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772 lines
30 KiB
772 lines
30 KiB
/*===================================================================== |
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QGroundControl Open Source Ground Control Station |
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(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>. |
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======================================================================*/ |
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import QtQuick 2.4 |
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import QtQuick.Controls 1.3 |
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import QtQuick.Dialogs 1.2 |
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import QtLocation 5.3 |
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import QtPositioning 5.3 |
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import QGroundControl 1.0 |
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import QGroundControl.FlightMap 1.0 |
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import QGroundControl.ScreenTools 1.0 |
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import QGroundControl.Controls 1.0 |
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import QGroundControl.Palette 1.0 |
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import QGroundControl.Mavlink 1.0 |
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import QGroundControl.Controllers 1.0 |
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/// Mission Editor |
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QGCView { |
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id: _root |
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property bool syncNeeded: controller.missionItems.dirty // Unsaved changes, visible to parent container |
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viewPanel: panel |
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topDialogMargin: height - mainWindow.availableHeight |
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// zOrder comes from the Loader in MainWindow.qml |
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z: QGroundControl.zOrderTopMost |
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readonly property int _decimalPlaces: 8 |
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readonly property real _horizontalMargin: ScreenTools.defaultFontPixelWidth / 2 |
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readonly property real _margin: ScreenTools.defaultFontPixelHeight / 2 |
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readonly property var _activeVehicle: multiVehicleManager.activeVehicle |
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readonly property real _editFieldWidth: ScreenTools.defaultFontPixelWidth * 16 |
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readonly property real _rightPanelWidth: ScreenTools.defaultFontPixelWidth * 30 |
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readonly property real _rightPanelOpacity: 0.8 |
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readonly property int _toolButtonCount: 6 |
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readonly property string _autoSyncKey: "AutoSync" |
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readonly property int _addMissionItemsButtonAutoOffTimeout: 10000 |
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readonly property var _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276) |
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property var _missionItems: controller.missionItems |
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property var _currentMissionItem |
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property bool _firstVehiclePosition: true |
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property var activeVehiclePosition: _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate() |
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property bool _syncInProgress: _activeVehicle ? _activeVehicle.missionManager.inProgress : false |
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Component.onCompleted: updateMapToVehiclePosition() |
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onActiveVehiclePositionChanged: updateMapToVehiclePosition() |
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Connections { |
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target: multiVehicleManager |
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onActiveVehicleChanged: { |
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// When the active vehicle changes we need to allow the first vehicle position to move the map again |
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_firstVehiclePosition = true |
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updateMapToVehiclePosition() |
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} |
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} |
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function updateMapToVehiclePosition() { |
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if (_activeVehicle && _activeVehicle.coordinateValid && _activeVehicle.coordinate.isValid && _firstVehiclePosition) { |
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_firstVehiclePosition = false |
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editorMap.center = _activeVehicle.coordinate |
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} |
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} |
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function loadFromVehicle() { |
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controller.getMissionItems() |
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} |
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function loadFromFile() { |
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if (ScreenTools.isMobile) { |
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_root.showDialog(mobileFilePicker, "Select Mission File", _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel) |
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} else { |
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controller.loadMissionFromFile() |
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fitViewportToMissionItems() |
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} |
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} |
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function saveToFile() { |
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if (ScreenTools.isMobile) { |
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_root.showDialog(mobileFileSaver, "Save Mission File", _root.showDialogDefaultWidth, StandardButton.Save | StandardButton.Cancel) |
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} else { |
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controller.saveToFile() |
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} |
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} |
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function normalizeLat(lat) { |
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// Normalize latitude to range: 0 to 180, S to N |
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return lat + 90.0 |
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} |
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function normalizeLon(lon) { |
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// Normalize longitude to range: 0 to 360, W to E |
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return lon + 180.0 |
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} |
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/// Fix the map viewport to the current mission items. We don't fit the home position in this process. |
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function fitViewportToMissionItems() { |
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var missionItem = _missionItems.get(0) |
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var north = normalizeLat(missionItem.coordinate.latitude) |
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var south = north |
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var east = normalizeLon(missionItem.coordinate.longitude) |
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var west = east |
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for (var i=1; i<_missionItems.count; i++) { |
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missionItem = _missionItems.get(i) |
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if (missionItem.specifiesCoordinate && !missionItem.standaloneCoordinate) { |
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var lat = normalizeLat(missionItem.coordinate.latitude) |
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var lon = normalizeLon(missionItem.coordinate.longitude) |
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north = Math.max(north, lat) |
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south = Math.min(south, lat) |
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east = Math.max(east, lon) |
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west = Math.min(west, lon) |
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} |
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} |
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editorMap.visibleRegion = QtPositioning.rectangle(QtPositioning.coordinate(north - 90.0, west - 180.0), QtPositioning.coordinate(south - 90.0, east - 180.0)) |
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} |
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MissionController { |
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id: controller |
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Component.onCompleted: { |
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start(true /* editMode */) |
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setCurrentItem(0) |
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} |
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/* |
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FIXME: autoSync is temporarily disconnected since it's still buggy |
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autoSync: QGroundControl.flightMapSettings.loadMapSetting(editorMap.mapName, _autoSyncKey, true) |
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onAutoSyncChanged: QGroundControl.flightMapSettings.saveMapSetting(editorMap.mapName, _autoSyncKey, autoSync) |
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*/ |
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onMissionItemsChanged: itemDragger.clearItem() |
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onNewItemsFromVehicle: fitViewportToMissionItems() |
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} |
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QGCPalette { id: qgcPal; colorGroupEnabled: enabled } |
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ExclusiveGroup { |
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id: _mapTypeButtonsExclusiveGroup |
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} |
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ExclusiveGroup { |
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id: _dropButtonsExclusiveGroup |
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} |
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function setCurrentItem(index) { |
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_currentMissionItem = undefined |
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for (var i=0; i<_missionItems.count; i++) { |
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if (i == index) { |
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_currentMissionItem = _missionItems.get(i) |
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_currentMissionItem.isCurrentItem = true |
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} else { |
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_missionItems.get(i).isCurrentItem = false |
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} |
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} |
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} |
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property int _moveDialogMissionItemIndex |
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Component { |
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id: mobileFilePicker |
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QGCViewDialog { |
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ListView { |
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anchors.margins: _margin |
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anchors.fill: parent |
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spacing: _margin / 2 |
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orientation: ListView.Vertical |
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model: controller.getMobileMissionFiles() |
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delegate: QGCButton { |
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text: modelData |
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onClicked: { |
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hideDialog() |
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controller.loadMobileMissionFromFile(modelData) |
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fitViewportToMissionItems() |
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} |
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} |
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} |
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} |
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} |
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Component { |
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id: mobileFileSaver |
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QGCViewDialog { |
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function accept() { |
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hideDialog() |
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console.log(filenameTextField.text) |
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controller.saveMobileMissionToFile(filenameTextField.text) |
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} |
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Column { |
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anchors.left: parent.left |
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anchors.right: parent.right |
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spacing: ScreenTools.defaultFontPixelHeight |
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QGCLabel { |
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text: "File name:" |
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} |
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QGCTextField { |
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id: filenameTextField |
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} |
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} |
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} |
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} |
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Component { |
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id: moveDialog |
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QGCViewDialog { |
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function accept() { |
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var toIndex = toCombo.currentIndex |
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if (toIndex == 0) { |
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toIndex = 1 |
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} |
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controller.moveMissionItem(_moveDialogMissionItemIndex, toIndex) |
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hideDialog() |
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} |
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Column { |
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anchors.left: parent.left |
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anchors.right: parent.right |
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spacing: ScreenTools.defaultFontPixelHeight |
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QGCLabel { |
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anchors.left: parent.left |
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anchors.right: parent.right |
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wrapMode: Text.WordWrap |
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text: "Move the selected mission item to the be after following mission item:" |
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} |
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QGCComboBox { |
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id: toCombo |
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model: _missionItems.count |
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currentIndex: _moveDialogMissionItemIndex |
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} |
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} |
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} |
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} |
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QGCViewPanel { |
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id: panel |
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anchors.fill: parent |
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Item { |
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anchors.fill: parent |
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FlightMap { |
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id: editorMap |
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anchors.fill: parent |
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mapName: "MissionEditor" |
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readonly property real animationDuration: 500 |
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Behavior on zoomLevel { |
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NumberAnimation { |
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duration: editorMap.animationDuration |
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easing.type: Easing.InOutQuad |
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} |
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} |
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MouseArea { |
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anchors.fill: parent |
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onClicked: { |
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if (addMissionItemsButton.checked) { |
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var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y)) |
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coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces) |
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coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces) |
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coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces) |
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var index = controller.insertMissionItem(coordinate, controller.missionItems.count) |
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setCurrentItem(index) |
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} else { |
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editorMap.zoomLevel = editorMap.maxZoomLevel - 2 |
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} |
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} |
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} |
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// We use this item to support dragging since dragging a MapQuickItem just doesn't seem to work |
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Rectangle { |
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id: itemDragger |
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x: missionItemIndicator ? (missionItemIndicator.x + missionItemIndicator.anchorPoint.x - (itemDragger.width / 2)) : 100 |
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y: missionItemIndicator ? (missionItemIndicator.y + missionItemIndicator.anchorPoint.y - (itemDragger.height / 2)) : 100 |
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width: ScreenTools.defaultFontPixelHeight * 2 |
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height: ScreenTools.defaultFontPixelHeight * 2 |
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color: "transparent" |
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visible: false |
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z: QGroundControl.zOrderMapItems + 1 // Above item icons |
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property var missionItem |
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property var missionItemIndicator |
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property bool preventCoordinateBindingLoop: false |
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onXChanged: liveDrag() |
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onYChanged: liveDrag() |
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function liveDrag() { |
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if (!itemDragger.preventCoordinateBindingLoop && Drag.active) { |
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var point = Qt.point(itemDragger.x + (itemDragger.width / 2), itemDragger.y + (itemDragger.height / 2)) |
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var coordinate = editorMap.toCoordinate(point) |
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coordinate.altitude = itemDragger.missionItem.coordinate.altitude |
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itemDragger.preventCoordinateBindingLoop = true |
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itemDragger.missionItem.coordinate = coordinate |
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itemDragger.preventCoordinateBindingLoop = false |
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} |
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} |
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function clearItem() { |
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itemDragger.visible = false |
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itemDragger.missionItem = undefined |
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itemDragger.missionItemIndicator = undefined |
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} |
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Drag.active: itemDrag.drag.active |
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Drag.hotSpot.x: width / 2 |
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Drag.hotSpot.y: height / 2 |
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MouseArea { |
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id: itemDrag |
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anchors.fill: parent |
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drag.target: parent |
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drag.minimumX: 0 |
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drag.minimumY: 0 |
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drag.maximumX: itemDragger.parent.width - parent.width |
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drag.maximumY: itemDragger.parent.height - parent.height |
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} |
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} |
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// Add the mission items to the map |
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MapItemView { |
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model: controller.missionItems |
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delegate: missionItemComponent |
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} |
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Component { |
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id: missionItemComponent |
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MissionItemIndicator { |
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id: itemIndicator |
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coordinate: object.coordinate |
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visible: object.specifiesCoordinate |
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z: QGroundControl.zOrderMapItems |
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missionItem: object |
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onClicked: setCurrentItem(object.sequenceNumber) |
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function updateItemIndicator() |
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{ |
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if (object.isCurrentItem && itemIndicator.visible) { |
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if (object.specifiesCoordinate) { |
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// Setup our drag item |
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itemDragger.visible = true |
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itemDragger.missionItem = Qt.binding(function() { return object }) |
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itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator }) |
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} |
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} |
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} |
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Connections { |
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target: object |
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onIsCurrentItemChanged: updateItemIndicator() |
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onCommandChanged: updateItemIndicator() |
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} |
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// These are the non-coordinate child mission items attached to this item |
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Row { |
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anchors.top: parent.top |
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anchors.left: parent.right |
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Repeater { |
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model: object.childItems |
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delegate: MissionItemIndexLabel { |
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label: object.sequenceNumber |
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isCurrentItem: object.isCurrentItem |
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z: 2 |
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onClicked: setCurrentItem(object.sequenceNumber) |
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} |
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} |
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} |
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} |
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} |
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// Add lines between waypoints |
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MissionLineView { |
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model: controller.waypointLines |
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} |
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// Mission Item Editor |
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Item { |
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id: missionItemEditor |
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height: mainWindow.availableHeight |
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anchors.bottom: parent.bottom |
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anchors.right: parent.right |
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width: _rightPanelWidth |
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opacity: _rightPanelOpacity |
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z: QGroundControl.zOrderTopMost |
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MouseArea { |
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// This MouseArea prevents the Map below it from getting Mouse events. Without this |
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// things like mousewheel will scroll the Flickable and then scroll the map as well. |
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anchors.fill: parent |
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preventStealing: true |
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onWheel: wheel.accepted = true |
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} |
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ListView { |
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anchors.fill: parent |
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spacing: _margin / 2 |
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orientation: ListView.Vertical |
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model: controller.missionItems |
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cacheBuffer: height * 2 |
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delegate: MissionItemEditor { |
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missionItem: object |
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width: parent.width |
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qgcView: _root |
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readOnly: false |
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onClicked: setCurrentItem(object.sequenceNumber) |
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onRemove: { |
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itemDragger.clearItem() |
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controller.removeMissionItem(object.sequenceNumber) |
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} |
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onInsert: { |
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controller.insertMissionItem(editorMap.center, i) |
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setCurrentItem(i) |
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} |
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onMoveHomeToMapCenter: controller.missionItems.get(0).coordinate = editorMap.center |
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} |
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} // ListView |
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} // Item - Mission Item editor |
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//-- Dismiss Drop Down (if any) |
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MouseArea { |
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anchors.fill: parent |
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enabled: _dropButtonsExclusiveGroup.current != null |
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onClicked: { |
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if(_dropButtonsExclusiveGroup.current) |
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_dropButtonsExclusiveGroup.current.checked = false |
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_dropButtonsExclusiveGroup.current = null |
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} |
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} |
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Item { |
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id: toolbarSpacer |
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height: mainWindow.tbHeight |
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width: 1 |
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} |
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//-- Vertical Tool Buttons |
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Column { |
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id: toolColumn |
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anchors.margins: ScreenTools.defaultFontPixelHeight |
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anchors.left: parent.left |
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anchors.top: toolbarSpacer.bottom |
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spacing: ScreenTools.defaultFontPixelHeight |
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RoundButton { |
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id: addMissionItemsButton |
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buttonImage: "/qmlimages/MapAddMission.svg" |
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z: QGroundControl.zOrderWidgets |
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} |
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DropButton { |
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id: syncButton |
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dropDirection: dropRight |
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buttonImage: syncNeeded ? "/qmlimages/MapSyncChanged.svg" : "/qmlimages/MapSync.svg" |
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viewportMargins: ScreenTools.defaultFontPixelWidth / 2 |
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exclusiveGroup: _dropButtonsExclusiveGroup |
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z: QGroundControl.zOrderWidgets |
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dropDownComponent: syncDropDownComponent |
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enabled: !_syncInProgress |
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} |
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DropButton { |
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id: centerMapButton |
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dropDirection: dropRight |
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buttonImage: "/qmlimages/MapCenter.svg" |
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viewportMargins: ScreenTools.defaultFontPixelWidth / 2 |
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exclusiveGroup: _dropButtonsExclusiveGroup |
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z: QGroundControl.zOrderWidgets |
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dropDownComponent: Component { |
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Column { |
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QGCLabel { text: "Center map:" } |
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Row { |
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spacing: ScreenTools.defaultFontPixelWidth |
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QGCButton { |
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text: "Home" |
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onClicked: { |
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centerMapButton.hideDropDown() |
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editorMap.center = controller.missionItems.get(0).coordinate |
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} |
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} |
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QGCButton { |
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text: "Vehicle" |
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enabled: activeVehicle && activeVehicle.latitude != 0 && activeVehicle.longitude != 0 |
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property var activeVehicle: multiVehicleManager.activeVehicle |
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onClicked: { |
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centerMapButton.hideDropDown() |
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editorMap.center = activeVehicle.coordinate |
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} |
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} |
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} |
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} |
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} |
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} |
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DropButton { |
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id: mapTypeButton |
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dropDirection: dropRight |
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buttonImage: "/qmlimages/MapType.svg" |
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viewportMargins: ScreenTools.defaultFontPixelWidth / 2 |
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exclusiveGroup: _dropButtonsExclusiveGroup |
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z: QGroundControl.zOrderWidgets |
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dropDownComponent: Component { |
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Column { |
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QGCLabel { text: "Map type:" } |
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Row { |
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spacing: ScreenTools.defaultFontPixelWidth |
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Repeater { |
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model: QGroundControl.flightMapSettings.mapTypes |
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QGCButton { |
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checkable: true |
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checked: editorMap.mapType == text |
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text: modelData |
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exclusiveGroup: _mapTypeButtonsExclusiveGroup |
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onClicked: { |
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editorMap.mapType = text |
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checked = true |
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mapTypeButton.hideDropDown() |
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} |
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} |
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} |
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} |
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} |
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} |
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} |
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//-- Zoom Map In |
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RoundButton { |
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id: mapZoomPlus |
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visible: !ScreenTools.isTinyScreen && !ScreenTools.isShortScreen |
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buttonImage: "/qmlimages/ZoomPlus.svg" |
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z: QGroundControl.zOrderWidgets |
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onClicked: { |
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if(editorMap) |
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editorMap.zoomLevel += 0.5 |
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checked = false |
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} |
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} |
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//-- Zoom Map Out |
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RoundButton { |
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id: mapZoomMinus |
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visible: !ScreenTools.isTinyScreen && !ScreenTools.isShortScreen |
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buttonImage: "/qmlimages/ZoomMinus.svg" |
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z: QGroundControl.zOrderWidgets |
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onClicked: { |
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if(editorMap) |
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editorMap.zoomLevel -= 0.5 |
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checked = false |
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} |
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} |
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} |
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MissionItemStatus { |
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id: waypointValuesDisplay |
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anchors.margins: ScreenTools.defaultFontPixelWidth |
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anchors.left: parent.left |
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anchors.bottom: parent.bottom |
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z: QGroundControl.zOrderTopMost |
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currentMissionItem: _currentMissionItem |
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missionItems: controller.missionItems |
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expandedWidth: missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2) |
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} |
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} // FlightMap |
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} // Item - split view container |
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} // QGCViewPanel |
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Component { |
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id: syncLoadFromVehicleOverwrite |
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QGCViewMessage { |
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id: syncLoadFromVehicleCheck |
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message: "You have unsaved/unsent mission changes. Loading the mission from the Vehicle will lose these changes. Are you sure you want to load the mission from the Vehicle?" |
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function accept() { |
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hideDialog() |
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loadFromVehicle() |
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} |
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} |
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} |
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Component { |
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id: syncLoadFromFileOverwrite |
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QGCViewMessage { |
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id: syncLoadFromVehicleCheck |
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message: "You have unsaved/unsent mission changes. Loading a mission from a file will lose these changes. Are you sure you want to load a mission from a file?" |
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function accept() { |
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hideDialog() |
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loadFromFile() |
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} |
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} |
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} |
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Component { |
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id: removeAllPromptDialog |
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QGCViewMessage { |
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message: "Are you sure you want to delete all mission items?" |
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|
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function accept() { |
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itemDragger.clearItem() |
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controller.removeAllMissionItems() |
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hideDialog() |
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} |
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} |
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} |
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|
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Component { |
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id: syncDropDownComponent |
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|
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Column { |
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id: columnHolder |
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spacing: _margin |
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QGCLabel { |
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width: columnHolder.width |
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wrapMode: Text.WordWrap |
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text: syncNeeded && !controller.autoSync ? |
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"You have unsaved changed to you mission. You should send to your vehicle, or save to a file:" : |
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"Sync:" |
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} |
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Row { |
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visible: true //autoSyncCheckBox.enabled && autoSyncCheckBox.checked |
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spacing: ScreenTools.defaultFontPixelWidth |
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QGCButton { |
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text: "Send to vehicle" |
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enabled: _activeVehicle && !_activeVehicle.missionManager.inProgress |
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|
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onClicked: { |
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syncButton.hideDropDown() |
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controller.sendMissionItems() |
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} |
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} |
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|
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QGCButton { |
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text: "Load from vehicle" |
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enabled: _activeVehicle && !_activeVehicle.missionManager.inProgress |
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|
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onClicked: { |
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syncButton.hideDropDown() |
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if (syncNeeded) { |
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_root.showDialog(syncLoadFromVehicleOverwrite, "Mission overwrite", _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel) |
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} else { |
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loadFromVehicle() |
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} |
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} |
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} |
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} |
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|
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Row { |
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spacing: ScreenTools.defaultFontPixelWidth |
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|
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QGCButton { |
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text: "Save to file..." |
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|
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onClicked: { |
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syncButton.hideDropDown() |
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saveToFile() |
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} |
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} |
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|
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QGCButton { |
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text: "Load from file..." |
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|
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onClicked: { |
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syncButton.hideDropDown() |
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if (syncNeeded) { |
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_root.showDialog(syncLoadFromFileOverwrite, "Mission overwrite", _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel) |
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} else { |
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loadFromFile() |
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} |
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} |
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} |
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} |
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|
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QGCButton { |
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text: "Remove all" |
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onClicked: { |
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syncButton.hideDropDown() |
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_root.showDialog(removeAllPromptDialog, "Delete all", _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No) |
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} |
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} |
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|
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/* |
|
FIXME: autoSync is temporarily disconnected since it's still buggy |
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|
|
QGCLabel { |
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id: autoSyncDisallowedLabel |
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visible: _activeVehicle && _activeVehicle.armed |
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text: "AutoSync is not allowed whie vehicle is armed" |
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} |
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|
|
QGCCheckBox { |
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id: autoSyncCheckBox |
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checked: controller.autoSync |
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text: "Automatically sync changes with vehicle" |
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enabled: _activeVehicle ? !_activeVehicle.armed : false |
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|
|
onClicked: controller.autoSync = checked |
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} |
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*/ |
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} |
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} |
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} // QGCVIew
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