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

Merge pull request #1984 from DonLakeFlyer/LiveHome 

Support live home position in Mission Editor
QGC4.4
Don Gagne 10 years ago
parent
a1765794d2 b43ccf87a3
commit
1f3100cfb1
6 changed files with 213 additions and 45 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. 40
      src/MissionEditor/MissionEditor.cc
  2. 19
      src/MissionEditor/MissionEditor.h
  3. 165
      src/MissionEditor/MissionEditor.qml
  4. 6
      src/Vehicle/Vehicle.cc
  5. 23
      src/comm/MockLink.cc
  6. 1
      src/comm/MockLink.h

40
src/MissionEditor/MissionEditor.cc
Unescape View File

@ -38,6 +38,8 @@ MissionEditor::MissionEditor(QWidget *parent) @@ -38,6 +38,8 @@ MissionEditor::MissionEditor(QWidget *parent)
: QGCQmlWidgetHolder(QString(), NULL, parent)
, _missionItems(NULL)
, _canEdit(true)
, _activeVehicle(NULL)
, _liveHomePositionAvailable(false)
{
// Get rid of layout default margins
QLayout* pl = layout();
@ -45,11 +47,16 @@ MissionEditor::MissionEditor(QWidget *parent) @@ -45,11 +47,16 @@ MissionEditor::MissionEditor(QWidget *parent)
pl->setContentsMargins(0,0,0,0);
}
Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
MultiVehicleManager* multiVehicleMgr = MultiVehicleManager::instance();
connect(multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &MissionEditor::_activeVehicleChanged);
Vehicle* activeVehicle = multiVehicleMgr->activeVehicle();
if (activeVehicle) {
MissionManager* missionManager = activeVehicle->missionManager();
connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionEditor::_newMissionItemsAvailable);
_newMissionItemsAvailable();
_activeVehicleChanged(activeVehicle);
} else {
_missionItems = new QmlObjectListModel(this);
_initAllMissionItems();
@ -389,3 +396,34 @@ void MissionEditor::_itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command @@ -389,3 +396,34 @@ void MissionEditor::_itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command
_recalcChildItems();
_recalcWaypointLines();
}
void MissionEditor::_activeVehicleChanged(Vehicle* activeVehicle)
{
if (_activeVehicle) {
disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionEditor::_activeVehicleHomePositionAvailableChanged);
disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionEditor::_activeVehicleHomePositionChanged);
_activeVehicle = NULL;
_activeVehicleHomePositionAvailableChanged(false);
}
_activeVehicle = activeVehicle;
if (_activeVehicle) {
connect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionEditor::_activeVehicleHomePositionAvailableChanged);
connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionEditor::_activeVehicleHomePositionChanged);
_activeVehicleHomePositionChanged(_activeVehicle->homePosition());
_activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable());
}
}
void MissionEditor::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable)
{
_liveHomePositionAvailable = homePositionAvailable;
emit liveHomePositionAvailableChanged(_liveHomePositionAvailable);
}
void MissionEditor::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
{
_liveHomePosition = homePosition;
emit liveHomePositionChanged(_liveHomePosition);
}

19
src/MissionEditor/MissionEditor.h
Unescape View File

@ -26,6 +26,7 @@ This file is part of the QGROUNDCONTROL project @@ -26,6 +26,7 @@ This file is part of the QGROUNDCONTROL project
#include "QGCQmlWidgetHolder.h"
#include "QmlObjectListModel.h"
#include "Vehicle.h"
class MissionEditor : public QGCQmlWidgetHolder
{
@ -35,9 +36,11 @@ public: @@ -35,9 +36,11 @@ public:
MissionEditor(QWidget* parent = NULL);
~MissionEditor();
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(bool canEdit READ canEdit NOTIFY canEditChanged)
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(bool canEdit READ canEdit NOTIFY canEditChanged)
Q_PROPERTY(bool liveHomePositionAvailable READ liveHomePositionAvailable NOTIFY liveHomePositionAvailableChanged)
Q_PROPERTY(QGeoCoordinate liveHomePosition READ liveHomePosition NOTIFY liveHomePositionChanged)
Q_INVOKABLE int addMissionItem(QGeoCoordinate coordinate);
Q_INVOKABLE void getMissionItems(void);
@ -53,16 +56,23 @@ public: @@ -53,16 +56,23 @@ public:
QmlObjectListModel* missionItems(void) { return _missionItems; }
QmlObjectListModel* waypointLines(void) { return &_waypointLines; }
bool canEdit(void) { return _canEdit; }
bool liveHomePositionAvailable(void) { return _liveHomePositionAvailable; }
QGeoCoordinate liveHomePosition(void) { return _liveHomePosition; }
signals:
void missionItemsChanged(void);
void canEditChanged(bool canEdit);
void waypointLinesChanged(void);
void liveHomePositionAvailableChanged(bool homePositionAvailable);
void liveHomePositionChanged(const QGeoCoordinate& homePosition);
private slots:
void _newMissionItemsAvailable();
void _itemCoordinateChanged(const QGeoCoordinate& coordinate);
void _itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
void _activeVehicleChanged(Vehicle* activeVehicle);
void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable);
void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
private:
void _recalcSequence(void);
@ -78,6 +88,9 @@ private: @@ -78,6 +88,9 @@ private:
QmlObjectListModel* _missionItems;
QmlObjectListModel _waypointLines;
bool _canEdit; ///< true: UI can edit these items, false: can't edit, can only send to vehicle or save
Vehicle* _activeVehicle;
bool _liveHomePositionAvailable;
QGeoCoordinate _liveHomePosition;
static const char* _settingsGroup;
};

165
src/MissionEditor/MissionEditor.qml
Unescape View File

@ -52,7 +52,11 @@ QGCView { @@ -52,7 +52,11 @@ QGCView {
property var _homePositionManager: QGroundControl.homePositionManager
property string _homePositionName: _homePositionManager.homePositions.get(0).name
property var homePositionCoordinate: _homePositionManager.homePositions.get(0).coordinate
property var offlineHomePosition: _homePositionManager.homePositions.get(0).coordinate
property var liveHomePosition: controller.liveHomePosition
property var liveHomePositionAvailable: controller.liveHomePositionAvailable
property var homePosition: offlineHomePosition // live or offline depending on state
QGCPalette { id: _qgcPal; colorGroupEnabled: enabled }
@ -76,20 +80,24 @@ QGCView { @@ -76,20 +80,24 @@ QGCView {
}
}
// Home position is mission item 0, so keep them in sync
onHomePositionCoordinateChanged: {
function updateHomePosition() {
homePosition = liveHomePositionAvailable ? liveHomePosition : offlineHomePosition
// Changing the coordinate will set the dirty bit, so we save and reset it
var dirtyBit = _missionItems.dirty
_missionItems.get(0).coordinate = homePositionCoordinate
_missionItems.get(0).coordinate = homePosition
_missionItems.dirty = dirtyBit
}
Component.onCompleted: onHomePositionCoordinateChanged
Component.onCompleted: updateHomePosition()
onOfflineHomePositionChanged: updateHomePosition()
onLiveHomePositionAvailableChanged: updateHomePosition()
onLiveHomePositionChanged: updateHomePosition()
Connections {
target: controller
onMissionItemsChanged: _missionItems.get(0).coordinate = homePositionCoordinate
// When the mission items change _missionsItems[0] changes as well so we need to reset it to home
onMissionItemsChanged: updateHomePosition
}
QGCViewPanel {
@ -108,8 +116,8 @@ QGCView { @@ -108,8 +116,8 @@ QGCView {
mapName: "MissionEditor"
Component.onCompleted: {
latitude = homePositionCoordinate.latitude
longitude = homePositionCoordinate.longitude
latitude = homePosition.latitude
longitude = homePosition.longitude
}
MouseArea {
@ -121,7 +129,7 @@ QGCView { @@ -121,7 +129,7 @@ QGCView {
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
if (_showHomePositionManager) {
homePositionCoordinate = coordinate
offlineHomePosition = coordinate
} else if (_addMissionItems) {
var index = controller.addMissionItem(coordinate)
setCurrentItem(index)
@ -200,7 +208,7 @@ QGCView { @@ -200,7 +208,7 @@ QGCView {
onClicked: {
centerMapButton.hideDropDown()
editorMap.center = QtPositioning.coordinate(homePositionCoordinate.latitude, homePositionCoordinate.longitude)
editorMap.center = QtPositioning.coordinate(homePosition.latitude, homePosition.longitude)
_showHomePositionManager = true
}
}
@ -229,8 +237,8 @@ QGCView { @@ -229,8 +237,8 @@ QGCView {
centerMapButton.hideDropDown()
// Begin with only the home position in the region
var region = QtPositioning.rectangle(QtPositioning.coordinate(homePositionCoordinate.latitude, _homePositionCoordinate.longitude),
QtPositioning.coordinate(homePositionCoordinate.latitude, _homePositionCoordinate.longitude))
var region = QtPositioning.rectangle(QtPositioning.coordinate(homePosition.latitude, homePosition.longitude),
QtPositioning.coordinate(homePosition.latitude, homePosition.longitude))
// Now expand the region to include all mission items
for (var i=0; i<_missionItems.count; i++) {
@ -509,11 +517,12 @@ QGCView { @@ -509,11 +517,12 @@ QGCView {
visible: _showHomePositionManager && !_showHelpPanel
Column {
anchors.fill: parent
anchors.fill: parent
visible: !liveHomePositionAvailable
QGCLabel {
font.pixelSize: ScreenTools.mediumFontPixelSize
text: "Home Position Manager"
text: "Offline Home Position Manager"
}
Item {
@ -522,7 +531,18 @@ QGCView { @@ -522,7 +531,18 @@ QGCView {
}
QGCLabel {
text: "Select home position to use:"
width: parent.width
wrapMode: Text.WordWrap
text: "This is used to specify a simulated home position while you are not connected to a Vehicle."
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight
}
QGCLabel {
text: "Select home position to use:"
}
QGCComboBox {
@ -535,9 +555,9 @@ QGCView { @@ -535,9 +555,9 @@ QGCView {
if (currentIndex != -1) {
var homePos = _homePositionManager.homePositions.get(currentIndex)
_homePositionName = homePos.name
homePositionCoordinate = homePos.coordinate
editorMap.latitude = homePositionCoordinate.latitude
editorMap.longitude = homePositionCoordinate.longitude
offlineHomePosition = homePos.coordinate
editorMap.latitude = offlineHomePosition.latitude
editorMap.longitude = offlineHomePosition.longitude
}
}
}
@ -585,18 +605,18 @@ QGCView { @@ -585,18 +605,18 @@ QGCView {
Item {
width: parent.width
height: latitudeField.height
height: offlineLatitudeField.height
QGCLabel {
anchors.baseline: latitudeField.baseline
anchors.baseline: offlineLatitudeField.baseline
text: "Lat:"
}
QGCTextField {
id: latitudeField
id: offlineLatitudeField
anchors.right: parent.right
width: _editFieldWidth
text: homePositionCoordinate.latitude
text: offlineHomePosition.latitude
}
}
@ -607,18 +627,18 @@ QGCView { @@ -607,18 +627,18 @@ QGCView {
Item {
width: parent.width
height: longitudeField.height
height: offlineLongitudeField.height
QGCLabel {
anchors.baseline: longitudeField.baseline
anchors.baseline: offlineLongitudeField.baseline
text: "Lon:"
}
QGCTextField {
id: longitudeField
id: offlineLongitudeField
anchors.right: parent.right
width: _editFieldWidth
text: homePositionCoordinate.longitude
text: offlineHomePosition.longitude
}
}
@ -629,18 +649,18 @@ QGCView { @@ -629,18 +649,18 @@ QGCView {
Item {
width: parent.width
height: altitudeField.height
height: offlineAltitudeField.height
QGCLabel {
anchors.baseline: altitudeField.baseline
anchors.baseline: offlineAltitudeField.baseline
text: "Alt:"
}
QGCTextField {
id: altitudeField
id: offlineAltitudeField
anchors.right: parent.right
width: _editFieldWidth
text: homePositionCoordinate.altitude
text: offlineHomePosition.altitude
}
}
@ -656,8 +676,8 @@ QGCView { @@ -656,8 +676,8 @@ QGCView {
text: "Add/Update"
onClicked: {
homePositionCoordinate = QtPositioning.coordinate(latitudeField.text, longitudeField.text, altitudeField.text)
_homePositionManager.updateHomePosition(nameField.text, homePositionCoordinate)
offlineHomePosition = QtPositioning.coordinate(latitudeField.text, longitudeField.text, altitudeField.text)
_homePositionManager.updateHomePosition(nameField.text, offlineHomePosition)
homePosCombo.currentIndex = homePosCombo.find(nameField.text)
}
}
@ -671,11 +691,88 @@ QGCView { @@ -671,11 +691,88 @@ QGCView {
homePosCombo.currentIndex = 0
var homePos = _homePositionManager.homePositions.get(0)
_homePositionName = homePos.name
homePositionCoordinate = homePos.coordinate
offlineHomePosition = homePos.coordinate
}
}
}
} // Column
} // Column - Offline view
Column {
anchors.fill: parent
visible: liveHomePositionAvailable
QGCLabel {
font.pixelSize: ScreenTools.mediumFontPixelSize
text: "Vehicle Home Position"
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight
}
Item {
width: parent.width
height: liveLatitudeField.height
QGCLabel {
anchors.baseline: liveLatitudeField.baseline
text: "Lat:"
}
QGCLabel {
id: liveLatitudeField
anchors.right: parent.right
width: _editFieldWidth
text: liveHomePosition.latitude
}
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight / 3
}
Item {
width: parent.width
height: liveLongitudeField.height
QGCLabel {
anchors.baseline: liveLongitudeField.baseline
text: "Lon:"
}
QGCLabel {
id: liveLongitudeField
anchors.right: parent.right
width: _editFieldWidth
text: liveHomePosition.longitude
}
}
Item {
width: 10
height: ScreenTools.defaultFontPixelHeight / 3
}
Item {
width: parent.width
height: liveAltitudeField.height
QGCLabel {
anchors.baseline: liveAltitudeField.baseline
text: "Alt:"
}
QGCLabel {
id: liveAltitudeField
anchors.right: parent.right
width: _editFieldWidth
text: liveHomePosition.altitude
}
}
} // Column - Online view
} // Item - Home Position Manager
// Help Panel

6
src/Vehicle/Vehicle.cc
Unescape View File

@ -227,8 +227,8 @@ void Vehicle::_handleHomePosition(mavlink_message_t& message) @@ -227,8 +227,8 @@ void Vehicle::_handleHomePosition(mavlink_message_t& message)
_homePosition.setAltitude(homePos.altitude / 1000.0);
_homePositionAvailable = true;
emit homePositionAvailableChanged(true);
emit homePositionChanged(_homePosition);
emit homePositionAvailableChanged(true);
}
void Vehicle::_handleHeartbeat(mavlink_message_t& message)
@ -963,10 +963,6 @@ bool Vehicle::homePositionAvailable(void) @@ -963,10 +963,6 @@ bool Vehicle::homePositionAvailable(void)
QGeoCoordinate Vehicle::homePosition(void)
{
if (!_homePositionAvailable) {
qWarning() << "Call to homePosition while _homePositionAvailable == false";
}
return _homePosition;
}

23
src/comm/MockLink.cc
Unescape View File

@ -157,6 +157,7 @@ void MockLink::_run1HzTasks(void) @@ -157,6 +157,7 @@ void MockLink::_run1HzTasks(void)
{
if (_mavlinkStarted && _connected) {
_sendHeartBeat();
_sendHomePosition();
}
}
@ -692,3 +693,25 @@ void MockLink::setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode @@ -692,3 +693,25 @@ void MockLink::setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode
{
_missionItemHandler.setMissionItemFailureMode(failureMode, firstTimeOnly);
}
void MockLink::_sendHomePosition(void)
{
mavlink_message_t msg;
float bogus[4];
bogus[0] = 0.0f;
bogus[1] = 0.0f;
bogus[2] = 0.0f;
bogus[3] = 0.0f;
mavlink_msg_home_position_pack(_vehicleSystemId,
_vehicleComponentId,
&msg,
(int32_t)(47.633033f * 1E7),
(int32_t)(-122.08794f * 1E7),
(int32_t)(2.0f * 1000),
0.0f, 0.0f, 0.0f,
&bogus[0],
0.0f, 0.0f, 0.0f);
respondWithMavlinkMessage(msg);
}

1
src/comm/MockLink.h
Unescape View File

@ -143,6 +143,7 @@ private: @@ -143,6 +143,7 @@ private:
void _handleCommandLong(const mavlink_message_t& msg);
float _floatUnionForParam(int componentId, const QString& paramName);
void _setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat);
void _sendHomePosition(void);
MockLinkMissionItemHandler _missionItemHandler;

Write Preview
Loading…
Cancel
Save