gimbal: split relative/absolute yaw angle, cleanup

This is my attempt at getting gimbal relative and absolute control working, using a joystick and by point and click. It cleans up a couple of methods that I believe were not actually used. Signed-off-by: Julian Oes <julian@oes.ch>
mavlink · Jan 15, 2024 · d3d6d8e · d3d6d8e
1 parent 4228b3f
commit d3d6d8e
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Showing 10 changed files with 232 additions and 248 deletions.
diff --git a/src/FlightDisplay/FlyViewVideoToolStrip.qml b/src/FlightDisplay/FlyViewVideoToolStrip.qml
@@ -194,7 +194,7 @@ Item {
                         iconSource:         "/HA_Icons/CAMERA_90.png"
                         onTriggered: {
                             if (_activeVehicle) {
-                                _activeVehicle.gimbalController.sendGimbalManagerPitchYaw(-90, 0) // point gimbal down
+                                _activeVehicle.gimbalController.sendPitchBodyYaw(-90, 0) // point gimbal down
                             }
                         }
                     },

diff --git a/src/FlightDisplay/FlyViewVideoWidgetLayer.qml b/src/FlightDisplay/FlyViewVideoWidgetLayer.qml
@@ -16,12 +16,12 @@ Item {
     property var screenXrateInitCoocked
     property var screenYrateInitCoocked
 
-    property var  _gimbalController:         _activeVehicle ? _activeVehicle.gimbalController : undefined  
+    property var  _gimbalController:         _activeVehicle ? _activeVehicle.gimbalController : undefined
     property var  _activeGimbal:             _gimbalController ? _gimbalController.activeGimbal : undefined
     property bool _gimbalAvailable:          _activeGimbal != undefined
     property var  _gimbalControllerSettings: QGroundControl.settingsManager.gimbalControllerSettings
     property var  _activeVehicle:            QGroundControl.multiVehicleManager.activeVehicle
-    
+
     property bool shouldProcessClicks:   QGroundControl.videoManager.fullScreen || flyViewVideoWidgetLayer._gimbalControllerSettings.EnableOnScreenControl.value ||
                                          _activeVehicle
 
@@ -70,7 +70,7 @@ Item {
         }
         sendRateTimer.stop()
         screenXrateInitCoocked = null
-        screenYrateInitCoocked = null 
+        screenYrateInitCoocked = null
         // _activeVehicle.gimbalController.gimbalOnScreenControl(0, 0, false, true, true)
     }
 
@@ -94,7 +94,7 @@ Item {
     // Pitch/Roll indicators
     Rectangle {
         id: pitchRollRectangle
-        width: gimbalPitchLabel.width + gimbalPanLabel.width + ScreenTools.defaultFontPixelWidth * 5
+        width: gimbalPitchLabel.width + gimbalPanLabel.width + ScreenTools.defaultFontPixelWidth * 20
         height: gimbalPitchLabel.height + ScreenTools.defaultFontPixelWidth * 2
         anchors.top: parent.top
         anchors.horizontalCenter: parent.horizontalCenter
@@ -103,7 +103,7 @@ Item {
 
         QGCLabel {
             id: gimbalPitchLabel
-            text: rootItem._gimbalAvailable ? "Tilt: " + rootItem._gimbalController.activeGimbal.curPitch.toFixed(2) : ""
+            text: rootItem._gimbalAvailable ? "Tilt: " + rootItem._gimbalController.activeGimbal.absolutePitch.toFixed(1) : ""
             visible: rootItem._gimbalAvailable
             anchors.top: parent.top
             anchors.left: parent.horizontalCenter
@@ -112,7 +112,7 @@ Item {
 
         QGCLabel {
             id: gimbalPanLabel
-            text: rootItem._gimbalAvailable ? "Pan: " + rootItem._gimbalController.activeGimbal.curYaw.toFixed(2) : ""
+            text: rootItem._gimbalAvailable ? "Pan: " + rootItem._gimbalController.activeGimbal.bodyYaw.toFixed(1) + ", from North: " + rootItem._gimbalController.activeGimbal.absoluteYaw.toFixed(1): ""
             visible: rootItem._gimbalAvailable
             anchors.top: parent.top
             anchors.right: parent.horizontalCenter

diff --git a/src/FlightDisplay/FlyViewWidgetLayer.qml b/src/FlightDisplay/FlyViewWidgetLayer.qml
@@ -288,7 +288,7 @@ Item {
     GripperMenu {
         id: gripperOptions
     }
-    
+
     // need to manage full screen here
     FlyViewVideoToolStrip {
         id:                     videoToolStrip
@@ -327,20 +327,20 @@ Item {
         // Pitch/Roll indicators
     Rectangle {
         id: pitchRollRectangle
-        width: gimbalPitchLabel.width + gimbalPanLabel.width + ScreenTools.defaultFontPixelWidth * 5
+        width: gimbalPitchLabel.width + gimbalPanLabel.width + ScreenTools.defaultFontPixelWidth * 20
         height: gimbalPitchLabel.height + ScreenTools.defaultFontPixelWidth * 2
         anchors.top: parent.top
         anchors.horizontalCenter: parent.horizontalCenter
         color: qgcPal.window
         opacity: 0.8
 
-        property var _gimbalController: _activeVehicle ? _activeVehicle.gimbalController : undefined  
+        property var _gimbalController: _activeVehicle ? _activeVehicle.gimbalController : undefined
         property var _activeGimbal:     _gimbalController ? _gimbalController.activeGimbal : undefined
         property bool _gimbalAvailable: _activeGimbal != undefined
 
         QGCLabel {
             id: gimbalPitchLabel
-            text: pitchRollRectangle._gimbalAvailable ? "Tilt: " + pitchRollRectangle._activeGimbal.curPitch.toFixed(2) : ""
+            text: pitchRollRectangle._gimbalAvailable ? "Tilt: " + pitchRollRectangle._activeGimbal.absolutePitch.toFixed(1) : ""
             visible: pitchRollRectangle._gimbalAvailable
             anchors.top: parent.top
             anchors.left: parent.horizontalCenter
@@ -349,7 +349,7 @@ Item {
 
         QGCLabel {
             id: gimbalPanLabel
-            text: pitchRollRectangle._gimbalAvailable ? "Pan: " + pitchRollRectangle._activeGimbal.curYaw.toFixed(2) : ""
+            text: pitchRollRectangle._gimbalAvailable ? "Pan: " + pitchRollRectangle._activeGimbal.bodyYaw.toFixed(1) + ", from North: " + pitchRollRectangle._activeGimbal.absoluteYaw.toFixed(1) : ""
             visible: pitchRollRectangle._gimbalAvailable
             anchors.top: parent.top
             anchors.right: parent.horizontalCenter

diff --git a/src/FlightMap/MapItems/VehicleMapItem.qml b/src/FlightMap/MapItems/VehicleMapItem.qml
@@ -49,7 +49,7 @@ MapQuickItem {
             anchors.centerIn:             vehicleItem
             width:                        vehicleItem.width * 2
             height:                       vehicleItem.height * 2
-            property var gimbalYaw:       vehicle && vehicle.gimbalController.activeGimbal ? vehicle.gimbalController.activeGimbal.curYaw : NaN
+            property var gimbalYaw:       vehicle && vehicle.gimbalController.activeGimbal ? vehicle.gimbalController.activeGimbal.bodyYaw : NaN
             rotation:                     gimbalYaw + 180
             onGimbalYawChanged:           canvas.requestPaint()
             visible:                      vehicle && !isNaN(gimbalYaw)