Refactor/fixes for ProximityRadar and friends

qgroundcontrol.qrc

@@ -225,6 +225,8 @@
         <file alias="QGroundControl/FlightDisplay/PreFlightSensorsHealthCheck.qml">src/FlightDisplay/PreFlightSensorsHealthCheck.qml</file>
         <file alias="QGroundControl/FlightDisplay/PreFlightSoundCheck.qml">src/FlightDisplay/PreFlightSoundCheck.qml</file>
         <file alias="QGroundControl/FlightDisplay/PreFlightCheckListShowAction.qml">src/FlightDisplay/PreFlightCheckListShowAction.qml</file>
+        <file alias="QGroundControl/FlightDisplay/ProximityRadarValues.qml">src/FlightDisplay/ProximityRadarValues.qml</file>
+        <file alias="QGroundControl/FlightDisplay/ProximityRadarVideoView.qml">src/FlightDisplay/ProximityRadarVideoView.qml</file>
         <file alias="QGroundControl/FlightDisplay/TerrainProgress.qml">src/FlightDisplay/TerrainProgress.qml</file>
         <file alias="QGroundControl/FlightDisplay/TelemetryValuesBar.qml">src/FlightDisplay/TelemetryValuesBar.qml</file>
         <file alias="QGroundControl/FlightDisplay/VehicleWarnings.qml">src/FlightDisplay/VehicleWarnings.qml</file>
@@ -244,6 +246,7 @@
         <file alias="QGroundControl/FlightMap/PhotoVideoControl.qml">src/FlightMap/Widgets/PhotoVideoControl.qml</file>
         <file alias="QGroundControl/FlightMap/PlanMapItems.qml">src/FlightMap/MapItems/PlanMapItems.qml</file>
         <file alias="QGroundControl/FlightMap/PolygonEditor.qml">src/FlightMap/MapItems/PolygonEditor.qml</file>
+        <file alias="QGroundControl/FlightMap/ProximityRadarMapView.qml">src/FlightMap/MapItems/ProximityRadarMapView.qml</file>
         <file alias="QGroundControl/FlightMap/QGCArtificialHorizon.qml">src/FlightMap/Widgets/QGCArtificialHorizon.qml</file>
         <file alias="QGroundControl/FlightMap/QGCAttitudeHUD.qml">src/FlightMap/Widgets/QGCAttitudeHUD.qml</file>
         <file alias="QGroundControl/FlightMap/QGCAttitudeWidget.qml">src/FlightMap/Widgets/QGCAttitudeWidget.qml</file>
@@ -271,8 +274,6 @@
         <file alias="VibrationPage.qml">src/AnalyzeView/VibrationPage.qml</file>
         <file alias="VirtualJoystick.qml">src/FlightDisplay/VirtualJoystick.qml</file>
         <file alias="VTOLLandingPatternEditor.qml">src/PlanView/VTOLLandingPatternEditor.qml</file>
-        <file alias="QGroundControl/FlightMap/ProximityRadarMapView.qml">src/FlightMap/MapItems/ProximityRadarMapView.qml</file>
-        <file alias="QGroundControl/FlightDisplay/ProximityRadarVideoView.qml">src/FlightDisplay/ProximityRadarVideoView.qml</file>
     </qresource>
     <qresource prefix="/FirstRunPromptDialogs">
         <file alias="UnitsFirstRunPrompt.qml">src/FirstRunPromptDialogs/UnitsFirstRunPrompt.qml</file>

src/FactSystem/Fact.cc

@@ -546,7 +546,7 @@ QString Fact::group(void) const
 void Fact::setMetaData(FactMetaData* metaData, bool setDefaultFromMetaData)
 {
     _metaData = metaData;
-    if (setDefaultFromMetaData) {
+    if (setDefaultFromMetaData && metaData->defaultValueAvailable()) {
         setRawValue(rawDefaultValue());
     }
     emit valueChanged(cookedValue());

src/FactSystem/FactGroup.cc

@@ -25,6 +25,7 @@ FactGroup::FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject*
 {
     _setupTimer();
     _nameToFactMetaDataMap = FactMetaData::createMapFromJsonFile(metaDataFile, this);
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
 }
 
 FactGroup::FactGroup(int updateRateMsecs, QObject* parent, bool ignoreCamelCase)
@@ -33,6 +34,7 @@ FactGroup::FactGroup(int updateRateMsecs, QObject* parent, bool ignoreCamelCase)
     , _ignoreCamelCase(ignoreCamelCase)
 {
     _setupTimer();
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
 }
 
 void FactGroup::_loadFromJsonArray(const QJsonArray jsonArray)
@@ -129,7 +131,7 @@ void FactGroup::_addFact(Fact* fact, const QString& name)
 
     fact->setSendValueChangedSignals(_updateRateMSecs == 0);
     if (_nameToFactMetaDataMap.contains(name)) {
-        fact->setMetaData(_nameToFactMetaDataMap[name]);
+        fact->setMetaData(_nameToFactMetaDataMap[name], true /* setDefaultFromMetaData */);
     }
     _nameToFactMap[name] = fact;
     _factNames.append(name);
@@ -182,3 +184,11 @@ void FactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& /* mess
 {
     // Default implementation does nothing
 }
+
+void FactGroup::_setTelemetryAvailable (bool telemetryAvailable)
+{
+    if (telemetryAvailable != _telemetryAvailable) {
+        _telemetryAvailable = telemetryAvailable;
+        emit telemetryAvailableChanged(_telemetryAvailable);
+    }
+}

src/FactSystem/FactGroup.h

@@ -28,8 +28,9 @@ public:
     FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent = nullptr, bool ignoreCamelCase = false);
     FactGroup(int updateRateMsecs, QObject* parent = nullptr, bool ignoreCamelCase = false);
 
-    Q_PROPERTY(QStringList factNames        READ factNames      NOTIFY factNamesChanged)
-    Q_PROPERTY(QStringList factGroupNames   READ factGroupNames NOTIFY factGroupNamesChanged)
+    Q_PROPERTY(QStringList  factNames           READ factNames          NOTIFY factNamesChanged)
+    Q_PROPERTY(QStringList  factGroupNames      READ factGroupNames     NOTIFY factGroupNamesChanged)
+    Q_PROPERTY(bool         telemetryAvailable  READ telemetryAvailable NOTIFY telemetryAvailableChanged)   ///< false: No telemetry for these values has been received
 
     /// @ return true: if the fact exists in the group
     Q_INVOKABLE bool factExists(const QString& name);
@@ -45,23 +46,26 @@ public:
     /// Turning on live updates will allow value changes to flow through as they are received.
     Q_INVOKABLE void setLiveUpdates(bool liveUpdates);
 
-    QStringList factNames(void) const { return _factNames; }
-    QStringList factGroupNames(void) const { return _nameToFactGroupMap.keys(); }
+    QStringList factNames           (void) const { return _factNames; }
+    QStringList factGroupNames      (void) const { return _nameToFactGroupMap.keys(); }
+    bool        telemetryAvailable  (void) const { return _telemetryAvailable; }
 
     /// Allows a FactGroup to parse incoming messages and fill in values
     virtual void handleMessage(Vehicle* vehicle, mavlink_message_t& message);
 
 signals:
-    void factNamesChanged       (void);
-    void factGroupNamesChanged  (void);
+    void factNamesChanged           (void);
+    void factGroupNamesChanged      (void);
+    void telemetryAvailableChanged  (bool telemetryAvailable);
 
 protected slots:
     virtual void _updateAllValues(void);
 
 protected:
-    void _addFact           (Fact* fact, const QString& name);
-    void _addFactGroup      (FactGroup* factGroup, const QString& name);
-    void _loadFromJsonArray (const QJsonArray jsonArray);
+    void _addFact               (Fact* fact, const QString& name);
+    void _addFactGroup          (FactGroup* factGroup, const QString& name);
+    void _loadFromJsonArray     (const QJsonArray jsonArray);
+    void _setTelemetryAvailable (bool telemetryAvailable);
 
     int  _updateRateMSecs;   ///< Update rate for Fact::valueChanged signals, 0: immediate update
 
@@ -74,6 +78,7 @@ private:
     void    _setupTimer (void);
     QString _camelCase  (const QString& text);
 
-    bool    _ignoreCamelCase = false;
+    bool    _ignoreCamelCase    = false;
     QTimer  _updateTimer;
+    bool    _telemetryAvailable = false;
 };

src/FlightDisplay/FlyViewVideo.qml

@@ -70,7 +70,7 @@ Item {
     }
 
     ProximityRadarVideoView{
-        anchors.fill: parent
-        vehicle: QGroundControl.multiVehicleManager.activeVehicle
+        anchors.fill:   parent
+        vehicle:        QGroundControl.multiVehicleManager.activeVehicle
     }
 }

src/FlightDisplay/ProximityRadarValues.qml

@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ * (c) 2009-2020 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.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.12
+
+/// Object which exposes vehicle distanceSensors FactGroup information for use in UI
+QtObject {
+    property var    vehicle
+
+    property bool   telemetryAvailable: vehicle && vehicle.distanceSensors.telemetryAvailable
+
+    signal rotationValueChanged ///< Signalled when any available rotation value changes
+
+    property real   rotationNoneValue:      _distanceSensors ? _distanceSensors.rotationNone.value : NaN
+    property real   rotationYaw45Value:     _distanceSensors ? _distanceSensors.rotationYaw45.value : NaN
+    property real   rotationYaw90Value:     _distanceSensors ? _distanceSensors.rotationYaw90.value : NaN
+    property real   rotationYaw135Value:    _distanceSensors ? _distanceSensors.rotationYaw135.value : NaN
+    property real   rotationYaw180Value:    _distanceSensors ? _distanceSensors.rotationYaw180.value : NaN
+    property real   rotationYaw225Value:    _distanceSensors ? _distanceSensors.rotationYaw225.value : NaN
+    property real   rotationYaw270Value:    _distanceSensors ? _distanceSensors.rotationYaw270.value : NaN
+    property real   rotationYaw315Value:    _distanceSensors ? _distanceSensors.rotationYaw315.value : NaN
+    property real   maxDistance:            _distanceSensors ? _distanceSensors.maxDistance.value : NaN
+
+    property string rotationNoneValueString:    _distanceSensors ? _distanceSensors.rotationNone.valueString : _noValueStr
+    property string rotationYaw45ValueString:   _distanceSensors ? _distanceSensors.rotationYaw45.valueString : _noValueStr
+    property string rotationYaw90ValueString:   _distanceSensors ? _distanceSensors.rotationYaw90.valueString : _noValueStr
+    property string rotationYaw135ValueString:  _distanceSensors ? _distanceSensors.rotationYaw135.valueString : _noValueStr
+    property string rotationYaw180ValueString:  _distanceSensors ? _distanceSensors.rotationYaw180.valueString : _noValueStr
+    property string rotationYaw225ValueString:  _distanceSensors ? _distanceSensors.rotationYaw225.valueString : _noValueStr
+    property string rotationYaw270ValueString:  _distanceSensors ? _distanceSensors.rotationYaw270.valueString : _noValueStr
+    property string rotationYaw315ValueString:  _distanceSensors ? _distanceSensors.rotationYaw315.valueString : _noValueStr
+
+    property var    rgRotationValues:           [ rotationNoneValue, rotationYaw45Value, rotationYaw90Value, rotationYaw135Value, rotationYaw180Value, rotationYaw225Value, rotationYaw270Value, rotationYaw315Value ]
+    property var    rgRotationValueStrings:     [ rotationNoneValueString, rotationYaw45ValueString, rotationYaw90ValueString, rotationYaw135ValueString, rotationYaw180ValueString, rotationYaw225ValueString, rotationYaw270ValueString, rotationYaw315ValueString ]
+
+    property var    _distanceSensors:       vehicle ? vehicle.distanceSensors : null
+    property string _noValueStr:            qsTr("--.--")
+
+    onRotationNoneValueChanged:     rotationValueChanged()
+    onRotationYaw45ValueChanged:    rotationValueChanged()
+    onRotationYaw90ValueChanged:    rotationValueChanged()
+    onRotationYaw135ValueChanged:   rotationValueChanged()
+    onRotationYaw180ValueChanged:   rotationValueChanged()
+    onRotationYaw225ValueChanged:   rotationValueChanged()
+    onRotationYaw270ValueChanged:   rotationValueChanged()
+    onRotationYaw315ValueChanged:   rotationValueChanged()
+}
+

src/FlightDisplay/ProximityRadarVideoView.qml

@@ -16,93 +16,76 @@ import QGroundControl               1.0
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Vehicle       1.0
 import QGroundControl.Controls      1.0
-//import QGroundControl.Controllers   1.0
+import QGroundControl.FlightDisplay 1.0
 
-
-
-/// Marker for displaying a vehicle location on the map
 Item {
     id:             _root
-    anchors.fill: parent
-
-    property var    vehicle                                                         /// Vehicle object, undefined for ADSB vehicle
-    property var    range
-
-    property var    _distanceSensor:        vehicle?vehicle.distanceSensors:null
-    property var    _range:                 range?range:6 // default 6m view
+    anchors.fill:   parent
+    visible:        proximityValues.telemetryAvailable
 
-    property var    _rotationNone:          _distanceSensor?_distanceSensor.rotationNone.value:0
-    property var    _rotationYaw45:         _distanceSensor?_distanceSensor.rotationYaw45.value:0
-    property var    _rotationYaw90:         _distanceSensor?_distanceSensor.rotationYaw90.value:0
-    property var    _rotationYaw135:        _distanceSensor?_distanceSensor.rotationYaw135.value:0
-    property var    _rotationYaw180:        _distanceSensor?_distanceSensor.rotationYaw180.value:0
-    property var    _rotationYaw225:        _distanceSensor?_distanceSensor.rotationYaw225.value:0
-    property var    _rotationYaw270:        _distanceSensor?_distanceSensor.rotationYaw270.value:0
-    property var    _rotationYaw315:        _distanceSensor?_distanceSensor.rotationYaw315.value:0
-    property var    _rottab:                [_rotationNone,_rotationYaw45,_rotationYaw90,_rotationYaw135,_rotationYaw180,_rotationYaw225,_rotationYaw270,_rotationYaw315]
+    property var    vehicle     ///< Vehicle object, undefined for ADSB vehicle
+    property real   range:  6   ///< Default 6m view
 
-//    on_RottabChanged: _sectorViewEllipsoid.requestPaint()
-    on_RotationNoneChanged:     _sectorViewEllipsoid.requestPaint()
-    on_RotationYaw45Changed:    _sectorViewEllipsoid.requestPaint()
-    on_RotationYaw90Changed:    _sectorViewEllipsoid.requestPaint()
-    on_RotationYaw135Changed:   _sectorViewEllipsoid.requestPaint()
-    on_RotationYaw180Changed:   _sectorViewEllipsoid.requestPaint()
-    on_RotationYaw225Changed:   _sectorViewEllipsoid.requestPaint()
-    on_RotationYaw270Changed:   _sectorViewEllipsoid.requestPaint()
-    on_RotationYaw315Changed:   _sectorViewEllipsoid.requestPaint()
+    property var _minlength:    Math.min(_root.width,_root.height)
+    property var _ratio:        (_minlength / 2) / _root.range
 
-    property var _minlength: Math.min(_root.width,_root.height)
-    property var _ratio: (_minlength/2)/_root._range
+    ProximityRadarValues {
+        id:                     proximityValues
+        vehicle:                _root.vehicle
+        onRotationValueChanged: _sectorViewEllipsoid.requestPaint()
+    }
 
     Canvas{
-        id:_sectorViewEllipsoid
-        anchors.fill: _root
-        opacity:    0.5
-        visible: _distanceSensor?true:false
+        id:             _sectorViewEllipsoid
+        anchors.fill:   _root
+        opacity:        0.5
+
         onPaint: {
-                if(_distanceSensor) {
-                    var ctx = getContext("2d");
-                    ctx.reset();
-                    ctx.translate(width/2,height/2)
-                    ctx.strokeStyle = Qt.rgba(1, 0, 0, 1);
-                    ctx.lineWidth = width/100;
-                    ctx.scale(_root.width  / _minlength,_root.height / _minlength);
-                    ctx.rotate(-Math.PI/2-Math.PI/8);
-                    for(var i=0; i< _rottab.length; i++)
-                    {
-                        var a=Math.PI/4*i;
-                        ctx.beginPath();
-                        ctx.arc(0,0,_rottab[i]*_ratio,0+a+Math.PI/50,Math.PI/4+a-Math.PI/50,false);
-                        ctx.stroke();
-                    }
+            var ctx = getContext("2d");
+            ctx.reset();
+            ctx.translate(width/2, height/2)
+            ctx.strokeStyle = Qt.rgba(1, 0, 0, 1);
+            ctx.lineWidth = width/100;
+            ctx.scale(_root.width  / _minlength, _root.height / _minlength);
+            ctx.rotate(-Math.PI/2 - Math.PI/8);
+            for (var i=0; i<proximityValues.rgRotationValues.length; i++) {
+                var rotationValue = proximityValues.rgRotationValues[i]
+                if (!isNaN(rotationValue)) {
+                    var a=Math.PI/4 * i;
+                    ctx.beginPath();
+                    ctx.arc(0, 0, rotationValue * _ratio, 0 + a + Math.PI/50, Math.PI/4 + a - Math.PI/50, false);
+                    ctx.stroke();
                 }
             }
+        }
     }
-        Item{
-            anchors.fill: parent
-            visible: _distanceSensor?true:false
-            Repeater{
-                model: _rottab
-                QGCLabel{
-                            x:                      _sectorViewEllipsoid.width  / 2-width/2
-                            y:                      _sectorViewEllipsoid.height / 2-height/2
-                            text:                   modelData
-                            font.family:            ScreenTools.demiboldFontFamily
-                            transform: Translate {
-                                        x: Math.cos(-Math.PI/2+Math.PI/4*index)*(modelData*_ratio)
-                                        y: Math.sin(-Math.PI/2+Math.PI/4*index)*(modelData*_ratio)
-                                        }
-                        }
-            }
-            transform: Scale {
-                            origin.x:       _sectorViewEllipsoid.width  / 2
-                            origin.y:       _sectorViewEllipsoid.height / 2
-                            xScale:         _root.width  / _minlength
-                            yScale:         _root.height / _minlength
-                        }
 
+    Item {
+        anchors.fill: parent
+
+        Repeater{
+            model: proximityValues.rgRotationValues.length
 
+            QGCLabel{
+                x:                      (_sectorViewEllipsoid.width / 2) - (width / 2)
+                y:                      (_sectorViewEllipsoid.height / 2) - (height / 2)
+                text:                   proximityValues.rgRotationValueStrings[index]
+                font.family:            ScreenTools.demiboldFontFamily
+                visible:                !isNaN(proximityValues.rgRotationValues[index])
+
+                transform: Translate {
+                    x: Math.cos(-Math.PI/2 + Math.PI/4 * index) * (proximityValues.rgRotationValues[index] * _ratio)
+                    y: Math.sin(-Math.PI/2 + Math.PI/4 * index) * (proximityValues.rgRotationValues[index] * _ratio)
+                }
+            }
+        }
+        transform: Scale {
+            origin.x:       _sectorViewEllipsoid.width / 2
+            origin.y:       _sectorViewEllipsoid.height / 2
+            xScale:         _root.width  / _minlength
+            yScale:         _root.height / _minlength
         }
+    }
 
 }
 

src/FlightMap/MapItems/ProximityRadarMapView.qml

@@ -16,59 +16,35 @@ import QGroundControl               1.0
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Vehicle       1.0
 import QGroundControl.Controls      1.0
+import QGroundControl.FlightDisplay 1.0
 
-
-
-/// Marker for displaying a vehicle location on the map
 MapQuickItem {
     id:             _root
+    visible:        proximityValues.telemetryAvailable && coordinate.isValid
+
     property var    vehicle                                                         /// Vehicle object, undefined for ADSB vehicle
     property var    map
-    property double heading:        vehicle ? vehicle.heading.value : Number.NaN    ///< Vehicle heading, NAN for none
+    property double heading:    vehicle ? vehicle.heading.value : Number.NaN    ///< Vehicle heading, NAN for none
 
     anchorPoint.x:  vehicleItem.width  / 2
     anchorPoint.y:  vehicleItem.height / 2
-    visible:        coordinate.isValid
-
-    property bool   _adsbVehicle:   vehicle ? false : true
-    property real   _uavSize:       ScreenTools.defaultFontPixelHeight * 5
-    property real   _adsbSize:      ScreenTools.defaultFontPixelHeight * 2.5
-    property var    _map:           map
-    property bool   _multiVehicle:  QGroundControl.multiVehicleManager.vehicles.count > 1
-    property real   _ratio:         1
-
-    property var    _distanceSensor:        vehicle?vehicle.distanceSensors:null
-    property var    _maxSensor:             _distanceSensor?_distanceSensor.maxDistance.value:1 //need to change in cc
-    property var    _rotationNone:          _distanceSensor?_distanceSensor.rotationNone.value:0
-    property var    _rotationYaw45:         _distanceSensor?_distanceSensor.rotationYaw45.value:0
-    property var    _rotationYaw90:         _distanceSensor?_distanceSensor.rotationYaw90.value:0
-    property var    _rotationYaw135:        _distanceSensor?_distanceSensor.rotationYaw135.value:0
-    property var    _rotationYaw180:        _distanceSensor?_distanceSensor.rotationYaw180.value:0
-    property var    _rotationYaw225:        _distanceSensor?_distanceSensor.rotationYaw225.value:0
-    property var    _rotationYaw270:        _distanceSensor?_distanceSensor.rotationYaw270.value:0
-    property var    _rotationYaw315:        _distanceSensor?_distanceSensor.rotationYaw315.value:0
-    property var    _rottab:                [_rotationNone,_rotationYaw45,_rotationYaw90,_rotationYaw135,_rotationYaw180,_rotationYaw225,_rotationYaw270,_rotationYaw315]
-
-    function calcSize(){
-        if(_map) {
-            var scaleLinePixelLength = 100
-            var leftCoord  = _map.toCoordinate(Qt.point(0, 0), false /* clipToViewPort */)
-            var rightCoord = _map.toCoordinate(Qt.point(scaleLinePixelLength, 0), false /* clipToViewPort */)
-            var scaleLineMeters = Math.round(leftCoord.distanceTo(rightCoord))
-        }
-        _ratio=scaleLinePixelLength/scaleLineMeters;
-    }
 
-    on_RotationNoneChanged:     vehicleSensors.requestPaint()
-    on_RotationYaw45Changed:    vehicleSensors.requestPaint()
-    on_RotationYaw90Changed:    vehicleSensors.requestPaint()
-    on_RotationYaw135Changed:   vehicleSensors.requestPaint()
-    on_RotationYaw180Changed:   vehicleSensors.requestPaint()
-    on_RotationYaw225Changed:   vehicleSensors.requestPaint()
-    on_RotationYaw270Changed:   vehicleSensors.requestPaint()
-    on_RotationYaw315Changed:   vehicleSensors.requestPaint()
+    property real   _ratio: 1
+    property real   _maxDistance:   isNaN(proximityValues.maxDistance)
 
+    function calcSize() {
+        var scaleLinePixelLength    = 100
+        var leftCoord               = map.toCoordinate(Qt.point(0, 0), false /* clipToViewPort */)
+        var rightCoord              = map.toCoordinate(Qt.point(scaleLinePixelLength, 0), false /* clipToViewPort */)
+        var scaleLineMeters         = Math.round(leftCoord.distanceTo(rightCoord))
+        _ratio = scaleLinePixelLength / scaleLineMeters;
+    }
 
+    ProximityRadarValues {
+        id:                     proximityValues
+        vehicle:                _root.vehicle
+        onRotationValueChanged: vehicleSensors.requestPaint()
+    }
 
     Connections {
         target:             map
@@ -91,48 +67,52 @@ MapQuickItem {
         height:     detectionLimitCircle.height
         opacity:    0.5
 
+        Component.onCompleted: calcSize()
+
         Canvas{
             id:                 vehicleSensors
             anchors.fill:       detectionLimitCircle
+
             transform: Rotation {
                 origin.x:       detectionLimitCircle.width  / 2
                 origin.y:       detectionLimitCircle.height / 2
                 angle:          isNaN(heading) ? 0 : heading
             }
-            function deg2rad(degrees)
-            {
-              var pi = Math.PI;
-              return degrees * (pi/180);
+
+            function deg2rad(degrees) {
+                var pi = Math.PI;
+                return degrees * (pi/180);
             }
+
             onPaint: {
-                    if(_distanceSensor)
-                        {
-                            var ctx = getContext("2d");
-                            ctx.reset();
-                            ctx.translate(width/2,height/2)
-                            ctx.rotate(-Math.PI/2);
-                            ctx.lineWidth = 5;
-                            ctx.strokeStyle = Qt.rgba(1, 0, 0, 1);
-                            for(var i=0; i<_rottab.length;i++){
-                                var a=deg2rad(360-22.5)+Math.PI/4*i;
-                                ctx.beginPath();
-                                ctx.arc(0,0,_rottab[i]*_ratio,   a,a+Math.PI/4,false);
-                                ctx.stroke();
-                            }
-
-                        }
+                var ctx = getContext("2d");
+                ctx.reset();
+                ctx.translate(width/2, height/2)
+                ctx.rotate(-Math.PI/2);
+                ctx.lineWidth = 5;
+                ctx.strokeStyle = Qt.rgba(1, 0, 0, 1);
+                for(var i=0; i<proximityValues.rgRotationValues.length; i++){
+                    var rotationValue = proximityValues.rgRotationValues[i]
+                    if (!isNaN(rotationValue)) {
+                        var a=deg2rad(360-22.5)+Math.PI/4*i;
+                        ctx.beginPath();
+                        ctx.arc(0, 0, rotationValue * _ratio, a, a + Math.PI/4,false);
+                        ctx.stroke();
+                    }
                 }
+            }
         }
 
         Rectangle {
             id:                 detectionLimitCircle
-            width:              _maxSensor*2*_ratio
-            height:             _maxSensor*2*_ratio
+            width:              proximityValues.maxDistance * 2 *_ratio
+            height:             proximityValues.maxDistance * 2 *_ratio
             anchors.fill:       detectionLimitCircle
             color:              Qt.rgba(1,1,1,0)
             border.color:       Qt.rgba(1,1,1,1)
             border.width:       5
-            radius:             width*0.5
+            radius:             width * 0.5
+
             transform: Rotation {
                 origin.x:       detectionLimitCircle.width  / 2
                 origin.y:       detectionLimitCircle.height / 2
@@ -140,9 +120,6 @@ MapQuickItem {
             }
         }
 
-        Component.onCompleted: {
-                calcSize();
-            }
     }
 }
 

src/QGCApplication.cc

@@ -495,8 +495,8 @@ void QGCApplication::_shutdown()
 {
     // Close out all Qml before we delete toolbox. This way we don't get all sorts of null reference complaints from Qml.
     delete _qmlAppEngine;
-
     delete _toolbox;
+    delete _gpsRtkFactGroup;
 }
 
 QGCApplication::~QGCApplication()

src/QmlControls/QGCFileDialog.qml

@@ -153,7 +153,6 @@ Item {
                                 QGCMenuItem {
                                     text:           qsTr("Delete")
                                     onTriggered: {
-                                        console.log("hamburgerMenu.fileToDelete", hamburgerMenu.fileToDelete)
                                         controller.deleteFile(hamburgerMenu.fileToDelete)
                                         fileRepeater.model = controller.getFiles(folder, _rgExtensions)
                                     }

src/QmlControls/QGroundControl/FlightDisplay/qmldir

@@ -28,6 +28,7 @@ PreFlightGPSCheck               1.0 PreFlightGPSCheck.qml
 PreFlightRCCheck                1.0 PreFlightRCCheck.qml
 PreFlightSensorsHealthCheck     1.0 PreFlightSensorsHealthCheck.qml
 PreFlightSoundCheck             1.0 PreFlightSoundCheck.qml
+ProximityRadarValues            1.0 ProximityRadarValues.qml
 ProximityRadarVideoView         1.0 ProximityRadarVideoView.qml
 TerrainProgress                 1.0 TerrainProgress.qml
 TelemetryValuesBar              1.0 TelemetryValuesBar.qml

src/Vehicle/DistanceSensorFact.json

@@ -5,71 +5,97 @@
 [
 {
     "name":             "rotationNone",
-    "shortDesc": "Forward",
+    "shortDesc":        "Forward",
     "type":             "double",
+    "default":          null,
     "decimalPlaces":    2,
     "units":            "m"
 },
 {
     "name":             "rotationYaw45",
-    "shortDesc": "Forward/Right",
+    "shortDesc":        "Forward/Right",
     "type":             "double",
+    "default":          null,
     "decimalPlaces":    2,
     "units":            "m"
 },
 {
     "name":             "rotationYaw90",
-    "shortDesc": "Right",
+    "shortDesc":        "Right",
     "type":             "double",
+    "default":          null,
     "decimalPlaces":    2,
     "units":            "m"
 },
 {
     "name":             "rotationYaw135",
-    "shortDesc": "Rear/Right",
+    "shortDesc":        "Rear/Right",
+    "default":          null,
     "type":             "double",
     "decimalPlaces":    2,
     "units":            "m"
 },
 {
     "name":             "rotationYaw180",
-    "shortDesc": "Rear",
+    "shortDesc":        "Rear",
+    "default":          null,
     "type":             "double",
     "decimalPlaces":    2,
     "units":            "m"
 },
 {
     "name":             "rotationYaw225",
-    "shortDesc": "Rear/Left",
+    "shortDesc":        "Rear/Left",
+    "default":          null,
     "type":             "double",
     "decimalPlaces":    2,
     "units":            "m"
 },
 {
     "name":             "rotationYaw270",
-    "shortDesc": "Left",
+    "shortDesc":        "Left",
+    "default":          null,
     "type":             "double",
     "decimalPlaces":    2,
     "units":            "m"
 },
 {
     "name":             "rotationYaw315",
-    "shortDesc": "Forward/Left",
+    "shortDesc":        "Forward/Left",
     "type":             "double",
+    "default":          null,
     "decimalPlaces":    2,
     "units":            "m"
 },
 {
     "name":             "rotationPitch90",
-    "shortDesc": "Up",
+    "shortDesc":        "Up",
     "type":             "double",
+    "default":          null,
     "decimalPlaces":    2,
     "units":            "m"
 },
 {
     "name":             "rotationPitch270",
-    "shortDesc": "Down",
+    "shortDesc":        "Down",
     "type":             "double",
+    "default":          null,
+    "decimalPlaces":    2,
+    "units":            "m"
+},
+{
+    "name":             "minDistance",
+    "shortDesc":        "Minimum distance sensor can detect",
+    "type":             "double",
+    "default":          null,
+    "decimalPlaces":    2,
+    "units":            "m"
+},
+{
+    "name":             "maxDistance",
+    "shortDesc":        "Maximum distance sensor can detect",
+    "type":             "double",
+    "default":          null,
     "decimalPlaces":    2,
     "units":            "m"
 }

src/Vehicle/VehicleBatteryFactGroup.cc

@@ -110,6 +110,7 @@ void VehicleBatteryFactGroup::_handleHighLatency(Vehicle* vehicle, mavlink_messa
 
     VehicleBatteryFactGroup* group = _findOrAddBatteryGroupById(vehicle, 0);
     group->percentRemaining()->setRawValue(highLatency.battery_remaining == UINT8_MAX ? qQNaN() : highLatency.battery_remaining);
+    group->_setTelemetryAvailable(true);
 }
 
 void VehicleBatteryFactGroup::_handleHighLatency2(Vehicle* vehicle, mavlink_message_t& message)
@@ -119,6 +120,7 @@ void VehicleBatteryFactGroup::_handleHighLatency2(Vehicle* vehicle, mavlink_mess
 
     VehicleBatteryFactGroup* group = _findOrAddBatteryGroupById(vehicle, 0);
     group->percentRemaining()->setRawValue(highLatency2.battery == -1 ? qQNaN() : highLatency2.battery);
+    group->_setTelemetryAvailable(true);
 }
 
 void VehicleBatteryFactGroup::_handleBatteryStatus(Vehicle* vehicle, mavlink_message_t& message)
@@ -151,6 +153,7 @@ void VehicleBatteryFactGroup::_handleBatteryStatus(Vehicle* vehicle, mavlink_mes
     group->timeRemaining()->setRawValue     (batteryStatus.time_remaining == 0 ?        qQNaN() : batteryStatus.time_remaining);
     group->chargeState()->setRawValue       (batteryStatus.charge_state);
     group->instantPower()->setRawValue      (totalVoltage * group->current()->rawValue().toDouble());
+    group->_setTelemetryAvailable(true);
 }
 
 VehicleBatteryFactGroup* VehicleBatteryFactGroup::_findOrAddBatteryGroupById(Vehicle* vehicle, uint8_t batteryId)

src/Vehicle/VehicleClockFactGroup.cc

@@ -30,6 +30,7 @@ void VehicleClockFactGroup::_updateAllValues()
 {
     _currentTimeFact.setRawValue(QTime::currentTime().toString());
     _currentDateFact.setRawValue(QDateTime::currentDateTime().toString(QLocale::system().dateFormat(QLocale::ShortFormat)));
+    _setTelemetryAvailable(true);
 
     FactGroup::_updateAllValues();
 }

src/Vehicle/VehicleDistanceSensorFactGroup.cc

@@ -20,6 +20,7 @@ const char* VehicleDistanceSensorFactGroup::_rotationYaw270FactName =   "rotatio
 const char* VehicleDistanceSensorFactGroup::_rotationYaw315FactName =   "rotationYaw315";
 const char* VehicleDistanceSensorFactGroup::_rotationPitch90FactName =  "rotationPitch90";
 const char* VehicleDistanceSensorFactGroup::_rotationPitch270FactName = "rotationPitch270";
+const char* VehicleDistanceSensorFactGroup::_minDistanceFactName =      "minDistance";
 const char* VehicleDistanceSensorFactGroup::_maxDistanceFactName =      "maxDistance";
 
 VehicleDistanceSensorFactGroup::VehicleDistanceSensorFactGroup(QObject* parent)
@@ -34,6 +35,7 @@ VehicleDistanceSensorFactGroup::VehicleDistanceSensorFactGroup(QObject* parent)
     , _rotationYaw315Fact   (0, _rotationYaw315FactName,    FactMetaData::valueTypeDouble)
     , _rotationPitch90Fact  (0, _rotationPitch90FactName,   FactMetaData::valueTypeDouble)
     , _rotationPitch270Fact (0, _rotationPitch270FactName,  FactMetaData::valueTypeDouble)
+    , _minDistanceFact      (0, _minDistanceFactName,       FactMetaData::valueTypeDouble)
     , _maxDistanceFact      (0, _maxDistanceFactName,       FactMetaData::valueTypeDouble)
 {
     _addFact(&_rotationNoneFact,        _rotationNoneFactName);
@@ -46,19 +48,8 @@ VehicleDistanceSensorFactGroup::VehicleDistanceSensorFactGroup(QObject* parent)
     _addFact(&_rotationYaw315Fact,      _rotationYaw315FactName);
     _addFact(&_rotationPitch90Fact,     _rotationPitch90FactName);
     _addFact(&_rotationPitch270Fact,    _rotationPitch270FactName);
+    _addFact(&_minDistanceFact,         _minDistanceFactName);
     _addFact(&_maxDistanceFact,         _maxDistanceFactName);
-
-    // Start out as not available "--.--"
-    _rotationNoneFact.setRawValue(qQNaN());
-    _rotationYaw45Fact.setRawValue(qQNaN());
-    _rotationYaw135Fact.setRawValue(qQNaN());
-    _rotationYaw90Fact.setRawValue(qQNaN());
-    _rotationYaw180Fact.setRawValue(qQNaN());
-    _rotationYaw225Fact.setRawValue(qQNaN());
-    _rotationYaw270Fact.setRawValue(qQNaN());
-    _rotationPitch90Fact.setRawValue(qQNaN());
-    _rotationPitch270Fact.setRawValue(qQNaN());
-    _maxDistanceFact.setRawValue(qQNaN());
 }
 
 void VehicleDistanceSensorFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& message)
@@ -95,6 +86,8 @@ void VehicleDistanceSensorFactGroup::handleMessage(Vehicle* /* vehicle */, mavli
         if (orientation2Fact.orientation == distanceSensor.orientation) {
             orientation2Fact.fact->setRawValue(distanceSensor.current_distance / 100.0); // cm to meters
         }
-    maxDistance()->setRawValue(distanceSensor.max_distance/100.0);
     }
+
+    maxDistance()->setRawValue(distanceSensor.max_distance / 100.0);
+    _setTelemetryAvailable(true);
 }

src/Vehicle/VehicleDistanceSensorFactGroup.h

@@ -31,6 +31,7 @@ public:
     Q_PROPERTY(Fact* rotationYaw315     READ rotationYaw315     CONSTANT)
     Q_PROPERTY(Fact* rotationPitch90    READ rotationPitch90    CONSTANT)
     Q_PROPERTY(Fact* rotationPitch270   READ rotationPitch270   CONSTANT)
+    Q_PROPERTY(Fact* minDistance        READ minDistance        CONSTANT)
     Q_PROPERTY(Fact* maxDistance        READ maxDistance        CONSTANT)
 
     Fact* rotationNone      () { return &_rotationNoneFact; }
@@ -43,6 +44,7 @@ public:
     Fact* rotationYaw315    () { return &_rotationYaw315Fact; }
     Fact* rotationPitch90   () { return &_rotationPitch90Fact; }
     Fact* rotationPitch270  () { return &_rotationPitch270Fact; }
+    Fact* minDistance       () { return &_minDistanceFact; }
     Fact* maxDistance       () { return &_maxDistanceFact; }
 
     // Overrides from FactGroup
@@ -58,6 +60,7 @@ public:
     static const char* _rotationYaw315FactName;
     static const char* _rotationPitch90FactName;
     static const char* _rotationPitch270FactName;
+    static const char* _minDistanceFactName;
     static const char* _maxDistanceFactName;
 
 private:
@@ -71,5 +74,6 @@ private:
     Fact _rotationYaw315Fact;
     Fact _rotationPitch90Fact;
     Fact _rotationPitch270Fact;
+    Fact _minDistanceFact;
     Fact _maxDistanceFact;
 };

src/Vehicle/VehicleEstimatorStatusFactGroup.cc

@@ -105,4 +105,6 @@ void VehicleEstimatorStatusFactGroup::handleMessage(Vehicle* /* vehicle */, mavl
     tasRatio()->setRawValue                     (estimatorStatus.tas_ratio);
     horizPosAccuracy()->setRawValue             (estimatorStatus.pos_horiz_accuracy);
     vertPosAccuracy()->setRawValue              (estimatorStatus.pos_vert_accuracy);
+
+    _setTelemetryAvailable(true);
 }

src/Vehicle/VehicleSetpointFactGroup.cc

@@ -64,4 +64,6 @@ void VehicleSetpointFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_mes
     rollRate()->setRawValue (qRadiansToDegrees(attitudeTarget.body_roll_rate));
     pitchRate()->setRawValue(qRadiansToDegrees(attitudeTarget.body_pitch_rate));
     yawRate()->setRawValue  (qRadiansToDegrees(attitudeTarget.body_yaw_rate));
+
+    _setTelemetryAvailable(true);
 }

src/Vehicle/VehicleTemperatureFactGroup.cc

@@ -58,6 +58,7 @@ void VehicleTemperatureFactGroup::_handleHighLatency(mavlink_message_t& message)
     mavlink_high_latency_t highLatency;
     mavlink_msg_high_latency_decode(&message, &highLatency);
     temperature1()->setRawValue(highLatency.temperature_air);
+    _setTelemetryAvailable(true);
 }
 
 void VehicleTemperatureFactGroup::_handleHighLatency2(mavlink_message_t& message)
@@ -65,6 +66,7 @@ void VehicleTemperatureFactGroup::_handleHighLatency2(mavlink_message_t& message
     mavlink_high_latency2_t highLatency2;
     mavlink_msg_high_latency2_decode(&message, &highLatency2);
     temperature1()->setRawValue(highLatency2.temperature_air);
+    _setTelemetryAvailable(true);
 }
 
 void VehicleTemperatureFactGroup::_handleScaledPressure(mavlink_message_t& message)
@@ -72,6 +74,7 @@ void VehicleTemperatureFactGroup::_handleScaledPressure(mavlink_message_t& messa
     mavlink_scaled_pressure_t pressure;
     mavlink_msg_scaled_pressure_decode(&message, &pressure);
     temperature1()->setRawValue(pressure.temperature / 100.0);
+    _setTelemetryAvailable(true);
 }
 
 void VehicleTemperatureFactGroup::_handleScaledPressure2(mavlink_message_t& message)
@@ -79,6 +82,7 @@ void VehicleTemperatureFactGroup::_handleScaledPressure2(mavlink_message_t& mess
     mavlink_scaled_pressure2_t pressure;
     mavlink_msg_scaled_pressure2_decode(&message, &pressure);
     temperature2()->setRawValue(pressure.temperature / 100.0);
+    _setTelemetryAvailable(true);
 }
 
 void VehicleTemperatureFactGroup::_handleScaledPressure3(mavlink_message_t& message)
@@ -86,4 +90,5 @@ void VehicleTemperatureFactGroup::_handleScaledPressure3(mavlink_message_t& mess
     mavlink_scaled_pressure3_t pressure;
     mavlink_msg_scaled_pressure3_decode(&message, &pressure);
     temperature3()->setRawValue(pressure.temperature / 100.0);
+    _setTelemetryAvailable(true);
 }

src/Vehicle/VehicleVibrationFactGroup.cc

@@ -54,5 +54,6 @@ void VehicleVibrationFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_me
     clipCount1()->setRawValue(vibration.clipping_0);
     clipCount2()->setRawValue(vibration.clipping_1);
     clipCount3()->setRawValue(vibration.clipping_2);
+    _setTelemetryAvailable(true);
 }
 

src/Vehicle/VehicleWindFactGroup.cc

@@ -59,6 +59,7 @@ void VehicleWindFactGroup::_handleHighLatency(mavlink_message_t& message)
     mavlink_high_latency_t highLatency;
     mavlink_msg_high_latency_decode(&message, &highLatency);
     speed()->setRawValue((double)highLatency.airspeed / 5.0);
+    _setTelemetryAvailable(true);
 }
 
 void VehicleWindFactGroup::_handleHighLatency2(mavlink_message_t& message)
@@ -67,6 +68,7 @@ void VehicleWindFactGroup::_handleHighLatency2(mavlink_message_t& message)
     mavlink_msg_high_latency2_decode(&message, &highLatency2);
     direction()->setRawValue((double)highLatency2.wind_heading * 2.0);
     speed()->setRawValue((double)highLatency2.windspeed / 5.0);
+    _setTelemetryAvailable(true);
 }
 
 void VehicleWindFactGroup::_handleWindCov(mavlink_message_t& message)
@@ -84,6 +86,7 @@ void VehicleWindFactGroup::_handleWindCov(mavlink_message_t& message)
     this->direction()->setRawValue(direction);
     this->speed()->setRawValue(speed);
     verticalSpeed()->setRawValue(0);
+    _setTelemetryAvailable(true);
 }
 
 #if !defined(NO_ARDUPILOT_DIALECT)
@@ -100,5 +103,6 @@ void VehicleWindFactGroup::_handleWind(mavlink_message_t& message)
     this->direction()->setRawValue(direction);
     speed()->setRawValue(wind.speed);
     verticalSpeed()->setRawValue(wind.speed_z);
+    _setTelemetryAvailable(true);
 }
 #endif