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Commit 59ddfdff authored by DonLakeFlyer's avatar DonLakeFlyer
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Support for vehicle yaw to structure

parent c6701173
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Showing with 99 additions and 24 deletions
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
View file @ 59ddfdff
......@@ -277,7 +277,8 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
<< MAV_CMD_DO_MOUNT_CONTROL
<< MAV_CMD_SET_CAMERA_MODE
<< MAV_CMD_IMAGE_START_CAPTURE << MAV_CMD_IMAGE_STOP_CAPTURE << MAV_CMD_VIDEO_START_CAPTURE << MAV_CMD_VIDEO_STOP_CAPTURE
<< MAV_CMD_NAV_DELAY;
<< MAV_CMD_NAV_DELAY
<< MAV_CMD_CONDITION_YAW;
return list;
}
......
src/MissionManager/CameraCalc.FactMetaData.json
View file @ 59ddfdff
......@@ -12,7 +12,7 @@
"min": 0.1,
"units": "m",
"decimalPlaces": 2,
"defaultValue": 100.0
"defaultValue": 10.0
},
{
"name": "ImageDensity",
......
src/MissionManager/StructureScanComplexItem.cc
View file @ 59ddfdff
......@@ -21,11 +21,12 @@
QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog")
const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan";
const char* StructureScanComplexItem::_altitudeFactName = "Altitude";
const char* StructureScanComplexItem::_layersFactName = "Layers";
const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc";
const char* StructureScanComplexItem::_jsonAltitudeRelativeKey = "altitudeRelative";
const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan";
const char* StructureScanComplexItem::_altitudeFactName = "Altitude";
const char* StructureScanComplexItem::_layersFactName = "Layers";
const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc";
const char* StructureScanComplexItem::_jsonAltitudeRelativeKey = "altitudeRelative";
const char* StructureScanComplexItem::_jsonYawVehicleToStructureKey = "yawVehicleToStructure";
QMap<QString, FactMetaData*> StructureScanComplexItem::_metaDataMap;
......@@ -40,6 +41,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
, _cameraShots (0)
, _cameraMinTriggerInterval (0)
, _cameraCalc (vehicle)
, _yawVehicleToStructure (true)
, _altitudeFact (0, _altitudeFactName, FactMetaData::valueTypeDouble)
, _layersFact (0, _layersFactName, FactMetaData::valueTypeUint32)
{
......@@ -73,6 +75,10 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_flightPathChanged);
connect(_cameraCalc.distanceToSurface(), &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_recalcCameraShots);
connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &StructureScanComplexItem::_recalcCameraShots);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcCameraShots);
}
void StructureScanComplexItem::_setScanDistance(double scanDistance)
......@@ -129,9 +135,10 @@ void StructureScanComplexItem::save(QJsonArray& missionItems)
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[_altitudeFactName] = _altitudeFact.rawValue().toDouble();
saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative;
saveObject[_layersFactName] = _layersFact.rawValue().toDouble();
saveObject[_altitudeFactName] = _altitudeFact.rawValue().toDouble();
saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative;
saveObject[_layersFactName] = _layersFact.rawValue().toDouble();
saveObject[_jsonYawVehicleToStructureKey] = _yawVehicleToStructure;
QJsonObject cameraCalcObject;
_cameraCalc.save(cameraCalcObject);
......@@ -162,6 +169,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
{ _jsonAltitudeRelativeKey, QJsonValue::Bool, false },
{ _layersFactName, QJsonValue::Double, true },
{ _jsonCameraCalcKey, QJsonValue::Object, true },
{ _jsonYawVehicleToStructureKey, QJsonValue::Bool, true },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
return false;
......@@ -187,6 +195,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
_altitudeFact.setRawValue (complexObject[_altitudeFactName].toDouble());
_layersFact.setRawValue (complexObject[_layersFactName].toDouble());
_altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true);
_yawVehicleToStructure = complexObject[_jsonYawVehicleToStructureKey].toBool(true);
if (!_cameraCalc.load(complexObject[_jsonCameraCalcKey].toObject(), errorString)) {
return false;
......@@ -231,19 +240,35 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
{
int seqNum = _sequenceNumber;
double baseAltitude = _altitudeFact.rawValue().toDouble();
MissionItem* item;
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_MOUNT_CONTROL,
MAV_FRAME_MISSION,
0, // Gimbal pitch
0, // Gimbal roll
90, // Gimbal yaw
0, 0, 0, // param 4-6 not used
MAV_MOUNT_MODE_MAVLINK_TARGETING,
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
if (_yawVehicleToStructure) {
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_CONDITION_YAW,
MAV_FRAME_MISSION,
90.0, // Target angle
0, // Use default turn rate
1, // Clockwise turn
0, // Absolute angle specified
0, 0, 0, // param 5-7 not used
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
} else {
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_MOUNT_CONTROL,
MAV_FRAME_MISSION,
0, // Gimbal pitch
0, // Gimbal roll
90, // Gimbal yaw
0, 0, 0, // param 4-6 not used
MAV_MOUNT_MODE_MAVLINK_TARGETING,
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
for (int layer=0; layer<_layersFact.rawValue().toInt(); layer++) {
bool addTriggerStart = true;
......@@ -386,3 +411,26 @@ void StructureScanComplexItem::_rebuildFlightPolygon(void)
_flightPolygon = _structurePolygon;
_flightPolygon.offset(_cameraCalc.distanceToSurface()->rawValue().toDouble());
}
void StructureScanComplexItem::_recalcCameraShots(void)
{
if (_flightPolygon.count() < 3) {
_setCameraShots(0);
return;
}
// Determine the distance for each polygon traverse
double distance = 0;
for (int i=0; i<_flightPolygon.count(); i++) {
QGeoCoordinate coord1 = _flightPolygon.vertexCoordinate(i);
QGeoCoordinate coord2 = _flightPolygon.vertexCoordinate(i + 1 == _flightPolygon.count() ? 0 : i + 1);
distance += coord1.distanceTo(coord2);
}
if (distance == 0.0) {
_setCameraShots(0);
return;
}
int cameraShots = distance / _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
_setCameraShots(cameraShots * _layersFact.rawValue().toInt());
}
src/MissionManager/StructureScanComplexItem.h
View file @ 59ddfdff
......@@ -36,6 +36,7 @@ public:
Q_PROPERTY(double cameraMinTriggerInterval MEMBER _cameraMinTriggerInterval NOTIFY cameraMinTriggerIntervalChanged)
Q_PROPERTY(QGCMapPolygon* structurePolygon READ structurePolygon CONSTANT)
Q_PROPERTY(QGCMapPolygon* flightPolygon READ flightPolygon CONSTANT)
Q_PROPERTY(bool yawVehicleToStructure MEMBER _yawVehicleToStructure NOTIFY yawVehicleToStructureChanged) ///< true: vehicle yaws to point to structure, false: gimbal yaws to point to structure
CameraCalc* cameraCalc (void) { return &_cameraCalc; }
Fact* altitude (void) { return &_altitudeFact; }
......@@ -91,6 +92,7 @@ signals:
void timeBetweenShotsChanged (void);
void cameraMinTriggerIntervalChanged(double cameraMinTriggerInterval);
void altitudeRelativeChanged (bool altitudeRelative);
void yawVehicleToStructureChanged (bool yawVehicleToStructure);
private slots:
void _setDirty(void);
......@@ -100,6 +102,7 @@ private slots:
void _clearInternal(void);
void _updateCoordinateAltitudes(void);
void _rebuildFlightPolygon(void);
void _recalcCameraShots(void);
private:
void _setExitCoordinate(const QGeoCoordinate& coordinate);
......@@ -121,6 +124,7 @@ private:
double _cameraMinTriggerInterval;
double _cruiseSpeed;
CameraCalc _cameraCalc;
bool _yawVehicleToStructure;
static QMap<QString, FactMetaData*> _metaDataMap;
......@@ -132,6 +136,7 @@ private:
static const char* _jsonCameraCalcKey;
static const char* _jsonAltitudeRelativeKey;
static const char* _jsonYawVehicleToStructureKey;
};
#endif
src/PlanView/StructureScanEditor.qml
View file @ 59ddfdff
......@@ -49,6 +49,11 @@ Rectangle {
QGCPalette { id: qgcPal; colorGroupEnabled: true }
ExclusiveGroup {
id: yawRadiosGroup
onCurrentChanged: missionItem.yawVehicleToStructure = yawVehicleRadio.checked
}
Column {
id: editorColumn
anchors.margins: _margin
......@@ -129,8 +134,24 @@ Rectangle {
}
QGCLabel { text: qsTr("Point camera to structure using:") }
QGCRadioButton { text: qsTr("Vehicle yaw"); enabled: false }
QGCRadioButton { text: qsTr("Gimbal yaw"); checked: true; enabled: false }
RowLayout {
spacing: _margin
QGCRadioButton {
id: yawVehicleRadio
text: qsTr("Vehicle yaw")
exclusiveGroup: yawRadiosGroup
checked: !!missionItem.yawVehicleToStructure
}
QGCRadioButton
{
text: qsTr("Gimbal yaw")
exclusiveGroup: yawRadiosGroup
checked: !missionItem.yawVehicleToStructure
}
}
QGCButton {
text: qsTr("Rotate entry point")
......
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