diff --git a/src/FactSystem/FactControls/AltitudeFactTextField.qml b/src/FactSystem/FactControls/AltitudeFactTextField.qml
index 2775af2..5a22eca 100644
--- a/src/FactSystem/FactControls/AltitudeFactTextField.qml
+++ b/src/FactSystem/FactControls/AltitudeFactTextField.qml
@@ -16,12 +16,13 @@ import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
FactTextField {
- unitsLabel: fact ? fact.units : ""
- extraUnitsLabel: fact ? _altitudeModeExtraUnits : ""
- showUnits: true
- showHelp: true
+ unitsLabel: fact ? fact.units : ""
+ extraUnitsLabel: fact ? _altitudeModeExtraUnits : ""
+ showUnits: true
+ showHelp: true
- property int altitudeMode: QGroundControl.AltitudeModeNone
+ property int altitudeMode: QGroundControl.AltitudeModeNone
+ property bool showAboveTerrainWarning: true
readonly property string _altModeNoneExtraUnits: ""
readonly property string _altModeRelativeExtraUnits: qsTr("(Rel)")
@@ -44,7 +45,7 @@ FactTextField {
_altitudeModeExtraUnits = _altModeAbsoluteExtraUnits
} else if (altitudeMode === QGroundControl.AltitudeModeAboveTerrain) {
_altitudeModeExtraUnits = _altModeAboveTerrainExtraUnits
- if (!_aboveTerrainWarning.rawValue) {
+ if (!_aboveTerrainWarning.rawValue && showAboveTerrainWarning) {
mainWindow.showComponentDialog(aboveTerrainWarning, qsTr("Warning"), mainWindow.showDialogDefaultWidth, StandardButton.Ok)
}
} else if (missionItem.altitudeMode === QGroundControl.AltitudeModeTerrainFrame) {
diff --git a/src/MissionManager/CameraCalc.cc b/src/MissionManager/CameraCalc.cc
index 06c8edc..39a9719 100644
--- a/src/MissionManager/CameraCalc.cc
+++ b/src/MissionManager/CameraCalc.cc
@@ -29,7 +29,7 @@ const char* CameraCalc::_jsonCameraSpecTypeKey = "CameraSpecType";
CameraCalc::CameraCalc(PlanMasterController* masterController, const QString& settingsGroup, QObject* parent)
: CameraSpec (settingsGroup, parent)
- , _dirty (masterController)
+ , _dirty (false)
, _disableRecalc (false)
, _distanceToSurfaceRelative (true)
, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraCalc.FactMetaData.json"), this))
diff --git a/src/MissionManager/CameraCalc.h b/src/MissionManager/CameraCalc.h
index 22cf4d7..054160c 100644
--- a/src/MissionManager/CameraCalc.h
+++ b/src/MissionManager/CameraCalc.h
@@ -33,6 +33,13 @@ public:
Q_PROPERTY(Fact* sideOverlap READ sideOverlap CONSTANT)
Q_PROPERTY(Fact* adjustedFootprintSide READ adjustedFootprintSide CONSTANT) ///< Side footprint adjusted down for overlap
Q_PROPERTY(Fact* adjustedFootprintFrontal READ adjustedFootprintFrontal CONSTANT) ///< Frontal footprint adjusted down for overlap
+
+ // When we are creating a manual grid we still use CameraCalc to store the manual grid information. It's a bastardization of what
+ // CameraCalc is meant for but it greatly simplifies code and persistance of manual grids.
+ // grid altitude - distanceToSurface
+ // grid altitude mode - distanceToSurfaceRelative
+ // trigger distance - adjustedFootprintFrontal
+ // transect spacing - adjustedFootprintSide
Q_PROPERTY(bool distanceToSurfaceRelative READ distanceToSurfaceRelative WRITE setDistanceToSurfaceRelative NOTIFY distanceToSurfaceRelativeChanged)
// The following values are calculated from the camera properties
diff --git a/src/MissionManager/MissionSettingsItem.cc b/src/MissionManager/MissionSettingsItem.cc
index 4302a21..7712faa 100644
--- a/src/MissionManager/MissionSettingsItem.cc
+++ b/src/MissionManager/MissionSettingsItem.cc
@@ -190,7 +190,9 @@ void MissionSettingsItem::_setCoordinateWorker(const QGeoCoordinate& coordinate)
_plannedHomePositionCoordinate = coordinate;
emit coordinateChanged(coordinate);
emit exitCoordinateChanged(coordinate);
- _plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
+ if (_plannedHomePositionFromVehicle) {
+ _plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
+ }
}
}
diff --git a/src/MissionManager/TransectStyle.SettingsGroup.json b/src/MissionManager/TransectStyle.SettingsGroup.json
index fe86299..d651168 100644
--- a/src/MissionManager/TransectStyle.SettingsGroup.json
+++ b/src/MissionManager/TransectStyle.SettingsGroup.json
@@ -37,7 +37,7 @@
},
{
"name": "TerrainAdjustTolerance",
- "shortDescription": "If adjacent terrain waypoints are within this tolerence they will be removed.",
+ "shortDescription": "Additional waypoints within the transect will be added if the terrain altitude difference grows larger than this tolerance.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
diff --git a/src/MissionManager/TransectStyleComplexItem.cc b/src/MissionManager/TransectStyleComplexItem.cc
index 948a196..489e9a2 100644
--- a/src/MissionManager/TransectStyleComplexItem.cc
+++ b/src/MissionManager/TransectStyleComplexItem.cc
@@ -538,6 +538,18 @@ void TransectStyleComplexItem::_adjustTransectsForTerrain(void)
}
emit lastSequenceNumberChanged(lastSequenceNumber());
+
+ // Update entry/exit coordinates
+ if (_transects.count()) {
+ if (_transects.first().count()) {
+ _coordinate.setAltitude(_transects.first().first().coord.altitude());
+ emit coordinateChanged(coordinate());
+ }
+ if (_transects.last().count()) {
+ _exitCoordinate.setAltitude(_transects.last().last().coord.altitude());
+ emit exitCoordinateChanged(exitCoordinate());
+ }
+ }
}
}
@@ -653,32 +665,25 @@ void TransectStyleComplexItem::_adjustForTolerance(QList<CoordInfo_t>& transect)
{
QList<CoordInfo_t> adjustedPoints;
- double tolerance = _terrainAdjustToleranceFact.rawValue().toDouble();
-
- int coordIndex = 0;
- while (coordIndex < transect.count()) {
- const CoordInfo_t& fromCoordInfo = transect[coordIndex];
+ if (transect.count()) {
+ double tolerance = _terrainAdjustToleranceFact.rawValue().toDouble();
+ CoordInfo_t& lastCoordInfo = transect.first();
- adjustedPoints.append(fromCoordInfo);
+ adjustedPoints.append(lastCoordInfo);
- // Walk forward until we fall out of tolerence or find a fixed point
- while (++coordIndex < transect.count()) {
- const CoordInfo_t& toCoordInfo = transect[coordIndex];
- if (toCoordInfo.coordType != CoordTypeInteriorTerrainAdded || qAbs(fromCoordInfo.coord.altitude() - toCoordInfo.coord.altitude()) > tolerance) {
- adjustedPoints.append(toCoordInfo);
- coordIndex++;
- break;
+ int coordIndex = 1;
+ while (coordIndex < transect.count()) {
+ // Walk forward until we fall out of tolerence. When we fall out of tolerance add that point.
+ // We always add non-interstitial points no matter what.
+ const CoordInfo_t& nextCoordInfo = transect[coordIndex];
+ if (nextCoordInfo.coordType != CoordTypeInteriorTerrainAdded || qAbs(lastCoordInfo.coord.altitude() - nextCoordInfo.coord.altitude()) > tolerance) {
+ adjustedPoints.append(nextCoordInfo);
+ lastCoordInfo = nextCoordInfo;
}
+ coordIndex++;
}
}
-#if 0
- qDebug() << "_adjustForTolerance";
- for (const TransectStyleComplexItem::CoordInfo_t& coordInfo: adjustedPoints) {
- qDebug() << coordInfo.coordType;
- }
-#endif
-
transect = adjustedPoints;
}
@@ -686,7 +691,7 @@ void TransectStyleComplexItem::_addInterstitialTerrainPoints(QList<CoordInfo_t>&
{
QList<CoordInfo_t> adjustedTransect;
- double requestedAltitude = _cameraCalc.distanceToSurface()->rawValue().toDouble();
+ double distanceToSurface = _cameraCalc.distanceToSurface()->rawValue().toDouble();
for (int i=0; i<transect.count() - 1; i++) {
CoordInfo_t fromCoordInfo = transect[i];
@@ -697,8 +702,8 @@ void TransectStyleComplexItem::_addInterstitialTerrainPoints(QList<CoordInfo_t>&
const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo = transectPathHeightInfo[i];
- fromCoordInfo.coord.setAltitude(pathHeightInfo.heights.first() + requestedAltitude);
- toCoordInfo.coord.setAltitude(pathHeightInfo.heights.last() + requestedAltitude);
+ fromCoordInfo.coord.setAltitude(pathHeightInfo.heights.first() + distanceToSurface);
+ toCoordInfo.coord.setAltitude(pathHeightInfo.heights.last() + distanceToSurface);
if (i == 0) {
adjustedTransect.append(fromCoordInfo);
@@ -712,7 +717,7 @@ void TransectStyleComplexItem::_addInterstitialTerrainPoints(QList<CoordInfo_t>&
CoordInfo_t interstitialCoordInfo;
interstitialCoordInfo.coordType = CoordTypeInteriorTerrainAdded;
interstitialCoordInfo.coord = fromCoordInfo.coord.atDistanceAndAzimuth(distance * percentTowardsTo, azimuth);
- interstitialCoordInfo.coord.setAltitude(interstitialTerrainHeight + requestedAltitude);
+ interstitialCoordInfo.coord.setAltitude(interstitialTerrainHeight + distanceToSurface);
adjustedTransect.append(interstitialCoordInfo);
}
@@ -722,7 +727,7 @@ void TransectStyleComplexItem::_addInterstitialTerrainPoints(QList<CoordInfo_t>&
CoordInfo_t lastCoordInfo = transect.last();
const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo = transectPathHeightInfo.last();
- lastCoordInfo.coord.setAltitude(pathHeightInfo.heights.last() + requestedAltitude);
+ lastCoordInfo.coord.setAltitude(pathHeightInfo.heights.last() + distanceToSurface);
adjustedTransect.append(lastCoordInfo);
#if 0
diff --git a/src/PlanView/CameraCalcCamera.qml b/src/PlanView/CameraCalcCamera.qml
index 089b003..4f74ade 100644
--- a/src/PlanView/CameraCalcCamera.qml
+++ b/src/PlanView/CameraCalcCamera.qml
@@ -15,11 +15,6 @@ Column {
spacing: _margin
property var cameraCalc
- property bool vehicleFlightIsFrontal: true
- property string distanceToSurfaceLabel
- property int distanceToSurfaceAltitudeMode: QGroundControl.AltitudeModeNone
- property string frontalDistanceLabel
- property string sideDistanceLabel
property real _margin: ScreenTools.defaultFontPixelWidth / 2
property string _cameraName: cameraCalc.cameraName.value
diff --git a/src/PlanView/CameraCalcGrid.qml b/src/PlanView/CameraCalcGrid.qml
index 04250e3..f651208 100644
--- a/src/PlanView/CameraCalcGrid.qml
+++ b/src/PlanView/CameraCalcGrid.qml
@@ -87,21 +87,24 @@ Column {
QGCRadioButton {
id: fixedDistanceRadio
+ leftPadding: 0
text: distanceToSurfaceLabel
checked: !!cameraCalc.valueSetIsDistance.value
onClicked: cameraCalc.valueSetIsDistance.value = 1
}
AltitudeFactTextField {
- fact: cameraCalc.distanceToSurface
- altitudeMode: distanceToSurfaceAltitudeMode
- enabled: fixedDistanceRadio.checked
- Layout.fillWidth: true
+ fact: cameraCalc.distanceToSurface
+ altitudeMode: distanceToSurfaceAltitudeMode
+ showAboveTerrainWarning: false
+ enabled: fixedDistanceRadio.checked
+ Layout.fillWidth: true
}
QGCRadioButton {
id: fixedImageDensityRadio
- text: qsTr("Ground Res")
+ leftPadding: 0
+ text: qsTr("Grnd Res")
checked: !cameraCalc.valueSetIsDistance.value
onClicked: cameraCalc.valueSetIsDistance.value = 0
}
@@ -125,9 +128,10 @@ Column {
QGCLabel { text: distanceToSurfaceLabel }
AltitudeFactTextField {
- fact: cameraCalc.distanceToSurface
- altitudeMode: distanceToSurfaceAltitudeMode
- Layout.fillWidth: true
+ fact: cameraCalc.distanceToSurface
+ altitudeMode: distanceToSurfaceAltitudeMode
+ showAboveTerrainWarning: false
+ Layout.fillWidth: true
}
QGCLabel { text: frontalDistanceLabel }
diff --git a/src/PlanView/CorridorScanEditor.qml b/src/PlanView/CorridorScanEditor.qml
index d4cde24..752e484 100644
--- a/src/PlanView/CorridorScanEditor.qml
+++ b/src/PlanView/CorridorScanEditor.qml
@@ -252,14 +252,7 @@ Rectangle {
visible: tabBar.currentIndex == 1
CameraCalcCamera {
- cameraCalc: missionItem.cameraCalc
- vehicleFlightIsFrontal: true
- distanceToSurfaceLabel: qsTr("Altitude")
- distanceToSurfaceAltitudeMode: missionItem.followTerrain ?
- QGroundControl.AltitudeModeAboveTerrain :
- missionItem.cameraCalc.distanceToSurfaceRelative
- frontalDistanceLabel: qsTr("Trigger Dist")
- sideDistanceLabel: qsTr("Spacing")
+ cameraCalc: missionItem.cameraCalc
}
}
}
diff --git a/src/PlanView/StructureScanEditor.qml b/src/PlanView/StructureScanEditor.qml
index 60f222d..621db0c 100644
--- a/src/PlanView/StructureScanEditor.qml
+++ b/src/PlanView/StructureScanEditor.qml
@@ -247,12 +247,7 @@ Rectangle {
visible: tabBar.currentIndex == 1
CameraCalcCamera {
- cameraCalc: missionItem.cameraCalc
- vehicleFlightIsFrontal: false
- distanceToSurfaceLabel: qsTr("Scan Distance")
- distanceToSurfaceAltitudeMode: QGroundControl.AltitudeModeNone
- frontalDistanceLabel: qsTr("Layer Height")
- sideDistanceLabel: qsTr("Trigger Distance")
+ cameraCalc: missionItem.cameraCalc
}
}
}
diff --git a/src/PlanView/SurveyItemEditor.qml b/src/PlanView/SurveyItemEditor.qml
index 12b8c3d..8053847 100644
--- a/src/PlanView/SurveyItemEditor.qml
+++ b/src/PlanView/SurveyItemEditor.qml
@@ -280,16 +280,6 @@ Rectangle {
spacing: _margin
visible: transectsHeader.checked
- /*
- Temporarily removed due to bug https://github.com/mavlink/qgroundcontrol/issues/7005
- FactCheckBox {
- text: qsTr("Split concave polygons")
- fact: _splitConcave
- visible: _splitConcave.visible
- property Fact _splitConcave: missionItem.splitConcavePolygons
- }
- */
-
QGCOptionsComboBox {
Layout.fillWidth: true
@@ -405,14 +395,7 @@ Rectangle {
visible: tabBar.currentIndex == 1
CameraCalcCamera {
- cameraCalc: missionItem.cameraCalc
- vehicleFlightIsFrontal: true
- distanceToSurfaceLabel: qsTr("Altitude")
- distanceToSurfaceAltitudeMode: missionItem.followTerrain ?
- QGroundControl.AltitudeModeAboveTerrain :
- missionItem.cameraCalc.distanceToSurfaceRelative
- frontalDistanceLabel: qsTr("Trigger Dist")
- sideDistanceLabel: qsTr("Spacing")
+ cameraCalc: missionItem.cameraCalc
}
} // Camera Column