Termit dev

.gitignore

@@ -90,4 +90,7 @@ Qt*-linux*.tar.*
 # vitepress - user guide
 node_modules/
 docs/.vitepress/cache/
-docs/.vitepress/dist/
+docs/.vitepress/dist/
+
+# all zip builds
+*.zip

custom-example/qgroundcontrol.qrc

@@ -8,6 +8,8 @@
 		<file alias="GPSIndicator.qml">../src/ui/toolbar/GPSIndicator.qml</file>
 		<file alias="GPSRTKIndicator.qml">../src/ui/toolbar/GPSRTKIndicator.qml</file>
 		<file alias="JoystickIndicator.qml">../src/ui/toolbar/JoystickIndicator.qml</file>
+		<file alias="DayLightActions.qml">../src/ui/toolbar/DayLightActions.qml</file>
+		<file alias="NightLightActions.qml">../src/ui/toolbar/NightLightActions.qml</file>
 		<file alias="LinkIndicator.qml">../src/ui/toolbar/LinkIndicator.qml</file>
 		<file alias="MainToolBarIndicators.qml">../src/ui/toolbar/MainToolBarIndicators.qml</file>
 		<file alias="MessageIndicator.qml">../src/ui/toolbar/MessageIndicator.qml</file>
@@ -335,6 +337,7 @@
 		<file alias="Vehicle/EscStatusFactGroup.json">../src/Vehicle/EscStatusFactGroup.json</file>
 		<file alias="Vehicle/EstimatorStatusFactGroup.json">../src/Vehicle/EstimatorStatusFactGroup.json</file>
 		<file alias="Vehicle/GPSFact.json">../src/Vehicle/GPSFact.json</file>
+		<file alias="Vehicle/ServoStatusFactGroup.json">../src/Vehicle/ServoStatusFactGroup.json</file>
 		<file alias="Vehicle/GPSRTKFact.json">../src/Vehicle/GPSRTKFact.json</file>
 		<file alias="Vehicle/SetpointFact.json">../src/Vehicle/SetpointFact.json</file>
 		<file alias="Vehicle/LocalPositionFact.json">../src/Vehicle/LocalPositionFact.json</file>

qgcimages.qrc

@@ -101,6 +101,8 @@
         <file alias="HITL.svg">src/AutoPilotPlugins/PX4/Images/HITL.svg</file>
         <file alias="Home.svg">src/FlightMap/Images/Home.svg</file>
         <file alias="Joystick.png">src/ui/toolbar/Images/Joystick.png</file>
+        <file alias="SimpleLight.png">src/ui/toolbar/Images/SimpleLight.png</file>
+        <file alias="NightLight.png">src/ui/toolbar/Images/NightLight.png</file>
         <file alias="LandMode.svg">src/AutoPilotPlugins/PX4/Images/LandMode.svg</file>
         <file alias="LandModeCopter.svg">src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg</file>
         <file alias="LightsComponentIcon.png">src/AutoPilotPlugins/APM/Images/LightsComponentIcon.png</file>

qgroundcontrol.pro

@@ -397,6 +397,7 @@ INCLUDEPATH += \
     src/Geo \
     src/GPS \
     src/Joystick \
+    src/Servo \
     src/PlanView \
     src/MissionManager \
     src/PositionManager \
@@ -588,6 +589,7 @@ HEADERS += \
     src/Compression/QGCZlib.h \
     src/FirmwarePlugin/PX4/px4_custom_mode.h \
     src/FollowMe/FollowMe.h \
+    src/Servo/ServoControl.h \
     src/Joystick/Joystick.h \
     src/Joystick/JoystickManager.h \
     src/Joystick/JoystickMavCommand.h \
@@ -739,6 +741,7 @@ HEADERS += \
     src/Vehicle/VehicleLocalPositionSetpointFactGroup.h \
     src/Vehicle/VehicleGPSFactGroup.h \
     src/Vehicle/VehicleGPS2FactGroup.h \
+    src/Vehicle/VehicleServoFactGroup.h \
     src/Vehicle/VehicleLinkManager.h \
     src/Vehicle/VehicleSetpointFactGroup.h \
     src/Vehicle/VehicleTemperatureFactGroup.h \
@@ -856,6 +859,7 @@ SOURCES += \
     src/KMLDomDocument.cc \
     src/KMLHelper.cc \
     src/LogCompressor.cc \
+    src/Servo/ServoControl.cc \
     src/MissionManager/CameraCalc.cc \
     src/MissionManager/CameraSection.cc \
     src/MissionManager/CameraSpec.cc \
@@ -995,6 +999,7 @@ SOURCES += \
     src/Vehicle/VehicleEstimatorStatusFactGroup.cc \
     src/Vehicle/VehicleLocalPositionFactGroup.cc \
     src/Vehicle/VehicleLocalPositionSetpointFactGroup.cc \
+    src/Vehicle/VehicleServoFactGroup.cc \
     src/Vehicle/VehicleGPSFactGroup.cc \
     src/Vehicle/VehicleGPS2FactGroup.cc \
     src/Vehicle/VehicleLinkManager.cc \

qgroundcontrol.qrc

@@ -8,6 +8,8 @@
         <file alias="GPSIndicator.qml">src/ui/toolbar/GPSIndicator.qml</file>
         <file alias="GPSRTKIndicator.qml">src/ui/toolbar/GPSRTKIndicator.qml</file>
         <file alias="JoystickIndicator.qml">src/ui/toolbar/JoystickIndicator.qml</file>
+		<file alias="DayLightActions.qml">src/ui/toolbar/DayLightActions.qml</file>
+		<file alias="NightLightActions.qml">src/ui/toolbar/NightLightActions.qml</file>
         <file alias="LinkIndicator.qml">src/ui/toolbar/LinkIndicator.qml</file>
         <file alias="MainToolBarIndicators.qml">src/ui/toolbar/MainToolBarIndicators.qml</file>
         <file alias="MessageIndicator.qml">src/ui/toolbar/MessageIndicator.qml</file>
@@ -336,6 +338,7 @@
         <file alias="Vehicle/EscStatusFactGroup.json">src/Vehicle/EscStatusFactGroup.json</file>
         <file alias="Vehicle/EstimatorStatusFactGroup.json">src/Vehicle/EstimatorStatusFactGroup.json</file>
         <file alias="Vehicle/GPSFact.json">src/Vehicle/GPSFact.json</file>
+        <file alias="Vehicle/ServoStatusFactGroup.json">src/Vehicle/ServoStatusFactGroup.json</file>
         <file alias="Vehicle/GPSRTKFact.json">src/Vehicle/GPSRTKFact.json</file>
         <file alias="Vehicle/SetpointFact.json">src/Vehicle/SetpointFact.json</file>
         <file alias="Vehicle/LocalPositionFact.json">src/Vehicle/LocalPositionFact.json</file>

src/CMakeLists.txt

@@ -134,6 +134,7 @@ add_subdirectory(FlightMap)
 add_subdirectory(FollowMe)
 add_subdirectory(Geo)
 add_subdirectory(GPS)
+add_subdirectory(Servo)
 add_subdirectory(Joystick)
 if (${QGC_GST_MICROHARD_ENABLED})
   add_subdirectory(Microhard)
@@ -178,6 +179,7 @@ target_link_libraries(qgc
 		Geo
 		gps
 		Joystick
+		ServoControl
 		MissionManager
 		PositionManager
 		QmlControls

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -329,10 +329,13 @@ const QVariantList& FirmwarePlugin::toolIndicators(const Vehicle*)
         _toolIndicatorList = QVariantList({
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/MessageIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/GPSIndicator.qml")),
+            QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/JoystickIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/TelemetryRSSIIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/RCRSSIIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/BatteryIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/RemoteIDIndicator.qml")),
+            QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/DayLightActions.qml")),
+            QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/NightLightActions.qml")),
         });
     }
     return _toolIndicatorList;

src/FlightDisplay/GuidedActionsController.qml

@@ -111,6 +111,9 @@ Item {
     readonly property int actionChangeSpeed:                25
     readonly property int actionGripper:                    26
     readonly property int actionSetHome:                    27
+    readonly property int actionJoystickChangeStatus:       28
+    readonly property int actionDayLight:                   29
+    readonly property int actionNightLight:                 30
 
     property var    _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
     property bool   _useChecklist:              QGroundControl.settingsManager.appSettings.useChecklist.rawValue && QGroundControl.corePlugin.options.preFlightChecklistUrl.toString().length
@@ -615,6 +618,14 @@ Item {
             break
         case actionSetHome:
             _activeVehicle.doSetHome(actionData)
+        case actionJoystickChangeStatus:
+            _activeVehicle.setJoystickEnabled(actionData)
+            break
+        case actionDayLight:
+            _activeVehicle.setDayLightEnabled(actionData)
+            break
+        case actionNightLight:
+            _activeVehicle.setNightLightEnabled(actionData)
             break
         default:
             console.warn(qsTr("Internal error: unknown actionCode"), actionCode)

src/Servo/CMakeLists.txt

@@ -0,0 +1,14 @@
+
+add_library(ServoControl
+	ServoControl.cc
+	ServoControl.h
+	${EXTRA_SRC}
+)
+
+target_link_libraries(ServoControl
+	PUBLIC
+		qgc
+)
+
+target_include_directories(ServoControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+

src/Servo/ServoControl.cc

@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ * (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<iostream>
+#include "Vehicle.h"
+#include "ServoControl.h"
+
+#define SERVO_PWM_ON  2000
+#define SERVO_PWM_OFF 1000
+
+#define DAY_LIGHT_SERVO   11
+#define NIGHT_LIGHT_SERVO 3
+
+
+ServoControl::ServoControl(QObject *parent, Vehicle *vehicle)
+        : QObject(parent), _vehicle(vehicle)
+{
+}
+
+void ServoControl::setDayLightEnabled(bool enabled, int _defaultComponentId) {
+    if (!enabled) {
+        dayLightDisable(_defaultComponentId);
+    } else {
+        dayLightEnable(_defaultComponentId);
+    }
+};
+
+void ServoControl::setNightLightEnabled(bool enabled, int _defaultComponentId) {
+    if (!enabled) {
+        nightLightDisable(_defaultComponentId);
+    } else {
+        nightLightEnable(_defaultComponentId);
+    }
+};
+
+// ----------------------------------------------------------------------------
+void ServoControl::dayLightEnable(int _defaultComponentId) {
+    // _defaultComponentId
+    _vehicle->sendCommand(
+        _defaultComponentId,
+        MAV_CMD_DO_SET_SERVO,
+        true,
+        DAY_LIGHT_SERVO,
+        SERVO_PWM_ON
+    );                
+};
+
+// ----------------------------------------------------------------------------
+void ServoControl::dayLightDisable(int _defaultComponentId) {
+    // _defaultComponentId
+    _vehicle->sendCommand(
+        _defaultComponentId,
+        MAV_CMD_DO_SET_SERVO,
+        true,
+        DAY_LIGHT_SERVO,
+        SERVO_PWM_OFF
+    );                
+};
+
+// ----------------------------------------------------------------------------
+void ServoControl::nightLightEnable(int _defaultComponentId) {
+    // _defaultComponentId
+    _vehicle->sendCommand(
+        _defaultComponentId,
+        MAV_CMD_DO_SET_SERVO,
+        true,
+        NIGHT_LIGHT_SERVO,
+        SERVO_PWM_ON
+    );                
+};
+
+// ----------------------------------------------------------------------------
+void ServoControl::nightLightDisable(int _defaultComponentId) {
+    // _defaultComponentId
+    _vehicle->sendCommand(
+        _defaultComponentId,
+        MAV_CMD_DO_SET_SERVO,
+        true,
+        NIGHT_LIGHT_SERVO,
+        SERVO_PWM_OFF
+    );                
+};

src/Servo/ServoControl.h

@@ -0,0 +1,37 @@
+/****************************************************************************
+ *
+ * (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.
+ *
+ ****************************************************************************/
+
+
+#pragma once
+
+#include "QGCLoggingCategory.h"
+#include "QGCMAVLink.h"
+#include <QString>
+#include <QMap>
+
+class Vehicle;
+
+class ServoControl : public QObject
+{
+Q_OBJECT
+
+public:
+    ServoControl(QObject* parent, Vehicle* vehicle);
+
+    Q_INVOKABLE void setDayLightEnabled(bool, int);
+    Q_INVOKABLE void setNightLightEnabled(bool, int);
+
+    void dayLightEnable(int);
+    void dayLightDisable(int);
+    void nightLightEnable(int);
+    void nightLightDisable(int);
+private:
+    Vehicle* _vehicle;
+};
+

src/Vehicle/CMakeLists.txt

@@ -85,6 +85,8 @@ add_library(Vehicle
 	VehicleLocalPositionSetpointFactGroup.h
 	VehicleGPSFactGroup.cc
 	VehicleGPSFactGroup.h
+	VehicleServoFactGroup.cc
+	VehicleServoFactGroup.h
 	VehicleGPS2FactGroup.cc
 	VehicleGPS2FactGroup.h
 	VehicleGeneratorFactGroup.cc

src/Vehicle/ServoStatusFactGroup.json

@@ -0,0 +1,19 @@
+{
+    "version":  1,
+    "fileType": "FactMetaData",
+    "QGC.MetaData.Facts":
+[
+{
+    "name":         "dayLight",
+    "shortDesc":    "Status of day light",
+    "type":         "bool",
+    "default":      false
+},
+{
+    "name":         "nightLight",
+    "shortDesc":    "Status of night light",
+    "type":         "bool",
+    "default":      false
+}
+]
+}

src/Vehicle/Vehicle.cc

@@ -6,6 +6,7 @@
  * COPYING.md in the root of the source code directory.
  *
  ****************************************************************************/
+#include<iostream>
 
 #include <QTime>
 #include <QDateTime>
@@ -99,6 +100,7 @@ const char* Vehicle::_hobbsFactName =               "hobbs";
 const char* Vehicle::_throttlePctFactName =         "throttlePct";
 const char* Vehicle::_imuTempFactName =             "imuTemp";
 
+const char* Vehicle::_servoFactGroupName =              "servo";
 const char* Vehicle::_gpsFactGroupName =                "gps";
 const char* Vehicle::_gps2FactGroupName =               "gps2";
 const char* Vehicle::_windFactGroupName =               "wind";
@@ -165,6 +167,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _hobbsFact                    (0, _hobbsFactName,             FactMetaData::valueTypeString)
     , _throttlePctFact              (0, _throttlePctFactName,       FactMetaData::valueTypeUint16)
     , _imuTempFact                  (0, _imuTempFactName,           FactMetaData::valueTypeInt16)
+    , _servoFactGroup               (this)
     , _gpsFactGroup                 (this)
     , _gps2FactGroup                (this)
     , _windFactGroup                (this)
@@ -316,6 +319,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _hobbsFact                        (0, _hobbsFactName,             FactMetaData::valueTypeString)
     , _throttlePctFact                  (0, _throttlePctFactName,       FactMetaData::valueTypeUint16)
     , _imuTempFact                      (0, _imuTempFactName,           FactMetaData::valueTypeInt16)
+    , _servoFactGroup                   (this)
     , _gpsFactGroup                     (this)
     , _gps2FactGroup                    (this)
     , _windFactGroup                    (this)
@@ -391,6 +395,7 @@ void Vehicle::_commonInit()
     _ftpManager                     = new FTPManager                    (this);
     _imageProtocolManager           = new ImageProtocolManager          ();
     _vehicleLinkManager             = new VehicleLinkManager            (this);
+    _servoControl                   = new ServoControl                  (this, this);
 
     connect(_standardModes, &StandardModes::modesUpdated, this, &Vehicle::flightModesChanged);
     connect(_standardModes, &StandardModes::modesUpdated, this, [this](){ Vehicle::flightModeChanged(flightMode()); });
@@ -456,6 +461,7 @@ void Vehicle::_commonInit()
     _hobbsFact.setRawValue(QVariant(QString("0000:00:00")));
     _addFact(&_hobbsFact,               _hobbsFactName);
 
+    _addFactGroup(&_servoFactGroup,             _servoFactGroupName);
     _addFactGroup(&_gpsFactGroup,               _gpsFactGroupName);
     _addFactGroup(&_gps2FactGroup,              _gps2FactGroupName);
     _addFactGroup(&_windFactGroup,              _windFactGroupName);
@@ -715,6 +721,8 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     case MAVLINK_MSG_ID_GPS_RAW_INT:
         _handleGpsRawInt(message);
         break;
+    // case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
+    //     _handleServoOutputRaw(message);
     case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
         _handleGlobalPositionInt(message);
         break;
@@ -2118,6 +2126,16 @@ void Vehicle::resetErrorLevelMessages()
     }
 }
 
+void Vehicle::setDayLightEnabled(bool enabled)
+{
+    _servoControl->setDayLightEnabled(enabled, _defaultComponentId);
+}
+
+void Vehicle::setNightLightEnabled(bool enabled)
+{
+    _servoControl->setNightLightEnabled(enabled, _defaultComponentId);
+}
+
 // this function called in three cases:
 // 1. On constructor of vehicle, to see if we should enable a joystick
 // 2. When there is a new active joystick