diff --git a/src/MissionManager/StructureScanComplexItem.cc b/src/MissionManager/StructureScanComplexItem.cc index a51befe63852e761d330cf83cada4b7d415ee2ad..119dcb13f84b43aab4ea09aef897b99feae60bf0 100644 --- a/src/MissionManager/StructureScanComplexItem.cc +++ b/src/MissionManager/StructureScanComplexItem.cc @@ -29,7 +29,6 @@ const char* StructureScanComplexItem::_gimbalYawFactName = "GimbalY const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan"; const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc"; const char* StructureScanComplexItem::_jsonAltitudeRelativeKey = "altitudeRelative"; -const char* StructureScanComplexItem::_jsonYawVehicleToStructureKey = "yawVehicleToStructure"; QMap StructureScanComplexItem::_metaDataMap; @@ -44,7 +43,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa , _cameraShots (0) , _cameraMinTriggerInterval (0) , _cameraCalc (vehicle) - , _yawVehicleToStructure (false) , _altitudeFact (0, _altitudeFactName, FactMetaData::valueTypeDouble) , _layersFact (0, _layersFactName, FactMetaData::valueTypeUint32) , _gimbalPitchFact (0, _gimbalPitchFactName, FactMetaData::valueTypeDouble) @@ -76,7 +74,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::_setDirty); connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::coordinateHasRelativeAltitudeChanged); connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::exitCoordinateHasRelativeAltitudeChanged); - connect(this, &StructureScanComplexItem::yawVehicleToStructureChanged, this, &StructureScanComplexItem::_setDirty); connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_updateCoordinateAltitudes); @@ -155,7 +152,6 @@ void StructureScanComplexItem::save(QJsonArray& missionItems) saveObject[_altitudeFactName] = _altitudeFact.rawValue().toDouble(); saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative; saveObject[_layersFactName] = _layersFact.rawValue().toDouble(); - saveObject[_jsonYawVehicleToStructureKey] = _yawVehicleToStructure; QJsonObject cameraCalcObject; _cameraCalc.save(cameraCalcObject); @@ -188,7 +184,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen { _jsonAltitudeRelativeKey, QJsonValue::Bool, false }, { _layersFactName, QJsonValue::Double, true }, { _jsonCameraCalcKey, QJsonValue::Object, true }, - { _jsonYawVehicleToStructureKey, QJsonValue::Bool, true }, }; if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) { return false; @@ -221,7 +216,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen _altitudeFact.setRawValue (complexObject[_altitudeFactName].toDouble()); _layersFact.setRawValue (complexObject[_layersFactName].toDouble()); _altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true); - _yawVehicleToStructure = complexObject[_jsonYawVehicleToStructureKey].toBool(true); if (!_structurePolygon.loadFromJson(complexObject, true /* required */, errorString)) { _structurePolygon.clear(); @@ -264,33 +258,18 @@ void StructureScanComplexItem::appendMissionItems(QList& items, QO int seqNum = _sequenceNumber; double baseAltitude = _altitudeFact.rawValue().toDouble(); - if (_yawVehicleToStructure) { - MissionItem* item = new MissionItem(seqNum++, - MAV_CMD_CONDITION_YAW, - MAV_FRAME_MISSION, - 90.0, // Target angle - 0, // Use default turn rate - 1, // Clockwise turn - 0, // Absolute angle specified - 0, 0, 0, // param 5-7 not used - true, // autoContinue - false, // isCurrentItem - missionItemParent); - items.append(item); - } else { - MissionItem* item = new MissionItem(seqNum++, - MAV_CMD_DO_MOUNT_CONTROL, - MAV_FRAME_MISSION, - _gimbalPitchFact.rawValue().toDouble(), - 0, // Gimbal roll - _gimbalYawFact.rawValue().toDouble(), - 0, 0, 0, // param 4-6 not used - MAV_MOUNT_MODE_MAVLINK_TARGETING, - true, // autoContinue - false, // isCurrentItem - missionItemParent); - items.append(item); - } + MissionItem* item = new MissionItem(seqNum++, + MAV_CMD_DO_MOUNT_CONTROL, + MAV_FRAME_MISSION, + _gimbalPitchFact.rawValue().toDouble(), + 0, // Gimbal roll + _gimbalYawFact.rawValue().toDouble(), + 0, 0, 0, // param 4-6 not used + MAV_MOUNT_MODE_MAVLINK_TARGETING, + true, // autoContinue + false, // isCurrentItem + missionItemParent); + items.append(item); for (int layer=0; layer<_layersFact.rawValue().toInt(); layer++) { bool addTriggerStart = true; @@ -470,11 +449,3 @@ void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative) emit altitudeRelativeChanged(altitudeRelative); } } - -void StructureScanComplexItem::setYawVehicleToStructure(bool yawVehicleToStructure) -{ - if (yawVehicleToStructure != _yawVehicleToStructure) { - _yawVehicleToStructure = yawVehicleToStructure; - emit yawVehicleToStructureChanged(yawVehicleToStructure); - } -} diff --git a/src/MissionManager/StructureScanComplexItem.h b/src/MissionManager/StructureScanComplexItem.h index 879da223ac4e040d04c5d36b9ab0f15396335da2..911c821c348c2ee9c592b22def7cbb41751cc002 100644 --- a/src/MissionManager/StructureScanComplexItem.h +++ b/src/MissionManager/StructureScanComplexItem.h @@ -38,7 +38,6 @@ public: Q_PROPERTY(double cameraMinTriggerInterval MEMBER _cameraMinTriggerInterval NOTIFY cameraMinTriggerIntervalChanged) Q_PROPERTY(QGCMapPolygon* structurePolygon READ structurePolygon CONSTANT) Q_PROPERTY(QGCMapPolygon* flightPolygon READ flightPolygon CONSTANT) - Q_PROPERTY(bool yawVehicleToStructure READ yawVehicleToStructure WRITE setYawVehicleToStructure NOTIFY yawVehicleToStructureChanged) ///< true: vehicle yaws to point to structure, false: gimbal yaws to point to structure CameraCalc* cameraCalc (void) { return &_cameraCalc; } Fact* altitude (void) { return &_altitudeFact; } @@ -51,10 +50,8 @@ public: double timeBetweenShots (void); QGCMapPolygon* structurePolygon (void) { return &_structurePolygon; } QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; } - bool yawVehicleToStructure (void) const { return _yawVehicleToStructure; } void setAltitudeRelative (bool altitudeRelative); - void setYawVehicleToStructure (bool yawVehicleToStructure); Q_INVOKABLE void rotateEntryPoint(void); @@ -102,7 +99,6 @@ signals: void timeBetweenShotsChanged (void); void cameraMinTriggerIntervalChanged(double cameraMinTriggerInterval); void altitudeRelativeChanged (bool altitudeRelative); - void yawVehicleToStructureChanged (bool yawVehicleToStructure); private slots: void _setDirty(void); @@ -135,7 +131,6 @@ private: double _cameraMinTriggerInterval; double _cruiseSpeed; CameraCalc _cameraCalc; - bool _yawVehicleToStructure; static QMap _metaDataMap; @@ -151,7 +146,6 @@ private: static const char* _jsonCameraCalcKey; static const char* _jsonAltitudeRelativeKey; - static const char* _jsonYawVehicleToStructureKey; friend class StructureScanComplexItemTest; }; diff --git a/src/MissionManager/StructureScanComplexItemTest.cc b/src/MissionManager/StructureScanComplexItemTest.cc index 1acd2c67ea9a3f5b2c24d001e84a00efca26ccfe..9058f1ae93f1ae30dce5a6bd4c0c892ad3fa147c 100644 --- a/src/MissionManager/StructureScanComplexItemTest.cc +++ b/src/MissionManager/StructureScanComplexItemTest.cc @@ -81,13 +81,6 @@ void StructureScanComplexItemTest::_testDirty(void) QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex)); _structureScanItem->setDirty(false); _multiSpy->clearAllSignals(); - - QVERIFY(!_structureScanItem->dirty()); - _structureScanItem->setYawVehicleToStructure(!_structureScanItem->yawVehicleToStructure()); - QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask)); - QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex)); - _structureScanItem->setDirty(false); - _multiSpy->clearAllSignals(); } void StructureScanComplexItemTest::_initItem(void) diff --git a/src/PlanView/StructureScanEditor.qml b/src/PlanView/StructureScanEditor.qml index d9c8c89029ac8a03c35ba047ffe57a269e607d75..dd67024a4ae9a852ed9fe2715157c4ced39354e4 100644 --- a/src/PlanView/StructureScanEditor.qml +++ b/src/PlanView/StructureScanEditor.qml @@ -48,11 +48,6 @@ Rectangle { QGCPalette { id: qgcPal; colorGroupEnabled: true } - ExclusiveGroup { - id: yawRadiosGroup - onCurrentChanged: missionItem.yawVehicleToStructure = yawVehicleRadio.checked - } - Column { id: editorColumn anchors.margins: _margin @@ -151,28 +146,6 @@ Rectangle { } } - QGCLabel { text: qsTr("Point camera to structure using:") } - - RowLayout { - spacing: _margin - - QGCRadioButton { - id: yawVehicleRadio - text: qsTr("Vehicle yaw") - exclusiveGroup: yawRadiosGroup - checked: !!missionItem.yawVehicleToStructure - enabled: false - } - - QGCRadioButton - { - text: qsTr("Gimbal yaw") - exclusiveGroup: yawRadiosGroup - checked: !missionItem.yawVehicleToStructure - enabled: false - } - } - Item { height: ScreenTools.defaultFontPixelHeight / 2 width: 1