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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include <QStringList>
#include <QDebug>
#include "TakeoffMissionItem.h"
#include "FirmwarePluginManager.h"
#include "QGCApplication.h"
#include "JsonHelper.h"
#include "MissionCommandTree.h"
#include "MissionCommandUIInfo.h"
#include "QGroundControlQmlGlobal.h"
#include "SettingsManager.h"
TakeoffMissionItem::TakeoffMissionItem(Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
: SimpleMissionItem (vehicle, flyView, parent)
, _settingsItem (settingsItem)
{
_init();
}
TakeoffMissionItem::TakeoffMissionItem(MAV_CMD takeoffCmd, Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
: SimpleMissionItem (vehicle, flyView, parent)
, _settingsItem (settingsItem)
{
setCommand(takeoffCmd);
_init();
}
TakeoffMissionItem::TakeoffMissionItem(const MissionItem& missionItem, Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
: SimpleMissionItem (vehicle, flyView, missionItem, parent)
, _settingsItem (settingsItem)
{
_init();
}
TakeoffMissionItem::~TakeoffMissionItem()
{
}
void TakeoffMissionItem::_init(void)
{
_editorQml = QStringLiteral("qrc:/qml/SimpleItemEditor.qml");
connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &TakeoffMissionItem::launchCoordinateChanged);
if (_flyView) {
_initLaunchTakeoffAtSameLocation();
return;
}
QGeoCoordinate homePosition = _settingsItem->coordinate();
if (!homePosition.isValid()) {
Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
if (activeVehicle) {
homePosition = activeVehicle->homePosition();
if (homePosition.isValid()) {
_settingsItem->setCoordinate(homePosition);
}
}
}
_initLaunchTakeoffAtSameLocation();
if (homePosition.isValid() && coordinate().isValid()) {
// Item already full specified, most likely from mission load from storage
_wizardMode = false;
} else {
if (_launchTakeoffAtSameLocation && homePosition.isValid()) {
_wizardMode = false;
SimpleMissionItem::setCoordinate(homePosition);
} else {
_wizardMode = true;
}
}
setDirty(false);
}
void TakeoffMissionItem::setLaunchTakeoffAtSameLocation(bool launchTakeoffAtSameLocation)
{
if (launchTakeoffAtSameLocation != _launchTakeoffAtSameLocation) {
_launchTakeoffAtSameLocation = launchTakeoffAtSameLocation;
if (_launchTakeoffAtSameLocation) {
setLaunchCoordinate(coordinate());
}
emit launchTakeoffAtSameLocationChanged(_launchTakeoffAtSameLocation);
setDirty(true);
}
}
void TakeoffMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
{
if (coordinate != this->coordinate()) {
SimpleMissionItem::setCoordinate(coordinate);
if (_launchTakeoffAtSameLocation) {
_settingsItem->setCoordinate(coordinate);
}
}
}
bool TakeoffMissionItem::isTakeoffCommand(MAV_CMD command)
{
return command == MAV_CMD_NAV_TAKEOFF || command == MAV_CMD_NAV_VTOL_TAKEOFF;
}
void TakeoffMissionItem::_initLaunchTakeoffAtSameLocation(void)
{
if (specifiesCoordinate()) {
if (_vehicle->fixedWing()) {
setLaunchTakeoffAtSameLocation(false);
} else {
// PX4 specifies a coordinate for takeoff even for non fixed wing. But it makes more sense to not have a coordinate
// from and end user standpoint. So even for PX4 we try to keep launch and takeoff at the same position. Unless the
// user has moved/loaded launch at a different location than takeoff.
if (coordinate().isValid() && _settingsItem->coordinate().isValid()) {
setLaunchTakeoffAtSameLocation(coordinate().latitude() == _settingsItem->coordinate().latitude() && coordinate().longitude() == _settingsItem->coordinate().longitude());
} else {
setLaunchTakeoffAtSameLocation(true);
}
}
} else {
setLaunchTakeoffAtSameLocation(true);
}
}
bool TakeoffMissionItem::load(QTextStream &loadStream)
{
bool success = SimpleMissionItem::load(loadStream);
if (success) {
_initLaunchTakeoffAtSameLocation();
}
return success;
}
bool TakeoffMissionItem::load(const QJsonObject& json, int sequenceNumber, QString& errorString)
{
bool success = SimpleMissionItem::load(json, sequenceNumber, errorString);
if (success) {
_initLaunchTakeoffAtSameLocation();
}
return success;
}
void TakeoffMissionItem::setLaunchCoordinate(const QGeoCoordinate& launchCoordinate)
{
if (!launchCoordinate.isValid()) {
return;
}
_settingsItem->setCoordinate(launchCoordinate);
if (!coordinate().isValid()) {
QGeoCoordinate takeoffCoordinate;
if (_launchTakeoffAtSameLocation) {
takeoffCoordinate = launchCoordinate;
} else {
double altitude = this->altitude()->rawValue().toDouble();
double distance = 0.0;
if (coordinateHasRelativeAltitude()) {
// Offset for fixed wing climb out of 30 degrees
if (altitude != 0.0) {
distance = altitude / tan(qDegreesToRadians(30.0));
}
} else {
distance = altitude * 1.5;
}
takeoffCoordinate = launchCoordinate.atDistanceAndAzimuth(distance, 0);
}
SimpleMissionItem::setCoordinate(takeoffCoordinate);
}
}