Merge pull request #7894 from DonLakeFlyer/MinTransectSpacing

Plan Patterns: Minimum transect spacing of 0.5 meters

src/MissionManager/CorridorScanComplexItem.cc

@@ -144,9 +144,8 @@ bool CorridorScanComplexItem::specifiesCoordinate(void) const
 
 int CorridorScanComplexItem::_transectCount(void) const
 {
-    double transectSpacing = _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
     double fullWidth = _corridorWidthFact.rawValue().toDouble();
-    return fullWidth > 0.0 ? qCeil(fullWidth / transectSpacing) : 1;
+    return fullWidth > 0.0 ? qCeil(fullWidth / _transectSpacing()) : 1;
 }
 
 void CorridorScanComplexItem::_appendLoadedMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
@@ -343,7 +342,7 @@ void CorridorScanComplexItem::_rebuildTransectsPhase1(void)
     _transects.clear();
     _transectsPathHeightInfo.clear();
 
-    double transectSpacing = _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
+    double transectSpacing = _transectSpacing();
     double fullWidth = _corridorWidthFact.rawValue().toDouble();
     double halfWidth = fullWidth / 2.0;
     int transectCount = _transectCount();
@@ -501,3 +500,16 @@ double CorridorScanComplexItem::timeBetweenShots(void)
 {
     return _cruiseSpeed == 0 ? 0 : _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / _cruiseSpeed;
 }
+
+double CorridorScanComplexItem::_transectSpacing(void) const
+{
+    double transectSpacing = _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
+    if (transectSpacing < 0.5) {
+        // We can't let spacing get too small otherwise we will end up with too many transects.
+        // So we limit to 0.5 meter spacing as min and set to huge value which will cause a single
+        // transect to be added.
+        transectSpacing = 100000;
+    }
+
+    return transectSpacing;
+}

src/MissionManager/CorridorScanComplexItem.h

@@ -69,9 +69,10 @@ private slots:
     void _recalcCameraShots         (void) final;
 
 private:
-    int _transectCount              (void) const;
-    void _buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent);
-    void _appendLoadedMissionItems  (QList<MissionItem*>& items, QObject* missionItemParent);
+    double  _transectSpacing            (void) const;
+    int     _transectCount              (void) const;
+    void    _buildAndAppendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent);
+    void    _appendLoadedMissionItems   (QList<MissionItem*>& items, QObject* missionItemParent);
 
     QGCMapPolyline                  _corridorPolyline;
     QList<QList<QGeoCoordinate>>    _transectSegments;      ///< Internal transect segments including grid exit, turnaround and internal camera points

src/MissionManager/SurveyComplexItem.cc

@@ -834,6 +834,12 @@ void SurveyComplexItem::_rebuildTransectsPhase1WorkerSinglePolygon(bool refly)
 
     double gridAngle = _gridAngleFact.rawValue().toDouble();
     double gridSpacing = _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
+    if (gridSpacing < 0.5) {
+        // We can't let gridSpacing get too small otherwise we will end up with too many transects.
+        // So we limit to 0.5 meter spacing as min and set to huge value which will cause a single
+        // transect to be added.
+        gridSpacing = 100000;
+    }
 
     gridAngle = _clampGridAngle90(gridAngle);
     gridAngle += refly ? 90 : 0;