Merge pull request #6024 from DonLakeFlyer/GimbalFix

Fly view: Gimbal angles show on wrong items

src/MissionManager/MissionController.cc

@@ -189,9 +189,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
             _addMissionSettings(_visualItems, _editMode && _visualItems->count() > 0 /* addToCenter */);
         }
 
-        if (_editMode) {
         MissionController::_scanForAdditionalSettings(_visualItems, _controllerVehicle);
-        }
 
         _initAllVisualItems();
         _updateContainsItems();
@@ -1218,6 +1216,8 @@ void MissionController::_recalcMissionFlightStatus()
         }
     }
 
+    qDebug() << "Gimbal calc";
+
     for (int i=0; i<_visualItems->count(); i++) {
         VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
         SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(item);
@@ -1247,6 +1247,7 @@ void MissionController::_recalcMissionFlightStatus()
         // Look for gimbal change
         double gimbalYaw = item->specifiedGimbalYaw();
         if (!qIsNaN(gimbalYaw)) {
+            qDebug() << _editMode << gimbalYaw;
             _missionFlightStatus.gimbalYaw = gimbalYaw;
         }
         double gimbalPitch = item->specifiedGimbalPitch();
@@ -1352,6 +1353,7 @@ void MissionController::_recalcMissionFlightStatus()
                     _addTimeDistance(vtolInHover, hoverTime, cruiseTime, extraTime, distance, item->sequenceNumber());
                 }
 
+                qDebug() << "setMissionFlightStatus" << item->sequenceNumber() << _missionFlightStatus.gimbalYaw << item->commandName();
                 item->setMissionFlightStatus(_missionFlightStatus);
             }
 
@@ -1783,8 +1785,10 @@ void MissionController::setDirty(bool dirty)
 
 void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle)
 {
+    if (_editMode) {
         // First we look for a Fixed Wing Landing Pattern which is at the end
         FixedWingLandingComplexItem::scanForItem(visualItems, vehicle);
+    }
 
     int scanIndex = 0;
     while (scanIndex < visualItems->count()) {
@@ -1792,12 +1796,14 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte
 
         qCDebug(MissionControllerLog) << "MissionController::_scanForAdditionalSettings count:scanIndex" << visualItems->count() << scanIndex;
 
+        if (_editMode) {
             MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(visualItem);
             if (settingsItem) {
                 scanIndex++;
                 settingsItem->scanForMissionSettings(visualItems, scanIndex);
                 continue;
             }
+        }
 
         SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
         if (simpleItem) {

src/MissionManager/MissionController.h

@@ -227,7 +227,7 @@ private:
     bool _loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
     bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
     int _nextSequenceNumber(void);
-    static void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
+    void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
     static bool _convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent);
     void _setPlannedHomePositionFromFirstCoordinate(void);
     void _resetMissionFlightStatus(void);