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Merge pull request #6119 from DonLakeFlyer/StructureScanROI_WPNEXT_OF…
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…FSET

Switch to using ROI_WPNEXT_OFFSET
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@DonLakeFlyer
DonLakeFlyer authored Feb 7, 2018
2 parents 24e27d2 + 11df383 commit 1b3ac79
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Showing 5 changed files with 17 additions and 85 deletions.
48 changes: 16 additions & 32 deletions src/MissionManager/StructureScanComplexItem.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,6 @@ QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog")
const char* StructureScanComplexItem::_altitudeFactName = "Altitude";
const char* StructureScanComplexItem::_structureHeightFactName = "StructureHeight";
const char* StructureScanComplexItem::_layersFactName = "Layers";
const char* StructureScanComplexItem::_gimbalPitchFactName = "GimbalPitch";
const char* StructureScanComplexItem::_gimbalYawFactName = "GimbalYaw";

const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan";
const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc";
Expand All @@ -46,8 +44,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
, _cameraCalc (vehicle)
, _altitudeFact (0, _altitudeFactName, FactMetaData::valueTypeDouble)
, _layersFact (0, _layersFactName, FactMetaData::valueTypeUint32)
, _gimbalPitchFact (0, _gimbalPitchFactName, FactMetaData::valueTypeDouble)
, _gimbalYawFact (0, _gimbalYawFactName, FactMetaData::valueTypeDouble)
{
_editorQml = "qrc:/qml/StructureScanEditor.qml";

Expand All @@ -57,20 +53,14 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa

_altitudeFact.setMetaData (_metaDataMap[_altitudeFactName]);
_layersFact.setMetaData (_metaDataMap[_layersFactName]);
_gimbalPitchFact.setMetaData(_metaDataMap[_gimbalPitchFactName]);
_gimbalYawFact.setMetaData (_metaDataMap[_gimbalYawFactName]);

_altitudeFact.setRawValue (_altitudeFact.rawDefaultValue());
_layersFact.setRawValue (_layersFact.rawDefaultValue());
_gimbalPitchFact.setRawValue(_gimbalPitchFact.rawDefaultValue());
_gimbalYawFact.setRawValue (_gimbalYawFact.rawDefaultValue());

_altitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());

connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_gimbalPitchFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_gimbalYawFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);

connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
connect(&_structureHeightFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo);
Expand All @@ -89,7 +79,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_flightPathChanged);

connect(_cameraCalc.distanceToSurface(), &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
connect(&_cameraCalc, &CameraCalc::cameraNameChanged, this, &StructureScanComplexItem::_resetGimbal);

connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_recalcCameraShots);
connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &StructureScanComplexItem::_recalcCameraShots);
Expand Down Expand Up @@ -132,9 +121,9 @@ int StructureScanComplexItem::lastSequenceNumber(void) const
{
return _sequenceNumber +
(_layersFact.rawValue().toInt() *
((_flightPolygon.count() + 1) + // 1 waypoint for each polygon vertex + 1 to go back to first polygon vertex for each layer
2)) + // Camera trigger start/stop for each layer
1; // Gimbal control command
((_flightPolygon.count() + 1) + // 1 waypoint for each polygon vertex + 1 to go back to first polygon vertex for each layer
2)) + // Camera trigger start/stop for each layer
2; // ROI_WPNEXT_OFFSET and ROI_NONE commands
}

void StructureScanComplexItem::setDirty(bool dirty)
Expand All @@ -154,8 +143,6 @@ void StructureScanComplexItem::save(QJsonArray& missionItems)
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;

saveObject[_gimbalPitchFactName] = _gimbalPitchFact.rawValue().toDouble();
saveObject[_gimbalYawFactName] = _gimbalYawFact.rawValue().toDouble();
saveObject[_altitudeFactName] = _altitudeFact.rawValue().toDouble();
saveObject[_structureHeightFactName] = _structureHeightFact.rawValue().toDouble();
saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative;
Expand Down Expand Up @@ -186,8 +173,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
{ QGCMapPolygon::jsonPolygonKey, QJsonValue::Array, true },
{ _gimbalPitchFactName, QJsonValue::Double, true },
{ _gimbalYawFactName, QJsonValue::Double, true },
{ _altitudeFactName, QJsonValue::Double, true },
{ _structureHeightFactName, QJsonValue::Double, true },
{ _jsonAltitudeRelativeKey, QJsonValue::Bool, true },
Expand Down Expand Up @@ -220,8 +205,6 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
return false;
}

_gimbalPitchFact.setRawValue(complexObject[_gimbalPitchFactName].toDouble());
_gimbalYawFact.setRawValue (complexObject[_gimbalYawFactName].toDouble());
_altitudeFact.setRawValue (complexObject[_altitudeFactName].toDouble());
_layersFact.setRawValue (complexObject[_layersFactName].toDouble());
_altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true);
Expand Down Expand Up @@ -268,13 +251,11 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
double baseAltitude = _altitudeFact.rawValue().toDouble();

MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_MOUNT_CONTROL,
MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET,
MAV_FRAME_MISSION,
_gimbalPitchFact.rawValue().toDouble(),
0, // Gimbal roll
_gimbalYawFact.rawValue().toDouble(),
0, 0, 0, // param 4-6 not used
MAV_MOUNT_MODE_MAVLINK_TARGETING,
0, 0, 0, 0, // param 1-4 not used
0, 0, // Pitch and Roll stay in standard orientation
90, // 90 degreee yaw offset to point to structure
true, // autoContinue
false, // isCurrentItem
missionItemParent);
Expand Down Expand Up @@ -349,6 +330,15 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
missionItemParent);
items.append(item);
}

item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_ROI_NONE,
MAV_FRAME_MISSION,
0, 0, 0,0, 0, 0, 0, // param 1-7 not used
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}

int StructureScanComplexItem::cameraShots(void) const
Expand Down Expand Up @@ -447,12 +437,6 @@ void StructureScanComplexItem::_recalcCameraShots(void)
_setCameraShots(cameraShots * _layersFact.rawValue().toInt());
}

void StructureScanComplexItem::_resetGimbal(void)
{
_gimbalPitchFact.setCookedValue(0);
_gimbalYawFact.setCookedValue(90);
}

void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative)
{
if (altitudeRelative != _altitudeRelative) {
Expand Down
9 changes: 0 additions & 9 deletions src/MissionManager/StructureScanComplexItem.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,6 @@ class StructureScanComplexItem : public ComplexMissionItem
StructureScanComplexItem(Vehicle* vehicle, QObject* parent = NULL);

Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT)
Q_PROPERTY(Fact* gimbalPitch READ gimbalPitch CONSTANT)
Q_PROPERTY(Fact* gimbalYaw READ gimbalYaw CONSTANT)
Q_PROPERTY(Fact* altitude READ altitude CONSTANT)
Q_PROPERTY(Fact* structureHeight READ structureHeight CONSTANT)
Q_PROPERTY(Fact* layers READ layers CONSTANT)
Expand All @@ -47,8 +45,6 @@ class StructureScanComplexItem : public ComplexMissionItem

bool altitudeRelative (void) const { return _altitudeRelative; }
int cameraShots (void) const;
Fact* gimbalPitch (void) { return &_gimbalPitchFact; }
Fact* gimbalYaw (void) { return &_gimbalYawFact; }
double timeBetweenShots (void);
QGCMapPolygon* structurePolygon (void) { return &_structurePolygon; }
QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; }
Expand Down Expand Up @@ -111,7 +107,6 @@ private slots:
void _updateCoordinateAltitudes (void);
void _rebuildFlightPolygon (void);
void _recalcCameraShots (void);
void _resetGimbal (void);
void _recalcLayerInfo (void);

private:
Expand Down Expand Up @@ -140,14 +135,10 @@ private slots:
Fact _altitudeFact;
Fact _structureHeightFact;
Fact _layersFact;
Fact _gimbalPitchFact;
Fact _gimbalYawFact;

static const char* _altitudeFactName;
static const char* _structureHeightFactName;
static const char* _layersFactName;
static const char* _gimbalPitchFactName;
static const char* _gimbalYawFactName;

static const char* _jsonCameraCalcKey;
static const char* _jsonAltitudeRelativeKey;
Expand Down
17 changes: 1 addition & 16 deletions src/MissionManager/StructureScanComplexItemTest.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@ void StructureScanComplexItemTest::_testDirty(void)

// These facts should set dirty when changed
QList<Fact*> rgFacts;
rgFacts << _structureScanItem->gimbalPitch() << _structureScanItem->gimbalYaw() << _structureScanItem->altitude() << _structureScanItem->layers();
rgFacts << _structureScanItem->altitude() << _structureScanItem->layers();
foreach(Fact* fact, rgFacts) {
qDebug() << fact->name();
QVERIFY(!_structureScanItem->dirty());
Expand Down Expand Up @@ -93,8 +93,6 @@ void StructureScanComplexItemTest::_initItem(void)
}

_structureScanItem->cameraCalc()->setCameraName(CameraCalc::manualCameraName());
_structureScanItem->gimbalPitch()->setCookedValue(45);
_structureScanItem->gimbalYaw()->setCookedValue(45);
_structureScanItem->layers()->setCookedValue(2);
_structureScanItem->setDirty(false);

Expand All @@ -112,8 +110,6 @@ void StructureScanComplexItemTest::_validateItem(StructureScanComplexItem* item)
}

QCOMPARE(_structureScanItem->cameraCalc()->cameraName() , CameraCalc::manualCameraName());
QCOMPARE(item->gimbalPitch()->cookedValue().toDouble(), 45.0);
QCOMPARE(item->gimbalYaw()->cookedValue().toDouble(), 45.0);
QCOMPARE(item->layers()->cookedValue().toInt(), 2);
}

Expand All @@ -132,17 +128,6 @@ void StructureScanComplexItemTest::_testSaveLoad(void)
newItem->deleteLater();
}

void StructureScanComplexItemTest::_testGimbalAngleUpdate(void)
{
// This sets the item to CameraCalc::CameraSpecNone and non-standard gimbal angles
_initItem();

// Switching to a camera specific setup should set gimbal angles to defaults
_structureScanItem->cameraCalc()->setCameraName(CameraCalc::customCameraName());
QCOMPARE(_structureScanItem->gimbalPitch()->cookedValue().toDouble(), 0.0);
QCOMPARE(_structureScanItem->gimbalYaw()->cookedValue().toDouble(), 90.0);
}

void StructureScanComplexItemTest::_testItemCount(void)
{
QList<MissionItem*> items;
Expand Down
1 change: 0 additions & 1 deletion src/MissionManager/StructureScanComplexItemTest.h
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,6 @@ class StructureScanComplexItemTest : public UnitTest
private slots:
void _testDirty(void);
void _testSaveLoad(void);
void _testGimbalAngleUpdate(void);
void _testItemCount(void);

private:
Expand Down
27 changes: 0 additions & 27 deletions src/PlanView/StructureScanEditor.qml
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Original file line number Diff line number Diff line change
Expand Up @@ -81,33 +81,6 @@ Rectangle {
sideDistanceLabel: qsTr("Trigger Distance")
}

GridLayout {
anchors.left: parent.left
anchors.right: parent.right
columnSpacing: ScreenTools.defaultFontPixelWidth / 2
rowSpacing: 0
columns: 3
visible: missionItem.cameraCalc.isManualCamera

Item { width: 1; height: 1 }
QGCLabel { text: qsTr("Pitch") }
QGCLabel { text: qsTr("Yaw") }

QGCLabel {
text: qsTr("Gimbal")
Layout.fillWidth: true
}
FactTextField {
fact: missionItem.gimbalPitch
implicitWidth: ScreenTools.defaultFontPixelWidth * 9
}

FactTextField {
fact: missionItem.gimbalYaw
implicitWidth: ScreenTools.defaultFontPixelWidth * 9
}
}

SectionHeader {
id: scanHeader
text: qsTr("Scan")
Expand Down

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