mirror of
https://bitbucket.org/librepilot/librepilot.git
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GCS/OPMap- UAVItem - removed everything that doesn't belong
on the paint function
This commit is contained in:
PT_Dreamer
parent
4b8bfcb997
commit
42119f8d67
@ -45,9 +45,6 @@ namespace mapcontrol
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connect(core,SIGNAL(OnMapDrag()),this,SLOT(childPosRefresh()));
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connect(core,SIGNAL(OnMapZoomChanged()),this,SLOT(childPosRefresh()));
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setCacheMode(QGraphicsItem::ItemCoordinateCache);
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//resize();
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setCacheMode(QGraphicsItem::ItemCoordinateCache);
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}
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void MapGraphicItem::start()
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@ -34,7 +34,7 @@ namespace mapcontrol
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double UAVItem::groundspeed_mps_filt = 0;
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UAVItem::UAVItem(MapGraphicItem* map,OPMapWidget* parent,QString uavPic):map(map),mapwidget(parent),showtrail(true),showtrailline(true),trailtime(5),traildistance(50),autosetreached(true)
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,autosetdistance(100),altitude(0),showUAVInfo(false),showJustChanged(false)
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,autosetdistance(100),altitude(0),showUAVInfo(false)
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{
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pic.load(uavPic);
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this->setFlag(QGraphicsItem::ItemIsMovable,false);
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@ -47,14 +47,17 @@ namespace mapcontrol
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trailLine=new QGraphicsItemGroup(this);
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trailLine->setParentItem(map);
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this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
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setCacheMode(QGraphicsItem::ItemCoordinateCache);
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mapfollowtype=UAVMapFollowType::None;
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trailtype=UAVTrailType::ByDistance;
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timer.start();
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generateArrowhead();
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double pixels2meters = map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
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meters2pixels=1.0 / pixels2meters;
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setCacheMode(QGraphicsItem::DeviceCoordinateCache);
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connect(map,SIGNAL(childRefreshPosition()),this,SLOT(RefreshPos()));
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connect(map,SIGNAL(childSetOpacity(qreal)),this,SLOT(setOpacitySlot(qreal)));
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connect(map,SIGNAL(zoomChanged(double,double,double)),this,SLOT(zoomChangedSlot()));
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}
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UAVItem::~UAVItem()
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{
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@ -71,7 +74,6 @@ namespace mapcontrol
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//Return if UAV Info context menu is turned off
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if(!showUAVInfo){
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showJustChanged=false;
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return;
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}
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@ -89,140 +91,99 @@ namespace mapcontrol
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painter->setPen(myPen);
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painter->drawLine(arrowShaft);
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//*********** Create trend arc
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double radius;
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double spanAngle = yawRate_dps * 5; //Forecast 5 seconds into the future
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//Find the scale factor between meters and pixels
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double pixels2meters = map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
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float meters2pixels=1.0 / pixels2meters;
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//Calculate radius in [m], and then convert to pixels in local frame (not the same frame as is displayed on the map widget)
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double groundspeed_mps=groundspeed_kph/3.6;
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radius=fabs(groundspeed_mps/(yawRate_dps*M_PI/180))*meters2pixels;
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// qDebug() << "Scale: " << meters2pixels;
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// qDebug() << "Zoom: " << map->ZoomTotal();
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// qDebug()<< "Radius:" << radius;
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// qDebug()<< "Span angle:" << spanAngle;
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//Set trend arc's color
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myPen.setColor(Qt::magenta);
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painter->setPen(myPen);
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//Draw arc. Qt is incomprehensibly limited in that it does not let you set a radius and two points,
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//so instead it's a hackish approach requiring a rectangle and a span angle
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if (spanAngle > 0){
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QRectF rect(0, -radius, radius*2, radius*2);
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painter->drawArc(rect, 180*16, -spanAngle*16);
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if (trendSpanAngle > 0){
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QRectF rect(0, -trendRadius, trendRadius*2, trendRadius*2);
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painter->drawArc(rect, 180*16, -trendSpanAngle*16);
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}
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else{
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QRectF rect(-2*radius, -radius, radius*2, radius*2);
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painter->drawArc(rect, 0*16, -spanAngle*16);
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QRectF rect(-2*trendRadius, -trendRadius, trendRadius*2, trendRadius*2);
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painter->drawArc(rect, 0*16, -trendSpanAngle*16);
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}
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//*********** Create time rings
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double ringTime=10*pow(2,17-map->ZoomTotal()); //Basic ring is 10 seconds wide at zoom level 17
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if(groundspeed_mps_filt > 0){ //Don't clutter the display with rings that are only one pixel wide
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myPen.setWidth(2);
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myPen.setColor(QColor(0, 0, 0, 100));
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painter->setPen(myPen);
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painter->drawEllipse(QPointF(0,0),groundspeed_mps_filt*ringTime*1*meters2pixels,groundspeed_mps_filt*ringTime*1*meters2pixels);
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painter->drawEllipse(QPointF(0,0),precalcRings,precalcRings);
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myPen.setColor(QColor(0, 0, 0, 110));
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painter->setPen(myPen);
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painter->drawEllipse(QPointF(0,0),groundspeed_mps_filt*ringTime*2*meters2pixels,groundspeed_mps_filt*ringTime*2*meters2pixels);
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painter->drawEllipse(QPointF(0,0),precalcRings*2,precalcRings*2);
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myPen.setColor(QColor(0, 0, 0, 120));
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painter->setPen(myPen);
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painter->drawEllipse(QPointF(0,0),groundspeed_mps_filt*ringTime*4*meters2pixels,groundspeed_mps_filt*ringTime*4*meters2pixels);
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painter->drawEllipse(QPointF(0,0),precalcRings*4,precalcRings*4);
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}
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//***** Text info overlay. The font is a "glow" font, so that it's easier to use on the map
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if (refreshPaint_flag==true){
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//Define font
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QFont borderfont( "Arial", 14, QFont::Normal, false );
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//Top left corner of text
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int textAnchorX = 20;
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int textAnchorY = 20;
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//Create text lines
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QString uavoInfoStrLine1, uavoInfoStrLine2;
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QString uavoInfoStrLine3, uavoInfoStrLine4;
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QString uavoInfoStrLine5;
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//For whatever reason, Qt does not let QPainterPath have text wrapping. So each line of
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//text has to be added to a different line.
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uavoInfoStrLine1.append(QString("CAS: %1 kph").arg(CAS_mps));
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uavoInfoStrLine2.append(QString("Groundspeed: %1 kph").arg(groundspeed_kph, 0, 'f',1));
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uavoInfoStrLine3.append(QString("Lat-Lon: %1, %2").arg(coord.Lat(), 0, 'f',7).arg(coord.Lng(), 0, 'f',7));
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uavoInfoStrLine4.append(QString("North-East: %1 m, %2 m").arg(NED[0], 0, 'f',1).arg(NED[1], 0, 'f',1));
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uavoInfoStrLine5.append(QString("Altitude: %1 m").arg(-NED[2], 0, 'f',1));
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//Add the uavo info text to the path
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//NOTE: We must use QPainterPath for the outlined text font. QPaint does not support this.
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path = QPainterPath();
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path.addText(textAnchorX, textAnchorY+16*0, borderfont, uavoInfoStrLine1);
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path.addText(textAnchorX, textAnchorY+16*1, borderfont, uavoInfoStrLine2);
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path.addText(textAnchorX, textAnchorY+16*2, borderfont, uavoInfoStrLine3);
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path.addText(textAnchorX, textAnchorY+16*3, borderfont, uavoInfoStrLine4);
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path.addText(textAnchorX, textAnchorY+16*4, borderfont, uavoInfoStrLine5);
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//Add text for time rings.
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if(groundspeed_mps > 0){
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//Always add the left side...
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path.addText(-(groundspeed_mps_filt*ringTime*1*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime,0,'f',0));
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path.addText(-(groundspeed_mps_filt*ringTime*2*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime*2,0,'f',0));
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path.addText(-(groundspeed_mps_filt*ringTime*4*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime*4,0,'f',0));
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//... and add the right side, only if it doesn't interfere with the uav info text
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if(groundspeed_mps_filt*ringTime*4*meters2pixels > 200){
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if(groundspeed_mps_filt*ringTime*2*meters2pixels > 200){
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if(groundspeed_mps_filt*ringTime*1*meters2pixels > 200){
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path.addText(groundspeed_mps_filt*ringTime*1*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime,0,'f',0));
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}
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path.addText(groundspeed_mps_filt*ringTime*2*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime*2,0,'f',0));
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}
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path.addText(groundspeed_mps_filt*ringTime*4*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime*4,0,'f',0));
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}
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}
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//Last thing to do: set bound rectangle as function of largest object
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boundingRectSize=groundspeed_mps_filt*ringTime*4*meters2pixels+20; //Largest object is currently the biggest ring + a little bit of margin for the text
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refreshPaint_flag=false;
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}
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//Rotate the text back to vertical
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qreal rot=this->rotation();
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painter->rotate(-1*rot);
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//Now draw the text. First pass is the outline...
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myPen.setWidth(4);
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myPen.setColor(Qt::black);
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painter->setPen(myPen);
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painter->setBrush(Qt::black);
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painter->drawPath(path);
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//...second pass is the inlay
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myPen.setWidth(1);
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myPen.setColor(Qt::white);
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painter->setBrush(Qt::white);
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painter->setPen(myPen);
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painter->drawPath(path);
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painter->drawPath(textPath);
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}
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void UAVItem::updateTextOverlay()
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{
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QPainterPath temp;
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if(!showUAVInfo)
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{
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temp.swap(textPath);
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return;
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}
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QFont borderfont( "Arial", 14, QFont::Normal, false );
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//Top left corner of text
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int textAnchorX = 20;
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int textAnchorY = 20;
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QString uavoInfoStrLine1, uavoInfoStrLine2;
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QString uavoInfoStrLine3, uavoInfoStrLine4;
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QString uavoInfoStrLine5;
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uavoInfoStrLine1.append(QString("CAS: %1 kph").arg(CAS_mps));
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uavoInfoStrLine2.append(QString("Groundspeed: %1 kph").arg(groundspeed_kph, 0, 'f',1));
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uavoInfoStrLine3.append(QString("Lat-Lon: %1, %2").arg(coord.Lat(), 0, 'f',7).arg(coord.Lng(), 0, 'f',7));
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uavoInfoStrLine4.append(QString("North-East: %1 m, %2 m").arg(NED[0], 0, 'f',1).arg(NED[1], 0, 'f',1));
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uavoInfoStrLine5.append(QString("Altitude: %1 m").arg(-NED[2], 0, 'f',1));
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temp.addText(textAnchorX, textAnchorY+16*0, borderfont, uavoInfoStrLine1);
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temp.addText(textAnchorX, textAnchorY+16*1, borderfont, uavoInfoStrLine2);
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temp.addText(textAnchorX, textAnchorY+16*2, borderfont, uavoInfoStrLine3);
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temp.addText(textAnchorX, textAnchorY+16*3, borderfont, uavoInfoStrLine4);
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temp.addText(textAnchorX, textAnchorY+16*4, borderfont, uavoInfoStrLine5);
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//Add text for time rings.
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if(groundspeed_mps > 0){
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//Always add the left side...
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temp.addText(-(groundspeed_mps_filt*ringTime*1*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime,0,'f',0));
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temp.addText(-(groundspeed_mps_filt*ringTime*2*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime*2,0,'f',0));
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temp.addText(-(groundspeed_mps_filt*ringTime*4*meters2pixels+10), 0, borderfont, QString("%1 s").arg(ringTime*4,0,'f',0));
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//... and add the right side, only if it doesn't interfere with the uav info text
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if(groundspeed_mps_filt*ringTime*4*meters2pixels > 200){
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if(groundspeed_mps_filt*ringTime*2*meters2pixels > 200){
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if(groundspeed_mps_filt*ringTime*1*meters2pixels > 200){
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temp.addText(groundspeed_mps_filt*ringTime*1*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime,0,'f',0));
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}
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temp.addText(groundspeed_mps_filt*ringTime*2*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime*2,0,'f',0));
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}
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temp.addText(groundspeed_mps_filt*ringTime*4*meters2pixels-8, 0, borderfont, QString("%1 s").arg(ringTime*4,0,'f',0));
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}
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}
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temp.swap(textPath);
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}
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QRectF UAVItem::boundingRect()const
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{
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if(showUAVInfo || showJustChanged){
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if(showUAVInfo){
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if (boundingRectSize < 220){
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//In case the bounding rectangle isn't big enough to get the whole of the UAV Info graphic
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return QRectF(-boundingRectSize,-80,boundingRectSize+220,180);
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@ -240,27 +201,24 @@ namespace mapcontrol
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this->NED[0] = NED[0];
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this->NED[1] = NED[1];
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this->NED[2] = NED[2];
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refreshPaint_flag=true;
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}
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void UAVItem::SetYawRate(double yawRate_dps){
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this->yawRate_dps=yawRate_dps;
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//There is a minimum arc distance under which Qt no longer draws an arc. At this low a turning rate,
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//all curves look straight, so the user won't notice the difference. Moreover, our sensors aren't
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//accurate enough to reliably describe this low a yaw rate.
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if (fabs(this->yawRate_dps) < 5e-1){ //This number is really the smallest we can go. Any smaller, and it might have problems if we forecast a shorter distance into the future
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this->yawRate_dps=5e-1;
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}
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refreshPaint_flag=true;
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//*********** Create trend arc
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trendSpanAngle = this->yawRate_dps * 5; //Forecast 5 seconds into the future
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//Calculate radius in [m], and then convert to pixels in local frame (not the same frame as is displayed on the map widget)
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trendRadius=fabs(groundspeed_mps/(this->yawRate_dps*M_PI/180))*meters2pixels;
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}
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void UAVItem::SetCAS(double CAS_mps){
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this->CAS_mps=CAS_mps;
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refreshPaint_flag=true;
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}
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void UAVItem::SetGroundspeed(double vNED[3], int m_maxUpdateRate_ms){
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@ -268,7 +226,7 @@ namespace mapcontrol
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this->vNED[1] = vNED[1];
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this->vNED[2] = vNED[2];
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groundspeed_kph=sqrt(vNED[0]*vNED[0] + vNED[1]*vNED[1] + vNED[2]*vNED[2])*3.6;
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groundspeed_mps=groundspeed_kph/3.6;
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//On the first pass, set the filtered speed to the reported speed.
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static bool firstGroundspeed=true;
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if (firstGroundspeed){
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@ -280,9 +238,10 @@ namespace mapcontrol
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double alpha= m_maxUpdateRate_ms/(double)(m_maxUpdateRate_ms+riseTime_ms);
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groundspeed_mps_filt= alpha*groundspeed_mps_filt + (1-alpha)*(groundspeed_kph/3.6);
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}
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refreshPaint_flag=true;
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ringTime=10*pow(2,17-map->ZoomTotal()); //Basic ring is 10 seconds wide at zoom level 17
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precalcRings=groundspeed_mps_filt*ringTime*meters2pixels;
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boundingRectSize=groundspeed_mps_filt*ringTime*4*meters2pixels+20;
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prepareGeometryChange();
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}
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@ -335,7 +294,6 @@ namespace mapcontrol
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{
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mapwidget->SetCurrentPosition(coord);
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}
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this->update();
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if(autosetreached)
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{
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foreach(QGraphicsItem* i,map->childItems())
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@ -374,8 +332,6 @@ namespace mapcontrol
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}
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}
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refreshPaint_flag=true;
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}
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/**
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@ -392,8 +348,6 @@ namespace mapcontrol
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if (this->rotation() != value)
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this->setRotation(value);
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}
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refreshPaint_flag=true;
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}
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@ -409,13 +363,23 @@ namespace mapcontrol
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this->setPos(localposition.X(),localposition.Y());
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emit setChildPosition();
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emit setChildLine();
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refreshPaint_flag=true;
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updateTextOverlay();
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}
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void UAVItem::setOpacitySlot(qreal opacity)
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{
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this->setOpacity(opacity);
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}
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void UAVItem::zoomChangedSlot()
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{
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double pixels2meters = map->Projection()->GetGroundResolution(map->ZoomTotal(),coord.Lat());
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meters2pixels=1.0 / pixels2meters;
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boundingRectSize=groundspeed_mps_filt*ringTime*4*meters2pixels+20;
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prepareGeometryChange();
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updateTextOverlay();
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update();
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}
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void UAVItem::SetTrailType(const UAVTrailType::Types &value)
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{
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trailtype=value;
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@ -218,10 +218,9 @@ namespace mapcontrol
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void SetUavPic(QString UAVPic);
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void SetShowUAVInfo(bool const& value);
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void updateTextOverlay();
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private:
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void generateArrowhead();
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MapGraphicItem* map;
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OPMapWidget* mapwidget;
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QPolygonF arrowHead;
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@ -235,7 +234,13 @@ namespace mapcontrol
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double vNED[3];
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double CAS_mps;
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double groundspeed_kph;
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double groundspeed_mps;
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double yawRate_dps;
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double trendRadius;
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double trendSpanAngle;
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float meters2pixels;
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double precalcRings;
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double ringTime;
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QPixmap pic;
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core::Point localposition;
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QGraphicsItemGroup* trail;
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@ -256,12 +261,12 @@ namespace mapcontrol
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bool refreshPaint_flag;
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QPainterPath path;
|
||||
|
||||
QPainterPath textPath;
|
||||
|
||||
public slots:
|
||||
void RefreshPos();
|
||||
void setOpacitySlot(qreal opacity);
|
||||
void zoomChangedSlot();
|
||||
signals:
|
||||
void UAVReachedWayPoint(int const& waypointnumber,WayPointItem* waypoint);
|
||||
void UAVLeftSafetyBouble(internals::PointLatLng const& position);
|
||||
|
||||
@ -213,7 +213,7 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
|
||||
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->UAV->SetUAVPos(m_home_position.coord, 0.0); // set the UAV position
|
||||
|
||||
m_map->UAV->update();
|
||||
if(m_map->GPS)
|
||||
m_map->GPS->SetUAVPos(m_home_position.coord, 0.0); // set the GPS position
|
||||
#ifdef USE_PATHPLANNER
|
||||
@ -638,7 +638,8 @@ void OPMapGadgetWidget::updatePosition()
|
||||
m_map->GPS->SetUAVPos(gps_pos, gps_altitude); // set the maps GPS position
|
||||
m_map->GPS->SetUAVHeading(gps_heading); // set the maps GPS heading
|
||||
}
|
||||
|
||||
m_map->UAV->updateTextOverlay();
|
||||
m_map->UAV->update();
|
||||
// *************
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user