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Unverified Commit c3f12d1b authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #7860 from DonLakeFlyer/RoverFollow 

ArduRover: Follow - Update for missing params on rover
parents 0548caca da4fe4c4
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Showing with 46 additions and 20 deletions
src/AutoPilotPlugins/APM/APMFollowComponent.qml
View file @ c3f12d1b
......@@ -49,7 +49,8 @@ SetupPage {
property int _followComboMaintainIndex: 0
property int _followComboSpecifyIndex: 1
property bool _followMaintain: followPositionCombo.currentIndex === _followComboMaintainIndex
property bool _isFollowMeSetup: _followEnabled.rawValue == 1 && _followParamsAvailable && _followOffsetType.rawValue == 1 && _followAltitudeType.rawValue == 1 && _followSysId.rawValue == 0
property bool _isFollowMeSetup: _followEnabled.rawValue == 1 && _followParamsAvailable && _followOffsetType.rawValue == 1 && (_roverFirmware || (!_roverFirmware && _followAltitudeType.rawValue == 1)) && _followSysId.rawValue == 0
property bool _roverFirmware: controller.roverFirmware
readonly property int _followYawBehaviorNone: 0
readonly property int _followYawBehaviorFace: 1
......@@ -79,13 +80,17 @@ SetupPage {
controller.angle.rawValue = _radiansToHeading(angleRadians)
}
controller.height.rawValue = -_followOffsetZ.rawValue
pointVehicleCombo.currentIndex = _followYawBehavior.rawValue
if (!_roverFirmware) {
pointVehicleCombo.currentIndex = _followYawBehavior.rawValue
}
}
function _setFollowMeParamDefaults() {
_followOffsetType.rawValue = 1 // Relative to vehicle
_followAltitudeType.rawValue = 1 // Altitude is relative
_followSysId.rawValue = 0 // Follow first message sent
if (!_roverFirmware) {
_followAltitudeType.rawValue = 1 // Altitude is relative
}
controller.distance.value = controller.distance.defaultValue
controller.angle.value = controller.angle.defaultValue
......@@ -143,11 +148,14 @@ SetupPage {
_followOffsetY = controller.getParameterFact(-1, "FOLL_OFS_Y")
_followOffsetZ = controller.getParameterFact(-1, "FOLL_OFS_Z")
_followOffsetType = controller.getParameterFact(-1, "FOLL_OFS_TYPE")
_followAltitudeType = controller.getParameterFact(-1, "FOLL_ALT_TYPE")
_followYawBehavior = controller.getParameterFact(-1, "FOLL_YAW_BEHAVE")
if (!_roverFirmware) {
_followAltitudeType = controller.getParameterFact(-1, "FOLL_ALT_TYPE")
_followYawBehavior = controller.getParameterFact(-1, "FOLL_YAW_BEHAVE")
_followYawBehavior.rawValue = 1 // Point at GCS
}
_followParamsAvailable = true
vehicleParamRefreshLabel.visible = false
_followYawBehavior.rawValue = 1 // Point at GCS
_setFollowMeParamDefaults()
}
}
......@@ -160,7 +168,12 @@ SetupPage {
onClicked: {
if (checked) {
_followEnabled.rawValue = 1
controller.getMissingParameters([ "FOLL_DIST_MAX", "FOLL_SYSID", "FOLL_OFS_X", "FOLL_OFS_Y", "FOLL_OFS_Z", "FOLL_OFS_TYPE", "FOLL_ALT_TYPE", "FOLL_YAW_BEHAVE" ])
var missingParameters = [ "FOLL_DIST_MAX", "FOLL_SYSID", "FOLL_OFS_X", "FOLL_OFS_Y", "FOLL_OFS_Z", "FOLL_OFS_TYPE" ]
if (!_roverFirmware) {
missingParameters.push("FOLL_ALT_TYPE")
missingParameters.push("FOLL_YAW_BEHAVE")
}
controller.getMissingParameters(missingParameters)
vehicleParamRefreshLabel.visible = true
} else {
_followEnabled.rawValue = 0
......@@ -204,12 +217,16 @@ SetupPage {
}
}
QGCLabel { text: qsTr("Point Vehicle") }
QGCLabel {
text: qsTr("Point Vehicle")
visible: !_roverFirmware
}
QGCComboBox {
id: pointVehicleCombo
Layout.fillWidth: true
// NOTE: The indices for the model below must match the values for FOLL_YAW_BEHAVE
model: [ qsTr("Maintain current vehicle orientation"), qsTr("Point at ground station location"), qsTr("Same orientation as ground station"), qsTr("Same direction as ground station movement") ]
visible: !_roverFirmware
onActivated: _followYawBehavior.rawValue = index
}
}
......@@ -237,10 +254,14 @@ SetupPage {
onUpdated: _setXYOffsetByAngleAndDistance(controller.angle.rawValue, controller.distance.rawValue)
}
QGCLabel { text: qsTr("Height") }
QGCLabel {
id: heightLabel
text: qsTr("Height")
visible: !_roverFirmware && !_followMaintain
}
FactTextField {
fact: controller.height
visible: !_followMaintain
visible: heightLabel.visible
onUpdated: _followOffsetZ.rawValue = -controller.height.rawValue
}
}
......@@ -313,11 +334,12 @@ SetupPage {
transform: Rotation {
origin.x: vehicleIcon.width / 2
origin.y: vehicleIcon.height / 2
angle: _followYawBehavior.rawValue == _followYawBehaviorNone ?
0 :
(_followYawBehavior.rawValue == _followYawBehaviorFace ?
180 :
-controller.angle.rawValue)
angle: _roverFirmware ? 0 :
(_followYawBehavior.rawValue == _followYawBehaviorNone ?
0 :
(_followYawBehavior.rawValue == _followYawBehaviorFace ?
180 :
-controller.angle.rawValue))
}
}
......@@ -375,6 +397,7 @@ SetupPage {
ColumnLayout {
Layout.fillHeight: true
spacing: 0
visible: !_roverFirmware
Image {
id: vehicleIconHeight
......@@ -395,7 +418,7 @@ SetupPage {
Item {
Layout.alignment: Qt.AlignHCenter
Layout.fillHeight: true
width: Math.max(ScreenTools.defaultFontPixelWidth * 2, heightLabel.width)
width: Math.max(ScreenTools.defaultFontPixelWidth * 2, heightValueLabel.width)
Rectangle {
id: heightLine
......@@ -424,7 +447,7 @@ SetupPage {
}
QGCLabel {
id: heightLabel
id: heightValueLabel
anchors.centerIn: parent
text: controller.height.valueString + " " + QGroundControl.appSettingsDistanceUnitsString
}
......
src/AutoPilotPlugins/APM/APMFollowComponentController.h
View file @ c3f12d1b
......@@ -10,6 +10,7 @@
#pragma once
#include "FactPanelController.h"
#include "ArduRoverFirmwarePlugin.h"
class APMFollowComponentController : public FactPanelController
{
......@@ -18,13 +19,15 @@ class APMFollowComponentController : public FactPanelController
public:
APMFollowComponentController(void);
Q_PROPERTY(Fact* angle READ angleFact CONSTANT)
Q_PROPERTY(Fact* distance READ distanceFact CONSTANT)
Q_PROPERTY(Fact* height READ heightFact CONSTANT)
Q_PROPERTY(Fact* angle READ angleFact CONSTANT)
Q_PROPERTY(Fact* distance READ distanceFact CONSTANT)
Q_PROPERTY(Fact* height READ heightFact CONSTANT)
Q_PROPERTY(bool roverFirmware READ roverFirmware CONSTANT)
Fact* angleFact (void) { return &_angleFact; }
Fact* distanceFact (void) { return &_distanceFact; }
Fact* heightFact (void) { return &_heightFact; }
bool roverFirmware (void) { return !!qobject_cast<ArduRoverFirmwarePlugin*>(_vehicle->firmwarePlugin()); }
static const char* settingsGroup;
static const char* angleName;
......
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