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Unverified Commit 2a4261eb authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #6195 from DonLakeFlyer/StableMerge 

Stable merge
parents 05992691 7737cee8
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Showing with 123 additions and 138 deletions
QGCInstaller.pri
View file @ 2a4261eb
...@@ -26,12 +26,12 @@ installer { ...@@ -26,12 +26,12 @@ installer {
# We cd to release directory so we can run macdeployqt without a path to the # We cd to release directory so we can run macdeployqt without a path to the
# qgroundcontrol.app file. If you specify a path to the .app file the symbolic # qgroundcontrol.app file. If you specify a path to the .app file the symbolic
# links to plugins will not be created correctly. # links to plugins will not be created correctly.
QMAKE_POST_LINK += && mkdir -p $${DESTDIR}/package
QMAKE_POST_LINK += && cd $${DESTDIR} && $$dirname(QMAKE_QMAKE)/macdeployqt $${TARGET}.app -appstore-compliant -verbose=2 -qmldir=$${BASEDIR}/src QMAKE_POST_LINK += && cd $${DESTDIR} && $$dirname(QMAKE_QMAKE)/macdeployqt $${TARGET}.app -appstore-compliant -verbose=2 -qmldir=$${BASEDIR}/src
# macdeploy is missing some relocations once in a while. "Fix" it: # macdeploy is missing some relocations once in a while. "Fix" it:
QMAKE_POST_LINK += && python $$BASEDIR/tools/osxrelocator.py $${TARGET}.app/Contents @rpath @executable_path/../Frameworks -r > /dev/null 2>&1 QMAKE_POST_LINK += && python $$BASEDIR/tools/osxrelocator.py $${TARGET}.app/Contents @rpath @executable_path/../Frameworks -r > /dev/null 2>&1
# Create package # Create package
QMAKE_POST_LINK += && hdiutil create /tmp/tmp.dmg -ov -volname "$${TARGET}-$${MAC_VERSION}" -fs HFS+ -srcfolder "$${DESTDIR}/" QMAKE_POST_LINK += && hdiutil create /tmp/tmp.dmg -ov -volname "$${TARGET}-$${MAC_VERSION}" -fs HFS+ -srcfolder "$${DESTDIR}/"
QMAKE_POST_LINK += && mkdir -p $${DESTDIR}/package
QMAKE_POST_LINK += && hdiutil convert /tmp/tmp.dmg -format UDBZ -o $${DESTDIR}/package/$${TARGET}.dmg QMAKE_POST_LINK += && hdiutil convert /tmp/tmp.dmg -format UDBZ -o $${DESTDIR}/package/$${TARGET}.dmg
QMAKE_POST_LINK += && rm /tmp/tmp.dmg QMAKE_POST_LINK += && rm /tmp/tmp.dmg
} }
......
src/FactSystem/ParameterManager.cc
View file @ 2a4261eb
...@@ -22,12 +22,9 @@ ...@@ -22,12 +22,9 @@
#include <QVariantAnimation> #include <QVariantAnimation>
#include <QJsonArray> #include <QJsonArray>
/* types for local parameter cache */
typedef QPair<int /* FactMetaData::ValueType_t */, QVariant /* Fact::rawValue */> ParamTypeVal;
typedef QMap<QString /* parameter name */, ParamTypeVal> CacheMapName2ParamTypeVal;
QGC_LOGGING_CATEGORY(ParameterManagerVerbose1Log, "ParameterManagerVerbose1Log") QGC_LOGGING_CATEGORY(ParameterManagerVerbose1Log, "ParameterManagerVerbose1Log")
QGC_LOGGING_CATEGORY(ParameterManagerVerbose2Log, "ParameterManagerVerbose2Log") QGC_LOGGING_CATEGORY(ParameterManagerVerbose2Log, "ParameterManagerVerbose2Log")
QGC_LOGGING_CATEGORY(ParameterManagerDebugCacheFailureLog, "ParameterManagerDebugCacheFailureLog") // Turn on to debug parameter cache crc misses
Fact ParameterManager::_defaultFact; Fact ParameterManager::_defaultFact;
...@@ -151,6 +148,24 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString ...@@ -151,6 +148,24 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
return; return;
} }
// Used to debug cache crc misses (turn on ParameterManagerDebugCacheFailureLog)
if (!_initialLoadComplete && !_logReplay && _debugCacheCRC.contains(componentId) && _debugCacheCRC[componentId]) {
if (_debugCacheMap[componentId].contains(parameterName)) {
const ParamTypeVal& cacheParamTypeVal = _debugCacheMap[componentId][parameterName];
size_t dataSize = FactMetaData::typeToSize(static_cast<FactMetaData::ValueType_t>(cacheParamTypeVal.first));
const void *cacheData = cacheParamTypeVal.second.constData();
const void *vehicleData = value.constData();
if (memcmp(cacheData, vehicleData, dataSize)) {
qDebug() << "Cache/Vehicle values differ for name:cache:actual" << parameterName << value << cacheParamTypeVal.second;
}
_debugCacheParamSeen[componentId][parameterName] = true;
} else {
qDebug() << "Parameter missing from cache" << parameterName;
}
}
_initialRequestTimeoutTimer.stop(); _initialRequestTimeoutTimer.stop();
_waitingParamTimeoutTimer.stop(); _waitingParamTimeoutTimer.stop();
...@@ -340,11 +355,6 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString ...@@ -340,11 +355,6 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
_setupCategoryMap(); _setupCategoryMap();
} }
if (_prevWaitingWriteParamNameCount != 0 && waitingWriteParamNameCount == 0) {
// If all the writes just finished the vehicle is up to date, so persist.
_saveToEEPROM();
}
// Update param cache. The param cache is only used on PX4 Firmware since ArduPilot and Solo have volatile params // Update param cache. The param cache is only used on PX4 Firmware since ArduPilot and Solo have volatile params
// which invalidate the cache. The Solo also streams param updates in flight for things like gimbal values // which invalidate the cache. The Solo also streams param updates in flight for things like gimbal values
// which in turn causes a perf problem with all the param cache updates. // which in turn causes a perf problem with all the param cache updates.
...@@ -875,22 +885,13 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian ...@@ -875,22 +885,13 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian
_parameterSetMajorVersion = -1; _parameterSetMajorVersion = -1;
_clearMetaData(); _clearMetaData();
qCInfo(ParameterManagerLog) << "Parameters cache match failed" << qPrintable(QFileInfo(cacheFile).absoluteFilePath()); qCInfo(ParameterManagerLog) << "Parameters cache match failed" << qPrintable(QFileInfo(cacheFile).absoluteFilePath());
if (ParameterManagerDebugCacheFailureLog().isDebugEnabled()) {
_debugCacheCRC[componentId] = true;
_debugCacheMap[componentId] = cacheMap;
foreach (const QString& name, cacheMap.keys()) {
_debugCacheParamSeen[componentId][name] = false;
} }
} qgcApp()->showMessage(tr("Parameter cache CRC match failed"));
void ParameterManager::_saveToEEPROM(void)
{
if (_saveRequired) {
_saveRequired = false;
if (_vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::MavCmdPreflightStorageCapability)) {
_vehicle->sendMavCommand(MAV_COMP_ID_ALL,
MAV_CMD_PREFLIGHT_STORAGE,
true, // showError
1, // Write parameters to EEPROM
-1); // Don't do anything with mission storage
qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "_saveToEEPROM";
} else {
qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "_saveToEEPROM skipped due to FirmwarePlugin::isCapable";
} }
} }
} }
...@@ -1110,6 +1111,18 @@ void ParameterManager::_checkInitialLoadComplete(void) ...@@ -1110,6 +1111,18 @@ void ParameterManager::_checkInitialLoadComplete(void)
// We aren't waiting for any more initial parameter updates, initial parameter loading is complete // We aren't waiting for any more initial parameter updates, initial parameter loading is complete
_initialLoadComplete = true; _initialLoadComplete = true;
// Parameter cache crc failure debugging
foreach (int componentId, _debugCacheParamSeen.keys()) {
if (!_logReplay && _debugCacheCRC.contains(componentId) && _debugCacheCRC[componentId]) {
foreach (const QString& paramName, _debugCacheParamSeen[componentId].keys()) {
if (!_debugCacheParamSeen[componentId][paramName]) {
qDebug() << "Parameter in cache but not on vehicle componentId:Name" << componentId << paramName;
}
}
}
}
_debugCacheCRC.clear();
qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "Initial load complete"; qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "Initial load complete";
// Check for index based load failures // Check for index based load failures
...@@ -1423,6 +1436,7 @@ void ParameterManager::_loadOfflineEditingParams(void) ...@@ -1423,6 +1436,7 @@ void ParameterManager::_loadOfflineEditingParams(void)
_setupCategoryMap(); _setupCategoryMap();
_parametersReady = true; _parametersReady = true;
_initialLoadComplete = true; _initialLoadComplete = true;
_debugCacheCRC.clear();
} }
void ParameterManager::saveToJson(int componentId, const QStringList& paramsToSave, QJsonObject& saveObject) void ParameterManager::saveToJson(int componentId, const QStringList& paramsToSave, QJsonObject& saveObject)
......
src/FactSystem/ParameterManager.h
View file @ 2a4261eb
...@@ -30,6 +30,7 @@ ...@@ -30,6 +30,7 @@
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose1Log) Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose1Log)
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose2Log) Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose2Log)
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerDebugCacheFailureLog)
/// Connects to Parameter Manager to load/update Facts /// Connects to Parameter Manager to load/update Facts
class ParameterManager : public QObject class ParameterManager : public QObject
...@@ -153,7 +154,6 @@ private: ...@@ -153,7 +154,6 @@ private:
MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType); MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType); FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
void _saveToEEPROM(void);
void _checkInitialLoadComplete(void); void _checkInitialLoadComplete(void);
/// First mapping is by component id /// First mapping is by component id
...@@ -175,6 +175,13 @@ private: ...@@ -175,6 +175,13 @@ private:
int _parameterSetMajorVersion; ///< Version for parameter set, -1 if not known int _parameterSetMajorVersion; ///< Version for parameter set, -1 if not known
QObject* _parameterMetaData; ///< Opaque data from FirmwarePlugin::loadParameterMetaDataCall QObject* _parameterMetaData; ///< Opaque data from FirmwarePlugin::loadParameterMetaDataCall
typedef QPair<int /* FactMetaData::ValueType_t */, QVariant /* Fact::rawValue */> ParamTypeVal;
typedef QMap<QString /* parameter name */, ParamTypeVal> CacheMapName2ParamTypeVal;
QMap<int /* component id */, bool> _debugCacheCRC; ///< true: debug cache crc failure
QMap<int /* component id */, CacheMapName2ParamTypeVal> _debugCacheMap;
QMap<int /* component id */, QMap<QString /* param name */, bool /* seen */>> _debugCacheParamSeen;
// Wait counts from previous parameter update cycle // Wait counts from previous parameter update cycle
int _prevWaitingReadParamIndexCount; int _prevWaitingReadParamIndexCount;
int _prevWaitingReadParamNameCount; int _prevWaitingReadParamNameCount;
......
src/FirmwarePlugin/FirmwarePlugin.h
View file @ 2a4261eb
...@@ -43,11 +43,10 @@ public: ...@@ -43,11 +43,10 @@ public:
/// Set of optional capabilites which firmware may support /// Set of optional capabilites which firmware may support
typedef enum { typedef enum {
SetFlightModeCapability = 1 << 0, ///< FirmwarePlugin::setFlightMode method is supported SetFlightModeCapability = 1 << 0, ///< FirmwarePlugin::setFlightMode method is supported
MavCmdPreflightStorageCapability = 1 << 1, ///< MAV_CMD_PREFLIGHT_STORAGE is supported PauseVehicleCapability = 1 << 1, ///< Vehicle supports pausing at current location
PauseVehicleCapability = 1 << 2, ///< Vehicle supports pausing at current location GuidedModeCapability = 1 << 2, ///< Vehicle supports guided mode commands
GuidedModeCapability = 1 << 3, ///< Vehicle supports guided mode commands OrbitModeCapability = 1 << 3, ///< Vehicle supports orbit mode
OrbitModeCapability = 1 << 4, ///< Vehicle supports orbit mode TakeoffVehicleCapability = 1 << 4, ///< Vehicle supports guided takeoff
TakeoffVehicleCapability = 1 << 5, ///< Vehicle supports guided takeoff
} FirmwareCapabilities; } FirmwareCapabilities;
/// Maps from on parameter name to another /// Maps from on parameter name to another
......
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
View file @ 2a4261eb
...@@ -227,7 +227,7 @@ int PX4FirmwarePlugin::manualControlReservedButtonCount(void) ...@@ -227,7 +227,7 @@ int PX4FirmwarePlugin::manualControlReservedButtonCount(void)
bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities) bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
{ {
int available = MavCmdPreflightStorageCapability | SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability; int available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
if (vehicle->multiRotor() || vehicle->vtol()) { if (vehicle->multiRotor() || vehicle->vtol()) {
available |= TakeoffVehicleCapability; available |= TakeoffVehicleCapability;
} }
......
src/FlightDisplay/GuidedActionConfirm.qml
View file @ 2a4261eb
...@@ -42,10 +42,28 @@ Rectangle { ...@@ -42,10 +42,28 @@ Rectangle {
if (hideTrigger) { if (hideTrigger) {
hideTrigger = false hideTrigger = false
altitudeSlider.visible = false altitudeSlider.visible = false
visibleTimer.stop()
visible = false visible = false
} }
} }
function show(immediate) {
if (immediate) {
visible = true
} else {
// We delay showing the confirmation for a small amount in order to any other state
// changes to propogate through the system. This way only the final state shows up.
visibleTimer.restart()
}
}
Timer {
id: visibleTimer
interval: 1000
repeat: false
onTriggered: visible = true
}
QGCPalette { id: qgcPal } QGCPalette { id: qgcPal }
DeadMouseArea { DeadMouseArea {
......
src/FlightDisplay/GuidedActionsController.qml
View file @ 2a4261eb
...@@ -185,9 +185,11 @@ Item { ...@@ -185,9 +185,11 @@ Item {
// Called when an action is about to be executed in order to confirm // Called when an action is about to be executed in order to confirm
function confirmAction(actionCode, actionData) { function confirmAction(actionCode, actionData) {
var showImmediate = true
closeAll() closeAll()
confirmDialog.action = actionCode confirmDialog.action = actionCode
confirmDialog.actionData = actionData confirmDialog.actionData = actionData
confirmDialog.hideTrigger = true
_actionData = actionData _actionData = actionData
switch (actionCode) { switch (actionCode) {
case actionArm: case actionArm:
...@@ -219,6 +221,7 @@ Item { ...@@ -219,6 +221,7 @@ Item {
altitudeSlider.visible = true altitudeSlider.visible = true
break; break;
case actionStartMission: case actionStartMission:
showImmediate = false
confirmDialog.title = startMissionTitle confirmDialog.title = startMissionTitle
confirmDialog.message = startMissionMessage confirmDialog.message = startMissionMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showStartMission }) confirmDialog.hideTrigger = Qt.binding(function() { return !showStartMission })
...@@ -229,11 +232,13 @@ Item { ...@@ -229,11 +232,13 @@ Item {
confirmDialog.hideTrigger = true confirmDialog.hideTrigger = true
break; break;
case actionContinueMission: case actionContinueMission:
showImmediate = false
confirmDialog.title = continueMissionTitle confirmDialog.title = continueMissionTitle
confirmDialog.message = continueMissionMessage confirmDialog.message = continueMissionMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showContinueMission }) confirmDialog.hideTrigger = Qt.binding(function() { return !showContinueMission })
break; break;
case actionResumeMission: case actionResumeMission:
showImmediate = false
confirmDialog.title = resumeMissionTitle confirmDialog.title = resumeMissionTitle
confirmDialog.message = resumeMissionMessage confirmDialog.message = resumeMissionMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showResumeMission }) confirmDialog.hideTrigger = Qt.binding(function() { return !showResumeMission })
...@@ -308,7 +313,7 @@ Item { ...@@ -308,7 +313,7 @@ Item {
console.warn("Unknown actionCode", actionCode) console.warn("Unknown actionCode", actionCode)
return return
} }
confirmDialog.visible = true confirmDialog.show(showImmediate)
} }
// Executes the specified action // Executes the specified action
......
src/FlightMap/Images/attitudeDial.svg 100644 → 100755
View file @ 2a4261eb
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<!-- Generator: Adobe Illustrator 18.1.1, SVG Export Plug-In . SVG Version: 6.00 Build 0) --> <!-- Generator: Adobe Illustrator 21.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<svg version="1.1" id="Layer_2" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px" <svg version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
viewBox="0 0 288 288" enable-background="new 0 0 288 288" xml:space="preserve"> viewBox="0 0 288 288" style="enable-background:new 0 0 288 288;" xml:space="preserve">
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="143.999" y1="36.793" x2="143.999" y2="18.793"/> <style type="text/css">
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="171.739" y1="40.458" x2="176.398" y2="23.072"/> .st0{fill:none;stroke:#FFFFFF;stroke-width:4;}
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="197.586" y1="51.179" x2="206.586" y2="35.591"/> .st1{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;}
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="219.777" y1="68.224" x2="232.505" y2="55.496"/> </style>
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="236.801" y1="90.432" x2="252.389" y2="81.432"/> <g id="Layer_2">
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="116.254" y1="40.431" x2="111.596" y2="23.045"/> <line class="st0" x1="144" y1="45.8" x2="144" y2="18.8"/>
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="90.397" y1="51.127" x2="81.397" y2="35.539"/> <line class="st0" x1="171.7" y1="40.5" x2="176.4" y2="23.1"/>
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="68.189" y1="68.151" x2="55.461" y2="55.423"/> <line class="st0" x1="197.6" y1="51.2" x2="206.6" y2="35.6"/>
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="51.144" y1="90.342" x2="35.556" y2="81.342"/> <line class="st0" x1="219.8" y1="68.2" x2="232.5" y2="55.5"/>
<rect x="135" y="270" fill="none" width="18" height="18"/> <line class="st0" x1="236.8" y1="90.4" x2="252.4" y2="81.4"/>
<line class="st0" x1="116.3" y1="40.4" x2="111.6" y2="23"/>
<line class="st0" x1="90.4" y1="51.1" x2="81.4" y2="35.5"/>
<line class="st0" x1="68.2" y1="68.2" x2="55.5" y2="55.4"/>
<line class="st0" x1="51.1" y1="90.3" x2="35.6" y2="81.3"/>
<rect x="135" y="270" class="st1" width="18" height="18"/>
</g>
<g id="Layer_3">
</g>
</svg> </svg>
src/MissionManager/StructureScanComplexItem.cc
View file @ 2a4261eb
...@@ -24,8 +24,6 @@ QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog") ...@@ -24,8 +24,6 @@ QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog")
const char* StructureScanComplexItem::_altitudeFactName = "Altitude"; const char* StructureScanComplexItem::_altitudeFactName = "Altitude";
const char* StructureScanComplexItem::_structureHeightFactName = "StructureHeight"; const char* StructureScanComplexItem::_structureHeightFactName = "StructureHeight";
const char* StructureScanComplexItem::_layersFactName = "Layers"; const char* StructureScanComplexItem::_layersFactName = "Layers";
const char* StructureScanComplexItem::_gimbalPitchFactName = "GimbalPitch";
const char* StructureScanComplexItem::_gimbalYawFactName = "GimbalYaw";
const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan"; const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan";
const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc"; const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc";
...@@ -46,8 +44,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa ...@@ -46,8 +44,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
, _cameraCalc (vehicle) , _cameraCalc (vehicle)
, _altitudeFact (0, _altitudeFactName, FactMetaData::valueTypeDouble) , _altitudeFact (0, _altitudeFactName, FactMetaData::valueTypeDouble)
, _layersFact (0, _layersFactName, FactMetaData::valueTypeUint32) , _layersFact (0, _layersFactName, FactMetaData::valueTypeUint32)
, _gimbalPitchFact (0, _gimbalPitchFactName, FactMetaData::valueTypeDouble)
, _gimbalYawFact (0, _gimbalYawFactName, FactMetaData::valueTypeDouble)
{ {
_editorQml = "qrc:/qml/StructureScanEditor.qml"; _editorQml = "qrc:/qml/StructureScanEditor.qml";
...@@ -57,20 +53,14 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa ...@@ -57,20 +53,14 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
_altitudeFact.setMetaData (_metaDataMap[_altitudeFactName]); _altitudeFact.setMetaData (_metaDataMap[_altitudeFactName]);
_layersFact.setMetaData (_metaDataMap[_layersFactName]); _layersFact.setMetaData (_metaDataMap[_layersFactName]);
_gimbalPitchFact.setMetaData(_metaDataMap[_gimbalPitchFactName]);
_gimbalYawFact.setMetaData (_metaDataMap[_gimbalYawFactName]);
_altitudeFact.setRawValue (_altitudeFact.rawDefaultValue()); _altitudeFact.setRawValue (_altitudeFact.rawDefaultValue());
_layersFact.setRawValue (_layersFact.rawDefaultValue()); _layersFact.setRawValue (_layersFact.rawDefaultValue());
_gimbalPitchFact.setRawValue(_gimbalPitchFact.rawDefaultValue());
_gimbalYawFact.setRawValue (_gimbalYawFact.rawDefaultValue());
_altitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue()); _altitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &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(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
connect(&_structureHeightFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo); connect(&_structureHeightFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
...@@ -89,7 +79,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa ...@@ -89,7 +79,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_flightPathChanged); connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_flightPathChanged);
connect(_cameraCalc.distanceToSurface(), &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon); connect(_cameraCalc.distanceToSurface(), &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
connect(&_cameraCalc, &CameraCalc::cameraNameChanged, this, &StructureScanComplexItem::_resetGimbal);
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_recalcCameraShots); connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_recalcCameraShots);
connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &StructureScanComplexItem::_recalcCameraShots); connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &StructureScanComplexItem::_recalcCameraShots);
...@@ -134,7 +123,7 @@ int StructureScanComplexItem::lastSequenceNumber(void) const ...@@ -134,7 +123,7 @@ int StructureScanComplexItem::lastSequenceNumber(void) const
(_layersFact.rawValue().toInt() * (_layersFact.rawValue().toInt() *
((_flightPolygon.count() + 1) + // 1 waypoint for each polygon vertex + 1 to go back to first polygon vertex for each layer ((_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 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) void StructureScanComplexItem::setDirty(bool dirty)
...@@ -154,8 +143,6 @@ void StructureScanComplexItem::save(QJsonArray& missionItems) ...@@ -154,8 +143,6 @@ void StructureScanComplexItem::save(QJsonArray& missionItems)
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue; saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue; saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[_gimbalPitchFactName] = _gimbalPitchFact.rawValue().toDouble();
saveObject[_gimbalYawFactName] = _gimbalYawFact.rawValue().toDouble();
saveObject[_altitudeFactName] = _altitudeFact.rawValue().toDouble(); saveObject[_altitudeFactName] = _altitudeFact.rawValue().toDouble();
saveObject[_structureHeightFactName] = _structureHeightFact.rawValue().toDouble(); saveObject[_structureHeightFactName] = _structureHeightFact.rawValue().toDouble();
saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative; saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative;
...@@ -186,8 +173,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen ...@@ -186,8 +173,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true }, { VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true }, { ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
{ QGCMapPolygon::jsonPolygonKey, QJsonValue::Array, true }, { QGCMapPolygon::jsonPolygonKey, QJsonValue::Array, true },
{ _gimbalPitchFactName, QJsonValue::Double, true },
{ _gimbalYawFactName, QJsonValue::Double, true },
{ _altitudeFactName, QJsonValue::Double, true }, { _altitudeFactName, QJsonValue::Double, true },
{ _structureHeightFactName, QJsonValue::Double, true }, { _structureHeightFactName, QJsonValue::Double, true },
{ _jsonAltitudeRelativeKey, QJsonValue::Bool, true }, { _jsonAltitudeRelativeKey, QJsonValue::Bool, true },
...@@ -220,8 +205,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen ...@@ -220,8 +205,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
return false; return false;
} }
_gimbalPitchFact.setRawValue(complexObject[_gimbalPitchFactName].toDouble());
_gimbalYawFact.setRawValue (complexObject[_gimbalYawFactName].toDouble());
_altitudeFact.setRawValue (complexObject[_altitudeFactName].toDouble()); _altitudeFact.setRawValue (complexObject[_altitudeFactName].toDouble());
_layersFact.setRawValue (complexObject[_layersFactName].toDouble()); _layersFact.setRawValue (complexObject[_layersFactName].toDouble());
_altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true); _altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true);
...@@ -268,13 +251,11 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO ...@@ -268,13 +251,11 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
double baseAltitude = _altitudeFact.rawValue().toDouble(); double baseAltitude = _altitudeFact.rawValue().toDouble();
MissionItem* item = new MissionItem(seqNum++, MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_MOUNT_CONTROL, MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET,
MAV_FRAME_MISSION, MAV_FRAME_MISSION,
_gimbalPitchFact.rawValue().toDouble(), 0, 0, 0, 0, // param 1-4 not used
0, // Gimbal roll 0, 0, // Pitch and Roll stay in standard orientation
_gimbalYawFact.rawValue().toDouble(), 90, // 90 degreee yaw offset to point to structure
0, 0, 0, // param 4-6 not used
MAV_MOUNT_MODE_MAVLINK_TARGETING,
true, // autoContinue true, // autoContinue
false, // isCurrentItem false, // isCurrentItem
missionItemParent); missionItemParent);
...@@ -349,6 +330,15 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO ...@@ -349,6 +330,15 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
missionItemParent); missionItemParent);
items.append(item); 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 int StructureScanComplexItem::cameraShots(void) const
...@@ -447,12 +437,6 @@ void StructureScanComplexItem::_recalcCameraShots(void) ...@@ -447,12 +437,6 @@ void StructureScanComplexItem::_recalcCameraShots(void)
_setCameraShots(cameraShots * _layersFact.rawValue().toInt()); _setCameraShots(cameraShots * _layersFact.rawValue().toInt());
} }
void StructureScanComplexItem::_resetGimbal(void)
{
_gimbalPitchFact.setCookedValue(0);
_gimbalYawFact.setCookedValue(90);
}
void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative) void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative)
{ {
if (altitudeRelative != _altitudeRelative) { if (altitudeRelative != _altitudeRelative) {
......
src/MissionManager/StructureScanComplexItem.h
View file @ 2a4261eb
...@@ -28,8 +28,6 @@ public: ...@@ -28,8 +28,6 @@ public:
StructureScanComplexItem(Vehicle* vehicle, QObject* parent = NULL); StructureScanComplexItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT) 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* altitude READ altitude CONSTANT)
Q_PROPERTY(Fact* structureHeight READ structureHeight CONSTANT) Q_PROPERTY(Fact* structureHeight READ structureHeight CONSTANT)
Q_PROPERTY(Fact* layers READ layers CONSTANT) Q_PROPERTY(Fact* layers READ layers CONSTANT)
...@@ -47,8 +45,6 @@ public: ...@@ -47,8 +45,6 @@ public:
bool altitudeRelative (void) const { return _altitudeRelative; } bool altitudeRelative (void) const { return _altitudeRelative; }
int cameraShots (void) const; int cameraShots (void) const;
Fact* gimbalPitch (void) { return &_gimbalPitchFact; }
Fact* gimbalYaw (void) { return &_gimbalYawFact; }
double timeBetweenShots (void); double timeBetweenShots (void);
QGCMapPolygon* structurePolygon (void) { return &_structurePolygon; } QGCMapPolygon* structurePolygon (void) { return &_structurePolygon; }
QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; } QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; }
...@@ -111,7 +107,6 @@ private slots: ...@@ -111,7 +107,6 @@ private slots:
void _updateCoordinateAltitudes (void); void _updateCoordinateAltitudes (void);
void _rebuildFlightPolygon (void); void _rebuildFlightPolygon (void);
void _recalcCameraShots (void); void _recalcCameraShots (void);
void _resetGimbal (void);
void _recalcLayerInfo (void); void _recalcLayerInfo (void);
private: private:
...@@ -140,14 +135,10 @@ private: ...@@ -140,14 +135,10 @@ private:
Fact _altitudeFact; Fact _altitudeFact;
Fact _structureHeightFact; Fact _structureHeightFact;
Fact _layersFact; Fact _layersFact;
Fact _gimbalPitchFact;
Fact _gimbalYawFact;
static const char* _altitudeFactName; static const char* _altitudeFactName;
static const char* _structureHeightFactName; static const char* _structureHeightFactName;
static const char* _layersFactName; static const char* _layersFactName;
static const char* _gimbalPitchFactName;
static const char* _gimbalYawFactName;
static const char* _jsonCameraCalcKey; static const char* _jsonCameraCalcKey;
static const char* _jsonAltitudeRelativeKey; static const char* _jsonAltitudeRelativeKey;
......
src/MissionManager/StructureScanComplexItemTest.cc
View file @ 2a4261eb
...@@ -59,7 +59,7 @@ void StructureScanComplexItemTest::_testDirty(void) ...@@ -59,7 +59,7 @@ void StructureScanComplexItemTest::_testDirty(void)
// These facts should set dirty when changed // These facts should set dirty when changed
QList<Fact*> rgFacts; QList<Fact*> rgFacts;
rgFacts << _structureScanItem->gimbalPitch() << _structureScanItem->gimbalYaw() << _structureScanItem->altitude() << _structureScanItem->layers(); rgFacts << _structureScanItem->altitude() << _structureScanItem->layers();
foreach(Fact* fact, rgFacts) { foreach(Fact* fact, rgFacts) {
qDebug() << fact->name(); qDebug() << fact->name();
QVERIFY(!_structureScanItem->dirty()); QVERIFY(!_structureScanItem->dirty());
...@@ -93,8 +93,6 @@ void StructureScanComplexItemTest::_initItem(void) ...@@ -93,8 +93,6 @@ void StructureScanComplexItemTest::_initItem(void)
} }
_structureScanItem->cameraCalc()->setCameraName(CameraCalc::manualCameraName()); _structureScanItem->cameraCalc()->setCameraName(CameraCalc::manualCameraName());
_structureScanItem->gimbalPitch()->setCookedValue(45);
_structureScanItem->gimbalYaw()->setCookedValue(45);
_structureScanItem->layers()->setCookedValue(2); _structureScanItem->layers()->setCookedValue(2);
_structureScanItem->setDirty(false); _structureScanItem->setDirty(false);
...@@ -112,8 +110,6 @@ void StructureScanComplexItemTest::_validateItem(StructureScanComplexItem* item) ...@@ -112,8 +110,6 @@ void StructureScanComplexItemTest::_validateItem(StructureScanComplexItem* item)
} }
QCOMPARE(_structureScanItem->cameraCalc()->cameraName() , CameraCalc::manualCameraName()); 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); QCOMPARE(item->layers()->cookedValue().toInt(), 2);
} }
...@@ -132,17 +128,6 @@ void StructureScanComplexItemTest::_testSaveLoad(void) ...@@ -132,17 +128,6 @@ void StructureScanComplexItemTest::_testSaveLoad(void)
newItem->deleteLater(); 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) void StructureScanComplexItemTest::_testItemCount(void)
{ {
QList<MissionItem*> items; QList<MissionItem*> items;
......
src/MissionManager/StructureScanComplexItemTest.h
View file @ 2a4261eb
...@@ -27,7 +27,6 @@ protected: ...@@ -27,7 +27,6 @@ protected:
private slots: private slots:
void _testDirty(void); void _testDirty(void);
void _testSaveLoad(void); void _testSaveLoad(void);
void _testGimbalAngleUpdate(void);
void _testItemCount(void); void _testItemCount(void);
private: private:
......
src/MissionManager/SurveyMissionItem.h
View file @ 2a4261eb
...@@ -296,7 +296,7 @@ private: ...@@ -296,7 +296,7 @@ private:
static const char* _jsonFixedValueIsAltitudeKey; static const char* _jsonFixedValueIsAltitudeKey;
static const char* _jsonRefly90DegreesKey; static const char* _jsonRefly90DegreesKey;
static const int _hoverAndCaptureDelaySeconds = 2; static const int _hoverAndCaptureDelaySeconds = 4;
}; };
#endif #endif
src/PlanView/MissionSettingsEditor.qml
View file @ 2a4261eb
...@@ -36,6 +36,7 @@ Rectangle { ...@@ -36,6 +36,7 @@ Rectangle {
property var _fileExtension: QGroundControl.settingsManager.appSettings.missionFileExtension property var _fileExtension: QGroundControl.settingsManager.appSettings.missionFileExtension
property var _appSettings: QGroundControl.settingsManager.appSettings property var _appSettings: QGroundControl.settingsManager.appSettings
property bool _waypointsOnlyMode: QGroundControl.corePlugin.options.missionWaypointsOnly property bool _waypointsOnlyMode: QGroundControl.corePlugin.options.missionWaypointsOnly
property bool _showCameraSection: !_waypointsOnlyMode || QGroundControl.corePlugin.showAdvancedUI
readonly property string _firmwareLabel: qsTr("Firmware") readonly property string _firmwareLabel: qsTr("Firmware")
readonly property string _vehicleLabel: qsTr("Vehicle") readonly property string _vehicleLabel: qsTr("Vehicle")
...@@ -91,6 +92,7 @@ Rectangle { ...@@ -91,6 +92,7 @@ Rectangle {
CameraSection { CameraSection {
id: cameraSection id: cameraSection
checked: missionItem.cameraSection.settingsSpecified checked: missionItem.cameraSection.settingsSpecified
visible: _showCameraSection
} }
QGCLabel { QGCLabel {
...@@ -100,7 +102,7 @@ Rectangle { ...@@ -100,7 +102,7 @@ Rectangle {
wrapMode: Text.WordWrap wrapMode: Text.WordWrap
horizontalAlignment: Text.AlignHCenter horizontalAlignment: Text.AlignHCenter
font.pointSize: ScreenTools.smallFontPointSize font.pointSize: ScreenTools.smallFontPointSize
visible: cameraSection.checked visible: _showCameraSection && cameraSection.checked
} }
SectionHeader { SectionHeader {
......
src/PlanView/StructureScanEditor.qml
View file @ 2a4261eb
...@@ -81,33 +81,6 @@ Rectangle { ...@@ -81,33 +81,6 @@ Rectangle {
sideDistanceLabel: qsTr("Trigger Distance") 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 { SectionHeader {
id: scanHeader id: scanHeader
text: qsTr("Scan") text: qsTr("Scan")
......
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