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Unverified Commit 1b3ac79f authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #6119 from DonLakeFlyer/StructureScanROI_WPNEXT_OFFSET 

Switch to using ROI_WPNEXT_OFFSET
parents 24e27d25 11df383e
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Showing with 17 additions and 85 deletions
src/MissionManager/StructureScanComplexItem.cc
View file @ 1b3ac79f
......@@ -24,8 +24,6 @@ QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog")
const char* StructureScanComplexItem::_altitudeFactName = "Altitude";
const char* StructureScanComplexItem::_structureHeightFactName = "StructureHeight";
const char* StructureScanComplexItem::_layersFactName = "Layers";
const char* StructureScanComplexItem::_gimbalPitchFactName = "GimbalPitch";
const char* StructureScanComplexItem::_gimbalYawFactName = "GimbalYaw";
const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan";
const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc";
......@@ -46,8 +44,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
, _cameraCalc (vehicle)
, _altitudeFact (0, _altitudeFactName, FactMetaData::valueTypeDouble)
, _layersFact (0, _layersFactName, FactMetaData::valueTypeUint32)
, _gimbalPitchFact (0, _gimbalPitchFactName, FactMetaData::valueTypeDouble)
, _gimbalYawFact (0, _gimbalYawFactName, FactMetaData::valueTypeDouble)
{
_editorQml = "qrc:/qml/StructureScanEditor.qml";
......@@ -57,20 +53,14 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
_altitudeFact.setMetaData (_metaDataMap[_altitudeFactName]);
_layersFact.setMetaData (_metaDataMap[_layersFactName]);
_gimbalPitchFact.setMetaData(_metaDataMap[_gimbalPitchFactName]);
_gimbalYawFact.setMetaData (_metaDataMap[_gimbalYawFactName]);
_altitudeFact.setRawValue (_altitudeFact.rawDefaultValue());
_layersFact.setRawValue (_layersFact.rawDefaultValue());
_gimbalPitchFact.setRawValue(_gimbalPitchFact.rawDefaultValue());
_gimbalYawFact.setRawValue (_gimbalYawFact.rawDefaultValue());
_altitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
connect(&_structureHeightFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
......@@ -89,7 +79,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_flightPathChanged);
connect(_cameraCalc.distanceToSurface(), &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
connect(&_cameraCalc, &CameraCalc::cameraNameChanged, this, &StructureScanComplexItem::_resetGimbal);
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_recalcCameraShots);
connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &StructureScanComplexItem::_recalcCameraShots);
......@@ -134,7 +123,7 @@ int StructureScanComplexItem::lastSequenceNumber(void) const
(_layersFact.rawValue().toInt() *
((_flightPolygon.count() + 1) + // 1 waypoint for each polygon vertex + 1 to go back to first polygon vertex for each layer
2)) + // Camera trigger start/stop for each layer
1; // Gimbal control command
2; // ROI_WPNEXT_OFFSET and ROI_NONE commands
}
void StructureScanComplexItem::setDirty(bool dirty)
......@@ -154,8 +143,6 @@ void StructureScanComplexItem::save(QJsonArray& missionItems)
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[_gimbalPitchFactName] = _gimbalPitchFact.rawValue().toDouble();
saveObject[_gimbalYawFactName] = _gimbalYawFact.rawValue().toDouble();
saveObject[_altitudeFactName] = _altitudeFact.rawValue().toDouble();
saveObject[_structureHeightFactName] = _structureHeightFact.rawValue().toDouble();
saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative;
......@@ -186,8 +173,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
{ QGCMapPolygon::jsonPolygonKey, QJsonValue::Array, true },
{ _gimbalPitchFactName, QJsonValue::Double, true },
{ _gimbalYawFactName, QJsonValue::Double, true },
{ _altitudeFactName, QJsonValue::Double, true },
{ _structureHeightFactName, QJsonValue::Double, true },
{ _jsonAltitudeRelativeKey, QJsonValue::Bool, true },
......@@ -220,8 +205,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
return false;
}
_gimbalPitchFact.setRawValue(complexObject[_gimbalPitchFactName].toDouble());
_gimbalYawFact.setRawValue (complexObject[_gimbalYawFactName].toDouble());
_altitudeFact.setRawValue (complexObject[_altitudeFactName].toDouble());
_layersFact.setRawValue (complexObject[_layersFactName].toDouble());
_altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true);
......@@ -268,13 +251,11 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
double baseAltitude = _altitudeFact.rawValue().toDouble();
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_MOUNT_CONTROL,
MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET,
MAV_FRAME_MISSION,
_gimbalPitchFact.rawValue().toDouble(),
0, // Gimbal roll
_gimbalYawFact.rawValue().toDouble(),
0, 0, 0, // param 4-6 not used
MAV_MOUNT_MODE_MAVLINK_TARGETING,
0, 0, 0, 0, // param 1-4 not used
0, 0, // Pitch and Roll stay in standard orientation
90, // 90 degreee yaw offset to point to structure
true, // autoContinue
false, // isCurrentItem
missionItemParent);
......@@ -349,6 +330,15 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
missionItemParent);
items.append(item);
}
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_ROI_NONE,
MAV_FRAME_MISSION,
0, 0, 0,0, 0, 0, 0, // param 1-7 not used
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
int StructureScanComplexItem::cameraShots(void) const
......@@ -447,12 +437,6 @@ void StructureScanComplexItem::_recalcCameraShots(void)
_setCameraShots(cameraShots * _layersFact.rawValue().toInt());
}
void StructureScanComplexItem::_resetGimbal(void)
{
_gimbalPitchFact.setCookedValue(0);
_gimbalYawFact.setCookedValue(90);
}
void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative)
{
if (altitudeRelative != _altitudeRelative) {
......
src/MissionManager/StructureScanComplexItem.h
View file @ 1b3ac79f
......@@ -28,8 +28,6 @@ public:
StructureScanComplexItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT)
Q_PROPERTY(Fact* gimbalPitch READ gimbalPitch CONSTANT)
Q_PROPERTY(Fact* gimbalYaw READ gimbalYaw CONSTANT)
Q_PROPERTY(Fact* altitude READ altitude CONSTANT)
Q_PROPERTY(Fact* structureHeight READ structureHeight CONSTANT)
Q_PROPERTY(Fact* layers READ layers CONSTANT)
......@@ -47,8 +45,6 @@ public:
bool altitudeRelative (void) const { return _altitudeRelative; }
int cameraShots (void) const;
Fact* gimbalPitch (void) { return &_gimbalPitchFact; }
Fact* gimbalYaw (void) { return &_gimbalYawFact; }
double timeBetweenShots (void);
QGCMapPolygon* structurePolygon (void) { return &_structurePolygon; }
QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; }
......@@ -111,7 +107,6 @@ private slots:
void _updateCoordinateAltitudes (void);
void _rebuildFlightPolygon (void);
void _recalcCameraShots (void);
void _resetGimbal (void);
void _recalcLayerInfo (void);
private:
......@@ -140,14 +135,10 @@ private:
Fact _altitudeFact;
Fact _structureHeightFact;
Fact _layersFact;
Fact _gimbalPitchFact;
Fact _gimbalYawFact;
static const char* _altitudeFactName;
static const char* _structureHeightFactName;
static const char* _layersFactName;
static const char* _gimbalPitchFactName;
static const char* _gimbalYawFactName;
static const char* _jsonCameraCalcKey;
static const char* _jsonAltitudeRelativeKey;
......
src/MissionManager/StructureScanComplexItemTest.cc
View file @ 1b3ac79f
......@@ -59,7 +59,7 @@ void StructureScanComplexItemTest::_testDirty(void)
// These facts should set dirty when changed
QList<Fact*> rgFacts;
rgFacts << _structureScanItem->gimbalPitch() << _structureScanItem->gimbalYaw() << _structureScanItem->altitude() << _structureScanItem->layers();
rgFacts << _structureScanItem->altitude() << _structureScanItem->layers();
foreach(Fact* fact, rgFacts) {
qDebug() << fact->name();
QVERIFY(!_structureScanItem->dirty());
......@@ -93,8 +93,6 @@ void StructureScanComplexItemTest::_initItem(void)
}
_structureScanItem->cameraCalc()->setCameraName(CameraCalc::manualCameraName());
_structureScanItem->gimbalPitch()->setCookedValue(45);
_structureScanItem->gimbalYaw()->setCookedValue(45);
_structureScanItem->layers()->setCookedValue(2);
_structureScanItem->setDirty(false);
......@@ -112,8 +110,6 @@ void StructureScanComplexItemTest::_validateItem(StructureScanComplexItem* item)
}
QCOMPARE(_structureScanItem->cameraCalc()->cameraName() , CameraCalc::manualCameraName());
QCOMPARE(item->gimbalPitch()->cookedValue().toDouble(), 45.0);
QCOMPARE(item->gimbalYaw()->cookedValue().toDouble(), 45.0);
QCOMPARE(item->layers()->cookedValue().toInt(), 2);
}
......@@ -132,17 +128,6 @@ void StructureScanComplexItemTest::_testSaveLoad(void)
newItem->deleteLater();
}
void StructureScanComplexItemTest::_testGimbalAngleUpdate(void)
{
// This sets the item to CameraCalc::CameraSpecNone and non-standard gimbal angles
_initItem();
// Switching to a camera specific setup should set gimbal angles to defaults
_structureScanItem->cameraCalc()->setCameraName(CameraCalc::customCameraName());
QCOMPARE(_structureScanItem->gimbalPitch()->cookedValue().toDouble(), 0.0);
QCOMPARE(_structureScanItem->gimbalYaw()->cookedValue().toDouble(), 90.0);
}
void StructureScanComplexItemTest::_testItemCount(void)
{
QList<MissionItem*> items;
......
src/MissionManager/StructureScanComplexItemTest.h
View file @ 1b3ac79f
......@@ -27,7 +27,6 @@ protected:
private slots:
void _testDirty(void);
void _testSaveLoad(void);
void _testGimbalAngleUpdate(void);
void _testItemCount(void);
private:
......
src/PlanView/StructureScanEditor.qml
View file @ 1b3ac79f
......@@ -81,33 +81,6 @@ Rectangle {
sideDistanceLabel: qsTr("Trigger Distance")
}
GridLayout {
anchors.left: parent.left
anchors.right: parent.right
columnSpacing: ScreenTools.defaultFontPixelWidth / 2
rowSpacing: 0
columns: 3
visible: missionItem.cameraCalc.isManualCamera
Item { width: 1; height: 1 }
QGCLabel { text: qsTr("Pitch") }
QGCLabel { text: qsTr("Yaw") }
QGCLabel {
text: qsTr("Gimbal")
Layout.fillWidth: true
}
FactTextField {
fact: missionItem.gimbalPitch
implicitWidth: ScreenTools.defaultFontPixelWidth * 9
}
FactTextField {
fact: missionItem.gimbalYaw
implicitWidth: ScreenTools.defaultFontPixelWidth * 9
}
}
SectionHeader {
id: scanHeader
text: qsTr("Scan")
......
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