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Code Issues Releases Activity

Can now manually move the HomeLocation icon on the map, it updates the uavobject with lat, lon & new Be values.

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2541 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip 2011-01-23 13:00:53 +00:00 committed by pip
parent 8223580783
commit 0579de11e3
2 changed files with 2790 additions and 2716 deletions
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85
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -27,7 +27,7 @@
#include "opmapgadgetwidget.h"
#include "ui_opmap_widget.h"
#include <utils/stylehelper.h>
#include <QtGui/QApplication>
#include <QtGui/QHBoxLayout>
#include <QtGui/QVBoxLayout>
@ -40,16 +40,21 @@
#include <math.h>
#include "utils/stylehelper.h"
#include "utils/worldmagmodel.h"
#include "uavtalk/telemetrymanager.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "objectpersistence.h"
#include "positionactual.h"
#include "homelocation.h"
// #define allow_manual_home_location_move
#define allow_manual_home_location_move
// *************************************************************************************
@ -1699,7 +1704,7 @@ void OPMapGadgetWidget::onSetHomeAct_triggered()
setHome(context_menu_lat_lon);
// ***************
// calculate the magnetic model
// calculate the magnetic model and update the HomeLocation uavobject with lat, lon & correct 'Be' values
double X, Y, Z;
QDateTime dt = QDateTime::currentDateTime().toUTC();
@ -1711,8 +1716,39 @@ void OPMapGadgetWidget::onSetHomeAct_triggered()
{
QString s = "lat:" + QString::number(home_position.coord.Lat(), 'f', 7) + " lon:" + QString::number(home_position.coord.Lng(), 'f', 7);
s += " x:" + QString::number(X, 'f', 2) + " y:" + QString::number(Y, 'f', 2) + " z:" + QString::number(Z, 'f', 2);
qDebug() << "opmap HomePosition WMM .. " << s << endl;
// send the new position to the OP board
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (pm)
{
UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
if (obm)
{
UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
UAVObjectField *Be_field = obj->getField(QString("Be"));
if (obj && Be_field)
{
double current_altitude = obj->getField("Altitude")->getDouble();
obj->getField("Set")->setValue("TRUE");
obj->getField("Latitude")->setValue(home_position.coord.Lat() * 10e6);
obj->getField("Longitude")->setValue(home_position.coord.Lng() * 10e6);
obj->getField("Altitude")->setValue(current_altitude);
Be_field->setDouble(X, 0);
Be_field->setDouble(Y, 1);
Be_field->setDouble(Z, 2);
obj->updated();
// save the new location to SD card .. don't use this yet
// saveObjectToSD(obj);
}
}
}
}
delete wmm;
@ -2047,8 +2083,8 @@ void OPMapGadgetWidget::moveToMagicWaypointPosition()
if (m_map_mode != MagicWaypoint_MapMode)
return;
internals::PointLatLng coord = magic_waypoint.coord;
double altitude = magic_waypoint.altitude;
// internals::PointLatLng coord = magic_waypoint.coord;
// double altitude = magic_waypoint.altitude;
// ToDo:
@ -2332,7 +2368,6 @@ bool OPMapGadgetWidget::getGPS_LLA(double &latitude, double &longitude, double &
return true;
}
double OPMapGadgetWidget::getUAV_Yaw()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@ -2351,6 +2386,42 @@ double OPMapGadgetWidget::getUAV_Yaw()
return yaw;
}
// *************************************************************************************
// save an object to SD card
void OPMapGadgetWidget::saveObjectToSD(UAVObject *obj)
{
if (!obj) return;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (!pm) return;
UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
if (!obm) return;
ObjectPersistence *objper = dynamic_cast<ObjectPersistence *>( obm->getObject(ObjectPersistence::NAME) );
if (!objper) return;
connect(objper, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(uavObjectTransactionCompleted(UAVObject *, bool)));
ObjectPersistence::DataFields data;
data.Operation = ObjectPersistence::OPERATION_SAVE;
data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT;
data.ObjectID = obj->getObjID();
data.InstanceID = obj->getInstID();
objper->setData(data);
objper->updated();
}
void OPMapGadgetWidget::uavObjectTransactionCompleted(UAVObject *obj, bool success)
{
Q_UNUSED(success);
// Disconnect from sending object
if (obj) obj->disconnect(this);
}
// *************************************************************************************
void OPMapGadgetWidget::setMapFollowingMode()

3
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
View File

@ -114,6 +114,7 @@ public slots:
void homePositionUpdated(UAVObject *);
void onTelemetryConnect();
void onTelemetryDisconnect();
void uavObjectTransactionCompleted(UAVObject *obj, bool success);
protected:
void resizeEvent(QResizeEvent *event);
@ -329,6 +330,8 @@ private:
bool getGPS_LLA(double &latitude, double &longitude, double &altitude);
double getUAV_Yaw();
void saveObjectToSD(UAVObject *obj);
void setMapFollowingMode();
};