/ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
*
* ( 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.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
}
}
//-------------------------------------------------------------------------
//-- 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
}
}
}
}
