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qgroundcontrol
Commit 1c2e8fe9 authored by DonLakeFlyer's avatar DonLakeFlyer
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parent 963dbfe5
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Showing with 161 additions and 86 deletions
qgroundcontrol.pro
View file @ 1c2e8fe9
......@@ -416,7 +416,7 @@ INCLUDEPATH += \
src/QtLocationPlugin/QMLControl \
src/Settings \
src/Terrain \
src/VehicleSetup \
src/Vehicle \
src/ViewWidgets \
src/Audio \
src/comm \
......@@ -663,7 +663,13 @@ HEADERS += \
src/SHPFileHelper.h \
src/Terrain/TerrainQuery.h \
src/TerrainTile.h \
src/Vehicle/ADSBVehicle.h \
src/Vehicle/GPSRTKFactGroup.h \
src/Vehicle/MAVLinkLogManager.h \
src/Vehicle/MultiVehicleManager.h \
src/Vehicle/TrajectoryPoints.h \
src/Vehicle/Vehicle.h \
src/Vehicle/VehicleObjectAvoidance.h \
src/VehicleSetup/JoystickConfigController.h \
src/comm/LinkConfiguration.h \
src/comm/LinkInterface.h \
......@@ -881,7 +887,13 @@ SOURCES += \
src/SHPFileHelper.cc \
src/Terrain/TerrainQuery.cc \
src/TerrainTile.cc\
src/Vehicle/ADSBVehicle.cc \
src/Vehicle/GPSRTKFactGroup.cc \
src/Vehicle/MAVLinkLogManager.cc \
src/Vehicle/MultiVehicleManager.cc \
src/Vehicle/TrajectoryPoints.cc \
src/Vehicle/Vehicle.cc \
src/Vehicle/VehicleObjectAvoidance.cc \
src/VehicleSetup/JoystickConfigController.cc \
src/comm/LinkConfiguration.cc \
src/comm/LinkInterface.cc \
......@@ -983,7 +995,6 @@ SOURCES += \
INCLUDEPATH += \
src/AutoPilotPlugins/Common \
src/FirmwarePlugin \
src/Vehicle \
src/VehicleSetup \
HEADERS+= \
......@@ -998,11 +1009,6 @@ HEADERS+= \
src/FirmwarePlugin/CameraMetaData.h \
src/FirmwarePlugin/FirmwarePlugin.h \
src/FirmwarePlugin/FirmwarePluginManager.h \
src/Vehicle/ADSBVehicle.h \
src/Vehicle/MultiVehicleManager.h \
src/Vehicle/GPSRTKFactGroup.h \
src/Vehicle/Vehicle.h \
src/Vehicle/VehicleObjectAvoidance.h \
src/VehicleSetup/VehicleComponent.h \
!MobileBuild { !NoSerialBuild {
......@@ -1025,11 +1031,6 @@ SOURCES += \
src/FirmwarePlugin/CameraMetaData.cc \
src/FirmwarePlugin/FirmwarePlugin.cc \
src/FirmwarePlugin/FirmwarePluginManager.cc \
src/Vehicle/ADSBVehicle.cc \
src/Vehicle/MultiVehicleManager.cc \
src/Vehicle/GPSRTKFactGroup.cc \
src/Vehicle/Vehicle.cc \
src/Vehicle/VehicleObjectAvoidance.cc \
src/VehicleSetup/VehicleComponent.cc \
!MobileBuild { !NoSerialBuild {
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ 1c2e8fe9
......@@ -49,6 +49,7 @@ FlightMap {
property var _geoFenceController: missionController.geoFenceController
property var _rallyPointController: missionController.rallyPointController
property var activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property var _activeVehicleCoordinate: activeVehicle ? activeVehicle.coordinate : QtPositioning.coordinate()
property real _toolButtonTopMargin: parent.height - mainWindow.height + (ScreenTools.defaultFontPixelHeight / 2)
property bool _airspaceEnabled: QGroundControl.airmapSupported ? (QGroundControl.settingsManager.airMapSettings.enableAirMap.rawValue && QGroundControl.airspaceManager.connected): false
......@@ -184,17 +185,24 @@ FlightMap {
property real leftToolWidth: toolStrip.x + toolStrip.width
}
// Add trajectory points to the map
MapItemView {
model: mainIsMap ? activeVehicle ? activeVehicle.trajectoryPoints : 0 : 0
delegate: MapPolyline {
line.width: 3
line.color: "red"
z: QGroundControl.zOrderTrajectoryLines
path: [
object.coordinate1,
object.coordinate2,
]
// Add trajectory lines to the map
MapPolyline {
id: trajectoryPolyline
line.width: 3
line.color: "red"
z: QGroundControl.zOrderTrajectoryLines
visible: true//mainIsMap
Connections {
target: QGroundControl.multiVehicleManager
onActiveVehicleChanged: trajectoryPolyline.path = activeVehicle ? activeVehicle.trajectoryPoints.list() : []
}
Connections {
target: activeVehicle ? activeVehicle.trajectoryPoints : null
onPointAdded: trajectoryPolyline.addCoordinate(coordinate)
onUpdateLastPoint: trajectoryPolyline.replaceCoordinate(trajectoryPolyline.pathLength() - 1, coordinate)
onPointsCleared: trajectoryPolyline.path = []
}
}
......
src/QGCApplication.cc
View file @ 1c2e8fe9
......@@ -96,6 +96,7 @@
#include "GeoTagController.h"
#include "LogReplayLink.h"
#include "VehicleObjectAvoidance.h"
#include "TrajectoryPoints.h"
#if defined(QGC_ENABLE_PAIRING)
#include "PairingManager.h"
......@@ -508,6 +509,7 @@ void QGCApplication::_initCommon()
qmlRegisterUncreatableType<QGCMapPolygon> ("QGroundControl.FlightMap", 1, 0, "QGCMapPolygon", kRefOnly);
qmlRegisterUncreatableType<QGCGeoBoundingCube> ("QGroundControl.FlightMap", 1, 0, "QGCGeoBoundingCube", kRefOnly);
qmlRegisterUncreatableType<TrajectoryPoints> ("QGroundControl.FlightMap", 1, 0, "TrajectoryPoints", kRefOnly);
qmlRegisterType<QGCMapCircle> ("QGroundControl.FlightMap", 1, 0, "QGCMapCircle");
......
src/Vehicle/TrajectoryPoints.cc 0 → 100644
View file @ 1c2e8fe9
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "TrajectoryPoints.h"
#include "Vehicle.h"
TrajectoryPoints::TrajectoryPoints(Vehicle* vehicle, QObject* parent)
: QObject (parent)
, _vehicle (vehicle)
, _lastAzimuth (qQNaN())
{
}
void TrajectoryPoints::_vehicleCoordinateChanged(QGeoCoordinate coordinate)
{
if (_lastPoint.isValid()) {
if (_lastPoint.distanceTo(coordinate) > _distanceTolerance) {
double newAzimuth = _lastPoint.azimuthTo(coordinate);
if (qIsNaN(_lastAzimuth) || qAbs(newAzimuth - _lastAzimuth) > _azimuthTolerance) {
_lastAzimuth = _lastPoint.azimuthTo(coordinate);
_lastPoint = coordinate;
_points.append(QVariant::fromValue(coordinate));
emit pointAdded(coordinate);
} else {
_lastPoint = coordinate;
_points[_points.count() - 1] = QVariant::fromValue(coordinate);
emit updateLastPoint(coordinate);
}
}
} else {
_lastAzimuth = _lastPoint.azimuthTo(coordinate);
_lastPoint = coordinate;
_points.append(QVariant::fromValue(coordinate));
emit pointAdded(coordinate);
}
}
void TrajectoryPoints::start(void)
{
clear();
connect(_vehicle, &Vehicle::coordinateChanged, this, &TrajectoryPoints::_vehicleCoordinateChanged);
}
void TrajectoryPoints::stop(void)
{
qDebug() << "Stop" << _points.count();
disconnect(_vehicle, &Vehicle::coordinateChanged, this, &TrajectoryPoints::_vehicleCoordinateChanged);
}
void TrajectoryPoints::clear(void)
{
_points.clear();
emit pointsCleared();
}
src/Vehicle/TrajectoryPoints.h 0 → 100644
View file @ 1c2e8fe9
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "QmlObjectListModel.h"
#include <QGeoCoordinate>
class Vehicle;
class TrajectoryPoints : public QObject
{
Q_OBJECT
public:
TrajectoryPoints(Vehicle* vehicle, QObject* parent = nullptr);
Q_INVOKABLE QVariantList list(void) const { return _points; }
void start (void);
void stop (void);
public slots:
void clear (void);
signals:
void pointAdded (QGeoCoordinate coordinate);
void updateLastPoint(QGeoCoordinate coordinate);
void pointsCleared (void);
private slots:
void _vehicleCoordinateChanged(QGeoCoordinate coordinate);
private:
Vehicle* _vehicle;
QVariantList _points;
QGeoCoordinate _lastPoint;
double _lastAzimuth;
static constexpr double _distanceTolerance = 1.0;
static constexpr double _azimuthTolerance = 1.5;
};
src/Vehicle/Vehicle.cc
View file @ 1c2e8fe9
......@@ -42,6 +42,7 @@
#include "VideoSettings.h"
#include "PositionManager.h"
#include "VehicleObjectAvoidance.h"
#include "TrajectoryPoints.h"
#if defined(QGC_AIRMAP_ENABLED)
#include "AirspaceVehicleManager.h"
......@@ -167,6 +168,7 @@ Vehicle::Vehicle(LinkInterface* link,
, _base_mode(0)
, _custom_mode(0)
, _nextSendMessageMultipleIndex(0)
, _trajectoryPoints(new TrajectoryPoints(this, this))
, _firmwarePluginManager(firmwarePluginManager)
, _joystickManager(joystickManager)
, _flowImageIndex(0)
......@@ -291,9 +293,6 @@ Vehicle::Vehicle(LinkInterface* link,
_sendMultipleTimer.start(_sendMessageMultipleIntraMessageDelay);
connect(&_sendMultipleTimer, &QTimer::timeout, this, &Vehicle::_sendMessageMultipleNext);
_mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints);
connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint);
connect(&_orbitTelemetryTimer, &QTimer::timeout, this, &Vehicle::_orbitTelemetryTimeout);
// Create camera manager instance
......@@ -377,6 +376,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _base_mode(0)
, _custom_mode(0)
, _nextSendMessageMultipleIndex(0)
, _trajectoryPoints(new TrajectoryPoints(this, this))
, _firmwarePluginManager(firmwarePluginManager)
, _joystickManager(nullptr)
, _flowImageIndex(0)
......@@ -456,11 +456,12 @@ void Vehicle::_commonInit(void)
connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_missionLoadComplete);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearCameraTriggerPoints);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearTrajectoryPoints);
connect(_missionManager, &MissionManager::sendComplete, this, &Vehicle::_clearCameraTriggerPoints);
connect(_missionManager, &MissionManager::sendComplete, this, &Vehicle::_clearTrajectoryPoints);
connect(_missionManager, &MissionManager::currentIndexChanged, this, &Vehicle::_updateHeadingToNextWP);
connect(_missionManager, &MissionManager::sendComplete, _trajectoryPoints, &TrajectoryPoints::clear);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, _trajectoryPoints, &TrajectoryPoints::clear);
_parameterManager = new ParameterManager(this);
connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
......@@ -1661,10 +1662,11 @@ void Vehicle::_updateArmed(bool armed)
// We are transitioning to the armed state, begin tracking trajectory points for the map
if (_armed) {
_mapTrajectoryStart();
_trajectoryPoints->start();
_flightTimerStart();
_clearCameraTriggerPoints();
} else {
_mapTrajectoryStop();
_trajectoryPoints->stop();
// Also handle Video Streaming
if(qgcApp()->toolbox()->videoManager()->videoReceiver()) {
if(_settingsManager->videoSettings()->disableWhenDisarmed()->rawValue().toBool()) {
......@@ -2550,48 +2552,18 @@ void Vehicle::_rallyPointManagerError(int errorCode, const QString& errorMsg)
qgcApp()->showMessage(tr("Rally Point transfer failed. Retry transfer. Error: %1").arg(errorMsg));
}
void Vehicle::_addNewMapTrajectoryPoint(void)
{
if (_mapTrajectoryHaveFirstCoordinate) {
// Keep three minutes of trajectory on mobile due to perf impact of lines
#ifdef __mobile__
if (_mapTrajectoryList.count() * _mapTrajectoryMsecsBetweenPoints > 3 * 1000 * 60) {
_mapTrajectoryList.removeAt(0)->deleteLater();
}
#endif
_mapTrajectoryList.append(new CoordinateVector(_mapTrajectoryLastCoordinate, _coordinate, this));
_flightDistanceFact.setRawValue(_flightDistanceFact.rawValue().toDouble() + _mapTrajectoryLastCoordinate.distanceTo(_coordinate));
}
_mapTrajectoryHaveFirstCoordinate = true;
_mapTrajectoryLastCoordinate = _coordinate;
_flightTimeFact.setRawValue((double)_flightTimer.elapsed() / 1000.0);
}
void Vehicle::_clearTrajectoryPoints(void)
{
_mapTrajectoryList.clearAndDeleteContents();
}
void Vehicle::_clearCameraTriggerPoints(void)
{
_cameraTriggerPoints.clearAndDeleteContents();
}
void Vehicle::_mapTrajectoryStart(void)
void Vehicle::_flightTimerStart(void)
{
_mapTrajectoryHaveFirstCoordinate = false;
_clearTrajectoryPoints();
_mapTrajectoryTimer.start();
_flightTimer.start();
_flightDistanceFact.setRawValue(0);
_flightTimeFact.setRawValue(0);
}
void Vehicle::_mapTrajectoryStop()
{
_mapTrajectoryTimer.stop();
}
void Vehicle::_startPlanRequest(void)
{
if (_missionManagerInitialRequestSent) {
......
src/Vehicle/Vehicle.h
View file @ 1c2e8fe9
......@@ -38,6 +38,7 @@ class ADSBVehicle;
class QGCCameraManager;
class Joystick;
class VehicleObjectAvoidance;
class TrajectoryPoints;
#if defined(QGC_AIRMAP_ENABLED)
class AirspaceVehicleManager;
......@@ -548,7 +549,7 @@ public:
Q_PROPERTY(QStringList flightModes READ flightModes NOTIFY flightModesChanged)
Q_PROPERTY(QString flightMode READ flightMode WRITE setFlightMode NOTIFY flightModeChanged)
Q_PROPERTY(bool hilMode READ hilMode WRITE setHilMode NOTIFY hilModeChanged)
Q_PROPERTY(QmlObjectListModel* trajectoryPoints READ trajectoryPoints CONSTANT)
Q_PROPERTY(TrajectoryPoints* trajectoryPoints MEMBER _trajectoryPoints CONSTANT)
Q_PROPERTY(QmlObjectListModel* cameraTriggerPoints READ cameraTriggerPoints CONSTANT)
Q_PROPERTY(float latitude READ latitude NOTIFY coordinateChanged)
Q_PROPERTY(float longitude READ longitude NOTIFY coordinateChanged)
......@@ -877,9 +878,8 @@ public:
QString prearmError(void) const { return _prearmError; }
void setPrearmError(const QString& prearmError);
QmlObjectListModel* trajectoryPoints(void) { return &_mapTrajectoryList; }
QmlObjectListModel* cameraTriggerPoints(void) { return &_cameraTriggerPoints; }
QmlObjectListModel* adsbVehicles(void) { return &_adsbVehicles; }
QmlObjectListModel* cameraTriggerPoints (void) { return &_cameraTriggerPoints; }
QmlObjectListModel* adsbVehicles (void) { return &_adsbVehicles; }
int flowImageIndex() { return _flowImageIndex; }
......@@ -1226,7 +1226,6 @@ private slots:
void _linkInactiveOrDeleted(LinkInterface* link);
void _sendMessageOnLink(LinkInterface* link, mavlink_message_t message);
void _sendMessageMultipleNext(void);
void _addNewMapTrajectoryPoint(void);
void _parametersReady(bool parametersReady);
void _remoteControlRSSIChanged(uint8_t rssi);
void _handleFlightModeChanged(const QString& flightMode);
......@@ -1246,7 +1245,6 @@ private slots:
void _geoFenceLoadComplete(void);
void _rallyPointLoadComplete(void);
void _sendMavCommandAgain(void);
void _clearTrajectoryPoints(void);
void _clearCameraTriggerPoints(void);
void _updateDistanceHeadingToHome(void);
void _updateHeadingToNextWP(void);
......@@ -1313,8 +1311,6 @@ private:
void _missionManagerError(int errorCode, const QString& errorMsg);
void _geoFenceManagerError(int errorCode, const QString& errorMsg);
void _rallyPointManagerError(int errorCode, const QString& errorMsg);
void _mapTrajectoryStart(void);
void _mapTrajectoryStop(void);
void _linkActiveChanged(LinkInterface* link, bool active, int vehicleID);
void _say(const QString& text);
QString _vehicleIdSpeech(void);
......@@ -1334,6 +1330,7 @@ private:
void _handleUnsupportedRequestProtocolVersion(void);
void _initializeCsv();
void _writeCsvLine();
void _flightTimerStart(void);
int _id; ///< Mavlink system id
int _defaultComponentId;
......@@ -1463,15 +1460,9 @@ private:
QTimer _sendMultipleTimer;
int _nextSendMessageMultipleIndex;
QTime _flightTimer;
QTimer _mapTrajectoryTimer;
QmlObjectListModel _mapTrajectoryList;
QGeoCoordinate _mapTrajectoryLastCoordinate;
bool _mapTrajectoryHaveFirstCoordinate;
static const int _mapTrajectoryMsecsBetweenPoints = 1000;
QmlObjectListModel _cameraTriggerPoints;
QTime _flightTimer;
TrajectoryPoints* _trajectoryPoints;
QmlObjectListModel _cameraTriggerPoints;
QmlObjectListModel _adsbVehicles;
QMap<uint32_t, ADSBVehicle*> _adsbICAOMap;
QMap<QString, ADSBVehicle*> _trafficVehicleMap;
......
src/uas/UASMessageHandler.h
View file @ 1c2e8fe9
......@@ -7,20 +7,12 @@
*
****************************************************************************/
/*!
* @file
* @brief Message Handler
* @author Gus Grubba <mavlink@grubba.com>
*/
#pragma once
#include <QObject>
#include <QVector>
#include <QMutex>
#include "Vehicle.h"
#include "QGCToolbox.h"
class Vehicle;
......
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