Merge pull request #510 from mavlink/wp_radius

Add new waypoints based on the UAV airframe type

src/qgcunittest/MockUAS.h

@@ -168,6 +168,9 @@ public slots:
     virtual void sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites)
         { Q_UNUSED(time_us); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); Q_UNUSED(fix_type); Q_UNUSED(eph); Q_UNUSED(epv); Q_UNUSED(vel); Q_UNUSED(vn); Q_UNUSED(ve); Q_UNUSED(vd); Q_UNUSED(cog); Q_UNUSED(satellites); Q_ASSERT(false); };
     
+    virtual bool isRotaryWing() { Q_ASSERT(false); return false; }
+    virtual bool isFixedWing() { Q_ASSERT(false); return false; }
+
 private:
     int                 _systemType;
     int                 _systemId;

src/uas/UAS.cc

@@ -2170,6 +2170,32 @@ void UAS::readParametersFromStorage()
     sendMessage(msg);
 }
 
+bool UAS::isRotaryWing()
+{
+    switch (type) {
+        case MAV_TYPE_QUADROTOR:
+        /* fallthrough */
+        case MAV_TYPE_COAXIAL:
+        case MAV_TYPE_HELICOPTER:
+        case MAV_TYPE_HEXAROTOR:
+        case MAV_TYPE_OCTOROTOR:
+        case MAV_TYPE_TRICOPTER:
+            return true;
+        default:
+            return false;
+    }
+}
+
+bool UAS::isFixedWing()
+{
+    switch (type) {
+        case MAV_TYPE_FIXED_WING:
+            return true;
+        default:
+            return false;
+    }
+}
+
 /**
 * @param rate The update rate in Hz the message should be sent
 */

src/uas/UAS.h

@@ -306,6 +306,9 @@ public:
         return nedAttGlobalOffset;
     }
 
+    bool isRotaryWing();
+    bool isFixedWing();
+
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     px::GLOverlay getOverlay()
     {

src/uas/UASInterface.h

@@ -267,6 +267,9 @@ public:
      */
     virtual QList<QAction*> getActions() const = 0;
 
+    static const unsigned int WAYPOINT_RADIUS_DEFAULT_FIXED_WING = 25;
+    static const unsigned int WAYPOINT_RADIUS_DEFAULT_ROTARY_WING = 5;
+
 public slots:
 
     /** @brief Set a new name for the system */
@@ -376,6 +379,11 @@ public slots:
     virtual void startGyroscopeCalibration() = 0;
     virtual void startPressureCalibration() = 0;
 
+    /** @brief Return if this a rotary wing */
+    virtual bool isRotaryWing() = 0;
+    /** @brief Return if this is a fixed wing */
+    virtual bool isFixedWing() = 0;
+
     /** @brief Set the current battery type and voltages */
     virtual void setBatterySpecs(const QString& specs) = 0;
     /** @brief Get the current battery type and specs */
@@ -393,7 +401,6 @@ public slots:
     /** @brief Send raw GPS for sensor HIL */
     virtual void sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites) = 0;
 
-
 protected:
     QColor color;
 

src/uas/UASWaypointManager.cc

@@ -1063,11 +1063,23 @@ int UASWaypointManager::getFrameRecommendation()
 
 float UASWaypointManager::getAcceptanceRadiusRecommendation()
 {
-    if (waypointsEditable.count() > 0) {
+    if (waypointsEditable.count() > 0)
+    {
         return waypointsEditable.last()->getAcceptanceRadius();
-    } else {
-        return 10.0f;
     }
+    else
+    {
+        if (uas->isRotaryWing())
+        {
+            return UASInterface::WAYPOINT_RADIUS_DEFAULT_ROTARY_WING;
+        }
+        else if (uas->isFixedWing())
+        {
+            return UASInterface::WAYPOINT_RADIUS_DEFAULT_FIXED_WING;
+        }
+    }
+
+    return 10.0f;
 }
 
 float UASWaypointManager::getHomeAltitudeOffsetDefault()