src/MissionManager/ComplexMissionItem.h

@@ -24,9 +24,10 @@ public:
 
     const ComplexMissionItem& operator=(const ComplexMissionItem& other);
 
-    Q_PROPERTY(double       complexDistance     READ complexDistance                            NOTIFY complexDistanceChanged)
-    Q_PROPERTY(bool         presetsSupported    READ presetsSupported                           CONSTANT)
-    Q_PROPERTY(QStringList  presetNames         READ presetNames                                NOTIFY presetNamesChanged)
+    Q_PROPERTY(double       complexDistance     READ complexDistance    NOTIFY complexDistanceChanged)
+    Q_PROPERTY(bool         presetsSupported    READ presetsSupported   CONSTANT)
+    Q_PROPERTY(QStringList  presetNames         READ presetNames        NOTIFY presetNamesChanged)
+    Q_PROPERTY(bool         isIncomplete        READ isIncomplete       NOTIFY isIncompleteChanged)
 
     /// @return The distance covered the complex mission item in meters.
     /// Signals complexDistanceChanged
@@ -64,7 +65,8 @@ public:
     ///     Empty string signals no support for presets.
     virtual QString presetsSettingsGroup(void) { return QString(); }
 
-    bool presetsSupported(void) { return !presetsSettingsGroup().isEmpty(); }
+    bool presetsSupported   (void) { return !presetsSettingsGroup().isEmpty(); }
+    bool isIncomplete       (void) const { return _isIncomplete; }
 
     /// This mission item attribute specifies the type of the complex item.
     static const char* jsonComplexItemTypeKey;
@@ -74,11 +76,13 @@ signals:
     void boundingCubeChanged        (void);
     void greatestDistanceToChanged  (void);
     void presetNamesChanged         (void);
+    void isIncompleteChanged        (void);
 
 protected:
     void        _savePresetJson (const QString& name, QJsonObject& presetObject);
     QJsonObject _loadPresetJson (const QString& name);
 
+    bool _isIncomplete = true;
 
     QMap<QString, FactMetaData*> _metaDataMap;
 

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -66,6 +66,7 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, bool
     , _altitudesAreRelative     (true)
 {
     _editorQml = "qrc:/qml/FWLandingPatternEditor.qml";
+    _isIncomplete = false;
 
     connect(&_loiterAltitudeFact,       &Fact::valueChanged,                                    this, &FixedWingLandingComplexItem::_updateLoiterCoodinateAltitudeFromFact);
     connect(&_landingAltitudeFact,      &Fact::valueChanged,                                    this, &FixedWingLandingComplexItem::_updateLandingCoodinateAltitudeFromFact);

src/MissionManager/MissionController.cc

@@ -1139,6 +1139,26 @@ double MissionController::_calcDistanceToHome(VisualMissionItem* currentItem, Vi
     return distanceOk ? homeCoord.distanceTo(currentCoord) : 0.0;
 }
 
+CoordinateVector* MissionController::_createCoordinateVectorWorker(VisualItemPair& pair)
+{
+    CoordinateVector* coordVector = nullptr;
+
+    // Create a new segment and wire update notifiers
+    coordVector         = new CoordinateVector(pair.first->isSimpleItem() ? pair.first->coordinate() : pair.first->exitCoordinate(), pair.second->coordinate(), this);
+    auto originNotifier = pair.first->isSimpleItem() ? &VisualMissionItem::coordinateChanged : &VisualMissionItem::exitCoordinateChanged;
+    auto endNotifier    = &VisualMissionItem::coordinateChanged;
+
+    // Use signals/slots to update the coordinate endpoints
+    connect(pair.first,     originNotifier, coordVector, &CoordinateVector::setCoordinate1);
+    connect(pair.second,    endNotifier,    coordVector, &CoordinateVector::setCoordinate2);
+
+    // FIXME: We should ideally have signals for 2D position change, alt change, and 3D position change
+    // Not optimal, but still pretty fast, do a full update of range/bearing/altitudes
+    connect(pair.second, &VisualMissionItem::coordinateChanged, this, &MissionController::_recalcMissionFlightStatus);
+
+    return coordVector;
+}
+
 CoordinateVector* MissionController::_addWaypointLineSegment(CoordVectHashTable& prevItemPairHashTable, VisualItemPair& pair)
 {
     CoordinateVector* coordVector = nullptr;
@@ -1147,18 +1167,7 @@ CoordinateVector* MissionController::_addWaypointLineSegment(CoordVectHashTable&
         // Pair already exists and connected, just re-use
         _linesTable[pair] = coordVector = prevItemPairHashTable.take(pair);
     } else {
-        // Create a new segment and wire update notifiers
-        coordVector         = new CoordinateVector(pair.first->isSimpleItem() ? pair.first->coordinate() : pair.first->exitCoordinate(), pair.second->coordinate(), this);
-        auto originNotifier = pair.first->isSimpleItem() ? &VisualMissionItem::coordinateChanged : &VisualMissionItem::exitCoordinateChanged;
-        auto endNotifier    = &VisualMissionItem::coordinateChanged;
-
-        // Use signals/slots to update the coordinate endpoints
-        connect(pair.first,     originNotifier, coordVector, &CoordinateVector::setCoordinate1);
-        connect(pair.second,    endNotifier,    coordVector, &CoordinateVector::setCoordinate2);
-
-        // FIXME: We should ideally have signals for 2D position change, alt change, and 3D position change
-        // Not optimal, but still pretty fast, do a full update of range/bearing/altitudes
-        connect(pair.second, &VisualMissionItem::coordinateChanged, this, &MissionController::_recalcMissionFlightStatus);
+        coordVector = _createCoordinateVectorWorker(pair);
         _linesTable[pair] = coordVector;
     }
 
@@ -1209,6 +1218,8 @@ void MissionController::_recalcWaypointLines(void)
     bool                foundRTL =                      false;
     bool                homePositionValid =             _settingsItem->coordinate().isValid();
     bool                roiActive =                     false;
+    bool                setupIncompleteItem =           false;
+    VisualMissionItem*  startVIForIncompleteItem =      nullptr;
 
     qCDebug(MissionControllerLog) << "_recalcWaypointLines homePositionValid" << homePositionValid;
 
@@ -1219,15 +1230,18 @@ void MissionController::_recalcWaypointLines(void)
 
     _waypointLines.beginReset();
     _directionArrows.beginReset();
+    _incompleteComplexItemLines.beginReset();
 
     _waypointLines.clear();
     _directionArrows.clear();
+    _incompleteComplexItemLines.clearAndDeleteContents();
 
     // Grovel through the list of items keeping track of things needed to correctly draw waypoints lines
 
     for (int i=1; i<_visualItems->count(); i++) {
-        VisualMissionItem*  visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
-        SimpleMissionItem*  simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
+        VisualMissionItem*  visualItem =    qobject_cast<VisualMissionItem*>(_visualItems->get(i));
+        SimpleMissionItem*  simpleItem =    qobject_cast<SimpleMissionItem*>(visualItem);
+        ComplexMissionItem* complexItem =   qobject_cast<ComplexMissionItem*>(visualItem);
 
         if (simpleItem) {
             if (roiActive) {
@@ -1267,29 +1281,47 @@ void MissionController::_recalcWaypointLines(void)
         }
 
         if (visualItem->specifiesCoordinate() && !visualItem->isStandaloneCoordinate()) {
-            if (lastCoordinateItemBeforeRTL != _settingsItem || (homePositionValid && linkStartToHome)) {
-                // Direction arrows are added to the first segment and every 5 segments in the middle.
-                bool addDirectionArrow = false;
-                if (firstCoordinateNotFound || !lastCoordinateItemBeforeRTL->isSimpleItem() || !visualItem->isSimpleItem()) {
-                    addDirectionArrow = true;
-                } else if (segmentCount > 5) {
-                    segmentCount = 0;
-                    addDirectionArrow = true;
+            // Incomplete items are complex items which are waiting for the user to complete setup before there visuals can become valid.
+            // For example a Survey which has no polygon set for it yet. For these cases we draw incomplete segment lines so that there
+            // isn't a hole in the flight path lines.
+            if (complexItem && complexItem->isIncomplete()) {
+                setupIncompleteItem = true;
+            } else {
+                if (setupIncompleteItem) {
+                    VisualItemPair viPair(startVIForIncompleteItem, visualItem);
+                    CoordinateVector* coordVector = _createCoordinateVectorWorker(viPair);
+
+                    _incompleteComplexItemLines.append(coordVector);
+                    startVIForIncompleteItem = nullptr;
+                    setupIncompleteItem = false;
+                } else {
+                    startVIForIncompleteItem = visualItem;
                 }
-                segmentCount++;
-
-                lastSegmentVisualItemPair =  VisualItemPair(lastCoordinateItemBeforeRTL, visualItem);
-                if (!_flyView || addDirectionArrow) {
-                    CoordinateVector* coordVector = _addWaypointLineSegment(old_table, lastSegmentVisualItemPair);
-                    coordVector->setSpecialVisual(roiActive);
-                    if (addDirectionArrow) {
-                        _directionArrows.append(coordVector);
+
+                if (lastCoordinateItemBeforeRTL != _settingsItem || (homePositionValid && linkStartToHome)) {
+                    // Direction arrows are added to the first segment and every 5 segments in the middle.
+                    bool addDirectionArrow = false;
+                    if (firstCoordinateNotFound || !lastCoordinateItemBeforeRTL->isSimpleItem() || !visualItem->isSimpleItem()) {
+                        addDirectionArrow = true;
+                    } else if (segmentCount > 5) {
+                        segmentCount = 0;
+                        addDirectionArrow = true;
+                    }
+                    segmentCount++;
+
+                    lastSegmentVisualItemPair =  VisualItemPair(lastCoordinateItemBeforeRTL, visualItem);
+                    if (!_flyView || addDirectionArrow) {
+                        CoordinateVector* coordVector = _addWaypointLineSegment(old_table, lastSegmentVisualItemPair);
+                        coordVector->setSpecialVisual(roiActive);
+                        if (addDirectionArrow) {
+                            _directionArrows.append(coordVector);
+                        }
                     }
                 }
+                firstCoordinateNotFound = false;
+                _waypointPath.append(QVariant::fromValue(visualItem->coordinate()));
+                lastCoordinateItemBeforeRTL = visualItem;
             }
-            firstCoordinateNotFound = false;
-            _waypointPath.append(QVariant::fromValue(visualItem->coordinate()));
-            lastCoordinateItemBeforeRTL = visualItem;
         }
     }
 
@@ -1342,6 +1374,7 @@ void MissionController::_recalcWaypointLines(void)
 
     _waypointLines.endReset();
     _directionArrows.endReset();
+    _incompleteComplexItemLines.endReset();
 
     // Anything left in the old table is an obsolete line object that can go
     qDeleteAll(old_table);
@@ -1852,6 +1885,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
         if (complexItem) {
             connect(complexItem, &ComplexMissionItem::complexDistanceChanged,       this, &MissionController::_recalcMissionFlightStatus);
             connect(complexItem, &ComplexMissionItem::greatestDistanceToChanged,    this, &MissionController::_recalcMissionFlightStatus);
+            connect(complexItem, &ComplexMissionItem::isIncompleteChanged,          this, &MissionController::_recalcWaypointLines);
         } else {
             qWarning() << "ComplexMissionItem not found";
         }

src/MissionManager/MissionController.h

@@ -70,6 +70,7 @@ public:
     Q_PROPERTY(QmlObjectListModel*  waypointLines                   READ waypointLines                  CONSTANT)                           ///< Used by Plan view only for interactive editing
     Q_PROPERTY(QVariantList         waypointPath                    READ waypointPath                   NOTIFY waypointPathChanged)         ///< Used by Fly view only for static display
     Q_PROPERTY(QmlObjectListModel*  directionArrows                 READ directionArrows                CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  incompleteComplexItemLines      READ incompleteComplexItemLines     CONSTANT)                           ///< Segments which are not yet completed.
     Q_PROPERTY(QStringList          complexMissionItemNames         READ complexMissionItemNames        NOTIFY complexMissionItemNamesChanged)
     Q_PROPERTY(QGeoCoordinate       plannedHomePosition             READ plannedHomePosition            NOTIFY plannedHomePositionChanged)
     Q_PROPERTY(QGeoCoordinate       previousCoordinate              MEMBER _previousCoordinate          NOTIFY previousCoordinateChanged)
@@ -200,6 +201,7 @@ public:
     QmlObjectListModel* visualItems                 (void) { return _visualItems; }
     QmlObjectListModel* waypointLines               (void) { return &_waypointLines; }
     QmlObjectListModel* directionArrows             (void) { return &_directionArrows; }
+    QmlObjectListModel* incompleteComplexItemLines  (void) { return &_incompleteComplexItemLines; }
     QVariantList        waypointPath                (void) { return _waypointPath; }
     QStringList         complexMissionItemNames     (void) const;
     QGeoCoordinate      plannedHomePosition         (void) const;
@@ -270,20 +272,20 @@ signals:
     void previousCoordinateChanged          (void);
 
 private slots:
-    void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
-    void _itemCommandChanged(void);
-    void _inProgressChanged(bool inProgress);
-    void _currentMissionIndexChanged(int sequenceNumber);
-    void _recalcWaypointLines(void);
-    void _recalcMissionFlightStatus(void);
-    void _updateContainsItems(void);
-    void _progressPctChanged(double progressPct);
-    void _visualItemsDirtyChanged(bool dirty);
-    void _managerSendComplete(bool error);
-    void _managerRemoveAllComplete(bool error);
-    void _updateTimeout();
-    void _complexBoundingBoxChanged();
-    void _recalcAll(void);
+    void _newMissionItemsAvailableFromVehicle   (bool removeAllRequested);
+    void _itemCommandChanged                    (void);
+    void _inProgressChanged                     (bool inProgress);
+    void _currentMissionIndexChanged            (int sequenceNumber);
+    void _recalcWaypointLines                   (void);
+    void _recalcMissionFlightStatus             (void);
+    void _updateContainsItems                   (void);
+    void _progressPctChanged                    (double progressPct);
+    void _visualItemsDirtyChanged               (bool dirty);
+    void _managerSendComplete                   (bool error);
+    void _managerRemoveAllComplete              (bool error);
+    void _updateTimeout                         (void);
+    void _complexBoundingBoxChanged             (void);
+    void _recalcAll                             (void);
 
 private:
     void _init(void);
@@ -324,6 +326,7 @@ private:
     void _warnIfTerrainFrameUsed(void);
     bool _isROIBeginItem(SimpleMissionItem* simpleItem);
     bool _isROICancelItem(SimpleMissionItem* simpleItem);
+    CoordinateVector* _createCoordinateVectorWorker(VisualItemPair& pair);
 
 private:
     MissionManager*         _missionManager;
@@ -333,6 +336,7 @@ private:
     QmlObjectListModel      _waypointLines;
     QVariantList            _waypointPath;
     QmlObjectListModel      _directionArrows;
+    QmlObjectListModel      _incompleteComplexItemLines;
     CoordVectHashTable      _linesTable;
     bool                    _firstItemsFromVehicle;
     bool                    _itemsRequested;

src/MissionManager/StructureScanComplexItem.cc

@@ -264,6 +264,11 @@ void StructureScanComplexItem::_flightPathChanged(void)
     emit coordinateChanged(coordinate());
     emit exitCoordinateChanged(exitCoordinate());
     emit greatestDistanceToChanged();
+
+    if (_isIncomplete) {
+        _isIncomplete = false;
+        emit isIncompleteChanged();
+    }
 }
 
 double StructureScanComplexItem::greatestDistanceTo(const QGeoCoordinate &other) const
@@ -282,11 +287,6 @@ double StructureScanComplexItem::greatestDistanceTo(const QGeoCoordinate &other)
     return greatestDistance;
 }
 
-bool StructureScanComplexItem::specifiesCoordinate(void) const
-{
-    return _flightPolygon.count() > 2;
-}
-
 void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
 {
     int     seqNum =        _sequenceNumber;

src/MissionManager/StructureScanComplexItem.h

@@ -73,7 +73,7 @@ public:
     bool            dirty                   (void) const final { return _dirty; }
     bool            isSimpleItem            (void) const final { return false; }
     bool            isStandaloneCoordinate  (void) const final { return false; }
-    bool            specifiesCoordinate     (void) const final;
+    bool            specifiesCoordinate     (void) const final { return true; }
     bool            specifiesAltitudeOnly   (void) const final { return false; }
     QString         commandDescription      (void) const final { return tr("Structure Scan"); }
     QString         commandName             (void) const final { return tr("Structure Scan"); }
@@ -129,7 +129,6 @@ private slots:
     void _recalcScanDistance        (void);
 
 private:
-    void _setExitCoordinate(const QGeoCoordinate& coordinate);
     void _setCameraShots(int cameraShots);
     double _triggerDistance(void) const;
 

src/MissionManager/TransectStyleComplexItem.cc

@@ -230,6 +230,7 @@ bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, bool forP
         }
         _coordinate = _visualTransectPoints.count() ? _visualTransectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
         _exitCoordinate = _visualTransectPoints.count() ? _visualTransectPoints.last().value<QGeoCoordinate>() : QGeoCoordinate();
+        _isIncomplete = false;
 
         // Load generated mission items
         _loadedMissionItemsParent = new QObject(this);
@@ -408,6 +409,11 @@ void TransectStyleComplexItem::_rebuildTransects(void)
     emit coordinateChanged(_coordinate);
     emit exitCoordinateChanged(_exitCoordinate);
 
+    if (_isIncomplete) {
+        _isIncomplete = false;
+        emit isIncompleteChanged();
+    }
+
     _recalcComplexDistance();
     _recalcCameraShots();
 

src/PlanView/PlanView.qml

@@ -434,6 +434,7 @@ Item {
                 model:              _editingLayer == _layerMission ? _missionController.waypointLines : undefined
             }
 
+            // Direction arrows in waypoint lines
             MapItemView {
                 model: _editingLayer == _layerMission ? _missionController.directionArrows : undefined
 
@@ -445,6 +446,18 @@ Item {
                 }
             }
 
+            // Incomplete segment lines
+            MapItemView {
+                model: _editingLayer == _layerMission ? _missionController.incompleteComplexItemLines : undefined
+
+                delegate: MapPolyline {
+                    path:       [ object.coordinate1, object.coordinate2 ]
+                    line.width: 1
+                    line.color: "red"
+                    z:          QGroundControl.zOrderWaypointLines
+                }
+            }
+
             // UI for splitting the current segment
             MapQuickItem {
                 id:             splitSegmentItem