Merge pull request #8055 from mavlink/pr-fix_rally_point_default_value

Set Rally Point default value to 0.0 and get it from Fact's default

src/MissionManager/RallyPoint.FactMetaData.json

@@ -12,10 +12,11 @@
     "decimalPlaces":    7
 },
 {
-    "name":             "Altitude",
+    "name":             "Relative Altitude",
     "shortDescription": "Altitude of rally point position (home relative)",
     "type":             "double",
     "decimalPlaces":    2,
-    "units":            "m"
+    "units":            "m",
+    "defaultValue":     0.0
 }
 ]

src/MissionManager/RallyPoint.cc

@@ -15,7 +15,7 @@
 
 const char* RallyPoint::_longitudeFactName =    "Longitude";
 const char* RallyPoint::_latitudeFactName =     "Latitude";
-const char* RallyPoint::_altitudeFactName =     "Altitude";
+const char* RallyPoint::_altitudeFactName =     "Relative Altitude";
 
 QMap<QString, FactMetaData*> RallyPoint::_metaDataMap;
 
@@ -63,9 +63,7 @@ RallyPoint::~RallyPoint()
 
 void RallyPoint::_factSetup(void)
 {
-    if (_metaDataMap.isEmpty()) {
-        _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/RallyPoint.FactMetaData.json"), nullptr /* metaDataParent */);
-    }
+    _cacheFactMetadata();
 
     _longitudeFact.setMetaData(_metaDataMap[_longitudeFactName]);
     _latitudeFact.setMetaData(_metaDataMap[_latitudeFactName]);
@@ -80,6 +78,12 @@ void RallyPoint::_factSetup(void)
     connect(&_altitudeFact, &Fact::valueChanged, this, &RallyPoint::_sendCoordinateChanged);
 }
 
+void RallyPoint::_cacheFactMetadata() {
+    if (_metaDataMap.isEmpty()) {
+        _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/RallyPoint.FactMetaData.json"), nullptr /* metaDataParent */);
+    }
+}
+
 void RallyPoint::setCoordinate(const QGeoCoordinate& coordinate)
 {
     if (coordinate != this->coordinate()) {
@@ -99,6 +103,15 @@ void RallyPoint::setDirty(bool dirty)
     }
 }
 
+double RallyPoint::getDefaultFactAltitude() {
+    _cacheFactMetadata();
+    auto it = _metaDataMap.find(QString(_altitudeFactName));
+    if(it != _metaDataMap.end() && (*it)->defaultValueAvailable()) {
+        return (*it)->rawDefaultValue().toDouble();
+    }
+    return 0.0;
+}
+
 QGeoCoordinate RallyPoint::coordinate(void) const
 {
     return QGeoCoordinate(_latitudeFact.rawValue().toDouble(), _longitudeFact.rawValue().toDouble(), _altitudeFact.rawValue().toDouble());

src/MissionManager/RallyPoint.h

@@ -39,6 +39,8 @@ public:
     bool dirty(void) const { return _dirty; }
     void setDirty(bool dirty);
 
+    static double getDefaultFactAltitude();
+
 signals:
     void coordinateChanged      (const QGeoCoordinate& coordinate);
     void dirtyChanged           (bool dirty);
@@ -48,6 +50,7 @@ private slots:
 
 private:
     void _factSetup(void);
+    static void _cacheFactMetadata();
 
     bool _dirty;
     Fact _longitudeFact;

src/MissionManager/RallyPointController.cc

@@ -243,7 +243,12 @@ void RallyPointController::addPoint(QGeoCoordinate point)
     if (_points.count()) {
         defaultAlt = qobject_cast<RallyPoint*>(_points[_points.count() - 1])->coordinate().altitude();
     } else {
-        defaultAlt = qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble();
+        if(_masterController->controllerVehicle()->fixedWing()) {
+            defaultAlt = qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble();
+        }
+        else {
+            defaultAlt = RallyPoint::getDefaultFactAltitude();
+        }
     }
     point.setAltitude(defaultAlt);
     RallyPoint* newPoint = new RallyPoint(point, this);