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Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into objectAvoidance

QGC4.4
Gus Grubba 6 years ago
parent
edf814c1a8 f09948742d
commit
50e585c90a
21 changed files with 275 additions and 164 deletions
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  1. 6
      custom-example/custom.pri
  2. 8
      custom-example/src/CustomPlugin.cc
  3. 1
      custom-example/src/CustomPlugin.h
  4. 39
      custom-example/src/CustomVideoManager.cc
  5. 28
      custom-example/src/CustomVideoManager.h
  6. 8
      custom-example/src/FirmwarePlugin/CustomCameraControl.cc
  7. 3
      custom-example/src/FirmwarePlugin/CustomCameraControl.h
  8. 24
      src/Camera/QGCCameraControl.cc
  9. 10
      src/Camera/QGCCameraControl.h
  10. 82
      src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
  11. 6
      src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
  12. 1
      src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
  13. 1
      src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
  14. 1
      src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
  15. 120
      src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
  16. 36
      src/FlightDisplay/VideoManager.cc
  17. 50
      src/FlightDisplay/VideoManager.h
  18. 2
      src/Vehicle/Vehicle.cc
  19. 5
      src/VideoStreaming/VideoReceiver.cc
  20. 6
      src/api/QGCCorePlugin.cc
  21. 2
      src/api/QGCCorePlugin.h

6
custom-example/custom.pri
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@ -58,11 +58,13 @@ QML_IMPORT_PATH += \ @@ -58,11 +58,13 @@ QML_IMPORT_PATH += \
# Our own, custom sources
SOURCES += \
$$PWD/src/CustomPlugin.cc \
$$PWD/src/CustomQuickInterface.cc
$$PWD/src/CustomQuickInterface.cc \
$$PWD/src/CustomVideoManager.cc
HEADERS += \
$$PWD/src/CustomPlugin.h \
$$PWD/src/CustomQuickInterface.h
$$PWD/src/CustomQuickInterface.h \
$$PWD/src/CustomVideoManager.h
INCLUDEPATH += \
$$PWD/src \

8
custom-example/src/CustomPlugin.cc
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@ -17,6 +17,7 @@ @@ -17,6 +17,7 @@
#include "CustomPlugin.h"
#include "CustomQuickInterface.h"
#include "CustomVideoManager.h"
#include "MultiVehicleManager.h"
#include "QGCApplication.h"
@ -192,6 +193,13 @@ CustomPlugin::overrideSettingsGroupVisibility(QString name) @@ -192,6 +193,13 @@ CustomPlugin::overrideSettingsGroupVisibility(QString name)
}
//-----------------------------------------------------------------------------
VideoManager*
CustomPlugin::createVideoManager(QGCApplication *app, QGCToolbox *toolbox)
{
return new CustomVideoManager(app, toolbox);
}
//-----------------------------------------------------------------------------
VideoReceiver*
CustomPlugin::createVideoReceiver(QObject* parent)
{

1
custom-example/src/CustomPlugin.h
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@ -79,6 +79,7 @@ public: @@ -79,6 +79,7 @@ public:
QString brandImageIndoor () const final;
QString brandImageOutdoor () const final;
bool overrideSettingsGroupVisibility (QString name) final;
VideoManager* createVideoManager (QGCApplication* app, QGCToolbox* toolbox) final;
VideoReceiver* createVideoReceiver (QObject* parent) final;
QQmlApplicationEngine* createRootWindow (QObject* parent) final;
bool adjustSettingMetaData (const QString& settingsGroup, FactMetaData& metaData) final;

39
custom-example/src/CustomVideoManager.cc
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@ -0,0 +1,39 @@ @@ -0,0 +1,39 @@
/****************************************************************************
*
* (c) 2009-2019 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "CustomVideoManager.h"
#include "MultiVehicleManager.h"
#include "CustomCameraManager.h"
#include "CustomCameraControl.h"
//-----------------------------------------------------------------------------
CustomVideoManager::CustomVideoManager(QGCApplication* app, QGCToolbox* toolbox)
: VideoManager(app, toolbox)
{
}
//-----------------------------------------------------------------------------
void
CustomVideoManager::_updateSettings()
{
if(!_videoSettings || !_videoReceiver)
return;
//-- Check encoding
if(_activeVehicle && _activeVehicle->dynamicCameras()) {
CustomCameraControl* pCamera = dynamic_cast<CustomCameraControl*>(_activeVehicle->dynamicCameras()->currentCameraInstance());
if(pCamera) {
Fact *fact = pCamera->videoEncoding();
if (fact) {
_videoReceiver->setVideoDecoder(static_cast<VideoReceiver::VideoEncoding>(fact->rawValue().toInt()));
}
}
}
VideoManager::_updateSettings();
}

28
custom-example/src/CustomVideoManager.h
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@ -0,0 +1,28 @@ @@ -0,0 +1,28 @@
/****************************************************************************
*
* (c) 2009-2019 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include <QObject>
#include <QTimer>
#include <QTime>
#include <QUrl>
#include "VideoManager.h"
class CustomVideoManager : public VideoManager
{
Q_OBJECT
public:
CustomVideoManager (QGCApplication* app, QGCToolbox* toolbox);
protected:
void _updateSettings ();
};

8
custom-example/src/FirmwarePlugin/CustomCameraControl.cc
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@ -19,6 +19,7 @@ QGC_LOGGING_CATEGORY(CustomCameraVerboseLog, "CustomCameraVerboseLog") @@ -19,6 +19,7 @@ QGC_LOGGING_CATEGORY(CustomCameraVerboseLog, "CustomCameraVerboseLog")
static const char* kCAM_IRPALETTE = "CAM_IRPALETTE";
static const char* kCAM_NEXTVISION_IRPALETTE = "IR_SENS_POL";
static const char* kCAM_ENC = "CAM_ENC";
//-----------------------------------------------------------------------------
CustomCameraControl::CustomCameraControl(const mavlink_camera_information_t *info, Vehicle* vehicle, int compID, QObject* parent)
@ -117,6 +118,13 @@ CustomCameraControl::irPalette() @@ -117,6 +118,13 @@ CustomCameraControl::irPalette()
}
//-----------------------------------------------------------------------------
Fact*
CustomCameraControl::videoEncoding()
{
return _paramComplete ? getFact(kCAM_ENC) : nullptr;
}
//-----------------------------------------------------------------------------
void
CustomCameraControl::setThermalMode(ThermalViewMode mode)
{

3
custom-example/src/FirmwarePlugin/CustomCameraControl.h
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@ -29,8 +29,11 @@ public: @@ -29,8 +29,11 @@ public:
CustomCameraControl(const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = nullptr);
Q_PROPERTY(Fact* irPalette READ irPalette NOTIFY parametersReady)
Q_PROPERTY(Fact* videoEncoding READ videoEncoding NOTIFY parametersReady)
Fact* irPalette ();
Fact* videoEncoding ();
bool takePhoto () override;
bool stopTakePhoto () override;
bool startVideo () override;

24
src/Camera/QGCCameraControl.cc
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@ -70,9 +70,6 @@ const char* QGCCameraControl::kCAM_SHUTTERSPD = "CAM_SHUTTERSPD"; @@ -70,9 +70,6 @@ const char* QGCCameraControl::kCAM_SHUTTERSPD = "CAM_SHUTTERSPD";
const char* QGCCameraControl::kCAM_APERTURE = "CAM_APERTURE";
const char* QGCCameraControl::kCAM_WBMODE = "CAM_WBMODE";
const char* QGCCameraControl::kCAM_MODE = "CAM_MODE";
const char* QGCCameraControl::kCAM_BITRATE = "CAM_BITRATE";
const char* QGCCameraControl::kCAM_FPS = "CAM_FPS";
const char* QGCCameraControl::kCAM_ENC = "CAM_ENC";
//-----------------------------------------------------------------------------
QGCCameraOptionExclusion::QGCCameraOptionExclusion(QObject* parent, QString param_, QString value_, QStringList exclusions_)
@ -2117,27 +2114,6 @@ QGCCameraControl::mode() @@ -2117,27 +2114,6 @@ QGCCameraControl::mode()
}
//-----------------------------------------------------------------------------
Fact*
QGCCameraControl::bitRate()
{
return _paramComplete ? getFact(kCAM_BITRATE) : nullptr;
}
//-----------------------------------------------------------------------------
Fact*
QGCCameraControl::frameRate()
{
return _paramComplete ? getFact(kCAM_FPS) : nullptr;
}
//-----------------------------------------------------------------------------
Fact*
QGCCameraControl::videoEncoding()
{
return _paramComplete ? getFact(kCAM_ENC) : nullptr;
}
//-----------------------------------------------------------------------------
QGCVideoStreamInfo::QGCVideoStreamInfo(QObject* parent, const mavlink_video_stream_information_t *si)
: QObject(parent)
{

10
src/Camera/QGCCameraControl.h
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@ -167,9 +167,6 @@ public: @@ -167,9 +167,6 @@ public:
Q_PROPERTY(Fact* aperture READ aperture NOTIFY parametersReady)
Q_PROPERTY(Fact* wb READ wb NOTIFY parametersReady)
Q_PROPERTY(Fact* mode READ mode NOTIFY parametersReady)
Q_PROPERTY(Fact* bitRate READ bitRate NOTIFY parametersReady)
Q_PROPERTY(Fact* frameRate READ frameRate NOTIFY parametersReady)
Q_PROPERTY(Fact* videoEncoding READ videoEncoding NOTIFY parametersReady)
Q_PROPERTY(QStringList activeSettings READ activeSettings NOTIFY activeSettingsChanged)
Q_PROPERTY(VideoStatus videoStatus READ videoStatus NOTIFY videoStatusChanged)
@ -255,9 +252,6 @@ public: @@ -255,9 +252,6 @@ public:
virtual Fact* aperture ();
virtual Fact* wb ();
virtual Fact* mode ();
virtual Fact* bitRate ();
virtual Fact* frameRate ();
virtual Fact* videoEncoding ();
//-- Stream names to show the user (for selection)
virtual QStringList streamLabels () { return _streamLabels; }
@ -289,7 +283,6 @@ public: @@ -289,7 +283,6 @@ public:
//-- Allow controller to modify or invalidate parameter change
virtual bool validateParameter (Fact* pFact, QVariant& newValue);
// Known Parameters
static const char* kCAM_EV;
static const char* kCAM_EXPMODE;
@ -298,9 +291,6 @@ public: @@ -298,9 +291,6 @@ public:
static const char* kCAM_APERTURE;
static const char* kCAM_WBMODE;
static const char* kCAM_MODE;
static const char* kCAM_BITRATE;
static const char* kCAM_FPS;
static const char* kCAM_ENC;
signals:
void infoChanged ();

82
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
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@ -23,50 +23,56 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) : @@ -23,50 +23,56 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
APMCustomMode(mode, settable)
{
setEnumToStringMapping({
{STABILIZE, "Stabilize"},
{ACRO, "Acro"},
{ALT_HOLD, "Altitude Hold"},
{AUTO, "Auto"},
{GUIDED, "Guided"},
{LOITER, "Loiter"},
{RTL, "RTL"},
{CIRCLE, "Circle"},
{LAND, "Land"},
{DRIFT, "Drift"},
{SPORT, "Sport"},
{FLIP, "Flip"},
{AUTOTUNE, "Autotune"},
{POS_HOLD, "Position Hold"},
{BRAKE, "Brake"},
{THROW, "Throw"},
{AVOID_ADSB, "Avoid ADSB"},
{GUIDED_NOGPS, "Guided No GPS"},
{SAFE_RTL, "Smart RTL"},
{ STABILIZE, "Stabilize"},
{ ACRO, "Acro"},
{ ALT_HOLD, "Altitude Hold"},
{ AUTO, "Auto"},
{ GUIDED, "Guided"},
{ LOITER, "Loiter"},
{ RTL, "RTL"},
{ CIRCLE, "Circle"},
{ LAND, "Land"},
{ DRIFT, "Drift"},
{ SPORT, "Sport"},
{ FLIP, "Flip"},
{ AUTOTUNE, "Autotune"},
{ POS_HOLD, "Position Hold"},
{ BRAKE, "Brake"},
{ THROW, "Throw"},
{ AVOID_ADSB, "Avoid ADSB"},
{ GUIDED_NOGPS, "Guided No GPS"},
{ SMART_RTL, "Smart RTL"},
{ FLOWHOLD, "Flow Hold" },
{ FOLLOW, "Follow Vehicle" },
{ ZIGZAG, "ZigZag" },
});
}
ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
{
setSupportedModes({
APMCopterMode(APMCopterMode::STABILIZE ,true),
APMCopterMode(APMCopterMode::ACRO ,true),
APMCopterMode(APMCopterMode::ALT_HOLD ,true),
APMCopterMode(APMCopterMode::AUTO ,true),
APMCopterMode(APMCopterMode::GUIDED ,true),
APMCopterMode(APMCopterMode::LOITER ,true),
APMCopterMode(APMCopterMode::RTL ,true),
APMCopterMode(APMCopterMode::CIRCLE ,true),
APMCopterMode(APMCopterMode::LAND ,true),
APMCopterMode(APMCopterMode::DRIFT ,true),
APMCopterMode(APMCopterMode::SPORT ,true),
APMCopterMode(APMCopterMode::FLIP ,true),
APMCopterMode(APMCopterMode::AUTOTUNE ,true),
APMCopterMode(APMCopterMode::POS_HOLD ,true),
APMCopterMode(APMCopterMode::BRAKE ,true),
APMCopterMode(APMCopterMode::THROW ,true),
APMCopterMode(APMCopterMode::AVOID_ADSB,true),
APMCopterMode(APMCopterMode::GUIDED_NOGPS,true),
APMCopterMode(APMCopterMode::SAFE_RTL,true),
APMCopterMode(APMCopterMode::STABILIZE, true),
APMCopterMode(APMCopterMode::ACRO, true),
APMCopterMode(APMCopterMode::ALT_HOLD, true),
APMCopterMode(APMCopterMode::AUTO, true),
APMCopterMode(APMCopterMode::GUIDED, true),
APMCopterMode(APMCopterMode::LOITER, true),
APMCopterMode(APMCopterMode::RTL, true),
APMCopterMode(APMCopterMode::CIRCLE, true),
APMCopterMode(APMCopterMode::LAND, true),
APMCopterMode(APMCopterMode::DRIFT, true),
APMCopterMode(APMCopterMode::SPORT, true),
APMCopterMode(APMCopterMode::FLIP, true),
APMCopterMode(APMCopterMode::AUTOTUNE, true),
APMCopterMode(APMCopterMode::POS_HOLD, true),
APMCopterMode(APMCopterMode::BRAKE, true),
APMCopterMode(APMCopterMode::THROW, true),
APMCopterMode(APMCopterMode::AVOID_ADSB, true),
APMCopterMode(APMCopterMode::GUIDED_NOGPS, true),
APMCopterMode(APMCopterMode::SMART_RTL, true),
APMCopterMode(APMCopterMode::FLOWHOLD, true),
APMCopterMode(APMCopterMode::FOLLOW, true),
APMCopterMode(APMCopterMode::ZIGZAG, true),
});
if (!_remapParamNameIntialized) {

6
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
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@ -41,9 +41,11 @@ public: @@ -41,9 +41,11 @@ public:
THROW = 18,
AVOID_ADSB = 19,
GUIDED_NOGPS= 20,
SAFE_RTL = 21, //Safe Return to Launch
SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps
FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder
FOLLOW = 23, // follow attempts to follow another vehicle or ground station
ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
};
static const int modeCount = 22;
APMCopterMode(uint32_t mode, bool settable);
};

1
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
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@ -42,7 +42,6 @@ public: @@ -42,7 +42,6 @@ public:
QLOITER = 19,
QLAND = 20,
QRTL = 21,
modeCount
};
APMPlaneMode(uint32_t mode, bool settable);

1
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
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@ -33,7 +33,6 @@ public: @@ -33,7 +33,6 @@ public:
GUIDED = 15,
INITIALIZING = 16,
};
static const int modeCount = 17;
APMRoverMode(uint32_t mode, bool settable);
};

1
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
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@ -96,7 +96,6 @@ public: @@ -96,7 +96,6 @@ public:
RESERVED_18 = 18,
MANUAL = 19
};
static const int modeCount = 20;
APMSubMode(uint32_t mode, bool settable);
};

120
src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
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@ -137,6 +137,61 @@ @@ -137,6 +137,61 @@
<min>0</min>
</parameter>
</group>
<group name="Airspeed Validator">
<parameter default="1.0" name="ARSP_ARSP_SCALE" type="FLOAT">
<short_desc>Airspeed scale (scale from IAS to CAS/EAS)</short_desc>
<long_desc>Scale can either be entered manually, or estimated in-flight by setting ARSP_SCALE_EST to 1.</long_desc>
<min>0.5</min>
<max>1.5</max>
</parameter>
<parameter default="1" name="ARSP_BETA_GATE" type="INT32">
<short_desc>Airspeed Selector: Gate size for true sideslip fusion</short_desc>
<long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
<min>1</min>
<max>5</max>
<unit>SD</unit>
</parameter>
<parameter default="0.3" name="ARSP_BETA_NOISE" type="FLOAT">
<short_desc>Airspeed Selector: Wind estimator sideslip measurement noise</short_desc>
<long_desc>Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
<min>0</min>
<max>1</max>
<unit>rad</unit>
</parameter>
<parameter default="0" name="ARSP_SCALE_EST" type="INT32">
<short_desc>Automatic airspeed scale estimation on</short_desc>
<long_desc>Turns the automatic airspeed scale (scale from IAS to CAS/EAS) on or off. It is recommended level (keeping altitude) while performing the estimation. Set to 1 to start estimation (best when already flying). Set to 0 to end scale estimation. The estimated scale is then saved in the ARSP_ARSP_SCALE parameter.</long_desc>
<boolean />
</parameter>
<parameter default="0.0001" name="ARSP_SC_P_NOISE" type="FLOAT">
<short_desc>Airspeed Selector: Wind estimator true airspeed scale process noise</short_desc>
<long_desc>Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
<min>0</min>
<max>0.1</max>
<unit>1/s</unit>
</parameter>
<parameter default="3" name="ARSP_TAS_GATE" type="INT32">
<short_desc>Airspeed Selector: Gate size for true airspeed fusion</short_desc>
<long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
<min>1</min>
<max>5</max>
<unit>SD</unit>
</parameter>
<parameter default="1.4" name="ARSP_TAS_NOISE" type="FLOAT">
<short_desc>Airspeed Selector: Wind estimator true airspeed measurement noise</short_desc>
<long_desc>True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
<min>0</min>
<max>4</max>
<unit>m/s</unit>
</parameter>
<parameter default="0.1" name="ARSP_W_P_NOISE" type="FLOAT">
<short_desc>Airspeed Selector: Wind estimator wind process noise</short_desc>
<long_desc>Wind process noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
<min>0</min>
<max>1</max>
<unit>m/s/s</unit>
</parameter>
</group>
<group name="Attitude Q estimator">
<parameter default="1" name="ATT_ACC_COMP" type="INT32">
<short_desc>Acceleration compensation based on GPS
@ -537,6 +592,11 @@ Set to 2 to use heading from motion capture</short_desc> @@ -537,6 +592,11 @@ Set to 2 to use heading from motion capture</short_desc>
* the MSB bit is not used to avoid problems in the conversion between int and uint</short_desc>
<long_desc>Default value: (10 &lt;&lt; 0 | 1000 &lt;&lt; 8 | 0 &lt;&lt; 24) = 256010 - authorizer system id = 10 - authentication method parameter = 10000msec of timeout - authentication method = during arm</long_desc>
</parameter>
<parameter default="1" name="COM_ARM_CHK_ESCS" type="INT32">
<short_desc>Require all the ESCs to be detected to arm</short_desc>
<long_desc>This param is specific for ESCs reporting status. Normal ESCs configurations are not affected by the change of this param.</long_desc>
<boolean />
</parameter>
<parameter default="1.73e-3" name="COM_ARM_EKF_AB" type="FLOAT">
<short_desc>Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming.
Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than EKF2_ABL_LIM * FILTER_UPDATE_PERIOD_MS * 0.001 so this parameter must be less than that to be useful</short_desc>
@ -654,9 +714,13 @@ Set -1 to disable the check</short_desc> @@ -654,9 +714,13 @@ Set -1 to disable the check</short_desc>
</parameter>
<parameter default="2.0" name="COM_DISARM_LAND" type="FLOAT">
<short_desc>Time-out for auto disarm after landing</short_desc>
<long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. The vehicle will also auto-disarm right after arming if it has not even flown, however the time will always be 10 seconds such that the pilot has enough time to take off. A negative value means that automatic disarming triggered by landing detection is disabled.</long_desc>
<min>-1</min>
<max>20</max>
<long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.</long_desc>
<unit>s</unit>
<decimal>2</decimal>
</parameter>
<parameter default="10.0" name="COM_DISARM_PRFLT" type="FLOAT">
<short_desc>Time-out for auto disarm if too slow to takeoff</short_desc>
<long_desc>A non-zero, positive value specifies the time after arming, in seconds, within which the vehicle must take off (after which it will automatically disarm). A zero or negative value means that automatic disarming triggered by a pre-takeoff timeout is disabled.</long_desc>
<unit>s</unit>
<decimal>2</decimal>
</parameter>
@ -4705,10 +4769,10 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc> @@ -4705,10 +4769,10 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
<max>2.0</max>
<decimal>2</decimal>
</parameter>
<parameter default="0.3" name="MPC_XY_TRAJ_P" type="FLOAT">
<parameter default="0.5" name="MPC_XY_TRAJ_P" type="FLOAT">
<short_desc>Proportional gain for horizontal trajectory position error</short_desc>
<min>0.1</min>
<max>5.0</max>
<max>1.0</max>
<decimal>1</decimal>
</parameter>
<parameter default="0.01" name="MPC_XY_VEL_D" type="FLOAT">
@ -4762,7 +4826,7 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc> @@ -4762,7 +4826,7 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
<parameter default="0.3" name="MPC_Z_TRAJ_P" type="FLOAT">
<short_desc>Proportional gain for vertical trajectory position error</short_desc>
<min>0.1</min>
<max>5.0</max>
<max>1.0</max>
<decimal>1</decimal>
</parameter>
<parameter default="0.0" name="MPC_Z_VEL_D" type="FLOAT">
@ -10487,50 +10551,6 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris @@ -10487,50 +10551,6 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
<increment>0.01</increment>
</parameter>
</group>
<group name="Wind Estimator">
<parameter default="1" name="WEST_BETA_GATE" type="INT32">
<short_desc>Gate size for true sideslip fusion</short_desc>
<long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
<min>1</min>
<max>5</max>
<unit>SD</unit>
</parameter>
<parameter default="0.3" name="WEST_BETA_NOISE" type="FLOAT">
<short_desc>Wind estimator sideslip measurement noise</short_desc>
<min>0</min>
<max>1</max>
<unit>rad</unit>
</parameter>
<parameter default="0" name="WEST_EN" type="INT32">
<short_desc>Enable Wind estimator</short_desc>
<boolean />
<reboot_required>true</reboot_required>
</parameter>
<parameter default="0.0001" name="WEST_SC_P_NOISE" type="FLOAT">
<short_desc>Wind estimator true airspeed scale process noise</short_desc>
<min>0</min>
<max>0.1</max>
</parameter>
<parameter default="3" name="WEST_TAS_GATE" type="INT32">
<short_desc>Gate size for true airspeed fusion</short_desc>
<long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
<min>1</min>
<max>5</max>
<unit>SD</unit>
</parameter>
<parameter default="1.4" name="WEST_TAS_NOISE" type="FLOAT">
<short_desc>Wind estimator true airspeed measurement noise</short_desc>
<min>0</min>
<max>4</max>
<unit>m/s</unit>
</parameter>
<parameter default="0.1" name="WEST_W_P_NOISE" type="FLOAT">
<short_desc>Wind estimator wind process noise</short_desc>
<min>0</min>
<max>1</max>
<unit>m/s/s</unit>
</parameter>
</group>
<group name="Miscellaneous">
<parameter default="0.1" name="EXFW_HDNG_P" type="FLOAT">
<short_desc>EXFW_HDNG_P</short_desc>

36
src/FlightDisplay/VideoManager.cc
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@ -273,19 +273,26 @@ VideoManager::uvcEnabled() @@ -273,19 +273,26 @@ VideoManager::uvcEnabled()
//-----------------------------------------------------------------------------
void
VideoManager::setfullScreen(bool f)
{
if(f) {
//-- No can do if no vehicle or connection lost
if(!_activeVehicle || _activeVehicle->connectionLost()) {
f = false;
}
}
_fullScreen = f;
emit fullScreenChanged();
}
//-----------------------------------------------------------------------------
void
VideoManager::_updateSettings()
{
if(!_videoSettings || !_videoReceiver)
return;
//-- Auto discovery
if(_activeVehicle && _activeVehicle->dynamicCameras()) {
QGCCameraControl* pCamera = _activeVehicle->dynamicCameras()->currentCameraInstance();
if(pCamera) {
Fact *fact = pCamera->videoEncoding();
if (fact) {
_videoReceiver->setVideoDecoder(static_cast<VideoReceiver::VideoEncoding>(fact->rawValue().toInt()));
}
}
QGCVideoStreamInfo* pInfo = _activeVehicle->dynamicCameras()->currentStreamInstance();
if(pInfo) {
qCDebug(VideoManagerLog) << "Configure primary stream: " << pInfo->uri();
@ -364,6 +371,7 @@ void @@ -364,6 +371,7 @@ void
VideoManager::_setActiveVehicle(Vehicle* vehicle)
{
if(_activeVehicle) {
disconnect(_activeVehicle, &Vehicle::connectionLostChanged, this, &VideoManager::_connectionLostChanged);
if(_activeVehicle->dynamicCameras()) {
QGCCameraControl* pCamera = _activeVehicle->dynamicCameras()->currentCameraInstance();
if(pCamera) {
@ -374,6 +382,7 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle) @@ -374,6 +382,7 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle)
}
_activeVehicle = vehicle;
if(_activeVehicle) {
connect(_activeVehicle, &Vehicle::connectionLostChanged, this, &VideoManager::_connectionLostChanged);
if(_activeVehicle->dynamicCameras()) {
connect(_activeVehicle->dynamicCameras(), &QGCCameraManager::streamChanged, this, &VideoManager::restartVideo);
QGCCameraControl* pCamera = _activeVehicle->dynamicCameras()->currentCameraInstance();
@ -381,6 +390,9 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle) @@ -381,6 +390,9 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle)
pCamera->resumeStream();
}
}
} else {
//-- Disable full screen video if vehicle is gone
setfullScreen(false);
}
emit autoStreamConfiguredChanged();
restartVideo();
@ -388,6 +400,16 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle) @@ -388,6 +400,16 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle)
//----------------------------------------------------------------------------------------
void
VideoManager::_connectionLostChanged(bool connectionLost)
{
if(connectionLost) {
//-- Disable full screen video if connection is lost
setfullScreen(false);
}
}
//----------------------------------------------------------------------------------------
void
VideoManager::_aspectRatioChanged()
{
emit aspectRatioChanged();

50
src/FlightDisplay/VideoManager.h
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@ -34,7 +34,7 @@ class VideoManager : public QGCTool @@ -34,7 +34,7 @@ class VideoManager : public QGCTool
public:
VideoManager (QGCApplication* app, QGCToolbox* toolbox);
~VideoManager ();
virtual ~VideoManager ();
Q_PROPERTY(bool hasVideo READ hasVideo NOTIFY hasVideoChanged)
Q_PROPERTY(bool isGStreamer READ isGStreamer NOTIFY isGStreamerChanged)
@ -51,34 +51,33 @@ public: @@ -51,34 +51,33 @@ public:
Q_PROPERTY(bool autoStreamConfigured READ autoStreamConfigured NOTIFY autoStreamConfiguredChanged)
Q_PROPERTY(bool hasThermal READ hasThermal NOTIFY aspectRatioChanged)
bool hasVideo ();
bool isGStreamer ();
bool isAutoStream ();
bool isTaisync () { return _isTaisync; }
bool fullScreen () { return _fullScreen; }
QString videoSourceID () { return _videoSourceID; }
double aspectRatio ();
double thermalAspectRatio ();
double hfov ();
double thermalHfov ();
bool autoStreamConfigured();
bool hasThermal ();
void restartVideo ();
VideoReceiver* videoReceiver () { return _videoReceiver; }
VideoReceiver* thermalVideoReceiver () { return _thermalVideoReceiver; }
virtual bool hasVideo ();
virtual bool isGStreamer ();
virtual bool isTaisync () { return _isTaisync; }
virtual bool fullScreen () { return _fullScreen; }
virtual QString videoSourceID () { return _videoSourceID; }
virtual double aspectRatio ();
virtual double thermalAspectRatio ();
virtual double hfov ();
virtual double thermalHfov ();
virtual bool autoStreamConfigured();
virtual bool hasThermal ();
virtual void restartVideo ();
virtual VideoReceiver* videoReceiver () { return _videoReceiver; }
virtual VideoReceiver* thermalVideoReceiver () { return _thermalVideoReceiver; }
#if defined(QGC_DISABLE_UVC)
bool uvcEnabled () { return false; }
virtual bool uvcEnabled () { return false; }
#else
bool uvcEnabled ();
virtual bool uvcEnabled ();
#endif
void setfullScreen (bool f) { _fullScreen = f; emit fullScreenChanged(); }
void setIsTaisync (bool t) { _isTaisync = t; emit isTaisyncChanged(); }
virtual void setfullScreen (bool f);
virtual void setIsTaisync (bool t) { _isTaisync = t; emit isTaisyncChanged(); }
// Override from QGCTool
void setToolbox (QGCToolbox *toolbox);
virtual void setToolbox (QGCToolbox *toolbox);
Q_INVOKABLE void startVideo ();
Q_INVOKABLE void stopVideo ();
@ -93,7 +92,7 @@ signals: @@ -93,7 +92,7 @@ signals:
void aspectRatioChanged ();
void autoStreamConfiguredChanged();
private slots:
protected slots:
void _videoSourceChanged ();
void _udpPortChanged ();
void _rtspUrlChanged ();
@ -101,11 +100,12 @@ private slots: @@ -101,11 +100,12 @@ private slots:
void _updateUVC ();
void _setActiveVehicle (Vehicle* vehicle);
void _aspectRatioChanged ();
void _connectionLostChanged (bool connectionLost);
private:
protected:
void _updateSettings ();
private:
protected:
SubtitleWriter _subtitleWriter;
bool _isTaisync = false;
VideoReceiver* _videoReceiver = nullptr;

2
src/Vehicle/Vehicle.cc
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@ -3046,7 +3046,7 @@ void Vehicle::guidedModeGotoLocation(const QGeoCoordinate& gotoCoord) @@ -3046,7 +3046,7 @@ void Vehicle::guidedModeGotoLocation(const QGeoCoordinate& gotoCoord)
if (!coordinate().isValid()) {
return;
}
double maxDistance = 1000.0;
double maxDistance = 10000.0;
if (coordinate().distanceTo(gotoCoord) > maxDistance) {
qgcApp()->showMessage(QString("New location is too far. Must be less than %1 %2").arg(qRound(FactMetaData::metersToAppSettingsDistanceUnits(maxDistance).toDouble())).arg(FactMetaData::appSettingsDistanceUnitsString()));
return;

5
src/VideoStreaming/VideoReceiver.cc
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@ -611,14 +611,14 @@ VideoReceiver::setVideoDecoder(VideoEncoding encoding) @@ -611,14 +611,14 @@ VideoReceiver::setVideoDecoder(VideoEncoding encoding)
*/
if (encoding == H265_HW || encoding == H265_SW) {
_depayName = "rtph265depay";
_depayName = "rtph265depay";
_parserName = "h265parse";
#if defined(__android__)
_hwDecoderName = "amcviddec-omxgooglehevcdecoder";
#endif
_swDecoderName = "avdec_h265";
} else {
_depayName = "rtph264depay";
_depayName = "rtph264depay";
_parserName = "h264parse";
#if defined(__android__)
_hwDecoderName = "amcviddec-omxgoogleh264decoder";
@ -630,6 +630,7 @@ VideoReceiver::setVideoDecoder(VideoEncoding encoding) @@ -630,6 +630,7 @@ VideoReceiver::setVideoDecoder(VideoEncoding encoding)
_hwDecoderName = nullptr;
}
}
//-----------------------------------------------------------------------------
// When we finish our pipeline will look like this:
//

6
src/api/QGCCorePlugin.cc
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@ -15,6 +15,7 @@ @@ -15,6 +15,7 @@
#include "SettingsManager.h"
#include "AppMessages.h"
#include "QmlObjectListModel.h"
#include "VideoManager.h"
#include "VideoReceiver.h"
#include "QGCLoggingCategory.h"
#include "QGCCameraManager.h"
@ -408,6 +409,11 @@ QmlObjectListModel* QGCCorePlugin::customMapItems() @@ -408,6 +409,11 @@ QmlObjectListModel* QGCCorePlugin::customMapItems()
return &_p->_emptyCustomMapItems;
}
VideoManager* QGCCorePlugin::createVideoManager(QGCApplication *app, QGCToolbox *toolbox)
{
return new VideoManager(app, toolbox);
}
VideoReceiver* QGCCorePlugin::createVideoReceiver(QObject* parent)
{
return new VideoReceiver(parent);

2
src/api/QGCCorePlugin.h
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@ -104,6 +104,8 @@ public: @@ -104,6 +104,8 @@ public:
/// Allows the plugin to override the creation of the root (native) window.
virtual QQmlApplicationEngine* createRootWindow(QObject* parent);
/// Allows the plugin to override the creation of VideoManager.
virtual VideoManager* createVideoManager(QGCApplication* app, QGCToolbox* toolbox);
/// Allows the plugin to override the creation of VideoReceiver.
virtual VideoReceiver* createVideoReceiver(QObject* parent);

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