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qgroundcontrol
Commit f8d26a43 authored by Mariano Lizarraga's avatar Mariano Lizarraga
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Merge branch 'experimental' of github.com:pixhawk/qgroundcontrol into experimental

parents 8e0714eb 9802d9fa
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Showing with 370 additions and 119 deletions
images/earth.html
View file @ f8d26a43
......@@ -7,7 +7,7 @@
<!-- QGroundControl -->
<title>QGroundControl Google Earth View</title>
<!-- *** Replace the key below below with your own API key, available at http://code.google.com/apis/maps/signup.html *** -->
<script type="text/javascript" src="https://getfirebug.com/firebug-lite-beta.js"></script>
<!--<script type="text/javascript" src="https://getfirebug.com/firebug-lite-beta.js"></script>-->
<script type="text/javascript" src="http://www.google.com/jsapi?key=ABQIAAAAwbkbZLyhsmTCWXbTcjbgbRSzHs7K5SvaUdm8ua-Xxy_-2dYwMxQMhnagaawTo7L1FE1-amhuQxIlXw"></script>
<script type="text/javascript">
google.load("earth", "1", { 'language': 'en'});
......@@ -23,12 +23,17 @@ var lastAlt = 0;
var currLat = 47.3769;
var currLon = 8.549444;
var currAlt = 470;
var currentCameraLatitude = 0;
var currentCameraLongitude = 0;
var currentCameraAltitude = 0;
var currFollowHeading = 0.0;
var homeLat = 0;
var homeLon = 0;
var homeAlt = 0;
var homeViewRange = 500;
var homeViewRange = 800;
var homeLocation = null;
var homeGroundLevel = 0;
......@@ -85,6 +90,8 @@ var newWaypointLongitude = 0;
var newWaypointAltitude = 0;
var newWaypointPending = false;
var clickMode = 0;
var homePlacemark = null;
function getGlobal(variable)
......@@ -107,14 +114,38 @@ function setDraggingAllowed(allowed)
draggingAllowed = allowed;
}
function sampleCurrentPosition()
{
var thisView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
currentCameraLatitude = thisView.getLatitude();
currentCameraLongitude = thisView.getLongitude();
currentCameraGroundAltitude = ge.getGlobe().getGroundAltitude(currentCameraLatitude, currentCameraLongitude);
}
function enableSetHomeMode()
{
clickMode = 1;
}
function setLookAtLatLon(lat, lon)
{
// Keep the current altitude above ground, just move the position
currView = ge.getView().copyAsLookAt(ge.ALTITUDE_RELATIVE_TO_GROUND);
currView.setLatitude(lat);
currView.setLongitude(lon);
ge.getView().setAbstractView(currView);
}
function setNewWaypointPending(pending)
{
newWaypointPending = pending;
document.getElementById('JScript_newWaypointPending').setAttribute('value',pending);
}
function setDragWaypointPending(pending)
{
dragWaypointPending = pending;
document.getElementById('JScript_dragWaypointPending').setAttribute('value',pending);
}
function isInitialized()
......@@ -138,16 +169,35 @@ function enableEventListener()
// listen for mousedown on the window (look specifically for point placemarks)
google.earth.addEventListener(ge.getWindow(), 'mousedown', function(event)
{
if (clickMode == 1)
{
// Set home mode
dragWaypointIndex = 'HOME';
document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
dragWaypointLatitude = event.getLatitude();
dragWaypointLongitude = event.getLongitude();
dragWaypointAltitude = ge.getGlobe().getGroundAltitude(dragWaypointLatitude, dragWaypointLongitude);
dragWaypointPending = true;
document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
setGCSHome(dragWaypointLatitude, dragWaypointLongitude, dragWaypointAltitude);
}
if (event.getTarget().getType() == 'KmlPlacemark' &&
event.getTarget().getGeometry().getType() == 'KmlPoint') {
var placemark = event.getTarget();
event.preventDefault();
if (draggingAllowed)
{
if (clickMode == 0)
{
dragInfo = {
placemark: event.getTarget(),
dragged: false
};
}
}
}
});
......@@ -155,7 +205,7 @@ google.earth.addEventListener(ge.getWindow(), 'mousedown', function(event)
// listen for mousemove on the globe
google.earth.addEventListener(ge.getGlobe(), 'mousemove', function(event)
{
if (draggingAllowed)
if (draggingAllowed && (clickMode == 0))
{
if (dragInfo) {
event.preventDefault();
......@@ -164,10 +214,15 @@ google.earth.addEventListener(ge.getGlobe(), 'mousemove', function(event)
point.setLongitude(event.getLongitude());
dragInfo.dragged = true;
dragWaypointIndex = dragInfo.placemark.getDescription();
document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
dragWaypointLatitude = event.getLatitude();
dragWaypointLongitude = event.getLongitude();
dragWaypointAltitude = point.getAltitude();
dragWaypointPending = true;
document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
}
}
});
......@@ -175,7 +230,7 @@ google.earth.addEventListener(ge.getGlobe(), 'mousemove', function(event)
// listen for mouseup on the window
google.earth.addEventListener(ge.getWindow(), 'mouseup', function(event)
{
if (draggingAllowed)
if (draggingAllowed && (clickMode == 0))
{
if (dragInfo) {
if (dragInfo.dragged)
......@@ -184,16 +239,22 @@ google.earth.addEventListener(ge.getWindow(), 'mouseup', function(event)
event.preventDefault();
// Get drag end location
dragWaypointIndex = dragInfo.placemark.getDescription();
document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
var point = dragInfo.placemark.getGeometry();
dragWaypointLatitude = event.getLatitude();
dragWaypointLongitude = event.getLongitude();
dragWaypointAltitude = point.getAltitude();
dragWaypointPending = true;
document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
}
dragInfo = null;
}
}
clickMode = 0;
});
// Listen for wp creation request on the globe
......@@ -206,6 +267,10 @@ google.earth.addEventListener(ge.getGlobe(), 'dblclick', function(event){
newWaypointLongitude = event.getLongitude();
newWaypointAltitude = ge.getGlobe().getGroundAltitude(newWaypointLatitude, newWaypointLongitude);
newWaypointPending = true;
document.getElementById('JScript_newWaypointLatitude').setAttribute('value',newWaypointLatitude);
document.getElementById('JScript_newWaypointLongitude').setAttribute('value',newWaypointLongitude);
document.getElementById('JScript_newWaypointAltitude').setAttribute('value',newWaypointAltitude);
document.getElementById('JScript_newWaypointPending').setAttribute('value',true);
}
});
}
......@@ -219,6 +284,9 @@ function setCurrAircraft(id)
function setGCSHome(lat, lon, alt)
{
// Only update if position actually changed
if (lat != homeLat || lon != homeLon || alt != homeAlt)
{
homeLat = lat;
homeLon = lon;
homeAlt = alt;
......@@ -249,12 +317,15 @@ function setGCSHome(lat, lon, alt)
}
else
{
var location = ge.createPoint('');
location.setLatitude(lat);
location.setLongitude(lon);
location.setAltitude(alt);
homePlacemark.setGeometry(location);
homePlacemark.setDescription('HOME');
var location = ge.createPoint('');
if (location.getLatitude() != lat || location.getLongitude() != lon || location.getAltitude() != alt)
{
location.setLatitude(lat);
location.setLongitude(lon);
location.setAltitude(alt);
homePlacemark.setGeometry(location);
homePlacemark.setDescription('HOME');
}
}
homeGroundLevel = ge.getGlobe().getGroundAltitude(lat,lon);
......@@ -262,6 +333,7 @@ function setGCSHome(lat, lon, alt)
{
homeGroundLevel = alt;
}
}
}
function updateWaypointListLength(id, len)
......@@ -447,7 +519,7 @@ function initCallback(object)
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
enableEventListener();
document.getElementById('JScript_initialized').setAttribute('value','true');
initialized = true;
}
......@@ -544,14 +616,8 @@ function setViewMode(mode)
{
lastTilt = currView.getTilt();
lastHeading = currView.getHeading();
//var lastLat2 = currView.getLatitude();
//var lastLon2 = currView.getLongitude();
//var lastAlt2 = currView.getAltitude();
currView.setTilt(0);
currView.setHeading(0);
//currView.setLatitude(lastLat2);
//currView.setLongitude(lastLon2);
//currView.setAltitude(lastAlt2);
}
viewMode = mode;
......@@ -602,5 +668,18 @@ function failureCallback(object)
<center>
<div id='map3d' style='margin: 0; spacing: 0; height: 100%; width: 100%'></div>
</center>
<input type="hidden" id="JScript_initialized" value="false" />
<input type="hidden" id="JScript_dragWaypointIndex" value="0" />
<input type="hidden" id="JScript_dragWaypointLatitude" value="0" />
<input type="hidden" id="JScript_dragWaypointLongitude" value="0" />
<input type="hidden" id="JScript_dragWaypointAltitude" value="0" />
<input type="hidden" id="JScript_dragWaypointPending" value="false" />
<input type="hidden" id="JScript_newWaypointLatitude" value="0" />
<input type="hidden" id="JScript_newWaypointLongitude" value="0" />
<input type="hidden" id="JScript_newWaypointAltitude" value="0" />
<input type="hidden" id="JScript_newWaypointPending" value="false" />
<input type="hidden" id="JScript_currentCameraLatitude" value="0" />
<input type="hidden" id="JScript_currentCameraLongitude" value="0" />
<input type="hidden" id="JScript_currentCameraGroundAltitude" value="0" />
</body>
</html>
src/uas/UAS.cc
View file @ f8d26a43
......@@ -1042,6 +1042,20 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
}
void UAS::setHomePosition(double lat, double lon, double alt)
{
// Send new home position to UAS
mavlink_gps_set_global_origin_t home;
home.target_system = uasId;
home.target_component = 0; // ALL components
home.latitude = lat*1E7;
home.longitude = lon*1E7;
home.altitude = alt*1000;
mavlink_message_t msg;
mavlink_msg_gps_set_global_origin_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &home);
sendMessage(msg);
}
void UAS::setLocalOriginAtCurrentGPSPosition()
{
......@@ -1061,7 +1075,7 @@ void UAS::setLocalOriginAtCurrentGPSPosition()
if (ret == QMessageBox::Yes)
{
mavlink_message_t msg;
mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getSystemId(), &msg, this->getUASID(), 0, MAV_ACTION_SET_ORIGIN);
mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_ACTION_SET_ORIGIN);
// Send message twice to increase chance that it reaches its goal
sendMessage(msg);
// Wait 5 ms
......
src/uas/UAS.h
View file @ f8d26a43
......@@ -309,6 +309,8 @@ public slots:
/** @brief Set world frame origin at current GPS position */
void setLocalOriginAtCurrentGPSPosition();
/** @brief Set world frame origin / home position at this GPS position */
void setHomePosition(double lat, double lon, double alt);
/** @brief Set local position setpoint */
void setLocalPositionSetpoint(float x, float y, float z, float yaw);
/** @brief Add an offset in body frame to the setpoint */
......
src/uas/UASInterface.h
View file @ f8d26a43
......@@ -224,6 +224,8 @@ public slots:
//virtual void clearWaypointList() = 0;
/** @brief Set world frame origin at current GPS position */
virtual void setLocalOriginAtCurrentGPSPosition() = 0;
/** @brief Set world frame origin / home position at this GPS position */
virtual void setHomePosition(double lat, double lon, double alt) = 0;
/** @brief Request all onboard parameters of all components */
virtual void requestParameters() = 0;
/** @brief Request one specific onboard parameter */
......
src/uas/UASManager.cc
View file @ f8d26a43
......@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
#include <QApplication>
#include <QMessageBox>
#include <QTimer>
#include <QSettings>
#include "UAS.h"
#include "UASInterface.h"
#include "UASManager.h"
......@@ -50,19 +51,64 @@ UASManager* UASManager::instance()
return _instance;
}
void UASManager::storeSettings()
{
QSettings settings;
settings.beginGroup("QGC_UASMANAGER");
settings.setValue("HOMELAT", homeLat);
settings.setValue("HOMELON", homeLon);
settings.setValue("HOMEALT", homeAlt);
settings.endGroup();
settings.sync();
}
void UASManager::loadSettings()
{
QSettings settings;
settings.sync();
settings.beginGroup("QGC_UASMANAGER");
setHomePosition(settings.value("HOMELAT", homeLat).toDouble(),
settings.value("HOMELON", homeLon).toDouble(),
settings.value("HOMEALT", homeAlt).toDouble());
settings.endGroup();
}
void UASManager::setHomePosition(double lat, double lon, double alt)
{
// Checking for NaN and infitiny
if (lat == lat && lon == lon && alt == alt && !std::isinf(lat) && !std::isinf(lon) && !std::isinf(alt))
{
bool changed = false;
if (homeLat != lat) changed = true;
if (homeLon != lon) changed = true;
if (homeAlt != alt) changed = true;
homeLat = lat;
homeLon = lon;
homeAlt = alt;
if (changed) emit homePositionChanged(homeLat, homeLon, homeAlt);
}
}
/**
* @brief Private singleton constructor
*
* This class implements the singleton design pattern and has therefore only a private constructor.
**/
UASManager::UASManager() :
activeUAS(NULL)
activeUAS(NULL),
homeLat(47.3769),
homeLon(8.549444),
homeAlt(470.0)
{
start(QThread::LowPriority);
loadSettings();
}
UASManager::~UASManager()
{
storeSettings();
// Delete all systems
foreach (UASInterface* mav, systems)
{
......@@ -99,6 +145,7 @@ void UASManager::addUAS(UASInterface* uas)
{
systems.append(uas);
connect(uas, SIGNAL(destroyed(QObject*)), this, SLOT(removeUAS(QObject*)));
connect(this, SIGNAL(homePositionChanged(double,double,double)), uas, SLOT(setHomePosition(double,double,double)));
emit UASCreated(uas);
}
......
src/uas/UASManager.h
View file @ f8d26a43
......@@ -70,6 +70,12 @@ public:
UASInterface* getUASForId(int id);
QList<UASInterface*> getUASList();
/** @brief Get home position latitude */
double getHomeLatitude() const { return homeLat; }
/** @brief Get home position longitude */
double getHomeLongitude() const { return homeLon; }
/** @brief Get home position altitude */
double getHomeAltitude() const { return homeAlt; }
public slots:
......@@ -162,12 +168,23 @@ public slots:
/** @brief Shut down the onboard operating system down */
bool shutdownActiveUAS();
/** @brief Set the current home position */
void setHomePosition(double lat, double lon, double alt);
/** @brief Load settings */
void loadSettings();
/** @brief Store settings */
void storeSettings();
protected:
UASManager();
QList<UASInterface*> systems;
UASInterface* activeUAS;
QMutex activeUASMutex;
double homeLat;
double homeLon;
double homeAlt;
signals:
void UASCreated(UASInterface* UAS);
......@@ -181,6 +198,8 @@ signals:
void activeUASStatusChanged(UASInterface* UAS, bool active);
/** @brief The UAS currently under main operator control changed */
void activeUASStatusChanged(int systemId, bool active);
/** @brief Current home position changed */
void homePositionChanged(double lat, double lon, double alt);
};
......
src/ui/MainWindow.cc
View file @ f8d26a43
......@@ -921,6 +921,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
storeSettings();
aboutToCloseFlag = true;
mavlink->storeSettings();
UASManager::instance()->storeSettings();
QMainWindow::closeEvent(event);
}
......
src/ui/map3D/QGCGoogleEarthView.cc
View file @ f8d26a43
......@@ -2,6 +2,7 @@
#include <QDir>
#include <QShowEvent>
#include <QSettings>
#include <QInputDialog>
#include <QDebug>
#include <QFile>
......@@ -19,6 +20,8 @@
#include <QAxObject>
#include <QUuid>
#include <mshtml.h>
#include <comdef.h>
#include <qaxtypes.h>
#endif
#include "QGC.h"
......@@ -86,6 +89,8 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
connect(ui->clearTrailsButton, SIGNAL(clicked()), this, SLOT(clearTrails()));
connect(ui->atmosphereCheckBox, SIGNAL(clicked(bool)), this, SLOT(enableAtmosphere(bool)));
connect(ui->daylightCheckBox, SIGNAL(clicked(bool)), this, SLOT(enableDaylight(bool)));
connect(UASManager::instance(), SIGNAL(homePositionChanged(double,double,double)), this, SLOT(setHome(double,double,double)));
}
QGCGoogleEarthView::~QGCGoogleEarthView()
......@@ -353,9 +358,43 @@ void QGCGoogleEarthView::goHome()
void QGCGoogleEarthView::setHome(double lat, double lon, double alt)
{
qDebug() << "SETTING GCS HOME IN GOOGLE MAPS" << lat << lon << alt;
javaScript(QString("setGCSHome(%1,%2,%3);").arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
}
void QGCGoogleEarthView::setHome()
{
javaScript(QString("enableSetHomeMode();"));
}
void QGCGoogleEarthView::moveToPosition()
{
bool ok;
javaScript("sampleCurrentPosition();");
double latitude = documentElement("currentCameraLatitude").toDouble();
double longitude = documentElement("currentCameraLongitude").toDouble();
QString text = QInputDialog::getText(this, tr("Please enter coordinates"),
tr("Coordinates (Lat,Lon):"), QLineEdit::Normal,
QString("%1,%2").arg(latitude).arg(longitude), &ok);
if (ok && !text.isEmpty())
{
QStringList split = text.split(",");
if (split.length() == 2)
{
bool convert;
double latitude = split.first().toDouble(&convert);
ok &= convert;
double longitude = split.last().toDouble(&convert);
ok &= convert;
if (ok)
{
javaScript(QString("setLookAtLatLon(%1,%2);").arg(latitude, 0, 'f', 15).arg(longitude, 0, 'f', 15));
}
}
}
}
void QGCGoogleEarthView::hideEvent(QHideEvent* event)
{
Q_UNUSED(event);
......@@ -386,7 +425,7 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
// Reloading the webpage, this resets Google Earth
gEarthInitialized = false;
QTimer::singleShot(10000, this, SLOT(initializeGoogleEarth()));
QTimer::singleShot(3000, this, SLOT(initializeGoogleEarth()));
}
else
{
......@@ -402,7 +441,7 @@ void QGCGoogleEarthView::printWinException(int no, QString str1, QString str2, Q
QVariant QGCGoogleEarthView::javaScript(QString javaScript)
{
#ifdef Q_OS_MAC
if (!gEarthInitialized)
if (!jScriptInitialized)
{
return QVariant(false);
}
......@@ -439,27 +478,47 @@ QVariant QGCGoogleEarthView::documentElement(QString name)
if(!jScriptInitialized)
{
qDebug() << "TOO EARLY JAVASCRIPT CALL, ABORTING";
return QVariant(false);
}
else
{
QVariantList params;
QString javaScript("getGlobal(%1)");
params.append(javaScript.arg(name));
params.append("JScript");
QVariant result = jScriptWin->dynamicCall("execScript(QString, QString)", params);
qDebug() << "JScript result: " << result << result.toDouble();
// if (documentWin)
// {
// // Get HTMLElement object
// QVariantList params;
// params.append(name);
// //QAxObject* elementWin = documentWin->dynamicCall("getElementById(QString)", params);
// QVariant result =documentWin->dynamicCall("toString()");
// qDebug() << "GOT RESULT" << result;
// return QVariant(0);//QVariant(result);
// }
if (documentWin)
{
QString resultString;
// Get HTMLElement object
QVariantList params;
IHTMLDocument3* doc;
documentWin->queryInterface( IID_IHTMLDocument3, (void**)&doc);
params.append(name);
IHTMLElement* element = NULL;
// Append alias
name.prepend("JScript_");
HRESULT res = doc->getElementById(QStringToBSTR(name), &element);
//BSTR elemString;
if (element)
{
//element->get_innerHTML(&elemString);
VARIANT var;
var.vt = VT_BSTR;
HRESULT res = element->getAttribute(L"value", 0, &var);
if (SUCCEEDED(res) && (var.vt != VT_NULL))
{
QByteArray typeName;
QVariant qtValue = VARIANTToQVariant(var,typeName);
return qtValue;
}
else
{
qDebug() << __FILE__ << __LINE__ << "JAVASCRIPT ATTRIBUTE" << name << "NOT FOUND";
}
}
else
{
qDebug() << __FILE__ << __LINE__ << "DID NOT GET HTML ELEMENT" << name;
}
}
}
return QVariant(0);
#endif
}
......@@ -474,22 +533,18 @@ void QGCGoogleEarthView::initializeGoogleEarth()
QAxObject* doc = webViewWin->querySubObject("Document()");
//IDispatch* Disp;
IDispatch* winDoc = NULL;
IHTMLDocument2* document = NULL;
IHTMLDocument2* document = NULL;
//332C4425-26CB-11D0-B483-00C04FD90119 IHTMLDocument2
//25336920-03F9-11CF-8FD0-00AA00686F13 HTMLDocument
doc->queryInterface(QUuid("{332C4425-26CB-11D0-B483-00C04FD90119}"), (void**)(&winDoc));
if (winDoc)
{
// Security:
// CoInternetSetFeatureEnabled
// (FEATURE_LOCALMACHINE_LOCKDOWN, SET_FEATURE_ON_PROCESS, TRUE);
//
document = NULL;
winDoc->QueryInterface( IID_IHTMLDocument2, (void**)&document );
IHTMLWindow2 *window = NULL;
document->get_parentWindow( &window );
documentWin = new QAxObject(document, webViewWin);
documentWin = new QAxObject(document, webViewWin);
jScriptWin = new QAxObject(window, webViewWin);
connect(jScriptWin, SIGNAL(exception(int,QString,QString,QString)), this, SLOT(printWinException(int,QString,QString,QString)));
jScriptInitialized = true;
......@@ -499,15 +554,15 @@ void QGCGoogleEarthView::initializeGoogleEarth()
qDebug() << "COULD NOT GET DOCUMENT OBJECT! Aborting";
}
#endif
QTimer::singleShot(2500, this, SLOT(initializeGoogleEarth()));
QTimer::singleShot(1500, this, SLOT(initializeGoogleEarth()));
return;
}
if (!gEarthInitialized)
{
if (0 == 1)//(!javaScript("isInitialized();").toBool())
if (!documentElement("initialized").toBool())
{
QTimer::singleShot(500, this, SLOT(initializeGoogleEarth()));
QTimer::singleShot(300, this, SLOT(initializeGoogleEarth()));
qDebug() << "NOT INITIALIZED, WAITING";
}
else
......@@ -515,10 +570,7 @@ void QGCGoogleEarthView::initializeGoogleEarth()
gEarthInitialized = true;
// Set home location
setHome(47.3769, 8.549444, 500);
// Move to home location
goHome();
setHome(UASManager::instance()->getHomeLatitude(), UASManager::instance()->getHomeLongitude(), UASManager::instance()->getHomeAltitude());
// Add all MAVs
QList<UASInterface*> mavs = UASManager::instance()->getUASList();
......@@ -546,6 +598,15 @@ void QGCGoogleEarthView::initializeGoogleEarth()
// Go home
connect(ui->goHomeButton, SIGNAL(clicked()), this, SLOT(goHome()));
// Set home
connect(ui->setHomeButton, SIGNAL(clicked()), this, SLOT(setHome()));
// Visibility of set home button
connect(ui->editButton, SIGNAL(clicked(bool)), ui->setHomeButton, SLOT(setVisible(bool)));
ui->setHomeButton->setVisible(ui->editButton->isChecked());
// To Lat/Lon button
connect(ui->toLatLonButton, SIGNAL(clicked()), this, SLOT(moveToPosition()));
// Cam distance slider
connect(ui->camDistanceSlider, SIGNAL(valueChanged(int)), this, SLOT(setViewRangeScaledInt(int)), Qt::UniqueConnection);
......@@ -569,6 +630,9 @@ void QGCGoogleEarthView::initializeGoogleEarth()
enableAtmosphere(ui->atmosphereCheckBox->isChecked());
enableDaylight(ui->daylightCheckBox->isChecked());
follow(this->followCamera);
// Move to home location
goHome();
}
}
}
......@@ -668,7 +732,9 @@ void QGCGoogleEarthView::updateState()
QString idText = documentElement("dragWaypointIndex").toString();
if (idText == "HOME")
{
setHome(latitude, longitude, altitude);
qDebug() << "HOME UPDATED!";
UASManager::instance()->setHomePosition(latitude, longitude, altitude);
ui->setHomeButton->setChecked(false);
}
else
{
......
src/ui/map3D/QGCGoogleEarthView.h
View file @ f8d26a43
......@@ -104,6 +104,10 @@ public slots:
void goHome();
/** @brief Set the home location */
void setHome(double lat, double lon, double alt);
/** @brief Set the home location interactively in the UI */
void setHome();
/** @brief Move the view to a latitude / longitude position */
void moveToPosition();
/** @brief Allow waypoint editing */
void enableEditMode(bool mode);
/** @brief Enable daylight/night */
......
src/ui/map3D/QGCGoogleEarthView.ui
View file @ f8d26a43
......@@ -6,16 +6,16 @@
<rect>
<x>0</x>
<y>0</y>
<width>1089</width>
<width>1409</width>
<height>302</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="1,10,10,10,10,5,1,100,10,10,10,10,10,5,2,2">
<layout class="QGridLayout" name="gridLayout" columnstretch="1,10,10,10,10,5,10,1000,10,10,10,10,10,5,2,2,0,0">
<property name="horizontalSpacing">
<number>8</number>
<number>4</number>
</property>
<property name="verticalSpacing">
<number>2</number>
......@@ -23,7 +23,7 @@
<property name="margin">
<number>2</number>
</property>
<item row="0" column="0" colspan="16">
<item row="0" column="0" colspan="18">
<layout class="QVBoxLayout" name="webViewLayout"/>
</item>
<item row="1" column="1">
......@@ -43,6 +43,32 @@
</widget>
</item>
<item row="1" column="3">
<widget class="QPushButton" name="setHomeButton">
<property name="text">
<string>Set Home</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="editButton">
<property name="toolTip">
<string>Enable waypoint and home location edit mode</string>
</property>
<property name="statusTip">
<string>Enable waypoint and home location edit mode</string>
</property>
<property name="text">
<string>Edit</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QCheckBox" name="trailCheckbox">
<property name="toolTip">
<string>Show MAV trajectories</string>
......@@ -58,21 +84,35 @@
</property>
</widget>
</item>
<item row="1" column="13">
<spacer name="horizontalSpacer">
<item row="1" column="5">
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</widget>
</item>
<item row="1" column="6">
<widget class="QComboBox" name="camDistanceComboBox">
<property name="toolTip">
<string>Select the MAV to chase</string>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>20</height>
</size>
<property name="statusTip">
<string>Select the MAV to chase</string>
</property>
</spacer>
<property name="whatsThis">
<string>Select the MAV to chase</string>
</property>
<item>
<property name="text">
<string>MAV Distance</string>
</property>
</item>
<item>
<property name="text">
<string>Ground Distance</string>
</property>
</item>
</widget>
</item>
<item row="1" column="7">
<widget class="QSlider" name="camDistanceSlider">
......@@ -115,50 +155,20 @@
</property>
</widget>
</item>
<item row="1" column="5">
<widget class="QComboBox" name="camDistanceComboBox">
<property name="toolTip">
<string>Select the MAV to chase</string>
</property>
<property name="statusTip">
<string>Select the MAV to chase</string>
</property>
<property name="whatsThis">
<string>Select the MAV to chase</string>
<item row="1" column="9">
<widget class="QPushButton" name="changeViewButton">
<property name="text">
<string>Overhead</string>
</property>
<item>
<property name="text">
<string>MAV Distance</string>
</property>
</item>
<item>
<property name="text">
<string>Ground Distance</string>
</property>
</item>
</widget>
</item>
<item row="1" column="4">
<widget class="Line" name="line">
<item row="1" column="10">
<widget class="Line" name="line_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item row="1" column="12">
<widget class="QPushButton" name="resetButton">
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
<item row="1" column="9">
<widget class="QPushButton" name="changeViewButton">
<property name="text">
<string>Overhead</string>
</property>
</widget>
</item>
<item row="1" column="11">
<widget class="QPushButton" name="clearTrailsButton">
<property name="toolTip">
......@@ -175,28 +185,28 @@
</property>
</widget>
</item>
<item row="1" column="10">
<widget class="Line" name="line_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
<item row="1" column="12">
<widget class="QPushButton" name="resetButton">
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="editButton">
<property name="toolTip">
<string>Enable waypoint and home location edit mode</string>
</property>
<property name="statusTip">
<string>Enable waypoint and home location edit mode</string>
<item row="1" column="13">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="text">
<string>Edit</string>
<property name="sizeType">
<enum>QSizePolicy::MinimumExpanding</enum>
</property>
<property name="checkable">
<bool>true</bool>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>20</height>
</size>
</property>
</widget>
</spacer>
</item>
<item row="1" column="14">
<widget class="QCheckBox" name="atmosphereCheckBox">
......@@ -224,6 +234,13 @@
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="toLatLonButton">
<property name="text">
<string>Lat/Lon</string>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
......
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