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qgroundcontrol
Commit 94947491 authored by pixhawk's avatar pixhawk
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Fixed last wp issue

parent 247042fd
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Showing with 184 additions and 123 deletions
qgroundcontrol.pro
View file @ 94947491
......@@ -140,7 +140,6 @@ FORMS += src/ui/MainWindow.ui \
src/ui/QGCPxImuFirmwareUpdate.ui \
src/ui/QGCDataPlot2D.ui \
src/ui/QGCRemoteControlView.ui \
src/ui/WaypointGlobalView.ui \
src/ui/QMap3D.ui \
src/ui/QGCWebView.ui \
src/ui/map3D/QGCGoogleEarthView.ui \
......
src/Waypoint.cc
View file @ 94947491
......@@ -9,15 +9,15 @@ This file is part of the QGROUNDCONTROL project
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
......@@ -32,7 +32,7 @@ This file is part of the QGROUNDCONTROL project
#include "Waypoint.h"
#include <QStringList>
Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime, MAV_FRAME _frame, MAV_ACTION _action)
Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _yaw, bool _autocontinue, bool _current, double _orbit, int _holdTime, MAV_FRAME _frame, MAV_ACTION _action)
: id(_id),
x(_x),
y(_y),
......@@ -50,7 +50,7 @@ Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _
Waypoint::~Waypoint()
{
}
void Waypoint::save(QTextStream &saveStream)
......@@ -94,7 +94,7 @@ void Waypoint::setId(quint16 id)
emit changed(this);
}
void Waypoint::setX(float x)
void Waypoint::setX(double x)
{
if (this->x != x)
{
......@@ -103,7 +103,7 @@ void Waypoint::setX(float x)
}
}
void Waypoint::setY(float y)
void Waypoint::setY(double y)
{
if (this->y != y)
{
......@@ -112,7 +112,7 @@ void Waypoint::setY(float y)
}
}
void Waypoint::setZ(float z)
void Waypoint::setZ(double z)
{
if (this->z != z)
{
......@@ -121,7 +121,7 @@ void Waypoint::setZ(float z)
}
}
void Waypoint::setYaw(float yaw)
void Waypoint::setYaw(double yaw)
{
if (this->yaw != yaw)
{
......@@ -166,7 +166,7 @@ void Waypoint::setCurrent(bool current)
}
}
void Waypoint::setOrbit(float orbit)
void Waypoint::setOrbit(double orbit)
{
if (this->orbit != orbit)
{
......@@ -184,47 +184,47 @@ void Waypoint::setHoldTime(int holdTime)
}
}
void Waypoint::setX(double x)
{
if (this->x != static_cast<float>(x))
{
this->x = x;
emit changed(this);
}
}
void Waypoint::setY(double y)
{
if (this->y != static_cast<float>(y))
{
this->y = y;
emit changed(this);
}
}
void Waypoint::setZ(double z)
{
if (this->z != static_cast<float>(z))
{
this->z = z;
emit changed(this);
}
}
void Waypoint::setYaw(double yaw)
{
if (this->yaw != static_cast<float>(yaw))
{
this->yaw = yaw;
emit changed(this);
}
}
void Waypoint::setOrbit(double orbit)
{
if (this->orbit != static_cast<float>(orbit))
{
this->orbit = orbit;
emit changed(this);
}
}
//void Waypoint::setX(double x)
//{
// if (this->x != static_cast<double>(x))
// {
// this->x = x;
// emit changed(this);
// }
//}
//void Waypoint::setY(double y)
//{
// if (this->y != static_cast<double>(y))
// {
// this->y = y;
// emit changed(this);
// }
//}
//void Waypoint::setZ(double z)
//{
// if (this->z != static_cast<double>(z))
// {
// this->z = z;
// emit changed(this);
// }
//}
//void Waypoint::setYaw(double yaw)
//{
// if (this->yaw != static_cast<double>(yaw))
// {
// this->yaw = yaw;
// emit changed(this);
// }
//}
//void Waypoint::setOrbit(double orbit)
//{
// if (this->orbit != static_cast<double>(orbit))
// {
// this->orbit = orbit;
// emit changed(this);
// }
//}
src/Waypoint.h
View file @ 94947491
......@@ -43,20 +43,20 @@ 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, float orbit = 0.15f, int holdTime = 0,
Waypoint(quint16 id = 0, double x = 0.0f, double y = 0.0f, double z = 0.0f, double yaw = 0.0f, bool autocontinue = false,
bool current = false, double orbit = 0.15f, int holdTime = 0,
MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_ACTION action=MAV_ACTION_NAVIGATE);
~Waypoint();
quint16 getId() const { return id; }
float getX() const { return x; }
float getY() const { return y; }
float getZ() const { return z; }
float getYaw() const { return yaw; }
double getX() const { return x; }
double getY() const { return y; }
double getZ() const { return z; }
double getYaw() const { return yaw; }
bool getAutoContinue() const { return autocontinue; }
bool getCurrent() const { return current; }
float getOrbit() const { return orbit; }
float getHoldTime() const { return holdTime; }
double getOrbit() const { return orbit; }
double getHoldTime() const { return holdTime; }
MAV_FRAME getFrame() const { return frame; }
MAV_ACTION getAction() const { return action; }
const QString& getName() const { return name; }
......@@ -67,38 +67,38 @@ public:
protected:
quint16 id;
float x;
float y;
float z;
float yaw;
double x;
double y;
double z;
double yaw;
MAV_FRAME frame;
MAV_ACTION action;
bool autocontinue;
bool current;
float orbit;
double orbit;
int holdTime;
QString name;
public slots:
void setId(quint16 id);
void setX(float x);
void setY(float y);
void setZ(float z);
void setYaw(float yaw);
void setX(double x);
void setY(double y);
void setZ(double z);
void setYaw(double yaw);
void setAction(MAV_ACTION action);
void setFrame(MAV_FRAME frame);
void setAutocontinue(bool autoContinue);
void setCurrent(bool current);
void setOrbit(float orbit);
void setOrbit(double 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);
// //for QDoubleSpin
// void setX(double x);
// void setY(double y);
// void setZ(double z);
// void setYaw(double yaw);
// void setOrbit(double orbit);
signals:
/** @brief Announces a change to the waypoint data */
......
src/ui/MapWidget.cc
View file @ 94947491
......@@ -930,6 +930,7 @@ void MapWidget::changeEvent(QEvent *e)
void MapWidget::clearWaypoints(int uas)
{
Q_UNUSED(uas);
// Clear the previous WP track
//mc->layer("Waypoints")->clearGeometries();
......@@ -962,6 +963,7 @@ void MapWidget::clearWaypoints(int uas)
void MapWidget::clearPath(int uas)
{
Q_UNUSED(uas);
mc->layer("Tracking")->clearGeometries();
foreach (qmapcontrol::LineString* ls, uasTrails)
{
......@@ -976,6 +978,8 @@ void MapWidget::clearPath(int uas)
void MapWidget::updateCameraPosition(double radio, double bearing, QString dir)
{
Q_UNUSED(dir);
Q_UNUSED(bearing);
// FIXME Mariano
//camPoints.clear();
QPointF currentPos = mc->currentCoordinate();
......
src/ui/WaypointView.cc
View file @ 94947491
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
/*===================================================================
======================================================================*/
/**
......@@ -43,8 +23,8 @@ This file is part of the PIXHAWK project
#include "ui_WaypointView.h"
WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
QWidget(parent),
m_ui(new Ui::WaypointView)
QWidget(parent),
m_ui(new Ui::WaypointView)
{
m_ui->setupUi(this);
......@@ -146,7 +126,7 @@ void WaypointView::changedAction(int index)
break;
case MAV_ACTION_NAVIGATE:
m_ui->autoContinue->show();
m_ui->orbitSpinBox->show();
m_ui->orbitSpinBox->show();
break;
case MAV_ACTION_LOITER:
m_ui->orbitSpinBox->show();
......@@ -159,14 +139,6 @@ void WaypointView::changedAction(int index)
void WaypointView::changedFrame(int index)
{
// hide everything to start
m_ui->lonSpinBox->hide();
m_ui->latSpinBox->hide();
m_ui->altSpinBox->hide();
m_ui->posNSpinBox->hide();
m_ui->posESpinBox->hide();
m_ui->posDSpinBox->hide();
// set waypoint action
MAV_FRAME frame = (MAV_FRAME)m_ui->comboBox_frame->itemData(index).toUInt();
wp->setFrame(frame);
......@@ -174,11 +146,17 @@ void WaypointView::changedFrame(int index)
switch(frame)
{
case MAV_FRAME_GLOBAL:
m_ui->posNSpinBox->hide();
m_ui->posESpinBox->hide();
m_ui->posDSpinBox->hide();
m_ui->lonSpinBox->show();
m_ui->latSpinBox->show();
m_ui->altSpinBox->show();
break;
case MAV_FRAME_LOCAL:
m_ui->lonSpinBox->hide();
m_ui->latSpinBox->hide();
m_ui->altSpinBox->hide();
m_ui->posNSpinBox->show();
m_ui->posESpinBox->show();
m_ui->posDSpinBox->show();
......@@ -217,14 +195,36 @@ void WaypointView::updateValues()
switch(frame)
{
case(MAV_FRAME_LOCAL):
m_ui->posNSpinBox->setValue(wp->getX());
m_ui->posESpinBox->setValue(wp->getY());
m_ui->posDSpinBox->setValue(wp->getZ());
{
if (m_ui->posNSpinBox->value() != wp->getX())
{
m_ui->posNSpinBox->setValue(wp->getX());
}
if (m_ui->posESpinBox->value() != wp->getY())
{
m_ui->posESpinBox->setValue(wp->getY());
}
if (m_ui->posDSpinBox->value() != wp->getZ())
{
m_ui->posDSpinBox->setValue(wp->getZ());
}
}
break;
case(MAV_FRAME_GLOBAL):
m_ui->lonSpinBox->setValue(wp->getX());
m_ui->latSpinBox->setValue(wp->getY());
m_ui->altSpinBox->setValue(wp->getZ());
{
if (m_ui->lonSpinBox->value() != wp->getX())
{
m_ui->lonSpinBox->setValue(wp->getX());
}
if (m_ui->latSpinBox->value() != wp->getY())
{
m_ui->latSpinBox->setValue(wp->getY());
}
if (m_ui->altSpinBox->value() != wp->getZ())
{
m_ui->altSpinBox->setValue(wp->getZ());
}
}
break;
}
changedFrame(frame_index);
......@@ -232,7 +232,10 @@ void WaypointView::updateValues()
// update action
MAV_ACTION action = wp->getAction();
int action_index = m_ui->comboBox_action->findData(action);
m_ui->comboBox_action->setCurrentIndex(action_index);
if (m_ui->comboBox_action->currentIndex() != action_index)
{
m_ui->comboBox_action->setCurrentIndex(action_index);
}
switch(action)
{
case MAV_ACTION_TAKEOFF:
......@@ -248,12 +251,21 @@ void WaypointView::updateValues()
}
changedAction(action_index);
m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
if (m_ui->yawSpinBox->value() != wp->getYaw()/M_PI*180.)
{
m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
}
m_ui->selectedBox->setChecked(wp->getCurrent());
m_ui->autoContinue->setChecked(wp->getAutoContinue());
m_ui->idLabel->setText(QString("%1").arg(wp->getId()));\
m_ui->orbitSpinBox->setValue(wp->getOrbit());
m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
if (m_ui->orbitSpinBox->value() != wp->getOrbit())
{
m_ui->orbitSpinBox->setValue(wp->getOrbit());
}
if (m_ui->holdTimeSpinBox->value() != wp->getHoldTime())
{
m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
}
wp->blockSignals(false);
}
......@@ -265,7 +277,7 @@ void WaypointView::setCurrent(bool state)
}
else
{
m_ui->selectedBox->setCheckState(Qt::Unchecked);
m_ui->selectedBox->setCheckState(Qt::Unchecked);
}
}
......
src/ui/WaypointView.ui
View file @ 94947491
......@@ -170,6 +170,9 @@ QProgressBar::chunk#thrustBar {
</property>
<item>
<widget class="QCheckBox" name="selectedBox">
<property name="focusPolicy">
<enum>Qt::TabFocus</enum>
</property>
<property name="toolTip">
<string>Currently selected waypoint</string>
</property>
......@@ -231,12 +234,21 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::ClickFocus</enum>
</property>
<property name="toolTip">
<string>Position X coordinate</string>
</property>
<property name="wrapping">
<bool>false</bool>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="accelerated">
<bool>true</bool>
</property>
<property name="prefix">
<string>N </string>
</property>
......@@ -262,6 +274,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Position Y coordinate</string>
</property>
......@@ -293,6 +308,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Position Z coordinate (negative)</string>
</property>
......@@ -321,6 +339,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="prefix">
<string>lat </string>
</property>
......@@ -349,6 +370,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="prefix">
<string>lon </string>
</property>
......@@ -402,6 +426,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Yaw angle</string>
</property>
......@@ -430,6 +457,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Orbit radius</string>
</property>
......@@ -458,6 +488,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Time in milliseconds that the MAV has to stay inside the orbit before advancing</string>
</property>
......@@ -486,6 +519,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Take off angle</string>
</property>
......@@ -515,6 +551,9 @@ QProgressBar::chunk#thrustBar {
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::NoFocus</enum>
</property>
<property name="toolTip">
<string>Move Up</string>
</property>
......@@ -535,6 +574,9 @@ QProgressBar::chunk#thrustBar {
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::NoFocus</enum>
</property>
<property name="toolTip">
<string>Move Down</string>
</property>
......@@ -555,6 +597,9 @@ QProgressBar::chunk#thrustBar {
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::NoFocus</enum>
</property>
<property name="toolTip">
<string>Delete</string>
</property>
......
src/ui/map/MAV2DIcon.cc
View file @ 94947491
......@@ -57,6 +57,7 @@ void MAV2DIcon::setYaw(float yaw)
void MAV2DIcon::drawIcon(QPen* pen)
{
Q_UNUSED(pen);
switch (type)
{
case MAV_ICON_GENERIC:
......
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