From 15669c39f444a4f75c2d626b9b665cd92e739aca Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Mon, 15 Jan 2018 11:49:06 -0800
Subject: [PATCH] Fly view needs to slurp in sections using scan

Otherwise things like gimbal angles end up on the wrong items.
---
 src/MissionManager/MissionController.cc | 36 ++++++++++++++-----------
 src/MissionManager/MissionController.h  |  2 +-
 2 files changed, 22 insertions(+), 16 deletions(-)

diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index ac122e954..8bb8ad321 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -189,9 +189,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
             _addMissionSettings(_visualItems, _editMode && _visualItems->count() > 0 /* addToCenter */);
         }
 
-        if (_editMode) {
-            MissionController::_scanForAdditionalSettings(_visualItems, _controllerVehicle);
-        }
+        MissionController::_scanForAdditionalSettings(_visualItems, _controllerVehicle);
 
         _initAllVisualItems();
         _updateContainsItems();
@@ -290,14 +288,14 @@ void MissionController::convertToKMLDocument(QDomDocument& document)
             continue;
         }
         const MissionCommandUIInfo* uiInfo = \
-            qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, item->command());
+                qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, item->command());
 
         if (uiInfo && uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate()) {
             coord = QString::number(item->param6(),'f',7) \
-                + "," \
-                + QString::number(item->param5(),'f',7) \
-                + "," \
-                + QString::number(item->param7() + altitude,'f',2);
+                    + "," \
+                    + QString::number(item->param5(),'f',7) \
+                    + "," \
+                    + QString::number(item->param7() + altitude,'f',2);
             coords.append(coord);
         }
     }
@@ -1218,6 +1216,8 @@ void MissionController::_recalcMissionFlightStatus()
         }
     }
 
+    qDebug() << "Gimbal calc";
+
     for (int i=0; i<_visualItems->count(); i++) {
         VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
         SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(item);
@@ -1247,6 +1247,7 @@ void MissionController::_recalcMissionFlightStatus()
         // Look for gimbal change
         double gimbalYaw = item->specifiedGimbalYaw();
         if (!qIsNaN(gimbalYaw)) {
+            qDebug() << _editMode << gimbalYaw;
             _missionFlightStatus.gimbalYaw = gimbalYaw;
         }
         double gimbalPitch = item->specifiedGimbalPitch();
@@ -1352,6 +1353,7 @@ void MissionController::_recalcMissionFlightStatus()
                     _addTimeDistance(vtolInHover, hoverTime, cruiseTime, extraTime, distance, item->sequenceNumber());
                 }
 
+                qDebug() << "setMissionFlightStatus" << item->sequenceNumber() << _missionFlightStatus.gimbalYaw << item->commandName();
                 item->setMissionFlightStatus(_missionFlightStatus);
             }
 
@@ -1783,8 +1785,10 @@ void MissionController::setDirty(bool dirty)
 
 void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle)
 {
-    // First we look for a Fixed Wing Landing Pattern which is at the end
-    FixedWingLandingComplexItem::scanForItem(visualItems, vehicle);
+    if (_editMode) {
+        // First we look for a Fixed Wing Landing Pattern which is at the end
+        FixedWingLandingComplexItem::scanForItem(visualItems, vehicle);
+    }
 
     int scanIndex = 0;
     while (scanIndex < visualItems->count()) {
@@ -1792,11 +1796,13 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte
 
         qCDebug(MissionControllerLog) << "MissionController::_scanForAdditionalSettings count:scanIndex" << visualItems->count() << scanIndex;
 
-        MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(visualItem);
-        if (settingsItem) {
-            scanIndex++;
-            settingsItem->scanForMissionSettings(visualItems, scanIndex);
-            continue;
+        if (_editMode) {
+            MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(visualItem);
+            if (settingsItem) {
+                scanIndex++;
+                settingsItem->scanForMissionSettings(visualItems, scanIndex);
+                continue;
+            }
         }
 
         SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
index 89eecafda..1f2818823 100644
--- a/src/MissionManager/MissionController.h
+++ b/src/MissionManager/MissionController.h
@@ -227,7 +227,7 @@ private:
     bool _loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
     bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
     int _nextSequenceNumber(void);
-    static void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
+    void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
     static bool _convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent);
     void _setPlannedHomePositionFromFirstCoordinate(void);
     void _resetMissionFlightStatus(void);
-- 
2.22.0