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Merge pull request #4895 from DonLakeFlyer/NoImageInTurnaround 

Plan: Support for images in turnaround on/off
QGC4.4
Gus Grubba 8 years ago committed by GitHub
parent
0f8466d659 827eddf356
commit
296a43cefd
10 changed files with 309 additions and 173 deletions
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  1. 2
      src/MissionManager/CameraSection.FactMetaData.json
  2. 34
      src/MissionManager/CameraSection.cc
  3. 10
      src/MissionManager/MavCmdInfoCommon.json
  4. 6
      src/MissionManager/MissionController.cc
  5. 11
      src/MissionManager/SimpleMissionItem.cc
  6. 3
      src/MissionManager/SimpleMissionItem.h
  7. 14
      src/MissionManager/Survey.SettingsGroup.json
  8. 223
      src/MissionManager/SurveyMissionItem.cc
  9. 41
      src/MissionManager/SurveyMissionItem.h
  10. 138
      src/PlanView/SurveyItemEditor.qml

2
src/MissionManager/CameraSection.FactMetaData.json
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@ -12,7 +12,7 @@ @@ -12,7 +12,7 @@
"shortDescription": "Specify the distance between each photo",
"type": "double",
"units": "m",
"min": 0,
"min": 0.1,
"decimalPlaces": 1,
"defaultValue": 1
},

34
src/MissionManager/CameraSection.cc
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@ -229,36 +229,40 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc @@ -229,36 +229,40 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
cameraAction()->setRawValue(TakePhotosIntervalTime);
cameraPhotoIntervalTime()->setRawValue(missionItem.param1());
visualItems->removeAt(scanIndex)->deleteLater();
} else {
stopLooking = true;
}
stopLooking = true;
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
if (!foundCameraAction && missionItem.param1() >= 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
// At this point we don't know if we have a stop taking photos pair, or a single distance trigger where the user specified 0
// We need to look at the next item to check for the stop taking photos pari
// At this point we don't know if we have a stop taking photos pair, or just a distance trigger
if (missionItem.param1() == 0 && scanIndex < visualItems->count() - 1) {
// Possible stop taking photos pair
SimpleMissionItem* nextItem = visualItems->value<SimpleMissionItem*>(scanIndex + 1);
if (nextItem) {
missionItem = nextItem->missionItem();
if ((MAV_CMD)item->command() == MAV_CMD_IMAGE_STOP_CAPTURE && missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
MissionItem& nextMissionItem = nextItem->missionItem();
if (nextMissionItem.command() == MAV_CMD_IMAGE_STOP_CAPTURE && nextMissionItem.param1() == 0 && nextMissionItem.param2() == 0 && nextMissionItem.param3() == 0 && nextMissionItem.param4() == 0 && nextMissionItem.param5() == 0 && nextMissionItem.param6() == 0 && nextMissionItem.param7() == 0) {
// We found a stop taking photos pair
foundCameraAction = true;
cameraAction()->setRawValue(StopTakingPhotos);
visualItems->removeAt(scanIndex)->deleteLater();
visualItems->removeAt(scanIndex)->deleteLater();
stopLooking = true;
break;
}
}
}
// We didn't find a stop taking photos pair, so this is a regular trigger distance item
foundCameraAction = true;
cameraAction()->setRawValue(TakePhotoIntervalDistance);
cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
visualItems->removeAt(scanIndex)->deleteLater();
break;
// We didn't find a stop taking photos pair, check for trigger distance
if (missionItem.param1() > 0) {
foundCameraAction = true;
cameraAction()->setRawValue(TakePhotoIntervalDistance);
cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
visualItems->removeAt(scanIndex)->deleteLater();
stopLooking = true;
break;
}
}
stopLooking = true;
break;
@ -268,9 +272,8 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc @@ -268,9 +272,8 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
foundCameraAction = true;
cameraAction()->setRawValue(TakeVideo);
visualItems->removeAt(scanIndex)->deleteLater();
} else {
stopLooking = true;
}
stopLooking = true;
break;
case MAV_CMD_VIDEO_STOP_CAPTURE:
@ -278,9 +281,8 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc @@ -278,9 +281,8 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
foundCameraAction = true;
cameraAction()->setRawValue(StopTakingVideo);
visualItems->removeAt(scanIndex)->deleteLater();
} else {
stopLooking = true;
}
stopLooking = true;
break;
default:

10
src/MissionManager/MavCmdInfoCommon.json
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@ -817,11 +817,11 @@ @@ -817,11 +817,11 @@
}
},
{
"id": 206,
"rawName": "MAV_CMD_DO_SET_CAM_TRIGG_DIST",
"friendlyName": "Camera trigger distance",
"description": "Set camera trigger distance.",
"category": "Camera",
"id": 206,
"rawName": "MAV_CMD_DO_SET_CAM_TRIGG_DIST",
"friendlyName": "Camera trigger distance",
"description": "Set camera trigger distance.",
"category": "Camera",
"param1": {
"label": "Distance",
"default": 25,

6
src/MissionManager/MissionController.cc
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@ -1555,10 +1555,8 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte @@ -1555,10 +1555,8 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte
}
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
if (simpleItem && simpleItem->cameraSection()->available()) {
scanIndex++;
simpleItem->scanForSections(visualItems, scanIndex, vehicle);
continue;
if (simpleItem) {
simpleItem->scanForSections(visualItems, scanIndex + 1, vehicle);
}
scanIndex++;

11
src/MissionManager/SimpleMissionItem.cc
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@ -655,16 +655,17 @@ double SimpleMissionItem::specifiedGimbalYaw(void) @@ -655,16 +655,17 @@ double SimpleMissionItem::specifiedGimbalYaw(void)
return _cameraSection->available() ? _cameraSection->specifiedGimbalYaw() : missionItem().specifiedGimbalYaw();
}
void SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
bool SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
{
Q_UNUSED(vehicle);
bool sectionFound = false;
qDebug() << "SimpleMissionItem::scanForSections" << scanIndex << _cameraSection->available();
Q_UNUSED(vehicle);
if (_cameraSection->available()) {
bool sectionFound = _cameraSection->scanForCameraSection(visualItems, scanIndex);
qDebug() << sectionFound;
sectionFound = _cameraSection->scanForCameraSection(visualItems, scanIndex);
}
return sectionFound;
}
void SimpleMissionItem::_updateCameraSection(void)

3
src/MissionManager/SimpleMissionItem.h
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@ -48,7 +48,8 @@ public: @@ -48,7 +48,8 @@ public:
/// @param visualItems List of all visual items
/// @param scanIndex Index to start scanning from
/// @param vehicle Vehicle associated with this mission
void scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle);
/// @return true: section found
bool scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle);
// Property accesors

14
src/MissionManager/Survey.SettingsGroup.json
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@ -131,6 +131,18 @@ @@ -131,6 +131,18 @@
"defaultValue": 25
},
{
"name": "CameraTriggerInTurnaround",
"shortDescription": "Camera continues taking images in turnarounds.",
"type": "bool",
"defaultValue": false
},
{
"name": "HoverAndCapture",
"shortDescription": "Hover at each image point and take image",
"type": "bool",
"defaultValue": false
},
{
"name": "CameraOrientationLandscape",
"shortDescription": "Camera on vehicle is in landscape orientation.",
"type": "bool",
@ -140,7 +152,7 @@ @@ -140,7 +152,7 @@
"name": "FixedValueIsAltitude",
"shortDescription": "The altitude is kep constant while ground resolution changes.",
"type": "bool",
"defaultValue": 0
"defaultValue": false
},
{
"name": "Camera",

223
src/MissionManager/SurveyMissionItem.cc
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@ -30,6 +30,8 @@ const char* SurveyMissionItem::_jsonGridSpacingKey = "spacing"; @@ -30,6 +30,8 @@ const char* SurveyMissionItem::_jsonGridSpacingKey = "spacing";
const char* SurveyMissionItem::_jsonTurnaroundDistKey = "turnAroundDistance";
const char* SurveyMissionItem::_jsonCameraTriggerKey = "cameraTrigger";
const char* SurveyMissionItem::_jsonCameraTriggerDistanceKey = "cameraTriggerDistance";
const char* SurveyMissionItem::_jsonCameraTriggerInTurnaroundKey = "cameraTriggerInTurnaround";
const char* SurveyMissionItem::_jsonHoverAndCaptureKey = "hoverAndCapture";
const char* SurveyMissionItem::_jsonGroundResolutionKey = "groundResolution";
const char* SurveyMissionItem::_jsonFrontalOverlapKey = "imageFrontalOverlap";
const char* SurveyMissionItem::_jsonSideOverlapKey = "imageSideOverlap";
@ -52,6 +54,8 @@ const char* SurveyMissionItem::gridAngleName = "GridAngle"; @@ -52,6 +54,8 @@ const char* SurveyMissionItem::gridAngleName = "GridAngle";
const char* SurveyMissionItem::gridSpacingName = "GridSpacing";
const char* SurveyMissionItem::turnaroundDistName = "TurnaroundDist";
const char* SurveyMissionItem::cameraTriggerDistanceName = "CameraTriggerDistance";
const char* SurveyMissionItem::cameraTriggerInTurnaroundName = "CameraTriggerInTurnaround";
const char* SurveyMissionItem::hoverAndCaptureName = "HoverAndCapture";
const char* SurveyMissionItem::groundResolutionName = "GroundResolution";
const char* SurveyMissionItem::frontalOverlapName = "FrontalOverlap";
const char* SurveyMissionItem::sideOverlapName = "SideOverlap";
@ -83,6 +87,8 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent) @@ -83,6 +87,8 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
, _turnaroundDistFact (settingsGroup, _metaDataMap[turnaroundDistName])
, _cameraTriggerFact (settingsGroup, _metaDataMap[cameraTriggerName])
, _cameraTriggerDistanceFact (settingsGroup, _metaDataMap[cameraTriggerDistanceName])
, _cameraTriggerInTurnaroundFact (settingsGroup, _metaDataMap[cameraTriggerInTurnaroundName])
, _hoverAndCaptureFact (settingsGroup, _metaDataMap[hoverAndCaptureName])
, _groundResolutionFact (settingsGroup, _metaDataMap[groundResolutionName])
, _frontalOverlapFact (settingsGroup, _metaDataMap[frontalOverlapName])
, _sideOverlapFact (settingsGroup, _metaDataMap[sideOverlapName])
@ -102,10 +108,13 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent) @@ -102,10 +108,13 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
_turnaroundDistFact.setRawValue(0);
}
connect(&_gridSpacingFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_gridAngleFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_turnaroundDistFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_cameraTriggerDistanceFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_gridSpacingFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_gridAngleFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_turnaroundDistFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_cameraTriggerDistanceFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_cameraTriggerInTurnaroundFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_gridAltitudeFact, &Fact::valueChanged, this, &SurveyMissionItem::_updateCoordinateAltitude);
// Signal to Qml when camera value changes so it can recalc
@ -261,8 +270,8 @@ int SurveyMissionItem::lastSequenceNumber(void) const @@ -261,8 +270,8 @@ int SurveyMissionItem::lastSequenceNumber(void) const
{
int lastSeq = _sequenceNumber;
if (_gridPoints.count()) {
lastSeq += _gridPoints.count() - 1;
if (_simpleGridPoints.count()) {
lastSeq += _simpleGridPoints.count() - 1;
if (_cameraTriggerFact.rawValue().toBool()) {
// Account for two trigger messages
lastSeq += 2;
@ -495,8 +504,8 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe @@ -495,8 +504,8 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe
double SurveyMissionItem::greatestDistanceTo(const QGeoCoordinate &other) const
{
double greatestDistance = 0.0;
for (int i=0; i<_gridPoints.count(); i++) {
QGeoCoordinate currentCoord = _gridPoints[i].value<QGeoCoordinate>();
for (int i=0; i<_simpleGridPoints.count(); i++) {
QGeoCoordinate currentCoord = _simpleGridPoints[i].value<QGeoCoordinate>();
double distance = currentCoord.distanceTo(other);
if (distance > greatestDistance) {
greatestDistance = distance;
@ -521,11 +530,16 @@ bool SurveyMissionItem::specifiesCoordinate(void) const @@ -521,11 +530,16 @@ bool SurveyMissionItem::specifiesCoordinate(void) const
void SurveyMissionItem::_clearGrid(void)
{
// Bug workaround
while (_gridPoints.count() > 1) {
_gridPoints.takeLast();
while (_simpleGridPoints.count() > 1) {
_simpleGridPoints.takeLast();
}
emit gridPointsChanged();
_gridPoints.clear();
_simpleGridPoints.clear();
}
void _calcCameraShots()
{
}
void SurveyMissionItem::_generateGrid(void)
@ -535,10 +549,11 @@ void SurveyMissionItem::_generateGrid(void) @@ -535,10 +549,11 @@ void SurveyMissionItem::_generateGrid(void)
return;
}
_gridPoints.clear();
_simpleGridPoints.clear();
QList<QPointF> polygonPoints;
QList<QPointF> gridPoints;
QList<QPointF> polygonPoints;
QList<QPointF> gridPoints;
QList<QList<QPointF>> gridSegments;
// Convert polygon to Qt coordinate system (y positive is down)
qCDebug(SurveyMissionItemLog) << "Convert polygon";
@ -561,7 +576,7 @@ void SurveyMissionItem::_generateGrid(void) @@ -561,7 +576,7 @@ void SurveyMissionItem::_generateGrid(void)
_setCoveredArea(0.5 * fabs(coveredArea));
// Generate grid
_gridGenerator(polygonPoints, gridPoints);
_gridGenerator(polygonPoints, gridPoints, gridSegments);
double surveyDistance = 0.0;
// Convert to Geo and set altitude
@ -574,11 +589,16 @@ void SurveyMissionItem::_generateGrid(void) @@ -574,11 +589,16 @@ void SurveyMissionItem::_generateGrid(void)
QGeoCoordinate geoCoord;
convertNedToGeo(-point.y(), point.x(), 0, tangentOrigin, &geoCoord);
_gridPoints += QVariant::fromValue(geoCoord);
_simpleGridPoints += QVariant::fromValue(geoCoord);
}
_setSurveyDistance(surveyDistance);
if (_cameraTriggerDistanceFact.rawValue().toDouble() > 0) {
_setCameraShots((int)floor(surveyDistance / _cameraTriggerDistanceFact.rawValue().toDouble()));
// Set camera shots here if taking images in turnaround (otherwise it's in _gridGenerator)
double triggerDistance = _cameraTriggerDistanceFact.rawValue().toDouble();
if (triggerDistance > 0) {
if (_cameraTriggerInTurnaroundFact.rawValue().toBool()) {
_setCameraShots((int)ceil(surveyDistance / triggerDistance));
}
} else {
_setCameraShots(0);
}
@ -586,11 +606,11 @@ void SurveyMissionItem::_generateGrid(void) @@ -586,11 +606,11 @@ void SurveyMissionItem::_generateGrid(void)
emit gridPointsChanged();
emit lastSequenceNumberChanged(lastSequenceNumber());
if (_gridPoints.count()) {
QGeoCoordinate coordinate = _gridPoints.first().value<QGeoCoordinate>();
if (_simpleGridPoints.count()) {
QGeoCoordinate coordinate = _simpleGridPoints.first().value<QGeoCoordinate>();
coordinate.setAltitude(_gridAltitudeFact.rawValue().toDouble());
setCoordinate(coordinate);
QGeoCoordinate exitCoordinate = _gridPoints.last().value<QGeoCoordinate>();
QGeoCoordinate exitCoordinate = _simpleGridPoints.last().value<QGeoCoordinate>();
exitCoordinate.setAltitude(_gridAltitudeFact.rawValue().toDouble());
_setExitCoordinate(exitCoordinate);
}
@ -718,14 +738,15 @@ void SurveyMissionItem::_adjustLineDirection(const QList<QLineF>& lineList, QLis @@ -718,14 +738,15 @@ void SurveyMissionItem::_adjustLineDirection(const QList<QLineF>& lineList, QLis
}
}
void SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints, QList<QPointF>& gridPoints)
void SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints, QList<QPointF>& simpleGridPoints, QList<QList<QPointF>>& gridSegments)
{
double gridAngle = _gridAngleFact.rawValue().toDouble();
double gridSpacing = _gridSpacingFact.rawValue().toDouble();
qCDebug(SurveyMissionItemLog) << "SurveyMissionItem::_gridGenerator gridSpacing:gridAngle" << gridSpacing << gridAngle;
gridPoints.clear();
simpleGridPoints.clear();
gridSegments.clear();
// Convert polygon to bounding rect
@ -778,74 +799,139 @@ void SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints, QLi @@ -778,74 +799,139 @@ void SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints, QLi
QList<QLineF> resultLines;
_adjustLineDirection(intersectLines, resultLines);
// Turn into a path
float turnaroundDist = _turnaroundDistFact.rawValue().toDouble();
// Calc camera shots here if there are no images in turnaround
double triggerDistance = _cameraTriggerDistanceFact.rawValue().toDouble();
if (triggerDistance > 0 && !_cameraTriggerInTurnaroundFact.rawValue().toBool()) {
int cameraShots = 0;
for (int i=0; i<resultLines.count(); i++) {
cameraShots += (int)ceil(resultLines[i].length() / triggerDistance);
}
_setCameraShots(cameraShots);
}
// Turn into a path
for (int i=0; i<resultLines.count(); i++) {
QList<QPointF> segmentPoints;
const QLineF& line = resultLines[i];
QPointF turnaroundOffset = line.p2() - line.p1();
turnaroundOffset = turnaroundOffset * turnaroundDist / sqrt(pow(turnaroundOffset.x(),2.0) + pow(turnaroundOffset.y(),2.0));
turnaroundOffset = turnaroundOffset * turnaroundDist / sqrt(pow(turnaroundOffset.x(), 2) + pow(turnaroundOffset.y(), 2));
if (i & 1) {
if (turnaroundDist > 0.0) {
gridPoints << line.p2() + turnaroundOffset << line.p2() << line.p1() << line.p1() - turnaroundOffset;
simpleGridPoints << line.p2() + turnaroundOffset << line.p2() << line.p1() << line.p1() - turnaroundOffset;
segmentPoints << line.p2() + turnaroundOffset << line.p2() << line.p1() << line.p1() - turnaroundOffset;
} else {
gridPoints << line.p2() << line.p1();
simpleGridPoints << line.p2() << line.p1();
segmentPoints << line.p2() << line.p1();
}
} else {
if (turnaroundDist > 0.0) {
gridPoints << line.p1() - turnaroundOffset << line.p1() << line.p2() << line.p2() + turnaroundOffset;
simpleGridPoints << line.p1() - turnaroundOffset << line.p1() << line.p2() << line.p2() + turnaroundOffset;
segmentPoints << line.p1() - turnaroundOffset << line.p1() << line.p2() << line.p2() + turnaroundOffset;
} else {
gridPoints << line.p1() << line.p2();
simpleGridPoints << line.p1() << line.p2();
segmentPoints << line.p1() << line.p2();
}
}
gridSegments.append(segmentPoints);
}
}
int SurveyMissionItem::_appendWaypointToMission(QList<MissionItem*>& items, int seqNum, QGeoCoordinate& coord, CameraTriggerCode cameraTrigger, QObject* missionItemParent)
{
double altitude = _gridAltitudeFact.rawValue().toDouble();
bool altitudeRelative = _gridAltitudeRelativeFact.rawValue().toBool();
double triggerDistance = _cameraTriggerDistanceFact.rawValue().toDouble();
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0.0, 0.0, 0.0, 0.0, // param 1-4 unused
coord.latitude(),
coord.longitude(),
altitude,
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
if (cameraTrigger != CameraTriggerNone) {
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
cameraTrigger == CameraTriggerOn ? triggerDistance : 0,
0, 0, 0, 0, 0, 0, // param 2-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
return seqNum;
}
void SurveyMissionItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
int seqNum = _sequenceNumber;
for (int i=0; i<_gridPoints.count(); i++) {
QGeoCoordinate coord = _gridPoints[i].value<QGeoCoordinate>();
double altitude = _gridAltitudeFact.rawValue().toDouble();
MissionItem* item = new MissionItem(seqNum++, // sequence number
MAV_CMD_NAV_WAYPOINT, // MAV_CMD
_gridAltitudeRelativeFact.rawValue().toBool() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, // MAV_FRAME
0.0, 0.0, 0.0, 0.0, // param 1-4
coord.latitude(),
coord.longitude(),
altitude,
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
int seqNum = _sequenceNumber;
bool hasTurnaround = _turnaroundDistFact.rawValue().toDouble() > 0;
bool triggerCamera = _cameraTriggerFact.rawValue().toBool();
bool imagesEverywhere = triggerCamera && _cameraTriggerInTurnaroundFact.rawValue().toBool();
int i = 0;
while (i < _simpleGridPoints.count()) {
CameraTriggerCode cameraTrigger;
QGeoCoordinate coord = _simpleGridPoints[i].value<QGeoCoordinate>();
// Either waypoint entering polygon of turnaround point for start of new transect
cameraTrigger = imagesEverywhere ? (i == 0 ? CameraTriggerOn : CameraTriggerNone) : (hasTurnaround ? CameraTriggerNone : CameraTriggerOn);
seqNum = _appendWaypointToMission(items, seqNum, coord, cameraTrigger, missionItemParent);
if (hasTurnaround) {
// Waypoint entering the polygon
if (++i >= _simpleGridPoints.count()) {
qWarning() << "Bad grid generation";
break;
}
coord = _simpleGridPoints[i].value<QGeoCoordinate>();
cameraTrigger = imagesEverywhere ? CameraTriggerNone : CameraTriggerOn;
seqNum = _appendWaypointToMission(items, seqNum, coord, cameraTrigger, missionItemParent);
}
if (_cameraTriggerFact.rawValue().toBool() && i == 0) {
// Turn on camera
MissionItem* item = new MissionItem(seqNum++, // sequence number
MAV_CMD_DO_SET_CAM_TRIGG_DIST, // MAV_CMD
MAV_FRAME_MISSION, // MAV_FRAME
_cameraTriggerDistanceFact.rawValue().toDouble(), // trigger distance
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // param 2-7
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
// Waypoint exiting polygon
if (++i >= _simpleGridPoints.count()) {
qWarning() << "Bad grid generation";
break;
}
coord = _simpleGridPoints[i].value<QGeoCoordinate>();
cameraTrigger = imagesEverywhere ? CameraTriggerNone : CameraTriggerOff;
seqNum = _appendWaypointToMission(items, seqNum, coord, cameraTrigger, missionItemParent);
if (hasTurnaround) {
// Waypoint at the end of transect
if (++i >= _simpleGridPoints.count()) {
qWarning() << "Bad grid generation";
break;
}
coord = _simpleGridPoints[i].value<QGeoCoordinate>();
cameraTrigger = CameraTriggerNone;
seqNum = _appendWaypointToMission(items, seqNum, coord, cameraTrigger, missionItemParent);
}
i++;
}
if (_cameraTriggerFact.rawValue().toBool()) {
// Turn off camera
MissionItem* item = new MissionItem(seqNum++, // sequence number
MAV_CMD_DO_SET_CAM_TRIGG_DIST, // MAV_CMD
MAV_FRAME_MISSION, // MAV_FRAME
0.0, // trigger distance
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // param 2-7
true, // autoContinue
false, // isCurrentItem
if (imagesEverywhere) {
// Turn off camera at end of survey
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
0.0, // trigger distance (off)
0, 0, 0, 0, 0, 0, // param 2-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
@ -883,3 +969,8 @@ void SurveyMissionItem::setMissionFlightStatus (MissionController::MissionFligh @@ -883,3 +969,8 @@ void SurveyMissionItem::setMissionFlightStatus (MissionController::MissionFligh
emit timeBetweenShotsChanged();
}
}
void SurveyMissionItem::_setDirty(void)
{
setDirty(true);
}

41
src/MissionManager/SurveyMissionItem.h
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@ -32,6 +32,8 @@ public: @@ -32,6 +32,8 @@ public:
Q_PROPERTY(Fact* turnaroundDist READ turnaroundDist CONSTANT)
Q_PROPERTY(Fact* cameraTrigger READ cameraTrigger CONSTANT)
Q_PROPERTY(Fact* cameraTriggerDistance READ cameraTriggerDistance CONSTANT)
Q_PROPERTY(Fact* cameraTriggerInTurnaround READ cameraTriggerInTurnaround CONSTANT)
Q_PROPERTY(Fact* hoverAndCapture READ hoverAndCapture CONSTANT)
Q_PROPERTY(Fact* groundResolution READ groundResolution CONSTANT)
Q_PROPERTY(Fact* frontalOverlap READ frontalOverlap CONSTANT)
Q_PROPERTY(Fact* sideOverlap READ sideOverlap CONSTANT)
@ -68,7 +70,7 @@ public: @@ -68,7 +70,7 @@ public:
QVariantList polygonPath (void) { return _polygonPath; }
QmlObjectListModel* polygonModel(void) { return &_polygonModel; }
QVariantList gridPoints (void) { return _gridPoints; }
QVariantList gridPoints (void) { return _simpleGridPoints; }
Fact* manualGrid (void) { return &_manualGridFact; }
Fact* gridAltitude (void) { return &_gridAltitudeFact; }
@ -78,6 +80,8 @@ public: @@ -78,6 +80,8 @@ public:
Fact* turnaroundDist (void) { return &_turnaroundDistFact; }
Fact* cameraTrigger (void) { return &_cameraTriggerFact; }
Fact* cameraTriggerDistance (void) { return &_cameraTriggerDistanceFact; }
Fact* cameraTriggerInTurnaround (void) { return &_cameraTriggerInTurnaroundFact; }
Fact* hoverAndCapture (void) { return &_hoverAndCaptureFact; }
Fact* groundResolution (void) { return &_groundResolutionFact; }
Fact* frontalOverlap (void) { return &_frontalOverlapFact; }
Fact* sideOverlap (void) { return &_sideOverlapFact; }
@ -141,6 +145,8 @@ public: @@ -141,6 +145,8 @@ public:
static const char* gridSpacingName;
static const char* turnaroundDistName;
static const char* cameraTriggerDistanceName;
static const char* cameraTriggerInTurnaroundName;
static const char* hoverAndCaptureName;
static const char* groundResolutionName;
static const char* frontalOverlapName;
static const char* sideOverlapName;
@ -166,14 +172,21 @@ signals: @@ -166,14 +172,21 @@ signals:
private slots:
void _cameraTriggerChanged(void);
void _setDirty(void);
private:
enum CameraTriggerCode {
CameraTriggerNone,
CameraTriggerOn,
CameraTriggerOff
};
void _clear(void);
void _setExitCoordinate(const QGeoCoordinate& coordinate);
void _clearGrid(void);
void _generateGrid(void);
void _updateCoordinateAltitude(void);
void _gridGenerator(const QList<QPointF>& polygonPoints, QList<QPointF>& gridPoints);
void _gridGenerator(const QList<QPointF>& polygonPoints, QList<QPointF>& simpleGridPoints, QList<QList<QPointF>>& gridSegments);
QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle);
void _intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines);
void _intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines);
@ -182,15 +195,17 @@ private: @@ -182,15 +195,17 @@ private:
void _setCameraShots(int cameraShots);
void _setCoveredArea(double coveredArea);
void _cameraValueChanged(void);
int _sequenceNumber;
bool _dirty;
QVariantList _polygonPath;
QmlObjectListModel _polygonModel;
QVariantList _gridPoints;
QGeoCoordinate _coordinate;
QGeoCoordinate _exitCoordinate;
bool _cameraOrientationFixed;
int _appendWaypointToMission(QList<MissionItem*>& items, int seqNum, QGeoCoordinate& coord, CameraTriggerCode cameraTrigger, QObject* missionItemParent);
int _sequenceNumber;
bool _dirty;
QVariantList _polygonPath;
QmlObjectListModel _polygonModel;
QVariantList _simpleGridPoints; ///< Grid points for drawing simple grid visuals
QList<QList<QGeoCoordinate>> _gridSegments; ///< Internal grid line segments including grid exit and turnaround point
QGeoCoordinate _coordinate;
QGeoCoordinate _exitCoordinate;
bool _cameraOrientationFixed;
double _surveyDistance;
int _cameraShots;
@ -208,6 +223,8 @@ private: @@ -208,6 +223,8 @@ private:
SettingsFact _turnaroundDistFact;
SettingsFact _cameraTriggerFact;
SettingsFact _cameraTriggerDistanceFact;
SettingsFact _cameraTriggerInTurnaroundFact;
SettingsFact _hoverAndCaptureFact;
SettingsFact _groundResolutionFact;
SettingsFact _frontalOverlapFact;
SettingsFact _sideOverlapFact;
@ -229,6 +246,8 @@ private: @@ -229,6 +246,8 @@ private:
static const char* _jsonTurnaroundDistKey;
static const char* _jsonCameraTriggerKey;
static const char* _jsonCameraTriggerDistanceKey;
static const char* _jsonCameraTriggerInTurnaroundKey;
static const char* _jsonHoverAndCaptureKey;
static const char* _jsonGroundResolutionKey;
static const char* _jsonFrontalOverlapKey;
static const char* _jsonSideOverlapKey;

138
src/PlanView/SurveyItemEditor.qml
Unescape View File

@ -180,40 +180,73 @@ Rectangle { @@ -180,40 +180,73 @@ Rectangle {
spacing: _margin
SectionHeader {
id: cameraHeader
text: qsTr("Camera")
showSpacer: false
}
QGCComboBox {
id: gridTypeCombo
Column {
anchors.left: parent.left
anchors.right: parent.right
model: _cameraList
currentIndex: -1
onActivated: {
if (index == _gridTypeManual) {
missionItem.manualGrid.value = true
} else if (index == _gridTypeCustomCamera) {
missionItem.manualGrid.value = false
missionItem.camera.value = gridTypeCombo.textAt(index)
missionItem.cameraOrientationFixed = false
} else {
missionItem.manualGrid.value = false
missionItem.camera.value = gridTypeCombo.textAt(index)
_noCameraValueRecalc = true
var listIndex = index - _gridTypeCamera
missionItem.cameraSensorWidth.rawValue = _vehicleCameraList[listIndex].sensorWidth
missionItem.cameraSensorHeight.rawValue = _vehicleCameraList[listIndex].sensorHeight
missionItem.cameraResolutionWidth.rawValue = _vehicleCameraList[listIndex].imageWidth
missionItem.cameraResolutionHeight.rawValue = _vehicleCameraList[listIndex].imageHeight
missionItem.cameraFocalLength.rawValue = _vehicleCameraList[listIndex].focalLength
missionItem.cameraOrientationLandscape.rawValue = _vehicleCameraList[listIndex].landscape ? 1 : 0
missionItem.cameraOrientationFixed = _vehicleCameraList[listIndex].fixedOrientation
_noCameraValueRecalc = false
recalcFromCameraValues()
spacing: _margin
visible: cameraHeader.checked
QGCComboBox {
id: gridTypeCombo
anchors.left: parent.left
anchors.right: parent.right
model: _cameraList
currentIndex: -1
onActivated: {
if (index == _gridTypeManual) {
missionItem.manualGrid.value = true
} else if (index == _gridTypeCustomCamera) {
missionItem.manualGrid.value = false
missionItem.camera.value = gridTypeCombo.textAt(index)
missionItem.cameraOrientationFixed = false
} else {
missionItem.manualGrid.value = false
missionItem.camera.value = gridTypeCombo.textAt(index)
_noCameraValueRecalc = true
var listIndex = index - _gridTypeCamera
missionItem.cameraSensorWidth.rawValue = _vehicleCameraList[listIndex].sensorWidth
missionItem.cameraSensorHeight.rawValue = _vehicleCameraList[listIndex].sensorHeight
missionItem.cameraResolutionWidth.rawValue = _vehicleCameraList[listIndex].imageWidth
missionItem.cameraResolutionHeight.rawValue = _vehicleCameraList[listIndex].imageHeight
missionItem.cameraFocalLength.rawValue = _vehicleCameraList[listIndex].focalLength
missionItem.cameraOrientationLandscape.rawValue = _vehicleCameraList[listIndex].landscape ? 1 : 0
missionItem.cameraOrientationFixed = _vehicleCameraList[listIndex].fixedOrientation
_noCameraValueRecalc = false
recalcFromCameraValues()
}
}
}
RowLayout {
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
visible: missionItem.manualGrid.value == true
FactCheckBox {
anchors.baseline: cameraTriggerDistanceField.baseline
text: qsTr("Trigger Distance")
fact: missionItem.cameraTrigger
}
FactTextField {
id: cameraTriggerDistanceField
Layout.fillWidth: true
fact: missionItem.cameraTriggerDistance
enabled: missionItem.cameraTrigger.value
}
}
FactCheckBox {
text: qsTr("Hover and capture image")
fact: missionItem.hoverAndCapture
}
}
// Camera based grid ui
@ -343,7 +376,10 @@ Rectangle { @@ -343,7 +376,10 @@ Rectangle {
}
}
SectionHeader { text: qsTr("Grid") }
SectionHeader {
id: gridHeader
text: qsTr("Grid")
}
GridLayout {
anchors.left: parent.left
@ -351,6 +387,7 @@ Rectangle { @@ -351,6 +387,7 @@ Rectangle {
columnSpacing: _margin
rowSpacing: _margin
columns: 2
visible: gridHeader.checked
QGCLabel { text: qsTr("Angle") }
FactTextField {
@ -403,13 +440,17 @@ Rectangle { @@ -403,13 +440,17 @@ Rectangle {
}
// Manual grid ui
SectionHeader {
id: manualGridHeader
text: qsTr("Grid")
visible: gridTypeCombo.currentIndex == _gridTypeManual
}
Column {
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
visible: gridTypeCombo.currentIndex == _gridTypeManual
SectionHeader { text: qsTr("Grid") }
visible: manualGridHeader.visible && manualGridHeader.checked
FactTextFieldGrid {
anchors.left: parent.left
@ -420,50 +461,21 @@ Rectangle { @@ -420,50 +461,21 @@ Rectangle {
factLabels: [ qsTr("Angle"), qsTr("Spacing"), qsTr("Altitude"), qsTr("Turnaround dist")]
}
Item { height: _margin; width: 1; visible: !ScreenTools.isTinyScreen }
FactCheckBox {
anchors.left: parent.left
text: qsTr("Relative altitude")
fact: missionItem.gridAltitudeRelative
}
Item { height: _sectionSpacer; width: 1; visible: !ScreenTools.isTinyScreen }
QGCLabel { text: qsTr("Camera") }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
RowLayout {
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
FactCheckBox {
anchors.baseline: cameraTriggerDistanceField.baseline
text: qsTr("Trigger Distance")
fact: missionItem.cameraTrigger
}
FactTextField {
id: cameraTriggerDistanceField
Layout.fillWidth: true
fact: missionItem.cameraTriggerDistance
enabled: missionItem.cameraTrigger.value
}
}
}
SectionHeader { text: qsTr("Statistics") }
SectionHeader {
id: statsHeader
text: qsTr("Statistics") }
Grid {
columns: 2
columnSpacing: ScreenTools.defaultFontPixelWidth
visible: statsHeader.checked
QGCLabel { text: qsTr("Survey area") }
QGCLabel { text: QGroundControl.squareMetersToAppSettingsAreaUnits(missionItem.coveredArea).toFixed(2) + " " + QGroundControl.appSettingsAreaUnitsString }

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