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Merged global/local waypoints into one.

QGC4.4
James Goppert 14 years ago
parent
ff7f724283
commit
d99fa33048
18 changed files with 574 additions and 419 deletions
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  1. 1
      .gitignore
  2. 12
      qgroundcontrol.pro
  3. 16
      src/Waypoint.cc
  4. 23
      src/Waypoint.h
  5. 4
      src/comm/MAVLinkLightProtocol.cc
  6. 6
      src/comm/MAVLinkProtocol.cc
  7. 6
      src/uas/ArduPilotMegaMAV.cc
  8. 8
      src/uas/ArduPilotMegaMAV.h
  9. 26
      src/uas/UASWaypointManager.cc
  10. 23
      src/uas/UASWaypointManager.h
  11. 6
      src/ui/MainWindow.cc
  12. 298
      src/ui/WaypointList.cc
  13. 14
      src/ui/WaypointList.h
  14. 155
      src/ui/WaypointView.cc
  15. 4
      src/ui/WaypointView.h
  16. 201
      src/ui/WaypointView.ui

1
.gitignore vendored
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@ -1,4 +1,5 @@ @@ -1,4 +1,5 @@
*Makefile*
tags
build
Info.plist
obj

12
qgroundcontrol.pro
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@ -134,8 +134,8 @@ FORMS += src/ui/MainWindow.ui \ @@ -134,8 +134,8 @@ FORMS += src/ui/MainWindow.ui \
src/ui/QGCFirmwareUpdate.ui \
src/ui/QGCPxImuFirmwareUpdate.ui \
src/ui/QGCDataPlot2D.ui \
src/ui/QGCRemoteControlView.ui \
src/ui/WaypointGlobalView.ui
src/ui/QGCRemoteControlView.ui
#src/ui/WaypointGlobalView.ui
INCLUDEPATH += src \
src/ui \
src/ui/linechart \
@ -202,7 +202,7 @@ HEADERS += src/MG.h \ @@ -202,7 +202,7 @@ HEADERS += src/MG.h \
src/ui/linechart/Linecharts.h \
src/uas/SlugsMAV.h \
src/uas/PxQuadMAV.h \
src/uas/ArduPilotMAV.h \
src/uas/ArduPilotMegaMAV.h \
src/comm/MAVLinkSyntaxHighlighter.h \
src/ui/watchdog/WatchdogControl.h \
src/ui/watchdog/WatchdogProcessView.h \
@ -218,7 +218,7 @@ HEADERS += src/MG.h \ @@ -218,7 +218,7 @@ HEADERS += src/MG.h \
src/ui/map/Waypoint2DIcon.h \
src/ui/map/MAV2DIcon.h \
src/ui/QGCRemoteControlView.h \
src/ui/WaypointGlobalView.h \
#src/ui/WaypointGlobalView.h \
src/ui/RadioCalibration/RadioCalibrationData.h \
src/ui/RadioCalibration/RadioCalibrationWindow.h \
src/ui/RadioCalibration/AirfoilServoCalibrator.h \
@ -282,7 +282,7 @@ SOURCES += src/main.cc \ @@ -282,7 +282,7 @@ SOURCES += src/main.cc \
src/ui/linechart/Linecharts.cc \
src/uas/SlugsMAV.cc \
src/uas/PxQuadMAV.cc \
src/uas/ArduPilotMAV.cc \
src/uas/ArduPilotMegaMAV.cc \
src/comm/MAVLinkSyntaxHighlighter.cc \
src/ui/watchdog/WatchdogControl.cc \
src/ui/watchdog/WatchdogProcessView.cc \
@ -304,7 +304,7 @@ SOURCES += src/main.cc \ @@ -304,7 +304,7 @@ SOURCES += src/main.cc \
src/ui/RadioCalibration/CurveCalibrator.cc \
src/ui/RadioCalibration/AbstractCalibrator.cc \
src/ui/RadioCalibration/RadioCalibrationData.cc \
src/ui/WaypointGlobalView.cc \
#src/ui/WaypointGlobalView.cc \
src/ui/map3D/Q3DWidget.cc \
src/ui/map3D/CheetahModel.cc \
src/ui/map3D/CheetahGL.cc \

16
src/Waypoint.cc
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@ -33,7 +33,8 @@ This file is part of the QGROUNDCONTROL project @@ -33,7 +33,8 @@ This file is part of the QGROUNDCONTROL project
#include "Waypoint.h"
#include <QStringList>
Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime)
Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime,
MAV_FRAME _frame, MAV_ACTION _action)
: id(_id),
x(_x),
y(_y),
@ -42,7 +43,9 @@ Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _ @@ -42,7 +43,9 @@ Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _
autocontinue(_autocontinue),
current(_current),
orbit(_orbit),
holdTime(_holdTime)
holdTime(_holdTime),
frame(_frame),
action(_action)
{
}
@ -100,9 +103,14 @@ void Waypoint::setYaw(float yaw) @@ -100,9 +103,14 @@ void Waypoint::setYaw(float yaw)
this->yaw = yaw;
}
void Waypoint::setType(type_enum type)
void Waypoint::setAction(MAV_ACTION action)
{
this->type = type;
this->action = action;
}
void Waypoint::setFrame(MAV_FRAME frame)
{
this->frame = frame;
}
void Waypoint::setAutocontinue(bool autoContinue)

23
src/Waypoint.h
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@ -36,14 +36,16 @@ This file is part of the PIXHAWK project @@ -36,14 +36,16 @@ This file is part of the PIXHAWK project
#include <QObject>
#include <QString>
#include <QTextStream>
#include <inttypes.h>
#include "mavlink_types.h"
class Waypoint : public QObject
{
Q_OBJECT
public:
Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false, bool current = false, float orbit = 0.1f, int holdTime = 2000);
Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false,
bool current = false, float orbit = 0.1f, int holdTime = 2000,
MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_ACTION action=MAV_ACTION_NAVIGATE);
~Waypoint();
quint16 getId() const { return id; }
@ -55,26 +57,20 @@ public: @@ -55,26 +57,20 @@ public:
bool getCurrent() const { return current; }
float getOrbit() const { return orbit; }
float getHoldTime() const { return holdTime; }
MAV_FRAME getFrame() const { return frame; }
MAV_ACTION getAction() const { return action; }
void save(QTextStream &saveStream);
bool load(QTextStream &loadStream);
enum type_enum
{
GLOBAL = 0,
LOCAL = 1,
GLOBAL_ORBIT = 2,
LOCAL_ORBIT = 3
};
protected:
quint16 id;
float x;
float y;
float z;
float yaw;
type_enum type;
MAV_FRAME frame;
MAV_ACTION action;
bool autocontinue;
bool current;
float orbit;
@ -86,7 +82,8 @@ public slots: @@ -86,7 +82,8 @@ public slots:
void setY(float y);
void setZ(float z);
void setYaw(float yaw);
void setType(type_enum type);
void setAction(MAV_ACTION action);
void setFrame(MAV_FRAME frame);
void setAutocontinue(bool autoContinue);
void setCurrent(bool current);
void setOrbit(float orbit);

4
src/comm/MAVLinkLightProtocol.cc
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@ -29,7 +29,7 @@ This file is part of the QGROUNDCONTROL project @@ -29,7 +29,7 @@ This file is part of the QGROUNDCONTROL project
#include "MAVLinkLightProtocol.h"
#include "UASManager.h"
#include "ArduPilotMAV.h"
#include "ArduPilotMegaMAV.h"
#include "LinkManager.h"
MAVLinkLightProtocol::MAVLinkLightProtocol() :
@ -113,7 +113,7 @@ void MAVLinkLightProtocol::receiveBytes(LinkInterface* link, QByteArray b) @@ -113,7 +113,7 @@ void MAVLinkLightProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// // Check and (if necessary) create UAS object
// if (uas == NULL)
// {
// ArduPilotMAV* mav = new ArduPilotMAV(this, sysid); // FIXME change to msg.sysid if this field exists
// ArduPilotMegaMAV* mav = new ArduPilotMAV(this, sysid); // FIXME change to msg.sysid if this field exists
// // Connect this robot to the UAS object
// // it is IMPORTANT here to use the right object type,
// // else the slot of the parent object is called (and thus the special

6
src/comm/MAVLinkProtocol.cc
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@ -42,7 +42,7 @@ This file is part of the QGROUNDCONTROL project @@ -42,7 +42,7 @@ This file is part of the QGROUNDCONTROL project
#include "UAS.h"
#include "SlugsMAV.h"
#include "PxQuadMAV.h"
#include "ArduPilotMAV.h"
#include "ArduPilotMegaMAV.h"
#include "configuration.h"
#include "LinkManager.h"
#include <QGCMAVLink.h>
@ -186,9 +186,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) @@ -186,9 +186,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
uas = mav;
}
break;
case MAV_AUTOPILOT_ARDUPILOT:
case MAV_AUTOPILOT_ARDUPILOTMEGA:
{
ArduPilotMAV* mav = new ArduPilotMAV(this, message.sysid);
ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(this, message.sysid);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special

6
src/uas/ArduPilotMAV.cc → src/uas/ArduPilotMegaMAV.cc
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@ -27,9 +27,9 @@ This file is part of the QGROUNDCONTROL project @@ -27,9 +27,9 @@ This file is part of the QGROUNDCONTROL project
* @author Your Name here
*/
#include "ArduPilotMAV.h"
#include "ArduPilotMegaMAV.h"
ArduPilotMAV::ArduPilotMAV(MAVLinkProtocol* mavlink, int id) :
ArduPilotMegaMAV::ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id) :
UAS(mavlink, id)//,
// place other initializers here
{
@ -43,7 +43,7 @@ ArduPilotMAV::ArduPilotMAV(MAVLinkProtocol* mavlink, int id) : @@ -43,7 +43,7 @@ ArduPilotMAV::ArduPilotMAV(MAVLinkProtocol* mavlink, int id) :
* messages can be sent back to the system via this link
* @param message MAVLink message, as received from the MAVLink protocol stack
*/
void ArduPilotMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
void ArduPilotMegaMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
// Let UAS handle the default message set
UAS::receiveMessage(link, message);

8
src/uas/ArduPilotMAV.h → src/uas/ArduPilotMegaMAV.h
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@ -21,16 +21,16 @@ This file is part of the QGROUNDCONTROL project @@ -21,16 +21,16 @@ This file is part of the QGROUNDCONTROL project
======================================================================*/
#ifndef ARDUPILOTMAV_H
#define ARDUPILOTMAV_H
#ifndef ARDUPILOTMEGAMAV_H
#define ARDUPILOTMEGAMAV_H
#include "UAS.h"
class ArduPilotMAV : public UAS
class ArduPilotMegaMAV : public UAS
{
Q_OBJECT
public:
ArduPilotMAV(MAVLinkProtocol* mavlink, int id = 0);
ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id = 0);
public slots:
/** @brief Receive a MAVLink message from this MAV */
void receiveMessage(LinkInterface* link, mavlink_message_t message);

26
src/uas/UASWaypointManager.cc
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@ -132,7 +132,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_ @@ -132,7 +132,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
if(wp->seq == current_wp_id)
{
Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->param1, wp->param2);
localAddWaypoint(lwp);
addWaypoint(lwp);
//get next waypoint
current_wp_id++;
@ -288,7 +288,7 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq) @@ -288,7 +288,7 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
return -1;
}
void UASWaypointManager::localAddWaypoint(Waypoint *wp)
void UASWaypointManager::addWaypoint(Waypoint *wp)
{
if (wp)
{
@ -298,7 +298,7 @@ void UASWaypointManager::localAddWaypoint(Waypoint *wp) @@ -298,7 +298,7 @@ void UASWaypointManager::localAddWaypoint(Waypoint *wp)
}
}
int UASWaypointManager::localRemoveWaypoint(quint16 seq)
int UASWaypointManager::removeWaypoint(quint16 seq)
{
if (seq < waypoints.size())
{
@ -316,7 +316,7 @@ int UASWaypointManager::localRemoveWaypoint(quint16 seq) @@ -316,7 +316,7 @@ int UASWaypointManager::localRemoveWaypoint(quint16 seq)
return -1;
}
void UASWaypointManager::localMoveWaypoint(quint16 cur_seq, quint16 new_seq)
void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq)
{
if (cur_seq != new_seq && cur_seq < waypoints.size() && new_seq < waypoints.size())
{
@ -344,7 +344,7 @@ void UASWaypointManager::localMoveWaypoint(quint16 cur_seq, quint16 new_seq) @@ -344,7 +344,7 @@ void UASWaypointManager::localMoveWaypoint(quint16 cur_seq, quint16 new_seq)
}
}
void UASWaypointManager::localSaveWaypoints(const QString &saveFile)
void UASWaypointManager::saveWaypoints(const QString &saveFile)
{
QFile file(saveFile);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
@ -358,7 +358,7 @@ void UASWaypointManager::localSaveWaypoints(const QString &saveFile) @@ -358,7 +358,7 @@ void UASWaypointManager::localSaveWaypoints(const QString &saveFile)
file.close();
}
void UASWaypointManager::localLoadWaypoints(const QString &loadFile)
void UASWaypointManager::loadWaypoints(const QString &loadFile)
{
QFile file(loadFile);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
@ -386,16 +386,6 @@ void UASWaypointManager::localLoadWaypoints(const QString &loadFile) @@ -386,16 +386,6 @@ void UASWaypointManager::localLoadWaypoints(const QString &loadFile)
emit waypointListChanged();
}
void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
{
}
int UASWaypointManager::globalRemoveWaypoint(quint16 seq)
{
return 0;
}
void UASWaypointManager::clearWaypointList()
{
if(current_state == WP_IDLE)
@ -474,8 +464,8 @@ void UASWaypointManager::writeWaypoints() @@ -474,8 +464,8 @@ void UASWaypointManager::writeWaypoints()
cur_d->orbit_direction = 0;
cur_d->param1 = cur_s->getOrbit();
cur_d->param2 = cur_s->getHoldTime();
// TODO: Replace this value depending on the type of waypoint
cur_d->type = 1; //FIXME: we only use local waypoints at the moment
cur_d->frame = cur_s->getFrame();
cur_d->action = cur_s->getAction();
cur_d->seq = i; // don't read out the sequence number of the waypoint class
cur_d->x = cur_s->getX();
cur_d->y = cur_s->getY();

23
src/uas/UASWaypointManager.h
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@ -79,25 +79,18 @@ public: @@ -79,25 +79,18 @@ public:
/*@{*/
void clearWaypointList(); ///< Sends the waypoint clear all message to the MAV
void readWaypoints(); ///< Requests the MAV's current waypoint list
void writeWaypoints(); ///< Sends the local waypoint list to the MAV
void writeWaypoints(); ///< Sends the waypoint list to the MAV
int setCurrentWaypoint(quint16 seq); ///< Changes the current waypoint and sends the sequence number of the waypoint that should get the new target waypoint to the UAS
/*@}*/
/** @name Local waypoint list operations */
/** @name Waypoint list operations */
/*@{*/
const QVector<Waypoint *> &getWaypointList(void) { return waypoints; } ///< Returns a const reference to the local waypoint list.
void localAddWaypoint(Waypoint *wp); ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
int localRemoveWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage
void localMoveWaypoint(quint16 cur_seq, quint16 new_seq); ///< locally move a waypoint from its current position cur_seq to a new position new_seq
void localSaveWaypoints(const QString &saveFile); ///< saves the local waypoint list to saveFile
void localLoadWaypoints(const QString &loadFile); ///< loads a waypoint list from loadFile
/*@}*/
/** @name Global waypoint list operations */
/*@{*/
const QVector<Waypoint *> &getGlobalWaypointList(void) { return waypoints; } ///< Returns a const reference to the global waypoint list.
void globalAddWaypoint(Waypoint *wp); ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
int globalRemoveWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage
const QVector<Waypoint *> &getWaypointList(void) { return waypoints; } ///< Returns a const reference to the waypoint list.
void addWaypoint(Waypoint *wp); ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
int removeWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage
void moveWaypoint(quint16 cur_seq, quint16 new_seq); ///< locally move a waypoint from its current position cur_seq to a new position new_seq
void saveWaypoints(const QString &saveFile); ///< saves the local waypoint list to saveFile
void loadWaypoints(const QString &loadFile); ///< loads a waypoint list from loadFile
/*@}*/
private:

6
src/ui/MainWindow.cc
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@ -206,13 +206,13 @@ void MainWindow::connectWidgets() @@ -206,13 +206,13 @@ void MainWindow::connectWidgets()
// add Waypoint widget in the WaypointList widget when mouse clicked
connect(mapWidget, SIGNAL(captureMapCoordinateClick(QPointF)), waypointsDockWidget->widget(), SLOT(addWaypointMouse(QPointF)));
// it notifies that a waypoint global goes to do create
connect(mapWidget, SIGNAL(createGlobalWP(bool, QPointF)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool, QPointF)));
connect(mapWidget, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypointsDockWidget->widget(), SLOT(waypointGlobalChanged(QPointF,int)) );
//connect(mapWidget, SIGNAL(createGlobalWP(bool, QPointF)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool, QPointF)));
//connect(mapWidget, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypointsDockWidget->widget(), SLOT(waypointGlobalChanged(QPointF,int)) );
// it notifies that a waypoint global goes to do create and a map graphic too
connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
// it notifies that a waypoint global change it´s position by spinBox on Widget WaypointView
connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
//connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
}
}

298
src/ui/WaypointList.cc
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@ -37,7 +37,6 @@ This file is part of the PIXHAWK project @@ -37,7 +37,6 @@ This file is part of the PIXHAWK project
#include <UASManager.h>
#include <QDebug>
#include <QFileDialog>
#include "WaypointGlobalView.h"
#include <QMessageBox>
#include <QMouseEvent>
@ -89,8 +88,6 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) : @@ -89,8 +88,6 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
updateStatusLabel("");
this->setVisible(false);
isGlobalWP = false;
isLocalWP = false;
centerMapCoordinate.setX(0.0);
centerMapCoordinate.setY(0.0);
@ -101,7 +98,7 @@ WaypointList::~WaypointList() @@ -101,7 +98,7 @@ WaypointList::~WaypointList()
delete m_ui;
}
void WaypointList::updateLocalPosition(UASInterface* uas, double x, double y, double z, quint64 usec)
void WaypointList::updatePosition(UASInterface* uas, double x, double y, double z, quint64 usec)
{
Q_UNUSED(uas);
Q_UNUSED(usec);
@ -139,7 +136,7 @@ void WaypointList::saveWaypoints() @@ -139,7 +136,7 @@ void WaypointList::saveWaypoints()
if (uas)
{
QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
uas->getWaypointManager().localSaveWaypoints(fileName);
uas->getWaypointManager().saveWaypoints(fileName);
}
}
@ -148,7 +145,7 @@ void WaypointList::loadWaypoints() @@ -148,7 +145,7 @@ void WaypointList::loadWaypoints()
if (uas)
{
QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
uas->getWaypointManager().localLoadWaypoints(fileName);
uas->getWaypointManager().loadWaypoints(fileName);
}
}
@ -172,40 +169,41 @@ void WaypointList::add() @@ -172,40 +169,41 @@ void WaypointList::add()
{
if (uas)
{
if(isGlobalWP)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
if (waypoints.size() > 0)
{
Waypoint *last = waypoints.at(waypoints.size()-1);
Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
uas->getWaypointManager().localAddWaypoint(wp);
}
else
{
Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
uas->getWaypointManager().localAddWaypoint(wp);
}
emit createWaypointAtMap(centerMapCoordinate);
}
else
// if(isGlobalWP)
// {
// const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
// if (waypoints.size() > 0)
// {
// Waypoint *last = waypoints.at(waypoints.size()-1);
// Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
// uas->getWaypointManager().addWaypoint(wp);
// }
// else
// {
// Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
// uas->getWaypointManager().addWaypoint(wp);
// }
//
// emit createWaypointAtMap(centerMapCoordinate);
// }
// else
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
if (waypoints.size() > 0)
{
Waypoint *last = waypoints.at(waypoints.size()-1);
Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
uas->getWaypointManager().localAddWaypoint(wp);
Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(),
last->getHoldTime(), last->getFrame(), last->getAction());
uas->getWaypointManager().addWaypoint(wp);
}
else
{
isLocalWP = true;
//isLocalWP = true;
Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
uas->getWaypointManager().localAddWaypoint(wp);
uas->getWaypointManager().addWaypoint(wp);
}
@ -215,31 +213,33 @@ void WaypointList::add() @@ -215,31 +213,33 @@ void WaypointList::add()
void WaypointList::addCurrentPositonWaypoint()
{
/* TODO: implement with new waypoint structure
if (uas)
{
// For Global Waypoints
if(isGlobalWP)
{
isLocalWP = false;
}
else
//if(isGlobalWP)
//{
//isLocalWP = false;
//}
//else
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
if (waypoints.size() > 0)
{
Waypoint *last = waypoints.at(waypoints.size()-1);
Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
uas->getWaypointManager().localAddWaypoint(wp);
uas->getWaypointManager().addWaypoint(wp);
}
else
{
Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
uas->getWaypointManager().localAddWaypoint(wp);
uas->getWaypointManager().addWaypoint(wp);
}
isLocalWP = true;
//isLocalWP = true;
}
}
*/
}
void WaypointList::updateStatusLabel(const QString &string)
@ -287,59 +287,59 @@ void WaypointList::waypointListChanged() @@ -287,59 +287,59 @@ void WaypointList::waypointListChanged()
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
// For Global Waypoints
if(isGlobalWP)
{
isLocalWP = false;
// first remove all views of non existing waypoints
if (!wpGlobalViews.empty())
{
QMapIterator<Waypoint*,WaypointGlobalView*> viewIt(wpGlobalViews);
viewIt.toFront();
while(viewIt.hasNext())
{
viewIt.next();
Waypoint *cur = viewIt.key();
int i;
for (i = 0; i < waypoints.size(); i++)
{
if (waypoints[i] == cur)
{
break;
}
}
if (i == waypoints.size())
{
WaypointGlobalView* widget = wpGlobalViews.find(cur).value();
widget->hide();
listLayout->removeWidget(widget);
wpGlobalViews.remove(cur);
}
}
}
// then add/update the views for each waypoint in the list
for(int i = 0; i < waypoints.size(); i++)
{
Waypoint *wp = waypoints[i];
if (!wpGlobalViews.contains(wp))
{
WaypointGlobalView* wpview = new WaypointGlobalView(wp, this);
wpGlobalViews.insert(wp, wpview);
connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(changeWPPositionBySpinBox(Waypoint*)));
// connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
// connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
// connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(waypointGlobalPositionChanged(Waypoint*)));
// connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
// connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
}
WaypointGlobalView *wpgv = wpGlobalViews.value(wp);
wpgv->updateValues();
listLayout->addWidget(wpgv);
}
}
else
//if(isGlobalWP)
//{
//isLocalWP = false;
//// first remove all views of non existing waypoints
//if (!wpGlobalViews.empty())
//{
//QMapIterator<Waypoint*,WaypointGlobalView*> viewIt(wpGlobalViews);
//viewIt.toFront();
//while(viewIt.hasNext())
//{
//viewIt.next();
//Waypoint *cur = viewIt.key();
//int i;
//for (i = 0; i < waypoints.size(); i++)
//{
//if (waypoints[i] == cur)
//{
//break;
//}
//}
//if (i == waypoints.size())
//{
//WaypointGlobalView* widget = wpGlobalViews.find(cur).value();
//widget->hide();
//listLayout->removeWidget(widget);
//wpGlobalViews.remove(cur);
//}
//}
//}
//// then add/update the views for each waypoint in the list
//for(int i = 0; i < waypoints.size(); i++)
//{
//Waypoint *wp = waypoints[i];
//if (!wpGlobalViews.contains(wp))
//{
//WaypointGlobalView* wpview = new WaypointGlobalView(wp, this);
//wpGlobalViews.insert(wp, wpview);
//connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
//connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(changeWPPositionBySpinBox(Waypoint*)));
//// connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
//// connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
//// connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(waypointGlobalPositionChanged(Waypoint*)));
//// connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
//// connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
//}
//WaypointGlobalView *wpgv = wpGlobalViews.value(wp);
//wpgv->updateValues();
//listLayout->addWidget(wpgv);
//}
//}
//else
{
// for local Waypoints
// first remove all views of non existing waypoints
@ -414,7 +414,7 @@ void WaypointList::moveUp(Waypoint* wp) @@ -414,7 +414,7 @@ void WaypointList::moveUp(Waypoint* wp)
// if wp was found and its not the first entry, move it
if (i < waypoints.size() && i > 0)
{
uas->getWaypointManager().localMoveWaypoint(i, i-1);
uas->getWaypointManager().moveWaypoint(i, i-1);
}
}
}
@ -436,7 +436,7 @@ void WaypointList::moveDown(Waypoint* wp) @@ -436,7 +436,7 @@ void WaypointList::moveDown(Waypoint* wp)
// if wp was found and its not the last entry, move it
if (i < waypoints.size()-1)
{
uas->getWaypointManager().localMoveWaypoint(i, i+1);
uas->getWaypointManager().moveWaypoint(i, i+1);
}
}
}
@ -445,7 +445,7 @@ void WaypointList::removeWaypoint(Waypoint* wp) @@ -445,7 +445,7 @@ void WaypointList::removeWaypoint(Waypoint* wp)
{
if (uas)
{
uas->getWaypointManager().localRemoveWaypoint(wp->getId());
uas->getWaypointManager().removeWaypoint(wp->getId());
}
}
@ -467,43 +467,13 @@ void WaypointList::on_clearWPListButton_clicked() @@ -467,43 +467,13 @@ void WaypointList::on_clearWPListButton_clicked()
if (uas)
{
if(isGlobalWP)
{
emit clearPathclicked();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
{
WaypointGlobalView* widget = wpGlobalViews.find(waypoints[0]).value();
widget->remove();
}
isGlobalWP = false;
}
else
emit clearPathclicked();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
{
WaypointView* widget = wpViews.find(waypoints[0]).value();
widget->remove();
}
WaypointView* widget = wpViews.find(waypoints[0]).value();
widget->remove();
}
}
}
@ -517,52 +487,16 @@ void WaypointList::addWaypointMouse(QPointF coordinate) @@ -517,52 +487,16 @@ void WaypointList::addWaypointMouse(QPointF coordinate)
{
Waypoint *last = waypoints.at(waypoints.size()-1);
Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
uas->getWaypointManager().localAddWaypoint(wp);
uas->getWaypointManager().addWaypoint(wp);
}
else
{
Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
uas->getWaypointManager().localAddWaypoint(wp);
}
}
}
/** @brief Notifies the user that a global waypoint will be created */
void WaypointList::setIsWPGlobal(bool value, QPointF centerCoordinate)
{
centerMapCoordinate = centerCoordinate;
if(isLocalWP)
{
if(wpViews.size()!= 0)
{
int ret = QMessageBox::warning(this, tr("QGroundControl"),
tr("There are Local Waypoints created.\n"
"Do you want to clear them?"),
QMessageBox::Ok | QMessageBox::Cancel);
if(ret)
{
clearLocalWPWidget();
}
uas->getWaypointManager().addWaypoint(wp);
}
isLocalWP = !value;
isGlobalWP = value;
}
else
{
isGlobalWP = value;
}
}
@ -580,8 +514,8 @@ void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP) @@ -580,8 +514,8 @@ void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
temp->setX(coordinate.x());
temp->setY(coordinate.y());
WaypointGlobalView* widget = wpGlobalViews.find(waypoints[indexWP]).value();
widget->updateValues();
//WaypointGlobalView* widget = wpGlobalViews.find(waypoints[indexWP]).value();
//widget->updateValues();
}
}
@ -601,24 +535,16 @@ void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP) @@ -601,24 +535,16 @@ void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
//}
void WaypointList::clearLocalWPWidget()
void WaypointList::clearWPWidget()
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
{
WaypointView* widget = wpViews.find(waypoints[0]).value();
widget->remove();
}
}
}
void WaypointList::changeWPPositionBySpinBox(Waypoint *wp)
{
emit changePositionWPGlobalBySpinBox(wp->getId(), wp->getY(), wp->getX());
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
{
WaypointView* widget = wpViews.find(waypoints[0]).value();
widget->remove();
}
}
//emit changePositionWPBySpinBox(wp->getId(), wp->getY(), wp->getX());
}

14
src/ui/WaypointList.h
Unescape View File

@ -56,7 +56,7 @@ class WaypointList : public QWidget { @@ -56,7 +56,7 @@ class WaypointList : public QWidget {
virtual ~WaypointList();
public slots:
void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
void updatePosition(UASInterface*, double x, double y, double z, quint64 usec);
void updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
void setUAS(UASInterface* uas);
@ -77,7 +77,7 @@ public slots: @@ -77,7 +77,7 @@ public slots:
/** @brief Add a waypoint by mouse click over the map */
void addWaypointMouse(QPointF coordinate);
/** @brief it notifies that a global waypoint goes to do created */
void setIsWPGlobal(bool value, QPointF centerCoordinate);
//void setIsWPGlobal(bool value, QPointF centerCoordinate);
//Update events
@ -93,9 +93,9 @@ public slots: @@ -93,9 +93,9 @@ public slots:
/** @brief The MapWidget informs that a waypoint global was changed on the map */
void waypointGlobalChanged(const QPointF coordinate, const int indexWP);
void clearLocalWPWidget();
void clearWPWidget();
void changeWPPositionBySpinBox(Waypoint* wp);
//void changeWPPositionBySpinBox(Waypoint* wp);
// Waypoint operations
void moveUp(Waypoint* wp);
@ -109,7 +109,7 @@ signals: @@ -109,7 +109,7 @@ signals:
void clearPathclicked();
void createWaypointAtMap(const QPointF coordinate);
// void ChangeWaypointGlobalPosition(int index, QPointF coord);
void changePositionWPGlobalBySpinBox(int indexWP, float lat, float lon);
void changePositionWPBySpinBox(int indexWP, float lat, float lon);
@ -118,15 +118,13 @@ protected: @@ -118,15 +118,13 @@ protected:
protected:
QMap<Waypoint*, WaypointView*> wpViews;
QMap<Waypoint*, WaypointGlobalView*> wpGlobalViews;
//QMap<Waypoint*, WaypointGlobalView*> wpGlobalViews;
QVBoxLayout* listLayout;
UASInterface* uas;
double mavX;
double mavY;
double mavZ;
double mavYaw;
bool isGlobalWP;
bool isLocalWP;
QPointF centerMapCoordinate;
private:

155
src/ui/WaypointView.cc
Unescape View File

@ -46,16 +46,32 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) : @@ -46,16 +46,32 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
m_ui->setupUi(this);
this->wp = wp;
wp->setType(Waypoint::LOCAL);
m_ui->orbitSpinBox->setEnabled(false);
m_ui->orbitSpinBox->hide();
wp->setFrame(MAV_FRAME_LOCAL);
// add actions
m_ui->comboBox_action->addItem("Navigate",MAV_ACTION_NAVIGATE);
m_ui->comboBox_action->addItem("TakeOff",MAV_ACTION_TAKEOFF);
m_ui->comboBox_action->addItem("Land",MAV_ACTION_LAND);
m_ui->comboBox_action->addItem("Loiter",MAV_ACTION_LOITER);
// add frames
m_ui->comboBox_frame->addItem("Global",MAV_FRAME_GLOBAL);
m_ui->comboBox_frame->addItem("Local",MAV_FRAME_LOCAL);
// defaults
changedAction(0);
changedFrame(0);
// Read values and set user interface
updateValues();
connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
connect(m_ui->zSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
connect(m_ui->posNSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
connect(m_ui->posESpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
connect(m_ui->posDSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
connect(m_ui->lonSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
connect(m_ui->latSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
connect(m_ui->altSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
//hidden degree to radian conversion of the yaw angle
connect(m_ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYaw(int)));
@ -67,9 +83,8 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) : @@ -67,9 +83,8 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(changedAutoContinue(int)));
connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
connect(m_ui->orbitCheckBox, SIGNAL(stateChanged(int)), this, SLOT(changeOrbitalState(int)));
connect(m_ui->comboBox_action, SIGNAL(activated(int)), this, SLOT(changedAction(int)));
connect(m_ui->comboBox_frame, SIGNAL(activated(int)), this, SLOT(changedFrame(int)));
connect(m_ui->orbitSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setOrbit(double)));
connect(m_ui->holdTimeSpinBox, SIGNAL(valueChanged(int)), wp, SLOT(setHoldTime(int)));
@ -104,6 +119,72 @@ void WaypointView::changedAutoContinue(int state) @@ -104,6 +119,72 @@ void WaypointView::changedAutoContinue(int state)
wp->setAutocontinue(true);
}
void WaypointView::changedAction(int index)
{
// set action for waypoint
// hide everything to start
m_ui->orbitSpinBox->hide();
m_ui->takeOffAngleSpinBox->hide();
m_ui->autoContinue->hide();
m_ui->holdTimeSpinBox->hide();
// set waypoint action
MAV_ACTION action = (MAV_ACTION)m_ui->comboBox_action->itemData(index).toUInt();
wp->setAction(action);
// expose ui based on action
switch(action)
{
case MAV_ACTION_TAKEOFF:
m_ui->takeOffAngleSpinBox->show();
break;
case MAV_ACTION_LAND:
break;
case MAV_ACTION_NAVIGATE:
m_ui->autoContinue->show();
break;
case MAV_ACTION_LOITER:
m_ui->orbitSpinBox->show();
m_ui->holdTimeSpinBox->show();
break;
default:
std::cerr << "unknown action" << std::endl;
}
}
void WaypointView::changedFrame(int index)
{
// hide everything to start
m_ui->lonSpinBox->hide();
m_ui->latSpinBox->hide();
m_ui->altSpinBox->hide();
m_ui->posNSpinBox->hide();
m_ui->posESpinBox->hide();
m_ui->posDSpinBox->hide();
// set waypoint action
MAV_FRAME frame = (MAV_FRAME)m_ui->comboBox_frame->itemData(index).toUInt();
wp->setFrame(frame);
switch(frame)
{
case MAV_FRAME_GLOBAL:
m_ui->lonSpinBox->show();
m_ui->latSpinBox->show();
m_ui->altSpinBox->show();
break;
case MAV_FRAME_LOCAL:
m_ui->posNSpinBox->show();
m_ui->posESpinBox->show();
m_ui->posDSpinBox->show();
break;
default:
std::cerr << "unknown frame" << std::endl;
}
}
void WaypointView::changedCurrent(int state)
{
if (state == 0)
@ -121,9 +202,41 @@ void WaypointView::changedCurrent(int state) @@ -121,9 +202,41 @@ void WaypointView::changedCurrent(int state)
void WaypointView::updateValues()
{
m_ui->xSpinBox->setValue(wp->getX());
m_ui->ySpinBox->setValue(wp->getY());
m_ui->zSpinBox->setValue(wp->getZ());
// update frame
MAV_FRAME frame = wp->getFrame();
changedFrame(m_ui->comboBox_frame->findData(frame));
switch(frame)
{
case(MAV_FRAME_LOCAL):
m_ui->posNSpinBox->setValue(wp->getX());
m_ui->posESpinBox->setValue(wp->getY());
m_ui->posDSpinBox->setValue(wp->getZ());
break;
case(MAV_FRAME_GLOBAL):
m_ui->lonSpinBox->setValue(wp->getX());
m_ui->latSpinBox->setValue(wp->getY());
m_ui->altSpinBox->setValue(wp->getZ());
break;
}
// update action
MAV_ACTION action = wp->getAction();
changedFrame(m_ui->comboBox_frame->findData(frame));
changedAction(m_ui->comboBox_action->findData(action));
switch(action)
{
case MAV_ACTION_TAKEOFF:
break;
case MAV_ACTION_LAND:
break;
case MAV_ACTION_NAVIGATE:
break;
case MAV_ACTION_LOITER:
break;
default:
std::cerr << "unknown action" << std::endl;
}
m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
m_ui->selectedBox->setChecked(wp->getCurrent());
m_ui->autoContinue->setChecked(wp->getAutoContinue());
@ -159,21 +272,3 @@ void WaypointView::changeEvent(QEvent *e) @@ -159,21 +272,3 @@ void WaypointView::changeEvent(QEvent *e)
break;
}
}
void WaypointView::changeOrbitalState(int state)
{
Q_UNUSED(state);
if(m_ui->orbitCheckBox->isChecked())
{
m_ui->orbitSpinBox->setEnabled(true);
m_ui->orbitSpinBox->show();
wp->setType(Waypoint::LOCAL_ORBIT);
}
else
{
m_ui->orbitSpinBox->setEnabled(false);
m_ui->orbitSpinBox->hide();
wp->setType(Waypoint::LOCAL);
}
}

4
src/ui/WaypointView.h
Unescape View File

@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project @@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
#include <QtGui/QWidget>
#include "Waypoint.h"
#include <iostream>
namespace Ui {
class WaypointView;
@ -56,7 +57,8 @@ public slots: @@ -56,7 +57,8 @@ public slots:
void moveDown();
void remove();
void changedAutoContinue(int);
void changeOrbitalState(int state);
void changedFrame(int state);
void changedAction(int state);
void changedCurrent(int);
void updateValues(void);

201
src/ui/WaypointView.ui
Unescape View File

@ -6,12 +6,12 @@ @@ -6,12 +6,12 @@
<rect>
<x>0</x>
<y>0</y>
<width>853</width>
<height>30</height>
<width>1389</width>
<height>33</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Fixed">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@ -152,10 +152,16 @@ QProgressBar::chunk#thrustBar { @@ -152,10 +152,16 @@ QProgressBar::chunk#thrustBar {
</property>
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string/>
</property>
<layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0">
<layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0">
<property name="spacing">
<number>2</number>
</property>
@ -198,31 +204,47 @@ QProgressBar::chunk#thrustBar { @@ -198,31 +204,47 @@ QProgressBar::chunk#thrustBar {
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
<widget class="QComboBox" name="comboBox_action">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>25</width>
<height>0</height>
</size>
</widget>
</item>
<item>
<widget class="QComboBox" name="comboBox_frame">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</spacer>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="xSpinBox">
<widget class="QDoubleSpinBox" name="posNSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Position X coordinate</string>
</property>
<property name="prefix">
<string>N </string>
</property>
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
<double>10000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
@ -230,18 +252,27 @@ QProgressBar::chunk#thrustBar { @@ -230,18 +252,27 @@ QProgressBar::chunk#thrustBar {
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="ySpinBox">
<widget class="QDoubleSpinBox" name="posESpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Position Y coordinate</string>
</property>
<property name="prefix">
<string>E </string>
</property>
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
<double>10000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
@ -252,18 +283,27 @@ QProgressBar::chunk#thrustBar { @@ -252,18 +283,27 @@ QProgressBar::chunk#thrustBar {
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="zSpinBox">
<widget class="QDoubleSpinBox" name="posDSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Position Z coordinate (negative)</string>
</property>
<property name="prefix">
<string>D </string>
</property>
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
<double>-10000.000000000000000</double>
</property>
<property name="maximum">
<double>0.000000000000000</double>
<double>10000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
@ -271,7 +311,88 @@ QProgressBar::chunk#thrustBar { @@ -271,7 +311,88 @@ QProgressBar::chunk#thrustBar {
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="latSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="prefix">
<string>lat </string>
</property>
<property name="suffix">
<string>°</string>
</property>
<property name="decimals">
<number>7</number>
</property>
<property name="minimum">
<double>-90.000000000000000</double>
</property>
<property name="maximum">
<double>90.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="lonSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="prefix">
<string>lon </string>
</property>
<property name="suffix">
<string>°</string>
</property>
<property name="decimals">
<number>7</number>
</property>
<property name="minimum">
<double>-180.000000000000000</double>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="altSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="prefix">
<string>alt </string>
</property>
<property name="suffix">
<string>m</string>
</property>
<property name="decimals">
<number>7</number>
</property>
<property name="minimum">
<double>-100000.000000000000000</double>
</property>
<property name="maximum">
<double>100000.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="yawSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Yaw angle</string>
</property>
@ -294,6 +415,12 @@ QProgressBar::chunk#thrustBar { @@ -294,6 +415,12 @@ QProgressBar::chunk#thrustBar {
</item>
<item>
<widget class="QDoubleSpinBox" name="orbitSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Orbit radius</string>
</property>
@ -304,15 +431,24 @@ QProgressBar::chunk#thrustBar { @@ -304,15 +431,24 @@ QProgressBar::chunk#thrustBar {
<double>0.050000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>20.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="holdTimeSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Time in milliseconds that the MAV has to stay inside the orbit before advancing</string>
</property>
@ -334,19 +470,28 @@ QProgressBar::chunk#thrustBar { @@ -334,19 +470,28 @@ QProgressBar::chunk#thrustBar {
</widget>
</item>
<item>
<widget class="QCheckBox" name="autoContinue">
<widget class="QDoubleSpinBox" name="takeOffAngleSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Automatically continue after this waypoint</string>
<string>Take off angle</string>
</property>
<property name="text">
<property name="prefix">
<string/>
</property>
<property name="suffix">
<string>°</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="orbitCheckBox">
<widget class="QCheckBox" name="autoContinue">
<property name="toolTip">
<string>enable orbital mode (loiter at waypoint)</string>
<string>Automatically continue after this waypoint</string>
</property>
<property name="text">
<string/>

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