From 774fad4ef6a27d5bb7fcff2e9682a767ee4fd9e2 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Sat, 1 Apr 2017 13:51:57 -0700
Subject: [PATCH] Major cleanup to Guided Bar
---
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc | 10 -
src/FirmwarePlugin/APM/APMFirmwarePlugin.h | 2 -
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc | 24 +-
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h | 9 +-
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc | 5 -
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h | 1 -
src/FirmwarePlugin/FirmwarePlugin.cc | 22 --
src/FirmwarePlugin/FirmwarePlugin.h | 35 +--
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc | 30 +-
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h | 8 +-
src/FlightDisplay/FlightDisplayViewWidgets.qml | 308 +++++++++++----------
src/FlightMap/FlightMap.qml | 1 +
src/FlightMap/qmldir | 1 -
src/MissionManager/SimpleMissionItem.cc | 16 +-
src/QmlControls/QGCSlider.qml | 62 +++--
src/QmlControls/ScreenTools.qml | 1 +
src/QmlControls/SliderSwitch.qml | 12 +-
src/Vehicle/Vehicle.cc | 14 +-
src/Vehicle/Vehicle.h | 9 +-
19 files changed, 296 insertions(+), 274 deletions(-)
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index ebe40c0..284ca89 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -806,13 +806,3 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
return QString();
}
}
-
-QString APMFirmwarePlugin::missionFlightMode(void)
-{
- return QStringLiteral("Auto");
-}
-
-QString APMFirmwarePlugin::rtlFlightMode(void)
-{
- return QStringLiteral("RTL");
-}
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
index 6722169..f53f1fa 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
@@ -97,8 +97,6 @@ public:
RallyPointManager* newRallyPointManager (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
QString brandImageIndoor (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
QString brandImageOutdoor (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
- QString missionFlightMode (void) final;
- QString rtlFlightMode (void) final;
protected:
/// All access to singleton is through stack specific implementation
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index 1ff4869..270fb99 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -162,13 +162,22 @@ void ArduCopterFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QG
vehicle->missionManager()->writeArduPilotGuidedMissionItem(coordWithAltitude, false /* altChangeOnly */);
}
-void ArduCopterFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel)
+void ArduCopterFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange)
{
if (qIsNaN(vehicle->altitudeRelative()->rawValue().toDouble())) {
qgcApp()->showMessage(QStringLiteral("Unable to change altitude, vehicle altitude not known."));
return;
}
+ // Don't allow altitude to fall below 3 meters above home
+ double currentAltRel = vehicle->altitudeRelative()->rawValue().toDouble();
+ if (altitudeChange <= 0 && currentAltRel <= 3) {
+ return;
+ }
+ if (currentAltRel + altitudeChange < 3) {
+ altitudeChange = 3 - currentAltRel;
+ }
+
mavlink_message_t msg;
mavlink_set_position_target_local_ned_t cmd;
@@ -180,7 +189,7 @@ void ArduCopterFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double
cmd.type_mask = 0xFFF8; // Only x/y/z valid
cmd.x = 0.0f;
cmd.y = 0.0f;
- cmd.z = -(altitudeRel - vehicle->altitudeRelative()->rawValue().toDouble());
+ cmd.z = -(altitudeChange);
MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
mavlink_msg_set_position_target_local_ned_encode_chan(mavlink->getSystemId(),
@@ -192,11 +201,6 @@ void ArduCopterFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double
vehicle->sendMessageOnLink(vehicle->priorityLink(), msg);
}
-bool ArduCopterFirmwarePlugin::isPaused(const Vehicle* vehicle) const
-{
- return vehicle->flightMode() == "Brake";
-}
-
void ArduCopterFirmwarePlugin::pauseVehicle(Vehicle* vehicle)
{
vehicle->setFlightMode("Brake");
@@ -228,12 +232,6 @@ QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)
return QStringLiteral("FENCE_RADIUS");
}
-QString ArduCopterFirmwarePlugin::takeControlFlightMode(void)
-{
- return QStringLiteral("Stabilize");
-}
-
-
bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
{
if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
index 041d839..ea33ee7 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
@@ -54,7 +54,6 @@ public:
// Overrides from FirmwarePlugin
bool isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities) final;
- bool isPaused(const Vehicle* vehicle) const final;
void setGuidedMode(Vehicle* vehicle, bool guidedMode) final;
void pauseVehicle(Vehicle* vehicle) final;
void guidedModeRTL(Vehicle* vehicle) final;
@@ -64,14 +63,18 @@ public:
void guidedModeTakeoff(Vehicle* vehicle) final;
#endif
void guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord) final;
- void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel) final;
+ void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange) final;
const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
bool multiRotorCoaxialMotors(Vehicle* vehicle) final;
bool multiRotorXConfig(Vehicle* vehicle) final;
QString geoFenceRadiusParam(Vehicle* vehicle) final;
QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Copter.OfflineEditing.params"); }
- QString takeControlFlightMode(void) final;
+ QString pauseFlightMode(void) const override { return QString("Brake"); }
+ QString missionFlightMode(void) const override { return QString("Auto"); }
+ QString rtlFlightMode(void) const override { return QString("RTL"); }
+ QString landFlightMode(void) const override { return QString("Land"); }
+ QString takeControlFlightMode(void) const override { return QString("Stablize"); }
bool vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const final;
private:
diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
index 88a380a..996551e 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
@@ -86,8 +86,3 @@ int ArduPlaneFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVer
// Remapping supports up to 3.8
return majorVersionNumber == 3 ? 8 : Vehicle::versionNotSetValue;
}
-
-QString ArduPlaneFirmwarePlugin::takeControlFlightMode(void)
-{
- return QStringLiteral("Manual");
-}
diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
index 3ec63a6..dfa4340 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
@@ -57,7 +57,6 @@ public:
// Overrides from FirmwarePlugin
QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Plane.OfflineEditing.params"); }
- QString takeControlFlightMode(void) final;
const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc
index 5739615..17f583f 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -237,13 +237,6 @@ void FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
}
-bool FirmwarePlugin::isPaused(const Vehicle* vehicle) const
-{
- // Not supported by generic vehicle
- Q_UNUSED(vehicle);
- return false;
-}
-
void FirmwarePlugin::pauseVehicle(Vehicle* vehicle)
{
// Not supported by generic vehicle
@@ -314,21 +307,6 @@ int FirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumbe
return 0;
}
-QString FirmwarePlugin::missionFlightMode(void)
-{
- return QString();
-}
-
-QString FirmwarePlugin::rtlFlightMode(void)
-{
- return QString();
-}
-
-QString FirmwarePlugin::takeControlFlightMode(void)
-{
- return QString();
-}
-
QString FirmwarePlugin::vehicleImageOpaque(const Vehicle* vehicle) const
{
Q_UNUSED(vehicle);
diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h
index ed139f7..fa964cf 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.h
+++ b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -93,15 +93,27 @@ public:
/// @param[out] custom_mode Custom mode for SET_MODE mavlink message
virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
+ /// Returns The flight mode which indicates the vehicle is paused
+ virtual QString pauseFlightMode(void) const { return QString(); }
+
+ /// Returns the flight mode for running missions
+ virtual QString missionFlightMode(void) const { return QString(); }
+
+ /// Returns the flight mode for RTL
+ virtual QString rtlFlightMode(void) const { return QString(); }
+
+ /// Returns the flight mode for Land
+ virtual QString landFlightMode(void) const { return QString(); }
+
+ /// Returns the flight mode to use when the operator wants to take back control from autonomouse flight.
+ virtual QString takeControlFlightMode(void) const { return QString(); }
+
/// Returns whether the vehicle is in guided mode or not.
virtual bool isGuidedMode(const Vehicle* vehicle) const;
/// Set guided flight mode
virtual void setGuidedMode(Vehicle* vehicle, bool guidedMode);
- /// Returns whether the vehicle is paused or not.
- virtual bool isPaused(const Vehicle* vehicle) const;
-
/// Causes the vehicle to stop at current position. If guide mode is supported, vehicle will be let in guide mode.
/// If not, vehicle will be left in Loiter.
virtual void pauseVehicle(Vehicle* vehicle);
@@ -125,20 +137,9 @@ public:
/// Command vehicle to move to specified location (altitude is included and relative)
virtual void guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord);
- /// Command vehicle to change to the specified relatice altitude
- virtual void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel);
-
-
-
-
- /// Returns the flight mode for running missions
- virtual QString missionFlightMode(void);
-
- /// Returns the flight mode for RTL
- virtual QString rtlFlightMode(void);
-
- /// Returns the flight mode to use when the operator wants to take back control from autonomouse flight.
- virtual QString takeControlFlightMode(void);
+ /// Command vehicle to change altitude
+ /// @param altitudeChange If > 0, go up by amount specified, if < 0, go down by amount specified
+ virtual void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange);
/// FIXME: This isn't quite correct being here. All code for Joystick suvehicleTypepport is currently firmware specific
/// not just this. I'm going to try to change that. If not, this will need to be removed.
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index d1d5a1f..07a3b16 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -399,7 +399,7 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
vehicle->altitudeAMSL()->rawValue().toFloat());
}
-void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel)
+void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange)
{
if (!vehicle->homePositionAvailable()) {
qgcApp()->showMessage(tr("Unable to change altitude, home position unknown."));
@@ -410,6 +410,17 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
return;
}
+ // Don't allow altitude to fall below 3 meters above home
+ double currentAltRel = vehicle->altitudeRelative()->rawValue().toDouble();
+ double newAltRel = currentAltRel;
+ if (altitudeChange <= 0 && currentAltRel <= 3) {
+ return;
+ }
+ if (currentAltRel + altitudeChange < 3) {
+ altitudeChange = 3 - currentAltRel;
+ }
+ newAltRel = currentAltRel + altitudeChange;
+
vehicle->sendMavCommand(vehicle->defaultComponentId(),
MAV_CMD_DO_REPOSITION,
true, // show error is fails
@@ -419,7 +430,7 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
NAN,
NAN,
NAN,
- vehicle->homePosition().altitude() + altitudeRel);
+ vehicle->homePosition().altitude() + newAltRel);
}
void PX4FirmwarePlugin::startMission(Vehicle* vehicle)
@@ -504,21 +515,6 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
}
}
-QString PX4FirmwarePlugin::missionFlightMode(void)
-{
- return QString(_missionFlightMode);
-}
-
-QString PX4FirmwarePlugin::rtlFlightMode(void)
-{
- return QString(_rtlFlightMode);
-}
-
-QString PX4FirmwarePlugin::takeControlFlightMode(void)
-{
- return QString(_manualFlightMode);
-}
-
bool PX4FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
{
if ( vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
index 4707411..c75bb8d 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
@@ -37,6 +37,11 @@ public:
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const override;
bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) override;
void setGuidedMode (Vehicle* vehicle, bool guidedMode) override;
+ QString pauseFlightMode (void) const override { return _holdFlightMode; }
+ QString missionFlightMode (void) const override { return _missionFlightMode; }
+ QString rtlFlightMode (void) const override { return _rtlFlightMode; }
+ QString landFlightMode (void) const override { return _landingFlightMode; }
+ QString takeControlFlightMode (void) const override { return _manualFlightMode; }
void pauseVehicle (Vehicle* vehicle) override;
void guidedModeRTL (Vehicle* vehicle) override;
void guidedModeLand (Vehicle* vehicle) override;
@@ -61,9 +66,6 @@ public:
QString offlineEditingParamFile(Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/PX4/PX4.OfflineEditing.params"); }
QString brandImageIndoor (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
QString brandImageOutdoor (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
- QString missionFlightMode (void) override;
- QString rtlFlightMode (void) override;
- QString takeControlFlightMode (void) override;
bool vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const override;
protected:
diff --git a/src/FlightDisplay/FlightDisplayViewWidgets.qml b/src/FlightDisplay/FlightDisplayViewWidgets.qml
index 10de92b..b540cfe 100644
--- a/src/FlightDisplay/FlightDisplayViewWidgets.qml
+++ b/src/FlightDisplay/FlightDisplayViewWidgets.qml
@@ -7,13 +7,13 @@
*
****************************************************************************/
-
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.4
import QtQuick.Dialogs 1.2
import QtLocation 5.3
import QtPositioning 5.3
+import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
@@ -38,6 +38,9 @@ Item {
// Guided bar properties
property bool _missionAvailable: missionController.containsItems
property bool _missionActive: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.missionFlightMode : false
+ property bool _vehiclePaused: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.pauseFlightMode : false
+ property bool _vehicleInRTLMode: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.rtlFlightMode : false
+ property bool _vehicleInLandMode: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.landFlightMode : false
property int _resumeMissionItem: missionController.resumeMissionItem
property bool _showEmergenyStop: QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
property bool _showOrbit: QGroundControl.corePlugin.options.guidedBarShowOrbit
@@ -171,58 +174,30 @@ Item {
anchors.margins: _barMargin
anchors.bottom: parent.bottom
anchors.horizontalCenter: parent.horizontalCenter
- width: guidedModeColumn.width + (_margins * 2)
- height: guidedModeColumn.height + (_margins * 2)
+ width: (guidedModeButtons.visible ? guidedModeButtons.width : guidedModeConfirm.width) + (_margins * 2)
+ height: (guidedModeButtons.visible ? guidedModeButtons.height : guidedModeConfirm.height) + (_margins * 2)
radius: ScreenTools.defaultFontPixelHeight * 0.25
- color: _isSatellite ? Qt.rgba(qgcPal.mapWidgetBorderLight.r, qgcPal.mapWidgetBorderLight.g, qgcPal.mapWidgetBorderLight.b, 0.8) : Qt.rgba(qgcPal.mapWidgetBorderDark.r, qgcPal.mapWidgetBorderDark.g, qgcPal.mapWidgetBorderDark.b, 0.75)
+ color: _backgroundColor
visible: _activeVehicle
z: QGroundControl.zOrderWidgets
- state: "Shown"
-
- property real _fontPointSize: ScreenTools.isMobile ? ScreenTools.largeFontPointSize : ScreenTools.defaultFontPointSize
-
- states: [
- State {
- name: "Shown"
- PropertyChanges { target: showAnimation; running: true }
- PropertyChanges { target: guidedModeHideTimer; running: true }
- },
- State {
- name: "Hidden"
- PropertyChanges { target: hideAnimation; running: true }
- }
- ]
- PropertyAnimation {
- id: hideAnimation
- target: _guidedModeBar
- property: "_barMargin"
- duration: 1000
- easing.type: Easing.InOutQuad
- from: _guidedModeBar._showMargin
- to: _guidedModeBar._hideMargin
- }
+ property real _fontPointSize: ScreenTools.isMobile ? ScreenTools.largeFontPointSize : ScreenTools.defaultFontPointSize
+ property color _backgroundColor: _isSatellite ? qgcPal.mapWidgetBorderLight : qgcPal.mapWidgetBorderDark
+ property color _textColor: _isSatellite ? qgcPal.mapWidgetBorderDark : qgcPal.mapWidgetBorderLight
- PropertyAnimation {
- id: showAnimation
- target: _guidedModeBar
- property: "_barMargin"
- duration: 250
- easing.type: Easing.InOutQuad
- from: _guidedModeBar._hideMargin
- to: _guidedModeBar._showMargin
- }
+ property string _emergencyStopTitle: qsTr("Emergency Stop")
+ property string _armTitle: qsTr("Arm")
+ property string _disarmTitle: qsTr("Disarm")
+ property string _rtlTitle: qsTr("RTL")
+ property string _takeoffTitle: qsTr("Takeoff")
+ property string _landTitle: qsTr("Land")
+ property string _startMissionTitle: qsTr("Start Mission")
+ property string _resumeMissionTitle: qsTr("Resume Mission")
+ property string _pauseTitle: _missionActive ? qsTr("Pause Mission") : qsTr("Pause")
+ property string _changeAltTitle: qsTr("Change Altitude")
+ property string _orbitTitle: qsTr("Orbit")
+ property string _abortTitle: qsTr("Abort")
- Timer {
- id: guidedModeHideTimer
- interval: 7000
- running: true
- onTriggered: {
- if (ScreenTools.isTinyScreen) {
- _guidedModeBar.state = "Hidden"
- }
- }
- }
readonly property int confirmHome: 1
readonly property int confirmLand: 2
@@ -274,10 +249,7 @@ Item {
_activeVehicle.emergencyStop()
break;
case confirmChangeAlt:
- var altitude2 = altitudeSlider.getValue()
- if (!isNaN(altitude2)) {
- _activeVehicle.guidedModeChangeAltitude(altitude2)
- }
+ _activeVehicle.guidedModeChangeAltitude(altitudeSlider.getValue())
break;
case confirmGoTo:
_activeVehicle.guidedModeGotoLocation(_flightMap._gotoHereCoordinate)
@@ -300,190 +272,239 @@ Item {
}
function rejectGuidedModeConfirm() {
+ guidedModeButtons.visible = true
guidedModeConfirm.visible = false
- _guidedModeBar.visible = true
altitudeSlider.visible = false
_flightMap._gotoHereCoordinate = QtPositioning.coordinate()
- guidedModeHideTimer.restart()
}
function confirmAction(actionCode) {
- guidedModeHideTimer.stop()
confirmActionCode = actionCode
switch (confirmActionCode) {
case confirmArm:
- guidedModeConfirm.confirmText = qsTr("arm")
+ guidedModeConfirm.title = _armTitle
+ guidedModeConfirm.message = qsTr("arm")
break;
case confirmDisarm:
- guidedModeConfirm.confirmText = qsTr("disarm")
+ guidedModeConfirm.title = _disarmTitle
+ guidedModeConfirm.message = qsTr("disarm")
break;
case confirmEmergencyStop:
- guidedModeConfirm.confirmText = qsTr("STOP ALL MOTORS!")
+ guidedModeConfirm.title = _emergencyStopTitle
+ guidedModeConfirm.message = qsTr("WARNING: This still stop all motors. If vehicle is currently in air it will crash.")
break;
case confirmTakeoff:
- guidedModeConfirm.confirmText = qsTr("takeoff")
+ guidedModeConfirm.title = _takeoffTitle
+ guidedModeConfirm.message = qsTr("Takeoff from ground and hold position.")
break;
case confirmStartMission:
- guidedModeConfirm.confirmText = qsTr("start mission")
+ guidedModeConfirm.title = _startMissionTitle
+ guidedModeConfirm.message = qsTr("Start the mission which is currently displayed above. If the vehicle is on the ground it will takeoff.")
break;
case confirmResumeMission:
- guidedModeConfirm.confirmText = qsTr("resume mission")
+ guidedModeConfirm.title = _resumeMissionTitle
+ guidedModeConfirm.message = qsTr("Resume the mission which is displayed above. This will re-generate the mission from waypoint %1, takeoff and continue the mission.").arg(_resumeMissionItem)
break;
case confirmResumeMissionReady:
- guidedModeConfirm.confirmText = qsTr("resume modified mission after review")
+ guidedModeConfirm.title = _resumeMissionTitle
+ guidedModeConfirm.message = qsTr("Review the modified mission above. Confirm if you want to takeoff and begin mission.")
break;
case confirmLand:
- guidedModeConfirm.confirmText = qsTr("land")
+ guidedModeConfirm.title = _landTitle
+ guidedModeConfirm.message = qsTr("Land the vehicle at the current position.")
break;
case confirmHome:
- guidedModeConfirm.confirmText = qsTr("return to land")
+ guidedModeConfirm.title = _rtlTitle
+ guidedModeConfirm.message = qsTr("Return to the home position of the vehicle.")
break;
case confirmChangeAlt:
altitudeSlider.visible = true
- altitudeSlider.setInitialValueAppSettingsDistanceUnits(_activeVehicle.altitudeRelative.value)
- guidedModeConfirm.confirmText = qsTr("change altitude")
+ altitudeSlider.setValue(0)
+ guidedModeConfirm.title = _changeAltTitle
+ guidedModeConfirm.message = qsTr("Adjust the slider to the left up or down to change the altitude of the vehicle.")
break;
case confirmGoTo:
- guidedModeConfirm.confirmText = qsTr("move vehicle")
+ guidedModeConfirm.title = qsTr("Go To Location")
+ guidedModeConfirm.message = qsTr("Confirm to move to the new location.")
break;
case confirmRetask:
- guidedModeConfirm.confirmText = qsTr("activate waypoint change")
+ guidedModeConfirm.title = qsTr("Waypoint Change")
+ guidedModeConfirm.message = qsTr("Confirm to change current mission item to %1.").arg(_flightMap._retaskSequence)
break;
case confirmOrbit:
- guidedModeConfirm.confirmText = qsTr("enter orbit mode")
+ guidedModeConfirm.title = _orbitTitle
+ guidedModeConfirm.message = qsTr("Confirm to enter Orbit mode.")
break;
case confirmAbort:
- guidedModeConfirm.confirmText = qsTr("abort landing")
+ guidedModeConfirm.title = _abortTitle
+ guidedModeConfirm.message = qsTr("Confirm to abort the current landing.")
break;
}
- _guidedModeBar.visible = false
+ guidedModeButtons.visible = false
guidedModeConfirm.visible = true
}
- Column {
- id: guidedModeColumn
+ ColumnLayout {
+ id: guidedModeButtons
anchors.margins: _margins
anchors.top: parent.top
anchors.left: parent.left
spacing: _margins
QGCLabel {
- anchors.horizontalCenter: parent.horizontalCenter
- color: _isSatellite ? qgcPal.mapWidgetBorderDark : qgcPal.mapWidgetBorderLight
- text: "Click in map to move vehicle"
- visible: gotoEnabled
+ anchors.horizontalCenter: parent.horizontalCenter
+ color: _guidedModeBar._textColor
+ text: qsTr("Click in map to move vehicle")
+ visible: gotoEnabled
}
Row {
- spacing: _margins * 2
+ spacing: _margins * 2
QGCButton {
pointSize: _guidedModeBar._fontPointSize
- text: qsTr("Emergency Stop")
+ text: _guidedModeBar._emergencyStopTitle
visible: _showEmergenyStop && _activeVehicle && _activeVehicle.armed && _activeVehicle.flying
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmEmergencyStop)
}
QGCButton {
pointSize: _guidedModeBar._fontPointSize
- text: qsTr("Disarm")
+ text: _guidedModeBar._disarmTitle
visible: _activeVehicle && _activeVehicle.armed && !_activeVehicle.flying
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmDisarm)
}
QGCButton {
pointSize: _guidedModeBar._fontPointSize
- text: qsTr("RTL")
- visible: _activeVehicle && _activeVehicle.armed && _activeVehicle.guidedModeSupported && _activeVehicle.flying
+ text: _guidedModeBar._rtlTitle
+ visible: _activeVehicle && _activeVehicle.armed && _activeVehicle.guidedModeSupported && _activeVehicle.flying && !_vehicleInRTLMode
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmHome)
}
QGCButton {
pointSize: _guidedModeBar._fontPointSize
- text: qsTr("Takeoff")
+ text: _guidedModeBar._takeoffTitle
visible: _activeVehicle && _activeVehicle.guidedModeSupported && !_activeVehicle.flying && !_activeVehicle.fixedWing
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmTakeoff)
}
QGCButton {
pointSize: _guidedModeBar._fontPointSize
- text: qsTr("Land")
- visible: _activeVehicle && _activeVehicle.guidedModeSupported && _activeVehicle.armed && !_activeVehicle.fixedWing
+ text: _guidedModeBar._landTitle
+ visible: _activeVehicle && _activeVehicle.guidedModeSupported && _activeVehicle.armed && !_activeVehicle.fixedWing && !_vehicleInLandMode
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmLand)
}
QGCButton {
pointSize: _guidedModeBar._fontPointSize
- text: _resumeMissionItem !== -1 ? qsTr("Restart Mission") : qsTr("Start Mission")
- visible: _activeVehicle && !_activeVehicle.flying && _missionAvailable
+ text: _guidedModeBar._startMissionTitle
+ visible: _activeVehicle && _missionAvailable && !_missionActive
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmStartMission)
}
QGCButton {
pointSize: _guidedModeBar._fontPointSize
- text: qsTr("Resume Mission (%1)").arg(_resumeMissionItem)
+ text: _guidedModeBar._resumeMissionTitle
visible: _activeVehicle && !_activeVehicle.flying && _missionAvailable && _resumeMissionItem !== -1
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmResumeMission)
}
QGCButton {
pointSize: _guidedModeBar._fontPointSize
- text: _missionActive ? qsTr("Pause Mission") : qsTr("Pause")
- visible: _activeVehicle && _activeVehicle.armed && _activeVehicle.pauseVehicleSupported && _activeVehicle.flying
+ text: _guidedModeBar._pauseTitle
+ visible: _activeVehicle && _activeVehicle.armed && _activeVehicle.pauseVehicleSupported && _activeVehicle.flying && !_vehiclePaused
onClicked: _activeVehicle.pauseVehicle()
}
QGCButton {
pointSize: _guidedModeBar._fontPointSize
- text: qsTr("Change Altitude")
+ text: _guidedModeBar._changeAltTitle
visible: (_activeVehicle && _activeVehicle.flying) && _activeVehicle.guidedModeSupported && _activeVehicle.armed && !_missionActive
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmChangeAlt)
}
QGCButton {
pointSize: _guidedModeBar._fontPointSize
- text: qsTr("Orbit")
+ text: _guidedModeBar._orbitTitle
visible: _showOrbit && _activeVehicle && _activeVehicle.flying && _activeVehicle.orbitModeSupported && _activeVehicle.armed && !_missionActive
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmOrbit)
}
QGCButton {
pointSize: _guidedModeBar._fontPointSize
- text: qsTr("Abort")
+ text: _guidedModeBar._abortTitle
visible: _activeVehicle && _activeVehicle.flying && _activeVehicle.fixedWing
onClicked: _guidedModeBar.confirmAction(_guidedModeBar.confirmAbort)
}
+ }
+ }
- } // Row
- } // Column
- } // Rectangle - Guided mode buttons
+ Column {
+ id: guidedModeConfirm
+ anchors.margins: _margins
+ anchors.top: parent.top
+ anchors.left: parent.left
+ spacing: _margins
+ visible: false
- MouseArea {
- anchors.fill: parent
- enabled: guidedModeConfirm.visible
- onClicked: _guidedModeBar.rejectGuidedModeConfirm()
- }
+ property alias title: titleText.text
+ property alias message: messageText.text
- // Action confirmation control
- SliderSwitch {
- id: guidedModeConfirm
- anchors.bottomMargin: _margins
- anchors.bottom: parent.bottom
- anchors.horizontalCenter: parent.horizontalCenter
- visible: false
- z: QGroundControl.zOrderWidgets
- fontPointSize: _guidedModeBar._fontPointSize
+ QGCLabel {
+ id: titleText
+ anchors.left: slider.left
+ anchors.right: slider.right
+ color: _guidedModeBar._textColor
+ horizontalAlignment: Text.AlignHCenter
+ }
- onAccept: {
- guidedModeConfirm.visible = false
- _guidedModeBar.visible = true
- _guidedModeBar.actionConfirmed()
- altitudeSlider.visible = false
- guidedModeHideTimer.restart()
+ QGCLabel {
+ id: messageText
+ anchors.left: slider.left
+ anchors.right: slider.right
+ color: _guidedModeBar._textColor
+ horizontalAlignment: Text.AlignHCenter
+ wrapMode: Text.WordWrap
+ }
+
+ // Action confirmation control
+ SliderSwitch {
+ id: slider
+ fontPointSize: _guidedModeBar._fontPointSize
+ confirmText: qsTr("Slide to confirm")
+ width: Math.max(implicitWidth, ScreenTools.defaultFontPixelWidth * 30)
+
+ onAccept: {
+ guidedModeButtons.visible = true
+ guidedModeConfirm.visible = false
+ altitudeSlider.visible = false
+ _guidedModeBar.actionConfirmed()
+ }
+
+ onReject: _guidedModeBar.rejectGuidedModeConfirm()
+ }
}
- onReject: _guidedModeBar.rejectGuidedModeConfirm()
- }
+ QGCColoredImage {
+ anchors.margins: _margins
+ anchors.top: _guidedModeBar.top
+ anchors.right: _guidedModeBar.right
+ width: ScreenTools.defaultFontPixelHeight
+ height: width
+ sourceSize.height: width
+ source: "/res/XDelete.svg"
+ fillMode: Image.PreserveAspectFit
+ color: qgcPal.alertText
+ visible: guidedModeConfirm.visible
+
+ QGCMouseArea {
+ fillItem: parent
+ onClicked: _guidedModeBar.rejectGuidedModeConfirm()
+ }
+ }
+
+ } // Rectangle - Guided mode buttons
//-- Altitude slider
Rectangle {
@@ -492,27 +513,17 @@ Item {
anchors.right: parent.right
anchors.top: parent.top
anchors.bottom: parent.bottom
- color: qgcPal.window
+ radius: ScreenTools.defaultFontPixelWidth / 2
width: ScreenTools.defaultFontPixelWidth * 10
- opacity: 0.8
+ color: qgcPal.window
visible: false
- function setInitialValueMeters(meters) {
- altSlider.value = QGroundControl.metersToAppSettingsDistanceUnits(meters)
+ function setValue(value) {
+ altSlider.value = value
}
- function setInitialValueAppSettingsDistanceUnits(height) {
- altSlider.value = height
- }
-
- /// Returns NaN for bad value
function getValue() {
- var value = parseFloat(altField.text)
- if (!isNaN(value)) {
- return QGroundControl.appSettingsDistanceUnitsToMeters(value);
- } else {
- return value;
- }
+ return altSlider.value
}
Column {
@@ -523,24 +534,18 @@ Item {
anchors.right: parent.right
QGCLabel {
- anchors.horizontalCenter: parent.horizontalCenter
- text: qsTr("Alt (rel)")
+ anchors.horizontalCenter: parent.horizontalCenter
+ text: altSlider.value >=0 ? qsTr("Up") : qsTr("Down")
}
QGCLabel {
- anchors.horizontalCenter: parent.horizontalCenter
- text: QGroundControl.appSettingsDistanceUnitsString
- }
-
- QGCTextField {
- id: altField
- anchors.left: parent.left
- anchors.right: parent.right
- text: altSlider.value.toFixed(1)
+ id: altField
+ anchors.horizontalCenter: parent.horizontalCenter
+ text: Math.abs(altSlider.value.toFixed(1)) + " " + QGroundControl.appSettingsDistanceUnitsString
}
}
- Slider {
+ QGCSlider {
id: altSlider
anchors.margins: _margins
anchors.top: headerColumn.bottom
@@ -548,8 +553,19 @@ Item {
anchors.left: parent.left
anchors.right: parent.right
orientation: Qt.Vertical
- minimumValue: QGroundControl.metersToAppSettingsDistanceUnits(0)
- maximumValue: QGroundControl.metersToAppSettingsDistanceUnits((_activeVehicle && _activeVehicle.flying) ? Math.round((_activeVehicle.altitudeRelative.value + 100) / 100) * 100 : 10)
+ //minimumValue: QGroundControl.metersToAppSettingsDistanceUnits(0)
+ //maximumValue: QGroundControl.metersToAppSettingsDistanceUnits((_activeVehicle && _activeVehicle.flying) ? Math.round((_activeVehicle.altitudeRelative.value + 100) / 100) * 100 : 10)
+ minimumValue: QGroundControl.metersToAppSettingsDistanceUnits(-10)
+ maximumValue: QGroundControl.metersToAppSettingsDistanceUnits(10)
+ indicatorCentered: true
+ rotation: 180
+
+ // We want slide up to be positive values
+ transform: Rotation {
+ origin.x: altSlider.width / 2
+ origin.y: altSlider.height / 2
+ angle: 180
+ }
}
}
}
diff --git a/src/FlightMap/FlightMap.qml b/src/FlightMap/FlightMap.qml
index 014387b..e13a9a0 100644
--- a/src/FlightMap/FlightMap.qml
+++ b/src/FlightMap/FlightMap.qml
@@ -54,6 +54,7 @@ Map {
function _possiblyCenterToVehiclePosition() {
if (!firstVehiclePositionReceived && allowVehicleLocationCenter && activeVehicleCoordinate.isValid) {
+ console.log("Moving to initial vehicle position", QGroundControl.flightMapInitialZoom)
firstVehiclePositionReceived = true
center = activeVehicleCoordinate
zoomLevel = QGroundControl.flightMapInitialZoom
diff --git a/src/FlightMap/qmldir b/src/FlightMap/qmldir
index 4626a37..b507ba2 100644
--- a/src/FlightMap/qmldir
+++ b/src/FlightMap/qmldir
@@ -17,7 +17,6 @@ QGCAttitudeHUD 1.0 QGCAttitudeHUD.qml
QGCAttitudeWidget 1.0 QGCAttitudeWidget.qml
QGCCompassWidget 1.0 QGCCompassWidget.qml
QGCPitchIndicator 1.0 QGCPitchIndicator.qml
-QGCSlider 1.0 QGCSlider.qml
ValuesWidget 1.0 ValuesWidget.qml
VehicleHealthWidget 1.0 VehicleHealthWidget.qml
VibrationWidget 1.0 VibrationWidget.qml
diff --git a/src/MissionManager/SimpleMissionItem.cc b/src/MissionManager/SimpleMissionItem.cc
index 6905057..a5ee83e 100644
--- a/src/MissionManager/SimpleMissionItem.cc
+++ b/src/MissionManager/SimpleMissionItem.cc
@@ -498,7 +498,21 @@ bool SimpleMissionItem::friendlyEditAllowed(void) const
}
if (specifiesCoordinate() || specifiesAltitudeOnly()) {
- return _missionItem.frame() == MAV_FRAME_GLOBAL || _missionItem.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
+ MAV_FRAME frame = _missionItem.frame();
+ switch (frame) {
+ case MAV_FRAME_GLOBAL:
+ case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+#if 0
+ Coming soon
+ case MAV_FRAME_GLOBAL_INT:
+ case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
+#endif
+ return true;
+ break;
+
+ default:
+ return false;
+ }
}
return true;
diff --git a/src/QmlControls/QGCSlider.qml b/src/QmlControls/QGCSlider.qml
index 6d4824b..4df568b 100644
--- a/src/QmlControls/QGCSlider.qml
+++ b/src/QmlControls/QGCSlider.qml
@@ -10,47 +10,63 @@
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.4
+import QtQuick.Controls.Private 1.0
import QGroundControl.Palette 1.0
import QGroundControl.ScreenTools 1.0
-import QtQuick.Controls.Private 1.0
Slider {
- property var _qgcPal: QGCPalette { colorGroupEnabled: enabled }
+ id: _root
+ implicitHeight: ScreenTools.implicitSliderHeight
+
+ // Value indicator starts display from center instead of min value
+ property bool indicatorCentered: false
+
+ QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
style: SliderStyle {
groove: Item {
- property color fillColor: "#49d"
anchors.verticalCenter: parent.verticalCenter
- implicitWidth: Math.round(TextSingleton.implicitHeight * 4.5)
- implicitHeight: Math.max(6, Math.round(TextSingleton.implicitHeight * 0.3))
+ implicitWidth: Math.round(ScreenTools.defaultFontPixelHeight * 4.5)
+ implicitHeight: Math.round(ScreenTools.defaultFontPixelHeight * 0.3)
Rectangle {
- radius: height/2
- anchors.fill: parent
- border.width: 1
- border.color: "#888"
- gradient: Gradient {
- GradientStop { color: "#bbb" ; position: 0 }
- GradientStop { color: "#ccc" ; position: 0.6 }
- GradientStop { color: "#ccc" ; position: 1 }
- }
+ radius: height / 2
+ anchors.fill: parent
+ color: qgcPal.button
+ border.width: 1
+ border.color: qgcPal.buttonText
}
Item {
- clip: true
- width: styleData.handlePosition
+ clip: true
+ x: _root.indicatorCentered ? indicatorCenteredIndicatorStart : 0
+ width: _root.indicatorCentered ? centerIndicatorWidth : styleData.handlePosition
height: parent.height
+
+ property real indicatorCenteredIndicatorStart: Math.min(styleData.handlePosition, parent.width / 2)
+ property real indicatorCenteredIndicatorStop: Math.max(styleData.handlePosition, parent.width / 2)
+ property real centerIndicatorWidth: indicatorCenteredIndicatorStop - indicatorCenteredIndicatorStart
+
Rectangle {
- anchors.fill: parent
- border.color: Qt.darker(fillColor, 1.2)
- radius: height/2
- gradient: Gradient {
- GradientStop {color: Qt.lighter(fillColor, 1.3) ; position: 0}
- GradientStop {color: fillColor ; position: 1.4}
- }
+ anchors.fill: parent
+ color: qgcPal.colorBlue
+ border.color: Qt.darker(color, 1.2)
+ radius: height/2
}
}
}
+
+ handle: Rectangle {
+ anchors.centerIn: parent
+ color: qgcPal.button
+ border.color: qgcPal.buttonText
+ border.width: 1
+ implicitWidth: _radius * 2
+ implicitHeight: _radius * 2
+ radius: _radius
+
+ property real _radius: Math.round(ScreenTools.defaultFontPixelHeight * 0.75)
+ }
}
}
diff --git a/src/QmlControls/ScreenTools.qml b/src/QmlControls/ScreenTools.qml
index c2085e4..4fd7bd4 100644
--- a/src/QmlControls/ScreenTools.qml
+++ b/src/QmlControls/ScreenTools.qml
@@ -70,6 +70,7 @@ Item {
property real implicitTextFieldHeight: Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
property real implicitComboBoxHeight: Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
property real implicitComboBoxWidth: Math.round(defaultFontPixelWidth * (isMobile ? 7.0 : 5.0))
+ property real implicitSliderHeight: isMobile ? Math.Max(defaultFontPixelHeight, minTouchPixels) : defaultFontPixelHeight
readonly property string normalFontFamily: "opensans"
readonly property string demiboldFontFamily: "opensans-demibold"
diff --git a/src/QmlControls/SliderSwitch.qml b/src/QmlControls/SliderSwitch.qml
index b51a6b1..6485723 100644
--- a/src/QmlControls/SliderSwitch.qml
+++ b/src/QmlControls/SliderSwitch.qml
@@ -7,11 +7,11 @@ import QGroundControl.Palette 1.0
/// The SliderSwitch control implements a sliding switch control similar to the power off
/// control on an iPhone.
Rectangle {
- id: _root
- width: label.contentWidth + (_diameter * 2.5) + (_border * 4)
- height: Math.max(ScreenTools.isMobile ? ScreenTools.minTouchPixels : 0, label.height * 2.5)
- radius: height /2
- color: qgcPal.window
+ id: _root
+ implicitWidth: label.contentWidth + (_diameter * 2.5) + (_border * 4)
+ implicitHeight: Math.max(ScreenTools.isMobile ? ScreenTools.minTouchPixels : 0, label.height * 2.5)
+ radius: height /2
+ color: qgcPal.window
signal accept ///< Action confirmed
signal reject ///< Action rejected
@@ -28,7 +28,7 @@ Rectangle {
id: label
anchors.horizontalCenter: parent.horizontalCenter
anchors.verticalCenter: parent.verticalCenter
- text: qsTr("Slide to %1").arg(confirmText)
+ text: confirmText
}
Rectangle {
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 00b310a..000cb52 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1985,13 +1985,13 @@ void Vehicle::guidedModeGotoLocation(const QGeoCoordinate& gotoCoord)
_firmwarePlugin->guidedModeGotoLocation(this, gotoCoord);
}
-void Vehicle::guidedModeChangeAltitude(double altitudeRel)
+void Vehicle::guidedModeChangeAltitude(double altitudeChange)
{
if (!guidedModeSupported()) {
qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
return;
}
- _firmwarePlugin->guidedModeChangeAltitude(this, altitudeRel);
+ _firmwarePlugin->guidedModeChangeAltitude(this, altitudeChange);
}
void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double velocity, double altitude)
@@ -2397,11 +2397,21 @@ QString Vehicle::missionFlightMode(void) const
return _firmwarePlugin->missionFlightMode();
}
+QString Vehicle::pauseFlightMode(void) const
+{
+ return _firmwarePlugin->pauseFlightMode();
+}
+
QString Vehicle::rtlFlightMode(void) const
{
return _firmwarePlugin->rtlFlightMode();
}
+QString Vehicle::landFlightMode(void) const
+{
+ return _firmwarePlugin->landFlightMode();
+}
+
QString Vehicle::takeControlFlightMode(void) const
{
return _firmwarePlugin->takeControlFlightMode();
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index ab94811..27ac3ec 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -294,7 +294,9 @@ public:
Q_PROPERTY(QString brandImageOutdoor READ brandImageOutdoor NOTIFY firmwareTypeChanged)
Q_PROPERTY(QStringList unhealthySensors READ unhealthySensors NOTIFY unhealthySensorsChanged)
Q_PROPERTY(QString missionFlightMode READ missionFlightMode CONSTANT)
+ Q_PROPERTY(QString pauseFlightMode READ pauseFlightMode CONSTANT)
Q_PROPERTY(QString rtlFlightMode READ rtlFlightMode CONSTANT)
+ Q_PROPERTY(QString landFlightMode READ landFlightMode CONSTANT)
Q_PROPERTY(QString takeControlFlightMode READ takeControlFlightMode CONSTANT)
Q_PROPERTY(QString firmwareTypeString READ firmwareTypeString NOTIFY firmwareTypeChanged)
Q_PROPERTY(QString vehicleTypeString READ vehicleTypeString NOTIFY vehicleTypeChanged)
@@ -384,8 +386,9 @@ public:
/// Command vehicle to move to specified location (altitude is included and relative)
Q_INVOKABLE void guidedModeGotoLocation(const QGeoCoordinate& gotoCoord);
- /// Command vehicle to change to the specified relatice altitude
- Q_INVOKABLE void guidedModeChangeAltitude(double altitudeRel);
+ /// Command vehicle to change altitude
+ /// @param altitudeChange If > 0, go up by amount specified, if < 0, go down by amount specified
+ Q_INVOKABLE void guidedModeChangeAltitude(double altitudeChange);
/// Command vehicle to orbit given center point
/// @param centerCoord Center Coordinates
@@ -575,7 +578,9 @@ public:
QString brandImageOutdoor () const;
QStringList unhealthySensors () const;
QString missionFlightMode () const;
+ QString pauseFlightMode () const;
QString rtlFlightMode () const;
+ QString landFlightMode () const;
QString takeControlFlightMode () const;
double defaultCruiseSpeed () const { return _defaultCruiseSpeed; }
double defaultHoverSpeed () const { return _defaultHoverSpeed; }