/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Dialogs 1.2
import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controllers 1.0
SetupPage {
id: followPage
pageComponent: followPageComponent
FactPanelController {
id: controller
}
Component {
id: followPageComponent
ColumnLayout {
id: flowLayout
spacing: _margins
property Fact _followEnabled: controller.getParameterFact(-1, "FOLL_ENABLE")
property bool _followParamsAvailable: controller.parameterExists(-1, "FOLL_SYSID")
property Fact _followDistanceMax: controller.getParameterFact(-1, "FOLL_DIST_MAX", false /* reportMissing */)
property Fact _followSysId: controller.getParameterFact(-1, "FOLL_SYSID", false /* reportMissing */)
property Fact _followOffsetX: controller.getParameterFact(-1, "FOLL_OFS_X", false /* reportMissing */)
property Fact _followOffsetY: controller.getParameterFact(-1, "FOLL_OFS_Y", false /* reportMissing */)
property Fact _followOffsetZ: controller.getParameterFact(-1, "FOLL_OFS_Z", false /* reportMissing */)
property Fact _followOffsetType: controller.getParameterFact(-1, "FOLL_OFS_TYPE", false /* reportMissing */)
property Fact _followAltitudeType: controller.getParameterFact(-1, "FOLL_ALT_TYPE", false /* reportMissing */)
property Fact _followYawBehavior: controller.getParameterFact(-1, "FOLL_YAW_BEHAVE", false /* reportMissing */)
property int _followComboMaintainIndex: 0
property int _followComboSpecifyIndex: 1
property bool _followMaintain: followPositionCombo.currentIndex === _followComboMaintainIndex
property bool _isFollowMeSetup: _followEnabled.rawValue == 1 && _followParamsAvailable && _followOffsetType.rawValue == 1 && (_roverFirmware || (!_roverFirmware && _followAltitudeType.rawValue == 1)) && _followSysId.rawValue == 0
property bool _roverFirmware: controller.roverFirmware
readonly property int _followYawBehaviorNone: 0
readonly property int _followYawBehaviorFace: 1
readonly property int _followYawBehaviorSame: 2
readonly property int _followYawBehaviorFlight: 3
Component.onCompleted: _setUIFromParams()
function _setUIFromParams() {
if (!_followParamsAvailable) {
return
}
if (_followOffsetX.rawValue == 0 && _followOffsetY.rawValue == 0 && _followOffsetZ.rawValue == 0) {
followPositionCombo.currentIndex =_followComboMaintainIndex
controller.distance.rawValue = 0
controller.angle.rawValue = 0
controller.height.rawValue = 0
} else {
followPositionCombo.currentIndex =_followComboSpecifyIndex
var angleRadians = Math.atan2(_followOffsetX.rawValue, _followOffsetY.rawValue)
if (angleRadians == 0) {
controller.distance.rawValue = _followOffsetY.rawValue
} else {
controller.distance.rawValue = _followOffsetX.rawValue / Math.sin(angleRadians)
}
controller.angle.rawValue = _radiansToHeading(angleRadians)
}
controller.height.rawValue = -_followOffsetZ.rawValue
if (!_roverFirmware) {
pointVehicleCombo.currentIndex = _followYawBehavior.rawValue
}
}
function _setFollowMeParamDefaults() {
_followOffsetType.rawValue = 1 // Relative to vehicle
_followSysId.rawValue = 0 // Follow first message sent
if (!_roverFirmware) {
_followAltitudeType.rawValue = 1 // Altitude is relative
}
controller.distance.value = controller.distance.defaultValue
controller.angle.value = controller.angle.defaultValue
controller.height.value = controller.height.defaultValue
_setXYOffsetByAngleAndDistance(controller.angle.rawValue, controller.distance.rawValue)
_followOffsetZ.rawValue = -controller.height.rawValue
_setUIFromParams()
}
function _setXYOffsetByAngleAndDistance(headingAngleDegrees, distance) {
if (distance == 0) {
_followOffsetX.rawValue = _followOffsetY.rawValue = 0
} else {
var angleRadians = _headingToRadians(headingAngleDegrees)
if (angleRadians == 0) {
_followOffsetX.rawValue = 0
_followOffsetY.rawValue = distance
} else {
_followOffsetX.rawValue = Math.sin(angleRadians) * distance
_followOffsetY.rawValue = Math.cos(angleRadians) * distance
if (_followOffsetX.rawValue < 0.0001) {
_followOffsetX.rawValue = 0
}
if (_followOffsetY.rawValue < 0.0001) {
_followOffsetY.rawValue = 0
}
}
}
}
function _radiansToHeading(radians) {
var geometricAngle = QGroundControl.radiansToDegrees(radians)
var headingAngle = 90 - geometricAngle
if (headingAngle < 0) {
headingAngle += 360
} else if (headingAngle > 360) {
headingAngle -= 360
}
return headingAngle
}
function _headingToRadians(heading) {
var geometricAngle = -(heading - 90)
return QGroundControl.degreesToRadians(geometricAngle)
}
APMFollowComponentController {
id: controller
onMissingParametersAvailable: {
_followDistanceMax = controller.getParameterFact(-1, "FOLL_DIST_MAX")
_followSysId = controller.getParameterFact(-1, "FOLL_SYSID")
_followOffsetX = controller.getParameterFact(-1, "FOLL_OFS_X")
_followOffsetY = controller.getParameterFact(-1, "FOLL_OFS_Y")
_followOffsetZ = controller.getParameterFact(-1, "FOLL_OFS_Z")
_followOffsetType = controller.getParameterFact(-1, "FOLL_OFS_TYPE")
if (!_roverFirmware) {
_followAltitudeType = controller.getParameterFact(-1, "FOLL_ALT_TYPE")
_followYawBehavior = controller.getParameterFact(-1, "FOLL_YAW_BEHAVE")
_followYawBehavior.rawValue = 1 // Point at GCS
}
_followParamsAvailable = true
vehicleParamRefreshLabel.visible = false
_setFollowMeParamDefaults()
}
}
QGCPalette { id: ggcPal; colorGroupEnabled: true }
QGCCheckBox {
text: qsTr("Enable Follow Me")
checked: _isFollowMeSetup
onClicked: {
if (checked) {
_followEnabled.rawValue = 1
var missingParameters = [ "FOLL_DIST_MAX", "FOLL_SYSID", "FOLL_OFS_X", "FOLL_OFS_Y", "FOLL_OFS_Z", "FOLL_OFS_TYPE" ]
if (!_roverFirmware) {
missingParameters.push("FOLL_ALT_TYPE")
missingParameters.push("FOLL_YAW_BEHAVE")
}
controller.getMissingParameters(missingParameters)
vehicleParamRefreshLabel.visible = true
} else {
_followEnabled.rawValue = 0
}
}
}
QGCLabel {
id: vehicleParamRefreshLabel
text: qsTr("Waiting for Vehicle to update")
visible: false
}
ColumnLayout {
Layout.fillWidth: true
spacing: ScreenTools.defaultFontPixelWidth
visible: _isFollowMeSetup
ColumnLayout {
Layout.fillWidth: true
spacing: ScreenTools.defaultFontPixelWidth
visible: _followParamsAvailable && _isFollowMeSetup
GridLayout {
Layout.fillWidth: true
columns: 2
QGCLabel { text: qsTr("Vehicle Position") }
QGCComboBox {
id: followPositionCombo
Layout.fillWidth: true
model: [ qsTr("Maintain Current Offsets"), qsTr("Specify Offsets")]
onActivated: {
if (index == 0) {
_followOffsetX.rawValue = _followOffsetY.rawValue = _followOffsetZ.rawValue = 0
_setUIFromParams()
} else {
_setFollowMeParamDefaults()
}
}
}
QGCLabel {
text: qsTr("Point Vehicle")
visible: !_roverFirmware
}
QGCComboBox {
id: pointVehicleCombo
Layout.fillWidth: true
// NOTE: The indices for the model below must match the values for FOLL_YAW_BEHAVE
model: [ qsTr("Maintain current vehicle orientation"), qsTr("Point at ground station location"), qsTr("Same orientation as ground station"), qsTr("Same direction as ground station movement") ]
visible: !_roverFirmware
onActivated: _followYawBehavior.rawValue = index
}
}
GridLayout {
Layout.fillWidth: true
columns: 4
visible: !_followMaintain
QGCLabel {
Layout.columnSpan: 2
Layout.alignment: Qt.AlignHCenter
text: qsTr("Vehicle Offsets")
}
QGCLabel { text: qsTr("Angle") }
FactTextField {
fact: controller.angle
onUpdated: { console.log("updated"); _setXYOffsetByAngleAndDistance(controller.angle.rawValue, controller.distance.rawValue) }
}
QGCLabel { text: qsTr("Distance") }
FactTextField {
fact: controller.distance
onUpdated: _setXYOffsetByAngleAndDistance(controller.angle.rawValue, controller.distance.rawValue)
}
QGCLabel {
id: heightLabel
text: qsTr("Height")
visible: !_roverFirmware && !_followMaintain
}
FactTextField {
fact: controller.height
visible: heightLabel.visible
onUpdated: _followOffsetZ.rawValue = -controller.height.rawValue
}
}
}
}
RowLayout {
spacing: ScreenTools.defaultFontPixelWidth * 2
visible: _isFollowMeSetup && !_followMaintain
Item {
height: ScreenTools.defaultFontPixelWidth * 50
width: height
Rectangle {
anchors.top: parent.top
anchors.bottom: parent.bottom
anchors.horizontalCenter: parent.horizontalCenter
width: 3
color: qgcPal.windowShade
}
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
anchors.verticalCenter: parent.verticalCenter
height: 3
color: qgcPal.windowShade
}
QGCLabel {
anchors.horizontalCenter: parent.horizontalCenter
anchors.topMargin: parent.height / 4
anchors.top: parent.top
text: qsTr("Click in the graphic to change angle")
opacity: 0.5
}
Image {
id: gcsIcon
anchors.centerIn: parent
source: "/res/QGCLogoArrow"
mipmap: true
antialiasing: true
fillMode: Image.PreserveAspectFit
height: ScreenTools.defaultFontPixelHeight * 2.5
sourceSize.height: height
}
Item {
id: vehicleHolder
anchors.fill: parent
transform: Rotation {
origin.x: vehicleHolder.width / 2
origin.y: vehicleHolder.height / 2
angle: controller.angle.rawValue
}
Image {
id: vehicleIcon
anchors.top: parent.top
anchors.horizontalCenter: parent.horizontalCenter
source: controller.vehicle.vehicleImageOpaque
mipmap: true
height: ScreenTools.defaultFontPixelHeight * 2.5
sourceSize.height: height
fillMode: Image.PreserveAspectFit
transform: Rotation {
origin.x: vehicleIcon.width / 2
origin.y: vehicleIcon.height / 2
angle: _roverFirmware ? 0 :
(_followYawBehavior.rawValue == _followYawBehaviorNone ?
0 :
(_followYawBehavior.rawValue == _followYawBehaviorFace ?
180 :
-controller.angle.rawValue))
}
}
Rectangle {
id: distanceLine
x: parent.width / 2
y: vehicleIcon.height
height: (parent.height / 2) - (vehicleIcon.height + (gcsIcon.height / 2))
width: 2
color: qgcPal.text
opacity: 0.4
Rectangle {
anchors.top: parent.top
anchors.horizontalCenter: parent.horizontalCenter
width: ScreenTools.defaultFontPixelWidth * 2
height: 2
color: qgcPal.text
}
Rectangle {
anchors.bottom: parent.bottom
anchors.horizontalCenter: parent.horizontalCenter
width: ScreenTools.defaultFontPixelWidth * 2
height: 2
color: qgcPal.text
}
}
QGCLabel {
id: distanceLabel
anchors.centerIn: distanceLine
text: controller.distance.valueString + " " + QGroundControl.appSettingsDistanceUnitsString
transform: Rotation {
origin.x: distanceLabel.width / 2
origin.y: distanceLabel.height / 2
angle: -controller.angle.rawValue
}
}
}
MouseArea {
anchors.fill: parent
onClicked: {
// Translate x,y to centered
var x = mouse.x - (width / 2)
var y = (height - mouse.y) - (height / 2)
controller.angle.rawValue = _radiansToHeading(Math.atan2(y, x))
}
}
}
ColumnLayout {
Layout.fillHeight: true
spacing: 0
visible: !_roverFirmware
Image {
id: vehicleIconHeight
source: controller.vehicle.vehicleImageOpaque
mipmap: true
height: ScreenTools.defaultFontPixelHeight * 2.5
sourceSize.height: height
fillMode: Image.PreserveAspectFit
transform: Rotation {
origin.x: vehicleIconHeight.width / 2
origin.y: vehicleIconHeight.height / 2
angle: 65
axis { x: 1; y: 0; z: 0 }
}
}
Item {
Layout.alignment: Qt.AlignHCenter
Layout.fillHeight: true
width: Math.max(ScreenTools.defaultFontPixelWidth * 2, heightValueLabel.width)
Rectangle {
id: heightLine
anchors.top: parent.top
anchors.bottom: parent.bottom
anchors.horizontalCenter: parent.horizontalCenter
width: 2
color: qgcPal.text
opacity: 0.4
Rectangle {
anchors.top: parent.top
anchors.horizontalCenter: parent.horizontalCenter
width: ScreenTools.defaultFontPixelWidth * 2
height: 2
color: qgcPal.text
}
Rectangle {
anchors.bottom: parent.bottom
anchors.horizontalCenter: parent.horizontalCenter
width: ScreenTools.defaultFontPixelWidth * 2
height: 2
color: qgcPal.text
}
}
QGCLabel {
id: heightValueLabel
anchors.centerIn: parent
text: controller.height.valueString + " " + QGroundControl.appSettingsDistanceUnitsString
}
}
Image {
id: gcsIconHeight
source: "/res/QGCLogoArrow"
mipmap: true
antialiasing: true
fillMode: Image.PreserveAspectFit
height: ScreenTools.defaultFontPixelHeight * 2.5
sourceSize.height: height
transform: Rotation {
origin.x: gcsIconHeight.width / 2
origin.y: gcsIconHeight.height / 2
angle: 65
axis { x: 1; y: 0; z: 0 }
}
}
}
}
}
}
}