Merge pull request #6668 from DonLakeFlyer/TerrainCollision

Rework terrain collision display to prevent false positives

src/MissionManager/MissionController.cc

@@ -1459,10 +1459,16 @@ void MissionController::_recalcMissionFlightStatus()
             if (altRange == 0.0) {
                 item->setAltPercent(0.0);
                 item->setTerrainPercent(qQNaN());
+                item->setTerrainCollision(false);
             } else {
                 item->setAltPercent((absoluteAltitude - minAltSeen) / altRange);
-                if (!qIsNaN(item->terrainAltitude())) {
-                    item->setTerrainPercent((item->terrainAltitude() - minAltSeen) / altRange);
+                double terrainAltitude = item->terrainAltitude();
+                if (qIsNaN(terrainAltitude)) {
+                    item->setTerrainPercent(qQNaN());
+                    item->setTerrainCollision(false);
+                } else {
+                    item->setTerrainPercent((terrainAltitude - minAltSeen) / altRange);
+                    item->setTerrainCollision(absoluteAltitude < terrainAltitude);
                 }
             }
         }

src/MissionManager/VisualMissionItem.cc

@@ -32,6 +32,7 @@ VisualMissionItem::VisualMissionItem(Vehicle* vehicle, bool flyView, QObject* pa
     , _altDifference            (0.0)
     , _altPercent               (0.0)
     , _terrainPercent           (qQNaN())
+    , _terrainCollision         (false)
     , _azimuth                  (0.0)
     , _distance                 (0.0)
     , _missionGimbalYaw         (qQNaN())
@@ -52,6 +53,7 @@ VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, bool flyVie
     , _altDifference            (0.0)
     , _altPercent               (0.0)
     , _terrainPercent           (qQNaN())
+    , _terrainCollision         (false)
     , _azimuth                  (0.0)
     , _distance                 (0.0)
 {
@@ -133,6 +135,14 @@ void VisualMissionItem::setTerrainPercent(double terrainPercent)
     }
 }
 
+void VisualMissionItem::setTerrainCollision(bool terrainCollision)
+{
+    if (terrainCollision != _terrainCollision) {
+        _terrainCollision = terrainCollision;
+        emit terrainCollisionChanged(terrainCollision);
+    }
+}
+
 void VisualMissionItem::setAzimuth(double azimuth)
 {
     if (!qFuzzyCompare(_azimuth, azimuth)) {

src/MissionManager/VisualMissionItem.h

@@ -73,6 +73,7 @@ public:
     Q_PROPERTY(double altDifference     READ altDifference      WRITE setAltDifference      NOTIFY altDifferenceChanged)        ///< Change in altitude from previous waypoint
     Q_PROPERTY(double altPercent        READ altPercent         WRITE setAltPercent         NOTIFY altPercentChanged)           ///< Percent of total altitude change in mission altitude
     Q_PROPERTY(double terrainPercent    READ terrainPercent     WRITE setTerrainPercent     NOTIFY terrainPercentChanged)       ///< Percent of terrain altitude in mission altitude
+    Q_PROPERTY(bool   terrainCollision  READ terrainCollision   WRITE setTerrainCollision   NOTIFY terrainCollisionChanged)     ///< true: Item collides with terrain
     Q_PROPERTY(double azimuth           READ azimuth            WRITE setAzimuth            NOTIFY azimuthChanged)              ///< Azimuth to previous waypoint
     Q_PROPERTY(double distance          READ distance           WRITE setDistance           NOTIFY distanceChanged)             ///< Distance to previous waypoint
 
@@ -84,6 +85,7 @@ public:
     double altDifference    (void) const { return _altDifference; }
     double altPercent       (void) const { return _altPercent; }
     double terrainPercent   (void) const { return _terrainPercent; }
+    bool   terrainCollision (void) const { return _terrainCollision; }
     double azimuth          (void) const { return _azimuth; }
     double distance         (void) const { return _distance; }
     bool   isCurrentItem    (void) const { return _isCurrentItem; }
@@ -96,6 +98,7 @@ public:
     void setAltDifference   (double altDifference);
     void setAltPercent      (double altPercent);
     void setTerrainPercent  (double terrainPercent);
+    void setTerrainCollision(bool terrainCollision);
     void setAzimuth         (double azimuth);
     void setDistance        (double distance);
 
@@ -166,6 +169,7 @@ signals:
     void altDifferenceChanged           (double altDifference);
     void altPercentChanged              (double altPercent);
     void terrainPercentChanged          (double terrainPercent);
+    void terrainCollisionChanged        (double terrainCollision);
     void azimuthChanged                 (double azimuth);
     void commandDescriptionChanged      (void);
     void commandNameChanged             (void);
@@ -203,6 +207,7 @@ protected:
     double      _altDifference;             ///< Difference in altitude from previous waypoint
     double      _altPercent;                ///< Percent of total altitude change in mission
     double      _terrainPercent;            ///< Percent of terrain altitude for coordinate
+    bool        _terrainCollision;          ///< true: item collides with terrain
     double      _azimuth;                   ///< Azimuth to previous waypoint
     double      _distance;                  ///< Distance to previous waypoint
     QString     _editorQml;                 ///< Qml resource for editing item

src/PlanView/MissionItemStatus.qml

@@ -85,7 +85,7 @@ Rectangle {
                 anchors.horizontalCenter:   parent.horizontalCenter
                 width:                      indicator.width
                 height:                     _terrainAvailable ? Math.max(availableHeight * _terrainPercent, 1) : parent.height
-                color:                      _terrainAvailable ? (_terrainPercent > object.altPercent ? "red": qgcPal.text) : "yellow"
+                color:                      _terrainAvailable ? (object.terrainCollision ? "red": qgcPal.text) : "yellow"
                 visible:                    _coordValid
             }