flight view wima menu altitude and speed added plus stats

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -19,7 +19,7 @@ import QGroundControl.FactControls  1.0
 
 Item {
     id:     _root
-    height: 500
+    height: 700
     width:  300
 
     property var wimaController // must be provided by the user
@@ -39,6 +39,15 @@ Item {
         }
     }
 
+    function getTime(time) {
+        // time is a double
+        if(isNaN(time)) {
+            return "00:00:00"
+        }
+        var t = new Date(0, 0, 0, 0, 0, Number(time))
+        return Qt.formatTime(t, 'hh:mm:ss')
+    }
+
     // box containing all items
     Rectangle {
         anchors.left:   parent.left
@@ -139,6 +148,18 @@ Item {
                 anchors.right:      parent.right
                 visible:            missionHeader.checked
 
+                QGCLabel { text: qsTr("Speed") }
+                FactTextField {
+                    fact:               wimaController.flightSpeed
+                    Layout.fillWidth:   true
+                }
+
+                QGCLabel { text: qsTr("Altitude") }
+                FactTextField {
+                    fact:               wimaController.altitude
+                    Layout.fillWidth:   true
+                }
+
                 // Buttons
                 QGCButton {
                     id: buttonPreviousMissionPhase
@@ -228,6 +249,22 @@ Item {
                     wrapMode:       Text.WordWrap
                     font.pointSize: ScreenTools.smallFontPointSize
                 }
+                QGCLabel {
+                    text:           wimaController.phaseDistance >= 0 ? wimaController.phaseDistance.toFixed(2) + " m": ""
+                    wrapMode:       Text.WordWrap
+                    font.pointSize: ScreenTools.smallFontPointSize
+                }
+
+                QGCLabel {
+                    text:           qsTr("Phase Duration: ")
+                    wrapMode:       Text.WordWrap
+                    font.pointSize: ScreenTools.smallFontPointSize
+                }
+                QGCLabel {
+                    text:           wimaController.phaseDuration >= 0 ? getTime(wimaController.phaseDuration) : ""
+                    wrapMode:       Text.WordWrap
+                    font.pointSize: ScreenTools.smallFontPointSize
+                }
             }
         }
     }

src/Wima/Circle.cc

@@ -107,9 +107,11 @@ QList<QPointF> Circle::approximate(double angleDiscretisation) const
 
 QList<QPointF> Circle::approximateSektor(int numberOfCorners, double alpha1, double alpha2) const
 {
-    if ( numberOfCorners < 2)
+    if ( numberOfCorners < 2) {
+        qWarning("numberOfCorners < 2");
         return QList<QPointF>();
-    return approximateSektor((alpha2-alpha1)/double(numberOfCorners-1), alpha1, alpha2);
+    }
+    return approximateSektor(PlanimetryCalculus::truncateAngle(alpha2-alpha1)/double(numberOfCorners-1), alpha1, alpha2);
 }
 
 QList<QPointF> Circle::approximateSektor(double angleDiscretisation, double alpha1, double alpha2) const

src/Wima/CircularSurveyComplexItem.cc

@@ -27,7 +27,8 @@ CircularSurveyComplexItem::CircularSurveyComplexItem(Vehicle *vehicle, bool flyV
     ,   _deltaAlpha                 (settingsGroup, _metaDataMap[deltaAlphaName])
     ,   _transectMinLength          (settingsGroup, _metaDataMap[transectMinLengthName])
     ,   _isSnakePath                (settingsGroup, _metaDataMap[isSnakePathName])
-    ,   _autoGenerated              (false)
+    ,   _isInitialized              (false)
+    ,   _updateCounter              (0)
 {
     _editorQml = "qrc:/qml/CircularSurveyItemEditor.qml";
     connect(&_deltaR,               &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
@@ -53,12 +54,12 @@ void CircularSurveyComplexItem::setRefPoint(const QGeoCoordinate &refPt)
     }
 }
 
-void CircularSurveyComplexItem::setAutoGenerated(bool autoGen)
+void CircularSurveyComplexItem::setIsInitialized(bool isInitialized)
 {
-    if (autoGen != _autoGenerated) {
-        _autoGenerated = autoGen;
+    if (isInitialized != _isInitialized) {
+        _isInitialized = isInitialized;
 
-        emit autoGeneratedChanged();
+        emit isInitializedChanged();
     }
 }
 
@@ -77,9 +78,9 @@ Fact *CircularSurveyComplexItem::deltaAlpha()
     return &_deltaAlpha;
 }
 
-bool CircularSurveyComplexItem::autoGenerated()
+bool CircularSurveyComplexItem::isInitialized()
 {
-    return _autoGenerated;
+    return _isInitialized;
 }
 
 bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int sequenceNumber, QString &errorString)
@@ -142,7 +143,7 @@ bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int seque
     _referencePoint.setLatitude     (complexObject[jsonReferencePointLatKey].toDouble());
     _referencePoint.setAltitude     (complexObject[jsonReferencePointAltKey].toDouble());
     _isSnakePath.setRawValue        (complexObject[jsonIsSnakePathKey].toBool());
-    _autoGenerated = true;
+    setIsInitialized(true);
 
     _ignoreRecalc = false;
 
@@ -349,6 +350,11 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
     using namespace PolygonCalculus;
     using namespace PlanimetryCalculus;
 
+    if (!_isInitialized)
+        return;
+
+    _updateCounter++;
+
     // If the transects are getting rebuilt then any previously loaded mission items are now invalid
     if (_loadedMissionItemsParent) {
         _loadedMissionItems.clear();
@@ -437,20 +443,31 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
             QPointFList exitPoints;
             // determine entryPoints and exit Points
             for (int j = 0; j < intersectPoints.size(); j++) {
-                QList<QPointF> intersects = intersectPoints[j];
+                QList<QPointF> intersects = intersectPoints[j]; // one pt = tangent, two pt = sekant
 
                 QPointF p1 = surveyPolygon[neighbourList[j].first];
                 QPointF p2 = surveyPolygon[neighbourList[j].second];
                 QLineF intersetLine(p1, p2);
-                double lineAngle = truncateAngle(angle(intersetLine));
+                double lineAngle = angle(intersetLine);
+
+//                int n = 16;
+//                for (int i = -n; i <= n; i++) {
+//                    double alpha = 2*M_PI*double(i)/double(n);
+//                    qDebug() << i << " " << alpha << " " << truncateAngle(alpha);
+//                }
 
                 for (QPointF ipt : intersects) {
-                    double circleTangentAngle = truncateAngle(angle(ipt)+M_PI_2);
+                    double circleTangentAngle = angle(ipt)+M_PI_2;
                     // compare line angle and circle tangent at intersection point
                     // to determine between exit and entry point
-                    if (   !qFuzzyCompare(lineAngle, circleTangentAngle)
-                        && !qFuzzyCompare(lineAngle, truncateAngle(circleTangentAngle + M_PI))) {
-                        if (truncateAngle(lineAngle - circleTangentAngle)  < M_PI) {
+//                    qDebug() << "lineAngle" << lineAngle*180/M_PI;
+//                    qDebug() << "circleTangentAngle" << circleTangentAngle*180/M_PI;
+//                    qDebug() << "!qFuzzyIsNull(truncateAngle(lineAngle - circleTangentAngle): " << !qFuzzyIsNull(truncateAngle(lineAngle - circleTangentAngle));
+//                    qDebug() << "!qFuzzyIsNull(truncateAngle(lineAngle - circleTangentAngle - M_PI): " << !qFuzzyIsNull(truncateAngle(lineAngle - circleTangentAngle - M_PI));
+                    if (   !qFuzzyIsNull(truncateAngle(lineAngle - circleTangentAngle))
+                        && !qFuzzyIsNull(truncateAngle(lineAngle - circleTangentAngle - M_PI) ))
+                        {
+                        if (truncateAngle(circleTangentAngle - lineAngle)  > M_PI) {
                             entryPoints.append(ipt);
                         } else {
                             exitPoints.append(ipt);
@@ -479,11 +496,16 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
                 }
             }
 
+            // generate circle sectors
             for (int k = 0; k < entryPoints.size(); k++) {
                 double alpha1 = angle(entryPoints[k]);
                 double alpha2 = angle(exitPoints[(k+offset) % entryPoints.size()]);
-                double dAlpha = alpha2-alpha1;
+                double dAlpha = truncateAngle(alpha2-alpha1);
                 int numNodes = int(ceil(dAlpha/dalpha)) + 1;
+//                qDebug() << "alpha1" << alpha1;
+//                qDebug() << "alpha2" << alpha2;
+//                qDebug() << "dAlpha" << dAlpha;
+//                qDebug() << "numNodes" << numNodes;
 
                 QList<QPointF> sectorPath = circle.approximateSektor(numNodes, alpha1, alpha2);
                 // use shortestPath() here if necessary, could be a problem if dr >>
@@ -568,6 +590,8 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
         _transects.append(transectList);
     }
 
+    qDebug() << "CircularSurveyComplexItem::_rebuildTransectsPhase1(): " << _updateCounter;
+
 }
 
 void CircularSurveyComplexItem::_recalcComplexDistance()

src/Wima/CircularSurveyComplexItem.h

@@ -18,19 +18,19 @@ public:
     /// @param kmlOrShpFile Polygon comes from this file, empty for default polygon
     CircularSurveyComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent);
 
-    Q_PROPERTY(QGeoCoordinate refPoint  READ refPoint           WRITE setRefPoint   NOTIFY refPointChanged)
-    Q_PROPERTY(Fact* deltaR             READ deltaR                                 CONSTANT)
-    Q_PROPERTY(Fact* deltaAlpha         READ deltaAlpha                             CONSTANT)
-    Q_PROPERTY(Fact* transectMinLength  READ transectMinLength                      CONSTANT)
-    Q_PROPERTY(Fact* isSnakePath        READ isSnakePath                            CONSTANT)
-    Q_PROPERTY(bool autoGenerated       READ autoGenerated                          NOTIFY autoGeneratedChanged)
+    Q_PROPERTY(QGeoCoordinate refPoint  READ refPoint           WRITE setRefPoint       NOTIFY refPointChanged)
+    Q_PROPERTY(Fact* deltaR             READ deltaR                                     CONSTANT)
+    Q_PROPERTY(Fact* deltaAlpha         READ deltaAlpha                                 CONSTANT)
+    Q_PROPERTY(Fact* transectMinLength  READ transectMinLength                          CONSTANT)
+    Q_PROPERTY(Fact* isSnakePath        READ isSnakePath                                CONSTANT)
+    Q_PROPERTY(bool  isInitialized      READ isInitialized      WRITE setIsInitialized  NOTIFY isInitializedChanged)
 
     Q_INVOKABLE void resetReference(void);
 
     // Property setters
     void setRefPoint(const QGeoCoordinate &refPt);
     // Set this to true if survey was automatically generated, prevents initialisation from gui.
-    void setAutoGenerated(bool autoGen);
+    void setIsInitialized(bool isInitialized);
 
     // Property getters
     QGeoCoordinate  refPoint()      const;
@@ -39,7 +39,7 @@ public:
     Fact            *transectMinLength();
     Fact            *isSnakePath();
     // Is true if survey was automatically generated, prevents initialisation from gui.
-    bool            autoGenerated();
+    bool            isInitialized();
 
     // Overrides from ComplexMissionItem
     bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
@@ -76,7 +76,7 @@ public:
 
 signals:
     void refPointChanged();
-    void autoGeneratedChanged();
+    void isInitializedChanged();
 
 private slots:
     // Overrides from TransectStyleComplexItem
@@ -103,7 +103,11 @@ private:
 
     QTimer _updateTimer;
 
-    bool _autoGenerated; // set to true if survey was automatically generated, prevents initialisation from gui
+    bool _isInitialized; // indicates if the polygon and refpoint etc. are initialized, prevents reinitialisation from gui and execution of _rebuildTransectsPhase1 during init from gui
+
+    int _updateCounter;
+
+
 };
 
 

src/Wima/PlanimetryCalculus.cc

@@ -620,7 +620,7 @@ angle
 
     double angle(const QPointF &p1)
     {
-        return qAtan2(p1.y(), p1.x());
+        return truncateAngle(qAtan2(p1.y(), p1.x()));
     }
 
     bool intersects(const Circle &circle, const QPolygonF &polygon, QList<QPointFList> &intersectionPoints, NeighbourList &neighbourList, IntersectList &typeList)
@@ -698,6 +698,8 @@ angle
 
 
 
+
+
 } // end namespace PlanimetryCalculus
 
 

src/Wima/WimaController.SettingsGroup.json

@@ -36,5 +36,20 @@
     "shortDescription": "Determines whether the mission items of the current mission phase are displayed or not.",
     "type":             "bool",
     "defaultValue":     1
+},
+{
+    "name":             "FlightSpeed",
+    "shortDescription": "The mission flight speed.",
+    "type":             "double",
+    "min" :             0.3,
+    "max" :             5,
+    "defaultValue":     2
+},
+{
+    "name":             "Altitude",
+    "shortDescription": "The mission altitude.",
+    "type":             "double",
+    "min" :             1,
+    "defaultValue":     5
 }
 ]

src/Wima/WimaController.cc

@@ -10,6 +10,8 @@ const char* WimaController::maxWaypointsPerPhaseName    = "MaxWaypointsPerPhase"
 const char* WimaController::startWaypointIndexName      = "StartWaypointIndex";
 const char* WimaController::showAllMissionItemsName     = "ShowAllMissionItems";
 const char* WimaController::showCurrentMissionItemsName = "ShowCurrentMissionItems";
+const char* WimaController::flightSpeedName             = "FlightSpeed";
+const char* WimaController::altitudeName                = "Altitude";
 
 WimaController::WimaController(QObject *parent)
     : QObject                   (parent)
@@ -25,10 +27,14 @@ WimaController::WimaController(QObject *parent)
     , _maxWaypointsPerPhase     (settingsGroup, _metaDataMap[maxWaypointsPerPhaseName])
     , _nextPhaseStartWaypointIndex       (settingsGroup, _metaDataMap[startWaypointIndexName])
     , _showAllMissionItems      (settingsGroup, _metaDataMap[showAllMissionItemsName])
-    , _showCurrentMissionItems  (settingsGroup, _metaDataMap[showCurrentMissionItemsName])
+    , _showCurrentMissionItems  (settingsGroup, _metaDataMap[showCurrentMissionItemsName])    
+    , _flightSpeed              (settingsGroup, _metaDataMap[flightSpeedName])
+    , _altitude                 (settingsGroup, _metaDataMap[altitudeName])
     , _startWaypointIndex       (0)
     , _lastMissionPhaseReached  (false)
     , _uploadOverrideRequired   (false)
+    , _phaseDistance(-1)
+    , _phaseDuration(-1)
 
 {
     _nextPhaseStartWaypointIndex.setRawValue(int(1));
@@ -37,6 +43,8 @@ WimaController::WimaController(QObject *parent)
     connect(&_overlapWaypoints,     &Fact::rawValueChanged, this, &WimaController::updateNextWaypoint);
     connect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this, &WimaController::recalcCurrentPhase);
     connect(&_nextPhaseStartWaypointIndex,   &Fact::rawValueChanged, this, &WimaController::calcNextPhase);
+    connect(&_flightSpeed,  &Fact::rawValueChanged, this, &WimaController::updateSpeed);
+    connect(&_altitude,     &Fact::rawValueChanged, this, &WimaController::updateAltitude);
 }
 
 QmlObjectListModel* WimaController::visualItems()
@@ -111,11 +119,31 @@ Fact *WimaController::showCurrentMissionItems()
     return &_showCurrentMissionItems;
 }
 
+Fact *WimaController::flightSpeed()
+{
+    return &_flightSpeed;
+}
+
+Fact *WimaController::altitude()
+{
+    return &_altitude;
+}
+
 bool WimaController::uploadOverrideRequired() const
 {
     return _uploadOverrideRequired;
 }
 
+double WimaController::phaseDistance() const
+{
+    return _phaseDistance;
+}
+
+double WimaController::phaseDuration() const
+{
+    return _phaseDuration;
+}
+
 Fact *WimaController::startWaypointIndex()
 {
     return &_nextPhaseStartWaypointIndex;
@@ -317,6 +345,12 @@ bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVa
 
     bool retValue = extractCoordinateList(missionItems, geoCoordintateList, startIndex, endIndex);
 
+    for (int i = 0; i < geoCoordintateList.size(); i++) {
+        QGeoCoordinate vertex = geoCoordintateList[i];
+        if (qFuzzyIsNull(vertex.latitude()) && qFuzzyIsNull(vertex.longitude()))
+            geoCoordintateList.removeAt(i);
+    }
+
     if (!retValue)
         return false;
 
@@ -539,6 +573,17 @@ bool WimaController::calcNextPhase()
     }
     takeoffItem->setCoordinate(_takeoffLandPostion);
 
+    // create change speed item
+    _missionController->insertSimpleMissionItem(_takeoffLandPostion, 2);
+    SimpleMissionItem *speedItem = missionControllerVisuals->value<SimpleMissionItem*>(2);
+    if (speedItem == nullptr) {
+        qWarning("WimaController::calcNextPhase(): nullptr");
+        return false;
+    }
+    speedItem->setCoordinate(_takeoffLandPostion);
+    speedItem->setCommand(MAV_CMD_DO_CHANGE_SPEED);
+    speedItem->missionItem().setParam2(_flightSpeed.rawValue().toDouble());
+
 
     // set land command for last mission item
     SimpleMissionItem *landItem = missionControllerVisuals->value<SimpleMissionItem*>(missionControllerVisuals->count()-1);
@@ -561,7 +606,10 @@ bool WimaController::calcNextPhase()
         _currentMissionItems.append(visualItemCopy);
     }
 
+    _setPhaseDistance(_missionController->missionDistance());
+    _setPhaseDuration(_missionController->missionDistance()/_flightSpeed.rawValue().toDouble());
     _missionController->removeAll(); // remove items from _missionController, will be added on upload
+    updateAltitude();
 
     updateCurrentPath();
     emit currentMissionItemsChanged();
@@ -611,5 +659,47 @@ bool WimaController::setTakeoffLandPosition()
     return true;
 }
 
+void WimaController::updateSpeed()
+{
+    SimpleMissionItem *item = _currentMissionItems.value<SimpleMissionItem *>(1); // speed item
+    if (item != nullptr && item->command() == MAV_CMD_DO_CHANGE_SPEED) {
+        item->missionItem().setParam2(_flightSpeed.rawValue().toDouble());
+        _setPhaseDuration(_phaseDistance/_flightSpeed.rawValue().toDouble());
+    }
+    else {
+        qWarning("WimaController::updateSpeed(): internal error.");
+    }
+}
+
+void WimaController::updateAltitude()
+{
+    for (int i = 0; i < _currentMissionItems.count(); i++) {
+        SimpleMissionItem *item = _currentMissionItems.value<SimpleMissionItem *>(i);
+        if (item == nullptr) {
+            qWarning("WimaController::updateAltitude(): nullptr");
+            return;
+        }
+        item->altitude()->setRawValue(_altitude.rawValue().toDouble());
+    }
+}
+
+void WimaController::_setPhaseDistance(double distance)
+{
+    if (!qFuzzyCompare(distance, _phaseDistance)) {
+        _phaseDistance = distance;
+
+        emit phaseDistanceChanged();
+    }
+}
+
+void WimaController::_setPhaseDuration(double duration)
+{
+    if (!qFuzzyCompare(duration, _phaseDuration)) {
+        _phaseDuration = duration;
+
+        emit phaseDurationChanged();
+    }
+}
+
 
 

src/Wima/WimaController.h

@@ -51,7 +51,11 @@ public:
     Q_PROPERTY(Fact*                    startWaypointIndex      READ startWaypointIndex                                     CONSTANT)
     Q_PROPERTY(Fact*                    showAllMissionItems     READ showAllMissionItems                                    CONSTANT)
     Q_PROPERTY(Fact*                    showCurrentMissionItems READ showCurrentMissionItems                                CONSTANT)
+    Q_PROPERTY(Fact*                    flightSpeed             READ flightSpeed                                            CONSTANT)
+    Q_PROPERTY(Fact*                    altitude                READ altitude                                               CONSTANT)
     Q_PROPERTY(bool                     uploadOverrideRequired  READ uploadOverrideRequired WRITE setUploadOverrideRequired NOTIFY uploadOverrideRequiredChanged)
+    Q_PROPERTY(double                   phaseDistance           READ phaseDistance                                          NOTIFY phaseDistanceChanged)
+    Q_PROPERTY(double                   phaseDuration           READ phaseDuration                                          NOTIFY phaseDurationChanged)
 
 
 
@@ -75,7 +79,11 @@ public:
     Fact*                       startWaypointIndex     (void);
     Fact*                       showAllMissionItems    (void);
     Fact*                       showCurrentMissionItems(void);
+    Fact*                       flightSpeed            (void);
+    Fact*                       altitude               (void);
     bool                        uploadOverrideRequired (void) const;
+    double                      phaseDistance          (void) const;
+    double                      phaseDuration          (void) const;
 
 
     // Property setters
@@ -110,6 +118,8 @@ public:
     static const char* startWaypointIndexName;
     static const char* showAllMissionItemsName;
     static const char* showCurrentMissionItemsName;
+    static const char* flightSpeedName;
+    static const char* altitudeName;
 
     // Member Methodes
     QJsonDocument saveToJson(FileType fileType);
@@ -136,6 +146,8 @@ signals:
     void waypointPathChanged            (void);
     void currentWaypointPathChanged     (void);
     void uploadOverrideRequiredChanged  (void);
+    void phaseDistanceChanged           (void);
+    void phaseDurationChanged           (void);
 
 private slots:
     bool fetchContainerData();
@@ -144,7 +156,13 @@ private slots:
     void updateCurrentPath                  (void);
     void updateNextWaypoint                 (void);
     void recalcCurrentPhase                 (void);
-    bool setTakeoffLandPosition(void);
+    bool setTakeoffLandPosition             (void);
+    void updateSpeed                        (void);
+    void updateAltitude                     (void);
+
+private:
+    void _setPhaseDistance(double distance);
+    void _setPhaseDuration(double duration);
 
 
 private:
@@ -174,6 +192,8 @@ private:
                                                       // defining the first element of the next phase
     SettingsFact                 _showAllMissionItems; // bool value, Determines whether the mission items of the overall mission are displayed or not.
     SettingsFact                 _showCurrentMissionItems; // bool value, Determines whether the mission items of the current mission phase are displayed or not.
+    SettingsFact                 _flightSpeed; // mission flight speed
+    SettingsFact                 _altitude; // mission altitude
 
     int                          _endWaypointIndex; // indes of the mission item stored in _missionItems defining the last element
                                                     // (which is not part of the return path) of _currentMissionItem
@@ -182,4 +202,8 @@ private:
     bool                         _lastMissionPhaseReached;
     bool                         _uploadOverrideRequired; // Is set to true if uploadToVehicle() did not suceed because the vehicle is not inside the service area.
                                                           // The user can override the upload lock with a slider, this will reset this variable to false.
+    double                       _phaseDistance; // the lenth in meters of the current phase
+    double                       _phaseDuration; // the phase duration in seconds
 };
+
+

src/Wima/WimaPlaner.cc

@@ -231,7 +231,7 @@ bool WimaPlaner::updateMission()
         _circularSurvey->setRefPoint(_measurementArea.center());
         _lastSurveyRefPoint = _measurementArea.center();
         _surveyRefChanging = false;
-        _circularSurvey->setAutoGenerated(true); // prevents reinitialisation from gui
+        _circularSurvey->setIsInitialized(true); // prevents reinitialisation from gui
         connect(_circularSurvey->deltaR(),               &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
         connect(_circularSurvey->deltaAlpha(),           &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
         connect(_circularSurvey->isSnakePath(),          &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
@@ -433,7 +433,7 @@ bool WimaPlaner::loadFromFile(const QString &filename)
 
                 _lastSurveyRefPoint = _circularSurvey->refPoint();
                 _surveyRefChanging = false;
-                _circularSurvey->setAutoGenerated(true); // prevents reinitialisation from gui
+                _circularSurvey->setIsInitialized(true); // prevents reinitialisation from gui
                 connect(_circularSurvey->deltaR(),               &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
                 connect(_circularSurvey->deltaAlpha(),           &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
                 connect(_circularSurvey->isSnakePath(),          &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
@@ -553,7 +553,7 @@ bool WimaPlaner::calcArrivalAndReturnPath()
         qgcApp()->showMessage( QString(tr("Not able to calculate the path from takeoff position to measurement area.")).toLocal8Bit().data());
         return false;
     }
-    _arrivalPathLength = path.size()-1; // -1: last item is first measurement point
+    _arrivalPathLength = path.size()-1;
     int sequenceNumber = 0;
     for (int i = 1; i < path.count()-1; i++) {
         sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count()-1);
@@ -596,6 +596,10 @@ bool WimaPlaner::calcArrivalAndReturnPath()
 bool WimaPlaner::recalcJoinedArea()
 {
     setJoinedAreaValid(false);
+    // check if at least service area and measurement area are available
+    if (_visualItems.indexOf(&_serviceArea) == -1 || _visualItems.indexOf(&_measurementArea) == -1)
+        return false;
+
     // check if area paths form simple polygons
     if ( !_serviceArea.isSimplePolygon() ) {
         qgcApp()->showMessage(tr("Service area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n"));
@@ -744,7 +748,10 @@ void WimaPlaner::updateTimerSlot()
     // Check if parameter has changed, wait until it stops changing, update mission
 
     // circular survey reference point
-    if (_circularSurvey != nullptr) {
+    if (_missionController != nullptr
+            && _missionController->visualItems()->indexOf(_circularSurvey) != -1
+            && _circularSurvey != nullptr)
+    {
         if (_surveyRefChanging) {
             if (_circularSurvey->refPoint() == _lastSurveyRefPoint) { // is it still changing?
                 calcArrivalAndReturnPath();
@@ -791,7 +798,9 @@ void WimaPlaner::updateTimerSlot()
 
 
     // update old values
-    if (_circularSurvey != nullptr)
+    if (_missionController != nullptr
+            && _missionController->visualItems()->indexOf(_circularSurvey) != -1
+            && _circularSurvey != nullptr)
         _lastSurveyRefPoint = _circularSurvey->refPoint();
 
     _lastMeasurementAreaPath    = _measurementArea.path();

src/WimaView/SphericalSurveyMapVisual.qml

@@ -90,8 +90,9 @@ Item {
     }
 
     Component.onCompleted: {
-        if ( !_missionItem.autoGenerated ) {
-            _addInitialPolygon()
+        if ( !_missionItem.isInitialized ) {
+            _addInitialPolygon()            
+            _missionItem.isInitialized = true // set isInitialized to true, to trigger _rebuildTransectsPhase1 in the last line
             _setRefPoint()
         }
         _addVisualElements()