Wima Menu in flight view improved

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -202,7 +202,9 @@ FlightMap {
 
     // Add wima Areas to the Map
     MapItemView {
-        model: wimaController.visualItems
+        property bool _enableWima: wimaController.enableWimaController.value
+
+        model: _enableWima ? wimaController.visualItems : 0
 
         delegate: MapPolygon{
             path:           object.path;

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -120,16 +120,16 @@ Item {
 
                 // Buttons
                 QGCButton {
-                    id: buttonNextMissionPhase
-                    text: qsTr("Next Phase")
-                    onClicked: wimaController.nextPhase();
+                    id: buttonPreviousMissionPhase
+                    text: qsTr("Reverse")
+                    onClicked: wimaController.previousPhase();
                     Layout.fillWidth:   true
                 }
 
                 QGCButton {
-                    id: buttonPreviousMissionPhase
-                    text: qsTr("Previous Phase")
-                    onClicked: wimaController.previousPhase();
+                    id: buttonNextMissionPhase
+                    text: qsTr("Forward")
+                    onClicked: wimaController.nextPhase();
                     Layout.fillWidth:   true
                 }
 

src/FlightMap/MapItems/WimaPlanMapItems.qml

@@ -33,10 +33,11 @@ Item {
 
     property bool _showAllItems:        wimaController.showAllMissionItems.value
     property bool _showCurrentItems:    wimaController.showCurrentMissionItems.value
+    property bool _wimaEnabled:         wimaController.enableWimaController.value
 
     // Add the mission item visuals to the map
     Repeater {        
-        model: largeMapView ? (_showAllItems ? wimaController.missionItems : 0) : 0
+        model: largeMapView ? (_showAllItems ? (_wimaEnabled ? wimaController.missionItems : 0) : 0) : 0
         z:          QGroundControl.zOrderWaypointIndicators-2
 
         delegate: WimaMissionItemMapVisual {
@@ -53,7 +54,7 @@ Item {
 
     // Add the current mission item visuals to the map
     Repeater {
-        model: largeMapView ? (_showCurrentItems ? wimaController.currentMissionItems : 0) : 0
+        model: largeMapView ? (_showCurrentItems ? (_wimaEnabled ? wimaController.currentMissionItems :0 ) : 0) : 0
         z:          QGroundControl.zOrderWaypointIndicators-1
 
         delegate: WimaMissionItemMapVisual {
@@ -85,7 +86,7 @@ Item {
 
         MapPolyline {
             line.width: 3
-            line.color: _showAllItems ? mIlineColor : "transparent"
+            line.color: _showAllItems ? (_wimaEnabled ? mIlineColor  : "transparent"): "transparent"
             z:          QGroundControl.zOrderWaypointLines-2
             path:       wimaController.waypointPath
         }
@@ -96,7 +97,7 @@ Item {
 
         MapPolyline {
             line.width: 3
-            line.color: _showCurrentItems ? cMIlineColor : "transparent"
+            line.color: _showCurrentItems ? (_wimaEnabled ? cMIlineColor : "transparent") : "transparent"
             z:          QGroundControl.zOrderWaypointLines-1
             path:       wimaController.currentWaypointPath
         }

src/MissionManager/SimpleMissionItem.cc

@@ -168,7 +168,7 @@ SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, bool flyVie
     _editorQml = QStringLiteral("qrc:/qml/SimpleItemEditor.qml");
 
     _altitudeFact.setRawValue(other._altitudeFact.rawValue());
-    _amslAltAboveTerrainFact.setRawValue(other._amslAltAboveTerrainFact.rawValue());
+    _amslAltAboveTerrainFact.setRawValue(other._amslAltAboveTerrainFact.rawValue());    
 
     _setupMetaData();
     _connectSignals();
@@ -954,7 +954,7 @@ void SimpleMissionItem::applyNewAltitude(double newAltitude)
     }
 }
 
-void SimpleMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
+void SimpleMissionItem::setMissionFlightStatus(const MissionController::MissionFlightStatus_t& missionFlightStatus)
 {
     // If user has not already set speed/gimbal, set defaults from previous items.
     VisualMissionItem::setMissionFlightStatus(missionFlightStatus);

src/MissionManager/SimpleMissionItem.h

@@ -112,7 +112,7 @@ public:
     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;
+    void            setMissionFlightStatus  (const MissionController::MissionFlightStatus_t &missionFlightStatus) final;
     bool            readyForSave            (void) const final;
     double          additionalTimeDelay     (void) const final;
 

src/MissionManager/StructureScanComplexItem.cc

@@ -441,7 +441,7 @@ int StructureScanComplexItem::cameraShots(void) const
     return _cameraShots;
 }
 
-void StructureScanComplexItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
+void StructureScanComplexItem::setMissionFlightStatus(const MissionController::MissionFlightStatus_t &missionFlightStatus)
 {
     ComplexMissionItem::setMissionFlightStatus(missionFlightStatus);
     if (!qFuzzyCompare(_cruiseSpeed, missionFlightStatus.vehicleSpeed)) {

src/MissionManager/StructureScanComplexItem.h

@@ -86,7 +86,7 @@ public:
     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            setMissionFlightStatus  (const MissionController::MissionFlightStatus_t& missionFlightStatus) final;
     void            applyNewAltitude        (double newAltitude) final;
     double          additionalTimeDelay     (void) const final { return 0; }
 

src/MissionManager/TransectStyleComplexItem.cc

@@ -291,7 +291,7 @@ double TransectStyleComplexItem::greatestDistanceTo(const QGeoCoordinate &other)
     return greatestDistance;
 }
 
-void TransectStyleComplexItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
+void TransectStyleComplexItem::setMissionFlightStatus(const MissionController::MissionFlightStatus_t &missionFlightStatus)
 {
     ComplexMissionItem::setMissionFlightStatus(missionFlightStatus);
     if (!qFuzzyCompare(_cruiseSpeed, missionFlightStatus.vehicleSpeed)) {

src/MissionManager/TransectStyleComplexItem.h

@@ -98,7 +98,7 @@ public:
     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            setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
+    void            setMissionFlightStatus  (const MissionController::MissionFlightStatus_t& missionFlightStatus) final;
     bool            readyForSave            (void) const override;
     QString         commandDescription      (void) const override { return tr("Transect"); }
     QString         commandName             (void) const override { return tr("Transect"); }

src/MissionManager/VisualMissionItem.cc

@@ -85,8 +85,14 @@ const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& o
     setAltDifference(other._altDifference);
     setAltPercent(other._altPercent);
     setTerrainPercent(other._terrainPercent);
+    setTerrainCollision(other._terrainCollision);
     setAzimuth(other._azimuth);
     setDistance(other._distance);
+    _missionGimbalYaw = other._missionGimbalYaw;
+    _missionVehicleYaw = other._missionVehicleYaw;
+    _setBoundingCube(other._boundingCube);
+    setMissionFlightStatus(other._missionFlightStatus);
+    // _childItems // necessary here?
 
     return *this;
 }
@@ -151,7 +157,7 @@ void VisualMissionItem::setAzimuth(double azimuth)
     }
 }
 
-void VisualMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
+void VisualMissionItem::setMissionFlightStatus(const MissionController::MissionFlightStatus_t& missionFlightStatus)
 {
     _missionFlightStatus = missionFlightStatus;
     if (qIsNaN(_missionFlightStatus.gimbalYaw) && qIsNaN(_missionGimbalYaw)) {

src/MissionManager/VisualMissionItem.h

@@ -128,7 +128,7 @@ public:
 
     /// Update item to mission flight status at point where this item appears in mission.
     /// IMPORTANT: Overrides must call base class implementation
-    virtual void setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus);
+    virtual void setMissionFlightStatus(const MissionController::MissionFlightStatus_t &missionFlightStatus);
 
     virtual bool coordinateHasRelativeAltitude      (void) const = 0;
     virtual bool exitCoordinateHasRelativeAltitude  (void) const = 0;

src/Wima/WimaController.cc

@@ -23,16 +23,16 @@ WimaController::WimaController(QObject *parent)
     , _enableWimaController     (settingsGroup, _metaDataMap[enableWimaControllerName])
     , _overlapWaypoints         (settingsGroup, _metaDataMap[overlapWaypointsName])
     , _maxWaypointsPerPhase     (settingsGroup, _metaDataMap[maxWaypointsPerPhaseName])
-    , _startWaypointIndex       (settingsGroup, _metaDataMap[startWaypointIndexName])
+    , _nestPhaseStartWaypointIndex       (settingsGroup, _metaDataMap[startWaypointIndexName])
     , _showAllMissionItems      (settingsGroup, _metaDataMap[showAllMissionItemsName])
     , _showCurrentMissionItems  (settingsGroup, _metaDataMap[showCurrentMissionItemsName])
 {
-    _startWaypointIndex.setRawValue(int(1));
+    _nestPhaseStartWaypointIndex.setRawValue(int(1));
     _showAllMissionItems.setRawValue(true);
     _showCurrentMissionItems.setRawValue(true);
     connect(&_overlapWaypoints,     &Fact::rawValueChanged, this, &WimaController::updateNextWaypoint);
-    connect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
-    connect(&_startWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
+    connect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this, &WimaController::recalcCurrentPhase);
+    connect(&_nestPhaseStartWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
 }
 
 QmlObjectListModel* WimaController::visualItems()
@@ -109,7 +109,7 @@ Fact *WimaController::showCurrentMissionItems()
 
 Fact *WimaController::startWaypointIndex()
 {
-    return &_startWaypointIndex;
+    return &_nestPhaseStartWaypointIndex;
 }
 
 void WimaController::setMasterController(PlanMasterController *masterC)
@@ -134,11 +134,11 @@ void WimaController::setDataContainer(WimaDataContainer *container)
 {
     if (container != nullptr) {
         if (_container != nullptr) {
-           disconnect(_container, &WimaDataContainer::dataValidChanged, this, &WimaController::containerDataValidChanged);
+           disconnect(_container, &WimaDataContainer::dataValidChanged, this, &WimaController::fetchContainerData);
         }
 
         _container = container;
-        connect(_container, &WimaDataContainer::dataValidChanged, this, &WimaController::containerDataValidChanged);
+        connect(_container, &WimaDataContainer::dataValidChanged, this, &WimaController::fetchContainerData);
 
         emit dataContainerChanged();
     }
@@ -146,22 +146,21 @@ void WimaController::setDataContainer(WimaDataContainer *container)
 
 void WimaController::nextPhase()
 {
-    updateCurrentMissionItems();
+    calcNextPhase();
 }
 
 void WimaController::previousPhase()
 {
-    if (_startWaypointIndex.rawValue().toInt() > 0) {
-
-        _startWaypointIndex.setRawValue(  _startWaypointIndex.rawValue().toInt() - _maxWaypointsPerPhase.rawValue().toInt()
-                                        + _overlapWaypoints.rawValue().toInt());
-
+    if (_nestPhaseStartWaypointIndex.rawValue().toInt() > 0) {
+        _nestPhaseStartWaypointIndex.setRawValue(   1 + std::max(_startWaypointIndex
+                                                  - _maxWaypointsPerPhase.rawValue().toInt()
+                                                  + _overlapWaypoints.rawValue().toInt(), 0));
     }
 }
 
 void WimaController::resetPhase()
 {
-    _startWaypointIndex.setRawValue(int(1));
+    _nestPhaseStartWaypointIndex.setRawValue(int(1));
 }
 
 void WimaController::uploadToVehicle()
@@ -300,7 +299,7 @@ bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVa
  *
  * \sa WimaDataContainer, WimaPlaner, WimaPlanData
  */
-void WimaController::containerDataValidChanged(bool valid)
+void WimaController::fetchContainerData(bool valid)
 {
     if ( valid ) {
         if (_container == nullptr) {
@@ -403,6 +402,10 @@ void WimaController::containerDataValidChanged(bool valid)
                 return;
             }
             SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
+            qWarning() << visualItem->missionGimbalYaw();
+            qWarning() << visualItemCopy->missionGimbalYaw();
+            qWarning("");
+
             _missionItems.append(visualItemCopy);
         }
 
@@ -410,8 +413,8 @@ void WimaController::containerDataValidChanged(bool valid)
             _localPlanDataValid = true;
 
         updateWaypointPath();
-        _startWaypointIndex.setRawValue(int(1));
-        updateCurrentMissionItems();
+        _nestPhaseStartWaypointIndex.setRawValue(int(1));
+        calcNextPhase();
 
     } else {
         _localPlanDataValid = false;
@@ -428,21 +431,21 @@ void WimaController::containerDataValidChanged(bool valid)
 #endif
 }
 
-void WimaController::updateCurrentMissionItems()
+void WimaController::calcNextPhase()
 {
-    int startWaypointIndexInt = _startWaypointIndex.rawValue().toInt()-1;
+    _startWaypointIndex = _nestPhaseStartWaypointIndex.rawValue().toInt()-1;
     // check if data was fetched and mission end is not reached yet
-    if (_missionItems.count() < 1 || !_localPlanDataValid || startWaypointIndexInt >= _missionItems.count()-2)
+    if (_missionItems.count() < 1 || !_localPlanDataValid || _startWaypointIndex >= _missionItems.count()-2)
         return;
 
     int maxWaypointsPerPhaseInt = _maxWaypointsPerPhase.rawValue().toInt();
 
     // determine end waypoint index
-    _endWaypointIndex = std::min(startWaypointIndexInt + maxWaypointsPerPhaseInt - 1, _missionItems.count()-2); // -2 -> last item is land item
+    _endWaypointIndex = std::min(_startWaypointIndex + maxWaypointsPerPhaseInt - 1, _missionItems.count()-2); // -2 -> last item is land item
 
     // extract waypoints
     QList<QGeoCoordinate> geoCoordinateList; // list with potential waypoints (from _missionItems), for _currentMissionItems
-    if (!extractCoordinateList(_missionItems, geoCoordinateList, startWaypointIndexInt, _endWaypointIndex)) {
+    if (!extractCoordinateList(_missionItems, geoCoordinateList, _startWaypointIndex, _endWaypointIndex)) {
         qWarning("WimaController::updateCurrentMissionItems(): error on waypoint extraction.");
         _currentMissionItems.clear();
         return;
@@ -450,16 +453,17 @@ void WimaController::updateCurrentMissionItems()
 
     // set start waypoint index for next phase
     if (_endWaypointIndex < _missionItems.count()-2) {
-        _startWaypointIndexList.append(_startWaypointIndex.rawValue().toInt());
+        _startWaypointIndexList.append(_nestPhaseStartWaypointIndex.rawValue().toInt());
 
-        disconnect(&_startWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
-        _startWaypointIndex.setRawValue(std::max(_endWaypointIndex + 2 - _overlapWaypoints.rawValue().toInt(), 1));
-        connect(&_startWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
+        disconnect(&_nestPhaseStartWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
+        int temp = 1 + std::max(_endWaypointIndex + 1 - _overlapWaypoints.rawValue().toInt(), 0);
+        _nestPhaseStartWaypointIndex.setRawValue(std::min(temp , _missionItems.count()-1));
+        connect(&_nestPhaseStartWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
     }
     else {
-        disconnect(&_startWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
-        _startWaypointIndex.setRawValue(_missionItems.count()-1); // marks that end of mission is reached
-        connect(&_startWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
+        disconnect(&_nestPhaseStartWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
+        _nestPhaseStartWaypointIndex.setRawValue(_missionItems.count()-1); // marks that end of mission is reached
+        connect(&_nestPhaseStartWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
     }
 
     // calculate path from home to first waypoint
@@ -538,7 +542,10 @@ void WimaController::updateCurrentMissionItems()
             return;
         }
 
-        SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
+        SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);        
+        qWarning() << visualItem->missionGimbalYaw();
+        qWarning() << visualItemCopy->missionGimbalYaw();
+        qWarning("");
         _currentMissionItems.append(visualItemCopy);
     }
 
@@ -564,11 +571,16 @@ void WimaController::updateCurrentPath()
 void WimaController::updateNextWaypoint()
 {
     if (_endWaypointIndex < _missionItems.count()-2) {
-        disconnect(&_startWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
-        _startWaypointIndex.setRawValue(_endWaypointIndex + 2 - _overlapWaypoints.rawValue().toInt());
-        connect(&_startWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::updateCurrentMissionItems);
+        disconnect(&_nestPhaseStartWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
+        _nestPhaseStartWaypointIndex.setRawValue(1 + std::max(_endWaypointIndex + 1 - _overlapWaypoints.rawValue().toInt(), 0));
+        connect(&_nestPhaseStartWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
     }
 }
 
+void WimaController::recalcCurrentPhase()
+{
+    _nestPhaseStartWaypointIndex.setRawValue(_startWaypointIndex + 1);
+}
+
 
 

src/Wima/WimaController.h

@@ -137,11 +137,12 @@ signals:
     void currentWaypointPathChanged     (void);
 
 private slots:
-    void containerDataValidChanged          (bool valid);
-    void updateCurrentMissionItems          (void);
+    void fetchContainerData                 (bool valid);
+    void calcNextPhase                      (void);
     void updateWaypointPath                 (void);
     void updateCurrentPath                  (void);
     void updateNextWaypoint                 (void);
+    void recalcCurrentPhase                 (void);
 
 
 private:
@@ -169,11 +170,13 @@ private:
     SettingsFact                 _enableWimaController; // enables or disables the wimaControler
     SettingsFact                 _overlapWaypoints; // determines the number of overlapping waypoints between two consecutive mission phases
     SettingsFact                 _maxWaypointsPerPhase; // determines the maximum number waypoints per phase
-    SettingsFact                 _startWaypointIndex; // index (displayed on the map, -1 to get index of item in _missionItems) of the mission item
-                                                      //stored in _missionItems defining the first element of _currentMissionItems
+    SettingsFact                 _nestPhaseStartWaypointIndex; // index (displayed on the map, -1 to get index of item in _missionItems) of the mission item
+                                                      // defining the first element of the next phase
     SettingsFact                 _showAllMissionItems; // bool value, Determines whether the mission items of the overall mission are displayed or not.
     SettingsFact                 _showCurrentMissionItems; // bool value, Determines whether the mission items of the current mission phase are displayed or not.
 
     int                          _endWaypointIndex; // indes of the mission item stored in _missionItems defining the last element
                                                     // (which is not part of the return path) of _currentMissionItem
+    int                          _startWaypointIndex; // indes of the mission item stored in _missionItems defining the first element
+                                                      // (which is not part of the arrival path) of _currentMissionItem
 };