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Commit e3566933 authored by Don Gagne's avatar Don Gagne
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Mission Settings replaces Planned Home Position 

- Shot Interval in Survey
- Much change to time/distance calc
parent 63aecd5d
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Inline Side-by-side
Showing with 606 additions and 406 deletions
qgroundcontrol.qrc
View file @ e3566933
......@@ -32,6 +32,7 @@
<file alias="MainWindowNative.qml">src/ui/MainWindowNative.qml</file>
<file alias="MavlinkSettings.qml">src/ui/preferences/MavlinkSettings.qml</file>
<file alias="MissionEditor.qml">src/MissionEditor/MissionEditor.qml</file>
<file alias="MissionSettingsEditor.qml">src/MissionEditor/MissionSettingsEditor.qml</file>
<file alias="MockLink.qml">src/ui/preferences/MockLink.qml</file>
<file alias="MockLinkSettings.qml">src/ui/preferences/MockLinkSettings.qml</file>
<file alias="MultiVehicleView.qml">src/MultiVehicle/MultiVehicleView.qml</file>
......
src/MissionEditor/MissionEditor.qml
View file @ e3566933
......@@ -944,9 +944,8 @@ QGCView {
missionItems: missionController.visualItems
expandedWidth: missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2)
missionDistance: missionController.missionDistance
missionTime: missionController.missionTime
missionMaxTelemetry: missionController.missionMaxTelemetry
cruiseDistance: missionController.cruiseDistance
hoverDistance: missionController.hoverDistance
visible: _editingLayer == _layerMission && !ScreenTools.isShortScreen
}
} // FlightMap
......
src/MissionEditor/MissionItemEditor.qml
View file @ e3566933
......@@ -26,8 +26,9 @@ Rectangle {
signal insert
signal moveHomeToMapCenter
property bool _currentItem: missionItem.isCurrentItem
property color _outerTextColor: _currentItem ? "black" : qgcPal.text
property bool _currentItem: missionItem.isCurrentItem
property color _outerTextColor: _currentItem ? "black" : qgcPal.text
property bool _noMissionItemsAdded: ListView.view.model.count == 1
readonly property real _editFieldWidth: Math.min(width - _margin * 2, ScreenTools.defaultFontPixelWidth * 12)
readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2
......@@ -38,7 +39,6 @@ Rectangle {
colorGroupEnabled: enabled
}
MouseArea {
anchors.fill: parent
visible: !missionItem.isCurrentItem
......@@ -121,7 +121,6 @@ Rectangle {
anchors.rightMargin: ScreenTools.defaultFontPixelWidth
anchors.left: label.right
anchors.top: parent.top
//anchors.right: hamburger.left
visible: missionItem.sequenceNumber != 0 && missionItem.isCurrentItem && !missionItem.rawEdit && missionItem.isSimpleItem
text: missionItem.commandName
......@@ -133,7 +132,7 @@ Rectangle {
}
}
onClicked: qgcView.showDialog(commandDialog, qsTr("Select Mission Command"), qgcView.showDialogDefaultWidth, StandardButton.Cancel)
onClicked: qgcView.showDialog(commandDialog, qsTr("Select Mission Command"), qgcView.showDialogDefaultWidth, StandardButton.Cancel)
}
QGCLabel {
......@@ -141,7 +140,7 @@ Rectangle {
visible: missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem || !missionItem.isSimpleItem
verticalAlignment: Text.AlignVCenter
text: missionItem.sequenceNumber == 0 ?
qsTr("Planned Home Position") :
qsTr("Mission Settings") :
(missionItem.isSimpleItem ? missionItem.commandName : qsTr("Survey"))
color: _outerTextColor
}
......@@ -153,8 +152,12 @@ Rectangle {
anchors.left: parent.left
anchors.top: commandPicker.bottom
height: item ? item.height : 0
source: missionItem.isSimpleItem ? "qrc:/qml/SimpleItemEditor.qml" : "qrc:/qml/SurveyItemEditor.qml"
onLoaded: { item.visible = Qt.binding(function() { return _currentItem; }) }
source: missionItem.sequenceNumber == 0 ? "qrc:/qml/MissionSettingsEditor.qml" : (missionItem.isSimpleItem ? "qrc:/qml/SimpleItemEditor.qml" : "qrc:/qml/SurveyItemEditor.qml")
onLoaded: {
item.visible = Qt.binding(function() { return _currentItem; })
}
property real availableWidth: _root.width - (_margin * 2) ///< How wide the editor should be
property var editorRoot: _root
}
......
src/MissionEditor/MissionItemStatus.qml
View file @ e3566933
......@@ -20,20 +20,6 @@ import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
Rectangle {
readonly property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property Fact _offlineEditingVehicleType: QGroundControl.offlineEditingVehicleType
property Fact _offlineEditingCruiseSpeed: QGroundControl.offlineEditingCruiseSpeed
property Fact _offlineEditingHoverSpeed: QGroundControl.offlineEditingHoverSpeed
property var currentMissionItem ///< Mission item to display status for
property var missionItems ///< List of all available mission items
property real expandedWidth ///< Width of control when expanded
property real missionDistance
property real missionMaxTelemetry
property real cruiseDistance
property real hoverDistance
width: _expanded ? expandedWidth : _collapsedWidth
height: Math.max(valueGrid.height, valueMissionGrid.height) + (_margins * 2)
radius: ScreenTools.defaultFontPixelWidth * 0.5
......@@ -41,42 +27,35 @@ Rectangle {
opacity: 0.80
clip: true
readonly property real margins: ScreenTools.defaultFontPixelWidth
property real _collapsedWidth: valueGrid.width + (margins * 2)
property bool _expanded: true
property real _distance: _statusValid ? _currentMissionItem.distance : 0
property real _altDifference: _statusValid ? _currentMissionItem.altDifference : 0
property real _gradient: _statusValid && _currentMissionItem.distance > 0 ? Math.atan(_currentMissionItem.altDifference / _currentMissionItem.distance) : 0
property real _gradientPercent: isNaN(_gradient) ? 0 : _gradient * 100
property real _azimuth: _statusValid ? _currentMissionItem.azimuth : -1
property real _missionDistance: _missionValid ? missionDistance : 0
property real _missionMaxTelemetry: _missionValid ? missionMaxTelemetry : 0
property real _missionTime: _missionValid && _missionSpeed > 0 ? (_isVTOL ? _hoverTime + _cruiseTime : _missionDistance / _missionSpeed) : 0
property real _hoverDistance: _missionValid ? hoverDistance : 0
property real _cruiseDistance: _missionValid ? cruiseDistance : 0
property real _hoverTime: _missionValid && _offlineEditingHoverSpeed.value > 0 ? _hoverDistance / _offlineEditingHoverSpeed.value : 0
property real _cruiseTime: _missionValid && _offlineEditingCruiseSpeed.value > 0 ? _cruiseDistance / _offlineEditingCruiseSpeed.value : 0
property bool _statusValid: currentMissionItem != undefined
property bool _vehicleValid: _activeVehicle != undefined
property bool _missionValid: missionItems != undefined
property bool _currentSurvey: _statusValid ? _currentMissionItem.commandName == "Survey" : false
property bool _isVTOL: _vehicleValid ? _activeVehicle.vtol : _offlineEditingVehicleType.enumStringValue == "VTOL" //hardcoded
property real _missionSpeed: _offlineEditingVehicleType.enumStringValue == "Fixedwing" ? _offlineEditingCruiseSpeed.value : _offlineEditingHoverSpeed.value
property string _distanceText: _statusValid ? QGroundControl.metersToAppSettingsDistanceUnits(_distance).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
property string _altText: _statusValid ? QGroundControl.metersToAppSettingsDistanceUnits(_altDifference).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
property string _gradientText: _statusValid ? _gradientPercent.toFixed(0) + "%" : " "
property string _azimuthText: _statusValid ? Math.round(_azimuth) : " "
property string _missionDistanceText: _missionValid ? QGroundControl.metersToAppSettingsDistanceUnits(_missionDistance).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
property string _missionTimeText: _missionValid ? Number(_missionTime / 60).toFixed(1) + " min" : " "
property string _missionMaxTelemetryText: _missionValid ? QGroundControl.metersToAppSettingsDistanceUnits(_missionMaxTelemetry).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
property string _hoverDistanceText: _missionValid ? QGroundControl.metersToAppSettingsDistanceUnits(_hoverDistance).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
property string _cruiseDistanceText: _missionValid ? QGroundControl.metersToAppSettingsDistanceUnits(_cruiseDistance).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
property string _hoverTimeText: _missionValid ? _hoverTime.toFixed(0) + "s" : " "
property string _cruiseTimeText: _missionValid ? _cruiseTime.toFixed(0) + "s" : " "
property var currentMissionItem ///< Mission item to display status for
property var missionItems ///< List of all available mission items
property real expandedWidth ///< Width of control when expanded
property real missionDistance ///< Total mission distance
property real missionTime ///< Total mission time
property real missionMaxTelemetry
property real _collapsedWidth: valueGrid.width + (_margins * 2)
property bool _expanded: true
property bool _statusValid: currentMissionItem != undefined
property bool _missionValid: missionItems != undefined
property real _distance: _statusValid ? _currentMissionItem.distance : NaN
property real _altDifference: _statusValid ? _currentMissionItem.altDifference : NaN
property real _gradient: _statusValid && _currentMissionItem.distance > 0 ? Math.atan(_currentMissionItem.altDifference / _currentMissionItem.distance) : NaN
property real _gradientPercent: isNaN(_gradient) ? NaN : _gradient * 100
property real _azimuth: _statusValid ? _currentMissionItem.azimuth : NaN
property real _missionDistance: _missionValid ? missionDistance : NaN
property real _missionMaxTelemetry: _missionValid ? missionMaxTelemetry : NaN
property real _missionTime: _missionValid ? missionTime : NaN
property string _distanceText: isNaN(_distance) ? "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_distance).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString
property string _altDifferenceText: isNaN(_altDifference) ? "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_altDifference).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString
property string _gradientText: isNaN(_gradient) ? "-.-" : _gradientPercent.toFixed(0) + "%"
property string _azimuthText: isNaN(_azimuth) ? "-.-" : Math.round(_azimuth)
property string _missionDistanceText: isNaN(_missionDistance) ? "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_missionDistance).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString
property string _missionTimeText: isNaN(_missionTime) ? "-.-" : Number(_missionTime / 60).toFixed(1) + " min"
property string _missionMaxTelemetryText: isNaN(_missionMaxTelemetry) ? "-.-" : QGroundControl.metersToAppSettingsDistanceUnits(_missionMaxTelemetry).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString
readonly property real _margins: ScreenTools.defaultFontPixelWidth
......@@ -103,7 +82,7 @@ Rectangle {
QGCLabel { text: _distanceText }
QGCLabel { text: qsTr("Alt diff:") }
QGCLabel { text: _altText }
QGCLabel { text: _altDifferenceText }
QGCLabel { text: qsTr("Gradient:") }
QGCLabel { text: _gradientText }
......@@ -166,42 +145,6 @@ Rectangle {
QGCLabel { text: qsTr("Max telem dist:") }
QGCLabel { text: _missionMaxTelemetryText }
QGCLabel {
text: qsTr("Hover distance:")
visible: _isVTOL
}
QGCLabel {
text: _hoverDistanceText
visible: _isVTOL
}
QGCLabel {
text: qsTr("Cruise distance:")
visible: _isVTOL
}
QGCLabel {
text: _cruiseDistanceText
visible: _isVTOL
}
QGCLabel {
text: qsTr("Hover time:")
visible: _isVTOL
}
QGCLabel {
text: _hoverTimeText
visible: _isVTOL
}
QGCLabel {
text: qsTr("Cruise time:")
visible: _isVTOL
}
QGCLabel {
text: _cruiseTimeText
visible: _isVTOL
}
}
}
}
src/MissionEditor/MissionSettingsEditor.qml 0 → 100644
View file @ e3566933
import QtQuick 2.5
import QtQuick.Controls 1.2
import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
// Editor for Mission Settings
Rectangle {
id: valuesRect
width: availableWidth
height: deferedload.status == Loader.Ready ? (visible ? deferedload.item.height : 0) : 0
color: qgcPal.windowShadeDark
visible: missionItem.isCurrentItem
radius: _radius
Loader {
id: deferedload
active: valuesRect.visible
asynchronous: true
anchors.margins: _margin
anchors.left: valuesRect.left
anchors.right: valuesRect.right
anchors.top: valuesRect.top
sourceComponent: Component {
Item {
id: valuesItem
height: valuesColumn.height + (_margin * 2)
property var _missionVehicle: missionController.vehicle
property bool _offlineEditing: _missionVehicle.isOfflineEditingVehicle
property bool _showOfflineEditingCombos: _offlineEditing && _noMissionItemsAdded
property bool _showCruiseSpeed: !_missionVehicle.multiRotor
property bool _showHoverSpeed: _missionVehicle.multiRotor || missionController.vehicle.vtol
readonly property string _firmwareLabel: qsTr("Firmware:")
readonly property string _vehicleLabel: qsTr("Vehicle:")
QGCPalette { id: qgcPal }
Column {
id: valuesColumn
anchors.left: parent.left
anchors.right: parent.right
anchors.top: parent.top
spacing: _margin
QGCLabel { text: qsTr("Planned Home Position:") }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
Repeater {
model: missionItem.textFieldFacts
Item {
width: valuesColumn.width
height: textField.height
QGCLabel {
id: textFieldLabel
anchors.baseline: textField.baseline
text: object.name
}
FactTextField {
id: textField
anchors.right: parent.right
width: _editFieldWidth
showUnits: true
fact: object
visible: !_root.readOnly
}
FactLabel {
anchors.baseline: textFieldLabel.baseline
anchors.right: parent.right
fact: object
visible: _root.readOnly
}
}
}
QGCButton {
text: qsTr("Move Home to map center")
visible: missionItem.homePosition
onClicked: editorRoot.moveHomeToMapCenter()
anchors.horizontalCenter: parent.horizontalCenter
}
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("Note: Planned home position for mission display only. Actual home position set by vehicle at flight time.")
}
QGCLabel { text: qsTr("Vehicle Info:") }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
GridLayout {
anchors.left: parent.left
anchors.right: parent.right
columnSpacing: ScreenTools.defaultFontPixelWidth
rowSpacing: columnSpacing
columns: 2
QGCLabel {
text: _firmwareLabel
visible: _showOfflineEditingCombos
}
FactComboBox {
Layout.fillWidth: true
fact: QGroundControl.offlineEditingFirmwareType
indexModel: false
visible: _showOfflineEditingCombos
}
QGCLabel {
text: _firmwareLabel
visible: !_showOfflineEditingCombos
}
QGCLabel {
text: _missionVehicle.firmwareTypeString
visible: !_showOfflineEditingCombos
}
QGCLabel {
text: _vehicleLabel
visible: _showOfflineEditingCombos
}
FactComboBox {
id: offlineVehicleCombo
Layout.fillWidth: true
fact: QGroundControl.offlineEditingVehicleType
indexModel: false
visible: _showOfflineEditingCombos
}
QGCLabel {
text: _vehicleLabel
visible: !_showOfflineEditingCombos
}
QGCLabel {
text: _missionVehicle.vehicleTypeString
visible: !_showOfflineEditingCombos
}
QGCLabel {
Layout.row: 2
text: qsTr("Cruise speed:")
visible: _showCruiseSpeed
}
FactTextField {
Layout.fillWidth: true
fact: QGroundControl.offlineEditingCruiseSpeed
visible: _showCruiseSpeed
}
QGCLabel {
Layout.row: 3
text: qsTr("Hover speed:")
visible: _showHoverSpeed
}
FactTextField {
Layout.fillWidth: true
fact: QGroundControl.offlineEditingHoverSpeed
visible: _showHoverSpeed
}
} // GridLayout
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("Note: Speeds are planned speeds only for time calculations. Actual vehicle will not be affected.")
}
} // Column
} // Item
} // Component
} // Loader
} // Rectangle
src/MissionEditor/SurveyItemEditor.qml
View file @ e3566933
......@@ -579,14 +579,17 @@ Rectangle {
}
Grid {
columns: 2
spacing: ScreenTools.defaultFontPixelWidth
columns: 2
columnSpacing: ScreenTools.defaultFontPixelWidth
QGCLabel { text: qsTr("Survey area:") }
QGCLabel { text: QGroundControl.squareMetersToAppSettingsAreaUnits(missionItem.coveredArea).toFixed(2) + " " + QGroundControl.appSettingsAreaUnitsString }
QGCLabel { text: qsTr("# shots:") }
QGCLabel { text: missionItem.cameraShots }
QGCLabel { text: qsTr("Shot interval:") }
QGCLabel { text: missionItem.timeBetweenShots.toFixed(1) + " " + qsTr("secs")}
}
}
}
src/MissionManager/ComplexMissionItem.h
View file @ e3566933
......@@ -46,6 +46,9 @@ public:
/// @return the greatest distance from any point of the complex item to some coordinate
virtual double greatestDistanceTo(const QGeoCoordinate &other) const = 0;
/// Informs the complex item of the cruise speed it will fly at
virtual void setCruiseSpeed(double cruiseSpeed) = 0;
/// This mission item attribute specifies the type of the complex item.
static const char* jsonComplexItemTypeKey;
......
src/MissionManager/MavCmdInfoCommon.json
View file @ e3566933
......@@ -5,7 +5,7 @@
"mavCmdInfo": [
{
"comment": "MAV_CMD_NAV_LAST: Used for fake home position waypoint",
"comment": "MAV_CMD_NAV_LAST: Used for mission settings / planned home position waypoint",
"id": 95,
"rawName": "HomeRaw",
"friendlyName": "Home Position",
......
src/MissionManager/MissionController.cc
View file @ e3566933
......@@ -33,6 +33,9 @@ const char* MissionController::_jsonFileTypeValue = "Mission";
const char* MissionController::_jsonItemsKey = "items";
const char* MissionController::_jsonPlannedHomePositionKey = "plannedHomePosition";
const char* MissionController::_jsonFirmwareTypeKey = "firmwareType";
const char* MissionController::_jsonVehicleTypeKey = "vehicleType";
const char* MissionController::_jsonCruiseSpeedKey = "cruiseSpeed";
const char* MissionController::_jsonHoverSpeedKey = "hoverSpeed";
const char* MissionController::_jsonParamsKey = "params";
// Deprecated V1 format keys
......@@ -49,9 +52,12 @@ MissionController::MissionController(QObject *parent)
, _missionItemsRequested(false)
, _queuedSend(false)
, _missionDistance(0.0)
, _missionTime(0.0)
, _missionHoverDistance(0.0)
, _missionHoverTime(0.0)
, _missionCruiseDistance(0.0)
, _missionCruiseTime(0.0)
, _missionMaxTelemetry(0.0)
, _cruiseDistance(0.0)
, _hoverDistance(0.0)
{
}
......@@ -396,6 +402,9 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
{ _jsonPlannedHomePositionKey, QJsonValue::Array, true },
{ _jsonItemsKey, QJsonValue::Array, true },
{ _jsonFirmwareTypeKey, QJsonValue::Double, true },
{ _jsonVehicleTypeKey, QJsonValue::Double, false },
{ _jsonCruiseSpeedKey, QJsonValue::Double, false },
{ _jsonHoverSpeedKey, QJsonValue::Double, false },
};
if (!JsonHelper::validateKeys(json, rootKeyInfoList, errorString)) {
return false;
......@@ -403,11 +412,21 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
qCDebug(MissionControllerLog) << "MissionController::_loadJsonMissionFileV2 itemCount:" << json[_jsonItemsKey].toArray().count();
// Planned home position
// Mission Settings
QGeoCoordinate homeCoordinate;
if (!JsonHelper::loadGeoCoordinate(json[_jsonPlannedHomePositionKey], true /* altitudeRequired */, homeCoordinate, errorString)) {
return false;
}
if (json.contains(_jsonVehicleTypeKey) && _activeVehicle->isOfflineEditingVehicle()) {
QGroundControlQmlGlobal::offlineEditingVehicleType()->setRawValue(json[_jsonVehicleTypeKey].toDouble());
}
if (json.contains(_jsonCruiseSpeedKey)) {
QGroundControlQmlGlobal::offlineEditingCruiseSpeed()->setRawValue(json[_jsonCruiseSpeedKey].toDouble());
}
if (json.contains(_jsonHoverSpeedKey)) {
QGroundControlQmlGlobal::offlineEditingHoverSpeed()->setRawValue(json[_jsonHoverSpeedKey].toDouble());
}
SimpleMissionItem* homeItem = new SimpleMissionItem(_activeVehicle, this);
homeItem->setCoordinate(homeCoordinate);
visualItems->insert(0, homeItem);
......@@ -645,19 +664,8 @@ void MissionController::saveToFile(const QString& filename)
missionFileObject[JsonHelper::jsonVersionKey] = _missionFileVersion;
missionFileObject[JsonHelper::jsonGroundStationKey] = JsonHelper::jsonGroundStationValue;
MAV_AUTOPILOT firmwareType = MAV_AUTOPILOT_GENERIC;
if (_activeVehicle) {
firmwareType = _activeVehicle->firmwareType();
} else {
// FIXME: Hack duplicated code from QGroundControlQmlGlobal. Had to do this for now since
// QGroundControlQmlGlobal is not available from C++ side.
QSettings settings;
firmwareType = (MAV_AUTOPILOT)settings.value("OfflineEditingFirmwareType", MAV_AUTOPILOT_ARDUPILOTMEGA).toInt();
}
missionFileObject[_jsonFirmwareTypeKey] = firmwareType;
// Mission settings
// Save planned home position
SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(_visualItems->get(0));
if (!homeItem) {
qgcApp()->showMessage(QStringLiteral("Internal error: VisualMissionItem at index 0 not SimpleMissionItem"));
......@@ -666,6 +674,10 @@ void MissionController::saveToFile(const QString& filename)
QJsonValue coordinateValue;
JsonHelper::saveGeoCoordinate(homeItem->coordinate(), true /* writeAltitude */, coordinateValue);
missionFileObject[_jsonPlannedHomePositionKey] = coordinateValue;
missionFileObject[_jsonFirmwareTypeKey] = _activeVehicle->firmwareType();
missionFileObject[_jsonVehicleTypeKey] = _activeVehicle->vehicleType();
missionFileObject[_jsonCruiseSpeedKey] = _activeVehicle->cruiseSpeed();
missionFileObject[_jsonHoverSpeedKey] = _activeVehicle->hoverSpeed();
// Save the visual items
QJsonArray rgMissionItems;
......@@ -730,7 +742,7 @@ void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionIte
}
}
void MissionController::_calcHomeDist(VisualMissionItem* currentItem, VisualMissionItem* homeItem, double* distance)
double MissionController::_calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem)
{
QGeoCoordinate currentCoord = currentItem->coordinate();
QGeoCoordinate homeCoord = homeItem->exitCoordinate();
......@@ -740,11 +752,7 @@ void MissionController::_calcHomeDist(VisualMissionItem* currentItem, VisualMiss
qCDebug(MissionControllerLog) << "distanceOk" << distanceOk;
if (distanceOk) {
*distance = homeCoord.distanceTo(currentCoord);
} else {
*distance = 0.0;
}
return distanceOk ? homeCoord.distanceTo(currentCoord) : 0.0;
}
void MissionController::_recalcWaypointLines(void)
......@@ -771,7 +779,7 @@ void MissionController::_recalcWaypointLines(void)
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
// If we still haven't found the first coordinate item and we hit a a takeoff command link back to home
// If we still haven't found the first coordinate item and we hit a takeoff command, link back to home
if (firstCoordinateItem &&
item->isSimpleItem() &&
(qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF ||
......@@ -842,7 +850,7 @@ void MissionController::_recalcAltitudeRangeBearing()
qWarning() << "Home item is not SimpleMissionItem";
}
bool showHomePosition = homeItem->showHomePosition();
bool showHomePosition = homeItem->showHomePosition();
qCDebug(MissionControllerLog) << "_recalcAltitudeRangeBearing";
......@@ -862,47 +870,68 @@ void MissionController::_recalcAltitudeRangeBearing()
double missionDistance = 0.0;
double missionMaxTelemetry = 0.0;
double missionTime = 0.0;
double vtolHoverTime = 0.0;
double vtolCruiseTime = 0.0;
double vtolHoverDistance = 0.0;
double vtolCruiseDistance = 0.0;
double currentCruiseSpeed = _activeVehicle->cruiseSpeed();
double currentHoverSpeed = _activeVehicle->hoverSpeed();
bool vtolCalc = (QGroundControlQmlGlobal::offlineEditingVehicleType()->enumStringValue() == "VTOL" || (_activeVehicle && _activeVehicle->vtol())) ? true : false ;
double cruiseDistance = 0.0;
double hoverDistance = 0.0;
bool hoverDistanceCalc = false;
bool hoverTransition = false;
bool cruiseTransition = false;
bool hoverDistanceReset = false;
bool vtolVehicle = _activeVehicle->vtol();
bool vtolInHover = true;
bool linkBackToHome = false;
for (int i=1; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(item);
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(item);
// Assume the worst
item->setAzimuth(0.0);
item->setDistance(0.0);
// If we still haven't found the first coordinate item and we hit a takeoff command link back to home
if (firstCoordinateItem &&
item->isSimpleItem() &&
qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
linkBackToHome = true;
hoverDistanceCalc = true;
if (simpleItem && simpleItem->command() == MavlinkQmlSingleton::MAV_CMD_DO_CHANGE_SPEED) {
// Adjust cruise speed for time calculations
double newSpeed = simpleItem->missionItem().param2();
if (newSpeed > 0) {
if (_activeVehicle->multiRotor()) {
currentHoverSpeed = newSpeed;
} else {
currentCruiseSpeed = newSpeed;
}
}
}
if (item->isSimpleItem() && vtolCalc) {
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(item);
if (simpleItem->command() == MavlinkQmlSingleton::MAV_CMD_DO_VTOL_TRANSITION){ //transition waypoint value
if (simpleItem->missionItem().param1() == 3){ //hover mode value
hoverDistanceCalc = true;
hoverTransition = true;
}
else if (simpleItem->missionItem().param1() == 4){
hoverDistanceCalc = false;
cruiseTransition = true;
// Link back to home if first item is takeoff and we have home position
if (firstCoordinateItem && simpleItem && simpleItem->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
if (showHomePosition) {
linkBackToHome = true;
}
}
// Update VTOL state
if (simpleItem && vtolVehicle) {
switch (simpleItem->command()) {
case MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF:
vtolInHover = false;
break;
case MavlinkQmlSingleton::MAV_CMD_NAV_LAND:
vtolInHover = false;
break;
case MavlinkQmlSingleton::MAV_CMD_DO_VTOL_TRANSITION:
{
int transitionState = simpleItem->missionItem().param1();
if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_MC) {
vtolInHover = true;
} else if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_FW) {
vtolInHover = false;
}
}
if(!hoverTransition && cruiseTransition && !hoverDistanceReset && !linkBackToHome){
hoverDistance = missionDistance;
hoverDistanceReset = true;
break;
default:
break;
}
}
......@@ -927,62 +956,60 @@ void MissionController::_recalcAltitudeRangeBearing()
if (!item->isStandaloneCoordinate()) {
firstCoordinateItem = false;
if (lastCoordinateItem != homeItem || (showHomePosition && linkBackToHome)) {
double azimuth, distance, altDifference, telemetryDistance;
if (lastCoordinateItem != homeItem || linkBackToHome) {
// This is a subsequent waypoint or we are forcing the first waypoint back to home
double azimuth, distance, altDifference;
// Subsequent coordinate items link to last coordinate item. If the last coordinate item
// is an invalid home position we skip the line
_calcPrevWaypointValues(homePositionAltitude, item, lastCoordinateItem, &azimuth, &distance, &altDifference);
item->setAltDifference(altDifference);
item->setAzimuth(azimuth);
item->setDistance(distance);
missionDistance += distance;
if (item->isSimpleItem()) {
_calcHomeDist(item, homeItem, &telemetryDistance);
if (vtolCalc) {
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(item);
if (simpleItem->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF || hoverDistanceCalc){
hoverDistance += distance;
}
cruiseDistance = missionDistance - hoverDistance;
if(simpleItem->command() == MavlinkQmlSingleton::MAV_CMD_NAV_LAND && !linkBackToHome && !cruiseTransition && !hoverTransition){
hoverDistance = cruiseDistance;
cruiseDistance = missionDistance - hoverDistance;
}
missionMaxTelemetry = qMax(missionMaxTelemetry, _calcDistanceToHome(item, homeItem));
// Calculate mission time
if (vtolVehicle) {
if (vtolInHover) {
double hoverTime = distance / _activeVehicle->hoverSpeed();
missionTime += hoverTime;
vtolHoverTime += hoverTime;
vtolHoverDistance += distance;
} else {
double cruiseTime = distance / currentCruiseSpeed;
missionTime += cruiseTime;
vtolCruiseTime += cruiseTime;
vtolCruiseDistance += distance;
}
} else {
missionDistance += qobject_cast<ComplexMissionItem*>(item)->complexDistance();
telemetryDistance = qobject_cast<ComplexMissionItem*>(item)->greatestDistanceTo(homeItem->exitCoordinate());
if (vtolCalc){
cruiseDistance += qobject_cast<ComplexMissionItem*>(item)->complexDistance(); //assume all survey missions undertaken in cruise
}
}
if (telemetryDistance > missionMaxTelemetry) {
missionMaxTelemetry = telemetryDistance;
missionTime += distance / (_activeVehicle->multiRotor() ? currentHoverSpeed : currentCruiseSpeed);
}
}
else if (lastCoordinateItem == homeItem && !item->isSimpleItem()){
missionDistance += qobject_cast<ComplexMissionItem*>(item)->complexDistance();
missionMaxTelemetry = qobject_cast<ComplexMissionItem*>(item)->greatestDistanceTo(homeItem->exitCoordinate());
if (vtolCalc){
cruiseDistance += qobject_cast<ComplexMissionItem*>(item)->complexDistance(); //assume all survey missions undertaken in cruise
}
if (complexItem) {
// Add in distance/time inside survey as well
// This code assumes all surveys are done cruise not hover
double complexDistance = complexItem->complexDistance();
double cruiseSpeed = _activeVehicle->multiRotor() ? currentHoverSpeed : currentCruiseSpeed;
missionDistance += complexDistance;
missionTime += complexDistance / cruiseSpeed;
missionMaxTelemetry = qMax(missionMaxTelemetry, complexItem->greatestDistanceTo(homeItem->exitCoordinate()));
// Let the complex item know the current cruise speed
complexItem->setCruiseSpeed(cruiseSpeed);
}
lastCoordinateItem = item;
}
lastCoordinateItem = item;
}
}
setMissionDistance(missionDistance);
setMissionMaxTelemetry(missionMaxTelemetry);
setCruiseDistance(cruiseDistance);
setHoverDistance(hoverDistance);
_setMissionMaxTelemetry(missionMaxTelemetry);
_setMissionDistance(missionDistance);
_setMissionTime(missionTime);
_setMissionHoverDistance(vtolHoverDistance);
_setMissionHoverTime(vtolHoverTime);
_setMissionCruiseDistance(vtolCruiseDistance);
_setMissionCruiseTime(vtolCruiseTime);
// Walk the list again calculating altitude percentages
double altRange = maxAltSeen - minAltSeen;
......@@ -1187,6 +1214,8 @@ void MissionController::_activeVehicleSet(void)
connect(missionManager, &MissionManager::currentItemChanged, this, &MissionController::_currentMissionItemChanged);
connect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionController::_activeVehicleHomePositionAvailableChanged);
connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionController::_activeVehicleHomePositionChanged);
connect(_activeVehicle, &Vehicle::cruiseSpeedChanged, this, &MissionController::_recalcAltitudeRangeBearing);
connect(_activeVehicle, &Vehicle::hoverSpeedChanged, this, &MissionController::_recalcAltitudeRangeBearing);
if (_activeVehicle->parameterManager()->parametersReady() && !syncInProgress()) {
// We are switching between two previously existing vehicles. We have to manually ask for the items from the Vehicle.
......@@ -1230,7 +1259,15 @@ void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate&
}
}
void MissionController::setMissionDistance(double missionDistance)
void MissionController::_setMissionMaxTelemetry(double missionMaxTelemetry)
{
if (!qFuzzyCompare(_missionMaxTelemetry, missionMaxTelemetry)) {
_missionMaxTelemetry = missionMaxTelemetry;
emit missionMaxTelemetryChanged(_missionMaxTelemetry);
}
}
void MissionController::_setMissionDistance(double missionDistance)
{
if (!qFuzzyCompare(_missionDistance, missionDistance)) {
_missionDistance = missionDistance;
......@@ -1238,27 +1275,43 @@ void MissionController::setMissionDistance(double missionDistance)
}
}
void MissionController::setMissionMaxTelemetry(double missionMaxTelemetry)
void MissionController::_setMissionTime(double missionTime)
{
if (!qFuzzyCompare(_missionMaxTelemetry, missionMaxTelemetry)) {
_missionMaxTelemetry = missionMaxTelemetry;
emit missionMaxTelemetryChanged(_missionMaxTelemetry);
if (!qFuzzyCompare(_missionTime, missionTime)) {
_missionTime = missionTime;
emit missionTimeChanged();
}
}
void MissionController::_setMissionHoverTime(double missionHoverTime)
{
if (!qFuzzyCompare(_missionHoverTime, missionHoverTime)) {
_missionHoverTime = missionHoverTime;
emit missionHoverTimeChanged();
}
}
void MissionController::setCruiseDistance(double cruiseDistance)
void MissionController::_setMissionHoverDistance(double missionHoverDistance)
{
if (!qFuzzyCompare(_cruiseDistance, cruiseDistance)) {
_cruiseDistance = cruiseDistance;
emit cruiseDistanceChanged(_cruiseDistance);
if (!qFuzzyCompare(_missionHoverDistance, missionHoverDistance)) {
_missionHoverDistance = missionHoverDistance;
emit missionHoverDistanceChanged(_missionHoverDistance);
}
}
void MissionController::setHoverDistance(double hoverDistance)
void MissionController::_setMissionCruiseTime(double missionCruiseTime)
{
if (!qFuzzyCompare(_hoverDistance, hoverDistance)) {
_hoverDistance = hoverDistance;
emit hoverDistanceChanged(_hoverDistance);
if (!qFuzzyCompare(_missionCruiseTime, missionCruiseTime)) {
_missionCruiseTime = missionCruiseTime;
emit missionCruiseTimeChanged();
}
}
void MissionController::_setMissionCruiseDistance(double missionCruiseDistance)
{
if (!qFuzzyCompare(_missionCruiseDistance, missionCruiseDistance)) {
_missionCruiseDistance = missionCruiseDistance;
emit missionCruiseDistanceChanged(_missionCruiseDistance);
}
}
......@@ -1437,3 +1490,21 @@ QString MissionController::fileExtension(void) const
{
return QGCApplication::missionFileExtension;
}
double MissionController::cruiseSpeed(void) const
{
if (_activeVehicle) {
return _activeVehicle->cruiseSpeed();
} else {
return 0.0f;
}
}
double MissionController::hoverSpeed(void) const
{
if (_activeVehicle) {
return _activeVehicle->hoverSpeed();
} else {
return 0.0f;
}
}
src/MissionManager/MissionController.h
View file @ e3566933
......@@ -34,15 +34,18 @@ public:
MissionController(QObject* parent = NULL);
~MissionController();
Q_PROPERTY(QGeoCoordinate plannedHomePosition READ plannedHomePosition NOTIFY plannedHomePositionChanged)
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QmlObjectListModel* complexVisualItems READ complexVisualItems NOTIFY complexVisualItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(double missionDistance READ missionDistance NOTIFY missionDistanceChanged)
Q_PROPERTY(double missionMaxTelemetry READ missionMaxTelemetry NOTIFY missionMaxTelemetryChanged)
Q_PROPERTY(double cruiseDistance READ cruiseDistance NOTIFY cruiseDistanceChanged)
Q_PROPERTY(double hoverDistance READ hoverDistance NOTIFY hoverDistanceChanged)
Q_PROPERTY(QGeoCoordinate plannedHomePosition READ plannedHomePosition NOTIFY plannedHomePositionChanged)
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QmlObjectListModel* complexVisualItems READ complexVisualItems NOTIFY complexVisualItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(double missionDistance READ missionDistance NOTIFY missionDistanceChanged)
Q_PROPERTY(double missionTime READ missionTime NOTIFY missionTimeChanged)
Q_PROPERTY(double missionHoverDistance READ missionHoverDistance NOTIFY missionHoverDistanceChanged)
Q_PROPERTY(double missionCruiseDistance READ missionCruiseDistance NOTIFY missionCruiseDistanceChanged)
Q_PROPERTY(double missionHoverTime READ missionHoverTime NOTIFY missionHoverTimeChanged)
Q_PROPERTY(double missionCruiseTime READ missionCruiseTime NOTIFY missionCruiseTimeChanged)
Q_PROPERTY(double missionMaxTelemetry READ missionMaxTelemetry NOTIFY missionMaxTelemetryChanged)
Q_INVOKABLE void removeMissionItem(int index);
......@@ -80,15 +83,14 @@ public:
QmlObjectListModel* waypointLines (void) { return &_waypointLines; }
double missionDistance (void) const { return _missionDistance; }
double missionTime (void) const { return _missionTime; }
double missionHoverDistance (void) const { return _missionHoverDistance; }
double missionHoverTime (void) const { return _missionHoverTime; }
double missionCruiseDistance (void) const { return _missionCruiseDistance; }
double missionCruiseTime (void) const { return _missionCruiseTime; }
double missionMaxTelemetry (void) const { return _missionMaxTelemetry; }
double cruiseDistance (void) const { return _cruiseDistance; }
double hoverDistance (void) const { return _hoverDistance; }
void setMissionDistance (double missionDistance );
void setMissionMaxTelemetry (double missionMaxTelemetry);
void setCruiseDistance (double cruiseDistance );
void setHoverDistance (double hoverDistance );
double cruiseSpeed (void) const;
double hoverSpeed (void) const;
signals:
void plannedHomePositionChanged(QGeoCoordinate plannedHomePosition);
......@@ -97,9 +99,16 @@ signals:
void waypointLinesChanged(void);
void newItemsFromVehicle(void);
void missionDistanceChanged(double missionDistance);
void missionTimeChanged(void);
void missionHoverDistanceChanged(double missionHoverDistance);
void missionHoverTimeChanged(void);
void missionCruiseDistanceChanged(double missionCruiseDistance);
void missionCruiseTimeChanged(void);
void missionMaxTelemetryChanged(double missionMaxTelemetry);
void cruiseDistanceChanged(double cruiseDistance);
void hoverDistanceChanged(double hoverDistance);
void cruiseSpeedChanged(double cruiseSpeed);
void hoverSpeedChanged(double hoverSpeed);
private slots:
void _newMissionItemsAvailableFromVehicle();
......@@ -123,7 +132,7 @@ private:
void _deinitVisualItem(VisualMissionItem* item);
void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
static void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
static void _calcHomeDist(VisualMissionItem* currentItem, VisualMissionItem* homeItem, double* distance);
static double _calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem);
bool _findLastAltitude(double* lastAltitude, MAV_FRAME* frame);
bool _findLastAcceptanceRadius(double* lastAcceptanceRadius);
void _addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter);
......@@ -134,6 +143,13 @@ private:
bool _loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
int _nextSequenceNumber(void);
void _setMissionDistance(double missionDistance);
void _setMissionTime(double missionTime);
void _setMissionHoverDistance(double missionHoverDistance);
void _setMissionHoverTime(double missionHoverTime);
void _setMissionCruiseDistance(double missionCruiseDistance);
void _setMissionCruiseTime(double missionCruiseTime);
void _setMissionMaxTelemetry(double missionMaxTelemetry);
// Overrides from PlanElementController
void _activeVehicleBeingRemoved(void) final;
......@@ -148,13 +164,19 @@ private:
bool _missionItemsRequested;
bool _queuedSend;
double _missionDistance;
double _missionTime;
double _missionHoverDistance;
double _missionHoverTime;
double _missionCruiseDistance;
double _missionCruiseTime;
double _missionMaxTelemetry;
double _cruiseDistance;
double _hoverDistance;
static const char* _settingsGroup;
static const char* _jsonFileTypeValue;
static const char* _jsonFirmwareTypeKey;
static const char* _jsonVehicleTypeKey;
static const char* _jsonCruiseSpeedKey;
static const char* _jsonHoverSpeedKey;
static const char* _jsonItemsKey;
static const char* _jsonPlannedHomePositionKey;
static const char* _jsonParamsKey;
......
src/MissionManager/PlanElementController.cc
View file @ e3566933
......@@ -54,4 +54,6 @@ void PlanElementController::_activeVehicleChanged(Vehicle* activeVehicle)
// Whenever vehicle changes we need to update syncInProgress
emit syncInProgressChanged(syncInProgress());
emit vehicleChanged(_activeVehicle);
}
src/MissionManager/PlanElementController.h
View file @ e3566933
......@@ -35,6 +35,8 @@ public:
Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT)
virtual QString fileExtension(void) const = 0;
Q_PROPERTY(Vehicle* vehicle READ vehicle NOTIFY vehicleChanged)
/// Should be called immediately upon Component.onCompleted.
/// @param editMode true: controller being used in Plan view, false: controller being used in Fly view
Q_INVOKABLE virtual void start(bool editMode);
......@@ -55,9 +57,12 @@ public:
virtual bool dirty (void) const = 0;
virtual void setDirty (bool dirty) = 0;
Vehicle* vehicle(void) { return _activeVehicle; }
signals:
void syncInProgressChanged (bool syncInProgress);
void dirtyChanged (bool dirty);
void vehicleChanged (Vehicle* vehicle);
protected:
MultiVehicleManager* _multiVehicleMgr;
......
src/MissionManager/SurveyMissionItem.cc
View file @ e3566933
......@@ -12,6 +12,7 @@
#include "JsonHelper.h"
#include "MissionController.h"
#include "QGCGeo.h"
#include "QGroundControlQmlGlobal.h"
#include <QPolygonF>
......@@ -70,6 +71,7 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
, _surveyDistance(0.0)
, _cameraShots(0)
, _coveredArea(0.0)
, _timeBetweenShots(0.0)
, _gridAltitudeFact (0, _gridAltitudeFactName, FactMetaData::valueTypeDouble)
, _gridAngleFact (0, _gridAngleFactName, FactMetaData::valueTypeDouble)
, _gridSpacingFact (0, _gridSpacingFactName, FactMetaData::valueTypeDouble)
......@@ -132,7 +134,11 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
connect(&_cameraResolutionHeightFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
connect(&_cameraFocalLengthFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
connect(this, &SurveyMissionItem::cameraTriggerChanged, this, &SurveyMissionItem::_cameraTriggerChanged);
connect(this, &SurveyMissionItem::cameraTriggerChanged, this, &SurveyMissionItem::_cameraTriggerChanged);
connect(&_cameraTriggerDistanceFact, &Fact::valueChanged, this, &SurveyMissionItem::timeBetweenShotsChanged);
connect(_vehicle, &Vehicle::cruiseSpeedChanged, this, &SurveyMissionItem::timeBetweenShotsChanged);
connect(_vehicle, &Vehicle::hoverSpeedChanged, this, &SurveyMissionItem::timeBetweenShotsChanged);
}
void SurveyMissionItem::_setSurveyDistance(double surveyDistance)
......@@ -780,6 +786,7 @@ QmlObjectListModel* SurveyMissionItem::getMissionItems(void) const
pMissionItems->append(item);
if (_cameraTrigger && i == 0) {
// Turn on camera
MissionItem* item = new MissionItem(seqNum++, // sequence number
MAV_CMD_DO_SET_CAM_TRIGG_DIST, // MAV_CMD
MAV_FRAME_MISSION, // MAV_FRAME
......@@ -793,6 +800,7 @@ QmlObjectListModel* SurveyMissionItem::getMissionItems(void) const
}
if (_cameraTrigger) {
// Turn off camera
MissionItem* item = new MissionItem(seqNum++, // sequence number
MAV_CMD_DO_SET_CAM_TRIGG_DIST, // MAV_CMD
MAV_FRAME_MISSION, // MAV_FRAME
......@@ -810,10 +818,9 @@ QmlObjectListModel* SurveyMissionItem::getMissionItems(void) const
void SurveyMissionItem::_cameraTriggerChanged(void)
{
setDirty(true);
if (_gridPoints.count()) {
// If we have grid turn on/off camera trigger will add/remove two camera trigger mission items
emit lastSequenceNumberChanged(lastSequenceNumber());
}
// Camera trigger adds items
emit lastSequenceNumberChanged(lastSequenceNumber());
// We now have camera shot count
emit cameraShotsChanged(cameraShots());
}
......@@ -826,3 +833,16 @@ void SurveyMissionItem::_cameraValueChanged(void)
{
emit cameraValueChanged();
}
double SurveyMissionItem::timeBetweenShots(void) const
{
return _cruiseSpeed == 0 ? 0 : _cameraTriggerDistanceFact.rawValue().toDouble() / _cruiseSpeed;
}
void SurveyMissionItem::setCruiseSpeed(double cruiseSpeed)
{
if (!qFuzzyCompare(_cruiseSpeed, cruiseSpeed)) {
_cruiseSpeed = cruiseSpeed;
emit timeBetweenShotsChanged();
}
}
src/MissionManager/SurveyMissionItem.h
View file @ e3566933
......@@ -48,6 +48,7 @@ public:
Q_PROPERTY(bool cameraOrientationLandscape MEMBER _cameraOrientationLandscape NOTIFY cameraOrientationLandscapeChanged)
Q_PROPERTY(bool manualGrid MEMBER _manualGrid NOTIFY manualGridChanged)
Q_PROPERTY(QString camera MEMBER _camera NOTIFY cameraChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
Q_INVOKABLE void clearPolygon(void);
Q_INVOKABLE void addPolygonCoordinate(const QGeoCoordinate coordinate);
......@@ -72,6 +73,7 @@ public:
int cameraShots(void) const;
double coveredArea(void) const { return _coveredArea; }
double timeBetweenShots(void) const;
// Overrides from ComplexMissionItem
......@@ -80,6 +82,8 @@ public:
QmlObjectListModel* getMissionItems (void) const final;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
double greatestDistanceTo (const QGeoCoordinate &other) const final;
void setCruiseSpeed (double cruiseSpeed) final;
// Overrides from VisualMissionItem
......@@ -121,6 +125,7 @@ signals:
void cameraOrientationLandscapeChanged (bool cameraOrientationLandscape);
void cameraChanged (QString camera);
void manualGridChanged (bool manualGrid);
void timeBetweenShotsChanged (void);
private slots:
void _cameraTriggerChanged(void);
......@@ -158,6 +163,8 @@ private:
double _surveyDistance;
int _cameraShots;
double _coveredArea;
double _timeBetweenShots;
double _cruiseSpeed;
Fact _gridAltitudeFact;
Fact _gridAngleFact;
......@@ -198,7 +205,6 @@ private:
static const char* _jsonCameraOrientationLandscapeKey;
static const char* _jsonFixedValueIsAltitudeKey;
static const char* _gridAltitudeFactName;
static const char* _gridAngleFactName;
static const char* _gridSpacingFactName;
......
src/QmlControls/QGroundControlQmlGlobal.json
View file @ e3566933
......@@ -3,7 +3,7 @@
"name": "OfflineEditingFirmwareType",
"shortDescription": "Offline editing firmware type",
"type": "uint32",
"enumStrings": "ArduPilot Firmware,PX4 Pro Firmware,Mavlink Generic Firmware",
"enumStrings": "ArduPilot,PX4 Pro,Mavlink Generic",
"enumValues": "3,12,0",
"defaultValue": 3
},
......@@ -11,7 +11,7 @@
"name": "OfflineEditingVehicleType",
"shortDescription": "Offline editing vehicle type",
"type": "uint32",
"enumStrings": "Fixedwing,Multicopter,VTOL,Rover,Sub",
"enumStrings": "Fixed Wing,Multi-Rotor,VTOL,Rover,Sub",
"enumValues": "1,2,19,10,12",
"defaultValue": 1
},
......
src/Vehicle/Vehicle.cc
View file @ e3566933
......@@ -96,6 +96,8 @@ Vehicle::Vehicle(LinkInterface* link,
, _onboardControlSensorsUnhealthy(0)
, _gpsRawIntMessageAvailable(false)
, _globalPositionIntMessageAvailable(false)
, _cruiseSpeed(QGroundControlQmlGlobal::offlineEditingCruiseSpeed()->rawValue().toDouble())
, _hoverSpeed(QGroundControlQmlGlobal::offlineEditingHoverSpeed()->rawValue().toDouble())
, _connectionLost(false)
, _connectionLostEnabled(true)
, _missionManager(NULL)
......@@ -150,7 +152,7 @@ Vehicle::Vehicle(LinkInterface* link,
connect(_uas, &UAS::imageReady, this, &Vehicle::_imageReady);
connect(this, &Vehicle::remoteControlRSSIChanged, this, &Vehicle::_remoteControlRSSIChanged);
_firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
_commonInit();
_autopilotPlugin = _firmwarePlugin->autopilotPlugin(this);
// connect this vehicle to the follow me handle manager
......@@ -183,21 +185,6 @@ Vehicle::Vehicle(LinkInterface* link,
_loadSettings();
_missionManager = new MissionManager(this);
connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_newMissionItemsAvailable);
_parameterManager = new ParameterManager(this);
connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
// GeoFenceManager needs to access ParameterManager so make sure to create after
_geoFenceManager = _firmwarePlugin->newGeoFenceManager(this);
connect(_geoFenceManager, &GeoFenceManager::error, this, &Vehicle::_geoFenceManagerError);
connect(_geoFenceManager, &GeoFenceManager::loadComplete, this, &Vehicle::_newGeoFenceAvailable);
_rallyPointManager = _firmwarePlugin->newRallyPointManager(this);
connect(_rallyPointManager, &RallyPointManager::error, this, &Vehicle::_rallyPointManagerError);
// Ask the vehicle for firmware version info.
sendMavCommand(MAV_COMP_ID_ALL, // Don't know default component id yet.
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES,
......@@ -214,27 +201,6 @@ Vehicle::Vehicle(LinkInterface* link,
// Invalidate the timer to signal first announce
_lowBatteryAnnounceTimer.invalidate();
// Build FactGroup object model
_addFact(&_rollFact, _rollFactName);
_addFact(&_pitchFact, _pitchFactName);
_addFact(&_headingFact, _headingFactName);
_addFact(&_groundSpeedFact, _groundSpeedFactName);
_addFact(&_airSpeedFact, _airSpeedFactName);
_addFact(&_climbRateFact, _climbRateFactName);
_addFact(&_altitudeRelativeFact, _altitudeRelativeFactName);
_addFact(&_altitudeAMSLFact, _altitudeAMSLFactName);
_addFactGroup(&_gpsFactGroup, _gpsFactGroupName);
_addFactGroup(&_batteryFactGroup, _batteryFactGroupName);
_addFactGroup(&_windFactGroup, _windFactGroupName);
_addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);
_gpsFactGroup.setVehicle(this);
_batteryFactGroup.setVehicle(this);
_windFactGroup.setVehicle(this);
_vibrationFactGroup.setVehicle(this);
}
// Disconnected Vehicle for offline editing
......@@ -275,6 +241,8 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _onboardControlSensorsUnhealthy(0)
, _gpsRawIntMessageAvailable(false)
, _globalPositionIntMessageAvailable(false)
, _cruiseSpeed(QGroundControlQmlGlobal::offlineEditingCruiseSpeed()->rawValue().toDouble())
, _hoverSpeed(QGroundControlQmlGlobal::offlineEditingHoverSpeed()->rawValue().toDouble())
, _connectionLost(false)
, _connectionLostEnabled(true)
, _missionManager(NULL)
......@@ -314,8 +282,13 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _windFactGroup(this)
, _vibrationFactGroup(this)
{
_firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
_commonInit();
_firmwarePlugin->initializeVehicle(this);
}
void Vehicle::_commonInit(void)
{
_firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
_missionManager = new MissionManager(this);
connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
......@@ -329,6 +302,12 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
_rallyPointManager = _firmwarePlugin->newRallyPointManager(this);
connect(_rallyPointManager, &RallyPointManager::error, this, &Vehicle::_rallyPointManagerError);
// Offline editing vehicle tracks settings changes for offline editing settings
connect(QGroundControlQmlGlobal::offlineEditingFirmwareType(), &Fact::rawValueChanged, this, &Vehicle::_offlineFirmwareTypeSettingChanged);
connect(QGroundControlQmlGlobal::offlineEditingVehicleType(), &Fact::rawValueChanged, this, &Vehicle::_offlineVehicleTypeSettingChanged);
connect(QGroundControlQmlGlobal::offlineEditingCruiseSpeed(), &Fact::rawValueChanged, this, &Vehicle::_offlineCruiseSpeedSettingChanged);
connect(QGroundControlQmlGlobal::offlineEditingHoverSpeed(), &Fact::rawValueChanged, this, &Vehicle::_offlineHoverSpeedSettingChanged);
// Build FactGroup object model
_addFact(&_rollFact, _rollFactName);
......@@ -344,11 +323,6 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
_addFactGroup(&_batteryFactGroup, _batteryFactGroupName);
_addFactGroup(&_windFactGroup, _windFactGroupName);
_addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);
_gpsFactGroup.setVehicle(NULL);
_batteryFactGroup.setVehicle(NULL);
_windFactGroup.setVehicle(NULL);
_vibrationFactGroup.setVehicle(NULL);
}
Vehicle::~Vehicle()
......@@ -366,8 +340,59 @@ Vehicle::~Vehicle()
}
void
Vehicle::resetCounters()
void Vehicle::_offlineFirmwareTypeSettingChanged(QVariant value)
{
_firmwareType = static_cast<MAV_AUTOPILOT>(value.toInt());
emit firmwareTypeChanged();
}
void Vehicle::_offlineVehicleTypeSettingChanged(QVariant value)
{
_vehicleType = static_cast<MAV_TYPE>(value.toInt());
emit vehicleTypeChanged();
}
void Vehicle::_offlineCruiseSpeedSettingChanged(QVariant value)
{
_cruiseSpeed = value.toDouble();
emit cruiseSpeedChanged(_cruiseSpeed);
}
void Vehicle::_offlineHoverSpeedSettingChanged(QVariant value)
{
_hoverSpeed = value.toDouble();
emit hoverSpeedChanged(_hoverSpeed);
}
QString Vehicle::firmwareTypeString(void) const
{
if (px4Firmware()) {
return QStringLiteral("PX4 Pro");
} else if (apmFirmware()) {
return QStringLiteral("ArduPilot");
} else {
return tr("MAVLink Generic");
}
}
QString Vehicle::vehicleTypeString(void) const
{
if (fixedWing()) {
return tr("Fixed Wing");
} else if (multiRotor()) {
return tr("Multi-Rotor");
} else if (vtol()) {
return tr("VTOL");
} else if (rover()) {
return tr("Rover");
} else if (sub()) {
return tr("Sub");
} else {
return tr("Unknown");
}
}
void Vehicle::resetCounters()
{
_messagesReceived = 0;
_messagesSent = 0;
......@@ -2084,7 +2109,6 @@ const char* VehicleGPSFactGroup::_lockFactName = "lock";
VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent)
: FactGroup(1000, ":/json/Vehicle/GPSFact.json", parent)
, _vehicle(NULL)
, _hdopFact (0, _hdopFactName, FactMetaData::valueTypeDouble)
, _vdopFact (0, _vdopFactName, FactMetaData::valueTypeDouble)
, _courseOverGroundFact (0, _courseOverGroundFactName, FactMetaData::valueTypeDouble)
......@@ -2169,11 +2193,6 @@ QString Vehicle::takeControlFlightMode(void) const
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
void VehicleGPSFactGroup::setVehicle(Vehicle* vehicle)
{
_vehicle = vehicle;
}
const char* VehicleBatteryFactGroup::_voltageFactName = "voltage";
const char* VehicleBatteryFactGroup::_percentRemainingFactName = "percentRemaining";
const char* VehicleBatteryFactGroup::_mahConsumedFactName = "mahConsumed";
......@@ -2192,7 +2211,6 @@ const int VehicleBatteryFactGroup::_cellCountUnavailable = -1.0;
VehicleBatteryFactGroup::VehicleBatteryFactGroup(QObject* parent)
: FactGroup(1000, ":/json/Vehicle/BatteryFact.json", parent)
, _vehicle(NULL)
, _voltageFact (0, _voltageFactName, FactMetaData::valueTypeDouble)
, _percentRemainingFact (0, _percentRemainingFactName, FactMetaData::valueTypeInt32)
, _mahConsumedFact (0, _mahConsumedFactName, FactMetaData::valueTypeInt32)
......@@ -2216,18 +2234,12 @@ VehicleBatteryFactGroup::VehicleBatteryFactGroup(QObject* parent)
_cellCountFact.setRawValue (_cellCountUnavailable);
}
void VehicleBatteryFactGroup::setVehicle(Vehicle* vehicle)
{
_vehicle = vehicle;
}
const char* VehicleWindFactGroup::_directionFactName = "direction";
const char* VehicleWindFactGroup::_speedFactName = "speed";
const char* VehicleWindFactGroup::_verticalSpeedFactName = "verticalSpeed";
VehicleWindFactGroup::VehicleWindFactGroup(QObject* parent)
: FactGroup(1000, ":/json/Vehicle/WindFact.json", parent)
, _vehicle(NULL)
, _directionFact (0, _directionFactName, FactMetaData::valueTypeDouble)
, _speedFact (0, _speedFactName, FactMetaData::valueTypeDouble)
, _verticalSpeedFact(0, _verticalSpeedFactName, FactMetaData::valueTypeDouble)
......@@ -2242,11 +2254,6 @@ VehicleWindFactGroup::VehicleWindFactGroup(QObject* parent)
_verticalSpeedFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
}
void VehicleWindFactGroup::setVehicle(Vehicle* vehicle)
{
_vehicle = vehicle;
}
const char* VehicleVibrationFactGroup::_xAxisFactName = "xAxis";
const char* VehicleVibrationFactGroup::_yAxisFactName = "yAxis";
const char* VehicleVibrationFactGroup::_zAxisFactName = "zAxis";
......@@ -2256,7 +2263,6 @@ const char* VehicleVibrationFactGroup::_clipCount3FactName = "clipCount3";
VehicleVibrationFactGroup::VehicleVibrationFactGroup(QObject* parent)
: FactGroup(1000, ":/json/Vehicle/VibrationFact.json", parent)
, _vehicle(NULL)
, _xAxisFact (0, _xAxisFactName, FactMetaData::valueTypeDouble)
, _yAxisFact (0, _yAxisFactName, FactMetaData::valueTypeDouble)
, _zAxisFact (0, _zAxisFactName, FactMetaData::valueTypeDouble)
......@@ -2276,8 +2282,3 @@ VehicleVibrationFactGroup::VehicleVibrationFactGroup(QObject* parent)
_yAxisFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
_zAxisFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
}
void VehicleVibrationFactGroup::setVehicle(Vehicle* vehicle)
{
_vehicle = vehicle;
}
src/Vehicle/Vehicle.h
View file @ e3566933
......@@ -63,8 +63,6 @@ public:
Fact* clipCount2 (void) { return &_clipCount2Fact; }
Fact* clipCount3 (void) { return &_clipCount3Fact; }
void setVehicle(Vehicle* vehicle);
static const char* _xAxisFactName;
static const char* _yAxisFactName;
static const char* _zAxisFactName;
......@@ -73,7 +71,6 @@ public:
static const char* _clipCount3FactName;
private:
Vehicle* _vehicle;
Fact _xAxisFact;
Fact _yAxisFact;
Fact _zAxisFact;
......@@ -97,14 +94,11 @@ public:
Fact* speed (void) { return &_speedFact; }
Fact* verticalSpeed (void) { return &_verticalSpeedFact; }
void setVehicle(Vehicle* vehicle);
static const char* _directionFactName;
static const char* _speedFactName;
static const char* _verticalSpeedFactName;
private:
Vehicle* _vehicle;
Fact _directionFact;
Fact _speedFact;
Fact _verticalSpeedFact;
......@@ -129,8 +123,6 @@ public:
Fact* count (void) { return &_countFact; }
Fact* lock (void) { return &_lockFact; }
void setVehicle(Vehicle* vehicle);
static const char* _hdopFactName;
static const char* _vdopFactName;
static const char* _courseOverGroundFactName;
......@@ -138,7 +130,6 @@ public:
static const char* _lockFactName;
private:
Vehicle* _vehicle;
Fact _hdopFact;
Fact _vdopFact;
Fact _courseOverGroundFact;
......@@ -168,8 +159,6 @@ public:
Fact* cellCount (void) { return &_cellCountFact; }
void setVehicle(Vehicle* vehicle);
static const char* _voltageFactName;
static const char* _percentRemainingFactName;
static const char* _mahConsumedFactName;
......@@ -187,7 +176,6 @@ public:
static const int _cellCountUnavailable;
private:
Vehicle* _vehicle;
Fact _voltageFact;
Fact _percentRemainingFact;
Fact _mahConsumedFact;
......@@ -245,8 +233,8 @@ public:
Q_PROPERTY(bool active READ active WRITE setActive NOTIFY activeChanged)
Q_PROPERTY(int flowImageIndex READ flowImageIndex NOTIFY flowImageIndexChanged)
Q_PROPERTY(int rcRSSI READ rcRSSI NOTIFY rcRSSIChanged)
Q_PROPERTY(bool px4Firmware READ px4Firmware CONSTANT)
Q_PROPERTY(bool apmFirmware READ apmFirmware CONSTANT)
Q_PROPERTY(bool px4Firmware READ px4Firmware NOTIFY firmwareTypeChanged)
Q_PROPERTY(bool apmFirmware READ apmFirmware NOTIFY firmwareTypeChanged)
Q_PROPERTY(bool soloFirmware READ soloFirmware WRITE setSoloFirmware NOTIFY soloFirmwareChanged)
Q_PROPERTY(bool genericFirmware READ genericFirmware CONSTANT)
Q_PROPERTY(bool connectionLost READ connectionLost NOTIFY connectionLostChanged)
......@@ -254,26 +242,28 @@ public:
Q_PROPERTY(uint messagesReceived READ messagesReceived NOTIFY messagesReceivedChanged)
Q_PROPERTY(uint messagesSent READ messagesSent NOTIFY messagesSentChanged)
Q_PROPERTY(uint messagesLost READ messagesLost NOTIFY messagesLostChanged)
Q_PROPERTY(bool fixedWing READ fixedWing CONSTANT)
Q_PROPERTY(bool multiRotor READ multiRotor CONSTANT)
Q_PROPERTY(bool vtol READ vtol CONSTANT)
Q_PROPERTY(bool rover READ rover CONSTANT)
Q_PROPERTY(bool fixedWing READ fixedWing NOTIFY vehicleTypeChanged)
Q_PROPERTY(bool multiRotor READ multiRotor NOTIFY vehicleTypeChanged)
Q_PROPERTY(bool vtol READ vtol NOTIFY vehicleTypeChanged)
Q_PROPERTY(bool rover READ rover NOTIFY vehicleTypeChanged)
Q_PROPERTY(bool sub READ sub NOTIFY vehicleTypeChanged)
Q_PROPERTY(bool supportsManualControl READ supportsManualControl CONSTANT)
Q_PROPERTY(bool supportsThrottleModeCenterZero READ supportsThrottleModeCenterZero CONSTANT)
Q_PROPERTY(bool supportsJSButton READ supportsJSButton CONSTANT)
Q_PROPERTY(bool supportsRadio READ supportsRadio CONSTANT)
Q_PROPERTY(bool sub READ sub CONSTANT)
Q_PROPERTY(bool autoDisconnect MEMBER _autoDisconnect NOTIFY autoDisconnectChanged)
Q_PROPERTY(QString prearmError READ prearmError WRITE setPrearmError NOTIFY prearmErrorChanged)
Q_PROPERTY(int motorCount READ motorCount CONSTANT)
Q_PROPERTY(bool coaxialMotors READ coaxialMotors CONSTANT)
Q_PROPERTY(bool xConfigMotors READ xConfigMotors CONSTANT)
Q_PROPERTY(bool isOfflineEditingVehicle READ isOfflineEditingVehicle CONSTANT)
Q_PROPERTY(QString brandImage READ brandImage CONSTANT)
Q_PROPERTY(QString brandImage READ brandImage NOTIFY firmwareTypeChanged)
Q_PROPERTY(QStringList unhealthySensors READ unhealthySensors NOTIFY unhealthySensorsChanged)
Q_PROPERTY(QString missionFlightMode READ missionFlightMode CONSTANT)
Q_PROPERTY(QString rtlFlightMode READ rtlFlightMode CONSTANT)
Q_PROPERTY(QString takeControlFlightMode READ takeControlFlightMode CONSTANT)
Q_PROPERTY(QString firmwareTypeString READ firmwareTypeString NOTIFY firmwareTypeChanged)
Q_PROPERTY(QString vehicleTypeString READ vehicleTypeString NOTIFY vehicleTypeChanged)
/// true: Vehicle is flying, false: Vehicle is on ground
Q_PROPERTY(bool flying READ flying WRITE setFlying NOTIFY flyingChanged)
......@@ -528,6 +518,10 @@ public:
QString missionFlightMode () const;
QString rtlFlightMode () const;
QString takeControlFlightMode () const;
double cruiseSpeed () const { return _cruiseSpeed; }
double hoverSpeed () const { return _hoverSpeed; }
QString firmwareTypeString () const;
QString vehicleTypeString () const;
Fact* roll (void) { return &_rollFact; }
Fact* heading (void) { return &_headingFact; }
......@@ -615,6 +609,10 @@ signals:
void prearmErrorChanged(const QString& prearmError);
void soloFirmwareChanged(bool soloFirmware);
void unhealthySensorsChanged(void);
void cruiseSpeedChanged(double cruiseSpeed);
void hoverSpeedChanged(double hoverSpeed);
void firmwareTypeChanged(void);
void vehicleTypeChanged(void);
void messagesReceivedChanged ();
void messagesSentChanged ();
......@@ -673,6 +671,10 @@ private slots:
void _remoteControlRSSIChanged(uint8_t rssi);
void _handleFlightModeChanged(const QString& flightMode);
void _announceArmedChanged(bool armed);
void _offlineFirmwareTypeSettingChanged(QVariant value);
void _offlineVehicleTypeSettingChanged(QVariant value);
void _offlineCruiseSpeedSettingChanged(QVariant value);
void _offlineHoverSpeedSettingChanged(QVariant value);
void _handleTextMessage (int newCount);
void _handletextMessageReceived (UASMessage* message);
......@@ -724,8 +726,8 @@ private:
void _ackMavlinkLogData(uint16_t sequence);
void _sendNextQueuedMavCommand(void);
void _updatePriorityLink(void);
void _commonInit(void);
private:
int _id; ///< Mavlink system id
bool _active;
bool _offlineEditingVehicle; ///< This Vehicle is a "disconnected" vehicle for ui use while offline editing
......@@ -771,6 +773,8 @@ private:
uint32_t _onboardControlSensorsUnhealthy;
bool _gpsRawIntMessageAvailable;
bool _globalPositionIntMessageAvailable;
double _cruiseSpeed;
double _hoverSpeed;
typedef struct {
int component;
......
src/ui/preferences/GeneralSettings.qml
View file @ e3566933
......@@ -13,6 +13,7 @@ import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QtQuick.Dialogs 1.1
import QtMultimedia 5.5
import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.FactSystem 1.0
......@@ -33,6 +34,10 @@ QGCView {
property Fact _percentRemainingAnnounce: QGroundControl.batteryPercentRemainingAnnounce
property real _labelWidth: ScreenTools.defaultFontPixelWidth * 15
property real _editFieldWidth: ScreenTools.defaultFontPixelWidth * 30
property bool _showCruiseSpeed: offlineVehicleCombo.currentText != "Multicopter"
property bool _showHoverSpeed: offlineVehicleCombo.currentText != "FixedWing"
readonly property string _requiresRestart: qsTr("(Requires Restart)")
QGCPalette { id: qgcPal }
......@@ -117,90 +122,6 @@ QGCView {
}
}
//-----------------------------------------------------------------
//-- Offline mission editing
Item {
width: qgcView.width * 0.8
height: offlineLabel.height
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
id: offlineLabel
text: qsTr("Offline Mission Editing (Requires Restart)")
font.family: ScreenTools.demiboldFontFamily
}
}
Rectangle {
height: offlineCol.height + (ScreenTools.defaultFontPixelHeight * 2)
width: qgcView.width * 0.8
color: qgcPal.windowShade
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
Column {
id: offlineCol
spacing: ScreenTools.defaultFontPixelWidth
anchors.centerIn: parent
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
text: qsTr("Firmware:")
width: _labelWidth
anchors.baseline: offlineTypeCombo.baseline
}
FactComboBox {
id: offlineTypeCombo
width: _editFieldWidth
fact: QGroundControl.offlineEditingFirmwareType
indexModel: false
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCLabel {
text: qsTr("Vehicle:")
width: _labelWidth
anchors.baseline: offlineVehicleCombo.baseline
}
FactComboBox {
id: offlineVehicleCombo
width: _editFieldWidth
fact: QGroundControl.offlineEditingVehicleType
indexModel: false
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
visible: offlineVehicleCombo.currentText != "Multicopter"
QGCLabel {
text: qsTr("Cruise speed:")
width: _labelWidth
anchors.baseline: cruiseSpeedField.baseline
}
FactTextField {
id: cruiseSpeedField
width: _editFieldWidth
fact: QGroundControl.offlineEditingCruiseSpeed
enabled: true
}
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
visible: offlineVehicleCombo.currentText != "Fixedwing"
QGCLabel {
id: hoverSpeedLabel
text: qsTr("Hover speed:")
width: _labelWidth
anchors.baseline: hoverSpeedField.baseline
}
FactTextField {
id: hoverSpeedField
width: _editFieldWidth
fact: QGroundControl.offlineEditingHoverSpeed
enabled: true
}
}
}
}
//-----------------------------------------------------------------
//-- Miscelanous
Item {
width: qgcView.width * 0.8
......@@ -274,7 +195,7 @@ QGCView {
}
QGCLabel {
anchors.verticalCenter: parent.verticalCenter
text: qsTr("(Requires Restart)")
text: _requiresRestart
}
}
//-----------------------------------------------------------------
......
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