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Code Issues Releases Activity

Merged in f5soh/librepilot/LP-572_OPMap_WP_setup (pull request #487)

Browse Source 
LP-572 Waypoint setup more usable

Approved-by: Lalanne Laurent <f5soh@free.fr>
This commit is contained in:
Lalanne Laurent 2018-04-29 15:12:27 +00:00 committed by Philippe Renon
commit 15630338b6
53 changed files with 3760 additions and 474 deletions
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2
ground/gcs/src/libs/opmapcontrol/src/core/providerstrings.cpp
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@ -41,7 +41,7 @@ ProviderStrings::ProviderStrings()
{
// Google version strings
VersionGoogleMap = "m@301";
QString version = "713";
QString version = "794";
QString envVersion = qgetenv("GCS_GOOGLE_SAT_VERSION").constData();
VersionGoogleSatellite = (envVersion.toInt() > version.toInt()) ? envVersion : version;
VersionGoogleLabels = "h@301";

2
ground/gcs/src/libs/opmapcontrol/src/core/urlfactory.cpp
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@ -214,7 +214,7 @@ QString UrlFactory::MakeImageUrl(const MapType::Types &type, const Point &pos, c
break;
case MapType::GoogleSatellite:
{
QString server = "khm";
QString server = "khms";
QString request = "kh";
QString sec1 = ""; // after &x=...
QString sec2 = ""; // after &zoom=...

13
ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp
View File

@ -73,7 +73,12 @@ QRectF HomeItem::boundingRect() const
if (pic.width() > localsafearea * 2 && !toggleRefresh) {
return QRectF(-pic.width() / 2, -pic.height() / 2, pic.width(), pic.height());
} else {
return QRectF(-localsafearea, -localsafearea, localsafearea * 2, localsafearea * 2);
// FIXME: LP-573 For some reason when boundingRect is defined normally,
// return QRectF(-localsafearea, -localsafearea, localsafearea * 2, localsafearea * 2);
// the previous safearea circle and Home (both at previous/smaller size) still drawed
// into the corner of boudingRect area when zoom in.
// Current workaround is done expanding x100 the boundingRect returned.
return QRectF(-localsafearea * 100, -localsafearea * 100, localsafearea * 200, localsafearea * 200);
}
}
@ -98,6 +103,12 @@ void HomeItem::RefreshPos()
toggleRefresh = false;
}
void HomeItem::SetHomePic(QString HomePic)
{
pic.load(":/markers/images/" + HomePic);
pic = pic.scaled(30, 30, Qt::IgnoreAspectRatio);
}
void HomeItem::setOpacitySlot(qreal opacity)
{
setOpacity(opacity);

1
ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.h
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@ -102,6 +102,7 @@ protected:
QPainterPath shape() const;
public slots:
void RefreshPos();
void SetHomePic(QString HomePic);
void setOpacitySlot(qreal opacity);
signals:
void homePositionChanged(internals::PointLatLng coord, float);

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ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/airplane.png
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ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/marker.png
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ground/gcs/src/plugins/opmap/images/waypoint_marker3.png → ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/wp_marker_green.png
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ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/waypoint_marker1.png → ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/wp_marker_red.png
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22
ground/gcs/src/libs/opmapcontrol/src/mapwidget/mapresources.qrc
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@ -1,25 +1,23 @@
<RCC>
<qresource prefix="/markers">
<file>images/bigMarkerGreen.png</file>
<file>images/marker.png</file>
<file>images/wp_marker_green.png</file>
<file>images/wp_marker_orange.png</file>
<file>images/wp_marker_red.png</file>
<file>images/compas.svg</file>
<file>images/airplane.svg</file>
<file>images/home2.svg</file>
<file>images/home2_not_set.svg</file>
<file>images/home2_set.svg</file>
<file>images/nav.svg</file>
<file>images/home.png</file>
<file>images/home.svg</file>
<file>images/nav.svg</file>
<file>images/home2.svg</file>
<file>images/airplanepip.png</file>
<file>images/EasystarBlue.png</file>
<file>images/mapquad.png</file>
<file>images/dragons1.jpg</file>
<file>images/dragons2.jpeg</file>
<file>images/waypoint_marker1.png</file>
<file>images/waypoint_marker2.png</file>
<file>images/waypoint_marker3.png</file>
</qresource>
<qresource prefix="/uavs">
<file>images/airplanepip.png</file>
<file>images/EasystarBlue.png</file>
<file>images/mapquad.png</file>
<file>images/airplanepip.png</file>
<file>images/airplane.png</file>
<file>images/EasystarBlue.png</file>
</qresource>
</RCC>

6
ground/gcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
View File

@ -107,6 +107,12 @@ void OPMapWidget::SetUavPic(QString UAVPic)
GPS->SetUavPic(UAVPic);
}
}
void OPMapWidget::SetHomePic(QString HomePic)
{
if (Home != 0) {
Home->SetHomePic(HomePic);
}
}
WayPointLine *OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to, QColor color, bool dashed, int width)
{

1
ground/gcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h
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@ -521,6 +521,7 @@ public:
}
void SetShowDiagnostics(bool const & value);
void SetUavPic(QString UAVPic);
void SetHomePic(QString HomePic);
WayPointLine *WPLineCreate(WayPointItem *from, WayPointItem *to, QColor color, bool dashed = false, int width = -1);
WayPointLine *WPLineCreate(HomeItem *from, WayPointItem *to, QColor color, bool dashed = false, int width = -1);
WayPointCircle *WPCircleCreate(WayPointItem *center, WayPointItem *radius, bool clockwise, QColor color, bool dashed = false, int width = -1);

26
ground/gcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp
View File

@ -29,13 +29,15 @@
#include "homeitem.h"
#include <QGraphicsSceneMouseEvent>
#define COORDINATES_THRESHOLD 0.000002 // ~21cm
namespace mapcontrol {
WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & altitude, MapGraphicItem *map, wptype type) : coord(coord), reached(false), description(""), shownumber(true), isDragging(false), altitude(altitude), map(map), myType(type)
{
text = 0;
numberI = 0;
isMagic = false;
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
picture.load(":/markers/images/wp_marker_red.png");
number = WayPointItem::snumber;
++WayPointItem::snumber;
this->setFlag(QGraphicsItem::ItemIsMovable, true);
@ -64,7 +66,7 @@ WayPointItem::WayPointItem(MapGraphicItem *map, bool magicwaypoint) : reached(fa
myType = relative;
if (magicwaypoint) {
isMagic = true;
picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
picture.load(":/markers/images/wp_marker_green.png");
number = -1;
} else {
isMagic = false;
@ -95,7 +97,7 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & alti
text = 0;
numberI = 0;
isMagic = false;
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
picture.load(":/markers/images/wp_marker_red.png");
number = WayPointItem::snumber;
++WayPointItem::snumber;
this->setFlag(QGraphicsItem::ItemIsMovable, true);
@ -128,7 +130,7 @@ WayPointItem::WayPointItem(const distBearingAltitude &relativeCoordenate, const
text = 0;
numberI = 0;
isMagic = false;
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
picture.load(":/markers/images/wp_marker_red.png");
number = WayPointItem::snumber;
++WayPointItem::snumber;
this->setFlag(QGraphicsItem::ItemIsMovable, true);
@ -259,7 +261,9 @@ void WayPointItem::setRelativeCoord(distBearingAltitude value)
void WayPointItem::SetCoord(const internals::PointLatLng &value)
{
if (qAbs(Coord().Lat() - value.Lat()) < 0.0001 && qAbs(Coord().Lng() - value.Lng()) < 0.0001) {
// If no changes from previous coordinates, return.
if ((qAbs(Coord().Lat() - value.Lat()) < COORDINATES_THRESHOLD) &&
(qAbs(Coord().Lng() - value.Lng()) < COORDINATES_THRESHOLD)) {
return;
}
coord = value;
@ -301,16 +305,16 @@ void WayPointItem::SetReached(const bool &value)
reached = value;
emit WPValuesChanged(this);
if (value) {
picture.load(QString::fromUtf8(":/markers/images/bigMarkerGreen.png"));
picture.load(":/markers/images/bigMarkerGreen.png");
} else {
if (!isMagic) {
if ((this->flags() & QGraphicsItem::ItemIsMovable) == QGraphicsItem::ItemIsMovable) {
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
picture.load(":/markers/images/wp_marker_red.png");
} else {
picture.load(QString::fromUtf8(":/markers/images/waypoint_marker2.png"));
picture.load(":/markers/images/wp_marker_orange.png");
}
} else {
picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
picture.load(":/markers/images/wp_marker_green.png");
}
}
this->update();
@ -436,9 +440,9 @@ void WayPointItem::setFlag(QGraphicsItem::GraphicsItemFlag flag, bool enabled)
return;
} else if (flag == QGraphicsItem::ItemIsMovable) {
if (enabled) {
picture.load(QString::fromUtf8(":/markers/images/marker.png"));
picture.load(":/markers/images/wp_marker_red.png");
} else {
picture.load(QString::fromUtf8(":/markers/images/waypoint_marker2.png"));
picture.load(":/markers/images/wp_marker_orange.png");
}
}
QGraphicsItem::setFlag(flag, enabled);

5
ground/gcs/src/plugins/config/configrevowidget.cpp
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@ -394,7 +394,10 @@ void ConfigRevoWidget::refreshWidgetsValuesImpl(UAVObject *obj)
{
Q_UNUSED(obj);
m_ui->isSetCheckBox->setEnabled(false);
m_ui->isSetCheckBox->setEnabled(true);
m_ui->isSetCheckBox->setToolTip(tr("When checked, the current Home Location is saved to the board.\n"
"When unchecked, the Home Location will be updated and set using\n"
"the first GPS position received after power up."));
HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
Q_ASSERT(homeLocation);

62
ground/gcs/src/plugins/opmap/flightdatamodel.cpp
View File

@ -76,8 +76,8 @@ bool flightDataModel::setColumnByIndex(pathPlanData *row, const int index, const
bool b;
switch (index) {
case WPDESCRITPTION:
row->wpDescritption = value.toString();
case WPDESCRIPTION:
row->wpDescription = value.toString();
b = true;
break;
case LATPOSITION:
@ -180,8 +180,8 @@ QVariant flightDataModel::getColumnByIndex(const pathPlanData *row, const int in
QVariant value;
switch (index) {
case WPDESCRITPTION:
value = row->wpDescritption;
case WPDESCRIPTION:
value = row->wpDescription;
break;
case LATPOSITION:
value = row->latPosition;
@ -262,77 +262,77 @@ QVariant flightDataModel::headerData(int section, Qt::Orientation orientation, i
value = QString::number(section + 1);
} else if (orientation == Qt::Horizontal) {
switch (section) {
case WPDESCRITPTION:
value = QString("Description");
case WPDESCRIPTION:
value = "Description";
break;
case LATPOSITION:
value = QString("Latitude");
value = "Latitude";
break;
case LNGPOSITION:
value = QString("Longitude");
value = "Longitude";
break;
case DISRELATIVE:
value = QString("Distance to home");
value = "Distance\nto home";
break;
case BEARELATIVE:
value = QString("Bearing from home");
value = "Bearing\nfrom home";
break;
case ALTITUDERELATIVE:
value = QString("Altitude above home");
value = "Altitude\nabove\nhome";
break;
case ISRELATIVE:
value = QString("Relative to home");
value = "Relative\nto home";
break;
case ALTITUDE:
value = QString("Altitude");
value = "Altitude";
break;
case VELOCITY:
value = QString("Velocity");
value = "Velocity";
break;
case MODE:
value = QString("Mode");
value = "Mode";
break;
case MODE_PARAMS0:
value = QString("Mode parameter 0");
value = "Mode\nparam0";
break;
case MODE_PARAMS1:
value = QString("Mode parameter 1");
value = "Mode\nparam1";
break;
case MODE_PARAMS2:
value = QString("Mode parameter 2");
value = "Mode\nparam2";
break;
case MODE_PARAMS3:
value = QString("Mode parameter 3");
value = "Mode\nparam3";
break;
case CONDITION:
value = QString("Condition");
value = "Condition";
break;
case CONDITION_PARAMS0:
value = QString("Condition parameter 0");
value = "Cond.\nparam0";
break;
case CONDITION_PARAMS1:
value = QString("Condition parameter 1");
value = "Cond.\nparam1";
break;
case CONDITION_PARAMS2:
value = QString("Condition parameter 2");
value = "Cond.\nparam2";
break;
case CONDITION_PARAMS3:
value = QString("Condition parameter 3");
value = "Cond.\nparam3";
break;
case COMMAND:
value = QString("Command");
value = "Command";
break;
case JUMPDESTINATION:
value = QString("Jump Destination");
value = "Jump\nDest.";
break;
case ERRORDESTINATION:
value = QString("Error Destination");
value = "Error\nDest.";
break;
case LOCKED:
value = QString("Locked");
value = "Locked";
break;
default:
value = QString();
value = "";
break;
}
}
@ -448,7 +448,7 @@ bool flightDataModel::writeToFile(QString fileName)
waypoint.setAttribute("number", dataStorage.indexOf(obj));
root.appendChild(waypoint);
QDomElement field = doc.createElement("field");
field.setAttribute("value", obj->wpDescritption);
field.setAttribute("value", obj->wpDescription);
field.setAttribute("name", "description");
waypoint.appendChild(field);
@ -612,7 +612,7 @@ void flightDataModel::readFromFile(QString fileName)
if (name == "altitude") {
data->altitude = value.toDouble();
} else if (name == "description") {
data->wpDescritption = value;
data->wpDescription = value;
} else if (name == "latitude") {
data->latPosition = value.toDouble();
} else if (name == "longitude") {

4
ground/gcs/src/plugins/opmap/flightdatamodel.h
View File

@ -30,7 +30,7 @@
#include "opmapcontrol/opmapcontrol.h"
struct pathPlanData {
QString wpDescritption;
QString wpDescription;
double latPosition;
double lngPosition;
double disRelative;
@ -53,7 +53,7 @@ class flightDataModel : public QAbstractTableModel {
Q_OBJECT
public:
enum pathPlanDataEnum {
WPDESCRITPTION, LATPOSITION, LNGPOSITION, DISRELATIVE, BEARELATIVE, ALTITUDERELATIVE, ISRELATIVE, ALTITUDE,
WPDESCRIPTION, LATPOSITION, LNGPOSITION, DISRELATIVE, BEARELATIVE, ALTITUDERELATIVE, ISRELATIVE, ALTITUDE,
VELOCITY, MODE, MODE_PARAMS0, MODE_PARAMS1, MODE_PARAMS2, MODE_PARAMS3,
CONDITION, CONDITION_PARAMS0, CONDITION_PARAMS1, CONDITION_PARAMS2, CONDITION_PARAMS3,
COMMAND, JUMPDESTINATION, ERRORDESTINATION, LOCKED

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2124
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ground/gcs/src/plugins/opmap/images/waypoint_marker1.png
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6
ground/gcs/src/plugins/opmap/modelmapproxy.cpp
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@ -233,8 +233,8 @@ void modelMapProxy::dataChanged(const QModelIndex &topLeft, const QModelIndex &b
case flightDataModel::MODE:
refreshOverlays();
break;
case flightDataModel::WPDESCRITPTION:
index = model->index(x, flightDataModel::WPDESCRITPTION);
case flightDataModel::WPDESCRIPTION:
index = model->index(x, flightDataModel::WPDESCRIPTION);
desc = index.data(Qt::DisplayRole).toString();
item->SetDescription(desc);
break;
@ -299,7 +299,7 @@ void modelMapProxy::rowsInserted(const QModelIndex &parent, int first, int last)
distBearingAltitude distBearing;
double altitude;
bool relative;
index = model->index(x, flightDataModel::WPDESCRITPTION);
index = model->index(x, flightDataModel::WPDESCRIPTION);
QString desc = index.data(Qt::DisplayRole).toString();
index = model->index(x, flightDataModel::LATPOSITION);
latlng.SetLat(index.data(Qt::DisplayRole).toDouble());

15
ground/gcs/src/plugins/opmap/opmap.qrc
View File

@ -1,5 +1,17 @@
<RCC>
<qresource prefix="/opmap">
<file>images/button_search.png</file>
<file>images/button_home.png</file>
<file>images/button_home_not_set.png</file>
<file>images/button_home_set.png</file>
<file>images/button_home_wp.png</file>
<file>images/button_move_to_wp.png</file>
<file>images/button_uav.png</file>
<file>images/button_uav_heading.png</file>
<file>images/button_edit_plan.png</file>
<file>images/button_edit_wp.png</file>
<file>images/button_save.png</file>
<file>images/button_clear_uavtrail.png</file>
<file>images/ok.png</file>
<file>images/uav.png</file>
<file>images/gcs.png</file>
@ -14,14 +26,11 @@
<file>images/hold.png</file>
<file>images/go.png</file>
<file>images/combobox_down_arrow.png</file>
<file>images/waypoint_marker2.png</file>
<file>images/waypoint_marker1.png</file>
<file>images/uav_heading.png</file>
<file>images/uav_trail.png</file>
<file>images/uav_trail_clear.png</file>
<file>images/minus.png</file>
<file>images/plus.png</file>
<file>images/waypoint_marker3.png</file>
<file>images/home_wp.png</file>
<file>images/move_to_wp.png</file>
<file>images/center_wp.png</file>

341
ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file opmap_edit_waypoint_dialog.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup OPMapPlugin OpenPilot Map Plugin
@ -37,6 +38,8 @@ opmap_edit_waypoint_dialog::opmap_edit_waypoint_dialog(QWidget *parent, QAbstrac
ui(new Ui::opmap_edit_waypoint_dialog)
{
ui->setupUi(this);
ui->pushButtonPrevious->setEnabled(false);
ui->pushButtonNext->setEnabled(false);
connect(ui->checkBoxLocked, SIGNAL(toggled(bool)), this, SLOT(enableEditWidgets(bool)));
connect(ui->cbMode, SIGNAL(currentIndexChanged(int)), this, SLOT(setupModeWidgets()));
connect(ui->cbCondition, SIGNAL(currentIndexChanged(int)), this, SLOT(setupConditionWidgets()));
@ -54,7 +57,7 @@ opmap_edit_waypoint_dialog::opmap_edit_waypoint_dialog(QWidget *parent, QAbstrac
mapper->addMapping(ui->doubleSpinBoxLatitude, flightDataModel::LATPOSITION);
mapper->addMapping(ui->doubleSpinBoxLongitude, flightDataModel::LNGPOSITION);
mapper->addMapping(ui->doubleSpinBoxAltitude, flightDataModel::ALTITUDE);
mapper->addMapping(ui->lineEditDescription, flightDataModel::WPDESCRITPTION);
mapper->addMapping(ui->lineEditDescription, flightDataModel::WPDESCRIPTION);
mapper->addMapping(ui->checkBoxRelative, flightDataModel::ISRELATIVE);
mapper->addMapping(ui->doubleSpinBoxBearing, flightDataModel::BEARELATIVE);
mapper->addMapping(ui->doubleSpinBoxVelocity, flightDataModel::VELOCITY);
@ -76,10 +79,27 @@ opmap_edit_waypoint_dialog::opmap_edit_waypoint_dialog(QWidget *parent, QAbstrac
mapper->addMapping(ui->sbJump, flightDataModel::JUMPDESTINATION);
mapper->addMapping(ui->sbError, flightDataModel::ERRORDESTINATION);
connect(itemSelection, SIGNAL(currentRowChanged(QModelIndex, QModelIndex)), this, SLOT(currentRowChanged(QModelIndex, QModelIndex)));
ui->descriptionCommandLabel->setText(tr("<p>The Command specifies the transition to the next state (aka waypoint), as well as when it "
"is to be executed. This command will always switch to another waypoint instantly, but which waypoint depends on the Condition.</p>"
"<p>The JumpDestination is the waypoint to jump to in unconditional or conditional jumps.</p>"));
ui->descriptionErrorDestinationLabel->setText(tr("<p>The ErrorDestination is special; it allows exception handling based on the PathFollower. "
"If the PathFollower indicates that it is unable to execute Mode, it indicates this error in the PathStatus UAVObject. "
"If that happens, then the sequence of waypoints is interrupted and the waypoint in ErrorDestination becomes the Active Waypoint. "
"A thinkable use case for this functionality would be to steer towards a safe emergency landing site if the engine fails.</p>"));
}
void opmap_edit_waypoint_dialog::currentIndexChanged(int index)
{
ui->lbNumber->setText(QString::number(index + 1));
ui->wpNumberSpinBox->setValue(index + 1);
bool isMin = (index == 0);
bool isMax = ((index + 1) == mapper->model()->rowCount());
ui->pushButtonPrevious->setEnabled(!isMin);
ui->pushButtonNext->setEnabled(!isMax);
QModelIndex idx = mapper->model()->index(index, 0);
if (index == itemSelection->currentIndex().row()) {
return;
@ -93,181 +113,213 @@ opmap_edit_waypoint_dialog::~opmap_edit_waypoint_dialog()
delete ui;
}
void opmap_edit_waypoint_dialog::on_pushButtonOK_clicked()
{
mapper->submit();
close();
}
void opmap_edit_waypoint_dialog::setupModeWidgets()
{
MapDataDelegate::ModeOptions mode = (MapDataDelegate::ModeOptions)ui->cbMode->itemData(ui->cbMode->currentIndex()).toInt();
ui->modeParam1->setText("");
ui->modeParam2->setText("");
ui->modeParam3->setText("");
ui->modeParam4->setText("");
ui->modeParam1->setEnabled(false);
ui->modeParam2->setEnabled(false);
ui->modeParam3->setEnabled(false);
ui->modeParam4->setEnabled(false);
ui->dsb_modeParam1->setEnabled(false);
ui->dsb_modeParam2->setEnabled(false);
ui->dsb_modeParam3->setEnabled(false);
ui->dsb_modeParam4->setEnabled(false);
switch (mode) {
case MapDataDelegate::MODE_GOTOENDPOINT:
ui->descriptionModeLabel->setText(tr("<p>The Autopilot will try to hold position at a fixed end-coordinate. "
"If elsewhere, the craft will steer towards the coordinate but not "
"necessarily in a straight line as drift will not be compensated.</p>"));
break;
case MapDataDelegate::MODE_FOLLOWVECTOR:
ui->descriptionModeLabel->setText(tr("<p>The Autopilot will attempt to stay on a defined trajectory from the previous waypoint "
"to the current one. Any deviation from this path, for example by wind, will be corrected. "
"This is the best and obvious choice for direct straight-line (rhumb line) navigation in any vehicle.</p>"));
break;
case MapDataDelegate::MODE_CIRCLERIGHT:
ui->descriptionModeLabel->setText(tr("<p>The Autopilot will attempt to fly a circular trajectory around a waypoint. "
"The curve radius is defined by the distance from the previous waypoint, therefore setting the coordinate "
"of the waypoint perpendicular to the previous flight path leg (and on the side the vehicle is supposed to turn toward!) "
"will lead to the smoothest possible transition.</p><p>Staying in FlyCircle for a prolonged time will lead to a circular "
"loiter trajectory around a waypoint, but this mode can be used in combination with the PointingTowardsNext-EndCondition "
"to stay on the curved trajectory until the vehicle is moving towards the next waypoint, which allows for very controlled "
"turns in flight paths.</p>"));
break;
case MapDataDelegate::MODE_CIRCLELEFT:
ui->descriptionModeLabel->setText(tr("<p>The Autopilot will attempt to fly a circular trajectory around a waypoint. "
"The curve radius is defined by the distance from the previous waypoint, therefore setting the coordinate "
"of the waypoint perpendicular to the previous flight path leg (and on the side the vehicle is supposed to turn toward!) "
"will lead to the smoothest possible transition.</p><p>Staying in FlyCircle for a prolonged time will lead to a circular "
"loiter trajectory around a waypoint, but this mode can be used in combination with the PointingTowardsNext-EndCondition "
"to stay on the curved trajectory until the vehicle is moving towards the next waypoint, which allows for very controlled "
"turns in flight paths.</p>"));
break;
case MapDataDelegate::MODE_DISARMALARM:
case MapDataDelegate::MODE_LAND:
case MapDataDelegate::MODE_BRAKE:
ui->modeParam1->setVisible(false);
ui->modeParam2->setVisible(false);
ui->modeParam3->setVisible(false);
ui->modeParam4->setVisible(false);
ui->dsb_modeParam1->setVisible(false);
ui->dsb_modeParam2->setVisible(false);
ui->dsb_modeParam3->setVisible(false);
ui->dsb_modeParam4->setVisible(false);
break;
case MapDataDelegate::MODE_VELOCITY:
ui->modeParam1->setVisible(true);
ui->modeParam2->setVisible(true);
ui->modeParam3->setVisible(true);
ui->modeParam4->setVisible(false);
ui->dsb_modeParam1->setVisible(true);
ui->dsb_modeParam2->setVisible(true);
ui->dsb_modeParam3->setVisible(true);
ui->dsb_modeParam4->setVisible(false);
break;
case MapDataDelegate::MODE_FIXEDATTITUDE:
ui->modeParam1->setText("pitch");
ui->modeParam2->setText("roll");
ui->modeParam3->setText("yaw");
ui->modeParam4->setText("thrust");
ui->modeParam1->setVisible(true);
ui->modeParam2->setVisible(true);
ui->modeParam3->setVisible(true);
ui->modeParam4->setVisible(true);
ui->dsb_modeParam1->setVisible(true);
ui->dsb_modeParam2->setVisible(true);
ui->dsb_modeParam3->setVisible(true);
ui->dsb_modeParam4->setVisible(true);
break;
case MapDataDelegate::MODE_SETACCESSORY:
ui->modeParam1->setText("Acc.channel");
ui->modeParam2->setText("Value");
ui->modeParam1->setVisible(true);
ui->modeParam2->setVisible(true);
ui->modeParam3->setVisible(false);
ui->modeParam4->setVisible(false);
ui->dsb_modeParam1->setVisible(true);
ui->dsb_modeParam2->setVisible(true);
ui->dsb_modeParam3->setVisible(false);
ui->dsb_modeParam4->setVisible(false);
ui->descriptionModeLabel->setText(tr("<p>The Autopilot is instructed to force a CRITICAL PathFollower alarm. A PathFollower alarm of type CRITICAL "
"is supposed to automatically set the vehicle to DISARMED and thus disable the engines, cut fuel supply, ...</p><p>"
"The PathFollower can do this during any mode in case of emergency, but through this mode the PathPlanner "
"can force this behavior, for example after a landing.</p>"));
break;
case MapDataDelegate::MODE_AUTOTAKEOFF:
// FIXME: Do nothing?
// FixedWing do not use parameters, vertical velocity can be set for multirotors as param0
ui->modeParam1->setText("Speed (m/s):");
ui->modeParam1->setEnabled(true);
ui->dsb_modeParam1->setEnabled(true);
ui->descriptionModeLabel->setText(tr("<p>The Autopilot will engage a hardcoded, fully automated takeoff sequence. "
"Using a fixed attitude, heading towards the destination waypoint for a fixed wing or "
"a vertical climb for a multirotor.</p>"
"<p>Vertical speed in meters/second, for multirotors. (Will be around 0.6m/s)</p>"));
break;
case MapDataDelegate::MODE_LAND:
// FixedWing do not use parameters, vertical velocity can be set for multirotors as param0 (0.1/0.6m/s range)
ui->modeParam1->setText("Speed (m/s):");
ui->modeParam1->setEnabled(true);
ui->dsb_modeParam1->setEnabled(true);
ui->descriptionModeLabel->setText(tr("<p>The Autopilot will engage a hardcoded, fully automated landing sequence. "
"Using a fixed attitude, heading towards the destination waypoint for a fixed wing or "
"a vertical descent for a multirotor.</p>"
"<p>Vertical speed in meters/second, for multirotors. (Will be around 0.6m/s)</p>"));
break;
case MapDataDelegate::MODE_BRAKE:
ui->descriptionModeLabel->setText(tr("<p>This mode is used internally by assisted flight modes with multirotors to slow down the velocity.</p>"));
break;
case MapDataDelegate::MODE_VELOCITY:
ui->descriptionModeLabel->setText(tr("<p>This mode is used internally by assisted flight modes with multirotors to maintain a velocity in 3D space.</p>"));
break;
case MapDataDelegate::MODE_FIXEDATTITUDE:
ui->modeParam1->setText("Roll:");
ui->modeParam2->setText("Pitch:");
ui->modeParam3->setText("Yaw:");
ui->modeParam4->setText("Thrust:");
ui->modeParam1->setEnabled(true);
ui->modeParam2->setEnabled(true);
ui->modeParam3->setEnabled(true);
ui->modeParam4->setEnabled(true);
ui->dsb_modeParam1->setEnabled(true);
ui->dsb_modeParam2->setEnabled(true);
ui->dsb_modeParam3->setEnabled(true);
ui->dsb_modeParam4->setEnabled(true);
ui->descriptionModeLabel->setText(tr("<p>The Autopilot will play dumb and simply instruct the Stabilization Module to assume a certain Roll, Pitch angle "
"and optionally a Yaw rotation rate and Thrust setting. This allows for very simple auto-takeoff and "
"auto-landing maneuvers.</p>"
"<p>Roll(+-180°) and Pitch (+-90°) angles in degrees</p>"
"<p>Yaw rate in deg/s</p>"
"<p>Thrust from 0 to 1</p>"));
break;
case MapDataDelegate::MODE_SETACCESSORY:
ui->modeParam1->setText("Acc.channel:");
ui->modeParam2->setText("Value:");
ui->modeParam1->setEnabled(true);
ui->modeParam2->setEnabled(true);
ui->dsb_modeParam1->setEnabled(true);
ui->dsb_modeParam2->setEnabled(true);
ui->descriptionModeLabel->setText(tr("<p>Not yet implemented.</p>"));
// ui->descriptionModeLabel->setText(tr("<p>In this mode, the PathFollower is supposed to inject a specific value (-1|0|+1 range) into an AccessoryDesired channel. "
// "This would allow one to control arbitrary auxilliary components from the PathPlanner like flaps and landing gear.</p>"));
break;
default:
ui->descriptionModeLabel->setText("");
break;
}
}
void opmap_edit_waypoint_dialog::setupConditionWidgets()
{
MapDataDelegate::EndConditionOptions mode = (MapDataDelegate::EndConditionOptions)ui->cbCondition->itemData(ui->cbCondition->currentIndex()).toInt();
ui->condParam1->setText("");
ui->condParam2->setText("");
ui->condParam3->setText("");
ui->condParam4->setText("");
ui->condParam1->setEnabled(false);
ui->condParam2->setEnabled(false);
ui->condParam3->setEnabled(false);
ui->condParam4->setEnabled(false);
ui->dsb_condParam1->setEnabled(false);
ui->dsb_condParam2->setEnabled(false);
ui->dsb_condParam3->setEnabled(false);
ui->dsb_condParam4->setEnabled(false);
switch (mode) {
case MapDataDelegate::ENDCONDITION_NONE:
ui->descriptionConditionLabel->setText(tr("<p>This condition is always false. A WaypointAction with EndCondition to None will stay in "
"its mode until forever, or until an Error in the PathFollower triggers the ErrorJump. (For example out of fuel!)</p>"));
break;
case MapDataDelegate::ENDCONDITION_IMMEDIATE:
ui->descriptionConditionLabel->setText(tr("<p>Opposite to the None condition, the immediate condition is always true.</p>"));
break;
case MapDataDelegate::ENDCONDITION_PYTHONSCRIPT:
ui->condParam1->setVisible(false);
ui->condParam2->setVisible(false);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(false);
ui->dsb_condParam2->setVisible(false);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
ui->descriptionConditionLabel->setText(tr("<p>Not yet implemented.</p>"));
break;
case MapDataDelegate::ENDCONDITION_TIMEOUT:
ui->condParam1->setVisible(true);
ui->condParam2->setVisible(false);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(true);
ui->dsb_condParam2->setVisible(false);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
ui->condParam1->setText("Timeout(s)");
ui->condParam1->setEnabled(true);
ui->dsb_condParam1->setEnabled(true);
ui->condParam1->setText("Timeout (s)");
ui->descriptionConditionLabel->setText(tr("<p>The Timeout condition measures time this waypoint is active (in seconds).</p>"));
break;
case MapDataDelegate::ENDCONDITION_DISTANCETOTARGET:
ui->condParam1->setVisible(true);
ui->condParam2->setVisible(true);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(true);
ui->dsb_condParam2->setVisible(true);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
ui->condParam1->setText("Distance(m)");
ui->condParam2->setText("Flag(0=2D,1=3D)"); // FIXME
ui->condParam1->setEnabled(true);
ui->condParam2->setEnabled(true);
ui->dsb_condParam1->setEnabled(true);
ui->dsb_condParam2->setEnabled(true);
ui->condParam1->setText("Distance (m):");
ui->condParam2->setText("Flag:");
ui->descriptionConditionLabel->setText(tr("<p>The DistanceToTarget condition measures the distance to a waypoint, returns true if closer.</p>"
"<p>Flag: <b>0</b>= 2D distance, <b>1</b>= 3D distance</p>"));
break;
case MapDataDelegate::ENDCONDITION_LEGREMAINING:
ui->condParam1->setVisible(true);
ui->condParam2->setVisible(false);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(true);
ui->dsb_condParam2->setVisible(false);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
ui->condParam1->setText("Relative Distance(0=complete,1=just starting)");
ui->condParam1->setEnabled(true);
ui->dsb_condParam1->setEnabled(true);
ui->condParam1->setText("Relative Distance:");
ui->descriptionConditionLabel->setText(tr("<p>The LegRemaining condition measures how far the pathfollower got on a linear path segment, returns true "
"if closer to destination(path more complete).</p>"
"<p><b>0</b>=complete, <b>1</b>=just starting</p>"));
break;
case MapDataDelegate::ENDCONDITION_BELOWERROR:
ui->condParam1->setVisible(true);
ui->condParam2->setVisible(false);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(true);
ui->dsb_condParam2->setVisible(false);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
ui->condParam1->setText("error margin (in m)");
ui->condParam1->setEnabled(true);
ui->dsb_condParam1->setEnabled(true);
ui->condParam1->setText("Error margin (m):");
ui->descriptionConditionLabel->setText(tr("<p>The BelowError condition measures the error on a path segment, returns true if error is below margin in meters.</p>"));
break;
case MapDataDelegate::ENDCONDITION_ABOVEALTITUDE:
ui->condParam1->setVisible(true);
ui->condParam2->setVisible(false);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(true);
ui->dsb_condParam2->setVisible(false);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
ui->condParam1->setText("Altitude in meters (negative)");
ui->condParam1->setEnabled(true);
ui->dsb_condParam1->setEnabled(true);
ui->condParam1->setText("Altitude (m):");
ui->descriptionConditionLabel->setText(tr("<p>The AboveAltitude condition measures the flight altitude relative to home position, returns true if "
"above critical altitude.</p><p><b>WARNING!</b> altitudes set here are always <b>negative</b> if above Home. (down coordinate)</p>"));
break;
case MapDataDelegate::ENDCONDITION_ABOVESPEED:
ui->condParam1->setVisible(true);
ui->condParam2->setVisible(true);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(true);
ui->dsb_condParam2->setVisible(true);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
ui->condParam1->setText("Speed in meters/second");
ui->condParam2->setText("flag: 0=groundspeed 1=airspeed");
ui->condParam1->setEnabled(true);
ui->condParam2->setEnabled(true);
ui->dsb_condParam1->setEnabled(true);
ui->dsb_condParam2->setEnabled(true);
ui->condParam1->setText("Speed (m/s):");
ui->condParam2->setText("Flag:");
ui->descriptionConditionLabel->setText(tr("<p>The AboveSpeed measures the movement speed(3D), returns true if above critical speed</p>"
"<p>Speed in meters / second</p>"
"<p>Flag: <b>0</b>= groundspeed <b>1</b>= airspeed</p>"));
break;
case MapDataDelegate::ENDCONDITION_POINTINGTOWARDSNEXT:
ui->condParam1->setVisible(true);
ui->condParam2->setVisible(false);
ui->condParam3->setVisible(false);
ui->condParam4->setVisible(false);
ui->dsb_condParam1->setVisible(true);
ui->dsb_condParam2->setVisible(false);
ui->dsb_condParam3->setVisible(false);
ui->dsb_condParam4->setVisible(false);
ui->condParam1->setText("Degrees variation allowed");
ui->condParam1->setEnabled(true);
ui->dsb_condParam1->setEnabled(true);
ui->condParam1->setText("Degrees:");
ui->descriptionConditionLabel->setText(tr("<p>The PointingTowardsNext condition measures the horizontal movement vector direction relative "
"to the next waypoint regardless whether this waypoint will ever be active "
"(Command could jump to a different waypoint on true).</p><p>This is useful for curve segments where "
"the craft should stop circling when facing a certain way(usually the next waypoint), "
"returns true if within a certain angular margin in degrees.</p>"));
break;
default:
ui->descriptionConditionLabel->setText("");
break;
}
}
void opmap_edit_waypoint_dialog::pushButtonCancel_clicked()
{
mapper->revert();
close();
}
void opmap_edit_waypoint_dialog::editWaypoint(mapcontrol::WayPointItem *waypoint_item)
{
if (!waypoint_item) {
@ -287,16 +339,33 @@ void opmap_edit_waypoint_dialog::editWaypoint(mapcontrol::WayPointItem *waypoint
mapper->setCurrentIndex(waypoint_item->Number());
}
void opmap_edit_waypoint_dialog::on_pushButton_clicked()
void opmap_edit_waypoint_dialog::on_pushButtonOK_clicked()
{
mapper->submit();
close();
}
void opmap_edit_waypoint_dialog::pushButtonCancel_clicked()
{
mapper->revert();
close();
}
void opmap_edit_waypoint_dialog::on_pushButtonPrevious_clicked()
{
mapper->toPrevious();
}
void opmap_edit_waypoint_dialog::on_pushButton_2_clicked()
void opmap_edit_waypoint_dialog::on_pushButtonNext_clicked()
{
mapper->toNext();
}
void opmap_edit_waypoint_dialog::on_pushButtonApply_clicked()
{
mapper->submit();
}
void opmap_edit_waypoint_dialog::enableEditWidgets(bool value)
{
QWidget *w;

8
ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.h
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file opmap_edit_waypoint_dialog.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup OPMapPlugin OpenPilot Map Plugin
@ -63,8 +64,9 @@ private slots:
void setupConditionWidgets();
void pushButtonCancel_clicked();
void on_pushButtonOK_clicked();
void on_pushButton_clicked();
void on_pushButton_2_clicked();
void on_pushButtonApply_clicked();
void on_pushButtonPrevious_clicked();
void on_pushButtonNext_clicked();
void enableEditWidgets(bool);
void currentRowChanged(QModelIndex, QModelIndex);
};

570
ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui
View File

@ -83,7 +83,7 @@
</property>
</widget>
</item>
<item row="11" column="0">
<item row="9" column="0">
<widget class="QLabel" name="label_8">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@ -99,10 +99,10 @@
</property>
</widget>
</item>
<item row="11" column="2" colspan="2">
<item row="9" column="1" colspan="2">
<widget class="QLineEdit" name="lineEditDescription"/>
</item>
<item row="2" column="2">
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBoxLatitude">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -121,7 +121,7 @@
</property>
</widget>
</item>
<item row="3" column="2">
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBoxLongitude">
<property name="decimals">
<number>5</number>
@ -134,14 +134,14 @@
</property>
</widget>
</item>
<item row="3" column="3">
<item row="3" column="2">
<widget class="QLabel" name="lbDegLong">
<property name="text">
<string>degrees</string>
</property>
</widget>
</item>
<item row="2" column="3">
<item row="2" column="2">
<widget class="QLabel" name="lbDegLat">
<property name="text">
<string>degrees</string>
@ -164,21 +164,21 @@
</property>
</widget>
</item>
<item row="6" column="3">
<item row="5" column="2">
<widget class="QLabel" name="lbDistanceMeters">
<property name="text">
<string>meters</string>
</property>
</widget>
</item>
<item row="7" column="3">
<item row="6" column="2">
<widget class="QLabel" name="lbBearingDeg">
<property name="text">
<string>degrees</string>
</property>
</widget>
</item>
<item row="7" column="0">
<item row="6" column="0">
<widget class="QLabel" name="lbBearing">
<property name="text">
<string>Bearing </string>
@ -188,7 +188,7 @@
</property>
</widget>
</item>
<item row="7" column="2">
<item row="6" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBoxBearing">
<property name="decimals">
<number>2</number>
@ -198,7 +198,7 @@
</property>
</widget>
</item>
<item row="6" column="0">
<item row="5" column="0">
<widget class="QLabel" name="lbDistance">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@ -214,7 +214,7 @@
</property>
</widget>
</item>
<item row="0" column="3">
<item row="0" column="2">
<widget class="QCheckBox" name="checkBoxLocked">
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
@ -234,21 +234,28 @@
</property>
</widget>
</item>
<item row="0" column="2">
<item row="0" column="1">
<widget class="QLabel" name="lbNumber">
<property name="text">
<string>0</string>
</property>
</widget>
</item>
<item row="1" column="2">
<item row="8" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBoxVelocity">
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QCheckBox" name="checkBoxRelative">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="10" column="0">
<item row="8" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Velocity </string>
@ -258,13 +265,6 @@
</property>
</widget>
</item>
<item row="10" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxVelocity">
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_3">
<property name="sizePolicy">
@ -281,14 +281,14 @@
</property>
</widget>
</item>
<item row="4" column="3">
<item row="4" column="2">
<widget class="QLabel" name="label_6">
<property name="text">
<string>meters</string>
</property>
</widget>
</item>
<item row="8" column="0">
<item row="7" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Relative altitude </string>
@ -298,7 +298,7 @@
</property>
</widget>
</item>
<item row="8" column="2">
<item row="7" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBoxRelativeAltitude">
<property name="minimum">
<double>-999999999.000000000000000</double>
@ -308,24 +308,7 @@
</property>
</widget>
</item>
<item row="8" column="3">
<widget class="QLabel" name="label_9">
<property name="text">
<string>meters</string>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxDistance">
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="2">
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBoxAltitude">
<property name="minimum">
<double>-5000.000000000000000</double>
@ -335,7 +318,24 @@
</property>
</widget>
</item>
<item row="10" column="3">
<item row="7" column="2">
<widget class="QLabel" name="label_9">
<property name="text">
<string>meters</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBoxDistance">
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="label_10">
<property name="text">
<string>m/s</string>
@ -344,6 +344,19 @@
</item>
</layout>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab_4">
@ -353,6 +366,48 @@
<layout class="QGridLayout" name="gridLayout_8">
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="2" rowspan="6">
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="leftMargin">
<number>6</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="descriptionModeLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Description</string>
</property>
<property name="alignment">
<set>Qt::AlignJustify|Qt::AlignTop</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_8">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>5</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="sizePolicy">
@ -363,7 +418,7 @@
</property>
<property name="minimumSize">
<size>
<width>100</width>
<width>120</width>
<height>0</height>
</size>
</property>
@ -379,7 +434,14 @@
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="cbMode"/>
<widget class="QComboBox" name="cbMode">
<property name="minimumSize">
<size>
<width>120</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="dsb_modeParam1">
@ -399,6 +461,12 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
@ -427,6 +495,9 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
@ -446,6 +517,9 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
@ -465,6 +539,9 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
@ -497,21 +574,34 @@
</property>
</widget>
</item>
<item row="2" column="2">
<spacer name="horizontalSpacer_2">
<item row="5" column="1">
<spacer name="verticalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
<width>20</width>
<height>5</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab">
@ -519,11 +609,37 @@
<string>End condition</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_7">
<item row="2" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout_4">
<property name="sizeConstraint">
<enum>QLayout::SetDefaultConstraint</enum>
</property>
<item row="5" column="1">
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>5</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="0">
<widget class="QLabel" name="Condition">
<property name="sizePolicy">
@ -534,7 +650,7 @@
</property>
<property name="minimumSize">
<size>
<width>100</width>
<width>120</width>
<height>0</height>
</size>
</property>
@ -550,7 +666,14 @@
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="cbCondition"/>
<widget class="QComboBox" name="cbCondition">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="dsb_condParam1">
@ -579,6 +702,9 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
@ -598,6 +724,9 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
@ -617,6 +746,9 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
@ -636,6 +768,9 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
@ -668,18 +803,47 @@
</property>
</widget>
</item>
<item row="2" column="2">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
<item row="0" column="2" rowspan="6">
<layout class="QVBoxLayout" name="verticalLayout_4">
<property name="leftMargin">
<number>6</number>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
<property name="topMargin">
<number>0</number>
</property>
</spacer>
<item>
<widget class="QLabel" name="descriptionConditionLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Description</string>
</property>
<property name="alignment">
<set>Qt::AlignJustify|Qt::AlignTop</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_9">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</item>
@ -690,12 +854,100 @@
<string>Command</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_6">
<item row="4" column="0">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="0">
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout_5">
<property name="sizeConstraint">
<enum>QLayout::SetDefaultConstraint</enum>
</property>
<item row="0" column="0">
<property name="rightMargin">
<number>0</number>
</property>
<item row="2" column="1" colspan="4">
<widget class="QLabel" name="descriptionCommandLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Description</string>
</property>
<property name="alignment">
<set>Qt::AlignJustify|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>6</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="2" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="leftMargin">
<number>0</number>
</property>
<item>
<widget class="QSpinBox" name="sbJump">
<property name="minimumSize">
<size>
<width>60</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="0" column="0" colspan="2">
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@ -705,7 +957,7 @@
</property>
<property name="minimumSize">
<size>
<width>100</width>
<width>130</width>
<height>0</height>
</size>
</property>
@ -720,10 +972,17 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="cbCommand"/>
<item row="0" column="2" colspan="2">
<widget class="QComboBox" name="cbCommand">
<property name="minimumSize">
<size>
<width>210</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="1" column="0">
<item row="1" column="0" colspan="2">
<widget class="QLabel" name="jumpDest">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@ -740,29 +999,29 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="condParam2_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Error Destination</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="2">
<spacer name="horizontalSpacer_4">
<item row="2" column="5">
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>6</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="4">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
@ -774,11 +1033,117 @@
</property>
</spacer>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="sbJump"/>
</layout>
</item>
<item row="2" column="0">
<layout class="QGridLayout" name="gridLayout_9">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<item row="1" column="0">
<spacer name="horizontalSpacer_9">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>6</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="sbError"/>
<item row="1" column="1" colspan="3">
<widget class="QLabel" name="descriptionErrorDestinationLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Description</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0" colspan="2">
<widget class="QLabel" name="condParam2_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>130</width>
<height>0</height>
</size>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Error Destination</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="4">
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>6</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="2">
<widget class="QSpinBox" name="sbError">
<property name="minimumSize">
<size>
<width>60</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="0" column="3">
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
@ -789,14 +1154,24 @@
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="pushButton">
<widget class="QPushButton" name="pushButtonPrevious">
<property name="text">
<string>Previous</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_2">
<widget class="QSpinBox" name="wpNumberSpinBox">
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButtonNext">
<property name="text">
<string>Next</string>
</property>
@ -815,6 +1190,13 @@
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="pushButtonApply">
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButtonOK">
<property name="text">

260
ground/gcs/src/plugins/opmap/opmap_widget.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>514</width>
<height>412</height>
<width>746</width>
<height>572</height>
</rect>
</property>
<property name="sizePolicy">
@ -29,7 +29,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@ -242,7 +251,16 @@ border-radius: 2px;
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@ -379,7 +397,13 @@ border-radius: 2px;
</property>
<property name="icon">
<iconset resource="opmap.qrc">
<normaloff>:/opmap/images/waypoint.png</normaloff>:/opmap/images/waypoint.png</iconset>
<normaloff>:/opmap/images/button_search.png</normaloff>:/opmap/images/button_search.png</iconset>
</property>
<property name="iconSize">
<size>
<width>22</width>
<height>22</height>
</size>
</property>
</widget>
</item>
@ -434,7 +458,7 @@ border-radius: 2px;
</property>
<property name="icon">
<iconset resource="opmap.qrc">
<normaloff>:/opmap/images/move_to_wp.png</normaloff>:/opmap/images/move_to_wp.png</iconset>
<normaloff>:/opmap/images/button_move_to_wp.png</normaloff>:/opmap/images/button_move_to_wp.png</iconset>
</property>
<property name="iconSize">
<size>
@ -460,7 +484,7 @@ border-radius: 2px;
</property>
<property name="icon">
<iconset resource="opmap.qrc">
<normaloff>:/opmap/images/home_wp.png</normaloff>:/opmap/images/home_wp.png</iconset>
<normaloff>:/opmap/images/button_home_wp.png</normaloff>:/opmap/images/button_home_wp.png</iconset>
</property>
<property name="iconSize">
<size>
@ -496,7 +520,7 @@ border-radius: 2px;
</property>
<property name="icon">
<iconset resource="opmap.qrc">
<normaloff>:/opmap/images/gcs.png</normaloff>:/opmap/images/gcs.png</iconset>
<normaloff>:/opmap/images/button_home.png</normaloff>:/opmap/images/button_home.png</iconset>
</property>
<property name="iconSize">
<size>
@ -531,7 +555,7 @@ border-radius: 2px;
</property>
<property name="icon">
<iconset resource="opmap.qrc">
<normaloff>:/opmap/images/uav.png</normaloff>:/opmap/images/uav.png</iconset>
<normaloff>:/opmap/images/button_uav.png</normaloff>:/opmap/images/button_uav.png</iconset>
</property>
<property name="iconSize">
<size>
@ -569,7 +593,7 @@ border-radius: 2px;
</property>
<property name="icon">
<iconset resource="opmap.qrc">
<normaloff>:/opmap/images/uav_heading.png</normaloff>:/opmap/images/uav_heading.png</iconset>
<normaloff>:/opmap/images/button_uav_heading.png</normaloff>:/opmap/images/button_uav_heading.png</iconset>
</property>
<property name="iconSize">
<size>
@ -775,7 +799,16 @@ border-radius: 3px;
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@ -876,7 +909,16 @@ border-radius: 3px;
<property name="spacing">
<number>5</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>1</number>
</property>
<property name="topMargin">
<number>1</number>
</property>
<property name="rightMargin">
<number>1</number>
</property>
<property name="bottomMargin">
<number>1</number>
</property>
<item>
@ -1020,6 +1062,152 @@ border-radius: 3px;
</property>
</widget>
</item>
<item>
<widget class="Line" name="line_7">
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QToolButton" name="toolButtonHomeSet">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Set HomeLocation to be used by the
autopilot or just pick the first GPS fix.</string>
</property>
<property name="text">
<string>Home Set</string>
</property>
<property name="icon">
<iconset resource="opmap.qrc">
<normaloff>:/opmap/images/button_home_not_set.png</normaloff>
<normalon>:/opmap/images/button_home_set.png</normalon>:/opmap/images/button_home_not_set.png</iconset>
</property>
<property name="iconSize">
<size>
<width>28</width>
<height>28</height>
</size>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="autoRepeat">
<bool>false</bool>
</property>
<property name="toolButtonStyle">
<enum>Qt::ToolButtonIconOnly</enum>
</property>
<property name="autoRaise">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QToolButton" name="toolButtonClearUAVTrail">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Clear UAV trail</string>
</property>
<property name="text">
<string>Clear UAV trail</string>
</property>
<property name="icon">
<iconset resource="opmap.qrc">
<normaloff>:/opmap/images/button_clear_uavtrail.png</normaloff>:/opmap/images/button_clear_uavtrail.png</iconset>
</property>
<property name="iconSize">
<size>
<width>28</width>
<height>28</height>
</size>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="autoRepeat">
<bool>false</bool>
</property>
<property name="toolButtonStyle">
<enum>Qt::ToolButtonIconOnly</enum>
</property>
<property name="autoRaise">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line_9">
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QToolButton" name="toolButtonPlanEditor">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Edit PathPlan</string>
</property>
<property name="text">
<string>Edit plan</string>
</property>
<property name="icon">
<iconset resource="opmap.qrc">
<normaloff>:/opmap/images/button_edit_plan.png</normaloff>:/opmap/images/button_edit_plan.png</iconset>
</property>
<property name="iconSize">
<size>
<width>28</width>
<height>28</height>
</size>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="autoRepeat">
<bool>false</bool>
</property>
<property name="toolButtonStyle">
<enum>Qt::ToolButtonIconOnly</enum>
</property>
<property name="autoRaise">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line_10">
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
@ -1036,6 +1224,54 @@ border-radius: 3px;
</property>
</spacer>
</item>
<item>
<widget class="Line" name="line_11">
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QToolButton" name="toolButtonSaveSettings">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Save current map settings</string>
</property>
<property name="text">
<string>Save settings</string>
</property>
<property name="icon">
<iconset resource="opmap.qrc">
<normaloff>:/opmap/images/button_save.png</normaloff>:/opmap/images/button_save.png</iconset>
</property>
<property name="iconSize">
<size>
<width>28</width>
<height>28</height>
</size>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="autoRepeat">
<bool>false</bool>
</property>
<property name="toolButtonStyle">
<enum>Qt::ToolButtonIconOnly</enum>
</property>
<property name="autoRaise">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>

18
ground/gcs/src/plugins/opmap/opmapgadget.cpp
View File

@ -32,6 +32,7 @@ OPMapGadget::OPMapGadget(QString classId, OPMapGadgetWidget *widget, QWidget *pa
m_widget(widget), m_config(NULL)
{
connect(m_widget, SIGNAL(defaultLocationAndZoomChanged(double, double, double)), this, SLOT(saveDefaultLocation(double, double, double)));
connect(m_widget, SIGNAL(defaultSafeAreaChanged(int, bool)), this, SLOT(saveDefaultSafeArea(int, bool)));
connect(m_widget, SIGNAL(overlayOpacityChanged(qreal)), this, SLOT(saveOpacity(qreal)));
}
@ -48,6 +49,14 @@ void OPMapGadget::saveDefaultLocation(double lng, double lat, double zoom)
m_config->save();
}
}
void OPMapGadget::saveDefaultSafeArea(int safe_area_radius, bool showSafeArea)
{
if (m_config) {
m_config->setSafeAreaRadius(safe_area_radius);
m_config->setShowSafeArea(showSafeArea);
m_config->save();
}
}
void OPMapGadget::saveOpacity(qreal value)
{
@ -59,6 +68,7 @@ void OPMapGadget::loadConfiguration(IUAVGadgetConfiguration *config)
{
m_config = qobject_cast<OPMapGadgetConfiguration *>(config);
m_widget->setMapProvider(m_config->mapProvider());
m_widget->setMaxUpdateRate(m_config->maxUpdateRate());
m_widget->setUseOpenGL(m_config->useOpenGL());
m_widget->setShowTileGridLines(m_config->showTileGridLines());
m_widget->setAccessMode(m_config->accessMode());
@ -67,8 +77,14 @@ void OPMapGadget::loadConfiguration(IUAVGadgetConfiguration *config)
m_widget->SetUavPic(m_config->uavSymbol());
m_widget->setZoom(m_config->zoom());
m_widget->setPosition(QPointF(m_config->longitude(), m_config->latitude()));
m_widget->setHomePosition(QPointF(m_config->longitude(), m_config->latitude()));
m_widget->setSafeAreaRadius(m_config->safeAreaRadius());
m_widget->setShowSafeArea(m_config->showSafeArea());
m_widget->setOverlayOpacity(m_config->opacity());
m_widget->setDefaultWaypointAltitude(m_config->defaultWaypointAltitude());
m_widget->setDefaultWaypointVelocity(m_config->defaultWaypointVelocity());
if (!m_widget->applyHomeLocationOnMap()) {
// Set default HomeLocation in center of map
m_widget->setHomePosition(QPointF(m_config->longitude(), m_config->latitude()));
}
}

1
ground/gcs/src/plugins/opmap/opmapgadget.h
View File

@ -56,6 +56,7 @@ private:
private slots:
void saveOpacity(qreal value);
void saveDefaultLocation(double lng, double lat, double zoom);
void saveDefaultSafeArea(int safe_area_radius, bool showSafeArea);
};

6
ground/gcs/src/plugins/opmap/opmapgadgetconfiguration.cpp
View File

@ -43,6 +43,8 @@ OPMapGadgetConfiguration::OPMapGadgetConfiguration(QString classId, QSettings &s
m_useOpenGL = settings.value("useOpenGL").toBool();
m_showTileGridLines = settings.value("showTileGridLines").toBool();
m_uavSymbol = settings.value("uavSymbol", QString::fromUtf8(":/uavs/images/mapquad.png")).toString();
m_safeAreaRadius = settings.value("safeAreaRadius", 5).toInt();
m_showSafeArea = settings.value("showSafeArea").toBool();
m_maxUpdateRate = settings.value("maxUpdateRate", 2000).toInt();
if (m_maxUpdateRate < 100 || m_maxUpdateRate > 5000) {
@ -69,6 +71,8 @@ OPMapGadgetConfiguration::OPMapGadgetConfiguration(const OPMapGadgetConfiguratio
m_cacheLocation = obj.m_cacheLocation;
m_uavSymbol = obj.m_uavSymbol;
m_maxUpdateRate = obj.m_maxUpdateRate;
m_safeAreaRadius = obj.m_safeAreaRadius;
m_showSafeArea = obj.m_showSafeArea;
m_opacity = obj.m_opacity;
m_defaultWaypointAltitude = obj.m_defaultWaypointAltitude;
m_defaultWaypointVelocity = obj.m_defaultWaypointVelocity;
@ -99,6 +103,8 @@ void OPMapGadgetConfiguration::saveConfig(QSettings &settings) const
settings.setValue("uavSymbol", m_uavSymbol);
settings.setValue("cacheLocation", Utils::RemoveStoragePath(m_cacheLocation));
settings.setValue("maxUpdateRate", m_maxUpdateRate);
settings.setValue("safeAreaRadius", m_safeAreaRadius);
settings.setValue("showSafeArea", m_showSafeArea);
settings.setValue("overlayOpacity", m_opacity);
settings.setValue("defaultWaypointAltitude", m_defaultWaypointAltitude);

20
ground/gcs/src/plugins/opmap/opmapgadgetconfiguration.h
View File

@ -46,6 +46,8 @@ class OPMapGadgetConfiguration : public IUAVGadgetConfiguration {
Q_PROPERTY(QString cacheLocation READ cacheLocation WRITE setCacheLocation)
Q_PROPERTY(QString uavSymbol READ uavSymbol WRITE setUavSymbol)
Q_PROPERTY(int maxUpdateRate READ maxUpdateRate WRITE setMaxUpdateRate)
Q_PROPERTY(int safeAreaRadius READ safeAreaRadius WRITE setSafeAreaRadius)
Q_PROPERTY(bool showSafeArea READ showSafeArea WRITE setShowSafeArea)
Q_PROPERTY(qreal overlayOpacity READ opacity WRITE setOpacity)
Q_PROPERTY(qreal defaultWaypointAltitude READ defaultWaypointAltitude WRITE setDefaultWaypointAltitude)
Q_PROPERTY(qreal defaultWaypointVelocity READ defaultWaypointVelocity WRITE setDefaultWaypointVelocity)
@ -103,6 +105,14 @@ public:
{
return m_maxUpdateRate;
}
int safeAreaRadius() const
{
return m_safeAreaRadius;
}
bool showSafeArea() const
{
return m_showSafeArea;
}
qreal opacity() const
{
return m_opacity;
@ -164,6 +174,14 @@ public slots:
{
m_maxUpdateRate = update_rate;
}
void setSafeAreaRadius(int safe_area_radius)
{
m_safeAreaRadius = safe_area_radius;
}
void setShowSafeArea(bool showSafeArea)
{
m_showSafeArea = showSafeArea;
}
void setDefaultWaypointAltitude(qreal default_altitude)
{
@ -187,6 +205,8 @@ private:
QString m_cacheLocation;
QString m_uavSymbol;
int m_maxUpdateRate;
int m_safeAreaRadius;
bool m_showSafeArea;
qreal m_opacity;
qreal m_defaultWaypointAltitude;
qreal m_defaultWaypointVelocity;

21
ground/gcs/src/plugins/opmap/opmapgadgetoptionspage.cpp
View File

@ -79,6 +79,25 @@ QWidget *OPMapGadgetOptionsPage::createPage(QWidget *parent)
index = (index >= 0) ? index : 4;
m_page->maxUpdateRateComboBox->setCurrentIndex(index);
// populate the safety area radius combobox
m_page->safeAreaRadiusComboBox->clear();
m_page->safeAreaRadiusComboBox->addItem("5m", 5);
m_page->safeAreaRadiusComboBox->addItem("10m", 10);
m_page->safeAreaRadiusComboBox->addItem("20m", 20);
m_page->safeAreaRadiusComboBox->addItem("50m", 50);
m_page->safeAreaRadiusComboBox->addItem("100m", 100);
m_page->safeAreaRadiusComboBox->addItem("200m", 200);
m_page->safeAreaRadiusComboBox->addItem("500m", 500);
m_page->safeAreaRadiusComboBox->addItem("1000m", 1000);
m_page->safeAreaRadiusComboBox->addItem("2000m", 2000);
m_page->safeAreaRadiusComboBox->addItem("5000m", 5000);
index = m_page->safeAreaRadiusComboBox->findData(m_config->safeAreaRadius());
index = (index >= 0) ? index : 0;
m_page->safeAreaRadiusComboBox->setCurrentIndex(index);
m_page->checkBoxShowSafeArea->setChecked(m_config->showSafeArea());
m_page->zoomSpinBox->setValue(m_config->zoom());
m_page->latitudeSpinBox->setValue(m_config->latitude());
m_page->longitudeSpinBox->setValue(m_config->longitude());
@ -140,6 +159,8 @@ void OPMapGadgetOptionsPage::apply()
m_config->setCacheLocation(m_page->lineEditCacheLocation->path());
m_config->setUavSymbol(m_page->uavSymbolComboBox->itemData(m_page->uavSymbolComboBox->currentIndex()).toString());
m_config->setMaxUpdateRate(m_page->maxUpdateRateComboBox->itemData(m_page->maxUpdateRateComboBox->currentIndex()).toInt());
m_config->setSafeAreaRadius(m_page->safeAreaRadiusComboBox->itemData(m_page->safeAreaRadiusComboBox->currentIndex()).toInt());
m_config->setShowSafeArea(m_page->checkBoxShowSafeArea->isChecked());
m_config->setDefaultWaypointAltitude(m_page->defaultWaypointAltitude->value());
m_config->setDefaultWaypointVelocity(m_page->defaultWaypointVelocity->value());
}

262
ground/gcs/src/plugins/opmap/opmapgadgetoptionspage.ui
View File

@ -54,8 +54,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>549</width>
<height>401</height>
<width>550</width>
<height>422</height>
</rect>
</property>
<property name="sizePolicy">
@ -88,7 +88,17 @@
</widget>
</item>
<item row="0" column="0" colspan="2">
<layout class="QGridLayout" name="gridLayout_3" rowstretch="0,0,0,0,0,0" rowminimumheight="22,22,22,0,22,0">
<layout class="QGridLayout" name="gridLayout_3" rowstretch="0,0,0,0,0,0,0" rowminimumheight="22,22,22,0,22,0,0">
<item row="1" column="2">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Default latitude </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="0">
<spacer name="horizontalSpacer_4">
<property name="orientation">
@ -102,16 +112,72 @@
</property>
</spacer>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label">
<item row="4" column="2">
<widget class="QCheckBox" name="checkBoxUseOpenGL">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
</property>
<property name="text">
<string>Map type </string>
<string>Use OpenGL</string>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QCheckBox" name="checkBoxShowTileGridLines">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>161</width>
<height>0</height>
</size>
</property>
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
</property>
<property name="text">
<string>Show Tile Grid Lines</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Default zoom </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QComboBox" name="maxUpdateRateComboBox"/>
</item>
<item row="0" column="2">
<widget class="QComboBox" name="providerComboBox">
<property name="sizePolicy">
@ -137,85 +203,6 @@
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Default zoom </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QSpinBox" name="zoomSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>16777215</height>
</size>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="minimum">
<number>2</number>
</property>
<property name="maximum">
<number>18</number>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Default latitude </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QDoubleSpinBox" name="latitudeSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>120</width>
<height>0</height>
</size>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="decimals">
<number>8</number>
</property>
<property name="minimum">
<double>-90.000000000000000</double>
</property>
<property name="maximum">
<double>90.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_4">
<property name="text">
@ -254,11 +241,8 @@
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QCheckBox" name="checkBoxShowTileGridLines">
<property name="enabled">
<bool>true</bool>
</property>
<item row="0" column="4">
<widget class="QSpinBox" name="zoomSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
@ -267,23 +251,90 @@
</property>
<property name="minimumSize">
<size>
<width>161</width>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="mouseTracking">
<property name="maximumSize">
<size>
<width>50</width>
<height>16777215</height>
</size>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
<property name="minimum">
<number>2</number>
</property>
<property name="text">
<string>Show Tile Grid Lines</string>
<property name="maximum">
<number>18</number>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QCheckBox" name="checkBoxUseOpenGL">
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Map type </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QDoubleSpinBox" name="latitudeSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>120</width>
<height>0</height>
</size>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="decimals">
<number>8</number>
</property>
<property name="minimum">
<double>-90.000000000000000</double>
</property>
<property name="maximum">
<double>90.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Default Max Update Rate </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QComboBox" name="safeAreaRadiusComboBox"/>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_13">
<property name="text">
<string>Default Safe Area Radius </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBoxShowSafeArea">
<property name="enabled">
<bool>true</bool>
</property>
@ -303,20 +354,7 @@
<enum>Qt::RightToLeft</enum>
</property>
<property name="text">
<string>Use OpenGL</string>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QComboBox" name="maxUpdateRateComboBox"/>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Default Max Update Rate </string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<string>Show Safe Area</string>
</property>
</widget>
</item>

201
ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -164,14 +164,14 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_max_zoom = m_widget->horizontalSliderZoom->maximum(); // maximum zoom we can accept
m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::MousePositionWithoutCenter); // set how the mouse wheel zoom functions
m_map->SetFollowMouse(true); // we want a contiuous mouse position reading
m_map->SetFollowMouse(true); // we want a continuous mouse position reading
m_map->SetShowHome(true); // display the HOME position on the map
m_map->SetShowUAV(true); // display the UAV position on the map
m_map->SetShowNav(false); // initially don't display the NAV position on the map
m_map->Home->SetSafeArea(safe_area_radius_list[0]); // set radius (meters) //SHOULDN'T THE DEFAULT BE USER DEFINED?
m_map->Home->SetShowSafeArea(true); // show the safe area //SHOULDN'T THE DEFAULT BE USER DEFINED?
m_map->Home->SetSafeArea(safe_area_radius_list[0]); // set radius (meters)
m_map->Home->SetShowSafeArea(true); // show the safe area
m_map->Home->SetToggleRefresh(true);
if (m_map->Home) {
@ -209,13 +209,14 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_widget->progressBarMap->setMaximum(1);
connect(m_map, SIGNAL(zoomChanged(double, double, double)), this, SLOT(zoomChanged(double, double, double))); // map zoom change signals
connect(m_map, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)), this, SLOT(OnCurrentPositionChanged(internals::PointLatLng))); // map poisition change signals
connect(m_map, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)), this, SLOT(OnCurrentPositionChanged(internals::PointLatLng))); // map position change signals
connect(m_map, SIGNAL(OnTileLoadComplete()), this, SLOT(OnTileLoadComplete())); // tile loading stop signals
connect(m_map, SIGNAL(OnTileLoadStart()), this, SLOT(OnTileLoadStart())); // tile loading start signals
connect(m_map, SIGNAL(OnTilesStillToLoad(int)), this, SLOT(OnTilesStillToLoad(int))); // tile loading signals
connect(m_map, SIGNAL(OnWayPointDoubleClicked(WayPointItem *)), this, SLOT(wpDoubleClickEvent(WayPointItem *)));
m_map->SetCurrentPosition(m_home_position.coord); // set the map position
m_map->Home->SetCoord(m_home_position.coord); // set the HOME position
m_map->Home->RefreshPos();
m_map->Nav->SetCoord(m_home_position.coord); // set the NAV position
m_map->UAV->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
m_map->UAV->update();
@ -885,6 +886,65 @@ void OPMapGadgetWidget::on_horizontalSliderZoom_sliderMoved(int position)
setZoom(position);
}
void OPMapGadgetWidget::on_toolButtonHomeSet_clicked()
{
if (!m_widget || !m_map) {
return;
}
double LLA[3];
bool checked = m_widget->toolButtonHomeSet->isChecked();
if (!m_telemetry_connected) {
m_widget->toolButtonHomeSet->setChecked(false);
checked = false;
// Default map center from default settings
LLA[0] = m_home_position.coord.Lat();
LLA[1] = m_home_position.coord.Lng();
LLA[2] = m_home_position.altitude;
} else {
bool set;
if (obum->getHomeLocation(set, LLA) < 0) {
return; // error
}
}
obum->setHomeLocation(LLA, checked);
}
void OPMapGadgetWidget::on_toolButtonClearUAVTrail_clicked()
{
if (!m_widget || !m_map) {
return;
}
m_map->UAV->DeleteTrail();
if (m_map->GPS) {
m_map->GPS->DeleteTrail();
}
}
void OPMapGadgetWidget::on_toolButtonPlanEditor_clicked()
{
if (!m_widget || !m_map) {
return;
}
// open dialog
table->show();
// bring dialog to the front in case it was already open and hidden away
table->raise();
}
void OPMapGadgetWidget::on_toolButtonSaveSettings_clicked()
{
if (!m_widget || !m_map) {
return;
}
emit defaultLocationAndZoomChanged(m_map->CurrentPosition().Lng(), m_map->CurrentPosition().Lat(), m_map->ZoomTotal());
emit defaultSafeAreaChanged(m_map->Home->SafeArea(), m_map->Home->ShowSafeArea());
}
void OPMapGadgetWidget::on_toolButtonNormalMapMode_clicked()
{
@ -916,24 +976,7 @@ void OPMapGadgetWidget::onTelemetryConnect()
if (!obum) {
return;
}
bool set;
double LLA[3];
// ***********************
// fetch the home location
if (obum->getHomeLocation(set, LLA) < 0) {
return; // error
}
setHome(internals::PointLatLng(LLA[0], LLA[1]), LLA[2]);
if (m_map) {
if (m_map->UAV->GetMapFollowType() != UAVMapFollowType::None) {
m_map->SetCurrentPosition(m_home_position.coord); // set the map position
}
}
// ***********************
applyHomeLocationOnMap();
}
void OPMapGadgetWidget::onTelemetryDisconnect()
@ -953,6 +996,17 @@ void OPMapGadgetWidget::homePositionUpdated(UAVObject *hp)
if (obum->getHomeLocation(set, LLA) < 0) {
return; // error
}
QString HomePic;
if (set) {
HomePic = "home2_set.svg";
} else {
HomePic = "home2_not_set.svg";
}
m_widget->toolButtonHomeSet->setChecked(set);
SetHomePic(HomePic);
setHome(internals::PointLatLng(LLA[0], LLA[1]), LLA[2]);
}
@ -1028,10 +1082,11 @@ void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon, double altit
m_map->Home->SetCoord(m_home_position.coord);
m_map->Home->SetAltitude(altitude);
m_map->Home->SetToggleRefresh(true);
m_map->Home->RefreshPos();
// move the magic waypoint to keep it within the safe area boundry
keepMagicWaypointWithInSafeArea();
keepMagicWaypointWithinSafeArea();
}
@ -1107,10 +1162,50 @@ void OPMapGadgetWidget::setMaxUpdateRate(int update_rate)
m_updateTimer->setInterval(m_maxUpdateRate);
}
// Update context menu selection
int max_rate_list_size = sizeof(max_update_rate_list) / sizeof(max_update_rate_list[0]);
for (int i = 0; i < max_rate_list_size; i++) {
int maxUpdateRate = max_update_rate_list[i];
if (maxUpdateRate == update_rate) {
maxUpdateRateAct.at(i)->setChecked(true);
}
}
// if (m_statusUpdateTimer)
// m_statusUpdateTimer->setInterval(m_maxUpdateRate);
}
void OPMapGadgetWidget::setSafeAreaRadius(int safe_area_radius)
{
if (!m_widget || !m_map) {
return;
}
m_map->Home->SetSafeArea(safe_area_radius);
m_map->Home->SetToggleRefresh(true);
// Update context menu selection
int safe_area_list_size = sizeof(safe_area_radius_list) / sizeof(safe_area_radius_list[0]);
for (int i = 0; i < safe_area_list_size; i++) {
int safeArea = safe_area_radius_list[i];
if (safeArea == safe_area_radius) {
safeAreaAct.at(i)->setChecked(true);
}
}
}
void OPMapGadgetWidget::setShowSafeArea(bool showSafeArea)
{
if (!m_widget || !m_map) {
return;
}
m_map->Home->SetShowSafeArea(showSafeArea);
m_map->Home->SetToggleRefresh(true);
showSafeAreaAct->setChecked(showSafeArea);
}
void OPMapGadgetWidget::setZoom(int zoom)
{
if (!m_widget || !m_map) {
@ -1164,6 +1259,10 @@ void OPMapGadgetWidget::setHomePosition(QPointF pos)
}
m_map->Home->SetCoord(internals::PointLatLng(latitude, longitude));
if (!m_telemetry_connected) {
m_home_position.coord = internals::PointLatLng(latitude, longitude);
}
}
void OPMapGadgetWidget::setPosition(QPointF pos)
@ -1803,9 +1902,10 @@ void OPMapGadgetWidget::onSetHomeAct_triggered()
altitude = QInputDialog::getDouble(this, tr("Set home altitude"),
tr("In [m], referenced to WGS84:"), altitude, -100, 100000, 2, &ok);
setHome(m_context_menu_lat_lon, altitude);
setHomeLocationObject(); // update the HomeLocation UAVObject
if (ok) {
setHome(m_context_menu_lat_lon, altitude);
setHomeLocationObject(); // update the HomeLocation UAVObject
}
}
void OPMapGadgetWidget::onGoHomeAct_triggered()
@ -1984,9 +2084,9 @@ void OPMapGadgetWidget::onLockWayPointAct_triggered()
m_mouse_waypoint->setFlag(QGraphicsItem::ItemIsMovable, locked);
if (!locked) {
m_mouse_waypoint->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
m_mouse_waypoint->picture.load(":/markers/images/wp_marker_orange.png");
} else {
m_mouse_waypoint->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
m_mouse_waypoint->picture.load(":/markers/images/wp_marker_red.png");
}
m_mouse_waypoint->update();
@ -2065,7 +2165,7 @@ void OPMapGadgetWidget::onSafeAreaActGroup_triggered(QAction *action)
m_map->Home->RefreshPos();
// move the magic waypoint if need be to keep it within the safe area around the home position
keepMagicWaypointWithInSafeArea();
keepMagicWaypointWithinSafeArea();
}
/**
@ -2096,6 +2196,9 @@ void OPMapGadgetWidget::moveToMagicWaypointPosition()
if (m_map_mode != MagicWaypoint_MapMode) {
return;
}
magicWayPoint->SetCoord(magicWayPoint->Coord());
keepMagicWaypointWithinSafeArea();
}
// *************************************************************************************
@ -2123,8 +2226,9 @@ void OPMapGadgetWidget::showMagicWaypointControls()
// *************************************************************************************
// move the magic waypoint to keep it within the safe area boundry
void OPMapGadgetWidget::keepMagicWaypointWithInSafeArea()
void OPMapGadgetWidget::keepMagicWaypointWithinSafeArea()
{
bool moveMagicWP = false;
// calcute the bearing and distance from the home position to the magic waypoint
double dist = distance(m_home_position.coord, magicWayPoint->Coord());
double bear = bearing(m_home_position.coord, magicWayPoint->Coord());
@ -2134,11 +2238,11 @@ void OPMapGadgetWidget::keepMagicWaypointWithInSafeArea()
if (dist > boundry_dist) {
dist = boundry_dist;
moveMagicWP = true;
}
// move the magic waypoint;
if (m_map_mode == MagicWaypoint_MapMode) { // move the on-screen waypoint
if ((m_map_mode == MagicWaypoint_MapMode) && moveMagicWP) { // if needed, move the on-screen waypoint to the safe area
if (magicWayPoint) {
magicWayPoint->SetCoord(destPoint(m_home_position.coord, bear, dist));
}
@ -2362,6 +2466,32 @@ bool OPMapGadgetWidget::getGPSPositionSensor(double &latitude, double &longitude
return true;
}
bool OPMapGadgetWidget::applyHomeLocationOnMap()
{
bool set;
double LLA[3];
if (!obum) {
return false;
}
// fetch the home location
if (obum->getHomeLocation(set, LLA) < 0) {
return false; // error
}
if (m_telemetry_connected) {
setHome(internals::PointLatLng(LLA[0], LLA[1]), LLA[2]);
if (m_map) {
if (m_map->UAV->GetMapFollowType() != UAVMapFollowType::None) {
m_map->SetCurrentPosition(m_home_position.coord); // set the map position
}
}
return true;
}
return false;
}
// *************************************************************************************
void OPMapGadgetWidget::setMapFollowingMode()
@ -2394,7 +2524,7 @@ bool OPMapGadgetWidget::setHomeLocationObject()
}
double LLA[3] = { m_home_position.coord.Lat(), m_home_position.coord.Lng(), m_home_position.altitude };
return obum->setHomeLocation(LLA, true) >= 0;
return obum->setHomeLocation(LLA, m_telemetry_connected) >= 0;
}
// *************************************************************************************
@ -2404,6 +2534,11 @@ void OPMapGadgetWidget::SetUavPic(QString UAVPic)
m_map->SetUavPic(UAVPic);
}
void OPMapGadgetWidget::SetHomePic(QString HomePic)
{
m_map->SetHomePic(HomePic);
}
void OPMapGadgetWidget::on_tbFind_clicked()
{
QPalette pal = m_widget->leFind->palette();

11
ground/gcs/src/plugins/opmap/opmapgadgetwidget.h
View File

@ -111,14 +111,19 @@ public:
void setCacheLocation(QString cacheLocation);
void setMapMode(opMapModeType mode);
void SetUavPic(QString UAVPic);
void SetHomePic(QString HomePic);
void setMaxUpdateRate(int update_rate);
void setSafeAreaRadius(int safe_area_radius);
void setShowSafeArea(bool showSafeArea);
void setHomePosition(QPointF pos);
void setOverlayOpacity(qreal value);
void setDefaultWaypointAltitude(qreal default_altitude);
void setDefaultWaypointVelocity(qreal default_velocity);
bool getGPSPositionSensor(double &latitude, double &longitude, double &altitude);
bool applyHomeLocationOnMap();
signals:
void defaultLocationAndZoomChanged(double lng, double lat, double zoom);
void defaultSafeAreaChanged(int safe_area_radius, bool showSafeArea);
void overlayOpacityChanged(qreal);
public slots:
@ -155,6 +160,10 @@ private slots:
void on_toolButtonNormalMapMode_clicked();
void on_toolButtonHomeWaypoint_clicked();
void on_toolButtonMoveToWP_clicked();
void on_toolButtonHomeSet_clicked();
void on_toolButtonClearUAVTrail_clicked();
void on_toolButtonPlanEditor_clicked();
void on_toolButtonSaveSettings_clicked();
/**
* @brief signals received from the map object
@ -304,7 +313,7 @@ private:
void moveToMagicWaypointPosition();
void hideMagicWaypointControls();
void showMagicWaypointControls();
void keepMagicWaypointWithInSafeArea();
void keepMagicWaypointWithinSafeArea();
double distance(internals::PointLatLng from, internals::PointLatLng to);
double bearing(internals::PointLatLng from, internals::PointLatLng to);

25
ground/gcs/src/plugins/opmap/pathplanner.cpp
View File

@ -54,7 +54,30 @@ void pathPlanner::setModel(flightDataModel *model, QItemSelectionModel *selectio
ui->tableView->setItemDelegate(new MapDataDelegate(this));
connect(model, SIGNAL(rowsInserted(const QModelIndex &, int, int)), this, SLOT(rowsInserted(const QModelIndex &, int, int)));
wid = new opmap_edit_waypoint_dialog(NULL, model, selection);
ui->tableView->resizeColumnsToContents();
ui->tableView->setColumnWidth(flightDataModel::WPDESCRIPTION, 120);
ui->tableView->setColumnWidth(flightDataModel::LATPOSITION, 100);
ui->tableView->setColumnWidth(flightDataModel::LNGPOSITION, 100);
ui->tableView->setColumnWidth(flightDataModel::DISRELATIVE, 80);
ui->tableView->setColumnWidth(flightDataModel::BEARELATIVE, 80);
ui->tableView->setColumnWidth(flightDataModel::ALTITUDERELATIVE, 70);
ui->tableView->setColumnWidth(flightDataModel::ISRELATIVE, 70);
ui->tableView->setColumnWidth(flightDataModel::ALTITUDE, 80);
ui->tableView->setColumnWidth(flightDataModel::VELOCITY, 60);
ui->tableView->setColumnWidth(flightDataModel::MODE, 120);
ui->tableView->setColumnWidth(flightDataModel::MODE_PARAMS0, 60);
ui->tableView->setColumnWidth(flightDataModel::MODE_PARAMS1, 60);
ui->tableView->setColumnWidth(flightDataModel::MODE_PARAMS2, 60);
ui->tableView->setColumnWidth(flightDataModel::MODE_PARAMS3, 60);
ui->tableView->setColumnWidth(flightDataModel::CONDITION, 150);
ui->tableView->setColumnWidth(flightDataModel::CONDITION_PARAMS0, 60);
ui->tableView->setColumnWidth(flightDataModel::CONDITION_PARAMS1, 60);
ui->tableView->setColumnWidth(flightDataModel::CONDITION_PARAMS2, 60);
ui->tableView->setColumnWidth(flightDataModel::CONDITION_PARAMS3, 60);
ui->tableView->setColumnWidth(flightDataModel::COMMAND, 150);
ui->tableView->setColumnWidth(flightDataModel::JUMPDESTINATION, 60);
ui->tableView->setColumnWidth(flightDataModel::ERRORDESTINATION, 60);
ui->tableView->setColumnWidth(flightDataModel::LOCKED, 60);
}
void pathPlanner::rowsInserted(const QModelIndex & parent, int start, int end)

18
ground/gcs/src/plugins/opmap/widgetdelegates.cpp
View File

@ -122,21 +122,21 @@ void MapDataDelegate::loadComboBox(QComboBox *combo, flightDataModel::pathPlanDa
case flightDataModel::CONDITION:
combo->addItem("None", ENDCONDITION_NONE);
combo->addItem("Timeout", ENDCONDITION_TIMEOUT);
combo->addItem("Distance to tgt", ENDCONDITION_DISTANCETOTARGET);
combo->addItem("Leg remaining", ENDCONDITION_LEGREMAINING);
combo->addItem("Distance to Target", ENDCONDITION_DISTANCETOTARGET);
combo->addItem("Leg Remaining", ENDCONDITION_LEGREMAINING);
combo->addItem("Below Error", ENDCONDITION_BELOWERROR);
combo->addItem("Above Altitude", ENDCONDITION_ABOVEALTITUDE);
combo->addItem("Above Speed", ENDCONDITION_ABOVESPEED);
combo->addItem("Pointing towards next", ENDCONDITION_POINTINGTOWARDSNEXT);
combo->addItem("Python script", ENDCONDITION_PYTHONSCRIPT);
combo->addItem("Pointing Towards Next", ENDCONDITION_POINTINGTOWARDSNEXT);
combo->addItem("Python Script", ENDCONDITION_PYTHONSCRIPT);
combo->addItem("Immediate", ENDCONDITION_IMMEDIATE);
break;
case flightDataModel::COMMAND:
combo->addItem("On conditon next wp", COMMAND_ONCONDITIONNEXTWAYPOINT);
combo->addItem("On NOT conditon next wp", COMMAND_ONNOTCONDITIONNEXTWAYPOINT);
combo->addItem("On conditon jump wp", COMMAND_ONCONDITIONJUMPWAYPOINT);
combo->addItem("On NOT conditon jump wp", COMMAND_ONNOTCONDITIONJUMPWAYPOINT);
combo->addItem("On conditon jump wp else next wp", COMMAND_IFCONDITIONJUMPWAYPOINTELSENEXTWAYPOINT);
combo->addItem("On Condition next Wp", COMMAND_ONCONDITIONNEXTWAYPOINT);
combo->addItem("On NOT Condition next Wp", COMMAND_ONNOTCONDITIONNEXTWAYPOINT);
combo->addItem("On Condition jump Wp", COMMAND_ONCONDITIONJUMPWAYPOINT);
combo->addItem("On NOT Condition jump Wp", COMMAND_ONNOTCONDITIONJUMPWAYPOINT);
combo->addItem("On Condition jump Wp else next Wp", COMMAND_IFCONDITIONJUMPWAYPOINTELSENEXTWAYPOINT);
break;
default:
break;

8
ground/gcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
View File

@ -321,7 +321,7 @@ QString UAVObjectUtilManager::getBoardDescriptionString()
// ******************************
// HomeLocation
int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool set)
{
double Be[3];
@ -341,13 +341,11 @@ int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
homeLocationData.Be[1] = Be[1];
homeLocationData.Be[2] = Be[2];
homeLocationData.Set = HomeLocation::SET_TRUE;
homeLocationData.Set = set;
homeLocation->setData(homeLocationData);
if (save_to_sdcard) {
saveObjectToSD(homeLocation);
}
saveObjectToSD(homeLocation);
return 0;
}

2
ground/gcs/src/plugins/uavobjectutil/uavobjectutilmanager.h
View File

@ -53,7 +53,7 @@ public:
UAVObjectUtilManager();
~UAVObjectUtilManager();
int setHomeLocation(double LLA[3], bool save_to_sdcard);
int setHomeLocation(double LLA[3], bool set);
int getHomeLocation(bool &set, double LLA[3]);
int getGPSPositionSensor(double LLA[3]);