start mission issue (shown in inproper situations) fixed

src/FlightDisplay/FlightDisplayView.qml

@@ -121,7 +121,7 @@ QGCView {
             wimaController.dataContainer = Qt.binding(function() { return dataContainerPointer })
         }
 
-        onUploadAndExecuteConfirmRequired: {
+        onReturnUserRequestConfirmRequired: {
             _guidedController.confirmAction(_guidedController.actionUploadAndExecute)
         }
 
@@ -615,12 +615,6 @@ QGCView {
             wimaController:         _wimaController
             planMasterController:   _planMasterController
             missionController:      _missionController
-
-            onInitSmartRTL: {
-                if (wimaController.checkSmartRTLPreCondition()) {
-                    _guidedController.confirmAction(_guidedController.actionInitSmartRTL)
-                }
-            }
         }
 
         //-------------------------------------------------------------------------

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -35,7 +35,6 @@ Item {
     property real   _controllerProgressPct:     _controllerValid ? planMasterController.missionController.progressPct : 0
     property real   _margins:                   ScreenTools.defaultFontPixelWidth / 2
 
-    signal initSmartRTL();
 
     DeadMouseArea {
         anchors.fill: parent
@@ -316,7 +315,7 @@ Item {
                         QGCButton {
                             id: buttonSmartRTL
                             text:               qsTr("Smart RTL")
-                            onClicked:          initSmartRTL()
+                            onClicked:          wimaController.initSmartRTL();
                             Layout.columnSpan:  2
                             Layout.fillWidth: true
                         }

src/FlightDisplay/GuidedActionsController.qml

@@ -54,7 +54,6 @@ Item {
     readonly property string gotoTitle:                     qsTr("Goto Location")
     readonly property string vtolTransitionTitle:           qsTr("VTOL Transition")    
     readonly property string overrideUploadTitle:           qsTr("Override Lock")
-    readonly property string initSmartRTLTitle:             qsTr("Smart RTL")
     readonly property string uploadAndExecuteTitle:         qsTr("Upload and Execute")
     readonly property string returnBatteryLowTitle:         qsTr("Battery Low")
 
@@ -77,7 +76,6 @@ Item {
     readonly property string vtolTransitionFwdMessage:          qsTr("Transition VTOL to fixed wing flight.")
     readonly property string vtolTransitionMRMessage:           qsTr("Transition VTOL to multi-rotor flight.")
     readonly property string overrideUploadMessage:             qsTr("Vehicle is not inside service area. Upload nevertheless?")    
-    readonly property string initSmartRTLMessage:               qsTr("Pause the vehicle at it's current position and calculate a return path?")
     readonly property string uploadAndExecuteMessage:           qsTr("Upload and execute the displayed return path?")
     readonly property string returnBatteryLowMessage:           qsTr("Upload and execute the displayed return path?")
 
@@ -103,8 +101,7 @@ Item {
     readonly property int actionMVStartMission:             19
     readonly property int actionVtolTransitionToFwdFlight:  20
     readonly property int actionVtolTransitionToMRFlight:   21
-    readonly property int actionOverrideUpload:             22    
-    readonly property int actionInitSmartRTL:               23
+    readonly property int actionOverrideUpload:             22
     readonly property int actionUploadAndExecute:           24
     readonly property int actionReturnBatteryLow:           25 // very similar to actionUploadAndExecute, is triggered on low battery
 
@@ -132,7 +129,7 @@ Item {
     property bool   _guidedActionsEnabled:  (!ScreenTools.isDebug && QGroundControl.corePlugin.options.guidedActionsRequireRCRSSI && _activeVehicle) ? _rcRSSIAvailable : _activeVehicle
     property var    _activeVehicle:         QGroundControl.multiVehicleManager.activeVehicle
     property string _flightMode:            _activeVehicle ? _activeVehicle.flightMode : ""
-    property bool   _missionAvailable:      wimaEnabled ? wimaMenu.missionReadyForStart : missionController.containsItems
+    property bool   _missionAvailable:      missionController.containsItems && missionController.progressPct === 1
     property bool   _missionActive:         _activeVehicle ? _vehicleArmed && (_vehicleInLandMode || _vehicleInRTLMode || _vehicleInMissionMode) : false
     property bool   _vehicleArmed:          _activeVehicle ? _activeVehicle.armed  : false
     property bool   _vehicleFlying:         _activeVehicle ? _activeVehicle.flying  : false
@@ -352,11 +349,6 @@ Item {
             confirmDialog.message = overrideUploadMessage
             confirmDialog.hideTrigger = true
             break
-        case actionInitSmartRTL:
-            confirmDialog.title = initSmartRTLTitle
-            confirmDialog.message = initSmartRTLMessage
-            confirmDialog.hideTrigger = true
-            break
         case actionUploadAndExecute:
             confirmDialog.title = uploadAndExecuteTitle
             confirmDialog.message = uploadAndExecuteMessage
@@ -445,9 +437,6 @@ Item {
         case actionOverrideUpload:
             wimaController.forceUploadToVehicle()
             break
-        case actionInitSmartRTL:
-            wimaController.initSmartRTL()
-            break
         case actionUploadAndExecute:
         case actionReturnBatteryLow:
             wimaController.executeSmartRTL()

src/MissionManager/MissionController.cc

@@ -88,7 +88,6 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
 
     _remainingDistanceTimeTimer.setInterval(REMAINING_DIST_TIME_UPDATE_INTERVAL);
     connect(&_remainingDistanceTimeTimer, &QTimer::timeout, this, &MissionController::_updateRemainingDistanceTime);
-
 }
 
 MissionController::~MissionController()
@@ -243,6 +242,24 @@ void MissionController::_warnIfTerrainFrameUsed(void)
     }
 }
 
+void MissionController::_setRemainingDistance(double dist)
+{
+    if (qFuzzyCompare(dist, _remainingDistance) == false) {
+        _remainingDistance = dist;
+
+        emit remainingDistanceChanged();
+    }
+}
+
+void MissionController::_setRemainingTime(double time)
+{
+    if (qFuzzyCompare(time, _remainingTime) == false) {
+        _remainingTime = time;
+
+        emit remainingTimeChanged();
+    }
+}
+
 void MissionController::sendToVehicle(void)
 {
     if (_masterController->offline()) {
@@ -1680,11 +1697,8 @@ void MissionController::_enableDisableRemainingDistTimeCalculation(bool flying)
         _remainingDistanceTimeTimer.start();
     } else {
         _remainingDistanceTimeTimer.stop();
-        _remainingTime = -1;
-        _remainingDistance = -1;
-
-        emit remainingTimeChanged();
-        emit remainingDistanceChanged();
+        _setRemainingTime(-1);
+        _setRemainingDistance(-1);
     }
 }
 
@@ -1694,11 +1708,11 @@ void MissionController::_updateRemainingDistanceTime()
     double time = 0;
     bool success = distanceTimeToMissionEnd(dist, time, _missionManager->currentIndex() /*missionIndex >= 1*/, true /* useVehiclePostion */);
     if (success) {
-        _remainingTime      = time;
-        _remainingDistance  = dist;
-
-        emit remainingTimeChanged();
-        emit remainingDistanceChanged();
+        _setRemainingTime(time);
+        _setRemainingDistance(dist);
+    } else {
+        _setRemainingTime(-1);
+        _setRemainingDistance(-1);
     }
 }
 

src/MissionManager/MissionController.h

@@ -318,6 +318,8 @@ private:
     void _addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum);
     int _insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int i);
     void _warnIfTerrainFrameUsed(void);
+    void _setRemainingDistance(double dist);
+    void _setRemainingTime(double time);
 
 private:
     MissionManager*         _missionManager;

src/Settings/Wima.SettingsGroup.json

@@ -4,7 +4,7 @@
     "shortDescription": "The battery threshold in percents, for which low battery handling measures get triggered.",
     "type":             "double",
     "units":            "%",
-    "defaultValue":     40
+    "defaultValue":     35
 },
 {
     "name":             "enableLowBatteryHandling",
@@ -17,6 +17,6 @@
     "shortDescription": "If the remaining estimated mission time is lower than this value, low battery handling will not be triggered.",
     "type":             "uint64",
     "units":            "s",
-    "defaultValue":     60
+    "defaultValue":     15
 }
 ]

src/Wima/WimaController.cc

@@ -37,16 +37,16 @@ WimaController::WimaController(QObject *parent)
     , _endWaypointIndex         (0)
     , _startWaypointIndex       (0)
     , _uploadOverrideRequired   (false)
-    , _measurementPathLength              (-1)
+    , _measurementPathLength    (-1)
     , _arrivalPathLength        (-1)
     , _returnPathLength         (-1)
     , _phaseDistance            (-1)
     , _phaseDuration            (-1)
     , _phaseDistanceBuffer      (-1)
     , _phaseDurationBuffer      (-1)
-    , _vehicleHasLowBattery     (false)
-    , _lowBatteryHandlingTriggered(false)
-    , _executingSmartRTL        (false)
+    , _vehicleHasLowBattery         (false)
+    , _lowBatteryHandlingTriggered  (false)
+    , _executingSmartRTL            (false)
 
 {
     _showAllMissionItems.setRawValue(true);
@@ -61,7 +61,9 @@ WimaController::WimaController(QObject *parent)
 
     // setup low battery handling
     connect(&_checkBatteryTimer, &QTimer::timeout, this, &WimaController::checkBatteryLevel);
-    _checkBatteryTimer.setInterval(500);
+    _checkBatteryTimer.setInterval(CHECK_BATTERY_INTERVAL);
+
+
     Fact *enableLowBatteryHandling = qgcApp()->toolbox()->settingsManager()->wimaSettings()->enableLowBatteryHandling();
     connect(enableLowBatteryHandling, &Fact::rawValueChanged, this, &WimaController::enableDisableLowBatteryHandling);
     enableDisableLowBatteryHandling(enableLowBatteryHandling->rawValue());
@@ -343,26 +345,15 @@ bool WimaController::calcReturnPath()
     return true;
 }
 
-bool WimaController::executeSmartRTL()
+void WimaController::executeSmartRTL()
 {
-    QString errorString;
-    bool retValue = _executeSmartRTL(errorString);
-    if (!retValue) {
-        qgcApp()->showMessage(errorString);
-    }
-
-    return retValue;
+    _executeSmartRTL();
 }
 
-bool WimaController::initSmartRTL()
+void WimaController::initSmartRTL()
 {
-    masterController()->managerVehicle()->pauseVehicle();
-    QString errorString;
-    bool retValue = calcReturnPath();
-    if (!retValue)
-        return false;
-    emit uploadAndExecuteConfirmRequired();
-    return true;
+    _srtlReason = UserRequest;
+    _initSmartRTL();
 }
 
 void WimaController::removeVehicleTrajectoryHistory()
@@ -928,8 +919,6 @@ void WimaController::checkBatteryLevel()
     bool enabled                = _enableWimaController.rawValue().toBool();
     unsigned int minTime        = wimaSettings->minimalRemainingMissionTime()->rawValue().toUInt();
 
-    static short attemptCounter = 0;
-
     if (managerVehicle != nullptr && enabled == true) {
         Fact *battery1percentRemaining = managerVehicle->battery1FactGroup()->getFact(VehicleBatteryFactGroup::_percentRemainingFactName);
         Fact *battery2percentRemaining = managerVehicle->battery2FactGroup()->getFact(VehicleBatteryFactGroup::_percentRemainingFactName);
@@ -944,26 +933,9 @@ void WimaController::checkBatteryLevel()
                     _lowBatteryHandlingTriggered = true;
                 }
                 else {
-                    QString errorString;
-                    attemptCounter++;
-                    if (_checkSmartRTLPreCondition(errorString) == true) {
-
-                        managerVehicle->pauseVehicle();
-                        if (_calcReturnPath(errorString)) {
-                            _lowBatteryHandlingTriggered = true;
-                            attemptCounter = 0;
-                            emit returnBatteryLowConfirmRequired();
-                        } else {
-                            if (attemptCounter > 3) {
-                                qgcApp()->showMessage(tr("Battery level is low. Smart RTL not possible."));
-                                qgcApp()->showMessage(errorString);
-                            }
-                        }
-                    }
-                    if (attemptCounter > 3) { // try 3 times, somtimes vehicle is outside joined area
-                        _lowBatteryHandlingTriggered = true;
-                        attemptCounter = 0;
-                    }
+                    _lowBatteryHandlingTriggered = true;
+                    _srtlReason = BatteryLow;
+                    _initSmartRTL();
                 }
             }
         }
@@ -1035,10 +1007,15 @@ bool WimaController::_checkSmartRTLPreCondition(QString &errorString)
         return false;
     }
     Vehicle *managerVehicle = masterController()->managerVehicle();
-   if (!managerVehicle->flying()) {
-        errorString.append(tr("Vehicle is not flying. Smart RTL not available."));
-        return false;
-   }
+    if (!managerVehicle->flying()) {
+         errorString.append(tr("Vehicle is not flying. Smart RTL not available."));
+         return false;
+    }
+
+    if (!_joinedArea.containsCoordinate(managerVehicle->coordinate())) {
+         errorString.append(tr("Vehicle not inside save area. Smart RTL not available."));
+         return false;
+    }
 
    return true;
 }
@@ -1136,8 +1113,12 @@ bool WimaController::_calcReturnPath(QString &errorSring)
     }
     //qWarning() << "_currentMissionItems.count()" << _currentMissionItems.count();
 
-    _setPhaseDistance(-1);
-    _setPhaseDuration(-1);
+    double dist = 0;
+    double time = 0;
+    if (!_missionController->distanceTimeToMissionEnd(dist, time, 1, false))
+        qWarning("WimaController::calcNextPhase: distanceTimeToMissionEnd returned false!");
+    _setPhaseDistance(dist);
+    _setPhaseDuration(time);
     _missionController->removeAll(); // remove items from _missionController, will be added on upload
     updateAltitude();
 
@@ -1161,15 +1142,46 @@ void WimaController::_setVehicleHasLowBattery(bool batteryLow)
     }
 }
 
-bool WimaController::_executeSmartRTL(QString &errorSring)
+void WimaController::_initSmartRTL()
+{
+    QString errorString;
+    static int attemptCounter = 0;
+    attemptCounter++;
+
+    if (_checkSmartRTLPreCondition(errorString) == true) {
+        _masterController->managerVehicle()->pauseVehicle();
+        connect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this, &WimaController::smartRTLCleanUp);
+        if (_calcReturnPath(errorString)) {
+            _executingSmartRTL = true;
+            attemptCounter = 0;
+
+            switch(_srtlReason) {
+                case BatteryLow:
+                    emit returnBatteryLowConfirmRequired();
+                break;
+                case UserRequest:
+                    emit returnUserRequestConfirmRequired();
+                break;
+                default:
+                    qWarning("\nWimaController::_initSmartRTL: default case reached!");
+            }
+
+            return;
+        }
+    }
+    if (attemptCounter > SMART_RTL_MAX_ATTEMPTS) { // try 3 times, somtimes vehicle is outside joined area
+        errorString.append(tr("Smart RTL: No success after maximum number of attempts."));
+        qgcApp()->showMessage(errorString);
+        attemptCounter = 0;
+    } else {
+        _smartRTLAttemptTimer.singleShot(SMART_RTL_ATTEMPT_INTERVAL, this, &WimaController::_initSmartRTL);
+    }
+}
+
+void WimaController::_executeSmartRTL()
 {
-    Q_UNUSED(errorSring)
-    _executingSmartRTL = true;
-    connect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this, &WimaController::smartRTLCleanUp);
     forceUploadToVehicle();
     masterController()->managerVehicle()->startMission();
-
-    return true;
 }
 
 void WimaController::_loadCurrentMissionItemsFromBuffer()

src/Wima/WimaController.h

@@ -24,6 +24,10 @@
 #include "WimaSettings.h"
 #include "SettingsManager.h"
 
+#define CHECK_BATTERY_INTERVAL 1000
+#define SMART_RTL_MAX_ATTEMPTS 3
+#define SMART_RTL_ATTEMPT_INTERVAL 200 // ms
+
 
 class WimaController : public QObject
 {
@@ -109,8 +113,8 @@ public:
     Q_INVOKABLE void removeFromVehicle();    
     Q_INVOKABLE bool checkSmartRTLPreCondition(); // wrapper for _checkSmartRTLPreCondition(QString &errorString)
     Q_INVOKABLE bool calcReturnPath(); // wrapper for _calcReturnPath(QString &errorSring)#
-    Q_INVOKABLE bool executeSmartRTL(); // wrapper for _executeSmartRTL(QString &errorSring)
-    Q_INVOKABLE bool initSmartRTL();
+    Q_INVOKABLE void executeSmartRTL(); // wrapper for _executeSmartRTL(QString &errorSring)
+    Q_INVOKABLE void initSmartRTL();
     Q_INVOKABLE void removeVehicleTrajectoryHistory();
 
 
@@ -151,23 +155,24 @@ public:
     bool extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList, int startIndex, int endIndex);
 
 signals:
-    void masterControllerChanged        (void);
-    void missionControllerChanged       (void);
-    void visualItemsChanged             (void);
-    void currentFileChanged             ();
-    void dataContainerChanged           ();
-    void readyForSaveSendChanged        (bool ready);
-    void missionItemsChanged            (void);
-    void currentMissionItemsChanged     (void);
-    void waypointPathChanged            (void);
-    void currentWaypointPathChanged     (void);
-    void uploadOverrideRequiredChanged  (void);
-    void phaseDistanceChanged           (void);
-    void phaseDurationChanged           (void);
-    void uploadAndExecuteConfirmRequired(void);
-    void vehicleHasLowBatteryChanged    (void);
-    void returnBatteryLowConfirmRequired(void);
-
+    void masterControllerChanged            (void);
+    void missionControllerChanged           (void);
+    void visualItemsChanged                 (void);
+    void currentFileChanged                 ();
+    void dataContainerChanged               ();
+    void readyForSaveSendChanged            (bool ready);
+    void missionItemsChanged                (void);
+    void currentMissionItemsChanged         (void);
+    void waypointPathChanged                (void);
+    void currentWaypointPathChanged         (void);
+    void uploadOverrideRequiredChanged      (void);
+    void phaseDistanceChanged               (void);
+    void phaseDurationChanged               (void);
+    void vehicleHasLowBatteryChanged        (void);
+    void returnBatteryLowConfirmRequired    (void);
+    void returnUserRequestConfirmRequired   (void);
+private:
+    enum SRTL_Reason {BatteryLow, UserRequest};
 private slots:
     bool fetchContainerData();
     bool calcNextPhase(void);
@@ -183,6 +188,9 @@ private slots:
     void smartRTLCleanUp                    (bool flying); // cleans up after successfull smart RTL
     void enableDisableLowBatteryHandling    (QVariant enable);
     void reverseChangedHandler              ();
+    void _initSmartRTL                      ();
+    void _executeSmartRTL                   ();
+
 
 private:
     void _setPhaseDistance(double distance);
@@ -190,7 +198,6 @@ private:
     bool _checkSmartRTLPreCondition(QString &errorString); // should be called from gui, befor calcReturnPath()
     bool _calcReturnPath(QString &errorSring); // Calculates return path (destination: service area center) for a flying vehicle
     void _setVehicleHasLowBattery(bool batteryLow);
-    bool _executeSmartRTL(QString &errorSring);
     void _loadCurrentMissionItemsFromBuffer();
     void _saveCurrentMissionItemsToBuffer();
 
@@ -242,6 +249,9 @@ private:
     double                       _phaseDurationBuffer; // buffer for storing _phaseDuration when doing smart RTL
 
     QTimer                       _checkBatteryTimer;
+    QTimer                       _smartRTLAttemptTimer;
+    SRTL_Reason                  _srtlReason;
+
     bool                         _vehicleHasLowBattery;
     bool                         _lowBatteryHandlingTriggered;
     bool                         _executingSmartRTL;