Merge pull request #8109 from mavlink/pr-roi

ROI for manual flight

ChangeLog.md

@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
 
 ### 4.0.0 - Daily Build
 
+* Added ROI option during manual flight.
 * Windows: Move builds to 64 bit, Qt 5.12.5
 * Plan: ROI button will switch to Cancel ROI at appropriate times
 * Plan: When ROI is selected the flight path lines which are affected by the ROI will change color

QGCExternalLibs.pri

@@ -131,9 +131,9 @@ AndroidBuild {
 contains(DEFINES, QGC_ENABLE_PAIRING) {
     MacBuild {
         #- Pairing is generally not supported on macOS. This is here solely for development.
-        exists(/usr/local/Cellar/openssl/1.0.2s/include) {
-            INCLUDEPATH += /usr/local/Cellar/openssl/1.0.2s/include
-            LIBS += -L/usr/local/Cellar/openssl/1.0.2s/lib
+        exists(/usr/local/Cellar/openssl/1.0.2t/include) {
+            INCLUDEPATH += /usr/local/Cellar/openssl/1.0.2t/include
+            LIBS += -L/usr/local/Cellar/openssl/1.0.2t/lib
             LIBS += -lcrypto -lz
         } else {
             # There is some circular reference settings going on between QGCExternalLibs.pri and gqgroundcontrol.pro.

qgcimages.qrc

@@ -147,6 +147,7 @@
         <file alias="RCLossLight.svg">src/AutoPilotPlugins/PX4/Images/RCLossLight.svg</file>
         <file alias="ReturnToHomeAltitude.svg">src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitude.svg</file>
         <file alias="ReturnToHomeAltitudeCopter.svg">src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitudeCopter.svg</file>
+        <file alias="roi.svg">src/ui/toolbar/Images/roi.svg</file>
         <file alias="rollDialWhite.svg">src/FlightMap/Images/rollDialWhite.svg</file>
         <file alias="rollPointerWhite.svg">src/FlightMap/Images/rollPointerWhite.svg</file>
         <file alias="RTK.svg">src/ui/toolbar/Images/RTK.svg</file>

qgroundcontrol.qrc

@@ -15,6 +15,7 @@
         <file alias="ModeIndicator.qml">src/ui/toolbar/ModeIndicator.qml</file>
         <file alias="MultiVehicleSelector.qml">src/ui/toolbar/MultiVehicleSelector.qml</file>
         <file alias="RCRSSIIndicator.qml">src/ui/toolbar/RCRSSIIndicator.qml</file>
+        <file alias="ROIIndicator.qml">src/ui/toolbar/ROIIndicator.qml</file>
         <file alias="TelemetryRSSIIndicator.qml">src/ui/toolbar/TelemetryRSSIIndicator.qml</file>
         <file alias="VTOLModeIndicator.qml">src/ui/toolbar/VTOLModeIndicator.qml</file>
     </qresource>

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -271,18 +271,15 @@ void FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordina
     qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
 }
 
-void FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel)
+void FirmwarePlugin::guidedModeChangeAltitude(Vehicle*, double)
 {
     // Not supported by generic vehicle
-    Q_UNUSED(vehicle);
-    Q_UNUSED(altitudeRel);
     qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
 }
 
-void FirmwarePlugin::startMission(Vehicle* vehicle)
+void FirmwarePlugin::startMission(Vehicle*)
 {
     // Not supported by generic vehicle
-    Q_UNUSED(vehicle);
     qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
 }
 
@@ -293,33 +290,28 @@ const FirmwarePlugin::remapParamNameMajorVersionMap_t& FirmwarePlugin::paramName
     return remap;
 }
 
-int FirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
+int FirmwarePlugin::remapParamNameHigestMinorVersionNumber(int) const
 {
-    Q_UNUSED(majorVersionNumber);
     return 0;
 }
 
-QString FirmwarePlugin::vehicleImageOpaque(const Vehicle* vehicle) const
+QString FirmwarePlugin::vehicleImageOpaque(const Vehicle*) const
 {
-    Q_UNUSED(vehicle);
     return QStringLiteral("/qmlimages/vehicleArrowOpaque.svg");
 }
 
-QString FirmwarePlugin::vehicleImageOutline(const Vehicle* vehicle) const
+QString FirmwarePlugin::vehicleImageOutline(const Vehicle*) const
 {
-    Q_UNUSED(vehicle);
     return QStringLiteral("/qmlimages/vehicleArrowOutline.svg");
 }
 
-QString FirmwarePlugin::vehicleImageCompass(const Vehicle* vehicle) const
+QString FirmwarePlugin::vehicleImageCompass(const Vehicle*) const
 {
-    Q_UNUSED(vehicle);
     return QStringLiteral("/qmlimages/compassInstrumentArrow.svg");
 }
 
-const QVariantList &FirmwarePlugin::toolBarIndicators(const Vehicle* vehicle)
+const QVariantList &FirmwarePlugin::toolBarIndicators(const Vehicle*)
 {
-    Q_UNUSED(vehicle);
     //-- Default list of indicators for all vehicles.
     if(_toolBarIndicatorList.size() == 0) {
         _toolBarIndicatorList = QVariantList({
@@ -329,6 +321,7 @@ const QVariantList &FirmwarePlugin::toolBarIndicators(const Vehicle* vehicle)
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/RCRSSIIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/BatteryIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/GPSRTKIndicator.qml")),
+            QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ROIIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ArmedIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ModeIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/VTOLModeIndicator.qml")),
@@ -339,10 +332,8 @@ const QVariantList &FirmwarePlugin::toolBarIndicators(const Vehicle* vehicle)
     return _toolBarIndicatorList;
 }
 
-const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle)
+const QVariantList& FirmwarePlugin::cameraList(const Vehicle*)
 {
-    Q_UNUSED(vehicle);
-
     if (_cameraList.size() == 0) {
         CameraMetaData* metaData;
 

src/FirmwarePlugin/FirmwarePlugin.h

@@ -48,6 +48,7 @@ public:
         GuidedModeCapability =              1 << 2, ///< Vehicle supports guided mode commands
         OrbitModeCapability =               1 << 3, ///< Vehicle supports orbit mode
         TakeoffVehicleCapability =          1 << 4, ///< Vehicle supports guided takeoff
+        ROIModeCapability =                 1 << 5, ///< Vehicle supports ROI
     } FirmwareCapabilities;
 
     /// Maps from on parameter name to another

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -226,10 +226,13 @@ bool PX4FirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_m
 bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
 {
     int available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
+    //-- This is arbitrary until I find how to really tell if ROI is avaiable
+    if (vehicle->multiRotor()) {
+        available |= ROIModeCapability;
+    }
     if (vehicle->multiRotor() || vehicle->vtol()) {
         available |= TakeoffVehicleCapability | OrbitModeCapability;
     }
-
     return (capabilities & available) == capabilities;
 }
 

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -44,7 +44,6 @@ FlightMap {
 
     property var    _geoFenceController:        missionController.geoFenceController
     property var    _rallyPointController:      missionController.rallyPointController
-    property var    activeVehicle:              QGroundControl.multiVehicleManager.activeVehicle
     property var    _activeVehicleCoordinate:   activeVehicle ? activeVehicle.coordinate : QtPositioning.coordinate()
     property real   _toolButtonTopMargin:       parent.height - mainWindow.height + (ScreenTools.defaultFontPixelHeight / 2)
     property bool   _airspaceEnabled:           QGroundControl.airmapSupported ? (QGroundControl.settingsManager.airMapSettings.enableAirMap.rawValue && QGroundControl.airspaceManager.connected): false
@@ -409,6 +408,34 @@ FlightMap {
         }
     }
 
+    // ROI Location visuals
+    MapQuickItem {
+        id:             roiLocationItem
+        visible:        activeVehicle && activeVehicle.isROIEnabled
+        z:              QGroundControl.zOrderMapItems
+        anchorPoint.x:  sourceItem.anchorPointX
+        anchorPoint.y:  sourceItem.anchorPointY
+        sourceItem: MissionItemIndexLabel {
+            checked:    true
+            index:      -1
+            label:      qsTr("ROI here", "Make this a Region Of Interest")
+        }
+
+        //-- Visibilty controlled by actual state
+        function show(coord) {
+            roiLocationItem.coordinate = coord
+        }
+
+        function hide() {
+        }
+
+        function actionConfirmed() {
+        }
+
+        function actionCancelled() {
+        }
+    }
+
     // Orbit telemetry visuals
     QGCMapCircleVisuals {
         id:             orbitTelemetryCircle
@@ -437,9 +464,7 @@ FlightMap {
 
         QGCMenu {
             id: clickMenu
-
             property var coord
-
             QGCMenuItem {
                 text:           qsTr("Go to location")
                 visible:        guidedActionsController.showGotoLocation
@@ -450,7 +475,6 @@ FlightMap {
                     guidedActionsController.confirmAction(guidedActionsController.actionGoto, clickMenu.coord, gotoLocationItem)
                 }
             }
-
             QGCMenuItem {
                 text:           qsTr("Orbit at location")
                 visible:        guidedActionsController.showOrbit
@@ -461,6 +485,15 @@ FlightMap {
                     guidedActionsController.confirmAction(guidedActionsController.actionOrbit, clickMenu.coord, orbitMapCircle)
                 }
             }
+            QGCMenuItem {
+                text:           qsTr("ROI at location")
+                visible:        guidedActionsController.showROI
+
+                onTriggered: {
+                    roiLocationItem.show(clickMenu.coord)
+                    guidedActionsController.confirmAction(guidedActionsController.actionROI, clickMenu.coord, orbitMapCircle)
+                }
+            }
         }
 
         onClicked: {

src/Vehicle/Vehicle.cc

@@ -2979,6 +2979,11 @@ bool Vehicle::orbitModeSupported() const
     return _firmwarePlugin->isCapable(this, FirmwarePlugin::OrbitModeCapability);
 }
 
+bool Vehicle::roiModeSupported() const
+{
+    return _firmwarePlugin->isCapable(this, FirmwarePlugin::ROIModeCapability);
+}
+
 bool Vehicle::takeoffVehicleSupported() const
 {
     return _firmwarePlugin->isCapable(this, FirmwarePlugin::TakeoffVehicleCapability);
@@ -3084,6 +3089,74 @@ void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius,
     }
 }
 
+void Vehicle::guidedModeROI(const QGeoCoordinate& centerCoord)
+{
+    if (!roiModeSupported()) {
+        qgcApp()->showMessage(QStringLiteral("ROI mode not supported by Vehicle."));
+        return;
+    }
+    if (capabilityBits() & MAV_PROTOCOL_CAPABILITY_COMMAND_INT) {
+        sendMavCommandInt(
+            defaultComponentId(),
+            MAV_CMD_DO_SET_ROI_LOCATION,
+            MAV_FRAME_GLOBAL,
+            true,                           // show error if fails
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            centerCoord.latitude(),
+            centerCoord.longitude(),
+            static_cast<float>(centerCoord.altitude()));
+    } else {
+        sendMavCommand(
+            defaultComponentId(),
+            MAV_CMD_DO_SET_ROI_LOCATION,
+            true,                           // show error if fails
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(centerCoord.latitude()),
+            static_cast<float>(centerCoord.longitude()),
+            static_cast<float>(centerCoord.altitude()));
+    }
+}
+
+void Vehicle::stopGuidedModeROI()
+{
+    if (!roiModeSupported()) {
+        qgcApp()->showMessage(QStringLiteral("ROI mode not supported by Vehicle."));
+        return;
+    }
+    if (capabilityBits() & MAV_PROTOCOL_CAPABILITY_COMMAND_INT) {
+        sendMavCommandInt(
+            defaultComponentId(),
+            MAV_CMD_DO_SET_ROI_NONE,
+            MAV_FRAME_GLOBAL,
+            true,                           // show error if fails
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<double>(qQNaN()),   // Empty
+            static_cast<double>(qQNaN()),   // Empty
+            static_cast<float>(qQNaN()));   // Empty
+    } else {
+        sendMavCommand(
+            defaultComponentId(),
+            MAV_CMD_DO_SET_ROI_NONE,
+            true,                           // show error if fails
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()));   // Empty
+    }
+}
+
 void Vehicle::pauseVehicle(void)
 {
     if (!pauseVehicleSupported()) {
@@ -3352,6 +3425,20 @@ void Vehicle::_handleCommandAck(mavlink_message_t& message)
         }
     }
 
+    if (ack.command == MAV_CMD_DO_SET_ROI_LOCATION) {
+        if (ack.result == MAV_RESULT_ACCEPTED) {
+            _isROIEnabled = true;
+            emit isROIEnabledChanged();
+        }
+    }
+
+    if (ack.command == MAV_CMD_DO_SET_ROI_NONE) {
+        if (ack.result == MAV_RESULT_ACCEPTED) {
+            _isROIEnabled = false;
+            emit isROIEnabledChanged();
+        }
+    }
+
 #if !defined(NO_ARDUPILOT_DIALECT)
     if (ack.command == MAV_CMD_FLASH_BOOTLOADER && ack.result == MAV_RESULT_ACCEPTED) {
         qgcApp()->showMessage(tr("Bootloader flash succeeded"));

src/Vehicle/Vehicle.h

@@ -634,6 +634,7 @@ public:
     Q_PROPERTY(qreal                gimbalPitch             READ gimbalPitch                                            NOTIFY gimbalPitchChanged)
     Q_PROPERTY(qreal                gimbalYaw               READ gimbalYaw                                              NOTIFY gimbalYawChanged)
     Q_PROPERTY(bool                 gimbalData              READ gimbalData                                             NOTIFY gimbalDataChanged)
+    Q_PROPERTY(bool                 isROIEnabled            READ isROIEnabled                                           NOTIFY isROIEnabledChanged)
 
     // The following properties relate to Orbit status
     Q_PROPERTY(bool             orbitActive     READ orbitActive        NOTIFY orbitActiveChanged)
@@ -646,6 +647,7 @@ 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     roiModeSupported        READ roiModeSupported                               CONSTANT)                   ///< Orbit mode is supported by this vehicle
     Q_PROPERTY(bool     takeoffVehicleSupported READ takeoffVehicleSupported                        CONSTANT)                   ///< Guided takeoff supported
     Q_PROPERTY(QString  gotoFlightMode          READ gotoFlightMode                                 CONSTANT)                   ///< Flight mode vehicle is in while performing goto
 
@@ -729,6 +731,11 @@ public:
     ///     @param amslAltitude Desired vehicle altitude
     Q_INVOKABLE void guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double amslAltitude);
 
+    /// Command vehicle to keep given point as ROI
+    ///     @param centerCoord ROI coordinates
+    Q_INVOKABLE void guidedModeROI(const QGeoCoordinate& centerCoord);
+    Q_INVOKABLE void stopGuidedModeROI();
+
     /// Command vehicle to pause at current location. If vehicle supports guide mode, vehicle will be left
     /// in guided mode after pause.
     Q_INVOKABLE void pauseVehicle(void);
@@ -778,6 +785,7 @@ public:
     bool    guidedModeSupported     (void) const;
     bool    pauseVehicleSupported   (void) const;
     bool    orbitModeSupported      (void) const;
+    bool    roiModeSupported        (void) const;
     bool    takeoffVehicleSupported (void) const;
     QString gotoFlightMode          (void) const;
 
@@ -1100,6 +1108,7 @@ public:
     qreal       gimbalPitch             () { return static_cast<qreal>(_curGimbalPitch); }
     qreal       gimbalYaw               () { return static_cast<qreal>(_curGinmbalYaw); }
     bool        gimbalData              () { return _haveGimbalData; }
+    bool        isROIEnabled            () { return _isROIEnabled; }
 
 public slots:
     void setVtolInFwdFlight             (bool vtolInFwdFlight);
@@ -1215,6 +1224,7 @@ signals:
     void gimbalPitchChanged         ();
     void gimbalYawChanged           ();
     void gimbalDataChanged          ();
+    void isROIEnabledChanged        ();
 
 private slots:
     void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
@@ -1481,6 +1491,7 @@ private:
     float               _curGimbalPitch = 0.0f;
     float               _curGinmbalYaw  = 0.0f;
     bool                _haveGimbalData = false;
+    bool                _isROIEnabled   = false;
     Joystick*           _activeJoystick = nullptr;
 
     int _firmwareMajorVersion;

src/api/QGCOptions.h

@@ -49,6 +49,7 @@ public:
     Q_PROPERTY(QString                  firmwareUpgradeSingleURL        READ firmwareUpgradeSingleURL       CONSTANT)
     Q_PROPERTY(bool                     guidedBarShowEmergencyStop      READ guidedBarShowEmergencyStop     NOTIFY guidedBarShowEmergencyStopChanged)
     Q_PROPERTY(bool                     guidedBarShowOrbit              READ guidedBarShowOrbit             NOTIFY guidedBarShowOrbitChanged)
+    Q_PROPERTY(bool                     guidedBarShowROI                READ guidedBarShowROI               NOTIFY guidedBarShowROIChanged)
     Q_PROPERTY(bool                     missionWaypointsOnly            READ missionWaypointsOnly           NOTIFY missionWaypointsOnlyChanged)
     Q_PROPERTY(bool                     multiVehicleEnabled             READ multiVehicleEnabled            NOTIFY multiVehicleEnabledChanged)
     Q_PROPERTY(bool                     showOfflineMapExport            READ showOfflineMapExport           NOTIFY showOfflineMapExportChanged)
@@ -110,6 +111,7 @@ public:
     virtual bool    showFirmwareUpgrade             () const { return true; }
     virtual bool    guidedBarShowEmergencyStop      () const { return true; }
     virtual bool    guidedBarShowOrbit              () const { return true; }
+    virtual bool    guidedBarShowROI                () const { return true; }
     virtual bool    missionWaypointsOnly            () const { return false; }  ///< true: Only allow waypoints and complex items in Plan
     virtual bool    multiVehicleEnabled             () const { return true; }   ///< false: multi vehicle support is disabled
     virtual bool    guidedActionsRequireRCRSSI      () const { return false; }  ///< true: Guided actions will be disabled is there is no RC RSSI
@@ -147,6 +149,7 @@ signals:
     void showFirmwareUpgradeChanged             (bool show);
     void guidedBarShowEmergencyStopChanged      (bool show);
     void guidedBarShowOrbitChanged              (bool show);
+    void guidedBarShowROIChanged                (bool show);
     void missionWaypointsOnlyChanged            (bool missionWaypointsOnly);
     void multiVehicleEnabledChanged             (bool multiVehicleEnabled);
     void showOfflineMapExportChanged            ();

src/ui/MainRootWindow.qml

@@ -629,6 +629,12 @@ ApplicationWindow {
         indicatorDropdown.open()
     }
 
+    function hidePopUp() {
+        indicatorDropdown.close()
+        indicatorDropdown.currentItem = null
+        indicatorDropdown.currentIndicator = null
+    }
+
     Popup {
         id:             indicatorDropdown
         y:              ScreenTools.defaultFontPixelHeight

src/ui/toolbar/Images/roi.svg

+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 23.1.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 288 288" style="enable-background:new 0 0 288 288;" xml:space="preserve">
+<path d="M188.3,144c0,24.5-19.8,44.3-44.3,44.3S99.7,168.5,99.7,144s19.8-44.3,44.3-44.3S188.3,119.5,188.3,144z M288,144
+	c0,6.1-5,11.1-11.1,11.1h-28.3c-5.2,49.2-44.4,88.4-93.6,93.6v28.3c0,6.1-5,11.1-11.1,11.1s-11.1-5-11.1-11.1v-28.3
+	c-49.2-5.2-88.4-44.4-93.6-93.6H11.1C5,155.1,0,150.1,0,144s5-11.1,11.1-11.1h28.3c5.2-49.2,44.4-88.4,93.6-93.6V11.1
+	C132.9,5,137.9,0,144,0s11.1,5,11.1,11.1v28.3c49.2,5.2,88.4,44.4,93.6,93.6h28.3C283,132.9,288,137.9,288,144z M227.1,144
+	c0-45.8-37.3-83.1-83.1-83.1S60.9,98.2,60.9,144s37.3,83.1,83.1,83.1S227.1,189.8,227.1,144z"/>
+</svg>

src/ui/toolbar/ROIIndicator.qml

+/****************************************************************************
+ *
+ * (c) 2009-2019 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.
+ *
+ * @file
+ *   @author Gus Grubba <gus@auterion.com>
+ */
+
+import QtQuick          2.11
+import QtQuick.Controls 1.4
+import QtQuick.Layouts  1.11
+
+import QGroundControl                       1.0
+import QGroundControl.Controls              1.0
+import QGroundControl.MultiVehicleManager   1.0
+import QGroundControl.ScreenTools           1.0
+import QGroundControl.Palette               1.0
+
+//-------------------------------------------------------------------------
+//-- ROI Indicator
+Item {
+    id:                     _root
+    width:                  showIndicator ? roiIcon.width : 0
+    visible:                showIndicator
+    anchors.top:            parent.top
+    anchors.bottom:         parent.bottom
+
+    property bool showIndicator: activeVehicle && activeVehicle.roiModeSupported
+
+    Component {
+        id: roiInfo
+
+        Rectangle {
+            width:                  roiCol.width   + ScreenTools.defaultFontPixelWidth  * 6
+            height:                 roiCol.height  + ScreenTools.defaultFontPixelHeight * 2
+            radius:                 ScreenTools.defaultFontPixelHeight * 0.5
+            color:                  qgcPal.window
+
+            Column {
+                id:                 roiCol
+                spacing:            ScreenTools.defaultFontPixelHeight * 0.5
+                width:              Math.max(roiButton.width, roiLabel.width)
+                anchors.margins:    ScreenTools.defaultFontPixelHeight
+                anchors.centerIn:   parent
+
+                QGCLabel {
+                    id:             roiLabel
+                    text:           qsTr("ROI Disabled")
+                    font.family:    ScreenTools.demiboldFontFamily
+                    visible:        !roiButton.visible
+                    anchors.horizontalCenter: parent.horizontalCenter
+                }
+
+                QGCButton {
+                    id:             roiButton
+                    visible:        activeVehicle && activeVehicle.isROIEnabled
+                    text:           qsTr("Disable ROI")
+                    onClicked: {
+                        if(activeVehicle)
+                            activeVehicle.stopGuidedModeROI()
+                        mainWindow.hidePopUp()
+                    }
+                }
+            }
+        }
+    }
+
+    QGCColoredImage {
+        id:                 roiIcon
+        width:              height
+        anchors.top:        parent.top
+        anchors.bottom:     parent.bottom
+        sourceSize.height:  height
+        source:             "/qmlimages/roi.svg"
+        color:              activeVehicle && activeVehicle.isROIEnabled ? qgcPal.colorGreen : qgcPal.text
+        fillMode:           Image.PreserveAspectFit
+        opacity:            activeVehicle && activeVehicle.isROIEnabled ? 1 : 0.5
+    }
+
+    MouseArea {
+        anchors.fill:   parent
+        onClicked: {
+            mainWindow.showPopUp(_root, roiInfo)
+        }
+    }
+}