Add safety component for Sub firmware.

qgroundcontrol.qrc

@@ -149,9 +149,11 @@
         <file alias="APMSafetyComponentCopter.qml">src/AutoPilotPlugins/APM/APMSafetyComponentCopter.qml</file>
         <file alias="APMSafetyComponentPlane.qml">src/AutoPilotPlugins/APM/APMSafetyComponentPlane.qml</file>
         <file alias="APMSafetyComponentRover.qml">src/AutoPilotPlugins/APM/APMSafetyComponentRover.qml</file>
+        <file alias="APMSafetyComponentSub.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml</file>
         <file alias="APMSafetyComponentSummaryCopter.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryCopter.qml</file>
         <file alias="APMSafetyComponentSummaryPlane.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryPlane.qml</file>
         <file alias="APMSafetyComponentSummaryRover.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryRover.qml</file>
+        <file alias="APMSafetyComponentSummarySub.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml</file>
         <file alias="APMTuningComponentCopter.qml">src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml</file>
         <file alias="CameraComponent.qml">src/AutoPilotPlugins/PX4/CameraComponent.qml</file>
         <file alias="CameraComponentSummary.qml">src/AutoPilotPlugins/PX4/CameraComponentSummary.qml</file>

src/AutoPilotPlugins/APM/APMSafetyComponent.cc

@@ -69,6 +69,9 @@ QUrl APMSafetyComponent::setupSource(void) const
         case MAV_TYPE_TRICOPTER:
             qmlFile = QStringLiteral("qrc:/qml/APMSafetyComponentCopter.qml");
             break;
+        case MAV_TYPE_SUBMARINE:
+            qmlFile = QStringLiteral("qrc:/qml/APMSafetyComponentSub.qml");
+            break;
         case MAV_TYPE_GROUND_ROVER:
             qmlFile = QStringLiteral("qrc:/qml/APMSafetyComponentRover.qml");
             break;
@@ -96,6 +99,9 @@ QUrl APMSafetyComponent::summaryQmlSource(void) const
         case MAV_TYPE_TRICOPTER:
             qmlFile = QStringLiteral("qrc:/qml/APMSafetyComponentSummaryCopter.qml");
             break;
+        case MAV_TYPE_SUBMARINE:
+            qmlFile = QStringLiteral("qrc:/qml/APMSafetyComponentSummarySub.qml");
+            break;
         case MAV_TYPE_GROUND_ROVER:
             qmlFile = QStringLiteral("qrc:/qml/APMSafetyComponentSummaryRover.qml");
             break;

src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml

+import QtQuick 2.2
+import QtQuick.Controls 1.2
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Palette 1.0
+
+FactPanel {
+    id:             panel
+    anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+    FactPanelController { id: controller; factPanel: panel }
+
+    property Fact _failsafeBattEnable:  controller.getParameterFact(-1, "FS_BATT_ENABLE")
+    property Fact _failsafeThrEnable:   controller.getParameterFact(-1, "FS_THR_ENABLE")
+
+    property Fact _fenceAction: controller.getParameterFact(-1, "FENCE_ACTION")
+    property Fact _fenceEnable: controller.getParameterFact(-1, "FENCE_ENABLE")
+    property Fact _fenceType:   controller.getParameterFact(-1, "FENCE_TYPE")
+
+    property Fact _leakPin:            controller.getParameterFact(-1, "WD_1_PIN")
+
+    property Fact _armingCheck: controller.getParameterFact(-1, "ARMING_CHECK")
+
+    property string _failsafeBattEnableText
+    property string _failsafeThrEnableText
+
+    Component.onCompleted: {
+        setFailsafeBattEnableText()
+        setFailsafeThrEnableText()
+    }
+
+    Connections {
+        target: _failsafeBattEnable
+
+        onValueChanged: setFailsafeBattEnableText()
+    }
+
+    Connections {
+        target: _failsafeThrEnable
+
+        onValueChanged: setFailsafeThrEnableText()
+    }
+
+    function setFailsafeThrEnableText() {
+        switch (_failsafeThrEnable.value) {
+        case 0:
+            _failsafeThrEnableText = qsTr("Disabled")
+            break
+        case 1:
+            _failsafeThrEnableText = qsTr("Always RTL")
+            break
+        case 2:
+            _failsafeThrEnableText = qsTr("Continue with Mission in Auto Mode")
+            break
+        case 3:
+            _failsafeThrEnableText = qsTr("Always Land")
+            break
+        default:
+            _failsafeThrEnableText = qsTr("Unknown")
+        }
+    }
+
+    function setFailsafeBattEnableText() {
+        switch (_failsafeBattEnable.value) {
+        case 0:
+            _failsafeBattEnableText = qsTr("Disabled")
+            break
+        case 1:
+            _failsafeBattEnableText = qsTr("Land")
+            break
+        case 2:
+            _failsafeBattEnableText = qsTr("Return to Launch")
+            break
+        default:
+            _failsafeThrEnableText = qsTr("Unknown")
+        }
+    }
+
+    Column {
+        anchors.fill:       parent
+
+        VehicleSummaryRow {
+            labelText: qsTr("Arming Checks:")
+            valueText:  _armingCheck.value & 1 ? qsTr("Enabled") : qsTr("Some disabled")
+        }
+
+        VehicleSummaryRow {
+            labelText: qsTr("Throttle failsafe:")
+            valueText:  _failsafeThrEnableText
+        }
+
+        VehicleSummaryRow {
+            labelText: qsTr("Battery failsafe:")
+            valueText:  _failsafeBattEnableText
+        }
+
+        VehicleSummaryRow {
+            labelText: qsTr("Leak Detector:")
+            valueText: _leakPin.value > 0 ? qsTr("Enabled") : qsTr("Disabled")
+        }
+
+        VehicleSummaryRow {
+            labelText: qsTr("GeoFence:")
+            valueText: _fenceEnable.value == 0 || _fenceType == 0 ?
+                           qsTr("Disabled") :
+                           (_fenceType.value == 1 ?
+                                qsTr("Altitude") :
+                                (_fenceType.value == 2 ? qsTr("Circle") : qsTr("Altitude,Circle")))
+        }
+
+        VehicleSummaryRow {
+            labelText: qsTr("GeoFence:")
+            valueText: _fenceAction.value == 0 ?
+                           qsTr("Report only") :
+                           (_fenceAction.value == 1 ? qsTr("RTL or Land") : qsTr("Unknown"))
+            visible:    _fenceEnable.value != 0
+        }
+    }
+}