Guided mode improvements

[rubenp02]

Guided mode improvements

Description

Various improvements to Guided mode and its actions, mostly for ArduPilot.

Fix overlap between Go here and Orbit map items:

Added a visibility condition to the Orbit map item to hide it when the orbit is part of a Go To action, preventing both items from overlapping.

Fix Orbit and Go here map items disappearing:

Fixed an issue where the Orbit and Go here map items would disappear upon opening the map click drop panel. Also tweaked the formatting of the conditional expression that controls the panel's opening.

Restore previous Go here map item on cancellation:

Added logic to commit and revert coordinate changes for the Go here map item. Updated the Go To action handlers to utilize this logic, allowing the previous Go here item to be restored when a Go To action is cancelled.

Add property to check if vehicle in forward flight:

Added a new property in the Vehicle class to determine if the vehicle is in forward flight. This was previously done in GuidedActionsController.qml but it's useful enough to include in the main Vehicle class. The existing logic in the GuidedActionsController module has been updated to utilize this new property.

Support MAV_CMD_DO_REPOSITION radius parameter:

Added support for the radius parameter of the MAV_CMD_DO_REPOSITION command. When in forward flight, this parameter can be used to specify the radius of the orbit around the Go here position in Guided Mode. A Fly View setting has been added to control this radius.

Key changes:

• Modified the guidedModeGotoLocation method across all firmware plugins to accept an optional forwardFlightLoiterRadius parameter, which sets the desired loiter radius during forward flight.
• Added "Loiter Radius in Forward Flight" setting to the Guided Commands section of the FlyViewSettings to control the default radius.

Note: PX4 doesn't doesn't handle the radius parameter per the MAVLink spec and therefore doesn't support this functionality.

Add Go here circle visuals if in forward flight:

Added circle visuals to the Go here map item to show the orbit pattern that aircraft in forward flight will follow upon reaching the position.

This feature is already available in firmware that supports the ORBIT_EXECUTION_STATUS MAVLink message, so this is only shown for vehicles operating on firmware that lacks this support.

Add "Change Loiter Radius" action:

Added a new Guided mode action to change the radius of the orbit around the Go here position when in forward flight. This action integrates with the Go here circle visuals, allowing the new radius to be selected using the MapCircleVisuals interactive editing gizmo.

Add Go to confirmation option to Fly View settings:

Added a Fly View setting to require confirmation for the "Go to location" action when in Guided/Go To mode. The option is disabled by default to avoid constant confirmation requests, as accidental triggers are rare. However, a confirmation is always required if the vehicle is not already in Guided/Go To mode. Enabling this setting restores the previous behavior of always requiring confirmation.

Demo

guided-mode-improvements-demo.mp4

Checklist:

• Review Contribution Guidelines.
• Review Code of Conduct.
• I have tested my changes.

By submitting this pull request, I confirm that you can use, modify, copy, and redistribute this contribution, under the terms of your choice.

[rubenp02]

A couple issues that remain (neither of them is a consequence of this PR, but maybe they should be fixed here) are:

• At least in ArduPilot, when launching the Go To action while in Auto mode, the action's hide trigger quickly toggles, not sure why. The action still happens normally, but its cancel handler is called when it shouldn't. This makes the Go here map item disappear.
• When the Go To action fails after confirmation (for example, when the destination is too far) the map item doesn't reflect this (it remains at the confirmed position).

[DonLakeFlyer]

Sorry it's taking me so long on this. I'm prepping for a big testing trip in Zimbabwe in a few weeks. So I'm totally swamped right now.

[DonLakeFlyer]

The option is disabled by default to avoid constant confirmation requests, as accidental triggers are rare.

I don't think this is a good idea. The concept of being in "Guided" mode is more of a QGC thing than a reality across firmwares. For example in PX4 when you Takeoff, and then takeoff is complete the vehicle goes into Hold flight mode. This is "Guided" mode for PX4. Which in turns means if you then do a goto, you will not be prompted to confirm. I get it's rare to get an accidental goto but this is a change in functionality from pervious version where someone might be used to getting a confirm and all of the sudden the vehicle just takes off in a direction right away. I think this should always require confirm without an option to turn off/on. Just like everything else.

[DonLakeFlyer]

The inFwdFlight thing is fixed wing only right? If so, I think it would be better to call that out and change it to 'fixedWingInFwdFlight' or something like that to make it more clear what this is. Or 'fwInFwdFlight'? When I first looked at this I was a little confused as to when it would be active.

[rubenp02]

The inFwdFlight thing is fixed wing only right? If so, I think it would be better to call that out and change it to 'fixedWingInFwdFlight' or something like that to make it more clear what this is.

No, it's for any kind of forward flight (fixed-wing or VTOL if it currently is in forward flight). That's why I added it, since there already is a fixedWing Vehicle Q_PROPERTY.

[DonLakeFlyer]

Yeah, I think of VTOL as a fixed wing as well. Anyway, leave it as is.

[DonLakeFlyer]

Testing PX4 sitl: I'm confused as to GoTo showing a loiter radius on the map for FW when flying PX4. Where does that radius come from if PX4 doesn't support radius on goto?

[DonLakeFlyer]

Also since goto stores the loiter radius in settings so next time that's what you get. Should orbit do the same?

[rubenp02]

I'm confused as to GoTo showing a loiter radius on the map for FW when flying PX4. Where does that radius come from if PX4 doesn't support radius on goto?

That's the orbit mode telemetry. PX4 seems to send that whenever it's on a loiter pattern. That's on master as well, and since APM doesn't support orbit mode at all, I decided to make this PR as kind of a fallback so that it also gets loiter visuals in Guided mode most of the time.

This PR also fixes an overlap between the GoTo and the Orbit visuals in PX4.

[rubenp02]

Also since goto stores the loiter radius in settings so next time that's what you get. Should orbit do the same?

I didn't know that and it's undesirable for my use case, but I can add it as an option defaulted to true if you want. It could affect both goto and orbit.

[DonLakeFlyer]

• Added "Loiter Radius in Forward Flight" setting to the Guided Commands section of the FlyViewSettings to control the default radius.

It would be awesome if this worked a little more like Plan view. Where you can click on things to make them "interactive". Or in other words you click the Orbit or GoTo item in the map and the draggable radius things shows back up to change. Also not sure if the draggable thingies show the actual radius somewhere on the screen so you know how big you are making it? I know much more complicated, but also much nicer.

[rubenp02]

• Added "Loiter Radius in Forward Flight" setting to the Guided Commands section of the FlyViewSettings to control the default radius.

It would be awesome if this worked a little more like Plan view. Where you can click on things to make them "interactive". Or in other words you click the Orbit or GoTo item in the map and the draggable radius things shows back up to change. Also not sure if the draggable thingies show the actual radius somewhere on the screen so you know how big you are making it? I know much more complicated, but also much nicer.

I thought about adding an overlay when dragging that shows the current radius and I agree it would be very nice. As for the other things I'd say they would make it too easy to fat finger a loiter to somewhere you don't want.

[DonLakeFlyer]

For interactive you still would need a confirm slider to make anything actually happen and then you can cancel as well. So confirm slider displays when you go into interactive. Finger futz radius. Confirm/Cancel. I think that's doable with the current guided controller stuff.

[DonLakeFlyer]

For interactive you still would need a confirm slider to make anything actually happen and then you can cancel as well. So confirm slider displays when you go into interactive. Finger futz radius. Confirm/Cancel. I think that's doable with the current guided controller stuff.

That said, all depends on how much effort you want to put into this. It's ok as is.