diff --git a/ChangeLog.md b/ChangeLog.md
index c0b217a..d67c4b6 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -7,6 +7,7 @@ Note: This file only contains high level features or important fixes.
### 3.6.0 - Daily Build
* Log Replay: Support changing speed of playback
+* Basic object avoidance added to vehicles.
* Added ability to set a joystick button to be single action or repeated action while the button is held down.
* Rework joysticks. Fixed several issues and updated setup UI.
* Adding support for UDP RTP h.265 video streams
diff --git a/custom-example/res/CustomFlyView.qml b/custom-example/res/CustomFlyView.qml
index c7e8f01..90760fa 100644
--- a/custom-example/res/CustomFlyView.qml
+++ b/custom-example/res/CustomFlyView.qml
@@ -604,6 +604,26 @@ Item {
}
}
//-------------------------------------------------------------------------
+ //-- Object Avoidance
+ Item {
+ visible: activeVehicle && activeVehicle.objectAvoidance.available && activeVehicle.objectAvoidance.enabled
+ anchors.centerIn: parent
+ width: parent.width * 0.5
+ height: parent.height * 0.5
+ Repeater {
+ model: activeVehicle && activeVehicle.objectAvoidance.gridSize > 0 ? activeVehicle.objectAvoidance.gridSize : []
+ Rectangle {
+ width: ScreenTools.defaultFontPixelWidth
+ height: width
+ radius: width * 0.5
+ color: distance < 0.25 ? "red" : "orange"
+ x: (parent.width * activeVehicle.objectAvoidance.grid(modelData).x) + (parent.width * 0.5)
+ y: (parent.height * activeVehicle.objectAvoidance.grid(modelData).y) + (parent.height * 0.5)
+ property real distance: activeVehicle.objectAvoidance.distance(modelData)
+ }
+ }
+ }
+ //-------------------------------------------------------------------------
//-- Connection Lost While Armed
Popup {
id: connectionLostArmed
diff --git a/qgcimages.qrc b/qgcimages.qrc
index 446cea1..2da131c 100644
--- a/qgcimages.qrc
+++ b/qgcimages.qrc
@@ -1,6 +1,5 @@
<RCC>
<qresource prefix="/qmlimages">
- <file alias="camera.svg">resources/camera.svg</file>
<file alias="adsbVehicle.svg">src/FlightMap/Images/adsbVehicle.svg</file>
<file alias="Airframe/AirframeSimulation">src/AutoPilotPlugins/Common/Images/AirframeSimulation.svg</file>
<file alias="Airframe/AirframeUnknown">src/AutoPilotPlugins/Common/Images/AirframeUnknown.svg</file>
@@ -59,6 +58,7 @@
<file alias="attitudePointer.svg">src/FlightMap/Images/attitudePointer.svg</file>
<file alias="AwarenessAircraft.svg">src/FlightMap/Images/AwarenessAircraft.svg</file>
<file alias="Battery.svg">src/ui/toolbar/Images/Battery.svg</file>
+ <file alias="camera.svg">resources/camera.svg</file>
<file alias="camera_photo.svg">src/Camera/images/camera_photo.svg</file>
<file alias="camera_video.svg">src/Camera/images/camera_video.svg</file>
<file alias="CameraComponentIcon.png">src/AutoPilotPlugins/PX4/Images/CameraComponentIcon.png</file>
@@ -91,6 +91,7 @@
<file alias="Hamburger.svg">src/ui/toolbar/Images/Hamburger.svg</file>
<file alias="Help.svg">src/FlightMap/Images/Help.svg</file>
<file alias="HelpBlack.svg">src/FlightMap/Images/HelpBlack.svg</file>
+ <file alias="HITL.svg">src/AutoPilotPlugins/PX4/Images/HITL.svg</file>
<file alias="Home.svg">src/FlightMap/Images/Home.svg</file>
<file alias="Joystick.png">src/ui/toolbar/Images/Joystick.png</file>
<file alias="LandMode.svg">src/AutoPilotPlugins/PX4/Images/LandMode.svg</file>
@@ -117,6 +118,7 @@
<file alias="MotorComponentIcon.svg">src/AutoPilotPlugins/Common/Images/MotorComponentIcon.svg</file>
<file alias="no-logging-light.svg">src/AutoPilotPlugins/PX4/Images/no-logging-light.svg</file>
<file alias="no-logging.svg">src/AutoPilotPlugins/PX4/Images/no-logging.svg</file>
+ <file alias="ObjectAvoidance.svg">src/AutoPilotPlugins/PX4/Images/ObjectAvoidance.svg</file>
<file alias="PaperPlane.svg">src/ui/toolbar/Images/PaperPlane.svg</file>
<file alias="PiP.svg">src/FlightMap/Images/PiP.svg</file>
<file alias="pipHide.svg">src/FlightMap/Images/pipHide.svg</file>
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 55ac49c..818ed0c 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -855,6 +855,7 @@ HEADERS+= \
src/Vehicle/MultiVehicleManager.h \
src/Vehicle/GPSRTKFactGroup.h \
src/Vehicle/Vehicle.h \
+ src/Vehicle/VehicleObjectAvoidance.h \
src/VehicleSetup/VehicleComponent.h \
!MobileBuild { !NoSerialBuild {
@@ -881,6 +882,7 @@ SOURCES += \
src/Vehicle/MultiVehicleManager.cc \
src/Vehicle/GPSRTKFactGroup.cc \
src/Vehicle/Vehicle.cc \
+ src/Vehicle/VehicleObjectAvoidance.cc \
src/VehicleSetup/VehicleComponent.cc \
!MobileBuild { !NoSerialBuild {
diff --git a/src/AutoPilotPlugins/PX4/Images/HITL.svg b/src/AutoPilotPlugins/PX4/Images/HITL.svg
new file mode 100644
index 0000000..d8b318b
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/Images/HITL.svg
@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 23.0.4, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+ viewBox="0 0 288 288" style="enable-background:new 0 0 288 288;" xml:space="preserve">
+<style type="text/css">
+ .st0{fill:#FFFFFF;}
+ .st1{fill:#FFFFFF;stroke:#FFFFFF;}
+ .st2{fill:none;stroke:#FFFFFF;stroke-width:3;stroke-linecap:round;}
+ .st3{fill:none;stroke:#FFFFFF;stroke-width:3;}
+ .st4{fill:#FFFFFF;stroke:#FFFFFF;stroke-width:3;}
+</style>
+<g>
+ <path class="st0" d="M274.534,5.498H13.465C6.043,5.498,0,11.545,0,18.963v200.232c0,7.418,6.042,13.465,13.465,13.465h94.671
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+ C135.936,206.222,139.553,209.843,144,209.843z"/>
+</g>
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+ </g>
+</g>
+</svg>
diff --git a/src/AutoPilotPlugins/PX4/Images/LandMode.svg b/src/AutoPilotPlugins/PX4/Images/LandMode.svg
index d6dabab..5a6f980 100644
--- a/src/AutoPilotPlugins/PX4/Images/LandMode.svg
+++ b/src/AutoPilotPlugins/PX4/Images/LandMode.svg
@@ -1,26 +1,24 @@
<?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 19.2.1, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
+<!-- Generator: Adobe Illustrator 23.0.4, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
- viewBox="0 0 39.07 60.197" style="enable-background:new 0 0 39.07 60.197;" xml:space="preserve">
+ viewBox="0 0 72 72" style="enable-background:new 0 0 72 72;" xml:space="preserve">
<style type="text/css">
.st0{fill:#FFFFFF;}
.st1{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;}
.st2{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;stroke-dasharray:3.0018,3.0018;}
</style>
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+ c0.2-0.1,0.4-0.3,0.7-0.4L18.3,6z"/>
<g>
<g>
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+ <line class="st1" x1="36" y1="65.5" x2="36" y2="63.7"/>
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<g>
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+ <polygon class="st0" points="36,71.8 39.6,62.9 36,65 32.4,62.9 "/>
</g>
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diff --git a/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg b/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg
index 5cb700f..fb79a66 100644
--- a/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg
+++ b/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg
@@ -1,10 +1,10 @@
<?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 19.2.1, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
+<!-- Generator: Adobe Illustrator 23.0.4, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
- viewBox="0 0 59.671 87.808" style="enable-background:new 0 0 59.671 87.808;" xml:space="preserve">
+ viewBox="0 0 72 72" style="enable-background:new 0 0 72 72;" xml:space="preserve">
<style type="text/css">
- .st0{fill:none;stroke:#FFFFFF;stroke-width:2;stroke-miterlimit:10;}
- .st1{fill:none;stroke:#FFFFFF;stroke-width:2;stroke-miterlimit:10;stroke-dasharray:2.8321,2.8321;}
+ .st0{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;}
+ .st1{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;stroke-dasharray:3.0018,3.0018;}
.st2{fill:#FFFFFF;}
.st3{fill:#FFFFFF;stroke:#FFFFFF;}
.st4{fill:none;stroke:#FFFFFF;stroke-width:3;stroke-linecap:round;}
@@ -13,69 +13,38 @@
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+ <path id="path2991-6-9_3_" class="st7" d="M229.653,103.506c1.779,0.379,3.05,1.515,2.829,2.596
+ c-0.222,1.081-1.912,1.689-3.764,1.295c-1.852-0.394-3.105-1.63-2.811-2.696C226.201,103.636,227.874,103.127,229.653,103.506z"
+ />
+ <path id="path3761-1-5_3_" class="st8" d="M239.086,105.925c0.619,3.345-3.426,6.142-9.239,5.668s-10.651-4.119-10.632-7.525
+ c0.018-3.406,4.367-5.277,9.542-4.742c1.253,0.13,2.498,0.397,3.682,0.793"/>
</g>
- <path class="st9" d="M230.281,94.257c15.501-6.427,26.238-13.176,37.581-25.54"/>
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</svg>
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.cc b/src/AutoPilotPlugins/PX4/SafetyComponent.cc
index 047b7a3..06224bf 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.cc
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.cc
@@ -27,7 +27,7 @@ QString SafetyComponent::name(void) const
QString SafetyComponent::description(void) const
{
- return tr("Safety Setup is used to setup triggers for Return to Land as well as the settings for Return to Land itself.");
+ return QString();
}
QString SafetyComponent::iconResource(void) const
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
index a510fe8..06e977c 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
@@ -14,11 +14,12 @@ import QtQuick.Controls.Styles 1.4
import QtQuick.Layouts 1.2
import QtGraphicalEffects 1.0
+import QGroundControl 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
-
+import QGroundControl.Palette 1.0
SetupPage {
id: safetyPage
@@ -27,8 +28,8 @@ SetupPage {
id: pageComponent
Item {
- width: Math.max(availableWidth, outerGrid.width)
- height: _hitlAvailable ? (lastRect.y + lastRect.height) : (otherLastRect.y + otherLastRect.height)
+ width: Math.max(availableWidth, outerColumn.width)
+ height: outerColumn.height
FactPanelController {
id: controller
@@ -37,539 +38,625 @@ SetupPage {
readonly property string hitlParam: "SYS_HITL"
property real _margins: ScreenTools.defaultFontPixelHeight
- property real _editFieldWidth: ScreenTools.defaultFontPixelWidth * 20
- property real _imageWidth: ScreenTools.defaultFontPixelWidth * 15
+ property real _labelWidth: ScreenTools.defaultFontPixelWidth * 30
+ property real _editFieldWidth: ScreenTools.defaultFontPixelWidth * 24
property real _imageHeight: ScreenTools.defaultFontPixelHeight * 3
-
- property Fact _enableLogging: controller.getParameterFact(-1, "SDLOG_MODE")
- property Fact _fenceAction: controller.getParameterFact(-1, "GF_ACTION")
- property Fact _fenceRadius: controller.getParameterFact(-1, "GF_MAX_HOR_DIST")
- property Fact _fenceAlt: controller.getParameterFact(-1, "GF_MAX_VER_DIST")
- property Fact _rtlLandDelay: controller.getParameterFact(-1, "RTL_LAND_DELAY")
- property Fact _lowBattAction: controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
- property Fact _rcLossAction: controller.getParameterFact(-1, "NAV_RCL_ACT")
- property Fact _dlLossAction: controller.getParameterFact(-1, "NAV_DLL_ACT")
- property Fact _disarmLandDelay: controller.getParameterFact(-1, "COM_DISARM_LAND")
- property Fact _landSpeedMC: controller.getParameterFact(-1, "MPC_LAND_SPEED", false)
- property bool _hitlAvailable: controller.parameterExists(-1, hitlParam)
- property Fact _hitlEnabled: controller.getParameterFact(-1, hitlParam, false)
-
- Rectangle {
- x: lowBattGrid.x + outerGrid.x - _margins
- y: lowBattGrid.y + outerGrid.y - _margins
- width: lowBattGrid.width + (_margins * 2)
- height: lowBattGrid.height + (_margins * 2)
- color: qgcPal.windowShade
- }
-
- Rectangle {
- x: rcLossGrid.x + outerGrid.x - _margins
- y: rcLossGrid.y + outerGrid.y - _margins
- width: rcLossGrid.width + (_margins * 2)
- height: rcLossGrid.height + (_margins * 2)
- color: qgcPal.windowShade
- }
-
- Rectangle {
- x: dataLinkLossGrid.x + outerGrid.x - _margins
- y: dataLinkLossGrid.y + outerGrid.y - _margins
- width: dataLinkLossGrid.width + (_margins * 2)
- height: dataLinkLossGrid.height + (_margins * 2)
- color: qgcPal.windowShade
- }
-
- Rectangle {
- x: geoFenceGrid.x + outerGrid.x - _margins
- y: geoFenceGrid.y + outerGrid.y - _margins
- width: geoFenceGrid.width + (_margins * 2)
- height: geoFenceGrid.height + (_margins * 2)
- color: qgcPal.windowShade
- }
-
- Rectangle {
- x: returnHomeGrid.x + outerGrid.x - _margins
- y: returnHomeGrid.y + outerGrid.y - _margins
- width: returnHomeGrid.width + (_margins * 2)
- height: returnHomeGrid.height + (_margins * 2)
- color: qgcPal.windowShade
- }
-
- Rectangle {
- x: landModeGrid.x + outerGrid.x - _margins
- y: landModeGrid.y + outerGrid.y - _margins
- width: landModeGrid.width + (_margins * 2)
- height: landModeGrid.height + (_margins * 2)
- color: qgcPal.windowShade
- }
-
- Rectangle {
- id: otherLastRect
- x: loggingGrid.x + outerGrid.x - _margins
- y: loggingGrid.y + outerGrid.y - _margins
- width: loggingGrid.width + (_margins * 2)
- height: loggingGrid.height + (_margins * 2)
- color: qgcPal.windowShade
- }
-
- Rectangle {
- id: lastRect
- x: hitlGrid.x + outerGrid.x - _margins
- y: hitlGrid.y + outerGrid.y - _margins
- width: hitlGrid.width + (_margins * 2)
- height: hitlGrid.height + (_margins * 2)
- color: qgcPal.windowShade
- visible: _hitlAvailable
- }
-
- GridLayout {
- id: outerGrid
- columns: 3
+ property real _imageWidth: _imageHeight * 2
+
+ property Fact _enableLogging: controller.getParameterFact(-1, "SDLOG_MODE")
+ property Fact _fenceAction: controller.getParameterFact(-1, "GF_ACTION")
+ property Fact _fenceRadius: controller.getParameterFact(-1, "GF_MAX_HOR_DIST")
+ property Fact _fenceAlt: controller.getParameterFact(-1, "GF_MAX_VER_DIST")
+ property Fact _rtlLandDelay: controller.getParameterFact(-1, "RTL_LAND_DELAY")
+ property Fact _lowBattAction: controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
+ property Fact _rcLossAction: controller.getParameterFact(-1, "NAV_RCL_ACT")
+ property Fact _dlLossAction: controller.getParameterFact(-1, "NAV_DLL_ACT")
+ property Fact _disarmLandDelay: controller.getParameterFact(-1, "COM_DISARM_LAND")
+ property Fact _collisionPrevention: controller.getParameterFact(-1, "MPC_COL_PREV_D")
+ property Fact _objectAvoidance: controller.getParameterFact(-1, "COM_OBS_AVOID")
+ property Fact _landSpeedMC: controller.getParameterFact(-1, "MPC_LAND_SPEED", false)
+ property bool _hitlAvailable: controller.parameterExists(-1, hitlParam)
+ property Fact _hitlEnabled: controller.getParameterFact(-1, hitlParam, false)
+
+ ColumnLayout {
+ id: outerColumn
+ spacing: _margins
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
- text: qsTr("Low Battery Failsafe Trigger")
- Layout.columnSpan: 3
+ text: qsTr("Low Battery Failsafe Trigger")
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3 }
+ Rectangle {
+ width: mainRow.width + (_margins * 2)
+ height: mainRow.height + (_margins * 2)
+ color: qgcPal.windowShade
+ Row {
+ id: mainRow
+ spacing: _margins
+ anchors.centerIn: parent
+ Item {
+ width: _imageWidth
+ height: _imageHeight
+ anchors.verticalCenter: parent.verticalCenter
+ Image {
+ mipmap: true
+ fillMode: Image.PreserveAspectFit
+ source: qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
+ height: _imageHeight
+ anchors.centerIn: parent
+ }
+ }
+ GridLayout {
+ columns: 2
+ anchors.verticalCenter: parent.verticalCenter
+
+ QGCLabel {
+ text: qsTr("Failsafe Action:")
+ Layout.minimumWidth:_labelWidth
+ Layout.fillWidth: true
+ }
+ FactComboBox {
+ fact: _lowBattAction
+ indexModel: false
+ Layout.minimumWidth:_editFieldWidth
+ Layout.fillWidth: true
+ }
- Item { width: _margins; height: 1 }
+ QGCLabel {
+ text: qsTr("Battery Warn Level:")
+ Layout.fillWidth: true
+ }
+ FactTextField {
+ fact: controller.getParameterFact(-1, "BAT_LOW_THR")
+ Layout.fillWidth: true
+ }
- GridLayout {
- id: lowBattGrid
- columns: 3
+ QGCLabel {
+ text: qsTr("Battery Failsafe Level:")
+ Layout.fillWidth: true
+ }
+ FactTextField {
+ fact: controller.getParameterFact(-1, "BAT_CRIT_THR")
+ Layout.fillWidth: true
+ }
- Image {
- mipmap: true
- fillMode: Image.PreserveAspectFit
- source: qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
- Layout.rowSpan: 4
- Layout.maximumWidth: _imageWidth
- Layout.maximumHeight: _imageHeight
- width: _imageWidth
- height: _imageHeight
+ QGCLabel {
+ text: qsTr("Battery Emergency Level:")
+ Layout.fillWidth: true
+ }
+ FactTextField {
+ fact: controller.getParameterFact(-1, "BAT_EMERGEN_THR")
+ Layout.fillWidth: true
+ }
+ }
}
+ }
- QGCLabel {
- text: qsTr("Failsafe Action:")
- Layout.fillWidth: true
- }
- FactComboBox {
- fact: _lowBattAction
- indexModel: false
- Layout.minimumWidth: _editFieldWidth
- }
+ QGCLabel {
+ text: qsTr("Object Detection")
+ }
- QGCLabel {
- text: qsTr("Battery Warn Level:")
- Layout.fillWidth: true
- }
- FactTextField {
- fact: controller.getParameterFact(-1, "BAT_LOW_THR")
- Layout.minimumWidth: _editFieldWidth
- }
+ Rectangle {
+ width: mainRow.width + (_margins * 2)
+ height: odRow.height + (_margins * 2)
+ color: qgcPal.windowShade
+ Row {
+ id: odRow
+ spacing: _margins
+ anchors.centerIn: parent
+ Item {
+ width: _imageWidth
+ height: _imageHeight
+ anchors.verticalCenter: parent.verticalCenter
+ QGCColoredImage {
+ color: qgcPal.text
+ source: "/qmlimages/ObjectAvoidance.svg"
+ height: _imageHeight
+ width: _imageHeight * 2
+ anchors.centerIn: parent
+ }
+ }
+ GridLayout {
+ columns: 2
+ anchors.verticalCenter: parent.verticalCenter
+
+ QGCLabel {
+ text: qsTr("Collision Prevention:")
+ Layout.minimumWidth:_labelWidth
+ Layout.fillWidth: true
+ }
+ QGCComboBox {
+ model: [qsTr("Disabled"), qsTr("Enabled")]
+ enabled: _collisionPrevention
+ Layout.minimumWidth:_editFieldWidth
+ Layout.fillWidth: true
+ currentIndex: _collisionPrevention ? (_collisionPrevention.rawValue > 0 ? 1 : 0) : 0
+ onActivated: {
+ if(_collisionPrevention) {
+ _collisionPrevention.value = index > 0 ? 5 : -1
+ console.log('Collision prevention enabled: ' + _collisionPrevention.value)
+ }
+ }
+ }
- QGCLabel {
- text: qsTr("Battery Failsafe Level:")
- Layout.fillWidth: true
- }
- FactTextField {
- fact: controller.getParameterFact(-1, "BAT_CRIT_THR")
- Layout.minimumWidth: _editFieldWidth
- }
+ QGCLabel {
+ text: qsTr("Obstacle Avoidance:")
+ Layout.fillWidth: true
+ }
+ QGCComboBox {
+ model: [qsTr("Disabled"), qsTr("Enabled")]
+ enabled: _objectAvoidance && _collisionPrevention.rawValue > 0
+ Layout.minimumWidth:_editFieldWidth
+ Layout.fillWidth: true
+ currentIndex: _objectAvoidance ? (_objectAvoidance.value === 0 ? 0 : 1) : 0
+ onActivated: {
+ if(_objectAvoidance) {
+ _objectAvoidance.value = index > 0 ? 1 : 0
+ }
+ }
+ }
- QGCLabel {
- text: qsTr("Battery Emergency Level:")
- Layout.fillWidth: true
- }
- FactTextField {
- fact: controller.getParameterFact(-1, "BAT_EMERGEN_THR")
- Layout.minimumWidth: _editFieldWidth
+ QGCLabel {
+ text: qsTr("Minimum Distance: (") + QGroundControl.appSettingsDistanceUnitsString + ")"
+ Layout.fillWidth: true
+ Layout.alignment: Qt.AlignVCenter
+ }
+ QGCSlider {
+ width: _editFieldWidth
+ enabled: _collisionPrevention && _collisionPrevention.rawValue > 0
+ Layout.minimumWidth:_editFieldWidth
+ Layout.minimumHeight: ScreenTools.defaultFontPixelHeight * 2
+ Layout.fillWidth: true
+ Layout.fillHeight: true
+ maximumValue: QGroundControl.metersToAppSettingsDistanceUnits(15)
+ minimumValue: QGroundControl.metersToAppSettingsDistanceUnits(1)
+ stepSize: 1
+ displayValue: true
+ updateValueWhileDragging: false
+ Layout.alignment: Qt.AlignVCenter
+ value: {
+ if (_collisionPrevention && _collisionPrevention.rawValue > 0) {
+ return QGroundControl.metersToAppSettingsDistanceUnits(_collisionPrevention.rawValue)
+ } else {
+ return 1;
+ }
+ }
+ onValueChanged: {
+ if(_collisionPrevention) {
+ //-- Negative means disabled
+ if(_collisionPrevention.rawValue >= 0) {
+ _collisionPrevention.rawValue = QGroundControl.appSettingsDistanceUnitsToMeters(value)
+ }
+ }
+ }
+ }
+ }
}
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
QGCLabel {
- text: qsTr("RC Loss Failsafe Trigger")
- Layout.columnSpan: 3
+ text: qsTr("RC Loss Failsafe Trigger")
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
- Item { width: _margins; height: 1 }
-
- GridLayout {
- id: rcLossGrid
- columns: 3
-
- Image {
- mipmap: true
- fillMode: Image.PreserveAspectFit
- source: qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
- Layout.rowSpan: 3
- Layout.maximumWidth: _imageWidth
- Layout.maximumHeight: _imageHeight
- width: _imageWidth
- height: _imageHeight
- }
-
- QGCLabel {
- text: qsTr("Failsafe Action:")
- Layout.fillWidth: true
- }
- FactComboBox {
- fact: _rcLossAction
- indexModel: false
- Layout.minimumWidth: _editFieldWidth
- }
+ Rectangle {
+ width: mainRow.width + (_margins * 2)
+ height: rcLossGrid.height + (_margins * 2)
+ color: qgcPal.windowShade
+ Row {
+ id: rcLossGrid
+ spacing: _margins
+ anchors.centerIn: parent
+ Item {
+ width: _imageWidth
+ height: _imageHeight
+ anchors.verticalCenter: parent.verticalCenter
+ Image {
+ mipmap: true
+ fillMode: Image.PreserveAspectFit
+ source: qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
+ height: _imageHeight
+ anchors.centerIn: parent
+ }
+ }
+ GridLayout {
+ columns: 2
+ anchors.verticalCenter: parent.verticalCenter
+
+ QGCLabel {
+ text: qsTr("Failsafe Action:")
+ Layout.minimumWidth:_labelWidth
+ Layout.fillWidth: true
+ }
+ FactComboBox {
+ fact: _rcLossAction
+ indexModel: false
+ Layout.minimumWidth:_editFieldWidth
+ Layout.fillWidth: true
+ }
- QGCLabel {
- text: qsTr("RC Loss Timeout:")
- Layout.fillWidth: true
- }
- FactTextField {
- fact: controller.getParameterFact(-1, "COM_RC_LOSS_T")
- Layout.minimumWidth: _editFieldWidth
+ QGCLabel {
+ text: qsTr("RC Loss Timeout:")
+ Layout.fillWidth: true
+ }
+ FactTextField {
+ fact: controller.getParameterFact(-1, "COM_RC_LOSS_T")
+ Layout.fillWidth: true
+ }
+ }
}
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
QGCLabel {
- text: qsTr("Data Link Loss Failsafe Trigger")
- Layout.columnSpan: 3
+ text: qsTr("Data Link Loss Failsafe Trigger")
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
- Item { width: _margins; height: 1 }
-
- GridLayout {
- id: dataLinkLossGrid
- columns: 3
-
- Image {
- mipmap: true
- fillMode: Image.PreserveAspectFit
- source: qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
- Layout.rowSpan: 3
- Layout.maximumWidth: _imageWidth
- Layout.maximumHeight: _imageHeight
- width: _imageWidth
- height: _imageHeight
- }
-
- QGCLabel {
- text: qsTr("Failsafe Action:")
- Layout.fillWidth: true
- }
- FactComboBox {
- fact: _dlLossAction
- indexModel: false
- Layout.minimumWidth: _editFieldWidth
- }
+ Rectangle {
+ width: mainRow.width + (_margins * 2)
+ height: dataLinkLossGrid.height + (_margins * 2)
+ color: qgcPal.windowShade
+ Row {
+ id: dataLinkLossGrid
+ spacing: _margins
+ anchors.centerIn: parent
+ Item {
+ width: _imageWidth
+ height: _imageHeight
+ anchors.verticalCenter: parent.verticalCenter
+ Image {
+ mipmap: true
+ fillMode: Image.PreserveAspectFit
+ source: qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
+ height: _imageHeight
+ anchors.centerIn: parent
+ }
+ }
+ GridLayout {
+ columns: 2
+ anchors.verticalCenter: parent.verticalCenter
+
+ QGCLabel {
+ text: qsTr("Failsafe Action:")
+ Layout.minimumWidth:_labelWidth
+ Layout.fillWidth: true
+ }
+ FactComboBox {
+ fact: _dlLossAction
+ indexModel: false
+ Layout.minimumWidth:_editFieldWidth
+ Layout.fillWidth: true
+ }
- QGCLabel {
- text: qsTr("Data Link Loss Timeout:")
- Layout.fillWidth: true
- }
- FactTextField {
- fact: controller.getParameterFact(-1, "COM_DL_LOSS_T")
- Layout.minimumWidth: _editFieldWidth
+ QGCLabel {
+ text: qsTr("Data Link Loss Timeout:")
+ Layout.fillWidth: true
+ }
+ FactTextField {
+ fact: controller.getParameterFact(-1, "COM_DL_LOSS_T")
+ Layout.fillWidth: true
+ }
+ }
}
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
QGCLabel {
- text: qsTr("Geofence Failsafe Trigger")
- Layout.columnSpan: 3
+ text: qsTr("Geofence Failsafe Trigger")
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
- Item { width: _margins; height: 1 }
-
- GridLayout {
- id: geoFenceGrid
- columns: 3
+ Rectangle {
+ width: mainRow.width + (_margins * 2)
+ height: geoFenceGrid.height + (_margins * 2)
+ color: qgcPal.windowShade
+ Row {
+ id: geoFenceGrid
+ spacing: _margins
+ anchors.centerIn: parent
+ Item {
+ width: _imageWidth
+ height: _imageHeight
+ anchors.verticalCenter: parent.verticalCenter
+ Image {
+ mipmap: true
+ fillMode: Image.PreserveAspectFit
+ source: qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
+ height: _imageHeight
+ anchors.centerIn: parent
+ }
+ }
- Image {
- mipmap: true
- fillMode: Image.PreserveAspectFit
- source: qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
- Layout.rowSpan: 3
- Layout.maximumWidth: _imageWidth
- Layout.maximumHeight: _imageHeight
- width: _imageWidth
- height: _imageHeight
- }
+ GridLayout {
+ columns: 2
+ anchors.verticalCenter: parent.verticalCenter
- QGCLabel {
- text: qsTr("Action on breach:")
- Layout.fillWidth: true
- }
- FactComboBox {
- fact: _fenceAction
- indexModel: false
- Layout.minimumWidth: _editFieldWidth
- }
+ QGCLabel {
+ text: qsTr("Action on breach:")
+ Layout.minimumWidth:_labelWidth
+ Layout.fillWidth: true
+ }
+ FactComboBox {
+ fact: _fenceAction
+ indexModel: false
+ Layout.minimumWidth:_editFieldWidth
+ Layout.fillWidth: true
+ }
- QGCCheckBox {
- id: fenceRadiusCheckBox
- text: qsTr("Max Radius:")
- checked: _fenceRadius.value > 0
- onClicked: _fenceRadius.value = checked ? 100 : 0
- Layout.fillWidth: true
- }
- FactTextField {
- fact: _fenceRadius
- enabled: fenceRadiusCheckBox.checked
- Layout.minimumWidth: _editFieldWidth
- }
+ QGCCheckBox {
+ id: fenceRadiusCheckBox
+ text: qsTr("Max Radius:")
+ checked: _fenceRadius.value > 0
+ onClicked: _fenceRadius.value = checked ? 100 : 0
+ Layout.fillWidth: true
+ }
+ FactTextField {
+ fact: _fenceRadius
+ enabled: fenceRadiusCheckBox.checked
+ Layout.fillWidth: true
+ }
- QGCCheckBox {
- id: fenceAltMaxCheckBox
- text: qsTr("Max Altitude:")
- checked: _fenceAlt ? _fenceAlt.value > 0 : false
- onClicked: _fenceAlt.value = checked ? 100 : 0
- Layout.fillWidth: true
- }
- FactTextField {
- fact: _fenceAlt
- enabled: fenceAltMaxCheckBox.checked
- Layout.minimumWidth: _editFieldWidth
+ QGCCheckBox {
+ id: fenceAltMaxCheckBox
+ text: qsTr("Max Altitude:")
+ checked: _fenceAlt ? _fenceAlt.value > 0 : false
+ onClicked: _fenceAlt.value = checked ? 100 : 0
+ Layout.fillWidth: true
+ }
+ FactTextField {
+ fact: _fenceAlt
+ enabled: fenceAltMaxCheckBox.checked
+ Layout.fillWidth: true
+ }
+ }
}
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
QGCLabel {
text: qsTr("Return Home Settings")
- Layout.columnSpan: 3
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
- Item { width: _margins; height: 1 }
-
- GridLayout {
- id: returnHomeGrid
- columns: 3
-
- QGCColoredImage {
- color: qgcPal.text
- mipmap: true
- fillMode: Image.PreserveAspectFit
- source: controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
- Layout.rowSpan: 7
- Layout.maximumWidth: _imageWidth
- Layout.maximumHeight: _imageHeight
- width: _imageWidth
- height: _imageHeight
- }
-
- QGCLabel {
- text: qsTr("Climb to altitude of:")
- Layout.fillWidth: true
- }
- FactTextField {
- fact: controller.getParameterFact(-1, "RTL_RETURN_ALT")
- Layout.minimumWidth: _editFieldWidth
- }
-
- QGCLabel {
- text: qsTr("Return home, then:")
- Layout.columnSpan: 2
- }
- Row {
- Layout.columnSpan: 2
- Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
- QGCRadioButton {
- id: homeLandRadio
- checked: _rtlLandDelay ? _rtlLandDelay.value === 0 : false
- text: qsTr("Land immediately")
- onClicked: _rtlLandDelay.value = 0
- }
- }
+ Rectangle {
+ width: mainRow.width + (_margins * 2)
+ height: returnHomeGrid.height + (_margins * 2)
+ color: qgcPal.windowShade
Row {
- Layout.columnSpan: 2
- Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
- QGCRadioButton {
- id: homeLoiterNoLandRadio
- checked: _rtlLandDelay ? _rtlLandDelay.value < 0 : false
- text: qsTr("Loiter and do not land")
- onClicked: _rtlLandDelay.value = -1
- }
- }
- Row {
- Layout.columnSpan: 2
- Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
- QGCRadioButton {
- id: homeLoiterLandRadio
- checked: _rtlLandDelay ? _rtlLandDelay.value > 0 : false
- text: qsTr("Loiter and land after specified time")
- onClicked: _rtlLandDelay.value = 60
+ id: returnHomeGrid
+ spacing: _margins
+ anchors.centerIn: parent
+ Item {
+ width: _imageWidth
+ height: _imageHeight
+ anchors.verticalCenter: parent.verticalCenter
+ QGCColoredImage {
+ color: qgcPal.text
+ source: controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
+ height: _imageHeight
+ width: _imageHeight * 2
+ anchors.centerIn: parent
+ }
}
- }
+ GridLayout {
+ columns: 2
+ anchors.verticalCenter: parent.verticalCenter
+
+ QGCLabel {
+ text: qsTr("Climb to altitude of:")
+ Layout.minimumWidth: _labelWidth
+ Layout.fillWidth: true
+ }
+ FactTextField {
+ fact: controller.getParameterFact(-1, "RTL_RETURN_ALT")
+ Layout.minimumWidth: _editFieldWidth
+ Layout.fillWidth: true
+ }
- QGCLabel {
- text: qsTr("Loiter Time")
- Layout.fillWidth: true
- }
- FactTextField {
- fact: controller.getParameterFact(-1, "RTL_LAND_DELAY")
- enabled: homeLoiterLandRadio.checked === true
- Layout.minimumWidth: _editFieldWidth
- }
+ QGCLabel {
+ text: qsTr("Return home, then:")
+ Layout.columnSpan: 2
+ }
+ Row {
+ Layout.columnSpan: 2
+ Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
+ QGCRadioButton {
+ id: homeLandRadio
+ checked: _rtlLandDelay ? _rtlLandDelay.value === 0 : false
+ text: qsTr("Land immediately")
+ onClicked: _rtlLandDelay.value = 0
+ }
+ }
+ Row {
+ Layout.columnSpan: 2
+ Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
+ QGCRadioButton {
+ id: homeLoiterNoLandRadio
+ checked: _rtlLandDelay ? _rtlLandDelay.value < 0 : false
+ text: qsTr("Loiter and do not land")
+ onClicked: _rtlLandDelay.value = -1
+ }
+ }
+ Row {
+ Layout.columnSpan: 2
+ Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
+ QGCRadioButton {
+ id: homeLoiterLandRadio
+ checked: _rtlLandDelay ? _rtlLandDelay.value > 0 : false
+ text: qsTr("Loiter and land after specified time")
+ onClicked: _rtlLandDelay.value = 60
+ }
+ }
- QGCLabel {
- text: qsTr("Loiter Altitude")
- Layout.fillWidth: true
- }
- FactTextField {
- fact: controller.getParameterFact(-1, "RTL_DESCEND_ALT")
- enabled: homeLoiterLandRadio.checked === true || homeLoiterNoLandRadio.checked === true
- Layout.minimumWidth: _editFieldWidth
+ QGCLabel {
+ text: qsTr("Loiter Time")
+ Layout.fillWidth: true
+ }
+ FactTextField {
+ fact: controller.getParameterFact(-1, "RTL_LAND_DELAY")
+ enabled: homeLoiterLandRadio.checked === true
+ Layout.fillWidth: true
+ }
+
+ QGCLabel {
+ text: qsTr("Loiter Altitude")
+ Layout.fillWidth: true
+ }
+ FactTextField {
+ fact: controller.getParameterFact(-1, "RTL_DESCEND_ALT")
+ enabled: homeLoiterLandRadio.checked === true || homeLoiterNoLandRadio.checked === true
+ Layout.fillWidth: true
+ }
+ }
}
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
QGCLabel {
text: qsTr("Land Mode Settings")
- Layout.columnSpan: 3
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
- Item { width: _margins; height: 1 }
-
- GridLayout {
- id: landModeGrid
- columns: 3
-
- QGCColoredImage {
- color: qgcPal.text
- mipmap: true
- fillMode: Image.PreserveAspectFit
- source: controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
- Layout.rowSpan: landVelocityLabel.visible ? 2 : 1
- width: _imageWidth
- height: _imageHeight
- Layout.maximumWidth: _imageWidth
- Layout.maximumHeight: _imageHeight
- }
-
- QGCLabel {
- id: landVelocityLabel
- text: qsTr("Landing Descent Rate:")
- Layout.fillWidth: true
- visible: controller.vehicle && !controller.vehicle.fixedWing
- }
- FactTextField {
- fact: _landSpeedMC
- Layout.minimumWidth: _editFieldWidth
- visible: controller.vehicle && !controller.vehicle.fixedWing
- }
+ Rectangle {
+ width: mainRow.width + (_margins * 2)
+ height: landModeGrid.height + (_margins * 2)
+ color: qgcPal.windowShade
+ Row {
+ id: landModeGrid
+ spacing: _margins
+ anchors.centerIn: parent
+ Item {
+ width: _imageWidth
+ height: _imageHeight
+ anchors.verticalCenter: parent.verticalCenter
+ QGCColoredImage {
+ color: qgcPal.text
+ source: controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
+ height: _imageHeight
+ width: _imageHeight
+ anchors.centerIn: parent
+ }
+ }
+ GridLayout {
+ columns: 2
+ anchors.verticalCenter: parent.verticalCenter
+
+ QGCLabel {
+ id: landVelocityLabel
+ text: qsTr("Landing Descent Rate:")
+ visible: controller.vehicle && !controller.vehicle.fixedWing
+ Layout.minimumWidth:_labelWidth
+ Layout.fillWidth: true
+ }
+ FactTextField {
+ fact: _landSpeedMC
+ visible: controller.vehicle && !controller.vehicle.fixedWing
+ Layout.minimumWidth:_editFieldWidth
+ Layout.fillWidth: true
+ }
- QGCCheckBox {
- id: disarmDelayCheckBox
- text: qsTr("Disarm After:")
- checked: _disarmLandDelay.value > 0
- onClicked: _disarmLandDelay.value = checked ? 2 : 0
- Layout.fillWidth: true
- }
- FactTextField {
- fact: _disarmLandDelay
- enabled: disarmDelayCheckBox.checked
- Layout.minimumWidth: _editFieldWidth
+ QGCCheckBox {
+ id: disarmDelayCheckBox
+ text: qsTr("Disarm After:")
+ checked: _disarmLandDelay.value > 0
+ onClicked: _disarmLandDelay.value = checked ? 2 : 0
+ Layout.fillWidth: true
+ }
+ FactTextField {
+ fact: _disarmLandDelay
+ enabled: disarmDelayCheckBox.checked
+ Layout.fillWidth: true
+ }
+ }
}
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
QGCLabel {
text: qsTr("Vehicle Telemetry Logging")
- Layout.columnSpan: 3
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
- Item { width: _margins; height: 1 }
-
- GridLayout {
- id: loggingGrid
- columns: 4
- columnSpacing: ScreenTools.defaultFontPixelWidth * 4
- Item {
- Layout.fillWidth: true
- }
- Image {
- mipmap: true
- fillMode: Image.PreserveAspectFit
- source: qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/no-logging-light.svg" : "/qmlimages/no-logging.svg"
- Layout.maximumWidth: _imageWidth
- Layout.maximumHeight: _imageHeight
- width: _imageWidth
- height: _imageHeight
- }
- QGCCheckBox {
- text: qsTr("Enable telemetry logging to vehicle storage")
- checkedState: _enableLogging ? (_enableLogging.value >= 0 ? Qt.Checked : Qt.Unchecked) : Qt.Unchecked
- Layout.minimumWidth: _editFieldWidth
- Layout.alignment: Qt.AlignVCenter
- onClicked: {
- if(_enableLogging) {
- _enableLogging.value = checked ? 0 : -1
+ Rectangle {
+ width: mainRow.width + (_margins * 2)
+ height: loggingGrid.height + (_margins * 2)
+ color: qgcPal.windowShade
+ Row {
+ id: loggingGrid
+ spacing: _margins
+ anchors.centerIn: parent
+ Item {
+ width: _imageWidth
+ height: _imageHeight
+ anchors.verticalCenter: parent.verticalCenter
+ Image {
+ mipmap: true
+ fillMode: Image.PreserveAspectFit
+ source: qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/no-logging-light.svg" : "/qmlimages/no-logging.svg"
+ height: _imageHeight
+ anchors.centerIn: parent
+ }
+ }
+ GridLayout {
+ columns: 2
+ anchors.verticalCenter: parent.verticalCenter
+ QGCLabel {
+ text: qsTr("Telemetry logging to vehicle storage:")
+ Layout.minimumWidth:_labelWidth
+ Layout.fillWidth: true
+ }
+ QGCComboBox {
+ model: [qsTr("Disabled"), qsTr("Enabled")]
+ enabled: _enableLogging
+ Layout.minimumWidth:_editFieldWidth
+ Layout.fillWidth: true
+ Component.onCompleted: {
+ currentIndex = _enableLogging ? (_enableLogging.value >= 0 ? 1 : 0) : 0
+ }
+ onActivated: {
+ if(_enableLogging) {
+ _enableLogging.value = index > 0 ? 0 : -1
+ }
+ }
}
}
- }
- Item {
- Layout.fillWidth: true
}
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3; visible: _hitlAvailable }
-
QGCLabel {
text: qsTr("Hardware in the Loop Simulation")
- Layout.columnSpan: 3
visible: _hitlAvailable
}
- Item { width: 1; height: _margins; Layout.columnSpan: 3; visible: _hitlAvailable }
-
- Item { width: _margins; height: 1; visible: _hitlAvailable }
-
- GridLayout {
- id: hitlGrid
- columns: 3
- visible: _hitlAvailable
-
- Image {
- mipmap: true
- fillMode: Image.PreserveAspectFit
- source: qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/VehicleSummaryIcon.png" : "/qmlimages/VehicleSummaryIcon.png"
- Layout.rowSpan: 3
- Layout.maximumWidth: _imageWidth
- Layout.maximumHeight: _imageHeight
- width: _imageWidth
- height: _imageHeight
- }
-
- QGCLabel {
- text: qsTr("HITL Enabled:")
- Layout.fillWidth: true
- }
- FactComboBox {
- fact: _hitlEnabled
- indexModel: false
- Layout.minimumWidth: _editFieldWidth
+ Rectangle {
+ width: mainRow.width + (_margins * 2)
+ height: hitlGrid.height + (_margins * 2)
+ color: qgcPal.windowShade
+ visible: _hitlAvailable
+ Row {
+ id: hitlGrid
+ spacing: _margins
+ anchors.centerIn: parent
+ Item {
+ width: _imageWidth
+ height: _imageHeight
+ anchors.verticalCenter: parent.verticalCenter
+ QGCColoredImage {
+ color: qgcPal.text
+ source: "/qmlimages/HITL.svg"
+ height: _imageHeight
+ width: _imageHeight
+ anchors.centerIn: parent
+ }
+ }
+ GridLayout {
+ columns: 2
+ anchors.verticalCenter: parent.verticalCenter
+ QGCLabel {
+ text: qsTr("HITL Enabled:")
+ Layout.minimumWidth:_labelWidth
+ Layout.fillWidth: true
+ }
+ FactComboBox {
+ fact: _hitlEnabled
+ indexModel: false
+ Layout.minimumWidth:_editFieldWidth
+ Layout.fillWidth: true
+ }
+ }
}
}
-
}
}
}
diff --git a/src/FactSystem/Fact.h b/src/FactSystem/Fact.h
index f8ffcc1..af1d285 100644
--- a/src/FactSystem/Fact.h
+++ b/src/FactSystem/Fact.h
@@ -30,13 +30,13 @@ class Fact : public QObject
Q_OBJECT
public:
- Fact(QObject* parent = NULL);
- Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent = NULL);
- Fact(const Fact& other, QObject* parent = NULL);
+ Fact(QObject* parent = nullptr);
+ Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent = nullptr);
+ Fact(const Fact& other, QObject* parent = nullptr);
/// Creates a Fact using the name and type from metaData. Also calls QGCCorePlugin::adjustSettingsMetaData allowing
/// custom builds to override the metadata.
- Fact(const QString& settingsGroup, FactMetaData* metaData, QObject* parent = NULL);
+ Fact(const QString& settingsGroup, FactMetaData* metaData, QObject* parent = nullptr);
const Fact& operator=(const Fact& other);
@@ -51,7 +51,7 @@ public:
Q_PROPERTY(QStringList enumStrings READ enumStrings NOTIFY enumsChanged)
Q_PROPERTY(QString enumStringValue READ enumStringValue WRITE setEnumStringValue NOTIFY valueChanged)
Q_PROPERTY(QVariantList enumValues READ enumValues NOTIFY enumsChanged)
- Q_PROPERTY(QString category READ category CONSTANT)
+ Q_PROPERTY(QString category READ category CONSTANT)
Q_PROPERTY(QString group READ group CONSTANT)
Q_PROPERTY(QString longDescription READ longDescription CONSTANT)
Q_PROPERTY(QVariant max READ cookedMax CONSTANT)
diff --git a/src/FlightDisplay/FlightDisplayViewMap.qml b/src/FlightDisplay/FlightDisplayViewMap.qml
index 77e5f54..be9eb04 100644
--- a/src/FlightDisplay/FlightDisplayViewMap.qml
+++ b/src/FlightDisplay/FlightDisplayViewMap.qml
@@ -296,7 +296,7 @@ FlightMap {
sourceItem: MissionItemIndexLabel {
checked: true
index: -1
- label: qsTr("Goto here", "Goto here waypoint")
+ label: qsTr("Go here", "Go to location waypoint")
}
property bool inGotoFlightMode: activeVehicle ? activeVehicle.flightMode === activeVehicle.gotoFlightMode : false
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index 07ef945..28e2a9a 100644
--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -95,6 +95,7 @@
#include "MAVLinkInspectorController.h"
#include "GeoTagController.h"
#include "LogReplayLink.h"
+#include "VehicleObjectAvoidance.h"
#ifndef __mobile__
#include "FirmwareUpgradeController.h"
@@ -466,18 +467,19 @@ void QGCApplication::_initCommon()
qmlRegisterType<QGCPalette> ("QGroundControl.Palette", 1, 0, "QGCPalette");
qmlRegisterType<QGCMapPalette> ("QGroundControl.Palette", 1, 0, "QGCMapPalette");
- qmlRegisterUncreatableType<Vehicle> (kQGCVehicle, 1, 0, "Vehicle", kRefOnly);
- qmlRegisterUncreatableType<MissionItem> (kQGCVehicle, 1, 0, "MissionItem", kRefOnly);
- qmlRegisterUncreatableType<MissionManager> (kQGCVehicle, 1, 0, "MissionManager", kRefOnly);
- qmlRegisterUncreatableType<ParameterManager> (kQGCVehicle, 1, 0, "ParameterManager", kRefOnly);
- qmlRegisterUncreatableType<QGCCameraManager> (kQGCVehicle, 1, 0, "QGCCameraManager", kRefOnly);
- qmlRegisterUncreatableType<QGCCameraControl> (kQGCVehicle, 1, 0, "QGCCameraControl", kRefOnly);
- qmlRegisterUncreatableType<QGCVideoStreamInfo> (kQGCVehicle, 1, 0, "QGCVideoStreamInfo", kRefOnly);
- qmlRegisterUncreatableType<LinkInterface> (kQGCVehicle, 1, 0, "LinkInterface", kRefOnly);
- qmlRegisterUncreatableType<MissionController> (kQGCControllers, 1, 0, "MissionController", kRefOnly);
- qmlRegisterUncreatableType<GeoFenceController> (kQGCControllers, 1, 0, "GeoFenceController", kRefOnly);
- qmlRegisterUncreatableType<RallyPointController>(kQGCControllers, 1, 0, "RallyPointController", kRefOnly);
- qmlRegisterUncreatableType<VisualMissionItem> (kQGCControllers, 1, 0, "VisualMissionItem", kRefOnly);
+ qmlRegisterUncreatableType<Vehicle> (kQGCVehicle, 1, 0, "Vehicle", kRefOnly);
+ qmlRegisterUncreatableType<MissionItem> (kQGCVehicle, 1, 0, "MissionItem", kRefOnly);
+ qmlRegisterUncreatableType<MissionManager> (kQGCVehicle, 1, 0, "MissionManager", kRefOnly);
+ qmlRegisterUncreatableType<ParameterManager> (kQGCVehicle, 1, 0, "ParameterManager", kRefOnly);
+ qmlRegisterUncreatableType<VehicleObjectAvoidance> (kQGCVehicle, 1, 0, "VehicleObjectAvoidance", kRefOnly);
+ qmlRegisterUncreatableType<QGCCameraManager> (kQGCVehicle, 1, 0, "QGCCameraManager", kRefOnly);
+ qmlRegisterUncreatableType<QGCCameraControl> (kQGCVehicle, 1, 0, "QGCCameraControl", kRefOnly);
+ qmlRegisterUncreatableType<QGCVideoStreamInfo> (kQGCVehicle, 1, 0, "QGCVideoStreamInfo", kRefOnly);
+ qmlRegisterUncreatableType<LinkInterface> (kQGCVehicle, 1, 0, "LinkInterface", kRefOnly);
+ qmlRegisterUncreatableType<MissionController> (kQGCControllers, 1, 0, "MissionController", kRefOnly);
+ qmlRegisterUncreatableType<GeoFenceController> (kQGCControllers, 1, 0, "GeoFenceController", kRefOnly);
+ qmlRegisterUncreatableType<RallyPointController> (kQGCControllers, 1, 0, "RallyPointController", kRefOnly);
+ qmlRegisterUncreatableType<VisualMissionItem> (kQGCControllers, 1, 0, "VisualMissionItem", kRefOnly);
qmlRegisterUncreatableType<CoordinateVector> ("QGroundControl", 1, 0, "CoordinateVector", kRefOnly);
qmlRegisterUncreatableType<QmlObjectListModel> ("QGroundControl", 1, 0, "QmlObjectListModel", kRefOnly);
diff --git a/src/QmlControls/QGCColoredImage.qml b/src/QmlControls/QGCColoredImage.qml
index 58a0ff2..a6639f6 100644
--- a/src/QmlControls/QGCColoredImage.qml
+++ b/src/QmlControls/QGCColoredImage.qml
@@ -27,18 +27,19 @@ Item {
height: image.height
Image {
- id: image
- smooth: true
- mipmap: true
- antialiasing: true
- visible: false
- fillMode: Image.PreserveAspectFit
- anchors.fill: parent
+ id: image
+ smooth: true
+ mipmap: true
+ antialiasing: true
+ visible: false
+ fillMode: Image.PreserveAspectFit
+ anchors.fill: parent
+ sourceSize.height: height
}
ColorOverlay {
- anchors.fill: image
- source: image
- color: parent.color
+ anchors.fill: image
+ source: image
+ color: parent.color
}
}
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index c56c477..79e2115 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -41,6 +41,8 @@
#include "VideoManager.h"
#include "VideoSettings.h"
#include "PositionManager.h"
+#include "VehicleObjectAvoidance.h"
+
#if defined(QGC_AIRMAP_ENABLED)
#include "AirspaceVehicleManager.h"
#endif
@@ -156,7 +158,6 @@ Vehicle::Vehicle(LinkInterface* link,
, _geoFenceManagerInitialRequestSent(false)
, _rallyPointManager(nullptr)
, _rallyPointManagerInitialRequestSent(false)
- , _parameterManager(nullptr)
#if defined(QGC_AIRMAP_ENABLED)
, _airspaceVehicleManager(nullptr)
#endif
@@ -359,7 +360,6 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _geoFenceManagerInitialRequestSent(false)
, _rallyPointManager(nullptr)
, _rallyPointManagerInitialRequestSent(false)
- , _parameterManager(nullptr)
#if defined(QGC_AIRMAP_ENABLED)
, _airspaceVehicleManager(nullptr)
#endif
@@ -451,6 +451,8 @@ void Vehicle::_commonInit(void)
_parameterManager = new ParameterManager(this);
connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
+ _objectAvoidance = new VehicleObjectAvoidance(this, this);
+
// GeoFenceManager needs to access ParameterManager so make sure to create after
_geoFenceManager = new GeoFenceManager(this);
connect(_geoFenceManager, &GeoFenceManager::error, this, &Vehicle::_geoFenceManagerError);
@@ -812,6 +814,9 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
case MAVLINK_MSG_ID_MOUNT_ORIENTATION:
_handleGimbalOrientation(message);
break;
+ case MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
+ _handleObstacleDistance(message);
+ break;
case MAVLINK_MSG_ID_SERIAL_CONTROL:
{
@@ -4057,6 +4062,13 @@ void Vehicle::_handleGimbalOrientation(const mavlink_message_t& message)
}
}
+void Vehicle::_handleObstacleDistance(const mavlink_message_t& message)
+{
+ mavlink_obstacle_distance_t o;
+ mavlink_msg_obstacle_distance_decode(&message, &o);
+ _objectAvoidance->update(&o);
+}
+
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 231e82f..f4e35b6 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -37,6 +37,8 @@ class SettingsManager;
class ADSBVehicle;
class QGCCameraManager;
class Joystick;
+class VehicleObjectAvoidance;
+
#if defined(QGC_AIRMAP_ENABLED)
class AirspaceVehicleManager;
#endif
@@ -484,7 +486,6 @@ private:
#endif
};
-
class Vehicle : public FactGroup
{
Q_OBJECT
@@ -652,7 +653,8 @@ public:
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
- Q_PROPERTY(ParameterManager* parameterManager READ parameterManager CONSTANT)
+ Q_PROPERTY(ParameterManager* parameterManager READ parameterManager CONSTANT)
+ Q_PROPERTY(VehicleObjectAvoidance* objectAvoidance READ objectAvoidance CONSTANT)
// FactGroup object model properties
@@ -989,8 +991,9 @@ public:
void setConnectionLostEnabled(bool connectionLostEnabled);
- ParameterManager* parameterManager(void) { return _parameterManager; }
- ParameterManager* parameterManager(void) const { return _parameterManager; }
+ ParameterManager* parameterManager() { return _parameterManager; }
+ ParameterManager* parameterManager() const { return _parameterManager; }
+ VehicleObjectAvoidance* objectAvoidance() { return _objectAvoidance; }
static const int cMaxRcChannels = 18;
@@ -1295,6 +1298,7 @@ private:
void _handleOrbitExecutionStatus(const mavlink_message_t& message);
void _handleMessageInterval(const mavlink_message_t& message);
void _handleGimbalOrientation(const mavlink_message_t& message);
+ void _handleObstacleDistance(const mavlink_message_t& message);
// ArduPilot dialect messages
#if !defined(NO_ARDUPILOT_DIALECT)
void _handleCameraFeedback(const mavlink_message_t& message);
@@ -1425,7 +1429,8 @@ private:
RallyPointManager* _rallyPointManager;
bool _rallyPointManagerInitialRequestSent;
- ParameterManager* _parameterManager;
+ ParameterManager* _parameterManager = nullptr;
+ VehicleObjectAvoidance* _objectAvoidance = nullptr;
#if defined(QGC_AIRMAP_ENABLED)
AirspaceVehicleManager* _airspaceVehicleManager;
diff --git a/src/Vehicle/VehicleObjectAvoidance.cc b/src/Vehicle/VehicleObjectAvoidance.cc
new file mode 100644
index 0000000..dde9998
--- /dev/null
+++ b/src/Vehicle/VehicleObjectAvoidance.cc
@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ * (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 "Vehicle.h"
+#include "VehicleObjectAvoidance.h"
+#include "ParameterManager.h"
+#include <cmath>
+
+static const char* kColPrevParam = "MPC_COL_PREV_D";
+
+//-----------------------------------------------------------------------------
+VehicleObjectAvoidance::VehicleObjectAvoidance(Vehicle *vehicle, QObject* parent)
+ : QObject(parent)
+ , _vehicle(vehicle)
+{
+}
+
+//-----------------------------------------------------------------------------
+void
+VehicleObjectAvoidance::update(mavlink_obstacle_distance_t* message)
+{
+ //-- Collect raw data
+ if(std::isfinite(message->increment_f) && message->increment_f > 0) {
+ _increment = static_cast<qreal>(message->increment_f);
+ } else {
+ _increment = static_cast<qreal>(message->increment);
+ }
+ _minDistance = message->min_distance;
+ _maxDistance = message->max_distance;
+ _angleOffset = static_cast<qreal>(message->angle_offset);
+ if(_distances.count() == 0) {
+ for(int i = 0; i < MAVLINK_MSG_OBSTACLE_DISTANCE_FIELD_DISTANCES_LEN; i++) {
+ _distances.append(static_cast<int>(message->distances[i]));
+ }
+ } else {
+ for(int i = 0; i < MAVLINK_MSG_OBSTACLE_DISTANCE_FIELD_DISTANCES_LEN; i++) {
+ _distances[i] = static_cast<int>(message->distances[i]);
+ }
+ }
+ //-- Create a plottable grid with found objects
+ _objGrid.clear();
+ _objDistance.clear();
+ VehicleSetpointFactGroup* sp = dynamic_cast<VehicleSetpointFactGroup*>(_vehicle->setpointFactGroup());
+ qreal startAngle = sp->yaw()->rawValue().toDouble() + _angleOffset;
+ for(int i = 0; i < MAVLINK_MSG_OBSTACLE_DISTANCE_FIELD_DISTANCES_LEN; i++) {
+ if(_distances[i] < _maxDistance && message->distances[i] != UINT16_MAX) {
+ qreal d = static_cast<qreal>(_distances[i]);
+ d = d / static_cast<qreal>(_maxDistance);
+ qreal a = (_increment * i) - startAngle;
+ if(a < 0) a = a + 360;
+ qreal rd = (M_PI / 180.0) * a;
+ QPointF p = QPointF(d * cos(rd), d * sin(rd));
+ _objGrid.append(p);
+ _objDistance.append(d);
+ }
+ }
+ emit objectAvoidanceChanged();
+}
+
+//-----------------------------------------------------------------------------
+bool
+VehicleObjectAvoidance::enabled()
+{
+ uint8_t id = static_cast<uint8_t>(_vehicle->id());
+ if(_vehicle->parameterManager()->parameterExists(id, kColPrevParam)) {
+ return _vehicle->parameterManager()->getParameter(id, kColPrevParam)->rawValue().toInt() >= 0;
+ }
+ return false;
+}
+
+//-----------------------------------------------------------------------------
+void
+VehicleObjectAvoidance::start(int minDistance)
+{
+ uint8_t id = static_cast<uint8_t>(_vehicle->id());
+ if(_vehicle->parameterManager()->parameterExists(id, kColPrevParam)) {
+ _vehicle->parameterManager()->getParameter(id, kColPrevParam)->setRawValue(minDistance);
+ emit objectAvoidanceChanged();
+ }
+}
+
+//-----------------------------------------------------------------------------
+void
+VehicleObjectAvoidance::stop()
+{
+ uint8_t id = static_cast<uint8_t>(_vehicle->id());
+ if(_vehicle->parameterManager()->parameterExists(id, kColPrevParam)) {
+ _vehicle->parameterManager()->getParameter(id, kColPrevParam)->setRawValue(-1);
+ emit objectAvoidanceChanged();
+ }
+}
+
+//-----------------------------------------------------------------------------
+QPointF
+VehicleObjectAvoidance::grid(int i)
+{
+ if(i < _objGrid.count() && i >= 0) {
+ return _objGrid[i];
+ }
+ return QPointF(0,0);
+}
+
+//-----------------------------------------------------------------------------
+qreal
+VehicleObjectAvoidance::distance(int i)
+{
+ if(i < _objDistance.count() && i >= 0) {
+ return _objDistance[i];
+ }
+ return 0;
+}
diff --git a/src/Vehicle/VehicleObjectAvoidance.h b/src/Vehicle/VehicleObjectAvoidance.h
new file mode 100644
index 0000000..b892285
--- /dev/null
+++ b/src/Vehicle/VehicleObjectAvoidance.h
@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ * (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 <QVector>
+#include <QPointF>
+
+#include "QGCMAVLink.h"
+
+class Vehicle;
+
+class VehicleObjectAvoidance : public QObject
+{
+ Q_OBJECT
+public:
+ VehicleObjectAvoidance(Vehicle* vehicle, QObject* parent = nullptr);
+
+ Q_PROPERTY(bool available READ available NOTIFY objectAvoidanceChanged)
+ Q_PROPERTY(bool enabled READ enabled NOTIFY objectAvoidanceChanged)
+ Q_PROPERTY(QList<int> distances READ distances NOTIFY objectAvoidanceChanged)
+ Q_PROPERTY(qreal increment READ increment NOTIFY objectAvoidanceChanged)
+ Q_PROPERTY(int minDistance READ minDistance NOTIFY objectAvoidanceChanged)
+ Q_PROPERTY(int maxDistance READ maxDistance NOTIFY objectAvoidanceChanged)
+ Q_PROPERTY(qreal angleOffset READ angleOffset NOTIFY objectAvoidanceChanged)
+ Q_PROPERTY(int gridSize READ gridSize NOTIFY objectAvoidanceChanged)
+
+ //-- Start collision avoidance. Argument is minimum distance the vehicle should keep to all obstacles
+ Q_INVOKABLE void start (int minDistance);
+ //-- Stop collision avoidance.
+ Q_INVOKABLE void stop ();
+ //-- Object locations (in relationship to vehicle)
+ Q_INVOKABLE QPointF grid (int i);
+ Q_INVOKABLE qreal distance(int i);
+
+ bool available () { return _distances.count() > 0; }
+ bool enabled ();
+ QList<int> distances () { return _distances; }
+ qreal increment () { return _increment; }
+ int minDistance () { return _minDistance; }
+ int maxDistance () { return _maxDistance; }
+ qreal angleOffset () { return _angleOffset; }
+ int gridSize () { return _objGrid.count(); }
+
+ void update (mavlink_obstacle_distance_t* message);
+
+signals:
+ void objectAvoidanceChanged ();
+
+private:
+ QList<int> _distances;
+ QVector<QPointF>_objGrid;
+ QVector<qreal> _objDistance;
+ qreal _increment = 0;
+ int _minDistance = 0;
+ int _maxDistance = 0;
+ qreal _angleOffset = 0;
+ Vehicle* _vehicle = nullptr;
+};
+