Add support for multi-GCS operation

cmake/CustomOptions.cmake

@@ -35,7 +35,7 @@ option(QGC_ENABLE_QT_VIDEOSTREAMING "Enable QtMultimedia Video Backend" OFF) # Q
 
 # MAVLink
 set(QGC_MAVLINK_GIT_REPO "https://github.com/mavlink/c_library_v2.git" CACHE STRING "URL to MAVLink Git Repo")
-set(QGC_MAVLINK_GIT_TAG "7ea034366ee7f09f3991a5b82f51f0c259023b38" CACHE STRING "Tag of MAVLink Git Repo")
+set(QGC_MAVLINK_GIT_TAG "19f9955598af9a9181064619bd2e3c04bd2d848a" CACHE STRING "Tag of MAVLink Git Repo")
 
 # APM
 option(QGC_DISABLE_APM_MAVLINK "Disable APM Dialect" OFF)

qgcresources.qrc

@@ -110,4 +110,9 @@
     <qresource prefix="/gimbal">
         <file alias="payload.svg">resources/gimbal/payload.svg</file>
     </qresource>
+    <qresource prefix="/gcscontrolIndicator">
+        <file alias="gcscontrol_device.svg">resources/gcscontrolIndicator/gcscontrol_device.svg</file>
+        <file alias="gcscontrol_gcs.svg">resources/gcscontrolIndicator/gcscontrol_gcs.svg</file>
+        <file alias="gcscontrol_line.svg">resources/gcscontrolIndicator/gcscontrol_line.svg</file>
+    </qresource>
 </RCC>

qgroundcontrol.qrc

@@ -12,6 +12,7 @@
         <file alias="TelemetryRSSIIndicator.qml">src/UI/toolbar/TelemetryRSSIIndicator.qml</file>
         <file alias="APMSupportForwardingIndicator.qml">src/UI/toolbar/APMSupportForwardingIndicator.qml</file>
         <file alias="GimbalIndicator.qml">src/UI/toolbar/GimbalIndicator.qml</file>
+        <file alias="GCSControlIndicator.qml">src/UI/toolbar/GCSControlIndicator.qml</file>
     </qresource>
     <qresource prefix="/checklists">
         <file alias="DefaultChecklist.qml">src/FlightDisplay/DefaultChecklist.qml</file>
@@ -208,6 +209,7 @@
         <file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
         <file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file>
         <file alias="QGroundControl/Controls/VTOLLandingPatternMapVisual.qml">src/PlanView/VTOLLandingPatternMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/TimedProgressTracker.qml">src/QmlControls/TimedProgressTracker.qml</file>
         <file alias="QGroundControl/FactControls/AltitudeFactTextField.qml">src/FactSystem/FactControls/AltitudeFactTextField.qml</file>
         <file alias="QGroundControl/FactControls/FactBitmask.qml">src/FactSystem/FactControls/FactBitmask.qml</file>
         <file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file>

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -212,6 +212,10 @@ const QVariantList &FirmwarePlugin::toolIndicators(const Vehicle*)
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Controls/BatteryIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/RemoteIDIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/GimbalIndicator.qml")),
+// ControlIndicator is only available in debug builds for the moment
+#ifdef QT_DEBUG
+            QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/GCSControlIndicator.qml")),
+#endif
         });
     }
 

src/QmlControls/QGroundControl/Controls/qmldir

@@ -130,3 +130,5 @@ ValueSlider                             1.0 ValueSlider.qml
 VehicleMessageList                      1.0 VehicleMessageList.qml
 VehicleRotationCal                      1.0 VehicleRotationCal.qml
 VehicleSummaryRow                       1.0 VehicleSummaryRow.qml
+MAVLinkChart                            1.0 MAVLinkChart.qml
+TimedProgressTracker                    1.0 TimedProgressTracker.qml

src/QmlControls/TimedProgressTracker.qml

@@ -0,0 +1,74 @@
+import QtQuick
+
+Item {
+    id: root
+    // Setable propterties
+    property real   timeoutSeconds:     0
+    property string progressLabel:      ""
+    property bool   running:            false
+
+    // Do not set these properties
+    property real   progress:           0
+
+    signal timeout()
+
+    property double _lastUpdateTime:    0
+
+    Timer {
+        id:             timeoutTimer
+        interval:       timeoutSeconds * 1000
+        repeat:         false
+        running:        running
+
+        onTriggered: {
+            root.running = false
+            root.progress = 0
+            root.progressLabel = ""
+            root.timeout()
+        }
+    }
+
+    SequentialAnimation on progress { 
+        id:             progressAnimation
+        running:        root.running
+        loops:          1
+
+        NumberAnimation { 
+            target: root
+            property: "progress"
+            to: 1
+            duration: timeoutSeconds * 1000 
+        }
+    }
+
+    onProgressChanged: {
+        const currentTime = Date.now() * 0.001
+        if (currentTime - _lastUpdateTime < 0.1) {
+            return
+        }
+
+        if (running) {
+            var currentCount = (progress * timeoutSeconds)
+            progressLabel = (timeoutSeconds - currentCount).toFixed(1)
+        } else {
+            progressLabel = ""
+        }
+
+        _lastUpdateTime = currentTime
+    }
+
+    function start() {
+        running = true
+        progress = 0
+        timeoutTimer.restart()
+        progressAnimation.restart()
+    }
+
+    function stop() {
+        running = false
+        progress = 0
+        timeoutTimer.stop()
+        progressAnimation.stop()
+        progressLabel = ""
+    }
+}

src/Settings/FlyView.SettingsGroup.json

@@ -74,6 +74,20 @@
     "enumStrings":  "Integrated Compass & Attitude,Horizontal Compass & Attitude,Large Vertical",
     "enumValues":   "qrc:/qml/IntegratedCompassAttitude.qml,qrc:/qml/HorizontalCompassAttitude.qml,qrc:/qml/VerticalCompassAttitude.qml",
     "default":      "qrc:/qml/IntegratedCompassAttitude.qml"
+},
+{
+    "name":         "requestControlAllowTakeover",
+    "shortDesc":    "When requesting vehicle control, allow other GCS to override control automatically, or require this GCS to accept the request first.",
+    "type":         "bool",
+    "default":      false
+},
+{
+    "name":         "requestControlTimeout",
+    "shortDesc":    "Timeout in seconds before a request to a GCS to allow takeover is assumed to be rejected. This is used to display the timeout graphically on requestor and GCS in control.",
+    "type":         "uint32",
+    "min":          3,
+    "max":          60,
+    "default":      10
 }
 ]
 }

src/Settings/FlyViewSettings.cc

@@ -27,3 +27,5 @@ DECLARE_SETTINGSFACT(FlyViewSettings, showSimpleCameraControl)
 DECLARE_SETTINGSFACT(FlyViewSettings, showObstacleDistanceOverlay)
 DECLARE_SETTINGSFACT(FlyViewSettings, updateHomePosition)
 DECLARE_SETTINGSFACT(FlyViewSettings, instrumentQmlFile)
+DECLARE_SETTINGSFACT(FlyViewSettings, requestControlAllowTakeover)
+DECLARE_SETTINGSFACT(FlyViewSettings, requestControlTimeout)

src/Settings/FlyViewSettings.h

@@ -30,4 +30,6 @@ class FlyViewSettings : public SettingsGroup
     DEFINE_SETTINGFACT(showObstacleDistanceOverlay)
     DEFINE_SETTINGFACT(updateHomePosition)
     DEFINE_SETTINGFACT(instrumentQmlFile)
+    DEFINE_SETTINGFACT(requestControlAllowTakeover)
+    DEFINE_SETTINGFACT(requestControlTimeout)
 };

src/UI/MainRootWindow.qml

@@ -677,7 +677,6 @@ ApplicationWindow {
         modal:          true
         focus:          true
         closePolicy:    Popup.CloseOnEscape | Popup.CloseOnPressOutside
-        dim:            false
 
         property var sourceComponent
         property var indicatorItem