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Merge pull request #5883 from DonLakeFlyer/SpeedGimbalCarryOver 

Carry over speed/gimbal for defaults from previous items
QGC4.4
Don Gagne 7 years ago committed by GitHub
parent
4ed2e7e217 52f5126558
commit
dcb1c826da
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GPG Key ID: 4AEE18F83AFDEB23
22 changed files with 226 additions and 55 deletions
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  1. 30
      src/MissionManager/CameraSection.cc
  2. 7
      src/MissionManager/CameraSection.h
  3. 41
      src/MissionManager/CameraSectionTest.cc
  4. 37
      src/MissionManager/CameraSectionTest.h
  5. 1
      src/MissionManager/FixedWingLandingComplexItem.h
  6. 16
      src/MissionManager/MissionController.cc
  7. 1
      src/MissionManager/MissionController.h
  8. 22
      src/MissionManager/MissionItem.cc
  9. 9
      src/MissionManager/MissionItem.h
  10. 10
      src/MissionManager/MissionSettingsItem.cc
  11. 1
      src/MissionManager/MissionSettingsItem.h
  12. 32
      src/MissionManager/SimpleMissionItem.cc
  13. 2
      src/MissionManager/SimpleMissionItem.h
  14. 19
      src/MissionManager/SpeedSection.cc
  15. 2
      src/MissionManager/SpeedSection.h
  16. 28
      src/MissionManager/SpeedSectionTest.cc
  17. 13
      src/MissionManager/SpeedSectionTest.h
  18. 1
      src/MissionManager/StructureScanComplexItem.h
  19. 1
      src/MissionManager/SurveyMissionItem.h
  20. 5
      src/MissionManager/VisualMissionItem.h
  21. 1
      src/MissionManager/VisualMissionItemTest.cc
  22. 2
      src/MissionManager/VisualMissionItemTest.h

30
src/MissionManager/CameraSection.cc
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@ -59,8 +59,8 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent) @@ -59,8 +59,8 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
connect(&_cameraActionFact, &Fact::valueChanged, this, &CameraSection::_cameraActionChanged);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &CameraSection::_dirtyIfSpecified);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &CameraSection::_dirtyIfSpecified);
connect(&_cameraPhotoIntervalDistanceFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_cameraPhotoIntervalTimeFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
connect(&_cameraModeFact, &Fact::valueChanged, this, &CameraSection::_setDirty);
@ -68,7 +68,9 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent) @@ -68,7 +68,9 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
connect(this, &CameraSection::specifyCameraModeChanged, this, &CameraSection::_setDirty);
connect(this, &CameraSection::specifyGimbalChanged, this, &CameraSection::_updateSpecifiedGimbalYaw);
connect(this, &CameraSection::specifyGimbalChanged, this, &CameraSection::_updateSpecifiedGimbalPitch);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &CameraSection::_updateSpecifiedGimbalYaw);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &CameraSection::_updateSpecifiedGimbalPitch);
}
void CameraSection::setSpecifyGimbal(bool specifyGimbal)
@ -491,9 +493,23 @@ double CameraSection::specifiedGimbalYaw(void) const @@ -491,9 +493,23 @@ double CameraSection::specifiedGimbalYaw(void) const
return _specifyGimbal ? _gimbalYawFact.rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
}
double CameraSection::specifiedGimbalPitch(void) const
{
return _specifyGimbal ? _gimbalPitchFact.rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
}
void CameraSection::_updateSpecifiedGimbalYaw(void)
{
emit specifiedGimbalYawChanged(specifiedGimbalYaw());
if (_specifyGimbal) {
emit specifiedGimbalYawChanged(specifiedGimbalYaw());
}
}
void CameraSection::_updateSpecifiedGimbalPitch(void)
{
if (_specifyGimbal) {
emit specifiedGimbalPitchChanged(specifiedGimbalPitch());
}
}
void CameraSection::_updateSettingsSpecified(void)
@ -521,3 +537,11 @@ bool CameraSection::cameraModeSupported(void) const @@ -521,3 +537,11 @@ bool CameraSection::cameraModeSupported(void) const
{
return _vehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_SET_CAMERA_MODE);
}
void CameraSection::_dirtyIfSpecified(void)
{
// We only set the dirty bit if specify gimbal it set. This allows us to change defaults without affecting dirty.
if (_specifyGimbal) {
setDirty(true);
}
}

7
src/MissionManager/CameraSection.h
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@ -61,6 +61,10 @@ public: @@ -61,6 +61,10 @@ public:
///< @return The gimbal yaw specified by this item, NaN if not specified
double specifiedGimbalYaw(void) const;
///< Signals specifiedGimbalPitchChanged
///< @return The gimbal pitch specified by this item, NaN if not specified
double specifiedGimbalPitch(void) const;
// Overrides from Section
bool available (void) const override { return _available; }
bool dirty (void) const override { return _dirty; }
@ -75,14 +79,17 @@ signals: @@ -75,14 +79,17 @@ signals:
bool specifyGimbalChanged (bool specifyGimbal);
bool specifyCameraModeChanged (bool specifyCameraMode);
void specifiedGimbalYawChanged (double gimbalYaw);
void specifiedGimbalPitchChanged(double gimbalPitch);
private slots:
void _setDirty(void);
void _setDirtyAndUpdateItemCount(void);
void _updateSpecifiedGimbalYaw(void);
void _updateSpecifiedGimbalPitch(void);
void _specifyChanged(void);
void _updateSettingsSpecified(void);
void _cameraActionChanged(void);
void _dirtyIfSpecified(void);
private:
bool _scanGimbal(QmlObjectListModel* visualItems, int scanIndex);

41
src/MissionManager/CameraSectionTest.cc
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@ -36,6 +36,7 @@ void CameraSectionTest::init(void) @@ -36,6 +36,7 @@ void CameraSectionTest::init(void)
rgCameraSignals[specifyGimbalChangedIndex] = SIGNAL(specifyGimbalChanged(bool));
rgCameraSignals[specifiedGimbalYawChangedIndex] = SIGNAL(specifiedGimbalYawChanged(double));
rgCameraSignals[specifiedGimbalPitchChangedIndex] = SIGNAL(specifiedGimbalPitchChanged(double));
rgCameraSignals[specifyCameraModeChangedIndex] = SIGNAL(specifyCameraModeChanged(bool));
_cameraSection = _simpleItem->cameraSection();
@ -206,22 +207,32 @@ void CameraSectionTest::_testDirty(void) @@ -206,22 +207,32 @@ void CameraSectionTest::_testDirty(void)
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
// Check the remaining items that should set dirty bit
// dirty SHOULD NOT change if pitch or yaw is changed while specifyGimbal IS NOT set
_cameraSection->setSpecifyGimbal(false);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
_cameraSection->gimbalPitch()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
_cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalYaw()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkNoSignalByMask(dirtyChangedMask));
QCOMPARE(_cameraSection->dirty(), false);
// dirty SHOULD change if pitch or yaw is changed while specifyGimbal IS set
_cameraSection->setSpecifyGimbal(true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
_cameraSection->gimbalPitch()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
_cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
_cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalYaw()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_cameraSection->dirty(), true);
_cameraSection->setDirty(false);
_spySection->clearAllSignals();
// Check the remaining items that should set dirty bit
_cameraSection->cameraAction()->setRawValue(_cameraSection->cameraAction()->rawValue().toInt() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
@ -1081,3 +1092,23 @@ void CameraSectionTest::_testScanForMultipleItems(void) @@ -1081,3 +1092,23 @@ void CameraSectionTest::_testScanForMultipleItems(void)
}
}
}
void CameraSectionTest::_testSpecifiedGimbalValuesChanged(void)
{
// specifiedGimbal[Yaw|Pitch]Changed SHOULD NOT signal if values are changed when specifyGimbal IS NOT set
_cameraSection->setSpecifyGimbal(false);
_spyCamera->clearAllSignals();
_cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalYaw()->rawValue().toDouble() + 1);
QVERIFY(_spyCamera->checkNoSignalByMask(specifiedGimbalYawChangedMask));
_cameraSection->gimbalPitch()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
QVERIFY(_spyCamera->checkNoSignalByMask(specifiedGimbalPitchChangedMask));
// specifiedGimbal[Yaw|Pitch]Changed SHOULD signal if values are changed when specifyGimbal IS set
_cameraSection->setSpecifyGimbal(true);
_spyCamera->clearAllSignals();
_cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalYaw()->rawValue().toDouble() + 1);
QVERIFY(_spyCamera->checkSignalByMask(specifiedGimbalYawChangedMask));
_spyCamera->clearAllSignals();
_cameraSection->gimbalPitch()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
QVERIFY(_spyCamera->checkSignalByMask(specifiedGimbalPitchChangedMask));
}

37
src/MissionManager/CameraSectionTest.h
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@ -24,20 +24,21 @@ public: @@ -24,20 +24,21 @@ public:
void cleanup(void) override;
private slots:
void _testDirty(void);
void _testSettingsAvailable(void);
void _checkAvailable(void);
void _testItemCount(void);
void _testAppendSectionItems(void);
void _testScanForGimbalSection(void);
void _testScanForPhotoIntervalTimeSection(void);
void _testScanForPhotoIntervalDistanceSection(void);
void _testScanForStartVideoSection(void);
void _testScanForStopVideoSection(void);
void _testScanForStopImageSection(void);
void _testScanForCameraModeSection(void);
void _testScanForTakePhotoSection(void);
void _testScanForMultipleItems(void);
void _testDirty (void);
void _testSettingsAvailable (void);
void _checkAvailable (void);
void _testItemCount (void);
void _testAppendSectionItems (void);
void _testScanForGimbalSection (void);
void _testScanForPhotoIntervalTimeSection (void);
void _testScanForPhotoIntervalDistanceSection (void);
void _testScanForStartVideoSection (void);
void _testScanForStopVideoSection (void);
void _testScanForStopImageSection (void);
void _testScanForCameraModeSection (void);
void _testScanForTakePhotoSection (void);
void _testScanForMultipleItems (void);
void _testSpecifiedGimbalValuesChanged (void);
private:
void _createSpy(CameraSection* cameraSection, MultiSignalSpy** cameraSpy);
@ -47,14 +48,16 @@ private: @@ -47,14 +48,16 @@ private:
enum {
specifyGimbalChangedIndex = 0,
specifiedGimbalYawChangedIndex,
specifiedGimbalPitchChangedIndex,
specifyCameraModeChangedIndex,
maxSignalIndex,
};
enum {
specifyGimbalChangedMask = 1 << specifyGimbalChangedIndex,
specifiedGimbalYawChangedMask = 1 << specifiedGimbalYawChangedIndex,
specifyCameraModeChangedMask = 1 << specifyCameraModeChangedIndex,
specifyGimbalChangedMask = 1 << specifyGimbalChangedIndex,
specifiedGimbalYawChangedMask = 1 << specifiedGimbalYawChangedIndex,
specifiedGimbalPitchChangedMask = 1 << specifiedGimbalPitchChangedIndex,
specifyCameraModeChangedMask = 1 << specifyCameraModeChangedIndex,
};
static const size_t cCameraSignals = maxSignalIndex;

1
src/MissionManager/FixedWingLandingComplexItem.h
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@ -77,6 +77,7 @@ public: @@ -77,6 +77,7 @@ public:
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;

16
src/MissionManager/MissionController.cc
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@ -91,6 +91,7 @@ void MissionController::_resetMissionFlightStatus(void) @@ -91,6 +91,7 @@ void MissionController::_resetMissionFlightStatus(void)
_missionFlightStatus.vehicleSpeed = _controllerVehicle->multiRotor() || _managerVehicle->vtol() ? _missionFlightStatus.hoverSpeed : _missionFlightStatus.cruiseSpeed;
_missionFlightStatus.vehicleYaw = 0.0;
_missionFlightStatus.gimbalYaw = std::numeric_limits<double>::quiet_NaN();
_missionFlightStatus.gimbalPitch = std::numeric_limits<double>::quiet_NaN();
// Battery information
@ -355,6 +356,7 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i) @@ -355,6 +356,7 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
newItem->missionItem().setParam7(prevAltitude);
}
}
newItem->setMissionFlightStatus(_missionFlightStatus);
_visualItems->insert(i, newItem);
_recalcAll();
@ -1227,12 +1229,13 @@ void MissionController::_recalcMissionFlightStatus() @@ -1227,12 +1229,13 @@ void MissionController::_recalcMissionFlightStatus()
}
// Look for gimbal change
if (_managerVehicle->vehicleYawsToNextWaypointInMission()) {
// We current only support gimbal display in this mode
double gimbalYaw = item->specifiedGimbalYaw();
if (!qIsNaN(gimbalYaw)) {
_missionFlightStatus.gimbalYaw = gimbalYaw;
}
double gimbalYaw = item->specifiedGimbalYaw();
if (!qIsNaN(gimbalYaw)) {
_missionFlightStatus.gimbalYaw = gimbalYaw;
}
double gimbalPitch = item->specifiedGimbalPitch();
if (!qIsNaN(gimbalPitch)) {
_missionFlightStatus.gimbalPitch = gimbalPitch;
}
if (i == 0) {
@ -1511,6 +1514,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem) @@ -1511,6 +1514,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
connect(visualItem, &VisualMissionItem::exitCoordinateHasRelativeAltitudeChanged, this, &MissionController::_recalcWaypointLines);
connect(visualItem, &VisualMissionItem::specifiedFlightSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::specifiedGimbalYawChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::specifiedGimbalPitchChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::terrainAltitudeChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::lastSequenceNumberChanged, this, &MissionController::_recalcSequence);

1
src/MissionManager/MissionController.h
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@ -54,6 +54,7 @@ public: @@ -54,6 +54,7 @@ public:
double vehicleSpeed; ///< Either cruise or hover speed based on vehicle type and vtol state
double vehicleYaw;
double gimbalYaw; ///< NaN signals yaw was never changed
double gimbalPitch; ///< NaN signals pitch was never changed
int mAhBattery; ///< 0 for not available
double hoverAmps; ///< Amp consumption during hover
double cruiseAmps; ///< Amp consumption during cruise

22
src/MissionManager/MissionItem.cc
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@ -52,6 +52,7 @@ MissionItem::MissionItem(QObject* parent) @@ -52,6 +52,7 @@ MissionItem::MissionItem(QObject* parent)
setAutoContinue(true);
connect(&_param1Fact, &Fact::rawValueChanged, this, &MissionItem::_param1Changed);
connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
connect(&_param3Fact, &Fact::rawValueChanged, this, &MissionItem::_param3Changed);
}
@ -442,6 +443,27 @@ double MissionItem::specifiedGimbalYaw(void) const @@ -442,6 +443,27 @@ double MissionItem::specifiedGimbalYaw(void) const
return gimbalYaw;
}
double MissionItem::specifiedGimbalPitch(void) const
{
double gimbalPitch = std::numeric_limits<double>::quiet_NaN();
if (_commandFact.rawValue().toInt() == MAV_CMD_DO_MOUNT_CONTROL && _param7Fact.rawValue().toInt() == MAV_MOUNT_MODE_MAVLINK_TARGETING) {
gimbalPitch = _param1Fact.rawValue().toDouble();
}
return gimbalPitch;
}
void MissionItem::_param1Changed(QVariant value)
{
Q_UNUSED(value);
double gimbalPitch = specifiedGimbalPitch();
if (!qIsNaN(gimbalPitch)) {
emit specifiedGimbalPitchChanged(gimbalPitch);
}
}
void MissionItem::_param2Changed(QVariant value)
{
Q_UNUSED(value);

9
src/MissionManager/MissionItem.h
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@ -82,6 +82,9 @@ public: @@ -82,6 +82,9 @@ public:
/// @return Flight gimbal yaw change value if this item supports it. If not it returns NaN.
double specifiedGimbalYaw(void) const;
/// @return Flight gimbal pitch change value if this item supports it. If not it returns NaN.
double specifiedGimbalPitch(void) const;
void setCommand (MAV_CMD command);
void setSequenceNumber (int sequenceNumber);
void setIsCurrentItem (bool isCurrentItem);
@ -107,10 +110,12 @@ signals: @@ -107,10 +110,12 @@ signals:
void sequenceNumberChanged (int sequenceNumber);
void specifiedFlightSpeedChanged(double flightSpeed);
void specifiedGimbalYawChanged (double gimbalYaw);
void specifiedGimbalPitchChanged(double gimbalPitch);
private slots:
void _param2Changed (QVariant value);
void _param3Changed (QVariant value);
void _param1Changed(QVariant value);
void _param2Changed(QVariant value);
void _param3Changed(QVariant value);
private:
bool _convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Json, QString& errorString);

10
src/MissionManager/MissionSettingsItem.cc
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@ -63,8 +63,9 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent) @@ -63,8 +63,9 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
connect(&_cameraSection, &CameraSection::dirtyChanged, this, &MissionSettingsItem::_sectionDirtyChanged);
connect(&_speedSection, &SpeedSection::dirtyChanged, this, &MissionSettingsItem::_sectionDirtyChanged);
connect(&_cameraSection, &CameraSection::specifiedGimbalYawChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged);
connect(&_speedSection, &SpeedSection::specifiedFlightSpeedChanged, this, &MissionSettingsItem::specifiedFlightSpeedChanged);
connect(&_cameraSection, &CameraSection::specifiedGimbalYawChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged);
connect(&_cameraSection, &CameraSection::specifiedGimbalPitchChanged, this, &MissionSettingsItem::specifiedGimbalPitchChanged);
connect(&_speedSection, &SpeedSection::specifiedFlightSpeedChanged, this, &MissionSettingsItem::specifiedFlightSpeedChanged);
}
int MissionSettingsItem::lastSequenceNumber(void) const
@ -259,6 +260,11 @@ double MissionSettingsItem::specifiedGimbalYaw(void) @@ -259,6 +260,11 @@ double MissionSettingsItem::specifiedGimbalYaw(void)
return _cameraSection.specifyGimbal() ? _cameraSection.gimbalYaw()->rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
}
double MissionSettingsItem::specifiedGimbalPitch(void)
{
return _cameraSection.specifyGimbal() ? _cameraSection.gimbalPitch()->rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
}
void MissionSettingsItem::_updateAltitudeInCoordinate(QVariant value)
{
double newAltitude = value.toDouble();

1
src/MissionManager/MissionSettingsItem.h
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@ -73,6 +73,7 @@ public: @@ -73,6 +73,7 @@ public:
QGeoCoordinate exitCoordinate (void) const final { return _plannedHomePositionCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedGimbalYaw (void) final;
double specifiedGimbalPitch (void) final;
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final { Q_UNUSED(newAltitude); /* no action */ }
double specifiedFlightSpeed (void) final;

32
src/MissionManager/SimpleMissionItem.cc
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@ -717,6 +717,11 @@ double SimpleMissionItem::specifiedGimbalYaw(void) @@ -717,6 +717,11 @@ double SimpleMissionItem::specifiedGimbalYaw(void)
return _cameraSection->available() ? _cameraSection->specifiedGimbalYaw() : missionItem().specifiedGimbalYaw();
}
double SimpleMissionItem::specifiedGimbalPitch(void)
{
return _cameraSection->available() ? _cameraSection->specifiedGimbalPitch() : missionItem().specifiedGimbalPitch();
}
bool SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
{
bool sectionFound = false;
@ -754,10 +759,12 @@ void SimpleMissionItem::_updateOptionalSections(void) @@ -754,10 +759,12 @@ void SimpleMissionItem::_updateOptionalSections(void)
_speedSection->setAvailable(true);
}
connect(_cameraSection, &CameraSection::dirtyChanged, this, &SimpleMissionItem::_sectionDirtyChanged);
connect(_cameraSection, &CameraSection::itemCountChanged, this, &SimpleMissionItem::_updateLastSequenceNumber);
connect(_cameraSection, &CameraSection::availableChanged, this, &SimpleMissionItem::specifiedGimbalYawChanged);
connect(_cameraSection, &CameraSection::specifiedGimbalYawChanged, this, &SimpleMissionItem::specifiedGimbalYawChanged);
connect(_cameraSection, &CameraSection::dirtyChanged, this, &SimpleMissionItem::_sectionDirtyChanged);
connect(_cameraSection, &CameraSection::itemCountChanged, this, &SimpleMissionItem::_updateLastSequenceNumber);
connect(_cameraSection, &CameraSection::availableChanged, this, &SimpleMissionItem::specifiedGimbalYawChanged);
connect(_cameraSection, &CameraSection::availableChanged, this, &SimpleMissionItem::specifiedGimbalPitchChanged);
connect(_cameraSection, &CameraSection::specifiedGimbalPitchChanged, this, &SimpleMissionItem::specifiedGimbalPitchChanged);
connect(_cameraSection, &CameraSection::specifiedGimbalYawChanged, this, &SimpleMissionItem::specifiedGimbalYawChanged);
connect(_speedSection, &SpeedSection::dirtyChanged, this, &SimpleMissionItem::_sectionDirtyChanged);
connect(_speedSection, &SpeedSection::itemCountChanged, this, &SimpleMissionItem::_updateLastSequenceNumber);
@ -813,3 +820,20 @@ void SimpleMissionItem::applyNewAltitude(double newAltitude) @@ -813,3 +820,20 @@ void SimpleMissionItem::applyNewAltitude(double newAltitude)
}
}
}
void SimpleMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
{
// If user has not already set speed/gimbal, set defaults from previous items.
VisualMissionItem::setMissionFlightStatus(missionFlightStatus);
if (_speedSection->available() && !_speedSection->specifyFlightSpeed() && !qFuzzyCompare(_speedSection->flightSpeed()->rawValue().toDouble(), missionFlightStatus.vehicleSpeed)) {
_speedSection->flightSpeed()->setRawValue(missionFlightStatus.vehicleSpeed);
}
if (_cameraSection->available() && !_cameraSection->specifyGimbal()) {
if (!qIsNaN(missionFlightStatus.gimbalYaw) && !qFuzzyCompare(_cameraSection->gimbalYaw()->rawValue().toDouble(), missionFlightStatus.gimbalYaw)) {
_cameraSection->gimbalYaw()->setRawValue(missionFlightStatus.gimbalYaw);
}
if (!qIsNaN(missionFlightStatus.gimbalPitch) && !qFuzzyCompare(_cameraSection->gimbalPitch()->rawValue().toDouble(), missionFlightStatus.gimbalPitch)) {
_cameraSection->gimbalPitch()->setRawValue(missionFlightStatus.gimbalPitch);
}
}
}

2
src/MissionManager/SimpleMissionItem.h
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@ -102,9 +102,11 @@ public: @@ -102,9 +102,11 @@ public:
int sequenceNumber (void) const final { return _missionItem.sequenceNumber(); }
double specifiedFlightSpeed (void) final;
double specifiedGimbalYaw (void) final;
double specifiedGimbalPitch (void) final;
QString mapVisualQML (void) const final { return QStringLiteral("SimpleItemMapVisual.qml"); }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;
void setMissionFlightStatus (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
bool coordinateHasRelativeAltitude (void) const final { return _missionItem.relativeAltitude(); }
bool exitCoordinateHasRelativeAltitude (void) const final { return coordinateHasRelativeAltitude(); }

19
src/MissionManager/SpeedSection.cc
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@ -39,7 +39,7 @@ SpeedSection::SpeedSection(Vehicle* vehicle, QObject* parent) @@ -39,7 +39,7 @@ SpeedSection::SpeedSection(Vehicle* vehicle, QObject* parent)
_flightSpeedFact.setRawValue(flightSpeed);
connect(this, &SpeedSection::specifyFlightSpeedChanged, this, &SpeedSection::settingsSpecifiedChanged);
connect(&_flightSpeedFact, &Fact::valueChanged, this, &SpeedSection::_setDirty);
connect(&_flightSpeedFact, &Fact::valueChanged, this, &SpeedSection::_flightSpeedChanged);
connect(this, &SpeedSection::specifyFlightSpeedChanged, this, &SpeedSection::_updateSpecifiedFlightSpeed);
connect(&_flightSpeedFact, &Fact::valueChanged, this, &SpeedSection::_updateSpecifiedFlightSpeed);
@ -60,11 +60,6 @@ void SpeedSection::setAvailable(bool available) @@ -60,11 +60,6 @@ void SpeedSection::setAvailable(bool available)
}
}
void SpeedSection::_setDirty(void)
{
setDirty(true);
}
void SpeedSection::setDirty(bool dirty)
{
if (_dirty != dirty) {
@ -146,6 +141,16 @@ double SpeedSection::specifiedFlightSpeed(void) const @@ -146,6 +141,16 @@ double SpeedSection::specifiedFlightSpeed(void) const
void SpeedSection::_updateSpecifiedFlightSpeed(void)
{
emit specifiedFlightSpeedChanged(specifiedFlightSpeed());
if (_specifyFlightSpeed) {
emit specifiedFlightSpeedChanged(specifiedFlightSpeed());
}
}
void SpeedSection::_flightSpeedChanged(void)
{
// We only set the dirty bit if specify flight speed it set. This allows us to change defaults for flight speed
// without affecting dirty.
if (_specifyFlightSpeed) {
setDirty(true);
}
}

2
src/MissionManager/SpeedSection.h
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@ -46,8 +46,8 @@ signals: @@ -46,8 +46,8 @@ signals:
void specifiedFlightSpeedChanged (double flightSpeed);
private slots:
void _setDirty (void);
void _updateSpecifiedFlightSpeed(void);
void _flightSpeedChanged (void);
private:
bool _available;

28
src/MissionManager/SpeedSectionTest.cc
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@ -73,7 +73,18 @@ void SpeedSectionTest::_testDirty(void) @@ -73,7 +73,18 @@ void SpeedSectionTest::_testDirty(void)
QCOMPARE(_speedSection->dirty(), false);
_spySection->clearAllSignals();
// Check the remaining items that should set dirty bit
// Flight speed change should only signal if specifyFlightSpeed is set
_speedSection->setSpecifyFlightSpeed(false);
_speedSection->setDirty(false);
_spySection->clearAllSignals();
_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkNoSignalByMask(dirtyChangedMask));
QCOMPARE(_speedSection->dirty(), false);
_speedSection->setSpecifyFlightSpeed(true);
_speedSection->setDirty(false);
_spySection->clearAllSignals();
_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
@ -264,3 +275,18 @@ void SpeedSectionTest::_testScanForSection(void) @@ -264,3 +275,18 @@ void SpeedSectionTest::_testScanForSection(void)
visualItems.clear();
scanIndex = 0;
}
void SpeedSectionTest::_testSpecifiedFlightSpeedChanged(void)
{
// specifiedFlightSpeedChanged SHOULD NOT signal if flight speed is changed when specifyFlightSpeed IS NOT set
_speedSection->setSpecifyFlightSpeed(false);
_spySpeed->clearAllSignals();
_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
QVERIFY(_spySpeed->checkNoSignalByMask(specifiedFlightSpeedChangedMask));
// specifiedFlightSpeedChanged SHOULD signal if flight speed is changed when specifyFlightSpeed IS set
_speedSection->setSpecifyFlightSpeed(true);
_spySpeed->clearAllSignals();
_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
QVERIFY(_spySpeed->checkSignalByMask(specifiedFlightSpeedChangedMask));
}

13
src/MissionManager/SpeedSectionTest.h
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@ -24,12 +24,13 @@ public: @@ -24,12 +24,13 @@ public:
void cleanup(void) override;
private slots:
void _testDirty(void);
void _testSettingsAvailable(void);
void _checkAvailable(void);
void _testItemCount(void);
void _testAppendSectionItems(void);
void _testScanForSection(void);
void _testDirty (void);
void _testSettingsAvailable (void);
void _checkAvailable (void);
void _testItemCount (void);
void _testAppendSectionItems (void);
void _testScanForSection (void);
void _testSpecifiedFlightSpeedChanged (void);
private:
void _createSpy(SpeedSection* speedSection, MultiSignalSpy** speedSpy);

1
src/MissionManager/StructureScanComplexItem.h
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@ -81,6 +81,7 @@ public: @@ -81,6 +81,7 @@ public:
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void setMissionFlightStatus (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
void applyNewAltitude (double newAltitude) final;

1
src/MissionManager/SurveyMissionItem.h
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@ -117,6 +117,7 @@ public: @@ -117,6 +117,7 @@ public:
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void setMissionFlightStatus (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
void applyNewAltitude (double newAltitude) final;

5
src/MissionManager/VisualMissionItem.h
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@ -65,7 +65,8 @@ public: @@ -65,7 +65,8 @@ public:
Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT) ///< QMl code for map visuals
Q_PROPERTY(QmlObjectListModel* childItems READ childItems CONSTANT)
Q_PROPERTY(double specifiedFlightSpeed READ specifiedFlightSpeed NOTIFY specifiedFlightSpeedChanged) ///< NaN if this item does not specify flight speed
Q_PROPERTY(double specifiedGimbalYaw READ specifiedGimbalYaw NOTIFY specifiedGimbalYawChanged) ///< NaN if this item goes not specify gimbal yaw
Q_PROPERTY(double specifiedGimbalYaw READ specifiedGimbalYaw NOTIFY specifiedGimbalYawChanged) ///< Gimbal yaw, NaN for not specified
Q_PROPERTY(double specifiedGimbalPitch READ specifiedGimbalPitch NOTIFY specifiedGimbalPitchChanged) ///< Gimbal pitch, NaN for not specified
Q_PROPERTY(double missionGimbalYaw READ missionGimbalYaw NOTIFY missionGimbalYawChanged) ///< Current gimbal yaw state at this point in mission
Q_PROPERTY(double missionVehicleYaw READ missionVehicleYaw NOTIFY missionVehicleYawChanged) ///< Expected vehicle yaw at this point in mission
@ -116,6 +117,7 @@ public: @@ -116,6 +117,7 @@ public:
virtual int sequenceNumber (void) const = 0;
virtual double specifiedFlightSpeed (void) = 0;
virtual double specifiedGimbalYaw (void) = 0;
virtual double specifiedGimbalPitch (void) = 0;
/// Update item to mission flight status at point where this item appears in mission.
/// IMPORTANT: Overrides must call base class implementation
@ -173,6 +175,7 @@ signals: @@ -173,6 +175,7 @@ signals:
void specifiesAltitudeOnlyChanged (void);
void specifiedFlightSpeedChanged (void);
void specifiedGimbalYawChanged (void);
void specifiedGimbalPitchChanged (void);
void lastSequenceNumberChanged (int sequenceNumber);
void missionGimbalYawChanged (double missionGimbalYaw);
void missionVehicleYawChanged (double missionVehicleYaw);

1
src/MissionManager/VisualMissionItemTest.cc
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@ -43,6 +43,7 @@ void VisualMissionItemTest::init(void) @@ -43,6 +43,7 @@ void VisualMissionItemTest::init(void)
rgVisualItemSignals[specifiesAltitudeOnlyChangedIndex] = SIGNAL(specifiesAltitudeOnlyChanged());
rgVisualItemSignals[specifiedFlightSpeedChangedIndex] = SIGNAL(specifiedFlightSpeedChanged());
rgVisualItemSignals[specifiedGimbalYawChangedIndex] = SIGNAL(specifiedGimbalYawChanged());
rgVisualItemSignals[specifiedGimbalPitchChangedIndex] = SIGNAL(specifiedGimbalPitchChanged());
rgVisualItemSignals[lastSequenceNumberChangedIndex] = SIGNAL(lastSequenceNumberChanged(int));
rgVisualItemSignals[missionGimbalYawChangedIndex] = SIGNAL(missionGimbalYawChanged(double));
rgVisualItemSignals[missionVehicleYawChangedIndex] = SIGNAL(missionVehicleYawChanged(double));

2
src/MissionManager/VisualMissionItemTest.h
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@ -49,6 +49,7 @@ protected: @@ -49,6 +49,7 @@ protected:
specifiesAltitudeOnlyChangedIndex,
specifiedFlightSpeedChangedIndex,
specifiedGimbalYawChangedIndex,
specifiedGimbalPitchChangedIndex,
lastSequenceNumberChangedIndex,
missionGimbalYawChangedIndex,
missionVehicleYawChangedIndex,
@ -77,6 +78,7 @@ protected: @@ -77,6 +78,7 @@ protected:
specifiesAltitudeOnlyChangedMask = 1 << specifiesAltitudeOnlyChangedIndex,
specifiedFlightSpeedChangedMask = 1 << specifiedFlightSpeedChangedIndex,
specifiedGimbalYawChangedMask = 1 << specifiedGimbalYawChangedIndex,
specifiedGimbalPitchChangedMask = 1 << specifiedGimbalPitchChangedIndex,
lastSequenceNumberChangedMask = 1 << lastSequenceNumberChangedIndex,
missionGimbalYawChangedMask = 1 << missionGimbalYawChangedIndex,
missionVehicleYawChangedMask = 1 << missionVehicleYawChangedIndex,

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