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Add concept of standalone coordinate 

Standalone coordinate don’t connect to waypoint lines
QGC4.4
Don Gagne 9 years ago
parent
039d61c0d1
commit
1da21bda16
6 changed files with 48 additions and 32 deletions
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  1. 10
      src/MissionManager/MavCmdInfo.json
  2. 7
      src/MissionManager/MissionCommands.cc
  3. 18
      src/MissionManager/MissionCommands.h
  4. 4
      src/MissionManager/MissionController.cc
  5. 5
      src/MissionManager/MissionItem.cc
  6. 36
      src/MissionManager/MissionItem.h

10
src/MissionManager/MavCmdInfo.json
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@ -150,6 +150,7 @@ @@ -150,6 +150,7 @@
"friendlyName": "Region of interest (nav)",
"description": "Sets the region of interest for cameras.",
"specifiesCoordinate": true,
"standaloneCoordinate": true,
"friendlyEdit": true,
"category": "Camera",
"param1": {
@ -393,11 +394,12 @@ @@ -393,11 +394,12 @@
{ "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "MAV_CMD_DO_GO_AROUND" },
{ "id": 200, "rawName": "MAV_CMD_DO_CONTROL_VIDEO", "friendlyName": "MAV_CMD_DO_CONTROL_VIDEO" },
{
"id": 201,
"rawName": "MAV_CMD_DO_SET_ROI",
"friendlyName": "Region of interest (cmd)" ,
"description": "Sets the region of interest for cameras.",
"id": 201,
"rawName": "MAV_CMD_DO_SET_ROI",
"friendlyName": "Region of interest (cmd)" ,
"description": "Sets the region of interest for cameras.",
"specifiesCoordinate": true,
"standaloneCoordinate": true,
"friendlyEdit": true,
"category": "Camera",
"param1": {

7
src/MissionManager/MissionCommands.cc
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@ -49,6 +49,7 @@ const QString MissionCommands::_param3JsonKey (QStringLiteral("par @@ -49,6 +49,7 @@ const QString MissionCommands::_param3JsonKey (QStringLiteral("par
const QString MissionCommands::_param4JsonKey (QStringLiteral("param4"));
const QString MissionCommands::_paramJsonKeyFormat (QStringLiteral("param%1"));
const QString MissionCommands::_rawNameJsonKey (QStringLiteral("rawName"));
const QString MissionCommands::_standaloneCoordinateJsonKey (QStringLiteral("standaloneCoordinate"));
const QString MissionCommands::_specifiesCoordinateJsonKey (QStringLiteral("specifiesCoordinate"));
const QString MissionCommands::_unitsJsonKey (QStringLiteral("units"));
const QString MissionCommands::_versionJsonKey (QStringLiteral("version"));
@ -129,9 +130,9 @@ void MissionCommands::_loadMavCmdInfoJson(void) @@ -129,9 +130,9 @@ void MissionCommands::_loadMavCmdInfoJson(void)
QStringList keys;
QList<QJsonValue::Type> types;
keys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _specifiesCoordinateJsonKey << _friendlyEditJsonKey
keys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _standaloneCoordinateJsonKey << _specifiesCoordinateJsonKey <<_friendlyEditJsonKey
<< _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _categoryJsonKey;
types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool
types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool << QJsonValue::Bool
<< QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::String;
if (!_validateKeyTypes(jsonObject, keys, types)) {
return;
@ -144,6 +145,7 @@ void MissionCommands::_loadMavCmdInfoJson(void) @@ -144,6 +145,7 @@ void MissionCommands::_loadMavCmdInfoJson(void)
mavCmdInfo->_rawName = jsonObject.value(_rawNameJsonKey).toString();
mavCmdInfo->_friendlyName = jsonObject.value(_friendlyNameJsonKey).toString(QString());
mavCmdInfo->_description = jsonObject.value(_descriptionJsonKey).toString(QString());
mavCmdInfo->_standaloneCoordinate = jsonObject.value(_standaloneCoordinateJsonKey).toBool(false);
mavCmdInfo->_specifiesCoordinate = jsonObject.value(_specifiesCoordinateJsonKey).toBool(false);
mavCmdInfo->_friendlyEdit = jsonObject.value(_friendlyEditJsonKey).toBool(false);
@ -153,6 +155,7 @@ void MissionCommands::_loadMavCmdInfoJson(void) @@ -153,6 +155,7 @@ void MissionCommands::_loadMavCmdInfoJson(void)
<< mavCmdInfo->_rawName
<< mavCmdInfo->_friendlyName
<< mavCmdInfo->_description
<< mavCmdInfo->_standaloneCoordinate
<< mavCmdInfo->_specifiesCoordinate
<< mavCmdInfo->_friendlyEdit;

18
src/MissionManager/MissionCommands.h
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@ -88,13 +88,14 @@ public: @@ -88,13 +88,14 @@ public:
}
Q_PROPERTY(QString category READ category CONSTANT)
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command CONSTANT)
Q_PROPERTY(QString description READ description CONSTANT)
Q_PROPERTY(bool friendlyEdit READ friendlyEdit CONSTANT)
Q_PROPERTY(QString friendlyName READ friendlyName CONSTANT)
Q_PROPERTY(QString rawName READ rawName CONSTANT)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate CONSTANT)
Q_PROPERTY(QString category READ category CONSTANT)
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command CONSTANT)
Q_PROPERTY(QString description READ description CONSTANT)
Q_PROPERTY(bool friendlyEdit READ friendlyEdit CONSTANT)
Q_PROPERTY(QString friendlyName READ friendlyName CONSTANT)
Q_PROPERTY(QString rawName READ rawName CONSTANT)
Q_PROPERTY(bool standaloneCoordinate READ standaloneCoordinate CONSTANT)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate CONSTANT)
QString category (void) const { return _category; }
MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_command; }
@ -102,6 +103,7 @@ public: @@ -102,6 +103,7 @@ public:
bool friendlyEdit (void) const { return _friendlyEdit; }
QString friendlyName (void) const { return _friendlyName; }
QString rawName (void) const { return _rawName; }
bool standaloneCoordinate(void) const { return _standaloneCoordinate; }
bool specifiesCoordinate (void) const { return _specifiesCoordinate; }
const QMap<int, MavCmdParamInfo*>& paramInfoMap(void) const { return _paramInfoMap; }
@ -114,6 +116,7 @@ private: @@ -114,6 +116,7 @@ private:
QString _friendlyName;
QMap<int, MavCmdParamInfo*> _paramInfoMap;
QString _rawName;
bool _standaloneCoordinate;
bool _specifiesCoordinate;
friend class MissionCommands;
@ -170,6 +173,7 @@ private: @@ -170,6 +173,7 @@ private:
static const QString _param4JsonKey;
static const QString _paramJsonKeyFormat;
static const QString _rawNameJsonKey;
static const QString _standaloneCoordinateJsonKey;
static const QString _specifiesCoordinateJsonKey;
static const QString _unitsJsonKey;
static const QString _versionJsonKey;

4
src/MissionManager/MissionController.cc
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@ -346,7 +346,7 @@ void MissionController::_recalcWaypointLines(void) @@ -346,7 +346,7 @@ void MissionController::_recalcWaypointLines(void)
item->setAzimuth(0.0);
item->setDistance(-1.0);
if (item->specifiesCoordinate()) {
if (item->specifiesCoordinate() && !item->standaloneCoordinate()) {
if (firstCoordinateItem) {
if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
// The first coordinate we hit is a takeoff command so link back to home position if valid
@ -628,7 +628,7 @@ bool MissionController::_findLastAltitude(double* lastAltitude) @@ -628,7 +628,7 @@ bool MissionController::_findLastAltitude(double* lastAltitude)
for (int i=0; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
if (item->specifiesCoordinate()) {
if (item->specifiesCoordinate() && !item->standaloneCoordinate()) {
foundAltitude = item->param7();
found = true;
}

5
src/MissionManager/MissionItem.cc
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@ -504,6 +504,11 @@ void MissionItem::setParam7(double param) @@ -504,6 +504,11 @@ void MissionItem::setParam7(double param)
}
}
bool MissionItem::standaloneCoordinate(void) const
{
return _mavCmdInfoMap[(MAV_CMD)command()]->standaloneCoordinate();
}
bool MissionItem::specifiesCoordinate(void) const
{
return _mavCmdInfoMap[(MAV_CMD)command()]->specifiesCoordinate();

36
src/MissionManager/MissionItem.h
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@ -68,23 +68,24 @@ public: @@ -68,23 +68,24 @@ public:
const MissionItem& operator=(const MissionItem& other);
Q_PROPERTY(double altDifference READ altDifference WRITE setAltDifference NOTIFY altDifferenceChanged) ///< Change in altitude from previous waypoint
Q_PROPERTY(double azimuth READ azimuth WRITE setAzimuth NOTIFY azimuthChanged) ///< Azimuth to previous waypoint
Q_PROPERTY(QString category READ category NOTIFY commandChanged)
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
Q_PROPERTY(QString commandDescription READ commandDescription NOTIFY commandChanged)
Q_PROPERTY(QString commandName READ commandName NOTIFY commandChanged)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
Q_PROPERTY(double distance READ distance WRITE setDistance NOTIFY distanceChanged) ///< Distance to previous waypoint
Q_PROPERTY(bool friendlyEditAllowed READ friendlyEditAllowed NOTIFY friendlyEditAllowedChanged)
Q_PROPERTY(bool homePosition READ homePosition CONSTANT) ///< true: This item is being used as a home position indicator
Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged) ///< true: Home position should be shown
Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged)
Q_PROPERTY(bool rawEdit READ rawEdit WRITE setRawEdit NOTIFY rawEditChanged) ///< true: raw item editing with all params
Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY commandChanged)
Q_PROPERTY(Fact* supportedCommand READ supportedCommand NOTIFY commandChanged)
Q_PROPERTY(double altDifference READ altDifference WRITE setAltDifference NOTIFY altDifferenceChanged) ///< Change in altitude from previous waypoint
Q_PROPERTY(double azimuth READ azimuth WRITE setAzimuth NOTIFY azimuthChanged) ///< Azimuth to previous waypoint
Q_PROPERTY(QString category READ category NOTIFY commandChanged)
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
Q_PROPERTY(QString commandDescription READ commandDescription NOTIFY commandChanged)
Q_PROPERTY(QString commandName READ commandName NOTIFY commandChanged)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
Q_PROPERTY(double distance READ distance WRITE setDistance NOTIFY distanceChanged) ///< Distance to previous waypoint
Q_PROPERTY(bool friendlyEditAllowed READ friendlyEditAllowed NOTIFY friendlyEditAllowedChanged)
Q_PROPERTY(bool homePosition READ homePosition CONSTANT) ///< true: This item is being used as a home position indicator
Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged) ///< true: Home position should be shown
Q_PROPERTY(bool isCurrentItem READ isCurrentItem WRITE setIsCurrentItem NOTIFY isCurrentItemChanged)
Q_PROPERTY(bool rawEdit READ rawEdit WRITE setRawEdit NOTIFY rawEditChanged) ///< true: raw item editing with all params
Q_PROPERTY(int sequenceNumber READ sequenceNumber WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
Q_PROPERTY(bool standaloneCoordinate READ standaloneCoordinate NOTIFY commandChanged)
Q_PROPERTY(bool specifiesCoordinate READ specifiesCoordinate NOTIFY commandChanged)
Q_PROPERTY(Fact* supportedCommand READ supportedCommand NOTIFY commandChanged)
// These properties are used to display the editing ui
Q_PROPERTY(QmlObjectListModel* checkboxFacts READ checkboxFacts NOTIFY uiModelChanged)
@ -112,6 +113,7 @@ public: @@ -112,6 +113,7 @@ public:
bool isCurrentItem (void) const { return _isCurrentItem; }
bool rawEdit (void) const;
int sequenceNumber (void) const { return _sequenceNumber; }
bool standaloneCoordinate(void) const;
bool specifiesCoordinate (void) const;
Fact* supportedCommand (void) { return &_supportedCommandFact; }

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