Merge pull request #7105 from DonLakeFlyer/GuidedCancel

Better handling of guided map indicator show/hide

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -84,6 +84,7 @@ public:
     QString             flightMode                      (uint8_t base_mode, uint32_t custom_mode) const override;
     bool                setFlightMode                   (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) override;
     bool                isGuidedMode                    (const Vehicle* vehicle) const override;
+    QString             gotoFlightMode                  (void) const override { return QStringLiteral("Guided"); }
     QString             rtlFlightMode                   (void) const override { return QString("RTL"); }
     QString             missionFlightMode               (void) const override { return QString("Auto"); }
     void                pauseVehicle                    (Vehicle* vehicle) override;

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -757,3 +757,8 @@ int FirmwarePlugin::versionCompare(Vehicle* vehicle, QString& compare)
     int patch = versionNumbers[2].toInt();
     return versionCompare(vehicle, major, minor, patch);
 }
+
+QString FirmwarePlugin::gotoFlightMode(void) const
+{
+    return QString();
+}

src/FirmwarePlugin/FirmwarePlugin.h

@@ -114,6 +114,9 @@ public:
     /// Returns whether the vehicle is in guided mode or not.
     virtual bool isGuidedMode(const Vehicle* vehicle) const;
 
+    /// Returns the flight mode which the vehicle will be in if it is performing a goto location
+    virtual QString gotoFlightMode(void) const;
+
     /// Set guided flight mode
     virtual void setGuidedMode(Vehicle* vehicle, bool guidedMode);
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -42,6 +42,7 @@ public:
     QString             rtlFlightMode                   (void) const override { return _rtlFlightMode; }
     QString             landFlightMode                  (void) const override { return _landingFlightMode; }
     QString             takeControlFlightMode           (void) const override { return _manualFlightMode; }
+    QString             gotoFlightMode                  (void) const override { return _holdFlightMode; }
     void                pauseVehicle                    (Vehicle* vehicle) override;
     void                guidedModeRTL                   (Vehicle* vehicle) override;
     void                guidedModeLand                  (Vehicle* vehicle) override;

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -295,6 +295,7 @@ FlightMap {
         }
     }
 
+    // GoTo Location visuals
     MapQuickItem {
         id:             gotoLocationItem
         visible:        false
@@ -308,6 +309,22 @@ FlightMap {
             label:      qsTr("Goto here", "Goto here waypoint")
         }
 
+        property bool inGotoFlightMode: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.gotoFlightMode : false
+        property var activeVehicle: _activeVehicle
+
+        onInGotoFlightModeChanged: {
+            if (!inGotoFlightMode && visible) {
+                // Hide goto indicator when vehicle falls out of guided mode
+                visible = false
+            }
+        }
+
+        onActiveVehicleChanged: {
+            if (!_activeVehicle) {
+                visible = false
+            }
+        }
+
         function show(coord) {
             gotoLocationItem.coordinate = coord
             gotoLocationItem.visible = true
@@ -316,10 +333,17 @@ FlightMap {
         function hide() {
             gotoLocationItem.visible = false
         }
-    }
 
-    // Orbit visuals
+        function actionConfirmed() {
+            // We leave the indicator visible. The handling for onInGuidedModeChanged will hide it.
+        }
+
+        function actionCancelled() {
+            hide()
+        }
+    }
 
+    // Orbit editing visuals
     QGCMapCircleVisuals {
         id:             orbitMapCircle
         mapControl:     parent
@@ -328,9 +352,16 @@ FlightMap {
 
         property alias center:              _mapCircle.center
         property alias clockwiseRotation:   _mapCircle.clockwiseRotation
+        property var   activeVehicle:       _activeVehicle
 
         readonly property real defaultRadius: 30
 
+        onActiveVehicleChanged: {
+            if (!_activeVehicle) {
+                visible = false
+            }
+        }
+
         function show(coord) {
             _mapCircle.radius.rawValue = defaultRadius
             orbitMapCircle.center = coord
@@ -341,6 +372,15 @@ FlightMap {
             orbitMapCircle.visible = false
         }
 
+        function actionConfirmed() {
+            // Live orbit status is handled by telemetry so we hide here and telemetry will show again.
+            hide()
+        }
+
+        function actionCancelled() {
+            hide()
+        }
+
         function radius() {
             return _mapCircle.radius.rawValue
         }
@@ -357,7 +397,6 @@ FlightMap {
     }
 
     // Orbit telemetry visuals
-
     QGCMapCircleVisuals {
         id:             orbitTelemetryCircle
         mapControl:     parent
@@ -395,7 +434,7 @@ FlightMap {
                 onTriggered: {
                     gotoLocationItem.show(clickMenu.coord)
                     orbitMapCircle.hide()
-                    guidedActionsController.confirmAction(guidedActionsController.actionGoto, clickMenu.coord)
+                    guidedActionsController.confirmAction(guidedActionsController.actionGoto, clickMenu.coord, gotoLocationItem)
                 }
             }
 
@@ -406,7 +445,7 @@ FlightMap {
                 onTriggered: {
                     orbitMapCircle.show(clickMenu.coord)
                     gotoLocationItem.hide()
-                    guidedActionsController.confirmAction(guidedActionsController.actionOrbit, clickMenu.coord)
+                    guidedActionsController.confirmAction(guidedActionsController.actionOrbit, clickMenu.coord, orbitMapCircle)
                 }
             }
         }

src/FlightDisplay/GuidedActionConfirm.qml

@@ -34,16 +34,14 @@ Rectangle {
     property int    action
     property var    actionData
     property bool   hideTrigger:        false
+    property var    mapIndicator
 
     property real _margins:         ScreenTools.defaultFontPixelWidth
     property bool _emergencyAction: action === guidedController.actionEmergencyStop
 
     onHideTriggerChanged: {
         if (hideTrigger) {
-            hideTrigger = false
-            altitudeSlider.visible = false
-            visibleTimer.stop()
-            visible = false
+            confirmCancelled()
         }
     }
 
@@ -57,6 +55,17 @@ Rectangle {
         }
     }
 
+    function confirmCancelled() {
+        altitudeSlider.visible = false
+        visible = false
+        hideTrigger = false
+        visibleTimer.stop()
+        if (mapIndicator) {
+            mapIndicator.actionCancelled()
+            mapIndicator = undefined
+        }
+    }
+
     Timer {
         id:             visibleTimer
         interval:       1000
@@ -107,12 +116,10 @@ Rectangle {
                 }
                 hideTrigger = false
                 guidedController.executeAction(_root.action, _root.actionData, altitudeChange)
-            }
-
-            onReject: {
-                altitudeSlider.visible = false
-                _root.visible = false
-                hideTrigger = false
+                if (mapIndicator) {
+                    mapIndicator.actionConfirmed()
+                    mapIndicator = undefined
+                }
             }
         }
     }
@@ -127,12 +134,10 @@ Rectangle {
         source:             "/res/XDelete.svg"
         fillMode:           Image.PreserveAspectFit
         color:              qgcPal.text
+
         QGCMouseArea {
             fillItem:   parent
-            onClicked: {
-                altitudeSlider.visible = false
-                _root.visible = false
-            }
+            onClicked:  confirmCancelled()
         }
     }
 }

src/FlightDisplay/GuidedActionsController.qml

@@ -209,12 +209,13 @@ Item {
     }
 
     // Called when an action is about to be executed in order to confirm
-    function confirmAction(actionCode, actionData) {
+    function confirmAction(actionCode, actionData, mapIndicator) {
         var showImmediate = true
         closeAll()
         confirmDialog.action = actionCode
         confirmDialog.actionData = actionData
         confirmDialog.hideTrigger = true
+        confirmDialog.mapIndicator = mapIndicator
         _actionData = actionData
         switch (actionCode) {
         case actionArm:
@@ -385,7 +386,6 @@ Item {
             break
         case actionOrbit:
             _activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius() * (orbitMapCircle.clockwiseRotation ? 1 : -1), _activeVehicle.altitudeAMSL.rawValue + actionAltitudeChange)
-            orbitMapCircle.hide()
             break
         case actionLandAbort:
             _activeVehicle.abortLanding(50)     // hardcoded value for climbOutAltitude that is currently ignored

src/QmlControls/SliderSwitch.qml

@@ -14,7 +14,6 @@ Rectangle {
     color:          qgcPal.windowShade
 
     signal accept   ///< Action confirmed
-    signal reject   ///< Action rejected
 
     property string confirmText                         ///< Text for slider
     property alias  fontPointSize: label.font.pointSize ///< Point size for text
@@ -70,12 +69,6 @@ Rectangle {
         property bool dragActive:   drag.active
         property real _dragOffset:  1
 
-        //Component.onCompleted: console.log(height, ScreenTools.minTouchPixels)
-
-        onPressed: {
-            mouse.x
-        }
-
         onDragActiveChanged: {
             if (!sliderDragArea.drag.active) {
                 if (slider.x > _maxXDrag - _border) {

src/Vehicle/Vehicle.cc

@@ -2962,6 +2962,11 @@ bool Vehicle::takeoffVehicleSupported() const
     return _firmwarePlugin->isCapable(this, FirmwarePlugin::TakeoffVehicleCapability);
 }
 
+QString Vehicle::gotoFlightMode() const
+{
+    return _firmwarePlugin->gotoFlightMode();
+}
+
 void Vehicle::guidedModeRTL(void)
 {
     if (!guidedModeSupported()) {

src/Vehicle/Vehicle.h

@@ -636,13 +636,14 @@ public:
     Q_PROPERTY(QGCMapCircle*    orbitMapCircle  READ orbitMapCircle     CONSTANT)
 
     // Vehicle state used for guided control
-    Q_PROPERTY(bool flying                  READ flying NOTIFY flyingChanged)                               ///< Vehicle is flying
-    Q_PROPERTY(bool landing                 READ landing NOTIFY landingChanged)                             ///< Vehicle is in landing pattern (DO_LAND_START)
-    Q_PROPERTY(bool guidedMode              READ guidedMode WRITE setGuidedMode NOTIFY guidedModeChanged)   ///< Vehicle is in Guided mode and can respond to guided commands
-    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     flying                  READ flying                                         NOTIFY flyingChanged)       ///< Vehicle is flying
+    Q_PROPERTY(bool     landing                 READ landing                                        NOTIFY landingChanged)      ///< Vehicle is in landing pattern (DO_LAND_START)
+    Q_PROPERTY(bool     guidedMode              READ guidedMode                 WRITE setGuidedMode NOTIFY guidedModeChanged)   ///< Vehicle is in Guided mode and can respond to guided commands
+    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(QString  gotoFlightMode          READ gotoFlightMode                                 CONSTANT)                   ///< Flight mode vehicle is in while performing goto
 
     Q_PROPERTY(ParameterManager* parameterManager READ parameterManager CONSTANT)
 
@@ -761,10 +762,11 @@ public:
     ///     @param percent 0-no power, 100-full power
     Q_INVOKABLE void motorTest(int motor, int percent);
 
-    bool guidedModeSupported    (void) const;
-    bool pauseVehicleSupported  (void) const;
-    bool orbitModeSupported     (void) const;
-    bool takeoffVehicleSupported(void) const;
+    bool    guidedModeSupported     (void) const;
+    bool    pauseVehicleSupported   (void) const;
+    bool    orbitModeSupported      (void) const;
+    bool    takeoffVehicleSupported (void) const;
+    QString gotoFlightMode          (void) const;
 
     // Property accessors