Merge pull request #5289 from DonLakeFlyer/TakePhotoPlus

Camera Section: Add support for Take Photo

src/MissionManager/CameraSection.FactMetaData.json

@@ -3,8 +3,8 @@
     "name":             "CameraAction",
     "shortDescription": "Specify whether the camera should take photos or video",
     "type":             "uint32",
-    "enumStrings":      "Continue current action,Take photos (time),Take photos (distance),Stop taking photos,Start recording video,Stop recording video",
-    "enumValues":       "0,1,2,3,4,5",
+    "enumStrings":      "Continue current action,Take photo,Take photos (time),Take photos (distance),Stop taking photos,Start recording video,Stop recording video",
+    "enumValues":       "0,6,1,2,3,4,5",
     "defaultValue":     0
 },
 {

src/MissionManager/CameraSection.cc

@@ -115,6 +115,19 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
 {
     // IMPORTANT NOTE: If anything changes here you must also change CameraSection::scanForSection
 
+    if (_specifyCameraMode) {
+        MissionItem* item = new MissionItem(nextSequenceNumber++,
+                                            MAV_CMD_SET_CAMERA_MODE,
+                                            MAV_FRAME_MISSION,
+                                            0,                                      // camera id, all cameras
+                                            _cameraModeFact.rawValue().toDouble(),
+                                            NAN, NAN, NAN, NAN, NAN,                // param 3-7 unused
+                                            true,                                   // autoContinue
+                                            false,                                  // isCurrentItem
+                                            missionItemParent);
+        items.append(item);
+    }
+
     if (_specifyGimbal) {
         MissionItem* item = new MissionItem(nextSequenceNumber++,
                                             MAV_CMD_DO_MOUNT_CONTROL,
@@ -203,24 +216,26 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
                                    false,                       // isCurrentItem
                                    missionItemParent);
             break;
+
+        case TakePhoto:
+                item = new MissionItem(nextSequenceNumber++,
+                                       MAV_CMD_IMAGE_START_CAPTURE,
+                                       MAV_FRAME_MISSION,
+                                       0,                               // camera id = 0, all cameras
+                                       0,                              // Interval (none)
+                                       1,                              // Take 1 photo
+                                       -1,                             // Max horizontal resolution
+                                       -1,                             // Max vertical resolution
+                                       0, 0,                           // param 6-7 not used
+                                       true,                           // autoContinue
+                                       false,                         // isCurrentItem
+                                       missionItemParent);
+            break;
         }
         if (item) {
             items.append(item);
         }
     }
-
-    if (_specifyCameraMode) {
-        MissionItem* item = new MissionItem(nextSequenceNumber++,
-                                            MAV_CMD_SET_CAMERA_MODE,
-                                            MAV_FRAME_MISSION,
-                                            0,                                      // camera id, all cameras
-                                            _cameraModeFact.rawValue().toDouble(),
-                                            NAN, NAN, NAN, NAN, NAN,                // param 3-7 unused
-                                            true,                                   // autoContinue
-                                            false,                                  // isCurrentItem
-                                            missionItemParent);
-        items.append(item);
-    }
 }
 
 bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanIndex)
@@ -264,10 +279,19 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde
             break;
 
         case MAV_CMD_IMAGE_START_CAPTURE:
-            if (!foundCameraAction && missionItem.param1() == 0 && missionItem.param2() >= 1 && missionItem.param3() == 0 && missionItem.param4() == -1 && missionItem.param5() == -1 && missionItem.param6() == 0 && missionItem.param7() == 0) {
+            // This could possibly be TakePhotosIntervalTime or TakePhoto
+            if (!foundCameraAction &&
+                    // TakePhotosIntervalTime matching
+                    ((missionItem.param1() == 0 && missionItem.param2() >= 1 && missionItem.param3() == 0 && missionItem.param4() == -1 && missionItem.param5() == -1 && missionItem.param6() == 0 && missionItem.param7() == 0) ||
+                    // TakePhoto matching
+                    (missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 1 && missionItem.param4() == -1 && missionItem.param5() == -1 && missionItem.param6() == 0 && missionItem.param7() == 0))) {
                 foundCameraAction = true;
-                cameraAction()->setRawValue(TakePhotosIntervalTime);
-                cameraPhotoIntervalTime()->setRawValue(missionItem.param2());
+                if (missionItem.param2() == 0) {
+                    cameraAction()->setRawValue(TakePhoto);
+                } else {
+                    cameraAction()->setRawValue(TakePhotosIntervalTime);
+                    cameraPhotoIntervalTime()->setRawValue(missionItem.param2());
+                }
                 visualItems->removeAt(scanIndex)->deleteLater();
             } else {
                 stopLooking = true;

src/MissionManager/CameraSection.h

@@ -21,17 +21,25 @@ class CameraSection : public Section
 public:
     CameraSection(Vehicle* vehicle, QObject* parent = NULL);
 
-    // These nume values must match the json meta data
+    // These enum values must match the json meta data
+
     enum CameraAction {
         CameraActionNone,
         TakePhotosIntervalTime,
         TakePhotoIntervalDistance,
         StopTakingPhotos,
         TakeVideo,
-        StopTakingVideo
-    };
+        StopTakingVideo,
+        TakePhoto
+    };    
     Q_ENUMS(CameraAction)
 
+    enum CameraMode {
+        CameraModePhoto,
+        CameraModeVideo
+    };
+    Q_ENUMS(CameraMode)
+
     Q_PROPERTY(bool     specifyGimbal                   READ specifyGimbal                  WRITE setSpecifyGimbal              NOTIFY specifyGimbalChanged)
     Q_PROPERTY(Fact*    gimbalPitch                     READ gimbalPitch                                                        CONSTANT)
     Q_PROPERTY(Fact*    gimbalYaw                       READ gimbalYaw                                                          CONSTANT)

src/MissionManager/CameraSectionTest.h

@@ -36,6 +36,7 @@ private slots:
     void _testScanForStopVideoSection(void);
     void _testScanForStopImageSection(void);
     void _testScanForCameraModeSection(void);
+    void _testScanForTakePhotoSection(void);
     void _testScanForFullSection(void);
 
 private:
@@ -69,4 +70,5 @@ private:
     SimpleMissionItem*  _validStopTimeItem;
     SimpleMissionItem*  _validCameraPhotoModeItem;
     SimpleMissionItem*  _validCameraVideoModeItem;
+    SimpleMissionItem*  _validTakePhotoItem;
 };

src/MissionManager/SurveyMissionItem.cc

@@ -108,9 +108,10 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
 {
     _editorQml = "qrc:/qml/SurveyItemEditor.qml";
 
+    // If the user hasn't changed turnaround from the default (which is a fixed wing default) and we are multi-rotor set the multi-rotor default.
     // NULL check since object creation during unit testing passes NULL for vehicle
-    if (_vehicle && _vehicle->multiRotor()) {
-        _turnaroundDistFact.setRawValue(0);
+    if (_vehicle && _vehicle->multiRotor() && _turnaroundDistFact.rawValue().toDouble() == _turnaroundDistFact.rawDefaultValue().toDouble()) {
+        _turnaroundDistFact.setRawValue(5);
     }
 
     connect(&_gridSpacingFact,                  &Fact::valueChanged,                        this, &SurveyMissionItem::_generateGrid);

src/MissionManager/SurveyMissionItemTest.cc

@@ -33,6 +33,8 @@ void SurveyMissionItemTest::init(void)
 
     _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
     _surveyItem = new SurveyMissionItem(_offlineVehicle, this);
+    _surveyItem->setTurnaroundDist(0);  // Unit test written for no turnaround distance
+    _surveyItem->setDirty(false);
     _mapPolygon = _surveyItem->mapPolygon();
 
     // It's important to check that the right signals are emitted at the right time since that drives ui change.