Merged in f5soh/librepilot/LP-601_WP_output_file_locale (pull request…

… #517) LP-601 Waypoint fixes Approved-by: Lalanne Laurent <f5soh@free.fr> Approved-by: Eric Price <corvuscorax@cybertrench.com>
librepilot · Feb 21, 2019 · 62e72db · 62e72db
2 parents 1ea6a3d + 62f48ac
commit 62e72db
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Showing 6 changed files with 17 additions and 14 deletions.
diff --git a/flight/modules/PathPlanner/pathplanner.c b/flight/modules/PathPlanner/pathplanner.c
@@ -604,16 +604,15 @@ static uint8_t conditionBelowError()
 /**
  * the AboveAltitude measures the flight altitude relative to home position
  * returns true if above critical altitude
- * WARNING! Altitudes are always negative (down coordinate)
- * Parameter 0:  altitude in meters (negative!)
+ * Parameter 0:  altitude in meters
  */
 static uint8_t conditionAboveAltitude()
 {
     PositionStateData positionState;
 
     PositionStateGet(&positionState);
 
-    if (positionState.Down <= pathAction.ConditionParameters[0]) {
+    if (-positionState.Down >= pathAction.ConditionParameters[0]) {
         return true;
     }
     return false;

diff --git a/ground/gcs/src/libs/opmapcontrol/src/core/providerstrings.cpp b/ground/gcs/src/libs/opmapcontrol/src/core/providerstrings.cpp
@@ -41,7 +41,7 @@ ProviderStrings::ProviderStrings()
 {
     // Google version strings
     VersionGoogleMap = "m@301";
-    QString version    = "810";
+    QString version    = "823";
     QString envVersion = qgetenv("GCS_GOOGLE_SAT_VERSION").constData();
     VersionGoogleSatellite = (envVersion.toInt() > version.toInt()) ? envVersion : version;
     VersionGoogleLabels    = "h@301";

diff --git a/ground/gcs/src/plugins/opmap/flightdatamodel.cpp b/ground/gcs/src/plugins/opmap/flightdatamodel.cpp
@@ -453,27 +453,27 @@ bool flightDataModel::writeToFile(QString fileName)
         waypoint.appendChild(field);
 
         field = doc.createElement("field");
-        field.setAttribute("value", obj->latPosition);
+        field.setAttribute("value", QString::number(obj->latPosition, 'f', 16));
         field.setAttribute("name", "latitude");
         waypoint.appendChild(field);
 
         field = doc.createElement("field");
-        field.setAttribute("value", obj->lngPosition);
+        field.setAttribute("value", QString::number(obj->lngPosition, 'f', 16));
         field.setAttribute("name", "longitude");
         waypoint.appendChild(field);
 
         field = doc.createElement("field");
-        field.setAttribute("value", obj->disRelative);
+        field.setAttribute("value", QString::number(obj->disRelative, 'f', 16));
         field.setAttribute("name", "distance_to_home");
         waypoint.appendChild(field);
 
         field = doc.createElement("field");
-        field.setAttribute("value", obj->beaRelative);
+        field.setAttribute("value", QString::number(obj->beaRelative, 'f', 16));
         field.setAttribute("name", "bearing_from_home");
         waypoint.appendChild(field);
 
         field = doc.createElement("field");
-        field.setAttribute("value", obj->altitudeRelative);
+        field.setAttribute("value", QString::number(obj->altitudeRelative, 'f', 16));
         field.setAttribute("name", "altitude_above_home");
         waypoint.appendChild(field);
 

diff --git a/ground/gcs/src/plugins/opmap/modelmapproxy.cpp b/ground/gcs/src/plugins/opmap/modelmapproxy.cpp
@@ -89,6 +89,7 @@ modelMapProxy::overlayType modelMapProxy::overlayTranslate(int type)
     case MapDataDelegate::MODE_GOTOENDPOINT:
     case MapDataDelegate::MODE_FOLLOWVECTOR:
     case MapDataDelegate::MODE_VELOCITY:
+    case MapDataDelegate::MODE_FIXEDATTITUDE:
     case MapDataDelegate::MODE_LAND:
     case MapDataDelegate::MODE_AUTOTAKEOFF:
     case MapDataDelegate::MODE_BRAKE:
@@ -98,8 +99,12 @@ modelMapProxy::overlayType modelMapProxy::overlayTranslate(int type)
         return OVERLAY_CIRCLE_RIGHT;
 
     case MapDataDelegate::MODE_CIRCLELEFT:
-    default:
         return OVERLAY_CIRCLE_LEFT;
+
+    case MapDataDelegate::MODE_SETACCESSORY:
+    case MapDataDelegate::MODE_DISARMALARM:
+    default:
+        return OVERLAY_NOLINE;
     }
 }
 

diff --git a/ground/gcs/src/plugins/opmap/modelmapproxy.h b/ground/gcs/src/plugins/opmap/modelmapproxy.h
@@ -39,7 +39,7 @@
 
 using namespace mapcontrol;
 class modelMapProxy : public QObject {
-    typedef enum { OVERLAY_LINE, OVERLAY_CIRCLE_RIGHT, OVERLAY_CIRCLE_LEFT } overlayType;
+    typedef enum { OVERLAY_LINE, OVERLAY_CIRCLE_RIGHT, OVERLAY_CIRCLE_LEFT, OVERLAY_NOLINE } overlayType;
     Q_OBJECT
 public:
     explicit modelMapProxy(QObject *parent, OPMapWidget *map, flightDataModel *model, QItemSelectionModel *selectionModel);

diff --git a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
@@ -73,7 +73,7 @@ opmap_edit_waypoint_dialog::opmap_edit_waypoint_dialog(QWidget *parent, QAbstrac
     mapper->addMapping(ui->dsb_condParam1, flightDataModel::CONDITION_PARAMS0);
     mapper->addMapping(ui->dsb_condParam2, flightDataModel::CONDITION_PARAMS1);
     mapper->addMapping(ui->dsb_condParam3, flightDataModel::CONDITION_PARAMS2);
-    mapper->addMapping(ui->dsb_condParam4, flightDataModel::CONDITION_PARAMS0);
+    mapper->addMapping(ui->dsb_condParam4, flightDataModel::CONDITION_PARAMS3);
 
     mapper->addMapping(ui->cbCommand, flightDataModel::COMMAND);
     mapper->addMapping(ui->sbJump, flightDataModel::JUMPDESTINATION);
@@ -290,8 +290,7 @@ void opmap_edit_waypoint_dialog::setupConditionWidgets()
         ui->condParam1->setEnabled(true);
         ui->dsb_condParam1->setEnabled(true);
         ui->condParam1->setText("Altitude (m):");
-        ui->descriptionConditionLabel->setText(tr("<p>The AboveAltitude condition measures the flight altitude relative to home position, returns true if "
-                                                  "above critical altitude.</p><p><b>WARNING!</b> altitudes set here are always <b>negative</b> if above Home. (down coordinate)</p>"));
+        ui->descriptionConditionLabel->setText(tr("<p>The AboveAltitude condition measures the flight altitude relative to home position, returns true if above critical altitude.</p>"));
         break;
     case MapDataDelegate::ENDCONDITION_ABOVESPEED:
         ui->condParam1->setEnabled(true);