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Commit 6e2efab7 authored by DonLakeFlyer's avatar DonLakeFlyer
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End action only supports RTL

parent c5d54f0b
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Showing with 26 additions and 82 deletions
src/MissionManager/MissionSettings.FactMetaData.json
View file @ 6e2efab7
...@@ -6,13 +6,5 @@ ...@@ -6,13 +6,5 @@
"units": "m", "units": "m",
"decimalPlaces": 1, "decimalPlaces": 1,
"defaultValue": 0 "defaultValue": 0
},
{
"name": "MissionEndAction",
"shortDescription": "The action to take when the mission completed.",
"type": "uint32",
"enumStrings": "No action on mission end,Loiter after mission end,RTL after mission end",
"enumValues": "0,1,2",
"defaultValue": 0
} }
] ]
src/MissionManager/MissionSettingsItem.cc
View file @ 6e2efab7
...@@ -24,18 +24,17 @@ QGC_LOGGING_CATEGORY(MissionSettingsComplexItemLog, "MissionSettingsComplexItemL ...@@ -24,18 +24,17 @@ QGC_LOGGING_CATEGORY(MissionSettingsComplexItemLog, "MissionSettingsComplexItemL
const char* MissionSettingsItem::jsonComplexItemTypeValue = "MissionSettings"; const char* MissionSettingsItem::jsonComplexItemTypeValue = "MissionSettings";
const char* MissionSettingsItem::_plannedHomePositionAltitudeName = "PlannedHomePositionAltitude"; const char* MissionSettingsItem::_plannedHomePositionAltitudeName = "PlannedHomePositionAltitude";
const char* MissionSettingsItem::_missionEndActionName = "MissionEndAction";
QMap<QString, FactMetaData*> MissionSettingsItem::_metaDataMap; QMap<QString, FactMetaData*> MissionSettingsItem::_metaDataMap;
MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent) MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
: ComplexMissionItem(vehicle, parent) : ComplexMissionItem (vehicle, parent)
, _plannedHomePositionAltitudeFact (0, _plannedHomePositionAltitudeName, FactMetaData::valueTypeDouble) , _plannedHomePositionAltitudeFact (0, _plannedHomePositionAltitudeName, FactMetaData::valueTypeDouble)
, _missionEndActionFact (0, _missionEndActionName, FactMetaData::valueTypeUint32) , _missionEndRTL (false)
, _cameraSection(vehicle) , _cameraSection (vehicle)
, _speedSection(vehicle) , _speedSection (vehicle)
, _sequenceNumber(0) , _sequenceNumber (0)
, _dirty(false) , _dirty (false)
{ {
_editorQml = "qrc:/qml/MissionSettingsEditor.qml"; _editorQml = "qrc:/qml/MissionSettingsEditor.qml";
...@@ -44,27 +43,25 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent) ...@@ -44,27 +43,25 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
} }
_plannedHomePositionAltitudeFact.setMetaData (_metaDataMap[_plannedHomePositionAltitudeName]); _plannedHomePositionAltitudeFact.setMetaData (_metaDataMap[_plannedHomePositionAltitudeName]);
_missionEndActionFact.setMetaData (_metaDataMap[_missionEndActionName]);
_plannedHomePositionAltitudeFact.setRawValue (_plannedHomePositionAltitudeFact.rawDefaultValue()); _plannedHomePositionAltitudeFact.setRawValue (_plannedHomePositionAltitudeFact.rawDefaultValue());
_missionEndActionFact.setRawValue (_missionEndActionFact.rawDefaultValue());
setHomePositionSpecialCase(true); setHomePositionSpecialCase(true);
connect(this, &MissionSettingsItem::specifyMissionFlightSpeedChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber); connect(this, &MissionSettingsItem::specifyMissionFlightSpeedChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(this, &MissionSettingsItem::missionEndRTLChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(&_cameraSection, &CameraSection::itemCountChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber); connect(&_cameraSection, &CameraSection::itemCountChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(&_speedSection, &CameraSection::itemCountChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber); connect(&_speedSection, &CameraSection::itemCountChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_setDirty); connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_setDirty);
connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_updateAltitudeInCoordinate);
connect(&_missionEndActionFact, &Fact::valueChanged, this, &MissionSettingsItem::_setDirty); connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_updateAltitudeInCoordinate);
connect(&_cameraSection, &CameraSection::dirtyChanged, this, &MissionSettingsItem::_sectionDirtyChanged); connect(&_cameraSection, &CameraSection::dirtyChanged, this, &MissionSettingsItem::_sectionDirtyChanged);
connect(&_speedSection, &SpeedSection::dirtyChanged, this, &MissionSettingsItem::_sectionDirtyChanged); connect(&_speedSection, &SpeedSection::dirtyChanged, this, &MissionSettingsItem::_sectionDirtyChanged);
connect(&_cameraSection, &CameraSection::specifyGimbalChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged); connect(&_cameraSection, &CameraSection::specifyGimbalChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged);
connect(&_cameraSection, &CameraSection::specifiedGimbalYawChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged); connect(&_cameraSection, &CameraSection::specifiedGimbalYawChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged);
} }
...@@ -184,23 +181,7 @@ bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& items, int se ...@@ -184,23 +181,7 @@ bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& items, int se
return false; return false;
} }
switch(_missionEndActionFact.rawValue().toInt()) { if (_missionEndRTL) {
case MissionEndLoiter:
qCDebug(MissionSettingsComplexItemLog) << "Appending end action Loiter seqNum" << seqNum;
item = new MissionItem(seqNum,
MAV_CMD_NAV_LOITER_UNLIM,
lastWaypointFrame,
0, 0, // param 1-2 unused
0, // use default loiter radius
0, // param 4 not used
lastWaypointCoord.latitude(),
lastWaypointCoord.longitude(),
lastWaypointCoord.altitude(),
true, // autoContinue
false, // isCurrentItem
missionItemParent);
break;
case MissionEndRTL:
qCDebug(MissionSettingsComplexItemLog) << "Appending end action RTL seqNum" << seqNum; qCDebug(MissionSettingsComplexItemLog) << "Appending end action RTL seqNum" << seqNum;
item = new MissionItem(seqNum, item = new MissionItem(seqNum,
MAV_CMD_NAV_RETURN_TO_LAUNCH, MAV_CMD_NAV_RETURN_TO_LAUNCH,
...@@ -209,12 +190,6 @@ bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& items, int se ...@@ -209,12 +190,6 @@ bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& items, int se
true, // autoContinue true, // autoContinue
false, // isCurrentItem false, // isCurrentItem
missionItemParent); missionItemParent);
break;
default:
break;
}
if (item) {
items.append(item); items.append(item);
return true; return true;
} else { } else {
...@@ -248,25 +223,11 @@ bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems ...@@ -248,25 +223,11 @@ bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems
if (item) { if (item) {
MissionItem& missionItem = item->missionItem(); MissionItem& missionItem = item->missionItem();
switch ((MAV_CMD)item->command()) { if (item->command() == MAV_CMD_NAV_RETURN_TO_LAUNCH &&
case MAV_CMD_NAV_LOITER_UNLIM: missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
if (missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0) { qCDebug(MissionSettingsComplexItemLog) << "Scan: Found end action RTL";
qCDebug(MissionSettingsComplexItemLog) << "Scan: Found end action Loiter"; settingsItem->_missionEndRTL = true;
settingsItem->missionEndAction()->setRawValue(MissionEndLoiter); visualItems->removeAt(lastIndex)->deleteLater();
visualItems->removeAt(lastIndex)->deleteLater();
}
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
if (missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
qCDebug(MissionSettingsComplexItemLog) << "Scan: Found end action RTL";
settingsItem->missionEndAction()->setRawValue(MissionEndRTL);
visualItems->removeAt(lastIndex)->deleteLater();
}
break;
default:
break;
} }
} }
......
src/MissionManager/MissionSettingsItem.h
View file @ 6e2efab7
...@@ -26,20 +26,12 @@ class MissionSettingsItem : public ComplexMissionItem ...@@ -26,20 +26,12 @@ class MissionSettingsItem : public ComplexMissionItem
public: public:
MissionSettingsItem(Vehicle* vehicle, QObject* parent = NULL); MissionSettingsItem(Vehicle* vehicle, QObject* parent = NULL);
enum MissionEndAction {
MissionEndNoAction,
MissionEndLoiter,
MissionEndRTL
};
Q_ENUMS(MissionEndAction)
Q_PROPERTY(Fact* missionEndAction READ missionEndAction CONSTANT)
Q_PROPERTY(Fact* plannedHomePositionAltitude READ plannedHomePositionAltitude CONSTANT) Q_PROPERTY(Fact* plannedHomePositionAltitude READ plannedHomePositionAltitude CONSTANT)
Q_PROPERTY(bool missionEndRTL MEMBER _missionEndRTL NOTIFY missionEndRTLChanged)
Q_PROPERTY(QObject* cameraSection READ cameraSection CONSTANT) Q_PROPERTY(QObject* cameraSection READ cameraSection CONSTANT)
Q_PROPERTY(QObject* speedSection READ speedSection CONSTANT) Q_PROPERTY(QObject* speedSection READ speedSection CONSTANT)
Fact* plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; } Fact* plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
Fact* missionEndAction (void) { return &_missionEndActionFact; }
QObject* cameraSection(void) { return &_cameraSection; } QObject* cameraSection(void) { return &_cameraSection; }
QObject* speedSection(void) { return &_speedSection; } QObject* speedSection(void) { return &_speedSection; }
...@@ -92,7 +84,8 @@ public: ...@@ -92,7 +84,8 @@ public:
static const char* jsonComplexItemTypeValue; static const char* jsonComplexItemTypeValue;
signals: signals:
void specifyMissionFlightSpeedChanged(bool specifyMissionFlightSpeed); void specifyMissionFlightSpeedChanged (bool specifyMissionFlightSpeed);
void missionEndRTLChanged (bool missionEndRTL);
private slots: private slots:
void _setDirtyAndUpdateLastSequenceNumber (void); void _setDirtyAndUpdateLastSequenceNumber (void);
...@@ -101,9 +94,9 @@ private slots: ...@@ -101,9 +94,9 @@ private slots:
void _updateAltitudeInCoordinate (QVariant value); void _updateAltitudeInCoordinate (QVariant value);
private: private:
QGeoCoordinate _plannedHomePositionCoordinate; // Does not include altitde QGeoCoordinate _plannedHomePositionCoordinate; // Does not include altitude
Fact _plannedHomePositionAltitudeFact; Fact _plannedHomePositionAltitudeFact;
Fact _missionEndActionFact; bool _missionEndRTL;
CameraSection _cameraSection; CameraSection _cameraSection;
SpeedSection _speedSection; SpeedSection _speedSection;
...@@ -113,7 +106,6 @@ private: ...@@ -113,7 +106,6 @@ private:
static QMap<QString, FactMetaData*> _metaDataMap; static QMap<QString, FactMetaData*> _metaDataMap;
static const char* _plannedHomePositionAltitudeName; static const char* _plannedHomePositionAltitudeName;
static const char* _missionEndActionName;
}; };
#endif #endif
src/PlanView/MissionSettingsEditor.qml
View file @ 6e2efab7
...@@ -124,11 +124,10 @@ Rectangle { ...@@ -124,11 +124,10 @@ Rectangle {
} }
} // GridLayout } // GridLayout
FactComboBox { QGCCheckBox {
anchors.left: parent.left text: qsTr("RTL after mission end")
anchors.right: parent.right checked: missionItem.missionEndRTL
fact: missionItem.missionEndAction onClicked: missionItem.missionEndRTL = checked
indexModel: false
} }
} }
......
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