Skip to content

Q
qgroundcontrol
Commit 32cfa15c authored by Don Gagne's avatar Don Gagne Committed by GitHub
Browse files
Options

Merge pull request #3970 from wingtra/upstream/turnaround 

Turnaround waypoints for fixed-wing surveying
parents a2ca11bc 02dae6ea
Hide whitespace changes
Inline Side-by-side
Showing with 42 additions and 5 deletions
src/MissionEditor/SurveyItemEditor.qml
View file @ 32cfa15c
......@@ -92,7 +92,7 @@ Rectangle {
}
Repeater {
model: [ missionItem.gridAngle, missionItem.gridSpacing, missionItem.gridAltitude ]
model: [ missionItem.gridAngle, missionItem.gridSpacing, missionItem.gridAltitude, missionItem.turnaroundDist ]
Item {
anchors.left: parent.left
......
src/MissionManager/ComplexMissionItemTest.cc
View file @ 32cfa15c
......@@ -137,6 +137,14 @@ void ComplexMissionItemTest::_testAddPolygonCoordinate(void)
for (int i=0; i<polyList.count(); i++) {
QCOMPARE(polyList[i].value<QGeoCoordinate>(), _polyPoints[i]);
}
// Test that number of waypoints is doubled when using turnaround waypoints
_complexItem->setTurnaroundDist(60.0);
QVariantList gridPoints = _complexItem->gridPoints();
_complexItem->setTurnaroundDist(0.0);
QVariantList gridPointsNoT = _complexItem->gridPoints();
QCOMPARE(gridPoints.count(), 2 * gridPointsNoT.count());
}
void ComplexMissionItemTest::_testClearPolygon(void)
......
src/MissionManager/SurveyMissionItem.cc
View file @ 32cfa15c
......@@ -25,6 +25,7 @@ const char* SurveyMissionItem::_jsonGridAltitudeKey = "gridAltitude";
const char* SurveyMissionItem::_jsonGridAltitudeRelativeKey = "gridAltitudeRelative";
const char* SurveyMissionItem::_jsonGridAngleKey = "gridAngle";
const char* SurveyMissionItem::_jsonGridSpacingKey = "gridSpacing";
const char* SurveyMissionItem::_jsonTurnaroundDistKey = "turnaroundDist";
const char* SurveyMissionItem::_jsonCameraTriggerKey = "cameraTrigger";
const char* SurveyMissionItem::_jsonCameraTriggerDistanceKey = "cameraTriggerDistance";
......@@ -43,34 +44,41 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
, _gridAltitudeFact (0, "Altitude:", FactMetaData::valueTypeDouble)
, _gridAngleFact (0, "Grid angle:", FactMetaData::valueTypeDouble)
, _gridSpacingFact (0, "Grid spacing:", FactMetaData::valueTypeDouble)
, _turnaroundDistFact (0, "Turnaround dist.:", FactMetaData::valueTypeDouble)
, _cameraTriggerDistanceFact(0, "Camera trigger distance", FactMetaData::valueTypeDouble)
, _gridAltitudeMetaData (FactMetaData::valueTypeDouble)
, _gridAngleMetaData (FactMetaData::valueTypeDouble)
, _gridSpacingMetaData (FactMetaData::valueTypeDouble)
, _turnaroundDistMetaData (FactMetaData::valueTypeDouble)
, _cameraTriggerDistanceMetaData(FactMetaData::valueTypeDouble)
{
_gridAltitudeFact.setRawValue(25);
_gridSpacingFact.setRawValue(10);
_turnaroundDistFact.setRawValue(60);
_cameraTriggerDistanceFact.setRawValue(25);
_gridAltitudeMetaData.setRawUnits("m");
_gridAngleMetaData.setRawUnits("deg");
_gridSpacingMetaData.setRawUnits("m");
_turnaroundDistMetaData.setRawUnits("m");
_cameraTriggerDistanceMetaData.setRawUnits("m");
_gridAltitudeMetaData.setDecimalPlaces(1);
_gridAngleMetaData.setDecimalPlaces(1);
_gridSpacingMetaData.setDecimalPlaces(2);
_turnaroundDistMetaData.setDecimalPlaces(2);
_cameraTriggerDistanceMetaData.setDecimalPlaces(2);
_gridAltitudeFact.setMetaData(&_gridAltitudeMetaData);
_gridAngleFact.setMetaData(&_gridAngleMetaData);
_gridSpacingFact.setMetaData(&_gridSpacingMetaData);
_turnaroundDistFact.setMetaData(&_turnaroundDistMetaData);
_cameraTriggerDistanceFact.setMetaData(&_cameraTriggerDistanceMetaData);
connect(&_gridSpacingFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_gridAngleFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_turnaroundDistFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_cameraTriggerDistanceFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(this, &SurveyMissionItem::cameraTriggerChanged, this, &SurveyMissionItem::_cameraTriggerChanged);
......@@ -196,6 +204,7 @@ void SurveyMissionItem::save(QJsonObject& saveObject) const
saveObject[_jsonGridAltitudeRelativeKey] = _gridAltitudeRelative;
saveObject[_jsonGridAngleKey] = _gridAngleFact.rawValue().toDouble();
saveObject[_jsonGridSpacingKey] = _gridSpacingFact.rawValue().toDouble();
saveObject[_jsonTurnaroundDistKey] = _turnaroundDistFact.rawValue().toDouble();
saveObject[_jsonCameraTriggerKey] = _cameraTrigger;
saveObject[_jsonCameraTriggerDistanceKey] = _cameraTriggerDistanceFact.rawValue().toDouble();
......@@ -246,9 +255,9 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, QString& errorStr
// Validate types
QStringList keyList;
QList<QJsonValue::Type> typeList;
keyList << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << _jsonGridAltitudeKey << _jsonGridAngleKey << _jsonGridSpacingKey <<
keyList << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << _jsonGridAltitudeKey << _jsonGridAngleKey << _jsonGridSpacingKey << _jsonTurnaroundDistKey <<
_jsonCameraTriggerKey << _jsonCameraTriggerDistanceKey << _jsonGridAltitudeRelativeKey;
typeList << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::Array << QJsonValue::Double << QJsonValue::Double<< QJsonValue::Double <<
typeList << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::Array << QJsonValue::Double << QJsonValue::Double<< QJsonValue::Double << QJsonValue::Double <<
QJsonValue::Bool << QJsonValue::Double << QJsonValue::Bool;
if (!JsonHelper::validateKeyTypes(complexObject, keyList, typeList, errorString)) {
_clear();
......@@ -276,6 +285,7 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, QString& errorStr
_gridAltitudeFact.setRawValue (complexObject[_jsonGridAltitudeKey].toDouble());
_gridAngleFact.setRawValue (complexObject[_jsonGridAngleKey].toDouble());
_gridSpacingFact.setRawValue (complexObject[_jsonGridSpacingKey].toDouble());
_turnaroundDistFact.setRawValue (complexObject[_jsonTurnaroundDistKey].toDouble());
_cameraTriggerDistanceFact.setRawValue (complexObject[_jsonCameraTriggerDistanceKey].toDouble());
// Polygon shape
......@@ -565,13 +575,26 @@ void SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints, QLi
_adjustLineDirection(intersectLines, resultLines);
// Turn into a path
float turnaroundDist = _turnaroundDistFact.rawValue().toDouble();
for (int i=0; i<resultLines.count(); i++) {
const QLineF& line = resultLines[i];
QPointF turnaroundOffset = line.p2() - line.p1();
turnaroundOffset = turnaroundOffset * turnaroundDist / sqrt(pow(turnaroundOffset.x(),2.0) + pow(turnaroundOffset.y(),2.0));
if (i & 1) {
gridPoints << line.p2() << line.p1();
if (turnaroundDist > 0.0) {
gridPoints << line.p2() + turnaroundOffset << line.p2() << line.p1() << line.p1() - turnaroundOffset;
} else {
gridPoints << line.p2() << line.p1();
}
} else {
gridPoints << line.p1() << line.p2();
if (turnaroundDist > 0.0) {
gridPoints << line.p1() - turnaroundOffset << line.p1() << line.p2() << line.p2() + turnaroundOffset;
} else {
gridPoints << line.p1() << line.p2();
}
}
}
}
......
src/MissionManager/SurveyMissionItem.h
View file @ 32cfa15c
......@@ -31,6 +31,7 @@ public:
Q_PROPERTY(bool gridAltitudeRelative MEMBER _gridAltitudeRelative NOTIFY gridAltitudeRelativeChanged)
Q_PROPERTY(Fact* gridAngle READ gridAngle CONSTANT)
Q_PROPERTY(Fact* gridSpacing READ gridSpacing CONSTANT)
Q_PROPERTY(Fact* turnaroundDist READ turnaroundDist CONSTANT)
Q_PROPERTY(bool cameraTrigger MEMBER _cameraTrigger NOTIFY cameraTriggerChanged)
Q_PROPERTY(Fact* cameraTriggerDistance READ cameraTriggerDistance CONSTANT)
Q_PROPERTY(QVariantList polygonPath READ polygonPath NOTIFY polygonPathChanged)
......@@ -48,6 +49,7 @@ public:
Fact* gridAltitude(void) { return &_gridAltitudeFact; }
Fact* gridAngle(void) { return &_gridAngleFact; }
Fact* gridSpacing(void) { return &_gridSpacingFact; }
Fact* turnaroundDist(void) { return &_turnaroundDistFact; }
Fact* cameraTriggerDistance(void) { return &_cameraTriggerDistanceFact; }
int cameraShots(void) const;
......@@ -81,6 +83,7 @@ public:
void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate) final;
void setSequenceNumber (int sequenceNumber) final;
void setTurnaroundDist (double dist) { _turnaroundDistFact.setRawValue(dist); }
void save (QJsonObject& saveObject) const final;
signals:
......@@ -128,10 +131,12 @@ private:
Fact _gridAltitudeFact;
Fact _gridAngleFact;
Fact _gridSpacingFact;
Fact _turnaroundDistFact;
Fact _cameraTriggerDistanceFact;
FactMetaData _gridAltitudeMetaData;
FactMetaData _gridAngleMetaData;
FactMetaData _gridSpacingMetaData;
FactMetaData _turnaroundDistMetaData;
FactMetaData _cameraTriggerDistanceMetaData;
static const char* _jsonVersionKey;
......@@ -142,6 +147,7 @@ private:
static const char* _jsonGridAltitudeRelativeKey;
static const char* _jsonGridAngleKey;
static const char* _jsonGridSpacingKey;
static const char* _jsonTurnaroundDistKey;
static const char* _jsonCameraTriggerKey;
static const char* _jsonCameraTriggerDistanceKey;
......
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