Flight time calc for hover and capture

src/MissionManager/ComplexMissionItem.h

@@ -26,6 +26,9 @@ public:
     /// @return The distance covered the complex mission item in meters.
     virtual double complexDistance(void) const = 0;
 
+    /// @return Amount of additional time delay in seconds needed to fly the complex item
+    virtual double additionalTimeDelay(void) const { return 0; }
+
     /// Load the complex mission item from Json
     ///     @param complexObject Complex mission item json object
     ///     @param sequenceNumber Sequence number for first MISSION_ITEM in survey
@@ -42,7 +45,8 @@ public:
     static const char* jsonComplexItemTypeKey;
 
 signals:
-    void complexDistanceChanged(double complexDistance);
+    void complexDistanceChanged     (double complexDistance);
+    void additionalTimeDelayChanged (double additionalTimeDelay);
 };
 
 #endif

src/MissionManager/MissionController.cc

@@ -1017,6 +1017,53 @@ void MissionController::_addCruiseTime(double cruiseTime, double cruiseDistance,
     _updateBatteryInfo(waypointIndex);
 }
 
+/// Adds additional time to a mission as specified by the command
+void MissionController::_addCommandTimeDelay(SimpleMissionItem* simpleItem, bool vtolInHover)
+{
+    double seconds = 0;
+
+    if (!simpleItem) {
+        return;
+    }
+
+    // This routine is currently quite minimal and only handles the simple cases.
+    switch ((int)simpleItem->command()) {
+    case MAV_CMD_NAV_WAYPOINT:
+    case MAV_CMD_CONDITION_DELAY:
+        seconds = simpleItem->missionItem().param1();
+        break;
+    }
+
+    _addTimeDistance(vtolInHover, 0, 0, seconds, 0, -1);
+}
+
+/// Adds the specified time to the appropriate hover or cruise time values.
+///     @param vtolInHover true: vtol is currrent in hover mode
+///     @param hoverTime    Amount of time tp add to hover
+///     @param cruiseTime   Amount of time to add to cruise
+///     @param extraTime    Amount of additional time to add to hover/cruise
+///     @param seqNum       Sequence number of waypoint for these values, -1 for no waypoint associated
+void MissionController::_addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum)
+{
+    if (_controllerVehicle->vtol()) {
+        if (vtolInHover) {
+            _addHoverTime(hoverTime, distance, seqNum);
+            _addHoverTime(extraTime, 0, -1);
+        } else {
+            _addCruiseTime(cruiseTime, distance, seqNum);
+            _addCruiseTime(extraTime, 0, -1);
+        }
+    } else {
+        if (_controllerVehicle->multiRotor()) {
+            _addHoverTime(hoverTime, distance, seqNum);
+            _addHoverTime(extraTime, 0, -1);
+        } else {
+            _addCruiseTime(cruiseTime, distance, seqNum);
+            _addCruiseTime(extraTime, 0, -1);
+        }
+    }
+}
+
 void MissionController::_recalcMissionFlightStatus()
 {
     if (!_visualItems->count()) {
@@ -1137,6 +1184,9 @@ void MissionController::_recalcMissionFlightStatus()
             }
         }
 
+        // Check for command specific time delays
+        _addCommandTimeDelay(simpleItem, vtolInHover);
+
         if (item->specifiesCoordinate()) {
             // Update vehicle yaw assuming direction to next waypoint
             if (item != lastCoordinateItem) {
@@ -1178,19 +1228,7 @@ void MissionController::_recalcMissionFlightStatus()
                     // Calculate time/distance
                     double hoverTime = distance / _missionFlightStatus.hoverSpeed;
                     double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
-                    if (_controllerVehicle->vtol()) {
-                        if (vtolInHover) {
-                            _addHoverTime(hoverTime, distance, item->sequenceNumber());
-                        } else {
-                            _addCruiseTime(cruiseTime, distance, item->sequenceNumber());
-                        }
-                    } else {
-                        if (_controllerVehicle->multiRotor()) {
-                            _addHoverTime(hoverTime, distance, item->sequenceNumber());
-                        } else {
-                            _addCruiseTime(cruiseTime, distance, item->sequenceNumber());
-                        }
-                    }
+                    _addTimeDistance(vtolInHover, hoverTime, cruiseTime, 0, distance, item->sequenceNumber());
                 }
 
                 if (complexItem) {
@@ -1200,19 +1238,8 @@ void MissionController::_recalcMissionFlightStatus()
 
                     double hoverTime = distance / _missionFlightStatus.hoverSpeed;
                     double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
-                    if (_controllerVehicle->vtol()) {
-                        if (vtolInHover) {
-                            _addHoverTime(hoverTime, distance, item->sequenceNumber());
-                        } else {
-                            _addCruiseTime(cruiseTime, distance, item->sequenceNumber());
-                        }
-                    } else {
-                        if (_controllerVehicle->multiRotor()) {
-                            _addHoverTime(hoverTime, distance, item->sequenceNumber());
-                        } else {
-                            _addCruiseTime(cruiseTime, distance, item->sequenceNumber());
-                        }
-                    }
+                    double extraTime = complexItem->additionalTimeDelay();
+                    _addTimeDistance(vtolInHover, hoverTime, cruiseTime, extraTime, distance, item->sequenceNumber());
                 }
 
                 item->setMissionFlightStatus(_missionFlightStatus);
@@ -1231,21 +1258,7 @@ void MissionController::_recalcMissionFlightStatus()
         double hoverTime = distance / _missionFlightStatus.hoverSpeed;
         double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
         double landTime = qAbs(altDifference) / _appSettings->offlineEditingDescentSpeed()->rawValue().toDouble();
-        if (_controllerVehicle->vtol()) {
-            if (vtolInHover) {
-                _addHoverTime(hoverTime, distance, -1);
-                _addHoverTime(landTime, 0, -1);
-            } else {
-                _addCruiseTime(cruiseTime, distance, -1);
-            }
-        } else {
-            if (_controllerVehicle->multiRotor()) {
-                _addHoverTime(hoverTime, distance, -1);
-                _addHoverTime(landTime, 0, -1);
-            } else {
-                _addCruiseTime(cruiseTime, distance, -1);
-            }
-        }
+        _addTimeDistance(vtolInHover, hoverTime, cruiseTime, distance, landTime, -1);
     }
 
     if (_missionFlightStatus.mAhBattery != 0 && _missionFlightStatus.batteryChangePoint == -1) {
@@ -1416,7 +1429,8 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
     } else {
         ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
         if (complexItem) {
-            connect(complexItem, &ComplexMissionItem::complexDistanceChanged, this, &MissionController::_recalcMissionFlightStatus);
+            connect(complexItem, &ComplexMissionItem::complexDistanceChanged,       this, &MissionController::_recalcMissionFlightStatus);
+            connect(complexItem, &ComplexMissionItem::additionalTimeDelayChanged,   this, &MissionController::_recalcMissionFlightStatus);
         } else {
             qWarning() << "ComplexMissionItem not found";
         }

src/MissionManager/MissionController.h

@@ -25,6 +25,7 @@ class MissionItem;
 class MissionSettingsItem;
 class AppSettings;
 class MissionManager;
+class SimpleMissionItem;
 
 Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
 
@@ -210,6 +211,8 @@ private:
     bool _loadItemsFromJson(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
     void _initLoadedVisualItems(QmlObjectListModel* loadedVisualItems);
     void _addWaypointLineSegment(CoordVectHashTable& prevItemPairHashTable, VisualItemPair& pair);
+    void _addCommandTimeDelay(SimpleMissionItem* simpleItem, bool vtolInHover);
+    void _addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum);
 
 private:
     MissionManager*         _missionManager;

src/MissionManager/SurveyMissionItem.cc

@@ -78,6 +78,7 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
     , _cameraOrientationFixed(false)
     , _missionCommandCount(0)
     , _refly90Degrees(false)
+    , _additionalFlightDelaySeconds(0)
     , _ignoreRecalc(false)
     , _surveyDistance(0.0)
     , _cameraShots(0)
@@ -675,6 +676,7 @@ void SurveyMissionItem::_generateGrid(void)
     _simpleGridPoints.clear();
     _transectSegments.clear();
     _reflyTransectSegments.clear();
+    _additionalFlightDelaySeconds = 0;
 
     QList<QPointF>          polygonPoints;
     QList<QList<QPointF>>   transectSegments;
@@ -737,6 +739,11 @@ void SurveyMissionItem::_generateGrid(void)
     }
     _setCameraShots(cameraShots);
 
+    if (_hoverAndCaptureEnabled()) {
+        _additionalFlightDelaySeconds = cameraShots * _hoverAndCaptureDelaySeconds;
+    }
+    emit additionalTimeDelayChanged(_additionalFlightDelaySeconds);
+
     emit gridPointsChanged();
 
     // Determine command count for lastSequenceNumber
@@ -1108,7 +1115,7 @@ int SurveyMissionItem::_appendWaypointToMission(QList<MissionItem*>& items, int
     MissionItem* item = new MissionItem(seqNum++,
                                         MAV_CMD_NAV_WAYPOINT,
                                         altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
-                                        cameraTrigger == CameraTriggerHoverAndCapture ? 1 : 0,  // Hold time (1 second for hover and capture to settle vehicle before image is taken)
+                                        cameraTrigger == CameraTriggerHoverAndCapture ? _hoverAndCaptureDelaySeconds : 0,  // Hold time (delay for hover and capture to settle vehicle before image is taken)
                                         0.0, 0.0,
                                         std::numeric_limits<double>::quiet_NaN(),   // Yaw unchanged
                                         coord.latitude(),

src/MissionManager/SurveyMissionItem.h

@@ -95,6 +95,7 @@ public:
     // Overrides from ComplexMissionItem
 
     double              complexDistance     (void) const final { return _surveyDistance; }
+    double              additionalTimeDelay (void) const final { return _additionalFlightDelaySeconds; }
     int                 lastSequenceNumber  (void) const final;
     bool                load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
     double              greatestDistanceTo  (const QGeoCoordinate &other) const final;
@@ -231,6 +232,7 @@ private:
     bool                            _cameraOrientationFixed;
     int                             _missionCommandCount;
     bool                            _refly90Degrees;
+    double                          _additionalFlightDelaySeconds;
 
     bool            _ignoreRecalc;
     double          _surveyDistance;
@@ -287,6 +289,8 @@ private:
     static const char* _jsonCameraOrientationLandscapeKey;
     static const char* _jsonFixedValueIsAltitudeKey;
     static const char* _jsonRefly90DegreesKey;
+
+    static const int _hoverAndCaptureDelaySeconds = 1;
 };
 
 #endif