Merge pull request #8114 from DonLakeFlyer/PreviousPosition

Plan: Support move item to previous item position

src/MissionManager/MissionController.cc

@@ -2243,6 +2243,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
         _isROIActive =                  false;
         _isROIBeginCurrentItem =        false;
         _flyThroughCommandsAllowed =    true;
+        _previousCoordinate =           QGeoCoordinate();
 
         for (int viIndex=0; viIndex<_visualItems->count(); viIndex++) {
             VisualMissionItem* pVI =        qobject_cast<VisualMissionItem*>(_visualItems->get(viIndex));
@@ -2282,8 +2283,13 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
                 }
             }
 
-            // ROI state handling
             if (simpleItem) {
+                // Remember previous coordinate
+                if (pVI->sequenceNumber() < sequenceNumber && simpleItem->specifiesCoordinate() && !simpleItem->isStandaloneCoordinate()) {
+                    _previousCoordinate = simpleItem->coordinate();
+                }
+
+                // ROI state handling
                 if (pVI->sequenceNumber() <= sequenceNumber) {
                     if (_isROIActive) {
                         if (_isROICancelItem(simpleItem)) {
@@ -2351,6 +2357,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
         emit isROIActiveChanged();
         emit isROIBeginCurrentItemChanged();
         emit flyThroughCommandsAllowedChanged();
+        emit previousCoordinateChanged();
     }
 }
 

src/MissionManager/MissionController.h

@@ -72,6 +72,7 @@ public:
     Q_PROPERTY(QmlObjectListModel*  directionArrows                 READ directionArrows                CONSTANT)
     Q_PROPERTY(QStringList          complexMissionItemNames         READ complexMissionItemNames        NOTIFY complexMissionItemNamesChanged)
     Q_PROPERTY(QGeoCoordinate       plannedHomePosition             READ plannedHomePosition            NOTIFY plannedHomePositionChanged)
+    Q_PROPERTY(QGeoCoordinate       previousCoordinate              MEMBER _previousCoordinate          NOTIFY previousCoordinateChanged)
     Q_PROPERTY(CoordinateVector*    splitSegment                    MEMBER _splitSegment                NOTIFY splitSegmentChanged)         ///< Segment which show show + split ui element
     Q_PROPERTY(double               progressPct                     READ progressPct                    NOTIFY progressPctChanged)
     Q_PROPERTY(int                  missionItemCount                READ missionItemCount               NOTIFY missionItemCountChanged)     ///< True mission item command count (only valid in Fly View)
@@ -266,6 +267,7 @@ signals:
     void isROIActiveChanged                 (void);
     void isROIBeginCurrentItemChanged       (void);
     void flyThroughCommandsAllowedChanged   (void);
+    void previousCoordinateChanged          (void);
 
 private slots:
     void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
@@ -344,6 +346,7 @@ private:
     QTimer                  _updateTimer;
     QGCGeoBoundingCube      _travelBoundingCube;
     QGeoCoordinate          _takeoffCoordinate;
+    QGeoCoordinate          _previousCoordinate;
     CoordinateVector*       _splitSegment;
     bool                    _isInsertTakeoffValid =         true;
     bool                    _isInsertLandValid =            true;

src/PlanView/MissionItemEditor.qml

@@ -40,6 +40,7 @@ Rectangle {
     property real   _sectionSpacer:             ScreenTools.defaultFontPixelWidth / 2  // spacing between section headings
     property bool   _singleComplexItem:         _missionController.complexMissionItemNames.length === 1
     property bool   _readyForSave:              missionItem.readyForSaveState === VisualMissionItem.ReadyForSave
+    property var    _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
 
     readonly property real  _editFieldWidth:    Math.min(width - _margin * 2, ScreenTools.defaultFontPixelWidth * 12)
     readonly property real  _margin:            ScreenTools.defaultFontPixelWidth / 2
@@ -137,6 +138,19 @@ Rectangle {
         QGCMenu {
             id: hamburgerMenu
 
+            QGCMenuItem {
+                text:           qsTr("Move to vehicle position")
+                visible:        missionItem.specifiesCoordinate
+                enabled:        _activeVehicle
+                onTriggered:    missionItem.coordinate = _activeVehicle.coordinate
+            }
+
+            QGCMenuItem {
+                text:           qsTr("Move to previous item position")
+                visible:        _missionController.previousCoordinate.isValid
+                onTriggered:    missionItem.coordinate = _missionController.previousCoordinate
+            }
+
             QGCMenuItem {
                 text:           qsTr("Edit position...")
                 visible:        missionItem.specifiesCoordinate