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Commit 99b6c1c1 authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #4987 from DonLakeFlyer/Fixes 

Fixes
parents 1b9e036e c89cf0ba
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Showing with 57 additions and 115 deletions
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ 99b6c1c1
......@@ -29,9 +29,11 @@ FlightMap {
mapName: _mapName
allowGCSLocationCenter: !userPanned
allowVehicleLocationCenter: !_keepVehicleCentered
planView: false
property alias scaleState: mapScale.state
// The following properties must be set by the consumer
property var missionController
property var geoFenceController
property var rallyPointController
......
src/FlightDisplay/GuidedActionConfirm.qml
View file @ 99b6c1c1
......@@ -51,6 +51,7 @@ Rectangle {
anchors.left: slider.left
anchors.right: slider.right
horizontalAlignment: Text.AlignHCenter
font.pointSize: ScreenTools.largeFontPointSize
}
QGCLabel {
......
src/FlightMap/FlightMap.qml
View file @ 99b6c1c1
......@@ -38,6 +38,7 @@ Map {
property bool allowVehicleLocationCenter: false ///< true: map will center/zoom to vehicle location one time
property bool firstGCSPositionReceived: false ///< true: first gcs position update was responded to
property bool firstVehiclePositionReceived: false ///< true: first vehicle position update was responded to
property bool planView: false ///< true: map being using for Plan view, items should be draggable
readonly property real maxZoomLevel: 20
......
src/MissionManager/MissionSettings.FactMetaData.json
View file @ 99b6c1c1
......@@ -6,13 +6,5 @@
"units": "m",
"decimalPlaces": 1,
"defaultValue": 0
},
{
"name": "MissionEndAction",
"shortDescription": "The action to take when the mission completed.",
"type": "uint32",
"enumStrings": "No action on mission end,Loiter after mission end,RTL after mission end",
"enumValues": "0,1,2",
"defaultValue": 0
}
]
src/MissionManager/MissionSettingsItem.cc
View file @ 99b6c1c1
......@@ -24,18 +24,17 @@ QGC_LOGGING_CATEGORY(MissionSettingsComplexItemLog, "MissionSettingsComplexItemL
const char* MissionSettingsItem::jsonComplexItemTypeValue = "MissionSettings";
const char* MissionSettingsItem::_plannedHomePositionAltitudeName = "PlannedHomePositionAltitude";
const char* MissionSettingsItem::_missionEndActionName = "MissionEndAction";
QMap<QString, FactMetaData*> MissionSettingsItem::_metaDataMap;
MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
: ComplexMissionItem(vehicle, parent)
: ComplexMissionItem (vehicle, parent)
, _plannedHomePositionAltitudeFact (0, _plannedHomePositionAltitudeName, FactMetaData::valueTypeDouble)
, _missionEndActionFact (0, _missionEndActionName, FactMetaData::valueTypeUint32)
, _cameraSection(vehicle)
, _speedSection(vehicle)
, _sequenceNumber(0)
, _dirty(false)
, _missionEndRTL (false)
, _cameraSection (vehicle)
, _speedSection (vehicle)
, _sequenceNumber (0)
, _dirty (false)
{
_editorQml = "qrc:/qml/MissionSettingsEditor.qml";
......@@ -44,27 +43,25 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
}
_plannedHomePositionAltitudeFact.setMetaData (_metaDataMap[_plannedHomePositionAltitudeName]);
_missionEndActionFact.setMetaData (_metaDataMap[_missionEndActionName]);
_plannedHomePositionAltitudeFact.setRawValue (_plannedHomePositionAltitudeFact.rawDefaultValue());
_missionEndActionFact.setRawValue (_missionEndActionFact.rawDefaultValue());
setHomePositionSpecialCase(true);
connect(this, &MissionSettingsItem::specifyMissionFlightSpeedChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(this, &MissionSettingsItem::missionEndRTLChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(&_cameraSection, &CameraSection::itemCountChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(&_speedSection, &CameraSection::itemCountChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_setDirty);
connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_updateAltitudeInCoordinate);
connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_setDirty);
connect(&_missionEndActionFact, &Fact::valueChanged, this, &MissionSettingsItem::_setDirty);
connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_updateAltitudeInCoordinate);
connect(&_cameraSection, &CameraSection::dirtyChanged, this, &MissionSettingsItem::_sectionDirtyChanged);
connect(&_speedSection, &SpeedSection::dirtyChanged, this, &MissionSettingsItem::_sectionDirtyChanged);
connect(&_cameraSection, &CameraSection::specifyGimbalChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged);
connect(&_cameraSection, &CameraSection::specifiedGimbalYawChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged);
connect(&_cameraSection, &CameraSection::specifyGimbalChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged);
connect(&_cameraSection, &CameraSection::specifiedGimbalYawChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged);
}
......@@ -164,43 +161,7 @@ bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& items, int se
// IMPORTANT NOTE: If anything changes here you must also change MissionSettingsItem::scanForMissionSettings
// Find last waypoint coordinate information so we have a lat/lon/alt to use
QGeoCoordinate lastWaypointCoord;
MAV_FRAME lastWaypointFrame;
bool found = false;
for (int i=items.count()-1; i>0; i--) {
MissionItem* missionItem = items[i];
const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, (MAV_CMD)missionItem->command());
if (uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate()) {
lastWaypointCoord = missionItem->coordinate();
lastWaypointFrame = missionItem->frame();
found = true;
break;
}
}
if (!found) {
return false;
}
switch(_missionEndActionFact.rawValue().toInt()) {
case MissionEndLoiter:
qCDebug(MissionSettingsComplexItemLog) << "Appending end action Loiter seqNum" << seqNum;
item = new MissionItem(seqNum,
MAV_CMD_NAV_LOITER_UNLIM,
lastWaypointFrame,
0, 0, // param 1-2 unused
0, // use default loiter radius
0, // param 4 not used
lastWaypointCoord.latitude(),
lastWaypointCoord.longitude(),
lastWaypointCoord.altitude(),
true, // autoContinue
false, // isCurrentItem
missionItemParent);
break;
case MissionEndRTL:
if (_missionEndRTL) {
qCDebug(MissionSettingsComplexItemLog) << "Appending end action RTL seqNum" << seqNum;
item = new MissionItem(seqNum,
MAV_CMD_NAV_RETURN_TO_LAUNCH,
......@@ -209,12 +170,6 @@ bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& items, int se
true, // autoContinue
false, // isCurrentItem
missionItemParent);
break;
default:
break;
}
if (item) {
items.append(item);
return true;
} else {
......@@ -248,25 +203,11 @@ bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems
if (item) {
MissionItem& missionItem = item->missionItem();
switch ((MAV_CMD)item->command()) {
case MAV_CMD_NAV_LOITER_UNLIM:
if (missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0) {
qCDebug(MissionSettingsComplexItemLog) << "Scan: Found end action Loiter";
settingsItem->missionEndAction()->setRawValue(MissionEndLoiter);
visualItems->removeAt(lastIndex)->deleteLater();
}
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
if (missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
qCDebug(MissionSettingsComplexItemLog) << "Scan: Found end action RTL";
settingsItem->missionEndAction()->setRawValue(MissionEndRTL);
visualItems->removeAt(lastIndex)->deleteLater();
}
break;
default:
break;
if (missionItem.command() == MAV_CMD_NAV_RETURN_TO_LAUNCH &&
missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
qCDebug(MissionSettingsComplexItemLog) << "Scan: Found end action RTL";
settingsItem->_missionEndRTL = true;
visualItems->removeAt(lastIndex)->deleteLater();
}
}
......
src/MissionManager/MissionSettingsItem.h
View file @ 99b6c1c1
......@@ -26,20 +26,12 @@ class MissionSettingsItem : public ComplexMissionItem
public:
MissionSettingsItem(Vehicle* vehicle, QObject* parent = NULL);
enum MissionEndAction {
MissionEndNoAction,
MissionEndLoiter,
MissionEndRTL
};
Q_ENUMS(MissionEndAction)
Q_PROPERTY(Fact* missionEndAction READ missionEndAction CONSTANT)
Q_PROPERTY(Fact* plannedHomePositionAltitude READ plannedHomePositionAltitude CONSTANT)
Q_PROPERTY(bool missionEndRTL MEMBER _missionEndRTL NOTIFY missionEndRTLChanged)
Q_PROPERTY(QObject* cameraSection READ cameraSection CONSTANT)
Q_PROPERTY(QObject* speedSection READ speedSection CONSTANT)
Fact* plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
Fact* missionEndAction (void) { return &_missionEndActionFact; }
QObject* cameraSection(void) { return &_cameraSection; }
QObject* speedSection(void) { return &_speedSection; }
......@@ -92,7 +84,8 @@ public:
static const char* jsonComplexItemTypeValue;
signals:
void specifyMissionFlightSpeedChanged(bool specifyMissionFlightSpeed);
void specifyMissionFlightSpeedChanged (bool specifyMissionFlightSpeed);
void missionEndRTLChanged (bool missionEndRTL);
private slots:
void _setDirtyAndUpdateLastSequenceNumber (void);
......@@ -101,9 +94,9 @@ private slots:
void _updateAltitudeInCoordinate (QVariant value);
private:
QGeoCoordinate _plannedHomePositionCoordinate; // Does not include altitde
QGeoCoordinate _plannedHomePositionCoordinate; // Does not include altitude
Fact _plannedHomePositionAltitudeFact;
Fact _missionEndActionFact;
bool _missionEndRTL;
CameraSection _cameraSection;
SpeedSection _speedSection;
......@@ -113,7 +106,6 @@ private:
static QMap<QString, FactMetaData*> _metaDataMap;
static const char* _plannedHomePositionAltitudeName;
static const char* _missionEndActionName;
};
#endif
src/PlanView/MissionSettingsEditor.qml
View file @ 99b6c1c1
......@@ -124,11 +124,10 @@ Rectangle {
}
} // GridLayout
FactComboBox {
anchors.left: parent.left
anchors.right: parent.right
fact: missionItem.missionEndAction
indexModel: false
QGCCheckBox {
text: qsTr("RTL after mission end")
checked: missionItem.missionEndRTL
onClicked: missionItem.missionEndRTL = checked
}
}
......
src/PlanView/PlanView.qml
View file @ 99b6c1c1
......@@ -42,15 +42,16 @@ QGCView {
readonly property real _toolButtonTopMargin: parent.height - ScreenTools.availableHeight + (ScreenTools.defaultFontPixelHeight / 2)
readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276)
property var _visualItems: missionController.visualItems
property var _visualItems: missionController.visualItems
property var _currentMissionItem
property int _currentMissionIndex: 0
property bool _lightWidgetBorders: editorMap.isSatelliteMap
property bool _addWaypointOnClick: false
property bool _singleComplexItem: missionController.complexMissionItemNames.length === 1
property real _toolbarHeight: _qgcView.height - ScreenTools.availableHeight
property int _editingLayer: _layerMission
property bool _autoSync: QGroundControl.settingsManager.appSettings.automaticMissionUpload.rawValue != 0
property int _currentMissionIndex: 0
property bool _lightWidgetBorders: editorMap.isSatelliteMap
property bool _addWaypointOnClick: false
property bool _singleComplexItem: missionController.complexMissionItemNames.length === 1
property real _toolbarHeight: _qgcView.height - ScreenTools.availableHeight
property int _editingLayer: _layerMission
property bool _autoSync: QGroundControl.settingsManager.appSettings.automaticMissionUpload.rawValue != 0
property bool _switchToFlyAfterUpload: false
/// The controller which should be called for load/save, send to/from vehicle calls
property var _syncDropDownController: missionController
......@@ -141,8 +142,19 @@ QGCView {
onClicked: {
_activeVehicle.flightMode = _activeVehicle.pauseFlightMode
missionController.sendToVehicle()
toolbar.showFlyView()
hideDialog()
if (_switchToFlyAfterUpload) {
toolbar.showFlyView()
}
}
}
QGCButton {
text: qsTr("Exit planning (no upload)")
visible: _switchToFlyAfterUpload
onClicked: {
hideDialog()
toolbar.showFlyView()
}
}
}
......@@ -159,8 +171,9 @@ QGCView {
setCurrentItem(0)
}
function _denyUpload() {
function _denyUpload(switchToFly) {
if (_activeVehicle && _activeVehicle.armed && _activeVehicle.flightMode === _activeVehicle.missionFlightMode) {
_switchToFlyAfterUpload = switchToFly
_qgcView.showDialog(activeMissionUploadDialogComponent, qsTr("Mission Upload"), _qgcView.showDialogDefaultWidth, StandardButton.Cancel)
return true
} else {
......@@ -171,7 +184,7 @@ QGCView {
// Users is switching away from Plan View
function uploadOnSwitch() {
if (missionController.dirty && _autoSync) {
if (_denyUpload()) {
if (_denyUpload(true /* switchToFly */)) {
return false
} else {
sendToVehicle()
......@@ -181,7 +194,7 @@ QGCView {
}
function upload() {
if (!_denyUpload()) {
if (!_denyUpload(false /* switchToFly */)) {
sendToVehicle()
}
}
......@@ -384,6 +397,7 @@ QGCView {
mapName: "MissionEditor"
allowGCSLocationCenter: true
allowVehicleLocationCenter: true
planView: true
// This is the center rectangle of the map which is not obscured by tools
property rect centerViewport: Qt.rect(_leftToolWidth, _toolbarHeight, editorMap.width - _leftToolWidth - _rightPanelWidth, editorMap.height - _statusHeight - _toolbarHeight)
......
src/PlanView/SimpleItemMapVisual.qml
View file @ 99b6c1c1
......@@ -62,7 +62,7 @@ Item {
Component.onCompleted: {
showItemVisuals()
if (_missionItem.isCurrentItem) {
if (_missionItem.isCurrentItem && map.planView) {
showDragArea()
}
}
......
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