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Pile of bugs fixes around map positioning 

Plus low battery announce changes
QGC4.4
Donald Gagne 8 years ago
parent
bd61552b6c
commit
6c4e1c0c8c
11 changed files with 38 additions and 111 deletions
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  1. 2
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
  2. 3
      src/FlightDisplay/FlightDisplayViewMap.qml
  3. 2
      src/FlightDisplay/FlightDisplayViewWidgets.qml
  4. 1
      src/FlightMap/FlightMap.qml
  5. 2
      src/FlightMap/MapItems/VehicleMapItem.qml
  6. 21
      src/MissionManager/MissionController.cc
  7. 15
      src/MissionManager/MissionManager.cc
  8. 3
      src/MissionManager/MissionSettingsItem.cc
  9. 5
      src/MissionManager/SimpleMissionItem.cc
  10. 75
      src/Vehicle/Vehicle.cc
  11. 20
      src/Vehicle/Vehicle.h

2
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
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@ -401,7 +401,7 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange) void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange)
{ {
if (!vehicle->homePositionAvailable()) { if (!vehicle->homePosition().isValid()) {
qgcApp()->showMessage(tr("Unable to change altitude, home position unknown.")); qgcApp()->showMessage(tr("Unable to change altitude, home position unknown."));
return; return;
} }

3
src/FlightDisplay/FlightDisplayViewMap.qml
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@ -133,6 +133,7 @@ FlightMap {
var visualItem = missionController.visualItems var visualItem = missionController.visualItems
if (visualItems && visualItems.count != 1) { if (visualItems && visualItems.count != 1) {
mapFitFunctions.fitMapViewportToMissionItems() mapFitFunctions.fitMapViewportToMissionItems()
firstVehiclePositionReceived = true
} }
} }
} }
@ -309,7 +310,7 @@ FlightMap {
map: flightMap map: flightMap
myGeoFenceController: geoFenceController myGeoFenceController: geoFenceController
interactive: false interactive: false
homePosition: _activeVehicle && _activeVehicle.homePositionAvailable ? _activeVehicle.homePosition : undefined homePosition: _activeVehicle && _activeVehicle.homePosition.isValid ? _activeVehicle.homePosition : undefined
} }
// Rally points on map // Rally points on map

2
src/FlightDisplay/FlightDisplayViewWidgets.qml
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@ -112,7 +112,7 @@ Item {
QGCLabel { QGCLabel {
anchors.horizontalCenter: parent.horizontalCenter anchors.horizontalCenter: parent.horizontalCenter
visible: _activeVehicle && !_activeVehicle.coordinateValid && _mainIsMap visible: _activeVehicle && !_activeVehicle.coordinate.isValid && _mainIsMap
z: QGroundControl.zOrderTopMost z: QGroundControl.zOrderTopMost
color: mapPal.text color: mapPal.text
font.pointSize: ScreenTools.largeFontPointSize font.pointSize: ScreenTools.largeFontPointSize

1
src/FlightMap/FlightMap.qml
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@ -54,7 +54,6 @@ Map {
function _possiblyCenterToVehiclePosition() { function _possiblyCenterToVehiclePosition() {
if (!firstVehiclePositionReceived && allowVehicleLocationCenter && activeVehicleCoordinate.isValid) { if (!firstVehiclePositionReceived && allowVehicleLocationCenter && activeVehicleCoordinate.isValid) {
console.log("Moving to initial vehicle position", QGroundControl.flightMapInitialZoom)
firstVehiclePositionReceived = true firstVehiclePositionReceived = true
center = activeVehicleCoordinate center = activeVehicleCoordinate
zoomLevel = QGroundControl.flightMapInitialZoom zoomLevel = QGroundControl.flightMapInitialZoom

2
src/FlightMap/MapItems/VehicleMapItem.qml
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@ -26,7 +26,7 @@ MapQuickItem {
anchorPoint.x: vehicleIcon.width / 2 anchorPoint.x: vehicleIcon.width / 2
anchorPoint.y: vehicleIcon.height / 2 anchorPoint.y: vehicleIcon.height / 2
visible: vehicle && vehicle.coordinateValid visible: vehicle && vehicle.coordinate.isValid
sourceItem: Image { sourceItem: Image {
id: vehicleIcon id: vehicleIcon

21
src/MissionManager/MissionController.cc
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@ -139,7 +139,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
_visualItems = newControllerMissionItems; _visualItems = newControllerMissionItems;
if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) { if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) {
_addMissionSettings(_activeVehicle, _visualItems, _visualItems->count() > 0 /* addToCenter */); _addMissionSettings(_activeVehicle, _visualItems, _editMode && _visualItems->count() > 0 /* addToCenter */);
} }
_missionItemsRequested = false; _missionItemsRequested = false;
@ -753,7 +753,10 @@ void MissionController::saveToFile(const QString& filename)
file.write(saveDoc.toJson()); file.write(saveDoc.toJson());
} }
_visualItems->setDirty(false); // If we are connected to a real vehicle, don't clear dirty bit on saving to file since vehicle is still out of date
if (_activeVehicle->isOfflineEditingVehicle()) {
_visualItems->setDirty(false);
}
} }
void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference) void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference)
@ -764,10 +767,6 @@ void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionIte
// Convert to fixed altitudes // Convert to fixed altitudes
qCDebug(MissionControllerLog) << homeAlt
<< currentItem->coordinateHasRelativeAltitude() << currentItem->coordinate().altitude()
<< prevItem->exitCoordinateHasRelativeAltitude() << prevItem->exitCoordinate().altitude();
distanceOk = true; distanceOk = true;
if (currentItem->coordinateHasRelativeAltitude()) { if (currentItem->coordinateHasRelativeAltitude()) {
currentCoord.setAltitude(homeAlt + currentCoord.altitude()); currentCoord.setAltitude(homeAlt + currentCoord.altitude());
@ -776,8 +775,6 @@ void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionIte
prevCoord.setAltitude(homeAlt + prevCoord.altitude()); prevCoord.setAltitude(homeAlt + prevCoord.altitude());
} }
qCDebug(MissionControllerLog) << "distanceOk" << distanceOk;
if (distanceOk) { if (distanceOk) {
*altDifference = currentCoord.altitude() - prevCoord.altitude(); *altDifference = currentCoord.altitude() - prevCoord.altitude();
*distance = prevCoord.distanceTo(currentCoord); *distance = prevCoord.distanceTo(currentCoord);
@ -797,8 +794,6 @@ double MissionController::_calcDistanceToHome(VisualMissionItem* currentItem, Vi
distanceOk = true; distanceOk = true;
qCDebug(MissionControllerLog) << "distanceOk" << distanceOk;
return distanceOk ? homeCoord.distanceTo(currentCoord) : 0.0; return distanceOk ? homeCoord.distanceTo(currentCoord) : 0.0;
} }
@ -809,7 +804,7 @@ void MissionController::_recalcWaypointLines(void)
bool showHomePosition = _settingsItem->coordinate().isValid(); bool showHomePosition = _settingsItem->coordinate().isValid();
qCDebug(MissionControllerLog) << "_recalcWaypointLines"; qCDebug(MissionControllerLog) << "_recalcWaypointLines showHomePosition" << showHomePosition;
CoordVectHashTable old_table = _linesTable; CoordVectHashTable old_table = _linesTable;
_linesTable.clear(); _linesTable.clear();
@ -1178,7 +1173,9 @@ void MissionController::_setPlannedHomePositionFromFirstCoordinate(void)
void MissionController::_recalcAll(void) void MissionController::_recalcAll(void)
{ {
_setPlannedHomePositionFromFirstCoordinate(); if (_editMode) {
_setPlannedHomePositionFromFirstCoordinate();
}
_recalcSequence(); _recalcSequence();
_recalcChildItems(); _recalcChildItems();
_recalcWaypointLines(); _recalcWaypointLines();

15
src/MissionManager/MissionManager.cc
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@ -412,8 +412,8 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message, bool m
mavlink_msg_mission_item_int_decode(&message, &missionItem); mavlink_msg_mission_item_int_decode(&message, &missionItem);
command = (MAV_CMD)missionItem.command, command = (MAV_CMD)missionItem.command,
frame = (MAV_FRAME)missionItem.frame, frame = (MAV_FRAME)missionItem.frame,
param1 = missionItem.param1; param1 = missionItem.param1;
param2 = missionItem.param2; param2 = missionItem.param2;
param3 = missionItem.param3; param3 = missionItem.param3;
param4 = missionItem.param4; param4 = missionItem.param4;
@ -428,8 +428,8 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message, bool m
mavlink_msg_mission_item_decode(&message, &missionItem); mavlink_msg_mission_item_decode(&message, &missionItem);
command = (MAV_CMD)missionItem.command, command = (MAV_CMD)missionItem.command,
frame = (MAV_FRAME)missionItem.frame, frame = (MAV_FRAME)missionItem.frame,
param1 = missionItem.param1; param1 = missionItem.param1;
param2 = missionItem.param2; param2 = missionItem.param2;
param3 = missionItem.param3; param3 = missionItem.param3;
param4 = missionItem.param4; param4 = missionItem.param4;
@ -440,6 +440,13 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message, bool m
isCurrentItem = missionItem.current; isCurrentItem = missionItem.current;
seq = missionItem.seq; seq = missionItem.seq;
} }
// We don't support editing ALT_INT frames so change on the way in.
if (frame == MAV_FRAME_GLOBAL_INT) {
frame = MAV_FRAME_GLOBAL;
} else if (frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
qCDebug(MissionManagerLog) << "_handleMissionItem sequenceNumber:" << seq << command; qCDebug(MissionManagerLog) << "_handleMissionItem sequenceNumber:" << seq << command;

3
src/MissionManager/MissionSettingsItem.cc
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@ -364,6 +364,9 @@ void MissionSettingsItem::_setDirty(void)
void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate) void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate)
{ {
if (coordinate.isValid()) {
qDebug() << "MissionSettingsItem::setCoordinate" << coordinate.isValid();
}
if (_plannedHomePositionCoordinate != coordinate) { if (_plannedHomePositionCoordinate != coordinate) {
_plannedHomePositionCoordinate = coordinate; _plannedHomePositionCoordinate = coordinate;
emit coordinateChanged(coordinate); emit coordinateChanged(coordinate);

5
src/MissionManager/SimpleMissionItem.cc
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@ -502,11 +502,6 @@ bool SimpleMissionItem::friendlyEditAllowed(void) const
switch (frame) { switch (frame) {
case MAV_FRAME_GLOBAL: case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT: case MAV_FRAME_GLOBAL_RELATIVE_ALT:
#if 0
Coming soon
case MAV_FRAME_GLOBAL_INT:
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
#endif
return true; return true;
break; break;

75
src/Vehicle/Vehicle.cc
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@ -57,8 +57,6 @@ const char* Vehicle::_windFactGroupName = "wind";
const char* Vehicle::_vibrationFactGroupName = "vibration"; const char* Vehicle::_vibrationFactGroupName = "vibration";
const char* Vehicle::_temperatureFactGroupName = "temperature"; const char* Vehicle::_temperatureFactGroupName = "temperature";
const int Vehicle::_lowBatteryAnnounceRepeatMSecs = 30 * 1000;
Vehicle::Vehicle(LinkInterface* link, Vehicle::Vehicle(LinkInterface* link,
int vehicleId, int vehicleId,
int defaultComponentId, int defaultComponentId,
@ -82,9 +80,6 @@ Vehicle::Vehicle(LinkInterface* link,
, _joystickMode(JoystickModeRC) , _joystickMode(JoystickModeRC)
, _joystickEnabled(false) , _joystickEnabled(false)
, _uas(NULL) , _uas(NULL)
, _coordinate(37.803784, -122.462276)
, _coordinateValid(false)
, _homePositionAvailable(false)
, _mav(NULL) , _mav(NULL)
, _currentMessageCount(0) , _currentMessageCount(0)
, _messageCount(0) , _messageCount(0)
@ -141,6 +136,7 @@ Vehicle::Vehicle(LinkInterface* link,
, _firmwareMinorVersion(versionNotSetValue) , _firmwareMinorVersion(versionNotSetValue)
, _firmwarePatchVersion(versionNotSetValue) , _firmwarePatchVersion(versionNotSetValue)
, _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL) , _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL)
, _lastAnnouncedLowBatteryPercent(100)
, _rollFact (0, _rollFactName, FactMetaData::valueTypeDouble) , _rollFact (0, _rollFactName, FactMetaData::valueTypeDouble)
, _pitchFact (0, _pitchFactName, FactMetaData::valueTypeDouble) , _pitchFact (0, _pitchFactName, FactMetaData::valueTypeDouble)
, _headingFact (0, _headingFactName, FactMetaData::valueTypeDouble) , _headingFact (0, _headingFactName, FactMetaData::valueTypeDouble)
@ -220,9 +216,6 @@ Vehicle::Vehicle(LinkInterface* link,
_mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints); _mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints);
connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint); connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint);
// Invalidate the timer to signal first announce
_lowBatteryAnnounceTimer.invalidate();
} }
// Disconnected Vehicle for offline editing // Disconnected Vehicle for offline editing
@ -246,9 +239,6 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _joystickMode(JoystickModeRC) , _joystickMode(JoystickModeRC)
, _joystickEnabled(false) , _joystickEnabled(false)
, _uas(NULL) , _uas(NULL)
, _coordinate(37.803784, -122.462276)
, _coordinateValid(false)
, _homePositionAvailable(false)
, _mav(NULL) , _mav(NULL)
, _currentMessageCount(0) , _currentMessageCount(0)
, _messageCount(0) , _messageCount(0)
@ -298,6 +288,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _firmwareMinorVersion(versionNotSetValue) , _firmwareMinorVersion(versionNotSetValue)
, _firmwarePatchVersion(versionNotSetValue) , _firmwarePatchVersion(versionNotSetValue)
, _gitHash(versionNotSetValue) , _gitHash(versionNotSetValue)
, _lastAnnouncedLowBatteryPercent(100)
, _rollFact (0, _rollFactName, FactMetaData::valueTypeDouble) , _rollFact (0, _rollFactName, FactMetaData::valueTypeDouble)
, _pitchFact (0, _pitchFactName, FactMetaData::valueTypeDouble) , _pitchFact (0, _pitchFactName, FactMetaData::valueTypeDouble)
, _headingFact (0, _headingFactName, FactMetaData::valueTypeDouble) , _headingFact (0, _headingFactName, FactMetaData::valueTypeDouble)
@ -636,10 +627,6 @@ void Vehicle::_handleGpsRawInt(mavlink_message_t& message)
_gpsFactGroup.vdop()->setRawValue(gpsRawInt.epv == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.epv / 100.0); _gpsFactGroup.vdop()->setRawValue(gpsRawInt.epv == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.epv / 100.0);
_gpsFactGroup.courseOverGround()->setRawValue(gpsRawInt.cog == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.cog / 100.0); _gpsFactGroup.courseOverGround()->setRawValue(gpsRawInt.cog == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.cog / 100.0);
_gpsFactGroup.lock()->setRawValue(gpsRawInt.fix_type); _gpsFactGroup.lock()->setRawValue(gpsRawInt.fix_type);
if (gpsRawInt.fix_type >= GPS_FIX_TYPE_3D_FIX) {
_setCoordinateValid(true);
}
} }
void Vehicle::_handleGlobalPositionInt(mavlink_message_t& message) void Vehicle::_handleGlobalPositionInt(mavlink_message_t& message)
@ -854,11 +841,11 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
} }
_batteryFactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining); _batteryFactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining);
if (sysStatus.battery_remaining > 0 && sysStatus.battery_remaining < _settingsManager->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toInt()) { if (sysStatus.battery_remaining > 0 &&
if (!_lowBatteryAnnounceTimer.isValid() || _lowBatteryAnnounceTimer.elapsed() > _lowBatteryAnnounceRepeatMSecs) { sysStatus.battery_remaining < _settingsManager->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toInt() &&
_lowBatteryAnnounceTimer.restart(); sysStatus.battery_remaining < _lastAnnouncedLowBatteryPercent) {
_say(QString("%1 low battery: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining)); _lastAnnouncedLowBatteryPercent = sysStatus.battery_remaining;
} _say(QString("%1 low battery: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
} }
_onboardControlSensorsPresent = sysStatus.onboard_control_sensors_present; _onboardControlSensorsPresent = sysStatus.onboard_control_sensors_present;
@ -903,9 +890,6 @@ void Vehicle::_handleBatteryStatus(mavlink_message_t& message)
void Vehicle::_handleHomePosition(mavlink_message_t& message) void Vehicle::_handleHomePosition(mavlink_message_t& message)
{ {
bool emitHomePositionChanged = false;
bool emitHomePositionAvailableChanged = false;
mavlink_home_position_t homePos; mavlink_home_position_t homePos;
mavlink_msg_home_position_decode(&message, &homePos); mavlink_msg_home_position_decode(&message, &homePos);
@ -913,23 +897,10 @@ void Vehicle::_handleHomePosition(mavlink_message_t& message)
QGeoCoordinate newHomePosition (homePos.latitude / 10000000.0, QGeoCoordinate newHomePosition (homePos.latitude / 10000000.0,
homePos.longitude / 10000000.0, homePos.longitude / 10000000.0,
homePos.altitude / 1000.0); homePos.altitude / 1000.0);
if (!_homePositionAvailable || newHomePosition != _homePosition) { if (newHomePosition != _homePosition) {
emitHomePositionChanged = true;
_homePosition = newHomePosition; _homePosition = newHomePosition;
}
if (!_homePositionAvailable) {
emitHomePositionAvailableChanged = true;
_homePositionAvailable = true;
}
if (emitHomePositionChanged) {
qCDebug(VehicleLog) << "New home position" << newHomePosition;
emit homePositionChanged(_homePosition); emit homePositionChanged(_homePosition);
} }
if (emitHomePositionAvailableChanged) {
emit homePositionAvailableChanged(true);
}
} }
void Vehicle::_handleHeartbeat(mavlink_message_t& message) void Vehicle::_handleHeartbeat(mavlink_message_t& message)
@ -1173,22 +1144,6 @@ void Vehicle::_updatePriorityLink(void)
} }
} }
void Vehicle::setLatitude(double latitude)
{
_coordinate.setLatitude(latitude);
emit coordinateChanged(_coordinate);
}
void Vehicle::setLongitude(double longitude){
_coordinate.setLongitude(longitude);
emit coordinateChanged(_coordinate);
}
void Vehicle::setAltitude(double altitude){
_coordinate.setAltitude(altitude);
emit coordinateChanged(_coordinate);
}
void Vehicle::_updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64) void Vehicle::_updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64)
{ {
if (qIsInf(roll)) { if (qIsInf(roll)) {
@ -1476,13 +1431,9 @@ void Vehicle::setActive(bool active)
_startJoystick(_active); _startJoystick(_active);
} }
bool Vehicle::homePositionAvailable(void)
{
return _homePositionAvailable;
}
QGeoCoordinate Vehicle::homePosition(void) QGeoCoordinate Vehicle::homePosition(void)
{ {
qDebug() << "Vehicle::homePosition" << _homePosition.isValid();
return _homePosition; return _homePosition;
} }
@ -1852,14 +1803,6 @@ bool Vehicle::supportsMotorInterference(void) const
return _firmwarePlugin->supportsMotorInterference(); return _firmwarePlugin->supportsMotorInterference();
} }
void Vehicle::_setCoordinateValid(bool coordinateValid)
{
if (coordinateValid != _coordinateValid) {
_coordinateValid = coordinateValid;
emit coordinateValidChanged(_coordinateValid);
}
}
QString Vehicle::vehicleTypeName() const { QString Vehicle::vehicleTypeName() const {
static QMap<int, QString> typeNames = { static QMap<int, QString> typeNames = {
{ MAV_TYPE_GENERIC, tr("Generic micro air vehicle" )}, { MAV_TYPE_GENERIC, tr("Generic micro air vehicle" )},

20
src/Vehicle/Vehicle.h
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@ -238,8 +238,6 @@ public:
Q_PROPERTY(int id READ id CONSTANT) Q_PROPERTY(int id READ id CONSTANT)
Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT) Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged) Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged)
Q_PROPERTY(bool coordinateValid READ coordinateValid NOTIFY coordinateValidChanged)
Q_PROPERTY(bool homePositionAvailable READ homePositionAvailable NOTIFY homePositionAvailableChanged)
Q_PROPERTY(QGeoCoordinate homePosition READ homePosition NOTIFY homePositionChanged) Q_PROPERTY(QGeoCoordinate homePosition READ homePosition NOTIFY homePositionChanged)
Q_PROPERTY(bool armed READ armed WRITE setArmed NOTIFY armedChanged) Q_PROPERTY(bool armed READ armed WRITE setArmed NOTIFY armedChanged)
Q_PROPERTY(bool flightModeSetAvailable READ flightModeSetAvailable CONSTANT) Q_PROPERTY(bool flightModeSetAvailable READ flightModeSetAvailable CONSTANT)
@ -436,8 +434,6 @@ public:
// Property accessors // Property accessors
QGeoCoordinate coordinate(void) { return _coordinate; } QGeoCoordinate coordinate(void) { return _coordinate; }
bool coordinateValid(void) { return _coordinateValid; }
void _setCoordinateValid(bool coordinateValid);
typedef enum { typedef enum {
JoystickModeRC, ///< Joystick emulates an RC Transmitter JoystickModeRC, ///< Joystick emulates an RC Transmitter
@ -494,7 +490,6 @@ public:
GeoFenceManager* geoFenceManager(void) { return _geoFenceManager; } GeoFenceManager* geoFenceManager(void) { return _geoFenceManager; }
RallyPointManager* rallyPointManager(void) { return _rallyPointManager; } RallyPointManager* rallyPointManager(void) { return _rallyPointManager; }
bool homePositionAvailable(void);
QGeoCoordinate homePosition(void); QGeoCoordinate homePosition(void);
bool armed(void) { return _armed; } bool armed(void) { return _armed; }
@ -672,22 +667,13 @@ public:
/// @true: When flying a mission the vehicle is always facing towards the next waypoint /// @true: When flying a mission the vehicle is always facing towards the next waypoint
bool vehicleYawsToNextWaypointInMission(void) const; bool vehicleYawsToNextWaypointInMission(void) const;
public slots:
/// Sets the firmware plugin instance data associated with this Vehicle. This object will be parented to the Vehicle
/// and destroyed when the vehicle goes away.
void setLatitude (double latitude);
void setLongitude (double longitude);
void setAltitude (double altitude);
signals: signals:
void allLinksInactive(Vehicle* vehicle); void allLinksInactive(Vehicle* vehicle);
void coordinateChanged(QGeoCoordinate coordinate); void coordinateChanged(QGeoCoordinate coordinate);
void coordinateValidChanged(bool coordinateValid);
void joystickModeChanged(int mode); void joystickModeChanged(int mode);
void joystickEnabledChanged(bool enabled); void joystickEnabledChanged(bool enabled);
void activeChanged(bool active); void activeChanged(bool active);
void mavlinkMessageReceived(const mavlink_message_t& message); void mavlinkMessageReceived(const mavlink_message_t& message);
void homePositionAvailableChanged(bool homePositionAvailable);
void homePositionChanged(const QGeoCoordinate& homePosition); void homePositionChanged(const QGeoCoordinate& homePosition);
void armedChanged(bool armed); void armedChanged(bool armed);
void flightModeChanged(const QString& flightMode); void flightModeChanged(const QString& flightMode);
@ -859,9 +845,6 @@ private:
UAS* _uas; UAS* _uas;
QGeoCoordinate _coordinate; QGeoCoordinate _coordinate;
bool _coordinateValid; ///< true: vehicle has 3d lock and therefore valid location
bool _homePositionAvailable;
QGeoCoordinate _homePosition; QGeoCoordinate _homePosition;
UASInterface* _mav; UASInterface* _mav;
@ -976,8 +959,7 @@ private:
QString _gitHash; QString _gitHash;
static const int _lowBatteryAnnounceRepeatMSecs; // Amount of time in between each low battery announcement int _lastAnnouncedLowBatteryPercent;
QElapsedTimer _lowBatteryAnnounceTimer;
SharedLinkInterfacePointer _priorityLink; // We always keep a reference to the priority link to manage shutdown ordering SharedLinkInterfacePointer _priorityLink; // We always keep a reference to the priority link to manage shutdown ordering

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