Skip to content

Q
qgroundcontrol
Unverified Commit 43d3d89a authored by Don Gagne's avatar Don Gagne Committed by GitHub
Browse files
Options

Merge pull request #6116 from DonLakeFlyer/CorridorScan 

Corridor Scan: Support for images in turnaround
parents 0619847e e7e4f594
Hide whitespace changes
Inline Side-by-side
Showing with 65 additions and 41 deletions
src/MissionManager/CorridorScanComplexItem.cc
View file @ 43d3d89a
......@@ -59,7 +59,17 @@ void CorridorScanComplexItem::_polylineCountChanged(int count)
int CorridorScanComplexItem::lastSequenceNumber(void) const
{
return _sequenceNumber + ((_corridorPolyline.count() + 2 /* trigger start/stop */ + (_hasTurnaround() ? 2 : 0)) * _transectCount());
int itemCount = _transectPoints.count(); // Each transpect point represents a waypoint item
if (_cameraTriggerInTurnAroundFact.rawValue().toDouble()) {
// Only one camera start and on camera stop
itemCount += 2;
} else {
// Each transect will have a camera start and stop in it
itemCount += _transectCount() * 2;
}
return _sequenceNumber + itemCount;
}
void CorridorScanComplexItem::save(QJsonArray& missionItems)
......@@ -144,11 +154,12 @@ int CorridorScanComplexItem::_transectCount(void) const
void CorridorScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
int seqNum = _sequenceNumber;
int pointIndex = 0;
int seqNum = _sequenceNumber;
int pointIndex = 0;
bool imagesEverywhere = _cameraTriggerInTurnAroundFact.rawValue().toDouble();
while (pointIndex < _transectPoints.count()) {
if (_hasTurnaround()) {
if (pointIndex != 0 && _hasTurnaround()) {
QGeoCoordinate vertexCoord = _transectPoints[pointIndex++].value<QGeoCoordinate>();
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
......@@ -166,7 +177,7 @@ void CorridorScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QOb
items.append(item);
}
bool addTrigger = true;
bool addTrigger = imagesEverywhere ? pointIndex == 0 : true;
for (int i=0; i<_corridorPolyline.count(); i++) {
QGeoCoordinate vertexCoord = _transectPoints[pointIndex++].value<QGeoCoordinate>();
MissionItem* item = new MissionItem(seqNum++,
......@@ -200,19 +211,21 @@ void CorridorScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QOb
}
}
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
0, // stop triggering
0, // shutter integration (ignore)
0, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
if (!imagesEverywhere) {
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
0, // stop triggering
0, // shutter integration (ignore)
0, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
if (_hasTurnaround()) {
if (_hasTurnaround() && pointIndex < _transectPoints.count()) {
QGeoCoordinate vertexCoord = _transectPoints[pointIndex++].value<QGeoCoordinate>();
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
......@@ -230,6 +243,20 @@ void CorridorScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QOb
items.append(item);
}
}
if (imagesEverywhere) {
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
0, // stop triggering
0, // shutter integration (ignore)
0, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
}
void CorridorScanComplexItem::applyNewAltitude(double newAltitude)
......@@ -388,6 +415,21 @@ void CorridorScanComplexItem::_rebuildTransects(void)
normalizedTransectPosition += transectSpacing;
}
// At this point _transectPoints has an extra turnaround segment at the beginning and end.
// These must be remove for the correcvt flight pattern.
_transectPoints.takeFirst();
_transectPoints.takeLast();
}
// Calculate distance flown for complex item
_complexDistance = 0;
for (int i=0; i<_transectPoints.count() - 2; i++) {
_complexDistance += _transectPoints[i].value<QGeoCoordinate>().distanceTo(_transectPoints[i+1].value<QGeoCoordinate>());
}
if (_cameraTriggerInTurnAroundFact.rawValue().toDouble()) {
_cameraShots = qCeil(_complexDistance / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
}
_coordinate = _transectPoints.count() ? _transectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
......@@ -395,6 +437,7 @@ void CorridorScanComplexItem::_rebuildTransects(void)
emit transectPointsChanged();
emit cameraShotsChanged();
emit complexDistanceChanged();
emit coordinateChanged(_coordinate);
emit exitCoordinateChanged(_exitCoordinate);
}
......
src/MissionManager/TransectStyleComplexItem.cc
View file @ 43d3d89a
......@@ -35,7 +35,7 @@ TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, QString set
, _sequenceNumber (0)
, _dirty (false)
, _ignoreRecalc (false)
, _scanDistance (0.0)
, _complexDistance (0)
, _cameraShots (0)
, _cameraMinTriggerInterval (0)
, _cameraCalc (vehicle)
......@@ -61,14 +61,6 @@ TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, QString set
connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
connect(_cameraCalc.adjustedFootprintFrontal(), &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
connect(&_turnAroundDistanceFact, &Fact::valueChanged, this, &TransectStyleComplexItem::cameraShotsChanged);
connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &TransectStyleComplexItem::cameraShotsChanged);
connect(&_refly90DegreesFact, &Fact::valueChanged, this, &TransectStyleComplexItem::cameraShotsChanged);
connect(&_surveyAreaPolygon, &QGCMapPolygon::pathChanged, this, &TransectStyleComplexItem::cameraShotsChanged);
connect(&_cameraTriggerInTurnAroundFact, &Fact::valueChanged, this, &TransectStyleComplexItem::cameraShotsChanged);
connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &TransectStyleComplexItem::cameraShotsChanged);
connect(_cameraCalc.adjustedFootprintFrontal(), &Fact::valueChanged, this, &TransectStyleComplexItem::cameraShotsChanged);
connect(&_turnAroundDistanceFact, &Fact::valueChanged, this, &TransectStyleComplexItem::complexDistanceChanged);
connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &TransectStyleComplexItem::complexDistanceChanged);
connect(&_refly90DegreesFact, &Fact::valueChanged, this, &TransectStyleComplexItem::complexDistanceChanged);
......@@ -94,14 +86,6 @@ TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, QString set
connect(this, &TransectStyleComplexItem::transectPointsChanged, this, &TransectStyleComplexItem::greatestDistanceToChanged);
}
void TransectStyleComplexItem::_setScanDistance(double scanDistance)
{
if (!qFuzzyCompare(_scanDistance, scanDistance)) {
_scanDistance = scanDistance;
emit complexDistanceChanged();
}
}
void TransectStyleComplexItem::_setCameraShots(int cameraShots)
{
if (_cameraShots != cameraShots) {
......
src/MissionManager/TransectStyleComplexItem.h
View file @ 43d3d89a
......@@ -61,7 +61,7 @@ public:
QString mapVisualQML (void) const override = 0;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) override = 0;
double complexDistance (void) const final { return _scanDistance; }
double complexDistance (void) const final { return _complexDistance; }
double greatestDistanceTo (const QGeoCoordinate &other) const final;
// Overrides from VisualMissionItem
......@@ -119,7 +119,6 @@ protected:
void _save (QJsonObject& saveObject);
bool _load (const QJsonObject& complexObject, QString& errorString);
void _setExitCoordinate (const QGeoCoordinate& coordinate);
void _setScanDistance (double scanDistance);
void _setCameraShots (int cameraShots);
double _triggerDistance (void) const;
int _transectCount (void) const;
......@@ -135,7 +134,7 @@ protected:
QGCMapPolygon _surveyAreaPolygon;
bool _ignoreRecalc;
double _scanDistance;
double _complexDistance;
int _cameraShots;
double _timeBetweenShots;
double _cameraMinTriggerInterval;
......
src/MissionManager/TransectStyleComplexItemTest.cc
View file @ 43d3d89a
......@@ -110,10 +110,9 @@ void TransectStyleComplexItemTest::_testRebuildTransects(void)
// _rebuildTransects call
// coveredAreaChanged signal
// lastSequenceNumberChanged signal
// cameraShotsChanged signal
_adjustSurveAreaPolygon();
QVERIFY(_transectStyleItem->rebuildTransectsCalled);
QVERIFY(_multiSpy->checkSignalsByMask(coveredAreaChangedMask | lastSequenceNumberChangedMask | cameraShotsChangedMask));
QVERIFY(_multiSpy->checkSignalsByMask(coveredAreaChangedMask | lastSequenceNumberChangedMask));
_transectStyleItem->rebuildTransectsCalled = false;
_transectStyleItem->setDirty(false);
_multiSpy->clearAllSignals();
......@@ -121,7 +120,6 @@ void TransectStyleComplexItemTest::_testRebuildTransects(void)
// Changes to these facts should trigger:
// _rebuildTransects call
// lastSequenceNumberChanged signal
// cameraShotsChanged signal
QList<Fact*> rgFacts;
rgFacts << _transectStyleItem->turnAroundDistance()
<< _transectStyleItem->cameraTriggerInTurnAround()
......@@ -133,7 +131,7 @@ void TransectStyleComplexItemTest::_testRebuildTransects(void)
qDebug() << fact->name();
changeFactValue(fact);
QVERIFY(_transectStyleItem->rebuildTransectsCalled);
QVERIFY(_multiSpy->checkSignalsByMask(lastSequenceNumberChangedMask | cameraShotsChangedMask));
QVERIFY(_multiSpy->checkSignalsByMask(lastSequenceNumberChangedMask));
_transectStyleItem->setDirty(false);
_multiSpy->clearAllSignals();
_transectStyleItem->rebuildTransectsCalled = false;
......
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