Merge pull request #8536 from DonLakeFlyer/ConditionGate

Plan: CONDITION_GATE command support

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -23,6 +23,8 @@
 #include "RadioComponentController.h"
 #include "QGCCameraManager.h"
 #include "QGCFileDownload.h"
+#include "SettingsManager.h"
+#include "PlanViewSettings.h"
 
 #include <QDebug>
 
@@ -279,7 +281,7 @@ void PX4FirmwarePlugin::getParameterMetaDataVersionInfo(const QString& metaDataF
 
 QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
 {
-    return {
+    QList<MAV_CMD> cmds = {
         MAV_CMD_NAV_WAYPOINT,
         MAV_CMD_NAV_LOITER_UNLIM, MAV_CMD_NAV_LOITER_TIME, MAV_CMD_NAV_LOITER_TO_ALT,
         MAV_CMD_NAV_LAND, MAV_CMD_NAV_TAKEOFF, MAV_CMD_NAV_RETURN_TO_LAUNCH,
@@ -298,6 +300,12 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
         MAV_CMD_NAV_DELAY,
         MAV_CMD_CONDITION_YAW,
     };
+
+    if (qgcApp()->toolbox()->settingsManager()->planViewSettings()->useConditionGate()->rawValue().toBool()) {
+        cmds.append(MAV_CMD_CONDITION_GATE);
+    }
+
+    return cmds;
 }
 
 QString PX4FirmwarePlugin::missionCommandOverrides(MAV_TYPE vehicleType) const

src/MissionManager/CorridorScanComplexItem.cc

@@ -217,7 +217,7 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i
             firstOverallPoint = false;
 
             // Possibly add trigger start/stop to survey area entrance/exit
-            if (triggerCamera() && transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge) {
+            if (triggerCamera() && (transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEntry || transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyExit)) {
                 if (transectEntry) {
                     // Start of transect, always start triggering. We do this even if we are taking images everywhere.
                     // This allows a restart of the mission in mid-air without losing images from the entire mission.
@@ -370,9 +370,9 @@ void CorridorScanComplexItem::_rebuildTransectsPhase1(void)
                 TransectStyleComplexItem::CoordInfo_t coordInfo = { transectCoords[j], CoordTypeInterior };
                 transect.append(coordInfo);
             }
-            TransectStyleComplexItem::CoordInfo_t coordInfo = { transectCoords.first(), CoordTypeSurveyEdge };
+            TransectStyleComplexItem::CoordInfo_t coordInfo = { transectCoords.first(), CoordTypeSurveyEntry };