/*===================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief MissionItem class
*
* @author Benjamin Knecht <mavteam@student.ethz.ch>
* @author Petri Tanskanen <mavteam@student.ethz.ch>
*
*/
#include <QStringList>
#include <QDebug>
#include "MissionItem.h"
QGC_LOGGING_CATEGORY(MissionItemLog, "MissionItemLog")
const double MissionItem::defaultPitch = 15.0;
const double MissionItem::defaultHeading = 0.0;
const double MissionItem::defaultAltitude = 25.0;
const double MissionItem::defaultAcceptanceRadius = 3.0;
const double MissionItem::defaultLoiterOrbitRadius = 10.0;
const double MissionItem::defaultLoiterTurns = 1.0;
QDebug operator<<(QDebug dbg, const MissionItem& missionItem)
{
QDebugStateSaver saver(dbg);
dbg.nospace() << "MissionItem(" << missionItem.coordinate() << ")";
return dbg;
}
QDebug operator<<(QDebug dbg, const MissionItem* missionItem)
{
QDebugStateSaver saver(dbg);
dbg.nospace() << "MissionItem(" << missionItem->coordinate() << ")";
return dbg;
}
const MissionItem::MavCmd2Name_t MissionItem::_rgMavCmd2Name[_cMavCmd2Name] = {
{ MAV_CMD_NAV_WAYPOINT, "Waypoint" },
{ MAV_CMD_NAV_LOITER_UNLIM, "Loiter" },
{ MAV_CMD_NAV_LOITER_TURNS, "Loiter (turns)" },
{ MAV_CMD_NAV_LOITER_TIME, "Loiter (seconds)" },
{ MAV_CMD_NAV_RETURN_TO_LAUNCH, "Return Home" },
{ MAV_CMD_NAV_LAND, "Land" },
{ MAV_CMD_NAV_TAKEOFF, "Takeoff" },
{ MAV_CMD_CONDITION_DELAY, "Delay" },
{ MAV_CMD_DO_JUMP, "Jump To Command" },
};
MissionItem::MissionItem(QObject* parent,
int sequenceNumber,
QGeoCoordinate coordinate,
int command,
double param1,
double param2,
double param3,
double param4,
bool autocontinue,
bool isCurrentItem,
int frame)
: QObject(parent)
, _sequenceNumber(sequenceNumber)
, _frame(-1) // Forces set of _altitudeRelativeToHomeFact
, _command((MavlinkQmlSingleton::Qml_MAV_CMD)command)
, _autocontinue(autocontinue)
, _isCurrentItem(isCurrentItem)
, _reachedTime(0)
, _headingDegreesFact(NULL)
,_dirty(false)
, _homePositionSpecialCase(false)
{
_latitudeFact = new Fact(0, "Latitude:", FactMetaData::valueTypeDouble, this);
_longitudeFact = new Fact(0, "Longitude:", FactMetaData::valueTypeDouble, this);
_altitudeFact = new Fact(0, "Altitude:", FactMetaData::valueTypeDouble, this);
_headingDegreesFact = new Fact(0, "Heading:", FactMetaData::valueTypeDouble, this);
_loiterOrbitRadiusFact = new Fact(0, "Radius:", FactMetaData::valueTypeDouble, this);
_param1Fact = new Fact(0, QString(), FactMetaData::valueTypeDouble, this);
_param2Fact = new Fact(0, QString(), FactMetaData::valueTypeDouble, this);
_altitudeRelativeToHomeFact = new Fact(0, "Altitude is relative to home", FactMetaData::valueTypeDouble, this);
setFrame(frame);
setCoordinate(coordinate);
setParam1(param1);
setParam2(param2);
_setYawRadians(param4);
setLoiterOrbitRadius(param3);
// FIXME: Need to fill out more meta data
FactMetaData* latitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _latitudeFact);
latitudeMetaData->setUnits("deg");
FactMetaData* longitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _longitudeFact);
longitudeMetaData->setUnits("deg");
FactMetaData* altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _altitudeFact);
altitudeMetaData->setUnits("meters");
FactMetaData* headingMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _headingDegreesFact);
headingMetaData->setUnits("deg");
_pitchMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_pitchMetaData->setUnits("deg");
_acceptanceRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_acceptanceRadiusMetaData->setUnits("meters");
_holdTimeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_holdTimeMetaData->setUnits("seconds");
FactMetaData* loiterOrbitRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
loiterOrbitRadiusMetaData->setUnits("meters");
_loiterTurnsMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
_loiterTurnsMetaData->setUnits("count");
_loiterSecondsMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_loiterSecondsMetaData->setUnits("seconds");
_delaySecondsMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
_delaySecondsMetaData->setUnits("seconds");
_jumpSequenceMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
_jumpSequenceMetaData->setUnits("#");
_jumpRepeatMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
_jumpRepeatMetaData->setUnits("count");
_latitudeFact->setMetaData(latitudeMetaData);
_longitudeFact->setMetaData(longitudeMetaData);
_altitudeFact->setMetaData(altitudeMetaData);
_headingDegreesFact->setMetaData(headingMetaData);
_loiterOrbitRadiusFact->setMetaData(loiterOrbitRadiusMetaData);
_connectSignals();
}
MissionItem::MissionItem(const MissionItem& other, QObject* parent)
: QObject(parent)
{
_latitudeFact = new Fact(this);
_longitudeFact = new Fact(this);
_altitudeFact = new Fact(this);
_headingDegreesFact = new Fact(this);
_loiterOrbitRadiusFact = new Fact(this);
_param1Fact = new Fact(this);
_param2Fact = new Fact(this);
_altitudeRelativeToHomeFact = new Fact(this);
_pitchMetaData = new FactMetaData(this);
_acceptanceRadiusMetaData = new FactMetaData(this);
_holdTimeMetaData = new FactMetaData(this);
_loiterTurnsMetaData = new FactMetaData(this);
_loiterSecondsMetaData = new FactMetaData(this);
_delaySecondsMetaData = new FactMetaData(this);
_jumpSequenceMetaData = new FactMetaData(this);
_jumpRepeatMetaData = new FactMetaData(this);
_connectSignals();
*this = other;
}
const MissionItem& MissionItem::operator=(const MissionItem& other)
{
_sequenceNumber = other._sequenceNumber;
_isCurrentItem = other._isCurrentItem;
_frame = other._frame;
_command = other._command;
_autocontinue = other._autocontinue;
_reachedTime = other._reachedTime;
_altitudeRelativeToHomeFact = other._altitudeRelativeToHomeFact;
_dirty = other._dirty;
_homePositionSpecialCase = other._homePositionSpecialCase;
*_latitudeFact = *other._latitudeFact;
*_longitudeFact = *other._longitudeFact;
*_altitudeFact = *other._altitudeFact;
*_headingDegreesFact = *other._headingDegreesFact;
*_loiterOrbitRadiusFact = *other._loiterOrbitRadiusFact;
*_param1Fact = *other._param1Fact;
*_param2Fact = *other._param2Fact;
*_pitchMetaData = *other._pitchMetaData;
*_acceptanceRadiusMetaData = *other._acceptanceRadiusMetaData;
*_holdTimeMetaData = *other._holdTimeMetaData;
*_loiterTurnsMetaData = *other._loiterTurnsMetaData;
*_loiterSecondsMetaData = *other._loiterSecondsMetaData;
*_delaySecondsMetaData = *other._delaySecondsMetaData;
*_jumpSequenceMetaData = *other._jumpSequenceMetaData;
*_jumpRepeatMetaData = *other._jumpRepeatMetaData;
return *this;
}
void MissionItem::_connectSignals(void)
{
// Connect to valueChanged to track dirty state
connect(_latitudeFact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_longitudeFact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_altitudeFact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_headingDegreesFact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_loiterOrbitRadiusFact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_param1Fact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_param2Fact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
connect(_altitudeRelativeToHomeFact, &Fact::valueChanged, this, &MissionItem::_factValueChanged);
// Connect valueChanged signals so we can output coordinateChanged signal
connect(_latitudeFact, &Fact::valueChanged, this, &MissionItem::_coordinateFactChanged);
connect(_longitudeFact, &Fact::valueChanged, this, &MissionItem::_coordinateFactChanged);
connect(_altitudeFact, &Fact::valueChanged, this, &MissionItem::_coordinateFactChanged);
connect(_headingDegreesFact, &Fact::valueChanged, this, &MissionItem::_headingDegreesFactChanged);
}
MissionItem::~MissionItem()
{
}
bool MissionItem::isNavigationType()
{
return (_command < MavlinkQmlSingleton::MAV_CMD_NAV_LAST);
}
void MissionItem::save(QTextStream &saveStream)
{
QString position("%1\t%2\t%3");
position = position.arg(x(), 0, 'g', 18);
position = position.arg(y(), 0, 'g', 18);
position = position.arg(z(), 0, 'g', 18);
QString parameters("%1\t%2\t%3\t%4");
parameters = parameters.arg(param1(), 0, 'g', 18).arg(param2(), 0, 'g', 18).arg(loiterOrbitRadius(), 0, 'g', 18).arg(_yawRadians(), 0, 'g', 18);
// FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE> <DESCRIPTION>
// as documented here: http://qgroundcontrol.org/waypoint_protocol
saveStream << this->sequenceNumber() << "\t" << this->isCurrentItem() << "\t" << this->frame() << "\t" << this->command() << "\t" << parameters << "\t" << position << "\t" << this->autoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n";
}
bool MissionItem::load(QTextStream &loadStream)
{
const QStringList &wpParams = loadStream.readLine().split("\t");
if (wpParams.size() == 12) {
setSequenceNumber(wpParams[0].toInt());
setIsCurrentItem(wpParams[1].toInt() == 1 ? true : false);
setFrame(wpParams[2].toInt());
setAction(wpParams[3].toInt());
setParam1(wpParams[4].toDouble());
setParam2(wpParams[5].toDouble());
setLoiterOrbitRadius(wpParams[6].toDouble());
_setYawRadians(wpParams[7].toDouble());
setLatitude(wpParams[8].toDouble());
setLongitude(wpParams[9].toDouble());
setAltitude(wpParams[10].toDouble());
_autocontinue = (wpParams[11].toInt() == 1 ? true : false);
return true;
}
return false;
}
void MissionItem::setSequenceNumber(int sequenceNumber)
{
_sequenceNumber = sequenceNumber;
emit sequenceNumberChanged(_sequenceNumber);
emit changed(this);
}
void MissionItem::setX(double x)
{
if (!isinf(x) && !isnan(x) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU)))
{
setLatitude(x);
}
}
void MissionItem::setY(double y)
{
if (!isinf(y) && !isnan(y) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU)))
{
setLongitude(y);
}
}
void MissionItem::setZ(double z)
{
if (!isinf(z) && !isnan(z) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU)))
{
setAltitude(z);
}
}
void MissionItem::setLatitude(double lat)
{
if (_latitudeFact->value().toDouble() != lat)
{
_latitudeFact->setValue(lat);
emit changed(this);
emit coordinateChanged(coordinate());
}
}
void MissionItem::setLongitude(double lon)
{
if (_longitudeFact->value().toDouble() != lon)
{
_longitudeFact->setValue(lon);
emit changed(this);
emit coordinateChanged(coordinate());
}
}
void MissionItem::setAltitude(double altitude)
{
if (_altitudeFact->value().toDouble() != altitude)
{
_altitudeFact->setValue(altitude);
emit changed(this);
emit valueStringsChanged(valueStrings());
emit coordinateChanged(coordinate());
}
}
void MissionItem::setAction(int /*MAV_CMD*/ action)
{
if (_command != action) {
_command = (MavlinkQmlSingleton::Qml_MAV_CMD)action;
// Fix defaults according to WP type
switch (_command) {
case MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF:
setParam1(defaultPitch);
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT:
setAcceptanceRadius(defaultAcceptanceRadius);
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_UNLIM:
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TIME:
setLoiterOrbitRadius(defaultLoiterOrbitRadius);
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TURNS:
setLoiterOrbitRadius(defaultLoiterOrbitRadius);
setParam1(defaultLoiterTurns);
break;
default:
break;
}
setHeadingDegrees(defaultHeading);
setAltitude(defaultAltitude);
if (specifiesCoordinate()) {
if (_frame != MAV_FRAME_GLOBAL && _frame != MAV_FRAME_GLOBAL_RELATIVE_ALT) {
setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
}
} else {
setFrame(MAV_FRAME_MISSION);
}
emit changed(this);
emit commandNameChanged(commandName());
emit commandChanged((MavlinkQmlSingleton::Qml_MAV_CMD)_command);
emit valueLabelsChanged(valueLabels());
emit valueStringsChanged(valueStrings());
}
}
int MissionItem::frame(void) const
{
if (_altitudeRelativeToHomeFact->value().toBool()) {
return MAV_FRAME_GLOBAL_RELATIVE_ALT;
} else {
return _frame;
}
}
void MissionItem::setFrame(int /*MAV_FRAME*/ frame)
{
if (_frame != frame) {
_altitudeRelativeToHomeFact->setValue(frame == MAV_FRAME_GLOBAL_RELATIVE_ALT);
_frame = frame;
emit changed(this);
}
}
void MissionItem::setAutocontinue(bool autoContinue)
{
if (_autocontinue != autoContinue) {
_autocontinue = autoContinue;
emit changed(this);
}
}
void MissionItem::setIsCurrentItem(bool isCurrentItem)
{
if (_isCurrentItem != isCurrentItem) {
_isCurrentItem = isCurrentItem;
emit isCurrentItemChanged(isCurrentItem);
}
}
void MissionItem::setAcceptanceRadius(double radius)
{
setParam2(radius);
}
void MissionItem::setParam1(double param)
{
if (param1() != param)
{
_param1Fact->setValue(param);
emit changed(this);
emit valueStringsChanged(valueStrings());
}
}
void MissionItem::setParam2(double param)
{
if (param2() != param)
{
_param2Fact->setValue(param);
emit valueStringsChanged(valueStrings());
emit changed(this);
}
}
void MissionItem::setParam3(double param3)
{
setLoiterOrbitRadius(param3);
}
void MissionItem::setParam4(double param4)
{
_setYawRadians(param4);
}
void MissionItem::setParam5(double param5)
{
setLatitude(param5);
}
void MissionItem::setParam6(double param6)
{
setLongitude(param6);
}
void MissionItem::setParam7(double param7)
{
setAltitude(param7);
}
void MissionItem::setLoiterOrbitRadius(double radius)
{
if (loiterOrbitRadius() != radius) {
_loiterOrbitRadiusFact->setValue(radius);
emit valueStringsChanged(valueStrings());
emit changed(this);
}
}
void MissionItem::setHoldTime(int holdTime)
{
setParam1(holdTime);
}
void MissionItem::setHoldTime(double holdTime)
{
setParam1(holdTime);
}
bool MissionItem::specifiesCoordinate(void) const
{
switch (_command) {
case MAV_CMD_NAV_WAYPOINT:
case MAV_CMD_NAV_LOITER_UNLIM:
case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_LOITER_TIME:
case MAV_CMD_NAV_LAND:
case MAV_CMD_NAV_TAKEOFF:
return true;
default:
return false;
}
}
QString MissionItem::commandName(void)
{
QString type;
switch (_command) {
case MAV_CMD_NAV_WAYPOINT:
type = "Waypoint";
break;
case MAV_CMD_NAV_LOITER_UNLIM:
case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_LOITER_TIME:
type = "Loiter";
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
type = "Return Home";
break;
case MAV_CMD_NAV_LAND:
type = "Land";
break;
case MAV_CMD_NAV_TAKEOFF:
type = "Takeoff";
break;
case MAV_CMD_CONDITION_DELAY:
type = "Delay";
break;
case MAV_CMD_DO_JUMP:
type = "Jump To Command";
break;
default:
type = QString("Unknown (%1)").arg(_command);
break;
}
return type;
}
QString MissionItem::commandDescription(void)
{
QString description;
switch (_command) {
case MAV_CMD_NAV_WAYPOINT:
description = "Travel to a position in 3D space.";
break;
case MAV_CMD_NAV_LOITER_UNLIM:
description = "Travel to a position and Loiter around the specified radius indefinitely.";
break;
case MAV_CMD_NAV_LOITER_TURNS:
description = "Travel to a position and Loiter around the specified radius for a number of turns.";
break;
case MAV_CMD_NAV_LOITER_TIME:
description = "Travel to a position and Loiter around the specified radius for an amount of time.";
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
description = "Send the vehicle back to the home position set when armed.";
break;
case MAV_CMD_NAV_LAND:
description = "Land vehicle at the current location.";
break;
case MAV_CMD_NAV_TAKEOFF:
description = "Lift off from the ground and travel to the specified position.";
break;
case MAV_CMD_CONDITION_DELAY:
description = "Delay";
break;
case MAV_CMD_DO_JUMP:
description = "Jump To Command";
break;
default:
description = QString("Unknown (%1)").arg(_command);
break;
}
return description;
}
QStringList MissionItem::valueLabels(void)
{
QStringList labels;
switch (_command) {
case MAV_CMD_NAV_WAYPOINT:
if (frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) {
labels << "Alt (rel):";
} else {
labels << "Alt:";
}
labels << "Heading:" << "Radius:" << "Hold:";
break;
case MAV_CMD_NAV_LOITER_UNLIM:
labels << "Heading:" << "Radius:";
break;
case MAV_CMD_NAV_LOITER_TURNS:
labels << "Heading:" << "Radius:"<< "Turns:";
break;
case MAV_CMD_NAV_LOITER_TIME:
labels << "Heading:" << "Radius:" << "Seconds:";
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
break;
case MAV_CMD_NAV_LAND:
if (frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) {
labels << "Alt (rel):";
} else {
labels << "Alt:";
}
labels << "Heading:";
break;
case MAV_CMD_NAV_TAKEOFF:
if (frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) {
labels << "Alt (rel):";
} else {
labels << "Alt:";
}
labels << "Heading:" << "Pitch:";
break;
case MAV_CMD_CONDITION_DELAY:
labels << "Seconds:";
break;
case MAV_CMD_DO_JUMP:
labels << "Jump to:" << "Repeat:";
break;
default:
break;
}
return labels;
}
QString MissionItem::_oneDecimalString(double value)
{
return QString("%1").arg(value, 0 /* min field width */, 'f' /* format */, 1 /* precision */);
}
QStringList MissionItem::valueStrings(void)
{
QStringList list;
switch (_command) {
case MAV_CMD_NAV_WAYPOINT:
list << _oneDecimalString(_altitudeFact->value().toDouble()) << _oneDecimalString(headingDegrees()) << _oneDecimalString(param2()) << _oneDecimalString(param1());
break;
case MAV_CMD_NAV_LOITER_UNLIM:
list << _oneDecimalString(headingDegrees()) << _oneDecimalString(loiterOrbitRadius());
break;
case MAV_CMD_NAV_LOITER_TURNS:
list << _oneDecimalString(headingDegrees()) << _oneDecimalString(loiterOrbitRadius()) << _oneDecimalString(param1());
break;
case MAV_CMD_NAV_LOITER_TIME:
list << _oneDecimalString(headingDegrees()) << _oneDecimalString(loiterOrbitRadius()) << _oneDecimalString(param1());
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
break;
case MAV_CMD_NAV_LAND:
list << _oneDecimalString(_altitudeFact->value().toDouble()) << _oneDecimalString(headingDegrees());
break;
case MAV_CMD_NAV_TAKEOFF:
list << _oneDecimalString(_altitudeFact->value().toDouble()) << _oneDecimalString(headingDegrees()) << _oneDecimalString(param1());
break;
case MAV_CMD_CONDITION_DELAY:
list << _oneDecimalString(param1());
break;
case MAV_CMD_DO_JUMP:
list << _oneDecimalString(param1()) << _oneDecimalString(param2());
break;
default:
break;
}
return list;
}
QStringList MissionItem::commandNames(void) {
QStringList list;
for (int i=0; i<_cMavCmd2Name; i++) {
list += _rgMavCmd2Name[i].name;
}
return list;
}
int MissionItem::commandByIndex(void)
{
for (int i=0; i<_cMavCmd2Name; i++) {
if (_rgMavCmd2Name[i].command == (MAV_CMD)_command) {
return i;
}
}
return -1;
}
void MissionItem::setCommandByIndex(int index)
{
if (index < 0 || index >= _cMavCmd2Name) {
qWarning() << "Invalid index" << index;
return;
}
setCommand((MavlinkQmlSingleton::Qml_MAV_CMD)_rgMavCmd2Name[index].command);
}
QmlObjectListModel* MissionItem::textFieldFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
switch ((MAV_CMD)_command) {
case MAV_CMD_NAV_WAYPOINT:
_param1Fact->_setName("Hold:");
_param1Fact->setMetaData(_holdTimeMetaData);
model->append(_altitudeFact);
if (!_homePositionSpecialCase) {
model->append(_param1Fact);
}
break;
case MAV_CMD_NAV_LOITER_UNLIM:
model->append(_altitudeFact);
model->append(_loiterOrbitRadiusFact);
break;
case MAV_CMD_NAV_LOITER_TURNS:
_param1Fact->_setName("Turns:");
_param1Fact->setMetaData(_loiterTurnsMetaData);
model->append(_altitudeFact);
model->append(_loiterOrbitRadiusFact);
model->append(_param1Fact);
break;
case MAV_CMD_NAV_LOITER_TIME:
_param1Fact->_setName("Seconds:");
_param1Fact->setMetaData(_loiterSecondsMetaData);
model->append(_altitudeFact);
model->append(_loiterOrbitRadiusFact);
model->append(_param1Fact);
break;
case MAV_CMD_NAV_LAND:
model->append(_altitudeFact);
break;
case MAV_CMD_NAV_TAKEOFF:
_param1Fact->_setName("Pitch:");
_param1Fact->setMetaData(_pitchMetaData);
model->append(_altitudeFact);
model->append(_param1Fact);
break;
case MAV_CMD_CONDITION_DELAY:
_param1Fact->_setName("Seconds:");
_param1Fact->setMetaData(_delaySecondsMetaData);
model->append(_param1Fact);
break;
case MAV_CMD_DO_JUMP:
_param1Fact->_setName("Seq #:");
_param1Fact->setMetaData(_jumpSequenceMetaData);
_param2Fact->_setName("Repeat:");
_param2Fact->setMetaData(_jumpRepeatMetaData);
model->append(_param1Fact);
model->append(_param2Fact);
break;
default:
break;
}
if (specifiesHeading()) {
model->append(_headingDegreesFact);
}
return model;
}
QmlObjectListModel* MissionItem::checkboxFacts(void)
{
QmlObjectListModel* model = new QmlObjectListModel(this);
switch ((MAV_CMD)_command) {
case MAV_CMD_NAV_WAYPOINT:
if (!_homePositionSpecialCase) {
model->append(_altitudeRelativeToHomeFact);
}
break;
case MAV_CMD_NAV_LOITER_UNLIM:
model->append(_altitudeRelativeToHomeFact);
break;
case MAV_CMD_NAV_LOITER_TURNS:
model->append(_altitudeRelativeToHomeFact);
break;
case MAV_CMD_NAV_LOITER_TIME:
model->append(_altitudeRelativeToHomeFact);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
break;
case MAV_CMD_NAV_LAND:
model->append(_altitudeRelativeToHomeFact);
break;
case MAV_CMD_NAV_TAKEOFF:
model->append(_altitudeRelativeToHomeFact);
break;
default:
break;
}
return model;
}
double MissionItem::headingDegrees(void) const
{
return _headingDegreesFact->value().toDouble();
}
void MissionItem::setHeadingDegrees(double headingDegrees)
{
if (_headingDegreesFact->value().toDouble() != headingDegrees) {
_headingDegreesFact->setValue(headingDegrees);
emit changed(this);
emit valueStringsChanged(valueStrings());
emit headingDegreesChanged(headingDegrees);
}
}
double MissionItem::_yawRadians(void) const
{
return _headingDegreesFact->value().toDouble() * (M_PI / 180.0);
}
void MissionItem::_setYawRadians(double yawRadians)
{
setHeadingDegrees(yawRadians * (180 / M_PI));
}
QGeoCoordinate MissionItem::coordinate(void) const
{
return QGeoCoordinate(latitude(), longitude(), altitude());
}
void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
{
setLatitude(coordinate.latitude());
setLongitude(coordinate.longitude());
setAltitude(coordinate.altitude());
}
bool MissionItem::canEdit(void)
{
bool found = false;
for (int i=0; i<_cMavCmd2Name; i++) {
if (_rgMavCmd2Name[i].command == (MAV_CMD)_command) {
found = true;
break;
}
}
if (found) {
if (!_autocontinue) {
qCDebug(MissionItemLog) << "canEdit false due to _autocontinue != true";
return false;
}
if (_frame != MAV_FRAME_GLOBAL && _frame != MAV_FRAME_GLOBAL_RELATIVE_ALT && _frame != MAV_FRAME_MISSION) {
qCDebug(MissionItemLog) << "canEdit false due unsupported frame type:" << _frame;
return false;
}
return true;
} else {
qCDebug(MissionItemLog) << "canEdit false due unsupported command:" << _command;
return false;
}
}
void MissionItem::setDirty(bool dirty)
{
_dirty = dirty;
// We want to emit dirtyChanged even if _dirty didn't change. This can be handy signal for
// any value within the item changing.
emit dirtyChanged(_dirty);
}
void MissionItem::_factValueChanged(QVariant value)
{
Q_UNUSED(value);
setDirty(true);
}
void MissionItem::_coordinateFactChanged(QVariant value)
{
Q_UNUSED(value);
emit coordinateChanged(coordinate());
}
bool MissionItem::specifiesHeading(void) const
{
switch ((MAV_CMD)_command) {
case MAV_CMD_NAV_LAND:
case MAV_CMD_NAV_TAKEOFF:
return true;
default:
return false;
}
}
void MissionItem::_headingDegreesFactChanged(QVariant value)
{
emit headingDegreesChanged(value.toDouble());
}