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Vehicle.cc
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Vehicle.cc
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/****************************************************************************
*
* (c) 2009-2020 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.
*
****************************************************************************/
#include <QTime>
#include <QDateTime>
#include <QLocale>
#include <QQuaternion>
#include <Eigen/Eigen>
#include "Vehicle.h"
#include "MAVLinkProtocol.h"
#include "FirmwarePluginManager.h"
#include "LinkManager.h"
#include "FirmwarePlugin.h"
#include "UAS.h"
#include "JoystickManager.h"
#include "MissionManager.h"
#include "MissionController.h"
#include "PlanMasterController.h"
#include "GeoFenceManager.h"
#include "RallyPointManager.h"
#include "CoordinateVector.h"
#include "ParameterManager.h"
#include "QGCApplication.h"
#include "QGCImageProvider.h"
#include "MissionCommandTree.h"
#include "QGroundControlQmlGlobal.h"
#include "SettingsManager.h"
#include "QGCQGeoCoordinate.h"
#include "QGCCorePlugin.h"
#include "QGCOptions.h"
#include "ADSBVehicleManager.h"
#include "QGCCameraManager.h"
#include "VideoReceiver.h"
#include "VideoManager.h"
#include "VideoSettings.h"
#include "PositionManager.h"
#include "VehicleObjectAvoidance.h"
#include "TrajectoryPoints.h"
#include "QGCGeo.h"
#if defined(QGC_AIRMAP_ENABLED)
#include "AirspaceVehicleManager.h"
#endif
QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
#define UPDATE_TIMER 50
#define DEFAULT_LAT 38.965767f
#define DEFAULT_LON -120.083923f
const QString guided_mode_not_supported_by_vehicle = QObject::tr("Guided mode not supported by Vehicle.");
const char* Vehicle::_settingsGroup = "Vehicle%1"; // %1 replaced with mavlink system id
const char* Vehicle::_joystickModeSettingsKey = "JoystickMode";
const char* Vehicle::_joystickEnabledSettingsKey = "JoystickEnabled";
const char* Vehicle::_rollFactName = "roll";
const char* Vehicle::_pitchFactName = "pitch";
const char* Vehicle::_headingFactName = "heading";
const char* Vehicle::_rollRateFactName = "rollRate";
const char* Vehicle::_pitchRateFactName = "pitchRate";
const char* Vehicle::_yawRateFactName = "yawRate";
const char* Vehicle::_airSpeedFactName = "airSpeed";
const char* Vehicle::_groundSpeedFactName = "groundSpeed";
const char* Vehicle::_climbRateFactName = "climbRate";
const char* Vehicle::_altitudeRelativeFactName = "altitudeRelative";
const char* Vehicle::_altitudeAMSLFactName = "altitudeAMSL";
const char* Vehicle::_flightDistanceFactName = "flightDistance";
const char* Vehicle::_flightTimeFactName = "flightTime";
const char* Vehicle::_distanceToHomeFactName = "distanceToHome";
const char* Vehicle::_headingToNextWPFactName = "headingToNextWP";
const char* Vehicle::_headingToHomeFactName = "headingToHome";
const char* Vehicle::_distanceToGCSFactName = "distanceToGCS";
const char* Vehicle::_hobbsFactName = "hobbs";
const char* Vehicle::_throttlePctFactName = "throttlePct";
const char* Vehicle::_gpsFactGroupName = "gps";
const char* Vehicle::_battery1FactGroupName = "battery";
const char* Vehicle::_battery2FactGroupName = "battery2";
const char* Vehicle::_windFactGroupName = "wind";
const char* Vehicle::_vibrationFactGroupName = "vibration";
const char* Vehicle::_temperatureFactGroupName = "temperature";
const char* Vehicle::_clockFactGroupName = "clock";
const char* Vehicle::_distanceSensorFactGroupName = "distanceSensor";
const char* Vehicle::_estimatorStatusFactGroupName = "estimatorStatus";
// Standard connected vehicle
Vehicle::Vehicle(LinkInterface* link,
int vehicleId,
int defaultComponentId,
MAV_AUTOPILOT firmwareType,
MAV_TYPE vehicleType,
FirmwarePluginManager* firmwarePluginManager,
JoystickManager* joystickManager)
: FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json")
, _id(vehicleId)
, _defaultComponentId(defaultComponentId)
, _active(false)
, _offlineEditingVehicle(false)
, _firmwareType(firmwareType)
, _vehicleType(vehicleType)
, _firmwarePlugin(nullptr)
, _firmwarePluginInstanceData(nullptr)
, _autopilotPlugin(nullptr)
, _mavlink(nullptr)
, _soloFirmware(false)
, _toolbox(qgcApp()->toolbox())
, _settingsManager(_toolbox->settingsManager())
, _joystickMode(JoystickModeRC)
, _joystickEnabled(false)
, _uas(nullptr)
, _mav(nullptr)
, _currentMessageCount(0)
, _messageCount(0)
, _currentErrorCount(0)
, _currentWarningCount(0)
, _currentNormalCount(0)
, _currentMessageType(MessageNone)
, _updateCount(0)
, _rcRSSI(255)
, _rcRSSIstore(255.)
, _autoDisconnect(false)
, _flying(false)
, _landing(false)
, _vtolInFwdFlight(false)
, _onboardControlSensorsPresent(0)
, _onboardControlSensorsEnabled(0)
, _onboardControlSensorsHealth(0)
, _onboardControlSensorsUnhealthy(0)
, _gpsRawIntMessageAvailable(false)
, _globalPositionIntMessageAvailable(false)
, _defaultCruiseSpeed(_settingsManager->appSettings()->offlineEditingCruiseSpeed()->rawValue().toDouble())
, _defaultHoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
, _telemetryRRSSI(0)
, _telemetryLRSSI(0)
, _telemetryRXErrors(0)
, _telemetryFixed(0)
, _telemetryTXBuffer(0)
, _telemetryLNoise(0)
, _telemetryRNoise(0)
, _mavlinkProtocolRequestComplete(false)
, _maxProtoVersion(0)
, _vehicleCapabilitiesKnown(false)
, _capabilityBits(0)
, _highLatencyLink(false)
, _receivingAttitudeQuaternion(false)
, _cameras(nullptr)
, _connectionLost(false)
, _connectionLostEnabled(true)
, _initialPlanRequestComplete(false)
, _missionManager(nullptr)
, _missionManagerInitialRequestSent(false)
, _geoFenceManager(nullptr)
, _geoFenceManagerInitialRequestSent(false)
, _rallyPointManager(nullptr)
, _rallyPointManagerInitialRequestSent(false)
#if defined(QGC_AIRMAP_ENABLED)
, _airspaceVehicleManager(nullptr)
#endif
, _armed(false)
, _base_mode(0)
, _custom_mode(0)
, _nextSendMessageMultipleIndex(0)
, _trajectoryPoints(new TrajectoryPoints(this, this))
, _firmwarePluginManager(firmwarePluginManager)
, _joystickManager(joystickManager)
, _flowImageIndex(0)
, _allLinksInactiveSent(false)
, _messagesReceived(0)
, _messagesSent(0)
, _messagesLost(0)
, _messageSeq(0)
, _compID(0)
, _heardFrom(false)
, _firmwareMajorVersion(versionNotSetValue)
, _firmwareMinorVersion(versionNotSetValue)
, _firmwarePatchVersion(versionNotSetValue)
, _firmwareCustomMajorVersion(versionNotSetValue)
, _firmwareCustomMinorVersion(versionNotSetValue)
, _firmwareCustomPatchVersion(versionNotSetValue)
, _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL)
, _gitHash(versionNotSetValue)
, _uid(0)
, _lastAnnouncedLowBatteryPercent(100)
, _priorityLinkCommanded(false)
, _orbitActive(false)
, _pidTuningTelemetryMode(false)
, _pidTuningWaitingForRates(false)
, _rollFact (0, _rollFactName, FactMetaData::valueTypeDouble)
, _pitchFact (0, _pitchFactName, FactMetaData::valueTypeDouble)
, _headingFact (0, _headingFactName, FactMetaData::valueTypeDouble)
, _rollRateFact (0, _rollRateFactName, FactMetaData::valueTypeDouble)
, _pitchRateFact (0, _pitchRateFactName, FactMetaData::valueTypeDouble)
, _yawRateFact (0, _yawRateFactName, FactMetaData::valueTypeDouble)
, _groundSpeedFact (0, _groundSpeedFactName, FactMetaData::valueTypeDouble)
, _airSpeedFact (0, _airSpeedFactName, FactMetaData::valueTypeDouble)
, _climbRateFact (0, _climbRateFactName, FactMetaData::valueTypeDouble)
, _altitudeRelativeFact (0, _altitudeRelativeFactName, FactMetaData::valueTypeDouble)
, _altitudeAMSLFact (0, _altitudeAMSLFactName, FactMetaData::valueTypeDouble)
, _flightDistanceFact (0, _flightDistanceFactName, FactMetaData::valueTypeDouble)
, _flightTimeFact (0, _flightTimeFactName, FactMetaData::valueTypeElapsedTimeInSeconds)
, _distanceToHomeFact (0, _distanceToHomeFactName, FactMetaData::valueTypeDouble)
, _headingToNextWPFact (0, _headingToNextWPFactName, FactMetaData::valueTypeDouble)
, _headingToHomeFact (0, _headingToHomeFactName, FactMetaData::valueTypeDouble)
, _distanceToGCSFact (0, _distanceToGCSFactName, FactMetaData::valueTypeDouble)
, _hobbsFact (0, _hobbsFactName, FactMetaData::valueTypeString)
, _throttlePctFact (0, _throttlePctFactName, FactMetaData::valueTypeUint16)
, _gpsFactGroup(this)
, _battery1FactGroup(this)
, _battery2FactGroup(this)
, _windFactGroup(this)
, _vibrationFactGroup(this)
, _temperatureFactGroup(this)
, _clockFactGroup(this)
, _distanceSensorFactGroup(this)
, _estimatorStatusFactGroup(this)
{
connect(_joystickManager, &JoystickManager::activeJoystickChanged, this, &Vehicle::_loadSettings);
connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::activeVehicleAvailableChanged, this, &Vehicle::_loadSettings);
_mavlink = _toolbox->mavlinkProtocol();
qCDebug(VehicleLog) << "Link started with Mavlink " << (_mavlink->getCurrentVersion() >= 200 ? "V2" : "V1");
connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
connect(_mavlink, &MAVLinkProtocol::mavlinkMessageStatus, this, &Vehicle::_mavlinkMessageStatus);
_addLink(link);
connect(this, &Vehicle::_sendMessageOnLinkOnThread, this, &Vehicle::_sendMessageOnLink, Qt::QueuedConnection);
connect(this, &Vehicle::flightModeChanged, this, &Vehicle::_handleFlightModeChanged);
connect(this, &Vehicle::armedChanged, this, &Vehicle::_announceArmedChanged);
connect(_toolbox->multiVehicleManager(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &Vehicle::_vehicleParamLoaded);
_uas = new UAS(_mavlink, this, _firmwarePluginManager);
connect(_uas, &UAS::imageReady, this, &Vehicle::_imageReady);
connect(this, &Vehicle::remoteControlRSSIChanged, this, &Vehicle::_remoteControlRSSIChanged);
_commonInit();
_autopilotPlugin = _firmwarePlugin->autopilotPlugin(this);
// PreArm Error self-destruct timer
connect(&_prearmErrorTimer, &QTimer::timeout, this, &Vehicle::_prearmErrorTimeout);
_prearmErrorTimer.setInterval(_prearmErrorTimeoutMSecs);
_prearmErrorTimer.setSingleShot(true);
// Send MAV_CMD ack timer
_mavCommandAckTimer.setSingleShot(true);
_mavCommandAckTimer.setInterval(_highLatencyLink ? _mavCommandAckTimeoutMSecsHighLatency : _mavCommandAckTimeoutMSecs);
connect(&_mavCommandAckTimer, &QTimer::timeout, this, &Vehicle::_sendMavCommandAgain);
_mav = uas();
// Listen for system messages
connect(_toolbox->uasMessageHandler(), &UASMessageHandler::textMessageCountChanged, this, &Vehicle::_handleTextMessage);
connect(_toolbox->uasMessageHandler(), &UASMessageHandler::textMessageReceived, this, &Vehicle::_handletextMessageReceived);
if (_highLatencyLink || link->isPX4Flow()) {
// These links don't request information
_setMaxProtoVersion(100);
_setCapabilities(0);
_initialPlanRequestComplete = true;
_missionManagerInitialRequestSent = true;
_geoFenceManagerInitialRequestSent = true;
_rallyPointManagerInitialRequestSent = true;
} else {
sendMavCommand(MAV_COMP_ID_ALL,
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES,
false, // No error shown if fails
1); // Request firmware version
sendMavCommand(MAV_COMP_ID_ALL,
MAV_CMD_REQUEST_PROTOCOL_VERSION,
false, // No error shown if fails
1); // Request protocol version
}
_firmwarePlugin->initializeVehicle(this);
for(auto& factName: factNames()) {
_firmwarePlugin->adjustMetaData(vehicleType, getFact(factName)->metaData());
}
_sendMultipleTimer.start(_sendMessageMultipleIntraMessageDelay);
connect(&_sendMultipleTimer, &QTimer::timeout, this, &Vehicle::_sendMessageMultipleNext);
connect(&_orbitTelemetryTimer, &QTimer::timeout, this, &Vehicle::_orbitTelemetryTimeout);
// Create camera manager instance
_cameras = _firmwarePlugin->createCameraManager(this);
emit dynamicCamerasChanged();
// Start csv logger
connect(&_csvLogTimer, &QTimer::timeout, this, &Vehicle::_writeCsvLine);
_csvLogTimer.start(1000);
_lastBatteryAnnouncement.start();
}
// Disconnected Vehicle for offline editing
Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
MAV_TYPE vehicleType,
FirmwarePluginManager* firmwarePluginManager,
QObject* parent)
: FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json", parent)
, _id(0)
, _defaultComponentId(MAV_COMP_ID_ALL)
, _active(false)
, _offlineEditingVehicle(true)
, _firmwareType(firmwareType)
, _vehicleType(vehicleType)
, _firmwarePlugin(nullptr)
, _firmwarePluginInstanceData(nullptr)
, _autopilotPlugin(nullptr)
, _mavlink(nullptr)
, _soloFirmware(false)
, _toolbox(qgcApp()->toolbox())
, _settingsManager(_toolbox->settingsManager())
, _joystickMode(JoystickModeRC)
, _joystickEnabled(false)
, _uas(nullptr)
, _mav(nullptr)
, _currentMessageCount(0)
, _messageCount(0)
, _currentErrorCount(0)
, _currentWarningCount(0)
, _currentNormalCount(0)
, _currentMessageType(MessageNone)
, _updateCount(0)
, _rcRSSI(255)
, _rcRSSIstore(255.)
, _autoDisconnect(false)
, _flying(false)
, _landing(false)
, _vtolInFwdFlight(false)
, _onboardControlSensorsPresent(0)
, _onboardControlSensorsEnabled(0)
, _onboardControlSensorsHealth(0)
, _onboardControlSensorsUnhealthy(0)
, _gpsRawIntMessageAvailable(false)
, _globalPositionIntMessageAvailable(false)
, _defaultCruiseSpeed(_settingsManager->appSettings()->offlineEditingCruiseSpeed()->rawValue().toDouble())
, _defaultHoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
, _mavlinkProtocolRequestComplete(true)
, _maxProtoVersion(200)
, _vehicleCapabilitiesKnown(true)
, _capabilityBits(MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY)
, _highLatencyLink(false)
, _receivingAttitudeQuaternion(false)
, _cameras(nullptr)
, _connectionLost(false)
, _connectionLostEnabled(true)
, _initialPlanRequestComplete(false)
, _missionManager(nullptr)
, _missionManagerInitialRequestSent(false)
, _geoFenceManager(nullptr)
, _geoFenceManagerInitialRequestSent(false)
, _rallyPointManager(nullptr)
, _rallyPointManagerInitialRequestSent(false)
#if defined(QGC_AIRMAP_ENABLED)
, _airspaceVehicleManager(nullptr)
#endif
, _armed(false)
, _base_mode(0)
, _custom_mode(0)
, _nextSendMessageMultipleIndex(0)
, _trajectoryPoints(new TrajectoryPoints(this, this))
, _firmwarePluginManager(firmwarePluginManager)
, _joystickManager(nullptr)
, _flowImageIndex(0)
, _allLinksInactiveSent(false)
, _messagesReceived(0)
, _messagesSent(0)
, _messagesLost(0)
, _messageSeq(0)
, _compID(0)
, _heardFrom(false)
, _firmwareMajorVersion(versionNotSetValue)
, _firmwareMinorVersion(versionNotSetValue)
, _firmwarePatchVersion(versionNotSetValue)
, _firmwareCustomMajorVersion(versionNotSetValue)
, _firmwareCustomMinorVersion(versionNotSetValue)
, _firmwareCustomPatchVersion(versionNotSetValue)
, _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL)
, _gitHash(versionNotSetValue)
, _uid(0)
, _lastAnnouncedLowBatteryPercent(100)
, _orbitActive(false)
, _pidTuningTelemetryMode(false)
, _pidTuningWaitingForRates(false)
, _rollFact (0, _rollFactName, FactMetaData::valueTypeDouble)
, _pitchFact (0, _pitchFactName, FactMetaData::valueTypeDouble)
, _headingFact (0, _headingFactName, FactMetaData::valueTypeDouble)
, _rollRateFact (0, _rollRateFactName, FactMetaData::valueTypeDouble)
, _pitchRateFact (0, _pitchRateFactName, FactMetaData::valueTypeDouble)
, _yawRateFact (0, _yawRateFactName, FactMetaData::valueTypeDouble)
, _groundSpeedFact (0, _groundSpeedFactName, FactMetaData::valueTypeDouble)
, _airSpeedFact (0, _airSpeedFactName, FactMetaData::valueTypeDouble)
, _climbRateFact (0, _climbRateFactName, FactMetaData::valueTypeDouble)
, _altitudeRelativeFact (0, _altitudeRelativeFactName, FactMetaData::valueTypeDouble)
, _altitudeAMSLFact (0, _altitudeAMSLFactName, FactMetaData::valueTypeDouble)
, _flightDistanceFact (0, _flightDistanceFactName, FactMetaData::valueTypeDouble)
, _flightTimeFact (0, _flightTimeFactName, FactMetaData::valueTypeElapsedTimeInSeconds)
, _distanceToHomeFact (0, _distanceToHomeFactName, FactMetaData::valueTypeDouble)
, _headingToNextWPFact (0, _headingToNextWPFactName, FactMetaData::valueTypeDouble)
, _headingToHomeFact (0, _headingToHomeFactName, FactMetaData::valueTypeDouble)
, _distanceToGCSFact (0, _distanceToGCSFactName, FactMetaData::valueTypeDouble)
, _hobbsFact (0, _hobbsFactName, FactMetaData::valueTypeString)
, _throttlePctFact (0, _throttlePctFactName, FactMetaData::valueTypeUint16)
, _gpsFactGroup(this)
, _battery1FactGroup(this)
, _battery2FactGroup(this)
, _windFactGroup(this)
, _vibrationFactGroup(this)
, _clockFactGroup(this)
, _distanceSensorFactGroup(this)
{
_commonInit();
// Offline editing vehicle tracks settings changes for offline editing settings
connect(_settingsManager->appSettings()->offlineEditingFirmwareType(), &Fact::rawValueChanged, this, &Vehicle::_offlineFirmwareTypeSettingChanged);
connect(_settingsManager->appSettings()->offlineEditingVehicleType(), &Fact::rawValueChanged, this, &Vehicle::_offlineVehicleTypeSettingChanged);
connect(_settingsManager->appSettings()->offlineEditingCruiseSpeed(), &Fact::rawValueChanged, this, &Vehicle::_offlineCruiseSpeedSettingChanged);
connect(_settingsManager->appSettings()->offlineEditingHoverSpeed(), &Fact::rawValueChanged, this, &Vehicle::_offlineHoverSpeedSettingChanged);
_firmwarePlugin->initializeVehicle(this);
}
void Vehicle::_commonInit()
{
_firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
connect(_firmwarePlugin, &FirmwarePlugin::toolbarIndicatorsChanged, this, &Vehicle::toolBarIndicatorsChanged);
connect(this, &Vehicle::coordinateChanged, this, &Vehicle::_updateDistanceHeadingToHome);
connect(this, &Vehicle::coordinateChanged, this, &Vehicle::_updateDistanceToGCS);
connect(this, &Vehicle::homePositionChanged, this, &Vehicle::_updateDistanceHeadingToHome);
connect(this, &Vehicle::hobbsMeterChanged, this, &Vehicle::_updateHobbsMeter);
connect(_toolbox->qgcPositionManager(), &QGCPositionManager::gcsPositionChanged, this, &Vehicle::_updateDistanceToGCS);
_missionManager = new MissionManager(this);
connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_missionLoadComplete);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearCameraTriggerPoints);
connect(_missionManager, &MissionManager::sendComplete, this, &Vehicle::_clearCameraTriggerPoints);
connect(_missionManager, &MissionManager::currentIndexChanged, this, &Vehicle::_updateHeadingToNextWP);
connect(_missionManager, &MissionManager::sendComplete, _trajectoryPoints, &TrajectoryPoints::clear);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, _trajectoryPoints, &TrajectoryPoints::clear);
_parameterManager = new ParameterManager(this);
connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
_objectAvoidance = new VehicleObjectAvoidance(this, this);
// GeoFenceManager needs to access ParameterManager so make sure to create after
_geoFenceManager = new GeoFenceManager(this);
connect(_geoFenceManager, &GeoFenceManager::error, this, &Vehicle::_geoFenceManagerError);
connect(_geoFenceManager, &GeoFenceManager::loadComplete, this, &Vehicle::_geoFenceLoadComplete);
_rallyPointManager = new RallyPointManager(this);
connect(_rallyPointManager, &RallyPointManager::error, this, &Vehicle::_rallyPointManagerError);
connect(_rallyPointManager, &RallyPointManager::loadComplete, this, &Vehicle::_rallyPointLoadComplete);
// Flight modes can differ based on advanced mode
connect(_toolbox->corePlugin(), &QGCCorePlugin::showAdvancedUIChanged, this, &Vehicle::flightModesChanged);
// Build FactGroup object model
_addFact(&_rollFact, _rollFactName);
_addFact(&_pitchFact, _pitchFactName);
_addFact(&_headingFact, _headingFactName);
_addFact(&_rollRateFact, _rollRateFactName);
_addFact(&_pitchRateFact, _pitchRateFactName);
_addFact(&_yawRateFact, _yawRateFactName);
_addFact(&_groundSpeedFact, _groundSpeedFactName);
_addFact(&_airSpeedFact, _airSpeedFactName);
_addFact(&_climbRateFact, _climbRateFactName);
_addFact(&_altitudeRelativeFact, _altitudeRelativeFactName);
_addFact(&_altitudeAMSLFact, _altitudeAMSLFactName);
_addFact(&_flightDistanceFact, _flightDistanceFactName);
_addFact(&_flightTimeFact, _flightTimeFactName);
_addFact(&_distanceToHomeFact, _distanceToHomeFactName);
_addFact(&_headingToNextWPFact, _headingToNextWPFactName);
_addFact(&_headingToHomeFact, _headingToHomeFactName);
_addFact(&_distanceToGCSFact, _distanceToGCSFactName);
_addFact(&_throttlePctFact, _throttlePctFactName);
_hobbsFact.setRawValue(QVariant(QString("0000:00:00")));
_addFact(&_hobbsFact, _hobbsFactName);
_addFactGroup(&_gpsFactGroup, _gpsFactGroupName);
_addFactGroup(&_battery1FactGroup, _battery1FactGroupName);
_addFactGroup(&_battery2FactGroup, _battery2FactGroupName);
_addFactGroup(&_windFactGroup, _windFactGroupName);
_addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);
_addFactGroup(&_temperatureFactGroup, _temperatureFactGroupName);
_addFactGroup(&_clockFactGroup, _clockFactGroupName);
_addFactGroup(&_distanceSensorFactGroup, _distanceSensorFactGroupName);
_addFactGroup(&_estimatorStatusFactGroup, _estimatorStatusFactGroupName);
// Add firmware-specific fact groups, if provided
QMap<QString, FactGroup*>* fwFactGroups = _firmwarePlugin->factGroups();
if (fwFactGroups) {
QMapIterator<QString, FactGroup*> i(*fwFactGroups);
while(i.hasNext()) {
i.next();
_addFactGroup(i.value(), i.key());
}
}
_flightDistanceFact.setRawValue(0);
_flightTimeFact.setRawValue(0);
_flightTimeUpdater.setInterval(1000);
_flightTimeUpdater.setSingleShot(false);
connect(&_flightTimeUpdater, &QTimer::timeout, this, &Vehicle::_updateFlightTime);
// Set video stream to udp if running ArduSub and Video is disabled
if (sub() && _settingsManager->videoSettings()->videoSource()->rawValue() == VideoSettings::videoDisabled) {
_settingsManager->videoSettings()->videoSource()->setRawValue(VideoSettings::videoSourceUDPH264);
}
//-- Airspace Management
#if defined(QGC_AIRMAP_ENABLED)
AirspaceManager* airspaceManager = _toolbox->airspaceManager();
if (airspaceManager) {
_airspaceVehicleManager = airspaceManager->instantiateVehicle(*this);
if (_airspaceVehicleManager) {
connect(_airspaceVehicleManager, &AirspaceVehicleManager::trafficUpdate, this, &Vehicle::_trafficUpdate);
}
}
#endif
_pidTuningMessages << MAVLINK_MSG_ID_ATTITUDE << MAVLINK_MSG_ID_ATTITUDE_TARGET;
}
Vehicle::~Vehicle()
{
qCDebug(VehicleLog) << "~Vehicle" << this;
delete _missionManager;
_missionManager = nullptr;
delete _autopilotPlugin;
_autopilotPlugin = nullptr;
delete _mav;
_mav = nullptr;
#if defined(QGC_AIRMAP_ENABLED)
if (_airspaceVehicleManager) {
delete _airspaceVehicleManager;
}
#endif
}
void Vehicle::prepareDelete()
{
if(_cameras) {
// because of _cameras QML bindings check for nullptr won't work in the binding pipeline
// the dangling pointer access will cause a runtime fault
auto tmpCameras = _cameras;
_cameras = nullptr;
delete tmpCameras;
emit dynamicCamerasChanged();
qApp->processEvents();
}
}
void Vehicle::_offlineFirmwareTypeSettingChanged(QVariant value)
{
_firmwareType = static_cast<MAV_AUTOPILOT>(value.toInt());
_firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
emit firmwareTypeChanged();
}
void Vehicle::_offlineVehicleTypeSettingChanged(QVariant value)
{
_vehicleType = static_cast<MAV_TYPE>(value.toInt());
emit vehicleTypeChanged();
}
void Vehicle::_offlineCruiseSpeedSettingChanged(QVariant value)
{
_defaultCruiseSpeed = value.toDouble();
emit defaultCruiseSpeedChanged(_defaultCruiseSpeed);
}
void Vehicle::_offlineHoverSpeedSettingChanged(QVariant value)
{
_defaultHoverSpeed = value.toDouble();
emit defaultHoverSpeedChanged(_defaultHoverSpeed);
}
QString Vehicle::firmwareTypeString() const
{
if (px4Firmware()) {
return QStringLiteral("PX4 Pro");
} else if (apmFirmware()) {
return QStringLiteral("ArduPilot");
} else {
return tr("MAVLink Generic");
}
}
QString Vehicle::vehicleTypeString() const
{
if (fixedWing()) {
return tr("Fixed Wing");
} else if (multiRotor()) {
return tr("Multi-Rotor");
} else if (vtol()) {
return tr("VTOL");
} else if (rover()) {
return tr("Rover");
} else if (sub()) {
return tr("Sub");
} else {
return tr("Unknown");
}
}
void Vehicle::resetCounters()
{
_messagesReceived = 0;
_messagesSent = 0;
_messagesLost = 0;
_messageSeq = 0;
_heardFrom = false;
}
void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
{
// If the link is already running at Mavlink V2 set our max proto version to it.
unsigned mavlinkVersion = _mavlink->getCurrentVersion();
if (_maxProtoVersion != mavlinkVersion && mavlinkVersion >= 200) {
_maxProtoVersion = mavlinkVersion;
qCDebug(VehicleLog) << "Vehicle::_mavlinkMessageReceived Link already running Mavlink v2. Setting _maxProtoVersion" << _maxProtoVersion;
}
if (message.sysid != _id && message.sysid != 0) {
// We allow RADIO_STATUS messages which come from a link the vehicle is using to pass through and be handled
if (!(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS && _containsLink(link))) {
return;
}
}
if (!_containsLink(link)) {
_addLink(link);
}
//-- Check link status
_messagesReceived++;
emit messagesReceivedChanged();
if(!_heardFrom) {
if(message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
_heardFrom = true;
_compID = message.compid;
_messageSeq = message.seq + 1;
}
} else {
if(_compID == message.compid) {
uint16_t seq_received = static_cast<uint16_t>(message.seq);
uint16_t packet_lost_count = 0;
//-- Account for overflow during packet loss
if(seq_received < _messageSeq) {
packet_lost_count = (seq_received + 255) - _messageSeq;
} else {
packet_lost_count = seq_received - _messageSeq;
}
_messageSeq = message.seq + 1;
_messagesLost += packet_lost_count;
if(packet_lost_count)
emit messagesLostChanged();
}
}
// Give the plugin a change to adjust the message contents
if (!_firmwarePlugin->adjustIncomingMavlinkMessage(this, &message)) {
return;
}
// Give the Core Plugin access to all mavlink traffic
if (!_toolbox->corePlugin()->mavlinkMessage(this, link, message)) {
return;
}
switch (message.msgid) {
case MAVLINK_MSG_ID_HOME_POSITION:
_handleHomePosition(message);
break;
case MAVLINK_MSG_ID_HEARTBEAT:
_handleHeartbeat(message);
break;
case MAVLINK_MSG_ID_RADIO_STATUS:
_handleRadioStatus(message);
break;
case MAVLINK_MSG_ID_RC_CHANNELS:
_handleRCChannels(message);
break;
case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
_handleRCChannelsRaw(message);
break;
case MAVLINK_MSG_ID_BATTERY_STATUS:
_handleBatteryStatus(message);
break;
case MAVLINK_MSG_ID_SYS_STATUS:
_handleSysStatus(message);
break;
case MAVLINK_MSG_ID_RAW_IMU:
emit mavlinkRawImu(message);
break;
case MAVLINK_MSG_ID_SCALED_IMU:
emit mavlinkScaledImu1(message);
break;
case MAVLINK_MSG_ID_SCALED_IMU2:
emit mavlinkScaledImu2(message);
break;
case MAVLINK_MSG_ID_SCALED_IMU3:
emit mavlinkScaledImu3(message);
break;
case MAVLINK_MSG_ID_VIBRATION:
_handleVibration(message);
break;
case MAVLINK_MSG_ID_EXTENDED_SYS_STATE:
_handleExtendedSysState(message);
break;
case MAVLINK_MSG_ID_COMMAND_ACK:
_handleCommandAck(message);
break;
case MAVLINK_MSG_ID_COMMAND_LONG:
_handleCommandLong(message);
break;
case MAVLINK_MSG_ID_AUTOPILOT_VERSION:
_handleAutopilotVersion(link, message);
break;
case MAVLINK_MSG_ID_PROTOCOL_VERSION:
_handleProtocolVersion(link, message);
break;
case MAVLINK_MSG_ID_WIND_COV:
_handleWindCov(message);
break;
case MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS:
_handleHilActuatorControls(message);
break;
case MAVLINK_MSG_ID_LOGGING_DATA:
_handleMavlinkLoggingData(message);
break;
case MAVLINK_MSG_ID_LOGGING_DATA_ACKED:
_handleMavlinkLoggingDataAcked(message);
break;
case MAVLINK_MSG_ID_GPS_RAW_INT:
_handleGpsRawInt(message);
break;
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
_handleGlobalPositionInt(message);
break;
case MAVLINK_MSG_ID_ALTITUDE:
_handleAltitude(message);
break;
case MAVLINK_MSG_ID_VFR_HUD:
_handleVfrHud(message);
break;
case MAVLINK_MSG_ID_SCALED_PRESSURE:
_handleScaledPressure(message);
break;
case MAVLINK_MSG_ID_SCALED_PRESSURE2:
_handleScaledPressure2(message);
break;
case MAVLINK_MSG_ID_SCALED_PRESSURE3:
_handleScaledPressure3(message);
break;
case MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED:
_handleCameraImageCaptured(message);
break;
case MAVLINK_MSG_ID_ADSB_VEHICLE:
_handleADSBVehicle(message);
break;
case MAVLINK_MSG_ID_HIGH_LATENCY2:
_handleHighLatency2(message);
break;
case MAVLINK_MSG_ID_ATTITUDE:
_handleAttitude(message);
break;
case MAVLINK_MSG_ID_ATTITUDE_QUATERNION:
_handleAttitudeQuaternion(message);
break;
case MAVLINK_MSG_ID_ATTITUDE_TARGET:
_handleAttitudeTarget(message);
break;
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
_handleDistanceSensor(message);
break;
case MAVLINK_MSG_ID_ESTIMATOR_STATUS:
_handleEstimatorStatus(message);
break;
case MAVLINK_MSG_ID_STATUSTEXT:
_handleStatusText(message, false /* longVersion */);
break;
case MAVLINK_MSG_ID_STATUSTEXT_LONG:
_handleStatusText(message, true /* longVersion */);
break;
case MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS:
_handleOrbitExecutionStatus(message);
break;
case MAVLINK_MSG_ID_MESSAGE_INTERVAL:
_handleMessageInterval(message);
break;
case MAVLINK_MSG_ID_PING:
_handlePing(link, message);
break;
case MAVLINK_MSG_ID_MOUNT_ORIENTATION:
_handleGimbalOrientation(message);
break;
case MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
_handleObstacleDistance(message);
break;
case MAVLINK_MSG_ID_SERIAL_CONTROL:
{
mavlink_serial_control_t ser;
mavlink_msg_serial_control_decode(&message, &ser);
emit mavlinkSerialControl(ser.device, ser.flags, ser.timeout, ser.baudrate, QByteArray(reinterpret_cast<const char*>(ser.data), ser.count));
}
break;
// Following are ArduPilot dialect messages
#if !defined(NO_ARDUPILOT_DIALECT)
case MAVLINK_MSG_ID_CAMERA_FEEDBACK:
_handleCameraFeedback(message);
break;
case MAVLINK_MSG_ID_WIND:
_handleWind(message);
break;
#endif
}
// This must be emitted after the vehicle processes the message. This way the vehicle state is up to date when anyone else
// does processing.
emit mavlinkMessageReceived(message);
_uas->receiveMessage(message);
}
#if !defined(NO_ARDUPILOT_DIALECT)
void Vehicle::_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(VehicleLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.img_idx;
_cameraTriggerPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
}
#endif
void Vehicle::_handleOrbitExecutionStatus(const mavlink_message_t& message)
{
mavlink_orbit_execution_status_t orbitStatus;
mavlink_msg_orbit_execution_status_decode(&message, &orbitStatus);
double newRadius = qAbs(static_cast<double>(orbitStatus.radius));
if (!qFuzzyCompare(_orbitMapCircle.radius()->rawValue().toDouble(), newRadius)) {
_orbitMapCircle.radius()->setRawValue(newRadius);
}
bool newOrbitClockwise = orbitStatus.radius > 0 ? true : false;
if (_orbitMapCircle.clockwiseRotation() != newOrbitClockwise) {
_orbitMapCircle.setClockwiseRotation(newOrbitClockwise);
}
QGeoCoordinate newCenter(static_cast<double>(orbitStatus.x) / qPow(10.0, 7.0), static_cast<double>(orbitStatus.y) / qPow(10.0, 7.0));
if (_orbitMapCircle.center() != newCenter) {
_orbitMapCircle.setCenter(newCenter);
}
if (!_orbitActive) {
_orbitActive = true;
_orbitMapCircle.setShowRotation(true);
emit orbitActiveChanged(true);
}
_orbitTelemetryTimer.start(_orbitTelemetryTimeoutMsecs);
}
void Vehicle::_orbitTelemetryTimeout()
{
_orbitActive = false;
emit orbitActiveChanged(false);
}
void Vehicle::_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(VehicleLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.image_index << feedback.capture_result;
if (feedback.capture_result == 1) {
_cameraTriggerPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
}
}
void Vehicle::_handleStatusText(mavlink_message_t& message, bool longVersion)
{
QByteArray b;
QString messageText;
int severity;
if (longVersion) {
b.resize(MAVLINK_MSG_STATUSTEXT_LONG_FIELD_TEXT_LEN+1);
mavlink_statustext_long_t statustextLong;
mavlink_msg_statustext_long_decode(&message, &statustextLong);
strncpy(b.data(), statustextLong.text, MAVLINK_MSG_STATUSTEXT_LONG_FIELD_TEXT_LEN);
severity = statustextLong.severity;
} else {
b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
mavlink_statustext_t statustext;
mavlink_msg_statustext_decode(&message, &statustext);
strncpy(b.data(), statustext.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
severity = statustext.severity;
}
b[b.length()-1] = '\0';
messageText = QString(b);
bool skipSpoken = false;
bool ardupilotPrearm = messageText.startsWith(QStringLiteral("PreArm"));
bool px4Prearm = messageText.startsWith(QStringLiteral("preflight"), Qt::CaseInsensitive) && severity >= MAV_SEVERITY_CRITICAL;
if (ardupilotPrearm || px4Prearm) {
// Limit repeated PreArm message to once every 10 seconds
if (_noisySpokenPrearmMap.contains(messageText) && _noisySpokenPrearmMap[messageText].msecsTo(QTime::currentTime()) < (10 * 1000)) {
skipSpoken = true;
} else {
_noisySpokenPrearmMap[messageText] = QTime::currentTime();
setPrearmError(messageText);
}
}
// If the message is NOTIFY or higher severity, or starts with a '#',
// then read it aloud.
if (messageText.startsWith("#") || severity <= MAV_SEVERITY_NOTICE) {
messageText.remove("#");
if (!skipSpoken) {
qgcApp()->toolbox()->audioOutput()->say(messageText);
}
}
emit textMessageReceived(id(), message.compid, severity, messageText);
}
void Vehicle::_handleVfrHud(mavlink_message_t& message)
{
mavlink_vfr_hud_t vfrHud;
mavlink_msg_vfr_hud_decode(&message, &vfrHud);
_airSpeedFact.setRawValue(qIsNaN(vfrHud.airspeed) ? 0 : vfrHud.airspeed);
_groundSpeedFact.setRawValue(qIsNaN(vfrHud.groundspeed) ? 0 : vfrHud.groundspeed);
_climbRateFact.setRawValue(qIsNaN(vfrHud.climb) ? 0 : vfrHud.climb);
_throttlePctFact.setRawValue(static_cast<int16_t>(vfrHud.throttle));
}
void Vehicle::_handleEstimatorStatus(mavlink_message_t& message)
{
mavlink_estimator_status_t estimatorStatus;
mavlink_msg_estimator_status_decode(&message, &estimatorStatus);
_estimatorStatusFactGroup.goodAttitudeEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_ATTITUDE));
_estimatorStatusFactGroup.goodHorizVelEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_VELOCITY_HORIZ));
_estimatorStatusFactGroup.goodVertVelEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_VELOCITY_VERT));
_estimatorStatusFactGroup.goodHorizPosRelEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_POS_HORIZ_REL));
_estimatorStatusFactGroup.goodHorizPosAbsEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_POS_HORIZ_ABS));
_estimatorStatusFactGroup.goodVertPosAbsEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_POS_VERT_ABS));
_estimatorStatusFactGroup.goodVertPosAGLEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_POS_VERT_AGL));
_estimatorStatusFactGroup.goodConstPosModeEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_CONST_POS_MODE));
_estimatorStatusFactGroup.goodPredHorizPosRelEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_PRED_POS_HORIZ_REL));
_estimatorStatusFactGroup.goodPredHorizPosAbsEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_PRED_POS_HORIZ_ABS));
_estimatorStatusFactGroup.gpsGlitch()->setRawValue(estimatorStatus.flags & ESTIMATOR_GPS_GLITCH ? true : false);
_estimatorStatusFactGroup.accelError()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_ACCEL_ERROR));
_estimatorStatusFactGroup.velRatio()->setRawValue(estimatorStatus.vel_ratio);
_estimatorStatusFactGroup.horizPosRatio()->setRawValue(estimatorStatus.pos_horiz_ratio);
_estimatorStatusFactGroup.vertPosRatio()->setRawValue(estimatorStatus.pos_vert_ratio);
_estimatorStatusFactGroup.magRatio()->setRawValue(estimatorStatus.mag_ratio);
_estimatorStatusFactGroup.haglRatio()->setRawValue(estimatorStatus.hagl_ratio);
_estimatorStatusFactGroup.tasRatio()->setRawValue(estimatorStatus.tas_ratio);
_estimatorStatusFactGroup.horizPosAccuracy()->setRawValue(estimatorStatus.pos_horiz_accuracy);
_estimatorStatusFactGroup.vertPosAccuracy()->setRawValue(estimatorStatus.pos_vert_accuracy);
#if 0
typedef enum ESTIMATOR_STATUS_FLAGS
{