End action only supports RTL

src/MissionManager/MissionSettings.FactMetaData.json

@@ -6,13 +6,5 @@
     "units":            "m",
     "decimalPlaces":    1,
     "defaultValue":     0
-},
-{
-    "name":             "MissionEndAction",
-    "shortDescription": "The action to take when the mission completed.",
-    "type":             "uint32",
-    "enumStrings":      "No action on mission end,Loiter after mission end,RTL after mission end",
-    "enumValues":       "0,1,2",
-    "defaultValue":     0
 }
 ]

src/MissionManager/MissionSettingsItem.cc

@@ -24,14 +24,13 @@ QGC_LOGGING_CATEGORY(MissionSettingsComplexItemLog, "MissionSettingsComplexItemL
 const char* MissionSettingsItem::jsonComplexItemTypeValue = "MissionSettings";
 
 const char* MissionSettingsItem::_plannedHomePositionAltitudeName = "PlannedHomePositionAltitude";
-const char* MissionSettingsItem::_missionEndActionName =            "MissionEndAction";
 
 QMap<QString, FactMetaData*> MissionSettingsItem::_metaDataMap;
 
 MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
     : ComplexMissionItem                (vehicle, parent)
     , _plannedHomePositionAltitudeFact  (0, _plannedHomePositionAltitudeName,   FactMetaData::valueTypeDouble)
-    , _missionEndActionFact             (0, _missionEndActionName,              FactMetaData::valueTypeUint32)
+    , _missionEndRTL                    (false)
     , _cameraSection                    (vehicle)
     , _speedSection                     (vehicle)
     , _sequenceNumber                   (0)
@@ -44,21 +43,19 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
     }
 
     _plannedHomePositionAltitudeFact.setMetaData    (_metaDataMap[_plannedHomePositionAltitudeName]);
-    _missionEndActionFact.setMetaData               (_metaDataMap[_missionEndActionName]);
 
     _plannedHomePositionAltitudeFact.setRawValue    (_plannedHomePositionAltitudeFact.rawDefaultValue());
-    _missionEndActionFact.setRawValue               (_missionEndActionFact.rawDefaultValue());
 
     setHomePositionSpecialCase(true);
 
     connect(this,               &MissionSettingsItem::specifyMissionFlightSpeedChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
+    connect(this,               &MissionSettingsItem::missionEndRTLChanged,             this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
     connect(&_cameraSection,    &CameraSection::itemCountChanged,                       this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
     connect(&_speedSection,     &CameraSection::itemCountChanged,                       this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
 
     connect(&_plannedHomePositionAltitudeFact,  &Fact::valueChanged,                        this, &MissionSettingsItem::_setDirty);
-    connect(&_plannedHomePositionAltitudeFact,  &Fact::valueChanged, this, &MissionSettingsItem::_updateAltitudeInCoordinate);
 
-    connect(&_missionEndActionFact,             &Fact::valueChanged, this, &MissionSettingsItem::_setDirty);
+    connect(&_plannedHomePositionAltitudeFact,  &Fact::valueChanged, this, &MissionSettingsItem::_updateAltitudeInCoordinate);
 
     connect(&_cameraSection,    &CameraSection::dirtyChanged,   this, &MissionSettingsItem::_sectionDirtyChanged);
     connect(&_speedSection,     &SpeedSection::dirtyChanged,    this, &MissionSettingsItem::_sectionDirtyChanged);
@@ -184,23 +181,7 @@ bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& items, int se
         return false;
     }
 
-    switch(_missionEndActionFact.rawValue().toInt()) {
+    if (_missionEndRTL) {
-    case MissionEndLoiter:
-        qCDebug(MissionSettingsComplexItemLog) << "Appending end action Loiter seqNum" << seqNum;
-        item = new MissionItem(seqNum,
-                               MAV_CMD_NAV_LOITER_UNLIM,
-                               lastWaypointFrame,
-                               0, 0,                        // param 1-2 unused
-                               0,                           // use default loiter radius
-                               0,                           // param 4 not used
-                               lastWaypointCoord.latitude(),
-                               lastWaypointCoord.longitude(),
-                               lastWaypointCoord.altitude(),
-                               true,                        // autoContinue
-                               false,                       // isCurrentItem
-                               missionItemParent);
-        break;
-    case MissionEndRTL:
         qCDebug(MissionSettingsComplexItemLog) << "Appending end action RTL seqNum" << seqNum;
         item = new MissionItem(seqNum,
                                MAV_CMD_NAV_RETURN_TO_LAUNCH,
@@ -209,12 +190,6 @@ bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& items, int se
                                true,                       // autoContinue
                                false,                      // isCurrentItem
                                missionItemParent);
-        break;
-    default:
-        break;
-    }
-
-    if (item) {
         items.append(item);
         return true;
     } else {
@@ -248,26 +223,12 @@ bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems
     if (item) {
         MissionItem& missionItem = item->missionItem();
 
-        switch ((MAV_CMD)item->command()) {
+        if (item->command() == MAV_CMD_NAV_RETURN_TO_LAUNCH &&
-        case MAV_CMD_NAV_LOITER_UNLIM:
+                missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
-            if (missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0) {
-                qCDebug(MissionSettingsComplexItemLog) << "Scan: Found end action Loiter";
-                settingsItem->missionEndAction()->setRawValue(MissionEndLoiter);
-                visualItems->removeAt(lastIndex)->deleteLater();
-            }
-            break;
-
-        case MAV_CMD_NAV_RETURN_TO_LAUNCH:
-            if (missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
             qCDebug(MissionSettingsComplexItemLog) << "Scan: Found end action RTL";
-                settingsItem->missionEndAction()->setRawValue(MissionEndRTL);
+            settingsItem->_missionEndRTL = true;
             visualItems->removeAt(lastIndex)->deleteLater();
         }
-            break;
-
-        default:
-            break;
-        }
     }
 
     return foundSpeedSection || foundCameraSection;

src/MissionManager/MissionSettingsItem.h

@@ -26,20 +26,12 @@ class MissionSettingsItem : public ComplexMissionItem
 public:
     MissionSettingsItem(Vehicle* vehicle, QObject* parent = NULL);
 
-    enum MissionEndAction {
-        MissionEndNoAction,
-        MissionEndLoiter,
-        MissionEndRTL
-    };
-    Q_ENUMS(MissionEndAction)
-
-    Q_PROPERTY(Fact*    missionEndAction            READ missionEndAction                                                   CONSTANT)
     Q_PROPERTY(Fact*    plannedHomePositionAltitude READ plannedHomePositionAltitude                                        CONSTANT)
+    Q_PROPERTY(bool     missionEndRTL               MEMBER _missionEndRTL                                                   NOTIFY missionEndRTLChanged)
     Q_PROPERTY(QObject* cameraSection               READ cameraSection                                                      CONSTANT)
     Q_PROPERTY(QObject* speedSection                READ speedSection                                                       CONSTANT)
 
     Fact*   plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
-    Fact*   missionEndAction            (void) { return &_missionEndActionFact; }
 
     QObject* cameraSection(void) { return &_cameraSection; }
     QObject* speedSection(void) { return &_speedSection; }
@@ -93,6 +85,7 @@ public:
 
 signals:
     void specifyMissionFlightSpeedChanged   (bool specifyMissionFlightSpeed);
+    void missionEndRTLChanged               (bool missionEndRTL);
 
 private slots:
     void _setDirtyAndUpdateLastSequenceNumber   (void);
@@ -101,9 +94,9 @@ private slots:
     void _updateAltitudeInCoordinate            (QVariant value);
 
 private:
-    QGeoCoordinate  _plannedHomePositionCoordinate;     // Does not include altitde
+    QGeoCoordinate  _plannedHomePositionCoordinate;     // Does not include altitude
     Fact            _plannedHomePositionAltitudeFact;
-    Fact            _missionEndActionFact;
+    bool            _missionEndRTL;
     CameraSection   _cameraSection;
     SpeedSection    _speedSection;
 
@@ -113,7 +106,6 @@ private:
     static QMap<QString, FactMetaData*> _metaDataMap;
 
     static const char* _plannedHomePositionAltitudeName;
-    static const char* _missionEndActionName;
 };
 
 #endif

src/PlanView/MissionSettingsEditor.qml

@@ -124,11 +124,10 @@ Rectangle {
                     }
                 } // GridLayout
 
-                FactComboBox {
+                QGCCheckBox {
-                    anchors.left:   parent.left
+                    text:       qsTr("RTL after mission end")
-                    anchors.right:  parent.right
+                    checked:    missionItem.missionEndRTL
-                    fact:           missionItem.missionEndAction
+                    onClicked:  missionItem.missionEndRTL = checked
-                    indexModel:     false
                 }
             }