Merge pull request #5330 from DonLakeFlyer/FlightTime

Flight time calculation for ascent/descent

src/MissionManager/MissionController.cc

@@ -866,10 +866,10 @@ void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionIte
     // Convert to fixed altitudes
 
     distanceOk = true;
-    if (currentItem->coordinateHasRelativeAltitude()) {
+    if (currentItem != _settingsItem && currentItem->coordinateHasRelativeAltitude()) {
         currentCoord.setAltitude(homeAlt + currentCoord.altitude());
     }
-    if (prevItem->exitCoordinateHasRelativeAltitude()) {
+    if (prevItem != _settingsItem && prevItem->exitCoordinateHasRelativeAltitude()) {
         prevCoord.setAltitude(homeAlt + prevCoord.altitude());
     }
 
@@ -993,7 +993,7 @@ void MissionController::_updateBatteryInfo(int waypointIndex)
         _missionFlightStatus.hoverAmpsTotal = (_missionFlightStatus.hoverTime / 60.0) * _missionFlightStatus.hoverAmps;
         _missionFlightStatus.cruiseAmpsTotal = (_missionFlightStatus.cruiseTime / 60.0) * _missionFlightStatus.cruiseAmps;
         _missionFlightStatus.batteriesRequired = ceil((_missionFlightStatus.hoverAmpsTotal + _missionFlightStatus.cruiseAmpsTotal) / _missionFlightStatus.ampMinutesAvailable);
-        if (_missionFlightStatus.batteriesRequired == 2 && _missionFlightStatus.batteryChangePoint == -1) {
+        if (waypointIndex != -1 && _missionFlightStatus.batteriesRequired == 2 && _missionFlightStatus.batteryChangePoint == -1) {
             _missionFlightStatus.batteryChangePoint = waypointIndex - 1;
         }
     }
@@ -1048,6 +1048,16 @@ void MissionController::_recalcMissionFlightStatus()
 
     bool vtolInHover = true;
     bool linkStartToHome = false;
+    bool linkEndToHome = false;
+
+    if (showHomePosition) {
+        SimpleMissionItem* lastItem = _visualItems->value<SimpleMissionItem*>(_visualItems->count() - 1);
+        if (lastItem && (int)lastItem->command() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
+            linkEndToHome = true;
+        } else {
+            linkEndToHome = _settingsItem->missionEndRTL();
+        }
+    }
 
     for (int i=0; i<_visualItems->count(); i++) {
         VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
@@ -1093,6 +1103,13 @@ void MissionController::_recalcMissionFlightStatus()
         if (firstCoordinateItem && simpleItem && simpleItem->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
             if (showHomePosition) {
                 linkStartToHome = true;
+                if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
+                    // We have to special case takeoff, assuming vehicle takes off straight up to specified altitude
+                    double azimuth, distance, altDifference;
+                    _calcPrevWaypointValues(homePositionAltitude, _settingsItem, simpleItem, &azimuth, &distance, &altDifference);
+                    double takeoffTime = qAbs(altDifference) / _appSettings->offlineEditingAscentSpeed()->rawValue().toDouble();
+                    _addHoverTime(takeoffTime, 0, -1);
+                }
             }
         }
 
@@ -1206,6 +1223,31 @@ void MissionController::_recalcMissionFlightStatus()
     }
     lastCoordinateItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
 
+    if (linkEndToHome && lastCoordinateItem != _settingsItem) {
+        double azimuth, distance, altDifference;
+        _calcPrevWaypointValues(homePositionAltitude, lastCoordinateItem, _settingsItem, &azimuth, &distance, &altDifference);
+
+        // Calculate time/distance
+        double hoverTime = distance / _missionFlightStatus.hoverSpeed;
+        double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
+        double landTime = qAbs(altDifference) / _appSettings->offlineEditingDescentSpeed()->rawValue().toDouble();
+        if (_controllerVehicle->vtol()) {
+            if (vtolInHover) {
+                _addHoverTime(hoverTime, distance, -1);
+                _addHoverTime(landTime, 0, -1);
+            } else {
+                _addCruiseTime(cruiseTime, distance, -1);
+            }
+        } else {
+            if (_controllerVehicle->multiRotor()) {
+                _addHoverTime(hoverTime, distance, -1);
+                _addHoverTime(landTime, 0, -1);
+            } else {
+                _addCruiseTime(cruiseTime, distance, -1);
+            }
+        }
+    }
+
     if (_missionFlightStatus.mAhBattery != 0 && _missionFlightStatus.batteryChangePoint == -1) {
         _missionFlightStatus.batteryChangePoint = 0;
     }

src/MissionManager/MissionController.h

@@ -189,7 +189,7 @@ private:
     void _initVisualItem(VisualMissionItem* item);
     void _deinitVisualItem(VisualMissionItem* item);
     void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
-    static void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
+    void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
     static double _calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem);
     bool _findPreviousAltitude(int newIndex, double* prevAltitude, MAV_FRAME* prevFrame);
     static double _normalizeLat(double lat);

src/PlanView/MissionSettingsEditor.qml

@@ -83,17 +83,11 @@ Rectangle {
             anchors.right:  parent ? parent.right : undefined
             anchors.top:    parent ? parent.top   : undefined
             spacing:        _margin
-            SectionHeader {
-                id:         missionDefaultsSectionHeader
-                text:       qsTr("Mission Defaults")
-                checked:    true
-            }
 
             Column {
                 anchors.left:   parent.left
                 anchors.right:  parent.right
                 spacing:        _margin
-                visible:        missionDefaultsSectionHeader.checked
 
                 GridLayout {
                     anchors.left:   parent.left
@@ -128,7 +122,7 @@ Rectangle {
 
             CameraSection {
                 id:         cameraSection
-                checked:    true
+                checked:    false
             }
 
             QGCLabel {

src/Settings/App.SettingsGroup.json

@@ -18,7 +18,7 @@
 {
     "name":             "OfflineEditingCruiseSpeed",
     "shortDescription": "Offline editing cruise speed",
-    "longDescription":  "This value defines the cruising speed for forward flight vehicles for use in calculating mission duration when not connected to a vehicle.",
+    "longDescription":  "This value defines the cruising speed for forward flight vehicles for use in calculating mission duration.",
     "type":             "double",
     "defaultValue":     15.0,
     "min":              1.0,
@@ -28,7 +28,7 @@
 {
     "name":             "OfflineEditingHoverSpeed",
     "shortDescription": "Offline editing hover speed",
-    "longDescription":  "This value defines the cruising speed for multi-rotor vehicles for use in calculating mission duration when not connected to a vehicle.",
+    "longDescription":  "This value defines the cruising speed for multi-rotor vehicles for use in calculating mission duration.",
     "type":             "double",
     "defaultValue":     5.0,
     "min":              1.0,
@@ -36,6 +36,26 @@
     "decimalPlaces":    2
 },
 {
+    "name":             "OfflineEditingAscentSpeed",
+    "shortDescription": "Offline editing ascent speed",
+    "longDescription":  "This value defines the ascent speed for multi-rotor vehicles for use in calculating mission duration.",
+    "type":             "double",
+    "defaultValue":     2.6,
+    "min":              0.1,
+    "units":            "m/s",
+    "decimalPlaces":    2
+},
+{
+    "name":             "OfflineEditingDescentSpeed",
+    "shortDescription": "Offline editing descent speed",
+    "longDescription":  "This value defines the cruising speed for multi-rotor vehicles for use in calculating mission duration.",
+    "type":             "double",
+    "defaultValue":     0.9,
+    "min":              0.1,
+    "units":            "m/s",
+    "decimalPlaces":    2
+},
+{
     "name":             "batteryPercentRemainingAnnounce",
     "shortDescription": "Announce battery remaining percent",
     "longDescription":  "Announce the remaining battery percent when it falls below the specified percentage.",

src/Settings/AppSettings.cc

@@ -20,6 +20,8 @@ const char* AppSettings::offlineEditingFirmwareTypeSettingsName =       "Offline
 const char* AppSettings::offlineEditingVehicleTypeSettingsName =        "OfflineEditingVehicleType";
 const char* AppSettings::offlineEditingCruiseSpeedSettingsName =        "OfflineEditingCruiseSpeed";
 const char* AppSettings::offlineEditingHoverSpeedSettingsName =         "OfflineEditingHoverSpeed";
+const char* AppSettings::offlineEditingAscentSpeedSettingsName =        "OfflineEditingAscentSpeed";
+const char* AppSettings::offlineEditingDescentSpeedSettingsName =       "OfflineEditingDescentSpeed";
 const char* AppSettings::batteryPercentRemainingAnnounceSettingsName =  "batteryPercentRemainingAnnounce";
 const char* AppSettings::defaultMissionItemAltitudeSettingsName =       "DefaultMissionItemAltitude";
 const char* AppSettings::telemetrySaveName =                            "PromptFLightDataSave";
@@ -56,6 +58,8 @@ AppSettings::AppSettings(QObject* parent)
     , _offlineEditingVehicleTypeFact(NULL)
     , _offlineEditingCruiseSpeedFact(NULL)
     , _offlineEditingHoverSpeedFact(NULL)
+    , _offlineEditingAscentSpeedFact(NULL)
+    , _offlineEditingDescentSpeedFact(NULL)
     , _batteryPercentRemainingAnnounceFact(NULL)
     , _defaultMissionItemAltitudeFact(NULL)
     , _telemetrySaveFact(NULL)
@@ -148,6 +152,22 @@ Fact* AppSettings::offlineEditingHoverSpeed(void)
     return _offlineEditingHoverSpeedFact;
 }
 
+Fact* AppSettings::offlineEditingAscentSpeed(void)
+{
+    if (!_offlineEditingAscentSpeedFact) {
+        _offlineEditingAscentSpeedFact = _createSettingsFact(offlineEditingAscentSpeedSettingsName);
+    }
+    return _offlineEditingAscentSpeedFact;
+}
+
+Fact* AppSettings::offlineEditingDescentSpeed(void)
+{
+    if (!_offlineEditingDescentSpeedFact) {
+        _offlineEditingDescentSpeedFact = _createSettingsFact(offlineEditingDescentSpeedSettingsName);
+    }
+    return _offlineEditingDescentSpeedFact;
+}
+
 Fact* AppSettings::batteryPercentRemainingAnnounce(void)
 {
     if (!_batteryPercentRemainingAnnounceFact) {

src/Settings/AppSettings.h

@@ -24,6 +24,8 @@ public:
     Q_PROPERTY(Fact* offlineEditingVehicleType          READ offlineEditingVehicleType          CONSTANT)
     Q_PROPERTY(Fact* offlineEditingCruiseSpeed          READ offlineEditingCruiseSpeed          CONSTANT)
     Q_PROPERTY(Fact* offlineEditingHoverSpeed           READ offlineEditingHoverSpeed           CONSTANT)
+    Q_PROPERTY(Fact* offlineEditingAscentSpeed          READ offlineEditingAscentSpeed          CONSTANT)
+    Q_PROPERTY(Fact* offlineEditingDescentSpeed         READ offlineEditingDescentSpeed         CONSTANT)
     Q_PROPERTY(Fact* batteryPercentRemainingAnnounce    READ batteryPercentRemainingAnnounce    CONSTANT)
     Q_PROPERTY(Fact* defaultMissionItemAltitude         READ defaultMissionItemAltitude         CONSTANT)
     Q_PROPERTY(Fact* telemetrySave                      READ telemetrySave                      CONSTANT)
@@ -56,6 +58,8 @@ public:
     Fact* offlineEditingVehicleType         (void);
     Fact* offlineEditingCruiseSpeed         (void);
     Fact* offlineEditingHoverSpeed          (void);
+    Fact* offlineEditingAscentSpeed         (void);
+    Fact* offlineEditingDescentSpeed        (void);
     Fact* batteryPercentRemainingAnnounce   (void);
     Fact* defaultMissionItemAltitude        (void);
     Fact* telemetrySave                     (void);
@@ -86,6 +90,8 @@ public:
     static const char* offlineEditingVehicleTypeSettingsName;
     static const char* offlineEditingCruiseSpeedSettingsName;
     static const char* offlineEditingHoverSpeedSettingsName;
+    static const char* offlineEditingAscentSpeedSettingsName;
+    static const char* offlineEditingDescentSpeedSettingsName;
     static const char* batteryPercentRemainingAnnounceSettingsName;
     static const char* defaultMissionItemAltitudeSettingsName;
     static const char* telemetrySaveName;
@@ -130,6 +136,8 @@ private:
     SettingsFact* _offlineEditingVehicleTypeFact;
     SettingsFact* _offlineEditingCruiseSpeedFact;
     SettingsFact* _offlineEditingHoverSpeedFact;
+    SettingsFact* _offlineEditingAscentSpeedFact;
+    SettingsFact* _offlineEditingDescentSpeedFact;
     SettingsFact* _batteryPercentRemainingAnnounceFact;
     SettingsFact* _defaultMissionItemAltitudeFact;
     SettingsFact* _telemetrySaveFact;