ObstacleDistanceOverlay.qml

Go to the documentation of this file.

import QtQuick
 
import QGroundControl
 
Canvas {
    id: canvas
    anchors.fill: parent
    visible: QGroundControl.settingsManager.flyViewSettings.showObstacleDistanceOverlay.value > 0 && _activeVehicle && _activeVehicle.objectAvoidance.available
 
    property var showText: true
    property var interval: 200
    property var _ranges: []
    property var _incrementDeg: 0
    property var _offsetDeg: 0
    property var _heading: 0
    property var _maxRadiusMeters: 0
    property var _rangesLen: 0
    property var _degToRangeIdx: function(deg, useHeading) {
        return rangeIdx(deg, _incrementDeg, _offsetDeg, _rangesLen, useHeading ? _heading : 0)
    }
    property var _rangeToShow: function(range) {
        const feets = QGroundControl.settingsManager.unitsSettings.horizontalDistanceUnits.value === UnitsSettings.HorizontalDistanceUnitsFeet
        range = feets ? range * 3.2808399 : range
        return range.toFixed(2)
    }
 
    // Converts degrees to index from ranges
    function rangeIdx(deg, increment, offset, len, heading) {
        var degrees = deg + offset - heading
        if (degrees > 360) degrees = degrees - 360
        if (degrees < 0) degrees = degrees + 360;
        const i = degrees / increment
        return (len + Math.ceil(i)) % len
    }
 
    Timer {
        interval: canvas.interval
        running: true
        repeat: true
        onTriggered: canvas.requestPaint()
    }
 
    onPaint: {
        if (!_activeVehicle)
            return
 
        var ctx = getContext("2d");
        ctx.reset()
 
        _ranges = _activeVehicle.objectAvoidance.distances
        _incrementDeg = _activeVehicle.objectAvoidance.increment
        if (_ranges.length == 0 || _incrementDeg == 0)
            return
 
        _offsetDeg = _activeVehicle.objectAvoidance.angleOffset
        _heading = _activeVehicle.heading.value
        _maxRadiusMeters = _activeVehicle.objectAvoidance.maxDistance / 100
        _rangesLen = 360.0 / _incrementDeg
        if (_rangesLen > _ranges.length)
            _rangesLen = _ranges.length
 
        paintObstacleOverlay(ctx)
    }
}