ComplexMissionItem (SurveyMissionItem) bounding box

src/MissionManager/ComplexMissionItem.h

@@ -22,11 +22,16 @@ public:
     const ComplexMissionItem& operator=(const ComplexMissionItem& other);
 
     Q_PROPERTY(double   complexDistance     READ complexDistance    NOTIFY complexDistanceChanged)
+    Q_PROPERTY(QRectF   boundingBox         READ boundingBox        NOTIFY boundingBoxChanged)
 
     /// @return The distance covered the complex mission item in meters.
     /// Signals complexDistanceChanged
     virtual double complexDistance(void) const = 0;
 
+    /// @return The item bounding box (QRectf(West, Nort, East, South))
+    /// Signals boundingBoxChanged
+    virtual QRectF boundingBox(void) const { return QRectF(); }
+
     /// @return Amount of additional time delay in seconds needed to fly the complex item
     virtual double additionalTimeDelay(void) const { return 0; }
 
@@ -48,6 +53,7 @@ public:
 
 signals:
     void complexDistanceChanged     (void);
+    void boundingBoxChanged         (void);
     void greatestDistanceToChanged  (void);
     void additionalTimeDelayChanged (void);
 };

src/MissionManager/MissionController.cc

@@ -174,7 +174,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
             i = 1;
         }
 
-        for (; i<newMissionItems.count(); i++) {
+        for (; i < newMissionItems.count(); i++) {
             const MissionItem* missionItem = newMissionItems[i];
             newControllerMissionItems->append(new SimpleMissionItem(_controllerVehicle, _editMode, *missionItem, this));
         }

src/MissionManager/MissionItem.cc

@@ -418,6 +418,10 @@ void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
 
 QGeoCoordinate MissionItem::coordinate(void) const
 {
+    if(!isfinite(param5()) || !isfinite(param6())) {
+        //-- If either of these are NAN, return an invalid (QGeoCoordinate::isValid() == false) coordinate
+        return QGeoCoordinate();
+    }
     return QGeoCoordinate(param5(), param6(), param7());
 }
 

src/MissionManager/PlanManager.cc

@@ -404,8 +404,8 @@ void PlanManager::_handleMissionItem(const mavlink_message_t& message, bool miss
         mavlink_msg_mission_item_int_decode(&message, &missionItem);
 
         command =       (MAV_CMD)missionItem.command,
-                frame =         (MAV_FRAME)missionItem.frame,
-                param1 =        missionItem.param1;
+        frame =         (MAV_FRAME)missionItem.frame,
+        param1 =        missionItem.param1;
         param2 =        missionItem.param2;
         param3 =        missionItem.param3;
         param4 =        missionItem.param4;
@@ -420,8 +420,8 @@ void PlanManager::_handleMissionItem(const mavlink_message_t& message, bool miss
         mavlink_msg_mission_item_decode(&message, &missionItem);
 
         command =       (MAV_CMD)missionItem.command,
-                frame =         (MAV_FRAME)missionItem.frame,
-                param1 =        missionItem.param1;
+        frame =         (MAV_FRAME)missionItem.frame,
+        param1 =        missionItem.param1;
         param2 =        missionItem.param2;
         param3 =        missionItem.param3;
         param4 =        missionItem.param4;
@@ -439,7 +439,6 @@ void PlanManager::_handleMissionItem(const mavlink_message_t& message, bool miss
     } else if (frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
         frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
     }
-    
 
     bool ardupilotHomePositionUpdate = false;
     if (!_checkForExpectedAck(AckMissionItem)) {

src/MissionManager/SurveyMissionItem.cc

@@ -163,6 +163,14 @@ void SurveyMissionItem::_setSurveyDistance(double surveyDistance)
     }
 }
 
+void SurveyMissionItem::_setBoundingBox(QRectF bb)
+{
+    if (bb != _boundingBox) {
+        _boundingBox = bb;
+        emit boundingBoxChanged();
+    }
+}
+
 void SurveyMissionItem::_setCameraShots(int cameraShots)
 {
     if (_cameraShots != cameraShots) {
@@ -732,6 +740,22 @@ void SurveyMissionItem::_generateGrid(void)
     }
     _setSurveyDistance(surveyDistance);
 
+    // Calc bounding box
+    double north = 0.0;
+    double south = 180.0;
+    double east  = 360.0;
+    double west  = 0.0;
+    for (int i = 0; i < _simpleGridPoints.count(); i++) {
+        QGeoCoordinate coord = _simpleGridPoints[i].value<QGeoCoordinate>();
+        double lat = coord.latitude()  + 90.0;
+        double lon = coord.longitude() + 180.0;
+        north = fmax(north, lat);
+        south = fmin(south, lat);
+        east  = fmax(east,  lon);
+        west  = fmin(west,  lon);
+    }
+    _setBoundingBox(QRectF(east - 180.0, north - 90.0, west - 180.0, south - 90.0));
+
     if (cameraShots == 0 && _triggerCamera()) {
         cameraShots = (int)floor(surveyDistance / _triggerDistance());
         // Take into account immediate camera trigger at waypoint entry

src/MissionManager/SurveyMissionItem.h

@@ -96,6 +96,7 @@ public:
     // Overrides from ComplexMissionItem
 
     double              complexDistance     (void) const final { return _surveyDistance; }
+    QRectF              boundingBox         (void) const final { return _boundingBox; }
     double              additionalTimeDelay (void) const final { return _additionalFlightDelaySeconds; }
     int                 lastSequenceNumber  (void) const final;
     bool                load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
@@ -199,6 +200,7 @@ private:
     void _intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines);
     void _adjustLineDirection(const QList<QLineF>& lineList, QList<QLineF>& resultLines);
     void _setSurveyDistance(double surveyDistance);
+    void _setBoundingBox(QRectF bb);
     void _setCameraShots(int cameraShots);
     void _setCoveredArea(double coveredArea);
     void _cameraValueChanged(void);
@@ -241,6 +243,7 @@ private:
 
     bool            _ignoreRecalc;
     double          _surveyDistance;
+    QRectF          _boundingBox;
     int             _cameraShots;
     double          _coveredArea;
     double          _timeBetweenShots;