MissionController Class Reference

#include <MissionController.h>

Inheritance diagram for MissionController:

Collaboration diagram for MissionController:

Classes
struct	MissionFlightStatus_t

Public Types
enum	SendToVehiclePreCheckState { SendToVehiclePreCheckStateOk , SendToVehiclePreCheckStateNoActiveVehicle , SendToVehiclePreCheckStateFirwmareVehicleMismatch , SendToVehiclePreCheckStateActiveMission }

Signals
void	visualItemsChanged (void)
void	splitSegmentChanged (void)
void	newItemsFromVehicle (void)
void	missionTotalDistanceChanged (double missionTotalDistance)
void	missionPlannedDistanceChanged (double missionPlannedDistance)
void	missionTimeChanged (void)
void	missionHoverDistanceChanged (double missionHoverDistance)
void	missionHoverTimeChanged (void)
void	missionCruiseDistanceChanged (double missionCruiseDistance)
void	missionCruiseTimeChanged (void)
void	missionMaxTelemetryChanged (double missionMaxTelemetry)
void	complexMissionItemNamesChanged (void)
void	resumeMissionIndexChanged (void)
void	resumeMissionReady (void)
void	resumeMissionUploadFail (void)
void	batteryChangePointChanged (int batteryChangePoint)
void	batteriesRequiredChanged (int batteriesRequired)
void	plannedHomePositionChanged (QGeoCoordinate plannedHomePosition)
void	progressPctChanged (double progressPct)
void	currentMissionIndexChanged (int currentMissionIndex)
void	currentPlanViewSeqNumChanged (void)
void	currentPlanViewVIIndexChanged (void)
void	currentPlanViewItemChanged (void)
void	takeoffMissionItemChanged (void)
void	missionBoundingCubeChanged (void)
void	missionItemCountChanged (int missionItemCount)
void	onlyInsertTakeoffValidChanged (void)
void	isInsertTakeoffValidChanged (void)
void	isInsertLandValidChanged (void)
void	hasLandItemChanged (void)
void	multipleLandPatternsAllowedChanged (void)
void	isROIActiveChanged (void)
void	isROIBeginCurrentItemChanged (void)
void	flyThroughCommandsAllowedChanged (void)
void	previousCoordinateChanged (void)
void	minAMSLAltitudeChanged (double minAMSLAltitude)
void	maxAMSLAltitudeChanged (double maxAMSLAltitude)
void	recalcTerrainProfile (void)
void	_recalcMissionFlightStatusSignal (void)
void	_recalcFlightPathSegmentsSignal (void)
void	globalAltitudeModeChanged (void)
Signals inherited from PlanElementController
void	supportedChanged (bool supported)
void	containsItemsChanged ()
void	syncInProgressChanged (bool syncInProgress)
void	dirtyChanged (bool dirty)
void	sendComplete (void)
void	removeAllComplete (void)

Public Member Functions
	MissionController (PlanMasterController *masterController, QObject *parent=nullptr)
	~MissionController ()
VisualMissionItem *	insertSimpleMissionItem (QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem=false)
VisualMissionItem *	insertTakeoffItem (QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem=false)
VisualMissionItem *	insertLandItem (QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem=false)
VisualMissionItem *	insertROIMissionItem (QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem=false)
VisualMissionItem *	insertCancelROIMissionItem (int visualItemIndex, bool makeCurrentItem=false)
VisualMissionItem *	insertComplexMissionItem (QString itemName, QGeoCoordinate mapCenterCoordinate, int visualItemIndex, bool makeCurrentItem=false)
VisualMissionItem *	insertComplexMissionItemFromKMLOrSHP (QString itemName, QString file, int visualItemIndex, bool makeCurrentItem=false)
void	resumeMission (int resumeIndex)
void	applyDefaultMissionAltitude (void)
	Updates the altitudes of the items in the current mission to the new default altitude.
void	setCurrentPlanViewSeqNum (int sequenceNumber, bool force)
void	repositionMission (const QGeoCoordinate &newHome, bool repositionTakeoffItems=true, bool repositionLandingItems=true)
void	offsetMission (double eastMeters, double northMeters, double upMeters=0.0, bool offsetTakeoffItems=false, bool offsetLandingItems=false)
void	rotateMission (double degreesCW, bool rotateTakeoffItems=false, bool rotateLandingItems=false)
SendToVehiclePreCheckState	sendToVehiclePreCheck (void)
int	readyForSaveState (void) const
bool	loadTextFile (QFile &file, QString &errorString)
QGCGeoBoundingCube *	travelBoundingCube ()
QGeoCoordinate	takeoffCoordinate ()
bool	supported (void) const final
	true: controller is waiting for the current load to complete
void	start (bool flyView) final
	Should be called immediately upon Component.onCompleted.
void	save (QJsonObject &json) final
bool	load (const QJsonObject &json, QString &errorString) final
void	loadFromVehicle (void) final
void	sendToVehicle (void) final
void	removeAll (void) final
	Removes all from controller only.
void	removeAllFromVehicle (void) final
bool	syncInProgress (void) const final
bool	dirty (void) const final
void	setDirty (bool dirty) final
bool	containsItems (void) const final
bool	showPlanFromManagerVehicle (void) final
void	addMissionToKML (KMLPlanDomDocument &planKML)
QmlObjectListModel *	visualItems (void)
QmlObjectTreeModel *	visualItemsTree (void)
QPersistentModelIndex	planFileGroupIndex (void) const
QPersistentModelIndex	defaultsGroupIndex (void) const
QPersistentModelIndex	missionGroupIndex (void) const
QPersistentModelIndex	fenceGroupIndex (void) const
QPersistentModelIndex	rallyGroupIndex (void) const
QmlObjectListModel *	simpleFlightPathSegments (void)
QmlObjectListModel *	directionArrows (void)
QStringList	complexMissionItemNames (void) const
QGeoCoordinate	plannedHomePosition (void) const
VisualMissionItem *	currentPlanViewItem (void) const
TakeoffMissionItem *	takeoffMissionItem (void) const
double	progressPct (void) const
QString	surveyComplexItemName (void) const
QString	corridorScanComplexItemName (void) const
QString	structureScanComplexItemName (void) const
bool	isInsertTakeoffValid (void) const
bool	multipleLandPatternsAllowed (void) const
double	minAMSLAltitude (void) const
double	maxAMSLAltitude (void) const
int	missionItemCount (void) const
int	currentMissionIndex (void) const
int	resumeMissionIndex (void) const
int	currentPlanViewSeqNum (void) const
int	currentPlanViewVIIndex (void) const
double	missionTotalDistance (void) const
double	missionPlannedDistance (void) const
double	missionTime (void) const
double	missionHoverDistance (void) const
double	missionHoverTime (void) const
double	missionCruiseDistance (void) const
double	missionCruiseTime (void) const
double	missionMaxTelemetry (void) const
int	batteryChangePoint (void) const
	-1 for not supported, 0 for not needed
int	batteriesRequired (void) const
	-1 for not supported
bool	isFirstLandingComplexItem (const LandingComplexItem *item) const
bool	isEmpty (void) const
QGroundControlQmlGlobal::AltMode	globalAltitudeMode (void)
QGroundControlQmlGlobal::AltMode	globalAltitudeModeDefault (void)
void	setGlobalAltitudeMode (QGroundControlQmlGlobal::AltMode altMode)
Public Member Functions inherited from PlanElementController
	PlanElementController (PlanMasterController *masterController, QObject *parent=nullptr)
	~PlanElementController ()
PlanMasterController *masterController READ masterController	CONSTANT (bool supported READ supported NOTIFY supportedChanged) 1(bool containsItems READ containsItems NOTIFY containsItemsChanged) 1(bool syncInProgress READ syncInProgress NOTIFY syncInProgressChanged) 1(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged) PlanMasterController *masterController(void)
	< true: Elemement is non-empty

Static Public Member Functions
static void	sendItemsToVehicle (Vehicle *vehicle, QmlObjectListModel *visualMissionItems)
	Sends the mission items to the specified vehicle.

Public Attributes
QmlObjectListModel *visualItems READ visualItems NOTIFY visualItemsChanged(QmlObjectTreeModel *visualItemsTree READ visualItemsTree CONSTANT) 1(QPersistentModelIndex planFileGroupIndex READ planFileGroupIndex CONSTANT) 1(QPersistentModelIndex defaultsGroupIndex READ defaultsGroupIndex CONSTANT) 1(QPersistentModelIndex missionGroupIndex READ missionGroupIndex CONSTANT) 1(QPersistentModelIndex fenceGroupIndex READ fenceGroupIndex CONSTANT) 1(QPersistentModelIndex rallyGroupIndex READ rallyGroupIndex CONSTANT) 1(QmlObjectListModel *simpleFlightPathSegments READ simpleFlightPathSegments CONSTANT) 1(QmlObjectListModel *directionArrows READ directionArrows CONSTANT) 1(QStringList complexMissionItemNames READ complexMissionItemNames NOTIFY complexMissionItemNamesChanged) 1(QGeoCoordinate plannedHomePosition READ plannedHomePosition NOTIFY plannedHomePositionChanged) 1(QGeoCoordinate previousCoordinate MEMBER _previousCoordinate NOTIFY previousCoordinateChanged) 1(FlightPathSegment *splitSegment MEMBER _splitSegment NOTIFY splitSegmentChanged) 1(double progressPct READ progressPct NOTIFY progressPctChanged) 1(int missionItemCount READ missionItemCount NOTIFY missionItemCountChanged) 1(int currentMissionIndex READ currentMissionIndex NOTIFY currentMissionIndexChanged) 1(int resumeMissionIndex READ resumeMissionIndex NOTIFY resumeMissionIndexChanged) 1(int currentPlanViewSeqNum READ currentPlanViewSeqNum NOTIFY currentPlanViewSeqNumChanged) 1(int currentPlanViewVIIndex READ currentPlanViewVIIndex NOTIFY currentPlanViewVIIndexChanged) 1(VisualMissionItem *currentPlanViewItem READ currentPlanViewItem NOTIFY currentPlanViewItemChanged) 1(TakeoffMissionItem *takeoffMissionItem READ takeoffMissionItem NOTIFY takeoffMissionItemChanged) 1(double missionTotalDistance READ missionTotalDistance NOTIFY missionTotalDistanceChanged) 1(double missionPlannedDistance READ missionPlannedDistance NOTIFY missionPlannedDistanceChanged) 1(double missionTime READ missionTime NOTIFY missionTimeChanged) 1(double missionHoverDistance READ missionHoverDistance NOTIFY missionHoverDistanceChanged) 1(double missionCruiseDistance READ missionCruiseDistance NOTIFY missionCruiseDistanceChanged) 1(double missionHoverTime READ missionHoverTime NOTIFY missionHoverTimeChanged) 1(double missionCruiseTime READ missionCruiseTime NOTIFY missionCruiseTimeChanged) 1(double missionMaxTelemetry READ missionMaxTelemetry NOTIFY missionMaxTelemetryChanged) 1(int batteryChangePoint READ batteryChangePoint NOTIFY batteryChangePointChanged) 1(int batteriesRequired READ batteriesRequired NOTIFY batteriesRequiredChanged) 1(QGCGeoBoundingCube *travelBoundingCube READ travelBoundingCube NOTIFY missionBoundingCubeChanged) 1(QString surveyComplexItemName READ surveyComplexItemName CONSTANT) 1(QString corridorScanComplexItemName READ corridorScanComplexItemName CONSTANT) 1(QString structureScanComplexItemName READ structureScanComplexItemName CONSTANT) 1(bool onlyInsertTakeoffValid MEMBER _onlyInsertTakeoffValid NOTIFY onlyInsertTakeoffValidChanged) 1(bool isInsertTakeoffValid MEMBER _isInsertTakeoffValid NOTIFY isInsertTakeoffValidChanged) 1(bool isInsertLandValid MEMBER _isInsertLandValid NOTIFY isInsertLandValidChanged) 1(bool hasLandItem MEMBER _hasLandItem NOTIFY hasLandItemChanged) 1(bool multipleLandPatternsAllowed READ multipleLandPatternsAllowed NOTIFY multipleLandPatternsAllowedChanged) 1(bool isROIActive MEMBER _isROIActive NOTIFY isROIActiveChanged) 1(bool isROIBeginCurrentItem MEMBER _isROIBeginCurrentItem NOTIFY isROIBeginCurrentItemChanged) 1(bool flyThroughCommandsAllowed MEMBER _flyThroughCommandsAllowed NOTIFY flyThroughCommandsAllowedChanged) 1(double minAMSLAltitude MEMBER _minAMSLAltitude NOTIFY minAMSLAltitudeChanged) 1(double maxAMSLAltitude MEMBER _maxAMSLAltitude NOTIFY maxAMSLAltitudeChanged) 1(QGroundControlQmlGlobal in	visualItemIndexForObject )(QObject *object) const
	< Used by Plan view only for interactive editing

Static Public Attributes
static constexpr int	kPlanFileGroupRow = 0
static constexpr int	kDefaultsGroupRow = 1
static constexpr int	kMissionGroupRow = 2
static constexpr int	kFenceGroupRow = 3
static constexpr int	kRallyGroupRow = 4
static constexpr int	kGroupCount = 5

Additional Inherited Members
Protected Attributes inherited from PlanElementController
PlanMasterController *	_masterController
bool	_flyView

Detailed Description

Definition at line 36 of file MissionController.h.

Member Enumeration Documentation

SendToVehiclePreCheckState

enum MissionController::SendToVehiclePreCheckState

Enumerator
SendToVehiclePreCheckStateOk
SendToVehiclePreCheckStateNoActiveVehicle
SendToVehiclePreCheckStateFirwmareVehicleMismatch
SendToVehiclePreCheckStateActiveMission

Definition at line 234 of file MissionController.h.

Constructor & Destructor Documentation

MissionController()

MissionController::MissionController	(	PlanMasterController *	masterController,
		QObject *	parent = nullptr
	)

Definition at line 36 of file MissionController.cc.

References _recalcFlightPathSegmentsSignal(), _recalcMissionFlightStatusSignal(), PlanMasterController::managerVehicleChanged(), missionPlannedDistanceChanged(), multipleLandPatternsAllowedChanged(), qgcApp, Fact::rawValueChanged(), and recalcTerrainProfile().

~MissionController()

MissionController::~MissionController

(

)

Definition at line 64 of file MissionController.cc.

Member Function Documentation

_recalcFlightPathSegmentsSignal

void MissionController::_recalcFlightPathSegmentsSignal ( void  )

signal

Referenced by LandingComplexItem::_init(), and MissionController().

_recalcMissionFlightStatusSignal

void MissionController::_recalcMissionFlightStatusSignal ( void  )

signal

Referenced by MissionController().

addMissionToKML()

void MissionController::addMissionToKML

(

KMLPlanDomDocument &

planKML

)

Definition at line 273 of file MissionController.cc.

References KMLPlanDomDocument::addMission().

Referenced by PlanMasterController::saveToKml().

applyDefaultMissionAltitude()

void MissionController::applyDefaultMissionAltitude

(

void

)

Updates the altitudes of the items in the current mission to the new default altitude.

Definition at line 2437 of file MissionController.cc.

References VisualMissionItem::applyNewAltitude(), QmlObjectListModel::count(), AppSettings::defaultMissionItemAltitude(), and QmlObjectListModel::value().

batteriesRequired()

int MissionController::batteriesRequired ( void  ) const

inline

-1 for not supported

Definition at line 315 of file MissionController.h.

References MissionController::MissionFlightStatus_t::batteriesRequired.

batteriesRequiredChanged

void MissionController::batteriesRequiredChanged ( int  batteriesRequired )

signal

batteryChangePoint()

int MissionController::batteryChangePoint ( void  ) const

inline

-1 for not supported, 0 for not needed

Definition at line 314 of file MissionController.h.

References MissionController::MissionFlightStatus_t::batteryChangePoint.

batteryChangePointChanged

void MissionController::batteryChangePointChanged ( int  batteryChangePoint )

signal

complexMissionItemNames()

QStringList MissionController::complexMissionItemNames

(

void

)

const

Definition at line 2405 of file MissionController.cc.

References Vehicle::multiRotor(), CorridorScanComplexItem::name, StructureScanComplexItem::name, SurveyComplexItem::name, and Vehicle::vtol().

complexMissionItemNamesChanged

void MissionController::complexMissionItemNamesChanged ( void  )

signal

containsItems()

bool MissionController::containsItems ( void  ) const

finalvirtual

Implements PlanElementController.

Definition at line 2388 of file MissionController.cc.

References QmlObjectListModel::count().

Referenced by PlanMasterController::containsItems().

corridorScanComplexItemName()

QString MissionController::corridorScanComplexItemName

(

void

)

const

Definition at line 2950 of file MissionController.cc.

References CorridorScanComplexItem::name.

currentMissionIndex()

int MissionController::currentMissionIndex

(

void

)

const

Definition at line 2304 of file MissionController.cc.

References PlanElementController::_flyView, MissionManager::currentIndex(), Vehicle::firmwarePlugin(), and FirmwarePlugin::sendHomePositionToVehicle().

currentMissionIndexChanged

void MissionController::currentMissionIndexChanged ( int  currentMissionIndex )

signal

currentPlanViewItem()

VisualMissionItem * MissionController::currentPlanViewItem ( void  ) const

inline

Definition at line 288 of file MissionController.h.

currentPlanViewItemChanged

void MissionController::currentPlanViewItemChanged ( void  )

signal

Referenced by setCurrentPlanViewSeqNum().

currentPlanViewSeqNum()

int MissionController::currentPlanViewSeqNum ( void  ) const

inline

Definition at line 302 of file MissionController.h.

currentPlanViewSeqNumChanged

void MissionController::currentPlanViewSeqNumChanged ( void  )

signal

Referenced by setCurrentPlanViewSeqNum().

currentPlanViewVIIndex()

int MissionController::currentPlanViewVIIndex ( void  ) const

inline

Definition at line 303 of file MissionController.h.

currentPlanViewVIIndexChanged

void MissionController::currentPlanViewVIIndexChanged ( void  )

signal

Referenced by setCurrentPlanViewSeqNum().

defaultsGroupIndex()

QPersistentModelIndex MissionController::defaultsGroupIndex ( void  ) const

inline

Definition at line 280 of file MissionController.h.

directionArrows()

QmlObjectListModel * MissionController::directionArrows ( void  )

inline

Definition at line 285 of file MissionController.h.

dirty()

bool MissionController::dirty ( void  ) const

finalvirtual

Implements PlanElementController.

Definition at line 2337 of file MissionController.cc.

Referenced by setDirty().

fenceGroupIndex()

QPersistentModelIndex MissionController::fenceGroupIndex ( void  ) const

inline

Definition at line 282 of file MissionController.h.

flyThroughCommandsAllowedChanged

void MissionController::flyThroughCommandsAllowedChanged ( void  )

signal

Referenced by setCurrentPlanViewSeqNum().

globalAltitudeMode()

QGroundControlQmlGlobal::AltMode MissionController::globalAltitudeMode

(

void

)

Definition at line 2988 of file MissionController.cc.

Referenced by insertComplexMissionItem().

globalAltitudeModeChanged

void MissionController::globalAltitudeModeChanged ( void  )

signal

Referenced by setGlobalAltitudeMode().

globalAltitudeModeDefault()

QGroundControlQmlGlobal::AltMode MissionController::globalAltitudeModeDefault

(

void

)

Definition at line 2993 of file MissionController.cc.

References QGroundControlQmlGlobal::AltitudeModeMixed, and QGroundControlQmlGlobal::AltitudeModeRelative.

hasLandItemChanged

void MissionController::hasLandItemChanged ( void  )

signal

Referenced by setCurrentPlanViewSeqNum().

insertCancelROIMissionItem()

VisualMissionItem * MissionController::insertCancelROIMissionItem	(	int	visualItemIndex,
		bool	makeCurrentItem = false
	)

Add a new Cancel ROI mission item to the list

Parameters

visualItemIndex	index to insert at, -1 for end of list
makeCurrentItem	true: Make this item the current item

Returns

Newly created item

Definition at line 419 of file MissionController.cc.

References Vehicle::firmwarePlugin(), SimpleMissionItem::missionItem(), SimpleMissionItem::setCommand(), MissionItem::setParam1(), FirmwarePlugin::supportedMissionCommands(), and QGCMAVLink::VehicleClassGeneric.

insertComplexMissionItem()

VisualMissionItem * MissionController::insertComplexMissionItem	(	QString	itemName,
		QGeoCoordinate	mapCenterCoordinate,
		int	visualItemIndex,
		bool	makeCurrentItem = false
	)

Add a new complex mission item to the list

Parameters

itemName	Name of complex item to create (from complexMissionItemNames)
mapCenterCoordinate	coordinate for current center of map
visualItemIndex	index to insert at, -1 for end of list
makeCurrentItem	true: Make this item the current item

Returns

Newly created item

Definition at line 431 of file MissionController.cc.

References PlanElementController::_flyView, PlanElementController::_masterController, QGroundControlQmlGlobal::AltitudeModeMixed, globalAltitudeMode(), CorridorScanComplexItem::name, FixedWingLandingComplexItem::name, StructureScanComplexItem::name, SurveyComplexItem::name, VTOLLandingComplexItem::name, and VisualMissionItem::setCoordinate().

Referenced by CorridorScanPlanCreator::createPlan(), StructureScanPlanCreator::createPlan(), SurveyPlanCreator::createPlan(), and insertLandItem().

insertComplexMissionItemFromKMLOrSHP()

VisualMissionItem * MissionController::insertComplexMissionItemFromKMLOrSHP	(	QString	itemName,
		QString	file,
		int	visualItemIndex,
		bool	makeCurrentItem = false
	)

Add a new complex mission item to the list

Parameters

itemName	Name of complex item to create (from complexMissionItemNames)
file	kml or shp file to load from shape from
coordinate	Coordinate for item
visualItemIndex	index to insert at, -1 for end of list
makeCurrentItem	true: Make this item the current item

Returns

Newly created item

Definition at line 465 of file MissionController.cc.

References PlanElementController::_flyView, PlanElementController::_masterController, CorridorScanComplexItem::name, StructureScanComplexItem::name, and SurveyComplexItem::name.

insertLandItem()

VisualMissionItem * MissionController::insertLandItem	(	QGeoCoordinate	coordinate,
		int	visualItemIndex,
		bool	makeCurrentItem = false
	)

Add a new land item to the list

Parameters

coordinate	Coordinate for item
visualItemIndex	index to insert at, -1 for end of list
makeCurrentItem	true: Make this item the current item

Returns

Newly created item

Definition at line 394 of file MissionController.cc.

References Vehicle::fixedWing(), insertComplexMissionItem(), FixedWingLandingComplexItem::name, VTOLLandingComplexItem::name, and Vehicle::vtol().

Referenced by CorridorScanPlanCreator::createPlan(), StructureScanPlanCreator::createPlan(), and SurveyPlanCreator::createPlan().

insertROIMissionItem()

VisualMissionItem * MissionController::insertROIMissionItem	(	QGeoCoordinate	coordinate,
		int	visualItemIndex,
		bool	makeCurrentItem = false
	)

Add a new ROI mission item to the list

Parameters

coordinate	Coordinate for item
visualItemIndex	index to insert at, -1 for end of list
makeCurrentItem	true: Make this item the current item

Returns

Newly created item

Definition at line 407 of file MissionController.cc.

References Vehicle::firmwarePlugin(), SimpleMissionItem::missionItem(), SimpleMissionItem::setCommand(), MissionItem::setParam1(), FirmwarePlugin::supportedMissionCommands(), and QGCMAVLink::VehicleClassGeneric.

insertSimpleMissionItem()

VisualMissionItem * MissionController::insertSimpleMissionItem	(	QGeoCoordinate	coordinate,
		int	visualItemIndex,
		bool	makeCurrentItem = false
	)

Add a new simple mission item to the list

Parameters

coordinate	Coordinate for item
visualItemIndex	index to insert at, -1 for end of list
makeCurrentItem	true: Make this item the current item

Returns

Newly created item

Definition at line 348 of file MissionController.cc.

insertTakeoffItem()

VisualMissionItem * MissionController::insertTakeoffItem	(	QGeoCoordinate	coordinate,
		int	visualItemIndex,
		bool	makeCurrentItem = false
	)

Add a new takeoff item to the list

Parameters

coordinate	Coordinate for item
visualItemIndex	index to insert at, -1 for end of list
makeCurrentItem	true: Make this item the current item

Returns

Newly created item

Definition at line 353 of file MissionController.cc.

References PlanElementController::_flyView, PlanElementController::_masterController, SimpleMissionItem::altitude(), QmlObjectListModel::append(), QmlObjectListModel::insert(), SimpleMissionItem::sequenceNumber(), SimpleMissionItem::setAltitudeMode(), setCurrentPlanViewSeqNum(), SimpleMissionItem::setSequenceNumber(), SimpleMissionItem::specifiesAltitude(), and Vehicle::vtol().

Referenced by CorridorScanPlanCreator::createPlan(), StructureScanPlanCreator::createPlan(), and SurveyPlanCreator::createPlan().

isEmpty()

bool MissionController::isEmpty

(

void

)

const

Definition at line 2934 of file MissionController.cc.

References QmlObjectListModel::count().

Referenced by PlanMasterController::isEmpty().

isFirstLandingComplexItem()

bool MissionController::isFirstLandingComplexItem

(

const LandingComplexItem *

item

)

const

Definition at line 2919 of file MissionController.cc.

References QmlObjectListModel::count(), and QmlObjectListModel::get().

Referenced by FixedWingLandingComplexItem::patternName(), and VTOLLandingComplexItem::patternName().

isInsertLandValidChanged

void MissionController::isInsertLandValidChanged ( void  )

signal

Referenced by setCurrentPlanViewSeqNum().

isInsertTakeoffValid()

bool MissionController::isInsertTakeoffValid

(

void

)

const

isInsertTakeoffValidChanged

void MissionController::isInsertTakeoffValidChanged ( void  )

signal

Referenced by setCurrentPlanViewSeqNum().

isROIActiveChanged

void MissionController::isROIActiveChanged ( void  )

signal

Referenced by setCurrentPlanViewSeqNum().

isROIBeginCurrentItemChanged

void MissionController::isROIBeginCurrentItemChanged ( void  )

signal

Referenced by setCurrentPlanViewSeqNum().

load()

bool MissionController::load ( const QJsonObject &  json, QString &  errorString  )

finalvirtual

Implements PlanElementController.

Definition at line 1022 of file MissionController.cc.

References errorString.

Referenced by PlanMasterController::loadFromFile().

loadFromVehicle()

void MissionController::loadFromVehicle ( void  )

finalvirtual

Implements PlanElementController.

Definition at line 209 of file MissionController.cc.

References PlanElementController::_masterController, PlanManager::loadFromVehicle(), Vehicle::missionManager(), PlanMasterController::offline(), and syncInProgress().

Referenced by PlanMasterController::loadFromVehicle().

loadTextFile()

bool MissionController::loadTextFile	(	QFile &	file,
		QString &	errorString
	)

Definition at line 1037 of file MissionController.cc.

References QGroundControlQmlGlobal::AltitudeModeMixed, errorString, and setGlobalAltitudeMode().

Referenced by PlanMasterController::loadFromFile().

maxAMSLAltitude()

double MissionController::maxAMSLAltitude ( void  ) const

inline

Definition at line 297 of file MissionController.h.

Referenced by TerrainProfile::updatePaintNode().

maxAMSLAltitudeChanged

void MissionController::maxAMSLAltitudeChanged ( double  maxAMSLAltitude )

signal

minAMSLAltitude()

double MissionController::minAMSLAltitude ( void  ) const

inline

Definition at line 296 of file MissionController.h.

Referenced by TerrainProfile::updatePaintNode().

minAMSLAltitudeChanged

void MissionController::minAMSLAltitudeChanged ( double  minAMSLAltitude )

signal

missionBoundingCubeChanged

void MissionController::missionBoundingCubeChanged ( void  )

signal

missionCruiseDistance()

double MissionController::missionCruiseDistance ( void  ) const

inline

Definition at line 310 of file MissionController.h.

References MissionController::MissionFlightStatus_t::cruiseDistance.

missionCruiseDistanceChanged

void MissionController::missionCruiseDistanceChanged ( double  missionCruiseDistance )

signal

missionCruiseTime()

double MissionController::missionCruiseTime ( void  ) const

inline

Definition at line 311 of file MissionController.h.

References MissionController::MissionFlightStatus_t::cruiseTime.

missionCruiseTimeChanged

void MissionController::missionCruiseTimeChanged ( void  )

signal

missionGroupIndex()

QPersistentModelIndex MissionController::missionGroupIndex ( void  ) const

inline

Definition at line 281 of file MissionController.h.

missionHoverDistance()

double MissionController::missionHoverDistance ( void  ) const

inline

Definition at line 308 of file MissionController.h.

References MissionController::MissionFlightStatus_t::hoverDistance.

missionHoverDistanceChanged

void MissionController::missionHoverDistanceChanged ( double  missionHoverDistance )

signal

missionHoverTime()

double MissionController::missionHoverTime ( void  ) const

inline

Definition at line 309 of file MissionController.h.

References MissionController::MissionFlightStatus_t::hoverTime.

missionHoverTimeChanged

void MissionController::missionHoverTimeChanged ( void  )

signal

missionItemCount()

int MissionController::missionItemCount ( void  ) const

inline

Definition at line 299 of file MissionController.h.

missionItemCountChanged

void MissionController::missionItemCountChanged ( int  missionItemCount )

signal

missionMaxTelemetry()

double MissionController::missionMaxTelemetry ( void  ) const

inline

Definition at line 312 of file MissionController.h.

References MissionController::MissionFlightStatus_t::maxTelemetryDistance.

missionMaxTelemetryChanged

void MissionController::missionMaxTelemetryChanged ( double  missionMaxTelemetry )

signal

missionPlannedDistance()

double MissionController::missionPlannedDistance ( void  ) const

inline

Definition at line 306 of file MissionController.h.

References MissionController::MissionFlightStatus_t::plannedDistance.

missionPlannedDistanceChanged

void MissionController::missionPlannedDistanceChanged ( double  missionPlannedDistance )

signal

Referenced by MissionController().

missionTime()

double MissionController::missionTime ( void  ) const

inline

Definition at line 307 of file MissionController.h.

References MissionController::MissionFlightStatus_t::totalTime.

missionTimeChanged

void MissionController::missionTimeChanged ( void  )

signal

missionTotalDistance()

double MissionController::missionTotalDistance ( void  ) const

inline

Definition at line 305 of file MissionController.h.

References MissionController::MissionFlightStatus_t::totalDistance.

Referenced by TerrainProfile::updatePaintNode().

missionTotalDistanceChanged

void MissionController::missionTotalDistanceChanged ( double  missionTotalDistance )

signal

multipleLandPatternsAllowed()

bool MissionController::multipleLandPatternsAllowed

(

void

)

const

Definition at line 386 of file MissionController.cc.

References PlanElementController::_masterController, PlanViewSettings::allowMultipleLandingPatterns(), PlanMasterController::managerVehicle(), and Vehicle::px4Firmware().

Referenced by setCurrentPlanViewSeqNum().

multipleLandPatternsAllowedChanged

void MissionController::multipleLandPatternsAllowedChanged ( void  )

signal

Referenced by MissionController().

newItemsFromVehicle

void MissionController::newItemsFromVehicle ( void  )

signal

offsetMission()

void MissionController::offsetMission	(	double	eastMeters,
		double	northMeters,
		double	upMeters = 0.0,
		bool	offsetTakeoffItems = false,
		bool	offsetLandingItems = false
	)

Offsets all mission items which specify a coordinate by the specified ENU amounts in meters. Home altitude remains unchanged. Requires a valid planned home position; otherwise the mission is not modified and a warning is logged.

Parameters

eastMeters	Distance to offset items to the east, in meters
northMeters	Distance to offset items to the north, in meters
upMeters	Distance to offset items upwards, in meters
offsetTakeoffItems	If true, items identified as takeoff items (isTakeoffItem) will be offset
offsetLandingItems	If true, items identified as landing items (isLandCommand) will be offset

Definition at line 2739 of file MissionController.cc.

References VisualMissionItem::applyNewAltitude(), MissionSettingsItem::coordinate(), QmlObjectListModel::count(), VisualMissionItem::editableAlt(), QmlObjectListModel::get(), VisualMissionItem::isLandCommand(), VisualMissionItem::isTakeoffItem(), repositionMission(), VisualMissionItem::specifiesAltitudeOnly(), and VisualMissionItem::specifiesCoordinate().

onlyInsertTakeoffValidChanged

void MissionController::onlyInsertTakeoffValidChanged ( void  )

signal

Referenced by setCurrentPlanViewSeqNum().

planFileGroupIndex()

QPersistentModelIndex MissionController::planFileGroupIndex ( void  ) const

inline

Definition at line 279 of file MissionController.h.

plannedHomePosition()

QGeoCoordinate MissionController::plannedHomePosition

(

void

)

const

Definition at line 2428 of file MissionController.cc.

References MissionSettingsItem::coordinate().

Referenced by LandingComplexItem::amslEntryAlt(), SimpleMissionItem::amslEntryAlt(), StructureScanComplexItem::amslEntryAlt(), TransectStyleComplexItem::amslEntryAlt(), LandingComplexItem::amslExitAlt(), StructureScanComplexItem::maxAMSLAltitude(), TransectStyleComplexItem::maxAMSLAltitude(), StructureScanComplexItem::minAMSLAltitude(), and TransectStyleComplexItem::minAMSLAltitude().

plannedHomePositionChanged

void MissionController::plannedHomePositionChanged ( QGeoCoordinate  plannedHomePosition )

signal

Referenced by LandingComplexItem::_init(), ComplexMissionItem::ComplexMissionItem(), and StructureScanComplexItem::StructureScanComplexItem().

previousCoordinateChanged

void MissionController::previousCoordinateChanged ( void  )

signal

Referenced by setCurrentPlanViewSeqNum().

progressPct()

double MissionController::progressPct ( void  ) const

inline

Definition at line 290 of file MissionController.h.

progressPctChanged

void MissionController::progressPctChanged ( double  progressPct )

signal

rallyGroupIndex()

QPersistentModelIndex MissionController::rallyGroupIndex ( void  ) const

inline

Definition at line 283 of file MissionController.h.

readyForSaveState()

int MissionController::readyForSaveState

(

void

)

const

Determines if the mission has all data needed to be saved or sent to the vehicle. IMPORTANT NOTE: The return value is a VisualMissionItem::ReadForSaveState value. It is an int here to work around a nightmare of circular header dependency problems.

Definition at line 1057 of file MissionController.cc.

References QmlObjectListModel::count(), QmlObjectListModel::get(), VisualMissionItem::ReadyForSave, and VisualMissionItem::readyForSaveState().

Referenced by PlanMasterController::readyForSaveState().

recalcTerrainProfile

void MissionController::recalcTerrainProfile ( void  )

signal

Referenced by ComplexMissionItem::_appendFlightPathSegment(), MissionController(), TerrainProfile::setMissionController(), and TransectStyleComplexItem::TransectStyleComplexItem().

removeAll()

void MissionController::removeAll ( void  )

finalvirtual

Removes all from controller only.

Implements PlanElementController.

Definition at line 609 of file MissionController.cc.

References QmlObjectListModel::clearAndDeleteContents(), and setDirty().

Referenced by PlanMasterController::removeAll().

removeAllFromVehicle()

void MissionController::removeAllFromVehicle ( void  )

finalvirtual

Removes all from vehicle and controller Signals removeAllComplete when done

Implements PlanElementController.

Definition at line 2393 of file MissionController.cc.

References PlanElementController::_masterController, PlanMasterController::offline(), PlanManager::removeAll(), and syncInProgress().

Referenced by PlanMasterController::removeAllFromVehicle().

repositionMission()

void MissionController::repositionMission	(	const QGeoCoordinate &	newHome,
		bool	repositionTakeoffItems = true,
		bool	repositionLandingItems = true
	)

Repositions all mission items which specify a coordinate around a new home coordinate. Requires a valid planned home position; otherwise the mission is not modified and a warning is logged.

Parameters

newHome	New coordinate for the home item
repositionTakeoffItems	If true, items identified as takeoff items (isTakeoffItem) will be repositioned
repositionLandingItems	If true, items identified as landing items (isLandCommand) will be repositioned

Definition at line 2697 of file MissionController.cc.

References VisualMissionItem::coordinate(), MissionSettingsItem::coordinate(), QmlObjectListModel::count(), QmlObjectListModel::get(), VisualMissionItem::isLandCommand(), VisualMissionItem::isStandaloneCoordinate(), VisualMissionItem::isTakeoffItem(), VisualMissionItem::setCoordinate(), setDirty(), and VisualMissionItem::specifiesCoordinate().

Referenced by offsetMission().

resumeMission()

void MissionController::resumeMission

(

int

resumeIndex

)

Definition at line 2420 of file MissionController.cc.

References Vehicle::firmwarePlugin(), MissionManager::generateResumeMission(), and FirmwarePlugin::sendHomePositionToVehicle().

resumeMissionIndex()

int MissionController::resumeMissionIndex

(

void

)

const

Definition at line 2286 of file MissionController.cc.

References PlanElementController::_flyView, QmlObjectListModel::count(), Vehicle::firmwarePlugin(), MissionManager::lastCurrentIndex(), FirmwarePlugin::sendHomePositionToVehicle(), VisualMissionItem::sequenceNumber(), and QmlObjectListModel::value().

resumeMissionIndexChanged

void MissionController::resumeMissionIndexChanged ( void  )

signal

resumeMissionReady

void MissionController::resumeMissionReady ( void  )

signal

resumeMissionUploadFail

void MissionController::resumeMissionUploadFail ( void  )

signal

rotateMission()

void MissionController::rotateMission	(	double	degreesCW,
		bool	rotateTakeoffItems = false,
		bool	rotateLandingItems = false
	)

Rotates all mission items which specify a coordinate around the up axis of the home position. Complex items are rotated by moving their reference coordinate: their geometry and orientation are not modified. Requires a valid planned home position; otherwise the mission is not modified and a warning is logged.

Parameters

degreesCW	Angle to rotate items by, in degrees clockwise
rotateTakeoffItems	If true, items identified as takeoff items (isTakeoffItem) will be rotated
rotateLandingItems	If true, items identified as landing items (isLandCommand) will be rotated

Definition at line 2786 of file MissionController.cc.

References VisualMissionItem::coordinate(), MissionSettingsItem::coordinate(), QmlObjectListModel::count(), QmlObjectListModel::get(), VisualMissionItem::isLandCommand(), VisualMissionItem::isStandaloneCoordinate(), VisualMissionItem::isTakeoffItem(), VisualMissionItem::setCoordinate(), setDirty(), and VisualMissionItem::specifiesCoordinate().

save()

void MissionController::save ( QJsonObject &  json )

finalvirtual

Implements PlanElementController.

Definition at line 1069 of file MissionController.cc.

References MissionSettingsItem::coordinate(), QmlObjectListModel::count(), Vehicle::defaultCruiseSpeed(), Vehicle::defaultHoverSpeed(), Vehicle::firmwareType(), QmlObjectListModel::get(), JsonHelper::jsonVersionKey, VisualMissionItem::save(), MissionItem::save(), JsonHelper::saveGeoCoordinate(), QmlObjectListModel::value(), and Vehicle::vehicleType().

Referenced by PlanMasterController::saveToJson().

sendItemsToVehicle()

void MissionController::sendItemsToVehicle ( Vehicle *  vehicle, QmlObjectListModel *  visualMissionItems  )

static

Sends the mission items to the specified vehicle.

Definition at line 283 of file MissionController.cc.

References Vehicle::missionManager(), and PlanManager::writeMissionItems().

Referenced by sendToVehicle().

sendToVehicle()

void MissionController::sendToVehicle ( void  )

finalvirtual

Sends the current plan element to the vehicle Signals sendComplete when done

Implements PlanElementController.

Definition at line 221 of file MissionController.cc.

References PlanElementController::_masterController, QmlObjectListModel::count(), PlanMasterController::offline(), sendItemsToVehicle(), setDirty(), and syncInProgress().

Referenced by PlanMasterController::sendToVehicle().

sendToVehiclePreCheck()

MissionController::SendToVehiclePreCheckState MissionController::sendToVehiclePreCheck

(

void

)

Definition at line 2974 of file MissionController.cc.

References Vehicle::armed(), Vehicle::firmwareType(), Vehicle::flightMode(), Vehicle::isOfflineEditingVehicle(), Vehicle::missionFlightMode(), SendToVehiclePreCheckStateActiveMission, SendToVehiclePreCheckStateFirwmareVehicleMismatch, SendToVehiclePreCheckStateNoActiveVehicle, SendToVehiclePreCheckStateOk, QGCMAVLink::vehicleClass(), and Vehicle::vehicleType().

setCurrentPlanViewSeqNum()

void MissionController::setCurrentPlanViewSeqNum	(	int	sequenceNumber,
		bool	force
	)

Sets a new current mission item (PlanView).

Parameters

sequenceNumber	- index for new item, -1 to clear current item
force	- true: reset internals even if specified item is already selected

Definition at line 2517 of file MissionController.cc.

References PlanElementController::_masterController, PlanMasterController::controllerVehicle(), SimpleMissionItem::coordinate(), QmlObjectListModel::count(), currentPlanViewItemChanged(), currentPlanViewSeqNumChanged(), currentPlanViewVIIndexChanged(), flyThroughCommandsAllowedChanged(), QmlObjectListModel::get(), hasLandItemChanged(), isInsertLandValidChanged(), isInsertTakeoffValidChanged(), isROIActiveChanged(), isROIBeginCurrentItemChanged(), VisualMissionItem::isStandaloneCoordinate(), SimpleMissionItem::isStandaloneCoordinate(), SimpleMissionItem::mavCommand(), multipleLandPatternsAllowed(), onlyInsertTakeoffValidChanged(), VisualMissionItem::parentItem(), previousCoordinateChanged(), VisualMissionItem::sequenceNumber(), VisualMissionItem::setHasCurrentChildItem(), VisualMissionItem::setIsCurrentItem(), VisualMissionItem::specifiesCoordinate(), SimpleMissionItem::specifiesCoordinate(), splitSegmentChanged(), Vehicle::supports(), PlanViewSettings::takeoffItemNotRequired(), and VehicleSupports::takeoffMissionCommand().

Referenced by CorridorScanPlanCreator::createPlan(), StructureScanPlanCreator::createPlan(), SurveyPlanCreator::createPlan(), and insertTakeoffItem().

setDirty()

void MissionController::setDirty ( bool  dirty )

finalvirtual

Implements PlanElementController.

Definition at line 2343 of file MissionController.cc.

References dirty(), and QmlObjectListModel::setDirty().

Referenced by PlanMasterController::removeAll(), removeAll(), repositionMission(), rotateMission(), and sendToVehicle().

setGlobalAltitudeMode()

void MissionController::setGlobalAltitudeMode

(

QGroundControlQmlGlobal::AltMode

altMode

)

Definition at line 3002 of file MissionController.cc.

References globalAltitudeModeChanged().

Referenced by loadTextFile().

showPlanFromManagerVehicle()

bool MissionController::showPlanFromManagerVehicle ( void  )

finalvirtual

Implements PlanElementController.

Definition at line 2461 of file MissionController.cc.

References PlanElementController::_flyView, PlanElementController::_masterController, Vehicle::initialPlanRequestComplete(), PlanMasterController::offline(), and syncInProgress().

simpleFlightPathSegments()

QmlObjectListModel * MissionController::simpleFlightPathSegments ( void  )

inline

Definition at line 284 of file MissionController.h.

splitSegmentChanged

void MissionController::splitSegmentChanged ( void  )

signal

Referenced by setCurrentPlanViewSeqNum().

start()

void MissionController::start ( bool  flyView )

finalvirtual

Should be called immediately upon Component.onCompleted.

Reimplemented from PlanElementController.

Definition at line 113 of file MissionController.cc.

References PlanElementController::_masterController, PlanMasterController::managerVehicleChanged(), and PlanElementController::start().

Referenced by PlanMasterController::startStaticActiveVehicle().

structureScanComplexItemName()

QString MissionController::structureScanComplexItemName

(

void

)

const

Definition at line 2955 of file MissionController.cc.

References StructureScanComplexItem::name.

supported()

bool MissionController::supported ( void  ) const

inlinefinalvirtual

true: controller is waiting for the current load to complete

Implements PlanElementController.

Definition at line 258 of file MissionController.h.

surveyComplexItemName()

QString MissionController::surveyComplexItemName

(

void

)

const

Definition at line 2945 of file MissionController.cc.

References SurveyComplexItem::name.

syncInProgress()

bool MissionController::syncInProgress ( void  ) const

finalvirtual

Implements PlanElementController.

Definition at line 2332 of file MissionController.cc.

References PlanManager::inProgress().

Referenced by loadFromVehicle(), removeAllFromVehicle(), sendToVehicle(), showPlanFromManagerVehicle(), and PlanMasterController::syncInProgress().

takeoffCoordinate()

QGeoCoordinate MissionController::takeoffCoordinate ( )

inline

Definition at line 255 of file MissionController.h.

takeoffMissionItem()

TakeoffMissionItem * MissionController::takeoffMissionItem ( void  ) const

inline

Definition at line 289 of file MissionController.h.

takeoffMissionItemChanged

void MissionController::takeoffMissionItemChanged ( void  )

signal

travelBoundingCube()

QGCGeoBoundingCube * MissionController::travelBoundingCube ( )

inline

Definition at line 254 of file MissionController.h.

visualItems()

QmlObjectListModel * MissionController::visualItems ( void  )

inline

Definition at line 277 of file MissionController.h.

Referenced by TerrainProfile::setMissionController().

visualItemsChanged

void MissionController::visualItemsChanged ( void  )

signal

Referenced by TerrainProfile::setMissionController().

visualItemsTree()

QmlObjectTreeModel * MissionController::visualItemsTree ( void  )

inline

Definition at line 278 of file MissionController.h.

Member Data Documentation

kDefaultsGroupRow

constexpr int MissionController::kDefaultsGroupRow = 1

staticconstexpr

Definition at line 326 of file MissionController.h.

kFenceGroupRow

constexpr int MissionController::kFenceGroupRow = 3

staticconstexpr

Definition at line 328 of file MissionController.h.

kGroupCount

constexpr int MissionController::kGroupCount = 5

staticconstexpr

Definition at line 330 of file MissionController.h.

kMissionGroupRow

constexpr int MissionController::kMissionGroupRow = 2

staticconstexpr

Definition at line 327 of file MissionController.h.

kPlanFileGroupRow

constexpr int MissionController::kPlanFileGroupRow = 0

staticconstexpr

Definition at line 325 of file MissionController.h.

kRallyGroupRow

constexpr int MissionController::kRallyGroupRow = 4

staticconstexpr

Definition at line 329 of file MissionController.h.

visualItemIndexForObject

int MissionController::visualItemIndexForObject

< Used by Plan view only for interactive editing

< Includes AMSL altitude < Segment which show show + split ui element < True mission item command count (only valid in Fly View) < Returns the item index two which a mission should be resumed. -1 indicates resume mission not available. < Minimum altitude associated with this mission. Used to calculate percentages for terrain status. < Maximum altitude associated with this mission. Used to calculate percentages for terrain status. Returns the visual item index for the given VisualMissionItem object, or -1 if not found

Definition at line 128 of file MissionController.h.

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The documentation for this class was generated from the following files:

• src/MissionManager/MissionController.h
• src/MissionManager/MissionController.cc