diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index 8b6ddc2f09d008c5606cfcee0cfcd82de14f5d6d..b01ecdd1ba452746e554dbd92e798d67459d697f 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -177,6 +177,7 @@
src/FlightMap/MapItems/MissionItemIndicator.qml
src/FlightMap/MapItems/VehicleMapItem.qml
src/FlightMap/MapItems/MissionItemView.qml
+ src/FlightMap/MapItems/MissionLineView.qml
diff --git a/src/FlightDisplay/FlightDisplayView.qml b/src/FlightDisplay/FlightDisplayView.qml
index 012c749781aca2dfcd1d7234e069d1e71476339f..847245c3cfde529ea0708698f8dc6de17d3314e6 100644
--- a/src/FlightDisplay/FlightDisplayView.qml
+++ b/src/FlightDisplay/FlightDisplayView.qml
@@ -52,7 +52,7 @@ Item {
readonly property alias zOrderWidgets: flightMap.zOrderWidgets
readonly property alias zOrderMapItems: flightMap.zOrderMapItems
- property var __qgcPal: QGCPalette { colorGroupEnabled: enabled }
+ QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
property var _activeVehicle: multiVehicleManager.activeVehicle
@@ -184,6 +184,12 @@ Item {
zOrderMapItems: flightMap.zOrderMapItems
}
+ // Add lines between waypoints
+ MissionLineView {
+ model: _missionController.waypointLines
+ zOrderMapItems: flightMap.zOrderMapItems
+ }
+
Loader {
id: flightMapDelayLoader
anchors.fill: parent
diff --git a/src/FlightMap/MapItems/MissionItemView.qml b/src/FlightMap/MapItems/MissionItemView.qml
index 13d143bc90a0f111b5f45d5923fc1c84b4218fa2..4d0264d754d265f8a54e45e0c4aed9953ee05f20 100644
--- a/src/FlightMap/MapItems/MissionItemView.qml
+++ b/src/FlightMap/MapItems/MissionItemView.qml
@@ -29,9 +29,7 @@ import QtPositioning 5.3
import QGroundControl 1.0
import QGroundControl.FlightMap 1.0
-import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
-import QGroundControl.Palette 1.0
/// The MissionItemView control is used to add Mission Item Indicators to a FlightMap.
MapItemView {
@@ -42,11 +40,11 @@ MapItemView {
delegate: MissionItemIndicator {
id: itemIndicator
- label: object.sequenceNumber == 0 ? "H" : object.sequenceNumber
+ label: object.homePosition ? "H" : object.sequenceNumber
isCurrentItem: object.isCurrentItem
coordinate: object.coordinate
z: zOrderMapItems
- visible: object.specifiesCoordinate
+ visible: object.specifiesCoordinate && (!object.homePosition || object.homePositionValid)
onClicked: setCurrentItem(object.sequenceNumber)
diff --git a/src/FlightMap/MapItems/MissionLineView.qml b/src/FlightMap/MapItems/MissionLineView.qml
new file mode 100644
index 0000000000000000000000000000000000000000..bbb078369938a40d52635b5af01566a762e6b436
--- /dev/null
+++ b/src/FlightMap/MapItems/MissionLineView.qml
@@ -0,0 +1,45 @@
+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2015 QGROUNDCONTROL PROJECT
+
+This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see .
+
+======================================================================*/
+
+import QtQuick 2.4
+import QtLocation 5.3
+import QtPositioning 5.3
+
+import QGroundControl 1.0
+import QGroundControl.Palette 1.0
+
+/// The MissionLineView control is used to add lines between mission items
+MapItemView {
+ property real zOrderMapItems ///< Z order for indicator
+
+ delegate: MapPolyline {
+ line.width: 3
+ line.color: "#be781c" // Hack, can't get palette to work in here
+ z: zOrderMapItems - 1 // Under item indicators
+
+ path: [
+ { latitude: object.coordinate1.latitude, longitude: object.coordinate1.longitude },
+ { latitude: object.coordinate2.latitude, longitude: object.coordinate2.longitude },
+ ]
+ }
+}
diff --git a/src/FlightMap/qmldir b/src/FlightMap/qmldir
index 44207c0948f709b0064fe8f2def0805434a503a9..0f3ae93de041b0c7f9a2fe1dea5f14cc045c2535 100644
--- a/src/FlightMap/qmldir
+++ b/src/FlightMap/qmldir
@@ -21,3 +21,4 @@ QGCSpeedWidget 1.0 QGCSpeedWidget.qml
VehicleMapItem 1.0 VehicleMapItem.qml
MissionItemIndicator 1.0 MissionItemIndicator.qml
MissionItemView 1.0 MissionItemView.qml
+MissionLineView 1.0 MissionLineView.qml
diff --git a/src/MissionEditor/MissionEditor.qml b/src/MissionEditor/MissionEditor.qml
index 912255dd21f878d28980c49affeb42bda312c8a5..2aeb0a99e449e93abdeaefd0ec87874706a4eb1f 100644
--- a/src/MissionEditor/MissionEditor.qml
+++ b/src/MissionEditor/MissionEditor.qml
@@ -69,9 +69,13 @@ QGCView {
MissionEditorController {
id: controller
+/*
+ FIXME: autoSync is temporarily disconnected since it's still buggy
+
autoSync: QGroundControl.flightMapSettings.loadMapSetting(editorMap.mapName, _autoSyncKey, true)
onAutoSyncChanged: QGroundControl.flightMapSettings.saveMapSetting(editorMap.mapName, _autoSyncKey, autoSync)
+*/
onMissionItemsChanged: {
updateHomePosition()
@@ -98,6 +102,7 @@ QGCView {
function updateHomePosition() {
homePosition = liveHomePositionAvailable ? liveHomePosition : offlineHomePosition
_missionItems.get(0).coordinate = homePosition
+ _missionItems.get(0).homePositionValid = true
}
Component.onCompleted: updateHomePosition()
@@ -222,20 +227,9 @@ QGCView {
}
// Add lines between waypoints
- MapItemView {
- model: controller.waypointLines
-
- delegate:
- MapPolyline {
- line.width: 3
- line.color: qgcPal.mapButtonHighlight
- z: editorMap.zOrderMapItems - 1 // Under item indicators
-
- path: [
- { latitude: object.coordinate1.latitude, longitude: object.coordinate1.longitude },
- { latitude: object.coordinate2.latitude, longitude: object.coordinate2.longitude },
- ]
- }
+ MissionLineView {
+ model: controller.waypointLines
+ zOrderMapItems: editorMap.zOrderMapItems
}
// Mission Item Editor
@@ -880,7 +874,7 @@ QGCView {
}
Row {
- visible: autoSyncCheckBox.enabled && autoSyncCheckBox.checked
+ visible: true //autoSyncCheckBox.enabled && autoSyncCheckBox.checked
spacing: ScreenTools.defaultFontPixelWidth
QGCButton {
@@ -925,6 +919,8 @@ QGCView {
}
}
}
+/*
+ FIXME: autoSync is temporarily disconnected since it's still buggy
QGCLabel {
id: autoSyncDisallowedLabel
@@ -940,6 +936,7 @@ QGCView {
onClicked: controller.autoSync = checked
}
+*/
}
}
} // QGCVIew
diff --git a/src/MissionEditor/MissionEditorController.cc b/src/MissionEditor/MissionEditorController.cc
index c623b8e631ebf26880805f8feba7be60c0ebd80d..240494737884a254d7ae92f124559428e9eddb47 100644
--- a/src/MissionEditor/MissionEditorController.cc
+++ b/src/MissionEditor/MissionEditorController.cc
@@ -290,8 +290,6 @@ void MissionEditorController::_recalcSequence(void)
{
MissionItem* currentParentItem = qobject_cast(_missionItems->get(0));
- currentParentItem->childItems()->clear();
-
for (int i=0; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast(_missionItems->get(i));
@@ -340,9 +338,7 @@ void MissionEditorController::_initAllMissionItems(void)
_initMissionItem(qobject_cast(_missionItems->get(i)));
}
- _recalcSequence();
- _recalcChildItems();
- _recalcWaypointLines();
+ _recalcAll();
emit missionItemsChanged();
emit canEditChanged(_canEdit);
diff --git a/src/MissionItem.cc b/src/MissionItem.cc
index 019cce1e84ba84e43bdca0e2a5cacb95a9fe5fc5..0d0943eaa7722a1f4d397f8671897e0a1b3e782c 100644
--- a/src/MissionItem.cc
+++ b/src/MissionItem.cc
@@ -90,8 +90,9 @@ MissionItem::MissionItem(QObject* parent,
, _isCurrentItem(isCurrentItem)
, _reachedTime(0)
, _headingDegreesFact(NULL)
- ,_dirty(false)
+ , _dirty(false)
, _homePositionSpecialCase(false)
+ , _homePositionValid(false)
{
_latitudeFact = new Fact(0, "Latitude:", FactMetaData::valueTypeDouble, this);
_longitudeFact = new Fact(0, "Longitude:", FactMetaData::valueTypeDouble, this);
@@ -198,6 +199,7 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
_altitudeRelativeToHomeFact = other._altitudeRelativeToHomeFact;
_dirty = other._dirty;
_homePositionSpecialCase = other._homePositionSpecialCase;
+ _homePositionValid = other._homePositionValid;
*_latitudeFact = *other._latitudeFact;
*_longitudeFact = *other._longitudeFact;
@@ -915,3 +917,9 @@ void MissionItem::_headingDegreesFactChanged(QVariant value)
{
emit headingDegreesChanged(value.toDouble());
}
+
+void MissionItem::setHomePositionValid(bool homePositionValid)
+{
+ _homePositionValid = homePositionValid;
+ emit homePositionValidChanged(_homePositionValid);
+}
diff --git a/src/MissionItem.h b/src/MissionItem.h
index 382c3d8c48c0ab44bd4717e6089667c878933f3e..91ef639affb7f0c7516cdf28bb4bd65e54427205 100644
--- a/src/MissionItem.h
+++ b/src/MissionItem.h
@@ -84,7 +84,13 @@ public:
Q_PROPERTY(QmlObjectListModel* checkboxFacts READ checkboxFacts NOTIFY commandChanged)
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
Q_PROPERTY(QmlObjectListModel* childItems READ childItems CONSTANT)
+
+ /// true: this item is being used as a home position indicator
+ Q_PROPERTY(bool homePosition MEMBER _homePositionSpecialCase CONSTANT)
+ /// true: home position should be shown
+ Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged)
+
// Property accesors
int sequenceNumber(void) const { return _sequenceNumber; }
@@ -124,6 +130,9 @@ public:
void setDirty(bool dirty);
QmlObjectListModel* childItems(void) { return &_childItems; }
+
+ bool homePositionValid(void) { return _homePositionValid; }
+ void setHomePositionValid(bool homePositionValid);
// C++ only methods
@@ -210,6 +219,7 @@ signals:
void coordinateChanged(const QGeoCoordinate& coordinate);
void headingDegreesChanged(double heading);
void dirtyChanged(bool dirty);
+ void homePositionValidChanged(bool homePostionValid);
/** @brief Announces a change to the waypoint data */
void changed(MissionItem* wp);
@@ -290,6 +300,7 @@ private:
bool _dirty;
bool _homePositionSpecialCase; ///< true: this item is being used as a ui home position indicator
+ bool _homePositionValid; ///< true: home psition should be displayed
/// This is used to reference any subsequent mission items which do not specify a coordinate.
QmlObjectListModel _childItems;
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 2214c9a198a8827ae971f4c03e84f5b59a247585..41da7139d062a5c2768dad7ff802137766556230 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -71,28 +71,32 @@ void MissionController::_newMissionItemsAvailable(void)
void MissionController::_recalcWaypointLines(void)
{
- bool firstCoordinateItem = true;
- MissionItem* lastCoordinateItem = qobject_cast(_missionItems->get(0));
-
+ int firstIndex = _homePositionValid ? 0 : 1;
+
_waypointLines.clear();
-
- for (int i=1; i<_missionItems->count(); i++) {
- MissionItem* item = qobject_cast(_missionItems->get(i));
-
- if (item->specifiesCoordinate()) {
- if (firstCoordinateItem) {
- if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
- // The first coordinate we hit is a takeoff command so link back to home position
- _waypointLines.append(new CoordinateVector(qobject_cast(_missionItems->get(0))->coordinate(), item->coordinate()));
+
+ if (firstIndex < _missionItems->count()) {
+ bool firstCoordinateItem = true;
+ MissionItem* lastCoordinateItem = qobject_cast(_missionItems->get(firstIndex));
+
+ for (int i=firstIndex; i<_missionItems->count(); i++) {
+ MissionItem* item = qobject_cast(_missionItems->get(i));
+
+ if (item->specifiesCoordinate()) {
+ if (firstCoordinateItem) {
+ if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF && _homePositionValid) {
+ // The first coordinate we hit is a takeoff command so link back to home position if we have one
+ _waypointLines.append(new CoordinateVector(qobject_cast(_missionItems->get(0))->coordinate(), item->coordinate()));
+ } else {
+ // First coordiante is not a takeoff command, it does not link backwards to anything
+ }
+ firstCoordinateItem = false;
} else {
- // First coordiante is not a takeoff command, it does not link backwards to anything
+ // Subsequent coordinate items link to last coordinate item
+ _waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));
}
- firstCoordinateItem = false;
- } else {
- // Subsequent coordinate items link to last coordinate item
- _waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));
+ lastCoordinateItem = item;
}
- lastCoordinateItem = item;
}
}
@@ -102,25 +106,41 @@ void MissionController::_recalcWaypointLines(void)
// This will update the child item hierarchy
void MissionController::_recalcChildItems(void)
{
- MissionItem* currentParentItem = qobject_cast(_missionItems->get(0));
-
- currentParentItem->childItems()->clear();
-
- for (int i=1; i<_missionItems->count(); i++) {
- MissionItem* item = qobject_cast(_missionItems->get(i));
-
- // Set up non-coordinate item child hierarchy
- if (item->specifiesCoordinate()) {
- item->childItems()->clear();
- currentParentItem = item;
- } else {
- currentParentItem->childItems()->append(item);
+ int firstIndex = _homePositionValid ? 0 : 1;
+
+ if (_missionItems->count() > firstIndex) {
+ MissionItem* currentParentItem = qobject_cast(_missionItems->get(firstIndex));
+
+ currentParentItem->childItems()->clear();
+
+ for (int i=firstIndex+1; i<_missionItems->count(); i++) {
+ MissionItem* item = qobject_cast(_missionItems->get(i));
+
+ // Set up non-coordinate item child hierarchy
+ if (item->specifiesCoordinate()) {
+ item->childItems()->clear();
+ currentParentItem = item;
+ } else {
+ currentParentItem->childItems()->append(item);
+ }
}
}
}
+// This will update the sequence numbers to be sequential starting from 0
+void MissionController::_recalcSequence(void)
+{
+ for (int i=0; i<_missionItems->count(); i++) {
+ MissionItem* item = qobject_cast(_missionItems->get(i));
+
+ // Setup ascending sequence numbers
+ item->setSequenceNumber(i);
+ }
+}
+
void MissionController::_recalcAll(void)
{
+ _recalcSequence();
_recalcChildItems();
_recalcWaypointLines();
}
@@ -131,11 +151,13 @@ void MissionController::_initAllMissionItems(void)
// Add the home position item to the front
MissionItem* homeItem = new MissionItem(this);
homeItem->setHomePositionSpecialCase(true);
+ homeItem->setHomePositionValid(false);
homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
+ homeItem->setLatitude(47.3769);
+ homeItem->setLongitude(8.549444);
_missionItems->insert(0, homeItem);
- _recalcChildItems();
- _recalcWaypointLines();
+ _recalcAll();
emit missionItemsChanged();
}
@@ -156,3 +178,11 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle)
_newMissionItemsAvailable();
}
}
+
+void MissionController::setHomePositionValid(bool homePositionValid)
+{
+ _homePositionValid = homePositionValid;
+ qobject_cast(_missionItems->get(0))->setHomePositionValid(homePositionValid);
+
+ emit homePositionValidChanged(_homePositionValid);
+}
diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
index 776dbbfda59be2600cd91e91c92168fe37a41d19..43a96ae5db5f4bbc450b6159e15a68607860d349 100644
--- a/src/MissionManager/MissionController.h
+++ b/src/MissionManager/MissionController.h
@@ -40,21 +40,29 @@ public:
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
+
+ /// true: home position should be shown on map, false: home position not shown on map
+ Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged)
// Property accessors
QmlObjectListModel* missionItems(void) { return _missionItems; }
QmlObjectListModel* waypointLines(void) { return &_waypointLines; }
+ bool homePositionValid(void) { return _homePositionValid; }
+ void setHomePositionValid(bool homPositionValid);
+
signals:
void missionItemsChanged(void);
void waypointLinesChanged(void);
+ void homePositionValidChanged(bool homePositionValid);
private slots:
void _newMissionItemsAvailable();
void _activeVehicleChanged(Vehicle* activeVehicle);
private:
+ void _recalcSequence(void);
void _recalcWaypointLines(void);
void _recalcChildItems(void);
void _recalcAll(void);
@@ -64,6 +72,7 @@ private:
QmlObjectListModel* _missionItems;
QmlObjectListModel _waypointLines;
Vehicle* _activeVehicle;
+ bool _homePositionValid;
};
#endif