/**************************************************************************** * * (c) 2009-2016 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ import QtQuick 2.4 import QtQuick.Controls 1.3 import QtQuick.Controls.Styles 1.2 import QtQuick.Dialogs 1.2 import QtLocation 5.3 import QtPositioning 5.2 import QGroundControl 1.0 import QGroundControl.ScreenTools 1.0 import QGroundControl.Controls 1.0 import QGroundControl.Palette 1.0 import QGroundControl.Vehicle 1.0 import QGroundControl.FlightMap 1.0 Item { id: _root property alias guidedModeBar: _guidedModeBar property bool gotoEnabled: _activeVehicle && _activeVehicle.guidedMode && _activeVehicle.flying property var qgcView property bool isBackgroundDark property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle property bool _isSatellite: _mainIsMap ? (_flightMap ? _flightMap.isSatelliteMap : true) : true property bool _lightWidgetBorders: _isSatellite property bool _useAlternateInstruments: QGroundControl.virtualTabletJoystick || ScreenTools.isTinyScreen readonly property real _margins: ScreenTools.defaultFontPixelHeight / 2 QGCMapPalette { id: mapPal; lightColors: isBackgroundDark } QGCPalette { id: qgcPal } function getGadgetWidth() { if(ScreenTools.isMobile) { return ScreenTools.isTinyScreen ? mainWindow.width * 0.2 : mainWindow.width * 0.15 } var w = mainWindow.width * 0.15 return Math.min(w, 200) } //-- Map warnings Column { anchors.horizontalCenter: parent.horizontalCenter anchors.verticalCenter: parent.verticalCenter spacing: ScreenTools.defaultFontPixelHeight QGCLabel { anchors.horizontalCenter: parent.horizontalCenter visible: _activeVehicle && !_activeVehicle.coordinateValid && _mainIsMap z: QGroundControl.zOrderTopMost color: mapPal.text font.pointSize: ScreenTools.largeFontPointSize text: qsTr("No GPS Lock for Vehicle") } QGCLabel { anchors.horizontalCenter: parent.horizontalCenter visible: _activeVehicle && _activeVehicle.prearmError z: QGroundControl.zOrderTopMost color: mapPal.text font.pointSize: ScreenTools.largeFontPointSize text: _activeVehicle ? _activeVehicle.prearmError : "" } } //-- Instrument Panel QGCInstrumentWidget { id: instrumentGadget anchors.margins: ScreenTools.defaultFontPixelHeight / 2 anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right anchors.verticalCenter: parent.verticalCenter visible: !_useAlternateInstruments size: getGadgetWidth() heading: _heading rollAngle: _roll pitchAngle: _pitch groundSpeedFact: _groundSpeedFact airSpeedFact: _airSpeedFact lightBorders: _lightWidgetBorders z: QGroundControl.zOrderWidgets qgcView: _root.qgcView maxHeight: parent.height - (anchors.margins * 2) } QGCInstrumentWidgetAlternate { id: instrumentGadgetAlternate anchors.margins: ScreenTools.defaultFontPixelHeight / 2 anchors.top: parent.top anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right visible: _useAlternateInstruments width: ScreenTools.isTinyScreen ? getGadgetWidth() * 1.5 : getGadgetWidth() heading: _heading rollAngle: _roll pitchAngle: _pitch groundSpeedFact: _groundSpeedFact airSpeedFact: _airSpeedFact lightBorders: _lightWidgetBorders qgcView: _root.qgcView maxHeight: parent.height - (anchors.margins * 2) z: QGroundControl.zOrderWidgets } /* ValuesWidget { anchors.topMargin: ScreenTools.defaultFontPixelHeight anchors.top: instrumentGadgetAlternate.bottom anchors.horizontalCenter: instrumentGadgetAlternate.horizontalCenter width: getGadgetWidth() qgcView: _root.qgcView textColor: _isSatellite ? "white" : "black" visible: _useAlternateInstruments maxHeight: virtualJoystickMultiTouch.visible ? virtualJoystickMultiTouch.y - y : parent.height - anchors.margins - y }*/ //-- Guided mode buttons Rectangle { id: _guidedModeBar anchors.margins: _barMargin anchors.bottom: parent.bottom anchors.horizontalCenter: parent.horizontalCenter width: guidedModeColumn.width + (_margins * 2) height: guidedModeColumn.height + (_margins * 2) radius: ScreenTools.defaultFontPixelHeight * 0.25 color: _lightWidgetBorders ? Qt.rgba(qgcPal.mapWidgetBorderLight.r, qgcPal.mapWidgetBorderLight.g, qgcPal.mapWidgetBorderLight.b, 0.8) : Qt.rgba(qgcPal.mapWidgetBorderDark.r, qgcPal.mapWidgetBorderDark.g, qgcPal.mapWidgetBorderDark.b, 0.75) visible: _activeVehicle z: QGroundControl.zOrderWidgets state: "Shown" property real _fontPointSize: ScreenTools.isMobile ? ScreenTools.largeFontPointSize : ScreenTools.defaultFontPointSize states: [ State { name: "Shown" PropertyChanges { target: showAnimation; running: true } PropertyChanges { target: guidedModeHideTimer; running: true } }, State { name: "Hidden" PropertyChanges { target: hideAnimation; running: true } } ] PropertyAnimation { id: hideAnimation target: _guidedModeBar property: "_barMargin" duration: 1000 easing.type: Easing.InOutQuad from: _guidedModeBar._showMargin to: _guidedModeBar._hideMargin } PropertyAnimation { id: showAnimation target: _guidedModeBar property: "_barMargin" duration: 250 easing.type: Easing.InOutQuad from: _guidedModeBar._hideMargin to: _guidedModeBar._showMargin } Timer { id: guidedModeHideTimer interval: 7000 running: true onTriggered: { if (ScreenTools.isShortScreen) { _guidedModeBar.state = "Hidden" } } } readonly property int confirmHome: 1 readonly property int confirmLand: 2 readonly property int confirmTakeoff: 3 readonly property int confirmArm: 4 readonly property int confirmDisarm: 5 readonly property int confirmEmergencyStop: 6 readonly property int confirmChangeAlt: 7 readonly property int confirmGoTo: 8 readonly property int confirmRetask: 9 readonly property int confirmOrbit: 10 readonly property int confirmAbort: 11 property int confirmActionCode property real _showMargin: _margins property real _hideMargin: _margins - _guidedModeBar.height property real _barMargin: _showMargin function actionConfirmed() { switch (confirmActionCode) { case confirmHome: _activeVehicle.guidedModeRTL() break; case confirmLand: _activeVehicle.guidedModeLand() break; case confirmTakeoff: var altitude1 = altitudeSlider.getValue() if (!isNaN(altitude1)) { _activeVehicle.guidedModeTakeoff(altitude1) } break; case confirmArm: _activeVehicle.armed = true break; case confirmDisarm: _activeVehicle.armed = false break; case confirmEmergencyStop: _activeVehicle.emergencyStop() break; case confirmChangeAlt: var altitude2 = altitudeSlider.getValue() if (!isNaN(altitude2)) { _activeVehicle.guidedModeChangeAltitude(altitude2) } break; case confirmGoTo: _activeVehicle.guidedModeGotoLocation(_flightMap._gotoHereCoordinate) break; case confirmRetask: _activeVehicle.setCurrentMissionSequence(_flightMap._retaskSequence) break; case confirmOrbit: //-- All parameters controlled by RC _activeVehicle.guidedModeOrbit() //-- Center on current flight map position and orbit with a 50m radius (velocity/direction controlled by the RC) //_activeVehicle.guidedModeOrbit(QGroundControl.flightMapPosition, 50.0) break; case confirmAbort: _activeVehicle.abortLanding() break; default: console.warn(qsTr("Internal error: unknown confirmActionCode"), confirmActionCode) } } function rejectGuidedModeConfirm() { guidedModeConfirm.visible = false _guidedModeBar.visible = true altitudeSlider.visible = false _flightMap._gotoHereCoordinate = QtPositioning.coordinate() guidedModeHideTimer.restart() } function confirmAction(actionCode) { guidedModeHideTimer.stop() confirmActionCode = actionCode switch (confirmActionCode) { case confirmArm: guidedModeConfirm.confirmText = qsTr("arm") break; case confirmDisarm: guidedModeConfirm.confirmText = qsTr("disarm") break; case confirmEmergencyStop: guidedModeConfirm.confirmText = qsTr("STOP ALL MOTORS!") break; case confirmTakeoff: altitudeSlider.visible = true altitudeSlider.setInitialValueMeters(3) guidedModeConfirm.confirmText = qsTr("takeoff") break; case confirmLand: guidedModeConfirm.confirmText = qsTr("land") break; case confirmHome: guidedModeConfirm.confirmText = qsTr("return to land") break; case confirmChangeAlt: altitudeSlider.visible = true altitudeSlider.setInitialValueAppSettingsDistanceUnits(_activeVehicle.altitudeRelative.value) guidedModeConfirm.confirmText = qsTr("change altitude") break; case confirmGoTo: guidedModeConfirm.confirmText = qsTr("move vehicle") break; case confirmRetask: guidedModeConfirm.confirmText = qsTr("active waypoint change") break; case confirmOrbit: guidedModeConfirm.confirmText = qsTr("enter orbit mode") break; case confirmAbort: guidedModeConfirm.confirmText = qsTr("abort landing") break; } _guidedModeBar.visible = false guidedModeConfirm.visible = true } Column { id: guidedModeColumn anchors.margins: _margins anchors.top: parent.top anchors.left: parent.left spacing: _margins QGCLabel { anchors.horizontalCenter: parent.horizontalCenter color: _lightWidgetBorders ? qgcPal.mapWidgetBorderDark : qgcPal.mapWidgetBorderLight text: "Click in map to move vehicle" visible: gotoEnabled } Row { spacing: _margins * 2 QGCButton { pointSize: _guidedModeBar._fontPointSize text: (_activeVehicle && _activeVehicle.armed) ? (_activeVehicle.flying ? qsTr("Emergency Stop") : qsTr("Disarm")) : qsTr("Arm") visible: _activeVehicle onClicked: _guidedModeBar.confirmAction(_activeVehicle.armed ? (_activeVehicle.flying ? _guidedModeBar.confirmEmergencyStop : _guidedModeBar.confirmDisarm) : _guidedModeBar.confirmArm) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("RTL") visible: (_activeVehicle && _activeVehicle.armed) && _activeVehicle.guidedModeSupported && _activeVehicle.flying onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmHome) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: (_activeVehicle && _activeVehicle.flying) ? qsTr("Land"): qsTr("Takeoff") visible: _activeVehicle && _activeVehicle.guidedModeSupported && _activeVehicle.armed onClicked: _guidedModeBar.confirmAction(_activeVehicle.flying ? _guidedModeBar.confirmLand : _guidedModeBar.confirmTakeoff) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("Pause") visible: (_activeVehicle && _activeVehicle.armed) && _activeVehicle.pauseVehicleSupported && _activeVehicle.flying onClicked: { guidedModeHideTimer.restart() _activeVehicle.pauseVehicle() } } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("Change Altitude") visible: (_activeVehicle && _activeVehicle.flying) && _activeVehicle.guidedModeSupported && _activeVehicle.armed onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmChangeAlt) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("Orbit") visible: (_activeVehicle && _activeVehicle.flying) && _activeVehicle.orbitModeSupported && _activeVehicle.armed onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmOrbit) } QGCButton { pointSize: _guidedModeBar._fontPointSize text: qsTr("Abort") visible: _activeVehicle && _activeVehicle.flying onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmAbort) } } // Row } // Column } // Rectangle - Guided mode buttons MouseArea { anchors.fill: parent enabled: guidedModeConfirm.visible onClicked: _guidedModeBar.rejectGuidedModeConfirm() } // Action confirmation control SliderSwitch { id: guidedModeConfirm anchors.bottomMargin: _margins anchors.bottom: parent.bottom anchors.horizontalCenter: parent.horizontalCenter visible: false z: QGroundControl.zOrderWidgets fontPointSize: _guidedModeBar._fontPointSize onAccept: { guidedModeConfirm.visible = false _guidedModeBar.visible = true _guidedModeBar.actionConfirmed() altitudeSlider.visible = false guidedModeHideTimer.restart() } onReject: _guidedModeBar.rejectGuidedModeConfirm() } //-- Altitude slider Rectangle { id: altitudeSlider anchors.margins: _margins anchors.right: parent.right anchors.top: parent.top anchors.bottom: parent.bottom color: qgcPal.window width: ScreenTools.defaultFontPixelWidth * 10 opacity: 0.8 visible: false function setInitialValueMeters(meters) { altSlider.value = QGroundControl.metersToAppSettingsDistanceUnits(meters) } function setInitialValueAppSettingsDistanceUnits(height) { altSlider.value = height } /// Returns NaN for bad value function getValue() { var value = parseFloat(altField.text) if (!isNaN(value)) { return QGroundControl.appSettingsDistanceUnitsToMeters(value); } else { return value; } } Column { id: headerColumn anchors.margins: _margins anchors.top: parent.top anchors.left: parent.left anchors.right: parent.right QGCLabel { anchors.horizontalCenter: parent.horizontalCenter text: qsTr("Alt (rel)") } QGCLabel { anchors.horizontalCenter: parent.horizontalCenter text: QGroundControl.appSettingsDistanceUnitsString } QGCTextField { id: altField anchors.left: parent.left anchors.right: parent.right text: altSlider.value.toFixed(1) } } Slider { id: altSlider anchors.margins: _margins anchors.top: headerColumn.bottom anchors.bottom: parent.bottom anchors.left: parent.left anchors.right: parent.right orientation: Qt.Vertical minimumValue: QGroundControl.metersToAppSettingsDistanceUnits(0) maximumValue: QGroundControl.metersToAppSettingsDistanceUnits((_activeVehicle && _activeVehicle.flying) ? Math.round((_activeVehicle.altitudeRelative.value + 100) / 100) * 100 : 10) } } }