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Commit 0817980e authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #4603 from DonLakeFlyer/FWPattern 

Complex Item: More work in Fixed Wing Landing Pattern
parents 76984650 bd5e0329
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Showing with 378 additions and 102 deletions
src/MissionEditor/FWLandingPatternEditor.qml
View file @ 0817980e
...@@ -22,7 +22,7 @@ import QGroundControl.Palette 1.0 ...@@ -22,7 +22,7 @@ import QGroundControl.Palette 1.0
// Editor for Fixed Wing Landing Pattern complex mission item // Editor for Fixed Wing Landing Pattern complex mission item
Rectangle { Rectangle {
id: _root id: _root
height: visible ? (editorColumn.height + (_margin * 2)) : 0 height: visible ? ((editorColumn.visible ? editorColumn.height : editorColumnNeedLandingPoint.height) + (_margin * 2)) : 0
width: availableWidth width: availableWidth
color: qgcPal.windowShadeDark color: qgcPal.windowShadeDark
radius: _radius radius: _radius
...@@ -38,6 +38,7 @@ Rectangle { ...@@ -38,6 +38,7 @@ Rectangle {
anchors.margins: _margin anchors.margins: _margin
anchors.left: parent.left anchors.left: parent.left
anchors.right: parent.right anchors.right: parent.right
visible: missionItem.landingCoordSet
QGCLabel { text: "WIP (NOT FOR REAL FLIGHT!)" } QGCLabel { text: "WIP (NOT FOR REAL FLIGHT!)" }
...@@ -52,4 +53,16 @@ Rectangle { ...@@ -52,4 +53,16 @@ Rectangle {
fact: missionItem.loiterClockwise fact: missionItem.loiterClockwise
} }
} }
Column {
id: editorColumnNeedLandingPoint
anchors.margins: _margin
anchors.left: parent.left
anchors.right: parent.right
visible: !missionItem.landingCoordSet
QGCLabel { text: "WIP (NOT FOR REAL FLIGHT!)" }
QGCLabel { text: qsTr("Click in map to set landing point.") }
}
} }
src/MissionEditor/FWLandingPatternMapVisual.qml
View file @ 0817980e
...@@ -12,6 +12,7 @@ import QtQuick.Controls 1.2 ...@@ -12,6 +12,7 @@ import QtQuick.Controls 1.2
import QtLocation 5.3 import QtLocation 5.3
import QtPositioning 5.2 import QtPositioning 5.2
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0 import QGroundControl.ScreenTools 1.0
import QGroundControl.Palette 1.0 import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0 import QGroundControl.Controls 1.0
...@@ -20,19 +21,193 @@ import QGroundControl.Controls 1.0 ...@@ -20,19 +21,193 @@ import QGroundControl.Controls 1.0
Item { Item {
property var map ///< Map control to place item in property var map ///< Map control to place item in
property var _missionItem: object
property var _mouseArea
property var _dragLoiter
property var _dragLand
property var _loiterPoint property var _loiterPoint
property var _landPoint
property var _flightPath property var _flightPath
function hideItemVisuals() {
if (_flightPath) {
_flightPath.destroy()
_flightPath = undefined
}
if (_loiterPoint) {
_loiterPoint.destroy()
_loiterPoint = undefined
}
if (_landPoint) {
_landPoint.destroy()
_landPoint = undefined
}
}
function showItemVisuals() {
if (!_flightPath) {
_flightPath = flightPathComponent.createObject(map)
map.addMapItem(_flightPath)
}
if (!_loiterPoint) {
_loiterPoint = loiterPointComponent.createObject(map)
map.addMapItem(_loiterPoint)
}
if (!_landPoint) {
_landPoint = landPointComponent.createObject(map)
map.addMapItem(_landPoint)
}
}
function hideMouseArea() {
if (_mouseArea) {
_mouseArea.destroy()
_mouseArea = undefined
}
}
function showMouseArea() {
if (!_mouseArea) {
_mouseArea = mouseAreaComponent.createObject(map)
map.addMapItem(_mouseArea)
}
}
function hideDragAreas() {
console.log("hideDragAreas")
if (_dragLoiter) {
_dragLoiter.destroy()
_dragLoiter = undefined
}
if (_dragLand) {
_dragLand.destroy()
_dragLand = undefined
}
}
function showDragAreas() {
console.log("showDragAreas")
if (!_dragLoiter) {
_dragLoiter = dragAreaComponent.createObject(map, { "dragLoiter": true })
}
if (!_dragLand) {
_dragLand = dragAreaComponent.createObject(map, { "dragLoiter": false })
}
}
Component.onCompleted: { Component.onCompleted: {
_flightPath = flightPathComponent.createObject(map) if (_missionItem.landingCoordSet) {
_loiterPoint = loiterComponent.createObject(map) showItemVisuals()
map.addMapItem(_flightPath) if (_missionItem.isCurrentItem) {
map.addMapItem(_loiterPoint) showDragAreas()
}
} else if (_missionItem.isCurrentItem) {
showMouseArea()
}
} }
Component.onDestruction: { Component.onDestruction: {
_loiterPoint.destroy() hideDragAreas()
_flightPath.destroy() hideMouseArea()
hideItemVisuals()
}
Connections {
target: _missionItem
onIsCurrentItemChanged: {
console.log("onIsCurrentItemChanged", _missionItem.isCurrentItem)
if (_missionItem.isCurrentItem) {
if (_missionItem.landingCoordSet) {
showDragAreas()
} else {
showMouseArea()
}
} else {
hideMouseArea()
hideDragAreas()
}
}
onLandingCoordSetChanged: {
if (_missionItem.landingCoordSet) {
hideMouseArea()
showItemVisuals()
showDragAreas()
} else if (_missionItem.isCurrentItem) {
hideDragAreas()
showMouseArea()
}
}
}
// Mouse area to capture landing point coordindate
Component {
id: mouseAreaComponent
MouseArea {
anchors.fill: map
onClicked: {
var coordinate = map.toCoordinate(Qt.point(mouse.x, mouse.y))
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
_missionItem.landingCoordinate = coordinate
}
}
}
// Control which is used to drag items
Component {
id: dragAreaComponent
Rectangle {
id: itemDragger
x: mapQuickItem ? (mapQuickItem.x + mapQuickItem.anchorPoint.x - (itemDragger.width / 2)) : 100
y: mapQuickItem ? (mapQuickItem.y + mapQuickItem.anchorPoint.y - (itemDragger.height / 2)) : 100
width: ScreenTools.defaultFontPixelHeight * 2
height: ScreenTools.defaultFontPixelHeight * 2
color: "transparent"
z: QGroundControl.zOrderMapItems + 1 // Above item icons
property bool dragLoiter
property var mapQuickItem: dragLoiter ? _loiterPoint : _landPoint
property bool _preventCoordinateBindingLoop: false
onXChanged: liveDrag()
onYChanged: liveDrag()
function liveDrag() {
if (!itemDragger._preventCoordinateBindingLoop && Drag.active) {
var point = Qt.point(itemDragger.x + (itemDragger.width / 2), itemDragger.y + (itemDragger.height / 2))
var coordinate = map.toCoordinate(point)
itemDragger._preventCoordinateBindingLoop = true
if (dragLoiter) {
coordinate.altitude = _missionItem.loiterCoordinate.altitude
_missionItem.loiterCoordinate = coordinate
} else {
coordinate.altitude = _missionItem.landingCoordinate.altitude
_missionItem.landingCoordinate = coordinate
}
itemDragger._preventCoordinateBindingLoop = false
}
}
Drag.active: itemDrag.drag.active
Drag.hotSpot.x: width / 2
Drag.hotSpot.y: height / 2
MouseArea {
id: itemDrag
anchors.fill: parent
drag.target: parent
drag.minimumX: 0
drag.minimumY: 0
drag.maximumX: itemDragger.parent.width - parent.width
drag.maximumY: itemDragger.parent.height - parent.height
}
}
} }
// Flight path // Flight path
...@@ -40,25 +215,44 @@ Item { ...@@ -40,25 +215,44 @@ Item {
id: flightPathComponent id: flightPathComponent
MapPolyline { MapPolyline {
z: QGroundControl.zOrderMapItems - 1 // Under item indicators
line.color: "white" line.color: "white"
line.width: 2 line.width: 2
path: [ object.loiterCoordinate, object.exitCoordinate ] path: _missionItem.landingCoordSet ? [ _missionItem.loiterCoordinate, _missionItem.landingCoordinate ] : undefined
} }
} }
// Loiter point // Loiter point
Component { Component {
id: loiterComponent id: loiterPointComponent
MapQuickItem { MapQuickItem {
anchorPoint.x: sourceItem.width / 2 anchorPoint.x: sourceItem.width / 2
anchorPoint.y: sourceItem.height / 2 anchorPoint.y: sourceItem.height / 2
coordinate: object.loiterCoordinate z: QGroundControl.zOrderMapItems
coordinate: _missionItem.loiterCoordinate
sourceItem: sourceItem:
MissionItemIndexLabel { MissionItemIndexLabel {
label: "L" label: "P"
} }
}
}
// Land point
Component {
id: landPointComponent
MapQuickItem {
anchorPoint.x: sourceItem.width / 2
anchorPoint.y: sourceItem.height / 2
z: QGroundControl.zOrderMapItems
coordinate: _missionItem.landingCoordinate
sourceItem:
MissionItemIndexLabel {
label: "L"
}
} }
} }
} }
src/MissionEditor/MissionEditor.qml
View file @ 0817980e
...@@ -454,42 +454,6 @@ QGCView { ...@@ -454,42 +454,6 @@ QGCView {
} }
} }
// Add the complex mission item exit coordinates
MapItemView {
model: missionController.complexVisualItems
delegate: exitCoordinateComponent
}
Component {
id: exitCoordinateComponent
MissionItemIndicator {
coordinate: object.exitCoordinate
z: QGroundControl.zOrderMapItems
missionItem: object
sequenceNumber: object.lastSequenceNumber
visible: object.specifiesCoordinate
// These are the non-coordinate child mission items attached to this item
Row {
anchors.top: parent.top
anchors.left: parent.right
Repeater {
model: !object.isSimpleItem ? object.childItems : 0
delegate: MissionItemIndexLabel {
label: object.abbreviation
checked: object.isCurrentItem
z: 2
onClicked: setCurrentItem(object.sequenceNumber)
}
}
}
}
}
// Add the simple mission items to the map // Add the simple mission items to the map
MapItemView { MapItemView {
model: missionController.visualItems model: missionController.visualItems
...@@ -502,7 +466,7 @@ QGCView { ...@@ -502,7 +466,7 @@ QGCView {
MissionItemIndicator { MissionItemIndicator {
id: itemIndicator id: itemIndicator
coordinate: object.coordinate coordinate: object.coordinate
visible: object.specifiesCoordinate visible: object.isSimpleItem && object.specifiesCoordinate
z: QGroundControl.zOrderMapItems z: QGroundControl.zOrderMapItems
missionItem: object missionItem: object
sequenceNumber: object.sequenceNumber sequenceNumber: object.sequenceNumber
......
src/MissionEditor/SurveyComplexItem.qml
View file @ 0817980e
...@@ -12,6 +12,7 @@ import QtQuick.Controls 1.2 ...@@ -12,6 +12,7 @@ import QtQuick.Controls 1.2
import QtLocation 5.3 import QtLocation 5.3
import QtPositioning 5.2 import QtPositioning 5.2
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0 import QGroundControl.ScreenTools 1.0
import QGroundControl.Palette 1.0 import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0 import QGroundControl.Controls 1.0
...@@ -20,19 +21,28 @@ import QGroundControl.Controls 1.0 ...@@ -20,19 +21,28 @@ import QGroundControl.Controls 1.0
Item { Item {
property var map ///< Map control to place item in property var map ///< Map control to place item in
property var _missionItem: object
property var _polygon property var _polygon
property var _grid property var _grid
property var _entryCoordinate
property var _exitCoordinate
Component.onCompleted: { Component.onCompleted: {
_polygon = polygonComponent.createObject(map) _polygon = polygonComponent.createObject(map)
_grid = gridComponent.createObject(map) _grid = gridComponent.createObject(map)
_entryCoordinate = entryPointComponent.createObject(map)
_exitCoordinate = exitPointComponent.createObject(map)
map.addMapItem(_polygon) map.addMapItem(_polygon)
map.addMapItem(_grid) map.addMapItem(_grid)
map.addMapItem(_entryCoordinate)
map.addMapItem(_exitCoordinate)
} }
Component.onDestruction: { Component.onDestruction: {
_polygon.destroy() _polygon.destroy()
_grid.destroy() _grid.destroy()
_entryCoordinate.destroy()
_exitCoordinate.destroy()
} }
// Survey area polygon // Survey area polygon
...@@ -42,7 +52,7 @@ Item { ...@@ -42,7 +52,7 @@ Item {
MapPolygon { MapPolygon {
color: "green" color: "green"
opacity: 0.5 opacity: 0.5
path: object.polygonPath path: _missionItem.polygonPath
} }
} }
...@@ -53,7 +63,41 @@ Item { ...@@ -53,7 +63,41 @@ Item {
MapPolyline { MapPolyline {
line.color: "white" line.color: "white"
line.width: 2 line.width: 2
path: object.gridPoints path: _missionItem.gridPoints
}
}
// Entry point
Component {
id: entryPointComponent
MapQuickItem {
anchorPoint.x: sourceItem.width / 2
anchorPoint.y: sourceItem.height / 2
z: QGroundControl.zOrderMapItems
coordinate: _missionItem.coordinate
sourceItem:
MissionItemIndexLabel {
label: "S"
}
}
}
// Exit point
Component {
id: exitPointComponent
MapQuickItem {
anchorPoint.x: sourceItem.width / 2
anchorPoint.y: sourceItem.height / 2
z: QGroundControl.zOrderMapItems
coordinate: _missionItem.exitCoordinate
sourceItem:
MissionItemIndexLabel {
label: "S"
}
} }
} }
} }
src/MissionManager/FixedWingLandingComplexItem.cc
View file @ 0817980e
...@@ -27,10 +27,12 @@ const char* FixedWingLandingComplexItem::_loiterClockwiseName = "Clockwi ...@@ -27,10 +27,12 @@ const char* FixedWingLandingComplexItem::_loiterClockwiseName = "Clockwi
QMap<QString, FactMetaData*> FixedWingLandingComplexItem::_metaDataMap; QMap<QString, FactMetaData*> FixedWingLandingComplexItem::_metaDataMap;
FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QGeoCoordinate mapClickCoordinate, QObject* parent) FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent)
: ComplexMissionItem(vehicle, parent) : ComplexMissionItem(vehicle, parent)
, _sequenceNumber(0) , _sequenceNumber(0)
, _dirty(false) , _dirty(false)
, _landingCoordSet(false)
, _ignoreRecalcSignals(false)
, _loiterToLandDistanceFact (0, _loiterToLandDistanceName, FactMetaData::valueTypeDouble) , _loiterToLandDistanceFact (0, _loiterToLandDistanceName, FactMetaData::valueTypeDouble)
, _loiterAltitudeFact (0, _loiterAltitudeName, FactMetaData::valueTypeDouble) , _loiterAltitudeFact (0, _loiterAltitudeName, FactMetaData::valueTypeDouble)
, _loiterRadiusFact (0, _loiterRadiusName, FactMetaData::valueTypeDouble) , _loiterRadiusFact (0, _loiterRadiusName, FactMetaData::valueTypeDouble)
...@@ -55,15 +57,12 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QGeoC ...@@ -55,15 +57,12 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QGeoC
_loiterClockwiseFact.setRawValue (_loiterClockwiseFact.rawDefaultValue()); _loiterClockwiseFact.setRawValue (_loiterClockwiseFact.rawDefaultValue());
_landingHeadingFact.setRawValue (_landingHeadingFact.rawDefaultValue()); _landingHeadingFact.setRawValue (_landingHeadingFact.rawDefaultValue());
connect(&_loiterToLandDistanceFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcLoiterPosition); connect(&_loiterToLandDistanceFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts);
connect(&_landingHeadingFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcLoiterPosition); connect(&_landingHeadingFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts);
connect(this, &FixedWingLandingComplexItem::loiterCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFactsFromCoords);
connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFactsFromCoords);
_textFieldFacts << QVariant::fromValue(&_loiterToLandDistanceFact) << QVariant::fromValue(&_loiterAltitudeFact) << QVariant::fromValue(&_loiterRadiusFact) << QVariant::fromValue(&_landingHeadingFact); _textFieldFacts << QVariant::fromValue(&_loiterToLandDistanceFact) << QVariant::fromValue(&_loiterAltitudeFact) << QVariant::fromValue(&_loiterRadiusFact) << QVariant::fromValue(&_landingHeadingFact);
// Exit coordinate is our land point
_exitCoordinate = mapClickCoordinate;
_recalcLoiterPosition();
} }
int FixedWingLandingComplexItem::lastSequenceNumber(void) const int FixedWingLandingComplexItem::lastSequenceNumber(void) const
...@@ -72,14 +71,6 @@ int FixedWingLandingComplexItem::lastSequenceNumber(void) const ...@@ -72,14 +71,6 @@ int FixedWingLandingComplexItem::lastSequenceNumber(void) const
return _sequenceNumber + 2; return _sequenceNumber + 2;
} }
void FixedWingLandingComplexItem::setCoordinate(const QGeoCoordinate& coordinate)
{
if (_coordinate != coordinate) {
_coordinate = coordinate;
emit coordinateChanged(_coordinate);
}
}
void FixedWingLandingComplexItem::setDirty(bool dirty) void FixedWingLandingComplexItem::setDirty(bool dirty)
{ {
if (_dirty != dirty) { if (_dirty != dirty) {
...@@ -136,14 +127,6 @@ double FixedWingLandingComplexItem::greatestDistanceTo(const QGeoCoordinate &oth ...@@ -136,14 +127,6 @@ double FixedWingLandingComplexItem::greatestDistanceTo(const QGeoCoordinate &oth
return greatestDistance; return greatestDistance;
} }
void FixedWingLandingComplexItem::_setExitCoordinate(const QGeoCoordinate& coordinate)
{
if (_exitCoordinate != coordinate) {
_exitCoordinate = coordinate;
emit exitCoordinateChanged(coordinate);
}
}
bool FixedWingLandingComplexItem::specifiesCoordinate(void) const bool FixedWingLandingComplexItem::specifiesCoordinate(void) const
{ {
return true; return true;
...@@ -184,8 +167,8 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const ...@@ -184,8 +167,8 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const
MAV_CMD_NAV_LAND, MAV_CMD_NAV_LAND,
MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_FRAME_GLOBAL_RELATIVE_ALT,
0.0, 0.0, 0.0, 0.0, // param 1-4 0.0, 0.0, 0.0, 0.0, // param 1-4
_exitCoordinate.latitude(), _landingCoordinate.latitude(),
_exitCoordinate.longitude(), _landingCoordinate.longitude(),
0.0, // altitude 0.0, // altitude
true, // autoContinue true, // autoContinue
false, // isCurrentItem false, // isCurrentItem
...@@ -207,22 +190,54 @@ void FixedWingLandingComplexItem::setCruiseSpeed(double cruiseSpeed) ...@@ -207,22 +190,54 @@ void FixedWingLandingComplexItem::setCruiseSpeed(double cruiseSpeed)
Q_UNUSED(cruiseSpeed); Q_UNUSED(cruiseSpeed);
} }
void FixedWingLandingComplexItem::_recalcLoiterPosition(void) void FixedWingLandingComplexItem::setLandingCoordinate(const QGeoCoordinate& coordinate)
{ {
double north, east, down; if (coordinate != _landingCoordinate) {
QGeoCoordinate tangentOrigin = _exitCoordinate; _landingCoordinate = coordinate;
if (_landingCoordSet) {
emit exitCoordinateChanged(coordinate);
emit landingCoordinateChanged(coordinate);
} else {
_ignoreRecalcSignals = true;
emit exitCoordinateChanged(coordinate);
emit landingCoordinateChanged(coordinate);
_ignoreRecalcSignals = false;
_landingCoordSet = true;
_recalcLoiterCoordFromFacts();
emit landingCoordSetChanged(true);
}
}
}
convertGeoToNed(_exitCoordinate, tangentOrigin, &north, &east, &down); void FixedWingLandingComplexItem::setLoiterCoordinate(const QGeoCoordinate& coordinate)
{
if (coordinate != _loiterCoordinate) {
_loiterCoordinate = coordinate;
emit coordinateChanged(coordinate);
emit loiterCoordinateChanged(coordinate);
}
}
QPointF originPoint(east, north); void FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts(void)
north += _loiterToLandDistanceFact.rawValue().toDouble(); {
QPointF loiterPoint(east, north); if (!_ignoreRecalcSignals && _landingCoordSet) {
QPointF rotatedLoiterPoint = _rotatePoint(loiterPoint, originPoint, _landingHeadingFact.rawValue().toDouble()); double north, east, down;
QGeoCoordinate tangentOrigin = _landingCoordinate;
convertNedToGeo(rotatedLoiterPoint.y(), rotatedLoiterPoint.x(), down, tangentOrigin, &_loiterCoordinate); convertGeoToNed(_landingCoordinate, tangentOrigin, &north, &east, &down);
emit loiterCoordinateChanged(_loiterCoordinate); QPointF originPoint(east, north);
setCoordinate(_loiterCoordinate); north += _loiterToLandDistanceFact.rawValue().toDouble();
QPointF loiterPoint(east, north);
QPointF rotatedLoiterPoint = _rotatePoint(loiterPoint, originPoint, _landingHeadingFact.rawValue().toDouble());
convertNedToGeo(rotatedLoiterPoint.y(), rotatedLoiterPoint.x(), down, tangentOrigin, &_loiterCoordinate);
_ignoreRecalcSignals = true;
emit loiterCoordinateChanged(_loiterCoordinate);
emit coordinateChanged(_loiterCoordinate);
_ignoreRecalcSignals = false;
}
} }
QPointF FixedWingLandingComplexItem::_rotatePoint(const QPointF& point, const QPointF& origin, double angle) QPointF FixedWingLandingComplexItem::_rotatePoint(const QPointF& point, const QPointF& origin, double angle)
...@@ -235,3 +250,39 @@ QPointF FixedWingLandingComplexItem::_rotatePoint(const QPointF& point, const QP ...@@ -235,3 +250,39 @@ QPointF FixedWingLandingComplexItem::_rotatePoint(const QPointF& point, const QP
return rotated; return rotated;
} }
void FixedWingLandingComplexItem::_recalcFactsFromCoords(void)
{
if (!_ignoreRecalcSignals && _landingCoordSet) {
// Prevent signal recursion
_ignoreRecalcSignals = true;
// Calc new distance
double northLand, eastLand, down;
double northLoiter, eastLoiter;
QGeoCoordinate tangentOrigin = _landingCoordinate;
convertGeoToNed(_landingCoordinate, tangentOrigin, &northLand, &eastLand, &down);
convertGeoToNed(_loiterCoordinate, tangentOrigin, &northLoiter, &eastLoiter, &down);
double newDistance = sqrt(pow(eastLoiter - eastLand, 2.0) + pow(northLoiter - northLand, 2.0));
_loiterToLandDistanceFact.setRawValue(newDistance);
// Calc new heading
QPointF vector(eastLoiter - eastLand, northLoiter - northLand);
double radians = atan2(vector.y(), vector.x());
double degrees = qRadiansToDegrees(radians);
degrees -= 90; // north up
if (degrees < 0.0) {
degrees += 360.0;
} else if (degrees > 360.0) {
degrees -= 360.0;
}
_landingHeadingFact.setRawValue(degrees);
_ignoreRecalcSignals = false;
}
}
src/MissionManager/FixedWingLandingComplexItem.h
View file @ 0817980e
...@@ -22,13 +22,20 @@ class FixedWingLandingComplexItem : public ComplexMissionItem ...@@ -22,13 +22,20 @@ class FixedWingLandingComplexItem : public ComplexMissionItem
Q_OBJECT Q_OBJECT
public: public:
FixedWingLandingComplexItem(Vehicle* vehicle, QGeoCoordinate mapClickCoordinate, QObject* parent = NULL); FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(QVariantList textFieldFacts MEMBER _textFieldFacts CONSTANT) Q_PROPERTY(QVariantList textFieldFacts MEMBER _textFieldFacts CONSTANT)
Q_PROPERTY(Fact* loiterClockwise READ loiterClockwise CONSTANT) Q_PROPERTY(Fact* loiterClockwise READ loiterClockwise CONSTANT)
Q_PROPERTY(QGeoCoordinate loiterCoordinate MEMBER _loiterCoordinate NOTIFY loiterCoordinateChanged) Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged)
Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged)
Q_PROPERTY(bool landingCoordSet MEMBER _landingCoordSet NOTIFY landingCoordSetChanged)
Fact* loiterClockwise(void) { return &_loiterClockwiseFact; } Fact* loiterClockwise (void) { return &_loiterClockwiseFact; }
QGeoCoordinate landingCoordinate (void) const { return _landingCoordinate; }
QGeoCoordinate loiterCoordinate (void) const { return _loiterCoordinate; }
void setLandingCoordinate (const QGeoCoordinate& coordinate);
void setLoiterCoordinate (const QGeoCoordinate& coordinate);
// Overrides from ComplexMissionItem // Overrides from ComplexMissionItem
...@@ -49,8 +56,8 @@ public: ...@@ -49,8 +56,8 @@ public:
QString commandDescription (void) const final { return "Landing Pattern"; } QString commandDescription (void) const final { return "Landing Pattern"; }
QString commandName (void) const final { return "Landing Pattern"; } QString commandName (void) const final { return "Landing Pattern"; }
QString abbreviation (void) const final { return "L"; } QString abbreviation (void) const final { return "L"; }
QGeoCoordinate coordinate (void) const final { return _coordinate; } QGeoCoordinate coordinate (void) const final { return _loiterCoordinate; }
QGeoCoordinate exitCoordinate (void) const final { return _exitCoordinate; } QGeoCoordinate exitCoordinate (void) const final { return _landingCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; } int sequenceNumber (void) const final { return _sequenceNumber; }
double flightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); } double flightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
...@@ -59,27 +66,30 @@ public: ...@@ -59,27 +66,30 @@ public:
bool exitCoordinateSameAsEntry (void) const final { return true; } bool exitCoordinateSameAsEntry (void) const final { return true; }
void setDirty (bool dirty) final; void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate) final; void setCoordinate (const QGeoCoordinate& coordinate) final { setLoiterCoordinate(coordinate); }
void setSequenceNumber (int sequenceNumber) final; void setSequenceNumber (int sequenceNumber) final;
void save (QJsonObject& saveObject) const final; void save (QJsonObject& saveObject) const final;
static const char* jsonComplexItemTypeValue; static const char* jsonComplexItemTypeValue;
signals: signals:
void loiterCoordinateChanged(QGeoCoordinate coordinate); void loiterCoordinateChanged (QGeoCoordinate coordinate);
void landingCoordinateChanged (QGeoCoordinate coordinate);
void landingCoordSetChanged (bool landingCoordSet);
private slots: private slots:
void _recalcLoiterPosition(void); void _recalcLoiterCoordFromFacts(void);
void _recalcFactsFromCoords(void);
private: private:
void _setExitCoordinate(const QGeoCoordinate& coordinate);
QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle); QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle);
int _sequenceNumber; int _sequenceNumber;
bool _dirty; bool _dirty;
QGeoCoordinate _coordinate;
QGeoCoordinate _exitCoordinate;
QGeoCoordinate _loiterCoordinate; QGeoCoordinate _loiterCoordinate;
QGeoCoordinate _landingCoordinate;
bool _landingCoordSet;
bool _ignoreRecalcSignals;
Fact _loiterToLandDistanceFact; Fact _loiterToLandDistanceFact;
Fact _loiterAltitudeFact; Fact _loiterAltitudeFact;
......
src/MissionManager/MissionController.cc
View file @ 0817980e
...@@ -228,7 +228,7 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate ...@@ -228,7 +228,7 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
newItem = new SurveyMissionItem(_activeVehicle, _visualItems); newItem = new SurveyMissionItem(_activeVehicle, _visualItems);
newItem->setCoordinate(mapCenterCoordinate); newItem->setCoordinate(mapCenterCoordinate);
} else if (itemName == _fwLandingMissionItemName) { } else if (itemName == _fwLandingMissionItemName) {
newItem = new FixedWingLandingComplexItem(_activeVehicle, mapCenterCoordinate, _visualItems); newItem = new FixedWingLandingComplexItem(_activeVehicle, _visualItems);
} else { } else {
qWarning() << "Internal error: Unknown complex item:" << itemName; qWarning() << "Internal error: Unknown complex item:" << itemName;
return sequenceNumber; return sequenceNumber;
......
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