Merge pull request #8368 from DonLakeFlyer/TakeoffLand

Plan: Takeoff/Land insertion fixes, fix current item update after delete, fix crash

src/MissionManager/MissionController.cc

@@ -598,6 +598,16 @@ void MissionController::removeMissionItem(int viIndex)
     }
 
     _recalcAll();
+
+    // Adjust current item
+    int newVIIndex;
+    if (viIndex >= _visualItems->count()) {
+        newVIIndex = _visualItems->count() - 1;
+    } else {
+        newVIIndex = viIndex;
+    }
+    setCurrentPlanViewSeqNum(_visualItems->value<VisualMissionItem*>(newVIIndex)->sequenceNumber(), true);
+
     setDirty(true);
 }
 
@@ -2278,9 +2288,10 @@ bool MissionController::_isROICancelItem(SimpleMissionItem* simpleItem)
 void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
 {
     if (_visualItems && (force || sequenceNumber != _currentPlanViewSeqNum)) {
-        bool    foundLand =         false;
-        int     takeoffIndex =      -1;
-        int     landIndex =         -1;
+        bool    foundLand =             false;
+        int     takeoffSeqNum =         -1;
+        int     landSeqNum =            -1;
+        int     lastFlyThroughSeqNum =  -1;
 
         _splitSegment =                 nullptr;
         _currentPlanViewItem  =         nullptr;
@@ -2294,10 +2305,11 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
         _previousCoordinate =           QGeoCoordinate();
 
         for (int viIndex=0; viIndex<_visualItems->count(); viIndex++) {
-            VisualMissionItem* pVI =        qobject_cast<VisualMissionItem*>(_visualItems->get(viIndex));
-            SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(pVI);
+            VisualMissionItem*  pVI =        qobject_cast<VisualMissionItem*>(_visualItems->get(viIndex));
+            SimpleMissionItem*  simpleItem = qobject_cast<SimpleMissionItem*>(pVI);
+            int                 currentSeqNumber = pVI->sequenceNumber();
 
-            if (sequenceNumber != 0 && pVI->sequenceNumber() <= sequenceNumber) {
+            if (sequenceNumber != 0 && currentSeqNumber <= sequenceNumber) {
                 if (pVI->specifiesCoordinate() && !pVI->isStandaloneCoordinate()) {
                     // Coordinate based flight commands prior to where the takeoff would be inserted
                     _isInsertTakeoffValid = false;
@@ -2305,7 +2317,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
             }
 
             if (qobject_cast<TakeoffMissionItem*>(pVI)) {
-                takeoffIndex = viIndex;
+                takeoffSeqNum = currentSeqNumber;
                 _isInsertTakeoffValid = false;
             }
 
@@ -2317,7 +2329,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
                     case MAV_CMD_DO_LAND_START:
                     case MAV_CMD_NAV_RETURN_TO_LAUNCH:
                         foundLand = true;
-                        landIndex = viIndex;
+                        landSeqNum = currentSeqNumber;
                         break;
                     default:
                         break;
@@ -2326,19 +2338,19 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
                     FixedWingLandingComplexItem* fwLanding = qobject_cast<FixedWingLandingComplexItem*>(pVI);
                     if (fwLanding) {
                         foundLand = true;
-                        landIndex = viIndex;
+                        landSeqNum = currentSeqNumber;
                     }
                 }
             }
 
             if (simpleItem) {
                 // Remember previous coordinate
-                if (pVI->sequenceNumber() < sequenceNumber && simpleItem->specifiesCoordinate() && !simpleItem->isStandaloneCoordinate()) {
+                if (currentSeqNumber < sequenceNumber && simpleItem->specifiesCoordinate() && !simpleItem->isStandaloneCoordinate()) {
                     _previousCoordinate = simpleItem->coordinate();
                 }
 
                 // ROI state handling
-                if (pVI->sequenceNumber() <= sequenceNumber) {
+                if (currentSeqNumber <= sequenceNumber) {
                     if (_isROIActive) {
                         if (_isROICancelItem(simpleItem)) {
                             _isROIActive = false;
@@ -2349,12 +2361,17 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
                         }
                     }
                 }
-                if (pVI->sequenceNumber() == sequenceNumber && _isROIBeginItem(simpleItem)) {
+                if (currentSeqNumber == sequenceNumber && _isROIBeginItem(simpleItem)) {
                     _isROIBeginCurrentItem = true;
                 }
+
+                if (simpleItem->specifiesCoordinate() && !simpleItem->isStandaloneCoordinate()) {
+                    lastFlyThroughSeqNum = currentSeqNumber;
+                }
             }
 
-            if (pVI->sequenceNumber() == sequenceNumber) {
+
+            if (currentSeqNumber == sequenceNumber) {
                 pVI->setIsCurrentItem(true);
                 pVI->setHasCurrentChildItem(false);
 
@@ -2383,9 +2400,9 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
             }
         }
 
-        if (takeoffIndex != -1) {
+        if (takeoffSeqNum != -1) {
             // Takeoff item was found which means mission starts from ground
-            if (sequenceNumber < takeoffIndex) {
+            if (sequenceNumber < takeoffSeqNum) {
                 // Land is only valid after the takeoff item.
                 _isInsertLandValid = false;
                 // Fly through commands are not allowed prior to the takeoff command
@@ -2393,10 +2410,17 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
             }
         }
 
+        if (lastFlyThroughSeqNum != -1) {
+            // Land item must be after any fly through coordinates
+            if (sequenceNumber < lastFlyThroughSeqNum) {
+                _isInsertLandValid = false;
+            }
+        }
+
         if (foundLand) {
             // Can't have more than one land sequence
             _isInsertLandValid = false;
-            if (sequenceNumber >= landIndex) {
+            if (sequenceNumber >= landSeqNum) {
                 // Can't have fly through commands after a land item
                 _flyThroughCommandsAllowed = false;
             }

src/MissionManager/MissionSettingsItem.cc

@@ -31,6 +31,7 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, bool flyView, QObject
     , _cameraSection                    (vehicle)
     , _speedSection                     (vehicle)
 {
+    _isIncomplete = false;
     _editorQml = "qrc:/qml/MissionSettingsEditor.qml";
 
     if (_metaDataMap.isEmpty()) {

src/PlanView/PlanView.qml

@@ -291,6 +291,17 @@ Item {
         _missionController.insertComplexMissionItem(complexItemName, mapCenter(), nextIndex, true /* makeCurrentItem */)
     }
 
+    function insertTakeItemAfterCurrent() {
+        var nextIndex = _missionController.currentPlanViewVIIndex + 1
+        _missionController.insertTakeoffItem(mapCenter(), nextIndex, true /* makeCurrentItem */)
+    }
+
+    function insertLandItemAfterCurrent() {
+        var nextIndex = _missionController.currentPlanViewVIIndex + 1
+        _missionController.insertLandItem(mapCenter(), nextIndex, true /* makeCurrentItem */)
+    }
+
+
     function selectNextNotReady() {
         var foundCurrent = false
         for (var i=0; i<_missionController.visualItems.count; i++) {
@@ -643,7 +654,7 @@ Item {
                     break*/
                 case takeoffButtonIndex:
                     allAddClickBoolsOff()
-                    _missionController.insertTakeoffItem(mapCenter(), _missionController.currentMissionIndex, true /* makeCurrentItem */)
+                    insertTakeItemAfterCurrent()
                     break
                 case waypointButtonIndex:
                     if (_addWaypointOnClick) {
@@ -675,7 +686,7 @@ Item {
                     break
                 case landButtonIndex:
                     allAddClickBoolsOff()
-                    _missionController.insertLandItem(mapCenter(), _missionController.currentMissionIndex, true /* makeCurrentItem */)
+                    insertLandItemAfterCurrent()
                     break
                 }
             }
@@ -835,12 +846,11 @@ Item {
                         readOnly:       false
                         onClicked:      _missionController.setCurrentPlanViewSeqNum(object.sequenceNumber, false)
                         onRemove: {
-                            var removeIndex = index
-                            _missionController.removeMissionItem(removeIndex)
-                            if (removeIndex >= _missionController.visualItems.count) {
-                                removeIndex--
+                            var removeVIIndex = index
+                            _missionController.removeMissionItem(removeVIIndex)
+                            if (removeVIIndex >= _missionController.visualItems.count) {
+                                removeVIIndex--
                             }
-                            _missionController.setCurrentPlanViewSeqNum(removeIndex, true)
                         }
                         onSelectNextNotReadyItem:   selectNextNotReady()
                     }