zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Show correct item editor based on current VTOL state

QGC4.4
DonLakeFlyer 5 years ago
parent
d6e0e34220
commit
c2bfd944ad
13 changed files with 108 additions and 85 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      src/MissionManager/CameraSectionTest.cc
  2. 2
      src/MissionManager/KMLPlanDomDocument.cc
  3. 2
      src/MissionManager/MavCmdInfoFixedWing.json
  4. 23
      src/MissionManager/MissionCommandTree.cc
  5. 6
      src/MissionManager/MissionCommandTree.h
  6. 6
      src/MissionManager/MissionCommandTreeTest.cc
  7. 8
      src/MissionManager/MissionController.cc
  8. 4
      src/MissionManager/MissionManager.cc
  9. 46
      src/MissionManager/SimpleMissionItem.cc
  10. 29
      src/MissionManager/SimpleMissionItem.h
  11. 2
      src/MissionManager/TakeoffMissionItem.cc
  12. 11
      src/MissionManager/VisualMissionItem.cc
  13. 50
      src/MissionManager/VisualMissionItem.h

4
src/MissionManager/CameraSectionTest.cc
Unescape View File

@ -1057,7 +1057,7 @@ void CameraSectionTest::_testScanForMultipleItems(void) @@ -1057,7 +1057,7 @@ void CameraSectionTest::_testScanForMultipleItems(void)
item2->missionItem() = cameraItem->missionItem();
visualItems.append(item1);
visualItems.append(item2);
qDebug() << commandTree->getUIInfo(_controllerVehicle, (MAV_CMD)item1->command())->rawName() << commandTree->getUIInfo(_controllerVehicle, (MAV_CMD)item2->command())->rawName();;
qDebug() << commandTree->getUIInfo(_controllerVehicle, QGCMAVLink::VehicleClassGeneric, (MAV_CMD)item1->command())->rawName() << commandTree->getUIInfo(_controllerVehicle, QGCMAVLink::VehicleClassGeneric, (MAV_CMD)item2->command())->rawName();;
scanIndex = 0;
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
@ -1078,7 +1078,7 @@ void CameraSectionTest::_testScanForMultipleItems(void) @@ -1078,7 +1078,7 @@ void CameraSectionTest::_testScanForMultipleItems(void)
item2->missionItem() = cameraItem->missionItem();
visualItems.append(item1);
visualItems.append(item2);
qDebug() << commandTree->getUIInfo(_controllerVehicle, (MAV_CMD)item1->command())->rawName() << commandTree->getUIInfo(_controllerVehicle, (MAV_CMD)item2->command())->rawName();;
qDebug() << commandTree->getUIInfo(_controllerVehicle, QGCMAVLink::VehicleClassGeneric, (MAV_CMD)item1->command())->rawName() << commandTree->getUIInfo(_controllerVehicle, QGCMAVLink::VehicleClassGeneric, (MAV_CMD)item2->command())->rawName();;
scanIndex = 0;
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);

2
src/MissionManager/KMLPlanDomDocument.cc
Unescape View File

@ -51,7 +51,7 @@ void KMLPlanDomDocument::_addFlightPath(Vehicle* vehicle, QList<MissionItem*> rg @@ -51,7 +51,7 @@ void KMLPlanDomDocument::_addFlightPath(Vehicle* vehicle, QList<MissionItem*> rg
QList<QGeoCoordinate> rgFlightCoords;
QGeoCoordinate homeCoord = rgMissionItems[0]->coordinate();
for (const MissionItem* item : rgMissionItems) {
const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, item->command());
const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, QGCMAVLink::VehicleClassGeneric, item->command());
if (uiInfo) {
double altAdjustment = item->frame() == MAV_FRAME_GLOBAL ? 0 : homeCoord.altitude(); // Used to convert to amsl
if (uiInfo->isTakeoffCommand() && !vehicle->fixedWing()) {

2
src/MissionManager/MavCmdInfoFixedWing.json
Unescape View File

@ -7,7 +7,7 @@ @@ -7,7 +7,7 @@
{
"id": 16,
"comment": "MAV_CMD_NAV_WAYPOINT",
"paramRemove": "4"
"paramRemove": "1,4"
},
{
"id": 17,

23
src/MissionManager/MissionCommandTree.cc
Unescape View File

@ -81,12 +81,12 @@ void MissionCommandTree::_collapseHierarchy(const MissionCommandList* @@ -81,12 +81,12 @@ void MissionCommandTree::_collapseHierarchy(const MissionCommandList*
}
}
void MissionCommandTree::_buildAllCommands(Vehicle* vehicle)
void MissionCommandTree::_buildAllCommands(Vehicle* vehicle, QGCMAVLink::VehicleClass_t vtolMode)
{
QGCMAVLink::FirmwareClass_t firmwareClass;
QGCMAVLink::VehicleClass_t vehicleClass;
_firmwareAndVehicleClassInfo(vehicle, firmwareClass, vehicleClass);
_firmwareAndVehicleClassInfo(vehicle, vtolMode, firmwareClass, vehicleClass);
if (_allCommands.contains(firmwareClass) && _allCommands[firmwareClass].contains(vehicleClass)) {
// Already built
@ -131,8 +131,8 @@ QStringList MissionCommandTree::_availableCategoriesForVehicle(Vehicle* vehicle) @@ -131,8 +131,8 @@ QStringList MissionCommandTree::_availableCategoriesForVehicle(Vehicle* vehicle)
QGCMAVLink::FirmwareClass_t firmwareClass;
QGCMAVLink::VehicleClass_t vehicleClass;
_firmwareAndVehicleClassInfo(vehicle, firmwareClass, vehicleClass);
_buildAllCommands(vehicle);
_firmwareAndVehicleClassInfo(vehicle, QGCMAVLink::VehicleClassGeneric, firmwareClass, vehicleClass);
_buildAllCommands(vehicle, QGCMAVLink::VehicleClassGeneric);
return _supportedCategories[firmwareClass][vehicleClass];
}
@ -166,13 +166,13 @@ const QList<MAV_CMD>& MissionCommandTree::allCommandIds(void) const @@ -166,13 +166,13 @@ const QList<MAV_CMD>& MissionCommandTree::allCommandIds(void) const
return _staticCommandTree[QGCMAVLink::FirmwareClassGeneric][QGCMAVLink::VehicleClassGeneric]->commandIds();
}
const MissionCommandUIInfo* MissionCommandTree::getUIInfo(Vehicle* vehicle, MAV_CMD command)
const MissionCommandUIInfo* MissionCommandTree::getUIInfo(Vehicle* vehicle, QGCMAVLink::VehicleClass_t vtolMode, MAV_CMD command)
{
QGCMAVLink::FirmwareClass_t firmwareClass;
QGCMAVLink::VehicleClass_t vehicleClass;
_firmwareAndVehicleClassInfo(vehicle, firmwareClass, vehicleClass);
_buildAllCommands(vehicle);
_firmwareAndVehicleClassInfo(vehicle, vtolMode, firmwareClass, vehicleClass);
_buildAllCommands(vehicle, vtolMode);
const QMap<MAV_CMD, MissionCommandUIInfo*>& infoMap = _allCommands[firmwareClass][vehicleClass];
if (infoMap.contains(command)) {
@ -187,8 +187,8 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const @@ -187,8 +187,8 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const
QGCMAVLink::FirmwareClass_t firmwareClass;
QGCMAVLink::VehicleClass_t vehicleClass;
_firmwareAndVehicleClassInfo(vehicle, firmwareClass, vehicleClass);
_buildAllCommands(vehicle);
_firmwareAndVehicleClassInfo(vehicle, QGCMAVLink::VehicleClassGeneric, firmwareClass, vehicleClass);
_buildAllCommands(vehicle, QGCMAVLink::VehicleClassGeneric);
// vehicle can be null in which case _firmwareAndVehicleClassInfo will tell of the firmware/vehicle type for the offline editing vehicle.
// We then use that to get a firmware plugin so we can get the list of supported commands.
@ -210,8 +210,11 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const @@ -210,8 +210,11 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const
return list;
}
void MissionCommandTree::_firmwareAndVehicleClassInfo(Vehicle* vehicle, QGCMAVLink::FirmwareClass_t& firmwareClass, QGCMAVLink::VehicleClass_t& vehicleClass) const
void MissionCommandTree::_firmwareAndVehicleClassInfo(Vehicle* vehicle, QGCMAVLink::VehicleClass_t vtolMode, QGCMAVLink::FirmwareClass_t& firmwareClass, QGCMAVLink::VehicleClass_t& vehicleClass) const
{
firmwareClass = QGCMAVLink::firmwareClass(vehicle->firmwareType());
vehicleClass = QGCMAVLink::vehicleClass(vehicle->vehicleType());
if (vehicleClass == QGCMAVLink::VehicleClassVTOL && vtolMode != QGCMAVLink::VehicleClassGeneric) {
vehicleClass = vtolMode;
}
}

6
src/MissionManager/MissionCommandTree.h
Unescape View File

@ -59,7 +59,7 @@ public: @@ -59,7 +59,7 @@ public:
Q_INVOKABLE QStringList categoriesForVehicle(Vehicle* vehicle) { return _availableCategoriesForVehicle(vehicle); }
const MissionCommandUIInfo* getUIInfo(Vehicle* vehicle, MAV_CMD command);
const MissionCommandUIInfo* getUIInfo(Vehicle* vehicle, QGCMAVLink::VehicleClass_t vtolMode, MAV_CMD command);
/// @param showFlyThroughCommands - true: all commands shows, false: filter out commands which the vehicle flies through (specifiedCoordinate=true, standaloneCoordinate=false)
Q_INVOKABLE QVariantList getCommandsForCategory(Vehicle* vehicle, const QString& category, bool showFlyThroughCommands);
@ -69,9 +69,9 @@ public: @@ -69,9 +69,9 @@ public:
private:
void _collapseHierarchy (const MissionCommandList* cmdList, QMap<MAV_CMD, MissionCommandUIInfo*>& collapsedTree);
void _buildAllCommands (Vehicle* vehicle);
void _buildAllCommands (Vehicle* vehicle, QGCMAVLink::VehicleClass_t vtolMode);
QStringList _availableCategoriesForVehicle (Vehicle* vehicle);
void _firmwareAndVehicleClassInfo (Vehicle* vehicle, QGCMAVLink::FirmwareClass_t& firmwareClass, QGCMAVLink::VehicleClass_t& vehicleClass) const;
void _firmwareAndVehicleClassInfo (Vehicle* vehicle, QGCMAVLink::VehicleClass_t vtolMode, QGCMAVLink::FirmwareClass_t& firmwareClass, QGCMAVLink::VehicleClass_t& vehicleClass) const;
private:
QString _allCommandsCategory; ///< Category which contains all available commands

6
src/MissionManager/MissionCommandTreeTest.cc
Unescape View File

@ -188,12 +188,12 @@ void MissionCommandTreeTest::testOverride(void) @@ -188,12 +188,12 @@ void MissionCommandTreeTest::testOverride(void)
{
// Generic/Generic should not have any overrides
Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_GENERIC, qgcApp()->toolbox()->firmwarePluginManager());
_checkBaseValues(_commandTree->getUIInfo(vehicle, (MAV_CMD)4), 4);
_checkBaseValues(_commandTree->getUIInfo(vehicle, QGCMAVLink::VehicleClassGeneric, (MAV_CMD)4), 4);
delete vehicle;
// Generic/FixedWing should have overrides
vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_FIXED_WING, qgcApp()->toolbox()->firmwarePluginManager());
_checkOverrideValues(_commandTree->getUIInfo(vehicle, (MAV_CMD)4), 4);
_checkOverrideValues(_commandTree->getUIInfo(vehicle, QGCMAVLink::VehicleClassGeneric, (MAV_CMD)4), 4);
delete vehicle;
}
@ -214,7 +214,7 @@ void MissionCommandTreeTest::testAllTrees(void) @@ -214,7 +214,7 @@ void MissionCommandTreeTest::testAllTrees(void)
}
qDebug() << firmwareType << vehicleType;
Vehicle* vehicle = new Vehicle(firmwareType, vehicleType, qgcApp()->toolbox()->firmwarePluginManager());
QVERIFY(qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, MAV_CMD_NAV_WAYPOINT) != nullptr);
QVERIFY(qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, QGCMAVLink::VehicleClassMultiRotor, MAV_CMD_NAV_WAYPOINT) != nullptr);
delete vehicle;
}
}

8
src/MissionManager/MissionController.cc
Unescape View File

@ -318,7 +318,7 @@ VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordin @@ -318,7 +318,7 @@ VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordin
_initVisualItem(newItem);
if (newItem->specifiesAltitude()) {
const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, command);
const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, QGCMAVLink::VehicleClassGeneric, command);
if (!uiInfo->isLandCommand()) {
double prevAltitude;
int prevAltitudeMode;
@ -1672,9 +1672,9 @@ void MissionController::_recalcMissionFlightStatus() @@ -1672,9 +1672,9 @@ void MissionController::_recalcMissionFlightStatus()
case MAV_CMD_DO_VTOL_TRANSITION:
{
int transitionState = simpleItem->missionItem().param1();
if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_MC) {
if (transitionState == MAV_VTOL_STATE_MC) {
_missionFlightStatus.vtolMode = QGCMAVLink::VehicleClassMultiRotor;
} else if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_FW) {
} else if (transitionState == MAV_VTOL_STATE_FW) {
_missionFlightStatus.vtolMode = QGCMAVLink::VehicleClassFixedWing;
}
}
@ -1901,7 +1901,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem) @@ -1901,7 +1901,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
connect(visualItem, &VisualMissionItem::specifiedVehicleYawChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(visualItem, &VisualMissionItem::terrainAltitudeChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(visualItem, &VisualMissionItem::additionalTimeDelayChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(visualItem, &VisualMissionItem::currentVTOLModeChanged, this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
connect(visualItem, &VisualMissionItem::lastSequenceNumberChanged, this, &MissionController::_recalcSequence);
if (visualItem->isSimpleItem()) {

4
src/MissionManager/MissionManager.cc
Unescape View File

@ -97,11 +97,11 @@ void MissionManager::generateResumeMission(int resumeIndex) @@ -97,11 +97,11 @@ void MissionManager::generateResumeMission(int resumeIndex)
resumeIndex = qMax(0, qMin(resumeIndex, _missionItems.count() - 1));
// Adjust resume index to be a location based command
const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, _missionItems[resumeIndex]->command());
const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, QGCMAVLink::VehicleClassGeneric, _missionItems[resumeIndex]->command());
if (!uiInfo || uiInfo->isStandaloneCoordinate() || !uiInfo->specifiesCoordinate()) {
// We have to back up to the last command which the vehicle flies through
while (--resumeIndex > 0) {
uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, _missionItems[resumeIndex]->command());
uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, QGCMAVLink::VehicleClassGeneric, _missionItems[resumeIndex]->command());
if (uiInfo && (uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate())) {
// Found it
break;

46
src/MissionManager/SimpleMissionItem.cc
Unescape View File

@ -191,13 +191,18 @@ void SimpleMissionItem::_connectSignals(void) @@ -191,13 +191,18 @@ void SimpleMissionItem::_connectSignals(void)
// Whenever these properties change the ui model changes as well
connect(this, &SimpleMissionItem::commandChanged, this, &SimpleMissionItem::_rebuildFacts);
connect(this, &SimpleMissionItem::rawEditChanged, this, &SimpleMissionItem::_rebuildFacts);
connect(this, &SimpleMissionItem::previousVTOLModeChanged,this, &SimpleMissionItem::_rebuildFacts);
// The following changes must signal currentVTOLModeChanged to cause a MissionController recalc
connect(this, &SimpleMissionItem::commandChanged, this, &SimpleMissionItem::_signalIfVTOLTransitionCommand);
connect(&_missionItem._param1Fact, &Fact::valueChanged, this, &SimpleMissionItem::_signalIfVTOLTransitionCommand);
// These fact signals must alway signal out through SimpleMissionItem signals
connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::_sendCommandChanged);
// Propogate signals from MissionItem up to SimpleMissionItem
connect(&_missionItem, &MissionItem::sequenceNumberChanged, this, &SimpleMissionItem::sequenceNumberChanged);
connect(&_missionItem, &MissionItem::specifiedFlightSpeedChanged, this, &SimpleMissionItem::specifiedFlightSpeedChanged);
connect(&_missionItem, &MissionItem::sequenceNumberChanged, this, &SimpleMissionItem::sequenceNumberChanged);
connect(&_missionItem, &MissionItem::specifiedFlightSpeedChanged, this, &SimpleMissionItem::specifiedFlightSpeedChanged);
}
void SimpleMissionItem::_setupMetaData(void)
@ -333,7 +338,7 @@ bool SimpleMissionItem::load(const QJsonObject& json, int sequenceNumber, QStrin @@ -333,7 +338,7 @@ bool SimpleMissionItem::load(const QJsonObject& json, int sequenceNumber, QStrin
bool SimpleMissionItem::isStandaloneCoordinate(void) const
{
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, (MAV_CMD)command());
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, _previousVTOLMode, (MAV_CMD)command());
if (uiInfo) {
return uiInfo->isStandaloneCoordinate();
} else {
@ -343,7 +348,7 @@ bool SimpleMissionItem::isStandaloneCoordinate(void) const @@ -343,7 +348,7 @@ bool SimpleMissionItem::isStandaloneCoordinate(void) const
bool SimpleMissionItem::specifiesCoordinate(void) const
{
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, (MAV_CMD)command());
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, _previousVTOLMode, (MAV_CMD)command());
if (uiInfo) {
return uiInfo->specifiesCoordinate();
} else {
@ -353,7 +358,7 @@ bool SimpleMissionItem::specifiesCoordinate(void) const @@ -353,7 +358,7 @@ bool SimpleMissionItem::specifiesCoordinate(void) const
bool SimpleMissionItem::specifiesAltitudeOnly(void) const
{
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, (MAV_CMD)command());
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, _previousVTOLMode, (MAV_CMD)command());
if (uiInfo) {
return uiInfo->specifiesAltitudeOnly();
} else {
@ -363,7 +368,7 @@ bool SimpleMissionItem::specifiesAltitudeOnly(void) const @@ -363,7 +368,7 @@ bool SimpleMissionItem::specifiesAltitudeOnly(void) const
QString SimpleMissionItem::commandDescription(void) const
{
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, (MAV_CMD)command());
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, _previousVTOLMode, (MAV_CMD)command());
if (uiInfo) {
return uiInfo->description();
} else {
@ -374,7 +379,7 @@ QString SimpleMissionItem::commandDescription(void) const @@ -374,7 +379,7 @@ QString SimpleMissionItem::commandDescription(void) const
QString SimpleMissionItem::commandName(void) const
{
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, (MAV_CMD)command());
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, _previousVTOLMode, (MAV_CMD)command());
if (uiInfo) {
return uiInfo->friendlyName();
} else {
@ -444,7 +449,7 @@ void SimpleMissionItem::_rebuildTextFieldFacts(void) @@ -444,7 +449,7 @@ void SimpleMissionItem::_rebuildTextFieldFacts(void)
Fact* rgParamFacts[7] = { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };
FactMetaData* rgParamMetaData[7] = { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, command);
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, _previousVTOLMode, command);
for (int i=1; i<=7; i++) {
bool showUI;
@ -483,7 +488,7 @@ void SimpleMissionItem::_rebuildNaNFacts(void) @@ -483,7 +488,7 @@ void SimpleMissionItem::_rebuildNaNFacts(void)
Fact* rgParamFacts[7] = { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };
FactMetaData* rgParamMetaData[7] = { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, command);
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, _previousVTOLMode, command);
for (int i=1; i<=7; i++) {
bool showUI;
@ -541,7 +546,7 @@ void SimpleMissionItem::_rebuildComboBoxFacts(void) @@ -541,7 +546,7 @@ void SimpleMissionItem::_rebuildComboBoxFacts(void)
for (int i=1; i<=7; i++) {
bool showUI;
const MissionCmdParamInfo* paramInfo = _commandTree->getUIInfo(_controllerVehicle, command)->getParamInfo(i, showUI);
const MissionCmdParamInfo* paramInfo = _commandTree->getUIInfo(_controllerVehicle, _previousVTOLMode, command)->getParamInfo(i, showUI);
if (showUI && paramInfo && paramInfo->enumStrings().count() != 0) {
Fact* paramFact = rgParamFacts[i-1];
@ -567,7 +572,7 @@ void SimpleMissionItem::_rebuildFacts(void) @@ -567,7 +572,7 @@ void SimpleMissionItem::_rebuildFacts(void)
bool SimpleMissionItem::friendlyEditAllowed(void) const
{
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, static_cast<MAV_CMD>(command()));
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, _previousVTOLMode, static_cast<MAV_CMD>(command()));
if (uiInfo && uiInfo->friendlyEdit()) {
if (!_missionItem.autoContinue()) {
return false;
@ -740,7 +745,7 @@ void SimpleMissionItem::_setDefaultsForCommand(void) @@ -740,7 +745,7 @@ void SimpleMissionItem::_setDefaultsForCommand(void)
}
MAV_CMD command = static_cast<MAV_CMD>(this->command());
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, command);
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, _previousVTOLMode, command);
if (uiInfo) {
for (int i=1; i<=7; i++) {
bool showUI;
@ -777,7 +782,7 @@ void SimpleMissionItem::_sendFriendlyEditAllowedChanged(void) @@ -777,7 +782,7 @@ void SimpleMissionItem::_sendFriendlyEditAllowedChanged(void)
QString SimpleMissionItem::category(void) const
{
return _commandTree->getUIInfo(_controllerVehicle, static_cast<MAV_CMD>(command()))->category();
return _commandTree->getUIInfo(_controllerVehicle, _previousVTOLMode, static_cast<MAV_CMD>(command()))->category();
}
void SimpleMissionItem::setCommand(int command)
@ -920,7 +925,7 @@ void SimpleMissionItem::appendMissionItems(QList<MissionItem*>& items, QObject* @@ -920,7 +925,7 @@ void SimpleMissionItem::appendMissionItems(QList<MissionItem*>& items, QObject*
void SimpleMissionItem::applyNewAltitude(double newAltitude)
{
MAV_CMD command = static_cast<MAV_CMD>(this->command());
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, command);
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, _previousVTOLMode, command);
if (uiInfo->specifiesCoordinate() || uiInfo->specifiesAltitudeOnly()) {
switch (static_cast<MAV_CMD>(this->command())) {
@ -937,8 +942,9 @@ void SimpleMissionItem::applyNewAltitude(double newAltitude) @@ -937,8 +942,9 @@ void SimpleMissionItem::applyNewAltitude(double newAltitude)
void SimpleMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
{
// If speed and/or gimbal are not specifically set on this item. Then use the flight status values as initial defaults should a user turn them on.
VisualMissionItem::setMissionFlightStatus(missionFlightStatus);
// If speed and/or gimbal are not specifically set on this item. Then use the flight status values as initial defaults should a user turn them on.
if (_speedSection->available() && !_speedSection->specifyFlightSpeed() && !qFuzzyCompare(_speedSection->flightSpeed()->rawValue().toDouble(), missionFlightStatus.vehicleSpeed)) {
_speedSection->flightSpeed()->setRawValue(missionFlightStatus.vehicleSpeed);
}
@ -988,7 +994,7 @@ void SimpleMissionItem::_possibleAdditionalTimeDelayChanged(void) @@ -988,7 +994,7 @@ void SimpleMissionItem::_possibleAdditionalTimeDelayChanged(void)
bool SimpleMissionItem::isLandCommand(void) const
{
MAV_CMD command = static_cast<MAV_CMD>(this->command());
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, command);
const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_controllerVehicle, _previousVTOLMode, command);
return uiInfo->isLandCommand();
}
@ -1019,3 +1025,11 @@ double SimpleMissionItem::amslEntryAlt(void) const @@ -1019,3 +1025,11 @@ double SimpleMissionItem::amslEntryAlt(void) const
qWarning() << "Internal Error SimpleMissionItem::amslEntryAlt: Invalid altitudeMode:" << _altitudeMode;
return qQNaN();
}
void SimpleMissionItem::_signalIfVTOLTransitionCommand(void)
{
if (mavCommand() == MAV_CMD_DO_VTOL_TRANSITION) {
// This will cause a MissionController recalc
emit currentVTOLModeChanged();
}
}

29
src/MissionManager/SimpleMissionItem.h
Unescape View File

@ -139,20 +139,21 @@ signals: @@ -139,20 +139,21 @@ signals:
void altitudeModeChanged (void);
private slots:
void _setDirty (void);
void _sectionDirtyChanged (bool dirty);
void _sendCommandChanged (void);
void _sendCoordinateChanged (void);
void _sendFriendlyEditAllowedChanged (void);
void _altitudeChanged (void);
void _altitudeModeChanged (void);
void _terrainAltChanged (void);
void _updateLastSequenceNumber (void);
void _rebuildFacts (void);
void _rebuildTextFieldFacts (void);
void _possibleAdditionalTimeDelayChanged(void);
void _setDefaultsForCommand (void);
void _possibleVehicleYawChanged (void);
void _setDirty (void);
void _sectionDirtyChanged (bool dirty);
void _sendCommandChanged (void);
void _sendCoordinateChanged (void);
void _sendFriendlyEditAllowedChanged (void);
void _altitudeChanged (void);
void _altitudeModeChanged (void);
void _terrainAltChanged (void);
void _updateLastSequenceNumber (void);
void _rebuildFacts (void);
void _rebuildTextFieldFacts (void);
void _possibleAdditionalTimeDelayChanged (void);
void _setDefaultsForCommand (void);
void _possibleVehicleYawChanged (void);
void _signalIfVTOLTransitionCommand (void);
private:
void _connectSignals (void);

2
src/MissionManager/TakeoffMissionItem.cc
Unescape View File

@ -116,7 +116,7 @@ void TakeoffMissionItem::setCoordinate(const QGeoCoordinate& coordinate) @@ -116,7 +116,7 @@ void TakeoffMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
bool TakeoffMissionItem::isTakeoffCommand(MAV_CMD command)
{
const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(qgcApp()->toolbox()->multiVehicleManager()->offlineEditingVehicle(), command);
const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(qgcApp()->toolbox()->multiVehicleManager()->offlineEditingVehicle(), QGCMAVLink::VehicleClassGeneric, command);
return uiInfo ? uiInfo->isTakeoffCommand() : false;
}

11
src/MissionManager/VisualMissionItem.cc
Unescape View File

@ -7,7 +7,6 @@ @@ -7,7 +7,6 @@
*
****************************************************************************/
#include <QStringList>
#include <QDebug>
@ -18,6 +17,7 @@ @@ -18,6 +17,7 @@
#include "TerrainQuery.h"
#include "TakeoffMissionItem.h"
#include "PlanMasterController.h"
#include "QGC.h"
const char* VisualMissionItem::jsonTypeKey = "type";
const char* VisualMissionItem::jsonTypeSimpleItemValue = "SimpleItem";
@ -152,13 +152,14 @@ void VisualMissionItem::setAzimuth(double azimuth) @@ -152,13 +152,14 @@ void VisualMissionItem::setAzimuth(double azimuth)
void VisualMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
{
if (qIsNaN(missionFlightStatus.gimbalYaw) && qIsNaN(_missionGimbalYaw)) {
return;
}
if (!qFuzzyCompare(missionFlightStatus.gimbalYaw, _missionGimbalYaw)) {
if (!QGC::fuzzyCompare(missionFlightStatus.gimbalYaw, _missionGimbalYaw)) {
_missionGimbalYaw = missionFlightStatus.gimbalYaw;
emit missionGimbalYawChanged(_missionGimbalYaw);
}
if (missionFlightStatus.vtolMode != _previousVTOLMode) {
_previousVTOLMode = missionFlightStatus.vtolMode;
emit previousVTOLModeChanged();
}
}
void VisualMissionItem::setMissionVehicleYaw(double vehicleYaw)

50
src/MissionManager/VisualMissionItem.h
Unescape View File

@ -81,6 +81,7 @@ public: @@ -81,6 +81,7 @@ public:
Q_PROPERTY(double missionVehicleYaw READ missionVehicleYaw NOTIFY missionVehicleYawChanged) ///< Expected vehicle yaw at this point in mission
Q_PROPERTY(bool flyView READ flyView CONSTANT)
Q_PROPERTY(bool wizardMode READ wizardMode WRITE setWizardMode NOTIFY wizardModeChanged)
Q_PROPERTY(int previousVTOLMode MEMBER _previousVTOLMode NOTIFY previousVTOLModeChanged) ///< Current VTOL mode (VehicleClass_t) prior to executing this item
Q_PROPERTY(PlanMasterController* masterController READ masterController CONSTANT)
Q_PROPERTY(ReadyForSaveState readyForSaveState READ readyForSaveState NOTIFY readyForSaveStateChanged)
@ -238,6 +239,8 @@ signals: @@ -238,6 +239,8 @@ signals:
void parentItemChanged (VisualMissionItem* parentItem);
void amslEntryAltChanged (double alt);
void amslExitAltChanged (double alt);
void previousVTOLModeChanged (void);
void currentVTOLModeChanged (void); ///< Signals that this item has changed the VTOL mode (MAV_CMD_DO_VTOL_TRANSITION)
void exitCoordinateSameAsEntryChanged (bool exitCoordinateSameAsEntry);
@ -246,29 +249,30 @@ protected slots: @@ -246,29 +249,30 @@ protected slots:
void _amslExitAltChanged(void); // signals new amslExitAlt value
protected:
bool _flyView = false;
bool _isCurrentItem = false;
bool _hasCurrentChildItem = false;
bool _dirty = false;
bool _homePositionSpecialCase = false; ///< true: This item is being used as a ui home position indicator
bool _wizardMode = false; ///< true: Item editor is showing wizard completion panel
double _terrainAltitude = qQNaN(); ///< Altitude of terrain at coordinate position, NaN for not known
double _altDifference = 0; ///< Difference in altitude from previous waypoint
double _altPercent = 0; ///< Percent of total altitude change in mission
double _terrainPercent = qQNaN(); ///< Percent of terrain altitude for coordinate
bool _terrainCollision = false; ///< true: item collides with terrain
double _azimuth = 0; ///< Azimuth to previous waypoint
double _distance = 0; ///< Distance to previous waypoint
double _distanceFromStart = 0; ///< Flight path cumalative horizontal distance from home point to this item
QString _editorQml; ///< Qml resource for editing item
double _missionGimbalYaw = qQNaN();
double _missionVehicleYaw = qQNaN();
PlanMasterController* _masterController = nullptr;
MissionController* _missionController = nullptr;
Vehicle* _controllerVehicle = nullptr;
FlightPathSegment * _simpleFlightPathSegment = nullptr; ///< The simple item flight segment (if any) which starts with this visual item.
VisualMissionItem* _parentItem = nullptr;
bool _flyView = false;
bool _isCurrentItem = false;
bool _hasCurrentChildItem = false;
bool _dirty = false;
bool _homePositionSpecialCase = false; ///< true: This item is being used as a ui home position indicator
bool _wizardMode = false; ///< true: Item editor is showing wizard completion panel
double _terrainAltitude = qQNaN(); ///< Altitude of terrain at coordinate position, NaN for not known
double _altDifference = 0; ///< Difference in altitude from previous waypoint
double _altPercent = 0; ///< Percent of total altitude change in mission
double _terrainPercent = qQNaN(); ///< Percent of terrain altitude for coordinate
bool _terrainCollision = false; ///< true: item collides with terrain
double _azimuth = 0; ///< Azimuth to previous waypoint
double _distance = 0; ///< Distance to previous waypoint
double _distanceFromStart = 0; ///< Flight path cumalative horizontal distance from home point to this item
QString _editorQml; ///< Qml resource for editing item
double _missionGimbalYaw = qQNaN();
double _missionVehicleYaw = qQNaN();
QGCMAVLink::VehicleClass_t _previousVTOLMode = QGCMAVLink::VehicleClassGeneric; ///< Generic == unknown
PlanMasterController* _masterController = nullptr;
MissionController* _missionController = nullptr;
Vehicle* _controllerVehicle = nullptr;
FlightPathSegment * _simpleFlightPathSegment = nullptr; ///< The simple item flight segment (if any) which starts with this visual item.
VisualMissionItem* _parentItem = nullptr;
QGCGeoBoundingCube _boundingCube; ///< The bounding "cube" of this element.
/// This is used to reference any subsequent mission items which do not specify a coordinate.

Write Preview
Loading…
Cancel
Save