GPS: Move FactGroup from Vehicle to GPS

custom-example/qgroundcontrol.qrc

@@ -400,7 +400,7 @@
 		<file alias="Vehicle/EscStatusFactGroup.json">../src/Vehicle/FactGroups/EscStatusFactGroup.json</file>
 		<file alias="Vehicle/EstimatorStatusFactGroup.json">../src/Vehicle/FactGroups/EstimatorStatusFactGroup.json</file>
 		<file alias="Vehicle/GPSFact.json">../src/Vehicle/FactGroups/GPSFact.json</file>
-		<file alias="Vehicle/GPSRTKFact.json">../src/Vehicle/FactGroups/GPSRTKFact.json</file>
+		<file alias="Vehicle/GPSRTKFact.json">../src/GPS/GPSRTKFact.json</file>
 		<file alias="Vehicle/SetpointFact.json">../src/Vehicle/FactGroups/SetpointFact.json</file>
 		<file alias="Vehicle/LocalPositionFact.json">../src/Vehicle/FactGroups/LocalPositionFact.json</file>
 		<file alias="Vehicle/LocalPositionSetpointFact.json">../src/Vehicle/FactGroups/LocalPositionFact.json</file>

qgroundcontrol.qrc

@@ -402,7 +402,7 @@
         <file alias="Vehicle/EscStatusFactGroup.json">src/Vehicle/FactGroups/EscStatusFactGroup.json</file>
         <file alias="Vehicle/EstimatorStatusFactGroup.json">src/Vehicle/FactGroups/EstimatorStatusFactGroup.json</file>
         <file alias="Vehicle/GPSFact.json">src/Vehicle/FactGroups/GPSFact.json</file>
-        <file alias="Vehicle/GPSRTKFact.json">src/Vehicle/FactGroups/GPSRTKFact.json</file>
+        <file alias="Vehicle/GPSRTKFact.json">src/GPS/GPSRTKFact.json</file>
         <file alias="Vehicle/SetpointFact.json">src/Vehicle/FactGroups/SetpointFact.json</file>
         <file alias="Vehicle/LocalPositionFact.json">src/Vehicle/FactGroups/LocalPositionFact.json</file>
         <file alias="Vehicle/LocalPositionSetpointFact.json">src/Vehicle/FactGroups/LocalPositionFact.json</file>

src/GPS/CMakeLists.txt

@@ -56,6 +56,8 @@ target_sources(GPS
         GPSProvider.h
         GPSRtk.cc
         GPSRtk.h
+        GPSRTKFactGroup.cc
+        GPSRTKFactGroup.h
         RTCMMavlink.cc
         RTCMMavlink.h
         satellite_info.h

src/GPS/GPSRTKFactGroup.cc

@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "GPSRTKFactGroup.h"
+#include "QGCLoggingCategory.h"
+
+QGC_LOGGING_CATEGORY(GPSRTKFactGroupLog, "qgc.gps.gpsrtkfactgroup")
+
+GPSRTKFactGroup::GPSRTKFactGroup(QObject *parent)
+    : FactGroup(1000, ":/json/Vehicle/GPSRTKFact.json", parent)
+    , _connected(new Fact(0, _connectedFactName, FactMetaData::valueTypeBool, this))
+    , _currentDuration(new Fact(0, _currentDurationFactName, FactMetaData::valueTypeDouble, this))
+    , _currentAccuracy(new Fact(0, _currentAccuracyFactName, FactMetaData::valueTypeDouble, this))
+    , _currentLatitude(new Fact(0, _currentLatitudeFactName, FactMetaData::valueTypeDouble, this))
+    , _currentLongitude(new Fact(0, _currentLongitudeFactName, FactMetaData::valueTypeDouble, this))
+    , _currentAltitude(new Fact(0, _currentAltitudeFactName, FactMetaData::valueTypeFloat, this))
+    , _valid(new Fact(0, _validFactName, FactMetaData::valueTypeBool, this))
+    , _active(new Fact(0, _activeFactName, FactMetaData::valueTypeBool, this))
+    , _numSatellites(new Fact(0, _numSatellitesFactName, FactMetaData::valueTypeInt32, this))
+{
+    // qCDebug(GPSRTKFactGroupLog) << Q_FUNC_INFO << this;
+
+    _addFact(_connected, _connectedFactName);
+    _addFact(_currentDuration, _currentDurationFactName);
+    _addFact(_currentAccuracy, _currentAccuracyFactName);
+    _addFact(_currentLatitude, _currentLatitudeFactName);
+    _addFact(_currentLongitude, _currentLongitudeFactName);
+    _addFact(_currentAltitude, _currentAltitudeFactName);
+    _addFact(_valid, _validFactName);
+    _addFact(_active, _activeFactName);
+    _addFact(_numSatellites, _numSatellitesFactName);
+}
+
+GPSRTKFactGroup::~GPSRTKFactGroup()
+{
+    // qCDebug(GPSRTKFactGroupLog) << Q_FUNC_INFO << this;
+}

src/GPS/GPSRTKFactGroup.h

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <QtCore/QLoggingCategory>
+
+#include "FactGroup.h"
+
+Q_DECLARE_LOGGING_CATEGORY(GPSRTKFactGroupLog)
+
+class GPSRTKFactGroup : public FactGroup
+{
+    Q_OBJECT
+    Q_PROPERTY(Fact *connected          READ connected          CONSTANT)
+    Q_PROPERTY(Fact *currentDuration    READ currentDuration    CONSTANT)
+    Q_PROPERTY(Fact *currentAccuracy    READ currentAccuracy    CONSTANT)
+    Q_PROPERTY(Fact *currentLatitude    READ currentLatitude    CONSTANT)
+    Q_PROPERTY(Fact *currentLongitude   READ currentLongitude   CONSTANT)
+    Q_PROPERTY(Fact *currentAltitude    READ currentAltitude    CONSTANT)
+    Q_PROPERTY(Fact *valid              READ valid              CONSTANT)
+    Q_PROPERTY(Fact *active             READ active             CONSTANT)
+    Q_PROPERTY(Fact *numSatellites      READ numSatellites      CONSTANT)
+
+public:
+    explicit GPSRTKFactGroup(QObject* parent = nullptr);
+    ~GPSRTKFactGroup();
+
+    Fact *connected() const { return _connected; }
+    Fact *currentDuration() const { return _currentDuration; }
+    Fact *currentAccuracy() const { return _currentAccuracy; }
+    Fact *currentLatitude() const { return _currentLatitude; }
+    Fact *currentLongitude() const { return _currentLongitude; }
+    Fact *currentAltitude() const { return _currentAltitude; }
+    Fact *valid() const { return _valid; }
+    Fact *active() const { return _active; }
+    Fact *numSatellites() const { return _numSatellites; }
+
+private:
+    const QString _connectedFactName = QStringLiteral("connected");
+    const QString _currentAccuracyFactName = QStringLiteral("currentAccuracy");
+    const QString _currentDurationFactName = QStringLiteral("currentDuration");
+    const QString _currentLatitudeFactName = QStringLiteral("currentLatitude");
+    const QString _currentLongitudeFactName = QStringLiteral("currentLongitude");
+    const QString _currentAltitudeFactName = QStringLiteral("currentAltitude");
+    const QString _validFactName = QStringLiteral("valid");
+    const QString _activeFactName = QStringLiteral("active");
+    const QString _numSatellitesFactName = QStringLiteral("numSatellites");
+
+    Fact *_connected = nullptr;        ///< is an RTK gps connected?
+    Fact *_currentDuration = nullptr;  ///< survey-in status in [s]
+    Fact *_currentAccuracy = nullptr;  ///< survey-in accuracy in [mm]
+    Fact *_currentLatitude = nullptr;  ///< survey-in latitude
+    Fact *_currentLongitude = nullptr; ///< survey-in latitude
+    Fact *_currentAltitude = nullptr;  ///< survey-in latitude
+    Fact *_valid = nullptr;            ///< survey-in complete?
+    Fact *_active = nullptr;           ///< survey-in active?
+    Fact *_numSatellites = nullptr;    ///< number of satellites
+};

src/GPS/satellite_info.h

@@ -7,39 +7,6 @@
  *
  ****************************************************************************/
 
-/****************************************************************************
- *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
 /* https://github.com/PX4/Firmware/blob/master/msg/SatelliteInfo.msg */
 
 #pragma once

src/GPS/sensor_gnss_relative.h

@@ -7,39 +7,6 @@
  *
  ****************************************************************************/
 
-/****************************************************************************
- *
- *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
 /* https://github.com/PX4/Firmware/blob/master/msg/SensorGnssRelative.msg */
 
 #pragma once

src/GPS/sensor_gps.h

@@ -7,39 +7,6 @@
  *
  ****************************************************************************/
 
-/****************************************************************************
- *
- *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
 /* https://github.com/PX4/Firmware/blob/master/msg/SensorGps.msg */
 
 #pragma once
@@ -62,6 +29,14 @@ struct sensor_gps_s
 
 	float s_variance_m_s;
 	float c_variance_rad;
+
+	static constexpr uint8_t FIX_TYPE_NONE = 1;
+	static constexpr uint8_t FIX_TYPE_2D = 2;
+	static constexpr uint8_t FIX_TYPE_3D = 3;
+	static constexpr uint8_t FIX_TYPE_RTCM_CODE_DIFFERENTIAL = 4;
+	static constexpr uint8_t FIX_TYPE_RTK_FLOAT = 5;
+	static constexpr uint8_t FIX_TYPE_RTK_FIXED = 6;
+	static constexpr uint8_t FIX_TYPE_EXTRAPOLATED = 8;
 	uint8_t fix_type;
 
 	float eph;
@@ -106,6 +81,7 @@ struct sensor_gps_s
 	uint8_t selected_rtcm_instance;
 
 	bool rtcm_crc_failed;
+
 	static constexpr uint8_t RTCM_MSG_USED_UNKNOWN = 0;
 	static constexpr uint8_t RTCM_MSG_USED_NOT_USED = 1;
 	static constexpr uint8_t RTCM_MSG_USED_USED = 2;

src/Vehicle/FactGroups/CMakeLists.txt

@@ -1,8 +1,6 @@
 find_package(Qt6 REQUIRED COMPONENTS Core)
 
 qt_add_library(VehicleFactGroups STATIC
-    GPSRTKFactGroup.cc
-    GPSRTKFactGroup.h
     TerrainFactGroup.cc
     TerrainFactGroup.h
     VehicleBatteryFactGroup.cc