Merge pull request #4895 from DonLakeFlyer/NoImageInTurnaround

Plan: Support for images in turnaround on/off

src/MissionManager/CameraSection.FactMetaData.json

@@ -12,7 +12,7 @@
     "shortDescription": "Specify the distance between each photo",
     "type":             "double",
     "units":            "m",
-    "min":              0,
+    "min":              0.1,
     "decimalPlaces":    1,
     "defaultValue":     1
 },

src/MissionManager/CameraSection.cc

@@ -229,37 +229,41 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
                 cameraAction()->setRawValue(TakePhotosIntervalTime);
                 cameraPhotoIntervalTime()->setRawValue(missionItem.param1());
                 visualItems->removeAt(scanIndex)->deleteLater();
-            } else {
-                stopLooking = true;
             }
+            stopLooking = true;
             break;
 
         case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
             if (!foundCameraAction && missionItem.param1() >= 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
-                // At this point we don't know if we have a stop taking photos pair, or a single distance trigger where the user specified 0
+                // At this point we don't know if we have a stop taking photos pair, or just a distance trigger
-                // We need to look at the next item to check for the stop taking photos pari
 
                 if (missionItem.param1() == 0 && scanIndex < visualItems->count() - 1) {
+                    // Possible stop taking photos pair
                     SimpleMissionItem* nextItem = visualItems->value<SimpleMissionItem*>(scanIndex + 1);
                     if (nextItem) {
-                        missionItem = nextItem->missionItem();
+                        MissionItem& nextMissionItem = nextItem->missionItem();
-                        if ((MAV_CMD)item->command() == MAV_CMD_IMAGE_STOP_CAPTURE && missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
+                        if (nextMissionItem.command() == MAV_CMD_IMAGE_STOP_CAPTURE && nextMissionItem.param1() == 0 && nextMissionItem.param2() == 0 && nextMissionItem.param3() == 0 && nextMissionItem.param4() == 0 && nextMissionItem.param5() == 0 && nextMissionItem.param6() == 0 && nextMissionItem.param7() == 0) {
+                            // We found a stop taking photos pair
                             foundCameraAction = true;
                             cameraAction()->setRawValue(StopTakingPhotos);
                             visualItems->removeAt(scanIndex)->deleteLater();
                             visualItems->removeAt(scanIndex)->deleteLater();
+                            stopLooking = true;
                             break;
                         }
                     }
                 }
 
-                // We didn't find a stop taking photos pair, so this is a regular trigger distance item
+                // We didn't find a stop taking photos pair, check for trigger distance
+                if (missionItem.param1() > 0) {
                     foundCameraAction = true;
                     cameraAction()->setRawValue(TakePhotoIntervalDistance);
                     cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
                     visualItems->removeAt(scanIndex)->deleteLater();
+                    stopLooking = true;
                     break;
                 }
+            }
             stopLooking = true;
             break;
 
@@ -268,9 +272,8 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
                 foundCameraAction = true;
                 cameraAction()->setRawValue(TakeVideo);
                 visualItems->removeAt(scanIndex)->deleteLater();
-            } else {
-                stopLooking = true;
             }
+            stopLooking = true;
             break;
 
         case MAV_CMD_VIDEO_STOP_CAPTURE:
@@ -278,9 +281,8 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
                 foundCameraAction = true;
                 cameraAction()->setRawValue(StopTakingVideo);
                 visualItems->removeAt(scanIndex)->deleteLater();
-            } else {
-                stopLooking = true;
             }
+            stopLooking = true;
             break;
 
         default:

src/MissionManager/MissionController.cc

@@ -1555,10 +1555,8 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte
         }
 
         SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
-        if (simpleItem && simpleItem->cameraSection()->available()) {
+        if (simpleItem) {
-            scanIndex++;
+            simpleItem->scanForSections(visualItems, scanIndex + 1, vehicle);
-            simpleItem->scanForSections(visualItems, scanIndex, vehicle);
-            continue;
         }
 
         scanIndex++;

src/MissionManager/SimpleMissionItem.cc

@@ -655,16 +655,17 @@ double SimpleMissionItem::specifiedGimbalYaw(void)
     return _cameraSection->available() ? _cameraSection->specifiedGimbalYaw() : missionItem().specifiedGimbalYaw();
 }
 
-void SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
+bool SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
 {
-    Q_UNUSED(vehicle);
+    bool sectionFound = false;
 
-    qDebug() << "SimpleMissionItem::scanForSections" << scanIndex << _cameraSection->available();
+    Q_UNUSED(vehicle);
 
     if (_cameraSection->available()) {
-        bool sectionFound = _cameraSection->scanForCameraSection(visualItems, scanIndex);
+        sectionFound = _cameraSection->scanForCameraSection(visualItems, scanIndex);
-        qDebug() << sectionFound;
     }
+
+    return sectionFound;
 }
 
 void SimpleMissionItem::_updateCameraSection(void)

src/MissionManager/SimpleMissionItem.h

@@ -48,7 +48,8 @@ public:
     ///     @param visualItems List of all visual items
     ///     @param scanIndex Index to start scanning from
     ///     @param vehicle Vehicle associated with this mission
-    void scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle);
+    /// @return true: section found
+    bool scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle);
 
     // Property accesors
     

src/MissionManager/Survey.SettingsGroup.json

@@ -131,6 +131,18 @@
     "defaultValue":     25
 },
 {
+    "name":             "CameraTriggerInTurnaround",
+    "shortDescription": "Camera continues taking images in turnarounds.",
+    "type":             "bool",
+    "defaultValue":     false
+},
+{
+    "name":             "HoverAndCapture",
+    "shortDescription": "Hover at each image point and take image",
+    "type":             "bool",
+    "defaultValue":     false
+},
+{
     "name":             "CameraOrientationLandscape",
     "shortDescription": "Camera on vehicle is in landscape orientation.",
     "type":             "bool",
@@ -140,7 +152,7 @@
     "name":             "FixedValueIsAltitude",
     "shortDescription": "The altitude is kep constant while ground resolution changes.",
     "type":             "bool",
-    "defaultValue":     0
+    "defaultValue":     false
 },
 {
     "name":             "Camera",

src/MissionManager/SurveyMissionItem.cc

@@ -30,6 +30,8 @@ const char* SurveyMissionItem::_jsonGridSpacingKey =                "spacing";
 const char* SurveyMissionItem::_jsonTurnaroundDistKey =             "turnAroundDistance";
 const char* SurveyMissionItem::_jsonCameraTriggerKey =              "cameraTrigger";
 const char* SurveyMissionItem::_jsonCameraTriggerDistanceKey =      "cameraTriggerDistance";
+const char* SurveyMissionItem::_jsonCameraTriggerInTurnaroundKey =  "cameraTriggerInTurnaround";
+const char* SurveyMissionItem::_jsonHoverAndCaptureKey =            "hoverAndCapture";
 const char* SurveyMissionItem::_jsonGroundResolutionKey =           "groundResolution";
 const char* SurveyMissionItem::_jsonFrontalOverlapKey =             "imageFrontalOverlap";
 const char* SurveyMissionItem::_jsonSideOverlapKey =                "imageSideOverlap";
@@ -52,6 +54,8 @@ const char* SurveyMissionItem::gridAngleName =                  "GridAngle";
 const char* SurveyMissionItem::gridSpacingName =                "GridSpacing";
 const char* SurveyMissionItem::turnaroundDistName =             "TurnaroundDist";
 const char* SurveyMissionItem::cameraTriggerDistanceName =      "CameraTriggerDistance";
+const char* SurveyMissionItem::cameraTriggerInTurnaroundName =  "CameraTriggerInTurnaround";
+const char* SurveyMissionItem::hoverAndCaptureName =            "HoverAndCapture";
 const char* SurveyMissionItem::groundResolutionName =           "GroundResolution";
 const char* SurveyMissionItem::frontalOverlapName =             "FrontalOverlap";
 const char* SurveyMissionItem::sideOverlapName =                "SideOverlap";
@@ -83,6 +87,8 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
     , _turnaroundDistFact               (settingsGroup, _metaDataMap[turnaroundDistName])
     , _cameraTriggerFact                (settingsGroup, _metaDataMap[cameraTriggerName])
     , _cameraTriggerDistanceFact        (settingsGroup, _metaDataMap[cameraTriggerDistanceName])
+    , _cameraTriggerInTurnaroundFact    (settingsGroup, _metaDataMap[cameraTriggerInTurnaroundName])
+    , _hoverAndCaptureFact              (settingsGroup, _metaDataMap[hoverAndCaptureName])
     , _groundResolutionFact             (settingsGroup, _metaDataMap[groundResolutionName])
     , _frontalOverlapFact               (settingsGroup, _metaDataMap[frontalOverlapName])
     , _sideOverlapFact                  (settingsGroup, _metaDataMap[sideOverlapName])
@@ -106,6 +112,9 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
     connect(&_gridAngleFact,                    &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
     connect(&_turnaroundDistFact,               &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
     connect(&_cameraTriggerDistanceFact,        &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
+    connect(&_cameraTriggerInTurnaroundFact,    &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
+    connect(&_hoverAndCaptureFact,              &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
+
     connect(&_gridAltitudeFact,             &Fact::valueChanged, this, &SurveyMissionItem::_updateCoordinateAltitude);
 
     // Signal to Qml when camera value changes so it can recalc
@@ -261,8 +270,8 @@ int SurveyMissionItem::lastSequenceNumber(void) const
 {
     int lastSeq = _sequenceNumber;
 
-    if (_gridPoints.count()) {
+    if (_simpleGridPoints.count()) {
-        lastSeq += _gridPoints.count() - 1;
+        lastSeq += _simpleGridPoints.count() - 1;
         if (_cameraTriggerFact.rawValue().toBool()) {
             // Account for two trigger messages
             lastSeq += 2;
@@ -495,8 +504,8 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe
 double SurveyMissionItem::greatestDistanceTo(const QGeoCoordinate &other) const
 {
     double greatestDistance = 0.0;
-    for (int i=0; i<_gridPoints.count(); i++) {
+    for (int i=0; i<_simpleGridPoints.count(); i++) {
-        QGeoCoordinate currentCoord = _gridPoints[i].value<QGeoCoordinate>();
+        QGeoCoordinate currentCoord = _simpleGridPoints[i].value<QGeoCoordinate>();
         double distance = currentCoord.distanceTo(other);
         if (distance > greatestDistance) {
             greatestDistance = distance;
@@ -521,11 +530,16 @@ bool SurveyMissionItem::specifiesCoordinate(void) const
 void SurveyMissionItem::_clearGrid(void)
 {
     // Bug workaround
-    while (_gridPoints.count() > 1) {
+    while (_simpleGridPoints.count() > 1) {
-        _gridPoints.takeLast();
+        _simpleGridPoints.takeLast();
     }
     emit gridPointsChanged();
-    _gridPoints.clear();
+    _simpleGridPoints.clear();
+}
+
+void _calcCameraShots()
+{
+
 }
 
 void SurveyMissionItem::_generateGrid(void)
@@ -535,10 +549,11 @@ void SurveyMissionItem::_generateGrid(void)
         return;
     }
 
-    _gridPoints.clear();
+    _simpleGridPoints.clear();
 
     QList<QPointF>          polygonPoints;
     QList<QPointF>          gridPoints;
+    QList<QList<QPointF>>   gridSegments;
 
     // Convert polygon to Qt coordinate system (y positive is down)
     qCDebug(SurveyMissionItemLog) << "Convert polygon";
@@ -561,7 +576,7 @@ void SurveyMissionItem::_generateGrid(void)
     _setCoveredArea(0.5 * fabs(coveredArea));
 
     // Generate grid
-    _gridGenerator(polygonPoints, gridPoints);
+    _gridGenerator(polygonPoints, gridPoints, gridSegments);
 
     double surveyDistance = 0.0;
     // Convert to Geo and set altitude
@@ -574,11 +589,16 @@ void SurveyMissionItem::_generateGrid(void)
 
         QGeoCoordinate geoCoord;
         convertNedToGeo(-point.y(), point.x(), 0, tangentOrigin, &geoCoord);
-        _gridPoints += QVariant::fromValue(geoCoord);
+        _simpleGridPoints += QVariant::fromValue(geoCoord);
     }
     _setSurveyDistance(surveyDistance);
-    if (_cameraTriggerDistanceFact.rawValue().toDouble() > 0) {
+
-        _setCameraShots((int)floor(surveyDistance / _cameraTriggerDistanceFact.rawValue().toDouble()));
+    // Set camera shots here if taking images in turnaround (otherwise it's in _gridGenerator)
+    double triggerDistance = _cameraTriggerDistanceFact.rawValue().toDouble();
+    if (triggerDistance > 0) {
+        if (_cameraTriggerInTurnaroundFact.rawValue().toBool()) {
+            _setCameraShots((int)ceil(surveyDistance / triggerDistance));
+        }
     } else {
         _setCameraShots(0);
     }
@@ -586,11 +606,11 @@ void SurveyMissionItem::_generateGrid(void)
     emit gridPointsChanged();
     emit lastSequenceNumberChanged(lastSequenceNumber());
 
-    if (_gridPoints.count()) {
+    if (_simpleGridPoints.count()) {
-        QGeoCoordinate coordinate = _gridPoints.first().value<QGeoCoordinate>();
+        QGeoCoordinate coordinate = _simpleGridPoints.first().value<QGeoCoordinate>();
         coordinate.setAltitude(_gridAltitudeFact.rawValue().toDouble());
         setCoordinate(coordinate);
-        QGeoCoordinate exitCoordinate = _gridPoints.last().value<QGeoCoordinate>();
+        QGeoCoordinate exitCoordinate = _simpleGridPoints.last().value<QGeoCoordinate>();
         exitCoordinate.setAltitude(_gridAltitudeFact.rawValue().toDouble());
         _setExitCoordinate(exitCoordinate);
     }
@@ -718,14 +738,15 @@ void SurveyMissionItem::_adjustLineDirection(const QList<QLineF>& lineList, QLis
     }
 }
 
-void SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints,  QList<QPointF>& gridPoints)
+void SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints,  QList<QPointF>& simpleGridPoints, QList<QList<QPointF>>& gridSegments)
 {
     double gridAngle = _gridAngleFact.rawValue().toDouble();
     double gridSpacing = _gridSpacingFact.rawValue().toDouble();
 
     qCDebug(SurveyMissionItemLog) << "SurveyMissionItem::_gridGenerator gridSpacing:gridAngle" << gridSpacing << gridAngle;
 
-    gridPoints.clear();
+    simpleGridPoints.clear();
+    gridSegments.clear();
 
     // Convert polygon to bounding rect
 
@@ -778,43 +799,57 @@ void SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints,  QLi
     QList<QLineF> resultLines;
     _adjustLineDirection(intersectLines, resultLines);
 
-    // Turn into a path
     float turnaroundDist = _turnaroundDistFact.rawValue().toDouble();
 
+    // Calc camera shots here if there are no images in turnaround
+    double triggerDistance = _cameraTriggerDistanceFact.rawValue().toDouble();
+    if (triggerDistance > 0 && !_cameraTriggerInTurnaroundFact.rawValue().toBool()) {
+        int cameraShots = 0;
         for (int i=0; i<resultLines.count(); i++) {
+            cameraShots += (int)ceil(resultLines[i].length() / triggerDistance);
+        }
+        _setCameraShots(cameraShots);
+    }
+
+    // Turn into a path
+    for (int i=0; i<resultLines.count(); i++) {
+        QList<QPointF> segmentPoints;
         const QLineF& line = resultLines[i];
 
         QPointF turnaroundOffset = line.p2() - line.p1();
-        turnaroundOffset = turnaroundOffset * turnaroundDist / sqrt(pow(turnaroundOffset.x(),2.0) + pow(turnaroundOffset.y(),2.0));
+        turnaroundOffset = turnaroundOffset * turnaroundDist / sqrt(pow(turnaroundOffset.x(), 2) + pow(turnaroundOffset.y(), 2));
 
         if (i & 1) {
             if (turnaroundDist > 0.0) {
-                gridPoints << line.p2() + turnaroundOffset << line.p2() << line.p1() << line.p1() - turnaroundOffset;
+                simpleGridPoints << line.p2() + turnaroundOffset << line.p2() << line.p1() << line.p1() - turnaroundOffset;
+                segmentPoints << line.p2() + turnaroundOffset << line.p2() << line.p1() << line.p1() - turnaroundOffset;
             } else {
-                gridPoints << line.p2() << line.p1();
+                simpleGridPoints << line.p2() << line.p1();
+                segmentPoints << line.p2() << line.p1();
             }
         } else {
             if (turnaroundDist > 0.0) {
-                gridPoints << line.p1() - turnaroundOffset << line.p1() << line.p2() << line.p2() + turnaroundOffset;
+                simpleGridPoints << line.p1() - turnaroundOffset << line.p1() << line.p2() << line.p2() + turnaroundOffset;
+                segmentPoints << line.p1() - turnaroundOffset << line.p1() << line.p2() << line.p2() + turnaroundOffset;
             } else {
-                gridPoints << line.p1() << line.p2();
+                simpleGridPoints << line.p1() << line.p2();
+                segmentPoints << line.p1() << line.p2();
             }
         }
+        gridSegments.append(segmentPoints);
     }
 }
 
-void SurveyMissionItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
+int SurveyMissionItem::_appendWaypointToMission(QList<MissionItem*>& items, int seqNum, QGeoCoordinate& coord, CameraTriggerCode cameraTrigger, QObject* missionItemParent)
 {
-    int seqNum = _sequenceNumber;
-
-    for (int i=0; i<_gridPoints.count(); i++) {
-        QGeoCoordinate coord = _gridPoints[i].value<QGeoCoordinate>();
     double  altitude =              _gridAltitudeFact.rawValue().toDouble();
+    bool    altitudeRelative =      _gridAltitudeRelativeFact.rawValue().toBool();
+    double  triggerDistance =       _cameraTriggerDistanceFact.rawValue().toDouble();
 
-        MissionItem* item = new MissionItem(seqNum++,                       // sequence number
+    MissionItem* item = new MissionItem(seqNum++,
-                                            MAV_CMD_NAV_WAYPOINT,           // MAV_CMD
+                                        MAV_CMD_NAV_WAYPOINT,
-                                            _gridAltitudeRelativeFact.rawValue().toBool() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,  // MAV_FRAME
+                                        altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
-                                            0.0, 0.0, 0.0, 0.0,             // param 1-4
+                                        0.0, 0.0, 0.0, 0.0,             // param 1-4 unused
                                         coord.latitude(),
                                         coord.longitude(),
                                         altitude,
@@ -823,27 +858,78 @@ void SurveyMissionItem::appendMissionItems(QList<MissionItem*>& items, QObject*
                                         missionItemParent);
     items.append(item);
 
-        if (_cameraTriggerFact.rawValue().toBool() && i == 0) {
+    if (cameraTrigger != CameraTriggerNone) {
-            // Turn on camera
+        MissionItem* item = new MissionItem(seqNum++,
-            MissionItem* item = new MissionItem(seqNum++,                       // sequence number
+                                            MAV_CMD_DO_SET_CAM_TRIGG_DIST,
-                                                MAV_CMD_DO_SET_CAM_TRIGG_DIST,  // MAV_CMD
+                                            MAV_FRAME_MISSION,
-                                                MAV_FRAME_MISSION,              // MAV_FRAME
+                                            cameraTrigger == CameraTriggerOn ? triggerDistance : 0,
-                                                _cameraTriggerDistanceFact.rawValue().toDouble(),   // trigger distance
+                                            0, 0, 0, 0, 0, 0,               // param 2-7 unused
-                                                0.0, 0.0, 0.0, 0.0, 0.0, 0.0,   // param 2-7
                                             true,                           // autoContinue
                                             false,                          // isCurrentItem
                                             missionItemParent);
         items.append(item);
     }
+
+    return seqNum;
 }
 
-    if (_cameraTriggerFact.rawValue().toBool()) {
+void SurveyMissionItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
-        // Turn off camera
+{
-        MissionItem* item = new MissionItem(seqNum++,                       // sequence number
+    int     seqNum =            _sequenceNumber;
-                                            MAV_CMD_DO_SET_CAM_TRIGG_DIST,  // MAV_CMD
+    bool    hasTurnaround =     _turnaroundDistFact.rawValue().toDouble() > 0;
-                                            MAV_FRAME_MISSION,              // MAV_FRAME
+    bool    triggerCamera =     _cameraTriggerFact.rawValue().toBool();
-                                            0.0,                            // trigger distance
+    bool    imagesEverywhere =  triggerCamera && _cameraTriggerInTurnaroundFact.rawValue().toBool();
-                                            0.0, 0.0, 0.0, 0.0, 0.0, 0.0,   // param 2-7
+
+    int i = 0;
+    while (i < _simpleGridPoints.count()) {
+        CameraTriggerCode cameraTrigger;
+        QGeoCoordinate coord = _simpleGridPoints[i].value<QGeoCoordinate>();
+
+        // Either waypoint entering polygon of turnaround point for start of new transect
+        cameraTrigger = imagesEverywhere ? (i == 0 ? CameraTriggerOn : CameraTriggerNone) : (hasTurnaround ? CameraTriggerNone : CameraTriggerOn);
+        seqNum = _appendWaypointToMission(items, seqNum, coord, cameraTrigger, missionItemParent);
+
+        if (hasTurnaround) {
+            // Waypoint entering the polygon
+            if (++i >= _simpleGridPoints.count()) {
+                qWarning() << "Bad grid generation";
+                break;
+            }
+            coord = _simpleGridPoints[i].value<QGeoCoordinate>();
+            cameraTrigger = imagesEverywhere ? CameraTriggerNone : CameraTriggerOn;
+            seqNum = _appendWaypointToMission(items, seqNum, coord, cameraTrigger, missionItemParent);
+        }
+
+        // Waypoint exiting polygon
+        if (++i >= _simpleGridPoints.count()) {
+            qWarning() << "Bad grid generation";
+            break;
+        }
+        coord = _simpleGridPoints[i].value<QGeoCoordinate>();
+        cameraTrigger = imagesEverywhere ? CameraTriggerNone : CameraTriggerOff;
+        seqNum = _appendWaypointToMission(items, seqNum, coord, cameraTrigger, missionItemParent);
+
+        if (hasTurnaround) {
+            // Waypoint at the end of transect
+            if (++i >= _simpleGridPoints.count()) {
+                qWarning() << "Bad grid generation";
+                break;
+            }
+            coord = _simpleGridPoints[i].value<QGeoCoordinate>();
+            cameraTrigger = CameraTriggerNone;
+            seqNum = _appendWaypointToMission(items, seqNum, coord, cameraTrigger, missionItemParent);
+        }
+
+        i++;
+    }
+
+    if (imagesEverywhere) {
+        // Turn off camera at end of survey
+        MissionItem* item = new MissionItem(seqNum++,
+                                            MAV_CMD_DO_SET_CAM_TRIGG_DIST,
+                                            MAV_FRAME_MISSION,
+                                            0.0,                    // trigger distance (off)
+                                            0, 0, 0, 0, 0, 0,       // param 2-7 unused
                                             true,                   // autoContinue
                                             false,                  // isCurrentItem
                                             missionItemParent);
@@ -883,3 +969,8 @@ void SurveyMissionItem::setMissionFlightStatus  (MissionController::MissionFligh
         emit timeBetweenShotsChanged();
     }
 }
+
+void SurveyMissionItem::_setDirty(void)
+{
+    setDirty(true);
+}

src/MissionManager/SurveyMissionItem.h

@@ -32,6 +32,8 @@ public:
     Q_PROPERTY(Fact*                turnaroundDist              READ turnaroundDist                 CONSTANT)
     Q_PROPERTY(Fact*                cameraTrigger               READ cameraTrigger                  CONSTANT)
     Q_PROPERTY(Fact*                cameraTriggerDistance       READ cameraTriggerDistance          CONSTANT)
+    Q_PROPERTY(Fact*                cameraTriggerInTurnaround   READ cameraTriggerInTurnaround      CONSTANT)
+    Q_PROPERTY(Fact*                hoverAndCapture             READ hoverAndCapture                CONSTANT)
     Q_PROPERTY(Fact*                groundResolution            READ groundResolution               CONSTANT)
     Q_PROPERTY(Fact*                frontalOverlap              READ frontalOverlap                 CONSTANT)
     Q_PROPERTY(Fact*                sideOverlap                 READ sideOverlap                    CONSTANT)
@@ -68,7 +70,7 @@ public:
     QVariantList        polygonPath (void) { return _polygonPath; }
     QmlObjectListModel* polygonModel(void) { return &_polygonModel; }
 
-    QVariantList gridPoints (void) { return _gridPoints; }
+    QVariantList gridPoints (void) { return _simpleGridPoints; }
 
     Fact* manualGrid                (void) { return &_manualGridFact; }
     Fact* gridAltitude              (void) { return &_gridAltitudeFact; }
@@ -78,6 +80,8 @@ public:
     Fact* turnaroundDist            (void) { return &_turnaroundDistFact; }
     Fact* cameraTrigger             (void) { return &_cameraTriggerFact; }
     Fact* cameraTriggerDistance     (void) { return &_cameraTriggerDistanceFact; }
+    Fact* cameraTriggerInTurnaround (void) { return &_cameraTriggerInTurnaroundFact; }
+    Fact* hoverAndCapture           (void) { return &_hoverAndCaptureFact; }
     Fact* groundResolution          (void) { return &_groundResolutionFact; }
     Fact* frontalOverlap            (void) { return &_frontalOverlapFact; }
     Fact* sideOverlap               (void) { return &_sideOverlapFact; }
@@ -141,6 +145,8 @@ public:
     static const char* gridSpacingName;
     static const char* turnaroundDistName;
     static const char* cameraTriggerDistanceName;
+    static const char* cameraTriggerInTurnaroundName;
+    static const char* hoverAndCaptureName;
     static const char* groundResolutionName;
     static const char* frontalOverlapName;
     static const char* sideOverlapName;
@@ -166,14 +172,21 @@ signals:
 
 private slots:
     void _cameraTriggerChanged(void);
+    void _setDirty(void);
 
 private:
+    enum CameraTriggerCode {
+        CameraTriggerNone,
+        CameraTriggerOn,
+        CameraTriggerOff
+    };
+
     void _clear(void);
     void _setExitCoordinate(const QGeoCoordinate& coordinate);
     void _clearGrid(void);
     void _generateGrid(void);
     void _updateCoordinateAltitude(void);
-    void _gridGenerator(const QList<QPointF>& polygonPoints, QList<QPointF>& gridPoints);
+    void _gridGenerator(const QList<QPointF>& polygonPoints, QList<QPointF>& simpleGridPoints, QList<QList<QPointF>>& gridSegments);
     QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle);
     void _intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines);
     void _intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines);
@@ -182,12 +195,14 @@ private:
     void _setCameraShots(int cameraShots);
     void _setCoveredArea(double coveredArea);
     void _cameraValueChanged(void);
+    int _appendWaypointToMission(QList<MissionItem*>& items, int seqNum, QGeoCoordinate& coord, CameraTriggerCode cameraTrigger, QObject* missionItemParent);
 
     int                             _sequenceNumber;
     bool                            _dirty;
     QVariantList                    _polygonPath;
     QmlObjectListModel              _polygonModel;
-    QVariantList        _gridPoints;
+    QVariantList                    _simpleGridPoints;      ///< Grid points for drawing simple grid visuals
+    QList<QList<QGeoCoordinate>>    _gridSegments;          ///< Internal grid line segments including grid exit and turnaround point
     QGeoCoordinate                  _coordinate;
     QGeoCoordinate                  _exitCoordinate;
     bool                            _cameraOrientationFixed;
@@ -208,6 +223,8 @@ private:
     SettingsFact    _turnaroundDistFact;
     SettingsFact    _cameraTriggerFact;
     SettingsFact    _cameraTriggerDistanceFact;
+    SettingsFact    _cameraTriggerInTurnaroundFact;
+    SettingsFact    _hoverAndCaptureFact;
     SettingsFact    _groundResolutionFact;
     SettingsFact    _frontalOverlapFact;
     SettingsFact    _sideOverlapFact;
@@ -229,6 +246,8 @@ private:
     static const char* _jsonTurnaroundDistKey;
     static const char* _jsonCameraTriggerKey;
     static const char* _jsonCameraTriggerDistanceKey;
+    static const char* _jsonCameraTriggerInTurnaroundKey;
+    static const char* _jsonHoverAndCaptureKey;
     static const char* _jsonGroundResolutionKey;
     static const char* _jsonFrontalOverlapKey;
     static const char* _jsonSideOverlapKey;

src/PlanView/SurveyItemEditor.qml

@@ -180,10 +180,17 @@ Rectangle {
         spacing:            _margin
 
         SectionHeader {
+            id:         cameraHeader
             text:       qsTr("Camera")
             showSpacer: false
         }
 
+        Column {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            spacing:        _margin
+            visible:        cameraHeader.checked
+
             QGCComboBox {
                 id:             gridTypeCombo
                 anchors.left:   parent.left
@@ -216,6 +223,32 @@ Rectangle {
                 }
             }
 
+            RowLayout {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                spacing:        _margin
+                visible:        missionItem.manualGrid.value == true
+
+                FactCheckBox {
+                    anchors.baseline:   cameraTriggerDistanceField.baseline
+                    text:               qsTr("Trigger Distance")
+                    fact:               missionItem.cameraTrigger
+                }
+
+                FactTextField {
+                    id:                 cameraTriggerDistanceField
+                    Layout.fillWidth:   true
+                    fact:               missionItem.cameraTriggerDistance
+                    enabled:            missionItem.cameraTrigger.value
+                }
+            }
+
+            FactCheckBox {
+                text:   qsTr("Hover and capture image")
+                fact:   missionItem.hoverAndCapture
+            }
+        }
+
         // Camera based grid ui
         Column {
             anchors.left:   parent.left
@@ -343,7 +376,10 @@ Rectangle {
                 }
             }
 
-            SectionHeader { text: qsTr("Grid") }
+            SectionHeader {
+                id:     gridHeader
+                text:   qsTr("Grid")
+            }
 
             GridLayout {
                 anchors.left:   parent.left
@@ -351,6 +387,7 @@ Rectangle {
                 columnSpacing:  _margin
                 rowSpacing:     _margin
                 columns:        2
+                visible:        gridHeader.checked
 
                 QGCLabel { text: qsTr("Angle") }
                 FactTextField {
@@ -403,13 +440,17 @@ Rectangle {
         }
 
         // Manual grid ui
+        SectionHeader {
+            id:         manualGridHeader
+            text:       qsTr("Grid")
+            visible:    gridTypeCombo.currentIndex == _gridTypeManual
+        }
+
         Column {
             anchors.left:   parent.left
             anchors.right:  parent.right
             spacing:        _margin
-            visible:        gridTypeCombo.currentIndex == _gridTypeManual
+            visible:        manualGridHeader.visible && manualGridHeader.checked
-
-            SectionHeader { text: qsTr("Grid") }
 
             FactTextFieldGrid {
                 anchors.left:   parent.left
@@ -420,50 +461,21 @@ Rectangle {
                 factLabels:     [ qsTr("Angle"), qsTr("Spacing"), qsTr("Altitude"), qsTr("Turnaround dist")]
             }
 
-            Item { height: _margin;  width: 1; visible: !ScreenTools.isTinyScreen }
-
             FactCheckBox {
                 anchors.left:   parent.left
                 text:           qsTr("Relative altitude")
                 fact:           missionItem.gridAltitudeRelative
             }
-
-            Item { height: _sectionSpacer;  width: 1; visible: !ScreenTools.isTinyScreen }
-
-            QGCLabel { text: qsTr("Camera") }
-
-            Rectangle {
-                anchors.left:   parent.left
-                anchors.right:  parent.right
-                height:         1
-                color:          qgcPal.text
-            }
-
-            RowLayout {
-                anchors.left:   parent.left
-                anchors.right:  parent.right
-                spacing:        _margin
-
-                FactCheckBox {
-                    anchors.baseline:   cameraTriggerDistanceField.baseline
-                    text:               qsTr("Trigger Distance")
-                    fact:               missionItem.cameraTrigger
-                }
-
-                FactTextField {
-                    id:                 cameraTriggerDistanceField
-                    Layout.fillWidth:   true
-                    fact:               missionItem.cameraTriggerDistance
-                    enabled:            missionItem.cameraTrigger.value
-                }
-            }
         }
 
-        SectionHeader { text: qsTr("Statistics") }
+        SectionHeader {
+            id:     statsHeader
+            text:   qsTr("Statistics") }
 
         Grid {
             columns:        2
             columnSpacing:  ScreenTools.defaultFontPixelWidth
+            visible:        statsHeader.checked
 
             QGCLabel { text: qsTr("Survey area") }
             QGCLabel { text: QGroundControl.squareMetersToAppSettingsAreaUnits(missionItem.coveredArea).toFixed(2) + " " + QGroundControl.appSettingsAreaUnitsString }