Initial Corridor Scan support

jbmag · Jan 30, 2018 · 790d03b · 790d03b
1 parent 8bf441a
commit 790d03b
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Showing 32 changed files with 2,393 additions and 16 deletions.
diff --git a/UnitTest.qrc b/UnitTest.qrc
@@ -9,9 +9,10 @@
         <file alias="MavCmdInfoVTOL.json">src/MissionManager/UnitTest/MavCmdInfoVTOL.json</file>
         <file alias="MissionPlanner.waypoints">src/MissionManager/UnitTest/MissionPlanner.waypoints</file>
         <file alias="OldFileFormat.mission">src/MissionManager/UnitTest/OldFileFormat.mission</file>
-		<file alias="GoodPolygon.kml">src/MissionManager/UnitTest/GoodPolygon.kml</file>
-		<file alias="MissingPolygonNode.kml">src/MissionManager/UnitTest/MissingPolygonNode.kml</file>
-		<file alias="BadXml.kml">src/MissionManager/UnitTest/BadXml.kml</file>
-		<file alias="BadCoordinatesNode.kml">src/MissionManager/UnitTest/BadCoordinatesNode.kml</file>
+		<file alias="PolygonAreaTest.kml">src/MissionManager/UnitTest/PolygonAreaTest.kml</file>
+		<file alias="PolygonGood.kml">src/MissionManager/UnitTest/PolygonGood.kml</file>
+		<file alias="PolygonMissingNode.kml">src/MissionManager/UnitTest/PolygonMissingNode.kml</file>
+		<file alias="PolygonBadXml.kml">src/MissionManager/UnitTest/PolygonBadXml.kml</file>
+		<file alias="PolygonBadCoordinatesNode.kml">src/MissionManager/UnitTest/PolygonBadCoordinatesNode.kml</file>
     </qresource>
 </RCC>
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
@@ -415,6 +415,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
         src/FactSystem/FactSystemTestPX4.h \
         src/FactSystem/ParameterManagerTest.h \
         src/MissionManager/CameraSectionTest.h \
+        src/MissionManager/CorridorScanComplexItemTest.h \
         src/MissionManager/MissionCommandTreeTest.h \
         src/MissionManager/MissionControllerManagerTest.h \
         src/MissionManager/MissionControllerTest.h \
@@ -423,6 +424,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
         src/MissionManager/MissionSettingsTest.h \
         src/MissionManager/PlanMasterControllerTest.h \
         src/MissionManager/QGCMapPolygonTest.h \
+        src/MissionManager/QGCMapPolylineTest.h \
         src/MissionManager/SectionTest.h \
         src/MissionManager/SimpleMissionItemTest.h \
         src/MissionManager/SpeedSectionTest.h \
@@ -452,6 +454,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
         src/FactSystem/FactSystemTestPX4.cc \
         src/FactSystem/ParameterManagerTest.cc \
         src/MissionManager/CameraSectionTest.cc \
+        src/MissionManager/CorridorScanComplexItemTest.cc \
         src/MissionManager/MissionCommandTreeTest.cc \
         src/MissionManager/MissionControllerManagerTest.cc \
         src/MissionManager/MissionControllerTest.cc \
@@ -460,6 +463,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
         src/MissionManager/MissionSettingsTest.cc \
         src/MissionManager/PlanMasterControllerTest.cc \
         src/MissionManager/QGCMapPolygonTest.cc \
+        src/MissionManager/QGCMapPolylineTest.cc \
         src/MissionManager/SectionTest.cc \
         src/MissionManager/SimpleMissionItemTest.cc \
         src/MissionManager/SpeedSectionTest.cc \
@@ -508,6 +512,7 @@ HEADERS += \
     src/MissionManager/CameraSection.h \
     src/MissionManager/CameraSpec.h \
     src/MissionManager/ComplexMissionItem.h \
+    src/MissionManager/CorridorScanComplexItem.h \
     src/MissionManager/FixedWingLandingComplexItem.h \
     src/MissionManager/GeoFenceController.h \
     src/MissionManager/GeoFenceManager.h \
@@ -526,6 +531,7 @@ HEADERS += \
     src/MissionManager/QGCFencePolygon.h \
     src/MissionManager/QGCMapCircle.h \
     src/MissionManager/QGCMapPolygon.h \
+    src/MissionManager/QGCMapPolyline.h \
     src/MissionManager/RallyPoint.h \
     src/MissionManager/RallyPointController.h \
     src/MissionManager/RallyPointManager.h \
@@ -700,6 +706,7 @@ SOURCES += \
     src/MissionManager/CameraSection.cc \
     src/MissionManager/CameraSpec.cc \
     src/MissionManager/ComplexMissionItem.cc \
+    src/MissionManager/CorridorScanComplexItem.cc \
     src/MissionManager/FixedWingLandingComplexItem.cc \
     src/MissionManager/GeoFenceController.cc \
     src/MissionManager/GeoFenceManager.cc \
@@ -718,6 +725,7 @@ SOURCES += \
     src/MissionManager/QGCFencePolygon.cc \
     src/MissionManager/QGCMapCircle.cc \
     src/MissionManager/QGCMapPolygon.cc \
+    src/MissionManager/QGCMapPolyline.cc \
     src/MissionManager/RallyPoint.cc \
     src/MissionManager/RallyPointController.cc \
     src/MissionManager/RallyPointManager.cc \

diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
@@ -18,6 +18,7 @@
         <file alias="AnalyzeView.qml">src/AnalyzeView/AnalyzeView.qml</file>
         <file alias="AppSettings.qml">src/ui/AppSettings.qml</file>
         <file alias="BluetoothSettings.qml">src/ui/preferences/BluetoothSettings.qml</file>
+		<file alias="CorridorScanEditor.qml">src/PlanView/CorridorScanEditor.qml</file>
         <file alias="CustomCommandWidget.qml">src/ViewWidgets/CustomCommandWidget.qml</file>
         <file alias="DebugWindow.qml">src/ui/preferences/DebugWindow.qml</file>
         <file alias="ESP8266Component.qml">src/AutoPilotPlugins/Common/ESP8266Component.qml</file>
@@ -48,6 +49,7 @@
 		<file alias="QGroundControl/Controls/CameraCalc.qml">src/PlanView/CameraCalc.qml</file>
         <file alias="QGroundControl/Controls/CameraSection.qml">src/PlanView/CameraSection.qml</file>
         <file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
+		<file alias="QGroundControl/Controls/CorridorScanMapVisual.qml">src/PlanView/CorridorScanMapVisual.qml</file>
         <file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
 		<file alias="QGroundControl/Controls/EditPositionDialog.qml">src/QmlControls/EditPositionDialog.qml</file>
         <file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
@@ -89,6 +91,7 @@
         <file alias="QGroundControl/Controls/QGCMapLabel.qml">src/QmlControls/QGCMapLabel.qml</file>
 		<file alias="QGroundControl/Controls/QGCMapCircleVisuals.qml">src/MissionManager/QGCMapCircleVisuals.qml</file>
         <file alias="QGroundControl/Controls/QGCMapPolygonVisuals.qml">src/MissionManager/QGCMapPolygonVisuals.qml</file>
+		<file alias="QGroundControl/Controls/QGCMapPolylineVisuals.qml">src/MissionManager/QGCMapPolylineVisuals.qml</file>
         <file alias="QGroundControl/Controls/QGCMouseArea.qml">src/QmlControls/QGCMouseArea.qml</file>
         <file alias="QGroundControl/Controls/QGCMovableItem.qml">src/QmlControls/QGCMovableItem.qml</file>
         <file alias="QGroundControl/Controls/QGCPipable.qml">src/QmlControls/QGCPipable.qml</file>
@@ -202,6 +205,7 @@
 		<file alias="QGCMapCircle.Facts.json">src/MissionManager/QGCMapCircle.Facts.json</file>
         <file alias="RTK.SettingsGroup.json">src/Settings/RTK.SettingsGroup.json</file>
         <file alias="Survey.SettingsGroup.json">src/MissionManager/Survey.SettingsGroup.json</file>
+		<file alias="CorridorScan.SettingsGroup.json">src/MissionManager/CorridorScan.SettingsGroup.json</file>
 		<file alias="StructureScan.SettingsGroup.json">src/MissionManager/StructureScan.SettingsGroup.json</file>
         <file alias="Units.SettingsGroup.json">src/Settings/Units.SettingsGroup.json</file>
         <file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>

diff --git a/src/MissionManager/CameraCalc.h b/src/MissionManager/CameraCalc.h
@@ -49,6 +49,14 @@ class CameraCalc : public CameraSpec
     Fact* adjustedFootprintSide     (void) { return &_adjustedFootprintSideFact; }
     Fact* adjustedFootprintFrontal  (void) { return &_adjustedFootprintFrontalFact; }
 
+    const Fact* valueSetIsDistance          (void) const { return &_valueSetIsDistanceFact; }
+    const Fact* distanceToSurface           (void) const { return &_distanceToSurfaceFact; }
+    const Fact* imageDensity                (void) const { return &_imageDensityFact; }
+    const Fact* frontalOverlap              (void) const { return &_frontalOverlapFact; }
+    const Fact* sideOverlap                 (void) const { return &_sideOverlapFact; }
+    const Fact* adjustedFootprintSide       (void) const { return &_adjustedFootprintSideFact; }
+    const Fact* adjustedFootprintFrontal    (void) const { return &_adjustedFootprintFrontalFact; }
+
     bool    isManualCamera          (void) { return cameraName() == manualCameraName(); }
     double  imageFootprintSide      (void) const { return _imageFootprintSide; }
     double  imageFootprintFrontal   (void) const { return _imageFootprintFrontal; }

diff --git a/src/MissionManager/ComplexMissionItem.h b/src/MissionManager/ComplexMissionItem.h
@@ -47,9 +47,9 @@ class ComplexMissionItem : public VisualMissionItem
     static const char* jsonComplexItemTypeKey;
 
 signals:
-    void complexDistanceChanged     (double complexDistance);
+    void complexDistanceChanged     (void);
     void greatestDistanceToChanged  (void);
-    void additionalTimeDelayChanged (double additionalTimeDelay);
+    void additionalTimeDelayChanged (void);
 };
 
 #endif
diff --git a/src/MissionManager/CorridorScan.SettingsGroup.json b/src/MissionManager/CorridorScan.SettingsGroup.json
@@ -0,0 +1,46 @@
+[
+{
+    "name":             "Altitude",
+    "shortDescription": "Altitude for the bottom layer of the structure scan.",
+    "type":             "double",
+    "units":            "m",
+    "decimalPlaces":    1,
+    "defaultValue":     50
+},
+{
+    "name":             "CorridorWidth",
+    "shortDescription": "Corridor width. Specify 0 width for a single pass scan.",
+    "type":             "double",
+    "units":            "m",
+    "min":              0,
+    "decimalPlaces":    1,
+    "defaultValue":     50
+},
+{
+    "name":             "Trigger distance",
+    "shortDescription": "Distance between each triggering of the camera. 0 specifies not camera trigger.",
+    "type":             "double",
+    "decimalPlaces":    2,
+    "min":              0,
+    "units":            "m",
+    "defaultValue":     25
+},
+{
+    "name":             "GridSpacing",
+    "shortDescription": "Amount of spacing in between parallel grid lines.",
+    "type":             "double",
+    "decimalPlaces":    2,
+    "min":              0.1,
+    "units":            "m",
+    "defaultValue":     30
+},
+{
+    "name":             "TurnaroundDist",
+    "shortDescription": "Amount of additional distance to add outside the grid area for vehicle turnaround.",
+    "type":             "double",
+    "decimalPlaces":    2,
+    "min":              0,
+    "units":            "m",
+    "defaultValue":     30
+}
+]