Donald Gagne
8 years ago
11 changed files with 646 additions and 519 deletions
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/**************************************************************************** |
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* |
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* (c) 2009-2016 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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|
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import QtQuick 2.3 |
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import QtQuick.Controls 1.2 |
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import QtQuick.Controls.Styles 1.4 |
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import QtQuick.Dialogs 1.2 |
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import QtLocation 5.3 |
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import QtPositioning 5.3 |
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import QtQuick.Layouts 1.2 |
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import QGroundControl 1.0 |
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import QGroundControl.ScreenTools 1.0 |
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import QGroundControl.Controls 1.0 |
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import QGroundControl.Palette 1.0 |
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import QGroundControl.Vehicle 1.0 |
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import QGroundControl.FlightMap 1.0 |
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/// This provides the smarts behind the guided mode commands, minus the user interface. This way you can change UI |
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/// without affecting the underlying functionality. |
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Item { |
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id: _root |
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property var missionController |
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signal showConfirmAction(string title, string message, int action, var actionData) |
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readonly property string emergencyStopTitle: qsTr("Emergency Stop") |
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readonly property string armTitle: qsTr("Arm") |
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readonly property string disarmTitle: qsTr("Disarm") |
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readonly property string rtlTitle: qsTr("RTL") |
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readonly property string takeoffTitle: qsTr("Takeoff") |
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readonly property string landTitle: qsTr("Land") |
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readonly property string startMissionTitle: qsTr("Start Mission") |
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readonly property string resumeMissionTitle: qsTr("Resume Mission") |
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readonly property string pauseTitle: qsTr("Pause") |
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readonly property string changeAltTitle: qsTr("Change Altitude") |
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readonly property string orbitTitle: qsTr("Orbit") |
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readonly property string landAbortTitle: qsTr("Land Abort") |
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readonly property string setWaypointTitle: qsTr("Set Waypoint") |
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readonly property string gotoTitle: qsTr("Goto Location") |
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readonly property string armMessage: qsTr("arm") |
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readonly property string disarmMessage: qsTr("disarm") |
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readonly property string emergencyStopMessage: qsTr("WARNING: This still stop all motors. If vehicle is currently in air it will crash.") |
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readonly property string takeoffMessage: qsTr("Takeoff from ground and hold position.") |
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readonly property string startMissionMessage: qsTr("Start the mission which is currently displayed above. If the vehicle is on the ground it will takeoff.") |
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property string resumeMissionMessage: qsTr("Resume the mission which is displayed above. This will re-generate the mission from waypoint %1, takeoff and continue the mission.").arg(_resumeMissionItem) |
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readonly property string resumeMissionReadyMessage: qsTr("Review the modified mission above. Confirm if you want to takeoff and begin mission.") |
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readonly property string landMessage: qsTr("Land the vehicle at the current position.") |
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readonly property string rtlMessage: qsTr("Return to the home position of the vehicle.") |
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readonly property string changeAltMessage: qsTr("Change the altitude of the vehicle up or down.") |
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readonly property string gotoMessage: qsTr("Move the vehicle to the location clicked on the map.") |
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property string setWaypointMessage: qsTr("Adjust current waypoint to %1.").arg(_actionData) |
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readonly property string orbitMessage: qsTr("Orbit the vehicle around the current location.") |
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readonly property string landAbortMessage: qsTr("Abort the landing sequence.") |
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readonly property string pauseMessage: qsTr("Pause the vehicle at it's current position.") |
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readonly property int actionRTL: 1 |
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readonly property int actionLand: 2 |
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readonly property int actionTakeoff: 3 |
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readonly property int actionArm: 4 |
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readonly property int actionDisarm: 5 |
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readonly property int actionEmergencyStop: 6 |
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readonly property int actionChangeAlt: 7 |
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readonly property int actionGoto: 8 |
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readonly property int actionSetWaypoint: 9 |
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readonly property int actionOrbit: 10 |
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readonly property int actionLandAbort: 11 |
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readonly property int actionStartMission: 12 |
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readonly property int actionResumeMission: 13 |
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readonly property int actionResumeMissionReady: 14 |
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readonly property int actionPause: 15 |
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property bool showEmergenyStop: !_hideEmergenyStop && _activeVehicle && _activeVehicle.armed && _activeVehicle.flying |
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property bool showDisarm: _activeVehicle && _activeVehicle.armed && !_activeVehicle.flying |
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property bool showRTL: _activeVehicle && _activeVehicle.armed && _activeVehicle.guidedModeSupported && _activeVehicle.flying && !_vehicleInRTLMode |
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property bool showTakeoff: _activeVehicle && _activeVehicle.guidedModeSupported && !_activeVehicle.flying && !_activeVehicle.fixedWing |
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property bool showLand: _activeVehicle && _activeVehicle.guidedModeSupported && _activeVehicle.armed && !_activeVehicle.fixedWing && !_vehicleInLandMode |
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property bool showStartMission: _activeVehicle && _missionAvailable && !_missionActive |
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property bool showResumeMission: _activeVehicle && !_activeVehicle.flying && _missionAvailable && _resumeMissionItem > 1 |
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property bool showPause: _activeVehicle && _activeVehicle.armed && _activeVehicle.pauseVehicleSupported && _activeVehicle.flying && !_vehiclePaused |
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property bool showChangeAlt: (_activeVehicle && _activeVehicle.flying) && _activeVehicle.guidedModeSupported && _activeVehicle.armed && !_missionActive |
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property bool showOrbit: !_hideOrbit && _activeVehicle && _activeVehicle.flying && _activeVehicle.orbitModeSupported && _activeVehicle.armed && !_missionActive |
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property bool showLandAbort: _activeVehicle && _activeVehicle.flying && _activeVehicle.fixedWing |
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property bool showGotoLocation: _activeVehicle && _activeVehicle.guidedMode && _activeVehicle.flying |
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property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle |
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property bool _missionAvailable: missionController.containsItems |
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property bool _missionActive: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.missionFlightMode : false |
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property bool _vehiclePaused: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.pauseFlightMode : false |
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property bool _vehicleInRTLMode: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.rtlFlightMode : false |
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property bool _vehicleInLandMode: _activeVehicle ? _activeVehicle.flightMode === _activeVehicle.landFlightMode : false |
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property int _resumeMissionItem: missionController.resumeMissionItem |
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property bool _hideEmergenyStop: !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop |
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property bool _hideOrbit: !QGroundControl.corePlugin.options.guidedBarShowOrbit |
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property var _actionData |
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// Called when an action is about to be executed in order to confirm |
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function confirmAction(actionCode, actionData) { |
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var title |
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var message |
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_actionData = actionData |
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switch (actionCode) { |
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case actionArm: |
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title = armTitle |
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message = armMessage |
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break; |
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case actionDisarm: |
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title = disarmTitle |
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message = disarmMessage |
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break; |
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case actionEmergencyStop: |
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title = emergencyStopTitle |
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message = emergencyStopMessage |
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break; |
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case actionTakeoff: |
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title = takeoffTitle |
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message = takeoffMessage |
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break; |
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case actionStartMission: |
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title = startMissionTitle |
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message = startMissionMessage |
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break; |
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case actionResumeMission: |
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title = resumeMissionTitle |
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message = resumeMissionMessage |
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break; |
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case actionResumeMissionReady: |
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title = resumeMissionTitle |
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message = resumeMissionReadyMessage |
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break; |
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case actionLand: |
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title = landTitle |
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message = landMessage |
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break; |
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case actionRTL: |
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title = rtlTitle |
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message = rtlMessage |
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break; |
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case actionChangeAlt: |
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title = changeAltTitle |
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message = changeAltMessage |
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break; |
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case actionGoto: |
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title = gotoTitle |
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message = gotoMessage |
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break; |
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case actionSetWaypoint: |
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title = setWaypointTitle |
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message = setWaypointMessage |
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break; |
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case actionOrbit: |
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title = orbitTitle |
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message = orbitMessage |
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break; |
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case actionLandAbort: |
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title = landAbortTitle |
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message = landAbortMessage |
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break; |
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case actionPause: |
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title = pauseTitle |
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message = pauseMessage |
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break; |
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} |
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showConfirmAction(title, message, actionCode, actionData) |
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} |
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// Executes the specified action |
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function executeAction(actionCode, actionData) { |
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switch (actionCode) { |
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case actionRTL: |
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_activeVehicle.guidedModeRTL() |
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break |
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case actionLand: |
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_activeVehicle.guidedModeLand() |
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break |
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case actionTakeoff: |
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_activeVehicle.guidedModeTakeoff() |
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break |
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case actionResumeMission: |
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missionController.resumeMission(missionController.resumeMissionItem) |
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break |
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case actionResumeMissionReady: |
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_activeVehicle.startMission() |
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break |
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case actionStartMission: |
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_activeVehicle.startMission() |
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break |
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case actionArm: |
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_activeVehicle.armed = true |
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break |
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case actionDisarm: |
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_activeVehicle.armed = false |
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break |
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case actionEmergencyStop: |
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_activeVehicle.emergencyStop() |
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break |
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case actionChangeAlt: |
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_activeVehicle.guidedModeChangeAltitude(actionData) |
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break |
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case actionGoto: |
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_activeVehicle.guidedModeGotoLocation(actionData) |
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break |
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case actionSetWaypoint: |
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_activeVehicle.setCurrentMissionSequence(actionData) |
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break |
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case actionOrbit: |
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_activeVehicle.guidedModeOrbit() |
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break |
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case actionLandAbort: |
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_activeVehicle.abortLanding(50) // hardcoded value for climbOutAltitude that is currently ignored |
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break |
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case actionPause: |
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_activeVehicle.pauseVehicle() |
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break |
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default: |
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console.warn(qsTr("Internal error: unknown actionCode"), actionCode) |
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break |
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} |
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} |
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} |
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