Merge pull request #8059 from DonLakeFlyer/GimbalYaw

Plan: Fix gimbal yaw visual problems

src/MissionManager/CameraSection.cc

@@ -67,8 +67,6 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
     connect(this,                               &CameraSection::specifyGimbalChanged,       this, &CameraSection::_setDirty);
     connect(this,                               &CameraSection::specifyCameraModeChanged,   this, &CameraSection::_setDirty);
 
-    connect(this,                               &CameraSection::specifyGimbalChanged,       this, &CameraSection::_updateSpecifiedGimbalYaw);
-    connect(this,                               &CameraSection::specifyGimbalChanged,       this, &CameraSection::_updateSpecifiedGimbalPitch);
     connect(&_gimbalYawFact,                    &Fact::valueChanged,                        this, &CameraSection::_updateSpecifiedGimbalYaw);
     connect(&_gimbalPitchFact,                  &Fact::valueChanged,                        this, &CameraSection::_updateSpecifiedGimbalPitch);
 }
@@ -78,6 +76,8 @@ void CameraSection::setSpecifyGimbal(bool specifyGimbal)
     if (specifyGimbal != _specifyGimbal) {
         _specifyGimbal = specifyGimbal;
         emit specifyGimbalChanged(specifyGimbal);
+        emit specifiedGimbalYawChanged(specifiedGimbalYaw());
+        emit specifiedGimbalPitchChanged(specifiedGimbalPitch());
     }
 }
 

src/MissionManager/MissionController.cc

@@ -1419,7 +1419,21 @@ void MissionController::_recalcMissionFlightStatus()
             _missionFlightStatus.vehicleSpeed = newSpeed;
         }
 
-        // Look for gimbal change
+        // ROI commands cancel out previous gimbal yaw/pitch
+        if (simpleItem) {
+            switch (simpleItem->command()) {
+            case MAV_CMD_NAV_ROI:
+            case MAV_CMD_DO_SET_ROI_LOCATION:
+            case MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET:
+                _missionFlightStatus.gimbalYaw = std::numeric_limits<double>::quiet_NaN();
+                _missionFlightStatus.gimbalPitch = std::numeric_limits<double>::quiet_NaN();
+                break;
+            default:
+                break;
+            }
+        }
+
+        // Look for specific gimbal changes
         double gimbalYaw = item->specifiedGimbalYaw();
         if (!qIsNaN(gimbalYaw)) {
             _missionFlightStatus.gimbalYaw = gimbalYaw;

src/MissionManager/MissionItemTest.cc

@@ -39,12 +39,11 @@ void MissionItemTest::init(void)
                                   MAV_TYPE_QUADROTOR,
                                   qgcApp()->toolbox()->firmwarePluginManager(),
                                   this);
-
 }
 
 void MissionItemTest::cleanup(void)
 {
-    delete _offlineVehicle;
+    _offlineVehicle->deleteLater();
     UnitTest::cleanup();
 }
 

src/MissionManager/VisualMissionItemTest.cc

@@ -54,7 +54,7 @@ void VisualMissionItemTest::init(void)
 
 void VisualMissionItemTest::cleanup(void)
 {
-    delete _offlineVehicle;
+    _offlineVehicle->deleteLater();
     UnitTest::cleanup();
 }