Merge pull request #6949 from DonLakeFlyer/HeadingToHome

Heading to Home on Vehicle FactGroup

ChangeLog.md

@@ -8,7 +8,8 @@ Note: This file only contains high level features or important fixes.
 * Add support for specifying fixed RTK based station location in Settings/General.
 * Added Airmap integration to QGC
 * Add ESTIMATOR_STATUS values to new estimatorStatus Vehicle FactGroup. These are now available to display in instrument panel.
-* Make Distance to GCS to available for display from instrument panel.
+* Make Distance to GCS available for display from instrument panel.
+* Make Heading to Home available for display from instrument panel.
 
 ## 3.4
 

src/Vehicle/Vehicle.cc

@@ -70,6 +70,7 @@ const char* Vehicle::_altitudeAMSLFactName =        "altitudeAMSL";
 const char* Vehicle::_flightDistanceFactName =      "flightDistance";
 const char* Vehicle::_flightTimeFactName =          "flightTime";
 const char* Vehicle::_distanceToHomeFactName =      "distanceToHome";
+const char* Vehicle::_headingToHomeFactName =       "headingToHome";
 const char* Vehicle::_distanceToGCSFactName =       "distanceToGCS";
 const char* Vehicle::_hobbsFactName =               "hobbs";
 
@@ -194,6 +195,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _flightDistanceFact   (0, _flightDistanceFactName,    FactMetaData::valueTypeDouble)
     , _flightTimeFact       (0, _flightTimeFactName,        FactMetaData::valueTypeElapsedTimeInSeconds)
     , _distanceToHomeFact   (0, _distanceToHomeFactName,    FactMetaData::valueTypeDouble)
+    , _headingToHomeFact    (0, _headingToHomeFactName,     FactMetaData::valueTypeDouble)
     , _distanceToGCSFact    (0, _distanceToGCSFactName,     FactMetaData::valueTypeDouble)
     , _hobbsFact            (0, _hobbsFactName,             FactMetaData::valueTypeString)
     , _gpsFactGroup(this)
@@ -388,6 +390,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _flightDistanceFact   (0, _flightDistanceFactName,    FactMetaData::valueTypeDouble)
     , _flightTimeFact       (0, _flightTimeFactName,        FactMetaData::valueTypeElapsedTimeInSeconds)
     , _distanceToHomeFact   (0, _distanceToHomeFactName,    FactMetaData::valueTypeDouble)
+    , _headingToHomeFact    (0, _headingToHomeFactName,     FactMetaData::valueTypeDouble)
     , _distanceToGCSFact    (0, _distanceToGCSFactName,     FactMetaData::valueTypeDouble)
     , _hobbsFact            (0, _hobbsFactName,             FactMetaData::valueTypeString)
     , _gpsFactGroup(this)
@@ -408,9 +411,9 @@ void Vehicle::_commonInit(void)
 
     connect(_firmwarePlugin, &FirmwarePlugin::toolbarIndicatorsChanged, this, &Vehicle::toolBarIndicatorsChanged);
 
-    connect(this, &Vehicle::coordinateChanged,      this, &Vehicle::_updateDistanceToHome);
+    connect(this, &Vehicle::coordinateChanged,      this, &Vehicle::_updateDistanceHeadingToHome);
     connect(this, &Vehicle::coordinateChanged,      this, &Vehicle::_updateDistanceToGCS);
-    connect(this, &Vehicle::homePositionChanged,    this, &Vehicle::_updateDistanceToHome);
+    connect(this, &Vehicle::homePositionChanged,    this, &Vehicle::_updateDistanceHeadingToHome);
     connect(this, &Vehicle::hobbsMeterChanged,      this, &Vehicle::_updateHobbsMeter);
 
     connect(_toolbox->qgcPositionManager(), &QGCPositionManager::gcsPositionChanged, this, &Vehicle::_updateDistanceToGCS);
@@ -460,6 +463,7 @@ void Vehicle::_commonInit(void)
     _addFact(&_flightDistanceFact,      _flightDistanceFactName);
     _addFact(&_flightTimeFact,          _flightTimeFactName);
     _addFact(&_distanceToHomeFact,      _distanceToHomeFactName);
+    _addFact(&_headingToHomeFact,       _headingToHomeFactName);
     _addFact(&_distanceToGCSFact,       _distanceToGCSFactName);
 
     _hobbsFact.setRawValue(QVariant(QString("0000:00:00")));
@@ -3597,12 +3601,18 @@ void Vehicle::_handleADSBVehicle(const mavlink_message_t& message)
     }
 }
 
-void Vehicle::_updateDistanceToHome(void)
+void Vehicle::_updateDistanceHeadingToHome(void)
 {
     if (coordinate().isValid() && homePosition().isValid()) {
         _distanceToHomeFact.setRawValue(coordinate().distanceTo(homePosition()));
+        if (_distanceToHomeFact.rawValue().toDouble() > 1.0) {
+            _headingToHomeFact.setRawValue(coordinate().azimuthTo(homePosition()));
+        } else {
+            _headingToHomeFact.setRawValue(qQNaN());
+        }
     } else {
         _distanceToHomeFact.setRawValue(qQNaN());
+        _headingToHomeFact.setRawValue(qQNaN());
     }
 }
 

src/Vehicle/Vehicle.h

@@ -656,6 +656,7 @@ public:
     Q_PROPERTY(Fact* altitudeAMSL       READ altitudeAMSL       CONSTANT)
     Q_PROPERTY(Fact* flightDistance     READ flightDistance     CONSTANT)
     Q_PROPERTY(Fact* distanceToHome     READ distanceToHome     CONSTANT)
+    Q_PROPERTY(Fact* headingToHome      READ headingToHome      CONSTANT)
     Q_PROPERTY(Fact* distanceToGCS      READ distanceToGCS      CONSTANT)
     Q_PROPERTY(Fact* hobbs              READ hobbs              CONSTANT)
 
@@ -946,6 +947,7 @@ public:
     Fact* altitudeAMSL      (void) { return &_altitudeAMSLFact; }
     Fact* flightDistance    (void) { return &_flightDistanceFact; }
     Fact* distanceToHome    (void) { return &_distanceToHomeFact; }
+    Fact* headingToHome     (void) { return &_headingToHomeFact; }
     Fact* distanceToGCS     (void) { return &_distanceToGCSFact; }
     Fact* hobbs             (void) { return &_hobbsFact; }
 
@@ -1191,7 +1193,7 @@ private slots:
     void _sendMavCommandAgain(void);
     void _clearTrajectoryPoints(void);
     void _clearCameraTriggerPoints(void);
-    void _updateDistanceToHome(void);
+    void _updateDistanceHeadingToHome(void);
     void _updateDistanceToGCS(void);
     void _updateHobbsMeter(void);
     void _vehicleParamLoaded(bool ready);
@@ -1456,6 +1458,7 @@ private:
     Fact _flightDistanceFact;
     Fact _flightTimeFact;
     Fact _distanceToHomeFact;
+    Fact _headingToHomeFact;
     Fact _distanceToGCSFact;
     Fact _hobbsFact;
 
@@ -1484,6 +1487,7 @@ private:
     static const char* _flightDistanceFactName;
     static const char* _flightTimeFactName;
     static const char* _distanceToHomeFactName;
+    static const char* _headingToHomeFactName;
     static const char* _distanceToGCSFactName;
     static const char* _hobbsFactName;
 

src/Vehicle/VehicleFact.json

@@ -91,6 +91,13 @@
     "units":            "m"
 },
 {
+    "name":             "headingToHome",
+    "shortDescription": "Heading to Home",
+    "type":             "double",
+    "decimalPlaces":    0,
+    "units":            "deg"
+},
+{
     "name":             "distanceToGCS",
     "shortDescription": "Distance to GCS",
     "type":             "double",