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Commit e5b5b95c authored by Pierre TILAK's avatar Pierre TILAK
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Compass - Add indicator of next WP Heading

parent 6a7a15c8
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Showing with 109 additions and 2 deletions
qgcimages.qrc
View file @ e5b5b95c
......@@ -69,6 +69,7 @@
<file alias="CogWheel.svg">src/MissionManager/CogWheel.svg</file>
<file alias="compassInstrumentArrow.svg">src/FlightMap/Images/compassInstrumentArrow.svg</file>
<file alias="compassInstrumentDial.svg">src/FlightMap/Images/compassInstrumentDial.svg</file>
<file alias="compassDottedLine.svg">src/FlightMap/Images/compassDottedLine.svg</file>
<file alias="cOGPointer.svg">src/FlightMap/Images/cOGPointer.svg</file>
<file alias="Connect.svg">src/ui/toolbar/Images/Connect.svg</file>
<file alias="crossHair.svg">src/FlightMap/Images/crossHair.svg</file>
......
src/FlightMap/Images/compassDottedLine.svg 0 → 100644
View file @ e5b5b95c
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Generator: Adobe Illustrator 19.1.0, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
version="1.1"
id="Layer_2"
x="0px"
y="0px"
viewBox="-161 253 288 288"
enable-background="new -161 253 288 288"
xml:space="preserve"
inkscape:version="0.91 r13725"
sodipodi:docname="compassDottedLine.svg"><metadata
id="metadata131"><rdf:RDF><cc:Work
rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" /></cc:Work></rdf:RDF></metadata><defs
id="defs129" /><sodipodi:namedview
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1"
objecttolerance="10"
gridtolerance="10"
guidetolerance="10"
inkscape:pageopacity="0"
inkscape:pageshadow="2"
inkscape:window-width="1855"
inkscape:window-height="1056"
id="namedview127"
showgrid="false"
inkscape:zoom="3.2777778"
inkscape:cx="59.669563"
inkscape:cy="175.88441"
inkscape:window-x="1985"
inkscape:window-y="24"
inkscape:window-maximized="1"
inkscape:current-layer="Layer_2"
inkscape:snap-bbox="true"
inkscape:snap-object-midpoints="true"
inkscape:snap-center="true" /><path
style="fill:#ffff00;fill-rule:evenodd;stroke:#ffe400;stroke-width:3.805;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:7;stroke-dasharray:11.415,3.805;stroke-opacity:1;stroke-dashoffset:0"
d="m -17.052985,397 0.10597,-112.28426"
id="path4263"
inkscape:connector-curvature="0" /></svg>
\ No newline at end of file
src/FlightMap/Widgets/QGCCompassWidget.qml
View file @ e5b5b95c
......@@ -36,7 +36,8 @@ Item {
property int _fontSize: ScreenTools.defaultFontPointSize * _sizeRatio
property real _heading: vehicle ? vehicle.heading.rawValue : 0
property real _headingToHome: vehicle ? vehicle.headingToHome.rawValue : 0
property real _groundSpeed: vehicle ? vehicle.groundSpeed.rawValue : 0
property real _groundSpeed: vehicle ? vehicle.groundSpeed.rawValue : 0
property real _headingToNextWP: vehicle ? vehicle.headingToNextWP.rawValue : 0
property real _courseOverGround:activeVehicle ? activeVehicle.gps.courseOverGround.rawValue : 0
function isCOGAngleOK(){
......@@ -52,12 +53,15 @@ Item {
return _showHomeHeadingCompass && !isNaN(_headingToHome)
}
function isHeadingToNextWPOK(){
return !isNaN(_headingToNextWP)
}
readonly property bool _showHomeHeadingCompass: QGroundControl.settingsManager.flyViewSettings.showHomeHeadingCompass.value
readonly property bool _showCOGAngleCompass: QGroundControl.settingsManager.flyViewSettings.showCOGAngleCompass.value
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
Rectangle {
id: borderRect
anchors.fill: parent
......@@ -72,6 +76,21 @@ Item {
anchors.fill: parent
visible: false
Image {
id: nextWPPointer
source: isHeadingToNextWPOK() ? "/qmlimages/compassDottedLine.svg":""
mipmap: true
fillMode: Image.PreserveAspectFit
anchors.fill: parent
sourceSize.height: parent.height
transform: Rotation {
origin.x: cOGPointer.width / 2
origin.y: cOGPointer.height / 2
angle: _headingToNextWP - _heading
}
}
Image {
id: cOGPointer
source: isCOGAngleOK() ? "/qmlimages/cOGPointer.svg" : ""
......
src/Vehicle/Vehicle.cc
View file @ e5b5b95c
......@@ -71,6 +71,7 @@ const char* Vehicle::_altitudeAMSLFactName = "altitudeAMSL";
const char* Vehicle::_flightDistanceFactName = "flightDistance";
const char* Vehicle::_flightTimeFactName = "flightTime";
const char* Vehicle::_distanceToHomeFactName = "distanceToHome";
const char* Vehicle::_headingToNextWPFactName = "headingToNextWP";
const char* Vehicle::_headingToHomeFactName = "headingToHome";
const char* Vehicle::_distanceToGCSFactName = "distanceToGCS";
const char* Vehicle::_hobbsFactName = "hobbs";
......@@ -202,6 +203,7 @@ Vehicle::Vehicle(LinkInterface* link,
, _flightDistanceFact (0, _flightDistanceFactName, FactMetaData::valueTypeDouble)
, _flightTimeFact (0, _flightTimeFactName, FactMetaData::valueTypeElapsedTimeInSeconds)
, _distanceToHomeFact (0, _distanceToHomeFactName, FactMetaData::valueTypeDouble)
, _headingToNextWPFact (0, _headingToNextWPFactName, FactMetaData::valueTypeDouble)
, _headingToHomeFact (0, _headingToHomeFactName, FactMetaData::valueTypeDouble)
, _distanceToGCSFact (0, _distanceToGCSFactName, FactMetaData::valueTypeDouble)
, _hobbsFact (0, _hobbsFactName, FactMetaData::valueTypeString)
......@@ -404,6 +406,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _flightDistanceFact (0, _flightDistanceFactName, FactMetaData::valueTypeDouble)
, _flightTimeFact (0, _flightTimeFactName, FactMetaData::valueTypeElapsedTimeInSeconds)
, _distanceToHomeFact (0, _distanceToHomeFactName, FactMetaData::valueTypeDouble)
, _headingToNextWPFact (0, _headingToNextWPFactName, FactMetaData::valueTypeDouble)
, _headingToHomeFact (0, _headingToHomeFactName, FactMetaData::valueTypeDouble)
, _distanceToGCSFact (0, _distanceToGCSFactName, FactMetaData::valueTypeDouble)
, _hobbsFact (0, _hobbsFactName, FactMetaData::valueTypeString)
......@@ -438,6 +441,7 @@ void Vehicle::_commonInit(void)
connect(this, &Vehicle::homePositionChanged, this, &Vehicle::_updateDistanceHeadingToHome);
connect(this, &Vehicle::hobbsMeterChanged, this, &Vehicle::_updateHobbsMeter);
connect(_toolbox->qgcPositionManager(), &QGCPositionManager::gcsPositionChanged, this, &Vehicle::_updateDistanceToGCS);
_missionManager = new MissionManager(this);
......@@ -447,6 +451,7 @@ void Vehicle::_commonInit(void)
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearTrajectoryPoints);
connect(_missionManager, &MissionManager::sendComplete, this, &Vehicle::_clearCameraTriggerPoints);
connect(_missionManager, &MissionManager::sendComplete, this, &Vehicle::_clearTrajectoryPoints);
connect(_missionManager, &MissionManager::currentIndexChanged, this, &Vehicle::_updateHeadingToNextWP);
_parameterManager = new ParameterManager(this);
connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
......@@ -3790,6 +3795,25 @@ void Vehicle::_updateDistanceHeadingToHome(void)
}
}
void Vehicle::_updateHeadingToNextWP(void)
{
const int _currentIndex = _missionManager->currentIndex();
MissionItem _currentItem;
QList<MissionItem*> llist = _missionManager->missionItems();
if(llist.size()>_currentIndex && _currentIndex!=-1
&& llist[_currentIndex]->coordinate().longitude()!=0.0
&& coordinate().distanceTo(llist[_currentIndex]->coordinate())>5.0 ){
_headingToNextWPFact.setRawValue(coordinate().azimuthTo(llist[_currentIndex]->coordinate()));
}
else{
_headingToNextWPFact.setRawValue(qQNaN());
}
qDebug() << " Vehicle updateHeadingToNextWP "<< _currentIndex;
}
void Vehicle::_updateDistanceToGCS(void)
{
QGeoCoordinate gcsPosition = _toolbox->qgcPositionManager()->gcsPosition();
......
src/Vehicle/Vehicle.h
View file @ e5b5b95c
......@@ -669,6 +669,7 @@ public:
Q_PROPERTY(Fact* altitudeAMSL READ altitudeAMSL CONSTANT)
Q_PROPERTY(Fact* flightDistance READ flightDistance CONSTANT)
Q_PROPERTY(Fact* distanceToHome READ distanceToHome CONSTANT)
Q_PROPERTY(Fact* headingToNextWP READ headingToNextWP CONSTANT)
Q_PROPERTY(Fact* headingToHome READ headingToHome CONSTANT)
Q_PROPERTY(Fact* distanceToGCS READ distanceToGCS CONSTANT)
Q_PROPERTY(Fact* hobbs READ hobbs CONSTANT)
......@@ -971,6 +972,7 @@ public:
Fact* altitudeAMSL (void) { return &_altitudeAMSLFact; }
Fact* flightDistance (void) { return &_flightDistanceFact; }
Fact* distanceToHome (void) { return &_distanceToHomeFact; }
Fact* headingToNextWP (void) { return &_headingToNextWPFact; }
Fact* headingToHome (void) { return &_headingToHomeFact; }
Fact* distanceToGCS (void) { return &_distanceToGCSFact; }
Fact* hobbs (void) { return &_hobbsFact; }
......@@ -1243,6 +1245,7 @@ private slots:
void _clearTrajectoryPoints(void);
void _clearCameraTriggerPoints(void);
void _updateDistanceHeadingToHome(void);
void _updateHeadingToNextWP(void);
void _updateDistanceToGCS(void);
void _updateHobbsMeter(void);
void _vehicleParamLoaded(bool ready);
......@@ -1535,7 +1538,9 @@ private:
Fact _flightDistanceFact;
Fact _flightTimeFact;
Fact _distanceToHomeFact;
Fact _headingToNextWPFact;
Fact _headingToHomeFact;
Fact _headingToNextWP;
Fact _distanceToGCSFact;
Fact _hobbsFact;
Fact _throttlePctFact;
......@@ -1565,6 +1570,7 @@ private:
static const char* _flightDistanceFactName;
static const char* _flightTimeFactName;
static const char* _distanceToHomeFactName;
static const char* _headingToNextWPFactName;
static const char* _headingToHomeFactName;
static const char* _distanceToGCSFactName;
static const char* _hobbsFactName;
......
src/Vehicle/VehicleFact.json
View file @ e5b5b95c
......@@ -104,6 +104,13 @@
"decimalPlaces": 1,
"units": "m"
},
{
"name": "headingToNextWP",
"shortDescription": "Heading to Next Waypoint",
"type": "double",
"decimalPlaces": 0,
"units": "deg"
},
{
"name": "flightTime",
"shortDescription": "Flight Time",
......
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