From 82140c8dce18f96cd4f868be08f83a3d42be24f0 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 19 Apr 2016 15:16:45 -0400
Subject: [PATCH] update fixed wing cmd default values
---
src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json | 163 +++++++++++++++++++++++-
src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json | 163 +++++++++++++++++++++++-
src/MissionManager/MavCmdInfoCommon.json | 2 +-
src/MissionManager/MissionController.cc | 13 +-
4 files changed, 335 insertions(+), 6 deletions(-)
diff --git a/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json b/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
index 77a8d80..c93a456 100644
--- a/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
+++ b/src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json
@@ -1,6 +1,167 @@
{
"version": 1,
-
"mavCmdInfo": [
+ {
+ "id": 16,
+ "rawName": "MAV_CMD_NAV_WAYPOINT",
+ "friendlyName": "Waypoint",
+ "description": "Travel to a position in 3D space.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Basic",
+ "param1": {
+ "label": "Hold:",
+ "units": "seconds",
+ "default": 0,
+ "decimalPlaces": 0
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "meters",
+ "default": 50,
+ "decimalPlaces": 0
+ }
+ },
+ {
+ "id": 17,
+ "rawName": "MAV_CMD_NAV_LOITER_UNLIM",
+ "friendlyName": "Loiter",
+ "description": "Travel to a position and Loiter around the specified radius indefinitely.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Loiter",
+ "param3": {
+ "label": "Radius:",
+ "units": "meters",
+ "default": 100,
+ "decimalPlaces": 0
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "meters",
+ "default": 50,
+ "decimalPlaces": 0
+ }
+ },
+ {
+ "id": 18,
+ "rawName": "MAV_CMD_NAV_LOITER_TURNS",
+ "friendlyName": "Loiter (turns)",
+ "description": "Travel to a position and Loiter around the specified radius for a number of turns.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Loiter",
+ "param1": {
+ "label": "Turns:",
+ "default": 1,
+ "decimalPlaces": 0
+ },
+ "param3": {
+ "label": "Radius:",
+ "units": "meters",
+ "default": 100,
+ "decimalPlaces": 0
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "meters",
+ "default": 50,
+ "decimalPlaces": 0
+ }
+ },
+ {
+ "id": 19,
+ "rawName": "MAV_CMD_NAV_LOITER_TIME",
+ "friendlyName": "Loiter (time)",
+ "description": "Travel to a position and Loiter around the specified radius for a number of seconds.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Loiter",
+ "param1": {
+ "label": "Seconds:",
+ "units": "seconds",
+ "default": 30,
+ "decimalPlaces": 1
+ },
+ "param3": {
+ "label": "Radius:",
+ "units": "meters",
+ "default": 100,
+ "decimalPlaces": 0
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "meters",
+ "default": 50,
+ "decimalPlaces": 0
+ }
+ },
+ {
+ "id": 21,
+ "rawName": "MAV_CMD_NAV_LAND",
+ "friendlyName": "Land",
+ "description": "Land vehicle at the specified location.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Basic",
+ "param1": {
+ "label": "Abort Alt:",
+ "units": "meters",
+ "default": 25,
+ "decimalPlaces": 0
+ },
+ "param4": {
+ "label": "Heading:",
+ "units": "radians",
+ "default": 0,
+ "decimalPlaces": 2
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "meters",
+ "default": 0,
+ "decimalPlaces": 1
+ }
+ },
+ {
+ "id": 22,
+ "rawName": "MAV_CMD_NAV_TAKEOFF",
+ "friendlyName": "Takeoff",
+ "description": "Take off from the ground and travel towards the specified position.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Basic",
+ "param1": {
+ "label": "Pitch:",
+ "units": "degrees",
+ "default": 0,
+ "decimalPlaces": 0
+ },
+ "param4": {
+ "label": "Heading:",
+ "units": "radians",
+ "default": 0,
+ "decimalPlaces": 1
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "meters",
+ "default": 25,
+ "decimalPlaces": 0
+ }
+ },
+ {
+ "id": 206,
+ "rawName": "MAV_CMD_DO_SET_CAM_TRIGG_DIST",
+ "friendlyName": "Camera trigger distance",
+ "description": "Set camera trigger distance.",
+ "category": "Camera",
+ "param1": {
+ "label": "Distance:",
+ "default": 25,
+ "units": "meters",
+ "decimalPlaces": 1
+ }
+ }
]
}
diff --git a/src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json b/src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json
index 77a8d80..c93a456 100644
--- a/src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json
+++ b/src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json
@@ -1,6 +1,167 @@
{
"version": 1,
-
"mavCmdInfo": [
+ {
+ "id": 16,
+ "rawName": "MAV_CMD_NAV_WAYPOINT",
+ "friendlyName": "Waypoint",
+ "description": "Travel to a position in 3D space.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Basic",
+ "param1": {
+ "label": "Hold:",
+ "units": "seconds",
+ "default": 0,
+ "decimalPlaces": 0
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "meters",
+ "default": 50,
+ "decimalPlaces": 0
+ }
+ },
+ {
+ "id": 17,
+ "rawName": "MAV_CMD_NAV_LOITER_UNLIM",
+ "friendlyName": "Loiter",
+ "description": "Travel to a position and Loiter around the specified radius indefinitely.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Loiter",
+ "param3": {
+ "label": "Radius:",
+ "units": "meters",
+ "default": 100,
+ "decimalPlaces": 0
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "meters",
+ "default": 50,
+ "decimalPlaces": 0
+ }
+ },
+ {
+ "id": 18,
+ "rawName": "MAV_CMD_NAV_LOITER_TURNS",
+ "friendlyName": "Loiter (turns)",
+ "description": "Travel to a position and Loiter around the specified radius for a number of turns.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Loiter",
+ "param1": {
+ "label": "Turns:",
+ "default": 1,
+ "decimalPlaces": 0
+ },
+ "param3": {
+ "label": "Radius:",
+ "units": "meters",
+ "default": 100,
+ "decimalPlaces": 0
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "meters",
+ "default": 50,
+ "decimalPlaces": 0
+ }
+ },
+ {
+ "id": 19,
+ "rawName": "MAV_CMD_NAV_LOITER_TIME",
+ "friendlyName": "Loiter (time)",
+ "description": "Travel to a position and Loiter around the specified radius for a number of seconds.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Loiter",
+ "param1": {
+ "label": "Seconds:",
+ "units": "seconds",
+ "default": 30,
+ "decimalPlaces": 1
+ },
+ "param3": {
+ "label": "Radius:",
+ "units": "meters",
+ "default": 100,
+ "decimalPlaces": 0
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "meters",
+ "default": 50,
+ "decimalPlaces": 0
+ }
+ },
+ {
+ "id": 21,
+ "rawName": "MAV_CMD_NAV_LAND",
+ "friendlyName": "Land",
+ "description": "Land vehicle at the specified location.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Basic",
+ "param1": {
+ "label": "Abort Alt:",
+ "units": "meters",
+ "default": 25,
+ "decimalPlaces": 0
+ },
+ "param4": {
+ "label": "Heading:",
+ "units": "radians",
+ "default": 0,
+ "decimalPlaces": 2
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "meters",
+ "default": 0,
+ "decimalPlaces": 1
+ }
+ },
+ {
+ "id": 22,
+ "rawName": "MAV_CMD_NAV_TAKEOFF",
+ "friendlyName": "Takeoff",
+ "description": "Take off from the ground and travel towards the specified position.",
+ "specifiesCoordinate": true,
+ "friendlyEdit": true,
+ "category": "Basic",
+ "param1": {
+ "label": "Pitch:",
+ "units": "degrees",
+ "default": 0,
+ "decimalPlaces": 0
+ },
+ "param4": {
+ "label": "Heading:",
+ "units": "radians",
+ "default": 0,
+ "decimalPlaces": 1
+ },
+ "param7": {
+ "label": "Altitude:",
+ "units": "meters",
+ "default": 25,
+ "decimalPlaces": 0
+ }
+ },
+ {
+ "id": 206,
+ "rawName": "MAV_CMD_DO_SET_CAM_TRIGG_DIST",
+ "friendlyName": "Camera trigger distance",
+ "description": "Set camera trigger distance.",
+ "category": "Camera",
+ "param1": {
+ "label": "Distance:",
+ "default": 25,
+ "units": "meters",
+ "decimalPlaces": 1
+ }
+ }
]
}
diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json
index b5d9bf8..69bf14f 100644
--- a/src/MissionManager/MavCmdInfoCommon.json
+++ b/src/MissionManager/MavCmdInfoCommon.json
@@ -409,7 +409,7 @@
},
"param2": {
"label": "Repeat:",
- "default": 0,
+ "default": 10,
"decimalPlaces": 0
}
},
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 5938dfa..4c6001e 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -987,11 +987,18 @@ bool MissionController::_findLastAltitude(double* lastAltitude)
// Don't use home position
for (int i=1; i<_visualItems->count(); i++) {
- VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
+ VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
- if (item->specifiesCoordinate() && !item->isStandaloneCoordinate()) {
- foundAltitude = item->exitCoordinate().altitude();
+ if (visualItem->specifiesCoordinate() && !visualItem->isStandaloneCoordinate()) {
+ foundAltitude = visualItem->exitCoordinate().altitude();
found = true;
+
+ if (visualItem->isSimpleItem()) {
+ SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
+ if ((MAV_CMD)simpleItem->command() == MAV_CMD_NAV_TAKEOFF) {
+ found = false;
+ }
+ }
}
}