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.

Author: rubenp02

src/FlightDisplay/GuidedActionsController.qml

@@ -160,8 +160,8 @@ Item {
     property bool showSetEstimatorOrigin:   _activeVehicle && !(_activeVehicle.sensorsPresentBits & Vehicle.SysStatusSensorGPS)
     property bool showChangeHeading:        _guidedActionsEnabled && _vehicleFlying
 
-    property string changeSpeedTitle:   _fixedWing ? changeAirspeedTitle : changeCruiseSpeedTitle
-    property string changeSpeedMessage: _fixedWing ? changeAirspeedMessage : changeCruiseSpeedMessage
+    property string changeSpeedTitle:   _vehicleInFwdFlight ? changeAirspeedTitle : changeCruiseSpeedTitle
+    property string changeSpeedMessage: _vehicleInFwdFlight ? changeAirspeedMessage : changeCruiseSpeedMessage
 
     // Note: The '_missionItemCount - 2' is a hack to not trigger resume mission when a mission ends with an RTL item
     property bool showResumeMission:    _activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < _missionItemCount - 2)
@@ -190,8 +190,8 @@ Item {
     property bool   _vehicleWasFlying:      false
     property bool   _rcRSSIAvailable:       _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100 : false
     property bool   _fixedWingOnApproach:   _activeVehicle ? _activeVehicle.fixedWing && _vehicleLanding : false
-    property bool   _fixedWing:             _activeVehicle ? _activeVehicle.fixedWing || _activeVehicle.vtolInFwdFlight : false
-    property bool  _speedLimitsAvailable:   _activeVehicle && ((_fixedWing && _activeVehicle.haveFWSpeedLimits) || (!_fixedWing && _activeVehicle.haveMRSpeedLimits))
+    property bool   _vehicleInFwdFlight:    _activeVehicle ? _activeVehicle.inFwdFlight : false
+    property bool  _speedLimitsAvailable:   _activeVehicle && ((_vehicleInFwdFlight && _activeVehicle.haveFWSpeedLimits) || (!_vehicleInFwdFlight && _activeVehicle.haveMRSpeedLimits))
     property var   _gripperFunction:        undefined
 
     // You can turn on log output for GuidedActionsController by turning on GuidedActionsControllerLog category
@@ -226,22 +226,22 @@ Item {
                 _unitsConversion.metersToAppSettingsVerticalDistanceUnits(_activeVehicle.minimumTakeoffAltitudeMeters()),
                 qsTr("Height (rel)"))
         } else if (actionCode === actionChangeSpeed) {
-            if (_fixedWing) {
+            if (_vehicleInFwdFlight) {
                 guidedValueSlider.setupSlider(
                     GuidedValueSlider.SliderType.Speed,
                     _unitsConversion.metersSecondToAppSettingsSpeedUnits(_activeVehicle.minimumEquivalentAirspeed()).toFixed(1),
                     _unitsConversion.metersSecondToAppSettingsSpeedUnits(_activeVehicle.maximumEquivalentAirspeed()).toFixed(1),
                     _unitsConversion.metersSecondToAppSettingsSpeedUnits(_activeVehicle.minimumEquivalentAirspeed()).toFixed(1),
                     qsTr("Airspeed"))
-            } else if (!_fixedWing && _activeVehicle.haveMRSpeedLimits) {
+            } else if (!_vehicleInFwdFlight && _activeVehicle.haveMRSpeedLimits) {
                 guidedValueSlider.setupSlider(
                     GuidedValueSlider.SliderType.Speed,
                     _unitsConversion.metersSecondToAppSettingsSpeedUnits(0.1).toFixed(1),
                     _unitsConversion.metersSecondToAppSettingsSpeedUnits(_activeVehicle.maximumHorizontalSpeedMultirotor()).toFixed(1),
                     _unitsConversion.metersSecondToAppSettingsSpeedUnits(_activeVehicle.maximumHorizontalSpeedMultirotor()/2).toFixed(1),
                     qsTr("Speed"))
             } else {
-                console.error("setupSlider called for inapproproate change speed action", _fixedWing, _activeVehicle.haveMRSpeedLimits)
+                console.error("setupSlider called for inapproproate change speed action", _vehicleInFwdFlight, _activeVehicle.haveMRSpeedLimits)
             }
         } else if (actionCode === actionChangeAlt || actionCode === actionOrbit || actionCode === actionGoto || actionCode === actionPause) {
             guidedValueSlider.setupSlider(
@@ -682,7 +682,7 @@ Item {
             if (_activeVehicle) {
                 // We need to convert back to m/s as that is what mavlink standard uses for MAV_CMD_DO_CHANGE_SPEED
                 var metersSecondSpeed = _unitsConversion.appSettingsSpeedUnitsToMetersSecond(sliderOutputValue)
-                if (_activeVehicle.vtolInFwdFlight || _activeVehicle.fixedWing) {
+                if (_vehicleInFwdFlight) {
                    _activeVehicle.guidedModeChangeEquivalentAirspeedMetersSecond(metersSecondSpeed)
                 } else {
                     _activeVehicle.guidedModeChangeGroundSpeedMetersSecond(metersSecondSpeed)

src/Vehicle/Vehicle.cc

@@ -261,6 +261,9 @@ void Vehicle::_commonInit()
     // Initialize alt above terrain to Nan so frontend can display it correctly in case the terrain query had no response
     _altitudeAboveTerrFact.setRawValue(qQNaN());
 
+    connect(this, &Vehicle::vehicleTypeChanged,     this, &Vehicle::inFwdFlightChanged);
+    connect(this, &Vehicle::vtolInFwdFlightChanged, this, &Vehicle::inFwdFlightChanged);
+
     connect(QGCPositionManager::instance(), &QGCPositionManager::gcsPositionChanged, this, &Vehicle::_updateDistanceToGCS);
     connect(QGCPositionManager::instance(), &QGCPositionManager::gcsPositionChanged, this, &Vehicle::_updateHomepoint);
 
@@ -2303,6 +2306,12 @@ void Vehicle::setGuidedMode(bool guidedMode)
     return _firmwarePlugin->setGuidedMode(this, guidedMode);
 }
 
+bool Vehicle::inFwdFlight() const
+{
+    return fixedWing() || _vtolInFwdFlight;
+}
+
+
 void Vehicle::emergencyStop()
 {
     sendMavCommand(

src/Vehicle/Vehicle.h

@@ -206,6 +206,7 @@ class Vehicle : public VehicleFactGroup
     Q_PROPERTY(QVariantList         staticCameraList            READ staticCameraList                                               CONSTANT)
     Q_PROPERTY(QGCCameraManager*    cameraManager               READ cameraManager                                                  NOTIFY cameraManagerChanged)
     Q_PROPERTY(QString              hobbsMeter                  READ hobbsMeter                                                     NOTIFY hobbsMeterChanged)
+    Q_PROPERTY(bool                 inFwdFlight                 READ inFwdFlight                                                    NOTIFY inFwdFlightChanged)
     Q_PROPERTY(bool                 vtolInFwdFlight             READ vtolInFwdFlight            WRITE setVtolInFwdFlight            NOTIFY vtolInFwdFlightChanged)
     Q_PROPERTY(bool                 supportsTerrainFrame        READ supportsTerrainFrame                                           NOTIFY firmwareTypeChanged)
     Q_PROPERTY(quint64              mavlinkSentCount            READ mavlinkSentCount                                               NOTIFY mavlinkStatusChanged)
@@ -535,6 +536,7 @@ class Vehicle : public VehicleFactGroup
     bool            flying                      () const { return _flying; }
     bool            landing                     () const { return _landing; }
     bool            guidedMode                  () const;
+    bool            inFwdFlight                 () const;
     bool            vtolInFwdFlight             () const { return _vtolInFwdFlight; }
     uint8_t         baseMode                    () const { return _base_mode; }
     uint32_t        customMode                  () const { return _custom_mode; }
@@ -832,6 +834,7 @@ public slots:
     void flyingChanged                  (bool flying);
     void landingChanged                 (bool landing);
     void guidedModeChanged              (bool guidedMode);
+    void inFwdFlightChanged             ();
     void vtolInFwdFlightChanged         (bool vtolInFwdFlight);
     void prearmErrorChanged             (const QString& prearmError);
     void soloFirmwareChanged            (bool soloFirmware);