only show speed change action if speed limits are known

Signed-off-by: RomanBapst <bapstroman@gmail.com>

src/FirmwarePlugin/FirmwarePlugin.h

@@ -159,6 +159,12 @@ public:
     /// @return The minimum equivalent airspeed setpoint
     virtual double minimumEquivalentAirspeed(Vehicle* /*vehicle*/) { return NAN; }
 
+    /// @return Return true if we have received the ground speed limits for the mulirotor.
+    virtual bool mulirotorSpeedLimitsAvailable(Vehicle* /*vehicle*/) { return false; }
+
+    /// @return Return true if we have received the airspeed limits for fixed wing.
+    virtual bool fixedWingAirSpeedLimitsAvailable(Vehicle* /*vehicle*/) { return false; }
+
     /// Command the vehicle to start the mission
     virtual void startMission(Vehicle* vehicle);
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -442,6 +442,17 @@ double PX4FirmwarePlugin::minimumEquivalentAirspeed(Vehicle* vehicle)
     return FirmwarePlugin::minimumEquivalentAirspeed(vehicle);
 }
 
+bool PX4FirmwarePlugin::mulirotorSpeedLimitsAvailable(Vehicle* vehicle)
+{
+    return vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "MPC_XY_VEL_MAX");
+}
+
+bool PX4FirmwarePlugin::fixedWingAirSpeedLimitsAvailable(Vehicle* vehicle)
+{
+    return vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "FW_AIRSPD_MIN") &&
+            vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "FW_AIRSPD_MAX");
+}
+
 void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord)
 {
     if (qIsNaN(vehicle->altitudeAMSL()->rawValue().toDouble())) {

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -49,6 +49,8 @@ public:
     double              maximumHorizontalSpeedMultirotor(Vehicle* vehicle) override;
     double              maximumEquivalentAirspeed(Vehicle* vehicle) override;
     double              minimumEquivalentAirspeed(Vehicle* vehicle) override;
+    bool                mulirotorSpeedLimitsAvailable(Vehicle* vehicle) override;
+    bool                fixedWingAirSpeedLimitsAvailable(Vehicle* vehicle) override;
     void                guidedModeGotoLocation          (Vehicle* vehicle, const QGeoCoordinate& gotoCoord) override;
     void                guidedModeChangeAltitude        (Vehicle* vehicle, double altitudeRel, bool pauseVehicle) override;
     void                guidedModeChangeGroundSpeed      (Vehicle* vehicle, double groundspeed) override;

src/FlightDisplay/GuidedActionsController.qml

@@ -122,7 +122,7 @@ Item {
     property bool showContinueMission:  _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < _missionItemCount - 1)
     property bool showPause:            _guidedActionsEnabled && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused && !_fixedWingOnApproach
     property bool showChangeAlt:        _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
-    property bool showChangeSpeed:      _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
+    property bool showChangeSpeed:      _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive && _speedLimitsAvailable
     property bool showOrbit:            _guidedActionsEnabled && _vehicleFlying && __orbitSupported && !_missionActive
     property bool showROI:              _guidedActionsEnabled && _vehicleFlying && __roiSupported && !_missionActive
     property bool showLandAbort:        _guidedActionsEnabled && _vehicleFlying && _fixedWingOnApproach
@@ -159,6 +159,7 @@ Item {
     property bool   _rcRSSIAvailable:       _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100 : false
     property bool   _fixedWingOnApproach:   _activeVehicle ? _activeVehicle.fixedWing && _vehicleLanding : false
     property bool   _fixedWing:             _activeVehicle ? _activeVehicle.fixedWing || _activeVehicle.vtolInFwdFlight : false
+    property bool  _speedLimitsAvailable:   _activeVehicle && ((_fixedWing && _activeVehicle.haveFWSpeedLimits) || (!_fixedWing && _activeVehicle.haveMRSpeedLimits))
 
     // You can turn on log output for GuidedActionsController by turning on GuidedActionsControllerLog category
     property bool __guidedModeSupported:    _activeVehicle ? _activeVehicle.guidedModeSupported : false

src/Vehicle/Vehicle.cc

@@ -2266,6 +2266,12 @@ void Vehicle::_parametersReady(bool parametersReady)
         _setupAutoDisarmSignalling();
         _initialConnectStateMachine->advance();
     }
+
+    _multirotor_speed_limits_available = _firmwarePlugin->mulirotorSpeedLimitsAvailable(this);
+    _fixed_wing_airspeed_limits_available = _firmwarePlugin->fixedWingAirSpeedLimitsAvailable(this);
+
+    emit haveMRSpeedLimChanged();
+    emit haveFWSpeedLimChanged();
 }
 
 void Vehicle::_sendQGCTimeToVehicle()

src/Vehicle/Vehicle.h

@@ -271,6 +271,8 @@ public:
     Q_PROPERTY(bool     roiModeSupported        READ roiModeSupported                               CONSTANT)                   ///< Orbit mode is supported by this vehicle
     Q_PROPERTY(bool     takeoffVehicleSupported READ takeoffVehicleSupported                        CONSTANT)                   ///< Guided takeoff supported
     Q_PROPERTY(QString  gotoFlightMode          READ gotoFlightMode                                 CONSTANT)                   ///< Flight mode vehicle is in while performing goto
+    Q_PROPERTY(bool     haveMRSpeedLimits       READ haveMRSpeedLimits                              NOTIFY haveMRSpeedLimChanged)
+    Q_PROPERTY(bool     haveFWSpeedLimits       READ haveFWSpeedLimits                              NOTIFY haveFWSpeedLimChanged)
 
     Q_PROPERTY(ParameterManager*        parameterManager    READ parameterManager   CONSTANT)
     Q_PROPERTY(VehicleLinkManager*      vehicleLinkManager  READ vehicleLinkManager CONSTANT)
@@ -461,6 +463,9 @@ public:
     bool    takeoffVehicleSupported () const;
     QString gotoFlightMode          () const;
 
+    bool haveMRSpeedLimits() const { return _multirotor_speed_limits_available; }
+    bool haveFWSpeedLimits() const { return _fixed_wing_airspeed_limits_available; }
+
     // Property accessors
 
     QGeoCoordinate coordinate() { return _coordinate; }
@@ -912,6 +917,8 @@ signals:
     void readyToFlyChanged              (bool readyToFy);
     void allSensorsHealthyChanged       (bool allSensorsHealthy);
     void requiresGpsFixChanged          ();
+    void haveMRSpeedLimChanged          ();
+    void haveFWSpeedLimChanged          ();
 
     void firmwareVersionChanged         ();
     void firmwareCustomVersionChanged   ();
@@ -1294,6 +1301,10 @@ private:
 
     float _altitudeTuningOffset = qQNaN(); // altitude offset, so the plotted value is around 0
 
+    // these flags are used to determine if the speed change action from fly view should be shown
+    bool _multirotor_speed_limits_available = false;
+    bool _fixed_wing_airspeed_limits_available = false;
+
     // FactGroup facts
 
     Fact _rollFact;