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Use trigger immediately for TRIGG_DIST

QGC4.4
Don Gagne 8 years ago
parent
3349f5a240
commit
aca64fffdb
3 changed files with 44 additions and 12 deletions
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  1. 32
      src/MissionManager/CameraSection.cc
  2. 3
      src/MissionManager/CameraSection.h
  3. 21
      src/MissionManager/CameraSectionTest.cc

32
src/MissionManager/CameraSection.cc
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@ -166,7 +166,9 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss @@ -166,7 +166,9 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
_cameraPhotoIntervalDistanceFact.rawValue().toDouble(), // Trigger distance
0, 0, 0, 0, 0, 0, // param 2-7 not used
0, // No shutter integartion
1, // Trigger immediately
0, 0, 0, 0, // param 4-7 not used
true, // autoContinue
false, // isCurrentItem
missionItemParent);
@ -314,13 +316,31 @@ bool CameraSection::_scanStopTakingPhotos(QmlObjectListModel* visualItems, int s @@ -314,13 +316,31 @@ bool CameraSection::_scanStopTakingPhotos(QmlObjectListModel* visualItems, int s
return false;
}
bool CameraSection::_scanTriggerDistance(QmlObjectListModel* visualItems, int scanIndex)
bool CameraSection::_scanTriggerStartDistance(QmlObjectListModel* visualItems, int scanIndex)
{
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (item) {
MissionItem& missionItem = item->missionItem();
if ((MAV_CMD)item->command() == MAV_CMD_DO_SET_CAM_TRIGG_DIST) {
if (missionItem.param1() >= 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
if (missionItem.param1() > 0 && missionItem.param2() == 0 && missionItem.param3() == 1 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
cameraAction()->setRawValue(TakePhotoIntervalDistance);
cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
visualItems->removeAt(scanIndex)->deleteLater();
return true;
}
}
}
return false;
}
bool CameraSection::_scanTriggerStopDistance(QmlObjectListModel* visualItems, int scanIndex)
{
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (item) {
MissionItem& missionItem = item->missionItem();
if ((MAV_CMD)item->command() == MAV_CMD_DO_SET_CAM_TRIGG_DIST) {
if (missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
cameraAction()->setRawValue(TakePhotoIntervalDistance);
cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
visualItems->removeAt(scanIndex)->deleteLater();
@ -416,7 +436,11 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde @@ -416,7 +436,11 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde
foundCameraAction = true;
continue;
}
if (!foundCameraAction && _scanTriggerDistance(visualItems, scanIndex)) {
if (!foundCameraAction && _scanTriggerStartDistance(visualItems, scanIndex)) {
foundCameraAction = true;
continue;
}
if (!foundCameraAction && _scanTriggerStopDistance(visualItems, scanIndex)) {
foundCameraAction = true;
continue;
}

3
src/MissionManager/CameraSection.h
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@ -94,7 +94,8 @@ private: @@ -94,7 +94,8 @@ private:
bool _scanTakePhoto(QmlObjectListModel* visualItems, int scanIndex);
bool _scanTakePhotosIntervalTime(QmlObjectListModel* visualItems, int scanIndex);
bool _scanStopTakingPhotos(QmlObjectListModel* visualItems, int scanIndex);
bool _scanTriggerDistance(QmlObjectListModel* visualItems, int scanIndex);
bool _scanTriggerStartDistance(QmlObjectListModel* visualItems, int scanIndex);
bool _scanTriggerStopDistance(QmlObjectListModel* visualItems, int scanIndex);
bool _scanTakeVideo(QmlObjectListModel* visualItems, int scanIndex);
bool _scanStopTakingVideo(QmlObjectListModel* visualItems, int scanIndex);
bool _scanSetCameraMode(QmlObjectListModel* visualItems, int scanIndex);

21
src/MissionManager/CameraSectionTest.cc
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@ -50,7 +50,14 @@ void CameraSectionTest::init(void) @@ -50,7 +50,14 @@ void CameraSectionTest::init(void)
MissionItem(0, MAV_CMD_IMAGE_START_CAPTURE, MAV_FRAME_MISSION, 0, 48, 0, NAN, NAN, NAN, NAN, true, false),
this);
_validDistanceItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(0, MAV_CMD_DO_SET_CAM_TRIGG_DIST, MAV_FRAME_MISSION, 72, 0, 0, 0, 0, 0, 0, true, false),
MissionItem(0,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
72, // trigger distance
0, // not shutter integration
1, // trigger immediately
0, 0, 0, 0,
true, false),
this);
_validStartVideoItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(0, // sequence number
@ -732,15 +739,15 @@ void CameraSectionTest::_testScanForPhotoIntervalDistanceSection(void) @@ -732,15 +739,15 @@ void CameraSectionTest::_testScanForPhotoIntervalDistanceSection(void)
_commonScanTest(_cameraSection);
/*
MAV_CMD_DO_SET_CAM_TRIGG_DIST Mission command to set CAM_TRIGG_DIST for this flight
Mission Param #1 Camera trigger distance (meters)
Mission Param #2 Empty
Mission Param #3 Empty
MAV_CMD_DO_SET_CAM_TRIGG_DIST Mission command to set camera trigger distance for this flight. The camera is trigerred each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.
Mission Param #1 Camera trigger distance (meters). 0 to stop triggering.
Mission Param #2 Camera shutter integration time (milliseconds). -1 or 0 to ignore
Mission Param #3 Trigger camera once immediately. (0 = no trigger, 1 = trigger)
Mission Param #4 Empty
Mission Param #5 Empty
Mission Param #6 Empty
Mission Param #7 Empty
*/
*/
SimpleMissionItem* newValidDistanceItem = new SimpleMissionItem(_offlineVehicle, this);
newValidDistanceItem->missionItem() = _validDistanceItem->missionItem();
@ -772,7 +779,7 @@ void CameraSectionTest::_testScanForPhotoIntervalDistanceSection(void) @@ -772,7 +779,7 @@ void CameraSectionTest::_testScanForPhotoIntervalDistanceSection(void)
visualItems.clear();
invalidSimpleItem.missionItem() = _validDistanceItem->missionItem();
invalidSimpleItem.missionItem().setParam3(1); // must be 0
invalidSimpleItem.missionItem().setParam3(0); // must be 1
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);

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