diff --git a/qgcresources.qrc b/qgcresources.qrc index f7b69b43b782e20e3e16a0d0fee6a9ec784eddc0..42e9f1527dc4cf3ef610b78998c2680c93b22e1e 100644 --- a/qgcresources.qrc +++ b/qgcresources.qrc @@ -99,6 +99,7 @@ src/FlightMap/Images/MapAddMissionBlack.svg src/FlightMap/Images/MapCenter.svg src/FlightMap/Images/MapCenterBlack.svg + src/FlightMap/Images/MapDrawShape.svg src/FlightMap/Images/MapHome.svg src/FlightMap/Images/MapHomeBlack.svg src/FlightMap/Images/MapSync.svg diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index 3e021fcc90cf63c2e280e1081aa0bb28e17b0d69..c1bd3ecdbb70be8f1abfb55c41221b0a8e18bca0 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -23,8 +23,8 @@ exists($${OUT_PWD}/qgroundcontrol.pro) { message(Qt version $$[QT_VERSION]) -!equals(QT_MAJOR_VERSION, 5) | !greaterThan(QT_MINOR_VERSION, 3) { - error("Unsupported Qt version, 5.4+ is required") +!equals(QT_MAJOR_VERSION, 5) | !greaterThan(QT_MINOR_VERSION, 4) { + error("Unsupported Qt version, 5.5+ is required") } include(QGCCommon.pri) @@ -261,6 +261,8 @@ HEADERS += \ src/MissionManager/MissionController.h \ src/MissionManager/MissionItem.h \ src/MissionManager/MissionManager.h \ + src/MissionManager/ComplexMissionItem.h \ + src/MissionManager/SimpleMissionItem.h \ src/QGC.h \ src/QGCApplication.h \ src/QGCComboBox.h \ @@ -388,6 +390,8 @@ SOURCES += \ src/MissionManager/MissionController.cc \ src/MissionManager/MissionItem.cc \ src/MissionManager/MissionManager.cc \ + src/MissionManager/ComplexMissionItem.cc \ + src/MissionManager/SimpleMissionItem.cc \ src/QGC.cc \ src/QGCApplication.cc \ src/QGCComboBox.cc \ diff --git a/src/AutoPilotPlugins/APM/APMAirframeComponentController.cc b/src/AutoPilotPlugins/APM/APMAirframeComponentController.cc index 72ac854854d513bcff5f3fa7d833aff3aa4dbe95..47a642230f280943159a8a0508f2026aecc0b6f0 100644 --- a/src/AutoPilotPlugins/APM/APMAirframeComponentController.cc +++ b/src/AutoPilotPlugins/APM/APMAirframeComponentController.cc @@ -34,6 +34,8 @@ #include #include +#include +#include bool APMAirframeComponentController::_typesRegistered = false; diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml index 6b9ebade819a74b93c9e0bba644902e68655c3ae..f962149566a91b07b5a89a905056cf17d33caa26 100644 --- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml @@ -226,6 +226,10 @@ Andreas Antener <andreas@uaventure.com> Quadrotor x + + Blankered + Quadrotor x + diff --git a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml index cbeae445e2ebbebe1bdf194cbc5256e358c8e27c..cae0834da5ea95e28aa9357311fa724abc148c00 100644 --- a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml @@ -720,6 +720,25 @@ velocity 1.0 SD + + Integer bitmask controlling handling of magnetic declination. Set bits to in the following positions to enable functions. +0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. +1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms. +2 : Set to true to always use the declination as an observaton when 3-axis magnetometer fusion is being used + 0 + 7 + + + + Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer. +0 : determine the best fusion method to use automatically - heading fusion on-ground and 3-axis fusion in-flight +1 : always use magnetic heading fusion +2 : always use 3-axis fusion +Other values will disable magnetometer fusion completely + 0 + 2 + None + Gate size for barometric height fusion 1.0 @@ -1149,6 +1168,12 @@ velocity 0.0 1.0 + + Idle throttle + This is the minimum throttle while on the ground For aircraft with internal combustion engine this parameter should be set above desired idle rpm. + 0.0 + 0.4 + Throttle limit value before flare This throttle value will be set as throttle limit at FW_LND_TLALT, before arcraft will flare. @@ -1265,7 +1290,7 @@ velocity Motor delay - Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to LAUN_THR_PRE, set to 0 to deactivate + Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to FW_THR_IDLE, set to 0 to deactivate 0 seconds @@ -1276,12 +1301,6 @@ velocity 45 deg - - Throttle setting while detecting launch - The throttle is set to this value while the system is waiting for the take-off. - 0 - 1 - @@ -1479,6 +1498,17 @@ velocity 0 3 + + Time in seconds we wait on reaching target heading at a waypoint if it is forced + If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transiton. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default. + -1 + 20 + + + Max yaw error in degree needed for waypoint heading acceptance + 0 + 90 + Loiter radius (FW only) Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). @@ -1797,6 +1827,24 @@ velocity 1.0 3 + + Hover thrust + Vertical thrust required to hover. This value is mapped to center stick for manual throttle control. With this value set to the thrust required to hover, transition from manual to ALTCTL mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed. + 0.2 + 0.8 + + + ALTCTL throttle curve breakpoint + Halfwidth of deadband or reduced sensitivity center portion of curve. This is the halfwidth of the center region of the ALTCTL throttle curve. It extends from center-dz to center+dz. + 0.0 + 0.2 + + + ALTCTL throttle curve breakpoint height + Controls the slope of the reduced sensitivity region. This is the height of the ALTCTL throttle curve at center-dz and center+dz. + 0.0 + 0.2 + Maximum thrust in auto thrust control Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended. @@ -1944,13 +1992,6 @@ velocity % 2 - - Deadzone of Z stick where altitude hold is enabled - 0.0 - 1.0 - % - 2 - Maximum horizontal velocity for which position hold is enabled (use 0 to disable check) 0.0 @@ -3513,6 +3554,12 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL 0 1 + + UTC offset (unit: min) + the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets + -1000 + 1000 + @@ -3884,6 +3931,8 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL 921600 true + Telemetry (57600 baud, 8N1) + Command Receiver (57600 baud, 8N1) Companion Link (57600 baud, 8N1) Companion Link (921600 baud, 8N1) OSD (57600 baud, 8N1) @@ -4041,6 +4090,22 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL 0 1 + + Enable weather-vane mode landings for missions + 0 + 1 + + + Weather-vane yaw rate scale + The desired yawrate from the controller will be scaled in order to avoid yaw fighting against the wind. + 0 + 1 + + + Enable weather-vane mode for loiter + 0 + 1 + Front transition timeout Time in seconds after which transition will be cancelled. Disabled if set to 0. diff --git a/src/FactSystem/ParameterLoader.h b/src/FactSystem/ParameterLoader.h index 48638d51a0dfec41dfe7efb9faa4e5b4a70c47f0..4c17cd0d2525708b67a995ae4d9a0a350e507f3c 100644 --- a/src/FactSystem/ParameterLoader.h +++ b/src/FactSystem/ParameterLoader.h @@ -29,6 +29,7 @@ #include #include #include +#include #include "FactSystem.h" #include "MAVLinkProtocol.h" diff --git a/src/FirmwarePlugin/APM/APMParameterMetaData.cc b/src/FirmwarePlugin/APM/APMParameterMetaData.cc index be7fc932cd3900a1ebb5f71f675ab719c928b45d..2ad3c75bd16ad2f8d36a903a900f86bac9e86c52 100644 --- a/src/FirmwarePlugin/APM/APMParameterMetaData.cc +++ b/src/FirmwarePlugin/APM/APMParameterMetaData.cc @@ -32,6 +32,7 @@ #include #include #include +#include QGC_LOGGING_CATEGORY(APMParameterMetaDataLog, "APMParameterMetaDataLog") QGC_LOGGING_CATEGORY(APMParameterMetaDataVerboseLog, "APMParameterMetaDataVerboseLog") diff --git a/src/FlightMap/Images/MapDrawShape.svg b/src/FlightMap/Images/MapDrawShape.svg new file mode 100644 index 0000000000000000000000000000000000000000..a73a7ad97a5c57c13230cfe6cbe6c3cb5264613e --- /dev/null +++ b/src/FlightMap/Images/MapDrawShape.svg @@ -0,0 +1,9 @@ + + + + + + + + diff --git a/src/FlightMap/Widgets/QGCInstrumentWidget.qml b/src/FlightMap/Widgets/QGCInstrumentWidget.qml index c9d15d9e85dbeb31a1a6b7af77da4631703b0fe9..c087604663714a0cbb5e7b305e4fc9f00336109b 100644 --- a/src/FlightMap/Widgets/QGCInstrumentWidget.qml +++ b/src/FlightMap/Widgets/QGCInstrumentWidget.qml @@ -73,7 +73,7 @@ Rectangle { id: attitude y: _topBottomMargin size: parent.width * 0.95 - active: active + active: instrumentPanel.active anchors.horizontalCenter: parent.horizontalCenter } @@ -112,7 +112,7 @@ Rectangle { anchors.topMargin: _spacing anchors.top: _spacer2.bottom size: parent.width * 0.95 - active: active + active: instrumentPanel.active anchors.horizontalCenter: parent.horizontalCenter } } diff --git a/src/MissionEditor/MissionEditor.qml b/src/MissionEditor/MissionEditor.qml index fad97ddc722d1e267fde032476646b9f4671c4d6..9b95774a399c66c1205903e8f5bf8b4fa2a4e52a 100644 --- a/src/MissionEditor/MissionEditor.qml +++ b/src/MissionEditor/MissionEditor.qml @@ -285,6 +285,8 @@ QGCView { anchors.fill: parent mapName: "MissionEditor" + signal mapClicked(var coordinate) + readonly property real animationDuration: 500 // Initial map position duplicates Fly view position @@ -301,15 +303,15 @@ QGCView { anchors.fill: parent onClicked: { + var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y)) + coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces) + coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces) + coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces) if (addMissionItemsButton.checked) { - var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y)) - coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces) - coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces) - coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces) - var index = controller.insertMissionItem(coordinate, controller.missionItems.count) + var index = controller.insertSimpleMissionItem(coordinate, controller.missionItems.count) setCurrentItem(index) } else { - editorMap.zoomLevel = editorMap.maxZoomLevel - 2 + editorMap.mapClicked(coordinate) } } } @@ -364,7 +366,7 @@ QGCView { } } - // Add the mission items to the map + // Add the simple mission items to the map MapItemView { model: controller.missionItems delegate: missionItemComponent @@ -421,6 +423,22 @@ QGCView { } } + // Add the complex mission items to the map + MapItemView { + model: controller.complexMissionItems + delegate: polygonItemComponent + } + + Component { + id: polygonItemComponent + + MapPolygon { + color: 'green' + path: object.polygonPath + opacity: 0.5 + } + } + // Add lines between waypoints MissionLineView { model: controller.waypointLines @@ -482,7 +500,7 @@ QGCView { } onInsert: { - controller.insertMissionItem(editorMap.center, i) + controller.insertSimpleMissionItem(editorMap.center, i) setCurrentItem(i) } @@ -522,6 +540,23 @@ QGCView { z: QGroundControl.zOrderWidgets } + RoundButton { + id: addShapeButton + buttonImage: "/qmlimages/MapDrawShape.svg" + z: QGroundControl.zOrderWidgets + visible: QGroundControl.experimentalSurvey + + onClicked: { + var coordinate = editorMap.center + coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces) + coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces) + coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces) + var index = controller.insertComplexMissionItem(coordinate, controller.missionItems.count) + setCurrentItem(index) + checked = false + } + } + DropButton { id: syncButton dropDirection: dropRight diff --git a/src/MissionManager/ComplexMissionItem.cc b/src/MissionManager/ComplexMissionItem.cc new file mode 100644 index 0000000000000000000000000000000000000000..f8ae72ca6fd67e597d25094d49aea2f7ee1e30d9 --- /dev/null +++ b/src/MissionManager/ComplexMissionItem.cc @@ -0,0 +1,87 @@ +/*=================================================================== +QGroundControl Open Source Ground Control Station + +(c) 2009, 2010 QGROUNDCONTROL PROJECT + +This file is part of the QGROUNDCONTROL project + + QGROUNDCONTROL is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + QGROUNDCONTROL is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with QGROUNDCONTROL. If not, see . + +======================================================================*/ + +#include "ComplexMissionItem.h" + +ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent) + : MissionItem(vehicle, parent) +{ + +} + +ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, + int sequenceNumber, + MAV_CMD command, + MAV_FRAME frame, + double param1, + double param2, + double param3, + double param4, + double param5, + double param6, + double param7, + bool autoContinue, + bool isCurrentItem, + QObject* parent) + : MissionItem(vehicle, sequenceNumber, command, frame, param1, param2, param3, param4, param5, param6, param7, autoContinue, isCurrentItem, parent) +{ + +} + +ComplexMissionItem::ComplexMissionItem(const ComplexMissionItem& other, QObject* parent) + : MissionItem(other, parent) +{ + +} + +const ComplexMissionItem& ComplexMissionItem::operator=(const ComplexMissionItem& other) +{ + static_cast(*this) = other; + + return *this; +} + +QVariantList ComplexMissionItem::polygonPath(void) +{ + return _polygonPath; +#if 0 + QVariantList list; + + list << QVariant::fromValue(QGeoCoordinate(-35.362686830000001, 149.16410282999999)) + << QVariant::fromValue(QGeoCoordinate(-35.362660579999996, 149.16606619999999)) + << QVariant::fromValue(QGeoCoordinate(-35.363832989999999, 149.16505769)); + + return list; +#endif +} + +void ComplexMissionItem::clearPolygon(void) +{ + _polygonPath.clear(); + emit polygonPathChanged(); +} + +void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate) +{ + _polygonPath << QVariant::fromValue(coordinate); + emit polygonPathChanged(); +} diff --git a/src/MissionManager/ComplexMissionItem.h b/src/MissionManager/ComplexMissionItem.h new file mode 100644 index 0000000000000000000000000000000000000000..d0806bd5b654993048bdf9dc8d731b6490f72dfd --- /dev/null +++ b/src/MissionManager/ComplexMissionItem.h @@ -0,0 +1,73 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2014 QGROUNDCONTROL PROJECT + + This file is part of the QGROUNDCONTROL project + + QGROUNDCONTROL is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + QGROUNDCONTROL is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with QGROUNDCONTROL. If not, see . + + ======================================================================*/ + +#ifndef ComplexMissionItem_H +#define ComplexMissionItem_H + +#include "MissionItem.h" + +class ComplexMissionItem : public MissionItem +{ + Q_OBJECT + +public: + ComplexMissionItem(Vehicle* vehicle, QObject* parent = NULL); + + ComplexMissionItem(Vehicle* vehicle, + int sequenceNumber, + MAV_CMD command, + MAV_FRAME frame, + double param1, + double param2, + double param3, + double param4, + double param5, + double param6, + double param7, + bool autoContinue, + bool isCurrentItem, + QObject* parent = NULL); + + ComplexMissionItem(const ComplexMissionItem& other, QObject* parent = NULL); + + const ComplexMissionItem& operator=(const ComplexMissionItem& other); + + Q_PROPERTY(QVariantList polygonPath READ polygonPath NOTIFY polygonPathChanged) + + Q_INVOKABLE void clearPolygon(void); + Q_INVOKABLE void addPolygonCoordinate(const QGeoCoordinate coordinate); + + QVariantList polygonPath(void); + + // Overrides from MissionItem base class + bool simpleItem (void) const final { return false; } + QGeoCoordinate exitCoordinate (void) const final { return coordinate(); } + +signals: + void polygonPathChanged(void); + +private: + QVariantList _polygonPath; +}; + +#endif diff --git a/src/MissionManager/MissionCommands.cc b/src/MissionManager/MissionCommands.cc index 2eef92741f9513cefb3c5284ae26749f4628680c..1ce99e5f6a1c2b2c4d19743fa7cf3ae152912952 100644 --- a/src/MissionManager/MissionCommands.cc +++ b/src/MissionManager/MissionCommands.cc @@ -27,6 +27,8 @@ This file is part of the QGROUNDCONTROL project #include "QGCApplication.h" #include "QGroundControlQmlGlobal.h" +#include + MissionCommands::MissionCommands(QGCApplication* app) : QGCTool(app) , _commonMissionCommands(QStringLiteral(":/json/MavCmdInfoCommon.json")) diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc index 69e6b7322d671536a975fd2354bfc72e76a9c947..e7ef1f9f73f22ac34d7405885d6d4c293cd58d61 100644 --- a/src/MissionManager/MissionController.cc +++ b/src/MissionManager/MissionController.cc @@ -27,6 +27,8 @@ This file is part of the QGROUNDCONTROL project #include "CoordinateVector.h" #include "FirmwarePlugin.h" #include "QGCApplication.h" +#include "SimpleMissionItem.h" +#include "ComplexMissionItem.h" #ifndef __mobile__ #include "QGCFileDialog.h" @@ -45,6 +47,7 @@ MissionController::MissionController(QObject *parent) : QObject(parent) , _editMode(false) , _missionItems(NULL) + , _complexMissionItems(NULL) , _activeVehicle(NULL) , _autoSync(false) , _firstItemsFromVehicle(false) @@ -124,9 +127,9 @@ void MissionController::sendMissionItems(void) } } -int MissionController::insertMissionItem(QGeoCoordinate coordinate, int i) +int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i) { - MissionItem * newItem = new MissionItem(_activeVehicle, this); + MissionItem * newItem = new SimpleMissionItem(_activeVehicle, this); newItem->setSequenceNumber(_missionItems->count()); newItem->setCoordinate(coordinate); newItem->setCommand(MAV_CMD_NAV_WAYPOINT); @@ -152,6 +155,22 @@ int MissionController::insertMissionItem(QGeoCoordinate coordinate, int i) return _missionItems->count() - 1; } +int MissionController::insertComplexMissionItem(QGeoCoordinate coordinate, int i) +{ + ComplexMissionItem * newItem = new ComplexMissionItem(_activeVehicle, this); + newItem->setSequenceNumber(_missionItems->count()); + newItem->setCoordinate(coordinate); + newItem->setCommand(MAV_CMD_NAV_WAYPOINT); + _initMissionItem(newItem); + + _missionItems->insert(i, newItem); + _complexMissionItems->append(newItem); + + _recalcAll(); + + return _missionItems->count() - 1; +} + void MissionController::removeMissionItem(int index) { MissionItem* item = qobject_cast(_missionItems->removeAt(index)); @@ -218,7 +237,7 @@ bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectL return false; } - MissionItem* item = new MissionItem(_activeVehicle, this); + MissionItem* item = new SimpleMissionItem(_activeVehicle, this); if (item->load(itemValue.toObject(), errorString)) { missionItems->append(item); } else { @@ -228,7 +247,7 @@ bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectL } if (json.contains(_jsonPlannedHomePositionKey)) { - MissionItem* item = new MissionItem(_activeVehicle, this); + MissionItem* item = new SimpleMissionItem(_activeVehicle, this); if (item->load(json[_jsonPlannedHomePositionKey].toObject(), errorString)) { missionItems->insert(0, item); @@ -263,7 +282,7 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM if (versionOk) { while (!stream.atEnd()) { - MissionItem* item = new MissionItem(_activeVehicle, this); + MissionItem* item = new SimpleMissionItem(_activeVehicle, this); if (item->load(stream)) { missionItems->append(item); @@ -612,13 +631,24 @@ void MissionController::_initAllMissionItems(void) qDebug() << "home item" << homeItem->coordinate(); + QmlObjectListModel* newComplexItems = new QmlObjectListModel(this); + for (int i=0; i<_missionItems->count(); i++) { - _initMissionItem(qobject_cast(_missionItems->get(i))); + MissionItem* item = qobject_cast(_missionItems->get(i)); + + if (!item->simpleItem()) { + newComplexItems->append(item); + } + _initMissionItem(item); } + delete _complexMissionItems; + _complexMissionItems = newComplexItems; + _recalcAll(); emit missionItemsChanged(); + emit complexMissionItemsChanged(); _missionItems->setDirty(false); @@ -773,6 +803,11 @@ QmlObjectListModel* MissionController::missionItems(void) return _missionItems; } +QmlObjectListModel* MissionController::complexMissionItems(void) +{ + return _complexMissionItems; +} + bool MissionController::_findLastAltitude(double* lastAltitude) { bool found = false; @@ -831,7 +866,7 @@ double MissionController::_normalizeLon(double lon) /// Add the home position item to the front of the list void MissionController::_addPlannedHomePosition(QmlObjectListModel* missionItems, bool addToCenter) { - MissionItem* homeItem = new MissionItem(_activeVehicle, this); + MissionItem* homeItem = new SimpleMissionItem(_activeVehicle, this); missionItems->insert(0, homeItem); if (missionItems->count() > 1 && addToCenter) { diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h index dcee758f76678302852fffd10d7f3b98229d42cf..d6e417035c86521c3118afc0c3c5bdba7829e51a 100644 --- a/src/MissionManager/MissionController.h +++ b/src/MissionManager/MissionController.h @@ -29,6 +29,8 @@ This file is part of the QGROUNDCONTROL project #include "QmlObjectListModel.h" #include "Vehicle.h" #include "QGCLoggingCategory.h" +#include "MavlinkQmlSingleton.h" +#include "MissionItem.h" Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog) @@ -41,6 +43,7 @@ public: ~MissionController(); Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged) + Q_PROPERTY(QmlObjectListModel* complexMissionItems READ complexMissionItems NOTIFY complexMissionItemsChanged) Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged) Q_PROPERTY(bool autoSync READ autoSync WRITE setAutoSync NOTIFY autoSyncChanged) Q_PROPERTY(bool syncInProgress READ syncInProgress NOTIFY syncInProgressChanged) @@ -57,11 +60,15 @@ public: Q_INVOKABLE QStringList getMobileMissionFiles(void); /// @param i: index to insert at - Q_INVOKABLE int insertMissionItem(QGeoCoordinate coordinate, int i); + Q_INVOKABLE int insertSimpleMissionItem(QGeoCoordinate coordinate, int i); + + /// @param i: index to insert at + Q_INVOKABLE int insertComplexMissionItem(QGeoCoordinate coordinate, int i); // Property accessors QmlObjectListModel* missionItems(void); + QmlObjectListModel* complexMissionItems(void); QmlObjectListModel* waypointLines(void) { return &_waypointLines; } bool autoSync(void) { return _autoSync; } void setAutoSync(bool autoSync); @@ -69,6 +76,7 @@ public: signals: void missionItemsChanged(void); + void complexMissionItemsChanged(void); void waypointLinesChanged(void); void autoSyncChanged(bool autoSync); void newItemsFromVehicle(void); @@ -111,6 +119,7 @@ private: private: bool _editMode; QmlObjectListModel* _missionItems; + QmlObjectListModel* _complexMissionItems; QmlObjectListModel _waypointLines; Vehicle* _activeVehicle; bool _autoSync; diff --git a/src/MissionManager/MissionControllerTest.cc b/src/MissionManager/MissionControllerTest.cc index adf63ffb9a80afa339dc6767f697868a5c1bdc05..8bc2aa198325102e06ab7081af0116e44da01826 100644 --- a/src/MissionManager/MissionControllerTest.cc +++ b/src/MissionManager/MissionControllerTest.cc @@ -137,7 +137,7 @@ void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType) QGeoCoordinate coordinate(37.803784, -122.462276); - _missionController->insertMissionItem(coordinate, _missionController->missionItems()->count()); + _missionController->insertSimpleMissionItem(coordinate, _missionController->missionItems()->count()); QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(waypointLinesChangedSignalMask), true); @@ -182,7 +182,7 @@ void MissionControllerTest::_testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareTyp _missionController = new MissionController(); Q_CHECK_PTR(_missionController); _missionController->start(true /* editMode */); - _missionController->insertMissionItem(QGeoCoordinate(37.803784, -122.462276), _missionController->missionItems()->count()); + _missionController->insertSimpleMissionItem(QGeoCoordinate(37.803784, -122.462276), _missionController->missionItems()->count()); // Go online to empty vehicle MissionControllerManagerTest::_initForFirmwareType(firmwareType); diff --git a/src/MissionManager/MissionItem.cc b/src/MissionManager/MissionItem.cc index 76307df1a76278e530771a939869c9879912e60d..22f2bf9457cde4cb7db8919bbd87b41a7a952a04 100644 --- a/src/MissionManager/MissionItem.cc +++ b/src/MissionManager/MissionItem.cc @@ -28,8 +28,6 @@ This file is part of the QGROUNDCONTROL project #include "QGCApplication.h" #include "JsonHelper.h" -QGC_LOGGING_CATEGORY(MissionItemLog, "MissionItemLog") - const double MissionItem::defaultAltitude = 25.0; FactMetaData* MissionItem::_altitudeMetaData = NULL; @@ -71,22 +69,6 @@ static const struct EnumInfo_s _rgMavFrameInfo[] = { { "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT", MAV_FRAME_GLOBAL_TERRAIN_ALT_INT }, }; -QDebug operator<<(QDebug dbg, const MissionItem& missionItem) -{ - QDebugStateSaver saver(dbg); - dbg.nospace() << "MissionItem(" << missionItem.coordinate() << ")"; - - return dbg; -} - -QDebug operator<<(QDebug dbg, const MissionItem* missionItem) -{ - QDebugStateSaver saver(dbg); - dbg.nospace() << "MissionItem(" << missionItem->coordinate() << ")"; - - return dbg; -} - MissionItem::MissionItem(Vehicle* vehicle, QObject* parent) : QObject(parent) , _vehicle(vehicle) diff --git a/src/MissionManager/MissionItem.h b/src/MissionManager/MissionItem.h index bbe999d218019ade6bcc9cc4e0590f88ce741abd..8c87ca5744eb2906d4f74fdd44a00ae51dd8a041 100644 --- a/src/MissionManager/MissionItem.h +++ b/src/MissionManager/MissionItem.h @@ -40,8 +40,7 @@ #include "QmlObjectListModel.h" #include "MissionCommands.h" -Q_DECLARE_LOGGING_CATEGORY(MissionItemLog) - +// Abstract base class for Simple and Complex MissionItem obejcts. class MissionItem : public QObject { Q_OBJECT @@ -77,7 +76,6 @@ public: Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged) Q_PROPERTY(QString commandDescription READ commandDescription NOTIFY commandChanged) Q_PROPERTY(QString commandName READ commandName NOTIFY commandChanged) - Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged) Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged) Q_PROPERTY(double distance READ distance WRITE setDistance NOTIFY distanceChanged) ///< Distance to previous waypoint Q_PROPERTY(bool friendlyEditAllowed READ friendlyEditAllowed NOTIFY friendlyEditAllowedChanged) @@ -90,6 +88,16 @@ public: Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY commandChanged) Q_PROPERTY(bool showHomePosition READ showHomePosition WRITE setShowHomePosition NOTIFY showHomePositionChanged) + // Mission item has two coordinates associated with them: + // coordinate: This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item + // exitCoordinate This is the exit point for a waypoint line coming out of the item. For a SimpleMissionItem this will be the same as + // coordinate. For a ComplexMissionItem it may be different than the entry coordinate. + Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged) + Q_PROPERTY(QGeoCoordinate exitCoordinate READ exitCoordinate NOTIFY exitCoordinateChanged) + + /// @return true: SimpleMissionItem, false: ComplexMissionItem + Q_PROPERTY(bool simpleItem READ simpleItem NOTIFY simpleItemChanged) + // These properties are used to display the editing ui Q_PROPERTY(QmlObjectListModel* checkboxFacts READ checkboxFacts NOTIFY uiModelChanged) Q_PROPERTY(QmlObjectListModel* comboboxFacts READ comboboxFacts NOTIFY uiModelChanged) @@ -179,6 +187,10 @@ public: static const double defaultAltitude; + // Pure virtuals which must be provides by derived classes + virtual bool simpleItem(void) const = 0; + virtual QGeoCoordinate exitCoordinate(void) const = 0; + public slots: void setDefaultsForCommand(void); @@ -188,6 +200,7 @@ signals: void azimuthChanged (double azimuth); void commandChanged (MavlinkQmlSingleton::Qml_MAV_CMD command); void coordinateChanged (const QGeoCoordinate& coordinate); + void exitCoordinateChanged (const QGeoCoordinate& exitCoordinate); void dirtyChanged (bool dirty); void distanceChanged (double distance); void frameChanged (int frame); @@ -198,6 +211,7 @@ signals: void sequenceNumberChanged (int sequenceNumber); void uiModelChanged (void); void showHomePositionChanged (bool showHomePosition); + void simpleItemChanged (bool simpleItem); private slots: void _setDirtyFromSignal(void); @@ -276,7 +290,4 @@ private: static const char* _jsonCoordinateKey; }; -QDebug operator<<(QDebug dbg, const MissionItem& missionItem); -QDebug operator<<(QDebug dbg, const MissionItem* missionItem); - #endif diff --git a/src/MissionManager/MissionItemTest.cc b/src/MissionManager/MissionItemTest.cc index 74c650d587eb3ca9a99a7a3817aa32fca8cc0269..2c35bbf66226c0ff1752ea2ec5fd399984c65064 100644 --- a/src/MissionManager/MissionItemTest.cc +++ b/src/MissionManager/MissionItemTest.cc @@ -22,7 +22,7 @@ ======================================================================*/ #include "MissionItemTest.h" -#include "MissionItem.h" +#include "SimpleMissionItem.h" const MissionItemTest::ItemInfo_t MissionItemTest::_rgItemInfo[] = { { MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT }, @@ -184,7 +184,7 @@ void MissionItemTest::_test(void) void MissionItemTest::_testDefaultValues(void) { - MissionItem item(NULL /* Vehicle */); + SimpleMissionItem item(NULL /* Vehicle */); item.setCommand(MAV_CMD_NAV_WAYPOINT); item.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT); diff --git a/src/MissionManager/MissionManager.cc b/src/MissionManager/MissionManager.cc index 25616206a6b21fd067cade960c5839e7f8ff0931..14ad0c319493811c1e95906c5cc09ba3b4b70336 100644 --- a/src/MissionManager/MissionManager.cc +++ b/src/MissionManager/MissionManager.cc @@ -29,6 +29,7 @@ #include "FirmwarePlugin.h" #include "MAVLinkProtocol.h" #include "QGCApplication.h" +#include "SimpleMissionItem.h" QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog") @@ -64,7 +65,7 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems) int firstIndex = skipFirstItem ? 1 : 0; for (int i=firstIndex; i(missionItems[i]))); + _missionItems.append(new SimpleMissionItem(*qobject_cast(missionItems[i]))); MissionItem* item = qobject_cast(_missionItems.get(_missionItems.count() - 1)); @@ -252,7 +253,7 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message) _requestItemRetryCount = 0; _itemIndicesToRead.removeOne(missionItem.seq); - MissionItem* item = new MissionItem(_vehicle, + MissionItem* item = new SimpleMissionItem(_vehicle, missionItem.seq, (MAV_CMD)missionItem.command, (MAV_FRAME)missionItem.frame, @@ -432,7 +433,7 @@ QmlObjectListModel* MissionManager::copyMissionItems(void) QmlObjectListModel* list = new QmlObjectListModel(); for (int i=0; i<_missionItems.count(); i++) { - list->append(new MissionItem(*qobject_cast(_missionItems[i]))); + list->append(new SimpleMissionItem(*qobject_cast(_missionItems[i]))); } return list; diff --git a/src/MissionManager/MissionManagerTest.cc b/src/MissionManager/MissionManagerTest.cc index 0a18fa0ac294c761e475230b1634f0fe01b94f97..c8e32f3c60b091d37b34c57d8bd96b0f14157412 100644 --- a/src/MissionManager/MissionManagerTest.cc +++ b/src/MissionManager/MissionManagerTest.cc @@ -24,6 +24,7 @@ #include "MissionManagerTest.h" #include "LinkManager.h" #include "MultiVehicleManager.h" +#include "SimpleMissionItem.h" const MissionManagerTest::TestCase_t MissionManagerTest::_rgTestCases[] = { { "0\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 0, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } }, @@ -48,7 +49,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f QmlObjectListModel* list = new QmlObjectListModel(); // Editor has a home position item on the front, so we do the same - MissionItem* homeItem = new MissionItem(NULL /* Vehicle */, this); + SimpleMissionItem* homeItem = new SimpleMissionItem(NULL /* Vehicle */, this); homeItem->setHomePositionSpecialCase(true); homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT); homeItem->setCoordinate(QGeoCoordinate(47.3769, 8.549444, 0)); @@ -58,7 +59,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f for (size_t i=0; i<_cTestCases; i++) { const TestCase_t* testCase = &_rgTestCases[i]; - MissionItem* item = new MissionItem(NULL /* Vehicle */, list); + SimpleMissionItem* item = new SimpleMissionItem(NULL /* Vehicle */, list); QTextStream loadStream(testCase->itemStream, QIODevice::ReadOnly); QVERIFY(item->load(loadStream)); diff --git a/src/MissionManager/SimpleMissionItem.cc b/src/MissionManager/SimpleMissionItem.cc new file mode 100644 index 0000000000000000000000000000000000000000..75f389426a773ff8309323b0204d1078ea63868f --- /dev/null +++ b/src/MissionManager/SimpleMissionItem.cc @@ -0,0 +1,61 @@ +/*=================================================================== +QGroundControl Open Source Ground Control Station + +(c) 2009, 2010 QGROUNDCONTROL PROJECT + +This file is part of the QGROUNDCONTROL project + + QGROUNDCONTROL is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + QGROUNDCONTROL is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with QGROUNDCONTROL. If not, see . + +======================================================================*/ + +#include "SimpleMissionItem.h" + +SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent) + : MissionItem(vehicle, parent) +{ + +} + +SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, + int sequenceNumber, + MAV_CMD command, + MAV_FRAME frame, + double param1, + double param2, + double param3, + double param4, + double param5, + double param6, + double param7, + bool autoContinue, + bool isCurrentItem, + QObject* parent) + : MissionItem(vehicle, sequenceNumber, command, frame, param1, param2, param3, param4, param5, param6, param7, autoContinue, isCurrentItem, parent) +{ + +} + +SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* parent) + : MissionItem(other, parent) +{ + +} + +const SimpleMissionItem& SimpleMissionItem::operator=(const SimpleMissionItem& other) +{ + static_cast(*this) = other; + + return *this; +} diff --git a/src/MissionManager/SimpleMissionItem.h b/src/MissionManager/SimpleMissionItem.h new file mode 100644 index 0000000000000000000000000000000000000000..1a7097e667f3bc194380ca1bb4bcdee8c59e437e --- /dev/null +++ b/src/MissionManager/SimpleMissionItem.h @@ -0,0 +1,62 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2014 QGROUNDCONTROL PROJECT + + This file is part of the QGROUNDCONTROL project + + QGROUNDCONTROL is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + QGROUNDCONTROL is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with QGROUNDCONTROL. If not, see . + + ======================================================================*/ + +#ifndef SimpleMissionItem_H +#define SimpleMissionItem_H + +#include "MissionItem.h" + +class SimpleMissionItem : public MissionItem +{ + Q_OBJECT + +public: + SimpleMissionItem(Vehicle* vehicle, QObject* parent = NULL); + + SimpleMissionItem(Vehicle* vehicle, + int sequenceNumber, + MAV_CMD command, + MAV_FRAME frame, + double param1, + double param2, + double param3, + double param4, + double param5, + double param6, + double param7, + bool autoContinue, + bool isCurrentItem, + QObject* parent = NULL); + + SimpleMissionItem(const SimpleMissionItem& other, QObject* parent = NULL); + + const SimpleMissionItem& operator=(const SimpleMissionItem& other); + + // Overrides from MissionItem base class + bool simpleItem (void) const final { return true; } + QGeoCoordinate exitCoordinate (void) const final { return coordinate(); } + +private: +}; + +#endif diff --git a/src/QGCApplication.h b/src/QGCApplication.h index b74dd003fcd6c8cf4ba13da85bd7034ed8d27bf8..e645e624704d5207b35660726c5765897172a3d7 100644 --- a/src/QGCApplication.h +++ b/src/QGCApplication.h @@ -34,6 +34,7 @@ #include #include +#include #include "LinkConfiguration.h" #include "LinkManager.h" diff --git a/src/QGCLoggingCategory.cc b/src/QGCLoggingCategory.cc index e5f94130281090739237f15c97cedb5c2ede86cc..f053d13c776f514019512d73b8e04416fd39e530 100644 --- a/src/QGCLoggingCategory.cc +++ b/src/QGCLoggingCategory.cc @@ -30,7 +30,7 @@ QGC_LOGGING_CATEGORY(FirmwareUpgradeLog, "FirmwareUpgradeLog") QGC_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog, "FirmwareUpgradeVerboseLog") QGC_LOGGING_CATEGORY(MissionCommandsLog, "MissionCommandsLog") - +QGC_LOGGING_CATEGORY(MissionItemLog, "MissionItemLog") QGCLoggingCategoryRegister* _instance = NULL; diff --git a/src/QGCLoggingCategory.h b/src/QGCLoggingCategory.h index 6dc19b4cf18f4da2bad5e94a0320554acf9a2402..4989b2aa2918671d9e32ac9d8621435f50c78662 100644 --- a/src/QGCLoggingCategory.h +++ b/src/QGCLoggingCategory.h @@ -34,6 +34,7 @@ Q_DECLARE_LOGGING_CATEGORY(FirmwareUpgradeLog) Q_DECLARE_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog) Q_DECLARE_LOGGING_CATEGORY(MissionCommandsLog) +Q_DECLARE_LOGGING_CATEGORY(MissionItemLog) /// @def QGC_LOGGING_CATEGORY /// This is a QGC specific replacement for Q_LOGGING_CATEGORY. It will register the category name into a diff --git a/src/QmlControls/MissionItemEditor.qml b/src/QmlControls/MissionItemEditor.qml index 074b52c1451b87ca8eff700eb25a77999d7c7867..9713a13f2716aa34ee13dee240c1ad00f3c6296b 100644 --- a/src/QmlControls/MissionItemEditor.qml +++ b/src/QmlControls/MissionItemEditor.qml @@ -14,6 +14,10 @@ import QGroundControl.Palette 1.0 Rectangle { id: _root + height: editorLoader.y + editorLoader.height + (_margin * 2) + color: missionItem.isCurrentItem ? qgcPal.buttonHighlight : qgcPal.windowShade + radius: _radius + property var missionItem ///< MissionItem associated with this editor property bool readOnly ///< true: read only view, false: full editing view property var qgcView ///< QGCView control used for showing dialogs @@ -23,21 +27,127 @@ Rectangle { signal insert(int i) signal moveHomeToMapCenter - height: innerItem.height + (_margin * 3) - color: missionItem.isCurrentItem ? qgcPal.buttonHighlight : qgcPal.windowShade - radius: _radius - - readonly property real _editFieldWidth: ScreenTools.defaultFontPixelWidth * 16 - readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2 - readonly property real _radius: ScreenTools.defaultFontPixelWidth / 2 + readonly property real _editFieldWidth: ScreenTools.defaultFontPixelWidth * 16 + readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2 + readonly property real _radius: ScreenTools.defaultFontPixelWidth / 2 + property color _outerTextColor: missionItem.isCurrentItem ? "black" : qgcPal.text - property bool _showValues: missionItem.isCurrentItem QGCPalette { id: qgcPal colorGroupEnabled: enabled } + + MouseArea { + anchors.fill: parent + visible: !missionItem.isCurrentItem + onClicked: _root.clicked() + } + + QGCLabel { + id: label + anchors.verticalCenter: commandPicker.verticalCenter + anchors.leftMargin: _margin + anchors.left: parent.left + text: missionItem.sequenceNumber == 0 ? "H" : missionItem.sequenceNumber + color: _outerTextColor + } + + Image { + id: hamburger + anchors.rightMargin: ScreenTools.defaultFontPixelWidth + anchors.right: parent.right + anchors.verticalCenter: commandPicker.verticalCenter + width: commandPicker.height + height: commandPicker.height + source: "qrc:/qmlimages/Hamburger.svg" + visible: missionItem.isCurrentItem && missionItem.sequenceNumber != 0 + + MouseArea { + anchors.fill: parent + onClicked: hamburgerMenu.popup() + + Menu { + id: hamburgerMenu + + MenuItem { + text: "Insert" + onTriggered: insert(missionItem.sequenceNumber) + } + + MenuItem { + text: "Delete" + onTriggered: remove() + } + + MenuSeparator { + visible: !missionItem.simpleItem + } + + MenuItem { + text: "Show all values" + checkable: true + checked: missionItem.rawEdit + visible: !missionItem.simpleItem + + onTriggered: { + if (missionItem.rawEdit) { + if (missionItem.friendlyEditAllowed) { + missionItem.rawEdit = false + } else { + qgcView.showMessage("Mission Edit", "You have made changes to the mission item which cannot be shown in Simple Mode", StandardButton.Ok) + } + } else { + missionItem.rawEdit = true + } + checked = missionItem.rawEdit + } + } + } + } + } + + QGCButton { + id: commandPicker + anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 2 + anchors.rightMargin: ScreenTools.defaultFontPixelWidth + anchors.left: label.right + anchors.right: hamburger.left + visible: missionItem.sequenceNumber != 0 && missionItem.isCurrentItem && !missionItem.rawEdit && missionItem.simpleItem + text: missionItem.commandName + + Component { + id: commandDialog + + MissionCommandDialog { + missionItem: _root.missionItem + } + } + + onClicked: qgcView.showDialog(commandDialog, "Select Mission Command", qgcView.showDialogDefaultWidth, StandardButton.Cancel) + } + + QGCLabel { + anchors.fill: commandPicker + visible: missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem || !missionItem.simpleItem + verticalAlignment: Text.AlignVCenter + text: missionItem.sequenceNumber == 0 ? "Home Position" : (missionItem.simpleItem ? missionItem.commandName : "Survey") + color: _outerTextColor + } + + Loader { + id: editorLoader + anchors.leftMargin: _margin + anchors.topMargin: _margin + anchors.left: parent.left + anchors.top: commandPicker.bottom + sourceComponent: missionItem.simpleItem ? simpleMissionItemEditor : complexMissionItemEditor + + /// How wide the loaded component should be + property real availableWidth: _root.width - (_margin * 2) + } + Component { id: valuesComponent @@ -54,7 +164,7 @@ Rectangle { anchors.left: parent.left anchors.right: parent.right anchors.top: parent.top - height: valuesColumn.height + _margin + height: valuesColumn.height + (_margin * 2) Column { id: valuesColumn @@ -69,8 +179,8 @@ Rectangle { text: missionItem.sequenceNumber == 0 ? "Planned home position." : (missionItem.rawEdit ? - "Provides advanced access to all commands/parameters. Be very careful!" : - missionItem.commandDescription) + "Provides advanced access to all commands/parameters. Be very careful!" : + missionItem.commandDescription) } Repeater { @@ -150,114 +260,73 @@ Rectangle { } - Item { - id: innerItem - anchors.margins: _margin - anchors.top: parent.top - anchors.left: parent.left - anchors.right: parent.right - height: _showValues ? valuesLoader.y + valuesLoader.height : valuesLoader.y + Component { + id: simpleMissionItemEditor - MouseArea { - anchors.fill: parent - visible: !missionItem.isCurrentItem + Item { + id: innerItem + width: availableWidth + height: _showValues ? valuesLoader.y + valuesLoader.height : valuesLoader.y - onClicked: _root.clicked() - } + property bool _showValues: missionItem.isCurrentItem - QGCLabel { - id: label - anchors.verticalCenter: commandPicker.verticalCenter - color: missionItem.isCurrentItem ? qgcPal.buttonHighlightText : qgcPal.buttonText - text: missionItem.sequenceNumber == 0 ? "H" : missionItem.sequenceNumber - } + Loader { + id: valuesLoader + anchors.left: parent.left + anchors.right: parent.right + sourceComponent: _showValues ? valuesComponent : undefined + } + } // Item + } // Component - simpleMissionItemEditor - Image { - id: hamburger - anchors.rightMargin: ScreenTools.defaultFontPixelWidth - anchors.right: parent.right - anchors.verticalCenter: commandPicker.verticalCenter - width: commandPicker.height - height: commandPicker.height - source: "qrc:/qmlimages/Hamburger.svg" - visible: missionItem.isCurrentItem && missionItem.sequenceNumber != 0 - - MouseArea { - anchors.fill: parent - onClicked: hamburgerMenu.popup() - - Menu { - id: hamburgerMenu - - MenuItem { - text: "Insert" - onTriggered: insert(missionItem.sequenceNumber) - } + Component { + id: complexMissionItemEditor - MenuItem { - text: "Delete" - onTriggered: remove() - } + Rectangle { + id: outerRect + height: editorColumn.height + (_margin * 2) + width: availableWidth + color: qgcPal.windowShadeDark + radius: _radius - MenuSeparator { } + property bool addPointsMode: false - MenuItem { - text: "Show all values" - checkable: true - checked: missionItem.rawEdit + Column { + id: editorColumn + anchors.margins: _margin + anchors.top: parent.top + anchors.left: parent.left + width: availableWidth + spacing: _margin - onTriggered: { - if (missionItem.rawEdit) { - if (missionItem.friendlyEditAllowed) { - missionItem.rawEdit = false - } else { - qgcView.showMessage("Mission Edit", "You have made changes to the mission item which cannot be shown in Simple Mode", StandardButton.Ok) - } - } else { - missionItem.rawEdit = true - } - checked = missionItem.rawEdit + Connections { + target: editorMap + + onMapClicked: { + if (addPointsMode) { + missionItem.addPolygonCoordinate(coordinate) } } } - } - } - - QGCButton { - id: commandPicker - anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 2 - anchors.rightMargin: ScreenTools.defaultFontPixelWidth - anchors.left: label.right - anchors.right: hamburger.left - visible: missionItem.sequenceNumber != 0 && missionItem.isCurrentItem && !missionItem.rawEdit - text: missionItem.commandName - Component { - id: commandDialog + QGCLabel { + text: "Fly a grid pattern over a defined area." + wrapMode: Text.WordWrap + } - MissionCommandDialog { - missionItem: _root.missionItem + QGCButton { + text: addPointsMode ? "Finished" : "Draw Polygon" + onClicked: { + if (addPointsMode) { + addPointsMode = false + } else { + missionItem.clearPolygon() + addPointsMode = true + } + } } } - - onClicked: qgcView.showDialog(commandDialog, "Select Mission Command", qgcView.showDialogDefaultWidth, StandardButton.Cancel) - } - - QGCLabel { - anchors.fill: commandPicker - visible: missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem - verticalAlignment: Text.AlignVCenter - text: missionItem.sequenceNumber == 0 ? "Home Position" : missionItem.commandName - color: qgcPal.buttonText } + } // Component - complexMissionItemEditor - Loader { - id: valuesLoader - anchors.topMargin: _margin - anchors.top: commandPicker.bottom - anchors.left: parent.left - anchors.right: parent.right - sourceComponent: _showValues ? valuesComponent : undefined - } - } // Item } // Rectangle diff --git a/src/QmlControls/ParameterEditorController.cc b/src/QmlControls/ParameterEditorController.cc index 58824d49fac1f337dda62673e16b3721fbd76856..31f8652a39f809e11dfba16eca86c9a6ef8d2e6e 100644 --- a/src/QmlControls/ParameterEditorController.cc +++ b/src/QmlControls/ParameterEditorController.cc @@ -34,6 +34,8 @@ #include "MainWindow.h" #endif +#include + /// @Brief Constructs a new ParameterEditorController Widget. This widget is used within the PX4VehicleConfig set of screens. ParameterEditorController::ParameterEditorController(void) { diff --git a/src/QmlControls/QGroundControlQmlGlobal.cc b/src/QmlControls/QGroundControlQmlGlobal.cc index 1cc5f77348409456b542e80601d2398302d45eca..37cd834e8d30ef9bc3f7c18321acaadecfa668fa 100644 --- a/src/QmlControls/QGroundControlQmlGlobal.cc +++ b/src/QmlControls/QGroundControlQmlGlobal.cc @@ -206,3 +206,18 @@ void QGroundControlQmlGlobal::setVirtualTabletJoystick(bool enabled) emit virtualTabletJoystickChanged(enabled); } } + +bool QGroundControlQmlGlobal::experimentalSurvey(void) const +{ + QSettings settings; + + return settings.value("ExperimentalSurvey", false).toBool(); +} + +void QGroundControlQmlGlobal::setExperimentalSurvey(bool experimentalSurvey) +{ + QSettings settings; + + settings.setValue("ExperimentalSurvey", experimentalSurvey); + emit experimentalSurveyChanged(experimentalSurvey); +} diff --git a/src/QmlControls/QGroundControlQmlGlobal.h b/src/QmlControls/QGroundControlQmlGlobal.h index 0970cfa4e4e2ea37eeb8eaf94cf5e15926c85101..beae9422e7fcb4271f9350c93c6156086f716f02 100644 --- a/src/QmlControls/QGroundControlQmlGlobal.h +++ b/src/QmlControls/QGroundControlQmlGlobal.h @@ -79,6 +79,9 @@ public: Q_PROPERTY(QGeoCoordinate lastKnownHomePosition READ lastKnownHomePosition CONSTANT) Q_PROPERTY(QGeoCoordinate flightMapPosition MEMBER _flightMapPosition NOTIFY flightMapPositionChanged) + /// @ return: true: experimental survey ip code is turned on + Q_PROPERTY(bool experimentalSurvey READ experimentalSurvey WRITE setExperimentalSurvey NOTIFY experimentalSurveyChanged) + Q_INVOKABLE void saveGlobalSetting (const QString& key, const QString& value); Q_INVOKABLE QString loadGlobalSetting (const QString& key, const QString& defaultValue); Q_INVOKABLE void saveBoolGlobalSetting (const QString& key, bool value); @@ -133,6 +136,9 @@ public: void setIsVersionCheckEnabled (bool enable); void setMavlinkSystemID (int id); + bool experimentalSurvey(void) const; + void setExperimentalSurvey(bool experimentalSurvey); + // Overrides from QGCTool virtual void setToolbox(QGCToolbox* toolbox); @@ -146,6 +152,7 @@ signals: void isVersionCheckEnabledChanged (bool enabled); void mavlinkSystemIDChanged (int id); void flightMapPositionChanged (QGeoCoordinate flightMapPosition); + void experimentalSurveyChanged (bool experimentalSurvey); private: FlightMapSettings* _flightMapSettings; diff --git a/src/Vehicle/MultiVehicleManager.cc b/src/Vehicle/MultiVehicleManager.cc index 29b8331a6fdfa5f48b5299641a2eecc30105f529..3e324d599d9a2b2d6f416deff45aef29f2251c47 100644 --- a/src/Vehicle/MultiVehicleManager.cc +++ b/src/Vehicle/MultiVehicleManager.cc @@ -30,6 +30,8 @@ #include "UAS.h" #include "QGCApplication.h" +#include + QGC_LOGGING_CATEGORY(MultiVehicleManagerLog, "MultiVehicleManagerLog") const char* MultiVehicleManager::_gcsHeartbeatEnabledKey = "gcsHeartbeatEnabled"; diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h index b44d3e78cf0a656874e88608967da5cb8f8e8ba7..49aef16b6c5540e2df7ed388f60227a681790f25 100644 --- a/src/Vehicle/Vehicle.h +++ b/src/Vehicle/Vehicle.h @@ -33,7 +33,6 @@ #include "FactGroup.h" #include "LinkInterface.h" #include "QGCMAVLink.h" -#include "MissionItem.h" #include "QmlObjectListModel.h" #include "MAVLinkProtocol.h" #include "UASMessageHandler.h" diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc index a2cba8654357b970589507db93f502425f281098..c8267358dee7a45cc65477d237ef2170d5fa468f 100644 --- a/src/VehicleSetup/FirmwareUpgradeController.cc +++ b/src/VehicleSetup/FirmwareUpgradeController.cc @@ -31,6 +31,9 @@ #include "QGCApplication.h" #include "QGCFileDownload.h" +#include +#include + struct FirmwareToUrlElement_t { FirmwareUpgradeController::AutoPilotStackType_t stackType; FirmwareUpgradeController::FirmwareType_t firmwareType; diff --git a/src/ViewWidgets/LogDownloadController.cc b/src/ViewWidgets/LogDownloadController.cc index db1f8afae354a4edb3c686064ff03476c71c2afe..891ad4c6d9b7bd2ffb2a35e90b61dcfabc2a4d71 100644 --- a/src/ViewWidgets/LogDownloadController.cc +++ b/src/ViewWidgets/LogDownloadController.cc @@ -34,6 +34,8 @@ #include #include #include +#include +#include #define kTimeOutMilliseconds 500 #define kGUIRateMilliseconds 17 diff --git a/src/main.cc b/src/main.cc index 95bd955d5369521000eed26dfcfbf11578e40c60..c6276a586ae97df248acf96ba75278ec25166fda 100644 --- a/src/main.cc +++ b/src/main.cc @@ -32,6 +32,9 @@ This file is part of the QGROUNDCONTROL project #include #include #include +#include +#include +#include #include "QGCApplication.h" diff --git a/src/ui/preferences/GeneralSettings.qml b/src/ui/preferences/GeneralSettings.qml index 450f4d4f0d088310720cc9bb3ba11dfd32c0eaaf..b51908d115d1142f0e02d24eb61303f60fc9ced4 100644 --- a/src/ui/preferences/GeneralSettings.qml +++ b/src/ui/preferences/GeneralSettings.qml @@ -242,6 +242,8 @@ Rectangle { width: parent.width } + //----------------------------------------------------------------- + //-- Offline mission editing settings Row { spacing: ScreenTools.defaultFontPixelWidth @@ -257,6 +259,19 @@ Rectangle { indexModel: false } } + + Item { + height: ScreenTools.defaultFontPixelHeight / 2 + width: parent.width + } + + //----------------------------------------------------------------- + //-- Experimental Survey settings + QGCCheckBox { + text: "Experimental Survey [WIP - no bugs reports please]" + checked: QGroundControl.experimentalSurvey + onClicked: QGroundControl.experimentalSurvey = checked + } } } }