Rubén Pérez Alonso
7f2541bac5
Introduced an option for setting an airspeed for the final approach in the Landing Pattern editor, almost identical to the one found in standard waypoints, for the purposes of energy management before the glide slope. It works by inserting a DO_CHANGE_SPEED mission element right after the DO_LAND_START, in such a way that the speed is also changed in the event of an RTL. The option is unchecked by default.
129 lines
5.2 KiB
C++
129 lines
5.2 KiB
C++
/****************************************************************************
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*
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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*
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* QGroundControl is licensed according to the terms in the file
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* COPYING.md in the root of the source code directory.
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*
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****************************************************************************/
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#pragma once
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#include "VisualMissionItemTest.h"
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#include "LandingComplexItem.h"
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#include "Fact.h"
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class MultiSignalSpy;
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class PlanMasterController;
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class LandingComplexItemTest : public VisualMissionItemTest
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{
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Q_OBJECT
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public:
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LandingComplexItemTest(void);
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void cleanup(void) override;
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void init (void) override;
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private slots:
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void _testDirty (void);
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void _testItemCount (void);
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void _testAppendSectionItems (void);
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void _testScanForItems (void);
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void _testSaveLoad (void);
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private:
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void _validateItem(LandingComplexItem* actualItem, LandingComplexItem* expectedItem);
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enum {
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finalApproachCoordinateChangedIndex = 0,
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loiterTangentCoordinateChangedIndex,
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landingCoordinateChangedIndex,
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landingCoordSetChangedIndex,
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altitudesAreRelativeChangedIndex,
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_updateFlightPathSegmentsSignalIndex,
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maxSignalIndex,
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};
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enum {
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finalApproachCoordinateChangedMask = 1 << finalApproachCoordinateChangedIndex,
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loiterTangentCoordinateChangedMask = 1 << loiterTangentCoordinateChangedIndex,
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landingCoordinateChangedMask = 1 << landingCoordinateChangedIndex,
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landingCoordSetChangedMask = 1 << landingCoordSetChangedIndex,
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altitudesAreRelativeChangedMask = 1 << altitudesAreRelativeChangedIndex,
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_updateFlightPathSegmentsSignalMask = 1 << _updateFlightPathSegmentsSignalIndex,
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};
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static const size_t cSignals = maxSignalIndex;
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const char* rgSignals[cSignals];
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LandingComplexItem* _item = nullptr;
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MultiSignalSpy* _multiSpy = nullptr;
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MultiSignalSpy* _viMultiSpy = nullptr;
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SimpleMissionItem* _validStopVideoItem = nullptr;
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SimpleMissionItem* _validStopDistanceItem = nullptr;
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SimpleMissionItem* _validStopTimeItem = nullptr;
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};
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// Simple class used to test LandingComplexItem base class
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class SimpleLandingComplexItem : public LandingComplexItem
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{
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Q_OBJECT
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public:
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SimpleLandingComplexItem(PlanMasterController* masterController, bool flyView);
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// Overrides from ComplexMissionItem
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QString patternName (void) const final { return QString(); }
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bool load (const QJsonObject& /*complexObject*/, int /*sequenceNumber*/, QString& /*errorString*/) final { return false; };
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QString mapVisualQML(void) const final { return QStringLiteral("FWLandingPatternMapVisual.qml"); }
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// Overrides from VisualMissionItem
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void save (QJsonArray& /*missionItems*/) override { };
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static const QString name;
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static const char* jsonComplexItemTypeValue;
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static const char* settingsGroup;
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private slots:
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void _updateFlightPathSegmentsDontCallDirectly(void) override;
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private:
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static LandingComplexItem* _createItem (PlanMasterController* masterController, bool flyView) { return new SimpleLandingComplexItem(masterController, flyView); }
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static bool _isValidLandItem(const MissionItem& missionItem);
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// Overrides from LandingComplexItem
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const Fact* _finalApproachAltitude (void) const final { return &_finalApproachAltitudeFact; }
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const Fact* _useDoChangeSpeed (void) const final { return &_useDoChangeSpeedFact; }
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const Fact* _finalApproachSpeed (void) const final { return &_finalApproachSpeedFact; }
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const Fact* _loiterRadius (void) const final { return &_loiterRadiusFact; }
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const Fact* _loiterClockwise (void) const final { return &_loiterClockwiseFact; }
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const Fact* _landingAltitude (void) const final { return &_landingAltitudeFact; }
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const Fact* _landingDistance (void) const final { return &_landingDistanceFact; }
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const Fact* _landingHeading (void) const final { return &_landingHeadingFact; }
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const Fact* _useLoiterToAlt (void) const final { return &_useLoiterToAltFact; }
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const Fact* _stopTakingPhotos (void) const final { return &_stopTakingPhotosFact; }
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const Fact* _stopTakingVideo (void) const final { return &_stopTakingVideoFact; }
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void _calcGlideSlope (void) final { };
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MissionItem* _createLandItem (int seqNum, bool altRel, double lat, double lon, double alt, QObject* parent) final;
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QMap<QString, FactMetaData*> _metaDataMap;
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Fact _landingDistanceFact;
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Fact _finalApproachAltitudeFact;
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Fact _useDoChangeSpeedFact;
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Fact _finalApproachSpeedFact;
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Fact _loiterRadiusFact;
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Fact _loiterClockwiseFact;
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Fact _landingHeadingFact;
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Fact _landingAltitudeFact;
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Fact _useLoiterToAltFact;
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Fact _stopTakingPhotosFact;
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Fact _stopTakingVideoFact;
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friend class LandingComplexItemTest;
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};
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