Speech changes, plus clearTrajectory

src/Vehicle/Vehicle.cc

@@ -141,6 +141,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     connect(this, &Vehicle::_sendMessageOnThread,       this, &Vehicle::_sendMessage, Qt::QueuedConnection);
     connect(this, &Vehicle::_sendMessageOnLinkOnThread, this, &Vehicle::_sendMessageOnLink, Qt::QueuedConnection);
     connect(this, &Vehicle::flightModeChanged,          this, &Vehicle::_announceflightModeChanged);
+    connect(this, &Vehicle::armedChanged,               this, &Vehicle::_announceArmedChanged);
 
     _uas = new UAS(_mavlink, this, _firmwarePluginManager);
 
@@ -224,6 +225,9 @@ Vehicle::Vehicle(LinkInterface*             link,
     _batteryFactGroup.setVehicle(this);
     _windFactGroup.setVehicle(this);
     _vibrationFactGroup.setVehicle(this);
+
+    _announceArmedChanged(armed());
+    _announceflightModeChanged(flightMode());
 }
 
 // Disconnected Vehicle
@@ -467,7 +471,7 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
     if (sysStatus.battery_remaining > 0 && sysStatus.battery_remaining < _batteryFactGroup.percentRemainingAnnounce()->rawValue().toInt()) {
         if (!_lowBatteryAnnounceTimer.isValid() || _lowBatteryAnnounceTimer.elapsed() > _lowBatteryAnnounceRepeatMSecs) {
             _lowBatteryAnnounceTimer.restart();
-            _say(QString("Low battery on %1: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
+            _say(QString("%1 low battery: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
         }
     }
 }
@@ -1288,7 +1292,7 @@ void Vehicle::_connectionLostTimeout(void)
         _connectionLost = true;
         _heardFrom = false;
         emit connectionLostChanged(true);
-        _say(QString("communication lost to %1").arg(_vehicleIdSpeech()));
+        _say(QString("%1 communication lost").arg(_vehicleIdSpeech()));
         if (_autoDisconnect) {
             disconnectInactiveVehicle();
         }
@@ -1301,7 +1305,7 @@ void Vehicle::_connectionActive(void)
     if (_connectionLost) {
         _connectionLost = false;
         emit connectionLostChanged(false);
-        _say(QString("communication regained to %1").arg(_vehicleIdSpeech()));
+        _say(QString("% 1 communication regained").arg(_vehicleIdSpeech()));
     }
 }
 
@@ -1344,15 +1348,26 @@ QString Vehicle::_vehicleIdSpeech(void)
     if (qgcApp()->toolbox()->multiVehicleManager()->vehicles()->count() > 1) {
         return QString("vehicle %1").arg(id());
     } else {
-        return QStringLiteral("vehicle");
+        return QString();
     }
 }
 
 void Vehicle::_announceflightModeChanged(const QString& flightMode)
 {
-    _say(QString("%1 is now in %2 flight mode").arg(_vehicleIdSpeech()).arg(flightMode));
+    _say(QString("%1 %2 flight mode").arg(_vehicleIdSpeech()).arg(flightMode));
+}
+
+void Vehicle::_announceArmedChanged(bool armed)
+{
+    _say(QString("%1 %2").arg(_vehicleIdSpeech()).arg(armed ? QStringLiteral("armed") : QStringLiteral("disarmed")));
 }
 
+void Vehicle::clearTrajectoryPoints(void)
+{
+    _mapTrajectoryList.clearAndDeleteContents();
+}
+
+
 const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
 const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
 const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGround";

src/Vehicle/Vehicle.h

@@ -318,6 +318,8 @@ public:
     Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust);
     Q_INVOKABLE void disconnectInactiveVehicle(void);
 
+    Q_INVOKABLE void clearTrajectoryPoints(void);
+
     // Property accessors
 
     QGeoCoordinate coordinate(void) { return _coordinate; }
@@ -524,6 +526,7 @@ private slots:
     void _parametersReady(bool parametersReady);
     void _remoteControlRSSIChanged(uint8_t rssi);
     void _announceflightModeChanged(const QString& flightMode);
+    void _announceArmedChanged(bool armed);
 
     void _handleTextMessage                 (int newCount);
     void _handletextMessageReceived         (UASMessage* message);