From 82b92297b3e18805654d76e5ed34679858e8c738 Mon Sep 17 00:00:00 2001
From: Remek Zajac <remek@airmap.com>
Date: Tue, 5 May 2020 15:25:27 +0200
Subject: [PATCH] introduce gimbal yaw visiblity setting
---
src/MissionManager/MissionController.cc | 5 +++--
src/Settings/PlanView.SettingsGroup.json | 17 +++++++++++++----
src/Settings/PlanViewSettings.cc | 1 +
src/Settings/PlanViewSettings.h | 1 +
4 files changed, 18 insertions(+), 6 deletions(-)
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index aeffa6d..61ce47b 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -1464,6 +1464,7 @@ void MissionController::_recalcMissionFlightStatus()
bool foundRTL = false;
bool vehicleYawSpecificallySet = false;
double totalHorizontalDistance = 0;
+ bool showGimbalOnlyWhenSet = _planViewSettings->showGimbalWhen()->enumStringValue() == "Set";
for (int i=0; i<_visualItems->count(); i++) {
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
@@ -1511,11 +1512,11 @@ void MissionController::_recalcMissionFlightStatus()
// Look for specific gimbal changes
double gimbalYaw = item->specifiedGimbalYaw();
- if (!qIsNaN(gimbalYaw)) {
+ if (!qIsNaN(gimbalYaw) || showGimbalOnlyWhenSet) {
_missionFlightStatus.gimbalYaw = gimbalYaw;
}
double gimbalPitch = item->specifiedGimbalPitch();
- if (!qIsNaN(gimbalPitch)) {
+ if (!qIsNaN(gimbalPitch) || showGimbalOnlyWhenSet) {
_missionFlightStatus.gimbalPitch = gimbalPitch;
}
diff --git a/src/Settings/PlanView.SettingsGroup.json b/src/Settings/PlanView.SettingsGroup.json
index dcb198b..851438c 100644
--- a/src/Settings/PlanView.SettingsGroup.json
+++ b/src/Settings/PlanView.SettingsGroup.json
@@ -24,9 +24,18 @@
"defaultValue": false
},
{
- "name": "useConditionGate",
- "shortDescription": "Use MAV_CMD_CONDITION_GATE for pattern generation",
- "type": "bool",
- "defaultValue": false
+ "name": "useConditionGate",
+ "shortDescription": "Use MAV_CMD_CONDITION_GATE for pattern generation",
+ "type": "bool",
+ "defaultValue": false
+},
+{
+ "name": "showGimbalWhen",
+ "shortDescription": "Show gimbal yaw visual when yaw known/set",
+ "longDescription": "Shows the gimbal yaw when the it's explcitly set by the user or simply when known (propagated from previous)",
+ "type": "uint32",
+ "enumValues": "0,1",
+ "enumStrings": "Known,Set",
+ "defaultValue": 0
}
]
diff --git a/src/Settings/PlanViewSettings.cc b/src/Settings/PlanViewSettings.cc
index 9af8227..608cb32 100644
--- a/src/Settings/PlanViewSettings.cc
+++ b/src/Settings/PlanViewSettings.cc
@@ -22,3 +22,4 @@ DECLARE_SETTINGSFACT(PlanViewSettings, aboveTerrainWarning)
DECLARE_SETTINGSFACT(PlanViewSettings, showMissionItemStatus)
DECLARE_SETTINGSFACT(PlanViewSettings, useConditionGate)
DECLARE_SETTINGSFACT(PlanViewSettings, takeoffItemNotRequired)
+DECLARE_SETTINGSFACT(PlanViewSettings, showGimbalWhen)
diff --git a/src/Settings/PlanViewSettings.h b/src/Settings/PlanViewSettings.h
index c9bed13..34bb984 100644
--- a/src/Settings/PlanViewSettings.h
+++ b/src/Settings/PlanViewSettings.h
@@ -25,4 +25,5 @@ public:
DEFINE_SETTINGFACT(showMissionItemStatus)
DEFINE_SETTINGFACT(useConditionGate)
DEFINE_SETTINGFACT(takeoffItemNotRequired)
+ DEFINE_SETTINGFACT(showGimbalWhen)
};