Merge pull request #8963 from DonLakeFlyer/VTOLWork

Plan: Better support for VTOL takeoff and landing pattern

ChangeLog.md

@@ -4,6 +4,8 @@ Note: This file only contains high level features or important fixes.
 
 ## 4.1 - Daily build
 
+* VTOL: General setting for transition distance which affects Plan takeoff, landing pattern creation
+* VTOL: Much better VTOL support throughout QGC
 * Maps: Support zoom up to level 23 even if map provider doesn't provide tiles that high
 * Settings/Mavlink: Add ability to forward mavlink traffic out specified UDP port
 * Support mavlink terrain protocol which queries gcs for terrain height information. Allows planning missions with TERRAIN\_FRAME.

src/FactSystem/FactMetaData.cc

@@ -321,9 +321,9 @@ bool FactMetaData::isInRawMinLimit(const QVariant& variantValue) const
     case valueTypeInt64:
         return _rawMin.value<int64_t>() <= variantValue.value<int64_t>();
     case valueTypeFloat:
-        return _rawMin.value<float>() <= variantValue.value<float>();
+        return qIsNaN(variantValue.toFloat()) || _rawMin.value<float>() <= variantValue.value<float>();
     case valueTypeDouble:
-        return _rawMin.value<double>() <= variantValue.value<double>();
+        return qIsNaN(variantValue.toDouble()) || _rawMin.value<double>() <= variantValue.value<double>();
     default:
         return true;
     }
@@ -351,9 +351,9 @@ bool FactMetaData::isInRawMaxLimit(const QVariant& variantValue) const
     case valueTypeInt64:
         return _rawMax.value<int64_t>() >= variantValue.value<int64_t>();
     case valueTypeFloat:
-        return _rawMax.value<float>() >= variantValue.value<float>();
+        return qIsNaN(variantValue.toFloat()) || _rawMax.value<float>() >= variantValue.value<float>();
     case valueTypeDouble:
-        return _rawMax.value<double>() >= variantValue.value<double>();
+        return qIsNaN(variantValue.toDouble()) || _rawMax.value<double>() >= variantValue.value<double>();
     default:
         return true;
     }
@@ -1294,19 +1294,23 @@ FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QMap<Q
         metaData->setRawUnits(json[_unitsJsonKey].toString());
     }
 
-    QString defaultValueJsonKey;
+    QString defaultValueJsonKey = _defaultValueJsonKey;
 #ifdef __mobile__
     if (json.contains(_mobileDefaultValueJsonKey)) {
         defaultValueJsonKey = _mobileDefaultValueJsonKey;
     }
 #endif
-    if (defaultValueJsonKey.isEmpty() && json.contains(_defaultValueJsonKey)) {
-        defaultValueJsonKey = _defaultValueJsonKey;
-    }
-    if (!defaultValueJsonKey.isEmpty()) {
+
+    if (json.contains(defaultValueJsonKey)) {
+        const QJsonValue jsonValue = json[defaultValueJsonKey];
+
+        if (jsonValue.type() == QJsonValue::Null && (type == valueTypeFloat || type == valueTypeDouble)) {
+            metaData->setRawDefaultValue(type == valueTypeFloat ? std::numeric_limits<float>::quiet_NaN() : std::numeric_limits<double>::quiet_NaN());
+        } else {
             QVariant typedValue;
             QString errorString;
-        QVariant initialValue = json[defaultValueJsonKey].toVariant();
+            QVariant initialValue = jsonValue.toVariant();
+
             if (metaData->convertAndValidateRaw(initialValue, true /* convertOnly */, typedValue, errorString)) {
                 metaData->setRawDefaultValue(typedValue);
             } else {
@@ -1316,6 +1320,7 @@ FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QMap<Q
                            << " error:" << errorString;
             }
         }
+    }
 
     if (json.contains(_incrementJsonKey)) {
         QVariant typedValue;

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -574,17 +574,11 @@ void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void)
         double landToTangentDistance = _landingDistanceFact.rawValue().toDouble();
         double heading = _landingHeadingFact.rawValue().toDouble();
 
-        // Calculate loiter tangent coordinate
+        // Heading is from loiter to land, hence +180
         _loiterTangentCoordinate = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, heading + 180);
 
-        // Calculate the distance and angle to the loiter coordinate
-        QGeoCoordinate tangent = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, 0);
-        QGeoCoordinate loiter = tangent.atDistanceAndAzimuth(radius, 90);
-        double loiterDistance = _landingCoordinate.distanceTo(loiter);
-        double loiterAzimuth = _landingCoordinate.azimuthTo(loiter) * (_loiterClockwise ? -1 : 1);
-
-        // Use those values to get the new loiter point which takes heading into acount
-        _loiterCoordinate = _landingCoordinate.atDistanceAndAzimuth(loiterDistance, heading + 180 + loiterAzimuth);
+        // Loiter coord is 90 degrees counter clockwise from tangent coord
+        _loiterCoordinate = _loiterTangentCoordinate.atDistanceAndAzimuth(radius, heading - 180 - 90);
         _loiterCoordinate.setAltitude(_loiterAltitudeFact.rawValue().toDouble());
 
         _ignoreRecalcSignals = true;

src/MissionManager/SimpleMissionItem.cc

@@ -399,7 +399,7 @@ QString SimpleMissionItem::abbreviation() const
     case MAV_CMD_NAV_LAND:
         return tr("Land");
     case MAV_CMD_NAV_VTOL_TAKEOFF:
-        return tr("VTOL Takeoff");
+        return tr("Transition Direction");
     case MAV_CMD_NAV_VTOL_LAND:
         return tr("VTOL Land");
     case MAV_CMD_DO_SET_ROI:

src/MissionManager/TakeoffMissionItem.cc

@@ -175,12 +175,12 @@ void TakeoffMissionItem::setLaunchCoordinate(const QGeoCoordinate& launchCoordin
         if (_launchTakeoffAtSameLocation) {
             takeoffCoordinate = launchCoordinate;
         } else {
-            double distance = 30.0; // Default distance is VTOL transition to takeoff point distance
+            double distance = qgcApp()->toolbox()->settingsManager()->planViewSettings()->vtolTransitionDistance()->rawValue().toDouble(); // Default distance is VTOL transition to takeoff point distance
             if (_controllerVehicle->fixedWing()) {
                 double altitude = this->altitude()->rawValue().toDouble();
 
                 if (altitudeMode() == QGroundControlQmlGlobal::AltitudeModeRelative) {
-                    // Offset for fixed wing climb out of 30 degrees
+                    // Offset for fixed wing climb out of 30 degrees to specified altitude
                     if (altitude != 0.0) {
                         distance = altitude / tan(qDegreesToRadians(30.0));
                     }

src/MissionManager/VTOLLandingComplexItem.cc

@@ -14,6 +14,7 @@
 #include "SimpleMissionItem.h"
 #include "PlanMasterController.h"
 #include "FlightPathSegment.h"
+#include "QGC.h"
 
 #include <QPolygonF>
 
@@ -54,9 +55,13 @@ VTOLLandingComplexItem::VTOLLandingComplexItem(PlanMasterController* masterContr
     _editorQml = "qrc:/qml/VTOLLandingPatternEditor.qml";
     _isIncomplete = false;
 
-    QGeoCoordinate homePositionCoordinate = masterController->missionController()->plannedHomePosition();
-    if (homePositionCoordinate.isValid()) {
-        setLandingCoordinate(homePositionCoordinate);
+    // We adjust landing distance meta data to Plan View settings unless there was a custom build override
+    if (QGC::fuzzyCompare(_landingDistanceFact.rawValue().toDouble(), _landingDistanceFact.rawDefaultValue().toDouble())) {
+        Fact* vtolTransitionDistanceFact = qgcApp()->toolbox()->settingsManager()->planViewSettings()->vtolTransitionDistance();
+        double vtolTransitionDistance = vtolTransitionDistanceFact->rawValue().toDouble();
+        _landingDistanceFact.metaData()->setRawDefaultValue(vtolTransitionDistance);
+        _landingDistanceFact.setRawValue(vtolTransitionDistance);
+        _landingDistanceFact.metaData()->setRawMin(vtolTransitionDistanceFact->metaData()->rawMin());
     }
 
     connect(&_loiterAltitudeFact,       &Fact::valueChanged,                                    this, &VTOLLandingComplexItem::_updateLoiterCoodinateAltitudeFromFact);
@@ -539,17 +544,11 @@ void VTOLLandingComplexItem::_recalcFromHeadingAndDistanceChange(void)
         double landToTangentDistance    = _landingDistanceFact.rawValue().toDouble();
         double heading                  = _landingHeadingFact.rawValue().toDouble();
 
-        // Calculate loiter tangent coordinate
+        // Heading is from loiter to land, hence +180
         _loiterTangentCoordinate = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, heading + 180);
 
-        // Calculate the distance and angle to the loiter coordinate
-        QGeoCoordinate tangent = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, 0);
-        QGeoCoordinate loiter = tangent.atDistanceAndAzimuth(radius, 90);
-        double loiterDistance = _landingCoordinate.distanceTo(loiter);
-        double loiterAzimuth = _landingCoordinate.azimuthTo(loiter) * (_loiterClockwise ? -1 : 1);
-
-        // Use those values to get the new loiter point which takes heading into acount
-        _loiterCoordinate = _landingCoordinate.atDistanceAndAzimuth(loiterDistance, heading + 180 + loiterAzimuth);
+        // Loiter coord is 90 degrees counter clockwise from tangent coord
+        _loiterCoordinate = _loiterTangentCoordinate.atDistanceAndAzimuth(radius, heading - 180 - 90);
         _loiterCoordinate.setAltitude(_loiterAltitudeFact.rawValue().toDouble());
 
         _ignoreRecalcSignals = true;

src/MissionManager/VTOLLandingPattern.FactMetaData.json

@@ -10,7 +10,7 @@
     "units":            "m",
     "min":              10,
     "decimalPlaces":    1,
-    "default":     30.0
+    "default":          300.0
 },
 {
     "name":             "LandingHeading",
@@ -28,7 +28,7 @@
     "type":             "double",
     "units":            "m",
     "decimalPlaces":    1,
-    "default":     40.0
+    "default":          30.0
 },
 {
     "name":             "LoiterRadius",

src/PlanView/FWLandingPatternEditor.qml

@@ -317,8 +317,6 @@ Rectangle {
                 onClicked: {
                     missionItem.wizardMode = false
                     missionItem.landingDragAngleOnly = false
-                    // Trial of no auto select next item
-                    //editorRoot.selectNextNotReadyItem()
                 }
             }
         }

src/PlanView/PlanToolBarIndicators.qml

@@ -27,7 +27,9 @@ Item {
     property var    _controllerDirty:           _controllerValid ? _planMasterController.dirty : false
     property var    _controllerSyncInProgress:  _controllerValid ? _planMasterController.syncInProgress : false
 
-    property bool   _statusValid:               _currentMissionItem !== undefined && _currentMissionItem !== null
+    property bool   _currentMissionItemValid:   _currentMissionItem && _currentMissionItem !== undefined && _currentMissionItem !== null
+    property bool   _curreItemIsFlyThrough:     _currentMissionItemValid && _currentMissionItem.specifiesCoordinate && !_currentMissionItem.isStandaloneCoordinate
+    property bool   _currentItemIsVTOLTakeoff:  _currentMissionItemValid && _currentMissionItem.command == 84
     property bool   _missionValid:              missionItems !== undefined
 
     property real   _dataFontSize:              ScreenTools.defaultFontPointSize
@@ -36,11 +38,10 @@ Item {
     property real   _smallValueWidth:           ScreenTools.defaultFontPixelWidth * 3
     property real   _labelToValueSpacing:       ScreenTools.defaultFontPixelWidth
     property real   _rowSpacing:                ScreenTools.isMobile ? 1 : 0
-    property real   _distance:                  _statusValid && _currentMissionItem ? _currentMissionItem.distance : NaN
-    property real   _altDifference:             _statusValid && _currentMissionItem ? _currentMissionItem.altDifference : NaN
-    property real   _gradient:                  _statusValid && _currentMissionItem && _currentMissionItem.distance > 0 ? (Math.atan(_currentMissionItem.altDifference / _currentMissionItem.distance) * (180.0/Math.PI)) : NaN
-    property real   _azimuth:                   _statusValid && _currentMissionItem ? _currentMissionItem.azimuth : NaN
-    property real   _heading:                   _statusValid && _currentMissionItem ? _currentMissionItem.missionVehicleYaw : NaN
+    property real   _distance:                  _currentMissionItemValid ? _currentMissionItem.distance : NaN
+    property real   _altDifference:             _currentMissionItemValid ? _currentMissionItem.altDifference : NaN
+    property real   _azimuth:                   _currentMissionItemValid ? _currentMissionItem.azimuth : NaN
+    property real   _heading:                   _currentMissionItemValid ? _currentMissionItem.missionVehicleYaw : NaN
     property real   _missionDistance:           _missionValid ? missionDistance : NaN
     property real   _missionMaxTelemetry:       _missionValid ? missionMaxTelemetry : NaN
     property real   _missionTime:               _missionValid ? missionTime : NaN
@@ -49,6 +50,11 @@ Item {
     property bool   _batteryInfoAvailable:      _batteryChangePoint >= 0 || _batteriesRequired >= 0
     property real   _controllerProgressPct:     _controllerValid ? _planMasterController.missionController.progressPct : 0
     property bool   _syncInProgress:            _controllerValid ? _planMasterController.missionController.syncInProgress : false
+    property real   _gradient:                  _currentMissionItemValid && _currentMissionItem.distance > 0 ?
+                                                    (_currentItemIsVTOLTakeoff ?
+                                                         0 :
+                                                         (Math.atan(_currentMissionItem.altDifference / _currentMissionItem.distance) * (180.0/Math.PI)))
+                                                  : NaN
 
     property string _distanceText:              isNaN(_distance) ?              "-.-" : QGroundControl.unitsConversion.metersToAppSettingsHorizontalDistanceUnits(_distance).toFixed(1) + " " + QGroundControl.unitsConversion.appSettingsHorizontalDistanceUnitsString
     property string _altDifferenceText:         isNaN(_altDifference) ?         "-.-" : QGroundControl.unitsConversion.metersToAppSettingsHorizontalDistanceUnits(_altDifference).toFixed(1) + " " + QGroundControl.unitsConversion.appSettingsHorizontalDistanceUnitsString

src/PlanView/SimpleItemEditor.qml

@@ -82,7 +82,11 @@ Rectangle {
             visible:            missionItem.isTakeoffItem && missionItem.wizardMode // Hack special case for takeoff item
 
             QGCLabel {
-                text:               qsTr("Move '%1' Takeoff to the %2 location.").arg(_controllerVehicle.vtol ? qsTr("V") : qsTr("T")).arg(_controllerVehicle.vtol ? qsTr("desired") : qsTr("climbout"))
+                text:               qsTr("Move '%1' %2 to the %3 location. %4")
+                                        .arg(_controllerVehicle.vtol ? qsTr("T") : qsTr("T"))
+                                        .arg(_controllerVehicle.vtol ? qsTr("Transition Direction") : qsTr("Takeoff"))
+                                        .arg(_controllerVehicle.vtol ? qsTr("desired") : qsTr("climbout"))
+                                        .arg(_controllerVehicle.vtol ? (qsTr("Ensure distance from launch to transition direction is far enough to complete transition.")) : "")
                 Layout.fillWidth:   true
                 wrapMode:           Text.WordWrap
                 visible:            !initialClickLabel.visible
@@ -101,8 +105,6 @@ Rectangle {
                 visible:            !initialClickLabel.visible
                 onClicked: {
                     missionItem.wizardMode = false
-                    // Trial of no auto select next item
-                    //editorRoot.selectNextNotReadyItem()
                 }
             }
 

src/PlanView/TakeoffItemMapVisual.qml

@@ -149,7 +149,6 @@ Item {
             readonly property int   _decimalPlaces: 8
 
             onClicked: {
-                console.log("mousearea click")
                 var coordinate = map.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
                 coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
                 coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)

src/PlanView/VTOLLandingPatternEditor.qml

@@ -51,6 +51,14 @@ Rectangle {
         spacing:            _margin
         visible:            !editorColumnNeedLandingPoint.visible
 
+        QGCLabel {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            wrapMode:       Text.WordWrap
+            font.pointSize: ScreenTools.smallFontPointSize
+            text:           qsTr("Loiter down to specified altitude. Fly to land point while transitioning. Hover straight down to land.")
+        }
+
         SectionHeader {
             id:             loiterPointSection
             anchors.left:   parent.left
@@ -216,6 +224,15 @@ Rectangle {
                 font.pointSize:         ScreenTools.smallFontPointSize
                 text:                   qsTr("* Avoid tailwind from loiter to land.")
             }
+
+            QGCLabel {
+                anchors.left:           parent.left
+                anchors.right:          parent.right
+                wrapMode:               Text.WordWrap
+                color:                  qgcPal.warningText
+                font.pointSize:         ScreenTools.smallFontPointSize
+                text:                   qsTr("* Ensure landing distance is enough to complete transition.")
+            }
         }
     }
 
@@ -287,8 +304,6 @@ Rectangle {
                 onClicked: {
                     missionItem.wizardMode = false
                     missionItem.landingDragAngleOnly = false
-                    // Trial of no auto select next item
-                    //editorRoot.selectNextNotReadyItem()
                 }
             }
         }

src/Settings/PlanView.SettingsGroup.json

@@ -32,6 +32,14 @@
     "shortDesc":    "Show gimbal yaw visual only when set explicitly for the waypoint",
     "type":         "bool",
     "default":      false
+},
+{
+    "name":         "vtolTransitionDistance",
+    "shortDesc":    "Amount of distance required for vehicle to complete a transition",
+    "type":         "double",
+    "default":      300.0,
+    "units":        "m",
+    "min":          100.0
 }
 ]
 }

src/Settings/PlanViewSettings.cc

@@ -22,3 +22,4 @@ DECLARE_SETTINGSFACT(PlanViewSettings, showMissionItemStatus)
 DECLARE_SETTINGSFACT(PlanViewSettings, useConditionGate)
 DECLARE_SETTINGSFACT(PlanViewSettings, takeoffItemNotRequired)
 DECLARE_SETTINGSFACT(PlanViewSettings, showGimbalOnlyWhenSet)
+DECLARE_SETTINGSFACT(PlanViewSettings, vtolTransitionDistance)

src/Settings/PlanViewSettings.h

@@ -25,4 +25,5 @@ public:
     DEFINE_SETTINGFACT(useConditionGate)
     DEFINE_SETTINGFACT(takeoffItemNotRequired)
     DEFINE_SETTINGFACT(showGimbalOnlyWhenSet)
+    DEFINE_SETTINGFACT(vtolTransitionDistance)
 };

src/ui/preferences/GeneralSettings.qml

@@ -348,8 +348,9 @@ Rectangle {
                             anchors.horizontalCenter:   parent.horizontalCenter
                             spacing:                    _margins
 
-                            RowLayout {
-                                spacing:    ScreenTools.defaultFontPixelWidth
+                            GridLayout {
+                                columns:            2
+                                columnSpacing:      ScreenTools.defaultFontPixelWidth
                                 visible:            QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude.visible
 
                                 QGCLabel { text: qsTr("Default Mission Altitude") }
@@ -357,6 +358,12 @@ Rectangle {
                                     Layout.preferredWidth:  _valueFieldWidth
                                     fact:                   QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude
                                 }
+
+                                QGCLabel { text: qsTr("VTOL TransitionDistance") }
+                                FactTextField {
+                                    Layout.preferredWidth:  _valueFieldWidth
+                                    fact:                   QGroundControl.settingsManager.planViewSettings.vtolTransitionDistance
+                                }
                             }
 
                             FactCheckBox {