Added current mission item index as a fact for use with the Values Widget

src/Vehicle/Vehicle.cc

@@ -77,6 +77,7 @@ const char* Vehicle::_altitudeAMSLFactName =        "altitudeAMSL";
 const char* Vehicle::_flightDistanceFactName =      "flightDistance";
 const char* Vehicle::_flightTimeFactName =          "flightTime";
 const char* Vehicle::_distanceToHomeFactName =      "distanceToHome";
+const char* Vehicle::_missionItemIndexFactName =    "missionItemIndex";
 const char* Vehicle::_headingToNextWPFactName =     "headingToNextWP";
 const char* Vehicle::_headingToHomeFactName =       "headingToHome";
 const char* Vehicle::_distanceToGCSFactName =       "distanceToGCS";
@@ -206,6 +207,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _flightDistanceFact   (0, _flightDistanceFactName,    FactMetaData::valueTypeDouble)
     , _flightTimeFact       (0, _flightTimeFactName,        FactMetaData::valueTypeElapsedTimeInSeconds)
     , _distanceToHomeFact   (0, _distanceToHomeFactName,    FactMetaData::valueTypeDouble)
+    , _missionItemIndexFact (0, _missionItemIndexFactName,  FactMetaData::valueTypeUint16)
     , _headingToNextWPFact  (0, _headingToNextWPFactName,   FactMetaData::valueTypeDouble)
     , _headingToHomeFact    (0, _headingToHomeFactName,     FactMetaData::valueTypeDouble)
     , _distanceToGCSFact    (0, _distanceToGCSFactName,     FactMetaData::valueTypeDouble)
@@ -409,6 +411,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _flightTimeFact       (0, _flightTimeFactName,        FactMetaData::valueTypeElapsedTimeInSeconds)
     , _distanceToHomeFact   (0, _distanceToHomeFactName,    FactMetaData::valueTypeDouble)
     , _headingToNextWPFact  (0, _headingToNextWPFactName,   FactMetaData::valueTypeDouble)
+    , _missionItemIndexFact (0, _missionItemIndexFactName,  FactMetaData::valueTypeUint16)
     , _headingToHomeFact    (0, _headingToHomeFactName,     FactMetaData::valueTypeDouble)
     , _distanceToGCSFact    (0, _distanceToGCSFactName,     FactMetaData::valueTypeDouble)
     , _hobbsFact            (0, _hobbsFactName,             FactMetaData::valueTypeString)
@@ -454,6 +457,7 @@ void Vehicle::_commonInit()
     connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearCameraTriggerPoints);
     connect(_missionManager, &MissionManager::sendComplete,             this, &Vehicle::_clearCameraTriggerPoints);
     connect(_missionManager, &MissionManager::currentIndexChanged,      this, &Vehicle::_updateHeadingToNextWP);
+    connect(_missionManager, &MissionManager::currentIndexChanged,      this, &Vehicle::_updateMissionItemIndex);
 
     connect(_missionManager, &MissionManager::sendComplete,             _trajectoryPoints, &TrajectoryPoints::clear);
     connect(_missionManager, &MissionManager::newMissionItemsAvailable, _trajectoryPoints, &TrajectoryPoints::clear);
@@ -491,6 +495,7 @@ void Vehicle::_commonInit()
     _addFact(&_flightDistanceFact,      _flightDistanceFactName);
     _addFact(&_flightTimeFact,          _flightTimeFactName);
     _addFact(&_distanceToHomeFact,      _distanceToHomeFactName);
+    _addFact(&_missionItemIndexFact,    _missionItemIndexFactName);
     _addFact(&_headingToNextWPFact,     _headingToNextWPFactName);
     _addFact(&_headingToHomeFact,       _headingToHomeFactName);
     _addFact(&_distanceToGCSFact,       _distanceToGCSFactName);
@@ -3969,21 +3974,32 @@ void Vehicle::_updateDistanceHeadingToHome()
 
 void Vehicle::_updateHeadingToNextWP()
 {
-    const int _currentIndex = _missionManager->currentIndex();
-    MissionItem _currentItem;
+    const int currentIndex = _missionManager->currentIndex();
     QList<MissionItem*> llist = _missionManager->missionItems();
 
-    if(llist.size()>_currentIndex && _currentIndex!=-1
-            && llist[_currentIndex]->coordinate().longitude()!=0.0
-            && coordinate().distanceTo(llist[_currentIndex]->coordinate())>5.0 ){
+    if(llist.size()>currentIndex && currentIndex!=-1
+            && llist[currentIndex]->coordinate().longitude()!=0.0
+            && coordinate().distanceTo(llist[currentIndex]->coordinate())>5.0 ){
 
-        _headingToNextWPFact.setRawValue(coordinate().azimuthTo(llist[_currentIndex]->coordinate()));
+        _headingToNextWPFact.setRawValue(coordinate().azimuthTo(llist[currentIndex]->coordinate()));
     }
     else{
         _headingToNextWPFact.setRawValue(qQNaN());
     }
 }
 
+void Vehicle::_updateMissionItemIndex()
+{
+    const int currentIndex = _missionManager->currentIndex();
+
+    unsigned offset = 0;
+    if (!_firmwarePlugin->sendHomePositionToVehicle()) {
+        offset = 1;
+    }
+
+    _missionItemIndexFact.setRawValue(currentIndex + offset);
+}
+
 void Vehicle::_updateDistanceToGCS()
 {
     QGeoCoordinate gcsPosition = _toolbox->qgcPositionManager()->gcsPosition();

src/Vehicle/Vehicle.h

@@ -670,6 +670,7 @@ public:
     Q_PROPERTY(Fact* altitudeAMSL       READ altitudeAMSL       CONSTANT)
     Q_PROPERTY(Fact* flightDistance     READ flightDistance     CONSTANT)
     Q_PROPERTY(Fact* distanceToHome     READ distanceToHome     CONSTANT)
+    Q_PROPERTY(Fact* missionItemIndex   READ missionItemIndex   CONSTANT)
     Q_PROPERTY(Fact* headingToNextWP    READ headingToNextWP    CONSTANT)
     Q_PROPERTY(Fact* headingToHome      READ headingToHome      CONSTANT)
     Q_PROPERTY(Fact* distanceToGCS      READ distanceToGCS      CONSTANT)
@@ -984,6 +985,7 @@ public:
     Fact* altitudeAMSL                      () { return &_altitudeAMSLFact; }
     Fact* flightDistance                    () { return &_flightDistanceFact; }
     Fact* distanceToHome                    () { return &_distanceToHomeFact; }
+    Fact* missionItemIndex                  () { return &_missionItemIndexFact; }
     Fact* headingToNextWP                   () { return &_headingToNextWPFact; }
     Fact* headingToHome                     () { return &_headingToHomeFact; }
     Fact* distanceToGCS                     () { return &_distanceToGCSFact; }
@@ -1265,6 +1267,7 @@ private slots:
     void _sendMavCommandAgain           ();
     void _clearCameraTriggerPoints      ();
     void _updateDistanceHeadingToHome   ();
+    void _updateMissionItemIndex        ();
     void _updateHeadingToNextWP         ();
     void _updateDistanceToGCS           ();
     void _updateHobbsMeter              ();
@@ -1566,6 +1569,7 @@ private:
     Fact _flightDistanceFact;
     Fact _flightTimeFact;
     Fact _distanceToHomeFact;
+    Fact _missionItemIndexFact;
     Fact _headingToNextWPFact;
     Fact _headingToHomeFact;
     Fact _distanceToGCSFact;
@@ -1600,6 +1604,7 @@ private:
     static const char* _flightDistanceFactName;
     static const char* _flightTimeFactName;
     static const char* _distanceToHomeFactName;
+    static const char* _missionItemIndexFactName;
     static const char* _headingToNextWPFactName;
     static const char* _headingToHomeFactName;
     static const char* _distanceToGCSFactName;

src/Vehicle/VehicleFact.json

@@ -104,6 +104,12 @@
     "decimalPlaces":    1,
     "units":            "m"
 },
+{
+    "name":             "missionItemIndex",
+    "shortDescription": "Mission Item Index",
+    "type":             "uint16",
+    "units":            ""
+},
 {
     "name":             "headingToNextWP",
     "shortDescription": "Next WP Heading",