/****************************************************************************
*
* (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 2.4
import QtQuick.Layouts 1.11
import QtQuick.Dialogs 1.3
import QtPositioning 5.2
import QGroundControl 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.MultiVehicleManager 1.0
import QGroundControl.Palette 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
import QGroundControl.QGCPositionManager 1.0
import QGroundControl.Airspace 1.0
import CustomQuickInterface 1.0
import Custom.Widgets 1.0
Item {
anchors.fill: parent
visible: !QGroundControl.videoManager.fullScreen
readonly property string scaleState: "topMode"
readonly property string noGPS: qsTr("NO GPS")
readonly property real indicatorValueWidth: ScreenTools.defaultFontPixelWidth * 7
property real _indicatorDiameter: ScreenTools.defaultFontPixelWidth * 18
property real _indicatorsHeight: ScreenTools.defaultFontPixelHeight
property var _sepColor: qgcPal.globalTheme === QGCPalette.Light ? Qt.rgba(0,0,0,0.5) : Qt.rgba(1,1,1,0.5)
property color _indicatorsColor: qgcPal.text
property bool _communicationLost: activeVehicle ? activeVehicle.connectionLost : false
property bool _isVehicleGps: activeVehicle && activeVehicle.gps && activeVehicle.gps.count.rawValue > 1 && activeVehicle.gps.hdop.rawValue < 1.4
property var _dynamicCameras: activeVehicle ? activeVehicle.dynamicCameras : null
property bool _isCamera: _dynamicCameras ? _dynamicCameras.cameras.count > 0 : false
property int _curCameraIndex: _dynamicCameras ? _dynamicCameras.currentCamera : 0
property var _camera: _isCamera ? _dynamicCameras.cameras.get(_curCameraIndex) : null
property bool _cameraPresent: _camera && _camera.cameraMode !== QGCCameraControl.CAM_MODE_UNDEFINED
property var _flightPermit: QGroundControl.airmapSupported ? QGroundControl.airspaceManager.flightPlan.flightPermitStatus : null
property bool _hasGimbal: activeVehicle && activeVehicle.gimbalData
property bool _airspaceIndicatorVisible: QGroundControl.airmapSupported && mainIsMap && _flightPermit && _flightPermit !== AirspaceFlightPlanProvider.PermitNone
property string _altitude: activeVehicle ? (isNaN(activeVehicle.altitudeRelative.value) ? "0.0" : activeVehicle.altitudeRelative.value.toFixed(1)) + ' ' + activeVehicle.altitudeRelative.units : "0.0"
property string _distanceStr: isNaN(_distance) ? "0" : _distance.toFixed(0) + ' ' + (activeVehicle ? activeVehicle.altitudeRelative.units : "")
property real _heading: activeVehicle ? activeVehicle.heading.rawValue : 0
property real _distance: 0.0
property string _messageTitle: ""
property string _messageText: ""
function secondsToHHMMSS(timeS) {
var sec_num = parseInt(timeS, 10);
var hours = Math.floor(sec_num / 3600);
var minutes = Math.floor((sec_num - (hours * 3600)) / 60);
var seconds = sec_num - (hours * 3600) - (minutes * 60);
if (hours < 10) {hours = "0"+hours;}
if (minutes < 10) {minutes = "0"+minutes;}
if (seconds < 10) {seconds = "0"+seconds;}
return hours+':'+minutes+':'+seconds;
}
Timer {
id: connectionTimer
interval: 5000
running: false;
repeat: false;
onTriggered: {
//-- Vehicle is gone
if(activeVehicle) {
//-- Let video stream close
QGroundControl.settingsManager.videoSettings.rtspTimeout.rawValue = 1
if(!activeVehicle.armed) {
//-- If it wasn't already set to auto-disconnect
if(!activeVehicle.autoDisconnect) {
//-- Vehicle is not armed. Close connection and tell user.
activeVehicle.disconnectInactiveVehicle()
connectionLostDisarmedDialog.open()
}
} else {
//-- Vehicle is armed. Show doom dialog.
connectionLostArmed.open()
}
}
}
}
Connections {
target: QGroundControl.qgcPositionManger
onGcsPositionChanged: {
if (activeVehicle && gcsPosition.latitude && Math.abs(gcsPosition.latitude) > 0.001 && gcsPosition.longitude && Math.abs(gcsPosition.longitude) > 0.001) {
var gcs = QtPositioning.coordinate(gcsPosition.latitude, gcsPosition.longitude)
var veh = activeVehicle.coordinate;
_distance = QGroundControl.metersToAppSettingsDistanceUnits(gcs.distanceTo(veh));
//-- Ignore absurd values
if(_distance > 99999)
_distance = 0;
if(_distance < 0)
_distance = 0;
} else {
_distance = 0;
}
}
}
Connections {
target: QGroundControl.multiVehicleManager.activeVehicle
onConnectionLostChanged: {
if(!_communicationLost) {
//-- Communication regained
connectionTimer.stop();
if(connectionLostArmed.visible) {
connectionLostArmed.close()
}
//-- Reset stream timeout
QGroundControl.settingsManager.videoSettings.rtspTimeout.rawValue = 60
} else {
if(activeVehicle && !activeVehicle.autoDisconnect) {
//-- Communication lost
connectionTimer.start();
}
}
}
}
Connections {
target: QGroundControl.multiVehicleManager
onVehicleAdded: {
//-- Dismiss comm lost dialog if open
connectionLostDisarmedDialog.close()
}
}
//-------------------------------------------------------------------------
MessageDialog {
id: connectionLostDisarmedDialog
title: qsTr("Communication Lost")
text: qsTr("Connection to vehicle has been lost and closed.")
standardButtons: StandardButton.Ok
onAccepted: {
connectionLostDisarmedDialog.close()
}
}
//-------------------------------------------------------------------------
//-- Heading Indicator
Rectangle {
id: compassBar
height: ScreenTools.defaultFontPixelHeight * 1.5
width: ScreenTools.defaultFontPixelWidth * 50
color: "#DEDEDE"
radius: 2
clip: true
anchors.top: parent.top
anchors.topMargin: ScreenTools.defaultFontPixelHeight * (_airspaceIndicatorVisible ? 3 : 1)
anchors.horizontalCenter: parent.horizontalCenter
visible: !mainIsMap
Repeater {
model: 720
visible: !mainIsMap
QGCLabel {
function _normalize(degrees) {
var a = degrees % 360
if (a < 0) a += 360
return a
}
property int _startAngle: modelData + 180 + _heading
property int _angle: _normalize(_startAngle)
anchors.verticalCenter: parent.verticalCenter
x: visible ? ((modelData * (compassBar.width / 360)) - (width * 0.5)) : 0
visible: _angle % 45 == 0
color: "#75505565"
font.pointSize: ScreenTools.smallFontPointSize
text: {
switch(_angle) {
case 0: return "N"
case 45: return "NE"
case 90: return "E"
case 135: return "SE"
case 180: return "S"
case 225: return "SW"
case 270: return "W"
case 315: return "NW"
}
return ""
}
}
}
}
Rectangle {
id: headingIndicator
height: ScreenTools.defaultFontPixelHeight
width: ScreenTools.defaultFontPixelWidth * 4
color: qgcPal.windowShadeDark
visible: !mainIsMap
anchors.bottom: compassBar.top
anchors.bottomMargin: ScreenTools.defaultFontPixelHeight * -0.1
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
text: _heading
color: qgcPal.text
font.pointSize: ScreenTools.smallFontPointSize
anchors.centerIn: parent
}
}
Image {
height: _indicatorsHeight
width: height
source: "/custom/img/compass_pointer.svg"
visible: !mainIsMap
fillMode: Image.PreserveAspectFit
sourceSize.height: height
anchors.top: compassBar.bottom
anchors.topMargin: ScreenTools.defaultFontPixelHeight * -0.5
anchors.horizontalCenter: parent.horizontalCenter
}
//-------------------------------------------------------------------------
//-- Camera Control
Loader {
id: camControlLoader
visible: !mainIsMap && _cameraPresent && _camera.paramComplete
source: visible ? "/custom/CustomCameraControl.qml" : ""
anchors.right: parent.right
anchors.rightMargin: ScreenTools.defaultFontPixelWidth
anchors.top: parent.top
anchors.topMargin: ScreenTools.defaultFontPixelHeight
}
//-------------------------------------------------------------------------
//-- Map Scale
MapScale {
id: mapScale
anchors.left: parent.left
anchors.top: parent.top
anchors.topMargin: ScreenTools.defaultFontPixelHeight * 0.5
anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 16
mapControl: mainWindow.flightDisplayMap
visible: rootBackground.visible && mainIsMap
}
//-------------------------------------------------------------------------
//-- Vehicle Indicator
Rectangle {
id: vehicleIndicator
color: qgcPal.window
width: vehicleStatusGrid.width + (ScreenTools.defaultFontPixelWidth * 3)
height: vehicleStatusGrid.height + (ScreenTools.defaultFontPixelHeight * 1.5)
radius: 2
anchors.bottom: parent.bottom
anchors.bottomMargin: ScreenTools.defaultFontPixelWidth
anchors.right: attitudeIndicator.visible ? attitudeIndicator.left : parent.right
anchors.rightMargin: attitudeIndicator.visible ? -ScreenTools.defaultFontPixelWidth : ScreenTools.defaultFontPixelWidth
readonly property bool _showGps: CustomQuickInterface.showAttitudeWidget
GridLayout {
id: vehicleStatusGrid
columnSpacing: ScreenTools.defaultFontPixelWidth * 1.5
rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5
columns: 7
anchors.centerIn: parent
//-- Latitude
QGCLabel {
height: _indicatorsHeight
width: height
Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter
color: qgcPal.text
text: "Lat:"
visible: vehicleIndicator._showGps
}
QGCLabel {
id: firstLabel
text: activeVehicle ? activeVehicle.gps.lat.value.toFixed(activeVehicle.gps.lat.decimalPlaces) : "-"
color: _indicatorsColor
font.pointSize: ScreenTools.smallFontPointSize
Layout.fillWidth: true
Layout.minimumWidth: indicatorValueWidth
horizontalAlignment: Text.AlignLeft
visible: vehicleIndicator._showGps
}
//-- Longitude
QGCLabel {
height: _indicatorsHeight
width: height
Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter
color: qgcPal.text
text: "Lon:"
visible: vehicleIndicator._showGps
}
QGCLabel {
text: activeVehicle ? activeVehicle.gps.lon.value.toFixed(activeVehicle.gps.lon.decimalPlaces) : "-"
color: _indicatorsColor
font.pointSize: ScreenTools.smallFontPointSize
Layout.fillWidth: true
Layout.minimumWidth: indicatorValueWidth
horizontalAlignment: firstLabel.horizontalAlignment
visible: vehicleIndicator._showGps
}
//-- HDOP
QGCLabel {
height: _indicatorsHeight
width: height
Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter
color: qgcPal.text
text: "HDOP:"
visible: vehicleIndicator._showGps
}
QGCLabel {
text: activeVehicle ? activeVehicle.gps.hdop.value.toFixed(activeVehicle.gps.hdop.decimalPlaces) : "-"
color: _indicatorsColor
font.pointSize: ScreenTools.smallFontPointSize
Layout.fillWidth: true
Layout.minimumWidth: indicatorValueWidth
horizontalAlignment: firstLabel.horizontalAlignment
visible: vehicleIndicator._showGps
}
//-- Compass
Item {
Layout.rowSpan: 3
Layout.column: 6
Layout.minimumWidth: mainIsMap ? parent.height * 1.25 : 0
Layout.fillHeight: true
Layout.fillWidth: true
//-- Large circle
Rectangle {
height: mainIsMap ? parent.height : 0
width: mainIsMap ? height : 0
radius: height * 0.5
border.color: qgcPal.text
border.width: 1
color: Qt.rgba(0,0,0,0)
anchors.centerIn: parent
visible: mainIsMap
}
//-- North Label
Rectangle {
height: mainIsMap ? ScreenTools.defaultFontPixelHeight * 0.75 : 0
width: mainIsMap ? ScreenTools.defaultFontPixelWidth * 2 : 0
radius: ScreenTools.defaultFontPixelWidth * 0.25
color: qgcPal.windowShade
visible: mainIsMap
anchors.top: parent.top
anchors.topMargin: ScreenTools.defaultFontPixelHeight * -0.25
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
text: "N"
color: qgcPal.text
font.pointSize: ScreenTools.smallFontPointSize
anchors.centerIn: parent
}
}
//-- Needle
Image {
id: compassNeedle
anchors.centerIn: parent
height: mainIsMap ? parent.height * 0.75 : 0
width: height
source: "/custom/img/compass_needle.svg"
fillMode: Image.PreserveAspectFit
visible: mainIsMap
sourceSize.height: height
transform: [
Rotation {
origin.x: compassNeedle.width / 2
origin.y: compassNeedle.height / 2
angle: _heading
}]
}
//-- Heading
Rectangle {
height: mainIsMap ? ScreenTools.defaultFontPixelHeight * 0.75 : 0
width: mainIsMap ? ScreenTools.defaultFontPixelWidth * 3.5 : 0
radius: ScreenTools.defaultFontPixelWidth * 0.25
color: qgcPal.windowShade
visible: mainIsMap
anchors.bottom: parent.bottom
anchors.bottomMargin: ScreenTools.defaultFontPixelHeight * -0.25
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
text: _heading
color: qgcPal.text
font.pointSize: ScreenTools.smallFontPointSize
anchors.centerIn: parent
}
}
}
//-- Second Row
//-- Chronometer
QGCColoredImage {
height: _indicatorsHeight
width: height
source: "/custom/img/chronometer.svg"
fillMode: Image.PreserveAspectFit
sourceSize.height: height
Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter
color: qgcPal.text
}
QGCLabel {
text: {
if(activeVehicle)
return secondsToHHMMSS(activeVehicle.getFact("flightTime").value)
return "00:00:00"
}
color: _indicatorsColor
font.pointSize: ScreenTools.smallFontPointSize
Layout.fillWidth: true
Layout.minimumWidth: indicatorValueWidth
horizontalAlignment: firstLabel.horizontalAlignment
}
//-- Ground Speed
QGCColoredImage {
height: _indicatorsHeight
width: height
source: "/custom/img/horizontal_speed.svg"
fillMode: Image.PreserveAspectFit
sourceSize.height: height
Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter
color: qgcPal.text
}
QGCLabel {
text: activeVehicle ? activeVehicle.groundSpeed.value.toFixed(1) + ' ' + activeVehicle.groundSpeed.units : "0.0"
color: _indicatorsColor
font.pointSize: ScreenTools.smallFontPointSize
Layout.fillWidth: true
Layout.minimumWidth: indicatorValueWidth
horizontalAlignment: firstLabel.horizontalAlignment
}
//-- Vertical Speed
QGCColoredImage {
height: _indicatorsHeight
width: height
source: "/custom/img/vertical_speed.svg"
fillMode: Image.PreserveAspectFit
sourceSize.height: height
Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter
color: qgcPal.text
}
QGCLabel {
text: activeVehicle ? activeVehicle.climbRate.value.toFixed(1) + ' ' + activeVehicle.climbRate.units : "0.0"
color: _indicatorsColor
font.pointSize: ScreenTools.smallFontPointSize
Layout.fillWidth: true
Layout.minimumWidth: indicatorValueWidth
horizontalAlignment: firstLabel.horizontalAlignment
}
//-- Third Row
//-- Odometer
QGCColoredImage {
height: _indicatorsHeight
width: height
source: "/custom/img/odometer.svg"
fillMode: Image.PreserveAspectFit
sourceSize.height: height
Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter
color: qgcPal.text
}
QGCLabel {
text: activeVehicle ? ('00000' + activeVehicle.flightDistance.value.toFixed(0)).slice(-5) + ' ' + activeVehicle.flightDistance.units : "00000"
color: _indicatorsColor
font.pointSize: ScreenTools.smallFontPointSize
Layout.fillWidth: true
Layout.minimumWidth: indicatorValueWidth
horizontalAlignment: firstLabel.horizontalAlignment
}
//-- Altitude
QGCColoredImage {
height: _indicatorsHeight
width: height
source: "/custom/img/altitude.svg"
fillMode: Image.PreserveAspectFit
sourceSize.height: height
Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter
color: qgcPal.text
}
QGCLabel {
text: _altitude
color: _indicatorsColor
font.pointSize: ScreenTools.smallFontPointSize
Layout.fillWidth: true
Layout.minimumWidth: indicatorValueWidth
horizontalAlignment: firstLabel.horizontalAlignment
}
//-- Distance
QGCColoredImage {
height: _indicatorsHeight
width: height
source: "/custom/img/distance.svg"
fillMode: Image.PreserveAspectFit
sourceSize.height: height
Layout.alignment: Qt.AlignVCenter | Qt.AlignHCenter
color: qgcPal.text
}
QGCLabel {
text: _distance ? _distanceStr : noGPS
color: _distance ? _indicatorsColor : qgcPal.colorOrange
font.pointSize: ScreenTools.smallFontPointSize
Layout.fillWidth: true
Layout.minimumWidth: indicatorValueWidth
horizontalAlignment: firstLabel.horizontalAlignment
}
}
MouseArea {
anchors.fill: parent
onDoubleClicked: CustomQuickInterface.showAttitudeWidget = !CustomQuickInterface.showAttitudeWidget
}
}
//-------------------------------------------------------------------------
//-- Attitude Indicator
Rectangle {
color: qgcPal.window
width: attitudeIndicator.width * 0.5
height: vehicleIndicator.height
visible: CustomQuickInterface.showAttitudeWidget
anchors.top: vehicleIndicator.top
anchors.left: vehicleIndicator.right
}
Rectangle {
id: attitudeIndicator
anchors.bottom: vehicleIndicator.bottom
anchors.bottomMargin: ScreenTools.defaultFontPixelWidth * -0.5
anchors.right: parent.right
anchors.rightMargin: ScreenTools.defaultFontPixelWidth
height: ScreenTools.defaultFontPixelHeight * 6
width: height
radius: height * 0.5
color: qgcPal.windowShade
visible: CustomQuickInterface.showAttitudeWidget
CustomAttitudeWidget {
size: parent.height * 0.95
vehicle: activeVehicle
showHeading: false
anchors.centerIn: parent
}
}
//-------------------------------------------------------------------------
//-- Multi Vehicle Selector
Row {
id: multiVehicleSelector
spacing: ScreenTools.defaultFontPixelWidth
anchors.bottom: parent.bottom
anchors.bottomMargin: ScreenTools.defaultFontPixelWidth * 1.5
anchors.right: vehicleIndicator.left
anchors.rightMargin: ScreenTools.defaultFontPixelWidth
visible: QGroundControl.multiVehicleManager.vehicles.count > 1
Repeater {
model: QGroundControl.multiVehicleManager.vehicles.count
CustomVehicleButton {
property var _vehicle: QGroundControl.multiVehicleManager.vehicles.get(modelData)
vehicle: _vehicle
checked: (_vehicle && activeVehicle) ? _vehicle.id === activeVehicle.id : false
onClicked: {
QGroundControl.multiVehicleManager.activeVehicle = _vehicle
}
}
}
}
//-------------------------------------------------------------------------
//-- Gimbal Control
Rectangle {
id: gimbalControl
visible: camControlLoader.visible && CustomQuickInterface.showGimbalControl && _hasGimbal
anchors.bottom: camControlLoader.bottom
anchors.right: camControlLoader.left
anchors.rightMargin: ScreenTools.defaultFontPixelWidth * (QGroundControl.videoManager.hasThermal ? -1 : 1)
height: parent.width * 0.125
width: height
color: Qt.rgba(1,1,1,0.25)
radius: width * 0.5
property real _currentPitch: 0
property real _currentYaw: 0
property real time_last_seconds:0
property real _lastHackedYaw: 0
property real speedMultiplier: 5
property real maxRate: 20
property real exponentialFactor:0.6
property real kPFactor: 3
property real reportedYawDeg: activeVehicle ? activeVehicle.gimbalYaw : NaN
property real reportedPitchDeg: activeVehicle ? activeVehicle.gimbalPitch : NaN
Timer {
interval: 100 //-- 10Hz
running: gimbalControl.visible && activeVehicle
repeat: true
onTriggered: {
if (activeVehicle) {
var yaw = gimbalControl._currentYaw
var oldYaw = yaw;
var pitch = gimbalControl._currentPitch
var oldPitch = pitch;
var pitch_stick = (stick.yAxis * 2.0 - 1.0)
if(_camera && _camera.vendor === "NextVision") {
var time_current_seconds = ((new Date()).getTime())/1000.0
if(gimbalControl.time_last_seconds === 0.0)
gimbalControl.time_last_seconds = time_current_seconds
var pitch_angle = gimbalControl._currentPitch
// Preparing stick input with exponential curve and maximum rate
var pitch_expo = (1 - gimbalControl.exponentialFactor) * pitch_stick + gimbalControl.exponentialFactor * pitch_stick * pitch_stick * pitch_stick
var pitch_rate = pitch_stick * gimbalControl.maxRate
var pitch_angle_reported = gimbalControl.reportedPitchDeg
// Integrate the angular rate to an angle time abstracted
pitch_angle += pitch_rate * (time_current_seconds - gimbalControl.time_last_seconds)
// Control the angle quicker by driving the gimbal internal angle controller into saturation
var pitch_angle_error = pitch_angle - pitch_angle_reported
pitch_angle_error = Math.round(pitch_angle_error)
var pitch_setpoint = pitch_angle + pitch_angle_error * gimbalControl.kPFactor
//console.info("error: " + pitch_angle_error + "; angle_state: " + pitch_angle)
pitch = pitch_setpoint
yaw += stick.xAxis * gimbalControl.speedMultiplier
yaw = clamp(yaw, -180, 180)
pitch = clamp(pitch, -90, 45)
pitch_angle = clamp(pitch_angle, -90, 45)
//console.info("P: " + pitch + "; Y: " + yaw)
activeVehicle.gimbalControlValue(pitch, yaw);
gimbalControl._currentYaw = yaw
gimbalControl._currentPitch = pitch_angle
gimbalControl.time_last_seconds = time_current_seconds
} else {
yaw += stick.xAxis * gimbalControl.speedMultiplier
var hackedYaw = yaw + (stick.xAxis * gimbalControl.speedMultiplier * 50)
pitch += pitch_stick * gimbalControl.speedMultiplier
hackedYaw = clamp(hackedYaw, -180, 180)
yaw = clamp(yaw, -180, 180)
pitch = clamp(pitch, -90, 90)
if(gimbalControl._lastHackedYaw !== hackedYaw || gimbalControl.hackedYaw !== oldYaw || pitch !== oldPitch) {
activeVehicle.gimbalControlValue(pitch, hackedYaw)
gimbalControl._lastHackedYaw = hackedYaw
gimbalControl._currentPitch = pitch
gimbalControl._currentYaw = yaw
}
}
}
}
function clamp(num, min, max) {
return Math.min(Math.max(num, min), max);
}
}
JoystickThumbPad {
id: stick
anchors.fill: parent
lightColors: qgcPal.globalTheme === QGCPalette.Light
yAxisThrottle: true
yAxisThrottleCentered: true
xAxis: 0
yAxis: 0.5
}
}
//-------------------------------------------------------------------------
//-- Object Avoidance
Item {
visible: activeVehicle && activeVehicle.objectAvoidance.available && activeVehicle.objectAvoidance.enabled
anchors.centerIn: parent
width: parent.width * 0.5
height: parent.height * 0.5
Repeater {
model: activeVehicle && activeVehicle.objectAvoidance.gridSize > 0 ? activeVehicle.objectAvoidance.gridSize : []
Rectangle {
width: ScreenTools.defaultFontPixelWidth
height: width
radius: width * 0.5
color: distance < 0.25 ? "red" : "orange"
x: (parent.width * activeVehicle.objectAvoidance.grid(modelData).x) + (parent.width * 0.5)
y: (parent.height * activeVehicle.objectAvoidance.grid(modelData).y) + (parent.height * 0.5)
property real distance: activeVehicle.objectAvoidance.distance(modelData)
}
}
}
//-------------------------------------------------------------------------
//-- Connection Lost While Armed
Popup {
id: connectionLostArmed
width: mainWindow.width * 0.666
height: connectionLostArmedCol.height * 1.5
modal: true
focus: true
parent: Overlay.overlay
x: Math.round((mainWindow.width - width) * 0.5)
y: Math.round((mainWindow.height - height) * 0.5)
closePolicy: Popup.CloseOnEscape | Popup.CloseOnPressOutside
background: Rectangle {
anchors.fill: parent
color: qgcPal.alertBackground
border.color: qgcPal.alertBorder
radius: ScreenTools.defaultFontPixelWidth
}
Column {
id: connectionLostArmedCol
spacing: ScreenTools.defaultFontPixelHeight * 3
anchors.margins: ScreenTools.defaultFontPixelHeight
anchors.centerIn: parent
QGCLabel {
text: qsTr("Communication Lost")
font.family: ScreenTools.demiboldFontFamily
font.pointSize: ScreenTools.largeFontPointSize
color: qgcPal.alertText
anchors.horizontalCenter: parent.horizontalCenter
}
QGCLabel {
text: qsTr("Warning: Connection to vehicle lost.")
color: qgcPal.alertText
font.family: ScreenTools.demiboldFontFamily
font.pointSize: ScreenTools.mediumFontPointSize
anchors.horizontalCenter: parent.horizontalCenter
}
QGCLabel {
text: qsTr("The vehicle will automatically cancel the flight and return to land. Ensure a clear line of sight between transmitter and vehicle. Ensure the takeoff location is clear.")
width: connectionLostArmed.width * 0.75
wrapMode: Text.WordWrap
color: qgcPal.alertText
font.family: ScreenTools.demiboldFontFamily
font.pointSize: ScreenTools.mediumFontPointSize
anchors.horizontalCenter: parent.horizontalCenter
}
}
}
}