Skip to content

Q
qgroundcontrol
Commit e965e5c7 authored by Valentin Platzgummer's avatar Valentin Platzgummer
Browse files
Options

remainingDistance and remainingTimeAdded to MissionController, still testing.

parent 190cf9fe
Hide whitespace changes
Inline Side-by-side
Showing with 280 additions and 32 deletions
src/FlightDisplay/FlightDisplayView.qml
View file @ e965e5c7
......@@ -42,6 +42,7 @@ QGCView {
property bool activeVehicleJoystickEnabled: _activeVehicle ? _activeVehicle.joystickEnabled : false
property var _planMasterController: masterController
property var _wimaController: wimaController
property var _missionController: _planMasterController.missionController
property var _geoFenceController: _planMasterController.geoFenceController
property var _rallyPointController: _planMasterController.rallyPointController
......@@ -610,8 +611,9 @@ QGCView {
maxHeight: parent.height - toolStrip.height - toolStrip.y - ScreenTools.defaultFontPixelHeight*4
wimaController: wimaController
planMasterController: masterController
wimaController: _wimaController
planMasterController: _planMasterController
missionController: _missionController
onInitSmartRTL: {
if (wimaController.checkSmartRTLPreCondition()) {
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ e965e5c7
......@@ -225,8 +225,8 @@ FlightMap {
missionItems: wimaController.missionItems
path: wimaController.waypointPath
showItems: _wimaEnabled && _showAllWimaItems
zOrderWP: QGroundControl.zOrderWaypointIndicators-2
zOrderLines: QGroundControl.zOrderWaypointLines-2
zOrderWP: QGroundControl.zOrderWimaAllWaypointIndicators
zOrderLines: QGroundControl.zOrderWimaAllWaypointLines
color: "gray"
}
// current Items
......@@ -236,8 +236,8 @@ FlightMap {
missionItems: wimaController.currentMissionItems
path: wimaController.currentWaypointPath
showItems: _wimaEnabled && _showCurrentWimaItems
zOrderWP: QGroundControl.zOrderWaypointIndicators-1
zOrderLines: QGroundControl.zOrderWaypointLines-1
zOrderWP: QGroundControl.zOrderWimaCurrentWaypointIndicators
zOrderLines: QGroundControl.zOrderWimaCurrentWaypointLines
color: "green"
}
......
src/FlightDisplay/FlightDisplayWimaMenu.qml
View file @ e965e5c7
......@@ -27,6 +27,7 @@ Item {
property var wimaController // must be provided by the user
property var planMasterController // must be provided by the user
property var missionController // must be provided by the user
readonly property alias missionReadyForStart: _private.missionReadyForStart
property bool _controllerValid: planMasterController !== undefined
......@@ -358,7 +359,10 @@ Item {
Layout.fillWidth: true
}
QGCLabel {
text: wimaController.phaseDistance >= 0 ? wimaController.phaseDistance.toFixed(2) + " m": ""
property var phaseDistance: wimaController.phaseDistance
text: phaseDistance >= 0 ? phaseDistance.toFixed(2) + " m": "-.-"
wrapMode: Text.WordWrap
Layout.fillWidth: true
}
......@@ -369,11 +373,52 @@ Item {
Layout.fillWidth: true
}
QGCLabel {
text: wimaController.phaseDuration >= 0 ? getTime(wimaController.phaseDuration) : ""
property var phaseDuration: wimaController.phaseDuration
text: phaseDuration >= 0 ? getTime(phaseDuration) : "-.-"
wrapMode: Text.WordWrap
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("Current Waypoint: ")
wrapMode: Text.WordWrap
Layout.fillWidth: true
}
QGCLabel {
property var currentMissionIndex: missionController.currentMissionIndex
text: currentMissionIndex > 0 ? currentMissionIndex : "-.-"
wrapMode: Text.WordWrap
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("Remaining Distance: ")
wrapMode: Text.WordWrap
Layout.fillWidth: true
}
QGCLabel {
property var remainingDistance: missionController.remainingDistance
text: remainingDistance >= 0 ? remainingDistance.toFixed(2) + " m" : "-.-"
wrapMode: Text.WordWrap
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("Remaining Time: ")
wrapMode: Text.WordWrap
Layout.fillWidth: true
}
QGCLabel {
property var remainingTime: missionController.remainingTime
text: remainingTime >= 0 ? getTime(remainingTime) : "-.-"
wrapMode: Text.WordWrap
Layout.fillWidth: true
}
QGCLabel { // space
text: ""
Layout.columnSpan: 2
}
......@@ -382,7 +427,7 @@ Item {
Item { // spacer
width: 6
height: 1
height: 5
}
}
......
src/FlightMap/Widgets/MapFitFunctions.qml
View file @ e965e5c7
......@@ -81,10 +81,14 @@ Item {
east = Math.min(east + ((map.width - mapFitViewport.right) * lonDegreesPerPixel), 360)
// Back off on zoom level
east = Math.min(east * 1.0000075, 360)
north = Math.min(north * 1.0000075, 180)
west = west * 0.9999925
south = south * 0.9999925
// var alpha1 = 1.0000075 // original value
// var alpha2= 0.9999925 // original value
var alpha1 = 1
var alpha2 = 1
east = Math.min(east * alpha1, 360)
north = Math.min(north * alpha1, 180)
west = west * alpha2
south = south * alpha2
// Fit the map region to the new bounding rect
var topLeftCoord = QtPositioning.coordinate(north - 90.0, west - 180.0)
......
src/MissionManager/MissionController.cc
View file @ e965e5c7
......@@ -82,6 +82,7 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
managerVehicleChanged(_managerVehicle);
_updateTimer.setSingleShot(true);
connect(&_updateTimer, &QTimer::timeout, this, &MissionController::_updateTimeout);
}
MissionController::~MissionController()
......@@ -1786,6 +1787,8 @@ void MissionController::managerVehicleChanged(Vehicle* managerVehicle)
connect(_missionManager, &MissionManager::inProgressChanged, this, &MissionController::_inProgressChanged);
connect(_missionManager, &MissionManager::progressPct, this, &MissionController::_progressPctChanged);
connect(_missionManager, &MissionManager::currentIndexChanged, this, &MissionController::_currentMissionIndexChanged);
connect(_missionManager, &MissionManager::currentIndexChanged, this, &MissionController::remainingDistanceChanged);
connect(_missionManager, &MissionManager::currentIndexChanged, this, &MissionController::remainingTimeChanged);
connect(_missionManager, &MissionManager::lastCurrentIndexChanged, this, &MissionController::resumeMissionIndexChanged);
connect(_missionManager, &MissionManager::resumeMissionReady, this, &MissionController::resumeMissionReady);
connect(_missionManager, &MissionManager::resumeMissionUploadFail, this, &MissionController::resumeMissionUploadFail);
......@@ -2141,6 +2144,182 @@ int MissionController::currentPlanViewIndex(void) const
return _currentPlanViewIndex;
}
bool MissionController::remainingDistanceAndTime(double &remainingDistance, double &remainingTime, int missionIndex) const
{
if ( _visualItems == nullptr
|| _visualItems->count() < 1
|| !_flyView
|| missionIndex < 1
|| _visualItems->count() < missionIndex) {
return false;
}
remainingDistance = 0;
remainingTime = 0;
bool firstCoordinateItem = true;
VisualMissionItem* lastCoordinateItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
bool showHomePosition = _settingsItem->coordinate().isValid();
// If home position is valid we can calculate distances between all waypoints.
// If home position is not valid we can only calculate distances between waypoints which are
// both relative altitude.
// No values for first item
lastCoordinateItem->setAltDifference(0.0);
lastCoordinateItem->setAzimuth(0.0);
lastCoordinateItem->setDistance(0.0);
const double homePositionAltitude = _settingsItem->coordinate().altitude();
bool linkStartToHome = false;
bool linkEndToHome = false;
if (showHomePosition) {
SimpleMissionItem* lastItem = _visualItems->value<SimpleMissionItem*>(_visualItems->count() - 1);
if (lastItem && int(lastItem->command()) == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
linkEndToHome = true;
} else {
linkEndToHome = _settingsItem->missionEndRTL();
}
}
// determine speed at waypoint with index currentMissionIdx-1
double currentSpeed = _settingsItem->specifiedFlightSpeed();
currentSpeed = !qIsNaN(currentSpeed) ? currentSpeed : 5;
for (int i = 1; i < missionIndex-1; ++i) {
SimpleMissionItem* simpleItem = _visualItems->value<SimpleMissionItem*>(i);
if (simpleItem != nullptr) {
double speed = simpleItem->specifiedFlightSpeed();
if (!qIsNaN(speed))
currentSpeed = speed;
}
}
// iterate over mission items starting at currentMissionIdx-1 and determine time and distance
for (int i=missionIndex-1; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(item);
// Assume the worst
item->setAzimuth(0.0);
item->setDistance(0.0);
// Look for speed changed
double newSpeed = item->specifiedFlightSpeed();
if (!qIsNaN(newSpeed)) {
currentSpeed = newSpeed;
}
// Link back to home if first item is takeoff and we have home position
if (firstCoordinateItem && simpleItem && (simpleItem->command() == MAV_CMD_NAV_TAKEOFF || simpleItem->command() == MAV_CMD_NAV_VTOL_TAKEOFF)) {
if (showHomePosition) {
linkStartToHome = true;
if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
// We have to special case takeoff, assuming vehicle takes off straight up to specified altitude
QGeoCoordinate itemCoordinate = item->exitCoordinate();
QGeoCoordinate settingsCoordinate = _settingsItem->coordinate();
if (item->exitCoordinateHasRelativeAltitude()) {
itemCoordinate.setAltitude(homePositionAltitude + settingsCoordinate.altitude());
}
double altDifference = settingsCoordinate.altitude() - itemCoordinate.altitude();
double takeoffTime = qAbs(altDifference) / _appSettings->offlineEditingAscentSpeed()->rawValue().toDouble();
remainingTime += takeoffTime;
}
}
}
remainingTime += item->additionalTimeDelay();
if (item->specifiesCoordinate() && !item->isStandaloneCoordinate()) {
firstCoordinateItem = false;
if (lastCoordinateItem != _settingsItem || linkStartToHome) {
// This is a subsequent waypoint or we are forcing the first waypoint back to home
QGeoCoordinate currentCoord = item->coordinate();
QGeoCoordinate prevCoord = lastCoordinateItem->exitCoordinate();
if (item != _settingsItem && item->coordinateHasRelativeAltitude()) {
currentCoord.setAltitude(homePositionAltitude + currentCoord.altitude());
}
if (lastCoordinateItem != _settingsItem && lastCoordinateItem->exitCoordinateHasRelativeAltitude()) {
prevCoord.setAltitude(homePositionAltitude + prevCoord.altitude());
}
double distance = prevCoord.distanceTo(currentCoord);
double time = distance / currentSpeed;
remainingDistance += distance;
remainingTime += time;
}
lastCoordinateItem = item;
}
}
if (linkEndToHome && lastCoordinateItem != _settingsItem) {
QGeoCoordinate currentCoord = lastCoordinateItem->coordinate();
QGeoCoordinate prevCoord = _settingsItem->exitCoordinate();
if (lastCoordinateItem != _settingsItem && lastCoordinateItem->coordinateHasRelativeAltitude()) {
currentCoord.setAltitude(homePositionAltitude + currentCoord.altitude());
}
double altDifference = currentCoord.altitude() - prevCoord.altitude();
double distance = currentCoord.distanceTo(prevCoord);
double time = distance / currentSpeed;
double landTime = qAbs(altDifference) / _appSettings->offlineEditingDescentSpeed()->rawValue().toDouble();
remainingDistance += distance;
remainingTime += time + landTime;
}
return true;
}
double MissionController::remainingDistance(int missionIndex) const
{
double remainingDistance = 0, remainingTime = 0;
if (remainingDistanceAndTime(remainingDistance, remainingTime, missionIndex))
return remainingDistance;
return -1;
}
double MissionController::remainingTime(int missionIndex) const
{
double remainingDistance = 0, remainingTime = 0;
if (remainingDistanceAndTime(remainingDistance, remainingTime, missionIndex))
return remainingTime;
return -1;
}
double MissionController::remainingDistance() const
{
if (_missionManager != nullptr)
return remainingDistance(_missionManager->currentIndex());
return -1;
}
double MissionController::remainingTime() const
{
if (_missionManager != nullptr)
return remainingTime(_missionManager->currentIndex());
return -1;
}
VisualMissionItem* MissionController::currentPlanViewItem(void) const
{
return _currentPlanViewItem;
......@@ -2149,7 +2328,7 @@ VisualMissionItem* MissionController::currentPlanViewItem(void) const
void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
{
if(_visualItems && (force || sequenceNumber != _currentPlanViewIndex)) {
_currentPlanViewItem = NULL;
_currentPlanViewItem = nullptr;
_currentPlanViewIndex = -1;
for (int i = 0; i < _visualItems->count(); i++) {
VisualMissionItem* pVI = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
......
src/MissionManager/MissionController.h
View file @ e965e5c7
......@@ -81,6 +81,8 @@ public:
Q_PROPERTY(int missionItemCount READ missionItemCount NOTIFY missionItemCountChanged) ///< True mission item command count (only valid in Fly View)
Q_PROPERTY(int currentMissionIndex READ currentMissionIndex NOTIFY currentMissionIndexChanged)
Q_PROPERTY(int resumeMissionIndex READ resumeMissionIndex NOTIFY resumeMissionIndexChanged) ///< Returns the item index two which a mission should be resumed. -1 indicates resume mission not available.
Q_PROPERTY(double remainingDistance READ remainingDistance NOTIFY remainingDistanceChanged)
Q_PROPERTY(double remainingTime READ remainingTime NOTIFY remainingTimeChanged)
Q_PROPERTY(int currentPlanViewIndex READ currentPlanViewIndex NOTIFY currentPlanViewIndexChanged)
Q_PROPERTY(VisualMissionItem* currentPlanViewItem READ currentPlanViewItem NOTIFY currentPlanViewItemChanged)
......@@ -202,10 +204,15 @@ public:
QString corridorScanComplexItemName (void) const { return patternCorridorScanName; }
QString structureScanComplexItemName (void) const { return patternStructureScanName; }
int missionItemCount (void) const { return _missionItemCount; }
int currentMissionIndex (void) const;
int resumeMissionIndex (void) const;
int currentPlanViewIndex (void) const;
int missionItemCount (void) const { return _missionItemCount; }
int currentMissionIndex (void) const;
int resumeMissionIndex (void) const;
int currentPlanViewIndex (void) const;
bool remainingDistanceAndTime (double &remainingDistance, double &remainingTime, int missionIndex) const;
double remainingDistance (int missionIndex) const;
double remainingTime (int missionIndex) const;
double remainingDistance () const;
double remainingTime () const;
double missionDistance (void) const { return _missionFlightStatus.totalDistance; }
double missionTime (void) const { return _missionFlightStatus.totalTime; }
......@@ -215,6 +222,7 @@ public:
double missionCruiseTime (void) const { return _missionFlightStatus.cruiseTime; }
double missionMaxTelemetry (void) const { return _missionFlightStatus.maxTelemetryDistance; }
int batteryChangePoint (void) const { return _missionFlightStatus.batteryChangePoint; } ///< -1 for not supported, 0 for not needed
int batteriesRequired (void) const { return _missionFlightStatus.batteriesRequired; } ///< -1 for not supported
......@@ -249,6 +257,8 @@ signals:
void currentPlanViewItemChanged (void);
void missionBoundingCubeChanged (void);
void missionItemCountChanged (int missionItemCount);
void remainingDistanceChanged (void);
void remainingTimeChanged (void);
private slots:
void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
......
src/QmlControls/QGroundControlQmlGlobal.h
View file @ e965e5c7
......@@ -73,13 +73,17 @@ public:
Q_PROPERTY(bool px4ProFirmwareSupported READ px4ProFirmwareSupported CONSTANT)
Q_PROPERTY(int apmFirmwareSupported READ apmFirmwareSupported CONSTANT)
Q_PROPERTY(qreal zOrderTopMost READ zOrderTopMost CONSTANT) ///< z order for top most items, toolbar, main window sub view
Q_PROPERTY(qreal zOrderWidgets READ zOrderWidgets CONSTANT) ///< z order value to widgets, for example: zoom controls, hud widgetss
Q_PROPERTY(qreal zOrderMapItems READ zOrderMapItems CONSTANT)
Q_PROPERTY(qreal zOrderVehicles READ zOrderVehicles CONSTANT)
Q_PROPERTY(qreal zOrderWaypointIndicators READ zOrderWaypointIndicators CONSTANT)
Q_PROPERTY(qreal zOrderTrajectoryLines READ zOrderTrajectoryLines CONSTANT)
Q_PROPERTY(qreal zOrderWaypointLines READ zOrderWaypointLines CONSTANT)
Q_PROPERTY(qreal zOrderTopMost READ zOrderTopMost CONSTANT) ///< z order for top most items, toolbar, main window sub view
Q_PROPERTY(qreal zOrderWidgets READ zOrderWidgets CONSTANT) ///< z order value to widgets, for example: zoom controls, hud widgetss
Q_PROPERTY(qreal zOrderMapItems READ zOrderMapItems CONSTANT)
Q_PROPERTY(qreal zOrderVehicles READ zOrderVehicles CONSTANT)
Q_PROPERTY(qreal zOrderWaypointIndicators READ zOrderWaypointIndicators CONSTANT)
Q_PROPERTY(qreal zOrderWimaAllWaypointIndicators READ zOrderWimaAllWaypointIndicators CONSTANT)
Q_PROPERTY(qreal zOrderWimaCurrentWaypointIndicators READ zOrderWimaCurrentWaypointIndicators CONSTANT)
Q_PROPERTY(qreal zOrderTrajectoryLines READ zOrderTrajectoryLines CONSTANT)
Q_PROPERTY(qreal zOrderWaypointLines READ zOrderWaypointLines CONSTANT)
Q_PROPERTY(qreal zOrderWimaAllWaypointLines READ zOrderWimaAllWaypointLines CONSTANT)
Q_PROPERTY(qreal zOrderWimaCurrentWaypointLines READ zOrderWimaCurrentWaypointLines CONSTANT)
//-------------------------------------------------------------------------
// MavLink Protocol
......@@ -170,13 +174,17 @@ public:
bool taisyncSupported () { return false; }
#endif
qreal zOrderTopMost () { return 1000; }
qreal zOrderWidgets () { return 100; }
qreal zOrderMapItems () { return 50; }
qreal zOrderWaypointIndicators () { return 40; }
qreal zOrderVehicles () { return 30; }
qreal zOrderTrajectoryLines () { return 20; }
qreal zOrderWaypointLines () { return 10; }
qreal zOrderTopMost () { return 1000; }
qreal zOrderWidgets () { return 200; }
qreal zOrderMapItems () { return 150; }
qreal zOrderWaypointIndicators () { return 80; }
qreal zOrderVehicles () { return 70; }
qreal zOrderTrajectoryLines () { return 60; }
qreal zOrderWaypointLines () { return 50; }
qreal zOrderWimaCurrentWaypointIndicators () { return 40; }
qreal zOrderWimaAllWaypointIndicators () { return 30; }
qreal zOrderWimaCurrentWaypointLines () { return 20; }
qreal zOrderWimaAllWaypointLines () { return 10; }
bool isVersionCheckEnabled () { return _toolbox->mavlinkProtocol()->versionCheckEnabled(); }
int mavlinkSystemID () { return _toolbox->mavlinkProtocol()->getSystemId(); }
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment