feat(gps): Comprehensive GPS/RTK/NTRIP subsystem improvements

qgcimages.qrc

@@ -100,9 +100,6 @@
         <file alias="GeoFence.svg">src/AutoPilotPlugins/PX4/Images/GeoFence.svg</file>
         <file alias="GeoFenceLight.svg">src/AutoPilotPlugins/PX4/Images/GeoFenceLight.svg</file>
         <file alias="GeoTagIcon.svg">src/AnalyzeView/GeoTag/GeoTagIcon.svg</file>
-        <file alias="Gps.svg">src/UI/toolbar/Images/Gps.svg</file>
-        <file alias="GpsAuthentication.svg">src/UI/toolbar/Images/GpsAuthentication.svg</file>
-        <file alias="GpsInterference.svg">src/UI/toolbar/Images/GpsInterference.svg</file>
         <file alias="Hamburger.svg">src/UI/toolbar/Images/Hamburger.svg</file>
         <file alias="HamburgerThin.svg">src/UI/toolbar/Images/HamburgerThin.svg</file>
         <file alias="Help.svg">src/FlightMap/Images/Help.svg</file>
@@ -172,7 +169,6 @@
         <file alias="roi.svg">src/UI/toolbar/Images/roi.svg</file>
         <file alias="rollDialWhite.svg">src/FlightMap/Images/rollDialWhite.svg</file>
         <file alias="rollPointerWhite.svg">src/FlightMap/Images/rollPointerWhite.svg</file>
-        <file alias="RTK.svg">src/UI/toolbar/Images/RTK.svg</file>
         <file alias="SafetyComponentIcon.png">src/AutoPilotPlugins/Common/Images/SafetyComponentIcon.png</file>
         <file alias="scale.png">src/FlightMap/Images/scale.png</file>
         <file alias="scale_end.png">src/FlightMap/Images/scale_end.png</file>

src/API/QGCCorePlugin.cc

@@ -302,7 +302,7 @@ const QVariantList &QGCCorePlugin::toolBarIndicators()
 {
     static const QVariantList toolBarIndicatorList = QVariantList(
         {
-            QVariant::fromValue(QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/Toolbar/RTKGPSIndicator.qml"))),
+            QVariant::fromValue(QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/GPS/RTK/RTKGPSIndicator.qml"))),
         }
     );
 

src/AnalyzeView/GeoTag/GeoTagPage.qml

@@ -5,6 +5,7 @@ import QtQuick.Layouts
 import QGroundControl
 import QGroundControl.AnalyzeView
 import QGroundControl.Controls
+import "qrc:/qml/QGroundControl/GPS/GPSFormatHelpers.js" as GPSHelpers
 
 AnalyzePage {
     id:                 geoTagPage
@@ -530,7 +531,7 @@ AnalyzePage {
                                     Layout.preferredWidth: ScreenTools.defaultFontPixelWidth * 20
                                     text: {
                                         if (model.coordinate && model.coordinate.isValid) {
-                                            return model.coordinate.latitude.toFixed(6) + ", " + model.coordinate.longitude.toFixed(6)
+                                            return GPSHelpers.formatCoordinate(model.coordinate.latitude, model.coordinate.longitude, 6)
                                         }
                                         return ""
                                     }

src/CMakeLists.txt

@@ -39,6 +39,7 @@ add_subdirectory(FirmwarePlugin)
 add_subdirectory(FlyView)
 add_subdirectory(FlightMap)
 add_subdirectory(FollowMe)
+add_subdirectory(GCSGeofence)
 add_subdirectory(Gimbal)
 add_subdirectory(GPS)
 add_subdirectory(Utilities)
@@ -131,7 +132,12 @@ target_link_libraries(${CMAKE_PROJECT_NAME}
         FirstRunPromptDialogsModule
         FlyViewModule
         FlightMapModule
+        GCSGeofenceModule
+        GPSModule
+        GPSNTRIPModule
+        GPSRTKModule
         PlanViewModule
+        PositionManagerModule
         QGroundControlControlsModule
         QGroundControlModule
         ToolbarModule

src/Comms/LinkManager.cc

@@ -17,9 +17,6 @@
 #ifndef QGC_NO_SERIAL_LINK
 #include "SerialLink.h"
 #include "GPSManager.h"
-#include "PositionManager.h"
-#include "UdpIODevice.h"
-#include "GPSRtk.h"
 #endif
 
 #ifdef QT_DEBUG
@@ -38,9 +35,6 @@ LinkManager::LinkManager(QObject *parent)
     : QObject(parent)
     , _portListTimer(new QTimer(this))
     , _qmlConfigurations(new QmlObjectListModel(this))
-#ifndef QGC_NO_SERIAL_LINK
-    , _nmeaSocket(new UdpIODevice(this))
-#endif
 {
     qCDebug(LinkManagerLog) << this;
 
@@ -432,26 +426,6 @@ void LinkManager::_updateAutoConnectLinks()
     _addUDPAutoConnectLink();
     _addMAVLinkForwardingLink();
 
-    // check to see if nmea gps is configured for UDP input, if so, set it up to connect
-    if (_autoConnectSettings->autoConnectNmeaPort()->cookedValueString() == "UDP Port") {
-        if ((_nmeaSocket->localPort() != _autoConnectSettings->nmeaUdpPort()->rawValue().toUInt()) || (_nmeaSocket->state() != UdpIODevice::BoundState)) {
-            qCDebug(LinkManagerLog) << "Changing port for UDP NMEA stream";
-            _nmeaSocket->close();
-            _nmeaSocket->bind(QHostAddress::AnyIPv4, _autoConnectSettings->nmeaUdpPort()->rawValue().toUInt());
-            QGCPositionManager::instance()->setNmeaSourceDevice(_nmeaSocket);
-        }
-#ifndef QGC_NO_SERIAL_LINK
-        if (_nmeaPort) {
-            _nmeaPort->close();
-            delete _nmeaPort;
-            _nmeaPort = nullptr;
-            _nmeaDeviceName = "";
-        }
-#endif
-    } else {
-        _nmeaSocket->close();
-    }
-
 #ifndef QGC_NO_SERIAL_LINK
     _addSerialAutoConnectLink();
 #endif
@@ -758,27 +732,7 @@ void LinkManager::_addSerialAutoConnectLink()
         QGCSerialPortInfo::BoardType_t boardType;
         QString boardName;
 
-        // check to see if nmea gps is configured for current Serial port, if so, set it up to connect
-        if (portInfo.systemLocation().trimmed() == _autoConnectSettings->autoConnectNmeaPort()->cookedValueString()) {
-            if (portInfo.systemLocation().trimmed() != _nmeaDeviceName) {
-                _nmeaDeviceName = portInfo.systemLocation().trimmed();
-                qCDebug(LinkManagerLog) << "Configuring nmea port" << _nmeaDeviceName;
-                QSerialPort* newPort = new QSerialPort(portInfo, this);
-                _nmeaBaud = _autoConnectSettings->autoConnectNmeaBaud()->cookedValue().toUInt();
-                newPort->setBaudRate(static_cast<qint32>(_nmeaBaud));
-                qCDebug(LinkManagerLog) << "Configuring nmea baudrate" << _nmeaBaud;
-                // This will stop polling old device if previously set
-                QGCPositionManager::instance()->setNmeaSourceDevice(newPort);
-                if (_nmeaPort) {
-                    delete _nmeaPort;
-                }
-                _nmeaPort = newPort;
-            } else if (_autoConnectSettings->autoConnectNmeaBaud()->cookedValue().toUInt() != _nmeaBaud) {
-                _nmeaBaud = _autoConnectSettings->autoConnectNmeaBaud()->cookedValue().toUInt();
-                _nmeaPort->setBaudRate(static_cast<qint32>(_nmeaBaud));
-                qCDebug(LinkManagerLog) << "Configuring nmea baudrate" << _nmeaBaud;
-            }
-        } else if (portInfo.getBoardInfo(boardType, boardName)) {
+        if (portInfo.getBoardInfo(boardType, boardName)) {
             // Should we be auto-connecting to this board type?
             if (!_allowAutoConnectToBoard(boardType)) {
                 continue;
@@ -789,7 +743,7 @@ void LinkManager::_addSerialAutoConnectLink()
                 qCDebug(LinkManagerLog) << "Waiting for bootloader to finish" << portInfo.systemLocation();
                 continue;
             }
-            if (_portAlreadyConnected(portInfo.systemLocation()) || (_autoConnectRTKPort == portInfo.systemLocation())) {
+            if (_portAlreadyConnected(portInfo.systemLocation()) || _autoConnectRTKPorts.contains(portInfo.systemLocation())) {
                 qCDebug(LinkManagerVerboseLog) << "Skipping existing autoconnect" << portInfo.systemLocation();
             } else if (!_autoconnectPortWaitList.contains(portInfo.systemLocation())) {
                 // We don't connect to the port the first time we see it. The ability to correctly detect whether we
@@ -812,9 +766,9 @@ void LinkManager::_addSerialAutoConnectLink()
                     pSerialConfig = new SerialConfiguration(tr("%1 on %2 (AutoConnect)").arg(boardName, portInfo.portName().trimmed()));
                     break;
                 case QGCSerialPortInfo::BoardTypeRTKGPS:
-                    qCDebug(LinkManagerLog) << "RTK GPS auto-connected" << portInfo.portName().trimmed();
-                    _autoConnectRTKPort = portInfo.systemLocation();
-                    GPSManager::instance()->gpsRtk()->connectGPS(portInfo.systemLocation(), boardName);
+                    qCDebug(LinkManagerLog) << "RTK GPS auto-connected" << portInfo.portName().trimmed() << boardName;
+                    _autoConnectRTKPorts.append(portInfo.systemLocation());
+                    GPSManager::instance()->connectGPS(portInfo.systemLocation(), boardName);
                     break;
                 default:
                     qCWarning(LinkManagerLog) << "Internal error: Unknown board type" << boardType;
@@ -835,11 +789,14 @@ void LinkManager::_addSerialAutoConnectLink()
         }
     }
 
-    // Check for RTK GPS connection gone
-    if (!_autoConnectRTKPort.isEmpty() && !currentPorts.contains(_autoConnectRTKPort)) {
-        qCDebug(LinkManagerLog) << "RTK GPS disconnected" << _autoConnectRTKPort;
-        GPSManager::instance()->gpsRtk()->disconnectGPS();
-        _autoConnectRTKPort.clear();
+    // Check for RTK GPS connections gone
+    for (int i = _autoConnectRTKPorts.size() - 1; i >= 0; --i) {
+        const QString &port = _autoConnectRTKPorts.at(i);
+        if (!currentPorts.contains(port)) {
+            qCDebug(LinkManagerLog) << "RTK GPS disconnected" << port;
+            GPSManager::instance()->disconnectGPS(port);
+            _autoConnectRTKPorts.removeAt(i);
+        }
     }
 }
 
@@ -862,7 +819,7 @@ bool LinkManager::_allowAutoConnectToBoard(QGCSerialPortInfo::BoardType_t boardT
         }
         break;
     case QGCSerialPortInfo::BoardTypeRTKGPS:
-        if (_autoConnectSettings->autoConnectRTKGPS()->rawValue().toBool() && !GPSManager::instance()->gpsRtk()->connected()) {
+        if (_autoConnectSettings->autoConnectRTKGPS()->rawValue().toBool() && !GPSManager::instance()->connected()) {
             return true;
         }
         break;

src/Comms/LinkManager.h

@@ -25,7 +25,6 @@ class QmlObjectListModel;
 class QTimer;
 class SerialLink;
 class UDPConfiguration;
-class UdpIODevice;
 
 /// @brief Manage communication links
 ///        The Link Manager organizes the physical Links. It can manage arbitrary
@@ -179,14 +178,10 @@ private slots:
     bool _portAlreadyConnected(const QString &portName);
     void _filterCompositePorts(QList<QGCSerialPortInfo> &portList);
 
-    UdpIODevice *_nmeaSocket = nullptr;
     QMap<QString, int> _autoconnectPortWaitList;   ///< key: QGCSerialPortInfo::systemLocation, value: wait count
     QList<SerialLink*> _activeLinkCheckList;       ///< List of links we are waiting for a vehicle to show up on
     QStringList _commPortList;
     QStringList _commPortDisplayList;
-    QString _autoConnectRTKPort;
-    QString _nmeaDeviceName;
-    uint32_t _nmeaBaud = 0;
-    QSerialPort *_nmeaPort = nullptr;
+    QStringList _autoConnectRTKPorts;
 #endif // QGC_NO_SERIAL_LINK
 };

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -195,8 +195,7 @@ const QVariantList &FirmwarePlugin::toolIndicators(const Vehicle*)
     //-- Default list of indicators for all vehicles.
     if (_toolIndicatorList.isEmpty()) {
         _toolIndicatorList = QVariantList({
-            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/VehicleGPSIndicator.qml")),
-            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/GPSResilienceIndicator.qml")),
+            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/GPS/RTK/VehicleGPSIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/TelemetryRSSIIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/RCRSSIIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/BatteryIndicator.qml")),

src/FlightMap/FlightMap.qml

@@ -8,6 +8,7 @@ import Qt.labs.animation
 import QGroundControl
 import QGroundControl.Controls
 import QGroundControl.FlightMap
+import QGroundControl.GPS.RTK
 
 Map {
     id: _map
@@ -225,12 +226,30 @@ Map {
         }
     }
 
+    RTKBaseStationMapItem {
+        activeVehicle: _activeVehicle
+        planView:      _map.planView
+    }
+
+    /// GCS position accuracy circle
+    MapCircle {
+        center:         gcsPosition
+        radius:         QGroundControl.qgcPositionManger.gcsPositionHorizontalAccuracy
+        color:          Qt.rgba(0.2, 0.4, 0.8, 0.15)
+        border.color:   Qt.rgba(0.2, 0.4, 0.8, 0.4)
+        border.width:   1
+        visible:        gcsPosition.isValid && !planView
+                        && isFinite(QGroundControl.qgcPositionManger.gcsPositionHorizontalAccuracy)
+                        && QGroundControl.qgcPositionManger.gcsPositionHorizontalAccuracy < 100
+    }
+
     /// Ground Station location
     MapQuickItem {
         anchorPoint.x:  sourceItem.width / 2
         anchorPoint.y:  sourceItem.height / 2
         visible:        gcsPosition.isValid && !planView
         coordinate:     gcsPosition
+        opacity:        QGroundControl.qgcPositionManger.positionStale ? 0.4 : 1.0
 
         sourceItem: Image {
             id:             mapItemImage

src/FlyView/FlyViewMap.qml

@@ -10,6 +10,7 @@ import QGroundControl.Controls
 import QGroundControl.FlyView
 import QGroundControl.FlightMap
 import QGroundControl.PlanView
+import "qrc:/qml/QGroundControl/GPS/GPSFormatHelpers.js" as GPSHelpers
 
 FlightMap {
     id:                         _root
@@ -745,8 +746,8 @@ FlightMap {
 
                     ColumnLayout {
                         spacing: 0
-                        QGCLabel { text: qsTr("Lat: %1").arg(mapClickCoord.latitude.toFixed(6)) }
-                        QGCLabel { text: qsTr("Lon: %1").arg(mapClickCoord.longitude.toFixed(6)) }
+                        QGCLabel { text: qsTr("Lat: %1").arg(GPSHelpers.formatLatitude(mapClickCoord.latitude, 6)) }
+                        QGCLabel { text: qsTr("Lon: %1").arg(GPSHelpers.formatLongitude(mapClickCoord.longitude, 6)) }
                     }
                 }
             }

src/FlyView/FlyViewWidgetLayer.qml

@@ -12,6 +12,8 @@ import QGroundControl
 import QGroundControl.Controls
 import QGroundControl.FlyView
 import QGroundControl.FlightMap
+import QGroundControl.GCSGeofence
+import QGroundControl.GPS.RTK
 import QGroundControl.Viewer3D
 
 // This is the ui overlay layer for the widgets/tools for Fly View
@@ -163,6 +165,20 @@ Item {
         z:                  QGroundControl.zOrderTopMost
     }
 
+    GCSGeofenceAlert {
+        anchors.horizontalCenter:   parent.horizontalCenter
+        anchors.top:                parent.top
+        anchors.topMargin:          ScreenTools.defaultFontPixelHeight
+        z:                          QGroundControl.zOrderTopMost
+    }
+
+    GNSSIntegrityAlert {
+        anchors.horizontalCenter:   parent.horizontalCenter
+        anchors.top:                parent.top
+        anchors.topMargin:          ScreenTools.defaultFontPixelHeight * 4
+        z:                          QGroundControl.zOrderTopMost
+    }
+
     MapScale {
         id:                 mapScale
         anchors.left:       toolStrip.right

src/FlyView/PreFlightGPSCheck.qml

@@ -5,18 +5,23 @@ import QGroundControl.Controls
 
 PreFlightCheckButton {
     name:                           qsTr("GPS")
-    telemetryFailure:               _3dLockFailure || _satCountFailure
+    telemetryFailure:               _3dLockFailure || _satCountFailure || _hdopFailure
     telemetryTextFailure:           _3dLockFailure ?
                                         qsTr("Waiting for 3D lock.") :
-                                        (_satCountFailure ? _satCountFailureText : "")
-    allowTelemetryFailureOverride:  !_3dLockFailure && _satCountFailure && allowOverrideSatCount
+                                        (_hdopFailure ? _hdopFailureText :
+                                        (_satCountFailure ? _satCountFailureText : ""))
+    allowTelemetryFailureOverride:  !_3dLockFailure && (_satCountFailure && allowOverrideSatCount || _hdopFailure)
 
     property bool   allowOverrideSatCount:  false   ///< true: sat count above failureSatCount reguired to pass, false: user can click past satCount <= failureSetCount
     property int    failureSatCount:        -1      ///< -1 indicates no sat count check
+    property real   failureHdop:            -1      ///< -1 indicates no HDOP check
 
-    property bool   _3dLock:                globals.activeVehicle ? globals.activeVehicle.gps.lock.rawValue >= 3 : false
+    property bool   _3dLock:                globals.activeVehicle ? globals.activeVehicle.gps.lock.rawValue >= VehicleGPSFactGroup.Fix3D : false
     property int    _satCount:              globals.activeVehicle ? globals.activeVehicle.gps.count.rawValue : 0
+    property real   _hdop:                  globals.activeVehicle && !isNaN(globals.activeVehicle.gps.hdop.rawValue) ? globals.activeVehicle.gps.hdop.rawValue : -1
     property bool   _3dLockFailure:         !_3dLock
     property bool   _satCountFailure:       failureSatCount !== -1 && _satCount <= failureSatCount
+    property bool   _hdopFailure:           failureHdop > 0 && _hdop > 0 && _hdop > failureHdop
     property string _satCountFailureText:   allowOverrideSatCount ? qsTr("Warning - Sat count below %1.").arg(failureSatCount + 1) : qsTr("Waiting for sat count above %1.").arg(failureSatCount)
+    property string _hdopFailureText:       qsTr("Warning - HDOP %1 exceeds limit %2.").arg(_hdop.toFixed(1)).arg(failureHdop.toFixed(1))
 }

src/FollowMe/FollowMe.cc

@@ -3,6 +3,7 @@
 #include "FirmwarePlugin.h"
 #include "Vehicle.h"
 #include "PositionManager.h"
+#include "QGCMAVLink.h"
 #include "SettingsManager.h"
 #include "AppSettings.h"
 #include "QGCLoggingCategory.h"
@@ -116,8 +117,8 @@ void FollowMe::_sendGCSMotionReport()
 
     // Get the current location coordinates
     // Important note: QGC only supports sending the constant GCS home position altitude for follow me.
-    motionReport.lat_int = static_cast<int>(gcsCoordinate.latitude() * 1e7);
-    motionReport.lon_int = static_cast<int>(gcsCoordinate.longitude() * 1e7);
+    motionReport.lat_int = QGCMAVLink::doubleToMavlinkLatLon(gcsCoordinate.latitude());
+    motionReport.lon_int = QGCMAVLink::doubleToMavlinkLatLon(gcsCoordinate.longitude());
     motionReport.altMetersAMSL = gcsCoordinate.altitude();
     estimationCapabilities |= (1 << POS);
 

src/GCSGeofence/CMakeLists.txt

@@ -0,0 +1,28 @@
+# ============================================================================
+# GCS Geofence Module
+# Client-side geofence monitoring and vehicle fence synchronization
+# ============================================================================
+
+target_sources(${CMAKE_PROJECT_NAME}
+    PRIVATE
+        GCSGeofenceMonitor.cc
+        GCSGeofenceMonitor.h
+        GCSGeofenceSyncer.cc
+        GCSGeofenceSyncer.h
+)
+
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
+
+# ----------------------------------------------------------------------------
+# GCSGeofence QML Module
+# ----------------------------------------------------------------------------
+qt_add_library(GCSGeofenceModule STATIC)
+
+qt_add_qml_module(GCSGeofenceModule
+    URI QGroundControl.GCSGeofence
+    VERSION 1.0
+    RESOURCE_PREFIX /qml
+    QML_FILES
+        GCSGeofenceAlert.qml
+    NO_PLUGIN
+)