Merge pull request #6801 from DonLakeFlyer/StableMasterMerge

Bring master up to date with Stable 3.4

deploy/qgroundcontrol_installer.nsi

@@ -2,6 +2,7 @@
 !include LogicLib.nsh
 !include Win\COM.nsh
 !include Win\Propkey.nsh
+!include "FileFunc.nsh"
 
 !macro DemoteShortCut target
     !insertmacro ComHlpr_CreateInProcInstance ${CLSID_ShellLink} ${IID_IShellLink} r0 ""
@@ -61,7 +62,7 @@ Section
   ReadRegStr $R0 HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${APPNAME}" "UninstallString"
   StrCmp $R0 "" doinstall
 
-  ExecWait "$R0 /S _?=$INSTDIR"
+  ExecWait "$R0 /S _?=$INSTDIR -LEAVE_DATA=1"
   IntCmp $0 0 doinstall
 
   MessageBox MB_OK|MB_ICONEXCLAMATION \
@@ -104,12 +105,16 @@ done:
 SectionEnd 
 
 Section "Uninstall"
+  ${GetParameters} $R0
+  ${GetOptions} $R0 "-LEAVE_DATA=" $R1
   !insertmacro MUI_STARTMENU_GETFOLDER Application $StartMenuFolder
   SetShellVarContext all
   RMDir /r /REBOOTOK $INSTDIR
   RMDir /r /REBOOTOK "$SMPROGRAMS\$StartMenuFolder\"
   SetShellVarContext current
-  RMDir /r /REBOOTOK "$APPDATA\${ORGNAME}\"
+  ${If} $R1 != 1
+    RMDir /r /REBOOTOK "$APPDATA\${ORGNAME}\"
+  ${Endif}
   DeleteRegKey HKLM "SOFTWARE\Microsoft\Windows\CurrentVersion\Uninstall\${APPNAME}"
   DeleteRegKey HKLM "SOFTWARE\Microsoft\Windows\Windows Error Reporting\LocalDumps\${EXENAME}.exe"
 SectionEnd

src/AutoPilotPlugins/PX4/SensorsSetup.qml

@@ -132,10 +132,8 @@ Item {
         onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText
 
         onMagCalComplete: {
-            //if (!_sensorsHaveFixedOrientation && (showCompass0Rot || showCompass1Rot || showCompass2Rot)) {
-                setOrientationsDialogShowBoardOrientation = false
-                showDialog(setOrientationsDialogComponent, qsTr("Compass Calibration Complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok)
-            //}
+            setOrientationsDialogShowBoardOrientation = false
+            showDialog(setOrientationsDialogComponent, qsTr("Compass Calibration Complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok)
         }
 
         onWaitingForCancelChanged: {
@@ -255,7 +253,9 @@ Item {
                     QGCLabel {
                         width:      parent.width
                         wrapMode:   Text.WordWrap
-                        text:       qsTr("Set your compass orientations below and the make sure to reboot the vehicle prior to flight.")
+                        text:       _sensorsHaveFixedOrientation ?
+                                        qsTr("Make sure to reboot the vehicle prior to flight.") :
+                                        qsTr("Set your compass orientations below and the make sure to reboot the vehicle prior to flight.")
                     }
 
                     QGCButton {
@@ -270,6 +270,7 @@ Item {
                         width:      parent.width
                         wrapMode:   Text.WordWrap
                         text:       boardRotationText
+                        visible:    !_sensorsHaveFixedOrientation
                     }
 
                     Column {
@@ -287,8 +288,10 @@ Item {
                         }
                     }
 
+                    // Compass 0 rotation
                     Column {
-                        // Compass 0 rotation
+                        visible: !_sensorsHaveFixedOrientation
+
                         Component {
                             id: compass0ComponentLabel2
 
@@ -312,8 +315,10 @@ Item {
                         Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo2 : null }
                     }
 
+                    // Compass 1 rotation
                     Column {
-                        // Compass 1 rotation
+                        visible: !_sensorsHaveFixedOrientation
+
                         Component {
                             id: compass1ComponentLabel2
 
@@ -337,10 +342,11 @@ Item {
                         Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo2 : null }
                     }
 
+                    // Compass 2 rotation
                     Column {
+                        visible: !_sensorsHaveFixedOrientation
                         spacing: ScreenTools.defaultFontPixelWidth
 
-                        // Compass 2 rotation
                         Component {
                             id: compass2ComponentLabel2
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -285,7 +285,7 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
 
     list << MAV_CMD_NAV_WAYPOINT
          << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TIME << MAV_CMD_NAV_LOITER_TO_ALT
-         << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF
+         << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF << MAV_CMD_NAV_RETURN_TO_LAUNCH
          << MAV_CMD_DO_JUMP
          << MAV_CMD_DO_VTOL_TRANSITION << MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND
          << MAV_CMD_DO_DIGICAM_CONTROL

src/MissionManager/MissionController.cc

@@ -349,13 +349,12 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
     newItem->setCoordinate(coordinate);
     newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
     _initVisualItem(newItem);
-    if (_visualItems->count() == 1) {
+    if (_visualItems->count() == 1 && (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() || _controllerVehicle->multiRotor())) {
         MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF;
         if (_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains((MAV_CMD)takeoffCmd)) {
             newItem->setCommand(takeoffCmd);
         }
     }
-    newItem->setDefaultsForCommand();
     if (newItem->specifiesAltitude()) {
         double  prevAltitude;
         int     prevAltitudeMode;
@@ -382,7 +381,6 @@ int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i)
         MAV_CMD_DO_SET_ROI_LOCATION :
         MAV_CMD_DO_SET_ROI));
     _initVisualItem(newItem);
-    newItem->setDefaultsForCommand();
     newItem->setCoordinate(coordinate);
 
     double  prevAltitude;

src/MissionManager/SimpleMissionItem.cc

@@ -78,7 +78,7 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool flyView, QObject* pa
     _connectSignals();
     _updateOptionalSections();
 
-    setDefaultsForCommand();
+    _setDefaultsForCommand();
     _rebuildFacts();
 
     setDirty(false);
@@ -213,7 +213,7 @@ void SimpleMissionItem::_connectSignals(void)
     connect(&_missionItem._frameFact,           &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
 
     // A command change triggers a number of other changes as well.
-    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::setDefaultsForCommand);
+    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::_setDefaultsForCommand);
     connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::commandNameChanged);
     connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::commandDescriptionChanged);
     connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::abbreviationChanged);
@@ -729,15 +729,32 @@ bool SimpleMissionItem::readyForSave(void) const
     return !specifiesAltitude() || !qIsNaN(_missionItem._param7Fact.rawValue().toDouble());
 }
 
-void SimpleMissionItem::setDefaultsForCommand(void)
+void SimpleMissionItem::_setDefaultsForCommand(void)
 {
-    // We set these global defaults first, then if there are param defaults they will get reset
+    // First reset params 1-4 to 0, we leave 5-7 alone to preserve any previous location information on command change
+    _missionItem._param1Fact.setRawValue(0);
+    _missionItem._param2Fact.setRawValue(0);
+    _missionItem._param3Fact.setRawValue(0);
+    _missionItem._param4Fact.setRawValue(0);
+
+    if (!specifiesCoordinate() && !isStandaloneCoordinate()) {
+        // No need to carry across previous lat/lon
+        _missionItem._param5Fact.setRawValue(0);
+        _missionItem._param6Fact.setRawValue(0);
+    }
+
+    // Set global defaults first, then if there are param defaults they will get reset
     _altitudeMode = AltitudeRelative;
     emit altitudeModeChanged();
-    double defaultAlt = qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble();
-    _altitudeFact.setRawValue(defaultAlt);
-    _missionItem._param7Fact.setRawValue(defaultAlt);
     _amslAltAboveTerrainFact.setRawValue(qQNaN());
+    if (specifiesCoordinate() || isStandaloneCoordinate() || specifiesAltitudeOnly()) {
+        double defaultAlt = qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble();
+        _altitudeFact.setRawValue(defaultAlt);
+        _missionItem._param7Fact.setRawValue(defaultAlt);
+    } else {
+        _altitudeFact.setRawValue(0);
+        _missionItem._param7Fact.setRawValue(0);
+    }
 
     MAV_CMD command = (MAV_CMD)this->command();
     const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_vehicle, command);

src/MissionManager/SimpleMissionItem.h

@@ -134,9 +134,6 @@ public:
     int  lastSequenceNumber (void) const final;
     void save               (QJsonArray&  missionItems) final;
 
-public slots:
-    void setDefaultsForCommand(void);
-
 signals:
     void commandChanged             (int command);
     void friendlyEditAllowedChanged (bool friendlyEditAllowed);
@@ -160,6 +157,7 @@ private slots:
     void _rebuildFacts                      (void);
     void _rebuildTextFieldFacts             (void);
     void _possibleAdditionalTimeDelayChanged(void);
+    void _setDefaultsForCommand              (void);
 
 private:
     void _connectSignals        (void);

src/MissionManager/TransectStyleComplexItem.cc

@@ -385,11 +385,6 @@ void TransectStyleComplexItem::_rebuildTransects(void)
 void TransectStyleComplexItem::_queryTransectsPathHeightInfo(void)
 {
     _transectsPathHeightInfo.clear();
-    if (_terrainPolyPathQuery) {
-        // Toss previous query
-        _terrainPolyPathQuery->deleteLater();
-        _terrainPolyPathQuery = NULL;
-    }
 
     if (_transects.count()) {
         // We don't actually send the query until this timer times out. This way we only send
@@ -400,6 +395,20 @@ void TransectStyleComplexItem::_queryTransectsPathHeightInfo(void)
 
 void TransectStyleComplexItem::_reallyQueryTransectsPathHeightInfo(void)
 {
+    // Clear any previous query
+    if (_terrainPolyPathQuery) {
+        // FIXME: We should really be blowing away any previous query here. But internally that is difficult to implement so instead we let
+        // it complete and drop the results.
+#if 0
+        // Toss previous query
+        _terrainPolyPathQuery->deleteLater();
+#else
+        // Let the signal fall on the floor
+        disconnect(_terrainPolyPathQuery, &TerrainPolyPathQuery::terrainDataReceived, this, &TransectStyleComplexItem::_polyPathTerrainData);
+#endif
+        _terrainPolyPathQuery = NULL;
+    }
+
     // Append all transects into a single PolyPath query
 
     QList<QGeoCoordinate> transectPoints;
@@ -436,6 +445,12 @@ void TransectStyleComplexItem::_polyPathTerrainData(bool success, const QList<Te
         // Now that we have terrain data we can adjust
         _adjustTransectsForTerrain();
     }
+
+    if (_terrainPolyPathQuery != sender()) {
+        qWarning() << "TransectStyleComplexItem::_polyPathTerrainData _terrainPolyPathQuery != sender()";
+    }
+    disconnect(_terrainPolyPathQuery, &TerrainPolyPathQuery::terrainDataReceived, this, &TransectStyleComplexItem::_polyPathTerrainData);
+    _terrainPolyPathQuery = NULL;
 }
 
 bool TransectStyleComplexItem::readyForSave(void) const

src/MissionManager/TransectStyleComplexItem.h

@@ -54,8 +54,8 @@ public:
     Fact* hoverAndCapture               (void) { return &_hoverAndCaptureFact; }
     Fact* refly90Degrees                (void) { return &_refly90DegreesFact; }
     Fact* terrainAdjustTolerance        (void) { return &_terrainAdjustToleranceFact; }
-    Fact* terrainAdjustMaxDescentRate   (void) { return &_terrainAdjustMaxClimbRateFact; }
-    Fact* terrainAdjustMaxClimbRate     (void) { return &_terrainAdjustMaxDescentRateFact; }
+    Fact* terrainAdjustMaxDescentRate   (void) { return &_terrainAdjustMaxDescentRateFact; }
+    Fact* terrainAdjustMaxClimbRate     (void) { return &_terrainAdjustMaxClimbRateFact; }
 
     const Fact* hoverAndCapture         (void) const { return &_hoverAndCaptureFact; }
 

src/PlanView/MissionSettingsEditor.qml

@@ -36,8 +36,9 @@ Rectangle {
     property var    _fileExtension:                 QGroundControl.settingsManager.appSettings.missionFileExtension
     property var    _appSettings:                   QGroundControl.settingsManager.appSettings
     property bool   _waypointsOnlyMode:             QGroundControl.corePlugin.options.missionWaypointsOnly
-    property bool   _showCameraSection:             !_waypointsOnlyMode || QGroundControl.corePlugin.showAdvancedUI
+    property bool   _showCameraSection:             (!_waypointsOnlyMode || QGroundControl.corePlugin.showAdvancedUI) && !_missionVehicle.apmFirmware
     property bool   _simpleMissionStart:            QGroundControl.corePlugin.options.showSimpleMissionStart
+    property bool   _showFlightSpeed:               !_missionVehicle.vtol && !_simpleMissionStart && !_missionVehicle.apmFirmware
 
     readonly property string _firmwareLabel:    qsTr("Firmware")
     readonly property string _vehicleLabel:     qsTr("Vehicle")
@@ -72,14 +73,14 @@ Rectangle {
             QGCCheckBox {
                 id:         flightSpeedCheckBox
                 text:       qsTr("Flight speed")
-                visible:    !_missionVehicle.vtol && !_simpleMissionStart
+                visible:    _showFlightSpeed
                 checked:    missionItem.speedSection.specifyFlightSpeed
                 onClicked:   missionItem.speedSection.specifyFlightSpeed = checked
             }
             FactTextField {
                 Layout.fillWidth:   true
                 fact:               missionItem.speedSection.flightSpeed
-                visible:            flightSpeedCheckBox.visible
+                visible:            _showFlightSpeed
                 enabled:            flightSpeedCheckBox.checked
             }
         }

src/Terrain/TerrainQuery.cc

@@ -416,7 +416,7 @@ bool TerrainTileManager::_getAltitudesForCoordinates(const QList<QGeoCoordinate>
                     error = true;
                     qCWarning(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates Internal Error: negative elevation in tile cache";
                 } else {
-                    qCWarning(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates returning elevation from tile cache" << elevation;
+                    qCDebug(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates returning elevation from tile cache" << elevation;
                 }
                 altitudes.push_back(elevation);
             } else {