rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-29 07:24:13 +01:00
Code Issues Releases Activity

LP-572 Move MagicWayPoint in map and keep inside safe area

Browse Source
This commit is contained in:
Laurent Lalanne 2017-12-27 16:45:43 +01:00
parent 16d22e28d2
commit 5b1b127ad0
2 changed files with 11 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -209,7 +209,7 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
m_widget->progressBarMap->setMaximum(1); 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(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(OnTileLoadComplete()), this, SLOT(OnTileLoadComplete())); // tile loading stop signals
connect(m_map, SIGNAL(OnTileLoadStart()), this, SLOT(OnTileLoadStart())); // tile loading start signals connect(m_map, SIGNAL(OnTileLoadStart()), this, SLOT(OnTileLoadStart())); // tile loading start signals
connect(m_map, SIGNAL(OnTilesStillToLoad(int)), this, SLOT(OnTilesStillToLoad(int))); // tile loading signals connect(m_map, SIGNAL(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(); m_map->Home->RefreshPos();
// move the magic waypoint to keep it within the safe area boundry // 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(); m_map->Home->RefreshPos();
// move the magic waypoint if need be to keep it within the safe area around the home position // 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) { if (m_map_mode != MagicWaypoint_MapMode) {
return; 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 // 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 // calcute the bearing and distance from the home position to the magic waypoint
double dist = distance(m_home_position.coord, magicWayPoint->Coord()); double dist = distance(m_home_position.coord, magicWayPoint->Coord());
double bear = bearing(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) { if (dist > boundry_dist) {
dist = boundry_dist; dist = boundry_dist;
moveMagicWP = true;
} }
// move the magic waypoint; // move the magic waypoint;
if ((m_map_mode == MagicWaypoint_MapMode) && moveMagicWP) { // if needed, move the on-screen waypoint to the safe area
if (m_map_mode == MagicWaypoint_MapMode) { // move the on-screen waypoint
if (magicWayPoint) { if (magicWayPoint) {
magicWayPoint->SetCoord(destPoint(m_home_position.coord, bear, dist)); magicWayPoint->SetCoord(destPoint(m_home_position.coord, bear, dist));
} }

2
ground/gcs/src/plugins/opmap/opmapgadgetwidget.h
View File

@ -304,7 +304,7 @@ private:
void moveToMagicWaypointPosition(); void moveToMagicWaypointPosition();
void hideMagicWaypointControls(); void hideMagicWaypointControls();
void showMagicWaypointControls(); void showMagicWaypointControls();
void keepMagicWaypointWithInSafeArea(); void keepMagicWaypointWithinSafeArea();
double distance(internals::PointLatLng from, internals::PointLatLng to); double distance(internals::PointLatLng from, internals::PointLatLng to);
double bearing(internals::PointLatLng from, internals::PointLatLng to); double bearing(internals::PointLatLng from, internals::PointLatLng to);