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Unverified Commit 313ce21f authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #7613 from Aeronavics/compass_home_n_COG 

Feature Proposal - Home Heading / COG Angle / Next WP Heading in Compass
parents ec7f7406 64772fa9
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Showing with 271 additions and 11 deletions
ChangeLog.md
View file @ 313ce21f
......@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
### 3.6.0 - Daily Build
* Compass Instrument: Add indicators for Home, COG and Next Waypoint headings.
* Log Replay: Support changing speed of playback
* Basic object avoidance added to vehicles.
* Added ability to set a joystick button to be single action or repeated action while the button is held down.
......
qgcimages.qrc
View file @ 313ce21f
......@@ -69,6 +69,8 @@
<file alias="CogWheel.svg">src/MissionManager/CogWheel.svg</file>
<file alias="compassInstrumentArrow.svg">src/FlightMap/Images/compassInstrumentArrow.svg</file>
<file alias="compassInstrumentDial.svg">src/FlightMap/Images/compassInstrumentDial.svg</file>
<file alias="compassDottedLine.svg">src/FlightMap/Images/compassDottedLine.svg</file>
<file alias="cOGPointer.svg">src/FlightMap/Images/cOGPointer.svg</file>
<file alias="Connect.svg">src/ui/toolbar/Images/Connect.svg</file>
<file alias="crossHair.svg">src/FlightMap/Images/crossHair.svg</file>
<file alias="DatalinkLoss.svg">src/AutoPilotPlugins/PX4/Images/DatalinkLoss.svg</file>
......
src/FlightDisplay/FlightDisplayView.qml
View file @ 313ce21f
......@@ -494,7 +494,6 @@ Item {
anchors.topMargin: ScreenTools.toolbarHeight + _margins
anchors.rightMargin: _margins
anchors.right: parent.right
anchors.top: parent.top
spacing: ScreenTools.defaultFontPixelWidth
z: _mapAndVideo.z + 4
visible: QGroundControl.multiVehicleManager.vehicles.count > 1 && QGroundControl.corePlugin.options.enableMultiVehicleList
......@@ -519,6 +518,7 @@ Item {
anchors.left: parent.left
anchors.right: altitudeSlider.visible ? altitudeSlider.left : parent.right
anchors.bottom: parent.bottom
anchors.top: singleMultiSelector.visible? singleMultiSelector.bottom:undefined
useLightColors: isBackgroundDark
missionController: _missionController
visible: singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
......
src/FlightDisplay/MultiVehicleList.qml
View file @ 313ce21f
......@@ -135,6 +135,7 @@ Item {
QGCCompassWidget {
size: _widgetHeight
usedByMultipleVehicleList: true
vehicle: _vehicle
}
......
src/FlightMap/Images/cOGPointer.svg 0 → 100644
View file @ 313ce21f
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Generator: Adobe Illustrator 18.1.1, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
version="1.1"
id="Layer_3"
x="0px"
y="0px"
viewBox="0 0 288 288"
enable-background="new 0 0 288 288"
xml:space="preserve"
inkscape:version="0.91 r13725"
sodipodi:docname="cOGPointer.svg"><metadata
id="metadata11"><rdf:RDF><cc:Work
rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" /><dc:title /></cc:Work></rdf:RDF></metadata><defs
id="defs9" /><sodipodi:namedview
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1"
objecttolerance="10"
gridtolerance="10"
guidetolerance="10"
inkscape:pageopacity="0"
inkscape:pageshadow="2"
inkscape:window-width="1918"
inkscape:window-height="1059"
id="namedview7"
showgrid="false"
inkscape:zoom="0.81944444"
inkscape:cx="-575.96973"
inkscape:cy="364.74688"
inkscape:window-x="1920"
inkscape:window-y="19"
inkscape:window-maximized="1"
inkscape:current-layer="Layer_3" /><polygon
points="144,46.2 133.2,17.4 154.8,17.4 "
id="polygon3"
transform="matrix(-1,0,0,-1,288,54.034031)"
style="fill:#24d3ee;fill-opacity:1" /><rect
x="135"
y="270"
fill="none"
width="18"
height="18"
id="rect5" /></svg>
\ No newline at end of file
src/FlightMap/Images/compassDottedLine.svg 0 → 100644
View file @ 313ce21f
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Generator: Adobe Illustrator 19.1.0, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
version="1.1"
id="Layer_2"
x="0px"
y="0px"
viewBox="-161 253 288 288"
enable-background="new -161 253 288 288"
xml:space="preserve"
inkscape:version="0.91 r13725"
sodipodi:docname="compassDottedLine.svg"><metadata
id="metadata131"><rdf:RDF><cc:Work
rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" /></cc:Work></rdf:RDF></metadata><defs
id="defs129" /><sodipodi:namedview
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1"
objecttolerance="10"
gridtolerance="10"
guidetolerance="10"
inkscape:pageopacity="0"
inkscape:pageshadow="2"
inkscape:window-width="958"
inkscape:window-height="1059"
id="namedview127"
showgrid="false"
inkscape:zoom="4.5274476"
inkscape:cx="124.86047"
inkscape:cy="273.06273"
inkscape:window-x="1920"
inkscape:window-y="19"
inkscape:window-maximized="0"
inkscape:current-layer="Layer_2"
inkscape:snap-bbox="true"
inkscape:snap-object-midpoints="true"
inkscape:snap-center="true" /><path
style="fill:#088006;fill-opacity:1;fill-rule:evenodd;stroke:#088006;stroke-width:7.11199999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:3.29999995;stroke-dasharray:14.22399998,7.11199999;stroke-dashoffset:17.99335997;stroke-opacity:1"
d="m -17.131076,320.82151 0.10597,-60.58956"
id="path4263"
inkscape:connector-curvature="0" /></svg>
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src/FlightMap/Widgets/QGCCompassWidget.qml
View file @ 313ce21f
......@@ -17,10 +17,11 @@
import QtQuick 2.3
import QtGraphicalEffects 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
import QGroundControl.Palette 1.0
import QGroundControl 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
import QGroundControl.Palette 1.0
Item {
id: root
......@@ -30,10 +31,40 @@ Item {
property real size: _defaultSize
property var vehicle: null
property real _defaultSize: ScreenTools.defaultFontPixelHeight * (10)
property real _sizeRatio: ScreenTools.isTinyScreen ? (size / _defaultSize) * 0.5 : size / _defaultSize
property int _fontSize: ScreenTools.defaultFontPointSize * _sizeRatio
property real _heading: vehicle ? vehicle.heading.rawValue : 0
property real _defaultSize: ScreenTools.defaultFontPixelHeight * (10)
property real _sizeRatio: ScreenTools.isTinyScreen ? (size / _defaultSize) * 0.5 : size / _defaultSize
property int _fontSize: ScreenTools.defaultFontPointSize * _sizeRatio
property real _heading: vehicle ? vehicle.heading.rawValue : 0
property real _headingToHome: vehicle ? vehicle.headingToHome.rawValue : 0
property real _groundSpeed: vehicle ? vehicle.groundSpeed.rawValue : 0
property real _headingToNextWP: vehicle ? vehicle.headingToNextWP.rawValue : 0
property real _courseOverGround:activeVehicle ? activeVehicle.gps.courseOverGround.rawValue : 0
property bool usedByMultipleVehicleList: false
function isCOGAngleOK(){
if(_groundSpeed < 0.5){
return false
}
else{
return vehicle && _showAdditionalIndicatorsCompass
}
}
function isHeadingHomeOK(){
return vehicle && _showAdditionalIndicatorsCompass && !isNaN(_headingToHome)
}
function isHeadingToNextWPOK(){
return vehicle && _showAdditionalIndicatorsCompass && !isNaN(_headingToNextWP)
}
function isNoseUpLocked(){
return _lockNoseUpCompass
}
readonly property bool _showAdditionalIndicatorsCompass: QGroundControl.settingsManager.flyViewSettings.showAdditionalIndicatorsCompass.value && !usedByMultipleVehicleList
readonly property bool _lockNoseUpCompass: QGroundControl.settingsManager.flyViewSettings.lockNoseUpCompass.value
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
......@@ -51,6 +82,55 @@ Item {
anchors.fill: parent
visible: false
Image {
id: cOGPointer
source: isCOGAngleOK() ? "/qmlimages/cOGPointer.svg" : ""
mipmap: true
fillMode: Image.PreserveAspectFit
anchors.fill: parent
sourceSize.height: parent.height
transform: Rotation {
property var _angle:isNoseUpLocked()?_courseOverGround-_heading:_courseOverGround
origin.x: cOGPointer.width / 2
origin.y: cOGPointer.height / 2
angle: _angle
}
}
Image {
id: nextWPPointer
source: isHeadingToNextWPOK() ? "/qmlimages/compassDottedLine.svg":""
mipmap: true
fillMode: Image.PreserveAspectFit
anchors.fill: parent
sourceSize.height: parent.height
transform: Rotation {
property var _angle: isNoseUpLocked()?_headingToNextWP-_heading:_headingToNextWP
origin.x: cOGPointer.width / 2
origin.y: cOGPointer.height / 2
angle: _angle
}
}
Image {
id: homePointer
width: size * 0.1
source: isHeadingHomeOK() ? "/qmlimages/Home.svg" : ""
mipmap: true
fillMode: Image.PreserveAspectFit
anchors.centerIn: parent
sourceSize.width: width
transform: Translate {
property double _angle: isNoseUpLocked()?-_heading+_headingToHome:_headingToHome
x: size/2.3 * Math.sin((_angle)*(3.14/180))
y: - size/2.3 * Math.cos((_angle)*(3.14/180))
}
}
Image {
id: pointer
width: size * 0.65
......@@ -62,10 +142,11 @@ Item {
transform: Rotation {
origin.x: pointer.width / 2
origin.y: pointer.height / 2
angle: _heading
angle: isNoseUpLocked()?0:_heading
}
}
QGCColoredImage {
id: compassDial
source: "/qmlimages/compassInstrumentDial.svg"
......@@ -74,8 +155,14 @@ Item {
anchors.fill: parent
sourceSize.height: parent.height
color: qgcPal.text
transform: Rotation {
origin.x: compassDial.width / 2
origin.y: compassDial.height / 2
angle: isNoseUpLocked()?-_heading:0
}
}
Rectangle {
anchors.centerIn: parent
width: size * 0.35
......
src/FlightMap/Widgets/QGCInstrumentWidgetAlternate.qml
View file @ 313ce21f
......@@ -19,7 +19,7 @@ import QGroundControl.Palette 1.0
Rectangle {
id: root
width: getPreferredInstrumentWidth() * 0.7
width: getPreferredInstrumentWidth()
height: _outerRadius * 4 + _valuesWidget.height
radius: _outerRadius
color: qgcPal.window
......
src/Settings/FlyView.SettingsGroup.json
View file @ 313ce21f
......@@ -25,6 +25,18 @@
"type": "bool",
"defaultValue": false
},
{
"name": "showAdditionalIndicatorsCompass",
"shortDescription": "Show additional heading indicators on Compass",
"type": "bool",
"defaultValue": false
},
{
"name": "lockNoseUpCompass",
"shortDescription": "Lock Compass Nose-Up",
"type": "bool",
"defaultValue": false
},
{
"name": "maxGoToLocationDistance",
"shortDescription": "Maximum distance allowed for Go To Location.",
......
src/Settings/FlyViewSettings.cc
View file @ 313ce21f
......@@ -21,4 +21,6 @@ DECLARE_SETTINGSFACT(FlyViewSettings, guidedMinimumAltitude)
DECLARE_SETTINGSFACT(FlyViewSettings, guidedMaximumAltitude)
DECLARE_SETTINGSFACT(FlyViewSettings, showLogReplayStatusBar)
DECLARE_SETTINGSFACT(FlyViewSettings, alternateInstrumentPanel)
DECLARE_SETTINGSFACT(FlyViewSettings, showAdditionalIndicatorsCompass)
DECLARE_SETTINGSFACT(FlyViewSettings, lockNoseUpCompass)
DECLARE_SETTINGSFACT(FlyViewSettings, maxGoToLocationDistance)
src/Settings/FlyViewSettings.h
View file @ 313ce21f
......@@ -23,5 +23,7 @@ public:
DEFINE_SETTINGFACT(guidedMaximumAltitude)
DEFINE_SETTINGFACT(showLogReplayStatusBar)
DEFINE_SETTINGFACT(alternateInstrumentPanel)
DEFINE_SETTINGFACT(showAdditionalIndicatorsCompass)
DEFINE_SETTINGFACT(lockNoseUpCompass)
DEFINE_SETTINGFACT(maxGoToLocationDistance)
};
src/Vehicle/Vehicle.cc
View file @ 313ce21f
......@@ -73,6 +73,7 @@ const char* Vehicle::_altitudeAMSLFactName = "altitudeAMSL";
const char* Vehicle::_flightDistanceFactName = "flightDistance";
const char* Vehicle::_flightTimeFactName = "flightTime";
const char* Vehicle::_distanceToHomeFactName = "distanceToHome";
const char* Vehicle::_headingToNextWPFactName = "headingToNextWP";
const char* Vehicle::_headingToHomeFactName = "headingToHome";
const char* Vehicle::_distanceToGCSFactName = "distanceToGCS";
const char* Vehicle::_hobbsFactName = "hobbs";
......@@ -203,6 +204,7 @@ Vehicle::Vehicle(LinkInterface* link,
, _flightDistanceFact (0, _flightDistanceFactName, FactMetaData::valueTypeDouble)
, _flightTimeFact (0, _flightTimeFactName, FactMetaData::valueTypeElapsedTimeInSeconds)
, _distanceToHomeFact (0, _distanceToHomeFactName, FactMetaData::valueTypeDouble)
, _headingToNextWPFact (0, _headingToNextWPFactName, FactMetaData::valueTypeDouble)
, _headingToHomeFact (0, _headingToHomeFactName, FactMetaData::valueTypeDouble)
, _distanceToGCSFact (0, _distanceToGCSFactName, FactMetaData::valueTypeDouble)
, _hobbsFact (0, _hobbsFactName, FactMetaData::valueTypeString)
......@@ -404,6 +406,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _flightDistanceFact (0, _flightDistanceFactName, FactMetaData::valueTypeDouble)
, _flightTimeFact (0, _flightTimeFactName, FactMetaData::valueTypeElapsedTimeInSeconds)
, _distanceToHomeFact (0, _distanceToHomeFactName, FactMetaData::valueTypeDouble)
, _headingToNextWPFact (0, _headingToNextWPFactName, FactMetaData::valueTypeDouble)
, _headingToHomeFact (0, _headingToHomeFactName, FactMetaData::valueTypeDouble)
, _distanceToGCSFact (0, _distanceToGCSFactName, FactMetaData::valueTypeDouble)
, _hobbsFact (0, _hobbsFactName, FactMetaData::valueTypeString)
......@@ -438,6 +441,7 @@ void Vehicle::_commonInit(void)
connect(this, &Vehicle::homePositionChanged, this, &Vehicle::_updateDistanceHeadingToHome);
connect(this, &Vehicle::hobbsMeterChanged, this, &Vehicle::_updateHobbsMeter);
connect(_toolbox->qgcPositionManager(), &QGCPositionManager::gcsPositionChanged, this, &Vehicle::_updateDistanceToGCS);
_missionManager = new MissionManager(this);
......@@ -447,6 +451,7 @@ void Vehicle::_commonInit(void)
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);
_parameterManager = new ParameterManager(this);
connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
......@@ -481,6 +486,7 @@ void Vehicle::_commonInit(void)
_addFact(&_flightDistanceFact, _flightDistanceFactName);
_addFact(&_flightTimeFact, _flightTimeFactName);
_addFact(&_distanceToHomeFact, _distanceToHomeFactName);
_addFact(&_headingToNextWPFact, _headingToNextWPFactName);
_addFact(&_headingToHomeFact, _headingToHomeFactName);
_addFact(&_distanceToGCSFact, _distanceToGCSFactName);
_addFact(&_throttlePctFact, _throttlePctFactName);
......@@ -3795,6 +3801,23 @@ void Vehicle::_updateDistanceHeadingToHome(void)
}
}
void Vehicle::_updateHeadingToNextWP(void)
{
const int _currentIndex = _missionManager->currentIndex();
MissionItem _currentItem;
QList<MissionItem*> llist = _missionManager->missionItems();
if(llist.size()>_currentIndex && _currentIndex!=-1
&& llist[_currentIndex]->coordinate().longitude()!=0.0
&& coordinate().distanceTo(llist[_currentIndex]->coordinate())>5.0 ){
_headingToNextWPFact.setRawValue(coordinate().azimuthTo(llist[_currentIndex]->coordinate()));
}
else{
_headingToNextWPFact.setRawValue(qQNaN());
}
}
void Vehicle::_updateDistanceToGCS(void)
{
QGeoCoordinate gcsPosition = _toolbox->qgcPositionManager()->gcsPosition();
......
src/Vehicle/Vehicle.h
View file @ 313ce21f
......@@ -671,6 +671,7 @@ public:
Q_PROPERTY(Fact* altitudeAMSL READ altitudeAMSL CONSTANT)
Q_PROPERTY(Fact* flightDistance READ flightDistance CONSTANT)
Q_PROPERTY(Fact* distanceToHome READ distanceToHome CONSTANT)
Q_PROPERTY(Fact* headingToNextWP READ headingToNextWP CONSTANT)
Q_PROPERTY(Fact* headingToHome READ headingToHome CONSTANT)
Q_PROPERTY(Fact* distanceToGCS READ distanceToGCS CONSTANT)
Q_PROPERTY(Fact* hobbs READ hobbs CONSTANT)
......@@ -973,6 +974,7 @@ public:
Fact* altitudeAMSL (void) { return &_altitudeAMSLFact; }
Fact* flightDistance (void) { return &_flightDistanceFact; }
Fact* distanceToHome (void) { return &_distanceToHomeFact; }
Fact* headingToNextWP (void) { return &_headingToNextWPFact; }
Fact* headingToHome (void) { return &_headingToHomeFact; }
Fact* distanceToGCS (void) { return &_distanceToGCSFact; }
Fact* hobbs (void) { return &_hobbsFact; }
......@@ -1246,6 +1248,7 @@ private slots:
void _clearTrajectoryPoints(void);
void _clearCameraTriggerPoints(void);
void _updateDistanceHeadingToHome(void);
void _updateHeadingToNextWP(void);
void _updateDistanceToGCS(void);
void _updateHobbsMeter(void);
void _vehicleParamLoaded(bool ready);
......@@ -1540,6 +1543,7 @@ private:
Fact _flightDistanceFact;
Fact _flightTimeFact;
Fact _distanceToHomeFact;
Fact _headingToNextWPFact;
Fact _headingToHomeFact;
Fact _distanceToGCSFact;
Fact _hobbsFact;
......@@ -1570,6 +1574,7 @@ private:
static const char* _flightDistanceFactName;
static const char* _flightTimeFactName;
static const char* _distanceToHomeFactName;
static const char* _headingToNextWPFactName;
static const char* _headingToHomeFactName;
static const char* _distanceToGCSFactName;
static const char* _hobbsFactName;
......
src/Vehicle/VehicleFact.json
View file @ 313ce21f
......@@ -104,6 +104,13 @@
"decimalPlaces": 1,
"units": "m"
},
{
"name": "headingToNextWP",
"shortDescription": "Next WP Heading",
"type": "double",
"decimalPlaces": 0,
"units": "deg"
},
{
"name": "flightTime",
"shortDescription": "Flight Time",
......
src/ui/preferences/GeneralSettings.qml
View file @ 313ce21f
......@@ -482,6 +482,21 @@ Rectangle {
property Fact _alternateInstrumentPanel: QGroundControl.settingsManager.flyViewSettings.alternateInstrumentPanel
}
FactCheckBox {
text: qsTr("Show additional heading indicators on Compass")
visible: _showAdditionalIndicatorsCompass.visible
fact: _showAdditionalIndicatorsCompass
property Fact _showAdditionalIndicatorsCompass: QGroundControl.settingsManager.flyViewSettings.showAdditionalIndicatorsCompass
}
FactCheckBox {
text: qsTr("Lock Compass Nose-Up")
visible: _lockNoseUpCompass.visible
fact: _lockNoseUpCompass
property Fact _lockNoseUpCompass: QGroundControl.settingsManager.flyViewSettings.lockNoseUpCompass
}
GridLayout {
columns: 2
......
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