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Commit e910070a authored by Don Gagne's avatar Don Gagne
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Add support for ADSB vehicle display

parent 261efbd9
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Showing with 295 additions and 26 deletions
qgcresources.qrc
View file @ e910070a
......@@ -113,6 +113,7 @@
<file alias="scale_end.png">src/FlightMap/Images/scale_end.png</file>
<file alias="scaleLight.png">src/FlightMap/Images/scaleLight.png</file>
<file alias="scale_endLight.png">src/FlightMap/Images/scale_endLight.png</file>
<file alias="adsbVehicle.svg">src/FlightMap/Images/adsbVehicle.svg</file>
<file alias="vehicleArrowOutline.svg">src/FlightMap/Images/vehicleArrowOutline.svg</file>
<file alias="vehicleArrowOpaque.svg">src/FlightMap/Images/vehicleArrowOpaque.svg</file>
<file alias="ZoomPlus.svg">src/FlightMap/Images/ZoomPlus.svg</file>
......
qgroundcontrol.pro
View file @ e910070a
......@@ -836,6 +836,7 @@ HEADERS+= \
src/FirmwarePlugin/CameraMetaData.h \
src/FirmwarePlugin/FirmwarePlugin.h \
src/FirmwarePlugin/FirmwarePluginManager.h \
src/Vehicle/ADSBVehicle.h \
src/Vehicle/MultiVehicleManager.h \
src/Vehicle/GPSRTKFactGroup.h \
src/Vehicle/Vehicle.h \
......@@ -861,6 +862,7 @@ SOURCES += \
src/FirmwarePlugin/CameraMetaData.cc \
src/FirmwarePlugin/FirmwarePlugin.cc \
src/FirmwarePlugin/FirmwarePluginManager.cc \
src/Vehicle/ADSBVehicle.cc \
src/Vehicle/MultiVehicleManager.cc \
src/Vehicle/GPSRTKFactGroup.cc \
src/Vehicle/Vehicle.cc \
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ e910070a
......@@ -184,12 +184,27 @@ FlightMap {
delegate: VehicleMapItem {
vehicle: object
coordinate: object.coordinate
isSatellite: flightMap.isSatelliteMap
map: flightMap
size: _mainIsMap ? ScreenTools.defaultFontPixelHeight * 3 : ScreenTools.defaultFontPixelHeight
z: QGroundControl.zOrderVehicles
}
}
// Add ADSB vehicles to the map
MapItemView {
model: _activeVehicle ? _activeVehicle.adsbVehicles : 0
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
delegate: VehicleMapItem {
coordinate: object.coordinate
altitude: object.altitude
heading: object.heading
map: flightMap
z: QGroundControl.zOrderVehicles
}
}
// Add the mission item visuals to the map
Repeater {
model: _mainIsMap ? _missionController.visualItems : 0
......
src/FlightMap/Images/adsbVehicle.svg 0 → 100644
View file @ e910070a
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Generator: Adobe Illustrator 21.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
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style="enable-background:new 0 0 72 72;"
xml:space="preserve"
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id="metadata23"><rdf:RDF><cc:Work
rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" /></cc:Work></rdf:RDF></metadata><defs
id="defs21" /><sodipodi:namedview
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1"
objecttolerance="10"
gridtolerance="10"
guidetolerance="10"
inkscape:pageopacity="0"
inkscape:pageshadow="2"
inkscape:window-width="664"
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inkscape:window-x="0"
inkscape:window-y="0"
inkscape:window-maximized="0"
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type="text/css"
id="style3">
.st0{fill:#C72B27;}
.st1{fill:#7F0036;}
.st2{fill:#EE3424;}
</style><g
id="g5"><g
id="g7"><polygon
class="st0"
points="35.5,2.118 35.5,53.691 1.118,70.882 "
id="polygon9"
style="fill:#24d3ee;fill-opacity:1" /><path
class="st1"
d="M35,4.236v49.146L2.236,69.764L35,4.236 M36,0L0,72l36-18V0L36,0z"
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id="path17" /></g></g></svg>
\ No newline at end of file
src/FlightMap/MapItems/VehicleMapItem.qml
View file @ e910070a
......@@ -7,38 +7,62 @@
*
****************************************************************************/
/// @file
/// @author Don Gagne <don@thegagnes.com>
import QtQuick 2.3
import QtLocation 5.3
import QtPositioning 5.3
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
import QGroundControl.Controls 1.0
/// Marker for displaying a vehicle location on the map
MapQuickItem {
property var vehicle ///< Vehicle object
property bool isSatellite: false ///< true: satellite map is showing
property real size: ScreenTools.defaultFontPixelHeight * 5
anchorPoint.x: vehicleIcon.width / 2
anchorPoint.y: vehicleIcon.height / 2
visible: vehicle && vehicle.coordinate.isValid
sourceItem: Image {
id: vehicleIcon
source: isSatellite ? vehicle.vehicleImageOpaque : vehicle.vehicleImageOutline
mipmap: true
width: size
sourceSize.width: size
fillMode: Image.PreserveAspectFit
transform: Rotation {
origin.x: vehicleIcon.width / 2
origin.y: vehicleIcon.height / 2
angle: vehicle ? vehicle.heading.value : 0
property var vehicle /// Vehicle object, undefined for ADSB vehicle
property var map
property double altitude: Number.NaN ///< NAN to not show
property double heading: vehicle ? vehicle.heading.value : Number.NaN ///< Vehicle heading, NAN for none
property real size: _adsbVehicle ? _adsbSize : _uavSize /// Size for icon
anchorPoint.x: vehicleItem.width / 2
anchorPoint.y: vehicleItem.height / 2
visible: coordinate.isValid
property bool _adsbVehicle: vehicle ? false : true
property real _uavSize: ScreenTools.defaultFontPixelHeight * 5
property real _adsbSize: ScreenTools.defaultFontPixelHeight * 1.5
property var _map: map
sourceItem: Item {
id: vehicleItem
width: vehicleIcon.width
height: vehicleIcon.height
Image {
id: vehicleIcon
source: _adsbVehicle ? "/qmlimages/adsbVehicle.svg" : (map.isSatelliteMap ? vehicle.vehicleImageOpaque : vehicle.vehicleImageOutline)
mipmap: true
width: size
sourceSize.width: size
fillMode: Image.PreserveAspectFit
transform: Rotation {
origin.x: vehicleIcon.width / 2
origin.y: vehicleIcon.height / 2
angle: isNaN(heading) ? 0 : heading
}
}
QGCMapLabel {
anchors.top: parent.bottom
anchors.horizontalCenter: parent.horizontalCenter
map: _map
text: altText
font.pointSize: ScreenTools.smallFontPointSize
visible: !isNaN(altitude)
property string altText: visible ? QGroundControl.metersToAppSettingsDistanceUnits(altitude).toFixed(0) + " " + QGroundControl.appSettingsDistanceUnitsString : ""
}
}
}
src/PlanView/PlanView.qml
View file @ e910070a
......@@ -366,7 +366,7 @@ QGCView {
VehicleMapItem {
vehicle: object
coordinate: object.coordinate
isSatellite: editorMap.isSatelliteMap
map: editorMap
size: ScreenTools.defaultFontPixelHeight * 3
z: QGroundControl.zOrderMapItems - 1
}
......
src/Vehicle/ADSBVehicle.cc 0 → 100644
View file @ e910070a
/****************************************************************************
*
* (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.
*
****************************************************************************/
#include "ADSBVehicle.h"
#include <QDebug>
#include <QtMath>
ADSBVehicle::ADSBVehicle(mavlink_adsb_vehicle_t& adsbVehicle, QObject* parent)
: QObject (parent)
, _icaoAddress (adsbVehicle.ICAO_address)
, _altitude (NAN)
, _heading (NAN)
{
if (!(adsbVehicle.flags | ADSB_FLAGS_VALID_COORDS)) {
qWarning() << "At least coords must be valid";
return;
}
update(adsbVehicle);
}
void ADSBVehicle::update(mavlink_adsb_vehicle_t& adsbVehicle)
{
if (_icaoAddress != adsbVehicle.ICAO_address) {
qWarning() << "ICAO address mismatch expected:actual" << _icaoAddress << adsbVehicle.ICAO_address;
return;
}
if (!(adsbVehicle.flags | ADSB_FLAGS_VALID_COORDS)) {
return;
}
QGeoCoordinate newCoordinate(adsbVehicle.lat / qPow(10.0, 7.0), adsbVehicle.lon / qPow(10.0, 7.0));
if (newCoordinate != _coordinate) {
_coordinate = newCoordinate;
emit coordinateChanged(_coordinate);
}
double newAltitude = NAN;
if (adsbVehicle.flags | ADSB_FLAGS_VALID_ALTITUDE) {
newAltitude = (double)adsbVehicle.altitude / 1000.0;
}
if (!(qIsNaN(newAltitude) && qIsNaN(_altitude)) && !qFuzzyCompare(newAltitude, _altitude)) {
_altitude = newAltitude;
emit altitudeChanged(_altitude);
}
double newHeading = NAN;
if (adsbVehicle.flags | ADSB_FLAGS_VALID_HEADING) {
newHeading = (double)adsbVehicle.heading / 100.0;
}
if (!(qIsNaN(newHeading) && qIsNaN(_heading)) && !qFuzzyCompare(newHeading, _heading)) {
_heading = newHeading;
emit headingChanged(_heading);
}
}
src/Vehicle/ADSBVehicle.h 0 → 100644
View file @ e910070a
/****************************************************************************
*
* (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.
*
****************************************************************************/
#pragma once
#include <QObject>
#include <QGeoCoordinate>
#include "QGCMAVLink.h"
class ADSBVehicle : public QObject
{
Q_OBJECT
public:
ADSBVehicle(mavlink_adsb_vehicle_t& adsbVehicle, QObject* parent = NULL);
Q_PROPERTY(int icaoAddress READ icaoAddress CONSTANT)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged)
Q_PROPERTY(double altitude READ altitude NOTIFY altitudeChanged) // NaN for not available
Q_PROPERTY(double heading READ heading NOTIFY headingChanged) // NaN for not available
int icaoAddress (void) const { return _icaoAddress; }
QGeoCoordinate coordinate (void) const { return _coordinate; }
double altitude (void) const { return _altitude; }
double heading (void) const { return _heading; }
/// Update the vehicle with new information
void update(mavlink_adsb_vehicle_t& adsbVehicle);
signals:
void coordinateChanged(QGeoCoordinate coordinate);
void altitudeChanged(double altitude);
void headingChanged(double heading);
private:
uint32_t _icaoAddress;
QGeoCoordinate _coordinate;
double _altitude;
double _heading;
};
src/Vehicle/Vehicle.cc
View file @ e910070a
......@@ -31,6 +31,7 @@
#include "SettingsManager.h"
#include "QGCQGeoCoordinate.h"
#include "QGCCorePlugin.h"
#include "ADSBVehicle.h"
QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
......@@ -600,10 +601,12 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
case MAVLINK_MSG_ID_CAMERA_FEEDBACK:
_handleCameraFeedback(message);
break;
case MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED:
_handleCameraImageCaptured(message);
break;
case MAVLINK_MSG_ID_ADSB_VEHICLE:
_handleADSBVehicle(message);
break;
case MAVLINK_MSG_ID_SERIAL_CONTROL:
{
......@@ -2622,6 +2625,22 @@ bool Vehicle::autoDisarm(void)
return false;
}
void Vehicle::_handleADSBVehicle(const mavlink_message_t& message)
{
mavlink_adsb_vehicle_t adsbVehicle;
mavlink_msg_adsb_vehicle_decode(&message, &adsbVehicle);
if (adsbVehicle.flags | ADSB_FLAGS_VALID_COORDS) {
if (_adsbICAOMap.contains(adsbVehicle.ICAO_address)) {
_adsbICAOMap[adsbVehicle.ICAO_address]->update(adsbVehicle);
} else {
ADSBVehicle* vehicle = new ADSBVehicle(adsbVehicle, this);
_adsbICAOMap[adsbVehicle.ICAO_address] = vehicle;
_adsbVehicles.append(vehicle);
}
}
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
......
src/Vehicle/Vehicle.h
View file @ e910070a
......@@ -38,6 +38,7 @@ class ParameterManager;
class JoystickManager;
class UASMessage;
class SettingsManager;
class ADSBVehicle;
Q_DECLARE_LOGGING_CATEGORY(VehicleLog)
......@@ -311,6 +312,7 @@ public:
Q_PROPERTY(int telemetryRNoise READ telemetryRNoise NOTIFY telemetryRNoiseChanged)
Q_PROPERTY(QVariantList toolBarIndicators READ toolBarIndicators CONSTANT)
Q_PROPERTY(QVariantList cameraList READ cameraList CONSTANT)
Q_PROPERTY(QmlObjectListModel* adsbVehicles READ adsbVehicles CONSTANT)
/// true: Vehicle is flying, false: Vehicle is on ground
Q_PROPERTY(bool flying READ flying NOTIFY flyingChanged)
......@@ -527,6 +529,7 @@ public:
QmlObjectListModel* trajectoryPoints(void) { return &_mapTrajectoryList; }
QmlObjectListModel* cameraTriggerPoints(void) { return &_cameraTriggerPoints; }
QmlObjectListModel* adsbVehicles(void) { return &_adsbVehicles; }
int flowImageIndex() { return _flowImageIndex; }
......@@ -836,6 +839,7 @@ private:
void _handleScaledPressure3(mavlink_message_t& message);
void _handleCameraFeedback(const mavlink_message_t& message);
void _handleCameraImageCaptured(const mavlink_message_t& message);
void _handleADSBVehicle(const mavlink_message_t& message);
void _missionManagerError(int errorCode, const QString& errorMsg);
void _geoFenceManagerError(int errorCode, const QString& errorMsg);
void _rallyPointManagerError(int errorCode, const QString& errorMsg);
......@@ -975,6 +979,9 @@ private:
QmlObjectListModel _cameraTriggerPoints;
QmlObjectListModel _adsbVehicles;
QMap<uint32_t, ADSBVehicle*> _adsbICAOMap;
// Toolbox references
FirmwarePluginManager* _firmwarePluginManager;
JoystickManager* _joystickManager;
......
src/comm/MockLink.cc
View file @ e910070a
......@@ -161,6 +161,7 @@ void MockLink::_run1HzTasks(void)
{
if (_mavlinkStarted && _connected) {
_sendVibration();
_sendADSBVehicles();
if (!qgcApp()->runningUnitTests()) {
// Sending RC Channels during unit test breaks RC tests which does it's own RC simulation
_sendRCChannels();
......@@ -1268,3 +1269,26 @@ void MockLink::_logDownloadWorker(void)
}
}
}
void MockLink::_sendADSBVehicles(void)
{
mavlink_message_t responseMsg;
mavlink_msg_adsb_vehicle_pack_chan(_vehicleSystemId,
_vehicleComponentId,
_mavlinkChannel,
&responseMsg,
12345, // ICAO address
(_vehicleLatitude + 0.001) * qPow(10.0, 7.0),
(_vehicleLongitude + 0.001) * qPow(10.0, 7.0),
ADSB_ALTITUDE_TYPE_GEOMETRIC,
100 * 1000, // Altitude in millimeters
10 * 100, // Heading in centidegress
0, 0, // Horizontal/Vertical velocity
"N1234500", // Callsign
ADSB_EMITTER_TYPE_ROTOCRAFT,
1, // Seconds since last communication
ADSB_FLAGS_VALID_COORDS | ADSB_FLAGS_VALID_ALTITUDE | ADSB_FLAGS_VALID_HEADING | ADSB_FLAGS_VALID_CALLSIGN | ADSB_FLAGS_SIMULATED,
0); // Squawk code
respondWithMavlinkMessage(responseMsg);
}
src/comm/MockLink.h
View file @ e910070a
......@@ -192,6 +192,7 @@ private:
void _sendRCChannels(void);
void _paramRequestListWorker(void);
void _logDownloadWorker(void);
void _sendADSBVehicles(void);
static MockLink* _startMockLink(MockConfiguration* mockConfig);
......
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