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Merge pull request #2345 from DonLakeFlyer/AltWork 

Show altitude difference from prev waypoint in editor
QGC4.4
Don Gagne 10 years ago
parent
44407a356f fead2b5e15
commit
b17d704cc2
5 changed files with 61 additions and 43 deletions
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  1. 44
      src/MissionEditor/MissionEditor.qml
  2. 40
      src/MissionManager/MissionController.cc
  3. 2
      src/MissionManager/MissionController.h
  4. 11
      src/MissionManager/MissionItem.cc
  5. 7
      src/MissionManager/MissionItem.h

44
src/MissionEditor/MissionEditor.qml
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@ -59,7 +59,8 @@ QGCView { @@ -59,7 +59,8 @@ QGCView {
readonly property int _addMissionItemsButtonAutoOffTimeout: 10000
readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276)
property var _missionItems: controller.missionItems
property var _missionItems: controller.missionItems
property var _currentMissionItem
property bool gpsLock: _activeVehicle ? _activeVehicle.coordinateValid : false
property bool _firstGpsLock: true
@ -92,16 +93,6 @@ QGCView { @@ -92,16 +93,6 @@ QGCView {
}
}
function showDistance(missionItem) {
if (missionItem.distance < 0.0) {
waypointValuesDisplay.visible = false
} else {
waypointValuesDisplay.azimuth = missionItem.azimuth
waypointValuesDisplay.distance = missionItem.distance
waypointValuesDisplay.visible = true
}
}
MissionController {
id: controller
@ -131,8 +122,14 @@ QGCView { @@ -131,8 +122,14 @@ QGCView {
}
function setCurrentItem(index) {
_currentMissionItem = undefined
for (var i=0; i<_missionItems.count; i++) {
_missionItems.get(i).isCurrentItem = (i == index)
if (i == index) {
_currentMissionItem = _missionItems.get(i)
_currentMissionItem.isCurrentItem = true
} else {
_missionItems.get(i).isCurrentItem = false
}
}
}
@ -300,7 +297,6 @@ QGCView { @@ -300,7 +297,6 @@ QGCView {
itemDragger.missionItem.coordinate = coordinate
editorMap.latitude = itemDragger.missionItem.coordinate.latitude
editorMap.longitude = itemDragger.missionItem.coordinate.longitude
_root.showDistance(itemDragger.missionItem)
}
}
}
@ -328,7 +324,6 @@ QGCView { @@ -328,7 +324,6 @@ QGCView {
function updateItemIndicator()
{
if (object.isCurrentItem) {
_root.showDistance(object)
if (object.specifiesCoordinate) {
// Setup our drag item
if (object.sequenceNumber != 0) {
@ -908,13 +903,14 @@ QGCView { @@ -908,13 +903,14 @@ QGCView {
radius: ScreenTools.defaultFontPixelWidth
color: qgcPal.window
opacity: 0.80
visible: false
property real azimuth: 0
property real distance: 0
visible: _currentMissionItem ? _currentMissionItem.distance != -1 : false
readonly property real margins: ScreenTools.defaultFontPixelWidth
property real _altDifference: _currentMissionItem ? _currentMissionItem.altDifference : 0
property real _azimuth: _currentMissionItem ? _currentMissionItem.azimuth : 0
property real _distance: _currentMissionItem ? _currentMissionItem.distance : 0
Column {
id: valuesColumn
anchors.leftMargin: parent.margins
@ -923,15 +919,21 @@ QGCView { @@ -923,15 +919,21 @@ QGCView {
anchors.top: parent.top
QGCLabel {
id: distanceLabel
color: qgcPal.text
text: "Azimuth: " + Math.round(waypointValuesDisplay.azimuth)
text: "Distance: " + Math.round(waypointValuesDisplay._distance) + " meters"
}
QGCLabel {
color: qgcPal.text
text: "Alt diff: " + Math.round(waypointValuesDisplay._altDifference) + " meters"
}
QGCLabel {
id: distanceLabel
color: qgcPal.text
text: "Distance: " + Math.round(waypointValuesDisplay.distance) + " meters"
text: "Azimuth: " + Math.round(waypointValuesDisplay._azimuth)
}
}
}
} // FlightMap

40
src/MissionManager/MissionController.cc
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@ -280,28 +280,28 @@ void MissionController::saveMissionToFile(void) @@ -280,28 +280,28 @@ void MissionController::saveMissionToFile(void)
_missionItems->setDirty(false);
}
void MissionController::_calcPrevWaypointValues(bool homePositionValid, double homeAlt, MissionItem* item1, MissionItem* item2, double* azimuth, double* distance)
void MissionController::_calcPrevWaypointValues(bool homePositionValid, double homeAlt, MissionItem* currentItem, MissionItem* prevItem, double* azimuth, double* distance, double* altDifference)
{
QGeoCoordinate coord1 = item1->coordinate();
QGeoCoordinate coord2 = item2->coordinate();
QGeoCoordinate currentCoord = currentItem->coordinate();
QGeoCoordinate prevCoord = prevItem->coordinate();
bool distanceOk = false;
// Convert to fixed altitudes
qCDebug(MissionControllerLog) << homePositionValid << homeAlt
<< item1->relativeAltitude() << item1->coordinate().altitude()
<< item2->relativeAltitude() << item2->coordinate().altitude();
<< currentItem->relativeAltitude() << currentItem->coordinate().altitude()
<< prevItem->relativeAltitude() << prevItem->coordinate().altitude();
if (homePositionValid) {
distanceOk = true;
if (item1->relativeAltitude()) {
coord1.setAltitude(homeAlt + coord1.altitude());
if (currentItem->relativeAltitude()) {
currentCoord.setAltitude(homeAlt + currentCoord.altitude());
}
if (item2->relativeAltitude()) {
coord2.setAltitude(homeAlt + coord2.altitude());
if (prevItem->relativeAltitude()) {
prevCoord.setAltitude(homeAlt + prevCoord.altitude());
}
} else {
if (item1->relativeAltitude() && item2->relativeAltitude()) {
if (prevItem->relativeAltitude() && currentItem->relativeAltitude()) {
distanceOk = true;
}
}
@ -309,11 +309,13 @@ void MissionController::_calcPrevWaypointValues(bool homePositionValid, double h @@ -309,11 +309,13 @@ void MissionController::_calcPrevWaypointValues(bool homePositionValid, double h
qCDebug(MissionControllerLog) << "distanceOk" << distanceOk;
if (distanceOk) {
*distance = item1->coordinate().distanceTo(item2->coordinate());
*azimuth = item1->coordinate().azimuthTo(item2->coordinate());
*altDifference = currentCoord.altitude() - prevCoord.altitude();
*distance = prevCoord.distanceTo(currentCoord);
*azimuth = prevCoord.azimuthTo(currentCoord);
} else {
*altDifference = 0.0;
*azimuth = 0.0;
*distance = -1.0;
*distance = -1.0; // Signals no values
}
}
@ -349,11 +351,11 @@ void MissionController::_recalcWaypointLines(void) @@ -349,11 +351,11 @@ void MissionController::_recalcWaypointLines(void)
if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
// The first coordinate we hit is a takeoff command so link back to home position if valid
if (homePositionValid) {
double azimuth, distance;
double azimuth, distance, altDifference;
_waypointLines.append(new CoordinateVector(homeItem->coordinate(), item->coordinate()));
_calcPrevWaypointValues(homePositionValid, homeAlt, homeItem, item, &azimuth, &distance);
qDebug() << azimuth << distance;
_calcPrevWaypointValues(homePositionValid, homeAlt, item, homeItem, &azimuth, &distance, &altDifference);
item->setAltDifference(altDifference);
item->setAzimuth(azimuth);
item->setDistance(distance);
}
@ -362,12 +364,12 @@ void MissionController::_recalcWaypointLines(void) @@ -362,12 +364,12 @@ void MissionController::_recalcWaypointLines(void)
}
firstCoordinateItem = false;
} else if (!lastCoordinateItem->homePosition() || lastCoordinateItem->homePositionValid()) {
double azimuth, distance;
double azimuth, distance, altDifference;
// Subsequent coordinate items link to last coordinate item. If the last coordinate item
// is an invalid home position we skip the line
_calcPrevWaypointValues(homePositionValid, homeAlt, lastCoordinateItem, item, &azimuth, &distance);
qDebug() << azimuth << distance;
_calcPrevWaypointValues(homePositionValid, homeAlt, item, lastCoordinateItem, &azimuth, &distance, &altDifference);
item->setAltDifference(altDifference);
item->setAzimuth(azimuth);
item->setDistance(distance);
_waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));

2
src/MissionManager/MissionController.h
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@ -94,7 +94,7 @@ private: @@ -94,7 +94,7 @@ private:
void _autoSyncSend(void);
void _setupMissionItems(bool loadFromVehicle, bool forceLoad);
void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
void _calcPrevWaypointValues(bool homePositionValid, double homeAlt, MissionItem* item1, MissionItem* item2, double* azimuth, double* distance);
void _calcPrevWaypointValues(bool homePositionValid, double homeAlt, MissionItem* currentItem, MissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
bool _findLastAltitude(double* lastAltitude);
bool _findLastAcceptanceRadius(double* lastAcceptanceRadius);

11
src/MissionManager/MissionItem.cc
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@ -138,6 +138,7 @@ MissionItem::MissionItem(int sequenceNumber, @@ -138,6 +138,7 @@ MissionItem::MissionItem(int sequenceNumber,
, _dirty(false)
, _sequenceNumber(sequenceNumber)
, _isCurrentItem(isCurrentItem)
, _altDifference(0.0)
, _azimuth(0.0)
, _distance(0.0)
, _homePositionSpecialCase(false)
@ -194,6 +195,7 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent) @@ -194,6 +195,7 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent)
, _dirty(false)
, _sequenceNumber(0)
, _isCurrentItem(false)
, _altDifference(0.0)
, _azimuth(0.0)
, _distance(0.0)
, _homePositionSpecialCase(false)
@ -237,7 +239,8 @@ const MissionItem& MissionItem::operator=(const MissionItem& other) @@ -237,7 +239,8 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
setSequenceNumber(other._sequenceNumber);
setAutoContinue(other.autoContinue());
setIsCurrentItem(other._isCurrentItem);
setAzimuth(other._distance);
setAltDifference(other._altDifference);
setAzimuth(other._azimuth);
setDistance(other._distance);
setHomePositionSpecialCase(other._homePositionSpecialCase);
setHomePositionValid(other._homePositionValid);
@ -717,6 +720,12 @@ void MissionItem::setDistance(double distance) @@ -717,6 +720,12 @@ void MissionItem::setDistance(double distance)
emit distanceChanged(_distance);
}
void MissionItem::setAltDifference(double altDifference)
{
_altDifference = altDifference;
emit altDifferenceChanged(_altDifference);
}
void MissionItem::setAzimuth(double azimuth)
{
_azimuth = azimuth;

7
src/MissionManager/MissionItem.h
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@ -68,6 +68,7 @@ public: @@ -68,6 +68,7 @@ public:
const MissionItem& operator=(const MissionItem& other);
Q_PROPERTY(double altDifference READ altDifference WRITE setAltDifference NOTIFY altDifferenceChanged) ///< Change in altitude from previous waypoint
Q_PROPERTY(double azimuth READ azimuth WRITE setAzimuth NOTIFY azimuthChanged) ///< Azimuth to previous waypoint
Q_PROPERTY(QString category READ category NOTIFY commandChanged)
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
@ -96,6 +97,7 @@ public: @@ -96,6 +97,7 @@ public:
// Property accesors
double altDifference (void) const { return _altDifference; }
double azimuth (void) const { return _azimuth; }
QString category (void) const;
MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_commandFact.cookedValue().toInt(); };
@ -134,8 +136,9 @@ public: @@ -134,8 +136,9 @@ public:
void setHomePositionValid(bool homePositionValid);
void setHomePositionSpecialCase(bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
void setDistance(double distance);
void setAltDifference(double altDifference);
void setAzimuth(double azimuth);
void setDistance(double distance);
// C++ only methods
@ -173,6 +176,7 @@ public slots: @@ -173,6 +176,7 @@ public slots:
void setDefaultsForCommand(void);
signals:
void altDifferenceChanged (double altDifference);
void azimuthChanged (double azimuth);
void commandChanged (MavlinkQmlSingleton::Qml_MAV_CMD command);
void coordinateChanged (const QGeoCoordinate& coordinate);
@ -212,6 +216,7 @@ private: @@ -212,6 +216,7 @@ private:
bool _dirty;
int _sequenceNumber;
bool _isCurrentItem;
double _altDifference; ///< Difference in altitude from previous waypoint
double _azimuth; ///< Azimuth to previous waypoint
double _distance; ///< Distance to previous waypoint
bool _homePositionSpecialCase; ///< true: This item is being used as a ui home position indicator

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