Merge master

src/FlightDisplay/FlightDisplayView.qml

@@ -41,6 +41,9 @@ import QGroundControl.Controllers   1.0
 Item {
     id: root
 
+    property alias latitude: flightMap.latitude
+    property alias longitude: flightMap.longitude
+
     // Top margin for all widgets. Used to prevent overlap with the toolbar
     property real   topMargin: 0
 
@@ -110,7 +113,6 @@ Item {
         QGroundControl.flightMapSettings.saveMapSetting(flightMap.mapName, _showMapBackgroundKey, setBool(_showMap))
     }
 
-
     FlightMap {
         id:             flightMap
         anchors.fill:   parent
@@ -122,6 +124,8 @@ Item {
         property var rootVehicleCoordinate: _vehicleCoordinate
         property bool rootLoadCompleted: false
 
+        property bool _followVehicle: true
+
         onRootVehicleCoordinateChanged: updateMapPosition(false /* force */)
 
         Component.onCompleted: flightMapDelayLoader.source = "FlightDisplayViewDelayLoadInner.qml"
@@ -132,9 +136,6 @@ Item {
                 flightMap.longitude = root._vehicleCoordinate.longitude
             }
         }
-
-        property bool _followVehicle: true
-
         // Home position
         MissionItemIndicator {
             label:          "H"
@@ -188,6 +189,11 @@ Item {
             id:             flightMapDelayLoader
             anchors.fill:   parent
         }
+
+        // Used to make pinch zoom work
+        MouseArea {
+            anchors.fill: parent
+        }
     } // Flight Map
 
     Loader {

src/MissionEditor/MissionEditor.qml

@@ -60,10 +60,10 @@ QGCView {
     property var    _homePositionManager:       QGroundControl.homePositionManager
     property string _homePositionName:          _homePositionManager.homePositions.get(0).name
 
-    property var    offlineHomePosition:        _homePositionManager.homePositions.get(0).coordinate
+    //property var    offlineHomePosition:        _homePositionManager.homePositions.get(0).coordinate
     property var    liveHomePosition:           controller.liveHomePosition
     property var    liveHomePositionAvailable:  controller.liveHomePositionAvailable
-    property var    homePosition:               offlineHomePosition // live or offline depending on state
+    //property var    homePosition:               offlineHomePosition // live or offline depending on state
 
     property bool _syncNeeded:                  controller.missionItems.dirty
     property bool _syncInProgress:              _activeVehicle ? _activeVehicle.missionManager.inProgress : false
@@ -103,13 +103,14 @@ QGCView {
     }
 
     function updateHomePosition() {
-        homePosition = liveHomePositionAvailable ? liveHomePosition : offlineHomePosition
-        _missionItems.get(0).coordinate = homePosition
-        _missionItems.get(0).homePositionValid = true
+        if (liveHomePositionAvailable) {
+            _missionItems.get(0).coordinate = liveHomePosition
+            _missionItems.get(0).homePositionValid = true
+        }
     }
 
     Component.onCompleted:              updateHomePosition()
-    onOfflineHomePositionChanged:       updateHomePosition()
+    //onOfflineHomePositionChanged:       updateHomePosition()
     onLiveHomePositionAvailableChanged: updateHomePosition()
     onLiveHomePositionChanged:          updateHomePosition()
 
@@ -124,11 +125,8 @@ QGCView {
                 id:             editorMap
                 anchors.fill:   parent
                 mapName:        "MissionEditor"
-
-                Component.onCompleted: {
-                    latitude = homePosition.latitude
-                    longitude = homePosition.longitude
-                }
+                latitude:       tabletPosition.latitude
+                longitude:      tabletPosition.longitude
 
                 readonly property real animationDuration: 500
 
@@ -161,8 +159,8 @@ QGCView {
                         coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
                         coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
                         coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
-                        if (homePositionManagerButton.checked) {
-                            offlineHomePosition = coordinate
+                        if (false /*homePositionManagerButton.checked*/) {
+                            //offlineHomePosition = coordinate
                         } else if (addMissionItemsButton.checked) {
                             var index = controller.addMissionItem(coordinate)
                             addMissionItemsButtonAutoOffTimer.start()
@@ -240,7 +238,7 @@ QGCView {
                     anchors.bottom: parent.bottom
                     anchors.right:  parent.right
                     width:          _rightPanelWidth
-                    visible:        !homePositionManagerButton.checked && _missionItems.count > 1
+                    visible:        _missionItems.count > 1
                     opacity:        _rightPanelOpacity
                     z:              QGroundControl.zOrderTopMost
 
@@ -257,7 +255,8 @@ QGCView {
                             MissionItemEditor {
                             missionItem:    object
                             width:          parent.width
-                            readOnly:       object.sequenceNumber == 0 && liveHomePositionAvailable
+                            readOnly:       object.sequenceNumber == 0
+                            visible:        !readOnly || object.homePositionValid
 
                             onClicked:  setCurrentItem(object.sequenceNumber)
 
@@ -281,6 +280,9 @@ QGCView {
                     }
                 } // Item - Mission Item editor
 
+/*
+Home Position Manager is commented out for now until a better implementation is completed
+
                 // Home Position Manager
                 Rectangle {
                     id:             homePositionManager
@@ -552,6 +554,7 @@ QGCView {
                         }
                     } // Column - Online view
                 } // Item - Home Position Manager
+*/
 
                 // Help Panel
                 Rectangle {
@@ -650,6 +653,9 @@ QGCView {
                                                 "Delete the currently selected mission item."
                         }
 
+                        /*
+                        Home Position Manager commented until more complete implementation is done
+
                         Image {
                             id:                 homePositionManagerHelpIcon
                             anchors.topMargin:  ScreenTools.defaultFontPixelHeight
@@ -672,11 +678,12 @@ QGCView {
                                                 "When enabled, allows you to select/add/update flying field locations. " +
                                                 "You can save multiple flying field locations for use while creating missions while you are not connected to your vehicle."
                         }
+*/
 
                         Image {
                             id:                 mapCenterHelpIcon
                             anchors.topMargin:  ScreenTools.defaultFontPixelHeight
-                            anchors.top:        homePositionManagerHelpText.bottom
+                            anchors.top:        deleteHelpText.bottom
                             width:              ScreenTools.defaultFontPixelHeight * 3
                             fillMode:           Image.PreserveAspectFit
                             mipmap:             true
@@ -793,6 +800,9 @@ QGCView {
                     }
                 }
 
+                /*
+                Home Position Manager commented until more complete implementation is done
+
                 RoundButton {
                     id:                 homePositionManagerButton
                     anchors.margins:    _margin
@@ -802,12 +812,13 @@ QGCView {
                     exclusiveGroup:     _dropButtonsExclusiveGroup
                     z:                  QGroundControl.zOrderWidgets
                 }
+                */
 
                 DropButton {
                     id:                 centerMapButton
                     anchors.margins:    _margin
                     anchors.left:       parent.left
-                    anchors.top:        homePositionManagerButton.bottom
+                    anchors.top:        deleteMissionItemButton.bottom
                     dropDirection:      dropRight
                     buttonImage:        "/qmlimages/MapCenter.svg"
                     viewportMargins:    ScreenTools.defaultFontPixelWidth / 2
@@ -822,11 +833,12 @@ QGCView {
                                 spacing: ScreenTools.defaultFontPixelWidth
 
                                 QGCButton {
-                                    text: "Home"
+                                    text:       "Home"
+                                    enabled:    liveHomePositionAvailable
 
                                     onClicked: {
                                         centerMapButton.hideDropDown()
-                                        editorMap.center = QtPositioning.coordinate(homePosition.latitude, homePosition.longitude)
+                                        editorMap.center = liveHomePosition
                                     }
                                 }
 

src/comm/MockLink.cc

@@ -71,7 +71,8 @@ float MockLink::_vehicleLatitude =  47.633033f;
 float MockLink::_vehicleLongitude = -122.08794f;
 float MockLink::_vehicleAltitude =  2.5f;
 
-const char* MockConfiguration::_firmwareTypeKey = "FirmwareType";
+const char* MockConfiguration::_firmwareTypeKey =   "FirmwareType";
+const char* MockConfiguration::_sendStatusTextKey = "SendStatusText";
 
 MockLink::MockLink(MockConfiguration* config)
     : _missionItemHandler(this)
@@ -85,10 +86,12 @@ MockLink::MockLink(MockConfiguration* config)
     , _mavState(MAV_STATE_STANDBY)
     , _autopilotType(MAV_AUTOPILOT_PX4)
     , _fileServer(NULL)
+    , _sendStatusText(false)
 {
     _config = config;
     if (_config) {
         _autopilotType = config->firmwareType();
+        _sendStatusText = config->sendStatusText();
     }
 
     union px4_custom_mode   px4_cm;
@@ -168,6 +171,10 @@ void MockLink::_run1HzTasks(void)
     if (_mavlinkStarted && _connected) {
         _sendHeartBeat();
         _sendHomePosition();
+        if (_sendStatusText) {
+            _sendStatusText = false;
+            _sendStatusTextMessages();
+        }
     }
 }
 
@@ -747,9 +754,42 @@ void MockLink::_sendGpsRawInt(void)
     respondWithMavlinkMessage(msg);
 }
 
+void MockLink::_sendStatusTextMessages(void)
+{
+    struct StatusMessage {
+        MAV_SEVERITY        severity;
+        const char*         msg;
+    };
+
+    static const struct StatusMessage rgMessages[] = {
+        { MAV_SEVERITY_INFO,        "#Testing audio output" },
+        { MAV_SEVERITY_EMERGENCY,   "Status text emergency" },
+        { MAV_SEVERITY_ALERT,       "Status text alert" },
+        { MAV_SEVERITY_CRITICAL,    "Status text critical" },
+        { MAV_SEVERITY_ERROR,       "Status text error" },
+        { MAV_SEVERITY_WARNING,     "Status text warning" },
+        { MAV_SEVERITY_NOTICE,      "Status text notice" },
+        { MAV_SEVERITY_INFO,        "Status text info" },
+        { MAV_SEVERITY_DEBUG,       "Status text debug" },
+    };
+
+    for (size_t i=0; i<sizeof(rgMessages)/sizeof(rgMessages[0]); i++) {
+        mavlink_message_t msg;
+        const struct StatusMessage* status = &rgMessages[i];
+
+        mavlink_msg_statustext_pack(_vehicleSystemId,
+                                    _vehicleComponentId,
+                                    &msg,
+                                    status->severity,
+                                    status->msg);
+        respondWithMavlinkMessage(msg);
+    }
+}
+
 MockConfiguration::MockConfiguration(const QString& name)
     : LinkConfiguration(name)
     , _firmwareType(MAV_AUTOPILOT_PX4)
+    , _sendStatusText(false)
 {
 
 }
@@ -757,21 +797,29 @@ MockConfiguration::MockConfiguration(const QString& name)
 MockConfiguration::MockConfiguration(MockConfiguration* source)
     : LinkConfiguration(source)
 {
-    _firmwareType = source->_firmwareType;
+    _firmwareType =     source->_firmwareType;
+    _sendStatusText =   source->_sendStatusText;
 }
 
 void MockConfiguration::copyFrom(LinkConfiguration *source)
 {
     LinkConfiguration::copyFrom(source);
     MockConfiguration* usource = dynamic_cast<MockConfiguration*>(source);
-    Q_ASSERT(usource != NULL);
-    _firmwareType = usource->_firmwareType;
+
+    if (!usource) {
+        qWarning() << "dynamic_cast failed" << source << usource;
+        return;
+    }
+
+    _firmwareType =     usource->_firmwareType;
+    _sendStatusText =   usource->_sendStatusText;
 }
 
 void MockConfiguration::saveSettings(QSettings& settings, const QString& root)
 {
     settings.beginGroup(root);
     settings.setValue(_firmwareTypeKey, (int)_firmwareType);
+    settings.setValue(_sendStatusTextKey, _sendStatusText);
     settings.sync();
     settings.endGroup();
 }
@@ -780,6 +828,7 @@ void MockConfiguration::loadSettings(QSettings& settings, const QString& root)
 {
     settings.beginGroup(root);
     _firmwareType = (MAV_AUTOPILOT)settings.value(_firmwareTypeKey, (int)MAV_AUTOPILOT_PX4).toInt();
+    _sendStatusText = settings.value(_sendStatusTextKey, false).toBool();
     settings.endGroup();
 }
 
@@ -789,7 +838,7 @@ void MockConfiguration::updateSettings()
         MockLink* ulink = dynamic_cast<MockLink*>(_link);
         if (ulink) {
             // Restart connect not supported
-            Q_ASSERT(false);
+            qWarning() << "updateSettings not supported";
             //ulink->_restartConnection();
         }
     }

src/comm/MockLink.h

@@ -44,6 +44,10 @@ public:
     MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
     void setFirmwareType(MAV_AUTOPILOT firmwareType) { _firmwareType = firmwareType; }
 
+    /// @param sendStatusText true: mavlink status text messages will be sent for each severity, as well as voice output info message
+    void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; }
+    bool sendStatusText(void) { return _sendStatusText; }
+
     // Overrides from LinkConfiguration
     int  type(void) { return LinkConfiguration::TypeMock; }
     void copyFrom(LinkConfiguration* source);
@@ -52,9 +56,11 @@ public:
     void updateSettings(void);
 
 private:
-    MAV_AUTOPILOT _firmwareType;
+    MAV_AUTOPILOT   _firmwareType;
+    bool            _sendStatusText;
 
     static const char* _firmwareTypeKey;
+    static const char* _sendStatusTextKey;
 };
 
 class MockLink : public LinkInterface
@@ -70,6 +76,7 @@ public:
     int vehicleId(void) { return _vehicleSystemId; }
     MAV_AUTOPILOT getAutopilotType(void) { return _autopilotType; }
     void setAutopilotType(MAV_AUTOPILOT autopilot) { _autopilotType = autopilot; }
+    void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; }
     void emitRemoteControlChannelRawChanged(int channel, uint16_t raw);
     
     /// Sends the specified mavlink message to QGC
@@ -149,6 +156,7 @@ private:
     void _setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat);
     void _sendHomePosition(void);
     void _sendGpsRawInt(void);
+    void _sendStatusTextMessages(void);
 
     MockLinkMissionItemHandler  _missionItemHandler;
 
@@ -173,6 +181,8 @@ private:
     
     MockLinkFileServer* _fileServer;
 
+    bool _sendStatusText;
+
     static float _vehicleLatitude;
     static float _vehicleLongitude;
     static float _vehicleAltitude;

src/ui/MainWindow.qml

@@ -82,6 +82,21 @@ Item {
         toolbarLoader.source = "MainToolBar.qml"
     }
 
+    // Detect tablet position
+    property var tabletPosition: QtPositioning.coordinate(37.803784, -122.462276)
+    PositionSource {
+        id:             positionSource
+        updateInterval: 1000
+        active:         ScreenTools.isMobile
+
+        onPositionChanged: {
+            tabletPosition = positionSource.position.coordinate
+            _root.latitude = tabletPosition.latitude
+            _root.longitude = tabletPosition.longitude
+            positionSource.active = false
+        }
+    }
+
     Loader {
         id:                 toolbarLoader
         width:              parent.width
@@ -105,6 +120,8 @@ Item {
         anchors.top:        toolbarLoader.bottom
         anchors.bottom:     parent.bottom
         visible:            false
+
+        property var tabletPosition:    _root.tabletPosition
     }
 
     Loader {
@@ -114,5 +131,7 @@ Item {
         anchors.top:        toolbarLoader.bottom
         anchors.bottom:     parent.bottom
         visible:            false
+
+        property var tabletPosition:    _root.tabletPosition
     }
 }

src/ui/MockLinkConfiguration.cc

@@ -43,9 +43,12 @@ MockLinkConfiguration::MockLinkConfiguration(MockConfiguration *config, QWidget
             break;
     }
 
-    connect(_ui->px4Radio,      &QRadioButton::clicked, this, &MockLinkConfiguration::_px4RadioClicked);
-    connect(_ui->apmRadio,      &QRadioButton::clicked, this, &MockLinkConfiguration::_apmRadioClicked);
-    connect(_ui->genericRadio,  &QRadioButton::clicked, this, &MockLinkConfiguration::_genericRadioClicked);
+    _ui->sendStatusTextCheckBox->setChecked(config->sendStatusText());
+
+    connect(_ui->px4Radio,                  &QRadioButton::clicked, this, &MockLinkConfiguration::_px4RadioClicked);
+    connect(_ui->apmRadio,                  &QRadioButton::clicked, this, &MockLinkConfiguration::_apmRadioClicked);
+    connect(_ui->genericRadio,              &QRadioButton::clicked, this, &MockLinkConfiguration::_genericRadioClicked);
+    connect(_ui->sendStatusTextCheckBox,    &QCheckBox::clicked,    this, &MockLinkConfiguration::_sendStatusTextClicked);
 }
 
 MockLinkConfiguration::~MockLinkConfiguration()
@@ -73,3 +76,8 @@ void MockLinkConfiguration::_genericRadioClicked(bool checked)
         _config->setFirmwareType(MAV_AUTOPILOT_GENERIC);
     }
 }
+
+void MockLinkConfiguration::_sendStatusTextClicked(bool checked)
+{
+    _config->setSendStatusText(checked);
+}

src/ui/MockLinkConfiguration.h

@@ -44,6 +44,7 @@ private slots:
     void _px4RadioClicked(bool checked);
     void _apmRadioClicked(bool checked);
     void _genericRadioClicked(bool checked);
+    void _sendStatusTextClicked(bool checked);
 
 private:
     Ui::MockLinkConfiguration*  _ui;

src/ui/MockLinkConfiguration.ui

@@ -35,6 +35,13 @@
      </property>
     </widget>
    </item>
+   <item>
+    <widget class="QCheckBox" name="sendStatusTextCheckBox">
+     <property name="text">
+      <string>Send status text + voice</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>