WimaPlaner auto recacl paths added

src/MissionManager/MissionController.cc

@@ -1053,9 +1053,9 @@ bool MissionController::readyForSaveSend(void) const
     return true;
 }
 
-bool MissionController::setTakeoffCommand(SimpleMissionItem &missionItem, Vehicle &vehicle)
+bool MissionController::setTakeoffCommand(SimpleMissionItem &missionItem)
 {
-    if (vehicle.fixedWing() || vehicle.vtol() || vehicle.multiRotor()) {
+    if (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() || _controllerVehicle->multiRotor()) {
         MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF;
         if (_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
             missionItem.setCommand(takeoffCmd);
@@ -1067,10 +1067,10 @@ bool MissionController::setTakeoffCommand(SimpleMissionItem &missionItem, Vehicl
     return true;
 }
 
-bool MissionController::setLandCommand(SimpleMissionItem &missionItem, Vehicle &vehicle)
+bool MissionController::setLandCommand(SimpleMissionItem &missionItem)
 {
-    MAV_CMD landCmd = vehicle.vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
-    if (vehicle.firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
+    MAV_CMD landCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
+    if (_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
         missionItem.setCommand(landCmd);
     } else
         return false;

src/MissionManager/MissionController.h

@@ -151,9 +151,9 @@ public:
     bool readyForSaveSend(void) const;
 
     /// sets the command in missionItem to a land command
-    bool setLandCommand     (SimpleMissionItem &missionItem, Vehicle &vehicle);
+    bool setLandCommand     (SimpleMissionItem &missionItem);
     /// sets the command in missionItem to a takeoff command
-    bool setTakeoffCommand  (SimpleMissionItem &missionItem, Vehicle &vehicle);
+    bool setTakeoffCommand  (SimpleMissionItem &missionItem);
 
     /// Sends the mission items to the specified vehicle
     static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems);

src/Wima/WimaController.cc

@@ -548,7 +548,7 @@ bool WimaController::calcNextPhase()
         qWarning("WimaController::calcNextPhase(): nullptr");
         return false;
     }
-    _missionController->setLandCommand(*landItem, *_masterController->controllerVehicle());
+    _missionController->setLandCommand(*landItem);
 
     // copy to _currentMissionItems
     for ( int i = 1; i < missionControllerVisuals->count(); i++) {

src/Wima/WimaPlaner.h

@@ -122,10 +122,12 @@ signals:
 
 private slots:
     void recalcPolygonInteractivity (int index);
+    bool calcArrivalAndReturnPath   (void);
     bool recalcJoinedArea           (QString &errorString);
     void pushToContainer            ();    
     void setDirtyTrue               ();
-
+    // called by _updateTimer::timeout signal, updates different mission parts, if parameters (e.g. survey or areas) have changed
+    void updateTimerSlot            ();
 private:
     // Member Functions
     WimaPlanData toPlanData();
@@ -145,4 +147,10 @@ private:
     WimaCorridor            _corridor; // corridor connecting _measurementArea and _serviceArea
     int                     _arrivalPathLength; // the number waypoints the arrival path consists of (path from takeoff to first measurement point)
     int                     _returnPathLength; // the number waypoints the return path consists of (path from last measurement point to land)
+
+    CircularSurveyComplexItem* _circularSurvey; // pointer to the CircularSurvey item in _missionController.visualItems()
+
+    QTimer                  _updateTimer; // on this timers timeout different mission parts will be updated, if parameters (e.g. survey or areas) have changed
+    QGeoCoordinate          _lastSurveyRefPoint;
+    bool                    _surveyRefChanging;
 };