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Merge pull request #7239 from DonLakeFlyer/StructureScanFixes 

Structure scan fixes (V2)
QGC4.4
Don Gagne 6 years ago committed by GitHub
parent
a40661ca28 92e497da33
commit
b91e9897f6
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6 changed files with 236 additions and 169 deletions
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  1. 2
      ChangeLog.md
  2. 14
      src/MissionManager/StructureScan.SettingsGroup.json
  3. 307
      src/MissionManager/StructureScanComplexItem.cc
  4. 32
      src/MissionManager/StructureScanComplexItem.h
  5. 11
      src/MissionManager/StructureScanComplexItemTest.cc
  6. 39
      src/PlanView/StructureScanEditor.qml

2
ChangeLog.md
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@ -6,7 +6,7 @@ Note: This file only contains high level features or important fixes. @@ -6,7 +6,7 @@ Note: This file only contains high level features or important fixes.
### 3.6.0 - Daily Build
* No changes yet
* Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans.
### 3.5.1 - Not yet released
* Fix tile set count but in OfflineMaps which would cause image and elevation tile set to have incorrect counts and be incorrectly marked as download incomplete.

14
src/MissionManager/StructureScan.SettingsGroup.json
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@ -10,8 +10,16 @@ @@ -10,8 +10,16 @@
"defaultValue": 0
},
{
"name": "Altitude",
"shortDescription": "Altitude for the bottom layer of the structure scan.",
"name": "EntranceAltitude",
"shortDescription": "Vehicle will fly to/from the structure at this altitude.",
"type": "double",
"units": "m",
"decimalPlaces": 1,
"defaultValue": 50
},
{
"name": "ScanBottomAlt",
"shortDescription": "Altitude for the bottomost covered area of the scan. You can adjust this value such that the Bottom Layer Alt will fly above obstacles on the ground.",
"type": "double",
"units": "m",
"decimalPlaces": 1,
@ -35,7 +43,7 @@ @@ -35,7 +43,7 @@
},
{
"name": "StartFromTop",
"shortDescription": "Start scan from top of structure.",
"shortDescription": "Start scanning from top of structure.",
"type": "bool",
"defaultValue": true
}

307
src/MissionManager/StructureScanComplexItem.cc
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@ -22,7 +22,8 @@ @@ -22,7 +22,8 @@
QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog")
const char* StructureScanComplexItem::settingsGroup = "StructureScan";
const char* StructureScanComplexItem::altitudeName = "Altitude";
const char* StructureScanComplexItem::_entranceAltName = "EntranceAltitude";
const char* StructureScanComplexItem::scanBottomAltName = "ScanBottomAlt";
const char* StructureScanComplexItem::structureHeightName = "StructureHeight";
const char* StructureScanComplexItem::layersName = "Layers";
const char* StructureScanComplexItem::gimbalPitchName = "GimbalPitch";
@ -30,43 +31,41 @@ const char* StructureScanComplexItem::startFromTopName = "StartFromTo @@ -30,43 +31,41 @@ const char* StructureScanComplexItem::startFromTopName = "StartFromTo
const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan";
const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc";
const char* StructureScanComplexItem::_jsonAltitudeRelativeKey = "altitudeRelative";
StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent)
: ComplexMissionItem (vehicle, flyView, parent)
, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/StructureScan.SettingsGroup.json"), this /* QObject parent */))
, _sequenceNumber (0)
, _dirty (false)
, _altitudeRelative (true)
, _entryVertex (0)
, _ignoreRecalc (false)
, _scanDistance (0.0)
, _cameraShots (0)
, _cameraCalc (vehicle, settingsGroup)
, _altitudeFact (settingsGroup, _metaDataMap[altitudeName])
, _scanBottomAltFact (settingsGroup, _metaDataMap[scanBottomAltName])
, _structureHeightFact (settingsGroup, _metaDataMap[structureHeightName])
, _layersFact (settingsGroup, _metaDataMap[layersName])
, _gimbalPitchFact (settingsGroup, _metaDataMap[gimbalPitchName])
, _startFromTopFact (settingsGroup, _metaDataMap[startFromTopName])
, _entranceAltFact (settingsGroup, _metaDataMap[_entranceAltName])
{
_editorQml = "qrc:/qml/StructureScanEditor.qml";
_altitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
_entranceAltFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_startFromTopFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_entranceAltFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_scanBottomAltFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_startFromTopFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_startFromTopFact, &Fact::valueChanged, this, &StructureScanComplexItem::_signalTopBottomAltChanged);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_signalTopBottomAltChanged);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
connect(&_structureHeightFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
connect(&_scanBottomAltFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
connect(_cameraCalc.adjustedFootprintFrontal(), &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::_setDirty);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::coordinateHasRelativeAltitudeChanged);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::exitCoordinateHasRelativeAltitudeChanged);
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_updateCoordinateAltitudes);
connect(&_entranceAltFact, &Fact::valueChanged, this, &StructureScanComplexItem::_updateCoordinateAltitudes);
connect(&_structurePolygon, &QGCMapPolygon::dirtyChanged, this, &StructureScanComplexItem::_polygonDirtyChanged);
connect(&_structurePolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
@ -130,9 +129,12 @@ int StructureScanComplexItem::lastSequenceNumber(void) const @@ -130,9 +129,12 @@ int StructureScanComplexItem::lastSequenceNumber(void) const
// Two commands for camera trigger start/stop
int layerItemCount = _flightPolygon.count() + 1 + 2;
// Take into account the number of layers
int multiLayerItemCount = layerItemCount * _layersFact.rawValue().toInt();
int itemCount = multiLayerItemCount + 2; // +2 for ROI_WPNEXT_OFFSET and ROI_NONE commands
// +2 for ROI_WPNEXT_OFFSET and ROI_NONE commands
// +2 for entrance/exit waypoints
int itemCount = multiLayerItemCount + 2 + 2;
return _sequenceNumber + itemCount - 1;
}
@ -150,16 +152,16 @@ void StructureScanComplexItem::save(QJsonArray& missionItems) @@ -150,16 +152,16 @@ void StructureScanComplexItem::save(QJsonArray& missionItems)
QJsonObject saveObject;
// Header
saveObject[JsonHelper::jsonVersionKey] = 2;
saveObject[JsonHelper::jsonVersionKey] = 3;
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[altitudeName] = _altitudeFact.rawValue().toDouble();
saveObject[structureHeightName] = _structureHeightFact.rawValue().toDouble();
saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative;
saveObject[layersName] = _layersFact.rawValue().toDouble();
saveObject[gimbalPitchName] = _gimbalPitchFact.rawValue().toDouble();
saveObject[startFromTopName] = _startFromTopFact.rawValue().toBool();
saveObject[_entranceAltName] = _entranceAltFact.rawValue().toDouble();
saveObject[scanBottomAltName] = _scanBottomAltFact.rawValue().toDouble();
saveObject[structureHeightName] = _structureHeightFact.rawValue().toDouble();
saveObject[layersName] = _layersFact.rawValue().toDouble();
saveObject[gimbalPitchName] = _gimbalPitchFact.rawValue().toDouble();
saveObject[startFromTopName] = _startFromTopFact.rawValue().toBool();
QJsonObject cameraCalcObject;
_cameraCalc.save(cameraCalcObject);
@ -186,13 +188,13 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen @@ -186,13 +188,13 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
{ QGCMapPolygon::jsonPolygonKey, QJsonValue::Array, true },
{ altitudeName, QJsonValue::Double, true },
{ scanBottomAltName, QJsonValue::Double, true },
{ structureHeightName, QJsonValue::Double, true },
{ _jsonAltitudeRelativeKey, QJsonValue::Bool, true },
{ layersName, QJsonValue::Double, true },
{ gimbalPitchName, QJsonValue::Double, false }, // This value was added after initial implementation so may be missing from older files
{ startFromTopName, QJsonValue::Bool, false }, // This value was added after initial implementation so may be missing from older files
{ _jsonCameraCalcKey, QJsonValue::Object, true },
{ _entranceAltName, QJsonValue::Double, true },
{ gimbalPitchName, QJsonValue::Double, true },
{ startFromTopName, QJsonValue::Bool, true },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
return false;
@ -208,8 +210,8 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen @@ -208,8 +210,8 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
}
int version = complexObject[JsonHelper::jsonVersionKey].toInt();
if (version != 2) {
errorString = tr("%1 complex item version %2 not supported").arg(jsonComplexItemTypeValue).arg(version);
if (version != 3) {
errorString = tr("%1 version %2 not supported").arg(jsonComplexItemTypeValue).arg(version);
return false;
}
@ -220,18 +222,12 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen @@ -220,18 +222,12 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
return false;
}
_altitudeFact.setRawValue (complexObject[altitudeName].toDouble());
_layersFact.setRawValue (complexObject[layersName].toDouble());
_structureHeightFact.setRawValue(complexObject[structureHeightName].toDouble());
_startFromTopFact.setRawValue (complexObject[startFromTopName].toBool(false)); // Set the false if doesn't exist, which matches previous functionality prior to setting
_altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true);
double gimbalPitchValue = 0;
if (complexObject.contains(gimbalPitchName)) {
gimbalPitchValue = complexObject[gimbalPitchName].toDouble();
}
_gimbalPitchFact.setRawValue(gimbalPitchValue);
_scanBottomAltFact.setRawValue (complexObject[scanBottomAltName].toDouble());
_layersFact.setRawValue (complexObject[layersName].toDouble());
_structureHeightFact.setRawValue (complexObject[structureHeightName].toDouble());
_startFromTopFact.setRawValue (complexObject[startFromTopName].toBool());
_entranceAltFact.setRawValue (complexObject[startFromTopName].toDouble());
_gimbalPitchFact.setRawValue (complexObject[gimbalPitchName].toDouble());
if (!_structurePolygon.loadFromJson(complexObject, true /* required */, errorString)) {
_structurePolygon.clear();
@ -297,49 +293,74 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO @@ -297,49 +293,74 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
{
int seqNum = _sequenceNumber;
bool startFromTop = _startFromTopFact.rawValue().toBool();
double startAltitude = _altitudeFact.rawValue().toDouble() + (startFromTop ? _structureHeightFact.rawValue().toDouble() : 0);
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET,
MAV_FRAME_MISSION,
0, 0, 0, 0, // param 1-4 not used
_gimbalPitchFact.rawValue().toDouble(),
0, // Roll stays in standard orientation
90, // 90 degreee yaw offset to point to structure
true, // autoContinue
false, // isCurrentItem
missionItemParent);
double startAltitude = _scanBottomAltFact.rawValue().toDouble() + (startFromTop ? _structureHeightFact.rawValue().toDouble() : 0);
MissionItem* item = nullptr;
// Entrance waypoint
QGeoCoordinate entranceExitCoord = _flightPolygon.vertexCoordinate(_entryVertex);
item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
MAV_FRAME_GLOBAL_RELATIVE_ALT,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
entranceExitCoord.latitude(),
entranceExitCoord.longitude(),
_entranceAltFact.rawValue().toDouble(),
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
for (int layer=0; layer<_layersFact.rawValue().toInt(); layer++) {
bool addTriggerStart = true;
double layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + (layer * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
double layerAltitude;
// Point camera at structure
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET,
MAV_FRAME_MISSION,
0, 0, 0, 0, // param 1-4 not used
_gimbalPitchFact.rawValue().toDouble(),
0, // Roll stays in standard orientation
90, // 90 degreee yaw offset to point to structure
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
if (startFromTop) {
layerAltitude = startAltitude - layerIncrement;
} else {
layerAltitude = startAltitude + layerIncrement;
}
// Set up for the first layer
double layerAltitude = startAltitude;
double halfLayerHeight = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0;
if (startFromTop) {
layerAltitude -= halfLayerHeight;
} else {
layerAltitude += halfLayerHeight;
}
for (int i=0; i<_flightPolygon.count(); i++) {
QGeoCoordinate vertexCoord = _flightPolygon.vertexCoordinate(i);
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
_altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
vertexCoord.latitude(),
vertexCoord.longitude(),
layerAltitude,
true, // autoContinue
false, // isCurrentItem
missionItemParent);
for (int layer=0; layer<_layersFact.rawValue().toInt(); layer++) {
bool addTriggerStart = true;
bool done = false;
int currentVertex = _entryVertex;
int processedVertices = 0;
do {
QGeoCoordinate vertexCoord = _flightPolygon.vertexCoordinate(currentVertex);
item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
MAV_FRAME_GLOBAL_RELATIVE_ALT,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
vertexCoord.latitude(),
vertexCoord.longitude(),
layerAltitude,
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
// Start camera triggering after first waypoint in layer
if (addTriggerStart) {
addTriggerStart = false;
item = new MissionItem(seqNum++,
@ -354,25 +375,19 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO @@ -354,25 +375,19 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
missionItemParent);
items.append(item);
}
}
QGeoCoordinate vertexCoord = _flightPolygon.vertexCoordinate(0);
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
_altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
vertexCoord.latitude(),
vertexCoord.longitude(),
layerAltitude,
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
// Move to next vertext
currentVertex++;
if (currentVertex >= _flightPolygon.count()) {
currentVertex = 0;
}
// Have we processed all the vertices
processedVertices++;
done = processedVertices == _flightPolygon.count() + 1;
} while (!done);
// Stop camera triggering after last waypoint in layer
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
@ -384,8 +399,16 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO @@ -384,8 +399,16 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
false, // isCurrentItem
missionItemParent);
items.append(item);
// Move to next layer altitude
if (startFromTop) {
layerAltitude -= halfLayerHeight * 2;
} else {
layerAltitude += halfLayerHeight * 2;
}
}
// Return camera to neutral position
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_ROI_NONE,
MAV_FRAME_MISSION,
@ -394,11 +417,28 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO @@ -394,11 +417,28 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
false, // isCurrentItem
missionItemParent);
items.append(item);
// Exit waypoint
item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
MAV_FRAME_GLOBAL_RELATIVE_ALT,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
entranceExitCoord.latitude(),
entranceExitCoord.longitude(),
_entranceAltFact.rawValue().toDouble(),
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
int StructureScanComplexItem::cameraShots(void) const
{
return true /*_triggerCamera()*/ ? _cameraShots : 0;
return _cameraShots;
}
void StructureScanComplexItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
@ -417,7 +457,7 @@ void StructureScanComplexItem::_setDirty(void) @@ -417,7 +457,7 @@ void StructureScanComplexItem::_setDirty(void)
void StructureScanComplexItem::applyNewAltitude(double newAltitude)
{
_altitudeFact.setRawValue(newAltitude);
_entranceAltFact.setRawValue(newAltitude);
}
void StructureScanComplexItem::_polygonDirtyChanged(bool dirty)
@ -435,8 +475,9 @@ double StructureScanComplexItem::timeBetweenShots(void) @@ -435,8 +475,9 @@ double StructureScanComplexItem::timeBetweenShots(void)
QGeoCoordinate StructureScanComplexItem::coordinate(void) const
{
if (_flightPolygon.count() > 0) {
int entryVertex = qMax(qMin(_entryVertex, _flightPolygon.count() - 1), 0);
return _flightPolygon.vertexCoordinate(entryVertex);
QGeoCoordinate coord = _flightPolygon.vertexCoordinate(_entryVertex);
coord.setAltitude(_entranceAltFact.rawValue().toDouble());
return coord;
} else {
return QGeoCoordinate();
}
@ -465,8 +506,21 @@ void StructureScanComplexItem::rotateEntryPoint(void) @@ -465,8 +506,21 @@ void StructureScanComplexItem::rotateEntryPoint(void)
void StructureScanComplexItem::_rebuildFlightPolygon(void)
{
// While this is happening all hell breaks loose signal-wise which can cause a bad vertex reference.
// So we reset to a safe value first and then double check validity when putting it back
int savedEntryVertex = _entryVertex;
_entryVertex = 0;
_flightPolygon = _structurePolygon;
_flightPolygon.offset(_cameraCalc.distanceToSurface()->rawValue().toDouble());
if (savedEntryVertex >= _flightPolygon.count()) {
_entryVertex = 0;
} else {
_entryVertex = savedEntryVertex;
}
emit coordinateChanged(coordinate());
emit exitCoordinateChanged(exitCoordinate());
}
void StructureScanComplexItem::_recalcCameraShots(void)
@ -498,34 +552,49 @@ void StructureScanComplexItem::_recalcCameraShots(void) @@ -498,34 +552,49 @@ void StructureScanComplexItem::_recalcCameraShots(void)
_setCameraShots(cameraShots * _layersFact.rawValue().toInt());
}
void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative)
void StructureScanComplexItem::_recalcLayerInfo(void)
{
double surfaceHeight = qMax(_structureHeightFact.rawValue().toDouble() - _scanBottomAltFact.rawValue().toDouble(), 0.0);
// Layer count is calculated from surface and layer heights
_layersFact.setRawValue(qMax(qCeil(surfaceHeight / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()), 1));
}
void StructureScanComplexItem::_updateGimbalPitch(void)
{
if (altitudeRelative != _altitudeRelative) {
_altitudeRelative = altitudeRelative;
emit altitudeRelativeChanged(altitudeRelative);
if (!_cameraCalc.isManualCamera()) {
_gimbalPitchFact.setRawValue(0);
}
}
void StructureScanComplexItem::_recalcLayerInfo(void)
double StructureScanComplexItem::bottomFlightAlt(void)
{
if (_cameraCalc.isManualCamera()) {
// Structure height is calculated from layer count, layer height.
_structureHeightFact.setSendValueChangedSignals(false);
_structureHeightFact.setRawValue(_layersFact.rawValue().toInt() * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
_structureHeightFact.clearDeferredValueChangeSignal();
_structureHeightFact.setSendValueChangedSignals(true);
if (_startFromTopFact.rawValue().toBool()) {
// Structure Height minus the topmost layers
double layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + ((_layersFact.rawValue().toInt() - 1) * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
return _structureHeightFact.rawValue().toDouble() - layerIncrement;
} else {
// Layer count is calculated from structure and layer heights
_layersFact.setSendValueChangedSignals(false);
_layersFact.setRawValue(qCeil(_structureHeightFact.rawValue().toDouble() / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()));
_layersFact.clearDeferredValueChangeSignal();
_layersFact.setSendValueChangedSignals(true);
// Bottom alt plus half the height of a layer
double layerIncrement = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0;
return _scanBottomAltFact.rawValue().toDouble() + layerIncrement;
}
}
void StructureScanComplexItem::_updateGimbalPitch(void)
double StructureScanComplexItem:: topFlightAlt(void)
{
if (!_cameraCalc.isManualCamera()) {
_gimbalPitchFact.setRawValue(0);
if (_startFromTopFact.rawValue().toBool()) {
// Structure Height minus half the layer height
double layerIncrement = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0;
return _structureHeightFact.rawValue().toDouble() - layerIncrement;
} else {
// Bottom alt plus all layers
double layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + ((_layersFact.rawValue().toInt() - 1) * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
return _scanBottomAltFact.rawValue().toDouble() + layerIncrement;
}
}
void StructureScanComplexItem::_signalTopBottomAltChanged(void)
{
emit topFlightAltChanged();
emit bottomFlightAltChanged();
}

32
src/MissionManager/StructureScanComplexItem.h
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@ -31,32 +31,34 @@ public: @@ -31,32 +31,34 @@ public:
StructureScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrSHPFile, QObject* parent);
Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT)
Q_PROPERTY(Fact* altitude READ altitude CONSTANT)
Q_PROPERTY(Fact* entranceAlt READ entranceAlt CONSTANT)
Q_PROPERTY(Fact* structureHeight READ structureHeight CONSTANT)
Q_PROPERTY(Fact* scanBottomAlt READ scanBottomAlt CONSTANT)
Q_PROPERTY(Fact* layers READ layers CONSTANT)
Q_PROPERTY(Fact* gimbalPitch READ gimbalPitch CONSTANT)
Q_PROPERTY(Fact* startFromTop READ startFromTop CONSTANT)
Q_PROPERTY(bool altitudeRelative READ altitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged)
Q_PROPERTY(double bottomFlightAlt READ bottomFlightAlt NOTIFY bottomFlightAltChanged)
Q_PROPERTY(double topFlightAlt READ topFlightAlt NOTIFY topFlightAltChanged)
Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
Q_PROPERTY(QGCMapPolygon* structurePolygon READ structurePolygon CONSTANT)
Q_PROPERTY(QGCMapPolygon* flightPolygon READ flightPolygon CONSTANT)
CameraCalc* cameraCalc (void) { return &_cameraCalc; }
Fact* altitude (void) { return &_altitudeFact; }
Fact* entranceAlt (void) { return &_entranceAltFact; }
Fact* scanBottomAlt (void) { return &_scanBottomAltFact; }
Fact* structureHeight (void) { return &_structureHeightFact; }
Fact* layers (void) { return &_layersFact; }
Fact* gimbalPitch (void) { return &_gimbalPitchFact; }
Fact* startFromTop (void) { return &_startFromTopFact; }
bool altitudeRelative (void) const { return _altitudeRelative; }
double bottomFlightAlt (void);
double topFlightAlt (void);
int cameraShots (void) const;
double timeBetweenShots (void);
QGCMapPolygon* structurePolygon (void) { return &_structurePolygon; }
QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; }
void setAltitudeRelative (bool altitudeRelative);
Q_INVOKABLE void rotateEntryPoint(void);
// Overrides from ComplexMissionItem
@ -88,8 +90,8 @@ public: @@ -88,8 +90,8 @@ public:
void applyNewAltitude (double newAltitude) final;
double additionalTimeDelay (void) const final { return 0; }
bool coordinateHasRelativeAltitude (void) const final { return _altitudeRelative; }
bool exitCoordinateHasRelativeAltitude (void) const final { return _altitudeRelative; }
bool coordinateHasRelativeAltitude (void) const final { return true; }
bool exitCoordinateHasRelativeAltitude (void) const final { return true; }
bool exitCoordinateSameAsEntry (void) const final { return true; }
void setDirty (bool dirty) final;
@ -100,7 +102,7 @@ public: @@ -100,7 +102,7 @@ public:
static const char* jsonComplexItemTypeValue;
static const char* settingsGroup;
static const char* altitudeName;
static const char* scanBottomAltName;
static const char* structureHeightName;
static const char* layersName;
static const char* gimbalPitchName;
@ -109,7 +111,8 @@ public: @@ -109,7 +111,8 @@ public:
signals:
void cameraShotsChanged (int cameraShots);
void timeBetweenShotsChanged (void);
void altitudeRelativeChanged (bool altitudeRelative);
void bottomFlightAltChanged (void);
void topFlightAltChanged (void);
private slots:
void _setDirty(void);
@ -122,6 +125,7 @@ private slots: @@ -122,6 +125,7 @@ private slots:
void _recalcLayerInfo (void);
void _updateLastSequenceNumber (void);
void _updateGimbalPitch (void);
void _signalTopBottomAltChanged (void);
private:
void _setExitCoordinate(const QGeoCoordinate& coordinate);
@ -132,10 +136,8 @@ private: @@ -132,10 +136,8 @@ private:
QMap<QString, FactMetaData*> _metaDataMap;
int _sequenceNumber;
bool _dirty;
QGCMapPolygon _structurePolygon;
QGCMapPolygon _flightPolygon;
bool _altitudeRelative;
int _entryVertex; // Polygon vertext which is used as the mission entry point
bool _ignoreRecalc;
@ -146,14 +148,16 @@ private: @@ -146,14 +148,16 @@ private:
CameraCalc _cameraCalc;
SettingsFact _altitudeFact;
SettingsFact _scanBottomAltFact;
SettingsFact _structureHeightFact;
SettingsFact _layersFact;
SettingsFact _gimbalPitchFact;
SettingsFact _startFromTopFact;
SettingsFact _entranceAltFact;
static const char* _jsonCameraCalcKey;
static const char* _jsonAltitudeRelativeKey;
static const char* _entranceAltName; // This value cannot be overriden
friend class StructureScanComplexItemTest;
};

11
src/MissionManager/StructureScanComplexItemTest.cc
Unescape View File

@ -11,7 +11,7 @@ @@ -11,7 +11,7 @@
#include "QGCApplication.h"
StructureScanComplexItemTest::StructureScanComplexItemTest(void)
: _offlineVehicle(NULL)
: _offlineVehicle(nullptr)
{
_polyPoints << QGeoCoordinate(47.633550640000003, -122.08982199) << QGeoCoordinate(47.634129020000003, -122.08887249) <<
QGeoCoordinate(47.633619320000001, -122.08811074) << QGeoCoordinate(47.633189139999999, -122.08900124);
@ -59,7 +59,7 @@ void StructureScanComplexItemTest::_testDirty(void) @@ -59,7 +59,7 @@ void StructureScanComplexItemTest::_testDirty(void)
// These facts should set dirty when changed
QList<Fact*> rgFacts;
rgFacts << _structureScanItem->altitude() << _structureScanItem->layers();
rgFacts << _structureScanItem->entranceAlt() << _structureScanItem->layers();
for(Fact* fact: rgFacts) {
qDebug() << fact->name();
QVERIFY(!_structureScanItem->dirty());
@ -74,13 +74,6 @@ void StructureScanComplexItemTest::_testDirty(void) @@ -74,13 +74,6 @@ void StructureScanComplexItemTest::_testDirty(void)
_multiSpy->clearAllSignals();
}
rgFacts.clear();
QVERIFY(!_structureScanItem->dirty());
_structureScanItem->setAltitudeRelative(!_structureScanItem->altitudeRelative());
QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_structureScanItem->setDirty(false);
_multiSpy->clearAllSignals();
}
void StructureScanComplexItemTest::_initItem(void)

39
src/PlanView/StructureScanEditor.qml
Unescape View File

@ -109,33 +109,27 @@ Rectangle { @@ -109,33 +109,27 @@ Rectangle {
}
QGCLabel {
text: qsTr("Structure height")
visible: !missionItem.cameraCalc.isManualCamera
text: qsTr("Structure Height")
}
FactTextField {
fact: missionItem.structureHeight
Layout.fillWidth: true
visible: !missionItem.cameraCalc.isManualCamera
}
QGCLabel {
text: qsTr("# Layers")
visible: missionItem.cameraCalc.isManualCamera
}
QGCLabel { text: qsTr("Scan Bottom Alt") }
FactTextField {
fact: missionItem.layers
fact: missionItem.scanBottomAlt
Layout.fillWidth: true
visible: missionItem.cameraCalc.isManualCamera
}
QGCLabel { text: qsTr("Bottom layer alt") }
QGCLabel { text: qsTr("Entrance/Exit Alt") }
FactTextField {
fact: missionItem.altitude
fact: missionItem.entranceAlt
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("Gimbal pitch")
text: qsTr("Gimbal Pitch")
visible: missionItem.cameraCalc.isManualCamera
}
FactTextField {
@ -143,13 +137,6 @@ Rectangle { @@ -143,13 +137,6 @@ Rectangle {
Layout.fillWidth: true
visible: missionItem.cameraCalc.isManualCamera
}
QGCCheckBox {
text: qsTr("Relative altitude")
checked: missionItem.altitudeRelative
Layout.columnSpan: 2
onClicked: missionItem.altitudeRelative = checked
}
}
Item {
@ -176,16 +163,22 @@ Rectangle { @@ -176,16 +163,22 @@ Rectangle {
QGCLabel { text: qsTr("Layers") }
QGCLabel { text: missionItem.layers.valueString }
QGCLabel { text: qsTr("Layer height") }
QGCLabel { text: qsTr("Layer Height") }
QGCLabel { text: missionItem.cameraCalc.adjustedFootprintFrontal.valueString + " " + QGroundControl.appSettingsDistanceUnitsString }
QGCLabel { text: qsTr("Photo count") }
QGCLabel { text: qsTr("Top Layer Alt") }
QGCLabel { text: QGroundControl.metersToAppSettingsDistanceUnits(missionItem.topFlightAlt).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString }
QGCLabel { text: qsTr("Bottom Layer Alt") }
QGCLabel { text: QGroundControl.metersToAppSettingsDistanceUnits(missionItem.bottomFlightAlt).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString }
QGCLabel { text: qsTr("Photo Count") }
QGCLabel { text: missionItem.cameraShots }
QGCLabel { text: qsTr("Photo interval") }
QGCLabel { text: qsTr("Photo Interval") }
QGCLabel { text: missionItem.timeBetweenShots.toFixed(1) + " " + qsTr("secs") }
QGCLabel { text: qsTr("Trigger distance") }
QGCLabel { text: qsTr("Trigger Distance") }
QGCLabel { text: missionItem.cameraCalc.adjustedFootprintSide.valueString + " " + QGroundControl.appSettingsDistanceUnitsString }
}
} // Column

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