Support for images in turnaround on/off

src/MissionManager/CameraSection.FactMetaData.json

@@ -12,7 +12,7 @@
     "shortDescription": "Specify the distance between each photo",
     "type":             "double",
     "units":            "m",
-    "min":              0,
+    "min":              0.1,
     "decimalPlaces":    1,
     "defaultValue":     1
 },

src/MissionManager/CameraSection.cc

@@ -229,37 +229,41 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
                 cameraAction()->setRawValue(TakePhotosIntervalTime);
                 cameraPhotoIntervalTime()->setRawValue(missionItem.param1());
                 visualItems->removeAt(scanIndex)->deleteLater();
-            } else {
-                stopLooking = true;
             }
+            stopLooking = true;
             break;
 
         case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
             if (!foundCameraAction && missionItem.param1() >= 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
-                // At this point we don't know if we have a stop taking photos pair, or a single distance trigger where the user specified 0
-                // We need to look at the next item to check for the stop taking photos pari
+                // At this point we don't know if we have a stop taking photos pair, or just a distance trigger
 
                 if (missionItem.param1() == 0 && scanIndex < visualItems->count() - 1) {
+                    // Possible stop taking photos pair
                     SimpleMissionItem* nextItem = visualItems->value<SimpleMissionItem*>(scanIndex + 1);
                     if (nextItem) {
-                        missionItem = nextItem->missionItem();
-                        if ((MAV_CMD)item->command() == MAV_CMD_IMAGE_STOP_CAPTURE && missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
+                        MissionItem& nextMissionItem = nextItem->missionItem();
+                        if (nextMissionItem.command() == MAV_CMD_IMAGE_STOP_CAPTURE && nextMissionItem.param1() == 0 && nextMissionItem.param2() == 0 && nextMissionItem.param3() == 0 && nextMissionItem.param4() == 0 && nextMissionItem.param5() == 0 && nextMissionItem.param6() == 0 && nextMissionItem.param7() == 0) {
+                            // We found a stop taking photos pair
                             foundCameraAction = true;
                             cameraAction()->setRawValue(StopTakingPhotos);
                             visualItems->removeAt(scanIndex)->deleteLater();
                             visualItems->removeAt(scanIndex)->deleteLater();
+                            stopLooking = true;
                             break;
                         }
                     }
                 }
 
-                // We didn't find a stop taking photos pair, so this is a regular trigger distance item
+                // We didn't find a stop taking photos pair, check for trigger distance
+                if (missionItem.param1() > 0) {
                     foundCameraAction = true;
                     cameraAction()->setRawValue(TakePhotoIntervalDistance);
                     cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
                     visualItems->removeAt(scanIndex)->deleteLater();
+                    stopLooking = true;
                     break;
                 }
+            }
             stopLooking = true;
             break;
 
@@ -268,9 +272,8 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
                 foundCameraAction = true;
                 cameraAction()->setRawValue(TakeVideo);
                 visualItems->removeAt(scanIndex)->deleteLater();
-            } else {
-                stopLooking = true;
             }
+            stopLooking = true;
             break;
 
         case MAV_CMD_VIDEO_STOP_CAPTURE:
@@ -278,9 +281,8 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
                 foundCameraAction = true;
                 cameraAction()->setRawValue(StopTakingVideo);
                 visualItems->removeAt(scanIndex)->deleteLater();
-            } else {
-                stopLooking = true;
             }
+            stopLooking = true;
             break;
 
         default:

src/MissionManager/MissionController.cc

@@ -1538,10 +1538,8 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte
         }
 
         SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
-        if (simpleItem && simpleItem->cameraSection()->available()) {
-            scanIndex++;
-            simpleItem->scanForSections(visualItems, scanIndex, vehicle);
-            continue;
+        if (simpleItem) {
+            simpleItem->scanForSections(visualItems, scanIndex + 1, vehicle);
         }
 
         scanIndex++;

src/MissionManager/SimpleMissionItem.cc

@@ -655,16 +655,17 @@ double SimpleMissionItem::specifiedGimbalYaw(void)
     return _cameraSection->available() ? _cameraSection->specifiedGimbalYaw() : missionItem().specifiedGimbalYaw();
 }
 
-void SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
+bool SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
 {
-    Q_UNUSED(vehicle);
+    bool sectionFound = false;
 
-    qDebug() << "SimpleMissionItem::scanForSections" << scanIndex << _cameraSection->available();
+    Q_UNUSED(vehicle);
 
     if (_cameraSection->available()) {
-        bool sectionFound = _cameraSection->scanForCameraSection(visualItems, scanIndex);
-        qDebug() << sectionFound;
+        sectionFound = _cameraSection->scanForCameraSection(visualItems, scanIndex);
     }
+
+    return sectionFound;
 }
 
 void SimpleMissionItem::_updateCameraSection(void)

src/MissionManager/SimpleMissionItem.h

@@ -48,7 +48,8 @@ public:
     ///     @param visualItems List of all visual items
     ///     @param scanIndex Index to start scanning from
     ///     @param vehicle Vehicle associated with this mission
-    void scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle);
+    /// @return true: section found
+    bool scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle);
 
     // Property accesors
     

src/MissionManager/Survey.SettingsGroup.json

@@ -130,6 +130,18 @@
     "units":            "m",
     "defaultValue":     25
 },
+{
+    "name":             "CameraTriggerInTurnaround",
+    "shortDescription": "Camera continues taking images in turnarounds.",
+    "type":             "bool",
+    "defaultValue":     false
+},
+{
+    "name":             "HoverAndCapture",
+    "shortDescription": "Hover at each image point and take image",
+    "type":             "bool",
+    "defaultValue":     false
+},
 {
     "name":             "CameraOrientationLandscape",
     "shortDescription": "Camera on vehicle is in landscape orientation.",
@@ -140,7 +152,7 @@
     "name":             "FixedValueIsAltitude",
     "shortDescription": "The altitude is kep constant while ground resolution changes.",
     "type":             "bool",
-    "defaultValue":     0
+    "defaultValue":     false
 },
 {
     "name":             "Camera",

src/MissionManager/SurveyMissionItem.h

@@ -32,6 +32,8 @@ public:
     Q_PROPERTY(Fact*                turnaroundDist              READ turnaroundDist                 CONSTANT)
     Q_PROPERTY(Fact*                cameraTrigger               READ cameraTrigger                  CONSTANT)
     Q_PROPERTY(Fact*                cameraTriggerDistance       READ cameraTriggerDistance          CONSTANT)
+    Q_PROPERTY(Fact*                cameraTriggerInTurnaround   READ cameraTriggerInTurnaround      CONSTANT)
+    Q_PROPERTY(Fact*                hoverAndCapture             READ hoverAndCapture                CONSTANT)
     Q_PROPERTY(Fact*                groundResolution            READ groundResolution               CONSTANT)
     Q_PROPERTY(Fact*                frontalOverlap              READ frontalOverlap                 CONSTANT)
     Q_PROPERTY(Fact*                sideOverlap                 READ sideOverlap                    CONSTANT)
@@ -68,7 +70,7 @@ public:
     QVariantList        polygonPath (void) { return _polygonPath; }
     QmlObjectListModel* polygonModel(void) { return &_polygonModel; }
 
-    QVariantList gridPoints (void) { return _gridPoints; }
+    QVariantList gridPoints (void) { return _simpleGridPoints; }
 
     Fact* manualGrid                (void) { return &_manualGridFact; }
     Fact* gridAltitude              (void) { return &_gridAltitudeFact; }
@@ -78,6 +80,8 @@ public:
     Fact* turnaroundDist            (void) { return &_turnaroundDistFact; }
     Fact* cameraTrigger             (void) { return &_cameraTriggerFact; }
     Fact* cameraTriggerDistance     (void) { return &_cameraTriggerDistanceFact; }
+    Fact* cameraTriggerInTurnaround (void) { return &_cameraTriggerInTurnaroundFact; }
+    Fact* hoverAndCapture           (void) { return &_hoverAndCaptureFact; }
     Fact* groundResolution          (void) { return &_groundResolutionFact; }
     Fact* frontalOverlap            (void) { return &_frontalOverlapFact; }
     Fact* sideOverlap               (void) { return &_sideOverlapFact; }
@@ -141,6 +145,8 @@ public:
     static const char* gridSpacingName;
     static const char* turnaroundDistName;
     static const char* cameraTriggerDistanceName;
+    static const char* cameraTriggerInTurnaroundName;
+    static const char* hoverAndCaptureName;
     static const char* groundResolutionName;
     static const char* frontalOverlapName;
     static const char* sideOverlapName;
@@ -166,14 +172,21 @@ signals:
 
 private slots:
     void _cameraTriggerChanged(void);
+    void _setDirty(void);
 
 private:
+    enum CameraTriggerCode {
+        CameraTriggerNone,
+        CameraTriggerOn,
+        CameraTriggerOff
+    };
+
     void _clear(void);
     void _setExitCoordinate(const QGeoCoordinate& coordinate);
     void _clearGrid(void);
     void _generateGrid(void);
     void _updateCoordinateAltitude(void);
-    void _gridGenerator(const QList<QPointF>& polygonPoints, QList<QPointF>& gridPoints);
+    void _gridGenerator(const QList<QPointF>& polygonPoints, QList<QPointF>& simpleGridPoints, QList<QList<QPointF>>& gridSegments);
     QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle);
     void _intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines);
     void _intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines);
@@ -182,12 +195,14 @@ private:
     void _setCameraShots(int cameraShots);
     void _setCoveredArea(double coveredArea);
     void _cameraValueChanged(void);
+    int _appendWaypointToMission(QList<MissionItem*>& items, int seqNum, QGeoCoordinate& coord, CameraTriggerCode cameraTrigger, QObject* missionItemParent);
 
     int                             _sequenceNumber;
     bool                            _dirty;
     QVariantList                    _polygonPath;
     QmlObjectListModel              _polygonModel;
-    QVariantList        _gridPoints;
+    QVariantList                    _simpleGridPoints;      ///< Grid points for drawing simple grid visuals
+    QList<QList<QGeoCoordinate>>    _gridSegments;          ///< Internal grid line segments including grid exit and turnaround point
     QGeoCoordinate                  _coordinate;
     QGeoCoordinate                  _exitCoordinate;
     bool                            _cameraOrientationFixed;
@@ -208,6 +223,8 @@ private:
     SettingsFact    _turnaroundDistFact;
     SettingsFact    _cameraTriggerFact;
     SettingsFact    _cameraTriggerDistanceFact;
+    SettingsFact    _cameraTriggerInTurnaroundFact;
+    SettingsFact    _hoverAndCaptureFact;
     SettingsFact    _groundResolutionFact;
     SettingsFact    _frontalOverlapFact;
     SettingsFact    _sideOverlapFact;
@@ -229,6 +246,8 @@ private:
     static const char* _jsonTurnaroundDistKey;
     static const char* _jsonCameraTriggerKey;
     static const char* _jsonCameraTriggerDistanceKey;
+    static const char* _jsonCameraTriggerInTurnaroundKey;
+    static const char* _jsonHoverAndCaptureKey;
     static const char* _jsonGroundResolutionKey;
     static const char* _jsonFrontalOverlapKey;
     static const char* _jsonSideOverlapKey;

src/PlanView/SurveyItemEditor.qml

@@ -180,10 +180,17 @@ Rectangle {
         spacing:            _margin
 
         SectionHeader {
+            id:         cameraHeader
             text:       qsTr("Camera")
             showSpacer: false
         }
 
+        Column {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            spacing:        _margin
+            visible:        cameraHeader.checked
+
             QGCComboBox {
                 id:             gridTypeCombo
                 anchors.left:   parent.left
@@ -216,6 +223,32 @@ Rectangle {
                 }
             }
 
+            RowLayout {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                spacing:        _margin
+                visible:        missionItem.manualGrid.value == true
+
+                FactCheckBox {
+                    anchors.baseline:   cameraTriggerDistanceField.baseline
+                    text:               qsTr("Trigger Distance")
+                    fact:               missionItem.cameraTrigger
+                }
+
+                FactTextField {
+                    id:                 cameraTriggerDistanceField
+                    Layout.fillWidth:   true
+                    fact:               missionItem.cameraTriggerDistance
+                    enabled:            missionItem.cameraTrigger.value
+                }
+            }
+
+            FactCheckBox {
+                text:   qsTr("Hover and capture image")
+                fact:   missionItem.hoverAndCapture
+            }
+        }
+
         // Camera based grid ui
         Column {
             anchors.left:   parent.left
@@ -343,7 +376,10 @@ Rectangle {
                 }
             }
 
-            SectionHeader { text: qsTr("Grid") }
+            SectionHeader {
+                id:     gridHeader
+                text:   qsTr("Grid")
+            }
 
             GridLayout {
                 anchors.left:   parent.left
@@ -351,6 +387,7 @@ Rectangle {
                 columnSpacing:  _margin
                 rowSpacing:     _margin
                 columns:        2
+                visible:        gridHeader.checked
 
                 QGCLabel { text: qsTr("Angle") }
                 FactTextField {
@@ -403,13 +440,17 @@ Rectangle {
         }
 
         // Manual grid ui
+        SectionHeader {
+            id:         manualGridHeader
+            text:       qsTr("Grid")
+            visible:    gridTypeCombo.currentIndex == _gridTypeManual
+        }
+
         Column {
             anchors.left:   parent.left
             anchors.right:  parent.right
             spacing:        _margin
-            visible:        gridTypeCombo.currentIndex == _gridTypeManual
-
-            SectionHeader { text: qsTr("Grid") }
+            visible:        manualGridHeader.visible && manualGridHeader.checked
 
             FactTextFieldGrid {
                 anchors.left:   parent.left
@@ -420,50 +461,21 @@ Rectangle {
                 factLabels:     [ qsTr("Angle"), qsTr("Spacing"), qsTr("Altitude"), qsTr("Turnaround dist")]
             }
 
-            Item { height: _margin;  width: 1; visible: !ScreenTools.isTinyScreen }
-
             FactCheckBox {
                 anchors.left:   parent.left
                 text:           qsTr("Relative altitude")
                 fact:           missionItem.gridAltitudeRelative
             }
-
-            Item { height: _sectionSpacer;  width: 1; visible: !ScreenTools.isTinyScreen }
-
-            QGCLabel { text: qsTr("Camera") }
-
-            Rectangle {
-                anchors.left:   parent.left
-                anchors.right:  parent.right
-                height:         1
-                color:          qgcPal.text
         }
 
-            RowLayout {
-                anchors.left:   parent.left
-                anchors.right:  parent.right
-                spacing:        _margin
-
-                FactCheckBox {
-                    anchors.baseline:   cameraTriggerDistanceField.baseline
-                    text:               qsTr("Trigger Distance")
-                    fact:               missionItem.cameraTrigger
-                }
-
-                FactTextField {
-                    id:                 cameraTriggerDistanceField
-                    Layout.fillWidth:   true
-                    fact:               missionItem.cameraTriggerDistance
-                    enabled:            missionItem.cameraTrigger.value
-                }
-            }
-        }
-
-        SectionHeader { text: qsTr("Statistics") }
+        SectionHeader {
+            id:     statsHeader
+            text:   qsTr("Statistics") }
 
         Grid {
             columns:        2
             columnSpacing:  ScreenTools.defaultFontPixelWidth
+            visible:        statsHeader.checked
 
             QGCLabel { text: qsTr("Survey area") }
             QGCLabel { text: QGroundControl.squareMetersToAppSettingsAreaUnits(missionItem.coveredArea).toFixed(2) + " " + QGroundControl.appSettingsAreaUnitsString }