Add default value support

Also friendly editor for MAV_CMD_NAV_ROI and MAV_CMD_DO_SET_SERVO

src/MissionManager/MavCmdInfo.json

@@ -21,6 +21,7 @@
             "param1": {
                 "label":            "Hold:",
                 "units":            "seconds",
+                "default":          0,
                 "decimalPlaces":    0
             }
         },
@@ -34,6 +35,7 @@
             "param3": {
                 "label":            "Radius:",
                 "units":            "meters",
+                "default":          10.0,
                 "decimalPlaces":    2
             }
         },
@@ -46,11 +48,13 @@
             "friendlyEdit":         true,
             "param1": {
                 "label":            "Turns:",
+                "default":          1,
                 "decimalPlaces":    0
             },
             "param3": {
                 "label":            "Radius:",
                 "units":            "meters",
+                "default":          10.0,
                 "decimalPlaces":    2
             }
         },
@@ -64,11 +68,13 @@
             "param1": {
                 "label":            "Hold:",
                 "units":            "seconds",
+                "default":          30,
                 "decimalPlaces":    0
             },
             "param3": {
                 "label":            "Radius:",
                 "units":            "meters",
+                "default":          10.0,
                 "decimalPlaces":    2
             }
         },
@@ -89,11 +95,13 @@
             "param1": {
                 "label":            "Abort Alt:",
                 "units":            "meters",
+                "default":          25.0,
                 "decimalPlaces":    3
             },
             "param4": {
                 "label":            "Heading:",
                 "units":            "degrees",
+                "default":          0.0,
                 "decimalPlaces":    2
             }
         },
@@ -107,11 +115,13 @@
             "param1": {
                 "label":            "Pitch:",
                 "units":            "degrees",
+                "default":          0.26179939,
                 "decimalPlaces":    2
             },
             "param4": {
                 "label":            "Heading:",
                 "units":            "degrees",
+                "default":          0.0,
                 "decimalPlaces":    2
             }
         },
@@ -120,7 +130,31 @@
         { "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "MAV_CMD_NAV_FOLLOW" },
         { "id": 30, "rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT", "friendlyName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT" },
         { "id": 31, "rawName": "MAV_CMD_NAV_LOITER_TO_ALT" },
-        { "id": 80, "rawName": "MAV_CMD_NAV_ROI", "friendlyName": "MAV_CMD_NAV_ROI" },
+        {
+            "id":                   80,
+            "rawName":              "MAV_CMD_NAV_ROI",
+            "friendlyName":         "Region of interest",
+            "description":          "Sets the region of interest for cameras.",
+            "specifiesCoordinate":  true,
+            "friendlyEdit":         true,
+            "param1": {
+                "label":            "Mode:",
+                "enumStrings":      "None,Next waypoint,Mission item,Location,ROI item",
+                "enumValues":       "0,1,2,3,4",
+                "default":          3,
+                "decimalPlaces":    0
+            },
+            "param2": {
+                "label":            "Mission Index:",
+                "default":          0,
+                "decimalPlaces":    0
+            },
+            "param3": {
+                "label":            "ROI index:",
+                "default":          0,
+                "decimalPlaces":    0
+            }
+        },
         { "id": 81, "rawName": "MAV_CMD_NAV_PATHPLANNING", "friendlyName": "MAV_CMD_NAV_PATHPLANNING" },
         { "id": 82, "rawName": "MAV_CMD_NAV_SPLINE_WAYPOINT", "friendlyName": "MAV_CMD_NAV_SPLINE_WAYPOINT" },
         { "id": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "MAV_CMD_NAV_ALTITUDE_WAIT" },
@@ -134,6 +168,7 @@
             "param1": {
                 "label":            "Hold:",
                 "units":            "seconds",
+                "default":          30,
                 "decimalPlaces":    0
             }
         },
@@ -149,11 +184,13 @@
             "description":  "Mission will continue at the specified item.",
             "friendlyEdit": true,
             "param1": {
-                "label":            "Seq #:",
+                "label":            "Item #:",
+                "default":          1,
                 "decimalPlaces":    0
             },
             "param2": {
                 "label":            "Repeat:",
+                "default":          0,
                 "decimalPlaces":    0
             }
         },
@@ -162,7 +199,23 @@
         { "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "MAV_CMD_DO_SET_PARAMETER" },
         { "id": 181, "rawName": "MAV_CMD_DO_SET_RELAY", "friendlyName": "MAV_CMD_DO_SET_RELAY" },
         { "id": 182, "rawName": "MAV_CMD_DO_REPEAT_RELAY", "friendlyName": "MAV_CMD_DO_REPEAT_RELAY" },
-        { "id": 183, "rawName": "MAV_CMD_DO_SET_SERVO", "friendlyName": "MAV_CMD_DO_SET_SERVO" },
+        {
+            "id":           183,
+            "rawName":      "MAV_CMD_DO_SET_SERVO",
+            "friendlyName": "Set servo",
+            "description":  "Set servo to specified PWM value.",
+            "friendlyEdit": true,
+            "param1": {
+                "label":            "Servo:",
+                "default":          1,
+                "decimalPlaces":    0
+            },
+            "param2": {
+                "label":            "PWM:",
+                "default":          1000,
+                "decimalPlaces":    0
+            }
+        },
         { "id": 184, "rawName": "MAV_CMD_DO_REPEAT_SERVO", "friendlyName": "MAV_CMD_DO_REPEAT_SERVO" },
         { "id": 185, "rawName": "MAV_CMD_DO_FLIGHTTERMINATION", "friendlyName": "MAV_CMD_DO_FLIGHTTERMINATION" },
         { "id": 189, "rawName": "MAV_CMD_DO_LAND_START", "friendlyName": "MAV_CMD_DO_LAND_START" },

src/MissionManager/MissionItem.cc

@@ -47,6 +47,7 @@ FactMetaData* MissionItem::_longitudeMetaData =         NULL;
 FactMetaData* MissionItem::_supportedCommandMetaData =  NULL;
 
 const QString MissionItem::_decimalPlacesJsonKey        (QStringLiteral("decimalPlaces"));
+const QString MissionItem::_defaultJsonKey              (QStringLiteral("default"));
 const QString MissionItem::_descriptionJsonKey          (QStringLiteral("description"));
 const QString MissionItem::_friendlyEditJsonKey         (QStringLiteral("friendlyEdit"));
 const QString MissionItem::_friendlyNameJsonKey         (QStringLiteral("friendlyName"));
@@ -246,8 +247,8 @@ void MissionItem::_connectSignals(void)
     connect(&_param5Fact,   &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
     connect(&_param6Fact,   &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
     connect(&_param7Fact,   &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
-    connect(this,           &MissionItem::commandChanged,           this, &MissionItem::_setDirtyFromSignal);
-    connect(this,           &MissionItem::frameChanged,             this, &MissionItem::_setDirtyFromSignal);
+    connect(&_frameFact,    &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
+    connect(&_commandFact,  &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
     connect(this,           &MissionItem::sequenceNumberChanged,    this, &MissionItem::_setDirtyFromSignal);
 
     // Values from these facts must propogate back and forth between the real object storage
@@ -264,14 +265,18 @@ void MissionItem::_connectSignals(void)
     // The following changes may also change friendlyEditAllowed
     connect(&_autoContinueFact, &Fact::valueChanged,        this, &MissionItem::_sendFriendlyEditAllowedChanged);
     connect(&_commandFact,      &Fact::valueChanged,        this, &MissionItem::_sendFriendlyEditAllowedChanged);
-    connect(this,               &MissionItem::frameChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged);
+    connect(&_frameFact,        &Fact::valueChanged,        this, &MissionItem::_sendFriendlyEditAllowedChanged);
 
     // Whenever these properties change the ui model changes as well
     connect(this, &MissionItem::commandChanged, this, &MissionItem::_sendUiModelChanged);
     connect(this, &MissionItem::rawEditChanged, this, &MissionItem::_sendUiModelChanged);
 
+    // These fact signals must alway signal out through MissionItem signals
     connect(&_commandFact,  &Fact::valueChanged, this, &MissionItem::_sendCommandChanged);
     connect(&_frameFact,    &Fact::valueChanged, this, &MissionItem::_sendFrameChanged);
+
+    // When the command changes we need to set defaults
+    connect(&_commandFact,  &Fact::valueChanged, this, &MissionItem::setDefaultsForCommand);
 }
 
 bool MissionItem::_validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types)
@@ -376,8 +381,8 @@ bool MissionItem::_loadMavCmdInfoJson(void)
                 // Validate key types
                 QStringList             keys;
                 QList<QJsonValue::Type> types;
-                keys << _labelJsonKey << _unitsJsonKey << _decimalPlacesJsonKey;
-                types << QJsonValue::String << QJsonValue::String<< QJsonValue::Double;
+                keys << _labelJsonKey << _unitsJsonKey << _defaultJsonKey << _decimalPlacesJsonKey;
+                types << QJsonValue::String << QJsonValue::String << QJsonValue::Double << QJsonValue::Double;
                 if (!_validateKeyTypes(paramObject, keys, types)) {
                     return false;
                 }
@@ -389,7 +394,9 @@ bool MissionItem::_loadMavCmdInfoJson(void)
                     return false;
                 }
 
+                _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].param =          i;
                 _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].units =          paramObject.value(_unitsJsonKey).toString();
+                _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].defaultValue =   paramObject.value(_defaultJsonKey).toDouble(0.0);
                 _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].decimalPlaces =  paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::defaultDecimalPlaces);
             }
         }
@@ -519,6 +526,7 @@ void MissionItem::setCommand(MAV_CMD command)
 {
     if ((MAV_CMD)this->command() != command) {
         _commandFact.setValue(command);
+        setDefaultsForCommand();
         emit commandChanged(this->command());
     }
 }
@@ -533,6 +541,7 @@ void MissionItem::setFrame(MAV_FRAME frame)
 {
     if (this->frame() != frame) {
         _frameFact.setValue(frame);
+        frameChanged(frame);
     }
 }
 
@@ -837,7 +846,6 @@ void MissionItem::_syncSupportedCommandToCommand(const QVariant& value)
         qDebug() << value.toInt();
         _syncingSupportedCommandAndCommand = true;
         _commandFact.setValue(value.toInt());
-        qDebug() << _commandFact.value().toInt();
         _syncingSupportedCommandAndCommand = false;
     }
 }
@@ -853,29 +861,29 @@ void MissionItem::_syncCommandToSupportedCommand(const QVariant& value)
 
 void MissionItem::setDefaultsForCommand(void)
 {
-    switch ((MAV_CMD)command()) {
-    case MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF:
-        setParam1(_degreesToRadians(defaultTakeoffPitch).toDouble());
-        break;
-    case MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT:
-        setParam2(defaultAcceptanceRadius);
+    foreach (ParamInfo_t paramInfo, _mavCmdInfoMap[(MAV_CMD)command()].paramInfoMap) {
+        double defaultValue = paramInfo.defaultValue;
+
+        switch (paramInfo.param) {
+            case 1:
+                _param1Fact.setRawValue(defaultValue);
                 break;
-    case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_UNLIM:
-    case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TIME:
-        setParam3(defaultLoiterOrbitRadius);
+            case 2:
+                _param2Fact.setRawValue(defaultValue);
                 break;
-    case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TURNS:
-        setParam1(defaultLoiterTurns);
-        setParam3(defaultLoiterOrbitRadius);
+            case 3:
+                _param3Fact.setRawValue(defaultValue);
                 break;
-    default:
+            case 4:
+                _param4Fact.setRawValue(defaultValue);
                 break;
         }
+    }
 
-    setParam4(_degreesToRadians(defaultHeading).toDouble());
     setParam7(defaultAltitude);
-
+    setAutoContinue(true);
     setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
+    setRawEdit(false);
 }
 
 void MissionItem::_sendUiModelChanged(void)

src/MissionManager/MissionItem.h

@@ -93,8 +93,6 @@ public:
     /// are shown next to the part item in the ui.
     Q_PROPERTY(QmlObjectListModel*  childItems      READ childItems     CONSTANT)
 
-    Q_INVOKABLE void setDefaultsForCommand(void);
-
     // Property accesors
     
     MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_commandFact.value().toInt(); };
@@ -172,6 +170,9 @@ public:
     static const double defaultLoiterOrbitRadius;
     static const double defaultLoiterTurns;
 
+public slots:
+    void setDefaultsForCommand(void);
+
 signals:
     void commandChanged             (MavlinkQmlSingleton::Qml_MAV_CMD command);
     void coordinateChanged          (const QGeoCoordinate& coordinate);
@@ -210,8 +211,10 @@ private:
 
 private:
     typedef struct {
+        int     param;
         QString label;
         QString units;
+        double  defaultValue;
         int     decimalPlaces;
     } ParamInfo_t;
 
@@ -269,6 +272,7 @@ private:
     static QMap<MAV_CMD, MavCmdInfo_t> _mavCmdInfoMap;
 
     static const QString _decimalPlacesJsonKey;
+    static const QString _defaultJsonKey;
     static const QString _descriptionJsonKey;
     static const QString _friendlyNameJsonKey;
     static const QString _friendlyEditJsonKey;