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

Merge pull request #4609 from DonLakeFlyer/FWLanding 

Complex Item: Fixed Wing Landing Pattern
QGC4.4
Don Gagne 8 years ago committed by GitHub
parent
6f7a2c3572 7a10569305
commit
8685448321
4 changed files with 114 additions and 34 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 74
      src/MissionEditor/FWLandingPatternEditor.qml
  2. 12
      src/MissionManager/FWLandingPattern.FactMetaData.json
  3. 19
      src/MissionManager/FixedWingLandingComplexItem.cc
  4. 43
      src/MissionManager/FixedWingLandingComplexItem.h

74
src/MissionEditor/FWLandingPatternEditor.qml
Unescape View File

@ -31,7 +31,8 @@ Rectangle { @@ -31,7 +31,8 @@ Rectangle {
//property real availableWidth ///< Width for control
//property var missionItem ///< Mission Item for editor
property real _margin: ScreenTools.defaultFontPixelWidth * 0.25
property real _margin: ScreenTools.defaultFontPixelWidth / 4
property real _spacer: ScreenTools.defaultFontPixelWidth / 2
Column {
id: editorColumn
@ -40,17 +41,78 @@ Rectangle { @@ -40,17 +41,78 @@ Rectangle {
anchors.right: parent.right
visible: missionItem.landingCoordSet
QGCLabel { text: "WIP (NOT FOR REAL FLIGHT!)" }
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
text: "WIP (NOT FOR REAL FLIGHT!)"
}
Item { width: 1; height: _margin }
QGCLabel { text: qsTr("Loiter point") }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
Item { width: 1; height: _spacer }
FactTextFieldGrid {
anchors.left: parent.left
anchors.right: parent.right
factList: [ missionItem.loiterAltitude, missionItem.loiterRadius ]
}
Item { width: 1; height: _spacer }
QGCCheckBox {
id: loiterAltRelative
anchors.right: parent.right
text: qsTr("Altitude relative to home")
checked: missionItem.loiterAltitudeRelative
onClicked: missionItem.loiterAltitudeRelative = checked
}
Item { width: 1; height: _spacer }
QGCCheckBox {
anchors.left: loiterAltRelative.left
text: qsTr("Loiter clockwise")
checked: missionItem.loiterClockwise
onClicked: missionItem.loiterClockwise = checked
}
Item { width: 1; height: ScreenTools.defaultFontPixelHeight / 2 }
QGCLabel { text: qsTr("Landing point") }
Rectangle {
anchors.left: parent.left
anchors.right: parent.right
height: 1
color: qgcPal.text
}
Item { width: 1; height: _spacer }
FactTextFieldGrid {
anchors.left: parent.left
anchors.right: parent.right
factList: missionItem.textFieldFacts
factList: [ missionItem.landingAltitude, missionItem.landingDistance, missionItem.landingHeading ]
}
FactCheckBox {
text: missionItem.loiterClockwise.name
fact: missionItem.loiterClockwise
Item { width: 1; height: _spacer }
QGCCheckBox {
anchors.right: parent.right
text: qsTr("Altitude relative to home")
checked: missionItem.landingAltitudeRelative
onClicked: missionItem.landingAltitudeRelative = checked
}
}

12
src/MissionManager/FWLandingPattern.FactMetaData.json
Unescape View File

@ -17,7 +17,7 @@ @@ -17,7 +17,7 @@
},
{
"name": "Loiter altitude",
"shortDescription": "Altitude to loiter prior to landing.",
"shortDescription": "Aircraft will proceed to the loiter point and loiter until it reaches this altitude. Once altitude is reached the aircraft will proceed to land.",
"type": "double",
"units": "m",
"decimalPlaces": 1,
@ -33,9 +33,11 @@ @@ -33,9 +33,11 @@
"defaultValue": 75.0
},
{
"name": "Clockwise loiter",
"shortDescription": "If true, loiter will be clockwise. False, loiter will be counter-clockwise.",
"type": "bool",
"defaultValue": true
"name": "Landing altitude",
"shortDescription": "Altitude for landing point.",
"type": "double",
"units": "m",
"decimalPlaces": 1,
"defaultValue": 0.0
}
]

19
src/MissionManager/FixedWingLandingComplexItem.cc
Unescape View File

@ -23,7 +23,7 @@ const char* FixedWingLandingComplexItem::_loiterToLandDistanceName = "Landing @@ -23,7 +23,7 @@ const char* FixedWingLandingComplexItem::_loiterToLandDistanceName = "Landing
const char* FixedWingLandingComplexItem::_landingHeadingName = "Landing heading";
const char* FixedWingLandingComplexItem::_loiterAltitudeName = "Loiter altitude";
const char* FixedWingLandingComplexItem::_loiterRadiusName = "Loiter radius";
const char* FixedWingLandingComplexItem::_loiterClockwiseName = "Clockwise loiter";
const char* FixedWingLandingComplexItem::_landingAltitudeName = "Landing altitude";
QMap<QString, FactMetaData*> FixedWingLandingComplexItem::_metaDataMap;
@ -36,8 +36,11 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje @@ -36,8 +36,11 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
, _loiterToLandDistanceFact (0, _loiterToLandDistanceName, FactMetaData::valueTypeDouble)
, _loiterAltitudeFact (0, _loiterAltitudeName, FactMetaData::valueTypeDouble)
, _loiterRadiusFact (0, _loiterRadiusName, FactMetaData::valueTypeDouble)
, _loiterClockwiseFact (0, _loiterClockwiseName, FactMetaData::valueTypeBool)
, _landingHeadingFact (0, _landingHeadingName, FactMetaData::valueTypeDouble)
, _landingAltitudeFact (0, _landingAltitudeName, FactMetaData::valueTypeDouble)
, _loiterClockwise(true)
, _loiterAltitudeRelative(true)
, _landingAltitudeRelative(true)
{
_editorQml = "qrc:/qml/FWLandingPatternEditor.qml";
@ -48,21 +51,19 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje @@ -48,21 +51,19 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
_loiterToLandDistanceFact.setMetaData (_metaDataMap[_loiterToLandDistanceName]);
_loiterAltitudeFact.setMetaData (_metaDataMap[_loiterAltitudeName]);
_loiterRadiusFact.setMetaData (_metaDataMap[_loiterRadiusName]);
_loiterClockwiseFact.setMetaData (_metaDataMap[_loiterClockwiseName]);
_landingHeadingFact.setMetaData (_metaDataMap[_landingHeadingName]);
_landingAltitudeFact.setMetaData (_metaDataMap[_landingAltitudeName]);
_loiterToLandDistanceFact.setRawValue (_loiterToLandDistanceFact.rawDefaultValue());
_loiterAltitudeFact.setRawValue (_loiterAltitudeFact.rawDefaultValue());
_loiterRadiusFact.setRawValue (_loiterRadiusFact.rawDefaultValue());
_loiterClockwiseFact.setRawValue (_loiterClockwiseFact.rawDefaultValue());
_landingHeadingFact.setRawValue (_landingHeadingFact.rawDefaultValue());
_landingAltitudeFact.setRawValue (_landingAltitudeFact.rawDefaultValue());
connect(&_loiterToLandDistanceFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts);
connect(&_landingHeadingFact, &Fact::valueChanged, this, &FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts);
connect(this, &FixedWingLandingComplexItem::loiterCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFactsFromCoords);
connect(this, &FixedWingLandingComplexItem::landingCoordinateChanged, this, &FixedWingLandingComplexItem::_recalcFactsFromCoords);
_textFieldFacts << QVariant::fromValue(&_loiterToLandDistanceFact) << QVariant::fromValue(&_loiterAltitudeFact) << QVariant::fromValue(&_loiterRadiusFact) << QVariant::fromValue(&_landingHeadingFact);
}
int FixedWingLandingComplexItem::lastSequenceNumber(void) const
@ -147,10 +148,10 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const @@ -147,10 +148,10 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const
pMissionItems); // parent - allow delete on pMissionItems to delete everthing
pMissionItems->append(item);
float loiterRadius = _loiterRadiusFact.rawValue().toDouble() * (_loiterClockwiseFact.rawValue().toBool() ? 1.0 : -1.0);
float loiterRadius = _loiterRadiusFact.rawValue().toDouble() * (_loiterClockwise ? 1.0 : -1.0);
item = new MissionItem(seqNum++,
MAV_CMD_NAV_LOITER_TO_ALT,
MAV_FRAME_GLOBAL_RELATIVE_ALT,
_loiterAltitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
1.0, // Heading required = true
loiterRadius, // Loiter radius
0.0, // param 3 - unused
@ -165,7 +166,7 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const @@ -165,7 +166,7 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const
item = new MissionItem(seqNum++,
MAV_CMD_NAV_LAND,
MAV_FRAME_GLOBAL_RELATIVE_ALT,
_landingAltitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0.0, 0.0, 0.0, 0.0, // param 1-4
_landingCoordinate.latitude(),
_landingCoordinate.longitude(),

43
src/MissionManager/FixedWingLandingComplexItem.h
Unescape View File

@ -24,13 +24,23 @@ class FixedWingLandingComplexItem : public ComplexMissionItem @@ -24,13 +24,23 @@ class FixedWingLandingComplexItem : public ComplexMissionItem
public:
FixedWingLandingComplexItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(QVariantList textFieldFacts MEMBER _textFieldFacts CONSTANT)
Q_PROPERTY(Fact* loiterClockwise READ loiterClockwise CONSTANT)
Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged)
Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged)
Q_PROPERTY(bool landingCoordSet MEMBER _landingCoordSet NOTIFY landingCoordSetChanged)
Fact* loiterClockwise (void) { return &_loiterClockwiseFact; }
Q_PROPERTY(Fact* loiterAltitude READ loiterAltitude CONSTANT)
Q_PROPERTY(Fact* loiterRadius READ loiterRadius CONSTANT)
Q_PROPERTY(Fact* landingAltitude READ landingAltitude CONSTANT)
Q_PROPERTY(Fact* landingDistance READ landingDistance CONSTANT)
Q_PROPERTY(Fact* landingHeading READ landingHeading CONSTANT)
Q_PROPERTY(bool loiterClockwise MEMBER _loiterClockwise NOTIFY loiterClockwiseChanged)
Q_PROPERTY(bool loiterAltitudeRelative MEMBER _loiterAltitudeRelative NOTIFY loiterAltitudeRelativeChanged)
Q_PROPERTY(bool landingAltitudeRelative MEMBER _landingAltitudeRelative NOTIFY landingAltitudeRelativeChanged)
Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged)
Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged)
Q_PROPERTY(bool landingCoordSet MEMBER _landingCoordSet NOTIFY landingCoordSetChanged)
Fact* loiterAltitude (void) { return &_loiterAltitudeFact; }
Fact* loiterRadius (void) { return &_loiterRadiusFact; }
Fact* landingAltitude (void) { return &_landingAltitudeFact; }
Fact* landingDistance (void) { return &_loiterToLandDistanceFact; }
Fact* landingHeading (void) { return &_landingHeadingFact; }
QGeoCoordinate landingCoordinate (void) const { return _landingCoordinate; }
QGeoCoordinate loiterCoordinate (void) const { return _loiterCoordinate; }
@ -73,9 +83,12 @@ public: @@ -73,9 +83,12 @@ public:
static const char* jsonComplexItemTypeValue;
signals:
void loiterCoordinateChanged (QGeoCoordinate coordinate);
void landingCoordinateChanged (QGeoCoordinate coordinate);
void landingCoordSetChanged (bool landingCoordSet);
void loiterCoordinateChanged (QGeoCoordinate coordinate);
void landingCoordinateChanged (QGeoCoordinate coordinate);
void landingCoordSetChanged (bool landingCoordSet);
void loiterClockwiseChanged (bool loiterClockwise);
void loiterAltitudeRelativeChanged (bool loiterAltitudeRelative);
void landingAltitudeRelativeChanged (bool loiterAltitudeRelative);
private slots:
void _recalcLoiterCoordFromFacts(void);
@ -94,18 +107,20 @@ private: @@ -94,18 +107,20 @@ private:
Fact _loiterToLandDistanceFact;
Fact _loiterAltitudeFact;
Fact _loiterRadiusFact;
Fact _loiterClockwiseFact;
Fact _landingHeadingFact;
Fact _landingAltitudeFact;
static QMap<QString, FactMetaData*> _metaDataMap;
bool _loiterClockwise;
bool _loiterAltitudeRelative;
bool _landingAltitudeRelative;
QVariantList _textFieldFacts;
static QMap<QString, FactMetaData*> _metaDataMap;
static const char* _loiterToLandDistanceName;
static const char* _loiterAltitudeName;
static const char* _loiterRadiusName;
static const char* _loiterClockwiseName;
static const char* _landingHeadingName;
static const char* _landingAltitudeName;
};
#endif

Write Preview
Loading…
Cancel
Save