Merge pull request #5595 An error occurred from DonLakeFlyer/Fixes

Flight Speed changes were not flowing through rest of mission items

src/FlightDisplay/GuidedActionsController.qml

@@ -125,8 +125,7 @@ Item {
     property bool __pauseVehicleSupported: _activeVehicle ? _activeVehicle.pauseVehicleSupported : false
     property bool __flightMode: _flightMode
 
-    /*
-      Leaving this code in for use while debugging
+    // Hack debugging code
     function _outputState() {
         console.log(qsTr("_activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleInRTLMode(%5) pauseVehicleSupported(%6) _vehiclePaused(%7) _flightMode(%8)").arg(_activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode))
     }
@@ -140,11 +139,25 @@ Item {
     on__GuidedModeSupportedChanged: _outputState()
     on__PauseVehicleSupportedChanged: _outputState()
 
+    on_CurrentMissionIndexChanged: console.log("_currentMissionIndex", _currentMissionIndex)
+    on_ResumeMissionIndexChanged: console.log("_resumeMissionIndex", _resumeMissionIndex)
+    onShowResumeMissionChanged: {
+        console.log("showResumeMission", showResumeMission)
+        _outputState()
+    }
+    onShowStartMissionChanged: {
+        console.log("showStartMission", showStartMission)
+        _outputState()
+    }
+    onShowContinueMissionChanged: {
+        console.log("showContinueMission", showContinueMission)
+        _outputState()
+    }
+
     // End of hack
-    */
 
     on_VehicleFlyingChanged: {
-        //_outputState()
+        _outputState()
         if (!_vehicleFlying) {
             // We use _vehicleWasFLying to help trigger Resume Mission only if the vehicle actually flew and came back down.
             // Otherwise it may trigger during the Start Mission sequence due to signal ordering or armed and resume mission index.
@@ -153,8 +166,6 @@ Item {
     }
     property var    _actionData
 
-    on_CurrentMissionIndexChanged: console.log("_currentMissionIndex", _currentMissionIndex)
-
     on_FlightModeChanged: {
         _vehiclePaused =        _flightMode === _activeVehicle.pauseFlightMode
         _vehicleInRTLMode =     _flightMode === _activeVehicle.rtlFlightMode

src/MissionManager/CameraSection.cc

@@ -67,6 +67,7 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
     connect(this,                               &CameraSection::specifyGimbalChanged,       this, &CameraSection::_setDirty);
     connect(this,                               &CameraSection::specifyCameraModeChanged,   this, &CameraSection::_setDirty);
 
+    connect(this,                               &CameraSection::specifyGimbalChanged,       this, &CameraSection::_updateSpecifiedGimbalYaw);
     connect(&_gimbalYawFact,                    &Fact::valueChanged,                        this, &CameraSection::_updateSpecifiedGimbalYaw);
 }
 

src/MissionManager/CameraSection.h

@@ -63,6 +63,7 @@ public:
     void setSpecifyGimbal       (bool specifyGimbal);
     void setSpecifyCameraMode   (bool specifyCameraMode);
 
+    ///< Signals specifiedGimbalYawChanged
     ///< @return The gimbal yaw specified by this item, NaN if not specified
     double specifiedGimbalYaw(void) const;
 

src/MissionManager/MissionSettingsItem.cc

@@ -61,8 +61,8 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
     connect(&_cameraSection,    &CameraSection::dirtyChanged,   this, &MissionSettingsItem::_sectionDirtyChanged);
     connect(&_speedSection,     &SpeedSection::dirtyChanged,    this, &MissionSettingsItem::_sectionDirtyChanged);
 
-    connect(&_cameraSection,    &CameraSection::specifyGimbalChanged,       this, &MissionSettingsItem::specifiedGimbalYawChanged);
     connect(&_cameraSection,    &CameraSection::specifiedGimbalYawChanged,  this, &MissionSettingsItem::specifiedGimbalYawChanged);
+    connect(&_speedSection,     &SpeedSection::specifiedFlightSpeedChanged, this, &MissionSettingsItem::specifiedFlightSpeedChanged);
 }
 
 

src/MissionManager/SimpleMissionItem.cc

@@ -755,13 +755,11 @@ void SimpleMissionItem::_updateOptionalSections(void)
     connect(_cameraSection, &CameraSection::dirtyChanged,               this, &SimpleMissionItem::_sectionDirtyChanged);
     connect(_cameraSection, &CameraSection::itemCountChanged,           this, &SimpleMissionItem::_updateLastSequenceNumber);
     connect(_cameraSection, &CameraSection::availableChanged,           this, &SimpleMissionItem::specifiedGimbalYawChanged);
-    connect(_cameraSection, &CameraSection::specifyGimbalChanged,       this, &SimpleMissionItem::specifiedGimbalYawChanged);
     connect(_cameraSection, &CameraSection::specifiedGimbalYawChanged,  this, &SimpleMissionItem::specifiedGimbalYawChanged);
 
     connect(_speedSection,  &SpeedSection::dirtyChanged,                this, &SimpleMissionItem::_sectionDirtyChanged);
     connect(_speedSection,  &SpeedSection::itemCountChanged,            this, &SimpleMissionItem::_updateLastSequenceNumber);
-    connect(_speedSection,                  &SpeedSection::specifyFlightSpeedChanged,   this, &SimpleMissionItem::specifiedFlightSpeedChanged);
-    connect(_speedSection->flightSpeed(),   &Fact::rawValueChanged,                     this, &SimpleMissionItem::specifiedFlightSpeedChanged);
+    connect(_speedSection,  &SpeedSection::specifiedFlightSpeedChanged, this, &SimpleMissionItem::specifiedFlightSpeedChanged);
 
     emit cameraSectionChanged(_cameraSection);
     emit speedSectionChanged(_speedSection);

src/MissionManager/SpeedSection.cc

@@ -40,6 +40,9 @@ SpeedSection::SpeedSection(Vehicle* vehicle, QObject* parent)
 
     connect(this,               &SpeedSection::specifyFlightSpeedChanged,   this, &SpeedSection::settingsSpecifiedChanged);
     connect(&_flightSpeedFact,  &Fact::valueChanged,                        this, &SpeedSection::_setDirty);
+
+    connect(this,               &SpeedSection::specifyFlightSpeedChanged,   this, &SpeedSection::_updateSpecifiedFlightSpeed);
+    connect(&_flightSpeedFact,  &Fact::valueChanged,                        this, &SpeedSection::_updateSpecifiedFlightSpeed);
 }
 
 bool SpeedSection::settingsSpecified(void) const
@@ -134,3 +137,15 @@ bool SpeedSection::scanForSection(QmlObjectListModel* visualItems, int scanIndex
 
     return false;
 }
+
+
+double SpeedSection::specifiedFlightSpeed(void) const
+{
+    return _specifyFlightSpeed ? _flightSpeedFact.rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
+}
+
+void SpeedSection::_updateSpecifiedFlightSpeed(void)
+{
+    emit specifiedFlightSpeedChanged(specifiedFlightSpeed());
+}
+

src/MissionManager/SpeedSection.h

@@ -27,6 +27,10 @@ public:
     Fact*   flightSpeed             (void) { return &_flightSpeedFact; }
     void    setSpecifyFlightSpeed   (bool specifyFlightSpeed);
 
+    ///< Signals specifiedFlightSpeedChanged
+    ///< @return The flight speed specified by this item, NaN if not specified
+    double specifiedFlightSpeed(void) const;
+
     // Overrides from Section
     bool available          (void) const override { return _available; }
     bool dirty              (void) const override { return _dirty; }
@@ -38,10 +42,12 @@ public:
     bool settingsSpecified  (void) const override;
 
 signals:
-    void specifyFlightSpeedChanged(bool specifyFlightSpeed);
+    void specifyFlightSpeedChanged      (bool specifyFlightSpeed);
+    void specifiedFlightSpeedChanged    (double flightSpeed);
 
 private slots:
-    void _setDirty(void);
+    void _setDirty                  (void);
+    void _updateSpecifiedFlightSpeed(void);
 
 private:
     bool    _available;