Merge branch 'master' of ssh://squid.nt.tuwien.ac.at:22103/platzgummer/qgroundcontrol

WimaDok/main.tex

@@ -26,6 +26,8 @@ WiMA is a abbreviation for \textbf{Wi}reless \textbf{M}easurement \textbf{A}ppli
 This document was created to explain the functionality of the WiMA-Extension at one hand, and to encourage the reader to find bugs inside the program. As the extension is still being developed the contents demonstrated inside this document may differ from those ones in the program.
 
 The folder "deploy" in the QGroundControl root directory (can be cloned from Gitlab) contains a AppImage of the program. QGroundControl can be launched by double-clicking the AppImage. Currently only a Linux version is available.
+
+A Documentation of the QGroundControl program can be found under \url{https://docs.qgroundcontrol.com/en/}.
  
 
 \section{Documentation}

qgroundcontrol.qrc

@@ -227,7 +227,9 @@
         <file alias="QGroundControl/Controls/CoordinateIndicator.qml">src/WimaView/CoordinateIndicator.qml</file>
         <file alias="QGroundControl/Controls/WimaJoinedAreaMapVisual.qml">src/WimaView/WimaJoinedAreaMapVisual.qml</file>
         <file alias="QGroundControl/Controls/WimaCorridorEditor.qml">src/WimaView/WimaCorridorEditor.qml</file>
-        <file>src/FlightMap/MapItems/WimaPlanMapItems.qml</file>
+        <file alias="QGroundControl/FlightMap/WimaPlanMapItems.qml">src/FlightMap/MapItems/WimaPlanMapItems.qml</file>
+        <file alias="QGroundControl/FlightMap/WimaMissionItemMapVisual.qml">src/PlanView/WimaMissionItemMapVisual.qml</file>
+        <file alias="QGroundControl/FlightDisplay/FlightDisplayWimaMenu.qml">src/FlightDisplay/FlightDisplayWimaMenu.qml</file>
     </qresource>
     <qresource prefix="/json">
         <file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>

src/FlightDisplay/FlightDisplayView.qml

@@ -510,17 +510,25 @@ QGCView {
             }
         }
 
-        FlightDisplayViewWidgets {
-            id:                 flightDisplayViewWidgets
+//        FlightDisplayViewWidgets {
+//            id:                 flightDisplayViewWidgets
+//            z:                  _panel.z + 4
+//            height:             ScreenTools.availableHeight - (singleMultiSelector.visible ? singleMultiSelector.height + _margins : 0)
+//            anchors.left:       parent.left
+//            anchors.right:      altitudeSlider.visible ? altitudeSlider.left : parent.right
+//            anchors.bottom:     parent.bottom
+//            qgcView:            root
+//            useLightColors:     isBackgroundDark
+//            missionController:  _missionController
+//            visible:            singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
+//        }
+
+        FlightDisplayWimaMenu {
+            id: wimaMenu
             z:                  _panel.z + 4
-            height:             ScreenTools.availableHeight - (singleMultiSelector.visible ? singleMultiSelector.height + _margins : 0)
             anchors.left:       parent.left
             anchors.right:      altitudeSlider.visible ? altitudeSlider.left : parent.right
             anchors.bottom:     parent.bottom
-            qgcView:            root
-            useLightColors:     isBackgroundDark
-            missionController:  _missionController
-            visible:            singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
         }
 
         //-------------------------------------------------------------------------

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -205,18 +205,16 @@ FlightMap {
                                     : object.type === "WimaMeasurementAreaData" ? "green"
                                         : "transparent"
             opacity:        0.25
-            z:          QGroundControl.zOrderTrajectoryLines-1
+            z:          QGroundControl.zOrderTrajectoryLines-2
         }
     }
 
     // Add mission items generated by wima planer to the map
-    PlanMapItems {
+    WimaPlanMapItems {
         map:                flightMap
         largeMapView:       _mainIsMap
-        masterController:   masterController
-        isActiveVehicle:    _vehicle.active
-
-        property var _vehicle: object
+        wimaController:     flightMap.wimaController
+        z:                  QGroundControl.zOrderTrajectoryLines-1
     }
 
     // Add trajectory points to the map

src/FlightDisplay/FlightDisplayWimaMenu.qml

+import QtQuick                  2.3
+import QtQuick.Controls         1.2
+import QtQuick.Controls.Styles  1.4
+import QtQuick.Dialogs          1.2
+import QtLocation               5.3
+import QtPositioning            5.3
+import QtQuick.Layouts          1.2
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Vehicle       1.0
+import QGroundControl.FlightMap     1.0
+import QGroundControl.Airspace      1.0
+import QGroundControl.Airmap        1.0
+
+Item {
+    id: _root
+
+    Rectangle {
+        anchors.top:        parent.top
+        color:              "white"
+        height: 100
+        width: 200
+
+        QGCCheckBox {
+            id: enableWima
+            text: qsTr("WiMA")
+        }
+    }
+}

src/FlightDisplay/qmldir

@@ -15,4 +15,5 @@ PreFlightGPSCheck           1.0 PreFlightGPSCheck.qml
 PreFlightRCCheck            1.0 PreFlightRCCheck.qml
 PreFlightSensorsHealthCheck 1.0 PreFlightSensorsHealthCheck.qml
 PreFlightSoundCheck         1.0 PreFlightSoundCheck.qml
+FlightDisplayWimaMenu       1.0 FlightDisplayWimaMenu.qml
 

src/FlightMap/Images/.directory

+[Dolphin]
+PreviewsShown=true
+Timestamp=2019,10,13,16,25,8
+Version=4

src/FlightMap/MapItems/MissionItemIndicator.qml

@@ -21,6 +21,7 @@ MapQuickItem {
 
     property var missionItem
     property int sequenceNumber
+    property var color
 
     signal clicked
 
@@ -37,6 +38,8 @@ MapQuickItem {
             vehicleYaw:     missionItem.missionVehicleYaw
             showGimbalYaw:  !isNaN(missionItem.missionGimbalYaw)
             onClicked:      _item.clicked()
+            color:          _item.color ? _item.color
+                          : checked ? "green" : (child ? qgcPal.mapIndicatorChild : qgcPal.mapIndicator)
 
             property bool _isCurrentItem:   missionItem ? missionItem.isCurrentItem : false
         }

src/FlightMap/MapItems/WimaPlanMapItems.qml

@@ -16,41 +16,71 @@ import QGroundControl.Controls  1.0
 import QGroundControl.FlightMap 1.0
 
 // Adds visual items generated by wima planer to the map.
-// Currently only used by Fly View even though it's called PlanMapItems!
 Item {
     id: _root
 
-    property var    map                 ///< Map control to show items on
-    property bool   largeMapView        ///< true: map takes up entire view, false: map is in small window
-    property var    wimaController value
+    property var        map                 ///< Map control to show items on
+    property bool       largeMapView        ///< true: map takes up entire view, false: map is in small window
+    property var        wimaController
+    property string     mIColor: "#B4808080" // Mission Items Color, gray with alpha 0.7 #AARRGGBB
+    property string     mIlineColor: mIColor
+    property string     cMIColor: "orangered" // Current Mission Items Color
+    property string     cMIlineColor: cMIColor
 
-    property var    _map:                       map
+    property var    _map: map
     property var    _missionLineViewComponent
+    property var    _currentMissionLineViewComponent
 
     // Add the mission item visuals to the map
     Repeater {
-        model: largeMapView ? _missionController.visualItems : 0
+        model: largeMapView ? wimaController.missionItems : 0
 
-        delegate: MissionItemMapVisual {
+        delegate: WimaMissionItemMapVisual {
             map:        _map
-            onClicked: {
-                if (isActiveVehicle) {
-                    // Only active vehicle supports click to change current mission item
-                    guidedActionsController.confirmAction(guidedActionsController.actionSetWaypoint, Math.max(object.sequenceNumber, 1))
-                }
-            }
+            color:     _root.mIColor
+//            onClicked: {
+//                if (isActiveVehicle) {
+//                    // Only active vehicle supports click to change current mission item
+//                    guidedActionsController.confirmAction(guidedActionsController.actionSetWaypoint, Math.max(object.sequenceNumber, 1))
+//                }
+//            }
+        }
+
+        /*onItemAdded: {
+            console.log(wimaController.missionItems.count)
+        }
+
+        onItemRemoved: {
+            console.log(wimaController.missionItems.count)
+        }*/
+    }
+
+    // Add the current mission item visuals to the map
+    Repeater {
+        model: largeMapView ? wimaController.currentMissionItems : 0
+
+        delegate: WimaMissionItemMapVisual {
+            map:        _map
+            color:     _root.cMIColor
         }
     }
 
+
     Component.onCompleted: {
         _missionLineViewComponent = missionLineViewComponent.createObject(map)
         if (_missionLineViewComponent.status === Component.Error)
             console.log(_missionLineViewComponent.errorString())
         map.addMapItem(_missionLineViewComponent)
+
+        _currentMissionLineViewComponent = currentMissionLineViewComponent.createObject(map)
+        if (_currentMissionLineViewComponent.status === Component.Error)
+            console.log(_currentMissionLineViewComponent.errorString())
+        map.addMapItem(_currentMissionLineViewComponent)
     }
 
     Component.onDestruction: {
         _missionLineViewComponent.destroy()
+        _currentMissionLineViewComponent.destroy()
     }
 
     Component {
@@ -58,9 +88,20 @@ Item {
 
         MapPolyline {
             line.width: 3
-            line.color: "#be781c"                           // Hack, can't get palette to work in here
+            line.color: mIlineColor
+            z:          QGroundControl.zOrderWaypointLines
+            path:       wimaController.waypointPath
+        }
+    }
+
+    Component {
+        id: currentMissionLineViewComponent
+
+        MapPolyline {
+            line.width: 3
+            line.color: cMIlineColor
             z:          QGroundControl.zOrderWaypointLines
-            path:       _missionController.waypointPath
+            path:       wimaController.currentWaypointPath
         }
     }
 }

src/FlightMap/qmldir

@@ -25,5 +25,6 @@ MissionItemIndicatorDrag    1.0 MissionItemIndicatorDrag.qml
 MissionItemView             1.0 MissionItemView.qml
 MissionLineView             1.0 MissionLineView.qml
 PlanMapItems                1.0 PlanMapItems.qml
+WimaPlanMapItems            1.0 WimaPlanMapItems.qml
 PolygonEditor               1.0 PolygonEditor.qml
 VehicleMapItem              1.0 VehicleMapItem.qml

src/MissionManager/MissionController.cc

@@ -386,6 +386,34 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
     return newItem->sequenceNumber();
 }
 
+int MissionController::insertSimpleMissionItem(const MissionItem &missionItem, int i)
+{
+    int sequenceNumber = _nextSequenceNumber();
+    SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, _flyView, missionItem, this);
+    newItem->setSequenceNumber(sequenceNumber);
+    newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
+    _initVisualItem(newItem);
+    MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF;
+    if (newItem->command() ==  takeoffCmd) {
+        if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
+            return -1; // can not add this takeoff command for this vehicle
+        }
+    }
+    if (newItem->specifiesAltitude()) {
+        double  prevAltitude;
+        int     prevAltitudeMode;
+
+        if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) {
+            newItem->altitude()->setRawValue(prevAltitude);
+            newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
+        }
+    }
+    newItem->setMissionFlightStatus(_missionFlightStatus);
+    _visualItems->insert(i, newItem);
+
+    return newItem->sequenceNumber();
+}
+
 int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i)
 {
     int sequenceNumber = _nextSequenceNumber();

src/MissionManager/MissionController.h

@@ -108,6 +108,11 @@ public:
     /// @return Sequence number for new item
     Q_INVOKABLE int insertSimpleMissionItem(QGeoCoordinate coordinate, int i);
 
+    /// Add a new simple mission item to the list
+    ///     @param i: index to insert at
+    /// @return Sequence number for new item
+                int insertSimpleMissionItem(const MissionItem &missionItem, int i);
+
     /// Add a new ROI mission item to the list
     ///     @param i: index to insert at
     /// @return Sequence number for new item

src/MissionManager/SimpleMissionItem.cc

@@ -148,7 +148,7 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool flyView, const Missi
 
 SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, bool flyView, QObject* parent)
     : VisualMissionItem         (other, flyView, parent)
-    , _missionItem              (other._vehicle)
+    , _missionItem              (other._missionItem, this)
     , _rawEdit                  (false)
     , _dirty                    (false)
     , _ignoreDirtyChangeSignals (false)

src/MissionManager/VisualMissionItem.cc

@@ -79,7 +79,7 @@ const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& o
     _vehicle = other._vehicle;
 
     setIsCurrentItem(other._isCurrentItem);
-    setDirty(other._dirty);
+    _dirty = other._dirty;
     _homePositionSpecialCase = other._homePositionSpecialCase;
     _terrainAltitude = other._terrainAltitude;
     setAltDifference(other._altDifference);

src/PlanView/WimaMissionItemMapVisual.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtLocation       5.3
+import QtPositioning    5.3
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FlightMap     1.0
+
+/// Simple Mission Item visuals
+Item {
+    id: _root
+
+    property var map        ///< Map control to place item in
+    property var qgcView    ///< QGCView to use for popping dialogs
+    property var color
+
+    property var    _missionItem:       object
+    property var    _itemVisual
+    property var    _dragArea
+    property bool   _itemVisualShowing: false
+    property bool   _dragAreaShowing:   false
+
+    signal clicked(int sequenceNumber)
+
+    function hideItemVisuals() {
+        if (_itemVisualShowing) {
+            _itemVisual.destroy()
+            _itemVisualShowing = false
+        }
+    }
+
+    function showItemVisuals() {
+        if (!_itemVisualShowing) {
+            _itemVisual = indicatorComponent.createObject(map)
+            map.addMapItem(_itemVisual)
+            _itemVisualShowing = true
+        }
+    }
+
+    function hideDragArea() {
+        if (_dragAreaShowing) {
+            _dragArea.destroy()
+            _dragAreaShowing = false
+        }
+    }
+
+    function showDragArea() {
+        if (!_dragAreaShowing && _missionItem.specifiesCoordinate) {
+            _dragArea = dragAreaComponent.createObject(map)
+            _dragAreaShowing = true
+        }
+    }
+
+    Component.onCompleted: {
+        showItemVisuals()
+        if (_missionItem.isCurrentItem && map.planView) {
+            showDragArea()
+        }
+    }
+
+    Component.onDestruction: {
+        hideDragArea()
+        hideItemVisuals()
+    }
+
+
+    Connections {
+        target: _missionItem
+
+        onIsCurrentItemChanged: {
+            if (_missionItem.isCurrentItem) {
+                showDragArea()
+            } else {
+                hideDragArea()
+            }
+        }
+    }
+
+    // Control which is used to drag items
+    Component {
+        id: dragAreaComponent
+
+        MissionItemIndicatorDrag {
+            mapControl:     _root.map
+            itemIndicator:  _itemVisual
+            itemCoordinate: _missionItem.coordinate
+
+            onItemCoordinateChanged: _missionItem.coordinate = itemCoordinate
+        }
+    }
+
+    Component {
+        id: indicatorComponent
+
+        MissionItemIndicator {
+            coordinate:     _missionItem.coordinate
+            visible:        _missionItem.specifiesCoordinate
+            z:              QGroundControl.zOrderMapItems
+            missionItem:    _missionItem
+            sequenceNumber: _missionItem.sequenceNumber
+            color:          _root.color
+
+            onClicked: _root.clicked(_missionItem.sequenceNumber)
+        }
+    }
+}

src/Wima/ToDo.txt

-add refpt gui and edit constructor
-new path optim required for circ survey
-add gui elements for circ survey
-solve bug for cantFindPath.wima on Desktop/WimaPath

src/Wima/WimaAreaData.cc

@@ -26,6 +26,16 @@ QVariantList WimaAreaData::path() const
     return _path;
 }
 
+QList<QGeoCoordinate> WimaAreaData::coordinateList() const
+{
+    QList<QGeoCoordinate> coordinateList;
+
+    for ( auto coorinate : _path)
+        coordinateList.append(coorinate.value<QGeoCoordinate>());
+
+    return coordinateList;
+}
+
 /*!
  * \fn void WimaAreaData::setMaxAltitude(double maxAltitude)
  *

src/Wima/WimaAreaData.h

@@ -19,8 +19,9 @@ public:
     //WimaAreaData(const WimaArea &other, QObject *parent = nullptr);
     WimaAreaData& operator=(const WimaAreaData& otherData) = delete; // avoid slicing
 
-    double          maxAltitude()  const;
-    QVariantList    path()         const;
+    double                  maxAltitude()  const;
+    QVariantList            path()         const;
+    QList<QGeoCoordinate>   coordinateList() const;
 
 
     virtual QString         type()         const = 0;

src/Wima/WimaController.h

@@ -39,21 +39,27 @@ public:
     Q_PROPERTY(QStringList              loadNameFilters     READ loadNameFilters                                        CONSTANT)
     Q_PROPERTY(QStringList              saveNameFilters     READ saveNameFilters                                        CONSTANT)
     Q_PROPERTY(QString                  fileExtension       READ fileExtension                                          CONSTANT)
-    Q_PROPERTY(WimaDataContainer*       dataContainer       READ dataContainer           WRITE setDataContainer         NOTIFY dataContainerChanged)
+    Q_PROPERTY(WimaDataContainer*       dataContainer       READ dataContainer          WRITE setDataContainer          NOTIFY dataContainerChanged)
     Q_PROPERTY(QmlObjectListModel*      missionItems        READ missionItems                                           NOTIFY missionItemsChanged)
+    Q_PROPERTY(QmlObjectListModel*      currentMissionItems READ currentMissionItems                                    NOTIFY currentMissionItemsChanged)
+    Q_PROPERTY(QVariantList             waypointPath        READ waypointPath                                           NOTIFY waypointPathChanged)
+    Q_PROPERTY(QVariantList             currentWaypointPath READ currentWaypointPath                                    NOTIFY currentWaypointPathChanged)
 
 
     // Property accessors
     PlanMasterController*       masterController       (void)          { return _masterController; }
     MissionController*          missionController      (void)          { return _missionController; }
-    QmlObjectListModel*         visualItems            (void) ;
+    QmlObjectListModel*         visualItems            (void);
     QString                     currentFile            (void) const    { return _currentFile; }
     QStringList                 loadNameFilters        (void) const;
     QStringList                 saveNameFilters        (void) const;
     QString                     fileExtension          (void) const    { return wimaFileExtension; }
     QGCMapPolygon               joinedArea             (void) const;
-    WimaDataContainer*          dataContainer          (void) const;
+    WimaDataContainer*          dataContainer          (void);
     QmlObjectListModel*         missionItems           (void);
+    QmlObjectListModel*         currentMissionItems    (void);
+    QVariantList                waypointPath           (void);
+    QVariantList                currentWaypointPath    (void);
 
 
     // Property setters
@@ -62,11 +68,11 @@ public:
     void setDataContainer           (WimaDataContainer* container);
 
     // Member Methodes
+    Q_INVOKABLE void nextPhase();
     Q_INVOKABLE void startMission();
     Q_INVOKABLE void abortMission();
     Q_INVOKABLE void pauseMission();
     Q_INVOKABLE void resumeMission();
-    Q_INVOKABLE bool updateMission();
 
     Q_INVOKABLE void saveToCurrent  ();
     Q_INVOKABLE void saveToFile     (const QString& filename);
@@ -82,6 +88,16 @@ public:
     // Member Methodes
     QJsonDocument saveToJson(FileType fileType);
 
+    bool calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QList<QGeoCoordinate> &path);
+    /// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList
+    bool extractCoordinateList(QmlObjectListModel &missionItems, QList<QGeoCoordinate> &coordinateList);
+    /// extracts the coordinates (between startIndex and endIndex) stored in missionItems (list of MissionItems) and stores them in coordinateList.
+    bool extractCoordinateList(QmlObjectListModel &missionItems, QList<QGeoCoordinate> &coordinateList, int startIndex, int endIndex);
+    /// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList
+    bool extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList);
+    /// extracts the coordinates (between startIndex and endIndex) stored in missionItems (list of MissionItems) and stores them in coordinateList.
+    bool extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList, int startIndex, int endIndex);
+
 signals:
     void masterControllerChanged        (void);
     void missionControllerChanged       (void);
@@ -90,9 +106,16 @@ signals:
     void dataContainerChanged           ();
     void readyForSaveSendChanged        (bool ready);
     void missionItemsChanged            (void);
+    void currentMissionItemsChanged     (void);
+    void waypointPathChanged            (void);
+    void currentWaypointPathChanged     (void);
 
 private slots:
     void containerDataValidChanged          (bool valid);
+    void updateCurrentMissionItems          (void);
+    void updateWaypointPath                 (void);
+    void updateCurrentPath                  (void);
+
 
 private:
     PlanMasterController   *_masterController;
@@ -105,6 +128,12 @@ private:
     WimaServiceAreaData     _serviceArea; // area for supplying
     WimaCorridorData        _corridor; // corridor connecting opArea and serArea
     bool                    _localPlanDataValid;
-    QmlObjectListModel      _missionItems;
+    QmlObjectListModel      _missionItems; // all mission itmes (Mission Items) generaded by wimaPlaner, displayed in flightView
+    QmlObjectListModel      _currentMissionItems; // contains the current mission items, which are a sub set of _missionItems,
+                                                  // _currentMissionItems contains a number of mission items which can be worked off with a single battery chrage
+    QVariantList            _waypointPath; // path connecting the items in _missionItems
+    QVariantList            _currentWaypointPath; // path connecting the items in _currentMissionItems
+    int                     _startWaypointIndex; // index to the mission item stored in _missionItems defining the first element of _currentMissionItems
+    int                     _endWaypointIndex; // index to the mission item stored in _missionItems defining the last element of _currentMissionItems
 };
 

src/Wima/WimaPlanData.cc

@@ -20,10 +20,12 @@ WimaPlanData::WimaPlanData(const WimaPlanData &other, QObject *parent)
  */
 WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other)
 {
+    // copy wima areas
     QList<const WimaAreaData*> areaList = other.areaList();
     _areaList.clear();
     for (int i = 0; i < areaList.size(); i++) {
         const WimaAreaData *areaData = areaList[i];
+        // determine area type and append
         if       (areaData->type() == WimaJoinedAreaData::typeString) {
             this->append(*qobject_cast<const WimaJoinedAreaData*>(areaData));
         }else if (areaData->type() == WimaServiceAreaData::typeString) {
@@ -35,6 +37,9 @@ WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other)
         }
     }
 
+    // copy mission items
+    _missionItems = other.missionItems();
+
     return *this;
 }
 

src/Wima/WimaPlaner.cc

@@ -242,7 +242,6 @@ bool WimaPlaner::updateMission()
         qWarning("WimaPlaner::updateMission(): settingsItem == nullptr");
         return false;
     }
-
     // set altitudes, temporary measure to solve bugs
     QGeoCoordinate center = _serviceArea.center();
     center.setAltitude(0);
@@ -253,15 +252,20 @@ bool WimaPlaner::updateMission()
     center = _corridor.center();
     center.setAltitude(0);
     _corridor.setCenter(center);
-
-
     // set HomePos. to serArea center
     settingsItem->setCoordinate(_serviceArea.center());
 
     // create take off position item
     int sequenceNumber = _missionController->insertSimpleMissionItem(_serviceArea.center(), missionItems->count());
-    _missionController->setCurrentPlanViewIndex(sequenceNumber, true);
 
+    _missionController->setCurrentPlanViewIndex(sequenceNumber, true);
+    SimpleMissionItem* takeOffItem = qobject_cast<SimpleMissionItem*>(missionItems->get(missionItems->count()-1));
+    if (takeOffItem == nullptr){
+        qWarning("WimaPlaner::updateMission(): takeOffItem == nullptr");
+        return false;
+    } else {
+        takeOffItem->setCoordinate(_serviceArea.center()); //necessary, insertSimpleMissionItem does not copy coordinate (why?)
+    }
 
     // create survey item, will be extened with more()-> mission types in the future
     _missionController->insertComplexMissionItem(_missionController->circularSurveyComplexItemName(), _measurementArea.center(), missionItems->count());
@@ -280,13 +284,9 @@ bool WimaPlaner::updateMission()
         survey->setAutoGenerated(true); // prevents reinitialisation from gui
         survey->surveyAreaPolygon()->clear();
         survey->surveyAreaPolygon()->appendVertices(_measurementArea.coordinateList());
-
     }
 
 
-
-
-
     // calculate path from take off to opArea
     if (survey->visualTransectPoints().size() == 0) {
         qWarning("WimaPlaner::updateMission(): survey no points.");
@@ -345,6 +345,8 @@ bool WimaPlaner::updateMission()
         MAV_CMD landCmd = controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
         if (controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
             landItem->setCommand(landCmd);
+        } else {
+            return false;
         }
     }
 
@@ -588,26 +590,6 @@ bool WimaPlaner::recalcJoinedArea(QString &errorString)
         return false; // this happens if all areas are pairwise disjoint
     }
     // join service area, op area and corridor
-
-
-//    // remove if debugging finished
-//    WimaServiceArea *test = new WimaServiceArea(this);
-
-//    WimaServiceArea *test1 = new WimaServiceArea(this);
-//    WimaServiceArea *test2 = new WimaServiceArea(this);
-//    WimaServiceArea *test3 = new WimaServiceArea(this);
-//    Circle circle(25, this);
-//    using namespace GeoUtilities;
-
-//    test->setPath(toGeo(circle.approximateSektor(0.5, 1, 3), _joinedArea.center()));
-//    _visualItems.append(test);
-//    test1->setPath(toGeo(circle.approximateSektor(0.5, 1, -1), _joinedArea.center()));
-//    _visualItems.append(test1);
-//    test2->setPath(toGeo(circle.approximateSektor(0.5,-1, 3), _joinedArea.center()));
-//    _visualItems.append(test2);
-//    test3->setPath(toGeo(circle.approximateSektor(0.5, -1, -3), _joinedArea.center()));
-//    _visualItems.append(test3);
-
     return true;
 }
 
@@ -682,6 +664,21 @@ WimaPlanData WimaPlaner::toPlanData()
     // convert mission items to mavlink commands
     QList<MissionItem*> rgMissionItems;
     MissionController::convertToMissionItems(_missionController->visualItems(), rgMissionItems, this);
+
+    // remove warnings if you read this
+//    qWarning("WimaPlaner::toPlanData(): rgMissionItems");
+//    for (auto item : rgMissionItems) {
+//        qWarning() << item->command();
+//        qWarning() << item->param1();
+//        qWarning() << item->param2();
+//        qWarning() << item->param3();
+//        qWarning() << item->param4();
+//        qWarning() << item->param5();
+//        qWarning() << item->param6();
+//        qWarning() << item->param7();
+//        qWarning(" ");
+//    }
+
     QList<const MissionItem*> rgMissionItemsConst;
     for (auto missionItem : rgMissionItems)
         rgMissionItemsConst.append(missionItem);

src/Wima/WimaPlaner.h

@@ -109,6 +109,8 @@ public:
 
     QJsonDocument saveToJson(FileType fileType);
 
+    bool calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QList<QGeoCoordinate> &path);
+
     // static Members
     static const char* wimaFileExtension;
     static const char* areaItemsName;
@@ -127,7 +129,6 @@ private slots:
     void recalcPolygonInteractivity (int index);
     bool recalcJoinedArea           (QString &errorString);
     void pushToContainer            ();
-    bool calcShortestPath      (const QGeoCoordinate &start, const QGeoCoordinate &destination, QList<QGeoCoordinate> &path);
 
 private:
     // Member Functions

src/Wima/notesOnWpExchange.txt

@@ -6,3 +6,6 @@ How to exchange mission between WimaPlaner and WimaController.
 4) start/continue mission
 5) return vehicle on battery low
 6) go to 4) or quit if last waypoint reached
+
+
+investigate load, loadFromVehicle, syncInProgress, _newMissionItemsAvailableFromVehicle