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

Add ability to set Gimbal Pitch on manual scan

QGC4.4
DonLakeFlyer 7 years ago
parent
07d998cfed
commit
604d4051f9
4 changed files with 43 additions and 44 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. 37
      src/MissionManager/StructureScan.SettingsGroup.json
  2. 35
      src/MissionManager/StructureScanComplexItem.cc
  3. 5
      src/MissionManager/StructureScanComplexItem.h
  4. 10
      src/PlanView/StructureScanEditor.qml

37
src/MissionManager/StructureScan.SettingsGroup.json
Unescape View File

@ -10,16 +10,6 @@ @@ -10,16 +10,6 @@
"defaultValue": 0
},
{
"name": "GimbalYaw",
"shortDescription": "Gimbal yaw rotation.",
"type": "double",
"units": "deg",
"min": -180.0,
"max": 180.0,
"decimalPlaces": 0,
"defaultValue": 90
},
{
"name": "Altitude",
"shortDescription": "Altitude for the bottom layer of the structure scan.",
"type": "double",
@ -41,32 +31,5 @@ @@ -41,32 +31,5 @@
"units": "m",
"min": 1,
"defaultValue": 100
},
{
"name": "Layer distance",
"shortDescription": "Distance between each layer.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m",
"defaultValue": 25
},
{
"name": "Scan distance",
"shortDescription": "Scan distance away from structure.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m",
"defaultValue": 25
},
{
"name": "Trigger distance",
"shortDescription": "Distance between each triggering of the camera. 0 specifies not camera trigger.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m",
"defaultValue": 25
}
]

35
src/MissionManager/StructureScanComplexItem.cc
Unescape View File

@ -25,6 +25,7 @@ const char* StructureScanComplexItem::settingsGroup = "StructureSc @@ -25,6 +25,7 @@ const char* StructureScanComplexItem::settingsGroup = "StructureSc
const char* StructureScanComplexItem::altitudeName = "Altitude";
const char* StructureScanComplexItem::structureHeightName = "StructureHeight";
const char* StructureScanComplexItem::layersName = "Layers";
const char* StructureScanComplexItem::gimbalPitchName = "GimbalPitch";
const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan";
const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc";
@ -44,6 +45,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie @@ -44,6 +45,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
, _altitudeFact (settingsGroup, _metaDataMap[altitudeName])
, _structureHeightFact (settingsGroup, _metaDataMap[structureHeightName])
, _layersFact (settingsGroup, _metaDataMap[layersName])
, _gimbalPitchFact (settingsGroup, _metaDataMap[gimbalPitchName])
{
_editorQml = "qrc:/qml/StructureScanEditor.qml";
@ -51,6 +53,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie @@ -51,6 +53,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
connect(&_structureHeightFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
@ -76,6 +79,8 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie @@ -76,6 +79,8 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &StructureScanComplexItem::_recalcCameraShots);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcCameraShots);
connect(&_cameraCalc, &CameraCalc::isManualCameraChanged, this, &StructureScanComplexItem::_updateGimbalPitch);
_recalcLayerInfo();
if (!kmlFile.isEmpty()) {
@ -147,9 +152,10 @@ void StructureScanComplexItem::save(QJsonArray& missionItems) @@ -147,9 +152,10 @@ void StructureScanComplexItem::save(QJsonArray& missionItems)
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[altitudeName] = _altitudeFact.rawValue().toDouble();
saveObject[structureHeightName] = _structureHeightFact.rawValue().toDouble();
saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative;
saveObject[structureHeightName] = _structureHeightFact.rawValue().toDouble();
saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative;
saveObject[layersName] = _layersFact.rawValue().toDouble();
saveObject[gimbalPitchName] = _gimbalPitchFact.rawValue().toDouble();
QJsonObject cameraCalcObject;
_cameraCalc.save(cameraCalcObject);
@ -180,6 +186,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen @@ -180,6 +186,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
{ structureHeightName, QJsonValue::Double, true },
{ _jsonAltitudeRelativeKey, QJsonValue::Bool, true },
{ layersName, QJsonValue::Double, true },
{ gimbalPitchName, QJsonValue::Double, false }, // This value was added after initial implementation so may be missing from older files
{ _jsonCameraCalcKey, QJsonValue::Object, true },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
@ -212,6 +219,12 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen @@ -212,6 +219,12 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
_layersFact.setRawValue (complexObject[layersName].toDouble());
_altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true);
double gimbalPitchValue = 0;
if (complexObject.contains(gimbalPitchName)) {
gimbalPitchValue = complexObject[gimbalPitchName].toDouble();
}
_gimbalPitchFact.setRawValue(gimbalPitchValue);
if (!_structurePolygon.loadFromJson(complexObject, true /* required */, errorString)) {
_structurePolygon.clear();
return false;
@ -256,11 +269,12 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO @@ -256,11 +269,12 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET,
MAV_FRAME_MISSION,
0, 0, 0, 0, // param 1-4 not used
0, 0, // Pitch and Roll stay in standard orientation
90, // 90 degreee yaw offset to point to structure
true, // autoContinue
false, // isCurrentItem
0, 0, 0, 0, // param 1-4 not used
_gimbalPitchFact.rawValue().toDouble(),
0, // Roll stays in standard orientation
90, // 90 degreee yaw offset to point to structure
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
@ -464,3 +478,10 @@ void StructureScanComplexItem::_recalcLayerInfo(void) @@ -464,3 +478,10 @@ void StructureScanComplexItem::_recalcLayerInfo(void)
_layersFact.setSendValueChangedSignals(true);
}
}
void StructureScanComplexItem::_updateGimbalPitch(void)
{
if (!_cameraCalc.isManualCamera()) {
_gimbalPitchFact.setRawValue(0);
}
}

5
src/MissionManager/StructureScanComplexItem.h
Unescape View File

@ -34,6 +34,7 @@ public: @@ -34,6 +34,7 @@ public:
Q_PROPERTY(Fact* altitude READ altitude CONSTANT)
Q_PROPERTY(Fact* structureHeight READ structureHeight CONSTANT)
Q_PROPERTY(Fact* layers READ layers CONSTANT)
Q_PROPERTY(Fact* gimbalPitch READ gimbalPitch CONSTANT)
Q_PROPERTY(bool altitudeRelative READ altitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged)
Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
@ -44,6 +45,7 @@ public: @@ -44,6 +45,7 @@ public:
Fact* altitude (void) { return &_altitudeFact; }
Fact* structureHeight (void) { return &_structureHeightFact; }
Fact* layers (void) { return &_layersFact; }
Fact* gimbalPitch (void) { return &_gimbalPitchFact; }
bool altitudeRelative (void) const { return _altitudeRelative; }
int cameraShots (void) const;
@ -98,6 +100,7 @@ public: @@ -98,6 +100,7 @@ public:
static const char* altitudeName;
static const char* structureHeightName;
static const char* layersName;
static const char* gimbalPitchName;
signals:
void cameraShotsChanged (int cameraShots);
@ -114,6 +117,7 @@ private slots: @@ -114,6 +117,7 @@ private slots:
void _recalcCameraShots (void);
void _recalcLayerInfo (void);
void _updateLastSequenceNumber (void);
void _updateGimbalPitch (void);
private:
void _setExitCoordinate(const QGeoCoordinate& coordinate);
@ -141,6 +145,7 @@ private: @@ -141,6 +145,7 @@ private:
SettingsFact _altitudeFact;
SettingsFact _structureHeightFact;
SettingsFact _layersFact;
SettingsFact _gimbalPitchFact;
static const char* _jsonCameraCalcKey;
static const char* _jsonAltitudeRelativeKey;

10
src/PlanView/StructureScanEditor.qml
Unescape View File

@ -126,6 +126,16 @@ Rectangle { @@ -126,6 +126,16 @@ Rectangle {
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("Gimbal pitch")
visible: missionItem.cameraCalc.isManualCamera
}
FactTextField {
fact: missionItem.gimbalPitch
Layout.fillWidth: true
visible: missionItem.cameraCalc.isManualCamera
}
QGCCheckBox {
text: qsTr("Relative altitude")
checked: missionItem.altitudeRelative

Write Preview
Loading…
Cancel
Save