QtLocationPlugin: Add Elevation Provider Selection

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -11,9 +11,10 @@
 #include "QGCApplication.h"
 #include "LinkManager.h"
 #include "MAVLinkProtocol.h"
-#include "ElevationMapProvider.h"
 #include "FirmwarePluginManager.h"
 #include "AppSettings.h"
+#include "FlightMapSettings.h"
+#include "SettingsManager.h"
 #include "PositionManager.h"
 #include "QGCMapEngineManager.h"
 #ifndef NO_SERIAL_LINK
@@ -334,12 +335,12 @@ int QGroundControlQmlGlobal::mavlinkSystemID()
 
 QString QGroundControlQmlGlobal::elevationProviderName()
 {
-    return CopernicusElevationProvider::kProviderKey;
+    return _settingsManager->flightMapSettings()->elevationMapProvider()->rawValue().toString();
 }
 
 QString QGroundControlQmlGlobal::elevationProviderNotice()
 {
-    return CopernicusElevationProvider::kProviderNotice;
+    return _settingsManager->flightMapSettings()->elevationMapProvider()->rawValue().toString();
 }
 
 QString QGroundControlQmlGlobal::parameterFileExtension() const

src/QmlControls/QGroundControlQmlGlobal.h

@@ -218,8 +218,8 @@ class QGroundControlQmlGlobal : public QGCTool
     bool    hasMAVLinkInspector     () { return true; }
 #endif
 
-    static QString elevationProviderName   ();
-    static QString elevationProviderNotice ();
+    QString elevationProviderName   ();
+    QString elevationProviderNotice ();
 
     bool    singleFirmwareSupport   ();
     bool    singleVehicleSupport    ();

src/QtLocationPlugin/ElevationMapProvider.cpp

@@ -61,3 +61,59 @@ QByteArray CopernicusElevationProvider::serialize(const QByteArray &image) const
 {
     return TerrainTile::serializeFromAirMapJson(image);
 }
+
+/*===========================================================================*/
+
+int ArduPilotTerrainElevationProvider::long2tileX(double lon, int z) const
+{
+    Q_UNUSED(z)
+    return static_cast<int>(floor((lon + 180.0)));
+}
+
+int ArduPilotTerrainElevationProvider::lat2tileY(double lat, int z) const
+{
+    Q_UNUSED(z)
+    return static_cast<int>(floor((lat + 90.0)));
+}
+
+QString ArduPilotTerrainElevationProvider::_getURL(int x, int y, int zoom) const
+{
+    Q_UNUSED(zoom)
+
+    // 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;
+
+    const QString formattedStringYLat = (yForUrl > 0) ? QStringLiteral("N%1").arg(QString::number(yForUrl).rightJustified(2, '0')) :
+                                 QStringLiteral("S%1").arg(QString::number(-yForUrl).rightJustified(2, '0'));
+
+    const QString formattedStringXLong = (xForUrl > 0) ? QStringLiteral("E%1").arg(QString::number(xForUrl).rightJustified(3, '0')) :
+                                 QStringLiteral("W%1").arg(QString::number(-xForUrl).rightJustified(3, '0'));
+
+    return _mapUrl.arg(formattedStringYLat, formattedStringXLong);
+}
+
+QGCTileSet ArduPilotTerrainElevationProvider::getTileCount(int zoom, double topleftLon,
+                                                           double topleftLat, double bottomRightLon,
+                                                           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 ArduPilotTerrainElevationProvider::serialize(const QByteArray &image) const
+{
+    return TerrainTile::serializeFromAirMapJson(image);
+}

src/QtLocationPlugin/ElevationMapProvider.h

@@ -2,7 +2,8 @@
 
 #include "MapProvider.h"
 
-static constexpr const quint32 AVERAGE_COPERNICUS_ELEV_SIZE = 2786;
+static constexpr quint32 AVERAGE_COPERNICUS_ELEV_SIZE = 2786;
+static constexpr quint32 AVERAGE_ARDUPILOT_ELEV_SIZE = 100000;
 
 class ElevationProvider : public MapProvider
 {
@@ -49,3 +50,32 @@ class CopernicusElevationProvider : public ElevationProvider
 
     const QString _mapUrl = QStringLiteral("https://terrain-ce.suite.auterion.com/api/v1/carpet?points=%1,%2,%3,%4");
 };
+
+class ArduPilotTerrainElevationProvider : public ElevationProvider
+{
+public:
+    ArduPilotTerrainElevationProvider()
+        : ElevationProvider(
+            QStringLiteral("ArduPilot Terrain Elevation"),
+            QStringLiteral("https://terrain.ardupilot.org/SRTM1/"),
+            QStringLiteral("hgt"),
+            AVERAGE_ARDUPILOT_ELEV_SIZE,
+            QGeoMapType::StreetMap) {}
+
+    int long2tileX(double lon, int z) const final;
+    int lat2tileY(double lat, int z) const final;
+
+    QGCTileSet getTileCount(int zoom, double topleftLon,
+                            double topleftLat, double bottomRightLon,
+                            double bottomRightLat) const final;
+
+    QByteArray serialize(const QByteArray &image) const final;
+
+    static constexpr const char *kProviderKey = "ArduPilot Terrain Elevation";
+    static constexpr const char *kProviderNotice = "© ArduPilot.org";
+
+private:
+    QString _getURL(int x, int y, int zoom) const final;
+
+    const QString _mapUrl = QStringLiteral("https://terrain.ardupilot.org/SRTM1/%1%2.hgt.zip");
+};

src/QtLocationPlugin/QGCCachedTileSet.cpp

@@ -28,7 +28,6 @@
 #include <QGCApplication.h>
 #include <QGCFileDownload.h>
 #include <QGCLoggingCategory.h>
-#include <TerrainTile.h>
 
 #include <QtNetwork/QNetworkProxy>
 

src/QtLocationPlugin/QGCMapUrlEngine.cpp

@@ -63,6 +63,7 @@ const QList<SharedMapProvider> UrlFactory::_providers = {
     std::make_shared<VWorldSatMapProvider>(),
 
     std::make_shared<CopernicusElevationProvider>(),
+    std::make_shared<ArduPilotTerrainElevationProvider>(),
 
     std::make_shared<JapanStdMapProvider>(),
     std::make_shared<JapanSeamlessMapProvider>(),
@@ -229,6 +230,18 @@ int UrlFactory::getQtMapIdFromProviderType(QStringView type)
     return -1;
 }
 
+QStringList UrlFactory::getElevationProviderTypes()
+{
+    QStringList types;
+    for (const SharedMapProvider &provider : _providers) {
+        if (provider->isElevationProvider()) {
+            (void) types.append(provider->getMapName());
+        }
+    }
+
+    return types;
+}
+
 QStringList UrlFactory::getProviderTypes()
 {
     QStringList types;

src/QtLocationPlugin/QGCMapUrlEngine.h

@@ -45,6 +45,7 @@ class UrlFactory
                             QStringView mapType);
 
     static const QList<std::shared_ptr<const MapProvider>>& getProviders() { return _providers; }
+    static QStringList getElevationProviderTypes();
     static QStringList getProviderTypes();
     static int getQtMapIdFromProviderType(QStringView type);
     static QString getProviderTypeFromQtMapId(int qtMapId);

src/QtLocationPlugin/QMLControl/QGCMapEngineManager.cc

@@ -18,6 +18,8 @@
 #include "ElevationMapProvider.h"
 #include "QmlObjectListModel.h"
 #include "QGCApplication.h"
+#include "QGCToolbox.h"
+#include "SettingsManager.h"
 #include "QGCLoggingCategory.h"
 
 #include <QtCore/qapplicationstatic.h>
@@ -28,9 +30,6 @@
 
 QGC_LOGGING_CATEGORY(QGCMapEngineManagerLog, "qgc.qtlocation.qmlcontrol.qgcmapenginemanagerlog")
 
-static const QString kQmlOfflineMapKeyName = QStringLiteral("QGCOfflineMap");
-static const QString kElevationMapType = QString(CopernicusElevationProvider::kProviderKey); // TODO: Variable Elevation Provider Type
-
 Q_APPLICATION_STATIC(QGCMapEngineManager, _mapEngineManager);
 
 QGCMapEngineManager *QGCMapEngineManager::instance()
@@ -76,7 +75,8 @@ void QGCMapEngineManager::updateForCurrentView(double lon0, double lat0, double
     }
 
     if (_fetchElevation) {
-        const QGCTileSet set = UrlFactory::getTileCount(1, lon0, lat0, lon1, lat1, kElevationMapType);
+        const QString elevationProviderName = qgcApp()->toolbox()->settingsManager()->flightMapSettings()->elevationMapProvider()->rawValue().toString();
+        const QGCTileSet set = UrlFactory::getTileCount(1, lon0, lat0, lon1, lat1, elevationProviderName);
         _elevationSet += set;
     }
 
@@ -143,9 +143,11 @@ void QGCMapEngineManager::startDownload(const QString &name, const QString &mapT
         qCWarning(QGCMapEngineManagerLog) << Q_FUNC_INFO << "No Tiles to save";
     }
 
-    if ((mapType != kElevationMapType) && _fetchElevation) {
+    const int mapid = UrlFactory::getQtMapIdFromProviderType(mapType);
+    if (_fetchElevation && !UrlFactory::isElevation(mapid)) {
         QGCCachedTileSet* const set = new QGCCachedTileSet(name + QStringLiteral(" Elevation"));
-        set->setMapTypeStr(kElevationMapType);
+        const QString elevationProviderName = qgcApp()->toolbox()->settingsManager()->flightMapSettings()->elevationMapProvider()->rawValue().toString();
+        set->setMapTypeStr(elevationProviderName);
         set->setTopleftLat(_topleftLat);
         set->setTopleftLon(_topleftLon);
         set->setBottomRightLat(_bottomRightLat);
@@ -154,7 +156,7 @@ void QGCMapEngineManager::startDownload(const QString &name, const QString &mapT
         set->setMaxZoom(1);
         set->setTotalTileSize(_elevationSet.tileSize);
         set->setTotalTileCount(static_cast<quint32>(_elevationSet.tileCount));
-        set->setType(kElevationMapType);
+        set->setType(elevationProviderName);
 
         QGCCreateTileSetTask* const task = new QGCCreateTileSetTask(set);
         (void) connect(task, &QGCCreateTileSetTask::tileSetSaved, this, &QGCMapEngineManager::_tileSetSaved);
@@ -458,11 +460,19 @@ QStringList QGCMapEngineManager::mapList()
 QStringList QGCMapEngineManager::mapProviderList()
 {
     QStringList mapStringList = mapList();
-    (void) mapStringList.removeAll(CopernicusElevationProvider::kProviderKey);
+    const QStringList elevationStringList = elevationProviderList();
+    for (const QString &elevationProviderName : elevationStringList) {
+        (void) mapStringList.removeAll(elevationProviderName);
+    }
 
     static const QRegularExpression providerType = QRegularExpression(QStringLiteral("^([^\\ ]*) (.*)$"));
     (void) mapStringList.replaceInStrings(providerType,"\\1");
     (void) mapStringList.removeDuplicates();
 
     return mapStringList;
 }
+
+QStringList QGCMapEngineManager::elevationProviderList()
+{
+    return UrlFactory::getElevationProviderTypes();
+}

src/QtLocationPlugin/QMLControl/QGCMapEngineManager.h

@@ -32,17 +32,18 @@ class QGCMapEngineManager : public QObject
     Q_MOC_INCLUDE("QmlObjectListModel.h")
     Q_MOC_INCLUDE("QGCCachedTileSet.h")
 
-    Q_PROPERTY(bool                 fetchElevation  MEMBER _fetchElevation                          NOTIFY fetchElevationChanged)
-    Q_PROPERTY(bool                 importReplace   MEMBER _importReplace                           NOTIFY importReplaceChanged)
-    Q_PROPERTY(ImportAction         importAction    READ importAction       WRITE setImportAction   NOTIFY importActionChanged)
-    Q_PROPERTY(int                  actionProgress  READ actionProgress                             NOTIFY actionProgressChanged)
-    Q_PROPERTY(int                  selectedCount   READ selectedCount                              NOTIFY selectedCountChanged)
-    Q_PROPERTY(QmlObjectListModel   *tileSets       READ tileSets                                   NOTIFY tileSetsChanged)
-    Q_PROPERTY(QString              errorMessage    READ errorMessage                               NOTIFY errorMessageChanged)
-    Q_PROPERTY(QString              tileCountStr    READ tileCountStr                               NOTIFY tileCountChanged)
-    Q_PROPERTY(QString              tileSizeStr     READ tileSizeStr                                NOTIFY tileSizeChanged)
-    Q_PROPERTY(QStringList          mapList         READ mapList                                    CONSTANT)
-    Q_PROPERTY(QStringList          mapProviderList READ mapProviderList                            CONSTANT)
+    Q_PROPERTY(bool                 fetchElevation          MEMBER _fetchElevation                          NOTIFY fetchElevationChanged)
+    Q_PROPERTY(bool                 importReplace           MEMBER _importReplace                           NOTIFY importReplaceChanged)
+    Q_PROPERTY(ImportAction         importAction            READ importAction       WRITE setImportAction   NOTIFY importActionChanged)
+    Q_PROPERTY(int                  actionProgress          READ actionProgress                             NOTIFY actionProgressChanged)
+    Q_PROPERTY(int                  selectedCount           READ selectedCount                              NOTIFY selectedCountChanged)
+    Q_PROPERTY(QmlObjectListModel   *tileSets               READ tileSets                                   NOTIFY tileSetsChanged)
+    Q_PROPERTY(QString              errorMessage            READ errorMessage                               NOTIFY errorMessageChanged)
+    Q_PROPERTY(QString              tileCountStr            READ tileCountStr                               NOTIFY tileCountChanged)
+    Q_PROPERTY(QString              tileSizeStr             READ tileSizeStr                                NOTIFY tileSizeChanged)
+    Q_PROPERTY(QStringList          mapList                 READ mapList                                    CONSTANT)
+    Q_PROPERTY(QStringList          mapProviderList         READ mapProviderList                            CONSTANT)
+    Q_PROPERTY(QStringList          elevationProviderList   READ elevationProviderList                      CONSTANT)
     Q_PROPERTY(quint32              diskSpace       READ diskSpace)
     Q_PROPERTY(quint32              freeDiskSpace   READ freeDiskSpace                              NOTIFY freeDiskSpaceChanged)
     Q_PROPERTY(quint64              tileCount       READ tileCount                                  NOTIFY tileCountChanged)
@@ -97,6 +98,7 @@ class QGCMapEngineManager : public QObject
 
     static QStringList mapList();
     static QStringList mapProviderList();
+    static QStringList elevationProviderList();
 
 signals:
     void actionProgressChanged();
@@ -123,7 +125,7 @@ private slots:
     void _updateTotals(quint32 totaltiles, quint64 totalsize, quint32 defaulttiles, quint64 defaultsize);
 
 private:
-    void _updateDiskFreeSpace(); 
+    void _updateDiskFreeSpace();
 
     QmlObjectListModel *_tileSets = nullptr;
     QGCTileSet _imageSet;
@@ -142,4 +144,6 @@ private slots:
     QString _errorMessage;
     bool _fetchElevation = true;
     bool _importReplace = false;
+
+    static constexpr const char *kQmlOfflineMapKeyName = "QGCOfflineMap";
 };

src/Settings/FlightMap.SettingsGroup.json

@@ -14,6 +14,12 @@
     "shortDesc": "Currently selected map type for flight maps",
     "type":             "string",
     "default":     "Hybrid"
+},
+{
+    "name":      "elevationMapProvider",
+    "shortDesc": "Currently selected elevation map provider",
+    "type":      "string",
+    "default":   "Copernicus Elevation"
 }
 ]
 }

src/Settings/FlightMapSettings.cc

@@ -18,3 +18,4 @@ DECLARE_SETTINGGROUP(FlightMap, "FlightMap")
 
 DECLARE_SETTINGSFACT(FlightMapSettings, mapProvider)
 DECLARE_SETTINGSFACT(FlightMapSettings, mapType)
+DECLARE_SETTINGSFACT(FlightMapSettings, elevationMapProvider)

src/Settings/FlightMapSettings.h

@@ -22,5 +22,5 @@ class FlightMapSettings : public SettingsGroup
     DEFINE_SETTING_NAME_GROUP()
     DEFINE_SETTINGFACT(mapProvider)
     DEFINE_SETTINGFACT(mapType)
-
+    DEFINE_SETTINGFACT(elevationMapProvider)
 };

src/Terrain/CMakeLists.txt

@@ -5,6 +5,7 @@ qt_add_library(Terrain STATIC
     TerrainQuery.h
     TerrainQueryAirMap.cc
     TerrainQueryAirMap.h
+    TerrainQueryInterface.h
     TerrainTile.cc
     TerrainTile.h
     TerrainTileManager.cc

src/Terrain/TerrainQuery.cc

@@ -9,6 +9,7 @@
 
 #include "TerrainQuery.h"
 #include "TerrainTileManager.h"
+#include "TerrainQueryAirMap.h"
 #include "QGCLoggingCategory.h"
 
 #include <QtCore/QTimer>
@@ -23,7 +24,7 @@ TerrainAtCoordinateBatchManager::TerrainAtCoordinateBatchManager(void)
     _batchTimer.setSingleShot(true);
     _batchTimer.setInterval(_batchTimeout);
     connect(&_batchTimer, &QTimer::timeout, this, &TerrainAtCoordinateBatchManager::_sendNextBatch);
-    connect(&_terrainQuery, &TerrainQueryInterface::coordinateHeightsReceived, this, &TerrainAtCoordinateBatchManager::_coordinateHeights);
+    connect(_terrainQuery, &TerrainQueryInterface::coordinateHeightsReceived, this, &TerrainAtCoordinateBatchManager::_coordinateHeights);
 }
 
 void TerrainAtCoordinateBatchManager::addQuery(TerrainAtCoordinateQuery* terrainAtCoordinateQuery, const QList<QGeoCoordinate>& coordinates)
@@ -71,7 +72,7 @@ void TerrainAtCoordinateBatchManager::_sendNextBatch(void)
     qCDebug(TerrainQueryLog) << "TerrainAtCoordinateBatchManager::_sendNextBatch requesting next batch _state:_requestQueue.count:_sentRequests.count" << _stateToString(_state) << _requestQueue.count() << _sentRequests.count();
 
     _state = State::Downloading;
-    _terrainQuery.requestCoordinateHeights(coords);
+    _terrainQuery->requestCoordinateHeights(coords);
 }
 
 void TerrainAtCoordinateBatchManager::_batchFailed(void)
@@ -184,12 +185,12 @@ TerrainPathQuery::TerrainPathQuery(bool autoDelete)
    : _autoDelete   (autoDelete)
 {
     qRegisterMetaType<PathHeightInfo_t>();
-    connect(&_terrainQuery, &TerrainQueryInterface::pathHeightsReceived, this, &TerrainPathQuery::_pathHeights);
+    connect(_terrainQuery, &TerrainQueryInterface::pathHeightsReceived, this, &TerrainPathQuery::_pathHeights);
 }
 
 void TerrainPathQuery::requestData(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord)
 {
-    _terrainQuery.requestPathHeights(fromCoord, toCoord);
+    _terrainQuery->requestPathHeights(fromCoord, toCoord);
 }
 
 void TerrainPathQuery::_pathHeights(bool success, double distanceBetween, double finalDistanceBetween, const QList<double>& heights)