(float value)
{
int i = (value * 10);
return (float)i / 10.0;
}
void Vehicle::_checkUpdate()
{
// Update current location
if(_mav) {
if(_latitude != _mav->getLatitude()) {
_latitude = _mav->getLatitude();
emit latitudeChanged();
}
if(_longitude != _mav->getLongitude()) {
_longitude = _mav->getLongitude();
emit longitudeChanged();
}
}
// The timer rate is 20Hz for the coordinates above. These below we only check
// twice a second.
if(++_updateCount > 9) {
_updateCount = 0;
// Check for changes
// Significant changes, that is, whole number changes, are updated immediatelly.
// For every message however, we set a flag for what changed and this timer updates
// them to bring everything up-to-date. This prevents an avalanche of UI updates.
foreach(int i, _changes) {
switch (i) {
case ROLL_CHANGED:
emit rollChanged();
break;
case PITCH_CHANGED:
emit pitchChanged();
break;
case HEADING_CHANGED:
emit headingChanged();
break;
case GROUNDSPEED_CHANGED:
emit groundSpeedChanged();
break;
case AIRSPEED_CHANGED:
emit airSpeedChanged();
break;
case CLIMBRATE_CHANGED:
emit climbRateChanged();
break;
case ALTITUDERELATIVE_CHANGED:
emit altitudeRelativeChanged();
break;
case ALTITUDEWGS84_CHANGED:
emit altitudeWGS84Changed();
break;
case ALTITUDEAMSL_CHANGED:
emit altitudeAMSLChanged();
break;
default:
break;
}
}
_changes.clear();
}
}
QString Vehicle::getMavIconColor()
{
// TODO: Not using because not only the colors are ghastly, it doesn't respect dark/light palette
if(_mav)
return _mav->getColor().name();
else
return QString("black");
}
void Vehicle::_updateArmingState(bool armed)
{
if(_systemArmed != armed) {
_systemArmed = armed;
emit systemArmedChanged();
}
}
void Vehicle::_updateBatteryRemaining(UASInterface*, double voltage, double, double percent, int)
{
if(percent < 0.0) {
percent = 0.0;
}
if(voltage < 0.0) {
voltage = 0.0;
}
if (_batteryVoltage != voltage) {
_batteryVoltage = voltage;
emit batteryVoltageChanged();
}
if (_batteryPercent != percent) {
_batteryPercent = percent;
emit batteryPercentChanged();
}
}
void Vehicle::_updateBatteryConsumedChanged(UASInterface*, double current_consumed)
{
if(_batteryConsumed != current_consumed) {
_batteryConsumed = current_consumed;
emit batteryConsumedChanged();
}
}
void Vehicle::_updateState(UASInterface*, QString name, QString)
{
if (_currentState != name) {
_currentState = name;
emit currentStateChanged();
}
}
void Vehicle::_updateMode(int, QString name, QString)
{
if (name.size()) {
QString shortMode = name;
shortMode = shortMode.replace("D|", "");
shortMode = shortMode.replace("A|", "");
if (_currentMode != shortMode) {
_currentMode = shortMode;
emit currentModeChanged();
}
}
}
void Vehicle::_updateName(const QString& name)
{
if (_systemName != name) {
_systemName = name;
emit systemNameChanged();
}
}
/**
* The current system type is represented through the system icon.
*
* @param uas Source system, has to be the same as this->uas
* @param systemType type ID, following the MAVLink system type conventions
* @see http://pixhawk.ethz.ch/software/mavlink
*/
void Vehicle::_setSystemType(UASInterface*, unsigned int systemType)
{
_systemPixmap = "qrc:/res/mavs/";
switch (systemType) {
case MAV_TYPE_GENERIC:
_systemPixmap += "Generic";
break;
case MAV_TYPE_FIXED_WING:
_systemPixmap += "FixedWing";
break;
case MAV_TYPE_QUADROTOR:
_systemPixmap += "QuadRotor";
break;
case MAV_TYPE_COAXIAL:
_systemPixmap += "Coaxial";
break;
case MAV_TYPE_HELICOPTER:
_systemPixmap += "Helicopter";
break;
case MAV_TYPE_ANTENNA_TRACKER:
_systemPixmap += "AntennaTracker";
break;
case MAV_TYPE_GCS:
_systemPixmap += "Groundstation";
break;
case MAV_TYPE_AIRSHIP:
_systemPixmap += "Airship";
break;
case MAV_TYPE_FREE_BALLOON:
_systemPixmap += "FreeBalloon";
break;
case MAV_TYPE_ROCKET:
_systemPixmap += "Rocket";
break;
case MAV_TYPE_GROUND_ROVER:
_systemPixmap += "GroundRover";
break;
case MAV_TYPE_SURFACE_BOAT:
_systemPixmap += "SurfaceBoat";
break;
case MAV_TYPE_SUBMARINE:
_systemPixmap += "Submarine";
break;
case MAV_TYPE_HEXAROTOR:
_systemPixmap += "HexaRotor";
break;
case MAV_TYPE_OCTOROTOR:
_systemPixmap += "OctoRotor";
break;
case MAV_TYPE_TRICOPTER:
_systemPixmap += "TriCopter";
break;
case MAV_TYPE_FLAPPING_WING:
_systemPixmap += "FlappingWing";
break;
case MAV_TYPE_KITE:
_systemPixmap += "Kite";
break;
default:
_systemPixmap += "Unknown";
break;
}
emit systemPixmapChanged();
}
void Vehicle::_heartbeatTimeout(bool timeout, unsigned int ms)
{
unsigned int elapsed = ms;
if (!timeout)
{
elapsed = 0;
}
if(elapsed != _currentHeartbeatTimeout) {
_currentHeartbeatTimeout = elapsed;
emit heartbeatTimeoutChanged();
}
}
void Vehicle::_setSatelliteCount(double val, QString)
{
// I'm assuming that a negative value or over 99 means there is no GPS
if(val < 0.0) val = -1.0;
if(val > 99.0) val = -1.0;
if(_satelliteCount != (int)val) {
_satelliteCount = (int)val;
emit satelliteCountChanged();
}
}
void Vehicle::_setSatLoc(UASInterface*, int fix)
{
// fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D lock, 3: 3D lock
if(_satelliteLock != fix) {
_satelliteLock = fix;
emit satelliteLockChanged();
}
}
void Vehicle::_updateWaypointDistance(double distance)
{
_heading = yaw * (180.0 / M_PI);
emit headingChanged(_heading);
}
\ No newline at end of file
if (_waypointDistance != distance) {
_waypointDistance = distance;
emit waypointDistanceChanged();
}
}
void Vehicle::_updateCurrentWaypoint(quint16 id)
{
if (_currentWaypoint != id) {
_currentWaypoint = id;
emit currentWaypointChanged();
}
}
void Vehicle::_updateWaypointViewOnly(int, Waypoint* /*wp*/)
{
/*
bool changed = false;
for(int i = 0; i < _waypoints.count(); i++) {
if(_waypoints[i].getId() == wp->getId()) {
_waypoints[i] = *wp;
changed = true;
break;
}
}
if(changed) {
emit waypointListChanged();
}
*/
}
void Vehicle::_waypointViewOnlyListChanged()
{
if(_wpm) {
const QList<Waypoint*> &waypoints = _wpm->getWaypointViewOnlyList();
_waypoints.clear();
for(int i = 0; i < waypoints.count(); i++) {
Waypoint* wp = waypoints[i];
_waypoints.append(new Waypoint(*wp));
}
emit waypointsChanged();
/*
if(_longitude == DEFAULT_LON && _latitude == DEFAULT_LAT && _waypoints.length()) {
_longitude = _waypoints[0]->getLongitude();
_latitude = _waypoints[0]->getLatitude();
emit longitudeChanged();
emit latitudeChanged();
}
*/
}
}
void Vehicle::_handleTextMessage(int newCount)
{
// Reset?
if(!newCount) {
_currentMessageCount = 0;
_currentNormalCount = 0;
_currentWarningCount = 0;
_currentErrorCount = 0;
_messageCount = 0;
_currentMessageType = MessageNone;
emit newMessageCountChanged();
emit messageTypeChanged();
emit messageCountChanged();
return;
}
UASMessageHandler* pMh = UASMessageHandler::instance();
Q_ASSERT(pMh);
MessageType_t type = newCount ? _currentMessageType : MessageNone;
int errorCount = _currentErrorCount;
int warnCount = _currentWarningCount;
int normalCount = _currentNormalCount;
//-- Add current message counts
errorCount += pMh->getErrorCount();
warnCount += pMh->getWarningCount();
normalCount += pMh->getNormalCount();
//-- See if we have a higher level
if(errorCount != _currentErrorCount) {
_currentErrorCount = errorCount;
type = MessageError;
}
if(warnCount != _currentWarningCount) {
_currentWarningCount = warnCount;
if(_currentMessageType != MessageError) {
type = MessageWarning;
}
}
if(normalCount != _currentNormalCount) {
_currentNormalCount = normalCount;
if(_currentMessageType != MessageError && _currentMessageType != MessageWarning) {
type = MessageNormal;
}
}
int count = _currentErrorCount + _currentWarningCount + _currentNormalCount;
if(count != _currentMessageCount) {
_currentMessageCount = count;
// Display current total new messages count
emit newMessageCountChanged();
}
if(type != _currentMessageType) {
_currentMessageType = type;
// Update message level
emit messageTypeChanged();
}
// Update message count (all messages)
if(newCount != _messageCount) {
_messageCount = newCount;
emit messageCountChanged();
}
QString errMsg = pMh->getLatestError();
if(errMsg != _latestError) {
_latestError = errMsg;
emit latestErrorChanged();
}
}
void Vehicle::resetMessages()
{
// Reset Counts
int count = _currentMessageCount;
MessageType_t type = _currentMessageType;
_currentErrorCount = 0;
_currentWarningCount = 0;
_currentNormalCount = 0;
_currentMessageCount = 0;
_currentMessageType = MessageNone;
if(count != _currentMessageCount) {
emit newMessageCountChanged();
}
if(type != _currentMessageType) {
emit messageTypeChanged();
}
}
src/Vehicle/Vehicle.h
View file @ 724a0c8c
......@@ -45,13 +45,50 @@ class Vehicle : public QObject
public:
Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType);
~Vehicle();
Q_PROPERTY(int id READ id CONSTANT)
Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT)
Q_PROPERTY(QGeoCoordinate coordinate MEMBER _geoCoordinate NOTIFY coordinateChanged)
Q_PROPERTY(double heading MEMBER _heading NOTIFY headingChanged)
Q_INVOKABLE QString getMavIconColor();
//-- System Messages
Q_PROPERTY(bool messageTypeNone READ messageTypeNone NOTIFY messageTypeChanged)
Q_PROPERTY(bool messageTypeNormal READ messageTypeNormal NOTIFY messageTypeChanged)
Q_PROPERTY(bool messageTypeWarning READ messageTypeWarning NOTIFY messageTypeChanged)
Q_PROPERTY(bool messageTypeError READ messageTypeError NOTIFY messageTypeChanged)
Q_PROPERTY(int newMessageCount READ newMessageCount NOTIFY newMessageCountChanged)
Q_PROPERTY(int messageCount READ messageCount NOTIFY messageCountChanged)
Q_PROPERTY(QString latestError READ latestError NOTIFY latestErrorChanged)
//-- UAV Stats
Q_PROPERTY(float roll READ roll NOTIFY rollChanged)
Q_PROPERTY(float pitch READ pitch NOTIFY pitchChanged)
Q_PROPERTY(float heading READ heading NOTIFY headingChanged)
Q_PROPERTY(float groundSpeed READ groundSpeed NOTIFY groundSpeedChanged)
Q_PROPERTY(float airSpeed READ airSpeed NOTIFY airSpeedChanged)
Q_PROPERTY(float climbRate READ climbRate NOTIFY climbRateChanged)
Q_PROPERTY(float altitudeRelative READ altitudeRelative NOTIFY altitudeRelativeChanged)
Q_PROPERTY(float altitudeWGS84 READ altitudeWGS84 NOTIFY altitudeWGS84Changed)
Q_PROPERTY(float altitudeAMSL READ altitudeAMSL NOTIFY altitudeAMSLChanged)
Q_PROPERTY(float latitude READ latitude NOTIFY latitudeChanged)
Q_PROPERTY(float longitude READ longitude NOTIFY longitudeChanged)
Q_PROPERTY(double batteryVoltage READ batteryVoltage NOTIFY batteryVoltageChanged)
Q_PROPERTY(double batteryPercent READ batteryPercent NOTIFY batteryPercentChanged)
Q_PROPERTY(double batteryConsumed READ batteryConsumed NOTIFY batteryConsumedChanged)
Q_PROPERTY(bool systemArmed READ systemArmed NOTIFY systemArmedChanged)
Q_PROPERTY(QString currentMode READ currentMode NOTIFY currentModeChanged)
Q_PROPERTY(QString systemPixmap READ systemPixmap NOTIFY systemPixmapChanged)
Q_PROPERTY(int satelliteCount READ satelliteCount NOTIFY satelliteCountChanged)
Q_PROPERTY(QString currentState READ currentState NOTIFY currentStateChanged)
Q_PROPERTY(QString systemName READ systemName NOTIFY systemNameChanged)
Q_PROPERTY(int satelliteLock READ satelliteLock NOTIFY satelliteLockChanged)
Q_PROPERTY(double waypointDistance READ waypointDistance NOTIFY waypointDistanceChanged)
Q_PROPERTY(uint16_t currentWaypoint READ currentWaypoint NOTIFY currentWaypointChanged)
Q_PROPERTY(unsigned int heartbeatTimeout READ heartbeatTimeout NOTIFY heartbeatTimeoutChanged)
//-- Waypoint management
Q_PROPERTY(QQmlListProperty<Waypoint> waypoints READ waypoints NOTIFY waypointsChanged)
// Property accesors
int id(void) { return _id; }
......@@ -68,6 +105,64 @@ public:
QList<LinkInterface*> links(void);
typedef enum {
MessageNone,
MessageNormal,
MessageWarning,
MessageError
} MessageType_t;
enum {
ROLL_CHANGED,
PITCH_CHANGED,
HEADING_CHANGED,
GROUNDSPEED_CHANGED,
AIRSPEED_CHANGED,
CLIMBRATE_CHANGED,
ALTITUDERELATIVE_CHANGED,
ALTITUDEWGS84_CHANGED,
ALTITUDEAMSL_CHANGED
};
// Called when the message drop-down is invoked to clear current count
void resetMessages();
bool messageTypeNone () { return _currentMessageType == MessageNone; }
bool messageTypeNormal () { return _currentMessageType == MessageNormal; }
bool messageTypeWarning () { return _currentMessageType == MessageWarning; }
bool messageTypeError () { return _currentMessageType == MessageError; }
int newMessageCount () { return _currentMessageCount; }
int messageCount () { return _messageCount; }
QString latestError () { return _latestError; }
float roll () { return _roll; }
float pitch () { return _pitch; }
float heading () { return _heading; }
float groundSpeed () { return _groundSpeed; }
float airSpeed () { return _airSpeed; }
float climbRate () { return _climbRate; }
float altitudeRelative () { return _altitudeRelative; }
float altitudeWGS84 () { return _altitudeWGS84; }
float altitudeAMSL () { return _altitudeAMSL; }
float latitude () { return _latitude; }
float longitude () { return _longitude; }
bool mavPresent () { return _mav != NULL; }
int satelliteCount () { return _satelliteCount; }
double batteryVoltage () { return _batteryVoltage; }
double batteryPercent () { return _batteryPercent; }
double batteryConsumed () { return _batteryConsumed; }
bool systemArmed () { return _systemArmed; }
QString currentMode () { return _currentMode; }
QString systemPixmap () { return _systemPixmap; }
QString currentState () { return _currentState; }
QString systemName () { return _systemName; }
int satelliteLock () { return _satelliteLock; }
double waypointDistance () { return _waypointDistance; }
uint16_t currentWaypoint () { return _currentWaypoint; }
unsigned int heartbeatTimeout () { return _currentHeartbeatTimeout; }
QQmlListProperty<Waypoint> waypoints() {return QQmlListProperty<Waypoint>(this, _waypoints); }
public slots:
void setLatitude(double latitude);
void setLongitude(double longitude);
......@@ -75,21 +170,81 @@ public slots:
signals:
void allLinksDisconnected(void);
void coordinateChanged(QGeoCoordinate coordinate);
void headingChanged(double heading);
/// Used internally to move sendMessage call to main thread
void _sendMessageOnThread(mavlink_message_t message);
void messageTypeChanged ();
void newMessageCountChanged ();
void messageCountChanged ();
void latestErrorChanged ();
void rollChanged ();
void pitchChanged ();
void headingChanged ();
void groundSpeedChanged ();
void airSpeedChanged ();
void climbRateChanged ();
void altitudeRelativeChanged();
void altitudeWGS84Changed ();
void altitudeAMSLChanged ();
void latitudeChanged ();
void longitudeChanged ();
void batteryVoltageChanged ();
void batteryPercentChanged ();
void batteryConsumedChanged ();
void systemArmedChanged ();
void heartbeatTimeoutChanged();
void currentModeChanged ();
void currentConfigChanged ();
void systemPixmapChanged ();
void satelliteCountChanged ();
void currentStateChanged ();
void systemNameChanged ();
void satelliteLockChanged ();
void waypointDistanceChanged();
void currentWaypointChanged ();
void waypointsChanged ();
private slots:
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
void _linkDisconnected(LinkInterface* link);
void _sendMessage(mavlink_message_t message);
void _setYaw(double yaw);
void _handleTextMessage (int newCount);
/** @brief Attitude from main autopilot / system state */
void _updateAttitude (UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
/** @brief Attitude from one specific component / redundant autopilot */
void _updateAttitude (UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
/** @brief Speed */
void _updateSpeed (UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp);
/** @brief Altitude */
void _updateAltitude (UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp);
void _updateNavigationControllerErrors (UASInterface* uas, double altitudeError, double speedError, double xtrackError);
void _updateNavigationControllerData (UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDistance);
void _checkUpdate ();
void _updateBatteryRemaining (UASInterface*, double voltage, double, double percent, int);
void _updateBatteryConsumedChanged (UASInterface*, double current_consumed);
void _updateArmingState (bool armed);
void _updateState (UASInterface* system, QString name, QString description);
void _updateMode (int system, QString name, QString description);
void _updateName (const QString& name);
void _setSystemType (UASInterface* uas, unsigned int systemType);
void _heartbeatTimeout (bool timeout, unsigned int ms);
void _updateCurrentWaypoint (quint16 id);
void _updateWaypointDistance (double distance);
void _setSatelliteCount (double val, QString name);
void _setSatLoc (UASInterface* uas, int fix);
void _updateWaypointViewOnly (int uas, Waypoint* wp);
void _waypointViewOnlyListChanged ();
private:
bool _containsLink(LinkInterface* link);
void _addLink(LinkInterface* link);
bool _isAirplane ();
void _addChange (int id);
float _oneDecimal (float value);
private:
int _id; ///< Mavlink system id
MAV_AUTOPILOT _firmwareType;
......@@ -105,7 +260,46 @@ private:
QGeoCoordinate _geoCoordinate;
double _heading;
UASInterface* _mav;
int _currentMessageCount;
int _messageCount;
int _currentErrorCount;
int _currentWarningCount;
int _currentNormalCount;
MessageType_t _currentMessageType;
QString _latestError;
float _roll;
float _pitch;
float _heading;
float _altitudeAMSL;
float _altitudeWGS84;
float _altitudeRelative;
float _groundSpeed;
float _airSpeed;
float _climbRate;
float _navigationAltitudeError;
float _navigationSpeedError;
float _navigationCrosstrackError;
float _navigationTargetBearing;
float _latitude;
float _longitude;
QTimer* _refreshTimer;
QList<int> _changes;
double _batteryVoltage;
double _batteryPercent;
double _batteryConsumed;
bool _systemArmed;
QString _currentState;
QString _currentMode;
QString _systemName;
QString _systemPixmap;
unsigned int _currentHeartbeatTimeout;
double _waypointDistance;
quint16 _currentWaypoint;
int _satelliteCount;
int _satelliteLock;
UASWaypointManager* _wpm;
int _updateCount;
QList<Waypoint*>_waypoints;
};
#endif
src/uas/UAS.cc
View file @ 724a0c8c
......@@ -298,7 +298,6 @@ void UAS::readSettings()
QSettings settings;
settings.beginGroup(QString("MAV%1").arg(uasId));
this->name = settings.value("NAME", this->name).toString();
qDebug() << "Name" << name;
this->airframe = settings.value("AIRFRAME", this->airframe).toInt();
if (settings.contains("BATTERY_SPECS"))
{
......
src/ui/flightdisplay/FlightDisplay.qml
View file @ 724a0c8c
......@@ -33,7 +33,6 @@ import QtQuick.Controls.Styles 1.2
import QtQuick.Dialogs 1.2
import QGroundControl.FlightMap 1.0
import QGroundControl.MavManager 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
......@@ -43,8 +42,27 @@ Item {
property var __qgcPal: QGCPalette { colorGroupEnabled: enabled }
property real roll: isNaN(MavManager.roll) ? 0 : MavManager.roll
property real pitch: isNaN(MavManager.pitch) ? 0 : MavManager.pitch
property var activeVehicle: multiVehicleManager.activeVehicle
readonly property real defaultLatitude: 37.803784
readonly property real defaultLongitude: -122.462276
readonly property real defaultRoll: 0
readonly property real defaultPitch: 0
readonly property real defaultHeading: 0
readonly property real defaultAltitudeWGS84: 0
readonly property real defaultGroundSpeed: 0
readonly property real defaultAirSpeed: 0
readonly property real defaultClimbRate: 0
property real roll: activeVehicle ? (isNaN(activeVehicle.roll) ? defaultRoll : activeVehicle.roll) : defaultRoll
property real pitch: activeVehicle ? (isNaN(activeVehicle.pitch) ? defaultPitch : activeVehicle.pitch) : defaultPitch
property real latitude: activeVehicle ? ((activeVehicle.latitude === 0) ? defaultLatitude : activeVehicle.latitude) : defaultLatitude
property real longitude: activeVehicle ? ((activeVehicle.longitude === 0) ? defaultlongitude : activeVehicle.longitude) : defaultLongitude
property real heading: activeVehicle ? (isNaN(activeVehicle.heading) ? defaultHeading : activeVehicle.heading) : defaultHeading
property real altitudeWGS84: activeVehicle ? activeVehicle.altitudeWGS84 : defaultAltitudeWGS84
property real groundSpeed: activeVehicle ? activeVehicle.groundSpeed : defaultGroundSpeed
property real airSpeed: activeVehicle ? activeVehicle.airSpeed : defaultAirSpeed
property real climbRate: activeVehicle ? activeVehicle.climbRate : defaultClimbRate
property bool showPitchIndicator: true
......@@ -73,7 +91,6 @@ Item {
Component.onCompleted:
{
mapBackground.visible = getBool(flightDisplay.loadSetting("showMapBackground", "0"));
mapBackground.showWaypoints = getBool(flightDisplay.loadSetting("mapShowWaypoints", "0"));
mapBackground.alwaysNorth = getBool(flightDisplay.loadSetting("mapAlwaysPointsNorth", "0"));
videoBackground.visible = getBool(flightDisplay.loadSetting("showVideoBackground", "0"));
showPitchIndicator = getBool(flightDisplay.loadSetting("showPitchIndicator", "1"));
......@@ -126,18 +143,6 @@ Item {
}
}
MenuItem {
text: "Map Show Waypoints"
checkable: true
checked: mapBackground.showWaypoints
enabled: mapBackground.visible
onTriggered:
{
mapBackground.showWaypoints = !mapBackground.showWaypoints;
flightDisplay.saveSetting("mapShowWaypoints", setBool(mapBackground.showWaypoints));
}
}
/*
//-- Off until Qt 5.5.x, which fixes bug in 5.4.x
MenuItem {
......@@ -340,23 +345,12 @@ Item {
id: mapBackground
anchors.fill: parent
mapName: 'MainFlightDisplay'
heading: 0 // isNaN(MavManager.heading) ? 0 : MavManager.heading
latitude: mapBackground.visible ? ((MavManager.latitude === 0) ? 37.803784 : MavManager.latitude) : 37.803784
longitude: mapBackground.visible ? ((MavManager.longitude === 0) ? -122.462276 : MavManager.longitude) : -122.462276
latitude: mapBackground.visible ? root.latitude : root.defaultLatitude
longitude: mapBackground.visible ? root.longitude : root.defaultLongitude
readOnly: true
//interactive: !MavManager.mavPresent
z: 10
}
QGCHudMessage {
id: hudMessage
y: ScreenTools.defaultFontPizelSize * (0.42)
width: (parent.width - 520 > 200) ? parent.width - 520 : 200
height: ScreenTools.defaultFontPizelSize * (2.5)
anchors.horizontalCenter: parent.horizontalCenter
z: mapBackground.z + 1
}
// Floating (Top Left) Compass Widget
QGCCompassWidget {
......@@ -364,7 +358,7 @@ Item {
y: ScreenTools.defaultFontPixelSize * (0.42)
x: ScreenTools.defaultFontPixelSize * (7.1)
size: ScreenTools.defaultFontPixelSize * (13.3)
heading: isNaN(MavManager.heading) ? 0 : MavManager.heading
heading: root.heading
z: mapBackground.z + 2
onResetRequested: {
y = ScreenTools.defaultFontPixelSize * (0.42)
......@@ -383,7 +377,7 @@ Item {
x: root.width * 0.5 - ScreenTools.defaultFontPixelSize * (5)
width: ScreenTools.defaultFontPixelSize * (10)
height: ScreenTools.defaultFontPixelSize * (10)
heading: isNaN(MavManager.heading) ? 0 : MavManager.heading
heading: root.heading
z: 70
}
......@@ -436,7 +430,7 @@ Item {
anchors.right: parent.right
width: ScreenTools.defaultFontPixelSize * (5)
height: parent.height * 0.65 > ScreenTools.defaultFontPixelSize * (23.4) ? ScreenTools.defaultFontPixelSize * (23.4) : parent.height * 0.65
altitude: MavManager.altitudeWGS84
altitude: root.altitudeWGS84
z: 30
}
......@@ -445,7 +439,7 @@ Item {
anchors.left: parent.left
width: ScreenTools.defaultFontPixelSize * (5)
height: parent.height * 0.65 > ScreenTools.defaultFontPixelSize * (23.4) ? ScreenTools.defaultFontPixelSize * (23.4) : parent.height * 0.65
speed: MavManager.groundSpeed
speed: root.groundSpeed
z: 40
}
......@@ -453,8 +447,8 @@ Item {
id: currentSpeed
anchors.left: parent.left
width: ScreenTools.defaultFontPixelSize * (6.25)
airspeed: MavManager.airSpeed
groundspeed: MavManager.groundSpeed
airspeed: root.airSpeed
groundspeed: root.groundSpeed
showAirSpeed: true
showGroundSpeed: true
visible: (currentSpeed.showGroundSpeed || currentSpeed.showAirSpeed)
......@@ -465,8 +459,8 @@ Item {
id: currentAltitude
anchors.right: parent.right
width: ScreenTools.defaultFontPixelSize * (6.25)
altitude: MavManager.altitudeWGS84
vertZ: MavManager.climbRate
altitude: root.altitudeWGS84
vertZ: root.climbRate
showAltitude: true
showClimbRate: true
visible: (currentAltitude.showAltitude || currentAltitude.showClimbRate)
......
src/ui/toolbar/MainToolBar.cc
View file @ 724a0c8c
......@@ -37,7 +37,6 @@ This file is part of the QGROUNDCONTROL project
#include "UASMessageHandler.h"
#include "FlightDisplay.h"
#include "QGCApplication.h"
#include "MavManager.h"
#include "MultiVehicleManager.h"
MainToolBar::MainToolBar(QWidget* parent)
......@@ -220,8 +219,8 @@ void MainToolBar::onEnterMessageArea(int x, int y)
// If not already there and messages are actually present
if(!_rollDownMessages && UASMessageHandler::instance()->messages().count())
{
if(qgcApp()->getMavManager())
qgcApp()->getMavManager()->resetMessages();
if (MultiVehicleManager::instance()->activeVehicle())
MultiVehicleManager::instance()->activeVehicle()->resetMessages();
// Show messages
int dialogWidth = 400;
x = x - (dialogWidth >> 1);
......
src/ui/toolbar/MainToolBar.qml
View file @ 724a0c8c
......@@ -31,18 +31,20 @@ import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QGroundControl.Controls 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.MainToolBar 1.0
import QGroundControl.MavManager 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.MainToolBar 1.0
import QGroundControl.MultiVehicleManager 1.0
import QGroundControl.ScreenTools 1.0
Rectangle {
id: toolBarHolder
property var qgcPal: QGCPalette { id: palette; colorGroupEnabled: true }
property var activeVehicle: multiVehicleManager.activeVehicle
readonly property real toolBarHeight: ScreenTools.defaultFontPixelHeight * 3
property int cellSpacerSize: ScreenTools.isMobile ? getProportionalDimmension(6) : getProportionalDimmension(4)
readonly property int cellHeight: toolBarHeight * 0.75
......@@ -82,44 +84,44 @@ Rectangle {
}
function getMessageColor() {
if(MavManager.messageType === MavManager.MessageNone)
if (activeVehicle.messageTypeNone)
return qgcPal.button;
if(MavManager.messageType === MavManager.MessageNormal)
if (activeVehicle.messageTypeNorma)
return colorBlue;
if(MavManager.messageType === MavManager.MessageWarning)
if (activeVehicle.messageTypeWarning)
return colorOrange;
if(MavManager.messageType === MavManager.MessageError)
if (activeVehicle.messageTypeError)
return colorRed;
// Cannot be so make make it obnoxious to show error
return "purple";
}
function getMessageIcon() {
if(MavManager.messageType === MavManager.MessageNormal || MavManager.messageType === MavManager.MessageNone)
if (activeVehicle.messageTypeNormal || activeVehicle.messageTypeNone)
return "qrc:/res/Megaphone";
else
return "qrc:/res/Yield";
}
function getBatteryIcon() {
if(MavManager.batteryPercent < 20.0)
if(activeVehicle.batteryPercent < 20.0)
return "qrc:/res/Battery_0";
else if(MavManager.batteryPercent < 40.0)
else if(activeVehicle.batteryPercent < 40.0)
return "qrc:/res/Battery_20";
else if(MavManager.batteryPercent < 60.0)
else if(activeVehicle.batteryPercent < 60.0)
return "qrc:/res/Battery_40";
else if(MavManager.batteryPercent < 80.0)
else if(activeVehicle.batteryPercent < 80.0)
return "qrc:/res/Battery_60";
else if(MavManager.batteryPercent < 90.0)
else if(activeVehicle.batteryPercent < 90.0)
return "qrc:/res/Battery_80";
else
return "qrc:/res/Battery_100";
}
function getBatteryColor() {
if (MavManager.batteryPercent > 40.0)
if (activeVehicle.batteryPercent > 40.0)
return colorGreen;
if(MavManager.batteryPercent > 0.01)
if(activeVehicle.batteryPercent > 0.01)
return colorRed;
// This means there is no battery level data
return colorBlue;
......@@ -127,13 +129,13 @@ Rectangle {
function getSatelliteColor() {
// No GPS data
if (MavManager.satelliteCount < 0)
if (activeVehicle.satelliteCount < 0)
return qgcPal.button
// No Lock
if(MavManager.satelliteLock < 2)
if(activeVehicle.satelliteLock < 2)
return colorRed;
// 2D Lock
if(MavManager.satelliteLock === 2)
if(activeVehicle.satelliteLock === 2)
return colorBlue;
// Lock is 3D or more
return colorGreen;
......@@ -148,7 +150,7 @@ Rectangle {
}
function showMavStatus() {
return (MavManager.mavPresent && MavManager.heartbeatTimeout === 0 && mainToolBar.connectionCount > 0);
return (multiVehicleManager.activeVehicleAvailable && activeVehicle.heartbeatTimeout === 0 && mainToolBar.connectionCount > 0);
}
//-------------------------------------------------------------------------
......@@ -197,136 +199,18 @@ Rectangle {
}
} // Menu
Row {
id: toolRow
x: horizontalMargins
y: (toolBarHeight - cellHeight) / 2
height: cellHeight
spacing: getProportionalDimmension(4)
//---------------------------------------------------------------------
//-- Main menu for Non Mobile Devices (Chevron Buttons)
Row {
id: row11
height: cellHeight
spacing: -getProportionalDimmension(12)
anchors.top: parent.top
visible: !ScreenTools.isMobile
Connections {
target: ScreenTools
onRepaintRequested: {
setupButton.repaintChevron = true;
planButton.repaintChevron = true;
flyButton.repaintChevron = true;
analyzeButton.repaintChevron = true;
}
}
ExclusiveGroup { id: mainActionGroup }
QGCToolBarButton {
id: setupButton
width: getProportionalDimmension(90)
height: cellHeight
exclusiveGroup: mainActionGroup
text: qsTr("Setup")
checked: (mainToolBar.currentView === MainToolBar.ViewSetup)
onClicked: {
mainToolBar.onSetupView();
}
z: 1000
}
QGCToolBarButton {
id: planButton
width: getProportionalDimmension(90)
height: cellHeight
exclusiveGroup: mainActionGroup
text: qsTr("Plan")
checked: (mainToolBar.currentView === MainToolBar.ViewPlan)
onClicked: {
mainToolBar.onPlanView();
}
z: 900
}
QGCToolBarButton {
id: flyButton
width: getProportionalDimmension(90)
height: cellHeight
exclusiveGroup: mainActionGroup
text: qsTr("Fly")
checked: (mainToolBar.currentView === MainToolBar.ViewFly)
onClicked: {
mainToolBar.onFlyView();
}
z: 800
}
QGCToolBarButton {
id: analyzeButton
width: getProportionalDimmension(90)
height: cellHeight
exclusiveGroup: mainActionGroup
text: qsTr("Analyze")
checked: (mainToolBar.currentView === MainToolBar.ViewAnalyze)
onClicked: {
mainToolBar.onAnalyzeView();
}
z: 700
}
} // Row
Component {
id: activeVehicleComponent
//---------------------------------------------------------------------
//-- Indicators
Row {
id: row12
height: cellHeight
spacing: cellSpacerSize
anchors.verticalCenter: parent.verticalCenter
//-- "Hamburger" menu for Mobile Devices
Item {
id: actionButton
visible: ScreenTools.isMobile
height: cellHeight
width: cellHeight
Image {
id: buttomImg
anchors.fill: parent
source: "/qmlimages/buttonMore.svg"
mipmap: true
smooth: true
antialiasing: true
fillMode: Image.PreserveAspectFit
}
MouseArea {
anchors.fill: parent
acceptedButtons: Qt.LeftButton
onClicked: {
if (mouse.button == Qt.LeftButton)
{
maintMenu.popup();
}
}
}
}
//-- Separator if Hamburger menu is visible
Rectangle {
visible: actionButton.visible
height: cellHeight
width: cellHeight
color: "#00000000"
anchors.verticalCenter: parent.verticalCenter
}
height: cellHeight
spacing: cellSpacerSize
Rectangle {
id: messages
width: (MavManager.messageCount > 99) ? getProportionalDimmension(65) : getProportionalDimmension(60)
width: (activeVehicle.messageCount > 99) ? getProportionalDimmension(65) : getProportionalDimmension(60)
height: cellHeight
visible: (mainToolBar.connectionCount > 0) && (mainToolBar.showMessages)
visible: mainToolBar.showMessages
anchors.verticalCenter: parent.verticalCenter
color: getMessageColor()
border.color: "#00000000"
......@@ -350,7 +234,7 @@ Rectangle {
width: messages.width - messageIcon.width
QGCLabel {
id: messageText
text: (MavManager.messageCount > 0) ? MavManager.messageCount : ''
text: (activeVehicle.messageCount > 0) ? activeVehicle.messageCount : ''
font.pixelSize: ScreenTools.smallFontPixelSize
font.weight: Font.DemiBold
anchors.verticalCenter: parent.verticalCenter
......@@ -363,7 +247,7 @@ Rectangle {
Image {
id: dropDown
source: "/qmlimages/arrow-down.png"
visible: (messages.showTriangle) && (MavManager.messageCount > 0)
visible: (messages.showTriangle) && (activeVehicle.messageCount > 0)
anchors.bottom: parent.bottom
anchors.right: parent.right
anchors.bottomMargin: getProportionalDimmension(3)
......@@ -399,13 +283,13 @@ Rectangle {
id: mavIcon
width: cellHeight
height: cellHeight
visible: showMavStatus() && (mainToolBar.showMav)
visible: mainToolBar.showMav
anchors.verticalCenter: parent.verticalCenter
color: colorBlue
border.color: "#00000000"
border.width: 0
Image {
source: MavManager.systemPixmap
source: activeVehicle.systemPixmap
height: cellHeight * 0.75
fillMode: Image.PreserveAspectFit
anchors.verticalCenter: parent.verticalCenter
......@@ -417,7 +301,7 @@ Rectangle {
id: satelitte
width: getProportionalDimmension(55)
height: cellHeight
visible: showMavStatus() && (mainToolBar.showGPS)
visible: mainToolBar.showGPS
anchors.verticalCenter: parent.verticalCenter
color: getSatelliteColor();
border.color: "#00000000"
......@@ -436,8 +320,8 @@ Rectangle {
QGCLabel {
id: satelitteText
text: MavManager.satelliteCount >= 0 ? MavManager.satelliteCount : 'NA'
font.pixelSize: MavManager.satelliteCount >= 0 ? ScreenTools.defaultFontPixelSize : ScreenTools.smallFontPixelSize
text: activeVehicle.satelliteCount >= 0 ? activeVehicle.satelliteCount : 'NA'
font.pixelSize: activeVehicle.satelliteCount >= 0 ? ScreenTools.defaultFontPixelSize : ScreenTools.smallFontPixelSize
font.weight: Font.DemiBold
anchors.verticalCenter: parent.verticalCenter
anchors.right: parent.right
......@@ -451,7 +335,7 @@ Rectangle {
id: rssiRC
width: getProportionalDimmension(55)
height: cellHeight
visible: showMavStatus() && mainToolBar.showRSSI && mainToolBar.remoteRSSI <= 100
visible: mainToolBar.showRSSI && mainToolBar.remoteRSSI <= 100
anchors.verticalCenter: parent.verticalCenter
color: getRSSIColor(mainToolBar.remoteRSSI);
border.color: "#00000000"
......@@ -482,7 +366,7 @@ Rectangle {
id: rssiTelemetry
width: getProportionalDimmension(80)
height: cellHeight
visible: showMavStatus() && (mainToolBar.showRSSI) && ((mainToolBar.telemetryRRSSI > 0) && (mainToolBar.telemetryLRSSI > 0))
visible: mainToolBar.showRSSI && (mainToolBar.telemetryRRSSI > 0) && (mainToolBar.telemetryLRSSI > 0)
anchors.verticalCenter: parent.verticalCenter
color: getRSSIColor(Math.min(mainToolBar.telemetryRRSSI,mainToolBar.telemetryLRSSI));
border.color: "#00000000"
......@@ -540,9 +424,9 @@ Rectangle {
Rectangle {
id: batteryStatus
width: MavManager.batteryConsumed < 0.0 ? getProportionalDimmension(60) : getProportionalDimmension(80)
width: activeVehicle.batteryConsumed < 0.0 ? getProportionalDimmension(60) : getProportionalDimmension(80)
height: cellHeight
visible: showMavStatus() && (mainToolBar.showBattery)
visible: mainToolBar.showBattery
anchors.verticalCenter: parent.verticalCenter
color: getBatteryColor();
border.color: "#00000000"
......@@ -559,8 +443,8 @@ Rectangle {
}
QGCLabel {
visible: batteryStatus.visible && MavManager.batteryConsumed < 0.0
text: MavManager.batteryVoltage.toFixed(1) + 'V';
visible: batteryStatus.visible && activeVehicle.batteryConsumed < 0.0
text: activeVehicle.batteryVoltage.toFixed(1) + 'V';
font.pixelSize: ScreenTools.smallFontPixelSize
font.weight: Font.DemiBold
anchors.right: parent.right
......@@ -574,9 +458,9 @@ Rectangle {
anchors.verticalCenter: parent.verticalCenter
anchors.right: parent.right
anchors.rightMargin: getProportionalDimmension(6)
visible: batteryStatus.visible && MavManager.batteryConsumed >= 0.0
visible: batteryStatus.visible && activeVehicle.batteryConsumed >= 0.0
QGCLabel {
text: MavManager.batteryVoltage.toFixed(1) + 'V';
text: activeVehicle.batteryVoltage.toFixed(1) + 'V';
width: getProportionalDimmension(30)
horizontalAlignment: Text.AlignRight
font.pixelSize: ScreenTools.smallFontPixelSize
......@@ -584,7 +468,7 @@ Rectangle {
color: colorWhite
}
QGCLabel {
text: MavManager.batteryConsumed.toFixed(0) + 'mAh';
text: activeVehicle.batteryConsumed.toFixed(0) + 'mAh';
width: getProportionalDimmension(30)
horizontalAlignment: Text.AlignRight
font.pixelSize: ScreenTools.smallFontPixelSize
......@@ -595,7 +479,6 @@ Rectangle {
}
Column {
visible: showMavStatus()
height: cellHeight * 0.85
width: getProportionalDimmension(80)
anchors.verticalCenter: parent.verticalCenter
......@@ -611,11 +494,11 @@ Rectangle {
QGCLabel {
id: armedStatusText
text: (MavManager.systemArmed) ? qsTr("ARMED") : qsTr("DISARMED")
text: (activeVehicle.systemArmed) ? qsTr("ARMED") : qsTr("DISARMED")
font.pixelSize: ScreenTools.smallFontPixelSize
font.weight: Font.DemiBold
anchors.centerIn: parent
color: (MavManager.systemArmed) ? colorOrangeText : colorGreenText
color: (activeVehicle.systemArmed) ? colorOrangeText : colorGreenText
}
}
......@@ -630,11 +513,11 @@ Rectangle {
QGCLabel {
id: stateStatusText
text: MavManager.currentState
text: activeVehicle.currentState
font.pixelSize: ScreenTools.smallFontPixelSize
font.weight: Font.DemiBold
anchors.centerIn: parent
color: (MavManager.currentState === "STANDBY") ? colorGreenText : colorRedText
color: (activeVehicle.currentState === "STANDBY") ? colorGreenText : colorRedText
}
}
......@@ -644,14 +527,13 @@ Rectangle {
id: modeStatus
width: getProportionalDimmension(90)
height: cellHeight
visible: showMavStatus()
color: "#00000000"
border.color: "#00000000"
border.width: 0
QGCLabel {
id: modeStatusText
text: MavManager.currentMode
text: activeVehicle.currentMode
font.pixelSize: ScreenTools.smallFontPixelSize
font.weight: Font.DemiBold
anchors.horizontalCenter: parent.horizontalCenter
......@@ -659,12 +541,148 @@ Rectangle {
color: colorWhiteText
}
}
} // Row
} // Component - activeVehicleComponent
Row {
id: toolRow
x: horizontalMargins
y: (toolBarHeight - cellHeight) / 2
height: cellHeight
spacing: getProportionalDimmension(4)
//---------------------------------------------------------------------
//-- Main menu for Non Mobile Devices (Chevron Buttons)
Row {
id: row11
height: cellHeight
spacing: -getProportionalDimmension(12)
anchors.top: parent.top
visible: !ScreenTools.isMobile
Connections {
target: ScreenTools
onRepaintRequested: {
setupButton.repaintChevron = true;
planButton.repaintChevron = true;
flyButton.repaintChevron = true;
analyzeButton.repaintChevron = true;
}
}
ExclusiveGroup { id: mainActionGroup }
QGCToolBarButton {
id: setupButton
width: getProportionalDimmension(90)
height: cellHeight
exclusiveGroup: mainActionGroup
text: qsTr("Setup")
checked: (mainToolBar.currentView === MainToolBar.ViewSetup)
onClicked: {
mainToolBar.onSetupView();
}
z: 1000
}
QGCToolBarButton {
id: planButton
width: getProportionalDimmension(90)
height: cellHeight
exclusiveGroup: mainActionGroup
text: qsTr("Plan")
checked: (mainToolBar.currentView === MainToolBar.ViewPlan)
onClicked: {
mainToolBar.onPlanView();
}
z: 900
}
QGCToolBarButton {
id: flyButton
width: getProportionalDimmension(90)
height: cellHeight
exclusiveGroup: mainActionGroup
text: qsTr("Fly")
checked: (mainToolBar.currentView === MainToolBar.ViewFly)
onClicked: {
mainToolBar.onFlyView();
}
z: 800
}
QGCToolBarButton {
id: analyzeButton
width: getProportionalDimmension(90)
height: cellHeight
exclusiveGroup: mainActionGroup
text: qsTr("Analyze")
checked: (mainToolBar.currentView === MainToolBar.ViewAnalyze)
onClicked: {
mainToolBar.onAnalyzeView();
}
z: 700
}
} // Row
//---------------------------------------------------------------------
//-- Indicators
Row {
id: row12
height: cellHeight
spacing: cellSpacerSize
anchors.verticalCenter: parent.verticalCenter
//-- "Hamburger" menu for Mobile Devices
Item {
id: actionButton
visible: ScreenTools.isMobile
height: cellHeight
width: cellHeight
Image {
id: buttomImg
anchors.fill: parent
source: "/qmlimages/buttonMore.svg"
mipmap: true
smooth: true
antialiasing: true
fillMode: Image.PreserveAspectFit
}
MouseArea {
anchors.fill: parent
acceptedButtons: Qt.LeftButton
onClicked: {
if (mouse.button == Qt.LeftButton)
{
maintMenu.popup();
}
}
}
}
//-- Separator if Hamburger menu is visible
Rectangle {
visible: actionButton.visible
height: cellHeight
width: cellHeight
color: "#00000000"
anchors.verticalCenter: parent.verticalCenter
}
Loader {
id: activeVehicleLoader
visible: showMavStatus()
sourceComponent: multiVehicleManager.activeVehicleAvailable ? activeVehicleComponent : undefined
property real cellHeight: toolBarHolder.cellHeight
property real cellSpacerSize: toolBarHolder.cellSpacerSize
}
Rectangle {
id: connectionStatus
width: getProportionalDimmension(160)
height: cellHeight
visible: (mainToolBar.connectionCount > 0 && MavManager.mavPresent && MavManager.heartbeatTimeout != 0)
visible: (mainToolBar.connectionCount > 0 && multiVehicleManager.activeVehicleAvailable && activeVehicle.heartbeatTimeout != 0)
anchors.verticalCenter: parent.verticalCenter
color: "#00000000"
border.color: "#00000000"
......
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