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Commit cff65ebe authored by DonLakeFlyer's avatar DonLakeFlyer
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Better initial map positions and planned home position support

parent 079ffd7a
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qgroundcontrol.pro
View file @ cff65ebe
......@@ -307,7 +307,7 @@ INCLUDEPATH += \
src/FollowMe \
src/GPS \
src/Joystick \
src/MissionEditor \
src/PlanView \
src/MissionManager \
src/PositionManager \
src/QmlControls \
......@@ -462,7 +462,7 @@ HEADERS += \
src/MissionManager/MissionController.h \
src/MissionManager/MissionItem.h \
src/MissionManager/MissionManager.h \
src/MissionManager/MissionSettingsComplexItem.h \
src/MissionManager/MissionSettingsItem.h \
src/MissionManager/PlanElementController.h \
src/MissionManager/QGCMapPolygon.h \
src/MissionManager/RallyPoint.h \
......@@ -640,7 +640,7 @@ SOURCES += \
src/MissionManager/MissionController.cc \
src/MissionManager/MissionItem.cc \
src/MissionManager/MissionManager.cc \
src/MissionManager/MissionSettingsComplexItem.cc \
src/MissionManager/MissionSettingsItem.cc \
src/MissionManager/PlanElementController.cc \
src/MissionManager/QGCMapPolygon.cc \
src/MissionManager/RallyPoint.cc \
......
qgroundcontrol.qrc
View file @ cff65ebe
......@@ -36,7 +36,7 @@
<file alias="MainWindowInner.qml">src/ui/MainWindowInner.qml</file>
<file alias="MainWindowNative.qml">src/ui/MainWindowNative.qml</file>
<file alias="MavlinkSettings.qml">src/ui/preferences/MavlinkSettings.qml</file>
<file alias="MissionEditor.qml">src/MissionEditor/MissionEditor.qml</file>
<file alias="PlanView.qml">src/PlanView/PlanView.qml</file>
<file alias="MixersComponent.qml">src/AutoPilotPlugins/Common/MixersComponent.qml</file>
<file alias="MockLink.qml">src/ui/preferences/MockLink.qml</file>
<file alias="MockLinkSettings.qml">src/ui/preferences/MockLinkSettings.qml</file>
......@@ -47,32 +47,32 @@
<file alias="PX4FlowSensor.qml">src/VehicleSetup/PX4FlowSensor.qml</file>
<file alias="QGroundControl/Controls/AnalyzePage.qml">src/AnalyzeView/AnalyzePage.qml</file>
<file alias="QGroundControl/Controls/AppMessages.qml">src/QmlControls/AppMessages.qml</file>
<file alias="QGroundControl/Controls/CameraSection.qml">src/MissionEditor/CameraSection.qml</file>
<file alias="QGroundControl/Controls/CameraSection.qml">src/PlanView/CameraSection.qml</file>
<file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
<file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
<file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
<file alias="QGroundControl/Controls/FactSliderPanel.qml">src/QmlControls/FactSliderPanel.qml</file>
<file alias="QGroundControl/Controls/FlightModeDropdown.qml">src/QmlControls/FlightModeDropdown.qml</file>
<file alias="QGroundControl/Controls/FlightModeMenu.qml">src/QmlControls/FlightModeMenu.qml</file>
<file alias="QGroundControl/Controls/FWLandingPatternMapVisual.qml">src/MissionEditor/FWLandingPatternMapVisual.qml</file>
<file alias="QGroundControl/Controls/GeoFenceEditor.qml">src/MissionEditor/GeoFenceEditor.qml</file>
<file alias="QGroundControl/Controls/GeoFenceMapVisuals.qml">src/MissionEditor/GeoFenceMapVisuals.qml</file>
<file alias="QGroundControl/Controls/FWLandingPatternMapVisual.qml">src/PlanView/FWLandingPatternMapVisual.qml</file>
<file alias="QGroundControl/Controls/GeoFenceEditor.qml">src/PlanView/GeoFenceEditor.qml</file>
<file alias="QGroundControl/Controls/GeoFenceMapVisuals.qml">src/PlanView/GeoFenceMapVisuals.qml</file>
<file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
<file alias="QGroundControl/Controls/JoystickThumbPad.qml">src/QmlControls/JoystickThumbPad.qml</file>
<file alias="QGroundControl/Controls/MainToolBar.qml">src/ui/toolbar/MainToolBar.qml</file>
<file alias="QGroundControl/Controls/MainToolBarIndicators.qml">src/ui/toolbar/MainToolBarIndicators.qml</file>
<file alias="QGroundControl/Controls/MissionCommandDialog.qml">src/QmlControls/MissionCommandDialog.qml</file>
<file alias="QGroundControl/Controls/MissionItemEditor.qml">src/MissionEditor/MissionItemEditor.qml</file>
<file alias="QGroundControl/Controls/MissionItemEditor.qml">src/PlanView/MissionItemEditor.qml</file>
<file alias="QGroundControl/Controls/MissionItemIndexLabel.qml">src/QmlControls/MissionItemIndexLabel.qml</file>
<file alias="QGroundControl/Controls/MissionItemMapVisual.qml">src/MissionEditor/MissionItemMapVisual.qml</file>
<file alias="QGroundControl/Controls/MissionItemStatus.qml">src/MissionEditor/MissionItemStatus.qml</file>
<file alias="QGroundControl/Controls/MissionSettingsMapVisual.qml">src/MissionEditor/MissionSettingsMapVisual.qml</file>
<file alias="QGroundControl/Controls/MissionItemMapVisual.qml">src/PlanView/MissionItemMapVisual.qml</file>
<file alias="QGroundControl/Controls/MissionItemStatus.qml">src/PlanView/MissionItemStatus.qml</file>
<file alias="QGroundControl/Controls/MissionSettingsMapVisual.qml">src/PlanView/MissionSettingsMapVisual.qml</file>
<file alias="QGroundControl/Controls/ModeSwitchDisplay.qml">src/QmlControls/ModeSwitchDisplay.qml</file>
<file alias="QGroundControl/Controls/MultiRotorMotorDisplay.qml">src/QmlControls/MultiRotorMotorDisplay.qml</file>
<file alias="QGroundControl/Controls/OfflineMapButton.qml">src/QmlControls/OfflineMapButton.qml</file>
<file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>
<file alias="QGroundControl/Controls/ParameterEditorDialog.qml">src/QmlControls/ParameterEditorDialog.qml</file>
<file alias="QGroundControl/Controls/PlanToolBar.qml">src/MissionEditor/PlanToolBar.qml</file>
<file alias="QGroundControl/Controls/PlanToolBar.qml">src/PlanView/PlanToolBar.qml</file>
<file alias="QGroundControl/Controls/QGCButton.qml">src/QmlControls/QGCButton.qml</file>
<file alias="QGroundControl/Controls/QGCCheckBox.qml">src/QmlControls/QGCCheckBox.qml</file>
<file alias="QGroundControl/Controls/QGCColoredImage.qml">src/QmlControls/QGCColoredImage.qml</file>
......@@ -98,17 +98,17 @@
<file alias="QGroundControl/Controls/QGCViewMessage.qml">src/QmlControls/QGCViewMessage.qml</file>
<file alias="QGroundControl/Controls/QGCViewPanel.qml">src/QmlControls/QGCViewPanel.qml</file>
<file alias="QGroundControl/Controls/qmldir">src/QmlControls/QGroundControl.Controls.qmldir</file>
<file alias="QGroundControl/Controls/RallyPointEditorHeader.qml">src/MissionEditor/RallyPointEditorHeader.qml</file>
<file alias="QGroundControl/Controls/RallyPointItemEditor.qml">src/MissionEditor/RallyPointItemEditor.qml</file>
<file alias="QGroundControl/Controls/RallyPointEditorHeader.qml">src/PlanView/RallyPointEditorHeader.qml</file>
<file alias="QGroundControl/Controls/RallyPointItemEditor.qml">src/PlanView/RallyPointItemEditor.qml</file>
<file alias="QGroundControl/Controls/RCChannelMonitor.qml">src/QmlControls/RCChannelMonitor.qml</file>
<file alias="QGroundControl/Controls/RoundButton.qml">src/QmlControls/RoundButton.qml</file>
<file alias="QGroundControl/Controls/SectionHeader.qml">src/MissionEditor/SectionHeader.qml</file>
<file alias="QGroundControl/Controls/SectionHeader.qml">src/PlanView/SectionHeader.qml</file>
<file alias="QGroundControl/Controls/SetupPage.qml">src/AutoPilotPlugins/Common/SetupPage.qml</file>
<file alias="QGroundControl/Controls/SignalStrength.qml">src/ui/toolbar/SignalStrength.qml</file>
<file alias="QGroundControl/Controls/SimpleItemMapVisual.qml">src/MissionEditor/SimpleItemMapVisual.qml</file>
<file alias="QGroundControl/Controls/SimpleItemMapVisual.qml">src/PlanView/SimpleItemMapVisual.qml</file>
<file alias="QGroundControl/Controls/SliderSwitch.qml">src/QmlControls/SliderSwitch.qml</file>
<file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
<file alias="QGroundControl/Controls/SurveyMapVisual.qml">src/MissionEditor/SurveyMapVisual.qml</file>
<file alias="QGroundControl/Controls/SurveyMapVisual.qml">src/PlanView/SurveyMapVisual.qml</file>
<file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
<file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file>
<file alias="QGroundControl/Controls/ToolStrip.qml">src/QmlControls/ToolStrip.qml</file>
......@@ -147,7 +147,7 @@
<file alias="QGroundControl/FlightMap/QGCCompassWidget.qml">src/FlightMap/Widgets/QGCCompassWidget.qml</file>
<file alias="QGCInstrumentWidget.qml">src/FlightMap/Widgets/QGCInstrumentWidget.qml</file>
<file alias="QGCInstrumentWidgetAlternate.qml">src/FlightMap/Widgets/QGCInstrumentWidgetAlternate.qml</file>
<file alias="QGroundControl/FlightMap/QGCMapPolygonControls.qml">src/MissionEditor/QGCMapPolygonControls.qml</file>
<file alias="QGroundControl/FlightMap/QGCMapPolygonControls.qml">src/PlanView/QGCMapPolygonControls.qml</file>
<file alias="QGroundControl/FlightMap/QGCPitchIndicator.qml">src/FlightMap/Widgets/QGCPitchIndicator.qml</file>
<file alias="QGroundControl/FlightMap/QGCVideoBackground.qml">src/FlightMap/QGCVideoBackground.qml</file>
<file alias="QGroundControl/FlightMap/qmldir">src/FlightMap/qmldir</file>
......@@ -168,10 +168,10 @@
<file alias="SerialSettings.qml">src/ui/preferences/SerialSettings.qml</file>
<file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
<file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
<file alias="SimpleItemEditor.qml">src/MissionEditor/SimpleItemEditor.qml</file>
<file alias="SurveyItemEditor.qml">src/MissionEditor/SurveyItemEditor.qml</file>
<file alias="FWLandingPatternEditor.qml">src/MissionEditor/FWLandingPatternEditor.qml</file>
<file alias="MissionSettingsEditor.qml">src/MissionEditor/MissionSettingsEditor.qml</file>
<file alias="SimpleItemEditor.qml">src/PlanView/SimpleItemEditor.qml</file>
<file alias="SurveyItemEditor.qml">src/PlanView/SurveyItemEditor.qml</file>
<file alias="FWLandingPatternEditor.qml">src/PlanView/FWLandingPatternEditor.qml</file>
<file alias="MissionSettingsEditor.qml">src/PlanView/MissionSettingsEditor.qml</file>
<file alias="TcpSettings.qml">src/ui/preferences/TcpSettings.qml</file>
<file alias="test.qml">src/test.qml</file>
<file alias="UdpSettings.qml">src/ui/preferences/UdpSettings.qml</file>
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ cff65ebe
......@@ -34,42 +34,54 @@ FlightMap {
property var qgcView ///< QGCView control which contains this map
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property bool _activeVehicleCoordinateValid: _activeVehicle ? _activeVehicle.coordinateValid : false
property var activeVehicleCoordinate: _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
property var _activeVehicleCoordinate: _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
property var _gotoHereCoordinate: QtPositioning.coordinate()
property int _retaskSequence: 0
property real _toolButtonTopMargin: parent.height - ScreenTools.availableHeight + (ScreenTools.defaultFontPixelHeight / 2)
property bool _disableVehicleTracking: false
property bool _keepVehicleCentered: _mainIsMap ? false : true
property bool _followVehicleSetting: true ///< User facing setting for follow vehicle
property bool _followVehicle: _followVehicleSetting && _activeVehicleCoordinateValid ///< Control map follow vehicle functionality
property bool _firstVehiclePosition: true
property bool _firstVehiclePositionReceived: false
property bool _userPanned: false
Component.onCompleted: {
QGroundControl.flightMapPosition = center
QGroundControl.flightMapZoom = zoomLevel
possibleCenterToGCSPosition()
}
// Track last known map position and zoom in settings
onZoomLevelChanged: QGroundControl.flightMapZoom = zoomLevel
onCenterChanged: QGroundControl.flightMapPosition = center
// When the user pans the map we leave things alone until the panRecenterTimer fires
// We move the map to the gcs position id:
// - We don't have a vehicle position yet
// - The user has not futzed with the map
onGcsPositionChanged: possibleCenterToGCSPosition()
function possibleCenterToGCSPosition() {
if (!_firstVehiclePositionReceived && !_userPanned && gcsPosition.isValid) {
center = gcsPosition
}
}
// When the user pans the map we stop responding to vehicle coordinate updates until the panRecenterTimer fires
Connections {
target: gesture
onPanFinished: {
_userPanned = true
_disableVehicleTracking = true
panRecenterTimer.start()
}
onFlickFinished: {
_userPanned = true
_disableVehicleTracking = true
panRecenterTimer.start()
}
}
onCenterChanged: QGroundControl.flightMapPosition = center
function pointInRect(point, rect) {
return point.x > rect.x &&
point.x < rect.x + rect.width &&
......@@ -100,22 +112,22 @@ FlightMap {
}
function recenterNeeded() {
var vehiclePoint = flightMap.fromCoordinate(activeVehicleCoordinate, false /* clipToViewport */)
var vehiclePoint = flightMap.fromCoordinate(_activeVehicleCoordinate, false /* clipToViewport */)
var centerViewport = Qt.rect(0, 0, width, height)
return !pointInRect(vehiclePoint, centerViewport)
}
function updateMapToVehiclePosition() {
if (_followVehicle && !_disableVehicleTracking) {
if (_activeVehicleCoordinate.isValid && !_disableVehicleTracking) {
if (_keepVehicleCentered) {
_firstVehiclePosition = true
flightMap.center = activeVehicleCoordinate
_firstVehiclePositionReceived = true
flightMap.center = _activeVehicleCoordinate
} else {
if (_firstVehiclePosition) {
_firstVehiclePosition = false
flightMap.center = activeVehicleCoordinate
if (!_firstVehiclePositionReceived) {
_firstVehiclePositionReceived = true
flightMap.center = _activeVehicleCoordinate
} else if (recenterNeeded()) {
animatedMapRecenter(flightMap.center, activeVehicleCoordinate)
animatedMapRecenter(flightMap.center, _activeVehicleCoordinate)
}
}
}
......@@ -266,10 +278,6 @@ FlightMap {
CenterMapDropPanel {
map: _flightMap
fitFunctions: mapFitFunctions
showFollowVehicle: true
followVehicle: _followVehicleSetting
onFollowVehicleChanged: _followVehicleSetting = followVehicle
}
}
......
src/FlightMap/FlightMap.qml
View file @ cff65ebe
......@@ -7,13 +7,6 @@
*
****************************************************************************/
/**
* @file
* @brief QGC Map Background
* @author Gus Grubba <mavlink@grubba.com>
*/
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtLocation 5.3
......@@ -27,34 +20,21 @@ import QGroundControl.ScreenTools 1.0
import QGroundControl.MultiVehicleManager 1.0
import QGroundControl.Vehicle 1.0
import QGroundControl.Mavlink 1.0
import QGroundControl.QGCPositionManager 1.0
Map {
id: _map
zoomLevel: QGroundControl.flightMapZoom
center: QGroundControl.flightMapPosition
gesture.flickDeceleration: 3000
plugin: Plugin { name: "QGroundControl" }
property string mapName: 'defaultMap'
property bool isSatelliteMap: activeMapType.name.indexOf("Satellite") > -1 || activeMapType.name.indexOf("Hybrid") > -1
property var gcsPosition: QtPositioning.coordinate()
readonly property real maxZoomLevel: 20
property variant scaleLengths: [5, 10, 25, 50, 100, 150, 250, 500, 1000, 2000, 5000, 10000, 20000, 50000, 100000, 200000, 500000, 1000000, 2000000]
function formatDistance(meters)
{
var dist = Math.round(meters)
if (dist > 1000 ){
if (dist > 100000){
dist = Math.round(dist / 1000)
}
else{
dist = Math.round(dist / 100)
dist = dist / 10
}
dist = dist + " km"
}
else{
dist = dist + " m"
}
return dist
}
function setVisibleRegion(region) {
// This works around a bug on Qt where if you set a visibleRegion and then the user moves or zooms the map
......@@ -64,13 +44,18 @@ Map {
_map.visibleRegion = region
}
zoomLevel: 18
center: QGroundControl.lastKnownHomePosition
gesture.flickDeceleration: 3000
ExclusiveGroup { id: mapTypeGroup }
plugin: Plugin { name: "QGroundControl" }
// Update ground station position
Connections {
target: QGroundControl.qgcPositionManger
ExclusiveGroup { id: mapTypeGroup }
onLastPositionUpdated: {
if (valid && lastPosition.latitude && Math.abs(lastPosition.latitude) > 0.001 && lastPosition.longitude && Math.abs(lastPosition.longitude) > 0.001) {
gcsPosition = QtPositioning.coordinate(lastPosition.latitude,lastPosition.longitude)
}
}
}
function updateActiveMapType() {
var settings = QGroundControl.settingsManager.flightMapSettings
......@@ -99,10 +84,10 @@ Map {
MapQuickItem {
anchorPoint.x: sourceItem.anchorPointX
anchorPoint.y: sourceItem.anchorPointY
visible: mainWindow.gcsPosition.isValid
coordinate: mainWindow.gcsPosition
visible: gcsPosition.isValid
coordinate: gcsPosition
sourceItem: MissionItemIndexLabel {
label: "Q"
label: "Q"
}
}
} // Map
src/FlightMap/Widgets/CenterMapDropPanel.qml
View file @ cff65ebe
......@@ -25,8 +25,6 @@ ColumnLayout {
property var fitFunctions
property bool showMission: true
property bool showAllItems: true
property bool showFollowVehicle: false
property bool followVehicle: false
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
......@@ -70,7 +68,7 @@ ColumnLayout {
QGCButton {
text: qsTr("Current Location")
Layout.fillWidth: true
enabled: mainWindow.gcsPosition.isValid && !followVehicleCheckBox.checked
enabled: mainWindow.gcsPosition.isValid
onClicked: {
dropPanel.hide()
......@@ -81,23 +79,11 @@ ColumnLayout {
QGCButton {
text: qsTr("Vehicle")
Layout.fillWidth: true
enabled: _activeVehicle && _activeVehicle.latitude != 0 && _activeVehicle.longitude != 0 && !followVehicleCheckBox.checked
enabled: _activeVehicle && _activeVehicle.coordinate.isValid
onClicked: {
dropPanel.hide()
map.center = activeVehicle.coordinate
}
}
QGCCheckBox {
id: followVehicleCheckBox
text: qsTr("Follow Vehicle")
checked: followVehicle
visible: showFollowVehicle
onClicked: {
dropPanel.hide()
root.followVehicle = checked
}
}
} // Column
src/MissionManager/MissionController.cc
View file @ cff65ebe
......@@ -21,7 +21,7 @@
#include "ParameterManager.h"
#include "QGroundControlQmlGlobal.h"
#include "SettingsManager.h"
#include "MissionSettingsComplexItem.h"
#include "MissionSettingsItem.h"
#ifndef __mobile__
#include "MainWindow.h"
......@@ -49,6 +49,7 @@ const int MissionController::_missionFileVersion = 2;
MissionController::MissionController(QObject *parent)
: PlanElementController(parent)
, _visualItems(NULL)
, _settingsItem(NULL)
, _firstItemsFromVehicle(false)
, _missionItemsRequested(false)
, _queuedSend(false)
......@@ -117,7 +118,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
if (_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() && newMissionItems.count() != 0) {
// First item is fake home position
_addMissionSettings(_activeVehicle, newControllerMissionItems, false /* addToCenter */);
MissionSettingsComplexItem* settingsItem = newControllerMissionItems->value<MissionSettingsComplexItem*>(0);
MissionSettingsItem* settingsItem = newControllerMissionItems->value<MissionSettingsItem*>(0);
if (!settingsItem) {
qWarning() << "First item is not settings item";
return;
......@@ -133,10 +134,11 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
_deinitAllVisualItems();
_visualItems->deleteLater();
_settingsItem = NULL;
_visualItems = newControllerMissionItems;
if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) {
_addMissionSettings(_activeVehicle, _visualItems, true /* addToCenter */);
_addMissionSettings(_activeVehicle, _visualItems, _visualItems->count() > 0 /* addToCenter */);
}
_missionItemsRequested = false;
......@@ -187,7 +189,7 @@ bool MissionController::_convertToMissionItems(QmlObjectListModel* visualMission
}
// Mission settings has a special case for end mission action
MissionSettingsComplexItem* settingsItem = visualMissionItems->value<MissionSettingsComplexItem*>(0);
MissionSettingsItem* settingsItem = visualMissionItems->value<MissionSettingsItem*>(0);
if (settingsItem) {
endActionSet = settingsItem->addMissionEndAction(rgMissionItems, lastSeqNum + 1, missionItemParent);
}
......@@ -289,6 +291,7 @@ void MissionController::removeAll(void)
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->deleteLater();
_settingsItem = NULL;
_visualItems = new QmlObjectListModel(this);
_addMissionSettings(_activeVehicle, _visualItems, false /* addToCenter */);
_initAllVisualItems();
......@@ -412,7 +415,7 @@ bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObje
SimpleMissionItem* item = new SimpleMissionItem(vehicle, visualItems);
if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) {
MissionSettingsComplexItem* settingsItem = new MissionSettingsComplexItem(vehicle, visualItems);
MissionSettingsItem* settingsItem = new MissionSettingsItem(vehicle, visualItems);
settingsItem->setCoordinate(item->coordinate());
visualItems->insert(0, settingsItem);
item->deleteLater();
......@@ -459,7 +462,7 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje
settingsManager->appSettings()->offlineEditingHoverSpeed()->setRawValue(json[_jsonHoverSpeedKey].toDouble());
}
MissionSettingsComplexItem* settingsItem = new MissionSettingsComplexItem(vehicle, visualItems);
MissionSettingsItem* settingsItem = new MissionSettingsItem(vehicle, visualItems);
settingsItem->setCoordinate(homeCoordinate);
visualItems->insert(0, settingsItem);
qCDebug(MissionControllerLog) << "plannedHomePosition" << homeCoordinate;
......@@ -523,9 +526,9 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje
nextSequenceNumber = landingItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "FW Landing Pattern load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(landingItem);
} else if (complexItemType == MissionSettingsComplexItem::jsonComplexItemTypeValue) {
} else if (complexItemType == MissionSettingsItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Mission Settings: nextSequenceNumber" << nextSequenceNumber;
MissionSettingsComplexItem* settingsItem = new MissionSettingsComplexItem(vehicle, visualItems);
MissionSettingsItem* settingsItem = new MissionSettingsItem(vehicle, visualItems);
if (!settingsItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
......@@ -630,6 +633,7 @@ void MissionController::loadFromFile(const QString& filename)
if (_visualItems) {
_deinitAllVisualItems();
_visualItems->deleteLater();
_settingsItem = NULL;
}
_visualItems = newVisualItems;
......@@ -719,9 +723,9 @@ void MissionController::saveToFile(const QString& filename)
// Mission settings
MissionSettingsComplexItem* settingsItem = _visualItems->value<MissionSettingsComplexItem*>(0);
MissionSettingsItem* settingsItem = _visualItems->value<MissionSettingsItem*>(0);
if (!settingsItem) {
qWarning() << "First item is not MissionSettingsComplexItem";
qWarning() << "First item is not MissionSettingsItem";
return;
}
QJsonValue coordinateValue;
......@@ -828,13 +832,7 @@ void MissionController::_recalcWaypointLines(void)
bool firstCoordinateItem = true;
VisualMissionItem* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(lastCoordinateItem);
if (!settingsItem) {
qWarning() << "First item is not MissionSettingsComplexItem";
}
bool showHomePosition = settingsItem->showHomePosition();
bool showHomePosition = _settingsItem->coordinate().isValid();
qCDebug(MissionControllerLog) << "_recalcWaypointLines";
......@@ -859,7 +857,7 @@ void MissionController::_recalcWaypointLines(void)
if (!item->isStandaloneCoordinate()) {
firstCoordinateItem = false;
VisualItemPair pair(lastCoordinateItem, item);
if (lastCoordinateItem != settingsItem || (showHomePosition && linkBackToHome)) {
if (lastCoordinateItem != _settingsItem || (showHomePosition && linkBackToHome)) {
if (old_table.contains(pair)) {
// Do nothing, this segment already exists and is wired up
_linesTable[pair] = old_table.take(pair);
......@@ -911,13 +909,8 @@ void MissionController::_recalcMissionFlightStatus()
bool firstCoordinateItem = true;
VisualMissionItem* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(lastCoordinateItem);
if (!settingsItem) {
qWarning() << "First item is not MissionSettingsComplexItem";
}
bool showHomePosition = settingsItem->showHomePosition();
bool showHomePosition = _settingsItem->coordinate().isValid();
qCDebug(MissionControllerLog) << "_recalcMissionFlightStatus";
......@@ -932,8 +925,8 @@ void MissionController::_recalcMissionFlightStatus()
double minAltSeen = 0.0;
double maxAltSeen = 0.0;
const double homePositionAltitude = settingsItem->coordinate().altitude();
minAltSeen = maxAltSeen = settingsItem->coordinate().altitude();
const double homePositionAltitude = _settingsItem->coordinate().altitude();
minAltSeen = maxAltSeen = _settingsItem->coordinate().altitude();
double lastVehicleYaw = 0;
......@@ -1050,7 +1043,7 @@ void MissionController::_recalcMissionFlightStatus()
if (!item->isStandaloneCoordinate()) {
firstCoordinateItem = false;
if (lastCoordinateItem != settingsItem || linkBackToHome) {
if (lastCoordinateItem != _settingsItem || linkBackToHome) {
// This is a subsequent waypoint or we are forcing the first waypoint back to home
double azimuth, distance, altDifference;
......@@ -1060,7 +1053,7 @@ void MissionController::_recalcMissionFlightStatus()
item->setDistance(distance);
_missionFlightStatus.totalDistance += distance;
_missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, _calcDistanceToHome(item, settingsItem));
_missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, _calcDistanceToHome(item, _settingsItem));
// Calculate time/distance
double hoverTime = distance / _missionFlightStatus.hoverSpeed;
......@@ -1093,7 +1086,7 @@ void MissionController::_recalcMissionFlightStatus()
// Add in distance/time inside complex items as well
double distance = complexItem->complexDistance();
_missionFlightStatus.totalDistance += distance;
_missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, complexItem->greatestDistanceTo(settingsItem->exitCoordinate()));
_missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, complexItem->greatestDistanceTo(complexItem->exitCoordinate()));
double hoverTime = _missionFlightStatus.totalDistance / _missionFlightStatus.hoverSpeed;
double cruiseTime = _missionFlightStatus.totalDistance / _missionFlightStatus.cruiseSpeed;
......@@ -1191,8 +1184,26 @@ void MissionController::_recalcChildItems(void)
}
}
void MissionController::_setPlannedHomePositionFromFirstCoordinate(void)
{
if (_settingsItem->coordinate().isValid()) {
return;
}
// Set the planned home position to be a deltae from first coordinate
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = _visualItems->value<VisualMissionItem*>(i);
if (item->specifiesCoordinate()) {
_settingsItem->setCoordinate(item->coordinate().atDistanceAndAzimuth(30, 0));
}
}
}
void MissionController::_recalcAll(void)
{
_setPlannedHomePositionFromFirstCoordinate();
_recalcSequence();
_recalcChildItems();
_recalcWaypointLines();
......@@ -1201,27 +1212,20 @@ void MissionController::_recalcAll(void)
/// Initializes a new set of mission items
void MissionController::_initAllVisualItems(void)
{
MissionSettingsComplexItem* settingsItem = NULL;
// Setup home position at index 0
settingsItem = qobject_cast<MissionSettingsComplexItem*>(_visualItems->get(0));
if (!settingsItem) {
qWarning() << "First item not MissionSettingsComplexItem";
_settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
if (!_settingsItem) {
qWarning() << "First item not MissionSettingsItem";
return;
}
_settingsItem->setIsCurrentItem(true);
settingsItem->setShowHomePosition(_editMode);
settingsItem->setIsCurrentItem(true);
if (!_editMode && _activeVehicle && _activeVehicle->homePositionAvailable()) {
settingsItem->setCoordinate(_activeVehicle->homePosition());
settingsItem->setShowHomePosition(true);
if (!_editMode && _activeVehicle) {
_settingsItem->setCoordinate(_activeVehicle->homePosition());
}
emit plannedHomePositionChanged(plannedHomePosition());
connect(settingsItem, &VisualMissionItem::coordinateChanged, this, &MissionController::_homeCoordinateChanged);
connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::_recalcAll);
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
......@@ -1298,7 +1302,6 @@ void MissionController::_activeVehicleBeingRemoved(void)
disconnect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle);
disconnect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
disconnect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged);
disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged);
disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
// We always remove all items on vehicle change. This leaves a user model hole:
......@@ -1317,7 +1320,6 @@ void MissionController::_activeVehicleSet(void)
connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionController::_newMissionItemsAvailableFromVehicle);
connect(missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
connect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged);
connect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged);
connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
connect(_activeVehicle, &Vehicle::defaultCruiseSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(_activeVehicle, &Vehicle::defaultHoverSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
......@@ -1330,40 +1332,18 @@ void MissionController::_activeVehicleSet(void)
}
_activeVehicleHomePositionChanged(_activeVehicle->homePosition());
_activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable());
emit complexMissionItemNamesChanged();
}
void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable)
{
if (!_editMode && _visualItems) {
MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(_visualItems->get(0));
if (settingsItem) {
settingsItem->setShowHomePosition(homePositionAvailable);
emit plannedHomePositionChanged(plannedHomePosition());
_recalcWaypointLines();
} else {
qWarning() << "First item is not MissionSettingsComplexItem";
}
}
}
void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
{
if (!_editMode && _visualItems) {
MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(_visualItems->get(0));
if (_visualItems) {
MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
if (settingsItem) {
if (settingsItem->coordinate() != homePosition) {
settingsItem->setCoordinate(homePosition);
settingsItem->setShowHomePosition(true);
qCDebug(MissionControllerLog) << "Home position update" << homePosition;
emit plannedHomePositionChanged(plannedHomePosition());
_recalcWaypointLines();
}
settingsItem->setCoordinate(homePosition);
} else {
qWarning() << "First item is not MissionSettingsComplexItem";
qWarning() << "First item is not MissionSettingsItem";
}
}
}
......@@ -1479,46 +1459,44 @@ double MissionController::_normalizeLon(double lon)
/// Add the Mission Settings complex item to the front of the items
void MissionController::_addMissionSettings(Vehicle* vehicle, QmlObjectListModel* visualItems, bool addToCenter)
{
bool homePositionSet = false;
MissionSettingsItem* settingsItem = new MissionSettingsItem(vehicle, visualItems);
MissionSettingsComplexItem* settingsItem = new MissionSettingsComplexItem(vehicle, visualItems);
visualItems->insert(0, settingsItem);
if (visualItems->count() > 1 && addToCenter) {
double north = 0.0;
double south = 0.0;
double east = 0.0;
double west = 0.0;
bool firstCoordSet = false;
for (int i=1; i<visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(visualItems->get(i));
if (item->specifiesCoordinate()) {
if (firstCoordSet) {
double lat = _normalizeLat(item->coordinate().latitude());
double lon = _normalizeLon(item->coordinate().longitude());
north = fmax(north, lat);
south = fmin(south, lat);
east = fmax(east, lon);
west = fmin(west, lon);
} else {
firstCoordSet = true;
north = _normalizeLat(item->coordinate().latitude());
south = north;
east = _normalizeLon(item->coordinate().longitude());
west = east;
if (addToCenter) {
if (visualItems->count() > 1) {
double north = 0.0;
double south = 0.0;
double east = 0.0;
double west = 0.0;
bool firstCoordSet = false;
for (int i=1; i<visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(visualItems->get(i));
if (item->specifiesCoordinate()) {
if (firstCoordSet) {
double lat = _normalizeLat(item->coordinate().latitude());
double lon = _normalizeLon(item->coordinate().longitude());
north = fmax(north, lat);
south = fmin(south, lat);
east = fmax(east, lon);
west = fmin(west, lon);
} else {
firstCoordSet = true;
north = _normalizeLat(item->coordinate().latitude());
south = north;
east = _normalizeLon(item->coordinate().longitude());
west = east;
}
}
}
}
if (firstCoordSet) {
homePositionSet = true;
settingsItem->setCoordinate(QGeoCoordinate((south + ((north - south) / 2)) - 90.0, (west + ((east - west) / 2)) - 180.0, 0.0));
if (firstCoordSet) {
settingsItem->setCoordinate(QGeoCoordinate((south + ((north - south) / 2)) - 90.0, (west + ((east - west) / 2)) - 180.0, 0.0));
}
}
}
if (!homePositionSet) {
settingsItem->setCoordinate(qgcApp()->lastKnownHomePosition());
} else {
settingsItem->setCoordinate(vehicle->homePosition());
}
}
......@@ -1554,24 +1532,6 @@ void MissionController::setDirty(bool dirty)
}
}
QGeoCoordinate MissionController::plannedHomePosition(void)
{
if (_visualItems && _visualItems->count() > 0) {
MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(_visualItems->get(0));
if (settingsItem && settingsItem->showHomePosition()) {
return settingsItem->coordinate();
}
}
return QGeoCoordinate();
}
void MissionController::_homeCoordinateChanged(void)
{
emit plannedHomePositionChanged(plannedHomePosition());
_recalcMissionFlightStatus();
}
QString MissionController::fileExtension(void) const
{
return QGCApplication::missionFileExtension;
......@@ -1585,7 +1545,7 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte
qCDebug(MissionControllerLog) << "MissionController::_scanForAdditionalSettings count:scanIndex" << visualItems->count() << scanIndex;
MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(visualItem);
MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(visualItem);
if (settingsItem && settingsItem->scanForMissionSettings(visualItems, scanIndex, vehicle)) {
continue;
}
......
src/MissionManager/MissionController.h
View file @ cff65ebe
......@@ -22,6 +22,7 @@
class CoordinateVector;
class VisualMissionItem;
class MissionItem;
class MissionSettingsItem;
Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
......@@ -50,7 +51,6 @@ public:
} MissionFlightStatus_t;
// Mission settings
Q_PROPERTY(QGeoCoordinate plannedHomePosition READ plannedHomePosition NOTIFY plannedHomePositionChanged)
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(QStringList complexMissionItemNames READ complexMissionItemNames NOTIFY complexMissionItemNamesChanged)
......@@ -107,7 +107,6 @@ public:
// Property accessors
QGeoCoordinate plannedHomePosition (void);
QmlObjectListModel* visualItems (void) { return _visualItems; }
QmlObjectListModel* waypointLines (void) { return &_waypointLines; }
QStringList complexMissionItemNames (void) const;
......@@ -121,7 +120,6 @@ public:
double missionMaxTelemetry (void) const { return _missionFlightStatus.maxTelemetryDistance; }
signals:
void plannedHomePositionChanged(QGeoCoordinate plannedHomePosition);
void visualItemsChanged(void);
void waypointLinesChanged(void);
void newItemsFromVehicle(void);
......@@ -137,13 +135,11 @@ signals:
private slots:
void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
void _itemCommandChanged(void);
void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable);
void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
void _inProgressChanged(bool inProgress);
void _currentMissionItemChanged(int sequenceNumber);
void _recalcWaypointLines(void);
void _recalcMissionFlightStatus(void);
void _homeCoordinateChanged(void);
void _updateContainsItems(void);
private:
......@@ -176,6 +172,7 @@ private:
void _setMissionMaxTelemetry(double missionMaxTelemetry);
static void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
static bool _convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent);
void _setPlannedHomePositionFromFirstCoordinate(void);
// Overrides from PlanElementController
void _activeVehicleBeingRemoved(void) final;
......@@ -183,6 +180,7 @@ private:
private:
QmlObjectListModel* _visualItems;
MissionSettingsItem* _settingsItem;
QmlObjectListModel _waypointLines;
CoordVectHashTable _linesTable;
bool _firstItemsFromVehicle;
......
src/MissionManager/MissionSettings.FactMetaData.json
View file @ cff65ebe
[
{
"name": "PlannedHomePositionLatitude",
"shortDescription": "Planned home position latitude",
"type": "double",
"decimalPlaces": 7,
"defaultValue": 37.803784
},
{
"name": "PlannedHomePositionLongitude",
"shortDescription": "Planned home position longitude",
"type": "double",
"decimalPlaces": 7,
"defaultValue": -122.462276
},
{
"name": "PlannedHomePositionAltitude",
"shortDescription": "Planned home position altitude",
......
src/MissionManager/MissionSettingsComplexItem.cc → src/MissionManager/MissionSettingsItem.cc
View file @ cff65ebe
......@@ -7,7 +7,7 @@
*
****************************************************************************/
#include "MissionSettingsComplexItem.h"
#include "MissionSettingsItem.h"
#include "JsonHelper.h"
#include "MissionController.h"
#include "QGCGeo.h"
......@@ -21,21 +21,17 @@
QGC_LOGGING_CATEGORY(MissionSettingsComplexItemLog, "MissionSettingsComplexItemLog")
const char* MissionSettingsComplexItem::jsonComplexItemTypeValue = "MissionSettings";
const char* MissionSettingsItem::jsonComplexItemTypeValue = "MissionSettings";
const char* MissionSettingsComplexItem::_plannedHomePositionLatitudeName = "PlannedHomePositionLatitude";
const char* MissionSettingsComplexItem::_plannedHomePositionLongitudeName = "PlannedHomePositionLongitude";
const char* MissionSettingsComplexItem::_plannedHomePositionAltitudeName = "PlannedHomePositionAltitude";
const char* MissionSettingsComplexItem::_missionFlightSpeedName = "FlightSpeed";
const char* MissionSettingsComplexItem::_missionEndActionName = "MissionEndAction";
const char* MissionSettingsItem::_plannedHomePositionAltitudeName = "PlannedHomePositionAltitude";
const char* MissionSettingsItem::_missionFlightSpeedName = "FlightSpeed";
const char* MissionSettingsItem::_missionEndActionName = "MissionEndAction";
QMap<QString, FactMetaData*> MissionSettingsComplexItem::_metaDataMap;
QMap<QString, FactMetaData*> MissionSettingsItem::_metaDataMap;
MissionSettingsComplexItem::MissionSettingsComplexItem(Vehicle* vehicle, QObject* parent)
MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
: ComplexMissionItem(vehicle, parent)
, _specifyMissionFlightSpeed(false)
, _plannedHomePositionLatitudeFact (0, _plannedHomePositionLatitudeName, FactMetaData::valueTypeDouble)
, _plannedHomePositionLongitudeFact (0, _plannedHomePositionLongitudeName, FactMetaData::valueTypeDouble)
, _plannedHomePositionAltitudeFact (0, _plannedHomePositionAltitudeName, FactMetaData::valueTypeDouble)
, _missionFlightSpeedFact (0, _missionFlightSpeedName, FactMetaData::valueTypeDouble)
, _missionEndActionFact (0, _missionEndActionName, FactMetaData::valueTypeUint32)
......@@ -48,14 +44,10 @@ MissionSettingsComplexItem::MissionSettingsComplexItem(Vehicle* vehicle, QObject
_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/MissionSettings.FactMetaData.json"), NULL /* metaDataParent */);
}
_plannedHomePositionLatitudeFact.setMetaData (_metaDataMap[_plannedHomePositionLatitudeName]);
_plannedHomePositionLongitudeFact.setMetaData (_metaDataMap[_plannedHomePositionLongitudeName]);
_plannedHomePositionAltitudeFact.setMetaData (_metaDataMap[_plannedHomePositionAltitudeName]);
_missionFlightSpeedFact.setMetaData (_metaDataMap[_missionFlightSpeedName]);
_missionEndActionFact.setMetaData (_metaDataMap[_missionEndActionName]);
_plannedHomePositionLatitudeFact.setRawValue (_plannedHomePositionLatitudeFact.rawDefaultValue());
_plannedHomePositionLongitudeFact.setRawValue (_plannedHomePositionLongitudeFact.rawDefaultValue());
_plannedHomePositionAltitudeFact.setRawValue (_plannedHomePositionAltitudeFact.rawDefaultValue());
_missionEndActionFact.setRawValue (_missionEndActionFact.rawDefaultValue());
......@@ -66,25 +58,24 @@ MissionSettingsComplexItem::MissionSettingsComplexItem(Vehicle* vehicle, QObject
setHomePositionSpecialCase(true);
connect(this, &MissionSettingsComplexItem::specifyMissionFlightSpeedChanged, this, &MissionSettingsComplexItem::_setDirtyAndUpdateLastSequenceNumber);
connect(&_cameraSection, &CameraSection::missionItemCountChanged, this, &MissionSettingsComplexItem::_setDirtyAndUpdateLastSequenceNumber);
connect(this, &MissionSettingsItem::specifyMissionFlightSpeedChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(&_cameraSection, &CameraSection::missionItemCountChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(&_plannedHomePositionLatitudeFact, &Fact::valueChanged, this, &MissionSettingsComplexItem::_setDirtyAndUpdateCoordinate);
connect(&_plannedHomePositionLongitudeFact, &Fact::valueChanged, this, &MissionSettingsComplexItem::_setDirtyAndUpdateCoordinate);
connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsComplexItem::_setDirtyAndUpdateCoordinate);
connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_setDirty);
connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_updateAltitudeInCoordinate);
connect(&_missionFlightSpeedFact, &Fact::valueChanged, this, &MissionSettingsComplexItem::_setDirty);
connect(&_missionEndActionFact, &Fact::valueChanged, this, &MissionSettingsComplexItem::_setDirty);
connect(&_missionFlightSpeedFact, &Fact::valueChanged, this, &MissionSettingsItem::_setDirty);
connect(&_missionEndActionFact, &Fact::valueChanged, this, &MissionSettingsItem::_setDirty);
connect(&_cameraSection, &CameraSection::dirtyChanged, this, &MissionSettingsComplexItem::_cameraSectionDirtyChanged);
connect(&_cameraSection, &CameraSection::dirtyChanged, this, &MissionSettingsItem::_cameraSectionDirtyChanged);
connect(&_missionFlightSpeedFact, &Fact::valueChanged, this, &MissionSettingsComplexItem::specifiedFlightSpeedChanged);
connect(&_cameraSection, &CameraSection::specifyGimbalChanged, this, &MissionSettingsComplexItem::specifiedGimbalYawChanged);
connect(&_cameraSection, &CameraSection::specifiedGimbalYawChanged, this, &MissionSettingsComplexItem::specifiedGimbalYawChanged);
connect(&_missionFlightSpeedFact, &Fact::valueChanged, this, &MissionSettingsItem::specifiedFlightSpeedChanged);
connect(&_cameraSection, &CameraSection::specifyGimbalChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged);
connect(&_cameraSection, &CameraSection::specifiedGimbalYawChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged);
}
void MissionSettingsComplexItem::setSpecifyMissionFlightSpeed(bool specifyMissionFlightSpeed)
void MissionSettingsItem::setSpecifyMissionFlightSpeed(bool specifyMissionFlightSpeed)
{
if (specifyMissionFlightSpeed != _specifyMissionFlightSpeed) {
_specifyMissionFlightSpeed = specifyMissionFlightSpeed;
......@@ -92,7 +83,7 @@ void MissionSettingsComplexItem::setSpecifyMissionFlightSpeed(bool specifyMissio
}
}
int MissionSettingsComplexItem::lastSequenceNumber(void) const
int MissionSettingsItem::lastSequenceNumber(void) const
{
int lastSequenceNumber = _sequenceNumber;
......@@ -104,7 +95,7 @@ int MissionSettingsComplexItem::lastSequenceNumber(void) const
return lastSequenceNumber;
}
void MissionSettingsComplexItem::setDirty(bool dirty)
void MissionSettingsItem::setDirty(bool dirty)
{
if (_dirty != dirty) {
_dirty = dirty;
......@@ -112,14 +103,14 @@ void MissionSettingsComplexItem::setDirty(bool dirty)
}
}
void MissionSettingsComplexItem::save(QJsonArray& missionItems)
void MissionSettingsItem::save(QJsonArray& missionItems)
{
QList<MissionItem*> items;
appendMissionItems(items, this);
// First item show be planned home position, we are not reponsible for save/load
// Remained we just output as is
// Remaining items we just output as is
for (int i=1; i<items.count(); i++) {
MissionItem* item = items[i];
QJsonObject saveObject;
......@@ -129,7 +120,7 @@ void MissionSettingsComplexItem::save(QJsonArray& missionItems)
}
}
void MissionSettingsComplexItem::setSequenceNumber(int sequenceNumber)
void MissionSettingsItem::setSequenceNumber(int sequenceNumber)
{
if (_sequenceNumber != sequenceNumber) {
_sequenceNumber = sequenceNumber;
......@@ -138,7 +129,7 @@ void MissionSettingsComplexItem::setSequenceNumber(int sequenceNumber)
}
}
bool MissionSettingsComplexItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
bool MissionSettingsItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
{
Q_UNUSED(complexObject);
Q_UNUSED(sequenceNumber);
......@@ -147,22 +138,22 @@ bool MissionSettingsComplexItem::load(const QJsonObject& complexObject, int sequ
return true;
}
double MissionSettingsComplexItem::greatestDistanceTo(const QGeoCoordinate &other) const
double MissionSettingsItem::greatestDistanceTo(const QGeoCoordinate &other) const
{
Q_UNUSED(other);
return 0;
}
bool MissionSettingsComplexItem::specifiesCoordinate(void) const
bool MissionSettingsItem::specifiesCoordinate(void) const
{
return false;
}
void MissionSettingsComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
void MissionSettingsItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
int seqNum = _sequenceNumber;
// IMPORTANT NOTE: If anything changes here you must also change MissionSettingsComplexItem::scanForMissionSettings
// IMPORTANT NOTE: If anything changes here you must also change MissionSettingsItem::scanForMissionSettings
// Planned home position
MissionItem* item = new MissionItem(seqNum++,
......@@ -172,8 +163,8 @@ void MissionSettingsComplexItem::appendMissionItems(QList<MissionItem*>& items,
0, // Acceptance radius
0, // Not sure?
0, // Yaw
_plannedHomePositionLatitudeFact.rawValue().toDouble(),
_plannedHomePositionLongitudeFact.rawValue().toDouble(),
coordinate().latitude(),
coordinate().longitude(),
_plannedHomePositionAltitudeFact.rawValue().toDouble(),
true, // autoContinue
false, // isCurrentItem
......@@ -199,11 +190,11 @@ void MissionSettingsComplexItem::appendMissionItems(QList<MissionItem*>& items,
_cameraSection.appendMissionItems(items, missionItemParent, seqNum);
}
bool MissionSettingsComplexItem::addMissionEndAction(QList<MissionItem*>& items, int seqNum, QObject* missionItemParent)
bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& items, int seqNum, QObject* missionItemParent)
{
MissionItem* item = NULL;
// IMPORTANT NOTE: If anything changes here you must also change MissionSettingsComplexItem::scanForMissionSettings
// IMPORTANT NOTE: If anything changes here you must also change MissionSettingsItem::scanForMissionSettings
// Find last waypoint coordinate information so we have a lat/lon/alt to use
QGeoCoordinate lastWaypointCoord;
......@@ -278,17 +269,17 @@ bool MissionSettingsComplexItem::addMissionEndAction(QList<MissionItem*>& items,
}
}
bool MissionSettingsComplexItem::scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
{
bool foundSpeed = false;
bool foundCameraSection = false;
bool stopLooking = false;
qCDebug(MissionSettingsComplexItemLog) << "MissionSettingsComplexItem::scanForMissionSettings count:scanIndex" << visualItems->count() << scanIndex;
qCDebug(MissionSettingsComplexItemLog) << "MissionSettingsItem::scanForMissionSettings count:scanIndex" << visualItems->count() << scanIndex;
MissionSettingsComplexItem* settingsItem = visualItems->value<MissionSettingsComplexItem*>(scanIndex);
MissionSettingsItem* settingsItem = visualItems->value<MissionSettingsItem*>(scanIndex);
if (!settingsItem) {
qWarning() << "Item specified by scanIndex not MissionSettingsComplexItem";
qWarning() << "Item specified by scanIndex not MissionSettingsItem";
return false;
}
......@@ -305,7 +296,7 @@ bool MissionSettingsComplexItem::scanForMissionSettings(QmlObjectListModel* visu
qCDebug(MissionSettingsComplexItemLog) << item->command() << missionItem.param1() << missionItem.param2() << missionItem.param3() << missionItem.param4() << missionItem.param5() << missionItem.param6() << missionItem.param7() ;
// See MissionSettingsComplexItem::getMissionItems for specs on what compomises a known mission setting
// See MissionSettingsItem::getMissionItems for specs on what compomises a known mission setting
switch ((MAV_CMD)item->command()) {
case MAV_CMD_DO_CHANGE_SPEED:
......@@ -384,56 +375,57 @@ bool MissionSettingsComplexItem::scanForMissionSettings(QmlObjectListModel* visu
return foundSpeed || foundCameraSection;
}
double MissionSettingsComplexItem::complexDistance(void) const
double MissionSettingsItem::complexDistance(void) const
{
return 0;
}
void MissionSettingsComplexItem::_setDirty(void)
void MissionSettingsItem::_setDirty(void)
{
setDirty(true);
}
void MissionSettingsComplexItem::setCoordinate(const QGeoCoordinate& coordinate)
void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate)
{
if (this->coordinate() != coordinate) {
_plannedHomePositionLatitudeFact.setRawValue(coordinate.latitude());
_plannedHomePositionLongitudeFact.setRawValue(coordinate.longitude());
if (_plannedHomePositionCoordinate != coordinate) {
_plannedHomePositionCoordinate = coordinate;
emit coordinateChanged(coordinate);
emit exitCoordinateChanged(coordinate);
_plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
}
}
void MissionSettingsComplexItem::_setDirtyAndUpdateLastSequenceNumber(void)
void MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber(void)
{
emit lastSequenceNumberChanged(lastSequenceNumber());
setDirty(true);
}
void MissionSettingsComplexItem::_setDirtyAndUpdateCoordinate(void)
{
emit coordinateChanged(coordinate());
emit exitCoordinateChanged(coordinate());
setDirty(true);
}
QGeoCoordinate MissionSettingsComplexItem::coordinate(void) const
{
return QGeoCoordinate(_plannedHomePositionLatitudeFact.rawValue().toDouble(), _plannedHomePositionLongitudeFact.rawValue().toDouble(), _plannedHomePositionAltitudeFact.rawValue().toDouble());
}
void MissionSettingsComplexItem::_cameraSectionDirtyChanged(bool dirty)
void MissionSettingsItem::_cameraSectionDirtyChanged(bool dirty)
{
if (dirty) {
setDirty(true);
}
}
double MissionSettingsComplexItem::specifiedFlightSpeed(void)
double MissionSettingsItem::specifiedFlightSpeed(void)
{
return _specifyMissionFlightSpeed ? _missionFlightSpeedFact.rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
}
double MissionSettingsComplexItem::specifiedGimbalYaw(void)
double MissionSettingsItem::specifiedGimbalYaw(void)
{
return _cameraSection.specifyGimbal() ? _cameraSection.gimbalYaw()->rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
}
void MissionSettingsItem::_updateAltitudeInCoordinate(QVariant value)
{
double newAltitude = value.toDouble();
if (!qFuzzyCompare(_plannedHomePositionCoordinate.altitude(), newAltitude)) {
_plannedHomePositionCoordinate.setAltitude(newAltitude);
emit coordinateChanged(_plannedHomePositionCoordinate);
emit exitCoordinateChanged(_plannedHomePositionCoordinate);
}
}
src/MissionManager/MissionSettingsComplexItem.h → src/MissionManager/MissionSettingsItem.h
View file @ cff65ebe
......@@ -18,12 +18,12 @@
Q_DECLARE_LOGGING_CATEGORY(MissionSettingsComplexItemLog)
class MissionSettingsComplexItem : public ComplexMissionItem
class MissionSettingsItem : public ComplexMissionItem
{
Q_OBJECT
public:
MissionSettingsComplexItem(Vehicle* vehicle, QObject* parent = NULL);
MissionSettingsItem(Vehicle* vehicle, QObject* parent = NULL);
enum MissionEndAction {
MissionEndNoAction,
......@@ -36,14 +36,10 @@ public:
Q_PROPERTY(bool specifyMissionFlightSpeed READ specifyMissionFlightSpeed WRITE setSpecifyMissionFlightSpeed NOTIFY specifyMissionFlightSpeedChanged)
Q_PROPERTY(Fact* missionFlightSpeed READ missionFlightSpeed CONSTANT)
Q_PROPERTY(Fact* missionEndAction READ missionEndAction CONSTANT)
Q_PROPERTY(Fact* plannedHomePositionLatitude READ plannedHomePositionLatitude CONSTANT)
Q_PROPERTY(Fact* plannedHomePositionLongitude READ plannedHomePositionLongitude CONSTANT)
Q_PROPERTY(Fact* plannedHomePositionAltitude READ plannedHomePositionAltitude CONSTANT)
Q_PROPERTY(QObject* cameraSection READ cameraSection CONSTANT)
bool specifyMissionFlightSpeed (void) const { return _specifyMissionFlightSpeed; }
Fact* plannedHomePositionLatitude (void) { return &_plannedHomePositionLatitudeFact; }
Fact* plannedHomePositionLongitude(void) { return &_plannedHomePositionLongitudeFact; }
Fact* plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
Fact* missionFlightSpeed (void) { return &_missionFlightSpeedFact; }
Fact* missionEndAction (void) { return &_missionEndActionFact; }
......@@ -79,8 +75,8 @@ public:
QString commandDescription (void) const final { return "Mission Settings"; }
QString commandName (void) const final { return "Mission Settings"; }
QString abbreviation (void) const final { return "H"; }
QGeoCoordinate coordinate (void) const final;
QGeoCoordinate exitCoordinate (void) const final { return coordinate(); }
QGeoCoordinate coordinate (void) const final { return _plannedHomePositionCoordinate; }
QGeoCoordinate exitCoordinate (void) const final { return _plannedHomePositionCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedFlightSpeed (void) final;
double specifiedGimbalYaw (void) final;
......@@ -102,14 +98,13 @@ signals:
private slots:
void _setDirtyAndUpdateLastSequenceNumber (void);
void _setDirtyAndUpdateCoordinate (void);
void _setDirty (void);
void _cameraSectionDirtyChanged (bool dirty);
void _updateAltitudeInCoordinate (QVariant value);
private:
bool _specifyMissionFlightSpeed;
Fact _plannedHomePositionLatitudeFact;
Fact _plannedHomePositionLongitudeFact;
QGeoCoordinate _plannedHomePositionCoordinate; // Does not include altitde
Fact _plannedHomePositionAltitudeFact;
Fact _missionFlightSpeedFact;
Fact _missionEndActionFact;
......@@ -120,8 +115,6 @@ private:
static QMap<QString, FactMetaData*> _metaDataMap;
static const char* _plannedHomePositionLatitudeName;
static const char* _plannedHomePositionLongitudeName;
static const char* _plannedHomePositionAltitudeName;
static const char* _missionFlightSpeedName;
static const char* _missionEndActionName;
......
src/MissionManager/SimpleMissionItem.cc
View file @ cff65ebe
......@@ -144,7 +144,6 @@ const SimpleMissionItem& SimpleMissionItem::operator=(const SimpleMissionItem& o
setRawEdit(other._rawEdit);
setDirty(other._dirty);
setHomePositionSpecialCase(other._homePositionSpecialCase);
setShowHomePosition(other._showHomePosition);
_syncFrameToAltitudeRelativeToHome();
......
src/MissionManager/SimpleMissionItemTest.cc
View file @ cff65ebe
......@@ -156,7 +156,6 @@ void SimpleMissionItemTest::_testSignals(void)
headingDegreesChangedIndex,
rawEditChangedIndex,
uiModelChangedIndex,
showHomePositionChangedIndex,
maxSignalIndex
};
......@@ -170,7 +169,6 @@ void SimpleMissionItemTest::_testSignals(void)
headingDegreesChangedMask = 1 << headingDegreesChangedIndex,
rawEditChangedMask = 1 << rawEditChangedIndex,
uiModelChangedMask = 1 << uiModelChangedIndex,
showHomePositionChangedMask = 1 << showHomePositionChangedIndex,
};
static const size_t cSimpleMissionItemSignals = maxSignalIndex;
......@@ -185,7 +183,6 @@ void SimpleMissionItemTest::_testSignals(void)
rgSimpleMissionItemSignals[headingDegreesChangedIndex] = SIGNAL(headingDegreesChanged(double));
rgSimpleMissionItemSignals[rawEditChangedIndex] = SIGNAL(rawEditChanged(bool));
rgSimpleMissionItemSignals[uiModelChangedIndex] = SIGNAL(uiModelChanged());
rgSimpleMissionItemSignals[showHomePositionChangedIndex] = SIGNAL(showHomePositionChanged(bool));
MissionItem missionItem(1, // sequence number
MAV_CMD_NAV_WAYPOINT,
......
src/MissionManager/VisualMissionItem.cc
View file @ cff65ebe
......@@ -26,7 +26,6 @@ VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
, _isCurrentItem(false)
, _dirty(false)
, _homePositionSpecialCase(false)
, _showHomePosition(false)
, _altDifference(0.0)
, _altPercent(0.0)
, _azimuth(0.0)
......@@ -43,7 +42,6 @@ VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* pa
, _isCurrentItem(false)
, _dirty(false)
, _homePositionSpecialCase(false)
, _showHomePosition(false)
, _altDifference(0.0)
, _altPercent(0.0)
, _azimuth(0.0)
......@@ -59,7 +57,6 @@ const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& o
setIsCurrentItem(other._isCurrentItem);
setDirty(other._dirty);
_homePositionSpecialCase = other._homePositionSpecialCase;
setShowHomePosition(other.showHomePosition());
setAltDifference(other._altDifference);
setAltPercent(other._altPercent);
setAzimuth(other._azimuth);
......@@ -112,14 +109,6 @@ void VisualMissionItem::setAzimuth(double azimuth)
}
}
void VisualMissionItem::setShowHomePosition(bool showHomePosition)
{
if (showHomePosition != _showHomePosition) {
_showHomePosition = showHomePosition;
emit showHomePositionChanged(_showHomePosition);
}
}
void VisualMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
{
_missionFlightStatus = missionFlightStatus;
......
src/MissionManager/VisualMissionItem.h
View file @ cff65ebe
......@@ -44,7 +44,6 @@ public:
const VisualMissionItem& operator=(const VisualMissionItem& other);
Q_PROPERTY(bool homePosition READ homePosition CONSTANT) ///< true: This item is being used as a home position indicator
Q_PROPERTY(bool showHomePosition READ showHomePosition WRITE setShowHomePosition NOTIFY showHomePositionChanged)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged) ///< This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
Q_PROPERTY(bool coordinateHasRelativeAltitude READ coordinateHasRelativeAltitude NOTIFY coordinateHasRelativeAltitudeChanged) ///< true: coordinate.latitude is relative to home altitude
Q_PROPERTY(QGeoCoordinate exitCoordinate READ exitCoordinate NOTIFY exitCoordinateChanged) ///< This is the exit point for a waypoint line coming out of the item.
......@@ -80,9 +79,7 @@ public:
// Property accesors
bool homePosition (void) const { return _homePositionSpecialCase; }
bool showHomePosition (void) const { return _showHomePosition; }
void setHomePositionSpecialCase (bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
void setShowHomePosition (bool showHomePosition);
double altDifference (void) const { return _altDifference; }
double altPercent (void) const { return _altPercent; }
......@@ -151,7 +148,6 @@ public:
static const char* jsonTypeComplexItemValue; ///< Item type is Complex Item
signals:
void showHomePositionChanged (bool showHomePosition);
void altDifferenceChanged (double altDifference);
void altPercentChanged (double altPercent);
void azimuthChanged (double azimuth);
......@@ -183,7 +179,6 @@ protected:
bool _isCurrentItem;
bool _dirty;
bool _homePositionSpecialCase; ///< true: This item is being used as a ui home position indicator
bool _showHomePosition;
double _altDifference; ///< Difference in altitude from previous waypoint
double _altPercent; ///< Percent of total altitude change in mission
double _azimuth; ///< Azimuth to previous waypoint
......
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