Mission Plan Widget: Added support for MAV_CMD_DO_SEARCH custom pixhawk...

Mission Plan Widget: Added support for MAV_CMD_DO_SEARCH custom pixhawk commands, fixed some tooltip bugs.

qgroundcontrol.pro

@@ -247,7 +247,9 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/mission/QGCMissionNavReturnToLaunch.ui \
     src/ui/mission/QGCMissionNavLand.ui \
     src/ui/mission/QGCMissionNavTakeoff.ui \
-    src/ui/mission/QGCMissionNavSweep.ui
+    src/ui/mission/QGCMissionNavSweep.ui \
+    src/ui/mission/QGCMissionDoStartSearch.ui \
+    src/ui/mission/QGCMissionDoFinishSearch.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -379,7 +381,9 @@ HEADERS += src/MG.h \
     src/ui/mission/QGCMissionNavReturnToLaunch.h \
     src/ui/mission/QGCMissionNavLand.h \
     src/ui/mission/QGCMissionNavTakeoff.h \
-    src/ui/mission/QGCMissionNavSweep.h
+    src/ui/mission/QGCMissionNavSweep.h \
+    src/ui/mission/QGCMissionDoStartSearch.h \
+    src/ui/mission/QGCMissionDoFinishSearch.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -520,7 +524,9 @@ SOURCES += src/main.cc \
     src/ui/mission/QGCMissionNavReturnToLaunch.cc \
     src/ui/mission/QGCMissionNavLand.cc \
     src/ui/mission/QGCMissionNavTakeoff.cc \
-    src/ui/mission/QGCMissionNavSweep.cc
+    src/ui/mission/QGCMissionNavSweep.cc \
+    src/ui/mission/QGCMissionDoStartSearch.cc \
+    src/ui/mission/QGCMissionDoFinishSearch.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/ui/WaypointEditableView.cc

@@ -31,6 +31,8 @@
 #include "QGCMissionNavSweep.h"
 #include "QGCMissionConditionDelay.h"
 #include "QGCMissionDoJump.h"
+#include "QGCMissionDoStartSearch.h"
+#include "QGCMissionDoFinishSearch.h"
 #include "QGCMissionOther.h"
 
 
@@ -58,8 +60,10 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
     MissionNavLandWidget = NULL;
     MissionNavTakeoffWidget = NULL;
     MissionNavSweepWidget = NULL;
-    MissionDoJumpWidget = NULL;
     MissionConditionDelayWidget = NULL;
+    MissionDoJumpWidget = NULL;    
+    MissionDoStartSearchWidget = NULL;
+    MissionDoFinishSearchWidget = NULL;
     MissionOtherWidget = NULL;
 
 
@@ -77,6 +81,8 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
     m_ui->comboBox_action->addItem(tr("DO: Jump to Index"),MAV_CMD_DO_JUMP);    
 #ifdef MAVLINK_ENABLED_PIXHAWK
     m_ui->comboBox_action->addItem(tr("NAV: Sweep"),MAV_CMD_NAV_SWEEP);
+    m_ui->comboBox_action->addItem(tr("Do: Start Search"),MAV_CMD_DO_START_SEARCH);
+    m_ui->comboBox_action->addItem(tr("Do: Finish Search"),MAV_CMD_DO_FINISH_SEARCH);
 #endif
     m_ui->comboBox_action->addItem(tr("Other"), MAV_CMD_ENUM_END);
 
@@ -144,8 +150,11 @@ void WaypointEditableView::updateActionView(int action)
     if(MissionNavReturnToLaunchWidget) MissionNavReturnToLaunchWidget->hide();
     if(MissionNavLandWidget) MissionNavLandWidget->hide();
     if(MissionNavTakeoffWidget) MissionNavTakeoffWidget->hide();
+    if(MissionNavSweepWidget) MissionNavSweepWidget->hide();
     if(MissionConditionDelayWidget) MissionConditionDelayWidget->hide();
     if(MissionDoJumpWidget) MissionDoJumpWidget->hide();
+    if(MissionDoStartSearchWidget) MissionDoStartSearchWidget->hide();
+    if(MissionDoFinishSearchWidget) MissionDoFinishSearchWidget->hide();
     if(MissionOtherWidget) MissionOtherWidget->hide();
 
     //Show only the correct one
@@ -183,6 +192,12 @@ void WaypointEditableView::updateActionView(int action)
         case MAV_CMD_NAV_SWEEP:
             if(MissionNavSweepWidget) MissionNavSweepWidget->show();
             break;
+        case MAV_CMD_DO_START_SEARCH:
+            if(MissionDoStartSearchWidget) MissionDoStartSearchWidget->show();
+            break;
+        case MAV_CMD_DO_FINISH_SEARCH:
+            if(MissionDoFinishSearchWidget) MissionDoFinishSearchWidget->show();
+            break;
         #endif
 
         default:
@@ -295,6 +310,20 @@ void WaypointEditableView::initializeActionView(int actionID)
             m_ui->customActionWidget->layout()->addWidget(MissionNavSweepWidget);
         }
         break;
+    case MAV_CMD_DO_START_SEARCH:
+        if (!MissionDoStartSearchWidget)
+        {
+            MissionDoStartSearchWidget = new QGCMissionDoStartSearch(this);
+            m_ui->customActionWidget->layout()->addWidget(MissionDoStartSearchWidget);
+        }
+        break;
+    case MAV_CMD_DO_FINISH_SEARCH:
+        if (!MissionDoFinishSearchWidget)
+        {
+            MissionDoFinishSearchWidget = new QGCMissionDoFinishSearch(this);
+            m_ui->customActionWidget->layout()->addWidget(MissionDoFinishSearchWidget);
+        }
+        break;
 #endif
     case MAV_CMD_ENUM_END:
     default:

src/ui/WaypointEditableView.h

@@ -55,6 +55,8 @@ class QGCMissionNavLand;
 class QGCMissionNavTakeoff;
 class QGCMissionNavSweep;
 class QGCMissionDoJump;
+class QGCMissionDoStartSearch;
+class QGCMissionDoFinishSearch;
 class QGCMissionConditionDelay;
 class QGCMissionOther;
 
@@ -108,6 +110,8 @@ protected:
     QGCMissionNavTakeoff* MissionNavTakeoffWidget;
     QGCMissionNavSweep* MissionNavSweepWidget;
     QGCMissionDoJump* MissionDoJumpWidget;
+    QGCMissionDoStartSearch* MissionDoStartSearchWidget;
+    QGCMissionDoFinishSearch* MissionDoFinishSearchWidget;
     QGCMissionConditionDelay* MissionConditionDelayWidget;
     QGCMissionOther* MissionOtherWidget;
 

src/ui/WaypointViewOnlyView.cc

@@ -365,17 +365,18 @@ void WaypointViewOnlyView::updateValues()
         m_ui->displayBar->setText(QString("Delay: %1 sec").arg(wp->getParam1()));
         break;
     }
-    case 237: //MAV_CMD_DO_START_SEARCH
+#ifdef MAVLINK_ENABLED_PIXHAWK
+    case MAV_CMD_DO_START_SEARCH:
     {
         m_ui->displayBar->setText(QString("Start searching for pattern. Success when got more than %2 detections with confidence %1").arg(wp->getParam1()).arg(wp->getParam2()));
         break;
     }
-    case 238: //MAV_CMD_DO_FINISH_SEARCH
+    case MAV_CMD_DO_FINISH_SEARCH:
     {
         m_ui->displayBar->setText(QString("Check if search was successful. yes -> jump to %1, no -> jump to %2.  Jumps left: %3").arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()));
         break;
     }
-    case 240: //MAV_CMD_DO_SWEEP
+    case MAV_CMD_NAV_SWEEP:
     {
         switch (wp->getFrame())
         {
@@ -394,6 +395,7 @@ void WaypointViewOnlyView::updateValues()
         } //end Frame switch
         break;
     }
+#endif
     default:
     {
         m_ui->displayBar->setText(QString("Unknown Command ID (%1) : %2, %3, %4, %5, %6, %7, %8").arg(wp->getAction()).arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()));

src/ui/mission/QGCMissionDoFinishSearch.cc

+#include "QGCMissionDoFinishSearch.h"
+#include "ui_QGCMissionDoFinishSearch.h"
+#include "WaypointEditableView.h"
+
+QGCMissionDoFinishSearch::QGCMissionDoFinishSearch(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionDoFinishSearch)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+    //Using UI to change WP:
+    connect(this->ui->param1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    connect(this->ui->param2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    connect(this->ui->param3SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
+    //connect(this->ui->param4SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    //connect(this->ui->param5SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));
+    //connect(this->ui->param6SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    //connect(this->ui->param7SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->param1SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->param2SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->param3SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->param4SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->param5SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->param6SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->param7SpinBox,SLOT(setValue(double)));
+}
+
+QGCMissionDoFinishSearch::~QGCMissionDoFinishSearch()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionDoFinishSearch.h

+#ifndef QGCMISSIONDOFINISHSEARCH_H
+#define QGCMISSIONDOFINISHSEARCH_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+namespace Ui {
+    class QGCMissionDoFinishSearch;
+}
+
+class QGCMissionDoFinishSearch : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionDoFinishSearch(WaypointEditableView* WEV);
+    ~QGCMissionDoFinishSearch();
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionDoFinishSearch *ui;
+};
+
+#endif // QGCMISSIONDOFINISHSEARCH_H

src/ui/mission/QGCMissionDoFinishSearch.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMissionDoFinishSearch</class>
+ <widget class="QWidget" name="QGCMissionDoFinishSearch">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>499</width>
+    <height>27</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout" stretch="10,10,10">
+   <property name="spacing">
+    <number>5</number>
+   </property>
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QDoubleSpinBox" name="param1SpinBox">
+     <property name="toolTip">
+      <string>Jump to this index, if search successful</string>
+     </property>
+     <property name="statusTip">
+      <string>Jump to this index, if search successful</string>
+     </property>
+     <property name="whatsThis">
+      <string/>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>Jump to index: </string>
+     </property>
+     <property name="suffix">
+      <string/>
+     </property>
+     <property name="decimals">
+      <number>0</number>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>2147483647.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="param2SpinBox">
+     <property name="toolTip">
+      <string>Jump to this index, if search unsuccessful</string>
+     </property>
+     <property name="statusTip">
+      <string>Jump to this index, if search unsuccessful</string>
+     </property>
+     <property name="whatsThis">
+      <string/>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>Jump to index:  </string>
+     </property>
+     <property name="decimals">
+      <number>0</number>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>2147483647.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="param3SpinBox">
+     <property name="toolTip">
+      <string>Remaining number of jumps. Terminate search if jumps == 0.</string>
+     </property>
+     <property name="statusTip">
+      <string>Remaining number of jumps. Terminate search if jumps == 0.</string>
+     </property>
+     <property name="whatsThis">
+      <string/>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string/>
+     </property>
+     <property name="suffix">
+      <string> time(s)</string>
+     </property>
+     <property name="decimals">
+      <number>0</number>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>2147483647.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/mission/QGCMissionDoStartSearch.cc

+#include "QGCMissionDoStartSearch.h"
+#include "ui_QGCMissionDoStartSearch.h"
+#include "WaypointEditableView.h"
+
+QGCMissionDoStartSearch::QGCMissionDoStartSearch(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionDoStartSearch)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+    //Using UI to change WP:
+    connect(this->ui->param1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    connect(this->ui->param2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    //connect(this->ui->param3SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
+    //connect(this->ui->param4SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    //connect(this->ui->param5SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));
+    //connect(this->ui->param6SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    //connect(this->ui->param7SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->param1SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->param2SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->param3SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->param4SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->param5SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->param6SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->param7SpinBox,SLOT(setValue(double)));
+}
+
+QGCMissionDoStartSearch::~QGCMissionDoStartSearch()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionDoStartSearch.h

+#ifndef QGCMISSIONDOSTARTSEARCH_H
+#define QGCMISSIONDOSTARTSEARCH_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionDoStartSearch;
+}
+
+class QGCMissionDoStartSearch : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionDoStartSearch(WaypointEditableView* WEV);
+    ~QGCMissionDoStartSearch();
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionDoStartSearch *ui;
+};
+
+#endif // QGCMISSIONDOSTARTSEARCH_H

src/ui/mission/QGCMissionDoStartSearch.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMissionDoStartSearch</class>
+ <widget class="QWidget" name="QGCMissionDoStartSearch">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>482</width>
+    <height>27</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout" stretch="10,10">
+   <property name="spacing">
+    <number>5</number>
+   </property>
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QDoubleSpinBox" name="param1SpinBox">
+     <property name="toolTip">
+      <string>Minimal required detection confidence</string>
+     </property>
+     <property name="statusTip">
+      <string>Minimal required detection confidence</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>Conf: </string>
+     </property>
+     <property name="decimals">
+      <number>3</number>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>100.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.100000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="param2SpinBox">
+     <property name="toolTip">
+      <string>Required number of detections</string>
+     </property>
+     <property name="statusTip">
+      <string>Required number of detections</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>#det: </string>
+     </property>
+     <property name="decimals">
+      <number>0</number>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>2147483647.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/mission/QGCMissionOther.ui

@@ -59,6 +59,12 @@
    </item>
    <item>
     <widget class="QDoubleSpinBox" name="param1SpinBox">
+     <property name="toolTip">
+      <string>Mission parameter #1</string>
+     </property>
+     <property name="statusTip">
+      <string>Mission parameter #1</string>
+     </property>
      <property name="keyboardTracking">
       <bool>false</bool>
      </property>
@@ -79,7 +85,10 @@
    <item>
     <widget class="QDoubleSpinBox" name="param2SpinBox">
      <property name="toolTip">
-      <string/>
+      <string>Mission parameter #2</string>
+     </property>
+     <property name="statusTip">
+      <string>Mission parameter #2</string>
      </property>
      <property name="keyboardTracking">
       <bool>false</bool>
@@ -100,6 +109,12 @@
    </item>
    <item>
     <widget class="QDoubleSpinBox" name="param3SpinBox">
+     <property name="toolTip">
+      <string>Mission parameter #3</string>
+     </property>
+     <property name="statusTip">
+      <string>Mission parameter #3</string>
+     </property>
      <property name="keyboardTracking">
       <bool>false</bool>
      </property>
@@ -119,6 +134,12 @@
    </item>
    <item>
     <widget class="QDoubleSpinBox" name="param4SpinBox">
+     <property name="toolTip">
+      <string>Mission parameter #4</string>
+     </property>
+     <property name="statusTip">
+      <string>Mission parameter #4</string>
+     </property>
      <property name="keyboardTracking">
       <bool>false</bool>
      </property>
@@ -138,6 +159,12 @@
    </item>
    <item>
     <widget class="QDoubleSpinBox" name="param5SpinBox">
+     <property name="toolTip">
+      <string>Mission parameter #5</string>
+     </property>
+     <property name="statusTip">
+      <string>Mission parameter #5</string>
+     </property>
      <property name="keyboardTracking">
       <bool>false</bool>
      </property>
@@ -157,6 +184,12 @@
    </item>
    <item>
     <widget class="QDoubleSpinBox" name="param6SpinBox">
+     <property name="toolTip">
+      <string>Mission parameter #6</string>
+     </property>
+     <property name="statusTip">
+      <string>Mission parameter #6</string>
+     </property>
      <property name="keyboardTracking">
       <bool>false</bool>
      </property>
@@ -176,6 +209,12 @@
    </item>
    <item>
     <widget class="QDoubleSpinBox" name="param7SpinBox">
+     <property name="toolTip">
+      <string>Mission parameter #7</string>
+     </property>
+     <property name="statusTip">
+      <string>Mission parameter #7</string>
+     </property>
      <property name="keyboardTracking">
       <bool>false</bool>
      </property>