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Unverified Commit 513d2cd8 authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #8041 from DonLakeFlyer/LandTool 

Plan: Land tool
parents 07934419 5ad945af
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Showing with 184 additions and 242 deletions
src/FlightDisplay/GuidedActionsController.qml
View file @ 513d2cd8
......@@ -36,7 +36,7 @@ Item {
readonly property string emergencyStopTitle: qsTr("EMERGENCY STOP")
readonly property string armTitle: qsTr("Arm")
readonly property string disarmTitle: qsTr("Disarm")
readonly property string rtlTitle: qsTr("RTL")
readonly property string rtlTitle: qsTr("Return")
readonly property string takeoffTitle: qsTr("Takeoff")
readonly property string landTitle: qsTr("Land")
readonly property string startMissionTitle: qsTr("Start Mission")
......
src/MissionManager/CorridorScanPlanCreator.cc
View file @ 513d2cd8
......@@ -22,15 +22,7 @@ void CorridorScanPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord)
{
_planMasterController->removeAll();
VisualMissionItem* takeoffItem = _missionController->insertTakeoffItem(mapCenterCoord, -1);
takeoffItem->setWizardMode(true);
_missionController->insertComplexMissionItem(MissionController::patternCorridorScanName, mapCenterCoord, -1)->setWizardMode(true);
if (_planMasterController->managerVehicle()->fixedWing()) {
FixedWingLandingComplexItem* landingItem = qobject_cast<FixedWingLandingComplexItem*>(_missionController->insertComplexMissionItem(MissionController::patternFWLandingName, mapCenterCoord, -1));
landingItem->setWizardMode(true);
landingItem->setLoiterDragAngleOnly(true);
} else {
MissionSettingsItem* settingsItem = _missionController->visualItems()->value<MissionSettingsItem*>(0);
settingsItem->setMissionEndRTL(true);
}
_missionController->insertComplexMissionItem(MissionController::patternCorridorScanName, mapCenterCoord, -1);
_missionController->insertLandItem(mapCenterCoord, -1);
_missionController->setCurrentPlanViewIndex(takeoffItem->sequenceNumber(), true);
}
src/MissionManager/MissionController.cc
View file @ 513d2cd8
This diff is collapsed.
src/MissionManager/MissionController.h
View file @ 513d2cd8
......@@ -93,6 +93,7 @@ public:
Q_PROPERTY(QString corridorScanComplexItemName READ corridorScanComplexItemName CONSTANT)
Q_PROPERTY(QString structureScanComplexItemName READ structureScanComplexItemName CONSTANT)
Q_PROPERTY(bool isInsertTakeoffValid MEMBER _isInsertTakeoffValid NOTIFY isInsertTakeoffValidChanged) ///< true: Takeoff tool should be enabled
Q_PROPERTY(bool isInsertLandValid MEMBER _isInsertLandValid NOTIFY isInsertLandValidChanged) ///< true: Land tool should be enabled
Q_INVOKABLE void removeMissionItem(int index);
......@@ -110,6 +111,13 @@ public:
/// @return Newly created item
Q_INVOKABLE VisualMissionItem* insertTakeoffItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem = false);
/// Add a new land item to the list
/// @param coordinate: Coordinate for item
/// @param visualItemIndex: index to insert at, -1 for end of list
/// @param makeCurrentItem: true: Make this item the current item
/// @return Newly created item
Q_INVOKABLE VisualMissionItem* insertLandItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem = false);
/// Add a new ROI mission item to the list
/// @param coordinate: Coordinate for item
/// @param visualItemIndex: index to insert at, -1 for end of list
......@@ -245,6 +253,7 @@ signals:
void missionBoundingCubeChanged (void);
void missionItemCountChanged (int missionItemCount);
void isInsertTakeoffValidChanged (void);
void isInsertLandValidChanged (void);
private slots:
void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
......@@ -296,6 +305,7 @@ private:
void _initLoadedVisualItems(QmlObjectListModel* loadedVisualItems);
CoordinateVector* _addWaypointLineSegment(CoordVectHashTable& prevItemPairHashTable, VisualItemPair& pair);
void _addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum);
VisualMissionItem* _insertSimpleMissionItemWorker(QGeoCoordinate coordinate, MAV_CMD command, int visualItemIndex, bool makeCurrentItem);
void _insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int visualItemIndex, bool makeCurrentItem);
void _warnIfTerrainFrameUsed(void);
......@@ -321,6 +331,7 @@ private:
QGeoCoordinate _takeoffCoordinate;
CoordinateVector* _splitSegment;
bool _isInsertTakeoffValid = true;
bool _isInsertLandValid = true;
static const char* _settingsGroup;
......
src/MissionManager/MissionSettingsItem.cc
View file @ 513d2cd8
......@@ -45,7 +45,6 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, bool flyView, QObject
_speedSection.setAvailable(true);
connect(this, &MissionSettingsItem::specifyMissionFlightSpeedChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(this, &MissionSettingsItem::missionEndRTLChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(&_cameraSection, &CameraSection::itemCountChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(&_speedSection, &CameraSection::itemCountChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
......@@ -155,26 +154,9 @@ void MissionSettingsItem::appendMissionItems(QList<MissionItem*>& items, QObject
_speedSection.appendSectionItems(items, missionItemParent, seqNum);
}
bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& items, int seqNum, QObject* missionItemParent)
bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& /*items*/, int /*seqNum*/, QObject* /*missionItemParent*/)
{
MissionItem* item = nullptr;
// IMPORTANT NOTE: If anything changes here you must also change MissionSettingsItem::scanForMissionSettings
if (_missionEndRTL) {
qCDebug(MissionSettingsComplexItemLog) << "Appending end action RTL seqNum" << seqNum;
item = new MissionItem(seqNum,
MAV_CMD_NAV_RETURN_TO_LAUNCH,
MAV_FRAME_MISSION,
0, 0, 0, 0, 0, 0, 0, // param 1-7 not used
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
return true;
} else {
return false;
}
return false;
}
bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex)
......@@ -188,21 +170,6 @@ bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems
foundCameraSection = _cameraSection.scanForSection(visualItems, scanIndex);
foundSpeedSection = _speedSection.scanForSection(visualItems, scanIndex);
// Look at the end of the mission for end actions
int lastIndex = visualItems->count() - 1;
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(lastIndex);
if (item) {
MissionItem& missionItem = item->missionItem();
if (missionItem.command() == MAV_CMD_NAV_RETURN_TO_LAUNCH &&
missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
qCDebug(MissionSettingsComplexItemLog) << "Scan: Found end action RTL";
_missionEndRTL = true;
visualItems->removeAt(lastIndex)->deleteLater();
}
}
return foundSpeedSection || foundCameraSection;
}
......@@ -307,14 +274,6 @@ double MissionSettingsItem::specifiedFlightSpeed(void)
}
}
void MissionSettingsItem::setMissionEndRTL(bool missionEndRTL)
{
if (missionEndRTL != _missionEndRTL) {
_missionEndRTL = missionEndRTL;
emit missionEndRTLChanged(missionEndRTL);
}
}
void MissionSettingsItem::_setHomeAltFromTerrain(double terrainAltitude)
{
if (!_plannedHomePositionFromVehicle && !qIsNaN(terrainAltitude)) {
......
src/MissionManager/MissionSettingsItem.h
View file @ 513d2cd8
......@@ -27,17 +27,13 @@ public:
MissionSettingsItem(Vehicle* vehicle, bool flyView, QObject* parent);
Q_PROPERTY(Fact* plannedHomePositionAltitude READ plannedHomePositionAltitude CONSTANT)
Q_PROPERTY(bool missionEndRTL READ missionEndRTL WRITE setMissionEndRTL NOTIFY missionEndRTLChanged)
Q_PROPERTY(QObject* cameraSection READ cameraSection CONSTANT)
Q_PROPERTY(QObject* speedSection READ speedSection CONSTANT)
Fact* plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
bool missionEndRTL (void) const { return _missionEndRTL; }
CameraSection* cameraSection (void) { return &_cameraSection; }
SpeedSection* speedSection (void) { return &_speedSection; }
void setMissionEndRTL(bool missionEndRTL);
/// Scans the loaded items for settings items
bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex);
......@@ -96,7 +92,6 @@ public:
signals:
void specifyMissionFlightSpeedChanged (bool specifyMissionFlightSpeed);
void missionEndRTLChanged (bool missionEndRTL);
private slots:
void _setDirtyAndUpdateLastSequenceNumber (void);
......@@ -112,7 +107,6 @@ private:
int _sequenceNumber = 0;
bool _plannedHomePositionFromVehicle = false;
bool _plannedHomePositionMovedByUser = false;
bool _missionEndRTL = false;
CameraSection _cameraSection;
SpeedSection _speedSection;
......
src/MissionManager/StructureScanPlanCreator.cc
View file @ 513d2cd8
......@@ -22,15 +22,7 @@ void StructureScanPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord)
{
_planMasterController->removeAll();
VisualMissionItem* takeoffItem = _missionController->insertTakeoffItem(mapCenterCoord, -1);
takeoffItem->setWizardMode(true);
_missionController->insertComplexMissionItem(MissionController::patternStructureScanName, mapCenterCoord, -1)->setWizardMode(true);
if (_planMasterController->managerVehicle()->fixedWing()) {
FixedWingLandingComplexItem* landingItem = qobject_cast<FixedWingLandingComplexItem*>(_missionController->insertComplexMissionItem(MissionController::patternFWLandingName, mapCenterCoord, -1));
landingItem->setWizardMode(true);
landingItem->setLoiterDragAngleOnly(true);
} else {
MissionSettingsItem* settingsItem = _missionController->visualItems()->value<MissionSettingsItem*>(0);
settingsItem->setMissionEndRTL(true);
}
_missionController->insertLandItem(mapCenterCoord, -1);
_missionController->setCurrentPlanViewIndex(takeoffItem->sequenceNumber(), true);
}
src/MissionManager/SurveyPlanCreator.cc
View file @ 513d2cd8
......@@ -23,15 +23,7 @@ void SurveyPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord)
{
_planMasterController->removeAll();
VisualMissionItem* takeoffItem = _missionController->insertTakeoffItem(mapCenterCoord, -1);
takeoffItem->setWizardMode(true);
_missionController->insertComplexMissionItem(MissionController::patternSurveyName, mapCenterCoord, -1)->setWizardMode(true);
if (_planMasterController->managerVehicle()->fixedWing()) {
FixedWingLandingComplexItem* landingItem = qobject_cast<FixedWingLandingComplexItem*>(_missionController->insertComplexMissionItem(MissionController::patternFWLandingName, mapCenterCoord, -1));
landingItem->setWizardMode(true);
landingItem->setLoiterDragAngleOnly(true);
} else {
MissionSettingsItem* settingsItem = _missionController->visualItems()->value<MissionSettingsItem*>(0);
settingsItem->setMissionEndRTL(true);
}
_missionController->insertComplexMissionItem(MissionController::patternSurveyName, mapCenterCoord, -1);
_missionController->insertLandItem(mapCenterCoord, -1);
_missionController->setCurrentPlanViewIndex(takeoffItem->sequenceNumber(), true);
}
src/PlanView/MissionSettingsEditor.qml
View file @ 513d2cd8
......@@ -107,28 +107,6 @@ Rectangle {
visible: _showCameraSection && cameraSection.checked
}
SectionHeader {
id: missionEndHeader
anchors.left: parent.left
anchors.right: parent.right
text: qsTr("Mission End")
checked: true
}
Column {
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
visible: missionEndHeader.checked
QGCCheckBox {
text: qsTr("Return To Launch")
checked: missionItem.missionEndRTL
onClicked: missionItem.missionEndRTL = checked
}
}
SectionHeader {
id: vehicleInfoSectionHeader
anchors.left: parent.left
......
src/PlanView/PlanView.qml
View file @ 513d2cd8
......@@ -629,7 +629,8 @@ Item {
readonly property int waypointButtonIndex: 3
readonly property int roiButtonIndex: 4
readonly property int patternButtonIndex: 5
readonly property int centerButtonIndex: 6
readonly property int landButtonIndex: 6
readonly property int centerButtonIndex: 7
property bool _isRally: _editingLayer == _layerRallyPoints
......@@ -677,6 +678,12 @@ Item {
buttonVisible: !_isRally,
dropPanelComponent: _singleComplexItem ? undefined : patternDropPanel
},
{
name: _planMasterController.controllerVehicle.fixedWing ? qsTr("Land") : qsTr("Return"),
iconSource: "/res/rtl.svg",
buttonEnabled: _missionController.isInsertLandValid,
buttonVisible: _editingLayer == _layerMission
},
{
name: qsTr("Center"),
iconSource: "/qmlimages/MapCenter.svg",
......@@ -714,6 +721,9 @@ Item {
addComplexItem(_missionController.complexMissionItemNames[0])
}
break
case landButtonIndex:
_missionController.insertLandItem(mapCenter(), _missionController.currentMissionIndex, true /* makeCurrentItem */)
break
}
}
}
......@@ -1027,25 +1037,6 @@ Item {
}
}
}
Rectangle {
width: parent.width * 0.8
height: 1
color: qgcPal.text
opacity: 0.5
Layout.fillWidth: true
Layout.columnSpan: 2
}
QGCButton {
text: qsTr("Load KML/SHP...")
Layout.fillWidth: true
enabled: !_planMasterController.syncInProgress
onClicked: {
_planMasterController.loadShapeFromSelectedFile()
dropPanel.hide()
}
}
} // Column
}
......
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