User facing gimbal pitch from 0<->90 degrees

src/FactSystem/FactMetaData.cc

@@ -36,6 +36,7 @@ const qreal FactMetaData::UnitConsts_s::inchesToCentimeters =   2.54;
 const FactMetaData::BuiltInTranslation_s FactMetaData::_rgBuiltInTranslations[] = {
     { "centi-degrees",  "deg",  FactMetaData::_centiDegreesToDegrees,                   FactMetaData::_degreesToCentiDegrees },
     { "radians",        "deg",  FactMetaData::_radiansToDegrees,                        FactMetaData::_degreesToRadians },
+    { "gimbal-degrees", "deg",  FactMetaData::_mavlinkGimbalDegreesToUserGimbalDegrees, FactMetaData::_userGimbalDegreesToMavlinkGimbalDegrees },
     { "norm",           "%",    FactMetaData::_normToPercent,                           FactMetaData::_percentToNorm },
 };
 
@@ -256,7 +257,7 @@ bool FactMetaData::convertAndValidateRaw(const QVariant& rawValue, bool convertO
     case FactMetaData::valueTypeInt32:
         typedValue = QVariant(rawValue.toInt(&convertOk));
         if (!convertOnly && convertOk) {
-            if (rawMin() > typedValue || typedValue > rawMax()) {
+            if (typedValue < rawMin() || typedValue > rawMax()) {
                 errorString = QString("Value must be within %1 and %2").arg(cookedMin().toInt()).arg(cookedMax().toInt());
             }
         }
@@ -267,7 +268,7 @@ bool FactMetaData::convertAndValidateRaw(const QVariant& rawValue, bool convertO
     case FactMetaData::valueTypeUint32:
         typedValue = QVariant(rawValue.toUInt(&convertOk));
         if (!convertOnly && convertOk) {
-            if (rawMin() > typedValue || typedValue > rawMax()) {
+            if (typedValue < rawMin() || typedValue > rawMax()) {
                 errorString = QString("Value must be within %1 and %2").arg(cookedMin().toUInt()).arg(cookedMax().toUInt());
             }
         }
@@ -276,7 +277,7 @@ bool FactMetaData::convertAndValidateRaw(const QVariant& rawValue, bool convertO
     case FactMetaData::valueTypeFloat:
         typedValue = QVariant(rawValue.toFloat(&convertOk));
         if (!convertOnly && convertOk) {
-            if (rawMin() > typedValue || typedValue > rawMax()) {
+            if (typedValue < rawMin() || typedValue > rawMax()) {
                 errorString = QString("Value must be within %1 and %2").arg(cookedMin().toFloat()).arg(cookedMax().toFloat());
             }
         }
@@ -285,7 +286,7 @@ bool FactMetaData::convertAndValidateRaw(const QVariant& rawValue, bool convertO
     case FactMetaData::valueTypeDouble:
         typedValue = QVariant(rawValue.toDouble(&convertOk));
         if (!convertOnly && convertOk) {
-            if (rawMin() > typedValue || typedValue > rawMax()) {
+            if (typedValue < rawMin() || typedValue > rawMax()) {
                 errorString = QString("Value must be within %1 and %2").arg(cookedMin().toDouble()).arg(cookedMax().toDouble());
             }
         }
@@ -455,6 +456,20 @@ QVariant FactMetaData::_degreesToCentiDegrees(const QVariant& degrees)
     return QVariant(qRound(degrees.toReal() * 100.0));
 }
 
+QVariant FactMetaData::_userGimbalDegreesToMavlinkGimbalDegrees(const QVariant& userGimbalDegrees)
+{
+    // User facing gimbal degree values are from 0 (level) to 90 (straight down)
+    // Mavlink gimbal degree values are from 0 (level) to -90 (straight down)
+    return userGimbalDegrees.toDouble() * -1.0;
+}
+
+QVariant FactMetaData::_mavlinkGimbalDegreesToUserGimbalDegrees(const QVariant& mavlinkGimbalDegrees)
+{
+    // User facing gimbal degree values are from 0 (level) to 90 (straight down)
+    // Mavlink gimbal degree values are from 0 (level) to -90 (straight down)
+    return mavlinkGimbalDegrees.toDouble() * -1.0;
+}
+
 QVariant FactMetaData::_metersToFeet(const QVariant& meters)
 {
     return QVariant(meters.toDouble() * 1.0/constants.feetToMeters);
@@ -908,3 +923,29 @@ QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonFile(const QString&
 
     return metaDataMap;
 }
+
+QVariant FactMetaData::cookedMax(void) const
+{
+    // We have to be careful with cooked min/max. Running the raw values through the translator could flip min and max.
+    QVariant cookedMax = _rawTranslator(_rawMax);
+    QVariant cookedMin = _rawTranslator(_rawMin);
+    if (cookedMax < cookedMin) {
+        // We need to flip
+        return cookedMin;
+    } else {
+        return cookedMax;
+    }
+}
+
+QVariant FactMetaData::cookedMin(void) const
+{
+    // We have to be careful with cooked min/max. Running the raw values through the translator could flip min and max.
+    QVariant cookedMax = _rawTranslator(_rawMax);
+    QVariant cookedMin = _rawTranslator(_rawMin);
+    if (cookedMax < cookedMin) {
+        // We need to flip
+        return cookedMax;
+    } else {
+        return cookedMin;
+    }
+}

src/FactSystem/FactMetaData.h

@@ -83,10 +83,10 @@ public:
     QString         group                   (void) const { return _group; }
     QString         longDescription         (void) const { return _longDescription;}
     QVariant        rawMax                  (void) const { return _rawMax; }
-    QVariant        cookedMax               (void) const { return _rawTranslator(_rawMax); }
+    QVariant        cookedMax               (void) const;
     bool            maxIsDefaultForType     (void) const { return _maxIsDefaultForType; }
     QVariant        rawMin                  (void) const { return _rawMin; }
-    QVariant        cookedMin               (void) const { return _rawTranslator(_rawMin); }
+    QVariant        cookedMin               (void) const;
     bool            minIsDefaultForType     (void) const { return _minIsDefaultForType; }
     QString         name                    (void) const { return _name; }
     QString         shortDescription        (void) const { return _shortDescription; }
@@ -155,6 +155,8 @@ private:
     static QVariant _radiansToDegrees(const QVariant& radians);
     static QVariant _centiDegreesToDegrees(const QVariant& centiDegrees);
     static QVariant _degreesToCentiDegrees(const QVariant& degrees);
+    static QVariant _userGimbalDegreesToMavlinkGimbalDegrees(const QVariant& userGimbalDegrees);
+    static QVariant _mavlinkGimbalDegreesToUserGimbalDegrees(const QVariant& mavlinkGimbalDegrees);
     static QVariant _metersToFeet(const QVariant& meters);
     static QVariant _feetToMeters(const QVariant& feet);
     static QVariant _squareMetersToSquareKilometers(const QVariant& squareMeters);

src/MissionManager/CameraSection.FactMetaData.json

@@ -29,7 +29,7 @@
     "name":             "GimbalPitch",
     "shortDescription": "Gimbal pitch rotation.",
     "type":             "double",
-    "units":            "deg",
+    "units":            "gimbal-degrees",
     "min":              -90,
     "max":              0,
     "decimalPlaces":    0,