Merge pull request #6722 from DonLakeFlyer/StructurePitch

Structure Scan: Add ability to set Gimbal Pitch on manual scan

src/MissionManager/StructureScan.SettingsGroup.json

@@ -9,16 +9,6 @@
     "decimalPlaces":    0,
     "defaultValue":     0
 },
-{
-    "name":             "GimbalYaw",
-    "shortDescription": "Gimbal yaw rotation.",
-    "type":             "double",
-    "units":            "deg",
-    "min":              -180.0,
-    "max":              180.0,
-    "decimalPlaces":    0,
-    "defaultValue":     90
-},
 {
     "name":             "Altitude",
     "shortDescription": "Altitude for the bottom layer of the structure scan.",
@@ -41,32 +31,5 @@
     "units":            "m",
     "min":              1,
     "defaultValue":     100
-},
-{
-    "name":             "Layer distance",
-    "shortDescription": "Distance between each layer.",
-    "type":             "double",
-    "decimalPlaces":    2,
-    "min":              0,
-    "units":            "m",
-    "defaultValue":     25
-},
-{
-    "name":             "Scan distance",
-    "shortDescription": "Scan distance away from structure.",
-    "type":             "double",
-    "decimalPlaces":    2,
-    "min":              0,
-    "units":            "m",
-    "defaultValue":     25
-},
-{
-    "name":             "Trigger distance",
-    "shortDescription": "Distance between each triggering of the camera. 0 specifies not camera trigger.",
-    "type":             "double",
-    "decimalPlaces":    2,
-    "min":              0,
-    "units":            "m",
-    "defaultValue":     25
 }
 ]

src/MissionManager/StructureScanComplexItem.cc

@@ -25,6 +25,7 @@ const char* StructureScanComplexItem::settingsGroup =               "StructureSc
 const char* StructureScanComplexItem::altitudeName =                "Altitude";
 const char* StructureScanComplexItem::structureHeightName =         "StructureHeight";
 const char* StructureScanComplexItem::layersName =                  "Layers";
+const char* StructureScanComplexItem::gimbalPitchName =             "GimbalPitch";
 
 const char* StructureScanComplexItem::jsonComplexItemTypeValue =    "StructureScan";
 const char* StructureScanComplexItem::_jsonCameraCalcKey =          "CameraCalc";
@@ -44,6 +45,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
     , _altitudeFact             (settingsGroup, _metaDataMap[altitudeName])
     , _structureHeightFact      (settingsGroup, _metaDataMap[structureHeightName])
     , _layersFact               (settingsGroup, _metaDataMap[layersName])
+    , _gimbalPitchFact          (settingsGroup, _metaDataMap[gimbalPitchName])
 {
     _editorQml = "qrc:/qml/StructureScanEditor.qml";
 
@@ -51,6 +53,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
 
     connect(&_altitudeFact,     &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
     connect(&_layersFact,       &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
+    connect(&_gimbalPitchFact,  &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
 
     connect(&_layersFact,                           &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);
     connect(&_structureHeightFact,                  &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);
@@ -76,6 +79,8 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
     connect(_cameraCalc.adjustedFootprintSide(),    &Fact::valueChanged,            this, &StructureScanComplexItem::_recalcCameraShots);
     connect(&_layersFact,                           &Fact::valueChanged,            this, &StructureScanComplexItem::_recalcCameraShots);
 
+    connect(&_cameraCalc, &CameraCalc::isManualCameraChanged, this, &StructureScanComplexItem::_updateGimbalPitch);
+
     _recalcLayerInfo();
 
     if (!kmlFile.isEmpty()) {
@@ -147,9 +152,10 @@ void StructureScanComplexItem::save(QJsonArray&  missionItems)
     saveObject[ComplexMissionItem::jsonComplexItemTypeKey] =    jsonComplexItemTypeValue;
 
     saveObject[altitudeName] =              _altitudeFact.rawValue().toDouble();
-    saveObject[structureHeightName] =      _structureHeightFact.rawValue().toDouble();
-    saveObject[_jsonAltitudeRelativeKey] =   _altitudeRelative;
+    saveObject[structureHeightName] =       _structureHeightFact.rawValue().toDouble();
+    saveObject[_jsonAltitudeRelativeKey] =  _altitudeRelative;
     saveObject[layersName] =                _layersFact.rawValue().toDouble();
+    saveObject[gimbalPitchName] =           _gimbalPitchFact.rawValue().toDouble();
 
     QJsonObject cameraCalcObject;
     _cameraCalc.save(cameraCalcObject);
@@ -180,6 +186,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
         { structureHeightName,                          QJsonValue::Double, true },
         { _jsonAltitudeRelativeKey,                     QJsonValue::Bool,   true },
         { layersName,                                   QJsonValue::Double, true },
+        { gimbalPitchName,                              QJsonValue::Double, false },    // This value was added after initial implementation so may be missing from older files
         { _jsonCameraCalcKey,                           QJsonValue::Object, true },
     };
     if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
@@ -212,6 +219,12 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
     _layersFact.setRawValue     (complexObject[layersName].toDouble());
     _altitudeRelative =         complexObject[_jsonAltitudeRelativeKey].toBool(true);
 
+    double gimbalPitchValue = 0;
+    if (complexObject.contains(gimbalPitchName)) {
+        gimbalPitchValue = complexObject[gimbalPitchName].toDouble();
+    }
+    _gimbalPitchFact.setRawValue(gimbalPitchValue);
+
     if (!_structurePolygon.loadFromJson(complexObject, true /* required */, errorString)) {
         _structurePolygon.clear();
         return false;
@@ -256,11 +269,12 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
     MissionItem* item = new MissionItem(seqNum++,
                                         MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET,
                                         MAV_FRAME_MISSION,
-                                        0, 0, 0, 0,                         // param 1-4 not used
-                                        0, 0,                               // Pitch and Roll stay in standard orientation
-                                        90,                                 // 90 degreee yaw offset to point to structure
-                                        true,                               // autoContinue
-                                        false,                              // isCurrentItem
+                                        0, 0, 0, 0,                             // param 1-4 not used
+                                        _gimbalPitchFact.rawValue().toDouble(),
+                                        0,                                      // Roll stays in standard orientation
+                                        90,                                     // 90 degreee yaw offset to point to structure
+                                        true,                                   // autoContinue
+                                        false,                                  // isCurrentItem
                                         missionItemParent);
     items.append(item);
 
@@ -464,3 +478,10 @@ void StructureScanComplexItem::_recalcLayerInfo(void)
         _layersFact.setSendValueChangedSignals(true);
     }
 }
+
+void StructureScanComplexItem::_updateGimbalPitch(void)
+{
+    if (!_cameraCalc.isManualCamera()) {
+        _gimbalPitchFact.setRawValue(0);
+    }
+}

src/MissionManager/StructureScanComplexItem.h

@@ -34,6 +34,7 @@ public:
     Q_PROPERTY(Fact*            altitude                    READ altitude                                                   CONSTANT)
     Q_PROPERTY(Fact*            structureHeight             READ structureHeight                                            CONSTANT)
     Q_PROPERTY(Fact*            layers                      READ layers                                                     CONSTANT)
+    Q_PROPERTY(Fact*            gimbalPitch                 READ gimbalPitch                                                CONSTANT)
     Q_PROPERTY(bool             altitudeRelative            READ altitudeRelative           WRITE setAltitudeRelative       NOTIFY altitudeRelativeChanged)
     Q_PROPERTY(int              cameraShots                 READ cameraShots                                                NOTIFY cameraShotsChanged)
     Q_PROPERTY(double           timeBetweenShots            READ timeBetweenShots                                           NOTIFY timeBetweenShotsChanged)
@@ -44,6 +45,7 @@ public:
     Fact* altitude          (void) { return &_altitudeFact; }
     Fact* structureHeight   (void) { return &_structureHeightFact; }
     Fact* layers            (void) { return &_layersFact; }
+    Fact* gimbalPitch       (void) { return &_gimbalPitchFact; }
 
     bool            altitudeRelative        (void) const { return _altitudeRelative; }
     int             cameraShots             (void) const;
@@ -98,6 +100,7 @@ public:
     static const char* altitudeName;
     static const char* structureHeightName;
     static const char* layersName;
+    static const char* gimbalPitchName;
 
 signals:
     void cameraShotsChanged             (int cameraShots);
@@ -114,6 +117,7 @@ private slots:
     void _recalcCameraShots         (void);
     void _recalcLayerInfo           (void);
     void _updateLastSequenceNumber  (void);
+    void _updateGimbalPitch         (void);
 
 private:
     void _setExitCoordinate(const QGeoCoordinate& coordinate);
@@ -141,6 +145,7 @@ private:
     SettingsFact    _altitudeFact;
     SettingsFact    _structureHeightFact;
     SettingsFact    _layersFact;
+    SettingsFact    _gimbalPitchFact;
 
     static const char* _jsonCameraCalcKey;
     static const char* _jsonAltitudeRelativeKey;

src/PlanView/StructureScanEditor.qml

@@ -126,6 +126,16 @@ Rectangle {
                     Layout.fillWidth:   true
                 }
 
+                QGCLabel {
+                    text:       qsTr("Gimbal pitch")
+                    visible:    missionItem.cameraCalc.isManualCamera
+                }
+                FactTextField {
+                    fact:               missionItem.gimbalPitch
+                    Layout.fillWidth:   true
+                    visible:            missionItem.cameraCalc.isManualCamera
+                }
+
                 QGCCheckBox {
                     text:               qsTr("Relative altitude")
                     checked:            missionItem.altitudeRelative