Mavlink: Improve Image Transmission Protocol Handling

mavlink · Sep 22, 2024 · daf0344 · daf0344
1 parent c07238d
commit daf0344
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Showing 36 changed files with 265 additions and 395 deletions.
diff --git a/custom-example/qgroundcontrol.qrc b/custom-example/qgroundcontrol.qrc
@@ -76,7 +76,7 @@
 		<file alias="PlanViewSettings.qml">../src/UI/preferences/PlanViewSettings.qml</file>
 		<file alias="PlanViewToolBar.qml">../src/UI/toolbar/PlanViewToolBar.qml</file>
 		<file alias="PreFlightCheckList.qml">../src/FlightDisplay/PreFlightCheckList.qml</file>
-		<file alias="PX4FlowSensor.qml">../src/VehicleSetup/PX4FlowSensor.qml</file>
+		<file alias="OpticalFlowSensor.qml">../src/VehicleSetup/OpticalFlowSensor.qml</file>
 		<file alias="VerticalCompassAttitude.qml">../src/FlightMap/Widgets/VerticalCompassAttitude.qml</file>
 		<file alias="HorizontalCompassAttitude.qml">../src/FlightMap/Widgets/HorizontalCompassAttitude.qml</file>
 		<file alias="QGroundControl/Controls/AnalyzePage.qml">../src/AnalyzeView/AnalyzePage.qml</file>

diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
@@ -76,7 +76,7 @@
         <file alias="PlanViewSettings.qml">src/UI/preferences/PlanViewSettings.qml</file>
         <file alias="PlanViewToolBar.qml">src/UI/toolbar/PlanViewToolBar.qml</file>
         <file alias="PreFlightCheckList.qml">src/FlightDisplay/PreFlightCheckList.qml</file>
-        <file alias="PX4FlowSensor.qml">src/VehicleSetup/PX4FlowSensor.qml</file>
+        <file alias="OpticalFlowSensor.qml">src/VehicleSetup/OpticalFlowSensor.qml</file>
         <file alias="VerticalCompassAttitude.qml">src/FlightMap/Widgets/VerticalCompassAttitude.qml</file>
         <file alias="HorizontalCompassAttitude.qml">src/FlightMap/Widgets/HorizontalCompassAttitude.qml</file>
         <file alias="QGroundControl/Controls/AnalyzePage.qml">src/AnalyzeView/AnalyzePage.qml</file>

diff --git a/src/Comms/LinkInterface.cc b/src/Comms/LinkInterface.cc
@@ -23,10 +23,9 @@
 
 QGC_LOGGING_CATEGORY(LinkInterfaceLog, "LinkInterfaceLog")
 
-LinkInterface::LinkInterface(SharedLinkConfigurationPtr &config, bool isPX4Flow, QObject *parent)
+LinkInterface::LinkInterface(SharedLinkConfigurationPtr &config, QObject *parent)
     : QThread(parent)
     , _config(config)
-    , _isPX4Flow(isPX4Flow)
 {
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
 }

diff --git a/src/Comms/LinkInterface.h b/src/Comms/LinkInterface.h
@@ -23,8 +23,6 @@ class LinkInterface : public QThread
 {
     Q_OBJECT
 
-    Q_PROPERTY(bool isPX4Flow  READ isPX4Flow  CONSTANT)
-
     friend class LinkManager;
 
 public:
@@ -40,7 +38,6 @@ class LinkInterface : public QThread
     const SharedLinkConfigurationPtr linkConfiguration() const { return _config; }
     uint8_t mavlinkChannel() const;
     bool mavlinkChannelIsSet() const;
-    bool isPX4Flow() const { return _isPX4Flow; }
     bool decodedFirstMavlinkPacket(void) const { return _decodedFirstMavlinkPacket; }
     void setDecodedFirstMavlinkPacket(bool decodedFirstMavlinkPacket) { _decodedFirstMavlinkPacket = decodedFirstMavlinkPacket; }
     void writeBytesThreadSafe(const char *bytes, int length);
@@ -58,7 +55,7 @@ class LinkInterface : public QThread
 
 protected:
     /// Links are only created by LinkManager so constructor is not public
-    LinkInterface(SharedLinkConfigurationPtr &config, bool isPX4Flow = false, QObject *parent = nullptr);
+    LinkInterface(SharedLinkConfigurationPtr &config, QObject *parent = nullptr);
 
     /// Called by the LinkManager during LinkInterface construction instructing the link to setup channels.
     /// Default implementation allocates a single channel. But some link types (such as MockLink) need more than one.
@@ -80,7 +77,6 @@ private slots:
 
     uint8_t _mavlinkChannel = std::numeric_limits<uint8_t>::max();
     bool _decodedFirstMavlinkPacket = false;
-    bool _isPX4Flow = false;
     int _vehicleReferenceCount = 0;
     bool _signingSignatureFailure = false;
 };

diff --git a/src/Comms/LinkManager.cc b/src/Comms/LinkManager.cc
@@ -109,17 +109,15 @@ void LinkManager::createConnectedLink(const LinkConfiguration *config)
     }
 }
 
-bool LinkManager::createConnectedLink(SharedLinkConfigurationPtr &config, bool isPX4Flow)
+bool LinkManager::createConnectedLink(SharedLinkConfigurationPtr &config)
 {
     SharedLinkInterfacePtr link = nullptr;
 
     switch(config->type()) {
 #ifndef NO_SERIAL_LINK
     case LinkConfiguration::TypeSerial:
-        link = std::make_shared<SerialLink>(config, isPX4Flow);
+        link = std::make_shared<SerialLink>(config);
         break;
-#else
-    Q_UNUSED(isPX4Flow)
 #endif
     case LinkConfiguration::TypeUdp:
         link = std::make_shared<UDPLink>(config);
@@ -845,9 +843,6 @@ void LinkManager::_addSerialAutoConnectLink()
                     pSerialConfig = new SerialConfiguration(tr("%1 on %2 (AutoConnect)").arg(boardName, portInfo.portName().trimmed()));
                     pSerialConfig->setUsbDirect(true);
                     break;
-                case QGCSerialPortInfo::BoardTypePX4Flow:
-                    pSerialConfig = new SerialConfiguration(tr("%1 on %2 (AutoConnect)").arg(boardName, portInfo.portName().trimmed()));
-                    break;
                 case QGCSerialPortInfo::BoardTypeSiKRadio:
                     pSerialConfig = new SerialConfiguration(tr("%1 on %2 (AutoConnect)").arg(boardName, portInfo.portName().trimmed()));
                     break;
@@ -872,7 +867,7 @@ void LinkManager::_addSerialAutoConnectLink()
                     pSerialConfig->setAutoConnect(true);
 
                     SharedLinkConfigurationPtr sharedConfig(pSerialConfig);
-                    createConnectedLink(sharedConfig, boardType == QGCSerialPortInfo::BoardTypePX4Flow);
+                    createConnectedLink(sharedConfig);
                 }
             }
         }
@@ -894,11 +889,6 @@ bool LinkManager::_allowAutoConnectToBoard(QGCSerialPortInfo::BoardType_t boardT
             return true;
         }
         break;
-    case QGCSerialPortInfo::BoardTypePX4Flow:
-        if (_autoConnectSettings->autoConnectPX4Flow()->rawValue().toBool()) {
-            return true;
-        }
-        break;
     case QGCSerialPortInfo::BoardTypeSiKRadio:
         if (_autoConnectSettings->autoConnectSiKRadio()->rawValue().toBool()) {
             return true;

diff --git a/src/Comms/LinkManager.h b/src/Comms/LinkManager.h
@@ -87,7 +87,7 @@ class LinkManager : public QGCTool
     void setConnectionsAllowed() { _connectionsSuspended = false; }
 
     /// Creates, connects (and adds) a link  based on the given configuration instance.
-    bool createConnectedLink(SharedLinkConfigurationPtr &config, bool isPX4Flow = false);
+    bool createConnectedLink(SharedLinkConfigurationPtr &config);
 
     /// Returns pointer to the mavlink forwarding link, or nullptr if it does not exist
     SharedLinkInterfacePtr mavlinkForwardingLink();

diff --git a/src/Comms/MockLink/MockLink.Parameter.MetaData.json b/src/Comms/MockLink/MockLink.Parameter.MetaData.json
@@ -18198,49 +18198,6 @@
       "shortDesc": "External I2C probe",
       "longDesc": "Probe for optional external I2C devices."
     },
-    {
-      "name": "SENS_FLOW_ROT",
-      "type": "Int32",
-      "default": 6,
-      "group": "Sensors",
-      "shortDesc": "PX4Flow board rotation",
-      "longDesc": "This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle. The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).",
-      "rebootRequired": true,
-      "values": [
-        {
-          "value": 0,
-          "description": "No rotation"
-        },
-        {
-          "value": 1,
-          "description": "Yaw 45\u00b0"
-        },
-        {
-          "value": 2,
-          "description": "Yaw 90\u00b0"
-        },
-        {
-          "value": 3,
-          "description": "Yaw 135\u00b0"
-        },
-        {
-          "value": 4,
-          "description": "Yaw 180\u00b0"
-        },
-        {
-          "value": 5,
-          "description": "Yaw 225\u00b0"
-        },
-        {
-          "value": 6,
-          "description": "Yaw 270\u00b0"
-        },
-        {
-          "value": 7,
-          "description": "Yaw 315\u00b0"
-        }
-      ]
-    },
     {
       "name": "SENS_GPS_MASK",
       "type": "Int32",

diff --git a/src/Comms/QGCSerialPortInfo.cc b/src/Comms/QGCSerialPortInfo.cc
@@ -237,8 +237,6 @@ QString QGCSerialPortInfo::_boardTypeToString(BoardType_t boardType)
         return QStringLiteral("Pixhawk");
     case BoardTypeSiKRadio:
         return QStringLiteral("SiK Radio");
-    case BoardTypePX4Flow:
-        return QStringLiteral("PX4 Flow");
     case BoardTypeOpenPilot:
         return QStringLiteral("OpenPilot");
     case BoardTypeRTKGPS:
@@ -305,7 +303,6 @@ bool QGCSerialPortInfo::canFlash() const
     if (getBoardInfo(boardType, name)) {
         switch(boardType) {
         case QGCSerialPortInfo::BoardTypePixhawk:
-        case QGCSerialPortInfo::BoardTypePX4Flow:
         case QGCSerialPortInfo::BoardTypeSiKRadio:
             return true;
         default:

diff --git a/src/Comms/QGCSerialPortInfo.h b/src/Comms/QGCSerialPortInfo.h
@@ -35,7 +35,6 @@ class QGCSerialPortInfo : public QSerialPortInfo
     enum BoardType_t {
         BoardTypePixhawk,
         BoardTypeSiKRadio,
-        BoardTypePX4Flow,
         BoardTypeOpenPilot,
         BoardTypeRTKGPS,
         BoardTypeUnknown
@@ -68,7 +67,6 @@ class QGCSerialPortInfo : public QSerialPortInfo
     };
     static constexpr const BoardClassString2BoardType_t _rgBoardClass2BoardType[BoardTypeUnknown] = {
         { "Pixhawk", QGCSerialPortInfo::BoardTypePixhawk },
-        { "PX4 Flow", QGCSerialPortInfo::BoardTypePX4Flow },
         { "RTK GPS", QGCSerialPortInfo::BoardTypeRTKGPS },
         { "SiK Radio", QGCSerialPortInfo::BoardTypeSiKRadio },
         { "OpenPilot", QGCSerialPortInfo::BoardTypeOpenPilot },

diff --git a/src/Comms/SerialLink.cc b/src/Comms/SerialLink.cc
@@ -22,8 +22,8 @@
 
 QGC_LOGGING_CATEGORY(SerialLinkLog, "SerialLinkLog")
 
-SerialLink::SerialLink(SharedLinkConfigurationPtr& config, bool isPX4Flow)
-    : LinkInterface(config, isPX4Flow)
+SerialLink::SerialLink(SharedLinkConfigurationPtr& config)
+    : LinkInterface(config)
     , _serialConfig(qobject_cast<const SerialConfiguration*>(config.get()))
 {
     qRegisterMetaType<QSerialPort::SerialPortError>();

diff --git a/src/Comms/SerialLink.h b/src/Comms/SerialLink.h
@@ -104,7 +104,7 @@ class SerialLink : public LinkInterface
     Q_OBJECT
 
 public:
-    SerialLink(SharedLinkConfigurationPtr& config, bool isPX4Flow = false);
+    SerialLink(SharedLinkConfigurationPtr& config);
     virtual ~SerialLink();
 
     // LinkInterface overrides

diff --git a/src/Comms/USBBoardInfo.json b/src/Comms/USBBoardInfo.json
@@ -45,8 +45,6 @@
         { "vendorID": 13735, "productID": 1,        "boardClass": "Pixhawk",    "name": "ThePeach FCC-K1" },
         { "vendorID": 13735, "productID": 2,        "boardClass": "Pixhawk",    "name": "ThePeach FCC-R1" },
 
-        { "vendorID": 9900, "productID": 21,        "boardClass": "PX4 Flow",   "name": "PX4 Flow" },
-
         { "vendorID": 1027, "productID": 24597,     "boardClass": "SiK Radio",  "name": "SiK Radio",            "comment": "3DR Radio" },
         { "vendorID": 1027, "productID": 24577,     "boardClass": "SiK Radio",  "name": "SiK Radio",            "comment": "3DR Radio on FTDI" },
         { "vendorID": 4292, "productID": 60000,     "boardClass": "SiK Radio",  "name": "SiK Radio",            "comment": "SILabs Radio" },
@@ -96,7 +94,6 @@
         { "regExp": "^mRoControlZeroF7",    "boardClass": "Pixhawk" },
         { "regExp": "^ARK FMU v6X.x$",      "boardClass": "Pixhawk" },
         { "regExp": "^ARK BL FMU v6X.x$",   "boardClass": "Pixhawk" },
-        { "regExp": "PX4.*Flow",            "boardClass": "PX4 Flow" },
         { "regExp": "^FT231X USB UART$",    "boardClass": "SiK Radio" },
         { "regExp": "USB UART$",            "boardClass": "SiK Radio",  "androidOnly": true, "comment": "Very broad fallback, too dangerous for non-android" }
     ],