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Commit 5ad945af authored by DonLakeFlyer's avatar DonLakeFlyer
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parent 34e49eab
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Showing with 182 additions and 171 deletions
src/FlightDisplay/GuidedActionsController.qml
View file @ 5ad945af
......@@ -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 @ 5ad945af
......@@ -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 @ 5ad945af
......@@ -351,13 +351,13 @@ int MissionController::_nextSequenceNumber(void)
}
}
VisualMissionItem* MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordinate coordinate, MAV_CMD command, int visualItemIndex, bool makeCurrentItem)
{
int sequenceNumber = _nextSequenceNumber();
SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, _flyView, this);
newItem->setSequenceNumber(sequenceNumber);
newItem->setCoordinate(coordinate);
newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
newItem->setCommand(command);
_initVisualItem(newItem);
if (newItem->specifiesAltitude()) {
......@@ -386,6 +386,12 @@ VisualMissionItem* MissionController::insertSimpleMissionItem(QGeoCoordinate coo
return newItem;
}
VisualMissionItem* MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
{
return _insertSimpleMissionItemWorker(coordinate, MAV_CMD_NAV_WAYPOINT, visualItemIndex, makeCurrentItem);
}
VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
{
int sequenceNumber = _nextSequenceNumber();
......@@ -423,49 +429,29 @@ VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate coordinat
return newItem;
}
VisualMissionItem* MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
VisualMissionItem* MissionController::insertLandItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
{
int sequenceNumber = _nextSequenceNumber();
SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, _flyView, this);
newItem->setSequenceNumber(sequenceNumber);
newItem->setCommand((_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_LOCATION) ?
MAV_CMD_DO_SET_ROI_LOCATION :
MAV_CMD_DO_SET_ROI));
_initVisualItem(newItem);
newItem->setCoordinate(coordinate);
double prevAltitude;
int prevAltitudeMode;
if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltitudeMode)) {
newItem->altitude()->setRawValue(prevAltitude);
newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
}
if (visualItemIndex == -1) {
_visualItems->append(newItem);
if (_managerVehicle->fixedWing()) {
FixedWingLandingComplexItem* fwLanding = qobject_cast<FixedWingLandingComplexItem*>(insertComplexMissionItem(MissionController::patternFWLandingName, coordinate, visualItemIndex, makeCurrentItem));
fwLanding->setLoiterDragAngleOnly(true);
return fwLanding;
} else {
_visualItems->insert(visualItemIndex, newItem);
}
_recalcAll();
if (makeCurrentItem) {
setCurrentPlanViewIndex(newItem->sequenceNumber(), true);
return _insertSimpleMissionItemWorker(coordinate, MAV_CMD_NAV_RETURN_TO_LAUNCH, visualItemIndex, makeCurrentItem);
}
}
return newItem;
VisualMissionItem* MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
{
MAV_CMD command = _controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_LOCATION) ?
MAV_CMD_DO_SET_ROI_LOCATION :
MAV_CMD_DO_SET_ROI;
return _insertSimpleMissionItemWorker(coordinate, command, visualItemIndex, makeCurrentItem);
}
VisualMissionItem* MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int visualItemIndex, bool makeCurrentItem)
{
ComplexMissionItem* newItem = nullptr;
// If the ComplexMissionItem is inserted first, add a TakeOff SimpleMissionItem
if (_visualItems->count() == 1 && (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() || _controllerVehicle->multiRotor())) {
insertSimpleMissionItem(mapCenterCoordinate, visualItemIndex);
visualItemIndex++;
}
if (itemName == patternSurveyName) {
newItem = new SurveyComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */);
newItem->setCoordinate(mapCenterCoordinate);
......@@ -509,8 +495,8 @@ void MissionController::_insertComplexMissionItemWorker(ComplexMissionItem* comp
{
int sequenceNumber = _nextSequenceNumber();
bool surveyStyleItem = qobject_cast<SurveyComplexItem*>(complexItem) ||
qobject_cast<CorridorScanComplexItem*>(complexItem) ||
qobject_cast<StructureScanComplexItem*>(complexItem);
qobject_cast<CorridorScanComplexItem*>(complexItem) ||
qobject_cast<StructureScanComplexItem*>(complexItem);
if (surveyStyleItem) {
bool rollSupported = false;
......@@ -539,6 +525,7 @@ void MissionController::_insertComplexMissionItemWorker(ComplexMissionItem* comp
}
complexItem->setSequenceNumber(sequenceNumber);
complexItem->setWizardMode(true);
_initVisualItem(complexItem);
if (visualItemIndex == -1) {
......@@ -1168,12 +1155,14 @@ CoordinateVector* MissionController::_addWaypointLineSegment(CoordVectHashTable&
void MissionController::_recalcWaypointLines(void)
{
int segmentCount = 0;
VisualItemPair lastSegmentVisualItemPair;
bool firstCoordinateItem = true;
VisualMissionItem* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
bool homePositionValid = _settingsItem->coordinate().isValid();
int segmentCount = 0;
bool firstCoordinateNotFound = true;
VisualMissionItem* lastCoordinateItemBeforeRTL = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
bool linkEndToHome = false;
bool linkStartToHome = _managerVehicle->rover() ? true : false;
bool foundRTL = false;
bool homePositionValid = _settingsItem->coordinate().isValid();
qCDebug(MissionControllerLog) << "_recalcWaypointLines homePositionValid" << homePositionValid;
......@@ -1188,32 +1177,44 @@ void MissionController::_recalcWaypointLines(void)
_waypointLines.clear();
_directionArrows.clear();
bool linkEndToHome;
SimpleMissionItem* lastItem = _visualItems->value<SimpleMissionItem*>(_visualItems->count() - 1);
if (lastItem && (int)lastItem->command() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
linkEndToHome = true;
} else {
linkEndToHome = _settingsItem->missionEndRTL();
}
// Grovel through the list of items keeping track of things needed to correctly draw waypoints lines
bool linkStartToHome = false;
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
// If we still haven't found the first coordinate item and we hit a takeoff command this means the mission starts from the ground.
// Link the first item back to home to show that.
if (firstCoordinateItem && item->isSimpleItem()) {
MAV_CMD command = (MAV_CMD)qobject_cast<SimpleMissionItem*>(item)->command();
if (command == MAV_CMD_NAV_TAKEOFF || command == MAV_CMD_NAV_VTOL_TAKEOFF) {
linkStartToHome = true;
if (simpleItem) {
MAV_CMD command = simpleItem->mavCommand();
switch (command) {
case MAV_CMD_NAV_TAKEOFF:
case MAV_CMD_NAV_VTOL_TAKEOFF:
if (!linkEndToHome) {
// If we still haven't found the first coordinate item and we hit a takeoff command this means the mission starts from the ground.
// Link the first item back to home to show that.
if (firstCoordinateNotFound) {
linkStartToHome = true;
}
}
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
linkEndToHome = true;
foundRTL = true;
break;
default:
break;
}
}
if (item->specifiesCoordinate() && !item->isStandaloneCoordinate()) {
if (lastCoordinateItem != _settingsItem || (homePositionValid && linkStartToHome)) {
// No need to add waypoint segments after an RTL.
if (foundRTL) {
break;
}
if (visualItem->specifiesCoordinate() && !visualItem->isStandaloneCoordinate()) {
if (lastCoordinateItemBeforeRTL != _settingsItem || (homePositionValid && linkStartToHome)) {
// Direction arrows are added to the first segment and every 5 segments in the middle.
bool addDirectionArrow = false;
if (firstCoordinateItem || !lastCoordinateItem->isSimpleItem() || !item->isSimpleItem()) {
if (firstCoordinateNotFound || !lastCoordinateItemBeforeRTL->isSimpleItem() || !visualItem->isSimpleItem()) {
addDirectionArrow = true;
} else if (segmentCount > 5) {
segmentCount = 0;
......@@ -1221,7 +1222,7 @@ void MissionController::_recalcWaypointLines(void)
}
segmentCount++;
lastSegmentVisualItemPair = VisualItemPair(lastCoordinateItem, item);
lastSegmentVisualItemPair = VisualItemPair(lastCoordinateItemBeforeRTL, visualItem);
if (!_flyView || addDirectionArrow) {
CoordinateVector* coordVector = _addWaypointLineSegment(old_table, lastSegmentVisualItemPair);
if (addDirectionArrow) {
......@@ -1229,9 +1230,9 @@ void MissionController::_recalcWaypointLines(void)
}
}
}
firstCoordinateItem = false;
_waypointPath.append(QVariant::fromValue(item->coordinate()));
lastCoordinateItem = item;
firstCoordinateNotFound = false;
_waypointPath.append(QVariant::fromValue(visualItem->coordinate()));
lastCoordinateItemBeforeRTL = visualItem;
}
}
......@@ -1239,8 +1240,8 @@ void MissionController::_recalcWaypointLines(void)
_waypointPath.prepend(QVariant::fromValue(_settingsItem->coordinate()));
}
if (linkEndToHome && lastCoordinateItem != _settingsItem && homePositionValid) {
lastSegmentVisualItemPair = VisualItemPair(lastCoordinateItem, _settingsItem);
if (linkEndToHome && lastCoordinateItemBeforeRTL != _settingsItem && homePositionValid) {
lastSegmentVisualItemPair = VisualItemPair(lastCoordinateItemBeforeRTL, _settingsItem);
if (_flyView) {
_waypointPath.append(QVariant::fromValue(_settingsItem->coordinate()));
}
......@@ -1256,7 +1257,7 @@ void MissionController::_recalcWaypointLines(void)
if (_linesTable.contains(lastSegmentVisualItemPair)) {
// Pair exists in the new table already just reuse it
coordVector = _linesTable[lastSegmentVisualItemPair];
coordVector = _linesTable[lastSegmentVisualItemPair];
} else if (old_table.contains(lastSegmentVisualItemPair)) {
// Pair already exists in old table, pull from old to new and reuse
_linesTable[lastSegmentVisualItemPair] = coordVector = old_table.take(lastSegmentVisualItemPair);
......@@ -1366,10 +1367,10 @@ void MissionController::_recalcMissionFlightStatus()
return;
}
bool firstCoordinateItem = true;
VisualMissionItem* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
bool firstCoordinateItem = true;
VisualMissionItem* lastCoordinateItemBeforeRTL = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
bool showHomePosition = _settingsItem->coordinate().isValid();
bool homePositionValid = _settingsItem->coordinate().isValid();
qCDebug(MissionControllerLog) << "_recalcMissionFlightStatus";
......@@ -1378,9 +1379,9 @@ void MissionController::_recalcMissionFlightStatus()
// both relative altitude.
// No values for first item
lastCoordinateItem->setAltDifference(0.0);
lastCoordinateItem->setAzimuth(0.0);
lastCoordinateItem->setDistance(0.0);
lastCoordinateItemBeforeRTL->setAltDifference(0.0);
lastCoordinateItemBeforeRTL->setAzimuth(0.0);
lastCoordinateItemBeforeRTL->setDistance(0.0);
double minAltSeen = 0.0;
double maxAltSeen = 0.0;
......@@ -1391,21 +1392,16 @@ void MissionController::_recalcMissionFlightStatus()
bool vtolInHover = true;
bool linkStartToHome = false;
bool linkEndToHome = false;
if (showHomePosition) {
SimpleMissionItem* lastItem = _visualItems->value<SimpleMissionItem*>(_visualItems->count() - 1);
if (lastItem && (int)lastItem->command() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
linkEndToHome = true;
} else {
linkEndToHome = _settingsItem->missionEndRTL();
}
}
bool foundRTL = false;
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(item);
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(item);
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(item);
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(item);
if (simpleItem && simpleItem->mavCommand() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
foundRTL = true;
}
// Assume the worst
item->setAzimuth(0.0);
......@@ -1443,9 +1439,14 @@ void MissionController::_recalcMissionFlightStatus()
continue;
}
if (foundRTL) {
// No more vehicle distances after RTL
continue;
}
// Link back to home if first item is takeoff and we have home position
if (firstCoordinateItem && simpleItem && (simpleItem->command() == MAV_CMD_NAV_TAKEOFF || simpleItem->command() == MAV_CMD_NAV_VTOL_TAKEOFF)) {
if (showHomePosition) {
if (firstCoordinateItem && simpleItem && (simpleItem->mavCommand() == MAV_CMD_NAV_TAKEOFF || simpleItem->mavCommand() == MAV_CMD_NAV_VTOL_TAKEOFF)) {
if (homePositionValid) {
linkStartToHome = true;
if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
// We have to special case takeoff, assuming vehicle takes off straight up to specified altitude
......@@ -1509,16 +1510,16 @@ void MissionController::_recalcMissionFlightStatus()
firstCoordinateItem = false;
// Update vehicle yaw assuming direction to next waypoint
if (item != lastCoordinateItem) {
_missionFlightStatus.vehicleYaw = lastCoordinateItem->exitCoordinate().azimuthTo(item->coordinate());
lastCoordinateItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
if (item != lastCoordinateItemBeforeRTL) {
_missionFlightStatus.vehicleYaw = lastCoordinateItemBeforeRTL->exitCoordinate().azimuthTo(item->coordinate());
lastCoordinateItemBeforeRTL->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
}
if (lastCoordinateItem != _settingsItem || linkStartToHome) {
if (lastCoordinateItemBeforeRTL != _settingsItem || linkStartToHome) {
// This is a subsequent waypoint or we are forcing the first waypoint back to home
double azimuth, distance, altDifference;
_calcPrevWaypointValues(homePositionAltitude, item, lastCoordinateItem, &azimuth, &distance, &altDifference);
_calcPrevWaypointValues(homePositionAltitude, item, lastCoordinateItemBeforeRTL, &azimuth, &distance, &altDifference);
item->setAltDifference(altDifference);
item->setAzimuth(azimuth);
item->setDistance(distance);
......@@ -1543,15 +1544,16 @@ void MissionController::_recalcMissionFlightStatus()
item->setMissionFlightStatus(_missionFlightStatus);
lastCoordinateItem = item;
lastCoordinateItemBeforeRTL = item;
}
}
}
lastCoordinateItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
lastCoordinateItemBeforeRTL->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
if (linkEndToHome && lastCoordinateItem != _settingsItem) {
// Add the information for the final segment back to home
if (foundRTL && lastCoordinateItemBeforeRTL != _settingsItem && homePositionValid) {
double azimuth, distance, altDifference;
_calcPrevWaypointValues(homePositionAltitude, lastCoordinateItem, _settingsItem, &azimuth, &distance, &altDifference);
_calcPrevWaypointValues(homePositionAltitude, lastCoordinateItemBeforeRTL, _settingsItem, &azimuth, &distance, &altDifference);
// Calculate time/distance
double hoverTime = distance / _missionFlightStatus.hoverSpeed;
......@@ -1621,7 +1623,7 @@ void MissionController::_recalcSequence(void)
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
item->setSequenceNumber(sequenceNumber);
sequenceNumber = item->lastSequenceNumber() + 1;
}
}
_inRecalcSequence = false;
}
......@@ -1710,7 +1712,6 @@ void MissionController::_initAllVisualItems(void)
_settingsItem->setHomePositionFromVehicle(_managerVehicle);
connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::_recalcAll);
connect(_settingsItem, &MissionSettingsItem::missionEndRTLChanged, this, &MissionController::_recalcAll);
connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::plannedHomePositionChanged);
for (int i=0; i<_visualItems->count(); i++) {
......@@ -2078,9 +2079,6 @@ QStringList MissionController::complexMissionItemNames(void) const
complexItems.append(patternSurveyName);
complexItems.append(patternCorridorScanName);
if (_controllerVehicle->fixedWing()) {
complexItems.append(patternFWLandingName);
}
if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
complexItems.append(patternStructureScanName);
}
......@@ -2183,10 +2181,14 @@ VisualMissionItem* MissionController::currentPlanViewItem(void) const
void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
{
if (_visualItems && (force || sequenceNumber != _currentPlanViewIndex)) {
bool foundLand = false;
int takeoffIndex = -1;
_splitSegment = nullptr;
_currentPlanViewItem = nullptr;
_currentPlanViewIndex = -1;
_isInsertTakeoffValid = true;
_isInsertLandValid = true;
for (int i = 0; i < _visualItems->count(); i++) {
VisualMissionItem* pVI = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
......@@ -2199,10 +2201,31 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
}
if (qobject_cast<TakeoffMissionItem*>(pVI)) {
// Already contains a takeoff command
takeoffIndex = i;
_isInsertTakeoffValid = false;
}
if (!foundLand) {
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(pVI);
if (simpleItem) {
switch (simpleItem->mavCommand()) {
case MAV_CMD_NAV_LAND:
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_DO_LAND_START:
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
foundLand = true;
break;
default:
break;
}
} else {
FixedWingLandingComplexItem* fwLanding = qobject_cast<FixedWingLandingComplexItem*>(pVI);
if (fwLanding) {
foundLand = true;
}
}
}
if (pVI->sequenceNumber() == sequenceNumber) {
pVI->setIsCurrentItem(true);
_currentPlanViewItem = pVI;
......@@ -2225,10 +2248,20 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
}
}
if (takeoffIndex != -1 && sequenceNumber <= takeoffIndex) {
// Takeoff item was found which means mission starts from ground.
// Land is only valid after the takeoff item.
_isInsertLandValid = false;
} else if (foundLand) {
// Can't have to land sequences
_isInsertLandValid = false;
}
emit currentPlanViewIndexChanged();
emit currentPlanViewItemChanged();
emit splitSegmentChanged();
emit isInsertTakeoffValidChanged();
emit isInsertLandValidChanged();
}
}
......@@ -2252,23 +2285,23 @@ void MissionController::_updateTimeout()
case MAV_CMD_NAV_TAKEOFF:
case MAV_CMD_NAV_WAYPOINT:
case MAV_CMD_NAV_LAND:
if(pSimpleItem->coordinate().isValid()) {
if((MAV_CMD)pSimpleItem->command() == MAV_CMD_NAV_TAKEOFF) {
takeoffCoordinate = pSimpleItem->coordinate();
} else if(!firstCoordinate.isValid()) {
firstCoordinate = pSimpleItem->coordinate();
if(pSimpleItem->coordinate().isValid()) {
if((MAV_CMD)pSimpleItem->command() == MAV_CMD_NAV_TAKEOFF) {
takeoffCoordinate = pSimpleItem->coordinate();
} else if(!firstCoordinate.isValid()) {
firstCoordinate = pSimpleItem->coordinate();
}
double lat = pSimpleItem->coordinate().latitude() + 90.0;
double lon = pSimpleItem->coordinate().longitude() + 180.0;
double alt = pSimpleItem->coordinate().altitude();
north = fmax(north, lat);
south = fmin(south, lat);
east = fmax(east, lon);
west = fmin(west, lon);
minAlt = fmin(minAlt, alt);
maxAlt = fmax(maxAlt, alt);
}
double lat = pSimpleItem->coordinate().latitude() + 90.0;
double lon = pSimpleItem->coordinate().longitude() + 180.0;
double alt = pSimpleItem->coordinate().altitude();
north = fmax(north, lat);
south = fmin(south, lat);
east = fmax(east, lon);
west = fmin(west, lon);
minAlt = fmin(minAlt, alt);
maxAlt = fmax(maxAlt, alt);
}
break;
break;
default:
break;
}
......@@ -2301,8 +2334,8 @@ void MissionController::_updateTimeout()
}
//-- Build bounding "cube"
boundingCube = QGCGeoBoundingCube(
QGeoCoordinate(north - 90.0, west - 180.0, minAlt),
QGeoCoordinate(south - 90.0, east - 180.0, maxAlt));
QGeoCoordinate(north - 90.0, west - 180.0, minAlt),
QGeoCoordinate(south - 90.0, east - 180.0, maxAlt));
if(_travelBoundingCube != boundingCube || _takeoffCoordinate != takeoffCoordinate) {
_takeoffCoordinate = takeoffCoordinate;
_travelBoundingCube = boundingCube;
......
src/MissionManager/MissionController.h
View file @ 5ad945af
......@@ -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/StructureScanPlanCreator.cc
View file @ 5ad945af
......@@ -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 @ 5ad945af
......@@ -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/PlanView.qml
View file @ 5ad945af
......@@ -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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