From e200d62250fd482748902801dbec9b55e5ad6f2a Mon Sep 17 00:00:00 2001
From: Gus Grubba <mavlink@grubba.com>
Date: Thu, 21 Jun 2018 23:00:21 -0400
Subject: [PATCH 01/12] Properly handle (unavailable) RX RSSI
---
src/FlightDisplay/GuidedActionsController.qml | 2 +-
src/Vehicle/Vehicle.cc | 18 +++++++++++++-----
src/ui/toolbar/RCRSSIIndicator.qml | 9 +++++----
3 files changed, 19 insertions(+), 10 deletions(-)
diff --git a/src/FlightDisplay/GuidedActionsController.qml b/src/FlightDisplay/GuidedActionsController.qml
index c62766d..b7eb7b1 100644
--- a/src/FlightDisplay/GuidedActionsController.qml
+++ b/src/FlightDisplay/GuidedActionsController.qml
@@ -130,7 +130,7 @@ Item {
property bool _hideEmergenyStop: !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
property bool _hideOrbit: !QGroundControl.corePlugin.options.guidedBarShowOrbit
property bool _vehicleWasFlying: false
- property bool _rcRSSIAvailable: _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI < 255 : false
+ property bool _rcRSSIAvailable: _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100 : false
//Handy code for debugging state problems
property bool __debugGuidedStates: false
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index cdd1d13..81984b9 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -110,7 +110,7 @@ Vehicle::Vehicle(LinkInterface* link,
, _currentMessageType(MessageNone)
, _updateCount(0)
, _rcRSSI(255)
- , _rcRSSIstore(255)
+ , _rcRSSIstore(255.)
, _autoDisconnect(false)
, _flying(false)
, _landing(false)
@@ -303,7 +303,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _currentMessageType(MessageNone)
, _updateCount(0)
, _rcRSSI(255)
- , _rcRSSIstore(255)
+ , _rcRSSIstore(255.)
, _autoDisconnect(false)
, _flying(false)
, _landing(false)
@@ -2447,10 +2447,18 @@ void Vehicle::_imageReady(UASInterface*)
void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
{
- if (_rcRSSIstore < 0 || _rcRSSIstore > 100) {
- _rcRSSIstore = rssi;
+ //-- 0 <= rssi <= 100 - 255 means "invalid/unknown"
+ if(rssi > 100) { // Anything over 100 doesn't make sense
+ if(_rcRSSI != 255) {
+ _rcRSSI = 255;
+ emit rcRSSIChanged(_rcRSSI);
+ }
+ return;
+ }
+ //-- Initialize it
+ if(_rcRSSIstore == 255.) {
+ _rcRSSIstore = (double)rssi;
}
-
// Low pass to git rid of jitter
_rcRSSIstore = (_rcRSSIstore * 0.9f) + ((float)rssi * 0.1);
uint8_t filteredRSSI = (uint8_t)ceil(_rcRSSIstore);
diff --git a/src/ui/toolbar/RCRSSIIndicator.qml b/src/ui/toolbar/RCRSSIIndicator.qml
index baf04b1..aaed481 100644
--- a/src/ui/toolbar/RCRSSIIndicator.qml
+++ b/src/ui/toolbar/RCRSSIIndicator.qml
@@ -26,7 +26,8 @@ Item {
anchors.bottom: parent.bottom
visible: _activeVehicle ? _activeVehicle.supportsRadio : true
- property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+ property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+ property bool _rcRSSIAvailable: _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100 : false
Component {
id: rcRSSIInfo
@@ -54,7 +55,7 @@ Item {
GridLayout {
id: rcrssiGrid
- visible: _activeVehicle && _activeVehicle.rcRSSI != 255
+ visible: _rcRSSIAvailable
anchors.margins: ScreenTools.defaultFontPixelHeight
columnSpacing: ScreenTools.defaultFontPixelWidth
columns: 2
@@ -86,14 +87,14 @@ Item {
sourceSize.height: height
source: "/qmlimages/RC.svg"
fillMode: Image.PreserveAspectFit
- opacity: _activeVehicle ? (((_activeVehicle.rcRSSI < 0) || (_activeVehicle.rcRSSI > 100)) ? 0.5 : 1) : 0.5
+ opacity: _rcRSSIAvailable ? 1 : 0.5
color: qgcPal.buttonText
}
SignalStrength {
anchors.verticalCenter: parent.verticalCenter
size: parent.height * 0.5
- percent: _activeVehicle ? ((_activeVehicle.rcRSSI > 100) ? 0 : _activeVehicle.rcRSSI) : 0
+ percent: _rcRSSIAvailable ? _activeVehicle.rcRSSI : 0
}
}
From 482e17e62f654f1e95ef80c2b866e507f7a0d19c Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Thu, 12 Jul 2018 08:57:16 +0200
Subject: [PATCH 02/12] Create CODE_OF_CONDUCT.md
---
CODE_OF_CONDUCT.md | 46 ++++++++++++++++++++++++++++++++++++++++++++++
1 file changed, 46 insertions(+)
create mode 100644 CODE_OF_CONDUCT.md
diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md
new file mode 100644
index 0000000..382c73a
--- /dev/null
+++ b/CODE_OF_CONDUCT.md
@@ -0,0 +1,46 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at lm@qgroundcontrol.org. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version]
+
+[homepage]: http://contributor-covenant.org
+[version]: http://contributor-covenant.org/version/1/4/
From 440913db7d133c603c4c98372b42c326b256ad86 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Thu, 12 Jul 2018 19:11:55 -0700
Subject: [PATCH 03/12] Fix orbit radius
---
src/FlightDisplay/FlightDisplayViewMap.qml | 9 ++++++---
src/FlightDisplay/GuidedActionsController.qml | 2 +-
2 files changed, 7 insertions(+), 4 deletions(-)
diff --git a/src/FlightDisplay/FlightDisplayViewMap.qml b/src/FlightDisplay/FlightDisplayViewMap.qml
index 5137432..d09e2ec 100644
--- a/src/FlightDisplay/FlightDisplayViewMap.qml
+++ b/src/FlightDisplay/FlightDisplayViewMap.qml
@@ -303,12 +303,11 @@ FlightMap {
visible: false
property alias center: _mapCircle.center
- property real radius: defaultRadius
readonly property real defaultRadius: 30
function show(coord) {
- orbitMapCircle.radius = defaultRadius
+ _mapCircle.radius.rawValue = defaultRadius
orbitMapCircle.center = coord
orbitMapCircle.visible = true
}
@@ -317,12 +316,16 @@ FlightMap {
orbitMapCircle.visible = false
}
+ function radius() {
+ return _mapCircle.radius.rawValue
+ }
+
Component.onCompleted: guidedActionsController.orbitMapCircle = orbitMapCircle
QGCMapCircle {
id: _mapCircle
interactive: true
- radius.rawValue: orbitMapCircle.radius
+ radius.rawValue: 30
}
}
diff --git a/src/FlightDisplay/GuidedActionsController.qml b/src/FlightDisplay/GuidedActionsController.qml
index 769b14a..7f89377 100644
--- a/src/FlightDisplay/GuidedActionsController.qml
+++ b/src/FlightDisplay/GuidedActionsController.qml
@@ -389,7 +389,7 @@ Item {
_activeVehicle.setCurrentMissionSequence(actionData)
break
case actionOrbit:
- _activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius, _activeVehicle.altitudeAMSL.rawValue + actionAltitudeChange)
+ _activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius(), _activeVehicle.altitudeAMSL.rawValue + actionAltitudeChange)
orbitMapCircle.hide()
break
case actionLandAbort:
From 9eca2a703c58181143b5431f191ab437ebf50c43 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Thu, 12 Jul 2018 21:04:02 -0700
Subject: [PATCH 04/12] Use setLoiterCoordinate for correct triggering of
terrain query
---
src/MissionManager/FixedWingLandingComplexItem.cc | 3 +--
1 file changed, 1 insertion(+), 2 deletions(-)
diff --git a/src/MissionManager/FixedWingLandingComplexItem.cc b/src/MissionManager/FixedWingLandingComplexItem.cc
index f15e9f1..aa49406 100644
--- a/src/MissionManager/FixedWingLandingComplexItem.cc
+++ b/src/MissionManager/FixedWingLandingComplexItem.cc
@@ -336,8 +336,7 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, b
complexItem->_altitudesAreRelative = landPointFrame == MAV_FRAME_GLOBAL_RELATIVE_ALT;
complexItem->_loiterRadiusFact.setRawValue(qAbs(missionItemLoiter.param2()));
complexItem->_loiterClockwise = missionItemLoiter.param2() > 0;
- complexItem->_loiterCoordinate.setLatitude(missionItemLoiter.param5());
- complexItem->_loiterCoordinate.setLongitude(missionItemLoiter.param6());
+ complexItem->setLoiterCoordinate(QGeoCoordinate(missionItemLoiter.param5(), missionItemLoiter.param6()));
complexItem->_loiterAltitudeFact.setRawValue(missionItemLoiter.param7());
complexItem->_landingCoordinate.setLatitude(missionItemLand.param5());
From 3b8e0edb1c34ad7e2bac543872cf100707491239 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Fri, 13 Jul 2018 10:49:48 -0700
Subject: [PATCH 05/12] Z order for landing click is above map items
This way you can click anywhere
---
src/PlanView/FWLandingPatternMapVisual.qml | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/PlanView/FWLandingPatternMapVisual.qml b/src/PlanView/FWLandingPatternMapVisual.qml
index c16b3e0..8a7ca65 100644
--- a/src/PlanView/FWLandingPatternMapVisual.qml
+++ b/src/PlanView/FWLandingPatternMapVisual.qml
@@ -159,7 +159,8 @@ Item {
id: mouseAreaComponent
MouseArea {
- anchors.fill: map
+ anchors.fill: map
+ z: QGroundControl.zOrderMapItems + 1 // Over item indicators
onClicked: {
var coordinate = map.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
From 3239118eca9d4fd875d2597be7542a24c7fa207d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 13 Jul 2018 16:28:44 +0200
Subject: [PATCH 06/12] GPS: update submodule & account for changed interface
---
qgroundcontrol.pro | 4 ++++
src/GPS/Drivers | 2 +-
src/GPS/GPSProvider.cc | 1 +
src/GPS/vehicle_gps_position.h | 1 +
4 files changed, 7 insertions(+), 1 deletion(-)
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index c09b079..769e029 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -642,6 +642,8 @@ HEADERS += \
src/AnalyzeView/GeoTagController.h \
src/AnalyzeView/MavlinkConsoleController.h \
src/GPS/Drivers/src/gps_helper.h \
+ src/GPS/Drivers/src/rtcm.h \
+ src/GPS/Drivers/src/ashtech.h \
src/GPS/Drivers/src/ubx.h \
src/GPS/GPSManager.h \
src/GPS/GPSPositionMessage.h \
@@ -823,6 +825,8 @@ SOURCES += \
src/AnalyzeView/GeoTagController.cc \
src/AnalyzeView/MavlinkConsoleController.cc \
src/GPS/Drivers/src/gps_helper.cpp \
+ src/GPS/Drivers/src/rtcm.cpp \
+ src/GPS/Drivers/src/ashtech.cpp \
src/GPS/Drivers/src/ubx.cpp \
src/GPS/GPSManager.cc \
src/GPS/GPSProvider.cc \
diff --git a/src/GPS/Drivers b/src/GPS/Drivers
index 41223e8..ecc26a4 160000
--- a/src/GPS/Drivers
+++ b/src/GPS/Drivers
@@ -1 +1 @@
-Subproject commit 41223e860e0f3b7fed5075be8ac17ecb7e07e428
+Subproject commit ecc26a43033fc1b9a3dc6dae053d28438aa2f6a1
diff --git a/src/GPS/GPSProvider.cc b/src/GPS/GPSProvider.cc
index 8e77aa0..d993908 100644
--- a/src/GPS/GPSProvider.cc
+++ b/src/GPS/GPSProvider.cc
@@ -63,6 +63,7 @@ void GPSProvider::run()
}
gpsDriver = new GPSDriverUBX(GPSDriverUBX::Interface::UART, &callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
+ baudrate = 0; // auto-configure
gpsDriver->setSurveyInSpecs(_surveyInAccMeters * 10000, _surveryInDurationSecs);
if (gpsDriver->configure(baudrate, GPSDriverUBX::OutputMode::RTCM) == 0) {
diff --git a/src/GPS/vehicle_gps_position.h b/src/GPS/vehicle_gps_position.h
index e8fa23d..1a3f8d3 100644
--- a/src/GPS/vehicle_gps_position.h
+++ b/src/GPS/vehicle_gps_position.h
@@ -63,6 +63,7 @@ struct vehicle_gps_position_s {
float vel_d_m_s;
float cog_rad;
int32_t timestamp_time_relative;
+ float heading;
uint8_t fix_type;
bool vel_ned_valid;
uint8_t satellites_used;
From b5ab11f7616688842a234bf7fa11775a2fab59bd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 13 Jul 2018 16:30:10 +0200
Subject: [PATCH 07/12] RTK GPS: add Trimble MB-Two support
---
src/GPS/GPSManager.cc | 13 +++++++++++--
src/GPS/GPSManager.h | 2 +-
src/GPS/GPSProvider.cc | 15 +++++++++++----
src/GPS/GPSProvider.h | 10 +++++++++-
src/comm/LinkManager.cc | 2 +-
src/comm/USBBoardInfo.json | 3 ++-
src/ui/preferences/GeneralSettings.qml | 2 +-
src/ui/toolbar/GPSRTKIndicator.qml | 2 ++
8 files changed, 38 insertions(+), 11 deletions(-)
diff --git a/src/GPS/GPSManager.cc b/src/GPS/GPSManager.cc
index bd55d10..47e917a 100644
--- a/src/GPS/GPSManager.cc
+++ b/src/GPS/GPSManager.cc
@@ -26,13 +26,22 @@ GPSManager::~GPSManager()
disconnectGPS();
}
-void GPSManager::connectGPS(const QString& device)
+void GPSManager::connectGPS(const QString& device, const QString& gps_type)
{
RTKSettings* rtkSettings = qgcApp()->toolbox()->settingsManager()->rtkSettings();
+ GPSProvider::GPSType type;
+ if (gps_type.contains("trimble", Qt::CaseInsensitive)) {
+ type = GPSProvider::GPSType::trimble;
+ qCDebug(RTKGPSLog) << "Connecting Trimble device";
+ } else {
+ type = GPSProvider::GPSType::u_blox;
+ qCDebug(RTKGPSLog) << "Connecting U-blox device";
+ }
+
disconnectGPS();
_requestGpsStop = false;
- _gpsProvider = new GPSProvider(device, true, rtkSettings->surveyInAccuracyLimit()->rawValue().toDouble(), rtkSettings->surveyInMinObservationDuration()->rawValue().toInt(), _requestGpsStop);
+ _gpsProvider = new GPSProvider(device, type, true, rtkSettings->surveyInAccuracyLimit()->rawValue().toDouble(), rtkSettings->surveyInMinObservationDuration()->rawValue().toInt(), _requestGpsStop);
_gpsProvider->start();
//create RTCM device
diff --git a/src/GPS/GPSManager.h b/src/GPS/GPSManager.h
index e116f38..35ad573 100644
--- a/src/GPS/GPSManager.h
+++ b/src/GPS/GPSManager.h
@@ -28,7 +28,7 @@ public:
GPSManager(QGCApplication* app, QGCToolbox* toolbox);
~GPSManager();
- void connectGPS (const QString& device);
+ void connectGPS (const QString& device, const QString& gps_type);
void disconnectGPS (void);
bool connected (void) const { return _gpsProvider && _gpsProvider->isRunning(); }
diff --git a/src/GPS/GPSProvider.cc b/src/GPS/GPSProvider.cc
index d993908..8a4d8d7 100644
--- a/src/GPS/GPSProvider.cc
+++ b/src/GPS/GPSProvider.cc
@@ -16,6 +16,7 @@
#include <QDebug>
#include "Drivers/src/ubx.h"
+#include "Drivers/src/ashtech.h"
#include "Drivers/src/gps_helper.h"
#include "definitions.h"
@@ -53,7 +54,7 @@ void GPSProvider::run()
_serial->setFlowControl(QSerialPort::NoFlowControl);
unsigned int baudrate;
- GPSDriverUBX* gpsDriver = nullptr;
+ GPSHelper* gpsDriver = nullptr;
while (!_requestStop) {
@@ -62,8 +63,13 @@ void GPSProvider::run()
gpsDriver = nullptr;
}
- gpsDriver = new GPSDriverUBX(GPSDriverUBX::Interface::UART, &callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
- baudrate = 0; // auto-configure
+ if (_type == GPSType::trimble) {
+ gpsDriver = new GPSDriverAshtech(&callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
+ baudrate = 115200;
+ } else {
+ gpsDriver = new GPSDriverUBX(GPSDriverUBX::Interface::UART, &callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
+ baudrate = 0; // auto-configure
+ }
gpsDriver->setSurveyInSpecs(_surveyInAccMeters * 10000, _surveryInDurationSecs);
if (gpsDriver->configure(baudrate, GPSDriverUBX::OutputMode::RTCM) == 0) {
@@ -102,8 +108,9 @@ void GPSProvider::run()
qCDebug(RTKGPSLog) << "Exiting GPS thread";
}
-GPSProvider::GPSProvider(const QString& device, bool enableSatInfo, double surveyInAccMeters, int surveryInDurationSecs, const std::atomic_bool& requestStop)
+GPSProvider::GPSProvider(const QString& device, GPSType type, bool enableSatInfo, double surveyInAccMeters, int surveryInDurationSecs, const std::atomic_bool& requestStop)
: _device(device)
+ , _type(type)
, _requestStop(requestStop)
, _surveyInAccMeters(surveyInAccMeters)
, _surveryInDurationSecs(surveryInDurationSecs)
diff --git a/src/GPS/GPSProvider.h b/src/GPS/GPSProvider.h
index c2b5c7e..006dd49 100644
--- a/src/GPS/GPSProvider.h
+++ b/src/GPS/GPSProvider.h
@@ -29,7 +29,14 @@ class GPSProvider : public QThread
{
Q_OBJECT
public:
- GPSProvider(const QString& device, bool enableSatInfo, double surveyInAccMeters, int surveryInDurationSecs, const std::atomic_bool& requestStop);
+
+ enum class GPSType {
+ u_blox,
+ trimble
+ };
+
+ GPSProvider(const QString& device, GPSType type, bool enableSatInfo, double surveyInAccMeters, int surveryInDurationSecs,
+ const std::atomic_bool& requestStop);
~GPSProvider();
/**
@@ -57,6 +64,7 @@ private:
int callback(GPSCallbackType type, void *data1, int data2);
QString _device;
+ GPSType _type;
const std::atomic_bool& _requestStop;
double _surveyInAccMeters;
int _surveryInDurationSecs;
diff --git a/src/comm/LinkManager.cc b/src/comm/LinkManager.cc
index ada53b2..0030c27 100644
--- a/src/comm/LinkManager.cc
+++ b/src/comm/LinkManager.cc
@@ -586,7 +586,7 @@ void LinkManager::_updateAutoConnectLinks(void)
if (_autoConnectSettings->autoConnectRTKGPS()->rawValue().toBool() && !_toolbox->gpsManager()->connected()) {
qCDebug(LinkManagerLog) << "RTK GPS auto-connected" << portInfo.portName().trimmed();
_autoConnectRTKPort = portInfo.systemLocation();
- _toolbox->gpsManager()->connectGPS(portInfo.systemLocation());
+ _toolbox->gpsManager()->connectGPS(portInfo.systemLocation(), boardName);
}
break;
#endif
diff --git a/src/comm/USBBoardInfo.json b/src/comm/USBBoardInfo.json
index dd24ff6..f68a71f 100644
--- a/src/comm/USBBoardInfo.json
+++ b/src/comm/USBBoardInfo.json
@@ -27,7 +27,8 @@
{ "vendorID": 1027, "productID": 24577, "boardClass": "SiK Radio", "name": "SiK Radio", "comment": "3DR Radio on FTDI" },
{ "vendorID": 4292, "productID": 60000, "boardClass": "SiK Radio", "name": "SiK Radio", "comment": "SILabs Radio" },
- { "vendorID": 5446, "productID": 424, "boardClass": "RTK GPS", "name": "RTK GPS", "comment": "Ublox RTK GPS" },
+ { "vendorID": 5446, "productID": 424, "boardClass": "RTK GPS", "name": "U-blox RTK GPS", "comment": "U-blox RTK GPS" },
+ { "vendorID": 1317, "productID": 42151, "boardClass": "RTK GPS", "name": "Trimble RTK GPS", "comment": "Trimble RTK GPS" },
{ "vendorID": 8352, "productID": 16732, "boardClass": "OpenPilot", "name": "OpenPilot OPLink" },
{ "vendorID": 8352, "productID": 16733, "boardClass": "OpenPilot", "name": "OpenPilot CC3D" },
diff --git a/src/ui/preferences/GeneralSettings.qml b/src/ui/preferences/GeneralSettings.qml
index 2a3c6b6..a82c319 100644
--- a/src/ui/preferences/GeneralSettings.qml
+++ b/src/ui/preferences/GeneralSettings.qml
@@ -402,7 +402,7 @@ QGCView {
anchors.horizontalCenter: parent.horizontalCenter
columns: 2
- QGCLabel { text: qsTr("Survey in accuracy") }
+ QGCLabel { text: qsTr("Survey in accuracy (U-blox only)") }
FactTextField {
Layout.preferredWidth: _valueFieldWidth
fact: QGroundControl.settingsManager.rtkSettings.surveyInAccuracyLimit
diff --git a/src/ui/toolbar/GPSRTKIndicator.qml b/src/ui/toolbar/GPSRTKIndicator.qml
index 7dfe170..767278b 100644
--- a/src/ui/toolbar/GPSRTKIndicator.qml
+++ b/src/ui/toolbar/GPSRTKIndicator.qml
@@ -69,9 +69,11 @@ Item {
QGCLabel {
// during survey-in show the current accuracy, after that show the final accuracy
text: QGroundControl.gpsRtk.valid.value ? qsTr("Accuracy:") : qsTr("Current Accuracy:")
+ visible: QGroundControl.gpsRtk.currentAccuracy.value > 0
}
QGCLabel {
text: QGroundControl.gpsRtk.currentAccuracy.valueString + " " + QGroundControl.appSettingsDistanceUnitsString
+ visible: QGroundControl.gpsRtk.currentAccuracy.value > 0
}
QGCLabel { text: qsTr("Satellites:") }
QGCLabel { text: QGroundControl.gpsRtk.numSatellites.value }
From 59ed0f5253db6f461dfc19bb22ac10018d9a891a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 13 Jul 2018 17:28:21 +0200
Subject: [PATCH 08/12] GPS: update GPS drivers submodule to fix CI
---
src/GPS/Drivers | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/GPS/Drivers b/src/GPS/Drivers
index ecc26a4..d7854b7 160000
--- a/src/GPS/Drivers
+++ b/src/GPS/Drivers
@@ -1 +1 @@
-Subproject commit ecc26a43033fc1b9a3dc6dae053d28438aa2f6a1
+Subproject commit d7854b7bcf1610bb42d89f4bae553744cbe4408c
From d1bcd47915df2986220b1cefc07dd4227a035d33 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Sat, 14 Jul 2018 14:03:28 -0700
Subject: [PATCH 09/12] Bump timeout slightly to deal with really noisy links
---
src/MissionManager/PlanManager.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/MissionManager/PlanManager.h b/src/MissionManager/PlanManager.h
index caa6173..0cfb509 100644
--- a/src/MissionManager/PlanManager.h
+++ b/src/MissionManager/PlanManager.h
@@ -71,7 +71,7 @@ public:
// These values are public so the unit test can set appropriate signal wait times
// When passively waiting for a mission process, use a longer timeout.
- static const int _ackTimeoutMilliseconds = 1000;
+ static const int _ackTimeoutMilliseconds = 1500;
// When actively retrying to request mission items, use a shorter timeout instead.
static const int _retryTimeoutMilliseconds = 250;
static const int _maxRetryCount = 5;
From 296c3ad6ef8c874f642ef136e4786d1ab0de5ca5 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Sat, 14 Jul 2018 14:03:40 -0700
Subject: [PATCH 10/12] Handle ArduPilot MAV_MISSION_INVALID_SEQUENCE usage
---
src/MissionManager/PlanManager.cc | 8 ++++++++
1 file changed, 8 insertions(+)
diff --git a/src/MissionManager/PlanManager.cc b/src/MissionManager/PlanManager.cc
index f19f1b1..38292b2 100644
--- a/src/MissionManager/PlanManager.cc
+++ b/src/MissionManager/PlanManager.cc
@@ -589,6 +589,14 @@ void PlanManager::_handleMissionAck(const mavlink_message_t& message)
return;
}
+ if (_vehicle->apmFirmware() && missionAck.type == MAV_MISSION_INVALID_SEQUENCE) {
+ // ArduPilot sends these Acks which can happen just due to noisy links causing duplicated requests being responded to.
+ // As far as I'm concerned this is incorrect protocol implementation but we need to deal with it anyway. So we just
+ // ignore it and if things really go haywire the timeouts will fire to fail the overall transaction.
+ qCDebug(PlanManagerLog) << QStringLiteral("_handleMissionAck ArduPilot sending possibly bogus MAV_MISSION_INVALID_SEQUENCE").arg(_planTypeString()) << _planType;
+ return;
+ }
+
// Save the retry ack before calling _checkForExpectedAck since we'll need it to determine what
// type of a protocol sequence we are in.
AckType_t savedExpectedAck = _expectedAck;
From 604d4051f948b2d72aa00ae864b923dea2ddaac8 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Sun, 15 Jul 2018 13:02:09 -0700
Subject: [PATCH 11/12] Add ability to set Gimbal Pitch on manual scan
---
.../StructureScan.SettingsGroup.json | 37 ----------------------
src/MissionManager/StructureScanComplexItem.cc | 35 ++++++++++++++++----
src/MissionManager/StructureScanComplexItem.h | 5 +++
src/PlanView/StructureScanEditor.qml | 10 ++++++
4 files changed, 43 insertions(+), 44 deletions(-)
diff --git a/src/MissionManager/StructureScan.SettingsGroup.json b/src/MissionManager/StructureScan.SettingsGroup.json
index 6901674..15ff6ce 100644
--- a/src/MissionManager/StructureScan.SettingsGroup.json
+++ b/src/MissionManager/StructureScan.SettingsGroup.json
@@ -10,16 +10,6 @@
"defaultValue": 0
},
{
- "name": "GimbalYaw",
- "shortDescription": "Gimbal yaw rotation.",
- "type": "double",
- "units": "deg",
- "min": -180.0,
- "max": 180.0,
- "decimalPlaces": 0,
- "defaultValue": 90
-},
-{
"name": "Altitude",
"shortDescription": "Altitude for the bottom layer of the structure scan.",
"type": "double",
@@ -41,32 +31,5 @@
"units": "m",
"min": 1,
"defaultValue": 100
-},
-{
- "name": "Layer distance",
- "shortDescription": "Distance between each layer.",
- "type": "double",
- "decimalPlaces": 2,
- "min": 0,
- "units": "m",
- "defaultValue": 25
-},
-{
- "name": "Scan distance",
- "shortDescription": "Scan distance away from structure.",
- "type": "double",
- "decimalPlaces": 2,
- "min": 0,
- "units": "m",
- "defaultValue": 25
-},
-{
- "name": "Trigger distance",
- "shortDescription": "Distance between each triggering of the camera. 0 specifies not camera trigger.",
- "type": "double",
- "decimalPlaces": 2,
- "min": 0,
- "units": "m",
- "defaultValue": 25
}
]
diff --git a/src/MissionManager/StructureScanComplexItem.cc b/src/MissionManager/StructureScanComplexItem.cc
index 100896e..8119c15 100644
--- a/src/MissionManager/StructureScanComplexItem.cc
+++ b/src/MissionManager/StructureScanComplexItem.cc
@@ -25,6 +25,7 @@ const char* StructureScanComplexItem::settingsGroup = "StructureSc
const char* StructureScanComplexItem::altitudeName = "Altitude";
const char* StructureScanComplexItem::structureHeightName = "StructureHeight";
const char* StructureScanComplexItem::layersName = "Layers";
+const char* StructureScanComplexItem::gimbalPitchName = "GimbalPitch";
const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan";
const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc";
@@ -44,6 +45,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
, _altitudeFact (settingsGroup, _metaDataMap[altitudeName])
, _structureHeightFact (settingsGroup, _metaDataMap[structureHeightName])
, _layersFact (settingsGroup, _metaDataMap[layersName])
+ , _gimbalPitchFact (settingsGroup, _metaDataMap[gimbalPitchName])
{
_editorQml = "qrc:/qml/StructureScanEditor.qml";
@@ -51,6 +53,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
+ connect(&_gimbalPitchFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
connect(&_structureHeightFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
@@ -76,6 +79,8 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &StructureScanComplexItem::_recalcCameraShots);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcCameraShots);
+ connect(&_cameraCalc, &CameraCalc::isManualCameraChanged, this, &StructureScanComplexItem::_updateGimbalPitch);
+
_recalcLayerInfo();
if (!kmlFile.isEmpty()) {
@@ -147,9 +152,10 @@ void StructureScanComplexItem::save(QJsonArray& missionItems)
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[altitudeName] = _altitudeFact.rawValue().toDouble();
- saveObject[structureHeightName] = _structureHeightFact.rawValue().toDouble();
- saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative;
+ saveObject[structureHeightName] = _structureHeightFact.rawValue().toDouble();
+ saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative;
saveObject[layersName] = _layersFact.rawValue().toDouble();
+ saveObject[gimbalPitchName] = _gimbalPitchFact.rawValue().toDouble();
QJsonObject cameraCalcObject;
_cameraCalc.save(cameraCalcObject);
@@ -180,6 +186,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
{ structureHeightName, QJsonValue::Double, true },
{ _jsonAltitudeRelativeKey, QJsonValue::Bool, true },
{ layersName, QJsonValue::Double, true },
+ { gimbalPitchName, QJsonValue::Double, false }, // This value was added after initial implementation so may be missing from older files
{ _jsonCameraCalcKey, QJsonValue::Object, true },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
@@ -212,6 +219,12 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
_layersFact.setRawValue (complexObject[layersName].toDouble());
_altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true);
+ double gimbalPitchValue = 0;
+ if (complexObject.contains(gimbalPitchName)) {
+ gimbalPitchValue = complexObject[gimbalPitchName].toDouble();
+ }
+ _gimbalPitchFact.setRawValue(gimbalPitchValue);
+
if (!_structurePolygon.loadFromJson(complexObject, true /* required */, errorString)) {
_structurePolygon.clear();
return false;
@@ -256,11 +269,12 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET,
MAV_FRAME_MISSION,
- 0, 0, 0, 0, // param 1-4 not used
- 0, 0, // Pitch and Roll stay in standard orientation
- 90, // 90 degreee yaw offset to point to structure
- true, // autoContinue
- false, // isCurrentItem
+ 0, 0, 0, 0, // param 1-4 not used
+ _gimbalPitchFact.rawValue().toDouble(),
+ 0, // Roll stays in standard orientation
+ 90, // 90 degreee yaw offset to point to structure
+ true, // autoContinue
+ false, // isCurrentItem
missionItemParent);
items.append(item);
@@ -464,3 +478,10 @@ void StructureScanComplexItem::_recalcLayerInfo(void)
_layersFact.setSendValueChangedSignals(true);
}
}
+
+void StructureScanComplexItem::_updateGimbalPitch(void)
+{
+ if (!_cameraCalc.isManualCamera()) {
+ _gimbalPitchFact.setRawValue(0);
+ }
+}
diff --git a/src/MissionManager/StructureScanComplexItem.h b/src/MissionManager/StructureScanComplexItem.h
index 068b8a4..655f1f0 100644
--- a/src/MissionManager/StructureScanComplexItem.h
+++ b/src/MissionManager/StructureScanComplexItem.h
@@ -34,6 +34,7 @@ public:
Q_PROPERTY(Fact* altitude READ altitude CONSTANT)
Q_PROPERTY(Fact* structureHeight READ structureHeight CONSTANT)
Q_PROPERTY(Fact* layers READ layers CONSTANT)
+ Q_PROPERTY(Fact* gimbalPitch READ gimbalPitch CONSTANT)
Q_PROPERTY(bool altitudeRelative READ altitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged)
Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
@@ -44,6 +45,7 @@ public:
Fact* altitude (void) { return &_altitudeFact; }
Fact* structureHeight (void) { return &_structureHeightFact; }
Fact* layers (void) { return &_layersFact; }
+ Fact* gimbalPitch (void) { return &_gimbalPitchFact; }
bool altitudeRelative (void) const { return _altitudeRelative; }
int cameraShots (void) const;
@@ -98,6 +100,7 @@ public:
static const char* altitudeName;
static const char* structureHeightName;
static const char* layersName;
+ static const char* gimbalPitchName;
signals:
void cameraShotsChanged (int cameraShots);
@@ -114,6 +117,7 @@ private slots:
void _recalcCameraShots (void);
void _recalcLayerInfo (void);
void _updateLastSequenceNumber (void);
+ void _updateGimbalPitch (void);
private:
void _setExitCoordinate(const QGeoCoordinate& coordinate);
@@ -141,6 +145,7 @@ private:
SettingsFact _altitudeFact;
SettingsFact _structureHeightFact;
SettingsFact _layersFact;
+ SettingsFact _gimbalPitchFact;
static const char* _jsonCameraCalcKey;
static const char* _jsonAltitudeRelativeKey;
diff --git a/src/PlanView/StructureScanEditor.qml b/src/PlanView/StructureScanEditor.qml
index 9974da5..355ce08 100644
--- a/src/PlanView/StructureScanEditor.qml
+++ b/src/PlanView/StructureScanEditor.qml
@@ -126,6 +126,16 @@ Rectangle {
Layout.fillWidth: true
}
+ QGCLabel {
+ text: qsTr("Gimbal pitch")
+ visible: missionItem.cameraCalc.isManualCamera
+ }
+ FactTextField {
+ fact: missionItem.gimbalPitch
+ Layout.fillWidth: true
+ visible: missionItem.cameraCalc.isManualCamera
+ }
+
QGCCheckBox {
text: qsTr("Relative altitude")
checked: missionItem.altitudeRelative
From 6df455df133cd66df68806a3095eead9d1971851 Mon Sep 17 00:00:00 2001
From: Gus Grubba <mavlink@grubba.com>
Date: Tue, 17 Jul 2018 13:16:24 -0400
Subject: [PATCH 12/12] Fixed issue where the "Set Circle Radius" menu entry
was trying to affect the visibility of an item within a component.
---
src/MissionManager/QGCMapPolygonVisuals.qml | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/MissionManager/QGCMapPolygonVisuals.qml b/src/MissionManager/QGCMapPolygonVisuals.qml
index 041fcf4..87e6d11 100644
--- a/src/MissionManager/QGCMapPolygonVisuals.qml
+++ b/src/MissionManager/QGCMapPolygonVisuals.qml
@@ -38,6 +38,7 @@ Item {
property var _centerDragHandleComponent
property bool _circle: false
property real _circleRadius
+ property bool _editCircleRadius: false
property real _zorderDragHandle: QGroundControl.zOrderMapItems + 3 // Highest to prevent splitting when items overlap
property real _zorderSplitHandle: QGroundControl.zOrderMapItems + 2
@@ -224,7 +225,7 @@ Item {
MenuItem {
text: qsTr("Set radius..." )
visible: _circle
- onTriggered: radiusDialog.visible = true
+ onTriggered: _editCircleRadius = true
}
MenuItem {
@@ -460,18 +461,17 @@ Item {
function setRadiusFromDialog() {
setCircleRadius(mapPolygon.center, radiusField.text)
- radiusDialog.visible = false
+ _editCircleRadius = false
}
Rectangle {
- id: radiusDialog
anchors.margins: _margin
anchors.left: parent.right
width: radiusColumn.width + (_margin *2)
height: radiusColumn.height + (_margin *2)
color: qgcPal.window
border.color: qgcPal.text
- visible: false
+ visible: _editCircleRadius
Column {
id: radiusColumn