+
+
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Save
+
+
+ Distance (m):
+
-
-
Remove
+
+ Available Points
+ 0/0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
- Distance (m):
-
-
-
- Available Points
- 0/0
-
-
-
-
-
-
+
diff --git a/tabs/mission_control.js b/tabs/mission_control.js
index 05dac5c8..f97ab835 100644
--- a/tabs/mission_control.js
+++ b/tabs/mission_control.js
@@ -47,7 +47,9 @@ TABS.mission_control.initialize = function (callback) {
$('#pointLat').val('');
$('#pointLon').val('');
$('#pointAlt').val('');
- $('[name=pointNumber]').val('')
+ $('#pointSpeed').val('');
+ $('[name=pointNumber]').val('');
+ $('#MPeditPoint').fadeOut(300);
}
function repaint() {
@@ -100,7 +102,7 @@ TABS.mission_control.initialize = function (callback) {
map.addLayer(vectorLayer);
}
- function addMarker(_pos, _alt, _action) {
+ function addMarker(_pos, _alt, _action, _speed) {
var iconFeature = new ol.Feature({
geometry: new ol.geom.Point(_pos),
name: 'Null Island',
@@ -140,6 +142,7 @@ TABS.mission_control.initialize = function (callback) {
vectorLayer.alt = _alt;
vectorLayer.number = markers.length;
vectorLayer.action = _action;
+ vectorLayer.speedValue = _speed;
markers.push(vectorLayer);
@@ -307,6 +310,8 @@ TABS.mission_control.initialize = function (callback) {
$('#pointLon').val(coord[1]);
$('#pointAlt').val(selectedMarker.alt);
$('#pointType').val(selectedMarker.action);
+ $('#pointSpeed').val(selectedMarker.speedValue);
+ $('#MPeditPoint').fadeIn(300);
} else {
map.addLayer(addMarker(evt.coordinate, 1500, 1));
repaint();
@@ -358,6 +363,7 @@ TABS.mission_control.initialize = function (callback) {
geometry.setCoordinates(ol.proj.fromLonLat([parseFloat($('#pointLat').val()), parseFloat($('#pointLon').val())]));
t.alt = $('#pointAlt').val();
t.action = $('#pointType').val();
+ t.speedValue = $('#pointSpeed').val();
}
});
@@ -394,6 +400,14 @@ TABS.mission_control.initialize = function (callback) {
MSP.send_message(MSPCodes.MSP_WP_MISSION_SAVE, false, false);
});
+ $('#rthEndMission').on('change', function () {
+ if ($(this).is(':checked')) {
+ $('#rthSettings').fadeIn(300);
+ } else {
+ $('#rthSettings').fadeOut(300);
+ }
+ });
+
updateTotalInfo();
}
@@ -422,15 +436,23 @@ TABS.mission_control.initialize = function (callback) {
// console.log(MISSION_PLANER.bufferPoint.lat);
// console.log(MISSION_PLANER.bufferPoint.alt);
// console.log(MISSION_PLANER.bufferPoint.action);
-
- coord = ol.proj.fromLonLat([MISSION_PLANER.bufferPoint.lon, MISSION_PLANER.bufferPoint.lat]);
- map.addLayer(addMarker(coord, MISSION_PLANER.bufferPoint.alt, MISSION_PLANER.bufferPoint.action));
+ if (MISSION_PLANER.bufferPoint.action == 4) {
+ $('#rthEndMission').trigger('click');
+ if (MISSION_PLANER.bufferPoint.p1 > 0) {
+ $('#rthLanding').trigger('click');
+ }
+ } else {
+ coord = ol.proj.fromLonLat([MISSION_PLANER.bufferPoint.lon, MISSION_PLANER.bufferPoint.lat]);
+ map.addLayer(addMarker(coord, MISSION_PLANER.bufferPoint.alt, MISSION_PLANER.bufferPoint.action, MISSION_PLANER.bufferPoint.p1));
+ if (pointForSend === 1) {
+ map.getView().setCenter(coord);
+ }
+ }
}
if (pointForSend >= MISSION_PLANER.countBusyPoints) {
GUI.log('End get point');
$('#loadMissionButton').removeClass('disabled');
- map.getView().setCenter(coord);
repaint();
updateTotalInfo();
return;
@@ -444,12 +466,22 @@ TABS.mission_control.initialize = function (callback) {
}
function sendNextPoint() {
+ var isRTH = $('#rthEndMission').is(':checked');
+
if (pointForSend >= markers.length) {
- GUI.log('End send point');
+ if (isRTH) {
+ MISSION_PLANER.bufferPoint.number = pointForSend + 1;
+ MISSION_PLANER.bufferPoint.action = 4;
+ MISSION_PLANER.bufferPoint.lon = 0;
+ MISSION_PLANER.bufferPoint.lat = 0;
+ MISSION_PLANER.bufferPoint.alt = 0;
+ MISSION_PLANER.bufferPoint.endMission = 0xA5;
+ MISSION_PLANER.bufferPoint.p1 = $('#rthLanding').is(':checked') ? 1 : 0;
+ MSP.send_message(MSPCodes.MSP_SET_WP, mspHelper.crunch(MSPCodes.MSP_SET_WP), false, endSendPoint);
+ } else {
+ endSendPoint();
+ }
- MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, updateTotalInfo);
-
- $('#saveMissionButton').removeClass('disabled');
return;
}
@@ -461,8 +493,9 @@ TABS.mission_control.initialize = function (callback) {
MISSION_PLANER.bufferPoint.lon = parseInt(coordinate[0] * 10000000);
MISSION_PLANER.bufferPoint.lat = parseInt(coordinate[1] * 10000000);
MISSION_PLANER.bufferPoint.alt = markers[pointForSend].alt;
+ MISSION_PLANER.bufferPoint.p1 = markers[pointForSend].speedValue;
pointForSend++;
- if (pointForSend >= markers.length) {
+ if (pointForSend >= markers.length && !isRTH) {
MISSION_PLANER.bufferPoint.endMission = 0xA5;
} else {
MISSION_PLANER.bufferPoint.endMission = 0;
@@ -470,6 +503,14 @@ TABS.mission_control.initialize = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_WP, mspHelper.crunch(MSPCodes.MSP_SET_WP), false, sendNextPoint);
}
+
+ function endSendPoint() {
+ GUI.log('End send point');
+
+ MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, updateTotalInfo);
+
+ $('#saveMissionButton').removeClass('disabled');
+ }
};
TABS.mission_control.cleanup = function (callback) {