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Fix resume mission item count bug

QGC4.4
Don Gagne 7 years ago
parent
c5f273172a
commit
82cceb1ae7
4 changed files with 31 additions and 16 deletions
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  1. 7
      ChangeLog.md
  2. 26
      src/FlightDisplay/GuidedActionsController.qml
  3. 10
      src/MissionManager/MissionController.cc
  4. 4
      src/MissionManager/MissionController.h

7
ChangeLog.md
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@ -4,8 +4,13 @@ Note: This file only contains high level features or important fixes. @@ -4,8 +4,13 @@ Note: This file only contains high level features or important fixes.
## 3.4
### 3.4.3 - Not yet released
* Fix bug where Resume Mission would not display correctly in some cases. Issue #6835.
### 3.4.2
* Fix bug where new mission items may end up with 0 altitude internally and sent to vehicle while UI shows correct altitude. Issue #6823.
### 3.4.1
* Fix bug where new mission items may end up with 0 altitude internally and sent to vehicle while UI shows correct altitude.
* Fix crash when Survery with terrain follow is moved quickly
* Fix terrain follow climb/descent rate fields swapped in ui

26
src/FlightDisplay/GuidedActionsController.qml
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@ -101,18 +101,19 @@ Item { @@ -101,18 +101,19 @@ Item {
property bool showTakeoff: _guidedActionsEnabled && _activeVehicle.takeoffVehicleSupported && !_vehicleFlying
property bool showLand: _guidedActionsEnabled && _activeVehicle.guidedModeSupported && _vehicleArmed && !_activeVehicle.fixedWing && !_vehicleInLandMode
property bool showStartMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && !_vehicleFlying
property bool showContinueMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < missionController.visualItems.count - 1)
property bool showContinueMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < _missionItemCount - 1)
property bool showPause: _guidedActionsEnabled && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused
property bool showChangeAlt: _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
property bool showOrbit: _guidedActionsEnabled && !_hideOrbit && _vehicleFlying && _activeVehicle.orbitModeSupported && !_missionActive
property bool showLandAbort: _guidedActionsEnabled && _vehicleFlying && _activeVehicle.fixedWing && _vehicleLanding
property bool showGotoLocation: _guidedActionsEnabled && _vehicleFlying
// Note: The 'missionController.visualItems.count - 3' is a hack to not trigger resume mission when a mission ends with an RTL item
property bool showResumeMission: _activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < missionController.visualItems.count - 3)
// Note: The '_missionItemCount - 2' is a hack to not trigger resume mission when a mission ends with an RTL item
property bool showResumeMission: _activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < _missionItemCount - 2)
property bool guidedUIVisible: guidedActionConfirm.visible || guidedActionList.visible
property var _corePlugin: QGroundControl.corePlugin
property bool _guidedActionsEnabled: (!ScreenTools.isDebug && QGroundControl.corePlugin.options.guidedActionsRequireRCRSSI && _activeVehicle) ? _rcRSSIAvailable : _activeVehicle
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property string _flightMode: _activeVehicle ? _activeVehicle.flightMode : ""
@ -125,6 +126,7 @@ Item { @@ -125,6 +126,7 @@ Item {
property bool _vehicleInMissionMode: false
property bool _vehicleInRTLMode: false
property bool _vehicleInLandMode: false
property int _missionItemCount: missionController.missionItemCount
property int _currentMissionIndex: missionController.currentMissionIndex
property int _resumeMissionIndex: missionController.resumeMissionIndex
property bool _hideEmergenyStop: !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
@ -132,15 +134,14 @@ Item { @@ -132,15 +134,14 @@ Item {
property bool _vehicleWasFlying: false
property bool _rcRSSIAvailable: _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100 : false
//Handy code for debugging state problems
property bool __debugGuidedStates: false
// You can turn on log output for GuidedActionsController by turning on GuidedActionsControllerLog category
property bool __guidedModeSupported: _activeVehicle ? _activeVehicle.guidedModeSupported : false
property bool __pauseVehicleSupported: _activeVehicle ? _activeVehicle.pauseVehicleSupported : false
property bool __flightMode: _flightMode
function _outputState() {
if (__debugGuidedStates) {
console.log(qsTr("_activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleInRTLMode(%5) pauseVehicleSupported(%6) _vehiclePaused(%7) _flightMode(%8)").arg(_activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode))
if (_corePlugin.guidedActionsControllerLogging()) {
console.log(qsTr("_activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleWasFlying(%5) _vehicleInRTLMode(%6) pauseVehicleSupported(%7) _vehiclePaused(%8) _flightMode(%9) _missionItemCount(%10)").arg(_activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleWasFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode).arg(_missionItemCount))
}
}
@ -152,31 +153,32 @@ Item { @@ -152,31 +153,32 @@ Item {
on__FlightModeChanged: _outputState()
on__GuidedModeSupportedChanged: _outputState()
on__PauseVehicleSupportedChanged: _outputState()
on_MissionItemCountChanged: _outputState()
on_CurrentMissionIndexChanged: {
if (__debugGuidedStates) {
if (_corePlugin.guidedActionsControllerLogging()) {
console.log("_currentMissionIndex", _currentMissionIndex)
}
}
on_ResumeMissionIndexChanged: {
if (__debugGuidedStates) {
if (_corePlugin.guidedActionsControllerLogging()) {
console.log("_resumeMissionIndex", _resumeMissionIndex)
}
}
onShowResumeMissionChanged: {
if (__debugGuidedStates) {
if (_corePlugin.guidedActionsControllerLogging()) {
console.log("showResumeMission", showResumeMission)
}
_outputState()
}
onShowStartMissionChanged: {
if (__debugGuidedStates) {
if (_corePlugin.guidedActionsControllerLogging()) {
console.log("showStartMission", showStartMission)
}
_outputState()
}
onShowContinueMissionChanged: {
if (__debugGuidedStates) {
if (_corePlugin.guidedActionsControllerLogging()) {
console.log("showContinueMission", showContinueMission)
}
_outputState()

10
src/MissionManager/MissionController.cc
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@ -56,8 +56,9 @@ const int MissionController::_missionFileVersion = 2; @@ -56,8 +56,9 @@ const int MissionController::_missionFileVersion = 2;
MissionController::MissionController(PlanMasterController* masterController, QObject *parent)
: PlanElementController (masterController, parent)
, _missionManager (_managerVehicle->missionManager())
, _visualItems (NULL)
, _settingsItem (NULL)
, _missionItemCount (0)
, _visualItems (nullptr)
, _settingsItem (nullptr)
, _firstItemsFromVehicle (false)
, _itemsRequested (false)
, _inRecalcSequence (false)
@ -68,7 +69,7 @@ MissionController::MissionController(PlanMasterController* masterController, QOb @@ -68,7 +69,7 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
, _appSettings (qgcApp()->toolbox()->settingsManager()->appSettings())
, _progressPct (0)
, _currentPlanViewIndex (-1)
, _currentPlanViewItem (NULL)
, _currentPlanViewItem (nullptr)
{
_resetMissionFlightStatus();
managerVehicleChanged(_managerVehicle);
@ -159,6 +160,9 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque @@ -159,6 +160,9 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
const QList<MissionItem*>& newMissionItems = _missionManager->missionItems();
qCDebug(MissionControllerLog) << "loading from vehicle: count"<< newMissionItems.count();
_missionItemCount = newMissionItems.count();
emit missionItemCountChanged(_missionItemCount);
int i = 0;
if (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() && newMissionItems.count() != 0) {
// First item is fake home position

4
src/MissionManager/MissionController.h
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@ -73,6 +73,7 @@ public: @@ -73,6 +73,7 @@ public:
Q_PROPERTY(double progressPct READ progressPct NOTIFY progressPctChanged)
Q_PROPERTY(int missionItemCount READ missionItemCount NOTIFY missionItemCountChanged) ///< True mission item command count (only valid in Fly View)
Q_PROPERTY(int currentMissionIndex READ currentMissionIndex NOTIFY currentMissionIndexChanged)
Q_PROPERTY(int resumeMissionIndex READ resumeMissionIndex NOTIFY resumeMissionIndexChanged) ///< Returns the item index two which a mission should be resumed. -1 indicates resume mission not available.
@ -170,6 +171,7 @@ public: @@ -170,6 +171,7 @@ public:
QString corridorScanComplexItemName (void) const { return _corridorScanMissionItemName; }
QString structureScanComplexItemName(void) const { return _structureScanMissionItemName; }
int missionItemCount (void) const { return _missionItemCount; }
int currentMissionIndex (void) const;
int resumeMissionIndex (void) const;
int currentPlanViewIndex (void) const;
@ -208,6 +210,7 @@ signals: @@ -208,6 +210,7 @@ signals:
void currentMissionIndexChanged (int currentMissionIndex);
void currentPlanViewIndexChanged (void);
void currentPlanViewItemChanged (void);
void missionItemCountChanged (int missionItemCount);
private slots:
void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
@ -260,6 +263,7 @@ private: @@ -260,6 +263,7 @@ private:
private:
MissionManager* _missionManager;
int _missionItemCount;
QmlObjectListModel* _visualItems;
MissionSettingsItem* _settingsItem;
QmlObjectListModel _waypointLines;

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