Skip to content

Q
qgroundcontrol
Commit e163d336 authored by Gus Grubba's avatar Gus Grubba
Browse files
Options

Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into syncRework

parents 70fced38 4dc7b9d6
Hide whitespace changes
Inline Side-by-side
Showing with 341 additions and 167 deletions
v2.0 @ f5c0ba68
Subproject commit 033fa8e7a4a75a0c3f17cea57e3be8966e05f770
Subproject commit f5c0ba684659fbc6c6c5f8777bd30e0b3c32fdef
src/FirmwarePlugin/FirmwarePlugin.cc
View file @ e163d336
......@@ -270,12 +270,6 @@ void FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel)
qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
}
void FirmwarePlugin::guidedModeOrbit(Vehicle* /*vehicle*/, const QGeoCoordinate& /*centerCoord*/, double /*radius*/, double /*velocity*/, double /*altitude*/)
{
// Not supported by generic vehicle
qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
}
void FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord)
{
// Not supported by generic vehicle
......
src/FirmwarePlugin/FirmwarePlugin.h
View file @ e163d336
......@@ -136,10 +136,6 @@ public:
/// Command the vehicle to start the mission
virtual void startMission(Vehicle* vehicle);
/// Command vehicle to orbit given center point
/// @param centerCoord Center Coordinates
virtual void guidedModeOrbit(Vehicle* vehicle, const QGeoCoordinate& centerCoord, double radius, double velocity, double altitude);
/// Command vehicle to move to specified location (altitude is included and relative)
virtual void guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord);
......
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
View file @ e163d336
......@@ -232,7 +232,7 @@ bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities c
{
int available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
if (vehicle->multiRotor() || vehicle->vtol()) {
available |= TakeoffVehicleCapability;
available |= TakeoffVehicleCapability | OrbitModeCapability;
}
return (capabilities & available) == capabilities;
......@@ -364,24 +364,6 @@ void PX4FirmwarePlugin::guidedModeLand(Vehicle* vehicle)
_setFlightModeAndValidate(vehicle, _landingFlightMode);
}
void PX4FirmwarePlugin::guidedModeOrbit(Vehicle* vehicle, const QGeoCoordinate& centerCoord, double radius, double velocity, double altitude)
{
if (!isGuidedMode(vehicle)) {
setGuidedMode(vehicle, true);
}
vehicle->sendMavCommand(vehicle->defaultComponentId(),
MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE,
true, // show error if fails
radius,
velocity,
altitude,
NAN,
centerCoord.isValid() ? centerCoord.latitude() : NAN,
centerCoord.isValid() ? centerCoord.longitude() : NAN,
centerCoord.isValid() ? centerCoord.altitude() : NAN);
}
void PX4FirmwarePlugin::_mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle)
{
Q_UNUSED(vehicleId);
......
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
View file @ e163d336
......@@ -46,7 +46,6 @@ public:
void guidedModeRTL (Vehicle* vehicle) override;
void guidedModeLand (Vehicle* vehicle) override;
void guidedModeTakeoff (Vehicle* vehicle, double takeoffAltRel) override;
void guidedModeOrbit (Vehicle* vehicle, const QGeoCoordinate& centerCoord = QGeoCoordinate(), double radius = NAN, double velocity = NAN, double altitude = NAN) override;
void guidedModeGotoLocation (Vehicle* vehicle, const QGeoCoordinate& gotoCoord) override;
void guidedModeChangeAltitude (Vehicle* vehicle, double altitudeRel) override;
double minimumTakeoffAltitude (Vehicle* vehicle) override;
......
src/FlightDisplay/FlightDisplayView.qml
View file @ e163d336
......@@ -508,11 +508,10 @@ QGCView {
z: _panel.z + 4
title: qsTr("Fly")
maxHeight: (_flightVideo.visible ? _flightVideo.y : parent.height) - toolStrip.y
buttonVisible: [ _useChecklist, _guidedController.showTakeoff || !_guidedController.showLand, _guidedController.showLand && !_guidedController.showTakeoff, true, true, true, _guidedController.smartShotsAvailable ]
buttonEnabled: [ _useChecklist && _activeVehicle, _guidedController.showTakeoff, _guidedController.showLand, _guidedController.showRTL, _guidedController.showPause, _anyActionAvailable, _anySmartShotAvailable ]
buttonVisible: [ _useChecklist, _guidedController.showTakeoff || !_guidedController.showLand, _guidedController.showLand && !_guidedController.showTakeoff, true, true, true ]
buttonEnabled: [ _useChecklist && _activeVehicle, _guidedController.showTakeoff, _guidedController.showLand, _guidedController.showRTL, _guidedController.showPause, _anyActionAvailable ]
property bool _anyActionAvailable: _guidedController.showStartMission || _guidedController.showResumeMission || _guidedController.showChangeAlt || _guidedController.showLandAbort
property bool _anySmartShotAvailable: _guidedController.showOrbit
property var _actionModel: [
{
title: _guidedController.startMissionTitle,
......@@ -545,14 +544,6 @@ QGCView {
visible: _guidedController.showLandAbort
}
]
property var _smartShotModel: [
{
title: _guidedController.orbitTitle,
text: _guidedController.orbitMessage,
action: _guidedController.actionOrbit,
visible: _guidedController.showOrbit
}
]
model: [
{
......@@ -584,28 +575,15 @@ QGCView {
name: qsTr("Action"),
iconSource: "/res/action.svg",
action: -1
},
/*
No firmware support any smart shots yet
{
name: qsTr("Smart"),
iconSource: "/qmlimages/MapCenter.svg",
action: -1
},
*/
}
]
onClicked: {
guidedActionsController.closeAll()
var action = model[index].action
if (action === -1) {
if (index == 5) {
guidedActionList.model = _actionModel
guidedActionList.visible = true
} else if (index == 6) {
guidedActionList.model = _smartShotModel
guidedActionList.visible = true
}
guidedActionList.model = _actionModel
guidedActionList.visible = true
} else {
_guidedController.confirmAction(action)
}
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ e163d336
......@@ -49,7 +49,6 @@ FlightMap {
property var _rallyPointController: _planMasterController.rallyPointController
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property var _activeVehicleCoordinate: _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
property var _gotoHereCoordinate: QtPositioning.coordinate()
property real _toolButtonTopMargin: parent.height - ScreenTools.availableHeight + (ScreenTools.defaultFontPixelHeight / 2)
property bool _disableVehicleTracking: false
......@@ -264,10 +263,19 @@ FlightMap {
}
}
// GoTo here waypoint
// Camera trigger points
MapItemView {
model: _activeVehicle ? _activeVehicle.cameraTriggerPoints : 0
delegate: CameraTriggerIndicator {
coordinate: object.coordinate
z: QGroundControl.zOrderTopMost
}
}
MapQuickItem {
coordinate: _gotoHereCoordinate
visible: _activeVehicle && _activeVehicle.guidedModeSupported && _gotoHereCoordinate.isValid
id: gotoLocationItem
visible: false
z: QGroundControl.zOrderMapItems
anchorPoint.x: sourceItem.anchorPointX
anchorPoint.y: sourceItem.anchorPointY
......@@ -277,15 +285,44 @@ FlightMap {
index: -1
label: qsTr("Goto here", "Goto here waypoint")
}
}
// Camera trigger points
MapItemView {
model: _activeVehicle ? _activeVehicle.cameraTriggerPoints : 0
function show(coord) {
gotoLocationItem.coordinate = coord
gotoLocationItem.visible = true
}
delegate: CameraTriggerIndicator {
coordinate: object.coordinate
z: QGroundControl.zOrderTopMost
function hide() {
gotoLocationItem.visible = false
}
}
QGCMapCircleVisuals {
id: orbitMapCircle
mapControl: parent
mapCircle: _mapCircle
visible: false
property alias center: _mapCircle.center
property real radius: defaultRadius
readonly property real defaultRadius: 30
function show(coord) {
orbitMapCircle.radius = defaultRadius
orbitMapCircle.center = coord
orbitMapCircle.visible = true
}
function hide() {
orbitMapCircle.visible = false
}
Component.onCompleted: guidedActionsController.orbitMapCircle = orbitMapCircle
QGCMapCircle {
id: _mapCircle
interactive: true
radius.rawValue: orbitMapCircle.radius
}
}
......@@ -293,10 +330,50 @@ FlightMap {
MouseArea {
anchors.fill: parent
Menu {
id: clickMenu
property var coord
MenuItem {
text: qsTr("Go to location")
visible: guidedActionsController.showGotoLocation
onTriggered: {
gotoLocationItem.show(clickMenu.coord)
orbitMapCircle.hide()
guidedActionsController.confirmAction(guidedActionsController.actionGoto, clickMenu.coord)
}
}
MenuItem {
text: qsTr("Orbit at location")
visible: guidedActionsController.showOrbit
onTriggered: {
orbitMapCircle.show(clickMenu.coord)
gotoLocationItem.hide()
guidedActionsController.confirmAction(guidedActionsController.actionOrbit, clickMenu.coord)
}
}
}
onClicked: {
if (guidedActionsController.showGotoLocation && !guidedActionsController.guidedUIVisible) {
_gotoHereCoordinate = flightMap.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
guidedActionsController.confirmAction(guidedActionsController.actionGoto, _gotoHereCoordinate)
if (guidedActionsController.guidedUIVisible || (!guidedActionsController.showGotoLocation && !guidedActionsController.showOrbit)) {
return
}
orbitMapCircle.hide()
gotoLocationItem.hide()
var clickCoord = flightMap.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
if (guidedActionsController.showGotoLocation && guidedActionsController.showOrbit) {
clickMenu.coord = clickCoord
clickMenu.popup()
} else if (guidedActionsController.showGotoLocation) {
_guidedLocationCoordinate = clickCoord
guidedActionsController.confirmAction(guidedActionsController.actionGoto, clickCoord)
} else if (guidedActionsController.showOrbit) {
orbitMapCircle.show(clickCoord)
guidedActionsController.confirmAction(guidedActionsController.actionOrbit, clickCoord)
}
}
}
......
src/FlightDisplay/GuidedActionConfirm.qml
View file @ e163d336
......@@ -100,12 +100,13 @@ Rectangle {
onAccept: {
_root.visible = false
var altitudeChange = 0
if (altitudeSlider.visible) {
_root.actionData = altitudeSlider.getValue()
altitudeChange = altitudeSlider.getAltitudeChangeValue()
altitudeSlider.visible = false
}
hideTrigger = false
guidedController.executeAction(_root.action, _root.actionData)
guidedController.executeAction(_root.action, _root.actionData, altitudeChange)
}
onReject: {
......
src/FlightDisplay/GuidedActionsController.qml
View file @ e163d336
......@@ -31,6 +31,7 @@ Item {
property var confirmDialog
property var actionList
property var altitudeSlider
property var orbitMapCircle
readonly property string emergencyStopTitle: qsTr("EMERGENCY STOP")
readonly property string armTitle: qsTr("Arm")
......@@ -62,9 +63,9 @@ Item {
readonly property string landMessage: qsTr("Land the vehicle at the current position.")
readonly property string rtlMessage: qsTr("Return to the home position of the vehicle.")
readonly property string changeAltMessage: qsTr("Change the altitude of the vehicle up or down.")
readonly property string gotoMessage: qsTr("Move the vehicle to the location clicked on the map.")
readonly property string gotoMessage: qsTr("Move the vehicle to the specified location.")
property string setWaypointMessage: qsTr("Adjust current waypoint to %1.").arg(_actionData)
readonly property string orbitMessage: qsTr("Orbit the vehicle around the current location.")
readonly property string orbitMessage: qsTr("Orbit the vehicle around the specified location. Warning: WORK IN PROGRESS!")
readonly property string landAbortMessage: qsTr("Abort the landing sequence.")
readonly property string pauseMessage: qsTr("Pause the vehicle at it's current position, adjusting altitude up or down as needed.")
readonly property string mvPauseMessage: qsTr("Pause all vehicles at their current position.")
......@@ -103,7 +104,7 @@ Item {
property bool showContinueMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleFlying && (_currentMissionIndex < missionController.visualItems.count - 1)
property bool showPause: _guidedActionsEnabled && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused
property bool showChangeAlt: _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
property bool showOrbit: _guidedActionsEnabled && !_hideOrbit && _vehicleFlying && _activeVehicle.orbitModeSupported && _vehicleArmed && !_missionActive
property bool showOrbit: _guidedActionsEnabled && !_hideOrbit && _vehicleFlying && _activeVehicle.orbitModeSupported && !_missionActive
property bool showLandAbort: _guidedActionsEnabled && _vehicleFlying && _activeVehicle.fixedWing && _vehicleLanding
property bool showGotoLocation: _guidedActionsEnabled && _vehicleFlying
......@@ -152,8 +153,16 @@ Item {
on__GuidedModeSupportedChanged: _outputState()
on__PauseVehicleSupportedChanged: _outputState()
on_CurrentMissionIndexChanged: console.log("_currentMissionIndex", _currentMissionIndex)
on_ResumeMissionIndexChanged: console.log("_resumeMissionIndex", _resumeMissionIndex)
on_CurrentMissionIndexChanged: {
if (__debugGuidedStates) {
console.log("_currentMissionIndex", _currentMissionIndex)
}
}
on_ResumeMissionIndexChanged: {
if (__debugGuidedStates) {
console.log("_resumeMissionIndex", _resumeMissionIndex)
}
}
onShowResumeMissionChanged: {
if (__debugGuidedStates) {
console.log("showResumeMission", showResumeMission)
......@@ -182,7 +191,8 @@ Item {
_vehicleWasFlying = true
}
}
property var _actionData
property var _actionData
on_FlightModeChanged: {
_vehiclePaused = _activeVehicle ? _flightMode === _activeVehicle.pauseFlightMode : false
......@@ -291,6 +301,8 @@ Item {
confirmDialog.title = orbitTitle
confirmDialog.message = orbitMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showOrbit })
altitudeSlider.reset()
altitudeSlider.visible = true
break;
case actionLandAbort:
confirmDialog.title = landAbortTitle
......@@ -327,7 +339,7 @@ Item {
}
// Executes the specified action
function executeAction(actionCode, actionData) {
function executeAction(actionCode, actionData, actionAltitudeChange) {
var i;
var rgVehicle;
switch (actionCode) {
......@@ -338,7 +350,7 @@ Item {
_activeVehicle.guidedModeLand()
break
case actionTakeoff:
_activeVehicle.guidedModeTakeoff(actionData)
_activeVehicle.guidedModeTakeoff(actionAltitudeChange)
break
case actionResumeMission:
case actionResumeMissionUploadFail:
......@@ -368,7 +380,7 @@ Item {
_activeVehicle.emergencyStop()
break
case actionChangeAlt:
_activeVehicle.guidedModeChangeAltitude(actionData)
_activeVehicle.guidedModeChangeAltitude(actionAltitudeChange)
break
case actionGoto:
_activeVehicle.guidedModeGotoLocation(actionData)
......@@ -377,14 +389,15 @@ Item {
_activeVehicle.setCurrentMissionSequence(actionData)
break
case actionOrbit:
_activeVehicle.guidedModeOrbit()
_activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius, _activeVehicle.altitudeAMSL + actionAltitudeChange)
orbitMapCircle.hide()
break
case actionLandAbort:
_activeVehicle.abortLanding(50) // hardcoded value for climbOutAltitude that is currently ignored
break
case actionPause:
_activeVehicle.pauseVehicle()
_activeVehicle.guidedModeChangeAltitude(actionData)
_activeVehicle.guidedModeChangeAltitude(actionAltitudeChange)
break
case actionMVPause:
rgVehicle = QGroundControl.multiVehicleManager.vehicles
......
src/FlightDisplay/GuidedAltitudeSlider.qml
View file @ e163d336
......@@ -36,7 +36,8 @@ Rectangle {
altField.setToMinimumTakeoff()
}
function getValue() {
/// Returns the user specified change in altitude from the current vehicle altitude
function getAltitudeChangeValue() {
return altField.newAltitudeMeters - _vehicleAltitude
}
......
src/FlightMap/MapItems/MissionItemIndicatorDrag.qml
View file @ e163d336
......@@ -25,6 +25,7 @@ Rectangle {
z: QGroundControl.zOrderMapItems + 1 // Above item icons
// Properties which must be specific by consumer
property var mapControl ///< Map control which contains this item
property var itemIndicator ///< The mission item indicator to drag around
property var itemCoordinate ///< Coordinate we are updating during drag
......@@ -51,7 +52,7 @@ Rectangle {
function liveDrag() {
if (!itemDragger._preventCoordinateBindingLoop && itemDrag.drag.active) {
var point = Qt.point(itemDragger.x + _touchMarginHorizontal + itemIndicator.anchorPoint.x, itemDragger.y + _touchMarginVertical + itemIndicator.anchorPoint.y)
var coordinate = map.toCoordinate(point, false /* clipToViewPort */)
var coordinate = mapControl.toCoordinate(point, false /* clipToViewPort */)
itemDragger._preventCoordinateBindingLoop = true
coordinate.altitude = itemCoordinate.altitude
itemCoordinate = coordinate
......
src/MissionManager/PlanManager.cc
View file @ e163d336
......@@ -392,8 +392,8 @@ void PlanManager::_handleMissionItem(const mavlink_message_t& message, bool miss
mavlink_msg_mission_item_int_decode(&message, &missionItem);
command = (MAV_CMD)missionItem.command,
frame = (MAV_FRAME)missionItem.frame,
param1 = missionItem.param1;
frame = (MAV_FRAME)missionItem.frame,
param1 = missionItem.param1;
param2 = missionItem.param2;
param3 = missionItem.param3;
param4 = missionItem.param4;
......@@ -408,8 +408,8 @@ void PlanManager::_handleMissionItem(const mavlink_message_t& message, bool miss
mavlink_msg_mission_item_decode(&message, &missionItem);
command = (MAV_CMD)missionItem.command,
frame = (MAV_FRAME)missionItem.frame,
param1 = missionItem.param1;
frame = (MAV_FRAME)missionItem.frame,
param1 = missionItem.param1;
param2 = missionItem.param2;
param3 = missionItem.param3;
param4 = missionItem.param4;
......
src/MissionManager/QGCMapCircleVisuals.qml
View file @ e163d336
......@@ -27,52 +27,60 @@ Item {
property bool interactive: mapCircle.interactive /// true: user can manipulate polygon
property color interiorColor: "transparent"
property real interiorOpacity: 1
property int borderWidth: 0
property color borderColor: "black"
property int borderWidth: 2
property color borderColor: "orange"
property var _circleComponent
property var _centerDragHandleComponent
property var _dragHandlesComponent
function addVisuals() {
_circleComponent = circleComponent.createObject(mapControl)
mapControl.addMapItem(_circleComponent)
if (!_circleComponent) {
_circleComponent = circleComponent.createObject(mapControl)
mapControl.addMapItem(_circleComponent)
}
}
function removeVisuals() {
_circleComponent.destroy()
if (_circleComponent) {
_circleComponent.destroy()
_circleComponent = undefined
}
}
function addHandles() {
if (!_centerDragHandleComponent) {
_centerDragHandleComponent = centerDragHandleComponent.createObject(mapControl)
function addDragHandles() {
if (!_dragHandlesComponent) {
_dragHandlesComponent = dragHandlesComponent.createObject(mapControl)
}
}
function removeHandles() {
if (_centerDragHandleComponent) {
_centerDragHandleComponent.destroy()
_centerDragHandleComponent = undefined
function removeDragHandles() {
if (_dragHandlesComponent) {
_dragHandlesComponent.destroy()
_dragHandlesComponent = undefined
}
}
onInteractiveChanged: {
if (interactive) {
addHandles()
function updateInternalComponents() {
if (visible) {
addVisuals()
if (interactive) {
addDragHandles()
} else {
removeDragHandles()
}
} else {
removeHandles()
removeVisuals()
removeDragHandles()
}
}
Component.onCompleted: {
addVisuals()
if (interactive) {
addHandles()
}
}
Component.onCompleted: updateInternalComponents()
onInteractiveChanged: updateInternalComponents()
onVisibleChanged: updateInternalComponents()
Component.onDestruction: {
removeVisuals()
removeHandles()
removeDragHandles()
}
Component {
......@@ -112,27 +120,58 @@ Item {
id: centerDragAreaComponent
MissionItemIndicatorDrag {
onItemCoordinateChanged: mapCircle.center = itemCoordinate
mapControl: _root.mapControl
onItemCoordinateChanged: mapCircle.center = itemCoordinate
}
}
Component {
id: centerDragHandleComponent
id: radiusDragAreaComponent
MissionItemIndicatorDrag {
mapControl: _root.mapControl
onItemCoordinateChanged: mapCircle.radius.rawValue = mapCircle.center.distanceTo(itemCoordinate)
}
}
Component {
id: dragHandlesComponent
Item {
property var dragHandle
property var dragArea
property var centerDragHandle
property var centerDragArea
property var radiusDragHandle
property var radiusDragArea
property var radiusDragCoord: QtPositioning.coordinate()
property var circleCenterCoord: mapCircle.center
property real circleRadius: mapCircle.radius.rawValue
function calcRadiusDragCoord() {
radiusDragCoord = mapCircle.center.atDistanceAndAzimuth(circleRadius, 90)
}
onCircleCenterCoordChanged: calcRadiusDragCoord()
onCircleRadiusChanged: calcRadiusDragCoord()
Component.onCompleted: {
dragHandle = dragHandleComponent.createObject(mapControl)
dragHandle.coordinate = Qt.binding(function() { return mapCircle.center })
mapControl.addMapItem(dragHandle)
dragArea = centerDragAreaComponent.createObject(mapControl, { "itemIndicator": dragHandle, "itemCoordinate": mapCircle.center })
calcRadiusDragCoord()
radiusDragHandle = dragHandleComponent.createObject(mapControl)
radiusDragHandle.coordinate = Qt.binding(function() { return radiusDragCoord })
mapControl.addMapItem(radiusDragHandle)
radiusDragArea = radiusDragAreaComponent.createObject(mapControl, { "itemIndicator": radiusDragHandle, "itemCoordinate": radiusDragCoord })
centerDragHandle = dragHandleComponent.createObject(mapControl)
centerDragHandle.coordinate = Qt.binding(function() { return circleCenterCoord })
mapControl.addMapItem(centerDragHandle)
centerDragArea = centerDragAreaComponent.createObject(mapControl, { "itemIndicator": centerDragHandle, "itemCoordinate": circleCenterCoord })
}
Component.onDestruction: {
dragHandle.destroy()
dragArea.destroy()
centerDragHandle.destroy()
centerDragArea.destroy()
radiusDragHandle.destroy()
radiusDragArea.destroy()
}
}
}
......
src/MissionManager/StructureScanComplexItem.cc
View file @ e163d336
......@@ -63,9 +63,11 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_updateCoordinateAltitudes);
connect(&_structurePolygon, &QGCMapPolygon::dirtyChanged, this, &StructureScanComplexItem::_polygonDirtyChanged);
connect(&_structurePolygon, &QGCMapPolygon::countChanged, this, &StructureScanComplexItem::_polygonCountChanged);
connect(&_structurePolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
connect(&_structurePolygon, &QGCMapPolygon::countChanged, this, &StructureScanComplexItem::_updateLastSequenceNumber);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_updateLastSequenceNumber);
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_flightPathChanged);
connect(_cameraCalc.distanceToSurface(), &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
......@@ -108,19 +110,23 @@ void StructureScanComplexItem::_clearInternal(void)
emit lastSequenceNumberChanged(lastSequenceNumber());
}
void StructureScanComplexItem::_polygonCountChanged(int count)
void StructureScanComplexItem::_updateLastSequenceNumber(void)
{
Q_UNUSED(count);
emit lastSequenceNumberChanged(lastSequenceNumber());
}
int StructureScanComplexItem::lastSequenceNumber(void) const
{
return _sequenceNumber +
(_layersFact.rawValue().toInt() *
((_flightPolygon.count() + 1) + // 1 waypoint for each polygon vertex + 1 to go back to first polygon vertex for each layer
2)) + // Camera trigger start/stop for each layer
2; // ROI_WPNEXT_OFFSET and ROI_NONE commands
// Each structure layer contains:
// 1 waypoint for each polygon vertex + 1 to go back to first polygon vertex for each layer
// Two commands for camera trigger start/stop
int layerItemCount = _flightPolygon.count() + 1 + 2;
int multiLayerItemCount = layerItemCount * _layersFact.rawValue().toInt();
int itemCount = multiLayerItemCount + 2; // +2 for ROI_WPNEXT_OFFSET and ROI_NONE commands
return _sequenceNumber + itemCount - 1;
}
void StructureScanComplexItem::setDirty(bool dirty)
......
src/MissionManager/StructureScanComplexItem.h
View file @ e163d336
......@@ -107,13 +107,13 @@ signals:
private slots:
void _setDirty(void);
void _polygonDirtyChanged (bool dirty);
void _polygonCountChanged (int count);
void _flightPathChanged (void);
void _clearInternal (void);
void _updateCoordinateAltitudes (void);
void _rebuildFlightPolygon (void);
void _recalcCameraShots (void);
void _recalcLayerInfo (void);
void _updateLastSequenceNumber (void);
private:
void _setExitCoordinate(const QGeoCoordinate& coordinate);
......
src/MissionManager/StructureScanComplexItemTest.cc
View file @ e163d336
......@@ -134,6 +134,6 @@ void StructureScanComplexItemTest::_testItemCount(void)
_initItem();
_structureScanItem->appendMissionItems(items, this);
QCOMPARE(items.count(), _structureScanItem->lastSequenceNumber());
QCOMPARE(items.count() - 1, _structureScanItem->lastSequenceNumber());
}
src/PlanView/MissionItemStatus.qml
View file @ e163d336
......@@ -73,6 +73,7 @@ Rectangle {
visible: display
property real availableHeight: height - indicator.height
property bool _coordValid: object.coordinate.isValid
property bool _terrainAvailable: !isNaN(object.terrainPercent)
property real _terrainPercent: _terrainAvailable ? object.terrainPercent : 1
......@@ -85,6 +86,7 @@ Rectangle {
width: indicator.width
height: _terrainAvailable ? Math.max(availableHeight * _terrainPercent, 1) : parent.height
color: _terrainAvailable ? (_terrainPercent > object.altPercent ? "red": qgcPal.text) : "yellow"
visible: _coordValid
}
MissionItemIndexLabel {
......
src/QGCApplication.cc
View file @ e163d336
......@@ -76,6 +76,7 @@
#include "FollowMe.h"
#include "MissionCommandTree.h"
#include "QGCMapPolygon.h"
#include "QGCMapCircle.h"
#include "ParameterManager.h"
#include "SettingsManager.h"
#include "QGCCorePlugin.h"
......@@ -389,6 +390,7 @@ void QGCApplication::_initCommon(void)
qmlRegisterType<LogDownloadController> ("QGroundControl.Controllers", 1, 0, "LogDownloadController");
qmlRegisterType<SyslinkComponentController> ("QGroundControl.Controllers", 1, 0, "SyslinkComponentController");
qmlRegisterType<EditPositionDialogController> ("QGroundControl.Controllers", 1, 0, "EditPositionDialogController");
qmlRegisterType<QGCMapCircle> ("QGroundControl.FlightMap", 1, 0, "QGCMapCircle");
#ifndef __mobile__
qmlRegisterType<ViewWidgetController> ("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
qmlRegisterType<CustomCommandWidgetController> ("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController");
......
src/QmlControls/DropPanel.qml
View file @ e163d336
......@@ -162,8 +162,6 @@ Item {
Loader {
id: panelLoader
x: _dropMargin
y: _dropMargin
onHeightChanged: _calcPositions()
onWidthChanged: _calcPositions()
......
src/QmlControls/MissionItemIndexLabel.qml
View file @ e163d336
......@@ -109,7 +109,7 @@ Canvas {
verticalAlignment: Text.AlignVCenter
color: "white"
font.pointSize: ScreenTools.defaultFontPointSize
fontSizeMode: Text.HorizontalFit
fontSizeMode: Text.Fit
text: _index
}
}
......
src/Vehicle/Vehicle.cc
View file @ e163d336
......@@ -1062,6 +1062,7 @@ void Vehicle::_setCapabilities(uint64_t capabilityBits)
qCDebug(VehicleLog) << QString("Vehicle %1 Mavlink 2.0").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MAVLINK2 ? supports : doesNotSupport);
qCDebug(VehicleLog) << QString("Vehicle %1 MISSION_ITEM_INT").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MISSION_INT ? supports : doesNotSupport);
qCDebug(VehicleLog) << QString("Vehicle %1 MISSION_COMMAND_INT").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_COMMAND_INT ? supports : doesNotSupport);
qCDebug(VehicleLog) << QString("Vehicle %1 GeoFence").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE ? supports : doesNotSupport);
qCDebug(VehicleLog) << QString("Vehicle %1 RallyPoints").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY ? supports : doesNotSupport);
}
......@@ -2751,13 +2752,42 @@ void Vehicle::guidedModeChangeAltitude(double altitudeChange)
_firmwarePlugin->guidedModeChangeAltitude(this, altitudeChange);
}
void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double velocity, double altitude)
void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double amslAltitude)
{
if (!orbitModeSupported()) {
qgcApp()->showMessage(QStringLiteral("Orbit mode not supported by Vehicle."));
return;
}
_firmwarePlugin->guidedModeOrbit(this, centerCoord, radius, velocity, altitude);
double lat, lon, alt;
if (centerCoord.isValid()) {
lat = lon = alt = qQNaN();
} else {
lat = centerCoord.latitude();
lon = centerCoord.longitude();
alt = amslAltitude;
}
if (capabilityBits() && MAV_PROTOCOL_CAPABILITY_COMMAND_INT) {
sendMavCommandInt(defaultComponentId(),
MAV_CMD_DO_ORBIT,
MAV_FRAME_GLOBAL,
true, // show error if fails
radius,
qQNaN(), // Use default velocity
0, // Vehicle points to center
qQNaN(), // reserved
lat, lon, alt);
} else {
sendMavCommand(defaultComponentId(),
MAV_CMD_DO_ORBIT,
true, // show error if fails
radius,
qQNaN(), // Use default velocity
0, // Vehicle points to center
qQNaN(), // reserved
lat, lon, alt);
}
}
void Vehicle::pauseVehicle(void)
......@@ -2816,8 +2846,34 @@ void Vehicle::sendMavCommand(int component, MAV_CMD command, bool showError, flo
{
MavCommandQueueEntry_t entry;
entry.commandInt = false;
entry.component = component;
entry.command = command;
entry.showError = showError;
entry.rgParam[0] = param1;
entry.rgParam[1] = param2;
entry.rgParam[2] = param3;
entry.rgParam[3] = param4;
entry.rgParam[4] = param5;
entry.rgParam[5] = param6;
entry.rgParam[6] = param7;
_mavCommandQueue.append(entry);
if (_mavCommandQueue.count() == 1) {
_mavCommandRetryCount = 0;
_sendMavCommandAgain();
}
}
void Vehicle::sendMavCommandInt(int component, MAV_CMD command, MAV_FRAME frame, bool showError, float param1, float param2, float param3, float param4, double param5, double param6, float param7)
{
MavCommandQueueEntry_t entry;
entry.commandInt = true;
entry.component = component;
entry.command = command;
entry.frame = frame;
entry.showError = showError;
entry.rgParam[0] = param1;
entry.rgParam[1] = param2;
......@@ -2901,25 +2957,48 @@ void Vehicle::_sendMavCommandAgain(void)
_mavCommandAckTimer.start();
mavlink_message_t msg;
mavlink_command_long_t cmd;
memset(&cmd, 0, sizeof(cmd));
cmd.command = queuedCommand.command;
cmd.confirmation = 0;
cmd.param1 = queuedCommand.rgParam[0];
cmd.param2 = queuedCommand.rgParam[1];
cmd.param3 = queuedCommand.rgParam[2];
cmd.param4 = queuedCommand.rgParam[3];
cmd.param5 = queuedCommand.rgParam[4];
cmd.param6 = queuedCommand.rgParam[5];
cmd.param7 = queuedCommand.rgParam[6];
cmd.target_system = _id;
cmd.target_component = queuedCommand.component;
mavlink_msg_command_long_encode_chan(_mavlink->getSystemId(),
_mavlink->getComponentId(),
priorityLink()->mavlinkChannel(),
&msg,
&cmd);
if (queuedCommand.commandInt) {
mavlink_command_int_t cmd;
memset(&cmd, 0, sizeof(cmd));
cmd.target_system = _id;
cmd.target_component = queuedCommand.component;
cmd.command = queuedCommand.command;
cmd.frame = queuedCommand.frame;
cmd.param1 = queuedCommand.rgParam[0];
cmd.param2 = queuedCommand.rgParam[1];
cmd.param3 = queuedCommand.rgParam[2];
cmd.param4 = queuedCommand.rgParam[3];
cmd.x = queuedCommand.rgParam[4] * qPow(10.0, 7.0);
cmd.y = queuedCommand.rgParam[5] * qPow(10.0, 7.0);
cmd.z = queuedCommand.rgParam[6];
mavlink_msg_command_int_encode_chan(_mavlink->getSystemId(),
_mavlink->getComponentId(),
priorityLink()->mavlinkChannel(),
&msg,
&cmd);
} else {
mavlink_message_t msg;
mavlink_command_long_t cmd;
memset(&cmd, 0, sizeof(cmd));
cmd.target_system = _id;
cmd.target_component = queuedCommand.component;
cmd.command = queuedCommand.command;
cmd.confirmation = 0;
cmd.param1 = queuedCommand.rgParam[0];
cmd.param2 = queuedCommand.rgParam[1];
cmd.param3 = queuedCommand.rgParam[2];
cmd.param4 = queuedCommand.rgParam[3];
cmd.param5 = queuedCommand.rgParam[4];
cmd.param6 = queuedCommand.rgParam[5];
cmd.param7 = queuedCommand.rgParam[6];
mavlink_msg_command_long_encode_chan(_mavlink->getSystemId(),
_mavlink->getComponentId(),
priorityLink()->mavlinkChannel(),
&msg,
&cmd);
}
sendMessageOnLink(priorityLink(), msg);
}
......
src/Vehicle/Vehicle.h
View file @ e163d336
......@@ -582,11 +582,10 @@ public:
Q_INVOKABLE void guidedModeChangeAltitude(double altitudeChange);
/// Command vehicle to orbit given center point
/// @param centerCoord Center Coordinates
/// @param centerCoord Orit around this point
/// @param radius Distance from vehicle to centerCoord
/// @param velocity Orbit velocity (positive CW, negative CCW)
/// @param altitude Desired Vehicle Altitude
Q_INVOKABLE void guidedModeOrbit(const QGeoCoordinate& centerCoord = QGeoCoordinate(), double radius = NAN, double velocity = NAN, double altitude = NAN);
/// @param amslAltitude Desired vehicle altitude
Q_INVOKABLE void guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double amslAltitude);
/// Command vehicle to pause at current location. If vehicle supports guide mode, vehicle will be left
/// in guided mode after pause.
......@@ -841,6 +840,7 @@ public:
/// @param showError true: Display error to user if command failed, false: no error shown
/// Signals: mavCommandResult on success or failure
void sendMavCommand(int component, MAV_CMD command, bool showError, float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, float param5 = 0.0f, float param6 = 0.0f, float param7 = 0.0f);
void sendMavCommandInt(int component, MAV_CMD command, MAV_FRAME frame, bool showError, float param1, float param2, float param3, float param4, double param5, double param6, float param7);
/// Same as sendMavCommand but available from Qml.
Q_INVOKABLE void sendCommand(int component, int command, bool showError, double param1 = 0.0f, double param2 = 0.0f, double param3 = 0.0f, double param4 = 0.0f, double param5 = 0.0f, double param6 = 0.0f, double param7 = 0.0f)
......@@ -1180,10 +1180,12 @@ private:
QGCCameraManager* _cameras;
typedef struct {
int component;
MAV_CMD command;
float rgParam[7];
bool showError;
int component;
bool commandInt; // true: use COMMAND_INT, false: use COMMAND_LONG
MAV_CMD command;
MAV_FRAME frame;
double rgParam[7];
bool showError;
} MavCommandQueueEntry_t;
QList<MavCommandQueueEntry_t> _mavCommandQueue;
......
src/comm/QGCXPlaneLink.cc
View file @ e163d336
......@@ -532,6 +532,10 @@ void QGCXPlaneLink::updateActuatorControls(quint64 time, quint64 flags, float ct
p.f[6] = ctl_3;
p.f[7] = ctl_3;
writeBytesSafe((const char*)&p, sizeof(p));
/* Send flap signals, assuming that they are mapped to channel 5 (ctl_4) */
sendDataRef("sim/flightmodel/controls/flaprqst", ctl_4);
sendDataRef("sim/flightmodel/controls/flap2rqst", ctl_4);
break;
}
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment