Mission plan: support for pixhawk MAV_CMD_NAV_SWEEP

qgroundcontrol.pro

@@ -246,7 +246,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/mission/QGCMissionNavLoiterTime.ui \
     src/ui/mission/QGCMissionNavReturnToLaunch.ui \
     src/ui/mission/QGCMissionNavLand.ui \
-    src/ui/mission/QGCMissionNavTakeoff.ui
+    src/ui/mission/QGCMissionNavTakeoff.ui \
+    src/ui/mission/QGCMissionNavSweep.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -377,7 +378,8 @@ HEADERS += src/MG.h \
     src/ui/mission/QGCMissionNavLoiterTime.h \
     src/ui/mission/QGCMissionNavReturnToLaunch.h \
     src/ui/mission/QGCMissionNavLand.h \
-    src/ui/mission/QGCMissionNavTakeoff.h
+    src/ui/mission/QGCMissionNavTakeoff.h \
+    src/ui/mission/QGCMissionNavSweep.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -517,7 +519,8 @@ SOURCES += src/main.cc \
     src/ui/mission/QGCMissionNavLoiterTime.cc \
     src/ui/mission/QGCMissionNavReturnToLaunch.cc \
     src/ui/mission/QGCMissionNavLand.cc \
-    src/ui/mission/QGCMissionNavTakeoff.cc
+    src/ui/mission/QGCMissionNavTakeoff.cc \
+    src/ui/mission/QGCMissionNavSweep.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/ui/WaypointEditableView.cc

@@ -28,6 +28,7 @@
 #include "QGCMissionNavReturnToLaunch.h"
 #include "QGCMissionNavLand.h"
 #include "QGCMissionNavTakeoff.h"
+#include "QGCMissionNavSweep.h"
 #include "QGCMissionConditionDelay.h"
 #include "QGCMissionDoJump.h"
 #include "QGCMissionOther.h"
@@ -56,6 +57,7 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
     MissionNavReturnToLaunchWidget = NULL;
     MissionNavLandWidget = NULL;
     MissionNavTakeoffWidget = NULL;
+    MissionNavSweepWidget = NULL;
     MissionDoJumpWidget = NULL;
     MissionConditionDelayWidget = NULL;
     MissionOtherWidget = NULL;
@@ -72,7 +74,10 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
     //m_ui->comboBox_action->addItem(tr("NAV: Target"),MAV_CMD_NAV_TARGET);
     m_ui->comboBox_action->addItem(tr("IF: Delay over"),MAV_CMD_CONDITION_DELAY);
     //m_ui->comboBox_action->addItem(tr("IF: Yaw angle is"),MAV_CMD_CONDITION_YAW);
-    m_ui->comboBox_action->addItem(tr("DO: Jump to Index"),MAV_CMD_DO_JUMP);
+    m_ui->comboBox_action->addItem(tr("DO: Jump to Index"),MAV_CMD_DO_JUMP);    
+#ifdef MAVLINK_ENABLED_PIXHAWK
+    m_ui->comboBox_action->addItem(tr("NAV: Sweep"),MAV_CMD_NAV_SWEEP);
+#endif
     m_ui->comboBox_action->addItem(tr("Other"), MAV_CMD_ENUM_END);
 
     // add frames
@@ -174,6 +179,12 @@ void WaypointEditableView::updateActionView(int action)
         case MAV_CMD_DO_JUMP:
             if(MissionDoJumpWidget) MissionDoJumpWidget->show();
             break;
+        #ifdef MAVLINK_ENABLED_PIXHAWK
+        case MAV_CMD_NAV_SWEEP:
+            if(MissionNavSweepWidget) MissionNavSweepWidget->show();
+            break;
+        #endif
+
         default:
             if(MissionOtherWidget) MissionOtherWidget->show();
             viewMode = QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING;
@@ -276,7 +287,15 @@ void WaypointEditableView::initializeActionView(int actionID)
             m_ui->customActionWidget->layout()->addWidget(MissionDoJumpWidget);
         }
         break;
-
+ #ifdef MAVLINK_ENABLED_PIXHAWK
+    case MAV_CMD_NAV_SWEEP:
+        if (!MissionNavSweepWidget)
+        {
+            MissionNavSweepWidget = new QGCMissionNavSweep(this);
+            m_ui->customActionWidget->layout()->addWidget(MissionNavSweepWidget);
+        }
+        break;
+#endif
     case MAV_CMD_ENUM_END:
     default:
         if (!MissionOtherWidget)

src/ui/WaypointEditableView.h

@@ -53,6 +53,7 @@ class QGCMissionNavLoiterTime;
 class QGCMissionNavReturnToLaunch;
 class QGCMissionNavLand;
 class QGCMissionNavTakeoff;
+class QGCMissionNavSweep;
 class QGCMissionDoJump;
 class QGCMissionConditionDelay;
 class QGCMissionOther;
@@ -105,6 +106,7 @@ protected:
     QGCMissionNavReturnToLaunch* MissionNavReturnToLaunchWidget;
     QGCMissionNavLand* MissionNavLandWidget;
     QGCMissionNavTakeoff* MissionNavTakeoffWidget;
+    QGCMissionNavSweep* MissionNavSweepWidget;
     QGCMissionDoJump* MissionDoJumpWidget;
     QGCMissionConditionDelay* MissionConditionDelayWidget;
     QGCMissionOther* MissionOtherWidget;

src/ui/mission/QGCMissionNavSweep.cc

+#include "QGCMissionNavSweep.h"
+#include "ui_QGCMissionNavSweep.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavSweep::QGCMissionNavSweep(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavSweep)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    connect(this->ui->radSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    //connect(this->ui->acceptanceSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    connect(this->ui->posN1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));//NED
+    connect(this->ui->posE1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    connect(this->ui->posN2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));
+    connect(this->ui->posE2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->posDSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+    connect(this->ui->lat1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));//Global
+    connect(this->ui->lon1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    connect(this->ui->lat2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));
+    connect(this->ui->lon2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->altSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(frameBroadcast(MAV_FRAME)),this,SLOT(updateFrame(MAV_FRAME)));
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->radSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->acceptanceSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->posN1SpinBox,SLOT(setValue(double)));//NED
+    connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->posE1SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->posN2SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->posE2SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->posDSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->lat1SpinBox,SLOT(setValue(double)));//Global
+    connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->lon1SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->lat2SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->lon2SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->altSpinBox,SLOT(setValue(double)));
+}
+
+void QGCMissionNavSweep::updateFrame(MAV_FRAME frame)
+{
+    switch(frame)
+    {
+    case MAV_FRAME_LOCAL_ENU:
+    case MAV_FRAME_LOCAL_NED:
+        this->ui->posN1SpinBox->show();
+        this->ui->posE1SpinBox->show();
+        this->ui->posN2SpinBox->show();
+        this->ui->posE2SpinBox->show();
+        this->ui->posDSpinBox->show();
+        this->ui->lat1SpinBox->hide();
+        this->ui->lon1SpinBox->hide();
+        this->ui->lat2SpinBox->hide();
+        this->ui->lon2SpinBox->hide();
+        this->ui->altSpinBox->hide();
+        break;
+    case MAV_FRAME_GLOBAL:
+    case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        this->ui->posN1SpinBox->hide();
+        this->ui->posE1SpinBox->hide();
+        this->ui->posN2SpinBox->hide();
+        this->ui->posE2SpinBox->hide();
+        this->ui->posDSpinBox->hide();
+        this->ui->lat1SpinBox->show();
+        this->ui->lon1SpinBox->show();
+        this->ui->lat2SpinBox->show();
+        this->ui->lon2SpinBox->show();
+        this->ui->altSpinBox->show();
+        break;
+    default:
+        break;
+    }
+}
+
+QGCMissionNavSweep::~QGCMissionNavSweep()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionNavSweep.h

+#ifndef QGCMISSIONNAVSWEEP_H
+#define QGCMISSIONNAVSWEEP_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavSweep;
+}
+
+class QGCMissionNavSweep : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavSweep(WaypointEditableView* WEV);
+    ~QGCMissionNavSweep();
+
+public slots:
+    void updateFrame(MAV_FRAME);
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavSweep *ui;
+};
+
+#endif // QGCMISSIONNAVSWEEP_H