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 };
             transect.prepend(coordInfo);
-            coordInfo = { transectCoords.last(), CoordTypeSurveyEdge };
+            coordInfo = { transectCoords.last(), CoordTypeSurveyExit };
             transect.append(coordInfo);
 
             // Extend the transect ends for turnaround

src/MissionManager/MavCmdInfoCommon.json

@@ -858,6 +858,20 @@
                 "default":          25,
                 "units":            "m",
                 "decimalPlaces":    2
+            },
+            "param2": {
+                "label":            "Shutter",
+                "default":          0,
+                "units":            "msecs",
+                "decimalPlaces":    0
+            },
+            "param3": {
+                "label":            "Trigger",
+                "default":          25,
+                "enumStrings":      "No Trigger,Once Immediately",
+                "enumValues":       "0,1",
+                "default":          0,
+                "decimalPlaces":    0
             }
         },
         {
@@ -1063,6 +1077,22 @@
                 "enumValues":       "3,4"
             }
         },
+        {
+            "id":                   4501,
+            "rawName":              "MAV_CMD_CONDITION_GATE",
+            "friendlyName":         "Condition Gate",
+            "description":          "Delay mission state machine until gate has been reached.",
+            "specifiesCoordinate":  true,
+            "friendlyEdit":         true,
+            "category":             "Conditionals",
+            "param2": {
+                "label":            "Ignore Alt",
+                "enumStrings":      "False,True",
+                "enumValues":       "0,1",
+                "default":          1,
+                "decimalPlaces":    0
+            }
+        },
         { "id": 30001, "rawName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY", "friendlyName": "Payload prepare deploy" },
         { "id": 30002, "rawName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY", "friendlyName": "Payload control deploy" }
     ]

src/MissionManager/SurveyComplexItem.h

@@ -98,7 +98,6 @@ private:
     void _intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines);
     void _intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines);
     void _adjustLineDirection(const QList<QLineF>& lineList, QList<QLineF>& resultLines);
-    int _appendWaypointToMission(QList<MissionItem*>& items, int seqNum, QGeoCoordinate& coord, CameraTriggerCode cameraTrigger, QObject* missionItemParent);
     bool _nextTransectCoord(const QList<QGeoCoordinate>& transectPoints, int pointIndex, QGeoCoordinate& coord);
     bool _appendMissionItemsWorker(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, bool hasRefly, bool buildRefly);
     void _optimizeTransectsForShortestDistance(const QGeoCoordinate& distanceCoord, QList<QList<QGeoCoordinate>>& transects);
@@ -130,6 +129,11 @@ private:
     // return true if vertex a can see vertex b
     bool _VertexCanSeeOther(const QPolygonF& polygon, const QPointF* vertexA, const QPointF* vertexB);
     bool _VertexIsReflex(const QPolygonF& polygon, const QPointF* vertex);
+    void _appendWaypoint(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, float holdTime, const QGeoCoordinate& coordinate);
+    void _appendSinglePhotoCapture(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum);
+    void _appendConditionGate(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, const QGeoCoordinate& coordinate);
+    void _appendCameraTriggerDistance(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, float triggerDistance);
+    void _appendCameraTriggerDistanceUpdatePoint(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, const QGeoCoordinate& coordinate, bool useConditionGate, float triggerDistance);
 
     QMap<QString, FactMetaData*> _metaDataMap;
 

src/MissionManager/TransectStyleComplexItem.h

@@ -74,6 +74,9 @@ public:
     bool    hoverAndCaptureEnabled  (void) const { return hoverAndCapture()->rawValue().toBool(); }
     bool    triggerCamera           (void) const { return triggerDistance() != 0; }
 
+    // Used internally only by unit tests
+    int _transectCount(void) { return _transects.count(); }
+
     // Overrides from ComplexMissionItem
 
     int                 lastSequenceNumber  (void) const final;
@@ -159,8 +162,9 @@ protected:
         CoordTypeInterior,              ///< Interior waypoint for flight path only
         CoordTypeInteriorHoverTrigger,  ///< Interior waypoint for hover and capture trigger
         CoordTypeInteriorTerrainAdded,  ///< Interior waypoint added for terrain
-        CoordTypeSurveyEdge,            ///< Waypoint at edge of survey polygon
-        CoordTypeTurnaround             ///< Waypoint outside of survey polygon for turnaround
+        CoordTypeSurveyEntry,           ///< Waypoint at entry edge of survey polygon
+        CoordTypeSurveyExit,            ///< Waypoint at exit edge of survey polygon
+        CoordTypeTurnaround,            ///< First turnaround waypoint
     };
 
     typedef struct {