Fix additionalTimeDelay calcs

src/MissionManager/ComplexMissionItem.h

@@ -27,9 +27,6 @@ public:
     /// Signals complexDistanceChanged
     virtual double complexDistance(void) const = 0;
 
-    /// @return Amount of additional time delay in seconds needed to fly the complex item
-    virtual double additionalTimeDelay(void) const { return 0; }
-
     /// Load the complex mission item from Json
     ///     @param complexObject Complex mission item json object
     ///     @param sequenceNumber Sequence number for first MISSION_ITEM in survey
@@ -46,10 +43,13 @@ public:
     /// This mission item attribute specifies the type of the complex item.
     static const char* jsonComplexItemTypeKey;
 
+    // Overrides from VisualMissionItem
+    double additionalTimeDelay(void) const final { return 0; }
+
+
 signals:
     void complexDistanceChanged     (void);
     void greatestDistanceToChanged  (void);
-    void additionalTimeDelayChanged (void);
 };
 
 #endif

src/MissionManager/MissionController.cc

@@ -1193,26 +1193,6 @@ void MissionController::_addCruiseTime(double cruiseTime, double cruiseDistance,
     _updateBatteryInfo(waypointIndex);
 }
 
-/// Adds additional time to a mission as specified by the command
-void MissionController::_addCommandTimeDelay(SimpleMissionItem* simpleItem, bool vtolInHover)
-{
-    double seconds = 0;
-
-    if (!simpleItem) {
-        return;
-    }
-
-    // This routine is currently quite minimal and only handles the simple cases.
-    switch ((int)simpleItem->command()) {
-    case MAV_CMD_NAV_WAYPOINT:
-    case MAV_CMD_CONDITION_DELAY:
-        seconds = simpleItem->missionItem().param1();
-        break;
-    }
-
-    _addTimeDistance(vtolInHover, 0, 0, seconds, 0, -1);
-}
-
 /// Adds the specified time to the appropriate hover or cruise time values.
 ///     @param vtolInHover true: vtol is currrent in hover mode
 ///     @param hoverTime    Amount of time tp add to hover
@@ -1367,8 +1347,7 @@ void MissionController::_recalcMissionFlightStatus()
             }
         }
 
-        // Check for command specific time delays
-        _addCommandTimeDelay(simpleItem, vtolInHover);
+        _addTimeDistance(vtolInHover, 0, 0, item->additionalTimeDelay(), 0, -1);
 
         if (item->specifiesCoordinate()) {
             // Keep track of the min/max altitude for all waypoints so we can show altitudes as a percentage
@@ -1419,8 +1398,7 @@ void MissionController::_recalcMissionFlightStatus()
 
                     double hoverTime = distance / _missionFlightStatus.hoverSpeed;
                     double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
-                    double extraTime = complexItem->additionalTimeDelay();
-                    _addTimeDistance(vtolInHover, hoverTime, cruiseTime, extraTime, distance, item->sequenceNumber());
+                    _addTimeDistance(vtolInHover, hoverTime, cruiseTime, 0, distance, item->sequenceNumber());
                 }
 
                 item->setMissionFlightStatus(_missionFlightStatus);
@@ -1609,6 +1587,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
     connect(visualItem, &VisualMissionItem::specifiedGimbalYawChanged,                  this, &MissionController::_recalcMissionFlightStatus);
     connect(visualItem, &VisualMissionItem::specifiedGimbalPitchChanged,                this, &MissionController::_recalcMissionFlightStatus);
     connect(visualItem, &VisualMissionItem::terrainAltitudeChanged,                     this, &MissionController::_recalcMissionFlightStatus);
+    connect(visualItem, &VisualMissionItem::additionalTimeDelayChanged,                 this, &MissionController::_recalcMissionFlightStatus);
     connect(visualItem, &VisualMissionItem::lastSequenceNumberChanged,                  this, &MissionController::_recalcSequence);
 
     if (visualItem->isSimpleItem()) {
@@ -1624,7 +1603,6 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
         if (complexItem) {
             connect(complexItem, &ComplexMissionItem::complexDistanceChanged,       this, &MissionController::_recalcMissionFlightStatus);
             connect(complexItem, &ComplexMissionItem::greatestDistanceToChanged,    this, &MissionController::_recalcMissionFlightStatus);
-            connect(complexItem, &ComplexMissionItem::additionalTimeDelayChanged,   this, &MissionController::_recalcMissionFlightStatus);
         } else {
             qWarning() << "ComplexMissionItem not found";
         }

src/MissionManager/MissionController.h

@@ -254,7 +254,6 @@ private:
     bool _loadItemsFromJson(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
     void _initLoadedVisualItems(QmlObjectListModel* loadedVisualItems);
     void _addWaypointLineSegment(CoordVectHashTable& prevItemPairHashTable, VisualItemPair& pair);
-    void _addCommandTimeDelay(SimpleMissionItem* simpleItem, bool vtolInHover);
     void _addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum);
     int _insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int i);
 

src/MissionManager/SimpleMissionItem.cc

@@ -205,6 +205,8 @@ void SimpleMissionItem::_connectSignals(void)
     connect(&_missionItem._param6Fact,  &Fact::valueChanged, this, &SimpleMissionItem::_sendCoordinateChanged);
     connect(&_missionItem._param7Fact,  &Fact::valueChanged, this, &SimpleMissionItem::_sendCoordinateChanged);
 
+    connect(&_missionItem._param1Fact,  &Fact::valueChanged, this, &SimpleMissionItem::_possibleAdditionalTimeDelayChanged);
+
     // The following changes may also change friendlyEditAllowed
     connect(&_missionItem._autoContinueFact,    &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
     connect(&_missionItem._commandFact,         &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
@@ -951,3 +953,28 @@ void SimpleMissionItem::setAltitudeMode(AltitudeMode altitudeMode)
         emit altitudeModeChanged();
     }
 }
+
+double SimpleMissionItem::additionalTimeDelay(void) const
+{
+    switch (command()) {
+    case MAV_CMD_NAV_WAYPOINT:
+    case MAV_CMD_CONDITION_DELAY:
+    case MAV_CMD_NAV_DELAY:
+        return missionItem().param1();
+    default:
+        return 0;
+    }
+}
+
+void SimpleMissionItem::_possibleAdditionalTimeDelayChanged(void)
+{
+    switch (command()) {
+    case MAV_CMD_NAV_WAYPOINT:
+    case MAV_CMD_CONDITION_DELAY:
+    case MAV_CMD_NAV_DELAY:
+        emit additionalTimeDelayChanged();
+        break;
+    }
+
+    return;
+}

src/MissionManager/SimpleMissionItem.h

@@ -122,6 +122,7 @@ public:
     void            applyNewAltitude        (double newAltitude) final;
     void            setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
     bool            readyForSave            (void) const final;
+    double          additionalTimeDelay     (void) const final;
 
     bool coordinateHasRelativeAltitude      (void) const final { return _missionItem.relativeAltitude(); }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return coordinateHasRelativeAltitude(); }
@@ -147,17 +148,18 @@ signals:
     void supportsTerrainFrameChanged(void);
 
 private slots:
-    void _setDirty                      (void);
-    void _sectionDirtyChanged           (bool dirty);
-    void _sendCommandChanged            (void);
-    void _sendCoordinateChanged         (void);
-    void _sendFriendlyEditAllowedChanged(void);
-    void _altitudeChanged               (void);
-    void _altitudeModeChanged           (void);
-    void _terrainAltChanged             (void);
-    void _updateLastSequenceNumber      (void);
-    void _rebuildFacts                  (void);
-    void _rebuildTextFieldFacts         (void);
+    void _setDirty                          (void);
+    void _sectionDirtyChanged               (bool dirty);
+    void _sendCommandChanged                (void);
+    void _sendCoordinateChanged             (void);
+    void _sendFriendlyEditAllowedChanged    (void);
+    void _altitudeChanged                   (void);
+    void _altitudeModeChanged               (void);
+    void _terrainAltChanged                 (void);
+    void _updateLastSequenceNumber          (void);
+    void _rebuildFacts                      (void);
+    void _rebuildTextFieldFacts             (void);
+    void _possibleAdditionalTimeDelayChanged(void);
 
 private:
     void _connectSignals        (void);

src/MissionManager/SurveyComplexItem.cc

@@ -442,108 +442,6 @@ void SurveyComplexItem::_adjustTransectsToEntryPointLocation(QList<QList<QGeoCoo
     qCDebug(SurveyComplexItemLog) << "_adjustTransectsToEntryPointLocation Modified entry point:entryLocation" << transects.first().first() << _entryPoint;
 }
 
-#if 0
-void SurveyComplexItem::_generateGrid(void)
-{
-    if (_ignoreRecalc) {
-        return;
-    }
-
-    if (_mapPolygon.count() < 3 || _gridSpacingFact.rawValue().toDouble() <= 0) {
-        _clearInternal();
-        return;
-    }
-
-    _simpleGridPoints.clear();
-    _transectSegments.clear();
-    _reflyTransectSegments.clear();
-    _additionalFlightDelaySeconds = 0;
-
-    QList<QPointF>          polygonPoints;
-    QList<QList<QPointF>>   transectSegments;
-
-    // Convert polygon to NED
-    QGeoCoordinate tangentOrigin = _mapPolygon.pathModel().value<QGCQGeoCoordinate*>(0)->coordinate();
-    qCDebug(SurveyComplexItemLog) << "Convert polygon to NED - tangentOrigin" << tangentOrigin;
-    for (int i=0; i<_mapPolygon.count(); i++) {
-        double y, x, down;
-        QGeoCoordinate vertex = _mapPolygon.pathModel().value<QGCQGeoCoordinate*>(i)->coordinate();
-        if (i == 0) {
-            // This avoids a nan calculation that comes out of convertGeoToNed
-            x = y = 0;
-        } else {
-            convertGeoToNed(vertex, tangentOrigin, &y, &x, &down);
-        }
-        polygonPoints += QPointF(x, y);
-        qCDebug(SurveyComplexItemLog) << "vertex:x:y" << vertex << polygonPoints.last().x() << polygonPoints.last().y();
-    }
-
-    double coveredArea = 0.0;
-    for (int i=0; i<polygonPoints.count(); i++) {
-        if (i != 0) {
-            coveredArea += polygonPoints[i - 1].x() * polygonPoints[i].y() - polygonPoints[i].x() * polygonPoints[i -1].y();
-        } else {
-            coveredArea += polygonPoints.last().x() * polygonPoints[i].y() - polygonPoints[i].x() * polygonPoints.last().y();
-        }
-    }
-    _setCoveredArea(0.5 * fabs(coveredArea));
-
-    // Generate grid
-    int cameraShots = 0;
-    cameraShots += _gridGenerator(polygonPoints, transectSegments, false /* refly */);
-    _convertTransectToGeo(transectSegments, tangentOrigin, _transectSegments);
-    _adjustTransectsToEntryPointLocation(_transectSegments);
-    _appendGridPointsFromTransects(_transectSegments);
-    if (_refly90Degrees) {
-        transectSegments.clear();
-        cameraShots += _gridGenerator(polygonPoints, transectSegments, true /* refly */);
-        _convertTransectToGeo(transectSegments, tangentOrigin, _reflyTransectSegments);
-        _optimizeTransectsForShortestDistance(_transectSegments.last().last(), _reflyTransectSegments);
-        _appendGridPointsFromTransects(_reflyTransectSegments);
-    }
-
-    // Calc survey distance
-    double surveyDistance = 0.0;
-    for (int i=1; i<_simpleGridPoints.count(); i++) {
-        QGeoCoordinate coord1 = _simpleGridPoints[i-1].value<QGeoCoordinate>();
-        QGeoCoordinate coord2 = _simpleGridPoints[i].value<QGeoCoordinate>();
-        surveyDistance += coord1.distanceTo(coord2);
-    }
-    _setSurveyDistance(surveyDistance);
-
-    if (cameraShots == 0 && _triggerCamera()) {
-        cameraShots = (int)floor(surveyDistance / _triggerDistance());
-        // Take into account immediate camera trigger at waypoint entry
-        cameraShots++;
-    }
-    _setCameraShots(cameraShots);
-
-    if (_hoverAndCaptureEnabled()) {
-        _additionalFlightDelaySeconds = cameraShots * _hoverAndCaptureDelaySeconds;
-    }
-    emit additionalTimeDelayChanged();
-
-    emit gridPointsChanged();
-
-    // Determine command count for lastSequenceNumber
-    _missionCommandCount = _calcMissionCommandCount(_transectSegments);
-    _missionCommandCount += _calcMissionCommandCount(_reflyTransectSegments);
-    emit lastSequenceNumberChanged(lastSequenceNumber());
-
-    // Set exit coordinate
-    if (_simpleGridPoints.count()) {
-        QGeoCoordinate coordinate = _simpleGridPoints.first().value<QGeoCoordinate>();
-        coordinate.setAltitude(_gridAltitudeFact.rawValue().toDouble());
-        setCoordinate(coordinate);
-        QGeoCoordinate exitCoordinate = _simpleGridPoints.last().value<QGeoCoordinate>();
-        exitCoordinate.setAltitude(_gridAltitudeFact.rawValue().toDouble());
-        _setExitCoordinate(exitCoordinate);
-    }
-
-    setDirty(true);
-}
-#endif
-
 QPointF SurveyComplexItem::_rotatePoint(const QPointF& point, const QPointF& origin, double angle)
 {
     QPointF rotated;

src/MissionManager/VisualMissionItem.h

@@ -151,6 +151,9 @@ public:
     /// Adjust the altitude of the item if appropriate to the new altitude.
     virtual void applyNewAltitude(double newAltitude) = 0;
 
+    /// @return Amount of additional time delay in seconds needed to fly this item
+    virtual double additionalTimeDelay(void) const = 0;
+
     double  missionGimbalYaw    (void) const { return _missionGimbalYaw; }
     double  missionVehicleYaw   (void) const { return _missionVehicleYaw; }
     void    setMissionVehicleYaw(double vehicleYaw);
@@ -184,6 +187,7 @@ signals:
     void missionGimbalYawChanged        (double missionGimbalYaw);
     void missionVehicleYawChanged       (double missionVehicleYaw);
     void terrainAltitudeChanged         (double terrainAltitude);
+    void additionalTimeDelayChanged     (void);
 
     void coordinateHasRelativeAltitudeChanged       (bool coordinateHasRelativeAltitude);
     void exitCoordinateHasRelativeAltitudeChanged   (bool exitCoordinateHasRelativeAltitude);