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Commit 8e661ea0 authored by DoinLakeFlyer's avatar DoinLakeFlyer
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parent e9bbd5eb
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qgroundcontrol.pro
View file @ 8e661ea0
......@@ -255,7 +255,8 @@ QT += \
svg \
widgets \
xml \
texttospeech
texttospeech \
core-private
# Multimedia only used if QVC is enabled
!contains (DEFINES, QGC_DISABLE_UVC) {
......@@ -641,8 +642,8 @@ HEADERS += \
src/QGCTemporaryFile.h \
src/QGCToolbox.h \
src/QmlControls/AppMessages.h \
src/QmlControls/CoordinateVector.h \
src/QmlControls/EditPositionDialogController.h \
src/QmlControls/FlightPathSegment.h \
src/QmlControls/InstrumentValueData.h \
src/QmlControls/InstrumentValueArea.h \
src/QmlControls/ParameterEditorController.h \
......@@ -654,6 +655,7 @@ HEADERS += \
src/QmlControls/RCChannelMonitorController.h \
src/QmlControls/RCToParamDialogController.h \
src/QmlControls/ScreenToolsController.h \
src/QmlControls/TerrainProfile.h \
src/QtLocationPlugin/QMLControl/QGCMapEngineManager.h \
src/Settings/ADSBVehicleManagerSettings.h \
src/Settings/AppSettings.h \
......@@ -847,8 +849,8 @@ SOURCES += \
src/QGCTemporaryFile.cc \
src/QGCToolbox.cc \
src/QmlControls/AppMessages.cc \
src/QmlControls/CoordinateVector.cc \
src/QmlControls/EditPositionDialogController.cc \
src/QmlControls/FlightPathSegment.cc \
src/QmlControls/InstrumentValueData.cc \
src/QmlControls/InstrumentValueArea.cc \
src/QmlControls/ParameterEditorController.cc \
......@@ -860,6 +862,7 @@ SOURCES += \
src/QmlControls/RCChannelMonitorController.cc \
src/QmlControls/RCToParamDialogController.cc \
src/QmlControls/ScreenToolsController.cc \
src/QmlControls/TerrainProfile.cc \
src/QtLocationPlugin/QMLControl/QGCMapEngineManager.cc \
src/Settings/ADSBVehicleManagerSettings.cc \
src/Settings/AppSettings.cc \
......
qgroundcontrol.qrc
View file @ 8e661ea0
......@@ -172,6 +172,7 @@
<file alias="QGroundControl/Controls/StructureScanMapVisual.qml">src/PlanView/StructureScanMapVisual.qml</file>
<file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
<file alias="QGroundControl/Controls/SurveyMapVisual.qml">src/PlanView/SurveyMapVisual.qml</file>
<file alias="QGroundControl/Controls/TerrainStatus.qml">src/PlanView/TerrainStatus.qml</file>
<file alias="QGroundControl/Controls/TakeoffItemMapVisual.qml">src/PlanView/TakeoffItemMapVisual.qml</file>
<file alias="QGroundControl/Controls/ToolStrip.qml">src/QmlControls/ToolStrip.qml</file>
<file alias="QGroundControl/Controls/TransectStyleComplexItemStats.qml">src/PlanView/TransectStyleComplexItemStats.qml</file>
......
src/FlightDisplay/FlightDisplayView.qml
View file @ 8e661ea0
......@@ -640,6 +640,7 @@ Item {
name: qsTr("Action"),
iconSource: "/res/action.svg",
buttonVisible: _anyActionAvailable,
buttonEnabled: true,
action: -1
}
]
......
src/FlightMap/MapItems/MissionLineView.qml
View file @ 8e661ea0
......@@ -19,8 +19,13 @@ MapItemView {
property bool showSpecialVisual: false
delegate: MapPolyline {
line.width: 3
line.color: object && showSpecialVisual && object.specialVisual ? "green" : QGroundControl.globalPalette.mapMissionTrajectory
line.color: _terrainCollision ?
"red" :
(showSpecialVisual ? "green" : QGroundControl.globalPalette.mapMissionTrajectory)
z: QGroundControl.zOrderWaypointLines
path: object && object.coordinate1.isValid && object.coordinate2.isValid ? [ object.coordinate1, object.coordinate2 ] : []
property bool _terrainCollision: object && object.terrainCollision
property bool _showSpecialVisual: object && showSpecialVisual && object.specialVisual
}
}
src/MissionManager/ComplexMissionItem.cc
View file @ 8e661ea0
......@@ -12,6 +12,8 @@
#include "QGCCorePlugin.h"
#include "QGCOptions.h"
#include "PlanMasterController.h"
#include "FlightPathSegment.h"
#include "MissionController.h"
#include <QSettings>
......@@ -112,3 +114,34 @@ void ComplexMissionItem::addKMLVisuals(KMLPlanDomDocument& /* domDocument */)
{
// Default implementation has no visuals
}
void ComplexMissionItem::_appendFlightPathSegment(const QGeoCoordinate& coord1, double coord1AMSLAlt, const QGeoCoordinate& coord2, double coord2AMSLAlt)
{
FlightPathSegment* segment = new FlightPathSegment(coord1, coord1AMSLAlt, coord2, coord2AMSLAlt, true /* queryTerrainData */, this /* parent */);
connect(segment, &FlightPathSegment::terrainCollisionChanged, this, &ComplexMissionItem::_segmentTerrainCollisionChanged);
connect(segment, &FlightPathSegment::terrainCollisionChanged, _missionController, &MissionController::recalcTerrainProfile, Qt::QueuedConnection);
connect(segment, &FlightPathSegment::amslTerrainHeightsChanged, _missionController, &MissionController::recalcTerrainProfile, Qt::QueuedConnection);
// Signals may have been emitted in contructor so we need to deal with that now since they were missed
_flightPathSegments.append(segment);
if (segment->terrainCollision()) {
emit _segmentTerrainCollisionChanged(true);
}
if (segment->amslTerrainHeights().count()) {
_missionController->recalcTerrainProfile();
}
}
void ComplexMissionItem::_segmentTerrainCollisionChanged(bool terrainCollision)
{
if (terrainCollision) {
_cTerrainCollisionSegments++;
} else {
_cTerrainCollisionSegments--;
}
emit terrainCollisionChanged(_cTerrainCollisionSegments != 0);
}
src/MissionManager/ComplexMissionItem.h
View file @ 8e661ea0
......@@ -14,10 +14,12 @@
#include "QGCToolbox.h"
#include "SettingsManager.h"
#include "KMLPlanDomDocument.h"
#include "QmlObjectListModel.h"
#include <QSettings>
class PlanMasterController;
class MissionController;
class ComplexMissionItem : public VisualMissionItem
{
......@@ -28,10 +30,29 @@ public:
const ComplexMissionItem& operator=(const ComplexMissionItem& other);
Q_PROPERTY(double complexDistance READ complexDistance NOTIFY complexDistanceChanged)
Q_PROPERTY(bool presetsSupported READ presetsSupported CONSTANT)
Q_PROPERTY(QStringList presetNames READ presetNames NOTIFY presetNamesChanged)
Q_PROPERTY(bool isIncomplete READ isIncomplete NOTIFY isIncompleteChanged)
Q_PROPERTY(QString patternName READ patternName CONSTANT)
Q_PROPERTY(double complexDistance READ complexDistance NOTIFY complexDistanceChanged)
Q_PROPERTY(bool presetsSupported READ presetsSupported CONSTANT)
Q_PROPERTY(QStringList presetNames READ presetNames NOTIFY presetNamesChanged)
Q_PROPERTY(bool isIncomplete READ isIncomplete NOTIFY isIncompleteChanged)
Q_PROPERTY(double minAMSLAltitude READ minAMSLAltitude NOTIFY minAMSLAltitudeChanged) ///< Minimum altitude of all coordinates in item
Q_PROPERTY(double maxAMSLAltitude READ maxAMSLAltitude NOTIFY maxAMSLAltitudeChanged) ///< Maximum altitude of all coordinates in item
Q_PROPERTY(bool isSingleItem READ isSingleItem CONSTANT)
Q_PROPERTY(QmlObjectListModel* flightPathSegments READ flightPathSegments CONSTANT)
Q_PROPERTY(bool terrainCollision READ terrainCollision NOTIFY terrainCollisionChanged)
QmlObjectListModel* flightPathSegments (void) { return &_flightPathSegments; }
virtual QString patternName(void) const = 0;
/// @return true: This complex item is colliding with terrain
virtual bool terrainCollision(void) const { return _cTerrainCollisionSegments != 0; }
/// @return Minimum altitude for the items within this complex items.
virtual double minAMSLAltitude(void) const = 0;
/// @return Maximum altitude for the items within this complex items.
virtual double maxAMSLAltitude(void) const = 0;
/// @return The distance covered the complex mission item in meters.
/// Signals complexDistanceChanged
......@@ -44,6 +65,9 @@ public:
/// @return true: load success, false: load failed, errorString set
virtual bool load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString) = 0;
/// @return true: Represents a single coordinate (ex: MissionSettingsItem), false: Represents multiple items (ex: Survey)
virtual bool isSingleItem(void) const { return false; }
/// Loads the specified preset into the complex item.
/// @param name Preset name.
Q_INVOKABLE virtual void loadPreset(const QString& name);
......@@ -83,12 +107,21 @@ signals:
void greatestDistanceToChanged (void);
void presetNamesChanged (void);
void isIncompleteChanged (void);
void minAMSLAltitudeChanged (double minAMSLAltitude);
void maxAMSLAltitudeChanged (double maxAMSLAltitude);
void terrainCollisionChanged (bool terrainCollision);
protected slots:
virtual void _segmentTerrainCollisionChanged (bool terrainCollision);
protected:
void _savePresetJson (const QString& name, QJsonObject& presetObject);
QJsonObject _loadPresetJson (const QString& name);
void _savePresetJson (const QString& name, QJsonObject& presetObject);
QJsonObject _loadPresetJson (const QString& name);
void _appendFlightPathSegment(const QGeoCoordinate& coord1, double coord1AMSLAlt, const QGeoCoordinate& coord2, double coord2AMSLAlt);
bool _isIncomplete = true;
bool _isIncomplete = true;
int _cTerrainCollisionSegments = 0;
QmlObjectListModel _flightPathSegments; // Contains FlightPathSegment items
QMap<QString, FactMetaData*> _metaDataMap;
......@@ -96,4 +129,6 @@ protected:
QGCToolbox* _toolbox;
SettingsManager* _settingsManager;
private:
};
src/MissionManager/CorridorScanComplexItem.cc
View file @ 8e661ea0
......@@ -22,6 +22,8 @@
QGC_LOGGING_CATEGORY(CorridorScanComplexItemLog, "CorridorScanComplexItemLog")
const QString CorridorScanComplexItem::name(tr("Corridor Scan"));
const char* CorridorScanComplexItem::settingsGroup = "CorridorScan";
const char* CorridorScanComplexItem::corridorWidthName = "CorridorWidth";
const char* CorridorScanComplexItem::_jsonEntryPointKey = "EntryPoint";
......@@ -44,9 +46,6 @@ CorridorScanComplexItem::CorridorScanComplexItem(PlanMasterController* masterCon
connect(&_corridorWidthFact, &Fact::valueChanged, this, &CorridorScanComplexItem::_setDirty);
connect(&_corridorPolyline, &QGCMapPolyline::pathChanged, this, &CorridorScanComplexItem::_setDirty);
connect(&_cameraCalc, &CameraCalc::distanceToSurfaceRelativeChanged, this, &CorridorScanComplexItem::coordinateHasRelativeAltitudeChanged);
connect(&_cameraCalc, &CameraCalc::distanceToSurfaceRelativeChanged, this, &CorridorScanComplexItem::exitCoordinateHasRelativeAltitudeChanged);
connect(&_corridorPolyline, &QGCMapPolyline::dirtyChanged, this, &CorridorScanComplexItem::_polylineDirtyChanged);
connect(&_corridorPolyline, &QGCMapPolyline::pathChanged, this, &CorridorScanComplexItem::_rebuildCorridorPolygon);
......@@ -150,13 +149,6 @@ int CorridorScanComplexItem::_calcTransectCount(void) const
return fullWidth > 0.0 ? qCeil(fullWidth / _calcTransectSpacing()) : 1;
}
void CorridorScanComplexItem::applyNewAltitude(double newAltitude)
{
_cameraCalc.valueSetIsDistance()->setRawValue(true);
_cameraCalc.distanceToSurface()->setRawValue(newAltitude);
_cameraCalc.setDistanceToSurfaceRelative(true);
}
void CorridorScanComplexItem::_polylineDirtyChanged(bool dirty)
{
if (dirty) {
......@@ -338,15 +330,6 @@ void CorridorScanComplexItem::_rebuildTransectsPhase1(void)
}
}
void CorridorScanComplexItem::_recalcComplexDistance(void)
{
_complexDistance = 0;
for (int i=0; i<_visualTransectPoints.count() - 1; i++) {
_complexDistance += _visualTransectPoints[i].value<QGeoCoordinate>().distanceTo(_visualTransectPoints[i+1].value<QGeoCoordinate>());
}
emit complexDistanceChanged();
}
void CorridorScanComplexItem::_recalcCameraShots(void)
{
double triggerDistance = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble();
......
src/MissionManager/CorridorScanComplexItem.h
View file @ 8e661ea0
......@@ -36,9 +36,9 @@ public:
Q_INVOKABLE void rotateEntryPoint(void);
// Overrides from TransectStyleComplexItem
QString patternName (void) const final { return name; }
void save (QJsonArray& planItems) final;
bool specifiesCoordinate (void) const final;
void applyNewAltitude (double newAltitude) final;
double timeBetweenShots (void) final;
// Overrides from ComplexMissionItem
......@@ -52,6 +52,8 @@ public:
ReadyForSaveState readyForSaveState (void) const final;
double additionalTimeDelay (void) const final { return 0; }
static const QString name;
static const char* jsonComplexItemTypeValue;
static const char* settingsGroup;
......@@ -64,7 +66,6 @@ private slots:
// Overrides from TransectStyleComplexItem
void _rebuildTransectsPhase1 (void) final;
void _recalcComplexDistance (void) final;
void _recalcCameraShots (void) final;
private:
......
src/MissionManager/CorridorScanPlanCreator.cc
View file @ 8e661ea0
......@@ -10,10 +10,10 @@
#include "CorridorScanPlanCreator.h"
#include "PlanMasterController.h"
#include "MissionSettingsItem.h"
#include "FixedWingLandingComplexItem.h"
#include "CorridorScanComplexItem.h"
CorridorScanPlanCreator::CorridorScanPlanCreator(PlanMasterController* planMasterController, QObject* parent)
: PlanCreator(planMasterController, MissionController::patternCorridorScanName, QStringLiteral("/qmlimages/PlanCreator/CorridorScanPlanCreator.png"), parent)
: PlanCreator(planMasterController, CorridorScanComplexItem::name, QStringLiteral("/qmlimages/PlanCreator/CorridorScanPlanCreator.png"), parent)
{
}
......@@ -22,7 +22,7 @@ void CorridorScanPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord)
{
_planMasterController->removeAll();
VisualMissionItem* takeoffItem = _missionController->insertTakeoffItem(mapCenterCoord, -1);
_missionController->insertComplexMissionItem(MissionController::patternCorridorScanName, mapCenterCoord, -1);
_missionController->insertComplexMissionItem(CorridorScanComplexItem::name, mapCenterCoord, -1);
_missionController->insertLandItem(mapCenterCoord, -1);
_missionController->setCurrentPlanViewSeqNum(takeoffItem->sequenceNumber(), true);
}
src/MissionManager/FixedWingLandingComplexItem.cc
View file @ 8e661ea0
......@@ -13,11 +13,14 @@
#include "QGCGeo.h"
#include "SimpleMissionItem.h"
#include "PlanMasterController.h"
#include "FlightPathSegment.h"
#include <QPolygonF>
QGC_LOGGING_CATEGORY(FixedWingLandingComplexItemLog, "FixedWingLandingComplexItemLog")
const QString FixedWingLandingComplexItem::name(tr("Fixed Wing Landing"));
const char* FixedWingLandingComplexItem::settingsGroup = "FixedWingLanding";
const char* FixedWingLandingComplexItem::jsonComplexItemTypeValue = "fwLandingPattern";
......@@ -47,10 +50,6 @@ const char* FixedWingLandingComplexItem::_jsonLoiterAltitudeRelativeKey = "loi
FixedWingLandingComplexItem::FixedWingLandingComplexItem(PlanMasterController* masterController, bool flyView, QObject* parent)
: ComplexMissionItem (masterController, flyView, parent)
, _sequenceNumber (0)
, _dirty (false)
, _landingCoordSet (false)
, _ignoreRecalcSignals (false)
, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/FWLandingPattern.FactMetaData.json"), this))
, _landingDistanceFact (settingsGroup, _metaDataMap[loiterToLandDistanceName])
, _loiterAltitudeFact (settingsGroup, _metaDataMap[loiterAltitudeName])
......@@ -61,8 +60,6 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(PlanMasterController* m
, _stopTakingPhotosFact (settingsGroup, _metaDataMap[stopTakingPhotosName])
, _stopTakingVideoFact (settingsGroup, _metaDataMap[stopTakingVideoName])
, _valueSetIsDistanceFact (settingsGroup, _metaDataMap[valueSetIsDistanceName])
, _loiterClockwise (true)
, _altitudesAreRelative (true)
{
_editorQml = "qrc:/qml/FWLandingPatternEditor.qml";
_isIncomplete = false;
......@@ -98,12 +95,29 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(PlanMasterController* m
connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::valueSetIsDistanceChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::coordinateHasRelativeAltitudeChanged);
connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::exitCoordinateHasRelativeAltitudeChanged);
connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::_amslEntryAltChanged);
connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::_amslExitAltChanged);
connect(_missionController, &MissionController::plannedHomePositionChanged, this, &FixedWingLandingComplexItem::_amslEntryAltChanged);
connect(_missionController, &MissionController::plannedHomePositionChanged, this, &FixedWingLandingComplexItem::_amslExitAltChanged);
connect(&_loiterAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_amslEntryAltChanged);
connect(&_landingAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_amslExitAltChanged);
connect(this, &FixedWingLandingComplexItem::amslEntryAltChanged, this, &FixedWingLandingComplexItem::maxAMSLAltitudeChanged);
connect(this, &FixedWingLandingComplexItem::amslExitAltChanged, this, &FixedWingLandingComplexItem::minAMSLAltitudeChanged);
connect(this, &FixedWingLandingComplexItem::landingCoordSetChanged, this, &FixedWingLandingComplexItem::readyForSaveStateChanged);
connect(this, &FixedWingLandingComplexItem::wizardModeChanged, this, &FixedWingLandingComplexItem::readyForSaveStateChanged);
connect(this, &FixedWingLandingComplexItem::loiterTangentCoordinateChanged, this, &FixedWingLandingComplexItem::_updateFlightPathSegmentsSignal);
connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_updateFlightPathSegmentsSignal);
connect(&_loiterAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_updateFlightPathSegmentsSignal);
connect(&_landingAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_updateFlightPathSegmentsSignal);
connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::_updateFlightPathSegmentsSignal);
connect(_missionController, &MissionController::plannedHomePositionChanged, this, &FixedWingLandingComplexItem::_updateFlightPathSegmentsSignal);
// The follow is used to compress multiple recalc calls in a row to into a single call.
connect(this, &FixedWingLandingComplexItem::_updateFlightPathSegmentsSignal, this, &FixedWingLandingComplexItem::_updateFlightPathSegmentsDontCallDirectly, Qt::QueuedConnection);
qgcApp()->addCompressedSignal(QMetaMethod::fromSignal(&FixedWingLandingComplexItem::_updateFlightPathSegmentsSignal));
if (_masterController->controllerVehicle()->apmFirmware()) {
// ArduPilot does not support camera commands
_stopTakingVideoFact.setRawValue(false);
......@@ -217,8 +231,8 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq
bool landingAltitudeRelative = complexObject[_jsonLandingAltitudeRelativeKey].toBool();
if (loiterAltitudeRelative != landingAltitudeRelative) {
qgcApp()->showAppMessage(tr("Fixed Wing Landing Pattern: "
"Setting the loiter and landing altitudes with different settings for altitude relative is no longer supported. "
"Both have been set to altitude relative. Be sure to adjust/check your plan prior to flight."));
"Setting the loiter and landing altitudes with different settings for altitude relative is no longer supported. "
"Both have been set to altitude relative. Be sure to adjust/check your plan prior to flight."));
_altitudesAreRelative = true;
} else {
_altitudesAreRelative = loiterAltitudeRelative;
......@@ -727,3 +741,35 @@ void FixedWingLandingComplexItem::moveLandingPosition(const QGeoCoordinate& coor
landingHeading()->setRawValue(savedHeading);
landingDistance()->setRawValue(savedDistance);
}
double FixedWingLandingComplexItem::amslEntryAlt(void) const
{
return _loiterAltitudeFact.rawValue().toDouble() + (_altitudesAreRelative ? _missionController->plannedHomePosition().altitude() : 0);
}
double FixedWingLandingComplexItem::amslExitAlt(void) const
{
return _landingAltitudeFact.rawValue().toDouble() + (_altitudesAreRelative ? _missionController->plannedHomePosition().altitude() : 0);
}
// Never call this method directly. If you want to update the flight segments you emit _updateFlightPathSegmentsSignal()
void FixedWingLandingComplexItem::_updateFlightPathSegmentsDontCallDirectly(void)
{
if (_cTerrainCollisionSegments != 0) {
_cTerrainCollisionSegments = 0;
emit terrainCollisionChanged(false);
}
_flightPathSegments.beginReset();
_flightPathSegments.clearAndDeleteContents();
_appendFlightPathSegment(_loiterTangentCoordinate, amslEntryAlt(), _landingCoordinate, amslExitAlt()); // Loiter to land
_appendFlightPathSegment(_landingCoordinate, amslEntryAlt(), _landingCoordinate, amslExitAlt()); // Land to ground
_flightPathSegments.endReset();
if (_cTerrainCollisionSegments != 0) {
emit terrainCollisionChanged(true);
}
_masterController->missionController()->recalcTerrainProfile();
}
src/MissionManager/FixedWingLandingComplexItem.h
View file @ 8e661ea0
......@@ -69,40 +69,43 @@ public:
static MissionItem* createLandItem (int seqNum, bool altRel, double lat, double lon, double alt, QObject* parent);
// Overrides from ComplexMissionItem
double complexDistance (void) const final;
int lastSequenceNumber (void) const final;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
double greatestDistanceTo (const QGeoCoordinate &other) const final;
QString mapVisualQML (void) const final { return QStringLiteral("FWLandingPatternMapVisual.qml"); }
QString patternName (void) const final { return name; }
double complexDistance (void) const final;
int lastSequenceNumber (void) const final;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
double greatestDistanceTo (const QGeoCoordinate &other) const final;
QString mapVisualQML (void) const final { return QStringLiteral("FWLandingPatternMapVisual.qml"); }
// Overrides from VisualMissionItem
bool dirty (void) const final { return _dirty; }
bool isSimpleItem (void) const final { return false; }
bool isStandaloneCoordinate (void) const final { return false; }
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final { return false; }
QString commandDescription (void) const final { return "Landing Pattern"; }
QString commandName (void) const final { return "Landing Pattern"; }
QString abbreviation (void) const final { return "L"; }
QGeoCoordinate coordinate (void) const final { return _loiterCoordinate; }
QGeoCoordinate exitCoordinate (void) const final { return _landingCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;
double additionalTimeDelay (void) const final { return 0; }
ReadyForSaveState readyForSaveState (void) const final;
bool coordinateHasRelativeAltitude (void) const final { return _altitudesAreRelative; }
bool exitCoordinateHasRelativeAltitude (void) const final { return _altitudesAreRelative; }
bool exitCoordinateSameAsEntry (void) const final { return false; }
void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate) final { setLoiterCoordinate(coordinate); }
void setSequenceNumber (int sequenceNumber) final;
void save (QJsonArray& missionItems) final;
bool dirty (void) const final { return _dirty; }
bool isSimpleItem (void) const final { return false; }
bool isStandaloneCoordinate (void) const final { return false; }
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final { return false; }
QString commandDescription (void) const final { return "Landing Pattern"; }
QString commandName (void) const final { return "Landing Pattern"; }
QString abbreviation (void) const final { return "L"; }
QGeoCoordinate coordinate (void) const final { return _loiterCoordinate; }
QGeoCoordinate exitCoordinate (void) const final { return _landingCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;
double additionalTimeDelay (void) const final { return 0; }
ReadyForSaveState readyForSaveState (void) const final;
bool exitCoordinateSameAsEntry (void) const final { return false; }
void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate) final { setLoiterCoordinate(coordinate); }
void setSequenceNumber (int sequenceNumber) final;
void save (QJsonArray& missionItems) final;
double amslEntryAlt (void) const final;
double amslExitAlt (void) const final;
double minAMSLAltitude (void) const final { return amslExitAlt(); }
double maxAMSLAltitude (void) const final { return amslEntryAlt(); }
static const QString name;
static const char* jsonComplexItemTypeValue;
......@@ -125,30 +128,34 @@ signals:
void loiterClockwiseChanged (bool loiterClockwise);
void altitudesAreRelativeChanged (bool altitudesAreRelative);
void valueSetIsDistanceChanged (bool valueSetIsDistance);
void _updateFlightPathSegmentsSignal(void);
private slots:
void _recalcFromHeadingAndDistanceChange (void);
void _recalcFromCoordinateChange (void);
void _recalcFromRadiusChange (void);
void _updateLoiterCoodinateAltitudeFromFact (void);
void _updateLandingCoodinateAltitudeFromFact (void);
double _mathematicAngleToHeading (double angle);
double _headingToMathematicAngle (double heading);
void _setDirty (void);
void _glideSlopeChanged (void);
void _signalLastSequenceNumberChanged (void);
void _recalcFromHeadingAndDistanceChange (void);
void _recalcFromCoordinateChange (void);
void _recalcFromRadiusChange (void);
void _updateLoiterCoodinateAltitudeFromFact (void);
void _updateLandingCoodinateAltitudeFromFact (void);
double _mathematicAngleToHeading (double angle);
double _headingToMathematicAngle (double heading);
void _setDirty (void);
void _glideSlopeChanged (void);
void _signalLastSequenceNumberChanged (void);
void _updateFlightPathSegmentsDontCallDirectly (void);
private:
QPointF _rotatePoint (const QPointF& point, const QPointF& origin, double angle);
void _calcGlideSlope (void);
QPointF _rotatePoint (const QPointF& point, const QPointF& origin, double angle);
void _calcGlideSlope (void);
int _sequenceNumber;
bool _dirty;
int _sequenceNumber = 0;
bool _dirty = false;
QGeoCoordinate _loiterCoordinate;
QGeoCoordinate _loiterTangentCoordinate;
QGeoCoordinate _landingCoordinate;
bool _landingCoordSet;
bool _ignoreRecalcSignals;
bool _landingCoordSet = false;
bool _ignoreRecalcSignals = false;
bool _loiterClockwise = true;
bool _altitudesAreRelative = true;
QMap<QString, FactMetaData*> _metaDataMap;
......@@ -162,8 +169,6 @@ private:
Fact _stopTakingVideoFact;
Fact _valueSetIsDistanceFact;
bool _loiterClockwise;
bool _altitudesAreRelative;
static const char* _jsonLoiterCoordinateKey;
static const char* _jsonLoiterRadiusKey;
......
src/MissionManager/MissionController.cc
View file @ 8e661ea0
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src/MissionManager/MissionController.h
View file @ 8e661ea0
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src/MissionManager/MissionControllerTest.cc
View file @ 8e661ea0
......@@ -81,9 +81,9 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
QCOMPARE(settingsItem->childItems()->count(), 0);
// No waypoint lines
QmlObjectListModel* waypointLines = _missionController->waypointLines();
QVERIFY(waypointLines);
QCOMPARE(waypointLines->count(), 0);
QmlObjectListModel* simpleFlightPathSegments = _missionController->simpleFlightPathSegments();
QVERIFY(simpleFlightPathSegments);
QCOMPARE(simpleFlightPathSegments->count(), 0);
}
void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType)
......@@ -166,6 +166,8 @@ void MissionControllerTest::_testGimbalRecalc(void)
QVERIFY(qIsNaN(visualItem->missionGimbalYaw()));
}
#if 0
// FIXME: No longer works due to signal compression
// Specify gimbal yaw on settings item should generate yaw on all items
MissionSettingsItem* settingsItem = _missionController->visualItems()->value<MissionSettingsItem*>(0);
settingsItem->cameraSection()->setSpecifyGimbal(true);
......@@ -174,6 +176,7 @@ void MissionControllerTest::_testGimbalRecalc(void)
VisualMissionItem* visualItem = _missionController->visualItems()->value<VisualMissionItem*>(i);
QCOMPARE(visualItem->missionGimbalYaw(), 0.0);
}
#endif
}
void MissionControllerTest::_testLoadJsonSectionAvailable(void)
......
src/MissionManager/MissionSettingsItem.cc
View file @ 8e661ea0
......@@ -55,6 +55,11 @@ MissionSettingsItem::MissionSettingsItem(PlanMasterController* masterController,
connect(&_cameraSection, &CameraSection::specifiedGimbalYawChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged);
connect(&_cameraSection, &CameraSection::specifiedGimbalPitchChanged, this, &MissionSettingsItem::specifiedGimbalPitchChanged);
connect(&_speedSection, &SpeedSection::specifiedFlightSpeedChanged, this, &MissionSettingsItem::specifiedFlightSpeedChanged);
connect(this, &MissionSettingsItem::coordinateChanged, this, &MissionSettingsItem::_amslEntryAltChanged);
connect(this, &MissionSettingsItem::amslEntryAltChanged, this, &MissionSettingsItem::amslExitAltChanged);
connect(this, &MissionSettingsItem::amslEntryAltChanged, this, &MissionSettingsItem::minAMSLAltitudeChanged);
connect(this, &MissionSettingsItem::amslEntryAltChanged, this, &MissionSettingsItem::maxAMSLAltitudeChanged);
connect(&_plannedHomePositionAltitudeFact, &Fact::rawValueChanged, this, &MissionSettingsItem::_updateAltitudeInCoordinate);
connect(_managerVehicle, &Vehicle::homePositionChanged, this, &MissionSettingsItem::_updateHomePosition);
......
src/MissionManager/MissionSettingsItem.h
View file @ 8e661ea0
......@@ -56,41 +56,42 @@ public:
void setInitialHomePositionFromUser(const QGeoCoordinate& coordinate);
// Overrides from ComplexMissionItem
double complexDistance (void) const final;
int lastSequenceNumber (void) const final;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
double greatestDistanceTo (const QGeoCoordinate &other) const final;
QString mapVisualQML (void) const final { return QStringLiteral("SimpleItemMapVisual.qml"); }
QString patternName (void) const final { return QString(); }
double complexDistance (void) const final;
int lastSequenceNumber (void) const final;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
double greatestDistanceTo (const QGeoCoordinate &other) const final;
QString mapVisualQML (void) const final { return QStringLiteral("SimpleItemMapVisual.qml"); }
bool isSingleItem (void) const final { return true; }
bool terrainCollision (void) const final { return false; }
// Overrides from VisualMissionItem
bool dirty (void) const final { return _dirty; }
bool isSimpleItem (void) const final { return false; }
bool isStandaloneCoordinate (void) const final { return false; }
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final { return false; }
QString commandDescription (void) const final { return "Mission Start"; }
QString commandName (void) const final { return "Mission Start"; }
QString abbreviation (void) const final;
QGeoCoordinate coordinate (void) const final { return _plannedHomePositionCoordinate; }
QGeoCoordinate exitCoordinate (void) const final { return _plannedHomePositionCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedGimbalYaw (void) final;
double specifiedGimbalPitch (void) final;
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double /*newAltitude*/) final { /* no action */ }
double specifiedFlightSpeed (void) final;
double additionalTimeDelay (void) const final { return 0; }
bool coordinateHasRelativeAltitude (void) const final { return false; }
bool exitCoordinateHasRelativeAltitude (void) const final { return false; }
bool exitCoordinateSameAsEntry (void) const final { return true; }
void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate) final; // Should only be called if the end user is moving
void setSequenceNumber (int sequenceNumber) final;
void save (QJsonArray& missionItems) final;
bool dirty (void) const final { return _dirty; }
bool isSimpleItem (void) const final { return false; }
bool isStandaloneCoordinate (void) const final { return false; }
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final { return false; }
QString commandDescription (void) const final { return "Mission Start"; }
QString commandName (void) const final { return "Mission Start"; }
QString abbreviation (void) const final;
QGeoCoordinate coordinate (void) const final { return _plannedHomePositionCoordinate; } // Includes altitude
QGeoCoordinate exitCoordinate (void) const final { return _plannedHomePositionCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedGimbalYaw (void) final;
double specifiedGimbalPitch (void) final;
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;