Merge pull request #8624 from mavlink/FWLandingLock

Plan FW Landing: Drag of land/loiter maintains land distance/heading as appropriate

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -51,7 +51,6 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(PlanMasterController* m
     , _dirty                    (false)
     , _landingCoordSet          (false)
     , _ignoreRecalcSignals      (false)
-    , _loiterDragAngleOnly      (false)
     , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/FWLandingPattern.FactMetaData.json"), this))
     , _landingDistanceFact      (settingsGroup, _metaDataMap[loiterToLandDistanceName])
     , _loiterAltitudeFact       (settingsGroup, _metaDataMap[loiterAltitudeName])
@@ -719,10 +718,12 @@ FixedWingLandingComplexItem::ReadyForSaveState FixedWingLandingComplexItem::read
     return _landingCoordSet && !_wizardMode ? ReadyForSave : NotReadyForSaveData;
 }
 
-void FixedWingLandingComplexItem::setLoiterDragAngleOnly(bool loiterDragAngleOnly)
+void FixedWingLandingComplexItem::moveLandingPosition(const QGeoCoordinate& coordinate)
 {
-    if (loiterDragAngleOnly != _loiterDragAngleOnly) {
-        _loiterDragAngleOnly = loiterDragAngleOnly;
-        emit loiterDragAngleOnlyChanged(_loiterDragAngleOnly);
-    }
+    double savedHeading = landingHeading()->rawValue().toDouble();
+    double savedDistance = landingDistance()->rawValue().toDouble();
+
+    setLandingCoordinate(coordinate);
+    landingHeading()->setRawValue(savedHeading);
+    landingDistance()->setRawValue(savedDistance);
 }

src/MissionManager/FixedWingLandingComplexItem.h

@@ -42,7 +42,8 @@ public:
     Q_PROPERTY(QGeoCoordinate   loiterTangentCoordinate READ    loiterTangentCoordinate                                     NOTIFY loiterTangentCoordinateChanged)
     Q_PROPERTY(QGeoCoordinate   landingCoordinate       READ    landingCoordinate           WRITE setLandingCoordinate      NOTIFY landingCoordinateChanged)
     Q_PROPERTY(bool             landingCoordSet         MEMBER _landingCoordSet                                             NOTIFY landingCoordSetChanged)
-    Q_PROPERTY(bool             loiterDragAngleOnly     READ    loiterDragAngleOnly         WRITE setLoiterDragAngleOnly    NOTIFY loiterDragAngleOnlyChanged)
+
+    Q_INVOKABLE void moveLandingPosition(const QGeoCoordinate& coordinate); // Maintains the current landing distance and heading
 
     Fact*           loiterAltitude          (void) { return &_loiterAltitudeFact; }
     Fact*           loiterRadius            (void) { return &_loiterRadiusFact; }
@@ -56,11 +57,9 @@ public:
     QGeoCoordinate  landingCoordinate       (void) const { return _landingCoordinate; }
     QGeoCoordinate  loiterCoordinate        (void) const { return _loiterCoordinate; }
     QGeoCoordinate  loiterTangentCoordinate (void) const { return _loiterTangentCoordinate; }
-    bool            loiterDragAngleOnly     (void) const { return _loiterDragAngleOnly; }
 
     void setLandingCoordinate       (const QGeoCoordinate& coordinate);
     void setLoiterCoordinate        (const QGeoCoordinate& coordinate);
-    void setLoiterDragAngleOnly     (bool loiterDragAngleOnly);
 
     /// Scans the loaded items for a landing pattern complex item
     static bool scanForItem(QmlObjectListModel* visualItems, bool flyView, PlanMasterController* masterController);
@@ -126,7 +125,6 @@ signals:
     void loiterClockwiseChanged         (bool loiterClockwise);
     void altitudesAreRelativeChanged    (bool altitudesAreRelative);
     void valueSetIsDistanceChanged      (bool valueSetIsDistance);
-    void loiterDragAngleOnlyChanged     (bool loiterDragAngleOnly);
 
 private slots:
     void    _recalcFromHeadingAndDistanceChange     (void);
@@ -151,7 +149,6 @@ private:
     QGeoCoordinate  _landingCoordinate;
     bool            _landingCoordSet;
     bool            _ignoreRecalcSignals;
-    bool            _loiterDragAngleOnly;
 
     QMap<QString, FactMetaData*> _metaDataMap;
 

src/MissionManager/MissionController.cc

@@ -386,7 +386,6 @@ VisualMissionItem* MissionController::insertLandItem(QGeoCoordinate coordinate,
 {
     if (_managerVehicle->fixedWing()) {
         FixedWingLandingComplexItem* fwLanding = qobject_cast<FixedWingLandingComplexItem*>(insertComplexMissionItem(MissionController::patternFWLandingName, coordinate, visualItemIndex, makeCurrentItem));
-        fwLanding->setLoiterDragAngleOnly(true);
         return fwLanding;
     } else {
         return _insertSimpleMissionItemWorker(coordinate, _managerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_RETURN_TO_LAUNCH, visualItemIndex, makeCurrentItem);

src/PlanView/FWLandingPatternMapVisual.qml

@@ -204,14 +204,12 @@ Item {
 
             onItemCoordinateChanged: {
                 if (!_preventReentrancy) {
-                    if (Drag.active && _missionItem.loiterDragAngleOnly) {
+                    if (Drag.active) {
                         _preventReentrancy = true
                         var angle = _missionItem.landingCoordinate.azimuthTo(itemCoordinate)
                         var distance = _missionItem.landingCoordinate.distanceTo(_missionItem.loiterCoordinate)
                         _missionItem.loiterCoordinate = _missionItem.landingCoordinate.atDistanceAndAzimuth(distance, angle)
                         _preventReentrancy = false
-                    } else {
-                        _missionItem.loiterCoordinate = itemCoordinate
                     }
                 }
             }
@@ -227,7 +225,7 @@ Item {
             itemIndicator:  _landingPointObject
             itemCoordinate: _missionItem.landingCoordinate
 
-            onItemCoordinateChanged: _missionItem.landingCoordinate = itemCoordinate
+            onItemCoordinateChanged: _missionItem.moveLandingPosition(itemCoordinate)
         }
     }