Show Orbit button only if supported.

src/FactSystem/ParameterLoader.cc

@@ -773,7 +773,7 @@ void ParameterLoader::_saveToEEPROM(void)
 {
     if (_saveRequired) {
         _saveRequired = false;
-        if (_vehicle->firmwarePlugin()->isCapable(FirmwarePlugin::MavCmdPreflightStorageCapability)) {
+        if (_vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::MavCmdPreflightStorageCapability)) {
             mavlink_message_t msg;
             mavlink_msg_command_long_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, _vehicle->id(), 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
             _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -143,7 +143,7 @@ APMFirmwarePlugin::APMFirmwarePlugin(void)
 
 }
 
-bool APMFirmwarePlugin::isCapable(FirmwareCapabilities capabilities)
+bool APMFirmwarePlugin::isCapable(const Vehicle* /*vehicle*/, FirmwareCapabilities capabilities)
 {
     return (capabilities & (SetFlightModeCapability | PauseVehicleCapability)) == capabilities;
 }

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -66,14 +66,14 @@ private:
 class APMFirmwarePlugin : public FirmwarePlugin
 {
     Q_OBJECT
-    
+
 public:
     // Overrides from FirmwarePlugin
 
     QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
     QList<MAV_CMD> supportedMissionCommands(void) final;
 
-    bool        isCapable(FirmwareCapabilities capabilities);
+    bool        isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities);
     QStringList flightModes(Vehicle* vehicle) final;
     QString     flightMode(uint8_t base_mode, uint32_t custom_mode) const final;
     bool        setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
@@ -103,7 +103,7 @@ protected:
 
 private slots:
     void _artooSocketError(QAbstractSocket::SocketError socketError);
-    
+
 private:
     void _adjustSeverity(mavlink_message_t* message) const;
     void _adjustCalibrationMessageSeverity(mavlink_message_t* message) const;

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -98,7 +98,7 @@ int ArduCopterFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVe
     return majorVersionNumber == 3 ? 4: Vehicle::versionNotSetValue;
 }
 
-bool ArduCopterFirmwarePlugin::isCapable(FirmwareCapabilities capabilities)
+bool ArduCopterFirmwarePlugin::isCapable(const Vehicle* /*vehicle*/, FirmwareCapabilities capabilities)
 {
     return (capabilities & (SetFlightModeCapability | GuidedModeCapability | PauseVehicleCapability)) == capabilities;
 }

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -48,12 +48,12 @@ public:
 class ArduCopterFirmwarePlugin : public APMFirmwarePlugin
 {
     Q_OBJECT
-    
+
 public:
     ArduCopterFirmwarePlugin(void);
 
     // Overrides from FirmwarePlugin
-    bool isCapable(FirmwareCapabilities capabilities) final;
+    bool isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities) final;
     bool isPaused(const Vehicle* vehicle) const final;
     void setGuidedMode(Vehicle* vehicle, bool guidedMode) final;
     void pauseVehicle(Vehicle* vehicle) final;

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -15,8 +15,9 @@
 
 const char* guided_mode_not_supported_by_vehicle = "Guided mode not supported by Vehicle.";
 
-bool FirmwarePlugin::isCapable(FirmwareCapabilities capabilities)
+bool FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
 {
+    Q_UNUSED(vehicle);
     Q_UNUSED(capabilities);
     return false;
 }

src/FirmwarePlugin/FirmwarePlugin.h

@@ -40,7 +40,8 @@ public:
         SetFlightModeCapability =           1 << 0, ///< FirmwarePlugin::setFlightMode method is supported
         MavCmdPreflightStorageCapability =  1 << 1, ///< MAV_CMD_PREFLIGHT_STORAGE is supported
         PauseVehicleCapability =            1 << 2, ///< Vehicle supports pausing at current location
-        GuidedModeCapability =              1 << 3, ///< Vehicle Support guided mode commands
+        GuidedModeCapability =              1 << 3, ///< Vehicle Supports guided mode commands
+        OrbitModeCapability =               1 << 4, ///< Vehicle Supports orbit mode
     } FirmwareCapabilities;
 
     /// Maps from on parameter name to another
@@ -62,7 +63,7 @@ public:
     virtual void initializeVehicle(Vehicle* vehicle);
 
     /// @return true: Firmware supports all specified capabilites
-    virtual bool isCapable(FirmwareCapabilities capabilities);
+    virtual bool isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities);
 
     /// Returns VehicleComponents for specified Vehicle
     ///     @param vehicle Vehicle  to associate with components

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -170,8 +170,11 @@ int PX4FirmwarePlugin::manualControlReservedButtonCount(void)
     return 0;   // 0 buttons reserved for rc switch simulation
 }
 
-bool PX4FirmwarePlugin::isCapable(FirmwareCapabilities capabilities)
+bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
 {
+    if(vehicle->multiRotor()) {
+        return (capabilities & (MavCmdPreflightStorageCapability | GuidedModeCapability | SetFlightModeCapability | PauseVehicleCapability | OrbitModeCapability)) == capabilities;
+    }
     return (capabilities & (MavCmdPreflightStorageCapability | GuidedModeCapability | SetFlightModeCapability | PauseVehicleCapability)) == capabilities;
 }
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -30,7 +30,7 @@ public:
     QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
     QList<MAV_CMD> supportedMissionCommands(void) final;
 
-    bool        isCapable                       (FirmwareCapabilities capabilities) final;
+    bool        isCapable                       (const Vehicle *vehicle, FirmwareCapabilities capabilities) final;
     QStringList flightModes                     (Vehicle* vehicle) final;
     QString     flightMode                      (uint8_t base_mode, uint32_t custom_mode) const final;
     bool        setFlightMode                   (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
@@ -53,7 +53,7 @@ public:
     QString     internalParameterMetaDataFile   (void) final { return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); }
     void        getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { PX4ParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
     QObject*    loadParameterMetaData           (const QString& metaDataFile);
-    bool        adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message);
+    bool        adjustIncomingMavlinkMessage    (Vehicle* vehicle, mavlink_message_t* message);
 
     // Use these constants to set flight modes using setFlightMode method. Don't use hardcoded string names since the
     // names may change.

src/FlightDisplay/FlightDisplayViewWidgets.qml

@@ -501,7 +501,7 @@ Item {
                 QGCButton {
                     pointSize:  _guidedModeBar._fontPointSize
                     text:       qsTr("Orbit")
-                    visible:    (_activeVehicle && _activeVehicle.flying) && _activeVehicle.guidedModeSupported && _activeVehicle.armed
+                    visible:    (_activeVehicle && _activeVehicle.flying) && _activeVehicle.orbitModeSupported && _activeVehicle.armed
                     onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmOrbit)
                 }
 

src/Vehicle/Vehicle.cc

@@ -1223,7 +1223,7 @@ void Vehicle::setArmed(bool armed)
 
 bool Vehicle::flightModeSetAvailable(void)
 {
-    return _firmwarePlugin->isCapable(FirmwarePlugin::SetFlightModeCapability);
+    return _firmwarePlugin->isCapable(this, FirmwarePlugin::SetFlightModeCapability);
 }
 
 QStringList Vehicle::flightModes(void)
@@ -1583,12 +1583,17 @@ void Vehicle::setFlying(bool flying)
 
 bool Vehicle::guidedModeSupported(void) const
 {
-    return _firmwarePlugin->isCapable(FirmwarePlugin::GuidedModeCapability);
+    return _firmwarePlugin->isCapable(this, FirmwarePlugin::GuidedModeCapability);
 }
 
 bool Vehicle::pauseVehicleSupported(void) const
 {
-    return _firmwarePlugin->isCapable(FirmwarePlugin::PauseVehicleCapability);
+    return _firmwarePlugin->isCapable(this, FirmwarePlugin::PauseVehicleCapability);
+}
+
+bool Vehicle::orbitModeSupported() const
+{
+    return _firmwarePlugin->isCapable(this, FirmwarePlugin::OrbitModeCapability);
 }
 
 void Vehicle::guidedModeRTL(void)
@@ -1639,8 +1644,8 @@ void Vehicle::guidedModeChangeAltitude(double altitudeRel)
 
 void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double velocity, double altitude)
 {
-    if (!guidedModeSupported()) {
-        qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
+    if (!orbitModeSupported()) {
+        qgcApp()->showMessage(QStringLiteral("Orbit mode not supported by Vehicle."));
         return;
     }
     _firmwarePlugin->guidedModeOrbit(this, centerCoord, radius, velocity, altitude);

src/Vehicle/Vehicle.h

@@ -293,6 +293,9 @@ public:
     /// true: pauseVehicle command is supported
     Q_PROPERTY(bool pauseVehicleSupported READ pauseVehicleSupported CONSTANT)
 
+    /// true: Orbit mode is supported by this vehicle
+    Q_PROPERTY(bool orbitModeSupported READ orbitModeSupported CONSTANT)
+
     // FactGroup object model properties
 
     Q_PROPERTY(Fact* roll               READ roll               CONSTANT)
@@ -380,6 +383,7 @@ public:
 
     bool guidedModeSupported(void) const;
     bool pauseVehicleSupported(void) const;
+    bool orbitModeSupported(void) const;
 
     // Property accessors