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Commit e1b72cfa authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #4810 from DonLakeFlyer/SpecifiesAltitudeOnly 

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