diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index 312d45503aaf934410bae786ae1dc5949128bba2..bc33589594d877d8f964a40dd76e43c52efb279f 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -102,7 +102,7 @@
src/QmlControls/QGroundControl.Controls.qmldir
src/PlanView/RallyPointEditorHeader.qml
src/PlanView/RallyPointItemEditor.qml
- src/PlanView/RallyPointMapVisuals.qml
+ src/PlanView/RallyPointMapVisuals.qml
src/QmlControls/RCChannelMonitor.qml
src/QmlControls/RoundButton.qml
src/PlanView/SectionHeader.qml
@@ -136,7 +136,7 @@
src/FlightDisplay/GuidedAltitudeSlider.qml
src/FlightDisplay/MultiVehicleList.qml
src/FlightDisplay/qmldir
- src/FlightMap/MapItems/CameraTriggerIndicator.qml
+ src/FlightMap/MapItems/CameraTriggerIndicator.qml
src/FlightMap/Widgets/CenterMapDropButton.qml
src/FlightMap/Widgets/CenterMapDropPanel.qml
src/FlightMap/Widgets/CompassRing.qml
@@ -212,6 +212,7 @@
src/Vehicle/WindFact.json
src/Vehicle/VibrationFact.json
src/Vehicle/TemperatureFact.json
+ src/Vehicle/SubmarineFact.json
src/comm/APMArduCopterMockLink.params
diff --git a/src/Vehicle/SubmarineFact.json b/src/Vehicle/SubmarineFact.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a126643ee9e7e3b5059f453f1f2f7076a12c593
--- /dev/null
+++ b/src/Vehicle/SubmarineFact.json
@@ -0,0 +1,26 @@
+[
+{
+ "name": "camera tilt",
+ "shortDescription": "Camera Tilt",
+ "type": "int16",
+ "units": "%"
+},
+{
+ "name": "tether turns",
+ "shortDescription": "Tether Turns",
+ "type": "int16",
+ "units": "clockwise"
+},
+{
+ "name": "lights 1",
+ "shortDescription": "Lights 1 level",
+ "type": "int16",
+ "units": "%"
+},
+{
+ "name": "lights 2",
+ "shortDescription": "Lights 2 level",
+ "type": "int16",
+ "units": "%"
+}
+]
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index d007bd91483e67f537159d0c95c0e17d0eda600b..41266f6d82af51e4f846e2dff6d3e4d6ff8bcf29 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -59,6 +59,7 @@ const char* Vehicle::_batteryFactGroupName = "battery";
const char* Vehicle::_windFactGroupName = "wind";
const char* Vehicle::_vibrationFactGroupName = "vibration";
const char* Vehicle::_temperatureFactGroupName = "temperature";
+const char* Vehicle::_submarineFactGroupName = "sub";
Vehicle::Vehicle(LinkInterface* link,
int vehicleId,
@@ -372,6 +373,11 @@ void Vehicle::_commonInit(void)
_addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);
_addFactGroup(&_temperatureFactGroup, _temperatureFactGroupName);
+ if (_vehicleType == MAV_TYPE_SUBMARINE) {
+ _submarineFactGroup = new VehicleSubmarineFactGroup(this);
+ _addFactGroup(_submarineFactGroup, _submarineFactGroupName);
+ }
+
_flightDistanceFact.setRawValue(0);
_flightTimeFact.setRawValue(0);
}
@@ -597,6 +603,10 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
case MAVLINK_MSG_ID_WIND:
_handleWind(message);
break;
+
+ case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
+ _handleNamedValueFloat(message);
+ break;
}
emit mavlinkMessageReceived(message);
@@ -1164,6 +1174,27 @@ void Vehicle::_handleScaledPressure3(mavlink_message_t& message) {
_temperatureFactGroup.temperature3()->setRawValue(pressure.temperature / 100.0);
}
+void Vehicle::_handleNamedValueFloat(mavlink_message_t &message) {
+ if (!_submarineFactGroup) {
+ return;
+ }
+
+ mavlink_named_value_float_t value;
+ mavlink_msg_named_value_float_decode(&message, &value);
+
+ QString name = QString(value.name);
+
+ if (name == "CamTilt") {
+ _submarineFactGroup->camTilt()->setRawValue(value.value * 100);
+ } else if (name == "TetherTrn") {
+ _submarineFactGroup->tetherTurns()->setRawValue(value.value);
+ } else if (name == "Lights1") {
+ _submarineFactGroup->lightsLevel1()->setRawValue(value.value * 100);
+ } else if (name == "Lights2") {
+ _submarineFactGroup->lightsLevel2()->setRawValue(value.value * 100);
+ }
+}
+
bool Vehicle::_containsLink(LinkInterface* link)
{
return _links.contains(link);
@@ -2712,3 +2743,27 @@ VehicleTemperatureFactGroup::VehicleTemperatureFactGroup(QObject* parent)
_temperature2Fact.setRawValue (std::numeric_limits::quiet_NaN());
_temperature3Fact.setRawValue (std::numeric_limits::quiet_NaN());
}
+
+const char* VehicleSubmarineFactGroup::_camTiltFactName = "camera tilt";
+const char* VehicleSubmarineFactGroup::_tetherTurnsFactName = "tether turns";
+const char* VehicleSubmarineFactGroup::_lightsLevel1FactName = "lights 1";
+const char* VehicleSubmarineFactGroup::_lightsLevel2FactName = "lights 2";
+
+VehicleSubmarineFactGroup::VehicleSubmarineFactGroup(QObject* parent)
+ : FactGroup(300, ":/json/Vehicle/SubmarineFact.json", parent)
+ , _camTiltFact (0, _camTiltFactName, FactMetaData::valueTypeDouble)
+ , _tetherTurnsFact (0, _tetherTurnsFactName, FactMetaData::valueTypeDouble)
+ , _lightsLevel1Fact (0, _lightsLevel1FactName, FactMetaData::valueTypeDouble)
+ , _lightsLevel2Fact (0, _lightsLevel2FactName, FactMetaData::valueTypeDouble)
+{
+ _addFact(&_camTiltFact, _camTiltFactName);
+ _addFact(&_tetherTurnsFact, _tetherTurnsFactName);
+ _addFact(&_lightsLevel1Fact, _lightsLevel1FactName);
+ _addFact(&_lightsLevel2Fact, _lightsLevel2FactName);
+
+ // Start out as not available "--.--"
+ _camTiltFact.setRawValue (std::numeric_limits::quiet_NaN());
+ _tetherTurnsFact.setRawValue (std::numeric_limits::quiet_NaN());
+ _lightsLevel1Fact.setRawValue (std::numeric_limits::quiet_NaN());
+ _lightsLevel2Fact.setRawValue (std::numeric_limits::quiet_NaN());
+}
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 477af21d8328ffbf5077b043149468e2c810f322..0640e8cb642adefa416d94323af22af471f8f165 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -214,6 +214,37 @@ private:
Fact _temperature3Fact;
};
+class VehicleSubmarineFactGroup : public FactGroup
+{
+ Q_OBJECT
+
+public:
+ VehicleSubmarineFactGroup(QObject* parent = NULL);
+
+ Q_PROPERTY(Fact* camTilt READ camTilt CONSTANT)
+ Q_PROPERTY(Fact* tetherTurns READ tetherTurns CONSTANT)
+ Q_PROPERTY(Fact* lightsLevel1 READ lightsLevel1 CONSTANT)
+ Q_PROPERTY(Fact* lightsLevel2 READ lightsLevel2 CONSTANT)
+
+ Fact* camTilt (void) { return &_camTiltFact; }
+ Fact* tetherTurns (void) { return &_tetherTurnsFact; }
+ Fact* lightsLevel1 (void) { return &_lightsLevel1Fact; }
+ Fact* lightsLevel2 (void) { return &_lightsLevel2Fact; }
+
+ static const char* _camTiltFactName;
+ static const char* _tetherTurnsFactName;
+ static const char* _lightsLevel1FactName;
+ static const char* _lightsLevel2FactName;
+
+ static const char* _settingsGroup;
+
+private:
+ Fact _camTiltFact;
+ Fact _tetherTurnsFact;
+ Fact _lightsLevel1Fact;
+ Fact _lightsLevel2Fact;
+};
+
class Vehicle : public FactGroup
{
Q_OBJECT
@@ -350,6 +381,7 @@ public:
Q_PROPERTY(FactGroup* wind READ windFactGroup CONSTANT)
Q_PROPERTY(FactGroup* vibration READ vibrationFactGroup CONSTANT)
Q_PROPERTY(FactGroup* temperature READ temperatureFactGroup CONSTANT)
+ Q_PROPERTY(FactGroup* submarineFactGroup READ submarineFactGroup CONSTANT)
Q_PROPERTY(int firmwareMajorVersion READ firmwareMajorVersion NOTIFY firmwareVersionChanged)
Q_PROPERTY(int firmwareMinorVersion READ firmwareMinorVersion NOTIFY firmwareVersionChanged)
@@ -612,6 +644,7 @@ public:
FactGroup* windFactGroup (void) { return &_windFactGroup; }
FactGroup* vibrationFactGroup (void) { return &_vibrationFactGroup; }
FactGroup* temperatureFactGroup (void) { return &_temperatureFactGroup; }
+ FactGroup* submarineFactGroup (void) { return _submarineFactGroup; }
void setConnectionLostEnabled(bool connectionLostEnabled);
@@ -832,6 +865,7 @@ private:
void _handleScaledPressure(mavlink_message_t& message);
void _handleScaledPressure2(mavlink_message_t& message);
void _handleScaledPressure3(mavlink_message_t& message);
+ void _handleNamedValueFloat(mavlink_message_t& message);
void _handleCameraFeedback(const mavlink_message_t& message);
void _handleCameraImageCaptured(const mavlink_message_t& message);
void _missionManagerError(int errorCode, const QString& errorMsg);
@@ -1019,6 +1053,7 @@ private:
VehicleWindFactGroup _windFactGroup;
VehicleVibrationFactGroup _vibrationFactGroup;
VehicleTemperatureFactGroup _temperatureFactGroup;
+ VehicleSubmarineFactGroup* _submarineFactGroup;
static const char* _rollFactName;
static const char* _pitchFactName;
@@ -1036,6 +1071,7 @@ private:
static const char* _windFactGroupName;
static const char* _vibrationFactGroupName;
static const char* _temperatureFactGroupName;
+ static const char* _submarineFactGroupName;
static const int _vehicleUIUpdateRateMSecs = 100;