Skip to content

Q
qgroundcontrol
Commit eab4dd99 authored by Don Gagne's avatar Don Gagne Committed by GitHub
Browse files
Options

Merge pull request #4420 from DonLakeFlyer/MissionSettings 

Mission Settings replaces Planned Home Position
parents dce91913 1e201fff
Expand all Hide whitespace changes
Inline Side-by-side
Showing with 661 additions and 413 deletions
qgroundcontrol.qrc
View file @ eab4dd99
......@@ -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 @ eab4dd99
......@@ -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 @ eab4dd99
......@@ -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 @ eab4dd99
......@@ -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 @ eab4dd99
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 @ eab4dd99
......@@ -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 @ eab4dd99
......@@ -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 @ eab4dd99
......@@ -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",
......@@ -503,23 +503,23 @@
"label": "Type:",
"enumStrings": "Airspeed,Ground Speed",
"enumValues": "0,1",
"default": 1
"default": 0
},
"param2": {
"label": "Speed:",
"units": "m/s",
"default": -1
"default": 0
},
"param3": {
"label": "Throttle:",
"units": "%",
"default": -1
"default": 0
},
"param4": {
"label": "Offset:",
"enumStrings": "Relative,Absolute",
"enumValues": "1,0",
"default": 1
"default": 0
}
},
{
......
src/MissionManager/MissionController.cc
View file @ eab4dd99
This diff is collapsed.
src/MissionManager/MissionController.h
View file @ eab4dd99
......@@ -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/MissionItem.cc
View file @ eab4dd99
......@@ -51,6 +51,8 @@ MissionItem::MissionItem(QObject* parent)
_frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
setAutoContinue(true);
connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
}
MissionItem::MissionItem(int sequenceNumber,
......@@ -95,6 +97,8 @@ MissionItem::MissionItem(int sequenceNumber,
_param5Fact.setRawValue(param5);
_param6Fact.setRawValue(param6);
_param7Fact.setRawValue(param7);
connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
}
MissionItem::MissionItem(const MissionItem& other, QObject* parent)
......@@ -117,6 +121,8 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent)
_frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
*this = other;
connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
}
const MissionItem& MissionItem::operator=(const MissionItem& other)
......@@ -139,8 +145,10 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
return *this;
}
MissionItem::~MissionItem()
{
}
void MissionItem::save(QJsonObject& json) const
......@@ -375,3 +383,21 @@ QGeoCoordinate MissionItem::coordinate(void) const
{
return QGeoCoordinate(param5(), param6(), param7());
}
double MissionItem::flightSpeed(void) const
{
double flightSpeed = std::numeric_limits<double>::quiet_NaN();
if (_commandFact.rawValue().toInt() == MAV_CMD_DO_CHANGE_SPEED && _param2Fact.rawValue().toDouble() > 0) {
flightSpeed = _param2Fact.rawValue().toDouble();
}
return flightSpeed;
}
void MissionItem::_param2Changed(QVariant value)
{
if (_commandFact.rawValue().toInt() == MAV_CMD_DO_CHANGE_SPEED && _param2Fact.rawValue().toDouble() > 0) {
emit flightSpeedChanged(value.toDouble());
}
}
src/MissionManager/MissionItem.h
View file @ eab4dd99
......@@ -76,6 +76,9 @@ public:
QGeoCoordinate coordinate (void) const;
int doJumpId (void) const { return _doJumpId; }
/// @return Flight speed change value if this item supports it. If not it returns NaN.
double flightSpeed (void) const;
void setCommand (MAV_CMD command);
void setSequenceNumber (int sequenceNumber);
void setIsCurrentItem (bool isCurrentItem);
......@@ -97,8 +100,12 @@ public:
bool relativeAltitude(void) const { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
signals:
void isCurrentItemChanged (bool isCurrentItem);
void sequenceNumberChanged (int sequenceNumber);
void isCurrentItemChanged (bool isCurrentItem);
void sequenceNumberChanged (int sequenceNumber);
void flightSpeedChanged (double flightSpeed);
private slots:
void _param2Changed (QVariant value);
private:
bool _convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Json, QString& errorString);
......
src/MissionManager/PlanElementController.cc
View file @ eab4dd99
......@@ -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 @ eab4dd99
......@@ -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/SimpleMissionItem.cc
View file @ eab4dd99
......@@ -71,6 +71,8 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
_connectSignals();
setDefaultsForCommand();
connect(&_missionItem, &MissionItem::flightSpeedChanged, this, &SimpleMissionItem::flightSpeedChanged);
}
SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missionItem, QObject* parent)
......@@ -607,3 +609,8 @@ void SimpleMissionItem::setSequenceNumber(int sequenceNumber)
emit abbreviationChanged();
}
}
double SimpleMissionItem::flightSpeed(void)
{
return missionItem().flightSpeed();
}
src/MissionManager/SimpleMissionItem.h
View file @ eab4dd99
......@@ -91,6 +91,7 @@ public:
QGeoCoordinate coordinate (void) const final { return _missionItem.coordinate(); }
QGeoCoordinate exitCoordinate (void) const final { return coordinate(); }
int sequenceNumber (void) const final { return _missionItem.sequenceNumber(); }
double flightSpeed (void) final;
bool coordinateHasRelativeAltitude (void) const final { return _missionItem.relativeAltitude(); }
bool exitCoordinateHasRelativeAltitude (void) const final { return coordinateHasRelativeAltitude(); }
......
src/MissionManager/SurveyMissionItem.cc
View file @ eab4dd99
......@@ -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 @ eab4dd99
......@@ -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
......@@ -93,6 +97,7 @@ public:
QGeoCoordinate coordinate (void) const final { return _coordinate; }
QGeoCoordinate exitCoordinate (void) const final { return _exitCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; }
double flightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
bool coordinateHasRelativeAltitude (void) const final { return _gridAltitudeRelative; }
bool exitCoordinateHasRelativeAltitude (void) const final { return _gridAltitudeRelative; }
......@@ -121,6 +126,7 @@ signals:
void cameraOrientationLandscapeChanged (bool cameraOrientationLandscape);
void cameraChanged (QString camera);
void manualGridChanged (bool manualGrid);
void timeBetweenShotsChanged (void);
private slots:
void _cameraTriggerChanged(void);
......@@ -158,6 +164,8 @@ private:
double _surveyDistance;
int _cameraShots;
double _coveredArea;
double _timeBetweenShots;
double _cruiseSpeed;
Fact _gridAltitudeFact;
Fact _gridAngleFact;
......@@ -198,7 +206,6 @@ private:
static const char* _jsonCameraOrientationLandscapeKey;
static const char* _jsonFixedValueIsAltitudeKey;
static const char* _gridAltitudeFactName;
static const char* _gridAngleFactName;
static const char* _gridSpacingFactName;
......
src/MissionManager/VisualMissionItem.h
View file @ eab4dd99
......@@ -40,13 +40,16 @@ public:
const VisualMissionItem& operator=(const VisualMissionItem& other);
// The following properties are calculated/set by the MissionControll recalc methods
// The following properties are calculated/set by the MissionController recalc methods
Q_PROPERTY(double altDifference READ altDifference WRITE setAltDifference NOTIFY altDifferenceChanged) ///< Change in altitude from previous waypoint
Q_PROPERTY(double altPercent READ altPercent WRITE setAltPercent NOTIFY altPercentChanged) ///< Percent of total altitude change in mission altitude
Q_PROPERTY(double azimuth READ azimuth WRITE setAzimuth NOTIFY azimuthChanged) ///< Azimuth to previous waypoint
Q_PROPERTY(double distance READ distance WRITE setDistance NOTIFY distanceChanged) ///< Distance to previous waypoint
/// This property returns whether the item supports changing flight speed. If it does not it will return NaN.
Q_PROPERTY(double flightSpeed READ flightSpeed NOTIFY flightSpeedChanged)
// Visual mission items have two coordinates associated with them:
/// This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
......@@ -110,6 +113,7 @@ public:
virtual QGeoCoordinate coordinate (void) const = 0;
virtual QGeoCoordinate exitCoordinate (void) const = 0;
virtual int sequenceNumber (void) const = 0;
virtual double flightSpeed (void) = 0;
virtual bool coordinateHasRelativeAltitude (void) const = 0;
virtual bool exitCoordinateHasRelativeAltitude (void) const = 0;
......@@ -143,6 +147,7 @@ signals:
void isSimpleItemChanged (bool isSimpleItem);
void specifiesCoordinateChanged (void);
void isStandaloneCoordinateChanged (void);
void flightSpeedChanged (double flightSpeed);
void coordinateHasRelativeAltitudeChanged (bool coordinateHasRelativeAltitude);
void exitCoordinateHasRelativeAltitudeChanged (bool exitCoordinateHasRelativeAltitude);
......
src/QmlControls/QGroundControlQmlGlobal.json
View file @ eab4dd99
......@@ -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 @ eab4dd99
This diff is collapsed.
src/Vehicle/Vehicle.h
View file @ eab4dd99
This diff is collapsed.
src/ui/preferences/GeneralSettings.qml
View file @ eab4dd99
......@@ -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
}
}
//-----------------------------------------------------------------
......
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