Add Fall rate percent in Landing Pattern editor

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

src/MissionManager/FWLandingPattern.FactMetaData.json

 [
 {
-    "name":             "Landing distance",
+    "name":             "Landing dist",
     "shortDescription": "Distance between landing and loiter points.",
     "type":             "double",
     "units":            "m",
@@ -42,5 +42,15 @@
     "units":            "m",
     "decimalPlaces":    1,
     "defaultValue":     0.0
+},
+{
+    "name":             "Fall rate",
+    "shortDescription": "Fall rate between landing and loiter altitude.",
+    "type":             "double",
+    "units":            "%",
+    "min":              0.1,
+    "max":              100,
+    "decimalPlaces":    1,
+    "defaultValue":     12.0
 }
 ]

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -20,11 +20,12 @@ QGC_LOGGING_CATEGORY(FixedWingLandingComplexItemLog, "FixedWingLandingComplexIte
 
 const char* FixedWingLandingComplexItem::jsonComplexItemTypeValue = "fwLandingPattern";
 
-const char* FixedWingLandingComplexItem::_loiterToLandDistanceName =    "Landing distance";
+const char* FixedWingLandingComplexItem::_loiterToLandDistanceName =    "Landing dist";
 const char* FixedWingLandingComplexItem::_landingHeadingName =          "Landing heading";
 const char* FixedWingLandingComplexItem::_loiterAltitudeName =          "Loiter altitude";
 const char* FixedWingLandingComplexItem::_loiterRadiusName =            "Loiter radius";
 const char* FixedWingLandingComplexItem::_landingAltitudeName =         "Landing altitude";
+const char* FixedWingLandingComplexItem::_fallRateName =                "Fall rate";
 
 const char* FixedWingLandingComplexItem::_jsonLoiterCoordinateKey =         "loiterCoordinate";
 const char* FixedWingLandingComplexItem::_jsonLoiterRadiusKey =             "loiterRadius";
@@ -32,6 +33,7 @@ const char* FixedWingLandingComplexItem::_jsonLoiterClockwiseKey =          "loi
 const char* FixedWingLandingComplexItem::_jsonLoiterAltitudeRelativeKey =   "loiterAltitudeRelative";
 const char* FixedWingLandingComplexItem::_jsonLandingCoordinateKey =        "landCoordinate";
 const char* FixedWingLandingComplexItem::_jsonLandingAltitudeRelativeKey =  "landAltitudeRelative";
+const char* FixedWingLandingComplexItem::_jsonFallRateKey =                 "fallRate";
 
 QMap<QString, FactMetaData*> FixedWingLandingComplexItem::_metaDataMap;
 
@@ -46,6 +48,7 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
     , _loiterRadiusFact     (0, _loiterRadiusName,          FactMetaData::valueTypeDouble)
     , _landingHeadingFact   (0, _landingHeadingName,        FactMetaData::valueTypeDouble)
     , _landingAltitudeFact  (0, _landingAltitudeName,       FactMetaData::valueTypeDouble)
+    , _fallRateFact         (0, _fallRateName,              FactMetaData::valueTypeDouble)
     , _loiterClockwise(true)
     , _loiterAltitudeRelative(true)
     , _landingAltitudeRelative(true)
@@ -61,12 +64,14 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
     _loiterRadiusFact.setMetaData       (_metaDataMap[_loiterRadiusName]);
     _landingHeadingFact.setMetaData     (_metaDataMap[_landingHeadingName]);
     _landingAltitudeFact.setMetaData    (_metaDataMap[_landingAltitudeName]);
+    _fallRateFact.setMetaData           (_metaDataMap[_fallRateName]);
 
     _landingDistanceFact.setRawValue    (_landingDistanceFact.rawDefaultValue());
     _loiterAltitudeFact.setRawValue     (_loiterAltitudeFact.rawDefaultValue());
     _loiterRadiusFact.setRawValue       (_loiterRadiusFact.rawDefaultValue());
     _landingHeadingFact.setRawValue     (_landingHeadingFact.rawDefaultValue());
     _landingAltitudeFact.setRawValue    (_landingAltitudeFact.rawDefaultValue());
+    _fallRateFact.setRawValue           (_fallRateFact.rawDefaultValue());
 
     connect(&_loiterAltitudeFact,       &Fact::valueChanged,                                    this, &FixedWingLandingComplexItem::_updateLoiterCoodinateAltitudeFromFact);
     connect(&_landingAltitudeFact,      &Fact::valueChanged,                                    this, &FixedWingLandingComplexItem::_updateLandingCoodinateAltitudeFromFact);

src/MissionManager/FixedWingLandingComplexItem.h

@@ -29,6 +29,7 @@ public:
     Q_PROPERTY(Fact*            landingAltitude         READ    landingAltitude                                                 CONSTANT)
     Q_PROPERTY(Fact*            landingDistance         READ    landingDistance                                                 CONSTANT)
     Q_PROPERTY(Fact*            landingHeading          READ    landingHeading                                                  CONSTANT)
+    Q_PROPERTY(Fact*            fallRate                READ    fallRate                                                    CONSTANT)
     Q_PROPERTY(bool             loiterClockwise         MEMBER  _loiterClockwise                                                NOTIFY loiterClockwiseChanged)
     Q_PROPERTY(bool             loiterAltitudeRelative  MEMBER  _loiterAltitudeRelative                                         NOTIFY loiterAltitudeRelativeChanged)
     Q_PROPERTY(bool             landingAltitudeRelative MEMBER  _landingAltitudeRelative                                        NOTIFY landingAltitudeRelativeChanged)
@@ -42,6 +43,7 @@ public:
     Fact*           landingAltitude         (void) { return &_landingAltitudeFact; }
     Fact*           landingDistance         (void) { return &_landingDistanceFact; }
     Fact*           landingHeading          (void) { return &_landingHeadingFact; }
+    Fact*           fallRate                (void) { return &_fallRateFact; }
     QGeoCoordinate  landingCoordinate       (void) const { return _landingCoordinate; }
     QGeoCoordinate  loiterCoordinate        (void) const { return _loiterCoordinate; }
     QGeoCoordinate  loiterTangentCoordinate (void) const { return _loiterTangentCoordinate; }
@@ -124,6 +126,7 @@ private:
     Fact            _loiterRadiusFact;
     Fact            _landingHeadingFact;
     Fact            _landingAltitudeFact;
+    Fact            _fallRateFact;
 
     bool            _loiterClockwise;
     bool            _loiterAltitudeRelative;
@@ -136,6 +139,7 @@ private:
     static const char* _loiterRadiusName;
     static const char* _landingHeadingName;
     static const char* _landingAltitudeName;
+    static const char* _fallRateName;
 
     static const char* _jsonLoiterCoordinateKey;
     static const char* _jsonLoiterRadiusKey;
@@ -143,6 +147,7 @@ private:
     static const char* _jsonLoiterAltitudeRelativeKey;
     static const char* _jsonLandingCoordinateKey;
     static const char* _jsonLandingAltitudeRelativeKey;
+    static const char* _jsonFallRateKey;
 };
 
 #endif

src/PlanView/FWLandingPatternEditor.qml

@@ -39,6 +39,7 @@ Rectangle {
         anchors.margins:    _margin
         anchors.left:       parent.left
         anchors.right:      parent.right
+        spacing:            _margin
         visible:            missionItem.landingCoordSet
 
         SectionHeader {
@@ -79,7 +80,63 @@ Rectangle {
         FactTextFieldGrid {
             anchors.left:   parent.left
             anchors.right:  parent.right
-            factList:       [ missionItem.landingAltitude, missionItem.landingDistance, missionItem.landingHeading ]
+            factList:       [ missionItem.landingHeading, missionItem.landingAltitude]
+        }
+
+        GridLayout {
+            anchors.left:    parent.left
+            anchors.right:   parent.right
+            columns:         2
+
+            QGCRadioButton {
+                id:                     useLandingDistance
+                text:                   missionItem.landingDistance.name
+                checked:                !useFallRate.checked
+                onClicked: {
+                    useFallRate.checked = false
+                    missionItem.fallRate.value = parseFloat(missionItem.loiterAltitude.value)*100/parseFloat (missionItem.landingDistance.value)
+                }
+                Layout.fillWidth:       true
+            }
+
+            FactTextField {
+                fact:                   missionItem.landingDistance
+                enabled:                useLandingDistance.checked
+                Layout.fillWidth:       true
+            }
+
+            QGCRadioButton {
+                id:                     useFallRate
+                text:                   missionItem.fallRate.name
+                checked:                !useLandingDistance.checked
+                onClicked: {
+                    useLandingDistance.checked = false
+                    missionItem.landingDistance.value = parseFloat(missionItem.loiterAltitude.value)*100/parseFloat (missionItem.fallRate.value)
+                }
+                Layout.fillWidth:       true
+            }
+
+            FactTextField {
+                fact:                   missionItem.fallRate
+                enabled:                useFallRate.checked
+                Layout.fillWidth:       true
+            }
+
+            Connections {
+                target: missionItem.landingDistance
+
+                onValueChanged: {
+                    missionItem.fallRate.value = parseFloat(missionItem.loiterAltitude.value)*100/parseFloat (missionItem.landingDistance.value)
+                }
+            }
+
+            Connections {
+                target: missionItem.fallRate
+
+                onValueChanged: {
+                    missionItem.landingDistance.value = parseFloat(missionItem.loiterAltitude.value)*100/parseFloat (missionItem.fallRate.value)
+                }
+            }
         }
 
         Item { width: 1; height: _spacer }