Skip to content

Q
qgroundcontrol
Commit 957710b4 authored by Don Gagne's avatar Don Gagne
Browse files
Options

Editor moves to vehicle position once it gets gps lock

parent 90480f30
Hide whitespace changes
Inline Side-by-side
Showing with 60 additions and 43 deletions
src/FlightDisplay/FlightDisplayView.qml
View file @ 957710b4
......@@ -73,7 +73,7 @@ Item {
property real _pitch: _activeVehicle ? (isNaN(_activeVehicle.pitch) ? _defaultPitch : _activeVehicle.pitch) : _defaultPitch
property real _heading: _activeVehicle ? (isNaN(_activeVehicle.heading) ? _defaultHeading : _activeVehicle.heading) : _defaultHeading
property var _vehicleCoordinate: _activeVehicle ? (_activeVehicle.satelliteLock >= 2 ? _activeVehicle.coordinate : _defaultVehicleCoordinate) : _defaultVehicleCoordinate
property var _vehicleCoordinate: _activeVehicle ? (_activeVehicle.coordinateValid ? _activeVehicle.coordinate : _defaultVehicleCoordinate) : _defaultVehicleCoordinate
property real _altitudeWGS84: _activeVehicle ? _activeVehicle.altitudeWGS84 : _defaultAltitudeWGS84
property real _groundSpeed: _activeVehicle ? _activeVehicle.groundSpeed : _defaultGroundSpeed
......
src/FlightDisplay/FlightDisplayViewDelayLoadInner.qml
View file @ 957710b4
......@@ -51,7 +51,7 @@ Item {
QGCLabel {
width: gpsLockColumn.width
horizontalAlignment: Text.AlignHCenter
visible: object.satelliteLock < 2
visible: !object.coordinateValid
text: "No GPS Lock for Vehicle #" + object.id
z: QGroundControl.zOrderMapItems - 2
}
......@@ -65,7 +65,6 @@ Item {
anchors.top: parent.top
size: ScreenTools.defaultFontPixelSize * (13.3)
heading: _heading
active: multiVehicleManager.activeVehicleAvailable
z: QGroundControl.zOrderWidgets
}
......
src/FlightMap/MapItems/VehicleMapItem.qml
View file @ 957710b4
......@@ -38,7 +38,7 @@ MapQuickItem {
anchorPoint.x: vehicleIcon.width / 2
anchorPoint.y: vehicleIcon.height / 2
visible: vehicle.satelliteLock >= 2 // 2D lock
visible: vehicle.coordinateValid
sourceItem: Image {
id: vehicleIcon
......
src/MissionEditor/MissionEditor.qml
View file @ 957710b4
......@@ -56,7 +56,10 @@ QGCView {
readonly property int _addMissionItemsButtonAutoOffTimeout: 10000
readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276)
property var _missionItems: controller.missionItems
property var _missionItems: controller.missionItems
property bool gpsLock: _activeVehicle ? _activeVehicle.coordinateValid : false
property bool _firstGpsLock: true
//property var _homePositionManager: QGroundControl.homePositionManager
//property string _homePositionName: _homePositionManager.homePositions.get(0).name
......@@ -71,6 +74,17 @@ QGCView {
property bool _showHelp: QGroundControl.flightMapSettings.loadBoolMapSetting(editorMap.mapName, _showHelpKey, true)
onGpsLockChanged: updateMapToVehiclePosition()
Component.onCompleted: updateMapToVehiclePosition()
function updateMapToVehiclePosition() {
if (gpsLock && _firstGpsLock) {
_firstGpsLock = false
editorMap.latitude = _activeVehicle.latitude
editorMap.longitude = _activeVehicle.longitude
}
}
MissionController {
id: controller
......
src/Vehicle/Vehicle.cc
View file @ 957710b4
......@@ -53,6 +53,8 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType,
, _joystickMode(JoystickModeRC)
, _joystickEnabled(false)
, _uas(NULL)
, _coordinate(37.803784, -122.462276)
, _coordinateValid(false)
, _homePositionAvailable(false)
, _mav(NULL)
, _currentMessageCount(0)
......@@ -74,8 +76,6 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType,
, _navigationSpeedError(0.0f)
, _navigationCrosstrackError(0.0f)
, _navigationTargetBearing(0.0f)
, _latitude(DEFAULT_LAT)
, _longitude(DEFAULT_LON)
, _refreshTimer(new QTimer(this))
, _batteryVoltage(-1.0f)
, _batteryPercent(0.0)
......@@ -322,13 +322,13 @@ QList<LinkInterface*> Vehicle::links(void)
void Vehicle::setLatitude(double latitude)
{
_geoCoordinate.setLatitude(latitude);
emit coordinateChanged(_geoCoordinate);
_coordinate.setLatitude(latitude);
emit coordinateChanged(_coordinate);
}
void Vehicle::setLongitude(double longitude){
_geoCoordinate.setLongitude(longitude);
emit coordinateChanged(_geoCoordinate);
_coordinate.setLongitude(longitude);
emit coordinateChanged(_coordinate);
}
void Vehicle::_updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64)
......@@ -498,13 +498,11 @@ void Vehicle::_checkUpdate()
{
// Update current location
if(_mav) {
if(_latitude != _mav->getLatitude()) {
_latitude = _mav->getLatitude();
emit latitudeChanged();
if(latitude() != _mav->getLatitude()) {
setLatitude(_mav->getLatitude());
}
if(_longitude != _mav->getLongitude()) {
_longitude = _mav->getLongitude();
emit longitudeChanged();
if(longitude() != _mav->getLongitude()) {
setLongitude(_mav->getLongitude());
}
}
// The timer rate is 20Hz for the coordinates above. These below we only check
......@@ -705,6 +703,10 @@ void Vehicle::_setSatLoc(UASInterface*, int fix)
{
// fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D lock, 3: 3D lock
if(_satelliteLock != fix) {
if (fix > 2) {
_coordinateValid = true;
emit coordinateValidChanged(true);
}
_satelliteLock = fix;
emit satelliteLockChanged();
}
......@@ -1086,10 +1088,10 @@ void Vehicle::_missionManagerError(int errorCode, const QString& errorMsg)
void Vehicle::_addNewMapTrajectoryPoint(void)
{
if (_mapTrajectoryHaveFirstCoordinate) {
_mapTrajectoryList.append(new CoordinateVector(_mapTrajectoryLastCoordinate, _geoCoordinate, this));
_mapTrajectoryList.append(new CoordinateVector(_mapTrajectoryLastCoordinate, _coordinate, this));
}
_mapTrajectoryHaveFirstCoordinate = true;
_mapTrajectoryLastCoordinate = _geoCoordinate;
_mapTrajectoryLastCoordinate = _coordinate;
}
void Vehicle::_mapTrajectoryStart(void)
......
src/Vehicle/Vehicle.h
View file @ 957710b4
......@@ -56,23 +56,23 @@ public:
Q_PROPERTY(int id READ id CONSTANT)
Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT)
Q_PROPERTY(QGeoCoordinate coordinate MEMBER _geoCoordinate NOTIFY coordinateChanged)
Q_PROPERTY(MissionManager* missionManager MEMBER _missionManager CONSTANT)
Q_PROPERTY(bool homePositionAvailable READ homePositionAvailable NOTIFY homePositionAvailableChanged)
Q_PROPERTY(QGeoCoordinate homePosition READ homePosition NOTIFY homePositionChanged)
Q_PROPERTY(bool armed READ armed WRITE setArmed NOTIFY armedChanged)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged)
Q_PROPERTY(bool coordinateValid READ coordinateValid NOTIFY coordinateValidChanged)
Q_PROPERTY(MissionManager* missionManager MEMBER _missionManager CONSTANT)
Q_PROPERTY(bool homePositionAvailable READ homePositionAvailable NOTIFY homePositionAvailableChanged)
Q_PROPERTY(QGeoCoordinate homePosition READ homePosition NOTIFY homePositionChanged)
Q_PROPERTY(bool armed READ armed WRITE setArmed NOTIFY armedChanged)
Q_PROPERTY(bool flightModeSetAvailable READ flightModeSetAvailable CONSTANT)
Q_PROPERTY(QStringList flightModes READ flightModes CONSTANT)
Q_PROPERTY(QString flightMode READ flightMode WRITE setFlightMode NOTIFY flightModeChanged)
Q_PROPERTY(bool hilMode READ hilMode WRITE setHilMode NOTIFY hilModeChanged)
Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
Q_PROPERTY(QmlObjectListModel* trajectoryPoints READ trajectoryPoints CONSTANT)
Q_PROPERTY(bool flightModeSetAvailable READ flightModeSetAvailable CONSTANT)
Q_PROPERTY(QStringList flightModes READ flightModes CONSTANT)
Q_PROPERTY(QString flightMode READ flightMode WRITE setFlightMode NOTIFY flightModeChanged)
// Property accessors
Q_PROPERTY(bool hilMode READ hilMode WRITE setHilMode NOTIFY hilModeChanged)
Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
Q_PROPERTY(QmlObjectListModel* trajectoryPoints READ trajectoryPoints CONSTANT)
QGeoCoordinate coordinate(void) { return _coordinate; }
bool coordinateValid(void) { return _coordinateValid; }
Q_INVOKABLE QString getMavIconColor();
......@@ -94,8 +94,8 @@ public:
Q_PROPERTY(float altitudeRelative READ altitudeRelative NOTIFY altitudeRelativeChanged)
Q_PROPERTY(float altitudeWGS84 READ altitudeWGS84 NOTIFY altitudeWGS84Changed)
Q_PROPERTY(float altitudeAMSL READ altitudeAMSL NOTIFY altitudeAMSLChanged)
Q_PROPERTY(float latitude READ latitude NOTIFY latitudeChanged)
Q_PROPERTY(float longitude READ longitude NOTIFY longitudeChanged)
Q_PROPERTY(float latitude READ latitude NOTIFY coordinateChanged)
Q_PROPERTY(float longitude READ longitude NOTIFY coordinateChanged)
Q_PROPERTY(double batteryVoltage READ batteryVoltage NOTIFY batteryVoltageChanged)
Q_PROPERTY(double batteryPercent READ batteryPercent NOTIFY batteryPercentChanged)
Q_PROPERTY(double batteryConsumed READ batteryConsumed NOTIFY batteryConsumedChanged)
......@@ -234,8 +234,8 @@ public:
float altitudeRelative () { return _altitudeRelative; }
float altitudeWGS84 () { return _altitudeWGS84; }
float altitudeAMSL () { return _altitudeAMSL; }
float latitude () { return _latitude; }
float longitude () { return _longitude; }
float latitude () { return _coordinate.latitude(); }
float longitude () { return _coordinate.longitude(); }
bool mavPresent () { return _mav != NULL; }
int satelliteCount () { return _satelliteCount; }
double batteryVoltage () { return _batteryVoltage; }
......@@ -256,6 +256,7 @@ public slots:
signals:
void allLinksDisconnected(Vehicle* vehicle);
void coordinateChanged(QGeoCoordinate coordinate);
void coordinateValidChanged(bool coordinateValid);
void joystickModeChanged(int mode);
void joystickEnabledChanged(bool enabled);
void activeChanged(bool active);
......@@ -283,7 +284,6 @@ signals:
void altitudeRelativeChanged();
void altitudeWGS84Changed ();
void altitudeAMSLChanged ();
void latitudeChanged ();
void longitudeChanged ();
void batteryVoltageChanged ();
void batteryPercentChanged ();
......@@ -366,7 +366,8 @@ private:
UAS* _uas;
QGeoCoordinate _geoCoordinate;
QGeoCoordinate _coordinate;
bool _coordinateValid; ///< true: vehicle has 3d lock and therefore valid location
bool _homePositionAvailable;
QGeoCoordinate _homePosition;
......@@ -392,8 +393,6 @@ private:
float _navigationSpeedError;
float _navigationCrosstrackError;
float _navigationTargetBearing;
float _latitude;
float _longitude;
QTimer* _refreshTimer;
QList<int> _changes;
double _batteryVoltage;
......
src/uas/UAS.cc
View file @ 957710b4
......@@ -758,7 +758,6 @@ void UAS::receiveMessage(mavlink_message_t message)
{
loc_type = 0;
}
emit localizationChanged(this, loc_type);
setSatelliteCount(pos.satellites_visible);
if (pos.fix_type > 2)
......@@ -788,6 +787,10 @@ void UAS::receiveMessage(mavlink_message_t message)
}
}
}
// Emit this signal after the above signals. This way a trigger on gps lock signal which then asks for vehicle position
// gets a good position.
emit localizationChanged(this, loc_type);
}
break;
case MAVLINK_MSG_ID_GPS_STATUS:
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment