Merge pull request #4599 from DonLakeFlyer/FWLandingPattern

Complex Item: Fixed Wing Landing Pattern

qgroundcontrol.qrc

@@ -56,6 +56,7 @@
         <file alias="QGroundControl/Controls/FactSliderPanel.qml">src/QmlControls/FactSliderPanel.qml</file>
         <file alias="QGroundControl/Controls/FlightModeDropdown.qml">src/QmlControls/FlightModeDropdown.qml</file>
         <file alias="QGroundControl/Controls/FlightModeMenu.qml">src/QmlControls/FlightModeMenu.qml</file>
+        <file alias="QGroundControl/Controls/FWLandingPatternMapVisual.qml">src/MissionEditor/FWLandingPatternMapVisual.qml</file>
         <file alias="QGroundControl/Controls/GuidedBar.qml">src/QmlControls/GuidedBar.qml</file>
         <file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
         <file alias="QGroundControl/Controls/JoystickThumbPad.qml">src/QmlControls/JoystickThumbPad.qml</file>

src/MissionEditor/FWLandingPatternEditor.qml

@@ -31,11 +31,25 @@ Rectangle {
     //property real   availableWidth    ///< Width for control
     //property var    missionItem       ///< Mission Item for editor
 
-    property real   _margin:        ScreenTools.defaultFontPixelWidth * 0.25
+    property real _margin: ScreenTools.defaultFontPixelWidth * 0.25
 
     Column {
-        id: editorColumn
+        id:                 editorColumn
+        anchors.margins:    _margin
+        anchors.left:       parent.left
+        anchors.right:      parent.right
 
-        QGCLabel { text: "WIP" }
+        QGCLabel { text: "WIP (NOT FOR REAL FLIGHT!)" }
+
+        FactTextFieldGrid {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            factList:       missionItem.textFieldFacts
+        }
+
+        FactCheckBox {
+            text:   missionItem.loiterClockwise.name
+            fact:   missionItem.loiterClockwise
+        }
     }
 }

src/MissionEditor/FWLandingPatternMapVisual.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.2
+import QtQuick.Controls 1.2
+import QtLocation       5.3
+import QtPositioning    5.2
+
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+
+/// Fixed Wing Landing Pattern map visuals
+Item {
+    property var map    ///< Map control to place item in
+
+    property var _loiterPoint
+    property var _flightPath
+
+    Component.onCompleted: {
+        _flightPath = flightPathComponent.createObject(map)
+        _loiterPoint = loiterComponent.createObject(map)
+        map.addMapItem(_flightPath)
+        map.addMapItem(_loiterPoint)
+    }
+
+    Component.onDestruction: {
+        _loiterPoint.destroy()
+        _flightPath.destroy()
+    }
+
+    // Flight path
+    Component {
+        id: flightPathComponent
+
+        MapPolyline {
+            line.color: "white"
+            line.width: 2
+            path:       [ object.loiterCoordinate, object.exitCoordinate ]
+        }
+    }
+
+    // Loiter point
+    Component {
+        id: loiterComponent
+
+        MapQuickItem {
+            anchorPoint.x:  sourceItem.width  / 2
+            anchorPoint.y:  sourceItem.height / 2
+            coordinate:     object.loiterCoordinate
+
+            sourceItem:
+                MissionItemIndexLabel {
+                    label:      "L"
+                }
+        }
+    }
+}

src/MissionManager/FWLandingPattern.FactMetaData.json

 [
+{
+    "name":             "Landing distance",
+    "shortDescription": "Distance between landing and loiter points.",
+    "type":             "double",
+    "units":            "m",
+    "decimalPlaces":    1,
+    "defaultValue":     100.0
+},
+{
+    "name":             "Landing heading",
+    "shortDescription": "Heading from land point to loiter point.",
+    "type":             "double",
+    "units":            "deg",
+    "decimalPlaces":    0,
+    "defaultValue":     0.0
+},
+{
+    "name":             "Loiter altitude",
+    "shortDescription": "Altitude to loiter prior to landing.",
+    "type":             "double",
+    "units":            "m",
+    "decimalPlaces":    1,
+    "defaultValue":     40.0
+},
+{
+    "name":             "Loiter radius",
+    "shortDescription": "Loiter radius.",
+    "type":             "double",
+    "decimalPlaces":    1,
+    "min":              0.1,
+    "units":            "m",
+    "defaultValue":     75.0
+},
+{
+    "name":             "Clockwise loiter",
+    "shortDescription": "If true, loiter will be clockwise. False, loiter will be counter-clockwise.",
+    "type":             "bool",
+    "defaultValue":     true
+}
 ]

src/MissionManager/FixedWingLandingComplexItem.h

@@ -22,7 +22,13 @@ class FixedWingLandingComplexItem : public ComplexMissionItem
     Q_OBJECT
 
 public:
-    FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent = NULL);
+    FixedWingLandingComplexItem(Vehicle* vehicle, QGeoCoordinate mapClickCoordinate, QObject* parent = NULL);
+
+    Q_PROPERTY(QVariantList     textFieldFacts      MEMBER  _textFieldFacts     CONSTANT)
+    Q_PROPERTY(Fact*            loiterClockwise     READ    loiterClockwise     CONSTANT)
+    Q_PROPERTY(QGeoCoordinate   loiterCoordinate    MEMBER  _loiterCoordinate   NOTIFY loiterCoordinateChanged)
+
+    Fact* loiterClockwise(void) { return &_loiterClockwiseFact; }
 
     // Overrides from ComplexMissionItem
 
@@ -32,7 +38,7 @@ public:
     bool                load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
     double              greatestDistanceTo  (const QGeoCoordinate &other) const final;
     void                setCruiseSpeed      (double cruiseSpeed) final;
-    QString             mapVisualQML        (void) const final { return QString(); }
+    QString             mapVisualQML        (void) const final { return QStringLiteral("FWLandingPatternMapVisual.qml"); }
 
     // Overrides from VisualMissionItem
 
@@ -60,18 +66,36 @@ public:
     static const char* jsonComplexItemTypeValue;
 
 signals:
+    void loiterCoordinateChanged(QGeoCoordinate coordinate);
 
 private slots:
+    void _recalcLoiterPosition(void);
 
 private:
     void _setExitCoordinate(const QGeoCoordinate& coordinate);
+    QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle);
 
     int             _sequenceNumber;
     bool            _dirty;
     QGeoCoordinate  _coordinate;
     QGeoCoordinate  _exitCoordinate;
+    QGeoCoordinate  _loiterCoordinate;
+
+    Fact            _loiterToLandDistanceFact;
+    Fact            _loiterAltitudeFact;
+    Fact            _loiterRadiusFact;
+    Fact            _loiterClockwiseFact;
+    Fact            _landingHeadingFact;
 
     static QMap<QString, FactMetaData*> _metaDataMap;
+
+    QVariantList _textFieldFacts;
+
+    static const char* _loiterToLandDistanceName;
+    static const char* _loiterAltitudeName;
+    static const char* _loiterRadiusName;
+    static const char* _loiterClockwiseName;
+    static const char* _landingHeadingName;
 };
 
 #endif

src/MissionManager/MissionController.cc

@@ -226,14 +226,14 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
     int sequenceNumber = _nextSequenceNumber();
     if (itemName == _surveyMissionItemName) {
         newItem = new SurveyMissionItem(_activeVehicle, _visualItems);
+        newItem->setCoordinate(mapCenterCoordinate);
     } else if (itemName == _fwLandingMissionItemName) {
-        newItem = new FixedWingLandingComplexItem(_activeVehicle, _visualItems);
+        newItem = new FixedWingLandingComplexItem(_activeVehicle, mapCenterCoordinate, _visualItems);
     } else {
         qWarning() << "Internal error: Unknown complex item:" << itemName;
         return sequenceNumber;
     }
     newItem->setSequenceNumber(sequenceNumber);
-    newItem->setCoordinate(mapCenterCoordinate);
     _initVisualItem(newItem);
 
     _visualItems->insert(i, newItem);