diff --git a/ChangeLog.md b/ChangeLog.md index cb09904cd7630c99fe61810bdbb702c4dd37d1cf..de9e9c84cc44081dc9de41132a42f1edf5ecc74c 100644 --- a/ChangeLog.md +++ b/ChangeLog.md @@ -6,7 +6,7 @@ Note: This file only contains high level features or important fixes. ### 3.6.0 - Daily Build -* No changes yet +* Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans. ### 3.5.1 - Not yet released * Fix tile set count but in OfflineMaps which would cause image and elevation tile set to have incorrect counts and be incorrectly marked as download incomplete. diff --git a/src/MissionManager/StructureScan.SettingsGroup.json b/src/MissionManager/StructureScan.SettingsGroup.json index 12331b531a1bfeb908738c6da48b2117c2c64cf4..8f3d1b2b6b9ac9b4989133d075837e11da0c9b4c 100644 --- a/src/MissionManager/StructureScan.SettingsGroup.json +++ b/src/MissionManager/StructureScan.SettingsGroup.json @@ -18,8 +18,8 @@ "defaultValue": 50 }, { - "name": "Altitude", - "shortDescription": "Altitude for the bottom layer of the structure scan.", + "name": "ScanBottomAlt", + "shortDescription": "Altitude for the bottomost covered area of the scan. You can adjust this value such that the Bottom Layer Alt will fly above obstacles on the ground.", "type": "double", "units": "m", "decimalPlaces": 1, @@ -43,7 +43,7 @@ }, { "name": "StartFromTop", - "shortDescription": "Start scan from top of structure.", + "shortDescription": "Start scanning from top of structure.", "type": "bool", "defaultValue": true } diff --git a/src/MissionManager/StructureScanComplexItem.cc b/src/MissionManager/StructureScanComplexItem.cc index 651f4717364902c270376b67c52d18c3cee6913b..c22f386371b4b4c5ce1f7c5b5aceff52174080a2 100644 --- a/src/MissionManager/StructureScanComplexItem.cc +++ b/src/MissionManager/StructureScanComplexItem.cc @@ -23,7 +23,7 @@ QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog") const char* StructureScanComplexItem::settingsGroup = "StructureScan"; const char* StructureScanComplexItem::_entranceAltName = "EntranceAltitude"; -const char* StructureScanComplexItem::scanBottomAltName = "Altitude"; +const char* StructureScanComplexItem::scanBottomAltName = "ScanBottomAlt"; const char* StructureScanComplexItem::structureHeightName = "StructureHeight"; const char* StructureScanComplexItem::layersName = "Layers"; const char* StructureScanComplexItem::gimbalPitchName = "GimbalPitch"; @@ -31,14 +31,11 @@ const char* StructureScanComplexItem::startFromTopName = "StartFromTo const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan"; const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc"; -const char* StructureScanComplexItem::_jsonAltitudeRelativeKey = "altitudeRelative"; StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent) : ComplexMissionItem (vehicle, flyView, parent) , _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/StructureScan.SettingsGroup.json"), this /* QObject parent */)) , _sequenceNumber (0) - , _dirty (false) - , _altitudeRelative (true) , _entryVertex (0) , _ignoreRecalc (false) , _scanDistance (0.0) @@ -61,14 +58,13 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie connect(&_gimbalPitchFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); connect(&_startFromTopFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); - connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo); + connect(&_startFromTopFact, &Fact::valueChanged, this, &StructureScanComplexItem::_signalTopBottomAltChanged); + connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_signalTopBottomAltChanged); + connect(&_structureHeightFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo); + connect(&_scanBottomAltFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo); connect(_cameraCalc.adjustedFootprintFrontal(), &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo); - connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::_setDirty); - connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::coordinateHasRelativeAltitudeChanged); - connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::exitCoordinateHasRelativeAltitudeChanged); - connect(&_entranceAltFact, &Fact::valueChanged, this, &StructureScanComplexItem::_updateCoordinateAltitudes); connect(&_structurePolygon, &QGCMapPolygon::dirtyChanged, this, &StructureScanComplexItem::_polygonDirtyChanged); @@ -78,7 +74,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_updateLastSequenceNumber); connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_flightPathChanged); - connect(&_flightPolygon, &QGCMapPolygon::countChanged, this, &StructureScanComplexItem::_validateEntryVertex); connect(_cameraCalc.distanceToSurface(), &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon); @@ -157,17 +152,16 @@ void StructureScanComplexItem::save(QJsonArray& missionItems) QJsonObject saveObject; // Header - saveObject[JsonHelper::jsonVersionKey] = 2; + saveObject[JsonHelper::jsonVersionKey] = 3; saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue; saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue; - saveObject[_entranceAltName] = _entranceAltFact.rawValue().toDouble(); - saveObject[scanBottomAltName] = _scanBottomAltFact.rawValue().toDouble(); - saveObject[structureHeightName] = _structureHeightFact.rawValue().toDouble(); - saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative; - saveObject[layersName] = _layersFact.rawValue().toDouble(); - saveObject[gimbalPitchName] = _gimbalPitchFact.rawValue().toDouble(); - saveObject[startFromTopName] = _startFromTopFact.rawValue().toBool(); + saveObject[_entranceAltName] = _entranceAltFact.rawValue().toDouble(); + saveObject[scanBottomAltName] = _scanBottomAltFact.rawValue().toDouble(); + saveObject[structureHeightName] = _structureHeightFact.rawValue().toDouble(); + saveObject[layersName] = _layersFact.rawValue().toDouble(); + saveObject[gimbalPitchName] = _gimbalPitchFact.rawValue().toDouble(); + saveObject[startFromTopName] = _startFromTopFact.rawValue().toBool(); QJsonObject cameraCalcObject; _cameraCalc.save(cameraCalcObject); @@ -196,13 +190,11 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen { QGCMapPolygon::jsonPolygonKey, QJsonValue::Array, true }, { scanBottomAltName, QJsonValue::Double, true }, { structureHeightName, QJsonValue::Double, true }, - { _jsonAltitudeRelativeKey, QJsonValue::Bool, true }, { layersName, QJsonValue::Double, true }, { _jsonCameraCalcKey, QJsonValue::Object, true }, - // The following values were added after initial implementation so they may be missing from older files. Hence optional. - { _entranceAltName, QJsonValue::Double, false }, - { gimbalPitchName, QJsonValue::Double, false }, - { startFromTopName, QJsonValue::Bool, false }, + { _entranceAltName, QJsonValue::Double, true }, + { gimbalPitchName, QJsonValue::Double, true }, + { startFromTopName, QJsonValue::Bool, true }, }; if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) { return false; @@ -218,8 +210,8 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen } int version = complexObject[JsonHelper::jsonVersionKey].toInt(); - if (version != 2) { - errorString = tr("%1 complex item version %2 not supported").arg(jsonComplexItemTypeValue).arg(version); + if (version != 3) { + errorString = tr("%1 version %2 not supported").arg(jsonComplexItemTypeValue).arg(version); return false; } @@ -230,25 +222,12 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen return false; } - _scanBottomAltFact.setRawValue (complexObject[scanBottomAltName].toDouble()); - _layersFact.setRawValue (complexObject[layersName].toDouble()); - _structureHeightFact.setRawValue(complexObject[structureHeightName].toDouble()); - - // Start from top is a new setting which may not exist in older saved structure scans. - // Default to false if doesn't exist, which matches previous functionality. - _startFromTopFact.setRawValue (complexObject[startFromTopName].toBool(false)); - - // Entrance altitude is a new setting which may not exist in older saved structure scans. - // We default it to the top of the structure which is the safest thing to do without a value. - _entranceAltFact.setRawValue (complexObject[startFromTopName].toDouble(_scanBottomAltFact.rawValue().toDouble() + _structureHeightFact.rawValue().toDouble())); - - _altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true); - - double gimbalPitchValue = 0; - if (complexObject.contains(gimbalPitchName)) { - gimbalPitchValue = complexObject[gimbalPitchName].toDouble(); - } - _gimbalPitchFact.setRawValue(gimbalPitchValue); + _scanBottomAltFact.setRawValue (complexObject[scanBottomAltName].toDouble()); + _layersFact.setRawValue (complexObject[layersName].toDouble()); + _structureHeightFact.setRawValue (complexObject[structureHeightName].toDouble()); + _startFromTopFact.setRawValue (complexObject[startFromTopName].toBool()); + _entranceAltFact.setRawValue (complexObject[startFromTopName].toDouble()); + _gimbalPitchFact.setRawValue (complexObject[gimbalPitchName].toDouble()); if (!_structurePolygon.loadFromJson(complexObject, true /* required */, errorString)) { _structurePolygon.clear(); @@ -322,7 +301,7 @@ void StructureScanComplexItem::appendMissionItems(QList& items, QO QGeoCoordinate entranceExitCoord = _flightPolygon.vertexCoordinate(_entryVertex); item = new MissionItem(seqNum++, MAV_CMD_NAV_WAYPOINT, - _altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, + MAV_FRAME_GLOBAL_RELATIVE_ALT, 0, // No hold time 0.0, // No acceptance radius specified 0.0, // Pass through waypoint @@ -351,13 +330,14 @@ void StructureScanComplexItem::appendMissionItems(QList& items, QO // Fly a layer pattern for (int layer=0; layer<_layersFact.rawValue().toInt(); layer++) { bool addTriggerStart = true; - double layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + (layer * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()); - double layerAltitude; + double halfLayerHeight = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0; + double layerAltitude = startAltitude; + // Move down to the middle of the layer if (startFromTop) { - layerAltitude = startAltitude - layerIncrement; + layerAltitude -= halfLayerHeight; } else { - layerAltitude = startAltitude + layerIncrement; + layerAltitude += halfLayerHeight; } bool done = false; @@ -368,7 +348,7 @@ void StructureScanComplexItem::appendMissionItems(QList& items, QO item = new MissionItem(seqNum++, MAV_CMD_NAV_WAYPOINT, - _altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, + MAV_FRAME_GLOBAL_RELATIVE_ALT, 0, // No hold time 0.0, // No acceptance radius specified 0.0, // Pass through waypoint @@ -420,6 +400,13 @@ void StructureScanComplexItem::appendMissionItems(QList& items, QO false, // isCurrentItem missionItemParent); items.append(item); + + // Move to next layer altitude + if (startFromTop) { + layerAltitude -= halfLayerHeight * 2; + } else { + layerAltitude += halfLayerHeight * 2; + } } // Return camera to neutral position @@ -435,7 +422,7 @@ void StructureScanComplexItem::appendMissionItems(QList& items, QO // Exit waypoint item = new MissionItem(seqNum++, MAV_CMD_NAV_WAYPOINT, - _altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, + MAV_FRAME_GLOBAL_RELATIVE_ALT, 0, // No hold time 0.0, // No acceptance radius specified 0.0, // Pass through waypoint @@ -520,8 +507,21 @@ void StructureScanComplexItem::rotateEntryPoint(void) void StructureScanComplexItem::_rebuildFlightPolygon(void) { + // While this is happening all hell breaks loose signal-wise which can cause a bad vertex reference. + // So we reset to a safe value first and then double check validity when putting it back + int savedEntryVertex = _entryVertex; + _entryVertex = 0; + _flightPolygon = _structurePolygon; _flightPolygon.offset(_cameraCalc.distanceToSurface()->rawValue().toDouble()); + + if (savedEntryVertex >= _flightPolygon.count()) { + _entryVertex = 0; + } else { + _entryVertex = savedEntryVertex; + } + emit coordinateChanged(coordinate()); + emit exitCoordinateChanged(exitCoordinate()); } void StructureScanComplexItem::_recalcCameraShots(void) @@ -553,43 +553,49 @@ void StructureScanComplexItem::_recalcCameraShots(void) _setCameraShots(cameraShots * _layersFact.rawValue().toInt()); } -void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative) +void StructureScanComplexItem::_recalcLayerInfo(void) { - if (altitudeRelative != _altitudeRelative) { - _altitudeRelative = altitudeRelative; - emit altitudeRelativeChanged(altitudeRelative); + double surfaceHeight = qMax(_structureHeightFact.rawValue().toDouble() - _scanBottomAltFact.rawValue().toDouble(), 0.0); + + // Layer count is calculated from surface and layer heights + _layersFact.setRawValue(qMax(qCeil(surfaceHeight / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()), 1)); +} + +void StructureScanComplexItem::_updateGimbalPitch(void) +{ + if (!_cameraCalc.isManualCamera()) { + _gimbalPitchFact.setRawValue(0); } } -void StructureScanComplexItem::_recalcLayerInfo(void) +double StructureScanComplexItem::bottomFlightAlt(void) { - if (_cameraCalc.isManualCamera()) { - // Structure height is calculated from layer count, layer height. - _structureHeightFact.setSendValueChangedSignals(false); - _structureHeightFact.setRawValue(_layersFact.rawValue().toInt() * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()); - _structureHeightFact.clearDeferredValueChangeSignal(); - _structureHeightFact.setSendValueChangedSignals(true); + if (_startFromTopFact.rawValue().toBool()) { + // Structure Height minus the topmost layers + double layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + ((_layersFact.rawValue().toInt() - 1) * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()); + return _structureHeightFact.rawValue().toDouble() - layerIncrement; } else { - // Layer count is calculated from structure and layer heights - _layersFact.setSendValueChangedSignals(false); - _layersFact.setRawValue(qCeil(_structureHeightFact.rawValue().toDouble() / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble())); - _layersFact.clearDeferredValueChangeSignal(); - _layersFact.setSendValueChangedSignals(true); + // Bottom alt plus half the height of a layer + double layerIncrement = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0; + return _scanBottomAltFact.rawValue().toDouble() + layerIncrement; } } -void StructureScanComplexItem::_updateGimbalPitch(void) +double StructureScanComplexItem:: topFlightAlt(void) { - if (!_cameraCalc.isManualCamera()) { - _gimbalPitchFact.setRawValue(0); + if (_startFromTopFact.rawValue().toBool()) { + // Structure Height minus half the layer height + double layerIncrement = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0; + return _structureHeightFact.rawValue().toDouble() - layerIncrement; + } else { + // Bottom alt plus all layers + double layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + ((_layersFact.rawValue().toInt() - 1) * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()); + return _scanBottomAltFact.rawValue().toDouble() + layerIncrement; } } -void StructureScanComplexItem::_validateEntryVertex(void) +void StructureScanComplexItem::_signalTopBottomAltChanged(void) { - if (_entryVertex >= _flightPolygon.count()) { - _entryVertex = 0; - emit coordinateChanged(coordinate()); - emit exitCoordinateChanged(exitCoordinate()); - } + emit topFlightAltChanged(); + emit bottomFlightAltChanged(); } diff --git a/src/MissionManager/StructureScanComplexItem.h b/src/MissionManager/StructureScanComplexItem.h index 8905f6c4c4bc624ac02c9139da53e9430e11a252..ce0dcb92890252739d81f70fca022ace113eae9b 100644 --- a/src/MissionManager/StructureScanComplexItem.h +++ b/src/MissionManager/StructureScanComplexItem.h @@ -32,12 +32,13 @@ public: Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT) Q_PROPERTY(Fact* entranceAlt READ entranceAlt CONSTANT) - Q_PROPERTY(Fact* scanBottomAlt READ scanBottomAlt CONSTANT) Q_PROPERTY(Fact* structureHeight READ structureHeight CONSTANT) + Q_PROPERTY(Fact* scanBottomAlt READ scanBottomAlt CONSTANT) Q_PROPERTY(Fact* layers READ layers CONSTANT) Q_PROPERTY(Fact* gimbalPitch READ gimbalPitch CONSTANT) Q_PROPERTY(Fact* startFromTop READ startFromTop CONSTANT) - Q_PROPERTY(bool altitudeRelative READ altitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged) + Q_PROPERTY(double bottomFlightAlt READ bottomFlightAlt NOTIFY bottomFlightAltChanged) + Q_PROPERTY(double topFlightAlt READ topFlightAlt NOTIFY topFlightAltChanged) Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged) Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged) Q_PROPERTY(QGCMapPolygon* structurePolygon READ structurePolygon CONSTANT) @@ -51,14 +52,13 @@ public: Fact* gimbalPitch (void) { return &_gimbalPitchFact; } Fact* startFromTop (void) { return &_startFromTopFact; } - bool altitudeRelative (void) const { return _altitudeRelative; } + double bottomFlightAlt (void); + double topFlightAlt (void); int cameraShots (void) const; double timeBetweenShots (void); QGCMapPolygon* structurePolygon (void) { return &_structurePolygon; } QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; } - void setAltitudeRelative (bool altitudeRelative); - Q_INVOKABLE void rotateEntryPoint(void); // Overrides from ComplexMissionItem @@ -90,8 +90,8 @@ public: void applyNewAltitude (double newAltitude) final; double additionalTimeDelay (void) const final { return 0; } - bool coordinateHasRelativeAltitude (void) const final { return _altitudeRelative; } - bool exitCoordinateHasRelativeAltitude (void) const final { return _altitudeRelative; } + bool coordinateHasRelativeAltitude (void) const final { return true; } + bool exitCoordinateHasRelativeAltitude (void) const final { return true; } bool exitCoordinateSameAsEntry (void) const final { return true; } void setDirty (bool dirty) final; @@ -111,7 +111,8 @@ public: signals: void cameraShotsChanged (int cameraShots); void timeBetweenShotsChanged (void); - void altitudeRelativeChanged (bool altitudeRelative); + void bottomFlightAltChanged (void); + void topFlightAltChanged (void); private slots: void _setDirty(void); @@ -124,7 +125,7 @@ private slots: void _recalcLayerInfo (void); void _updateLastSequenceNumber (void); void _updateGimbalPitch (void); - void _validateEntryVertex (void); + void _signalTopBottomAltChanged (void); private: void _setExitCoordinate(const QGeoCoordinate& coordinate); @@ -135,10 +136,8 @@ private: QMap _metaDataMap; int _sequenceNumber; - bool _dirty; QGCMapPolygon _structurePolygon; QGCMapPolygon _flightPolygon; - bool _altitudeRelative; int _entryVertex; // Polygon vertext which is used as the mission entry point bool _ignoreRecalc; @@ -157,7 +156,6 @@ private: SettingsFact _entranceAltFact; static const char* _jsonCameraCalcKey; - static const char* _jsonAltitudeRelativeKey; static const char* _entranceAltName; // This value cannot be overriden diff --git a/src/MissionManager/StructureScanComplexItemTest.cc b/src/MissionManager/StructureScanComplexItemTest.cc index 66f1c39d43cee067fe2cb0b7775ecc5b5d8e96f4..22882e973436ce035ffbfdf1d5f4fe2ece7ce589 100644 --- a/src/MissionManager/StructureScanComplexItemTest.cc +++ b/src/MissionManager/StructureScanComplexItemTest.cc @@ -11,7 +11,7 @@ #include "QGCApplication.h" StructureScanComplexItemTest::StructureScanComplexItemTest(void) - : _offlineVehicle(NULL) + : _offlineVehicle(nullptr) { _polyPoints << QGeoCoordinate(47.633550640000003, -122.08982199) << QGeoCoordinate(47.634129020000003, -122.08887249) << QGeoCoordinate(47.633619320000001, -122.08811074) << QGeoCoordinate(47.633189139999999, -122.08900124); @@ -74,13 +74,6 @@ void StructureScanComplexItemTest::_testDirty(void) _multiSpy->clearAllSignals(); } rgFacts.clear(); - - QVERIFY(!_structureScanItem->dirty()); - _structureScanItem->setAltitudeRelative(!_structureScanItem->altitudeRelative()); - QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask)); - QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex)); - _structureScanItem->setDirty(false); - _multiSpy->clearAllSignals(); } void StructureScanComplexItemTest::_initItem(void) diff --git a/src/PlanView/StructureScanEditor.qml b/src/PlanView/StructureScanEditor.qml index 8ce9f789a4035c34a794465071a631fb755ae775..eaf385232b2f8dbd3aa34864e51b5b695a2b8b11 100644 --- a/src/PlanView/StructureScanEditor.qml +++ b/src/PlanView/StructureScanEditor.qml @@ -110,38 +110,26 @@ Rectangle { QGCLabel { text: qsTr("Structure height") - visible: !missionItem.cameraCalc.isManualCamera } FactTextField { fact: missionItem.structureHeight Layout.fillWidth: true - visible: !missionItem.cameraCalc.isManualCamera } - QGCLabel { - text: qsTr("# Layers") - visible: missionItem.cameraCalc.isManualCamera - } - FactTextField { - fact: missionItem.layers - Layout.fillWidth: true - visible: missionItem.cameraCalc.isManualCamera - } - - QGCLabel { text: qsTr("Scan bottom alt") } + QGCLabel { text: qsTr("Scan Bottom Alt") } FactTextField { fact: missionItem.scanBottomAlt Layout.fillWidth: true } - QGCLabel { text: qsTr("Entrance/Exit alt") } + QGCLabel { text: qsTr("Entrance/Exit Alt") } FactTextField { fact: missionItem.entranceAlt Layout.fillWidth: true } QGCLabel { - text: qsTr("Gimbal pitch") + text: qsTr("Gimbal Pitch") visible: missionItem.cameraCalc.isManualCamera } FactTextField { @@ -149,13 +137,6 @@ Rectangle { Layout.fillWidth: true visible: missionItem.cameraCalc.isManualCamera } - - QGCCheckBox { - text: qsTr("Relative altitude") - checked: missionItem.altitudeRelative - Layout.columnSpan: 2 - onClicked: missionItem.altitudeRelative = checked - } } Item { @@ -182,16 +163,22 @@ Rectangle { QGCLabel { text: qsTr("Layers") } QGCLabel { text: missionItem.layers.valueString } - QGCLabel { text: qsTr("Layer height") } + QGCLabel { text: qsTr("Layer Height") } QGCLabel { text: missionItem.cameraCalc.adjustedFootprintFrontal.valueString + " " + QGroundControl.appSettingsDistanceUnitsString } - QGCLabel { text: qsTr("Photo count") } + QGCLabel { text: qsTr("Top Layer Alt") } + QGCLabel { text: QGroundControl.metersToAppSettingsDistanceUnits(missionItem.topFlightAlt).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString } + + QGCLabel { text: qsTr("Bottom Layer Alt") } + QGCLabel { text: QGroundControl.metersToAppSettingsDistanceUnits(missionItem.bottomFlightAlt).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString } + + QGCLabel { text: qsTr("Photo Count") } QGCLabel { text: missionItem.cameraShots } - QGCLabel { text: qsTr("Photo interval") } + QGCLabel { text: qsTr("Photo Interval") } QGCLabel { text: missionItem.timeBetweenShots.toFixed(1) + " " + qsTr("secs") } - QGCLabel { text: qsTr("Trigger distance") } + QGCLabel { text: qsTr("Trigger Distance") } QGCLabel { text: missionItem.cameraCalc.adjustedFootprintSide.valueString + " " + QGroundControl.appSettingsDistanceUnitsString } } } // Column