From a2c9eb9555bf3a7eba7183b017f9f40223bab7e1 Mon Sep 17 00:00:00 2001
From: DoinLakeFlyer <don@thegagnes.com>
Date: Tue, 10 Mar 2020 09:14:46 -0700
Subject: [PATCH] Temporary use setting for using CONDITION_GATE in Patterns

---
 src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc | 10 +++++++++-
 src/Settings/PlanView.SettingsGroup.json    |  6 ++++++
 src/Settings/PlanViewSettings.cc            |  1 +
 src/Settings/PlanViewSettings.h             |  1 +
 src/ui/preferences/GeneralSettings.qml      |  5 +++++
 5 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index c5cffe9465..419561db40 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -23,6 +23,8 @@
 #include "RadioComponentController.h"
 #include "QGCCameraManager.h"
 #include "QGCFileDownload.h"
+#include "SettingsManager.h"
+#include "PlanViewSettings.h"
 
 #include <QDebug>
 
@@ -279,7 +281,7 @@ void PX4FirmwarePlugin::getParameterMetaDataVersionInfo(const QString& metaDataF
 
 QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
 {
-    return {
+    QList<MAV_CMD> cmds = {
         MAV_CMD_NAV_WAYPOINT,
         MAV_CMD_NAV_LOITER_UNLIM, MAV_CMD_NAV_LOITER_TIME, MAV_CMD_NAV_LOITER_TO_ALT,
         MAV_CMD_NAV_LAND, MAV_CMD_NAV_TAKEOFF, MAV_CMD_NAV_RETURN_TO_LAUNCH,
@@ -298,6 +300,12 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
         MAV_CMD_NAV_DELAY,
         MAV_CMD_CONDITION_YAW,
     };
+
+    if (qgcApp()->toolbox()->settingsManager()->planViewSettings()->useConditionGate()->rawValue().toBool()) {
+        cmds.append(MAV_CMD_CONDITION_GATE);
+    }
+
+    return cmds;
 }
 
 QString PX4FirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const
diff --git a/src/Settings/PlanView.SettingsGroup.json b/src/Settings/PlanView.SettingsGroup.json
index eb1921d9d9..38a63492c7 100644
--- a/src/Settings/PlanView.SettingsGroup.json
+++ b/src/Settings/PlanView.SettingsGroup.json
@@ -16,5 +16,11 @@
     "shortDescription": "Show/Hide the mission item status display",
     "type":             "bool",
     "defaultValue":     false
+},
+{
+    "name":                 "useConditionGate",
+    "shortDescription":     "Use MAV_CMD_CONDITION_GATE for pattern generation",
+    "type":                 "bool",
+    "defaultValue":         false
 }
 ]
diff --git a/src/Settings/PlanViewSettings.cc b/src/Settings/PlanViewSettings.cc
index 8f82dc044f..b6ea71fac5 100644
--- a/src/Settings/PlanViewSettings.cc
+++ b/src/Settings/PlanViewSettings.cc
@@ -20,3 +20,4 @@ DECLARE_SETTINGGROUP(PlanView, "PlanView")
 DECLARE_SETTINGSFACT(PlanViewSettings, displayPresetsTabFirst)
 DECLARE_SETTINGSFACT(PlanViewSettings, aboveTerrainWarning)
 DECLARE_SETTINGSFACT(PlanViewSettings, showMissionItemStatus)
+DECLARE_SETTINGSFACT(PlanViewSettings, useConditionGate)
diff --git a/src/Settings/PlanViewSettings.h b/src/Settings/PlanViewSettings.h
index 2fbc3bdc03..c1a6d0c04d 100644
--- a/src/Settings/PlanViewSettings.h
+++ b/src/Settings/PlanViewSettings.h
@@ -23,4 +23,5 @@ public:
     DEFINE_SETTINGFACT(displayPresetsTabFirst)
     DEFINE_SETTINGFACT(aboveTerrainWarning)
     DEFINE_SETTINGFACT(showMissionItemStatus)
+    DEFINE_SETTINGFACT(useConditionGate)
 };
diff --git a/src/ui/preferences/GeneralSettings.qml b/src/ui/preferences/GeneralSettings.qml
index 3897dc61a7..c698d44af4 100644
--- a/src/ui/preferences/GeneralSettings.qml
+++ b/src/ui/preferences/GeneralSettings.qml
@@ -621,6 +621,11 @@ Rectangle {
                                     fact:                   QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude
                                 }
                             }
+
+                            FactCheckBox {
+                                text:   qsTr("Use MAV_CMD_CONDITION_GATE for pattern generation")
+                                fact:   QGroundControl.settingsManager.planViewSettings.useConditionGate
+                            }
                         }
                     }
 
-- 
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