From 5a18205f3679492f4329306eedc7d55eb1f56cfa Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Thu, 28 Dec 2017 12:57:39 +0100 Subject: [PATCH 01/20] LP-572 Ressource cleannup lib/opmap - Fix UAV markers size and WP marker names --- .../src/mapwidget/images/airplane.png | Bin 1747 -> 1728 bytes .../src/mapwidget/images/airplanepip.png | Bin 13242 -> 3276 bytes .../src/mapwidget/images/marker.png | Bin 858 -> 0 bytes .../src/mapwidget/images/waypoint_marker3.png | Bin 1613 -> 0 bytes .../src/mapwidget/images/wp_marker_green.png} | Bin ...point_marker2.png => wp_marker_orange.png} | Bin ...waypoint_marker1.png => wp_marker_red.png} | Bin .../src/mapwidget/mapresources.qrc | 20 +++++++----------- .../src/mapwidget/waypointitem.cpp | 20 +++++++++--------- .../plugins/opmap/images/waypoint_marker1.png | Bin 1719 -> 0 bytes .../plugins/opmap/images/waypoint_marker2.png | Bin 1737 -> 0 bytes ground/gcs/src/plugins/opmap/opmap.qrc | 3 --- .../src/plugins/opmap/opmapgadgetwidget.cpp | 4 ++-- 13 files changed, 20 insertions(+), 27 deletions(-) delete mode 100644 ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/marker.png delete mode 100644 ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/waypoint_marker3.png rename ground/gcs/src/{plugins/opmap/images/waypoint_marker3.png => libs/opmapcontrol/src/mapwidget/images/wp_marker_green.png} (100%) rename ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/{waypoint_marker2.png => wp_marker_orange.png} (100%) rename ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/{waypoint_marker1.png => wp_marker_red.png} (100%) delete mode 100644 ground/gcs/src/plugins/opmap/images/waypoint_marker1.png delete mode 100644 ground/gcs/src/plugins/opmap/images/waypoint_marker2.png diff --git a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/airplane.png b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/airplane.png index 81c73a7c4c64b6cd051923f31a1f552ea262d79d..bbf8ea43dc29f38b5ac67867df4d5b81b8118869 100644 GIT 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images/home2.svg + images/nav.svg images/home.png images/home.svg - images/nav.svg - images/home2.svg - images/airplanepip.png - images/EasystarBlue.png - images/mapquad.png images/dragons1.jpg images/dragons2.jpeg - images/waypoint_marker1.png - images/waypoint_marker2.png - images/waypoint_marker3.png - images/airplanepip.png - images/EasystarBlue.png images/mapquad.png + images/airplanepip.png + images/airplane.png + images/EasystarBlue.png diff --git a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp index 010a5c393..c256f56b2 100644 --- a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp +++ b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp @@ -35,7 +35,7 @@ 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); @@ -64,7 +64,7 @@ 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 +95,7 @@ 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 +128,7 @@ 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); @@ -301,16 +301,16 @@ 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 +436,9 @@ 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); diff --git a/ground/gcs/src/plugins/opmap/images/waypoint_marker1.png b/ground/gcs/src/plugins/opmap/images/waypoint_marker1.png deleted file mode 100644 index bc58687409ccce2fbc8eeea11be50e2aa60778f4..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1719 zcmV;o21xmdP)004R= z004l4008;_004mL004C`008P>0026e000+nl3&F}00006VoOIv0RI600RN!9r;`8x z010qNS#tmY3ljhU3ljkVnw%H_00t{bL_t(Y$CZ^`Y#dh^hM#k0_GiZS+D^PSb^@(Q 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z5<-d>q?Y;p4}N)s&*pA}J(9s!>F-<(R%bWy2dcxnS5xMwrt z+b1ZEm!G~+GtGm4o)_p@ND_i5#tc&4o~?3Wxd-sW_j*Cn?K$|ChnCkEyM3IAol|Vs zGIqHzWbAwX@L2*oR743ukYKq!(8Q(s^#%-G@jSoHB zG=2N%$t9um3?WddcB%B;J$s`!F5@u9GhOV}HB_o7jh7kSx{>naNHt$79D41Y%cxY5 zWCZV=s-gPd=<7EG0)$?G-L~*8kDQUCJUPtp)Cfkoc<}UMmu|~OB`K#WEr3Hen?hNY zDv~I{?K(Ie8zBV)qb0JshLGZ|&eE!R@|R4;eY)B(2lG@(m@gZsH)q?K*^BKsKjQC>a>#B1XA5bFt$xx6lGO zMSl|C+#x`kr1+LcUr&nF z+(^+MyKA=uOrjXK=U}dMal1L{=dMsaxp?*WDgvvw1XQWQZd8c6T ffCA8ZKj6Os`Z#W=>+z`f00000NkvXXu0mjfIsHE{ diff --git a/ground/gcs/src/plugins/opmap/opmap.qrc b/ground/gcs/src/plugins/opmap/opmap.qrc index 10073e59e..348351c6c 100644 --- a/ground/gcs/src/plugins/opmap/opmap.qrc +++ b/ground/gcs/src/plugins/opmap/opmap.qrc @@ -14,14 +14,11 @@ images/hold.png images/go.png images/combobox_down_arrow.png - images/waypoint_marker2.png - images/waypoint_marker1.png images/uav_heading.png images/uav_trail.png images/uav_trail_clear.png images/minus.png images/plus.png - images/waypoint_marker3.png images/home_wp.png images/move_to_wp.png images/center_wp.png diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp index 8db51bbda..01071b9e8 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp @@ -1984,9 +1984,9 @@ 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(); From c3d840ad635ef1eb3569fcebf16d4849df46d88c Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Thu, 28 Dec 2017 13:22:30 +0100 Subject: [PATCH 02/20] LP-572 WP Editor: Add Apply button --- .../opmap/opmap_edit_waypoint_dialog.cpp | 36 +++++++++++-------- .../opmap/opmap_edit_waypoint_dialog.h | 8 +++-- .../opmap/opmap_edit_waypoint_dialog.ui | 11 ++++-- 3 files changed, 36 insertions(+), 19 deletions(-) diff --git a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp index 2f65bde46..0b41bc21f 100644 --- a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp +++ b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp @@ -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 @@ -93,12 +94,6 @@ 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(); @@ -263,11 +258,6 @@ void opmap_edit_waypoint_dialog::setupConditionWidgets() } } -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 +277,34 @@ 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; diff --git a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.h b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.h index 84f7303ea..a9e8a7b37 100644 --- a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.h +++ b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.h @@ -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); }; diff --git a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui index c70b2967f..597c3e6ac 100644 --- a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui +++ b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui @@ -789,14 +789,14 @@ - + Previous - + Next @@ -815,6 +815,13 @@ + + + + Apply + + + From c8f81b9956ce7255dac4bb631d783b55487aada7 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Thu, 28 Dec 2017 20:10:09 +0100 Subject: [PATCH 03/20] LP-572 WP Editor: Add online help. Fixes + display WPnumber while browsing between tabs. --- .../opmap/opmap_edit_waypoint_dialog.cpp | 305 ++++++---- .../opmap/opmap_edit_waypoint_dialog.ui | 559 +++++++++++++++--- .../gcs/src/plugins/opmap/widgetdelegates.cpp | 12 +- 3 files changed, 656 insertions(+), 220 deletions(-) diff --git a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp index 0b41bc21f..9e9af7aeb 100644 --- a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp +++ b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp @@ -38,6 +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())); @@ -77,10 +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("

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.

" + "

The JumpDestination is the waypoint to jump to in unconditional or conditional jumps.

")); + + ui->descriptionErrorDestinationLabel->setText(tr("

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.

")); } + 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; @@ -98,162 +117,205 @@ 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("

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.

")); + break; case MapDataDelegate::MODE_FOLLOWVECTOR: + ui->descriptionModeLabel->setText(tr("

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.

")); + break; case MapDataDelegate::MODE_CIRCLERIGHT: + ui->descriptionModeLabel->setText(tr("

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.

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.

")); + break; case MapDataDelegate::MODE_CIRCLELEFT: + ui->descriptionModeLabel->setText(tr("

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.

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.

")); + 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("

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, ...

" + "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.

")); 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("

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.

" + "

Vertical speed in meters/second, for multirotors. (Will be around 0.6m/s)

")); + 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("

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.

" + "

Vertical speed in meters/second, for multirotors. (Will be around 0.6m/s)

")); + break; + case MapDataDelegate::MODE_BRAKE: + ui->descriptionModeLabel->setText(tr("

This mode is used internally by assisted flight modes with multirotors to slow down the velocity.

")); + break; + case MapDataDelegate::MODE_VELOCITY: + ui->descriptionModeLabel->setText(tr("

This mode is used internally by assisted flight modes with multirotors to maintain a velocity in 3D space.

")); + 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("

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.

" + "

Roll(+-180°) and Pitch (+-90°) angles in degrees

" + "

Yaw rate in deg/s

" + "

Thrust from 0 to 1

")); + 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("

Not yet implemented.

")); + // ui->descriptionModeLabel->setText(tr("

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.

")); + break; + default: + ui->descriptionModeLabel->setText(tr("")); 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("

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!)

")); + break; case MapDataDelegate::ENDCONDITION_IMMEDIATE: + ui->descriptionConditionLabel->setText(tr("

Opposite to the None condition, the immediate condition is always true.

")); + 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("

Not yet implemented.

")); 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("

The Timeout condition measures time this waypoint is active (in seconds).

")); 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("

The DistanceToTarget condition measures the distance to a waypoint, returns true if closer.

" + "

Flag: 0= 2D distance, 1= 3D distance

")); 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("

The LegRemaining condition measures how far the pathfollower got on a linear path segment, returns true " + "if closer to destination(path more complete).

" + "

0=complete, 1=just starting

")); 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("

The BelowError condition measures the error on a path segment, returns true if error is below margin in meters.

")); 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("

The AboveAltitude condition measures the flight altitude relative to home position, returns true if " + "above critical altitude.

WARNING! altitudes set here are always negative if above Home. (down coordinate)

")); 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("

The AboveSpeed measures the movement speed(3D), returns true if above critical speed

" + "

Speed in meters / second

" + "

Flag: 0= groundspeed 1= airspeed

")); 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("

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).

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.

")); break; default: - + ui->descriptionConditionLabel->setText(tr("")); break; } } @@ -304,7 +366,6 @@ void opmap_edit_waypoint_dialog::on_pushButtonApply_clicked() mapper->submit(); } - void opmap_edit_waypoint_dialog::enableEditWidgets(bool value) { QWidget *w; diff --git a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui index 597c3e6ac..4dfb28d2b 100644 --- a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui +++ b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui @@ -83,7 +83,7 @@ - + @@ -99,10 +99,10 @@ - + - + @@ -121,7 +121,7 @@ - + 5 @@ -134,14 +134,14 @@ - + degrees - + degrees @@ -164,21 +164,21 @@ - + meters - + degrees - + Bearing @@ -188,7 +188,7 @@ - + 2 @@ -198,7 +198,7 @@ - + @@ -214,7 +214,7 @@ - + Qt::LeftToRight @@ -234,21 +234,28 @@ - + 0 - + + + + 999999999.000000000000000 + + + + - + Velocity @@ -258,13 +265,6 @@ - - - - 999999999.000000000000000 - - - @@ -281,14 +281,14 @@ - + meters - + Relative altitude @@ -298,7 +298,7 @@ - + -999999999.000000000000000 @@ -308,24 +308,7 @@ - - - - meters - - - - - - - 2 - - - 999999999.000000000000000 - - - - + -5000.000000000000000 @@ -335,7 +318,24 @@ - + + + + meters + + + + + + + 2 + + + 999999999.000000000000000 + + + + m/s @@ -344,6 +344,19 @@ + + + + Qt::Vertical + + + + 20 + 0 + + + + @@ -353,6 +366,48 @@ + + + + 6 + + + 0 + + + + + + 0 + 0 + + + + Description + + + Qt::AlignJustify|Qt::AlignTop + + + true + + + + + + + Qt::Vertical + + + + 20 + 5 + + + + + + @@ -363,7 +418,7 @@ - 100 + 120 0 @@ -379,7 +434,14 @@ - + + + + 120 + 0 + + + @@ -399,6 +461,12 @@ 0 + + + 100 + 0 + + Qt::LeftToRight @@ -427,6 +495,9 @@ Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + true + @@ -446,6 +517,9 @@ Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + true + @@ -465,6 +539,9 @@ Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + true + @@ -497,21 +574,34 @@ - - + + - Qt::Horizontal + Qt::Vertical - 40 - 20 + 20 + 5 + + + + Qt::Vertical + + + + 20 + 0 + + + + @@ -519,11 +609,37 @@ End condition + + + + Qt::Vertical + + + + 20 + 0 + + + + QLayout::SetDefaultConstraint + + + + Qt::Vertical + + + + 20 + 5 + + + + @@ -534,7 +650,7 @@ - 100 + 120 0 @@ -550,7 +666,14 @@ - + + + + 150 + 0 + + + @@ -579,6 +702,9 @@ Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + true + @@ -598,6 +724,9 @@ Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + true + @@ -617,6 +746,9 @@ Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + true + @@ -636,6 +768,9 @@ Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + true + @@ -668,18 +803,47 @@ - - - - Qt::Horizontal + + + + 6 - - - 40 - 20 - + + 0 - + + + + + 0 + 0 + + + + Description + + + Qt::AlignJustify|Qt::AlignTop + + + true + + + + + + + Qt::Vertical + + + + 20 + 0 + + + + + @@ -690,12 +854,100 @@ Command + + + + Qt::Vertical + + + + 20 + 0 + + + + + + + + Qt::Horizontal + + + QLayout::SetDefaultConstraint - + + 0 + + + + + + 0 + 0 + + + + Description + + + Qt::AlignJustify|Qt::AlignVCenter + + + true + + + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 6 + 0 + + + + + + + + 0 + + + + + + 60 + 0 + + + + + + + + Qt::Horizontal + + + + 0 + 10 + + + + + + + @@ -705,7 +957,7 @@ - 100 + 130 0 @@ -720,10 +972,17 @@ - - + + + + + 210 + 0 + + + - + @@ -740,29 +999,29 @@ Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - 0 - 0 - - - - Qt::LeftToRight - - - Error Destination - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + true - - + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 6 + 20 + + + + + + Qt::Horizontal @@ -774,11 +1033,117 @@ - - + + + + + + 0 + + + 0 + + + 0 + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 6 + 20 + + + - - + + + + + 0 + 0 + + + + Description + + + true + + + + + + + + 0 + 0 + + + + + 130 + 0 + + + + Qt::LeftToRight + + + Error Destination + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + true + + + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 6 + 20 + + + + + + + + + 60 + 0 + + + + + + + + Qt::Horizontal + + + + 10 + 20 + + + @@ -795,6 +1160,16 @@ + + + + Qt::AlignCenter + + + QAbstractSpinBox::NoButtons + + + diff --git a/ground/gcs/src/plugins/opmap/widgetdelegates.cpp b/ground/gcs/src/plugins/opmap/widgetdelegates.cpp index b0ff8bed0..e69fb998f 100644 --- a/ground/gcs/src/plugins/opmap/widgetdelegates.cpp +++ b/ground/gcs/src/plugins/opmap/widgetdelegates.cpp @@ -122,7 +122,7 @@ 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("Distance to target", ENDCONDITION_DISTANCETOTARGET); combo->addItem("Leg remaining", ENDCONDITION_LEGREMAINING); combo->addItem("Below Error", ENDCONDITION_BELOWERROR); combo->addItem("Above Altitude", ENDCONDITION_ABOVEALTITUDE); @@ -132,11 +132,11 @@ void MapDataDelegate::loadComboBox(QComboBox *combo, flightDataModel::pathPlanDa 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; From fada2f659c39b3b9fa64c968ddb2955398a9d07c Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Fri, 29 Dec 2017 20:26:54 +0100 Subject: [PATCH 04/20] LP-572 Made Pathplanner editor more readable + typo fix --- .../gcs/src/plugins/opmap/flightdatamodel.cpp | 62 +++++++++---------- .../gcs/src/plugins/opmap/flightdatamodel.h | 4 +- .../gcs/src/plugins/opmap/modelmapproxy.cpp | 6 +- .../opmap/opmap_edit_waypoint_dialog.cpp | 2 +- ground/gcs/src/plugins/opmap/pathplanner.cpp | 25 +++++++- 5 files changed, 61 insertions(+), 38 deletions(-) diff --git a/ground/gcs/src/plugins/opmap/flightdatamodel.cpp b/ground/gcs/src/plugins/opmap/flightdatamodel.cpp index 17f76257e..01756e932 100644 --- a/ground/gcs/src/plugins/opmap/flightdatamodel.cpp +++ b/ground/gcs/src/plugins/opmap/flightdatamodel.cpp @@ -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") { diff --git a/ground/gcs/src/plugins/opmap/flightdatamodel.h b/ground/gcs/src/plugins/opmap/flightdatamodel.h index 14d3f3e1c..f8ddb1cf1 100644 --- a/ground/gcs/src/plugins/opmap/flightdatamodel.h +++ b/ground/gcs/src/plugins/opmap/flightdatamodel.h @@ -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 diff --git a/ground/gcs/src/plugins/opmap/modelmapproxy.cpp b/ground/gcs/src/plugins/opmap/modelmapproxy.cpp index 0940217ff..db658f0bf 100644 --- a/ground/gcs/src/plugins/opmap/modelmapproxy.cpp +++ b/ground/gcs/src/plugins/opmap/modelmapproxy.cpp @@ -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()); diff --git a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp index 9e9af7aeb..93ea5b9e8 100644 --- a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp +++ b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp @@ -57,7 +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); diff --git a/ground/gcs/src/plugins/opmap/pathplanner.cpp b/ground/gcs/src/plugins/opmap/pathplanner.cpp index dd02a6258..053d39376 100644 --- a/ground/gcs/src/plugins/opmap/pathplanner.cpp +++ b/ground/gcs/src/plugins/opmap/pathplanner.cpp @@ -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) From 16d22e28d259fb1722f31dab6d1d9c0af66c371a Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Wed, 27 Dec 2017 16:33:40 +0100 Subject: [PATCH 05/20] LP-572 Change the setCoord() threshold from 11m to 21cm --- .../src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp index c256f56b2..c559957b9 100644 --- a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp +++ b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp @@ -29,6 +29,8 @@ #include "homeitem.h" #include +#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) { @@ -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; From 5b1b127ad0e51a5dd5f56bf8f69e2b20a5ff33ca Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Wed, 27 Dec 2017 16:45:43 +0100 Subject: [PATCH 06/20] LP-572 Move MagicWayPoint in map and keep inside safe area --- .../gcs/src/plugins/opmap/opmapgadgetwidget.cpp | 16 ++++++++++------ ground/gcs/src/plugins/opmap/opmapgadgetwidget.h | 2 +- 2 files changed, 11 insertions(+), 7 deletions(-) diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp index 01071b9e8..2d6cfd14a 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp @@ -209,7 +209,7 @@ 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 @@ -1031,7 +1031,7 @@ void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon, double altit m_map->Home->RefreshPos(); // move the magic waypoint to keep it within the safe area boundry - keepMagicWaypointWithInSafeArea(); + keepMagicWaypointWithinSafeArea(); } @@ -2065,7 +2065,7 @@ 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 +2096,9 @@ void OPMapGadgetWidget::moveToMagicWaypointPosition() if (m_map_mode != MagicWaypoint_MapMode) { return; } + + magicWayPoint->SetCoord(magicWayPoint->Coord()); + keepMagicWaypointWithinSafeArea(); } // ************************************************************************************* @@ -2123,8 +2126,9 @@ 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 +2138,11 @@ 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)); } diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h index 02aa9d6f1..696a10fbc 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h +++ b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h @@ -304,7 +304,7 @@ 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); From 121aaa08b72c6a23a73019681743752082494c0c Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Wed, 3 Jan 2018 17:05:31 +0100 Subject: [PATCH 07/20] LP-572 String fixes, capitalization. --- .../opmap/opmap_edit_waypoint_dialog.cpp | 4 ++-- .../gcs/src/plugins/opmap/widgetdelegates.cpp | 18 +++++++++--------- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp index 93ea5b9e8..9975246dc 100644 --- a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp +++ b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp @@ -223,7 +223,7 @@ void opmap_edit_waypoint_dialog::setupModeWidgets() // "This would allow one to control arbitrary auxilliary components from the PathPlanner like flaps and landing gear.

")); break; default: - ui->descriptionModeLabel->setText(tr("")); + ui->descriptionModeLabel->setText(""); break; } } @@ -315,7 +315,7 @@ void opmap_edit_waypoint_dialog::setupConditionWidgets() "returns true if within a certain angular margin in degrees.

")); break; default: - ui->descriptionConditionLabel->setText(tr("")); + ui->descriptionConditionLabel->setText(""); break; } } diff --git a/ground/gcs/src/plugins/opmap/widgetdelegates.cpp b/ground/gcs/src/plugins/opmap/widgetdelegates.cpp index e69fb998f..e6bde6bd3 100644 --- a/ground/gcs/src/plugins/opmap/widgetdelegates.cpp +++ b/ground/gcs/src/plugins/opmap/widgetdelegates.cpp @@ -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 target", 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 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); + 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; From f51e7d3688f321cc41400aa00b890c32387abab1 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Wed, 3 Jan 2018 22:07:06 +0100 Subject: [PATCH 08/20] LP-572 Fix Home position on map when OPMap config is updated --- ground/gcs/src/plugins/opmap/opmapgadget.cpp | 6 ++- .../src/plugins/opmap/opmapgadgetwidget.cpp | 49 ++++++++++++------- .../gcs/src/plugins/opmap/opmapgadgetwidget.h | 1 + 3 files changed, 37 insertions(+), 19 deletions(-) diff --git a/ground/gcs/src/plugins/opmap/opmapgadget.cpp b/ground/gcs/src/plugins/opmap/opmapgadget.cpp index a49472aed..12319b593 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadget.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadget.cpp @@ -67,8 +67,12 @@ 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->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())); + } } diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp index 2d6cfd14a..345cd3f5d 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp @@ -916,24 +916,7 @@ 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() @@ -1164,6 +1147,10 @@ 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) @@ -2366,6 +2353,32 @@ 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() diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h index 696a10fbc..48f034365 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h +++ b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h @@ -117,6 +117,7 @@ public: 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 overlayOpacityChanged(qreal); From fd92c900a88eb3ba88ad34bde3c2e978a2f2c813 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Wed, 3 Jan 2018 23:19:43 +0100 Subject: [PATCH 09/20] LP-572 Apply HomeLocation only when OK button pressed (ignored on Cancel) --- ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp index 345cd3f5d..5bfc300c3 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp @@ -1790,9 +1790,10 @@ 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() From b2b6e58b68381843cfb1adb9a60452aad49356c3 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Thu, 4 Jan 2018 02:44:05 +0100 Subject: [PATCH 10/20] LP-572 Handle HomeLocation.Set flag and update Home picture according to status --- .../opmapcontrol/src/mapwidget/homeitem.cpp | 6 ++ .../opmapcontrol/src/mapwidget/homeitem.h | 1 + .../src/mapwidget/images/home2_not_set.svg | 80 ++++++++++++++++ .../src/mapwidget/images/home2_set.svg | 93 +++++++++++++++++++ .../src/mapwidget/mapresources.qrc | 2 + .../src/mapwidget/opmapwidget.cpp | 6 ++ .../opmapcontrol/src/mapwidget/opmapwidget.h | 1 + .../src/plugins/opmap/opmapgadgetwidget.cpp | 17 +++- .../gcs/src/plugins/opmap/opmapgadgetwidget.h | 1 + .../uavobjectutil/uavobjectutilmanager.cpp | 8 +- .../uavobjectutil/uavobjectutilmanager.h | 2 +- 11 files changed, 210 insertions(+), 7 deletions(-) create mode 100644 ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/home2_not_set.svg create mode 100644 ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/home2_set.svg diff --git a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp index 5aa809b7e..6cbd9cec6 100644 --- a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp +++ b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp @@ -98,6 +98,12 @@ 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); diff --git a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.h b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.h index 783b30a2c..0a7ba2616 100644 --- a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.h +++ b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.h @@ -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); diff --git a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/home2_not_set.svg b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/home2_not_set.svg new file mode 100644 index 000000000..4eef55159 --- /dev/null +++ b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/home2_not_set.svg @@ -0,0 +1,80 @@ + + + + + + + + + + + image/svg+xml + + + + + + + + + + diff --git a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/home2_set.svg b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/home2_set.svg new file mode 100644 index 000000000..d1faad64b --- /dev/null +++ b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/images/home2_set.svg @@ -0,0 +1,93 @@ + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + diff --git a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/mapresources.qrc b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/mapresources.qrc index 1bb14fffd..918e51ecd 100644 --- a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/mapresources.qrc +++ b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/mapresources.qrc @@ -6,6 +6,8 @@ images/wp_marker_red.png images/compas.svg images/home2.svg + images/home2_not_set.svg + images/home2_set.svg images/nav.svg images/home.png images/home.svg diff --git a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp index ea1301a24..da58d44f1 100644 --- a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp +++ b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp @@ -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) { diff --git a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h index af79774c7..46b7919ab 100644 --- a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h +++ b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h @@ -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); diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp index 5bfc300c3..7007dd15f 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp @@ -936,6 +936,16 @@ 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"; + } + + SetHomePic(HomePic); setHome(internals::PointLatLng(LLA[0], LLA[1]), LLA[2]); } @@ -2412,7 +2422,7 @@ 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; } // ************************************************************************************* @@ -2422,6 +2432,11 @@ 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(); diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h index 48f034365..45d4513bf 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h +++ b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h @@ -111,6 +111,7 @@ public: void setCacheLocation(QString cacheLocation); void setMapMode(opMapModeType mode); void SetUavPic(QString UAVPic); + void SetHomePic(QString HomePic); void setMaxUpdateRate(int update_rate); void setHomePosition(QPointF pos); void setOverlayOpacity(qreal value); diff --git a/ground/gcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/gcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp index 113f795ce..54bec53ea 100644 --- a/ground/gcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp +++ b/ground/gcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp @@ -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; } diff --git a/ground/gcs/src/plugins/uavobjectutil/uavobjectutilmanager.h b/ground/gcs/src/plugins/uavobjectutil/uavobjectutilmanager.h index 2b298e3e3..8878b8a07 100644 --- a/ground/gcs/src/plugins/uavobjectutil/uavobjectutilmanager.h +++ b/ground/gcs/src/plugins/uavobjectutil/uavobjectutilmanager.h @@ -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]); From debddb5c0bd688950fb17a8c87711e7473060fd5 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Thu, 4 Jan 2018 03:08:25 +0100 Subject: [PATCH 11/20] LP-572 Enable the isSet option for HomeLocation in Attitude tab, add tooltip. --- ground/gcs/src/plugins/config/configrevowidget.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ground/gcs/src/plugins/config/configrevowidget.cpp b/ground/gcs/src/plugins/config/configrevowidget.cpp index 2fb72481e..4f03691f1 100644 --- a/ground/gcs/src/plugins/config/configrevowidget.cpp +++ b/ground/gcs/src/plugins/config/configrevowidget.cpp @@ -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); From 16cca00f2103fae75ae8328de17834747b1e9771 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Fri, 5 Jan 2018 13:41:14 +0100 Subject: [PATCH 12/20] LP-572 Make safe area user-configurable --- ground/gcs/src/plugins/opmap/opmapgadget.cpp | 2 + .../opmap/opmapgadgetconfiguration.cpp | 6 + .../plugins/opmap/opmapgadgetconfiguration.h | 20 ++ .../plugins/opmap/opmapgadgetoptionspage.cpp | 21 ++ .../plugins/opmap/opmapgadgetoptionspage.ui | 262 ++++++++++-------- .../src/plugins/opmap/opmapgadgetwidget.cpp | 26 +- .../gcs/src/plugins/opmap/opmapgadgetwidget.h | 2 + 7 files changed, 224 insertions(+), 115 deletions(-) diff --git a/ground/gcs/src/plugins/opmap/opmapgadget.cpp b/ground/gcs/src/plugins/opmap/opmapgadget.cpp index 12319b593..2d81b99e7 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadget.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadget.cpp @@ -67,6 +67,8 @@ 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->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()); diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetconfiguration.cpp b/ground/gcs/src/plugins/opmap/opmapgadgetconfiguration.cpp index 724bd513b..16dccd110 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetconfiguration.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadgetconfiguration.cpp @@ -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); diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetconfiguration.h b/ground/gcs/src/plugins/opmap/opmapgadgetconfiguration.h index 6c8206e53..df26827da 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetconfiguration.h +++ b/ground/gcs/src/plugins/opmap/opmapgadgetconfiguration.h @@ -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; diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetoptionspage.cpp b/ground/gcs/src/plugins/opmap/opmapgadgetoptionspage.cpp index 24993b51e..23cc3bc44 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetoptionspage.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadgetoptionspage.cpp @@ -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()); } diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetoptionspage.ui b/ground/gcs/src/plugins/opmap/opmapgadgetoptionspage.ui index d4fbdc6a2..b2f3f1cd0 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetoptionspage.ui +++ b/ground/gcs/src/plugins/opmap/opmapgadgetoptionspage.ui @@ -54,8 +54,8 @@ 0 0 - 549 - 401 + 550 + 422 @@ -88,7 +88,17 @@ - + + + + + Default latitude + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + @@ -102,16 +112,72 @@ - - + + + + true + + + + 0 + 0 + + + + + 0 + 0 + + + + Qt::RightToLeft + - Map type + Use OpenGL + + + + + + + true + + + + 0 + 0 + + + + + 161 + 0 + + + + true + + + Qt::RightToLeft + + + Show Tile Grid Lines + + + + + + + Default zoom Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + @@ -137,85 +203,6 @@ - - - - Default zoom - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 50 - 16777215 - - - - true - - - 2 - - - 18 - - - - - - - Default latitude - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - 0 - 0 - - - - - 120 - 0 - - - - true - - - 8 - - - -90.000000000000000 - - - 90.000000000000000 - - - @@ -254,11 +241,8 @@ - - - - true - + + 0 @@ -267,23 +251,90 @@ - 161 + 0 0 - + + + 50 + 16777215 + + + true - - Qt::RightToLeft + + 2 - - Show Tile Grid Lines + + 18 - - + + + + Map type + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + 0 + 0 + + + + + 120 + 0 + + + + true + + + 8 + + + -90.000000000000000 + + + 90.000000000000000 + + + + + + + Default Max Update Rate + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + + + Default Safe Area Radius + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + true @@ -303,20 +354,7 @@ Qt::RightToLeft - Use OpenGL - - - - - - - - - - Default Max Update Rate - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + Show Safe Area diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp index 7007dd15f..ccf4f2376 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp @@ -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) { @@ -1104,6 +1104,26 @@ void OPMapGadgetWidget::setMaxUpdateRate(int update_rate) // 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); +} + +void OPMapGadgetWidget::setShowSafeArea(bool showSafeArea) +{ + if (!m_widget || !m_map) { + return; + } + + m_map->Home->SetShowSafeArea(showSafeArea); + m_map->Home->SetToggleRefresh(true); +} + void OPMapGadgetWidget::setZoom(int zoom) { if (!m_widget || !m_map) { diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h index 45d4513bf..23e354758 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h +++ b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h @@ -113,6 +113,8 @@ public: 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); From 411512fa62b1061b5eae3e9017ce9ad1b491d94c Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Sat, 6 Jan 2018 13:55:47 +0100 Subject: [PATCH 13/20] LP-572 Update context menu from configuration settings, max update rate user-configurable --- ground/gcs/src/plugins/opmap/opmapgadget.cpp | 1 + .../src/plugins/opmap/opmapgadgetwidget.cpp | 20 +++++++++++++++++++ 2 files changed, 21 insertions(+) diff --git a/ground/gcs/src/plugins/opmap/opmapgadget.cpp b/ground/gcs/src/plugins/opmap/opmapgadget.cpp index 2d81b99e7..3667bff08 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadget.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadget.cpp @@ -59,6 +59,7 @@ void OPMapGadget::loadConfiguration(IUAVGadgetConfiguration *config) { m_config = qobject_cast(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()); diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp index ccf4f2376..1d71e012e 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp @@ -1100,6 +1100,15 @@ 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); } @@ -1112,6 +1121,15 @@ void OPMapGadgetWidget::setSafeAreaRadius(int safe_area_radius) 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) @@ -1122,6 +1140,8 @@ void OPMapGadgetWidget::setShowSafeArea(bool showSafeArea) m_map->Home->SetShowSafeArea(showSafeArea); m_map->Home->SetToggleRefresh(true); + + showSafeAreaAct->setChecked(showSafeArea); } void OPMapGadgetWidget::setZoom(int zoom) From f5d36cca1bee282e7642bbe6e88add3fc6f322b6 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Sat, 6 Jan 2018 02:06:27 +0100 Subject: [PATCH 14/20] LP-572 Udpate map --- ground/gcs/src/libs/opmapcontrol/src/core/providerstrings.cpp | 2 +- ground/gcs/src/libs/opmapcontrol/src/core/urlfactory.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ground/gcs/src/libs/opmapcontrol/src/core/providerstrings.cpp b/ground/gcs/src/libs/opmapcontrol/src/core/providerstrings.cpp index d0abe91b4..3e48a871c 100644 --- a/ground/gcs/src/libs/opmapcontrol/src/core/providerstrings.cpp +++ b/ground/gcs/src/libs/opmapcontrol/src/core/providerstrings.cpp @@ -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"; diff --git a/ground/gcs/src/libs/opmapcontrol/src/core/urlfactory.cpp b/ground/gcs/src/libs/opmapcontrol/src/core/urlfactory.cpp index aa6fa3487..010a5aa62 100644 --- a/ground/gcs/src/libs/opmapcontrol/src/core/urlfactory.cpp +++ b/ground/gcs/src/libs/opmapcontrol/src/core/urlfactory.cpp @@ -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=... From b92d077555ffafb37494b7e043d8df5c84ff3ebe Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Sun, 21 Jan 2018 14:52:35 +0100 Subject: [PATCH 15/20] LP-573 Workaround for duplicate Home/Safearea display --- .../gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp index 6cbd9cec6..b6d7747cb 100644 --- a/ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp +++ b/ground/gcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp @@ -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); } } From 40f669b23236a90e73cfab4c2f348ffbef51a199 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Sun, 21 Jan 2018 14:54:15 +0100 Subject: [PATCH 16/20] LP-572 Add new icons to OPMap --- .../opmap/images/button_clear_uavtrail.png | Bin 0 -> 2073 bytes .../plugins/opmap/images/button_edit_plan.png | Bin 0 -> 1527 bytes .../src/plugins/opmap/images/button_edit_wp.png | Bin 0 -> 997 bytes .../gcs/src/plugins/opmap/images/button_home.png | Bin 0 -> 992 bytes .../plugins/opmap/images/button_home_not_set.png | Bin 0 -> 1239 bytes .../src/plugins/opmap/images/button_home_set.png | Bin 0 -> 1146 bytes .../src/plugins/opmap/images/button_home_wp.png | Bin 0 -> 1613 bytes .../plugins/opmap/images/button_move_to_wp.png | Bin 0 -> 1532 bytes .../gcs/src/plugins/opmap/images/button_save.png | Bin 0 -> 1676 bytes .../gcs/src/plugins/opmap/images/button_uav.png | Bin 0 -> 1441 bytes .../plugins/opmap/images/button_uav_heading.png | Bin 0 -> 2203 bytes ground/gcs/src/plugins/opmap/opmap.qrc | 11 +++++++++++ ground/gcs/src/plugins/opmap/opmap_widget.ui | 10 +++++----- 13 files changed, 16 insertions(+), 5 deletions(-) create mode 100644 ground/gcs/src/plugins/opmap/images/button_clear_uavtrail.png create mode 100644 ground/gcs/src/plugins/opmap/images/button_edit_plan.png create mode 100644 ground/gcs/src/plugins/opmap/images/button_edit_wp.png create mode 100644 ground/gcs/src/plugins/opmap/images/button_home.png create mode 100644 ground/gcs/src/plugins/opmap/images/button_home_not_set.png create mode 100644 ground/gcs/src/plugins/opmap/images/button_home_set.png create mode 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z0)!C87)KF8Apn@c7=Hr*%Ph;TZkP401#I*;nM@P_2t^_hnZ467#u=KXQzDUwUYl?` ddYuCR_&0}F`srxxNOS-I002ovPDHLkV1hz692Wop literal 0 HcmV?d00001 diff --git a/ground/gcs/src/plugins/opmap/opmap.qrc b/ground/gcs/src/plugins/opmap/opmap.qrc index 348351c6c..3ddade3b0 100644 --- a/ground/gcs/src/plugins/opmap/opmap.qrc +++ b/ground/gcs/src/plugins/opmap/opmap.qrc @@ -1,5 +1,16 @@ + images/button_home.png + images/button_home_not_set.png + images/button_home_set.png + images/button_home_wp.png + images/button_move_to_wp.png + images/button_uav.png + images/button_uav_heading.png + images/button_edit_plan.png + images/button_edit_wp.png + images/button_save.png + images/button_clear_uavtrail.png images/ok.png images/uav.png images/gcs.png diff --git a/ground/gcs/src/plugins/opmap/opmap_widget.ui b/ground/gcs/src/plugins/opmap/opmap_widget.ui index ece39e353..228c3cf5d 100644 --- a/ground/gcs/src/plugins/opmap/opmap_widget.ui +++ b/ground/gcs/src/plugins/opmap/opmap_widget.ui @@ -434,7 +434,7 @@ border-radius: 2px; - :/opmap/images/move_to_wp.png:/opmap/images/move_to_wp.png + :/opmap/images/button_move_to_wp.png:/opmap/images/button_move_to_wp.png @@ -460,7 +460,7 @@ border-radius: 2px; - :/opmap/images/home_wp.png:/opmap/images/home_wp.png + :/opmap/images/button_home_wp.png:/opmap/images/button_home_wp.png @@ -496,7 +496,7 @@ border-radius: 2px; - :/opmap/images/gcs.png:/opmap/images/gcs.png + :/opmap/images/button_home.png:/opmap/images/button_home.png @@ -531,7 +531,7 @@ border-radius: 2px; - :/opmap/images/uav.png:/opmap/images/uav.png + :/opmap/images/uav.png:/opmap/images/button_uav.png @@ -569,7 +569,7 @@ border-radius: 2px; - :/opmap/images/uav_heading.png:/opmap/images/uav_heading.png + :/opmap/images/uav_heading.png:/opmap/images/button_uav_heading.png From 1fd91caa298c23019ddb3c958c19f45198841f87 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Sun, 21 Jan 2018 21:01:50 +0100 Subject: [PATCH 17/20] LP-572 Add buttons to the right: Save, clear trail, PathPlan editor, Home set --- ground/gcs/src/plugins/opmap/opmap_widget.ui | 246 +++++++++++++++++- ground/gcs/src/plugins/opmap/opmapgadget.cpp | 9 + ground/gcs/src/plugins/opmap/opmapgadget.h | 1 + .../src/plugins/opmap/opmapgadgetwidget.cpp | 62 +++++ .../gcs/src/plugins/opmap/opmapgadgetwidget.h | 5 + 5 files changed, 315 insertions(+), 8 deletions(-) diff --git a/ground/gcs/src/plugins/opmap/opmap_widget.ui b/ground/gcs/src/plugins/opmap/opmap_widget.ui index 228c3cf5d..5943cecb4 100644 --- a/ground/gcs/src/plugins/opmap/opmap_widget.ui +++ b/ground/gcs/src/plugins/opmap/opmap_widget.ui @@ -6,8 +6,8 @@ 0 0 - 514 - 412 + 671 + 488 @@ -29,7 +29,16 @@ 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -242,7 +251,16 @@ border-radius: 2px; 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -531,7 +549,7 @@ border-radius: 2px; - :/opmap/images/uav.png:/opmap/images/button_uav.png + :/opmap/images/button_uav.png:/opmap/images/button_uav.png @@ -569,7 +587,7 @@ border-radius: 2px; - :/opmap/images/uav_heading.png:/opmap/images/button_uav_heading.png + :/opmap/images/button_uav_heading.png:/opmap/images/button_uav_heading.png @@ -775,7 +793,16 @@ border-radius: 3px; 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -876,7 +903,16 @@ border-radius: 3px; 5 - + + 1 + + + 1 + + + 1 + + 1 @@ -1020,6 +1056,152 @@ border-radius: 3px; + + + + QFrame::Plain + + + Qt::Horizontal + + + + + + + + 0 + 0 + + + + Set HomeLocation to be used by the +autopilot or just pick the first GPS fix. + + + Home Set + + + + :/opmap/images/button_home_not_set.png + :/opmap/images/button_home_set.png:/opmap/images/button_home_not_set.png + + + + 28 + 28 + + + + true + + + false + + + Qt::ToolButtonIconOnly + + + false + + + + + + + + 0 + 0 + + + + Clear UAV trail + + + Clear UAV trail + + + + :/opmap/images/button_clear_uavtrail.png:/opmap/images/button_clear_uavtrail.png + + + + 28 + 28 + + + + false + + + false + + + Qt::ToolButtonIconOnly + + + false + + + + + + + QFrame::Plain + + + Qt::Horizontal + + + + + + + + 0 + 0 + + + + Edit PathPlan + + + Edit plan + + + + :/opmap/images/button_edit_plan.png:/opmap/images/button_edit_plan.png + + + + 28 + 28 + + + + false + + + false + + + Qt::ToolButtonIconOnly + + + false + + + + + + + QFrame::Plain + + + Qt::Horizontal + + + @@ -1036,6 +1218,54 @@ border-radius: 3px; + + + + QFrame::Plain + + + Qt::Horizontal + + + + + + + + 0 + 0 + + + + Save current map settings + + + Save settings + + + + :/opmap/images/button_save.png:/opmap/images/button_save.png + + + + 28 + 28 + + + + false + + + false + + + Qt::ToolButtonIconOnly + + + false + + + diff --git a/ground/gcs/src/plugins/opmap/opmapgadget.cpp b/ground/gcs/src/plugins/opmap/opmapgadget.cpp index 3667bff08..b677d1d6f 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadget.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadget.cpp @@ -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) { diff --git a/ground/gcs/src/plugins/opmap/opmapgadget.h b/ground/gcs/src/plugins/opmap/opmapgadget.h index bbc4f4ae9..a2be4937b 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadget.h +++ b/ground/gcs/src/plugins/opmap/opmapgadget.h @@ -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); }; diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp index 1d71e012e..e9e7a95f4 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp +++ b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp @@ -216,6 +216,7 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent) 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() { @@ -944,6 +1004,7 @@ void OPMapGadgetWidget::homePositionUpdated(UAVObject *hp) } else { HomePic = "home2_not_set.svg"; } + m_widget->toolButtonHomeSet->setChecked(set); SetHomePic(HomePic); setHome(internals::PointLatLng(LLA[0], LLA[1]), LLA[2]); @@ -1021,6 +1082,7 @@ 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 diff --git a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h index 23e354758..959a14892 100644 --- a/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h +++ b/ground/gcs/src/plugins/opmap/opmapgadgetwidget.h @@ -123,6 +123,7 @@ public: bool applyHomeLocationOnMap(); signals: void defaultLocationAndZoomChanged(double lng, double lat, double zoom); + void defaultSafeAreaChanged(int safe_area_radius, bool showSafeArea); void overlayOpacityChanged(qreal); public slots: @@ -159,6 +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 From 411b004583ef5729db31fceef86c957758a667b0 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Sun, 21 Jan 2018 21:53:17 +0100 Subject: [PATCH 18/20] LP-572 Add button_search icon --- .../src/plugins/opmap/images/button_search.png | Bin 0 -> 1787 bytes ground/gcs/src/plugins/opmap/opmap.qrc | 1 + ground/gcs/src/plugins/opmap/opmap_widget.ui | 12 +++++++++--- 3 files changed, 10 insertions(+), 3 deletions(-) create mode 100644 ground/gcs/src/plugins/opmap/images/button_search.png diff --git a/ground/gcs/src/plugins/opmap/images/button_search.png b/ground/gcs/src/plugins/opmap/images/button_search.png new file mode 100644 index 0000000000000000000000000000000000000000..8521a3ae8b5e495e44d731182d48b238442f13b6 GIT binary patch literal 1787 zcmVkrL2Mh1MAw@ z66ThT47-VE=FIK%VZm{YFYC1QlSXHxnK|b--#P#9Pf&oQlq8u#YXbm2 zAw(AP{bnMYJ-l(_h8By(*!cMPuDQ9np9VqDLIVd$B+Nw_U+p*PM<#Q z|JMM6gM;eQ(o*xid-pCKIB=li>s$^C^YgB0E=zzwRTMam10D)tN7?t3nte6O-Me?Q 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dA;brOe*<=%Ix$ze5fK0Y002ovPDHLkV1hp;Py7G? literal 0 HcmV?d00001 diff --git a/ground/gcs/src/plugins/opmap/opmap.qrc b/ground/gcs/src/plugins/opmap/opmap.qrc index 3ddade3b0..c48eafd32 100644 --- a/ground/gcs/src/plugins/opmap/opmap.qrc +++ b/ground/gcs/src/plugins/opmap/opmap.qrc @@ -1,5 +1,6 @@ + images/button_search.png images/button_home.png images/button_home_not_set.png images/button_home_set.png diff --git a/ground/gcs/src/plugins/opmap/opmap_widget.ui b/ground/gcs/src/plugins/opmap/opmap_widget.ui index 5943cecb4..d775ec2ef 100644 --- a/ground/gcs/src/plugins/opmap/opmap_widget.ui +++ b/ground/gcs/src/plugins/opmap/opmap_widget.ui @@ -6,8 +6,8 @@ 0 0 - 671 - 488 + 746 + 572 @@ -397,7 +397,13 @@ border-radius: 2px; - :/opmap/images/waypoint.png:/opmap/images/waypoint.png + :/opmap/images/button_search.png:/opmap/images/button_search.png + + + + 22 + 22 + From 0b092e15ceef10889f3df0427c7303d5ebcaf88c Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Wed, 14 Feb 2018 11:38:55 +0100 Subject: [PATCH 19/20] LP-572 Better pathplanner icon --- .../plugins/opmap/images/button_edit_plan.png | Bin 1527 -> 1573 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/ground/gcs/src/plugins/opmap/images/button_edit_plan.png b/ground/gcs/src/plugins/opmap/images/button_edit_plan.png index 9bd0a70fefcf571759a48696c3f72411d0997b06..28c106deb3f6ee9533de4139bf3776f48f5b3216 100644 GIT binary patch delta 1481 zcmV;)1vdKk3#AN@ZhxXlL_t(og~eBGOjBnRKKHhuW#OwOK$+YYOE!mKwkQdV%@{Kc z$u`J7aC6z}%#dIvCJu~2bS7pSS^Pz|Wq$y5*&J z-o1M_3k3ID9fOH2E{efvJn$jFG=a&vPbJ3IS@Kp=3}VzC&L+5-`&R4RIWd|Zz)hM}P$ zCJ+c5;fs?>rSFJDqBwhLX(>ph(nA1AZo*g~g!Ye&jIb7q*tF}NlA%kU*k)9 z6GqU}(|_X<3Wd&HBr*jbCDJlQ};P?B-)6>%}iTqZp z^}x{3P~41AtJTXspYIsJnhG>DH0+j0BubJb)8^;r4V|5x-vIzlM9|jOrpeFGe@>-R zF?@clRvV-!skj-wl*U!$*ifNi&pGatXd;2Yf5TaNIdf*?4K;|@|3 zbs;vcu&{7?+qP{Xf*^hcfVW*PR~kYnDt{6oG~skQe~Wua006Jo%iG5Q0A{lpLZOfe 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zt$($(wO^E#m4${fV&HH3;rB^3I$ZNV1P^nazZEbDG0DKJq0yzK_6c&A2yJgGzq)G;G`rA`!0QQ6g zq^73k#dFTh&4o-R`#=y7j$km5?(ujqGk;?RNs=flQ(}608h-ym%v^%c!oosT$OZsT zr_%u-Csq(eQERp&jCM+)cW0FZE5|oyfMGLrm`G4|{ z+1c66rKP3iBGKQYFgiMlhYufi9z1wZ#c|x(SV^<8mZ7F*S?H`#C=!<)DF6T{irUiC z(?i$Q)sX-Y2n5jA*XQIi4(9n>dAmT5~$bSx0RIGWu(jx@`!1?p%KPfLSZ`ihNn`~lYg6iz- zG`d_aNp*EK8!v&-fh9|ppt7L-8zTEp(9E1Nnv5(NTLc@mc_i!7aF|Ov{a2(mWxE9ZwP`& p>N}C=`Jejx`>*^H?*9+|0u(dJP`Gv>jcxz{002ovPDHLkV1muau2}#8 From 8e014c31f06ad73d1aa895363d1194c121a0ac18 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Wed, 14 Feb 2018 11:40:00 +0100 Subject: [PATCH 20/20] LP-572 Add icon set artwork file for OPMap --- .../plugins/opmap/images/buttons_OPMap.svg | 2124 +++++++++++++++++ 1 file changed, 2124 insertions(+) create mode 100644 ground/gcs/src/plugins/opmap/images/buttons_OPMap.svg diff --git a/ground/gcs/src/plugins/opmap/images/buttons_OPMap.svg b/ground/gcs/src/plugins/opmap/images/buttons_OPMap.svg new file mode 100644 index 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