Merge pull request #8989 from mattstraehl/pr-landing-heading

Set default landing heading to takeoff heading

src/MissionManager/LandingComplexItem.cc

@@ -14,6 +14,7 @@
 #include "SimpleMissionItem.h"
 #include "PlanMasterController.h"
 #include "FlightPathSegment.h"
+#include "TakeoffMissionItem.h"
 
 #include <QPolygonF>
 
@@ -29,6 +30,15 @@ LandingComplexItem::LandingComplexItem(PlanMasterController* masterController, b
     qgcApp()->addCompressedSignal(QMetaMethod::fromSignal(&LandingComplexItem::_updateFlightPathSegmentsSignal));
 }
 
+void LandingComplexItem::setLandingHeadingToTakeoffHeading()
+{
+    TakeoffMissionItem* takeoffMissionItem = _missionController->takeoffMissionItem();
+    if (takeoffMissionItem && takeoffMissionItem->specifiesCoordinate()) {
+        qreal heading = takeoffMissionItem->launchCoordinate().azimuthTo(takeoffMissionItem->coordinate());
+        landingHeading()->setRawValue(heading);
+    }
+}
+
 double LandingComplexItem::complexDistance(void) const
 {
     return loiterCoordinate().distanceTo(loiterTangentCoordinate()) + loiterTangentCoordinate().distanceTo(landingCoordinate());

src/MissionManager/LandingComplexItem.h

@@ -40,6 +40,8 @@ public:
     Q_PROPERTY(QGeoCoordinate   landingCoordinate       READ    landingCoordinate           WRITE setLandingCoordinate      NOTIFY landingCoordinateChanged)
     Q_PROPERTY(bool             landingCoordSet         MEMBER _landingCoordSet                                             NOTIFY landingCoordSetChanged)
 
+    Q_INVOKABLE void setLandingHeadingToTakeoffHeading();
+
     virtual Fact* loiterAltitude          (void) = 0;
     virtual Fact* loiterRadius            (void) = 0;
     virtual Fact* landingAltitude         (void) = 0;

src/MissionManager/MissionController.cc

@@ -166,6 +166,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
         _visualItems->deleteLater();
         _visualItems  = nullptr;
         _settingsItem = nullptr;
+        _takeoffMissionItem = nullptr;
         _updateContainsItems(); // This will clear containsItems which will be set again below. This will re-pop Start Mission confirmation.
 
         QmlObjectListModel* newControllerMissionItems = new QmlObjectListModel(this);
@@ -192,9 +193,9 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
             SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, _flyView, *missionItem, this);
             if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(simpleItem->command()))) {
                 // This needs to be a TakeoffMissionItem
-                TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(*missionItem, _masterController, _flyView, settingsItem, this);
+                _takeoffMissionItem = new TakeoffMissionItem(*missionItem, _masterController, _flyView, settingsItem, this);
                 simpleItem->deleteLater();
-                simpleItem = takeoffItem;
+                simpleItem = _takeoffMissionItem;
             }
             newControllerMissionItems->append(simpleItem);
         }
@@ -359,34 +360,34 @@ VisualMissionItem* MissionController::insertSimpleMissionItem(QGeoCoordinate coo
 VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate /*coordinate*/, int visualItemIndex, bool makeCurrentItem)
 {
     int sequenceNumber = _nextSequenceNumber();
-    TakeoffMissionItem * newItem = new TakeoffMissionItem(_controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF, _masterController, _flyView, _settingsItem, this);
-    newItem->setSequenceNumber(sequenceNumber);
-    _initVisualItem(newItem);
+    _takeoffMissionItem = new TakeoffMissionItem(_controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF, _masterController, _flyView, _settingsItem, this);
+    _takeoffMissionItem->setSequenceNumber(sequenceNumber);
+    _initVisualItem(_takeoffMissionItem);
 
-    if (newItem->specifiesAltitude()) {
+    if (_takeoffMissionItem->specifiesAltitude()) {
         double  prevAltitude;
         int     prevAltitudeMode;
 
         if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltitudeMode)) {
-            newItem->altitude()->setRawValue(prevAltitude);
-            newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
+            _takeoffMissionItem->altitude()->setRawValue(prevAltitude);
+            _takeoffMissionItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
         }
     }
     if (visualItemIndex == -1) {
-        _visualItems->append(newItem);
+        _visualItems->append(_takeoffMissionItem);
     } else {
-        _visualItems->insert(visualItemIndex, newItem);
+        _visualItems->insert(visualItemIndex, _takeoffMissionItem);
     }
 
     _recalcAll();
 
     if (makeCurrentItem) {
-        setCurrentPlanViewSeqNum(newItem->sequenceNumber(), true);
+        setCurrentPlanViewSeqNum(_takeoffMissionItem->sequenceNumber(), true);
     }
 
     _firstItemAdded();
 
-    return newItem;
+    return _takeoffMissionItem;
 }
 
 VisualMissionItem* MissionController::insertLandItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
@@ -536,6 +537,10 @@ void MissionController::removeVisualItem(int viIndex)
     bool removeSurveyStyle = _visualItems->value<SurveyComplexItem*>(viIndex) || _visualItems->value<CorridorScanComplexItem*>(viIndex);
     VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->removeAt(viIndex));
 
+    if (item == _takeoffMissionItem) {
+        _takeoffMissionItem = nullptr;
+    }
+
     _deinitVisualItem(item);
     item->deleteLater();
 
@@ -591,6 +596,7 @@ void MissionController::removeAll(void)
         _visualItems->clearAndDeleteContents();
         _visualItems->deleteLater();
         _settingsItem = nullptr;
+        _takeoffMissionItem = nullptr;
         _visualItems = new QmlObjectListModel(this);
         _addMissionSettings(_visualItems);
         _initAllVisualItems();
@@ -983,8 +989,9 @@ void MissionController::_initLoadedVisualItems(QmlObjectListModel* loadedVisualI
     if (_visualItems) {
         _deinitAllVisualItems();
         _visualItems->deleteLater();
-        _settingsItem = nullptr;
     }
+    _settingsItem = nullptr;
+    _takeoffMissionItem = nullptr;
 
     _visualItems = loadedVisualItems;
 
@@ -1859,6 +1866,11 @@ void MissionController::_initAllVisualItems(void)
     for (int i=0; i<_visualItems->count(); i++) {
         VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
         _initVisualItem(item);
+
+        TakeoffMissionItem* takeoffItem = qobject_cast<TakeoffMissionItem*>(item);
+        if (takeoffItem) {
+            _takeoffMissionItem = takeoffItem;
+        }
     }
 
     _recalcAll();

src/MissionManager/MissionController.h

@@ -22,12 +22,12 @@
 class FlightPathSegment;
 class VisualMissionItem;
 class MissionItem;
-class MissionSettingsItem;
 class AppSettings;
 class MissionManager;
 class SimpleMissionItem;
 class ComplexMissionItem;
 class MissionSettingsItem;
+class TakeoffMissionItem;
 class QDomDocument;
 class PlanViewSettings;
 
@@ -86,6 +86,7 @@ public:
     Q_PROPERTY(int                  currentPlanViewSeqNum           READ currentPlanViewSeqNum          NOTIFY currentPlanViewSeqNumChanged)
     Q_PROPERTY(int                  currentPlanViewVIIndex          READ currentPlanViewVIIndex         NOTIFY currentPlanViewVIIndexChanged)
     Q_PROPERTY(VisualMissionItem*   currentPlanViewItem             READ currentPlanViewItem            NOTIFY currentPlanViewItemChanged)
+    Q_PROPERTY(TakeoffMissionItem*  takeoffMissionItem              READ takeoffMissionItem             NOTIFY takeoffMissionItemChanged)
     Q_PROPERTY(double               missionDistance                 READ missionDistance                NOTIFY missionDistanceChanged)
     Q_PROPERTY(double               missionTime                     READ missionTime                    NOTIFY missionTimeChanged)
     Q_PROPERTY(double               missionHoverDistance            READ missionHoverDistance           NOTIFY missionHoverDistanceChanged)
@@ -225,6 +226,7 @@ public:
     QStringList         complexMissionItemNames     (void) const;
     QGeoCoordinate      plannedHomePosition         (void) const;
     VisualMissionItem*  currentPlanViewItem         (void) const { return _currentPlanViewItem; }
+    TakeoffMissionItem* takeoffMissionItem          (void) const { return _takeoffMissionItem; }
     double              progressPct                 (void) const { return _progressPct; }
     QString             surveyComplexItemName       (void) const;
     QString             corridorScanComplexItemName (void) const;
@@ -280,6 +282,7 @@ signals:
     void currentPlanViewSeqNumChanged       (void);
     void currentPlanViewVIIndexChanged      (void);
     void currentPlanViewItemChanged         (void);
+    void takeoffMissionItemChanged          (void);
     void missionBoundingCubeChanged         (void);
     void missionItemCountChanged            (int missionItemCount);
     void onlyInsertTakeoffValidChanged      (void);
@@ -379,6 +382,7 @@ private:
     int                         _currentPlanViewSeqNum =        -1;
     int                         _currentPlanViewVIIndex =       -1;
     VisualMissionItem*          _currentPlanViewItem =          nullptr;
+    TakeoffMissionItem*         _takeoffMissionItem =           nullptr;
     QTimer                      _updateTimer;
     QGCGeoBoundingCube          _travelBoundingCube;
     QGeoCoordinate              _takeoffCoordinate;

src/PlanView/FWLandingPatternEditor.qml

@@ -289,6 +289,7 @@ Rectangle {
                 onClicked: {
                     missionItem.landingCoordinate = activeVehicle.coordinate
                     missionItem.landingHeading.rawValue = activeVehicle.heading.rawValue
+                    missionItem.setLandingHeadingToTakeoffHeading()
                 }
             }
         }

src/PlanView/FWLandingPatternMapVisual.qml

@@ -189,6 +189,7 @@ Item {
                 coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
                 coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
                 _missionItem.landingCoordinate = coordinate
+                _missionItem.setLandingHeadingToTakeoffHeading()
             }
         }
     }

src/PlanView/VTOLLandingPatternEditor.qml

@@ -276,6 +276,7 @@ Rectangle {
                 onClicked: {
                     missionItem.landingCoordinate = activeVehicle.coordinate
                     missionItem.landingHeading.rawValue = activeVehicle.heading.rawValue
+                    missionItem.setLandingHeadingToTakeoffHeading()
                 }
             }
         }

src/PlanView/VTOLLandingPatternMapVisual.qml

@@ -159,6 +159,7 @@ Item {
                 coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
                 coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
                 _missionItem.landingCoordinate = coordinate
+                _missionItem.setLandingHeadingToTakeoffHeading()
             }
         }
     }