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Unverified Commit b1e5c012 authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #8689 from DonLakeFlyer/TransectFixes 

Plan - Terrain Follow: Fix tolerance adjustment step
parents d2c7be09 e6e812d6
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Showing with 64 additions and 79 deletions
src/FactSystem/FactControls/AltitudeFactTextField.qml
View file @ b1e5c012
......@@ -16,12 +16,13 @@ import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
FactTextField {
unitsLabel: fact ? fact.units : ""
extraUnitsLabel: fact ? _altitudeModeExtraUnits : ""
showUnits: true
showHelp: true
unitsLabel: fact ? fact.units : ""
extraUnitsLabel: fact ? _altitudeModeExtraUnits : ""
showUnits: true
showHelp: true
property int altitudeMode: QGroundControl.AltitudeModeNone
property int altitudeMode: QGroundControl.AltitudeModeNone
property bool showAboveTerrainWarning: true
readonly property string _altModeNoneExtraUnits: ""
readonly property string _altModeRelativeExtraUnits: qsTr("(Rel)")
......@@ -44,7 +45,7 @@ FactTextField {
_altitudeModeExtraUnits = _altModeAbsoluteExtraUnits
} else if (altitudeMode === QGroundControl.AltitudeModeAboveTerrain) {
_altitudeModeExtraUnits = _altModeAboveTerrainExtraUnits
if (!_aboveTerrainWarning.rawValue) {
if (!_aboveTerrainWarning.rawValue && showAboveTerrainWarning) {
mainWindow.showComponentDialog(aboveTerrainWarning, qsTr("Warning"), mainWindow.showDialogDefaultWidth, StandardButton.Ok)
}
} else if (missionItem.altitudeMode === QGroundControl.AltitudeModeTerrainFrame) {
......
src/MissionManager/CameraCalc.cc
View file @ b1e5c012
......@@ -29,7 +29,7 @@ const char* CameraCalc::_jsonCameraSpecTypeKey = "CameraSpecType";
CameraCalc::CameraCalc(PlanMasterController* masterController, const QString& settingsGroup, QObject* parent)
: CameraSpec (settingsGroup, parent)
, _dirty (masterController)
, _dirty (false)
, _disableRecalc (false)
, _distanceToSurfaceRelative (true)
, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraCalc.FactMetaData.json"), this))
......
src/MissionManager/CameraCalc.h
View file @ b1e5c012
......@@ -33,6 +33,13 @@ public:
Q_PROPERTY(Fact* sideOverlap READ sideOverlap CONSTANT)
Q_PROPERTY(Fact* adjustedFootprintSide READ adjustedFootprintSide CONSTANT) ///< Side footprint adjusted down for overlap
Q_PROPERTY(Fact* adjustedFootprintFrontal READ adjustedFootprintFrontal CONSTANT) ///< Frontal footprint adjusted down for overlap
// When we are creating a manual grid we still use CameraCalc to store the manual grid information. It's a bastardization of what
// CameraCalc is meant for but it greatly simplifies code and persistance of manual grids.
// grid altitude - distanceToSurface
// grid altitude mode - distanceToSurfaceRelative
// trigger distance - adjustedFootprintFrontal
// transect spacing - adjustedFootprintSide
Q_PROPERTY(bool distanceToSurfaceRelative READ distanceToSurfaceRelative WRITE setDistanceToSurfaceRelative NOTIFY distanceToSurfaceRelativeChanged)
// The following values are calculated from the camera properties
......
src/MissionManager/MissionSettingsItem.cc
View file @ b1e5c012
......@@ -190,7 +190,9 @@ void MissionSettingsItem::_setCoordinateWorker(const QGeoCoordinate& coordinate)
_plannedHomePositionCoordinate = coordinate;
emit coordinateChanged(coordinate);
emit exitCoordinateChanged(coordinate);
_plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
if (_plannedHomePositionFromVehicle) {
_plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
}
}
}
......
src/MissionManager/TransectStyle.SettingsGroup.json
View file @ b1e5c012
......@@ -37,7 +37,7 @@
},
{
"name": "TerrainAdjustTolerance",
"shortDescription": "If adjacent terrain waypoints are within this tolerence they will be removed.",
"shortDescription": "Additional waypoints within the transect will be added if the terrain altitude difference grows larger than this tolerance.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
......
src/MissionManager/TransectStyleComplexItem.cc
View file @ b1e5c012
......@@ -538,6 +538,18 @@ void TransectStyleComplexItem::_adjustTransectsForTerrain(void)
}
emit lastSequenceNumberChanged(lastSequenceNumber());
// Update entry/exit coordinates
if (_transects.count()) {
if (_transects.first().count()) {
_coordinate.setAltitude(_transects.first().first().coord.altitude());
emit coordinateChanged(coordinate());
}
if (_transects.last().count()) {
_exitCoordinate.setAltitude(_transects.last().last().coord.altitude());
emit exitCoordinateChanged(exitCoordinate());
}
}
}
}
......@@ -653,32 +665,25 @@ void TransectStyleComplexItem::_adjustForTolerance(QList<CoordInfo_t>& transect)
{
QList<CoordInfo_t> adjustedPoints;
double tolerance = _terrainAdjustToleranceFact.rawValue().toDouble();
int coordIndex = 0;
while (coordIndex < transect.count()) {
const CoordInfo_t& fromCoordInfo = transect[coordIndex];
if (transect.count()) {
double tolerance = _terrainAdjustToleranceFact.rawValue().toDouble();
CoordInfo_t& lastCoordInfo = transect.first();
adjustedPoints.append(fromCoordInfo);
adjustedPoints.append(lastCoordInfo);
// Walk forward until we fall out of tolerence or find a fixed point
while (++coordIndex < transect.count()) {
const CoordInfo_t& toCoordInfo = transect[coordIndex];
if (toCoordInfo.coordType != CoordTypeInteriorTerrainAdded || qAbs(fromCoordInfo.coord.altitude() - toCoordInfo.coord.altitude()) > tolerance) {
adjustedPoints.append(toCoordInfo);
coordIndex++;
break;
int coordIndex = 1;
while (coordIndex < transect.count()) {
// Walk forward until we fall out of tolerence. When we fall out of tolerance add that point.
// We always add non-interstitial points no matter what.
const CoordInfo_t& nextCoordInfo = transect[coordIndex];
if (nextCoordInfo.coordType != CoordTypeInteriorTerrainAdded || qAbs(lastCoordInfo.coord.altitude() - nextCoordInfo.coord.altitude()) > tolerance) {
adjustedPoints.append(nextCoordInfo);
lastCoordInfo = nextCoordInfo;
}
coordIndex++;
}
}
#if 0
qDebug() << "_adjustForTolerance";
for (const TransectStyleComplexItem::CoordInfo_t& coordInfo: adjustedPoints) {
qDebug() << coordInfo.coordType;
}
#endif
transect = adjustedPoints;
}
......@@ -686,7 +691,7 @@ void TransectStyleComplexItem::_addInterstitialTerrainPoints(QList<CoordInfo_t>&
{
QList<CoordInfo_t> adjustedTransect;
double requestedAltitude = _cameraCalc.distanceToSurface()->rawValue().toDouble();
double distanceToSurface = _cameraCalc.distanceToSurface()->rawValue().toDouble();
for (int i=0; i<transect.count() - 1; i++) {
CoordInfo_t fromCoordInfo = transect[i];
......@@ -697,8 +702,8 @@ void TransectStyleComplexItem::_addInterstitialTerrainPoints(QList<CoordInfo_t>&
const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo = transectPathHeightInfo[i];
fromCoordInfo.coord.setAltitude(pathHeightInfo.heights.first() + requestedAltitude);
toCoordInfo.coord.setAltitude(pathHeightInfo.heights.last() + requestedAltitude);
fromCoordInfo.coord.setAltitude(pathHeightInfo.heights.first() + distanceToSurface);
toCoordInfo.coord.setAltitude(pathHeightInfo.heights.last() + distanceToSurface);
if (i == 0) {
adjustedTransect.append(fromCoordInfo);
......@@ -712,7 +717,7 @@ void TransectStyleComplexItem::_addInterstitialTerrainPoints(QList<CoordInfo_t>&
CoordInfo_t interstitialCoordInfo;
interstitialCoordInfo.coordType = CoordTypeInteriorTerrainAdded;
interstitialCoordInfo.coord = fromCoordInfo.coord.atDistanceAndAzimuth(distance * percentTowardsTo, azimuth);
interstitialCoordInfo.coord.setAltitude(interstitialTerrainHeight + requestedAltitude);
interstitialCoordInfo.coord.setAltitude(interstitialTerrainHeight + distanceToSurface);
adjustedTransect.append(interstitialCoordInfo);
}
......@@ -722,7 +727,7 @@ void TransectStyleComplexItem::_addInterstitialTerrainPoints(QList<CoordInfo_t>&
CoordInfo_t lastCoordInfo = transect.last();
const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo = transectPathHeightInfo.last();
lastCoordInfo.coord.setAltitude(pathHeightInfo.heights.last() + requestedAltitude);
lastCoordInfo.coord.setAltitude(pathHeightInfo.heights.last() + distanceToSurface);
adjustedTransect.append(lastCoordInfo);
#if 0
......
src/PlanView/CameraCalcCamera.qml
View file @ b1e5c012
......@@ -15,11 +15,6 @@ Column {
spacing: _margin
property var cameraCalc
property bool vehicleFlightIsFrontal: true
property string distanceToSurfaceLabel
property int distanceToSurfaceAltitudeMode: QGroundControl.AltitudeModeNone
property string frontalDistanceLabel
property string sideDistanceLabel
property real _margin: ScreenTools.defaultFontPixelWidth / 2
property string _cameraName: cameraCalc.cameraName.value
......
src/PlanView/CameraCalcGrid.qml
View file @ b1e5c012
......@@ -87,21 +87,24 @@ Column {
QGCRadioButton {
id: fixedDistanceRadio
leftPadding: 0
text: distanceToSurfaceLabel
checked: !!cameraCalc.valueSetIsDistance.value
onClicked: cameraCalc.valueSetIsDistance.value = 1
}
AltitudeFactTextField {
fact: cameraCalc.distanceToSurface
altitudeMode: distanceToSurfaceAltitudeMode
enabled: fixedDistanceRadio.checked
Layout.fillWidth: true
fact: cameraCalc.distanceToSurface
altitudeMode: distanceToSurfaceAltitudeMode
showAboveTerrainWarning: false
enabled: fixedDistanceRadio.checked
Layout.fillWidth: true
}
QGCRadioButton {
id: fixedImageDensityRadio
text: qsTr("Ground Res")
leftPadding: 0
text: qsTr("Grnd Res")
checked: !cameraCalc.valueSetIsDistance.value
onClicked: cameraCalc.valueSetIsDistance.value = 0
}
......@@ -125,9 +128,10 @@ Column {
QGCLabel { text: distanceToSurfaceLabel }
AltitudeFactTextField {
fact: cameraCalc.distanceToSurface
altitudeMode: distanceToSurfaceAltitudeMode
Layout.fillWidth: true
fact: cameraCalc.distanceToSurface
altitudeMode: distanceToSurfaceAltitudeMode
showAboveTerrainWarning: false
Layout.fillWidth: true
}
QGCLabel { text: frontalDistanceLabel }
......
src/PlanView/CorridorScanEditor.qml
View file @ b1e5c012
......@@ -252,14 +252,7 @@ Rectangle {
visible: tabBar.currentIndex == 1
CameraCalcCamera {
cameraCalc: missionItem.cameraCalc
vehicleFlightIsFrontal: true
distanceToSurfaceLabel: qsTr("Altitude")
distanceToSurfaceAltitudeMode: missionItem.followTerrain ?
QGroundControl.AltitudeModeAboveTerrain :
missionItem.cameraCalc.distanceToSurfaceRelative
frontalDistanceLabel: qsTr("Trigger Dist")
sideDistanceLabel: qsTr("Spacing")
cameraCalc: missionItem.cameraCalc
}
}
}
......
src/PlanView/StructureScanEditor.qml
View file @ b1e5c012
......@@ -247,12 +247,7 @@ Rectangle {
visible: tabBar.currentIndex == 1
CameraCalcCamera {
cameraCalc: missionItem.cameraCalc
vehicleFlightIsFrontal: false
distanceToSurfaceLabel: qsTr("Scan Distance")
distanceToSurfaceAltitudeMode: QGroundControl.AltitudeModeNone
frontalDistanceLabel: qsTr("Layer Height")
sideDistanceLabel: qsTr("Trigger Distance")
cameraCalc: missionItem.cameraCalc
}
}
}
......
src/PlanView/SurveyItemEditor.qml
View file @ b1e5c012
......@@ -280,16 +280,6 @@ Rectangle {
spacing: _margin
visible: transectsHeader.checked
/*
Temporarily removed due to bug https://github.com/mavlink/qgroundcontrol/issues/7005
FactCheckBox {
text: qsTr("Split concave polygons")
fact: _splitConcave
visible: _splitConcave.visible
property Fact _splitConcave: missionItem.splitConcavePolygons
}
*/
QGCOptionsComboBox {
Layout.fillWidth: true
......@@ -405,14 +395,7 @@ Rectangle {
visible: tabBar.currentIndex == 1
CameraCalcCamera {
cameraCalc: missionItem.cameraCalc
vehicleFlightIsFrontal: true
distanceToSurfaceLabel: qsTr("Altitude")
distanceToSurfaceAltitudeMode: missionItem.followTerrain ?
QGroundControl.AltitudeModeAboveTerrain :
missionItem.cameraCalc.distanceToSurfaceRelative
frontalDistanceLabel: qsTr("Trigger Dist")
sideDistanceLabel: qsTr("Spacing")
cameraCalc: missionItem.cameraCalc
}
} // Camera Column
......
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