Merge pull request #9020 from DonLakeFlyer/VehicleFactGroupRefactor

Vehicle fact group refactor

qgroundcontrol.pro

@@ -706,6 +706,14 @@ HEADERS += \
     src/Vehicle/Vehicle.h \
     src/Vehicle/VehicleObjectAvoidance.h \
     src/Vehicle/VehicleBatteryFactGroup.h \
+    src/Vehicle/VehicleClockFactGroup.h \
+    src/Vehicle/VehicleDistanceSensorFactGroup.h \
+    src/Vehicle/VehicleEstimatorStatusFactGroup.h \
+    src/Vehicle/VehicleGPSFactGroup.h \
+    src/Vehicle/VehicleSetpointFactGroup.h \
+    src/Vehicle/VehicleTemperatureFactGroup.h \
+    src/Vehicle/VehicleVibrationFactGroup.h \
+    src/Vehicle/VehicleWindFactGroup.h \
     src/VehicleSetup/JoystickConfigController.h \
     src/comm/LinkConfiguration.h \
     src/comm/LinkInterface.h \
@@ -926,6 +934,14 @@ SOURCES += \
     src/Vehicle/Vehicle.cc \
     src/Vehicle/VehicleObjectAvoidance.cc \
     src/Vehicle/VehicleBatteryFactGroup.cc \
+    src/Vehicle/VehicleClockFactGroup.cc \
+    src/Vehicle/VehicleDistanceSensorFactGroup.cc \
+    src/Vehicle/VehicleEstimatorStatusFactGroup.cc \
+    src/Vehicle/VehicleGPSFactGroup.cc \
+    src/Vehicle/VehicleSetpointFactGroup.cc \
+    src/Vehicle/VehicleTemperatureFactGroup.cc \
+    src/Vehicle/VehicleVibrationFactGroup.cc \
+    src/Vehicle/VehicleWindFactGroup.cc \
     src/VehicleSetup/JoystickConfigController.cc \
     src/comm/LinkConfiguration.cc \
     src/comm/LinkInterface.cc \

src/Vehicle/VehicleClockFactGroup.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "VehicleClockFactGroup.h"
+#include "Vehicle.h"
+
+const char* VehicleClockFactGroup::_currentTimeFactName = "currentTime";
+const char* VehicleClockFactGroup::_currentDateFactName = "currentDate";
+
+VehicleClockFactGroup::VehicleClockFactGroup(QObject* parent)
+    : FactGroup(1000, ":/json/Vehicle/ClockFact.json", parent)
+    , _currentTimeFact  (0, _currentTimeFactName,    FactMetaData::valueTypeString)
+    , _currentDateFact  (0, _currentDateFactName,    FactMetaData::valueTypeString)
+{
+    _addFact(&_currentTimeFact, _currentTimeFactName);
+    _addFact(&_currentDateFact, _currentDateFactName);
+
+    // Start out as not available "--.--"
+    _currentTimeFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
+    _currentDateFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
+}
+
+void VehicleClockFactGroup::_updateAllValues()
+{
+    _currentTimeFact.setRawValue(QTime::currentTime().toString());
+    _currentDateFact.setRawValue(QDateTime::currentDateTime().toString(QLocale::system().dateFormat(QLocale::ShortFormat)));
+
+    FactGroup::_updateAllValues();
+}

src/Vehicle/VehicleClockFactGroup.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FactGroup.h"
+#include "QGCMAVLink.h"
+
+class Vehicle;
+
+class VehicleClockFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    VehicleClockFactGroup(QObject* parent = nullptr);
+
+    Q_PROPERTY(Fact* currentTime READ currentTime CONSTANT)
+    Q_PROPERTY(Fact* currentDate READ currentDate CONSTANT)
+
+    Fact* currentTime () { return &_currentTimeFact; }
+    Fact* currentDate () { return &_currentDateFact; }
+
+    static const char* _currentTimeFactName;
+    static const char* _currentDateFactName;
+
+    static const char* _settingsGroup;
+
+private slots:
+    void _updateAllValues() override;
+
+private:
+    Fact            _currentTimeFact;
+    Fact            _currentDateFact;
+};

src/Vehicle/VehicleDistanceSensorFactGroup.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "VehicleDistanceSensorFactGroup.h"
+#include "Vehicle.h"
+
+const char* VehicleDistanceSensorFactGroup::_rotationNoneFactName =     "rotationNone";
+const char* VehicleDistanceSensorFactGroup::_rotationYaw45FactName =    "rotationYaw45";
+const char* VehicleDistanceSensorFactGroup::_rotationYaw90FactName =    "rotationYaw90";
+const char* VehicleDistanceSensorFactGroup::_rotationYaw135FactName =   "rotationYaw135";
+const char* VehicleDistanceSensorFactGroup::_rotationYaw180FactName =   "rotationYaw180";
+const char* VehicleDistanceSensorFactGroup::_rotationYaw225FactName =   "rotationYaw225";
+const char* VehicleDistanceSensorFactGroup::_rotationYaw270FactName =   "rotationYaw270";
+const char* VehicleDistanceSensorFactGroup::_rotationYaw315FactName =   "rotationYaw315";
+const char* VehicleDistanceSensorFactGroup::_rotationPitch90FactName =  "rotationPitch90";
+const char* VehicleDistanceSensorFactGroup::_rotationPitch270FactName = "rotationPitch270";
+const char* VehicleDistanceSensorFactGroup::_maxDistanceFactName =      "maxDistance";
+
+VehicleDistanceSensorFactGroup::VehicleDistanceSensorFactGroup(QObject* parent)
+    : FactGroup             (1000, ":/json/Vehicle/DistanceSensorFact.json", parent)
+    , _rotationNoneFact     (0, _rotationNoneFactName,      FactMetaData::valueTypeDouble)
+    , _rotationYaw45Fact    (0, _rotationYaw45FactName,     FactMetaData::valueTypeDouble)
+    , _rotationYaw90Fact    (0, _rotationYaw90FactName,     FactMetaData::valueTypeDouble)
+    , _rotationYaw135Fact   (0, _rotationYaw135FactName,    FactMetaData::valueTypeDouble)
+    , _rotationYaw180Fact   (0, _rotationYaw180FactName,    FactMetaData::valueTypeDouble)
+    , _rotationYaw225Fact   (0, _rotationYaw225FactName,    FactMetaData::valueTypeDouble)
+    , _rotationYaw270Fact   (0, _rotationYaw270FactName,    FactMetaData::valueTypeDouble)
+    , _rotationYaw315Fact   (0, _rotationYaw315FactName,    FactMetaData::valueTypeDouble)
+    , _rotationPitch90Fact  (0, _rotationPitch90FactName,   FactMetaData::valueTypeDouble)
+    , _rotationPitch270Fact (0, _rotationPitch270FactName,  FactMetaData::valueTypeDouble)
+    , _maxDistanceFact      (0, _maxDistanceFactName,       FactMetaData::valueTypeDouble)
+{
+    _addFact(&_rotationNoneFact,        _rotationNoneFactName);
+    _addFact(&_rotationYaw45Fact,       _rotationYaw45FactName);
+    _addFact(&_rotationYaw90Fact,       _rotationYaw90FactName);
+    _addFact(&_rotationYaw135Fact,      _rotationYaw135FactName);
+    _addFact(&_rotationYaw180Fact,      _rotationYaw180FactName);
+    _addFact(&_rotationYaw225Fact,      _rotationYaw225FactName);
+    _addFact(&_rotationYaw270Fact,      _rotationYaw270FactName);
+    _addFact(&_rotationYaw315Fact,      _rotationYaw315FactName);
+    _addFact(&_rotationPitch90Fact,     _rotationPitch90FactName);
+    _addFact(&_rotationPitch270Fact,    _rotationPitch270FactName);
+    _addFact(&_maxDistanceFact,         _maxDistanceFactName);
+
+    // Start out as not available "--.--"
+    _rotationNoneFact.setRawValue(qQNaN());
+    _rotationYaw45Fact.setRawValue(qQNaN());
+    _rotationYaw135Fact.setRawValue(qQNaN());
+    _rotationYaw90Fact.setRawValue(qQNaN());
+    _rotationYaw180Fact.setRawValue(qQNaN());
+    _rotationYaw225Fact.setRawValue(qQNaN());
+    _rotationYaw270Fact.setRawValue(qQNaN());
+    _rotationPitch90Fact.setRawValue(qQNaN());
+    _rotationPitch270Fact.setRawValue(qQNaN());
+    _maxDistanceFact.setRawValue(qQNaN());
+}
+
+void VehicleDistanceSensorFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& message)
+{
+    if (message.msgid != MAVLINK_MSG_ID_DISTANCE_SENSOR) {
+        return;
+    }
+
+    mavlink_distance_sensor_t distanceSensor;
+
+    mavlink_msg_distance_sensor_decode(&message, &distanceSensor);
+
+    struct orientation2Fact_s {
+        MAV_SENSOR_ORIENTATION  orientation;
+        Fact*                   fact;
+    };
+
+    orientation2Fact_s rgOrientation2Fact[] =
+    {
+        { MAV_SENSOR_ROTATION_NONE,         rotationNone() },
+        { MAV_SENSOR_ROTATION_YAW_45,       rotationYaw45() },
+        { MAV_SENSOR_ROTATION_YAW_90,       rotationYaw90() },
+        { MAV_SENSOR_ROTATION_YAW_135,      rotationYaw135() },
+        { MAV_SENSOR_ROTATION_YAW_180,      rotationYaw180() },
+        { MAV_SENSOR_ROTATION_YAW_225,      rotationYaw225() },
+        { MAV_SENSOR_ROTATION_YAW_270,      rotationYaw270() },
+        { MAV_SENSOR_ROTATION_YAW_315,      rotationYaw315() },
+        { MAV_SENSOR_ROTATION_PITCH_90,     rotationPitch90() },
+        { MAV_SENSOR_ROTATION_PITCH_270,    rotationPitch270() },
+    };
+
+    for (size_t i=0; i<sizeof(rgOrientation2Fact)/sizeof(rgOrientation2Fact[0]); i++) {
+        const orientation2Fact_s& orientation2Fact = rgOrientation2Fact[i];
+        if (orientation2Fact.orientation == distanceSensor.orientation) {
+            orientation2Fact.fact->setRawValue(distanceSensor.current_distance / 100.0); // cm to meters
+        }
+    maxDistance()->setRawValue(distanceSensor.max_distance/100.0);
+    }
+}

src/Vehicle/VehicleDistanceSensorFactGroup.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FactGroup.h"
+#include "QGCMAVLink.h"
+
+class Vehicle;
+
+class VehicleDistanceSensorFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    VehicleDistanceSensorFactGroup(QObject* parent = nullptr);
+
+    Q_PROPERTY(Fact* rotationNone       READ rotationNone       CONSTANT)
+    Q_PROPERTY(Fact* rotationYaw45      READ rotationYaw45      CONSTANT)
+    Q_PROPERTY(Fact* rotationYaw90      READ rotationYaw90      CONSTANT)
+    Q_PROPERTY(Fact* rotationYaw135     READ rotationYaw135     CONSTANT)
+    Q_PROPERTY(Fact* rotationYaw180     READ rotationYaw180     CONSTANT)
+    Q_PROPERTY(Fact* rotationYaw225     READ rotationYaw225     CONSTANT)
+    Q_PROPERTY(Fact* rotationYaw270     READ rotationYaw270     CONSTANT)
+    Q_PROPERTY(Fact* rotationYaw315     READ rotationYaw315     CONSTANT)
+    Q_PROPERTY(Fact* rotationPitch90    READ rotationPitch90    CONSTANT)
+    Q_PROPERTY(Fact* rotationPitch270   READ rotationPitch270   CONSTANT)
+    Q_PROPERTY(Fact* maxDistance        READ maxDistance        CONSTANT)
+
+    Fact* rotationNone      () { return &_rotationNoneFact; }
+    Fact* rotationYaw45     () { return &_rotationYaw45Fact; }
+    Fact* rotationYaw90     () { return &_rotationYaw90Fact; }
+    Fact* rotationYaw135    () { return &_rotationYaw135Fact; }
+    Fact* rotationYaw180    () { return &_rotationYaw180Fact; }
+    Fact* rotationYaw225    () { return &_rotationYaw225Fact; }
+    Fact* rotationYaw270    () { return &_rotationYaw270Fact; }
+    Fact* rotationYaw315    () { return &_rotationYaw315Fact; }
+    Fact* rotationPitch90   () { return &_rotationPitch90Fact; }
+    Fact* rotationPitch270  () { return &_rotationPitch270Fact; }
+    Fact* maxDistance       () { return &_maxDistanceFact; }
+
+    // Overrides from FactGroup
+    void handleMessage(Vehicle* vehicle, mavlink_message_t& message) override;
+
+    static const char* _rotationNoneFactName;
+    static const char* _rotationYaw45FactName;
+    static const char* _rotationYaw90FactName;
+    static const char* _rotationYaw135FactName;
+    static const char* _rotationYaw180FactName;
+    static const char* _rotationYaw225FactName;
+    static const char* _rotationYaw270FactName;
+    static const char* _rotationYaw315FactName;
+    static const char* _rotationPitch90FactName;
+    static const char* _rotationPitch270FactName;
+    static const char* _maxDistanceFactName;
+
+private:
+    Fact _rotationNoneFact;
+    Fact _rotationYaw45Fact;
+    Fact _rotationYaw90Fact;
+    Fact _rotationYaw135Fact;
+    Fact _rotationYaw180Fact;
+    Fact _rotationYaw225Fact;
+    Fact _rotationYaw270Fact;
+    Fact _rotationYaw315Fact;
+    Fact _rotationPitch90Fact;
+    Fact _rotationPitch270Fact;
+    Fact _maxDistanceFact;
+};

src/Vehicle/VehicleEstimatorStatusFactGroup.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "VehicleEstimatorStatusFactGroup.h"
+#include "Vehicle.h"
+
+const char* VehicleEstimatorStatusFactGroup::_goodAttitudeEstimateFactName =        "goodAttitudeEsimate";
+const char* VehicleEstimatorStatusFactGroup::_goodHorizVelEstimateFactName =        "goodHorizVelEstimate";
+const char* VehicleEstimatorStatusFactGroup::_goodVertVelEstimateFactName =         "goodVertVelEstimate";
+const char* VehicleEstimatorStatusFactGroup::_goodHorizPosRelEstimateFactName =     "goodHorizPosRelEstimate";
+const char* VehicleEstimatorStatusFactGroup::_goodHorizPosAbsEstimateFactName =     "goodHorizPosAbsEstimate";
+const char* VehicleEstimatorStatusFactGroup::_goodVertPosAbsEstimateFactName =      "goodVertPosAbsEstimate";
+const char* VehicleEstimatorStatusFactGroup::_goodVertPosAGLEstimateFactName =      "goodVertPosAGLEstimate";
+const char* VehicleEstimatorStatusFactGroup::_goodConstPosModeEstimateFactName =    "goodConstPosModeEstimate";
+const char* VehicleEstimatorStatusFactGroup::_goodPredHorizPosRelEstimateFactName = "goodPredHorizPosRelEstimate";
+const char* VehicleEstimatorStatusFactGroup::_goodPredHorizPosAbsEstimateFactName = "goodPredHorizPosAbsEstimate";
+const char* VehicleEstimatorStatusFactGroup::_gpsGlitchFactName =                   "gpsGlitch";
+const char* VehicleEstimatorStatusFactGroup::_accelErrorFactName =                  "accelError";
+const char* VehicleEstimatorStatusFactGroup::_velRatioFactName =                    "velRatio";
+const char* VehicleEstimatorStatusFactGroup::_horizPosRatioFactName =               "horizPosRatio";
+const char* VehicleEstimatorStatusFactGroup::_vertPosRatioFactName =                "vertPosRatio";
+const char* VehicleEstimatorStatusFactGroup::_magRatioFactName =                    "magRatio";
+const char* VehicleEstimatorStatusFactGroup::_haglRatioFactName =                   "haglRatio";
+const char* VehicleEstimatorStatusFactGroup::_tasRatioFactName =                    "tasRatio";
+const char* VehicleEstimatorStatusFactGroup::_horizPosAccuracyFactName =            "horizPosAccuracy";
+const char* VehicleEstimatorStatusFactGroup::_vertPosAccuracyFactName =             "vertPosAccuracy";
+
+VehicleEstimatorStatusFactGroup::VehicleEstimatorStatusFactGroup(QObject* parent)
+    : FactGroup                         (500, ":/json/Vehicle/EstimatorStatusFactGroup.json", parent)
+    , _goodAttitudeEstimateFact         (0, _goodAttitudeEstimateFactName,          FactMetaData::valueTypeBool)
+    , _goodHorizVelEstimateFact         (0, _goodHorizVelEstimateFactName,          FactMetaData::valueTypeBool)
+    , _goodVertVelEstimateFact          (0, _goodVertVelEstimateFactName,           FactMetaData::valueTypeBool)
+    , _goodHorizPosRelEstimateFact      (0, _goodHorizPosRelEstimateFactName,       FactMetaData::valueTypeBool)
+    , _goodHorizPosAbsEstimateFact      (0, _goodHorizPosAbsEstimateFactName,       FactMetaData::valueTypeBool)
+    , _goodVertPosAbsEstimateFact       (0, _goodVertPosAbsEstimateFactName,        FactMetaData::valueTypeBool)
+    , _goodVertPosAGLEstimateFact       (0, _goodVertPosAGLEstimateFactName,        FactMetaData::valueTypeBool)
+    , _goodConstPosModeEstimateFact     (0, _goodConstPosModeEstimateFactName,      FactMetaData::valueTypeBool)
+    , _goodPredHorizPosRelEstimateFact  (0, _goodPredHorizPosRelEstimateFactName,   FactMetaData::valueTypeBool)
+    , _goodPredHorizPosAbsEstimateFact  (0, _goodPredHorizPosAbsEstimateFactName,   FactMetaData::valueTypeBool)
+    , _gpsGlitchFact                    (0, _gpsGlitchFactName,                     FactMetaData::valueTypeBool)
+    , _accelErrorFact                   (0, _accelErrorFactName,                    FactMetaData::valueTypeBool)
+    , _velRatioFact                     (0, _velRatioFactName,                      FactMetaData::valueTypeFloat)
+    , _horizPosRatioFact                (0, _horizPosRatioFactName,                 FactMetaData::valueTypeFloat)
+    , _vertPosRatioFact                 (0, _vertPosRatioFactName,                  FactMetaData::valueTypeFloat)
+    , _magRatioFact                     (0, _magRatioFactName,                      FactMetaData::valueTypeFloat)
+    , _haglRatioFact                    (0, _haglRatioFactName,                     FactMetaData::valueTypeFloat)
+    , _tasRatioFact                     (0, _tasRatioFactName,                      FactMetaData::valueTypeFloat)
+    , _horizPosAccuracyFact             (0, _horizPosAccuracyFactName,              FactMetaData::valueTypeFloat)
+    , _vertPosAccuracyFact              (0, _vertPosAccuracyFactName,               FactMetaData::valueTypeFloat)
+{
+    _addFact(&_goodAttitudeEstimateFact,        _goodAttitudeEstimateFactName);
+    _addFact(&_goodHorizVelEstimateFact,        _goodHorizVelEstimateFactName);
+    _addFact(&_goodVertVelEstimateFact,         _goodVertVelEstimateFactName);
+    _addFact(&_goodHorizPosRelEstimateFact,     _goodHorizPosRelEstimateFactName);
+    _addFact(&_goodHorizPosAbsEstimateFact,     _goodHorizPosAbsEstimateFactName);
+    _addFact(&_goodVertPosAbsEstimateFact,      _goodVertPosAbsEstimateFactName);
+    _addFact(&_goodVertPosAGLEstimateFact,      _goodVertPosAGLEstimateFactName);
+    _addFact(&_goodConstPosModeEstimateFact,    _goodConstPosModeEstimateFactName);
+    _addFact(&_goodPredHorizPosRelEstimateFact, _goodPredHorizPosRelEstimateFactName);
+    _addFact(&_goodPredHorizPosAbsEstimateFact, _goodPredHorizPosAbsEstimateFactName);
+    _addFact(&_gpsGlitchFact,                   _gpsGlitchFactName);
+    _addFact(&_accelErrorFact,                  _accelErrorFactName);
+    _addFact(&_velRatioFact,                    _velRatioFactName);
+    _addFact(&_horizPosRatioFact,               _horizPosRatioFactName);
+    _addFact(&_vertPosRatioFact,                _vertPosRatioFactName);
+    _addFact(&_magRatioFact,                    _magRatioFactName);
+    _addFact(&_haglRatioFact,                   _haglRatioFactName);
+    _addFact(&_tasRatioFact,                    _tasRatioFactName);
+    _addFact(&_horizPosAccuracyFact,            _horizPosAccuracyFactName);
+    _addFact(&_vertPosAccuracyFact,             _vertPosAccuracyFactName);
+}
+
+void VehicleEstimatorStatusFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& message)
+{
+    if (message.msgid != MAVLINK_MSG_ID_ESTIMATOR_STATUS) {
+        return;
+    }
+
+    mavlink_estimator_status_t estimatorStatus;
+    mavlink_msg_estimator_status_decode(&message, &estimatorStatus);
+
+    goodAttitudeEstimate()->setRawValue         (!!(estimatorStatus.flags & ESTIMATOR_ATTITUDE));
+    goodHorizVelEstimate()->setRawValue         (!!(estimatorStatus.flags & ESTIMATOR_VELOCITY_HORIZ));
+    goodVertVelEstimate()->setRawValue          (!!(estimatorStatus.flags & ESTIMATOR_VELOCITY_VERT));
+    goodHorizPosRelEstimate()->setRawValue      (!!(estimatorStatus.flags & ESTIMATOR_POS_HORIZ_REL));
+    goodHorizPosAbsEstimate()->setRawValue      (!!(estimatorStatus.flags & ESTIMATOR_POS_HORIZ_ABS));
+    goodVertPosAbsEstimate()->setRawValue       (!!(estimatorStatus.flags & ESTIMATOR_POS_VERT_ABS));
+    goodVertPosAGLEstimate()->setRawValue       (!!(estimatorStatus.flags & ESTIMATOR_POS_VERT_AGL));
+    goodConstPosModeEstimate()->setRawValue     (!!(estimatorStatus.flags & ESTIMATOR_CONST_POS_MODE));
+    goodPredHorizPosRelEstimate()->setRawValue  (!!(estimatorStatus.flags & ESTIMATOR_PRED_POS_HORIZ_REL));
+    goodPredHorizPosAbsEstimate()->setRawValue  (!!(estimatorStatus.flags & ESTIMATOR_PRED_POS_HORIZ_ABS));
+    gpsGlitch()->setRawValue                    (estimatorStatus.flags & ESTIMATOR_GPS_GLITCH ? true : false);
+    accelError()->setRawValue                   (!!(estimatorStatus.flags & ESTIMATOR_ACCEL_ERROR));
+    velRatio()->setRawValue                     (estimatorStatus.vel_ratio);
+    horizPosRatio()->setRawValue                (estimatorStatus.pos_horiz_ratio);
+    vertPosRatio()->setRawValue                 (estimatorStatus.pos_vert_ratio);
+    magRatio()->setRawValue                     (estimatorStatus.mag_ratio);
+    haglRatio()->setRawValue                    (estimatorStatus.hagl_ratio);
+    tasRatio()->setRawValue                     (estimatorStatus.tas_ratio);
+    horizPosAccuracy()->setRawValue             (estimatorStatus.pos_horiz_accuracy);
+    vertPosAccuracy()->setRawValue              (estimatorStatus.pos_vert_accuracy);
+}

src/Vehicle/VehicleEstimatorStatusFactGroup.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FactGroup.h"
+#include "QGCMAVLink.h"
+
+class Vehicle;
+
+class VehicleEstimatorStatusFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    VehicleEstimatorStatusFactGroup(QObject* parent = nullptr);
+
+    Q_PROPERTY(Fact* goodAttitudeEstimate           READ goodAttitudeEstimate           CONSTANT)
+    Q_PROPERTY(Fact* goodHorizVelEstimate           READ goodHorizVelEstimate           CONSTANT)
+    Q_PROPERTY(Fact* goodVertVelEstimate            READ goodVertVelEstimate            CONSTANT)
+    Q_PROPERTY(Fact* goodHorizPosRelEstimate        READ goodHorizPosRelEstimate        CONSTANT)
+    Q_PROPERTY(Fact* goodHorizPosAbsEstimate        READ goodHorizPosAbsEstimate        CONSTANT)
+    Q_PROPERTY(Fact* goodVertPosAbsEstimate         READ goodVertPosAbsEstimate         CONSTANT)
+    Q_PROPERTY(Fact* goodVertPosAGLEstimate         READ goodVertPosAGLEstimate         CONSTANT)
+    Q_PROPERTY(Fact* goodConstPosModeEstimate       READ goodConstPosModeEstimate       CONSTANT)
+    Q_PROPERTY(Fact* goodPredHorizPosRelEstimate    READ goodPredHorizPosRelEstimate    CONSTANT)
+    Q_PROPERTY(Fact* goodPredHorizPosAbsEstimate    READ goodPredHorizPosAbsEstimate    CONSTANT)
+    Q_PROPERTY(Fact* gpsGlitch                      READ gpsGlitch                      CONSTANT)
+    Q_PROPERTY(Fact* accelError                     READ accelError                     CONSTANT)
+    Q_PROPERTY(Fact* velRatio                       READ velRatio                       CONSTANT)
+    Q_PROPERTY(Fact* horizPosRatio                  READ horizPosRatio                  CONSTANT)
+    Q_PROPERTY(Fact* vertPosRatio                   READ vertPosRatio                   CONSTANT)
+    Q_PROPERTY(Fact* magRatio                       READ magRatio                       CONSTANT)
+    Q_PROPERTY(Fact* haglRatio                      READ haglRatio                      CONSTANT)
+    Q_PROPERTY(Fact* tasRatio                       READ tasRatio                       CONSTANT)
+    Q_PROPERTY(Fact* horizPosAccuracy               READ horizPosAccuracy               CONSTANT)
+    Q_PROPERTY(Fact* vertPosAccuracy                READ vertPosAccuracy                CONSTANT)
+
+    Fact* goodAttitudeEstimate          () { return &_goodAttitudeEstimateFact; }
+    Fact* goodHorizVelEstimate          () { return &_goodHorizVelEstimateFact; }
+    Fact* goodVertVelEstimate           () { return &_goodVertVelEstimateFact; }
+    Fact* goodHorizPosRelEstimate       () { return &_goodHorizPosRelEstimateFact; }
+    Fact* goodHorizPosAbsEstimate       () { return &_goodHorizPosAbsEstimateFact; }
+    Fact* goodVertPosAbsEstimate        () { return &_goodVertPosAbsEstimateFact; }
+    Fact* goodVertPosAGLEstimate        () { return &_goodVertPosAGLEstimateFact; }
+    Fact* goodConstPosModeEstimate      () { return &_goodConstPosModeEstimateFact; }
+    Fact* goodPredHorizPosRelEstimate   () { return &_goodPredHorizPosRelEstimateFact; }
+    Fact* goodPredHorizPosAbsEstimate   () { return &_goodPredHorizPosAbsEstimateFact; }
+    Fact* gpsGlitch                     () { return &_gpsGlitchFact; }
+    Fact* accelError                    () { return &_accelErrorFact; }
+    Fact* velRatio                      () { return &_velRatioFact; }
+    Fact* horizPosRatio                 () { return &_horizPosRatioFact; }
+    Fact* vertPosRatio                  () { return &_vertPosRatioFact; }
+    Fact* magRatio                      () { return &_magRatioFact; }
+    Fact* haglRatio                     () { return &_haglRatioFact; }
+    Fact* tasRatio                      () { return &_tasRatioFact; }
+    Fact* horizPosAccuracy              () { return &_horizPosAccuracyFact; }
+    Fact* vertPosAccuracy               () { return &_vertPosAccuracyFact; }
+
+    // Overrides from FactGroup
+    void handleMessage(Vehicle* vehicle, mavlink_message_t& message) override;
+
+    static const char* _goodAttitudeEstimateFactName;
+    static const char* _goodHorizVelEstimateFactName;
+    static const char* _goodVertVelEstimateFactName;
+    static const char* _goodHorizPosRelEstimateFactName;
+    static const char* _goodHorizPosAbsEstimateFactName;
+    static const char* _goodVertPosAbsEstimateFactName;
+    static const char* _goodVertPosAGLEstimateFactName;
+    static const char* _goodConstPosModeEstimateFactName;
+    static const char* _goodPredHorizPosRelEstimateFactName;
+    static const char* _goodPredHorizPosAbsEstimateFactName;
+    static const char* _gpsGlitchFactName;
+    static const char* _accelErrorFactName;
+    static const char* _velRatioFactName;
+    static const char* _horizPosRatioFactName;
+    static const char* _vertPosRatioFactName;
+    static const char* _magRatioFactName;
+    static const char* _haglRatioFactName;
+    static const char* _tasRatioFactName;
+    static const char* _horizPosAccuracyFactName;
+    static const char* _vertPosAccuracyFactName;
+
+private:
+    Fact _goodAttitudeEstimateFact;
+    Fact _goodHorizVelEstimateFact;
+    Fact _goodVertVelEstimateFact;
+    Fact _goodHorizPosRelEstimateFact;
+    Fact _goodHorizPosAbsEstimateFact;
+    Fact _goodVertPosAbsEstimateFact;
+    Fact _goodVertPosAGLEstimateFact;
+    Fact _goodConstPosModeEstimateFact;
+    Fact _goodPredHorizPosRelEstimateFact;
+    Fact _goodPredHorizPosAbsEstimateFact;
+    Fact _gpsGlitchFact;
+    Fact _accelErrorFact;
+    Fact _velRatioFact;
+    Fact _horizPosRatioFact;
+    Fact _vertPosRatioFact;
+    Fact _magRatioFact;
+    Fact _haglRatioFact;
+    Fact _tasRatioFact;
+    Fact _horizPosAccuracyFact;
+    Fact _vertPosAccuracyFact;
+};

src/Vehicle/VehicleGPSFactGroup.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "VehicleGPSFactGroup.h"
+#include "Vehicle.h"
+#include "QGCGeo.h"
+
+const char* VehicleGPSFactGroup::_latFactName =                 "lat";
+const char* VehicleGPSFactGroup::_lonFactName =                 "lon";
+const char* VehicleGPSFactGroup::_mgrsFactName =                "mgrs";
+const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
+const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
+const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGround";
+const char* VehicleGPSFactGroup::_countFactName =               "count";
+const char* VehicleGPSFactGroup::_lockFactName =                "lock";
+
+VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent)
+    : FactGroup(1000, ":/json/Vehicle/GPSFact.json", parent)
+    , _latFact              (0, _latFactName,               FactMetaData::valueTypeDouble)
+    , _lonFact              (0, _lonFactName,               FactMetaData::valueTypeDouble)
+    , _mgrsFact             (0, _mgrsFactName,              FactMetaData::valueTypeString)
+    , _hdopFact             (0, _hdopFactName,              FactMetaData::valueTypeDouble)
+    , _vdopFact             (0, _vdopFactName,              FactMetaData::valueTypeDouble)
+    , _courseOverGroundFact (0, _courseOverGroundFactName,  FactMetaData::valueTypeDouble)
+    , _countFact            (0, _countFactName,             FactMetaData::valueTypeInt32)
+    , _lockFact             (0, _lockFactName,              FactMetaData::valueTypeInt32)
+{
+    _addFact(&_latFact,                 _latFactName);
+    _addFact(&_lonFact,                 _lonFactName);
+    _addFact(&_mgrsFact,                _mgrsFactName);
+    _addFact(&_hdopFact,                _hdopFactName);
+    _addFact(&_vdopFact,                _vdopFactName);
+    _addFact(&_courseOverGroundFact,    _courseOverGroundFactName);
+    _addFact(&_lockFact,                _lockFactName);
+    _addFact(&_countFact,               _countFactName);
+
+    _latFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
+    _lonFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
+    _mgrsFact.setRawValue("");
+    _hdopFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
+    _vdopFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
+    _courseOverGroundFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
+}
+
+void VehicleGPSFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& message)
+{
+    switch (message.msgid) {
+    case MAVLINK_MSG_ID_GPS_RAW_INT:
+        _handleGpsRawInt(message);
+        break;
+    case MAVLINK_MSG_ID_HIGH_LATENCY:
+        _handleHighLatency(message);
+        break;
+    case MAVLINK_MSG_ID_HIGH_LATENCY2:
+        _handleHighLatency2(message);
+        break;
+    default:
+        break;
+    }
+}
+
+void VehicleGPSFactGroup::_handleGpsRawInt(mavlink_message_t& message)
+{
+    mavlink_gps_raw_int_t gpsRawInt;
+    mavlink_msg_gps_raw_int_decode(&message, &gpsRawInt);
+
+    lat()->setRawValue              (gpsRawInt.lat * 1e-7);
+    lon()->setRawValue              (gpsRawInt.lon * 1e-7);
+    mgrs()->setRawValue             (convertGeoToMGRS(QGeoCoordinate(gpsRawInt.lat * 1e-7, gpsRawInt.lon * 1e-7)));
+    count()->setRawValue            (gpsRawInt.satellites_visible == 255 ? 0 : gpsRawInt.satellites_visible);
+    hdop()->setRawValue             (gpsRawInt.eph == UINT16_MAX ? qQNaN() : gpsRawInt.eph / 100.0);
+    vdop()->setRawValue             (gpsRawInt.epv == UINT16_MAX ? qQNaN() : gpsRawInt.epv / 100.0);
+    courseOverGround()->setRawValue (gpsRawInt.cog == UINT16_MAX ? qQNaN() : gpsRawInt.cog / 100.0);
+    lock()->setRawValue             (gpsRawInt.fix_type);
+}
+
+void VehicleGPSFactGroup::_handleHighLatency(mavlink_message_t& message)
+{
+    mavlink_high_latency_t highLatency;
+    mavlink_msg_high_latency_decode(&message, &highLatency);
+
+    struct {
+        const double latitude;
+        const double longitude;
+        const double altitude;
+    } coordinate {
+        highLatency.latitude  / (double)1E7,
+                highLatency.longitude  / (double)1E7,
+                static_cast<double>(highLatency.altitude_amsl)
+    };
+
+    lat()->setRawValue  (coordinate.latitude);
+    lon()->setRawValue  (coordinate.longitude);
+    mgrs()->setRawValue (convertGeoToMGRS(QGeoCoordinate(coordinate.latitude, coordinate.longitude)));
+    count()->setRawValue(0);
+}
+
+void VehicleGPSFactGroup::_handleHighLatency2(mavlink_message_t& message)
+{
+    mavlink_high_latency2_t highLatency2;
+    mavlink_msg_high_latency2_decode(&message, &highLatency2);
+
+    lat()->setRawValue  (highLatency2.latitude * 1e-7);
+    lon()->setRawValue  (highLatency2.longitude * 1e-7);
+    mgrs()->setRawValue (convertGeoToMGRS(QGeoCoordinate(highLatency2.latitude * 1e-7, highLatency2.longitude * 1e-7)));
+    count()->setRawValue(0);
+    hdop()->setRawValue (highLatency2.eph == UINT8_MAX ? qQNaN() : highLatency2.eph / 10.0);
+    vdop()->setRawValue (highLatency2.epv == UINT8_MAX ? qQNaN() : highLatency2.epv / 10.0);
+}

src/Vehicle/VehicleGPSFactGroup.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FactGroup.h"
+#include "QGCMAVLink.h"
+
+class VehicleGPSFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    VehicleGPSFactGroup(QObject* parent = nullptr);
+
+    Q_PROPERTY(Fact* lat                READ lat                CONSTANT)
+    Q_PROPERTY(Fact* lon                READ lon                CONSTANT)
+    Q_PROPERTY(Fact* mgrs               READ mgrs               CONSTANT)
+    Q_PROPERTY(Fact* hdop               READ hdop               CONSTANT)
+    Q_PROPERTY(Fact* vdop               READ vdop               CONSTANT)
+    Q_PROPERTY(Fact* courseOverGround   READ courseOverGround   CONSTANT)
+    Q_PROPERTY(Fact* count              READ count              CONSTANT)
+    Q_PROPERTY(Fact* lock               READ lock               CONSTANT)
+
+    Fact* lat               () { return &_latFact; }
+    Fact* lon               () { return &_lonFact; }
+    Fact* mgrs              () { return &_mgrsFact; }
+    Fact* hdop              () { return &_hdopFact; }
+    Fact* vdop              () { return &_vdopFact; }
+    Fact* courseOverGround  () { return &_courseOverGroundFact; }
+    Fact* count             () { return &_countFact; }
+    Fact* lock              () { return &_lockFact; }
+
+    // Overrides from FactGroup
+    void handleMessage(Vehicle* vehicle, mavlink_message_t& message) override;
+
+    static const char* _latFactName;
+    static const char* _lonFactName;
+    static const char* _mgrsFactName;
+    static const char* _hdopFactName;
+    static const char* _vdopFactName;
+    static const char* _courseOverGroundFactName;
+    static const char* _countFactName;
+    static const char* _lockFactName;
+
+private:
+    void _handleGpsRawInt   (mavlink_message_t& message);
+    void _handleHighLatency (mavlink_message_t& message);
+    void _handleHighLatency2(mavlink_message_t& message);
+
+    Fact _latFact;
+    Fact _lonFact;
+    Fact _mgrsFact;
+    Fact _hdopFact;
+    Fact _vdopFact;
+    Fact _courseOverGroundFact;
+    Fact _countFact;
+    Fact _lockFact;
+};

src/Vehicle/VehicleSetpointFactGroup.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "VehicleSetpointFactGroup.h"
+#include "Vehicle.h"
+
+#include <QtMath>
+
+const char* VehicleSetpointFactGroup::_rollFactName =       "roll";
+const char* VehicleSetpointFactGroup::_pitchFactName =      "pitch";
+const char* VehicleSetpointFactGroup::_yawFactName =        "yaw";
+const char* VehicleSetpointFactGroup::_rollRateFactName =   "rollRate";
+const char* VehicleSetpointFactGroup::_pitchRateFactName =  "pitchRate";
+const char* VehicleSetpointFactGroup::_yawRateFactName =    "yawRate";
+
+VehicleSetpointFactGroup::VehicleSetpointFactGroup(QObject* parent)
+    : FactGroup     (1000, ":/json/Vehicle/SetpointFact.json", parent)
+    , _rollFact     (0, _rollFactName,      FactMetaData::valueTypeDouble)
+    , _pitchFact    (0, _pitchFactName,     FactMetaData::valueTypeDouble)
+    , _yawFact      (0, _yawFactName,       FactMetaData::valueTypeDouble)
+    , _rollRateFact (0, _rollRateFactName,  FactMetaData::valueTypeDouble)
+    , _pitchRateFact(0, _pitchRateFactName, FactMetaData::valueTypeDouble)
+    , _yawRateFact  (0, _yawRateFactName,   FactMetaData::valueTypeDouble)
+{
+    _addFact(&_rollFact,        _rollFactName);
+    _addFact(&_pitchFact,       _pitchFactName);
+    _addFact(&_yawFact,         _yawFactName);
+    _addFact(&_rollRateFact,    _rollRateFactName);
+    _addFact(&_pitchRateFact,   _pitchRateFactName);
+    _addFact(&_yawRateFact,     _yawRateFactName);
+
+    // Start out as not available "--.--"
+    _rollFact.setRawValue(qQNaN());
+    _pitchFact.setRawValue(qQNaN());
+    _yawFact.setRawValue(qQNaN());
+    _rollRateFact.setRawValue(qQNaN());
+    _pitchRateFact.setRawValue(qQNaN());
+    _yawRateFact.setRawValue(qQNaN());
+}
+
+void VehicleSetpointFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& message)
+{
+    if (message.msgid != MAVLINK_MSG_ID_ATTITUDE_TARGET) {
+        return;
+    }
+
+    mavlink_attitude_target_t attitudeTarget;
+
+    mavlink_msg_attitude_target_decode(&message, &attitudeTarget);
+
+    float roll, pitch, yaw;
+    mavlink_quaternion_to_euler(attitudeTarget.q, &roll, &pitch, &yaw);
+
+    this->roll()->setRawValue   (qRadiansToDegrees(roll));
+    this->pitch()->setRawValue  (qRadiansToDegrees(pitch));
+    this->yaw()->setRawValue    (qRadiansToDegrees(yaw));
+
+    rollRate()->setRawValue (qRadiansToDegrees(attitudeTarget.body_roll_rate));
+    pitchRate()->setRawValue(qRadiansToDegrees(attitudeTarget.body_pitch_rate));
+    yawRate()->setRawValue  (qRadiansToDegrees(attitudeTarget.body_yaw_rate));
+}

src/Vehicle/VehicleSetpointFactGroup.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FactGroup.h"
+#include "QGCMAVLink.h"
+
+class VehicleSetpointFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    VehicleSetpointFactGroup(QObject* parent = nullptr);
+
+    Q_PROPERTY(Fact* roll       READ roll       CONSTANT)
+    Q_PROPERTY(Fact* pitch      READ pitch      CONSTANT)
+    Q_PROPERTY(Fact* yaw        READ yaw        CONSTANT)
+    Q_PROPERTY(Fact* rollRate   READ rollRate   CONSTANT)
+    Q_PROPERTY(Fact* pitchRate  READ pitchRate  CONSTANT)
+    Q_PROPERTY(Fact* yawRate    READ yawRate    CONSTANT)
+
+    Fact* roll      () { return &_rollFact; }
+    Fact* pitch     () { return &_pitchFact; }
+    Fact* yaw       () { return &_yawFact; }
+    Fact* rollRate  () { return &_rollRateFact; }
+    Fact* pitchRate () { return &_pitchRateFact; }
+    Fact* yawRate   () { return &_yawRateFact; }
+
+    // Overrides from FactGroup
+    void handleMessage(Vehicle* vehicle, mavlink_message_t& message) override;
+
+    static const char* _rollFactName;
+    static const char* _pitchFactName;
+    static const char* _yawFactName;
+    static const char* _rollRateFactName;
+    static const char* _pitchRateFactName;
+    static const char* _yawRateFactName;
+
+private:
+    Fact _rollFact;
+    Fact _pitchFact;
+    Fact _yawFact;
+    Fact _rollRateFact;
+    Fact _pitchRateFact;
+    Fact _yawRateFact;
+};

src/Vehicle/VehicleTemperatureFactGroup.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "VehicleSetpointFactGroup.h"
+#include "Vehicle.h"
+
+const char* VehicleTemperatureFactGroup::_temperature1FactName =      "temperature1";
+const char* VehicleTemperatureFactGroup::_temperature2FactName =      "temperature2";
+const char* VehicleTemperatureFactGroup::_temperature3FactName =      "temperature3";
+
+VehicleTemperatureFactGroup::VehicleTemperatureFactGroup(QObject* parent)
+    : FactGroup(1000, ":/json/Vehicle/TemperatureFact.json", parent)
+    , _temperature1Fact    (0, _temperature1FactName,     FactMetaData::valueTypeDouble)
+    , _temperature2Fact    (0, _temperature2FactName,     FactMetaData::valueTypeDouble)
+    , _temperature3Fact    (0, _temperature3FactName,     FactMetaData::valueTypeDouble)
+{
+    _addFact(&_temperature1Fact,       _temperature1FactName);
+    _addFact(&_temperature2Fact,       _temperature2FactName);
+    _addFact(&_temperature3Fact,       _temperature3FactName);
+
+    // Start out as not available "--.--"
+    _temperature1Fact.setRawValue      (qQNaN());
+    _temperature2Fact.setRawValue      (qQNaN());
+    _temperature3Fact.setRawValue      (qQNaN());
+}
+
+void VehicleTemperatureFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& message)
+{
+    switch (message.msgid) {
+    case MAVLINK_MSG_ID_SCALED_PRESSURE:
+        _handleScaledPressure(message);
+        break;
+    case MAVLINK_MSG_ID_SCALED_PRESSURE2:
+        _handleScaledPressure2(message);
+        break;
+    case MAVLINK_MSG_ID_SCALED_PRESSURE3:
+        _handleScaledPressure3(message);
+        break;
+    case MAVLINK_MSG_ID_HIGH_LATENCY:
+        _handleHighLatency(message);
+        break;
+    case MAVLINK_MSG_ID_HIGH_LATENCY2:
+        _handleHighLatency2(message);
+        break;
+    default:
+        break;
+    }
+}
+
+void VehicleTemperatureFactGroup::_handleHighLatency(mavlink_message_t& message)
+{
+    mavlink_high_latency_t highLatency;
+    mavlink_msg_high_latency_decode(&message, &highLatency);
+    temperature1()->setRawValue(highLatency.temperature_air);
+}
+
+void VehicleTemperatureFactGroup::_handleHighLatency2(mavlink_message_t& message)
+{
+    mavlink_high_latency2_t highLatency2;
+    mavlink_msg_high_latency2_decode(&message, &highLatency2);
+    temperature1()->setRawValue(highLatency2.temperature_air);
+}
+
+void VehicleTemperatureFactGroup::_handleScaledPressure(mavlink_message_t& message)
+{
+    mavlink_scaled_pressure_t pressure;
+    mavlink_msg_scaled_pressure_decode(&message, &pressure);
+    temperature1()->setRawValue(pressure.temperature / 100.0);
+}
+
+void VehicleTemperatureFactGroup::_handleScaledPressure2(mavlink_message_t& message)
+{
+    mavlink_scaled_pressure2_t pressure;
+    mavlink_msg_scaled_pressure2_decode(&message, &pressure);
+    temperature2()->setRawValue(pressure.temperature / 100.0);
+}
+
+void VehicleTemperatureFactGroup::_handleScaledPressure3(mavlink_message_t& message)
+{
+    mavlink_scaled_pressure3_t pressure;
+    mavlink_msg_scaled_pressure3_decode(&message, &pressure);
+    temperature3()->setRawValue(pressure.temperature / 100.0);
+}

src/Vehicle/VehicleTemperatureFactGroup.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FactGroup.h"
+#include "QGCMAVLink.h"
+
+class VehicleTemperatureFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    VehicleTemperatureFactGroup(QObject* parent = nullptr);
+
+    Q_PROPERTY(Fact* temperature1       READ temperature1       CONSTANT)
+    Q_PROPERTY(Fact* temperature2       READ temperature2       CONSTANT)
+    Q_PROPERTY(Fact* temperature3       READ temperature3       CONSTANT)
+
+    Fact* temperature1 () { return &_temperature1Fact; }
+    Fact* temperature2 () { return &_temperature2Fact; }
+    Fact* temperature3 () { return &_temperature3Fact; }
+
+    // Overrides from FactGroup
+    void handleMessage(Vehicle* vehicle, mavlink_message_t& message) override;
+
+    static const char* _temperature1FactName;
+    static const char* _temperature2FactName;
+    static const char* _temperature3FactName;
+
+    static const char* _settingsGroup;
+
+    static const double _temperatureUnavailable;
+
+private:
+    void _handleScaledPressure  (mavlink_message_t& message);
+    void _handleScaledPressure2 (mavlink_message_t& message);
+    void _handleScaledPressure3 (mavlink_message_t& message);
+    void _handleHighLatency     (mavlink_message_t& message);
+    void _handleHighLatency2    (mavlink_message_t& message);
+
+    Fact            _temperature1Fact;
+    Fact            _temperature2Fact;
+    Fact            _temperature3Fact;
+};

src/Vehicle/VehicleVibrationFactGroup.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "VehicleVibrationFactGroup.h"
+#include "Vehicle.h"
+
+const char* VehicleVibrationFactGroup::_xAxisFactName =      "xAxis";
+const char* VehicleVibrationFactGroup::_yAxisFactName =      "yAxis";
+const char* VehicleVibrationFactGroup::_zAxisFactName =      "zAxis";
+const char* VehicleVibrationFactGroup::_clipCount1FactName = "clipCount1";
+const char* VehicleVibrationFactGroup::_clipCount2FactName = "clipCount2";
+const char* VehicleVibrationFactGroup::_clipCount3FactName = "clipCount3";
+
+VehicleVibrationFactGroup::VehicleVibrationFactGroup(QObject* parent)
+    : FactGroup         (1000, ":/json/Vehicle/VibrationFact.json", parent)
+    , _xAxisFact        (0, _xAxisFactName,         FactMetaData::valueTypeDouble)
+    , _yAxisFact        (0, _yAxisFactName,         FactMetaData::valueTypeDouble)
+    , _zAxisFact        (0, _zAxisFactName,         FactMetaData::valueTypeDouble)
+    , _clipCount1Fact   (0, _clipCount1FactName,    FactMetaData::valueTypeUint32)
+    , _clipCount2Fact   (0, _clipCount2FactName,    FactMetaData::valueTypeUint32)
+    , _clipCount3Fact   (0, _clipCount3FactName,    FactMetaData::valueTypeUint32)
+{
+    _addFact(&_xAxisFact,       _xAxisFactName);
+    _addFact(&_yAxisFact,       _yAxisFactName);
+    _addFact(&_zAxisFact,       _zAxisFactName);
+    _addFact(&_clipCount1Fact,  _clipCount1FactName);
+    _addFact(&_clipCount2Fact,  _clipCount2FactName);
+    _addFact(&_clipCount3Fact,  _clipCount3FactName);
+
+    // Start out as not available "--.--"
+    _xAxisFact.setRawValue(qQNaN());
+    _yAxisFact.setRawValue(qQNaN());
+    _zAxisFact.setRawValue(qQNaN());
+}
+
+void VehicleVibrationFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& message)
+{
+    if (message.msgid != MAVLINK_MSG_ID_VIBRATION) {
+        return;
+    }
+
+    mavlink_vibration_t vibration;
+    mavlink_msg_vibration_decode(&message, &vibration);
+
+    xAxis()->setRawValue(vibration.vibration_x);
+    yAxis()->setRawValue(vibration.vibration_y);
+    zAxis()->setRawValue(vibration.vibration_z);
+    clipCount1()->setRawValue(vibration.clipping_0);
+    clipCount2()->setRawValue(vibration.clipping_1);
+    clipCount3()->setRawValue(vibration.clipping_2);
+}
+

src/Vehicle/VehicleVibrationFactGroup.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FactGroup.h"
+#include "QGCMAVLink.h"
+
+class VehicleVibrationFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    VehicleVibrationFactGroup(QObject* parent = nullptr);
+
+    Q_PROPERTY(Fact* xAxis      READ xAxis      CONSTANT)
+    Q_PROPERTY(Fact* yAxis      READ yAxis      CONSTANT)
+    Q_PROPERTY(Fact* zAxis      READ zAxis      CONSTANT)
+    Q_PROPERTY(Fact* clipCount1 READ clipCount1 CONSTANT)
+    Q_PROPERTY(Fact* clipCount2 READ clipCount2 CONSTANT)
+    Q_PROPERTY(Fact* clipCount3 READ clipCount3 CONSTANT)
+
+    Fact* xAxis         () { return &_xAxisFact; }
+    Fact* yAxis         () { return &_yAxisFact; }
+    Fact* zAxis         () { return &_zAxisFact; }
+    Fact* clipCount1    () { return &_clipCount1Fact; }
+    Fact* clipCount2    () { return &_clipCount2Fact; }
+    Fact* clipCount3    () { return &_clipCount3Fact; }
+
+    // Overrides from FactGroup
+    void handleMessage(Vehicle* vehicle, mavlink_message_t& message) override;
+
+    static const char* _xAxisFactName;
+    static const char* _yAxisFactName;
+    static const char* _zAxisFactName;
+    static const char* _clipCount1FactName;
+    static const char* _clipCount2FactName;
+    static const char* _clipCount3FactName;
+
+private:
+    Fact        _xAxisFact;
+    Fact        _yAxisFact;
+    Fact        _zAxisFact;
+    Fact        _clipCount1Fact;
+    Fact        _clipCount2Fact;
+    Fact        _clipCount3Fact;
+};

src/Vehicle/VehicleWindFactGroup.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "VehicleWindFactGroup.h"
+#include "Vehicle.h"
+
+#include <QtMath>
+
+const char* VehicleWindFactGroup::_directionFactName =      "direction";
+const char* VehicleWindFactGroup::_speedFactName =          "speed";
+const char* VehicleWindFactGroup::_verticalSpeedFactName =  "verticalSpeed";
+
+VehicleWindFactGroup::VehicleWindFactGroup(QObject* parent)
+    : FactGroup(1000, ":/json/Vehicle/WindFact.json", parent)
+    , _directionFact    (0, _directionFactName,     FactMetaData::valueTypeDouble)
+    , _speedFact        (0, _speedFactName,         FactMetaData::valueTypeDouble)
+    , _verticalSpeedFact(0, _verticalSpeedFactName, FactMetaData::valueTypeDouble)
+{
+    _addFact(&_directionFact,       _directionFactName);
+    _addFact(&_speedFact,           _speedFactName);
+    _addFact(&_verticalSpeedFact,   _verticalSpeedFactName);
+
+    // Start out as not available "--.--"
+    _directionFact.setRawValue      (qQNaN());
+    _speedFact.setRawValue          (qQNaN());
+    _verticalSpeedFact.setRawValue  (qQNaN());
+}
+
+void VehicleWindFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& message)
+{
+    switch (message.msgid) {
+    case MAVLINK_MSG_ID_WIND_COV:
+        _handleWindCov(message);
+        break;
+#if !defined(NO_ARDUPILOT_DIALECT)
+    case MAVLINK_MSG_ID_WIND:
+        _handleWind(message);
+        break;
+#endif
+    case MAVLINK_MSG_ID_HIGH_LATENCY:
+        _handleHighLatency(message);
+        break;
+    case MAVLINK_MSG_ID_HIGH_LATENCY2:
+        _handleHighLatency2(message);
+        break;
+    default:
+        break;
+    }
+}
+
+void VehicleWindFactGroup::_handleHighLatency(mavlink_message_t& message)
+{
+    mavlink_high_latency_t highLatency;
+    mavlink_msg_high_latency_decode(&message, &highLatency);
+    speed()->setRawValue((double)highLatency.airspeed / 5.0);
+}
+
+void VehicleWindFactGroup::_handleHighLatency2(mavlink_message_t& message)
+{
+    mavlink_high_latency2_t highLatency2;
+    mavlink_msg_high_latency2_decode(&message, &highLatency2);
+    direction()->setRawValue((double)highLatency2.wind_heading * 2.0);
+    speed()->setRawValue((double)highLatency2.windspeed / 5.0);
+}
+
+void VehicleWindFactGroup::_handleWindCov(mavlink_message_t& message)
+{
+    mavlink_wind_cov_t wind;
+    mavlink_msg_wind_cov_decode(&message, &wind);
+
+    float direction = qRadiansToDegrees(qAtan2(wind.wind_y, wind.wind_x));
+    float speed = qSqrt(qPow(wind.wind_x, 2) + qPow(wind.wind_y, 2));
+
+    if (direction < 0) {
+        direction += 360;
+    }
+
+    this->direction()->setRawValue(direction);
+    this->speed()->setRawValue(speed);
+    verticalSpeed()->setRawValue(0);
+}
+
+#if !defined(NO_ARDUPILOT_DIALECT)
+void VehicleWindFactGroup::_handleWind(mavlink_message_t& message)
+{
+    mavlink_wind_t wind;
+    mavlink_msg_wind_decode(&message, &wind);
+
+    // We don't want negative wind angles
+    float direction = wind.direction;
+    if (direction < 0) {
+        direction += 360;
+    }
+    this->direction()->setRawValue(direction);
+    speed()->setRawValue(wind.speed);
+    verticalSpeed()->setRawValue(wind.speed_z);
+}
+#endif

src/Vehicle/VehicleWindFactGroup.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FactGroup.h"
+#include "QGCMAVLink.h"
+
+class VehicleWindFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    VehicleWindFactGroup(QObject* parent = nullptr);
+
+    Q_PROPERTY(Fact* direction      READ direction      CONSTANT)
+    Q_PROPERTY(Fact* speed          READ speed          CONSTANT)
+    Q_PROPERTY(Fact* verticalSpeed  READ verticalSpeed  CONSTANT)
+
+    Fact* direction     () { return &_directionFact; }
+    Fact* speed         () { return &_speedFact; }
+    Fact* verticalSpeed () { return &_verticalSpeedFact; }
+
+    // Overrides from FactGroup
+    void handleMessage(Vehicle* vehicle, mavlink_message_t& message) override;
+
+    static const char* _directionFactName;
+    static const char* _speedFactName;
+    static const char* _verticalSpeedFactName;
+
+private:
+    void _handleHighLatency (mavlink_message_t& message);
+    void _handleHighLatency2(mavlink_message_t& message);
+    void _handleWindCov     (mavlink_message_t& message);
+#if !defined(NO_ARDUPILOT_DIALECT)
+    void _handleWind        (mavlink_message_t& message);
+#endif
+
+    Fact        _directionFact;
+    Fact        _speedFact;
+    Fact        _verticalSpeedFact;
+};

src/ui/toolbar/BatteryIndicator.qml

@@ -25,8 +25,6 @@ Item {
     anchors.bottom: parent.bottom
     width:          batteryIndicatorRow.width
 
-    Component.onCompleted: console.log("mavlink", MAVLink.MAV_BATTERY_CHARGE_STATE_CRITICAL, MAVLink.MAV_BATTERY_FUNCTION_ALL)
-
     property bool showIndicator: true
 
     Row {