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Merge pull request #7230 from DonLakeFlyer/StructureScan 

Structure Scan: Add support for Start From Top/Bottom, plus more helpful stats
QGC4.4
Don Gagne 6 years ago committed by GitHub
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867ea2dfcf 2aa727a10e
commit
bbffece33c
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4 changed files with 43 additions and 7 deletions
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  1. 6
      src/MissionManager/StructureScan.SettingsGroup.json
  2. 24
      src/MissionManager/StructureScanComplexItem.cc
  3. 4
      src/MissionManager/StructureScanComplexItem.h
  4. 16
      src/PlanView/StructureScanEditor.qml

6
src/MissionManager/StructureScan.SettingsGroup.json
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@ -32,5 +32,11 @@ @@ -32,5 +32,11 @@
"units": "m",
"min": 1,
"defaultValue": 100
},
{
"name": "StartFromTop",
"shortDescription": "Start scan from top of structure.",
"type": "bool",
"defaultValue": true
}
]

24
src/MissionManager/StructureScanComplexItem.cc
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@ -26,6 +26,7 @@ const char* StructureScanComplexItem::altitudeName = "Altitude"; @@ -26,6 +26,7 @@ const char* StructureScanComplexItem::altitudeName = "Altitude";
const char* StructureScanComplexItem::structureHeightName = "StructureHeight";
const char* StructureScanComplexItem::layersName = "Layers";
const char* StructureScanComplexItem::gimbalPitchName = "GimbalPitch";
const char* StructureScanComplexItem::startFromTopName = "StartFromTop";
const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan";
const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc";
@ -46,6 +47,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie @@ -46,6 +47,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
, _structureHeightFact (settingsGroup, _metaDataMap[structureHeightName])
, _layersFact (settingsGroup, _metaDataMap[layersName])
, _gimbalPitchFact (settingsGroup, _metaDataMap[gimbalPitchName])
, _startFromTopFact (settingsGroup, _metaDataMap[startFromTopName])
{
_editorQml = "qrc:/qml/StructureScanEditor.qml";
@ -54,6 +56,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie @@ -54,6 +56,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
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(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
connect(&_structureHeightFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
@ -156,6 +159,7 @@ void StructureScanComplexItem::save(QJsonArray& missionItems) @@ -156,6 +159,7 @@ void StructureScanComplexItem::save(QJsonArray& missionItems)
saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative;
saveObject[layersName] = _layersFact.rawValue().toDouble();
saveObject[gimbalPitchName] = _gimbalPitchFact.rawValue().toDouble();
saveObject[startFromTopName] = _startFromTopFact.rawValue().toBool();
QJsonObject cameraCalcObject;
_cameraCalc.save(cameraCalcObject);
@ -187,6 +191,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen @@ -187,6 +191,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
{ _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 },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
@ -218,6 +223,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen @@ -218,6 +223,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
_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);
@ -289,8 +295,9 @@ bool StructureScanComplexItem::specifiesCoordinate(void) const @@ -289,8 +295,9 @@ bool StructureScanComplexItem::specifiesCoordinate(void) const
void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
int seqNum = _sequenceNumber;
double baseAltitude = _altitudeFact.rawValue().toDouble();
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,
@ -305,10 +312,15 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO @@ -305,10 +312,15 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
items.append(item);
for (int layer=0; layer<_layersFact.rawValue().toInt(); layer++) {
bool addTriggerStart = true;
// baseAltitude is the bottom of the first layer. Hence we need to move up half the distance of the camera footprint to center the camera
// within the layer.
double layerAltitude = baseAltitude + (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + (layer * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
bool addTriggerStart = true;
double layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + (layer * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
double layerAltitude;
if (startFromTop) {
layerAltitude = startAltitude - layerIncrement;
} else {
layerAltitude = startAltitude + layerIncrement;
}
for (int i=0; i<_flightPolygon.count(); i++) {
QGeoCoordinate vertexCoord = _flightPolygon.vertexCoordinate(i);

4
src/MissionManager/StructureScanComplexItem.h
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@ -35,6 +35,7 @@ public: @@ -35,6 +35,7 @@ public:
Q_PROPERTY(Fact* structureHeight READ structureHeight 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(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
@ -46,6 +47,7 @@ public: @@ -46,6 +47,7 @@ public:
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; }
int cameraShots (void) const;
@ -102,6 +104,7 @@ public: @@ -102,6 +104,7 @@ public:
static const char* structureHeightName;
static const char* layersName;
static const char* gimbalPitchName;
static const char* startFromTopName;
signals:
void cameraShotsChanged (int cameraShots);
@ -147,6 +150,7 @@ private: @@ -147,6 +150,7 @@ private:
SettingsFact _structureHeightFact;
SettingsFact _layersFact;
SettingsFact _gimbalPitchFact;
SettingsFact _startFromTopFact;
static const char* _jsonCameraCalcKey;
static const char* _jsonAltitudeRelativeKey;

16
src/PlanView/StructureScanEditor.qml
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@ -100,6 +100,14 @@ Rectangle { @@ -100,6 +100,14 @@ Rectangle {
rowSpacing: _margin
columns: 2
FactComboBox {
fact: missionItem.startFromTop
indexModel: true
model: [ qsTr("Start Scan From Bottom"), qsTr("Start Scan From Top") ]
Layout.columnSpan: 2
Layout.fillWidth: true
}
QGCLabel {
text: qsTr("Structure height")
visible: !missionItem.cameraCalc.isManualCamera
@ -165,13 +173,19 @@ Rectangle { @@ -165,13 +173,19 @@ Rectangle {
columnSpacing: ScreenTools.defaultFontPixelWidth
visible: statsHeader.checked
QGCLabel { text: qsTr("Layers") }
QGCLabel { text: missionItem.layers.valueString }
QGCLabel { text: qsTr("Layer height") }
QGCLabel { text: missionItem.cameraCalc.adjustedFootprintFrontal.valueString + " " + QGroundControl.appSettingsDistanceUnitsString }
QGCLabel { text: qsTr("Photo count") }
QGCLabel { text: missionItem.cameraShots }
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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