Browse Source
Co-authored-by: davidsastresas <davidsastresas@gmail.com> Co-authored-by: Julian Oes <julian@oes.ch>QGC4.4
davidsastresas
1 year ago
committed by
Julian Oes
9 changed files with 923 additions and 0 deletions
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#include "GimbalController.h" |
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#include "MAVLinkProtocol.h" |
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#include "Vehicle.h" |
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#include "QGCApplication.h" |
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#include "SettingsManager.h" |
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#include <Eigen/Eigen> |
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QGC_LOGGING_CATEGORY(GimbalLog, "GimbalLog") |
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const char* GimbalController::_gimbalFactGroupNamePrefix = "gimbal"; |
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const char* Gimbal::_absoluteRollFactName = "gimbalRoll"; |
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const char* Gimbal::_absolutePitchFactName = "gimbalPitch"; |
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const char* Gimbal::_bodyYawFactName = "gimbalYaw"; |
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const char* Gimbal::_absoluteYawFactName = "gimbalAzimuth"; |
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const char* Gimbal::_deviceIdFactName = "deviceId"; |
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Gimbal::Gimbal() |
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: FactGroup(100, ":/json/Vehicle/GimbalFact.json") // No need to set parent as this will be deleted by gimbalController destructor
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{ |
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_initFacts(); |
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} |
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Gimbal::Gimbal(const Gimbal& other) |
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: FactGroup(100, ":/json/Vehicle/GimbalFact.json") // No need to set parent as this will be deleted by gimbalController destructor
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{ |
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_initFacts(); |
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*this = other; |
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} |
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const Gimbal& Gimbal::operator=(const Gimbal& other) |
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{ |
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_requestInformationRetries = other._requestInformationRetries; |
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_requestStatusRetries = other._requestStatusRetries; |
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_requestAttitudeRetries = other._requestAttitudeRetries; |
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_receivedInformation = other._receivedInformation; |
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_receivedStatus = other._receivedStatus; |
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_receivedAttitude = other._receivedAttitude; |
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_isComplete = other._isComplete; |
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_retracted = other._retracted; |
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_neutral = other._neutral; |
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_haveControl = other._haveControl; |
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_othersHaveControl = other._othersHaveControl; |
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_absoluteRollFact = other._absoluteRollFact; |
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_absolutePitchFact = other._absolutePitchFact; |
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_bodyYawFact = other._bodyYawFact; |
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_absoluteYawFact = other._absoluteYawFact; |
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_deviceIdFact = other._deviceIdFact; |
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_yawLock = other._yawLock; |
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_haveControl = other._haveControl; |
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_othersHaveControl = other._othersHaveControl; |
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return *this; |
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} |
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// To be called EXCLUSIVELY in Gimbal constructors
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void Gimbal::_initFacts() |
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{ |
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_absoluteRollFact = Fact(0, _absoluteRollFactName, FactMetaData::valueTypeFloat); |
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_absolutePitchFact = Fact(0, _absolutePitchFactName, FactMetaData::valueTypeFloat); |
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_bodyYawFact = Fact(0, _bodyYawFactName, FactMetaData::valueTypeFloat); |
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_absoluteYawFact = Fact(0, _absoluteYawFactName, FactMetaData::valueTypeFloat); |
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_deviceIdFact = Fact(0, _deviceIdFactName, FactMetaData::valueTypeUint8); |
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_addFact(&_absoluteRollFact, _absoluteRollFactName); |
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_addFact(&_absolutePitchFact, _absolutePitchFactName); |
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_addFact(&_bodyYawFact, _bodyYawFactName); |
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_addFact(&_absoluteYawFact, _absoluteYawFactName); |
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_addFact(&_deviceIdFact, _deviceIdFactName); |
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_absoluteRollFact.setRawValue (0.0f); |
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_absolutePitchFact.setRawValue (0.0f); |
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_bodyYawFact.setRawValue (0.0f); |
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_absoluteYawFact.setRawValue (0.0f); |
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_deviceIdFact.setRawValue (0); |
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} |
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GimbalController::GimbalController(MAVLinkProtocol* mavlink, Vehicle* vehicle) |
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: _mavlink(mavlink) |
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, _vehicle(vehicle) |
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, _activeGimbal(nullptr) |
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{ |
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QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership); |
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connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &GimbalController::_mavlinkMessageReceived); |
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} |
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GimbalController::~GimbalController() |
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{ |
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_gimbals.clearAndDeleteContents(); |
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} |
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void |
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GimbalController::setActiveGimbal(Gimbal* gimbal) |
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{ |
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if (!gimbal) { |
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qCDebug(GimbalLog) << "Set active gimbal: attempted to set a nullptr, returning"; |
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return; |
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} |
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if (gimbal != _activeGimbal) { |
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qCDebug(GimbalLog) << "Set active gimbal: " << gimbal; |
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_activeGimbal = gimbal; |
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emit activeGimbalChanged(); |
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} |
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} |
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void |
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GimbalController::_mavlinkMessageReceived(const mavlink_message_t& message) |
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{ |
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switch (message.msgid) { |
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case MAVLINK_MSG_ID_HEARTBEAT: |
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_handleHeartbeat(message); |
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break; |
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case MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION: |
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_handleGimbalManagerInformation(message); |
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break; |
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case MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS: |
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_handleGimbalManagerStatus(message); |
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break; |
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case MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS: |
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_handleGimbalDeviceAttitudeStatus(message); |
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break; |
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} |
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} |
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void |
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GimbalController::_handleHeartbeat(const mavlink_message_t& message) |
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{ |
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if (!_potentialGimbalManagers.contains(message.compid)) { |
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qCDebug(GimbalLog) << "new potential gimbal manager component: " << message.compid; |
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} |
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auto& gimbalManager = _potentialGimbalManagers[message.compid]; |
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// Note that we are working over potential gimbal managers here, instead of potential gimbals.
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// This is because we address the gimbal manager by compid, but a gimbal device might have an
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// id different than the message compid it comes from. For more information see https://mavlink.io/en/services/gimbal_v2.html
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if (!gimbalManager.receivedInformation && gimbalManager.requestGimbalManagerInformationRetries > 0) { |
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_requestGimbalInformation(message.compid); |
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--gimbalManager.requestGimbalManagerInformationRetries; |
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} |
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} |
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void |
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GimbalController::_handleGimbalManagerInformation(const mavlink_message_t& message) |
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{ |
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mavlink_gimbal_manager_information_t information; |
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mavlink_msg_gimbal_manager_information_decode(&message, &information); |
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qCDebug(GimbalLog) << "_handleGimbalManagerInformation for gimbal device: " << information.gimbal_device_id << ", component id: " << message.compid; |
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auto& gimbal = _potentialGimbals[information.gimbal_device_id]; |
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if (information.gimbal_device_id != 0) { |
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gimbal.setDeviceId(information.gimbal_device_id); |
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} |
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if (!gimbal._receivedInformation) { |
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qCDebug(GimbalLog) << "gimbal manager with compId: " << message.compid |
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<< " is responsible for gimbal device: " << information.gimbal_device_id; |
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} |
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gimbal._receivedInformation = true; |
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// It is important to flag our potential gimbal manager as well, so we stop requesting gimbal_manger_information message
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auto& gimbalManager = _potentialGimbalManagers[message.compid]; |
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gimbalManager.receivedInformation = true; |
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_checkComplete(gimbal, message.compid); |
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} |
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void |
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GimbalController::_handleGimbalManagerStatus(const mavlink_message_t& message) |
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{ |
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mavlink_gimbal_manager_status_t status; |
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mavlink_msg_gimbal_manager_status_decode(&message, &status); |
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// qCDebug(GimbalLog) << "_handleGimbalManagerStatus for gimbal device: " << status.gimbal_device_id << ", component id: " << message.compid;
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auto& gimbal = _potentialGimbals[status.gimbal_device_id]; |
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if (!status.gimbal_device_id) { |
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qCDebug(GimbalLog) << "gimbal manager with compId: " << message.compid |
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<< " reported status of gimbal device id: " << status.gimbal_device_id << " which is not a valid gimbal device id"; |
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return; |
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} |
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gimbal.setDeviceId(status.gimbal_device_id); |
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// Only log this message once
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if (!gimbal._receivedStatus) { |
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qCDebug(GimbalLog) << "_handleGimbalManagerStatus: gimbal manager with compId " << message.compid |
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<< " is responsible for gimbal device " << status.gimbal_device_id; |
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} |
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gimbal._receivedStatus = true; |
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const bool haveControl = |
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(status.primary_control_sysid == _mavlink->getSystemId()) && |
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(status.primary_control_compid == _mavlink->getComponentId()); |
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const bool othersHaveControl = !haveControl && |
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(status.primary_control_sysid != 0 && status.primary_control_compid != 0); |
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if (gimbal.gimbalHaveControl() != haveControl) { |
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gimbal.setGimbalHaveControl(haveControl); |
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} |
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if (gimbal.gimbalOthersHaveControl() != othersHaveControl) { |
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gimbal.setGimbalOthersHaveControl(othersHaveControl); |
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} |
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_checkComplete(gimbal, message.compid); |
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} |
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void |
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GimbalController::_handleGimbalDeviceAttitudeStatus(const mavlink_message_t& message) |
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{ |
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mavlink_gimbal_device_attitude_status_t attitude_status; |
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mavlink_msg_gimbal_device_attitude_status_decode(&message, &attitude_status); |
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uint8_t gimbal_device_id_or_compid; |
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// If gimbal_device_id is 0, we must take the compid of the message
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if (attitude_status.gimbal_device_id == 0) { |
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gimbal_device_id_or_compid = message.compid; |
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// If the gimbal_device_id field is set to 1-6, we must use this device id instead
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} else if (attitude_status.gimbal_device_id <= 6) { |
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gimbal_device_id_or_compid = attitude_status.gimbal_device_id; |
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} |
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// We do a reverse lookup here
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auto gimbal_it = std::find_if(_potentialGimbals.begin(), _potentialGimbals.end(), |
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[&](auto& gimbal) { return gimbal.deviceId()->rawValue().toUInt() == gimbal_device_id_or_compid; }); |
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if (gimbal_it == _potentialGimbals.end()) { |
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qCDebug(GimbalLog) << "_handleGimbalDeviceAttitudeStatus for unknown device id: " << gimbal_device_id_or_compid << " from component id: " << message.compid; |
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return; |
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} |
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const bool yaw_in_vehicle_frame = _yawInVehicleFrame(attitude_status.flags); |
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gimbal_it->setRetracted((attitude_status.flags & GIMBAL_DEVICE_FLAGS_RETRACT) > 0); |
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gimbal_it->setYawLock((attitude_status.flags & GIMBAL_DEVICE_FLAGS_YAW_LOCK) > 0); |
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gimbal_it->_neutral = (attitude_status.flags & GIMBAL_DEVICE_FLAGS_NEUTRAL) > 0; |
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float roll, pitch, yaw; |
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mavlink_quaternion_to_euler(attitude_status.q, &roll, &pitch, &yaw); |
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gimbal_it->setAbsoluteRoll(qRadiansToDegrees(roll)); |
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gimbal_it->setAbsolutePitch(qRadiansToDegrees(pitch)); |
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if (yaw_in_vehicle_frame) { |
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float bodyYaw = qRadiansToDegrees(yaw); |
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float absoluteYaw = gimbal_it->bodyYaw()->rawValue().toFloat() + _vehicle->heading()->rawValue().toFloat(); |
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if (absoluteYaw > 180.0f) { |
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absoluteYaw -= 360.0f; |
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} |
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gimbal_it->setBodyYaw(bodyYaw); |
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gimbal_it->setAbsoluteYaw(absoluteYaw); |
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} else { |
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float absoluteYaw = qRadiansToDegrees(yaw); |
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float bodyYaw = gimbal_it->bodyYaw()->rawValue().toFloat() - _vehicle->heading()->rawValue().toFloat(); |
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if (bodyYaw < 180.0f) { |
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bodyYaw += 360.0f; |
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} |
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gimbal_it->setBodyYaw(bodyYaw); |
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gimbal_it->setAbsoluteYaw(absoluteYaw); |
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} |
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gimbal_it->_receivedAttitude = true; |
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_checkComplete(*gimbal_it, message.compid); |
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} |
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void |
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GimbalController::_requestGimbalInformation(uint8_t compid) |
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{ |
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qCDebug(GimbalLog) << "_requestGimbalInformation(" << compid << ")"; |
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if(_vehicle) { |
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_vehicle->sendMavCommand(compid, |
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MAV_CMD_REQUEST_MESSAGE, |
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false /* no error */, |
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MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION); |
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} |
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} |
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void |
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GimbalController::_checkComplete(Gimbal& gimbal, uint8_t compid) |
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{ |
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if (gimbal._isComplete) { |
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// Already complete, nothing to do.
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return; |
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} |
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if (!gimbal._receivedInformation && gimbal._requestInformationRetries > 0) { |
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_requestGimbalInformation(compid); |
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--gimbal._requestInformationRetries; |
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} |
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if (!gimbal._receivedStatus && gimbal._requestStatusRetries > 0) { |
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_vehicle->sendMavCommand(compid, |
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MAV_CMD_SET_MESSAGE_INTERVAL, |
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false /* no error */, |
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MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS, |
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(gimbal._requestStatusRetries > 2) ? 0 : 5000000); // request default rate, if we don't succeed, last attempt is fixed 0.2 Hz instead
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--gimbal._requestStatusRetries; |
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qCDebug(GimbalLog) << "attempt to set GIMBAL_MANAGER_STATUS message at" << (gimbal._requestStatusRetries > 2 ? "default rate" : "0.2 Hz") << "interval for device: " |
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<< gimbal.deviceId()->rawValue().toUInt() << "compID: " << compid << ", retries remaining: " << gimbal._requestStatusRetries; |
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} |
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if (!gimbal._receivedAttitude && gimbal._requestAttitudeRetries > 0 && |
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gimbal._receivedInformation && gimbal.deviceId()->rawValue().toUInt() != 0) { |
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// We request the attitude directly from the gimbal device component.
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// We can only do that once we have received the gimbal manager information
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// telling us which gimbal device it is responsible for.
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_vehicle->sendMavCommand(gimbal.deviceId()->rawValue().toUInt(), |
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MAV_CMD_SET_MESSAGE_INTERVAL, |
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false /* no error */, |
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MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS, |
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0 /* request default rate */); |
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--gimbal._requestAttitudeRetries; |
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} |
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if (!gimbal._receivedInformation || !gimbal._receivedStatus || !gimbal._receivedAttitude) { |
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// Not complete yet.
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return; |
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} |
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gimbal._isComplete = true; |
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// If there is no current active gimbal, set this one as active
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if (!_activeGimbal) { |
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setActiveGimbal(&gimbal); |
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} |
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_gimbals.append(&gimbal); |
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// This is needed for new Gimbals telemetry to be available for the user to show in flyview telemetry panel
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_vehicle->_addFactGroup(&gimbal, QStringLiteral("%1%2").arg(_gimbalFactGroupNamePrefix).arg(gimbal.deviceId()->rawValue().toUInt())); |
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} |
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bool GimbalController::_tryGetGimbalControl() |
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{ |
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if (!_activeGimbal) { |
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qCDebug(GimbalLog) << "_tryGetGimbalControl: active gimbal is nullptr, returning"; |
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return false; |
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} |
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// This means other component is in control, show popup
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if (_activeGimbal->gimbalOthersHaveControl()) { |
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qCDebug(GimbalLog) << "Others in control, showing popup for user to confirm control.."; |
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emit showAcquireGimbalControlPopup(); |
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return false; |
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// This means nobody is in control, so we can adquire directly and attempt to control
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} else if (!_activeGimbal->gimbalHaveControl()) { |
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qCDebug(GimbalLog) << "Nobody in control, acquiring control ourselves.."; |
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acquireGimbalControl(); |
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} |
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return true; |
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} |
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||||||
|
bool GimbalController::_yawInVehicleFrame(uint32_t flags) |
||||||
|
{ |
||||||
|
if ((flags & GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME) > 0) { |
||||||
|
return true; |
||||||
|
} else if ((flags & GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME) > 0) { |
||||||
|
return false; |
||||||
|
} else { |
||||||
|
// For backwards compatibility: if both new flags are 0, yaw lock defines the frame.
|
||||||
|
return (flags & GIMBAL_DEVICE_FLAGS_YAW_LOCK) == 0; |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
void GimbalController::gimbalPitchStep(int direction) |
||||||
|
{ |
||||||
|
if (!_activeGimbal) { |
||||||
|
qCDebug(GimbalLog) << "gimbalStepPitch: active gimbal is nullptr, returning"; |
||||||
|
return; |
||||||
|
} |
||||||
|
|
||||||
|
if (_activeGimbal->yawLock()) { |
||||||
|
sendPitchAbsoluteYaw(_activeGimbal->absolutePitch()->rawValue().toFloat() + direction, _activeGimbal->absoluteYaw()->rawValue().toFloat(), false); |
||||||
|
} else { |
||||||
|
sendPitchBodyYaw(_activeGimbal->absolutePitch()->rawValue().toFloat() + direction, _activeGimbal->bodyYaw()->rawValue().toFloat(), false); |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
void GimbalController::gimbalYawStep(int direction) |
||||||
|
{ |
||||||
|
if (!_activeGimbal) { |
||||||
|
qCDebug(GimbalLog) << "gimbalStepPitch: active gimbal is nullptr, returning"; |
||||||
|
return; |
||||||
|
} |
||||||
|
|
||||||
|
if (_activeGimbal->yawLock()) { |
||||||
|
sendPitchAbsoluteYaw(_activeGimbal->absolutePitch()->rawValue().toFloat(), _activeGimbal->absoluteYaw()->rawValue().toFloat() + direction, false); |
||||||
|
} else { |
||||||
|
sendPitchBodyYaw(_activeGimbal->absolutePitch()->rawValue().toFloat(), _activeGimbal->bodyYaw()->rawValue().toFloat() + direction, false); |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
void GimbalController::centerGimbal() |
||||||
|
{ |
||||||
|
if (!_activeGimbal) { |
||||||
|
qCDebug(GimbalLog) << "gimbalYawStep: active gimbal is nullptr, returning"; |
||||||
|
return; |
||||||
|
} |
||||||
|
sendPitchBodyYaw(0.0, 0.0); |
||||||
|
} |
||||||
|
|
||||||
|
// Pan and tilt comes as +-(0-1)
|
||||||
|
void GimbalController::gimbalOnScreenControl(float panPct, float tiltPct, bool clickAndPoint, bool clickAndDrag, bool rateControl, bool retract, bool neutral, bool yawlock) |
||||||
|
{ |
||||||
|
if (!_activeGimbal) { |
||||||
|
qCDebug(GimbalLog) << "gimbalOnScreenControl: active gimbal is nullptr, returning"; |
||||||
|
return; |
||||||
|
} |
||||||
|
// click and point, based on FOV
|
||||||
|
if (clickAndPoint) { |
||||||
|
float hFov = qgcApp()->toolbox()->settingsManager()->gimbalControllerSettings()->CameraHFov()->rawValue().toFloat(); |
||||||
|
float vFov = qgcApp()->toolbox()->settingsManager()->gimbalControllerSettings()->CameraVFov()->rawValue().toFloat(); |
||||||
|
|
||||||
|
float panIncDesired = panPct * hFov * 0.5f; |
||||||
|
float tiltIncDesired = tiltPct * vFov * 0.5f; |
||||||
|
|
||||||
|
float panDesired = panIncDesired + _activeGimbal->bodyYaw()->rawValue().toFloat(); |
||||||
|
float tiltDesired = tiltIncDesired + _activeGimbal->absolutePitch()->rawValue().toFloat(); |
||||||
|
|
||||||
|
if (_activeGimbal->yawLock()) { |
||||||
|
sendPitchAbsoluteYaw(tiltDesired, panDesired + _vehicle->heading()->rawValue().toFloat(), false); |
||||||
|
} else { |
||||||
|
sendPitchBodyYaw(tiltDesired, panDesired, false); |
||||||
|
} |
||||||
|
|
||||||
|
// click and drag, based on maximum speed
|
||||||
|
} else if (clickAndDrag) { |
||||||
|
// Should send rate commands, but it seems for some reason it is not working on AP side.
|
||||||
|
// Pitch works ok but yaw doesn't stop, it keeps like inertia, like if it was buffering the messages.
|
||||||
|
// So we do a workaround with angle targets
|
||||||
|
float maxSpeed = qgcApp()->toolbox()->settingsManager()->gimbalControllerSettings()->CameraSlideSpeed()->rawValue().toFloat(); |
||||||
|
|
||||||
|
float panIncDesired = panPct * maxSpeed * 0.1f; |
||||||
|
float tiltIncDesired = tiltPct * maxSpeed * 0.1f; |
||||||
|
|
||||||
|
float panDesired = panIncDesired + _activeGimbal->bodyYaw()->rawValue().toFloat(); |
||||||
|
float tiltDesired = tiltIncDesired + _activeGimbal->absolutePitch()->rawValue().toFloat(); |
||||||
|
|
||||||
|
if (_activeGimbal->yawLock()) { |
||||||
|
sendPitchAbsoluteYaw(tiltDesired, panDesired + _vehicle->heading()->rawValue().toFloat(), false); |
||||||
|
} else { |
||||||
|
sendPitchBodyYaw(tiltDesired, panDesired, false); |
||||||
|
} |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
void GimbalController::sendPitchBodyYaw(float pitch, float yaw, bool showError) { |
||||||
|
if (!_tryGetGimbalControl()) { |
||||||
|
return; |
||||||
|
} |
||||||
|
|
||||||
|
// qDebug() << "sendPitch: " << pitch << " BodyYaw: " << yaw;
|
||||||
|
|
||||||
|
unsigned flags = GIMBAL_MANAGER_FLAGS_ROLL_LOCK |
||||||
|
| GIMBAL_MANAGER_FLAGS_PITCH_LOCK |
||||||
|
| GIMBAL_MANAGER_FLAGS_YAW_IN_VEHICLE_FRAME; |
||||||
|
|
||||||
|
_vehicle->sendMavCommand( |
||||||
|
_vehicle->compId(), |
||||||
|
MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW, |
||||||
|
showError, |
||||||
|
pitch, |
||||||
|
yaw, |
||||||
|
0, |
||||||
|
0, |
||||||
|
flags, |
||||||
|
0, |
||||||
|
_activeGimbal->deviceId()->rawValue().toUInt()); |
||||||
|
} |
||||||
|
|
||||||
|
void GimbalController::sendPitchAbsoluteYaw(float pitch, float yaw, bool showError) { |
||||||
|
if (!_tryGetGimbalControl()) { |
||||||
|
return; |
||||||
|
} |
||||||
|
|
||||||
|
if (yaw > 180.0f) { |
||||||
|
yaw -= 360.0f; |
||||||
|
} |
||||||
|
|
||||||
|
if (yaw < -180.0f) { |
||||||
|
yaw += 360.0f; |
||||||
|
} |
||||||
|
|
||||||
|
// qDebug() << "sendPitch: " << pitch << " absoluteYaw: " << yaw;
|
||||||
|
|
||||||
|
unsigned flags = GIMBAL_MANAGER_FLAGS_ROLL_LOCK |
||||||
|
| GIMBAL_MANAGER_FLAGS_PITCH_LOCK |
||||||
|
| GIMBAL_MANAGER_FLAGS_YAW_LOCK |
||||||
|
| GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAME; |
||||||
|
|
||||||
|
_vehicle->sendMavCommand( |
||||||
|
_vehicle->compId(), |
||||||
|
MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW, |
||||||
|
showError, |
||||||
|
pitch, |
||||||
|
yaw, |
||||||
|
0, |
||||||
|
0, |
||||||
|
flags, |
||||||
|
0, |
||||||
|
_activeGimbal->deviceId()->rawValue().toUInt()); |
||||||
|
} |
||||||
|
|
||||||
|
void GimbalController::toggleGimbalRetracted(bool set) |
||||||
|
{ |
||||||
|
if (!_tryGetGimbalControl()) { |
||||||
|
return; |
||||||
|
} |
||||||
|
|
||||||
|
uint32_t flags = 0; |
||||||
|
if (set) { |
||||||
|
flags |= GIMBAL_DEVICE_FLAGS_RETRACT; |
||||||
|
} else { |
||||||
|
flags &= ~GIMBAL_DEVICE_FLAGS_RETRACT; |
||||||
|
} |
||||||
|
|
||||||
|
sendPitchYawFlags(flags); |
||||||
|
} |
||||||
|
|
||||||
|
void GimbalController::toggleGimbalYawLock(bool set) |
||||||
|
{ |
||||||
|
if (!_tryGetGimbalControl()) { |
||||||
|
return; |
||||||
|
} |
||||||
|
|
||||||
|
// Roll and pitch are usually "locked", so with horizon and not with aircraft.
|
||||||
|
uint32_t flags = GIMBAL_DEVICE_FLAGS_ROLL_LOCK | GIMBAL_DEVICE_FLAGS_PITCH_LOCK; |
||||||
|
if (set) { |
||||||
|
flags |= GIMBAL_DEVICE_FLAGS_YAW_LOCK; |
||||||
|
} |
||||||
|
|
||||||
|
sendPitchYawFlags(flags); |
||||||
|
} |
||||||
|
|
||||||
|
void GimbalController::sendPitchYawFlags(uint32_t flags) |
||||||
|
{ |
||||||
|
const bool yaw_in_vehicle_frame = _yawInVehicleFrame(flags); |
||||||
|
|
||||||
|
_vehicle->sendMavCommand( |
||||||
|
_vehicle->compId(), |
||||||
|
MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW, |
||||||
|
true, |
||||||
|
_activeGimbal->absolutePitch()->rawValue().toFloat(), |
||||||
|
yaw_in_vehicle_frame ? _activeGimbal->bodyYaw()->rawValue().toFloat() : _activeGimbal->absoluteYaw()->rawValue().toFloat(), |
||||||
|
static_cast<float>(qQNaN()), |
||||||
|
static_cast<float>(qQNaN()), |
||||||
|
flags, |
||||||
|
0, |
||||||
|
_activeGimbal->deviceId()->rawValue().toUInt()); |
||||||
|
} |
||||||
|
|
||||||
|
void GimbalController::acquireGimbalControl() |
||||||
|
{ |
||||||
|
if (!_activeGimbal) { |
||||||
|
qCDebug(GimbalLog) << "acquireGimbalControl: active gimbal is nullptr, returning"; |
||||||
|
return; |
||||||
|
} |
||||||
|
_vehicle->sendMavCommand( |
||||||
|
_vehicle->compId(), |
||||||
|
MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE, |
||||||
|
true, |
||||||
|
_mavlink->getSystemId(), // Set us in primary control.
|
||||||
|
_mavlink->getComponentId(), // Set us in primary control
|
||||||
|
-1.f, // Leave secondary unchanged
|
||||||
|
-1.f, // Leave secondary unchanged
|
||||||
|
NAN, // Reserved
|
||||||
|
NAN, // Reserved
|
||||||
|
_activeGimbal->deviceId()->rawValue().toUInt()); |
||||||
|
} |
||||||
|
|
||||||
|
void GimbalController::releaseGimbalControl() |
||||||
|
{ |
||||||
|
if (!_activeGimbal) { |
||||||
|
qCDebug(GimbalLog) << "releaseGimbalControl: active gimbal is nullptr, returning"; |
||||||
|
return; |
||||||
|
} |
||||||
|
_vehicle->sendMavCommand( |
||||||
|
_vehicle->compId(), |
||||||
|
MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE, |
||||||
|
true, |
||||||
|
-3.f, // Release primary control if we have control
|
||||||
|
-3.f, // Release primary control if we have control
|
||||||
|
-1.f, // Leave secondary control unchanged
|
||||||
|
-1.f, // Leave secondary control unchanged
|
||||||
|
NAN, // Reserved
|
||||||
|
NAN, // Reserved
|
||||||
|
_activeGimbal->deviceId()->rawValue().toUInt()); |
||||||
|
} |
||||||
@ -0,0 +1,157 @@ |
|||||||
|
/// @file GimbalController.h
|
||||||
|
/// @brief Class talking to gimbal managers based on the MAVLink gimbal v2 protocol.
|
||||||
|
|
||||||
|
#pragma once |
||||||
|
|
||||||
|
#include <QLoggingCategory> |
||||||
|
#include "Vehicle.h" |
||||||
|
#include "QmlObjectListModel.h" |
||||||
|
|
||||||
|
Q_DECLARE_LOGGING_CATEGORY(GimbalLog) |
||||||
|
|
||||||
|
class MavlinkProtocol; |
||||||
|
|
||||||
|
class Gimbal : public FactGroup |
||||||
|
{ |
||||||
|
Q_OBJECT |
||||||
|
|
||||||
|
friend class GimbalController; // so it can set private members of gimbal, it is the only class that will need to modify them
|
||||||
|
|
||||||
|
public: |
||||||
|
Gimbal(); |
||||||
|
Gimbal(const Gimbal& other); |
||||||
|
const Gimbal& operator=(const Gimbal& other); |
||||||
|
|
||||||
|
Q_PROPERTY(Fact* absoluteRoll READ absoluteRoll CONSTANT) |
||||||
|
Q_PROPERTY(Fact* absolutePitch READ absolutePitch CONSTANT) |
||||||
|
Q_PROPERTY(Fact* bodyYaw READ bodyYaw CONSTANT) |
||||||
|
Q_PROPERTY(Fact* absoluteYaw READ absoluteYaw CONSTANT) |
||||||
|
Q_PROPERTY(Fact* deviceId READ deviceId CONSTANT) |
||||||
|
Q_PROPERTY(bool yawLock READ yawLock NOTIFY yawLockChanged) |
||||||
|
Q_PROPERTY(bool retracted READ retracted NOTIFY retractedChanged) |
||||||
|
Q_PROPERTY(bool gimbalHaveControl READ gimbalHaveControl NOTIFY gimbalHaveControlChanged) |
||||||
|
Q_PROPERTY(bool gimbalOthersHaveControl READ gimbalOthersHaveControl NOTIFY gimbalOthersHaveControlChanged) |
||||||
|
|
||||||
|
Fact* absoluteRoll() { return &_absoluteRollFact; } |
||||||
|
Fact* absolutePitch() { return &_absolutePitchFact; } |
||||||
|
Fact* bodyYaw() { return &_bodyYawFact; } |
||||||
|
Fact* absoluteYaw() { return &_absoluteYawFact; } |
||||||
|
Fact* deviceId() { return &_deviceIdFact; } |
||||||
|
bool yawLock() const { return _yawLock; } |
||||||
|
bool retracted() const { return _retracted; } |
||||||
|
bool gimbalHaveControl() const { return _haveControl; } |
||||||
|
bool gimbalOthersHaveControl() const { return _othersHaveControl; } |
||||||
|
|
||||||
|
void setAbsoluteRoll(float absoluteRoll) { _absoluteRollFact.setRawValue(absoluteRoll); } |
||||||
|
void setAbsolutePitch(float absolutePitch) { _absolutePitchFact.setRawValue(absolutePitch); } |
||||||
|
void setBodyYaw(float bodyYaw) { _bodyYawFact.setRawValue(bodyYaw); } |
||||||
|
void setAbsoluteYaw(float absoluteYaw) { _absoluteYawFact.setRawValue(absoluteYaw); } |
||||||
|
void setDeviceId(uint id) { _deviceIdFact.setRawValue(id); } |
||||||
|
void setYawLock(bool yawLock) { _yawLock = yawLock; emit yawLockChanged(); } |
||||||
|
void setRetracted(bool retracted) { _retracted = retracted; emit retractedChanged(); } |
||||||
|
void setGimbalHaveControl(bool set) { _haveControl = set; emit gimbalHaveControlChanged(); } |
||||||
|
void setGimbalOthersHaveControl(bool set) { _othersHaveControl = set; emit gimbalOthersHaveControlChanged(); } |
||||||
|
|
||||||
|
|
||||||
|
signals: |
||||||
|
void yawLockChanged(); |
||||||
|
void retractedChanged(); |
||||||
|
void gimbalHaveControlChanged(); |
||||||
|
void gimbalOthersHaveControlChanged(); |
||||||
|
|
||||||
|
private: |
||||||
|
void _initFacts(); // To be called EXCLUSIVELY in Gimbal constructors
|
||||||
|
|
||||||
|
// Private members only accesed by friend class GimbalController
|
||||||
|
unsigned _requestInformationRetries = 3; |
||||||
|
unsigned _requestStatusRetries = 6; |
||||||
|
unsigned _requestAttitudeRetries = 3; |
||||||
|
bool _receivedInformation = false; |
||||||
|
bool _receivedStatus = false; |
||||||
|
bool _receivedAttitude = false; |
||||||
|
bool _isComplete = false; |
||||||
|
bool _neutral = false; |
||||||
|
|
||||||
|
// Q_PROPERTIES
|
||||||
|
Fact _absoluteRollFact; |
||||||
|
Fact _absolutePitchFact; |
||||||
|
Fact _bodyYawFact; |
||||||
|
Fact _absoluteYawFact; |
||||||
|
Fact _deviceIdFact; // Component ID of gimbal device (or 1-6 for non-MAVLink gimbal)
|
||||||
|
bool _yawLock = false; |
||||||
|
bool _retracted = false; |
||||||
|
bool _haveControl = false; |
||||||
|
bool _othersHaveControl = false; |
||||||
|
|
||||||
|
// Fact names
|
||||||
|
static const char* _absoluteRollFactName; |
||||||
|
static const char* _absolutePitchFactName; |
||||||
|
static const char* _bodyYawFactName; |
||||||
|
static const char* _absoluteYawFactName; |
||||||
|
static const char* _deviceIdFactName; |
||||||
|
}; |
||||||
|
|
||||||
|
class GimbalController : public QObject |
||||||
|
{ |
||||||
|
Q_OBJECT |
||||||
|
public: |
||||||
|
GimbalController(MAVLinkProtocol* mavlink, Vehicle* vehicle); |
||||||
|
~GimbalController(); |
||||||
|
|
||||||
|
class GimbalManager { |
||||||
|
public: |
||||||
|
unsigned requestGimbalManagerInformationRetries = 6; |
||||||
|
bool receivedInformation = false; |
||||||
|
}; |
||||||
|
|
||||||
|
Q_PROPERTY(Gimbal* activeGimbal READ activeGimbal WRITE setActiveGimbal NOTIFY activeGimbalChanged) |
||||||
|
Q_PROPERTY(QmlObjectListModel* gimbals READ gimbals CONSTANT) |
||||||
|
|
||||||
|
Gimbal* activeGimbal() { return _activeGimbal; } |
||||||
|
QmlObjectListModel* gimbals() { return &_gimbals; } |
||||||
|
|
||||||
|
void setActiveGimbal(Gimbal* gimbal); |
||||||
|
|
||||||
|
void sendPitchYawFlags (uint32_t flags); |
||||||
|
Q_INVOKABLE void gimbalOnScreenControl (float panpct, float tiltpct, bool clickAndPoint, bool clickAndDrag, bool rateControl, bool retract = false, bool neutral = false, bool yawlock = false); |
||||||
|
Q_INVOKABLE void sendPitchBodyYaw (float pitch, float yaw, bool showError = true); |
||||||
|
Q_INVOKABLE void sendPitchAbsoluteYaw (float pitch, float yaw, bool showError = true); |
||||||
|
Q_INVOKABLE void toggleGimbalRetracted (bool set = false); |
||||||
|
Q_INVOKABLE void toggleGimbalYawLock (bool set = false); |
||||||
|
Q_INVOKABLE void acquireGimbalControl (); |
||||||
|
Q_INVOKABLE void releaseGimbalControl (); |
||||||
|
|
||||||
|
public slots: |
||||||
|
// These slots are conected with joysticks for button control
|
||||||
|
void gimbalYawLock (bool yawLock) { toggleGimbalYawLock(yawLock); } |
||||||
|
Q_INVOKABLE void centerGimbal (); // Also used by qml
|
||||||
|
void gimbalPitchStep (int direction); |
||||||
|
void gimbalYawStep (int direction); |
||||||
|
|
||||||
|
signals: |
||||||
|
void activeGimbalChanged (); |
||||||
|
void showAcquireGimbalControlPopup (); // This triggers a popup in QML asking the user for aproval to take control
|
||||||
|
|
||||||
|
private slots: |
||||||
|
void _mavlinkMessageReceived(const mavlink_message_t& message); |
||||||
|
|
||||||
|
private: |
||||||
|
void _requestGimbalInformation (uint8_t compid); |
||||||
|
void _handleHeartbeat (const mavlink_message_t& message); |
||||||
|
void _handleGimbalManagerInformation (const mavlink_message_t& message); |
||||||
|
void _handleGimbalManagerStatus (const mavlink_message_t& message); |
||||||
|
void _handleGimbalDeviceAttitudeStatus (const mavlink_message_t& message); |
||||||
|
void _checkComplete (Gimbal& gimbal, uint8_t compid); |
||||||
|
bool _tryGetGimbalControl (); |
||||||
|
bool _yawInVehicleFrame (uint32_t flags); |
||||||
|
|
||||||
|
MAVLinkProtocol* _mavlink = nullptr; |
||||||
|
Vehicle* _vehicle = nullptr; |
||||||
|
Gimbal* _activeGimbal = nullptr; |
||||||
|
|
||||||
|
QMap<uint8_t, GimbalManager> _potentialGimbalManagers; |
||||||
|
QMap<uint8_t, Gimbal> _potentialGimbals; |
||||||
|
QmlObjectListModel _gimbals; |
||||||
|
|
||||||
|
static const char* _gimbalFactGroupNamePrefix; |
||||||
|
}; |
||||||
@ -0,0 +1,40 @@ |
|||||||
|
{ |
||||||
|
"version": 1, |
||||||
|
"fileType": "FactMetaData", |
||||||
|
"QGC.MetaData.Facts": |
||||||
|
[ |
||||||
|
{ |
||||||
|
"name": "gimbalRoll", |
||||||
|
"shortDesc": "Gimbal Roll", |
||||||
|
"type": "float", |
||||||
|
"decimalPlaces": 1, |
||||||
|
"units": "deg" |
||||||
|
}, |
||||||
|
{ |
||||||
|
"name": "gimbalPitch", |
||||||
|
"shortDesc": "Gimbal Pitch", |
||||||
|
"type": "float", |
||||||
|
"decimalPlaces": 1, |
||||||
|
"units": "deg" |
||||||
|
}, |
||||||
|
{ |
||||||
|
"name": "gimbalYaw", |
||||||
|
"shortDesc": "Gimbal Yaw", |
||||||
|
"type": "float", |
||||||
|
"decimalPlaces": 1, |
||||||
|
"units": "deg" |
||||||
|
}, |
||||||
|
{ |
||||||
|
"name": "gimbalAzimuth", |
||||||
|
"shortDesc": "Azimuth", |
||||||
|
"type": "float", |
||||||
|
"decimalPlaces": 1, |
||||||
|
"units": "deg" |
||||||
|
}, |
||||||
|
{ |
||||||
|
"name": "deviceId", |
||||||
|
"shortDesc": "gimbal device Id", |
||||||
|
"type": "uint8" |
||||||
|
} |
||||||
|
] |
||||||
|
} |
||||||
@ -0,0 +1,54 @@ |
|||||||
|
{ |
||||||
|
"version": 1, |
||||||
|
"fileType": "FactMetaData", |
||||||
|
"QGC.MetaData.Facts": |
||||||
|
[ |
||||||
|
{ |
||||||
|
"name": "EnableOnScreenControl", |
||||||
|
"shortDesc": "Enable on Screen Camera Control", |
||||||
|
"type": "bool", |
||||||
|
"default": false |
||||||
|
}, |
||||||
|
{ |
||||||
|
"name": "ControlType", |
||||||
|
"shortDesc": "Type of on-screen control", |
||||||
|
"type": "uint32", |
||||||
|
"enumStrings": "Click to point, click and drag", |
||||||
|
"enumValues": "0, 1", |
||||||
|
"default": 0 |
||||||
|
}, |
||||||
|
{ |
||||||
|
"name": "CameraVFov", |
||||||
|
"shortDesc": "Vertical camera field of view", |
||||||
|
"type": "uint32", |
||||||
|
"default": 70, |
||||||
|
"units": "deg" |
||||||
|
}, |
||||||
|
{ |
||||||
|
"name": "CameraHFov", |
||||||
|
"shortDesc": "Horizontal camera field of view", |
||||||
|
"type": "uint32", |
||||||
|
"default": 70, |
||||||
|
"units": "deg" |
||||||
|
}, |
||||||
|
{ |
||||||
|
"name": "CameraSlideSpeed", |
||||||
|
"shortDesc": "Maximum gimbal speed on click and drag (deg/sec)", |
||||||
|
"type": "uint32", |
||||||
|
"default": 30, |
||||||
|
"units": "deg/s" |
||||||
|
}, |
||||||
|
{ |
||||||
|
"name": "showAzimuthIndicatorOnMap", |
||||||
|
"shortDesc": "Show gimbal Azimuth indicator over vehicle icon in map", |
||||||
|
"type": "bool", |
||||||
|
"default": true |
||||||
|
}, |
||||||
|
{ |
||||||
|
"name": "toolbarIndicatorShowAzimuth", |
||||||
|
"shortDesc": "Show Azimuth instead of local yaw on top toolbar gimbal indicator", |
||||||
|
"type": "bool", |
||||||
|
"default": true |
||||||
|
} |
||||||
|
] |
||||||
|
} |
||||||
@ -0,0 +1,32 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||||
|
* |
||||||
|
* QGroundControl is licensed according to the terms in the file |
||||||
|
* COPYING.md in the root of the source code directory. |
||||||
|
* |
||||||
|
****************************************************************************/ |
||||||
|
|
||||||
|
#include "GimbalControllerSettings.h" |
||||||
|
#include "QGCApplication.h" |
||||||
|
|
||||||
|
#include <QQmlEngine> |
||||||
|
#include <QtQml> |
||||||
|
#include <QVariantList> |
||||||
|
|
||||||
|
#ifndef QGC_DISABLE_UVC |
||||||
|
#include <QCameraInfo> |
||||||
|
#endif |
||||||
|
|
||||||
|
DECLARE_SETTINGGROUP(GimbalController, "GimbalController") |
||||||
|
{ |
||||||
|
qmlRegisterUncreatableType<GimbalControllerSettings>("QGroundControl.SettingsManager", 1, 0, "GimbalControllerSettings", "Reference only"); |
||||||
|
} |
||||||
|
|
||||||
|
DECLARE_SETTINGSFACT(GimbalControllerSettings, EnableOnScreenControl) |
||||||
|
DECLARE_SETTINGSFACT(GimbalControllerSettings, ControlType) |
||||||
|
DECLARE_SETTINGSFACT(GimbalControllerSettings, CameraVFov) |
||||||
|
DECLARE_SETTINGSFACT(GimbalControllerSettings, CameraHFov) |
||||||
|
DECLARE_SETTINGSFACT(GimbalControllerSettings, CameraSlideSpeed) |
||||||
|
DECLARE_SETTINGSFACT(GimbalControllerSettings, showAzimuthIndicatorOnMap) |
||||||
|
DECLARE_SETTINGSFACT(GimbalControllerSettings, toolbarIndicatorShowAzimuth) |
||||||
@ -0,0 +1,28 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||||
|
* |
||||||
|
* QGroundControl is licensed according to the terms in the file |
||||||
|
* COPYING.md in the root of the source code directory. |
||||||
|
* |
||||||
|
****************************************************************************/ |
||||||
|
#pragma once |
||||||
|
|
||||||
|
#include "SettingsGroup.h" |
||||||
|
|
||||||
|
class GimbalControllerSettings : public SettingsGroup |
||||||
|
{ |
||||||
|
Q_OBJECT |
||||||
|
|
||||||
|
public: |
||||||
|
GimbalControllerSettings(QObject* parent = nullptr); |
||||||
|
DEFINE_SETTING_NAME_GROUP() |
||||||
|
|
||||||
|
DEFINE_SETTINGFACT(EnableOnScreenControl) |
||||||
|
DEFINE_SETTINGFACT(ControlType) |
||||||
|
DEFINE_SETTINGFACT(CameraVFov) |
||||||
|
DEFINE_SETTINGFACT(CameraHFov) |
||||||
|
DEFINE_SETTINGFACT(CameraSlideSpeed) |
||||||
|
DEFINE_SETTINGFACT(showAzimuthIndicatorOnMap) |
||||||
|
DEFINE_SETTINGFACT(toolbarIndicatorShowAzimuth) |
||||||
|
}; |
||||||
Loading…
Reference in new issue