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Merge pull request #4900 from DonLakeFlyer/GuidedBar 

Major cleanup to Guided Bar: visuals, states, bugs
QGC4.4
Don Gagne 8 years ago committed by GitHub
parent
b28e00a076 774fad4ef6
commit
bd61552b6c
19 changed files with 296 additions and 274 deletions
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  1. 10
      src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
  2. 2
      src/FirmwarePlugin/APM/APMFirmwarePlugin.h
  3. 24
      src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
  4. 9
      src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
  5. 5
      src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
  6. 1
      src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
  7. 22
      src/FirmwarePlugin/FirmwarePlugin.cc
  8. 35
      src/FirmwarePlugin/FirmwarePlugin.h
  9. 30
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
  10. 8
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
  11. 280
      src/FlightDisplay/FlightDisplayViewWidgets.qml
  12. 1
      src/FlightMap/FlightMap.qml
  13. 1
      src/FlightMap/qmldir
  14. 16
      src/MissionManager/SimpleMissionItem.cc
  15. 48
      src/QmlControls/QGCSlider.qml
  16. 1
      src/QmlControls/ScreenTools.qml
  17. 6
      src/QmlControls/SliderSwitch.qml
  18. 14
      src/Vehicle/Vehicle.cc
  19. 9
      src/Vehicle/Vehicle.h

10
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
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@ -806,13 +806,3 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle) @@ -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");
}

2
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
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@ -97,8 +97,6 @@ public: @@ -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

24
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
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@ -162,13 +162,22 @@ void ArduCopterFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QG @@ -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 @@ -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 @@ -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) @@ -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"))) {

9
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
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@ -54,7 +54,6 @@ public: @@ -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: @@ -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:

5
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
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@ -86,8 +86,3 @@ int ArduPlaneFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVer @@ -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");
}

1
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
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@ -57,7 +57,6 @@ public: @@ -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;

22
src/FirmwarePlugin/FirmwarePlugin.cc
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@ -237,13 +237,6 @@ void FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode) @@ -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 @@ -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);

35
src/FirmwarePlugin/FirmwarePlugin.h
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@ -93,15 +93,27 @@ public: @@ -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: @@ -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.

30
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
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@ -399,7 +399,7 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord @@ -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 @@ -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 @@ -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 @@ -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"))) {

8
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
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@ -37,6 +37,11 @@ public: @@ -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: @@ -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:

280
src/FlightDisplay/FlightDisplayViewWidgets.qml
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@ -7,13 +7,13 @@ @@ -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 { @@ -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 { @@ -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
property color _backgroundColor: _isSatellite ? qgcPal.mapWidgetBorderLight : qgcPal.mapWidgetBorderDark
property color _textColor: _isSatellite ? qgcPal.mapWidgetBorderDark : qgcPal.mapWidgetBorderLight
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")
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
}
PropertyAnimation {
id: showAnimation
target: _guidedModeBar
property: "_barMargin"
duration: 250
easing.type: Easing.InOutQuad
from: _guidedModeBar._hideMargin
to: _guidedModeBar._showMargin
}
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 { @@ -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)
@ -300,68 +272,80 @@ Item { @@ -300,68 +272,80 @@ 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
@ -369,8 +353,8 @@ Item { @@ -369,8 +353,8 @@ Item {
QGCLabel {
anchors.horizontalCenter: parent.horizontalCenter
color: _isSatellite ? qgcPal.mapWidgetBorderDark : qgcPal.mapWidgetBorderLight
text: "Click in map to move vehicle"
color: _guidedModeBar._textColor
text: qsTr("Click in map to move vehicle")
visible: gotoEnabled
}
@ -379,111 +363,148 @@ Item { @@ -379,111 +363,148 @@ Item {
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
QGCLabel {
id: titleText
anchors.left: slider.left
anchors.right: slider.right
color: _guidedModeBar._textColor
horizontalAlignment: Text.AlignHCenter
}
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: guidedModeConfirm
anchors.bottomMargin: _margins
anchors.bottom: parent.bottom
anchors.horizontalCenter: parent.horizontalCenter
visible: false
z: QGroundControl.zOrderWidgets
id: slider
fontPointSize: _guidedModeBar._fontPointSize
confirmText: qsTr("Slide to confirm")
width: Math.max(implicitWidth, ScreenTools.defaultFontPixelWidth * 30)
onAccept: {
guidedModeButtons.visible = true
guidedModeConfirm.visible = false
_guidedModeBar.visible = true
_guidedModeBar.actionConfirmed()
altitudeSlider.visible = false
guidedModeHideTimer.restart()
_guidedModeBar.actionConfirmed()
}
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 { @@ -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 {
@ -524,23 +535,17 @@ Item { @@ -524,23 +535,17 @@ Item {
QGCLabel {
anchors.horizontalCenter: parent.horizontalCenter
text: qsTr("Alt (rel)")
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)
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 { @@ -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
}
}
}
}

1
src/FlightMap/FlightMap.qml
Unescape View File

@ -54,6 +54,7 @@ Map { @@ -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

1
src/FlightMap/qmldir
Unescape View File

@ -17,7 +17,6 @@ QGCAttitudeHUD 1.0 QGCAttitudeHUD.qml @@ -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

16
src/MissionManager/SimpleMissionItem.cc
Unescape View File

@ -498,7 +498,21 @@ bool SimpleMissionItem::friendlyEditAllowed(void) const @@ -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;

48
src/QmlControls/QGCSlider.qml
Unescape View File

@ -10,47 +10,63 @@ @@ -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
color: qgcPal.button
border.width: 1
border.color: "#888"
gradient: Gradient {
GradientStop { color: "#bbb" ; position: 0 }
GradientStop { color: "#ccc" ; position: 0.6 }
GradientStop { color: "#ccc" ; position: 1 }
}
border.color: qgcPal.buttonText
}
Item {
clip: true
width: styleData.handlePosition
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)
color: qgcPal.colorBlue
border.color: Qt.darker(color, 1.2)
radius: height/2
gradient: Gradient {
GradientStop {color: Qt.lighter(fillColor, 1.3) ; position: 0}
GradientStop {color: fillColor ; position: 1.4}
}
}
}
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)
}
}
}

1
src/QmlControls/ScreenTools.qml
Unescape View File

@ -70,6 +70,7 @@ Item { @@ -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"

6
src/QmlControls/SliderSwitch.qml
Unescape View File

@ -8,8 +8,8 @@ import QGroundControl.Palette 1.0 @@ -8,8 +8,8 @@ import QGroundControl.Palette 1.0
/// 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)
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
@ -28,7 +28,7 @@ Rectangle { @@ -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 {

14
src/Vehicle/Vehicle.cc
Unescape View File

@ -1985,13 +1985,13 @@ void Vehicle::guidedModeGotoLocation(const QGeoCoordinate& gotoCoord) @@ -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 @@ -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();

9
src/Vehicle/Vehicle.h
Unescape View File

@ -294,7 +294,9 @@ public: @@ -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: @@ -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: @@ -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; }

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