Condition Get testing hack

DonLakeFlyer · Apr 21, 2019 · bac384a · bac384a
1 parent 68b26ee
commit bac384a
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Showing 4 changed files with 75 additions and 2 deletions.
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -296,7 +296,7 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
          << MAV_CMD_SET_CAMERA_MODE
          << MAV_CMD_IMAGE_START_CAPTURE << MAV_CMD_IMAGE_STOP_CAPTURE << MAV_CMD_VIDEO_START_CAPTURE << MAV_CMD_VIDEO_STOP_CAPTURE
          << MAV_CMD_NAV_DELAY
-         << MAV_CMD_CONDITION_YAW;
+         << MAV_CMD_CONDITION_YAW << MAV_CMD_CONDITION_GATE;
 
     return list;
 }

diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json
@@ -1060,6 +1060,41 @@
                 "enumValues":       "3,4"
             }
         },
+        {
+            "id":                   4501,
+            "rawName":              "MAV_CMD_CONDITION_GATE",
+            "friendlyName":         "Condition Gate",
+            "description":          "Travel to a position in 3D space.",
+            "specifiesCoordinate":  true,
+            "standaloneCoordinate": true,
+            "friendlyEdit":         true,
+            "category":             "Conditionals",
+            "param1": {
+                "label":            "Hold",
+                "units":            "secs",
+                "default":          0,
+                "decimalPlaces":    0
+            },
+            "param2": {
+                "label":            "Acceptance",
+                "units":            "m",
+                "default":          3,
+                "decimalPlaces":    2
+            },
+            "param3": {
+                "label":            "PassThru",
+                "units":            "m",
+                "default":          0,
+                "decimalPlaces":    2
+            },
+            "param4": {
+                "label":            "Heading",
+                "units":            "radians",
+                "nanUnchanged":     true,
+                "default":          null,
+                "decimalPlaces":    2
+            }
+        },
         { "id": 30001, "rawName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY", "friendlyName": "Payload prepare deploy" },
         { "id": 30002, "rawName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY", "friendlyName": "Payload control deploy" }
     ]

diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
@@ -1914,7 +1914,7 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte
                 continue;
             }
         }
-
+#if 0
         SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
         if (simpleItem) {
             scanIndex++;
@@ -1923,6 +1923,9 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte
             // Complex item, can't have sections
             scanIndex++;
         }
+#else
+        scanIndex++;
+#endif
     }
 }
 

diff --git a/src/MissionManager/SurveyComplexItem.cc b/src/MissionManager/SurveyComplexItem.cc
@@ -640,6 +640,41 @@ void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items,
         bool transectEntry = true;
 
         for (const CoordInfo_t& transectCoordInfo: transect) {
+            if (transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge && !transectEntry) {
+                item = new MissionItem(seqNum++,
+                                       MAV_CMD_CONDITION_GATE,
+                                       mavFrame,
+                                       0, 0, 0, 0,
+                                       transectCoordInfo.coord.latitude(),
+                                       transectCoordInfo.coord.longitude(),
+                                       transectCoordInfo.coord.altitude(),
+                                       true,                                        // autoContinue
+                                       false,                                       // isCurrentItem
+                                       missionItemParent);
+                items.append(item);
+                item = new MissionItem(seqNum++,
+                                       MAV_CMD_DO_SET_CAM_TRIGG_DIST,
+                                       MAV_FRAME_MISSION,
+                                       0,           // stop triggering
+                                       0,           // shutter integration (ignore)
+                                       0,           // trigger immediately when starting
+                                       0, 0, 0, 0,  // param 4-7 unused
+                                       true,        // autoContinue
+                                       false,       // isCurrentItem
+                                       missionItemParent);
+                items.append(item);
+                item = new MissionItem(seqNum++,
+                                       MAV_CMD_IMAGE_START_CAPTURE,
+                                       MAV_FRAME_MISSION,
+                                       0,                                   // Reserved (Set to 0)
+                                       0,                                   // Interval (none)
+                                       1,                                   // Take 1 photo
+                                       qQNaN(), qQNaN(), qQNaN(), qQNaN(),  // param 4-7 reserved
+                                       true,                                // autoContinue
+                                       false,                               // isCurrentItem
+                                       missionItemParent);
+                items.append(item);
+            }
             item = new MissionItem(seqNum++,
                                    MAV_CMD_NAV_WAYPOINT,
                                    mavFrame,