From 801a0926740f4b49b358239e47ec75f63ce56f93 Mon Sep 17 00:00:00 2001 From: jennerl Date: Wed, 3 Feb 2021 13:10:47 -0600 Subject: [PATCH] reverse some elevation changes --- src/Airmap/AirMapFlightPlanManager.cc | 22 ++++++++-------------- src/Airmap/AirMapFlightPlanManager.h | 16 ++++++++-------- src/Airmap/AirMapManager.cc | 2 +- src/MissionManager/MissionController.cc | 4 ---- src/MissionManager/MissionController.h | 2 -- 5 files changed, 17 insertions(+), 29 deletions(-) diff --git a/src/Airmap/AirMapFlightPlanManager.cc b/src/Airmap/AirMapFlightPlanManager.cc index fb6ffc0..0764d3a 100644 --- a/src/Airmap/AirMapFlightPlanManager.cc +++ b/src/Airmap/AirMapFlightPlanManager.cc @@ -352,7 +352,7 @@ AirMapFlightPlanManager::_endFlight() //----------------------------------------------------------------------------- bool -AirMapFlightPlanManager::_collectFlightDtata() +AirMapFlightPlanManager::_collectFlightData() { if(!_planController || !_planController->missionController()) { return false; @@ -364,17 +364,11 @@ AirMapFlightPlanManager::_collectFlightDtata() qCDebug(AirMapManagerLog) << "Not enough points for a flight plan."; return false; } - if (_planController->missionController()->readyForSaveState() != VisualMissionItem::ReadyForSave) { - qCDebug(AirMapManagerLog) << "No takeoff altitude"; - return false; - } - float maxMissionAltitude = static_cast(fmax(bc.pointNW.altitude(), bc.pointSE.altitude())); - double takeoffAltitude = _planController->missionController()->plannedHomePositionAltitude(); - _flight.takeoffCoord = _planController->missionController()->takeoffCoordinate(); - // altitude reference for AirMap is takeoff altitude, so adjust if altitudes specified in absolute terms - _flight.maxAltitudeAboveTakeoff = (_planController->missionController()->globalAltitudeMode() == QGroundControlQmlGlobal::AltitudeModeRelative) ? maxMissionAltitude : maxMissionAltitude - takeoffAltitude; - _flight.coords = bc.polygon2D(); - _flight.bc = bc; + // altitude reference for AirMap is takeoff altitude & all altitudes provided in the bounding cube are relative to takeoff already + _flight.takeoffCoord = _planController->missionController()->takeoffCoordinate(); + _flight.maxAltitudeAboveTakeoff = static_cast(fmax(bc.pointNW.altitude(), bc.pointSE.altitude())); + _flight.coords = bc.polygon2D(); + _flight.bc = bc; emit missionAreaChanged(); return true; } @@ -386,7 +380,7 @@ AirMapFlightPlanManager::_createFlightPlan() _flight.reset(); //-- Get flight data - if(!_collectFlightDtata()) { + if(!_collectFlightData()) { return; } @@ -574,7 +568,7 @@ AirMapFlightPlanManager::_updateFlightPlan(bool interactive) return; } //-- Get flight data - if(!_collectFlightDtata()) { + if(!_collectFlightData()) { return; } diff --git a/src/Airmap/AirMapFlightPlanManager.h b/src/Airmap/AirMapFlightPlanManager.h index 1737d3e..339a772 100644 --- a/src/Airmap/AirMapFlightPlanManager.h +++ b/src/Airmap/AirMapFlightPlanManager.h @@ -104,8 +104,8 @@ public: void endFlight (QString flightID) override; signals: - void error (const QString& what, const QString& airmapdMessage, const QString& airmapdDetails); - void flightIDChanged (QString flightID); + void error (const QString& what, const QString& airmapdMessage, const QString& airmapdDetails); + void flightIDChanged (QString flightID); private slots: void _pollBriefing (); @@ -116,12 +116,12 @@ private slots: void _loadFlightList (); private: - void _createFlightPlan (); - bool _collectFlightDtata (); - void _updateFlightPlan (bool interactive = false); - bool _findBriefFeature (const QString& name); - void _updateFlightStartEndTime (airmap::DateTime& start_time, airmap::DateTime& end_time); - void _updateRulesAndFeatures (std::vector& rulesets, std::unordered_map& features, bool updateFeatures = false); + void _createFlightPlan (); + bool _collectFlightData (); + void _updateFlightPlan (bool interactive = false); + bool _findBriefFeature (const QString& name); + void _updateFlightStartEndTime (airmap::DateTime& start_time, airmap::DateTime& end_time); + void _updateRulesAndFeatures (std::vector& rulesets, std::unordered_map& features, bool updateFeatures = false); private: enum class State { diff --git a/src/Airmap/AirMapManager.cc b/src/Airmap/AirMapManager.cc index e134231..9c5f750 100644 --- a/src/Airmap/AirMapManager.cc +++ b/src/Airmap/AirMapManager.cc @@ -169,7 +169,7 @@ AirMapManager::_settingsTimeout() credentials.api_key = _shared.settings().apiKey.toStdString(); auto configuration = Client::default_production_configuration(credentials); configuration.telemetry.host = _telemetryHost; - configuration.telemetry.port = 16060; + configuration.telemetry.port = _telemetryPort; qt::Client::create(configuration, _dispatchingLogger, this, [this](const qt::Client::CreateResult& result) { if (result) { qCDebug(AirMapManagerLog) << "Successfully created airmap::qt::Client instance"; diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc index 280fe75..9668c35 100644 --- a/src/MissionManager/MissionController.cc +++ b/src/MissionManager/MissionController.cc @@ -2661,7 +2661,3 @@ void MissionController::setGlobalAltitudeMode(QGroundControlQmlGlobal::AltitudeM emit globalAltitudeModeChanged(); } } - -double MissionController::plannedHomePositionAltitude() { - return _settingsItem->plannedHomePositionAltitude()->rawValue().toDouble(); -} diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h index a4f8778..9f858be 100644 --- a/src/MissionManager/MissionController.h +++ b/src/MissionManager/MissionController.h @@ -198,8 +198,6 @@ public: QGCGeoBoundingCube* travelBoundingCube () { return &_travelBoundingCube; } QGeoCoordinate takeoffCoordinate () { return _takeoffCoordinate; } - double plannedHomePositionAltitude(); - // Overrides from PlanElementController bool supported (void) const final { return true; } void start (bool flyView) final;