Track changes by DO_CHANGE_SPEED items

src/MissionManager/MavCmdInfoCommon.json

@@ -503,23 +503,23 @@
                 "label":            "Type:",
                 "enumStrings":      "Airspeed,Ground Speed",
                 "enumValues":       "0,1",
-                "default":          1
+                "default":          0
             },
             "param2": {
                 "label":            "Speed:",
                 "units":            "m/s",
-                "default":          -1
+                "default":          0
             },
             "param3": {
                 "label":            "Throttle:",
                 "units":            "%",
-                "default":          -1
+                "default":          0
             },
             "param4": {
                 "label":            "Offset:",
                 "enumStrings":      "Relative,Absolute",
                 "enumValues":       "1,0",
-                "default":          1
+                "default":          0
             }
         },
         {

src/MissionManager/MissionController.cc

@@ -1155,6 +1155,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
     connect(visualItem, &VisualMissionItem::specifiesCoordinateChanged,                 this, &MissionController::_recalcWaypointLines);
     connect(visualItem, &VisualMissionItem::coordinateHasRelativeAltitudeChanged,       this, &MissionController::_recalcWaypointLines);
     connect(visualItem, &VisualMissionItem::exitCoordinateHasRelativeAltitudeChanged,   this, &MissionController::_recalcWaypointLines);
+    connect(visualItem, &VisualMissionItem::flightSpeedChanged,                         this, &MissionController::_recalcAltitudeRangeBearing);
 
     if (visualItem->isSimpleItem()) {
         // We need to track commandChanged on simple item since recalc has special handling for takeoff command

src/MissionManager/MissionItem.cc

@@ -51,6 +51,8 @@ MissionItem::MissionItem(QObject* parent)
     _frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
 
     setAutoContinue(true);
+
+    connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
 }
 
 MissionItem::MissionItem(int             sequenceNumber,
@@ -95,6 +97,8 @@ MissionItem::MissionItem(int             sequenceNumber,
     _param5Fact.setRawValue(param5);
     _param6Fact.setRawValue(param6);
     _param7Fact.setRawValue(param7);
+
+    connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
 }
 
 MissionItem::MissionItem(const MissionItem& other, QObject* parent)
@@ -117,6 +121,8 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent)
     _frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
 
     *this = other;
+
+    connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
 }
 
 const MissionItem& MissionItem::operator=(const MissionItem& other)
@@ -139,8 +145,10 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
 
     return *this;
 }
+
 MissionItem::~MissionItem()
 {    
+
 }
 
 void MissionItem::save(QJsonObject& json) const
@@ -375,3 +383,21 @@ QGeoCoordinate MissionItem::coordinate(void) const
 {
     return QGeoCoordinate(param5(), param6(), param7());
 }
+
+double MissionItem::flightSpeed(void) const
+{
+    double flightSpeed = std::numeric_limits<double>::quiet_NaN();
+
+    if (_commandFact.rawValue().toInt() == MAV_CMD_DO_CHANGE_SPEED && _param2Fact.rawValue().toDouble() > 0) {
+        flightSpeed = _param2Fact.rawValue().toDouble();
+    }
+
+    return flightSpeed;
+}
+
+void MissionItem::_param2Changed(QVariant value)
+{
+    if (_commandFact.rawValue().toInt() == MAV_CMD_DO_CHANGE_SPEED && _param2Fact.rawValue().toDouble() > 0) {
+        emit flightSpeedChanged(value.toDouble());
+    }
+}

src/MissionManager/MissionItem.h

@@ -76,6 +76,9 @@ public:
     QGeoCoordinate  coordinate      (void) const;
     int             doJumpId        (void) const { return _doJumpId; }
 
+    /// @return Flight speed change value if this item supports it. If not it returns NaN.
+    double          flightSpeed     (void) const;
+
     void setCommand         (MAV_CMD command);
     void setSequenceNumber  (int sequenceNumber);
     void setIsCurrentItem   (bool isCurrentItem);
@@ -97,8 +100,12 @@ public:
     bool relativeAltitude(void) const { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
 
 signals:
-    void isCurrentItemChanged       (bool isCurrentItem);
-    void sequenceNumberChanged      (int sequenceNumber);
+    void isCurrentItemChanged   (bool isCurrentItem);
+    void sequenceNumberChanged  (int sequenceNumber);
+    void flightSpeedChanged     (double flightSpeed);
+
+private slots:
+    void _param2Changed         (QVariant value);
     
 private:
     bool _convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Json, QString& errorString);

src/MissionManager/SimpleMissionItem.cc

@@ -71,6 +71,8 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
     _connectSignals();
 
     setDefaultsForCommand();
+
+    connect(&_missionItem, &MissionItem::flightSpeedChanged, this, &SimpleMissionItem::flightSpeedChanged);
 }
 
 SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missionItem, QObject* parent)
@@ -607,3 +609,8 @@ void SimpleMissionItem::setSequenceNumber(int sequenceNumber)
         emit abbreviationChanged();
     }
 }
+
+double SimpleMissionItem::flightSpeed(void)
+{
+    return missionItem().flightSpeed();
+}

src/MissionManager/SimpleMissionItem.h

@@ -91,6 +91,7 @@ public:
     QGeoCoordinate  coordinate              (void) const final { return _missionItem.coordinate(); }
     QGeoCoordinate  exitCoordinate          (void) const final { return coordinate(); }
     int             sequenceNumber          (void) const final { return _missionItem.sequenceNumber(); }
+    double          flightSpeed             (void) final;
 
     bool coordinateHasRelativeAltitude      (void) const final { return _missionItem.relativeAltitude(); }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return coordinateHasRelativeAltitude(); }

src/MissionManager/SurveyMissionItem.h

@@ -97,6 +97,7 @@ public:
     QGeoCoordinate  coordinate              (void) const final { return _coordinate; }
     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(); }
 
     bool coordinateHasRelativeAltitude      (void) const final { return _gridAltitudeRelative; }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return _gridAltitudeRelative; }

src/MissionManager/VisualMissionItem.h

@@ -40,13 +40,16 @@ public:
 
     const VisualMissionItem& operator=(const VisualMissionItem& other);
 
-    // The following properties are calculated/set by the MissionControll recalc methods
+    // The following properties are calculated/set by the MissionController recalc methods
 
     Q_PROPERTY(double altDifference READ altDifference  WRITE setAltDifference  NOTIFY altDifferenceChanged)    ///< Change in altitude from previous waypoint
     Q_PROPERTY(double altPercent    READ altPercent     WRITE setAltPercent     NOTIFY altPercentChanged)       ///< Percent of total altitude change in mission altitude
     Q_PROPERTY(double azimuth       READ azimuth        WRITE setAzimuth        NOTIFY azimuthChanged)          ///< Azimuth to previous waypoint
     Q_PROPERTY(double distance      READ distance       WRITE setDistance       NOTIFY distanceChanged)         ///< Distance to previous waypoint
 
+    /// This property returns whether the item supports changing flight speed. If it does not it will return NaN.
+    Q_PROPERTY(double flightSpeed   READ flightSpeed                            NOTIFY flightSpeedChanged)
+
     // Visual mission items have two coordinates associated with them:
 
     /// This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
@@ -110,6 +113,7 @@ public:
     virtual QGeoCoordinate  coordinate              (void) const = 0;
     virtual QGeoCoordinate  exitCoordinate          (void) const = 0;
     virtual int             sequenceNumber          (void) const = 0;
+    virtual double          flightSpeed             (void) = 0;
 
     virtual bool coordinateHasRelativeAltitude      (void) const = 0;
     virtual bool exitCoordinateHasRelativeAltitude  (void) const = 0;
@@ -143,6 +147,7 @@ signals:
     void isSimpleItemChanged            (bool isSimpleItem);
     void specifiesCoordinateChanged     (void);
     void isStandaloneCoordinateChanged  (void);
+    void flightSpeedChanged             (double flightSpeed);
 
     void coordinateHasRelativeAltitudeChanged       (bool coordinateHasRelativeAltitude);
     void exitCoordinateHasRelativeAltitudeChanged   (bool exitCoordinateHasRelativeAltitude);