Merge pull request #5093 from DonLakeFlyer/LandAbort

Land abort sliders pop up based on new mavlink landing state

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -444,7 +444,7 @@ void APMFirmwarePlugin::_handleIncomingHeartbeat(Vehicle* vehicle, mavlink_messa
         }
     }
 
-    vehicle->setFlying(flying);
+    vehicle->_setFlying(flying);
 }
 
 bool APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)

src/FlightDisplay/FlightDisplayView.qml

@@ -525,6 +525,12 @@ QGCView {
                     confirmAction(actionResumeMission)
                 }
             }
+
+            onShowLandAbortChanged: {
+                if (showLandAbort) {
+                    confirmAction(actionLandAbort)
+                }
+            }
         }
 
         GuidedActionConfirm {

src/FlightDisplay/GuidedActionsController.qml

@@ -92,7 +92,7 @@ Item {
     property bool showPause:            _activeVehicle && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused
     property bool showChangeAlt:        (_activeVehicle && _vehicleFlying) && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
     property bool showOrbit:            !_hideOrbit && _activeVehicle && _vehicleFlying && _activeVehicle.orbitModeSupported && _vehicleArmed && !_missionActive
-    property bool showLandAbort:        _activeVehicle && _vehicleFlying && _activeVehicle.fixedWing
+    property bool showLandAbort:        _activeVehicle && _vehicleFlying && _activeVehicle.fixedWing && _vehicleLanding
     property bool showGotoLocation:     _activeVehicle && _activeVehicle.guidedMode && _vehicleFlying
 
     property var    _activeVehicle:         QGroundControl.multiVehicleManager.activeVehicle
@@ -101,6 +101,7 @@ Item {
     property bool   _missionActive:         _activeVehicle ? _vehicleArmed && (_vehicleInLandMode || _vehicleInRTLMode || _vehicleInMissionMode) : false
     property bool   _vehicleArmed:          _activeVehicle ? _activeVehicle.armed  : false
     property bool   _vehicleFlying:         _activeVehicle ? _activeVehicle.flying  : false
+    property bool   _vehicleLanding:        _activeVehicle ? _activeVehicle.landing  : false
     property bool   _vehiclePaused:         false
     property bool   _vehicleInMissionMode:  false
     property bool   _vehicleInRTLMode:      false

src/PlanView/SimpleItemEditor.qml

@@ -13,7 +13,7 @@ import QGroundControl.Palette       1.0
 // Editor for Simple mission items
 Rectangle {
     width:  availableWidth
-    height: valuesColumn.height + _margin
+    height: valuesColumn.height + (_margin * 2)
     color:  qgcPal.windowShadeDark
     radius: _radius
 

src/Vehicle/Vehicle.cc

@@ -94,6 +94,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _rcRSSIstore(255)
     , _autoDisconnect(false)
     , _flying(false)
+    , _landing(false)
     , _onboardControlSensorsPresent(0)
     , _onboardControlSensorsEnabled(0)
     , _onboardControlSensorsHealth(0)
@@ -254,6 +255,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _rcRSSIstore(255)
     , _autoDisconnect(false)
     , _flying(false)
+    , _landing(false)
     , _onboardControlSensorsPresent(0)
     , _onboardControlSensorsEnabled(0)
     , _onboardControlSensorsHealth(0)
@@ -831,14 +833,21 @@ void Vehicle::_handleExtendedSysState(mavlink_message_t& message)
     mavlink_msg_extended_sys_state_decode(&message, &extendedState);
 
     switch (extendedState.landed_state) {
-    case MAV_LANDED_STATE_UNDEFINED:
-        break;
     case MAV_LANDED_STATE_ON_GROUND:
-        setFlying(false);
+        _setFlying(false);
+        _setLanding(false);
         break;
+    case MAV_LANDED_STATE_TAKEOFF:
     case MAV_LANDED_STATE_IN_AIR:
-        setFlying(true);
-        return;
+        _setFlying(true);
+        _setLanding(false);
+        break;
+    case MAV_LANDED_STATE_LANDING:
+        _setFlying(true);
+        _setLanding(true);
+        break;
+    default:
+        break;
     }
 }
 
@@ -1962,7 +1971,7 @@ void Vehicle::_announceArmedChanged(bool armed)
     _say(QString("%1 %2").arg(_vehicleIdSpeech()).arg(armed ? QStringLiteral("armed") : QStringLiteral("disarmed")));
 }
 
-void Vehicle::setFlying(bool flying)
+void Vehicle::_setFlying(bool flying)
 {
     if (armed() && _flying != flying) {
         _flying = flying;
@@ -1970,6 +1979,14 @@ void Vehicle::setFlying(bool flying)
     }
 }
 
+void Vehicle::_setLanding(bool landing)
+{
+    if (armed() && _landing != landing) {
+        _landing = landing;
+        emit landingChanged(landing);
+    }
+}
+
 bool Vehicle::guidedModeSupported(void) const
 {
     return _firmwarePlugin->isCapable(this, FirmwarePlugin::GuidedModeCapability);

src/Vehicle/Vehicle.h

@@ -314,10 +314,13 @@ public:
     Q_PROPERTY(QVariantList         cameraList              READ cameraList                                             CONSTANT)
 
     /// true: Vehicle is flying, false: Vehicle is on ground
-    Q_PROPERTY(bool flying      READ flying     WRITE setFlying     NOTIFY flyingChanged)
+    Q_PROPERTY(bool flying READ flying NOTIFY flyingChanged)
+
+    /// true: Vehicle is flying, false: Vehicle is on ground
+    Q_PROPERTY(bool landing READ landing NOTIFY landingChanged)
 
     /// true: Vehicle is in Guided mode and can respond to guided commands, false: vehicle cannot respond to direct control commands
-    Q_PROPERTY(bool guidedMode  READ guidedMode WRITE setGuidedMode NOTIFY guidedModeChanged)
+    Q_PROPERTY(bool guidedMode READ guidedMode WRITE setGuidedMode NOTIFY guidedModeChanged)
 
     /// true: Guided mode commands are supported by this vehicle
     Q_PROPERTY(bool guidedModeSupported READ guidedModeSupported CONSTANT)
@@ -516,7 +519,6 @@ public:
     bool supportsCalibratePressure(void) const;
     bool supportsMotorInterference(void) const;
 
-    void setFlying(bool flying);
     void setGuidedMode(bool guidedMode);
 
     QString prearmError(void) const { return _prearmError; }
@@ -566,6 +568,7 @@ public:
     uint            messagesSent            () { return _messagesSent; }
     uint            messagesLost            () { return _messagesLost; }
     bool            flying                  () const { return _flying; }
+    bool            landing                 () const { return _landing; }
     bool            guidedMode              () const;
     uint8_t         baseMode                () const { return _base_mode; }
     uint32_t        customMode              () const { return _custom_mode; }
@@ -674,6 +677,8 @@ public:
     /// @return: true: initial request is complete, false: initial request is still in progress;
     bool initialPlanRequestComplete(void) const { return _initialPlanRequestComplete; }
 
+    void _setFlying(bool flying);
+    void _setLanding(bool landing);
     void _setHomePosition(QGeoCoordinate& homeCoord);
 
 signals:
@@ -693,6 +698,7 @@ signals:
     void connectionLostEnabledChanged(bool connectionLostEnabled);
     void autoDisconnectChanged(bool autoDisconnectChanged);
     void flyingChanged(bool flying);
+    void landingChanged(bool landing);
     void guidedModeChanged(bool guidedMode);
     void prearmErrorChanged(const QString& prearmError);
     void soloFirmwareChanged(bool soloFirmware);
@@ -880,6 +886,7 @@ private:
     double          _rcRSSIstore;
     bool            _autoDisconnect;    ///< true: Automatically disconnect vehicle when last connection goes away or lost heartbeat
     bool            _flying;
+    bool            _landing;
     uint32_t        _onboardControlSensorsPresent;
     uint32_t        _onboardControlSensorsEnabled;
     uint32_t        _onboardControlSensorsHealth;