1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
/*===================================================================
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 Waypoint class
*
* @author Benjamin Knecht <mavteam@student.ethz.ch>
* @author Petri Tanskanen <mavteam@student.ethz.ch>
*
*/
#include <QStringList>
#include <QDebug>
#include "Waypoint.h"
Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _param1, double _param2, double _param3, double _param4,
bool _autocontinue, bool _current, MAV_FRAME _frame, MAV_CMD _action, const QString& _description)
: id(_id),
x(_x),
y(_y),
z(_z),
yaw(_param4),
frame(_frame),
action(_action),
autocontinue(_autocontinue),
current(_current),
orbit(_param3),
param1(_param1),
param2(_param2),
name(QString("WP%1").arg(id, 2, 10, QChar('0'))),
description(_description),
reachedTime(0)
{
}
Waypoint::~Waypoint()
{
}
bool Waypoint::isNavigationType()
{
return (action < MAV_CMD_NAV_LAST);
}
void Waypoint::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(orbit, 0, 'g', 18).arg(yaw, 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->getId() << "\t" << this->getCurrent() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t" << parameters << "\t" << position << "\t" << this->getAutoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n";
}
bool Waypoint::load(QTextStream &loadStream)
{
const QStringList &wpParams = loadStream.readLine().split("\t");
if (wpParams.size() == 12) {
this->id = wpParams[0].toInt();
this->current = (wpParams[1].toInt() == 1 ? true : false);
this->frame = (MAV_FRAME) wpParams[2].toInt();
this->action = (MAV_CMD) wpParams[3].toInt();
this->param1 = wpParams[4].toDouble();
this->param2 = wpParams[5].toDouble();
this->orbit = wpParams[6].toDouble();
this->yaw = wpParams[7].toDouble();
this->x = wpParams[8].toDouble();
this->y = wpParams[9].toDouble();
this->z = wpParams[10].toDouble();
this->autocontinue = (wpParams[11].toInt() == 1 ? true : false);
//this->description = wpParams[12];
return true;
}
return false;
}
void Waypoint::setId(quint16 id)
{
this->id = id;
this->name = QString("WP%1").arg(id, 2, 10, QChar('0'));
emit changed(this);
}
void Waypoint::setX(double x)
{
if (!isinf(x) && !isnan(x) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU)))
{
this->x = x;
emit changed(this);
}
}
void Waypoint::setY(double y)
{
if (!isinf(y) && !isnan(y) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU)))
{
this->y = y;
emit changed(this);
}
}
void Waypoint::setZ(double z)
{
if (!isinf(z) && !isnan(z) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU)))
{
this->z = z;
emit changed(this);
}
}
void Waypoint::setLatitude(double lat)
{
if (this->x != lat && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
{
this->x = lat;
emit changed(this);
}
}
void Waypoint::setLongitude(double lon)
{
if (this->y != lon && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
{
this->y = lon;
emit changed(this);
}
}
void Waypoint::setAltitude(double altitude)
{
if (this->z != altitude && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
{
this->z = altitude;
emit changed(this);
}
}
void Waypoint::setYaw(int yaw)
{
if (this->yaw != yaw)
{
this->yaw = yaw;
emit changed(this);
}
}
void Waypoint::setYaw(double yaw)
{
if (this->yaw != yaw)
{
this->yaw = yaw;
emit changed(this);
}
}
void Waypoint::setAction(int action)
{
if (this->action != (MAV_CMD)action)
{
this->action = (MAV_CMD)action;
emit changed(this);
}
}
void Waypoint::setAction(MAV_CMD action)
{
if (this->action != action) {
this->action = action;
emit changed(this);
}
}
void Waypoint::setFrame(MAV_FRAME frame)
{
if (this->frame != frame) {
this->frame = frame;
emit changed(this);
}
}
void Waypoint::setAutocontinue(bool autoContinue)
{
if (this->autocontinue != autoContinue) {
this->autocontinue = autoContinue;
emit changed(this);
}
}
void Waypoint::setCurrent(bool current)
{
if (this->current != current)
{
this->current = current;
emit changed(this);
}
}
void Waypoint::setAcceptanceRadius(double radius)
{
if (this->param2 != radius)
{
this->param2 = radius;
emit changed(this);
}
}
void Waypoint::setParam1(double param1)
{
//// // qDebug() << "SENDER:" << QObject::sender();
//// // qDebug() << "PARAM1 SET REQ:" << param1;
if (this->param1 != param1)
{
this->param1 = param1;
emit changed(this);
}
}
void Waypoint::setParam2(double param2)
{
if (this->param2 != param2)
{
this->param2 = param2;
emit changed(this);
}
}
void Waypoint::setParam3(double param3)
{
if (this->orbit != param3) {
this->orbit = param3;
emit changed(this);
}
}
void Waypoint::setParam4(double param4)
{
if (this->yaw != param4) {
this->yaw = param4;
emit changed(this);
}
}
void Waypoint::setParam5(double param5)
{
if (this->x != param5) {
this->x = param5;
emit changed(this);
}
}
void Waypoint::setParam6(double param6)
{
if (this->y != param6) {
this->y = param6;
emit changed(this);
}
}
void Waypoint::setParam7(double param7)
{
if (this->z != param7) {
this->z = param7;
emit changed(this);
}
}
void Waypoint::setLoiterOrbit(double orbit)
{
if (this->orbit != orbit) {
this->orbit = orbit;
emit changed(this);
}
}
void Waypoint::setHoldTime(int holdTime)
{
if (this->param1 != holdTime) {
this->param1 = holdTime;
emit changed(this);
}
}
void Waypoint::setHoldTime(double holdTime)
{
if (this->param1 != holdTime) {
this->param1 = holdTime;
emit changed(this);
}
}
void Waypoint::setTurns(int turns)
{
if (this->param1 != turns) {
this->param1 = turns;
emit changed(this);
}
}