Show gimbal yaw on map

src/FlightMap/MapItems/MissionItemIndicator.qml

@@ -29,10 +29,13 @@ MapQuickItem {
 
     sourceItem:
         MissionItemIndexLabel {
-            id:         _label
-            checked:    _isCurrentItem
-            label:      missionItem ? missionItem.abbreviation : ""
-            onClicked:  _item.clicked()
+            id:             _label
+            checked:        _isCurrentItem
+            label:          missionItem ? missionItem.abbreviation : ""
+            gimbalYaw:      missionItem.missionGimbalYaw
+            vehicleYaw:     missionItem.missionVehicleYaw
+            showGimbalYaw:  missionItem.showMissionGimbalYaw
+            onClicked:      _item.clicked()
 
             property bool _isCurrentItem:   missionItem ? missionItem.isCurrentItem : false
         }

src/MissionEditor/SimpleItemMapVisual.qml

@@ -115,9 +115,9 @@ Item {
                     model: _missionItem.childItems
 
                     delegate: MissionItemIndexLabel {
+                        z:                      2
                         label:                  object.abbreviation
                         checked:                object.isCurrentItem
-                        z:                      2
                         specifiesCoordinate:    false
 
                         onClicked: setCurrentItem(object.sequenceNumber)

src/MissionManager/CameraSection.cc

@@ -55,6 +55,8 @@ CameraSection::CameraSection(QObject* parent)
     connect(&_gimbalYawFact,                    &Fact::valueChanged, this, &CameraSection::_setDirty);
     connect(&_cameraPhotoIntervalDistanceFact,  &Fact::valueChanged, this, &CameraSection::_setDirty);
     connect(&_cameraPhotoIntervalTimeFact,      &Fact::valueChanged, this, &CameraSection::_setDirty);
+
+    connect(&_gimbalYawFact,                    &Fact::valueChanged, this, &CameraSection::_updateSpecifiedGimbalYaw);
 }
 
 void CameraSection::setSpecifyGimbal(bool specifyGimbal)
@@ -254,3 +256,13 @@ void CameraSection::setAvailable(bool available)
         emit availableChanged(available);
     }
 }
+
+double CameraSection::specifiedGimbalYaw(void) const
+{
+    return _specifyGimbal ? _gimbalYawFact.rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
+}
+
+void CameraSection::_updateSpecifiedGimbalYaw(void)
+{
+    emit specifiedGimbalYawChanged(specifiedGimbalYaw());
+}

src/MissionManager/CameraSection.h

@@ -49,6 +49,9 @@ public:
     Fact*   cameraPhotoIntervalTime     (void) { return &_cameraPhotoIntervalTimeFact; }
     Fact*   cameraPhotoIntervalDistance (void) { return &_cameraPhotoIntervalDistanceFact; }
 
+    ///< @return The gimbal yaw specified by this item, NaN if not specified
+    double specifiedGimbalYaw(void) const;
+
     /// Scans the loaded items for the section items
     ///     @param visualItems Item list
     ///     @param scanIndex Index to start scanning from
@@ -75,10 +78,12 @@ signals:
     void dirtyChanged               (bool dirty);
     bool specifyGimbalChanged       (bool specifyGimbal);
     void missionItemCountChanged    (int missionItemCount);
+    void specifiedGimbalYawChanged  (double gimbalYaw);
 
 private slots:
     void _setDirty(void);
     void _setDirtyAndUpdateMissionItemCount(void);
+    void _updateSpecifiedGimbalYaw(void);
 
 private:
     bool    _available;

src/MissionManager/ComplexMissionItem.h

@@ -38,9 +38,6 @@ public:
     /// @return the greatest distance from any point of the complex item to some coordinate
     virtual double greatestDistanceTo(const QGeoCoordinate &other) const = 0;
 
-    /// Informs the complex item of the cruise speed it will fly at
-    virtual void setCruiseSpeed(double cruiseSpeed) = 0;
-
     /// This mission item attribute specifies the type of the complex item.
     static const char* jsonComplexItemTypeKey;
 

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -250,12 +250,6 @@ double FixedWingLandingComplexItem::complexDistance(void) const
     return _loiterCoordinate.distanceTo(_landingCoordinate);
 }
 
-void FixedWingLandingComplexItem::setCruiseSpeed(double cruiseSpeed)
-{
-    // We don't care about cruise speed
-    Q_UNUSED(cruiseSpeed);
-}
-
 void FixedWingLandingComplexItem::setLandingCoordinate(const QGeoCoordinate& coordinate)
 {
     if (coordinate != _landingCoordinate) {

src/MissionManager/FixedWingLandingComplexItem.h

@@ -55,7 +55,6 @@ public:
     int                 lastSequenceNumber  (void) const final;
     bool                load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
     double              greatestDistanceTo  (const QGeoCoordinate &other) const final;
-    void                setCruiseSpeed      (double cruiseSpeed) final;
     QString             mapVisualQML        (void) const final { return QStringLiteral("FWLandingPatternMapVisual.qml"); }
 
     // Overrides from VisualMissionItem
@@ -71,7 +70,8 @@ public:
     QGeoCoordinate  coordinate              (void) const final { return _loiterCoordinate; }
     QGeoCoordinate  exitCoordinate          (void) const final { return _landingCoordinate; }
     int             sequenceNumber          (void) const final { return _sequenceNumber; }
-    double          flightSpeed             (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    double          specifiedFlightSpeed    (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    double          specifiedGimbalYaw      (void) final { return std::numeric_limits<double>::quiet_NaN(); }
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
 
     bool coordinateHasRelativeAltitude      (void) const final { return true; }

src/MissionManager/MissionController.h

@@ -16,11 +16,11 @@
 #include "Vehicle.h"
 #include "QGCLoggingCategory.h"
 #include "MavlinkQmlSingleton.h"
-#include "VisualMissionItem.h"
 
 #include <QHash>
 
 class CoordinateVector;
+class VisualMissionItem;
 
 Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
 
@@ -34,6 +34,20 @@ public:
     MissionController(QObject* parent = NULL);
     ~MissionController();
 
+    typedef struct {
+        double maxTelemetryDistance;
+        double totalDistance;
+        double totalTime;
+        double hoverDistance;
+        double hoverTime;
+        double cruiseDistance;
+        double cruiseTime;
+        double cruiseSpeed;
+        double hoverSpeed;
+        double vehicleSpeed;    //</ Either cruise or hover speed based on vehicle type and vtol state
+        double gimbalYaw;       ///< NaN signals yaw was never changed
+    } MissionFlightStatus_t;
+
     // Mission settings
     Q_PROPERTY(QGeoCoordinate       plannedHomePosition     READ plannedHomePosition    NOTIFY plannedHomePositionChanged)
     Q_PROPERTY(QmlObjectListModel*  visualItems             READ visualItems            NOTIFY visualItemsChanged)
@@ -94,15 +108,13 @@ public:
     QmlObjectListModel* visualItems         (void) { return _visualItems; }
     QmlObjectListModel* waypointLines       (void) { return &_waypointLines; }
 
-    double  missionDistance         (void) const { return _missionDistance; }
-    double  missionTime             (void) const { return _missionTime; }
-    double  missionHoverDistance    (void) const { return _missionHoverDistance; }
-    double  missionHoverTime        (void) const { return _missionHoverTime; }
-    double  missionCruiseDistance   (void) const { return _missionCruiseDistance; }
-    double  missionCruiseTime       (void) const { return _missionCruiseTime; }
-    double  missionMaxTelemetry     (void) const { return _missionMaxTelemetry; }
-    double  cruiseSpeed             (void) const;
-    double  hoverSpeed              (void) const;
+    double  missionDistance         (void) const { return _missionFlightStatus.totalDistance; }
+    double  missionTime             (void) const { return _missionFlightStatus.totalTime; }
+    double  missionHoverDistance    (void) const { return _missionFlightStatus.hoverDistance; }
+    double  missionHoverTime        (void) const { return _missionFlightStatus.hoverTime; }
+    double  missionCruiseDistance   (void) const { return _missionFlightStatus.cruiseDistance; }
+    double  missionCruiseTime       (void) const { return _missionFlightStatus.cruiseTime; }
+    double  missionMaxTelemetry     (void) const { return _missionFlightStatus.maxTelemetryDistance; }
 
 signals:
     void plannedHomePositionChanged(QGeoCoordinate plannedHomePosition);
@@ -116,10 +128,6 @@ signals:
     void missionCruiseDistanceChanged(double missionCruiseDistance);
     void missionCruiseTimeChanged(void);
     void missionMaxTelemetryChanged(double missionMaxTelemetry);
-    void cruiseDistanceChanged(double cruiseDistance);
-    void hoverDistanceChanged(double hoverDistance);
-    void cruiseSpeedChanged(double cruiseSpeed);
-    void hoverSpeedChanged(double hoverSpeed);
 
 private slots:
     void _newMissionItemsAvailableFromVehicle();
@@ -129,7 +137,7 @@ private slots:
     void _inProgressChanged(bool inProgress);
     void _currentMissionItemChanged(int sequenceNumber);
     void _recalcWaypointLines(void);
-    void _recalcAltitudeRangeBearing(void);
+    void _recalcMissionFlightStatus(void);
     void _homeCoordinateChanged(void);
 
 private:
@@ -167,22 +175,16 @@ private:
     void _activeVehicleSet(void) final;
 
 private:
-    QmlObjectListModel* _visualItems;
-    QmlObjectListModel  _waypointLines;
-    CoordVectHashTable  _linesTable;
-    bool                _firstItemsFromVehicle;
-    bool                _missionItemsRequested;
-    bool                _queuedSend;
-    double              _missionDistance;
-    double              _missionTime;
-    double              _missionHoverDistance;
-    double              _missionHoverTime;
-    double              _missionCruiseDistance;
-    double              _missionCruiseTime;
-    double              _missionMaxTelemetry;    
-    QString             _surveyMissionItemName;
-    QString             _fwLandingMissionItemName;
-    QStringList         _complexMissionItemNames;
+    QmlObjectListModel*     _visualItems;
+    QmlObjectListModel      _waypointLines;
+    CoordVectHashTable      _linesTable;
+    bool                    _firstItemsFromVehicle;
+    bool                    _missionItemsRequested;
+    bool                    _queuedSend;
+    MissionFlightStatus_t   _missionFlightStatus;
+    QString                 _surveyMissionItemName;
+    QString                 _fwLandingMissionItemName;
+    QStringList             _complexMissionItemNames;
 
     static const char*  _settingsGroup;
 

src/MissionManager/MissionItem.cc

@@ -53,6 +53,7 @@ MissionItem::MissionItem(QObject* parent)
     setAutoContinue(true);
 
     connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
+    connect(&_param3Fact, &Fact::rawValueChanged, this, &MissionItem::_param3Changed);
 }
 
 MissionItem::MissionItem(int             sequenceNumber,
@@ -99,6 +100,7 @@ MissionItem::MissionItem(int             sequenceNumber,
     _param7Fact.setRawValue(param7);
 
     connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
+    connect(&_param3Fact, &Fact::rawValueChanged, this, &MissionItem::_param3Changed);
 }
 
 MissionItem::MissionItem(const MissionItem& other, QObject* parent)
@@ -123,6 +125,7 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent)
     *this = other;
 
     connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
+    connect(&_param3Fact, &Fact::rawValueChanged, this, &MissionItem::_param3Changed);
 }
 
 const MissionItem& MissionItem::operator=(const MissionItem& other)
@@ -384,7 +387,7 @@ QGeoCoordinate MissionItem::coordinate(void) const
     return QGeoCoordinate(param5(), param6(), param7());
 }
 
-double MissionItem::flightSpeed(void) const
+double MissionItem::specifiedFlightSpeed(void) const
 {
     double flightSpeed = std::numeric_limits<double>::quiet_NaN();
 
@@ -395,9 +398,33 @@ double MissionItem::flightSpeed(void) const
     return flightSpeed;
 }
 
+double MissionItem::specifiedGimbalYaw(void) const
+{
+    double gimbalYaw = std::numeric_limits<double>::quiet_NaN();
+
+    if (_commandFact.rawValue().toInt() == MAV_CMD_DO_MOUNT_CONTROL && _param7Fact.rawValue().toInt() == MAV_MOUNT_MODE_MAVLINK_TARGETING) {
+        gimbalYaw = _param3Fact.rawValue().toDouble();
+    }
+
+    return gimbalYaw;
+}
+
 void MissionItem::_param2Changed(QVariant value)
 {
-    if (_commandFact.rawValue().toInt() == MAV_CMD_DO_CHANGE_SPEED && _param2Fact.rawValue().toDouble() > 0) {
-        emit flightSpeedChanged(value.toDouble());
+    Q_UNUSED(value);
+
+    double flightSpeed = specifiedFlightSpeed();
+    if (!qIsNaN(flightSpeed)) {
+        emit specifiedFlightSpeedChanged(flightSpeed);
+    }
+}
+
+void MissionItem::_param3Changed(QVariant value)
+{
+    Q_UNUSED(value);
+
+    double gimbalYaw = specifiedGimbalYaw();
+    if (!qIsNaN(gimbalYaw)) {
+        emit specifiedGimbalYawChanged(gimbalYaw);
     }
 }

src/MissionManager/MissionItem.h

@@ -77,7 +77,10 @@ public:
     int             doJumpId        (void) const { return _doJumpId; }
 
     /// @return Flight speed change value if this item supports it. If not it returns NaN.
-    double          flightSpeed     (void) const;
+    double specifiedFlightSpeed(void) const;
+
+    /// @return Flight gimbal yaw change value if this item supports it. If not it returns NaN.
+    double specifiedGimbalYaw(void) const;
 
     void setCommand         (MAV_CMD command);
     void setSequenceNumber  (int sequenceNumber);
@@ -100,13 +103,15 @@ public:
     bool relativeAltitude(void) const { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
 
 signals:
-    void isCurrentItemChanged   (bool isCurrentItem);
-    void sequenceNumberChanged  (int sequenceNumber);
-    void flightSpeedChanged     (double flightSpeed);
+    void isCurrentItemChanged       (bool isCurrentItem);
+    void sequenceNumberChanged      (int sequenceNumber);
+    void specifiedFlightSpeedChanged(double flightSpeed);
+    void specifiedGimbalYawChanged  (double gimbalYaw);
 
 private slots:
     void _param2Changed         (QVariant value);
-    
+    void _param3Changed         (QVariant value);
+
 private:
     bool _convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Json, QString& errorString);
 

src/MissionManager/MissionSettingsComplexItem.cc

@@ -76,6 +76,10 @@ MissionSettingsComplexItem::MissionSettingsComplexItem(Vehicle* vehicle, QObject
     connect(&_missionEndActionFact,             &Fact::valueChanged, this, &MissionSettingsComplexItem::_setDirty);
 
     connect(&_cameraSection, &CameraSection::dirtyChanged, this, &MissionSettingsComplexItem::_cameraSectionDirtyChanged);
+
+    connect(&_missionFlightSpeedFact,   &Fact::valueChanged,                        this, &MissionSettingsComplexItem::specifiedFlightSpeedChanged);
+    connect(&_cameraSection,            &CameraSection::specifyGimbalChanged,       this, &MissionSettingsComplexItem::specifiedGimbalYawChanged);
+    connect(&_cameraSection,            &CameraSection::specifiedGimbalYawChanged,  this, &MissionSettingsComplexItem::specifiedGimbalYawChanged);
 }
 
 
@@ -266,12 +270,6 @@ double MissionSettingsComplexItem::complexDistance(void) const
     return 0;
 }
 
-void MissionSettingsComplexItem::setCruiseSpeed(double cruiseSpeed)
-{
-    // We don't care about cruise speed
-    Q_UNUSED(cruiseSpeed);
-}
-
 void MissionSettingsComplexItem::_setDirty(void)
 {
     setDirty(true);
@@ -310,3 +308,13 @@ void MissionSettingsComplexItem::_cameraSectionDirtyChanged(bool dirty)
         setDirty(true);
     }
 }
+
+double MissionSettingsComplexItem::specifiedFlightSpeed(void)
+{
+    return _specifyMissionFlightSpeed ? _missionFlightSpeedFact.rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
+}
+
+double MissionSettingsComplexItem::specifiedGimbalYaw(void)
+{
+    return _cameraSection.specifyGimbal() ? _cameraSection.gimbalYaw()->rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
+}

src/MissionManager/MissionSettingsComplexItem.h

@@ -60,7 +60,6 @@ public:
     int                 lastSequenceNumber  (void) const final;
     bool                load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
     double              greatestDistanceTo  (const QGeoCoordinate &other) const final;
-    void                setCruiseSpeed      (double cruiseSpeed) final;
     QString             mapVisualQML        (void) const final { return QStringLiteral("MissionSettingsMapVisual.qml"); }
 
     // Overrides from VisualMissionItem
@@ -76,7 +75,8 @@ public:
     QGeoCoordinate  coordinate              (void) const final;
     QGeoCoordinate  exitCoordinate          (void) const final { return coordinate(); }
     int             sequenceNumber          (void) const final { return _sequenceNumber; }
-    double          flightSpeed             (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    double          specifiedFlightSpeed    (void) final;
+    double          specifiedGimbalYaw      (void) final;
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
 
     bool coordinateHasRelativeAltitude      (void) const final { return true; }
@@ -94,10 +94,10 @@ signals:
     bool specifyMissionFlightSpeedChanged(bool specifyMissionFlightSpeed);
 
 private slots:
-    void _setDirtyAndUpdateLastSequenceNumber(void);
-    void _setDirtyAndUpdateCoordinate(void);
-    void _setDirty(void);
-    void _cameraSectionDirtyChanged(bool dirty);
+    void _setDirtyAndUpdateLastSequenceNumber   (void);
+    void _setDirtyAndUpdateCoordinate           (void);
+    void _setDirty                              (void);
+    void _cameraSectionDirtyChanged             (bool dirty);
 
 private:
     bool            _specifyMissionFlightSpeed;

src/MissionManager/SimpleMissionItem.cc

@@ -75,7 +75,7 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
 
     setDefaultsForCommand();
 
-    connect(&_missionItem, &MissionItem::flightSpeedChanged, this, &SimpleMissionItem::flightSpeedChanged);
+    connect(&_missionItem, &MissionItem::specifiedFlightSpeedChanged, this, &SimpleMissionItem::specifiedFlightSpeedChanged);
 
     connect(this, &SimpleMissionItem::sequenceNumberChanged,    this, &SimpleMissionItem::lastSequenceNumberChanged);
     connect(this, &SimpleMissionItem::cameraSectionChanged,     this, &SimpleMissionItem::_setDirtyFromSignal);
@@ -637,9 +637,14 @@ void SimpleMissionItem::setSequenceNumber(int sequenceNumber)
     }
 }
 
-double SimpleMissionItem::flightSpeed(void)
+double SimpleMissionItem::specifiedFlightSpeed(void)
 {
-    return missionItem().flightSpeed();
+    return missionItem().specifiedFlightSpeed();
+}
+
+double SimpleMissionItem::specifiedGimbalYaw(void)
+{
+    return _cameraSection->available() ? _cameraSection->specifiedGimbalYaw() : missionItem().specifiedGimbalYaw();
 }
 
 void SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
@@ -671,7 +676,10 @@ void SimpleMissionItem::_updateCameraSection(void)
 
     connect(_cameraSection, &CameraSection::dirtyChanged,               this, &SimpleMissionItem::_cameraSectionDirtyChanged);
     connect(_cameraSection, &CameraSection::availableChanged,           this, &SimpleMissionItem::_updateLastSequenceNumber);
-    connect(_cameraSection, &CameraSection::missionItemCountChanged,    this, &SimpleMissionItem::_updateLastSequenceNumber);
+    connect(_cameraSection, &CameraSection::missionItemCountChanged,    this, &SimpleMissionItem::_updateLastSequenceNumber);    
+    connect(_cameraSection, &CameraSection::availableChanged,           this, &SimpleMissionItem::specifiedGimbalYawChanged);
+    connect(_cameraSection, &CameraSection::specifyGimbalChanged,       this, &SimpleMissionItem::specifiedGimbalYawChanged);
+    connect(_cameraSection, &CameraSection::specifiedGimbalYawChanged,  this, &SimpleMissionItem::specifiedGimbalYawChanged);
 
     emit cameraSectionChanged(_cameraSection);
 }

src/MissionManager/SimpleMissionItem.h

@@ -94,7 +94,8 @@ public:
     QGeoCoordinate  coordinate              (void) const final { return _missionItem.coordinate(); }
     QGeoCoordinate  exitCoordinate          (void) const final { return coordinate(); }
     int             sequenceNumber          (void) const final { return _missionItem.sequenceNumber(); }
-    double          flightSpeed             (void) final;
+    double          specifiedFlightSpeed    (void) final;
+    double          specifiedGimbalYaw      (void) final;
     QString         mapVisualQML            (void) const final { return QStringLiteral("SimpleItemMapVisual.qml"); }
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
 

src/MissionManager/SurveyMissionItem.cc

@@ -122,12 +122,6 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
     connect(&_cameraTriggerFact,            &Fact::valueChanged, this, &SurveyMissionItem::_cameraTriggerChanged);
 
     connect(&_cameraTriggerDistanceFact, &Fact::valueChanged, this, &SurveyMissionItem::timeBetweenShotsChanged);
-
-    // NULL check since object creation during unit testing passes NULL for vehicle
-    if (_vehicle) {
-        connect(_vehicle, &Vehicle::cruiseSpeedChanged, this, &SurveyMissionItem::timeBetweenShotsChanged);
-        connect(_vehicle, &Vehicle::hoverSpeedChanged,  this, &SurveyMissionItem::timeBetweenShotsChanged);
-    }
 }
 
 void SurveyMissionItem::_setSurveyDistance(double surveyDistance)
@@ -894,10 +888,11 @@ double SurveyMissionItem::timeBetweenShots(void) const
     return _cruiseSpeed == 0 ? 0 : _cameraTriggerDistanceFact.rawValue().toDouble() / _cruiseSpeed;
 }
 
-void SurveyMissionItem::setCruiseSpeed(double cruiseSpeed)
+void SurveyMissionItem::setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus)
 {
-    if (!qFuzzyCompare(_cruiseSpeed, cruiseSpeed)) {
-        _cruiseSpeed = cruiseSpeed;
+    ComplexMissionItem::setMissionFlightStatus(missionFlightStatus);
+    if (!qFuzzyCompare(_cruiseSpeed, missionFlightStatus.vehicleSpeed)) {
+        _cruiseSpeed = missionFlightStatus.vehicleSpeed;
         emit timeBetweenShotsChanged();
     }
 }

src/MissionManager/SurveyMissionItem.h

@@ -100,7 +100,6 @@ public:
     int                 lastSequenceNumber  (void) const final;
     bool                load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
     double              greatestDistanceTo  (const QGeoCoordinate &other) const final;
-    void                setCruiseSpeed      (double cruiseSpeed) final;
     QString             mapVisualQML        (void) const final { return QStringLiteral("SurveyMapVisual.qml"); }
 
 
@@ -117,8 +116,10 @@ public:
     QGeoCoordinate  coordinate              (void) const final { return _coordinate; }
     QGeoCoordinate  exitCoordinate          (void) const final { return _exitCoordinate; }
     int             sequenceNumber          (void) const final { return _sequenceNumber; }
-    double          flightSpeed             (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    double          specifiedFlightSpeed    (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    double          specifiedGimbalYaw      (void) final { return std::numeric_limits<double>::quiet_NaN(); }
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
+    void            setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
 
     bool coordinateHasRelativeAltitude      (void) const final { return _gridAltitudeRelativeFact.rawValue().toBool(); }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return _gridAltitudeRelativeFact.rawValue().toBool(); }

src/MissionManager/VisualMissionItem.cc

@@ -31,6 +31,8 @@ VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
     , _altPercent(0.0)
     , _azimuth(0.0)
     , _distance(0.0)
+    , _missionGimbalYaw(std::numeric_limits<double>::quiet_NaN())
+    , _missionVehicleYaw(std::numeric_limits<double>::quiet_NaN())
 {
 
 }
@@ -117,3 +119,20 @@ void VisualMissionItem::setShowHomePosition(bool showHomePosition)
         emit showHomePositionChanged(_showHomePosition);
     }
 }
+
+void VisualMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
+{
+    _missionFlightStatus = missionFlightStatus;
+    if (_missionFlightStatus.gimbalYaw != _missionGimbalYaw) {
+        _missionGimbalYaw = _missionFlightStatus.gimbalYaw;
+        emit missionGimbalYawChanged(_missionGimbalYaw);
+    }
+}
+
+void VisualMissionItem::setMissionVehicleYaw(double vehicleYaw)
+{
+    if (!qFuzzyCompare(_missionVehicleYaw, vehicleYaw)) {
+        _missionVehicleYaw = vehicleYaw;
+        emit missionVehicleYawChanged(_missionVehicleYaw);
+    }
+}

src/QmlControls/MissionItemIndexLabel.qml

@@ -7,34 +7,71 @@ import QGroundControl.Palette     1.0
 
 Canvas {
     id:     root
-    width:  _width + (_singleChar ? 0 : _label.width)
-    height: specifiesCoordinate ? (_width * 1.5) : _width
+    width:  _width
+    height: width
 
     signal clicked
 
-    property alias  label:                  _label.text
+    property string label
     property bool   checked:                false
     property bool   small:                  false
     property var    color:                  checked ? "green" : qgcPal.mapButtonHighlight
     property real   anchorPointX:           _width / 2
-    property real   anchorPointY:           _width * 1.5
+    property real   anchorPointY:           _width / 2
     property bool   specifiesCoordinate:    true
+    property real   gimbalYaw
+    property real   vehicleYaw
+    property bool   showGimbalYaw:          false
 
-    property real _width:       small ? ScreenTools.defaultFontPixelHeight * ScreenTools.smallFontPointRatio * 1.25 : ScreenTools.defaultFontPixelHeight * 1.25
-    property bool _singleChar:  _label.text.length <= 1
+    property real _width:           showGimbalYaw ? _gimbalYawRadius * 2 : _indicatorRadius * 2
+    property bool _singleChar:      _label.text.length <= 1
+    property real _gimbalYawRadius: ScreenTools.defaultFontPixelHeight
+    property real _indicatorRadius: small ? (ScreenTools.defaultFontPixelHeight * ScreenTools.smallFontPointRatio * 1.25 / 2) : (ScreenTools.defaultFontPixelHeight * 0.66)
+    property real _gimbalRadians:   degreesToRadians(vehicleYaw + gimbalYaw - 90)
 
-
-    onColorChanged: requestPaint()
+    onColorChanged:         requestPaint()
+    onShowGimbalYawChanged: requestPaint()
+    onGimbalYawChanged:     requestPaint()
+    onVehicleYawChanged:    requestPaint()
 
     QGCPalette { id: qgcPal }
 
+    function degreesToRadians(degrees) {
+        return (Math.PI/180)*degrees
+    }
+
+    function paintGimbalYaw(context) {
+        if (showGimbalYaw) {
+            context.save()
+            context.globalAlpha = 0.75
+            context.beginPath()
+            context.moveTo(anchorPointX, anchorPointY)
+            context.arc(anchorPointX, anchorPointY, _gimbalYawRadius,  _gimbalRadians + degreesToRadians(45), _gimbalRadians + degreesToRadians(-45), true /* clockwise */)
+            context.closePath()
+            context.fillStyle = "white"
+            context.fill()
+            context.restore()
+        }
+    }
+
     function paintSingleCoordinate(context) {
+        context.beginPath()
         context.arc(_width / 2, _width / 2, _width / 2, (Math.PI / 8) * 7, Math.PI / 8);
         context.lineTo(_width / 2, _width * 1.5)
+        context.closePath()
+        context.fillStyle = color
+        context.fill()
     }
 
     function paintSingleNoCoordinate(context) {
-        context.arc(_width / 2, _width / 2, _width / 2, Math.PI * 2, 0);
+        context.save()
+        context.beginPath()
+        context.translate(anchorPointX, anchorPointY)
+        context.arc(0, 0, _indicatorRadius, Math.PI * 2, 0);
+        context.closePath()
+        context.fillStyle = color
+        context.fill()
+        context.restore()
     }
 
     function paintMultipleCoordinate(context) {
@@ -47,8 +84,9 @@ Canvas {
 
     onPaint: {
         var context = getContext("2d")
-        context.reset()
-        context.beginPath()
+        context.clearRect(0, 0, width, height)
+        paintGimbalYaw(context)
+        /*
         if (_singleChar) {
             if (specifiesCoordinate) {
                 paintSingleCoordinate(context)
@@ -58,19 +96,21 @@ Canvas {
         } else {
             paintMultipleCoordinate(context)
         }
-        context.closePath()
-        context.fillStyle = color
-        context.fill()
+        */
+        paintSingleNoCoordinate(context)
     }
 
     QGCLabel {
-        id:             _label
-        x:              Math.round((_width / 2) - (_singleChar ? (width / 2) : (ScreenTools.defaultFontPixelWidth / 2)))
-        y:              Math.round((_width / 2) - (height / 2))
-        color:          "white"
-        font.pointSize: small ? ScreenTools.smallFontPointSize : ScreenTools.defaultFontPointSize
-
-        onWidthChanged: requestPaint()
+        id:                     _label
+        anchors.centerIn:       parent
+        width:                  _indicatorRadius * 2
+        height:                 width
+        horizontalAlignment:    Text.AlignHCenter
+        verticalAlignment:      Text.AlignVCenter
+        color:                  "white"
+        font.pointSize:         ScreenTools.defaultFontPointSize
+        fontSizeMode:           Text.HorizontalFit
+        text:                   label
     }
 
     QGCMouseArea {

src/Vehicle/Vehicle.cc

@@ -102,8 +102,8 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _onboardControlSensorsUnhealthy(0)
     , _gpsRawIntMessageAvailable(false)
     , _globalPositionIntMessageAvailable(false)
-    , _cruiseSpeed(_settingsManager->appSettings()->offlineEditingCruiseSpeed()->rawValue().toDouble())
-    , _hoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
+    , _defaultCruiseSpeed(_settingsManager->appSettings()->offlineEditingCruiseSpeed()->rawValue().toDouble())
+    , _defaultHoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
     , _telemetryRRSSI(0)
     , _telemetryLRSSI(0)
     , _telemetryRXErrors(0)
@@ -264,8 +264,8 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _onboardControlSensorsUnhealthy(0)
     , _gpsRawIntMessageAvailable(false)
     , _globalPositionIntMessageAvailable(false)
-    , _cruiseSpeed(_settingsManager->appSettings()->offlineEditingCruiseSpeed()->rawValue().toDouble())
-    , _hoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
+    , _defaultCruiseSpeed(_settingsManager->appSettings()->offlineEditingCruiseSpeed()->rawValue().toDouble())
+    , _defaultHoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
     , _vehicleCapabilitiesKnown(true)
     , _supportsMissionItemInt(false)
     , _connectionLost(false)
@@ -382,14 +382,14 @@ void Vehicle::_offlineVehicleTypeSettingChanged(QVariant value)
 
 void Vehicle::_offlineCruiseSpeedSettingChanged(QVariant value)
 {
-    _cruiseSpeed = value.toDouble();
-    emit cruiseSpeedChanged(_cruiseSpeed);
+    _defaultCruiseSpeed = value.toDouble();
+    emit defaultCruiseSpeedChanged(_defaultCruiseSpeed);
 }
 
 void Vehicle::_offlineHoverSpeedSettingChanged(QVariant value)
 {
-    _hoverSpeed = value.toDouble();
-    emit hoverSpeedChanged(_hoverSpeed);
+    _defaultHoverSpeed = value.toDouble();
+    emit defaultHoverSpeedChanged(_defaultHoverSpeed);
 }
 
 QString Vehicle::firmwareTypeString(void) const

src/Vehicle/Vehicle.h

@@ -574,8 +574,8 @@ public:
     QString         missionFlightMode       () const;
     QString         rtlFlightMode           () const;
     QString         takeControlFlightMode   () const;
-    double          cruiseSpeed             () const { return _cruiseSpeed; }
-    double          hoverSpeed              () const { return _hoverSpeed; }
+    double          defaultCruiseSpeed      () const { return _defaultCruiseSpeed; }
+    double          defaultHoverSpeed       () const { return _defaultHoverSpeed; }
     QString         firmwareTypeString      () const;
     QString         vehicleTypeString       () const;
     int             telemetryRRSSI          () { return _telemetryRRSSI; }
@@ -690,8 +690,8 @@ signals:
     void prearmErrorChanged(const QString& prearmError);
     void soloFirmwareChanged(bool soloFirmware);
     void unhealthySensorsChanged(void);
-    void cruiseSpeedChanged(double cruiseSpeed);
-    void hoverSpeedChanged(double hoverSpeed);
+    void defaultCruiseSpeedChanged(double cruiseSpeed);
+    void defaultHoverSpeedChanged(double hoverSpeed);
     void firmwareTypeChanged(void);
     void vehicleTypeChanged(void);
 
@@ -872,8 +872,8 @@ private:
     uint32_t        _onboardControlSensorsUnhealthy;
     bool            _gpsRawIntMessageAvailable;
     bool            _globalPositionIntMessageAvailable;
-    double          _cruiseSpeed;
-    double          _hoverSpeed;
+    double          _defaultCruiseSpeed;
+    double          _defaultHoverSpeed;
     int             _telemetryRRSSI;
     int             _telemetryLRSSI;
     uint32_t        _telemetryRXErrors;