src/FlightMap/MapItems/MissionLineView.qml

@@ -17,11 +17,11 @@ import QGroundControl.Palette   1.0
 
 /// The MissionLineView control is used to add lines between mission items
 MapItemView {
+    property bool showSpecialVisual: false
     delegate: MapPolyline {
         line.width: 3
-        line.color: "#be781c"                           // Hack, can't get palette to work in here
+        line.color: object && showSpecialVisual && object.specialVisual ? "green" : "#be781c"                           // Hack, can't get palette to work in here
         z:          QGroundControl.zOrderWaypointLines
-
-        path: object && object.coordinate1.isValid && object.coordinate2.isValid ? [ object.coordinate1, object.coordinate2 ] : []
+        path:       object && object.coordinate1.isValid && object.coordinate2.isValid ? [ object.coordinate1, object.coordinate2 ] : []
     }
 }

src/MissionManager/MissionController.cc

@@ -444,6 +444,7 @@ VisualMissionItem* MissionController::insertROIMissionItem(QGeoCoordinate coordi
         simpleItem->setCommand(MAV_CMD_DO_SET_ROI)  ;
         simpleItem->missionItem().setParam1(MAV_ROI_LOCATION);
     }
+    _recalcROISpecialVisuals();
     return simpleItem;
 }
 
@@ -455,6 +456,7 @@ VisualMissionItem* MissionController::insertCancelROIMissionItem(int visualItemI
         simpleItem->setCommand(MAV_CMD_DO_SET_ROI)  ;
         simpleItem->missionItem().setParam1(MAV_ROI_NONE);
     }
+    _recalcROISpecialVisuals();
     return simpleItem;
 }
 
@@ -555,15 +557,15 @@ void MissionController::_insertComplexMissionItemWorker(const QGeoCoordinate& ma
     }
 }
 
-void MissionController::removeMissionItem(int index)
+void MissionController::removeMissionItem(int viIndex)
 {
-    if (index <= 0 || index >= _visualItems->count()) {
-        qWarning() << "MissionController::removeMissionItem called with bad index - count:index" << _visualItems->count() << index;
+    if (viIndex <= 0 || viIndex >= _visualItems->count()) {
+        qWarning() << "MissionController::removeMissionItem called with bad index - count:index" << _visualItems->count() << viIndex;
         return;
     }
 
-    bool removeSurveyStyle = _visualItems->value<SurveyComplexItem*>(index) || _visualItems->value<CorridorScanComplexItem*>(index);
-    VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->removeAt(index));
+    bool removeSurveyStyle = _visualItems->value<SurveyComplexItem*>(viIndex) || _visualItems->value<CorridorScanComplexItem*>(viIndex);
+    VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->removeAt(viIndex));
 
     _deinitVisualItem(item);
     item->deleteLater();
@@ -1163,6 +1165,39 @@ CoordinateVector* MissionController::_addWaypointLineSegment(CoordVectHashTable&
     return coordVector;
 }
 
+void MissionController::_recalcROISpecialVisuals(void)
+{
+    return;
+    VisualMissionItem*  lastCoordinateItem =    qobject_cast<VisualMissionItem*>(_visualItems->get(0));
+    bool                roiActive =             false;
+
+    for (int i=1; i<_visualItems->count(); i++) {
+        VisualMissionItem*  visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
+        SimpleMissionItem*  simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
+        VisualItemPair      viPair;
+
+        if (simpleItem) {
+            if (roiActive) {
+                if (_isROICancelItem(simpleItem)) {
+                    roiActive = false;
+                }
+            } else {
+                if (_isROIBeginItem(simpleItem)) {
+                    roiActive = true;
+                }
+            }
+        }
+
+        if (visualItem->specifiesCoordinate() && !visualItem->isStandaloneCoordinate()) {
+            viPair = VisualItemPair(lastCoordinateItem, visualItem);
+            if (_linesTable.contains(viPair)) {
+                _linesTable[viPair]->setSpecialVisual(roiActive);
+            }
+            lastCoordinateItem = visualItem;
+        }
+    }
+}
+
 void MissionController::_recalcWaypointLines(void)
 {
     VisualItemPair      lastSegmentVisualItemPair;
@@ -1172,7 +1207,8 @@ void MissionController::_recalcWaypointLines(void)
     bool                linkEndToHome =                 false;
     bool                linkStartToHome =               _managerVehicle->rover() ? true : false;
     bool                foundRTL =                      false;
-    bool                 homePositionValid =            _settingsItem->coordinate().isValid();
+    bool                homePositionValid =             _settingsItem->coordinate().isValid();
+    bool                roiActive =                     false;
 
     qCDebug(MissionControllerLog) << "_recalcWaypointLines homePositionValid" << homePositionValid;
 
@@ -1190,10 +1226,20 @@ void MissionController::_recalcWaypointLines(void)
     // Grovel through the list of items keeping track of things needed to correctly draw waypoints lines
 
     for (int i=1; i<_visualItems->count(); i++) {
-        VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
-        SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
+        VisualMissionItem*  visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
+        SimpleMissionItem*  simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
 
         if (simpleItem) {
+            if (roiActive) {
+                if (_isROICancelItem(simpleItem)) {
+                    roiActive = false;
+                }
+            } else {
+                if (_isROIBeginItem(simpleItem)) {
+                    roiActive = true;
+                }
+            }
+
             MAV_CMD command = simpleItem->mavCommand();
             switch (command) {
             case MAV_CMD_NAV_TAKEOFF:
@@ -1235,6 +1281,7 @@ void MissionController::_recalcWaypointLines(void)
                 lastSegmentVisualItemPair =  VisualItemPair(lastCoordinateItemBeforeRTL, visualItem);
                 if (!_flyView || addDirectionArrow) {
                     CoordinateVector* coordVector = _addWaypointLineSegment(old_table, lastSegmentVisualItemPair);
+                    coordVector->setSpecialVisual(roiActive);
                     if (addDirectionArrow) {
                         _directionArrows.append(coordVector);
                     }
@@ -1255,7 +1302,8 @@ void MissionController::_recalcWaypointLines(void)
         if (_flyView) {
             _waypointPath.append(QVariant::fromValue(_settingsItem->coordinate()));
         }
-        _addWaypointLineSegment(old_table, lastSegmentVisualItemPair);
+        CoordinateVector* coordVector = _addWaypointLineSegment(old_table, lastSegmentVisualItemPair);
+        coordVector->setSpecialVisual(roiActive);
     }
 
     // Add direction arrow to last segment
@@ -2164,6 +2212,21 @@ void MissionController::_managerRemoveAllComplete(bool error)
     }
 }
 
+bool MissionController::_isROIBeginItem(SimpleMissionItem* simpleItem)
+{
+    return simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_LOCATION ||
+            simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET ||
+            (simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
+             static_cast<int>(simpleItem->missionItem().param1()) == MAV_ROI_LOCATION);
+}
+
+bool MissionController::_isROICancelItem(SimpleMissionItem* simpleItem)
+{
+    return simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_NONE ||
+            (simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
+             static_cast<int>(simpleItem->missionItem().param1()) == MAV_ROI_NONE);
+}
+
 void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
 {
     if (_visualItems && (force || sequenceNumber != _currentPlanViewSeqNum)) {
@@ -2178,6 +2241,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
         _isInsertTakeoffValid =         true;
         _isInsertLandValid =            true;
         _isROIActive =                  false;
+        _isROIBeginCurrentItem =        false;
         _flyThroughCommandsAllowed =    true;
 
         for (int viIndex=0; viIndex<_visualItems->count(); viIndex++) {
@@ -2222,20 +2286,18 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
             if (simpleItem) {
                 if (pVI->sequenceNumber() <= sequenceNumber) {
                     if (_isROIActive) {
-                        if (simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_NONE ||
-                                (simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
-                                 simpleItem->missionItem().param1() == MAV_ROI_NONE)) {
+                        if (_isROICancelItem(simpleItem)) {
                             _isROIActive = false;
                         }
                     } else {
-                        if (simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_LOCATION ||
-                                simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET ||
-                                (simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
-                                 simpleItem->missionItem().param1() == MAV_ROI_LOCATION)) {
+                        if (_isROIBeginItem(simpleItem)) {
                             _isROIActive = true;
                         }
                     }
                 }
+                if (pVI->sequenceNumber() == sequenceNumber && _isROIBeginItem(simpleItem)) {
+                    _isROIBeginCurrentItem = true;
+                }
             }
 
             if (pVI->sequenceNumber() == sequenceNumber) {
@@ -2287,6 +2349,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
         emit isInsertTakeoffValidChanged();
         emit isInsertLandValidChanged();
         emit isROIActiveChanged();
+        emit isROIBeginCurrentItemChanged();
         emit flyThroughCommandsAllowedChanged();
     }
 }

src/MissionManager/MissionController.h

@@ -96,9 +96,10 @@ public:
     Q_PROPERTY(bool                 isInsertTakeoffValid            MEMBER _isInsertTakeoffValid        NOTIFY isInsertTakeoffValidChanged)
     Q_PROPERTY(bool                 isInsertLandValid               MEMBER _isInsertLandValid           NOTIFY isInsertLandValidChanged)
     Q_PROPERTY(bool                 isROIActive                     MEMBER _isROIActive                 NOTIFY isROIActiveChanged)
+    Q_PROPERTY(bool                 isROIBeginCurrentItem           MEMBER _isROIBeginCurrentItem       NOTIFY isROIBeginCurrentItemChanged)
     Q_PROPERTY(bool                 flyThroughCommandsAllowed       MEMBER _flyThroughCommandsAllowed   NOTIFY flyThroughCommandsAllowedChanged)
 
-    Q_INVOKABLE void removeMissionItem(int index);
+    Q_INVOKABLE void removeMissionItem(int viIndex);
 
     /// Add a new simple mission item to the list
     ///     @param coordinate: Coordinate for item
@@ -263,6 +264,7 @@ signals:
     void isInsertTakeoffValidChanged        (void);
     void isInsertLandValidChanged           (void);
     void isROIActiveChanged                 (void);
+    void isROIBeginCurrentItemChanged       (void);
     void flyThroughCommandsAllowedChanged   (void);
 
 private slots:
@@ -286,6 +288,7 @@ private:
     void _recalcSequence(void);
     void _recalcChildItems(void);
     void _recalcAllWithCoordinate(const QGeoCoordinate& coordinate);
+    void _recalcROISpecialVisuals(void);
     void _initAllVisualItems(void);
     void _deinitAllVisualItems(void);
     void _initVisualItem(VisualMissionItem* item);
@@ -317,6 +320,8 @@ private:
     VisualMissionItem* _insertSimpleMissionItemWorker(QGeoCoordinate coordinate, MAV_CMD command, int visualItemIndex, bool makeCurrentItem);
     void _insertComplexMissionItemWorker(const QGeoCoordinate& mapCenterCoordinate, ComplexMissionItem* complexItem, int visualItemIndex, bool makeCurrentItem);
     void _warnIfTerrainFrameUsed(void);
+    bool _isROIBeginItem(SimpleMissionItem* simpleItem);
+    bool _isROICancelItem(SimpleMissionItem* simpleItem);
 
 private:
     MissionManager*         _missionManager;
@@ -344,6 +349,7 @@ private:
     bool                    _isInsertLandValid =            true;
     bool                    _isROIActive =                  false;
     bool                    _flyThroughCommandsAllowed =    true;
+    bool                    _isROIBeginCurrentItem =        false;
 
     static const char*  _settingsGroup;
 

src/PlanView/PlanView.qml

@@ -430,7 +430,8 @@ Item {
 
             // Add lines between waypoints
             MissionLineView {
-                model: _editingLayer == _layerMission ? _missionController.waypointLines : undefined
+                showSpecialVisual:  _missionController.isROIBeginCurrentItem
+                model:              _editingLayer == _layerMission ? _missionController.waypointLines : undefined
             }
 
             MapItemView {

src/QmlControls/CoordinateVector.cc

@@ -44,3 +44,11 @@ void CoordinateVector::setCoordinate2(const QGeoCoordinate &coordinate)
         emit coordinate2Changed(_coordinate2);
     }
 }
+
+void CoordinateVector::setSpecialVisual(bool specialVisual)
+{
+    if (_specialVisual != specialVisual) {
+        _specialVisual = specialVisual;
+        emit specialVisualChanged(specialVisual);
+    }
+}

src/QmlControls/CoordinateVector.h

@@ -21,25 +21,30 @@ public:
     CoordinateVector(QObject* parent = nullptr);
     CoordinateVector(const QGeoCoordinate& coordinate1, const QGeoCoordinate& coordinate2, QObject* parent = nullptr);
     
-    Q_PROPERTY(QGeoCoordinate coordinate1 MEMBER _coordinate1 NOTIFY coordinate1Changed)
-    Q_PROPERTY(QGeoCoordinate coordinate2 MEMBER _coordinate2 NOTIFY coordinate2Changed)
+    Q_PROPERTY(QGeoCoordinate coordinate1   MEMBER _coordinate1                         NOTIFY coordinate1Changed)
+    Q_PROPERTY(QGeoCoordinate coordinate2   MEMBER _coordinate2                         NOTIFY coordinate2Changed)
+    Q_PROPERTY(bool           specialVisual READ specialVisual WRITE setSpecialVisual   NOTIFY specialVisualChanged)
 
-    QGeoCoordinate coordinate1(void) const { return _coordinate1; }
-    QGeoCoordinate coordinate2(void) const { return _coordinate2; }
+    QGeoCoordinate  coordinate1(void) const { return _coordinate1; }
+    QGeoCoordinate  coordinate2(void) const { return _coordinate2; }
+    bool            specialVisual(void) const { return _specialVisual; }
 
     void setCoordinates(const QGeoCoordinate& coordinate1, const QGeoCoordinate& coordinate2);
+    void setSpecialVisual(bool specialVisual);
 
 public slots:
     void setCoordinate1(const QGeoCoordinate& coordinate);
     void setCoordinate2(const QGeoCoordinate& coordinate);
     
 signals:
-    void coordinate1Changed(QGeoCoordinate coordinate);
-    void coordinate2Changed(QGeoCoordinate coordinate);
+    void coordinate1Changed     (QGeoCoordinate coordinate);
+    void coordinate2Changed     (QGeoCoordinate coordinate);
+    void specialVisualChanged   (bool specialVisual);
     
 private:
     QGeoCoordinate  _coordinate1;
     QGeoCoordinate  _coordinate2;
+    bool            _specialVisual = false;
 };
 
 #endif