Stable merge

src/MissionManager/SurveyMissionItem.cc

@@ -230,6 +230,7 @@ void SurveyMissionItem::save(QJsonArray&  missionItems)
     saveObject[_jsonHoverAndCaptureKey] =                       _hoverAndCaptureFact.rawValue().toBool();
     saveObject[_jsonRefly90DegreesKey] =                        _refly90Degrees;
     saveObject[_jsonCameraTriggerDistanceKey] =                 _cameraTriggerDistanceFact.rawValue().toDouble();
+    saveObject[_jsonCameraTriggerInTurnaroundKey] =             _cameraTriggerInTurnaroundFact.rawValue().toBool();
 
     QJsonObject gridObject;
     gridObject[_jsonGridAltitudeKey] =          _gridAltitudeFact.rawValue().toDouble();
@@ -310,6 +311,7 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe
         { _jsonFixedValueIsAltitudeKey,                 QJsonValue::Bool,   true },
         { _jsonHoverAndCaptureKey,                      QJsonValue::Bool,   false },
         { _jsonRefly90DegreesKey,                       QJsonValue::Bool,   false },
+        { _jsonCameraTriggerInTurnaroundKey,            QJsonValue::Bool,   false },    // Should really be required, but it was missing from initial code due to bug
     };
     if (!JsonHelper::validateKeys(v2Object, mainKeyInfoList, errorString)) {
         return false;
@@ -328,10 +330,11 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe
 
     setSequenceNumber(sequenceNumber);
 
-    _manualGridFact.setRawValue             (v2Object[_jsonManualGridKey].toBool(true));
-    _fixedValueIsAltitudeFact.setRawValue   (v2Object[_jsonFixedValueIsAltitudeKey].toBool(true));
-    _gridAltitudeRelativeFact.setRawValue   (v2Object[_jsonGridAltitudeRelativeKey].toBool(true));
-    _hoverAndCaptureFact.setRawValue        (v2Object[_jsonHoverAndCaptureKey].toBool(false));
+    _manualGridFact.setRawValue                 (v2Object[_jsonManualGridKey].toBool(true));
+    _fixedValueIsAltitudeFact.setRawValue       (v2Object[_jsonFixedValueIsAltitudeKey].toBool(true));
+    _gridAltitudeRelativeFact.setRawValue       (v2Object[_jsonGridAltitudeRelativeKey].toBool(true));
+    _hoverAndCaptureFact.setRawValue            (v2Object[_jsonHoverAndCaptureKey].toBool(false));
+    _cameraTriggerInTurnaroundFact.setRawValue  (v2Object[_jsonCameraTriggerInTurnaroundKey].toBool(true));
 
     _refly90Degrees = v2Object[_jsonRefly90DegreesKey].toBool(false);
 

src/Vehicle/Vehicle.cc

@@ -1022,11 +1022,12 @@ void Vehicle::_handleSysStatus(mavlink_message_t& message)
     }
     _batteryFactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining);
 
-    if (sysStatus.battery_remaining > 0 &&
-            sysStatus.battery_remaining < _settingsManager->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toInt() &&
-            sysStatus.battery_remaining < _lastAnnouncedLowBatteryPercent) {
+    if (sysStatus.battery_remaining > 0) {
+        if (sysStatus.battery_remaining < _settingsManager->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toInt() &&
+                sysStatus.battery_remaining < _lastAnnouncedLowBatteryPercent) {
+            _say(QString("%1 low battery: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
+        }
         _lastAnnouncedLowBatteryPercent = sysStatus.battery_remaining;
-        _say(tr("%1 low battery: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
     }
 
     _onboardControlSensorsPresent = sysStatus.onboard_control_sensors_present;