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Use existing active vehicle variable instead of duplicating it.

QGC4.4
Gus Grubba 5 years ago
parent
236d47b5d6
commit
11ccd415bf
1 changed files with 39 additions and 40 deletions
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  1. 79
      src/FlightDisplay/GuidedActionsController.qml

79
src/FlightDisplay/GuidedActionsController.qml
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@ -96,31 +96,30 @@ Item {
property bool showEmergenyStop: _guidedActionsEnabled && !_hideEmergenyStop && _vehicleArmed && _vehicleFlying property bool showEmergenyStop: _guidedActionsEnabled && !_hideEmergenyStop && _vehicleArmed && _vehicleFlying
property bool showArm: _guidedActionsEnabled && !_vehicleArmed property bool showArm: _guidedActionsEnabled && !_vehicleArmed
property bool showDisarm: _guidedActionsEnabled && _vehicleArmed && !_vehicleFlying property bool showDisarm: _guidedActionsEnabled && _vehicleArmed && !_vehicleFlying
property bool showRTL: _guidedActionsEnabled && _vehicleArmed && _activeVehicle.guidedModeSupported && _vehicleFlying && !_vehicleInRTLMode property bool showRTL: _guidedActionsEnabled && _vehicleArmed && activeVehicle.guidedModeSupported && _vehicleFlying && !_vehicleInRTLMode
property bool showTakeoff: _guidedActionsEnabled && _activeVehicle.takeoffVehicleSupported && !_vehicleFlying property bool showTakeoff: _guidedActionsEnabled && activeVehicle.takeoffVehicleSupported && !_vehicleFlying
property bool showLand: _guidedActionsEnabled && _activeVehicle.guidedModeSupported && _vehicleArmed && !_activeVehicle.fixedWing && !_vehicleInLandMode property bool showLand: _guidedActionsEnabled && activeVehicle.guidedModeSupported && _vehicleArmed && !activeVehicle.fixedWing && !_vehicleInLandMode
property bool showStartMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && !_vehicleFlying property bool showStartMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && !_vehicleFlying
property bool showContinueMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < _missionItemCount - 1) property bool showContinueMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < _missionItemCount - 1)
property bool showPause: _guidedActionsEnabled && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused && !_fixedWingOnApproach property bool showPause: _guidedActionsEnabled && _vehicleArmed && activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused && !_fixedWingOnApproach
property bool showChangeAlt: _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive property bool showChangeAlt: _guidedActionsEnabled && _vehicleFlying && activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
property bool showOrbit: _guidedActionsEnabled && !_hideOrbit && _vehicleFlying && _activeVehicle.orbitModeSupported && !_missionActive property bool showOrbit: _guidedActionsEnabled && !_hideOrbit && _vehicleFlying && activeVehicle.orbitModeSupported && !_missionActive
property bool showLandAbort: _guidedActionsEnabled && _vehicleFlying && _fixedWingOnApproach property bool showLandAbort: _guidedActionsEnabled && _vehicleFlying && _fixedWingOnApproach
property bool showGotoLocation: _guidedActionsEnabled && _vehicleFlying property bool showGotoLocation: _guidedActionsEnabled && _vehicleFlying
// Note: The '_missionItemCount - 2' is a hack to not trigger resume mission when a mission ends with an RTL item // Note: The '_missionItemCount - 2' is a hack to not trigger resume mission when a mission ends with an RTL item
property bool showResumeMission: _activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < _missionItemCount - 2) property bool showResumeMission: activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < _missionItemCount - 2)
property bool guidedUIVisible: guidedActionConfirm.visible || guidedActionList.visible property bool guidedUIVisible: guidedActionConfirm.visible || guidedActionList.visible
property var _corePlugin: QGroundControl.corePlugin property var _corePlugin: QGroundControl.corePlugin
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle property bool _guidedActionsEnabled: (!ScreenTools.isDebug && QGroundControl.corePlugin.options.guidedActionsRequireRCRSSI && activeVehicle) ? _rcRSSIAvailable : activeVehicle
property bool _guidedActionsEnabled: (!ScreenTools.isDebug && QGroundControl.corePlugin.options.guidedActionsRequireRCRSSI && _activeVehicle) ? _rcRSSIAvailable : _activeVehicle property string _flightMode: activeVehicle ? activeVehicle.flightMode : ""
property string _flightMode: _activeVehicle ? _activeVehicle.flightMode : ""
property bool _missionAvailable: missionController.containsItems property bool _missionAvailable: missionController.containsItems
property bool _missionActive: _activeVehicle ? _vehicleArmed && (_vehicleInLandMode || _vehicleInRTLMode || _vehicleInMissionMode) : false property bool _missionActive: activeVehicle ? _vehicleArmed && (_vehicleInLandMode || _vehicleInRTLMode || _vehicleInMissionMode) : false
property bool _vehicleArmed: _activeVehicle ? _activeVehicle.armed : false property bool _vehicleArmed: activeVehicle ? activeVehicle.armed : false
property bool _vehicleFlying: _activeVehicle ? _activeVehicle.flying : false property bool _vehicleFlying: activeVehicle ? activeVehicle.flying : false
property bool _vehicleLanding: _activeVehicle ? _activeVehicle.landing : false property bool _vehicleLanding: activeVehicle ? activeVehicle.landing : false
property bool _vehiclePaused: false property bool _vehiclePaused: false
property bool _vehicleInMissionMode: false property bool _vehicleInMissionMode: false
property bool _vehicleInRTLMode: false property bool _vehicleInRTLMode: false
@ -131,17 +130,17 @@ Item {
property bool _hideEmergenyStop: !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop property bool _hideEmergenyStop: !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
property bool _hideOrbit: !QGroundControl.corePlugin.options.guidedBarShowOrbit property bool _hideOrbit: !QGroundControl.corePlugin.options.guidedBarShowOrbit
property bool _vehicleWasFlying: false property bool _vehicleWasFlying: false
property bool _rcRSSIAvailable: _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100 : false property bool _rcRSSIAvailable: activeVehicle ? activeVehicle.rcRSSI > 0 && activeVehicle.rcRSSI <= 100 : false
property bool _fixedWingOnApproach: _activeVehicle ? _activeVehicle.fixedWing && _vehicleLanding : false property bool _fixedWingOnApproach: activeVehicle ? activeVehicle.fixedWing && _vehicleLanding : false
// You can turn on log output for GuidedActionsController by turning on GuidedActionsControllerLog category // You can turn on log output for GuidedActionsController by turning on GuidedActionsControllerLog category
property bool __guidedModeSupported: _activeVehicle ? _activeVehicle.guidedModeSupported : false property bool __guidedModeSupported: activeVehicle ? activeVehicle.guidedModeSupported : false
property bool __pauseVehicleSupported: _activeVehicle ? _activeVehicle.pauseVehicleSupported : false property bool __pauseVehicleSupported: activeVehicle ? activeVehicle.pauseVehicleSupported : false
property bool __flightMode: _flightMode property bool __flightMode: _flightMode
function _outputState() { function _outputState() {
if (_corePlugin.guidedActionsControllerLogging()) { if (_corePlugin.guidedActionsControllerLogging()) {
console.log(qsTr("_activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleWasFlying(%5) _vehicleInRTLMode(%6) pauseVehicleSupported(%7) _vehiclePaused(%8) _flightMode(%9) _missionItemCount(%10)").arg(_activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleWasFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode).arg(_missionItemCount)) console.log(qsTr("activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleWasFlying(%5) _vehicleInRTLMode(%6) pauseVehicleSupported(%7) _vehiclePaused(%8) _flightMode(%9) _missionItemCount(%10)").arg(activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleWasFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode).arg(_missionItemCount))
} }
} }
@ -209,10 +208,10 @@ Item {
property var _actionData property var _actionData
on_FlightModeChanged: { on_FlightModeChanged: {
_vehiclePaused = _activeVehicle ? _flightMode === _activeVehicle.pauseFlightMode : false _vehiclePaused = activeVehicle ? _flightMode === activeVehicle.pauseFlightMode : false
_vehicleInRTLMode = _activeVehicle ? _flightMode === _activeVehicle.rtlFlightMode || _flightMode === _activeVehicle.smartRTLFlightMode : false _vehicleInRTLMode = activeVehicle ? _flightMode === activeVehicle.rtlFlightMode || _flightMode === activeVehicle.smartRTLFlightMode : false
_vehicleInLandMode = _activeVehicle ? _flightMode === _activeVehicle.landFlightMode : false _vehicleInLandMode = activeVehicle ? _flightMode === activeVehicle.landFlightMode : false
_vehicleInMissionMode = _activeVehicle ? _flightMode === _activeVehicle.missionFlightMode : false // Must be last to get correct signalling for showStartMission popups _vehicleInMissionMode = activeVehicle ? _flightMode === activeVehicle.missionFlightMode : false // Must be last to get correct signalling for showStartMission popups
} }
// Called when an action is about to be executed in order to confirm // Called when an action is about to be executed in order to confirm
@ -287,7 +286,7 @@ Item {
case actionRTL: case actionRTL:
confirmDialog.title = rtlTitle confirmDialog.title = rtlTitle
confirmDialog.message = rtlMessage confirmDialog.message = rtlMessage
if (_activeVehicle.supportsSmartRTL) { if (activeVehicle.supportsSmartRTL) {
confirmDialog.optionText = qsTr("Smart RTL") confirmDialog.optionText = qsTr("Smart RTL")
confirmDialog.optionChecked = false confirmDialog.optionChecked = false
} }
@ -356,13 +355,13 @@ Item {
var rgVehicle; var rgVehicle;
switch (actionCode) { switch (actionCode) {
case actionRTL: case actionRTL:
_activeVehicle.guidedModeRTL(optionChecked) activeVehicle.guidedModeRTL(optionChecked)
break break
case actionLand: case actionLand:
_activeVehicle.guidedModeLand() activeVehicle.guidedModeLand()
break break
case actionTakeoff: case actionTakeoff:
_activeVehicle.guidedModeTakeoff(actionAltitudeChange) activeVehicle.guidedModeTakeoff(actionAltitudeChange)
break break
case actionResumeMission: case actionResumeMission:
case actionResumeMissionUploadFail: case actionResumeMissionUploadFail:
@ -370,7 +369,7 @@ Item {
break break
case actionStartMission: case actionStartMission:
case actionContinueMission: case actionContinueMission:
_activeVehicle.startMission() activeVehicle.startMission()
break break
case actionMVStartMission: case actionMVStartMission:
rgVehicle = QGroundControl.multiVehicleManager.vehicles rgVehicle = QGroundControl.multiVehicleManager.vehicles
@ -379,32 +378,32 @@ Item {
} }
break break
case actionArm: case actionArm:
_activeVehicle.armed = true activeVehicle.armed = true
break break
case actionDisarm: case actionDisarm:
_activeVehicle.armed = false activeVehicle.armed = false
break break
case actionEmergencyStop: case actionEmergencyStop:
_activeVehicle.emergencyStop() activeVehicle.emergencyStop()
break break
case actionChangeAlt: case actionChangeAlt:
_activeVehicle.guidedModeChangeAltitude(actionAltitudeChange) activeVehicle.guidedModeChangeAltitude(actionAltitudeChange)
break break
case actionGoto: case actionGoto:
_activeVehicle.guidedModeGotoLocation(actionData) activeVehicle.guidedModeGotoLocation(actionData)
break break
case actionSetWaypoint: case actionSetWaypoint:
_activeVehicle.setCurrentMissionSequence(actionData) activeVehicle.setCurrentMissionSequence(actionData)
break break
case actionOrbit: case actionOrbit:
_activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius() * (orbitMapCircle.clockwiseRotation ? 1 : -1), _activeVehicle.altitudeAMSL.rawValue + actionAltitudeChange) activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius() * (orbitMapCircle.clockwiseRotation ? 1 : -1), activeVehicle.altitudeAMSL.rawValue + actionAltitudeChange)
break break
case actionLandAbort: case actionLandAbort:
_activeVehicle.abortLanding(50) // hardcoded value for climbOutAltitude that is currently ignored activeVehicle.abortLanding(50) // hardcoded value for climbOutAltitude that is currently ignored
break break
case actionPause: case actionPause:
_activeVehicle.pauseVehicle() activeVehicle.pauseVehicle()
_activeVehicle.guidedModeChangeAltitude(actionAltitudeChange) activeVehicle.guidedModeChangeAltitude(actionAltitudeChange)
break break
case actionMVPause: case actionMVPause:
rgVehicle = QGroundControl.multiVehicleManager.vehicles rgVehicle = QGroundControl.multiVehicleManager.vehicles
@ -413,10 +412,10 @@ Item {
} }
break break
case actionVtolTransitionToFwdFlight: case actionVtolTransitionToFwdFlight:
_activeVehicle.vtolInFwdFlight = true activeVehicle.vtolInFwdFlight = true
break break
case actionVtolTransitionToMRFlight: case actionVtolTransitionToMRFlight:
_activeVehicle.vtolInFwdFlight = false activeVehicle.vtolInFwdFlight = false
break break
default: default:
console.warn(qsTr("Internal error: unknown actionCode"), actionCode) console.warn(qsTr("Internal error: unknown actionCode"), actionCode)

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