Merge pull request #8237 from mavlink/pr-last-known-location

Keep track of current vehicle's last known location.

src/Vehicle/MultiVehicleManager.cc

@@ -285,6 +285,14 @@ void MultiVehicleManager::_setActiveVehiclePhase2(void)
 {
     qCDebug(MultiVehicleManagerLog) << "_setActiveVehiclePhase2 _vehicleBeingSetActive" << _vehicleBeingSetActive;
 
+    //-- Keep track of current vehicle's coordinates
+    if(_activeVehicle) {
+        disconnect(_activeVehicle, &Vehicle::coordinateChanged, this, &MultiVehicleManager::_coordinateChanged);
+    }
+    if(_vehicleBeingSetActive) {
+        connect(_vehicleBeingSetActive, &Vehicle::coordinateChanged, this, &MultiVehicleManager::_coordinateChanged);
+    }
+
     // Now we signal the new active vehicle
     _activeVehicle = _vehicleBeingSetActive;
     emit activeVehicleChanged(_activeVehicle);
@@ -302,6 +310,12 @@ void MultiVehicleManager::_setActiveVehiclePhase2(void)
     }
 }
 
+void MultiVehicleManager::_coordinateChanged(QGeoCoordinate coordinate)
+{
+    _lastKnownLocation = coordinate;
+    emit lastKnownLocationChanged();
+}
+
 void MultiVehicleManager::_vehicleParametersReadyChanged(bool parametersReady)
 {
     auto* paramMgr = qobject_cast<ParameterManager*>(sender());

src/Vehicle/MultiVehicleManager.h

@@ -47,6 +47,9 @@ public:
     /// A disconnected vehicle used for offline editing. It will match the vehicle type specified in Settings.
     Q_PROPERTY(Vehicle*             offlineEditingVehicle           READ offlineEditingVehicle                                          CONSTANT)
 
+    //-- The current vehicle's last known location
+    Q_PROPERTY(QGeoCoordinate       lastKnownLocation               READ lastKnownLocation                                              NOTIFY lastKnownLocationChanged)
+
     // Methods
 
     Q_INVOKABLE Vehicle* getVehicleById(int vehicleId);
@@ -78,6 +81,8 @@ public:
     // Override from QGCTool
     virtual void setToolbox(QGCToolbox *toolbox);
 
+    QGeoCoordinate lastKnownLocation    () { return _lastKnownLocation; }
+
 signals:
     void vehicleAdded                   (Vehicle* vehicle);
     void vehicleRemoved                 (Vehicle* vehicle);
@@ -85,7 +90,7 @@ signals:
     void parameterReadyVehicleAvailableChanged(bool parameterReadyVehicleAvailable);
     void activeVehicleChanged           (Vehicle* activeVehicle);
     void gcsHeartBeatEnabledChanged     (bool gcsHeartBeatEnabled);
-
+    void lastKnownLocationChanged       ();
     void _deleteVehiclePhase2Signal     (void);
 
 private slots:
@@ -96,6 +101,7 @@ private slots:
     void _sendGCSHeartbeat              (void);
     void _vehicleHeartbeatInfo          (LinkInterface* link, int vehicleId, int componentId, int vehicleFirmwareType, int vehicleType);
     void _requestProtocolVersion        (unsigned version);
+    void _coordinateChanged             (QGeoCoordinate coordinate);
 
 private:
     bool _vehicleExists(int vehicleId);
@@ -115,6 +121,7 @@ private:
     FirmwarePluginManager*      _firmwarePluginManager;
     JoystickManager*            _joystickManager;
     MAVLinkProtocol*            _mavlinkProtocol;
+    QGeoCoordinate              _lastKnownLocation;
 
     QTimer              _gcsHeartbeatTimer;             ///< Timer to emit heartbeats
     bool                _gcsHeartbeatEnabled;           ///< Enabled/disable heartbeat emission