Added additional roll/pitch parameters to terrain offset dialog.

src/ui/map3D/GlobalViewParams.cc

@@ -72,16 +72,28 @@ GlobalViewParams::frame(void) const
     return mFrame;
 }
 
-QVector4D&
-GlobalViewParams::terrainOffset(void)
+QVector3D&
+GlobalViewParams::terrainPositionOffset(void)
 {
-    return mTerrainOffset;
+    return mTerrainPositionOffset;
 }
 
-QVector4D
-GlobalViewParams::terrainOffset(void) const
+QVector3D
+GlobalViewParams::terrainPositionOffset(void) const
 {
-    return mTerrainOffset;
+    return mTerrainPositionOffset;
+}
+
+QVector3D&
+GlobalViewParams::terrainAttitudeOffset(void)
+{
+    return mTerrainPositionOffset;
+}
+
+QVector3D
+GlobalViewParams::terrainAttitudeOffset(void) const
+{
+    return mTerrainPositionOffset;
 }
 
 void

src/ui/map3D/GlobalViewParams.h

@@ -3,7 +3,7 @@
 
 #include <QObject>
 #include <QString>
-#include <QVector4D>
+#include <QVector3D>
 
 #include "QGCMAVLink.h"
 #include "Imagery.h"
@@ -30,8 +30,11 @@ public:
     MAV_FRAME& frame(void);
     MAV_FRAME frame(void) const;
 
-    QVector4D& terrainOffset(void);
-    QVector4D terrainOffset(void) const;
+    QVector3D& terrainPositionOffset(void);
+    QVector3D terrainPositionOffset(void) const;
+
+    QVector3D& terrainAttitudeOffset(void);
+    QVector3D terrainAttitudeOffset(void) const;
 
 public slots:
     void followCameraChanged(const QString& text);
@@ -49,7 +52,8 @@ private:
     Imagery::Type mImageryType;
     int mFollowCameraId;
     MAV_FRAME mFrame;
-    QVector4D mTerrainOffset;
+    QVector3D mTerrainPositionOffset;
+    QVector3D mTerrainAttitudeOffset;
 };
 
 typedef QSharedPointer<GlobalViewParams> GlobalViewParamsPtr;

src/ui/map3D/Pixhawk3DWidget.cc

@@ -416,12 +416,13 @@ Pixhawk3DWidget::showTerrainParamWindow(void)
 {
     TerrainParamDialog::getTerrainParams(mGlobalViewParams);
 
-    const QVector4D& terrainOffset = mGlobalViewParams->terrainOffset();
+    const QVector3D& positionOffset = mGlobalViewParams->terrainPositionOffset();
+    const QVector3D& attitudeOffset = mGlobalViewParams->terrainAttitudeOffset();
 
-    mTerrainPAT->setPosition(osg::Vec3d(terrainOffset.y(), terrainOffset.x(), -terrainOffset.z()));
-    mTerrainPAT->setAttitude(osg::Quat(M_PI_2 - terrainOffset.w(), osg::Vec3d(0.0f, 0.0f, 1.0f),
-                                       0.0, osg::Vec3d(1.0f, 0.0f, 0.0f),
-                                       0.0, osg::Vec3d(0.0f, 1.0f, 0.0f)));
+    mTerrainPAT->setPosition(osg::Vec3d(positionOffset.y(), positionOffset.x(), -positionOffset.z()));
+    mTerrainPAT->setAttitude(osg::Quat(M_PI_2 - attitudeOffset.z(), osg::Vec3d(0.0f, 0.0f, 1.0f),
+                                       attitudeOffset.y(), osg::Vec3d(1.0f, 0.0f, 0.0f),
+                                       attitudeOffset.x(), osg::Vec3d(0.0f, 1.0f, 0.0f)));
 }
 
 void
@@ -534,7 +535,8 @@ Pixhawk3DWidget::loadTerrainModel(void)
         mTerrainNode->setName("terrain");
         mTerrainPAT->addChild(mTerrainNode);
 
-        mGlobalViewParams->terrainOffset() = QVector4D();
+        mGlobalViewParams->terrainPositionOffset() = QVector3D();
+        mGlobalViewParams->terrainAttitudeOffset() = QVector3D();
 
         mTerrainPAT->setPosition(osg::Vec3d(0.0, 0.0, 0.0));
         mTerrainPAT->setAttitude(osg::Quat(M_PI_2, osg::Vec3d(0.0f, 0.0f, 1.0f),

src/ui/map3D/Q3DWidget.cc

@@ -61,7 +61,7 @@ Q3DWidget::Q3DWidget(QWidget* parent)
 
     mOsgGW = new osgViewer::GraphicsWindowEmbedded(0, 0, width(), height());
 
-    setThreadingModel(osgViewer::Viewer::SingleThreaded);
+    setThreadingModel(osgViewer::Viewer::CullDrawThreadPerContext);
 
     setMouseTracking(true);
 }

src/ui/map3D/TerrainParamDialog.cc

@@ -19,20 +19,25 @@ TerrainParamDialog::TerrainParamDialog(QWidget* parent)
 void
 TerrainParamDialog::getTerrainParams(GlobalViewParamsPtr &globalViewParams)
 {
-    QVector4D& terrainOffset = globalViewParams->terrainOffset();
+    QVector3D& positionOffset = globalViewParams->terrainPositionOffset();
+    QVector3D& attitudeOffset = globalViewParams->terrainAttitudeOffset();
 
     TerrainParamDialog dialog;
-    dialog.mXOffsetSpinBox->setValue(terrainOffset.x());
-    dialog.mYOffsetSpinBox->setValue(terrainOffset.y());
-    dialog.mZOffsetSpinBox->setValue(terrainOffset.z());
-    dialog.mYawOffsetSpinBox->setValue(osg::RadiansToDegrees(terrainOffset.w()));
+    dialog.mXOffsetSpinBox->setValue(positionOffset.x());
+    dialog.mYOffsetSpinBox->setValue(positionOffset.y());
+    dialog.mZOffsetSpinBox->setValue(positionOffset.z());
+    dialog.mRollOffsetSpinBox->setValue(osg::RadiansToDegrees(attitudeOffset.x()));
+    dialog.mPitchOffsetSpinBox->setValue(osg::RadiansToDegrees(attitudeOffset.y()));
+    dialog.mYawOffsetSpinBox->setValue(osg::RadiansToDegrees(attitudeOffset.z()));
 
     if (dialog.exec() == QDialog::Accepted)
     {
-        terrainOffset.setX(dialog.mXOffsetSpinBox->value());
-        terrainOffset.setY(dialog.mYOffsetSpinBox->value());
-        terrainOffset.setZ(dialog.mZOffsetSpinBox->value());
-        terrainOffset.setW(osg::DegreesToRadians(dialog.mYawOffsetSpinBox->value()));
+        positionOffset.setX(dialog.mXOffsetSpinBox->value());
+        positionOffset.setY(dialog.mYOffsetSpinBox->value());
+        positionOffset.setZ(dialog.mZOffsetSpinBox->value());
+        attitudeOffset.setX(osg::DegreesToRadians(dialog.mRollOffsetSpinBox->value()));
+        attitudeOffset.setY(osg::DegreesToRadians(dialog.mPitchOffsetSpinBox->value()));
+        attitudeOffset.setZ(osg::DegreesToRadians(dialog.mYawOffsetSpinBox->value()));
     }
 }
 
@@ -68,6 +73,16 @@ TerrainParamDialog::buildLayout(QVBoxLayout* layout)
     mZOffsetSpinBox->setRange(-100.0, 100.0);
     mZOffsetSpinBox->setValue(0.0);
 
+    mRollOffsetSpinBox = new QDoubleSpinBox(this);
+    mRollOffsetSpinBox->setDecimals(0);
+    mRollOffsetSpinBox->setRange(-180.0, 180.0);
+    mRollOffsetSpinBox->setValue(0.0);
+
+    mPitchOffsetSpinBox = new QDoubleSpinBox(this);
+    mPitchOffsetSpinBox->setDecimals(0);
+    mPitchOffsetSpinBox->setRange(-180.0, 180.0);
+    mPitchOffsetSpinBox->setValue(0.0);
+
     mYawOffsetSpinBox = new QDoubleSpinBox(this);
     mYawOffsetSpinBox->setDecimals(0);
     mYawOffsetSpinBox->setRange(-180.0, 180.0);
@@ -77,6 +92,8 @@ TerrainParamDialog::buildLayout(QVBoxLayout* layout)
     formLayout->addRow(tr("x (m)"), mXOffsetSpinBox);
     formLayout->addRow(tr("y (m)"), mYOffsetSpinBox);
     formLayout->addRow(tr("z (m)"), mZOffsetSpinBox);
+    formLayout->addRow(tr("Roll (deg)"), mRollOffsetSpinBox);
+    formLayout->addRow(tr("Pitch (deg)"), mPitchOffsetSpinBox);
     formLayout->addRow(tr("Yaw (deg)"), mYawOffsetSpinBox);
 
     offsetGroupBox->setLayout(formLayout);

src/ui/map3D/TerrainParamDialog.h

@@ -26,6 +26,8 @@ private:
     QDoubleSpinBox* mXOffsetSpinBox;
     QDoubleSpinBox* mYOffsetSpinBox;
     QDoubleSpinBox* mZOffsetSpinBox;
+    QDoubleSpinBox* mRollOffsetSpinBox;
+    QDoubleSpinBox* mPitchOffsetSpinBox;
     QDoubleSpinBox* mYawOffsetSpinBox;
 };