Usability changes

qgroundcontrol.qrc

@@ -129,6 +129,7 @@
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewVideo.qml">src/FlightDisplay/FlightDisplayViewVideo.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewWidgets.qml">src/FlightDisplay/FlightDisplayViewWidgets.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedActionsController.qml">src/FlightDisplay/GuidedActionsController.qml</file>
+        <file alias="QGroundControl/FlightDisplay/GuidedAltitudeSlider.qml">src/FlightDisplay/GuidedAltitudeSlider.qml</file>
         <file alias="QGroundControl/FlightDisplay/MultiVehicleList.qml">src/FlightDisplay/MultiVehicleList.qml</file>
         <file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
         <file alias="QGroundControl/FlightMap/CenterMapDropButton.qml">src/FlightMap/Widgets/CenterMapDropButton.qml</file>

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -179,6 +179,8 @@ void ArduCopterFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double
         altitudeChange = 3 - currentAltRel;
     }
 
+    setGuidedMode(vehicle, true);
+
     mavlink_message_t msg;
     mavlink_set_position_target_local_ned_t cmd;
 

src/FlightDisplay/FlightDisplayView.qml

@@ -619,6 +619,7 @@ QGCView {
 
                                     onClicked: {
                                         if (modelData.action === guidedController.actionChangeAlt) {
+                                            altitudeSlider.reset()
                                             altitudeSlider.visible = true
                                         }
                                         guidedActionList.visible = false
@@ -650,7 +651,7 @@ QGCView {
         }
 
         //-- Altitude slider
-        Rectangle {
+        GuidedAltitudeSlider {
             id:                 altitudeSlider
             anchors.margins:    _margins
             anchors.right:      parent.right
@@ -662,54 +663,6 @@ QGCView {
             width:              ScreenTools.defaultFontPixelWidth * 10
             color:              qgcPal.window
             visible:            false
-
-            function setValue(value) {
-                altSlider.value = value
-            }
-
-            function getValue() {
-                return altSlider.value
-            }
-
-            Column {
-                id:                 headerColumn
-                anchors.margins:    _margins
-                anchors.top:        parent.top
-                anchors.left:       parent.left
-                anchors.right:      parent.right
-
-                QGCLabel {
-                    anchors.horizontalCenter:   parent.horizontalCenter
-                    text:                       altSlider.value >=0 ? qsTr("Up") : qsTr("Down")
-                }
-
-                QGCLabel {
-                    id:                         altField
-                    anchors.horizontalCenter:   parent.horizontalCenter
-                    text:                       Math.abs(altSlider.value.toFixed(1)) + " " + QGroundControl.appSettingsDistanceUnitsString
-                }
-            }
-
-            QGCSlider {
-                id:                 altSlider
-                anchors.margins:    _margins
-                anchors.top:        headerColumn.bottom
-                anchors.bottom:     parent.bottom
-                anchors.left:       parent.left
-                anchors.right:      parent.right
-                orientation:        Qt.Vertical
-                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
-                }
-            }
         }
     }
 }

src/FlightDisplay/GuidedAltitudeSlider.qml

@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2016 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                  2.3
+import QtQuick.Controls         1.2
+
+import QGroundControl               1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Vehicle       1.0
+
+/// Altitude slider for guided change altitude command
+Rectangle {
+    id:                 _root
+
+    readonly property real _maxAlt: 121.92  // 400 feet
+    readonly property real _minAlt: 3
+
+    property var _activeVehicle:    QGroundControl.multiVehicleManager.activeVehicle
+    property real _vehicleAltitude: _activeVehicle ? _activeVehicle.altitudeRelative.rawValue : 0
+    property bool _fixedWing:       _activeVehicle ? _activeVehicle.fixedWing : false
+    property real _sliderMaxAlt:    _fixedWing ? _maxAlt : Math.min(_vehicleAltitude + 10, _maxAlt)
+    property real _sliderMinAlt:    _fixedWing ? _minAlt : Math.max(_vehicleAltitude - 10, _minAlt)
+
+    function reset() {
+        altSlider.value = Math.min(Math.max(altSlider.minimumValue, 0), altSlider.maximumValue)
+    }
+
+    function getValue() {
+        return altSlider.value
+    }
+
+    Column {
+        id:                 headerColumn
+        anchors.margins:    _margins
+        anchors.top:        parent.top
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+
+        QGCLabel {
+            anchors.left:           parent.left
+            anchors.right:          parent.right
+            wrapMode:               Text.WordWrap
+            horizontalAlignment:    Text.AlignHCenter
+            text:                   qsTr("New Alt(rel)")
+        }
+
+        QGCLabel {
+            id:                         altField
+            anchors.horizontalCenter:   parent.horizontalCenter
+            text:                       Math.abs(newAltitude.toFixed(1)) + " " + QGroundControl.appSettingsDistanceUnitsString
+
+            property real newAltitude: QGroundControl.metersToAppSettingsDistanceUnits(_root._vehicleAltitude + altSlider.value).toFixed(1)
+        }
+    }
+
+    QGCSlider {
+        id:                 altSlider
+        anchors.margins:    _margins
+        anchors.top:        headerColumn.bottom
+        anchors.bottom:     parent.bottom
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+        orientation:        Qt.Vertical
+        minimumValue:       _root._sliderMinAlt - _root._vehicleAltitude
+        maximumValue:       _root._sliderMaxAlt - _root._vehicleAltitude
+        zeroCentered:  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
+        }
+    }
+}

src/FlightDisplay/qmldir

@@ -4,6 +4,7 @@ FlightDisplayView           1.0 FlightDisplayView.qml
 FlightDisplayViewMap        1.0 FlightDisplayViewMap.qml
 FlightDisplayViewVideo      1.0 FlightDisplayViewVideo.qml
 FlightDisplayViewWidgets    1.0 FlightDisplayViewWidgets.qml
+GuidedAltitudeSlider        1.0 GuidedAltitudeSlider.qml
 GuidedCommands              1.0 GuidedCommands.qml
 MultiVehicleList            1.0 MultiVehicleList.qml
 

src/QmlControls/QGCSlider.qml

@@ -19,8 +19,8 @@ Slider {
     id:             _root
     implicitHeight: ScreenTools.implicitSliderHeight
 
-    // Value indicator starts display from center instead of min value
-    property bool indicatorCentered: false
+    // Value indicator starts display from zero instead of min value
+    property bool zeroCentered: false
 
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
 
@@ -39,14 +39,16 @@ Slider {
             }
 
             Item {
+                id:     indicatorBar
                 clip:   true
-                x:      _root.indicatorCentered ? indicatorCenteredIndicatorStart : 0
-                width:  _root.indicatorCentered ? centerIndicatorWidth : styleData.handlePosition
+                x:      _root.zeroCentered ? zeroCenteredIndicatorStart : 0
+                width:  _root.zeroCentered ? 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
+                property real zeroValuePosition:            (Math.abs(control.minimumValue) / (control.maximumValue - control.minimumValue)) * parent.width
+                property real zeroCenteredIndicatorStart:   Math.min(styleData.handlePosition, zeroValuePosition)
+                property real zeroCenteredIndicatorStop:    Math.max(styleData.handlePosition, zeroValuePosition)
+                property real centerIndicatorWidth:         zeroCenteredIndicatorStop - zeroCenteredIndicatorStart
 
                 Rectangle {
                     anchors.fill:   parent