CorridorScanPlanCreator.cc

/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

#include "CorridorScanPlanCreator.h"
#include "PlanMasterController.h"
#include "MissionSettingsItem.h"
#include "FixedWingLandingComplexItem.h"

CorridorScanPlanCreator::CorridorScanPlanCreator(PlanMasterController* planMasterController, QObject* parent)
    : PlanCreator(planMasterController, MissionController::patternCorridorScanName, QStringLiteral("/qmlimages/PlanCreator/CorridorScanPlanCreator.png"), parent)
{

}

void CorridorScanPlanCreator::createPlan(const QGeoCoordinate& mapCenterCoord)
{
    _planMasterController->removeAll();
    VisualMissionItem* takeoffItem = _missionController->insertSimpleMissionItem(mapCenterCoord, -1);
    takeoffItem->setWizardMode(true);
    _missionController->insertComplexMissionItem(MissionController::patternCorridorScanName, mapCenterCoord, -1)->setWizardMode(true);
    if (_planMasterController->managerVehicle()->fixedWing()) {
        FixedWingLandingComplexItem* landingItem = qobject_cast<FixedWingLandingComplexItem*>(_missionController->insertComplexMissionItem(MissionController::patternFWLandingName, mapCenterCoord, -1));
        landingItem->setWizardMode(true);
        landingItem->setLoiterDragAngleOnly(true);
    } else {
        MissionSettingsItem* settingsItem = _missionController->visualItems()->value<MissionSettingsItem*>(0);
        settingsItem->setMissionEndRTL(true);
    }
    _missionController->setCurrentPlanViewIndex(takeoffItem->sequenceNumber(), true);
}