From d8e926713bf261dc6df22fbe2c697eb8cf044381 Mon Sep 17 00:00:00 2001 From: Valentin Platzgummer Date: Fri, 21 Feb 2020 09:58:05 +0100 Subject: [PATCH] minimalRemainingMissionTime added to General Settings, and Low Battery Handling on small minimalRemainingMissionTime function added --- Paths/KlingenbachTest.wima | 4959 ++---------------------- src/Settings/Wima.SettingsGroup.json | 7 + src/Settings/WimaSettings.cc | 1 + src/Settings/WimaSettings.h | 1 + src/Wima/WimaController.cc | 48 +- src/ui/preferences/GeneralSettings.qml | 11 +- 6 files changed, 297 insertions(+), 4730 deletions(-) diff --git a/Paths/KlingenbachTest.wima b/Paths/KlingenbachTest.wima index d2eaae2f8..971447174 100644 --- a/Paths/KlingenbachTest.wima +++ b/Paths/KlingenbachTest.wima @@ -79,7 +79,7 @@ null, 47.76776040370392, 16.530569413178814, - 15 + 8 ], "type": "SimpleItem" }, @@ -108,8 +108,8 @@ 0, 0, null, - 47.76829932902944, - 16.530809853144646, + 47.76826616141194, + 16.530725666402216, 15 ], "type": "SimpleItem" @@ -124,8 +124,8 @@ 0, 0, null, - 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"referencePointAlt": 0, - "referencePointLat": 47.77084533809114, - "referencePointLong": 16.531052235520093, + "referencePointAlt": null, + "referencePointLat": 47.77086091347008, + "referencePointLong": 16.531071041719485, + "reverse": false, "transectMinLength": 15, "type": "ComplexItem", "version": 1 @@ -5780,7 +1321,7 @@ "AltitudeMode": 1, "autoContinue": true, "command": 21, - "doJumpId": 340, + "doJumpId": 64, "frame": 3, "params": [ 0, diff --git a/src/Settings/Wima.SettingsGroup.json b/src/Settings/Wima.SettingsGroup.json index 076a37f0c..54aacd736 100644 --- a/src/Settings/Wima.SettingsGroup.json +++ b/src/Settings/Wima.SettingsGroup.json @@ -11,5 +11,12 @@ "shortDescription": "Enables or disables low battery handling measures.", "type": "bool", "defaultValue": true +}, +{ + "name": "minimalRemainingMissionTime", + "shortDescription": "If the remaining estimated mission time is lower than this value, low battery handling will not be triggered.", + "type": "uint64", + "units": "s", + "defaultValue": 60 } ] diff --git a/src/Settings/WimaSettings.cc b/src/Settings/WimaSettings.cc index 7028cb8ba..8aa5a8c57 100644 --- a/src/Settings/WimaSettings.cc +++ b/src/Settings/WimaSettings.cc @@ -10,3 +10,4 @@ DECLARE_SETTINGGROUP(Wima, "Wima") DECLARE_SETTINGSFACT(WimaSettings, lowBatteryThreshold) DECLARE_SETTINGSFACT(WimaSettings, enableLowBatteryHandling) +DECLARE_SETTINGSFACT(WimaSettings, minimalRemainingMissionTime) diff --git a/src/Settings/WimaSettings.h b/src/Settings/WimaSettings.h index 6ef43a4d8..3f2ab2e0c 100644 --- a/src/Settings/WimaSettings.h +++ b/src/Settings/WimaSettings.h @@ -12,4 +12,5 @@ public: DEFINE_SETTINGFACT(lowBatteryThreshold) DEFINE_SETTINGFACT(enableLowBatteryHandling) + DEFINE_SETTINGFACT(minimalRemainingMissionTime) }; diff --git a/src/Wima/WimaController.cc b/src/Wima/WimaController.cc index 0c76e2fb1..b89c684d1 100644 --- a/src/Wima/WimaController.cc +++ b/src/Wima/WimaController.cc @@ -918,12 +918,13 @@ void WimaController::updateAltitude() void WimaController::checkBatteryLevel() { - Vehicle *managerVehicle = masterController()->managerVehicle(); - WimaSettings* wimaSettings = qgcApp()->toolbox()->settingsManager()->wimaSettings(); - int batteryThreshold = wimaSettings->lowBatteryThreshold()->rawValue().toInt(); - bool enabled = _enableWimaController.rawValue().toBool(); + Vehicle *managerVehicle = masterController()->managerVehicle(); + WimaSettings* wimaSettings = qgcApp()->toolbox()->settingsManager()->wimaSettings(); + int batteryThreshold = wimaSettings->lowBatteryThreshold()->rawValue().toInt(); + bool enabled = _enableWimaController.rawValue().toBool(); + unsigned int minTime = wimaSettings->minimalRemainingMissionTime()->rawValue().toUInt(); - static long attemptCounter = 0; + static short attemptCounter = 0; if (managerVehicle != nullptr && enabled == true) { Fact *battery1percentRemaining = managerVehicle->battery1FactGroup()->getFact(VehicleBatteryFactGroup::_percentRemainingFactName); @@ -934,25 +935,32 @@ void WimaController::checkBatteryLevel() && battery2percentRemaining->rawValue().toDouble() < batteryThreshold) { _setVehicleHasLowBattery(true); if (!_lowBatteryHandlingTriggered) { - QString errorString; - attemptCounter++; - if (_checkSmartRTLPreCondition(errorString) == true) { - managerVehicle->pauseVehicle(); - if (_calcReturnPath(errorString)) { + + if (_missionController->remainingTime() <= minTime) { + _lowBatteryHandlingTriggered = true; + } + else { + QString errorString; + attemptCounter++; + if (_checkSmartRTLPreCondition(errorString) == true) { + + managerVehicle->pauseVehicle(); + if (_calcReturnPath(errorString)) { + _lowBatteryHandlingTriggered = true; + attemptCounter = 0; + emit returnBatteryLowConfirmRequired(); + } else { + if (attemptCounter > 3) { + qgcApp()->showMessage(tr("Battery level is low. Smart RTL not possible.")); + qgcApp()->showMessage(errorString); + } + } + } + if (attemptCounter > 3) { // try 3 times, somtimes vehicle is outside joined area _lowBatteryHandlingTriggered = true; attemptCounter = 0; - emit returnBatteryLowConfirmRequired(); - } else { - if (attemptCounter > 3) { - qgcApp()->showMessage(tr("Battery level is low. Smart RTL not possible.")); - qgcApp()->showMessage(errorString); - } } } - if (attemptCounter > 3) { // try 3 times, somtimes vehicle is outside joined area - _lowBatteryHandlingTriggered = true; - attemptCounter = 0; - } } } else { diff --git a/src/ui/preferences/GeneralSettings.qml b/src/ui/preferences/GeneralSettings.qml index 9cb0af4a7..e896225cf 100644 --- a/src/ui/preferences/GeneralSettings.qml +++ b/src/ui/preferences/GeneralSettings.qml @@ -959,10 +959,19 @@ QGCView { } FactCheckBox { - text: "Enable low battery handling" + text: "Enable low Battery handling" fact: QGroundControl.settingsManager.wimaSettings.enableLowBatteryHandling Layout.columnSpan: 2 } + + QGCLabel { + text: qsTr("Minimal remaining Mission Time") + visible: _userBrandImageIndoor.visible + } + FactTextField { + Layout.preferredWidth: _valueFieldWidth + fact: QGroundControl.settingsManager.wimaSettings.minimalRemainingMissionTime + } } } -- 2.22.0