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Commit 143bb616 authored by Don Gagne's avatar Don Gagne
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Add Home Position Manager support to Mission Editor 

Also:
- Remove unused code
parent 079d2fed
Hide whitespace changes
Inline Side-by-side
Showing with 444 additions and 171 deletions
src/HomePositionManager.cc
View file @ 143bb616
......@@ -40,24 +40,47 @@
IMPLEMENT_QGC_SINGLETON(HomePositionManager, HomePositionManager)
HomePositionManager::HomePositionManager(QObject* parent) :
QObject(parent),
homeLat(47.3769),
homeLon(8.549444),
homeAlt(470.0),
homeFrame(MAV_FRAME_GLOBAL)
const char* HomePositionManager::_settingsGroup = "HomePositionManager";
const char* HomePositionManager::_latitudeKey = "Latitude";
const char* HomePositionManager::_longitudeKey = "Longitude";
const char* HomePositionManager::_altitudeKey = "Altitude";
HomePositionManager::HomePositionManager(QObject* parent)
: QObject(parent)
, homeLat(47.3769)
, homeLon(8.549444)
, homeAlt(470.0)
{
loadSettings();
_loadSettings();
}
HomePositionManager::~HomePositionManager()
{
storeSettings();
}
void HomePositionManager::storeSettings()
void HomePositionManager::_storeSettings(void)
{
QSettings settings;
settings.remove(_settingsGroup);
settings.beginGroup(_settingsGroup);
for (int i=0; i<_homePositions.count(); i++) {
HomePosition* homePos = qobject_cast<HomePosition*>(_homePositions[i]);
qDebug() << "Saving" << homePos->name();
settings.beginGroup(homePos->name());
settings.setValue(_latitudeKey, homePos->coordinate().latitude());
settings.setValue(_longitudeKey, homePos->coordinate().longitude());
settings.setValue(_altitudeKey, homePos->coordinate().altitude());
settings.endGroup();
}
settings.endGroup();
// Deprecated settings for old editor
settings.beginGroup("QGC_UASMANAGER");
settings.setValue("HOMELAT", homeLat);
settings.setValue("HOMELON", homeLon);
......@@ -65,9 +88,36 @@ void HomePositionManager::storeSettings()
settings.endGroup();
}
void HomePositionManager::loadSettings()
void HomePositionManager::_loadSettings(void)
{
QSettings settings;
_homePositions.clear();
settings.beginGroup(_settingsGroup);
foreach(QString name, settings.childGroups()) {
QGeoCoordinate coordinate;
qDebug() << "Load setting" << name;
settings.beginGroup(name);
coordinate.setLatitude(settings.value(_latitudeKey).toDouble());
coordinate.setLongitude(settings.value(_longitudeKey).toDouble());
coordinate.setAltitude(settings.value(_altitudeKey).toDouble());
settings.endGroup();
_homePositions.append(new HomePosition(name, coordinate, this));
}
settings.endGroup();
if (_homePositions.count() == 0) {
_homePositions.append(new HomePosition("ETH Campus", QGeoCoordinate(47.3769, 8.549444, 470.0)));
}
// Deprecated settings for old editor
settings.beginGroup("QGC_UASMANAGER");
bool changed = setHomePosition(settings.value("HOMELAT", homeLat).toDouble(),
settings.value("HOMELON", homeLon).toDouble(),
......@@ -97,9 +147,6 @@ bool HomePositionManager::setHomePosition(double lat, double lon, double alt)
if (fabs(homeLon - lon) > 1e-7) changed = true;
if (fabs(homeAlt - alt) > 0.5f) changed = true;
// Initialize conversion reference in any case
initReference(lat, lon, alt);
if (changed)
{
homeLat = lat;
......@@ -125,75 +172,81 @@ bool HomePositionManager::setHomePositionAndNotify(double lat, double lon, doubl
return changed;
}
void HomePositionManager::initReference(const double & latitude, const double & longitude, const double & altitude)
void HomePositionManager::updateHomePosition(const QString& name, const QGeoCoordinate& coordinate)
{
Eigen::Matrix3d R;
double s_long, s_lat, c_long, c_lat;
sincos(latitude * DEG2RAD, &s_lat, &c_lat);
sincos(longitude * DEG2RAD, &s_long, &c_long);
R(0, 0) = -s_long;
R(0, 1) = c_long;
R(0, 2) = 0;
R(1, 0) = -s_lat * c_long;
R(1, 1) = -s_lat * s_long;
R(1, 2) = c_lat;
R(2, 0) = c_lat * c_long;
R(2, 1) = c_lat * s_long;
R(2, 2) = s_lat;
ecef_ref_orientation_ = Eigen::Quaterniond(R);
ecef_ref_point_ = wgs84ToEcef(latitude, longitude, altitude);
HomePosition * homePos = NULL;
for (int i=0; i<_homePositions.count(); i++) {
homePos = qobject_cast<HomePosition*>(_homePositions[i]);
if (homePos->name() == name) {
break;
}
homePos = NULL;
}
if (homePos == NULL) {
HomePosition* homePos = new HomePosition(name, coordinate, this);
_homePositions.append(homePos);
} else {
homePos->setName(name);
homePos->setCoordinate(coordinate);
}
_storeSettings();
}
Eigen::Vector3d HomePositionManager::wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude)
void HomePositionManager::deleteHomePosition(const QString& name)
{
const double a = 6378137.0; // semi-major axis
const double e_sq = 6.69437999014e-3; // first eccentricity squared
double s_long, s_lat, c_long, c_lat;
sincos(latitude * DEG2RAD, &s_lat, &c_lat);
sincos(longitude * DEG2RAD, &s_long, &c_long);
const double N = a / sqrt(1 - e_sq * s_lat * s_lat);
Eigen::Vector3d ecef;
ecef[0] = (N + altitude) * c_lat * c_long;
ecef[1] = (N + altitude) * c_lat * s_long;
ecef[2] = (N * (1 - e_sq) + altitude) * s_lat;
// Don't allow delete of last position
if (_homePositions.count() == 1) {
return;
}
qDebug() << "Attempting delete" << name;
for (int i=0; i<_homePositions.count(); i++) {
if (qobject_cast<HomePosition*>(_homePositions[i])->name() == name) {
qDebug() << "Deleting" << name;
_homePositions.removeAt(i);
break;
}
}
_storeSettings();
}
return ecef;
HomePosition::HomePosition(const QString& name, const QGeoCoordinate& coordinate, QObject* parent)
: QObject(parent)
, _coordinate(coordinate)
{
setObjectName(name);
}
Eigen::Vector3d HomePositionManager::ecefToEnu(const Eigen::Vector3d & ecef)
HomePosition::~HomePosition()
{
return ecef_ref_orientation_ * (ecef - ecef_ref_point_);
}
void HomePositionManager::wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up)
QString HomePosition::name(void)
{
Eigen::Vector3d ecef = wgs84ToEcef(lat, lon, alt);
Eigen::Vector3d enu = ecefToEnu(ecef);
*east = enu.x();
*north = enu.y();
*up = enu.z();
return objectName();
}
void HomePositionManager::enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
void HomePosition::setName(const QString& name)
{
*lat=homeLat+y/MEAN_EARTH_DIAMETER*360./PI;
*lon=homeLon+x/MEAN_EARTH_DIAMETER*360./PI/cos(homeLat*UMR);
*alt=homeAlt+z;
setObjectName(name);
HomePositionManager::instance()->_storeSettings();
emit nameChanged(name);
}
void HomePositionManager::nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
QGeoCoordinate HomePosition::coordinate(void)
{
*lat=homeLat+x/MEAN_EARTH_DIAMETER*360./PI;
*lon=homeLon+y/MEAN_EARTH_DIAMETER*360./PI/cos(homeLat*UMR);
*alt=homeAlt-z;
return _coordinate;
}
void HomePosition::setCoordinate(const QGeoCoordinate& coordinate)
{
_coordinate = coordinate;
HomePositionManager::instance()->_storeSettings();
emit coordinateChanged(coordinate);
}
src/HomePositionManager.h
View file @ 143bb616
......@@ -21,21 +21,41 @@ This file is part of the QGROUNDCONTROL project
======================================================================*/
#ifndef _UASMANAGER_H_
#define _UASMANAGER_H_
#ifndef HomePositionManager_H
#define HomePositionManager_H
#include "UASInterface.h"
#include <QList>
#include <QMutex>
#include "QGCSingleton.h"
#include "QmlObjectListModel.h"
#include <Eigen/Eigen>
#include <QGeoCoordinate>
#include "QGCGeo.h"
#include "QGCSingleton.h"
class HomePosition : public QObject
{
Q_OBJECT
public:
HomePosition(const QString& name, const QGeoCoordinate& coordinate, QObject* parent = NULL);
~HomePosition();
Q_PROPERTY(QString name READ name WRITE setName NOTIFY nameChanged)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
// Property accessors
QString name(void);
void setName(const QString& name);
QGeoCoordinate coordinate(void);
void setCoordinate(const QGeoCoordinate& coordinate);
signals:
void nameChanged(const QString& name);
void coordinateChanged(const QGeoCoordinate& coordinate);
private:
QGeoCoordinate _coordinate;
};
/// Manages an offline home position as well as performance coordinate transformations
/// around a home position.
class HomePositionManager : public QObject
{
Q_OBJECT
......@@ -43,6 +63,40 @@ class HomePositionManager : public QObject
DECLARE_QGC_SINGLETON(HomePositionManager, HomePositionManager)
public:
Q_PROPERTY(QmlObjectListModel* homePositions READ homePositions CONSTANT)
/// If name is not already a home position a new one will be added, otherwise the existing
/// home position will be updated
Q_INVOKABLE void updateHomePosition(const QString& name, const QGeoCoordinate& coordinate);
Q_INVOKABLE void deleteHomePosition(const QString& name);
// Property accesors
QmlObjectListModel* homePositions(void) { return &_homePositions; }
// Should only be called by HomePosition
void _storeSettings(void);
private:
/// @brief All access to HomePositionManager singleton is through HomePositionManager::instance
HomePositionManager(QObject* parent = NULL);
~HomePositionManager();
void _loadSettings(void);
QmlObjectListModel _homePositions;
static const char* _settingsGroup;
static const char* _latitudeKey;
static const char* _longitudeKey;
static const char* _altitudeKey;
// Everything below is deprecated and will be removed once old Map code is removed
public:
// Deprecated methods
/** @brief Get home position latitude */
double getHomeLatitude() const {
return homeLat;
......@@ -56,24 +110,10 @@ public:
return homeAlt;
}
/** @brief Get the home position coordinate frame */
int getHomeFrame() const
{
return homeFrame;
}
/** @brief Convert WGS84 coordinates to earth centric frame */
Eigen::Vector3d wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude);
/** @brief Convert earth centric frame to EAST-NORTH-UP frame (x-y-z directions */
Eigen::Vector3d ecefToEnu(const Eigen::Vector3d & ecef);
/** @brief Convert WGS84 lat/lon coordinates to carthesian coordinates with home position as origin */
void wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up);
/** @brief Convert x,y,z coordinates to lat / lon / alt coordinates in east-north-up frame */
void enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt);
/** @brief Convert x,y,z coordinates to lat / lon / alt coordinates in north-east-down frame */
void nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt);
public slots:
// Deprecated methods
/** @brief Set the current home position, but do not change it on the UAVs */
bool setHomePosition(double lat, double lon, double alt);
......@@ -81,11 +121,6 @@ public slots:
bool setHomePositionAndNotify(double lat, double lon, double alt);
/** @brief Load settings */
void loadSettings();
/** @brief Store settings */
void storeSettings();
signals:
/** @brief Current home position changed */
void homePositionChanged(double lat, double lon, double alt);
......@@ -94,23 +129,6 @@ protected:
double homeLat;
double homeLon;
double homeAlt;
int homeFrame;
Eigen::Quaterniond ecef_ref_orientation_;
Eigen::Vector3d ecef_ref_point_;
void initReference(const double & latitude, const double & longitude, const double & altitude);
private:
/// @brief All access to HomePositionManager singleton is through HomePositionManager::instance
HomePositionManager(QObject* parent = NULL);
~HomePositionManager();
public:
/* Need to align struct pointer to prevent a memory assertion:
* See http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html
* for details
*/
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
#endif // _UASMANAGER_H_
#endif
src/MissionEditor/MissionEditor.qml
View file @ 143bb616
......@@ -27,6 +27,7 @@ import QtQuick.Dialogs 1.2
import QtLocation 5.3
import QtPositioning 5.3
import QGroundControl 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
......@@ -37,14 +38,18 @@ import QGroundControl.Palette 1.0
QGCView {
viewPanel: panel
readonly property real _defaultLatitude: 37.803784
readonly property real _defaultLongitude: -122.462276
readonly property int _decimalPlaces: 7
readonly property real _horizontalMargin: ScreenTools.defaultFontPixelWidth / 2
readonly property real _verticalMargin: ScreenTools.defaultFontPixelHeight / 2
readonly property var _activeVehicle: multiVehicleManager.activeVehicle
readonly property real _editFieldWidth: ScreenTools.defaultFontPixelWidth * 16
property var _missionItems: controller.missionItems
property var _missionItems: controller.missionItems
property bool _showHomePositionManager: false
property var _homePositionManager: QGroundControl.homePositionManager
property string _homePositionName: _homePositionManager.homePositions.get(0).name
property var _homePositionCoordinate: _homePositionManager.homePositions.get(0).coordinate
QGCPalette { id: _qgcPal; colorGroupEnabled: enabled }
......@@ -68,8 +73,8 @@ QGCView {
anchors.top: parent.top
anchors.bottom: parent.bottom
mapName: "MissionEditor"
latitude: _defaultLatitude
longitude: _defaultLongitude
latitude: _homePositionCoordinate.latitude
longitude: _homePositionCoordinate.longitude
QGCLabel {
anchors.right: parent.right
......@@ -83,12 +88,21 @@ QGCView {
var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y))
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = 0
var index = controller.addMissionItem(coordinate)
setCurrentItem(index)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
if (_showHomePositionManager) {
_homePositionCoordinate = coordinate
} else {
var index = controller.addMissionItem(coordinate)
setCurrentItem(index)
}
}
}
MissionItemIndicator {
label: "H"
coordinate: _homePositionCoordinate
}
// Add the mission items to the map
MapItemView {
model: controller.missionItems
......@@ -140,6 +154,16 @@ QGCView {
Menu {
id: toolMenu
MenuItem {
text: "Manage Home Position"
checkable: true
checked: _showHomePositionManager
onTriggered: _showHomePositionManager = checked
}
MenuSeparator { }
MenuItem {
text: "Get mission items from vehicle"
enabled: _activeVehicle && !_activeVehicle.missionManager.inProgress
......@@ -184,63 +208,234 @@ QGCView {
}
}
// Mission item list
ListView {
id: missionItemSummaryList
// Mission Item Editor
Item {
anchors.topMargin: _verticalMargin
anchors.left: parent.left
anchors.right: parent.right
anchors.top: toolsButton.bottom
anchors.bottom: parent.bottom
spacing: _verticalMargin
orientation: ListView.Vertical
model: controller.canEdit ? controller.missionItems : 0
property real _maxItemHeight: 0
delegate:
MissionItemEditor {
missionItem: object
width: parent.width
onClicked: setCurrentItem(object.sequenceNumber)
onRemove: {
var newCurrentItem = object.sequenceNumber - 1
controller.removeMissionItem(object.sequenceNumber)
if (_missionItems.count) {
newCurrentItem = Math.min(_missionItems.count - 1, newCurrentItem)
setCurrentItem(newCurrentItem)
visible: !_showHomePositionManager
ListView {
id: missionItemSummaryList
anchors.fill: parent
spacing: _verticalMargin
orientation: ListView.Vertical
model: controller.canEdit ? controller.missionItems : 0
property real _maxItemHeight: 0
delegate:
MissionItemEditor {
missionItem: object
width: parent.width
onClicked: setCurrentItem(object.sequenceNumber)
onRemove: {
var newCurrentItem = object.sequenceNumber - 1
controller.removeMissionItem(object.sequenceNumber)
if (_missionItems.count) {
newCurrentItem = Math.min(_missionItems.count - 1, newCurrentItem)
setCurrentItem(newCurrentItem)
}
}
onMoveUp: controller.moveUp(object.sequenceNumber)
onMoveDown: controller.moveDown(object.sequenceNumber)
}
} // ListView
onMoveUp: controller.moveUp(object.sequenceNumber)
onMoveDown: controller.moveDown(object.sequenceNumber)
}
} // ListView
QGCLabel {
anchors.fill: parent
visible: controller.missionItems.count == 0
wrapMode: Text.WordWrap
text: "Click in the map to add Mission Items"
}
QGCLabel {
anchors.topMargin: _verticalMargin
anchors.left: parent.left
anchors.right: parent.right
anchors.top: toolsButton.bottom
anchors.bottom: parent.bottom
visible: controller.missionItems.count == 0
wrapMode: Text.WordWrap
text: "Click in the map to add Mission Items"
}
QGCLabel {
anchors.fill: parent
visible: !controller.canEdit
wrapMode: Text.WordWrap
text: "The set of mission items you have loaded cannot be edited by QGroundControl. " +
"You will only be able to save these to a file, or send them to a vehicle."
}
} // Item - Mission Item editor
QGCLabel {
// Home Position Manager
Item {
anchors.topMargin: _verticalMargin
anchors.left: parent.left
anchors.right: parent.right
anchors.top: toolsButton.bottom
anchors.bottom: parent.bottom
visible: !controller.canEdit
wrapMode: Text.WordWrap
text: "The set of mission items you have loaded cannot be edited by QGroundControl. " +
"You will only be able to save these to a file, or send them to a vehicle."
}
visible: _showHomePositionManager
Column {
anchors.fill: parent
QGCLabel {
font.pixelSize: ScreenTools.mediumFontPixelSize
text: "Home Position Manager"
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight
}
QGCLabel {
text: "Select home position to use:"
}
QGCComboBox {
id: homePosCombo
width: parent.width
textRole: "text"
model: _homePositionManager.homePositions
onCurrentIndexChanged: {
if (currentIndex != -1) {
var homePos = _homePositionManager.homePositions.get(currentIndex)
_homePositionName = homePos.name
_homePositionCoordinate = homePos.coordinate
}
}
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight
}
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: "To add a new home position, click in the Map to set the position. Then give it a name and click Add."
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight / 3
}
Item {
width: parent.width
height: nameField.height
QGCLabel {
anchors.baseline: nameField.baseline
text: "Name:"
}
QGCTextField {
id: nameField
anchors.right: parent.right
width: _editFieldWidth
text: _homePositionName
}
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight / 3
}
Item {
width: parent.width
height: latitudeField.height
QGCLabel {
anchors.baseline: latitudeField.baseline
text: "Lat:"
}
QGCTextField {
id: latitudeField
anchors.right: parent.right
width: _editFieldWidth
text: _homePositionCoordinate.latitude
}
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight / 3
}
Item {
width: parent.width
height: longitudeField.height
QGCLabel {
anchors.baseline: longitudeField.baseline
text: "Lon:"
}
QGCTextField {
id: longitudeField
anchors.right: parent.right
width: _editFieldWidth
text: _homePositionCoordinate.longitude
}
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight / 3
}
Item {
width: parent.width
height: altitudeField.height
QGCLabel {
anchors.baseline: altitudeField.baseline
text: "Alt:"
}
QGCTextField {
id: altitudeField
anchors.right: parent.right
width: _editFieldWidth
text: _homePositionCoordinate.altitude
}
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCButton {
text: "Add/Update"
onClicked: {
_homePositionManager.updateHomePosition(nameField.text, QtPositioning.coordinate(latitudeField.text, longitudeField.text, altitudeField.text))
homePosCombo.currentIndex = homePosCombo.find(nameField.text)
}
}
QGCButton {
text: "Delete"
onClicked: {
homePosCombo.currentIndex = -1
_homePositionManager.deleteHomePosition(nameField.text)
homePosCombo.currentIndex = 0
var homePos = _homePositionManager.homePositions.get(0)
_homePositionName = homePos.name
_homePositionCoordinate = homePos.coordinate
}
}
}
} // Column
} // Item - Home Position Manager
} // Item
} // Rectangle - mission item list
} // Item - split view container
......
src/QmlControls/QmlObjectListModel.cc
View file @ 143bb616
......@@ -29,6 +29,7 @@
#include <QDebug>
const int QmlObjectListModel::ObjectRole = Qt::UserRole;
const int QmlObjectListModel::TextRole = Qt::UserRole + 1;
QmlObjectListModel::QmlObjectListModel(QObject* parent)
: QAbstractListModel(parent)
......@@ -60,6 +61,8 @@ QVariant QmlObjectListModel::data(const QModelIndex &index, int role) const
if (role == ObjectRole) {
return QVariant::fromValue(_objectList[index.row()]);
} else if (role == TextRole) {
return QVariant::fromValue(_objectList[index.row()]->objectName());
} else {
return QVariant();
}
......@@ -70,6 +73,7 @@ QHash<int, QByteArray> QmlObjectListModel::roleNames(void) const
QHash<int, QByteArray> hash;
hash[ObjectRole] = "object";
hash[TextRole] = "text";
return hash;
}
......
src/QmlControls/QmlObjectListModel.h
View file @ 143bb616
......@@ -65,6 +65,7 @@ private:
QList<QObject*> _objectList;
static const int ObjectRole;
static const int TextRole;
};
#endif
src/comm/QGCFlightGearLink.cc
View file @ 143bb616
......@@ -38,6 +38,7 @@ This file is part of the QGROUNDCONTROL project
#include <QMessageBox>
#include <iostream>
#include <Eigen/Eigen>
#include "QGCFlightGearLink.h"
#include "QGC.h"
......
src/comm/QGCXPlaneLink.cc
View file @ 143bb616
......@@ -33,10 +33,13 @@ This file is part of the QGROUNDCONTROL project
#include <QDebug>
#include <QMutexLocker>
#include <QNetworkInterface>
#include <QHostInfo>
#include <iostream>
#include <Eigen/Eigen>
#include "QGCXPlaneLink.h"
#include "QGC.h"
#include <QHostInfo>
#include "UAS.h"
#include "UASInterface.h"
#include "QGCMessageBox.h"
......
src/uas/UAS.cc
View file @ 143bb616
......@@ -2784,9 +2784,8 @@ void UAS::home()
double latitude = HomePositionManager::instance()->getHomeLatitude();
double longitude = HomePositionManager::instance()->getHomeLongitude();
double altitude = HomePositionManager::instance()->getHomeAltitude();
int frame = HomePositionManager::instance()->getHomeFrame();
mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_CONTINUE, MAV_GOTO_HOLD_AT_CURRENT_POSITION, frame, 0, latitude, longitude, altitude);
mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_CONTINUE, MAV_GOTO_HOLD_AT_CURRENT_POSITION, MAV_FRAME_GLOBAL, 0, latitude, longitude, altitude);
_vehicle->sendMessage(msg);
}
......
src/ui/MainWindow.cc
View file @ 143bb616
......@@ -609,7 +609,6 @@ void MainWindow::closeEvent(QCloseEvent *event)
_storeCurrentViewState();
storeSettings();
HomePositionManager::instance()->storeSettings();
event->accept();
}
......
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