Add code to stop and monitor ROI mode.

src/Vehicle/Vehicle.cc

@@ -3133,6 +3133,40 @@ void Vehicle::guidedModeROI(const QGeoCoordinate& centerCoord)
     }
 }
 
+void Vehicle::stopGuidedModeROI()
+{
+    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_NONE,
+            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
+            static_cast<double>(qQNaN()),   // Empty
+            static_cast<double>(qQNaN()),   // Empty
+            static_cast<float>(qQNaN()));   // Empty
+    } else {
+        sendMavCommand(
+            defaultComponentId(),
+            MAV_CMD_DO_SET_ROI_NONE,
+            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>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()));   // Empty
+    }
+}
+
 void Vehicle::pauseVehicle(void)
 {
     if (!pauseVehicleSupported()) {
@@ -3401,6 +3435,20 @@ void Vehicle::_handleCommandAck(mavlink_message_t& message)
         }
     }
 
+    if (ack.command == MAV_CMD_DO_SET_ROI_LOCATION) {
+        if (ack.result == MAV_RESULT_ACCEPTED) {
+            _isROIEnabled = true;
+            emit isROIEnabledChanged();
+        }
+    }
+
+    if (ack.command == MAV_CMD_DO_SET_ROI_NONE) {
+        if (ack.result == MAV_RESULT_ACCEPTED) {
+            _isROIEnabled = false;
+            emit isROIEnabledChanged();
+        }
+    }
+
 #if !defined(NO_ARDUPILOT_DIALECT)
     if (ack.command == MAV_CMD_FLASH_BOOTLOADER && ack.result == MAV_RESULT_ACCEPTED) {
         qgcApp()->showMessage(tr("Bootloader flash succeeded"));

src/Vehicle/Vehicle.h

@@ -642,6 +642,7 @@ public:
     Q_PROPERTY(qreal                gimbalPitch             READ gimbalPitch                                            NOTIFY gimbalPitchChanged)
     Q_PROPERTY(qreal                gimbalYaw               READ gimbalYaw                                              NOTIFY gimbalYawChanged)
     Q_PROPERTY(bool                 gimbalData              READ gimbalData                                             NOTIFY gimbalDataChanged)
+    Q_PROPERTY(bool                 isROIEnabled            READ isROIEnabled                                           NOTIFY isROIEnabledChanged)
 
     // The following properties relate to Orbit status
     Q_PROPERTY(bool             orbitActive     READ orbitActive        NOTIFY orbitActiveChanged)
@@ -741,6 +742,7 @@ public:
     /// Command vehicle to keep given point as ROI
     ///     @param centerCoord ROI coordinates
     Q_INVOKABLE void guidedModeROI(const QGeoCoordinate& centerCoord);
+    Q_INVOKABLE void stopGuidedModeROI();
 
     /// Command vehicle to pause at current location. If vehicle supports guide mode, vehicle will be left
     /// in guided mode after pause.
@@ -1114,6 +1116,7 @@ public:
     qreal       gimbalPitch             () { return static_cast<qreal>(_curGimbalPitch); }
     qreal       gimbalYaw               () { return static_cast<qreal>(_curGinmbalYaw); }
     bool        gimbalData              () { return _haveGimbalData; }
+    bool        isROIEnabled            () { return _isROIEnabled; }
 
 public slots:
     void setVtolInFwdFlight             (bool vtolInFwdFlight);
@@ -1229,6 +1232,7 @@ signals:
     void gimbalPitchChanged         ();
     void gimbalYawChanged           ();
     void gimbalDataChanged          ();
+    void isROIEnabledChanged        ();
 
 private slots:
     void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
@@ -1495,6 +1499,7 @@ private:
     float               _curGimbalPitch = 0.0f;
     float               _curGinmbalYaw  = 0.0f;
     bool                _haveGimbalData = false;
+    bool                _isROIEnabled   = false;
     Joystick*           _activeJoystick = nullptr;
 
     int _firmwareMajorVersion;