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/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. 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>
*
*/
#ifndef WAYPOINT_H
#define WAYPOINT_H
#include <QObject>
#include <QString>
#include <QTextStream>
#include "QGCMAVLink.h"
#include "QGC.h"
class Waypoint : public QObject
{
Q_OBJECT
public:
Waypoint(quint16 id = 0, double x = 0.0, double y = 0.0, double z = 0.0, double param1 = 0.0, double param2 = 0.0, double param3 = 0.0, double param4 = 0.0,
bool autocontinue = true, bool current = false, MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_CMD action=MAV_CMD_NAV_WAYPOINT, const QString& description=QString(""));
~Waypoint();
quint16 getId() const {
return id;
}
double getX() const {
return x;
}
double getY() const {
return y;
}
double getZ() const {
return z;
}
double getLatitude() const {
return x;
}
double getLongitude() const {
return y;
}
double getAltitude() const {
return z;
}
double getYaw() const {
return yaw;
}
bool getAutoContinue() const {
return autocontinue;
}
bool getCurrent() const {
return current;
}
double getLoiterOrbit() const {
return orbit;
}
double getAcceptanceRadius() const {
return param2;
}
double getHoldTime() const {
return param1;
}
double getParam1() const {
return param1;
}
double getParam2() const {
return param2;
}
double getParam3() const {
return orbit;
}
double getParam4() const {
return yaw;
}
double getParam5() const {
return x;
}
double getParam6() const {
return y;
}
double getParam7() const {
return z;
}
int getTurns() const {
return param1;
}
MAV_FRAME getFrame() const {
return frame;
}
MAV_CMD getAction() const {
return action;
}
const QString& getName() const {
return name;
}
const QString& getDescription() const {
return description;
}
/** @brief Returns true if x, y, z contain reasonable navigation data */
bool isNavigationType();
void save(QTextStream &saveStream);
bool load(QTextStream &loadStream);
protected:
quint16 id;
double x;
double y;
double z;
double yaw;
MAV_FRAME frame;
MAV_CMD action;
bool autocontinue;
bool current;
double orbit;
double param1;
double param2;
int turns;
QString name;
QString description;
quint64 reachedTime;
public slots:
void setId(quint16 id);
void setX(double x);
void setY(double y);
void setZ(double z);
void setLatitude(double lat);
void setLongitude(double lon);
void setAltitude(double alt);
/** @brief Yaw angle in COMPASS DEGREES: 0-360 */
void setYaw(int yaw);
/** @brief Yaw angle in COMPASS DEGREES: 0-360 */
void setYaw(double yaw);
/** @brief Set the waypoint action */
void setAction(int action);
void setAction(MAV_CMD action);
void setFrame(MAV_FRAME frame);
void setAutocontinue(bool autoContinue);
void setCurrent(bool current);
void setLoiterOrbit(double orbit);
void setParam1(double param1);
void setParam2(double param2);
void setParam3(double param3);
void setParam4(double param4);
void setParam5(double param5);
void setParam6(double param6);
void setParam7(double param7);
void setAcceptanceRadius(double radius);
void setHoldTime(int holdTime);
void setHoldTime(double holdTime);
/** @brief Number of turns for loiter waypoints */
void setTurns(int turns);
/** @brief Set waypoint as reached */
void setReached() { reachedTime = QGC::groundTimeMilliseconds(); }
/** @brief Wether this waypoint has been reached yet */
bool isReached() { return (reachedTime > 0); }
/** @brief Get the time this waypoint was reached */
quint64 getReachedTime() { return reachedTime; }
signals:
/** @brief Announces a change to the waypoint data */
void changed(Waypoint* wp);
};
#endif // WAYPOINT_H