Camera Feedback on Fly View

qgcresources.qrc

@@ -46,6 +46,7 @@
         <file alias="Airframe/HelicopterCoaxial">src/AutoPilotPlugins/Common/Images/HelicopterCoaxial.svg</file>
         <file alias="wifi.svg">src/AutoPilotPlugins/Common/Images/wifi.svg</file>
         <file alias="arrow-down.png">src/QmlControls/arrow-down.png</file>
+		<file alias="camera.svg">resources/camera.svg</file>
         <file alias="check.png">src/QmlControls/check.png</file>
         <file alias="FirmwareUpgradeIcon.png">src/VehicleSetup/FirmwareUpgradeIcon.png</file>
         <file alias="FlightModesComponentIcon.png">src/AutoPilotPlugins/PX4/Images/FlightModesComponentIcon.png</file>

qgroundcontrol.qrc

@@ -135,6 +135,7 @@
         <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/CameraTriggerIndicator.qml">src/FlightMap/MapItems/CameraTriggerIndicator.qml</file>
         <file alias="QGroundControl/FlightMap/CenterMapDropButton.qml">src/FlightMap/Widgets/CenterMapDropButton.qml</file>
         <file alias="QGroundControl/FlightMap/CenterMapDropPanel.qml">src/FlightMap/Widgets/CenterMapDropPanel.qml</file>
         <file alias="QGroundControl/FlightMap/CompassRing.qml">src/FlightMap/Widgets/CompassRing.qml</file>

resources/camera.svg

@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 21.0.0, 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 72 72" style="enable-background:new 0 0 72 72;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:#FFFFFF;}
+</style>
+<g>
+	<path class="st0" d="M25.758,41.569c0,5.672,4.592,10.264,10.264,10.264s10.264-4.592,10.264-10.264s-4.592-10.264-10.264-10.264
+		C30.35,31.305,25.758,35.897,25.758,41.569z"/>
+	<path class="st0" d="M55.477,20.513l-0.47-4.438c-0.228-2.16-1.22-4.188-2.961-5.753s-3.923-2.278-6.091-2.278H25.92
+		c-2.175,0-4.349,0.749-6.091,2.314c-1.741,1.572-2.733,3.563-2.961,5.723l-0.47,4.43H9.162c-2.329,0-4.687,0.97-6.465,2.748
+		C0.918,25.038,0,27.448,0,29.777v24.818c0,2.329,0.918,4.79,2.696,6.561s4.136,2.799,6.465,2.799h53.706
+		c2.329,0,4.673-1.021,6.451-2.792C71.096,59.385,72,56.931,72,54.602V29.777c0-2.329-0.904-4.739-2.682-6.517
+		s-4.122-2.748-6.451-2.748L55.477,20.513L55.477,20.513z M36.022,59.062c-9.661,0-17.493-7.832-17.493-17.493
+		s7.832-17.493,17.493-17.493s17.493,7.832,17.493,17.493S45.683,59.062,36.022,59.062z M59.018,34.082
+		c-1.918,0-3.475-1.558-3.475-3.475s1.558-3.475,3.475-3.475s3.475,1.558,3.475,3.475C62.493,32.525,60.936,34.082,59.018,34.082z"
+		/>
+</g>
+</svg>

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -241,6 +241,16 @@ FlightMap {
         }
     }    
 
+    // Camera points
+    MapItemView {
+        model: missionController.cameraPoints
+
+        delegate: CameraTriggerIndicator {
+            coordinate:     object.coordinate
+            z:              QGroundControl.zOrderTopMost
+        }
+    }
+
     // Handle guided mode clicks
     MouseArea {
         anchors.fill: parent

src/FlightMap/MapItems/CameraTriggerIndicator.qml

@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   (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 QtLocation       5.3
+import QtQuick.Controls 1.2
+
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Vehicle       1.0
+
+/// Marker for displaying a camera trigger on the map
+MapQuickItem {
+    anchorPoint.x:  sourceItem.width / 2
+    anchorPoint.y:  sourceItem.height / 2
+
+    sourceItem: Rectangle {
+        width:      _radius * 2
+        height:     _radius * 2
+        radius:     _radius
+        color:      "black"
+        opacity:    0.4
+
+        readonly property real _radius: ScreenTools.defaultFontPixelHeight * 0.6
+
+        QGCColoredImage {
+            anchors.margins:    3
+            anchors.fill:       parent
+            color:              "white"
+            mipmap:             true
+            fillMode:           Image.PreserveAspectFit
+            source:             "/qmlimages/camera.svg"
+        }
+    }
+}

src/FlightMap/qmldir

@@ -22,6 +22,7 @@ VehicleHealthWidget     1.0 VehicleHealthWidget.qml
 VibrationWidget         1.0 VibrationWidget.qml
 
 # Map items
+CameraTriggerIndicator      1.0 CameraTriggerIndicator.qml
 MissionItemIndicator        1.0 MissionItemIndicator.qml
 MissionItemIndicatorDrag    1.0 MissionItemIndicatorDrag.qml
 MissionItemView             1.0 MissionItemView.qml

src/MissionManager/MissionController.cc

@@ -23,6 +23,7 @@
 #include "SettingsManager.h"
 #include "AppSettings.h"
 #include "MissionSettingsItem.h"
+#include "QGCQGeoCoordinate.h"
 
 #ifndef __mobile__
 #include "MainWindow.h"
@@ -1330,6 +1331,7 @@ void MissionController::_activeVehicleBeingRemoved(void)
     disconnect(missionManager, &MissionManager::currentIndexChanged,        this, &MissionController::_currentMissionIndexChanged);
     disconnect(missionManager, &MissionManager::lastCurrentIndexChanged,    this, &MissionController::resumeMissionIndexChanged);
     disconnect(missionManager, &MissionManager::resumeMissionReady,         this, &MissionController::resumeMissionReady);
+    disconnect(missionManager, &MissionManager::cameraFeedback,             this, &MissionController::_cameraFeedback);
     disconnect(_activeVehicle, &Vehicle::homePositionChanged,               this, &MissionController::_activeVehicleHomePositionChanged);
 
     // We always remove all items on vehicle change. This leaves a user model hole:
@@ -1350,6 +1352,7 @@ void MissionController::_activeVehicleSet(void)
     connect(missionManager, &MissionManager::currentIndexChanged,       this, &MissionController::_currentMissionIndexChanged);
     connect(missionManager, &MissionManager::lastCurrentIndexChanged,   this, &MissionController::resumeMissionIndexChanged);
     connect(missionManager, &MissionManager::resumeMissionReady,        this, &MissionController::resumeMissionReady);
+    connect(missionManager, &MissionManager::cameraFeedback,            this, &MissionController::_cameraFeedback);
     connect(_activeVehicle, &Vehicle::homePositionChanged,              this, &MissionController::_activeVehicleHomePositionChanged);
     connect(_activeVehicle, &Vehicle::defaultCruiseSpeedChanged,        this, &MissionController::_recalcMissionFlightStatus);
     connect(_activeVehicle, &Vehicle::defaultHoverSpeedChanged,         this, &MissionController::_recalcMissionFlightStatus);
@@ -1614,3 +1617,16 @@ void MissionController::applyDefaultMissionAltitude(void)
         item->applyNewAltitude(defaultAltitude);
     }
 }
+
+void MissionController::_cameraFeedback(QGeoCoordinate imageCoordinate, int index)
+{
+    Q_UNUSED(index);
+    if (!_editMode) {
+        _cameraPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
+    }
+}
+
+void MissionController::clearCameraPoints(void)
+{
+    _cameraPoints.clearAndDeleteContents();
+}

src/MissionManager/MissionController.h

@@ -62,6 +62,7 @@ public:
 
     Q_PROPERTY(QmlObjectListModel*  visualItems             READ visualItems                NOTIFY visualItemsChanged)
     Q_PROPERTY(QmlObjectListModel*  waypointLines           READ waypointLines              NOTIFY waypointLinesChanged)
+    Q_PROPERTY(QmlObjectListModel*  cameraPoints            READ cameraPoints               CONSTANT)
     Q_PROPERTY(QStringList          complexMissionItemNames READ complexMissionItemNames    NOTIFY complexMissionItemNamesChanged)
     Q_PROPERTY(QGeoCoordinate       plannedHomePosition     READ plannedHomePosition        NOTIFY plannedHomePositionChanged)
 
@@ -107,6 +108,8 @@ public:
     /// Sends the mission items to the specified vehicle
     static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems);
 
+    Q_INVOKABLE void clearCameraPoints(void);
+
     // Overrides from PlanElementController
     void start                      (bool editMode) final;
     void startStaticActiveVehicle   (Vehicle* vehicle) final;
@@ -127,6 +130,7 @@ public:
 
     QmlObjectListModel* visualItems             (void) { return _visualItems; }
     QmlObjectListModel* waypointLines           (void) { return &_waypointLines; }
+    QmlObjectListModel* cameraPoints            (void) { return &_cameraPoints; }
     QStringList         complexMissionItemNames (void) const;
     QGeoCoordinate      plannedHomePosition     (void) const;
 
@@ -171,6 +175,7 @@ private slots:
     void _recalcWaypointLines(void);
     void _recalcMissionFlightStatus(void);
     void _updateContainsItems(void);
+    void _cameraFeedback(QGeoCoordinate imageCoordinate, int index);
 
 private:
     void _init(void);
@@ -209,6 +214,7 @@ private:
     QmlObjectListModel*     _visualItems;
     MissionSettingsItem*    _settingsItem;
     QmlObjectListModel      _waypointLines;
+    QmlObjectListModel      _cameraPoints;
     CoordVectHashTable      _linesTable;
     bool                    _firstItemsFromVehicle;
     bool                    _missionItemsRequested;

src/MissionManager/MissionManager.cc

@@ -666,6 +666,30 @@ void MissionManager::_handleMissionAck(const mavlink_message_t& message)
     }
 }
 
+void MissionManager::_handleCameraFeedback(const mavlink_message_t& message)
+{
+    mavlink_camera_feedback_t feedback;
+
+    mavlink_msg_camera_feedback_decode(&message, &feedback);
+
+    QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lng / qPow(10.0, 7.0), feedback.alt_msl);
+    qCDebug(MissionManagerLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.img_idx;
+    emit cameraFeedback(imageCoordinate, feedback.img_idx);
+}
+
+void MissionManager::_handleCameraImageCaptured(const mavlink_message_t& message)
+{
+    mavlink_camera_image_captured_t feedback;
+
+    mavlink_msg_camera_image_captured_decode(&message, &feedback);
+
+    QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lon / qPow(10.0, 7.0), feedback.alt);
+    qCDebug(MissionManagerLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.image_index << feedback.capture_result;
+    if (feedback.capture_result == 1) {
+        emit cameraFeedback(imageCoordinate, feedback.image_index);
+    }
+}
+
 /// Called when a new mavlink message for out vehicle is received
 void MissionManager::_mavlinkMessageReceived(const mavlink_message_t& message)
 {
@@ -701,6 +725,14 @@ void MissionManager::_mavlinkMessageReceived(const mavlink_message_t& message)
     case MAVLINK_MSG_ID_MISSION_CURRENT:
         _handleMissionCurrent(message);
         break;
+
+    case MAVLINK_MSG_ID_CAMERA_FEEDBACK:
+        _handleCameraFeedback(message);
+        break;
+
+    case MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED:
+        _handleCameraImageCaptured(message);
+        break;
     }
 }
 

src/MissionManager/MissionManager.h

@@ -84,6 +84,7 @@ signals:
     void currentIndexChanged(int currentIndex);
     void lastCurrentIndexChanged(int lastCurrentIndex);
     void resumeMissionReady(void);
+    void cameraFeedback(QGeoCoordinate imageCoordinate, int index);
 
 private slots:
     void _mavlinkMessageReceived(const mavlink_message_t& message);
@@ -114,6 +115,8 @@ private:
     void _handleMissionRequest(const mavlink_message_t& message, bool missionItemInt);
     void _handleMissionAck(const mavlink_message_t& message);
     void _handleMissionCurrent(const mavlink_message_t& message);
+    void _handleCameraFeedback(const mavlink_message_t& message);
+    void _handleCameraImageCaptured(const mavlink_message_t& message);
     void _requestNextMissionItem(void);
     void _clearMissionItems(void);
     void _sendError(ErrorCode_t errorCode, const QString& errorMsg);

src/QGCQGeoCoordinate.cc

@@ -9,11 +9,13 @@
 
 #include "QGCQGeoCoordinate.h"
 
+#include <QQmlEngine>
+
 QGCQGeoCoordinate::QGCQGeoCoordinate(const QGeoCoordinate& coord, QObject* parent)
     : QObject(parent)
     , _coordinate(coord)
 {
-
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
 }
 
 void QGCQGeoCoordinate::setCoordinate(const QGeoCoordinate& coordinate)