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

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
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 32
      src/MissionManager/CameraSection.cc
  2. 3
      src/MissionManager/CameraSection.h
  3. 21
      src/MissionManager/CameraSectionTest.cc

32
src/MissionManager/CameraSection.cc
Unescape View File

@ -166,7 +166,9 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
MAV_CMD_DO_SET_CAM_TRIGG_DIST, MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION, MAV_FRAME_MISSION,
_cameraPhotoIntervalDistanceFact.rawValue().toDouble(), // Trigger distance _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 true, // autoContinue
false, // isCurrentItem false, // isCurrentItem
missionItemParent); missionItemParent);
@ -314,13 +316,31 @@ bool CameraSection::_scanStopTakingPhotos(QmlObjectListModel* visualItems, int s
return false; return false;
} }
bool CameraSection::_scanTriggerDistance(QmlObjectListModel* visualItems, int scanIndex) bool CameraSection::_scanTriggerStartDistance(QmlObjectListModel* visualItems, int scanIndex)
{ {
SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex); SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
if (item) { if (item) {
MissionItem& missionItem = item->missionItem(); MissionItem& missionItem = item->missionItem();
if ((MAV_CMD)item->command() == MAV_CMD_DO_SET_CAM_TRIGG_DIST) { 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); cameraAction()->setRawValue(TakePhotoIntervalDistance);
cameraPhotoIntervalDistance()->setRawValue(missionItem.param1()); cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
visualItems->removeAt(scanIndex)->deleteLater(); visualItems->removeAt(scanIndex)->deleteLater();
@ -416,7 +436,11 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde
foundCameraAction = true; foundCameraAction = true;
continue; continue;
} }
if (!foundCameraAction && _scanTriggerDistance(visualItems, scanIndex)) { if (!foundCameraAction && _scanTriggerStartDistance(visualItems, scanIndex)) {
foundCameraAction = true;
continue;
}
if (!foundCameraAction && _scanTriggerStopDistance(visualItems, scanIndex)) {
foundCameraAction = true; foundCameraAction = true;
continue; continue;
} }

3
src/MissionManager/CameraSection.h
Unescape View File

@ -94,7 +94,8 @@ private:
bool _scanTakePhoto(QmlObjectListModel* visualItems, int scanIndex); bool _scanTakePhoto(QmlObjectListModel* visualItems, int scanIndex);
bool _scanTakePhotosIntervalTime(QmlObjectListModel* visualItems, int scanIndex); bool _scanTakePhotosIntervalTime(QmlObjectListModel* visualItems, int scanIndex);
bool _scanStopTakingPhotos(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 _scanTakeVideo(QmlObjectListModel* visualItems, int scanIndex);
bool _scanStopTakingVideo(QmlObjectListModel* visualItems, int scanIndex); bool _scanStopTakingVideo(QmlObjectListModel* visualItems, int scanIndex);
bool _scanSetCameraMode(QmlObjectListModel* visualItems, int scanIndex); bool _scanSetCameraMode(QmlObjectListModel* visualItems, int scanIndex);

21
src/MissionManager/CameraSectionTest.cc
Unescape View File

@ -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), MissionItem(0, MAV_CMD_IMAGE_START_CAPTURE, MAV_FRAME_MISSION, 0, 48, 0, NAN, NAN, NAN, NAN, true, false),
this); this);
_validDistanceItem = new SimpleMissionItem(_offlineVehicle, _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); this);
_validStartVideoItem = new SimpleMissionItem(_offlineVehicle, _validStartVideoItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(0, // sequence number MissionItem(0, // sequence number
@ -732,15 +739,15 @@ void CameraSectionTest::_testScanForPhotoIntervalDistanceSection(void)
_commonScanTest(_cameraSection); _commonScanTest(_cameraSection);
/* /*
MAV_CMD_DO_SET_CAM_TRIGG_DIST Mission command to set CAM_TRIGG_DIST for this flight 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) Mission Param #1 Camera trigger distance (meters). 0 to stop triggering.
Mission Param #2 Empty Mission Param #2 Camera shutter integration time (milliseconds). -1 or 0 to ignore
Mission Param #3 Empty Mission Param #3 Trigger camera once immediately. (0 = no trigger, 1 = trigger)
Mission Param #4 Empty Mission Param #4 Empty
Mission Param #5 Empty Mission Param #5 Empty
Mission Param #6 Empty Mission Param #6 Empty
Mission Param #7 Empty Mission Param #7 Empty
*/ */
SimpleMissionItem* newValidDistanceItem = new SimpleMissionItem(_offlineVehicle, this); SimpleMissionItem* newValidDistanceItem = new SimpleMissionItem(_offlineVehicle, this);
newValidDistanceItem->missionItem() = _validDistanceItem->missionItem(); newValidDistanceItem->missionItem() = _validDistanceItem->missionItem();
@ -772,7 +779,7 @@ void CameraSectionTest::_testScanForPhotoIntervalDistanceSection(void)
visualItems.clear(); visualItems.clear();
invalidSimpleItem.missionItem() = _validDistanceItem->missionItem(); invalidSimpleItem.missionItem() = _validDistanceItem->missionItem();
invalidSimpleItem.missionItem().setParam3(1); // must be 0 invalidSimpleItem.missionItem().setParam3(0); // must be 1
visualItems.append(&invalidSimpleItem); visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false); QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1); QCOMPARE(visualItems.count(), 1);

Write Preview
Loading…
Cancel
Save