From abbb4d4c20753cde9843a84e709c262f28d9df32 Mon Sep 17 00:00:00 2001
From: Gus Grubba <mavlink@grubba.com>
Date: Fri, 16 Feb 2018 17:30:32 -0500
Subject: [PATCH] Set takeoff position Add flight plan deletion

---
 src/Airmap/AirMapFlightPlanManager.cc   | 29 +++++++++++++++++++++++++
 src/Airmap/AirMapFlightPlanManager.h    |  2 ++
 src/MissionManager/MissionController.cc | 20 +++++++++++++++--
 3 files changed, 49 insertions(+), 2 deletions(-)

diff --git a/src/Airmap/AirMapFlightPlanManager.cc b/src/Airmap/AirMapFlightPlanManager.cc
index 0d7df526d..9ebdbff8d 100644
--- a/src/Airmap/AirMapFlightPlanManager.cc
+++ b/src/Airmap/AirMapFlightPlanManager.cc
@@ -228,6 +228,35 @@ AirMapFlightPlanManager::_pollBriefing()
     });
 }
 
+//-----------------------------------------------------------------------------
+void
+AirMapFlightPlanManager::_deleteFlightPlan()
+{
+    if(_flightPlan.isEmpty()) {
+        qCDebug(AirMapManagerLog) << "Delete non existing flight plan";
+        return;
+    }
+    qCDebug(AirMapManagerLog) << "Deleting flight plan";
+    _state = State::FlightDelete;
+    std::weak_ptr<LifetimeChecker> isAlive(_instance);
+    FlightPlans::Delete::Parameters params;
+    params.authorization = _shared.loginToken().toStdString();
+    params.id = _flightPlan.toStdString();
+    //-- Delete flight plan
+    _shared.client()->flight_plans().delete_(params, [this, isAlive](const FlightPlans::Delete::Result& result) {
+        if (!isAlive.lock()) return;
+        if (_state != State::FlightDelete) return;
+        if (result) {
+            _flightPlan.clear();
+            qCDebug(AirMapManagerLog) << "Flight plan deleted";
+            _state = State::Idle;
+        } else {
+            QString description = QString::fromStdString(result.error().description() ? result.error().description().get() : "");
+            emit error("Flight Plan deletion failed", QString::fromStdString(result.error().message()), description);
+        }
+    });
+}
+
 //-----------------------------------------------------------------------------
 void
 AirMapFlightPlanManager::_missionBoundingCubeChanged()
diff --git a/src/Airmap/AirMapFlightPlanManager.h b/src/Airmap/AirMapFlightPlanManager.h
index 9f9183915..7a4d2c65e 100644
--- a/src/Airmap/AirMapFlightPlanManager.h
+++ b/src/Airmap/AirMapFlightPlanManager.h
@@ -40,6 +40,7 @@ private slots:
 private:
     void _uploadFlightPlan              ();
     void _createFlightPlan              ();
+    void _deleteFlightPlan              ();
 
 private:
     enum class State {
@@ -47,6 +48,7 @@ private:
         GetPilotID,
         FlightUpload,
         FlightPolling,
+        FlightDelete
     };
 
     struct Flight {
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 2934e91ea..c5fa16c6e 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -2018,6 +2018,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
 
 void MissionController::_updateTimeout()
 {
+    QGeoCoordinate firstCoordinate;
     QGeoCoordinate takeoffCoordinate;
     QGCGeoBoundingCube boundingCube;
     double north = 0.0;
@@ -2033,11 +2034,14 @@ void MissionController::_updateTimeout()
             if(pSimpleItem) {
                 switch(pSimpleItem->command()) {
                 case MAV_CMD_NAV_TAKEOFF:
-                    takeoffCoordinate = pSimpleItem->coordinate();
-                    // Fall through
                 case MAV_CMD_NAV_WAYPOINT:
                 case MAV_CMD_NAV_LAND:
                 if(pSimpleItem->coordinate().isValid()) {
+                    if(pSimpleItem->command() == MAV_CMD_NAV_TAKEOFF) {
+                        takeoffCoordinate = pSimpleItem->coordinate();
+                    } else if(!firstCoordinate.isValid()) {
+                        firstCoordinate = pSimpleItem->coordinate();
+                    }
                     double lat = pSimpleItem->coordinate().latitude()  + 90.0;
                     double lon = pSimpleItem->coordinate().longitude() + 180.0;
                     double alt = pSimpleItem->coordinate().altitude();
@@ -2058,6 +2062,9 @@ void MissionController::_updateTimeout()
             if(pComplexItem) {
                 QGCGeoBoundingCube bc = pComplexItem->boundingCube();
                 if(bc.isValid()) {
+                    if(!firstCoordinate.isValid() && pComplexItem->coordinate().isValid()) {
+                        firstCoordinate = pComplexItem->coordinate();
+                    }
                     north  = fmax(north, bc.pointNW.latitude()  + 90.0);
                     south  = fmin(south, bc.pointSE.latitude()  + 90.0);
                     east   = fmax(east,  bc.pointNW.longitude() + 180.0);
@@ -2068,6 +2075,15 @@ void MissionController::_updateTimeout()
             }
         }
     }
+    //-- Figure out where this thing is taking off from
+    if(!takeoffCoordinate.isValid()) {
+        if(firstCoordinate.isValid()) {
+            takeoffCoordinate = firstCoordinate;
+        } else {
+            takeoffCoordinate = plannedHomePosition();
+        }
+    }
+    //-- Build bounding "cube"
     boundingCube = QGCGeoBoundingCube(
         QGeoCoordinate(north - 90.0, west - 180.0, minAlt),
         QGeoCoordinate(south - 90.0, east - 180.0, maxAlt));
-- 
2.22.0