Add ROI option

QGCExternalLibs.pri

@@ -147,9 +147,9 @@ AndroidBuild {
 contains(DEFINES, QGC_ENABLE_PAIRING) {
     MacBuild {
         #- Pairing is generally not supported on macOS. This is here solely for development.
-        exists(/usr/local/Cellar/openssl/1.0.2s/include) {
-            INCLUDEPATH += /usr/local/Cellar/openssl/1.0.2s/include
-            LIBS += -L/usr/local/Cellar/openssl/1.0.2s/lib
+        exists(/usr/local/Cellar/openssl/1.0.2t/include) {
+            INCLUDEPATH += /usr/local/Cellar/openssl/1.0.2t/include
+            LIBS += -L/usr/local/Cellar/openssl/1.0.2t/lib
             LIBS += -lcrypto -lz
         } else {
             # There is some circular reference settings going on between QGCExternalLibs.pri and gqgroundcontrol.pro.

src/FirmwarePlugin/FirmwarePlugin.h

@@ -48,6 +48,7 @@ public:
         GuidedModeCapability =              1 << 2, ///< Vehicle supports guided mode commands
         OrbitModeCapability =               1 << 3, ///< Vehicle supports orbit mode
         TakeoffVehicleCapability =          1 << 4, ///< Vehicle supports guided takeoff
+        ROIModeCapability =                 1 << 5, ///< Vehicle supports ROI
     } FirmwareCapabilities;
 
     /// Maps from on parameter name to another

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -226,10 +226,13 @@ bool PX4FirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_m
 bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
 {
     int available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
+    //-- This is arbitrary until I find how to really tell if ROI is avaiable
+    if (vehicle->multiRotor()) {
+        available |= ROIModeCapability;
+    }
     if (vehicle->multiRotor() || vehicle->vtol()) {
         available |= TakeoffVehicleCapability | OrbitModeCapability;
     }
-
     return (capabilities & available) == capabilities;
 }
 

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -401,6 +401,46 @@ FlightMap {
         }
     }
 
+    // ROI Location visuals
+    MapQuickItem {
+        id:             roiLocationItem
+        visible:        false
+        z:              QGroundControl.zOrderMapItems
+        anchorPoint.x:  sourceItem.anchorPointX
+        anchorPoint.y:  sourceItem.anchorPointY
+        sourceItem: MissionItemIndexLabel {
+            checked:    true
+            index:      -1
+            label:      qsTr("ROI here", "Make this a Region Of Interest")
+        }
+
+        Connections {
+            target: mainWindow
+            onActiveVehicleChanged: {
+                if (!activeVehicle) {
+                    roiLocationItem.visible = false
+                }
+            }
+        }
+
+        function show(coord) {
+            roiLocationItem.coordinate = coord
+            roiLocationItem.visible = true
+        }
+
+        function hide() {
+            roiLocationItem.visible = false
+        }
+
+        function actionConfirmed() {
+            hide()
+        }
+
+        function actionCancelled() {
+            hide()
+        }
+    }
+
     // Orbit telemetry visuals
     QGCMapCircleVisuals {
         id:             orbitTelemetryCircle
@@ -429,9 +469,7 @@ FlightMap {
 
         QGCMenu {
             id: clickMenu
-
             property var coord
-
             QGCMenuItem {
                 text:           qsTr("Go to location")
                 visible:        guidedActionsController.showGotoLocation
@@ -442,7 +480,6 @@ FlightMap {
                     guidedActionsController.confirmAction(guidedActionsController.actionGoto, clickMenu.coord, gotoLocationItem)
                 }
             }
-
             QGCMenuItem {
                 text:           qsTr("Orbit at location")
                 visible:        guidedActionsController.showOrbit
@@ -453,6 +490,16 @@ FlightMap {
                     guidedActionsController.confirmAction(guidedActionsController.actionOrbit, clickMenu.coord, orbitMapCircle)
                 }
             }
+            QGCMenuItem {
+                text:           qsTr("ROI at location")
+                visible:        guidedActionsController.showROI
+
+                onTriggered: {
+                    roiLocationItem.show(clickMenu.coord)
+                    gotoLocationItem.hide()
+                    guidedActionsController.confirmAction(guidedActionsController.actionROI, clickMenu.coord, orbitMapCircle)
+                }
+            }
         }
 
         onClicked: {

src/FlightDisplay/GuidedActionsController.qml

@@ -51,6 +51,7 @@ Item {
     readonly property string setWaypointTitle:              qsTr("Set Waypoint")
     readonly property string gotoTitle:                     qsTr("Go To Location")
     readonly property string vtolTransitionTitle:           qsTr("VTOL Transition")
+    readonly property string roiTitle:                      qsTr("ROI")
 
     readonly property string armMessage:                        qsTr("Arm the vehicle.")
     readonly property string disarmMessage:                     qsTr("Disarm the vehicle")
@@ -70,6 +71,7 @@ Item {
     readonly property string mvPauseMessage:                    qsTr("Pause all vehicles at their current position.")
     readonly property string vtolTransitionFwdMessage:          qsTr("Transition VTOL to fixed wing flight.")
     readonly property string vtolTransitionMRMessage:           qsTr("Transition VTOL to multi-rotor flight.")
+    readonly property string roiMessage:                        qsTr("Make the specified location a Region Of Interest.")
 
     readonly property int actionRTL:                        1
     readonly property int actionLand:                       2
@@ -92,6 +94,7 @@ Item {
     readonly property int actionMVStartMission:             19
     readonly property int actionVtolTransitionToFwdFlight:  20
     readonly property int actionVtolTransitionToMRFlight:   21
+    readonly property int actionROI:                        22
 
     property bool showEmergenyStop:     _guidedActionsEnabled && !_hideEmergenyStop && _vehicleArmed && _vehicleFlying
     property bool showArm:              _guidedActionsEnabled && !_vehicleArmed
@@ -104,6 +107,7 @@ Item {
     property bool showPause:            _guidedActionsEnabled && _vehicleArmed && activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused && !_fixedWingOnApproach
     property bool showChangeAlt:        _guidedActionsEnabled && _vehicleFlying && activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
     property bool showOrbit:            _guidedActionsEnabled && !_hideOrbit && _vehicleFlying && activeVehicle.orbitModeSupported && !_missionActive
+    property bool showROI:              _guidedActionsEnabled && !_hideROI && _vehicleFlying && activeVehicle.roiModeSupported && !_missionActive
     property bool showLandAbort:        _guidedActionsEnabled && _vehicleFlying && _fixedWingOnApproach
     property bool showGotoLocation:     _guidedActionsEnabled && _vehicleFlying
 
@@ -129,6 +133,7 @@ Item {
     property int    _resumeMissionIndex:    missionController.resumeMissionIndex
     property bool   _hideEmergenyStop:      !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
     property bool   _hideOrbit:             !QGroundControl.corePlugin.options.guidedBarShowOrbit
+    property bool   _hideROI:               !QGroundControl.corePlugin.options.guidedBarShowOrbit
     property bool   _vehicleWasFlying:      false
     property bool   _rcRSSIAvailable:       activeVehicle ? activeVehicle.rcRSSI > 0 && activeVehicle.rcRSSI <= 100 : false
     property bool   _fixedWingOnApproach:   activeVehicle ? activeVehicle.fixedWing && _vehicleLanding : false
@@ -342,6 +347,11 @@ Item {
             confirmDialog.message = vtolTransitionMRMessage
             confirmDialog.hideTrigger = true
             break
+        case actionROI:
+            confirmDialog.title = roiTitle
+            confirmDialog.message = roiMessage
+            confirmDialog.hideTrigger = Qt.binding(function() { return !showROI })
+            break;
         default:
             console.warn("Unknown actionCode", actionCode)
             return
@@ -417,6 +427,9 @@ Item {
         case actionVtolTransitionToMRFlight:
             activeVehicle.vtolInFwdFlight = false
             break
+        case actionROI:
+            activeVehicle.guidedModeROI(actionData)
+            break
         default:
             console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
             break

src/Vehicle/Vehicle.cc

@@ -2989,6 +2989,11 @@ bool Vehicle::orbitModeSupported() const
     return _firmwarePlugin->isCapable(this, FirmwarePlugin::OrbitModeCapability);
 }
 
+bool Vehicle::roiModeSupported() const
+{
+    return _firmwarePlugin->isCapable(this, FirmwarePlugin::ROIModeCapability);
+}
+
 bool Vehicle::takeoffVehicleSupported() const
 {
     return _firmwarePlugin->isCapable(this, FirmwarePlugin::TakeoffVehicleCapability);
@@ -3094,6 +3099,38 @@ void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius,
     }
 }
 
+void Vehicle::guidedModeROI(const QGeoCoordinate& centerCoord)
+{
+    if (!roiModeSupported()) {
+        qgcApp()->showMessage(QStringLiteral("ROI mode not supported by Vehicle."));
+        return;
+    }
+    if (capabilityBits() & MAV_PROTOCOL_CAPABILITY_COMMAND_INT) {
+        sendMavCommandInt(
+            defaultComponentId(),
+            MAV_CMD_DO_SET_ROI_LOCATION,
+            MAV_FRAME_GLOBAL,
+            true,                           // show error if fails
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            centerCoord.latitude(), centerCoord.longitude(), static_cast<float>(centerCoord.altitude()));
+    } else {
+        sendMavCommand(
+            defaultComponentId(),
+            MAV_CMD_DO_SET_ROI_LOCATION,
+            true,                           // show error if fails
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(qQNaN()),    // Empty
+            static_cast<float>(centerCoord.latitude()),
+            static_cast<float>(centerCoord.longitude()),
+            static_cast<float>(centerCoord.altitude()));
+    }
+}
+
 void Vehicle::pauseVehicle(void)
 {
     if (!pauseVehicleSupported()) {

src/Vehicle/Vehicle.h

@@ -654,6 +654,7 @@ public:
     Q_PROPERTY(bool     guidedModeSupported     READ guidedModeSupported                            CONSTANT)                   ///< Guided mode commands are supported by this vehicle
     Q_PROPERTY(bool     pauseVehicleSupported   READ pauseVehicleSupported                          CONSTANT)                   ///< Pause vehicle command is supported
     Q_PROPERTY(bool     orbitModeSupported      READ orbitModeSupported                             CONSTANT)                   ///< Orbit mode is supported by this vehicle
+    Q_PROPERTY(bool     roiModeSupported        READ roiModeSupported                               CONSTANT)                   ///< Orbit mode is supported by this vehicle
     Q_PROPERTY(bool     takeoffVehicleSupported READ takeoffVehicleSupported                        CONSTANT)                   ///< Guided takeoff supported
     Q_PROPERTY(QString  gotoFlightMode          READ gotoFlightMode                                 CONSTANT)                   ///< Flight mode vehicle is in while performing goto
 
@@ -737,6 +738,10 @@ public:
     ///     @param amslAltitude Desired vehicle altitude
     Q_INVOKABLE void guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double amslAltitude);
 
+    /// Command vehicle to keep given point as ROI
+    ///     @param centerCoord ROI coordinates
+    Q_INVOKABLE void guidedModeROI(const QGeoCoordinate& centerCoord);
+
     /// Command vehicle to pause at current location. If vehicle supports guide mode, vehicle will be left
     /// in guided mode after pause.
     Q_INVOKABLE void pauseVehicle(void);
@@ -786,6 +791,7 @@ public:
     bool    guidedModeSupported     (void) const;
     bool    pauseVehicleSupported   (void) const;
     bool    orbitModeSupported      (void) const;
+    bool    roiModeSupported        (void) const;
     bool    takeoffVehicleSupported (void) const;
     QString gotoFlightMode          (void) const;
 

src/api/QGCOptions.h

@@ -49,6 +49,7 @@ public:
     Q_PROPERTY(QString                  firmwareUpgradeSingleURL        READ firmwareUpgradeSingleURL       CONSTANT)
     Q_PROPERTY(bool                     guidedBarShowEmergencyStop      READ guidedBarShowEmergencyStop     NOTIFY guidedBarShowEmergencyStopChanged)
     Q_PROPERTY(bool                     guidedBarShowOrbit              READ guidedBarShowOrbit             NOTIFY guidedBarShowOrbitChanged)
+    Q_PROPERTY(bool                     guidedBarShowROI                READ guidedBarShowROI               NOTIFY guidedBarShowROIChanged)
     Q_PROPERTY(bool                     missionWaypointsOnly            READ missionWaypointsOnly           NOTIFY missionWaypointsOnlyChanged)
     Q_PROPERTY(bool                     multiVehicleEnabled             READ multiVehicleEnabled            NOTIFY multiVehicleEnabledChanged)
     Q_PROPERTY(bool                     showOfflineMapExport            READ showOfflineMapExport           NOTIFY showOfflineMapExportChanged)
@@ -110,6 +111,7 @@ public:
     virtual bool    showFirmwareUpgrade             () const { return true; }
     virtual bool    guidedBarShowEmergencyStop      () const { return true; }
     virtual bool    guidedBarShowOrbit              () const { return true; }
+    virtual bool    guidedBarShowROI                () const { return true; }
     virtual bool    missionWaypointsOnly            () const { return false; }  ///< true: Only allow waypoints and complex items in Plan
     virtual bool    multiVehicleEnabled             () const { return true; }   ///< false: multi vehicle support is disabled
     virtual bool    guidedActionsRequireRCRSSI      () const { return false; }  ///< true: Guided actions will be disabled is there is no RC RSSI
@@ -147,6 +149,7 @@ signals:
     void showFirmwareUpgradeChanged             (bool show);
     void guidedBarShowEmergencyStopChanged      (bool show);
     void guidedBarShowOrbitChanged              (bool show);
+    void guidedBarShowROIChanged                (bool show);
     void missionWaypointsOnlyChanged            (bool missionWaypointsOnly);
     void multiVehicleEnabledChanged             (bool multiVehicleEnabled);
     void showOfflineMapExportChanged            ();