Merge pull request #5413 from DonLakeFlyer/ImagesEverywhere

Survey fixes

src/MissionManager/CameraSection.cc

@@ -166,7 +166,9 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
                                    MAV_CMD_DO_SET_CAM_TRIGG_DIST,
                                    MAV_FRAME_MISSION,
                                    _cameraPhotoIntervalDistanceFact.rawValue().toDouble(),  // Trigger distance
-                                   0, 0, 0, 0, 0, 0,                                        // param 2-7 not used
+                                   0,                                                       // No shutter integartion
+                                   1,                                                       // Trigger immediately
+                                   0, 0, 0, 0,                                              // param 4-7 not used
                                    true,                                                    // autoContinue
                                    false,                                                   // isCurrentItem
                                    missionItemParent);
@@ -314,13 +316,31 @@ bool CameraSection::_scanStopTakingPhotos(QmlObjectListModel* visualItems, int s
     return false;
 }
 
-bool CameraSection::_scanTriggerDistance(QmlObjectListModel* visualItems, int scanIndex)
+bool CameraSection::_scanTriggerStartDistance(QmlObjectListModel* visualItems, int scanIndex)
 {
     SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
     if (item) {
         MissionItem& missionItem = item->missionItem();
         if ((MAV_CMD)item->command() == MAV_CMD_DO_SET_CAM_TRIGG_DIST) {
-            if (missionItem.param1() >= 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
+            if (missionItem.param1() > 0 && missionItem.param2() == 0 && missionItem.param3() == 1 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
+                cameraAction()->setRawValue(TakePhotoIntervalDistance);
+                cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
+                visualItems->removeAt(scanIndex)->deleteLater();
+                return true;
+            }
+        }
+    }
+
+    return false;
+}
+
+bool CameraSection::_scanTriggerStopDistance(QmlObjectListModel* visualItems, int scanIndex)
+{
+    SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
+    if (item) {
+        MissionItem& missionItem = item->missionItem();
+        if ((MAV_CMD)item->command() == MAV_CMD_DO_SET_CAM_TRIGG_DIST) {
+            if (missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
                 cameraAction()->setRawValue(TakePhotoIntervalDistance);
                 cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
                 visualItems->removeAt(scanIndex)->deleteLater();
@@ -416,7 +436,11 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde
             foundCameraAction = true;
             continue;
         }
-        if (!foundCameraAction && _scanTriggerDistance(visualItems, scanIndex)) {
+        if (!foundCameraAction && _scanTriggerStartDistance(visualItems, scanIndex)) {
+            foundCameraAction = true;
+            continue;
+        }
+        if (!foundCameraAction && _scanTriggerStopDistance(visualItems, scanIndex)) {
             foundCameraAction = true;
             continue;
         }

src/MissionManager/CameraSection.h

@@ -94,7 +94,8 @@ private:
     bool _scanTakePhoto(QmlObjectListModel* visualItems, int scanIndex);
     bool _scanTakePhotosIntervalTime(QmlObjectListModel* visualItems, int scanIndex);
     bool _scanStopTakingPhotos(QmlObjectListModel* visualItems, int scanIndex);
-    bool _scanTriggerDistance(QmlObjectListModel* visualItems, int scanIndex);
+    bool _scanTriggerStartDistance(QmlObjectListModel* visualItems, int scanIndex);
+    bool _scanTriggerStopDistance(QmlObjectListModel* visualItems, int scanIndex);
     bool _scanTakeVideo(QmlObjectListModel* visualItems, int scanIndex);
     bool _scanStopTakingVideo(QmlObjectListModel* visualItems, int scanIndex);
     bool _scanSetCameraMode(QmlObjectListModel* visualItems, int scanIndex);

src/MissionManager/CameraSectionTest.cc

@@ -50,7 +50,14 @@ void CameraSectionTest::init(void)
                                            MissionItem(0, MAV_CMD_IMAGE_START_CAPTURE, MAV_FRAME_MISSION, 0, 48, 0, NAN, NAN, NAN, NAN, true, false),
                                            this);
     _validDistanceItem = new SimpleMissionItem(_offlineVehicle,
-                                               MissionItem(0, MAV_CMD_DO_SET_CAM_TRIGG_DIST, MAV_FRAME_MISSION, 72, 0, 0, 0, 0, 0, 0, true, false),
+                                               MissionItem(0,
+                                                           MAV_CMD_DO_SET_CAM_TRIGG_DIST,
+                                                           MAV_FRAME_MISSION,
+                                                           72,              // trigger distance
+                                                           0,               // not shutter integration
+                                                           1,               // trigger immediately
+                                                           0, 0, 0, 0,
+                                                           true, false),
                                                this);
     _validStartVideoItem = new SimpleMissionItem(_offlineVehicle,
                                                  MissionItem(0,                             // sequence number
@@ -732,15 +739,15 @@ void CameraSectionTest::_testScanForPhotoIntervalDistanceSection(void)
     _commonScanTest(_cameraSection);
 
     /*
-    MAV_CMD_DO_SET_CAM_TRIGG_DIST	Mission command to set CAM_TRIGG_DIST for this flight
-    Mission Param #1	Camera trigger distance (meters)
-    Mission Param #2	Empty
-    Mission Param #3	Empty
+    MAV_CMD_DO_SET_CAM_TRIGG_DIST	Mission command to set camera trigger distance for this flight. The camera is trigerred each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.
+    Mission Param #1	Camera trigger distance (meters). 0 to stop triggering.
+    Mission Param #2	Camera shutter integration time (milliseconds). -1 or 0 to ignore
+    Mission Param #3	Trigger camera once immediately. (0 = no trigger, 1 = trigger)
     Mission Param #4	Empty
     Mission Param #5	Empty
     Mission Param #6	Empty
     Mission Param #7	Empty
-*/
+    */
 
     SimpleMissionItem* newValidDistanceItem = new SimpleMissionItem(_offlineVehicle, this);
     newValidDistanceItem->missionItem() = _validDistanceItem->missionItem();
@@ -772,7 +779,7 @@ void CameraSectionTest::_testScanForPhotoIntervalDistanceSection(void)
     visualItems.clear();
 
     invalidSimpleItem.missionItem() = _validDistanceItem->missionItem();
-    invalidSimpleItem.missionItem().setParam3(1);    // must be 0
+    invalidSimpleItem.missionItem().setParam3(0);    // must be 1
     visualItems.append(&invalidSimpleItem);
     QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
     QCOMPARE(visualItems.count(), 1);

src/MissionManager/SurveyMissionItem.cc

@@ -1138,9 +1138,11 @@ int SurveyMissionItem::_appendWaypointToMission(QList<MissionItem*>& items, int
                                MAV_CMD_DO_SET_CAM_TRIGG_DIST,
                                MAV_FRAME_MISSION,
                                cameraTrigger == CameraTriggerOn ? _triggerDistance() : 0,
-                               0, 0, 0, 0, 0, 0,               // param 2-7 unused
-                               true,                           // autoContinue
-                               false,                          // isCurrentItem
+                               0,                                           // shutter integration (ignore)
+                               cameraTrigger == CameraTriggerOn ? 1 : 0,    // trigger immediately when starting
+                               0, 0, 0, 0,                                  // param 4-7 unused
+                               true,                                        // autoContinue
+                               false,                                       // isCurrentItem
                                missionItemParent);
         items.append(item);
         break;
@@ -1196,21 +1198,14 @@ bool SurveyMissionItem::_nextTransectCoord(const QList<QGeoCoordinate>& transect
 /// @return false: Generation failed
 bool SurveyMissionItem::_appendMissionItemsWorker(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, bool hasRefly, bool buildRefly)
 {
+    bool firstWaypointTrigger = false;
+
     qCDebug(SurveyMissionItemLog) << "hasTurnaround:triggerCamera:hoverAndCapture:imagesEverywhere:hasRefly:buildRefly" << _hasTurnaround() << _triggerCamera() << _hoverAndCaptureEnabled() << _imagesEverywhere() << hasRefly << buildRefly;
 
     QList<QList<QGeoCoordinate>>& transectSegments = buildRefly ? _reflyTransectSegments : _transectSegments;
 
     if (!buildRefly && _imagesEverywhere()) {
-        // We are taking images in turnaround, so we start command once at beginning
-        MissionItem* item = new MissionItem(seqNum++,
-                                            MAV_CMD_DO_SET_CAM_TRIGG_DIST,
-                                            MAV_FRAME_MISSION,
-                                            _triggerDistance(),
-                                            0, 0, 0, 0, 0, 0,       // param 2-7 unused
-                                            true,                   // autoContinue
-                                            false,                  // isCurrentItem
-                                            missionItemParent);
-        items.append(item);
+        firstWaypointTrigger = true;
     }
 
     for (int segmentIndex=0; segmentIndex<transectSegments.count(); segmentIndex++) {
@@ -1226,15 +1221,21 @@ bool SurveyMissionItem::_appendMissionItemsWorker(QList<MissionItem*>& items, QO
             if (!_nextTransectCoord(segment, pointIndex++, coord)) {
                 return false;
             }
-            seqNum = _appendWaypointToMission(items, seqNum, coord, CameraTriggerNone, missionItemParent);
+            seqNum = _appendWaypointToMission(items, seqNum, coord, firstWaypointTrigger ? CameraTriggerOn : CameraTriggerNone, missionItemParent);
+            firstWaypointTrigger = false;
         }
 
         // Add polygon entry point
         if (!_nextTransectCoord(segment, pointIndex++, coord)) {
             return false;
         }
-        cameraTrigger = _imagesEverywhere() || !_triggerCamera() ? CameraTriggerNone : (_hoverAndCaptureEnabled() ? CameraTriggerHoverAndCapture : CameraTriggerOn);
+        if (firstWaypointTrigger) {
+            cameraTrigger = CameraTriggerOn;
+        } else {
+            cameraTrigger = _imagesEverywhere() || !_triggerCamera() ? CameraTriggerNone : (_hoverAndCaptureEnabled() ? CameraTriggerHoverAndCapture : CameraTriggerOn);
+        }
         seqNum = _appendWaypointToMission(items, seqNum, coord, cameraTrigger, missionItemParent);
+        firstWaypointTrigger = false;
 
         // Add internal hover and capture points
         if (_hoverAndCaptureEnabled()) {