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feat(waypoint radius): Add waypoint radius setting & map visual #14579

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feat(waypoint radius): Add waypoint radius setting & map visual #14579

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4 changes: 4 additions & 0 deletions src/MissionManager/MissionController.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -643,6 +643,9 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
}
MissionSettingsItem* settingsItem = new MissionSettingsItem(_masterController, _flyView);
settingsItem->setCoordinate(homeCoordinate);
if (json.contains(QStringLiteral("waypointRadius"))) {
settingsItem->waypointRadius()->setRawValue(json[QStringLiteral("waypointRadius")].toDouble());
}
visualItems->insert(0, settingsItem);
qCDebug(MissionControllerLog) << "plannedHomePosition" << homeCoordinate;

Expand Down Expand Up @@ -884,6 +887,7 @@ void MissionController::save(QJsonObject& json)
json[_jsonCruiseSpeedKey] = _controllerVehicle->defaultCruiseSpeed();
json[_jsonHoverSpeedKey] = _controllerVehicle->defaultHoverSpeed();
json[_jsonGlobalPlanAltitudeModeKey] = _globalAltFrame;
json[QStringLiteral("waypointRadius")] = settingsItem->waypointRadius()->rawValue().toDouble();

// Save the visual items

Expand Down
69 changes: 69 additions & 0 deletions src/MissionManager/MissionSettingsItem.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
#include "MissionItem.h"
#include "QGCMath.h"
#include "Vehicle.h"
#include "ParameterManager.h"
#include "QGCLoggingCategory.h"

#include <QtCore/QJsonArray>
Expand All @@ -15,6 +16,7 @@ MissionSettingsItem::MissionSettingsItem(PlanMasterController* masterController,
: ComplexMissionItem (masterController, flyView)
, _managerVehicle (masterController->managerVehicle())
, _plannedHomePositionAltitudeFact (0, _plannedHomePositionAltitudeName, FactMetaData::valueTypeDouble)
, _waypointRadiusFact (0, "Waypoint Radius", FactMetaData::valueTypeDouble)
, _cameraSection (masterController)
, _speedSection (masterController)
{
Expand All @@ -29,6 +31,19 @@ MissionSettingsItem::MissionSettingsItem(PlanMasterController* masterController,
_plannedHomePositionAltitudeFact.setRawValue (_plannedHomePositionAltitudeFact.rawDefaultValue());
setHomePositionSpecialCase(true);

FactMetaData* waypointRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
waypointRadiusMetaData->setRawUnits("m");
waypointRadiusMetaData->setRawIncrement(1);
waypointRadiusMetaData->setDecimalPlaces(1);
waypointRadiusMetaData->setRawUserMin(1.0);
waypointRadiusMetaData->setRawUserMax(32767.0);
waypointRadiusMetaData->setRawDefaultValue(50.0);
_waypointRadiusFact.setMetaData(waypointRadiusMetaData);
_waypointRadiusFact.setRawValue(50.0);

connect(masterController, &PlanMasterController::managerVehicleChanged, this, &MissionSettingsItem::_syncWaypointRadiusWithVehicle);
_syncWaypointRadiusWithVehicle();

_cameraSection.setAvailable(true);
_speedSection.setAvailable(true);

Expand Down Expand Up @@ -243,3 +258,57 @@ void MissionSettingsItem::_updateFlyViewHomePosition(const QGeoCoordinate& homeP
setCoordinate(homePosition);
}
}

Fact* MissionSettingsItem::waypointRadius(void)
{
return &_waypointRadiusFact;
}

void MissionSettingsItem::_syncWaypointRadiusWithVehicle(void)
{
Vehicle* vehicle = masterController()->controllerVehicle();
if (!vehicle || !vehicle->parameterManager()) {
return;
}

static Vehicle* lastVehicle = nullptr;
if (lastVehicle != vehicle) {
if (lastVehicle && lastVehicle->parameterManager()) {
disconnect(lastVehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &MissionSettingsItem::_syncWaypointRadiusWithVehicle);
disconnect(lastVehicle->parameterManager(), &ParameterManager::factAdded, this, &MissionSettingsItem::_syncWaypointRadiusWithVehicle);
Comment on lines +274 to +278
}
lastVehicle = vehicle;
_vehicleWaypointRadiusConnected = false;
connect(vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &MissionSettingsItem::_syncWaypointRadiusWithVehicle);
connect(vehicle->parameterManager(), &ParameterManager::factAdded, this, &MissionSettingsItem::_syncWaypointRadiusWithVehicle);
}

Fact* paramFact = nullptr;
if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("WP_RADIUS"))) {
paramFact = vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("WP_RADIUS"));
} else if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("WPNAV_RADIUS"))) {
paramFact = vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("WPNAV_RADIUS"));
} else if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("NAV_ACC_RAD"))) {
paramFact = vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("NAV_ACC_RAD"));
}

if (paramFact && !_vehicleWaypointRadiusConnected) {
_vehicleWaypointRadiusConnected = true;
if (_waypointRadiusFact.rawValue().toDouble() != 50.0) {
paramFact->setRawValue(_waypointRadiusFact.rawValue());
} else if (paramFact->rawValue().toDouble() > 0.0) {
_waypointRadiusFact.setRawValue(paramFact->rawValue());
}
Comment on lines +297 to +301

connect(&_waypointRadiusFact, &Fact::valueChanged, this, [paramFact](QVariant value){
if (paramFact->rawValue() != value) {
paramFact->setRawValue(value);
}
});
Comment on lines +303 to +307
connect(paramFact, &Fact::valueChanged, this, [this](QVariant value){
if (_waypointRadiusFact.rawValue() != value) {
_waypointRadiusFact.setRawValue(value);
}
});
}
}
5 changes: 5 additions & 0 deletions src/MissionManager/MissionSettingsItem.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,10 +19,12 @@ class MissionSettingsItem : public ComplexMissionItem
Q_PROPERTY(Fact* plannedHomePositionAltitude READ plannedHomePositionAltitude CONSTANT)
Q_PROPERTY(QObject* cameraSection READ cameraSection CONSTANT)
Q_PROPERTY(QObject* speedSection READ speedSection CONSTANT)
Q_PROPERTY(Fact* waypointRadius READ waypointRadius CONSTANT)

Fact* plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
CameraSection* cameraSection (void) { return &_cameraSection; }
SpeedSection* speedSection (void) { return &_speedSection; }
Fact* waypointRadius (void);

/// Scans the loaded items for settings items
bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex);
Expand Down Expand Up @@ -84,11 +86,14 @@ private slots:
void _updateAltitudeInCoordinate (QVariant value);
void _setHomeAltFromTerrain (double terrainAltitude);
void _updateFlyViewHomePosition (const QGeoCoordinate& homePosition);
void _syncWaypointRadiusWithVehicle (void);

private:
Vehicle* _managerVehicle = nullptr;
QGeoCoordinate _plannedHomePositionCoordinate; // Does not include altitude
Fact _plannedHomePositionAltitudeFact;
Fact _waypointRadiusFact;
bool _vehicleWaypointRadiusConnected = false;
int _sequenceNumber = 0;
CameraSection _cameraSection;
SpeedSection _speedSection;
Expand Down
21 changes: 21 additions & 0 deletions src/MissionManager/PlanMasterController.cc
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Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
#include "PlanMasterController.h"
#include "MissionSettingsItem.h"
#include "ParameterManager.h"
#include "AppMessages.h"
#include "QGCCorePlugin.h"
#include "MultiVehicleManager.h"
Expand Down Expand Up @@ -322,6 +324,25 @@ void PlanMasterController::sendToVehicle(void)
qCCritical(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle called while syncInProgress";
} else {
qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle start mission sendToVehicle";

if (_missionController.visualItems() && _missionController.visualItems()->count() > 0) {
MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(_missionController.visualItems()->get(0));
if (settingsItem && settingsItem->waypointRadius()) {
Fact* paramFact = nullptr;
if (_managerVehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("WP_RADIUS"))) {
paramFact = _managerVehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("WP_RADIUS"));
} else if (_managerVehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("WPNAV_RADIUS"))) {
paramFact = _managerVehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("WPNAV_RADIUS"));
} else if (_managerVehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("NAV_ACC_RAD"))) {
paramFact = _managerVehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("NAV_ACC_RAD"));
}

if (paramFact) {
paramFact->setRawValue(settingsItem->waypointRadius()->rawValue());
}
}
}

_sendGeoFence = true;
_missionController.sendToVehicle();
}
Expand Down
31 changes: 31 additions & 0 deletions src/MissionManager/SimpleMissionItem.cc
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
#include "SimpleMissionItem.h"
#include "MissionSettingsItem.h"
#include "JsonParsing.h"
#include "MissionCommandTree.h"
#include "MissionCommandUIInfo.h"
Expand All @@ -11,6 +12,7 @@
#include "CameraSection.h"
#include "Vehicle.h"
#include "QGCMath.h"
#include "ParameterManager.h"

#include <QtCore/QStringList>
#include <QtCore/QJsonArray>
Expand Down Expand Up @@ -1156,3 +1158,32 @@ void SimpleMissionItem::_possibleRadiusChanged(void)
emit loiterRadiusChanged(loiterRadius());
}
}

bool SimpleMissionItem::showWaypointRadius(void) const
{
Fact* fact = const_cast<SimpleMissionItem*>(this)->waypointRadius();
return command() == MAV_CMD_NAV_WAYPOINT && fact && fact->rawValue().toDouble() > 0.0;
}
Comment on lines +1162 to +1166

Fact* SimpleMissionItem::waypointRadius(void)
{
Fact* fact = nullptr;
if (_masterController && _masterController->missionController() && _masterController->missionController()->visualItems()) {
QmlObjectListModel* visualItems = _masterController->missionController()->visualItems();
if (visualItems->count() > 0) {
MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(visualItems->get(0));
if (settingsItem) {
fact = settingsItem->waypointRadius();
}
}
}

if (fact && !_waypointRadiusConnected) {
_waypointRadiusConnected = true;
connect(fact, &Fact::valueChanged, this, [this](QVariant value){
emit waypointRadiusChanged(value.toDouble());
emit showWaypointRadiusChanged();
});
}
return fact;
}
7 changes: 7 additions & 0 deletions src/MissionManager/SimpleMissionItem.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,8 @@ class SimpleMissionItem : public VisualMissionItem
Q_PROPERTY(Fact* altitude READ altitude CONSTANT) ///< Altitude as specified by altitudeFrame. Not necessarily true mission item altitude
Q_PROPERTY(QGroundControlQmlGlobal::AltitudeFrame altitudeFrame READ altitudeFrame WRITE setAltitudeFrame NOTIFY altitudeFrameChanged)
Q_PROPERTY(Fact* amslAltAboveTerrain READ amslAltAboveTerrain CONSTANT) ///< Actual AMSL altitude for item if altitudeFrame is AltitudeFrameCalcAboveTerrain or AltitudeFrameTerrain
Q_PROPERTY(Fact* waypointRadius READ waypointRadius CONSTANT)
Q_PROPERTY(bool showWaypointRadius READ showWaypointRadius NOTIFY showWaypointRadiusChanged)
Q_PROPERTY(int command READ command WRITE setCommand NOTIFY commandChanged)
Q_PROPERTY(bool isLoiterItem READ isLoiterItem NOTIFY isLoiterItemChanged)
Q_PROPERTY(bool showLoiterRadius READ showLoiterRadius NOTIFY showLoiterRadiusChanged)
Expand Down Expand Up @@ -68,6 +70,8 @@ class SimpleMissionItem : public VisualMissionItem
QGroundControlQmlGlobal::AltitudeFrame altitudeFrame(void) const { return _altitudeFrame; }
Fact* altitude (void) { return &_altitudeFact; }
Fact* amslAltAboveTerrain (void) { return &_amslAltAboveTerrainFact; }
Fact* waypointRadius (void);
bool showWaypointRadius (void) const;
bool isLoiterItem (void) const;
bool showLoiterRadius (void) const;
double loiterRadius (void) const;
Expand Down Expand Up @@ -147,6 +151,8 @@ class SimpleMissionItem : public VisualMissionItem
void isLoiterItemChanged (void);
void showLoiterRadiusChanged (void);
void loiterRadiusChanged (double loiterRadius);
void waypointRadiusChanged (double waypointRadius);
void showWaypointRadiusChanged (void);

private slots:
void _setDirty (void);
Expand Down Expand Up @@ -177,6 +183,7 @@ private slots:
bool _rawEdit = false;
bool _dirty = false;
bool _ignoreDirtyChangeSignals = false;
bool _waypointRadiusConnected = false;
QGeoCoordinate _mapCenterHint;
SpeedSection* _speedSection = nullptr;
CameraSection* _cameraSection = nullptr;
Expand Down
7 changes: 7 additions & 0 deletions src/PlanView/MissionDefaultsEditor.qml
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,13 @@ Rectangle {
fact: QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude
}

FactTextFieldSlider {
Layout.fillWidth: true
label: qsTr("Waypoint Radius")
fact: _root._settingsItem ? _root._settingsItem.waypointRadius : null
visible: fact !== null
}

FactTextFieldSlider {
Layout.fillWidth: true
label: qsTr("Flight Speed")
Expand Down
7 changes: 7 additions & 0 deletions src/PlanView/MissionSettingsEditor.qml
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Expand Up @@ -61,5 +61,12 @@ Rectangle {
visible: _showCameraSection && cameraSection.checked
}
}

FactTextFieldSlider {
Layout.fillWidth: true
label: qsTr("Waypoint Radius")
fact: root.missionItem.waypointRadius
visible: fact !== null
}
}
}
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