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