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VTOL Takeof/Landing Pattern work

QGC4.4
DonLakeFlyer 5 years ago
parent
6256bc21e2
commit
109d6a59e8
15 changed files with 119 additions and 87 deletions
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  1. 2
      ChangeLog.md
  2. 12
      src/MissionManager/FixedWingLandingComplexItem.cc
  3. 2
      src/MissionManager/SimpleMissionItem.cc
  4. 4
      src/MissionManager/TakeoffMissionItem.cc
  5. 29
      src/MissionManager/VTOLLandingComplexItem.cc
  6. 36
      src/MissionManager/VTOLLandingPattern.FactMetaData.json
  7. 2
      src/PlanView/FWLandingPatternEditor.qml
  8. 18
      src/PlanView/PlanToolBarIndicators.qml
  9. 8
      src/PlanView/SimpleItemEditor.qml
  10. 1
      src/PlanView/TakeoffItemMapVisual.qml
  11. 25
      src/PlanView/VTOLLandingPatternEditor.qml
  12. 52
      src/Settings/PlanView.SettingsGroup.json
  13. 1
      src/Settings/PlanViewSettings.cc
  14. 1
      src/Settings/PlanViewSettings.h
  15. 13
      src/ui/preferences/GeneralSettings.qml

2
ChangeLog.md
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@ -4,6 +4,8 @@ Note: This file only contains high level features or important fixes. @@ -4,6 +4,8 @@ Note: This file only contains high level features or important fixes.
## 4.1 - Daily build
* VTOL: General setting for transition distance which affects Plan takeoff, landing pattern creation
* VTOL: Much better VTOL support throughout QGC
* Maps: Support zoom up to level 23 even if map provider doesn't provide tiles that high
* Settings/Mavlink: Add ability to forward mavlink traffic out specified UDP port
* Support mavlink terrain protocol which queries gcs for terrain height information. Allows planning missions with TERRAIN\_FRAME.

12
src/MissionManager/FixedWingLandingComplexItem.cc
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@ -574,17 +574,11 @@ void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void) @@ -574,17 +574,11 @@ void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void)
double landToTangentDistance = _landingDistanceFact.rawValue().toDouble();
double heading = _landingHeadingFact.rawValue().toDouble();
// Calculate loiter tangent coordinate
// Heading is from loiter to land, hence +180
_loiterTangentCoordinate = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, heading + 180);
// Calculate the distance and angle to the loiter coordinate
QGeoCoordinate tangent = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, 0);
QGeoCoordinate loiter = tangent.atDistanceAndAzimuth(radius, 90);
double loiterDistance = _landingCoordinate.distanceTo(loiter);
double loiterAzimuth = _landingCoordinate.azimuthTo(loiter) * (_loiterClockwise ? -1 : 1);
// Use those values to get the new loiter point which takes heading into acount
_loiterCoordinate = _landingCoordinate.atDistanceAndAzimuth(loiterDistance, heading + 180 + loiterAzimuth);
// Loiter coord is 90 degrees counter clockwise from tangent coord
_loiterCoordinate = _loiterTangentCoordinate.atDistanceAndAzimuth(radius, heading - 180 - 90);
_loiterCoordinate.setAltitude(_loiterAltitudeFact.rawValue().toDouble());
_ignoreRecalcSignals = true;

2
src/MissionManager/SimpleMissionItem.cc
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@ -399,7 +399,7 @@ QString SimpleMissionItem::abbreviation() const @@ -399,7 +399,7 @@ QString SimpleMissionItem::abbreviation() const
case MAV_CMD_NAV_LAND:
return tr("Land");
case MAV_CMD_NAV_VTOL_TAKEOFF:
return tr("VTOL Takeoff");
return tr("Transition Direction");
case MAV_CMD_NAV_VTOL_LAND:
return tr("VTOL Land");
case MAV_CMD_DO_SET_ROI:

4
src/MissionManager/TakeoffMissionItem.cc
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@ -175,12 +175,12 @@ void TakeoffMissionItem::setLaunchCoordinate(const QGeoCoordinate& launchCoordin @@ -175,12 +175,12 @@ void TakeoffMissionItem::setLaunchCoordinate(const QGeoCoordinate& launchCoordin
if (_launchTakeoffAtSameLocation) {
takeoffCoordinate = launchCoordinate;
} else {
double distance = 30.0; // Default distance is VTOL transition to takeoff point distance
double distance = qgcApp()->toolbox()->settingsManager()->planViewSettings()->vtolTransitionDistance()->rawValue().toDouble(); // Default distance is VTOL transition to takeoff point distance
if (_controllerVehicle->fixedWing()) {
double altitude = this->altitude()->rawValue().toDouble();
if (altitudeMode() == QGroundControlQmlGlobal::AltitudeModeRelative) {
// Offset for fixed wing climb out of 30 degrees
// Offset for fixed wing climb out of 30 degrees to specified altitude
if (altitude != 0.0) {
distance = altitude / tan(qDegreesToRadians(30.0));
}

29
src/MissionManager/VTOLLandingComplexItem.cc
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@ -14,6 +14,7 @@ @@ -14,6 +14,7 @@
#include "SimpleMissionItem.h"
#include "PlanMasterController.h"
#include "FlightPathSegment.h"
#include "QGC.h"
#include <QPolygonF>
@ -54,9 +55,13 @@ VTOLLandingComplexItem::VTOLLandingComplexItem(PlanMasterController* masterContr @@ -54,9 +55,13 @@ VTOLLandingComplexItem::VTOLLandingComplexItem(PlanMasterController* masterContr
_editorQml = "qrc:/qml/VTOLLandingPatternEditor.qml";
_isIncomplete = false;
QGeoCoordinate homePositionCoordinate = masterController->missionController()->plannedHomePosition();
if (homePositionCoordinate.isValid()) {
setLandingCoordinate(homePositionCoordinate);
// We adjust landing distance meta data to Plan View settings unless there was a custom build override
if (QGC::fuzzyCompare(_landingDistanceFact.rawValue().toDouble(), _landingDistanceFact.rawDefaultValue().toDouble())) {
Fact* vtolTransitionDistanceFact = qgcApp()->toolbox()->settingsManager()->planViewSettings()->vtolTransitionDistance();
double vtolTransitionDistance = vtolTransitionDistanceFact->rawValue().toDouble();
_landingDistanceFact.metaData()->setRawDefaultValue(vtolTransitionDistance);
_landingDistanceFact.setRawValue(vtolTransitionDistance);
_landingDistanceFact.metaData()->setRawMin(vtolTransitionDistanceFact->metaData()->rawMin());
}
connect(&_loiterAltitudeFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_updateLoiterCoodinateAltitudeFromFact);
@ -535,21 +540,15 @@ void VTOLLandingComplexItem::_recalcFromHeadingAndDistanceChange(void) @@ -535,21 +540,15 @@ void VTOLLandingComplexItem::_recalcFromHeadingAndDistanceChange(void)
if (!_ignoreRecalcSignals && _landingCoordSet) {
// These are our known values
double radius = _loiterRadiusFact.rawValue().toDouble();
double landToTangentDistance = _landingDistanceFact.rawValue().toDouble();
double heading = _landingHeadingFact.rawValue().toDouble();
double radius = _loiterRadiusFact.rawValue().toDouble();
double landToTangentDistance = _landingDistanceFact.rawValue().toDouble();
double heading = _landingHeadingFact.rawValue().toDouble();
// Calculate loiter tangent coordinate
// Heading is from loiter to land, hence +180
_loiterTangentCoordinate = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, heading + 180);
// Calculate the distance and angle to the loiter coordinate
QGeoCoordinate tangent = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, 0);
QGeoCoordinate loiter = tangent.atDistanceAndAzimuth(radius, 90);
double loiterDistance = _landingCoordinate.distanceTo(loiter);
double loiterAzimuth = _landingCoordinate.azimuthTo(loiter) * (_loiterClockwise ? -1 : 1);
// Use those values to get the new loiter point which takes heading into acount
_loiterCoordinate = _landingCoordinate.atDistanceAndAzimuth(loiterDistance, heading + 180 + loiterAzimuth);
// Loiter coord is 90 degrees counter clockwise from tangent coord
_loiterCoordinate = _loiterTangentCoordinate.atDistanceAndAzimuth(radius, heading - 180 - 90);
_loiterCoordinate.setAltitude(_loiterAltitudeFact.rawValue().toDouble());
_ignoreRecalcSignals = true;

36
src/MissionManager/VTOLLandingPattern.FactMetaData.json
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@ -5,59 +5,59 @@ @@ -5,59 +5,59 @@
[
{
"name": "LandingDistance",
"shortDesc": "Distance between landing and loiter points.",
"shortDesc": "Distance between landing and loiter points.",
"type": "double",
"units": "m",
"min": 10,
"decimalPlaces": 1,
"default": 30.0
"default": 300.0
},
{
"name": "LandingHeading",
"shortDesc": "Heading from loiter point to land point.",
"shortDesc": "Heading from loiter point to land point.",
"type": "double",
"units": "deg",
"min": 0.0,
"max": 360.0,
"decimalPlaces": 0,
"default": 270.0
"default": 270.0
},
{
"name": "LoiterAltitude",
"shortDesc": "Aircraft will proceed to the loiter point and loiter downwards until it reaches this approach altitude. Once altitude is reached the aircraft will fly to land point at current altitude.",
"shortDesc": "Aircraft will proceed to the loiter point and loiter downwards until it reaches this approach altitude. Once altitude is reached the aircraft will fly to land point at current altitude.",
"type": "double",
"units": "m",
"decimalPlaces": 1,
"default": 40.0
"default": 30.0
},
{
"name": "LoiterRadius",
"shortDesc": "Loiter radius.",
"shortDesc": "Loiter radius.",
"type": "double",
"decimalPlaces": 1,
"min": 1,
"units": "m",
"default": 75.0
"default": 75.0
},
{
"name": "LandingAltitude",
"shortDesc": "Altitude for landing point on ground.",
"shortDesc": "Altitude for landing point on ground.",
"type": "double",
"units": "m",
"decimalPlaces": 1,
"default": 0.0
"default": 0.0
},
{
"name": "StopTakingPhotos",
"shortDesc": "Stop taking photos",
"type": "bool",
"default": true
"name": "StopTakingPhotos",
"shortDesc": "Stop taking photos",
"type": "bool",
"default": true
},
{
"name": "StopTakingVideo",
"shortDesc": "Stop taking video",
"type": "bool",
"default": true
"name": "StopTakingVideo",
"shortDesc": "Stop taking video",
"type": "bool",
"default": true
}
]
}

2
src/PlanView/FWLandingPatternEditor.qml
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@ -317,8 +317,6 @@ Rectangle { @@ -317,8 +317,6 @@ Rectangle {
onClicked: {
missionItem.wizardMode = false
missionItem.landingDragAngleOnly = false
// Trial of no auto select next item
//editorRoot.selectNextNotReadyItem()
}
}
}

18
src/PlanView/PlanToolBarIndicators.qml
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@ -27,7 +27,9 @@ Item { @@ -27,7 +27,9 @@ Item {
property var _controllerDirty: _controllerValid ? _planMasterController.dirty : false
property var _controllerSyncInProgress: _controllerValid ? _planMasterController.syncInProgress : false
property bool _statusValid: _currentMissionItem !== undefined && _currentMissionItem !== null
property bool _currentMissionItemValid: _currentMissionItem && _currentMissionItem !== undefined && _currentMissionItem !== null
property bool _curreItemIsFlyThrough: _currentMissionItemValid && _currentMissionItem.specifiesCoordinate && !_currentMissionItem.isStandaloneCoordinate
property bool _currentItemIsVTOLTakeoff: _currentMissionItemValid && _currentMissionItem.command == 84
property bool _missionValid: missionItems !== undefined
property real _dataFontSize: ScreenTools.defaultFontPointSize
@ -36,11 +38,10 @@ Item { @@ -36,11 +38,10 @@ Item {
property real _smallValueWidth: ScreenTools.defaultFontPixelWidth * 3
property real _labelToValueSpacing: ScreenTools.defaultFontPixelWidth
property real _rowSpacing: ScreenTools.isMobile ? 1 : 0
property real _distance: _statusValid && _currentMissionItem ? _currentMissionItem.distance : NaN
property real _altDifference: _statusValid && _currentMissionItem ? _currentMissionItem.altDifference : NaN
property real _gradient: _statusValid && _currentMissionItem && _currentMissionItem.distance > 0 ? (Math.atan(_currentMissionItem.altDifference / _currentMissionItem.distance) * (180.0/Math.PI)) : NaN
property real _azimuth: _statusValid && _currentMissionItem ? _currentMissionItem.azimuth : NaN
property real _heading: _statusValid && _currentMissionItem ? _currentMissionItem.missionVehicleYaw : NaN
property real _distance: _currentMissionItemValid ? _currentMissionItem.distance : NaN
property real _altDifference: _currentMissionItemValid ? _currentMissionItem.altDifference : NaN
property real _azimuth: _currentMissionItemValid ? _currentMissionItem.azimuth : NaN
property real _heading: _currentMissionItemValid ? _currentMissionItem.missionVehicleYaw : NaN
property real _missionDistance: _missionValid ? missionDistance : NaN
property real _missionMaxTelemetry: _missionValid ? missionMaxTelemetry : NaN
property real _missionTime: _missionValid ? missionTime : NaN
@ -49,6 +50,11 @@ Item { @@ -49,6 +50,11 @@ Item {
property bool _batteryInfoAvailable: _batteryChangePoint >= 0 || _batteriesRequired >= 0
property real _controllerProgressPct: _controllerValid ? _planMasterController.missionController.progressPct : 0
property bool _syncInProgress: _controllerValid ? _planMasterController.missionController.syncInProgress : false
property real _gradient: _currentMissionItemValid && _currentMissionItem.distance > 0 ?
(_currentItemIsVTOLTakeoff ?
0 :
(Math.atan(_currentMissionItem.altDifference / _currentMissionItem.distance) * (180.0/Math.PI)))
: NaN
property string _distanceText: isNaN(_distance) ? "-.-" : QGroundControl.unitsConversion.metersToAppSettingsHorizontalDistanceUnits(_distance).toFixed(1) + " " + QGroundControl.unitsConversion.appSettingsHorizontalDistanceUnitsString
property string _altDifferenceText: isNaN(_altDifference) ? "-.-" : QGroundControl.unitsConversion.metersToAppSettingsHorizontalDistanceUnits(_altDifference).toFixed(1) + " " + QGroundControl.unitsConversion.appSettingsHorizontalDistanceUnitsString

8
src/PlanView/SimpleItemEditor.qml
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@ -82,7 +82,11 @@ Rectangle { @@ -82,7 +82,11 @@ Rectangle {
visible: missionItem.isTakeoffItem && missionItem.wizardMode // Hack special case for takeoff item
QGCLabel {
text: qsTr("Move '%1' Takeoff to the %2 location.").arg(_controllerVehicle.vtol ? qsTr("V") : qsTr("T")).arg(_controllerVehicle.vtol ? qsTr("desired") : qsTr("climbout"))
text: qsTr("Move '%1' %2 to the %3 location. %4")
.arg(_controllerVehicle.vtol ? qsTr("T") : qsTr("T"))
.arg(_controllerVehicle.vtol ? qsTr("Transition Direction") : qsTr("Takeoff"))
.arg(_controllerVehicle.vtol ? qsTr("desired") : qsTr("climbout"))
.arg(_controllerVehicle.vtol ? (qsTr("Ensure distance from launch to transition direction is far enough to complete transition.")) : "")
Layout.fillWidth: true
wrapMode: Text.WordWrap
visible: !initialClickLabel.visible
@ -101,8 +105,6 @@ Rectangle { @@ -101,8 +105,6 @@ Rectangle {
visible: !initialClickLabel.visible
onClicked: {
missionItem.wizardMode = false
// Trial of no auto select next item
//editorRoot.selectNextNotReadyItem()
}
}

1
src/PlanView/TakeoffItemMapVisual.qml
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@ -149,7 +149,6 @@ Item { @@ -149,7 +149,6 @@ Item {
readonly property int _decimalPlaces: 8
onClicked: {
console.log("mousearea click")
var coordinate = map.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)

25
src/PlanView/VTOLLandingPatternEditor.qml
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@ -32,9 +32,9 @@ Rectangle { @@ -32,9 +32,9 @@ Rectangle {
//property real availableWidth ///< Width for control
//property var missionItem ///< Mission Item for editor
property var _masterControler: masterController
property var _missionController: _masterControler.missionController
property var _missionVehicle: _masterControler.controllerVehicle
property var _masterControler: masterController
property var _missionController: _masterControler.missionController
property var _missionVehicle: _masterControler.controllerVehicle
property real _margin: ScreenTools.defaultFontPixelWidth / 2
property real _spacer: ScreenTools.defaultFontPixelWidth / 2
property string _setToVehicleHeadingStr: qsTr("Set to vehicle heading")
@ -51,6 +51,14 @@ Rectangle { @@ -51,6 +51,14 @@ Rectangle {
spacing: _margin
visible: !editorColumnNeedLandingPoint.visible
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("Loiter down to specified altitude. Fly to land point while transitioning. Hover straight down to land.")
}
SectionHeader {
id: loiterPointSection
anchors.left: parent.left
@ -216,6 +224,15 @@ Rectangle { @@ -216,6 +224,15 @@ Rectangle {
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("* Avoid tailwind from loiter to land.")
}
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
color: qgcPal.warningText
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("* Ensure landing distance is enough to complete transition.")
}
}
}
@ -287,8 +304,6 @@ Rectangle { @@ -287,8 +304,6 @@ Rectangle {
onClicked: {
missionItem.wizardMode = false
missionItem.landingDragAngleOnly = false
// Trial of no auto select next item
//editorRoot.selectNextNotReadyItem()
}
}
}

52
src/Settings/PlanView.SettingsGroup.json
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@ -1,37 +1,45 @@ @@ -1,37 +1,45 @@
{
"version": 1,
"fileType": "FactMetaData",
"version": 1,
"fileType": "FactMetaData",
"QGC.MetaData.Facts":
[
{
"name": "displayPresetsTabFirst",
"shortDesc": "Display the presets tab at start",
"type": "bool",
"default": false
"name": "displayPresetsTabFirst",
"shortDesc": "Display the presets tab at start",
"type": "bool",
"default": false
},
{
"name": "showMissionItemStatus",
"shortDesc": "Show/Hide the mission item status display",
"type": "bool",
"default": true
"name": "showMissionItemStatus",
"shortDesc": "Show/Hide the mission item status display",
"type": "bool",
"default": true
},
{
"name": "takeoffItemNotRequired",
"shortDesc": "Allow missions to not require a takeoff item",
"type": "bool",
"default": false
"name": "takeoffItemNotRequired",
"shortDesc": "Allow missions to not require a takeoff item",
"type": "bool",
"default": false
},
{
"name": "useConditionGate",
"shortDesc": "Use MAV_CMD_CONDITION_GATE for pattern generation",
"type": "bool",
"default": false
"name": "useConditionGate",
"shortDesc": "Use MAV_CMD_CONDITION_GATE for pattern generation",
"type": "bool",
"default": false
},
{
"name": "showGimbalOnlyWhenSet",
"shortDesc": "Show gimbal yaw visual only when set explicitly for the waypoint",
"type": "bool",
"default": false
"name": "showGimbalOnlyWhenSet",
"shortDesc": "Show gimbal yaw visual only when set explicitly for the waypoint",
"type": "bool",
"default": false
},
{
"name": "vtolTransitionDistance",
"shortDesc": "Amount of distance required for vehicle to complete a transition",
"type": "double",
"default": 300.0,
"units": "m",
"min": 100.0
}
]
}

1
src/Settings/PlanViewSettings.cc
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@ -22,3 +22,4 @@ DECLARE_SETTINGSFACT(PlanViewSettings, showMissionItemStatus) @@ -22,3 +22,4 @@ DECLARE_SETTINGSFACT(PlanViewSettings, showMissionItemStatus)
DECLARE_SETTINGSFACT(PlanViewSettings, useConditionGate)
DECLARE_SETTINGSFACT(PlanViewSettings, takeoffItemNotRequired)
DECLARE_SETTINGSFACT(PlanViewSettings, showGimbalOnlyWhenSet)
DECLARE_SETTINGSFACT(PlanViewSettings, vtolTransitionDistance)

1
src/Settings/PlanViewSettings.h
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@ -25,4 +25,5 @@ public: @@ -25,4 +25,5 @@ public:
DEFINE_SETTINGFACT(useConditionGate)
DEFINE_SETTINGFACT(takeoffItemNotRequired)
DEFINE_SETTINGFACT(showGimbalOnlyWhenSet)
DEFINE_SETTINGFACT(vtolTransitionDistance)
};

13
src/ui/preferences/GeneralSettings.qml
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@ -348,15 +348,22 @@ Rectangle { @@ -348,15 +348,22 @@ Rectangle {
anchors.horizontalCenter: parent.horizontalCenter
spacing: _margins
RowLayout {
spacing: ScreenTools.defaultFontPixelWidth
visible: QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude.visible
GridLayout {
columns: 2
columnSpacing: ScreenTools.defaultFontPixelWidth
visible: QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude.visible
QGCLabel { text: qsTr("Default Mission Altitude") }
FactTextField {
Layout.preferredWidth: _valueFieldWidth
fact: QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude
}
QGCLabel { text: qsTr("VTOL TransitionDistance") }
FactTextField {
Layout.preferredWidth: _valueFieldWidth
fact: QGroundControl.settingsManager.planViewSettings.vtolTransitionDistance
}
}
FactCheckBox {

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