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

Merge branch 'Stable_V3.3' of https://github.com/mavlink/qgroundcontrol into StableMerge

QGC4.4
DonLakeFlyer 7 years ago
parent
05992691ea 0c8da5af54
commit
7737cee83f
15 changed files with 123 additions and 138 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      QGCInstaller.pri
  2. 68
      src/FactSystem/ParameterManager.cc
  3. 9
      src/FactSystem/ParameterManager.h
  4. 9
      src/FirmwarePlugin/FirmwarePlugin.h
  5. 2
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
  6. 18
      src/FlightDisplay/GuidedActionConfirm.qml
  7. 7
      src/FlightDisplay/GuidedActionsController.qml
  8. 38
      src/FlightMap/Images/attitudeDial.svg
  9. 48
      src/MissionManager/StructureScanComplexItem.cc
  10. 9
      src/MissionManager/StructureScanComplexItem.h
  11. 17
      src/MissionManager/StructureScanComplexItemTest.cc
  12. 1
      src/MissionManager/StructureScanComplexItemTest.h
  13. 2
      src/MissionManager/SurveyMissionItem.h
  14. 4
      src/PlanView/MissionSettingsEditor.qml
  15. 27
      src/PlanView/StructureScanEditor.qml

2
QGCInstaller.pri
Unescape View File

@ -26,12 +26,12 @@ installer {
# We cd to release directory so we can run macdeployqt without a path to the # We cd to release directory so we can run macdeployqt without a path to the
# qgroundcontrol.app file. If you specify a path to the .app file the symbolic # qgroundcontrol.app file. If you specify a path to the .app file the symbolic
# links to plugins will not be created correctly. # links to plugins will not be created correctly.
QMAKE_POST_LINK += && mkdir -p $${DESTDIR}/package
QMAKE_POST_LINK += && cd $${DESTDIR} && $$dirname(QMAKE_QMAKE)/macdeployqt $${TARGET}.app -appstore-compliant -verbose=2 -qmldir=$${BASEDIR}/src QMAKE_POST_LINK += && cd $${DESTDIR} && $$dirname(QMAKE_QMAKE)/macdeployqt $${TARGET}.app -appstore-compliant -verbose=2 -qmldir=$${BASEDIR}/src
# macdeploy is missing some relocations once in a while. "Fix" it: # macdeploy is missing some relocations once in a while. "Fix" it:
QMAKE_POST_LINK += && python $$BASEDIR/tools/osxrelocator.py $${TARGET}.app/Contents @rpath @executable_path/../Frameworks -r > /dev/null 2>&1 QMAKE_POST_LINK += && python $$BASEDIR/tools/osxrelocator.py $${TARGET}.app/Contents @rpath @executable_path/../Frameworks -r > /dev/null 2>&1
# Create package # Create package
QMAKE_POST_LINK += && hdiutil create /tmp/tmp.dmg -ov -volname "$${TARGET}-$${MAC_VERSION}" -fs HFS+ -srcfolder "$${DESTDIR}/" QMAKE_POST_LINK += && hdiutil create /tmp/tmp.dmg -ov -volname "$${TARGET}-$${MAC_VERSION}" -fs HFS+ -srcfolder "$${DESTDIR}/"
QMAKE_POST_LINK += && mkdir -p $${DESTDIR}/package
QMAKE_POST_LINK += && hdiutil convert /tmp/tmp.dmg -format UDBZ -o $${DESTDIR}/package/$${TARGET}.dmg QMAKE_POST_LINK += && hdiutil convert /tmp/tmp.dmg -format UDBZ -o $${DESTDIR}/package/$${TARGET}.dmg
QMAKE_POST_LINK += && rm /tmp/tmp.dmg QMAKE_POST_LINK += && rm /tmp/tmp.dmg
} }

68
src/FactSystem/ParameterManager.cc
Unescape View File

@ -22,12 +22,9 @@
#include <QVariantAnimation> #include <QVariantAnimation>
#include <QJsonArray> #include <QJsonArray>
/* types for local parameter cache */ QGC_LOGGING_CATEGORY(ParameterManagerVerbose1Log, "ParameterManagerVerbose1Log")
typedef QPair<int /* FactMetaData::ValueType_t */, QVariant /* Fact::rawValue */> ParamTypeVal; QGC_LOGGING_CATEGORY(ParameterManagerVerbose2Log, "ParameterManagerVerbose2Log")
typedef QMap<QString /* parameter name */, ParamTypeVal> CacheMapName2ParamTypeVal; QGC_LOGGING_CATEGORY(ParameterManagerDebugCacheFailureLog, "ParameterManagerDebugCacheFailureLog") // Turn on to debug parameter cache crc misses
QGC_LOGGING_CATEGORY(ParameterManagerVerbose1Log, "ParameterManagerVerbose1Log")
QGC_LOGGING_CATEGORY(ParameterManagerVerbose2Log, "ParameterManagerVerbose2Log")
Fact ParameterManager::_defaultFact; Fact ParameterManager::_defaultFact;
@ -151,6 +148,24 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
return; return;
} }
// Used to debug cache crc misses (turn on ParameterManagerDebugCacheFailureLog)
if (!_initialLoadComplete && !_logReplay && _debugCacheCRC.contains(componentId) && _debugCacheCRC[componentId]) {
if (_debugCacheMap[componentId].contains(parameterName)) {
const ParamTypeVal& cacheParamTypeVal = _debugCacheMap[componentId][parameterName];
size_t dataSize = FactMetaData::typeToSize(static_cast<FactMetaData::ValueType_t>(cacheParamTypeVal.first));
const void *cacheData = cacheParamTypeVal.second.constData();
const void *vehicleData = value.constData();
if (memcmp(cacheData, vehicleData, dataSize)) {
qDebug() << "Cache/Vehicle values differ for name:cache:actual" << parameterName << value << cacheParamTypeVal.second;
}
_debugCacheParamSeen[componentId][parameterName] = true;
} else {
qDebug() << "Parameter missing from cache" << parameterName;
}
}
_initialRequestTimeoutTimer.stop(); _initialRequestTimeoutTimer.stop();
_waitingParamTimeoutTimer.stop(); _waitingParamTimeoutTimer.stop();
@ -340,11 +355,6 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
_setupCategoryMap(); _setupCategoryMap();
} }
if (_prevWaitingWriteParamNameCount != 0 && waitingWriteParamNameCount == 0) {
// If all the writes just finished the vehicle is up to date, so persist.
_saveToEEPROM();
}
// Update param cache. The param cache is only used on PX4 Firmware since ArduPilot and Solo have volatile params // Update param cache. The param cache is only used on PX4 Firmware since ArduPilot and Solo have volatile params
// which invalidate the cache. The Solo also streams param updates in flight for things like gimbal values // which invalidate the cache. The Solo also streams param updates in flight for things like gimbal values
// which in turn causes a perf problem with all the param cache updates. // which in turn causes a perf problem with all the param cache updates.
@ -875,22 +885,13 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian
_parameterSetMajorVersion = -1; _parameterSetMajorVersion = -1;
_clearMetaData(); _clearMetaData();
qCInfo(ParameterManagerLog) << "Parameters cache match failed" << qPrintable(QFileInfo(cacheFile).absoluteFilePath()); qCInfo(ParameterManagerLog) << "Parameters cache match failed" << qPrintable(QFileInfo(cacheFile).absoluteFilePath());
} if (ParameterManagerDebugCacheFailureLog().isDebugEnabled()) {
} _debugCacheCRC[componentId] = true;
_debugCacheMap[componentId] = cacheMap;
void ParameterManager::_saveToEEPROM(void) foreach (const QString& name, cacheMap.keys()) {
{ _debugCacheParamSeen[componentId][name] = false;
if (_saveRequired) { }
_saveRequired = false; qgcApp()->showMessage(tr("Parameter cache CRC match failed"));
if (_vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::MavCmdPreflightStorageCapability)) {
_vehicle->sendMavCommand(MAV_COMP_ID_ALL,
MAV_CMD_PREFLIGHT_STORAGE,
true, // showError
1, // Write parameters to EEPROM
-1); // Don't do anything with mission storage
qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "_saveToEEPROM";
} else {
qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "_saveToEEPROM skipped due to FirmwarePlugin::isCapable";
} }
} }
} }
@ -1110,6 +1111,18 @@ void ParameterManager::_checkInitialLoadComplete(void)
// We aren't waiting for any more initial parameter updates, initial parameter loading is complete // We aren't waiting for any more initial parameter updates, initial parameter loading is complete
_initialLoadComplete = true; _initialLoadComplete = true;
// Parameter cache crc failure debugging
foreach (int componentId, _debugCacheParamSeen.keys()) {
if (!_logReplay && _debugCacheCRC.contains(componentId) && _debugCacheCRC[componentId]) {
foreach (const QString& paramName, _debugCacheParamSeen[componentId].keys()) {
if (!_debugCacheParamSeen[componentId][paramName]) {
qDebug() << "Parameter in cache but not on vehicle componentId:Name" << componentId << paramName;
}
}
}
}
_debugCacheCRC.clear();
qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "Initial load complete"; qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "Initial load complete";
// Check for index based load failures // Check for index based load failures
@ -1423,6 +1436,7 @@ void ParameterManager::_loadOfflineEditingParams(void)
_setupCategoryMap(); _setupCategoryMap();
_parametersReady = true; _parametersReady = true;
_initialLoadComplete = true; _initialLoadComplete = true;
_debugCacheCRC.clear();
} }
void ParameterManager::saveToJson(int componentId, const QStringList& paramsToSave, QJsonObject& saveObject) void ParameterManager::saveToJson(int componentId, const QStringList& paramsToSave, QJsonObject& saveObject)

9
src/FactSystem/ParameterManager.h
Unescape View File

@ -30,6 +30,7 @@
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose1Log) Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose1Log)
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose2Log) Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose2Log)
Q_DECLARE_LOGGING_CATEGORY(ParameterManagerDebugCacheFailureLog)
/// Connects to Parameter Manager to load/update Facts /// Connects to Parameter Manager to load/update Facts
class ParameterManager : public QObject class ParameterManager : public QObject
@ -153,7 +154,6 @@ private:
MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType); MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType); FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
void _saveToEEPROM(void);
void _checkInitialLoadComplete(void); void _checkInitialLoadComplete(void);
/// First mapping is by component id /// First mapping is by component id
@ -175,6 +175,13 @@ private:
int _parameterSetMajorVersion; ///< Version for parameter set, -1 if not known int _parameterSetMajorVersion; ///< Version for parameter set, -1 if not known
QObject* _parameterMetaData; ///< Opaque data from FirmwarePlugin::loadParameterMetaDataCall QObject* _parameterMetaData; ///< Opaque data from FirmwarePlugin::loadParameterMetaDataCall
typedef QPair<int /* FactMetaData::ValueType_t */, QVariant /* Fact::rawValue */> ParamTypeVal;
typedef QMap<QString /* parameter name */, ParamTypeVal> CacheMapName2ParamTypeVal;
QMap<int /* component id */, bool> _debugCacheCRC; ///< true: debug cache crc failure
QMap<int /* component id */, CacheMapName2ParamTypeVal> _debugCacheMap;
QMap<int /* component id */, QMap<QString /* param name */, bool /* seen */>> _debugCacheParamSeen;
// Wait counts from previous parameter update cycle // Wait counts from previous parameter update cycle
int _prevWaitingReadParamIndexCount; int _prevWaitingReadParamIndexCount;
int _prevWaitingReadParamNameCount; int _prevWaitingReadParamNameCount;

9
src/FirmwarePlugin/FirmwarePlugin.h
Unescape View File

@ -43,11 +43,10 @@ public:
/// Set of optional capabilites which firmware may support /// Set of optional capabilites which firmware may support
typedef enum { typedef enum {
SetFlightModeCapability = 1 << 0, ///< FirmwarePlugin::setFlightMode method is supported SetFlightModeCapability = 1 << 0, ///< FirmwarePlugin::setFlightMode method is supported
MavCmdPreflightStorageCapability = 1 << 1, ///< MAV_CMD_PREFLIGHT_STORAGE is supported PauseVehicleCapability = 1 << 1, ///< Vehicle supports pausing at current location
PauseVehicleCapability = 1 << 2, ///< Vehicle supports pausing at current location GuidedModeCapability = 1 << 2, ///< Vehicle supports guided mode commands
GuidedModeCapability = 1 << 3, ///< Vehicle supports guided mode commands OrbitModeCapability = 1 << 3, ///< Vehicle supports orbit mode
OrbitModeCapability = 1 << 4, ///< Vehicle supports orbit mode TakeoffVehicleCapability = 1 << 4, ///< Vehicle supports guided takeoff
TakeoffVehicleCapability = 1 << 5, ///< Vehicle supports guided takeoff
} FirmwareCapabilities; } FirmwareCapabilities;
/// Maps from on parameter name to another /// Maps from on parameter name to another

2
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
Unescape View File

@ -227,7 +227,7 @@ int PX4FirmwarePlugin::manualControlReservedButtonCount(void)
bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities) bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
{ {
int available = MavCmdPreflightStorageCapability | SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability; int available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
if (vehicle->multiRotor() || vehicle->vtol()) { if (vehicle->multiRotor() || vehicle->vtol()) {
available |= TakeoffVehicleCapability; available |= TakeoffVehicleCapability;
} }

18
src/FlightDisplay/GuidedActionConfirm.qml
Unescape View File

@ -42,10 +42,28 @@ Rectangle {
if (hideTrigger) { if (hideTrigger) {
hideTrigger = false hideTrigger = false
altitudeSlider.visible = false altitudeSlider.visible = false
visibleTimer.stop()
visible = false visible = false
} }
} }
function show(immediate) {
if (immediate) {
visible = true
} else {
// We delay showing the confirmation for a small amount in order to any other state
// changes to propogate through the system. This way only the final state shows up.
visibleTimer.restart()
}
}
Timer {
id: visibleTimer
interval: 1000
repeat: false
onTriggered: visible = true
}
QGCPalette { id: qgcPal } QGCPalette { id: qgcPal }
DeadMouseArea { DeadMouseArea {

7
src/FlightDisplay/GuidedActionsController.qml
Unescape View File

@ -185,9 +185,11 @@ Item {
// Called when an action is about to be executed in order to confirm // Called when an action is about to be executed in order to confirm
function confirmAction(actionCode, actionData) { function confirmAction(actionCode, actionData) {
var showImmediate = true
closeAll() closeAll()
confirmDialog.action = actionCode confirmDialog.action = actionCode
confirmDialog.actionData = actionData confirmDialog.actionData = actionData
confirmDialog.hideTrigger = true
_actionData = actionData _actionData = actionData
switch (actionCode) { switch (actionCode) {
case actionArm: case actionArm:
@ -219,6 +221,7 @@ Item {
altitudeSlider.visible = true altitudeSlider.visible = true
break; break;
case actionStartMission: case actionStartMission:
showImmediate = false
confirmDialog.title = startMissionTitle confirmDialog.title = startMissionTitle
confirmDialog.message = startMissionMessage confirmDialog.message = startMissionMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showStartMission }) confirmDialog.hideTrigger = Qt.binding(function() { return !showStartMission })
@ -229,11 +232,13 @@ Item {
confirmDialog.hideTrigger = true confirmDialog.hideTrigger = true
break; break;
case actionContinueMission: case actionContinueMission:
showImmediate = false
confirmDialog.title = continueMissionTitle confirmDialog.title = continueMissionTitle
confirmDialog.message = continueMissionMessage confirmDialog.message = continueMissionMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showContinueMission }) confirmDialog.hideTrigger = Qt.binding(function() { return !showContinueMission })
break; break;
case actionResumeMission: case actionResumeMission:
showImmediate = false
confirmDialog.title = resumeMissionTitle confirmDialog.title = resumeMissionTitle
confirmDialog.message = resumeMissionMessage confirmDialog.message = resumeMissionMessage
confirmDialog.hideTrigger = Qt.binding(function() { return !showResumeMission }) confirmDialog.hideTrigger = Qt.binding(function() { return !showResumeMission })
@ -308,7 +313,7 @@ Item {
console.warn("Unknown actionCode", actionCode) console.warn("Unknown actionCode", actionCode)
return return
} }
confirmDialog.visible = true confirmDialog.show(showImmediate)
} }
// Executes the specified action // Executes the specified action

38
src/FlightMap/Images/attitudeDial.svg
Unescape View File

@ -1,15 +1,23 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<!-- Generator: Adobe Illustrator 18.1.1, SVG Export Plug-In . SVG Version: 6.00 Build 0) --> <!-- Generator: Adobe Illustrator 21.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<svg version="1.1" id="Layer_2" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px" <svg version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
viewBox="0 0 288 288" enable-background="new 0 0 288 288" xml:space="preserve"> viewBox="0 0 288 288" style="enable-background:new 0 0 288 288;" xml:space="preserve">
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="143.999" y1="36.793" x2="143.999" y2="18.793"/> <style type="text/css">
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="171.739" y1="40.458" x2="176.398" y2="23.072"/> .st0{fill:none;stroke:#FFFFFF;stroke-width:4;}
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="197.586" y1="51.179" x2="206.586" y2="35.591"/> .st1{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;}
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="219.777" y1="68.224" x2="232.505" y2="55.496"/> </style>
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="236.801" y1="90.432" x2="252.389" y2="81.432"/> <g id="Layer_2">
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="116.254" y1="40.431" x2="111.596" y2="23.045"/> <line class="st0" x1="144" y1="45.8" x2="144" y2="18.8"/>
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="90.397" y1="51.127" x2="81.397" y2="35.539"/> <line class="st0" x1="171.7" y1="40.5" x2="176.4" y2="23.1"/>
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="68.189" y1="68.151" x2="55.461" y2="55.423"/> <line class="st0" x1="197.6" y1="51.2" x2="206.6" y2="35.6"/>
<line fill="none" stroke="#FFFFFF" stroke-width="4" x1="51.144" y1="90.342" x2="35.556" y2="81.342"/> <line class="st0" x1="219.8" y1="68.2" x2="232.5" y2="55.5"/>
<rect x="135" y="270" fill="none" width="18" height="18"/> <line class="st0" x1="236.8" y1="90.4" x2="252.4" y2="81.4"/>
</svg> <line class="st0" x1="116.3" y1="40.4" x2="111.6" y2="23"/>
<line class="st0" x1="90.4" y1="51.1" x2="81.4" y2="35.5"/>
<line class="st0" x1="68.2" y1="68.2" x2="55.5" y2="55.4"/>
<line class="st0" x1="51.1" y1="90.3" x2="35.6" y2="81.3"/>
<rect x="135" y="270" class="st1" width="18" height="18"/>
</g>
<g id="Layer_3">
</g>
</svg>

Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 1.3 KiB

After

Width:  |  Height:  |  Size: 1.1 KiB

48
src/MissionManager/StructureScanComplexItem.cc
Unescape View File

@ -24,8 +24,6 @@ QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog")
const char* StructureScanComplexItem::_altitudeFactName = "Altitude"; const char* StructureScanComplexItem::_altitudeFactName = "Altitude";
const char* StructureScanComplexItem::_structureHeightFactName = "StructureHeight"; const char* StructureScanComplexItem::_structureHeightFactName = "StructureHeight";
const char* StructureScanComplexItem::_layersFactName = "Layers"; const char* StructureScanComplexItem::_layersFactName = "Layers";
const char* StructureScanComplexItem::_gimbalPitchFactName = "GimbalPitch";
const char* StructureScanComplexItem::_gimbalYawFactName = "GimbalYaw";
const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan"; const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan";
const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc"; const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc";
@ -46,8 +44,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
, _cameraCalc (vehicle) , _cameraCalc (vehicle)
, _altitudeFact (0, _altitudeFactName, FactMetaData::valueTypeDouble) , _altitudeFact (0, _altitudeFactName, FactMetaData::valueTypeDouble)
, _layersFact (0, _layersFactName, FactMetaData::valueTypeUint32) , _layersFact (0, _layersFactName, FactMetaData::valueTypeUint32)
, _gimbalPitchFact (0, _gimbalPitchFactName, FactMetaData::valueTypeDouble)
, _gimbalYawFact (0, _gimbalYawFactName, FactMetaData::valueTypeDouble)
{ {
_editorQml = "qrc:/qml/StructureScanEditor.qml"; _editorQml = "qrc:/qml/StructureScanEditor.qml";
@ -57,20 +53,14 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
_altitudeFact.setMetaData (_metaDataMap[_altitudeFactName]); _altitudeFact.setMetaData (_metaDataMap[_altitudeFactName]);
_layersFact.setMetaData (_metaDataMap[_layersFactName]); _layersFact.setMetaData (_metaDataMap[_layersFactName]);
_gimbalPitchFact.setMetaData(_metaDataMap[_gimbalPitchFactName]);
_gimbalYawFact.setMetaData (_metaDataMap[_gimbalYawFactName]);
_altitudeFact.setRawValue (_altitudeFact.rawDefaultValue()); _altitudeFact.setRawValue (_altitudeFact.rawDefaultValue());
_layersFact.setRawValue (_layersFact.rawDefaultValue()); _layersFact.setRawValue (_layersFact.rawDefaultValue());
_gimbalPitchFact.setRawValue(_gimbalPitchFact.rawDefaultValue());
_gimbalYawFact.setRawValue (_gimbalYawFact.rawDefaultValue());
_altitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue()); _altitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo); connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
connect(&_structureHeightFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo); connect(&_structureHeightFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
@ -89,7 +79,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_flightPathChanged); connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_flightPathChanged);
connect(_cameraCalc.distanceToSurface(), &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon); connect(_cameraCalc.distanceToSurface(), &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
connect(&_cameraCalc, &CameraCalc::cameraNameChanged, this, &StructureScanComplexItem::_resetGimbal);
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_recalcCameraShots); connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_recalcCameraShots);
connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &StructureScanComplexItem::_recalcCameraShots); connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &StructureScanComplexItem::_recalcCameraShots);
@ -132,9 +121,9 @@ int StructureScanComplexItem::lastSequenceNumber(void) const
{ {
return _sequenceNumber + return _sequenceNumber +
(_layersFact.rawValue().toInt() * (_layersFact.rawValue().toInt() *
((_flightPolygon.count() + 1) + // 1 waypoint for each polygon vertex + 1 to go back to first polygon vertex for each layer ((_flightPolygon.count() + 1) + // 1 waypoint for each polygon vertex + 1 to go back to first polygon vertex for each layer
2)) + // Camera trigger start/stop for each layer 2)) + // Camera trigger start/stop for each layer
1; // Gimbal control command 2; // ROI_WPNEXT_OFFSET and ROI_NONE commands
} }
void StructureScanComplexItem::setDirty(bool dirty) void StructureScanComplexItem::setDirty(bool dirty)
@ -154,8 +143,6 @@ void StructureScanComplexItem::save(QJsonArray& missionItems)
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue; saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue; saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[_gimbalPitchFactName] = _gimbalPitchFact.rawValue().toDouble();
saveObject[_gimbalYawFactName] = _gimbalYawFact.rawValue().toDouble();
saveObject[_altitudeFactName] = _altitudeFact.rawValue().toDouble(); saveObject[_altitudeFactName] = _altitudeFact.rawValue().toDouble();
saveObject[_structureHeightFactName] = _structureHeightFact.rawValue().toDouble(); saveObject[_structureHeightFactName] = _structureHeightFact.rawValue().toDouble();
saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative; saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative;
@ -186,8 +173,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true }, { VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true }, { ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
{ QGCMapPolygon::jsonPolygonKey, QJsonValue::Array, true }, { QGCMapPolygon::jsonPolygonKey, QJsonValue::Array, true },
{ _gimbalPitchFactName, QJsonValue::Double, true },
{ _gimbalYawFactName, QJsonValue::Double, true },
{ _altitudeFactName, QJsonValue::Double, true }, { _altitudeFactName, QJsonValue::Double, true },
{ _structureHeightFactName, QJsonValue::Double, true }, { _structureHeightFactName, QJsonValue::Double, true },
{ _jsonAltitudeRelativeKey, QJsonValue::Bool, true }, { _jsonAltitudeRelativeKey, QJsonValue::Bool, true },
@ -220,8 +205,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
return false; return false;
} }
_gimbalPitchFact.setRawValue(complexObject[_gimbalPitchFactName].toDouble());
_gimbalYawFact.setRawValue (complexObject[_gimbalYawFactName].toDouble());
_altitudeFact.setRawValue (complexObject[_altitudeFactName].toDouble()); _altitudeFact.setRawValue (complexObject[_altitudeFactName].toDouble());
_layersFact.setRawValue (complexObject[_layersFactName].toDouble()); _layersFact.setRawValue (complexObject[_layersFactName].toDouble());
_altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true); _altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true);
@ -268,13 +251,11 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
double baseAltitude = _altitudeFact.rawValue().toDouble(); double baseAltitude = _altitudeFact.rawValue().toDouble();
MissionItem* item = new MissionItem(seqNum++, MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_MOUNT_CONTROL, MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET,
MAV_FRAME_MISSION, MAV_FRAME_MISSION,
_gimbalPitchFact.rawValue().toDouble(), 0, 0, 0, 0, // param 1-4 not used
0, // Gimbal roll 0, 0, // Pitch and Roll stay in standard orientation
_gimbalYawFact.rawValue().toDouble(), 90, // 90 degreee yaw offset to point to structure
0, 0, 0, // param 4-6 not used
MAV_MOUNT_MODE_MAVLINK_TARGETING,
true, // autoContinue true, // autoContinue
false, // isCurrentItem false, // isCurrentItem
missionItemParent); missionItemParent);
@ -349,6 +330,15 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
missionItemParent); missionItemParent);
items.append(item); items.append(item);
} }
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_ROI_NONE,
MAV_FRAME_MISSION,
0, 0, 0,0, 0, 0, 0, // param 1-7 not used
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
} }
int StructureScanComplexItem::cameraShots(void) const int StructureScanComplexItem::cameraShots(void) const
@ -447,12 +437,6 @@ void StructureScanComplexItem::_recalcCameraShots(void)
_setCameraShots(cameraShots * _layersFact.rawValue().toInt()); _setCameraShots(cameraShots * _layersFact.rawValue().toInt());
} }
void StructureScanComplexItem::_resetGimbal(void)
{
_gimbalPitchFact.setCookedValue(0);
_gimbalYawFact.setCookedValue(90);
}
void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative) void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative)
{ {
if (altitudeRelative != _altitudeRelative) { if (altitudeRelative != _altitudeRelative) {

9
src/MissionManager/StructureScanComplexItem.h
Unescape View File

@ -28,8 +28,6 @@ public:
StructureScanComplexItem(Vehicle* vehicle, QObject* parent = NULL); StructureScanComplexItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT) Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT)
Q_PROPERTY(Fact* gimbalPitch READ gimbalPitch CONSTANT)
Q_PROPERTY(Fact* gimbalYaw READ gimbalYaw CONSTANT)
Q_PROPERTY(Fact* altitude READ altitude CONSTANT) Q_PROPERTY(Fact* altitude READ altitude CONSTANT)
Q_PROPERTY(Fact* structureHeight READ structureHeight CONSTANT) Q_PROPERTY(Fact* structureHeight READ structureHeight CONSTANT)
Q_PROPERTY(Fact* layers READ layers CONSTANT) Q_PROPERTY(Fact* layers READ layers CONSTANT)
@ -47,8 +45,6 @@ public:
bool altitudeRelative (void) const { return _altitudeRelative; } bool altitudeRelative (void) const { return _altitudeRelative; }
int cameraShots (void) const; int cameraShots (void) const;
Fact* gimbalPitch (void) { return &_gimbalPitchFact; }
Fact* gimbalYaw (void) { return &_gimbalYawFact; }
double timeBetweenShots (void); double timeBetweenShots (void);
QGCMapPolygon* structurePolygon (void) { return &_structurePolygon; } QGCMapPolygon* structurePolygon (void) { return &_structurePolygon; }
QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; } QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; }
@ -111,7 +107,6 @@ private slots:
void _updateCoordinateAltitudes (void); void _updateCoordinateAltitudes (void);
void _rebuildFlightPolygon (void); void _rebuildFlightPolygon (void);
void _recalcCameraShots (void); void _recalcCameraShots (void);
void _resetGimbal (void);
void _recalcLayerInfo (void); void _recalcLayerInfo (void);
private: private:
@ -140,14 +135,10 @@ private:
Fact _altitudeFact; Fact _altitudeFact;
Fact _structureHeightFact; Fact _structureHeightFact;
Fact _layersFact; Fact _layersFact;
Fact _gimbalPitchFact;
Fact _gimbalYawFact;
static const char* _altitudeFactName; static const char* _altitudeFactName;
static const char* _structureHeightFactName; static const char* _structureHeightFactName;
static const char* _layersFactName; static const char* _layersFactName;
static const char* _gimbalPitchFactName;
static const char* _gimbalYawFactName;
static const char* _jsonCameraCalcKey; static const char* _jsonCameraCalcKey;
static const char* _jsonAltitudeRelativeKey; static const char* _jsonAltitudeRelativeKey;

17
src/MissionManager/StructureScanComplexItemTest.cc
Unescape View File

@ -59,7 +59,7 @@ void StructureScanComplexItemTest::_testDirty(void)
// These facts should set dirty when changed // These facts should set dirty when changed
QList<Fact*> rgFacts; QList<Fact*> rgFacts;
rgFacts << _structureScanItem->gimbalPitch() << _structureScanItem->gimbalYaw() << _structureScanItem->altitude() << _structureScanItem->layers(); rgFacts << _structureScanItem->altitude() << _structureScanItem->layers();
foreach(Fact* fact, rgFacts) { foreach(Fact* fact, rgFacts) {
qDebug() << fact->name(); qDebug() << fact->name();
QVERIFY(!_structureScanItem->dirty()); QVERIFY(!_structureScanItem->dirty());
@ -93,8 +93,6 @@ void StructureScanComplexItemTest::_initItem(void)
} }
_structureScanItem->cameraCalc()->setCameraName(CameraCalc::manualCameraName()); _structureScanItem->cameraCalc()->setCameraName(CameraCalc::manualCameraName());
_structureScanItem->gimbalPitch()->setCookedValue(45);
_structureScanItem->gimbalYaw()->setCookedValue(45);
_structureScanItem->layers()->setCookedValue(2); _structureScanItem->layers()->setCookedValue(2);
_structureScanItem->setDirty(false); _structureScanItem->setDirty(false);
@ -112,8 +110,6 @@ void StructureScanComplexItemTest::_validateItem(StructureScanComplexItem* item)
} }
QCOMPARE(_structureScanItem->cameraCalc()->cameraName() , CameraCalc::manualCameraName()); QCOMPARE(_structureScanItem->cameraCalc()->cameraName() , CameraCalc::manualCameraName());
QCOMPARE(item->gimbalPitch()->cookedValue().toDouble(), 45.0);
QCOMPARE(item->gimbalYaw()->cookedValue().toDouble(), 45.0);
QCOMPARE(item->layers()->cookedValue().toInt(), 2); QCOMPARE(item->layers()->cookedValue().toInt(), 2);
} }
@ -132,17 +128,6 @@ void StructureScanComplexItemTest::_testSaveLoad(void)
newItem->deleteLater(); newItem->deleteLater();
} }
void StructureScanComplexItemTest::_testGimbalAngleUpdate(void)
{
// This sets the item to CameraCalc::CameraSpecNone and non-standard gimbal angles
_initItem();
// Switching to a camera specific setup should set gimbal angles to defaults
_structureScanItem->cameraCalc()->setCameraName(CameraCalc::customCameraName());
QCOMPARE(_structureScanItem->gimbalPitch()->cookedValue().toDouble(), 0.0);
QCOMPARE(_structureScanItem->gimbalYaw()->cookedValue().toDouble(), 90.0);
}
void StructureScanComplexItemTest::_testItemCount(void) void StructureScanComplexItemTest::_testItemCount(void)
{ {
QList<MissionItem*> items; QList<MissionItem*> items;

1
src/MissionManager/StructureScanComplexItemTest.h
Unescape View File

@ -27,7 +27,6 @@ protected:
private slots: private slots:
void _testDirty(void); void _testDirty(void);
void _testSaveLoad(void); void _testSaveLoad(void);
void _testGimbalAngleUpdate(void);
void _testItemCount(void); void _testItemCount(void);
private: private:

2
src/MissionManager/SurveyMissionItem.h
Unescape View File

@ -296,7 +296,7 @@ private:
static const char* _jsonFixedValueIsAltitudeKey; static const char* _jsonFixedValueIsAltitudeKey;
static const char* _jsonRefly90DegreesKey; static const char* _jsonRefly90DegreesKey;
static const int _hoverAndCaptureDelaySeconds = 2; static const int _hoverAndCaptureDelaySeconds = 4;
}; };
#endif #endif

4
src/PlanView/MissionSettingsEditor.qml
Unescape View File

@ -36,6 +36,7 @@ Rectangle {
property var _fileExtension: QGroundControl.settingsManager.appSettings.missionFileExtension property var _fileExtension: QGroundControl.settingsManager.appSettings.missionFileExtension
property var _appSettings: QGroundControl.settingsManager.appSettings property var _appSettings: QGroundControl.settingsManager.appSettings
property bool _waypointsOnlyMode: QGroundControl.corePlugin.options.missionWaypointsOnly property bool _waypointsOnlyMode: QGroundControl.corePlugin.options.missionWaypointsOnly
property bool _showCameraSection: !_waypointsOnlyMode || QGroundControl.corePlugin.showAdvancedUI
readonly property string _firmwareLabel: qsTr("Firmware") readonly property string _firmwareLabel: qsTr("Firmware")
readonly property string _vehicleLabel: qsTr("Vehicle") readonly property string _vehicleLabel: qsTr("Vehicle")
@ -91,6 +92,7 @@ Rectangle {
CameraSection { CameraSection {
id: cameraSection id: cameraSection
checked: missionItem.cameraSection.settingsSpecified checked: missionItem.cameraSection.settingsSpecified
visible: _showCameraSection
} }
QGCLabel { QGCLabel {
@ -100,7 +102,7 @@ Rectangle {
wrapMode: Text.WordWrap wrapMode: Text.WordWrap
horizontalAlignment: Text.AlignHCenter horizontalAlignment: Text.AlignHCenter
font.pointSize: ScreenTools.smallFontPointSize font.pointSize: ScreenTools.smallFontPointSize
visible: cameraSection.checked visible: _showCameraSection && cameraSection.checked
} }
SectionHeader { SectionHeader {

27
src/PlanView/StructureScanEditor.qml
Unescape View File

@ -81,33 +81,6 @@ Rectangle {
sideDistanceLabel: qsTr("Trigger Distance") sideDistanceLabel: qsTr("Trigger Distance")
} }
GridLayout {
anchors.left: parent.left
anchors.right: parent.right
columnSpacing: ScreenTools.defaultFontPixelWidth / 2
rowSpacing: 0
columns: 3
visible: missionItem.cameraCalc.isManualCamera
Item { width: 1; height: 1 }
QGCLabel { text: qsTr("Pitch") }
QGCLabel { text: qsTr("Yaw") }
QGCLabel {
text: qsTr("Gimbal")
Layout.fillWidth: true
}
FactTextField {
fact: missionItem.gimbalPitch
implicitWidth: ScreenTools.defaultFontPixelWidth * 9
}
FactTextField {
fact: missionItem.gimbalYaw
implicitWidth: ScreenTools.defaultFontPixelWidth * 9
}
}
SectionHeader { SectionHeader {
id: scanHeader id: scanHeader
text: qsTr("Scan") text: qsTr("Scan")

Write Preview
Loading…
Cancel
Save