Carry over speed/gimbal for defaults from previous items

src/MissionManager/CameraSection.cc

@@ -59,8 +59,8 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
 
     connect(&_cameraActionFact,                 &Fact::valueChanged,                        this, &CameraSection::_cameraActionChanged);
 
-    connect(&_gimbalPitchFact,                  &Fact::valueChanged,                        this, &CameraSection::_setDirty);
-    connect(&_gimbalYawFact,                    &Fact::valueChanged,                        this, &CameraSection::_setDirty);
+    connect(&_gimbalPitchFact,                  &Fact::valueChanged,                        this, &CameraSection::_dirtyIfSpecified);
+    connect(&_gimbalYawFact,                    &Fact::valueChanged,                        this, &CameraSection::_dirtyIfSpecified);
     connect(&_cameraPhotoIntervalDistanceFact,  &Fact::valueChanged,                        this, &CameraSection::_setDirty);
     connect(&_cameraPhotoIntervalTimeFact,      &Fact::valueChanged,                        this, &CameraSection::_setDirty);
     connect(&_cameraModeFact,                   &Fact::valueChanged,                        this, &CameraSection::_setDirty);
@@ -68,7 +68,9 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
     connect(this,                               &CameraSection::specifyCameraModeChanged,   this, &CameraSection::_setDirty);
 
     connect(this,                               &CameraSection::specifyGimbalChanged,       this, &CameraSection::_updateSpecifiedGimbalYaw);
+    connect(this,                               &CameraSection::specifyGimbalChanged,       this, &CameraSection::_updateSpecifiedGimbalPitch);
     connect(&_gimbalYawFact,                    &Fact::valueChanged,                        this, &CameraSection::_updateSpecifiedGimbalYaw);
+    connect(&_gimbalPitchFact,                  &Fact::valueChanged,                        this, &CameraSection::_updateSpecifiedGimbalPitch);
 }
 
 void CameraSection::setSpecifyGimbal(bool specifyGimbal)
@@ -491,9 +493,23 @@ double CameraSection::specifiedGimbalYaw(void) const
     return _specifyGimbal ? _gimbalYawFact.rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
 }
 
+double CameraSection::specifiedGimbalPitch(void) const
+{
+    return _specifyGimbal ? _gimbalPitchFact.rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
+}
+
 void CameraSection::_updateSpecifiedGimbalYaw(void)
 {
-    emit specifiedGimbalYawChanged(specifiedGimbalYaw());
+    if (_specifyGimbal) {
+        emit specifiedGimbalYawChanged(specifiedGimbalYaw());
+    }
+}
+
+void CameraSection::_updateSpecifiedGimbalPitch(void)
+{
+    if (_specifyGimbal) {
+        emit specifiedGimbalPitchChanged(specifiedGimbalPitch());
+    }
 }
 
 void CameraSection::_updateSettingsSpecified(void)
@@ -521,3 +537,11 @@ bool CameraSection::cameraModeSupported(void) const
 {
     return _vehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_SET_CAMERA_MODE);
 }
+
+void CameraSection::_dirtyIfSpecified(void)
+{
+    // We only set the dirty bit if specify gimbal it set. This allows us to change defaults without affecting dirty.
+    if (_specifyGimbal) {
+        setDirty(true);
+    }
+}

src/MissionManager/CameraSection.h

@@ -61,6 +61,10 @@ public:
     ///< @return The gimbal yaw specified by this item, NaN if not specified
     double specifiedGimbalYaw(void) const;
 
+    ///< Signals specifiedGimbalPitchChanged
+    ///< @return The gimbal pitch specified by this item, NaN if not specified
+    double specifiedGimbalPitch(void) const;
+
     // Overrides from Section
     bool available          (void) const override { return _available; }
     bool dirty              (void) const override { return _dirty; }
@@ -75,14 +79,17 @@ signals:
     bool specifyGimbalChanged       (bool specifyGimbal);
     bool specifyCameraModeChanged   (bool specifyCameraMode);
     void specifiedGimbalYawChanged  (double gimbalYaw);
+    void specifiedGimbalPitchChanged(double gimbalPitch);
 
 private slots:
     void _setDirty(void);
     void _setDirtyAndUpdateItemCount(void);
     void _updateSpecifiedGimbalYaw(void);
+    void _updateSpecifiedGimbalPitch(void);
     void _specifyChanged(void);
     void _updateSettingsSpecified(void);
     void _cameraActionChanged(void);
+    void _dirtyIfSpecified(void);
 
 private:
     bool _scanGimbal(QmlObjectListModel* visualItems, int scanIndex);

src/MissionManager/CameraSectionTest.cc

@@ -36,6 +36,7 @@ void CameraSectionTest::init(void)
 
     rgCameraSignals[specifyGimbalChangedIndex] =        SIGNAL(specifyGimbalChanged(bool));
     rgCameraSignals[specifiedGimbalYawChangedIndex] =   SIGNAL(specifiedGimbalYawChanged(double));
+    rgCameraSignals[specifiedGimbalPitchChangedIndex] = SIGNAL(specifiedGimbalPitchChanged(double));
     rgCameraSignals[specifyCameraModeChangedIndex] =    SIGNAL(specifyCameraModeChanged(bool));
 
     _cameraSection = _simpleItem->cameraSection();
@@ -206,22 +207,32 @@ void CameraSectionTest::_testDirty(void)
     _cameraSection->setDirty(false);
     _spySection->clearAllSignals();
 
-    // Check the remaining items that should set dirty bit
+    // dirty SHOULD NOT change if pitch or yaw is changed while specifyGimbal IS NOT set
+    _cameraSection->setSpecifyGimbal(false);
+    _cameraSection->setDirty(false);
+    _spySection->clearAllSignals();
+    _cameraSection->gimbalPitch()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
+    _cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalYaw()->rawValue().toDouble() + 1);
+    QVERIFY(_spySection->checkNoSignalByMask(dirtyChangedMask));
+    QCOMPARE(_cameraSection->dirty(), false);
 
+    // dirty SHOULD change if pitch or yaw is changed while specifyGimbal IS set
+    _cameraSection->setSpecifyGimbal(true);
+    _cameraSection->setDirty(false);
+    _spySection->clearAllSignals();
     _cameraSection->gimbalPitch()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
     QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
-    QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
     QCOMPARE(_cameraSection->dirty(), true);
     _cameraSection->setDirty(false);
     _spySection->clearAllSignals();
-
-    _cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
+    _cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalYaw()->rawValue().toDouble() + 1);
     QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
-    QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
     QCOMPARE(_cameraSection->dirty(), true);
     _cameraSection->setDirty(false);
     _spySection->clearAllSignals();
 
+    // Check the remaining items that should set dirty bit
+
     _cameraSection->cameraAction()->setRawValue(_cameraSection->cameraAction()->rawValue().toInt() + 1);
     QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
     QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
@@ -1081,3 +1092,23 @@ void CameraSectionTest::_testScanForMultipleItems(void)
         }
     }
 }
+
+void CameraSectionTest::_testSpecifiedGimbalValuesChanged(void)
+{
+    // specifiedGimbal[Yaw|Pitch]Changed SHOULD NOT signal if values are changed when specifyGimbal IS NOT set
+    _cameraSection->setSpecifyGimbal(false);
+    _spyCamera->clearAllSignals();
+    _cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalYaw()->rawValue().toDouble() + 1);
+    QVERIFY(_spyCamera->checkNoSignalByMask(specifiedGimbalYawChangedMask));
+    _cameraSection->gimbalPitch()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
+    QVERIFY(_spyCamera->checkNoSignalByMask(specifiedGimbalPitchChangedMask));
+
+    // specifiedGimbal[Yaw|Pitch]Changed SHOULD signal if values are changed when specifyGimbal IS set
+    _cameraSection->setSpecifyGimbal(true);
+    _spyCamera->clearAllSignals();
+    _cameraSection->gimbalYaw()->setRawValue(_cameraSection->gimbalYaw()->rawValue().toDouble() + 1);
+    QVERIFY(_spyCamera->checkSignalByMask(specifiedGimbalYawChangedMask));
+    _spyCamera->clearAllSignals();
+    _cameraSection->gimbalPitch()->setRawValue(_cameraSection->gimbalPitch()->rawValue().toDouble() + 1);
+    QVERIFY(_spyCamera->checkSignalByMask(specifiedGimbalPitchChangedMask));
+}

src/MissionManager/CameraSectionTest.h

@@ -24,20 +24,21 @@ public:
     void cleanup(void) override;
 
 private slots:
-    void _testDirty(void);
-    void _testSettingsAvailable(void);
-    void _checkAvailable(void);
-    void _testItemCount(void);
-    void _testAppendSectionItems(void);
-    void _testScanForGimbalSection(void);
-    void _testScanForPhotoIntervalTimeSection(void);
-    void _testScanForPhotoIntervalDistanceSection(void);
-    void _testScanForStartVideoSection(void);
-    void _testScanForStopVideoSection(void);
-    void _testScanForStopImageSection(void);
-    void _testScanForCameraModeSection(void);
-    void _testScanForTakePhotoSection(void);
-    void _testScanForMultipleItems(void);
+    void _testDirty                                 (void);
+    void _testSettingsAvailable                     (void);
+    void _checkAvailable                            (void);
+    void _testItemCount                             (void);
+    void _testAppendSectionItems                    (void);
+    void _testScanForGimbalSection                  (void);
+    void _testScanForPhotoIntervalTimeSection       (void);
+    void _testScanForPhotoIntervalDistanceSection   (void);
+    void _testScanForStartVideoSection              (void);
+    void _testScanForStopVideoSection               (void);
+    void _testScanForStopImageSection               (void);
+    void _testScanForCameraModeSection              (void);
+    void _testScanForTakePhotoSection               (void);
+    void _testScanForMultipleItems                  (void);
+    void _testSpecifiedGimbalValuesChanged          (void);
 
 private:
     void _createSpy(CameraSection* cameraSection, MultiSignalSpy** cameraSpy);
@@ -47,14 +48,16 @@ private:
     enum {
         specifyGimbalChangedIndex = 0,
         specifiedGimbalYawChangedIndex,
+        specifiedGimbalPitchChangedIndex,
         specifyCameraModeChangedIndex,
         maxSignalIndex,
     };
 
     enum {
-        specifyGimbalChangedMask =      1 << specifyGimbalChangedIndex,
-        specifiedGimbalYawChangedMask = 1 << specifiedGimbalYawChangedIndex,
-        specifyCameraModeChangedMask =  1 << specifyCameraModeChangedIndex,
+        specifyGimbalChangedMask =          1 << specifyGimbalChangedIndex,
+        specifiedGimbalYawChangedMask =     1 << specifiedGimbalYawChangedIndex,
+        specifiedGimbalPitchChangedMask =   1 << specifiedGimbalPitchChangedIndex,
+        specifyCameraModeChangedMask =      1 << specifyCameraModeChangedIndex,
     };
 
     static const size_t cCameraSignals = maxSignalIndex;

src/MissionManager/FixedWingLandingComplexItem.h

@@ -77,6 +77,7 @@ public:
     int             sequenceNumber          (void) const final { return _sequenceNumber; }
     double          specifiedFlightSpeed    (void) final { return std::numeric_limits<double>::quiet_NaN(); }
     double          specifiedGimbalYaw      (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    double          specifiedGimbalPitch    (void) final { return std::numeric_limits<double>::quiet_NaN(); }
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
     void            applyNewAltitude        (double newAltitude) final;
 

src/MissionManager/MissionController.cc

@@ -91,6 +91,7 @@ void MissionController::_resetMissionFlightStatus(void)
     _missionFlightStatus.vehicleSpeed =         _controllerVehicle->multiRotor() || _managerVehicle->vtol() ? _missionFlightStatus.hoverSpeed : _missionFlightStatus.cruiseSpeed;
     _missionFlightStatus.vehicleYaw =           0.0;
     _missionFlightStatus.gimbalYaw =            std::numeric_limits<double>::quiet_NaN();
+    _missionFlightStatus.gimbalPitch =          std::numeric_limits<double>::quiet_NaN();
 
     // Battery information
 
@@ -355,6 +356,7 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
             newItem->missionItem().setParam7(prevAltitude);
         }
     }
+    newItem->setMissionFlightStatus(_missionFlightStatus);
     _visualItems->insert(i, newItem);
 
     _recalcAll();
@@ -1227,12 +1229,13 @@ void MissionController::_recalcMissionFlightStatus()
         }
 
         // Look for gimbal change
-        if (_managerVehicle->vehicleYawsToNextWaypointInMission()) {
-            // We current only support gimbal display in this mode
-            double gimbalYaw = item->specifiedGimbalYaw();
-            if (!qIsNaN(gimbalYaw)) {
-                _missionFlightStatus.gimbalYaw = gimbalYaw;
-            }
+        double gimbalYaw = item->specifiedGimbalYaw();
+        if (!qIsNaN(gimbalYaw)) {
+            _missionFlightStatus.gimbalYaw = gimbalYaw;
+        }
+        double gimbalPitch = item->specifiedGimbalPitch();
+        if (!qIsNaN(gimbalPitch)) {
+            _missionFlightStatus.gimbalPitch = gimbalPitch;
         }
 
         if (i == 0) {
@@ -1511,6 +1514,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
     connect(visualItem, &VisualMissionItem::exitCoordinateHasRelativeAltitudeChanged,   this, &MissionController::_recalcWaypointLines);
     connect(visualItem, &VisualMissionItem::specifiedFlightSpeedChanged,                this, &MissionController::_recalcMissionFlightStatus);
     connect(visualItem, &VisualMissionItem::specifiedGimbalYawChanged,                  this, &MissionController::_recalcMissionFlightStatus);
+    connect(visualItem, &VisualMissionItem::specifiedGimbalPitchChanged,                this, &MissionController::_recalcMissionFlightStatus);
     connect(visualItem, &VisualMissionItem::terrainAltitudeChanged,                     this, &MissionController::_recalcMissionFlightStatus);
     connect(visualItem, &VisualMissionItem::lastSequenceNumberChanged,                  this, &MissionController::_recalcSequence);
 

src/MissionManager/MissionController.h

@@ -54,6 +54,7 @@ public:
         double  vehicleSpeed;           ///< Either cruise or hover speed based on vehicle type and vtol state
         double  vehicleYaw;
         double  gimbalYaw;              ///< NaN signals yaw was never changed
+        double  gimbalPitch;            ///< NaN signals pitch was never changed
         int     mAhBattery;             ///< 0 for not available
         double  hoverAmps;              ///< Amp consumption during hover
         double  cruiseAmps;             ///< Amp consumption during cruise

src/MissionManager/MissionItem.cc

@@ -52,6 +52,7 @@ MissionItem::MissionItem(QObject* parent)
 
     setAutoContinue(true);
 
+    connect(&_param1Fact, &Fact::rawValueChanged, this, &MissionItem::_param1Changed);
     connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
     connect(&_param3Fact, &Fact::rawValueChanged, this, &MissionItem::_param3Changed);
 }
@@ -442,6 +443,27 @@ double MissionItem::specifiedGimbalYaw(void) const
     return gimbalYaw;
 }
 
+double MissionItem::specifiedGimbalPitch(void) const
+{
+    double gimbalPitch = std::numeric_limits<double>::quiet_NaN();
+
+    if (_commandFact.rawValue().toInt() == MAV_CMD_DO_MOUNT_CONTROL && _param7Fact.rawValue().toInt() == MAV_MOUNT_MODE_MAVLINK_TARGETING) {
+        gimbalPitch = _param1Fact.rawValue().toDouble();
+    }
+
+    return gimbalPitch;
+}
+
+void MissionItem::_param1Changed(QVariant value)
+{
+    Q_UNUSED(value);
+
+    double gimbalPitch = specifiedGimbalPitch();
+    if (!qIsNaN(gimbalPitch)) {
+        emit specifiedGimbalPitchChanged(gimbalPitch);
+    }
+}
+
 void MissionItem::_param2Changed(QVariant value)
 {
     Q_UNUSED(value);

src/MissionManager/MissionItem.h

@@ -82,6 +82,9 @@ public:
     /// @return Flight gimbal yaw change value if this item supports it. If not it returns NaN.
     double specifiedGimbalYaw(void) const;
 
+    /// @return Flight gimbal pitch change value if this item supports it. If not it returns NaN.
+    double specifiedGimbalPitch(void) const;
+
     void setCommand         (MAV_CMD command);
     void setSequenceNumber  (int sequenceNumber);
     void setIsCurrentItem   (bool isCurrentItem);
@@ -107,10 +110,12 @@ signals:
     void sequenceNumberChanged      (int sequenceNumber);
     void specifiedFlightSpeedChanged(double flightSpeed);
     void specifiedGimbalYawChanged  (double gimbalYaw);
+    void specifiedGimbalPitchChanged(double gimbalPitch);
 
 private slots:
-    void _param2Changed         (QVariant value);
-    void _param3Changed         (QVariant value);
+    void _param1Changed(QVariant value);
+    void _param2Changed(QVariant value);
+    void _param3Changed(QVariant value);
 
 private:
     bool _convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Json, QString& errorString);

src/MissionManager/MissionSettingsItem.cc

@@ -63,8 +63,9 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
     connect(&_cameraSection,    &CameraSection::dirtyChanged,   this, &MissionSettingsItem::_sectionDirtyChanged);
     connect(&_speedSection,     &SpeedSection::dirtyChanged,    this, &MissionSettingsItem::_sectionDirtyChanged);
 
-    connect(&_cameraSection,    &CameraSection::specifiedGimbalYawChanged,  this, &MissionSettingsItem::specifiedGimbalYawChanged);
-    connect(&_speedSection,     &SpeedSection::specifiedFlightSpeedChanged, this, &MissionSettingsItem::specifiedFlightSpeedChanged);
+    connect(&_cameraSection,    &CameraSection::specifiedGimbalYawChanged,      this, &MissionSettingsItem::specifiedGimbalYawChanged);
+    connect(&_cameraSection,    &CameraSection::specifiedGimbalPitchChanged,    this, &MissionSettingsItem::specifiedGimbalPitchChanged);
+    connect(&_speedSection,     &SpeedSection::specifiedFlightSpeedChanged,     this, &MissionSettingsItem::specifiedFlightSpeedChanged);
 }
 
 int MissionSettingsItem::lastSequenceNumber(void) const
@@ -259,6 +260,11 @@ double MissionSettingsItem::specifiedGimbalYaw(void)
     return _cameraSection.specifyGimbal() ? _cameraSection.gimbalYaw()->rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
 }
 
+double MissionSettingsItem::specifiedGimbalPitch(void)
+{
+    return _cameraSection.specifyGimbal() ? _cameraSection.gimbalPitch()->rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
+}
+
 void MissionSettingsItem::_updateAltitudeInCoordinate(QVariant value)
 {
     double newAltitude = value.toDouble();

src/MissionManager/MissionSettingsItem.h

@@ -73,6 +73,7 @@ public:
     QGeoCoordinate  exitCoordinate          (void) const final { return _plannedHomePositionCoordinate; }
     int             sequenceNumber          (void) const final { return _sequenceNumber; }
     double          specifiedGimbalYaw      (void) final;
+    double          specifiedGimbalPitch    (void) final;
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
     void            applyNewAltitude        (double newAltitude) final { Q_UNUSED(newAltitude); /* no action */ }
     double          specifiedFlightSpeed    (void) final;

src/MissionManager/SimpleMissionItem.cc

@@ -717,6 +717,11 @@ double SimpleMissionItem::specifiedGimbalYaw(void)
     return _cameraSection->available() ? _cameraSection->specifiedGimbalYaw() : missionItem().specifiedGimbalYaw();
 }
 
+double SimpleMissionItem::specifiedGimbalPitch(void)
+{
+    return _cameraSection->available() ? _cameraSection->specifiedGimbalPitch() : missionItem().specifiedGimbalPitch();
+}
+
 bool SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
 {
     bool sectionFound = false;
@@ -754,10 +759,12 @@ void SimpleMissionItem::_updateOptionalSections(void)
         _speedSection->setAvailable(true);
     }
 
-    connect(_cameraSection, &CameraSection::dirtyChanged,               this, &SimpleMissionItem::_sectionDirtyChanged);
-    connect(_cameraSection, &CameraSection::itemCountChanged,           this, &SimpleMissionItem::_updateLastSequenceNumber);
-    connect(_cameraSection, &CameraSection::availableChanged,           this, &SimpleMissionItem::specifiedGimbalYawChanged);
-    connect(_cameraSection, &CameraSection::specifiedGimbalYawChanged,  this, &SimpleMissionItem::specifiedGimbalYawChanged);
+    connect(_cameraSection, &CameraSection::dirtyChanged,                   this, &SimpleMissionItem::_sectionDirtyChanged);
+    connect(_cameraSection, &CameraSection::itemCountChanged,               this, &SimpleMissionItem::_updateLastSequenceNumber);
+    connect(_cameraSection, &CameraSection::availableChanged,               this, &SimpleMissionItem::specifiedGimbalYawChanged);
+    connect(_cameraSection, &CameraSection::availableChanged,               this, &SimpleMissionItem::specifiedGimbalPitchChanged);
+    connect(_cameraSection, &CameraSection::specifiedGimbalPitchChanged,    this, &SimpleMissionItem::specifiedGimbalPitchChanged);
+    connect(_cameraSection, &CameraSection::specifiedGimbalYawChanged,      this, &SimpleMissionItem::specifiedGimbalYawChanged);
 
     connect(_speedSection,  &SpeedSection::dirtyChanged,                this, &SimpleMissionItem::_sectionDirtyChanged);
     connect(_speedSection,  &SpeedSection::itemCountChanged,            this, &SimpleMissionItem::_updateLastSequenceNumber);
@@ -813,3 +820,20 @@ void SimpleMissionItem::applyNewAltitude(double newAltitude)
         }
     }
 }
+
+void SimpleMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
+{
+    // If user has not already set speed/gimbal, set defaults from previous items.
+    VisualMissionItem::setMissionFlightStatus(missionFlightStatus);
+    if (_speedSection->available() && !_speedSection->specifyFlightSpeed() && !qFuzzyCompare(_speedSection->flightSpeed()->rawValue().toDouble(), missionFlightStatus.vehicleSpeed)) {
+        _speedSection->flightSpeed()->setRawValue(missionFlightStatus.vehicleSpeed);
+    }
+    if (_cameraSection->available() && !_cameraSection->specifyGimbal()) {
+        if (!qIsNaN(missionFlightStatus.gimbalYaw) && !qFuzzyCompare(_cameraSection->gimbalYaw()->rawValue().toDouble(), missionFlightStatus.gimbalYaw)) {
+            _cameraSection->gimbalYaw()->setRawValue(missionFlightStatus.gimbalYaw);
+        }
+        if (!qIsNaN(missionFlightStatus.gimbalPitch) && !qFuzzyCompare(_cameraSection->gimbalPitch()->rawValue().toDouble(), missionFlightStatus.gimbalPitch)) {
+            _cameraSection->gimbalPitch()->setRawValue(missionFlightStatus.gimbalPitch);
+        }
+    }
+}

src/MissionManager/SimpleMissionItem.h

@@ -102,9 +102,11 @@ public:
     int             sequenceNumber          (void) const final { return _missionItem.sequenceNumber(); }
     double          specifiedFlightSpeed    (void) final;
     double          specifiedGimbalYaw      (void) final;
+    double          specifiedGimbalPitch    (void) final;
     QString         mapVisualQML            (void) const final { return QStringLiteral("SimpleItemMapVisual.qml"); }
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
     void            applyNewAltitude        (double newAltitude) final;
+    void            setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
 
     bool coordinateHasRelativeAltitude      (void) const final { return _missionItem.relativeAltitude(); }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return coordinateHasRelativeAltitude(); }

src/MissionManager/SpeedSection.cc

@@ -39,7 +39,7 @@ SpeedSection::SpeedSection(Vehicle* vehicle, QObject* parent)
     _flightSpeedFact.setRawValue(flightSpeed);
 
     connect(this,               &SpeedSection::specifyFlightSpeedChanged,   this, &SpeedSection::settingsSpecifiedChanged);
-    connect(&_flightSpeedFact,  &Fact::valueChanged,                        this, &SpeedSection::_setDirty);
+    connect(&_flightSpeedFact,  &Fact::valueChanged,                        this, &SpeedSection::_flightSpeedChanged);
 
     connect(this,               &SpeedSection::specifyFlightSpeedChanged,   this, &SpeedSection::_updateSpecifiedFlightSpeed);
     connect(&_flightSpeedFact,  &Fact::valueChanged,                        this, &SpeedSection::_updateSpecifiedFlightSpeed);
@@ -60,11 +60,6 @@ void SpeedSection::setAvailable(bool available)
     }
 }
 
-void SpeedSection::_setDirty(void)
-{
-    setDirty(true);
-}
-
 void SpeedSection::setDirty(bool dirty)
 {
     if (_dirty != dirty) {
@@ -146,6 +141,16 @@ double SpeedSection::specifiedFlightSpeed(void) const
 
 void SpeedSection::_updateSpecifiedFlightSpeed(void)
 {
-    emit specifiedFlightSpeedChanged(specifiedFlightSpeed());
+    if (_specifyFlightSpeed) {
+        emit specifiedFlightSpeedChanged(specifiedFlightSpeed());
+    }
 }
 
+void SpeedSection::_flightSpeedChanged(void)
+{
+    // We only set the dirty bit if specify flight speed it set. This allows us to change defaults for flight speed
+    // without affecting dirty.
+    if (_specifyFlightSpeed) {
+        setDirty(true);
+    }
+}

src/MissionManager/SpeedSection.h

@@ -46,8 +46,8 @@ signals:
     void specifiedFlightSpeedChanged    (double flightSpeed);
 
 private slots:
-    void _setDirty                  (void);
     void _updateSpecifiedFlightSpeed(void);
+    void _flightSpeedChanged        (void);
 
 private:
     bool    _available;

src/MissionManager/SpeedSectionTest.cc

@@ -73,7 +73,18 @@ void SpeedSectionTest::_testDirty(void)
     QCOMPARE(_speedSection->dirty(), false);
     _spySection->clearAllSignals();
 
-    // Check the remaining items that should set dirty bit
+    // Flight speed change should only signal if specifyFlightSpeed is set
+
+    _speedSection->setSpecifyFlightSpeed(false);
+    _speedSection->setDirty(false);
+    _spySection->clearAllSignals();
+    _speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
+    QVERIFY(_spySection->checkNoSignalByMask(dirtyChangedMask));
+    QCOMPARE(_speedSection->dirty(), false);
+
+    _speedSection->setSpecifyFlightSpeed(true);
+    _speedSection->setDirty(false);
+    _spySection->clearAllSignals();
     _speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
     QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
     QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
@@ -264,3 +275,18 @@ void SpeedSectionTest::_testScanForSection(void)
     visualItems.clear();
     scanIndex = 0;
 }
+
+void SpeedSectionTest::_testSpecifiedFlightSpeedChanged(void)
+{
+    // specifiedFlightSpeedChanged SHOULD NOT signal if flight speed is changed when specifyFlightSpeed IS NOT set
+    _speedSection->setSpecifyFlightSpeed(false);
+    _spySpeed->clearAllSignals();
+    _speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
+    QVERIFY(_spySpeed->checkNoSignalByMask(specifiedFlightSpeedChangedMask));
+
+    // specifiedFlightSpeedChanged SHOULD signal if flight speed is changed when specifyFlightSpeed IS set
+    _speedSection->setSpecifyFlightSpeed(true);
+    _spySpeed->clearAllSignals();
+    _speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
+    QVERIFY(_spySpeed->checkSignalByMask(specifiedFlightSpeedChangedMask));
+}

src/MissionManager/SpeedSectionTest.h

@@ -24,12 +24,13 @@ public:
     void cleanup(void) override;
 
 private slots:
-    void _testDirty(void);
-    void _testSettingsAvailable(void);
-    void _checkAvailable(void);
-    void _testItemCount(void);
-    void _testAppendSectionItems(void);
-    void _testScanForSection(void);
+    void _testDirty                         (void);
+    void _testSettingsAvailable             (void);
+    void _checkAvailable                    (void);
+    void _testItemCount                     (void);
+    void _testAppendSectionItems            (void);
+    void _testScanForSection                (void);
+    void _testSpecifiedFlightSpeedChanged   (void);
 
 private:
     void _createSpy(SpeedSection* speedSection, MultiSignalSpy** speedSpy);

src/MissionManager/StructureScanComplexItem.h

@@ -81,6 +81,7 @@ public:
     int             sequenceNumber          (void) const final { return _sequenceNumber; }
     double          specifiedFlightSpeed    (void) final { return std::numeric_limits<double>::quiet_NaN(); }
     double          specifiedGimbalYaw      (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    double          specifiedGimbalPitch    (void) final { return std::numeric_limits<double>::quiet_NaN(); }
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
     void            setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
     void            applyNewAltitude        (double newAltitude) final;

src/MissionManager/SurveyMissionItem.h

@@ -117,6 +117,7 @@ public:
     int             sequenceNumber          (void) const final { return _sequenceNumber; }
     double          specifiedFlightSpeed    (void) final { return std::numeric_limits<double>::quiet_NaN(); }
     double          specifiedGimbalYaw      (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    double          specifiedGimbalPitch    (void) final { return std::numeric_limits<double>::quiet_NaN(); }
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
     void            setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
     void            applyNewAltitude        (double newAltitude) final;

src/MissionManager/VisualMissionItem.h

@@ -65,7 +65,8 @@ public:
     Q_PROPERTY(QString          mapVisualQML                        READ mapVisualQML                                                   CONSTANT)                                           ///< QMl code for map visuals
     Q_PROPERTY(QmlObjectListModel* childItems                       READ childItems                                                     CONSTANT)
     Q_PROPERTY(double           specifiedFlightSpeed                READ specifiedFlightSpeed                                           NOTIFY specifiedFlightSpeedChanged)                 ///< NaN if this item does not specify flight speed
-    Q_PROPERTY(double           specifiedGimbalYaw                  READ specifiedGimbalYaw                                             NOTIFY specifiedGimbalYawChanged)                   ///< NaN if this item goes not specify gimbal yaw
+    Q_PROPERTY(double           specifiedGimbalYaw                  READ specifiedGimbalYaw                                             NOTIFY specifiedGimbalYawChanged)                   ///< Gimbal yaw, NaN for not specified
+    Q_PROPERTY(double           specifiedGimbalPitch                READ specifiedGimbalPitch                                           NOTIFY specifiedGimbalPitchChanged)                 ///< Gimbal pitch, NaN for not specified
     Q_PROPERTY(double           missionGimbalYaw                    READ missionGimbalYaw                                               NOTIFY missionGimbalYawChanged)                     ///< Current gimbal yaw state at this point in mission
     Q_PROPERTY(double           missionVehicleYaw                   READ missionVehicleYaw                                              NOTIFY missionVehicleYawChanged)                    ///< Expected vehicle yaw at this point in mission
 
@@ -116,6 +117,7 @@ public:
     virtual int             sequenceNumber          (void) const = 0;
     virtual double          specifiedFlightSpeed    (void) = 0;
     virtual double          specifiedGimbalYaw      (void) = 0;
+    virtual double          specifiedGimbalPitch    (void) = 0;
 
     /// Update item to mission flight status at point where this item appears in mission.
     /// IMPORTANT: Overrides must call base class implementation
@@ -173,6 +175,7 @@ signals:
     void specifiesAltitudeOnlyChanged   (void);
     void specifiedFlightSpeedChanged    (void);
     void specifiedGimbalYawChanged      (void);
+    void specifiedGimbalPitchChanged    (void);
     void lastSequenceNumberChanged      (int sequenceNumber);
     void missionGimbalYawChanged        (double missionGimbalYaw);
     void missionVehicleYawChanged       (double missionVehicleYaw);

src/MissionManager/VisualMissionItemTest.cc

@@ -43,6 +43,7 @@ void VisualMissionItemTest::init(void)
     rgVisualItemSignals[specifiesAltitudeOnlyChangedIndex] =                SIGNAL(specifiesAltitudeOnlyChanged());
     rgVisualItemSignals[specifiedFlightSpeedChangedIndex] =                 SIGNAL(specifiedFlightSpeedChanged());
     rgVisualItemSignals[specifiedGimbalYawChangedIndex] =                   SIGNAL(specifiedGimbalYawChanged());
+    rgVisualItemSignals[specifiedGimbalPitchChangedIndex] =                 SIGNAL(specifiedGimbalPitchChanged());
     rgVisualItemSignals[lastSequenceNumberChangedIndex] =                   SIGNAL(lastSequenceNumberChanged(int));
     rgVisualItemSignals[missionGimbalYawChangedIndex] =                     SIGNAL(missionGimbalYawChanged(double));
     rgVisualItemSignals[missionVehicleYawChangedIndex] =                    SIGNAL(missionVehicleYawChanged(double));

src/MissionManager/VisualMissionItemTest.h

@@ -49,6 +49,7 @@ protected:
         specifiesAltitudeOnlyChangedIndex,
         specifiedFlightSpeedChangedIndex,
         specifiedGimbalYawChangedIndex,
+        specifiedGimbalPitchChangedIndex,
         lastSequenceNumberChangedIndex,
         missionGimbalYawChangedIndex,
         missionVehicleYawChangedIndex,
@@ -77,6 +78,7 @@ protected:
         specifiesAltitudeOnlyChangedMask =              1 << specifiesAltitudeOnlyChangedIndex,
         specifiedFlightSpeedChangedMask =               1 << specifiedFlightSpeedChangedIndex,
         specifiedGimbalYawChangedMask =                 1 << specifiedGimbalYawChangedIndex,
+        specifiedGimbalPitchChangedMask =               1 << specifiedGimbalPitchChangedIndex,
         lastSequenceNumberChangedMask =                 1 << lastSequenceNumberChangedIndex,
         missionGimbalYawChangedMask =                   1 << missionGimbalYawChangedIndex,
         missionVehicleYawChangedMask =                  1 << missionVehicleYawChangedIndex,