Merge pull request #5603 from DonLakeFlyer/StableMerge

Stable merge

android/AndroidManifest.xml

 <?xml version="1.0"?>
 <manifest package="org.mavlink.qgroundcontrol" xmlns:android="http://schemas.android.com/apk/res/android" android:versionName="3.0.0-243-gd759437" android:versionCode="300243" android:installLocation="auto">
-    <application android:hardwareAccelerated="true" android:name="org.qtproject.qt5.android.bindings.QtApplication" android:label="-- %%INSERT_APP_NAME%% --" android:icon="@drawable/icon">
+    <application android:hardwareAccelerated="true" android:name="org.qtproject.qt5.android.bindings.QtApplication" android:label="-- %%INSERT_APP_NAME%% --" android:icon="@drawable/icon" android:debuggable="true">
         <activity android:configChanges="orientation|uiMode|screenLayout|screenSize|smallestScreenSize|locale|fontScale|keyboard|keyboardHidden|navigation" android:name="org.mavlink.qgroundcontrol.QGCActivity" android:label="-- %%INSERT_APP_NAME%% --" android:screenOrientation="sensorLandscape" android:launchMode="singleTask" android:keepScreenOn="true">
             <intent-filter>
                 <action android:name="android.intent.action.MAIN"/>

src/FlightDisplay/GuidedActionsController.qml

@@ -122,8 +122,8 @@ Item {
     property bool   _hideOrbit:             !QGroundControl.corePlugin.options.guidedBarShowOrbit
     property bool   _vehicleWasFlying:      false
 
-    //Handy code for debugging state problems
     /*
+    //Handy code for debugging state problems
     property bool __guidedModeSupported: _activeVehicle ? _activeVehicle.guidedModeSupported : false
     property bool __pauseVehicleSupported: _activeVehicle ? _activeVehicle.pauseVehicleSupported : false
     property bool __flightMode: _flightMode
@@ -140,6 +140,23 @@ Item {
     on__FlightModeChanged: _outputState()
     on__GuidedModeSupportedChanged: _outputState()
     on__PauseVehicleSupportedChanged: _outputState()
+
+    on_CurrentMissionIndexChanged: console.log("_currentMissionIndex", _currentMissionIndex)
+    on_ResumeMissionIndexChanged: console.log("_resumeMissionIndex", _resumeMissionIndex)
+    onShowResumeMissionChanged: {
+        console.log("showResumeMission", showResumeMission)
+        _outputState()
+    }
+    onShowStartMissionChanged: {
+        console.log("showStartMission", showStartMission)
+        _outputState()
+    }
+    onShowContinueMissionChanged: {
+        console.log("showContinueMission", showContinueMission)
+        _outputState()
+    }
+
+    // End of hack
     */
 
     on_VehicleFlyingChanged: {
@@ -150,11 +167,8 @@ Item {
             _vehicleWasFlying = true
         }
     }
-
     property var    _actionData
 
-    on_CurrentMissionIndexChanged: console.log("_currentMissionIndex", _currentMissionIndex)
-
     on_FlightModeChanged: {
         _vehiclePaused =        _flightMode === _activeVehicle.pauseFlightMode
         _vehicleInRTLMode =     _flightMode === _activeVehicle.rtlFlightMode

src/MissionManager/CameraSection.FactMetaData.json

@@ -49,7 +49,7 @@
     "name":             "CameraMode",
     "shortDescription": "Specify whether the camera should switch to photo or video mode",
     "type":             "uint32",
-    "enumStrings":      "Take photos,Record video",
+    "enumStrings":      "Photo,Video",
     "enumValues":       "0,1",
     "defaultValue":     0
 }

src/MissionManager/CameraSection.cc

@@ -67,6 +67,7 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
     connect(this,                               &CameraSection::specifyGimbalChanged,       this, &CameraSection::_setDirty);
     connect(this,                               &CameraSection::specifyCameraModeChanged,   this, &CameraSection::_setDirty);
 
+    connect(this,                               &CameraSection::specifyGimbalChanged,       this, &CameraSection::_updateSpecifiedGimbalYaw);
     connect(&_gimbalYawFact,                    &Fact::valueChanged,                        this, &CameraSection::_updateSpecifiedGimbalYaw);
 }
 

src/MissionManager/CameraSection.h

@@ -63,6 +63,7 @@ public:
     void setSpecifyGimbal       (bool specifyGimbal);
     void setSpecifyCameraMode   (bool specifyCameraMode);
 
+    ///< Signals specifiedGimbalYawChanged
     ///< @return The gimbal yaw specified by this item, NaN if not specified
     double specifiedGimbalYaw(void) const;
 

src/MissionManager/MissionManager.cc

@@ -90,9 +90,24 @@ void MissionManager::generateResumeMission(int resumeIndex)
         }
     }
 
-    resumeIndex = qMin(resumeIndex, _missionItems.count() - 1);
+    // Be anal about crap input
+    resumeIndex = qMax(0, qMin(resumeIndex, _missionItems.count() - 1));
+
+    // Adjust resume index to be a location based command
+    const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, _missionItems[resumeIndex]->command());
+    if (!uiInfo || uiInfo->isStandaloneCoordinate() || !uiInfo->specifiesCoordinate()) {
+        // We have to back up to the last command which the vehicle flies through
+        while (--resumeIndex > 0) {
+            uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, _missionItems[resumeIndex]->command());
+            if (uiInfo && (uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate())) {
+                // Found it
+                break;
+            }
+
+        }
+    }
+    resumeIndex = qMax(0, resumeIndex);
 
-    int seqNum = 0;
     QList<MissionItem*> resumeMission;
 
     QList<MAV_CMD> includedResumeCommands;
@@ -110,114 +125,85 @@ void MissionManager::generateResumeMission(int resumeIndex)
                            << MAV_CMD_IMAGE_STOP_CAPTURE
                            << MAV_CMD_VIDEO_START_CAPTURE
                            << MAV_CMD_VIDEO_STOP_CAPTURE
-                           << MAV_CMD_DO_CHANGE_SPEED;
-    if (_vehicle->fixedWing() && _vehicle->px4Firmware()) {
-        includedResumeCommands << MAV_CMD_NAV_TAKEOFF;
-    }
+                           << MAV_CMD_DO_CHANGE_SPEED
+                           << MAV_CMD_SET_CAMERA_MODE
+                           << MAV_CMD_NAV_TAKEOFF;
 
     bool addHomePosition = _vehicle->firmwarePlugin()->sendHomePositionToVehicle();
-    int setCurrentIndex = addHomePosition ? 1 : 0;
 
-    int resumeCommandCount = 0;
+    int prefixCommandCount = 0;
     for (int i=0; i<_missionItems.count(); i++) {
         MissionItem* oldItem = _missionItems[i];
         if ((i == 0 && addHomePosition) || i >= resumeIndex || includedResumeCommands.contains(oldItem->command())) {
             if (i < resumeIndex) {
-                resumeCommandCount++;
+                prefixCommandCount++;
             }
             MissionItem* newItem = new MissionItem(*oldItem, this);
-            newItem->setIsCurrentItem( i == setCurrentIndex);
-            newItem->setSequenceNumber(seqNum++);
+            newItem->setIsCurrentItem(false);
             resumeMission.append(newItem);
         }
     }
+    prefixCommandCount = qMax(0, qMin(prefixCommandCount, resumeMission.count()));  // Anal prevention against crashes
 
     // De-dup and remove no-ops from the commands which were added to the front of the mission
     bool foundROI = false;
-    bool foundCamTrigDist = false;
-    QList<int> imageStartCameraIds;
-    QList<int> imageStopCameraIds;
-    QList<int> videoStartCameraIds;
-    QList<int> videoStopCameraIds;
-    while (resumeIndex >= 0) {
-        MissionItem* resumeItem = resumeMission[resumeIndex];
+    bool foundCameraSetMode = false;
+    bool foundCameraStartStop = false;
+    prefixCommandCount--;   // Change from count to array index
+    while (prefixCommandCount >= 0) {
+        MissionItem* resumeItem = resumeMission[prefixCommandCount];
         switch (resumeItem->command()) {
+        case MAV_CMD_SET_CAMERA_MODE:
+            // Only keep the last one
+            if (foundCameraSetMode) {
+                resumeMission.removeAt(prefixCommandCount);
+            }
+            foundCameraSetMode = true;
+            break;
         case MAV_CMD_DO_SET_ROI:
             // Only keep the last one
             if (foundROI) {
-                resumeMission.removeAt(resumeIndex);
+                resumeMission.removeAt(prefixCommandCount);
             }
             foundROI = true;
             break;
         case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
-            // Only keep the last one
-            if (foundCamTrigDist) {
-                resumeMission.removeAt(resumeIndex);
+        case MAV_CMD_IMAGE_STOP_CAPTURE:
+        case MAV_CMD_VIDEO_START_CAPTURE:
+        case MAV_CMD_VIDEO_STOP_CAPTURE:
+            // Only keep the first of these commands that are found
+            if (foundCameraStartStop) {
+                resumeMission.removeAt(prefixCommandCount);
             }
-            foundCamTrigDist = true;
+            foundCameraStartStop = true;
             break;
         case MAV_CMD_IMAGE_START_CAPTURE:
-        {
-            // FIXME: Handle single image capture
-            int cameraId = resumeItem->param1();
-
-            if (resumeItem->param3() == 1) {
-                // This is an individual image capture command, remove it
-                resumeMission.removeAt(resumeIndex);
+            if (resumeItem->param3() != 0) {
+                // Remove commands which do not trigger by time
+                resumeMission.removeAt(prefixCommandCount);
                 break;
             }
-            // If we already found an image stop, then all image start/stop commands are useless
-            // De-dup repeated image start commands
-            // Otherwise keep only the last image start
-            if (imageStopCameraIds.contains(cameraId) || imageStartCameraIds.contains(cameraId)) {
-                resumeMission.removeAt(resumeIndex);
-            }
-            if (!imageStopCameraIds.contains(cameraId)) {
-                imageStopCameraIds.append(cameraId);
-            }
-        }
-            break;
-        case MAV_CMD_IMAGE_STOP_CAPTURE:
-        {
-            int cameraId = resumeItem->param1();
-            // Image stop only matters to kill all previous image starts
-            if (!imageStopCameraIds.contains(cameraId)) {
-                imageStopCameraIds.append(cameraId);
-            }
-            resumeMission.removeAt(resumeIndex);
-        }
-            break;
-        case MAV_CMD_VIDEO_START_CAPTURE:
-        {
-            int cameraId = resumeItem->param1();
-            // If we've already found a video stop, then all video start/stop commands are useless
-            // De-dup repeated video start commands
-            // Otherwise keep only the last video start
-            if (videoStopCameraIds.contains(cameraId) || videoStopCameraIds.contains(cameraId)) {
-                resumeMission.removeAt(resumeIndex);
-            }
-            if (!videoStopCameraIds.contains(cameraId)) {
-                videoStopCameraIds.append(cameraId);
-            }
-        }
-            break;
-        case MAV_CMD_VIDEO_STOP_CAPTURE:
-        {
-            int cameraId = resumeItem->param1();
-            // Video stop only matters to kill all previous video starts
-            if (!videoStopCameraIds.contains(cameraId)) {
-                videoStopCameraIds.append(cameraId);
+            if (foundCameraStartStop) {
+                // Only keep the first of these commands that are found
+                resumeMission.removeAt(prefixCommandCount);
             }
-            resumeMission.removeAt(resumeIndex);
-        }
+            foundCameraStartStop = true;
             break;
         default:
             break;
         }
 
-        resumeIndex--;
+        prefixCommandCount--;
     }
 
+    // Adjust sequence numbers and current item
+    int seqNum = 0;
+    for (int i=0; i<resumeMission.count(); i++) {
+        resumeMission[i]->setSequenceNumber(seqNum++);
+    }
+    int setCurrentIndex = addHomePosition ? 1 : 0;
+    resumeMission[setCurrentIndex]->setIsCurrentItem(true);
+
     // Send to vehicle
     _clearAndDeleteWriteMissionItems();
     for (int i=0; i<resumeMission.count(); i++) {

src/MissionManager/MissionSettingsItem.cc

@@ -63,8 +63,8 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
     connect(&_cameraSection,    &CameraSection::dirtyChanged,   this, &MissionSettingsItem::_sectionDirtyChanged);
     connect(&_speedSection,     &SpeedSection::dirtyChanged,    this, &MissionSettingsItem::_sectionDirtyChanged);
 
-    connect(&_cameraSection,    &CameraSection::specifyGimbalChanged,       this, &MissionSettingsItem::specifiedGimbalYawChanged);
     connect(&_cameraSection,    &CameraSection::specifiedGimbalYawChanged,  this, &MissionSettingsItem::specifiedGimbalYawChanged);
+    connect(&_speedSection,     &SpeedSection::specifiedFlightSpeedChanged, this, &MissionSettingsItem::specifiedFlightSpeedChanged);
 }
 
 int MissionSettingsItem::lastSequenceNumber(void) const

src/MissionManager/SimpleMissionItem.cc

@@ -755,13 +755,11 @@ void SimpleMissionItem::_updateOptionalSections(void)
     connect(_cameraSection, &CameraSection::dirtyChanged,               this, &SimpleMissionItem::_sectionDirtyChanged);
     connect(_cameraSection, &CameraSection::itemCountChanged,           this, &SimpleMissionItem::_updateLastSequenceNumber);
     connect(_cameraSection, &CameraSection::availableChanged,           this, &SimpleMissionItem::specifiedGimbalYawChanged);
-    connect(_cameraSection, &CameraSection::specifyGimbalChanged,       this, &SimpleMissionItem::specifiedGimbalYawChanged);
     connect(_cameraSection, &CameraSection::specifiedGimbalYawChanged,  this, &SimpleMissionItem::specifiedGimbalYawChanged);
 
-    connect(_speedSection,                  &SpeedSection::dirtyChanged,                this, &SimpleMissionItem::_sectionDirtyChanged);
-    connect(_speedSection,                  &SpeedSection::itemCountChanged,            this, &SimpleMissionItem::_updateLastSequenceNumber);
-    connect(_speedSection,                  &SpeedSection::specifyFlightSpeedChanged,   this, &SimpleMissionItem::specifiedFlightSpeedChanged);
-    connect(_speedSection->flightSpeed(),   &Fact::rawValueChanged,                     this, &SimpleMissionItem::specifiedFlightSpeedChanged);
+    connect(_speedSection,  &SpeedSection::dirtyChanged,                this, &SimpleMissionItem::_sectionDirtyChanged);
+    connect(_speedSection,  &SpeedSection::itemCountChanged,            this, &SimpleMissionItem::_updateLastSequenceNumber);
+    connect(_speedSection,  &SpeedSection::specifiedFlightSpeedChanged, this, &SimpleMissionItem::specifiedFlightSpeedChanged);
 
     emit cameraSectionChanged(_cameraSection);
     emit speedSectionChanged(_speedSection);

src/MissionManager/SpeedSection.cc

@@ -38,8 +38,11 @@ SpeedSection::SpeedSection(Vehicle* vehicle, QObject* parent)
     _flightSpeedFact.setMetaData(_metaDataMap[_flightSpeedName]);
     _flightSpeedFact.setRawValue(flightSpeed);
 
-    connect(this,               &SpeedSection::specifyFlightSpeedChanged,  this, &SpeedSection::settingsSpecifiedChanged);
-    connect(&_flightSpeedFact,  &Fact::valueChanged,                       this, &SpeedSection::_setDirty);
+    connect(this,               &SpeedSection::specifyFlightSpeedChanged,   this, &SpeedSection::settingsSpecifiedChanged);
+    connect(&_flightSpeedFact,  &Fact::valueChanged,                        this, &SpeedSection::_setDirty);
+
+    connect(this,               &SpeedSection::specifyFlightSpeedChanged,   this, &SpeedSection::_updateSpecifiedFlightSpeed);
+    connect(&_flightSpeedFact,  &Fact::valueChanged,                        this, &SpeedSection::_updateSpecifiedFlightSpeed);
 }
 
 bool SpeedSection::settingsSpecified(void) const
@@ -134,3 +137,15 @@ bool SpeedSection::scanForSection(QmlObjectListModel* visualItems, int scanIndex
 
     return false;
 }
+
+
+double SpeedSection::specifiedFlightSpeed(void) const
+{
+    return _specifyFlightSpeed ? _flightSpeedFact.rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
+}
+
+void SpeedSection::_updateSpecifiedFlightSpeed(void)
+{
+    emit specifiedFlightSpeedChanged(specifiedFlightSpeed());
+}
+

src/MissionManager/SpeedSection.h

@@ -27,6 +27,10 @@ public:
     Fact*   flightSpeed             (void) { return &_flightSpeedFact; }
     void    setSpecifyFlightSpeed   (bool specifyFlightSpeed);
 
+    ///< Signals specifiedFlightSpeedChanged
+    ///< @return The flight speed specified by this item, NaN if not specified
+    double specifiedFlightSpeed(void) const;
+
     // Overrides from Section
     bool available          (void) const override { return _available; }
     bool dirty              (void) const override { return _dirty; }
@@ -38,10 +42,12 @@ public:
     bool settingsSpecified  (void) const override;
 
 signals:
-    void specifyFlightSpeedChanged(bool specifyFlightSpeed);
+    void specifyFlightSpeedChanged      (bool specifyFlightSpeed);
+    void specifiedFlightSpeedChanged    (double flightSpeed);
 
 private slots:
-    void _setDirty(void);
+    void _setDirty                  (void);
+    void _updateSpecifiedFlightSpeed(void);
 
 private:
     bool    _available;

src/MissionManager/SurveyMissionItem.cc

@@ -747,7 +747,9 @@ void SurveyMissionItem::_generateGrid(void)
     _setSurveyDistance(surveyDistance);
 
     if (cameraShots == 0 && _triggerCamera()) {
-        cameraShots = (int)ceil(surveyDistance / _triggerDistance());
+        cameraShots = (int)floor(surveyDistance / _triggerDistance());
+        // Take into account immediate camera trigger at waypoint entry
+        cameraShots++;
     }
     _setCameraShots(cameraShots);
 
@@ -1065,7 +1067,9 @@ int SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints,  QLis
     // Calc camera shots here if there are no images in turnaround
     if (_triggerCamera() && !_imagesEverywhere()) {
         for (int i=0; i<resultLines.count(); i++) {
-            cameraShots += (int)ceil(resultLines[i].length() / _triggerDistance());
+            cameraShots += (int)floor(resultLines[i].length() / _triggerDistance());
+            // Take into account immediate camera trigger at waypoint entry
+            cameraShots++;
         }
     }
 

src/PlanView/SurveyItemEditor.qml

@@ -590,6 +590,24 @@ Rectangle {
                 Layout.fillWidth:       true
             }
 
+            FactCheckBox {
+                text:               qsTr("Hover and capture image")
+                fact:               missionItem.hoverAndCapture
+                visible:            missionItem.hoverAndCaptureAllowed
+                Layout.columnSpan:  2
+                onClicked: {
+                    if (checked) {
+                        missionItem.cameraTriggerInTurnaround.rawValue = false
+                    }
+                }
+            }
+
+            FactCheckBox {
+                text:               qsTr("Take images in turnarounds")
+                fact:               missionItem.cameraTriggerInTurnaround
+                enabled:            !missionItem.hoverAndCapture.rawValue
+                Layout.columnSpan:  2
+            }
 
             QGCCheckBox {
                 text:               qsTr("Refly at 90 degree offset")

src/QmlControls/AppMessages.qml

@@ -24,6 +24,8 @@ QGCView {
 
     property bool loaded: false
 
+    property var _qgcView: qgcView
+
     QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
 
     Component {
@@ -117,6 +119,7 @@ QGCView {
                 nameFilters:    [qsTr("Log files (*.txt)"), qsTr("All Files (*)")]
                 selectExisting: false
                 title:          qsTr("Select log save file")
+                qgcView:        _qgcView
                 onAcceptedForSave: {
                     debugMessageModel.writeMessages(file);
                     visible = false;

src/QtLocationPlugin/QMLControl/OfflineMap.qml

@@ -342,8 +342,6 @@ QGCView {
 
             property bool isSatelliteMap: activeMapType.name.indexOf("Satellite") > -1 || activeMapType.name.indexOf("Hybrid") > -1
 
-            plugin: Plugin { name: "QGroundControl" }
-
             MapRectangle {
                 id:             mapBoundary
                 border.width:   2