Merge pull request #7007 from DonLakeFlyer/TransectEntryCameraStart

Survey, CorridorScan: Add camera start to transect entry even when taking images throughout…

src/MissionManager/CorridorScanComplexItem.cc

@@ -172,7 +172,7 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i
 
     //qDebug() << "_buildAndAppendMissionItems";
     for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect: _transects) {
-        bool entryPoint = true;
+        bool transectEntry = true;
 
         //qDebug() << "start transect";
         for (const CoordInfo_t& transectCoordInfo: transect) {
@@ -193,7 +193,7 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i
                                    missionItemParent);
             items.append(item);
 
-            if (firstOverallPoint && addTriggerAtBeginning) {
+            if (triggerCamera() && firstOverallPoint && addTriggerAtBeginning) {
                 // Start triggering
                 addTriggerAtBeginning = false;
                 item = new MissionItem(seqNum++,
@@ -210,9 +210,12 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i
             }
             firstOverallPoint = false;
 
-            if (transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge && !imagesEverywhere) {
-                if (entryPoint) {
-                    // Start of transect, start triggering
+            // Possibly add trigger start/stop to survey area entrance/exit
+            if (triggerCamera() && transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge) {
+                if (transectEntry) {
+                    // Start of transect, always start triggering. We do this even if we are taking images everywhere.
+                    // This allows a restart of the mission in mid-air without losing images from the entire mission.
+                    // At most you may lose part of a transect.
                     item = new MissionItem(seqNum++,
                                            MAV_CMD_DO_SET_CAM_TRIGG_DIST,
                                            MAV_FRAME_MISSION,
@@ -224,7 +227,8 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i
                                            false,                                                           // isCurrentItem
                                            missionItemParent);
                     items.append(item);
-                } else {
+                    transectEntry = false;
+                } else if (!imagesEverywhere && !transectEntry){
                     // End of transect, stop triggering
                     item = new MissionItem(seqNum++,
                                            MAV_CMD_DO_SET_CAM_TRIGG_DIST,
@@ -238,7 +242,6 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i
                                            missionItemParent);
                     items.append(item);
                 }
-                entryPoint = !entryPoint;
             }
         }
     }

src/MissionManager/SurveyComplexItem.h

@@ -117,7 +117,7 @@ private:
     void _rebuildTransectsPhase1WorkerSinglePolygon(bool refly);
     void _rebuildTransectsPhase1WorkerSplitPolygons(bool refly);
     /// Adds to the _transects array from one polygon
-    void _rebuildTranscetsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint);
+    void _rebuildTransectsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint);
     // Decompose polygon into list of convex sub polygons
     void _PolygonDecomposeConvex(const QPolygonF& polygon, QList<QPolygonF>& decomposedPolygons);
     // return true if vertex a can see vertex b

src/MissionManager/TransectStyleComplexItem.cc

@@ -719,10 +719,12 @@ int TransectStyleComplexItem::lastSequenceNumber(void) const
         }
 
 
-        if (!hoverAndCaptureEnabled()) {
+        if (!hoverAndCaptureEnabled() && triggerCamera()) {
             if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) {
-                // Only one camera start and on camera stop
+                // One camera start/stop for beginning/end of entire survey
                 itemCount += 2;
+                // One camera start for each transect
+                itemCount += _transects.count();
             } else {
                 // Each transect will have a camera start and stop in it
                 itemCount += _transects.count() * 2;