Structure height support

src/MissionManager/CameraCalc.h

@@ -21,8 +21,9 @@ public:
     CameraCalc(Vehicle* vehicle, QObject* parent = NULL);
 
     Q_PROPERTY(QString          cameraName                  READ cameraName         WRITE setCameraName NOTIFY cameraNameChanged)
-    Q_PROPERTY(QString          customCameraName            READ customCameraName                       CONSTANT)                   // Camera name for custom camera setting
-    Q_PROPERTY(QString          manualCameraName            READ manualCameraName                       CONSTANT)                   // Camera name for manual camera setting
+    Q_PROPERTY(QString          customCameraName            READ customCameraName                       CONSTANT)                   ///< Camera name for custom camera setting
+    Q_PROPERTY(QString          manualCameraName            READ manualCameraName                       CONSTANT)                   ///< Camera name for manual camera setting
+    Q_PROPERTY(bool             isManualCamera              READ isManualCamera                         NOTIFY cameraNameChanged)   ///< true: using manual camera
     Q_PROPERTY(Fact*            valueSetIsDistance          READ valueSetIsDistance                     CONSTANT)                   ///< true: distance specified, resolution calculated
     Q_PROPERTY(Fact*            distanceToSurface           READ distanceToSurface                      CONSTANT)                   ///< Distance to surface for image foot print calculation
     Q_PROPERTY(Fact*            imageDensity                READ imageDensity                           CONSTANT)                   ///< Image density on surface (cm/px)
@@ -48,8 +49,9 @@ public:
     Fact* adjustedFootprintSide     (void) { return &_adjustedFootprintSideFact; }
     Fact* adjustedFootprintFrontal  (void) { return &_adjustedFootprintFrontalFact; }
 
-    double imageFootprintSide             (void) const { return _imageFootprintSide; }
-    double imageFootprintFrontal          (void) const { return _imageFootprintFrontal; }
+    bool    isManualCamera          (void) { return cameraName() == manualCameraName(); }
+    double  imageFootprintSide      (void) const { return _imageFootprintSide; }
+    double  imageFootprintFrontal   (void) const { return _imageFootprintFrontal; }
 
     bool dirty      (void) const { return _dirty; }
     void setDirty   (bool dirty);

src/MissionManager/StructureScanComplexItem.cc

@@ -22,6 +22,7 @@
 QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog")
 
 const char* StructureScanComplexItem::_altitudeFactName =               "Altitude";
+const char* StructureScanComplexItem::_structureHeightFactName =        "StructureHeight";
 const char* StructureScanComplexItem::_layersFactName =                 "Layers";
 const char* StructureScanComplexItem::_gimbalPitchFactName =            "GimbalPitch";
 const char* StructureScanComplexItem::_gimbalYawFactName =              "GimbalYaw";
@@ -71,6 +72,10 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
     connect(&_gimbalPitchFact,  &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
     connect(&_gimbalYawFact,    &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
 
+    connect(&_layersFact,                           &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);
+    connect(&_structureHeightFact,                  &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);
+    connect(_cameraCalc.adjustedFootprintFrontal(), &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);
+
     connect(this, &StructureScanComplexItem::altitudeRelativeChanged,       this, &StructureScanComplexItem::_setDirty);
     connect(this, &StructureScanComplexItem::altitudeRelativeChanged,       this, &StructureScanComplexItem::coordinateHasRelativeAltitudeChanged);
     connect(this, &StructureScanComplexItem::altitudeRelativeChanged,       this, &StructureScanComplexItem::exitCoordinateHasRelativeAltitudeChanged);
@@ -89,6 +94,8 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
     connect(&_flightPolygon,                        &QGCMapPolygon::pathChanged,    this, &StructureScanComplexItem::_recalcCameraShots);
     connect(_cameraCalc.adjustedFootprintSide(),    &Fact::valueChanged,            this, &StructureScanComplexItem::_recalcCameraShots);
     connect(&_layersFact,                           &Fact::valueChanged,            this, &StructureScanComplexItem::_recalcCameraShots);
+
+    _recalcLayerInfo();
 }
 
 void StructureScanComplexItem::_setScanDistance(double scanDistance)
@@ -143,13 +150,14 @@ void StructureScanComplexItem::save(QJsonArray&  missionItems)
     QJsonObject saveObject;
 
     // Header
-    saveObject[JsonHelper::jsonVersionKey] =                    1;
+    saveObject[JsonHelper::jsonVersionKey] =                    2;
     saveObject[VisualMissionItem::jsonTypeKey] =                VisualMissionItem::jsonTypeComplexItemValue;
     saveObject[ComplexMissionItem::jsonComplexItemTypeKey] =    jsonComplexItemTypeValue;
 
     saveObject[_gimbalPitchFactName] =          _gimbalPitchFact.rawValue().toDouble();
     saveObject[_gimbalYawFactName] =            _gimbalYawFact.rawValue().toDouble();
     saveObject[_altitudeFactName] =             _altitudeFact.rawValue().toDouble();
+    saveObject[_structureHeightFactName] =      _structureHeightFact.rawValue().toDouble();
     saveObject[_jsonAltitudeRelativeKey] =      _altitudeRelative;
     saveObject[_layersFactName] =               _layersFact.rawValue().toDouble();
 
@@ -181,7 +189,8 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
         { _gimbalPitchFactName,                         QJsonValue::Double, true },
         { _gimbalYawFactName,                           QJsonValue::Double, true },
         { _altitudeFactName,                            QJsonValue::Double, true },
-        { _jsonAltitudeRelativeKey,                     QJsonValue::Bool,   false },
+        { _structureHeightFactName,                     QJsonValue::Double, true },
+        { _jsonAltitudeRelativeKey,                     QJsonValue::Bool,   true },
         { _layersFactName,                              QJsonValue::Double, true },
         { _jsonCameraCalcKey,                           QJsonValue::Object, true },
     };
@@ -199,7 +208,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
     }
 
     int version = complexObject[JsonHelper::jsonVersionKey].toInt();
-    if (version != 1) {
+    if (version != 2) {
         errorString = tr("%1 complex item version %2 not supported").arg(jsonComplexItemTypeValue).arg(version);
         return false;
     }
@@ -273,7 +282,9 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
 
     for (int layer=0; layer<_layersFact.rawValue().toInt(); layer++) {
         bool addTriggerStart = true;
-        double layerAltitude = baseAltitude + (layer * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
+        // baseAltitude is the bottom of the first layer. Hence we need to move up half the distance of the camera footprint to center the camera
+        // within the layer.
+        double layerAltitude = baseAltitude + (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + (layer * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
 
         for (int i=0; i<_flightPolygon.count(); i++) {
             QGeoCoordinate vertexCoord = _flightPolygon.vertexCoordinate(i);
@@ -449,3 +460,20 @@ void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative)
         emit altitudeRelativeChanged(altitudeRelative);
     }
 }
+
+void StructureScanComplexItem::_recalcLayerInfo(void)
+{
+    if (_cameraCalc.isManualCamera()) {
+        // Structure height is calculated from layer count, layer height.
+        _structureHeightFact.setSendValueChangedSignals(false);
+        _structureHeightFact.setRawValue(_layersFact.rawValue().toInt() * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
+        _structureHeightFact.clearDeferredValueChangeSignal();
+        _structureHeightFact.setSendValueChangedSignals(true);
+    } else {
+        // Layer count is calculated from structure and layer heights
+        _layersFact.setSendValueChangedSignals(false);
+        _layersFact.setRawValue(qCeil(_structureHeightFact.rawValue().toDouble() / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()));
+        _layersFact.clearDeferredValueChangeSignal();
+        _layersFact.setSendValueChangedSignals(true);
+    }
+}

src/MissionManager/StructureScanComplexItem.h

@@ -31,6 +31,7 @@ public:
     Q_PROPERTY(Fact*            gimbalPitch                 READ gimbalPitch                                                CONSTANT)
     Q_PROPERTY(Fact*            gimbalYaw                   READ gimbalYaw                                                  CONSTANT)
     Q_PROPERTY(Fact*            altitude                    READ altitude                                                   CONSTANT)
+    Q_PROPERTY(Fact*            structureHeight             READ structureHeight                                            CONSTANT)
     Q_PROPERTY(Fact*            layers                      READ layers                                                     CONSTANT)
     Q_PROPERTY(bool             altitudeRelative            READ altitudeRelative           WRITE setAltitudeRelative       NOTIFY altitudeRelativeChanged)
     Q_PROPERTY(int              cameraShots                 READ cameraShots                                                NOTIFY cameraShotsChanged)
@@ -41,6 +42,7 @@ public:
 
     CameraCalc* cameraCalc  (void) { return &_cameraCalc; }
     Fact* altitude          (void) { return &_altitudeFact; }
+    Fact* structureHeight   (void) { return &_structureHeightFact; }
     Fact* layers            (void) { return &_layersFact; }
 
     bool            altitudeRelative        (void) const { return _altitudeRelative; }
@@ -110,6 +112,7 @@ private slots:
     void _rebuildFlightPolygon      (void);
     void _recalcCameraShots         (void);
     void _resetGimbal               (void);
+    void _recalcLayerInfo           (void);
 
 private:
     void _setExitCoordinate(const QGeoCoordinate& coordinate);
@@ -135,11 +138,13 @@ private:
     static QMap<QString, FactMetaData*> _metaDataMap;
 
     Fact    _altitudeFact;
+    Fact    _structureHeightFact;
     Fact    _layersFact;
     Fact    _gimbalPitchFact;
     Fact    _gimbalYawFact;
 
     static const char* _altitudeFactName;
+    static const char* _structureHeightFactName;
     static const char* _layersFactName;
     static const char* _gimbalPitchFactName;
     static const char* _gimbalYawFactName;

src/PlanView/CameraCalc.qml

@@ -248,6 +248,8 @@ Column {
             }
 
             // Calculated values
+/*
+            Taking these out for now since they take up so much space. May come back at a later time.
             GridLayout {
                 anchors.left:   parent.left
                 anchors.right:  parent.right
@@ -269,6 +271,7 @@ Column {
                     enabled:            false
                 }
             } // GridLayout
+*/
 
         } // Column - Camera spec based ui
 

src/PlanView/StructureScanEditor.qml

@@ -87,7 +87,7 @@ Rectangle {
             columnSpacing:  ScreenTools.defaultFontPixelWidth / 2
             rowSpacing:     0
             columns:        3
-            enabled:        missionItem.cameraCalc.cameraName === missionItem.cameraCalc.manualCameraName
+            visible:        missionItem.cameraCalc.isManualCamera
 
             Item { width: 1; height: 1 }
             QGCLabel { text: qsTr("Pitch") }
@@ -126,13 +126,27 @@ Rectangle {
                 rowSpacing:     _margin
                 columns:        2
 
-                QGCLabel { text: qsTr("Layers") }
+                QGCLabel {
+                    text:       qsTr("Structure height")
+                    visible:    !missionItem.cameraCalc.isManualCamera
+                }
+                FactTextField {
+                    fact:               missionItem.structureHeight
+                    Layout.fillWidth:   true
+                    visible:            !missionItem.cameraCalc.isManualCamera
+                }
+
+                QGCLabel {
+                    text:       qsTr("# Layers")
+                    visible:    missionItem.cameraCalc.isManualCamera
+                }
                 FactTextField {
                     fact:               missionItem.layers
                     Layout.fillWidth:   true
+                    visible:            missionItem.cameraCalc.isManualCamera
                 }
 
-                QGCLabel { text: qsTr("Altitude") }
+                QGCLabel { text: qsTr("Bottom layer alt") }
                 FactTextField {
                     fact:               missionItem.altitude
                     Layout.fillWidth:   true