More work on Structure Scan rewrite

ChangeLog.md

@@ -6,7 +6,7 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.6.0 - Daily Build
 
-* No changes yet
+* Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans.
 
 ### 3.5.1 - Not yet released
 * Fix tile set count but in OfflineMaps which would cause image and elevation tile set to have incorrect counts and be incorrectly marked as download incomplete.

src/MissionManager/StructureScan.SettingsGroup.json

@@ -18,8 +18,8 @@
     "defaultValue":     50
 },
 {
-    "name":             "Altitude",
-    "shortDescription": "Altitude for the bottom layer of the structure scan.",
+    "name":             "ScanBottomAlt",
+    "shortDescription": "Altitude for the bottomost covered area of the scan. You can adjust this value such that the Bottom Layer Alt will fly above obstacles on the ground.",
     "type":             "double",
     "units":            "m",
     "decimalPlaces":    1,
@@ -43,7 +43,7 @@
 },
 {
     "name":             "StartFromTop",
-    "shortDescription": "Start scan from top of structure.",
+    "shortDescription": "Start scanning from top of structure.",
     "type":             "bool",
     "defaultValue":     true
 }

src/MissionManager/StructureScanComplexItem.cc

@@ -23,7 +23,7 @@ QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog")
 
 const char* StructureScanComplexItem::settingsGroup =               "StructureScan";
 const char* StructureScanComplexItem::_entranceAltName =            "EntranceAltitude";
-const char* StructureScanComplexItem::scanBottomAltName =           "Altitude";
+const char* StructureScanComplexItem::scanBottomAltName =           "ScanBottomAlt";
 const char* StructureScanComplexItem::structureHeightName =         "StructureHeight";
 const char* StructureScanComplexItem::layersName =                  "Layers";
 const char* StructureScanComplexItem::gimbalPitchName =             "GimbalPitch";
@@ -31,14 +31,11 @@ const char* StructureScanComplexItem::startFromTopName =            "StartFromTo
 
 const char* StructureScanComplexItem::jsonComplexItemTypeValue =    "StructureScan";
 const char* StructureScanComplexItem::_jsonCameraCalcKey =          "CameraCalc";
-const char* StructureScanComplexItem::_jsonAltitudeRelativeKey =    "altitudeRelative";
 
 StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent)
     : ComplexMissionItem        (vehicle, flyView, parent)
     , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/StructureScan.SettingsGroup.json"), this /* QObject parent */))
     , _sequenceNumber           (0)
-    , _dirty                    (false)
-    , _altitudeRelative         (true)
     , _entryVertex              (0)
     , _ignoreRecalc             (false)
     , _scanDistance             (0.0)
@@ -61,14 +58,13 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
     connect(&_gimbalPitchFact,      &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
     connect(&_startFromTopFact,     &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
 
-    connect(&_layersFact,                           &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);
+    connect(&_startFromTopFact,     &Fact::valueChanged, this, &StructureScanComplexItem::_signalTopBottomAltChanged);
+    connect(&_layersFact,           &Fact::valueChanged, this, &StructureScanComplexItem::_signalTopBottomAltChanged);
+
     connect(&_structureHeightFact,                  &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);
+    connect(&_scanBottomAltFact,                    &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);
     connect(_cameraCalc.adjustedFootprintFrontal(), &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);
 
-    connect(this, &StructureScanComplexItem::altitudeRelativeChanged,       this, &StructureScanComplexItem::_setDirty);
-    connect(this, &StructureScanComplexItem::altitudeRelativeChanged,       this, &StructureScanComplexItem::coordinateHasRelativeAltitudeChanged);
-    connect(this, &StructureScanComplexItem::altitudeRelativeChanged,       this, &StructureScanComplexItem::exitCoordinateHasRelativeAltitudeChanged);
-
     connect(&_entranceAltFact, &Fact::valueChanged, this, &StructureScanComplexItem::_updateCoordinateAltitudes);
 
     connect(&_structurePolygon, &QGCMapPolygon::dirtyChanged,   this, &StructureScanComplexItem::_polygonDirtyChanged);
@@ -78,7 +74,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
     connect(&_layersFact,       &Fact::valueChanged,            this, &StructureScanComplexItem::_updateLastSequenceNumber);
 
     connect(&_flightPolygon,    &QGCMapPolygon::pathChanged,    this, &StructureScanComplexItem::_flightPathChanged);
-    connect(&_flightPolygon,    &QGCMapPolygon::countChanged,   this, &StructureScanComplexItem::_validateEntryVertex);
 
     connect(_cameraCalc.distanceToSurface(),    &Fact::valueChanged,                this, &StructureScanComplexItem::_rebuildFlightPolygon);
 
@@ -157,17 +152,16 @@ void StructureScanComplexItem::save(QJsonArray&  missionItems)
     QJsonObject saveObject;
 
     // Header
-    saveObject[JsonHelper::jsonVersionKey] =                    2;
+    saveObject[JsonHelper::jsonVersionKey] =                    3;
     saveObject[VisualMissionItem::jsonTypeKey] =                VisualMissionItem::jsonTypeComplexItemValue;
     saveObject[ComplexMissionItem::jsonComplexItemTypeKey] =    jsonComplexItemTypeValue;
 
-    saveObject[_entranceAltName] =          _entranceAltFact.rawValue().toDouble();
-    saveObject[scanBottomAltName] =         _scanBottomAltFact.rawValue().toDouble();
-    saveObject[structureHeightName] =       _structureHeightFact.rawValue().toDouble();
-    saveObject[_jsonAltitudeRelativeKey] =  _altitudeRelative;
-    saveObject[layersName] =                _layersFact.rawValue().toDouble();
-    saveObject[gimbalPitchName] =           _gimbalPitchFact.rawValue().toDouble();
-    saveObject[startFromTopName] =          _startFromTopFact.rawValue().toBool();
+    saveObject[_entranceAltName] =      _entranceAltFact.rawValue().toDouble();
+    saveObject[scanBottomAltName] =     _scanBottomAltFact.rawValue().toDouble();
+    saveObject[structureHeightName] =   _structureHeightFact.rawValue().toDouble();
+    saveObject[layersName] =            _layersFact.rawValue().toDouble();
+    saveObject[gimbalPitchName] =       _gimbalPitchFact.rawValue().toDouble();
+    saveObject[startFromTopName] =      _startFromTopFact.rawValue().toBool();
 
     QJsonObject cameraCalcObject;
     _cameraCalc.save(cameraCalcObject);
@@ -196,13 +190,11 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
         { QGCMapPolygon::jsonPolygonKey,                QJsonValue::Array,  true },
         { scanBottomAltName,                            QJsonValue::Double, true },
         { structureHeightName,                          QJsonValue::Double, true },
-        { _jsonAltitudeRelativeKey,                     QJsonValue::Bool,   true },
         { layersName,                                   QJsonValue::Double, true },
         { _jsonCameraCalcKey,                           QJsonValue::Object, true },
-        // The following values were added after initial implementation so they may be missing from older files. Hence optional.
-        { _entranceAltName,                             QJsonValue::Double, false },
-        { gimbalPitchName,                              QJsonValue::Double, false },
-        { startFromTopName,                             QJsonValue::Bool,   false },
+        { _entranceAltName,                             QJsonValue::Double, true },
+        { gimbalPitchName,                              QJsonValue::Double, true },
+        { startFromTopName,                             QJsonValue::Bool,   true },
     };
     if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
         return false;
@@ -218,8 +210,8 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
     }
 
     int version = complexObject[JsonHelper::jsonVersionKey].toInt();
-    if (version != 2) {
-        errorString = tr("%1 complex item version %2 not supported").arg(jsonComplexItemTypeValue).arg(version);
+    if (version != 3) {
+        errorString = tr("%1 version %2 not supported").arg(jsonComplexItemTypeValue).arg(version);
         return false;
     }
 
@@ -230,25 +222,12 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
         return false;
     }
 
-    _scanBottomAltFact.setRawValue  (complexObject[scanBottomAltName].toDouble());
-    _layersFact.setRawValue         (complexObject[layersName].toDouble());
-    _structureHeightFact.setRawValue(complexObject[structureHeightName].toDouble());
-
-    // Start from top is a new setting which may not exist in older saved structure scans.
-    // Default to false if doesn't exist, which matches previous functionality.
-    _startFromTopFact.setRawValue   (complexObject[startFromTopName].toBool(false));
-
-    // Entrance altitude is a new setting which may not exist in older saved structure scans.
-    // We default it to the top of the structure which is the safest thing to do without a value.
-    _entranceAltFact.setRawValue    (complexObject[startFromTopName].toDouble(_scanBottomAltFact.rawValue().toDouble() + _structureHeightFact.rawValue().toDouble()));
-
-    _altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true);
-
-    double gimbalPitchValue = 0;
-    if (complexObject.contains(gimbalPitchName)) {
-        gimbalPitchValue = complexObject[gimbalPitchName].toDouble();
-    }
-    _gimbalPitchFact.setRawValue(gimbalPitchValue);
+    _scanBottomAltFact.setRawValue      (complexObject[scanBottomAltName].toDouble());
+    _layersFact.setRawValue             (complexObject[layersName].toDouble());
+    _structureHeightFact.setRawValue    (complexObject[structureHeightName].toDouble());
+    _startFromTopFact.setRawValue       (complexObject[startFromTopName].toBool());
+    _entranceAltFact.setRawValue        (complexObject[startFromTopName].toDouble());
+    _gimbalPitchFact.setRawValue        (complexObject[gimbalPitchName].toDouble());
 
     if (!_structurePolygon.loadFromJson(complexObject, true /* required */, errorString)) {
         _structurePolygon.clear();
@@ -322,7 +301,7 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
     QGeoCoordinate entranceExitCoord = _flightPolygon.vertexCoordinate(_entryVertex);
     item = new MissionItem(seqNum++,
                            MAV_CMD_NAV_WAYPOINT,
-                           _altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
+                           MAV_FRAME_GLOBAL_RELATIVE_ALT,
                            0,                                          // No hold time
                            0.0,                                        // No acceptance radius specified
                            0.0,                                        // Pass through waypoint
@@ -351,13 +330,14 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
     // Fly a layer pattern
     for (int layer=0; layer<_layersFact.rawValue().toInt(); layer++) {
         bool    addTriggerStart = true;
-        double  layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + (layer * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
-        double  layerAltitude;
+        double  halfLayerHeight = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0;
+        double  layerAltitude = startAltitude;
 
+        // Move down to the middle of the layer
         if (startFromTop) {
-            layerAltitude = startAltitude - layerIncrement;
+            layerAltitude -= halfLayerHeight;
         } else {
-            layerAltitude = startAltitude + layerIncrement;
+            layerAltitude += halfLayerHeight;
         }
 
         bool done = false;
@@ -368,7 +348,7 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
 
             item = new MissionItem(seqNum++,
                                    MAV_CMD_NAV_WAYPOINT,
-                                   _altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
+                                   MAV_FRAME_GLOBAL_RELATIVE_ALT,
                                    0,                                          // No hold time
                                    0.0,                                        // No acceptance radius specified
                                    0.0,                                        // Pass through waypoint
@@ -420,6 +400,13 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
                                false,       // isCurrentItem
                                missionItemParent);
         items.append(item);
+
+        // Move to next layer altitude
+        if (startFromTop) {
+            layerAltitude -= halfLayerHeight * 2;
+        } else {
+            layerAltitude += halfLayerHeight * 2;
+        }
     }
 
     // Return camera to neutral position
@@ -435,7 +422,7 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
     // Exit waypoint
     item = new MissionItem(seqNum++,
                            MAV_CMD_NAV_WAYPOINT,
-                           _altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
+                           MAV_FRAME_GLOBAL_RELATIVE_ALT,
                            0,                                          // No hold time
                            0.0,                                        // No acceptance radius specified
                            0.0,                                        // Pass through waypoint
@@ -520,8 +507,21 @@ void StructureScanComplexItem::rotateEntryPoint(void)
 
 void StructureScanComplexItem::_rebuildFlightPolygon(void)
 {
+    // While this is happening all hell breaks loose signal-wise which can cause a bad vertex reference.
+    // So we reset to a safe value first and then double check validity when putting it back
+    int savedEntryVertex = _entryVertex;
+    _entryVertex = 0;
+
     _flightPolygon = _structurePolygon;
     _flightPolygon.offset(_cameraCalc.distanceToSurface()->rawValue().toDouble());
+
+    if (savedEntryVertex >= _flightPolygon.count()) {
+        _entryVertex = 0;
+    } else {
+        _entryVertex = savedEntryVertex;
+    }
+    emit coordinateChanged(coordinate());
+    emit exitCoordinateChanged(exitCoordinate());
 }
 
 void StructureScanComplexItem::_recalcCameraShots(void)
@@ -553,43 +553,49 @@ void StructureScanComplexItem::_recalcCameraShots(void)
     _setCameraShots(cameraShots * _layersFact.rawValue().toInt());
 }
 
-void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative)
+void StructureScanComplexItem::_recalcLayerInfo(void)
 {
-    if (altitudeRelative != _altitudeRelative) {
-        _altitudeRelative = altitudeRelative;
-        emit altitudeRelativeChanged(altitudeRelative);
+    double surfaceHeight = qMax(_structureHeightFact.rawValue().toDouble() - _scanBottomAltFact.rawValue().toDouble(), 0.0);
+
+    // Layer count is calculated from surface and layer heights
+    _layersFact.setRawValue(qMax(qCeil(surfaceHeight / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()), 1));
+}
+
+void StructureScanComplexItem::_updateGimbalPitch(void)
+{
+    if (!_cameraCalc.isManualCamera()) {
+        _gimbalPitchFact.setRawValue(0);
     }
 }
 
-void StructureScanComplexItem::_recalcLayerInfo(void)
+double StructureScanComplexItem::bottomFlightAlt(void)
 {
-    if (_cameraCalc.isManualCamera()) {
-        // Structure height is calculated from layer count, layer height.
-        _structureHeightFact.setSendValueChangedSignals(false);
-        _structureHeightFact.setRawValue(_layersFact.rawValue().toInt() * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
-        _structureHeightFact.clearDeferredValueChangeSignal();
-        _structureHeightFact.setSendValueChangedSignals(true);
+    if (_startFromTopFact.rawValue().toBool()) {
+        // Structure Height minus the topmost layers
+        double  layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + ((_layersFact.rawValue().toInt() - 1) * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
+        return _structureHeightFact.rawValue().toDouble() - layerIncrement;
     } else {
-        // Layer count is calculated from structure and layer heights
-        _layersFact.setSendValueChangedSignals(false);
-        _layersFact.setRawValue(qCeil(_structureHeightFact.rawValue().toDouble() / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()));
-        _layersFact.clearDeferredValueChangeSignal();
-        _layersFact.setSendValueChangedSignals(true);
+        // Bottom alt plus half the height of a layer
+        double  layerIncrement = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0;
+        return _scanBottomAltFact.rawValue().toDouble() + layerIncrement;
     }
 }
 
-void StructureScanComplexItem::_updateGimbalPitch(void)
+double StructureScanComplexItem:: topFlightAlt(void)
 {
-    if (!_cameraCalc.isManualCamera()) {
-        _gimbalPitchFact.setRawValue(0);
+    if (_startFromTopFact.rawValue().toBool()) {
+        // Structure Height minus half the layer height
+        double  layerIncrement = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0;
+        return _structureHeightFact.rawValue().toDouble() - layerIncrement;
+    } else {
+        // Bottom alt plus all layers
+        double  layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + ((_layersFact.rawValue().toInt() - 1) * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
+        return _scanBottomAltFact.rawValue().toDouble() + layerIncrement;
     }
 }
 
-void StructureScanComplexItem::_validateEntryVertex(void)
+void StructureScanComplexItem::_signalTopBottomAltChanged(void)
 {
-    if (_entryVertex >= _flightPolygon.count()) {
-        _entryVertex = 0;
-        emit coordinateChanged(coordinate());
-        emit exitCoordinateChanged(exitCoordinate());
-    }
+    emit topFlightAltChanged();
+    emit bottomFlightAltChanged();
 }

src/MissionManager/StructureScanComplexItem.h

@@ -32,12 +32,13 @@ public:
 
     Q_PROPERTY(CameraCalc*      cameraCalc                  READ cameraCalc                                                 CONSTANT)
     Q_PROPERTY(Fact*            entranceAlt                 READ entranceAlt                                                CONSTANT)
-    Q_PROPERTY(Fact*            scanBottomAlt               READ scanBottomAlt                                              CONSTANT)
     Q_PROPERTY(Fact*            structureHeight             READ structureHeight                                            CONSTANT)
+    Q_PROPERTY(Fact*            scanBottomAlt               READ scanBottomAlt                                              CONSTANT)
     Q_PROPERTY(Fact*            layers                      READ layers                                                     CONSTANT)
     Q_PROPERTY(Fact*            gimbalPitch                 READ gimbalPitch                                                CONSTANT)
     Q_PROPERTY(Fact*            startFromTop                READ startFromTop                                               CONSTANT)
-    Q_PROPERTY(bool             altitudeRelative            READ altitudeRelative           WRITE setAltitudeRelative       NOTIFY altitudeRelativeChanged)
+    Q_PROPERTY(double           bottomFlightAlt             READ bottomFlightAlt                                            NOTIFY bottomFlightAltChanged)
+    Q_PROPERTY(double           topFlightAlt                READ topFlightAlt                                               NOTIFY topFlightAltChanged)
     Q_PROPERTY(int              cameraShots                 READ cameraShots                                                NOTIFY cameraShotsChanged)
     Q_PROPERTY(double           timeBetweenShots            READ timeBetweenShots                                           NOTIFY timeBetweenShotsChanged)
     Q_PROPERTY(QGCMapPolygon*   structurePolygon            READ structurePolygon                                           CONSTANT)
@@ -51,14 +52,13 @@ public:
     Fact* gimbalPitch       (void) { return &_gimbalPitchFact; }
     Fact* startFromTop      (void) { return &_startFromTopFact; }
 
-    bool            altitudeRelative        (void) const { return _altitudeRelative; }
+    double          bottomFlightAlt         (void);
+    double          topFlightAlt            (void);
     int             cameraShots             (void) const;
     double          timeBetweenShots        (void);
     QGCMapPolygon*  structurePolygon        (void) { return &_structurePolygon; }
     QGCMapPolygon*  flightPolygon           (void) { return &_flightPolygon; }
 
-    void setAltitudeRelative        (bool altitudeRelative);
-
     Q_INVOKABLE void rotateEntryPoint(void);
 
     // Overrides from ComplexMissionItem
@@ -90,8 +90,8 @@ public:
     void            applyNewAltitude        (double newAltitude) final;
     double          additionalTimeDelay     (void) const final { return 0; }
 
-    bool coordinateHasRelativeAltitude      (void) const final { return _altitudeRelative; }
-    bool exitCoordinateHasRelativeAltitude  (void) const final { return _altitudeRelative; }
+    bool coordinateHasRelativeAltitude      (void) const final { return true; }
+    bool exitCoordinateHasRelativeAltitude  (void) const final { return true; }
     bool exitCoordinateSameAsEntry          (void) const final { return true; }
 
     void setDirty           (bool dirty) final;
@@ -111,7 +111,8 @@ public:
 signals:
     void cameraShotsChanged             (int cameraShots);
     void timeBetweenShotsChanged        (void);
-    void altitudeRelativeChanged        (bool altitudeRelative);
+    void bottomFlightAltChanged         (void);
+    void topFlightAltChanged            (void);
 
 private slots:
     void _setDirty(void);
@@ -124,7 +125,7 @@ private slots:
     void _recalcLayerInfo           (void);
     void _updateLastSequenceNumber  (void);
     void _updateGimbalPitch         (void);
-    void _validateEntryVertex       (void);
+    void _signalTopBottomAltChanged  (void);
 
 private:
     void _setExitCoordinate(const QGeoCoordinate& coordinate);
@@ -135,10 +136,8 @@ private:
     QMap<QString, FactMetaData*> _metaDataMap;
 
     int             _sequenceNumber;
-    bool            _dirty;
     QGCMapPolygon   _structurePolygon;
     QGCMapPolygon   _flightPolygon;
-    bool            _altitudeRelative;
     int             _entryVertex;       // Polygon vertext which is used as the mission entry point
 
     bool            _ignoreRecalc;
@@ -157,7 +156,6 @@ private:
     SettingsFact    _entranceAltFact;
 
     static const char* _jsonCameraCalcKey;
-    static const char* _jsonAltitudeRelativeKey;
 
     static const char* _entranceAltName; // This value cannot be overriden
 

src/MissionManager/StructureScanComplexItemTest.cc

@@ -11,7 +11,7 @@
 #include "QGCApplication.h"
 
 StructureScanComplexItemTest::StructureScanComplexItemTest(void)
-    : _offlineVehicle(NULL)
+    : _offlineVehicle(nullptr)
 {
     _polyPoints << QGeoCoordinate(47.633550640000003, -122.08982199) << QGeoCoordinate(47.634129020000003, -122.08887249) <<
                    QGeoCoordinate(47.633619320000001, -122.08811074) << QGeoCoordinate(47.633189139999999, -122.08900124);
@@ -74,13 +74,6 @@ void StructureScanComplexItemTest::_testDirty(void)
         _multiSpy->clearAllSignals();
     }
     rgFacts.clear();
-
-    QVERIFY(!_structureScanItem->dirty());
-    _structureScanItem->setAltitudeRelative(!_structureScanItem->altitudeRelative());
-    QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
-    QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
-    _structureScanItem->setDirty(false);
-    _multiSpy->clearAllSignals();
 }
 
 void StructureScanComplexItemTest::_initItem(void)

src/PlanView/StructureScanEditor.qml

@@ -110,38 +110,26 @@ Rectangle {
 
                 QGCLabel {
                     text:       qsTr("Structure height")
-                    visible:    !missionItem.cameraCalc.isManualCamera
                 }
                 FactTextField {
                     fact:               missionItem.structureHeight
                     Layout.fillWidth:   true
-                    visible:            !missionItem.cameraCalc.isManualCamera
                 }
 
-                QGCLabel {
-                    text:       qsTr("# Layers")
-                    visible:    missionItem.cameraCalc.isManualCamera
-                }
-                FactTextField {
-                    fact:               missionItem.layers
-                    Layout.fillWidth:   true
-                    visible:            missionItem.cameraCalc.isManualCamera
-                }
-
-                QGCLabel { text: qsTr("Scan bottom alt") }
+                QGCLabel { text: qsTr("Scan Bottom Alt") }
                 FactTextField {
                     fact:               missionItem.scanBottomAlt
                     Layout.fillWidth:   true
                 }
 
-                QGCLabel { text: qsTr("Entrance/Exit alt") }
+                QGCLabel { text: qsTr("Entrance/Exit Alt") }
                 FactTextField {
                     fact:               missionItem.entranceAlt
                     Layout.fillWidth:   true
                 }
 
                 QGCLabel {
-                    text:       qsTr("Gimbal pitch")
+                    text:       qsTr("Gimbal Pitch")
                     visible:    missionItem.cameraCalc.isManualCamera
                 }
                 FactTextField {
@@ -149,13 +137,6 @@ Rectangle {
                     Layout.fillWidth:   true
                     visible:            missionItem.cameraCalc.isManualCamera
                 }
-
-                QGCCheckBox {
-                    text:               qsTr("Relative altitude")
-                    checked:            missionItem.altitudeRelative
-                    Layout.columnSpan:  2
-                    onClicked:          missionItem.altitudeRelative = checked
-                }
             }
 
             Item {
@@ -182,16 +163,22 @@ Rectangle {
             QGCLabel { text: qsTr("Layers") }
             QGCLabel { text: missionItem.layers.valueString }
 
-            QGCLabel { text: qsTr("Layer height") }
+            QGCLabel { text: qsTr("Layer Height") }
             QGCLabel { text: missionItem.cameraCalc.adjustedFootprintFrontal.valueString + " " + QGroundControl.appSettingsDistanceUnitsString }
 
-            QGCLabel { text: qsTr("Photo count") }
+            QGCLabel { text: qsTr("Top Layer Alt") }
+            QGCLabel { text: QGroundControl.metersToAppSettingsDistanceUnits(missionItem.topFlightAlt).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString }
+
+            QGCLabel { text: qsTr("Bottom Layer Alt") }
+            QGCLabel { text: QGroundControl.metersToAppSettingsDistanceUnits(missionItem.bottomFlightAlt).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString }
+
+            QGCLabel { text: qsTr("Photo Count") }
             QGCLabel { text: missionItem.cameraShots }
 
-            QGCLabel { text: qsTr("Photo interval") }
+            QGCLabel { text: qsTr("Photo Interval") }
             QGCLabel { text: missionItem.timeBetweenShots.toFixed(1) + " " + qsTr("secs") }
 
-            QGCLabel { text: qsTr("Trigger distance") }
+            QGCLabel { text: qsTr("Trigger Distance") }
             QGCLabel { text: missionItem.cameraCalc.adjustedFootprintSide.valueString + " " + QGroundControl.appSettingsDistanceUnitsString }
         }
     } // Column