[DRAFT] Include support for Ardupilot terrain servers as elevation data source

src/FlightDisplay/FlyViewMap.qml

@@ -588,11 +588,23 @@ FlightMap {
                         globals.guidedControllerFlyView.confirmAction(globals.guidedControllerFlyView.actionROI, clickMenu.coord, roiLocationItem)
                     }
                 }
+
+                QGCButton {
+                    Layout.fillWidth: true
+                    text: "Set home here"
+                    visible: globals.guidedControllerFlyView.showSetHome
+                    onClicked: {
+                        if (clickMenu.opened) {
+                            clickMenu.close()
+                        }
+                        globals.guidedControllerFlyView.confirmAction(globals.guidedControllerFlyView.actionSetHome, clickMenu.coord)
+                    }
+                }
             }
         }
 
         onClicked: {
-            if (!globals.guidedControllerFlyView.guidedUIVisible && (globals.guidedControllerFlyView.showGotoLocation || globals.guidedControllerFlyView.showOrbit || globals.guidedControllerFlyView.showROI)) {
+            if (!globals.guidedControllerFlyView.guidedUIVisible && (globals.guidedControllerFlyView.showGotoLocation || globals.guidedControllerFlyView.showOrbit || globals.guidedControllerFlyView.showROI || globals.guidedControllerFlyView.showSetHome)) {
                 orbitMapCircle.hide()
                 gotoLocationItem.hide()
                 var clickCoord = _root.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)

src/FlightDisplay/GuidedActionsController.qml

@@ -55,6 +55,7 @@ Item {
     readonly property string gotoTitle:                     qsTr("Go To Location")
     readonly property string vtolTransitionTitle:           qsTr("VTOL Transition")
     readonly property string roiTitle:                      qsTr("ROI")
+    readonly property string setHomeTitle:                  qsTr("Set Home")
     readonly property string actionListTitle:               qsTr("Action")
 
     readonly property string armMessage:                        qsTr("Arm the vehicle.")
@@ -79,6 +80,7 @@ Item {
     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 string setHomeMessage:                    qsTr("Set vehicle home as the specified location. This will affect Return to Home position")
 
     readonly property int actionRTL:                        1
     readonly property int actionLand:                       2
@@ -105,6 +107,7 @@ Item {
     readonly property int actionActionList:                 23
     readonly property int actionForceArm:                   24
     readonly property int actionChangeSpeed:                25
+    readonly property int actionSetHome:                    26
 
     property var    _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
     property bool   _useChecklist:              QGroundControl.settingsManager.appSettings.useChecklist.rawValue && QGroundControl.corePlugin.options.preFlightChecklistUrl.toString().length
@@ -130,6 +133,7 @@ Item {
     property bool showROI:              _guidedActionsEnabled && _vehicleFlying && __roiSupported && !_missionActive
     property bool showLandAbort:        _guidedActionsEnabled && _vehicleFlying && _fixedWingOnApproach
     property bool showGotoLocation:     _guidedActionsEnabled && _vehicleFlying
+    property bool showSetHome:          _guidedActionsEnabled
     property bool showActionList:       _guidedActionsEnabled && (showStartMission || showResumeMission || showChangeAlt || showLandAbort || actionList.hasCustomActions)
     property string changeSpeedTitle:   _fixedWing ? changeAirspeedTitle : changeCruiseSpeedTitle
     property string changeSpeedMessage: _fixedWing ? changeAirspeedMessage : changeCruiseSpeedMessage
@@ -496,6 +500,11 @@ Item {
             confirmDialog.message = changeSpeedMessage
             guidedValueSlider.visible = true
             break
+        case actionSetHome:
+            confirmDialog.title = setHomeTitle
+            confirmDialog.message = setHomeMessage
+            confirmDialog.hideTrigger = Qt.binding(function() { return !showSetHome })
+            break
         default:
             console.warn("Unknown actionCode", actionCode)
             return
@@ -585,6 +594,9 @@ Item {
                 }
             }
             break
+        case actionSetHome:
+            _activeVehicle.doSetHome(actionData)
+            break
         default:
             console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
             break

src/QtLocationPlugin/ElevationMapProvider.cpp

@@ -6,8 +6,8 @@
 #include "QGCMapEngine.h"
 #include "TerrainTile.h"
 
-ElevationProvider::ElevationProvider(const QString& imageFormat, quint32 averageSize, QGeoMapType::MapStyle mapType, QObject* parent)
-    : MapProvider(QStringLiteral("https://api.airmap.com/"), imageFormat, averageSize, mapType, parent) {}
+ElevationProvider::ElevationProvider(const QString& imageFormat, quint32 averageSize, QGeoMapType::MapStyle mapType, const QString &referrer, QObject* parent)
+    : MapProvider(referrer, imageFormat, averageSize, mapType, parent) {}
 
 //-----------------------------------------------------------------------------
 int AirmapElevationProvider::long2tileX(const double lon, const int z) const {
@@ -49,3 +49,84 @@ QGCTileSet AirmapElevationProvider::getTileCount(const int zoom, const double to
 
     return set;
 }
+
+QByteArray AirmapElevationProvider::serializeTile(QByteArray image) {
+    return TerrainTile::serializeFromAirMapJson(image);
+}
+// Ardupilot STR1 elevation provider
+//-----------------------------------------------------------------------------
+int ApStr1ElevationProvider::long2tileX(const double lon, const int z) const {
+    Q_UNUSED(z)
+    return static_cast<int>(floor((lon + 180.0)));
+}
+
+//-----------------------------------------------------------------------------
+int ApStr1ElevationProvider::lat2tileY(const double lat, const int z) const {
+    Q_UNUSED(z)
+    return static_cast<int>(floor((lat + 90.0)));
+}
+
+//-----------------------------------------------------------------------------
+QString ApStr1ElevationProvider::_getURL(const int x, const int y, const int zoom, QNetworkAccessManager* networkManager) {
+    Q_UNUSED(networkManager)
+    Q_UNUSED(zoom)
+
+    QString formattedStringYLat;
+    QString formattedStringXLong;
+
+    // For saving them internally we do 0-360 and 0-180 to avoid signs. Need to redo that to obtain proper format for call
+    int xForUrl = x - 180;
+    int yForUrl = y - 90;
+
+    formattedStringYLat = ( yForUrl > 0 ) ? QString("N%1").arg(QString::number(yForUrl).rightJustified(2, '0')) :
+                                 QString("S%1").arg(QString::number(-yForUrl).rightJustified(2, '0'));
+
+    formattedStringXLong = ( xForUrl > 0 ) ? QString("E%1").arg(QString::number(xForUrl).rightJustified(3, '0')) :
+                                 QString("W%1").arg(QString::number(-xForUrl).rightJustified(3, '0'));
+
+    QString urlString = QString("https://terrain.ardupilot.org/SRTM1/%1%2.hgt.zip")
+         .arg(QString(formattedStringYLat))
+         .arg(QString(formattedStringXLong))
+         ;
+
+    qDebug() << "Ardupilot string: " << urlString;
+
+    return urlString;
+}
+
+//--------------------------------------------------------------------------------
+QGCTileSet ApStr1ElevationProvider::getTileCount(const int zoom, const double topleftLon,
+                                                 const double topleftLat, const double bottomRightLon,
+                                                 const double bottomRightLat) const {
+    QGCTileSet set;
+    set.tileX0 = long2tileX(topleftLon, zoom);
+    set.tileY0 = lat2tileY(bottomRightLat, zoom);
+    set.tileX1 = long2tileX(bottomRightLon, zoom);
+    set.tileY1 = lat2tileY(topleftLat, zoom);
+
+    set.tileCount = (static_cast<quint64>(set.tileX1) -
+                     static_cast<quint64>(set.tileX0) + 1) *
+                    (static_cast<quint64>(set.tileY1) -
+                     static_cast<quint64>(set.tileY0) + 1);
+
+    set.tileSize = getAverageSize() * set.tileCount;
+
+    return set;
+}
+
+QByteArray ApStr1ElevationProvider::unzipTile(QByteArray response) {
+
+    // This is not working, we need to use a proper zip library like zlib
+
+    int decompressedSize = 25000000; // Uncompressed AP terrain files STR1 are aprox 25 Mb. 
+    response.prepend((unsigned char)((decompressedSize >> 24) & 0xFF));
+    response.prepend((unsigned char)((decompressedSize >> 16) & 0xFF));
+    response.prepend((unsigned char)((decompressedSize >> 8) & 0xFF));
+    response.prepend((unsigned char)((decompressedSize >> 0) & 0xFF));
+
+    qDebug() << "response before: " << response.size();
+    response = qUncompress(response);
+    qDebug() << "response aftery: " << response.size();
+
+    return response;
+}

src/QtLocationPlugin/ElevationMapProvider.h

@@ -11,12 +11,14 @@
 #include <QString>
 
 static const quint32 AVERAGE_AIRMAP_ELEV_SIZE = 2786;
+static const quint32 AVERAGE_APSTR3_ELEV_SIZE = 100000; // Around 1 MB?
 
 class ElevationProvider : public MapProvider {
     Q_OBJECT
   public:
     ElevationProvider(const QString& imageFormat, quint32 averageSize,
-                      QGeoMapType::MapStyle mapType, QObject* parent = nullptr);
+                      QGeoMapType::MapStyle mapType, const QString &referrer, 
+                      QObject* parent = nullptr);
 
     virtual bool _isElevationProvider() const override { return true; }
 };
@@ -29,7 +31,7 @@ class AirmapElevationProvider : public ElevationProvider {
   public:
     AirmapElevationProvider(QObject* parent = nullptr)
         : ElevationProvider(QStringLiteral("bin"), AVERAGE_AIRMAP_ELEV_SIZE,
-                            QGeoMapType::StreetMap, parent) {}
+                            QGeoMapType::StreetMap, QStringLiteral("https://api.airmap.com/"), parent) {}
 
     int long2tileX(const double lon, const int z) const override;
 
@@ -39,7 +41,37 @@ class AirmapElevationProvider : public ElevationProvider {
                             const double topleftLat, const double bottomRightLon,
                             const double bottomRightLat) const override;
 
+    // Airmap needs to serialize the tiles, because they are received in json format. This way we can work with
+    // them in the map tiles database
+    bool serializeTilesNeeded() override { return true; }
+    QByteArray serializeTile(QByteArray image) override;
+
   protected:
     QString _getURL(const int x, const int y, const int zoom, QNetworkAccessManager* networkManager) override;
 };
 
+// -----------------------------------------------------------
+// Ardupilot Terrain Server Elevation SRTM1
+// https://terrain.ardupilot.org/SRTM1/
+
+class ApStr1ElevationProvider : public ElevationProvider {
+    Q_OBJECT
+  public:
+    ApStr1ElevationProvider(QObject* parent = nullptr)
+        : ElevationProvider(QStringLiteral("hgt"), AVERAGE_APSTR3_ELEV_SIZE,
+                            QGeoMapType::StreetMap, QStringLiteral("https://terrain.ardupilot.org/SRTM1/"), parent) {}
+
+    int long2tileX(const double lon, const int z) const override;
+
+    int lat2tileY(const double lat, const int z) const override;
+
+    QGCTileSet getTileCount(const int zoom, const double topleftLon,
+                            const double topleftLat, const double bottomRightLon,
+                            const double bottomRightLat) const override;
+
+    bool unzippingTilesNeeded() override { return true; }
+    QByteArray unzipTile(QByteArray response) override;
+
+  protected:
+    QString _getURL(const int x, const int y, const int zoom, QNetworkAccessManager* networkManager) override;
+};

src/QtLocationPlugin/MapProvider.h

@@ -52,6 +52,11 @@ class MapProvider : public QObject {
                                      const double topleftLat, const double bottomRightLon,
                                      const double bottomRightLat) const;
 
+    virtual bool serializeTilesNeeded() { return false; }
+    virtual QByteArray serializeTile(QByteArray image) { return image; }
+    virtual bool unzippingTilesNeeded() { return false; }
+    virtual QByteArray unzipTile(QByteArray response) { return response; }
+
 protected:
     QString _tileXYToQuadKey(const int tileX, const int tileY, const int levelOfDetail) const;
     int _getServerNum(const int x, const int y, const int max) const;

src/QtLocationPlugin/QGCMapTileSet.cpp

@@ -287,8 +287,9 @@ QGCCachedTileSet::_networkReplyFinished()
             qCDebug(QGCCachedTileSetLog) << "Tile fetched" << hash;
             QByteArray image = reply->readAll();
             QString type = getQGCMapEngine()->hashToType(hash);
-            if (type == "Airmap Elevation" ) {
-                image = TerrainTile::serializeFromAirMapJson(image);
+            // Some providers need the images to be serialized because the response is not directly a image based tile
+            if (getQGCMapEngine()->urlFactory()->needsSerializingTiles(type)) {
+                image = getQGCMapEngine()->urlFactory()->serializeTileForId(image, type);
             }
             QString format = getQGCMapEngine()->urlFactory()->getImageFormat(type, image);
             if(!format.isEmpty()) {

src/QtLocationPlugin/QGCMapUrlEngine.cpp

@@ -76,6 +76,7 @@ UrlFactory::UrlFactory() : _timeout(5 * 1000) {
     _providersTable["VWorld Satellite Map"] = new VWorldSatMapProvider(this);
 
     _providersTable["Airmap Elevation"] = new AirmapElevationProvider(this);
+    _providersTable["Ardupilot-SRTM1 Elevation"] = new ApStr1ElevationProvider(this);
 
     _providersTable["Japan-GSI Contour"] = new JapanStdMapProvider(this);
     _providersTable["Japan-GSI Seamless"] = new JapanSeamlessMapProvider(this);
@@ -207,3 +208,23 @@ UrlFactory::getTileCount(int zoom, double topleftLon, double topleftLat, double
 bool UrlFactory::isElevation(int mapId){
     return _providersTable[getTypeFromId(mapId)]->_isElevationProvider();
 }
+
+bool UrlFactory::isElevation(QString mapType){
+    return _providersTable[mapType]->_isElevationProvider();
+}
+
+bool UrlFactory::needsSerializingTiles(QString mapType){
+    return _providersTable[mapType]->serializeTilesNeeded();
+}
+
+QByteArray UrlFactory::serializeTileForId(QByteArray image, QString mapType){
+    return _providersTable[mapType]->serializeTile(image);
+}
+
+bool UrlFactory::needsUnzippingTiles(QString mapType){
+    return _providersTable[mapType]->unzippingTilesNeeded();
+}
+
+QByteArray UrlFactory::unzipTileForType(QByteArray response, QString mapType) {
+    return _providersTable[mapType]->unzipTile(response);
+}

src/QtLocationPlugin/QGCMapUrlEngine.h

@@ -54,7 +54,12 @@ class UrlFactory : public QObject {
                             double bottomRightLon, double bottomRightLat,
                             QString mapType);
 
+    bool isElevation(QString mapType);
     bool isElevation(int mapId);
+    bool needsSerializingTiles(QString mapType);
+    QByteArray serializeTileForId(QByteArray image, QString mapType);
+    bool needsUnzippingTiles(QString mapType);
+    QByteArray unzipTileForType(QByteArray response, QString mapType);
 
   private:
     int             _timeout;

src/QtLocationPlugin/QGeoMapReplyQGC.cpp

@@ -132,15 +132,25 @@ QGeoTiledMapReplyQGC::networkReplyFinished()
     UrlFactory* urlFactory = getQGCMapEngine()->urlFactory();
     QString format = urlFactory->getImageFormat(tileSpec().mapId(), a);
     //-- Test for a specialized, elevation data (not map tile)
+    qDebug() << "control point 0";
     if( getQGCMapEngine()->urlFactory()->isElevation(tileSpec().mapId())){
-        a = TerrainTile::serializeFromAirMapJson(a);
+        QString type = getQGCMapEngine()->urlFactory()->getTypeFromId(tileSpec().mapId());
+        // Some providers need the images to be serialized because the response is not directly a image based tile
+        if (getQGCMapEngine()->urlFactory()->needsSerializingTiles(type)) {
+            a = getQGCMapEngine()->urlFactory()->serializeTileForId(a, type);
+        }
+        // Some providers return the tiles zipped, like Ardupilot terrain servers
+        if (getQGCMapEngine()->urlFactory()->needsUnzippingTiles(type)) {
+            a = getQGCMapEngine()->urlFactory()->unzipTileForType(a, type);
+        }
         //-- Cache it if valid
         if(!a.isEmpty()) {
             getQGCMapEngine()->cacheTile(
                 getQGCMapEngine()->urlFactory()->getTypeFromId(
                     tileSpec().mapId()),
                 tileSpec().x(), tileSpec().y(), tileSpec().zoom(), a, format);
         }
+        qDebug() << "control point 5";
         emit terrainDone(a, QNetworkReply::NoError);
     } else {
         MapProvider* mapProvider = urlFactory->getMapProviderFromId(tileSpec().mapId());
@@ -173,6 +183,7 @@ QGeoTiledMapReplyQGC::networkReplyError(QNetworkReply::NetworkError error)
     }
     //-- Test for a specialized, elevation data (not map tile)
     if( getQGCMapEngine()->urlFactory()->isElevation(tileSpec().mapId())){
+        qDebug() << "control point 1";
         emit terrainDone(QByteArray(), error);
     } else {
         //-- Regular map tile
@@ -191,6 +202,7 @@ QGeoTiledMapReplyQGC::cacheError(QGCMapTask::TaskType type, QString /*errorStrin
 {
     if(!getQGCMapEngine()->isInternetActive()) {
         if( getQGCMapEngine()->urlFactory()->isElevation(tileSpec().mapId())){
+            qDebug() << "control point 2";
             emit terrainDone(QByteArray(), QNetworkReply::NetworkSessionFailedError);
         } else {
             setError(QGeoTiledMapReply::CommunicationError, "Network not available");
@@ -228,6 +240,7 @@ QGeoTiledMapReplyQGC::cacheReply(QGCCacheTile* tile)
 {
     //-- Test for a specialized, elevation data (not map tile)
     if( getQGCMapEngine()->urlFactory()->isElevation(tileSpec().mapId())){
+        qDebug() << "control point 3";
         emit terrainDone(tile->img(), QNetworkReply::NoError);
     } else {
         //-- Regular map tile