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Merge pull request #8109 from mavlink/pr-roi 

ROI for manual flight
QGC4.4
Gus Grubba 5 years ago committed by GitHub
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7d5928402a 8ea27d1908
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e4b7eb1c2e
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15 changed files with 315 additions and 66 deletions
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  1. 1
      ChangeLog.md
  2. 6
      QGCExternalLibs.pri
  3. 1
      qgcimages.qrc
  4. 1
      qgroundcontrol.qrc
  5. 27
      src/FirmwarePlugin/FirmwarePlugin.cc
  6. 1
      src/FirmwarePlugin/FirmwarePlugin.h
  7. 5
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
  8. 41
      src/FlightDisplay/FlightDisplayViewMap.qml
  9. 92
      src/FlightDisplay/GuidedActionsController.qml
  10. 87
      src/Vehicle/Vehicle.cc
  11. 11
      src/Vehicle/Vehicle.h
  12. 3
      src/api/QGCOptions.h
  13. 6
      src/ui/MainRootWindow.qml
  14. 10
      src/ui/toolbar/Images/roi.svg
  15. 89
      src/ui/toolbar/ROIIndicator.qml

1
ChangeLog.md
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@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes. @@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
### 4.0.0 - Daily Build
* Added ROI option during manual flight.
* Windows: Move builds to 64 bit, Qt 5.12.5
* Plan: ROI button will switch to Cancel ROI at appropriate times
* Plan: When ROI is selected the flight path lines which are affected by the ROI will change color

6
QGCExternalLibs.pri
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@ -131,9 +131,9 @@ AndroidBuild { @@ -131,9 +131,9 @@ AndroidBuild {
contains(DEFINES, QGC_ENABLE_PAIRING) {
MacBuild {
#- Pairing is generally not supported on macOS. This is here solely for development.
exists(/usr/local/Cellar/openssl/1.0.2s/include) {
INCLUDEPATH += /usr/local/Cellar/openssl/1.0.2s/include
LIBS += -L/usr/local/Cellar/openssl/1.0.2s/lib
exists(/usr/local/Cellar/openssl/1.0.2t/include) {
INCLUDEPATH += /usr/local/Cellar/openssl/1.0.2t/include
LIBS += -L/usr/local/Cellar/openssl/1.0.2t/lib
LIBS += -lcrypto -lz
} else {
# There is some circular reference settings going on between QGCExternalLibs.pri and gqgroundcontrol.pro.

1
qgcimages.qrc
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@ -147,6 +147,7 @@ @@ -147,6 +147,7 @@
<file alias="RCLossLight.svg">src/AutoPilotPlugins/PX4/Images/RCLossLight.svg</file>
<file alias="ReturnToHomeAltitude.svg">src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitude.svg</file>
<file alias="ReturnToHomeAltitudeCopter.svg">src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitudeCopter.svg</file>
<file alias="roi.svg">src/ui/toolbar/Images/roi.svg</file>
<file alias="rollDialWhite.svg">src/FlightMap/Images/rollDialWhite.svg</file>
<file alias="rollPointerWhite.svg">src/FlightMap/Images/rollPointerWhite.svg</file>
<file alias="RTK.svg">src/ui/toolbar/Images/RTK.svg</file>

1
qgroundcontrol.qrc
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@ -15,6 +15,7 @@ @@ -15,6 +15,7 @@
<file alias="ModeIndicator.qml">src/ui/toolbar/ModeIndicator.qml</file>
<file alias="MultiVehicleSelector.qml">src/ui/toolbar/MultiVehicleSelector.qml</file>
<file alias="RCRSSIIndicator.qml">src/ui/toolbar/RCRSSIIndicator.qml</file>
<file alias="ROIIndicator.qml">src/ui/toolbar/ROIIndicator.qml</file>
<file alias="TelemetryRSSIIndicator.qml">src/ui/toolbar/TelemetryRSSIIndicator.qml</file>
<file alias="VTOLModeIndicator.qml">src/ui/toolbar/VTOLModeIndicator.qml</file>
</qresource>

27
src/FirmwarePlugin/FirmwarePlugin.cc
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@ -271,18 +271,15 @@ void FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordina @@ -271,18 +271,15 @@ void FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordina
qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
}
void FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel)
void FirmwarePlugin::guidedModeChangeAltitude(Vehicle*, double)
{
// Not supported by generic vehicle
Q_UNUSED(vehicle);
Q_UNUSED(altitudeRel);
qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
}
void FirmwarePlugin::startMission(Vehicle* vehicle)
void FirmwarePlugin::startMission(Vehicle*)
{
// Not supported by generic vehicle
Q_UNUSED(vehicle);
qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
}
@ -293,33 +290,28 @@ const FirmwarePlugin::remapParamNameMajorVersionMap_t& FirmwarePlugin::paramName @@ -293,33 +290,28 @@ const FirmwarePlugin::remapParamNameMajorVersionMap_t& FirmwarePlugin::paramName
return remap;
}
int FirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
int FirmwarePlugin::remapParamNameHigestMinorVersionNumber(int) const
{
Q_UNUSED(majorVersionNumber);
return 0;
}
QString FirmwarePlugin::vehicleImageOpaque(const Vehicle* vehicle) const
QString FirmwarePlugin::vehicleImageOpaque(const Vehicle*) const
{
Q_UNUSED(vehicle);
return QStringLiteral("/qmlimages/vehicleArrowOpaque.svg");
}
QString FirmwarePlugin::vehicleImageOutline(const Vehicle* vehicle) const
QString FirmwarePlugin::vehicleImageOutline(const Vehicle*) const
{
Q_UNUSED(vehicle);
return QStringLiteral("/qmlimages/vehicleArrowOutline.svg");
}
QString FirmwarePlugin::vehicleImageCompass(const Vehicle* vehicle) const
QString FirmwarePlugin::vehicleImageCompass(const Vehicle*) const
{
Q_UNUSED(vehicle);
return QStringLiteral("/qmlimages/compassInstrumentArrow.svg");
}
const QVariantList &FirmwarePlugin::toolBarIndicators(const Vehicle* vehicle)
const QVariantList &FirmwarePlugin::toolBarIndicators(const Vehicle*)
{
Q_UNUSED(vehicle);
//-- Default list of indicators for all vehicles.
if(_toolBarIndicatorList.size() == 0) {
_toolBarIndicatorList = QVariantList({
@ -329,6 +321,7 @@ const QVariantList &FirmwarePlugin::toolBarIndicators(const Vehicle* vehicle) @@ -329,6 +321,7 @@ const QVariantList &FirmwarePlugin::toolBarIndicators(const Vehicle* vehicle)
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/RCRSSIIndicator.qml")),
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/BatteryIndicator.qml")),
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/GPSRTKIndicator.qml")),
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ROIIndicator.qml")),
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ArmedIndicator.qml")),
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ModeIndicator.qml")),
QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/VTOLModeIndicator.qml")),
@ -339,10 +332,8 @@ const QVariantList &FirmwarePlugin::toolBarIndicators(const Vehicle* vehicle) @@ -339,10 +332,8 @@ const QVariantList &FirmwarePlugin::toolBarIndicators(const Vehicle* vehicle)
return _toolBarIndicatorList;
}
const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle)
const QVariantList& FirmwarePlugin::cameraList(const Vehicle*)
{
Q_UNUSED(vehicle);
if (_cameraList.size() == 0) {
CameraMetaData* metaData;

1
src/FirmwarePlugin/FirmwarePlugin.h
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@ -48,6 +48,7 @@ public: @@ -48,6 +48,7 @@ public:
GuidedModeCapability = 1 << 2, ///< Vehicle supports guided mode commands
OrbitModeCapability = 1 << 3, ///< Vehicle supports orbit mode
TakeoffVehicleCapability = 1 << 4, ///< Vehicle supports guided takeoff
ROIModeCapability = 1 << 5, ///< Vehicle supports ROI
} FirmwareCapabilities;
/// Maps from on parameter name to another

5
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
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@ -226,10 +226,13 @@ bool PX4FirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_m @@ -226,10 +226,13 @@ bool PX4FirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_m
bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
{
int available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
//-- This is arbitrary until I find how to really tell if ROI is avaiable
if (vehicle->multiRotor()) {
available |= ROIModeCapability;
}
if (vehicle->multiRotor() || vehicle->vtol()) {
available |= TakeoffVehicleCapability | OrbitModeCapability;
}
return (capabilities & available) == capabilities;
}

41
src/FlightDisplay/FlightDisplayViewMap.qml
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@ -44,7 +44,6 @@ FlightMap { @@ -44,7 +44,6 @@ FlightMap {
property var _geoFenceController: missionController.geoFenceController
property var _rallyPointController: missionController.rallyPointController
property var activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property var _activeVehicleCoordinate: activeVehicle ? activeVehicle.coordinate : QtPositioning.coordinate()
property real _toolButtonTopMargin: parent.height - mainWindow.height + (ScreenTools.defaultFontPixelHeight / 2)
property bool _airspaceEnabled: QGroundControl.airmapSupported ? (QGroundControl.settingsManager.airMapSettings.enableAirMap.rawValue && QGroundControl.airspaceManager.connected): false
@ -409,6 +408,34 @@ FlightMap { @@ -409,6 +408,34 @@ FlightMap {
}
}
// ROI Location visuals
MapQuickItem {
id: roiLocationItem
visible: activeVehicle && activeVehicle.isROIEnabled
z: QGroundControl.zOrderMapItems
anchorPoint.x: sourceItem.anchorPointX
anchorPoint.y: sourceItem.anchorPointY
sourceItem: MissionItemIndexLabel {
checked: true
index: -1
label: qsTr("ROI here", "Make this a Region Of Interest")
}
//-- Visibilty controlled by actual state
function show(coord) {
roiLocationItem.coordinate = coord
}
function hide() {
}
function actionConfirmed() {
}
function actionCancelled() {
}
}
// Orbit telemetry visuals
QGCMapCircleVisuals {
id: orbitTelemetryCircle
@ -437,9 +464,7 @@ FlightMap { @@ -437,9 +464,7 @@ FlightMap {
QGCMenu {
id: clickMenu
property var coord
QGCMenuItem {
text: qsTr("Go to location")
visible: guidedActionsController.showGotoLocation
@ -450,7 +475,6 @@ FlightMap { @@ -450,7 +475,6 @@ FlightMap {
guidedActionsController.confirmAction(guidedActionsController.actionGoto, clickMenu.coord, gotoLocationItem)
}
}
QGCMenuItem {
text: qsTr("Orbit at location")
visible: guidedActionsController.showOrbit
@ -461,6 +485,15 @@ FlightMap { @@ -461,6 +485,15 @@ FlightMap {
guidedActionsController.confirmAction(guidedActionsController.actionOrbit, clickMenu.coord, orbitMapCircle)
}
}
QGCMenuItem {
text: qsTr("ROI at location")
visible: guidedActionsController.showROI
onTriggered: {
roiLocationItem.show(clickMenu.coord)
guidedActionsController.confirmAction(guidedActionsController.actionROI, clickMenu.coord, orbitMapCircle)
}
}
}
onClicked: {

92
src/FlightDisplay/GuidedActionsController.qml
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@ -51,6 +51,7 @@ Item { @@ -51,6 +51,7 @@ Item {
readonly property string setWaypointTitle: qsTr("Set Waypoint")
readonly property string gotoTitle: qsTr("Go To Location")
readonly property string vtolTransitionTitle: qsTr("VTOL Transition")
readonly property string roiTitle: qsTr("ROI")
readonly property string armMessage: qsTr("Arm the vehicle.")
readonly property string disarmMessage: qsTr("Disarm the vehicle")
@ -70,6 +71,7 @@ Item { @@ -70,6 +71,7 @@ Item {
readonly property string mvPauseMessage: qsTr("Pause all vehicles at their current position.")
readonly property string vtolTransitionFwdMessage: qsTr("Transition VTOL to fixed wing flight.")
readonly property string vtolTransitionMRMessage: qsTr("Transition VTOL to multi-rotor flight.")
readonly property string roiMessage: qsTr("Make the specified location a Region Of Interest.")
readonly property int actionRTL: 1
readonly property int actionLand: 2
@ -92,35 +94,36 @@ Item { @@ -92,35 +94,36 @@ Item {
readonly property int actionMVStartMission: 19
readonly property int actionVtolTransitionToFwdFlight: 20
readonly property int actionVtolTransitionToMRFlight: 21
readonly property int actionROI: 22
property bool showEmergenyStop: _guidedActionsEnabled && !_hideEmergenyStop && _vehicleArmed && _vehicleFlying
property bool showArm: _guidedActionsEnabled && !_vehicleArmed
property bool showDisarm: _guidedActionsEnabled && _vehicleArmed && !_vehicleFlying
property bool showRTL: _guidedActionsEnabled && _vehicleArmed && _activeVehicle.guidedModeSupported && _vehicleFlying && !_vehicleInRTLMode
property bool showTakeoff: _guidedActionsEnabled && _activeVehicle.takeoffVehicleSupported && !_vehicleFlying
property bool showLand: _guidedActionsEnabled && _activeVehicle.guidedModeSupported && _vehicleArmed && !_activeVehicle.fixedWing && !_vehicleInLandMode
property bool showRTL: _guidedActionsEnabled && _vehicleArmed && activeVehicle.guidedModeSupported && _vehicleFlying && !_vehicleInRTLMode
property bool showTakeoff: _guidedActionsEnabled && activeVehicle.takeoffVehicleSupported && !_vehicleFlying
property bool showLand: _guidedActionsEnabled && activeVehicle.guidedModeSupported && _vehicleArmed && !activeVehicle.fixedWing && !_vehicleInLandMode
property bool showStartMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && !_vehicleFlying
property bool showContinueMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < _missionItemCount - 1)
property bool showPause: _guidedActionsEnabled && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused && !_fixedWingOnApproach
property bool showChangeAlt: _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
property bool showOrbit: _guidedActionsEnabled && !_hideOrbit && _vehicleFlying && _activeVehicle.orbitModeSupported && !_missionActive
property bool showPause: _guidedActionsEnabled && _vehicleArmed && activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused && !_fixedWingOnApproach
property bool showChangeAlt: _guidedActionsEnabled && _vehicleFlying && activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
property bool showOrbit: _guidedActionsEnabled && !_hideOrbit && _vehicleFlying && activeVehicle.orbitModeSupported && !_missionActive
property bool showROI: _guidedActionsEnabled && !_hideROI && _vehicleFlying && activeVehicle.roiModeSupported && !_missionActive
property bool showLandAbort: _guidedActionsEnabled && _vehicleFlying && _fixedWingOnApproach
property bool showGotoLocation: _guidedActionsEnabled && _vehicleFlying
// Note: The '_missionItemCount - 2' is a hack to not trigger resume mission when a mission ends with an RTL item
property bool showResumeMission: _activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < _missionItemCount - 2)
property bool showResumeMission: activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < _missionItemCount - 2)
property bool guidedUIVisible: guidedActionConfirm.visible || guidedActionList.visible
property var _corePlugin: QGroundControl.corePlugin
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property bool _guidedActionsEnabled: (!ScreenTools.isDebug && QGroundControl.corePlugin.options.guidedActionsRequireRCRSSI && _activeVehicle) ? _rcRSSIAvailable : _activeVehicle
property string _flightMode: _activeVehicle ? _activeVehicle.flightMode : ""
property bool _guidedActionsEnabled: (!ScreenTools.isDebug && QGroundControl.corePlugin.options.guidedActionsRequireRCRSSI && activeVehicle) ? _rcRSSIAvailable : activeVehicle
property string _flightMode: activeVehicle ? activeVehicle.flightMode : ""
property bool _missionAvailable: missionController.containsItems
property bool _missionActive: _activeVehicle ? _vehicleArmed && (_vehicleInLandMode || _vehicleInRTLMode || _vehicleInMissionMode) : false
property bool _vehicleArmed: _activeVehicle ? _activeVehicle.armed : false
property bool _vehicleFlying: _activeVehicle ? _activeVehicle.flying : false
property bool _vehicleLanding: _activeVehicle ? _activeVehicle.landing : false
property bool _missionActive: activeVehicle ? _vehicleArmed && (_vehicleInLandMode || _vehicleInRTLMode || _vehicleInMissionMode) : false
property bool _vehicleArmed: activeVehicle ? activeVehicle.armed : false
property bool _vehicleFlying: activeVehicle ? activeVehicle.flying : false
property bool _vehicleLanding: activeVehicle ? activeVehicle.landing : false
property bool _vehiclePaused: false
property bool _vehicleInMissionMode: false
property bool _vehicleInRTLMode: false
@ -130,18 +133,19 @@ Item { @@ -130,18 +133,19 @@ Item {
property int _resumeMissionIndex: missionController.resumeMissionIndex
property bool _hideEmergenyStop: !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
property bool _hideOrbit: !QGroundControl.corePlugin.options.guidedBarShowOrbit
property bool _hideROI: !QGroundControl.corePlugin.options.guidedBarShowOrbit
property bool _vehicleWasFlying: false
property bool _rcRSSIAvailable: _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100 : false
property bool _fixedWingOnApproach: _activeVehicle ? _activeVehicle.fixedWing && _vehicleLanding : false
property bool _rcRSSIAvailable: activeVehicle ? activeVehicle.rcRSSI > 0 && activeVehicle.rcRSSI <= 100 : false
property bool _fixedWingOnApproach: activeVehicle ? activeVehicle.fixedWing && _vehicleLanding : false
// You can turn on log output for GuidedActionsController by turning on GuidedActionsControllerLog category
property bool __guidedModeSupported: _activeVehicle ? _activeVehicle.guidedModeSupported : false
property bool __pauseVehicleSupported: _activeVehicle ? _activeVehicle.pauseVehicleSupported : false
property bool __guidedModeSupported: activeVehicle ? activeVehicle.guidedModeSupported : false
property bool __pauseVehicleSupported: activeVehicle ? activeVehicle.pauseVehicleSupported : false
property bool __flightMode: _flightMode
function _outputState() {
if (_corePlugin.guidedActionsControllerLogging()) {
console.log(qsTr("_activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleWasFlying(%5) _vehicleInRTLMode(%6) pauseVehicleSupported(%7) _vehiclePaused(%8) _flightMode(%9) _missionItemCount(%10)").arg(_activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleWasFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode).arg(_missionItemCount))
console.log(qsTr("activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleWasFlying(%5) _vehicleInRTLMode(%6) pauseVehicleSupported(%7) _vehiclePaused(%8) _flightMode(%9) _missionItemCount(%10)").arg(activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleWasFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode).arg(_missionItemCount))
}
}
@ -209,10 +213,10 @@ Item { @@ -209,10 +213,10 @@ Item {
property var _actionData
on_FlightModeChanged: {
_vehiclePaused = _activeVehicle ? _flightMode === _activeVehicle.pauseFlightMode : false
_vehicleInRTLMode = _activeVehicle ? _flightMode === _activeVehicle.rtlFlightMode || _flightMode === _activeVehicle.smartRTLFlightMode : false
_vehicleInLandMode = _activeVehicle ? _flightMode === _activeVehicle.landFlightMode : false
_vehicleInMissionMode = _activeVehicle ? _flightMode === _activeVehicle.missionFlightMode : false // Must be last to get correct signalling for showStartMission popups
_vehiclePaused = activeVehicle ? _flightMode === activeVehicle.pauseFlightMode : false
_vehicleInRTLMode = activeVehicle ? _flightMode === activeVehicle.rtlFlightMode || _flightMode === activeVehicle.smartRTLFlightMode : false
_vehicleInLandMode = activeVehicle ? _flightMode === activeVehicle.landFlightMode : false
_vehicleInMissionMode = activeVehicle ? _flightMode === activeVehicle.missionFlightMode : false // Must be last to get correct signalling for showStartMission popups
}
// Called when an action is about to be executed in order to confirm
@ -287,7 +291,7 @@ Item { @@ -287,7 +291,7 @@ Item {
case actionRTL:
confirmDialog.title = rtlTitle
confirmDialog.message = rtlMessage
if (_activeVehicle.supportsSmartRTL) {
if (activeVehicle.supportsSmartRTL) {
confirmDialog.optionText = qsTr("Smart RTL")
confirmDialog.optionChecked = false
}
@ -343,6 +347,11 @@ Item { @@ -343,6 +347,11 @@ Item {
confirmDialog.message = vtolTransitionMRMessage
confirmDialog.hideTrigger = true
break
case actionROI:
confirmDialog.title = roiTitle
confirmDialog.message = roiMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showROI })
break;
default:
console.warn("Unknown actionCode", actionCode)
return
@ -356,13 +365,13 @@ Item { @@ -356,13 +365,13 @@ Item {
var rgVehicle;
switch (actionCode) {
case actionRTL:
_activeVehicle.guidedModeRTL(optionChecked)
activeVehicle.guidedModeRTL(optionChecked)
break
case actionLand:
_activeVehicle.guidedModeLand()
activeVehicle.guidedModeLand()
break
case actionTakeoff:
_activeVehicle.guidedModeTakeoff(actionAltitudeChange)
activeVehicle.guidedModeTakeoff(actionAltitudeChange)
break
case actionResumeMission:
case actionResumeMissionUploadFail:
@ -370,7 +379,7 @@ Item { @@ -370,7 +379,7 @@ Item {
break
case actionStartMission:
case actionContinueMission:
_activeVehicle.startMission()
activeVehicle.startMission()
break
case actionMVStartMission:
rgVehicle = QGroundControl.multiVehicleManager.vehicles
@ -379,32 +388,32 @@ Item { @@ -379,32 +388,32 @@ Item {
}
break
case actionArm:
_activeVehicle.armed = true
activeVehicle.armed = true
break
case actionDisarm:
_activeVehicle.armed = false
activeVehicle.armed = false
break
case actionEmergencyStop:
_activeVehicle.emergencyStop()
activeVehicle.emergencyStop()
break
case actionChangeAlt:
_activeVehicle.guidedModeChangeAltitude(actionAltitudeChange)
activeVehicle.guidedModeChangeAltitude(actionAltitudeChange)
break
case actionGoto:
_activeVehicle.guidedModeGotoLocation(actionData)
activeVehicle.guidedModeGotoLocation(actionData)
break
case actionSetWaypoint:
_activeVehicle.setCurrentMissionSequence(actionData)
activeVehicle.setCurrentMissionSequence(actionData)
break
case actionOrbit:
_activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius() * (orbitMapCircle.clockwiseRotation ? 1 : -1), _activeVehicle.altitudeAMSL.rawValue + actionAltitudeChange)
activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius() * (orbitMapCircle.clockwiseRotation ? 1 : -1), activeVehicle.altitudeAMSL.rawValue + actionAltitudeChange)
break
case actionLandAbort:
_activeVehicle.abortLanding(50) // hardcoded value for climbOutAltitude that is currently ignored
activeVehicle.abortLanding(50) // hardcoded value for climbOutAltitude that is currently ignored
break
case actionPause:
_activeVehicle.pauseVehicle()
_activeVehicle.guidedModeChangeAltitude(actionAltitudeChange)
activeVehicle.pauseVehicle()
activeVehicle.guidedModeChangeAltitude(actionAltitudeChange)
break
case actionMVPause:
rgVehicle = QGroundControl.multiVehicleManager.vehicles
@ -413,10 +422,13 @@ Item { @@ -413,10 +422,13 @@ Item {
}
break
case actionVtolTransitionToFwdFlight:
_activeVehicle.vtolInFwdFlight = true
activeVehicle.vtolInFwdFlight = true
break
case actionVtolTransitionToMRFlight:
_activeVehicle.vtolInFwdFlight = false
activeVehicle.vtolInFwdFlight = false
break
case actionROI:
activeVehicle.guidedModeROI(actionData)
break
default:
console.warn(qsTr("Internal error: unknown actionCode"), actionCode)

87
src/Vehicle/Vehicle.cc
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@ -2979,6 +2979,11 @@ bool Vehicle::orbitModeSupported() const @@ -2979,6 +2979,11 @@ bool Vehicle::orbitModeSupported() const
return _firmwarePlugin->isCapable(this, FirmwarePlugin::OrbitModeCapability);
}
bool Vehicle::roiModeSupported() const
{
return _firmwarePlugin->isCapable(this, FirmwarePlugin::ROIModeCapability);
}
bool Vehicle::takeoffVehicleSupported() const
{
return _firmwarePlugin->isCapable(this, FirmwarePlugin::TakeoffVehicleCapability);
@ -3084,6 +3089,74 @@ void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, @@ -3084,6 +3089,74 @@ void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius,
}
}
void Vehicle::guidedModeROI(const QGeoCoordinate& centerCoord)
{
if (!roiModeSupported()) {
qgcApp()->showMessage(QStringLiteral("ROI mode not supported by Vehicle."));
return;
}
if (capabilityBits() & MAV_PROTOCOL_CAPABILITY_COMMAND_INT) {
sendMavCommandInt(
defaultComponentId(),
MAV_CMD_DO_SET_ROI_LOCATION,
MAV_FRAME_GLOBAL,
true, // show error if fails
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
centerCoord.latitude(),
centerCoord.longitude(),
static_cast<float>(centerCoord.altitude()));
} else {
sendMavCommand(
defaultComponentId(),
MAV_CMD_DO_SET_ROI_LOCATION,
true, // show error if fails
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(centerCoord.latitude()),
static_cast<float>(centerCoord.longitude()),
static_cast<float>(centerCoord.altitude()));
}
}
void Vehicle::stopGuidedModeROI()
{
if (!roiModeSupported()) {
qgcApp()->showMessage(QStringLiteral("ROI mode not supported by Vehicle."));
return;
}
if (capabilityBits() & MAV_PROTOCOL_CAPABILITY_COMMAND_INT) {
sendMavCommandInt(
defaultComponentId(),
MAV_CMD_DO_SET_ROI_NONE,
MAV_FRAME_GLOBAL,
true, // show error if fails
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<double>(qQNaN()), // Empty
static_cast<double>(qQNaN()), // Empty
static_cast<float>(qQNaN())); // Empty
} else {
sendMavCommand(
defaultComponentId(),
MAV_CMD_DO_SET_ROI_NONE,
true, // show error if fails
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN()), // Empty
static_cast<float>(qQNaN())); // Empty
}
}
void Vehicle::pauseVehicle(void)
{
if (!pauseVehicleSupported()) {
@ -3352,6 +3425,20 @@ void Vehicle::_handleCommandAck(mavlink_message_t& message) @@ -3352,6 +3425,20 @@ void Vehicle::_handleCommandAck(mavlink_message_t& message)
}
}
if (ack.command == MAV_CMD_DO_SET_ROI_LOCATION) {
if (ack.result == MAV_RESULT_ACCEPTED) {
_isROIEnabled = true;
emit isROIEnabledChanged();
}
}
if (ack.command == MAV_CMD_DO_SET_ROI_NONE) {
if (ack.result == MAV_RESULT_ACCEPTED) {
_isROIEnabled = false;
emit isROIEnabledChanged();
}
}
#if !defined(NO_ARDUPILOT_DIALECT)
if (ack.command == MAV_CMD_FLASH_BOOTLOADER && ack.result == MAV_RESULT_ACCEPTED) {
qgcApp()->showMessage(tr("Bootloader flash succeeded"));

11
src/Vehicle/Vehicle.h
Unescape View File

@ -634,6 +634,7 @@ public: @@ -634,6 +634,7 @@ public:
Q_PROPERTY(qreal gimbalPitch READ gimbalPitch NOTIFY gimbalPitchChanged)
Q_PROPERTY(qreal gimbalYaw READ gimbalYaw NOTIFY gimbalYawChanged)
Q_PROPERTY(bool gimbalData READ gimbalData NOTIFY gimbalDataChanged)
Q_PROPERTY(bool isROIEnabled READ isROIEnabled NOTIFY isROIEnabledChanged)
// The following properties relate to Orbit status
Q_PROPERTY(bool orbitActive READ orbitActive NOTIFY orbitActiveChanged)
@ -646,6 +647,7 @@ public: @@ -646,6 +647,7 @@ public:
Q_PROPERTY(bool guidedModeSupported READ guidedModeSupported CONSTANT) ///< Guided mode commands are supported by this vehicle
Q_PROPERTY(bool pauseVehicleSupported READ pauseVehicleSupported CONSTANT) ///< Pause vehicle command is supported
Q_PROPERTY(bool orbitModeSupported READ orbitModeSupported CONSTANT) ///< Orbit mode is supported by this vehicle
Q_PROPERTY(bool roiModeSupported READ roiModeSupported CONSTANT) ///< Orbit mode is supported by this vehicle
Q_PROPERTY(bool takeoffVehicleSupported READ takeoffVehicleSupported CONSTANT) ///< Guided takeoff supported
Q_PROPERTY(QString gotoFlightMode READ gotoFlightMode CONSTANT) ///< Flight mode vehicle is in while performing goto
@ -729,6 +731,11 @@ public: @@ -729,6 +731,11 @@ public:
/// @param amslAltitude Desired vehicle altitude
Q_INVOKABLE void guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double amslAltitude);
/// Command vehicle to keep given point as ROI
/// @param centerCoord ROI coordinates
Q_INVOKABLE void guidedModeROI(const QGeoCoordinate& centerCoord);
Q_INVOKABLE void stopGuidedModeROI();
/// Command vehicle to pause at current location. If vehicle supports guide mode, vehicle will be left
/// in guided mode after pause.
Q_INVOKABLE void pauseVehicle(void);
@ -778,6 +785,7 @@ public: @@ -778,6 +785,7 @@ public:
bool guidedModeSupported (void) const;
bool pauseVehicleSupported (void) const;
bool orbitModeSupported (void) const;
bool roiModeSupported (void) const;
bool takeoffVehicleSupported (void) const;
QString gotoFlightMode (void) const;
@ -1100,6 +1108,7 @@ public: @@ -1100,6 +1108,7 @@ public:
qreal gimbalPitch () { return static_cast<qreal>(_curGimbalPitch); }
qreal gimbalYaw () { return static_cast<qreal>(_curGinmbalYaw); }
bool gimbalData () { return _haveGimbalData; }
bool isROIEnabled () { return _isROIEnabled; }
public slots:
void setVtolInFwdFlight (bool vtolInFwdFlight);
@ -1215,6 +1224,7 @@ signals: @@ -1215,6 +1224,7 @@ signals:
void gimbalPitchChanged ();
void gimbalYawChanged ();
void gimbalDataChanged ();
void isROIEnabledChanged ();
private slots:
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
@ -1481,6 +1491,7 @@ private: @@ -1481,6 +1491,7 @@ private:
float _curGimbalPitch = 0.0f;
float _curGinmbalYaw = 0.0f;
bool _haveGimbalData = false;
bool _isROIEnabled = false;
Joystick* _activeJoystick = nullptr;
int _firmwareMajorVersion;

3
src/api/QGCOptions.h
Unescape View File

@ -49,6 +49,7 @@ public: @@ -49,6 +49,7 @@ public:
Q_PROPERTY(QString firmwareUpgradeSingleURL READ firmwareUpgradeSingleURL CONSTANT)
Q_PROPERTY(bool guidedBarShowEmergencyStop READ guidedBarShowEmergencyStop NOTIFY guidedBarShowEmergencyStopChanged)
Q_PROPERTY(bool guidedBarShowOrbit READ guidedBarShowOrbit NOTIFY guidedBarShowOrbitChanged)
Q_PROPERTY(bool guidedBarShowROI READ guidedBarShowROI NOTIFY guidedBarShowROIChanged)
Q_PROPERTY(bool missionWaypointsOnly READ missionWaypointsOnly NOTIFY missionWaypointsOnlyChanged)
Q_PROPERTY(bool multiVehicleEnabled READ multiVehicleEnabled NOTIFY multiVehicleEnabledChanged)
Q_PROPERTY(bool showOfflineMapExport READ showOfflineMapExport NOTIFY showOfflineMapExportChanged)
@ -110,6 +111,7 @@ public: @@ -110,6 +111,7 @@ public:
virtual bool showFirmwareUpgrade () const { return true; }
virtual bool guidedBarShowEmergencyStop () const { return true; }
virtual bool guidedBarShowOrbit () const { return true; }
virtual bool guidedBarShowROI () const { return true; }
virtual bool missionWaypointsOnly () const { return false; } ///< true: Only allow waypoints and complex items in Plan
virtual bool multiVehicleEnabled () const { return true; } ///< false: multi vehicle support is disabled
virtual bool guidedActionsRequireRCRSSI () const { return false; } ///< true: Guided actions will be disabled is there is no RC RSSI
@ -147,6 +149,7 @@ signals: @@ -147,6 +149,7 @@ signals:
void showFirmwareUpgradeChanged (bool show);
void guidedBarShowEmergencyStopChanged (bool show);
void guidedBarShowOrbitChanged (bool show);
void guidedBarShowROIChanged (bool show);
void missionWaypointsOnlyChanged (bool missionWaypointsOnly);
void multiVehicleEnabledChanged (bool multiVehicleEnabled);
void showOfflineMapExportChanged ();

6
src/ui/MainRootWindow.qml
Unescape View File

@ -629,6 +629,12 @@ ApplicationWindow { @@ -629,6 +629,12 @@ ApplicationWindow {
indicatorDropdown.open()
}
function hidePopUp() {
indicatorDropdown.close()
indicatorDropdown.currentItem = null
indicatorDropdown.currentIndicator = null
}
Popup {
id: indicatorDropdown
y: ScreenTools.defaultFontPixelHeight

10
src/ui/toolbar/Images/roi.svg
Unescape View File

@ -0,0 +1,10 @@ @@ -0,0 +1,10 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- Generator: Adobe Illustrator 23.1.1, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
viewBox="0 0 288 288" style="enable-background:new 0 0 288 288;" xml:space="preserve">
<path d="M188.3,144c0,24.5-19.8,44.3-44.3,44.3S99.7,168.5,99.7,144s19.8-44.3,44.3-44.3S188.3,119.5,188.3,144z M288,144
c0,6.1-5,11.1-11.1,11.1h-28.3c-5.2,49.2-44.4,88.4-93.6,93.6v28.3c0,6.1-5,11.1-11.1,11.1s-11.1-5-11.1-11.1v-28.3
c-49.2-5.2-88.4-44.4-93.6-93.6H11.1C5,155.1,0,150.1,0,144s5-11.1,11.1-11.1h28.3c5.2-49.2,44.4-88.4,93.6-93.6V11.1
C132.9,5,137.9,0,144,0s11.1,5,11.1,11.1v28.3c49.2,5.2,88.4,44.4,93.6,93.6h28.3C283,132.9,288,137.9,288,144z M227.1,144
c0-45.8-37.3-83.1-83.1-83.1S60.9,98.2,60.9,144s37.3,83.1,83.1,83.1S227.1,189.8,227.1,144z"/>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 917 B

89
src/ui/toolbar/ROIIndicator.qml
Unescape View File

@ -0,0 +1,89 @@ @@ -0,0 +1,89 @@
/****************************************************************************
*
* (c) 2009-2019 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.
*
* @file
* @author Gus Grubba <gus@auterion.com>
*/
import QtQuick 2.11
import QtQuick.Controls 1.4
import QtQuick.Layouts 1.11
import QGroundControl 1.0
import QGroundControl.Controls 1.0
import QGroundControl.MultiVehicleManager 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Palette 1.0
//-------------------------------------------------------------------------
//-- ROI Indicator
Item {
id: _root
width: showIndicator ? roiIcon.width : 0
visible: showIndicator
anchors.top: parent.top
anchors.bottom: parent.bottom
property bool showIndicator: activeVehicle && activeVehicle.roiModeSupported
Component {
id: roiInfo
Rectangle {
width: roiCol.width + ScreenTools.defaultFontPixelWidth * 6
height: roiCol.height + ScreenTools.defaultFontPixelHeight * 2
radius: ScreenTools.defaultFontPixelHeight * 0.5
color: qgcPal.window
Column {
id: roiCol
spacing: ScreenTools.defaultFontPixelHeight * 0.5
width: Math.max(roiButton.width, roiLabel.width)
anchors.margins: ScreenTools.defaultFontPixelHeight
anchors.centerIn: parent
QGCLabel {
id: roiLabel
text: qsTr("ROI Disabled")
font.family: ScreenTools.demiboldFontFamily
visible: !roiButton.visible
anchors.horizontalCenter: parent.horizontalCenter
}
QGCButton {
id: roiButton
visible: activeVehicle && activeVehicle.isROIEnabled
text: qsTr("Disable ROI")
onClicked: {
if(activeVehicle)
activeVehicle.stopGuidedModeROI()
mainWindow.hidePopUp()
}
}
}
}
}
QGCColoredImage {
id: roiIcon
width: height
anchors.top: parent.top
anchors.bottom: parent.bottom
sourceSize.height: height
source: "/qmlimages/roi.svg"
color: activeVehicle && activeVehicle.isROIEnabled ? qgcPal.colorGreen : qgcPal.text
fillMode: Image.PreserveAspectFit
opacity: activeVehicle && activeVehicle.isROIEnabled ? 1 : 0.5
}
MouseArea {
anchors.fill: parent
onClicked: {
mainWindow.showPopUp(_root, roiInfo)
}
}
}
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