Waypoint now supports camera section

qgroundcontrol.pro

@@ -449,6 +449,7 @@ HEADERS += \
     src/JsonHelper.h \
     src/LogCompressor.h \
     src/MG.h \
+    src/MissionManager/CameraSection.h \
     src/MissionManager/ComplexMissionItem.h \
     src/MissionManager/FixedWingLandingComplexItem.h \
     src/MissionManager/GeoFenceController.h \
@@ -626,6 +627,7 @@ SOURCES += \
     src/Joystick/JoystickManager.cc \
     src/JsonHelper.cc \
     src/LogCompressor.cc \
+    src/MissionManager/CameraSection.cc \
     src/MissionManager/ComplexMissionItem.cc \
     src/MissionManager/FixedWingLandingComplexItem.cc \
     src/MissionManager/GeoFenceController.cc \

qgroundcontrol.qrc

@@ -49,6 +49,7 @@
         <file alias="PX4FlowSensor.qml">src/VehicleSetup/PX4FlowSensor.qml</file>
         <file alias="QGroundControl/Controls/AnalyzePage.qml">src/AnalyzeView/AnalyzePage.qml</file>
         <file alias="QGroundControl/Controls/AppMessages.qml">src/QmlControls/AppMessages.qml</file>
+        <file alias="QGroundControl/Controls/CameraSection.qml">src/MissionEditor/CameraSection.qml</file>
         <file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
         <file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
         <file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
@@ -192,6 +193,7 @@
         <file alias="RallyPoint.FactMetaData.json">src/MissionManager/RallyPoint.FactMetaData.json</file>
         <file alias="FWLandingPattern.FactMetaData.json">src/MissionManager/FWLandingPattern.FactMetaData.json</file>
         <file alias="USBBoardInfo.json">src/comm/USBBoardInfo.json</file>
+        <file alias="CameraSection.FactMetaData.json">src/MissionManager/CameraSection.FactMetaData.json</file>
         <file alias="MissionSettings.FactMetaData.json">src/MissionManager/MissionSettings.FactMetaData.json</file>
         <file alias="Vehicle/VehicleFact.json">src/Vehicle/VehicleFact.json</file>
         <file alias="Vehicle/BatteryFact.json">src/Vehicle/BatteryFact.json</file>

src/MissionEditor/CameraSection.qml

+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtQuick.Layouts  1.2
+
+import QGroundControl                   1.0
+import QGroundControl.ScreenTools       1.0
+import QGroundControl.Controls          1.0
+import QGroundControl.FactControls      1.0
+import QGroundControl.Palette           1.0
+
+// Camera section for mission item editors
+Column {
+    anchors.left:   parent.left
+    anchors.right:  parent.right
+    spacing:        _margin
+
+    property alias exclusiveGroup:  cameraSectionHeader.exclusiveGroup
+    property alias showSpacer:      cameraSectionHeader.showSpacer
+    property alias checked:         cameraSectionHeader.checked
+
+    property var    _camera:        missionItem.cameraSection
+    property real   _fieldWidth:    ScreenTools.defaultFontPixelWidth * 16
+    property real   _margin:        ScreenTools.defaultFontPixelWidth / 2
+
+    SectionHeader {
+        id:             cameraSectionHeader
+        text:           qsTr("Camera")
+        checked:        false
+    }
+
+    Column {
+        anchors.left:   parent.left
+        anchors.right:  parent.right
+        spacing:        _margin
+        visible:        cameraSectionHeader.checked
+
+        FactComboBox {
+            id:             cameraActionCombo
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            fact:           _camera.cameraAction
+            indexModel:     false
+        }
+
+        RowLayout {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            spacing:        ScreenTools.defaultFontPixelWidth
+            visible:        cameraActionCombo.currentIndex == 1
+
+            QGCLabel {
+                text:               qsTr("Time")
+                Layout.fillWidth:   true
+            }
+            FactTextField {
+                fact:                   _camera.cameraPhotoIntervalTime
+                Layout.preferredWidth:  _fieldWidth
+            }
+        }
+
+        RowLayout {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            spacing:        ScreenTools.defaultFontPixelWidth
+            visible:        cameraActionCombo.currentIndex == 2
+
+            QGCLabel {
+                text:               qsTr("Distance")
+                Layout.fillWidth:   true
+            }
+            FactTextField {
+                fact:                   _camera.cameraPhotoIntervalDistance
+                Layout.preferredWidth:  _fieldWidth
+            }
+        }
+
+        GridLayout {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            columnSpacing:  ScreenTools.defaultFontPixelWidth / 2
+            rowSpacing:     0
+            columns:        3
+
+            Item { width: 1; height: 1 }
+            QGCLabel { text: qsTr("Pitch") }
+            QGCLabel { text: qsTr("Yaw") }
+
+            QGCCheckBox {
+                id:                 gimbalCheckBox
+                text:               qsTr("Gimbal")
+                checked:            _camera.specifyGimbal
+                onClicked:          _camera.specifyGimbal = checked
+                Layout.fillWidth:   true
+            }
+            FactTextField {
+                fact:           _camera.gimbalPitch
+                implicitWidth:  ScreenTools.defaultFontPixelWidth * 9
+                enabled:        gimbalCheckBox.checked
+            }
+
+            FactTextField {
+                fact:           _camera.gimbalYaw
+                implicitWidth:  ScreenTools.defaultFontPixelWidth * 9
+                enabled:        gimbalCheckBox.checked
+            }
+        }
+    }
+}

src/MissionEditor/MissionEditor.qml

@@ -579,7 +579,7 @@ QGCView {
                         spacing:        _margin / 2
                         orientation:    ListView.Vertical
                         model:          missionController.visualItems
-                        cacheBuffer:    height * 2
+                        cacheBuffer:    Math.max(height * 2, 0)
                         clip:           true
                         currentIndex:   _currentMissionIndex
                         highlightMoveDuration: 250

src/MissionEditor/MissionSettingsEditor.qml

@@ -19,12 +19,6 @@ Rectangle {
     visible:            missionItem.isCurrentItem
     radius:             _radius
 
-    ExclusiveGroup {
-        id: sectionHeaderExclusiverGroup
-    }
-
-    property ExclusiveGroup sectionHeaderGroup: ScreenTools.isShortScreen ? sectionHeaderExclusiverGroup : null
-
     Loader {
         id:              deferedload
         active:          valuesRect.visible
@@ -64,7 +58,6 @@ Rectangle {
                         id:             plannedHomePositionSection
                         text:           qsTr("Planned Home Position")
                         showSpacer:     false
-                        exclusiveGroup: sectionHeaderGroup
                     }
 
                     Column {
@@ -125,7 +118,6 @@ Rectangle {
                         text:           qsTr("Vehicle Info")
                         visible:        _multipleFirmware && _showOfflineEditingCombos
                         checked:        false
-                        exclusiveGroup: sectionHeaderGroup
                     }
 
                     GridLayout {
@@ -183,7 +175,6 @@ Rectangle {
                         id:             missionDefaultsSectionHeader
                         text:           qsTr("Mission Defaults")
                         checked:        false
-                        exclusiveGroup: sectionHeaderGroup
                     }
 
                     Column {
@@ -233,89 +224,8 @@ Rectangle {
                         */
                     }
 
-                    SectionHeader {
-                        id:             cameraSectionHeader
-                        text:           qsTr("Camera")
-                        checked:        false
-                        exclusiveGroup: sectionHeaderGroup
-                    }
-
-                    Column {
-                        anchors.left:   parent.left
-                        anchors.right:  parent.right
-                        spacing:        _margin
-                        visible:        cameraSectionHeader.checked
-
-                        FactComboBox {
-                            id:             cameraActionCombo
-                            anchors.left:   parent.left
-                            anchors.right:  parent.right
-                            fact:           missionItem.cameraAction
-                            indexModel:     false
-                        }
-
-                        RowLayout {
-                            anchors.left:   parent.left
-                            anchors.right:  parent.right
-                            spacing:        ScreenTools.defaultFontPixelWidth
-                            visible:        cameraActionCombo.currentIndex == 1
-
-                            QGCLabel {
-                                text:               qsTr("Time")
-                                Layout.fillWidth:   true
-                            }
-                            FactTextField {
-                                fact:                   missionItem.cameraPhotoIntervalTime
-                                Layout.preferredWidth:  _fieldWidth
-                            }
-                        }
-
-                        RowLayout {
-                            anchors.left:   parent.left
-                            anchors.right:  parent.right
-                            spacing:        ScreenTools.defaultFontPixelWidth
-                            visible:        cameraActionCombo.currentIndex == 2
-
-                            QGCLabel {
-                                text:               qsTr("Distance")
-                                Layout.fillWidth:   true
-                            }
-                            FactTextField {
-                                fact:                   missionItem.cameraPhotoIntervalDistance
-                                Layout.preferredWidth:  _fieldWidth
-                            }
-                        }
-
-                        GridLayout {
-                            anchors.left:   parent.left
-                            anchors.right:  parent.right
-                            columnSpacing:  0
-                            rowSpacing:     0
-                            columns:        3
-
-                            Item { width: 1; height: 1 }
-                            QGCLabel { text: qsTr("Pitch") }
-                            QGCLabel { text: qsTr("Yaw") }
-
-                            QGCCheckBox {
-                                id:                 gimbalCheckBox
-                                text:               qsTr("Gimbal")
-                                checked:            missionItem.specifyGimbal
-                                onClicked:          missionItem.specifyGimbal = checked
-                                Layout.fillWidth:   true
-                            }
-                            FactTextField {
-                                fact:           missionItem.gimbalPitch
-                                implicitWidth:  ScreenTools.defaultFontPixelWidth * 9
-                                enabled:        gimbalCheckBox.checked
-                            }
-
-                            FactTextField {
-                                fact:           missionItem.gimbalYaw
-                                implicitWidth:  ScreenTools.defaultFontPixelWidth * 9
-                                enabled:        gimbalCheckBox.checked
-                            }
-                        }
+                    CameraSection {
+                        checked: missionItem.cameraSection.settingsSpecified
                     }
 
                     QGCLabel {

src/MissionEditor/SectionHeader.qml

 import QtQuick          2.3
 import QtQuick.Controls 1.2
 import QtQuick.Layouts  1.2
+import QtGraphicalEffects 1.0
 
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Palette       1.0
@@ -41,10 +42,14 @@ QGCMouseArea {
             id:                 label
             Layout.fillWidth:   true
 
-            Image {
+            QGCColoredImage {
+                id:                     image
+                width:                  label.height / 2
+                height:                 width
                 anchors.right:          parent.right
                 anchors.verticalCenter: parent.verticalCenter
                 source:                 "/qmlimages/arrow-down.png"
+                color:                  qgcPal.text
                 visible:                !_root.checked
             }
         }

src/MissionEditor/SimpleItemEditor.qml

@@ -27,6 +27,7 @@ Rectangle {
         anchors.left:    valuesRect.left
         anchors.right:   valuesRect.right
         anchors.top:     valuesRect.top
+
         sourceComponent: Component {
             Item {
                 id:                 valuesItem
@@ -114,6 +115,11 @@ Rectangle {
                             fact:   object
                         }
                     }
+
+                    CameraSection {
+                        checked:    missionItem.cameraSection.settingsSpecified
+                        visible:    missionItem.cameraSection.available
+                    }
                 } // Column
             } // Item
         } // Component

src/MissionManager/CameraSection.FactMetaData.json

+[
+{
+    "name":             "CameraAction",
+    "shortDescription": "Specify whether the camera should take photos or video",
+    "type":             "uint32",
+    "enumStrings":      "Continue current action,Take photos (time),Take photos (distance),Take video",
+    "enumValues":       "0,1,2,3",
+    "defaultValue":     0
+},
+{
+    "name":             "CameraPhotoIntervalDistance",
+    "shortDescription": "Specify the distance between each photo",
+    "type":             "double",
+    "units":            "m",
+    "min":              0,
+    "decimalPlaces":    1,
+    "defaultValue":     1
+},
+{
+    "name":             "CameraPhotoIntervalTime",
+    "shortDescription": "Specify the time between each photo",
+    "type":             "uint32",
+    "units":            "secs",
+    "min":              1,
+    "decimalPlaces":    0,
+    "defaultValue":     10
+},
+{
+    "name":             "GimbalPitch",
+    "shortDescription": "Gimbal pitch rotation.",
+    "type":             "double",
+    "units":            "deg",
+    "min":              0.0,
+    "max":              360.0,
+    "decimalPlaces":    0,
+    "defaultValue":     0
+},
+{
+    "name":             "GimbalYaw",
+    "shortDescription": "Gimbal yaw rotation.",
+    "type":             "double",
+    "units":            "deg",
+    "min":              0.0,
+    "max":              360.0,
+    "decimalPlaces":    0,
+    "defaultValue":     0
+}
+]

src/MissionManager/CameraSection.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#ifndef CameraSection_H
+#define CameraSection_H
+
+#include "ComplexMissionItem.h"
+#include "MissionItem.h"
+#include "Fact.h"
+
+Q_DECLARE_LOGGING_CATEGORY(CameraSectionLog)
+
+class CameraSection : public QObject
+{
+    Q_OBJECT
+
+public:
+    CameraSection(QObject* parent = NULL);
+
+    enum CameraAction {
+        CameraActionNone,
+        TakePhotosIntervalTime,
+        TakePhotoIntervalDistance,
+        TakeVideo
+    };
+    Q_ENUMS(CameraAction)
+
+    Q_PROPERTY(bool     available                       READ available                      WRITE setAvailable                  NOTIFY availableChanged)
+    Q_PROPERTY(bool     settingsSpecified               MEMBER _settingsSpecified                                               NOTIFY settingsSpecifiedChanged)
+    Q_PROPERTY(bool     specifyGimbal                   READ specifyGimbal                  WRITE setSpecifyGimbal              NOTIFY specifyGimbalChanged)
+    Q_PROPERTY(Fact*    gimbalPitch                     READ gimbalPitch                                                        CONSTANT)
+    Q_PROPERTY(Fact*    gimbalYaw                       READ gimbalYaw                                                          CONSTANT)
+    Q_PROPERTY(Fact*    cameraAction                    READ cameraAction                                                       CONSTANT)
+    Q_PROPERTY(Fact*    cameraPhotoIntervalTime         READ cameraPhotoIntervalTime                                            CONSTANT)
+    Q_PROPERTY(Fact*    cameraPhotoIntervalDistance     READ cameraPhotoIntervalDistance                                        CONSTANT)
+
+    bool    available                   (void) const { return _available; }
+    void    setAvailable                (bool available);
+    bool    specifyGimbal               (void) const { return _specifyGimbal; }
+    Fact*   gimbalYaw                   (void) { return &_gimbalYawFact; }
+    Fact*   gimbalPitch                 (void) { return &_gimbalPitchFact; }
+    Fact*   cameraAction                (void) { return &_cameraActionFact; }
+    Fact*   cameraPhotoIntervalTime     (void) { return &_cameraPhotoIntervalTimeFact; }
+    Fact*   cameraPhotoIntervalDistance (void) { return &_cameraPhotoIntervalDistanceFact; }
+
+    /// Scans the loaded items for the section items
+    ///     @param visualItems Item list
+    ///     @param scanIndex Index to start scanning from
+    /// @return true: camera section found
+    bool scanForCameraSection(QmlObjectListModel* visualItems, int scanIndex);
+
+    /// Appends the mission items associated with this section
+    ///     @param items List to append to
+    ///     @param missionItemParent QObject parent for created MissionItems
+    ///     @param nextSequenceNumber Sequence number for first item
+    void appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent, int nextSequenceNumber);
+
+    void setSpecifyGimbal   (bool specifyGimbal);
+    bool dirty              (void) const { return _dirty; }
+    void setDirty           (bool dirty);
+
+    /// Returns the number of mission items represented by this section.
+    ///     Signals: missionItemCountChanged on change
+    int missionItemCount(void) const;
+
+signals:
+    void availableChanged           (bool available);
+    void settingsSpecifiedChanged   (bool settingsSpecified);
+    void dirtyChanged               (bool dirty);
+    bool specifyGimbalChanged       (bool specifyGimbal);
+    void missionItemCountChanged    (int missionItemCount);
+
+private slots:
+    void _setDirty(void);
+    void _setDirtyAndUpdateMissionItemCount(void);
+
+private:
+    bool    _available;
+    bool    _settingsSpecified;
+    bool    _specifyGimbal;
+    Fact    _gimbalYawFact;
+    Fact    _gimbalPitchFact;
+    Fact    _cameraActionFact;
+    Fact    _cameraPhotoIntervalDistanceFact;
+    Fact    _cameraPhotoIntervalTimeFact;
+    bool    _dirty;
+
+    static QMap<QString, FactMetaData*> _metaDataMap;
+
+    static const char* _gimbalPitchName;
+    static const char* _gimbalYawName;
+    static const char* _cameraActionName;
+    static const char* _cameraPhotoIntervalDistanceName;
+    static const char* _cameraPhotoIntervalTimeName;
+};
+
+#endif

src/MissionManager/ComplexMissionItem.h

@@ -21,19 +21,11 @@ public:
 
     const ComplexMissionItem& operator=(const ComplexMissionItem& other);
 
-    Q_PROPERTY(int      lastSequenceNumber  READ lastSequenceNumber NOTIFY lastSequenceNumberChanged)
     Q_PROPERTY(double   complexDistance     READ complexDistance    NOTIFY complexDistanceChanged)
 
     /// @return The distance covered the complex mission item in meters.
     virtual double complexDistance(void) const = 0;
 
-    /// @return The last sequence number used by this item. Takes into account child items of the complex item
-    virtual int lastSequenceNumber(void) const = 0;
-
-    /// Returns the mission items associated with the complex item. Caller is responsible for freeing. Calling
-    /// delete on returned QmlObjectListModel will free all memory including internal items.
-    virtual QmlObjectListModel* getMissionItems(void) const = 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
@@ -53,8 +45,7 @@ public:
     static const char* jsonComplexItemTypeKey;
 
 signals:
-    void lastSequenceNumberChanged  (int lastSequenceNumber);
-    void complexDistanceChanged     (double complexDistance);
+    void complexDistanceChanged(double complexDistance);
 };
 
 #endif

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -105,7 +105,7 @@ void FixedWingLandingComplexItem::setDirty(bool dirty)
     }
 }
 
-void FixedWingLandingComplexItem::save(QJsonArray&  missionItems) const
+void FixedWingLandingComplexItem::save(QJsonArray&  missionItems)
 {
     QJsonObject saveObject;
 
@@ -203,10 +203,8 @@ bool FixedWingLandingComplexItem::specifiesCoordinate(void) const
     return true;
 }
 
-QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const
+void FixedWingLandingComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
 {
-    QmlObjectListModel* pMissionItems = new QmlObjectListModel;
-
     int seqNum = _sequenceNumber;
 
     MissionItem* item = new MissionItem(seqNum++,                           // sequence number
@@ -215,8 +213,8 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const
                                         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  // param 1-7
                                         true,                               // autoContinue
                                         false,                              // isCurrentItem
-                                        pMissionItems);                     // parent - allow delete on pMissionItems to delete everthing
-    pMissionItems->append(item);
+                                        missionItemParent);
+    items.append(item);
 
     float loiterRadius = _loiterRadiusFact.rawValue().toDouble() * (_loiterClockwise ? 1.0 : -1.0);
     item = new MissionItem(seqNum++,
@@ -231,8 +229,8 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const
                            _loiterAltitudeFact.rawValue().toDouble(),
                            true,                            // autoContinue
                            false,                           // isCurrentItem
-                           pMissionItems);                  // parent - allow delete on pMissionItems to delete everthing
-    pMissionItems->append(item);
+                           missionItemParent);
+    items.append(item);
 
     item = new MissionItem(seqNum++,
                            MAV_CMD_NAV_LAND,
@@ -243,10 +241,8 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const
                            _landingAltitudeFact.rawValue().toDouble(),
                            true,                               // autoContinue
                            false,                              // isCurrentItem
-                           pMissionItems);                     // parent - allow delete on pMissionItems to delete everthing
-    pMissionItems->append(item);
-
-    return pMissionItems;
+                           missionItemParent);
+    items.append(item);
 }
 
 double FixedWingLandingComplexItem::complexDistance(void) const

src/MissionManager/FixedWingLandingComplexItem.h

@@ -53,7 +53,6 @@ public:
 
     double              complexDistance     (void) const final;
     int                 lastSequenceNumber  (void) const final;
-    QmlObjectListModel* getMissionItems     (void) const final;
     bool                load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
     double              greatestDistanceTo  (const QGeoCoordinate &other) const final;
     void                setCruiseSpeed      (double cruiseSpeed) final;
@@ -72,6 +71,7 @@ public:
     QGeoCoordinate  exitCoordinate          (void) const final { return _landingCoordinate; }
     int             sequenceNumber          (void) const final { return _sequenceNumber; }
     double          flightSpeed             (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
 
     bool coordinateHasRelativeAltitude      (void) const final { return true; }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return true; }
@@ -80,7 +80,7 @@ public:
     void setDirty           (bool dirty) final;
     void setCoordinate      (const QGeoCoordinate& coordinate) final { setLoiterCoordinate(coordinate); }
     void setSequenceNumber  (int sequenceNumber) final;
-    void save               (QJsonArray&  missionItems) const final;
+    void save               (QJsonArray&  missionItems) final;
 
     static const char* jsonComplexItemTypeValue;
 

src/MissionManager/MavCmdInfoCommon.json

@@ -32,6 +32,7 @@
             "specifiesCoordinate":  true,
             "friendlyEdit":         true,
             "category":             "Basic",
+            "cameraSection":        true,
             "param1": {
                 "label":            "Hold",
                 "units":            "secs",

src/MissionManager/MissionCommandUIInfo.cc

@@ -35,8 +35,10 @@ const char* MissionCommandUIInfo::_paramRemoveJsonKey           = "paramRemove";
 const char* MissionCommandUIInfo::_rawNameJsonKey               = "rawName";
 const char* MissionCommandUIInfo::_standaloneCoordinateJsonKey  = "standaloneCoordinate";
 const char* MissionCommandUIInfo::_specifiesCoordinateJsonKey   = "specifiesCoordinate";
+const char* MissionCommandUIInfo::_specifiesAltitudeOnlyJsonKey = "specifiesAltitudeOnly";
 const char* MissionCommandUIInfo::_unitsJsonKey                 = "units";
 const char* MissionCommandUIInfo::_commentJsonKey               = "comment";
+const char* MissionCommandUIInfo::_cameraSectionJsonKey         = "cameraSection";
 const char* MissionCommandUIInfo::_advancedCategory             = "Advanced";
 
 MissionCmdParamInfo::MissionCmdParamInfo(QObject* parent)
@@ -143,7 +145,7 @@ bool MissionCommandUIInfo::isStandaloneCoordinate(void) const
     }
 }
 
-bool MissionCommandUIInfo::specifiesCoordinate (void) const
+bool MissionCommandUIInfo::specifiesCoordinate(void) const
 {
     if (_infoMap.contains(_specifiesCoordinateJsonKey)) {
         return _infoMap[_specifiesCoordinateJsonKey].toBool();
@@ -152,6 +154,24 @@ bool MissionCommandUIInfo::specifiesCoordinate (void) const
     }
 }
 
+bool MissionCommandUIInfo::specifiesAltitudeOnly(void) const
+{
+    if (_infoMap.contains(_specifiesAltitudeOnlyJsonKey)) {
+        return _infoMap[_specifiesAltitudeOnlyJsonKey].toBool();
+    } else {
+        return false;
+    }
+}
+
+bool MissionCommandUIInfo::cameraSection(void) const
+{
+    if (_infoMap.contains(_cameraSectionJsonKey)) {
+        return _infoMap[_cameraSectionJsonKey].toBool();
+    } else {
+        return false;
+    }
+}
+
 void MissionCommandUIInfo::_overrideInfo(MissionCommandUIInfo* uiInfo)
 {
     // Override info values
@@ -187,7 +207,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
     QStringList allKeys;
     allKeys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _standaloneCoordinateJsonKey << _specifiesCoordinateJsonKey
             <<_friendlyEditJsonKey << _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _param5JsonKey << _param6JsonKey << _param7JsonKey
-            << _paramRemoveJsonKey << _categoryJsonKey;
+            << _paramRemoveJsonKey << _categoryJsonKey << _cameraSectionJsonKey<< _specifiesAltitudeOnlyJsonKey;
 
     // Look for unknown keys in top level object
     foreach (const QString& key, jsonObject.keys()) {
@@ -219,7 +239,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
     QList<QJsonValue::Type> types;
     types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool << QJsonValue::Bool
           << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object
-          << QJsonValue::String << QJsonValue::String;
+          << QJsonValue::String << QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool;
     if (!JsonHelper::validateKeyTypes(jsonObject, allKeys, types, internalError)) {
         errorString = _loadErrorString(internalError);
         return false;
@@ -247,9 +267,15 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
     if (jsonObject.contains(_specifiesCoordinateJsonKey)) {
         _infoMap[_specifiesCoordinateJsonKey] = jsonObject.value(_specifiesCoordinateJsonKey).toVariant();
     }
+    if (jsonObject.contains(_specifiesAltitudeOnlyJsonKey)) {
+        _infoMap[_specifiesAltitudeOnlyJsonKey] = jsonObject.value(_specifiesAltitudeOnlyJsonKey).toBool();
+    }
     if (jsonObject.contains(_friendlyEditJsonKey)) {
         _infoMap[_friendlyEditJsonKey] = jsonObject.value(_friendlyEditJsonKey).toVariant();
     }
+    if (jsonObject.contains(_cameraSectionJsonKey)) {
+        _infoMap[_cameraSectionJsonKey] = jsonObject.value(_cameraSectionJsonKey).toVariant();
+    }
     if (jsonObject.contains(_paramRemoveJsonKey)) {
         QStringList indexList = jsonObject.value(_paramRemoveJsonKey).toString().split(QStringLiteral(","));
         foreach (const QString& indexString, indexList) {

src/MissionManager/MissionCommandUIInfo.h

@@ -90,8 +90,10 @@ private:
 /// friendlyName            string  rawName     Short description of command
 /// description             string              Long description of command
 /// specifiesCoordinate     bool    false       true: Command specifies a lat/lon/alt coordinate
+/// specifiesAltitudeOnly   bool    false       true: Command specifies an altitude only (no coordinate)
 /// standaloneCoordinate    bool    false       true: Vehicle does not fly through coordinate associated with command (exampl: ROI)
 /// friendlyEdit            bool    false       true: Command supports friendly editing dialog, false: Command supports 'Show all values" style editing only
+/// cameraSection           bool    false       true: Camera section of additional settings is added to editor
 /// category                string  Advanced    Category which this command belongs to
 /// paramRemove             string              Used by an override to remove params, example: "1,3" will remove params 1 and 3 on the override
 /// param[1-7]              object              MissionCommandParamInfo object
@@ -112,7 +114,9 @@ public:
     Q_PROPERTY(QString  rawName                 READ rawName                CONSTANT)
     Q_PROPERTY(bool     isStandaloneCoordinate  READ isStandaloneCoordinate CONSTANT)
     Q_PROPERTY(bool     specifiesCoordinate     READ specifiesCoordinate    CONSTANT)
+    Q_PROPERTY(bool     specifiesAltitudeOnly   READ specifiesAltitudeOnly  CONSTANT)
     Q_PROPERTY(int      command                 READ intCommand             CONSTANT)
+    Q_PROPERTY(bool     cameraSection           READ cameraSection          CONSTANT)
 
     MAV_CMD command(void) const { return _command; }
     int     intCommand(void) const { return (int)_command; }
@@ -124,6 +128,8 @@ public:
     QString rawName                 (void) const;
     bool    isStandaloneCoordinate  (void) const;
     bool    specifiesCoordinate     (void) const;
+    bool    specifiesAltitudeOnly   (void) const;
+    bool    cameraSection           (void) const;
 
     /// Load the data in the object from the specified json
     ///     @param jsonObject Json object to load from
@@ -178,8 +184,10 @@ private:
     static const char* _rawNameJsonKey;
     static const char* _standaloneCoordinateJsonKey;
     static const char* _specifiesCoordinateJsonKey;
+    static const char* _specifiesAltitudeOnlyJsonKey;
     static const char* _unitsJsonKey;
-    static const char* _commentJsonKey;
+    static const char* _commentJsonKey;    
+    static const char* _cameraSectionJsonKey;
     static const char* _advancedCategory;
 
     friend class MissionCommandTree;    

src/MissionManager/MissionController.cc

@@ -126,8 +126,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(void)
         _missionItemsRequested = false;
 
         if (_editMode) {
-            // Scan for mission settings
-            MissionSettingsComplexItem::scanForMissionSettings(_visualItems, _activeVehicle);
+            MissionController::_scanForAdditionalSettings(_visualItems, _activeVehicle);
         }
 
         _initAllVisualItems();
@@ -159,16 +158,8 @@ void MissionController::sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel*
 
         for (int i=0; i<visualMissionItems->count(); i++) {
             VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(visualMissionItems->get(i));
-            if (visualItem->isSimpleItem()) {
-                missionItems.append(new MissionItem(qobject_cast<SimpleMissionItem*>(visualItem)->missionItem()));
-            } else {
-                ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
-                QmlObjectListModel* complexMissionItems = complexItem->getMissionItems();
-                for (int j=0; j<complexMissionItems->count(); j++) {
-                    missionItems.append(new MissionItem(*qobject_cast<MissionItem*>(complexMissionItems->get(j))));
-                }
-                complexMissionItems->deleteLater();
-            }
+
+            visualItem->appendMissionItems(missionItems, NULL);
         }
 
         vehicle->missionManager()->writeMissionItems(missionItems);
@@ -185,13 +176,8 @@ int MissionController::_nextSequenceNumber(void)
         qWarning() << "Internal error: Empty visual item list";
         return 0;
     } else {
-        VisualMissionItem* lastItem = qobject_cast<VisualMissionItem*>(_visualItems->get(_visualItems->count() - 1));
-
-        if (lastItem->isSimpleItem()) {
-            return lastItem->sequenceNumber() + 1;
-        } else {
-            return qobject_cast<ComplexMissionItem*>(lastItem)->lastSequenceNumber() + 1;
-        }
+        VisualMissionItem* lastItem = _visualItems->value<VisualMissionItem*>(_visualItems->count() - 1);
+        return lastItem->lastSequenceNumber() + 1;
     }
 }
 
@@ -374,12 +360,11 @@ bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObje
             SimpleMissionItem* item = new SimpleMissionItem(vehicle, visualItems);
             if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
                 qCDebug(MissionControllerLog) << "Json load: adding simple item expectedSequence:actualSequence" << nextSequenceNumber << item->sequenceNumber();
+                nextSequenceNumber = item->lastSequenceNumber() + 1;
                 visualItems->append(item);
             } else {
                 return false;
             }
-
-            nextSequenceNumber++;
         }
     } while (nextSimpleItemIndex < itemArray.count() || nextComplexItemIndex < surveyItems.count());
 
@@ -465,7 +450,8 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje
         if (itemType == VisualMissionItem::jsonTypeSimpleItemValue) {
             qCDebug(MissionControllerLog) << "Loading MISSION_ITEM: nextSequenceNumber" << nextSequenceNumber;
             SimpleMissionItem* simpleItem = new SimpleMissionItem(vehicle, visualItems);
-            if (simpleItem->load(itemObject, nextSequenceNumber++, errorString)) {
+            if (simpleItem->load(itemObject, nextSequenceNumber, errorString)) {
+                nextSequenceNumber = simpleItem->lastSequenceNumber() + 1;
                 visualItems->append(simpleItem);
             } else {
                 return false;
@@ -612,7 +598,7 @@ void MissionController::loadFromFile(const QString& filename)
         _addMissionSettings(_activeVehicle, _visualItems, true /* addToCenter */);
     }
 
-    MissionSettingsComplexItem::scanForMissionSettings(_visualItems, _activeVehicle);
+    MissionController::_scanForAdditionalSettings(_visualItems, _activeVehicle);
 
     _initAllVisualItems();
 }
@@ -1062,16 +1048,8 @@ void MissionController::_recalcSequence(void)
     for (int i=0; i<_visualItems->count(); i++) {
         VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
 
-        item->setSequenceNumber(sequenceNumber++);
-        if (!item->isSimpleItem()) {
-            ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(item);
-
-            if (complexItem) {
-                sequenceNumber = complexItem->lastSequenceNumber() + 1;
-            } else {
-                qWarning() << "isSimpleItem == false, yet not ComplexMissionItem";
-            }
-        }
+        item->setSequenceNumber(sequenceNumber);
+        sequenceNumber = item->lastSequenceNumber() + 1;
     }
 }
 
@@ -1158,6 +1136,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
     connect(visualItem, &VisualMissionItem::coordinateHasRelativeAltitudeChanged,       this, &MissionController::_recalcWaypointLines);
     connect(visualItem, &VisualMissionItem::exitCoordinateHasRelativeAltitudeChanged,   this, &MissionController::_recalcWaypointLines);
     connect(visualItem, &VisualMissionItem::flightSpeedChanged,                         this, &MissionController::_recalcAltitudeRangeBearing);
+    connect(visualItem, &VisualMissionItem::lastSequenceNumberChanged,                  this, &MissionController::_recalcSequence);
 
     if (visualItem->isSimpleItem()) {
         // We need to track commandChanged on simple item since recalc has special handling for takeoff command
@@ -1168,10 +1147,12 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
             qWarning() << "isSimpleItem == true, yet not SimpleMissionItem";
         }
     } else {
-        // We need to track changes of lastSequenceNumber so we can recalc sequence numbers for subsequence items
         ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
-        connect(complexItem, &ComplexMissionItem::lastSequenceNumberChanged, this, &MissionController::_recalcSequence);
-        connect(complexItem, &ComplexMissionItem::complexDistanceChanged, this, &MissionController::_recalcAltitudeRangeBearing);
+        if (complexItem) {
+            connect(complexItem, &ComplexMissionItem::complexDistanceChanged, this, &MissionController::_recalcAltitudeRangeBearing);
+        } else {
+            qWarning() << "ComplexMissionItem not found";
+        }
     }
 }
 
@@ -1472,7 +1453,7 @@ QString MissionController::fileExtension(void) const
     return QGCApplication::missionFileExtension;
 }
 
-double  MissionController::cruiseSpeed(void) const
+double MissionController::cruiseSpeed(void) const
 {
     if (_activeVehicle) {
         return _activeVehicle->cruiseSpeed();
@@ -1481,7 +1462,7 @@ double  MissionController::cruiseSpeed(void) const
     }
 }
 
-double  MissionController::hoverSpeed(void) const
+double MissionController::hoverSpeed(void) const
 {
     if (_activeVehicle) {
         return _activeVehicle->hoverSpeed();
@@ -1489,3 +1470,27 @@ double  MissionController::hoverSpeed(void) const
         return 0.0f;
     }
 }
+
+void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle)
+{
+    int scanIndex = 0;
+    while (scanIndex < visualItems->count()) {
+        VisualMissionItem* visualItem = visualItems->value<VisualMissionItem*>(scanIndex);
+
+        qCDebug(MissionControllerLog) << "MissionController::_scanForAdditionalSettings count:scanIndex" << visualItems->count() << scanIndex;
+
+        MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(visualItem);
+        if (settingsItem && settingsItem->scanForMissionSettings(visualItems, scanIndex, vehicle)) {
+            continue;
+        }
+
+        SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
+        if (simpleItem && simpleItem->cameraSection()->available()) {
+            scanIndex++;
+            simpleItem->scanForSections(visualItems, scanIndex, vehicle);
+            continue;
+        }
+
+        scanIndex++;
+    }
+}

src/MissionManager/MissionController.h

@@ -160,6 +160,7 @@ private:
     void _setMissionCruiseDistance(double missionCruiseDistance);
     void _setMissionCruiseTime(double missionCruiseTime);
     void _setMissionMaxTelemetry(double missionMaxTelemetry);
+    static void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
 
     // Overrides from PlanElementController
     void _activeVehicleBeingRemoved(void) final;

src/MissionManager/MissionSettings.FactMetaData.json

@@ -29,52 +29,6 @@
     "min":              0,
     "decimalPlaces":    1
 },
-{
-    "name":             "CameraAction",
-    "shortDescription": "Specify whether the camera should take photos or video",
-    "type":             "uint32",
-    "enumStrings":      "No camera action,Take photos (time),Take photos (distance),Take video",
-    "enumValues":       "0,1,2,3",
-    "defaultValue":     0
-},
-{
-    "name":             "CameraPhotoIntervalDistance",
-    "shortDescription": "Specify the distance between each photo",
-    "type":             "double",
-    "units":            "m",
-    "min":              0,
-    "decimalPlaces":    1,
-    "defaultValue":     1
-},
-{
-    "name":             "CameraPhotoIntervalTime",
-    "shortDescription": "Specify the time between each photo",
-    "type":             "uint32",
-    "units":            "secs",
-    "min":              1,
-    "decimalPlaces":    0,
-    "defaultValue":     10
-},
-{
-    "name":             "GimbalPitch",
-    "shortDescription": "Gimbal pitch rotation.",
-    "type":             "double",
-    "units":            "deg",
-    "min":              0.0,
-    "max":              360.0,
-    "decimalPlaces":    0,
-    "defaultValue":     0
-},
-{
-    "name":             "GimbalYaw",
-    "shortDescription": "Gimbal yaw rotation.",
-    "type":             "double",
-    "units":            "deg",
-    "min":              0.0,
-    "max":              360.0,
-    "decimalPlaces":    0,
-    "defaultValue":     0
-},
 {
     "name":             "MissionEndAction",
     "shortDescription": "The action to take when the mission completed.",

src/MissionManager/MissionSettingsComplexItem.h

@@ -14,6 +14,7 @@
 #include "MissionItem.h"
 #include "Fact.h"
 #include "QGCLoggingCategory.h"
+#include "CameraSection.h"
 
 Q_DECLARE_LOGGING_CATEGORY(MissionSettingsComplexItemLog)
 
@@ -32,51 +33,31 @@ public:
     };
     Q_ENUMS(MissionEndAction)
 
-    enum CameraAction {
-        CameraActionNone,
-        TakePhotosIntervalTime,
-        TakePhotoIntervalDistance,
-        TakeVideo
-    };
-    Q_ENUMS(CameraAction)
-
     Q_PROPERTY(bool     specifyMissionFlightSpeed       READ specifyMissionFlightSpeed      WRITE setSpecifyMissionFlightSpeed  NOTIFY specifyMissionFlightSpeedChanged)
     Q_PROPERTY(Fact*    missionFlightSpeed              READ missionFlightSpeed                                                 CONSTANT)
-    Q_PROPERTY(bool     specifyGimbal                   READ specifyGimbal                  WRITE setSpecifyGimbal              NOTIFY specifyGimbalChanged)
-    Q_PROPERTY(Fact*    gimbalPitch                     READ gimbalPitch                                                        CONSTANT)
-    Q_PROPERTY(Fact*    gimbalYaw                       READ gimbalYaw                                                          CONSTANT)
-    Q_PROPERTY(Fact*    cameraAction                    READ cameraAction                                                       CONSTANT)
-    Q_PROPERTY(Fact*    cameraPhotoIntervalTime         READ cameraPhotoIntervalTime                                            CONSTANT)
-    Q_PROPERTY(Fact*    cameraPhotoIntervalDistance     READ cameraPhotoIntervalDistance                                        CONSTANT)
     Q_PROPERTY(Fact*    missionEndAction                READ missionEndAction                                                   CONSTANT)
     Q_PROPERTY(Fact*    plannedHomePositionLatitude     READ plannedHomePositionLatitude                                        CONSTANT)
     Q_PROPERTY(Fact*    plannedHomePositionLongitude    READ plannedHomePositionLongitude                                       CONSTANT)
     Q_PROPERTY(Fact*    plannedHomePositionAltitude     READ plannedHomePositionAltitude                                        CONSTANT)
+    Q_PROPERTY(QObject* cameraSection                   READ cameraSection                                                      CONSTANT)
 
     bool    specifyMissionFlightSpeed   (void) const { return _specifyMissionFlightSpeed; }
-    bool    specifyGimbal               (void) const { return _specifyGimbal; }
     Fact*   plannedHomePositionLatitude (void) { return &_plannedHomePositionLatitudeFact; }
     Fact*   plannedHomePositionLongitude(void) { return &_plannedHomePositionLongitudeFact; }
     Fact*   plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
     Fact*   missionFlightSpeed          (void) { return &_missionFlightSpeedFact; }
-    Fact*   gimbalYaw                   (void) { return &_gimbalYawFact; }
-    Fact*   gimbalPitch                 (void) { return &_gimbalPitchFact; }
-    Fact*   cameraAction                (void) { return &_cameraActionFact; }
-    Fact*   cameraPhotoIntervalTime     (void) { return &_cameraPhotoIntervalTimeFact; }
-    Fact*   cameraPhotoIntervalDistance (void) { return &_cameraPhotoIntervalDistanceFact; }
     Fact*   missionEndAction            (void) { return &_missionEndActionFact; }
 
-    void setSpecifyMissionFlightSpeed   (bool specifyMissionFlightSpeed);
-    void setSpecifyGimbal               (bool specifyGimbal);
+    void setSpecifyMissionFlightSpeed(bool specifyMissionFlightSpeed);
+    QObject* cameraSection(void) { return &_cameraSection; }
 
-    /// Scans the loaded items for the settings items
-    static void scanForMissionSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
+    /// Scans the loaded items for settings items
+    static bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicl);
 
     // Overrides from ComplexMissionItem
 
     double              complexDistance     (void) const final;
     int                 lastSequenceNumber  (void) const final;
-    QmlObjectListModel* getMissionItems     (void) const final;
     bool                load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
     double              greatestDistanceTo  (const QGeoCoordinate &other) const final;
     void                setCruiseSpeed      (double cruiseSpeed) final;
@@ -95,6 +76,7 @@ public:
     QGeoCoordinate  exitCoordinate          (void) const final { return coordinate(); }
     int             sequenceNumber          (void) const final { return _sequenceNumber; }
     double          flightSpeed             (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
 
     bool coordinateHasRelativeAltitude      (void) const final { return true; }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return true; }
@@ -103,32 +85,27 @@ public:
     void setDirty           (bool dirty) final;
     void setCoordinate      (const QGeoCoordinate& coordinate) final;
     void setSequenceNumber  (int sequenceNumber) final;
-    void save               (QJsonArray&  missionItems) const final;
+    void save               (QJsonArray&  missionItems) final;
 
     static const char* jsonComplexItemTypeValue;
 
 signals:
-    bool specifyMissionFlightSpeedChanged  (bool specifyMissionFlightSpeed);
-    bool specifyGimbalChanged       (bool specifyGimbal);
+    bool specifyMissionFlightSpeedChanged(bool specifyMissionFlightSpeed);
 
 private slots:
     void _setDirtyAndUpdateLastSequenceNumber(void);
     void _setDirtyAndUpdateCoordinate(void);
     void _setDirty(void);
+    void _cameraSectionDirtyChanged(bool dirty);
 
 private:
-    bool    _specifyMissionFlightSpeed;
-    bool    _specifyGimbal;
-    Fact    _plannedHomePositionLatitudeFact;
-    Fact    _plannedHomePositionLongitudeFact;
-    Fact    _plannedHomePositionAltitudeFact;
-    Fact    _missionFlightSpeedFact;
-    Fact    _gimbalYawFact;
-    Fact    _gimbalPitchFact;
-    Fact    _cameraActionFact;
-    Fact    _cameraPhotoIntervalDistanceFact;
-    Fact    _cameraPhotoIntervalTimeFact;
-    Fact    _missionEndActionFact;
+    bool            _specifyMissionFlightSpeed;
+    Fact            _plannedHomePositionLatitudeFact;
+    Fact            _plannedHomePositionLongitudeFact;
+    Fact            _plannedHomePositionAltitudeFact;
+    Fact            _missionFlightSpeedFact;
+    Fact            _missionEndActionFact;
+    CameraSection   _cameraSection;
 
     int     _sequenceNumber;
     bool    _dirty;
@@ -139,11 +116,6 @@ private:
     static const char* _plannedHomePositionLongitudeName;
     static const char* _plannedHomePositionAltitudeName;
     static const char* _missionFlightSpeedName;
-    static const char* _gimbalPitchName;
-    static const char* _gimbalYawName;
-    static const char* _cameraActionName;
-    static const char* _cameraPhotoIntervalDistanceName;
-    static const char* _cameraPhotoIntervalTimeName;
     static const char* _missionEndActionName;
 };
 

src/MissionManager/SimpleMissionItem.cc

@@ -50,6 +50,8 @@ static const struct EnumInfo_s _rgMavFrameInfo[] = {
 SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
     : VisualMissionItem(vehicle, parent)
     , _rawEdit(false)
+    , _dirty(false)
+    , _cameraSection(NULL)
     , _commandTree(qgcApp()->toolbox()->missionCommandTree())
     , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
     , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
@@ -69,10 +71,15 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
 
     _setupMetaData();
     _connectSignals();
+    _updateCameraSection();
 
     setDefaultsForCommand();
 
     connect(&_missionItem, &MissionItem::flightSpeedChanged, this, &SimpleMissionItem::flightSpeedChanged);
+
+    connect(this, &SimpleMissionItem::sequenceNumberChanged,    this, &SimpleMissionItem::lastSequenceNumberChanged);
+    connect(this, &SimpleMissionItem::cameraSectionChanged,     this, &SimpleMissionItem::_setDirtyFromSignal);
+    connect(this, &SimpleMissionItem::cameraSectionChanged,     this, &SimpleMissionItem::_updateLastSequenceNumber);
 }
 
 SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missionItem, QObject* parent)
@@ -80,6 +87,7 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missio
     , _missionItem(missionItem)
     , _rawEdit(false)
     , _dirty(false)
+    , _cameraSection(NULL)
     , _commandTree(qgcApp()->toolbox()->missionCommandTree())
     , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
     , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
@@ -99,6 +107,7 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missio
 
     _setupMetaData();
     _connectSignals();
+    _updateCameraSection();
 
     _syncFrameToAltitudeRelativeToHome();
 }
@@ -108,6 +117,7 @@ SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* pa
     , _missionItem(other._vehicle)
     , _rawEdit(false)
     , _dirty(false)
+    , _cameraSection(NULL)
     , _commandTree(qgcApp()->toolbox()->missionCommandTree())
     , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
     , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
@@ -122,6 +132,7 @@ SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* pa
 
     _setupMetaData();
     _connectSignals();
+    _updateCameraSection();
 
     *this = other;
 }
@@ -240,11 +251,19 @@ SimpleMissionItem::~SimpleMissionItem()
 {    
 }
 
-void SimpleMissionItem::save(QJsonArray&  missionItems) const
+void SimpleMissionItem::save(QJsonArray&  missionItems)
 {
-    QJsonObject itemObject;
-    _missionItem.save(itemObject);
-    missionItems.append(itemObject);
+    QList<MissionItem*> items;
+
+    appendMissionItems(items, this);
+
+    for (int i=0; i<items.count(); i++) {
+        MissionItem* item = items[i];
+        QJsonObject saveObject;
+        item->save(saveObject);
+        missionItems.append(saveObject);
+        item->deleteLater();
+    }
 }
 
 bool SimpleMissionItem::load(QTextStream &loadStream)
@@ -489,13 +508,10 @@ void SimpleMissionItem::setRawEdit(bool rawEdit)
 
 void SimpleMissionItem::setDirty(bool dirty)
 {
-    if (!_homePositionSpecialCase || !dirty) {
-        // Home position never affects dirty bit
-
+    if (!_homePositionSpecialCase || (_dirty != dirty)) {
         _dirty = dirty;
-        // We want to emit dirtyChanged even if _dirty didn't change. This can be handy signal for
-        // any value within the item changing.
-        emit dirtyChanged(_dirty);
+        _cameraSection->setDirty(false);
+        emit dirtyChanged(dirty);
     }
 }
 
@@ -584,6 +600,7 @@ void SimpleMissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
 {
     if ((MAV_CMD)command != _missionItem.command()) {
         _missionItem.setCommand((MAV_CMD)command);
+        _updateCameraSection();
     }
 }
 
@@ -608,3 +625,64 @@ double SimpleMissionItem::flightSpeed(void)
 {
     return missionItem().flightSpeed();
 }
+
+void SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
+{
+    Q_UNUSED(vehicle);
+
+    qDebug() << "SimpleMissionItem::scanForSections" << scanIndex << _cameraSection->available();
+
+    if (_cameraSection->available()) {
+        bool sectionFound = _cameraSection->scanForCameraSection(visualItems, scanIndex);
+        qDebug() << sectionFound;
+    }
+}
+
+void SimpleMissionItem::_updateCameraSection(void)
+{
+    if (_cameraSection) {
+        // Remove previous section
+        _cameraSection->deleteLater();
+        _cameraSection = NULL;
+    }
+
+    // Add new section
+    _cameraSection = new CameraSection(this);
+    const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_vehicle, (MAV_CMD)command());
+    if (uiInfo && uiInfo->cameraSection()) {
+        _cameraSection->setAvailable(true);
+    }
+
+    connect(_cameraSection, &CameraSection::dirtyChanged,               this, &SimpleMissionItem::_cameraSectionDirtyChanged);
+    connect(_cameraSection, &CameraSection::availableChanged,           this, &SimpleMissionItem::_updateLastSequenceNumber);
+    connect(_cameraSection, &CameraSection::missionItemCountChanged,    this, &SimpleMissionItem::_updateLastSequenceNumber);
+
+    emit cameraSectionChanged(_cameraSection);
+}
+
+int SimpleMissionItem::lastSequenceNumber(void) const
+{
+    return sequenceNumber() + (_cameraSection ? _cameraSection->missionItemCount() : 0);
+}
+
+void SimpleMissionItem::_updateLastSequenceNumber(void)
+{
+    emit lastSequenceNumberChanged(lastSequenceNumber());
+}
+
+void SimpleMissionItem::_cameraSectionDirtyChanged(bool dirty)
+{
+    if (dirty) {
+        setDirty(true);
+    }
+}
+
+void SimpleMissionItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
+{
+    int seqNum = sequenceNumber();
+
+    items.append(new MissionItem(missionItem(), missionItemParent));
+    seqNum++;
+
+    _cameraSection->appendMissionItems(items, missionItemParent, seqNum);
+}

src/MissionManager/SimpleMissionItem.h

@@ -14,6 +14,7 @@
 #include "VisualMissionItem.h"
 #include "MissionItem.h"
 #include "MissionCommandTree.h"
+#include "CameraSection.h"
 
 /// A SimpleMissionItem is used to represent a single MissionItem to the ui.
 class SimpleMissionItem : public VisualMissionItem
@@ -35,18 +36,27 @@ public:
     Q_PROPERTY(bool             rawEdit                 READ rawEdit                WRITE setRawEdit            NOTIFY rawEditChanged)              ///< true: raw item editing with all params
     Q_PROPERTY(bool             relativeAltitude        READ relativeAltitude                                   NOTIFY frameChanged)
 
+    /// Optional sections
+    Q_PROPERTY(QObject*         cameraSection           READ cameraSection                                      NOTIFY cameraSectionChanged)
+
     // These properties are used to display the editing ui
     Q_PROPERTY(QmlObjectListModel*  checkboxFacts   READ checkboxFacts  NOTIFY uiModelChanged)
     Q_PROPERTY(QmlObjectListModel*  comboboxFacts   READ comboboxFacts  NOTIFY uiModelChanged)
     Q_PROPERTY(QmlObjectListModel*  textFieldFacts  READ textFieldFacts NOTIFY uiModelChanged)
 
+    /// Scans the loaded items for additional section settings
+    ///     @param visualItems List of all visual items
+    ///     @param scanIndex Index to start scanning from
+    ///     @param vehicle Vehicle associated with this mission
+    void scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle);
+
     // Property accesors
     
     QString         category            (void) const;
     MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_missionItem._commandFact.cookedValue().toInt(); }
     bool            friendlyEditAllowed (void) const;
     bool            rawEdit             (void) const;
-
+    CameraSection*  cameraSection       (void) { return _cameraSection; }
 
     QmlObjectListModel* textFieldFacts  (void);
     QmlObjectListModel* checkboxFacts   (void);
@@ -69,6 +79,7 @@ public:
     bool relativeAltitude(void) { return _missionItem.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
 
     MissionItem& missionItem(void) { return _missionItem; }
+    const MissionItem& missionItem(void) const { return _missionItem; }
 
     // Overrides from VisualMissionItem
 
@@ -84,6 +95,7 @@ public:
     int             sequenceNumber          (void) const final { return _missionItem.sequenceNumber(); }
     double          flightSpeed             (void) final;
     QString         mapVisualQML            (void) const final { return QStringLiteral("SimpleItemMapVisual.qml"); }
+    void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
 
     bool coordinateHasRelativeAltitude      (void) const final { return _missionItem.relativeAltitude(); }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return coordinateHasRelativeAltitude(); }
@@ -92,7 +104,8 @@ public:
     void setDirty           (bool dirty) final;
     void setCoordinate      (const QGeoCoordinate& coordinate) final;
     void setSequenceNumber  (int sequenceNumber) final;
-    void save               (QJsonArray&  missionItems) const final;
+    int  lastSequenceNumber (void) const final;
+    void save               (QJsonArray&  missionItems) final;
 
 public slots:
     void setDefaultsForCommand(void);
@@ -104,9 +117,11 @@ signals:
     void headingDegreesChanged      (double heading);
     void rawEditChanged             (bool rawEdit);
     void uiModelChanged             (void);
+    void cameraSectionChanged       (QObject* cameraSection);
 
 private slots:
     void _setDirtyFromSignal(void);
+    void _cameraSectionDirtyChanged(bool dirty);
     void _sendCommandChanged(void);
     void _sendCoordinateChanged(void);
     void _sendFrameChanged(void);
@@ -114,17 +129,21 @@ private slots:
     void _sendUiModelChanged(void);
     void _syncAltitudeRelativeToHomeToFrame(const QVariant& value);
     void _syncFrameToAltitudeRelativeToHome(void);
+    void _updateLastSequenceNumber(void);
 
 private:
     void _clearParamMetaData(void);
     void _connectSignals(void);
     void _setupMetaData(void);
+    void _updateCameraSection(void);
 
 private:
     MissionItem _missionItem;
     bool        _rawEdit;
     bool        _dirty;
 
+    CameraSection* _cameraSection;
+
     MissionCommandTree* _commandTree;
 
     Fact    _altitudeRelativeToHomeFact;

src/MissionManager/SurveyMissionItem.cc

@@ -294,7 +294,7 @@ void SurveyMissionItem::setDirty(bool dirty)
     }
 }
 
-void SurveyMissionItem::save(QJsonArray&  missionItems) const
+void SurveyMissionItem::save(QJsonArray&  missionItems)
 {
     QJsonObject saveObject;
 
@@ -822,11 +822,10 @@ void SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints,  QLi
     }
 }
 
-QmlObjectListModel* SurveyMissionItem::getMissionItems(void) const
+void SurveyMissionItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
 {
-    QmlObjectListModel* pMissionItems = new QmlObjectListModel;
-
     int seqNum = _sequenceNumber;
+
     for (int i=0; i<_gridPoints.count(); i++) {
         QGeoCoordinate coord = _gridPoints[i].value<QGeoCoordinate>();
         double altitude = _gridAltitudeFact.rawValue().toDouble();
@@ -840,8 +839,8 @@ QmlObjectListModel* SurveyMissionItem::getMissionItems(void) const
                                             altitude,
                                             true,                           // autoContinue
                                             false,                          // isCurrentItem
-                                            pMissionItems);                 // parent - allow delete on pMissionItems to delete everthing
-        pMissionItems->append(item);
+                                            missionItemParent);
+        items.append(item);
 
         if (_cameraTriggerFact.rawValue().toBool() && i == 0) {
             // Turn on camera
@@ -852,8 +851,8 @@ QmlObjectListModel* SurveyMissionItem::getMissionItems(void) const
                                                 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,   // param 2-7
                                                 true,                           // autoContinue
                                                 false,                          // isCurrentItem
-                                                pMissionItems);                 // parent - allow delete on pMissionItems to delete everthing
-            pMissionItems->append(item);
+                                                missionItemParent);
+            items.append(item);
         }
     }
 
@@ -866,11 +865,9 @@ QmlObjectListModel* SurveyMissionItem::getMissionItems(void) const
                                             0.0, 0.0, 0.0, 0.0, 0.0, 0.0,   // param 2-7
                                             true,                           // autoContinue
                                             false,                          // isCurrentItem
-                                            pMissionItems);                 // parent - allow delete on pMissionItems to delete everthing
-        pMissionItems->append(item);
+                                            missionItemParent);
+        items.append(item);
     }
-
-    return pMissionItems;
 }
 
 void SurveyMissionItem::_cameraTriggerChanged(void)

src/MissionManager/SurveyMissionItem.h

@@ -98,7 +98,6 @@ public:
 
     double              complexDistance     (void) const final { return _surveyDistance; }
     int                 lastSequenceNumber  (void) const final;
-    QmlObjectListModel* getMissionItems     (void) const final;
     bool                load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
     double              greatestDistanceTo  (const QGeoCoordinate &other) const final;
     void                setCruiseSpeed      (double cruiseSpeed) final;
@@ -118,6 +117,7 @@ public:
     QGeoCoordinate  exitCoordinate          (void) const final { return _exitCoordinate; }
     int             sequenceNumber          (void) const final { return _sequenceNumber; }
     double          flightSpeed             (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
 
     bool coordinateHasRelativeAltitude      (void) const final { return _gridAltitudeRelativeFact.rawValue().toBool(); }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return _gridAltitudeRelativeFact.rawValue().toBool(); }
@@ -127,7 +127,7 @@ public:
     void setCoordinate      (const QGeoCoordinate& coordinate) final;
     void setSequenceNumber  (int sequenceNumber) final;
     void setTurnaroundDist  (double dist) { _turnaroundDistFact.setRawValue(dist); }
-    void save               (QJsonArray&  missionItems) const final;
+    void save               (QJsonArray&  missionItems) final;
 
     static const char* jsonComplexItemTypeValue;
 

src/MissionManager/VisualMissionItem.h

@@ -27,6 +27,8 @@
 #include "QmlObjectListModel.h"
 #include "Vehicle.h"
 
+class MissionItem;
+
 // Abstract base class for all Simple and Complex visual mission objects.
 class VisualMissionItem : public QObject
 {
@@ -132,14 +134,20 @@ public:
     virtual void setDirty           (bool dirty) = 0;
     virtual void setCoordinate      (const QGeoCoordinate& coordinate) = 0;
     virtual void setSequenceNumber  (int sequenceNumber) = 0;
+    virtual int  lastSequenceNumber (void) const = 0;
 
     /// Save the item(s) in Json format
     ///     @param missionItems Current set of mission items, new items should be appended to the end
-    virtual void save(QJsonArray&  missionItems) const = 0;
+    virtual void save(QJsonArray&  missionItems) = 0;
 
     /// @return The QML resource file which contains the control which visualizes the item on the map.
     virtual QString mapVisualQML(void) const = 0;
 
+    /// Returns the mission items associated with the complex item. Caller is responsible for freeing.
+    ///     @param items List to append to
+    ///     @param missionItemParent Parent object for newly created MissionItems
+    virtual void appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent) = 0;
+
     static const char* jsonTypeKey;                 ///< Json file attribute which specifies the item type
     static const char* jsonTypeSimpleItemValue;     ///< Item type is MISSION_ITEM
     static const char* jsonTypeComplexItemValue;    ///< Item type is Complex Item
@@ -162,6 +170,7 @@ signals:
     void specifiesCoordinateChanged     (void);
     void isStandaloneCoordinateChanged  (void);
     void flightSpeedChanged             (double flightSpeed);
+    void lastSequenceNumberChanged      (int sequenceNumber);
 
     void coordinateHasRelativeAltitudeChanged       (bool coordinateHasRelativeAltitude);
     void exitCoordinateHasRelativeAltitudeChanged   (bool exitCoordinateHasRelativeAltitude);

src/QmlControls/QGCComboBox.qml

@@ -27,13 +27,15 @@ ComboBox {
                 border.color:  control._qgcPal.buttonText
             }
 
-            Image {
-                id: imageItem
-                source: "/qmlimages/arrow-down.png"
+            QGCColoredImage {
+                id:                     image
+                width:                  ScreenTools.defaultFontPixelHeight / 2
+                height:                 width
                 anchors.verticalCenter: parent.verticalCenter
-                anchors.right: parent.right
-                anchors.rightMargin: dropDownButtonWidth / 2
-                opacity: control.enabled ? 0.6 : 0.3
+                anchors.right:          parent.right
+                anchors.rightMargin:    dropDownButtonWidth / 2
+                source:                 "/qmlimages/arrow-down.png"
+                color:                  qgcPal.text
             }
         }
     }

src/QmlControls/QGroundControl.Controls.qmldir

@@ -2,6 +2,7 @@ Module QGroundControl.Controls
 
 AnalyzePage             1.0 AnalyzePage.qml
 AppMessages             1.0 AppMessages.qml
+CameraSection           1.0 CameraSection.qml
 ClickableColor          1.0 ClickableColor.qml
 DropButton              1.0 DropButton.qml
 DropPanel               1.0 DropPanel.qml