Merge pull request #9049 from DonLakeFlyer/ControllerVehicle

Plan fixes

v2.0 @ d1eea85b

-Subproject commit 99a977433a13705cd0624f8ff3b5f5210d526ba9
+Subproject commit d1eea85b685eec2204ad31c7f7f51486f218f86b

src/Camera/QGCCameraControl.cc

@@ -1174,12 +1174,13 @@ QGCCameraControl::_requestAllParameters()
     MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
     mavlink_message_t msg;
     mavlink_msg_param_ext_request_list_pack_chan(
-        static_cast<uint8_t>(mavlink->getSystemId()),
-        static_cast<uint8_t>(mavlink->getComponentId()),
-        _vehicle->priorityLink()->mavlinkChannel(),
-        &msg,
-        static_cast<uint8_t>(_vehicle->id()),
-        static_cast<uint8_t>(compID()));
+                static_cast<uint8_t>(mavlink->getSystemId()),
+                static_cast<uint8_t>(mavlink->getComponentId()),
+                _vehicle->priorityLink()->mavlinkChannel(),
+                &msg,
+                static_cast<uint8_t>(_vehicle->id()),
+                static_cast<uint8_t>(compID()),
+                0);                                                 // trimmed messages = false
     _vehicle->sendMessageOnLinkThreadSafe(_vehicle->priorityLink(), msg);
     qCDebug(CameraControlVerboseLog) << "Request all parameters";
 }

src/Camera/QGCCameraIO.cc

@@ -356,14 +356,15 @@ QGCCameraParamIO::paramRequest(bool reset)
     strncpy(param_id, _fact->name().toStdString().c_str(), MAVLINK_MSG_PARAM_EXT_REQUEST_READ_FIELD_PARAM_ID_LEN);
     mavlink_message_t msg;
     mavlink_msg_param_ext_request_read_pack_chan(
-        static_cast<uint8_t>(_pMavlink->getSystemId()),
-        static_cast<uint8_t>(_pMavlink->getComponentId()),
-        _vehicle->priorityLink()->mavlinkChannel(),
-        &msg,
-        static_cast<uint8_t>(_vehicle->id()),
-        static_cast<uint8_t>(_control->compID()),
-        param_id,
-        -1);
+                static_cast<uint8_t>(_pMavlink->getSystemId()),
+                static_cast<uint8_t>(_pMavlink->getComponentId()),
+                _vehicle->priorityLink()->mavlinkChannel(),
+                &msg,
+                static_cast<uint8_t>(_vehicle->id()),
+                static_cast<uint8_t>(_control->compID()),
+                param_id,
+                -1,
+                0);                                                 // trimmed messages = false
     _vehicle->sendMessageOnLinkThreadSafe(_vehicle->priorityLink(), msg);
     _paramRequestTimer.start();
 }

src/MissionManager/MissionController.cc

@@ -392,14 +392,14 @@ VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate /*coordin
 
 VisualMissionItem* MissionController::insertLandItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
 {
-    if (_managerVehicle->fixedWing()) {
+    if (_controllerVehicle->fixedWing()) {
         FixedWingLandingComplexItem* fwLanding = qobject_cast<FixedWingLandingComplexItem*>(insertComplexMissionItem(FixedWingLandingComplexItem::name, coordinate, visualItemIndex, makeCurrentItem));
         return fwLanding;
-    } else if (_managerVehicle->vtol()) {
+    } else if (_controllerVehicle->vtol()) {
         VTOLLandingComplexItem* vtolLanding = qobject_cast<VTOLLandingComplexItem*>(insertComplexMissionItem(VTOLLandingComplexItem::name, coordinate, visualItemIndex, makeCurrentItem));
         return vtolLanding;
     } else {
-        return _insertSimpleMissionItemWorker(coordinate, _managerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_RETURN_TO_LAUNCH, visualItemIndex, makeCurrentItem);
+        return _insertSimpleMissionItemWorker(coordinate, _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_RETURN_TO_LAUNCH, visualItemIndex, makeCurrentItem);
     }
 }
 
@@ -1240,7 +1240,7 @@ void MissionController::_recalcFlightPathSegments(void)
     bool                firstCoordinateNotFound =   true;
     VisualMissionItem*  lastFlyThroughVI =          qobject_cast<VisualMissionItem*>(_visualItems->get(0));
     bool                linkEndToHome =             false;
-    bool                linkStartToHome =           _managerVehicle->rover() ? true : false;
+    bool                linkStartToHome =           _controllerVehicle->rover() ? true : false;
     bool                foundRTL =                  false;
     bool                homePositionValid =         _settingsItem->coordinate().isValid();
     bool                roiActive =                 false;

src/PlanView/MissionSettingsEditor.qml

@@ -37,6 +37,7 @@ Rectangle {
     property bool   _showCameraSection:             (_waypointsOnlyMode || QGroundControl.corePlugin.showAdvancedUI) && !_controllerVehicle.apmFirmware
     property bool   _simpleMissionStart:            QGroundControl.corePlugin.options.showSimpleMissionStart
     property bool   _showFlightSpeed:               !_controllerVehicle.vtol && !_simpleMissionStart && !_controllerVehicle.apmFirmware
+    property bool   _allowFWVehicleTypeSelection:   _noMissionItemsAdded && !globals.activeVehicle
 
     readonly property string _firmwareLabel:    qsTr("Firmware")
     readonly property string _vehicleLabel:     qsTr("Vehicle")
@@ -197,11 +198,11 @@ Rectangle {
                     fact:                   QGroundControl.settingsManager.appSettings.offlineEditingFirmwareClass
                     indexModel:             false
                     Layout.preferredWidth:  _fieldWidth
-                    visible:                _multipleFirmware && _noMissionItemsAdded
+                    visible:                _multipleFirmware && _allowFWVehicleTypeSelection
                 }
                 QGCLabel {
                     text:       _controllerVehicle.firmwareTypeString
-                    visible:    _multipleFirmware && !_noMissionItemsAdded
+                    visible:    _multipleFirmware && !_allowFWVehicleTypeSelection
                 }
 
                 QGCLabel {
@@ -213,11 +214,11 @@ Rectangle {
                     fact:                   QGroundControl.settingsManager.appSettings.offlineEditingVehicleClass
                     indexModel:             false
                     Layout.preferredWidth:  _fieldWidth
-                    visible:                _multipleVehicleTypes && _noMissionItemsAdded
+                    visible:                _multipleVehicleTypes && _allowFWVehicleTypeSelection
                 }
                 QGCLabel {
                     text:       _controllerVehicle.vehicleTypeString
-                    visible:    _multipleVehicleTypes && !_noMissionItemsAdded
+                    visible:    _multipleVehicleTypes && !_allowFWVehicleTypeSelection
                 }
 
                 QGCLabel {

src/comm/MockLink.cc

@@ -7,7 +7,6 @@
  *
  ****************************************************************************/
 
-
 #include "MockLink.h"
 #include "QGCLoggingCategory.h"
 #include "QGCApplication.h"
@@ -28,11 +27,6 @@
 QGC_LOGGING_CATEGORY(MockLinkLog, "MockLinkLog")
 QGC_LOGGING_CATEGORY(MockLinkVerboseLog, "MockLinkVerboseLog")
 
-/// @file
-///     @brief Mock implementation of a Link.
-///
-///     @author Don Gagne <don@thegagnes.com>
-
 // Vehicle position is set close to default Gazebo vehicle location. This allows for multi-vehicle
 // testing of a gazebo vehicle and a mocklink vehicle
 #if 1
@@ -410,12 +404,14 @@ void MockLink::_sendBatteryStatus(void)
     mavlink_message_t   msg;
     uint16_t            rgVoltages[10];
     uint16_t            rgVoltagesNone[10];
+    uint16_t            rgVoltagesExtNone[4];
 
     for (int i=0; i<10; i++) {
         rgVoltages[i]       = UINT16_MAX;
         rgVoltagesNone[i]   = UINT16_MAX;
     }
     rgVoltages[0] = rgVoltages[1] = rgVoltages[2] = 4200;
+    memset(rgVoltagesExtNone, 0, sizeof(rgVoltagesExtNone));
 
     mavlink_msg_battery_status_pack_chan(
                 _vehicleSystemId,
@@ -432,7 +428,8 @@ void MockLink::_sendBatteryStatus(void)
                 -1,                         // energy consumed not supported
                 _battery1PctRemaining,
                 _battery1TimeRemaining,
-                _battery1ChargeState);
+                _battery1ChargeState,
+                rgVoltagesExtNone);
     respondWithMavlinkMessage(msg);
 
     mavlink_msg_battery_status_pack_chan(
@@ -450,7 +447,8 @@ void MockLink::_sendBatteryStatus(void)
                 -1,                         // energy consumed not supported
                 _battery2PctRemaining,
                 _battery2TimeRemaining,
-                _battery2ChargeState);
+                _battery2ChargeState,
+                rgVoltagesExtNone);
     respondWithMavlinkMessage(msg);
 }