Merge pull request #7613 from Aeronavics/compass_home_n_COG

Feature Proposal - Home Heading / COG Angle / Next WP Heading in Compass

ChangeLog.md

@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.6.0 - Daily Build
 
+* Compass Instrument: Add indicators for Home, COG and Next Waypoint headings.
 * Log Replay: Support changing speed of playback
 * Basic object avoidance added to vehicles.
 * Added ability to set a joystick button to be single action or repeated action while the button is held down.

qgcimages.qrc

@@ -69,6 +69,8 @@
         <file alias="CogWheel.svg">src/MissionManager/CogWheel.svg</file>
         <file alias="compassInstrumentArrow.svg">src/FlightMap/Images/compassInstrumentArrow.svg</file>
         <file alias="compassInstrumentDial.svg">src/FlightMap/Images/compassInstrumentDial.svg</file>
+        <file alias="compassDottedLine.svg">src/FlightMap/Images/compassDottedLine.svg</file>
+        <file alias="cOGPointer.svg">src/FlightMap/Images/cOGPointer.svg</file>
         <file alias="Connect.svg">src/ui/toolbar/Images/Connect.svg</file>
         <file alias="crossHair.svg">src/FlightMap/Images/crossHair.svg</file>
         <file alias="DatalinkLoss.svg">src/AutoPilotPlugins/PX4/Images/DatalinkLoss.svg</file>

src/FlightDisplay/FlightDisplayView.qml

@@ -494,7 +494,6 @@ Item {
             anchors.topMargin:      ScreenTools.toolbarHeight + _margins
             anchors.rightMargin:    _margins
             anchors.right:          parent.right
-            anchors.top:            parent.top
             spacing:                ScreenTools.defaultFontPixelWidth
             z:                      _mapAndVideo.z + 4
             visible:                QGroundControl.multiVehicleManager.vehicles.count > 1 && QGroundControl.corePlugin.options.enableMultiVehicleList
@@ -519,6 +518,7 @@ Item {
             anchors.left:       parent.left
             anchors.right:      altitudeSlider.visible ? altitudeSlider.left : parent.right
             anchors.bottom:     parent.bottom
+            anchors.top:        singleMultiSelector.visible? singleMultiSelector.bottom:undefined
             useLightColors:     isBackgroundDark
             missionController:  _missionController
             visible:            singleVehicleView.checked && !QGroundControl.videoManager.fullScreen

src/FlightDisplay/MultiVehicleList.qml

@@ -135,6 +135,7 @@ Item {
 
                     QGCCompassWidget {
                         size:       _widgetHeight
+                        usedByMultipleVehicleList: true
                         vehicle:    _vehicle
                     }
 

src/FlightMap/Images/cOGPointer.svg

@@ -0,0 +1,53 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Generator: Adobe Illustrator 18.1.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   version="1.1"
+   id="Layer_3"
+   x="0px"
+   y="0px"
+   viewBox="0 0 288 288"
+   enable-background="new 0 0 288 288"
+   xml:space="preserve"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="cOGPointer.svg"><metadata
+     id="metadata11"><rdf:RDF><cc:Work
+         rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" /><dc:title /></cc:Work></rdf:RDF></metadata><defs
+     id="defs9" /><sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1918"
+     inkscape:window-height="1059"
+     id="namedview7"
+     showgrid="false"
+     inkscape:zoom="0.81944444"
+     inkscape:cx="-575.96973"
+     inkscape:cy="364.74688"
+     inkscape:window-x="1920"
+     inkscape:window-y="19"
+     inkscape:window-maximized="1"
+     inkscape:current-layer="Layer_3" /><polygon
+     points="144,46.2 133.2,17.4 154.8,17.4 "
+     id="polygon3"
+     transform="matrix(-1,0,0,-1,288,54.034031)"
+     style="fill:#24d3ee;fill-opacity:1" /><rect
+     x="135"
+     y="270"
+     fill="none"
+     width="18"
+     height="18"
+     id="rect5" /></svg>

src/FlightMap/Images/compassDottedLine.svg

@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Generator: Adobe Illustrator 19.1.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   version="1.1"
+   id="Layer_2"
+   x="0px"
+   y="0px"
+   viewBox="-161 253 288 288"
+   enable-background="new -161 253 288 288"
+   xml:space="preserve"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="compassDottedLine.svg"><metadata
+     id="metadata131"><rdf:RDF><cc:Work
+         rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" /></cc:Work></rdf:RDF></metadata><defs
+     id="defs129" /><sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="958"
+     inkscape:window-height="1059"
+     id="namedview127"
+     showgrid="false"
+     inkscape:zoom="4.5274476"
+     inkscape:cx="124.86047"
+     inkscape:cy="273.06273"
+     inkscape:window-x="1920"
+     inkscape:window-y="19"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="Layer_2"
+     inkscape:snap-bbox="true"
+     inkscape:snap-object-midpoints="true"
+     inkscape:snap-center="true" /><path
+     style="fill:#088006;fill-opacity:1;fill-rule:evenodd;stroke:#088006;stroke-width:7.11199999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:3.29999995;stroke-dasharray:14.22399998,7.11199999;stroke-dashoffset:17.99335997;stroke-opacity:1"
+     d="m -17.131076,320.82151 0.10597,-60.58956"
+     id="path4263"
+     inkscape:connector-curvature="0" /></svg>

src/FlightMap/Widgets/QGCCompassWidget.qml

@@ -17,6 +17,7 @@
 import QtQuick              2.3
 import QtGraphicalEffects   1.0
 
+import QGroundControl              1.0
 import QGroundControl.Controls     1.0
 import QGroundControl.ScreenTools  1.0
 import QGroundControl.Vehicle      1.0
@@ -34,6 +35,36 @@ Item {
     property real _sizeRatio:       ScreenTools.isTinyScreen ? (size / _defaultSize) * 0.5 : size / _defaultSize
     property int  _fontSize:        ScreenTools.defaultFontPointSize * _sizeRatio
     property real _heading:         vehicle ? vehicle.heading.rawValue : 0
+    property real _headingToHome:   vehicle ? vehicle.headingToHome.rawValue : 0
+    property real _groundSpeed:     vehicle ? vehicle.groundSpeed.rawValue : 0
+    property real _headingToNextWP: vehicle ? vehicle.headingToNextWP.rawValue : 0
+    property real _courseOverGround:activeVehicle ? activeVehicle.gps.courseOverGround.rawValue : 0
+
+    property bool usedByMultipleVehicleList:  false
+
+    function isCOGAngleOK(){
+        if(_groundSpeed < 0.5){
+            return false
+        }
+        else{
+            return vehicle && _showAdditionalIndicatorsCompass
+        }
+    }
+
+    function isHeadingHomeOK(){
+        return vehicle && _showAdditionalIndicatorsCompass && !isNaN(_headingToHome)
+    }
+
+    function isHeadingToNextWPOK(){
+        return vehicle && _showAdditionalIndicatorsCompass && !isNaN(_headingToNextWP)
+    }
+
+    function isNoseUpLocked(){
+        return _lockNoseUpCompass
+    }
+
+    readonly property bool _showAdditionalIndicatorsCompass:     QGroundControl.settingsManager.flyViewSettings.showAdditionalIndicatorsCompass.value && !usedByMultipleVehicleList
+    readonly property bool _lockNoseUpCompass:        QGroundControl.settingsManager.flyViewSettings.lockNoseUpCompass.value
 
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
 
@@ -51,6 +82,55 @@ Item {
         anchors.fill:   parent
         visible:        false
 
+
+        Image {
+            id:                 cOGPointer
+            source:             isCOGAngleOK() ? "/qmlimages/cOGPointer.svg" : ""
+            mipmap:             true
+            fillMode:           Image.PreserveAspectFit
+            anchors.fill:       parent
+            sourceSize.height:  parent.height
+
+            transform: Rotation {
+                property var _angle:isNoseUpLocked()?_courseOverGround-_heading:_courseOverGround
+                origin.x:       cOGPointer.width  / 2
+                origin.y:       cOGPointer.height / 2
+                angle:         _angle
+            }
+        }
+
+        Image {
+            id:                 nextWPPointer
+            source:             isHeadingToNextWPOK() ? "/qmlimages/compassDottedLine.svg":"" 
+            mipmap:             true
+            fillMode:           Image.PreserveAspectFit
+            anchors.fill:       parent
+            sourceSize.height:  parent.height
+
+            transform: Rotation {
+                property var _angle: isNoseUpLocked()?_headingToNextWP-_heading:_headingToNextWP
+                origin.x:       cOGPointer.width  / 2
+                origin.y:       cOGPointer.height / 2
+                angle:         _angle
+            }
+        }
+
+        Image {
+            id:                     homePointer
+            width:                  size * 0.1
+            source:                 isHeadingHomeOK()  ? "/qmlimages/Home.svg" : ""
+            mipmap:                 true
+            fillMode:               Image.PreserveAspectFit
+            anchors.centerIn:   	parent
+            sourceSize.width:       width
+
+            transform: Translate {
+                property double _angle: isNoseUpLocked()?-_heading+_headingToHome:_headingToHome
+                x: size/2.3 * Math.sin((_angle)*(3.14/180))
+                y: - size/2.3 * Math.cos((_angle)*(3.14/180))
+            }
+        }
+
         Image {
             id:                 pointer
             width:              size * 0.65
@@ -62,10 +142,11 @@ Item {
             transform: Rotation {
                 origin.x:       pointer.width  / 2
                 origin.y:       pointer.height / 2
-                angle:          _heading
+                angle:          isNoseUpLocked()?0:_heading
             }
         }
 
+
         QGCColoredImage {
             id:                 compassDial
             source:             "/qmlimages/compassInstrumentDial.svg"
@@ -74,7 +155,13 @@ Item {
             anchors.fill:       parent
             sourceSize.height:  parent.height
             color:              qgcPal.text
+            transform: Rotation {
+                origin.x:       compassDial.width  / 2
+                origin.y:       compassDial.height / 2
+                angle:          isNoseUpLocked()?-_heading:0
             }
+        }
+
 
         Rectangle {
             anchors.centerIn:   parent

src/FlightMap/Widgets/QGCInstrumentWidgetAlternate.qml

@@ -19,7 +19,7 @@ import QGroundControl.Palette       1.0
 
 Rectangle {
     id:             root
-    width:          getPreferredInstrumentWidth() * 0.7
+    width:          getPreferredInstrumentWidth()
     height:         _outerRadius * 4 + _valuesWidget.height
     radius:         _outerRadius
     color:          qgcPal.window

src/Settings/FlyView.SettingsGroup.json

@@ -26,6 +26,18 @@
     "defaultValue":     false
 },
 {
+    "name":             "showAdditionalIndicatorsCompass",
+    "shortDescription": "Show additional heading indicators on Compass",
+    "type":             "bool",
+    "defaultValue":     false
+},
+{
+    "name":             "lockNoseUpCompass",
+    "shortDescription": "Lock Compass Nose-Up",
+    "type":             "bool",
+    "defaultValue":     false
+},
+{
     "name":             "maxGoToLocationDistance",
     "shortDescription": "Maximum distance allowed for Go To Location.",
     "type":             "double",

src/Settings/FlyViewSettings.cc

@@ -21,4 +21,6 @@ DECLARE_SETTINGSFACT(FlyViewSettings, guidedMinimumAltitude)
 DECLARE_SETTINGSFACT(FlyViewSettings, guidedMaximumAltitude)
 DECLARE_SETTINGSFACT(FlyViewSettings, showLogReplayStatusBar)
 DECLARE_SETTINGSFACT(FlyViewSettings, alternateInstrumentPanel)
+DECLARE_SETTINGSFACT(FlyViewSettings, showAdditionalIndicatorsCompass)
+DECLARE_SETTINGSFACT(FlyViewSettings, lockNoseUpCompass)
 DECLARE_SETTINGSFACT(FlyViewSettings, maxGoToLocationDistance)

src/Settings/FlyViewSettings.h

@@ -23,5 +23,7 @@ public:
     DEFINE_SETTINGFACT(guidedMaximumAltitude)
     DEFINE_SETTINGFACT(showLogReplayStatusBar)
     DEFINE_SETTINGFACT(alternateInstrumentPanel)
+    DEFINE_SETTINGFACT(showAdditionalIndicatorsCompass)
+    DEFINE_SETTINGFACT(lockNoseUpCompass)
     DEFINE_SETTINGFACT(maxGoToLocationDistance)
 };

src/Vehicle/Vehicle.cc

@@ -73,6 +73,7 @@ const char* Vehicle::_altitudeAMSLFactName =        "altitudeAMSL";
 const char* Vehicle::_flightDistanceFactName =      "flightDistance";
 const char* Vehicle::_flightTimeFactName =          "flightTime";
 const char* Vehicle::_distanceToHomeFactName =      "distanceToHome";
+const char* Vehicle::_headingToNextWPFactName =     "headingToNextWP";
 const char* Vehicle::_headingToHomeFactName =       "headingToHome";
 const char* Vehicle::_distanceToGCSFactName =       "distanceToGCS";
 const char* Vehicle::_hobbsFactName =               "hobbs";
@@ -203,6 +204,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _flightDistanceFact   (0, _flightDistanceFactName,    FactMetaData::valueTypeDouble)
     , _flightTimeFact       (0, _flightTimeFactName,        FactMetaData::valueTypeElapsedTimeInSeconds)
     , _distanceToHomeFact   (0, _distanceToHomeFactName,    FactMetaData::valueTypeDouble)
+    , _headingToNextWPFact  (0, _headingToNextWPFactName,   FactMetaData::valueTypeDouble)
     , _headingToHomeFact    (0, _headingToHomeFactName,     FactMetaData::valueTypeDouble)
     , _distanceToGCSFact    (0, _distanceToGCSFactName,     FactMetaData::valueTypeDouble)
     , _hobbsFact            (0, _hobbsFactName,             FactMetaData::valueTypeString)
@@ -404,6 +406,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _flightDistanceFact   (0, _flightDistanceFactName,    FactMetaData::valueTypeDouble)
     , _flightTimeFact       (0, _flightTimeFactName,        FactMetaData::valueTypeElapsedTimeInSeconds)
     , _distanceToHomeFact   (0, _distanceToHomeFactName,    FactMetaData::valueTypeDouble)
+    , _headingToNextWPFact  (0, _headingToNextWPFactName,   FactMetaData::valueTypeDouble)
     , _headingToHomeFact    (0, _headingToHomeFactName,     FactMetaData::valueTypeDouble)
     , _distanceToGCSFact    (0, _distanceToGCSFactName,     FactMetaData::valueTypeDouble)
     , _hobbsFact            (0, _hobbsFactName,             FactMetaData::valueTypeString)
@@ -438,6 +441,7 @@ void Vehicle::_commonInit(void)
     connect(this, &Vehicle::homePositionChanged,    this, &Vehicle::_updateDistanceHeadingToHome);
     connect(this, &Vehicle::hobbsMeterChanged,      this, &Vehicle::_updateHobbsMeter);
 
+
     connect(_toolbox->qgcPositionManager(), &QGCPositionManager::gcsPositionChanged, this, &Vehicle::_updateDistanceToGCS);
 
     _missionManager = new MissionManager(this);
@@ -447,6 +451,7 @@ void Vehicle::_commonInit(void)
     connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearTrajectoryPoints);
     connect(_missionManager, &MissionManager::sendComplete,             this, &Vehicle::_clearCameraTriggerPoints);
     connect(_missionManager, &MissionManager::sendComplete,             this, &Vehicle::_clearTrajectoryPoints);
+    connect(_missionManager, &MissionManager::currentIndexChanged,      this, &Vehicle::_updateHeadingToNextWP);
 
     _parameterManager = new ParameterManager(this);
     connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
@@ -481,6 +486,7 @@ void Vehicle::_commonInit(void)
     _addFact(&_flightDistanceFact,      _flightDistanceFactName);
     _addFact(&_flightTimeFact,          _flightTimeFactName);
     _addFact(&_distanceToHomeFact,      _distanceToHomeFactName);
+    _addFact(&_headingToNextWPFact,     _headingToNextWPFactName);
     _addFact(&_headingToHomeFact,       _headingToHomeFactName);
     _addFact(&_distanceToGCSFact,       _distanceToGCSFactName);
     _addFact(&_throttlePctFact,         _throttlePctFactName);
@@ -3795,6 +3801,23 @@ void Vehicle::_updateDistanceHeadingToHome(void)
     }
 }
 
+void Vehicle::_updateHeadingToNextWP(void)
+{
+    const int _currentIndex = _missionManager->currentIndex();
+    MissionItem _currentItem;
+    QList<MissionItem*> llist = _missionManager->missionItems();
+
+    if(llist.size()>_currentIndex && _currentIndex!=-1
+            && llist[_currentIndex]->coordinate().longitude()!=0.0
+            && coordinate().distanceTo(llist[_currentIndex]->coordinate())>5.0 ){
+
+        _headingToNextWPFact.setRawValue(coordinate().azimuthTo(llist[_currentIndex]->coordinate()));
+    }
+    else{
+        _headingToNextWPFact.setRawValue(qQNaN());
+    }
+}
+
 void Vehicle::_updateDistanceToGCS(void)
 {
     QGeoCoordinate gcsPosition = _toolbox->qgcPositionManager()->gcsPosition();

src/Vehicle/Vehicle.h

@@ -671,6 +671,7 @@ public:
     Q_PROPERTY(Fact* altitudeAMSL       READ altitudeAMSL       CONSTANT)
     Q_PROPERTY(Fact* flightDistance     READ flightDistance     CONSTANT)
     Q_PROPERTY(Fact* distanceToHome     READ distanceToHome     CONSTANT)
+    Q_PROPERTY(Fact* headingToNextWP    READ headingToNextWP    CONSTANT)
     Q_PROPERTY(Fact* headingToHome      READ headingToHome      CONSTANT)
     Q_PROPERTY(Fact* distanceToGCS      READ distanceToGCS      CONSTANT)
     Q_PROPERTY(Fact* hobbs              READ hobbs              CONSTANT)
@@ -973,6 +974,7 @@ public:
     Fact* altitudeAMSL      (void) { return &_altitudeAMSLFact; }
     Fact* flightDistance    (void) { return &_flightDistanceFact; }
     Fact* distanceToHome    (void) { return &_distanceToHomeFact; }
+    Fact* headingToNextWP   (void) { return &_headingToNextWPFact; }
     Fact* headingToHome     (void) { return &_headingToHomeFact; }
     Fact* distanceToGCS     (void) { return &_distanceToGCSFact; }
     Fact* hobbs             (void) { return &_hobbsFact; }
@@ -1246,6 +1248,7 @@ private slots:
     void _clearTrajectoryPoints(void);
     void _clearCameraTriggerPoints(void);
     void _updateDistanceHeadingToHome(void);
+    void _updateHeadingToNextWP(void);
     void _updateDistanceToGCS(void);
     void _updateHobbsMeter(void);
     void _vehicleParamLoaded(bool ready);
@@ -1540,6 +1543,7 @@ private:
     Fact _flightDistanceFact;
     Fact _flightTimeFact;
     Fact _distanceToHomeFact;
+    Fact _headingToNextWPFact;
     Fact _headingToHomeFact;
     Fact _distanceToGCSFact;
     Fact _hobbsFact;
@@ -1570,6 +1574,7 @@ private:
     static const char* _flightDistanceFactName;
     static const char* _flightTimeFactName;
     static const char* _distanceToHomeFactName;
+    static const char* _headingToNextWPFactName;
     static const char* _headingToHomeFactName;
     static const char* _distanceToGCSFactName;
     static const char* _hobbsFactName;

src/Vehicle/VehicleFact.json

@@ -105,6 +105,13 @@
     "units":            "m"
 },
 {
+    "name":             "headingToNextWP",
+    "shortDescription": "Next WP Heading",
+    "type":             "double",
+    "decimalPlaces":    0,
+    "units":            "deg"
+},
+{
     "name":             "flightTime",
     "shortDescription": "Flight Time",
     "type":             "elapsedSeconds",

src/ui/preferences/GeneralSettings.qml

@@ -482,6 +482,21 @@ Rectangle {
 
                                 property Fact _alternateInstrumentPanel: QGroundControl.settingsManager.flyViewSettings.alternateInstrumentPanel
                             }
+                            FactCheckBox {
+                                text:       qsTr("Show additional heading indicators on Compass")
+                                visible:    _showAdditionalIndicatorsCompass.visible
+                                fact:       _showAdditionalIndicatorsCompass
+
+                                property Fact _showAdditionalIndicatorsCompass: QGroundControl.settingsManager.flyViewSettings.showAdditionalIndicatorsCompass
+                            }
+                            FactCheckBox {
+                                text:       qsTr("Lock Compass Nose-Up")
+                                visible:    _lockNoseUpCompass.visible
+                                fact:       _lockNoseUpCompass
+
+                                property Fact _lockNoseUpCompass: QGroundControl.settingsManager.flyViewSettings.lockNoseUpCompass
+                            }
+
 
                             GridLayout {
                                 columns: 2