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Commit 7a105693 authored by Don Gagne's avatar Don Gagne
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Add missing values and better ui

parent 1f5b8f6a
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Showing with 114 additions and 34 deletions
src/MissionEditor/FWLandingPatternEditor.qml
View file @ 7a105693
...@@ -31,7 +31,8 @@ Rectangle { ...@@ -31,7 +31,8 @@ Rectangle {
//property real availableWidth ///< Width for control //property real availableWidth ///< Width for control
//property var missionItem ///< Mission Item for editor //property var missionItem ///< Mission Item for editor
property real _margin: ScreenTools.defaultFontPixelWidth * 0.25 property real _margin: ScreenTools.defaultFontPixelWidth / 4
property real _spacer: ScreenTools.defaultFontPixelWidth / 2
Column { Column {
id: editorColumn id: editorColumn
...@@ -40,17 +41,78 @@ Rectangle { ...@@ -40,17 +41,78 @@ Rectangle {
anchors.right: parent.right anchors.right: parent.right
visible: missionItem.landingCoordSet visible: missionItem.landingCoordSet
QGCLabel { text: "WIP (NOT FOR REAL FLIGHT!)" } QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
text: "WIP (NOT FOR REAL FLIGHT!)"
}
Item { width: 1; height: _margin }
QGCLabel { text: qsTr("Loiter point") }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
Item { width: 1; height: _spacer }
FactTextFieldGrid {
anchors.left: parent.left
anchors.right: parent.right
factList: [ missionItem.loiterAltitude, missionItem.loiterRadius ]
}
Item { width: 1; height: _spacer }
QGCCheckBox {
id: loiterAltRelative
anchors.right: parent.right
text: qsTr("Altitude relative to home")
checked: missionItem.loiterAltitudeRelative
onClicked: missionItem.loiterAltitudeRelative = checked
}
Item { width: 1; height: _spacer }
QGCCheckBox {
anchors.left: loiterAltRelative.left
text: qsTr("Loiter clockwise")
checked: missionItem.loiterClockwise
onClicked: missionItem.loiterClockwise = checked
}
Item { width: 1; height: ScreenTools.defaultFontPixelHeight / 2 }
QGCLabel { text: qsTr("Landing point") }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
Item { width: 1; height: _spacer }
FactTextFieldGrid { FactTextFieldGrid {
anchors.left: parent.left anchors.left: parent.left
anchors.right: parent.right anchors.right: parent.right
factList: missionItem.textFieldFacts factList: [ missionItem.landingAltitude, missionItem.landingDistance, missionItem.landingHeading ]
} }
FactCheckBox { Item { width: 1; height: _spacer }
text: missionItem.loiterClockwise.name
fact: missionItem.loiterClockwise QGCCheckBox {
anchors.right: parent.right
text: qsTr("Altitude relative to home")
checked: missionItem.landingAltitudeRelative
onClicked: missionItem.landingAltitudeRelative = checked
} }
} }
......
src/MissionManager/FWLandingPattern.FactMetaData.json
View file @ 7a105693
...@@ -17,7 +17,7 @@ ...@@ -17,7 +17,7 @@
}, },
{ {
"name": "Loiter altitude", "name": "Loiter altitude",
"shortDescription": "Altitude to loiter prior to landing.", "shortDescription": "Aircraft will proceed to the loiter point and loiter until it reaches this altitude. Once altitude is reached the aircraft will proceed to land.",
"type": "double", "type": "double",
"units": "m", "units": "m",
"decimalPlaces": 1, "decimalPlaces": 1,
...@@ -33,9 +33,11 @@ ...@@ -33,9 +33,11 @@
"defaultValue": 75.0 "defaultValue": 75.0
}, },
{ {
"name": "Clockwise loiter", "name": "Landing altitude",
"shortDescription": "If true, loiter will be clockwise. False, loiter will be counter-clockwise.", "shortDescription": "Altitude for landing point.",
"type": "bool", "type": "double",
"defaultValue": true "units": "m",
"decimalPlaces": 1,
"defaultValue": 0.0
} }
] ]
src/MissionManager/FixedWingLandingComplexItem.cc
View file @ 7a105693
...@@ -23,7 +23,7 @@ const char* FixedWingLandingComplexItem::_loiterToLandDistanceName = "Landing ...@@ -23,7 +23,7 @@ const char* FixedWingLandingComplexItem::_loiterToLandDistanceName = "Landing
const char* FixedWingLandingComplexItem::_landingHeadingName = "Landing heading"; const char* FixedWingLandingComplexItem::_landingHeadingName = "Landing heading";
const char* FixedWingLandingComplexItem::_loiterAltitudeName = "Loiter altitude"; const char* FixedWingLandingComplexItem::_loiterAltitudeName = "Loiter altitude";
const char* FixedWingLandingComplexItem::_loiterRadiusName = "Loiter radius"; const char* FixedWingLandingComplexItem::_loiterRadiusName = "Loiter radius";
const char* FixedWingLandingComplexItem::_loiterClockwiseName = "Clockwise loiter"; const char* FixedWingLandingComplexItem::_landingAltitudeName = "Landing altitude";
QMap<QString, FactMetaData*> FixedWingLandingComplexItem::_metaDataMap; QMap<QString, FactMetaData*> FixedWingLandingComplexItem::_metaDataMap;
...@@ -36,8 +36,11 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje ...@@ -36,8 +36,11 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
, _loiterToLandDistanceFact (0, _loiterToLandDistanceName, FactMetaData::valueTypeDouble) , _loiterToLandDistanceFact (0, _loiterToLandDistanceName, FactMetaData::valueTypeDouble)
, _loiterAltitudeFact (0, _loiterAltitudeName, FactMetaData::valueTypeDouble) , _loiterAltitudeFact (0, _loiterAltitudeName, FactMetaData::valueTypeDouble)
, _loiterRadiusFact (0, _loiterRadiusName, FactMetaData::valueTypeDouble) , _loiterRadiusFact (0, _loiterRadiusName, FactMetaData::valueTypeDouble)
, _loiterClockwiseFact (0, _loiterClockwiseName, FactMetaData::valueTypeBool)
, _landingHeadingFact (0, _landingHeadingName, FactMetaData::valueTypeDouble) , _landingHeadingFact (0, _landingHeadingName, FactMetaData::valueTypeDouble)
, _landingAltitudeFact (0, _landingAltitudeName, FactMetaData::valueTypeDouble)
, _loiterClockwise(true)
, _loiterAltitudeRelative(true)
, _landingAltitudeRelative(true)
{ {
_editorQml = "qrc:/qml/FWLandingPatternEditor.qml"; _editorQml = "qrc:/qml/FWLandingPatternEditor.qml";
...@@ -48,21 +51,19 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje ...@@ -48,21 +51,19 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
_loiterToLandDistanceFact.setMetaData (_metaDataMap[_loiterToLandDistanceName]); _loiterToLandDistanceFact.setMetaData (_metaDataMap[_loiterToLandDistanceName]);
_loiterAltitudeFact.setMetaData (_metaDataMap[_loiterAltitudeName]); _loiterAltitudeFact.setMetaData (_metaDataMap[_loiterAltitudeName]);
_loiterRadiusFact.setMetaData (_metaDataMap[_loiterRadiusName]); _loiterRadiusFact.setMetaData (_metaDataMap[_loiterRadiusName]);
_loiterClockwiseFact.setMetaData (_metaDataMap[_loiterClockwiseName]);
_landingHeadingFact.setMetaData (_metaDataMap[_landingHeadingName]); _landingHeadingFact.setMetaData (_metaDataMap[_landingHeadingName]);
_landingAltitudeFact.setMetaData (_metaDataMap[_landingAltitudeName]);
_loiterToLandDistanceFact.setRawValue (_loiterToLandDistanceFact.rawDefaultValue()); _loiterToLandDistanceFact.setRawValue (_loiterToLandDistanceFact.rawDefaultValue());
_loiterAltitudeFact.setRawValue (_loiterAltitudeFact.rawDefaultValue()); _loiterAltitudeFact.setRawValue (_loiterAltitudeFact.rawDefaultValue());
_loiterRadiusFact.setRawValue (_loiterRadiusFact.rawDefaultValue()); _loiterRadiusFact.setRawValue (_loiterRadiusFact.rawDefaultValue());
_loiterClockwiseFact.setRawValue (_loiterClockwiseFact.rawDefaultValue());
_landingHeadingFact.setRawValue (_landingHeadingFact.rawDefaultValue()); _landingHeadingFact.setRawValue (_landingHeadingFact.rawDefaultValue());
_landingAltitudeFact.setRawValue (_landingAltitudeFact.rawDefaultValue());
connect(&_loiterToLandDistanceFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts); connect(&_loiterToLandDistanceFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts);
connect(&_landingHeadingFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts); connect(&_landingHeadingFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts);
connect(this, &FixedWingLandingComplexItem::loiterCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFactsFromCoords); connect(this, &FixedWingLandingComplexItem::loiterCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFactsFromCoords);
connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFactsFromCoords); connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFactsFromCoords);
_textFieldFacts << QVariant::fromValue(&_loiterToLandDistanceFact) << QVariant::fromValue(&_loiterAltitudeFact) << QVariant::fromValue(&_loiterRadiusFact) << QVariant::fromValue(&_landingHeadingFact);
} }
int FixedWingLandingComplexItem::lastSequenceNumber(void) const int FixedWingLandingComplexItem::lastSequenceNumber(void) const
...@@ -147,10 +148,10 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const ...@@ -147,10 +148,10 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const
pMissionItems); // parent - allow delete on pMissionItems to delete everthing pMissionItems); // parent - allow delete on pMissionItems to delete everthing
pMissionItems->append(item); pMissionItems->append(item);
float loiterRadius = _loiterRadiusFact.rawValue().toDouble() * (_loiterClockwiseFact.rawValue().toBool() ? 1.0 : -1.0); float loiterRadius = _loiterRadiusFact.rawValue().toDouble() * (_loiterClockwise ? 1.0 : -1.0);
item = new MissionItem(seqNum++, item = new MissionItem(seqNum++,
MAV_CMD_NAV_LOITER_TO_ALT, MAV_CMD_NAV_LOITER_TO_ALT,
MAV_FRAME_GLOBAL_RELATIVE_ALT, _loiterAltitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
1.0, // Heading required = true 1.0, // Heading required = true
loiterRadius, // Loiter radius loiterRadius, // Loiter radius
0.0, // param 3 - unused 0.0, // param 3 - unused
...@@ -165,7 +166,7 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const ...@@ -165,7 +166,7 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const
item = new MissionItem(seqNum++, item = new MissionItem(seqNum++,
MAV_CMD_NAV_LAND, MAV_CMD_NAV_LAND,
MAV_FRAME_GLOBAL_RELATIVE_ALT, _landingAltitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0.0, 0.0, 0.0, 0.0, // param 1-4 0.0, 0.0, 0.0, 0.0, // param 1-4
_landingCoordinate.latitude(), _landingCoordinate.latitude(),
_landingCoordinate.longitude(), _landingCoordinate.longitude(),
......
src/MissionManager/FixedWingLandingComplexItem.h
View file @ 7a105693
...@@ -24,13 +24,23 @@ class FixedWingLandingComplexItem : public ComplexMissionItem ...@@ -24,13 +24,23 @@ class FixedWingLandingComplexItem : public ComplexMissionItem
public: public:
FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent = NULL); FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(QVariantList textFieldFacts MEMBER _textFieldFacts CONSTANT) Q_PROPERTY(Fact* loiterAltitude READ loiterAltitude CONSTANT)
Q_PROPERTY(Fact* loiterClockwise READ loiterClockwise CONSTANT) Q_PROPERTY(Fact* loiterRadius READ loiterRadius CONSTANT)
Q_PROPERTY(Fact* landingAltitude READ landingAltitude CONSTANT)
Q_PROPERTY(Fact* landingDistance READ landingDistance CONSTANT)
Q_PROPERTY(Fact* landingHeading READ landingHeading CONSTANT)
Q_PROPERTY(bool loiterClockwise MEMBER _loiterClockwise NOTIFY loiterClockwiseChanged)
Q_PROPERTY(bool loiterAltitudeRelative MEMBER _loiterAltitudeRelative NOTIFY loiterAltitudeRelativeChanged)
Q_PROPERTY(bool landingAltitudeRelative MEMBER _landingAltitudeRelative NOTIFY landingAltitudeRelativeChanged)
Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged) Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged)
Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged) Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged)
Q_PROPERTY(bool landingCoordSet MEMBER _landingCoordSet NOTIFY landingCoordSetChanged) Q_PROPERTY(bool landingCoordSet MEMBER _landingCoordSet NOTIFY landingCoordSetChanged)
Fact* loiterClockwise (void) { return &_loiterClockwiseFact; } Fact* loiterAltitude (void) { return &_loiterAltitudeFact; }
Fact* loiterRadius (void) { return &_loiterRadiusFact; }
Fact* landingAltitude (void) { return &_landingAltitudeFact; }
Fact* landingDistance (void) { return &_loiterToLandDistanceFact; }
Fact* landingHeading (void) { return &_landingHeadingFact; }
QGeoCoordinate landingCoordinate (void) const { return _landingCoordinate; } QGeoCoordinate landingCoordinate (void) const { return _landingCoordinate; }
QGeoCoordinate loiterCoordinate (void) const { return _loiterCoordinate; } QGeoCoordinate loiterCoordinate (void) const { return _loiterCoordinate; }
...@@ -76,6 +86,9 @@ signals: ...@@ -76,6 +86,9 @@ signals:
void loiterCoordinateChanged (QGeoCoordinate coordinate); void loiterCoordinateChanged (QGeoCoordinate coordinate);
void landingCoordinateChanged (QGeoCoordinate coordinate); void landingCoordinateChanged (QGeoCoordinate coordinate);
void landingCoordSetChanged (bool landingCoordSet); void landingCoordSetChanged (bool landingCoordSet);
void loiterClockwiseChanged (bool loiterClockwise);
void loiterAltitudeRelativeChanged (bool loiterAltitudeRelative);
void landingAltitudeRelativeChanged (bool loiterAltitudeRelative);
private slots: private slots:
void _recalcLoiterCoordFromFacts(void); void _recalcLoiterCoordFromFacts(void);
...@@ -94,18 +107,20 @@ private: ...@@ -94,18 +107,20 @@ private:
Fact _loiterToLandDistanceFact; Fact _loiterToLandDistanceFact;
Fact _loiterAltitudeFact; Fact _loiterAltitudeFact;
Fact _loiterRadiusFact; Fact _loiterRadiusFact;
Fact _loiterClockwiseFact;
Fact _landingHeadingFact; Fact _landingHeadingFact;
Fact _landingAltitudeFact;
static QMap<QString, FactMetaData*> _metaDataMap; bool _loiterClockwise;
bool _loiterAltitudeRelative;
bool _landingAltitudeRelative;
QVariantList _textFieldFacts; static QMap<QString, FactMetaData*> _metaDataMap;
static const char* _loiterToLandDistanceName; static const char* _loiterToLandDistanceName;
static const char* _loiterAltitudeName; static const char* _loiterAltitudeName;
static const char* _loiterRadiusName; static const char* _loiterRadiusName;
static const char* _loiterClockwiseName;
static const char* _landingHeadingName; static const char* _landingHeadingName;
static const char* _landingAltitudeName;
}; };
#endif #endif
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