Merge pull request #5197 from DonLakeFlyer/IMAGE_START_CAPTURE

Bring up to date with new IMAGE_START_CAPTURE spec

src/MissionManager/CameraSection.cc

@@ -138,12 +138,12 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
             item = new MissionItem(nextSequenceNumber++,
                                    MAV_CMD_IMAGE_START_CAPTURE,
                                    MAV_FRAME_MISSION,
+                                   0,                                               // Camera ID, all cameras
                                    _cameraPhotoIntervalTimeFact.rawValue().toInt(), // Interval
                                    0,                                               // Unlimited photo count
-                                   -1,                                              // Max resolution
-                                   0, 0,                                            // param 4-5 not used
-                                   0,                                               // Camera ID, all cameras
-                                   0,                                               // param 7 not used
+                                   -1,                                              // Max horizontal resolution
+                                   -1,                                              // Max vertical resolution
+                                   0, 0,                                            // param 6-7 not used
                                    true,                                            // autoContinue
                                    false,                                           // isCurrentItem
                                    missionItemParent);
@@ -264,7 +264,7 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanInde
             break;
 
         case MAV_CMD_IMAGE_START_CAPTURE:
-            if (!foundCameraAction && missionItem.param1() != 0 && missionItem.param2() == 0 && missionItem.param3() == -1 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
+            if (!foundCameraAction && missionItem.param1() == 0 && missionItem.param2() >= 1 && missionItem.param3() == 0 && missionItem.param4() == -1 && missionItem.param5() == -1 && missionItem.param6() == 0 && missionItem.param7() == 0) {
                 foundCameraAction = true;
                 cameraAction()->setRawValue(TakePhotosIntervalTime);
                 cameraPhotoIntervalTime()->setRawValue(missionItem.param1());

src/MissionManager/CameraSectionTest.cc

@@ -42,7 +42,7 @@ void CameraSectionTest::init(void)
                                              MissionItem(0, MAV_CMD_DO_MOUNT_CONTROL, MAV_FRAME_MISSION, 10.1234, 0, 20.1234, 0, 0, 0, MAV_MOUNT_MODE_MAVLINK_TARGETING, true, false),
                                              this);
     _validTimeItem = new SimpleMissionItem(_offlineVehicle,
-                                           MissionItem(0, MAV_CMD_IMAGE_START_CAPTURE, MAV_FRAME_MISSION, 48, 0,-1, 0, 0, 0, 0, true, false),
+                                           MissionItem(0, MAV_CMD_IMAGE_START_CAPTURE, MAV_FRAME_MISSION, 0, 48, 0, -1, -1, 0, 0, true, false),
                                            this);
     _validDistanceItem = new SimpleMissionItem(_offlineVehicle,
                                                MissionItem(0, MAV_CMD_DO_SET_CAM_TRIGG_DIST, MAV_FRAME_MISSION, 72, 0, 0, 0, 0, 0, 0, true, false),
@@ -442,7 +442,7 @@ void CameraSectionTest::_testAppendSectionItems(void)
     // Test camera actions
 
     _cameraSection->cameraAction()->setRawValue(CameraSection::TakePhotosIntervalTime);
-    _cameraSection->cameraPhotoIntervalTime()->setRawValue(_validTimeItem->missionItem().param1());
+    _cameraSection->cameraPhotoIntervalTime()->setRawValue(_validTimeItem->missionItem().param2());
     _cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
     QCOMPARE(rgMissionItems.count(), 1);
     QCOMPARE(seqNum, 1);
@@ -494,7 +494,7 @@ void CameraSectionTest::_testAppendSectionItems(void)
     _cameraSection->gimbalPitch()->setRawValue(_validGimbalItem->missionItem().param1());
     _cameraSection->gimbalYaw()->setRawValue(_validGimbalItem->missionItem().param3());
     _cameraSection->cameraAction()->setRawValue(CameraSection::TakePhotosIntervalTime);
-    _cameraSection->cameraPhotoIntervalTime()->setRawValue(_validTimeItem->missionItem().param1());
+    _cameraSection->cameraPhotoIntervalTime()->setRawValue(_validTimeItem->missionItem().param2());
     _cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
     QCOMPARE(rgMissionItems.count(), 2);
     QCOMPARE(seqNum, 2);
@@ -678,7 +678,7 @@ void CameraSectionTest::_testScanForPhotoIntervalTimeSection(void)
     // Image start command but incorrect settings
 
     SimpleMissionItem invalidSimpleItem(_offlineVehicle, _validTimeItem->missionItem());
-    invalidSimpleItem.missionItem().setParam2(10);    // must be unlimited
+    invalidSimpleItem.missionItem().setParam3(10);    // must be unlimited
     visualItems.append(&invalidSimpleItem);
     QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
     QCOMPARE(visualItems.count(), 1);

src/MissionManager/SectionTest.cc

@@ -54,19 +54,19 @@ void SectionTest::_createSpy(Section* section, MultiSignalSpy** sectionSpy)
     *sectionSpy = spy;
 }
 
-void SectionTest::_missionItemsEqual(MissionItem& item1, MissionItem& item2)
+void SectionTest::_missionItemsEqual(MissionItem& actual, MissionItem& expected)
 {
-    QCOMPARE(item1.command(),       item2.command());
-    QCOMPARE(item1.frame(),         item2.frame());
-    QCOMPARE(item1.autoContinue(),  item2.autoContinue());
-
-    QVERIFY(UnitTest::doubleNaNCompare(item1.param1(), item2.param1()));
-    QVERIFY(UnitTest::doubleNaNCompare(item1.param2(), item2.param2()));
-    QVERIFY(UnitTest::doubleNaNCompare(item1.param3(), item2.param3()));
-    QVERIFY(UnitTest::doubleNaNCompare(item1.param4(), item2.param4()));
-    QVERIFY(UnitTest::doubleNaNCompare(item1.param5(), item2.param5()));
-    QVERIFY(UnitTest::doubleNaNCompare(item1.param6(), item2.param6()));
-    QVERIFY(UnitTest::doubleNaNCompare(item1.param7(), item2.param7()));
+    QCOMPARE(actual.command(),      expected.command());
+    QCOMPARE(actual.frame(),        expected.frame());
+    QCOMPARE(actual.autoContinue(), expected.autoContinue());
+
+    QVERIFY(UnitTest::doubleNaNCompare(actual.param1(), expected.param1()));
+    QVERIFY(UnitTest::doubleNaNCompare(actual.param2(), expected.param2()));
+    QVERIFY(UnitTest::doubleNaNCompare(actual.param3(), expected.param3()));
+    QVERIFY(UnitTest::doubleNaNCompare(actual.param4(), expected.param4()));
+    QVERIFY(UnitTest::doubleNaNCompare(actual.param5(), expected.param5()));
+    QVERIFY(UnitTest::doubleNaNCompare(actual.param6(), expected.param6()));
+    QVERIFY(UnitTest::doubleNaNCompare(actual.param7(), expected.param7()));
 }
 
 void SectionTest::_commonScanTest(Section* section)

src/MissionManager/SectionTest.h

@@ -25,7 +25,7 @@ public:
 
 protected:
     void _createSpy(Section* section, MultiSignalSpy** sectionSpy);
-    void _missionItemsEqual(MissionItem& item1, MissionItem& item2);
+    void _missionItemsEqual(MissionItem& actual, MissionItem& expected);
     void _commonScanTest(Section* section);
 
     enum {

src/qgcunittest/UnitTest.cc

@@ -510,6 +510,10 @@ bool UnitTest::doubleNaNCompare(double value1, double value2)
     if (qIsNaN(value1) && qIsNaN(value2)) {
         return true;
     } else {
-        return qFuzzyCompare(value1, value2);
+        bool ret = qFuzzyCompare(value1, value2);
+        if (!ret) {
+            qDebug() << value1 << value2;
+        }
+        return ret;
     }
 }