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Commit c2280df3 authored by DonLakeFlyer's avatar DonLakeFlyer
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More fun with FW landing pattern geometry 

Should be all working now except for distance < radius cases.
parent 0d0fdbf7
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Showing with 141 additions and 125 deletions
src/MissionEditor/FWLandingPatternMapVisual.qml
View file @ c2280df3
...@@ -26,7 +26,6 @@ Item { ...@@ -26,7 +26,6 @@ Item {
property var _itemVisuals: [ ] property var _itemVisuals: [ ]
property var _mouseArea property var _mouseArea
property var _dragAreas: [ ] property var _dragAreas: [ ]
property var _loiterTangentCoordinate
property var _flightPath property var _flightPath
readonly property int _flightPathIndex: 0 readonly property int _flightPathIndex: 0
...@@ -86,46 +85,8 @@ Item { ...@@ -86,46 +85,8 @@ Item {
} }
} }
function radiansToDegrees(radians) { function _setFlightPath() {
return radians * (180.0 / Math.PI) _flightPath = [ _missionItem.loiterTangentCoordinate, _missionItem.landingCoordinate ]
}
function calcPointTangentToCircleWithCenter() {
if (_missionItem.landingCoordSet) {
var radius = _missionItem.loiterRadius.value
var loiterPointPixels = map.fromCoordinate(_missionItem.loiterCoordinate, false /* clipToViewport */)
var landPointPixels = map.fromCoordinate(_missionItem.landingCoordinate, false /* clipToViewport */)
var dxHypotenuse = loiterPointPixels.x - landPointPixels.x
var dyHypotenuse = loiterPointPixels.y - landPointPixels.y
var oppositeLength = radius
var hypotenuseLength = _missionItem.landingCoordinate.distanceTo(_missionItem.loiterCoordinate)
var adjacentLength = Math.sqrt(Math.pow(hypotenuseLength, 2) - Math.pow(oppositeLength, 2))
var angleToCenterRadians = -Math.atan2(dyHypotenuse, dxHypotenuse)
var angleCenterToTangentRadians = Math.asin(oppositeLength / hypotenuseLength)
var angleToTangentRadians
if (_missionItem.loiterClockwise) {
angleToTangentRadians = angleToCenterRadians - angleCenterToTangentRadians
} else {
angleToTangentRadians = angleToCenterRadians + angleCenterToTangentRadians
}
var angleToTangentDegrees = (radiansToDegrees(angleToTangentRadians) - 90) * -1
/*
Keep in for debugging for now
console.log("dxHypotenuse", dxHypotenuse)
console.log("dyHypotenuse", dyHypotenuse)
console.log("oppositeLength", oppositeLength)
console.log("hypotenuseLength", hypotenuseLength)
console.log("adjacentLength", adjacentLength)
console.log("angleCenterToTangentRadians", angleCenterToTangentRadians, radiansToDegrees(angleCenterToTangentRadians))
console.log("angleToCenterRadians", angleToCenterRadians, radiansToDegrees(angleToCenterRadians))
console.log("angleToTangentDegrees", angleToTangentDegrees)
*/
_loiterTangentCoordinate = _missionItem.landingCoordinate.atDistanceAndAzimuth(adjacentLength, angleToTangentDegrees)
_flightPath = [ _loiterTangentCoordinate, _missionItem.landingCoordinate ]
} else {
_flightPath = undefined
}
} }
Component.onCompleted: { Component.onCompleted: {
...@@ -134,10 +95,10 @@ Item { ...@@ -134,10 +95,10 @@ Item {
if (_missionItem.isCurrentItem) { if (_missionItem.isCurrentItem) {
showDragAreas() showDragAreas()
} }
_setFlightPath()
} else if (_missionItem.isCurrentItem) { } else if (_missionItem.isCurrentItem) {
showMouseArea() showMouseArea()
} }
calcPointTangentToCircleWithCenter()
} }
Component.onDestruction: { Component.onDestruction: {
...@@ -167,16 +128,15 @@ Item { ...@@ -167,16 +128,15 @@ Item {
hideMouseArea() hideMouseArea()
showItemVisuals() showItemVisuals()
showDragAreas() showDragAreas()
_setFlightPath()
} else if (_missionItem.isCurrentItem) { } else if (_missionItem.isCurrentItem) {
hideDragAreas() hideDragAreas()
showMouseArea() showMouseArea()
} }
calcPointTangentToCircleWithCenter()
} }
onLandingCoordinateChanged: calcPointTangentToCircleWithCenter() onLandingCoordinateChanged: _setFlightPath()
onLoiterCoordinateChanged: calcPointTangentToCircleWithCenter() onLoiterTangentCoordinateChanged: _setFlightPath()
onLoiterClockwiseChanged: calcPointTangentToCircleWithCenter()
} }
// Mouse area to capture landing point coordindate // Mouse area to capture landing point coordindate
......
src/MissionManager/FixedWingLandingComplexItem.cc
View file @ c2280df3
...@@ -40,7 +40,7 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje ...@@ -40,7 +40,7 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
, _dirty(false) , _dirty(false)
, _landingCoordSet(false) , _landingCoordSet(false)
, _ignoreRecalcSignals(false) , _ignoreRecalcSignals(false)
, _loiterToLandDistanceFact (0, _loiterToLandDistanceName, FactMetaData::valueTypeDouble) , _landingDistanceFact (0, _loiterToLandDistanceName, FactMetaData::valueTypeDouble)
, _loiterAltitudeFact (0, _loiterAltitudeName, FactMetaData::valueTypeDouble) , _loiterAltitudeFact (0, _loiterAltitudeName, FactMetaData::valueTypeDouble)
, _loiterRadiusFact (0, _loiterRadiusName, FactMetaData::valueTypeDouble) , _loiterRadiusFact (0, _loiterRadiusName, FactMetaData::valueTypeDouble)
, _landingHeadingFact (0, _landingHeadingName, FactMetaData::valueTypeDouble) , _landingHeadingFact (0, _landingHeadingName, FactMetaData::valueTypeDouble)
...@@ -55,24 +55,29 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje ...@@ -55,24 +55,29 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/FWLandingPattern.FactMetaData.json"), NULL /* metaDataParent */); _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/FWLandingPattern.FactMetaData.json"), NULL /* metaDataParent */);
} }
_loiterToLandDistanceFact.setMetaData (_metaDataMap[_loiterToLandDistanceName]); _landingDistanceFact.setMetaData (_metaDataMap[_loiterToLandDistanceName]);
_loiterAltitudeFact.setMetaData (_metaDataMap[_loiterAltitudeName]); _loiterAltitudeFact.setMetaData (_metaDataMap[_loiterAltitudeName]);
_loiterRadiusFact.setMetaData (_metaDataMap[_loiterRadiusName]); _loiterRadiusFact.setMetaData (_metaDataMap[_loiterRadiusName]);
_landingHeadingFact.setMetaData (_metaDataMap[_landingHeadingName]); _landingHeadingFact.setMetaData (_metaDataMap[_landingHeadingName]);
_landingAltitudeFact.setMetaData (_metaDataMap[_landingAltitudeName]); _landingAltitudeFact.setMetaData (_metaDataMap[_landingAltitudeName]);
_loiterToLandDistanceFact.setRawValue (_loiterToLandDistanceFact.rawDefaultValue()); _landingDistanceFact.setRawValue (_landingDistanceFact.rawDefaultValue());
_loiterAltitudeFact.setRawValue (_loiterAltitudeFact.rawDefaultValue()); _loiterAltitudeFact.setRawValue (_loiterAltitudeFact.rawDefaultValue());
_loiterRadiusFact.setRawValue (_loiterRadiusFact.rawDefaultValue()); _loiterRadiusFact.setRawValue (_loiterRadiusFact.rawDefaultValue());
_landingHeadingFact.setRawValue (_landingHeadingFact.rawDefaultValue()); _landingHeadingFact.setRawValue (_landingHeadingFact.rawDefaultValue());
_landingAltitudeFact.setRawValue (_landingAltitudeFact.rawDefaultValue()); _landingAltitudeFact.setRawValue (_landingAltitudeFact.rawDefaultValue());
connect(&_loiterAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_updateLoiterCoodinateAltitudeFromFact); connect(&_loiterAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_updateLoiterCoodinateAltitudeFromFact);
connect(&_landingAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_updateLandingCoodinateAltitudeFromFact); connect(&_landingAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_updateLandingCoodinateAltitudeFromFact);
connect(&_loiterToLandDistanceFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts);
connect(&_landingHeadingFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts); connect(&_landingDistanceFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange);
connect(this, &FixedWingLandingComplexItem::loiterCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFactsFromCoords); connect(&_landingHeadingFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange);
connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFactsFromCoords);
connect(&_loiterRadiusFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcFromRadiusChange);
connect(this, &FixedWingLandingComplexItem::loiterClockwiseChanged, this, &FixedWingLandingComplexItem::_recalcFromRadiusChange);
connect(this, &FixedWingLandingComplexItem::loiterCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFromCoordinateChange);
connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFromCoordinateChange);
} }
int FixedWingLandingComplexItem::lastSequenceNumber(void) const int FixedWingLandingComplexItem::lastSequenceNumber(void) const
...@@ -168,7 +173,7 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq ...@@ -168,7 +173,7 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq
_landingAltitudeRelative = complexObject[_jsonLandingAltitudeRelativeKey].toBool(); _landingAltitudeRelative = complexObject[_jsonLandingAltitudeRelativeKey].toBool();
_landingCoordSet = true; _landingCoordSet = true;
_recalcFactsFromCoords(); _recalcFromHeadingAndDistanceChange();
return true; return true;
} }
...@@ -253,7 +258,7 @@ void FixedWingLandingComplexItem::setLandingCoordinate(const QGeoCoordinate& coo ...@@ -253,7 +258,7 @@ void FixedWingLandingComplexItem::setLandingCoordinate(const QGeoCoordinate& coo
emit landingCoordinateChanged(coordinate); emit landingCoordinateChanged(coordinate);
_ignoreRecalcSignals = false; _ignoreRecalcSignals = false;
_landingCoordSet = true; _landingCoordSet = true;
_recalcLoiterCoordFromFacts(); _recalcFromHeadingAndDistanceChange();
emit landingCoordSetChanged(true); emit landingCoordSetChanged(true);
} }
} }
...@@ -268,29 +273,81 @@ void FixedWingLandingComplexItem::setLoiterCoordinate(const QGeoCoordinate& coor ...@@ -268,29 +273,81 @@ void FixedWingLandingComplexItem::setLoiterCoordinate(const QGeoCoordinate& coor
} }
} }
void FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts(void) double FixedWingLandingComplexItem::_mathematicAngleToHeading(double angle)
{ {
if (!_ignoreRecalcSignals && _landingCoordSet) { double heading = (angle - 90) * -1;
double north, east, down; if (heading < 0) {
QGeoCoordinate tangentOrigin = _landingCoordinate; heading += 360;
}
return heading;
}
double FixedWingLandingComplexItem::_headingToMathematicAngle(double heading)
{
return heading - 90 * -1;
}
void FixedWingLandingComplexItem::_recalcFromRadiusChange(void)
{
// Fixed:
// land
// loiter tangent
// distance
// radius
// heading
// Adjusted:
// loiter
if (!_ignoreRecalcSignals) {
// These are our known values
double radius = _loiterRadiusFact.rawValue().toDouble();
double landToTangentDistance = _landingDistanceFact.rawValue().toDouble();
double heading = _landingHeadingFact.rawValue().toDouble();
double landToLoiterDistance = qSqrt(qPow(radius, 2) + qPow(landToTangentDistance, 2));
double angleLoiterToTangent = qRadiansToDegrees(qAsin(radius/landToLoiterDistance)) * (_loiterClockwise ? -1 : 1);
_loiterCoordinate = _landingCoordinate.atDistanceAndAzimuth(landToLoiterDistance, heading + 180 + angleLoiterToTangent);
_ignoreRecalcSignals = true;
emit loiterCoordinateChanged(_loiterCoordinate);
_ignoreRecalcSignals = false;
}
}
convertGeoToNed(_landingCoordinate, tangentOrigin, &north, &east, &down); void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void)
{
// Fixed:
// land
// heading
// distance
// radius
// Adjusted:
// loiter
// loiter tangent
// Heading is from loiter to land, so we need to rotate angle 180 degrees and go the opposite direction if (!_ignoreRecalcSignals && _landingCoordSet) {
// These are our known values
double radius = _loiterRadiusFact.rawValue().toDouble();
double landToTangentDistance = _landingDistanceFact.rawValue().toDouble();
double heading = _landingHeadingFact.rawValue().toDouble(); double heading = _landingHeadingFact.rawValue().toDouble();
heading += 180.0;
heading *= -1.0;
QPointF originPoint(east, north); // Calculate loiter tangent coordinate
north += _loiterToLandDistanceFact.rawValue().toDouble(); _loiterTangentCoordinate = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, heading + 180);
QPointF loiterPoint(east, north);
QPointF rotatedLoiterPoint = _rotatePoint(loiterPoint, originPoint, heading); // Calculate the distance and angle to the loiter coordinate
QGeoCoordinate tangent = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, 0);
QGeoCoordinate loiter = tangent.atDistanceAndAzimuth(radius, 90);
double loiterDistance = _landingCoordinate.distanceTo(loiter);
double loiterAzimuth = _landingCoordinate.azimuthTo(loiter) * (_loiterClockwise ? -1 : 1);
convertNedToGeo(rotatedLoiterPoint.y(), rotatedLoiterPoint.x(), down, tangentOrigin, &_loiterCoordinate); // Use those values to get the new loiter point which takes heading into acount
_loiterCoordinate = _landingCoordinate.atDistanceAndAzimuth(loiterDistance, heading + 180 + loiterAzimuth);
_ignoreRecalcSignals = true; _ignoreRecalcSignals = true;
emit loiterTangentCoordinateChanged(_loiterTangentCoordinate);
emit loiterCoordinateChanged(_loiterCoordinate); emit loiterCoordinateChanged(_loiterCoordinate);
emit coordinateChanged(_loiterCoordinate);
_ignoreRecalcSignals = false; _ignoreRecalcSignals = false;
} }
} }
...@@ -306,42 +363,34 @@ QPointF FixedWingLandingComplexItem::_rotatePoint(const QPointF& point, const QP ...@@ -306,42 +363,34 @@ QPointF FixedWingLandingComplexItem::_rotatePoint(const QPointF& point, const QP
return rotated; return rotated;
} }
void FixedWingLandingComplexItem::_recalcFactsFromCoords(void) void FixedWingLandingComplexItem::_recalcFromCoordinateChange(void)
{ {
if (!_ignoreRecalcSignals && _landingCoordSet) { // Fixed:
// land
// Prevent signal recursion // loiter
_ignoreRecalcSignals = true; // radius
// Adjusted:
// Calc new distance // loiter tangent
// heading
// distance
double northLand, eastLand, down; if (!_ignoreRecalcSignals && _landingCoordSet) {
double northLoiter, eastLoiter; // These are our known values
QGeoCoordinate tangentOrigin = _landingCoordinate; double radius = _loiterRadiusFact.rawValue().toDouble();
double landToLoiterDistance = _landingCoordinate.distanceTo(_loiterCoordinate);
convertGeoToNed(_landingCoordinate, tangentOrigin, &northLand, &eastLand, &down); double landToLoiterHeading = _landingCoordinate.azimuthTo(_loiterCoordinate);
convertGeoToNed(_loiterCoordinate, tangentOrigin, &northLoiter, &eastLoiter, &down);
double newDistance = sqrt(pow(eastLoiter - eastLand, 2.0) + pow(northLoiter - northLand, 2.0)); double loiterToTangentAngle = qRadiansToDegrees(qAsin(radius/landToLoiterDistance)) * (_loiterClockwise ? 1 : -1);
_loiterToLandDistanceFact.setRawValue(newDistance); double landToTangentDistance = qSqrt(qPow(landToLoiterDistance, 2) - qPow(radius, 2));
// Calc new heading _loiterTangentCoordinate = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, landToLoiterHeading + loiterToTangentAngle);
QPointF vector(eastLand - eastLoiter, northLand - northLoiter); double heading = _loiterTangentCoordinate.azimuthTo(_landingCoordinate);
double radians = atan2(vector.y(), vector.x());
double degrees = qRadiansToDegrees(radians);
// Change angle to north up = 0 degrees
degrees -= 90;
// Reverse the angle direction to go from mathematic angle (counter-clockwise) to compass heading (clockwise)
degrees *= -1.0;
// Bring with 0-360 range
if (degrees < 0.0) {
degrees += 360.0;
} else if (degrees > 360.0) {
degrees -= 360.0;
}
_landingHeadingFact.setRawValue(degrees);
_ignoreRecalcSignals = true;
_landingHeadingFact.setRawValue(heading);
_landingDistanceFact.setRawValue(landToTangentDistance);
emit loiterTangentCoordinateChanged(_loiterTangentCoordinate);
_ignoreRecalcSignals = false; _ignoreRecalcSignals = false;
} }
} }
......
src/MissionManager/FixedWingLandingComplexItem.h
View file @ c2280df3
...@@ -24,28 +24,30 @@ class FixedWingLandingComplexItem : public ComplexMissionItem ...@@ -24,28 +24,30 @@ class FixedWingLandingComplexItem : public ComplexMissionItem
public: public:
FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent = NULL); FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(Fact* loiterAltitude READ loiterAltitude CONSTANT) Q_PROPERTY(Fact* loiterAltitude READ loiterAltitude CONSTANT)
Q_PROPERTY(Fact* loiterRadius READ loiterRadius CONSTANT) Q_PROPERTY(Fact* loiterRadius READ loiterRadius CONSTANT)
Q_PROPERTY(Fact* landingAltitude READ landingAltitude CONSTANT) Q_PROPERTY(Fact* landingAltitude READ landingAltitude CONSTANT)
Q_PROPERTY(Fact* landingDistance READ landingDistance CONSTANT) Q_PROPERTY(Fact* landingDistance READ landingDistance CONSTANT)
Q_PROPERTY(Fact* landingHeading READ landingHeading CONSTANT) Q_PROPERTY(Fact* landingHeading READ landingHeading CONSTANT)
Q_PROPERTY(bool loiterClockwise MEMBER _loiterClockwise NOTIFY loiterClockwiseChanged) Q_PROPERTY(bool loiterClockwise MEMBER _loiterClockwise NOTIFY loiterClockwiseChanged)
Q_PROPERTY(bool loiterAltitudeRelative MEMBER _loiterAltitudeRelative NOTIFY loiterAltitudeRelativeChanged) Q_PROPERTY(bool loiterAltitudeRelative MEMBER _loiterAltitudeRelative NOTIFY loiterAltitudeRelativeChanged)
Q_PROPERTY(bool landingAltitudeRelative MEMBER _landingAltitudeRelative NOTIFY landingAltitudeRelativeChanged) Q_PROPERTY(bool landingAltitudeRelative MEMBER _landingAltitudeRelative NOTIFY landingAltitudeRelativeChanged)
Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged) Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged)
Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged) Q_PROPERTY(QGeoCoordinate loiterTangentCoordinate READ loiterTangentCoordinate NOTIFY loiterTangentCoordinateChanged)
Q_PROPERTY(bool landingCoordSet MEMBER _landingCoordSet NOTIFY landingCoordSetChanged) Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged)
Q_PROPERTY(bool landingCoordSet MEMBER _landingCoordSet NOTIFY landingCoordSetChanged)
Fact* loiterAltitude (void) { return &_loiterAltitudeFact; }
Fact* loiterRadius (void) { return &_loiterRadiusFact; } Fact* loiterAltitude (void) { return &_loiterAltitudeFact; }
Fact* landingAltitude (void) { return &_landingAltitudeFact; } Fact* loiterRadius (void) { return &_loiterRadiusFact; }
Fact* landingDistance (void) { return &_loiterToLandDistanceFact; } Fact* landingAltitude (void) { return &_landingAltitudeFact; }
Fact* landingHeading (void) { return &_landingHeadingFact; } Fact* landingDistance (void) { return &_landingDistanceFact; }
QGeoCoordinate landingCoordinate (void) const { return _landingCoordinate; } Fact* landingHeading (void) { return &_landingHeadingFact; }
QGeoCoordinate loiterCoordinate (void) const { return _loiterCoordinate; } QGeoCoordinate landingCoordinate (void) const { return _landingCoordinate; }
QGeoCoordinate loiterCoordinate (void) const { return _loiterCoordinate; }
void setLandingCoordinate (const QGeoCoordinate& coordinate); QGeoCoordinate loiterTangentCoordinate (void) const { return _loiterTangentCoordinate; }
void setLoiterCoordinate (const QGeoCoordinate& coordinate);
void setLandingCoordinate (const QGeoCoordinate& coordinate);
void setLoiterCoordinate (const QGeoCoordinate& coordinate);
// Overrides from ComplexMissionItem // Overrides from ComplexMissionItem
...@@ -84,6 +86,7 @@ public: ...@@ -84,6 +86,7 @@ public:
signals: signals:
void loiterCoordinateChanged (QGeoCoordinate coordinate); void loiterCoordinateChanged (QGeoCoordinate coordinate);
void loiterTangentCoordinateChanged (QGeoCoordinate coordinate);
void landingCoordinateChanged (QGeoCoordinate coordinate); void landingCoordinateChanged (QGeoCoordinate coordinate);
void landingCoordSetChanged (bool landingCoordSet); void landingCoordSetChanged (bool landingCoordSet);
void loiterClockwiseChanged (bool loiterClockwise); void loiterClockwiseChanged (bool loiterClockwise);
...@@ -91,10 +94,13 @@ signals: ...@@ -91,10 +94,13 @@ signals:
void landingAltitudeRelativeChanged (bool loiterAltitudeRelative); void landingAltitudeRelativeChanged (bool loiterAltitudeRelative);
private slots: private slots:
void _recalcLoiterCoordFromFacts(void); void _recalcFromHeadingAndDistanceChange(void);
void _recalcFactsFromCoords(void); void _recalcFromCoordinateChange(void);
void _recalcFromRadiusChange(void);
void _updateLoiterCoodinateAltitudeFromFact(void); void _updateLoiterCoodinateAltitudeFromFact(void);
void _updateLandingCoodinateAltitudeFromFact(void); void _updateLandingCoodinateAltitudeFromFact(void);
double _mathematicAngleToHeading(double angle);
double _headingToMathematicAngle(double heading);
private: private:
QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle); QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle);
...@@ -102,11 +108,12 @@ private: ...@@ -102,11 +108,12 @@ private:
int _sequenceNumber; int _sequenceNumber;
bool _dirty; bool _dirty;
QGeoCoordinate _loiterCoordinate; QGeoCoordinate _loiterCoordinate;
QGeoCoordinate _loiterTangentCoordinate;
QGeoCoordinate _landingCoordinate; QGeoCoordinate _landingCoordinate;
bool _landingCoordSet; bool _landingCoordSet;
bool _ignoreRecalcSignals; bool _ignoreRecalcSignals;
Fact _loiterToLandDistanceFact; Fact _landingDistanceFact;
Fact _loiterAltitudeFact; Fact _loiterAltitudeFact;
Fact _loiterRadiusFact; Fact _loiterRadiusFact;
Fact _landingHeadingFact; Fact _landingHeadingFact;
......
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