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Merge pull request #7161 from DonLakeFlyer/AltitudeTextField 

Support for new AltitudeFactTextField
QGC4.4
Don Gagne 6 years ago committed by GitHub
parent
643faa2ba5 d6500c1ce8
commit
d69fdb7b35
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GPG Key ID: 4AEE18F83AFDEB23
10 changed files with 123 additions and 97 deletions
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  1. 1
      qgroundcontrol.qrc
  2. 37
      src/FactSystem/FactControls/AltitudeFactTextField.qml
  3. 1
      src/FactSystem/FactControls/qmldir
  4. 6
      src/MissionManager/MissionController.cc
  5. 47
      src/MissionManager/SimpleMissionItem.cc
  6. 18
      src/MissionManager/SimpleMissionItem.h
  7. 26
      src/MissionManager/SimpleMissionItemTest.cc
  8. 2
      src/MissionManager/SimpleMissionItemTest.h
  9. 47
      src/PlanView/SimpleItemEditor.qml
  10. 9
      src/QmlControls/QGroundControlQmlGlobal.h

1
qgroundcontrol.qrc
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@ -137,6 +137,7 @@
<file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file> <file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
<file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file> <file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file>
<file alias="QGroundControl/Controls/ViewWidget.qml">src/ViewWidgets/ViewWidget.qml</file> <file alias="QGroundControl/Controls/ViewWidget.qml">src/ViewWidgets/ViewWidget.qml</file>
<file alias="QGroundControl/FactControls/AltitudeFactTextField.qml">src/FactSystem/FactControls/AltitudeFactTextField.qml</file>
<file alias="QGroundControl/FactControls/FactBitmask.qml">src/FactSystem/FactControls/FactBitmask.qml</file> <file alias="QGroundControl/FactControls/FactBitmask.qml">src/FactSystem/FactControls/FactBitmask.qml</file>
<file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file> <file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file>
<file alias="QGroundControl/FactControls/FactComboBox.qml">src/FactSystem/FactControls/FactComboBox.qml</file> <file alias="QGroundControl/FactControls/FactComboBox.qml">src/FactSystem/FactControls/FactComboBox.qml</file>

37
src/FactSystem/FactControls/AltitudeFactTextField.qml
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@ -0,0 +1,37 @@
import QGroundControl 1.0
import QGroundControl.FactSystem 1.0
FactTextField {
unitsLabel: fact ? fact.units + _altitudeModeExtraUnits : ""
showUnits: true
showHelp: true
property int altitudeMode: QGroundControl.AltitudeModeNone
readonly property string _altModeNoneExtraUnits: ""
readonly property string _altModeRelativeExtraUnits: qsTr(" (Rel)")
readonly property string _altModeAbsoluteExtraUnits: qsTr(" (AMSL)")
readonly property string _altModeAboveTerrainExtraUnits: qsTr(" (Abv Terr)")
readonly property string _altModeTerrainFrameExtraUnits: qsTr(" (TerrF)")
property string _altitudeModeExtraUnits: _altModeRelativeExtraUnits
function updateAltitudeModeExtraUnits() {
if (altitudeMode === QGroundControl.AltitudeModeNone) {
_altitudeModeExtraUnits = _altModeNoneExtraUnits
} else if (altitudeMode === QGroundControl.AltitudeModeRelative) {
_altitudeModeExtraUnits = _altModeRelativeExtraUnits
} else if (altitudeMode === QGroundControl.AltitudeModeAbsolute) {
_altitudeModeExtraUnits = _altModeAbsoluteExtraUnits
} else if (altitudeMode === QGroundControl.AltitudeModeAboveTerrain) {
_altitudeModeExtraUnits = _altModeAboveTerrainExtraUnits
} else if (missionItem.altitudeMode === QGroundControl.AltitudeModeTerrainFrame) {
_altitudeModeExtraUnits = _altModeTerrainFrameExtraUnits
} else {
console.log("AltitudeFactTextField Internal error: Unknown altitudeMode", altitudeMode)
_altitudeModeExtraUnits = ""
}
}
onAltitudeModeChanged: updateAltitudeModeExtraUnits()
}

1
src/FactSystem/FactControls/qmldir
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@ -1,5 +1,6 @@
Module QGroundControl.FactControls Module QGroundControl.FactControls
AltitudeFactTextField 1.0 AltitudeFactTextField.qml
FactBitmask 1.0 FactBitmask.qml FactBitmask 1.0 FactBitmask.qml
FactCheckBox 1.0 FactCheckBox.qml FactCheckBox 1.0 FactCheckBox.qml
FactComboBox 1.0 FactComboBox.qml FactComboBox 1.0 FactComboBox.qml

6
src/MissionManager/MissionController.cc
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@ -226,7 +226,7 @@ void MissionController::_warnIfTerrainFrameUsed(void)
{ {
for (int i=1; i<_visualItems->count(); i++) { for (int i=1; i<_visualItems->count(); i++) {
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(_visualItems->get(i)); SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(_visualItems->get(i));
if (simpleItem && simpleItem->altitudeMode() == SimpleMissionItem::AltitudeTerrainFrame) { if (simpleItem && simpleItem->altitudeMode() == QGroundControlQmlGlobal::AltitudeModeTerrainFrame) {
qgcApp()->showMessage(tr("Warning: You are using MAV_FRAME_GLOBAL_TERRAIN_ALT in a mission. %1 does not support sending terrain tiles to vehicle.").arg(qgcApp()->applicationName())); qgcApp()->showMessage(tr("Warning: You are using MAV_FRAME_GLOBAL_TERRAIN_ALT in a mission. %1 does not support sending terrain tiles to vehicle.").arg(qgcApp()->applicationName()));
break; break;
} }
@ -371,7 +371,7 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) { if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) {
newItem->altitude()->setRawValue(prevAltitude); newItem->altitude()->setRawValue(prevAltitude);
newItem->setAltitudeMode(static_cast<SimpleMissionItem::AltitudeMode>(prevAltitudeMode)); newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
} }
} }
newItem->setMissionFlightStatus(_missionFlightStatus); newItem->setMissionFlightStatus(_missionFlightStatus);
@ -399,7 +399,7 @@ int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i)
if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) { if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) {
newItem->altitude()->setRawValue(prevAltitude); newItem->altitude()->setRawValue(prevAltitude);
newItem->setAltitudeMode(static_cast<SimpleMissionItem::AltitudeMode>(prevAltitudeMode)); newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
} }
_visualItems->insert(i, newItem); _visualItems->insert(i, newItem);

47
src/MissionManager/SimpleMissionItem.cc
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@ -56,11 +56,11 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool flyView, QObject* pa
, _rawEdit (false) , _rawEdit (false)
, _dirty (false) , _dirty (false)
, _ignoreDirtyChangeSignals (false) , _ignoreDirtyChangeSignals (false)
, _speedSection (NULL) , _speedSection (nullptr)
, _cameraSection (NULL) , _cameraSection (nullptr)
, _commandTree (qgcApp()->toolbox()->missionCommandTree()) , _commandTree (qgcApp()->toolbox()->missionCommandTree())
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32) , _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _altitudeMode (AltitudeRelative) , _altitudeMode (QGroundControlQmlGlobal::AltitudeModeRelative)
, _altitudeFact (0, "Altitude", FactMetaData::valueTypeDouble) , _altitudeFact (0, "Altitude", FactMetaData::valueTypeDouble)
, _amslAltAboveTerrainFact (0, "Alt above terrain", FactMetaData::valueTypeDouble) , _amslAltAboveTerrainFact (0, "Alt above terrain", FactMetaData::valueTypeDouble)
, _param1MetaData (FactMetaData::valueTypeDouble) , _param1MetaData (FactMetaData::valueTypeDouble)
@ -90,8 +90,8 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool flyView, const Missi
, _rawEdit (false) , _rawEdit (false)
, _dirty (false) , _dirty (false)
, _ignoreDirtyChangeSignals (false) , _ignoreDirtyChangeSignals (false)
, _speedSection (NULL) , _speedSection (nullptr)
, _cameraSection (NULL) , _cameraSection (nullptr)
, _commandTree (qgcApp()->toolbox()->missionCommandTree()) , _commandTree (qgcApp()->toolbox()->missionCommandTree())
, _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32) , _supportedCommandFact (0, "Command:", FactMetaData::valueTypeUint32)
, _altitudeFact (0, "Altitude", FactMetaData::valueTypeDouble) , _altitudeFact (0, "Altitude", FactMetaData::valueTypeDouble)
@ -109,15 +109,15 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool flyView, const Missi
struct MavFrame2AltMode_s { struct MavFrame2AltMode_s {
MAV_FRAME mavFrame; MAV_FRAME mavFrame;
AltitudeMode altMode; QGroundControlQmlGlobal::AltitudeMode altMode;
}; };
const struct MavFrame2AltMode_s rgMavFrame2AltMode[] = { const struct MavFrame2AltMode_s rgMavFrame2AltMode[] = {
{ MAV_FRAME_GLOBAL_TERRAIN_ALT, AltitudeTerrainFrame }, { MAV_FRAME_GLOBAL_TERRAIN_ALT, QGroundControlQmlGlobal::AltitudeModeTerrainFrame },
{ MAV_FRAME_GLOBAL, AltitudeAbsolute }, { MAV_FRAME_GLOBAL, QGroundControlQmlGlobal::AltitudeModeAbsolute },
{ MAV_FRAME_GLOBAL_RELATIVE_ALT, AltitudeRelative }, { MAV_FRAME_GLOBAL_RELATIVE_ALT, QGroundControlQmlGlobal::AltitudeModeRelative },
}; };
_altitudeMode = AltitudeRelative; _altitudeMode = QGroundControlQmlGlobal::AltitudeModeRelative;
for (size_t i=0; i<sizeof(rgMavFrame2AltMode)/sizeof(rgMavFrame2AltMode[0]); i++) { for (size_t i=0; i<sizeof(rgMavFrame2AltMode)/sizeof(rgMavFrame2AltMode[0]); i++) {
const MavFrame2AltMode_s& pMavFrame2AltMode = rgMavFrame2AltMode[i]; const MavFrame2AltMode_s& pMavFrame2AltMode = rgMavFrame2AltMode[i];
if (pMavFrame2AltMode.mavFrame == missionItem.frame()) { if (pMavFrame2AltMode.mavFrame == missionItem.frame()) {
@ -319,7 +319,7 @@ bool SimpleMissionItem::load(QTextStream &loadStream)
bool success; bool success;
if ((success = _missionItem.load(loadStream))) { if ((success = _missionItem.load(loadStream))) {
if (specifiesCoordinate()) { if (specifiesCoordinate()) {
_altitudeMode = _missionItem.relativeAltitude() ? AltitudeRelative : AltitudeAbsolute; _altitudeMode = _missionItem.relativeAltitude() ? QGroundControlQmlGlobal::AltitudeModeRelative : QGroundControlQmlGlobal::AltitudeModeAbsolute;
_altitudeFact.setRawValue(_missionItem._param7Fact.rawValue()); _altitudeFact.setRawValue(_missionItem._param7Fact.rawValue());
_amslAltAboveTerrainFact.setRawValue(qQNaN()); _amslAltAboveTerrainFact.setRawValue(qQNaN());
} }
@ -345,11 +345,11 @@ bool SimpleMissionItem::load(const QJsonObject& json, int sequenceNumber, QStrin
return false; return false;
} }
_altitudeMode = (AltitudeMode)(int)json[_jsonAltitudeModeKey].toDouble(); _altitudeMode = (QGroundControlQmlGlobal::AltitudeMode)(int)json[_jsonAltitudeModeKey].toDouble();
_altitudeFact.setRawValue(JsonHelper::possibleNaNJsonValue(json[_jsonAltitudeKey])); _altitudeFact.setRawValue(JsonHelper::possibleNaNJsonValue(json[_jsonAltitudeKey]));
_amslAltAboveTerrainFact.setRawValue(JsonHelper::possibleNaNJsonValue(json[_jsonAltitudeKey])); _amslAltAboveTerrainFact.setRawValue(JsonHelper::possibleNaNJsonValue(json[_jsonAltitudeKey]));
} else { } else {
_altitudeMode = _missionItem.relativeAltitude() ? AltitudeRelative : AltitudeAbsolute; _altitudeMode = _missionItem.relativeAltitude() ? QGroundControlQmlGlobal::AltitudeModeRelative : QGroundControlQmlGlobal::AltitudeModeAbsolute;
_altitudeFact.setRawValue(_missionItem._param7Fact.rawValue()); _altitudeFact.setRawValue(_missionItem._param7Fact.rawValue());
_amslAltAboveTerrainFact.setRawValue(qQNaN()); _amslAltAboveTerrainFact.setRawValue(qQNaN());
} }
@ -662,28 +662,31 @@ void SimpleMissionItem::_sendCoordinateChanged(void)
void SimpleMissionItem::_altitudeModeChanged(void) void SimpleMissionItem::_altitudeModeChanged(void)
{ {
switch (_altitudeMode) { switch (_altitudeMode) {
case AltitudeTerrainFrame: case QGroundControlQmlGlobal::AltitudeModeTerrainFrame:
_missionItem.setFrame(MAV_FRAME_GLOBAL_TERRAIN_ALT); _missionItem.setFrame(MAV_FRAME_GLOBAL_TERRAIN_ALT);
break; break;
case AltitudeAboveTerrain: case QGroundControlQmlGlobal::AltitudeModeAboveTerrain:
// Terrain altitudes are Absolute // Terrain altitudes are Absolute
_missionItem.setFrame(MAV_FRAME_GLOBAL); _missionItem.setFrame(MAV_FRAME_GLOBAL);
// Clear any old calculated values // Clear any old calculated values
_missionItem._param7Fact.setRawValue(qQNaN()); _missionItem._param7Fact.setRawValue(qQNaN());
_amslAltAboveTerrainFact.setRawValue(qQNaN()); _amslAltAboveTerrainFact.setRawValue(qQNaN());
break; break;
case AltitudeAbsolute: case QGroundControlQmlGlobal::AltitudeModeAbsolute:
_missionItem.setFrame(MAV_FRAME_GLOBAL); _missionItem.setFrame(MAV_FRAME_GLOBAL);
break; break;
case AltitudeRelative: case QGroundControlQmlGlobal::AltitudeModeRelative:
_missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT); _missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
break; break;
case QGroundControlQmlGlobal::AltitudeModeNone:
qWarning() << "Internal Error SimpleMissionItem::_altitudeModeChanged: Invalid altitudeMode == AltitudeModeNone";
break;
} }
// We always call _altitudeChanged to make sure that param7 is always setup correctly on mode change // We always call _altitudeChanged to make sure that param7 is always setup correctly on mode change
_altitudeChanged(); _altitudeChanged();
emit coordinateHasRelativeAltitudeChanged(_altitudeMode == AltitudeRelative); emit coordinateHasRelativeAltitudeChanged(_altitudeMode == QGroundControlQmlGlobal::AltitudeModeRelative);
} }
void SimpleMissionItem::_altitudeChanged(void) void SimpleMissionItem::_altitudeChanged(void)
@ -692,7 +695,7 @@ void SimpleMissionItem::_altitudeChanged(void)
return; return;
} }
if (_altitudeMode == AltitudeAboveTerrain) { if (_altitudeMode == QGroundControlQmlGlobal::AltitudeModeAboveTerrain) {
_amslAltAboveTerrainFact.setRawValue(qQNaN()); _amslAltAboveTerrainFact.setRawValue(qQNaN());
_terrainAltChanged(); _terrainAltChanged();
} else { } else {
@ -702,7 +705,7 @@ void SimpleMissionItem::_altitudeChanged(void)
void SimpleMissionItem::_terrainAltChanged(void) void SimpleMissionItem::_terrainAltChanged(void)
{ {
if (!specifiesAltitude() || _altitudeMode != AltitudeAboveTerrain) { if (!specifiesAltitude() || _altitudeMode != QGroundControlQmlGlobal::AltitudeModeAboveTerrain) {
// We don't need terrain data // We don't need terrain data
return; return;
} }
@ -744,7 +747,7 @@ void SimpleMissionItem::_setDefaultsForCommand(void)
} }
// Set global defaults first, then if there are param defaults they will get reset // Set global defaults first, then if there are param defaults they will get reset
_altitudeMode = AltitudeRelative; _altitudeMode = QGroundControlQmlGlobal::AltitudeModeRelative;
emit altitudeModeChanged(); emit altitudeModeChanged();
_amslAltAboveTerrainFact.setRawValue(qQNaN()); _amslAltAboveTerrainFact.setRawValue(qQNaN());
if (specifiesCoordinate() || isStandaloneCoordinate() || specifiesAltitudeOnly()) { if (specifiesCoordinate() || isStandaloneCoordinate() || specifiesAltitudeOnly()) {
@ -967,7 +970,7 @@ void SimpleMissionItem::setMissionFlightStatus(MissionController::MissionFlightS
} }
} }
void SimpleMissionItem::setAltitudeMode(AltitudeMode altitudeMode) void SimpleMissionItem::setAltitudeMode(QGroundControlQmlGlobal::AltitudeMode altitudeMode)
{ {
if (altitudeMode != _altitudeMode) { if (altitudeMode != _altitudeMode) {
_altitudeMode = altitudeMode; _altitudeMode = altitudeMode;

18
src/MissionManager/SimpleMissionItem.h
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@ -16,6 +16,7 @@
#include "MissionCommandTree.h" #include "MissionCommandTree.h"
#include "CameraSection.h" #include "CameraSection.h"
#include "SpeedSection.h" #include "SpeedSection.h"
#include "QGroundControlQmlGlobal.h"
/// A SimpleMissionItem is used to represent a single MissionItem to the ui. /// A SimpleMissionItem is used to represent a single MissionItem to the ui.
class SimpleMissionItem : public VisualMissionItem class SimpleMissionItem : public VisualMissionItem
@ -29,21 +30,12 @@ public:
~SimpleMissionItem(); ~SimpleMissionItem();
enum AltitudeMode {
AltitudeRelative, // MAV_FRAME_GLOBAL_RELATIVE_ALT
AltitudeAbsolute, // MAV_FRAME_GLOBAL
AltitudeAboveTerrain, // Absolute altitude above terrain calculated from terrain data
AltitudeTerrainFrame // MAV_FRAME_GLOBAL_TERRAIN_ALT
};
Q_ENUM(AltitudeMode)
Q_PROPERTY(QString category READ category NOTIFY commandChanged) Q_PROPERTY(QString category READ category NOTIFY commandChanged)
Q_PROPERTY(bool friendlyEditAllowed READ friendlyEditAllowed NOTIFY friendlyEditAllowedChanged) Q_PROPERTY(bool friendlyEditAllowed READ friendlyEditAllowed NOTIFY friendlyEditAllowedChanged)
Q_PROPERTY(bool rawEdit READ rawEdit WRITE setRawEdit NOTIFY rawEditChanged) ///< true: raw item editing with all params Q_PROPERTY(bool rawEdit READ rawEdit WRITE setRawEdit NOTIFY rawEditChanged) ///< true: raw item editing with all params
Q_PROPERTY(bool specifiesAltitude READ specifiesAltitude NOTIFY commandChanged) Q_PROPERTY(bool specifiesAltitude READ specifiesAltitude NOTIFY commandChanged)
Q_PROPERTY(Fact* altitude READ altitude CONSTANT) ///< Altitude as specified by altitudeMode. Not necessarily true mission item altitude Q_PROPERTY(Fact* altitude READ altitude CONSTANT) ///< Altitude as specified by altitudeMode. Not necessarily true mission item altitude
Q_PROPERTY(AltitudeMode altitudeMode READ altitudeMode WRITE setAltitudeMode NOTIFY altitudeModeChanged) Q_PROPERTY(QGroundControlQmlGlobal::AltitudeMode altitudeMode READ altitudeMode WRITE setAltitudeMode NOTIFY altitudeModeChanged)
Q_PROPERTY(Fact* amslAltAboveTerrain READ amslAltAboveTerrain CONSTANT) ///< Actual AMSL altitude for item if altitudeMode == AltitudeAboveTerrain Q_PROPERTY(Fact* amslAltAboveTerrain READ amslAltAboveTerrain CONSTANT) ///< Actual AMSL altitude for item if altitudeMode == AltitudeAboveTerrain
Q_PROPERTY(int command READ command WRITE setCommand NOTIFY commandChanged) Q_PROPERTY(int command READ command WRITE setCommand NOTIFY commandChanged)
Q_PROPERTY(bool supportsTerrainFrame READ supportsTerrainFrame NOTIFY supportsTerrainFrameChanged) Q_PROPERTY(bool supportsTerrainFrame READ supportsTerrainFrame NOTIFY supportsTerrainFrameChanged)
@ -71,7 +63,7 @@ public:
bool friendlyEditAllowed (void) const; bool friendlyEditAllowed (void) const;
bool rawEdit (void) const; bool rawEdit (void) const;
bool specifiesAltitude (void) const; bool specifiesAltitude (void) const;
AltitudeMode altitudeMode (void) const { return _altitudeMode; } QGroundControlQmlGlobal::AltitudeMode altitudeMode(void) const { return _altitudeMode; }
Fact* altitude (void) { return &_altitudeFact; } Fact* altitude (void) { return &_altitudeFact; }
Fact* amslAltAboveTerrain (void) { return &_amslAltAboveTerrainFact; } Fact* amslAltAboveTerrain (void) { return &_amslAltAboveTerrainFact; }
bool supportsTerrainFrame(void) const { return _vehicle->supportsTerrainFrame(); } bool supportsTerrainFrame(void) const { return _vehicle->supportsTerrainFrame(); }
@ -84,7 +76,7 @@ public:
QmlObjectListModel* comboboxFacts (void) { return &_comboboxFacts; } QmlObjectListModel* comboboxFacts (void) { return &_comboboxFacts; }
void setRawEdit(bool rawEdit); void setRawEdit(bool rawEdit);
void setAltitudeMode(AltitudeMode altitudeMode); void setAltitudeMode(QGroundControlQmlGlobal::AltitudeMode altitudeMode);
void setCommandByIndex(int index); void setCommandByIndex(int index);
@ -178,7 +170,7 @@ private:
Fact _supportedCommandFact; Fact _supportedCommandFact;
AltitudeMode _altitudeMode; QGroundControlQmlGlobal::AltitudeMode _altitudeMode;
Fact _altitudeFact; Fact _altitudeFact;
Fact _amslAltAboveTerrainFact; Fact _amslAltAboveTerrainFact;

26
src/MissionManager/SimpleMissionItemTest.cc
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@ -52,17 +52,17 @@ const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesDoJ
const SimpleMissionItemTest::ItemExpected_t SimpleMissionItemTest::_rgItemExpected[] = { const SimpleMissionItemTest::ItemExpected_t SimpleMissionItemTest::_rgItemExpected[] = {
// Text field facts count Fact Values Altitude Altitude Mode // Text field facts count Fact Values Altitude Altitude Mode
{ sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint)/sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint[0]), SimpleMissionItemTest::_rgFactValuesWaypoint, 70.1234567, SimpleMissionItem::AltitudeRelative }, { sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint)/sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint[0]), SimpleMissionItemTest::_rgFactValuesWaypoint, 70.1234567, QGroundControlQmlGlobal::AltitudeModeRelative },
{ sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim[0]), SimpleMissionItemTest::_rgFactValuesLoiterUnlim, 70.1234567, SimpleMissionItem::AltitudeAbsolute }, { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim[0]), SimpleMissionItemTest::_rgFactValuesLoiterUnlim, 70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute },
{ sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns[0]), SimpleMissionItemTest::_rgFactValuesLoiterTurns, 70.1234567, SimpleMissionItem::AltitudeRelative }, { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns[0]), SimpleMissionItemTest::_rgFactValuesLoiterTurns, 70.1234567, QGroundControlQmlGlobal::AltitudeModeRelative },
{ sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime[0]), SimpleMissionItemTest::_rgFactValuesLoiterTime, 70.1234567, SimpleMissionItem::AltitudeAbsolute }, { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime[0]), SimpleMissionItemTest::_rgFactValuesLoiterTime, 70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute },
{ 0, NULL, 70.1234567, SimpleMissionItem::AltitudeRelative }, { 0, nullptr, 70.1234567, QGroundControlQmlGlobal::AltitudeModeRelative },
{ sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff)/sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff[0]), SimpleMissionItemTest::_rgFactValuesTakeoff, 70.1234567, SimpleMissionItem::AltitudeAbsolute }, { sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff)/sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff[0]), SimpleMissionItemTest::_rgFactValuesTakeoff, 70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute },
{ sizeof(SimpleMissionItemTest::_rgFactValuesDoJump)/sizeof(SimpleMissionItemTest::_rgFactValuesDoJump[0]), SimpleMissionItemTest::_rgFactValuesDoJump, qQNaN(), SimpleMissionItem::AltitudeRelative }, { sizeof(SimpleMissionItemTest::_rgFactValuesDoJump)/sizeof(SimpleMissionItemTest::_rgFactValuesDoJump[0]), SimpleMissionItemTest::_rgFactValuesDoJump, qQNaN(), QGroundControlQmlGlobal::AltitudeModeRelative },
}; };
SimpleMissionItemTest::SimpleMissionItemTest(void) SimpleMissionItemTest::SimpleMissionItemTest(void)
: _simpleItem(NULL) : _simpleItem(nullptr)
{ {
} }
@ -131,7 +131,7 @@ void SimpleMissionItemTest::_testEditorFacts(void)
70.1234567, 70.1234567,
true, // autoContinue true, // autoContinue
false); // isCurrentItem false); // isCurrentItem
SimpleMissionItem simpleMissionItem(vehicle, false /* flyView */, missionItem, NULL); SimpleMissionItem simpleMissionItem(vehicle, false /* flyView */, missionItem, nullptr);
// Validate that the fact values are correctly returned // Validate that the fact values are correctly returned
@ -167,7 +167,7 @@ void SimpleMissionItemTest::_testEditorFacts(void)
void SimpleMissionItemTest::_testDefaultValues(void) void SimpleMissionItemTest::_testDefaultValues(void)
{ {
SimpleMissionItem item(_offlineVehicle, false /* flyView */, NULL); SimpleMissionItem item(_offlineVehicle, false /* flyView */, nullptr);
item.missionItem().setCommand(MAV_CMD_NAV_WAYPOINT); item.missionItem().setCommand(MAV_CMD_NAV_WAYPOINT);
item.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT); item.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
@ -225,7 +225,7 @@ void SimpleMissionItemTest::_testSignals(void)
QVERIFY(_spyVisualItem->checkOnlySignalByMask(dirtyChangedMask)); QVERIFY(_spyVisualItem->checkOnlySignalByMask(dirtyChangedMask));
_spyVisualItem->clearAllSignals(); _spyVisualItem->clearAllSignals();
_simpleItem->setAltitudeMode(_simpleItem->altitudeMode() == SimpleMissionItem::AltitudeRelative ? SimpleMissionItem::AltitudeAbsolute : SimpleMissionItem::AltitudeRelative); _simpleItem->setAltitudeMode(_simpleItem->altitudeMode() == QGroundControlQmlGlobal::AltitudeModeRelative ? QGroundControlQmlGlobal::AltitudeModeAbsolute : QGroundControlQmlGlobal::AltitudeModeRelative);
QVERIFY(_spySimpleItem->checkOnlySignalByMask(dirtyChangedMask | friendlyEditAllowedChangedMask | altitudeModeChangedMask | coordinateHasRelativeAltitudeChangedMask)); QVERIFY(_spySimpleItem->checkOnlySignalByMask(dirtyChangedMask | friendlyEditAllowedChangedMask | altitudeModeChangedMask | coordinateHasRelativeAltitudeChangedMask));
_spySimpleItem->clearAllSignals(); _spySimpleItem->clearAllSignals();
_spyVisualItem->clearAllSignals(); _spyVisualItem->clearAllSignals();
@ -312,12 +312,12 @@ void SimpleMissionItemTest::_testAltitudePropogation(void)
{ {
// Make sure that changes to altitude propogate to param 7 of the mission item // Make sure that changes to altitude propogate to param 7 of the mission item
_simpleItem->setAltitudeMode(SimpleMissionItem::AltitudeRelative); _simpleItem->setAltitudeMode(QGroundControlQmlGlobal::AltitudeModeRelative);
_simpleItem->altitude()->setRawValue(_simpleItem->altitude()->rawValue().toDouble() + 1); _simpleItem->altitude()->setRawValue(_simpleItem->altitude()->rawValue().toDouble() + 1);
QCOMPARE(_simpleItem->altitude()->rawValue().toDouble(), _simpleItem->missionItem().param7()); QCOMPARE(_simpleItem->altitude()->rawValue().toDouble(), _simpleItem->missionItem().param7());
QCOMPARE(_simpleItem->missionItem().frame(), MAV_FRAME_GLOBAL_RELATIVE_ALT); QCOMPARE(_simpleItem->missionItem().frame(), MAV_FRAME_GLOBAL_RELATIVE_ALT);
_simpleItem->setAltitudeMode(SimpleMissionItem::AltitudeAbsolute); _simpleItem->setAltitudeMode(QGroundControlQmlGlobal::AltitudeModeAbsolute);
_simpleItem->altitude()->setRawValue(_simpleItem->altitude()->rawValue().toDouble() + 1); _simpleItem->altitude()->setRawValue(_simpleItem->altitude()->rawValue().toDouble() + 1);
QCOMPARE(_simpleItem->altitude()->rawValue().toDouble(), _simpleItem->missionItem().param7()); QCOMPARE(_simpleItem->altitude()->rawValue().toDouble(), _simpleItem->missionItem().param7());
QCOMPARE(_simpleItem->missionItem().frame(), MAV_FRAME_GLOBAL); QCOMPARE(_simpleItem->missionItem().frame(), MAV_FRAME_GLOBAL);

2
src/MissionManager/SimpleMissionItemTest.h
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@ -74,7 +74,7 @@ private:
size_t cFactValues; size_t cFactValues;
const FactValue_t* rgFactValues; const FactValue_t* rgFactValues;
double altValue; double altValue;
SimpleMissionItem::AltitudeMode altMode; QGroundControlQmlGlobal::AltitudeMode altMode;
} ItemExpected_t; } ItemExpected_t;
SimpleMissionItem* _simpleItem; SimpleMissionItem* _simpleItem;

47
src/PlanView/SimpleItemEditor.qml
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@ -18,11 +18,6 @@ Rectangle {
color: qgcPal.windowShadeDark color: qgcPal.windowShadeDark
radius: _radius radius: _radius
readonly property int _altModeRelative: 0
readonly property int _altModeAbsolute: 1
readonly property int _altModeAboveTerrain: 2
readonly property int _altModeTerrainFrame: 3
property bool _specifiesAltitude: missionItem.specifiesAltitude property bool _specifiesAltitude: missionItem.specifiesAltitude
property real _margin: ScreenTools.defaultFontPixelHeight / 2 property real _margin: ScreenTools.defaultFontPixelHeight / 2
property bool _supportsTerrainFrame: missionItem property bool _supportsTerrainFrame: missionItem
@ -32,32 +27,22 @@ Rectangle {
property string _altModeAboveTerrainHelpText: qsTr("Altitude above terrain\nActual AMSL altitude: %1 %2").arg(missionItem.amslAltAboveTerrain.valueString).arg(missionItem.amslAltAboveTerrain.units) property string _altModeAboveTerrainHelpText: qsTr("Altitude above terrain\nActual AMSL altitude: %1 %2").arg(missionItem.amslAltAboveTerrain.valueString).arg(missionItem.amslAltAboveTerrain.units)
property string _altModeTerrainFrameHelpText: qsTr("Using terrain reference frame") property string _altModeTerrainFrameHelpText: qsTr("Using terrain reference frame")
readonly property string _altModeRelativeExtraUnits: qsTr(" (Rel)")
readonly property string _altModeAbsoluteExtraUnits: qsTr(" (AMSL)")
readonly property string _altModeAboveTerrainExtraUnits: qsTr(" (Abv Terr)")
readonly property string _altModeTerrainFrameExtraUnits: qsTr(" (TerrF)")
function updateAltitudeModeText() { function updateAltitudeModeText() {
if (missionItem.altitudeMode === _altModeRelative) { if (missionItem.altitudeMode === QGroundControl.AltitudeModeRelative) {
altModeLabel.text = qsTr("Altitude") altModeLabel.text = qsTr("Altitude")
altModeHelp.text = _altModeRelativeHelpText altModeHelp.text = _altModeRelativeHelpText
altField.extraUnits = _altModeRelativeExtraUnits } else if (missionItem.altitudeMode === QGroundControl.AltitudeModeAbsolute) {
} else if (missionItem.altitudeMode === _altModeAbsolute) {
altModeLabel.text = qsTr("Above Mean Sea Level") altModeLabel.text = qsTr("Above Mean Sea Level")
altModeHelp.text = _altModeAbsoluteHelpText altModeHelp.text = _altModeAbsoluteHelpText
altField.extraUnits = _altModeAbsoluteExtraUnits } else if (missionItem.altitudeMode === QGroundControl.AltitudeModeAboveTerrain) {
} else if (missionItem.altitudeMode === _altModeAboveTerrain) {
altModeLabel.text = qsTr("Above Terrain") altModeLabel.text = qsTr("Above Terrain")
altModeHelp.text = Qt.binding(function() { return _altModeAboveTerrainHelpText }) altModeHelp.text = Qt.binding(function() { return _altModeAboveTerrainHelpText })
altField.extraUnits = _altModeAboveTerrainExtraUnits } else if (missionItem.altitudeMode === QGroundControl.AltitudeModeTerrainFrame) {
} else if (missionItem.altitudeMode === _altModeTerrainFrame) {
altModeLabel.text = qsTr("Terrain Frame") altModeLabel.text = qsTr("Terrain Frame")
altModeHelp.text = _altModeTerrainFrameHelpText altModeHelp.text = _altModeTerrainFrameHelpText
altField.extraUnits = _altModeTerrainFrameExtraUnits
} else { } else {
altModeLabel.text = qsTr("Internal Error") altModeLabel.text = qsTr("Internal Error")
altModeHelp.text = "" altModeHelp.text = ""
altField.extraUnits = ""
} }
} }
@ -159,44 +144,42 @@ Rectangle {
MenuItem { MenuItem {
text: qsTr("Altitude Relative To Home") text: qsTr("Altitude Relative To Home")
checkable: true checkable: true
checked: missionItem.altitudeMode === _altModeRelative checked: missionItem.altitudeMode === QGroundControl.AltitudeModeRelative
onTriggered: missionItem.altitudeMode = _altModeRelative onTriggered: missionItem.altitudeMode = QGroundControl.AltitudeModeRelative
} }
MenuItem { MenuItem {
text: qsTr("Altitude Above Mean Sea Level") text: qsTr("Altitude Above Mean Sea Level")
checkable: true checkable: true
checked: missionItem.altitudeMode === _altModeAbsolute checked: missionItem.altitudeMode === QGroundControl.AltitudeModeAbsolute
visible: QGroundControl.corePlugin.options.showMissionAbsoluteAltitude visible: QGroundControl.corePlugin.options.showMissionAbsoluteAltitude
onTriggered: missionItem.altitudeMode = _altModeAbsolute onTriggered: missionItem.altitudeMode = QGroundControl.AltitudeModeAbsolute
} }
MenuItem { MenuItem {
text: qsTr("Altitude Above Terrain") text: qsTr("Altitude Above Terrain")
checkable: true checkable: true
checked: missionItem.altitudeMode === _altModeAboveTerrain checked: missionItem.altitudeMode === QGroundControl.AltitudeModeAboveTerrain
onTriggered: missionItem.altitudeMode = _altModeAboveTerrain onTriggered: missionItem.altitudeMode = QGroundControl.AltitudeModeAboveTerrain
visible: missionItem.specifiesCoordinate visible: missionItem.specifiesCoordinate
} }
MenuItem { MenuItem {
text: qsTr("Terrain Frame") text: qsTr("Terrain Frame")
checkable: true checkable: true
checked: missionItem.altitudeMode === _altModeTerrainFrame checked: missionItem.altitudeMode === QGroundControl.AltitudeModeTerrainFrame
visible: missionItem.altitudeMode === _altModeTerrainFrame visible: missionItem.altitudeMode === QGroundControl.AltitudeModeTerrainFrame
onTriggered: missionItem.altitudeMode = _altModeTerrainFrame onTriggered: missionItem.altitudeMode = QGroundControl.AltitudeModeTerrainFrame
} }
} }
} }
FactTextField { AltitudeFactTextField {
id: altField id: altField
fact: missionItem.altitude fact: missionItem.altitude
unitsLabel: fact.units + extraUnits altitudeMode: missionItem.altitudeMode
anchors.left: parent.left anchors.left: parent.left
anchors.right: parent.right anchors.right: parent.right
property string extraUnits
} }
QGCLabel { QGCLabel {

9
src/QmlControls/QGroundControlQmlGlobal.h
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@ -43,6 +43,15 @@ public:
QGroundControlQmlGlobal(QGCApplication* app, QGCToolbox* toolbox); QGroundControlQmlGlobal(QGCApplication* app, QGCToolbox* toolbox);
~QGroundControlQmlGlobal(); ~QGroundControlQmlGlobal();
enum AltitudeMode {
AltitudeModeNone, // Being used as distance value unrelated to ground (for example distance to structure)
AltitudeModeRelative, // MAV_FRAME_GLOBAL_RELATIVE_ALT
AltitudeModeAbsolute, // MAV_FRAME_GLOBAL
AltitudeModeAboveTerrain, // Absolute altitude above terrain calculated from terrain data
AltitudeModeTerrainFrame // MAV_FRAME_GLOBAL_TERRAIN_ALT
};
Q_ENUM(AltitudeMode)
Q_PROPERTY(QString appName READ appName CONSTANT) Q_PROPERTY(QString appName READ appName CONSTANT)
Q_PROPERTY(LinkManager* linkManager READ linkManager CONSTANT) Q_PROPERTY(LinkManager* linkManager READ linkManager CONSTANT)

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