diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index c74abab..e5bc994 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -34,6 +34,7 @@
<file alias="MissionEditor.qml">src/MissionEditor/MissionEditor.qml</file>
<file alias="MockLink.qml">src/ui/preferences/MockLink.qml</file>
<file alias="MockLinkSettings.qml">src/ui/preferences/MockLinkSettings.qml</file>
+ <file alias="MultiVehicleView.qml">src/MultiVehicle/MultiVehicleView.qml</file>
<file alias="MotorComponent.qml">src/AutoPilotPlugins/Common/MotorComponent.qml</file>
<file alias="OfflineMap.qml">src/QtLocationPlugin/QMLControl/OfflineMap.qml</file>
<file alias="PowerComponent.qml">src/AutoPilotPlugins/PX4/PowerComponent.qml</file>
@@ -45,6 +46,8 @@
<file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
<file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
<file alias="QGroundControl/Controls/FactSliderPanel.qml">src/QmlControls/FactSliderPanel.qml</file>
+ <file alias="QGroundControl/Controls/FlightModeDropdown.qml">src/QmlControls/FlightModeDropdown.qml</file>
+ <file alias="QGroundControl/Controls/GuidedBar.qml">src/QmlControls/GuidedBar.qml</file>
<file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
<file alias="QGroundControl/Controls/JoystickThumbPad.qml">src/QmlControls/JoystickThumbPad.qml</file>
<file alias="QGroundControl/Controls/MainToolBar.qml">src/ui/toolbar/MainToolBar.qml</file>
@@ -104,6 +107,7 @@
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewMap.qml">src/FlightDisplay/FlightDisplayViewMap.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewVideo.qml">src/FlightDisplay/FlightDisplayViewVideo.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewWidgets.qml">src/FlightDisplay/FlightDisplayViewWidgets.qml</file>
+ <file alias="QGroundControl/FlightDisplay/MultiVehicleList.qml">src/FlightDisplay/MultiVehicleList.qml</file>
<file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
<file alias="QGroundControl/FlightMap/CenterMapDropButton.qml">src/FlightMap/Widgets/CenterMapDropButton.qml</file>
<file alias="QGroundControl/FlightMap/FlightMap.qml">src/FlightMap/FlightMap.qml</file>
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index 7b3d2ce..9d6f40f 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -762,3 +762,13 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
return QString();
}
}
+
+QString APMFirmwarePlugin::missionFlightMode(void)
+{
+ return QStringLiteral("Auto");
+}
+
+QString APMFirmwarePlugin::rtlFlightMode(void)
+{
+ return QStringLiteral("RTL");
+}
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
index 7306599..6dcfac9 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
@@ -75,28 +75,30 @@ public:
QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
QList<MAV_CMD> supportedMissionCommands(void) final;
- AutoPilotPlugin* autopilotPlugin (Vehicle* vehicle) final;
- 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;
- bool isGuidedMode (const Vehicle* vehicle) const final;
- void pauseVehicle (Vehicle* vehicle);
- int manualControlReservedButtonCount(void);
- bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
- void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final;
- void initializeVehicle (Vehicle* vehicle) final;
- bool sendHomePositionToVehicle (void) final;
- void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
- QString getDefaultComponentIdParam (void) const final { return QString("SYSID_SW_TYPE"); }
- QString missionCommandOverrides (MAV_TYPE vehicleType) const;
- QString getVersionParam (void) final { return QStringLiteral("SYSID_SW_MREV"); }
- QString internalParameterMetaDataFile (Vehicle* vehicle) final;
- void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
- QObject* loadParameterMetaData (const QString& metaDataFile);
- GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); }
- RallyPointManager* newRallyPointManager (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
- QString brandImage (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
+ AutoPilotPlugin* autopilotPlugin (Vehicle* vehicle) final;
+ 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;
+ bool isGuidedMode (const Vehicle* vehicle) const final;
+ void pauseVehicle (Vehicle* vehicle);
+ int manualControlReservedButtonCount(void);
+ bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
+ void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final;
+ void initializeVehicle (Vehicle* vehicle) final;
+ bool sendHomePositionToVehicle (void) final;
+ void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
+ QString getDefaultComponentIdParam (void) const final { return QString("SYSID_SW_TYPE"); }
+ QString missionCommandOverrides (MAV_TYPE vehicleType) const;
+ QString getVersionParam (void) final { return QStringLiteral("SYSID_SW_MREV"); }
+ QString internalParameterMetaDataFile (Vehicle* vehicle) final;
+ void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
+ QObject* loadParameterMetaData (const QString& metaDataFile);
+ GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); }
+ RallyPointManager* newRallyPointManager (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
+ QString brandImage (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
+ QString missionFlightMode (void) final;
+ QString rtlFlightMode (void) final;
protected:
/// All access to singleton is through stack specific implementation
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index dee9bc7..33fb7fb 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -204,3 +204,8 @@ QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)
Q_UNUSED(vehicle);
return QStringLiteral("FENCE_RADIUS");
}
+
+QString ArduCopterFirmwarePlugin::takeControlFlightMode(void)
+{
+ return QStringLiteral("Stabilize");
+}
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
index 3d43481..9eb8e0d 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
@@ -68,6 +68,7 @@ public:
bool multiRotorXConfig(Vehicle* vehicle) final;
QString geoFenceRadiusParam(Vehicle* vehicle) final;
QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Copter.OfflineEditing.params"); }
+ QString takeControlFlightMode(void) final;
private:
static bool _remapParamNameIntialized;
diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
index 9fd499e..da2380d 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
@@ -64,3 +64,8 @@ ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void)
supportedFlightModes << APMPlaneMode(APMPlaneMode::QRTL ,true);
setSupportedModes(supportedFlightModes);
}
+
+QString ArduPlaneFirmwarePlugin::takeControlFlightMode(void)
+{
+ return QStringLiteral("Manual");
+}
diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
index 111abf4..8067354 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
@@ -57,6 +57,7 @@ public:
// Overrides from FirmwarePlugin
QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Plane.OfflineEditing.params"); }
+ QString takeControlFlightMode(void) final;
};
#endif
diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc
index 5a19fc7..eb69d9a 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -282,3 +282,18 @@ int FirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumbe
Q_UNUSED(majorVersionNumber);
return 0;
}
+
+QString FirmwarePlugin::missionFlightMode(void)
+{
+ return QString();
+}
+
+QString FirmwarePlugin::rtlFlightMode(void)
+{
+ return QString();
+}
+
+QString FirmwarePlugin::takeControlFlightMode(void)
+{
+ return QString();
+}
diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h
index 640b491..096ae71 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.h
+++ b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -125,6 +125,15 @@ public:
/// Command vehicle to change to the specified relatice altitude
virtual void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel);
+ /// Returns the flight mode for running missions
+ virtual QString missionFlightMode(void);
+
+ /// Returns the flight mode for RTL
+ virtual QString rtlFlightMode(void);
+
+ /// Returns the flight mode to use when the operator wants to take back control from autonomouse flight.
+ virtual QString takeControlFlightMode(void);
+
/// FIXME: This isn't quite correct being here. All code for Joystick suvehicleTypepport is currently firmware specific
/// not just this. I'm going to try to change that. If not, this will need to be removed.
/// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index 16d04d3..3aac9df 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -35,44 +35,42 @@ struct Modes2Name {
bool multiRotor; /// multi rotor compatible
};
-const char* PX4FirmwarePlugin::manualFlightMode = "Manual";
-const char* PX4FirmwarePlugin::altCtlFlightMode = "Altitude";
-const char* PX4FirmwarePlugin::posCtlFlightMode = "Position";
-const char* PX4FirmwarePlugin::missionFlightMode = "Mission";
-const char* PX4FirmwarePlugin::holdFlightMode = "Hold";
-const char* PX4FirmwarePlugin::takeoffFlightMode = "Takeoff";
-const char* PX4FirmwarePlugin::landingFlightMode = "Land";
-const char* PX4FirmwarePlugin::rtlFlightMode = "Return";
-const char* PX4FirmwarePlugin::acroFlightMode = "Acro";
-const char* PX4FirmwarePlugin::offboardFlightMode = "Offboard";
-const char* PX4FirmwarePlugin::stabilizedFlightMode = "Stabilized";
-const char* PX4FirmwarePlugin::rattitudeFlightMode = "Rattitude";
-const char* PX4FirmwarePlugin::followMeFlightMode = "Follow Me";
-
-const char* PX4FirmwarePlugin::rtgsFlightMode = "Return to Groundstation";
-
-const char* PX4FirmwarePlugin::readyFlightMode = "Ready"; // unused
+const char* PX4FirmwarePlugin::_manualFlightMode = "Manual";
+const char* PX4FirmwarePlugin::_altCtlFlightMode = "Altitude";
+const char* PX4FirmwarePlugin::_posCtlFlightMode = "Position";
+const char* PX4FirmwarePlugin::_missionFlightMode = "Mission";
+const char* PX4FirmwarePlugin::_holdFlightMode = "Hold";
+const char* PX4FirmwarePlugin::_takeoffFlightMode = "Takeoff";
+const char* PX4FirmwarePlugin::_landingFlightMode = "Land";
+const char* PX4FirmwarePlugin::_rtlFlightMode = "Return";
+const char* PX4FirmwarePlugin::_acroFlightMode = "Acro";
+const char* PX4FirmwarePlugin::_offboardFlightMode = "Offboard";
+const char* PX4FirmwarePlugin::_stabilizedFlightMode = "Stabilized";
+const char* PX4FirmwarePlugin::_rattitudeFlightMode = "Rattitude";
+const char* PX4FirmwarePlugin::_followMeFlightMode = "Follow Me";
+const char* PX4FirmwarePlugin::_rtgsFlightMode = "Return to Groundstation";
+const char* PX4FirmwarePlugin::_readyFlightMode = "Ready";
/// Tranlates from PX4 custom modes to flight mode names
static const struct Modes2Name rgModes2Name[] = {
- //main_mode sub_mode name canBeSet FW MC
- { PX4_CUSTOM_MAIN_MODE_MANUAL, 0, PX4FirmwarePlugin::manualFlightMode, true, true, true },
- { PX4_CUSTOM_MAIN_MODE_STABILIZED, 0, PX4FirmwarePlugin::stabilizedFlightMode, true, true, true },
- { PX4_CUSTOM_MAIN_MODE_ACRO, 0, PX4FirmwarePlugin::acroFlightMode, true, false, true },
- { PX4_CUSTOM_MAIN_MODE_RATTITUDE, 0, PX4FirmwarePlugin::rattitudeFlightMode, true, false, true },
- { PX4_CUSTOM_MAIN_MODE_ALTCTL, 0, PX4FirmwarePlugin::altCtlFlightMode, true, true, true },
- { PX4_CUSTOM_MAIN_MODE_POSCTL, 0, PX4FirmwarePlugin::posCtlFlightMode, true, true, true },
- { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LOITER, PX4FirmwarePlugin::holdFlightMode, true, true, true },
- { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION, PX4FirmwarePlugin::missionFlightMode, true, true, true },
- { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTL, PX4FirmwarePlugin::rtlFlightMode, true, true, true },
- { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, PX4FirmwarePlugin::followMeFlightMode, true, true, true },
- { PX4_CUSTOM_MAIN_MODE_OFFBOARD, 0, PX4FirmwarePlugin::offboardFlightMode, true, true, true },
+ //main_mode sub_mode name canBeSet FW MC
+ { PX4_CUSTOM_MAIN_MODE_MANUAL, 0, PX4FirmwarePlugin::_manualFlightMode, true, true, true },
+ { PX4_CUSTOM_MAIN_MODE_STABILIZED, 0, PX4FirmwarePlugin::_stabilizedFlightMode, true, true, true },
+ { PX4_CUSTOM_MAIN_MODE_ACRO, 0, PX4FirmwarePlugin::_acroFlightMode, true, false, true },
+ { PX4_CUSTOM_MAIN_MODE_RATTITUDE, 0, PX4FirmwarePlugin::_rattitudeFlightMode, true, false, true },
+ { PX4_CUSTOM_MAIN_MODE_ALTCTL, 0, PX4FirmwarePlugin::_altCtlFlightMode, true, true, true },
+ { PX4_CUSTOM_MAIN_MODE_POSCTL, 0, PX4FirmwarePlugin::_posCtlFlightMode, true, true, true },
+ { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LOITER, PX4FirmwarePlugin::_holdFlightMode, true, true, true },
+ { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION, PX4FirmwarePlugin::_missionFlightMode, true, true, true },
+ { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTL, PX4FirmwarePlugin::_rtlFlightMode, true, true, true },
+ { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, PX4FirmwarePlugin::_followMeFlightMode, true, true, true },
+ { PX4_CUSTOM_MAIN_MODE_OFFBOARD, 0, PX4FirmwarePlugin::_offboardFlightMode, true, true, true },
// modes that can't be directly set by the user
- { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LAND, PX4FirmwarePlugin::landingFlightMode, false, true, true },
- { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, PX4FirmwarePlugin::readyFlightMode, false, true, true },
- { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTGS, PX4FirmwarePlugin::rtgsFlightMode, false, true, true },
- { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, PX4FirmwarePlugin::takeoffFlightMode, false, true, true },
+ { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LAND, PX4FirmwarePlugin::_landingFlightMode, false, true, true },
+ { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, PX4FirmwarePlugin::_readyFlightMode, false, true, true },
+ { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTGS, PX4FirmwarePlugin::_rtgsFlightMode, false, true, true },
+ { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, PX4FirmwarePlugin::_takeoffFlightMode, false, true, true },
};
PX4FirmwarePlugin::PX4FirmwarePlugin(void)
@@ -297,12 +295,12 @@ void PX4FirmwarePlugin::pauseVehicle(Vehicle* vehicle)
void PX4FirmwarePlugin::guidedModeRTL(Vehicle* vehicle)
{
- vehicle->setFlightMode(rtlFlightMode);
+ vehicle->setFlightMode(_rtlFlightMode);
}
void PX4FirmwarePlugin::guidedModeLand(Vehicle* vehicle)
{
- vehicle->setFlightMode(landingFlightMode);
+ vehicle->setFlightMode(_landingFlightMode);
}
void PX4FirmwarePlugin::guidedModeOrbit(Vehicle* vehicle, const QGeoCoordinate& centerCoord, double radius, double velocity, double altitude)
@@ -388,7 +386,7 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
void PX4FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
{
if (guidedMode) {
- vehicle->setFlightMode(holdFlightMode);
+ vehicle->setFlightMode(_holdFlightMode);
} else {
pauseVehicle(vehicle);
}
@@ -397,8 +395,8 @@ void PX4FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
bool PX4FirmwarePlugin::isGuidedMode(const Vehicle* vehicle) const
{
// Not supported by generic vehicle
- return (vehicle->flightMode() == holdFlightMode || vehicle->flightMode() == takeoffFlightMode
- || vehicle->flightMode() == landingFlightMode);
+ return (vehicle->flightMode() == _holdFlightMode || vehicle->flightMode() == _takeoffFlightMode
+ || vehicle->flightMode() == _landingFlightMode);
}
bool PX4FirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
@@ -456,3 +454,18 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
}
}
}
+
+QString PX4FirmwarePlugin::missionFlightMode(void)
+{
+ return QString(_missionFlightMode);
+}
+
+QString PX4FirmwarePlugin::rtlFlightMode(void)
+{
+ return QString(_rtlFlightMode);
+}
+
+QString PX4FirmwarePlugin::takeControlFlightMode(void)
+{
+ return QString(_manualFlightMode);
+}
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
index c4a340f..ac1ab60 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
@@ -60,25 +60,28 @@ public:
GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new PX4GeoFenceManager(vehicle); }
QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/PX4/PX4.OfflineEditing.params"); }
QString brandImage (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
+ QString missionFlightMode (void) final;
+ QString rtlFlightMode (void) final;
+ QString takeControlFlightMode (void) final;
+ // NOTE: For internal use only. Do not use in mainline QGC code.
// Use these constants to set flight modes using setFlightMode method. Don't use hardcoded string names since the
// names may change.
-
- static const char* manualFlightMode;
- static const char* acroFlightMode;
- static const char* stabilizedFlightMode;
- static const char* rattitudeFlightMode;
- static const char* altCtlFlightMode;
- static const char* posCtlFlightMode;
- static const char* offboardFlightMode;
- static const char* readyFlightMode;
- static const char* takeoffFlightMode;
- static const char* holdFlightMode;
- static const char* missionFlightMode;
- static const char* rtlFlightMode;
- static const char* landingFlightMode;
- static const char* rtgsFlightMode;
- static const char* followMeFlightMode;
+ static const char* _manualFlightMode;
+ static const char* _acroFlightMode;
+ static const char* _stabilizedFlightMode;
+ static const char* _rattitudeFlightMode;
+ static const char* _altCtlFlightMode;
+ static const char* _posCtlFlightMode;
+ static const char* _offboardFlightMode;
+ static const char* _readyFlightMode;
+ static const char* _takeoffFlightMode;
+ static const char* _holdFlightMode;
+ static const char* _missionFlightMode;
+ static const char* _rtlFlightMode;
+ static const char* _landingFlightMode;
+ static const char* _rtgsFlightMode;
+ static const char* _followMeFlightMode;
private:
void _handleAutopilotVersion(Vehicle* vehicle, mavlink_message_t* message);
diff --git a/src/FlightDisplay/FlightDisplayView.qml b/src/FlightDisplay/FlightDisplayView.qml
index ed01d1c..be355f7 100644
--- a/src/FlightDisplay/FlightDisplayView.qml
+++ b/src/FlightDisplay/FlightDisplayView.qml
@@ -41,14 +41,15 @@ QGCView {
property real _pitch: _activeVehicle ? _activeVehicle.pitch.value : _defaultPitch
property real _heading: _activeVehicle ? _activeVehicle.heading.value : _defaultHeading
-
property Fact _emptyFact: Fact { }
property Fact _groundSpeedFact: _activeVehicle ? _activeVehicle.groundSpeed : _emptyFact
property Fact _airSpeedFact: _activeVehicle ? _activeVehicle.airSpeed : _emptyFact
property bool activeVehicleJoystickEnabled: _activeVehicle ? _activeVehicle.joystickEnabled : false
- property real _savedZoomLevel: 0
+ property real _savedZoomLevel: 0
+ property real _margins: ScreenTools.defaultFontPixelWidth / 2
+
property real pipSize: mainWindow.width * 0.2
@@ -120,6 +121,8 @@ QGCView {
px4JoystickCheck()
}
+ QGCMapPalette { id: mapPal; lightColors: _mainIsMap ? _flightMap.isSatelliteMap : true }
+
QGCViewPanel {
id: _panel
anchors.fill: parent
@@ -218,6 +221,33 @@ QGCView {
}
}
+ Row {
+ id: singleMultiSelector
+ anchors.topMargin: ScreenTools.toolbarHeight + _margins
+ anchors.rightMargin: _margins
+ anchors.right: parent.right
+ anchors.top: parent.top
+ spacing: ScreenTools.defaultFontPixelWidth
+ z: _panel.z + 4
+ visible: QGroundControl.multiVehicleManager.vehicles.count > 1
+
+ ExclusiveGroup { id: multiVehicleSelectorGroup }
+
+ QGCRadioButton {
+ id: singleVehicleView
+ exclusiveGroup: multiVehicleSelectorGroup
+ text: qsTr("Single")
+ checked: true
+ color: mapPal.text
+ }
+
+ QGCRadioButton {
+ exclusiveGroup: multiVehicleSelectorGroup
+ text: qsTr("Multi-Vehicle (WIP)")
+ color: mapPal.text
+ }
+ }
+
FlightDisplayViewWidgets {
id: flightDisplayViewWidgets
z: _panel.z + 4
@@ -227,8 +257,20 @@ QGCView {
anchors.bottom: parent.bottom
qgcView: root
isBackgroundDark: root.isBackgroundDark
+ visible: singleVehicleView.checked
+ }
+
+ MultiVehicleList {
+ anchors.margins: _margins
+ anchors.top: singleMultiSelector.bottom
+ anchors.right: parent.right
+ anchors.bottom: parent.bottom
+ width: ScreenTools.defaultFontPixelWidth * 30
+ visible: !singleVehicleView.checked
+ z: _panel.z + 4
}
+
//-- Virtual Joystick
Loader {
id: virtualJoystickMultiTouch
diff --git a/src/FlightDisplay/MultiVehicleList.qml b/src/FlightDisplay/MultiVehicleList.qml
new file mode 100644
index 0000000..fbb78e7
--- /dev/null
+++ b/src/FlightDisplay/MultiVehicleList.qml
@@ -0,0 +1,138 @@
+/****************************************************************************
+ *
+ * (c) 2009-2016 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.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.4
+import QtQuick.Controls 1.3
+import QtQuick.Layouts 1.2
+
+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
+
+QGCListView {
+ id: missionItemEditorListView
+ spacing: ScreenTools.defaultFontPixelHeight / 2
+ orientation: ListView.Vertical
+ model: QGroundControl.multiVehicleManager.vehicles
+ cacheBuffer: _cacheBuffer < 0 ? 0 : _cacheBuffer
+ clip: true
+
+ property real _margin: ScreenTools.defaultFontPixelWidth / 2
+ property real _cacheBuffer: height * 2
+ property real _widgetHeight: ScreenTools.defaultFontPixelHeight * 3
+
+ delegate: Rectangle {
+ width: parent.width
+ height: innerColumn.y + innerColumn.height + _margin
+ color: qgcPal.buttonHighlight
+ opacity: 0.8
+ radius: _margin
+
+ property var _vehicle: object
+ property color _textColor: "black"
+
+ QGCPalette { id: qgcPal }
+
+ Row {
+ id: widgetLayout
+ anchors.margins: _margin
+ anchors.top: parent.top
+ anchors.right: parent.right
+ spacing: ScreenTools.defaultFontPixelWidth / 2
+ layoutDirection: Qt.RightToLeft
+
+ QGCCompassWidget {
+ size: _widgetHeight
+ active: true
+ heading: _vehicle.heading.rawValue
+ }
+
+ QGCAttitudeWidget {
+ size: _widgetHeight
+ active: true
+ rollAngle: _vehicle.roll.rawValue
+ pitchAngle: _vehicle.pitch.rawValue
+ }
+ }
+
+ RowLayout {
+ anchors.top: widgetLayout.top
+ anchors.bottom: widgetLayout.bottom
+ anchors.left: parent.left
+ anchors.right: widgetLayout.left
+ spacing: ScreenTools.defaultFontPixelWidth / 2
+
+ QGCLabel {
+ Layout.alignment: Qt.AlignTop
+ text: _vehicle.id
+ color: _textColor
+ }
+
+ QGCLabel {
+ text: _vehicle.flightMode
+ font.pointSize: ScreenTools.largeFontPointSize
+ color: _textColor
+ }
+ }
+
+ Column {
+ id: innerColumn
+ anchors.margins: _margin
+ anchors.left: parent.left
+ anchors.right: parent.right
+ anchors.top: widgetLayout.bottom
+ spacing: _margin
+
+ Rectangle {
+ anchors.left: parent.left
+ anchors.right: parent.right
+ height: 5
+ color: "green"
+ }
+
+ Row {
+ spacing: ScreenTools.defaultFontPixelWidth
+
+ QGCButton {
+ text: "Arm"
+ visible: !_vehicle.armed
+ onClicked: _vehicle.armed = true
+ }
+
+ QGCButton {
+ text: "Start"
+ visible: _vehicle.armed && _vehicle.flightMode != _vehicle.missionFlightMode
+ onClicked: _vehicle.flightMode = _vehicle.missionFlightMode
+ }
+
+ QGCButton {
+ text: "Stop"
+ visible: _vehicle.armed && _vehicle.pauseVehicleSupported
+ onClicked: _vehicle.pauseVehicle()
+ }
+
+ QGCButton {
+ text: "RTL"
+ visible: _vehicle.armed && _vehicle.flightMode != _vehicle.rtlFlightMode
+ onClicked: _vehicle.flightMode = _vehicle.rtlFlightMode
+ }
+
+ QGCButton {
+ text: "Take control"
+ visible: _vehicle.armed && _vehicle.flightMode != _vehicle.takeControlFlightMode
+ onClicked: _vehicle.flightMode = _vehicle.takeControlFlightMode
+ }
+
+ }
+ }
+ }
+} // QGCListView
diff --git a/src/FlightDisplay/qmldir b/src/FlightDisplay/qmldir
index ccd5c34..bdcc8b7 100644
--- a/src/FlightDisplay/qmldir
+++ b/src/FlightDisplay/qmldir
@@ -4,4 +4,5 @@ FlightDisplayView 1.0 FlightDisplayView.qml
FlightDisplayViewMap 1.0 FlightDisplayViewMap.qml
FlightDisplayViewVideo 1.0 FlightDisplayViewVideo.qml
FlightDisplayViewWidgets 1.0 FlightDisplayViewWidgets.qml
+MultiVehicleList 1.0 MultiVehicleList.qml
diff --git a/src/MissionManager/GeoFenceController.cc b/src/MissionManager/GeoFenceController.cc
index fc63d80..ae28afb 100644
--- a/src/MissionManager/GeoFenceController.cc
+++ b/src/MissionManager/GeoFenceController.cc
@@ -48,7 +48,19 @@ void GeoFenceController::start(bool editMode)
qCDebug(GeoFenceControllerLog) << "start editMode" << editMode;
PlanElementController::start(editMode);
+ _init();
+}
+
+void GeoFenceController::startStaticActiveVehicle(Vehicle* vehicle)
+{
+ qCDebug(GeoFenceControllerLog) << "startStaticActiveVehicle";
+ PlanElementController::startStaticActiveVehicle(vehicle);
+ _init();
+}
+
+void GeoFenceController::_init(void)
+{
connect(&_polygon, &QGCMapPolygon::dirtyChanged, this, &GeoFenceController::_polygonDirtyChanged);
}
diff --git a/src/MissionManager/GeoFenceController.h b/src/MissionManager/GeoFenceController.h
index 34c87bd..aff9018 100644
--- a/src/MissionManager/GeoFenceController.h
+++ b/src/MissionManager/GeoFenceController.h
@@ -50,17 +50,18 @@ public:
Q_PROPERTY(bool breachReturnSupported READ breachReturnSupported NOTIFY breachReturnSupportedChanged)
#endif
- void start (bool editMode) final;
- void loadFromVehicle (void) final;
- void sendToVehicle (void) final;
- void loadFromFilePicker (void) final;
- void loadFromFile (const QString& filename) final;
- void saveToFilePicker (void) final;
- void saveToFile (const QString& filename) final;
- void removeAll (void) final;
- bool syncInProgress (void) const final;
- bool dirty (void) const final;
- void setDirty (bool dirty) final;
+ void start (bool editMode) final;
+ void startStaticActiveVehicle (Vehicle* vehicle) final;
+ void loadFromVehicle (void) final;
+ void sendToVehicle (void) final;
+ void loadFromFilePicker (void) final;
+ void loadFromFile (const QString& filename) final;
+ void saveToFilePicker (void) final;
+ void saveToFile (const QString& filename) final;
+ void removeAll (void) final;
+ bool syncInProgress (void) const final;
+ bool dirty (void) const final;
+ void setDirty (bool dirty) final;
QString fileExtension(void) const final;
@@ -96,6 +97,7 @@ private slots:
void _loadComplete(const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon);
private:
+ void _init(void);
void _signalAll(void);
bool _loadJsonFile(QJsonDocument& jsonDoc, QString& errorString);
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 2f51f25..ca16bee 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -66,7 +66,19 @@ void MissionController::start(bool editMode)
qCDebug(MissionControllerLog) << "start editMode" << editMode;
PlanElementController::start(editMode);
+ _init();
+}
+
+void MissionController::startStaticActiveVehicle(Vehicle *vehicle)
+{
+ qCDebug(MissionControllerLog) << "startStaticActiveVehicle";
+ PlanElementController::startStaticActiveVehicle(vehicle);
+ _init();
+}
+
+void MissionController::_init(void)
+{
// We start with an empty mission
_visualItems = new QmlObjectListModel(this);
_addPlannedHomePosition(_visualItems, false /* addToCenter */);
diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
index 42e495e..c03becf 100644
--- a/src/MissionManager/MissionController.h
+++ b/src/MissionManager/MissionController.h
@@ -57,17 +57,18 @@ public:
Q_INVOKABLE int insertComplexMissionItem(QGeoCoordinate coordinate, int i);
// Overrides from PlanElementController
- void start (bool editMode) final;
- void loadFromVehicle (void) final;
- void sendToVehicle (void) final;
- void loadFromFilePicker (void) final;
- void loadFromFile (const QString& filename) final;
- void saveToFilePicker (void) final;
- void saveToFile (const QString& filename) final;
- void removeAll (void) final;
- bool syncInProgress (void) const final;
- bool dirty (void) const final;
- void setDirty (bool dirty) final;
+ void start (bool editMode) final;
+ void startStaticActiveVehicle (Vehicle* vehicle) final;
+ void loadFromVehicle (void) final;
+ void sendToVehicle (void) final;
+ void loadFromFilePicker (void) final;
+ void loadFromFile (const QString& filename) final;
+ void saveToFilePicker (void) final;
+ void saveToFile (const QString& filename) final;
+ void removeAll (void) final;
+ bool syncInProgress (void) const final;
+ bool dirty (void) const final;
+ void setDirty (bool dirty) final;
QString fileExtension(void) const final;
@@ -112,6 +113,7 @@ private slots:
void _homeCoordinateChanged(void);
private:
+ void _init(void);
void _recalcSequence(void);
void _recalcChildItems(void);
void _recalcAll(void);
diff --git a/src/MissionManager/PlanElementController.cc b/src/MissionManager/PlanElementController.cc
index c384d25..1c4d7eb 100644
--- a/src/MissionManager/PlanElementController.cc
+++ b/src/MissionManager/PlanElementController.cc
@@ -32,6 +32,12 @@ void PlanElementController::start(bool editMode)
_activeVehicleChanged(_multiVehicleMgr->activeVehicle());
}
+void PlanElementController::startStaticActiveVehicle(Vehicle* vehicle)
+{
+ _editMode = false;
+ _activeVehicleChanged(vehicle);
+}
+
void PlanElementController::_activeVehicleChanged(Vehicle* activeVehicle)
{
if (_activeVehicle) {
diff --git a/src/MissionManager/PlanElementController.h b/src/MissionManager/PlanElementController.h
index 63c4abe..b8ff725 100644
--- a/src/MissionManager/PlanElementController.h
+++ b/src/MissionManager/PlanElementController.h
@@ -39,6 +39,10 @@ public:
/// @param editMode true: controller being used in Plan view, false: controller being used in Fly view
Q_INVOKABLE virtual void start(bool editMode);
+ /// Starts the controller using a single static active vehicle. Will not track global active vehicle changes.
+ /// @param editMode true: controller being used in Plan view, false: controller being used in Fly view
+ Q_INVOKABLE virtual void startStaticActiveVehicle(Vehicle* vehicle);
+
Q_INVOKABLE virtual void loadFromVehicle(void) = 0;
Q_INVOKABLE virtual void sendToVehicle(void) = 0;
Q_INVOKABLE virtual void loadFromFilePicker(void) = 0;
diff --git a/src/MissionManager/RallyPointController.cc b/src/MissionManager/RallyPointController.cc
index 3a653e7..f6b6091 100644
--- a/src/MissionManager/RallyPointController.cc
+++ b/src/MissionManager/RallyPointController.cc
@@ -46,13 +46,6 @@ RallyPointController::~RallyPointController()
}
-void RallyPointController::start(bool editMode)
-{
- qCDebug(RallyPointControllerLog) << "start editMode" << editMode;
-
- PlanElementController::start(editMode);
-}
-
void RallyPointController::_activeVehicleBeingRemoved(void)
{
_activeVehicle->rallyPointManager()->disconnect(this);
diff --git a/src/MissionManager/RallyPointController.h b/src/MissionManager/RallyPointController.h
index 4585d93..1c040a6 100644
--- a/src/MissionManager/RallyPointController.h
+++ b/src/MissionManager/RallyPointController.h
@@ -37,7 +37,6 @@ public:
Q_INVOKABLE void addPoint(QGeoCoordinate point);
Q_INVOKABLE void removePoint(QObject* rallyPoint);
- void start (bool editMode) final;
void loadFromVehicle (void) final;
void sendToVehicle (void) final;
void loadFromFilePicker (void) final;
diff --git a/src/MultiVehicle/MultiVehicleView.qml b/src/MultiVehicle/MultiVehicleView.qml
new file mode 100644
index 0000000..2aa15bf
--- /dev/null
+++ b/src/MultiVehicle/MultiVehicleView.qml
@@ -0,0 +1,268 @@
+/****************************************************************************
+ *
+ * (c) 2009-2016 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.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.4
+import QtQuick.Controls 1.3
+import QtQuick.Dialogs 1.2
+import QtQuick.Layouts 1.2
+
+import QGroundControl 1.0
+import QGroundControl.ScreenTools 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controllers 1.0
+import QGroundControl.FactSystem 1.0
+
+/// Multi-Vehicle View
+QGCView {
+ id: qgcView
+ viewPanel: panel
+
+ property real _margins: ScreenTools.defaultFontPixelWidth
+ property var _fileDialogController
+
+ readonly property string _loadingText: qsTr("Loading...")
+
+ QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+
+ QGCViewPanel {
+ id: panel
+ anchors.fill: parent
+
+ Rectangle {
+ anchors.fill: parent
+ color: qgcPal.window
+
+ QGCFlickable {
+ anchors.fill: parent
+ contentHeight: vehicleColumn.height
+ flickableDirection: Flickable.VerticalFlick
+ clip: true
+
+ Column {
+ id: vehicleColumn
+ anchors.margins: _margins
+ anchors.left: parent.left
+ anchors.right: parent.right
+ anchors.top: parent.top
+ spacing: _margins
+
+ QGCLabel { text: qsTr("All Vehicles") }
+
+ Repeater {
+ model: QGroundControl.multiVehicleManager.vehicles
+
+ Column {
+ anchors.left: parent.left
+ anchors.right: parent.right
+ spacing: ScreenTools.defaultFontPixelHeight / 2
+
+ MissionController {
+ id: missionController
+
+ Component.onCompleted: startStaticActiveVehicle(object)
+
+ property bool missionAvailable: visualItems && visualItems.count > 1
+
+ function loadFromSelectedFile() {
+ if (ScreenTools.isMobile) {
+ _fileDialogController = missionController
+ qgcView.showDialog(mobileFilePicker, qsTr("Select Mission File"), qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
+ } else {
+ missionController.loadFromFilePicker()
+ missionController.sendToVehicle()
+ }
+ }
+ } // MissionController
+
+ GeoFenceController {
+ id: geoFenceController
+
+ Component.onCompleted: startStaticActiveVehicle(object)
+
+ property bool fenceAvailable: fenceSupported && (circleSupported || polygonSupported)
+
+ function loadFromSelectedFile() {
+ if (ScreenTools.isMobile) {
+ _fileDialogController = geoFenceController
+ qgcView.showDialog(mobileFilePicker, qsTr("Select Fence File"), qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
+ } else {
+ geoFenceController.loadFromFilePicker()
+ geoFenceController.sendToVehicle()
+ }
+ }
+ } // GeoFenceController
+
+ RallyPointController {
+ id: rallyPointController
+
+ Component.onCompleted: startStaticActiveVehicle(object)
+
+ property bool pointsAvailable: rallyPointsSupported && points.count
+
+ function loadFromSelectedFile() {
+ if (ScreenTools.isMobile) {
+ _fileDialogController = rallyPointController
+ qgcView.showDialog(mobileFilePicker, qsTr("Select Rally Point File"), qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
+ } else {
+ rallyPointController.loadFromFilePicker()
+ rallyPointController.sendToVehicle()
+ }
+ }
+ } // RallyPointController
+
+ QGCLabel {
+ text: "Vehicle #" + object.id
+ }
+
+ Rectangle {
+ anchors.left: parent.left
+ anchors.right: parent.right
+ height: vehicleDisplayColumn.height + (_margins * 2)
+ color: qgcPal.windowShade
+
+ Column {
+ id: vehicleDisplayColumn
+ anchors.margins: _margins
+ anchors.left: parent.left
+ anchors.right: parent.right
+ anchors.top: parent.top
+
+ Row {
+ id: indicatorRow
+ spacing: _margins
+ visible: !object.connectionLost
+
+ Rectangle {
+ width: missionLabel.contentWidth + _margins
+ height: ScreenTools.defaultFontPixelHeight + _margins
+ radius: height / 4
+ color: missionController.missionAvailable ? "green" : qgcPal.window
+ border.width: 1
+ border.color: qgcPal.text
+
+ QGCLabel {
+ id: missionLabel
+ anchors.margins: _margins / 2
+ anchors.left: parent.left
+ anchors.top: parent.top
+ text: missionController.syncInProgress ? _loadingText : qsTr("Mission")
+ }
+
+ MouseArea {
+ anchors.fill: parent
+ enabled: !missionController.syncInProgress
+ onClicked: missionController.loadFromSelectedFile()
+ }
+ }
+
+ Rectangle {
+ width: fenceLabel.contentWidth + _margins
+ height: ScreenTools.defaultFontPixelHeight + _margins
+ radius: height / 4
+ color: geoFenceController.fenceAvailable ? "green" : qgcPal.window
+ border.width: 1
+ border.color: qgcPal.text
+
+ QGCLabel {
+ id: fenceLabel
+ anchors.margins: _margins / 2
+ anchors.left: parent.left
+ anchors.top: parent.top
+ text: geoFenceController.syncInProgress ? _loadingText : qsTr("Fence")
+ }
+
+ MouseArea {
+ anchors.fill: parent
+ enabled: !geoFenceController.syncInProgress
+ onClicked: geoFenceController.loadFromSelectedFile()
+ }
+ }
+
+ Rectangle {
+ width: rallyLabel.contentWidth + _margins
+ height: ScreenTools.defaultFontPixelHeight + _margins
+ radius: height / 4
+ color: rallyPointController.pointsAvailable ? "green" : qgcPal.window
+ border.width: 1
+ border.color: qgcPal.text
+
+ QGCLabel {
+ id: rallyLabel
+ anchors.margins: _margins / 2
+ anchors.left: parent.left
+ anchors.top: parent.top
+ text: rallyPointController.syncInProgress ? _loadingText : qsTr("Rally")
+ }
+
+ MouseArea {
+ anchors.fill: parent
+ enabled: !rallyPointController.syncInProgress
+ onClicked: rallyPointController.loadFromSelectedFile()
+ }
+ }
+
+ FlightModeDropdown { activeVehicle: object }
+
+ GuidedBar { activeVehicle: object }
+ } // Row - contents display
+
+ Flow {
+ anchors.left: parent.left
+ anchors.right: parent.right
+ layoutDirection: Qt.LeftToRight
+ spacing: _margins
+
+ Repeater {
+ model: [ "battery.voltage", "battery.percentRemaining", "altitudeRelative", "altitudeAMSL", "groundSpeed", "heading"]
+
+ Column {
+ property Fact fact: object.getFact(modelData)
+
+ QGCLabel {
+ anchors.horizontalCenter: parent.horizontalCenter
+ text: fact.shortDescription
+ }
+ Row {
+ anchors.horizontalCenter: parent.horizontalCenter
+ //spacing: ScreenTools.defaultFontPixelWidth
+
+ QGCLabel {
+ text: fact.enumOrValueString
+ }
+ QGCLabel {
+ text: fact.units
+ }
+ }
+ }
+ } // Repeater - Small
+ } // Flow
+ } // Column
+ } // Rectangle - contents display
+ } // Column - layout for vehicle
+ } // Repeater - vehicle repeater
+ } // Column
+ } // QGCFlickable
+ } // Rectangle - View background
+ } // QGCViewPanel
+
+ Component {
+ id: mobileFilePicker
+
+ QGCMobileFileDialog {
+ openDialog: true
+ fileExtension: _fileDialogController.fileExtension
+
+ onFilenameReturned: {
+ _fileDialogController.loadFromFile(filename)
+ _fileDialogController.sendToVehicle()
+ }
+ }
+ }
+} // QGCView
diff --git a/src/QmlControls/FlightModeDropdown.qml b/src/QmlControls/FlightModeDropdown.qml
new file mode 100644
index 0000000..8054386
--- /dev/null
+++ b/src/QmlControls/FlightModeDropdown.qml
@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ * (c) 2009-2016 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.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.5
+
+import QGroundControl.Controls 1.0
+import QGroundControl.ScreenTools 1.0
+
+Item {
+ width: flightModeLabel.visible ? flightModeLabel.width : flightModeCombo.width
+ height: flightModeLabel.visible ? flightModeLabel.height : flightModeCombo.height
+
+ property var activeVehicle ///< Vehicle to show flight modes for
+
+ property int _maxFMCharLength: 10 ///< Maximum number of chars in a flight mode
+ property string flightMode: activeVehicle ? activeVehicle.flightMode : qsTr("N/A", "No data to display")
+
+ onActiveVehicleChanged: _activeVehicleChanged()
+
+ onFlightModeChanged: {
+ if (flightModeCombo.visible) {
+ flightModeCombo.currentIndex = flightModeCombo.find(flightMode)
+ }
+ }
+
+ Component.onCompleted: _activeVehicleChanged()
+
+ function _activeVehicleChanged() {
+ if (activeVehicle.flightModeSetAvailable) {
+ var maxFMChars = 0
+ for (var i=0; i<activeVehicle.flightModes.length; i++) {
+ maxFMChars = Math.max(maxFMChars, activeVehicle.flightModes[i].length)
+ }
+ _maxFMCharLength = maxFMChars
+ }
+ }
+
+ QGCLabel {
+ id: flightModeLabel
+ text: flightMode
+ visible: !activeVehicle.flightModeSetAvailable
+ anchors.verticalCenter: parent.verticalCenter
+ }
+
+ QGCComboBox {
+ id: flightModeCombo
+ width: (_maxFMCharLength + 4) * ScreenTools.defaultFontPixelWidth
+ model: activeVehicle ? activeVehicle.flightModes : 0
+ visible: activeVehicle.flightModeSetAvailable
+
+ onModelChanged: {
+ if (activeVehicle && visible) {
+ currentIndex = find(flightMode)
+ }
+ }
+
+ onActivated: activeVehicle.flightMode = textAt(index)
+ }
+}
diff --git a/src/QmlControls/GuidedBar.qml b/src/QmlControls/GuidedBar.qml
new file mode 100644
index 0000000..66705d5
--- /dev/null
+++ b/src/QmlControls/GuidedBar.qml
@@ -0,0 +1,269 @@
+/****************************************************************************
+ *
+ * (c) 2009-2016 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.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.5
+
+import QGroundControl 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.ScreenTools 1.0
+import QGroundControl.Palette 1.0
+
+//-- Guided mode bar
+
+Rectangle {
+ id: guidedModeBar
+ width: guidedModeColumn.width + (_margins * 2)
+ height: guidedModeColumn.height + (_margins * 2)
+ radius: ScreenTools.defaultFontPixelHeight * 0.25
+ color: backgroundColor
+
+ property var activeVehicle ///< Vehicle to show guided bar for
+ property real fontPointSize: ScreenTools.defaultFontPointSize ///< point size for fonts in control
+ property color backgroundColor: qgcPal.windowShadeDark ///< Background color for bar
+
+ // Values for _confirmActionCode
+ 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
+
+ property int _confirmActionCode
+ property real _showMargin: _margins
+ property real _hideMargin: _margins - guidedModeBar.height
+ property real _barMargin: _showMargin
+ property bool _showConfirm: false
+ property string _confirmText
+ property bool _showAltitude: false
+ property real _confirmAltitude
+
+ function actionConfirmed(altitude) {
+ _showConfirm = false
+ switch (_confirmActionCode) {
+ case confirmHome:
+ activeVehicle.guidedModeRTL()
+ break;
+ case confirmLand:
+ activeVehicle.guidedModeLand()
+ break;
+ case confirmTakeoff:
+ activeVehicle.guidedModeTakeoff(altitude)
+ break;
+ case confirmArm:
+ activeVehicle.armed = true
+ break;
+ case confirmDisarm:
+ activeVehicle.armed = false
+ break;
+ case confirmEmergencyStop:
+ activeVehicle.emergencyStop()
+ break;
+ case confirmChangeAlt:
+ activeVehicle.guidedModeChangeAltitude(altitude)
+ 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;
+ default:
+ console.warn(qsTr("Internal error: unknown _confirmActionCode"), _confirmActionCode)
+ }
+ }
+
+ function actionRejected() {
+ _showConfirm = false
+ /*
+ altitudeSlider.visible = false
+ _flightMap._gotoHereCoordinate = QtPositioning.coordinate()
+ guidedModeHideTimer.restart()
+ */
+ }
+
+ function confirmAction(actionCode) {
+ //guidedModeHideTimer.stop()
+ _confirmActionCode = actionCode
+ _showAltitude = false
+ switch (_confirmActionCode) {
+ case confirmArm:
+ _confirmText = qsTr("Arm vehicle?")
+ break;
+ case confirmDisarm:
+ _confirmText = qsTr("Disarm vehicle?")
+ break;
+ case confirmEmergencyStop:
+ _confirmText = qsTr("STOP ALL MOTORS?")
+ break;
+ case confirmTakeoff:
+ _showAltitude = true
+ setInitialValueMeters(3)
+ _confirmText = qsTr("Takeoff vehicle?")
+ break;
+ case confirmLand:
+ _confirmText = qsTr("Land vehicle?")
+ break;
+ case confirmHome:
+ _confirmText = qsTr("Return to land?")
+ break;
+ case confirmChangeAlt:
+ _showAltitude = true
+ setInitialValueAppSettingsDistanceUnits(activeVehicle.altitudeRelative.value)
+ _confirmText = qsTr("Change altitude?")
+ break;
+ case confirmGoTo:
+ _confirmText = qsTr("Move vehicle?")
+ break;
+ case confirmRetask:
+ _confirmText = qsTr("Change active waypoint?")
+ break;
+ case confirmOrbit:
+ _confirmText = qsTr("Enter orbit mode?")
+ break;
+ }
+ _showConfirm = true
+ }
+
+ function setInitialValueMeters(meters) {
+ _confirmAltitude = QGroundControl.metersToAppSettingsDistanceUnits(meters)
+ }
+
+ function setInitialValueAppSettingsDistanceUnits(height) {
+ _confirmAltitude = height
+ }
+
+ QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+
+ 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
+ visible: !_showConfirm
+
+ QGCButton {
+ pointSize: fontPointSize
+ text: (activeVehicle && activeVehicle.armed) ? (activeVehicle.flying ? qsTr("Emergency Stop") : qsTr("Disarm")) : qsTr("Arm")
+ visible: activeVehicle
+ onClicked: confirmAction(activeVehicle.armed ? (activeVehicle.flying ? confirmEmergencyStop : confirmDisarm) : confirmArm)
+ }
+
+ QGCButton {
+ pointSize: fontPointSize
+ text: qsTr("RTL")
+ visible: (activeVehicle && activeVehicle.armed) && activeVehicle.guidedModeSupported && activeVehicle.flying
+ onClicked: confirmAction(confirmHome)
+ }
+
+ QGCButton {
+ pointSize: fontPointSize
+ text: (activeVehicle && activeVehicle.flying) ? qsTr("Land"): qsTr("Takeoff")
+ visible: activeVehicle && activeVehicle.guidedModeSupported && activeVehicle.armed
+ onClicked: confirmAction(activeVehicle.flying ? confirmLand : confirmTakeoff)
+ }
+
+ QGCButton {
+ pointSize: fontPointSize
+ text: qsTr("Pause")
+ visible: (activeVehicle && activeVehicle.armed) && activeVehicle.pauseVehicleSupported && activeVehicle.flying
+ onClicked: {
+ guidedModeHideTimer.restart()
+ activeVehicle.pauseVehicle()
+ }
+ }
+
+ QGCButton {
+ pointSize: fontPointSize
+ text: qsTr("Change Altitude")
+ visible: (activeVehicle && activeVehicle.flying) && activeVehicle.guidedModeSupported && activeVehicle.armed
+ onClicked: confirmAction(confirmChangeAlt)
+ }
+
+ QGCButton {
+ pointSize: fontPointSize
+ text: qsTr("Orbit")
+ visible: (activeVehicle && activeVehicle.flying) && activeVehicle.orbitModeSupported && activeVehicle.armed
+ onClicked: confirmAction(confirmOrbit)
+ }
+
+ } // Row
+
+ Column {
+ visible: _showConfirm
+
+ QGCLabel {
+ anchors.horizontalCenter: parent.horizontalCenter
+ text: _confirmText
+ }
+
+ Row {
+ anchors.horizontalCenter: parent.horizontalCenter
+ spacing: ScreenTools.defaultFontPixelWidth
+
+ Row {
+ visible: _showAltitude
+
+ QGCLabel {
+ text: qsTr("Alt (rel)")
+ }
+
+ QGCLabel {
+ text: QGroundControl.appSettingsDistanceUnitsString
+ }
+
+ QGCTextField {
+ id: altField
+ text: _confirmAltitude.toFixed(1)
+ }
+ }
+
+ QGCButton {
+ text: qsTr("Yes")
+
+ onClicked: {
+ var value = parseFloat(altField.text)
+ if (isNaN(value)) {
+ actionRejected()
+ } else {
+ actionConfirmed(QGroundControl.appSettingsDistanceUnitsToMeters(value))
+ }
+ }
+ }
+
+ QGCButton {
+ text: qsTr("No")
+ onClicked: actionRejected()
+ }
+ }
+ } // Column
+ } // Column
+} // Rectangle - Guided mode buttons
diff --git a/src/QmlControls/QGroundControl.Controls.qmldir b/src/QmlControls/QGroundControl.Controls.qmldir
index 1450309..c3d9009 100644
--- a/src/QmlControls/QGroundControl.Controls.qmldir
+++ b/src/QmlControls/QGroundControl.Controls.qmldir
@@ -6,6 +6,8 @@ ClickableColor 1.0 ClickableColor.qml
DropButton 1.0 DropButton.qml
ExclusiveGroupItem 1.0 ExclusiveGroupItem.qml
FactSliderPanel 1.0 FactSliderPanel.qml
+FlightModeDropdown 1.0 FlightModeDropdown.qml
+GuidedBar 1.0 GuidedBar.qml
IndicatorButton 1.0 IndicatorButton.qml
JoystickThumbPad 1.0 JoystickThumbPad.qml
MainToolBar 1.0 MainToolBar.qml
diff --git a/src/QmlControls/ScreenTools.qml b/src/QmlControls/ScreenTools.qml
index 3f546a3..84bb0a0 100644
--- a/src/QmlControls/ScreenTools.qml
+++ b/src/QmlControls/ScreenTools.qml
@@ -47,6 +47,7 @@ Item {
property real largeFontPointSize: 10
property real availableHeight: 0
+ property real toolbarHeight: defaultFontPixelHeight * 3
readonly property real smallFontPointRatio: 0.75
readonly property real mediumFontPointRatio: 1.25
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index f0caf14..f5a8b5b 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1346,6 +1346,8 @@ void Vehicle::setFlightMode(const QString& flightMode)
uint8_t base_mode;
uint32_t custom_mode;
+ qDebug() << flightMode;
+
if (_firmwarePlugin->setFlightMode(flightMode, &base_mode, &custom_mode)) {
// setFlightMode will only set MAV_MODE_FLAG_CUSTOM_MODE_ENABLED in base_mode, we need to move back in the existing
// states.
@@ -2149,6 +2151,21 @@ void Vehicle::setFirmwarePluginInstanceData(QObject* firmwarePluginInstanceData)
_firmwarePluginInstanceData = firmwarePluginInstanceData;
}
+QString Vehicle::missionFlightMode(void) const
+{
+ return _firmwarePlugin->missionFlightMode();
+}
+
+QString Vehicle::rtlFlightMode(void) const
+{
+ return _firmwarePlugin->rtlFlightMode();
+}
+
+QString Vehicle::takeControlFlightMode(void) const
+{
+ return _firmwarePlugin->takeControlFlightMode();
+}
+
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 29e6477..ff299e3 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -271,6 +271,9 @@ public:
Q_PROPERTY(bool isOfflineEditingVehicle READ isOfflineEditingVehicle CONSTANT)
Q_PROPERTY(QString brandImage READ brandImage CONSTANT)
Q_PROPERTY(QStringList unhealthySensors READ unhealthySensors NOTIFY unhealthySensorsChanged)
+ Q_PROPERTY(QString missionFlightMode READ missionFlightMode CONSTANT)
+ Q_PROPERTY(QString rtlFlightMode READ rtlFlightMode CONSTANT)
+ Q_PROPERTY(QString takeControlFlightMode READ takeControlFlightMode CONSTANT)
/// true: Vehicle is flying, false: Vehicle is on ground
Q_PROPERTY(bool flying READ flying WRITE setFlying NOTIFY flyingChanged)
@@ -522,6 +525,9 @@ public:
bool isOfflineEditingVehicle () const { return _offlineEditingVehicle; }
QString brandImage () const;
QStringList unhealthySensors () const;
+ QString missionFlightMode () const;
+ QString rtlFlightMode () const;
+ QString takeControlFlightMode () const;
Fact* roll (void) { return &_rollFact; }
Fact* heading (void) { return &_headingFact; }
diff --git a/src/ui/MainWindowInner.qml b/src/ui/MainWindowInner.qml
index b11b073..dc374d5 100644
--- a/src/ui/MainWindowInner.qml
+++ b/src/ui/MainWindowInner.qml
@@ -255,7 +255,7 @@ Item {
MainToolBar {
id: toolBar
- height: ScreenTools.defaultFontPixelHeight * 3
+ height: ScreenTools.toolbarHeight
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top