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Unverified Commit a5b8891b authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #6689 from DonLakeFlyer/HoverAndCapture 

Survey: Hover and Capture support
parents 5c73f594 4dca19f8
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Showing with 74 additions and 38 deletions
src/MissionManager/SurveyComplexItem.cc
View file @ a5b8891b
...@@ -814,7 +814,7 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, ...@@ -814,7 +814,7 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items,
MissionItem* item; MissionItem* item;
int seqNum = _sequenceNumber; int seqNum = _sequenceNumber;
bool imagesEverywhere = _cameraTriggerInTurnAroundFact.rawValue().toBool(); bool imagesEverywhere = _cameraTriggerInTurnAroundFact.rawValue().toBool();
bool addTriggerAtBeginning = imagesEverywhere; bool addTriggerAtBeginning = !hoverAndCaptureEnabled() && imagesEverywhere;
bool firstOverallPoint = true; bool firstOverallPoint = true;
MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT; MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;
...@@ -826,17 +826,31 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, ...@@ -826,17 +826,31 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items,
item = new MissionItem(seqNum++, item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT, MAV_CMD_NAV_WAYPOINT,
mavFrame, mavFrame,
0, // No hold time hoverAndCaptureEnabled() ?
0.0, // No acceptance radius specified _hoverAndCaptureDelaySeconds : 0, // Hold time (delay for hover and capture to settle vehicle before image is taken)
0.0, // Pass through waypoint 0.0, // No acceptance radius specified
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged 0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
transectCoordInfo.coord.latitude(), transectCoordInfo.coord.latitude(),
transectCoordInfo.coord.longitude(), transectCoordInfo.coord.longitude(),
transectCoordInfo.coord.altitude(), transectCoordInfo.coord.altitude(),
true, // autoContinue true, // autoContinue
false, // isCurrentItem false, // isCurrentItem
missionItemParent); missionItemParent);
items.append(item); items.append(item);
if (hoverAndCaptureEnabled()) {
item = new MissionItem(seqNum++,
MAV_CMD_IMAGE_START_CAPTURE,
MAV_FRAME_MISSION,
0, // Reserved (Set to 0)
0, // Interval (none)
1, // Take 1 photo
NAN, NAN, NAN, NAN, // param 4-7 reserved
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
if (firstOverallPoint && addTriggerAtBeginning) { if (firstOverallPoint && addTriggerAtBeginning) {
// Start triggering // Start triggering
...@@ -844,29 +858,29 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, ...@@ -844,29 +858,29 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items,
item = new MissionItem(seqNum++, item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST, MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION, MAV_FRAME_MISSION,
_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble(), // trigger distance triggerDistance(), // trigger distance
0, // shutter integration (ignore) 0, // shutter integration (ignore)
1, // trigger immediately when starting 1, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused 0, 0, 0, 0, // param 4-7 unused
true, // autoContinue true, // autoContinue
false, // isCurrentItem false, // isCurrentItem
missionItemParent); missionItemParent);
items.append(item); items.append(item);
} }
firstOverallPoint = false; firstOverallPoint = false;
if (transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge && !imagesEverywhere) { if (transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge && triggerCamera() && !hoverAndCaptureEnabled() && !imagesEverywhere) {
if (entryPoint) { if (entryPoint) {
// Start of transect, start triggering // Start of transect, start triggering
item = new MissionItem(seqNum++, item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST, MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION, MAV_FRAME_MISSION,
_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble(), // trigger distance triggerDistance(), // trigger distance
0, // shutter integration (ignore) 0, // shutter integration (ignore)
1, // trigger immediately when starting 1, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused 0, 0, 0, 0, // param 4-7 unused
true, // autoContinue true, // autoContinue
false, // isCurrentItem false, // isCurrentItem
missionItemParent); missionItemParent);
items.append(item); items.append(item);
} else { } else {
...@@ -888,7 +902,7 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, ...@@ -888,7 +902,7 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items,
} }
} }
if (imagesEverywhere) { if (triggerCamera() && !hoverAndCaptureEnabled() && imagesEverywhere) {
// Stop triggering // Stop triggering
MissionItem* item = new MissionItem(seqNum++, MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST, MAV_CMD_DO_SET_CAM_TRIGG_DIST,
...@@ -1230,6 +1244,20 @@ void SurveyComplexItem::_rebuildTransectsPhase1Worker(bool refly) ...@@ -1230,6 +1244,20 @@ void SurveyComplexItem::_rebuildTransectsPhase1Worker(bool refly)
coordInfo = { transect[1], CoordTypeSurveyEdge }; coordInfo = { transect[1], CoordTypeSurveyEdge };
coordInfoTransect.append(coordInfo); coordInfoTransect.append(coordInfo);
// For hover and capture we need points for each camera location within the transect
if (triggerCamera() && hoverAndCaptureEnabled()) {
double transectLength = transect[0].distanceTo(transect[1]);
double transectAzimuth = transect[0].azimuthTo(transect[1]);
if (triggerDistance() < transectLength) {
int cInnerHoverPoints = floor(transectLength / triggerDistance());
qCDebug(SurveyComplexItemLog) << "cInnerHoverPoints" << cInnerHoverPoints;
for (int i=0; i<cInnerHoverPoints; i++) {
QGeoCoordinate hoverCoord = transect[0].atDistanceAndAzimuth(triggerDistance() * (i + 1), transectAzimuth);
TransectStyleComplexItem::CoordInfo_t coordInfo = { hoverCoord, CoordTypeInteriorHoverTrigger };
coordInfoTransect.insert(1 + i, coordInfo);
}
}
}
// Extend the transect ends for turnaround // Extend the transect ends for turnaround
if (_hasTurnaround()) { if (_hasTurnaround()) {
...@@ -1261,9 +1289,8 @@ void SurveyComplexItem::_rebuildTransectsPhase2(void) ...@@ -1261,9 +1289,8 @@ void SurveyComplexItem::_rebuildTransectsPhase2(void)
_complexDistance += _visualTransectPoints[i].value<QGeoCoordinate>().distanceTo(_visualTransectPoints[i+1].value<QGeoCoordinate>()); _complexDistance += _visualTransectPoints[i].value<QGeoCoordinate>().distanceTo(_visualTransectPoints[i+1].value<QGeoCoordinate>());
} }
double triggerDistance = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble();
if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) { if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) {
_cameraShots = qCeil(_complexDistance / triggerDistance); _cameraShots = qCeil(_complexDistance / triggerDistance());
} else { } else {
_cameraShots = 0; _cameraShots = 0;
foreach (const QList<TransectStyleComplexItem::CoordInfo_t>& transect, _transects) { foreach (const QList<TransectStyleComplexItem::CoordInfo_t>& transect, _transects) {
...@@ -1275,7 +1302,7 @@ void SurveyComplexItem::_rebuildTransectsPhase2(void) ...@@ -1275,7 +1302,7 @@ void SurveyComplexItem::_rebuildTransectsPhase2(void)
firstCameraCoord = transect.first().coord; firstCameraCoord = transect.first().coord;
lastCameraCoord = transect.last().coord; lastCameraCoord = transect.last().coord;
} }
_cameraShots += qCeil(firstCameraCoord.distanceTo(lastCameraCoord) / triggerDistance); _cameraShots += qCeil(firstCameraCoord.distanceTo(lastCameraCoord) / triggerDistance());
} }
} }
...@@ -1340,6 +1367,5 @@ void SurveyComplexItem::rotateEntryPoint(void) ...@@ -1340,6 +1367,5 @@ void SurveyComplexItem::rotateEntryPoint(void)
double SurveyComplexItem::timeBetweenShots(void) double SurveyComplexItem::timeBetweenShots(void)
{ {
return _cruiseSpeed == 0 ? 0 : _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / _cruiseSpeed; return _cruiseSpeed == 0 ? 0 : triggerDistance() / _cruiseSpeed;
} }
src/MissionManager/TransectStyleComplexItem.cc
View file @ a5b8891b
...@@ -682,15 +682,18 @@ int TransectStyleComplexItem::lastSequenceNumber(void) const ...@@ -682,15 +682,18 @@ int TransectStyleComplexItem::lastSequenceNumber(void) const
int itemCount = 0; int itemCount = 0;
foreach (const QList<CoordInfo_t>& rgCoordInfo, _transects) { foreach (const QList<CoordInfo_t>& rgCoordInfo, _transects) {
itemCount += rgCoordInfo.count(); itemCount += rgCoordInfo.count() * (hoverAndCaptureEnabled() ? 2 : 1);
} }
if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) {
// Only one camera start and on camera stop if (!hoverAndCaptureEnabled()) {
itemCount += 2; if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) {
} else { // Only one camera start and on camera stop
// Each transect will have a camera start and stop in it itemCount += 2;
itemCount += _transects.count() * 2; } else {
// Each transect will have a camera start and stop in it
itemCount += _transects.count() * 2;
}
} }
return _sequenceNumber + itemCount - 1; return _sequenceNumber + itemCount - 1;
......
src/MissionManager/TransectStyleComplexItem.h
View file @ a5b8891b
...@@ -57,6 +57,8 @@ public: ...@@ -57,6 +57,8 @@ public:
Fact* terrainAdjustMaxDescentRate (void) { return &_terrainAdjustMaxClimbRateFact; } Fact* terrainAdjustMaxDescentRate (void) { return &_terrainAdjustMaxClimbRateFact; }
Fact* terrainAdjustMaxClimbRate (void) { return &_terrainAdjustMaxDescentRateFact; } Fact* terrainAdjustMaxClimbRate (void) { return &_terrainAdjustMaxDescentRateFact; }
const Fact* hoverAndCapture (void) const { return &_hoverAndCaptureFact; }
int cameraShots (void) const { return _cameraShots; } int cameraShots (void) const { return _cameraShots; }
double coveredArea (void) const; double coveredArea (void) const;
bool hoverAndCaptureAllowed (void) const; bool hoverAndCaptureAllowed (void) const;
...@@ -66,6 +68,10 @@ public: ...@@ -66,6 +68,10 @@ public:
void setFollowTerrain(bool followTerrain); void setFollowTerrain(bool followTerrain);
double triggerDistance (void) const { return _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble(); }
bool hoverAndCaptureEnabled (void) const { return hoverAndCapture()->rawValue().toBool(); }
bool triggerCamera (void) const { return triggerDistance() != 0; }
// Overrides from ComplexMissionItem // Overrides from ComplexMissionItem
int lastSequenceNumber (void) const final; int lastSequenceNumber (void) const final;
...@@ -148,10 +154,11 @@ protected: ...@@ -148,10 +154,11 @@ protected:
QGCMapPolygon _surveyAreaPolygon; QGCMapPolygon _surveyAreaPolygon;
enum CoordType { enum CoordType {
CoordTypeInterior, CoordTypeInterior, ///< Interior waypoint for flight path only
CoordTypeInteriorTerrainAdded, CoordTypeInteriorHoverTrigger, ///< Interior waypoint for hover and capture trigger
CoordTypeSurveyEdge, CoordTypeInteriorTerrainAdded, ///< Interior waypoint added for terrain
CoordTypeTurnaround CoordTypeSurveyEdge, ///< Waypoint at edge of survey polygon
CoordTypeTurnaround ///< Waypoint outside of survey polygon for turnaround
}; };
typedef struct { typedef struct {
......
src/PlanView/SurveyItemEditor.qml
View file @ a5b8891b
...@@ -112,7 +112,7 @@ Rectangle { ...@@ -112,7 +112,7 @@ Rectangle {
Layout.columnSpan: 2 Layout.columnSpan: 2
onClicked: { onClicked: {
if (checked) { if (checked) {
missionItem.cameraTriggerInTurnaround.rawValue = false missionItem.cameraTriggerInTurnAround.rawValue = false
} }
} }
} }
......
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