Merge pull request #8924 from DonLakeFlyer/FirmwareVehicleClass

Support for Vehicle and Firmware classes

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -752,23 +752,23 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
     };
 }
 
-QString APMFirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
+QString APMFirmwarePlugin::missionCommandOverrides(QGCMAVLink::VehicleClass_t vehicleClass) const
 {
-    switch (vehicleType) {
-    case MAV_TYPE_GENERIC:
+    switch (vehicleClass) {
+    case QGCMAVLink::VehicleClassGeneric:
         return QStringLiteral(":/json/APM-MavCmdInfoCommon.json");
-    case MAV_TYPE_FIXED_WING:
+    case QGCMAVLink::VehicleClassFixedWing:
         return QStringLiteral(":/json/APM-MavCmdInfoFixedWing.json");
-    case MAV_TYPE_QUADROTOR:
+    case QGCMAVLink::VehicleClassMultiRotor:
         return QStringLiteral(":/json/APM-MavCmdInfoMultiRotor.json");
-    case MAV_TYPE_VTOL_QUADROTOR:
+    case QGCMAVLink::VehicleClassVTOL:
         return QStringLiteral(":/json/APM-MavCmdInfoVTOL.json");
-    case MAV_TYPE_SUBMARINE:
+    case QGCMAVLink::VehicleClassSub:
         return QStringLiteral(":/json/APM-MavCmdInfoSub.json");
-    case MAV_TYPE_GROUND_ROVER:
+    case QGCMAVLink::VehicleClassRoverBoat:
         return QStringLiteral(":/json/APM-MavCmdInfoRover.json");
     default:
-        qWarning() << "APMFirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
+        qWarning() << "APMFirmwarePlugin::missionCommandOverrides called with bad VehicleClass_t:" << vehicleClass;
         return QString();
     }
 }

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -97,7 +97,7 @@ public:
     virtual void        initializeStreamRates           (Vehicle* vehicle);
     void                initializeVehicle               (Vehicle* vehicle) override;
     bool                sendHomePositionToVehicle       (void) override;
-    QString             missionCommandOverrides         (MAV_TYPE vehicleType) const override;
+    QString             missionCommandOverrides         (QGCMAVLink::VehicleClass_t vehicleClass) const override;
     QString             getVersionParam                 (void) override { return QStringLiteral("SYSID_SW_MREV"); }
     QString             _internalParameterMetaDataFile  (Vehicle* vehicle) override;
     FactMetaData*       _getMetaDataForFact             (QObject* parameterMetaData, const QString& name, FactMetaData::ValueType_t type, MAV_TYPE vehicleType) override;

src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc

@@ -24,11 +24,11 @@ APMFirmwarePluginFactory::APMFirmwarePluginFactory(void)
 
 }
 
-QList<MAV_AUTOPILOT> APMFirmwarePluginFactory::supportedFirmwareTypes(void) const
+QList<QGCMAVLink::FirmwareClass_t> APMFirmwarePluginFactory::supportedFirmwareClasses(void) const
 {
-    QList<MAV_AUTOPILOT> list;
+    QList<QGCMAVLink::FirmwareClass_t> list;
 
-    list.append(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    list.append(QGCMAVLink::FirmwareClassArduPilot);
     return list;
 }
 

src/FirmwarePlugin/APM/APMFirmwarePluginFactory.h

@@ -7,8 +7,7 @@
  *
  ****************************************************************************/
 
-#ifndef APMFirmwarePluginFactory_H
-#define APMFirmwarePluginFactory_H
+#pragma once
 
 #include "FirmwarePlugin.h"
 
@@ -24,8 +23,8 @@ class APMFirmwarePluginFactory : public FirmwarePluginFactory
 public:
     APMFirmwarePluginFactory(void);
 
-    QList<MAV_AUTOPILOT>    supportedFirmwareTypes      (void) const final;
-    FirmwarePlugin*         firmwarePluginForAutopilot  (MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) final;
+    QList<QGCMAVLink::FirmwareClass_t>  supportedFirmwareClasses(void) const final;
+    FirmwarePlugin*                     firmwarePluginForAutopilot  (MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) final;
 
 private:
     ArduCopterFirmwarePlugin*   _arduCopterPluginInstance;
@@ -33,5 +32,3 @@ private:
     ArduRoverFirmwarePlugin*    _arduRoverPluginInstance;
     ArduSubFirmwarePlugin*      _arduSubPluginInstance;
 };
-
-#endif

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -34,11 +34,9 @@ FirmwarePluginFactory::FirmwarePluginFactory(void)
     FirmwarePluginFactoryRegister::instance()->registerPluginFactory(this);
 }
 
-QList<MAV_TYPE> FirmwarePluginFactory::supportedVehicleTypes(void) const
+QList<QGCMAVLink::VehicleClass_t> FirmwarePluginFactory::supportedVehicleClasses(void) const
 {
-    QList<MAV_TYPE> vehicleTypes;
-    vehicleTypes << MAV_TYPE_FIXED_WING << MAV_TYPE_QUADROTOR << MAV_TYPE_VTOL_QUADROTOR << MAV_TYPE_GROUND_ROVER << MAV_TYPE_SUBMARINE;
-    return vehicleTypes;
+    return QGCMAVLink::allVehicleClasses();
 }
 
 FirmwarePluginFactoryRegister* FirmwarePluginFactoryRegister::instance(void)
@@ -182,23 +180,23 @@ QList<MAV_CMD> FirmwarePlugin::supportedMissionCommands(void)
     return QList<MAV_CMD>();
 }
 
-QString FirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
+QString FirmwarePlugin::missionCommandOverrides(QGCMAVLink::VehicleClass_t vehicleClass) const
 {
-    switch (vehicleType) {
-    case MAV_TYPE_GENERIC:
+    switch (vehicleClass) {
+    case QGCMAVLink::VehicleClassGeneric:
         return QStringLiteral(":/json/MavCmdInfoCommon.json");
-    case MAV_TYPE_FIXED_WING:
+    case QGCMAVLink::VehicleClassFixedWing:
         return QStringLiteral(":/json/MavCmdInfoFixedWing.json");
-    case MAV_TYPE_QUADROTOR:
+    case QGCMAVLink::VehicleClassMultiRotor:
         return QStringLiteral(":/json/MavCmdInfoMultiRotor.json");
-    case MAV_TYPE_VTOL_QUADROTOR:
+    case QGCMAVLink::VehicleClassVTOL:
         return QStringLiteral(":/json/MavCmdInfoVTOL.json");
-    case MAV_TYPE_SUBMARINE:
+    case QGCMAVLink::VehicleClassSub:
         return QStringLiteral(":/json/MavCmdInfoSub.json");
-    case MAV_TYPE_GROUND_ROVER:
+    case QGCMAVLink::VehicleClassRoverBoat:
         return QStringLiteral(":/json/MavCmdInfoRover.json");
     default:
-        qWarning() << "FirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
+        qWarning() << "FirmwarePlugin::missionCommandOverrides called with bad VehicleClass_t:" << vehicleClass;
         return QString();
     }
 }
@@ -787,22 +785,6 @@ bool FirmwarePlugin::hasGimbal(Vehicle* vehicle, bool& rollSupported, bool& pitc
     return false;
 }
 
-bool FirmwarePlugin::isVtol(const Vehicle* vehicle) const
-{
-    switch (vehicle->vehicleType()) {
-    case MAV_TYPE_VTOL_DUOROTOR:
-    case MAV_TYPE_VTOL_QUADROTOR:
-    case MAV_TYPE_VTOL_TILTROTOR:
-    case MAV_TYPE_VTOL_RESERVED2:
-    case MAV_TYPE_VTOL_RESERVED3:
-    case MAV_TYPE_VTOL_RESERVED4:
-    case MAV_TYPE_VTOL_RESERVED5:
-        return true;
-    default:
-        return false;
-    }
-}
-
 QGCCameraManager* FirmwarePlugin::createCameraManager(Vehicle* vehicle)
 {
     return new QGCCameraManager(vehicle);

src/FirmwarePlugin/FirmwarePlugin.h

@@ -241,8 +241,8 @@ public:
     virtual QList<MAV_CMD> supportedMissionCommands(void);
 
     /// Returns the name of the mission command json override file for the specified vehicle type.
-    ///     @param vehicleType Vehicle type to return file for, MAV_TYPE_GENERIC is a request for overrides for all vehicle types
-    virtual QString missionCommandOverrides(MAV_TYPE vehicleType) const;
+    ///     @param vehicleClass Vehicle class to return file for, VehicleClassGeneric is a request for overrides for all vehicle types
+    virtual QString missionCommandOverrides(QGCMAVLink::VehicleClass_t vehicleClass) const;
 
     /// Returns the mapping structure which is used to map from one parameter name to another based on firmware version.
     virtual const remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const;
@@ -316,9 +316,6 @@ public:
     /// @return true: vehicle has gimbal, false: gimbal support unknown
     virtual bool hasGimbal(Vehicle* vehicle, bool& rollSupported, bool& pitchSupported, bool& yawSupported);
 
-    /// Returns true if the vehicle is a VTOL
-    virtual bool isVtol(const Vehicle* vehicle) const;
-
     /// Convert from HIGH_LATENCY2.custom_mode value to correct 32 bit value.
     virtual uint32_t highLatencyCustomModeTo32Bits(uint16_t hlCustomMode);
 
@@ -383,11 +380,11 @@ public:
     /// @return Singleton FirmwarePlugin instance for the specified MAV_AUTOPILOT.
     virtual FirmwarePlugin* firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) = 0;
 
-    /// @return List of firmware types this plugin supports.
-    virtual QList<MAV_AUTOPILOT> supportedFirmwareTypes(void) const = 0;
+    /// @return List of firmware classes this plugin supports.
+    virtual QList<QGCMAVLink::FirmwareClass_t> supportedFirmwareClasses(void) const = 0;
 
-    /// @return List of vehicle types this plugin supports.
-    virtual QList<MAV_TYPE> supportedVehicleTypes(void) const;
+    /// @return List of vehicle classes this plugin supports.
+    virtual QList<QGCMAVLink::VehicleClass_t> supportedVehicleClasses(void) const;
 };
 
 class FirmwarePluginFactoryRegister : public QObject

src/FirmwarePlugin/FirmwarePluginManager.cc

@@ -26,33 +26,35 @@ FirmwarePluginManager::~FirmwarePluginManager()
     delete _genericFirmwarePlugin;
 }
 
-QList<MAV_AUTOPILOT> FirmwarePluginManager::supportedFirmwareTypes(void)
+QList<QGCMAVLink::FirmwareClass_t> FirmwarePluginManager::supportedFirmwareClasses(void)
 {
-    if (_supportedFirmwareTypes.isEmpty()) {
+    if (_supportedFirmwareClasses.isEmpty()) {
         QList<FirmwarePluginFactory*> factoryList = FirmwarePluginFactoryRegister::instance()->pluginFactories();
         for (int i = 0; i < factoryList.count(); i++) {
-            _supportedFirmwareTypes.append(factoryList[i]->supportedFirmwareTypes());
+            _supportedFirmwareClasses.append(factoryList[i]->supportedFirmwareClasses());
         }
-        _supportedFirmwareTypes.append(MAV_AUTOPILOT_GENERIC);
+        _supportedFirmwareClasses.append(QGCMAVLink::FirmwareClassGeneric);
     }
-    return _supportedFirmwareTypes;
+    return _supportedFirmwareClasses;
 }
 
-QList<MAV_TYPE> FirmwarePluginManager::supportedVehicleTypes(MAV_AUTOPILOT firmwareType)
+QList<QGCMAVLink::VehicleClass_t> FirmwarePluginManager::supportedVehicleClasses(QGCMAVLink::FirmwareClass_t firmwareClass)
 {
-    QList<MAV_TYPE> vehicleTypes;
+    QList<QGCMAVLink::VehicleClass_t> vehicleClasses;
 
-    FirmwarePluginFactory* factory = _findPluginFactory(firmwareType);
+    FirmwarePluginFactory* factory = _findPluginFactory(firmwareClass);
 
     if (factory) {
-        vehicleTypes = factory->supportedVehicleTypes();
-    } else if (firmwareType == MAV_AUTOPILOT_GENERIC) {
-        vehicleTypes << MAV_TYPE_FIXED_WING << MAV_TYPE_QUADROTOR << MAV_TYPE_VTOL_QUADROTOR << MAV_TYPE_GROUND_ROVER << MAV_TYPE_SUBMARINE;
+        vehicleClasses = factory->supportedVehicleClasses();
+    } else if (firmwareClass == QGCMAVLink::FirmwareClassGeneric) {
+        // Generic supports all specific vehicle class
+        vehicleClasses = QGCMAVLink::allVehicleClasses();
+        vehicleClasses.removeOne(QGCMAVLink::VehicleClassGeneric);
     } else {
-        qWarning() << "Request for unknown firmware plugin factory" << firmwareType;
+        qWarning() << "Request for unknown firmware plugin factory" << firmwareClass;
     }
 
-    return vehicleTypes;
+    return vehicleClasses;
 }
 
 FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType)
@@ -62,8 +64,6 @@ FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT
 
     if (factory) {
         plugin = factory->firmwarePluginForAutopilot(firmwareType, vehicleType);
-    } else if (firmwareType != MAV_AUTOPILOT_GENERIC) {
-        qWarning() << "Request for unknown firmware plugin factory" << firmwareType;
     }
 
     if (!plugin) {
@@ -77,14 +77,14 @@ FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT
     return plugin;
 }
 
-FirmwarePluginFactory* FirmwarePluginManager::_findPluginFactory(MAV_AUTOPILOT firmwareType)
+FirmwarePluginFactory* FirmwarePluginManager::_findPluginFactory(QGCMAVLink::FirmwareClass_t firmwareClass)
 {
     QList<FirmwarePluginFactory*> factoryList = FirmwarePluginFactoryRegister::instance()->pluginFactories();
 
     // Find the plugin which supports this vehicle
     for (int i=0; i<factoryList.count(); i++) {
         FirmwarePluginFactory* factory = factoryList[i];
-        if (factory->supportedFirmwareTypes().contains(firmwareType)) {
+        if (factory->supportedFirmwareClasses().contains(firmwareClass)) {
             return factory;
         }
     }

src/FirmwarePlugin/FirmwarePluginManager.h

@@ -7,12 +7,7 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#ifndef FirmwarePluginManager_H
-#define FirmwarePluginManager_H
+#pragma once
 
 #include <QObject>
 
@@ -33,10 +28,10 @@ public:
     ~FirmwarePluginManager();
 
     /// Returns list of firmwares which are supported by the system
-    QList<MAV_AUTOPILOT> supportedFirmwareTypes(void);
+    QList<QGCMAVLink::FirmwareClass_t> supportedFirmwareClasses(void);
 
     /// Returns the list of supported vehicle types for the specified firmware
-    QList<MAV_TYPE> supportedVehicleTypes(MAV_AUTOPILOT firmwareType);
+    QList<QGCMAVLink::VehicleClass_t> supportedVehicleClasses(QGCMAVLink::FirmwareClass_t firmwareClass);
 
     /// Returns appropriate plugin for autopilot type.
     ///     @param firmwareType Type of firmwware to return plugin for.
@@ -45,10 +40,8 @@ public:
     FirmwarePlugin* firmwarePluginForAutopilot(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType);
 
 private:
-    FirmwarePluginFactory* _findPluginFactory(MAV_AUTOPILOT firmwareType);
+    FirmwarePluginFactory* _findPluginFactory(QGCMAVLink::FirmwareClass_t firmwareClass);
 
-    FirmwarePlugin*         _genericFirmwarePlugin;
-    QList<MAV_AUTOPILOT>    _supportedFirmwareTypes;
+    FirmwarePlugin*                     _genericFirmwarePlugin;
+    QList<QGCMAVLink::FirmwareClass_t>  _supportedFirmwareClasses;
 };
-
-#endif

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -297,23 +297,23 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
     return cmds;
 }
 
-QString PX4FirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
+QString PX4FirmwarePlugin::missionCommandOverrides(QGCMAVLink::VehicleClass_t vehicleClass) const
 {
-    switch (vehicleType) {
-    case MAV_TYPE_GENERIC:
+    switch (vehicleClass) {
+    case QGCMAVLink::VehicleClassGeneric:
         return QStringLiteral(":/json/PX4-MavCmdInfoCommon.json");
-    case MAV_TYPE_FIXED_WING:
+    case QGCMAVLink::VehicleClassFixedWing:
         return QStringLiteral(":/json/PX4-MavCmdInfoFixedWing.json");
-    case MAV_TYPE_QUADROTOR:
+    case QGCMAVLink::VehicleClassMultiRotor:
         return QStringLiteral(":/json/PX4-MavCmdInfoMultiRotor.json");
-    case MAV_TYPE_VTOL_QUADROTOR:
+    case QGCMAVLink::VehicleClassVTOL:
         return QStringLiteral(":/json/PX4-MavCmdInfoVTOL.json");
-    case MAV_TYPE_SUBMARINE:
+    case QGCMAVLink::VehicleClassSub:
         return QStringLiteral(":/json/PX4-MavCmdInfoSub.json");
-    case MAV_TYPE_GROUND_ROVER:
+    case QGCMAVLink::VehicleClassRoverBoat:
         return QStringLiteral(":/json/PX4-MavCmdInfoRover.json");
     default:
-        qWarning() << "PX4FirmwarePlugin::missionCommandOverrides called with bad MAV_TYPE:" << vehicleType;
+        qWarning() << "PX4FirmwarePlugin::missionCommandOverrides called with bad VehicleClass_t:" << vehicleClass;
         return QString();
     }
 }

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -55,7 +55,7 @@ public:
     bool                isGuidedMode                    (const Vehicle* vehicle) const override;
     void                initializeVehicle               (Vehicle* vehicle) override;
     bool                sendHomePositionToVehicle       (void) override;
-    QString             missionCommandOverrides         (MAV_TYPE vehicleType) const override;
+    QString             missionCommandOverrides         (QGCMAVLink::VehicleClass_t vehicleClass) const override;
     QString             getVersionParam                 (void) override { return QString("SYS_PARAM_VER"); }
     FactMetaData*       _getMetaDataForFact             (QObject* parameterMetaData, const QString& name, FactMetaData::ValueType_t type, MAV_TYPE vehicleType) override;
     QString             _internalParameterMetaDataFile  (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); }

src/FirmwarePlugin/PX4/PX4FirmwarePluginFactory.cc

@@ -7,10 +7,6 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #include "PX4FirmwarePluginFactory.h"
 #include "PX4/PX4FirmwarePlugin.h"
 
@@ -22,10 +18,10 @@ PX4FirmwarePluginFactory::PX4FirmwarePluginFactory(void)
 
 }
 
-QList<MAV_AUTOPILOT> PX4FirmwarePluginFactory::supportedFirmwareTypes(void) const
+QList<QGCMAVLink::FirmwareClass_t> PX4FirmwarePluginFactory::supportedFirmwareClasses(void) const
 {
-    QList<MAV_AUTOPILOT> list;
-    list.append(MAV_AUTOPILOT_PX4);
+    QList<QGCMAVLink::FirmwareClass_t> list;
+    list.append(QGCMAVLink::FirmwareClassPX4);
     return list;
 }
 

src/FirmwarePlugin/PX4/PX4FirmwarePluginFactory.h

@@ -7,8 +7,7 @@
  *
  ****************************************************************************/
 
-#ifndef PX4FirmwarePluginFactory_H
-#define PX4FirmwarePluginFactory_H
+#pragma once
 
 #include "FirmwarePlugin.h"
 
@@ -21,11 +20,9 @@ class PX4FirmwarePluginFactory : public FirmwarePluginFactory
 public:
     PX4FirmwarePluginFactory(void);
 
-    QList<MAV_AUTOPILOT>    supportedFirmwareTypes      (void) const final;
-    FirmwarePlugin*         firmwarePluginForAutopilot  (MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) final;
+    QList<QGCMAVLink::FirmwareClass_t>  supportedFirmwareClasses(void) const final;
+    FirmwarePlugin*                     firmwarePluginForAutopilot  (MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) final;
 
 private:
     PX4FirmwarePlugin*  _pluginInstance;
 };
-
-#endif

src/FirstRunPromptDialogs/OfflineVehicleFirstRunPrompt.qml

@@ -26,8 +26,8 @@ FirstRunPrompt {
     property var    _offlineVehicle:        QGroundControl.multiVehicleManager.offlineEditingVehicle
     property bool   _showCruiseSpeed:       !_offlineVehicle.multiRotor
     property bool   _showHoverSpeed:        _offlineVehicle.multiRotor || _offlineVehicle.vtol
-    property bool   _multipleFirmware:      QGroundControl.supportedFirmwareCount > 2
-    property bool   _multipleVehicleTypes:  QGroundControl.supportedVehicleCount > 1
+    property bool   _multipleFirmware:      !QGroundControl.singleFirmwareSupport
+    property bool   _multipleVehicleTypes:  !QGroundControl.singleVehicleSupport
     property real   _fieldWidth:            ScreenTools.defaultFontPixelWidth * 16
 
     ColumnLayout {
@@ -61,7 +61,7 @@ FirstRunPrompt {
                 }
                 FactComboBox {
                     Layout.preferredWidth:  _fieldWidth
-                    fact:                   QGroundControl.settingsManager.appSettings.offlineEditingFirmwareType
+                    fact:                   QGroundControl.settingsManager.appSettings.offlineEditingFirmwareClass
                     indexModel:             false
                     visible:                _multipleFirmware
                 }
@@ -73,7 +73,7 @@ FirstRunPrompt {
                 }
                 FactComboBox {
                     Layout.preferredWidth:  _fieldWidth
-                    fact:                   QGroundControl.settingsManager.appSettings.offlineEditingVehicleType
+                    fact:                   QGroundControl.settingsManager.appSettings.offlineEditingVehicleClass
                     indexModel:             false
                     visible:                _multipleVehicleTypes
                 }

src/MissionManager/MissionCommandList.h

@@ -27,8 +27,7 @@ class MissionCommandList : public QObject
     Q_OBJECT
     
 public:
-    /// @param jsonFilename Json file which contains commands
-    /// @param baseCommandList true: bottomost level of mission command hierarchy (partial not allowed), false: mid-level of command hierarchy
+    /// @param baseCommandList true: bottomost level of mission command hierarchy (partial spec allowed), false: override level of hierarchy
     MissionCommandList(const QString& jsonFilename, bool baseCommandList, QObject* parent = nullptr);
 
     /// Returns list of categories in this list

src/MissionManager/MissionCommandTree.h

@@ -7,8 +7,7 @@
  *
  ****************************************************************************/
 
-#ifndef MissionCommandTree_H
-#define MissionCommandTree_H
+#pragma once
 
 #include "QGCToolbox.h"
 #include "QGCMAVLink.h"
@@ -26,9 +25,9 @@ class MissionCommandTreeTest;
 
 /// Manages a hierarchy of MissionCommandUIInfo.
 ///
-/// The static hierarchy allows for overriding mission command ui info based on MAV_AUTOPILOT and MAV_TYPE. The hierarchy of the tree is:
-///     Any Firmware, Any Vehicle - Base set of all command definitions for any firmware, any vehicle, essentially ui defined to mavlink spec
-///         Any Firmware, Fixed Wing
+/// The static hierarchy allows for overriding mission command ui info based on firmware and vehicle class. The hierarchy of the tree is:
+///     FirmwareClassGeneric - VehicleClassGeneric - Base set of all command definitions for any firmware, any vehicle, ui defined by mavlink spec
+///         FirmwareClassGeneric - VehicleClassFixedWing
 ///             Known Firmware, Fixed Wing
 ///         Any Firmware, Multi Rotor (all types)
 ///             Known Firmware, Multi Rotor (all types)
@@ -62,19 +61,17 @@ public:
 
     const MissionCommandUIInfo* getUIInfo(Vehicle* vehicle, MAV_CMD command);
 
-    /// @param showFlyThroughCommands - true: al commands shows, false: filter out commands which the vehicle flies through (specifiedCoordinate=true, standaloneCoordinate=false)
+    /// @param showFlyThroughCommands - true: all commands shows, false: filter out commands which the vehicle flies through (specifiedCoordinate=true, standaloneCoordinate=false)
     Q_INVOKABLE QVariantList getCommandsForCategory(Vehicle* vehicle, const QString& category, bool showFlyThroughCommands);
 
     // Overrides from QGCTool
     virtual void setToolbox(QGCToolbox* toolbox);
 
 private:
-    void            _collapseHierarchy(Vehicle* vehicle, const MissionCommandList* cmdList, QMap<MAV_CMD, MissionCommandUIInfo*>& collapsedTree);
-    MAV_TYPE        _baseVehicleType(MAV_TYPE mavType) const;
-    MAV_AUTOPILOT   _baseFirmwareType(MAV_AUTOPILOT firmwareType) const;
-    void             _buildAllCommands(Vehicle* vehicle);
-    QStringList     _availableCategoriesForVehicle(Vehicle* vehicle);
-    void            _baseVehicleInfo(Vehicle* vehicle, MAV_AUTOPILOT& baseFirmwareType, MAV_TYPE& baseVehicleType) const;
+    void                        _collapseHierarchy              (const MissionCommandList* cmdList, QMap<MAV_CMD, MissionCommandUIInfo*>& collapsedTree);
+    void                        _buildAllCommands               (Vehicle* vehicle);
+    QStringList                 _availableCategoriesForVehicle  (Vehicle* vehicle);
+    void                        _firmwareAndVehicleClassInfo    (Vehicle* vehicle, QGCMAVLink::FirmwareClass_t& firmwareClass, QGCMAVLink::VehicleClass_t& vehicleClass) const;
 
 private:
     QString             _allCommandsCategory;   ///< Category which contains all available commands
@@ -83,18 +80,16 @@ private:
     bool                _unitTest;              ///< true: running in unit test mode
 
     /// Full hierarchy
-    QMap<MAV_AUTOPILOT, QMap<MAV_TYPE, MissionCommandList*>>                    _staticCommandTree;
+    QMap<QGCMAVLink::FirmwareClass_t, QMap<QGCMAVLink::VehicleClass_t, MissionCommandList*>>                    _staticCommandTree;
 
     /// Collapsed hierarchy for specific vehicle type
-    QMap<MAV_AUTOPILOT, QMap<MAV_TYPE, QMap<MAV_CMD, MissionCommandUIInfo*>>>   _allCommands;
+    QMap<QGCMAVLink::FirmwareClass_t, QMap<QGCMAVLink::VehicleClass_t, QMap<MAV_CMD, MissionCommandUIInfo*>>>   _allCommands;
 
     /// Collapsed hierarchy for specific vehicle type
-    QMap<MAV_AUTOPILOT, QMap<MAV_TYPE, QStringList /* category */>>             _supportedCategories;
+    QMap<QGCMAVLink::FirmwareClass_t, QMap<QGCMAVLink::VehicleClass_t, QStringList /* category */>>             _supportedCategories;
 
 
 #ifdef UNITTEST_BUILD
     friend class MissionCommandTreeTest;
 #endif
 };
-
-#endif

src/MissionManager/MissionController.cc

@@ -728,16 +728,16 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
 
     // Get the firmware/vehicle type from the plan file
     MAV_AUTOPILOT   planFileFirmwareType =  static_cast<MAV_AUTOPILOT>(json[_jsonFirmwareTypeKey].toInt());
-    MAV_TYPE        planFileVehicleType =   static_cast<MAV_TYPE>       (appSettings->offlineEditingVehicleType()->rawValue().toInt());
+    MAV_TYPE        planFileVehicleType =   static_cast<MAV_TYPE>     (QGCMAVLink::vehicleClassToMavType(appSettings->offlineEditingVehicleClass()->rawValue().toInt()));
     if (json.contains(_jsonVehicleTypeKey)) {
         planFileVehicleType = static_cast<MAV_TYPE>(json[_jsonVehicleTypeKey].toInt());
     }
 
     // Update firmware/vehicle offline settings if we aren't connect to a vehicle
     if (_masterController->offline()) {
-        appSettings->offlineEditingFirmwareType()->setRawValue(AppSettings::offlineEditingFirmwareTypeFromFirmwareType(static_cast<MAV_AUTOPILOT>(json[_jsonFirmwareTypeKey].toInt())));
+        appSettings->offlineEditingFirmwareClass()->setRawValue(QGCMAVLink::firmwareClass(static_cast<MAV_AUTOPILOT>(json[_jsonFirmwareTypeKey].toInt())));
         if (json.contains(_jsonVehicleTypeKey)) {
-            appSettings->offlineEditingVehicleType()->setRawValue(AppSettings::offlineEditingVehicleTypeFromVehicleType(static_cast<MAV_TYPE>(json[_jsonVehicleTypeKey].toInt())));
+            appSettings->offlineEditingVehicleClass()->setRawValue(QGCMAVLink::vehicleClass(planFileVehicleType));
         }
     }
 

src/MissionManager/MissionControllerTest.cc

@@ -50,7 +50,7 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
     _rgMissionControllerSignals[visualItemsChangedSignalIndex] =    SIGNAL(visualItemsChanged());
 
     // Master controller pulls offline vehicle info from settings
-    qgcApp()->toolbox()->settingsManager()->appSettings()->offlineEditingFirmwareType()->setRawValue(firmwareType);
+    qgcApp()->toolbox()->settingsManager()->appSettings()->offlineEditingFirmwareClass()->setRawValue(QGCMAVLink::firmwareClass(firmwareType));
     _masterController = new PlanMasterController(this);
     _masterController->setFlyView(false);
     _missionController = _masterController->missionController();

src/MissionManager/PlanMasterController.cc

@@ -143,8 +143,8 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
 
         // Update controllerVehicle to the currently connected vehicle
         AppSettings* appSettings = qgcApp()->toolbox()->settingsManager()->appSettings();
-        appSettings->offlineEditingFirmwareType()->setRawValue(AppSettings::offlineEditingFirmwareTypeFromFirmwareType(_managerVehicle->firmwareType()));
-        appSettings->offlineEditingVehicleType()->setRawValue(AppSettings::offlineEditingVehicleTypeFromVehicleType(_managerVehicle->vehicleType()));
+        appSettings->offlineEditingFirmwareClass()->setRawValue(QGCMAVLink::firmwareClass(_managerVehicle->firmwareType()));
+        appSettings->offlineEditingVehicleClass()->setRawValue(QGCMAVLink::vehicleClass(_managerVehicle->vehicleType()));
 
         // We use these signals to sequence upload and download to the multiple controller/managers
         connect(_managerVehicle->missionManager(),      &MissionManager::newMissionItemsAvailable,  this, &PlanMasterController::_loadMissionComplete);

src/PlanView/MissionItemEditor.qml

@@ -40,7 +40,6 @@ Rectangle {
     property real   _sectionSpacer:             ScreenTools.defaultFontPixelWidth / 2  // spacing between section headings
     property bool   _singleComplexItem:         _missionController.complexMissionItemNames.length === 1
     property bool   _readyForSave:              missionItem.readyForSaveState === VisualMissionItem.ReadyForSave
-    property var    _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
 
     readonly property real  _editFieldWidth:    Math.min(width - _innerMargin * 2, ScreenTools.defaultFontPixelWidth * 12)
     readonly property real  _margin:            ScreenTools.defaultFontPixelWidth / 2
@@ -160,6 +159,7 @@ Rectangle {
                 id: commandDialog
 
                 MissionCommandDialog {
+                    vehicle:                    masterController.controllerVehicle
                     missionItem:                _root.missionItem
                     map:                        _root.map
                     // FIXME: Disabling fly through commands doesn't work since you may need to change from an RTL to something else
@@ -207,6 +207,8 @@ Rectangle {
                     visible:        missionItem.specifiesCoordinate
                     enabled:        _activeVehicle
                     onTriggered:    missionItem.coordinate = _activeVehicle.coordinate
+
+                    property var    _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
                 }
 
                 QGCMenuItem {

src/PlanView/MissionSettingsEditor.qml

@@ -26,8 +26,8 @@ Rectangle {
     property bool   _vehicleHasHomePosition:        _controllerVehicle.homePosition.isValid
     property bool   _showCruiseSpeed:               !_controllerVehicle.multiRotor
     property bool   _showHoverSpeed:                _controllerVehicle.multiRotor || _controllerVehicle.vtol
-    property bool   _multipleFirmware:              QGroundControl.supportedFirmwareCount > 2
-    property bool   _multipleVehicleTypes:          QGroundControl.supportedVehicleCount > 1
+    property bool   _multipleFirmware:              !QGroundControl.singleFirmwareSupport
+    property bool   _multipleVehicleTypes:          !QGroundControl.singleVehicleSupport
     property real   _fieldWidth:                    ScreenTools.defaultFontPixelWidth * 16
     property bool   _mobile:                        ScreenTools.isMobile
     property var    _savePath:                      QGroundControl.settingsManager.appSettings.missionSavePath
@@ -194,7 +194,7 @@ Rectangle {
                     visible:            _multipleFirmware
                 }
                 FactComboBox {
-                    fact:                   QGroundControl.settingsManager.appSettings.offlineEditingFirmwareType
+                    fact:                   QGroundControl.settingsManager.appSettings.offlineEditingFirmwareClass
                     indexModel:             false
                     Layout.preferredWidth:  _fieldWidth
                     visible:                _multipleFirmware && _noMissionItemsAdded
@@ -210,7 +210,7 @@ Rectangle {
                     visible:            _multipleVehicleTypes
                 }
                 FactComboBox {
-                    fact:                   QGroundControl.settingsManager.appSettings.offlineEditingVehicleType
+                    fact:                   QGroundControl.settingsManager.appSettings.offlineEditingVehicleClass
                     indexModel:             false
                     Layout.preferredWidth:  _fieldWidth
                     visible:                _multipleVehicleTypes && _noMissionItemsAdded

src/QmlControls/MissionCommandDialog.qml

@@ -19,12 +19,11 @@ import QGroundControl.Palette       1.0
 QGCViewDialog {
     id: root
 
+    property var    vehicle
     property var    missionItem
     property var    map
     property bool   flyThroughCommandsAllowed
 
-    property var _vehicle: QGroundControl.multiVehicleManager.activeVehicle
-
     QGCPalette { id: qgcPal }
 
     QGCLabel {
@@ -38,10 +37,10 @@ QGCViewDialog {
         anchors.margins:    ScreenTools.defaultFontPixelWidth
         anchors.left:       categoryLabel.right
         anchors.right:      parent.right
-        model:              QGroundControl.missionCommandTree.categoriesForVehicle(_vehicle)
+        model:              QGroundControl.missionCommandTree.categoriesForVehicle(vehicle)
 
         function categorySelected(category) {
-            commandList.model = QGroundControl.missionCommandTree.getCommandsForCategory(_vehicle, category, flyThroughCommandsAllowed)
+            commandList.model = QGroundControl.missionCommandTree.getCommandsForCategory(vehicle, category, flyThroughCommandsAllowed)
         }
 
         Component.onCompleted: {

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -190,31 +190,28 @@ void QGroundControlQmlGlobal::setMavlinkSystemID(int id)
     emit mavlinkSystemIDChanged(id);
 }
 
-int QGroundControlQmlGlobal::supportedFirmwareCount()
+bool QGroundControlQmlGlobal::singleFirmwareSupport(void)
 {
-    return _firmwarePluginManager->supportedFirmwareTypes().count();
+    return _firmwarePluginManager->supportedFirmwareClasses().count() == 1;
 }
 
-int QGroundControlQmlGlobal::supportedVehicleCount()
+bool QGroundControlQmlGlobal::singleVehicleSupport(void)
 {
-    int count = 0;
-    QList<MAV_AUTOPILOT> list = _firmwarePluginManager->supportedFirmwareTypes();
-    foreach(auto firmware, list) {
-        if(firmware != MAV_AUTOPILOT_GENERIC) {
-            count += _firmwarePluginManager->supportedVehicleTypes(firmware).count();
-        }
+    if (singleFirmwareSupport()) {
+        return _firmwarePluginManager->supportedVehicleClasses(_firmwarePluginManager->supportedFirmwareClasses()[0]).count() == 1;
     }
-    return count;
+
+    return false;
 }
 
 bool QGroundControlQmlGlobal::px4ProFirmwareSupported()
 {
-    return _firmwarePluginManager->supportedFirmwareTypes().contains(MAV_AUTOPILOT_PX4);
+    return _firmwarePluginManager->supportedFirmwareClasses().contains(QGCMAVLink::FirmwareClassPX4);
 }
 
 bool QGroundControlQmlGlobal::apmFirmwareSupported()
 {
-    return _firmwarePluginManager->supportedFirmwareTypes().contains(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    return _firmwarePluginManager->supportedFirmwareClasses().contains(QGCMAVLink::FirmwareClassArduPilot);
 }
 
 bool QGroundControlQmlGlobal::linesIntersect(QPointF line1A, QPointF line1B, QPointF line2A, QPointF line2B)

src/QmlControls/QGroundControlQmlGlobal.h

@@ -7,12 +7,7 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>