Merge pull request #5094 from DonLakeFlyer/FWLanding

Fixed Wing Landing pattern

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -90,6 +90,9 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, QObje
     connect(this,                       &FixedWingLandingComplexItem::loiterClockwiseChanged,           this, &FixedWingLandingComplexItem::_setDirty);
     connect(this,                       &FixedWingLandingComplexItem::loiterAltitudeRelativeChanged,    this, &FixedWingLandingComplexItem::_setDirty);
     connect(this,                       &FixedWingLandingComplexItem::landingAltitudeRelativeChanged,   this, &FixedWingLandingComplexItem::_setDirty);
+
+    connect(this,                       &FixedWingLandingComplexItem::loiterAltitudeRelativeChanged,    this, &FixedWingLandingComplexItem::coordinateHasRelativeAltitudeChanged);
+    connect(this,                       &FixedWingLandingComplexItem::landingAltitudeRelativeChanged,   this, &FixedWingLandingComplexItem::exitCoordinateHasRelativeAltitudeChanged);
 }
 
 int FixedWingLandingComplexItem::lastSequenceNumber(void) const
@@ -409,6 +412,7 @@ void FixedWingLandingComplexItem::_recalcFromRadiusChange(void)
             double angleLoiterToTangent = qRadiansToDegrees(qAsin(radius/landToLoiterDistance)) * (_loiterClockwise ? -1 : 1);
 
             _loiterCoordinate = _landingCoordinate.atDistanceAndAzimuth(landToLoiterDistance, heading + 180 + angleLoiterToTangent);
+            _loiterCoordinate.setAltitude(_loiterAltitudeFact.rawValue().toDouble());
 
             _ignoreRecalcSignals = true;
             emit loiterCoordinateChanged(_loiterCoordinate);
@@ -446,6 +450,7 @@ void FixedWingLandingComplexItem::_recalcFromHeadingAndDistanceChange(void)
 
         // Use those values to get the new loiter point which takes heading into acount
         _loiterCoordinate = _landingCoordinate.atDistanceAndAzimuth(loiterDistance, heading + 180 + loiterAzimuth);
+        _loiterCoordinate.setAltitude(_loiterAltitudeFact.rawValue().toDouble());
 
         _ignoreRecalcSignals = true;
         emit loiterTangentCoordinateChanged(_loiterTangentCoordinate);
@@ -509,11 +514,14 @@ void FixedWingLandingComplexItem::_recalcFromCoordinateChange(void)
 void FixedWingLandingComplexItem::_updateLoiterCoodinateAltitudeFromFact(void)
 {
     _loiterCoordinate.setAltitude(_loiterAltitudeFact.rawValue().toDouble());
+    emit loiterCoordinateChanged(_loiterCoordinate);
+    emit coordinateChanged(_loiterCoordinate);
 }
 
 void FixedWingLandingComplexItem::_updateLandingCoodinateAltitudeFromFact(void)
 {
     _landingCoordinate.setAltitude(_landingAltitudeFact.rawValue().toDouble());
+    emit landingCoordinateChanged(_landingCoordinate);
 }
 
 void FixedWingLandingComplexItem::_setDirty(void)

src/MissionManager/FixedWingLandingComplexItem.h

@@ -78,9 +78,9 @@ public:
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
     void            applyNewAltitude        (double newAltitude) final;
 
-    bool coordinateHasRelativeAltitude      (void) const final { return true; }
-    bool exitCoordinateHasRelativeAltitude  (void) const final { return true; }
-    bool exitCoordinateSameAsEntry          (void) const final { return true; }
+    bool coordinateHasRelativeAltitude      (void) const final { return _loiterAltitudeRelative; }
+    bool exitCoordinateHasRelativeAltitude  (void) const final { return _landingAltitudeRelative; }
+    bool exitCoordinateSameAsEntry          (void) const final { return false; }
 
     void setDirty           (bool dirty) final;
     void setCoordinate      (const QGeoCoordinate& coordinate) final { setLoiterCoordinate(coordinate); }

src/PlanView/FWLandingPatternEditor.qml

@@ -41,14 +41,6 @@ Rectangle {
         anchors.right:      parent.right
         visible:            missionItem.landingCoordSet
 
-        QGCLabel {
-            anchors.left:   parent.left
-            anchors.right:  parent.right
-            wrapMode:       Text.WordWrap
-            font.pointSize: ScreenTools.smallFontPointSize
-            text:           qsTr("WIP (NOT FOR REAL FLIGHT!)")
-        }
-
         SectionHeader {
             text: qsTr("Loiter point")
         }