wima settings and reverse (wima menu) added

qgroundcontrol.pro

@@ -432,7 +432,8 @@ HEADERS += \
     src/Wima/OptimisationTools.h \
     src/Wima/GeoUtilities.h \
     src/Wima/TestPolygonCalculus.h \
-    src/Wima/testplanimetrycalculus.h
+    src/Wima/testplanimetrycalculus.h \
+    src/Settings/WimaSettings.h
 SOURCES += \
     src/api/QGCCorePlugin.cc \
     src/api/QGCOptions.cc \
@@ -463,7 +464,8 @@ SOURCES += \
     src/Wima/GeoUtilities.cc \
     src/Wima/PolygonCalculus.cc \
     src/Wima/TestPolygonCalculus.cpp \
-    src/Wima/testplanimetrycalculus.cpp
+    src/Wima/testplanimetrycalculus.cpp \
+    src/Settings/WimaSettings.cc
 
 #
 # Unit Test specific configuration goes here (requires full debug build with all plugins)
@@ -1346,3 +1348,4 @@ contains (CONFIG, QGC_DISABLE_INSTALLER_SETUP) {
 
 DISTFILES += \
     src/WimaView/WimaMeasurementAreaEditor.qml \
+    src/Settings/Wima.SettingsGroup.json

qgroundcontrol.qrc

@@ -278,6 +278,7 @@
         <file alias="CircularSurvey.SettingsGroup.json">src/Wima/CircularSurvey.SettingsGroup.json</file>
         <file alias="WimaArea.SettingsGroup.json">src/Wima/WimaArea.SettingsGroup.json</file>
         <file alias="WimaController.SettingsGroup.json">src/Wima/WimaController.SettingsGroup.json</file>
+        <file alias="Wima.SettingsGroup.json">src/Settings/Wima.SettingsGroup.json</file>
     </qresource>
     <qresource prefix="/MockLink">
         <file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -107,7 +107,7 @@ Item {
                     Column {
                         id:                         mainColumn
                         anchors.horizontalCenter:   parent.horizontalCenter
-                        spacing:                    4
+                        spacing:                    ScreenTools.defaultFontPixelHeight * 0.3
 
                         SectionHeader{
                             id: settingsHeader
@@ -145,6 +145,12 @@ Item {
                                 fact:               wimaController.overlapWaypoints
                                 Layout.fillWidth: true
                             }
+                        }
+                        GridLayout {
+                            columns: 2
+                            rowSpacing:         ScreenTools.defaultFontPixelHeight * 0.5
+                            columnSpacing:      ScreenTools.defaultFontPixelHeight * 0.5
+                            visible:            settingsHeader.checked
 
                             FactCheckBox {
                                 text:       qsTr("Show All")
@@ -157,6 +163,12 @@ Item {
                                 fact:       wimaController.showCurrentMissionItems
                                 Layout.fillWidth: true
                             }
+
+                            FactCheckBox {
+                                text:       qsTr("Reverse")
+                                fact:       wimaController.reverse
+                                Layout.fillWidth: true
+                            }
                         } // Grid
 
                         SectionHeader{

src/Settings/CMakeLists.txt

@@ -12,6 +12,7 @@ add_library(Settings
 	SettingsManager.cc
 	UnitsSettings.cc
 	VideoSettings.cc
+        WimaSettings.cc
 )
 
 target_link_libraries(Settings

src/Settings/FlyViewSettings.cc

@@ -20,3 +20,4 @@ DECLARE_SETTINGGROUP(FlyView, "FlyView")
 
 DECLARE_SETTINGSFACT(FlyViewSettings, guidedMinimumAltitude)
 DECLARE_SETTINGSFACT(FlyViewSettings, guidedMaximumAltitude)
+

src/Settings/SettingsManager.cc

@@ -26,6 +26,7 @@ SettingsManager::SettingsManager(QGCApplication* app, QGCToolbox* toolbox)
     , _flyViewSettings              (nullptr)
     , _planViewSettings             (nullptr)
     , _brandImageSettings           (nullptr)
+    , _wimaSettings                 (nullptr)
 #if !defined(NO_ARDUPILOT_DIALECT)
     , _apmMavlinkStreamRateSettings (nullptr)
 #endif
@@ -48,6 +49,7 @@ void SettingsManager::setToolbox(QGCToolbox *toolbox)
     _flyViewSettings =              new FlyViewSettings     (this);
     _planViewSettings =             new PlanViewSettings    (this);
     _brandImageSettings =           new BrandImageSettings  (this);
+    _wimaSettings =                 new WimaSettings        (this);
 #if !defined(NO_ARDUPILOT_DIALECT)
     _apmMavlinkStreamRateSettings = new APMMavlinkStreamRateSettings     (this);
 #endif

src/Settings/SettingsManager.h

@@ -24,6 +24,7 @@
 #include "PlanViewSettings.h"
 #include "BrandImageSettings.h"
 #include "APMMavlinkStreamRateSettings.h"
+#include "WimaSettings.h"
 #if defined(QGC_AIRMAP_ENABLED)
 #include "AirMapSettings.h"
 #endif
@@ -49,6 +50,7 @@ public:
     Q_PROPERTY(QObject* flyViewSettings                 READ flyViewSettings                CONSTANT)
     Q_PROPERTY(QObject* planViewSettings                READ planViewSettings               CONSTANT)
     Q_PROPERTY(QObject* brandImageSettings              READ brandImageSettings             CONSTANT)
+    Q_PROPERTY(QObject* wimaSettings                    READ wimaSettings                   CONSTANT)
 #if !defined(NO_ARDUPILOT_DIALECT)
     Q_PROPERTY(QObject* apmMavlinkStreamRateSettings    READ apmMavlinkStreamRateSettings   CONSTANT)
 #endif
@@ -67,6 +69,7 @@ public:
     FlyViewSettings*                flyViewSettings             (void) { return _flyViewSettings; }
     PlanViewSettings*               planViewSettings            (void) { return _planViewSettings; }
     BrandImageSettings*             brandImageSettings          (void) { return _brandImageSettings; }
+    WimaSettings*                   wimaSettings                (void) { return _wimaSettings; }
 #if !defined(NO_ARDUPILOT_DIALECT)
     APMMavlinkStreamRateSettings*   apmMavlinkStreamRateSettings(void) { return _apmMavlinkStreamRateSettings; }
 #endif
@@ -83,6 +86,7 @@ private:
     FlyViewSettings*                _flyViewSettings;
     PlanViewSettings*               _planViewSettings;
     BrandImageSettings*             _brandImageSettings;
+    WimaSettings*                   _wimaSettings;
 #if !defined(NO_ARDUPILOT_DIALECT)
     APMMavlinkStreamRateSettings*   _apmMavlinkStreamRateSettings;
 #endif

src/Settings/Wima.SettingsGroup.json

+[
+{
+    "name":             "lowBatteryThreshold",
+    "shortDescription": "The battery threshold in percents, for which low battery handling measures get triggered.",
+    "type":             "double",
+    "units":            "%",
+    "defaultValue":     40
+},
+{
+    "name":             "enableLowBatteryHandling",
+    "shortDescription": "Enables or disables low battery handling measures.",
+    "type":             "bool",
+    "defaultValue":     true
+}
+]

src/Settings/WimaSettings.cc

+#include "WimaSettings.h"
+#include <QQmlEngine>
+#include <QtQml>
+
+DECLARE_SETTINGGROUP(Wima, "Wima")
+{
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership); \
+    qmlRegisterUncreatableType<WimaSettings>("QGroundControl.SettingsManager", 1, 0, "WimaSettings", "Reference only"); \
+}
+
+DECLARE_SETTINGSFACT(WimaSettings, lowBatteryThreshold)
+DECLARE_SETTINGSFACT(WimaSettings, enableLowBatteryHandling)

src/Settings/WimaSettings.h

+#pragma once
+
+#include "SettingsGroup.h"
+
+class WimaSettings : public SettingsGroup
+{
+    Q_OBJECT
+public:
+    WimaSettings(QObject* parent = nullptr);
+
+    DEFINE_SETTING_NAME_GROUP()
+
+    DEFINE_SETTINGFACT(lowBatteryThreshold)
+    DEFINE_SETTINGFACT(enableLowBatteryHandling)
+};

src/Wima/WimaController.SettingsGroup.json

@@ -51,5 +51,11 @@
     "type":             "double",
     "min" :             1,
     "defaultValue":     5
+},
+{
+    "name":             "Reverse",
+    "shortDescription": "Reverses the phase direction. Phases go from high to low waypoint numbers, if checked.",
+    "type":             "bool",
+    "defaultValue":     false
 }
 ]

src/Wima/WimaController.cc

@@ -12,6 +12,7 @@ const char* WimaController::showAllMissionItemsName     = "ShowAllMissionItems";
 const char* WimaController::showCurrentMissionItemsName = "ShowCurrentMissionItems";
 const char* WimaController::flightSpeedName             = "FlightSpeed";
 const char* WimaController::altitudeName                = "Altitude";
+const char* WimaController::reverseName                 = "Reverse";
 
 WimaController::WimaController(QObject *parent)
     : QObject                   (parent)
@@ -30,29 +31,32 @@ WimaController::WimaController(QObject *parent)
     , _showCurrentMissionItems  (settingsGroup, _metaDataMap[showCurrentMissionItemsName])    
     , _flightSpeed              (settingsGroup, _metaDataMap[flightSpeedName])
     , _altitude                 (settingsGroup, _metaDataMap[altitudeName])
+    , _reverse                  (settingsGroup, _metaDataMap[reverseName])
     , _startWaypointIndex       (0)
     , _lastMissionPhaseReached  (false)
     , _uploadOverrideRequired   (false)
-    , _phaseDistance(-1)
-    , _phaseDuration(-1)
-    , _vehicleHasLowBattery(false)
+    , _phaseDistance            (-1)
+    , _phaseDuration            (-1)
+    , _vehicleHasLowBattery     (false)
     , _lowBatteryHandlingTriggered(false)
-    , _executingSmartRTL(false)
+    , _executingSmartRTL        (false)
 
 {
     _nextPhaseStartWaypointIndex.setRawValue(int(1));
     _showAllMissionItems.setRawValue(true);
     _showCurrentMissionItems.setRawValue(true);
-    connect(&_overlapWaypoints,     &Fact::rawValueChanged, this, &WimaController::updateNextWaypoint);
-    connect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this, &WimaController::recalcCurrentPhase);
-    connect(&_nextPhaseStartWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
-    connect(&_flightSpeed,  &Fact::rawValueChanged, this, &WimaController::updateSpeed);
-    connect(&_altitude,     &Fact::rawValueChanged, this, &WimaController::updateAltitude);
+    connect(&_overlapWaypoints,             &Fact::rawValueChanged, this, &WimaController::updateNextWaypoint);
+    connect(&_maxWaypointsPerPhase,         &Fact::rawValueChanged, this, &WimaController::recalcCurrentPhase);
+    connect(&_nextPhaseStartWaypointIndex,  &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
+    connect(&_flightSpeed,                  &Fact::rawValueChanged, this, &WimaController::updateSpeed);
+    connect(&_altitude,                     &Fact::rawValueChanged, this, &WimaController::updateAltitude);
 
-    // battery timer
+    // setup low battery handling
     connect(&_checkBatteryTimer, &QTimer::timeout, this, &WimaController::checkBatteryLevel);
     _checkBatteryTimer.setInterval(500);
-    _checkBatteryTimer.start();
+    Fact *enableLowBatteryHandling = qgcApp()->toolbox()->settingsManager()->wimaSettings()->enableLowBatteryHandling();
+    connect(enableLowBatteryHandling, &Fact::rawValueChanged, this, &WimaController::enableDisableLowBatteryHandling);
+    enableDisableLowBatteryHandling(enableLowBatteryHandling->rawValue());
 }
 
 QmlObjectListModel* WimaController::visualItems()
@@ -137,6 +141,11 @@ Fact *WimaController::altitude()
     return &_altitude;
 }
 
+Fact *WimaController::reverse()
+{
+    return &_reverse;
+}
+
 bool WimaController::uploadOverrideRequired() const
 {
     return _uploadOverrideRequired;
@@ -553,31 +562,70 @@ bool WimaController::calcNextPhase()
     emit currentMissionItemsChanged();
     emit currentWaypointPathChanged();
 
+    bool reverseBool = _reverse.rawValue().toBool(); // Reverses the phase direction. Phases go from high to low waypoint numbers, if true.
     _startWaypointIndex = _nextPhaseStartWaypointIndex.rawValue().toInt()-1;
-    if (_startWaypointIndex > _missionItems.count()-1)
-        return false;
+    if (!reverseBool) {
+        if (_startWaypointIndex > _missionItems.count()-1)
+            return false;
+    }
+    else {
+        if (_startWaypointIndex < 0)
+            return false;
+    }
+
 
 
     int maxWaypointsPerPhaseInt = _maxWaypointsPerPhase.rawValue().toInt();
 
     // determine end waypoint index
-    _endWaypointIndex = std::min(_startWaypointIndex + maxWaypointsPerPhaseInt - 1, _missionItems.count()-1);
-    if (_endWaypointIndex == _missionItems.count() - 1)
-        _lastMissionPhaseReached = true;
+    if (!reverseBool) {
+        _endWaypointIndex = std::min(_startWaypointIndex + maxWaypointsPerPhaseInt - 1, _missionItems.count()-1);
+        if (_endWaypointIndex == _missionItems.count() - 1)
+            _lastMissionPhaseReached = true;
+    }
+    else {
+        _endWaypointIndex = std::max(_startWaypointIndex - maxWaypointsPerPhaseInt + 1, 0);
+        if (_endWaypointIndex == 0)
+            _lastMissionPhaseReached = true;
+    }
+
 
     // extract waypoints
     QList<QGeoCoordinate> geoCoordinateList; // list with potential waypoints (from _missionItems), for _currentMissionItems
-    if (!extractCoordinateList(_missionItems, geoCoordinateList, _startWaypointIndex, _endWaypointIndex)) {
-        qWarning("WimaController::calcNextPhase(): error on waypoint extraction.");
-        return false;
+
+    if (!reverseBool) {
+        if (!extractCoordinateList(_missionItems, geoCoordinateList, _startWaypointIndex, _endWaypointIndex)) {
+            qWarning("WimaController::calcNextPhase(): error on waypoint extraction.");
+            return false;
+        }
+    } else {
+        if (!extractCoordinateList(_missionItems, geoCoordinateList, _endWaypointIndex, _startWaypointIndex)) {
+            qWarning("WimaController::calcNextPhase(): error on waypoint extraction.");
+            return false;
+        }
+
+        // reverse path
+        QList<QGeoCoordinate> reversePath;
+        for (QGeoCoordinate c : geoCoordinateList)
+            reversePath.prepend(c);
+        geoCoordinateList.clear();
+        geoCoordinateList.append(reversePath);
     }
 
+
     // set start waypoint index for next phase
     if (!_lastMissionPhaseReached) {
         disconnect(&_nextPhaseStartWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
-        int untruncated = std::max(_endWaypointIndex + 1 - _overlapWaypoints.rawValue().toInt(), 0);
-        int truncated   = std::min(untruncated , _missionItems.count()-1);
-        _nextPhaseStartWaypointIndex.setRawValue(truncated  + 1);
+        if (!reverseBool) {
+            int untruncated = std::max(_endWaypointIndex + 1 - _overlapWaypoints.rawValue().toInt(), 0);
+            int truncated   = std::min(untruncated , _missionItems.count()-1);
+            _nextPhaseStartWaypointIndex.setRawValue(truncated  + 1);
+        }
+        else {
+            int untruncated = std::min(_endWaypointIndex - 1 + _overlapWaypoints.rawValue().toInt(), _missionItems.count()-1);
+            int truncated   = std::max(untruncated , 0);
+            _nextPhaseStartWaypointIndex.setRawValue(truncated  + 1);
+        }
         connect(&_nextPhaseStartWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
     }
 
@@ -742,7 +790,9 @@ void WimaController::updateAltitude()
 void WimaController::checkBatteryLevel()
 {
     Vehicle *managerVehicle = masterController()->managerVehicle();
-    int batteryThreshold = 94; // percent
+    WimaSettings* wimaSettings = qgcApp()->toolbox()->settingsManager()->wimaSettings();
+    int batteryThreshold = wimaSettings->lowBatteryThreshold()->rawValue().toInt();
+
     if (managerVehicle != nullptr) {
         Fact *battery1percentRemaining = managerVehicle->battery1FactGroup()->getFact(VehicleBatteryFactGroup::_percentRemainingFactName);
         Fact *battery2percentRemaining = managerVehicle->battery2FactGroup()->getFact(VehicleBatteryFactGroup::_percentRemainingFactName);
@@ -786,6 +836,15 @@ void WimaController::smartRTLCleanUp(bool flying)
     }
 }
 
+void WimaController::enableDisableLowBatteryHandling(QVariant enable)
+{
+    if (enable.toBool()) {
+        _checkBatteryTimer.start();
+    } else {
+        _checkBatteryTimer.stop();
+    }
+}
+
 void WimaController::_setPhaseDistance(double distance)
 {
     if (!qFuzzyCompare(distance, _phaseDistance)) {
@@ -952,6 +1011,8 @@ void WimaController::_loadCurrentMissionItemsFromBuffer()
     int numItems = _missionItemsBuffer.count();
     for (int i = 0; i < numItems; i++)
         _currentMissionItems.append(_missionItemsBuffer.removeAt(0));
+
+    updateCurrentPath();
 }
 
 

src/Wima/WimaController.h

@@ -21,6 +21,8 @@
 #include "JsonHelper.h"
 #include "QGCApplication.h"
 #include "SettingsFact.h"
+#include "WimaSettings.h"
+#include "SettingsManager.h"
 
 
 class WimaController : public QObject
@@ -53,6 +55,7 @@ public:
     Q_PROPERTY(Fact*                    showCurrentMissionItems READ showCurrentMissionItems                                CONSTANT)
     Q_PROPERTY(Fact*                    flightSpeed             READ flightSpeed                                            CONSTANT)
     Q_PROPERTY(Fact*                    altitude                READ altitude                                               CONSTANT)
+    Q_PROPERTY(Fact*                    reverse                 READ reverse                                                CONSTANT)
     Q_PROPERTY(bool                     uploadOverrideRequired  READ uploadOverrideRequired WRITE setUploadOverrideRequired NOTIFY uploadOverrideRequiredChanged)
     Q_PROPERTY(double                   phaseDistance           READ phaseDistance                                          NOTIFY phaseDistanceChanged)
     Q_PROPERTY(double                   phaseDuration           READ phaseDuration                                          NOTIFY phaseDurationChanged)
@@ -81,7 +84,8 @@ public:
     Fact*                       showAllMissionItems    (void);
     Fact*                       showCurrentMissionItems(void);
     Fact*                       flightSpeed            (void);
-    Fact*                       altitude               (void);
+    Fact*                       altitude               (void);    
+    Fact*                       reverse                (void);
     bool                        uploadOverrideRequired (void) const;
     double                      phaseDistance          (void) const;
     double                      phaseDuration          (void) const;
@@ -126,7 +130,8 @@ public:
     static const char* showAllMissionItemsName;
     static const char* showCurrentMissionItemsName;
     static const char* flightSpeedName;
-    static const char* altitudeName;
+    static const char* altitudeName;    
+    static const char* reverseName;
 
     // Member Methodes
     QJsonDocument saveToJson(FileType fileType);
@@ -171,6 +176,7 @@ private slots:
     void updateAltitude                     (void);
     void checkBatteryLevel                  (void);
     void smartRTLCleanUp                    (bool flying); // cleans up after successfull smart RTL
+    void enableDisableLowBatteryHandling    (QVariant enable);
 
 private:
     void _setPhaseDistance(double distance);
@@ -212,6 +218,7 @@ private:
     SettingsFact                 _showCurrentMissionItems; // bool value, Determines whether the mission items of the current mission phase are displayed or not.
     SettingsFact                 _flightSpeed; // mission flight speed
     SettingsFact                 _altitude; // mission altitude
+    SettingsFact                 _reverse; // Reverses the phase direction. Phases go from high to low waypoint numbers, if true.
 
     int                          _endWaypointIndex; // indes of the mission item stored in _missionItems defining the last element
                                                     // (which is not part of the return path) of _currentMissionItem

src/ui/preferences/GeneralSettings.qml

@@ -929,6 +929,43 @@ QGCView {
                         }
                     }
 
+                    QGCLabel {
+                        id:         wimaSectionLabel
+                        text:       qsTr("WiMA")
+                        visible:    QGroundControl.settingsManager.wimaSettings.visible
+                    }
+                    Rectangle {
+                        Layout.preferredWidth:  wimaGrid.width + (_margins * 2)
+                        Layout.preferredHeight: wimaGrid.height + (_margins * 2)
+                        Layout.fillWidth:       true
+                        color:                  qgcPal.windowShade
+                        visible:                wimaSectionLabel.visible
+
+                        GridLayout {
+                            id:                 wimaGrid
+                            anchors.margins:    _margins
+                            anchors.top:        parent.top
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
+                            columns:            4
+
+                            QGCLabel {
+                                text:       qsTr("Low Battery Threshold")
+                                visible:    _userBrandImageIndoor.visible
+                            }
+                            FactTextField {
+                                Layout.preferredWidth:  _valueFieldWidth
+                                fact:                   QGroundControl.settingsManager.wimaSettings.lowBatteryThreshold
+                            }
+
+                            FactCheckBox {
+                                text:                   "Enable low battery handling"
+                                fact:                   QGroundControl.settingsManager.wimaSettings.enableLowBatteryHandling
+                                Layout.columnSpan:      2
+                            }
+                        }
+                    }
+
                     Item { width: 1; height: _margins }
 
                     QGCLabel {