Skip to content

Q
qgroundcontrol
Commit 226e5a20 authored by Don Gagne's avatar Don Gagne
Browse files
Options

Merge pull request #2347 from DonLakeFlyer/StandaloneCoordinate 

Standalone coordinate support for mission items
parents b17d704c b8f7149d
Show whitespace changes
Inline Side-by-side
Showing with 51 additions and 56 deletions
src/MissionManager/MavCmdInfo.json
View file @ 226e5a20
......@@ -150,6 +150,7 @@
"friendlyName": "Region of interest (nav)",
"description": "Sets the region of interest for cameras.",
"specifiesCoordinate": true,
"standaloneCoordinate": true,
"friendlyEdit": true,
"category": "Camera",
"param1": {
......@@ -398,6 +399,7 @@
"friendlyName": "Region of interest (cmd)" ,
"description": "Sets the region of interest for cameras.",
"specifiesCoordinate": true,
"standaloneCoordinate": true,
"friendlyEdit": true,
"category": "Camera",
"param1": {
......
src/MissionManager/MissionCommands.cc
View file @ 226e5a20
......@@ -49,6 +49,7 @@ const QString MissionCommands::_param3JsonKey (QStringLiteral("par
const QString MissionCommands::_param4JsonKey (QStringLiteral("param4"));
const QString MissionCommands::_paramJsonKeyFormat (QStringLiteral("param%1"));
const QString MissionCommands::_rawNameJsonKey (QStringLiteral("rawName"));
const QString MissionCommands::_standaloneCoordinateJsonKey (QStringLiteral("standaloneCoordinate"));
const QString MissionCommands::_specifiesCoordinateJsonKey (QStringLiteral("specifiesCoordinate"));
const QString MissionCommands::_unitsJsonKey (QStringLiteral("units"));
const QString MissionCommands::_versionJsonKey (QStringLiteral("version"));
......@@ -129,9 +130,9 @@ void MissionCommands::_loadMavCmdInfoJson(void)
QStringList keys;
QList<QJsonValue::Type> types;
keys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _specifiesCoordinateJsonKey << _friendlyEditJsonKey
keys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _standaloneCoordinateJsonKey << _specifiesCoordinateJsonKey <<_friendlyEditJsonKey
<< _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _categoryJsonKey;
types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool
types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool << QJsonValue::Bool
<< QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::String;
if (!_validateKeyTypes(jsonObject, keys, types)) {
return;
......@@ -144,6 +145,7 @@ void MissionCommands::_loadMavCmdInfoJson(void)
mavCmdInfo->_rawName = jsonObject.value(_rawNameJsonKey).toString();
mavCmdInfo->_friendlyName = jsonObject.value(_friendlyNameJsonKey).toString(QString());
mavCmdInfo->_description = jsonObject.value(_descriptionJsonKey).toString(QString());
mavCmdInfo->_standaloneCoordinate = jsonObject.value(_standaloneCoordinateJsonKey).toBool(false);
mavCmdInfo->_specifiesCoordinate = jsonObject.value(_specifiesCoordinateJsonKey).toBool(false);
mavCmdInfo->_friendlyEdit = jsonObject.value(_friendlyEditJsonKey).toBool(false);
......@@ -153,6 +155,7 @@ void MissionCommands::_loadMavCmdInfoJson(void)
<< mavCmdInfo->_rawName
<< mavCmdInfo->_friendlyName
<< mavCmdInfo->_description
<< mavCmdInfo->_standaloneCoordinate
<< mavCmdInfo->_specifiesCoordinate
<< mavCmdInfo->_friendlyEdit;
......
src/MissionManager/MissionCommands.h
View file @ 226e5a20
......@@ -94,6 +94,7 @@ public:
Q_PROPERTY(bool friendlyEdit READ friendlyEdit CONSTANT)
Q_PROPERTY(QString friendlyName READ friendlyName CONSTANT)
Q_PROPERTY(QString rawName READ rawName CONSTANT)
Q_PROPERTY(bool standaloneCoordinate READ standaloneCoordinate CONSTANT)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate CONSTANT)
QString category (void) const { return _category; }
......@@ -102,6 +103,7 @@ public:
bool friendlyEdit (void) const { return _friendlyEdit; }
QString friendlyName (void) const { return _friendlyName; }
QString rawName (void) const { return _rawName; }
bool standaloneCoordinate(void) const { return _standaloneCoordinate; }
bool specifiesCoordinate (void) const { return _specifiesCoordinate; }
const QMap<int, MavCmdParamInfo*>& paramInfoMap(void) const { return _paramInfoMap; }
......@@ -114,6 +116,7 @@ private:
QString _friendlyName;
QMap<int, MavCmdParamInfo*> _paramInfoMap;
QString _rawName;
bool _standaloneCoordinate;
bool _specifiesCoordinate;
friend class MissionCommands;
......@@ -170,6 +173,7 @@ private:
static const QString _param4JsonKey;
static const QString _paramJsonKeyFormat;
static const QString _rawNameJsonKey;
static const QString _standaloneCoordinateJsonKey;
static const QString _specifiesCoordinateJsonKey;
static const QString _unitsJsonKey;
static const QString _versionJsonKey;
......
src/MissionManager/MissionController.cc
View file @ 226e5a20
......@@ -346,7 +346,7 @@ void MissionController::_recalcWaypointLines(void)
item->setAzimuth(0.0);
item->setDistance(-1.0);
if (item->specifiesCoordinate()) {
if (item->specifiesCoordinate() && !item->standaloneCoordinate()) {
if (firstCoordinateItem) {
if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
// The first coordinate we hit is a takeoff command so link back to home position if valid
......@@ -628,7 +628,7 @@ bool MissionController::_findLastAltitude(double* lastAltitude)
for (int i=0; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
if (item->specifiesCoordinate()) {
if (item->specifiesCoordinate() && !item->standaloneCoordinate()) {
foundAltitude = item->param7();
found = true;
}
......
src/MissionManager/MissionItem.cc
View file @ 226e5a20
......@@ -504,6 +504,11 @@ void MissionItem::setParam7(double param)
}
}
bool MissionItem::standaloneCoordinate(void) const
{
return _mavCmdInfoMap[(MAV_CMD)command()]->standaloneCoordinate();
}
bool MissionItem::specifiesCoordinate(void) const
{
return _mavCmdInfoMap[(MAV_CMD)command()]->specifiesCoordinate();
......
src/MissionManager/MissionItem.h
View file @ 226e5a20
......@@ -83,6 +83,7 @@ public:
Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged)
Q_PROPERTY(bool rawEdit READ rawEdit WRITE setRawEdit NOTIFY rawEditChanged) ///< true: raw item editing with all params
Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
Q_PROPERTY(bool standaloneCoordinate READ standaloneCoordinate NOTIFY commandChanged)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY commandChanged)
Q_PROPERTY(Fact* supportedCommand READ supportedCommand NOTIFY commandChanged)
......@@ -112,6 +113,7 @@ public:
bool isCurrentItem (void) const { return _isCurrentItem; }
bool rawEdit (void) const;
int sequenceNumber (void) const { return _sequenceNumber; }
bool standaloneCoordinate(void) const;
bool specifiesCoordinate (void) const;
Fact* supportedCommand (void) { return &_supportedCommandFact; }
......
src/QmlControls/MissionCommandDialog.qml
View file @ 226e5a20
......@@ -49,7 +49,6 @@ QGCViewDialog {
function categorySelected(category) {
commandList.model = QGroundControl.missionCommands.getCommandsForCategory(category)
console.log("changing model", category)
}
Component.onCompleted: {
......@@ -71,33 +70,13 @@ QGCViewDialog {
spacing: ScreenTools.defaultFontPixelHeight / 2
orientation: ListView.Vertical
onModelChanged: {
var currentCategory = categoryCombo.currentText
currentIndex = -1
if (missionItem.category == currentCategory) {
var commandList = QGroundControl.missionCommands.getCommandsForCategory(currentCategory)
for (var i=0; i<commandList.count; i++) {
if (commandList.get(i).command == missionItem.command) {
currentIndex = i
break
}
}
}
}
highlight: Rectangle {
color: qgcPal.buttonHighlight
}
delegate: Rectangle {
width: parent.width
height: commandColumn.height + ScreenTools.defaultFontPixelSize
color: currentItem ? qgcPal.buttonHighlight : qgcPal.button
color: qgcPal.button
property var mavCmdInfo: object
property bool currentItem: commandList.currentItem == this
property var textColor: currentItem ? qgcPal.buttonHighlightText : qgcPal.buttonText
property var textColor: qgcPal.buttonText
Column {
id: commandColumn
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment