public ElevationProfile(List <PointLatLngAlt> locs, double homealt, FlightPlanner.altmode altmode)
{
InitializeComponent();
this.altmode = altmode;
planlocs = locs;
for (int a = 0; a < planlocs.Count; a++)
{
if (planlocs[a] == null || planlocs[a].Tag != null && planlocs[a].Tag.Contains("ROI"))
{
planlocs.RemoveAt(a);
a--;
}
}
if (planlocs.Count <= 1)
{
CustomMessageBox.Show("Please plan something first", Strings.ERROR);
return;
}
// get total distance
distance = 0;
PointLatLngAlt lastloc = null;
foreach (PointLatLngAlt loc in planlocs)
{
if (loc == null)
{
continue;
}
if (lastloc != null)
{
distance += (int)loc.GetDistance(lastloc);
}
lastloc = loc;
}
this.homealt = homealt;
Form frm = Common.LoadingBox("Loading", "using alt data");
gelocs = getGEAltPath(planlocs);
srtmlocs = getSRTMAltPath(planlocs);
frm.Close();
MissionPlanner.Utilities.Tracking.AddPage(this.GetType().ToString(), this.Text);
}
public static List <PointLatLngAlt> CreateCorridor(List <PointLatLngAlt> polygon, double height, double camViewHeight, double camVertSpacing, double distance, double angle,
double camPitch, bool flipDirection, double bermDepth, int numBenches, double toeHeight, double toepoint, double toepoint_runs, bool pathHome, double homeAlt, FlightPlanner.altmode altmode)
{
int direction = (flipDirection == true ? -1 : 1);
if (camVertSpacing < 0.1)
{
camVertSpacing = 0.1;
}
if (polygon.Count == 0 || numBenches < 1)
{
return(new List <PointLatLngAlt>());
}
List <PointLatLngAlt> ans = new List <PointLatLngAlt>();
// utm zone distance calcs will be done in
int utmzone = polygon[0].GetUTMZone();
// utm position list
List <utmpos> utmpositions = utmpos.ToList(PointLatLngAlt.ToUTM(utmzone, polygon), utmzone);
double vertOffset = 0;
double horizOffset = 0;
double toepoint_runs_count = 0;
//calculate number of lanes with a starting altitude of half the calculated cam view height
// double initialAltitude = camViewHeight * Math.Sin(angle * deg2rad) / 3;
double initialAltitude = toepoint;
var vertIncrement = camVertSpacing * Math.Sin(angle * deg2rad);
var lanes = Math.Round((height - initialAltitude) / vertIncrement) + toepoint_runs + 1;
//repeat for each bench, applying height/berm depth offsets
for (int bench = 0; bench < numBenches; bench++)
{
//repeat for each increment up face
for (int lane = 0; lane < lanes; lane++)
{
if (toepoint_runs_count < toepoint_runs)
{
//calculate offset from the base of the face based on toe angle, camera pitch, camera overlap % and bench offset
vertOffset = distance * Math.Sin(camPitch * deg2rad) + (initialAltitude + (bench * height) + toeHeight);
horizOffset = distance * Math.Cos(camPitch * deg2rad) - ((initialAltitude) / Math.Tan(angle * deg2rad)) - bench * (bermDepth + height / Math.Tan(angle * deg2rad));
toepoint_runs_count++;
}
else
{
//calculate offset from the base of the face based on toe angle, camera pitch, camera overlap % and bench offset
vertOffset = distance * Math.Sin(camPitch * deg2rad) + (initialAltitude + ((lane - toepoint_runs) * vertIncrement) + (bench * height) + toeHeight);
horizOffset = distance * Math.Cos(camPitch * deg2rad) - ((initialAltitude + ((lane - toepoint_runs) * vertIncrement)) / Math.Tan(angle * deg2rad)) - bench * (bermDepth + height / Math.Tan(angle * deg2rad));
}
// THIS IS COMMENTED OUT BECAUSE IT'S INSANE NONSENSE THAT SHOULD NEVER HAVE BEEN IN HERE.
//
// //convert to absolute if flight planner is set to absolute mode (shift up by home alt)
// if (altmode == FlightPlanner.altmode.Absolute)
// {
// vertOffset += homeAlt;
// }
//if this is the first lane of a bench, climb to the altitude of the first waypoint of the lane before moving to the waypoint
if (lane == 0 && ans.Count > 0)
{
PointLatLngAlt intermediateWP = new PointLatLngAlt(ans.Last().Lat, ans.Last().Lng, vertOffset)
{
Tag = "S"
};
ans.Add(intermediateWP);
}
GenerateOffsetPath(utmpositions, horizOffset * direction, utmzone)
.ForEach(pnt => { ans.Add(pnt); ans.Last().Alt = vertOffset; });
//reverse the order of waypoints and direction of offset on the way back
utmpositions.Reverse();
direction = -direction;
}
}
//if an odd number of lanes were specified create one last run along the path back to home
if (pathHome && ((lanes * numBenches) % 2) == 1)
{
GenerateOffsetPath(utmpositions, horizOffset * direction, utmzone)
.ForEach(pnt => { ans.Add(pnt); ans.Last().Alt = vertOffset; ans.Last().Tag = "R"; });
}
return(ans);
}
