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Unverified Commit f4cf5aae authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #6050 from DonLakeFlyer/StructureScan 

Remove disabled yawVehicleToStructure option
parents 0905b11b 6dce098a
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Showing with 12 additions and 81 deletions
src/MissionManager/StructureScanComplexItem.cc
View file @ f4cf5aae
......@@ -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<QString, FactMetaData*> 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<MissionItem*>& 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);
}
}
src/MissionManager/StructureScanComplexItem.h
View file @ f4cf5aae
......@@ -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<QString, FactMetaData*> _metaDataMap;
......@@ -151,7 +146,6 @@ private:
static const char* _jsonCameraCalcKey;
static const char* _jsonAltitudeRelativeKey;
static const char* _jsonYawVehicleToStructureKey;
friend class StructureScanComplexItemTest;
};
......
src/MissionManager/StructureScanComplexItemTest.cc
View file @ f4cf5aae
......@@ -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)
......
src/PlanView/StructureScanEditor.qml
View file @ f4cf5aae
......@@ -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
......
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