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Commit 470c9ab4 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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bug inside circ survey

parent 5005f97c
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Showing with 332 additions and 17 deletions
qgroundcontrol.qrc
View file @ 470c9ab4
......@@ -221,6 +221,7 @@
<file alias="QGroundControl/Controls/WimaCorridorMapVisual.qml">src/WimaView/WimaCorridorMapVisual.qml</file>
<file alias="QGroundControl/Controls/WimaMeasurementAreaEditor.qml">src/WimaView/WimaMeasurementAreaEditor.qml</file>
<file alias="QGroundControl/Controls/SpericalSurveyMapVisual.qml">src/WimaView/SphericalSurveyMapVisual.qml</file>
<file alias="CircularSurveyItemEditor.qml">src/PlanView/CircularSurveyItemEditor.qml</file>
</qresource>
<qresource prefix="/json">
<file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>
......@@ -266,6 +267,7 @@
<file alias="Vehicle/WindFact.json">src/Vehicle/WindFact.json</file>
<file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
<file alias="WimaMeasurementArea.SettingsGroup.json">src/Wima/WimaMeasurementArea.SettingsGroup.json</file>
<file alias="CircularSurvey.SettingsGroup.json">src/Wima/CircularSurvey.SettingsGroup.json</file>
</qresource>
<qresource prefix="/MockLink">
<file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
......
src/PlanView/CircularSurveyItemEditor.qml 0 → 100644
View file @ 470c9ab4
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.4
import QtQuick.Dialogs 1.2
import QtQuick.Extras 1.4
import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.FlightMap 1.0
Rectangle {
id: _root
height: visible ? (editorColumn.height + (_margin * 2)) : 0
width: availableWidth
color: qgcPal.windowShadeDark
radius: _radius
// The following properties must be available up the hierarchy chain
//property real availableWidth ///< Width for control
//property var missionItem ///< Mission Item for editor
property real _margin: ScreenTools.defaultFontPixelWidth / 2
property real _fieldWidth: ScreenTools.defaultFontPixelWidth * 10.5
property var _vehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
property real _cameraMinTriggerInterval: missionItem.cameraCalc.minTriggerInterval.rawValue
function polygonCaptureStarted() {
missionItem.clearPolygon()
}
function polygonCaptureFinished(coordinates) {
for (var i=0; i<coordinates.length; i++) {
missionItem.addPolygonCoordinate(coordinates[i])
}
}
function polygonAdjustVertex(vertexIndex, vertexCoordinate) {
missionItem.adjustPolygonCoordinate(vertexIndex, vertexCoordinate)
}
function polygonAdjustStarted() { }
function polygonAdjustFinished() { }
QGCPalette { id: qgcPal; colorGroupEnabled: true }
Column {
id: editorColumn
anchors.margins: _margin
anchors.top: parent.top
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
SectionHeader {
id: transectsHeader
text: qsTr("Transects")
}
GridLayout {
anchors.left: parent.left
anchors.right: parent.right
columnSpacing: _margin
rowSpacing: _margin
columns: 2
visible: transectsHeader.checked
QGCLabel { text: qsTr("Delta R") }
FactTextField {
fact: missionItem.deltaR
Layout.fillWidth: true
//onUpdated: rSlider.value = missionItem.deltaR.value
}
/*QGCSlider {
id: rSlider
minimumValue: 0.1
maximumValue: 20
stepSize: 0.1
tickmarksEnabled: false
Layout.fillWidth: true
Layout.columnSpan: 2
Layout.preferredHeight: ScreenTools.defaultFontPixelHeight * 1.5
onValueChanged: missionItem.deltaR.value = value
Component.onCompleted: value = missionItem.deltaR.value
updateValueWhileDragging: true
}*/
QGCLabel { text: qsTr("Delta Alpha") }
FactTextField {
fact: missionItem.deltaAlpha
Layout.fillWidth: true
onUpdated: angleSlider.value = missionItem.deltaAlpha.value
}
QGCSlider {
id: angleSlider
minimumValue: 0.1
maximumValue: 20
stepSize: 0.1
tickmarksEnabled: false
Layout.fillWidth: true
Layout.columnSpan: 2
Layout.preferredHeight: ScreenTools.defaultFontPixelHeight * 1.5
onValueChanged: missionItem.deltaAlpha.value = value
Component.onCompleted: value = missionItem.deltaAlpha.value
updateValueWhileDragging: true
}
}
ColumnLayout {
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
visible: transectsHeader.checked
QGCButton {
text: qsTr("Rotate Entry Point")
onClicked: missionItem.rotateEntryPoint();
}
/*
Temporarily removed due to bug https://github.com/mavlink/qgroundcontrol/issues/7005
FactCheckBox {
text: qsTr("Split concave polygons")
fact: _splitConcave
visible: _splitConcave.visible
property Fact _splitConcave: missionItem.splitConcavePolygons
}
*/
QGCCheckBox {
id: relAlt
Layout.alignment: Qt.AlignLeft
text: qsTr("Relative altitude")
checked: missionItem.cameraCalc.distanceToSurfaceRelative
enabled: missionItem.cameraCalc.isManualCamera && !missionItem.followTerrain
visible: QGroundControl.corePlugin.options.showMissionAbsoluteAltitude || (!missionItem.cameraCalc.distanceToSurfaceRelative && !missionItem.followTerrain)
onClicked: missionItem.cameraCalc.distanceToSurfaceRelative = checked
Connections {
target: missionItem.cameraCalc
onDistanceToSurfaceRelativeChanged: relAlt.checked = missionItem.cameraCalc.distanceToSurfaceRelative
}
}
}
SectionHeader {
id: terrainHeader
text: qsTr("Terrain")
checked: missionItem.followTerrain
}
ColumnLayout {
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
visible: terrainHeader.checked
QGCCheckBox {
id: followsTerrainCheckBox
text: qsTr("Vehicle follows terrain")
checked: missionItem.followTerrain
onClicked: missionItem.followTerrain = checked
}
GridLayout {
Layout.fillWidth: true
columnSpacing: _margin
rowSpacing: _margin
columns: 2
visible: followsTerrainCheckBox.checked
QGCLabel { text: qsTr("Tolerance") }
FactTextField {
fact: missionItem.terrainAdjustTolerance
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Max Climb Rate") }
FactTextField {
fact: missionItem.terrainAdjustMaxClimbRate
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Max Descent Rate") }
FactTextField {
fact: missionItem.terrainAdjustMaxDescentRate
Layout.fillWidth: true
}
}
}
SectionHeader {
id: statsHeader
text: qsTr("Statistics")
}
//TransectStyleComplexItemStats { }
} // Column
} // Rectangle
src/Wima/Circle.cc
View file @ 470c9ab4
......@@ -127,8 +127,7 @@ QList<QPointF> Circle::approximateSektor(double angleDiscretisation, double alph
}
// check if input is valid
if ( fabs(angleDiscretisation) > fabs(deltaAlpha)
|| qFuzzyIsNull(angleDiscretisation))
if ( qFuzzyIsNull(angleDiscretisation))
return QList<QPointF>();
......
src/Wima/CircularSurvey.SettingsGroup.json 0 → 100644
View file @ 470c9ab4
[
{
"name": "DeltaR",
"shortDescription": "The distance between two consecutive circles.",
"type": "double",
"units": "m",
"min": 0.3,
"decimalPlaces": 1,
"defaultValue": 3
},
{
"name": "DeltaAlpha",
"shortDescription": "Angle discretisation of the circles.",
"type": "double",
"units": "Deg",
"min": 0.3,
"decimalPlaces": 1,
"defaultValue": 0.5
}
]
src/Wima/CircularSurveyComplexItem.cc
View file @ 470c9ab4
......@@ -2,13 +2,24 @@
const char* CircularSurveyComplexItem::settingsGroup = "Survey";
const char* CircularSurveyComplexItem::deltaRName = "DeltaR";
const char* CircularSurveyComplexItem::deltaAlphaName = "DeltaAlpha";
CircularSurveyComplexItem::CircularSurveyComplexItem(Vehicle *vehicle, bool flyView, const QString &kmlOrShpFile, QObject *parent)
: TransectStyleComplexItem (vehicle, flyView, settingsGroup, parent)
, _referencePoint(QGeoCoordinate(47.770859, 16.531076,0))
: TransectStyleComplexItem (vehicle, flyView, settingsGroup, parent)
, _referencePoint (QGeoCoordinate(47.770859, 16.531076,0))
, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CircularSurvey.SettingsGroup.json"), this))
, _deltaR (settingsGroup, _metaDataMap[deltaRName])
, _deltaAlpha (settingsGroup, _metaDataMap[deltaAlphaName])
{
_editorQml = "qrc:/qml/CircularSurveyItemEditor.qml";
//connect(&_deltaR, &Fact::valueChanged, this, &CircularSurveyComplexItem::_setDirty);
//connect(&_deltaAlpha, &Fact::valueChanged, this, &CircularSurveyComplexItem::_setDirty);
connect(&_updateTimer, &QTimer::timeout, this, &CircularSurveyComplexItem::_updateItem);
_updateTimer.start(100);
}
void CircularSurveyComplexItem::setRefPoint(const QGeoCoordinate &refPt)
......@@ -25,6 +36,16 @@ QGeoCoordinate CircularSurveyComplexItem::refPoint() const
return _referencePoint;
}
Fact *CircularSurveyComplexItem::deltaR()
{
return &_deltaR;
}
Fact *CircularSurveyComplexItem::deltaAlpha()
{
return &_deltaAlpha;
}
bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int sequenceNumber, QString &errorString)
{
return false;
......@@ -75,8 +96,17 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
QVector<double> distances;
for (const QPointF &p : surveyPolygon) distances.append(norm(p));
double dalpha = 2.1/180*M_PI; // radiants
double dr = 3; // meter
// check if input is valid
if ( _deltaAlpha.rawValue() > _deltaAlpha.rawMax()
&& _deltaAlpha.rawValue() < _deltaAlpha.rawMin())
return;
if ( _deltaR.rawValue() > _deltaR.rawMax()
&& _deltaR.rawValue() < _deltaR.rawMin())
return;
double dalpha = _deltaAlpha.rawValue().toDouble()/180*M_PI; // radiants
double dr = _deltaR.rawValue().toDouble(); // meter
double r_min = dr; // meter
double r_max = (*std::max_element(distances.begin(), distances.end())); // meter
......@@ -88,16 +118,16 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
for (const QPointF &p : surveyPolygon) angles.append(truncateAngle(angle(p)));
// determine r_min by successive approximation
double r = r_max - dr;
while ( r > r_min) {
double r = r_min;
while ( r < r_max) {
Circle circle(r, origin);
if (!intersects(circle, surveyPolygon)) {
if (intersects(circle, surveyPolygon)) {
r_min = r;
break;
}
r -= dr;
r += dr;
}
originInside = false;
}
......@@ -176,14 +206,14 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
double alpha1 = angle(entryPoints[k]);
double alpha2 = angle(exitPoints[(k+offset) % entryPoints.size()]);
QList<QPointF> sectorPath = circle.approximateSektor(dalpha, alpha1, alpha2);
QList<QPointF> sectorPath = circle.approximateSektor(double(dalpha), alpha1, alpha2);
// use shortestPath() here if necessary, could be a problem if dr >>
if (sectorPath.size() > 0)
currPolyPath.append(sectorPath);
}
} else if (originInside) {
// circle fully inside polygon
QList<QPointF> sectorPath = circle.approximateSektor(dalpha, 0, 2*M_PI);
QList<QPointF> sectorPath = circle.approximateSektor(double(dalpha), 0, 2*M_PI);
// use shortestPath() here if necessary, could be a problem if dr >>
currPolyPath.append(sectorPath);
}
......@@ -195,6 +225,8 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
}
// optimize path to lawn pattern
if (fullPath.size() == 0)
return;
QList<QPointF> currentSection = fullPath.takeFirst();
QList<QList<QPointF>> optiPath; // optimized path
while( !fullPath.empty() ) {
......@@ -249,6 +281,15 @@ void CircularSurveyComplexItem::_recalcCameraShots()
}
void CircularSurveyComplexItem::_updateItem()
{
if (_dirty) {
_rebuildTransects();
setDirty(false);
}
}
/*!
\class CircularSurveyComplexItem
\inmodule Wima
......
src/Wima/CircularSurveyComplexItem.h
View file @ 470c9ab4
......@@ -18,12 +18,16 @@ public:
CircularSurveyComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent);
Q_PROPERTY(QGeoCoordinate refPoint READ refPoint WRITE setRefPoint NOTIFY refPointChanged)
Q_PROPERTY(Fact* deltaR READ deltaR CONSTANT)
Q_PROPERTY(Fact* deltaAlpha READ deltaAlpha CONSTANT)
// Property setters
void setRefPoint(const QGeoCoordinate &refPt);
// Property getters
QGeoCoordinate refPoint() const;
QGeoCoordinate refPoint() const;
Fact *deltaR();
Fact *deltaAlpha();
// Overrides from ComplexMissionItem
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
......@@ -43,7 +47,9 @@ public:
bool readyForSave (void) const final;
double additionalTimeDelay (void) const final;
static const char* settingsGroup;
static const char* settingsGroup;
static const char* deltaRName;
static const char* deltaAlphaName;
signals:
void refPointChanged();
......@@ -53,9 +59,19 @@ private slots:
void _rebuildTransectsPhase1 (void) final;
void _recalcComplexDistance (void) final;
void _recalcCameraShots (void) final;
void _updateItem (void);
signals:
private:
QGeoCoordinate _referencePoint; // center of the circular lanes, e.g. base station
QMap<QString, FactMetaData*> _metaDataMap;
SettingsFact _deltaR;
SettingsFact _deltaAlpha;
QTimer _updateTimer;
};
......
src/Wima/CircularSurveyToDo.txt deleted 100644 → 0
View file @ 5005f97c
add refpt gui and edit constructor
src/Wima/ToDo.txt 0 → 100644
View file @ 470c9ab4
add refpt gui and edit constructor
new path optim required for circ survey
add gui elements for circ survey
solve bug for cantFindPath.wima on Desktop/WimaPath
src/WimaView/SphericalSurveyMapVisual.qml
View file @ 470c9ab4
......@@ -78,12 +78,17 @@ Item {
_mapPolygon.appendVertex(topRightCoord)
_mapPolygon.appendVertex(bottomRightCoord)
_mapPolygon.appendVertex(bottomLeftCoord)
}
}
}
function _setRefPoint() {
_missionItem.refPoint = map.toCoordinate(map.centerViewport.x, map.centerViewport.y, false /* clipToViewPort */)
}
Component.onCompleted: {
_addInitialPolygon()
_addVisualElements()
_setRefPoint()
}
Component.onDestruction: {
......@@ -152,4 +157,24 @@ Item {
}
}
}
// Ref. point (Base Station)
Component {
id: refPointComponent
MapQuickItem {
anchorPoint.x: sourceItem.anchorPointX
anchorPoint.y: sourceItem.anchorPointY
z: QGroundControl.zOrderMapItems
coordinate: _missionItem.refPoint
visible: _missionItem.refPoint.isValid
sourceItem: MissionItemIndexLabel {
index: _missionItem.sequenceNumber
label: "Ref."
checked: _missionItem.isCurrentItem
onClicked: _root.clicked(_missionItem.sequenceNumber)
}
}
}
}
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