QGCCommon.pri

@@ -46,12 +46,12 @@ linux {
         error("Unsuported Linux toolchain, only GCC 32- or 64-bit is supported")
     }
 } else : win32 {
-    win32-msvc2010 | win32-msvc2012 | win32-msvc2013 | win32-msvc2015 {
+    win32-msvc2015 {
         message("Windows build")
         CONFIG += WindowsBuild
         DEFINES += __STDC_LIMIT_MACROS
     } else {
-        error("Unsupported Windows toolchain, only Visual Studio 2010, 2012, and 2013 are supported")
+        error("Unsupported Windows toolchain, only Visual Studio 2015 is supported")
     }
 } else : macx {
     macx-clang | macx-llvm {

Drivers @ 8828fb9a

-Subproject commit e84bb0a7a702320fedade6c83bbdf2324e3be8fb
+Subproject commit 8828fb9ad3a2cad568feac2b46de7d6d3af32ca8

src/GPS/GPSManager.cc

@@ -41,7 +41,17 @@ void GPSManager::connectGPS(const QString& device, const QString& gps_type)
 
     disconnectGPS();
     _requestGpsStop = false;
-    _gpsProvider = new GPSProvider(device, type, true, rtkSettings->surveyInAccuracyLimit()->rawValue().toDouble(), rtkSettings->surveyInMinObservationDuration()->rawValue().toInt(), _requestGpsStop);
+    _gpsProvider = new GPSProvider(device,
+                                   type,
+                                   true,    /* enableSatInfo */
+                                   rtkSettings->surveyInAccuracyLimit()->rawValue().toDouble(),
+                                   rtkSettings->surveyInMinObservationDuration()->rawValue().toInt(),
+                                   rtkSettings->useFixedBasePosition()->rawValue().toBool(),
+                                   rtkSettings->fixedBasePositionLatitude()->rawValue().toDouble(),
+                                   rtkSettings->fixedBasePositionLongitude()->rawValue().toDouble(),
+                                   rtkSettings->fixedBasePositionAltitude()->rawValue().toFloat(),
+                                   rtkSettings->fixedBasePositionAccuracy()->rawValue().toFloat(),
+                                   _requestGpsStop);
     _gpsProvider->start();
 
     //create RTCM device
@@ -50,10 +60,10 @@ void GPSManager::connectGPS(const QString& device, const QString& gps_type)
     connect(_gpsProvider, &GPSProvider::RTCMDataUpdate, _rtcmMavlink, &RTCMMavlink::RTCMDataUpdate);
 
     //test: connect to position update
-    connect(_gpsProvider, &GPSProvider::positionUpdate, this, &GPSManager::GPSPositionUpdate);
-    connect(_gpsProvider, &GPSProvider::satelliteInfoUpdate, this, &GPSManager::GPSSatelliteUpdate);
-    connect(_gpsProvider, &GPSProvider::finished, this, &GPSManager::onDisconnect);
-    connect(_gpsProvider, &GPSProvider::surveyInStatus, this, &GPSManager::surveyInStatus);
+    connect(_gpsProvider, &GPSProvider::positionUpdate,         this, &GPSManager::GPSPositionUpdate);
+    connect(_gpsProvider, &GPSProvider::satelliteInfoUpdate,    this, &GPSManager::GPSSatelliteUpdate);
+    connect(_gpsProvider, &GPSProvider::finished,               this, &GPSManager::onDisconnect);
+    connect(_gpsProvider, &GPSProvider::surveyInStatus,         this, &GPSManager::surveyInStatus);
 
     emit onConnect();
 }

src/GPS/GPSManager.h

@@ -35,7 +35,7 @@ public:
 signals:
     void onConnect();
     void onDisconnect();
-    void surveyInStatus(float duration, float accuracyMM, bool valid, bool active);
+    void surveyInStatus(float duration, float accuracyMM,  double latitude, double longitude, float altitude, bool valid, bool active);
     void satelliteUpdate(int numSats);
 
 private slots:

src/GPS/GPSProvider.cc

@@ -10,6 +10,8 @@
 
 #include "GPSProvider.h"
 #include "QGCLoggingCategory.h"
+#include "QGCApplication.h"
+#include "SettingsManager.h"
 
 #define GPS_RECEIVE_TIMEOUT 1200
 
@@ -17,7 +19,7 @@
 
 #include "Drivers/src/ubx.h"
 #include "Drivers/src/ashtech.h"
-#include "Drivers/src/gps_helper.h"
+#include "Drivers/src/base_station.h"
 #include "definitions.h"
 
 //#define SIMULATE_RTCM_OUTPUT //if defined, generate simulated RTCM messages
@@ -44,8 +46,21 @@ void GPSProvider::run()
     _serial = new QSerialPort();
     _serial->setPortName(_device);
     if (!_serial->open(QIODevice::ReadWrite)) {
-        qWarning() << "GPS: Failed to open Serial Device" << _device;
-        return;
+        int retries = 60;
+        // Give the device some time to come up. In some cases the device is not
+        // immediately accessible right after startup for some reason. This can take 10-20s.
+        while (retries-- > 0 && _serial->error() == QSerialPort::PermissionError) {
+            qCDebug(RTKGPSLog) << "Cannot open device... retrying";
+            msleep(500);
+            if (_serial->open(QIODevice::ReadWrite)) {
+                _serial->clearError();
+                break;
+            }
+        }
+        if (_serial->error() != QSerialPort::NoError) {
+            qWarning() << "GPS: Failed to open Serial Device" << _device << _serial->errorString();
+            return;
+        }
     }
     _serial->setBaudRate(QSerialPort::Baud9600);
     _serial->setDataBits(QSerialPort::Data8);
@@ -54,7 +69,7 @@ void GPSProvider::run()
     _serial->setFlowControl(QSerialPort::NoFlowControl);
 
     unsigned int baudrate;
-    GPSHelper* gpsDriver = nullptr;
+    GPSBaseStationSupport* gpsDriver = nullptr;
 
     while (!_requestStop) {
 
@@ -70,7 +85,11 @@ void GPSProvider::run()
             gpsDriver = new GPSDriverUBX(GPSDriverUBX::Interface::UART, &callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
             baudrate = 0; // auto-configure
         }
-        gpsDriver->setSurveyInSpecs(_surveyInAccMeters * 10000, _surveryInDurationSecs);
+        gpsDriver->setSurveyInSpecs(_surveyInAccMeters * 10000.0f, _surveryInDurationSecs);
+
+        if (_useFixedBaseLoction) {
+            gpsDriver->setBasePosition(_fixedBaseLatitude, _fixedBaseLongitude, _fixedBaseAltitudeMeters * 10000.0f, _fixedBaseAccuracyMeters * 10000.0f);
+        }
 
         if (gpsDriver->configure(baudrate, GPSDriverUBX::OutputMode::RTCM) == 0) {
 
@@ -108,12 +127,27 @@ void GPSProvider::run()
     qCDebug(RTKGPSLog) << "Exiting GPS thread";
 }
 
-GPSProvider::GPSProvider(const QString& device, GPSType type, bool enableSatInfo, double surveyInAccMeters, int surveryInDurationSecs, const std::atomic_bool& requestStop)
-    : _device(device)
-    , _type(type)
-    , _requestStop(requestStop)
-    , _surveyInAccMeters(surveyInAccMeters)
-    , _surveryInDurationSecs(surveryInDurationSecs)
+GPSProvider::GPSProvider(const QString& device,
+                         GPSType    type,
+                         bool       enableSatInfo,
+                         double     surveyInAccMeters,
+                         int        surveryInDurationSecs,
+                         bool       useFixedBaseLocation,
+                         double     fixedBaseLatitude,
+                         double     fixedBaseLongitude,
+                         float      fixedBaseAltitudeMeters,
+                         float      fixedBaseAccuracyMeters,
+                         const std::atomic_bool& requestStop)
+    : _device                   (device)
+    , _type                     (type)
+    , _requestStop              (requestStop)
+    , _surveyInAccMeters        (surveyInAccMeters)
+    , _surveryInDurationSecs    (surveryInDurationSecs)
+    , _useFixedBaseLoction      (useFixedBaseLocation)
+    , _fixedBaseLatitude        (fixedBaseLatitude)
+    , _fixedBaseLongitude       (fixedBaseLongitude)
+    , _fixedBaseAltitudeMeters  (fixedBaseAltitudeMeters)
+    , _fixedBaseAccuracyMeters  (fixedBaseAccuracyMeters)
 {
     qCDebug(RTKGPSLog) << "Survey in accuracy:duration" << surveyInAccMeters << surveryInDurationSecs;
     if (enableSatInfo) _pReportSatInfo = new satellite_info_s();
@@ -179,8 +213,10 @@ int GPSProvider::callback(GPSCallbackType type, void *data1, int data2)
         case GPSCallbackType::surveyInStatus:
         {
             SurveyInStatus* status = (SurveyInStatus*)data1;
+            qCDebug(RTKGPSLog) << "Position: " << status->latitude << status->longitude << status->altitude;
+
             qCDebug(RTKGPSLog) << QString("Survey-in status: %1s cur accuracy: %2mm valid: %3 active: %4").arg(status->duration).arg(status->mean_accuracy).arg((int)(status->flags & 1)).arg((int)((status->flags>>1) & 1));
-            emit surveyInStatus(status->duration, status->mean_accuracy, (int)(status->flags & 1), (int)((status->flags>>1) & 1));
+            emit surveyInStatus(status->duration, status->mean_accuracy, status->latitude, status->longitude, status->altitude, (int)(status->flags & 1), (int)((status->flags>>1) & 1));
         }
             break;
 

src/GPS/GPSProvider.h

@@ -35,19 +35,29 @@ public:
         trimble
     };
 
-    GPSProvider(const QString& device, GPSType type, bool enableSatInfo, double surveyInAccMeters, int surveryInDurationSecs,
-            const std::atomic_bool& requestStop);
+    GPSProvider(const QString& device,
+                GPSType type,
+                bool    enableSatInfo,
+                double  surveyInAccMeters,
+                int     surveryInDurationSecs,
+                bool    useFixedBaseLocation,
+                double  fixedBaseLatitude,
+                double  fixedBaseLongitude,
+                float   fixedBaseAltitudeMeters,
+                float   fixedBaseAccuracyMeters,
+                const std::atomic_bool& requestStop);
     ~GPSProvider();
 
     /**
      * this is called by the callback method
      */
     void gotRTCMData(uint8_t *data, size_t len);
+
 signals:
     void positionUpdate(GPSPositionMessage message);
     void satelliteInfoUpdate(GPSSatelliteMessage message);
     void RTCMDataUpdate(QByteArray message);
-    void surveyInStatus(float duration, float accuracyMM, bool valid, bool active);
+    void surveyInStatus(float duration, float accuracyMM, double latitude, double longitude, float altitude, bool valid, bool active);
 
 protected:
     void run();
@@ -68,6 +78,11 @@ private:
     const std::atomic_bool& _requestStop;
     double  _surveyInAccMeters;
     int     _surveryInDurationSecs;
+    bool    _useFixedBaseLoction;
+    double  _fixedBaseLatitude;
+    double  _fixedBaseLongitude;
+    float   _fixedBaseAltitudeMeters;
+    float   _fixedBaseAccuracyMeters;
 
 	struct vehicle_gps_position_s	_reportGpsPos;
 	struct satellite_info_s		*_pReportSatInfo = nullptr;

src/QGCApplication.cc

@@ -101,6 +101,7 @@
 #include "MainWindow.h"
 #include "GeoTagController.h"
 #include "MavlinkConsoleController.h"
+#include "GPS/GPSManager.h"
 #endif
 
 #ifdef QGC_RTLAB_ENABLED
@@ -164,6 +165,7 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
     , _minorVersion             (0)
     , _buildVersion             (0)
     , _currentVersionDownload   (nullptr)
+    , _gpsRtkFactGroup          (nullptr)
     , _toolbox                  (nullptr)
     , _bluetoothAvailable       (false)
 {
@@ -197,7 +199,7 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
             QMessageBox msgBox;
             msgBox.setInformativeText(tr("You are running %1 as root. "
                                          "You should not do this since it will cause other issues with %1. "
-                                         "%1 will now exit. "
+                                         "%1 will now exiQGroundControl.gpsRtkt. "
                                          "If you are having serial port issues on Ubuntu, execute the following commands to fix most issues:\n"
                                          "sudo usermod -a -G dialout $USER\n"
                                          "sudo apt-get remove modemmanager").arg(qgcApp()->applicationName()));
@@ -337,6 +339,17 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
     _toolbox = new QGCToolbox(this);
     _toolbox->setChildToolboxes();
 
+#ifndef __mobile__
+    _gpsRtkFactGroup = new GPSRTKFactGroup(this);
+   GPSManager *gpsManager = _toolbox->gpsManager();
+   if (gpsManager) {
+       connect(gpsManager, &GPSManager::onConnect,          this, &QGCApplication::_onGPSConnect);
+       connect(gpsManager, &GPSManager::onDisconnect,       this, &QGCApplication::_onGPSDisconnect);
+       connect(gpsManager, &GPSManager::surveyInStatus,     this, &QGCApplication::_gpsSurveyInStatus);
+       connect(gpsManager, &GPSManager::satelliteUpdate,    this, &QGCApplication::_gpsNumSatellites);
+   }
+#endif /* __mobile__ */
+
     _checkForNewVersion();
 }
 
@@ -775,3 +788,31 @@ bool QGCApplication::_parseVersionText(const QString& versionString, int& majorV
 
     return false;
 }
+
+
+void QGCApplication::_onGPSConnect()
+{
+    _gpsRtkFactGroup->connected()->setRawValue(true);
+}
+
+void QGCApplication::_onGPSDisconnect()
+{
+    _gpsRtkFactGroup->connected()->setRawValue(false);
+}
+
+void QGCApplication::_gpsSurveyInStatus(float duration, float accuracyMM,  double latitude, double longitude, float altitude, bool valid, bool active)
+{
+    _gpsRtkFactGroup->currentDuration()->setRawValue(duration);
+    _gpsRtkFactGroup->currentAccuracy()->setRawValue(accuracyMM/1000.0);
+    _gpsRtkFactGroup->currentLatitude()->setRawValue(latitude);
+    _gpsRtkFactGroup->currentLongitude()->setRawValue(longitude);
+    _gpsRtkFactGroup->currentAltitude()->setRawValue(altitude);
+    _gpsRtkFactGroup->valid()->setRawValue(valid);
+    _gpsRtkFactGroup->active()->setRawValue(active);
+}
+
+void QGCApplication::_gpsNumSatellites(int numSatellites)
+{
+    _gpsRtkFactGroup->numSatellites()->setRawValue(numSatellites);
+}
+

src/QGCApplication.h

@@ -33,6 +33,7 @@
 #include "AudioOutput.h"
 #include "UASMessageHandler.h"
 #include "FactSystem.h"
+#include "GPSRTKFactGroup.h"
 
 #ifdef QGC_RTLAB_ENABLED
 #include "OpalLink.h"
@@ -95,6 +96,8 @@ public:
     /// Is Internet available?
     bool isInternetAvailable();
 
+    FactGroup* gpsRtkFactGroup(void)  { return _gpsRtkFactGroup; }
+
 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);
@@ -152,6 +155,10 @@ private slots:
     void _currentVersionDownloadFinished(QString remoteFile, QString localFile);
     void _currentVersionDownloadError(QString errorMsg);
     bool _parseVersionText(const QString& versionString, int& majorVersion, int& minorVersion, int& buildVersion);
+    void _onGPSConnect();
+    void _onGPSDisconnect();
+    void _gpsSurveyInStatus(float duration, float accuracyMM,  double latitude, double longitude, float altitude, bool valid, bool active);
+    void _gpsNumSatellites(int numSatellites);
 
 private:
     QObject* _rootQmlObject(void);
@@ -175,6 +182,7 @@ private:
     int                 _minorVersion;
     int                 _buildVersion;
     QGCFileDownload*    _currentVersionDownload;
+    GPSRTKFactGroup*    _gpsRtkFactGroup;
 
     QGCToolbox* _toolbox;
 

src/QmlControls/ParameterEditorDialog.qml

@@ -226,8 +226,13 @@ QGCViewDialog {
             }
 
             QGCLabel {
-                visible:    fact.rebootRequired
-                text:       "Reboot required after change"
+                visible:    fact.vehicleRebootRequired
+                text:       "Vehicle reboot required after change"
+            }
+
+            QGCLabel {
+                visible:    fact.qgcRebootRequired
+                text:       "Appliction restart required after change"
             }
 
             QGCLabel {

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -28,20 +28,21 @@ QGeoCoordinate   QGroundControlQmlGlobal::_coord = QGeoCoordinate(0.0,0.0);
 double           QGroundControlQmlGlobal::_zoom = 2;
 
 QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCApplication* app, QGCToolbox* toolbox)
-    : QGCTool(app, toolbox)
-    , _flightMapInitialZoom(17.0)
-    , _linkManager(NULL)
-    , _multiVehicleManager(NULL)
-    , _mapEngineManager(NULL)
-    , _qgcPositionManager(NULL)
-    , _missionCommandTree(NULL)
-    , _videoManager(NULL)
-    , _mavlinkLogManager(NULL)
-    , _corePlugin(NULL)
+    : QGCTool               (app, toolbox)
+    , _flightMapInitialZoom (17.0)
+    , _linkManager          (NULL)
+    , _multiVehicleManager  (NULL)
+    , _mapEngineManager     (NULL)
+    , _qgcPositionManager   (NULL)
+    , _missionCommandTree   (NULL)
+    , _videoManager         (NULL)
+    , _mavlinkLogManager    (NULL)
+    , _corePlugin           (NULL)
     , _firmwarePluginManager(NULL)
-    , _settingsManager(NULL)
-    , _airspaceManager(NULL)
-    , _skipSetupPage(false)
+    , _settingsManager      (NULL)
+    , _gpsRtkFactGroup      (nullptr)
+    , _airspaceManager      (NULL)
+    , _skipSetupPage        (false)
 {
     // We clear the parent on this object since we run into shutdown problems caused by hybrid qml app. Instead we let it leak on shutdown.
     setParent(NULL);
@@ -77,17 +78,8 @@ void QGroundControlQmlGlobal::setToolbox(QGCToolbox* toolbox)
     _corePlugin             = toolbox->corePlugin();
     _firmwarePluginManager  = toolbox->firmwarePluginManager();
     _settingsManager        = toolbox->settingsManager();
+    _gpsRtkFactGroup        = qgcApp()->gpsRtkFactGroup();
     _airspaceManager        = toolbox->airspaceManager();
-
-#ifndef __mobile__
-   GPSManager *gpsManager = toolbox->gpsManager();
-   if (gpsManager) {
-       connect(gpsManager, &GPSManager::onConnect, this, &QGroundControlQmlGlobal::_onGPSConnect);
-       connect(gpsManager, &GPSManager::onDisconnect, this, &QGroundControlQmlGlobal::_onGPSDisconnect);
-       connect(gpsManager, &GPSManager::surveyInStatus, this, &QGroundControlQmlGlobal::_GPSSurveyInStatus);
-       connect(gpsManager, &GPSManager::satelliteUpdate, this, &QGroundControlQmlGlobal::_GPSNumSatellites);
-   }
-#endif /* __mobile__ */
 }
 
 void QGroundControlQmlGlobal::saveGlobalSetting (const QString& key, const QString& value)
@@ -231,24 +223,3 @@ void QGroundControlQmlGlobal::setFlightMapZoom(double zoom)
         emit flightMapZoomChanged(zoom);
     }
 }
-
-void QGroundControlQmlGlobal::_onGPSConnect()
-{
-    _gpsRtkFactGroup.connected()->setRawValue(true);
-}
-void QGroundControlQmlGlobal::_onGPSDisconnect()
-{
-    _gpsRtkFactGroup.connected()->setRawValue(false);
-}
-void QGroundControlQmlGlobal::_GPSSurveyInStatus(float duration, float accuracyMM, bool valid, bool active)
-{
-    _gpsRtkFactGroup.currentDuration()->setRawValue(duration);
-    _gpsRtkFactGroup.currentAccuracy()->setRawValue(accuracyMM/1000.0);
-    _gpsRtkFactGroup.valid()->setRawValue(valid);
-    _gpsRtkFactGroup.active()->setRawValue(active);
-}
-void QGroundControlQmlGlobal::_GPSNumSatellites(int numSatellites)
-{
-    _gpsRtkFactGroup.numSatellites()->setRawValue(numSatellites);
-}
-

src/QmlControls/QGroundControlQmlGlobal.h

@@ -23,10 +23,6 @@
 #include "QGCLoggingCategory.h"
 #include "AppSettings.h"
 #include "AirspaceManager.h"
-#ifndef __mobile__
-#include "GPS/GPSManager.h"
-#endif /* __mobile__ */
-#include "GPSRTKFactGroup.h"
 
 #ifdef QT_DEBUG
 #include "MockLink.h"
@@ -144,7 +140,7 @@ public:
     MAVLinkLogManager*      mavlinkLogManager   ()  { return _mavlinkLogManager; }
     QGCCorePlugin*          corePlugin          ()  { return _corePlugin; }
     SettingsManager*        settingsManager     ()  { return _settingsManager; }
-    FactGroup*              gpsRtkFactGroup     ()  { return &_gpsRtkFactGroup; }
+    FactGroup*              gpsRtkFactGroup     ()  { return _gpsRtkFactGroup; }
     AirspaceManager*        airspaceManager     ()  { return _airspaceManager; }
     static QGeoCoordinate   flightMapPosition   ()  { return _coord; }
     static double           flightMapZoom       ()  { return _zoom; }
@@ -192,12 +188,6 @@ signals:
     void flightMapZoomChanged           (double flightMapZoom);
     void skipSetupPageChanged           ();
 
-private slots:
-    void _onGPSConnect();
-    void _onGPSDisconnect();
-    void _GPSSurveyInStatus(float duration, float accuracyMM, bool valid, bool active);
-    void _GPSNumSatellites(int numSatellites);
-
 private:
     double                  _flightMapInitialZoom;
     LinkManager*            _linkManager;
@@ -210,7 +200,7 @@ private:
     QGCCorePlugin*          _corePlugin;
     FirmwarePluginManager*  _firmwarePluginManager;
     SettingsManager*        _settingsManager;
-    GPSRTKFactGroup         _gpsRtkFactGroup;
+    FactGroup*              _gpsRtkFactGroup;
     AirspaceManager*        _airspaceManager;
 
     bool                    _skipSetupPage;

src/Settings/RTK.SettingsGroup.json

@@ -20,5 +20,55 @@
     "units":                "secs",
     "decimalPlaces":        0,
     "qgcRebootRequired":    true
+},
+{
+    "name":                 "UseFixedBasePosition",
+    "shortDescription":     "Use specified base position",
+    "longDescription":      "Specify the values for the RTK base position without having to do a survey in.",
+    "type":                 "bool",
+    "defaultValue":         false,
+    "qgcRebootRequired":    true
+},
+{
+    "name":                 "FixedBasePositionLatitude",
+    "shortDescription":     "Base Position Latitude",
+    "longDescription":      "Defines the latitude of the fixed RTK base position.",
+    "type":                 "double",
+    "defaultValue":         0,
+    "min":                  -90,
+    "max":                  90,
+    "decimalPlaces":        7,
+    "qgcRebootRequired":    true
+},
+{
+    "name":                 "FixedBasePositionLongitude",
+    "shortDescription":     "Base Position Longitude",
+    "longDescription":      "Defines the longitude of the fixed RTK base position.",
+    "type":                 "double",
+    "defaultValue":         0,
+    "min":                  -180,
+    "max":                  180,
+    "decimalPlaces":        7,
+    "qgcRebootRequired":    true
+},
+{
+    "name":                 "FixedBasePositionAltitude",
+    "shortDescription":     "Base Position Altitude",
+    "longDescription":      "Defines the altitude of the fixed RTK base position.",
+    "type":                 "float",
+    "defaultValue":         0,
+    "units":                "m",
+    "decimalPlaces":        2,
+    "qgcRebootRequired":    true
+},
+{
+    "name":                 "FixedBasePositionAccuracy",
+    "shortDescription":     "Base Position Accuracy",
+    "longDescription":      "Defines the accuracy of the fixed RTK base position.",
+    "type":                 "float",
+    "defaultValue":         0,
+    "units":                "m",
+    "decimalPlaces":        2,
+    "qgcRebootRequired":    true
 }
 ]

src/Settings/RTKSettings.cc

@@ -17,11 +17,21 @@ const char* RTKSettings::settingsGroup =                        "RTK";
 
 const char* RTKSettings::surveyInAccuracyLimitName =            "SurveyInAccuracyLimit";
 const char* RTKSettings::surveyInMinObservationDurationName =   "SurveyInMinObservationDuration";
+const char* RTKSettings::useFixedBasePositionName =             "UseFixedBasePosition";
+const char* RTKSettings::fixedBasePositionLatitudeName =        "FixedBasePositionLatitude";
+const char* RTKSettings::fixedBasePositionLongitudeName =       "FixedBasePositionLongitude";
+const char* RTKSettings::fixedBasePositionAltitudeName =        "FixedBasePositionAltitude";
+const char* RTKSettings::fixedBasePositionAccuracyName =        "FixedBasePositionAccuracy";
 
 RTKSettings::RTKSettings(QObject* parent)
-    : SettingsGroup(name, settingsGroup, parent)
-    , _surveyInAccuracyLimitFact(NULL)
-    , _surveyInMinObservationDurationFact(NULL)
+    : SettingsGroup                         (name, settingsGroup, parent)
+    , _surveyInAccuracyLimitFact            (nullptr)
+    , _surveyInMinObservationDurationFact   (nullptr)
+    , _useFixedBasePositionFact             (nullptr)
+    , _fixedBasePositionLatitudeFact        (nullptr)
+    , _fixedBasePositionLongitudeFact       (nullptr)
+    , _fixedBasePositionAltitudeFact        (nullptr)
+    , _fixedBasePositionAccuracyFact        (nullptr)
 {
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     qmlRegisterUncreatableType<RTKSettings>("QGroundControl.SettingsManager", 1, 0, "RTKSettings", "Reference only");
@@ -44,3 +54,48 @@ Fact* RTKSettings::surveyInMinObservationDuration(void)
 
     return _surveyInMinObservationDurationFact;
 }
+
+Fact* RTKSettings::useFixedBasePosition(void)
+{
+    if (!_useFixedBasePositionFact) {
+        _useFixedBasePositionFact = _createSettingsFact(useFixedBasePositionName);
+    }
+
+    return _useFixedBasePositionFact;
+}
+
+Fact* RTKSettings::fixedBasePositionLatitude(void)
+{
+    if (!_fixedBasePositionLatitudeFact) {
+        _fixedBasePositionLatitudeFact = _createSettingsFact(fixedBasePositionLatitudeName);
+    }
+
+    return _fixedBasePositionLatitudeFact;
+}
+
+Fact* RTKSettings::fixedBasePositionLongitude(void)
+{
+    if (!_fixedBasePositionLongitudeFact) {
+        _fixedBasePositionLongitudeFact = _createSettingsFact(fixedBasePositionLongitudeName);
+    }
+
+    return _fixedBasePositionLongitudeFact;
+}
+
+Fact* RTKSettings::fixedBasePositionAltitude(void)
+{
+    if (!_fixedBasePositionAltitudeFact) {
+        _fixedBasePositionAltitudeFact = _createSettingsFact(fixedBasePositionAltitudeName);
+    }
+
+    return _fixedBasePositionAltitudeFact;
+}
+
+Fact* RTKSettings::fixedBasePositionAccuracy(void)
+{
+    if (!_fixedBasePositionAccuracyFact) {
+        _fixedBasePositionAccuracyFact = _createSettingsFact(fixedBasePositionAccuracyName);
+    }
+
+    return _fixedBasePositionAccuracyFact;
+}

src/Settings/RTKSettings.h

@@ -20,17 +20,37 @@ public:
 
     Q_PROPERTY(Fact* surveyInAccuracyLimit          READ surveyInAccuracyLimit          CONSTANT)
     Q_PROPERTY(Fact* surveyInMinObservationDuration READ surveyInMinObservationDuration CONSTANT)
+    Q_PROPERTY(Fact* useFixedBasePosition           READ useFixedBasePosition           CONSTANT)
+    Q_PROPERTY(Fact* fixedBasePositionLatitude      READ fixedBasePositionLatitude      CONSTANT)
+    Q_PROPERTY(Fact* fixedBasePositionLongitude     READ fixedBasePositionLongitude     CONSTANT)
+    Q_PROPERTY(Fact* fixedBasePositionAltitude      READ fixedBasePositionAltitude      CONSTANT)
+    Q_PROPERTY(Fact* fixedBasePositionAccuracy      READ fixedBasePositionAccuracy      CONSTANT)
 
     Fact* surveyInAccuracyLimit         (void);
     Fact* surveyInMinObservationDuration(void);
+    Fact* useFixedBasePosition          (void);
+    Fact* fixedBasePositionLatitude     (void);
+    Fact* fixedBasePositionLongitude    (void);
+    Fact* fixedBasePositionAltitude     (void);
+    Fact* fixedBasePositionAccuracy     (void);
 
     static const char* name;
     static const char* settingsGroup;
 
     static const char* surveyInAccuracyLimitName;
     static const char* surveyInMinObservationDurationName;
+    static const char* useFixedBasePositionName;
+    static const char* fixedBasePositionLatitudeName;
+    static const char* fixedBasePositionLongitudeName;
+    static const char* fixedBasePositionAltitudeName;
+    static const char* fixedBasePositionAccuracyName;
 
 private:
     SettingsFact* _surveyInAccuracyLimitFact;
     SettingsFact* _surveyInMinObservationDurationFact;
+    SettingsFact* _useFixedBasePositionFact;
+    SettingsFact* _fixedBasePositionLatitudeFact;
+    SettingsFact* _fixedBasePositionLongitudeFact;
+    SettingsFact* _fixedBasePositionAltitudeFact;
+    SettingsFact* _fixedBasePositionAccuracyFact;
 };

src/Vehicle/GPSRTKFact.json

@@ -2,35 +2,62 @@
 {
     "name":             "connected",
     "shortDescription": "Connected",
-    "type":             "bool"
+    "type":             "bool",
+    "default":          false
 },
 {
     "name":             "currentAccuracy",
-    "shortDescription": "Current Accuracy",
+    "shortDescription": "Current Survey-In Accuracy",
     "type":             "double",
     "decimalPlaces":    1,
-    "units":            "m"
+    "units":            "m",
+    "default":          null
+},
+{
+    "name":             "currentLatitude",
+    "shortDescription": "Current Survey-In Latitude",
+    "type":             "double",
+    "decimalPlaces":    7,
+    "default":          null
+},
+{
+    "name":             "currentLongitude",
+    "shortDescription": "Current Survey-In Longitude",
+    "type":             "double",
+    "decimalPlaces":    7,
+    "default":          null
+},
+{
+    "name":             "currentAltitude",
+    "shortDescription": "Current Survey-In Altitude",
+    "type":             "float",
+    "decimalPlaces":    2,
+    "default":          null
 },
 {
     "name":             "currentDuration",
-    "shortDescription": "Current Duration",
+    "shortDescription": "Current Survey-In Duration",
     "type":             "double",
     "decimalPlaces":    0,
-    "units":            "s"
+    "units":            "s",
+    "default":          0
 },
 {
     "name":             "valid",
-    "shortDescription": "Survey-in Valid",
-    "type":             "bool"
+    "shortDescription": "Survey-In Valid",
+    "type":             "bool",
+    "default":          false
 },
 {
     "name":             "active",
-    "shortDescription": "Survey-in Active",
-    "type":             "bool"
+    "shortDescription": "Survey-In Active",
+    "type":             "bool",
+    "default":          false
 },
 {
     "name":             "numSatellites",
     "shortDescription": "Number of Satellites",
-    "type":             "int32"
+    "type":             "int32",
+    "default":          0
 }
 ]

src/Vehicle/GPSRTKFactGroup.cc

@@ -12,22 +12,31 @@
 const char* GPSRTKFactGroup::_connectedFactName =                "connected";
 const char* GPSRTKFactGroup::_currentAccuracyFactName =          "currentAccuracy";
 const char* GPSRTKFactGroup::_currentDurationFactName =          "currentDuration";
+const char* GPSRTKFactGroup::_currentLatitudeFactName =          "currentLatitude";
+const char* GPSRTKFactGroup::_currentLongitudeFactName =         "currentLongitude";
+const char* GPSRTKFactGroup::_currentAltitudeFactName =          "currentAltitude";
 const char* GPSRTKFactGroup::_validFactName =                    "valid";
 const char* GPSRTKFactGroup::_activeFactName =                   "active";
 const char* GPSRTKFactGroup::_numSatellitesFactName =            "numSatellites";
 
 GPSRTKFactGroup::GPSRTKFactGroup(QObject* parent)
-    : FactGroup(1000, ":/json/Vehicle/GPSRTKFact.json", parent)
-    , _connected             (false, _connectedFactName,          FactMetaData::valueTypeBool)
-    , _currentDuration       (0, _currentDurationFactName,        FactMetaData::valueTypeDouble)
-    , _currentAccuracy       (0, _currentAccuracyFactName,        FactMetaData::valueTypeDouble)
-    , _valid                 (false, _validFactName,              FactMetaData::valueTypeBool)
-    , _active                (false, _activeFactName,             FactMetaData::valueTypeBool)
-    , _numSatellites         (false, _numSatellitesFactName,      FactMetaData::valueTypeInt32)
+    : FactGroup             (1000, ":/json/Vehicle/GPSRTKFact.json", parent)
+    , _connected            (0, _connectedFactName,         FactMetaData::valueTypeBool)
+    , _currentDuration      (0, _currentDurationFactName,   FactMetaData::valueTypeDouble)
+    , _currentAccuracy      (0, _currentAccuracyFactName,   FactMetaData::valueTypeDouble)
+    , _currentLatitude      (0, _currentLatitudeFactName,   FactMetaData::valueTypeDouble)
+    , _currentLongitude     (0, _currentLongitudeFactName,  FactMetaData::valueTypeDouble)
+    , _currentAltitude      (0, _currentAltitudeFactName,   FactMetaData::valueTypeFloat)
+    , _valid                (0, _validFactName,             FactMetaData::valueTypeBool)
+    , _active               (0, _activeFactName,            FactMetaData::valueTypeBool)
+    , _numSatellites        (0, _numSatellitesFactName,     FactMetaData::valueTypeInt32)
 {
     _addFact(&_connected,          _connectedFactName);
     _addFact(&_currentDuration,    _currentDurationFactName);
     _addFact(&_currentAccuracy,    _currentAccuracyFactName);
+    _addFact(&_currentLatitude,    _currentLatitudeFactName);
+    _addFact(&_currentLongitude,   _currentLongitudeFactName);
+    _addFact(&_currentAltitude,    _currentAltitudeFactName);
     _addFact(&_valid,              _validFactName);
     _addFact(&_active,             _activeFactName);
     _addFact(&_numSatellites,      _numSatellitesFactName);

src/Vehicle/GPSRTKFactGroup.h

@@ -22,29 +22,41 @@ public:
     Q_PROPERTY(Fact* connected            READ connected            CONSTANT)
     Q_PROPERTY(Fact* currentDuration      READ currentDuration      CONSTANT)
     Q_PROPERTY(Fact* currentAccuracy      READ currentAccuracy      CONSTANT)
+    Q_PROPERTY(Fact* currentLatitude      READ currentLatitude      CONSTANT)
+    Q_PROPERTY(Fact* currentLongitude     READ currentLongitude      CONSTANT)
+    Q_PROPERTY(Fact* currentAltitude      READ currentAltitude      CONSTANT)
     Q_PROPERTY(Fact* valid                READ valid                CONSTANT)
     Q_PROPERTY(Fact* active               READ active               CONSTANT)
     Q_PROPERTY(Fact* numSatellites        READ numSatellites        CONSTANT)
 
-    Fact* connected                    (void) { return &_connected; }
-    Fact* currentDuration              (void) { return &_currentDuration; }
-    Fact* currentAccuracy              (void) { return &_currentAccuracy; }
-    Fact* valid                        (void) { return &_valid; }
-    Fact* active                       (void) { return &_active; }
-    Fact* numSatellites                (void) { return &_numSatellites; }
+    Fact* connected         (void) { return &_connected; }
+    Fact* currentDuration   (void) { return &_currentDuration; }
+    Fact* currentAccuracy   (void) { return &_currentAccuracy; }
+    Fact* currentLatitude   (void) { return &_currentLatitude; }
+    Fact* currentLongitude  (void) { return &_currentLongitude; }
+    Fact* currentAltitude   (void) { return &_currentAltitude; }
+    Fact* valid             (void) { return &_valid; }
+    Fact* active            (void) { return &_active; }
+    Fact* numSatellites     (void) { return &_numSatellites; }
 
     static const char* _connectedFactName;
     static const char* _currentDurationFactName;
     static const char* _currentAccuracyFactName;
+    static const char* _currentLatitudeFactName;
+    static const char* _currentLongitudeFactName;
+    static const char* _currentAltitudeFactName;
     static const char* _validFactName;
     static const char* _activeFactName;
     static const char* _numSatellitesFactName;
 
 private:
-    Fact        _connected; ///< is an RTK gps connected?
-    Fact        _currentDuration; ///< survey-in status in [s]
-    Fact        _currentAccuracy; ///< survey-in accuracy in [mm]
-    Fact        _valid; ///< survey-in valid?
-    Fact        _active; ///< survey-in active?
-    Fact        _numSatellites; ///< number of satellites
+    Fact _connected;        ///< is an RTK gps connected?
+    Fact _currentDuration;  ///< survey-in status in [s]
+    Fact _currentAccuracy;  ///< survey-in accuracy in [mm]
+    Fact _currentLatitude;  ///< survey-in latitude
+    Fact _currentLongitude; ///< survey-in latitude
+    Fact _currentAltitude;  ///< survey-in latitude
+    Fact _valid;            ///< survey-in complete?
+    Fact _active;           ///< survey-in active?
+    Fact _numSatellites;    ///< number of satellites
 };

src/ui/preferences/GeneralSettings.qml

@@ -393,22 +393,99 @@ QGCView {
                             id:                         rtkGrid
                             anchors.topMargin:          _margins
                             anchors.top:                parent.top
-                            Layout.fillWidth:           false
+                            Layout.fillWidth:           true
                             anchors.horizontalCenter:   parent.horizontalCenter
                             columns:                    2
 
-                            property var rtkSettings: QGroundControl.settingsManager.rtkSettings
+                            property var rtkSettings:       QGroundControl.settingsManager.rtkSettings
+                            property bool useFixedPosition: rtkSettings.useFixedBasePosition.rawValue
 
-                            QGCLabel { text: rtkGrid.rtkSettings.surveyInAccuracyLimit.shortDescription }
+                            QGCLabel {
+                                text:       rtkGrid.rtkSettings.surveyInAccuracyLimit.shortDescription
+                                visible:    rtkGrid.rtkSettings.surveyInAccuracyLimit.visible
+                            }
                             FactTextField {
-                                Layout.preferredWidth:  _valueFieldWidth
                                 fact:                   rtkGrid.rtkSettings.surveyInAccuracyLimit
+                                visible:                rtkGrid.rtkSettings.surveyInAccuracyLimit.visible
+                                Layout.preferredWidth:  _valueFieldWidth
                             }
 
-                            QGCLabel { text: rtkGrid.rtkSettings.surveyInMinObservationDuration.shortDescription }
+                            QGCLabel {
+                                text:       rtkGrid.rtkSettings.surveyInMinObservationDuration.shortDescription
+                                visible:    rtkGrid.rtkSettings.surveyInMinObservationDuration.visible
+                            }
                             FactTextField {
-                                Layout.preferredWidth:  _valueFieldWidth
                                 fact:                   rtkGrid.rtkSettings.surveyInMinObservationDuration
+                                visible:                rtkGrid.rtkSettings.surveyInMinObservationDuration.visible
+                                Layout.preferredWidth:  _valueFieldWidth
+                            }
+
+                            FactCheckBox {
+                                text:               rtkGrid.rtkSettings.useFixedBasePosition.shortDescription
+                                visible:            rtkGrid.rtkSettings.useFixedBasePosition.visible
+                                fact:               rtkGrid.rtkSettings.useFixedBasePosition
+                                Layout.columnSpan:  2
+                            }
+
+                            QGCLabel {
+                                text:       rtkGrid.rtkSettings.fixedBasePositionLatitude.shortDescription
+                                visible:    rtkGrid.rtkSettings.fixedBasePositionLatitude.visible
+                                enabled:    rtkGrid.useFixedPosition
+                            }
+                            FactTextField {
+                                fact:               rtkGrid.rtkSettings.fixedBasePositionLatitude
+                                visible:            rtkGrid.rtkSettings.fixedBasePositionLatitude.visible
+                                enabled:            rtkGrid.useFixedPosition
+                                Layout.fillWidth:   true
+                            }
+
+                            QGCLabel {
+                                text:       rtkGrid.rtkSettings.fixedBasePositionLongitude.shortDescription
+                                visible:    rtkGrid.rtkSettings.fixedBasePositionLongitude.visible
+                                enabled:    rtkGrid.useFixedPosition
+                            }
+                            FactTextField {
+                                fact:               rtkGrid.rtkSettings.fixedBasePositionLongitude
+                                visible:            rtkGrid.rtkSettings.fixedBasePositionLongitude.visible
+                                enabled:            rtkGrid.useFixedPosition
+                                Layout.fillWidth:   true
+                            }
+
+                            QGCLabel {
+                                text:       rtkGrid.rtkSettings.fixedBasePositionAltitude.shortDescription
+                                visible:    rtkGrid.rtkSettings.fixedBasePositionAltitude.visible
+                                enabled:    rtkGrid.useFixedPosition
+                            }
+                            FactTextField {
+                                fact:               rtkGrid.rtkSettings.fixedBasePositionAltitude
+                                visible:            rtkGrid.rtkSettings.fixedBasePositionAltitude.visible
+                                enabled:            rtkGrid.useFixedPosition
+                                Layout.fillWidth:   true
+                            }
+
+                            QGCLabel {
+                                text:       rtkGrid.rtkSettings.fixedBasePositionAccuracy.shortDescription
+                                visible:    rtkGrid.rtkSettings.fixedBasePositionAccuracy.visible
+                                enabled:    rtkGrid.useFixedPosition
+                            }
+                            FactTextField {
+                                fact:               rtkGrid.rtkSettings.fixedBasePositionAccuracy
+                                visible:            rtkGrid.rtkSettings.fixedBasePositionAccuracy.visible
+                                enabled:            rtkGrid.useFixedPosition
+                                Layout.fillWidth:   true
+                            }
+
+                            QGCButton {
+                                text:               qsTr("Save Current Base Position")
+                                Layout.columnSpan:  2
+                                enabled:            QGroundControl.gpsRtk.valid.value
+
+                                onClicked: {
+                                    rtkGrid.rtkSettings.fixedBasePositionLatitude.rawValue =    QGroundControl.gpsRtk.currentLatitude.rawValue
+                                    rtkGrid.rtkSettings.fixedBasePositionLongitude.rawValue =   QGroundControl.gpsRtk.currentLongitude.rawValue
+                                    rtkGrid.rtkSettings.fixedBasePositionAltitude.rawValue =    QGroundControl.gpsRtk.currentAltitude.rawValue
+                                    rtkGrid.rtkSettings.fixedBasePositionAccuracy.rawValue =    QGroundControl.gpsRtk.currentAccuracy.rawValue
+                                }
                             }
                         }
                     }