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Valentin Platzgummer
qgroundcontrol
Commits
5ffc7277
Commit
5ffc7277
authored
May 04, 2017
by
Don Gagne
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Plain Diff
Coordinates not being updated/signalled correctly
parent
2e3a5199
Changes
2
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Showing
2 changed files
with
11 additions
and
3 deletions
+11
-3
FixedWingLandingComplexItem.cc
src/MissionManager/FixedWingLandingComplexItem.cc
+8
-0
FixedWingLandingComplexItem.h
src/MissionManager/FixedWingLandingComplexItem.h
+3
-3
No files found.
src/MissionManager/FixedWingLandingComplexItem.cc
View file @
5ffc7277
...
...
@@ -90,6 +90,9 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
connect
(
this
,
&
FixedWingLandingComplexItem
::
loiterClockwiseChanged
,
this
,
&
FixedWingLandingComplexItem
::
_setDirty
);
connect
(
this
,
&
FixedWingLandingComplexItem
::
loiterAltitudeRelativeChanged
,
this
,
&
FixedWingLandingComplexItem
::
_setDirty
);
connect
(
this
,
&
FixedWingLandingComplexItem
::
landingAltitudeRelativeChanged
,
this
,
&
FixedWingLandingComplexItem
::
_setDirty
);
connect
(
this
,
&
FixedWingLandingComplexItem
::
loiterAltitudeRelativeChanged
,
this
,
&
FixedWingLandingComplexItem
::
coordinateHasRelativeAltitudeChanged
);
connect
(
this
,
&
FixedWingLandingComplexItem
::
landingAltitudeRelativeChanged
,
this
,
&
FixedWingLandingComplexItem
::
exitCoordinateHasRelativeAltitudeChanged
);
}
int
FixedWingLandingComplexItem
::
lastSequenceNumber
(
void
)
const
...
...
@@ -409,6 +412,7 @@ void FixedWingLandingComplexItem::_recalcFromRadiusChange(void)
double
angleLoiterToTangent
=
qRadiansToDegrees
(
qAsin
(
radius
/
landToLoiterDistance
))
*
(
_loiterClockwise
?
-
1
:
1
);
_loiterCoordinate
=
_landingCoordinate
.
atDistanceAndAzimuth
(
landToLoiterDistance
,
heading
+
180
+
angleLoiterToTangent
);
_loiterCoordinate
.
setAltitude
(
_loiterAltitudeFact
.
rawValue
().
toDouble
());
_ignoreRecalcSignals
=
true
;
emit
loiterCoordinateChanged
(
_loiterCoordinate
);
...
...
@@ -446,6 +450,7 @@ void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void)
// Use those values to get the new loiter point which takes heading into acount
_loiterCoordinate
=
_landingCoordinate
.
atDistanceAndAzimuth
(
loiterDistance
,
heading
+
180
+
loiterAzimuth
);
_loiterCoordinate
.
setAltitude
(
_loiterAltitudeFact
.
rawValue
().
toDouble
());
_ignoreRecalcSignals
=
true
;
emit
loiterTangentCoordinateChanged
(
_loiterTangentCoordinate
);
...
...
@@ -509,11 +514,14 @@ void FixedWingLandingComplexItem::_recalcFromCoordinateChange(void)
void
FixedWingLandingComplexItem
::
_updateLoiterCoodinateAltitudeFromFact
(
void
)
{
_loiterCoordinate
.
setAltitude
(
_loiterAltitudeFact
.
rawValue
().
toDouble
());
emit
loiterCoordinateChanged
(
_loiterCoordinate
);
emit
coordinateChanged
(
_loiterCoordinate
);
}
void
FixedWingLandingComplexItem
::
_updateLandingCoodinateAltitudeFromFact
(
void
)
{
_landingCoordinate
.
setAltitude
(
_landingAltitudeFact
.
rawValue
().
toDouble
());
emit
landingCoordinateChanged
(
_landingCoordinate
);
}
void
FixedWingLandingComplexItem
::
_setDirty
(
void
)
...
...
src/MissionManager/FixedWingLandingComplexItem.h
View file @
5ffc7277
...
...
@@ -78,9 +78,9 @@ public:
void
appendMissionItems
(
QList
<
MissionItem
*>&
items
,
QObject
*
missionItemParent
)
final
;
void
applyNewAltitude
(
double
newAltitude
)
final
;
bool
coordinateHasRelativeAltitude
(
void
)
const
final
{
return
tru
e
;
}
bool
exitCoordinateHasRelativeAltitude
(
void
)
const
final
{
return
tru
e
;
}
bool
exitCoordinateSameAsEntry
(
void
)
const
final
{
return
tru
e
;
}
bool
coordinateHasRelativeAltitude
(
void
)
const
final
{
return
_loiterAltitudeRelativ
e
;
}
bool
exitCoordinateHasRelativeAltitude
(
void
)
const
final
{
return
_landingAltitudeRelativ
e
;
}
bool
exitCoordinateSameAsEntry
(
void
)
const
final
{
return
fals
e
;
}
void
setDirty
(
bool
dirty
)
final
;
void
setCoordinate
(
const
QGeoCoordinate
&
coordinate
)
final
{
setLoiterCoordinate
(
coordinate
);
}
...
...
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