Merge remote-tracking branch 'MavLink/master' into esp8266Component

* MavLink/master:
  New initial map position handling
  Default map position support
  Bad english, plus unit test check
  Add Reboot Required fact meta data

src/FactSystem/Fact.cc

@@ -482,3 +482,13 @@ QString Fact::validate(const QString& cookedValue, bool convertOnly)
         return QString("Internal error: Meta data pointer missing");
     }
 }
+
+bool Fact::rebootRequired(void) const
+{
+    if (_metaData) {
+        return _metaData->rebootRequired();
+    } else {
+        qWarning() << "Meta data pointer missing";
+        return false;
+    }
+}

src/FactSystem/Fact.h

@@ -66,6 +66,7 @@ public:
     Q_PROPERTY(QString      minString               READ cookedMinString                                    CONSTANT)
     Q_PROPERTY(bool         minIsDefaultForType     READ minIsDefaultForType                                CONSTANT)
     Q_PROPERTY(QString      name                    READ name                                               CONSTANT)
+    Q_PROPERTY(bool         rebootRequired          READ rebootRequired                                     CONSTANT)
     Q_PROPERTY(QString      shortDescription        READ shortDescription                                   CONSTANT)
     Q_PROPERTY(FactMetaData::ValueType_t type       READ type                                               CONSTANT)
     Q_PROPERTY(QString      units                   READ cookedUnits                                        CONSTANT)
@@ -109,6 +110,7 @@ public:
     QString         rawValueString          (void) const;
     QString         cookedValueString       (void) const;
     bool            valueEqualsDefault      (void) const;
+    bool            rebootRequired          (void) const;
 
     void setRawValue        (const QVariant& value);
     void setCookedValue     (const QVariant& value);

src/FactSystem/FactMetaData.cc

@@ -51,6 +51,7 @@ FactMetaData::FactMetaData(QObject* parent)
     , _minIsDefaultForType(true)
     , _rawTranslator(_defaultTranslator)
     , _cookedTranslator(_defaultTranslator)
+    , _rebootRequired(false)
 {
 
 }
@@ -68,6 +69,7 @@ FactMetaData::FactMetaData(ValueType_t type, QObject* parent)
     , _minIsDefaultForType(true)
     , _rawTranslator(_defaultTranslator)
     , _cookedTranslator(_defaultTranslator)
+    , _rebootRequired(false)
 {
 
 }
@@ -100,6 +102,7 @@ const FactMetaData& FactMetaData::operator=(const FactMetaData& other)
     _cookedUnits            = other._cookedUnits;
     _rawTranslator          = other._rawTranslator;
     _cookedTranslator       = other._cookedTranslator;
+    _rebootRequired         = other._rebootRequired;
 
     return *this;
 }

src/FactSystem/FactMetaData.h

@@ -81,6 +81,7 @@ public:
     ValueType_t     type                    (void) const { return _type; }
     QString         rawUnits                (void) const { return _rawUnits; }
     QString         cookedUnits             (void) const { return _cookedUnits; }
+    bool            rebootRequired          (void) const { return _rebootRequired; }
 
     Translator      rawTranslator           (void) const { return _rawTranslator; }
     Translator      cookedTranslator        (void) const { return _cookedTranslator; }
@@ -102,6 +103,7 @@ public:
     void setName            (const QString& name)               { _name = name; }
     void setShortDescription(const QString& shortDescription)   { _shortDescription = shortDescription; }
     void setRawUnits        (const QString& rawUnits);
+    void setRebootRequired  (bool rebootRequired)               { _rebootRequired = rebootRequired; }
 
     void setTranslators(Translator rawTranslator, Translator cookedTranslator);
 
@@ -150,6 +152,7 @@ private:
     QString         _cookedUnits;
     Translator      _rawTranslator;
     Translator      _cookedTranslator;
+    bool            _rebootRequired;
 
     struct BuiltInTranslation_s {
         const char* rawUnits;

src/FactSystem/ParameterLoader.cc

@@ -295,6 +295,10 @@ void ParameterLoader::_valueUpdated(const QVariant& value)
 
     _writeParameterRaw(componentId, fact->name(), value);
     qCDebug(ParameterLoaderLog) << "Set parameter (componentId:" << componentId << "name:" << name << value << ")";
+
+    if (fact->rebootRequired() && !qgcApp()->runningUnitTests()) {
+        qgcApp()->showMessage(QStringLiteral("Change of parameter %1 requires a Vehicle reboot to take effect").arg(name));
+    }
 }
 
 void ParameterLoader::refreshAllParameters(uint8_t componentID)

src/FirmwarePlugin/APM/APMParameterMetaData.cc

@@ -342,6 +342,7 @@ bool APMParameterMetaData::parseParameterAttributes(QXmlStreamReader& xml, APMFa
             // skip empty elements. Somehow I am getting lot of these. Dont know what to do with them.
         } else if (elementName == "field") {
             QString attributeName = xml.attributes().value("name").toString();
+
             if ( attributeName == "Range") {
                 QString range = xml.readElementText().trimmed();
                 QStringList rangeList = range.split(' ');
@@ -402,6 +403,11 @@ bool APMParameterMetaData::parseParameterAttributes(QXmlStreamReader& xml, APMFa
                 if (parseError) {
                     rawMetaData->bitmask.clear();
                 }
+            } else if (attributeName == "RebootRequired") {
+                QString strValue = xml.readElementText().trimmed();
+                if (strValue.compare("true", Qt::CaseInsensitive) == 0) {
+                    rawMetaData->rebootRequired = true;
+                }
             }
         } else if (elementName == "values") {
             // doing nothing individual value will follow anyway. May be used for sanity checking.
@@ -447,6 +453,7 @@ void APMParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
 
     metaData->setName(rawMetaData->name);
     metaData->setGroup(rawMetaData->group);
+    metaData->setRebootRequired(rawMetaData->rebootRequired);
 
     if (!rawMetaData->shortDescription.isEmpty()) {
         metaData->setShortDescription(rawMetaData->shortDescription);

src/FirmwarePlugin/APM/APMParameterMetaData.h

@@ -37,14 +37,19 @@
 class APMFactMetaDataRaw
 {
 public:
-    QString                  name;
-    QString                  group;
-    QString                  shortDescription;
-    QString                  longDescription;
-    QString                  min;
-    QString                  max;
-    QString                  incrementSize;
-    QString                  units;
+    APMFactMetaDataRaw(void)
+        : rebootRequired(false)
+    { }
+
+    QString name;
+    QString group;
+    QString shortDescription;
+    QString longDescription;
+    QString min;
+    QString max;
+    QString incrementSize;
+    QString units;
+    bool    rebootRequired;
     QList<QPair<QString, QString> > values;
     QList<QPair<QString, QString> > bitmask;
 };

src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc

@@ -312,6 +312,14 @@ void PX4ParameterMetaData::_loadParameterFactMetaData(void)
                             qCWarning(PX4ParameterMetaDataLog) << "Invalid decimals value, name:" << metaData->name() << " type:" << metaData->type() << " decimals:" << text << " error: invalid number";
                         }
 
+                    } else if (elementName == "reboot_required") {
+                        Q_ASSERT(metaData);
+                        QString text = xml.readElementText();
+                        qCDebug(PX4ParameterMetaDataLog) << "RebootRequired:" << text;
+                        if (text.compare("true", Qt::CaseInsensitive) == 0) {
+                            metaData->setRebootRequired(true);
+                        }
+
                     } else {
                         qDebug() << "Unknown element in XML: " << elementName;
                     }

src/FlightDisplay/FlightDisplayView.qml

@@ -50,7 +50,6 @@ Item {
 
     property var _activeVehicle:  multiVehicleManager.activeVehicle
 
-    readonly property var  _defaultVehicleCoordinate:   mainWindow.tabletPosition
     readonly property real _defaultRoll:                0
     readonly property real _defaultPitch:               0
     readonly property real _defaultHeading:             0
@@ -71,8 +70,6 @@ Item {
     property real _pitch:               _activeVehicle ? (isNaN(_activeVehicle.pitch)   ? _defaultPitch   : _activeVehicle.pitch)   : _defaultPitch
     property real _heading:             _activeVehicle ? (isNaN(_activeVehicle.heading) ? _defaultHeading : _activeVehicle.heading) : _defaultHeading
 
-    property var  _vehicleCoordinate:   _activeVehicle ? (_activeVehicle.coordinateValid ? _activeVehicle.coordinate : _defaultVehicleCoordinate) : _defaultVehicleCoordinate
-
     property real _altitudeWGS84:       _activeVehicle ? _activeVehicle.altitudeWGS84 : _defaultAltitudeWGS84
     property real _groundSpeed:         _activeVehicle ? _activeVehicle.groundSpeed   : _defaultGroundSpeed
     property real _airSpeed:            _activeVehicle ? _activeVehicle.airSpeed      : _defaultAirSpeed
@@ -120,7 +117,6 @@ Item {
                     _flightMap.zoomLevel = _savedZoomLevel
                 else
                     _savedZoomLevel = _flightMap.zoomLevel
-                _flightMap.updateMapPosition(true /* force */)
             } else {
                 _flightVideo = item
             }

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -39,18 +39,15 @@ FlightMap {
     id:             flightMap
     anchors.fill:   parent
     mapName:        _mapName
-    latitude:       mainWindow.tabletPosition.latitude
-    longitude:      mainWindow.tabletPosition.longitude
 
-    property var    rootVehicleCoordinate:  _vehicleCoordinate
-    property bool   _followVehicle:         true
+    property bool   _followVehicle:                 true
+    property bool   _activeVehicleCoordinateValid:  multiVehicleManager.activeVehicle ? multiVehicleManager.activeVehicle.coordinateValid : false
+    property var    activeVehicleCoordinate:        multiVehicleManager.activeVehicle ? multiVehicleManager.activeVehicle.coordinate : QtPositioning.coordinate()
 
-    onRootVehicleCoordinateChanged: updateMapPosition(false /* force */)
-
-    function updateMapPosition(force) {
-        if (_followVehicle || force) {
-            flightMap.latitude  = root._vehicleCoordinate.latitude
-            flightMap.longitude = root._vehicleCoordinate.longitude
+    onActiveVehicleCoordinateChanged: {
+        if (_followVehicle && activeVehicleCoordinate.isValid) {
+            _initialMapPositionSet = true
+            flightMap.center  = activeVehicleCoordinate
         }
     }
 

src/FlightMap/FlightMap.qml

@@ -43,22 +43,16 @@ import QGroundControl.Mavlink               1.0
 Map {
     id: _map
 
-    property real   latitude:           64.154549   //-- If you find yourself here on startup, something went wrong :)
-    property real   longitude:          -22.023540
-    property real   heading:            0
     property bool   interactive:        true
     property string mapName:            'defaultMap'
     property string mapType:            QGroundControl.flightMapSettings.mapTypeForMapName(mapName)
 //  property alias  mapWidgets:         controlWidgets
     property bool   isSatelliteMap:     mapType == "Satellite Map" || mapType == "Hybrid Map"
 
-    property real   lon: (longitude >= -180 && longitude <= 180) ? longitude : 0
-    property real   lat: (latitude  >=  -90 && latitude  <=  90) ? latitude  : 0
-
     readonly property real maxZoomLevel:    20
 
     zoomLevel:                  18
-    center:                     QtPositioning.coordinate(lat, lon)
+    center:                     QGroundControl.defaultMapPosition
     gesture.flickDeceleration:  3000
     gesture.enabled:            interactive
     gesture.activeGestures:     MapGestureArea.ZoomGesture | MapGestureArea.PanGesture | MapGestureArea.FlickGesture
@@ -69,6 +63,18 @@ Map {
 
     Component.onCompleted: onMapTypeChanged
 
+    property bool _initialMapPositionSet: false
+    Connections {
+        target: mainWindow
+
+        onGcsPositionChanged: {
+            if (!_initialMapPositionSet) {
+                _initialMapPositionSet = true
+                flightMap.center = mainWindow.gcsPosition
+            }
+        }
+    }
+
     onMapTypeChanged: {
         QGroundControl.flightMapSettings.setMapTypeForMapName(mapName, mapType)
         var fullMapName = QGroundControl.flightMapSettings.mapProvider + " " + mapType
@@ -80,7 +86,18 @@ Map {
         }
     }
 
-/*********************************************
+    MapQuickItem {
+        anchorPoint.x:  sourceItem.width  / 2
+        anchorPoint.y:  sourceItem.height / 2
+        visible:        mainWindow.gcsPosition.isValid
+        coordinate:     mainWindow.gcsPosition
+
+        sourceItem: MissionItemIndexLabel {
+            label: "Q"
+        }
+    }
+
+    /*********************************************
     /// Map control widgets
     Column {
         id:                 controlWidgets

src/MissionEditor/MissionEditor.qml

@@ -62,13 +62,8 @@ QGCView {
 
     property var    _missionItems:          controller.missionItems
     property var    _currentMissionItem
-
-    property bool   gpsLock:        _activeVehicle ? _activeVehicle.coordinateValid : false
-    property bool   _firstGpsLock:  true
-
-    //property var    _homePositionManager:       QGroundControl.homePositionManager
-    //property string _homePositionName:          _homePositionManager.homePositions.get(0).name
-    //property var    offlineHomePosition:        _homePositionManager.homePositions.get(0).coordinate
+    property bool   _firstVehiclePosition:  true
+    property var    activeVehiclePosition:  _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
 
     property var    liveHomePosition:           controller.liveHomePosition
     property var    liveHomePositionAvailable:  controller.liveHomePositionAvailable
@@ -76,17 +71,23 @@ QGCView {
 
     property bool _syncInProgress:              _activeVehicle ? _activeVehicle.missionManager.inProgress : false
 
-    onGpsLockChanged:       updateMapToVehiclePosition()
+    Component.onCompleted:          updateMapToVehiclePosition()
+    onActiveVehiclePositionChanged: updateMapToVehiclePosition()
 
-    Component.onCompleted: {
-        updateMapToVehiclePosition()
+    Connections {
+        target: multiVehicleManager
+
+        onActiveVehicleChanged: {
+            // When the active vehicle changes we need to allow the first vehicle position to move the map again
+            _firstVehiclePosition = true
+            updateMapToVehiclePosition()
+        }
     }
 
     function updateMapToVehiclePosition() {
-        if (gpsLock && _firstGpsLock) {
-            _firstGpsLock = false
-            editorMap.latitude = _activeVehicle.latitude
-            editorMap.longitude = _activeVehicle.longitude
+        if (_activeVehicle && _activeVehicle.coordinateValid && _firstVehiclePosition) {
+            _firstVehiclePosition = false
+            editorMap.center = _activeVehicle.coordinate
         }
     }
 
@@ -178,8 +179,6 @@ QGCView {
                 id:             editorMap
                 anchors.fill:   parent
                 mapName:        "MissionEditor"
-                latitude:       mainWindow.tabletPosition.latitude
-                longitude:      mainWindow.tabletPosition.longitude
 
                 readonly property real animationDuration: 500
 
@@ -190,20 +189,6 @@ QGCView {
                     }
                 }
 
-                Behavior on latitude {
-                    NumberAnimation {
-                        duration:       editorMap.animationDuration
-                        easing.type:    Easing.InOutQuad
-                    }
-                }
-
-                Behavior on longitude {
-                    NumberAnimation {
-                        duration:       editorMap.animationDuration
-                        easing.type:    Easing.InOutQuad
-                    }
-                }
-
                 MouseArea {
                     anchors.fill: parent
 

src/QGCApplication.cc

@@ -122,6 +122,8 @@ const char* QGCApplication::_settingsVersionKey             = "SettingsVersion";
 const char* QGCApplication::_promptFlightDataSave           = "PromptFLightDataSave";
 const char* QGCApplication::_promptFlightDataSaveNotArmed   = "PromptFLightDataSaveNotArmed";
 const char* QGCApplication::_styleKey                       = "StyleIsDark";
+const char* QGCApplication::_defaultMapPositionLatKey       = "DefaultMapPositionLat";
+const char* QGCApplication::_defaultMapPositionLonKey       = "DefaultMapPositionLon";
 
 const char* QGCApplication::_darkStyleFile          = ":/res/styles/style-dark.css";
 const char* QGCApplication::_lightStyleFile         = ":/res/styles/style-light.css";
@@ -177,6 +179,7 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
 #endif
     , _toolbox(NULL)
     , _bluetoothAvailable(false)
+    , _defaultMapPosition(37.803784, -122.462276)
 {
     Q_ASSERT(_app == NULL);
     _app = this;
@@ -319,6 +322,9 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
         settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
     }
 
+    _defaultMapPosition.setLatitude(settings.value(_defaultMapPositionLatKey, 37.803784).toDouble());
+    _defaultMapPosition.setLongitude(settings.value(_defaultMapPositionLonKey, -122.462276).toDouble());
+
     // Initialize Bluetooth
 #ifdef QGC_ENABLE_BLUETOOTH
     QBluetoothLocalDevice localDevice;
@@ -713,3 +719,12 @@ void QGCApplication::_showSetupVehicleComponent(VehicleComponent* vehicleCompone
 
     QMetaObject::invokeMethod(_rootQmlObject(), "showSetupVehicleComponent", Q_RETURN_ARG(QVariant, varReturn), Q_ARG(QVariant, varComponent));
 }
+
+void QGCApplication::setDefaultMapPosition(QGeoCoordinate& defaultMapPosition)
+{
+    QSettings settings;
+
+    settings.setValue(_defaultMapPositionLatKey, defaultMapPosition.latitude());
+    settings.setValue(_defaultMapPositionLonKey, defaultMapPosition.longitude());
+    _defaultMapPosition = defaultMapPosition;
+}

src/QGCApplication.h

@@ -121,6 +121,9 @@ public:
     /// Do we have Bluetooth Support?
     bool isBluetoothAvailable() { return _bluetoothAvailable; }
 
+    QGeoCoordinate defaultMapPosition(void) { return _defaultMapPosition; }
+    void setDefaultMapPosition(QGeoCoordinate& defaultMapPosition);
+
 public slots:
     /// You can connect to this slot to show an information message box from a different thread.
     void informationMessageBoxOnMainThread(const QString& title, const QString& msg);
@@ -184,12 +187,6 @@ private:
     QQmlApplicationEngine* _qmlAppEngine;
 #endif
 
-    static const char* _settingsVersionKey;             ///< Settings key which hold settings version
-    static const char* _deleteAllSettingsKey;           ///< If this settings key is set on boot, all settings will be deleted
-    static const char* _promptFlightDataSave;           ///< Settings key for promptFlightDataSave
-    static const char* _promptFlightDataSaveNotArmed;   ///< Settings key for promptFlightDataSaveNotArmed
-    static const char* _styleKey;                       ///< Settings key for UI style
-
     bool _runningUnitTests; ///< true: running unit tests, false: normal app
 
     static const char*  _darkStyleFile;
@@ -210,6 +207,16 @@ private:
 
     bool _bluetoothAvailable;
 
+    QGeoCoordinate _defaultMapPosition;    ///< Map position when all other sources fail
+
+    static const char* _settingsVersionKey;             ///< Settings key which hold settings version
+    static const char* _deleteAllSettingsKey;           ///< If this settings key is set on boot, all settings will be deleted
+    static const char* _promptFlightDataSave;           ///< Settings key for promptFlightDataSave
+    static const char* _promptFlightDataSaveNotArmed;   ///< Settings key for promptFlightDataSaveNotArmed
+    static const char* _styleKey;                       ///< Settings key for UI style
+    static const char* _defaultMapPositionLatKey;       ///< Settings key for default map location
+    static const char* _defaultMapPositionLonKey;       ///< Settings key for default map location
+
     /// Unit Test have access to creating and destroying singletons
     friend class UnitTest;
 };

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -42,7 +42,6 @@ QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCApplication* app)
     , _virtualTabletJoystick(false)
     , _offlineEditingFirmwareTypeFact(QString(), "OfflineEditingFirmwareType", FactMetaData::valueTypeUint32, (uint32_t)MAV_AUTOPILOT_ARDUPILOTMEGA)
     , _offlineEditingFirmwareTypeMetaData(FactMetaData::valueTypeUint32)
-
 {
     QSettings settings;
     _virtualTabletJoystick = settings.value(_virtualTabletJoystickKey, false). toBool();

src/QmlControls/QGroundControlQmlGlobal.h

@@ -76,6 +76,8 @@ public:
 
     Q_PROPERTY(Fact*    offlineEditingFirmwareType READ offlineEditingFirmwareType CONSTANT)
 
+    Q_PROPERTY(QGeoCoordinate defaultMapPosition READ defaultMapPosition CONSTANT)
+
     Q_INVOKABLE void    saveGlobalSetting       (const QString& key, const QString& value);
     Q_INVOKABLE QString loadGlobalSetting       (const QString& key, const QString& defaultValue);
     Q_INVOKABLE void    saveBoolGlobalSetting   (const QString& key, bool value);
@@ -113,6 +115,8 @@ public:
     bool    isVersionCheckEnabled   () { return _toolbox->mavlinkProtocol()->versionCheckEnabled(); }
     int     mavlinkSystemID         () { return _toolbox->mavlinkProtocol()->getSystemId(); }
 
+    QGeoCoordinate defaultMapPosition() { return qgcApp()->defaultMapPosition(); }
+
     Fact*   offlineEditingFirmwareType () { return &_offlineEditingFirmwareTypeFact; }
 
     //-- TODO: Make this into an actual preference.
@@ -144,7 +148,6 @@ signals:
     void mavlinkSystemIDChanged         (int id);
 
 private:
-
     FlightMapSettings*      _flightMapSettings;
     HomePositionManager*    _homePositionManager;
     LinkManager*            _linkManager;

src/Vehicle/Vehicle.cc

@@ -281,6 +281,7 @@ void Vehicle::_handleHomePosition(mavlink_message_t& message)
 
     if (emitHomePositionChanged) {
         qCDebug(VehicleLog) << "New home position" << newHomePosition;
+        qgcApp()->setDefaultMapPosition(_homePosition);
         emit homePositionChanged(_homePosition);
     }
     if (emitHomePositionAvailableChanged) {

src/ui/MainWindowInner.qml

@@ -33,9 +33,9 @@ import QGroundControl.FlightDisplay         1.0
 import QGroundControl.ScreenTools           1.0
 import QGroundControl.MultiVehicleManager   1.0
 
-/// Inner common QML for MainWindow
+/// Inner common QML for mainWindow
 Item {
-    id:         mainWindow
+    id: mainWindow
 
     signal reallyClose
 
@@ -50,10 +50,7 @@ Item {
     property real   tbButtonWidth:      tbCellHeight * 1.35
     property real   availableHeight:    height - tbHeight
     property real   menuButtonWidth:    (tbButtonWidth * 2) + (tbSpacing * 4) + 1
-
-    property var    defaultPosition:    QtPositioning.coordinate(37.803784, -122.462276)
-    property var    tabletPosition:     defaultPosition
-
+    property var    gcsPosition:        QtPositioning.coordinate()  // Starts as invalid coordinate
     property var    currentPopUp:       null
     property real   currentCenterX:     0
     property var    activeVehicle:      multiVehicleManager.activeVehicle
@@ -179,20 +176,20 @@ Item {
     PositionSource {
         id:             positionSource
         updateInterval: 1000
-        active:         false
+        active:         true
+
         onPositionChanged: {
             if(positionSource.valid) {
                 if(positionSource.position.coordinate.latitude) {
                     if(Math.abs(positionSource.position.coordinate.latitude)  > 0.001) {
                         if(positionSource.position.coordinate.longitude) {
                             if(Math.abs(positionSource.position.coordinate.longitude)  > 0.001) {
-                                tabletPosition = positionSource.position.coordinate
+                                gcsPosition = positionSource.position.coordinate
                             }
                         }
                     }
                 }
             }
-            positionSource.stop()
         }
     }
 
@@ -299,9 +296,6 @@ Item {
         anchors.fill:       parent
         availableHeight:    mainWindow.availableHeight
         visible:            true
-        Component.onCompleted: {
-            positionSource.start()
-        }
     }
 
     Loader {