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Unverified Commit 48ffa39e authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #9071 from DonLakeFlyer/LandingPattern 

Landing Pattern: Loiter to alt optional support
parents a671b146 138bdfa9
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Showing with 1549 additions and 1357 deletions
qgroundcontrol.pro
View file @ 48ffa39e
...@@ -472,6 +472,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin { ...@@ -472,6 +472,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/MissionManager/CameraSectionTest.h \ src/MissionManager/CameraSectionTest.h \
src/MissionManager/CorridorScanComplexItemTest.h \ src/MissionManager/CorridorScanComplexItemTest.h \
src/MissionManager/FWLandingPatternTest.h \ src/MissionManager/FWLandingPatternTest.h \
src/MissionManager/LandingComplexItemTest.h \
src/MissionManager/MissionCommandTreeEditorTest.h \ src/MissionManager/MissionCommandTreeEditorTest.h \
src/MissionManager/MissionCommandTreeTest.h \ src/MissionManager/MissionCommandTreeTest.h \
src/MissionManager/MissionControllerManagerTest.h \ src/MissionManager/MissionControllerManagerTest.h \
...@@ -519,6 +520,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin { ...@@ -519,6 +520,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/MissionManager/CameraSectionTest.cc \ src/MissionManager/CameraSectionTest.cc \
src/MissionManager/CorridorScanComplexItemTest.cc \ src/MissionManager/CorridorScanComplexItemTest.cc \
src/MissionManager/FWLandingPatternTest.cc \ src/MissionManager/FWLandingPatternTest.cc \
src/MissionManager/LandingComplexItemTest.cc \
src/MissionManager/MissionCommandTreeEditorTest.cc \ src/MissionManager/MissionCommandTreeEditorTest.cc \
src/MissionManager/MissionCommandTreeTest.cc \ src/MissionManager/MissionCommandTreeTest.cc \
src/MissionManager/MissionControllerManagerTest.cc \ src/MissionManager/MissionControllerManagerTest.cc \
......
src/MissionManager/CameraSection.h
View file @ 48ffa39e
...@@ -17,6 +17,8 @@ ...@@ -17,6 +17,8 @@
#define VIDEO_CAPTURE_STATUS_INTERVAL 0.2 //-- Send capture status every 5 seconds #define VIDEO_CAPTURE_STATUS_INTERVAL 0.2 //-- Send capture status every 5 seconds
class PlanMasterController; class PlanMasterController;
class CameraSectionTest;
class CameraSection : public Section class CameraSection : public Section
{ {
...@@ -131,4 +133,6 @@ private: ...@@ -131,4 +133,6 @@ private:
static const char* _cameraPhotoIntervalDistanceName; static const char* _cameraPhotoIntervalDistanceName;
static const char* _cameraPhotoIntervalTimeName; static const char* _cameraPhotoIntervalTimeName;
static const char* _cameraModeName; static const char* _cameraModeName;
friend CameraSectionTest;
}; };
src/MissionManager/CameraSectionTest.cc
View file @ 48ffa39e
...@@ -12,6 +12,8 @@ ...@@ -12,6 +12,8 @@
#include "MissionCommandTree.h" #include "MissionCommandTree.h"
#include "MissionCommandUIInfo.h" #include "MissionCommandUIInfo.h"
#include <functional>
CameraSectionTest::CameraSectionTest(void) CameraSectionTest::CameraSectionTest(void)
: _spyCamera (nullptr) : _spyCamera (nullptr)
, _spySection (nullptr) , _spySection (nullptr)
...@@ -44,11 +46,24 @@ void CameraSectionTest::init(void) ...@@ -44,11 +46,24 @@ void CameraSectionTest::init(void)
_validGimbalItem = new SimpleMissionItem(_masterController, _validGimbalItem = new SimpleMissionItem(_masterController,
false, // flyView false, // flyView
MissionItem(0, MAV_CMD_DO_MOUNT_CONTROL, MAV_FRAME_MISSION, 10.1234, 0, 20.1234, 0, 0, 0, MAV_MOUNT_MODE_MAVLINK_TARGETING, true, false), MissionItem(0,
MAV_CMD_DO_MOUNT_CONTROL,
MAV_FRAME_MISSION,
10.1234, 0, 20.1234, // pitch, roll, yaw
0, 0, 0, // alt, lat, lon (all 0 since unused)
MAV_MOUNT_MODE_MAVLINK_TARGETING, // control gimbal with pitch, roll, yaw settings
true, false),
this); this);
_validTimeItem = new SimpleMissionItem(_masterController, _validTimeItem = new SimpleMissionItem(_masterController,
false, // flyView false, // flyView
MissionItem(0, MAV_CMD_IMAGE_START_CAPTURE, MAV_FRAME_MISSION, 0, 48, 0, NAN, NAN, NAN, NAN, true, false), MissionItem(0,
MAV_CMD_IMAGE_START_CAPTURE,
MAV_FRAME_MISSION,
0, // Reserved, must be 0
48, // time interval
0, // 0 = capture forever
NAN, NAN, NAN, NAN, // Reserved
true, false),
this); this);
_validDistanceItem = new SimpleMissionItem(_masterController, _validDistanceItem = new SimpleMissionItem(_masterController,
false, // flyView false, // flyView
...@@ -615,12 +630,12 @@ void CameraSectionTest::_testScanForGimbalSection(void) ...@@ -615,12 +630,12 @@ void CameraSectionTest::_testScanForGimbalSection(void)
Mission Param #5 WIP: latitude in degrees * 1E7, set if appropriate mount mode. Mission Param #5 WIP: latitude in degrees * 1E7, set if appropriate mount mode.
Mission Param #6 WIP: longitude in degrees * 1E7, set if appropriate mount mode. Mission Param #6 WIP: longitude in degrees * 1E7, set if appropriate mount mode.
Mission Param #7 MAV_MOUNT_MODE enum value Mission Param #7 MAV_MOUNT_MODE enum value
*/ */
// Gimbal command but incorrect settings // Gimbal command but incorrect settings
SimpleMissionItem invalidSimpleItem(_masterController, false /* flyView */, _validGimbalItem->missionItem(), nullptr); SimpleMissionItem invalidSimpleItem(_masterController, false /* flyView */, _validGimbalItem->missionItem(), nullptr);
invalidSimpleItem.missionItem().setParam2(10); // roll is not supported invalidSimpleItem.missionItem().setParam2(10); // roll is not supported, should be 0
visualItems.append(&invalidSimpleItem); visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false); QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1); QCOMPARE(visualItems.count(), 1);
...@@ -629,7 +644,7 @@ void CameraSectionTest::_testScanForGimbalSection(void) ...@@ -629,7 +644,7 @@ void CameraSectionTest::_testScanForGimbalSection(void)
visualItems.clear(); visualItems.clear();
invalidSimpleItem.missionItem() = _validGimbalItem->missionItem(); invalidSimpleItem.missionItem() = _validGimbalItem->missionItem();
invalidSimpleItem.missionItem().setParam4(10); // alt is not supported invalidSimpleItem.missionItem().setParam4(10); // alt is not supported, should be 0
visualItems.append(&invalidSimpleItem); visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false); QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1); QCOMPARE(visualItems.count(), 1);
...@@ -638,7 +653,7 @@ void CameraSectionTest::_testScanForGimbalSection(void) ...@@ -638,7 +653,7 @@ void CameraSectionTest::_testScanForGimbalSection(void)
visualItems.clear(); visualItems.clear();
invalidSimpleItem.missionItem() = _validGimbalItem->missionItem(); invalidSimpleItem.missionItem() = _validGimbalItem->missionItem();
invalidSimpleItem.missionItem().setParam5(10); // lat is not supported invalidSimpleItem.missionItem().setParam5(10); // lat is not supported, should be 0
visualItems.append(&invalidSimpleItem); visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false); QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1); QCOMPARE(visualItems.count(), 1);
...@@ -647,7 +662,7 @@ void CameraSectionTest::_testScanForGimbalSection(void) ...@@ -647,7 +662,7 @@ void CameraSectionTest::_testScanForGimbalSection(void)
visualItems.clear(); visualItems.clear();
invalidSimpleItem.missionItem() = _validGimbalItem->missionItem(); invalidSimpleItem.missionItem() = _validGimbalItem->missionItem();
invalidSimpleItem.missionItem().setParam6(10); // lon is not supported invalidSimpleItem.missionItem().setParam6(10); // lon is not supported, should be 0
visualItems.append(&invalidSimpleItem); visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false); QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1); QCOMPARE(visualItems.count(), 1);
...@@ -709,14 +724,27 @@ void CameraSectionTest::_testScanForCameraModeSection(void) ...@@ -709,14 +724,27 @@ void CameraSectionTest::_testScanForCameraModeSection(void)
*/ */
// Mode command but incorrect settings // Mode command but incorrect settings
SimpleMissionItem invalidSimpleItem(_masterController, false /* flyView */, _validCameraPhotoModeItem->missionItem(), nullptr); SimpleMissionItem invalidSimpleItem(_masterController, false /* flyView */, _validCameraPhotoModeItem->missionItem(), nullptr);
invalidSimpleItem.missionItem().setParam3(1); // Param3 should be NaN std::function<void(MissionItem&, double)> rgSetParamFns[] = {
visualItems.append(&invalidSimpleItem); &MissionItem::setParam1,
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false); &MissionItem::setParam2,
QCOMPARE(visualItems.count(), 1); &MissionItem::setParam3,
QCOMPARE(_cameraSection->specifyCameraMode(), false); &MissionItem::setParam4,
QCOMPARE(_cameraSection->settingsSpecified(), false); &MissionItem::setParam5,
visualItems.clear(); &MissionItem::setParam6,
&MissionItem::setParam7
};
for (int fnIndex=2; fnIndex<7; fnIndex++) {
rgSetParamFns[fnIndex](invalidSimpleItem.missionItem(), 0); // should be NaN
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_cameraSection->specifyCameraMode(), false);
QCOMPARE(_cameraSection->settingsSpecified(), false);
visualItems.clear();
}
} }
void CameraSectionTest::_testScanForPhotoIntervalTimeSection(void) void CameraSectionTest::_testScanForPhotoIntervalTimeSection(void)
...@@ -1135,3 +1163,25 @@ SimpleMissionItem* CameraSectionTest::createValidStopTimeItem(PlanMasterControll ...@@ -1135,3 +1163,25 @@ SimpleMissionItem* CameraSectionTest::createValidStopTimeItem(PlanMasterControll
MissionItem(1, MAV_CMD_IMAGE_STOP_CAPTURE, MAV_FRAME_MISSION, 0, qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), true, false), MissionItem(1, MAV_CMD_IMAGE_STOP_CAPTURE, MAV_FRAME_MISSION, 0, qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), qQNaN(), true, false),
parent); parent);
} }
SimpleMissionItem* CameraSectionTest::createInvalidStopVideoItem(PlanMasterController* masterController, QObject* parent)
{
SimpleMissionItem* invalidSimpleItem = createValidStopVideoItem(masterController, parent);
invalidSimpleItem->missionItem().setParam1(10); // must be 0 to be valid for scan
return invalidSimpleItem;
}
SimpleMissionItem* CameraSectionTest::createInvalidStopDistanceItem(PlanMasterController* masterController, QObject* parent)
{
SimpleMissionItem* invalidSimpleItem = createValidStopDistanceItem(masterController, parent);
invalidSimpleItem->missionItem().setParam2(-1); // Should be 0
return invalidSimpleItem;
}
SimpleMissionItem* CameraSectionTest::createInvalidStopTimeItem(PlanMasterController* masterController, QObject* parent)
{
SimpleMissionItem* invalidSimpleItem = createValidStopTimeItem(masterController, parent);
invalidSimpleItem->missionItem().setParam1(1); // Should be 0
return invalidSimpleItem;
}
src/MissionManager/CameraSectionTest.h
View file @ 48ffa39e
...@@ -24,9 +24,12 @@ public: ...@@ -24,9 +24,12 @@ public:
void init(void) override; void init(void) override;
void cleanup(void) override; void cleanup(void) override;
static SimpleMissionItem* createValidStopVideoItem (PlanMasterController* masterController, QObject* parent); static SimpleMissionItem* createValidStopVideoItem (PlanMasterController* masterController, QObject* parent);
static SimpleMissionItem* createValidStopDistanceItem(PlanMasterController* masterController, QObject* parent); static SimpleMissionItem* createValidStopDistanceItem (PlanMasterController* masterController, QObject* parent);
static SimpleMissionItem* createValidStopTimeItem (PlanMasterController* masterController, QObject* parent); static SimpleMissionItem* createValidStopTimeItem (PlanMasterController* masterController, QObject* parent);
static SimpleMissionItem* createInvalidStopVideoItem (PlanMasterController* masterController, QObject* parent);
static SimpleMissionItem* createInvalidStopDistanceItem (PlanMasterController* masterController, QObject* parent);
static SimpleMissionItem* createInvalidStopTimeItem (PlanMasterController* masterController, QObject* parent);
private slots: private slots:
void _testDirty (void); void _testDirty (void);
......
src/MissionManager/FWLandingPattern.FactMetaData.json
View file @ 48ffa39e
...@@ -5,75 +5,87 @@ ...@@ -5,75 +5,87 @@
[ [
{ {
"name": "LandingDistance", "name": "LandingDistance",
"shortDesc": "Distance between landing and loiter points.", "shortDesc": "Distance between approach and land points.",
"type": "double", "type": "double",
"units": "m", "units": "m",
"min": 10, "min": 10,
"decimalPlaces": 1, "decimalPlaces": 1,
"default": 300.0 "default": 300.0
}, },
{ {
"name": "LandingHeading", "name": "LandingHeading",
"shortDesc": "Heading from loiter point to land point.", "shortDesc": "Heading from approach to land point.",
"type": "double", "type": "double",
"units": "deg", "units": "deg",
"min": 0.0, "min": 0.0,
"max": 360.0, "max": 360.0,
"decimalPlaces": 0, "decimalPlaces": 0,
"default": 270.0 "default": 270.0
}, },
{ {
"name": "LoiterAltitude", "name": "FinalApproachAltitude",
"shortDesc": "Aircraft will proceed to the loiter point and loiter downwards until it reaches this approach altitude. Once altitude is reached the aircraft will proceed to land.", "shortDesc": "Altitude to begin landing approach from.",
"type": "double", "type": "double",
"units": "m", "units": "m",
"decimalPlaces": 1, "decimalPlaces": 1,
"default": 40.0 "default": 40.0
}, },
{ {
"name": "LoiterRadius", "name": "LoiterRadius",
"shortDesc": "Loiter radius.", "shortDesc": "Loiter radius.",
"type": "double", "type": "double",
"decimalPlaces": 1, "decimalPlaces": 1,
"min": 1, "min": 1,
"units": "m", "units": "m",
"default": 75.0 "default": 75.0
},
{
"name": "LoiterClockwise",
"shortDesc": "Loiter clockwise around the final approach point.",
"type": "bool",
"default": true
}, },
{ {
"name": "LandingAltitude", "name": "LandingAltitude",
"shortDesc": "Altitude for landing point.", "shortDesc": "Altitude for landing point.",
"type": "double", "type": "double",
"units": "m", "units": "m",
"decimalPlaces": 1, "decimalPlaces": 1,
"default": 0.0 "default": 0.0
}, },
{ {
"name": "GlideSlope", "name": "GlideSlope",
"shortDesc": "The glide slope between the loiter and landing point.", "shortDesc": "The glide slope between the loiter and landing point.",
"type": "double", "type": "double",
"units": "deg", "units": "deg",
"min": 0.1, "min": 0.1,
"max": 90, "max": 90,
"decimalPlaces": 1, "decimalPlaces": 1,
"default": 6.0 "default": 6.0
},
{
"name": "ValueSetIsDistance",
"shortDesc": "Value controller approach point is distance",
"type": "bool",
"default": false
}, },
{ {
"name": "ValueSetIsDistance", "name": "UseLoiterToAlt",
"shortDesc": "Value controller loiter point is distance", "shortDesc": "Use a loiter to altitude item for final appoach. Otherwise use a regular waypoint.",
"type": "bool", "type": "bool",
"default": false "default": true
}, },
{ {
"name": "StopTakingPhotos", "name": "StopTakingPhotos",
"shortDesc": "Stop taking photos", "shortDesc": "Stop taking photos",
"type": "bool", "type": "bool",
"default": true "default": true
}, },
{ {
"name": "StopTakingVideo", "name": "StopTakingVideo",
"shortDesc": "Stop taking video", "shortDesc": "Stop taking video",
"type": "bool", "type": "bool",
"default": true "default": true
} }
] ]
} }
src/MissionManager/FWLandingPatternTest.cc
View file @ 48ffa39e
...@@ -22,18 +22,15 @@ void FWLandingPatternTest::init(void) ...@@ -22,18 +22,15 @@ void FWLandingPatternTest::init(void)
{ {
VisualMissionItemTest::init(); VisualMissionItemTest::init();
rgSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
_fwItem = new FixedWingLandingComplexItem(_masterController, false /* flyView */, this); _fwItem = new FixedWingLandingComplexItem(_masterController, false /* flyView */, this);
_multiSpy = new MultiSignalSpy(); _createSpy(_fwItem, &_viSpy);
QCOMPARE(_multiSpy->init(_fwItem, rgSignals, cSignals), true);
// Start in a clean state // Start in a clean state
QVERIFY(!_fwItem->dirty()); QVERIFY(!_fwItem->dirty());
_fwItem->setLandingCoordinate(QGeoCoordinate(47, -122)); _fwItem->setLandingCoordinate(QGeoCoordinate(47, -122));
_fwItem->setDirty(false); _fwItem->setDirty(false);
QVERIFY(!_fwItem->dirty()); QVERIFY(!_fwItem->dirty());
_multiSpy->clearAllSignals(); _viSpy->clearAllSignals();
_validStopVideoItem = CameraSectionTest::createValidStopTimeItem(_masterController, this); _validStopVideoItem = CameraSectionTest::createValidStopTimeItem(_masterController, this);
_validStopDistanceItem = CameraSectionTest::createValidStopTimeItem(_masterController, this); _validStopDistanceItem = CameraSectionTest::createValidStopTimeItem(_masterController, this);
...@@ -43,7 +40,7 @@ void FWLandingPatternTest::init(void) ...@@ -43,7 +40,7 @@ void FWLandingPatternTest::init(void)
void FWLandingPatternTest::cleanup(void) void FWLandingPatternTest::cleanup(void)
{ {
delete _fwItem; delete _fwItem;
delete _multiSpy; delete _viSpy;
delete _validStopVideoItem; delete _validStopVideoItem;
delete _validStopDistanceItem; delete _validStopDistanceItem;
delete _validStopTimeItem; delete _validStopTimeItem;
...@@ -57,142 +54,35 @@ void FWLandingPatternTest::_testDefaults(void) ...@@ -57,142 +54,35 @@ void FWLandingPatternTest::_testDefaults(void)
QCOMPARE(_fwItem->stopTakingVideo()->rawValue().toBool(), true); QCOMPARE(_fwItem->stopTakingVideo()->rawValue().toBool(), true);
} }
void FWLandingPatternTest::_testItemCount(void)
{
QList<MissionItem*> items;
_fwItem->stopTakingPhotos()->setRawValue(true);
_fwItem->stopTakingVideo()->setRawValue(true);
_fwItem->appendMissionItems(items, this);
QCOMPARE(items.count(), 3 + CameraSection::stopTakingPhotosCommandCount() + CameraSection::stopTakingVideoCommandCount());
QCOMPARE(items.count() - 1, _fwItem->lastSequenceNumber());
items.clear();
_fwItem->stopTakingPhotos()->setRawValue(false);
_fwItem->stopTakingVideo()->setRawValue(false);
_fwItem->appendMissionItems(items, this);
QCOMPARE(items.count(), 3);
QCOMPARE(items.count() - 1, _fwItem->lastSequenceNumber());
items.clear();
}
void FWLandingPatternTest::_testAppendSectionItems(void)
{
QList<MissionItem*> rgMissionItems;
// Create the set of appended mission items
_fwItem->stopTakingPhotos()->setRawValue(true);
_fwItem->stopTakingVideo()->setRawValue(true);
_fwItem->appendMissionItems(rgMissionItems, this);
// Convert to visual items
QmlObjectListModel* simpleItems = new QmlObjectListModel(this);
for (MissionItem* item: rgMissionItems) {
SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, simpleItems);
simpleItem->missionItem() = *item;
simpleItems->append(simpleItem);
}
// Scan the items back in to verify the same values come back
// Note that the compares does the best it can with doubles going to floats and back causing inaccuracies beyond a fuzzy compare.
QVERIFY(FixedWingLandingComplexItem::scanForItem(simpleItems, false /* flyView */, _masterController));
QCOMPARE(simpleItems->count(), 1);
_validateItem(simpleItems->value<FixedWingLandingComplexItem*>(0));
// Reset
simpleItems->deleteLater();
rgMissionItems.clear();
// Check for no stop camera actions
_fwItem->stopTakingPhotos()->setRawValue(false);
_fwItem->stopTakingVideo()->setRawValue(false);
_fwItem->appendMissionItems(rgMissionItems, this);
simpleItems = new QmlObjectListModel(this);
for (MissionItem* item: rgMissionItems) {
SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, simpleItems);
simpleItem->missionItem() = *item;
simpleItems->append(simpleItem);
}
QVERIFY(FixedWingLandingComplexItem::scanForItem(simpleItems, false /* flyView */, _masterController));
QCOMPARE(simpleItems->count(), 1);
_validateItem(simpleItems->value<FixedWingLandingComplexItem*>(0));
// Reset
simpleItems->deleteLater();
rgMissionItems.clear();
}
void FWLandingPatternTest::_testDirty(void) void FWLandingPatternTest::_testDirty(void)
{ {
_fwItem->setDirty(true); _fwItem->setDirty(true);
QVERIFY(_fwItem->dirty()); QVERIFY(_fwItem->dirty());
QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask)); QVERIFY(_viSpy->checkOnlySignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex)); QVERIFY(_viSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_fwItem->setDirty(false); _fwItem->setDirty(false);
_multiSpy->clearAllSignals(); _viSpy->clearAllSignals();
// These facts should set dirty when changed // These facts should set dirty when changed
QList<Fact*> rgFacts; QList<Fact*> rgFacts;
rgFacts << _fwItem->loiterAltitude() rgFacts << _fwItem->glideSlope()
<< _fwItem->landingHeading()
<< _fwItem->loiterRadius()
<< _fwItem->landingAltitude()
<< _fwItem->landingDistance()
<< _fwItem->glideSlope()
<< _fwItem->stopTakingPhotos()
<< _fwItem->stopTakingVideo()
<< _fwItem->valueSetIsDistance(); << _fwItem->valueSetIsDistance();
for(Fact* fact: rgFacts) { for(Fact* fact: rgFacts) {
qDebug() << fact->name(); qDebug() << fact->name();
QVERIFY(!_fwItem->dirty()); QVERIFY(!_fwItem->dirty());
if (fact->typeIsBool()) { changeFactValue(fact);
fact->setRawValue(!fact->rawValue().toBool()); QVERIFY(_viSpy->checkSignalByMask(dirtyChangedMask));
} else { QVERIFY(_viSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
fact->setRawValue(fact->rawValue().toDouble() + 1);
}
QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_fwItem->setDirty(false);
_multiSpy->clearAllSignals();
}
rgFacts.clear();
// These bool properties should set dirty when changed
QList<const char*> rgBoolNames;
rgBoolNames << "loiterClockwise"
<< "altitudesAreRelative";
const QMetaObject* metaObject = _fwItem->metaObject();
for(const char* boolName: rgBoolNames) {
qDebug() << boolName;
QVERIFY(!_fwItem->dirty());
QMetaProperty boolProp = metaObject->property(metaObject->indexOfProperty(boolName));
QVERIFY(boolProp.write(_fwItem, !boolProp.read(_fwItem).toBool()));
QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_fwItem->setDirty(false); _fwItem->setDirty(false);
_multiSpy->clearAllSignals(); _viSpy->clearAllSignals();
} }
rgFacts.clear(); rgFacts.clear();
// These coordinates should set dirty when changed
QVERIFY(!_fwItem->dirty());
_fwItem->setLoiterCoordinate(_fwItem->loiterCoordinate().atDistanceAndAzimuth(1, 0));
QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_fwItem->setDirty(false);
_multiSpy->clearAllSignals();
QVERIFY(!_fwItem->dirty());
_fwItem->setLoiterCoordinate(_fwItem->landingCoordinate().atDistanceAndAzimuth(1, 0));
QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_fwItem->setDirty(false);
_multiSpy->clearAllSignals();
} }
void FWLandingPatternTest::_testSaveLoad(void) void FWLandingPatternTest::_testSaveLoad(void)
{ {
QJsonArray items; QJsonArray items;
_fwItem->save(items); _fwItem->save(items);
QString errorString; QString errorString;
...@@ -211,20 +101,6 @@ void FWLandingPatternTest::_validateItem(FixedWingLandingComplexItem* newItem) ...@@ -211,20 +101,6 @@ void FWLandingPatternTest::_validateItem(FixedWingLandingComplexItem* newItem)
{ {
QVERIFY(newItem); QVERIFY(newItem);
QVERIFY(fuzzyCompareLatLon(newItem->loiterCoordinate(), _fwItem->loiterCoordinate()));
QVERIFY(fuzzyCompareLatLon(newItem->loiterTangentCoordinate(), _fwItem->loiterTangentCoordinate()));
QVERIFY(fuzzyCompareLatLon(newItem->landingCoordinate(), _fwItem->landingCoordinate()));
QCOMPARE(newItem->stopTakingPhotos()->rawValue().toBool(), _fwItem->stopTakingPhotos()->rawValue().toBool());
QCOMPARE(newItem->stopTakingVideo()->rawValue().toBool(), _fwItem->stopTakingVideo()->rawValue().toBool());
QCOMPARE(newItem->loiterAltitude()->rawValue().toInt(), _fwItem->loiterAltitude()->rawValue().toInt());
QCOMPARE(newItem->loiterRadius()->rawValue().toInt(), _fwItem->loiterRadius()->rawValue().toInt());
QCOMPARE(newItem->landingAltitude()->rawValue().toInt(), _fwItem->landingAltitude()->rawValue().toInt());
QCOMPARE(newItem->landingHeading()->rawValue().toInt(), _fwItem->landingHeading()->rawValue().toInt());
QCOMPARE(newItem->landingDistance()->rawValue().toInt(), _fwItem->landingDistance()->rawValue().toInt());
QCOMPARE(newItem->glideSlope()->rawValue().toInt(), _fwItem->glideSlope()->rawValue().toInt()); QCOMPARE(newItem->glideSlope()->rawValue().toInt(), _fwItem->glideSlope()->rawValue().toInt());
QCOMPARE(newItem->valueSetIsDistance()->rawValue().toBool(), _fwItem->valueSetIsDistance()->rawValue().toBool()); QCOMPARE(newItem->valueSetIsDistance()->rawValue().toBool(), _fwItem->valueSetIsDistance()->rawValue().toBool());
QCOMPARE(newItem->_loiterClockwise, _fwItem->_loiterClockwise);
QCOMPARE(newItem->_altitudesAreRelative, _fwItem->_altitudesAreRelative);
QCOMPARE(newItem->_landingCoordSet, _fwItem->_landingCoordSet);
} }
src/MissionManager/FWLandingPatternTest.h
View file @ 48ffa39e
...@@ -25,30 +25,16 @@ public: ...@@ -25,30 +25,16 @@ public:
void cleanup(void) override; void cleanup(void) override;
private slots: private slots:
void _testDirty (void); void _testDirty (void);
void _testItemCount (void); void _testDefaults (void);
void _testDefaults (void); void _testSaveLoad (void);
void _testAppendSectionItems (void);
void _testSaveLoad (void);
private: private:
void _validateItem(FixedWingLandingComplexItem* newItem); void _validateItem(FixedWingLandingComplexItem* newItem);
enum { FixedWingLandingComplexItem* _fwItem = nullptr;
dirtyChangedIndex = 0, MultiSignalSpy* _viSpy = nullptr;
maxSignalIndex, SimpleMissionItem* _validStopVideoItem = nullptr;
}; SimpleMissionItem* _validStopDistanceItem = nullptr;
SimpleMissionItem* _validStopTimeItem = nullptr;
enum {
dirtyChangedMask = 1 << dirtyChangedIndex,
};
static const size_t cSignals = maxSignalIndex;
const char* rgSignals[cSignals];
FixedWingLandingComplexItem* _fwItem = nullptr;
MultiSignalSpy* _multiSpy = nullptr;
SimpleMissionItem* _validStopVideoItem = nullptr;
SimpleMissionItem* _validStopDistanceItem = nullptr;
SimpleMissionItem* _validStopTimeItem = nullptr;
}; };
src/MissionManager/FixedWingLandingComplexItem.h
View file @ 48ffa39e
...@@ -32,114 +32,63 @@ public: ...@@ -32,114 +32,63 @@ public:
Q_INVOKABLE void moveLandingPosition(const QGeoCoordinate& coordinate); // Maintains the current landing distance and heading Q_INVOKABLE void moveLandingPosition(const QGeoCoordinate& coordinate); // Maintains the current landing distance and heading
Fact* loiterAltitude (void) final { return &_loiterAltitudeFact; }
Fact* loiterRadius (void) final { return &_loiterRadiusFact; }
Fact* landingAltitude (void) final { return &_landingAltitudeFact; }
Fact* landingDistance (void) final { return &_landingDistanceFact; }
Fact* landingHeading (void) final { return &_landingHeadingFact; }
Fact* stopTakingPhotos (void) final { return &_stopTakingPhotosFact; }
Fact* stopTakingVideo (void) final { return &_stopTakingVideoFact; }
Fact* glideSlope (void) { return &_glideSlopeFact; } Fact* glideSlope (void) { return &_glideSlopeFact; }
Fact* valueSetIsDistance (void) { return &_valueSetIsDistanceFact; } Fact* valueSetIsDistance (void) { return &_valueSetIsDistanceFact; }
/// Scans the loaded items for a landing pattern complex item /// Scans the loaded items for a landing pattern complex item
static bool scanForItem(QmlObjectListModel* visualItems, bool flyView, PlanMasterController* masterController); static bool scanForItem(QmlObjectListModel* visualItems, bool flyView, PlanMasterController* masterController);
static MissionItem* createDoLandStartItem (int seqNum, QObject* parent);
static MissionItem* createLoiterToAltItem (int seqNum, bool altRel, double loiterRaidus, double lat, double lon, double alt, QObject* parent);
static MissionItem* createLandItem (int seqNum, bool altRel, double lat, double lon, double alt, QObject* parent);
// Overrides from ComplexMissionItem // Overrides from ComplexMissionItem
QString patternName (void) const final { return name; } QString patternName (void) const final { return name; }
int lastSequenceNumber (void) const final;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final; bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
double greatestDistanceTo (const QGeoCoordinate &other) const final;
QString mapVisualQML (void) const final { return QStringLiteral("FWLandingPatternMapVisual.qml"); } QString mapVisualQML (void) const final { return QStringLiteral("FWLandingPatternMapVisual.qml"); }
// Overrides from VisualMissionItem // Overrides from VisualMissionItem
bool dirty (void) const final { return _dirty; }
bool isSimpleItem (void) const final { return false; }
bool isStandaloneCoordinate (void) const final { return false; }
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final { return false; }
QString commandDescription (void) const final { return "Landing Pattern"; }
QString commandName (void) const final { return "Landing Pattern"; }
QString abbreviation (void) const final { return "L"; }
QGeoCoordinate coordinate (void) const final { return _loiterCoordinate; }
QGeoCoordinate exitCoordinate (void) const final { return _landingCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;
double additionalTimeDelay (void) const final { return 0; }
ReadyForSaveState readyForSaveState (void) const final;
bool exitCoordinateSameAsEntry (void) const final { return false; }
void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate) final { setLoiterCoordinate(coordinate); }
void setSequenceNumber (int sequenceNumber) final;
void save (QJsonArray& missionItems) final; void save (QJsonArray& missionItems) final;
double amslEntryAlt (void) const final;
double amslExitAlt (void) const final;
double minAMSLAltitude (void) const final { return amslExitAlt(); }
double maxAMSLAltitude (void) const final { return amslEntryAlt(); }
static const QString name; static const QString name;
static const char* jsonComplexItemTypeValue; static const char* jsonComplexItemTypeValue;
static const char* settingsGroup; static const char* settingsGroup;
static const char* loiterToLandDistanceName;
static const char* loiterAltitudeName;
static const char* loiterRadiusName;
static const char* landingHeadingName;
static const char* landingAltitudeName;
static const char* glideSlopeName; static const char* glideSlopeName;
static const char* stopTakingPhotosName;
static const char* stopTakingVideoName;
static const char* valueSetIsDistanceName; static const char* valueSetIsDistanceName;
signals:
void valueSetIsDistanceChanged (bool valueSetIsDistance);
private slots: private slots:
void _updateLoiterCoodinateAltitudeFromFact (void); void _glideSlopeChanged(void);
void _updateLandingCoodinateAltitudeFromFact (void);
double _mathematicAngleToHeading (double angle);
double _headingToMathematicAngle (double heading);
void _setDirty (void);
void _glideSlopeChanged (void);
void _signalLastSequenceNumberChanged (void);
private: private:
void _calcGlideSlope(void) final; static LandingComplexItem* _createItem (PlanMasterController* masterController, bool flyView, QObject* parent) { return new FixedWingLandingComplexItem(masterController, flyView, parent); }
static bool _isValidLandItem(const MissionItem& missionItem);
// Overrides from LandingComplexItem
const Fact* _finalApproachAltitude (void) const final { return &_finalApproachAltitudeFact; }
const Fact* _loiterRadius (void) const final { return &_loiterRadiusFact; }
const Fact* _loiterClockwise (void) const final { return &_loiterClockwiseFact; }
const Fact* _landingAltitude (void) const final { return &_landingAltitudeFact; }
const Fact* _landingDistance (void) const final { return &_landingDistanceFact; }
const Fact* _landingHeading (void) const final { return &_landingHeadingFact; }
const Fact* _useLoiterToAlt (void) const final { return &_useLoiterToAltFact; }
const Fact* _stopTakingPhotos (void) const final { return &_stopTakingPhotosFact; }
const Fact* _stopTakingVideo (void) const final { return &_stopTakingVideoFact; }
void _calcGlideSlope (void) final;
MissionItem* _createLandItem (int seqNum, bool altRel, double lat, double lon, double alt, QObject* parent) final;
QMap<QString, FactMetaData*> _metaDataMap; QMap<QString, FactMetaData*> _metaDataMap;
Fact _landingDistanceFact; Fact _landingDistanceFact;
Fact _loiterAltitudeFact; Fact _finalApproachAltitudeFact;
Fact _loiterRadiusFact; Fact _loiterRadiusFact;
Fact _loiterClockwiseFact;
Fact _landingHeadingFact; Fact _landingHeadingFact;
Fact _landingAltitudeFact; Fact _landingAltitudeFact;
Fact _glideSlopeFact; Fact _glideSlopeFact;
Fact _useLoiterToAltFact;
Fact _stopTakingPhotosFact; Fact _stopTakingPhotosFact;
Fact _stopTakingVideoFact; Fact _stopTakingVideoFact;
Fact _valueSetIsDistanceFact; Fact _valueSetIsDistanceFact;
static const char* _jsonLoiterCoordinateKey;
static const char* _jsonLoiterRadiusKey;
static const char* _jsonLoiterClockwiseKey;
static const char* _jsonLandingCoordinateKey;
static const char* _jsonValueSetIsDistanceKey; static const char* _jsonValueSetIsDistanceKey;
static const char* _jsonAltitudesAreRelativeKey;
static const char* _jsonStopTakingPhotosKey;
static const char* _jsonStopTakingVideoKey;
// Only in older file formats
static const char* _jsonLandingAltitudeRelativeKey;
static const char* _jsonLoiterAltitudeRelativeKey;
static const char* _jsonFallRateKey;
friend FWLandingPatternTest; friend FWLandingPatternTest;
}; };
......
src/MissionManager/LandingComplexItem.cc
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src/MissionManager/LandingComplexItem.h
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src/MissionManager/LandingComplexItemTest.cc 0 → 100644
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src/MissionManager/LandingComplexItemTest.h 0 → 100644
View file @ 48ffa39e
/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "VisualMissionItemTest.h"
#include "LandingComplexItem.h"
#include "MultiSignalSpy.h"
#include "PlanMasterController.h"
class LandingComplexItemTest : public VisualMissionItemTest
{
Q_OBJECT
public:
LandingComplexItemTest(void);
void cleanup(void) override;
void init (void) override;
private slots:
void _testDirty (void);
void _testItemCount (void);
void _testAppendSectionItems (void);
void _testScanForItems (void);
void _testSaveLoad (void);
private:
void _validateItem(LandingComplexItem* actualItem, LandingComplexItem* expectedItem);
enum {
finalApproachCoordinateChangedIndex = 0,
loiterTangentCoordinateChangedIndex,
landingCoordinateChangedIndex,
landingCoordSetChangedIndex,
loiterClockwiseChangedIndex,
useLoiterToAltChangedIndex,
altitudesAreRelativeChangedIndex,
_updateFlightPathSegmentsSignalIndex,
maxSignalIndex,
};
enum {
finalApproachCoordinateChangedMask = 1 << finalApproachCoordinateChangedIndex,
loiterTangentCoordinateChangedMask = 1 << loiterTangentCoordinateChangedIndex,
landingCoordinateChangedMask = 1 << landingCoordinateChangedIndex,
landingCoordSetChangedMask = 1 << landingCoordSetChangedIndex,
loiterClockwiseChangedMask = 1 << loiterClockwiseChangedIndex,
useLoiterToAltChangedMask = 1 << useLoiterToAltChangedIndex,
altitudesAreRelativeChangedMask = 1 << altitudesAreRelativeChangedIndex,
_updateFlightPathSegmentsSignalMask = 1 << _updateFlightPathSegmentsSignalIndex,
};
static const size_t cSignals = maxSignalIndex;
const char* rgSignals[cSignals];
LandingComplexItem* _item = nullptr;
MultiSignalSpy* _multiSpy = nullptr;
MultiSignalSpy* _viMultiSpy = nullptr;
SimpleMissionItem* _validStopVideoItem = nullptr;
SimpleMissionItem* _validStopDistanceItem = nullptr;
SimpleMissionItem* _validStopTimeItem = nullptr;
};
// Simple class used to test LandingComplexItem base class
class SimpleLandingComplexItem : public LandingComplexItem
{
Q_OBJECT
public:
SimpleLandingComplexItem(PlanMasterController* masterController, bool flyView, QObject* parent);
// Overrides from ComplexMissionItem
QString patternName (void) const final { return QString(); }
bool load (const QJsonObject& /*complexObject*/, int /*sequenceNumber*/, QString& /*errorString*/) final { return false; };
QString mapVisualQML(void) const final { return QStringLiteral("FWLandingPatternMapVisual.qml"); }
// Overrides from VisualMissionItem
void save (QJsonArray& /*missionItems*/) { };
static const QString name;
static const char* jsonComplexItemTypeValue;
static const char* settingsGroup;
private:
static LandingComplexItem* _createItem (PlanMasterController* masterController, bool flyView, QObject* parent) { return new SimpleLandingComplexItem(masterController, flyView, parent); }
static bool _isValidLandItem(const MissionItem& missionItem);
// Overrides from LandingComplexItem
const Fact* _finalApproachAltitude (void) const final { return &_finalApproachAltitudeFact; }
const Fact* _loiterRadius (void) const final { return &_loiterRadiusFact; }
const Fact* _loiterClockwise (void) const final { return &_loiterClockwiseFact; }
const Fact* _landingAltitude (void) const final { return &_landingAltitudeFact; }
const Fact* _landingDistance (void) const final { return &_landingDistanceFact; }
const Fact* _landingHeading (void) const final { return &_landingHeadingFact; }
const Fact* _useLoiterToAlt (void) const final { return &_useLoiterToAltFact; }
const Fact* _stopTakingPhotos (void) const final { return &_stopTakingPhotosFact; }
const Fact* _stopTakingVideo (void) const final { return &_stopTakingVideoFact; }
void _calcGlideSlope (void) final { };
MissionItem* _createLandItem (int seqNum, bool altRel, double lat, double lon, double alt, QObject* parent) final;
QMap<QString, FactMetaData*> _metaDataMap;
Fact _landingDistanceFact;
Fact _finalApproachAltitudeFact;
Fact _loiterRadiusFact;
Fact _loiterClockwiseFact;
Fact _landingHeadingFact;
Fact _landingAltitudeFact;
Fact _useLoiterToAltFact;
Fact _stopTakingPhotosFact;
Fact _stopTakingVideoFact;
friend class LandingComplexItemTest;
};
src/MissionManager/MissionController.cc
View file @ 48ffa39e
...@@ -2153,8 +2153,10 @@ void MissionController::setDirty(bool dirty) ...@@ -2153,8 +2153,10 @@ void MissionController::setDirty(bool dirty)
void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualItems, PlanMasterController* masterController) void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualItems, PlanMasterController* masterController)
{ {
// First we look for a Fixed Wing Landing Pattern which is at the end // First we look for a Landing Patterns which are at the end
FixedWingLandingComplexItem::scanForItem(visualItems, _flyView, masterController); if (!FixedWingLandingComplexItem::scanForItem(visualItems, _flyView, masterController)) {
VTOLLandingComplexItem::scanForItem(visualItems, _flyView, masterController);
}
int scanIndex = 0; int scanIndex = 0;
while (scanIndex < visualItems->count()) { while (scanIndex < visualItems->count()) {
......
src/MissionManager/VTOLLandingComplexItem.h
View file @ 48ffa39e
...@@ -26,98 +26,51 @@ class VTOLLandingComplexItem : public LandingComplexItem ...@@ -26,98 +26,51 @@ class VTOLLandingComplexItem : public LandingComplexItem
public: public:
VTOLLandingComplexItem(PlanMasterController* masterController, bool flyView, QObject* parent); VTOLLandingComplexItem(PlanMasterController* masterController, bool flyView, QObject* parent);
Fact* loiterAltitude (void) final { return &_loiterAltitudeFact; }
Fact* loiterRadius (void) final { return &_loiterRadiusFact; }
Fact* landingAltitude (void) final { return &_landingAltitudeFact; }
Fact* landingDistance (void) final { return &_landingDistanceFact; }
Fact* landingHeading (void) final { return &_landingHeadingFact; }
Fact* stopTakingPhotos (void) final { return &_stopTakingPhotosFact; }
Fact* stopTakingVideo (void) final { return &_stopTakingVideoFact; }
/// Scans the loaded items for a landing pattern complex item /// Scans the loaded items for a landing pattern complex item
static bool scanForItem(QmlObjectListModel* visualItems, bool flyView, PlanMasterController* masterController); static bool scanForItem(QmlObjectListModel* visualItems, bool flyView, PlanMasterController* masterController);
static MissionItem* createDoLandStartItem (int seqNum, QObject* parent);
static MissionItem* createLoiterToAltItem (int seqNum, bool altRel, double loiterRaidus, double lat, double lon, double alt, QObject* parent);
static MissionItem* createLandItem (int seqNum, bool altRel, double lat, double lon, double alt, QObject* parent);
// Overrides from ComplexMissionItem // Overrides from ComplexMissionItem
QString patternName (void) const final { return name; } QString patternName (void) const final { return name; }
int lastSequenceNumber (void) const final;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final; bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
double greatestDistanceTo (const QGeoCoordinate &other) const final;
QString mapVisualQML (void) const final { return QStringLiteral("VTOLLandingPatternMapVisual.qml"); } QString mapVisualQML (void) const final { return QStringLiteral("VTOLLandingPatternMapVisual.qml"); }
// Overrides from VisualMissionItem // Overrides from VisualMissionItem
bool dirty (void) const final { return _dirty; }
bool isSimpleItem (void) const final { return false; }
bool isStandaloneCoordinate (void) const final { return false; }
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final { return false; }
QString commandDescription (void) const final { return "Landing Pattern"; }
QString commandName (void) const final { return "Landing Pattern"; }
QString abbreviation (void) const final { return "L"; }
QGeoCoordinate coordinate (void) const final { return _loiterCoordinate; }
QGeoCoordinate exitCoordinate (void) const final { return _landingCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;
double additionalTimeDelay (void) const final { return 0; }
ReadyForSaveState readyForSaveState (void) const final;
bool exitCoordinateSameAsEntry (void) const final { return false; }
void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate) final { setLoiterCoordinate(coordinate); }
void setSequenceNumber (int sequenceNumber) final;
void save (QJsonArray& missionItems) final; void save (QJsonArray& missionItems) final;
double amslEntryAlt (void) const final;
double amslExitAlt (void) const final;
double minAMSLAltitude (void) const final { return amslExitAlt(); }
double maxAMSLAltitude (void) const final { return amslEntryAlt(); }
static const QString name; static const QString name;
static const char* jsonComplexItemTypeValue; static const char* jsonComplexItemTypeValue;
static const char* settingsGroup; static const char* settingsGroup;
static const char* loiterToLandDistanceName;
static const char* loiterAltitudeName;
static const char* loiterRadiusName;
static const char* landingHeadingName;
static const char* landingAltitudeName;
static const char* stopTakingPhotosName;
static const char* stopTakingVideoName;
private slots:
void _updateLoiterCoodinateAltitudeFromFact (void);
void _updateLandingCoodinateAltitudeFromFact (void);
double _mathematicAngleToHeading (double angle);
double _headingToMathematicAngle (double heading);
void _setDirty (void);
void _signalLastSequenceNumberChanged (void);
private: private:
void _calcGlideSlope(void) final; static LandingComplexItem* _createItem (PlanMasterController* masterController, bool flyView, QObject* parent) { return new VTOLLandingComplexItem(masterController, flyView, parent); }
static bool _isValidLandItem(const MissionItem& missionItem);
// Overrides from LandingComplexItem
const Fact* _finalApproachAltitude (void) const final { return &_finalApproachAltitudeFact; }
const Fact* _loiterRadius (void) const final { return &_loiterRadiusFact; }
const Fact* _loiterClockwise (void) const final { return &_loiterClockwiseFact; }
const Fact* _landingAltitude (void) const final { return &_landingAltitudeFact; }
const Fact* _landingDistance (void) const final { return &_landingDistanceFact; }
const Fact* _landingHeading (void) const final { return &_landingHeadingFact; }
const Fact* _useLoiterToAlt (void) const final { return &_useLoiterToAltFact; }
const Fact* _stopTakingPhotos (void) const final { return &_stopTakingPhotosFact; }
const Fact* _stopTakingVideo (void) const final { return &_stopTakingVideoFact; }
void _calcGlideSlope (void) final;
MissionItem* _createLandItem (int seqNum, bool altRel, double lat, double lon, double alt, QObject* parent) final;
QMap<QString, FactMetaData*> _metaDataMap; QMap<QString, FactMetaData*> _metaDataMap;
Fact _landingDistanceFact; Fact _landingDistanceFact;
Fact _loiterAltitudeFact; Fact _finalApproachAltitudeFact;
Fact _loiterRadiusFact; Fact _loiterRadiusFact;
Fact _loiterClockwiseFact;
Fact _landingHeadingFact; Fact _landingHeadingFact;
Fact _landingAltitudeFact; Fact _landingAltitudeFact;
Fact _useLoiterToAltFact;
Fact _stopTakingPhotosFact; Fact _stopTakingPhotosFact;
Fact _stopTakingVideoFact; Fact _stopTakingVideoFact;
static const char* _jsonLoiterCoordinateKey;
static const char* _jsonLoiterRadiusKey;
static const char* _jsonLoiterClockwiseKey;
static const char* _jsonLandingCoordinateKey;
static const char* _jsonAltitudesAreRelativeKey;
static const char* _jsonStopTakingPhotosKey;
static const char* _jsonStopTakingVideoKey;
friend VTOLLandingPatternTest; friend VTOLLandingPatternTest;
}; };
src/MissionManager/VTOLLandingPattern.FactMetaData.json
View file @ 48ffa39e
...@@ -5,7 +5,7 @@ ...@@ -5,7 +5,7 @@
[ [
{ {
"name": "LandingDistance", "name": "LandingDistance",
"shortDesc": "Distance between landing and loiter points.", "shortDesc": "Distance between landing and approach points.",
"type": "double", "type": "double",
"units": "m", "units": "m",
"min": 10, "min": 10,
...@@ -14,7 +14,7 @@ ...@@ -14,7 +14,7 @@
}, },
{ {
"name": "LandingHeading", "name": "LandingHeading",
"shortDesc": "Heading from loiter point to land point.", "shortDesc": "Heading from approach to land point.",
"type": "double", "type": "double",
"units": "deg", "units": "deg",
"min": 0.0, "min": 0.0,
...@@ -23,8 +23,8 @@ ...@@ -23,8 +23,8 @@
"default": 270.0 "default": 270.0
}, },
{ {
"name": "LoiterAltitude", "name": "FinalApproachAltitude",
"shortDesc": "Aircraft will proceed to the loiter point and loiter downwards until it reaches this approach altitude. Once altitude is reached the aircraft will fly to land point at current altitude.", "shortDesc": "Altitude to begin landing approach from.",
"type": "double", "type": "double",
"units": "m", "units": "m",
"decimalPlaces": 1, "decimalPlaces": 1,
...@@ -39,6 +39,12 @@ ...@@ -39,6 +39,12 @@
"units": "m", "units": "m",
"default": 75.0 "default": 75.0
}, },
{
"name": "LoiterClockwise",
"shortDesc": "Loiter clockwise around the final approach point.",
"type": "bool",
"default": true
},
{ {
"name": "LandingAltitude", "name": "LandingAltitude",
"shortDesc": "Altitude for landing point on ground.", "shortDesc": "Altitude for landing point on ground.",
...@@ -47,6 +53,12 @@ ...@@ -47,6 +53,12 @@
"decimalPlaces": 1, "decimalPlaces": 1,
"default": 0.0 "default": 0.0
}, },
{
"name": "UseLoiterToAlt",
"shortDesc": "Use a loiter to altitude item for final appoach. Otherwise use a regular waypoint.",
"type": "bool",
"default": true
},
{ {
"name": "StopTakingPhotos", "name": "StopTakingPhotos",
"shortDesc": "Stop taking photos", "shortDesc": "Stop taking photos",
......
src/MissionManager/VisualMissionItemTest.cc
View file @ 48ffa39e
...@@ -55,10 +55,10 @@ void VisualMissionItemTest::cleanup(void) ...@@ -55,10 +55,10 @@ void VisualMissionItemTest::cleanup(void)
_masterController->deleteLater(); _masterController->deleteLater();
} }
void VisualMissionItemTest::_createSpy(SimpleMissionItem* simpleItem, MultiSignalSpy** visualSpy) void VisualMissionItemTest::_createSpy(VisualMissionItem* visualItem, MultiSignalSpy** visualSpy)
{ {
*visualSpy = nullptr; *visualSpy = nullptr;
MultiSignalSpy* spy = new MultiSignalSpy(); MultiSignalSpy* spy = new MultiSignalSpy();
QCOMPARE(spy->init(simpleItem, rgVisualItemSignals, cVisualItemSignals), true); QCOMPARE(spy->init(visualItem, rgVisualItemSignals, cVisualItemSignals), true);
*visualSpy = spy; *visualSpy = spy;
} }
src/MissionManager/VisualMissionItemTest.h
View file @ 48ffa39e
...@@ -30,7 +30,7 @@ public: ...@@ -30,7 +30,7 @@ public:
void cleanup(void) override; void cleanup(void) override;
protected: protected:
void _createSpy(SimpleMissionItem* simpleItem, MultiSignalSpy** visualSpy); void _createSpy(VisualMissionItem* visualItem, MultiSignalSpy** visualSpy);
enum { enum {
altDifferenceChangedIndex = 0, altDifferenceChangedIndex = 0,
......
src/PlanView/FWLandingPatternEditor.qml
View file @ 48ffa39e
...@@ -52,20 +52,26 @@ Rectangle { ...@@ -52,20 +52,26 @@ Rectangle {
visible: !editorColumnNeedLandingPoint.visible visible: !editorColumnNeedLandingPoint.visible
SectionHeader { SectionHeader {
id: loiterPointSection id: finalApproachSection
anchors.left: parent.left anchors.left: parent.left
anchors.right: parent.right anchors.right: parent.right
text: qsTr("Loiter point") text: qsTr("Final approach")
} }
Column { Column {
anchors.left: parent.left anchors.left: parent.left
anchors.right: parent.right anchors.right: parent.right
spacing: _margin spacing: _margin
visible: loiterPointSection.checked visible: finalApproachSection.checked
Item { width: 1; height: _spacer } Item { width: 1; height: _spacer }
FactCheckBox {
text: qsTr("Use loiter to altitude")
fact: missionItem.useLoiterToAlt
visible: missionItem.useLoiterToAlt.visible
}
GridLayout { GridLayout {
anchors.left: parent.left anchors.left: parent.left
anchors.right: parent.right anchors.right: parent.right
...@@ -75,24 +81,28 @@ Rectangle { ...@@ -75,24 +81,28 @@ Rectangle {
AltitudeFactTextField { AltitudeFactTextField {
Layout.fillWidth: true Layout.fillWidth: true
fact: missionItem.loiterAltitude fact: missionItem.finalApproachAltitude
altitudeMode: _altitudeMode altitudeMode: _altitudeMode
} }
QGCLabel { text: qsTr("Radius") } QGCLabel {
text: qsTr("Radius")
visible: missionItem.useLoiterToAlt.rawValue
}
FactTextField { FactTextField {
Layout.fillWidth: true Layout.fillWidth: true
fact: missionItem.loiterRadius fact: missionItem.loiterRadius
visible: missionItem.useLoiterToAlt.rawValue
} }
} }
Item { width: 1; height: _spacer } Item { width: 1; height: _spacer }
QGCCheckBox { FactCheckBox {
text: qsTr("Loiter clockwise") text: qsTr("Loiter clockwise")
checked: missionItem.loiterClockwise fact: missionItem.loiterClockwise
onClicked: missionItem.loiterClockwise = checked visible: missionItem.useLoiterToAlt.rawValue
} }
QGCButton { QGCButton {
...@@ -139,7 +149,7 @@ Rectangle { ...@@ -139,7 +149,7 @@ Rectangle {
QGCRadioButton { QGCRadioButton {
id: specifyLandingDistance id: specifyLandingDistance
text: qsTr("Landing Dist") text: qsTr("Distance")
checked: missionItem.valueSetIsDistance.rawValue checked: missionItem.valueSetIsDistance.rawValue
onClicked: missionItem.valueSetIsDistance.rawValue = checked onClicked: missionItem.valueSetIsDistance.rawValue = checked
Layout.fillWidth: true Layout.fillWidth: true
......
src/PlanView/FWLandingPatternMapVisual.qml
View file @ 48ffa39e
This diff is collapsed.
src/PlanView/VTOLLandingPatternEditor.qml
View file @ 48ffa39e
...@@ -51,29 +51,27 @@ Rectangle { ...@@ -51,29 +51,27 @@ Rectangle {
spacing: _margin spacing: _margin
visible: !editorColumnNeedLandingPoint.visible visible: !editorColumnNeedLandingPoint.visible
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("Loiter down to specified altitude. Fly to land point while transitioning. Hover straight down to land.")
}
SectionHeader { SectionHeader {
id: loiterPointSection id: finalApproachSection
anchors.left: parent.left anchors.left: parent.left
anchors.right: parent.right anchors.right: parent.right
text: qsTr("Loiter point") text: qsTr("Final approach")
} }
Column { Column {
anchors.left: parent.left anchors.left: parent.left
anchors.right: parent.right anchors.right: parent.right
spacing: _margin spacing: _margin
visible: loiterPointSection.checked visible: finalApproachSection.checked
Item { width: 1; height: _spacer } Item { width: 1; height: _spacer }
FactCheckBox {
text: qsTr("Use loiter to altitude")
fact: missionItem.useLoiterToAlt
visible: missionItem.useLoiterToAlt.visible
}
GridLayout { GridLayout {
anchors.left: parent.left anchors.left: parent.left
anchors.right: parent.right anchors.right: parent.right
...@@ -83,24 +81,28 @@ Rectangle { ...@@ -83,24 +81,28 @@ Rectangle {
AltitudeFactTextField { AltitudeFactTextField {
Layout.fillWidth: true Layout.fillWidth: true
fact: missionItem.loiterAltitude fact: missionItem.finalApproachAltitude
altitudeMode: _altitudeMode altitudeMode: _altitudeMode
} }
QGCLabel { text: qsTr("Radius") } QGCLabel {
text: qsTr("Radius")
visible: missionItem.useLoiterToAlt.rawValue
}
FactTextField { FactTextField {
Layout.fillWidth: true Layout.fillWidth: true
fact: missionItem.loiterRadius fact: missionItem.loiterRadius
visible: missionItem.useLoiterToAlt.rawValue
} }
} }
Item { width: 1; height: _spacer } Item { width: 1; height: _spacer }
QGCCheckBox { FactCheckBox {
text: qsTr("Loiter clockwise") text: qsTr("Loiter clockwise")
checked: missionItem.loiterClockwise fact: missionItem.loiterClockwise
onClicked: missionItem.loiterClockwise = checked visible: missionItem.useLoiterToAlt.rawValue
} }
QGCButton { QGCButton {
...@@ -222,7 +224,7 @@ Rectangle { ...@@ -222,7 +224,7 @@ Rectangle {
wrapMode: Text.WordWrap wrapMode: Text.WordWrap
color: qgcPal.warningText color: qgcPal.warningText
font.pointSize: ScreenTools.smallFontPointSize font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("* Avoid tailwind from loiter to land.") text: qsTr("* Avoid tailwind on approach to land.")
} }
QGCLabel { QGCLabel {
......
src/PlanView/VTOLLandingPatternMapVisual.qml
View file @ 48ffa39e
...@@ -33,9 +33,10 @@ Item { ...@@ -33,9 +33,10 @@ Item {
property var _mouseArea property var _mouseArea
property var _dragAreas: [ ] property var _dragAreas: [ ]
property var _flightPath property var _flightPath
property real _landingAreaBearing: _missionItem.landingCoordinate.azimuthTo(_missionItem.loiterTangentCoordinate)
property var _loiterPointObject property var _loiterPointObject
property var _landingPointObject property var _landingPointObject
property bool _useLoiterToAlt: _missionItem.useLoiterToAlt.rawValue
property real _landingAreaBearing: _missionItem.landingCoordinate.azimuthTo(_useLoiterToAlt ? _missionItem.loiterTangentCoordinate : _missionItem.finalApproachCoordinate)
function hideItemVisuals() { function hideItemVisuals() {
objMgr.destroyObjects() objMgr.destroyObjects()
...@@ -43,7 +44,7 @@ Item { ...@@ -43,7 +44,7 @@ Item {
function showItemVisuals() { function showItemVisuals() {
if (objMgr.rgDynamicObjects.length === 0) { if (objMgr.rgDynamicObjects.length === 0) {
_loiterPointObject = objMgr.createObject(loiterPointComponent, map, true /* parentObjectIsMap */) _loiterPointObject = objMgr.createObject(finalApproachPointComponent, map, true /* parentObjectIsMap */)
_landingPointObject = objMgr.createObject(landingPointComponent, map, true /* parentObjectIsMap */) _landingPointObject = objMgr.createObject(landingPointComponent, map, true /* parentObjectIsMap */)
var rgComponents = [ flightPathComponent, loiterRadiusComponent ] var rgComponents = [ flightPathComponent, loiterRadiusComponent ]
...@@ -80,7 +81,11 @@ Item { ...@@ -80,7 +81,11 @@ Item {
} }
function _setFlightPath() { function _setFlightPath() {
_flightPath = [ _missionItem.loiterTangentCoordinate, _missionItem.landingCoordinate ] if (_useLoiterToAlt) {
_flightPath = [ _missionItem.loiterTangentCoordinate, _missionItem.landingCoordinate ]
} else {
_flightPath = [ _missionItem.finalApproachCoordinate, _missionItem.landingCoordinate ]
}
} }
QGCDynamicObjectManager { QGCDynamicObjectManager {
...@@ -105,6 +110,8 @@ Item { ...@@ -105,6 +110,8 @@ Item {
hideItemVisuals() hideItemVisuals()
} }
on_UseLoiterToAltChanged: _setFlightPath()
Connections { Connections {
target: _missionItem target: _missionItem
...@@ -141,6 +148,7 @@ Item { ...@@ -141,6 +148,7 @@ Item {
onLandingCoordinateChanged: _setFlightPath() onLandingCoordinateChanged: _setFlightPath()
onLoiterTangentCoordinateChanged: _setFlightPath() onLoiterTangentCoordinateChanged: _setFlightPath()
onFinalApproachCoordinateChanged: _setFlightPath()
} }
// Mouse area to capture landing point coordindate // Mouse area to capture landing point coordindate
...@@ -164,16 +172,28 @@ Item { ...@@ -164,16 +172,28 @@ Item {
} }
} }
// Control which is used to drag the loiter point // Control which is used to drag the final approach point
Component { Component {
id: loiterDragAreaComponent id: loiterDragAreaComponent
MissionItemIndicatorDrag { MissionItemIndicatorDrag {
mapControl: _root.map mapControl: _root.map
itemIndicator: _loiterPointObject itemIndicator: _loiterPointObject
itemCoordinate: _missionItem.loiterCoordinate itemCoordinate: _missionItem.finalApproachCoordinate
onItemCoordinateChanged: _missionItem.loiterCoordinate = itemCoordinate property bool _preventReentrancy: false
onItemCoordinateChanged: {
if (!_preventReentrancy) {
if (Drag.active) {
_preventReentrancy = true
var angle = _missionItem.landingCoordinate.azimuthTo(itemCoordinate)
var distance = _missionItem.landingCoordinate.distanceTo(_missionItem.finalApproachCoordinate)
_missionItem.finalApproachCoordinate = _missionItem.landingCoordinate.atDistanceAndAzimuth(distance, angle)
_preventReentrancy = false
}
}
}
} }
} }
...@@ -202,20 +222,20 @@ Item { ...@@ -202,20 +222,20 @@ Item {
} }
} }
// Loiter point // Final approach point
Component { Component {
id: loiterPointComponent id: finalApproachPointComponent
MapQuickItem { MapQuickItem {
anchorPoint.x: sourceItem.anchorPointX anchorPoint.x: sourceItem.anchorPointX
anchorPoint.y: sourceItem.anchorPointY anchorPoint.y: sourceItem.anchorPointY
z: QGroundControl.zOrderMapItems z: QGroundControl.zOrderMapItems
coordinate: _missionItem.loiterCoordinate coordinate: _missionItem.finalApproachCoordinate
sourceItem: sourceItem:
MissionItemIndexLabel { MissionItemIndexLabel {
index: _missionItem.sequenceNumber index: _missionItem.sequenceNumber
label: qsTr("Loiter") label: _useLoiterToAlt ? qsTr("Loiter") : qsTr("Approach")
checked: _missionItem.isCurrentItem checked: _missionItem.isCurrentItem
onClicked: _root.clicked(_missionItem.sequenceNumber) onClicked: _root.clicked(_missionItem.sequenceNumber)
...@@ -249,11 +269,12 @@ Item { ...@@ -249,11 +269,12 @@ Item {
MapCircle { MapCircle {
z: QGroundControl.zOrderMapItems z: QGroundControl.zOrderMapItems
center: _missionItem.loiterCoordinate center: _missionItem.finalApproachCoordinate
radius: _missionItem.loiterRadius.rawValue radius: _missionItem.loiterRadius.rawValue
border.width: 2 border.width: 2
border.color: "green" border.color: "green"
color: "transparent" color: "transparent"
visible: _useLoiterToAlt
} }
} }
} }
src/qgcunittest/MultiSignalSpy.cc
View file @ 48ffa39e
...@@ -59,7 +59,7 @@ bool MultiSignalSpy::init(QObject* signalEmitter, ///< [in] object whi ...@@ -59,7 +59,7 @@ bool MultiSignalSpy::init(QObject* signalEmitter, ///< [in] object whi
for (size_t i=0; i<_cSignals; i++) { for (size_t i=0; i<_cSignals; i++) {
_rgSpys[i] = new QSignalSpy(_signalEmitter, _rgSignals[i]); _rgSpys[i] = new QSignalSpy(_signalEmitter, _rgSignals[i]);
if (!_rgSpys[i]->isValid()) { if (!_rgSpys[i]->isValid()) {
qDebug() << "Invalid signal"; qDebug() << "Invalid signal: index" << i;
return false; return false;
} }
} }
......
src/qgcunittest/UnitTest.cc
View file @ 48ffa39e
...@@ -525,3 +525,8 @@ bool UnitTest::fuzzyCompareLatLon(const QGeoCoordinate& coord1, const QGeoCoordi ...@@ -525,3 +525,8 @@ bool UnitTest::fuzzyCompareLatLon(const QGeoCoordinate& coord1, const QGeoCoordi
{ {
return coord1.distanceTo(coord2) < 1.0; return coord1.distanceTo(coord2) < 1.0;
} }
QGeoCoordinate UnitTest::changeCoordinateValue(const QGeoCoordinate& coordinate)
{
return coordinate.atDistanceAndAzimuth(1, 0);
}
src/qgcunittest/UnitTest.h
View file @ 48ffa39e
...@@ -100,6 +100,8 @@ public: ...@@ -100,6 +100,8 @@ public:
/// @param increment 0 use standard increment, other increment by specified amount if double value /// @param increment 0 use standard increment, other increment by specified amount if double value
void changeFactValue(Fact* fact, double increment = 0); void changeFactValue(Fact* fact, double increment = 0);
QGeoCoordinate changeCoordinateValue(const QGeoCoordinate& coordinate);
/// Returns true is the position of the two coordinates is less then a meter from each other. /// Returns true is the position of the two coordinates is less then a meter from each other.
/// Does not check altitude. /// Does not check altitude.
static bool fuzzyCompareLatLon(const QGeoCoordinate& coord1, const QGeoCoordinate& coord2); static bool fuzzyCompareLatLon(const QGeoCoordinate& coord1, const QGeoCoordinate& coord2);
......
src/qgcunittest/UnitTestList.cc
View file @ 48ffa39e
...@@ -49,6 +49,7 @@ ...@@ -49,6 +49,7 @@
#include "InitialConnectTest.h" #include "InitialConnectTest.h"
#include "FTPManagerTest.h" #include "FTPManagerTest.h"
#include "MissionCommandTreeEditorTest.h" #include "MissionCommandTreeEditorTest.h"
#include "LandingComplexItemTest.h"
UT_REGISTER_TEST(FactSystemTestGeneric) UT_REGISTER_TEST(FactSystemTestGeneric)
UT_REGISTER_TEST(FactSystemTestPX4) UT_REGISTER_TEST(FactSystemTestPX4)
...@@ -84,6 +85,7 @@ UT_REGISTER_TEST(TransectStyleComplexItemTest) ...@@ -84,6 +85,7 @@ UT_REGISTER_TEST(TransectStyleComplexItemTest)
UT_REGISTER_TEST(QGCMapPolylineTest) UT_REGISTER_TEST(QGCMapPolylineTest)
UT_REGISTER_TEST(CameraCalcTest) UT_REGISTER_TEST(CameraCalcTest)
UT_REGISTER_TEST(FWLandingPatternTest) UT_REGISTER_TEST(FWLandingPatternTest)
UT_REGISTER_TEST(LandingComplexItemTest)
UT_REGISTER_TEST_STANDALONE(MissionCommandTreeEditorTest) UT_REGISTER_TEST_STANDALONE(MissionCommandTreeEditorTest)
// List of unit test which are currently disabled. // List of unit test which are currently disabled.
......
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