arrivalReturnSpeed added to wimamenau

microProjects/CircularSurveyOptimisation/optimisation/main.cpp

-#include <QGuiApplication>
-#include <QQmlApplicationEngine>
-#include "CircularSurveyComplexItem.h"
-#include <QQmlContext>
-#include <QObject>
-
-int main(int argc, char *argv[])
-{
-    QCoreApplication::setAttribute(Qt::AA_EnableHighDpiScaling);
-
-    QGuiApplication app(argc, argv);
-
-    QQmlApplicationEngine engine;
-
-    CircularSurveyComplexItem survey;
-
-    const QUrl url(QStringLiteral("qrc:/main.qml"));
-    QObject::connect(&engine, &QQmlApplicationEngine::objectCreated,
-                     &app, [url](QObject *obj, const QUrl &objUrl) {
-        if (!obj && url == objUrl)
-            QCoreApplication::exit(-1);
-
-    }, Qt::QueuedConnection);
-
-    engine.rootContext()->setContextProperty("survey", &survey);
-    engine.load(url);
-
-    return app.exec();
-}

microProjects/CircularSurveyOptimisation/optimisation/main.qml

-import QtQuick 2.11
-import QtQuick.Window 2.11
-import QtLocation 5.5
-
-import "../../../src/WimaView"
-
-Window {
-    visible: true
-    width: 640
-    height: 480
-    title: qsTr("Hello World")
-
-    Map{
-        id: map
-        anchors.fill: parent
-
-        plugin: Plugin {
-                name: "osm" // "mapboxgl", "esri", ...
-                // specify plugin parameters if necessary
-                // PluginParameter {
-                //     name:
-                //     value:
-                // }
-            }
-        Repeater{
-            model: survey
-            SphericalSurveyMapVisual{
-                map: map
-            }
-        }
-    }
-}

microProjects/CircularSurveyOptimisation/optimisation/optimisation.pro

-QT += quick
-QT += positioning
-
-CONFIG += c++11
-
-# The following define makes your compiler emit warnings if you use
-# any Qt feature that has been marked deprecated (the exact warnings
-# depend on your compiler). Refer to the documentation for the
-# deprecated API to know how to port your code away from it.
-DEFINES += QT_DEPRECATED_WARNINGS
-
-# You can also make your code fail to compile if it uses deprecated APIs.
-# In order to do so, uncomment the following line.
-# You can also select to disable deprecated APIs only up to a certain version of Qt.
-#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
-
-SOURCES += \
-        main.cpp
-
-RESOURCES += qml.qrc
-
-# Additional import path used to resolve QML modules in Qt Creator's code model
-QML_IMPORT_PATH = $$PWD/../../../src/WimaView
-
-# Additional import path used to resolve QML modules just for Qt Quick Designer
-QML_DESIGNER_IMPORT_PATH =
-
-# Default rules for deployment.
-qnx: target.path = /tmp/$${TARGET}/bin
-else: unix:!android: target.path = /opt/$${TARGET}/bin
-!isEmpty(target.path): INSTALLS += target
-
-INCLUDEPATH += $$PWD/../../../src/Wima
-INCLUDEPATH += $$PWD/../../../src/MissionManager
-INCLUDEPATH += $$PWD/../../../src/comm
-INCLUDEPATH += $$PWD/../../../libs/mavlink/include/mavlink/v2.0/
-

microProjects/CircularSurveyOptimisation/optimisation/qml.qrc

-<RCC>
-    <qresource prefix="/">
-        <file>main.qml</file>
-    </qresource>
-</RCC>

qgroundcontrol.qrc

@@ -220,8 +220,7 @@
         <file alias="QGroundControl/Controls/WimaMeasurementAreaMapVisual.qml">src/WimaView/WimaMeasurementAreaMapVisual.qml</file>
         <file alias="QGroundControl/Controls/WimaCorridorMapVisual.qml">src/WimaView/WimaCorridorMapVisual.qml</file>
         <file alias="QGroundControl/Controls/WimaMeasurementAreaEditor.qml">src/WimaView/WimaMeasurementAreaEditor.qml</file>
-        <file alias="QGroundControl/Controls/SpericalSurveyMapVisual.qml">src/WimaView/SphericalSurveyMapVisual.qml</file>
-        <file alias="CircularSurveyItemEditor.qml">src/PlanView/CircularSurveyItemEditor.qml</file>
+        <file alias="QGroundControl/Controls/CircularSurveyMapVisual.qml">src/PlanView/CircularSurveyItemEditor.qml</file>
         <file alias="QGroundControl/Controls/DragCoordinate.qml">src/WimaView/DragCoordinate.qml</file>
         <file alias="QGroundControl/Controls/CoordinateIndicatorDrag.qml">src/WimaView/CoordinateIndicatorDrag.qml</file>
         <file alias="QGroundControl/Controls/CoordinateIndicator.qml">src/WimaView/CoordinateIndicator.qml</file>
@@ -230,6 +229,7 @@
         <file alias="QGroundControl/FlightMap/WimaPlanMapItems.qml">src/FlightMap/MapItems/WimaPlanMapItems.qml</file>
         <file alias="QGroundControl/FlightMap/WimaMissionItemMapVisual.qml">src/PlanView/WimaMissionItemMapVisual.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayWimaMenu.qml">src/FlightDisplay/FlightDisplayWimaMenu.qml</file>
+        <file>src/WimaView/CircularSurveyMapVisual.qml</file>
     </qresource>
     <qresource prefix="/json">
         <file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -225,7 +225,7 @@ Item {
                         width:              parent.width
 
                         QGCLabel {
-                            text:                   qsTr("Speed")
+                            text:                   qsTr("Phase Speed")
                             Layout.fillWidth: true
                         }
                         FactTextField {
@@ -233,6 +233,15 @@ Item {
                             Layout.fillWidth: true
                         }
 
+                        QGCLabel {
+                            text:                   qsTr("Arrival and Return Speed")
+                            Layout.fillWidth: true
+                        }
+                        FactTextField {
+                            fact:               wimaController.arrivalReturnSpeed
+                            Layout.fillWidth: true
+                        }
+
                         QGCLabel {
                             text: qsTr("Altitude")
                             Layout.fillWidth: true

src/MissionManager/QGCMapPolygon.cc

@@ -173,6 +173,19 @@ void QGCMapPolygon::setPath(const QList<QGeoCoordinate>& path)
     emit pathChanged();
 }
 
+void QGCMapPolygon::setPath(const QVector<QGeoCoordinate>& path)
+{
+    _polygonPath.clear();
+    _polygonModel.clearAndDeleteContents();
+    for(const QGeoCoordinate& coord: path) {
+        _polygonPath.append(QVariant::fromValue(coord));
+        _polygonModel.append(new QGCQGeoCoordinate(coord, this));
+    }
+
+    setDirty(true);
+    emit pathChanged();
+}
+
 void QGCMapPolygon::setPath(const QVariantList& path)
 {
     _polygonPath = path;

src/MissionManager/QGCMapPolygon.h

@@ -119,6 +119,7 @@ signals:
 
 public slots:
     void setPath                    (const QList<QGeoCoordinate>& path);
+    void setPath                    (const QVector<QGeoCoordinate>& path);
     void setPath                    (const QVariantList& path);
     void setCenter                  (QGeoCoordinate newCenter);
     void setCenterDrag              (bool centerDrag);

src/MissionManager/TransectStyleComplexItem.cc

@@ -357,8 +357,11 @@ void TransectStyleComplexItem::_rebuildTransects(void)
         return;
     }
 
-    //CALLGRIND_TOGGLE_COLLECT;
-    _rebuildTransectsPhase1();
+    //CALLGRIND_TOGGLE_COLLECT;    
+    auto startTime = std::chrono::high_resolution_clock::now();
+    _rebuildTransectsPhase1();    
+    auto delta = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::high_resolution_clock::now() - startTime).count();
+    qWarning() << "TransectStyleComplexItem::_rebuildTransects(): time: " << delta << " us";
     //CALLGRIND_TOGGLE_COLLECT;
 
     if (_followTerrain) {

src/QmlControls/QGroundControl.Controls.qmldir

@@ -96,7 +96,7 @@ WimaCorridorMapVisual               1.0 WimaCorridorMapVisual.qml
 WimaItemEditor                      1.0 WimaItemEditor.qml
 WimaMapPolygonVisuals               1.0 WimaMapPolygonVisuals.qml
 WimaMapPolylineVisuals              1.0 WimaMapPolylineVisuals.qml
-SphericalSurveyMapVisual            1.0 SphericalSurveyMapVisual.qml
+CircularSurveyMapVisual             1.0 CircularSurveyMapVisual.qml
 DragCoordinate                      1.0 DragCoordinate.qml
 CoordinateIndicator                 1.0 CoordinateIndicator.qml
 CoordinateIndicatorDrag             1.0 CoordinateIndicatorDrag.qml

src/Wima/CircularSurveyComplexItem.cc

@@ -35,6 +35,7 @@ CircularSurveyComplexItem::CircularSurveyComplexItem(Vehicle *vehicle, bool flyV
     ,   _referencePointBeingChanged (false)
     ,   _updateCounter              (0)
 {
+    Q_UNUSED(kmlOrShpFile)
     _editorQml = "qrc:/qml/CircularSurveyItemEditor.qml";
     connect(&_deltaR,               &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
     connect(&_deltaAlpha,           &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
@@ -231,7 +232,7 @@ void CircularSurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>&
     int seqNum =                    _sequenceNumber;
     // bool imagesEverywhere =         _cameraTriggerInTurnAroundFact.rawValue().toBool();
     // bool addTriggerAtBeginning =    !hoverAndCaptureEnabled() && imagesEverywhere;
-    bool firstOverallPoint =        true;
+    //bool firstOverallPoint =        true;
 
     MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;
 
@@ -283,7 +284,7 @@ void CircularSurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>&
 //                                       missionItemParent);
 //                items.append(item);
 //            }
-            firstOverallPoint = false;
+            //firstOverallPoint = false;
 
 //            // Possibly add trigger start/stop to survey area entrance/exit
 //            if (triggerCamera() && !hoverAndCaptureEnabled() && transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge) {
@@ -365,7 +366,6 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
     using namespace GeoUtilities;
     using namespace PolygonCalculus;
     using namespace PlanimetryCalculus;
-    auto startTime = std::chrono::high_resolution_clock::now();
 
     // rebuild not necessary?
     if (!_isInitialized || _referencePointBeingChanged)
@@ -576,7 +576,6 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
     if (transectPath.size() == 0)
         return;
 
-
     // optimize path to snake or zig-zag pattern
     bool isSnakePattern = _isSnakePath.rawValue().toBool();
     QVector<QPointF> currentSection = transectPath.takeFirst();
@@ -619,8 +618,9 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
     if (_reverse.rawValue().toBool())
         PolygonCalculus::reversePath(optiPath);
 
-    QList<QGeoCoordinate> geoPath = toGeo(optiPath, _referencePoint);
+    QVector<QGeoCoordinate> geoPath = toGeo(optiPath, _referencePoint);
     QList<CoordInfo_t> transectList;
+    transectList.reserve(optiPath.size());
     for ( const QGeoCoordinate &coordinate : geoPath) {
         CoordInfo_t coordinfo = {coordinate, CoordTypeInterior};
         transectList.append(coordinfo);
@@ -628,9 +628,6 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
     _transects.append(transectList);
 
     qDebug() << "CircularSurveyComplexItem::_rebuildTransectsPhase1(): calls: " << _updateCounter;
-    auto delta = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::high_resolution_clock::now() - startTime).count();
-    qDebug() << "CircularSurveyComplexItem::_rebuildTransectsPhase1(): time: " << delta << " ms";
-    //qDebug() << sizeof(QPointF);
 
 }
 

src/Wima/GeoUtilities.cc

@@ -27,9 +27,10 @@ namespace GeoUtilities {
         return  point;
     }
 
-    QGeoList toGeo(const QVector3DList &points, const QGeoCoordinate &origin)
+    QGeoVector toGeo(const QVector3DList &points, const QGeoCoordinate &origin)
     {
-        QGeoList coordinates;
+        QGeoVector coordinates;
+        coordinates.reserve(points.size());
         for (auto point : points)
             coordinates.append(toGeo(point, origin));
 
@@ -67,6 +68,7 @@ namespace GeoUtilities {
     QPointFList toCartesian2D(const QGeoList &coordinates, const QGeoCoordinate &origin)
     {
         QPointFList listF;
+        listF.reserve(coordinates.size());
 
         for ( auto coordinate : coordinates)
             listF.append(toCartesian2D(coordinate, origin));
@@ -92,18 +94,20 @@ namespace GeoUtilities {
             return QGeoCoordinate(); // singularity occurred (1/cos(pi/2) = inf)
     }
 
-    QGeoList toGeo(const QPointFList &points, const QGeoCoordinate &origin)
+    QGeoVector toGeo(const QPointFList &points, const QGeoCoordinate &origin)
     {
-        QGeoList coordinates;
+        QGeoVector coordinates;
+        coordinates.reserve(points.size());
         for ( auto point : points)
             coordinates.append(toGeo(point, origin));
 
         return coordinates;
     }
 
-    QGeoList toGeo(const QPointFVector &points, const QGeoCoordinate &origin)
+    QGeoVector toGeo(const QPointFVector &points, const QGeoCoordinate &origin)
     {
-        QGeoList coordinates;
+        QGeoVector coordinates;
+        coordinates.reserve(points.size());
         for ( auto point : points)
             coordinates.append(toGeo(point, origin));
 

src/Wima/GeoUtilities.h

@@ -13,19 +13,22 @@ namespace GeoUtilities {
 
     typedef QList<QVector3D>        QVector3DList;
     typedef QList<QPointF>          QPointFList;
-    typedef QVector<QPointF>          QPointFVector;
+    typedef QVector<QPointF>        QPointFVector;
     typedef QList<QGeoCoordinate>   QGeoList;
+    typedef QVector<QGeoCoordinate> QGeoVector;
 
     const double earthRadius = 6378137; // meter
 
     QGeoCoordinate  toGeo         (const QVector3D &point, const QGeoCoordinate &origin);
-    QGeoList        toGeo         (const QVector3DList &points, const QGeoCoordinate &origin);
+    QGeoVector      toGeo         (const QVector3DList &points, const QGeoCoordinate &origin);
     QGeoCoordinate  toGeo         (const QPointF &point, const QGeoCoordinate &origin);
-    QGeoList        toGeo         (const QPointFList &points, const QGeoCoordinate &origin);
-    QGeoList        toGeo         (const QPointFVector &points, const QGeoCoordinate &origin);
+    QGeoVector      toGeo         (const QPointFList &points, const QGeoCoordinate &origin);
+    QGeoVector      toGeo         (const QPointFVector &points, const QGeoCoordinate &origin);
     QVector3D       toCartesian   (const QGeoCoordinate &coordinate, const QGeoCoordinate &origin);
     QVector3DList   toCartesian   (const QGeoList &coordinates, const QGeoCoordinate &origin);
+    QVector3DList   toCartesian   (const QGeoVector &coordinates, const QGeoCoordinate &origin);
     QPointF         toCartesian2D (const QGeoCoordinate &point, const QGeoCoordinate &origin);
     QPointFList     toCartesian2D (const QGeoList &coordinates, const QGeoCoordinate &origin);
+    QPointFList     toCartesian2D (const QGeoVector &coordinates, const QGeoCoordinate &origin);
 }
 

src/Wima/WimaArea.cc

@@ -267,7 +267,7 @@ bool WimaArea::join(const WimaArea &area1, const WimaArea &area2, WimaArea &join
     } else if (retValue == JoinPolygonError::PathSizeLow) {
         qWarning("Polygon vertex count is low.");
     } else {
-        QList<QGeoCoordinate> path = toGeo(toQPointFList(joinedPolygon), origin);
+        QVector<QGeoCoordinate> path = toGeo(toQPointFList(joinedPolygon), origin);
 //        qWarning("after transform");
 //        qWarning() << path;
         joinedArea.setPath(path);

src/Wima/WimaController.SettingsGroup.json

@@ -39,12 +39,20 @@
 },
 {
     "name":             "FlightSpeed",
-    "shortDescription": "The mission flight speed.",
+    "shortDescription": "The phase flight speed.",
     "type":             "double",
     "min" :             0.3,
     "max" :             5,
     "defaultValue":     2
 },
+{
+    "name":             "ArrivalReturnSpeed",
+    "shortDescription": "The flight speed for arrival and return path.",
+    "type":             "double",
+    "min" :             0.3,
+    "max" :             5,
+    "defaultValue":     5
+},
 {
     "name":             "Altitude",
     "shortDescription": "The mission altitude.",

src/Wima/WimaController.h

@@ -55,6 +55,7 @@ public:
     Q_PROPERTY(Fact*                    showCurrentMissionItems READ showCurrentMissionItems                                CONSTANT)
     Q_PROPERTY(Fact*                    flightSpeed             READ flightSpeed                                            CONSTANT)
     Q_PROPERTY(Fact*                    altitude                READ altitude                                               CONSTANT)
+    Q_PROPERTY(Fact*                    arrivalReturnSpeed      READ arrivalReturnSpeed                                     CONSTANT)
     Q_PROPERTY(Fact*                    reverse                 READ reverse                                                CONSTANT)
     Q_PROPERTY(bool                     uploadOverrideRequired  READ uploadOverrideRequired WRITE setUploadOverrideRequired NOTIFY uploadOverrideRequiredChanged)
     Q_PROPERTY(double                   phaseDistance           READ phaseDistance                                          NOTIFY phaseDistanceChanged)
@@ -84,6 +85,7 @@ public:
     Fact*                       showAllMissionItems    (void);
     Fact*                       showCurrentMissionItems(void);
     Fact*                       flightSpeed            (void);
+    Fact*                       arrivalReturnSpeed     (void);
     Fact*                       altitude               (void);    
     Fact*                       reverse                (void);
     bool                        uploadOverrideRequired (void) const;
@@ -130,17 +132,18 @@ public:
     static const char* showAllMissionItemsName;
     static const char* showCurrentMissionItemsName;
     static const char* flightSpeedName;
+    static const char* arrivalReturnSpeedName;
     static const char* altitudeName;    
     static const char* reverseName;
 
     // Member Methodes
     QJsonDocument saveToJson(FileType fileType);
 
-    bool calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QList<QGeoCoordinate> &path);
+    bool calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QVector<QGeoCoordinate> &path);
     /// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList
-    bool extractCoordinateList(QmlObjectListModel &missionItems, QList<QGeoCoordinate> &coordinateList);
+    bool extractCoordinateList(QmlObjectListModel &missionItems, QVector<QGeoCoordinate> &coordinateList);
     /// extracts the coordinates (between startIndex and endIndex) stored in missionItems (list of MissionItems) and stores them in coordinateList.
-    bool extractCoordinateList(QmlObjectListModel &missionItems, QList<QGeoCoordinate> &coordinateList, int startIndex, int endIndex);
+    bool extractCoordinateList(QmlObjectListModel &missionItems, QVector<QGeoCoordinate> &coordinateList, int startIndex, int endIndex);
     /// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList
     bool extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList);
     /// extracts the coordinates (between startIndex and endIndex) stored in missionItems (list of MissionItems) and stores them in coordinateList.
@@ -172,7 +175,8 @@ private slots:
     void updateNextWaypoint                 (void);
     void recalcCurrentPhase                 (void);
     bool setTakeoffLandPosition             (void);
-    void updateSpeed                        (void);
+    void updateflightSpeed                  (void);
+    void updateArrivalReturnSpeed           (void);
     void updateAltitude                     (void);
     void checkBatteryLevel                  (void);
     void smartRTLCleanUp                    (bool flying); // cleans up after successfull smart RTL
@@ -218,12 +222,13 @@ private:
     SettingsFact                 _showAllMissionItems; // bool value, Determines whether the mission items of the overall mission are displayed or not.
     SettingsFact                 _showCurrentMissionItems; // bool value, Determines whether the mission items of the current mission phase are displayed or not.
     SettingsFact                 _flightSpeed; // mission flight speed
+    SettingsFact                 _arrivalReturnSpeed; // arrival and return path speed
     SettingsFact                 _altitude; // mission altitude
     SettingsFact                 _reverse; // Reverses the phase direction. Phases go from high to low waypoint numbers, if true.
 
-    int                          _endWaypointIndex; // indes of the mission item stored in _missionItems defining the last element
+    int                          _endWaypointIndex; // index of the mission item stored in _missionItems defining the last element
                                                     // (which is not part of the return path) of _currentMissionItem
-    int                          _startWaypointIndex; // indes of the mission item stored in _missionItems defining the first element
+    int                          _startWaypointIndex; // index of the mission item stored in _missionItems defining the first element
                                                       // (which is not part of the arrival path) of _currentMissionItem
     bool                         _uploadOverrideRequired; // Is set to true if uploadToVehicle() did not suceed because the vehicle is not inside the service area.
                                                           // The user can override the upload lock with a slider, this will reset this variable to false.
@@ -238,4 +243,33 @@ private:
 
 };
 
+/*
+ * The following explains the structure of
+ * _missionController.visualItems(). The indices
+ * are not that important and only specified for
+ * reasons of completeness.
+ *
+ * Index        Description
+ * --------------------------------------------
+ * 0            MissionSettingsItem
+ * 1            Takeoff Command
+ * 2            Speed Command: arrivalReturnSpeed
+ * 3            Arrival Path Waypoint 0
+ * ...
+ * 3+n-1        Arrival Path Waypoint n-1
+ * 3+n          Speed Command: flightSpeed
+ * 3+n+1        Circular Survey Waypoint 0
+ * ...
+ * 3+n+m        Circular Survey Waypoint m-1
+ * 3+n+m+1      Speed Command: arrivalReturnSpeed
+ * 3+n+m+2      Return Path Waypoint 0
+ * ...
+ * 3+n+m+2+l    Return Path Waypoint l-1
+ * 3+n+m+2+l+1  Land command
+ *
+ * _currentMissionItems is equal to
+ * _missionController.visualItems() except that it
+ * is missing the MissionSettingsItem
+ */
+
 

src/Wima/WimaPlaner.cc

@@ -563,7 +563,7 @@ bool WimaPlaner::calcArrivalAndReturnPath()
         //_visualItems.append(&_joinedArea);
     #endif
 
-    QList<QGeoCoordinate> path;
+    QVector<QGeoCoordinate> path;
     if ( !calcShortestPath(start, end, path)) {
         qgcApp()->showMessage( QString(tr("Not able to calculate the path from takeoff position to measurement area.")).toLocal8Bit().data());
         return false;
@@ -667,7 +667,7 @@ void WimaPlaner::pushToContainer()
     }
 }
 
-bool WimaPlaner::calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QList<QGeoCoordinate> &path)
+bool WimaPlaner::calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QVector<QGeoCoordinate> &path)
 {
     using namespace GeoUtilities;
     using namespace PolygonCalculus;

src/Wima/WimaPlaner.h

@@ -111,7 +111,7 @@ public:
 
     QJsonDocument saveToJson(FileType fileType);
 
-    bool calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QList<QGeoCoordinate> &path);
+    bool calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QVector<QGeoCoordinate> &path);
 
     // static Members
     static const char* wimaFileExtension;

src/WimaView/SphericalSurveyMapVisual.qml → src/WimaView/CircularSurveyMapVisual.qml

@@ -82,7 +82,7 @@ Item {
             _mapPolygon.appendVertex(topRightCoord)
             _mapPolygon.appendVertex(bottomRightCoord)
             _mapPolygon.appendVertex(bottomLeftCoord)
-        }    
+        }
     }
 
     function _setRefPoint() {
@@ -91,7 +91,7 @@ Item {
 
     Component.onCompleted: {
         if ( !_missionItem.isInitialized ) {
-            _addInitialPolygon()            
+            _addInitialPolygon()
             _missionItem.isInitialized = true // set isInitialized to true, to trigger _rebuildTransectsPhase1 in the last line
             _setRefPoint()
         }