Merge pull request #6235 from DonLakeFlyer/CorridorTerrainFollow

Corridor Scan: Tolerance based terrain follow

src/MissionManager/TransectStyleComplexItem.h

@@ -183,6 +183,7 @@ protected:
     static const char* _jsonTransectStyleComplexItemKey;
     static const char* _jsonTransectPointsKey;
     static const char* _jsonItemsKey;
+    static const char* _jsonFollowTerrainKey;
 
     static const int _terrainQueryTimeoutMsecs;
     static const double _surveyEdgeIndicator;   ///< Altitude value in _transectPoints which indicates survey entry
@@ -191,4 +192,8 @@ private slots:
     void _rebuildTransects                      (void);
     void _reallyQueryTransectsPathHeightInfo    (void);
 
+private:
+    void    _addInterstitialTransectsForTerrain (void);
+    double  _altitudeBetweenCoords              (const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord, double percentTowardsTo);
+    int     _maxPathHeight                      (const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo, int fromIndex, int toIndex, double& maxHeight);
 };

src/comm/MockLink.cc

@@ -35,9 +35,15 @@ QGC_LOGGING_CATEGORY(MockLinkVerboseLog, "MockLinkVerboseLog")
 
 // Vehicle position is set close to default Gazebo vehicle location. This allows for multi-vehicle
 // testing of a gazebo vehicle and a mocklink vehicle
-double      MockLink::_defaultVehicleLatitude =     47.397f;
-double      MockLink::_defaultVehicleLongitude =    8.5455f;
-double      MockLink::_defaultVehicleAltitude =     488.056f;
+#if 1
+double      MockLink::_defaultVehicleLatitude =     47.397;
+double      MockLink::_defaultVehicleLongitude =    8.5455;
+double      MockLink::_defaultVehicleAltitude =     488.056;
+#else
+double      MockLink::_defaultVehicleLatitude =     47.6333022928789;
+double      MockLink::_defaultVehicleLongitude =    -122.08833157994995;
+double      MockLink::_defaultVehicleAltitude =     19.0;
+#endif
 int         MockLink::_nextVehicleSystemId =        128;
 const char* MockLink::_failParam =                  "COM_FLTMODE6";