zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Add Home Position Manager support to Mission Editor 

Also:
- Remove unused code
QGC4.4
Don Gagne 10 years ago
parent
079d2fed46
commit
143bb616f7
9 changed files with 444 additions and 171 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 173
      src/HomePositionManager.cc
  2. 116
      src/HomePositionManager.h
  3. 227
      src/MissionEditor/MissionEditor.qml
  4. 4
      src/QmlControls/QmlObjectListModel.cc
  5. 1
      src/QmlControls/QmlObjectListModel.h
  6. 1
      src/comm/QGCFlightGearLink.cc
  7. 5
      src/comm/QGCXPlaneLink.cc
  8. 3
      src/uas/UAS.cc
  9. 1
      src/ui/MainWindow.cc

173
src/HomePositionManager.cc
Unescape View File

@ -40,24 +40,47 @@ @@ -40,24 +40,47 @@
IMPLEMENT_QGC_SINGLETON(HomePositionManager, HomePositionManager)
HomePositionManager::HomePositionManager(QObject* parent) :
QObject(parent),
homeLat(47.3769),
homeLon(8.549444),
homeAlt(470.0),
homeFrame(MAV_FRAME_GLOBAL)
const char* HomePositionManager::_settingsGroup = "HomePositionManager";
const char* HomePositionManager::_latitudeKey = "Latitude";
const char* HomePositionManager::_longitudeKey = "Longitude";
const char* HomePositionManager::_altitudeKey = "Altitude";
HomePositionManager::HomePositionManager(QObject* parent)
: QObject(parent)
, homeLat(47.3769)
, homeLon(8.549444)
, homeAlt(470.0)
{
loadSettings();
_loadSettings();
}
HomePositionManager::~HomePositionManager()
{
storeSettings();
}
void HomePositionManager::storeSettings()
void HomePositionManager::_storeSettings(void)
{
QSettings settings;
settings.remove(_settingsGroup);
settings.beginGroup(_settingsGroup);
for (int i=0; i<_homePositions.count(); i++) {
HomePosition* homePos = qobject_cast<HomePosition*>(_homePositions[i]);
qDebug() << "Saving" << homePos->name();
settings.beginGroup(homePos->name());
settings.setValue(_latitudeKey, homePos->coordinate().latitude());
settings.setValue(_longitudeKey, homePos->coordinate().longitude());
settings.setValue(_altitudeKey, homePos->coordinate().altitude());
settings.endGroup();
}
settings.endGroup();
// Deprecated settings for old editor
settings.beginGroup("QGC_UASMANAGER");
settings.setValue("HOMELAT", homeLat);
settings.setValue("HOMELON", homeLon);
@ -65,9 +88,36 @@ void HomePositionManager::storeSettings() @@ -65,9 +88,36 @@ void HomePositionManager::storeSettings()
settings.endGroup();
}
void HomePositionManager::loadSettings()
void HomePositionManager::_loadSettings(void)
{
QSettings settings;
_homePositions.clear();
settings.beginGroup(_settingsGroup);
foreach(QString name, settings.childGroups()) {
QGeoCoordinate coordinate;
qDebug() << "Load setting" << name;
settings.beginGroup(name);
coordinate.setLatitude(settings.value(_latitudeKey).toDouble());
coordinate.setLongitude(settings.value(_longitudeKey).toDouble());
coordinate.setAltitude(settings.value(_altitudeKey).toDouble());
settings.endGroup();
_homePositions.append(new HomePosition(name, coordinate, this));
}
settings.endGroup();
if (_homePositions.count() == 0) {
_homePositions.append(new HomePosition("ETH Campus", QGeoCoordinate(47.3769, 8.549444, 470.0)));
}
// Deprecated settings for old editor
settings.beginGroup("QGC_UASMANAGER");
bool changed = setHomePosition(settings.value("HOMELAT", homeLat).toDouble(),
settings.value("HOMELON", homeLon).toDouble(),
@ -97,9 +147,6 @@ bool HomePositionManager::setHomePosition(double lat, double lon, double alt) @@ -97,9 +147,6 @@ bool HomePositionManager::setHomePosition(double lat, double lon, double alt)
if (fabs(homeLon - lon) > 1e-7) changed = true;
if (fabs(homeAlt - alt) > 0.5f) changed = true;
// Initialize conversion reference in any case
initReference(lat, lon, alt);
if (changed)
{
homeLat = lat;
@ -125,75 +172,81 @@ bool HomePositionManager::setHomePositionAndNotify(double lat, double lon, doubl @@ -125,75 +172,81 @@ bool HomePositionManager::setHomePositionAndNotify(double lat, double lon, doubl
return changed;
}
void HomePositionManager::initReference(const double & latitude, const double & longitude, const double & altitude)
void HomePositionManager::updateHomePosition(const QString& name, const QGeoCoordinate& coordinate)
{
Eigen::Matrix3d R;
double s_long, s_lat, c_long, c_lat;
sincos(latitude * DEG2RAD, &s_lat, &c_lat);
sincos(longitude * DEG2RAD, &s_long, &c_long);
HomePosition * homePos = NULL;
R(0, 0) = -s_long;
R(0, 1) = c_long;
R(0, 2) = 0;
R(1, 0) = -s_lat * c_long;
R(1, 1) = -s_lat * s_long;
R(1, 2) = c_lat;
R(2, 0) = c_lat * c_long;
R(2, 1) = c_lat * s_long;
R(2, 2) = s_lat;
for (int i=0; i<_homePositions.count(); i++) {
homePos = qobject_cast<HomePosition*>(_homePositions[i]);
if (homePos->name() == name) {
break;
}
homePos = NULL;
}
ecef_ref_orientation_ = Eigen::Quaterniond(R);
if (homePos == NULL) {
HomePosition* homePos = new HomePosition(name, coordinate, this);
_homePositions.append(homePos);
} else {
homePos->setName(name);
homePos->setCoordinate(coordinate);
}
ecef_ref_point_ = wgs84ToEcef(latitude, longitude, altitude);
_storeSettings();
}
Eigen::Vector3d HomePositionManager::wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude)
void HomePositionManager::deleteHomePosition(const QString& name)
{
const double a = 6378137.0; // semi-major axis
const double e_sq = 6.69437999014e-3; // first eccentricity squared
double s_long, s_lat, c_long, c_lat;
sincos(latitude * DEG2RAD, &s_lat, &c_lat);
sincos(longitude * DEG2RAD, &s_long, &c_long);
// Don't allow delete of last position
if (_homePositions.count() == 1) {
return;
}
const double N = a / sqrt(1 - e_sq * s_lat * s_lat);
qDebug() << "Attempting delete" << name;
Eigen::Vector3d ecef;
for (int i=0; i<_homePositions.count(); i++) {
if (qobject_cast<HomePosition*>(_homePositions[i])->name() == name) {
qDebug() << "Deleting" << name;
_homePositions.removeAt(i);
break;
}
}
ecef[0] = (N + altitude) * c_lat * c_long;
ecef[1] = (N + altitude) * c_lat * s_long;
ecef[2] = (N * (1 - e_sq) + altitude) * s_lat;
_storeSettings();
}
return ecef;
HomePosition::HomePosition(const QString& name, const QGeoCoordinate& coordinate, QObject* parent)
: QObject(parent)
, _coordinate(coordinate)
{
setObjectName(name);
}
Eigen::Vector3d HomePositionManager::ecefToEnu(const Eigen::Vector3d & ecef)
HomePosition::~HomePosition()
{
return ecef_ref_orientation_ * (ecef - ecef_ref_point_);
}
void HomePositionManager::wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up)
QString HomePosition::name(void)
{
Eigen::Vector3d ecef = wgs84ToEcef(lat, lon, alt);
Eigen::Vector3d enu = ecefToEnu(ecef);
*east = enu.x();
*north = enu.y();
*up = enu.z();
return objectName();
}
void HomePositionManager::enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
void HomePosition::setName(const QString& name)
{
*lat=homeLat+y/MEAN_EARTH_DIAMETER*360./PI;
*lon=homeLon+x/MEAN_EARTH_DIAMETER*360./PI/cos(homeLat*UMR);
*alt=homeAlt+z;
setObjectName(name);
HomePositionManager::instance()->_storeSettings();
emit nameChanged(name);
}
void HomePositionManager::nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
QGeoCoordinate HomePosition::coordinate(void)
{
*lat=homeLat+x/MEAN_EARTH_DIAMETER*360./PI;
*lon=homeLon+y/MEAN_EARTH_DIAMETER*360./PI/cos(homeLat*UMR);
*alt=homeAlt-z;
return _coordinate;
}
void HomePosition::setCoordinate(const QGeoCoordinate& coordinate)
{
_coordinate = coordinate;
HomePositionManager::instance()->_storeSettings();
emit coordinateChanged(coordinate);
}

116
src/HomePositionManager.h
Unescape View File

@ -21,21 +21,41 @@ This file is part of the QGROUNDCONTROL project @@ -21,21 +21,41 @@ This file is part of the QGROUNDCONTROL project
======================================================================*/
#ifndef _UASMANAGER_H_
#define _UASMANAGER_H_
#ifndef HomePositionManager_H
#define HomePositionManager_H
#include "UASInterface.h"
#include "QGCSingleton.h"
#include "QmlObjectListModel.h"
#include <QGeoCoordinate>
#include <QList>
#include <QMutex>
class HomePosition : public QObject
{
Q_OBJECT
#include <Eigen/Eigen>
public:
HomePosition(const QString& name, const QGeoCoordinate& coordinate, QObject* parent = NULL);
~HomePosition();
#include "QGCGeo.h"
#include "QGCSingleton.h"
Q_PROPERTY(QString name READ name WRITE setName NOTIFY nameChanged)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
// Property accessors
QString name(void);
void setName(const QString& name);
QGeoCoordinate coordinate(void);
void setCoordinate(const QGeoCoordinate& coordinate);
signals:
void nameChanged(const QString& name);
void coordinateChanged(const QGeoCoordinate& coordinate);
private:
QGeoCoordinate _coordinate;
};
/// Manages an offline home position as well as performance coordinate transformations
/// around a home position.
class HomePositionManager : public QObject
{
Q_OBJECT
@ -43,6 +63,40 @@ class HomePositionManager : public QObject @@ -43,6 +63,40 @@ class HomePositionManager : public QObject
DECLARE_QGC_SINGLETON(HomePositionManager, HomePositionManager)
public:
Q_PROPERTY(QmlObjectListModel* homePositions READ homePositions CONSTANT)
/// If name is not already a home position a new one will be added, otherwise the existing
/// home position will be updated
Q_INVOKABLE void updateHomePosition(const QString& name, const QGeoCoordinate& coordinate);
Q_INVOKABLE void deleteHomePosition(const QString& name);
// Property accesors
QmlObjectListModel* homePositions(void) { return &_homePositions; }
// Should only be called by HomePosition
void _storeSettings(void);
private:
/// @brief All access to HomePositionManager singleton is through HomePositionManager::instance
HomePositionManager(QObject* parent = NULL);
~HomePositionManager();
void _loadSettings(void);
QmlObjectListModel _homePositions;
static const char* _settingsGroup;
static const char* _latitudeKey;
static const char* _longitudeKey;
static const char* _altitudeKey;
// Everything below is deprecated and will be removed once old Map code is removed
public:
// Deprecated methods
/** @brief Get home position latitude */
double getHomeLatitude() const {
return homeLat;
@ -56,24 +110,10 @@ public: @@ -56,24 +110,10 @@ public:
return homeAlt;
}
/** @brief Get the home position coordinate frame */
int getHomeFrame() const
{
return homeFrame;
}
public slots:
/** @brief Convert WGS84 coordinates to earth centric frame */
Eigen::Vector3d wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude);
/** @brief Convert earth centric frame to EAST-NORTH-UP frame (x-y-z directions */
Eigen::Vector3d ecefToEnu(const Eigen::Vector3d & ecef);
/** @brief Convert WGS84 lat/lon coordinates to carthesian coordinates with home position as origin */
void wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up);
/** @brief Convert x,y,z coordinates to lat / lon / alt coordinates in east-north-up frame */
void enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt);
/** @brief Convert x,y,z coordinates to lat / lon / alt coordinates in north-east-down frame */
void nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt);
// Deprecated methods
public slots:
/** @brief Set the current home position, but do not change it on the UAVs */
bool setHomePosition(double lat, double lon, double alt);
@ -81,11 +121,6 @@ public slots: @@ -81,11 +121,6 @@ public slots:
bool setHomePositionAndNotify(double lat, double lon, double alt);
/** @brief Load settings */
void loadSettings();
/** @brief Store settings */
void storeSettings();
signals:
/** @brief Current home position changed */
void homePositionChanged(double lat, double lon, double alt);
@ -94,23 +129,6 @@ protected: @@ -94,23 +129,6 @@ protected:
double homeLat;
double homeLon;
double homeAlt;
int homeFrame;
Eigen::Quaterniond ecef_ref_orientation_;
Eigen::Vector3d ecef_ref_point_;
void initReference(const double & latitude, const double & longitude, const double & altitude);
private:
/// @brief All access to HomePositionManager singleton is through HomePositionManager::instance
HomePositionManager(QObject* parent = NULL);
~HomePositionManager();
public:
/* Need to align struct pointer to prevent a memory assertion:
* See http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html
* for details
*/
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
#endif // _UASMANAGER_H_
#endif

227
src/MissionEditor/MissionEditor.qml
Unescape View File

@ -27,6 +27,7 @@ import QtQuick.Dialogs 1.2 @@ -27,6 +27,7 @@ import QtQuick.Dialogs 1.2
import QtLocation 5.3
import QtPositioning 5.3
import QGroundControl 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
@ -37,14 +38,18 @@ import QGroundControl.Palette 1.0 @@ -37,14 +38,18 @@ import QGroundControl.Palette 1.0
QGCView {
viewPanel: panel
readonly property real _defaultLatitude: 37.803784
readonly property real _defaultLongitude: -122.462276
readonly property int _decimalPlaces: 7
readonly property real _horizontalMargin: ScreenTools.defaultFontPixelWidth / 2
readonly property real _verticalMargin: ScreenTools.defaultFontPixelHeight / 2
readonly property var _activeVehicle: multiVehicleManager.activeVehicle
readonly property real _editFieldWidth: ScreenTools.defaultFontPixelWidth * 16
property var _missionItems: controller.missionItems
property bool _showHomePositionManager: false
property var _homePositionManager: QGroundControl.homePositionManager
property string _homePositionName: _homePositionManager.homePositions.get(0).name
property var _homePositionCoordinate: _homePositionManager.homePositions.get(0).coordinate
QGCPalette { id: _qgcPal; colorGroupEnabled: enabled }
@ -68,8 +73,8 @@ QGCView { @@ -68,8 +73,8 @@ QGCView {
anchors.top: parent.top
anchors.bottom: parent.bottom
mapName: "MissionEditor"
latitude: _defaultLatitude
longitude: _defaultLongitude
latitude: _homePositionCoordinate.latitude
longitude: _homePositionCoordinate.longitude
QGCLabel {
anchors.right: parent.right
@ -83,11 +88,20 @@ QGCView { @@ -83,11 +88,20 @@ QGCView {
var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y))
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = 0
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
if (_showHomePositionManager) {
_homePositionCoordinate = coordinate
} else {
var index = controller.addMissionItem(coordinate)
setCurrentItem(index)
}
}
}
MissionItemIndicator {
label: "H"
coordinate: _homePositionCoordinate
}
// Add the mission items to the map
MapItemView {
@ -141,6 +155,16 @@ QGCView { @@ -141,6 +155,16 @@ QGCView {
id: toolMenu
MenuItem {
text: "Manage Home Position"
checkable: true
checked: _showHomePositionManager
onTriggered: _showHomePositionManager = checked
}
MenuSeparator { }
MenuItem {
text: "Get mission items from vehicle"
enabled: _activeVehicle && !_activeVehicle.missionManager.inProgress
@ -184,14 +208,18 @@ QGCView { @@ -184,14 +208,18 @@ QGCView {
}
}
// Mission item list
ListView {
id: missionItemSummaryList
// Mission Item Editor
Item {
anchors.topMargin: _verticalMargin
anchors.left: parent.left
anchors.right: parent.right
anchors.top: toolsButton.bottom
anchors.bottom: parent.bottom
visible: !_showHomePositionManager
ListView {
id: missionItemSummaryList
anchors.fill: parent
spacing: _verticalMargin
orientation: ListView.Vertical
model: controller.canEdit ? controller.missionItems : 0
@ -220,27 +248,194 @@ QGCView { @@ -220,27 +248,194 @@ QGCView {
} // ListView
QGCLabel {
anchors.topMargin: _verticalMargin
anchors.left: parent.left
anchors.right: parent.right
anchors.top: toolsButton.bottom
anchors.bottom: parent.bottom
anchors.fill: parent
visible: controller.missionItems.count == 0
wrapMode: Text.WordWrap
text: "Click in the map to add Mission Items"
}
QGCLabel {
anchors.fill: parent
visible: !controller.canEdit
wrapMode: Text.WordWrap
text: "The set of mission items you have loaded cannot be edited by QGroundControl. " +
"You will only be able to save these to a file, or send them to a vehicle."
}
} // Item - Mission Item editor
// Home Position Manager
Item {
anchors.topMargin: _verticalMargin
anchors.left: parent.left
anchors.right: parent.right
anchors.top: toolsButton.bottom
anchors.bottom: parent.bottom
visible: !controller.canEdit
visible: _showHomePositionManager
Column {
anchors.fill: parent
QGCLabel {
font.pixelSize: ScreenTools.mediumFontPixelSize
text: "Home Position Manager"
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight
}
QGCLabel {
text: "Select home position to use:"
}
QGCComboBox {
id: homePosCombo
width: parent.width
textRole: "text"
model: _homePositionManager.homePositions
onCurrentIndexChanged: {
if (currentIndex != -1) {
var homePos = _homePositionManager.homePositions.get(currentIndex)
_homePositionName = homePos.name
_homePositionCoordinate = homePos.coordinate
}
}
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight
}
QGCLabel {
width: parent.width
wrapMode: Text.WordWrap
text: "The set of mission items you have loaded cannot be edited by QGroundControl. " +
"You will only be able to save these to a file, or send them to a vehicle."
text: "To add a new home position, click in the Map to set the position. Then give it a name and click Add."
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight / 3
}
Item {
width: parent.width
height: nameField.height
QGCLabel {
anchors.baseline: nameField.baseline
text: "Name:"
}
QGCTextField {
id: nameField
anchors.right: parent.right
width: _editFieldWidth
text: _homePositionName
}
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight / 3
}
Item {
width: parent.width
height: latitudeField.height
QGCLabel {
anchors.baseline: latitudeField.baseline
text: "Lat:"
}
QGCTextField {
id: latitudeField
anchors.right: parent.right
width: _editFieldWidth
text: _homePositionCoordinate.latitude
}
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight / 3
}
Item {
width: parent.width
height: longitudeField.height
QGCLabel {
anchors.baseline: longitudeField.baseline
text: "Lon:"
}
QGCTextField {
id: longitudeField
anchors.right: parent.right
width: _editFieldWidth
text: _homePositionCoordinate.longitude
}
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight / 3
}
Item {
width: parent.width
height: altitudeField.height
QGCLabel {
anchors.baseline: altitudeField.baseline
text: "Alt:"
}
QGCTextField {
id: altitudeField
anchors.right: parent.right
width: _editFieldWidth
text: _homePositionCoordinate.altitude
}
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight
}
Row {
spacing: ScreenTools.defaultFontPixelWidth
QGCButton {
text: "Add/Update"
onClicked: {
_homePositionManager.updateHomePosition(nameField.text, QtPositioning.coordinate(latitudeField.text, longitudeField.text, altitudeField.text))
homePosCombo.currentIndex = homePosCombo.find(nameField.text)
}
}
QGCButton {
text: "Delete"
onClicked: {
homePosCombo.currentIndex = -1
_homePositionManager.deleteHomePosition(nameField.text)
homePosCombo.currentIndex = 0
var homePos = _homePositionManager.homePositions.get(0)
_homePositionName = homePos.name
_homePositionCoordinate = homePos.coordinate
}
}
}
} // Column
} // Item - Home Position Manager
} // Item
} // Rectangle - mission item list
} // Item - split view container

4
src/QmlControls/QmlObjectListModel.cc
Unescape View File

@ -29,6 +29,7 @@ @@ -29,6 +29,7 @@
#include <QDebug>
const int QmlObjectListModel::ObjectRole = Qt::UserRole;
const int QmlObjectListModel::TextRole = Qt::UserRole + 1;
QmlObjectListModel::QmlObjectListModel(QObject* parent)
: QAbstractListModel(parent)
@ -60,6 +61,8 @@ QVariant QmlObjectListModel::data(const QModelIndex &index, int role) const @@ -60,6 +61,8 @@ QVariant QmlObjectListModel::data(const QModelIndex &index, int role) const
if (role == ObjectRole) {
return QVariant::fromValue(_objectList[index.row()]);
} else if (role == TextRole) {
return QVariant::fromValue(_objectList[index.row()]->objectName());
} else {
return QVariant();
}
@ -70,6 +73,7 @@ QHash<int, QByteArray> QmlObjectListModel::roleNames(void) const @@ -70,6 +73,7 @@ QHash<int, QByteArray> QmlObjectListModel::roleNames(void) const
QHash<int, QByteArray> hash;
hash[ObjectRole] = "object";
hash[TextRole] = "text";
return hash;
}

1
src/QmlControls/QmlObjectListModel.h
Unescape View File

@ -65,6 +65,7 @@ private: @@ -65,6 +65,7 @@ private:
QList<QObject*> _objectList;
static const int ObjectRole;
static const int TextRole;
};
#endif

1
src/comm/QGCFlightGearLink.cc
Unescape View File

@ -38,6 +38,7 @@ This file is part of the QGROUNDCONTROL project @@ -38,6 +38,7 @@ This file is part of the QGROUNDCONTROL project
#include <QMessageBox>
#include <iostream>
#include <Eigen/Eigen>
#include "QGCFlightGearLink.h"
#include "QGC.h"

5
src/comm/QGCXPlaneLink.cc
Unescape View File

@ -33,10 +33,13 @@ This file is part of the QGROUNDCONTROL project @@ -33,10 +33,13 @@ This file is part of the QGROUNDCONTROL project
#include <QDebug>
#include <QMutexLocker>
#include <QNetworkInterface>
#include <QHostInfo>
#include <iostream>
#include <Eigen/Eigen>
#include "QGCXPlaneLink.h"
#include "QGC.h"
#include <QHostInfo>
#include "UAS.h"
#include "UASInterface.h"
#include "QGCMessageBox.h"

3
src/uas/UAS.cc
Unescape View File

@ -2784,9 +2784,8 @@ void UAS::home() @@ -2784,9 +2784,8 @@ void UAS::home()
double latitude = HomePositionManager::instance()->getHomeLatitude();
double longitude = HomePositionManager::instance()->getHomeLongitude();
double altitude = HomePositionManager::instance()->getHomeAltitude();
int frame = HomePositionManager::instance()->getHomeFrame();
mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_CONTINUE, MAV_GOTO_HOLD_AT_CURRENT_POSITION, frame, 0, latitude, longitude, altitude);
mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_CONTINUE, MAV_GOTO_HOLD_AT_CURRENT_POSITION, MAV_FRAME_GLOBAL, 0, latitude, longitude, altitude);
_vehicle->sendMessage(msg);
}

1
src/ui/MainWindow.cc
Unescape View File

@ -609,7 +609,6 @@ void MainWindow::closeEvent(QCloseEvent *event) @@ -609,7 +609,6 @@ void MainWindow::closeEvent(QCloseEvent *event)
_storeCurrentViewState();
storeSettings();
HomePositionManager::instance()->storeSettings();
event->accept();
}

Write Preview
Loading…
Cancel
Save