Configurable survey in

qgroundcontrol.pro

@@ -504,6 +504,7 @@ HEADERS += \
     src/Settings/AppSettings.h \
     src/Settings/AutoConnectSettings.h \
     src/Settings/FlightMapSettings.h \
+    src/Settings/RTKSettings.h \
     src/Settings/SettingsGroup.h \
     src/Settings/SettingsManager.h \
     src/Settings/UnitsSettings.h \
@@ -682,6 +683,7 @@ SOURCES += \
     src/Settings/AppSettings.cc \
     src/Settings/AutoConnectSettings.cc \
     src/Settings/FlightMapSettings.cc \
+    src/Settings/RTKSettings.cc \
     src/Settings/SettingsGroup.cc \
     src/Settings/SettingsManager.cc \
     src/Settings/UnitsSettings.cc \

qgroundcontrol.qrc

@@ -190,6 +190,7 @@
         <file alias="App.SettingsGroup.json">src/Settings/App.SettingsGroup.json</file>
         <file alias="AutoConnect.SettingsGroup.json">src/Settings/AutoConnect.SettingsGroup.json</file>
         <file alias="FlightMap.SettingsGroup.json">src/Settings/FlightMap.SettingsGroup.json</file>
+        <file alias="RTK.SettingsGroup.json">src/Settings/RTK.SettingsGroup.json</file>
         <file alias="Survey.SettingsGroup.json">src/MissionManager/Survey.SettingsGroup.json</file>
         <file alias="Units.SettingsGroup.json">src/Settings/Units.SettingsGroup.json</file>
         <file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>

Drivers @ 381061af

-Subproject commit 3cac6a5bc5826d7ac495827a46b63f476d82ba86
+Subproject commit 381061af5aa2ab7a2b1fcf243d01fcd721caebae

src/GPS/GPSManager.cc

@@ -10,6 +10,9 @@
 
 #include "GPSManager.h"
 #include "QGCLoggingCategory.h"
+#include "QGCApplication.h"
+#include "SettingsManager.h"
+#include "RTKSettings.h"
 
 GPSManager::GPSManager(QGCApplication* app, QGCToolbox* toolbox)
     : QGCTool(app, toolbox)
@@ -27,9 +30,11 @@ void GPSManager::connectGPS(const QString& device)
 {
     Q_ASSERT(_toolbox);
 
+    RTKSettings* rtkSettings = qgcApp()->toolbox()->settingsManager()->rtkSettings();
+
     cleanup();
     _requestGpsStop = false;
-    _gpsProvider = new GPSProvider(device, true, _requestGpsStop);
+    _gpsProvider = new GPSProvider(device, true, rtkSettings->surveyInAccuracyLimit()->rawValue().toDouble(), rtkSettings->surveyInMinObservationDuration()->rawValue().toInt(), _requestGpsStop);
     _gpsProvider->start();
 
     //create RTCM device

src/GPS/GPSProvider.cc

@@ -53,18 +53,19 @@ void GPSProvider::run()
     _serial->setFlowControl(QSerialPort::NoFlowControl);
 
     unsigned int baudrate;
-    GPSHelper* gpsHelper = nullptr;
+    GPSDriverUBX* gpsDriver = nullptr;
 
     while (!_requestStop) {
 
-        if (gpsHelper) {
-            delete gpsHelper;
-            gpsHelper = nullptr;
+        if (gpsDriver) {
+            delete gpsDriver;
+            gpsDriver = nullptr;
         }
 
-        gpsHelper = new GPSDriverUBX(&callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
+        gpsDriver = new GPSDriverUBX(GPSDriverUBX::Interface::UART, &callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
+        gpsDriver->setSurveyInSpecs(_surveyInAccMeters * 10000, _surveryInDurationSecs);
 
-        if (gpsHelper->configure(baudrate, GPSHelper::OutputMode::RTCM) == 0) {
+        if (gpsDriver->configure(baudrate, GPSDriverUBX::OutputMode::RTCM) == 0) {
 
             /* reset report */
             memset(&_reportGpsPos, 0, sizeof(_reportGpsPos));
@@ -74,7 +75,7 @@ void GPSProvider::run()
             int numTries = 0;
 
             while (!_requestStop && numTries < 3) {
-                int helperRet = gpsHelper->receive(GPS_RECEIVE_TIMEOUT);
+                int helperRet = gpsDriver->receive(GPS_RECEIVE_TIMEOUT);
 
                 if (helperRet > 0) {
                     numTries = 0;
@@ -100,9 +101,13 @@ void GPSProvider::run()
     qCDebug(RTKGPSLog) << "Exiting GPS thread";
 }
 
-GPSProvider::GPSProvider(const QString& device, bool enableSatInfo, const std::atomic_bool& requestStop)
-    : _device(device), _requestStop(requestStop)
+GPSProvider::GPSProvider(const QString& device, bool enableSatInfo, double surveyInAccMeters, int surveryInDurationSecs, const std::atomic_bool& requestStop)
+    : _device(device)
+    , _requestStop(requestStop)
+    , _surveyInAccMeters(surveyInAccMeters)
+    , _surveryInDurationSecs(surveryInDurationSecs)
 {
+    qCDebug(RTKGPSLog) << "Survey in accuracy:duration" << surveyInAccMeters << surveryInDurationSecs;
     if (enableSatInfo) _pReportSatInfo = new satellite_info_s();
 }
 

src/GPS/GPSProvider.h

@@ -29,7 +29,7 @@ class GPSProvider : public QThread
 {
     Q_OBJECT
 public:
-    GPSProvider(const QString& device, bool enableSatInfo, const std::atomic_bool& requestStop);
+    GPSProvider(const QString& device, bool enableSatInfo, double surveyInAccMeters, int surveryInDurationSecs, const std::atomic_bool& requestStop);
     ~GPSProvider();
 
     /**
@@ -57,6 +57,8 @@ private:
 
     QString _device;
     const std::atomic_bool& _requestStop;
+    double  _surveyInAccMeters;
+    int     _surveryInDurationSecs;
 
 	struct vehicle_gps_position_s	_reportGpsPos;
 	struct satellite_info_s		*_pReportSatInfo = nullptr;

src/Settings/RTK.SettingsGroup.json

+[
+{
+    "name":             "SurveyInAccuracyLimit",
+    "shortDescription": "Survey in accuracy limit",
+    "longDescription":  "The maximum accuracy allowed prior to completing survey in.",
+    "type":             "double",
+    "defaultValue":     2.0,
+    "min":              0.5,
+    "units":            "m",
+    "decimalPlaces":    1
+},
+{
+    "name":             "SurveyInMinObservationDuration",
+    "shortDescription": "Minimum observation time",
+    "longDescription":  "Defines the minimum amount of observation time for the position calculation.",
+    "type":             "Uint32",
+    "defaultValue":     180,
+    "min":              1,
+    "units":            "secs",
+    "decimalPlaces":    0
+}
+]

src/Settings/RTKSettings.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "RTKSettings.h"
+
+#include <QQmlEngine>
+#include <QtQml>
+
+const char* RTKSettings::RTKSettingsGroupName =                 "RTK";
+const char* RTKSettings::surveyInAccuracyLimitName =            "SurveyInAccuracyLimit";
+const char* RTKSettings::surveyInMinObservationDurationName =   "SurveyInMinObservationDuration";
+
+RTKSettings::RTKSettings(QObject* parent)
+    : SettingsGroup(RTKSettingsGroupName, QString(RTKSettingsGroupName), parent)
+    , _surveyInAccuracyLimitFact(NULL)
+    , _surveyInMinObservationDurationFact(NULL)
+{
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
+    qmlRegisterUncreatableType<RTKSettings>("QGroundControl.SettingsManager", 1, 0, "RTKSettings", "Reference only");
+}
+
+Fact* RTKSettings::surveyInAccuracyLimit(void)
+{
+    if (!_surveyInAccuracyLimitFact) {
+        _surveyInAccuracyLimitFact = _createSettingsFact(surveyInAccuracyLimitName);
+    }
+
+    return _surveyInAccuracyLimitFact;
+}
+
+Fact* RTKSettings::surveyInMinObservationDuration(void)
+{
+    if (!_surveyInMinObservationDurationFact) {
+        _surveyInMinObservationDurationFact = _createSettingsFact(surveyInMinObservationDurationName);
+    }
+
+    return _surveyInMinObservationDurationFact;
+}

src/Settings/RTKSettings.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "SettingsGroup.h"
+
+class RTKSettings : public SettingsGroup
+{
+    Q_OBJECT
+    
+public:
+    RTKSettings(QObject* parent = NULL);
+
+    Q_PROPERTY(Fact* surveyInAccuracyLimit          READ surveyInAccuracyLimit          CONSTANT)
+    Q_PROPERTY(Fact* surveyInMinObservationDuration READ surveyInMinObservationDuration CONSTANT)
+
+    Fact* surveyInAccuracyLimit         (void);
+    Fact* surveyInMinObservationDuration(void);
+
+    static const char* RTKSettingsGroupName;
+
+    static const char* surveyInAccuracyLimitName;
+    static const char* surveyInMinObservationDurationName;
+
+private:
+    SettingsFact* _surveyInAccuracyLimitFact;
+    SettingsFact* _surveyInMinObservationDurationFact;
+};

src/Settings/SettingsManager.cc

@@ -19,6 +19,7 @@ SettingsManager::SettingsManager(QGCApplication* app, QGCToolbox* toolbox)
     , _autoConnectSettings(NULL)
     , _videoSettings(NULL)
     , _flightMapSettings(NULL)
+    , _rtkSettings(NULL)
 {
 
 }
@@ -34,4 +35,5 @@ void SettingsManager::setToolbox(QGCToolbox *toolbox)
     _autoConnectSettings =  new AutoConnectSettings(this);
     _videoSettings =        new VideoSettings(this);
     _flightMapSettings =    new FlightMapSettings(this);
+    _rtkSettings =          new RTKSettings(this);
 }

src/Settings/SettingsManager.h

@@ -19,6 +19,7 @@
 #include "AutoConnectSettings.h"
 #include "VideoSettings.h"
 #include "FlightMapSettings.h"
+#include "RTKSettings.h"
 
 #include <QVariantList>
 
@@ -35,6 +36,7 @@ public:
     Q_PROPERTY(QObject* autoConnectSettings READ autoConnectSettings    CONSTANT)
     Q_PROPERTY(QObject* videoSettings       READ videoSettings          CONSTANT)
     Q_PROPERTY(QObject* flightMapSettings   READ flightMapSettings      CONSTANT)
+    Q_PROPERTY(QObject* rtkSettings         READ rtkSettings      CONSTANT)
 
     // Override from QGCTool
     virtual void setToolbox(QGCToolbox *toolbox);
@@ -44,6 +46,7 @@ public:
     AutoConnectSettings*    autoConnectSettings (void) { return _autoConnectSettings; }
     VideoSettings*          videoSettings       (void) { return _videoSettings; }
     FlightMapSettings*      flightMapSettings   (void) { return _flightMapSettings; }
+    RTKSettings*            rtkSettings         (void) { return _rtkSettings; }
 
 private:
     AppSettings*            _appSettings;
@@ -51,6 +54,7 @@ private:
     AutoConnectSettings*    _autoConnectSettings;
     VideoSettings*          _videoSettings;
     FlightMapSettings*      _flightMapSettings;
+    RTKSettings*            _rtkSettings;
 };
 
 #endif

src/ui/preferences/GeneralSettings.qml

@@ -389,6 +389,50 @@ QGCView {
                     }
                 }
 
+                //-----------------------------------------------------------------
+                //-- RTK GPS
+                Item {
+                    width:                      _qgcView.width * 0.8
+                    height:                     unitLabel.height
+                    anchors.margins:            ScreenTools.defaultFontPixelWidth
+                    anchors.horizontalCenter:   parent.horizontalCenter
+                    visible:                    QGroundControl.settingsManager.rtkSettings.visible
+                    QGCLabel {
+                        id:             rtkLabel
+                        text:           qsTr("RTK GPS (Requires Restart)")
+                        font.family:    ScreenTools.demiboldFontFamily
+                    }
+                }
+                Rectangle {
+                    height:                     rtkGrid.height + (ScreenTools.defaultFontPixelHeight * 2)
+                    width:                      _qgcView.width * 0.8
+                    color:                      qgcPal.windowShade
+                    anchors.margins:            ScreenTools.defaultFontPixelWidth
+                    anchors.horizontalCenter:   parent.horizontalCenter
+                    visible:                    QGroundControl.settingsManager.rtkSettings.visible
+                    GridLayout {
+                        id:                 rtkGrid
+                        anchors.centerIn:   parent
+                        columns:            2
+                        rowSpacing:         ScreenTools.defaultFontPixelWidth
+                        columnSpacing:      ScreenTools.defaultFontPixelWidth
+
+                        QGCLabel {
+                            text:               qsTr("Survey in accuracy:")
+                        }
+                        FactTextField {
+                            fact:               QGroundControl.settingsManager.rtkSettings.surveyInAccuracyLimit
+                        }
+
+                        QGCLabel {
+                            text:               qsTr("Minumum observation duration:")
+                        }
+                        FactTextField {
+                            fact:               QGroundControl.settingsManager.rtkSettings.surveyInMinObservationDuration
+                        }
+                    }
+                }
+
                 //-----------------------------------------------------------------
                 //-- Autoconnect settings
                 Item {