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Code Issues Releases Activity

LP-572 Fix Home position on map when OPMap config is updated

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This commit is contained in:
Laurent Lalanne 2018-01-03 22:07:06 +01:00
parent 121aaa08b7
commit f51e7d3688
3 changed files with 37 additions and 19 deletions
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6
ground/gcs/src/plugins/opmap/opmapgadget.cpp
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@ -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()));
}
}

49
ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -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()

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

@ -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);