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Plan: Terrain display in MissionItemStatus #5513

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Jul 30, 2017
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Plan: Terrain display in MissionItemStatus #5513

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2 changes: 2 additions & 0 deletions qgroundcontrol.pro
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Original file line number Diff line number Diff line change
Expand Up @@ -556,6 +556,7 @@ HEADERS += \
src/Settings/SettingsManager.h \
src/Settings/UnitsSettings.h \
src/Settings/VideoSettings.h \
src/Terrain.h \
src/Vehicle/MAVLinkLogManager.h \
src/VehicleSetup/JoystickConfigController.h \
src/audio/QGCAudioWorker.h \
Expand Down Expand Up @@ -732,6 +733,7 @@ SOURCES += \
src/Settings/SettingsManager.cc \
src/Settings/UnitsSettings.cc \
src/Settings/VideoSettings.cc \
src/Terrain.cc \
src/Vehicle/MAVLinkLogManager.cc \
src/VehicleSetup/JoystickConfigController.cc \
src/audio/QGCAudioWorker.cpp \
Expand Down
18 changes: 10 additions & 8 deletions src/MissionManager/MissionController.cc
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Expand Up @@ -1206,13 +1206,10 @@ void MissionController::_recalcMissionFlightStatus()
minAltSeen = std::min(minAltSeen, absoluteAltitude);
maxAltSeen = std::max(maxAltSeen, absoluteAltitude);

if (!item->exitCoordinateSameAsEntry()) {
absoluteAltitude = item->exitCoordinate().altitude();
if (item->exitCoordinateHasRelativeAltitude()) {
absoluteAltitude += homePositionAltitude;
}
minAltSeen = std::min(minAltSeen, absoluteAltitude);
maxAltSeen = std::max(maxAltSeen, absoluteAltitude);
double terrainAltitude = item->terrainAltitude();
if (!qIsNaN(terrainAltitude)) {
minAltSeen = std::min(minAltSeen, terrainAltitude);
maxAltSeen = std::max(maxAltSeen, terrainAltitude);
}

if (!item->isStandaloneCoordinate()) {
Expand Down Expand Up @@ -1290,8 +1287,12 @@ void MissionController::_recalcMissionFlightStatus()
}
if (altRange == 0.0) {
item->setAltPercent(0.0);
item->setTerrainPercent(qQNaN());
} else {
item->setAltPercent((absoluteAltitude - minAltSeen) / altRange);
if (!qIsNaN(item->terrainAltitude())) {
item->setTerrainPercent((item->terrainAltitude() - minAltSeen) / altRange);
}
}
}
}
Expand Down Expand Up @@ -1419,6 +1420,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
connect(visualItem, &VisualMissionItem::exitCoordinateHasRelativeAltitudeChanged, this, &MissionController::_recalcWaypointLines);
connect(visualItem, &VisualMissionItem::specifiedFlightSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::specifiedGimbalYawChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::terrainAltitudeChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(visualItem, &VisualMissionItem::lastSequenceNumberChanged, this, &MissionController::_recalcSequence);

if (visualItem->isSimpleItem()) {
Expand Down Expand Up @@ -1494,7 +1496,7 @@ void MissionController::_managerVehicleHomePositionChanged(const QGeoCoordinate&
if (_visualItems) {
MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
if (settingsItem) {
settingsItem->setCoordinate(homePosition);
settingsItem->setHomePositionFromVehicle(homePosition);
} else {
qWarning() << "First item is not MissionSettingsItem";
}
Expand Down
20 changes: 17 additions & 3 deletions src/MissionManager/MissionSettingsItem.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@ QMap<QString, FactMetaData*> MissionSettingsItem::_metaDataMap;
MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
: ComplexMissionItem (vehicle, parent)
, _plannedHomePositionAltitudeFact (0, _plannedHomePositionAltitudeName, FactMetaData::valueTypeDouble)
, _plannedHomePositionFromVehicle (false)
, _missionEndRTL (false)
, _cameraSection (vehicle)
, _speedSection (vehicle)
Expand All @@ -54,9 +55,10 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
connect(&_cameraSection, &CameraSection::itemCountChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
connect(&_speedSection, &CameraSection::itemCountChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);

connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_setDirty);
connect(this, &MissionSettingsItem::terrainAltitudeChanged, this, &MissionSettingsItem::_setHomeAltFromTerrain);

connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_updateAltitudeInCoordinate);
connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_setDirty);
connect(&_plannedHomePositionAltitudeFact, &Fact::valueChanged, this, &MissionSettingsItem::_updateAltitudeInCoordinate);

connect(&_cameraSection, &CameraSection::dirtyChanged, this, &MissionSettingsItem::_sectionDirtyChanged);
connect(&_speedSection, &SpeedSection::dirtyChanged, this, &MissionSettingsItem::_sectionDirtyChanged);
Expand All @@ -65,7 +67,6 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
connect(&_cameraSection, &CameraSection::specifiedGimbalYawChanged, this, &MissionSettingsItem::specifiedGimbalYawChanged);
}


int MissionSettingsItem::lastSequenceNumber(void) const
{
int lastSequenceNumber = _sequenceNumber;
Expand Down Expand Up @@ -221,6 +222,12 @@ void MissionSettingsItem::_setDirty(void)
setDirty(true);
}

void MissionSettingsItem::setHomePositionFromVehicle(const QGeoCoordinate& coordinate)
{
_plannedHomePositionFromVehicle = true;
setCoordinate(coordinate);
}

void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate)
{
if (_plannedHomePositionCoordinate != coordinate) {
Expand Down Expand Up @@ -281,3 +288,10 @@ void MissionSettingsItem::setMissionEndRTL(bool missionEndRTL)
emit missionEndRTLChanged(missionEndRTL);
}
}

void MissionSettingsItem::_setHomeAltFromTerrain(double terrainAltitude)
{
if (!_plannedHomePositionFromVehicle) {
_plannedHomePositionAltitudeFact.setRawValue(terrainAltitude);
}
}
5 changes: 5 additions & 0 deletions src/MissionManager/MissionSettingsItem.h
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Expand Up @@ -48,6 +48,9 @@ class MissionSettingsItem : public ComplexMissionItem
/// @return true: Mission end action was added
bool addMissionEndAction(QList<MissionItem*>& items, int seqNum, QObject* missionItemParent);

/// Called to updaet home position coordinate when it comes from a connected vehicle
void setHomePositionFromVehicle(const QGeoCoordinate& coordinate);

// Overrides from ComplexMissionItem

double complexDistance (void) const final;
Expand Down Expand Up @@ -94,10 +97,12 @@ private slots:
void _setDirty (void);
void _sectionDirtyChanged (bool dirty);
void _updateAltitudeInCoordinate (QVariant value);
void _setHomeAltFromTerrain (double terrainAltitude);

private:
QGeoCoordinate _plannedHomePositionCoordinate; // Does not include altitude
Fact _plannedHomePositionAltitudeFact;
bool _plannedHomePositionFromVehicle;
bool _missionEndRTL;
CameraSection _cameraSection;
SpeedSection _speedSection;
Expand Down
1 change: 1 addition & 0 deletions src/MissionManager/SimpleMissionItem.h
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Expand Up @@ -140,6 +140,7 @@ private slots:
void _updateLastSequenceNumber (void);
void _rebuildFacts (void);


private:
void _connectSignals (void);
void _setupMetaData (void);
Expand Down
92 changes: 72 additions & 20 deletions src/MissionManager/VisualMissionItem.cc
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Expand Up @@ -15,39 +15,50 @@
#include "FirmwarePluginManager.h"
#include "QGCApplication.h"
#include "JsonHelper.h"
#include "Terrain.h"

const char* VisualMissionItem::jsonTypeKey = "type";
const char* VisualMissionItem::jsonTypeSimpleItemValue = "SimpleItem";
const char* VisualMissionItem::jsonTypeComplexItemValue = "ComplexItem";

VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
: QObject(parent)
, _vehicle(vehicle)
, _isCurrentItem(false)
, _dirty(false)
, _homePositionSpecialCase(false)
, _altDifference(0.0)
, _altPercent(0.0)
, _azimuth(0.0)
, _distance(0.0)
, _missionGimbalYaw(std::numeric_limits<double>::quiet_NaN())
, _missionVehicleYaw(std::numeric_limits<double>::quiet_NaN())
: QObject (parent)
, _vehicle (vehicle)
, _isCurrentItem (false)
, _dirty (false)
, _homePositionSpecialCase (false)
, _terrainAltitude (qQNaN())
, _altDifference (0.0)
, _altPercent (0.0)
, _terrainPercent (qQNaN())
, _azimuth (0.0)
, _distance (0.0)
, _missionGimbalYaw (qQNaN())
, _missionVehicleYaw (qQNaN())
, _lastLatTerrainQuery (0)
, _lastLonTerrainQuery (0)
{
_updateTerrainTimer.setInterval(500);
_updateTerrainTimer.setSingleShot(true);
connect(&_updateTerrainTimer, &QTimer::timeout, this, &VisualMissionItem::_reallyUpdateTerrainAltitude);

connect(this, &VisualMissionItem::coordinateChanged, this, &VisualMissionItem::_updateTerrainAltitude);
}

VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* parent)
: QObject(parent)
, _vehicle(NULL)
, _isCurrentItem(false)
, _dirty(false)
, _homePositionSpecialCase(false)
, _altDifference(0.0)
, _altPercent(0.0)
, _azimuth(0.0)
, _distance(0.0)
: QObject (parent)
, _vehicle (NULL)
, _isCurrentItem (false)
, _dirty (false)
, _homePositionSpecialCase (false)
, _altDifference (0.0)
, _altPercent (0.0)
, _terrainPercent (qQNaN())
, _azimuth (0.0)
, _distance (0.0)
{
*this = other;
connect(this, &VisualMissionItem::coordinateChanged, this, &VisualMissionItem::_updateTerrainAltitude);
}

const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& other)
Expand All @@ -57,8 +68,10 @@ const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& o
setIsCurrentItem(other._isCurrentItem);
setDirty(other._dirty);
_homePositionSpecialCase = other._homePositionSpecialCase;
_terrainAltitude = other._terrainAltitude;
setAltDifference(other._altDifference);
setAltPercent(other._altPercent);
setTerrainPercent(other._terrainPercent);
setAzimuth(other._azimuth);
setDistance(other._distance);

Expand Down Expand Up @@ -101,6 +114,14 @@ void VisualMissionItem::setAltPercent(double altPercent)
}
}

void VisualMissionItem::setTerrainPercent(double terrainPercent)
{
if (!qFuzzyCompare(_terrainPercent, terrainPercent)) {
_terrainPercent = terrainPercent;
emit terrainPercentChanged(terrainPercent);
}
}

void VisualMissionItem::setAzimuth(double azimuth)
{
if (!qFuzzyCompare(_azimuth, azimuth)) {
Expand Down Expand Up @@ -128,3 +149,34 @@ void VisualMissionItem::setMissionVehicleYaw(double vehicleYaw)
emit missionVehicleYawChanged(_missionVehicleYaw);
}
}

void VisualMissionItem::_updateTerrainAltitude(void)
{
if (coordinate().isValid()) {
// We use a timer so that any additional requests before the timer fires result in only a single request
_updateTerrainTimer.start();
}
}

void VisualMissionItem::_reallyUpdateTerrainAltitude(void)
{
QGeoCoordinate coord = coordinate();
if (coord.isValid() && (qIsNaN(_terrainAltitude) || !qFuzzyCompare(_lastLatTerrainQuery, coord.latitude()) || qFuzzyCompare(_lastLonTerrainQuery, coord.longitude()))) {
_lastLatTerrainQuery = coord.latitude();
_lastLonTerrainQuery = coord.longitude();
ElevationProvider* terrain = new ElevationProvider(this);
connect(terrain, &ElevationProvider::terrainData, this, &VisualMissionItem::_terrainDataReceived);
QList<QGeoCoordinate> rgCoord;
rgCoord.append(coordinate());
terrain->queryTerrainData(rgCoord);
}
}

void VisualMissionItem::_terrainDataReceived(bool success, QList<float> altitudes)
{
if (success) {
_terrainAltitude = altitudes[0];
emit terrainAltitudeChanged(_terrainAltitude);
sender()->deleteLater();
}
}
19 changes: 19 additions & 0 deletions src/MissionManager/VisualMissionItem.h
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Expand Up @@ -45,6 +45,7 @@ class VisualMissionItem : public QObject

Q_PROPERTY(bool homePosition READ homePosition CONSTANT) ///< true: This item is being used as a home position indicator
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate WRITE setCoordinate NOTIFY coordinateChanged) ///< This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
Q_PROPERTY(double terrainAltitude READ terrainAltitude NOTIFY terrainAltitudeChanged) ///< The altitude of terrain at the coordinate position, NaN if not known
Q_PROPERTY(bool coordinateHasRelativeAltitude READ coordinateHasRelativeAltitude NOTIFY coordinateHasRelativeAltitudeChanged) ///< true: coordinate.latitude is relative to home altitude
Q_PROPERTY(QGeoCoordinate exitCoordinate READ exitCoordinate NOTIFY exitCoordinateChanged) ///< This is the exit point for a waypoint line coming out of the item.
Q_PROPERTY(bool exitCoordinateHasRelativeAltitude READ exitCoordinateHasRelativeAltitude NOTIFY exitCoordinateHasRelativeAltitudeChanged) ///< true: coordinate.latitude is relative to home altitude
Expand Down Expand Up @@ -72,6 +73,7 @@ class VisualMissionItem : public QObject

Q_PROPERTY(double altDifference READ altDifference WRITE setAltDifference NOTIFY altDifferenceChanged) ///< Change in altitude from previous waypoint
Q_PROPERTY(double altPercent READ altPercent WRITE setAltPercent NOTIFY altPercentChanged) ///< Percent of total altitude change in mission altitude
Q_PROPERTY(double terrainPercent READ terrainPercent WRITE setTerrainPercent NOTIFY terrainPercentChanged) ///< Percent of terrain altitude in mission altitude
Q_PROPERTY(double azimuth READ azimuth WRITE setAzimuth NOTIFY azimuthChanged) ///< Azimuth to previous waypoint
Q_PROPERTY(double distance READ distance WRITE setDistance NOTIFY distanceChanged) ///< Distance to previous waypoint

Expand All @@ -82,15 +84,18 @@ class VisualMissionItem : public QObject

double altDifference (void) const { return _altDifference; }
double altPercent (void) const { return _altPercent; }
double terrainPercent (void) const { return _terrainPercent; }
double azimuth (void) const { return _azimuth; }
double distance (void) const { return _distance; }
bool isCurrentItem (void) const { return _isCurrentItem; }
double terrainAltitude (void) const { return _terrainAltitude; }

QmlObjectListModel* childItems(void) { return &_childItems; }

void setIsCurrentItem (bool isCurrentItem);
void setAltDifference (double altDifference);
void setAltPercent (double altPercent);
void setTerrainPercent (double terrainPercent);
void setAzimuth (double azimuth);
void setDistance (double distance);

Expand Down Expand Up @@ -151,6 +156,7 @@ class VisualMissionItem : public QObject
signals:
void altDifferenceChanged (double altDifference);
void altPercentChanged (double altPercent);
void terrainPercentChanged (double terrainPercent);
void azimuthChanged (double azimuth);
void commandDescriptionChanged (void);
void commandNameChanged (void);
Expand All @@ -170,6 +176,7 @@ class VisualMissionItem : public QObject
void lastSequenceNumberChanged (int sequenceNumber);
void missionGimbalYawChanged (double missionGimbalYaw);
void missionVehicleYawChanged (double missionVehicleYaw);
void terrainAltitudeChanged (double terrainAltitude);

void coordinateHasRelativeAltitudeChanged (bool coordinateHasRelativeAltitude);
void exitCoordinateHasRelativeAltitudeChanged (bool exitCoordinateHasRelativeAltitude);
Expand All @@ -180,8 +187,10 @@ class VisualMissionItem : public QObject
bool _isCurrentItem;
bool _dirty;
bool _homePositionSpecialCase; ///< true: This item is being used as a ui home position indicator
double _terrainAltitude; ///< Altitude of terrain at coordinate position, NaN for not known
double _altDifference; ///< Difference in altitude from previous waypoint
double _altPercent; ///< Percent of total altitude change in mission
double _terrainPercent; ///< Percent of terrain altitude for coordinate
double _azimuth; ///< Azimuth to previous waypoint
double _distance; ///< Distance to previous waypoint
QString _editorQml; ///< Qml resource for editing item
Expand All @@ -192,6 +201,16 @@ class VisualMissionItem : public QObject

/// This is used to reference any subsequent mission items which do not specify a coordinate.
QmlObjectListModel _childItems;

private slots:
void _updateTerrainAltitude (void);
void _reallyUpdateTerrainAltitude (void);
void _terrainDataReceived (bool success, QList<float> altitudes);

private:
QTimer _updateTerrainTimer;
double _lastLatTerrainQuery;
double _lastLonTerrainQuery;
};

#endif
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