Add support for VTOL Transition

qgroundcontrol.qrc

@@ -9,6 +9,7 @@
         <file alias="GPSRTKIndicator.qml">src/ui/toolbar/GPSRTKIndicator.qml</file>
         <file alias="MessageIndicator.qml">src/ui/toolbar/MessageIndicator.qml</file>
         <file alias="ModeIndicator.qml">src/ui/toolbar/ModeIndicator.qml</file>
+		<file alias="VTOLModeIndicator.qml">src/ui/toolbar/VTOLModeIndicator.qml</file>
         <file alias="RCRSSIIndicator.qml">src/ui/toolbar/RCRSSIIndicator.qml</file>
         <file alias="TelemetryRSSIIndicator.qml">src/ui/toolbar/TelemetryRSSIIndicator.qml</file>
         <file alias="JoystickIndicator.qml">src/ui/toolbar/JoystickIndicator.qml</file>

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -335,6 +335,7 @@ const QVariantList &FirmwarePlugin::toolBarIndicators(const Vehicle* vehicle)
         _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/RCRSSIIndicator.qml")));
         _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/BatteryIndicator.qml")));
         _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ModeIndicator.qml")));
+        _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/VTOLModeIndicator.qml")));
         _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ArmedIndicator.qml")));
         _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/GPSRTKIndicator.qml")));
     }

src/FlightDisplay/GuidedActionsController.qml

@@ -48,6 +48,7 @@ Item {
     readonly property string landAbortTitle:                qsTr("Land Abort")
     readonly property string setWaypointTitle:              qsTr("Set Waypoint")
     readonly property string gotoTitle:                     qsTr("Goto Location")
+    readonly property string vtolTransitionTitle:           qsTr("VTOL Transition")
 
     readonly property string armMessage:                        qsTr("Arm the vehicle.")
     readonly property string disarmMessage:                     qsTr("Disarm the vehicle")
@@ -67,6 +68,8 @@ Item {
     readonly property string landAbortMessage:                  qsTr("Abort the landing sequence.")
     readonly property string pauseMessage:                      qsTr("Pause the vehicle at it's current position.")
     readonly property string mvPauseMessage:                    qsTr("Pause all vehicles at their current position.")
+    readonly property string vtolTransitionFwdMessage:          qsTr("Transition VTOL to fixed wing flight.")
+    readonly property string vtolTransitionMRMessage:           qsTr("Transition VTOL to multi-rotor flight.")
 
     readonly property int actionRTL:                        1
     readonly property int actionLand:                       2
@@ -87,6 +90,8 @@ Item {
     readonly property int actionPause:                      17
     readonly property int actionMVPause:                    18
     readonly property int actionMVStartMission:             19
+    readonly property int actionVtolTransitionToFwdFlight:  20
+    readonly property int actionVtolTransitionToMRFlight:   21
 
     property bool showEmergenyStop:     !_hideEmergenyStop && _activeVehicle && _vehicleArmed && _vehicleFlying
     property bool showArm:              _activeVehicle && !_vehicleArmed
@@ -287,6 +292,16 @@ Item {
             confirmDialog.message = mvPauseMessage
             confirmDialog.hideTrigger = true
             break;
+        case actionVtolTransitionToFwdFlight:
+            confirmDialog.title = vtolTransitionTitle
+            confirmDialog.message = vtolTransitionFwdMessage
+            confirmDialog.hideTrigger = true
+            break
+        case actionVtolTransitionToMRFlight:
+            confirmDialog.title = vtolTransitionTitle
+            confirmDialog.message = vtolTransitionMRMessage
+            confirmDialog.hideTrigger = true
+            break
         default:
             console.warn("Unknown actionCode", actionCode)
             return
@@ -359,6 +374,12 @@ Item {
                 vehicle.pauseVehicle()
             }
             break
+        case actionVtolTransitionToFwdFlight:
+            _activeVehicle.vtolInFwdFlight = true
+            break
+        case actionVtolTransitionToMRFlight:
+            _activeVehicle.vtolInFwdFlight = false
+            break
         default:
             console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
             break

src/Vehicle/Vehicle.cc

@@ -108,6 +108,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _autoDisconnect(false)
     , _flying(false)
     , _landing(false)
+    , _vtolInFwdFlight(false)
     , _onboardControlSensorsPresent(0)
     , _onboardControlSensorsEnabled(0)
     , _onboardControlSensorsHealth(0)
@@ -292,6 +293,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _autoDisconnect(false)
     , _flying(false)
     , _landing(false)
+    , _vtolInFwdFlight(false)
     , _onboardControlSensorsPresent(0)
     , _onboardControlSensorsEnabled(0)
     , _onboardControlSensorsHealth(0)
@@ -990,6 +992,10 @@ void Vehicle::_handleExtendedSysState(mavlink_message_t& message)
     default:
         break;
     }
+
+    if (vtol()) {
+        setVtolInFwdFlight(extendedState.vtol_state == MAV_VTOL_STATE_FW);
+    }
 }
 
 void Vehicle::_handleVibration(mavlink_message_t& message)
@@ -2679,6 +2685,14 @@ void Vehicle::triggerCamera(void)
                    1.0);                            // test shot flag
 }
 
+void Vehicle::setVtolInFwdFlight(bool vtolInFwdFlight)
+{
+    if (_vtolInFwdFlight != vtolInFwdFlight) {
+        _vtolInFwdFlight = vtolInFwdFlight;
+        emit vtolInFwdFlightChanged(vtolInFwdFlight);
+    }
+}
+
 const char* VehicleGPSFactGroup::_latFactName =                 "lat";
 const char* VehicleGPSFactGroup::_lonFactName =                 "lon";
 const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";

src/Vehicle/Vehicle.h

@@ -351,6 +351,7 @@ public:
     Q_PROPERTY(QVariantList         staticCameraList        READ staticCameraList                                       CONSTANT)
     Q_PROPERTY(QGCCameraManager*    dynamicCameras          READ dynamicCameras                                         NOTIFY dynamicCamerasChanged)
     Q_PROPERTY(QString              hobbsMeter              READ hobbsMeter                                             NOTIFY hobbsMeterChanged)
+    Q_PROPERTY(bool                 vtolInFwdFlight         READ vtolInFwdFlight        WRITE setVtolInFwdFlight        NOTIFY vtolInFwdFlightChanged)
 
     // Vehicle state used for guided control
     Q_PROPERTY(bool flying                  READ flying NOTIFY flyingChanged)                               ///< Vehicle is flying
@@ -359,7 +360,7 @@ public:
     Q_PROPERTY(bool guidedModeSupported     READ guidedModeSupported CONSTANT)                              ///< Guided mode commands are supported by this vehicle
     Q_PROPERTY(bool pauseVehicleSupported   READ pauseVehicleSupported CONSTANT)                            ///< Pause vehicle command is supported
     Q_PROPERTY(bool orbitModeSupported      READ orbitModeSupported CONSTANT)                               ///< Orbit mode is supported by this vehicle
-    Q_PROPERTY(bool takeoffVehicleSupported READ takeoffVehicleSupported CONSTANT)                          ///< Guided takeoff supported
+    Q_PROPERTY(bool takeoffVehicleSupported READ takeoffVehicleSupported CONSTANT)                          ///< Guided takeoff supported    
 
     Q_PROPERTY(ParameterManager* parameterManager READ parameterManager CONSTANT)
 
@@ -610,6 +611,7 @@ public:
     bool            flying                  () const { return _flying; }
     bool            landing                 () const { return _landing; }
     bool            guidedMode              () const;
+    bool            vtolInFwdFlight         () const { return _vtolInFwdFlight; }
     uint8_t         baseMode                () const { return _base_mode; }
     uint32_t        customMode              () const { return _custom_mode; }
     bool            isOfflineEditingVehicle () const { return _offlineEditingVehicle; }
@@ -741,6 +743,7 @@ public:
 
     void _setFlying(bool flying);
     void _setLanding(bool landing);
+    void setVtolInFwdFlight(bool vtolInFwdFlight);
     void _setHomePosition(QGeoCoordinate& homeCoord);
     void _setMaxProtoVersion (unsigned version);
 
@@ -766,6 +769,7 @@ signals:
     void flyingChanged(bool flying);
     void landingChanged(bool landing);
     void guidedModeChanged(bool guidedMode);
+    void vtolInFwdFlightChanged(bool vtolInFwdFlight);
     void prearmErrorChanged(const QString& prearmError);
     void soloFirmwareChanged(bool soloFirmware);
     void unhealthySensorsChanged(void);
@@ -969,6 +973,7 @@ private:
     bool            _autoDisconnect;    ///< true: Automatically disconnect vehicle when last connection goes away or lost heartbeat
     bool            _flying;
     bool            _landing;
+    bool            _vtolInFwdFlight;
     uint32_t        _onboardControlSensorsPresent;
     uint32_t        _onboardControlSensorsEnabled;
     uint32_t        _onboardControlSensorsHealth;

src/ui/MainWindowInner.qml

@@ -292,6 +292,8 @@ Item {
                 flightView.guidedController.confirmAction(flightView.guidedController.actionDisarm)
             }
         }
+        onVtolTransitionToFwdFlight:    flightView.guidedController.confirmAction(flightView.guidedController.actionVtolTransitionToFwdFlight)
+        onVtolTransitionToMRFlight:     flightView.guidedController.confirmAction(flightView.guidedController.actionVtolTransitionToMRFlight)
 
         //-- Entire tool bar area disable on cammand
         MouseArea {

src/ui/toolbar/MainToolBar.qml

@@ -34,6 +34,8 @@ Rectangle {
     signal showAnalyzeView
     signal armVehicle
     signal disarmVehicle
+    signal vtolTransitionToFwdFlight
+    signal vtolTransitionToMRFlight
 
     function checkSettingsButton() {
         settingsButton.checked = true

src/ui/toolbar/VTOLModeIndicator.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 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.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtQuick.Layouts  1.2
+
+import QGroundControl                       1.0
+import QGroundControl.Controls              1.0
+import QGroundControl.MultiVehicleManager   1.0
+import QGroundControl.ScreenTools           1.0
+import QGroundControl.Palette               1.0
+
+//-------------------------------------------------------------------------
+//-- VTOL Mode Indicator
+QGCLabel {
+    anchors.top:        parent.top
+    anchors.bottom:     parent.bottom
+    verticalAlignment:  Text.AlignVCenter
+    text:               _fwdFlight ? qsTr("VTOL: Fixed Wing") : qsTr("VTOL: Multi-Rotor")
+    font.pointSize:     ScreenTools.mediumFontPointSize
+    color:              qgcPal.buttonText
+    visible:            _activeVehicle ? _activeVehicle.vtol && _activeVehicle.px4Firmware : false
+    width:              visible ? implicitWidth : 0
+
+    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+    property bool   _fwdFlight:     _activeVehicle ? _activeVehicle.vtolInFwdFlight : false
+
+    QGCPalette { id: qgcPal }
+
+    QGCMouseArea {
+        fillItem: parent
+        onClicked: _activeVehicle.vtolInFwdFlight ? toolBar.vtolTransitionToMRFlight() : toolBar.vtolTransitionToFwdFlight()
+    }
+}