Improve gimbal support for QGC 4.4

qgcresources.qrc

@@ -108,4 +108,7 @@
     <qresource prefix="/opengl">
         <file>resources/opengl/buglist.json</file>
     </qresource>
+    <qresource prefix="/gimbal">
+        <file alias="payload.svg">resources/gimbal/payload.svg</file>
+    </qresource>
 </RCC>

qgroundcontrol.pro

@@ -395,6 +395,7 @@ INCLUDEPATH += \
     src/FlightMap/Widgets \
     src/FollowMe \
     src/Geo \
+    src/Gimbal \
     src/GPS \
     src/Joystick \
     src/PlanView \
@@ -647,6 +648,7 @@ HEADERS += \
     src/Geo/MGRS.hpp \
     src/Geo/TransverseMercator.hpp \
     src/Geo/PolarStereographic.hpp \
+    src/Gimbal/GimbalController.h \
     src/QGC.h \
     src/QGCApplication.h \
     src/QGCCachedFileDownload.h \
@@ -693,6 +695,7 @@ HEADERS += \
     src/Settings/SettingsManager.h \
     src/Settings/UnitsSettings.h \
     src/Settings/VideoSettings.h \
+    src/Settings/GimbalControllerSettings.h \
     src/ShapeFileHelper.h \
     src/SHPFileHelper.h \
     src/Terrain/TerrainQuery.h \
@@ -907,6 +910,7 @@ SOURCES += \
     src/Geo/MGRS.cpp \
     src/Geo/TransverseMercator.cpp \
     src/Geo/PolarStereographic.cpp \
+    src/Gimbal/GimbalController.cc \
     src/QGC.cc \
     src/QGCApplication.cc \
     src/QGCCachedFileDownload.cc \
@@ -952,6 +956,7 @@ SOURCES += \
     src/Settings/SettingsManager.cc \
     src/Settings/UnitsSettings.cc \
     src/Settings/VideoSettings.cc \
+    src/Settings/GimbalControllerSettings.cc \
     src/ShapeFileHelper.cc \
     src/SHPFileHelper.cc \
     src/Terrain/TerrainQuery.cc \

qgroundcontrol.qrc

@@ -15,10 +15,10 @@
         <file alias="MultiVehicleSelector.qml">src/ui/toolbar/MultiVehicleSelector.qml</file>
         <file alias="RCRSSIIndicator.qml">src/ui/toolbar/RCRSSIIndicator.qml</file>
         <file alias="RemoteIDIndicator.qml">src/ui/toolbar/RemoteIDIndicator.qml</file>
-        <file alias="ROIIndicator.qml">src/ui/toolbar/ROIIndicator.qml</file>
         <file alias="TelemetryRSSIIndicator.qml">src/ui/toolbar/TelemetryRSSIIndicator.qml</file>
         <file alias="VTOLModeIndicator.qml">src/ui/toolbar/VTOLModeIndicator.qml</file>
         <file alias="APMSupportForwardingIndicator.qml">src/ui/toolbar/APMSupportForwardingIndicator.qml</file>
+        <file alias="GimbalIndicator.qml">src/ui/toolbar/GimbalIndicator.qml</file>
     </qresource>
     <qresource prefix="/checklists">
         <file alias="DefaultChecklist.qml">src/FlightDisplay/DefaultChecklist.qml</file>
@@ -215,6 +215,7 @@
         <file alias="QGroundControl/FlightDisplay/FlyViewToolStrip.qml">src/FlightDisplay/FlyViewToolStrip.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlyViewToolStripActionList.qml">src/FlightDisplay/FlyViewToolStripActionList.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlyViewVideo.qml">src/FlightDisplay/FlyViewVideo.qml</file>
+        <file alias="QGroundControl/FlightDisplay/OnScreenGimbalController.qml">src/FlightDisplay/OnScreenGimbalController.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlyViewWidgetLayer.qml">src/FlightDisplay/FlyViewWidgetLayer.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedActionActionList.qml">src/FlightDisplay/GuidedActionActionList.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedActionConfirm.qml">src/FlightDisplay/GuidedActionConfirm.qml</file>
@@ -349,8 +350,10 @@
         <file alias="Vehicle/HygrometerFact.json">src/Vehicle/HygrometerFact.json</file>
         <file alias="Vehicle/GeneratorFact.json">src/Vehicle/GeneratorFact.json</file>
         <file alias="Vehicle/EFIFact.json">src/Vehicle/EFIFact.json</file>
+        <file alias="Vehicle/GimbalFact.json">src/Gimbal/GimbalFact.json</file>
         <file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
         <file alias="VTOLLandingPattern.FactMetaData.json">src/MissionManager/VTOLLandingPattern.FactMetaData.json</file>
+        <file alias="GimbalController.SettingsGroup.json">src/Settings/GimbalController.SettingsGroup.json</file>
     </qresource>
     <qresource prefix="/MockLink">
         <file alias="APMArduSubMockLink.params">src/comm/APMArduSubMockLink.params</file>

resources/InstrumentValueIcons/InstrumentValueIcons.qrc

@@ -297,5 +297,7 @@
 		<file alias="buoy.svg">buoy.svg</file>
 		<file alias="cheveron-down.svg">cheveron-down.svg</file>
 		<file alias="view-tile.svg">view-tile.svg</file>
+		<file alias="gimbal-1.svg">gimbal-1.svg</file>
+		<file alias="gimbal-2.svg">gimbal-2.svg</file>
 	</qresource>
 </RCC>

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -333,6 +333,7 @@ const QVariantList& FirmwarePlugin::toolIndicators(const Vehicle*)
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/RCRSSIIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/BatteryIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/RemoteIDIndicator.qml")),
+            QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/GimbalIndicator.qml")),
         });
     }
     return _toolIndicatorList;
@@ -343,7 +344,6 @@ const QVariantList& FirmwarePlugin::modeIndicators(const Vehicle*)
     //-- Default list of indicators for all vehicles.
     if(_modeIndicatorList.size() == 0) {
         _modeIndicatorList = QVariantList({
-            QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ROIIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/MultiVehicleSelector.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/LinkIndicator.qml")),
         });