This fixes a number of issues with the way joysticks were handled
in a multi vehicle context. I reworked the way vehicle determine
to enable and capture the joystick input, as well as seperating
setJoystickEnable from saveJoystick to seperate runtime and saved
state.
This commit adds support for setting home clicking on map.
It is shown as another action in the submenu when we click
over the map with an active vehicle online.
As per mavlink specs, this command must use AMSL altitude,
so we need to first query terrain altitude, and when received
send the command.
Several checks have been implemented, and in case terrain
altitude is not shown at the selected location a popup will
appear indicating there are no terrain data for the specified location
TimeToHome fact calculates the time in seconds till the UAV reaches the
home position. We take the distance to home and divide it by the
current ground speed to get the seconds till we arrive at the home
point. I did not add any fancy logic to find out if we actually fly
towards the home point or are in RTL so the value shows increasing
seconds even if we fly away from the home point
When there are multiple vehicles, and you select a vehicle, the joystick should switch over to the newly active vehicle, and only the active vehicle (so that joystick inputs are not sent to a vehicle you do not intend to control).
To resolve this, we connect Vehicle to the activeVehicleAvailableChanged and activeVehicleChanged signals produced by the MultiVehicleManager. ALL vehicles disable joystick when activeVehicleAvailableChanged(false), because this signals when there is no longer an active vehicle available. When activeVehicleChanged is signalled, ONLY the currently active vehicle enables joystick.
See issue #10544.
The whole point of COMMAND_INTs is that they have better resolution for
coordinates leveraging int32 for degrees*10^7. This resolution is lost
if we use float while handling the data instead of double.
Signed-off-by: Julian Oes <julian@oes.ch>
- Allows operator to close/open the gripper using a button assigned
- Rename Gripper Grab/Release into Close/Open for clarity
- Add comments regarding Gripper functionality
* `InitialConnectStateMachine` records the vendor/product reported from the autopilot version message
* `Vehicle::_initialConnectComplete()` has been made public to resolve a timing problem where a mocklink may (rarely) connect to the initial connect complete signal after it has been emitted
* Add `Vehicle::isMavCommandPending()` to query whether trying to send a particular mavlink command would immediately report a duplicate command error
* MockLink - Support REQUEST_MESSAGE:AUTOPILOT_VERSION, REQUEST_MESSAGE:PROTOCOL_VERSION
* Fix bugs in Vehicle::requestMessage
* Switch to all INT mission items
* Create unit tests to exercise Initial Connect state mache state failure conditions
* LinkManager::createConnectedLink: use make_shared to avoid separate allocation
Also avoids some memory leaks when returning early.
* fix LinkManager: set setAutoConnect()
* fix MAVLinkProtocol: use a weak_ptr to check if the link stays valid
It is not enough to check if the link is valid only on entering the method.
If message handling called VehicleLinkManager::closeVehicle(), the link
was removed, and possibly deleted. If more mavlink messages were in the
same buffer, the link was accessed again, triggering a segfault.
This happened for example when rebooting the vehicle from parameter editor.
* Vehicle: fix uninitialized variable _capabilityBits
From valgrind:
==690288== Conditional jump or move depends on uninitialised value(s)
==690288== at 0x5B5F18: GeoFenceController::supported() const (GeoFenceController.cc:495)
==690288== by 0x5B309E: GeoFenceController::_managerVehicleChanged(Vehicle*) (GeoFenceController.cc:125)
==690288== by 0x5B79AF: QtPrivate::FunctorCall<QtPrivate::IndexesList<0>, QtPrivate::List<Vehicle*>, void, void (GeoFenceController::*)(Vehicle*)>::call(void (GeoFenceController::*)(Vehicle*), GeoFenceController*, void**) (qobjectdefs_impl.h:152)
==690288== by 0x5B7797: void QtPrivate::FunctionPointer<void (GeoFenceController::*)(Vehicle*)>::call<QtPrivate::List<Vehicle*>, void>(void (GeoFenceController::*)(Vehicle*), GeoFenceController*, void**) (qobjectdefs_impl.h:185)
==690288== by 0x5B7325: QtPrivate::QSlotObject<void (GeoFenceController::*)(Vehicle*), QtPrivate::List<Vehicle*>, void>::impl(int, QtPrivate::QSlotObjectBase*, QObject*, void**, bool*) (qobjectdefs_impl.h:414)
==690288== by 0x9D43DF5: QMetaObject::activate(QObject*, int, int, void**) (in /opt/install/qt/5.12.5/gcc_64/lib/libQt5Core.so.5.12.5)
==690288== by 0x913C9C: PlanMasterController::managerVehicleChanged(Vehicle*) (moc_PlanMasterController.cpp:544)
==690288== by 0x5FF00B: PlanMasterController::_activeVehicleChanged(Vehicle*) (PlanMasterController.cc:160)
==690288== by 0x5FE9A4: PlanMasterController::startStaticActiveVehicle(Vehicle*, bool) (PlanMasterController.cc:116)
==690288== by 0x912EB9: PlanMasterController::qt_static_metacall(QObject*, QMetaObject::Call, int, void**) (moc_PlanMasterController.cpp:267)
==690288== by 0x913A2A: PlanMasterController::qt_metacall(QMetaObject::Call, int, void**) (moc_PlanMasterController.cpp:473)
==690288== by 0x880E5C8: QQmlObjectOrGadget::metacall(QMetaObject::Call, int, void**) const (in /opt/install/qt/5.12.5/gcc_64/lib/libQt5Qml.so.5.12.5)
* FTPManager: fix uninitialized variable & message filter logic
From Valgrind:
==690288== Conditional jump or move depends on uninitialised value(s)
==690288== at 0x6E74E6: FTPManager::_mavlinkMessageReceived(__mavlink_message const&) (FTPManager.cc:108)
==690288== by 0x70D164: Vehicle::_mavlinkMessageReceived(LinkInterface*, __mavlink_message) (Vehicle.cc:603)
==690288== by 0x726F53: QtPrivate::FunctorCall<QtPrivate::IndexesList<0, 1>, QtPrivate::List<LinkInterface*, __mavlink_message>, void, void (Vehicle::*)(LinkInterface*, __mavlink_message)>::call(void (Vehicle::*)(LinkInterface*, __mavlink_message), Vehicle*, void**) (qobjectdefs_impl.h:152)
==690288== by 0x725990: void QtPrivate::FunctionPointer<void (Vehicle::*)(LinkInterface*, __mavlink_message)>::call<QtPrivate::List<LinkInterface*, __mavlink_message>, void>(void (Vehicle::*)(LinkInterface*, __mavlink_message), Vehicle*, void**) (qobjectdefs_impl.h:185)
==690288== by 0x723B4B: QtPrivate::QSlotObject<void (Vehicle::*)(LinkInterface*, __mavlink_message), QtPrivate::List<LinkInterface*, __mavlink_message>, void>::impl(int, QtPrivate::QSlotObjectBase*, QObject*, void**, bool*) (qobjectdefs_impl.h:414)
==690288== by 0x9D43DF5: QMetaObject::activate(QObject*, int, int, void**) (in /opt/install/qt/5.12.5/gcc_64/lib/libQt5Core.so.5.12.5)
==690288== by 0x95DE46: MAVLinkProtocol::messageReceived(LinkInterface*, __mavlink_message) (moc_MAVLinkProtocol.cpp:346)
==690288== by 0x757522: MAVLinkProtocol::receiveBytes(LinkInterface*, QByteArray) (MAVLinkProtocol.cc:362)
==690288== by 0x74C71E: QtPrivate::FunctorCall<QtPrivate::IndexesList<0, 1>, QtPrivate::List<LinkInterface*, QByteArray>, void, void (MAVLinkProtocol::*)(LinkInterface*, QByteArray)>::call(void (MAVLinkProtocol::*)(LinkInterface*, QByteArray), MAVLinkProtocol*, void**) (qobjectdefs_impl.h:152)
==690288== by 0x74BAB4: void QtPrivate::FunctionPointer<void (MAVLinkProtocol::*)(LinkInterface*, QByteArray)>::call<QtPrivate::List<LinkInterface*, QByteArray>, void>(void (MAVLinkProtocol::*)(LinkInterface*, QByteArray), MAVLinkProtocol*, void**) (qobjectdefs_impl.h:185)
==690288== by 0x74B3B7: QtPrivate::QSlotObject<void (MAVLinkProtocol::*)(LinkInterface*, QByteArray), QtPrivate::List<LinkInterface*, QByteArray>, void>::impl(int, QtPrivate::QSlotObjectBase*, QObject*, void**, bool*) (qobjectdefs_impl.h:414)
==690288== by 0x9D43DF5: QMetaObject::activate(QObject*, int, int, void**) (in /opt/install/qt/5.12.5/gcc_64/lib/libQt5Core.so.5.12.5)
* FTPManager: fix uninitialized Request
- Parts of the header were uninit
- zero init the payload allows for mavlink trimming
* Fix ~TerrainTile: use delete[] for arrays
* FactGroup: fix expensive & unnecessary object creation and map lookups
Every mavlink message reception was leading to creation of a list and
key lookup for each of the keys. This can easily be avoided and results
in noticeable reduction of CPU load (I'm seeing overall around 4% with
a pixhawk on USB).
The same pattern exists elsewhere as well
James Mare
Don Gagne
davidsastresas
Don Gagne
DieBorr
Philipp Borgers
Harsh Mittal
Christopher Vo
Beat Küng
Julian Oes
AndKe
Oleg Ziakun
Willian Galvani
RomanBapst
julled
honglang
Atanas Batinkov
Keith Bennett
Tzuriel Lampner
Patrick José Pereira