expanded waypoint view

src/Waypoint.cc

@@ -32,15 +32,17 @@ This file is part of the PIXHAWK project
 
 #include "Waypoint.h"
 
-Waypoint::Waypoint(quint16 id, float x, float y, float z, float yaw, bool autocontinue, bool current)
+Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime)
+: id(_id),
+  x(_x),
+  y(_y),
+  z(_z),
+  yaw(_yaw),
+  autocontinue(_autocontinue),
+  current(_current),
+  orbit(_orbit),
+  holdTime(_holdTime)
 {
-    this->id = id;
-    this->x = x;
-    this->y = y;
-    this->z = z;
-    this->yaw = yaw;
-    this->autocontinue = autocontinue;
-    this->current = current;
 }
 
 Waypoint::~Waypoint()
@@ -83,6 +85,16 @@ void Waypoint::setCurrent(bool current)
     this->current = current;
 }
 
+void Waypoint::setOrbit(float orbit)
+{
+    this->orbit = orbit;
+}
+
+void Waypoint::setHoldTime(int holdTime)
+{
+    this->holdTime = holdTime;
+}
+
 void Waypoint::setX(double x)
 {
     this->x = x;
@@ -102,3 +114,8 @@ void Waypoint::setYaw(double yaw)
 {
     this->yaw = yaw;
 }
+
+void Waypoint::setOrbit(double orbit)
+{
+    this->orbit = orbit;
+}

src/Waypoint.h

@@ -41,7 +41,7 @@ class Waypoint : public QObject
     Q_OBJECT
 
 public:
-    Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false, bool current = false);
+    Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false, bool current = false, float orbit = 0.1f, int holdTime = 2000);
     ~Waypoint();
 
     quint16 getId() const { return id; }
@@ -51,6 +51,8 @@ public:
     float getYaw() const { return yaw; }
     bool getAutoContinue() const { return autocontinue; }
     bool getCurrent() const { return current; }
+    float getOrbit() const { return orbit; }
+    float getHoldTime() const { return holdTime; }
 
 private:
     quint16 id;
@@ -60,6 +62,8 @@ private:
     float yaw;
     bool autocontinue;
     bool current;
+    float orbit;
+    int holdTime;
 
 public slots:
     void setId(quint16 id);
@@ -69,12 +73,15 @@ public slots:
     void setYaw(float yaw);
     void setAutocontinue(bool autoContinue);
     void setCurrent(bool current);
+    void setOrbit(float orbit);
+    void setHoldTime(int holdTime);
 
     //for QDoubleSpin
     void setX(double x);
     void setY(double y);
     void setZ(double z);
     void setYaw(double yaw);
+    void setOrbit(double orbit);
 };
 
 #endif // WAYPOINT_H

src/ui/WaypointView.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>595</width>
+    <width>763</width>
     <height>40</height>
    </rect>
   </property>
@@ -155,7 +155,7 @@ QProgressBar::chunk#thrustBar {
      <property name="title">
       <string/>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,5,0,0,0,0,0,0,0,0">
+     <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0,0,0,0,0,0,0,0,0,0,0">
       <property name="spacing">
        <number>2</number>
       </property>
@@ -216,13 +216,13 @@ QProgressBar::chunk#thrustBar {
          <string>Position X coordinate</string>
         </property>
         <property name="suffix">
-         <string>m</string>
+         <string> m</string>
         </property>
         <property name="minimum">
-         <double>-100000.000000000000000</double>
+         <double>-1000.000000000000000</double>
         </property>
         <property name="maximum">
-         <double>100000.000000000000000</double>
+         <double>1000.000000000000000</double>
         </property>
         <property name="singleStep">
          <double>0.050000000000000</double>
@@ -235,13 +235,13 @@ QProgressBar::chunk#thrustBar {
          <string>Position Y coordinate</string>
         </property>
         <property name="suffix">
-         <string>m</string>
+         <string> m</string>
         </property>
         <property name="minimum">
-         <double>-100000.000000000000000</double>
+         <double>-1000.000000000000000</double>
         </property>
         <property name="maximum">
-         <double>100000.000000000000000</double>
+         <double>1000.000000000000000</double>
         </property>
         <property name="singleStep">
          <double>0.050000000000000</double>
@@ -257,10 +257,10 @@ QProgressBar::chunk#thrustBar {
          <string>Position Z coordinate</string>
         </property>
         <property name="suffix">
-         <string>m</string>
+         <string> m</string>
         </property>
         <property name="minimum">
-         <double>-100000.000000000000000</double>
+         <double>-1000.000000000000000</double>
         </property>
         <property name="maximum">
          <double>0.000000000000000</double>
@@ -284,6 +284,47 @@ QProgressBar::chunk#thrustBar {
         <property name="maximum">
          <number>359</number>
         </property>
+        <property name="singleStep">
+         <number>10</number>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="orbitSpinBox">
+        <property name="toolTip">
+         <string>Orbit radius</string>
+        </property>
+        <property name="suffix">
+         <string> m</string>
+        </property>
+        <property name="minimum">
+         <double>0.050000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>1.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.050000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QSpinBox" name="holdTimeSpinBox">
+        <property name="statusTip">
+         <string>Time in milliseconds that the MAV has to stay inside the orbit before advancing</string>
+        </property>
+        <property name="suffix">
+         <string> ms</string>
+        </property>
+        <property name="maximum">
+         <number>60000</number>
+        </property>
+        <property name="singleStep">
+         <number>500</number>
+        </property>
+        <property name="value">
+         <number>2000</number>
+        </property>
        </widget>
       </item>
       <item>