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Commit 5357b349 authored by Don Gagne's avatar Don Gagne
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Merge pull request #1905 from DonLakeFlyer/MissionUnitTest 

Mission item Unit Test
parents 6b5e89ca 46582548
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Showing with 362 additions and 43 deletions
QGCApplication.pro
View file @ 5357b349
......@@ -511,40 +511,42 @@ INCLUDEPATH += \
src/qgcunittest
HEADERS += \
src/qgcunittest/FlightGearTest.h \
src/qgcunittest/MultiSignalSpy.h \
src/qgcunittest/TCPLinkTest.h \
src/qgcunittest/TCPLoopBackServer.h \
src/FactSystem/FactSystemTestBase.h \
src/FactSystem/FactSystemTestGeneric.h \
src/FactSystem/FactSystemTestPX4.h \
src/MissionItemTest.h \
src/qgcunittest/FileDialogTest.h \
src/qgcunittest/FileManagerTest.h \
src/qgcunittest/FlightGearTest.h \
src/qgcunittest/LinkManagerTest.h \
src/qgcunittest/MainWindowTest.h \
src/qgcunittest/MavlinkLogTest.h \
src/qgcunittest/MessageBoxTest.h \
src/qgcunittest/MultiSignalSpy.h \
src/qgcunittest/PX4RCCalibrationTest.h \
src/qgcunittest/TCPLinkTest.h \
src/qgcunittest/TCPLoopBackServer.h \
src/qgcunittest/UnitTest.h \
src/VehicleSetup/SetupViewTest.h \
src/qgcunittest/FileManagerTest.h \
src/qgcunittest/PX4RCCalibrationTest.h \
SOURCES += \
src/qgcunittest/FlightGearTest.cc \
src/qgcunittest/MultiSignalSpy.cc \
src/qgcunittest/TCPLinkTest.cc \
src/qgcunittest/TCPLoopBackServer.cc \
src/FactSystem/FactSystemTestBase.cc \
src/FactSystem/FactSystemTestGeneric.cc \
src/FactSystem/FactSystemTestPX4.cc \
src/MissionItemTest.cc \
src/qgcunittest/FileDialogTest.cc \
src/qgcunittest/FileManagerTest.cc \
src/qgcunittest/FlightGearTest.cc \
src/qgcunittest/LinkManagerTest.cc \
src/qgcunittest/MainWindowTest.cc \
src/qgcunittest/MavlinkLogTest.cc \
src/qgcunittest/MessageBoxTest.cc \
src/qgcunittest/MultiSignalSpy.cc \
src/qgcunittest/PX4RCCalibrationTest.cc \
src/qgcunittest/TCPLinkTest.cc \
src/qgcunittest/TCPLoopBackServer.cc \
src/qgcunittest/UnitTest.cc \
src/VehicleSetup/SetupViewTest.cc \
src/qgcunittest/FileManagerTest.cc \
src/qgcunittest/PX4RCCalibrationTest.cc \
} # DebugBuild|WindowsDebugAndRelease
} # MobileBuild
......
src/MissionEditor/MissionEditor.cc
View file @ 5357b349
......@@ -104,7 +104,8 @@ int MissionEditor::addMissionItem(QGeoCoordinate coordinate)
qWarning() << "addMissionItem called with _canEdit == false";
}
MissionItem * newItem = new MissionItem(this, _missionItems->count(), coordinate);
MissionItem * newItem = new MissionItem(this, _missionItems->count(), coordinate, MAV_CMD_NAV_WAYPOINT);
newItem->setAltitude(30);
if (_missionItems->count() == 0) {
newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
}
......
src/MissionItem.cc
View file @ 5357b349
......@@ -67,16 +67,17 @@ const MissionItem::MavCmd2Name_t MissionItem::_rgMavCmd2Name[_cMavCmd2Name] = {
MissionItem::MissionItem(QObject* parent,
int sequenceNumber,
QGeoCoordinate coordinate,
int command,
double param1,
double param2,
double param3,
double param4,
bool autocontinue,
bool isCurrentItem,
int frame,
int command)
int frame)
: QObject(parent)
, _sequenceNumber(sequenceNumber)
, _frame(-1) // Forces set of _altitudeRelativeToHomeFact
, _command((MavlinkQmlSingleton::Qml_MAV_CMD)command)
, _autocontinue(autocontinue)
, _isCurrentItem(isCurrentItem)
......@@ -219,7 +220,7 @@ void MissionItem::save(QTextStream &saveStream)
position = position.arg(y(), 0, 'g', 18);
position = position.arg(z(), 0, 'g', 18);
QString parameters("%1\t%2\t%3\t%4");
parameters = parameters.arg(param2(), 0, 'g', 18).arg(param2(), 0, 'g', 18).arg(loiterOrbitRadius(), 0, 'g', 18).arg(yawRadians(), 0, 'g', 18);
parameters = parameters.arg(param1(), 0, 'g', 18).arg(param2(), 0, 'g', 18).arg(loiterOrbitRadius(), 0, 'g', 18).arg(yawRadians(), 0, 'g', 18);
// FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE> <DESCRIPTION>
// as documented here: http://qgroundcontrol.org/waypoint_protocol
saveStream << this->sequenceNumber() << "\t" << this->isCurrentItem() << "\t" << this->frame() << "\t" << this->command() << "\t" << parameters << "\t" << position << "\t" << this->autoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n";
......@@ -280,7 +281,7 @@ void MissionItem::setZ(double z)
void MissionItem::setLatitude(double lat)
{
if (_latitudeFact->value().toDouble() != lat && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
if (_latitudeFact->value().toDouble() != lat)
{
_latitudeFact->setValue(lat);
emit changed(this);
......@@ -290,7 +291,7 @@ void MissionItem::setLatitude(double lat)
void MissionItem::setLongitude(double lon)
{
if (_longitudeFact->value().toDouble() != lon && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
if (_longitudeFact->value().toDouble() != lon)
{
_longitudeFact->setValue(lon);
emit changed(this);
......@@ -300,7 +301,7 @@ void MissionItem::setLongitude(double lon)
void MissionItem::setAltitude(double altitude)
{
if (_altitudeFact->value().toDouble() != altitude && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
if (_altitudeFact->value().toDouble() != altitude)
{
_altitudeFact->setValue(altitude);
emit changed(this);
......@@ -349,7 +350,7 @@ int MissionItem::frame(void) const
void MissionItem::setFrame(int /*MAV_FRAME*/ frame)
{
if (_frame != frame) {
_altitudeRelativeToHomeFact->setValue(_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT);
_altitudeRelativeToHomeFact->setValue(frame == MAV_FRAME_GLOBAL_RELATIVE_ALT);
_frame = frame;
emit changed(this);
}
......
src/MissionItem.h
View file @ 5357b349
......@@ -47,14 +47,14 @@ public:
MissionItem(QObject *parent = 0,
int sequenceNumber = 0,
QGeoCoordinate coordiante = QGeoCoordinate(),
int action = MAV_CMD_NAV_WAYPOINT,
double param1 = 0.0,
double param2 = 0.0,
double param3 = 0.0,
double param4 = 0.0,
bool autocontinue = true,
bool isCurrentItem = false,
int frame = MAV_FRAME_GLOBAL,
int action = MAV_CMD_NAV_WAYPOINT);
int frame = MAV_FRAME_GLOBAL_RELATIVE_ALT);
MissionItem(const MissionItem& other, QObject* parent = NULL);
~MissionItem();
......
src/MissionItemTest.cc 0 → 100644
View file @ 5357b349
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include "MissionItemTest.h"
UT_REGISTER_TEST(MissionItemTest)
const MissionItemTest::ItemInfo_t MissionItemTest::_rgItemInfo[] = {
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_UNLIM, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_TAKEOFF, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesWaypoint[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Radius:", 20.0 },
{ "Hold:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterUnlim[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Radius:", 30.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTurns[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Radius:", 30.0 },
{ "Turns:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTime[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Radius:", 30.0 },
{ "Seconds:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLand[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesTakeoff[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Pitch:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesConditionDelay[] = {
{ "Seconds:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesDoJump[] = {
{ "Seq #:", 10.0 },
{ "Repeat:", 20.0 },
};
const MissionItemTest::ItemExpected_t MissionItemTest::_rgItemExpected[] = {
{ "1\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesWaypoint)/sizeof(MissionItemTest::_rgFactValuesWaypoint[0]), MissionItemTest::_rgFactValuesWaypoint },
{ "1\t0\t3\t17\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(MissionItemTest::_rgFactValuesLoiterUnlim[0]), MissionItemTest::_rgFactValuesLoiterUnlim },
{ "1\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterTurns)/sizeof(MissionItemTest::_rgFactValuesLoiterTurns[0]), MissionItemTest::_rgFactValuesLoiterTurns },
{ "1\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterTime)/sizeof(MissionItemTest::_rgFactValuesLoiterTime[0]), MissionItemTest::_rgFactValuesLoiterTime },
{ "1\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLand)/sizeof(MissionItemTest::_rgFactValuesLand[0]), MissionItemTest::_rgFactValuesLand },
{ "1\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesTakeoff)/sizeof(MissionItemTest::_rgFactValuesTakeoff[0]), MissionItemTest::_rgFactValuesTakeoff },
{ "1\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesConditionDelay)/sizeof(MissionItemTest::_rgFactValuesConditionDelay[0]), MissionItemTest::_rgFactValuesConditionDelay },
{ "1\t0\t2\t177\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesDoJump)/sizeof(MissionItemTest::_rgFactValuesDoJump[0]), MissionItemTest::_rgFactValuesDoJump },
};
MissionItemTest::MissionItemTest(void)
{
}
void MissionItemTest::_test(void)
{
for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) {
const ItemInfo_t* info = &_rgItemInfo[i];
const ItemExpected_t* expected = &_rgItemExpected[i];
qDebug() << "Command:" << info->command;
MissionItem* item = new MissionItem(NULL,
info->sequenceNumber,
info->coordinate,
info->command,
info->param1,
info->param2,
info->param3,
info->param4,
info->autocontinue,
info->isCurrentItem,
info->frame);
// Validate the saving is working correctly
QString savedItemString;
QTextStream saveStream(&savedItemString, QIODevice::WriteOnly);
item->save(saveStream);
QCOMPARE(savedItemString, QString(expected->streamString));
// Validate that the fact values are correctly returned
size_t factCount = 0;
for (int i=0; i<item->textFieldFacts()->count(); i++) {
Fact* fact = qobject_cast<Fact*>(item->textFieldFacts()->get(i));
bool found = false;
for (size_t j=0; j<expected->cFactValues; j++) {
const FactValue_t* factValue = &expected->rgFactValues[j];
if (factValue->name == fact->name()) {
qDebug() << factValue->name;
QCOMPARE(fact->value().toDouble(), factValue->value);
factCount ++;
found = true;
break;
}
}
QVERIFY(found);
}
QCOMPARE(factCount, expected->cFactValues);
// Validate that loading is working correctly
MissionItem* loadedItem = new MissionItem();
QTextStream loadStream(&savedItemString, QIODevice::ReadOnly);
QVERIFY(loadedItem->load(loadStream));
//qDebug() << savedItemString;
QCOMPARE(loadedItem->coordinate().latitude(), item->coordinate().latitude());
QCOMPARE(loadedItem->coordinate().longitude(), item->coordinate().longitude());
QCOMPARE(loadedItem->coordinate().altitude(), item->coordinate().altitude());
QCOMPARE(loadedItem->command(), item->command());
QCOMPARE(loadedItem->param1(), item->param1());
QCOMPARE(loadedItem->param2(), item->param2());
QCOMPARE(loadedItem->param3(), item->param3());
QCOMPARE(loadedItem->param4(), item->param4());
QCOMPARE(loadedItem->autoContinue(), item->autoContinue());
QCOMPARE(loadedItem->isCurrentItem(), item->isCurrentItem());
QCOMPARE(loadedItem->frame(), item->frame());
delete item;
delete loadedItem;
}
}
src/MissionItemTest.h 0 → 100644
View file @ 5357b349
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef MissionItemTest_H
#define MissionItemTest_H
#include "UnitTest.h"
#include "TCPLink.h"
#include "MultiSignalSpy.h"
/// @file
/// @brief FlightGear HIL Simulation unit tests
///
/// @author Don Gagne <don@thegagnes.com>
class MissionItemTest : public UnitTest
{
Q_OBJECT
public:
MissionItemTest(void);
private slots:
void _test(void);
private:
typedef struct {
int sequenceNumber;
QGeoCoordinate coordinate;
int command;
double param1;
double param2;
double param3;
double param4;
bool autocontinue;
bool isCurrentItem;
int frame;
} ItemInfo_t;
typedef struct {
const char* name;
double value;
} FactValue_t;
typedef struct {
const char* streamString;
size_t cFactValues;
const FactValue_t* rgFactValues;
} ItemExpected_t;
static const ItemInfo_t _rgItemInfo[];
static const ItemExpected_t _rgItemExpected[];
static const FactValue_t _rgFactValuesWaypoint[];
static const FactValue_t _rgFactValuesLoiterUnlim[];
static const FactValue_t _rgFactValuesLoiterTurns[];
static const FactValue_t _rgFactValuesLoiterTime[];
static const FactValue_t _rgFactValuesLand[];
static const FactValue_t _rgFactValuesTakeoff[];
static const FactValue_t _rgFactValuesConditionDelay[];
static const FactValue_t _rgFactValuesDoJump[];
};
#endif
src/MissionManager/MissionManager.cc
View file @ 5357b349
......@@ -222,14 +222,14 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
MissionItem* item = new MissionItem(this,
missionItem.seq,
QGeoCoordinate(missionItem.x, missionItem.y, missionItem.z),
missionItem.command,
missionItem.param1,
missionItem.param2,
missionItem.param3,
missionItem.param3,
missionItem.autocontinue,
missionItem.current,
missionItem.frame,
missionItem.command);
missionItem.frame);
_missionItems.append(item);
if (!item->canEdit()) {
......
src/QGCApplication.cc
View file @ 5357b349
......@@ -162,7 +162,9 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
, _runningUnitTests(unitTesting)
, _styleIsDark(true)
, _fakeMobile(false)
, _useNewMissionEditor(false)
#ifdef UNITTEST_BUILD
, _useNewMissionEditor(true) // Unit Tests run new mission editor
#endif
#ifdef QT_DEBUG
, _testHighDPI(false)
#endif
......
src/uas/UASWaypointManager.cc
View file @ 5357b349
......@@ -199,14 +199,14 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
MissionItem *lwp_vo = new MissionItem(NULL,
wp->seq,
QGeoCoordinate(wp->x, wp->y, wp->z),
(MAV_CMD) wp->command,
wp->param1,
wp->param2,
wp->param3,
wp->param4,
wp->autocontinue,
wp->current,
(MAV_FRAME) wp->frame,
(MAV_CMD) wp->command);
(MAV_FRAME) wp->frame);
addWaypointViewOnly(lwp_vo);
......@@ -214,14 +214,14 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
MissionItem *lwp_ed = new MissionItem(NULL,
wp->seq,
QGeoCoordinate(wp->x, wp->y, wp->z),
(MAV_CMD) wp->command,
wp->param1,
wp->param2,
wp->param3,
wp->param4,
wp->autocontinue,
wp->current,
(MAV_FRAME) wp->frame,
(MAV_CMD) wp->command);
(MAV_FRAME) wp->frame);
addWaypointEditable(lwp_ed, false);
if (wp->current == 1) currentWaypointEditable = lwp_ed;
}
......@@ -256,14 +256,14 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
MissionItem *lwp_vo = new MissionItem(NULL,
wp->seq,
QGeoCoordinate(wp->x, wp->y, wp->z),
(MAV_CMD) wp->command,
wp->param1,
wp->param2,
wp->param3,
wp->param4,
wp->autocontinue,
wp->current,
(MAV_FRAME) wp->frame,
(MAV_CMD) wp->command);
(MAV_FRAME) wp->frame);
waypointsViewOnly.replace(wp->seq, lwp_vo);
emit waypointViewOnlyListChanged();
......
src/ui/WaypointList.cc
View file @ 5357b349
......@@ -304,9 +304,17 @@ void WaypointList::addEditable(bool onCurrentPosition)
} else {
updateStatusLabel(tr("Added default GLOBAL (Relative alt.) waypoint."));
}
wp = new MissionItem(NULL, 0,
wp = new MissionItem(NULL,
0,
QGeoCoordinate(uas->getLatitude(), uas->getLongitude(), uas->getAltitudeAMSL()),
0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
MAV_CMD_NAV_WAYPOINT,
0,
WPM->getAcceptanceRadiusRecommendation(),
0,
0,
true,
true,
(MAV_FRAME)WPM->getFrameRecommendation());
WPM->addWaypointEditable(wp);
} else {
......@@ -316,9 +324,17 @@ void WaypointList::addEditable(bool onCurrentPosition)
} else {
updateStatusLabel(tr("Added default GLOBAL (Relative alt.) waypoint."));
}
wp = new MissionItem(NULL, 0,
wp = new MissionItem(NULL,
0,
QGeoCoordinate(HomePositionManager::instance()->getHomeLatitude(), HomePositionManager::instance()->getHomeLongitude(), WPM->getAltitudeRecommendation()),
0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
MAV_CMD_NAV_WAYPOINT,
0,
WPM->getAcceptanceRadiusRecommendation(),
0,
0,
true,
true,
(MAV_FRAME)WPM->getFrameRecommendation());
WPM->addWaypointEditable(wp);
}
}
......@@ -327,15 +343,31 @@ void WaypointList::addEditable(bool onCurrentPosition)
if (onCurrentPosition)
{
updateStatusLabel(tr("Added default LOCAL (NED) waypoint."));
wp = new MissionItem(NULL, 0,
wp = new MissionItem(NULL,
0,
QGeoCoordinate(uas->getLocalX(), uas->getLocalY(), uas->getLocalZ()),
0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
MAV_CMD_NAV_WAYPOINT,
0,
WPM->getAcceptanceRadiusRecommendation(),
0,
0,
true,
true,
MAV_FRAME_LOCAL_NED);
WPM->addWaypointEditable(wp);
} else {
updateStatusLabel(tr("Added default LOCAL (NED) waypoint."));
wp = new MissionItem(0, 0,
wp = new MissionItem(0,
0,
QGeoCoordinate(0, 0, -0.50),
0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
MAV_CMD_NAV_WAYPOINT,
0,
WPM->getAcceptanceRadiusRecommendation(),
0,
0,
true,
true,
MAV_FRAME_LOCAL_NED);
WPM->addWaypointEditable(wp);
}
}
......@@ -343,9 +375,17 @@ void WaypointList::addEditable(bool onCurrentPosition)
{
// MAV connected, but position unknown, add default waypoint
updateStatusLabel(tr("WARNING: No position known. Adding default LOCAL (NED) waypoint"));
wp = new MissionItem(NULL, 0,
wp = new MissionItem(NULL,
0,
QGeoCoordinate(HomePositionManager::instance()->getHomeLatitude(), HomePositionManager::instance()->getHomeLongitude(), WPM->getAltitudeRecommendation()),
0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
MAV_CMD_NAV_WAYPOINT,
0,
WPM->getAcceptanceRadiusRecommendation(),
0,
0,
true,
true,
(MAV_FRAME)WPM->getFrameRecommendation());
WPM->addWaypointEditable(wp);
}
}
......@@ -353,9 +393,17 @@ void WaypointList::addEditable(bool onCurrentPosition)
{
//Since no UAV available, create first default waypoint.
updateStatusLabel(tr("No UAV connected. Adding default GLOBAL (NED) waypoint"));
wp = new MissionItem(NULL, 0,
wp = new MissionItem(NULL,
0,
QGeoCoordinate(HomePositionManager::instance()->getHomeLatitude(), HomePositionManager::instance()->getHomeLongitude(), WPM->getAltitudeRecommendation()),
0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
MAV_CMD_NAV_WAYPOINT,
0,
WPM->getAcceptanceRadiusRecommendation(),
0,
0,
true,
true,
(MAV_FRAME)WPM->getFrameRecommendation());
WPM->addWaypointEditable(wp);
}
}
......
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