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Support for flying alternate transects

QGC4.4
DonLakeFlyer 7 years ago
parent
117e3dde92
commit
5d24e39c2f
5 changed files with 43 additions and 159 deletions
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  1. 155
      src/MissionManager/Survey.SettingsGroup.json
  2. 25
      src/MissionManager/SurveyComplexItem.cc
  3. 5
      src/MissionManager/SurveyComplexItem.h
  4. 2
      src/MissionManager/SurveyComplexItemTest.cc
  5. 7
      src/PlanView/SurveyItemEditor.qml

155
src/MissionManager/Survey.SettingsGroup.json
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@ -1,25 +1,5 @@
[ [
{ {
"name": "ManualGrid",
"shortDescription": "Specify all parameters for grid generation.",
"type": "bool",
"defaultValue": 1
},
{
"name": "GridAltitude",
"shortDescription": "Altitude for all waypoints within the grid.",
"type": "double",
"units": "m",
"decimalPlaces": 1,
"defaultValue": 50
},
{
"name": "GridAltitudeRelative",
"shortDescription": "Altitude for all waypoints within the grid is relative to home.",
"type": "bool",
"defaultValue": 1
},
{
"name": "GridAngle", "name": "GridAngle",
"shortDescription": "Angle for parallel lines of grid.", "shortDescription": "Angle for parallel lines of grid.",
"type": "double", "type": "double",
@ -30,140 +10,9 @@
"defaultValue": 0 "defaultValue": 0
}, },
{ {
"name": "GridSpacing", "name": "FlyAlternateTransects",
"shortDescription": "Amount of spacing in between parallel grid lines.", "shortDescription": "Fly every other transect in each pass.",
"type": "double",
"decimalPlaces": 2,
"min": 0.1,
"units": "m",
"defaultValue": 30
},
{
"name": "TurnaroundDist",
"shortDescription": "Amount of additional distance to add outside the grid area for vehicle turnaround.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m",
"defaultValue": 30
},
{
"name": "GroundResolution",
"shortDescription": "Resolution of image in relationship to ground distance.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "cm/px",
"defaultValue": 3
},
{
"name": "FrontalOverlap",
"shortDescription": "Amount of overlap between images in the forward facing direction.",
"type": "double",
"decimalPlaces": 0,
"min": 0,
"max": 85,
"units": "%",
"defaultValue": 70
},
{
"name": "SideOverlap",
"shortDescription": "Amount of overlap between images in the side facing direction.",
"type": "double",
"decimalPlaces": 0,
"min": 0,
"max": 85,
"units": "%",
"defaultValue": 70
},
{
"name": "CameraSensorWidth",
"shortDescription": "Amount of overlap between images in the side facing direction.",
"type": "double",
"decimalPlaces": 2,
"min": 1,
"units": "mm",
"defaultValue": 6.17
},
{
"name": "CameraSensorHeight",
"shortDescription": "Amount of overlap between images in the side facing direction.",
"type": "double",
"decimalPlaces": 2,
"min": 1,
"units": "mm",
"defaultValue": 4.55
},
{
"name": "CameraResolutionWidth",
"shortDescription": "Camera resolution width.",
"type": "uint32",
"min": 1,
"units": "px",
"defaultValue": 4000
},
{
"name": "CameraResolutionHeight",
"shortDescription": "Camera resolution height.",
"type": "uint32",
"min": 1,
"units": "px",
"defaultValue": 3000
},
{
"name": "CameraFocalLength",
"shortDescription": "Focal length of camera lens.",
"type": "double",
"decimalPlaces": 1,
"min": 1,
"units": "mm",
"defaultValue": 4.5
},
{
"name": "CameraTriggerDistance",
"shortDescription": "Distance between each triggering of the camera. 0 specifies not camera trigger.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m",
"defaultValue": 25
},
{
"name": "CameraTriggerInTurnaround",
"shortDescription": "Camera continues taking images in turnarounds.",
"type": "bool",
"defaultValue": true
},
{
"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",
"defaultValue": 1
},
{
"name": "FixedValueIsAltitude",
"shortDescription": "The altitude is kep constant while ground resolution changes.",
"type": "bool", "type": "bool",
"defaultValue": false "defaultValue": false
},
{
"name": "Camera",
"shortDescription": "Camera selected for Survey.",
"type": "string",
"defaultValue": ""
},
{
"name": "GridEntryLocation",
"shortDescription": "Location for entry point into survey area",
"type": "uint32",
"enumStrings": "Position 1,Position 2,Position 3,Position 4",
"enumValues": "0,1,2,3",
"defaultValue": 0
} }
] ]

25
src/MissionManager/SurveyComplexItem.cc
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@ -27,6 +27,7 @@ const char* SurveyComplexItem::jsonV3ComplexItemTypeValue = "survey";
const char* SurveyComplexItem::settingsGroup = "Survey"; const char* SurveyComplexItem::settingsGroup = "Survey";
const char* SurveyComplexItem::gridAngleName = "GridAngle"; const char* SurveyComplexItem::gridAngleName = "GridAngle";
const char* SurveyComplexItem::gridEntryLocationName = "GridEntryLocation"; const char* SurveyComplexItem::gridEntryLocationName = "GridEntryLocation";
const char* SurveyComplexItem::flyAlternateTransectsName = "FlyAlternateTransects";
const char* SurveyComplexItem::_jsonGridAngleKey = "angle"; const char* SurveyComplexItem::_jsonGridAngleKey = "angle";
const char* SurveyComplexItem::_jsonEntryPointKey = "entryLocation"; const char* SurveyComplexItem::_jsonEntryPointKey = "entryLocation";
@ -56,12 +57,13 @@ const char* SurveyComplexItem::_jsonV3ManualGridKey = "manualG
const char* SurveyComplexItem::_jsonV3CameraOrientationLandscapeKey = "orientationLandscape"; const char* SurveyComplexItem::_jsonV3CameraOrientationLandscapeKey = "orientationLandscape";
const char* SurveyComplexItem::_jsonV3FixedValueIsAltitudeKey = "fixedValueIsAltitude"; const char* SurveyComplexItem::_jsonV3FixedValueIsAltitudeKey = "fixedValueIsAltitude";
const char* SurveyComplexItem::_jsonV3Refly90DegreesKey = "refly90Degrees"; const char* SurveyComplexItem::_jsonV3Refly90DegreesKey = "refly90Degrees";
const char* SurveyComplexItem::_jsonFlyAlternateTransectsKey = "flyAlternateTransects";
SurveyComplexItem::SurveyComplexItem(Vehicle* vehicle, bool flyView, QObject* parent) SurveyComplexItem::SurveyComplexItem(Vehicle* vehicle, bool flyView, QObject* parent)
: TransectStyleComplexItem (vehicle, flyView, settingsGroup, parent) : TransectStyleComplexItem (vehicle, flyView, settingsGroup, parent)
, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/Survey.SettingsGroup.json"), this)) , _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/Survey.SettingsGroup.json"), this))
, _gridAngleFact (settingsGroup, _metaDataMap[gridAngleName]) , _gridAngleFact (settingsGroup, _metaDataMap[gridAngleName])
, _flyAlternateTransectsFact(settingsGroup, _metaDataMap[flyAlternateTransectsName])
, _entryPoint (EntryLocationTopLeft) , _entryPoint (EntryLocationTopLeft)
{ {
_editorQml = "qrc:/qml/SurveyItemEditor.qml"; _editorQml = "qrc:/qml/SurveyItemEditor.qml";
@ -79,9 +81,11 @@ SurveyComplexItem::SurveyComplexItem(Vehicle* vehicle, bool flyView, QObject* pa
} }
connect(&_gridAngleFact, &Fact::valueChanged, this, &SurveyComplexItem::_setDirty); connect(&_gridAngleFact, &Fact::valueChanged, this, &SurveyComplexItem::_setDirty);
connect(&_flyAlternateTransectsFact,&Fact::valueChanged, this, &SurveyComplexItem::_setDirty);
connect(this, &SurveyComplexItem::refly90DegreesChanged, this, &SurveyComplexItem::_setDirty); connect(this, &SurveyComplexItem::refly90DegreesChanged, this, &SurveyComplexItem::_setDirty);
connect(&_gridAngleFact, &Fact::valueChanged, this, &SurveyComplexItem::_rebuildTransects); connect(&_gridAngleFact, &Fact::valueChanged, this, &SurveyComplexItem::_rebuildTransects);
connect(&_flyAlternateTransectsFact,&Fact::valueChanged, this, &SurveyComplexItem::_rebuildTransects);
connect(this, &SurveyComplexItem::refly90DegreesChanged, this, &SurveyComplexItem::_rebuildTransects); connect(this, &SurveyComplexItem::refly90DegreesChanged, this, &SurveyComplexItem::_rebuildTransects);
// FIXME: Shouldn't these be in TransectStyleComplexItem? They are also in CorridorScanComplexItem constructur // FIXME: Shouldn't these be in TransectStyleComplexItem? They are also in CorridorScanComplexItem constructur
@ -99,6 +103,7 @@ void SurveyComplexItem::save(QJsonArray& planItems)
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue; saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue; saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[_jsonGridAngleKey] = _gridAngleFact.rawValue().toDouble(); saveObject[_jsonGridAngleKey] = _gridAngleFact.rawValue().toDouble();
saveObject[_jsonFlyAlternateTransectsKey] = _flyAlternateTransectsFact.rawValue().toBool();
saveObject[_jsonEntryPointKey] = _entryPoint; saveObject[_jsonEntryPointKey] = _entryPoint;
// Polygon shape // Polygon shape
@ -154,6 +159,7 @@ bool SurveyComplexItem::_loadV4(const QJsonObject& complexObject, int sequenceNu
{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true }, { ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
{ _jsonEntryPointKey, QJsonValue::Double, true }, { _jsonEntryPointKey, QJsonValue::Double, true },
{ _jsonGridAngleKey, QJsonValue::Double, true }, { _jsonGridAngleKey, QJsonValue::Double, true },
{ _jsonFlyAlternateTransectsKey, QJsonValue::Double, false },
}; };
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) { if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
return false; return false;
@ -181,6 +187,8 @@ bool SurveyComplexItem::_loadV4(const QJsonObject& complexObject, int sequenceNu
} }
_gridAngleFact.setRawValue (complexObject[_jsonGridAngleKey].toDouble()); _gridAngleFact.setRawValue (complexObject[_jsonGridAngleKey].toDouble());
_flyAlternateTransectsFact.setRawValue (complexObject[_jsonFlyAlternateTransectsKey].toBool(false));
_entryPoint = complexObject[_jsonEntryPointKey].toInt(); _entryPoint = complexObject[_jsonEntryPointKey].toInt();
_ignoreRecalc = false; _ignoreRecalc = false;
@ -1274,6 +1282,21 @@ void SurveyComplexItem::_rebuildTransectsPhase1Worker(bool refly)
_optimizeTransectsForShortestDistance(_transects.last().last().coord, transects); _optimizeTransectsForShortestDistance(_transects.last().last().coord, transects);
} }
if (_flyAlternateTransectsFact.rawValue().toBool()) {
QList<QList<QGeoCoordinate>> alternatingTransects;
for (int i=0; i<transects.count(); i++) {
if (!(i & 1)) {
alternatingTransects.append(transects[i]);
}
}
for (int i=transects.count()-1; i>0; i--) {
if (i & 1) {
alternatingTransects.append(transects[i]);
}
}
transects = alternatingTransects;
}
// Adjust to lawnmower pattern // Adjust to lawnmower pattern
bool reverseVertices = false; bool reverseVertices = false;
for (int i=0; i<transects.count(); i++) { for (int i=0; i<transects.count(); i++) {

5
src/MissionManager/SurveyComplexItem.h
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@ -24,8 +24,10 @@ public:
SurveyComplexItem(Vehicle* vehicle, bool flyView, QObject* parent); SurveyComplexItem(Vehicle* vehicle, bool flyView, QObject* parent);
Q_PROPERTY(Fact* gridAngle READ gridAngle CONSTANT) Q_PROPERTY(Fact* gridAngle READ gridAngle CONSTANT)
Q_PROPERTY(Fact* flyAlternateTransects READ flyAlternateTransects CONSTANT)
Fact* gridAngle (void) { return &_gridAngleFact; } Fact* gridAngle (void) { return &_gridAngleFact; }
Fact* flyAlternateTransects (void) { return &_flyAlternateTransectsFact; }
Q_INVOKABLE void rotateEntryPoint(void); Q_INVOKABLE void rotateEntryPoint(void);
@ -59,6 +61,7 @@ public:
static const char* settingsGroup; static const char* settingsGroup;
static const char* gridAngleName; static const char* gridAngleName;
static const char* gridEntryLocationName; static const char* gridEntryLocationName;
static const char* flyAlternateTransectsName;
static const char* jsonV3ComplexItemTypeValue; static const char* jsonV3ComplexItemTypeValue;
@ -108,10 +111,12 @@ private:
QMap<QString, FactMetaData*> _metaDataMap; QMap<QString, FactMetaData*> _metaDataMap;
SettingsFact _gridAngleFact; SettingsFact _gridAngleFact;
SettingsFact _flyAlternateTransectsFact;
int _entryPoint; int _entryPoint;
static const char* _jsonGridAngleKey; static const char* _jsonGridAngleKey;
static const char* _jsonEntryPointKey; static const char* _jsonEntryPointKey;
static const char* _jsonFlyAlternateTransectsKey;
static const char* _jsonV3GridObjectKey; static const char* _jsonV3GridObjectKey;
static const char* _jsonV3GridAltitudeKey; static const char* _jsonV3GridAltitudeKey;

2
src/MissionManager/SurveyComplexItemTest.cc
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@ -70,7 +70,7 @@ void SurveyComplexItemTest::_testDirty(void)
// These facts should set dirty when changed // These facts should set dirty when changed
QList<Fact*> rgFacts; QList<Fact*> rgFacts;
rgFacts << _surveyItem->gridAngle(); rgFacts << _surveyItem->gridAngle() << _surveyItem->flyAlternateTransects();
foreach(Fact* fact, rgFacts) { foreach(Fact* fact, rgFacts) {
qDebug() << fact->name(); qDebug() << fact->name();
QVERIFY(!_surveyItem->dirty()); QVERIFY(!_surveyItem->dirty());

7
src/PlanView/SurveyItemEditor.qml
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@ -130,6 +130,13 @@ Rectangle {
Layout.columnSpan: 2 Layout.columnSpan: 2
} }
FactCheckBox {
text: qsTr("Fly alternate transects")
fact: missionItem.flyAlternateTransects
visible: _vehicle.fixedWing
Layout.columnSpan: 2
}
QGCCheckBox { QGCCheckBox {
id: relAlt id: relAlt
anchors.left: parent.left anchors.left: parent.left

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