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FW Landing Glide Slope support

QGC4.4
Don Gagne 7 years ago
parent
2296ed0d73
commit
1ac6cd32e1
4 changed files with 138 additions and 113 deletions
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  1. 8
      src/MissionManager/FWLandingPattern.FactMetaData.json
  2. 98
      src/MissionManager/FixedWingLandingComplexItem.cc
  3. 70
      src/MissionManager/FixedWingLandingComplexItem.h
  4. 75
      src/PlanView/FWLandingPatternEditor.qml

8
src/MissionManager/FWLandingPattern.FactMetaData.json
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@ -44,12 +44,12 @@ @@ -44,12 +44,12 @@
"defaultValue": 0.0
},
{
"name": "DescentRate",
"shortDescription": "Descent rate between landing and loiter altitude.",
"name": "GlideSlope",
"shortDescription": "The glide slope between the loiter and landing point.",
"type": "double",
"units": "%",
"units": "deg",
"min": 0.1,
"max": 100,
"max": 90,
"decimalPlaces": 1,
"defaultValue": 12.0
}

98
src/MissionManager/FixedWingLandingComplexItem.cc
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@ -25,15 +25,19 @@ const char* FixedWingLandingComplexItem::landingHeadingName = "LandingHead @@ -25,15 +25,19 @@ const char* FixedWingLandingComplexItem::landingHeadingName = "LandingHead
const char* FixedWingLandingComplexItem::loiterAltitudeName = "LoiterAltitude";
const char* FixedWingLandingComplexItem::loiterRadiusName = "LoiterRadius";
const char* FixedWingLandingComplexItem::landingAltitudeName = "LandingAltitude";
const char* FixedWingLandingComplexItem::fallRateName = "DescentRate";
const char* FixedWingLandingComplexItem::glideSlopeName = "GlideSlope";
const char* FixedWingLandingComplexItem::_jsonLoiterCoordinateKey = "loiterCoordinate";
const char* FixedWingLandingComplexItem::_jsonLoiterRadiusKey = "loiterRadius";
const char* FixedWingLandingComplexItem::_jsonLoiterClockwiseKey = "loiterClockwise";
const char* FixedWingLandingComplexItem::_jsonLoiterAltitudeRelativeKey = "loiterAltitudeRelative";
const char* FixedWingLandingComplexItem::_jsonLandingCoordinateKey = "landCoordinate";
const char* FixedWingLandingComplexItem::_jsonLandingAltitudeRelativeKey = "landAltitudeRelative";
const char* FixedWingLandingComplexItem::_jsonValueSetIsDistanceKey = "valueSetIsDistance";
const char* FixedWingLandingComplexItem::_jsonAltitudesAreRelativeKey = "altitudesAreRelative";
// Usage deprecated
const char* FixedWingLandingComplexItem::_jsonFallRateKey = "fallRate";
const char* FixedWingLandingComplexItem::_jsonLandingAltitudeRelativeKey = "landAltitudeRelative";
const char* FixedWingLandingComplexItem::_jsonLoiterAltitudeRelativeKey = "loiterAltitudeRelative";
FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent)
: ComplexMissionItem (vehicle, parent)
@ -47,10 +51,10 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje @@ -47,10 +51,10 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
, _loiterRadiusFact (_metaDataMap[loiterRadiusName])
, _landingHeadingFact (_metaDataMap[landingHeadingName])
, _landingAltitudeFact (_metaDataMap[landingAltitudeName])
, _fallRateFact (_metaDataMap[fallRateName])
, _glideSlopeFact (_metaDataMap[glideSlopeName])
, _loiterClockwise (true)
, _loiterAltitudeRelative (true)
, _landingAltitudeRelative (true)
, _altitudesAreRelative (true)
, _valueSetIsDistance (true)
{
_editorQml = "qrc:/qml/FWLandingPatternEditor.qml";
@ -66,6 +70,8 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje @@ -66,6 +70,8 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
connect(this, &FixedWingLandingComplexItem::loiterCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFromCoordinateChange);
connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFromCoordinateChange);
connect(&_glideSlopeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_glideSlopeChanged);
connect(&_loiterAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(&_landingAltitudeFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(&_landingDistanceFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_setDirty);
@ -74,11 +80,10 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje @@ -74,11 +80,10 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
connect(this, &FixedWingLandingComplexItem::loiterCoordinateChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::loiterClockwiseChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::loiterAltitudeRelativeChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::landingAltitudeRelativeChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::_setDirty);
connect(this, &FixedWingLandingComplexItem::loiterAltitudeRelativeChanged, this, &FixedWingLandingComplexItem::coordinateHasRelativeAltitudeChanged);
connect(this, &FixedWingLandingComplexItem::landingAltitudeRelativeChanged, this, &FixedWingLandingComplexItem::exitCoordinateHasRelativeAltitudeChanged);
connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::coordinateHasRelativeAltitudeChanged);
connect(this, &FixedWingLandingComplexItem::altitudesAreRelativeChanged, this, &FixedWingLandingComplexItem::exitCoordinateHasRelativeAltitudeChanged);
}
int FixedWingLandingComplexItem::lastSequenceNumber(void) const
@ -99,7 +104,7 @@ void FixedWingLandingComplexItem::save(QJsonArray& missionItems) @@ -99,7 +104,7 @@ void FixedWingLandingComplexItem::save(QJsonArray& missionItems)
{
QJsonObject saveObject;
saveObject[JsonHelper::jsonVersionKey] = 1;
saveObject[JsonHelper::jsonVersionKey] = 2;
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
@ -116,10 +121,10 @@ void FixedWingLandingComplexItem::save(QJsonArray& missionItems) @@ -116,10 +121,10 @@ void FixedWingLandingComplexItem::save(QJsonArray& missionItems)
JsonHelper::saveGeoCoordinate(coordinate, true /* writeAltitude */, jsonCoordinate);
saveObject[_jsonLandingCoordinateKey] = jsonCoordinate;
saveObject[_jsonLoiterRadiusKey] = _loiterRadiusFact.rawValue().toDouble();
saveObject[_jsonLoiterClockwiseKey] = _loiterClockwise;
saveObject[_jsonLoiterAltitudeRelativeKey] = _loiterAltitudeRelative;
saveObject[_jsonLandingAltitudeRelativeKey] = _landingAltitudeRelative;
saveObject[_jsonLoiterRadiusKey] = _loiterRadiusFact.rawValue().toDouble();
saveObject[_jsonLoiterClockwiseKey] = _loiterClockwise;
saveObject[_jsonAltitudesAreRelativeKey] = _altitudesAreRelative;
saveObject[_jsonValueSetIsDistanceKey] = _valueSetIsDistance;
missionItems.append(saveObject);
}
@ -142,9 +147,7 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq @@ -142,9 +147,7 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq
{ _jsonLoiterCoordinateKey, QJsonValue::Array, true },
{ _jsonLoiterRadiusKey, QJsonValue::Double, true },
{ _jsonLoiterClockwiseKey, QJsonValue::Bool, true },
{ _jsonLoiterAltitudeRelativeKey, QJsonValue::Bool, true },
{ _jsonLandingCoordinateKey, QJsonValue::Array, true },
{ _jsonLandingAltitudeRelativeKey, QJsonValue::Bool, true },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
return false;
@ -161,6 +164,31 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq @@ -161,6 +164,31 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq
_ignoreRecalcSignals = true;
int version = complexObject[JsonHelper::jsonVersionKey].toInt();
if (version == 1) {
bool loiterAltitudeRelative = complexObject[_jsonLoiterAltitudeRelativeKey].toBool();
bool landingAltitudeRelative = complexObject[_jsonLandingAltitudeRelativeKey].toBool();
if (loiterAltitudeRelative != landingAltitudeRelative) {
qgcApp()->showMessage(tr("Fixed Wing Landing Pattern: "
"Setting the loiter and landing altitudes with different settings for altitude relative is no longer supported. "
"Both have been set to altitude relative. Be sure to adjust/check your plan prior to flight."));
_altitudesAreRelative = true;
} else {
_altitudesAreRelative = loiterAltitudeRelative;
}
} else if (version == 2) {
QList<JsonHelper::KeyValidateInfo> v2KeyInfoList = {
{ _jsonAltitudesAreRelativeKey, QJsonValue::Bool, true },
};
if (!JsonHelper::validateKeys(complexObject, v2KeyInfoList, errorString)) {
return false;
}
} else {
errorString = tr("%1 complex item version %2 not supported").arg(jsonComplexItemTypeValue).arg(version);
_ignoreRecalcSignals = false;
return false;
}
QGeoCoordinate coordinate;
if (!JsonHelper::loadGeoCoordinate(complexObject[_jsonLoiterCoordinateKey], true /* altitudeRequired */, coordinate, errorString)) {
return false;
@ -175,9 +203,8 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq @@ -175,9 +203,8 @@ bool FixedWingLandingComplexItem::load(const QJsonObject& complexObject, int seq
_landingAltitudeFact.setRawValue(coordinate.altitude());
_loiterRadiusFact.setRawValue(complexObject[_jsonLoiterRadiusKey].toDouble());
_loiterClockwise = complexObject[_jsonLoiterClockwiseKey].toBool();
_loiterAltitudeRelative = complexObject[_jsonLoiterAltitudeRelativeKey].toBool();
_landingAltitudeRelative = complexObject[_jsonLandingAltitudeRelativeKey].toBool();
_loiterClockwise = complexObject[_jsonLoiterClockwiseKey].toBool();
_altitudesAreRelative = complexObject[_jsonAltitudesAreRelativeKey].toBool();
_landingCoordSet = true;
@ -215,7 +242,7 @@ void FixedWingLandingComplexItem::appendMissionItems(QList<MissionItem*>& items, @@ -215,7 +242,7 @@ void FixedWingLandingComplexItem::appendMissionItems(QList<MissionItem*>& items,
float loiterRadius = _loiterRadiusFact.rawValue().toDouble() * (_loiterClockwise ? 1.0 : -1.0);
item = new MissionItem(seqNum++,
MAV_CMD_NAV_LOITER_TO_ALT,
_loiterAltitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
_altitudesAreRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
1.0, // Heading required = true
loiterRadius, // Loiter radius
0.0, // param 3 - unused
@ -230,7 +257,7 @@ void FixedWingLandingComplexItem::appendMissionItems(QList<MissionItem*>& items, @@ -230,7 +257,7 @@ void FixedWingLandingComplexItem::appendMissionItems(QList<MissionItem*>& items,
item = new MissionItem(seqNum++,
MAV_CMD_NAV_LAND,
_landingAltitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
_altitudesAreRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0.0, 0.0, 0.0, 0.0, // param 1-4
_landingCoordinate.latitude(),
_landingCoordinate.longitude(),
@ -261,6 +288,7 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, V @@ -261,6 +288,7 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, V
missionItemLand.param1() != 0 || missionItemLand.param2() != 0 || missionItemLand.param3() != 0 || missionItemLand.param4() == 1.0) {
return false;
}
MAV_FRAME landPointFrame = missionItemLand.frame();
item = visualItems->value<SimpleMissionItem*>(lastItem--);
if (!item) {
@ -268,7 +296,7 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, V @@ -268,7 +296,7 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, V
}
MissionItem& missionItemLoiter = item->missionItem();
if (missionItemLoiter.command() != MAV_CMD_NAV_LOITER_TO_ALT ||
!(missionItemLoiter.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT || missionItemLoiter.frame() == MAV_FRAME_GLOBAL) ||
missionItemLoiter.frame() != landPointFrame ||
missionItemLoiter.param1() != 1.0 || missionItemLoiter.param3() != 0 || missionItemLoiter.param4() != 1.0) {
return false;
}
@ -289,14 +317,13 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, V @@ -289,14 +317,13 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, V
complexItem->_ignoreRecalcSignals = true;
complexItem->_loiterAltitudeRelative = missionItemLoiter.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
complexItem->_altitudesAreRelative = landPointFrame == MAV_FRAME_GLOBAL_RELATIVE_ALT;
complexItem->_loiterRadiusFact.setRawValue(qAbs(missionItemLoiter.param2()));
complexItem->_loiterClockwise = missionItemLoiter.param2() > 0;
complexItem->_loiterCoordinate.setLatitude(missionItemLoiter.param5());
complexItem->_loiterCoordinate.setLongitude(missionItemLoiter.param6());
complexItem->_loiterAltitudeFact.setRawValue(missionItemLoiter.param7());
complexItem->_landingAltitudeRelative = missionItemLand.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
complexItem->_landingCoordinate.setLatitude(missionItemLand.param5());
complexItem->_landingCoordinate.setLongitude(missionItemLand.param6());
complexItem->_landingAltitudeFact.setRawValue(missionItemLand.param7());
@ -418,6 +445,7 @@ void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void) @@ -418,6 +445,7 @@ void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void)
// Adjusted:
// loiter
// loiter tangent
// glide slope
if (!_ignoreRecalcSignals && _landingCoordSet) {
// These are our known values
@ -442,6 +470,7 @@ void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void) @@ -442,6 +470,7 @@ void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void)
emit loiterTangentCoordinateChanged(_loiterTangentCoordinate);
emit loiterCoordinateChanged(_loiterCoordinate);
emit coordinateChanged(_loiterCoordinate);
_calcGlideSlope();
_ignoreRecalcSignals = false;
}
}
@ -467,6 +496,7 @@ void FixedWingLandingComplexItem::_recalcFromCoordinateChange(void) @@ -467,6 +496,7 @@ void FixedWingLandingComplexItem::_recalcFromCoordinateChange(void)
// loiter tangent
// heading
// distance
// glide slope
if (!_ignoreRecalcSignals && _landingCoordSet) {
// These are our known values
@ -493,6 +523,7 @@ void FixedWingLandingComplexItem::_recalcFromCoordinateChange(void) @@ -493,6 +523,7 @@ void FixedWingLandingComplexItem::_recalcFromCoordinateChange(void)
_landingHeadingFact.setRawValue(heading);
_landingDistanceFact.setRawValue(landToTangentDistance);
emit loiterTangentCoordinateChanged(_loiterTangentCoordinate);
_calcGlideSlope();
_ignoreRecalcSignals = false;
}
}
@ -519,3 +550,20 @@ void FixedWingLandingComplexItem::applyNewAltitude(double newAltitude) @@ -519,3 +550,20 @@ void FixedWingLandingComplexItem::applyNewAltitude(double newAltitude)
{
_loiterAltitudeFact.setRawValue(newAltitude);
}
void FixedWingLandingComplexItem::_glideSlopeChanged(void)
{
if (!_ignoreRecalcSignals) {
double landingAltDifference = _loiterAltitudeFact.rawValue().toDouble() - _landingAltitudeFact.rawValue().toDouble();
double glideSlope = _glideSlopeFact.rawValue().toDouble();
_landingDistanceFact.setRawValue(landingAltDifference / qTan(qDegreesToRadians(glideSlope)));
}
}
void FixedWingLandingComplexItem::_calcGlideSlope(void)
{
double landingAltDifference = _loiterAltitudeFact.rawValue().toDouble() - _landingAltitudeFact.rawValue().toDouble();
double landingDistance = _landingDistanceFact.rawValue().toDouble();
_glideSlopeFact.setRawValue(qRadiansToDegrees(qAtan(landingAltDifference / landingDistance)));
}

70
src/MissionManager/FixedWingLandingComplexItem.h
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@ -24,26 +24,26 @@ class FixedWingLandingComplexItem : public ComplexMissionItem @@ -24,26 +24,26 @@ class FixedWingLandingComplexItem : public ComplexMissionItem
public:
FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(Fact* loiterAltitude READ loiterAltitude CONSTANT)
Q_PROPERTY(Fact* loiterRadius READ loiterRadius CONSTANT)
Q_PROPERTY(Fact* landingAltitude READ landingAltitude CONSTANT)
Q_PROPERTY(Fact* landingDistance READ landingDistance CONSTANT)
Q_PROPERTY(Fact* landingHeading READ landingHeading CONSTANT)
Q_PROPERTY(Fact* fallRate READ fallRate CONSTANT)
Q_PROPERTY(bool loiterClockwise MEMBER _loiterClockwise NOTIFY loiterClockwiseChanged)
Q_PROPERTY(bool loiterAltitudeRelative MEMBER _loiterAltitudeRelative NOTIFY loiterAltitudeRelativeChanged)
Q_PROPERTY(bool landingAltitudeRelative MEMBER _landingAltitudeRelative NOTIFY landingAltitudeRelativeChanged)
Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged)
Q_PROPERTY(QGeoCoordinate loiterTangentCoordinate READ loiterTangentCoordinate NOTIFY loiterTangentCoordinateChanged)
Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged)
Q_PROPERTY(bool landingCoordSet MEMBER _landingCoordSet NOTIFY landingCoordSetChanged)
Q_PROPERTY(Fact* loiterAltitude READ loiterAltitude CONSTANT)
Q_PROPERTY(Fact* loiterRadius READ loiterRadius CONSTANT)
Q_PROPERTY(Fact* landingAltitude READ landingAltitude CONSTANT)
Q_PROPERTY(Fact* landingHeading READ landingHeading CONSTANT)
Q_PROPERTY(bool valueSetIsDistance MEMBER _valueSetIsDistance NOTIFY valueSetIsDistanceChanged)
Q_PROPERTY(Fact* landingDistance READ landingDistance CONSTANT)
Q_PROPERTY(Fact* glideSlope READ glideSlope CONSTANT)
Q_PROPERTY(bool loiterClockwise MEMBER _loiterClockwise NOTIFY loiterClockwiseChanged)
Q_PROPERTY(bool altitudesAreRelative MEMBER _altitudesAreRelative NOTIFY altitudesAreRelativeChanged)
Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged)
Q_PROPERTY(QGeoCoordinate loiterTangentCoordinate READ loiterTangentCoordinate NOTIFY loiterTangentCoordinateChanged)
Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged)
Q_PROPERTY(bool landingCoordSet MEMBER _landingCoordSet NOTIFY landingCoordSetChanged)
Fact* loiterAltitude (void) { return &_loiterAltitudeFact; }
Fact* loiterRadius (void) { return &_loiterRadiusFact; }
Fact* landingAltitude (void) { return &_landingAltitudeFact; }
Fact* landingDistance (void) { return &_landingDistanceFact; }
Fact* landingHeading (void) { return &_landingHeadingFact; }
Fact* fallRate (void) { return &_fallRateFact; }
Fact* glideSlope (void) { return &_glideSlopeFact; }
QGeoCoordinate landingCoordinate (void) const { return _landingCoordinate; }
QGeoCoordinate loiterCoordinate (void) const { return _loiterCoordinate; }
QGeoCoordinate loiterTangentCoordinate (void) const { return _loiterTangentCoordinate; }
@ -81,8 +81,8 @@ public: @@ -81,8 +81,8 @@ public:
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;
bool coordinateHasRelativeAltitude (void) const final { return _loiterAltitudeRelative; }
bool exitCoordinateHasRelativeAltitude (void) const final { return _landingAltitudeRelative; }
bool coordinateHasRelativeAltitude (void) const final { return _altitudesAreRelative; }
bool exitCoordinateHasRelativeAltitude (void) const final { return _altitudesAreRelative; }
bool exitCoordinateSameAsEntry (void) const final { return false; }
void setDirty (bool dirty) final;
@ -97,7 +97,7 @@ public: @@ -97,7 +97,7 @@ public:
static const char* loiterRadiusName;
static const char* landingHeadingName;
static const char* landingAltitudeName;
static const char* fallRateName;
static const char* glideSlopeName;
signals:
void loiterCoordinateChanged (QGeoCoordinate coordinate);
@ -105,21 +105,23 @@ signals: @@ -105,21 +105,23 @@ signals:
void landingCoordinateChanged (QGeoCoordinate coordinate);
void landingCoordSetChanged (bool landingCoordSet);
void loiterClockwiseChanged (bool loiterClockwise);
void loiterAltitudeRelativeChanged (bool loiterAltitudeRelative);
void landingAltitudeRelativeChanged (bool loiterAltitudeRelative);
void altitudesAreRelativeChanged (bool altitudesAreRelative);
void valueSetIsDistanceChanged (bool valueSetIsDistance);
private slots:
void _recalcFromHeadingAndDistanceChange(void);
void _recalcFromCoordinateChange(void);
void _recalcFromRadiusChange(void);
void _updateLoiterCoodinateAltitudeFromFact(void);
void _updateLandingCoodinateAltitudeFromFact(void);
double _mathematicAngleToHeading(double angle);
double _headingToMathematicAngle(double heading);
void _setDirty(void);
void _recalcFromHeadingAndDistanceChange (void);
void _recalcFromCoordinateChange (void);
void _recalcFromRadiusChange (void);
void _updateLoiterCoodinateAltitudeFromFact (void);
void _updateLandingCoodinateAltitudeFromFact (void);
double _mathematicAngleToHeading (double angle);
double _headingToMathematicAngle (double heading);
void _setDirty (void);
void _glideSlopeChanged (void);
private:
QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle);
QPointF _rotatePoint (const QPointF& point, const QPointF& origin, double angle);
void _calcGlideSlope (void);
int _sequenceNumber;
bool _dirty;
@ -136,18 +138,22 @@ private: @@ -136,18 +138,22 @@ private:
Fact _loiterRadiusFact;
Fact _landingHeadingFact;
Fact _landingAltitudeFact;
Fact _fallRateFact;
Fact _glideSlopeFact;
bool _loiterClockwise;
bool _loiterAltitudeRelative;
bool _landingAltitudeRelative;
bool _altitudesAreRelative;
bool _valueSetIsDistance;
static const char* _jsonLoiterCoordinateKey;
static const char* _jsonLoiterRadiusKey;
static const char* _jsonLoiterClockwiseKey;
static const char* _jsonLoiterAltitudeRelativeKey;
static const char* _jsonLandingCoordinateKey;
static const char* _jsonValueSetIsDistanceKey;
static const char* _jsonAltitudesAreRelativeKey;
// Only in older file formats
static const char* _jsonLandingAltitudeRelativeKey;
static const char* _jsonLoiterAltitudeRelativeKey;
static const char* _jsonFallRateKey;
};

75
src/PlanView/FWLandingPatternEditor.qml
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@ -34,6 +34,8 @@ Rectangle { @@ -34,6 +34,8 @@ Rectangle {
property real _margin: ScreenTools.defaultFontPixelWidth / 2
property real _spacer: ScreenTools.defaultFontPixelWidth / 2
ExclusiveGroup { id: distanceGlideGroup }
Column {
id: editorColumn
anchors.margins: _margin
@ -58,17 +60,6 @@ Rectangle { @@ -58,17 +60,6 @@ Rectangle {
Item { width: 1; height: _spacer }
QGCCheckBox {
id: loiterAltRelative
anchors.right: parent.right
text: qsTr("Altitude relative to home")
checked: missionItem.loiterAltitudeRelative
onClicked: missionItem.loiterAltitudeRelative = checked
}
Item { width: 1; height: _spacer }
QGCCheckBox {
anchors.left: loiterAltRelative.left
text: qsTr("Loiter clockwise")
checked: missionItem.loiterClockwise
onClicked: missionItem.loiterClockwise = checked
@ -98,53 +89,33 @@ Rectangle { @@ -98,53 +89,33 @@ Rectangle {
}
QGCRadioButton {
id: useLandingDistance
text: qsTr("Landing dist")
checked: !useFallRate.checked
onClicked: {
useFallRate.checked = false
missionItem.fallRate.value = parseFloat(missionItem.loiterAltitude.value)*100/parseFloat (missionItem.landingDistance.value)
}
Layout.fillWidth: true
id: specifyLandingDistance
text: qsTr("Landing Dist")
checked: missionItem.valueSetIsDistance
exclusiveGroup: distanceGlideGroup
onClicked: missionItem.valueSetIsDistance = checked
Layout.fillWidth: true
}
FactTextField {
fact: missionItem.landingDistance
enabled: useLandingDistance.checked
Layout.fillWidth: true
fact: missionItem.landingDistance
enabled: specifyLandingDistance.checked
Layout.fillWidth: true
}
QGCRadioButton {
id: useFallRate
text: qsTr("Descent rate")
checked: !useLandingDistance.checked
onClicked: {
useLandingDistance.checked = false
missionItem.landingDistance.value = parseFloat(missionItem.loiterAltitude.value)*100/parseFloat (missionItem.fallRate.value)
}
Layout.fillWidth: true
id: specifyGlideSlope
text: qsTr("Glide Slope")
checked: !missionItem.valueSetIsDistance
exclusiveGroup: distanceGlideGroup
onClicked: missionItem.valueSetIsDistance = checked
Layout.fillWidth: true
}
FactTextField {
fact: missionItem.fallRate
enabled: useFallRate.checked
Layout.fillWidth: true
}
Connections {
target: missionItem.landingDistance
onValueChanged: {
missionItem.fallRate.value = parseFloat(missionItem.loiterAltitude.value)*100/parseFloat (missionItem.landingDistance.value)
}
}
Connections {
target: missionItem.fallRate
onValueChanged: {
missionItem.landingDistance.value = parseFloat(missionItem.loiterAltitude.value)*100/parseFloat (missionItem.fallRate.value)
}
fact: missionItem.glideSlope
enabled: specifyGlideSlope.checked
Layout.fillWidth: true
}
}
@ -152,9 +123,9 @@ Rectangle { @@ -152,9 +123,9 @@ Rectangle {
QGCCheckBox {
anchors.right: parent.right
text: qsTr("Altitude relative to home")
checked: missionItem.landingAltitudeRelative
onClicked: missionItem.landingAltitudeRelative = checked
text: qsTr("Altitudes relative to home")
checked: missionItem.altitudesAreRelative
onClicked: missionItem.altitudesAreRelative = checked
}
}

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