Don Gagne
5 years ago
committed by
GitHub
12 changed files with 1473 additions and 12 deletions
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/****************************************************************************
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* |
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "VTOLLandingComplexItem.h" |
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#include "JsonHelper.h" |
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#include "MissionController.h" |
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#include "QGCGeo.h" |
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#include "SimpleMissionItem.h" |
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#include "PlanMasterController.h" |
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#include <QPolygonF> |
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QGC_LOGGING_CATEGORY(VTOLLandingComplexItemLog, "VTOLLandingComplexItemLog") |
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const char* VTOLLandingComplexItem::settingsGroup = "VTOLLanding"; |
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const char* VTOLLandingComplexItem::jsonComplexItemTypeValue = "vtolLandingPattern"; |
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const char* VTOLLandingComplexItem::loiterToLandDistanceName = "LandingDistance"; |
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const char* VTOLLandingComplexItem::landingHeadingName = "LandingHeading"; |
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const char* VTOLLandingComplexItem::loiterAltitudeName = "LoiterAltitude"; |
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const char* VTOLLandingComplexItem::loiterRadiusName = "LoiterRadius"; |
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const char* VTOLLandingComplexItem::landingAltitudeName = "LandingAltitude"; |
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const char* VTOLLandingComplexItem::stopTakingPhotosName = "StopTakingPhotos"; |
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const char* VTOLLandingComplexItem::stopTakingVideoName = "StopTakingVideo"; |
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const char* VTOLLandingComplexItem::_jsonLoiterCoordinateKey = "loiterCoordinate"; |
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const char* VTOLLandingComplexItem::_jsonLoiterRadiusKey = "loiterRadius"; |
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const char* VTOLLandingComplexItem::_jsonLoiterClockwiseKey = "loiterClockwise"; |
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const char* VTOLLandingComplexItem::_jsonLandingCoordinateKey = "landCoordinate"; |
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const char* VTOLLandingComplexItem::_jsonAltitudesAreRelativeKey = "altitudesAreRelative"; |
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const char* VTOLLandingComplexItem::_jsonStopTakingPhotosKey = "stopTakingPhotos"; |
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const char* VTOLLandingComplexItem::_jsonStopTakingVideoKey = "stopVideoPhotos"; |
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VTOLLandingComplexItem::VTOLLandingComplexItem(PlanMasterController* masterController, bool flyView, QObject* parent) |
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: ComplexMissionItem (masterController, flyView, parent) |
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, _sequenceNumber (0) |
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, _dirty (false) |
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, _landingCoordSet (false) |
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, _ignoreRecalcSignals (false) |
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, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/VTOLLandingPattern.FactMetaData.json"), this)) |
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, _landingDistanceFact (settingsGroup, _metaDataMap[loiterToLandDistanceName]) |
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, _loiterAltitudeFact (settingsGroup, _metaDataMap[loiterAltitudeName]) |
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, _loiterRadiusFact (settingsGroup, _metaDataMap[loiterRadiusName]) |
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, _landingHeadingFact (settingsGroup, _metaDataMap[landingHeadingName]) |
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, _landingAltitudeFact (settingsGroup, _metaDataMap[landingAltitudeName]) |
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, _stopTakingPhotosFact (settingsGroup, _metaDataMap[stopTakingPhotosName]) |
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, _stopTakingVideoFact (settingsGroup, _metaDataMap[stopTakingVideoName]) |
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, _loiterClockwise (true) |
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, _altitudesAreRelative (true) |
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{ |
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_editorQml = "qrc:/qml/VTOLLandingPatternEditor.qml"; |
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_isIncomplete = false; |
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QGeoCoordinate homePositionCoordinate = masterController->missionController()->plannedHomePosition(); |
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if (homePositionCoordinate.isValid()) { |
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setLandingCoordinate(homePositionCoordinate); |
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} |
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connect(&_loiterAltitudeFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_updateLoiterCoodinateAltitudeFromFact); |
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connect(&_landingAltitudeFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_updateLandingCoodinateAltitudeFromFact); |
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connect(&_landingDistanceFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_recalcFromHeadingAndDistanceChange); |
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connect(&_landingHeadingFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_recalcFromHeadingAndDistanceChange); |
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connect(&_loiterRadiusFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_recalcFromRadiusChange); |
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connect(this, &VTOLLandingComplexItem::loiterClockwiseChanged, this, &VTOLLandingComplexItem::_recalcFromRadiusChange); |
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connect(this, &VTOLLandingComplexItem::loiterCoordinateChanged, this, &VTOLLandingComplexItem::_recalcFromCoordinateChange); |
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connect(this, &VTOLLandingComplexItem::landingCoordinateChanged, this, &VTOLLandingComplexItem::_recalcFromCoordinateChange); |
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connect(&_stopTakingPhotosFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_signalLastSequenceNumberChanged); |
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connect(&_stopTakingVideoFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_signalLastSequenceNumberChanged); |
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connect(&_loiterAltitudeFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_setDirty); |
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connect(&_landingAltitudeFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_setDirty); |
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connect(&_landingDistanceFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_setDirty); |
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connect(&_landingHeadingFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_setDirty); |
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connect(&_loiterRadiusFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_setDirty); |
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connect(&_stopTakingPhotosFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_setDirty); |
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connect(&_stopTakingVideoFact, &Fact::valueChanged, this, &VTOLLandingComplexItem::_setDirty); |
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connect(this, &VTOLLandingComplexItem::loiterCoordinateChanged, this, &VTOLLandingComplexItem::_setDirty); |
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connect(this, &VTOLLandingComplexItem::landingCoordinateChanged, this, &VTOLLandingComplexItem::_setDirty); |
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connect(this, &VTOLLandingComplexItem::loiterClockwiseChanged, this, &VTOLLandingComplexItem::_setDirty); |
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connect(this, &VTOLLandingComplexItem::altitudesAreRelativeChanged, this, &VTOLLandingComplexItem::_setDirty); |
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connect(this, &VTOLLandingComplexItem::altitudesAreRelativeChanged, this, &VTOLLandingComplexItem::coordinateHasRelativeAltitudeChanged); |
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connect(this, &VTOLLandingComplexItem::altitudesAreRelativeChanged, this, &VTOLLandingComplexItem::exitCoordinateHasRelativeAltitudeChanged); |
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connect(this, &VTOLLandingComplexItem::landingCoordSetChanged, this, &VTOLLandingComplexItem::readyForSaveStateChanged); |
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connect(this, &VTOLLandingComplexItem::wizardModeChanged, this, &VTOLLandingComplexItem::readyForSaveStateChanged); |
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if (_masterController->controllerVehicle()->apmFirmware()) { |
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// ArduPilot does not support camera commands
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_stopTakingVideoFact.setRawValue(false); |
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_stopTakingPhotosFact.setRawValue(false); |
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} |
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_recalcFromHeadingAndDistanceChange(); |
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setDirty(false); |
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} |
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int VTOLLandingComplexItem::lastSequenceNumber(void) const |
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{ |
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// Fixed items are:
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// land start, loiter, land
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// Optional items are:
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// stop photos/video
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return _sequenceNumber + 2 + (_stopTakingPhotosFact.rawValue().toBool() ? 2 : 0) + (_stopTakingVideoFact.rawValue().toBool() ? 1 : 0); |
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} |
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void VTOLLandingComplexItem::setDirty(bool dirty) |
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{ |
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if (_dirty != dirty) { |
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_dirty = dirty; |
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emit dirtyChanged(_dirty); |
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} |
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} |
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void VTOLLandingComplexItem::save(QJsonArray& missionItems) |
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{ |
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QJsonObject saveObject; |
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saveObject[JsonHelper::jsonVersionKey] = 1; |
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saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue; |
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saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue; |
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QGeoCoordinate coordinate; |
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QJsonValue jsonCoordinate; |
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coordinate = _loiterCoordinate; |
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coordinate.setAltitude(_loiterAltitudeFact.rawValue().toDouble()); |
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JsonHelper::saveGeoCoordinate(coordinate, true /* writeAltitude */, jsonCoordinate); |
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saveObject[_jsonLoiterCoordinateKey] = jsonCoordinate; |
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coordinate = _landingCoordinate; |
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coordinate.setAltitude(_landingAltitudeFact.rawValue().toDouble()); |
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JsonHelper::saveGeoCoordinate(coordinate, true /* writeAltitude */, jsonCoordinate); |
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saveObject[_jsonLandingCoordinateKey] = jsonCoordinate; |
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saveObject[_jsonLoiterRadiusKey] = _loiterRadiusFact.rawValue().toDouble(); |
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saveObject[_jsonStopTakingPhotosKey] = _stopTakingPhotosFact.rawValue().toBool(); |
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saveObject[_jsonStopTakingVideoKey] = _stopTakingVideoFact.rawValue().toBool(); |
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saveObject[_jsonLoiterClockwiseKey] = _loiterClockwise; |
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saveObject[_jsonAltitudesAreRelativeKey] = _altitudesAreRelative; |
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missionItems.append(saveObject); |
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} |
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void VTOLLandingComplexItem::setSequenceNumber(int sequenceNumber) |
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{ |
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if (_sequenceNumber != sequenceNumber) { |
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_sequenceNumber = sequenceNumber; |
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emit sequenceNumberChanged(sequenceNumber); |
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emit lastSequenceNumberChanged(lastSequenceNumber()); |
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} |
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} |
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bool VTOLLandingComplexItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString) |
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{ |
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QList<JsonHelper::KeyValidateInfo> keyInfoList = { |
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{ JsonHelper::jsonVersionKey, QJsonValue::Double, true }, |
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{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true }, |
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{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true }, |
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{ _jsonLoiterCoordinateKey, QJsonValue::Array, true }, |
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{ _jsonLoiterRadiusKey, QJsonValue::Double, true }, |
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{ _jsonLoiterClockwiseKey, QJsonValue::Bool, true }, |
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{ _jsonLandingCoordinateKey, QJsonValue::Array, true }, |
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{ _jsonStopTakingPhotosKey, QJsonValue::Bool, false }, |
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{ _jsonStopTakingVideoKey, QJsonValue::Bool, false }, |
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}; |
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if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) { |
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return false; |
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} |
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QString itemType = complexObject[VisualMissionItem::jsonTypeKey].toString(); |
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QString complexType = complexObject[ComplexMissionItem::jsonComplexItemTypeKey].toString(); |
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if (itemType != VisualMissionItem::jsonTypeComplexItemValue || complexType != jsonComplexItemTypeValue) { |
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errorString = tr("%1 does not support loading this complex mission item type: %2:%3").arg(qgcApp()->applicationName()).arg(itemType).arg(complexType); |
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return false; |
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} |
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setSequenceNumber(sequenceNumber); |
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_ignoreRecalcSignals = true; |
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int version = complexObject[JsonHelper::jsonVersionKey].toInt(); |
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if (version == 1) { |
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QList<JsonHelper::KeyValidateInfo> v2KeyInfoList = { |
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{ _jsonAltitudesAreRelativeKey, QJsonValue::Bool, true }, |
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}; |
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if (!JsonHelper::validateKeys(complexObject, v2KeyInfoList, errorString)) { |
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_ignoreRecalcSignals = false; |
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return false; |
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} |
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_altitudesAreRelative = complexObject[_jsonAltitudesAreRelativeKey].toBool(); |
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} else { |
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errorString = tr("%1 complex item version %2 not supported").arg(jsonComplexItemTypeValue).arg(version); |
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_ignoreRecalcSignals = false; |
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return false; |
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} |
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QGeoCoordinate coordinate; |
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if (!JsonHelper::loadGeoCoordinate(complexObject[_jsonLoiterCoordinateKey], true /* altitudeRequired */, coordinate, errorString)) { |
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return false; |
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} |
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_loiterCoordinate = coordinate; |
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_loiterAltitudeFact.setRawValue(coordinate.altitude()); |
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if (!JsonHelper::loadGeoCoordinate(complexObject[_jsonLandingCoordinateKey], true /* altitudeRequired */, coordinate, errorString)) { |
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return false; |
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} |
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_landingCoordinate = coordinate; |
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_landingAltitudeFact.setRawValue(coordinate.altitude()); |
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_loiterRadiusFact.setRawValue(complexObject[_jsonLoiterRadiusKey].toDouble()); |
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_loiterClockwise = complexObject[_jsonLoiterClockwiseKey].toBool(); |
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if (complexObject.contains(_jsonStopTakingPhotosKey)) { |
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_stopTakingPhotosFact.setRawValue(complexObject[_jsonStopTakingPhotosKey].toBool()); |
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} else { |
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_stopTakingPhotosFact.setRawValue(false); |
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} |
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if (complexObject.contains(_jsonStopTakingVideoKey)) { |
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_stopTakingVideoFact.setRawValue(complexObject[_jsonStopTakingVideoKey].toBool()); |
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} else { |
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_stopTakingVideoFact.setRawValue(false); |
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} |
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_landingCoordSet = true; |
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_ignoreRecalcSignals = false; |
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_recalcFromCoordinateChange(); |
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emit coordinateChanged(this->coordinate()); // This will kick off terrain query
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return true; |
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} |
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double VTOLLandingComplexItem::greatestDistanceTo(const QGeoCoordinate &other) const |
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{ |
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return qMax(_loiterCoordinate.distanceTo(other),_landingCoordinate.distanceTo(other)); |
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} |
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bool VTOLLandingComplexItem::specifiesCoordinate(void) const |
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{ |
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return true; |
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} |
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MissionItem* VTOLLandingComplexItem::createDoLandStartItem(int seqNum, QObject* parent) |
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{ |
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return new MissionItem(seqNum, // sequence number
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MAV_CMD_DO_LAND_START, // MAV_CMD
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MAV_FRAME_MISSION, // MAV_FRAME
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // param 1-7
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true, // autoContinue
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false, // isCurrentItem
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parent); |
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} |
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MissionItem* VTOLLandingComplexItem::createLoiterToAltItem(int seqNum, bool altRel, double loiterRadius, double lat, double lon, double alt, QObject* parent) |
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{ |
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return new MissionItem(seqNum, |
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MAV_CMD_NAV_LOITER_TO_ALT, |
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altRel ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, |
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1.0, // Heading required = true
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loiterRadius, // Loiter radius
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0.0, // param 3 - unused
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1.0, // Exit crosstrack - tangent of loiter to land point
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lat, lon, alt, |
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true, // autoContinue
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false, // isCurrentItem
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parent); |
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} |
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MissionItem* VTOLLandingComplexItem::createLandItem(int seqNum, bool altRel, double lat, double lon, double alt, QObject* parent) |
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{ |
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return new MissionItem(seqNum, |
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MAV_CMD_NAV_VTOL_LAND, |
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altRel ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, |
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0.0, 0.0, 0.0, 0.0, |
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lat, lon, alt, |
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true, // autoContinue
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false, // isCurrentItem
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parent); |
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} |
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void VTOLLandingComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent) |
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{ |
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int seqNum = _sequenceNumber; |
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// IMPORTANT NOTE: Any changes here must also be taken into account in scanForItem
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MissionItem* item = createDoLandStartItem(seqNum++, missionItemParent); |
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items.append(item); |
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if (_stopTakingPhotosFact.rawValue().toBool()) { |
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CameraSection::appendStopTakingPhotos(items, seqNum, missionItemParent); |
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} |
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if (_stopTakingVideoFact.rawValue().toBool()) { |
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CameraSection::appendStopTakingVideo(items, seqNum, missionItemParent); |
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} |
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double loiterRadius = _loiterRadiusFact.rawValue().toDouble() * (_loiterClockwise ? 1.0 : -1.0); |
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item = createLoiterToAltItem(seqNum++, |
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_altitudesAreRelative, |
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loiterRadius, |
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_loiterCoordinate.latitude(), _loiterCoordinate.longitude(), _loiterAltitudeFact.rawValue().toDouble(), |
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missionItemParent); |
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items.append(item); |
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item = createLandItem(seqNum++, |
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_altitudesAreRelative, |
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_landingCoordinate.latitude(), _landingCoordinate.longitude(), _landingAltitudeFact.rawValue().toDouble(), |
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missionItemParent); |
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items.append(item); |
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} |
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bool VTOLLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, bool flyView, PlanMasterController* masterController) |
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{ |
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qCDebug(VTOLLandingComplexItemLog) << "VTOLLandingComplexItem::scanForItem count" << visualItems->count(); |
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if (visualItems->count() < 3) { |
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return false; |
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} |
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// A valid fixed wing landing pattern is comprised of the follow commands in this order at the end of the item list:
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// MAV_CMD_DO_LAND_START - required
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// Stop taking photos sequence - optional
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// Stop taking video sequence - optional
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// MAV_CMD_NAV_LOITER_TO_ALT - required
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// MAV_CMD_NAV_LAND - required
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// Start looking for the commands in reverse order from the end of the list
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int scanIndex = visualItems->count() - 1; |
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if (scanIndex < 0 || scanIndex > visualItems->count() - 1) { |
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return false; |
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} |
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SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex--); |
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if (!item) { |
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return false; |
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} |
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MissionItem& missionItemLand = item->missionItem(); |
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if (missionItemLand.command() != MAV_CMD_NAV_LAND || |
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!(missionItemLand.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT || missionItemLand.frame() == MAV_FRAME_GLOBAL) || |
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missionItemLand.param1() != 0 || missionItemLand.param2() != 0 || missionItemLand.param3() != 0 || missionItemLand.param4() != 0) { |
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return false; |
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} |
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MAV_FRAME landPointFrame = missionItemLand.frame(); |
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if (scanIndex < 0 || scanIndex > visualItems->count() - 1) { |
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return false; |
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} |
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item = visualItems->value<SimpleMissionItem*>(scanIndex); |
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if (!item) { |
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return false; |
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} |
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MissionItem& missionItemLoiter = item->missionItem(); |
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if (missionItemLoiter.command() != MAV_CMD_NAV_LOITER_TO_ALT || |
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missionItemLoiter.frame() != landPointFrame || |
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missionItemLoiter.param1() != 1.0 || missionItemLoiter.param3() != 0 || missionItemLoiter.param4() != 1.0) { |
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return false; |
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} |
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scanIndex -= CameraSection::stopTakingVideoCommandCount(); |
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bool stopTakingVideo = CameraSection::scanStopTakingVideo(visualItems, scanIndex, false /* removeScannedItems */); |
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if (!stopTakingVideo) { |
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scanIndex += CameraSection::stopTakingVideoCommandCount(); |
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} |
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scanIndex -= CameraSection::stopTakingPhotosCommandCount(); |
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bool stopTakingPhotos = CameraSection::scanStopTakingPhotos(visualItems, scanIndex, false /* removeScannedItems */); |
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if (!stopTakingPhotos) { |
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scanIndex += CameraSection::stopTakingPhotosCommandCount(); |
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} |
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scanIndex--; |
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if (scanIndex < 0 || scanIndex > visualItems->count() - 1) { |
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return false; |
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} |
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item = visualItems->value<SimpleMissionItem*>(scanIndex); |
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if (!item) { |
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return false; |
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} |
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MissionItem& missionItemDoLandStart = item->missionItem(); |
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if (missionItemDoLandStart.command() != MAV_CMD_DO_LAND_START || |
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missionItemDoLandStart.frame() != MAV_FRAME_MISSION || |
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missionItemDoLandStart.param1() != 0 || missionItemDoLandStart.param2() != 0 || missionItemDoLandStart.param3() != 0 || missionItemDoLandStart.param4() != 0|| missionItemDoLandStart.param5() != 0|| missionItemDoLandStart.param6() != 0) { |
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return false; |
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} |
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// We made it this far so we do have a Fixed Wing Landing Pattern item at the end of the mission.
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// Since we have scanned it we need to remove the items for it fromt the list
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int deleteCount = 3; |
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if (stopTakingPhotos) { |
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deleteCount += CameraSection::stopTakingPhotosCommandCount(); |
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} |
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if (stopTakingVideo) { |
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deleteCount += CameraSection::stopTakingVideoCommandCount(); |
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} |
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int firstItem = visualItems->count() - deleteCount; |
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while (deleteCount--) { |
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visualItems->removeAt(firstItem)->deleteLater(); |
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} |
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// Now stuff all the scanned information into the item
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VTOLLandingComplexItem* complexItem = new VTOLLandingComplexItem(masterController, flyView, visualItems); |
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complexItem->_ignoreRecalcSignals = true; |
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complexItem->_altitudesAreRelative = landPointFrame == MAV_FRAME_GLOBAL_RELATIVE_ALT; |
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complexItem->_loiterRadiusFact.setRawValue(qAbs(missionItemLoiter.param2())); |
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complexItem->_loiterClockwise = missionItemLoiter.param2() > 0; |
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complexItem->setLoiterCoordinate(QGeoCoordinate(missionItemLoiter.param5(), missionItemLoiter.param6())); |
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complexItem->_loiterAltitudeFact.setRawValue(missionItemLoiter.param7()); |
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complexItem->_landingCoordinate.setLatitude(missionItemLand.param5()); |
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complexItem->_landingCoordinate.setLongitude(missionItemLand.param6()); |
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complexItem->_landingAltitudeFact.setRawValue(missionItemLand.param7()); |
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complexItem->_stopTakingPhotosFact.setRawValue(stopTakingPhotos); |
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complexItem->_stopTakingVideoFact.setRawValue(stopTakingVideo); |
||||
|
||||
complexItem->_landingCoordSet = true; |
||||
|
||||
complexItem->_ignoreRecalcSignals = false; |
||||
complexItem->_recalcFromCoordinateChange(); |
||||
complexItem->setDirty(false); |
||||
|
||||
visualItems->append(complexItem); |
||||
|
||||
return true; |
||||
} |
||||
|
||||
double VTOLLandingComplexItem::complexDistance(void) const |
||||
{ |
||||
return _loiterCoordinate.distanceTo(_landingCoordinate); |
||||
} |
||||
|
||||
void VTOLLandingComplexItem::setLandingCoordinate(const QGeoCoordinate& coordinate) |
||||
{ |
||||
if (coordinate != _landingCoordinate) { |
||||
_landingCoordinate = coordinate; |
||||
if (_landingCoordSet) { |
||||
emit exitCoordinateChanged(coordinate); |
||||
emit landingCoordinateChanged(coordinate); |
||||
} else { |
||||
_ignoreRecalcSignals = true; |
||||
emit exitCoordinateChanged(coordinate); |
||||
emit landingCoordinateChanged(coordinate); |
||||
_ignoreRecalcSignals = false; |
||||
_landingCoordSet = true; |
||||
_recalcFromHeadingAndDistanceChange(); |
||||
emit landingCoordSetChanged(true); |
||||
} |
||||
} |
||||
} |
||||
|
||||
void VTOLLandingComplexItem::setLoiterCoordinate(const QGeoCoordinate& coordinate) |
||||
{ |
||||
if (coordinate != _loiterCoordinate) { |
||||
_loiterCoordinate = coordinate; |
||||
emit coordinateChanged(coordinate); |
||||
emit loiterCoordinateChanged(coordinate); |
||||
} |
||||
} |
||||
|
||||
double VTOLLandingComplexItem::_mathematicAngleToHeading(double angle) |
||||
{ |
||||
double heading = (angle - 90) * -1; |
||||
if (heading < 0) { |
||||
heading += 360; |
||||
} |
||||
|
||||
return heading; |
||||
} |
||||
|
||||
double VTOLLandingComplexItem::_headingToMathematicAngle(double heading) |
||||
{ |
||||
return heading - 90 * -1; |
||||
} |
||||
|
||||
void VTOLLandingComplexItem::_recalcFromRadiusChange(void) |
||||
{ |
||||
// Fixed:
|
||||
// land
|
||||
// loiter tangent
|
||||
// distance
|
||||
// radius
|
||||
// heading
|
||||
// Adjusted:
|
||||
// loiter
|
||||
|
||||
if (!_ignoreRecalcSignals) { |
||||
// These are our known values
|
||||
double radius = _loiterRadiusFact.rawValue().toDouble(); |
||||
double landToTangentDistance = _landingDistanceFact.rawValue().toDouble(); |
||||
double heading = _landingHeadingFact.rawValue().toDouble(); |
||||
|
||||
double landToLoiterDistance = _landingCoordinate.distanceTo(_loiterCoordinate); |
||||
if (landToLoiterDistance < radius) { |
||||
// Degnenerate case: Move tangent to loiter point
|
||||
_loiterTangentCoordinate = _loiterCoordinate; |
||||
|
||||
double heading = _landingCoordinate.azimuthTo(_loiterTangentCoordinate); |
||||
|
||||
_ignoreRecalcSignals = true; |
||||
_landingHeadingFact.setRawValue(heading); |
||||
emit loiterTangentCoordinateChanged(_loiterTangentCoordinate); |
||||
_ignoreRecalcSignals = false; |
||||
} else { |
||||
double landToLoiterDistance = qSqrt(qPow(radius, 2) + qPow(landToTangentDistance, 2)); |
||||
double angleLoiterToTangent = qRadiansToDegrees(qAsin(radius/landToLoiterDistance)) * (_loiterClockwise ? -1 : 1); |
||||
|
||||
_loiterCoordinate = _landingCoordinate.atDistanceAndAzimuth(landToLoiterDistance, heading + 180 + angleLoiterToTangent); |
||||
_loiterCoordinate.setAltitude(_loiterAltitudeFact.rawValue().toDouble()); |
||||
|
||||
_ignoreRecalcSignals = true; |
||||
emit loiterCoordinateChanged(_loiterCoordinate); |
||||
emit coordinateChanged(_loiterCoordinate); |
||||
_ignoreRecalcSignals = false; |
||||
} |
||||
} |
||||
} |
||||
|
||||
void VTOLLandingComplexItem::_recalcFromHeadingAndDistanceChange(void) |
||||
{ |
||||
// Fixed:
|
||||
// land
|
||||
// heading
|
||||
// distance
|
||||
// radius
|
||||
// Adjusted:
|
||||
// loiter
|
||||
// loiter tangent
|
||||
// glide slope
|
||||
|
||||
if (!_ignoreRecalcSignals && _landingCoordSet) { |
||||
// These are our known values
|
||||
double radius = _loiterRadiusFact.rawValue().toDouble(); |
||||
double landToTangentDistance = _landingDistanceFact.rawValue().toDouble(); |
||||
double heading = _landingHeadingFact.rawValue().toDouble(); |
||||
|
||||
// Calculate loiter tangent coordinate
|
||||
_loiterTangentCoordinate = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, heading + 180); |
||||
|
||||
// Calculate the distance and angle to the loiter coordinate
|
||||
QGeoCoordinate tangent = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, 0); |
||||
QGeoCoordinate loiter = tangent.atDistanceAndAzimuth(radius, 90); |
||||
double loiterDistance = _landingCoordinate.distanceTo(loiter); |
||||
double loiterAzimuth = _landingCoordinate.azimuthTo(loiter) * (_loiterClockwise ? -1 : 1); |
||||
|
||||
// Use those values to get the new loiter point which takes heading into acount
|
||||
_loiterCoordinate = _landingCoordinate.atDistanceAndAzimuth(loiterDistance, heading + 180 + loiterAzimuth); |
||||
_loiterCoordinate.setAltitude(_loiterAltitudeFact.rawValue().toDouble()); |
||||
|
||||
_ignoreRecalcSignals = true; |
||||
emit loiterTangentCoordinateChanged(_loiterTangentCoordinate); |
||||
emit loiterCoordinateChanged(_loiterCoordinate); |
||||
emit coordinateChanged(_loiterCoordinate); |
||||
_ignoreRecalcSignals = false; |
||||
} |
||||
} |
||||
|
||||
QPointF VTOLLandingComplexItem::_rotatePoint(const QPointF& point, const QPointF& origin, double angle) |
||||
{ |
||||
QPointF rotated; |
||||
double radians = (M_PI / 180.0) * angle; |
||||
|
||||
rotated.setX(((point.x() - origin.x()) * cos(radians)) - ((point.y() - origin.y()) * sin(radians)) + origin.x()); |
||||
rotated.setY(((point.x() - origin.x()) * sin(radians)) + ((point.y() - origin.y()) * cos(radians)) + origin.y()); |
||||
|
||||
return rotated; |
||||
} |
||||
|
||||
void VTOLLandingComplexItem::_recalcFromCoordinateChange(void) |
||||
{ |
||||
// Fixed:
|
||||
// land
|
||||
// loiter
|
||||
// radius
|
||||
// Adjusted:
|
||||
// loiter tangent
|
||||
// heading
|
||||
// distance
|
||||
// glide slope
|
||||
|
||||
if (!_ignoreRecalcSignals && _landingCoordSet) { |
||||
// These are our known values
|
||||
double radius = _loiterRadiusFact.rawValue().toDouble(); |
||||
double landToLoiterDistance = _landingCoordinate.distanceTo(_loiterCoordinate); |
||||
double landToLoiterHeading = _landingCoordinate.azimuthTo(_loiterCoordinate); |
||||
|
||||
double landToTangentDistance; |
||||
if (landToLoiterDistance < radius) { |
||||
// Degenerate case, set tangent to loiter coordinate
|
||||
_loiterTangentCoordinate = _loiterCoordinate; |
||||
landToTangentDistance = _landingCoordinate.distanceTo(_loiterTangentCoordinate); |
||||
} else { |
||||
double loiterToTangentAngle = qRadiansToDegrees(qAsin(radius/landToLoiterDistance)) * (_loiterClockwise ? 1 : -1); |
||||
landToTangentDistance = qSqrt(qPow(landToLoiterDistance, 2) - qPow(radius, 2)); |
||||
|
||||
_loiterTangentCoordinate = _landingCoordinate.atDistanceAndAzimuth(landToTangentDistance, landToLoiterHeading + loiterToTangentAngle); |
||||
|
||||
} |
||||
|
||||
double heading = _loiterTangentCoordinate.azimuthTo(_landingCoordinate); |
||||
|
||||
_ignoreRecalcSignals = true; |
||||
_landingHeadingFact.setRawValue(heading); |
||||
_landingDistanceFact.setRawValue(landToTangentDistance); |
||||
emit loiterTangentCoordinateChanged(_loiterTangentCoordinate); |
||||
_ignoreRecalcSignals = false; |
||||
} |
||||
} |
||||
|
||||
void VTOLLandingComplexItem::_updateLoiterCoodinateAltitudeFromFact(void) |
||||
{ |
||||
_loiterCoordinate.setAltitude(_loiterAltitudeFact.rawValue().toDouble()); |
||||
emit loiterCoordinateChanged(_loiterCoordinate); |
||||
emit coordinateChanged(_loiterCoordinate); |
||||
} |
||||
|
||||
void VTOLLandingComplexItem::_updateLandingCoodinateAltitudeFromFact(void) |
||||
{ |
||||
_landingCoordinate.setAltitude(_landingAltitudeFact.rawValue().toDouble()); |
||||
emit landingCoordinateChanged(_landingCoordinate); |
||||
} |
||||
|
||||
void VTOLLandingComplexItem::_setDirty(void) |
||||
{ |
||||
setDirty(true); |
||||
} |
||||
|
||||
void VTOLLandingComplexItem::applyNewAltitude(double newAltitude) |
||||
{ |
||||
_loiterAltitudeFact.setRawValue(newAltitude); |
||||
} |
||||
|
||||
void VTOLLandingComplexItem::_signalLastSequenceNumberChanged(void) |
||||
{ |
||||
emit lastSequenceNumberChanged(lastSequenceNumber()); |
||||
} |
||||
|
||||
VTOLLandingComplexItem::ReadyForSaveState VTOLLandingComplexItem::readyForSaveState(void) const |
||||
{ |
||||
return _landingCoordSet && !_wizardMode ? ReadyForSave : NotReadyForSaveData; |
||||
} |
||||
@ -0,0 +1,163 @@
@@ -0,0 +1,163 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
* |
||||
* QGroundControl is licensed according to the terms in the file |
||||
* COPYING.md in the root of the source code directory. |
||||
* |
||||
****************************************************************************/ |
||||
|
||||
#pragma once |
||||
|
||||
#include "ComplexMissionItem.h" |
||||
#include "MissionItem.h" |
||||
#include "Fact.h" |
||||
#include "QGCLoggingCategory.h" |
||||
|
||||
Q_DECLARE_LOGGING_CATEGORY(VTOLLandingComplexItemLog) |
||||
|
||||
class VTOLLandingPatternTest; |
||||
class PlanMasterController; |
||||
|
||||
class VTOLLandingComplexItem : public ComplexMissionItem |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
public: |
||||
VTOLLandingComplexItem(PlanMasterController* masterController, bool flyView, QObject* parent); |
||||
|
||||
Q_PROPERTY(Fact* loiterAltitude READ loiterAltitude CONSTANT) |
||||
Q_PROPERTY(Fact* loiterRadius READ loiterRadius CONSTANT) |
||||
Q_PROPERTY(Fact* landingAltitude READ landingAltitude CONSTANT) |
||||
Q_PROPERTY(Fact* landingHeading READ landingHeading CONSTANT) |
||||
Q_PROPERTY(Fact* landingDistance READ landingDistance CONSTANT) |
||||
Q_PROPERTY(bool loiterClockwise MEMBER _loiterClockwise NOTIFY loiterClockwiseChanged) |
||||
Q_PROPERTY(bool altitudesAreRelative MEMBER _altitudesAreRelative NOTIFY altitudesAreRelativeChanged) |
||||
Q_PROPERTY(Fact* stopTakingPhotos READ stopTakingPhotos CONSTANT) |
||||
Q_PROPERTY(Fact* stopTakingVideo READ stopTakingVideo CONSTANT) |
||||
Q_PROPERTY(QGeoCoordinate loiterCoordinate READ loiterCoordinate WRITE setLoiterCoordinate NOTIFY loiterCoordinateChanged) |
||||
Q_PROPERTY(QGeoCoordinate loiterTangentCoordinate READ loiterTangentCoordinate NOTIFY loiterTangentCoordinateChanged) |
||||
Q_PROPERTY(QGeoCoordinate landingCoordinate READ landingCoordinate WRITE setLandingCoordinate NOTIFY landingCoordinateChanged) |
||||
Q_PROPERTY(bool landingCoordSet MEMBER _landingCoordSet NOTIFY landingCoordSetChanged) |
||||
|
||||
Fact* loiterAltitude (void) { return &_loiterAltitudeFact; } |
||||
Fact* loiterRadius (void) { return &_loiterRadiusFact; } |
||||
Fact* landingAltitude (void) { return &_landingAltitudeFact; } |
||||
Fact* landingDistance (void) { return &_landingDistanceFact; } |
||||
Fact* landingHeading (void) { return &_landingHeadingFact; } |
||||
Fact* stopTakingPhotos (void) { return &_stopTakingPhotosFact; } |
||||
Fact* stopTakingVideo (void) { return &_stopTakingVideoFact; } |
||||
QGeoCoordinate landingCoordinate (void) const { return _landingCoordinate; } |
||||
QGeoCoordinate loiterCoordinate (void) const { return _loiterCoordinate; } |
||||
QGeoCoordinate loiterTangentCoordinate (void) const { return _loiterTangentCoordinate; } |
||||
|
||||
void setLandingCoordinate (const QGeoCoordinate& coordinate); |
||||
void setLoiterCoordinate (const QGeoCoordinate& coordinate); |
||||
|
||||
/// Scans the loaded items for a landing pattern complex item
|
||||
static bool scanForItem(QmlObjectListModel* visualItems, bool flyView, PlanMasterController* masterController); |
||||
|
||||
static MissionItem* createDoLandStartItem (int seqNum, QObject* parent); |
||||
static MissionItem* createLoiterToAltItem (int seqNum, bool altRel, double loiterRaidus, double lat, double lon, double alt, QObject* parent); |
||||
static MissionItem* createLandItem (int seqNum, bool altRel, double lat, double lon, double alt, QObject* parent); |
||||
|
||||
// Overrides from ComplexMissionItem
|
||||
double complexDistance (void) const final; |
||||
int lastSequenceNumber (void) const final; |
||||
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final; |
||||
double greatestDistanceTo (const QGeoCoordinate &other) const final; |
||||
QString mapVisualQML (void) const final { return QStringLiteral("VTOLLandingPatternMapVisual.qml"); } |
||||
|
||||
// Overrides from VisualMissionItem
|
||||
bool dirty (void) const final { return _dirty; } |
||||
bool isSimpleItem (void) const final { return false; } |
||||
bool isStandaloneCoordinate (void) const final { return false; } |
||||
bool specifiesCoordinate (void) const final; |
||||
bool specifiesAltitudeOnly (void) const final { return false; } |
||||
QString commandDescription (void) const final { return "Landing Pattern"; } |
||||
QString commandName (void) const final { return "Landing Pattern"; } |
||||
QString abbreviation (void) const final { return "L"; } |
||||
QGeoCoordinate coordinate (void) const final { return _loiterCoordinate; } |
||||
QGeoCoordinate exitCoordinate (void) const final { return _landingCoordinate; } |
||||
int sequenceNumber (void) const final { return _sequenceNumber; } |
||||
double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); } |
||||
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); } |
||||
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); } |
||||
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final; |
||||
void applyNewAltitude (double newAltitude) final; |
||||
double additionalTimeDelay (void) const final { return 0; } |
||||
ReadyForSaveState readyForSaveState (void) const final; |
||||
|
||||
bool coordinateHasRelativeAltitude (void) const final { return _altitudesAreRelative; } |
||||
bool exitCoordinateHasRelativeAltitude (void) const final { return _altitudesAreRelative; } |
||||
bool exitCoordinateSameAsEntry (void) const final { return false; } |
||||
|
||||
void setDirty (bool dirty) final; |
||||
void setCoordinate (const QGeoCoordinate& coordinate) final { setLoiterCoordinate(coordinate); } |
||||
void setSequenceNumber (int sequenceNumber) final; |
||||
void save (QJsonArray& missionItems) final; |
||||
|
||||
static const char* jsonComplexItemTypeValue; |
||||
|
||||
static const char* settingsGroup; |
||||
static const char* loiterToLandDistanceName; |
||||
static const char* loiterAltitudeName; |
||||
static const char* loiterRadiusName; |
||||
static const char* landingHeadingName; |
||||
static const char* landingAltitudeName; |
||||
static const char* stopTakingPhotosName; |
||||
static const char* stopTakingVideoName; |
||||
|
||||
signals: |
||||
void loiterCoordinateChanged (QGeoCoordinate coordinate); |
||||
void loiterTangentCoordinateChanged (QGeoCoordinate coordinate); |
||||
void landingCoordinateChanged (QGeoCoordinate coordinate); |
||||
void landingCoordSetChanged (bool landingCoordSet); |
||||
void loiterClockwiseChanged (bool loiterClockwise); |
||||
void altitudesAreRelativeChanged (bool altitudesAreRelative); |
||||
|
||||
private slots: |
||||
void _recalcFromHeadingAndDistanceChange (void); |
||||
void _recalcFromCoordinateChange (void); |
||||
void _recalcFromRadiusChange (void); |
||||
void _updateLoiterCoodinateAltitudeFromFact (void); |
||||
void _updateLandingCoodinateAltitudeFromFact (void); |
||||
double _mathematicAngleToHeading (double angle); |
||||
double _headingToMathematicAngle (double heading); |
||||
void _setDirty (void); |
||||
void _signalLastSequenceNumberChanged (void); |
||||
|
||||
private: |
||||
QPointF _rotatePoint (const QPointF& point, const QPointF& origin, double angle); |
||||
|
||||
int _sequenceNumber; |
||||
bool _dirty; |
||||
QGeoCoordinate _loiterCoordinate; |
||||
QGeoCoordinate _loiterTangentCoordinate; |
||||
QGeoCoordinate _landingCoordinate; |
||||
bool _landingCoordSet; |
||||
bool _ignoreRecalcSignals; |
||||
|
||||
QMap<QString, FactMetaData*> _metaDataMap; |
||||
|
||||
Fact _landingDistanceFact; |
||||
Fact _loiterAltitudeFact; |
||||
Fact _loiterRadiusFact; |
||||
Fact _landingHeadingFact; |
||||
Fact _landingAltitudeFact; |
||||
Fact _stopTakingPhotosFact; |
||||
Fact _stopTakingVideoFact; |
||||
|
||||
bool _loiterClockwise; |
||||
bool _altitudesAreRelative; |
||||
|
||||
static const char* _jsonLoiterCoordinateKey; |
||||
static const char* _jsonLoiterRadiusKey; |
||||
static const char* _jsonLoiterClockwiseKey; |
||||
static const char* _jsonLandingCoordinateKey; |
||||
static const char* _jsonAltitudesAreRelativeKey; |
||||
static const char* _jsonStopTakingPhotosKey; |
||||
static const char* _jsonStopTakingVideoKey; |
||||
|
||||
friend VTOLLandingPatternTest; |
||||
}; |
||||
@ -0,0 +1,58 @@
@@ -0,0 +1,58 @@
|
||||
[ |
||||
{ |
||||
"name": "LandingDistance", |
||||
"shortDescription": "Distance between landing and loiter points.", |
||||
"type": "double", |
||||
"units": "m", |
||||
"min": 10, |
||||
"decimalPlaces": 1, |
||||
"defaultValue": 30.0 |
||||
}, |
||||
{ |
||||
"name": "LandingHeading", |
||||
"shortDescription": "Heading from loiter point to land point.", |
||||
"type": "double", |
||||
"units": "deg", |
||||
"min": 0.0, |
||||
"max": 360.0, |
||||
"decimalPlaces": 0, |
||||
"defaultValue": 270.0 |
||||
}, |
||||
{ |
||||
"name": "LoiterAltitude", |
||||
"shortDescription": "Aircraft will proceed to the loiter point and loiter downwards until it reaches this approach altitude. Once altitude is reached the aircraft will fly to land point at current altitude.", |
||||
"type": "double", |
||||
"units": "m", |
||||
"decimalPlaces": 1, |
||||
"defaultValue": 40.0 |
||||
}, |
||||
{ |
||||
"name": "LoiterRadius", |
||||
"shortDescription": "Loiter radius.", |
||||
"type": "double", |
||||
"decimalPlaces": 1, |
||||
"min": 1, |
||||
"units": "m", |
||||
"defaultValue": 75.0 |
||||
}, |
||||
{ |
||||
"name": "LandingAltitude", |
||||
"shortDescription": "Altitude for landing point on ground.", |
||||
"type": "double", |
||||
"units": "m", |
||||
"decimalPlaces": 1, |
||||
"defaultValue": 0.0 |
||||
}, |
||||
{ |
||||
"name": "StopTakingPhotos", |
||||
"shortDescription": "Stop taking photos", |
||||
"type": "bool", |
||||
"defaultValue": true |
||||
}, |
||||
{ |
||||
"name": "StopTakingVideo", |
||||
"shortDescription": "Stop taking video", |
||||
"type": "bool", |
||||
"defaultValue": true |
||||
} |
||||
] |
||||
@ -0,0 +1,296 @@
@@ -0,0 +1,296 @@
|
||||
/**************************************************************************** |
||||
* |
||||
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
||||
* |
||||
* QGroundControl is licensed according to the terms in the file |
||||
* COPYING.md in the root of the source code directory. |
||||
* |
||||
****************************************************************************/ |
||||
|
||||
import QtQuick 2.3 |
||||
import QtQuick.Controls 1.2 |
||||
import QtQuick.Dialogs 1.2 |
||||
import QtQuick.Layouts 1.2 |
||||
|
||||
import QGroundControl 1.0 |
||||
import QGroundControl.ScreenTools 1.0 |
||||
import QGroundControl.Vehicle 1.0 |
||||
import QGroundControl.Controls 1.0 |
||||
import QGroundControl.FactSystem 1.0 |
||||
import QGroundControl.FactControls 1.0 |
||||
import QGroundControl.Palette 1.0 |
||||
|
||||
// Editor for Fixed Wing Landing Pattern complex mission item |
||||
Rectangle { |
||||
id: _root |
||||
height: visible ? ((editorColumn.visible ? editorColumn.height : editorColumnNeedLandingPoint.height) + (_margin * 2)) : 0 |
||||
width: availableWidth |
||||
color: qgcPal.windowShadeDark |
||||
radius: _radius |
||||
|
||||
// The following properties must be available up the hierarchy chain |
||||
//property real availableWidth ///< Width for control |
||||
//property var missionItem ///< Mission Item for editor |
||||
|
||||
property var _masterControler: masterController |
||||
property var _missionController: _masterControler.missionController |
||||
property var _missionVehicle: _masterControler.controllerVehicle |
||||
property real _margin: ScreenTools.defaultFontPixelWidth / 2 |
||||
property real _spacer: ScreenTools.defaultFontPixelWidth / 2 |
||||
property string _setToVehicleHeadingStr: qsTr("Set to vehicle heading") |
||||
property string _setToVehicleLocationStr: qsTr("Set to vehicle location") |
||||
property bool _showCameraSection: !_missionVehicle.apmFirmware |
||||
property int _altitudeMode: missionItem.altitudesAreRelative ? QGroundControl.AltitudeModeRelative : QGroundControl.AltitudeModeAbsolute |
||||
|
||||
|
||||
Column { |
||||
id: editorColumn |
||||
anchors.margins: _margin |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
spacing: _margin |
||||
visible: !editorColumnNeedLandingPoint.visible |
||||
|
||||
SectionHeader { |
||||
id: loiterPointSection |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
text: qsTr("Loiter point") |
||||
} |
||||
|
||||
Column { |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
spacing: _margin |
||||
visible: loiterPointSection.checked |
||||
|
||||
Item { width: 1; height: _spacer } |
||||
|
||||
GridLayout { |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
columns: 2 |
||||
|
||||
QGCLabel { text: qsTr("Altitude") } |
||||
|
||||
AltitudeFactTextField { |
||||
Layout.fillWidth: true |
||||
fact: missionItem.loiterAltitude |
||||
altitudeMode: _altitudeMode |
||||
} |
||||
|
||||
QGCLabel { text: qsTr("Radius") } |
||||
|
||||
FactTextField { |
||||
Layout.fillWidth: true |
||||
fact: missionItem.loiterRadius |
||||
} |
||||
} |
||||
|
||||
Item { width: 1; height: _spacer } |
||||
|
||||
QGCCheckBox { |
||||
text: qsTr("Loiter clockwise") |
||||
checked: missionItem.loiterClockwise |
||||
onClicked: missionItem.loiterClockwise = checked |
||||
} |
||||
|
||||
QGCButton { |
||||
text: _setToVehicleHeadingStr |
||||
visible: activeVehicle |
||||
onClicked: missionItem.landingHeading.rawValue = activeVehicle.heading.rawValue |
||||
} |
||||
} |
||||
|
||||
SectionHeader { |
||||
id: landingPointSection |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
text: qsTr("Landing point") |
||||
} |
||||
|
||||
Column { |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
spacing: _margin |
||||
visible: landingPointSection.checked |
||||
|
||||
Item { width: 1; height: _spacer } |
||||
|
||||
GridLayout { |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
columns: 2 |
||||
|
||||
QGCLabel { text: qsTr("Heading") } |
||||
|
||||
FactTextField { |
||||
Layout.fillWidth: true |
||||
fact: missionItem.landingHeading |
||||
} |
||||
|
||||
QGCLabel { text: qsTr("Altitude") } |
||||
|
||||
AltitudeFactTextField { |
||||
Layout.fillWidth: true |
||||
fact: missionItem.landingAltitude |
||||
altitudeMode: _altitudeMode |
||||
} |
||||
|
||||
QGCLabel { text: qsTr("Landing Dist") } |
||||
|
||||
FactTextField { |
||||
fact: missionItem.landingDistance |
||||
Layout.fillWidth: true |
||||
} |
||||
|
||||
QGCButton { |
||||
text: _setToVehicleLocationStr |
||||
visible: activeVehicle |
||||
Layout.columnSpan: 2 |
||||
onClicked: missionItem.landingCoordinate = activeVehicle.coordinate |
||||
} |
||||
} |
||||
} |
||||
|
||||
Item { width: 1; height: _spacer } |
||||
|
||||
QGCCheckBox { |
||||
anchors.right: parent.right |
||||
text: qsTr("Altitudes relative to launch") |
||||
checked: missionItem.altitudesAreRelative |
||||
visible: QGroundControl.corePlugin.options.showMissionAbsoluteAltitude || !missionItem.altitudesAreRelative |
||||
onClicked: missionItem.altitudesAreRelative = checked |
||||
} |
||||
|
||||
SectionHeader { |
||||
id: cameraSection |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
text: qsTr("Camera") |
||||
visible: _showCameraSection |
||||
} |
||||
|
||||
Column { |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
spacing: _margin |
||||
visible: _showCameraSection && cameraSection.checked |
||||
|
||||
Item { width: 1; height: _spacer } |
||||
|
||||
FactCheckBox { |
||||
text: _stopTakingPhotos.shortDescription |
||||
fact: _stopTakingPhotos |
||||
|
||||
property Fact _stopTakingPhotos: missionItem.stopTakingPhotos |
||||
} |
||||
|
||||
FactCheckBox { |
||||
text: _stopTakingVideo.shortDescription |
||||
fact: _stopTakingVideo |
||||
|
||||
property Fact _stopTakingVideo: missionItem.stopTakingVideo |
||||
} |
||||
} |
||||
|
||||
Column { |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
spacing: 0 |
||||
|
||||
QGCLabel { |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
wrapMode: Text.WordWrap |
||||
color: qgcPal.warningText |
||||
font.pointSize: ScreenTools.smallFontPointSize |
||||
text: qsTr("* Actual flight path will vary.") |
||||
} |
||||
|
||||
QGCLabel { |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
wrapMode: Text.WordWrap |
||||
color: qgcPal.warningText |
||||
font.pointSize: ScreenTools.smallFontPointSize |
||||
text: qsTr("* Avoid tailwind from loiter to land.") |
||||
} |
||||
} |
||||
} |
||||
|
||||
Column { |
||||
id: editorColumnNeedLandingPoint |
||||
anchors.margins: _margin |
||||
anchors.top: parent.top |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
visible: !missionItem.landingCoordSet || missionItem.wizardMode |
||||
spacing: ScreenTools.defaultFontPixelHeight |
||||
|
||||
Column { |
||||
id: landingCoordColumn |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
spacing: ScreenTools.defaultFontPixelHeight |
||||
visible: !missionItem.landingCoordSet |
||||
|
||||
QGCLabel { |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
wrapMode: Text.WordWrap |
||||
horizontalAlignment: Text.AlignHCenter |
||||
text: qsTr("Click in map to set landing point.") |
||||
} |
||||
|
||||
QGCLabel { |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
horizontalAlignment: Text.AlignHCenter |
||||
text: qsTr("- or -") |
||||
visible: activeVehicle |
||||
} |
||||
|
||||
QGCButton { |
||||
anchors.horizontalCenter: parent.horizontalCenter |
||||
text: _setToVehicleLocationStr |
||||
visible: activeVehicle |
||||
|
||||
onClicked: { |
||||
missionItem.landingCoordinate = activeVehicle.coordinate |
||||
missionItem.landingHeading.rawValue = activeVehicle.heading.rawValue |
||||
} |
||||
} |
||||
} |
||||
|
||||
ColumnLayout { |
||||
anchors.left: parent.left |
||||
anchors.right: parent.right |
||||
spacing: ScreenTools.defaultFontPixelHeight |
||||
visible: !landingCoordColumn.visible |
||||
|
||||
onVisibleChanged: { |
||||
if (visible) { |
||||
console.log(missionItem.landingDistance.rawValue) |
||||
} |
||||
} |
||||
|
||||
QGCLabel { |
||||
Layout.fillWidth: true |
||||
wrapMode: Text.WordWrap |
||||
text: qsTr("Drag the loiter point to adjust landing direction for wind and obstacles as well as distance to land point.") |
||||
} |
||||
|
||||
QGCButton { |
||||
text: qsTr("Done") |
||||
Layout.fillWidth: true |
||||
onClicked: { |
||||
missionItem.wizardMode = false |
||||
missionItem.landingDragAngleOnly = false |
||||
// Trial of no auto select next item |
||||
//editorRoot.selectNextNotReadyItem() |
||||
} |
||||
} |
||||
} |
||||
} |
||||
} |
||||
@ -0,0 +1,258 @@
@@ -0,0 +1,258 @@
|
||||
/**************************************************************************** |
||||
* |
||||
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
||||
* |
||||
* QGroundControl is licensed according to the terms in the file |
||||
* COPYING.md in the root of the source code directory. |
||||
* |
||||
****************************************************************************/ |
||||
|
||||
import QtQuick 2.3 |
||||
import QtQuick.Controls 1.2 |
||||
import QtLocation 5.3 |
||||
import QtPositioning 5.3 |
||||
import QtQuick.Layouts 1.11 |
||||
|
||||
import QGroundControl 1.0 |
||||
import QGroundControl.ScreenTools 1.0 |
||||
import QGroundControl.Palette 1.0 |
||||
import QGroundControl.Controls 1.0 |
||||
import QGroundControl.FlightMap 1.0 |
||||
|
||||
Item { |
||||
id: _root |
||||
|
||||
property var map ///< Map control to place item in |
||||
|
||||
signal clicked(int sequenceNumber) |
||||
|
||||
readonly property real _landingWidthMeters: 15 |
||||
readonly property real _landingLengthMeters: 100 |
||||
|
||||
property var _missionItem: object |
||||
property var _mouseArea |
||||
property var _dragAreas: [ ] |
||||
property var _flightPath |
||||
property real _landingAreaBearing: _missionItem.landingCoordinate.azimuthTo(_missionItem.loiterTangentCoordinate) |
||||
property var _loiterPointObject |
||||
property var _landingPointObject |
||||
|
||||
function hideItemVisuals() { |
||||
objMgr.destroyObjects() |
||||
} |
||||
|
||||
function showItemVisuals() { |
||||
if (objMgr.rgDynamicObjects.length === 0) { |
||||
_loiterPointObject = objMgr.createObject(loiterPointComponent, map, true /* parentObjectIsMap */) |
||||
_landingPointObject = objMgr.createObject(landingPointComponent, map, true /* parentObjectIsMap */) |
||||
|
||||
var rgComponents = [ flightPathComponent, loiterRadiusComponent ] |
||||
objMgr.createObjects(rgComponents, map, true /* parentObjectIsMap */) |
||||
} |
||||
} |
||||
|
||||
function hideMouseArea() { |
||||
if (_mouseArea) { |
||||
_mouseArea.destroy() |
||||
_mouseArea = undefined |
||||
} |
||||
} |
||||
|
||||
function showMouseArea() { |
||||
if (!_mouseArea) { |
||||
_mouseArea = mouseAreaComponent.createObject(map) |
||||
map.addMapItem(_mouseArea) |
||||
} |
||||
} |
||||
|
||||
function hideDragAreas() { |
||||
for (var i=0; i<_dragAreas.length; i++) { |
||||
_dragAreas[i].destroy() |
||||
} |
||||
_dragAreas = [ ] |
||||
} |
||||
|
||||
function showDragAreas() { |
||||
if (_dragAreas.length === 0) { |
||||
_dragAreas.push(loiterDragAreaComponent.createObject(map)) |
||||
_dragAreas.push(landDragAreaComponent.createObject(map)) |
||||
} |
||||
} |
||||
|
||||
function _setFlightPath() { |
||||
_flightPath = [ _missionItem.loiterTangentCoordinate, _missionItem.landingCoordinate ] |
||||
} |
||||
|
||||
QGCDynamicObjectManager { |
||||
id: objMgr |
||||
} |
||||
|
||||
Component.onCompleted: { |
||||
if (_missionItem.landingCoordSet) { |
||||
showItemVisuals() |
||||
if (!_missionItem.flyView && _missionItem.isCurrentItem) { |
||||
showDragAreas() |
||||
} |
||||
_setFlightPath() |
||||
} else if (!_missionItem.flyView && _missionItem.isCurrentItem) { |
||||
showMouseArea() |
||||
} |
||||
} |
||||
|
||||
Component.onDestruction: { |
||||
hideDragAreas() |
||||
hideMouseArea() |
||||
hideItemVisuals() |
||||
} |
||||
|
||||
Connections { |
||||
target: _missionItem |
||||
|
||||
onIsCurrentItemChanged: { |
||||
if (_missionItem.flyView) { |
||||
return |
||||
} |
||||
if (_missionItem.isCurrentItem) { |
||||
if (_missionItem.landingCoordSet) { |
||||
showDragAreas() |
||||
} else { |
||||
showMouseArea() |
||||
} |
||||
} else { |
||||
hideMouseArea() |
||||
hideDragAreas() |
||||
} |
||||
} |
||||
|
||||
onLandingCoordSetChanged: { |
||||
if (_missionItem.flyView) { |
||||
return |
||||
} |
||||
if (_missionItem.landingCoordSet) { |
||||
hideMouseArea() |
||||
showItemVisuals() |
||||
showDragAreas() |
||||
_setFlightPath() |
||||
} else if (_missionItem.isCurrentItem) { |
||||
hideDragAreas() |
||||
showMouseArea() |
||||
} |
||||
} |
||||
|
||||
onLandingCoordinateChanged: _setFlightPath() |
||||
onLoiterTangentCoordinateChanged: _setFlightPath() |
||||
} |
||||
|
||||
// Mouse area to capture landing point coordindate |
||||
Component { |
||||
id: mouseAreaComponent |
||||
|
||||
MouseArea { |
||||
anchors.fill: map |
||||
z: QGroundControl.zOrderMapItems + 1 // Over item indicators |
||||
|
||||
readonly property int _decimalPlaces: 8 |
||||
|
||||
onClicked: { |
||||
var coordinate = map.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */) |
||||
coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces) |
||||
coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces) |
||||
coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces) |
||||
_missionItem.landingCoordinate = coordinate |
||||
} |
||||
} |
||||
} |
||||
|
||||
// Control which is used to drag the loiter point |
||||
Component { |
||||
id: loiterDragAreaComponent |
||||
|
||||
MissionItemIndicatorDrag { |
||||
mapControl: _root.map |
||||
itemIndicator: _loiterPointObject |
||||
itemCoordinate: _missionItem.loiterCoordinate |
||||
|
||||
onItemCoordinateChanged: _missionItem.loiterCoordinate = itemCoordinate |
||||
} |
||||
} |
||||
|
||||
// Control which is used to drag the landing point |
||||
Component { |
||||
id: landDragAreaComponent |
||||
|
||||
MissionItemIndicatorDrag { |
||||
mapControl: _root.map |
||||
itemIndicator: _landingPointObject |
||||
itemCoordinate: _missionItem.landingCoordinate |
||||
|
||||
onItemCoordinateChanged: _missionItem.landingCoordinate = itemCoordinate |
||||
} |
||||
} |
||||
|
||||
// Flight path |
||||
Component { |
||||
id: flightPathComponent |
||||
|
||||
MapPolyline { |
||||
z: QGroundControl.zOrderMapItems - 1 // Under item indicators |
||||
line.color: "#be781c" |
||||
line.width: 2 |
||||
path: _flightPath |
||||
} |
||||
} |
||||
|
||||
// Loiter point |
||||
Component { |
||||
id: loiterPointComponent |
||||
|
||||
MapQuickItem { |
||||
anchorPoint.x: sourceItem.anchorPointX |
||||
anchorPoint.y: sourceItem.anchorPointY |
||||
z: QGroundControl.zOrderMapItems |
||||
coordinate: _missionItem.loiterCoordinate |
||||
|
||||
sourceItem: |
||||
MissionItemIndexLabel { |
||||
index: _missionItem.sequenceNumber |
||||
label: qsTr("Loiter") |
||||
checked: _missionItem.isCurrentItem |
||||
|
||||
onClicked: _root.clicked(_missionItem.sequenceNumber) |
||||
} |
||||
} |
||||
} |
||||
|
||||
// Landing point |
||||
Component { |
||||
id: landingPointComponent |
||||
|
||||
MapQuickItem { |
||||
anchorPoint.x: sourceItem.anchorPointX |
||||
anchorPoint.y: sourceItem.anchorPointY |
||||
z: QGroundControl.zOrderMapItems |
||||
coordinate: _missionItem.landingCoordinate |
||||
|
||||
sourceItem: |
||||
MissionItemIndexLabel { |
||||
index: _missionItem.lastSequenceNumber |
||||
label: qsTr("Land") |
||||
checked: _missionItem.isCurrentItem |
||||
|
||||
onClicked: _root.clicked(_missionItem.sequenceNumber) |
||||
} |
||||
} |
||||
} |
||||
|
||||
Component { |
||||
id: loiterRadiusComponent |
||||
|
||||
MapCircle { |
||||
z: QGroundControl.zOrderMapItems |
||||
center: _missionItem.loiterCoordinate |
||||
radius: _missionItem.loiterRadius.rawValue |
||||
border.width: 2 |
||||
border.color: "green" |
||||
color: "transparent" |
||||
} |
||||
} |
||||
} |
||||
Loading…
Reference in new issue