Skip to content

Q
qgroundcontrol
Commit e1b72cfa authored by Don Gagne's avatar Don Gagne Committed by GitHub
Browse files
Options

Merge pull request #4810 from DonLakeFlyer/SpecifiesAltitudeOnly 

MissionCmdUIInfo: New support for specifiesAltitudeOnly
parents 272dbda6 c8a5971b
Hide whitespace changes
Inline Side-by-side
Showing with 65 additions and 59 deletions
src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
View file @ e1b72cfa
......@@ -15,10 +15,10 @@
"paramRemove": "4"
},
{
"id": 22,
"comment": "MAV_CMD_NAV_TAKEOFF",
"specifiesCoordinate": false,
"paramRemove": "2,3,4,5,6"
"id": 22,
"comment": "MAV_CMD_NAV_TAKEOFF",
"specifiesCoordinate": false,
"specifiesAltitudeOnly": true
},
{
"id": 82,
......
src/FirmwarePlugin/APM/MavCmdInfoMultiRotor.json
View file @ e1b72cfa
......@@ -30,10 +30,11 @@
"paramRemove": "1,4"
},
{
"id": 22,
"comment": "MAV_CMD_NAV_TAKEOFF",
"specifiesCoordinate": false,
"paramRemove": "1,2,3,4,5,6"
"id": 22,
"comment": "MAV_CMD_NAV_TAKEOFF",
"specifiesCoordinate": false,
"specifiesAltitudeOnly": true,
"paramRemove": "1,2,3,4"
},
{
"id": 31,
......
src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json
View file @ e1b72cfa
......@@ -5,20 +5,11 @@
"mavCmdInfo": [
{
"id": 21,
"comment": "MAV_CMD_NAV_LAND",
"paramRemove": "1,4",
"param7": {
"label": "Altitude",
"units": "m",
"default": 0,
"decimalPlaces": 1
}
},
{
"id": 22,
"comment": "MAV_CMD_NAV_TAKEOFF",
"paramRemove": "4"
"id": 21,
"comment": "MAV_CMD_NAV_LAND",
"paramRemove": "1,4",
"specifiesCoordinate": false,
"specifiesAltitudeOnly": true
}
]
}
src/MissionManager/FixedWingLandingComplexItem.h
View file @ e1b72cfa
......@@ -64,6 +64,7 @@ public:
bool isSimpleItem (void) const final { return false; }
bool isStandaloneCoordinate (void) const final { return false; }
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final { return false; }
QString commandDescription (void) const final { return "Landing Pattern"; }
QString commandName (void) const final { return "Landing Pattern"; }
QString abbreviation (void) const final { return "L"; }
......
src/MissionManager/MavCmdInfoCommon.json
View file @ e1b72cfa
......@@ -182,25 +182,20 @@
{ "id": 24, "rawName": "MAV_CMD_NAV_TAKEOFF_LOCAL", "friendlyName": "Takeoff local" },
{ "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "Nav follow" },
{
"id": 30,
"rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT",
"friendlyName": "Change Altitude",
"description": "Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command.",
"specifiesCoordinate": false,
"friendlyEdit": true,
"category": "Flight control",
"id": 30,
"rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT",
"friendlyName": "Change Altitude",
"description": "Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command.",
"specifiesCoordinate": false,
"specifiesAltitudeOnly": true,
"friendlyEdit": true,
"category": "Flight control",
"param1": {
"label": "Mode",
"enumStrings": "Climb,Neutral,Descend",
"enumValues": "1,0,2",
"default": 1,
"decimalPlaces": 0
},
"param7": {
"label": "Altitude",
"units": "m",
"default": 55,
"decimalPlaces": 2
}
},
{
......@@ -391,22 +386,18 @@
}
},
{
"id": 113,
"rawName": "MAV_CMD_CONDITION_CHANGE_ALT",
"description": "Delay the mission until the specified altitide is reached.",
"friendlyName": "Wait for altitude",
"category": "Conditionals",
"id": 113,
"rawName": "MAV_CMD_CONDITION_CHANGE_ALT",
"description": "Delay the mission until the specified altitide is reached.",
"friendlyName": "Wait for altitude",
"category": "Conditionals",
"specifiesCoordinate": false,
"specifiesAltitudeOnly": true,
"param1": {
"label": "Rate",
"units": "m/s",
"default": 5,
"decimalPlaces": 2
},
"param7": {
"label": "Altitude",
"units": "m",
"default": 55,
"decimalPlaces": 2
}
},
{
......
src/MissionManager/MissionSettingsComplexItem.h
View file @ e1b72cfa
......@@ -69,6 +69,7 @@ public:
bool isSimpleItem (void) const final { return false; }
bool isStandaloneCoordinate (void) const final { return false; }
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final { return false; }
QString commandDescription (void) const final { return "Mission Settings"; }
QString commandName (void) const final { return "Mission Settings"; }
QString abbreviation (void) const final { return "H"; }
......
src/MissionManager/SimpleMissionItem.cc
View file @ e1b72cfa
......@@ -185,6 +185,7 @@ void SimpleMissionItem::_connectSignals(void)
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::commandDescriptionChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::abbreviationChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::specifiesCoordinateChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::specifiesAltitudeOnlyChanged);
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::isStandaloneCoordinateChanged);
// Whenever these properties change the ui model changes as well
......@@ -296,6 +297,16 @@ bool SimpleMissionItem::specifiesCoordinate(void) const
}
}
bool SimpleMissionItem::specifiesAltitudeOnly(void) const
{
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_vehicle, (MAV_CMD)command());
if (uiInfo) {
return uiInfo->specifiesAltitudeOnly();
} else {
return false;
}
}
QString SimpleMissionItem::commandDescription(void) const
{
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_vehicle, (MAV_CMD)command());
......@@ -392,9 +403,10 @@ QmlObjectListModel* SimpleMissionItem::textFieldFacts(void)
Fact* rgParamFacts[7] = { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };
FactMetaData* rgParamMetaData[7] = { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
bool altitudeAdded = false;
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_vehicle, command);
for (int i=1; i<=7; i++) {
const MissionCmdParamInfo* paramInfo = _commandTree->getUIInfo(_vehicle, command)->getParamInfo(i);
const MissionCmdParamInfo* paramInfo = uiInfo->getParamInfo(i);
if (paramInfo && paramInfo->enumStrings().count() == 0) {
Fact* paramFact = rgParamFacts[i-1];
......@@ -406,14 +418,10 @@ QmlObjectListModel* SimpleMissionItem::textFieldFacts(void)
paramMetaData->setRawUnits(paramInfo->units());
paramFact->setMetaData(paramMetaData);
model->append(paramFact);
if (i == 7) {
altitudeAdded = true;
}
}
}
if (specifiesCoordinate() && !altitudeAdded) {
if (uiInfo->specifiesCoordinate() || uiInfo->specifiesAltitudeOnly()) {
_missionItem._param7Fact._setName("Altitude");
_missionItem._param7Fact.setMetaData(_altitudeMetaData);
model->append(&_missionItem._param7Fact);
......@@ -430,7 +438,7 @@ QmlObjectListModel* SimpleMissionItem::checkboxFacts(void)
if (rawEdit()) {
model->append(&_missionItem._autoContinueFact);
} else if (specifiesCoordinate() && !_homePositionSpecialCase) {
} else if ((specifiesCoordinate() || specifiesAltitudeOnly()) && !_homePositionSpecialCase) {
model->append(&_altitudeRelativeToHomeFact);
}
......@@ -483,7 +491,7 @@ bool SimpleMissionItem::friendlyEditAllowed(void) const
return false;
}
if (specifiesCoordinate()) {
if (specifiesCoordinate() || specifiesAltitudeOnly()) {
return _missionItem.frame() == MAV_FRAME_GLOBAL || _missionItem.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
......@@ -560,14 +568,22 @@ void SimpleMissionItem::setDefaultsForCommand(void)
}
}
if (command == MAV_CMD_NAV_WAYPOINT) {
switch (command) {
case MAV_CMD_NAV_WAYPOINT:
// We default all acceptance radius to 0. This allows flight controller to be in control of
// accept radius.
_missionItem.setParam2(0);
break;
case MAV_CMD_NAV_LAND:
_missionItem.setParam7(0);
break;
default:
break;
}
_missionItem.setAutoContinue(true);
_missionItem.setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
_missionItem.setFrame((specifiesCoordinate() || specifiesAltitudeOnly()) ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
setRawEdit(false);
}
......
src/MissionManager/SimpleMissionItem.h
View file @ e1b72cfa
......@@ -87,6 +87,7 @@ public:
bool isSimpleItem (void) const final { return true; }
bool isStandaloneCoordinate (void) const final;
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final;
QString commandDescription (void) const final;
QString commandName (void) const final;
QString abbreviation (void) const final;
......
src/MissionManager/SurveyMissionItem.h
View file @ e1b72cfa
......@@ -110,6 +110,7 @@ public:
bool isSimpleItem (void) const final { return false; }
bool isStandaloneCoordinate (void) const final { return false; }
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final { return false; }
QString commandDescription (void) const final { return "Survey"; }
QString commandName (void) const final { return "Survey"; }
QString abbreviation (void) const final { return "S"; }
......
src/MissionManager/VisualMissionItem.h
View file @ e1b72cfa
......@@ -80,8 +80,9 @@ public:
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged) ///< Item is dirty and requires save/send
Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged)
Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY specifiesCoordinateChanged) ///< Item is associated with a coordinate position
Q_PROPERTY(bool isStandaloneCoordinate READ isStandaloneCoordinate NOTIFY isStandaloneCoordinateChanged) ///< Waypoint line does not go through item
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY specifiesCoordinateChanged) ///< true: Item is associated with a coordinate position
Q_PROPERTY(bool isStandaloneCoordinate READ isStandaloneCoordinate NOTIFY isStandaloneCoordinateChanged) ///< true: Waypoint line does not go through item
Q_PROPERTY(bool specifiesAltitudeOnly READ specifiesAltitudeOnly NOTIFY specifiesAltitudeOnlyChanged) ///< true: Item has altitude only, no full coordinate
Q_PROPERTY(bool isSimpleItem READ isSimpleItem NOTIFY isSimpleItemChanged) ///< Simple or Complex MissionItem
Q_PROPERTY(QString editorQml MEMBER _editorQml CONSTANT) ///< Qml code for editing this item
Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT) ///< QMl code for map visuals
......@@ -119,6 +120,7 @@ public:
virtual bool isSimpleItem (void) const = 0;
virtual bool isStandaloneCoordinate (void) const = 0;
virtual bool specifiesCoordinate (void) const = 0;
virtual bool specifiesAltitudeOnly (void) const = 0;;
virtual QString commandDescription (void) const = 0;
virtual QString commandName (void) const = 0;
virtual QString abbreviation (void) const = 0;
......@@ -169,6 +171,7 @@ signals:
void isSimpleItemChanged (bool isSimpleItem);
void specifiesCoordinateChanged (void);
void isStandaloneCoordinateChanged (void);
void specifiesAltitudeOnlyChanged (void);
void flightSpeedChanged (double flightSpeed);
void lastSequenceNumberChanged (int sequenceNumber);
......
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