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Talking battery and flight modes

QGC4.4
Don Gagne 9 years ago
parent
33edc72574
commit
7285dfb588
4 changed files with 267 additions and 78 deletions
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  1. 10
      src/Vehicle/BatteryFact.json
  2. 225
      src/Vehicle/Vehicle.cc
  3. 82
      src/Vehicle/Vehicle.h
  4. 28
      src/ui/preferences/GeneralSettings.qml

10
src/Vehicle/BatteryFact.json
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@ -17,6 +17,16 @@
"units": "%" "units": "%"
}, },
{ {
"name": "percentRemainingAnnounce",
"shortDescription": "Percent",
"type": "int32",
"decimalPlaces": 0,
"units": "%",
"defaultValue": 30,
"min": 0,
"max": 100
},
{
"name": "mahConsumed", "name": "mahConsumed",
"shortDescription": "Consumed", "shortDescription": "Consumed",
"type": "int32", "type": "int32",

225
src/Vehicle/Vehicle.cc
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@ -60,36 +60,7 @@ const char* Vehicle::_batteryFactGroupName = "battery";
const char* Vehicle::_windFactGroupName = "wind"; const char* Vehicle::_windFactGroupName = "wind";
const char* Vehicle::_vibrationFactGroupName = "vibration"; const char* Vehicle::_vibrationFactGroupName = "vibration";
const char* VehicleGPSFactGroup::_hdopFactName = "hdop"; const int Vehicle::_lowBatteryAnnounceRepeatMSecs = 30 * 1000;
const char* VehicleGPSFactGroup::_vdopFactName = "vdop";
const char* VehicleGPSFactGroup::_courseOverGroundFactName = "courseOverGround";
const char* VehicleGPSFactGroup::_countFactName = "count";
const char* VehicleGPSFactGroup::_lockFactName = "lock";
const char* VehicleBatteryFactGroup::_voltageFactName = "voltage";
const char* VehicleBatteryFactGroup::_percentRemainingFactName = "percentRemaining";
const char* VehicleBatteryFactGroup::_mahConsumedFactName = "mahConsumed";
const char* VehicleBatteryFactGroup::_currentFactName = "current";
const char* VehicleBatteryFactGroup::_temperatureFactName = "temperature";
const char* VehicleBatteryFactGroup::_cellCountFactName = "cellCount";
const double VehicleBatteryFactGroup::_voltageUnavailable = -1.0;
const int VehicleBatteryFactGroup::_percentRemainingUnavailable = -1;
const int VehicleBatteryFactGroup::_mahConsumedUnavailable = -1;
const int VehicleBatteryFactGroup::_currentUnavailable = -1;
const double VehicleBatteryFactGroup::_temperatureUnavailable = -1.0;
const int VehicleBatteryFactGroup::_cellCountUnavailable = -1.0;
const char* VehicleWindFactGroup::_directionFactName = "direction";
const char* VehicleWindFactGroup::_speedFactName = "speed";
const char* VehicleWindFactGroup::_verticalSpeedFactName = "verticalSpeed";
const char* VehicleVibrationFactGroup::_xAxisFactName = "xAxis";
const char* VehicleVibrationFactGroup::_yAxisFactName = "yAxis";
const char* VehicleVibrationFactGroup::_zAxisFactName = "zAxis";
const char* VehicleVibrationFactGroup::_clipCount1FactName = "clipCount1";
const char* VehicleVibrationFactGroup::_clipCount2FactName = "clipCount2";
const char* VehicleVibrationFactGroup::_clipCount3FactName = "clipCount3";
Vehicle::Vehicle(LinkInterface* link, Vehicle::Vehicle(LinkInterface* link,
int vehicleId, int vehicleId,
@ -101,6 +72,7 @@ Vehicle::Vehicle(LinkInterface* link,
: FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json") : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json")
, _id(vehicleId) , _id(vehicleId)
, _active(false) , _active(false)
, _disconnectedVehicle(false)
, _firmwareType(firmwareType) , _firmwareType(firmwareType)
, _vehicleType(vehicleType) , _vehicleType(vehicleType)
, _firmwarePlugin(NULL) , _firmwarePlugin(NULL)
@ -165,8 +137,10 @@ Vehicle::Vehicle(LinkInterface* link,
_mavlink = qgcApp()->toolbox()->mavlinkProtocol(); _mavlink = qgcApp()->toolbox()->mavlinkProtocol();
connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived); connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
connect(this, &Vehicle::_sendMessageOnThread, this, &Vehicle::_sendMessage, Qt::QueuedConnection);
connect(this, &Vehicle::_sendMessageOnThread, this, &Vehicle::_sendMessage, Qt::QueuedConnection);
connect(this, &Vehicle::_sendMessageOnLinkOnThread, this, &Vehicle::_sendMessageOnLink, Qt::QueuedConnection); connect(this, &Vehicle::_sendMessageOnLinkOnThread, this, &Vehicle::_sendMessageOnLink, Qt::QueuedConnection);
connect(this, &Vehicle::flightModeChanged, this, &Vehicle::_announceflightModeChanged);
_uas = new UAS(_mavlink, this, _firmwarePluginManager); _uas = new UAS(_mavlink, this, _firmwarePluginManager);
@ -227,6 +201,9 @@ 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();
// Build FactGroup object model // Build FactGroup object model
_addFact(&_rollFact, _rollFactName); _addFact(&_rollFact, _rollFactName);
@ -249,6 +226,93 @@ Vehicle::Vehicle(LinkInterface* link,
_vibrationFactGroup.setVehicle(this); _vibrationFactGroup.setVehicle(this);
} }
// Disconnected Vehicle
Vehicle::Vehicle(QObject* parent)
: FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json", parent)
, _id(0)
, _active(false)
, _disconnectedVehicle(false)
, _firmwareType(MAV_AUTOPILOT_PX4)
, _vehicleType(MAV_TYPE_QUADROTOR)
, _firmwarePlugin(NULL)
, _autopilotPlugin(NULL)
, _joystickMode(JoystickModeRC)
, _joystickEnabled(false)
, _uas(NULL)
, _coordinate(37.803784, -122.462276)
, _coordinateValid(false)
, _homePositionAvailable(false)
, _mav(NULL)
, _currentMessageCount(0)
, _messageCount(0)
, _currentErrorCount(0)
, _currentWarningCount(0)
, _currentNormalCount(0)
, _currentMessageType(MessageNone)
, _navigationAltitudeError(0.0f)
, _navigationSpeedError(0.0f)
, _navigationCrosstrackError(0.0f)
, _navigationTargetBearing(0.0f)
, _refreshTimer(new QTimer(this))
, _updateCount(0)
, _rcRSSI(0)
, _rcRSSIstore(100.0)
, _autoDisconnect(false)
, _connectionLost(false)
, _connectionLostEnabled(true)
, _missionManager(NULL)
, _missionManagerInitialRequestComplete(false)
, _parameterLoader(NULL)
, _armed(false)
, _base_mode(0)
, _custom_mode(0)
, _nextSendMessageMultipleIndex(0)
, _firmwarePluginManager(NULL)
, _autopilotPluginManager(NULL)
, _joystickManager(NULL)
, _flowImageIndex(0)
, _allLinksInactiveSent(false)
, _messagesReceived(0)
, _messagesSent(0)
, _messagesLost(0)
, _messageSeq(0)
, _compID(0)
, _heardFrom(false)
, _rollFact (0, _rollFactName, FactMetaData::valueTypeDouble)
, _pitchFact (0, _pitchFactName, FactMetaData::valueTypeDouble)
, _headingFact (0, _headingFactName, FactMetaData::valueTypeDouble)
, _groundSpeedFact (0, _groundSpeedFactName, FactMetaData::valueTypeDouble)
, _airSpeedFact (0, _airSpeedFactName, FactMetaData::valueTypeDouble)
, _climbRateFact (0, _climbRateFactName, FactMetaData::valueTypeDouble)
, _altitudeRelativeFact (0, _altitudeRelativeFactName, FactMetaData::valueTypeDouble)
, _altitudeAMSLFact (0, _altitudeAMSLFactName, FactMetaData::valueTypeDouble)
, _gpsFactGroup(this)
, _batteryFactGroup(this)
, _windFactGroup(this)
, _vibrationFactGroup(this)
{
// Build FactGroup object model
_addFact(&_rollFact, _rollFactName);
_addFact(&_pitchFact, _pitchFactName);
_addFact(&_headingFact, _headingFactName);
_addFact(&_groundSpeedFact, _groundSpeedFactName);
_addFact(&_airSpeedFact, _airSpeedFactName);
_addFact(&_climbRateFact, _climbRateFactName);
_addFact(&_altitudeRelativeFact, _altitudeRelativeFactName);
_addFact(&_altitudeAMSLFact, _altitudeAMSLFactName);
_addFactGroup(&_gpsFactGroup, _gpsFactGroupName);
_addFactGroup(&_batteryFactGroup, _batteryFactGroupName);
_addFactGroup(&_windFactGroup, _windFactGroupName);
_addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);
_gpsFactGroup.setVehicle(NULL);
_batteryFactGroup.setVehicle(NULL);
_windFactGroup.setVehicle(NULL);
_vibrationFactGroup.setVehicle(NULL);
}
Vehicle::~Vehicle() Vehicle::~Vehicle()
{ {
qCDebug(VehicleLog) << "~Vehicle" << this; qCDebug(VehicleLog) << "~Vehicle" << this;
@ -399,6 +463,13 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
_batteryFactGroup.voltage()->setRawValue((double)sysStatus.voltage_battery / 1000.0); _batteryFactGroup.voltage()->setRawValue((double)sysStatus.voltage_battery / 1000.0);
} }
_batteryFactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining); _batteryFactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining);
if (sysStatus.battery_remaining > 0 && sysStatus.battery_remaining < _batteryFactGroup.percentRemainingAnnounce()->rawValue().toInt()) {
if (!_lowBatteryAnnounceTimer.isValid() || _lowBatteryAnnounceTimer.elapsed() > _lowBatteryAnnounceRepeatMSecs) {
_lowBatteryAnnounceTimer.restart();
_say(QString("Low battery on %1: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
}
}
} }
void Vehicle::_handleBatteryStatus(mavlink_message_t& message) void Vehicle::_handleBatteryStatus(mavlink_message_t& message)
@ -1217,7 +1288,7 @@ void Vehicle::_connectionLostTimeout(void)
_connectionLost = true; _connectionLost = true;
_heardFrom = false; _heardFrom = false;
emit connectionLostChanged(true); emit connectionLostChanged(true);
_say(QString("connection lost to vehicle %1").arg(id()), GAudioOutput::AUDIO_SEVERITY_NOTICE); _say(QString("communication lost to %1").arg(_vehicleIdSpeech()));
if (_autoDisconnect) { if (_autoDisconnect) {
disconnectInactiveVehicle(); disconnectInactiveVehicle();
} }
@ -1230,14 +1301,13 @@ void Vehicle::_connectionActive(void)
if (_connectionLost) { if (_connectionLost) {
_connectionLost = false; _connectionLost = false;
emit connectionLostChanged(false); emit connectionLostChanged(false);
_say(QString("connection regained to vehicle %1").arg(id()), GAudioOutput::AUDIO_SEVERITY_NOTICE); _say(QString("communication regained to %1").arg(_vehicleIdSpeech()));
} }
} }
void Vehicle::_say(const QString& text, int severity) void Vehicle::_say(const QString& text)
{ {
if (!qgcApp()->runningUnitTests()) qgcApp()->toolbox()->audioOutput()->say(text.toLower());
qgcApp()->toolbox()->audioOutput()->say(text.toLower(), severity);
} }
bool Vehicle::fixedWing(void) const bool Vehicle::fixedWing(void) const
@ -1268,6 +1338,26 @@ void Vehicle::_setCoordinateValid(bool coordinateValid)
} }
} }
/// Returns the string to speak to identify the vehicle
QString Vehicle::_vehicleIdSpeech(void)
{
if (qgcApp()->toolbox()->multiVehicleManager()->vehicles()->count() > 1) {
return QString("vehicle %1").arg(id());
} else {
return QStringLiteral("vehicle");
}
}
void Vehicle::_announceflightModeChanged(const QString& flightMode)
{
_say(QString("%1 is now in %2 flight mode").arg(_vehicleIdSpeech()).arg(flightMode));
}
const char* VehicleGPSFactGroup::_hdopFactName = "hdop";
const char* VehicleGPSFactGroup::_vdopFactName = "vdop";
const char* VehicleGPSFactGroup::_courseOverGroundFactName = "courseOverGround";
const char* VehicleGPSFactGroup::_countFactName = "count";
const char* VehicleGPSFactGroup::_lockFactName = "lock";
VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent) VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent)
: FactGroup(1000, ":/json/Vehicle/GPSFact.json", parent) : FactGroup(1000, ":/json/Vehicle/GPSFact.json", parent)
@ -1293,6 +1383,11 @@ void VehicleGPSFactGroup::setVehicle(Vehicle* vehicle)
{ {
_vehicle = vehicle; _vehicle = vehicle;
if (!vehicle) {
// Disconnected Vehicle
return;
}
connect(_vehicle->uas(), &UASInterface::localizationChanged, this, &VehicleGPSFactGroup::_setSatLoc); connect(_vehicle->uas(), &UASInterface::localizationChanged, this, &VehicleGPSFactGroup::_setSatLoc);
UAS* pUas = dynamic_cast<UAS*>(_vehicle->uas()); UAS* pUas = dynamic_cast<UAS*>(_vehicle->uas());
@ -1336,22 +1431,43 @@ void VehicleGPSFactGroup::_setSatLoc(UASInterface*, int fix)
} }
} }
const char* VehicleBatteryFactGroup::_voltageFactName = "voltage";
const char* VehicleBatteryFactGroup::_percentRemainingFactName = "percentRemaining";
const char* VehicleBatteryFactGroup::_percentRemainingAnnounceFactName = "percentRemainingAnnounce";
const char* VehicleBatteryFactGroup::_mahConsumedFactName = "mahConsumed";
const char* VehicleBatteryFactGroup::_currentFactName = "current";
const char* VehicleBatteryFactGroup::_temperatureFactName = "temperature";
const char* VehicleBatteryFactGroup::_cellCountFactName = "cellCount";
const char* VehicleBatteryFactGroup::_settingsGroup = "Vehicle.battery";
const int VehicleBatteryFactGroup::_percentRemainingAnnounceDefault = 30;
const double VehicleBatteryFactGroup::_voltageUnavailable = -1.0;
const int VehicleBatteryFactGroup::_percentRemainingUnavailable = -1;
const int VehicleBatteryFactGroup::_mahConsumedUnavailable = -1;
const int VehicleBatteryFactGroup::_currentUnavailable = -1;
const double VehicleBatteryFactGroup::_temperatureUnavailable = -1.0;
const int VehicleBatteryFactGroup::_cellCountUnavailable = -1.0;
SettingsFact VehicleBatteryFactGroup::_percentRemainingAnnounceFact (_settingsGroup, _percentRemainingAnnounceFactName, FactMetaData::valueTypeInt32, _percentRemainingAnnounceDefault);
VehicleBatteryFactGroup::VehicleBatteryFactGroup(QObject* parent) VehicleBatteryFactGroup::VehicleBatteryFactGroup(QObject* parent)
: FactGroup(1000, ":/json/Vehicle/BatteryFact.json", parent) : FactGroup(1000, ":/json/Vehicle/BatteryFact.json", parent)
, _vehicle(NULL) , _vehicle(NULL)
, _voltageFact (0, _voltageFactName, FactMetaData::valueTypeDouble) , _voltageFact (0, _voltageFactName, FactMetaData::valueTypeDouble)
, _percentRemainingFact (0, _percentRemainingFactName, FactMetaData::valueTypeInt32) , _percentRemainingFact (0, _percentRemainingFactName, FactMetaData::valueTypeInt32)
, _mahConsumedFact (0, _mahConsumedFactName, FactMetaData::valueTypeInt32) , _mahConsumedFact (0, _mahConsumedFactName, FactMetaData::valueTypeInt32)
, _currentFact (0, _currentFactName, FactMetaData::valueTypeInt32) , _currentFact (0, _currentFactName, FactMetaData::valueTypeInt32)
, _temperatureFact (0, _temperatureFactName, FactMetaData::valueTypeDouble) , _temperatureFact (0, _temperatureFactName, FactMetaData::valueTypeDouble)
, _cellCountFact (0, _cellCountFactName, FactMetaData::valueTypeInt32) , _cellCountFact (0, _cellCountFactName, FactMetaData::valueTypeInt32)
{ {
_addFact(&_voltageFact, _voltageFactName); _addFact(&_voltageFact, _voltageFactName);
_addFact(&_percentRemainingFact, _percentRemainingFactName); _addFact(&_percentRemainingFact, _percentRemainingFactName);
_addFact(&_mahConsumedFact, _mahConsumedFactName); _addFact(&_percentRemainingAnnounceFact, _percentRemainingAnnounceFactName);
_addFact(&_currentFact, _currentFactName); _addFact(&_mahConsumedFact, _mahConsumedFactName);
_addFact(&_temperatureFact, _temperatureFactName); _addFact(&_currentFact, _currentFactName);
_addFact(&_cellCountFact, _cellCountFactName); _addFact(&_temperatureFact, _temperatureFactName);
_addFact(&_cellCountFact, _cellCountFactName);
// Start out as not available // Start out as not available
_voltageFact.setRawValue (_voltageUnavailable); _voltageFact.setRawValue (_voltageUnavailable);
@ -1367,6 +1483,10 @@ void VehicleBatteryFactGroup::setVehicle(Vehicle* vehicle)
_vehicle = vehicle; _vehicle = vehicle;
} }
const char* VehicleWindFactGroup::_directionFactName = "direction";
const char* VehicleWindFactGroup::_speedFactName = "speed";
const char* VehicleWindFactGroup::_verticalSpeedFactName = "verticalSpeed";
VehicleWindFactGroup::VehicleWindFactGroup(QObject* parent) VehicleWindFactGroup::VehicleWindFactGroup(QObject* parent)
: FactGroup(1000, ":/json/Vehicle/WindFact.json", parent) : FactGroup(1000, ":/json/Vehicle/WindFact.json", parent)
, _vehicle(NULL) , _vehicle(NULL)
@ -1389,6 +1509,13 @@ void VehicleWindFactGroup::setVehicle(Vehicle* vehicle)
_vehicle = vehicle; _vehicle = vehicle;
} }
const char* VehicleVibrationFactGroup::_xAxisFactName = "xAxis";
const char* VehicleVibrationFactGroup::_yAxisFactName = "yAxis";
const char* VehicleVibrationFactGroup::_zAxisFactName = "zAxis";
const char* VehicleVibrationFactGroup::_clipCount1FactName = "clipCount1";
const char* VehicleVibrationFactGroup::_clipCount2FactName = "clipCount2";
const char* VehicleVibrationFactGroup::_clipCount3FactName = "clipCount3";
VehicleVibrationFactGroup::VehicleVibrationFactGroup(QObject* parent) VehicleVibrationFactGroup::VehicleVibrationFactGroup(QObject* parent)
: FactGroup(1000, ":/json/Vehicle/VibrationFact.json", parent) : FactGroup(1000, ":/json/Vehicle/VibrationFact.json", parent)
, _vehicle(NULL) , _vehicle(NULL)

82
src/Vehicle/Vehicle.h
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@ -29,6 +29,7 @@
#include <QObject> #include <QObject>
#include <QGeoCoordinate> #include <QGeoCoordinate>
#include <QElapsedTimer>
#include "FactGroup.h" #include "FactGroup.h"
#include "LinkInterface.h" #include "LinkInterface.h"
@ -36,6 +37,7 @@
#include "QmlObjectListModel.h" #include "QmlObjectListModel.h"
#include "MAVLinkProtocol.h" #include "MAVLinkProtocol.h"
#include "UASMessageHandler.h" #include "UASMessageHandler.h"
#include "SettingsFact.h"
class UAS; class UAS;
class UASInterface; class UASInterface;
@ -66,12 +68,12 @@ public:
Q_PROPERTY(Fact* clipCount2 READ clipCount2 CONSTANT) Q_PROPERTY(Fact* clipCount2 READ clipCount2 CONSTANT)
Q_PROPERTY(Fact* clipCount3 READ clipCount3 CONSTANT) Q_PROPERTY(Fact* clipCount3 READ clipCount3 CONSTANT)
Fact* xAxis(void) { return &_xAxisFact; } Fact* xAxis (void) { return &_xAxisFact; }
Fact* yAxis(void) { return &_yAxisFact; } Fact* yAxis (void) { return &_yAxisFact; }
Fact* zAxis(void) { return &_zAxisFact; } Fact* zAxis (void) { return &_zAxisFact; }
Fact* clipCount1(void) { return &_clipCount1Fact; } Fact* clipCount1 (void) { return &_clipCount1Fact; }
Fact* clipCount2(void) { return &_clipCount2Fact; } Fact* clipCount2 (void) { return &_clipCount2Fact; }
Fact* clipCount3(void) { return &_clipCount3Fact; } Fact* clipCount3 (void) { return &_clipCount3Fact; }
void setVehicle(Vehicle* vehicle); void setVehicle(Vehicle* vehicle);
@ -103,9 +105,9 @@ public:
Q_PROPERTY(Fact* speed READ speed CONSTANT) Q_PROPERTY(Fact* speed READ speed CONSTANT)
Q_PROPERTY(Fact* verticalSpeed READ verticalSpeed CONSTANT) Q_PROPERTY(Fact* verticalSpeed READ verticalSpeed CONSTANT)
Fact* direction(void) { return &_directionFact; } Fact* direction (void) { return &_directionFact; }
Fact* speed(void) { return &_speedFact; } Fact* speed (void) { return &_speedFact; }
Fact* verticalSpeed(void) { return &_verticalSpeedFact; } Fact* verticalSpeed (void) { return &_verticalSpeedFact; }
void setVehicle(Vehicle* vehicle); void setVehicle(Vehicle* vehicle);
@ -133,11 +135,11 @@ public:
Q_PROPERTY(Fact* count READ count CONSTANT) Q_PROPERTY(Fact* count READ count CONSTANT)
Q_PROPERTY(Fact* lock READ lock CONSTANT) Q_PROPERTY(Fact* lock READ lock CONSTANT)
Fact* hdop(void) { return &_hdopFact; } Fact* hdop (void) { return &_hdopFact; }
Fact* vdop(void) { return &_vdopFact; } Fact* vdop (void) { return &_vdopFact; }
Fact* courseOverGround(void) { return &_courseOverGroundFact; } Fact* courseOverGround (void) { return &_courseOverGroundFact; }
Fact* count(void) { return &_countFact; } Fact* count (void) { return &_countFact; }
Fact* lock(void) { return &_lockFact; } Fact* lock (void) { return &_lockFact; }
void setVehicle(Vehicle* vehicle); void setVehicle(Vehicle* vehicle);
@ -175,24 +177,33 @@ public:
Q_PROPERTY(Fact* mahConsumed READ mahConsumed CONSTANT) Q_PROPERTY(Fact* mahConsumed READ mahConsumed CONSTANT)
Q_PROPERTY(Fact* current READ current CONSTANT) Q_PROPERTY(Fact* current READ current CONSTANT)
Q_PROPERTY(Fact* temperature READ temperature CONSTANT) Q_PROPERTY(Fact* temperature READ temperature CONSTANT)
Q_PROPERTY(Fact* cellCount READ cellCount CONSTANT) Q_PROPERTY(Fact* cellCount READ cellCount CONSTANT)
/// If percentRemaining falls below this value, warning will be output through speech
Q_PROPERTY(Fact* percentRemainingAnnounce READ percentRemainingAnnounce CONSTANT)
Fact* voltage (void) { return &_voltageFact; }
Fact* percentRemaining (void) { return &_percentRemainingFact; }
Fact* percentRemainingAnnounce (void) { return &_percentRemainingAnnounceFact; }
Fact* mahConsumed (void) { return &_mahConsumedFact; }
Fact* current (void) { return &_currentFact; }
Fact* temperature (void) { return &_temperatureFact; }
Fact* cellCount (void) { return &_cellCountFact; }
Fact* voltage(void) { return &_voltageFact; }
Fact* percentRemaining(void) { return &_percentRemainingFact; }
Fact* mahConsumed(void) { return &_mahConsumedFact; }
Fact* current(void) { return &_currentFact; }
Fact* temperature(void) { return &_temperatureFact; }
Fact* cellCount(void) { return &_cellCountFact; }
void setVehicle(Vehicle* vehicle); void setVehicle(Vehicle* vehicle);
static const char* _voltageFactName; static const char* _voltageFactName;
static const char* _percentRemainingFactName; static const char* _percentRemainingFactName;
static const char* _percentRemainingAnnounceFactName;
static const char* _mahConsumedFactName; static const char* _mahConsumedFactName;
static const char* _currentFactName; static const char* _currentFactName;
static const char* _temperatureFactName; static const char* _temperatureFactName;
static const char* _cellCountFactName; static const char* _cellCountFactName;
static const char* _settingsGroup;
static const int _percentRemainingAnnounceDefault;
static const double _voltageUnavailable; static const double _voltageUnavailable;
static const int _percentRemainingUnavailable; static const int _percentRemainingUnavailable;
static const int _mahConsumedUnavailable; static const int _mahConsumedUnavailable;
@ -201,13 +212,15 @@ public:
static const int _cellCountUnavailable; static const int _cellCountUnavailable;
private: private:
Vehicle* _vehicle; Vehicle* _vehicle;
Fact _voltageFact; Fact _voltageFact;
Fact _percentRemainingFact; Fact _percentRemainingFact;
Fact _mahConsumedFact; Fact _mahConsumedFact;
Fact _currentFact; Fact _currentFact;
Fact _temperatureFact; Fact _temperatureFact;
Fact _cellCountFact; Fact _cellCountFact;
static SettingsFact _percentRemainingAnnounceFact;
}; };
class Vehicle : public FactGroup class Vehicle : public FactGroup
@ -222,6 +235,11 @@ public:
FirmwarePluginManager* firmwarePluginManager, FirmwarePluginManager* firmwarePluginManager,
AutoPilotPluginManager* autopilotPluginManager, AutoPilotPluginManager* autopilotPluginManager,
JoystickManager* joystickManager); JoystickManager* joystickManager);
// The following is used to create a disconnected Vehicle. A disconnected vehicle is primarily used to access FactGroup information
// without needing a real connection.
Vehicle(QObject* parent = NULL);
~Vehicle(); ~Vehicle();
Q_PROPERTY(int id READ id CONSTANT) Q_PROPERTY(int id READ id CONSTANT)
@ -505,6 +523,7 @@ private slots:
void _addNewMapTrajectoryPoint(void); void _addNewMapTrajectoryPoint(void);
void _parametersReady(bool parametersReady); void _parametersReady(bool parametersReady);
void _remoteControlRSSIChanged(uint8_t rssi); void _remoteControlRSSIChanged(uint8_t rssi);
void _announceflightModeChanged(const QString& flightMode);
void _handleTextMessage (int newCount); void _handleTextMessage (int newCount);
void _handletextMessageReceived (UASMessage* message); void _handletextMessageReceived (UASMessage* message);
@ -540,11 +559,13 @@ private:
void _mapTrajectoryStart(void); void _mapTrajectoryStart(void);
void _mapTrajectoryStop(void); void _mapTrajectoryStop(void);
void _connectionActive(void); void _connectionActive(void);
void _say(const QString& text, int severity); void _say(const QString& text);
QString _vehicleIdSpeech(void);
private: private:
int _id; ///< Mavlink system id int _id; ///< Mavlink system id
bool _active; bool _active;
bool _disconnectedVehicle; ///< This Vehicle is a "disconnected" vehicle for ui use when no active vehicle is available
MAV_AUTOPILOT _firmwareType; MAV_AUTOPILOT _firmwareType;
MAV_TYPE _vehicleType; MAV_TYPE _vehicleType;
@ -635,6 +656,9 @@ private:
uint8_t _compID; uint8_t _compID;
bool _heardFrom; bool _heardFrom;
static const int _lowBatteryAnnounceRepeatMSecs; // Amount of time in between each low battery announcement
QElapsedTimer _lowBatteryAnnounceTimer;
// FactGroup facts // FactGroup facts
Fact _rollFact; Fact _rollFact;

28
src/ui/preferences/GeneralSettings.qml
Unescape View File

@ -40,6 +40,8 @@ Rectangle {
anchors.fill: parent anchors.fill: parent
anchors.margins: ScreenTools.defaultFontPixelWidth anchors.margins: ScreenTools.defaultFontPixelWidth
property Fact _percentRemainingAnnounce: QGroundControl.multiVehicleManager.disconnectedVehicle.battery.percentRemainingAnnounce
QGCPalette { QGCPalette {
id: qgcPal id: qgcPal
colorGroupEnabled: enabled colorGroupEnabled: enabled
@ -127,6 +129,32 @@ Rectangle {
} }
} }
} }
//-----------------------------------------------------------------
//-- Battery talker
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCCheckBox {
id: announcePercentCheckbox
anchors.baseline: announcePercent.baseline
text: "Announce battery percent lower than:"
checked: _percentRemainingAnnounce.value != 0
onClicked: {
if (checked) {
_percentRemainingAnnounce.value = _percentRemainingAnnounce.defaultValueString
} else {
_percentRemainingAnnounce.value = 0
}
}
}
FactTextField {
id: announcePercent
fact: _percentRemainingAnnounce
enabled: announcePercentCheckbox.checked
}
}
Item { Item {
height: ScreenTools.defaultFontPixelHeight / 2 height: ScreenTools.defaultFontPixelHeight / 2

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