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Unverified Commit 9a74c077 authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #5878 from DonLakeFlyer/StructureScan 

Support custom gimbal angles in Structure Scan
parents 718ae51f 9e5f64a1
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Showing with 356 additions and 43 deletions
qgroundcontrol.pro
View file @ 9a74c077
......@@ -426,6 +426,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/MissionManager/SectionTest.h \
src/MissionManager/SimpleMissionItemTest.h \
src/MissionManager/SpeedSectionTest.h \
src/MissionManager/StructureScanComplexItemTest.h \
src/MissionManager/SurveyMissionItemTest.h \
src/MissionManager/VisualMissionItemTest.h \
src/qgcunittest/FileDialogTest.h \
......@@ -462,6 +463,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/MissionManager/SectionTest.cc \
src/MissionManager/SimpleMissionItemTest.cc \
src/MissionManager/SpeedSectionTest.cc \
src/MissionManager/StructureScanComplexItemTest.cc \
src/MissionManager/SurveyMissionItemTest.cc \
src/MissionManager/VisualMissionItemTest.cc \
src/qgcunittest/FileDialogTest.cc \
......
src/MissionManager/StructureScan.SettingsGroup.json
View file @ 9a74c077
[
{
"name": "GimbalPitch",
"shortDescription": "Gimbal pitch rotation.",
"type": "double",
"units": "gimbal-degrees",
"min": -90,
"max": 0,
"decimalPlaces": 0,
"defaultValue": 0
},
{
"name": "GimbalYaw",
"shortDescription": "Gimbal yaw rotation.",
"type": "double",
"units": "deg",
"min": -180.0,
"max": 180.0,
"decimalPlaces": 0,
"defaultValue": 90
},
{
"name": "Altitude",
"shortDescription": "Altitude for the bottom layer of the structure scan.",
......
src/MissionManager/StructureScanComplexItem.cc
View file @ 9a74c077
......@@ -21,9 +21,12 @@
QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog")
const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan";
const char* StructureScanComplexItem::_altitudeFactName = "Altitude";
const char* StructureScanComplexItem::_layersFactName = "Layers";
const char* StructureScanComplexItem::_gimbalPitchFactName = "GimbalPitch";
const char* StructureScanComplexItem::_gimbalYawFactName = "GimbalYaw";
const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan";
const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc";
const char* StructureScanComplexItem::_jsonAltitudeRelativeKey = "altitudeRelative";
const char* StructureScanComplexItem::_jsonYawVehicleToStructureKey = "yawVehicleToStructure";
......@@ -44,6 +47,8 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
, _yawVehicleToStructure (false)
, _altitudeFact (0, _altitudeFactName, FactMetaData::valueTypeDouble)
, _layersFact (0, _layersFactName, FactMetaData::valueTypeUint32)
, _gimbalPitchFact (0, _gimbalPitchFactName, FactMetaData::valueTypeDouble)
, _gimbalYawFact (0, _gimbalYawFactName, FactMetaData::valueTypeDouble)
{
_editorQml = "qrc:/qml/StructureScanEditor.qml";
......@@ -53,18 +58,25 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
_altitudeFact.setMetaData (_metaDataMap[_altitudeFactName]);
_layersFact.setMetaData (_metaDataMap[_layersFactName]);
_gimbalPitchFact.setMetaData(_metaDataMap[_gimbalPitchFactName]);
_gimbalYawFact.setMetaData (_metaDataMap[_gimbalYawFactName]);
_altitudeFact.setRawValue (_altitudeFact.rawDefaultValue());
_layersFact.setRawValue (_layersFact.rawDefaultValue());
_gimbalPitchFact.setRawValue(_gimbalPitchFact.rawDefaultValue());
_gimbalYawFact.setRawValue (_gimbalYawFact.rawDefaultValue());
_altitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::_setDirty);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::coordinateHasRelativeAltitudeChanged);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::exitCoordinateHasRelativeAltitudeChanged);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::_setDirty);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::coordinateHasRelativeAltitudeChanged);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::exitCoordinateHasRelativeAltitudeChanged);
connect(this, &StructureScanComplexItem::yawVehicleToStructureChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_updateCoordinateAltitudes);
......@@ -74,7 +86,8 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_flightPathChanged);
connect(_cameraCalc.distanceToSurface(), &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
connect(_cameraCalc.distanceToSurface(), &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
connect(&_cameraCalc, &CameraCalc::cameraSpecTypeChanged, this, &StructureScanComplexItem::_cameraSpecTypeChanged);
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_recalcCameraShots);
connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &StructureScanComplexItem::_recalcCameraShots);
......@@ -115,7 +128,7 @@ int StructureScanComplexItem::lastSequenceNumber(void) const
{
return _sequenceNumber +
((_flightPolygon.count() + 1) * _layersFact.rawValue().toInt()) + // 1 waypoint for each polygon vertex + 1 to go back to first polygon vertex
1; // Gimbal yaw command
1; // Gimbal control command
}
void StructureScanComplexItem::setDirty(bool dirty)
......@@ -135,6 +148,8 @@ void StructureScanComplexItem::save(QJsonArray& missionItems)
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[_gimbalPitchFactName] = _gimbalPitchFact.rawValue().toDouble();
saveObject[_gimbalYawFactName] = _gimbalYawFact.rawValue().toDouble();
saveObject[_altitudeFactName] = _altitudeFact.rawValue().toDouble();
saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative;
saveObject[_layersFactName] = _layersFact.rawValue().toDouble();
......@@ -165,6 +180,8 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
{ QGCMapPolygon::jsonPolygonKey, QJsonValue::Array, true },
{ _gimbalPitchFactName, QJsonValue::Double, true },
{ _gimbalYawFactName, QJsonValue::Double, true },
{ _altitudeFactName, QJsonValue::Double, true },
{ _jsonAltitudeRelativeKey, QJsonValue::Bool, false },
{ _layersFactName, QJsonValue::Double, true },
......@@ -192,6 +209,8 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
setSequenceNumber(sequenceNumber);
_gimbalPitchFact.setRawValue(complexObject[_gimbalPitchFactName].toDouble());
_gimbalYawFact.setRawValue (complexObject[_gimbalYawFactName].toDouble());
_altitudeFact.setRawValue (complexObject[_altitudeFactName].toDouble());
_layersFact.setRawValue (complexObject[_layersFactName].toDouble());
_altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true);
......@@ -258,9 +277,9 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_MOUNT_CONTROL,
MAV_FRAME_MISSION,
0, // Gimbal pitch
_gimbalPitchFact.rawValue().toDouble(),
0, // Gimbal roll
90, // Gimbal yaw
_gimbalYawFact.rawValue().toDouble(),
0, 0, 0, // param 4-6 not used
MAV_MOUNT_MODE_MAVLINK_TARGETING,
true, // autoContinue
......@@ -433,3 +452,27 @@ void StructureScanComplexItem::_recalcCameraShots(void)
int cameraShots = distance / _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
_setCameraShots(cameraShots * _layersFact.rawValue().toInt());
}
void StructureScanComplexItem::_cameraSpecTypeChanged(CameraCalc::CameraSpecType cameraSpecType)
{
Q_UNUSED(cameraSpecType);
_gimbalPitchFact.setCookedValue(0);
_gimbalYawFact.setCookedValue(90);
}
void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative)
{
if (altitudeRelative != _altitudeRelative) {
_altitudeRelative = altitudeRelative;
emit altitudeRelativeChanged(altitudeRelative);
}
}
void StructureScanComplexItem::setYawVehicleToStructure(bool yawVehicleToStructure)
{
if (yawVehicleToStructure != _yawVehicleToStructure) {
_yawVehicleToStructure = yawVehicleToStructure;
emit yawVehicleToStructureChanged(yawVehicleToStructure);
}
}
src/MissionManager/StructureScanComplexItem.h
View file @ 9a74c077
......@@ -27,25 +27,34 @@ class StructureScanComplexItem : public ComplexMissionItem
public:
StructureScanComplexItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT)
Q_PROPERTY(Fact* altitude READ altitude CONSTANT)
Q_PROPERTY(Fact* layers READ layers CONSTANT)
Q_PROPERTY(bool altitudeRelative MEMBER _altitudeRelative NOTIFY altitudeRelativeChanged)
Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
Q_PROPERTY(double cameraMinTriggerInterval MEMBER _cameraMinTriggerInterval NOTIFY cameraMinTriggerIntervalChanged)
Q_PROPERTY(QGCMapPolygon* structurePolygon READ structurePolygon CONSTANT)
Q_PROPERTY(QGCMapPolygon* flightPolygon READ flightPolygon CONSTANT)
Q_PROPERTY(bool yawVehicleToStructure MEMBER _yawVehicleToStructure NOTIFY yawVehicleToStructureChanged) ///< true: vehicle yaws to point to structure, false: gimbal yaws to point to structure
Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT)
Q_PROPERTY(Fact* gimbalPitch READ gimbalPitch CONSTANT)
Q_PROPERTY(Fact* gimbalYaw READ gimbalYaw CONSTANT)
Q_PROPERTY(Fact* altitude READ altitude CONSTANT)
Q_PROPERTY(Fact* layers READ layers CONSTANT)
Q_PROPERTY(bool altitudeRelative READ altitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged)
Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
Q_PROPERTY(double cameraMinTriggerInterval MEMBER _cameraMinTriggerInterval NOTIFY cameraMinTriggerIntervalChanged)
Q_PROPERTY(QGCMapPolygon* structurePolygon READ structurePolygon CONSTANT)
Q_PROPERTY(QGCMapPolygon* flightPolygon READ flightPolygon CONSTANT)
Q_PROPERTY(bool yawVehicleToStructure READ yawVehicleToStructure WRITE setYawVehicleToStructure NOTIFY yawVehicleToStructureChanged) ///< true: vehicle yaws to point to structure, false: gimbal yaws to point to structure
CameraCalc* cameraCalc (void) { return &_cameraCalc; }
Fact* altitude (void) { return &_altitudeFact; }
Fact* layers (void) { return &_layersFact; }
int cameraShots (void) const;
double timeBetweenShots(void);
QGCMapPolygon* structurePolygon(void) { return &_structurePolygon; }
QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; }
bool altitudeRelative (void) const { return _altitudeRelative; }
int cameraShots (void) const;
Fact* gimbalPitch (void) { return &_gimbalPitchFact; }
Fact* gimbalYaw (void) { return &_gimbalYawFact; }
double timeBetweenShots (void);
QGCMapPolygon* structurePolygon (void) { return &_structurePolygon; }
QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; }
bool yawVehicleToStructure (void) const { return _yawVehicleToStructure; }
void setAltitudeRelative (bool altitudeRelative);
void setYawVehicleToStructure (bool yawVehicleToStructure);
Q_INVOKABLE void rotateEntryPoint(void);
......@@ -96,13 +105,14 @@ signals:
private slots:
void _setDirty(void);
void _polygonDirtyChanged(bool dirty);
void _polygonCountChanged(int count);
void _flightPathChanged(void);
void _clearInternal(void);
void _updateCoordinateAltitudes(void);
void _rebuildFlightPolygon(void);
void _recalcCameraShots(void);
void _polygonDirtyChanged (bool dirty);
void _polygonCountChanged (int count);
void _flightPathChanged (void);
void _clearInternal (void);
void _updateCoordinateAltitudes (void);
void _rebuildFlightPolygon (void);
void _recalcCameraShots (void);
void _cameraSpecTypeChanged (CameraCalc::CameraSpecType cameraSpecType);
private:
void _setExitCoordinate(const QGeoCoordinate& coordinate);
......@@ -130,13 +140,19 @@ private:
Fact _altitudeFact;
Fact _layersFact;
Fact _gimbalPitchFact;
Fact _gimbalYawFact;
static const char* _altitudeFactName;
static const char* _layersFactName;
static const char* _gimbalPitchFactName;
static const char* _gimbalYawFactName;
static const char* _jsonCameraCalcKey;
static const char* _jsonAltitudeRelativeKey;
static const char* _jsonYawVehicleToStructureKey;
friend class StructureScanComplexItemTest;
};
#endif
src/MissionManager/StructureScanComplexItemTest.cc 0 → 100644
View file @ 9a74c077
/****************************************************************************
*
* (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.
*
****************************************************************************/
#include "StructureScanComplexItemTest.h"
#include "QGCApplication.h"
StructureScanComplexItemTest::StructureScanComplexItemTest(void)
: _offlineVehicle(NULL)
{
_polyPoints << QGeoCoordinate(47.633550640000003, -122.08982199) << QGeoCoordinate(47.634129020000003, -122.08887249) <<
QGeoCoordinate(47.633619320000001, -122.08811074) << QGeoCoordinate(47.633189139999999, -122.08900124);
}
void StructureScanComplexItemTest::init(void)
{
UnitTest::init();
_rgSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
_offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
_structureScanItem = new StructureScanComplexItem(_offlineVehicle, this);
_structureScanItem->setDirty(false);
_multiSpy = new MultiSignalSpy();
Q_CHECK_PTR(_multiSpy);
QCOMPARE(_multiSpy->init(_structureScanItem, _rgSignals, _cSignals), true);
}
void StructureScanComplexItemTest::cleanup(void)
{
delete _structureScanItem;
delete _offlineVehicle;
}
void StructureScanComplexItemTest::_testDirty(void)
{
QVERIFY(!_structureScanItem->dirty());
_structureScanItem->setDirty(false);
QVERIFY(!_structureScanItem->dirty());
QVERIFY(_multiSpy->checkNoSignals());
_structureScanItem->setDirty(true);
QVERIFY(_structureScanItem->dirty());
QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_multiSpy->clearAllSignals();
_structureScanItem->setDirty(false);
QVERIFY(!_structureScanItem->dirty());
QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask));
QVERIFY(!_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_multiSpy->clearAllSignals();
// These facts should set dirty when changed
QList<Fact*> rgFacts;
rgFacts << _structureScanItem->gimbalPitch() << _structureScanItem->gimbalYaw() << _structureScanItem->altitude() << _structureScanItem->layers();
foreach(Fact* fact, rgFacts) {
qDebug() << fact->name();
QVERIFY(!_structureScanItem->dirty());
if (fact->typeIsBool()) {
fact->setRawValue(!fact->rawValue().toBool());
} else {
fact->setRawValue(fact->rawValue().toDouble() + 1);
}
QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_structureScanItem->setDirty(false);
_multiSpy->clearAllSignals();
}
rgFacts.clear();
QVERIFY(!_structureScanItem->dirty());
_structureScanItem->setAltitudeRelative(!_structureScanItem->altitudeRelative());
QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_structureScanItem->setDirty(false);
_multiSpy->clearAllSignals();
QVERIFY(!_structureScanItem->dirty());
_structureScanItem->setYawVehicleToStructure(!_structureScanItem->yawVehicleToStructure());
QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_structureScanItem->setDirty(false);
_multiSpy->clearAllSignals();
}
void StructureScanComplexItemTest::_initItem(void)
{
QGCMapPolygon* mapPolygon = _structureScanItem->structurePolygon();
for (int i=0; i<_polyPoints.count(); i++) {
QGeoCoordinate& vertex = _polyPoints[i];
mapPolygon->appendVertex(vertex);
}
_structureScanItem->cameraCalc()->setCameraSpecType(CameraCalc::CameraSpecNone);
_structureScanItem->gimbalPitch()->setCookedValue(45);
_structureScanItem->gimbalYaw()->setCookedValue(45);
_structureScanItem->layers()->setCookedValue(2);
_structureScanItem->setDirty(false);
_validateItem(_structureScanItem);
}
void StructureScanComplexItemTest::_validateItem(StructureScanComplexItem* item)
{
QGCMapPolygon* mapPolygon = item->structurePolygon();
for (int i=0; i<_polyPoints.count(); i++) {
QGeoCoordinate& expectedVertex = _polyPoints[i];
QGeoCoordinate actualVertex = mapPolygon->vertexCoordinate(i);
QCOMPARE(expectedVertex, actualVertex);
}
QCOMPARE((int)item->cameraCalc()->cameraSpecType(), (int)CameraCalc::CameraSpecNone);
QCOMPARE(item->gimbalPitch()->cookedValue().toDouble(), 45.0);
QCOMPARE(item->gimbalYaw()->cookedValue().toDouble(), 45.0);
QCOMPARE(item->layers()->cookedValue().toInt(), 2);
int seqNum = item->sequenceNumber();
QCOMPARE(item->lastSequenceNumber(), seqNum + (5 /* 5 waypoints per layer */ * item->layers()->cookedValue().toInt()) + 1 /* gimbal command */);
}
void StructureScanComplexItemTest::_testSaveLoad(void)
{
_initItem();
QJsonArray items;
_structureScanItem->save(items);
QString errorString;
StructureScanComplexItem* newItem = new StructureScanComplexItem(_offlineVehicle, this);
QVERIFY(newItem->load(items[0].toObject(), 10, errorString));
QVERIFY(errorString.isEmpty());
_validateItem(newItem);
newItem->deleteLater();
}
void StructureScanComplexItemTest::_testGimbalAngleUpdate(void)
{
// This sets the item to CameraCalc::CameraSpecNone and non-standard gimbal angles
_initItem();
// Switching to a camera specific setup should set gimbal angles to defaults surface scan
_structureScanItem->cameraCalc()->setCameraSpecType(CameraCalc::CameraSpecCustom);
QCOMPARE(_structureScanItem->gimbalPitch()->cookedValue().toDouble(), 0.0);
QCOMPARE(_structureScanItem->gimbalYaw()->cookedValue().toDouble(), 90.0);
}
src/MissionManager/StructureScanComplexItemTest.h 0 → 100644
View file @ 9a74c077
/****************************************************************************
*
* (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.
*
****************************************************************************/
#pragma once
#include "UnitTest.h"
#include "MultiSignalSpy.h"
#include "StructureScanComplexItem.h"
class StructureScanComplexItemTest : public UnitTest
{
Q_OBJECT
public:
StructureScanComplexItemTest(void);
protected:
void init(void) final;
void cleanup(void) final;
private slots:
void _testDirty(void);
void _testSaveLoad(void);
void _testGimbalAngleUpdate(void);
private:
void _initItem(void);
void _validateItem(StructureScanComplexItem* item);
enum {
dirtyChangedIndex,
maxSignalIndex
};
enum {
dirtyChangedMask = 1 << dirtyChangedIndex
};
static const size_t _cSignals = maxSignalIndex;
const char* _rgSignals[_cSignals];
Vehicle* _offlineVehicle;
MultiSignalSpy* _multiSpy;
StructureScanComplexItem* _structureScanItem;
QList<QGeoCoordinate> _polyPoints;
};
src/PlanView/StructureScanEditor.qml
View file @ 9a74c077
......@@ -29,7 +29,6 @@ Rectangle {
property real _fieldWidth: ScreenTools.defaultFontPixelWidth * 10.5
property var _vehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
function polygonCaptureStarted() {
missionItem.clearPolygon()
}
......@@ -62,14 +61,6 @@ Rectangle {
anchors.right: parent.right
spacing: _margin
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
text: qsTr("WORK IN PROGRESS. CAREFUL!")
wrapMode: Text.WordWrap
color: qgcPal.warningText
}
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
......@@ -95,6 +86,33 @@ Rectangle {
sideDistanceLabel: qsTr("Trigger Distance")
}
GridLayout {
anchors.left: parent.left
anchors.right: parent.right
columnSpacing: ScreenTools.defaultFontPixelWidth / 2
rowSpacing: 0
columns: 3
enabled: missionItem.cameraCalc.cameraSpecType === CameraCalc.CameraSpecNone
Item { width: 1; height: 1 }
QGCLabel { text: qsTr("Pitch") }
QGCLabel { text: qsTr("Yaw") }
QGCLabel {
text: qsTr("Gimbal")
Layout.fillWidth: true
}
FactTextField {
fact: missionItem.gimbalPitch
implicitWidth: ScreenTools.defaultFontPixelWidth * 9
}
FactTextField {
fact: missionItem.gimbalYaw
implicitWidth: ScreenTools.defaultFontPixelWidth * 9
}
}
SectionHeader {
id: scanHeader
text: qsTr("Scan")
......@@ -155,6 +173,11 @@ Rectangle {
}
}
Item {
height: ScreenTools.defaultFontPixelHeight / 2
width: 1
}
QGCButton {
text: qsTr("Rotate entry point")
onClicked: missionItem.rotateEntryPoint()
......
src/PlanView/StructureScanMapVisual.qml
View file @ 9a74c077
......@@ -61,9 +61,10 @@ Item {
var bottomLeftCoord = map.toCoordinate(Qt.point(rect.x, rect.y + rect.height), false /* clipToViewPort */)
var bottomRightCoord = map.toCoordinate(Qt.point(rect.x + rect.width, rect.y + rect.height), false /* clipToViewPort */)
// Initial polygon has max width and height of 3000 meters
var halfWidthMeters = Math.min(topLeftCoord.distanceTo(topRightCoord), 3000) / 2
var halfHeightMeters = Math.min(topLeftCoord.distanceTo(bottomLeftCoord), 3000) / 2
// Adjust polygon to max size
var maxSize = 100
var halfWidthMeters = Math.min(topLeftCoord.distanceTo(topRightCoord), maxSize) / 2
var halfHeightMeters = Math.min(topLeftCoord.distanceTo(bottomLeftCoord), maxSize) / 2
topLeftCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 0)
topRightCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 0)
bottomLeftCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 180)
......
src/qgcunittest/UnitTestList.cc
View file @ 9a74c077
......@@ -39,6 +39,7 @@
#include "MissionSettingsTest.h"
#include "QGCMapPolygonTest.h"
#include "AudioOutputTest.h"
#include "StructureScanComplexItemTest.h"
UT_REGISTER_TEST(FactSystemTestGeneric)
UT_REGISTER_TEST(FactSystemTestPX4)
......@@ -65,6 +66,7 @@ UT_REGISTER_TEST(PlanMasterControllerTest)
UT_REGISTER_TEST(MissionSettingsTest)
UT_REGISTER_TEST(QGCMapPolygonTest)
UT_REGISTER_TEST(AudioOutputTest)
UT_REGISTER_TEST(StructureScanComplexItemTest)
// List of unit test which are currently disabled.
// If disabling a new test, include reason in comment.
......
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