Merge pull request #2370 from DonLakeFlyer/AltDisplay

Mission: Switch back to item #, plus alt display

qgroundcontrol.qrc

@@ -50,6 +50,7 @@
         <file alias="QGroundControl/Controls/MainToolBarIndicators.qml">src/ui/toolbar/MainToolBarIndicators.qml</file>
         <file alias="QGroundControl/Controls/MissionItemEditor.qml">src/QmlControls/MissionItemEditor.qml</file>
         <file alias="QGroundControl/Controls/MissionItemIndexLabel.qml">src/QmlControls/MissionItemIndexLabel.qml</file>
+        <file alias="QGroundControl/Controls/MissionItemStatus.qml">src/MissionEditor/MissionItemStatus.qml</file>
         <file alias="QGroundControl/Controls/MissionCommandDialog.qml">src/QmlControls/MissionCommandDialog.qml</file>
         <file alias="QGroundControl/Controls/ModeSwitchDisplay.qml">src/QmlControls/ModeSwitchDisplay.qml</file>
         <file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>

src/FlightMap/MapItems/MissionItemIndicator.qml

@@ -39,30 +39,11 @@ MapQuickItem {
     anchorPoint.x:  sourceItem.width  / 2
     anchorPoint.y:  sourceItem.height / 2
 
-    Connections {
-        target: missionItem
-
-        onCoordinateChanged:        recalcLabel()
-        onRelativeAltitudeChanged:  recalcLabel()
-    }
-
-    Component.onCompleted: recalcLabel()
-
-    function recalcLabel() {
-        var label = Math.round(object.coordinate.altitude)
-        if (!object.relativeAltitude) {
-            label = "=" + label
-        }
-        if (object.homePosition) {
-            label = "H" + label
-        }
-        _label.label = label
-    }
-
     sourceItem:
         MissionItemIndexLabel {
             id:             _label
             isCurrentItem:  missionItem.isCurrentItem
+            label:          missionItem.sequenceNumber
             onClicked:      _item.clicked()
         }
 }

src/FlightMap/MapItems/MissionItemView.qml

@@ -70,9 +70,6 @@ MapItemView {
             }
         }
 
-        /*
-          Turned off for now
-
         // These are the non-coordinate child mission items attached to this item
         Row {
             anchors.top:    parent.top
@@ -90,6 +87,5 @@ MapItemView {
                 }
             }
         }
-        */
     }
 }

src/MissionEditor/MissionEditor.qml

@@ -285,9 +285,6 @@ QGCView {
                             onCommandChanged:       updateItemIndicator()
                         }
 
-                        /*
-                          Disabled for now: Not sure if they will come back
-
                         // These are the non-coordinate child mission items attached to this item
                         Row {
                             anchors.top:    parent.top
@@ -305,7 +302,6 @@ QGCView {
                                 }
                             }
                         }
-                        */
                     }
                 }
 
@@ -424,16 +420,6 @@ QGCView {
                         }
                     }
 
-                    /*
-                      Home Position manager temporarily disable
-                    RoundButton {
-                        id:                 homePositionManagerButton
-                        buttonImage:        "/qmlimages/MapHome.svg"
-                        //exclusiveGroup:     _dropButtonsExclusiveGroup
-                        z:                  QGroundControl.zOrderWidgets
-                    }
-                    */
-
                     DropButton {
                         id:                 syncButton
                         dropDirection:      dropRight
@@ -558,48 +544,16 @@ QGCView {
                     }
                 }
 
-                Rectangle {
+                MissionItemStatus {
                     id:                 waypointValuesDisplay
-                    anchors.margins:    margins
+                    anchors.margins:    ScreenTools.defaultFontPixelWidth
                     anchors.left:       parent.left
                     anchors.bottom:     parent.bottom
-                    width:              distanceLabel.width + (margins * 2)
-                    height:             valuesColumn.height + (margins * 2)
-                    radius:             ScreenTools.defaultFontPixelWidth
-                    color:              qgcPal.window
-                    opacity:            0.80
-                    visible:            _currentMissionItem ? _currentMissionItem.distance != -1 : false
-
-                    readonly property real margins: ScreenTools.defaultFontPixelWidth
-
-                    property real _altDifference:   _currentMissionItem ? _currentMissionItem.altDifference : 0
-                    property real _azimuth:         _currentMissionItem ? _currentMissionItem.azimuth : 0
-                    property real _distance:        _currentMissionItem ? _currentMissionItem.distance : 0
-
-                    Column {
-                        id:                 valuesColumn
-                        anchors.leftMargin: parent.margins
-                        anchors.topMargin:  parent.margins
-                        anchors.left:       parent.left
-                        anchors.top:        parent.top
-
-                        QGCLabel {
-                            id:     distanceLabel
-                            color:  qgcPal.text
-                            text:   "Distance: " + Math.round(waypointValuesDisplay._distance) + " meters"
-                        }
-
-                        QGCLabel {
-                            color:  qgcPal.text
-                            text:   "Alt diff: " + Math.round(waypointValuesDisplay._altDifference) + " meters"
-                        }
-
-                        QGCLabel {
-                            color:  qgcPal.text
-                            text:   "Azimuth: " + Math.round(waypointValuesDisplay._azimuth)
-                        }
-
-                    }
+                    z:                  QGroundControl.zOrderTopMost
+                    currentMissionItem: _currentMissionItem
+                    missionItems:       controller.missionItems
+                    expandedWidth:      missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2)
+                    homePositionValid: liveHomePositionAvailable
                 }
             } // FlightMap
         } // Item - split view container

src/MissionEditor/MissionItemStatus.qml

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+import QtQuick          2.5
+import QtQuick.Controls 1.3
+
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Palette       1.0
+
+Rectangle {
+    property var    currentMissionItem          ///< Mission item to display status for
+    property var    missionItems                ///< List of all available mission items
+    property real   expandedWidth               ///< Width of control when expanded
+    property bool   homePositionValid:  false   /// true: home position in missionItems[0] is valid
+
+    width:      _expanded ? expandedWidth : _collapsedWidth
+    height:     expandLabel.y + expandLabel.height + _margins
+    radius:     ScreenTools.defaultFontPixelWidth
+    color:      qgcPal.window
+    opacity:    0.80
+    clip:       true
+
+    readonly property real margins: ScreenTools.defaultFontPixelWidth
+
+    property real   _collapsedWidth:    distanceLabel.width + (margins * 2)
+    property bool   _expanded:          true
+    property real   _distance:          _currentMissionItem ? _currentMissionItem.distance : -1
+    property real   _altDifference:     _currentMissionItem ? _currentMissionItem.altDifference : -1
+    property real   _azimuth:           _currentMissionItem ? _currentMissionItem.azimuth : -1
+    property real   _isHomePosition:    _currentMissionItem ? _currentMissionItem.homePosition : false
+    property bool   _statusValid:       _distance != -1 && ((_isHomePosition && homePositionValid) || !_isHomePosition)
+    property string _distanceText:      _statusValid ? Math.round(_distance) + " meters" : ""
+    property string _altText:           _statusValid ? Math.round(_altDifference) + " meters" : ""
+    property string _azimuthText:       _statusValid ? Math.round(_azimuth) : ""
+
+    readonly property real _margins:    ScreenTools.defaultFontPixelWidth
+
+    MouseArea {
+        anchors.fill:   parent
+        onClicked:      _expanded = !_expanded
+    }
+
+    QGCLabel {
+        id:                 distanceLabel
+        anchors.margins:    _margins
+        anchors.left:       parent.left
+        anchors.top:        parent.top
+        text:               "Distance: " + _distanceText
+    }
+
+    QGCLabel {
+        id:                 altLabel
+        anchors.left:       distanceLabel.left
+        anchors.top:        distanceLabel.bottom
+        text:               "Alt diff: " + _altText
+    }
+
+    QGCLabel {
+        id:                 azimuthLabel
+        anchors.left:       altLabel.left
+        anchors.top:        altLabel.bottom
+        text:               "Azimuth: " + _azimuthText
+    }
+
+    QGCLabel {
+        id:                 expandLabel
+        anchors.left:       azimuthLabel.left
+        anchors.top:        azimuthLabel.bottom
+        text:               _expanded ? "<<" : ">>"
+    }
+
+    Flickable {
+        anchors.leftMargin:     _margins
+        anchors.rightMargin:    _margins
+        anchors.left:           distanceLabel.right
+        anchors.right:          parent.right
+        anchors.top:            parent.top
+        anchors.bottom:         parent.bottom
+
+        Row {
+            id:             graphRow
+            anchors.top:    parent.top
+            anchors.bottom: parent.bottom
+            spacing:        ScreenTools.smallFontPixelWidth
+
+            Repeater {
+                model: missionItems
+
+                Item {
+                    height: graphRow.height
+                    width:  ScreenTools.smallFontPixelWidth * 2
+
+                    property real availableHeight: height - ScreenTools.smallFontPixelHeight - indicator.height
+
+                    // If home position is not valid we are graphing relative based on a home alt of 0. Because of this
+                    // we cannot graph absolute altitudes since we have no basis for comparison against the relative values.
+                    property bool graphAbsolute:    homePositionValid
+
+                    MissionItemIndexLabel {
+                        id:                         indicator
+                        anchors.horizontalCenter:   parent.horizontalCenter
+                        y:                          availableHeight - (availableHeight * object.altPercent)
+                        small:                      true
+                        isCurrentItem:              object.isCurrentItem
+                        label:                      object.homePosition ? "H" : object.sequenceNumber
+                        visible:                    object.relativeAltitude ? true : (object.homePosition || graphAbsolute)
+                    }
+
+                    QGCLabel {
+                        anchors.bottom:             parent.bottom
+                        anchors.horizontalCenter:   parent.horizontalCenter
+                        font.pixelSize:             ScreenTools.smallFontPixelSize
+                        text:                       (object.relativeAltitude ? "" : "=") + object.coordinate.altitude
+                    }
+                }
+
+            }
+        }
+    }
+}

src/MissionManager/MissionController.cc

@@ -341,9 +341,15 @@ void MissionController::_recalcWaypointLines(void)
     // both relative altitude.
 
     // No values for first item
+    lastCoordinateItem->setAltDifference(0.0);
     lastCoordinateItem->setAzimuth(0.0);
     lastCoordinateItem->setDistance(-1.0);
 
+    double minAltSeen = 0.0;
+    double maxAltSeen = 0.0;
+    double homePositionAltitude = homeItem->coordinate().altitude();
+    minAltSeen = maxAltSeen = homeItem->coordinate().altitude();
+
     _waypointLines.clear();
 
     for (int i=1; i<_missionItems->count(); i++) {
@@ -353,35 +359,62 @@ void MissionController::_recalcWaypointLines(void)
         item->setAzimuth(0.0);
         item->setDistance(-1.0);
 
-        if (item->specifiesCoordinate() && !item->standaloneCoordinate()) {
-            if (firstCoordinateItem) {
-                if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
-                    // The first coordinate we hit is a takeoff command so link back to home position if valid
-                    if (homePositionValid) {
-                        double azimuth, distance, altDifference;
-
-                        _waypointLines.append(new CoordinateVector(homeItem->coordinate(), item->coordinate()));
-                        _calcPrevWaypointValues(homePositionValid, homeAlt, item, homeItem, &azimuth, &distance, &altDifference);
-                        item->setAltDifference(altDifference);
-                        item->setAzimuth(azimuth);
-                        item->setDistance(distance);
+        if (item->specifiesCoordinate()) {
+            double absoluteAltitude = item->coordinate().altitude();
+            if (item->relativeAltitude() && homePositionValid) {
+                absoluteAltitude += homePositionAltitude;
+            }
+            minAltSeen = std::min(minAltSeen, absoluteAltitude);
+            maxAltSeen = std::max(maxAltSeen, absoluteAltitude);
+
+            if (!item->standaloneCoordinate()) {
+                if (firstCoordinateItem) {
+                    if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
+                        // The first coordinate we hit is a takeoff command so link back to home position if valid
+                        if (homePositionValid) {
+                            double azimuth, distance, altDifference;
+
+                            _waypointLines.append(new CoordinateVector(homeItem->coordinate(), item->coordinate()));
+                            _calcPrevWaypointValues(homePositionValid, homeAlt, item, homeItem, &azimuth, &distance, &altDifference);
+                            item->setAltDifference(altDifference);
+                            item->setAzimuth(azimuth);
+                            item->setDistance(distance);
+                        }
+                    } else {
+                        // First coordiante is not a takeoff command, it does not link backwards to anything
                     }
-                } else {
-                    // First coordiante is not a takeoff command, it does not link backwards to anything
+                    firstCoordinateItem = false;
+                } else if (!lastCoordinateItem->homePosition() || lastCoordinateItem->homePositionValid()) {
+                    double azimuth, distance, altDifference;
+
+                    // Subsequent coordinate items link to last coordinate item. If the last coordinate item
+                    // is an invalid home position we skip the line
+                    _calcPrevWaypointValues(homePositionValid, homeAlt, item, lastCoordinateItem, &azimuth, &distance, &altDifference);
+                    item->setAltDifference(altDifference);
+                    item->setAzimuth(azimuth);
+                    item->setDistance(distance);
+                    _waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));
                 }
-                firstCoordinateItem = false;
-            } else if (!lastCoordinateItem->homePosition() || lastCoordinateItem->homePositionValid()) {
-                double azimuth, distance, altDifference;
-
-                // Subsequent coordinate items link to last coordinate item. If the last coordinate item
-                // is an invalid home position we skip the line
-                _calcPrevWaypointValues(homePositionValid, homeAlt, item, lastCoordinateItem, &azimuth, &distance, &altDifference);
-                item->setAltDifference(altDifference);
-                item->setAzimuth(azimuth);
-                item->setDistance(distance);
-                _waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));
+                lastCoordinateItem = item;
+            }
+        }
+    }
+
+    // Walk the list again calculating altitude percentages
+    double altRange = maxAltSeen - minAltSeen;
+    for (int i=0; i<_missionItems->count(); i++) {
+        MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+
+        if (item->specifiesCoordinate()) {
+            double absoluteAltitude = item->coordinate().altitude();
+            if (item->relativeAltitude() && homePositionValid) {
+                absoluteAltitude += homePositionAltitude;
+            }
+            if (altRange == 0.0) {
+                item->setAltPercent(0.0);
+            } else {
+                item->setAltPercent((absoluteAltitude - minAltSeen) / altRange);
             }
-            lastCoordinateItem = item;
         }
     }
 
@@ -448,6 +481,11 @@ void MissionController::_initAllMissionItems(void)
     }
     homeItem->setCommand(MAV_CMD_NAV_WAYPOINT);
     homeItem->setFrame(MAV_FRAME_GLOBAL);
+    if (!homeItem->homePositionValid()) {
+        QGeoCoordinate homeCoord = homeItem->coordinate();
+        homeCoord.setAltitude(0.0);
+        homeItem->setCoordinate(homeCoord);
+    }
 
     for (int i=0; i<_missionItems->count(); i++) {
         _initMissionItem(qobject_cast<MissionItem*>(_missionItems->get(i)));

src/MissionManager/MissionItem.cc

@@ -81,6 +81,8 @@ MissionItem::MissionItem(QObject* parent)
     , _dirty(false)
     , _sequenceNumber(0)
     , _isCurrentItem(false)
+    , _altDifference(0.0)
+    , _altPercent(0.0)
     , _azimuth(0.0)
     , _distance(0.0)
     , _homePositionSpecialCase(false)
@@ -140,6 +142,7 @@ MissionItem::MissionItem(int             sequenceNumber,
     , _sequenceNumber(sequenceNumber)
     , _isCurrentItem(isCurrentItem)
     , _altDifference(0.0)
+    , _altPercent(0.0)
     , _azimuth(0.0)
     , _distance(0.0)
     , _homePositionSpecialCase(false)
@@ -198,6 +201,7 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent)
     , _sequenceNumber(0)
     , _isCurrentItem(false)
     , _altDifference(0.0)
+    , _altPercent(0.0)
     , _azimuth(0.0)
     , _distance(0.0)
     , _homePositionSpecialCase(false)
@@ -243,6 +247,7 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
     setAutoContinue(other.autoContinue());
     setIsCurrentItem(other._isCurrentItem);
     setAltDifference(other._altDifference);
+    setAltPercent(other._altPercent);
     setAzimuth(other._azimuth);
     setDistance(other._distance);
     setHomePositionSpecialCase(other._homePositionSpecialCase);
@@ -734,6 +739,12 @@ void MissionItem::setAltDifference(double altDifference)
     emit altDifferenceChanged(_altDifference);
 }
 
+void MissionItem::setAltPercent(double altPercent)
+{
+    _altPercent = altPercent;
+    emit altPercentChanged(_altPercent);
+}
+
 void MissionItem::setAzimuth(double azimuth)
 {
     _azimuth = azimuth;

src/MissionManager/MissionItem.h

@@ -69,6 +69,7 @@ public:
     const MissionItem& operator=(const MissionItem& other);
     
     Q_PROPERTY(double           altDifference           READ altDifference          WRITE setAltDifference      NOTIFY altDifferenceChanged)        ///< Change in altitude from previous waypoint
+    Q_PROPERTY(double           altPercent              READ altPercent             WRITE setAltPercent         NOTIFY altPercentChanged)           ///< Percent of total altitude change in mission altitude
     Q_PROPERTY(double           azimuth                 READ azimuth                WRITE setAzimuth            NOTIFY azimuthChanged)              ///< Azimuth to previous waypoint
     Q_PROPERTY(QString          category                READ category                                           NOTIFY commandChanged)
     Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command                WRITE setCommand            NOTIFY commandChanged)
@@ -100,6 +101,7 @@ public:
     // Property accesors
     
     double          altDifference       (void) const    { return _altDifference; }
+    double          altPercent          (void) const    { return _altPercent; }
     double          azimuth             (void) const    { return _azimuth; }
     QString         category            (void) const;
     MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_commandFact.cookedValue().toInt(); };
@@ -139,9 +141,10 @@ public:
     void setHomePositionValid(bool homePositionValid);
     void setHomePositionSpecialCase(bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
 
-    void setAltDifference(double altDifference);
-    void setAzimuth(double azimuth);
-    void setDistance(double distance);
+    void setAltDifference   (double altDifference);
+    void setAltPercent      (double altPercent);
+    void setAzimuth         (double azimuth);
+    void setDistance        (double distance);
 
     // C++ only methods
 
@@ -180,6 +183,7 @@ public slots:
 
 signals:
     void altDifferenceChanged       (double altDifference);
+    void altPercentChanged          (double altPercent);
     void azimuthChanged             (double azimuth);
     void commandChanged             (MavlinkQmlSingleton::Qml_MAV_CMD command);
     void coordinateChanged          (const QGeoCoordinate& coordinate);
@@ -220,6 +224,7 @@ private:
     int         _sequenceNumber;
     bool        _isCurrentItem;
     double      _altDifference;             ///< Difference in altitude from previous waypoint
+    double      _altPercent;                ///< Percent of total altitude change in mission
     double      _azimuth;                   ///< Azimuth to previous waypoint
     double      _distance;                  ///< Distance to previous waypoint
     bool        _homePositionSpecialCase;   ///< true: This item is being used as a ui home position indicator

src/QmlControls/MissionItemIndexLabel.qml

-import QtQuick                  2.2
+import QtQuick                  2.5
 import QtQuick.Controls         1.2
 import QtQuick.Controls.Styles  1.2
 
@@ -8,31 +8,33 @@ import QGroundControl.Palette     1.0
 Rectangle {
     property alias  label:          _label.text
     property bool   isCurrentItem:  false
+    property bool   small:          false
 
     signal clicked
 
-    readonly property real _margin: ScreenTools.defaultFontPixelWidth / 4
-
-    QGCPalette { id: qgcPal }
-
-    width:          _label.width + (_margin * 2)
-    height:         _label.height +  (_margin * 2)
-    radius:         _margin
-    border.width:   1
+    width:          _width
+    height:         _width
+    radius:         _width / 2
+    border.width:   small ? 1 : 2
     border.color:   "white"
     color:          isCurrentItem ? "green" : qgcPal.mapButtonHighlight
 
+    property real _width: small ? ScreenTools.smallFontPixelSize * 1.5 : ScreenTools.mediumFontPixelSize * 1.5
+
+    QGCPalette { id: qgcPal }
+
     MouseArea {
-        anchors.fill:   parent
-        onClicked:      parent.clicked()
+        anchors.fill: parent
+
+        onClicked: parent.clicked()
     }
 
     QGCLabel {
         id:                     _label
-        anchors.margins:        _margin
-        anchors.left:           parent.left
-        anchors.top:            parent.top
+        anchors.fill:           parent
+        horizontalAlignment:    Text.AlignHCenter
+        verticalAlignment:      Text.AlignVCenter
         color:                  "white"
-        font.pixelSize:         ScreenTools.defaultFontPixelSize
+        font.pixelSize:         small ? ScreenTools.smallFontPixelSize : ScreenTools.mediumFontPixelSize
     }
 }

src/QmlControls/QGroundControl.Controls.qmldir

@@ -9,6 +9,7 @@ MainToolBar             1.0 MainToolBar.qml
 MissionCommandDialog    1.0 MissionCommandDialog.qml
 MissionItemEditor       1.0 MissionItemEditor.qml
 MissionItemIndexLabel   1.0 MissionItemIndexLabel.qml
+MissionItemStatus       1.0 MissionItemStatus.qml
 ModeSwitchDisplay       1.0 ModeSwitchDisplay.qml
 ParameterEditor         1.0 ParameterEditor.qml
 ParameterEditorDialog   1.0 ParameterEditorDialog.qml

src/QmlControls/ScreenTools.qml

@@ -13,6 +13,8 @@ Item {
     readonly property real defaultFontPixelHeight:  defaultFontPixelSize
     readonly property real defaultFontPixelWidth:   _textMeasure.fontWidth
     readonly property real smallFontPixelSize:      defaultFontPixelSize * ScreenToolsController.smallFontPixelSizeRatio
+    readonly property real smallFontPixelHeight:    smallFontPixelSize
+    readonly property real smallFontPixelWidth:     defaultFontPixelWidth * ScreenToolsController.smallFontPixelSizeRatio
 
     // To proportionally scale fonts