RC PWM joystick buttons override

CodingStyle.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *   (c) 2009-2022 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.
@@ -31,7 +31,7 @@ Q_DECLARE_LOGGING_CATEGORY(CodingStyleLog)
 
 /// Here is the class documentation. Class names are PascalCase. If you override any of the Qt base classes to provide
 /// generic base implementations for widespread use prefix the class name with QGC. For example:
-///     QGCMessageBox - is a QGC special vesion of Qt MessageBox
+///     QGCMessageBox - is a QGC special version of Qt MessageBox
 ///     QGCPalette - is a QGC special version of Qt Palette
 /// For normal single use classes do no prefix them name with QGC.
 

custom-example/custom.cmake

@@ -0,0 +1,42 @@
+message(STATUS "Adding Custom Plugin")
+
+# you can disable usb camera
+set(QGC_DISABLE_UVC OFF)
+
+# disable video streaming
+set(DISABLE_VIDEOSTREAMING OFF)
+# disable video streaming
+set(QGC_DISABLE_MAVLINK_INSPECTOR OFF )
+
+# disable airmap
+set(DISABLE_AIRMAP OFF)
+
+# disable Ardupilot mavlink dialect
+set(QGC_DISABLE_APM_MAVLINK ON)
+# disable Ardupilot firmware plugin
+set(QGC_DISABLE_APM_PLUGIN ON)
+# disable PX4 firmware plugin
+# set(QGC_DISABLE_PX4_PLUGIN ON)
+# disable Ardupilot firmware plugin factory
+set(QGC_DISABLE_APM_PLUGIN_FACTORY ON)
+# disable PX4 firmware plugin factory
+set(QGC_DISABLE_PX4_PLUGIN_FACTORY ON)
+
+set(CUSTOMCLASS "CustomPlugin")
+set(CUSTOMHEADER \"CustomPlugin.h\")
+
+set(CUSTOM_SRC_PATH ${CMAKE_CURRENT_SOURCE_DIR}/custom/src)
+
+include_directories(${CUSTOM_SRC_PATH})
+include_directories(${CUSTOM_SRC_PATH}/FirmwarePlugin)
+include_directories(${CUSTOM_SRC_PATH}/AutoPilotPlugin)
+
+set(CUSTOM_SRC
+    ${CUSTOM_SRC_PATH}/CustomPlugin.cc
+    ${CUSTOM_SRC_PATH}/AutoPilotPlugin/CustomAutoPilotPlugin.cc
+    ${CUSTOM_SRC_PATH}/FirmwarePlugin/CustomFirmwarePlugin.cc
+    ${CUSTOM_SRC_PATH}/FirmwarePlugin/CustomFirmwarePluginFactory.cc
+        )
+
+
+set(CUSTOM_RESOURCES ${CMAKE_CURRENT_SOURCE_DIR}/custom/custom.qrc)

qgroundcontrol.pro

@@ -153,7 +153,7 @@ iOSBuild {
 # disable both the Plugin and PluginFactory entries. To include custom support
 # for an existing plugin type disable PluginFactory only. Then provide you own
 # implementation of FirmwarePluginFactory and use the FirmwarePlugin and
-# AutoPilotPlugin classes as the base clase for your derived plugin
+# AutoPilotPlugin classes as the base class for your derived plugin
 # implementation.
 
 contains (CONFIG, QGC_DISABLE_APM_PLUGIN) {
@@ -1376,6 +1376,9 @@ contains (CONFIG, DISABLE_VIDEOSTREAMING) {
 }
 
 !VideoEnabled {
+# TODO bzd here propably should go:
+#    DEFINES -= QGC_GST_STREAMING
+
     INCLUDEPATH += \
         src/VideoReceiver
 

qgroundcontrol.qrc

@@ -185,7 +185,7 @@
         <file alias="QGroundControl/Controls/TerrainStatus.qml">src/PlanView/TerrainStatus.qml</file>
         <file alias="QGroundControl/Controls/TakeoffItemMapVisual.qml">src/PlanView/TakeoffItemMapVisual.qml</file>
         <file alias="QGroundControl/Controls/ToolStrip.qml">src/QmlControls/ToolStrip.qml</file>
-       	<file alias="QGroundControl/Controls/ToolStripHoverButton.qml">src/QmlControls/ToolStripHoverButton.qml</file>
+        <file alias="QGroundControl/Controls/ToolStripHoverButton.qml">src/QmlControls/ToolStripHoverButton.qml</file>
         <file alias="QGroundControl/Controls/TransectStyleComplexItemEditor.qml">src/PlanView/TransectStyleComplexItemEditor.qml</file>
         <file alias="QGroundControl/Controls/TransectStyleComplexItemStats.qml">src/PlanView/TransectStyleComplexItemStats.qml</file>
         <file alias="QGroundControl/Controls/TransectStyleComplexItemTabBar.qml">src/PlanView/TransectStyleComplexItemTabBar.qml</file>

src/AnalyzeView/CMakeLists.txt

@@ -7,6 +7,15 @@ if(BUILD_TESTING)
 	)
 endif()
 
+if (NOT QGC_DISABLE_MAVLINK_INSPECTOR)
+	set(MAVLINK_INSPECTOR_SRC
+		MAVLinkInspectorController.cc
+		MAVLinkInspectorController.h
+	)
+	set(MAVLINK_INSPECTOR_QML
+		MAVLinkInspectorPage.qml)
+endif()
+
 add_library(AnalyzeView
 	ExifParser.cc
 	ExifParser.h
@@ -16,8 +25,7 @@ add_library(AnalyzeView
 	LogDownloadController.h
 	MavlinkConsoleController.cc
 	MavlinkConsoleController.h
-	MAVLinkInspectorController.cc
-	MAVLinkInspectorController.h
+	${MAVLINK_INSPECTOR_SRC}
 	PX4LogParser.cc
 	PX4LogParser.h
 	ULogParser.cc
@@ -33,7 +41,7 @@ add_custom_target(AnalyzeViewQml
 		GeoTagPage.qml
 		LogDownloadPage.qml
 		MavlinkConsolePage.qml
-		MAVLinkInspectorPage.qml
+		${MAVLINK_INSPECTOR_QML}
 		VibrationPage.qml
 )
 

src/AnalyzeView/MAVLinkInspectorController.h

@@ -95,6 +95,7 @@ class QGCMAVLinkMessage : public QObject {
     Q_PROPERTY(QString              name            READ name           CONSTANT)
     Q_PROPERTY(qreal                messageHz       READ messageHz      NOTIFY freqChanged)
     Q_PROPERTY(quint64              count           READ count          NOTIFY countChanged)
+    Q_PROPERTY(int                  mavlinkVer      READ mavlinkVer     CONSTANT)
     Q_PROPERTY(QmlObjectListModel*  fields          READ fields         CONSTANT)
     Q_PROPERTY(bool                 fieldSelected   READ fieldSelected  NOTIFY fieldSelectedChanged)
     Q_PROPERTY(bool                 selected        READ selected       NOTIFY selectedChanged)
@@ -107,6 +108,7 @@ class QGCMAVLinkMessage : public QObject {
     QString             name            () { return _name;  }
     qreal               messageHz       () const{ return _messageHz; }
     quint64             count           () const{ return _count; }
+    int                 mavlinkVer      () const{ return _message.magic == 0xFE ? 1 : 2; }
     quint64             lastCount       () const{ return _lastCount; }
     QmlObjectListModel* fields          () { return &_fields; }
     bool                fieldSelected   () const{ return _fieldSelected; }

src/AnalyzeView/MAVLinkInspectorPage.qml

@@ -158,6 +158,12 @@ AnalyzePage {
                         QGCLabel {
                             text:       curMessage ? curMessage.count : ""
                         }
+                        QGCLabel {
+                            text:       qsTr("Mavlink ver:")
+                        }
+                        QGCLabel {
+                            text:       curMessage ? curMessage.mavlinkVer : ""
+                        }
                     }
                     Item { height: ScreenTools.defaultFontPixelHeight; width: 1 }
                     //---------------------------------------------------------

src/AutoPilotPlugins/CMakeLists.txt

@@ -1,30 +1,75 @@
-
-add_subdirectory(APM)
 add_subdirectory(Common)
-add_subdirectory(PX4)
 
-add_library(AutoPilotPlugins
-	APM/APMAirframeComponent.cc
-	APM/APMAirframeComponentController.cc
-	APM/APMAutoPilotPlugin.cc
-	APM/APMCameraComponent.cc
-	APM/APMCompassCal.cc
-	APM/APMFlightModesComponent.cc
-	APM/APMFlightModesComponentController.cc
-	APM/APMFollowComponent.cc
-	APM/APMFollowComponentController.cc
-	APM/APMHeliComponent.cc
-	APM/APMLightsComponent.cc
-	APM/APMMotorComponent.cc
-	APM/APMPowerComponent.cc
-	APM/APMRadioComponent.cc
-	APM/APMSafetyComponent.cc
-	APM/APMSensorsComponent.cc
-	APM/APMSensorsComponentController.cc
-	APM/APMSubFrameComponent.cc
-	APM/APMSubMotorComponentController.cc
-	APM/APMTuningComponent.cc
+if (NOT QGC_DISABLE_PX4_PLUGIN)
+	add_subdirectory(PX4)
+
+	set(PX4FirmwarePlugin
+		PX4/ActuatorComponent.cc
+		PX4/ActuatorComponent.h
+		PX4/AirframeComponentAirframes.cc
+		PX4/AirframeComponentAirframes.h
+		PX4/AirframeComponent.cc
+		PX4/AirframeComponentController.cc
+		PX4/AirframeComponentController.h
+		PX4/AirframeComponent.h
+		PX4/CameraComponent.cc
+		PX4/CameraComponent.h
+		PX4/FlightModesComponent.cc
+		PX4/FlightModesComponent.h
+		PX4/PowerComponent.cc
+		PX4/PowerComponentController.cc
+		PX4/PowerComponentController.h
+		PX4/PowerComponent.h
+		PX4/PX4AirframeLoader.cc
+		PX4/PX4AirframeLoader.h
+		PX4/PX4AutoPilotPlugin.cc
+		PX4/PX4AutoPilotPlugin.h
+		PX4/PX4FlightBehavior.cc
+		PX4/PX4FlightBehavior.h
+		PX4/PX4RadioComponent.cc
+		PX4/PX4RadioComponent.h
+		PX4/PX4SimpleFlightModesController.cc
+		PX4/PX4SimpleFlightModesController.h
+		PX4/PX4TuningComponent.cc
+		PX4/PX4TuningComponent.h
+		PX4/SafetyComponent.cc
+		PX4/SafetyComponent.h
+		PX4/SensorsComponent.cc
+		PX4/SensorsComponentController.cc
+		PX4/SensorsComponentController.h
+		PX4/SensorsComponent.h
+		)
+endif()
+
+if (NOT QGC_DISABLE_APM_PLUGIN)
+	add_subdirectory(APM)
 
+	set(APMFirmwarePlugin
+		APM/APMAirframeComponent.cc
+		APM/APMAirframeComponentController.cc
+		APM/APMAutoPilotPlugin.cc
+		APM/APMCameraComponent.cc
+		APM/APMCompassCal.cc
+		APM/APMFlightModesComponent.cc
+		APM/APMFlightModesComponentController.cc
+		APM/APMFollowComponent.cc
+		APM/APMFollowComponentController.cc
+		APM/APMHeliComponent.cc
+		APM/APMLightsComponent.cc
+		APM/APMMotorComponent.cc
+		APM/APMPowerComponent.cc
+		APM/APMRadioComponent.cc
+		APM/APMSafetyComponent.cc
+		APM/APMSensorsComponent.cc
+		APM/APMSensorsComponentController.cc
+		APM/APMSubFrameComponent.cc
+		APM/APMSubMotorComponentController.cc
+		APM/APMTuningComponent.cc
+		APM/APMRemoteSupportComponent.cc
+		)
+endif()
+
+add_library(AutoPilotPlugins
 	Common/ESP8266Component.cc
 	Common/ESP8266ComponentController.cc
 	Common/MotorComponent.cc
@@ -34,42 +79,9 @@ add_library(AutoPilotPlugins
 
 	Generic/GenericAutoPilotPlugin.cc
 
-	PX4/ActuatorComponent.cc
-	PX4/ActuatorComponent.h
-	PX4/AirframeComponentAirframes.cc
-	PX4/AirframeComponentAirframes.h
-	PX4/AirframeComponent.cc
-	PX4/AirframeComponentController.cc
-	PX4/AirframeComponentController.h
-	PX4/AirframeComponent.h
-	PX4/CameraComponent.cc
-	PX4/CameraComponent.h
-	PX4/FlightModesComponent.cc
-	PX4/FlightModesComponent.h
-	PX4/PowerComponent.cc
-	PX4/PowerComponentController.cc
-	PX4/PowerComponentController.h
-	PX4/PowerComponent.h
-	PX4/PX4AirframeLoader.cc
-	PX4/PX4AirframeLoader.h
-	PX4/PX4AutoPilotPlugin.cc
-	PX4/PX4AutoPilotPlugin.h
-	PX4/PX4FlightBehavior.cc
-	PX4/PX4FlightBehavior.h
-	PX4/PX4RadioComponent.cc
-	PX4/PX4RadioComponent.h
-	PX4/PX4SimpleFlightModesController.cc
-	PX4/PX4SimpleFlightModesController.h
-	PX4/PX4TuningComponent.cc
-	PX4/PX4TuningComponent.h
-	PX4/SafetyComponent.cc
-	PX4/SafetyComponent.h
-	PX4/SensorsComponent.cc
-	PX4/SensorsComponentController.cc
-	PX4/SensorsComponentController.h
-	PX4/SensorsComponent.h
-
 	AutoPilotPlugin.cc
+	${APMFirmwarePlugin}
+	${PX4FirmwarePlugin}
 )
 
 target_link_libraries(AutoPilotPlugins
@@ -81,7 +93,23 @@ target_include_directories(AutoPilotPlugins
 	INTERFACE
 		${CMAKE_CURRENT_SOURCE_DIR}
 	PUBLIC
-		APM
 		Common
-		PX4
 	)
+
+if (NOT QGC_DISABLE_APM_PLUGIN)
+	target_include_directories(AutoPilotPlugins
+		INTERFACE
+		${CMAKE_CURRENT_SOURCE_DIR}
+		PUBLIC
+		APM
+		)
+endif()
+
+if (NOT QGC_DISABLE_PX4_PLUGIN)
+	target_include_directories(AutoPilotPlugins
+		INTERFACE
+		${CMAKE_CURRENT_SOURCE_DIR}
+		PUBLIC
+		PX4
+		)
+endif()

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -260,6 +260,7 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* /*vehicle*/, mavlink_
     // and lower the severity on them so that they don't pop in the users face.
 
     QString messageText = _getMessageText(message);
+    qDebug(APMFirmwarePluginLog) << "StatusText: " << messageText;
     if (messageText.contains("Place vehicle") || messageText.contains("Calibration successful")) {
         _adjustCalibrationMessageSeverity(message);
         return true;
@@ -1073,3 +1074,8 @@ QMutex& APMFirmwarePlugin::_reencodeMavlinkChannelMutex()
     static QMutex _mutex{};
     return _mutex;
 }
+
+bool APMFirmwarePlugin::supportsRcChannelOverride(void)
+{
+    return true;
+}

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -77,9 +77,10 @@ class APMFirmwarePlugin : public FirmwarePlugin
     QObject*            _loadParameterMetaData          (const QString& metaDataFile) override;
     QString             brandImageIndoor                (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
     QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
-    QString             getHobbsMeter                   (Vehicle* vehicle) override; 
+    QString             getHobbsMeter                   (Vehicle* vehicle) override;
     bool                hasGripper                      (const Vehicle* vehicle) const override;
     const QVariantList& toolIndicators                  (const Vehicle* vehicle) override;
+    bool supportsRcChannelOverride(void) override;
 
 protected:
     /// All access to singleton is through stack specific implementation