mavlink · DonLakeFlyer · Apr 5, 2024 · Apr 2, 2024
diff --git a/.github/workflows/android_debug.yml b/.github/workflows/android_debug.yml
@@ -101,7 +101,7 @@ jobs:
           arch:         ${{ matrix.arch }}
           dir:          ${{ runner.temp }}
           extra:        --autodesktop
-          modules:      qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
+          modules:      qtcharts qtlocation qtpositioning qtspeech qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
           cache:        true
 
       - name: Remove Android SDKs to force usage of android-33 only

diff --git a/.github/workflows/android_release.yml b/.github/workflows/android_release.yml
@@ -75,7 +75,7 @@ jobs:
           arch:         ${{ matrix.arch }}
           extra:        --autodesktop
           dir:          ${{ runner.temp }}
-          modules:      qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
+          modules:      qtcharts qtlocation qtpositioning qtspeech qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
           setup-python: true
           cache: true
 

diff --git a/.github/workflows/linux_debug.yml b/.github/workflows/linux_debug.yml
@@ -56,7 +56,7 @@ jobs:
           host:         linux
           target:       desktop
           dir:          ${{ runner.temp }}
-          modules:      qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
+          modules:      qtcharts qtlocation qtpositioning qtspeech qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
           setup-python: true
           cache: true
 

diff --git a/.github/workflows/linux_release.yml b/.github/workflows/linux_release.yml
@@ -60,7 +60,7 @@ jobs:
           host:         linux
           target:       desktop
           dir:          ${{ runner.temp }}
-          modules:      qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
+          modules:      qtcharts qtlocation qtpositioning qtspeech qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
           setup-python: true
           cache: true
 

diff --git a/.github/workflows/macos_debug.yml b/.github/workflows/macos_debug.yml
@@ -57,7 +57,7 @@ jobs:
           host:         mac
           target:       desktop
           dir:          ${{ runner.temp }}
-          modules:      qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
+          modules:      qtcharts qtlocation qtpositioning qtspeech qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
           setup-python: false
           cache: true
 

diff --git a/.github/workflows/macos_release.yml b/.github/workflows/macos_release.yml
@@ -58,7 +58,7 @@ jobs:
           host:         mac
           target:       desktop
           dir:          ${{ runner.temp }}
-          modules:      qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
+          modules:      qtcharts qtlocation qtpositioning qtspeech qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
           setup-python: false
           cache: true
 

diff --git a/.github/workflows/windows_debug.yml b/.github/workflows/windows_debug.yml
@@ -59,7 +59,7 @@ jobs:
           target:       desktop
           arch:         win64_msvc2019_64
           dir:          ${{ runner.temp }}
-          modules:      qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
+          modules:      qtcharts qtlocation qtpositioning qtspeech qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
           setup-python: true
           cache:        true
 

diff --git a/.github/workflows/windows_release.yml b/.github/workflows/windows_release.yml
@@ -60,7 +60,7 @@ jobs:
           target:       desktop
           arch:         win64_msvc2019_64
           dir:          ${{ runner.temp }}
-          modules:      qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
+          modules:      qtcharts qtlocation qtpositioning qtspeech qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d
           setup-python: false
           cache: true
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -67,7 +67,6 @@ find_package(Qt6
         Charts
         Concurrent
         Core
-        Core5Compat
         Location
         Multimedia
         Network

diff --git a/QGCPostLinkCommon.pri b/QGCPostLinkCommon.pri
@@ -95,7 +95,6 @@ LinuxBuild {
         libQt6QmlWorkerScript.so.6 \
         libQt6QuickShapes.so.6 \
         libQt6XcbQpa.so.6 \
-        libQt6Core5Compat.so.6 \
         libQt6Network.so.6 \ 
         libQt6QmlXmlListModel.so.6 \
         libQt6Quick.so.6 \

diff --git a/deploy/docker/Dockerfile-build-linux b/deploy/docker/Dockerfile-build-linux
@@ -6,7 +6,7 @@ FROM ubuntu:20.04
 LABEL authors="Daniel Agar <[email protected]>, Patrick José Pereira <[email protected]>"
 
 ARG QT_VERSION=6.6.1
-ARG QT_MODULES="qtlocation qtpositioning qtspeech qt5compat qtquick3d qtmultimedia qtserialport qtcharts qtshadertools"
+ARG QT_MODULES="qtlocation qtpositioning qtspeech qtquick3d qtmultimedia qtserialport qtcharts qtshadertools"
 
 ENV DEBIAN_FRONTEND noninteractive
 

diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
@@ -257,7 +257,6 @@ QT += \
     xml \
     texttospeech \
     core-private \
-    core5compat \
     quick3d
 
 # Multimedia only used if QVC is enabled

diff --git a/src/AutoPilotPlugins/APM/APMSafetyComponent.qml b/src/AutoPilotPlugins/APM/APMSafetyComponent.qml
@@ -10,7 +10,6 @@
 import QtQuick
 import QtQuick.Controls
 import QtQuick.Layouts
-import Qt5Compat.GraphicalEffects
 
 import QGroundControl.FactSystem
 import QGroundControl.FactControls
@@ -551,27 +550,21 @@ SetupPage {
                         height: landSpeedField.y + landSpeedField.height + _margins
                         color:  ggcPal.windowShade
 
-                        Image {
+                        QGCColoredImage {
                             id:                 icon
+                            visible:            _showIcon
                             anchors.margins:    _margins
                             anchors.left:       parent.left
                             anchors.top:        parent.top
                             height:             ScreenTools.defaultFontPixelWidth * 20
                             width:              ScreenTools.defaultFontPixelWidth * 20
+                            color:              ggcPal.text
                             sourceSize.width:   width
                             mipmap:             true
                             fillMode:           Image.PreserveAspectFit
-                            visible:            false
                             source:             "/qmlimages/ReturnToHomeAltitude.svg"
                         }
 
-                        ColorOverlay {
-                            anchors.fill:   icon
-                            source:         icon
-                            color:          ggcPal.text
-                            visible:        _showIcon
-                        }
-
                         QGCRadioButton {
                             id:                 returnAtCurrentRadio
                             anchors.margins:    _innerMargin

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -52,7 +52,6 @@ target_link_libraries(qgc
 		Qt6::QuickControls2
 		Qt6::QuickWidgets
 		Qt6::Widgets
-		Qt6::Core5Compat
 
 		ADSB
 		AirLink

diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -29,12 +29,11 @@
 #include "QGCLoggingCategory.h"
 
 #include <QTcpSocket>
-#include <QtCore5Compat/QRegExp>
+#include <QtCore/QRegularExpression>
+#include <QtCore/QRegularExpressionMatch>
 
 QGC_LOGGING_CATEGORY(APMFirmwarePluginLog, "APMFirmwarePluginLog")
 
-static const QRegularExpression APM_FRAME_REXP("^Frame: ");
-
 const char* APMFirmwarePlugin::_artooIP =                   "10.1.1.1"; ///< IP address of ARTOO controller
 const int   APMFirmwarePlugin::_artooVideoHandshakePort =   5502;       ///< Port for video handshake on ARTOO controller
 
@@ -261,21 +260,18 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* /*vehicle*/, mavlink_
     // APM user facing calibration messages come through as high severity, we need to parse them out
     // and lower the severity on them so that they don't pop in the users face.
 
-    QString messageText = _getMessageText(message);
+    const QString messageText = _getMessageText(message);
     if (messageText.contains("Place vehicle") || messageText.contains("Calibration successful")) {
         _adjustCalibrationMessageSeverity(message);
         return true;
     }
 
-    if (messageText.contains(APM_FRAME_REXP)) {
-        // We need to parse the Frame: message in order to determine whether the motors are coaxial or not
-        QRegExp frameTypeRegex("^Frame: (\\S*)");
-        if (frameTypeRegex.indexIn(messageText) != -1) {
-            QString frameType = frameTypeRegex.cap(1);
-            if (!frameType.isEmpty() && (frameType == QStringLiteral("Y6") || frameType == QStringLiteral("OCTA_QUAD") || frameType == QStringLiteral("COAX"))) {
-                _coaxialMotors = true;
-            }
-        }
+    static const QRegularExpression APM_FRAME_REXP("^Frame: (\\S*)");
+    const QRegularExpressionMatch match = APM_FRAME_REXP.match(messageText);
+    if (match.hasMatch()) {
+        static const QSet<QString> coaxialFrames = {"Y6", "OCTA_QUAD", "COAX", "QUAD/PLUS"};
+        const QString frameType = match.captured(1);
+        _coaxialMotors = coaxialFrames.contains(frameType);
     }
 
     return true;
@@ -367,7 +363,7 @@ QString APMFirmwarePlugin::_getMessageText(mavlink_message_t* message) const
 
     // Ensure NUL-termination
     b[b.length()-1] = '\0';
-    return QString(b);
+    return QString::fromLocal8Bit(b, std::strlen(b.constData()));
 }
 
 void APMFirmwarePlugin::_setInfoSeverity(mavlink_message_t* message) const

diff --git a/src/FirmwarePlugin/APM/APMParameterMetaData.cc b/src/FirmwarePlugin/APM/APMParameterMetaData.cc
@@ -13,7 +13,8 @@
 
 #include <QFile>
 #include <QStack>
-#include <QtCore5Compat/QRegExp>
+#include <QtCore/QRegularExpression>
+#include <QtCore/QRegularExpressionMatch>
 
 static const char* kInvalidConverstion = "Internal Error: No support for string parameters";
 
@@ -128,8 +129,9 @@ QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum)
 
 QString APMParameterMetaData::_groupFromParameterName(const QString& name)
 {
+    static const QRegularExpression regex = QRegularExpression("[0-9]*$");
     QString group = name.split('_').first();
-    return group.remove(QRegularExpression("[0-9]*$")); // remove any numbers from the end
+    return group.remove(regex); // remove any numbers from the end
 }
 
 
@@ -140,7 +142,6 @@ void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
     }
     _parameterMetaDataLoaded = true;
 
-    auto parameterCategories = QRegularExpression("ArduCopter|ArduPlane|APMrover2|Rover|ArduSub|AntennaTracker");
     QString currentCategory;
 
     qCDebug(APMParameterMetaDataLog) << "Loading parameter meta data:" << metaDataFile;
@@ -202,6 +203,7 @@ void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
                 if (xml.attributes().hasAttribute("name")) {
                     // we will handle metadata only for specific MAV_TYPEs and libraries
                     const QString nameValue = xml.attributes().value("name").toString();
+                    static const QRegularExpression parameterCategories = QRegularExpression("ArduCopter|ArduPlane|APMrover2|Rover|ArduSub|AntennaTracker");
                     if (nameValue.contains(parameterCategories)) {
                         xmlState.push(XmlStateFoundParameters);
                         currentCategory = nameValue;
@@ -625,15 +627,14 @@ FactMetaData* APMParameterMetaData::getMetaDataForFact(const QString& name, MAV_
 
 void APMParameterMetaData::getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion)
 {
-    majorVersion = -1;
-    minorVersion = -1;
-
-    // Meta data version is hacked in for now based on file name
-    QRegExp regExp(".*\\.(\\d)\\.(\\d)\\.xml$");
-    if (regExp.exactMatch(metaDataFile) && regExp.captureCount() == 2) {
-        majorVersion = regExp.cap(2).toInt();
-        minorVersion = 0;
+    static const QRegularExpression regex(".*\\.(\\d)\\.(\\d)\\.xml$");
+    const QRegularExpressionMatch match = regex.match(metaDataFile);
+    if (match.hasMatch() && match.lastCapturedIndex() == 2) {
+        majorVersion = match.captured(1).toInt();
+        minorVersion = match.captured(2).toInt();
     } else {
-        qWarning() << QStringLiteral("Unable to parse version from parameter meta data file name: '%1'").arg(metaDataFile);
+        majorVersion = -1;
+        minorVersion = -1;
+        qCWarning(APMParameterMetaDataLog) << QStringLiteral("Unable to parse version from parameter meta data file name: '%1'").arg(metaDataFile);
     }
 }
diff --git a/src/FlightMap/MapItems/VehicleMapItem.qml b/src/FlightMap/MapItems/VehicleMapItem.qml
@@ -8,9 +8,9 @@
  ****************************************************************************/
 
 import QtQuick
+import QtQuick.Effects
 import QtLocation
 import QtPositioning
-import Qt5Compat.GraphicalEffects
 
 import QGroundControl
 import QGroundControl.ScreenTools
@@ -44,23 +44,19 @@ MapQuickItem {
         height:     vehicleIcon.height
         opacity:    _adsbVehicle || vehicle === _activeVehicle ? 1.0 : 0.5
 
-        Rectangle {
-            id:                 vehicleShadow
-            anchors.fill:       vehicleIcon
-            color:              Qt.rgba(1,1,1,1)
-            radius:             width * 0.5
-            visible:            false
-        }
-        DropShadow {
-            anchors.fill:       vehicleShadow
-            visible:            vehicleIcon.visible && _adsbVehicle
-            horizontalOffset:   4
-            verticalOffset:     4
-            radius:             32.0
-            samples:            65
-            color:              Qt.rgba(0.94,0.91,0,0.5)
-            source:             vehicleShadow
+        MultiEffect {
+            source: vehicleIcon
+            shadowEnabled: vehicleIcon.visible && _adsbVehicle
+            shadowColor: Qt.rgba(0.94,0.91,0,1.0)
+            shadowVerticalOffset: 4
+            shadowHorizontalOffset: 4
+            shadowBlur: 1.0
+            shadowOpacity: 0.5
+            shadowScale: 1.3
+            blurMax: 32
+            blurMultiplier: .1
         }
+
         Image {
             id:                 vehicleIcon
             source:             _adsbVehicle ? (alert ? "/qmlimages/AlertAircraft.svg" : "/qmlimages/AwarenessAircraft.svg") : vehicle.vehicleImageOpaque

diff --git a/src/FlightMap/Widgets/QGCAttitudeWidget.qml b/src/FlightMap/Widgets/QGCAttitudeWidget.qml
@@ -15,7 +15,7 @@
  */
 
 import QtQuick
-import Qt5Compat.GraphicalEffects
+import QtQuick.Effects
 
 import QGroundControl
 import QGroundControl.Controls
@@ -99,20 +99,28 @@ Item {
         }
     }
 
-    Rectangle {
-        id:             mask
-        anchors.fill:   instrument
-        radius:         width / 2
-        color:          "black"
-        visible:        false
-    }
-
-    OpacityMask {
-        anchors.fill: instrument
+    MultiEffect {
         source: instrument
+        anchors.fill: instrument
+        maskEnabled: true
         maskSource: mask
     }
 
+    Item {
+        id: mask
+        width: instrument.width
+        height: instrument.height
+        layer.enabled: true
+        visible: false
+
+        Rectangle {
+            width: parent.width
+            height: parent.height
+            radius: width/2
+            color: "black"
+        }
+    }
+
     Rectangle {
         id:             borderRect
         anchors.fill:   parent

diff --git a/src/QmlControls/QGCColoredImage.qml b/src/QmlControls/QGCColoredImage.qml
@@ -1,6 +1,6 @@
 import QtQuick
 import QtQuick.Controls
-import Qt5Compat.GraphicalEffects
+import QtQuick.Effects
 
 import QGroundControl.Palette
 
@@ -35,9 +35,10 @@ Item {
         sourceSize.height:  height
     }
 
-    ColorOverlay {
-        anchors.fill:       image
-        source:             image
-        color:              parent.color
+    MultiEffect {
+        source: image
+        anchors.fill: image
+        colorizationColor: parent.color
+        colorization: 1.0
     }
 }
diff --git a/src/QtLocationPlugin/CMakeLists.txt b/src/QtLocationPlugin/CMakeLists.txt
@@ -1,4 +1,4 @@
-find_package(Qt6 REQUIRED COMPONENTS Core Core5Compat Location Network Qml Sql)
+find_package(Qt6 REQUIRED COMPONENTS Core Location Network Qml Sql)
 
 # QGC_NO_GOOGLE_MAPS
 
@@ -48,8 +48,6 @@ qt_add_plugin(QGCLocation STATIC
 target_compile_definitions(QGCLocation PRIVATE CMAKE_LOCATION_PLUGIN)
 
 target_link_libraries(QGCLocation
-	PRIVATE
-		Qt6::Core5Compat
 	PUBLIC
 		Qt6::Core
 		Qt6::Location