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#include "QGCMissionNavLoiterTurns.h"
#include "ui_QGCMissionNavLoiterTurns.h"
#include "WaypointEditableView.h"
QGCMissionNavLoiterTurns::QGCMissionNavLoiterTurns(WaypointEditableView* WEV) :
QWidget(WEV),
ui(new Ui::QGCMissionNavLoiterTurns)
{
ui->setupUi(this);
this->WEV = WEV;
//Using UI to change WP:
connect(this->ui->turnsSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
//connect(this->ui->acceptanceSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
connect(this->ui->radSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
connect(this->ui->yawSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
connect(this->ui->posNSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//NED
connect(this->ui->posESpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
connect(this->ui->posDSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
connect(this->ui->latSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//Global
connect(this->ui->lonSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
connect(this->ui->altSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
//Reading WP to update UI:
connect(WEV,SIGNAL(frameBroadcast(MAV_FRAME)),this,SLOT(updateFrame(MAV_FRAME)));
connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->turnsSpinBox,SLOT(setValue(double)));
//connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->acceptanceSpinBox,SLOT(setValue(double)));
connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->radSpinBox,SLOT(setValue(double)));
connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->yawSpinBox,SLOT(setValue(double)));
connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->posNSpinBox,SLOT(setValue(double)));//NED
connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->posESpinBox,SLOT(setValue(double)));
connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->posDSpinBox,SLOT(setValue(double)));
connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->latSpinBox,SLOT(setValue(double)));//Global
connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->lonSpinBox,SLOT(setValue(double)));
connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->altSpinBox,SLOT(setValue(double)));
}
void QGCMissionNavLoiterTurns::updateFrame(MAV_FRAME frame)
{
switch(frame)
{
case MAV_FRAME_LOCAL_ENU:
case MAV_FRAME_LOCAL_NED:
this->ui->posNSpinBox->show();
this->ui->posESpinBox->show();
this->ui->posDSpinBox->show();
this->ui->latSpinBox->hide();
this->ui->lonSpinBox->hide();
this->ui->altSpinBox->hide();
break;
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
this->ui->posNSpinBox->hide();
this->ui->posESpinBox->hide();
this->ui->posDSpinBox->hide();
this->ui->latSpinBox->show();
this->ui->lonSpinBox->show();
this->ui->altSpinBox->show();
break;
default:
break;
}
}
QGCMissionNavLoiterTurns::~QGCMissionNavLoiterTurns()
{
delete ui;
}