Settable entry location

src/MissionManager/Survey.SettingsGroup.json

@@ -24,6 +24,8 @@
     "shortDescription": "Angle for parallel lines of grid.",
     "type":             "double",
     "units":            "deg",
+    "min":              -360.0,
+    "max":              360.0,
     "decimalPlaces":    1,
     "defaultValue":     0
 },
@@ -153,5 +155,13 @@
     "shortDescription": "Camera selected for Survey.",
     "type":             "string",
     "defaultValue":     ""
+},
+{
+    "name":             "GridEntryLocation",
+    "shortDescription": "Location for entry point into survey area",
+    "type":             "uint32",
+    "enumStrings":      "Top Left, Top Right, Bottom Left, Bottom Right",
+    "enumValues":       "0,1,2,3",
+    "defaultValue":     0
 }
 ]

src/MissionManager/SurveyMissionItem.h

@@ -30,6 +30,7 @@ public:
     Q_PROPERTY(Fact*                gridAltitudeRelative        READ gridAltitudeRelative           CONSTANT)
     Q_PROPERTY(Fact*                gridAngle                   READ gridAngle                      CONSTANT)
     Q_PROPERTY(Fact*                gridSpacing                 READ gridSpacing                    CONSTANT)
+    Q_PROPERTY(Fact*                gridEntryLocation           READ gridEntryLocation              CONSTANT)
     Q_PROPERTY(Fact*                turnaroundDist              READ turnaroundDist                 CONSTANT)
     Q_PROPERTY(Fact*                cameraTriggerDistance       READ cameraTriggerDistance          CONSTANT)
     Q_PROPERTY(Fact*                cameraTriggerInTurnaround   READ cameraTriggerInTurnaround      CONSTANT)
@@ -65,6 +66,7 @@ public:
     Fact* gridAltitudeRelative      (void) { return &_gridAltitudeRelativeFact; }
     Fact* gridAngle                 (void) { return &_gridAngleFact; }
     Fact* gridSpacing               (void) { return &_gridSpacingFact; }
+    Fact* gridEntryLocation         (void) { return &_gridEntryLocationFact; }
     Fact* turnaroundDist            (void) { return &_turnaroundDistFact; }
     Fact* cameraTriggerDistance     (void) { return &_cameraTriggerDistanceFact; }
     Fact* cameraTriggerInTurnaround (void) { return &_cameraTriggerInTurnaroundFact; }
@@ -135,6 +137,7 @@ public:
     static const char* gridAltitudeRelativeName;
     static const char* gridAngleName;
     static const char* gridSpacingName;
+    static const char* gridEntryLocationName;
     static const char* turnaroundDistName;
     static const char* cameraTriggerDistanceName;
     static const char* cameraTriggerInTurnaroundName;
@@ -175,6 +178,14 @@ private:
         CameraTriggerHoverAndCapture
     };
 
+    // Must match json spec for GridEntryLocation
+    enum EntryLocation {
+        EntryLocationTopLeft,
+        EntryLocationTopRight,
+        EntryLocationBottomLeft,
+        EntryLocationBottomRight,
+    };
+
     void _setExitCoordinate(const QGeoCoordinate& coordinate);
     void _generateGrid(void);
     void _updateCoordinateAltitude(void);
@@ -203,6 +214,11 @@ private:
     qreal _dp(QPointF pt1, QPointF pt2);
     void _swapPoints(QList<QPointF>& points, int index1, int index2);
     QList<QPointF> _convexPolygon(const QList<QPointF>& polygon);
+    void _reverseTransectOrder(QList<QList<QGeoCoordinate>>& transects);
+    void _reverseInternalTransectPoints(QList<QList<QGeoCoordinate>>& transects);
+    void _adjustTransectsToEntryPointLocation(QList<QList<QGeoCoordinate>>& transects);
+    bool _gridAngleIsNorthSouthTransects();
+    double _clampGridAngle90(double gridAngle);
 
     int                             _sequenceNumber;
     bool                            _dirty;
@@ -230,6 +246,7 @@ private:
     SettingsFact    _gridAltitudeRelativeFact;
     SettingsFact    _gridAngleFact;
     SettingsFact    _gridSpacingFact;
+    SettingsFact    _gridEntryLocationFact;
     SettingsFact    _turnaroundDistFact;
     SettingsFact    _cameraTriggerDistanceFact;
     SettingsFact    _cameraTriggerInTurnaroundFact;
@@ -251,6 +268,7 @@ private:
     static const char* _jsonGridAltitudeRelativeKey;
     static const char* _jsonGridAngleKey;
     static const char* _jsonGridSpacingKey;
+    static const char* _jsonGridEntryLocationKey;
     static const char* _jsonTurnaroundDistKey;
     static const char* _jsonCameraTriggerDistanceKey;
     static const char* _jsonCameraTriggerInTurnaroundKey;

src/PlanView/SurveyItemEditor.qml

@@ -439,6 +439,13 @@ Rectangle {
                     Layout.fillWidth:       true
                 }
 
+                QGCLabel { text: qsTr("Entry") }
+                FactComboBox {
+                    fact:                   missionItem.gridEntryLocation
+                    indexModel:             false
+                    Layout.fillWidth:       true
+                }
+
                 QGCCheckBox {
                     text:               qsTr("Refly at 90 degree offset")
                     checked:            missionItem.refly90Degrees
@@ -543,6 +550,13 @@ Rectangle {
                 fact:                   missionItem.turnaroundDist
                 Layout.fillWidth:       true
             }
+            QGCLabel { text: qsTr("Entry") }
+            FactComboBox {
+                fact:                   missionItem.gridEntryLocation
+                indexModel:             false
+                Layout.fillWidth:       true
+            }
+
 
             QGCCheckBox {
                 text:               qsTr("Refly at 90 degree offset")