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qgroundcontrol
Commit 73ea13a1 authored by Gus Grubba's avatar Gus Grubba
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Add ROI option

parent 11ccd415
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Showing with 117 additions and 7 deletions
QGCExternalLibs.pri
View file @ 73ea13a1
......@@ -147,9 +147,9 @@ AndroidBuild {
contains(DEFINES, QGC_ENABLE_PAIRING) {
MacBuild {
#- Pairing is generally not supported on macOS. This is here solely for development.
exists(/usr/local/Cellar/openssl/1.0.2s/include) {
INCLUDEPATH += /usr/local/Cellar/openssl/1.0.2s/include
LIBS += -L/usr/local/Cellar/openssl/1.0.2s/lib
exists(/usr/local/Cellar/openssl/1.0.2t/include) {
INCLUDEPATH += /usr/local/Cellar/openssl/1.0.2t/include
LIBS += -L/usr/local/Cellar/openssl/1.0.2t/lib
LIBS += -lcrypto -lz
} else {
# There is some circular reference settings going on between QGCExternalLibs.pri and gqgroundcontrol.pro.
......
src/FirmwarePlugin/FirmwarePlugin.h
View file @ 73ea13a1
......@@ -48,6 +48,7 @@ public:
GuidedModeCapability = 1 << 2, ///< Vehicle supports guided mode commands
OrbitModeCapability = 1 << 3, ///< Vehicle supports orbit mode
TakeoffVehicleCapability = 1 << 4, ///< Vehicle supports guided takeoff
ROIModeCapability = 1 << 5, ///< Vehicle supports ROI
} FirmwareCapabilities;
/// Maps from on parameter name to another
......
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
View file @ 73ea13a1
......@@ -226,10 +226,13 @@ bool PX4FirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_m
bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
{
int available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
//-- This is arbitrary until I find how to really tell if ROI is avaiable
if (vehicle->multiRotor()) {
available |= ROIModeCapability;
}
if (vehicle->multiRotor() || vehicle->vtol()) {
available |= TakeoffVehicleCapability | OrbitModeCapability;
}
return (capabilities & available) == capabilities;
}
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ 73ea13a1
......@@ -401,6 +401,46 @@ FlightMap {
}
}
// ROI Location visuals
MapQuickItem {
id: roiLocationItem
visible: false
z: QGroundControl.zOrderMapItems
anchorPoint.x: sourceItem.anchorPointX
anchorPoint.y: sourceItem.anchorPointY
sourceItem: MissionItemIndexLabel {
checked: true
index: -1
label: qsTr("ROI here", "Make this a Region Of Interest")
}
Connections {
target: mainWindow
onActiveVehicleChanged: {
if (!activeVehicle) {
roiLocationItem.visible = false
}
}
}
function show(coord) {
roiLocationItem.coordinate = coord
roiLocationItem.visible = true
}
function hide() {
roiLocationItem.visible = false
}
function actionConfirmed() {
hide()
}
function actionCancelled() {
hide()
}
}
// Orbit telemetry visuals
QGCMapCircleVisuals {
id: orbitTelemetryCircle
......@@ -429,9 +469,7 @@ FlightMap {
QGCMenu {
id: clickMenu
property var coord
QGCMenuItem {
text: qsTr("Go to location")
visible: guidedActionsController.showGotoLocation
......@@ -442,7 +480,6 @@ FlightMap {
guidedActionsController.confirmAction(guidedActionsController.actionGoto, clickMenu.coord, gotoLocationItem)
}
}
QGCMenuItem {
text: qsTr("Orbit at location")
visible: guidedActionsController.showOrbit
......@@ -453,6 +490,16 @@ FlightMap {
guidedActionsController.confirmAction(guidedActionsController.actionOrbit, clickMenu.coord, orbitMapCircle)
}
}
QGCMenuItem {
text: qsTr("ROI at location")
visible: guidedActionsController.showROI
onTriggered: {
roiLocationItem.show(clickMenu.coord)
gotoLocationItem.hide()
guidedActionsController.confirmAction(guidedActionsController.actionROI, clickMenu.coord, orbitMapCircle)
}
}
}
onClicked: {
......
src/FlightDisplay/GuidedActionsController.qml
View file @ 73ea13a1
......@@ -51,6 +51,7 @@ Item {
readonly property string setWaypointTitle: qsTr("Set Waypoint")
readonly property string gotoTitle: qsTr("Go To Location")
readonly property string vtolTransitionTitle: qsTr("VTOL Transition")
readonly property string roiTitle: qsTr("ROI")
readonly property string armMessage: qsTr("Arm the vehicle.")
readonly property string disarmMessage: qsTr("Disarm the vehicle")
......@@ -70,6 +71,7 @@ Item {
readonly property string mvPauseMessage: qsTr("Pause all vehicles at their current position.")
readonly property string vtolTransitionFwdMessage: qsTr("Transition VTOL to fixed wing flight.")
readonly property string vtolTransitionMRMessage: qsTr("Transition VTOL to multi-rotor flight.")
readonly property string roiMessage: qsTr("Make the specified location a Region Of Interest.")
readonly property int actionRTL: 1
readonly property int actionLand: 2
......@@ -92,6 +94,7 @@ Item {
readonly property int actionMVStartMission: 19
readonly property int actionVtolTransitionToFwdFlight: 20
readonly property int actionVtolTransitionToMRFlight: 21
readonly property int actionROI: 22
property bool showEmergenyStop: _guidedActionsEnabled && !_hideEmergenyStop && _vehicleArmed && _vehicleFlying
property bool showArm: _guidedActionsEnabled && !_vehicleArmed
......@@ -104,6 +107,7 @@ Item {
property bool showPause: _guidedActionsEnabled && _vehicleArmed && activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused && !_fixedWingOnApproach
property bool showChangeAlt: _guidedActionsEnabled && _vehicleFlying && activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
property bool showOrbit: _guidedActionsEnabled && !_hideOrbit && _vehicleFlying && activeVehicle.orbitModeSupported && !_missionActive
property bool showROI: _guidedActionsEnabled && !_hideROI && _vehicleFlying && activeVehicle.roiModeSupported && !_missionActive
property bool showLandAbort: _guidedActionsEnabled && _vehicleFlying && _fixedWingOnApproach
property bool showGotoLocation: _guidedActionsEnabled && _vehicleFlying
......@@ -129,6 +133,7 @@ Item {
property int _resumeMissionIndex: missionController.resumeMissionIndex
property bool _hideEmergenyStop: !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
property bool _hideOrbit: !QGroundControl.corePlugin.options.guidedBarShowOrbit
property bool _hideROI: !QGroundControl.corePlugin.options.guidedBarShowOrbit
property bool _vehicleWasFlying: false
property bool _rcRSSIAvailable: activeVehicle ? activeVehicle.rcRSSI > 0 && activeVehicle.rcRSSI <= 100 : false
property bool _fixedWingOnApproach: activeVehicle ? activeVehicle.fixedWing && _vehicleLanding : false
......@@ -342,6 +347,11 @@ Item {
confirmDialog.message = vtolTransitionMRMessage
confirmDialog.hideTrigger = true
break
case actionROI:
confirmDialog.title = roiTitle
confirmDialog.message = roiMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showROI })
break;
default:
console.warn("Unknown actionCode", actionCode)
return
......@@ -417,6 +427,9 @@ Item {
case actionVtolTransitionToMRFlight:
activeVehicle.vtolInFwdFlight = false
break
case actionROI:
activeVehicle.guidedModeROI(actionData)
break
default:
console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
break
......
src/Vehicle/Vehicle.cc
View file @ 73ea13a1
......@@ -2989,6 +2989,11 @@ bool Vehicle::orbitModeSupported() const
return _firmwarePlugin->isCapable(this, FirmwarePlugin::OrbitModeCapability);
}
bool Vehicle::roiModeSupported() const
{
return _firmwarePlugin->isCapable(this, FirmwarePlugin::ROIModeCapability);
}
bool Vehicle::takeoffVehicleSupported() const
{
return _firmwarePlugin->isCapable(this, FirmwarePlugin::TakeoffVehicleCapability);
......@@ -3094,6 +3099,38 @@ void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius,
}
}
void Vehicle::guidedModeROI(const QGeoCoordinate& centerCoord)
{
if (!roiModeSupported()) {
qgcApp()->showMessage(QStringLiteral("ROI mode not supported by Vehicle."));
return;
}
if (capabilityBits() & MAV_PROTOCOL_CAPABILITY_COMMAND_INT) {
sendMavCommandInt(
defaultComponentId(),
MAV_CMD_DO_SET_ROI_LOCATION,
MAV_FRAME_GLOBAL,
true, // show error if fails
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
centerCoord.latitude(), centerCoord.longitude(), static_cast<float>(centerCoord.altitude()));
} else {
sendMavCommand(
defaultComponentId(),
MAV_CMD_DO_SET_ROI_LOCATION,
true, // show error if fails
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(centerCoord.latitude()),
static_cast<float>(centerCoord.longitude()),
static_cast<float>(centerCoord.altitude()));
}
}
void Vehicle::pauseVehicle(void)
{
if (!pauseVehicleSupported()) {
......
src/Vehicle/Vehicle.h
View file @ 73ea13a1
......@@ -654,6 +654,7 @@ public:
Q_PROPERTY(bool guidedModeSupported READ guidedModeSupported CONSTANT) ///< Guided mode commands are supported by this vehicle
Q_PROPERTY(bool pauseVehicleSupported READ pauseVehicleSupported CONSTANT) ///< Pause vehicle command is supported
Q_PROPERTY(bool orbitModeSupported READ orbitModeSupported CONSTANT) ///< Orbit mode is supported by this vehicle
Q_PROPERTY(bool roiModeSupported READ roiModeSupported CONSTANT) ///< Orbit mode is supported by this vehicle
Q_PROPERTY(bool takeoffVehicleSupported READ takeoffVehicleSupported CONSTANT) ///< Guided takeoff supported
Q_PROPERTY(QString gotoFlightMode READ gotoFlightMode CONSTANT) ///< Flight mode vehicle is in while performing goto
......@@ -737,6 +738,10 @@ public:
/// @param amslAltitude Desired vehicle altitude
Q_INVOKABLE void guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double amslAltitude);
/// Command vehicle to keep given point as ROI
/// @param centerCoord ROI coordinates
Q_INVOKABLE void guidedModeROI(const QGeoCoordinate& centerCoord);
/// Command vehicle to pause at current location. If vehicle supports guide mode, vehicle will be left
/// in guided mode after pause.
Q_INVOKABLE void pauseVehicle(void);
......@@ -786,6 +791,7 @@ public:
bool guidedModeSupported (void) const;
bool pauseVehicleSupported (void) const;
bool orbitModeSupported (void) const;
bool roiModeSupported (void) const;
bool takeoffVehicleSupported (void) const;
QString gotoFlightMode (void) const;
......
src/api/QGCOptions.h
View file @ 73ea13a1
......@@ -49,6 +49,7 @@ public:
Q_PROPERTY(QString firmwareUpgradeSingleURL READ firmwareUpgradeSingleURL CONSTANT)
Q_PROPERTY(bool guidedBarShowEmergencyStop READ guidedBarShowEmergencyStop NOTIFY guidedBarShowEmergencyStopChanged)
Q_PROPERTY(bool guidedBarShowOrbit READ guidedBarShowOrbit NOTIFY guidedBarShowOrbitChanged)
Q_PROPERTY(bool guidedBarShowROI READ guidedBarShowROI NOTIFY guidedBarShowROIChanged)
Q_PROPERTY(bool missionWaypointsOnly READ missionWaypointsOnly NOTIFY missionWaypointsOnlyChanged)
Q_PROPERTY(bool multiVehicleEnabled READ multiVehicleEnabled NOTIFY multiVehicleEnabledChanged)
Q_PROPERTY(bool showOfflineMapExport READ showOfflineMapExport NOTIFY showOfflineMapExportChanged)
......@@ -110,6 +111,7 @@ public:
virtual bool showFirmwareUpgrade () const { return true; }
virtual bool guidedBarShowEmergencyStop () const { return true; }
virtual bool guidedBarShowOrbit () const { return true; }
virtual bool guidedBarShowROI () const { return true; }
virtual bool missionWaypointsOnly () const { return false; } ///< true: Only allow waypoints and complex items in Plan
virtual bool multiVehicleEnabled () const { return true; } ///< false: multi vehicle support is disabled
virtual bool guidedActionsRequireRCRSSI () const { return false; } ///< true: Guided actions will be disabled is there is no RC RSSI
......@@ -147,6 +149,7 @@ signals:
void showFirmwareUpgradeChanged (bool show);
void guidedBarShowEmergencyStopChanged (bool show);
void guidedBarShowOrbitChanged (bool show);
void guidedBarShowROIChanged (bool show);
void missionWaypointsOnlyChanged (bool missionWaypointsOnly);
void multiVehicleEnabledChanged (bool multiVehicleEnabled);
void showOfflineMapExportChanged ();
......
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