Fix Takeoff item flight profile segment generation (#9268)

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -158,3 +158,28 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, b
 {
     return _scanForItem(visualItems, flyView, masterController, _isValidLandItem, _createItem);
 }
+
+// Never call this method directly. If you want to update the flight segments you emit _updateFlightPathSegmentsSignal()
+void FixedWingLandingComplexItem::_updateFlightPathSegmentsDontCallDirectly(void)
+{
+    if (_cTerrainCollisionSegments != 0) {
+        _cTerrainCollisionSegments = 0;
+        emit terrainCollisionChanged(false);
+    }
+
+    _flightPathSegments.beginReset();
+    _flightPathSegments.clearAndDeleteContents();
+    if (useLoiterToAlt()->rawValue().toBool()) {
+        _appendFlightPathSegment(finalApproachCoordinate(), amslEntryAlt(), loiterTangentCoordinate(),  amslEntryAlt()); // Best we can do to simulate loiter circle terrain profile
+        _appendFlightPathSegment(loiterTangentCoordinate(), amslEntryAlt(), landingCoordinate(),        amslExitAlt());
+    } else {
+        _appendFlightPathSegment(finalApproachCoordinate(), amslEntryAlt(), landingCoordinate(),        amslExitAlt());
+    }
+    _flightPathSegments.endReset();
+
+    if (_cTerrainCollisionSegments != 0) {
+        emit terrainCollisionChanged(true);
+    }
+
+    _masterController->missionController()->recalcTerrainProfile();
+}

src/MissionManager/FixedWingLandingComplexItem.h

@@ -55,7 +55,8 @@ public:
     static const char* valueSetIsDistanceName;
 
 private slots:
-    void _glideSlopeChanged(void);
+    void _updateFlightPathSegmentsDontCallDirectly  (void) override;
+    void _glideSlopeChanged                         (void);
 
 private:
     static LandingComplexItem*  _createItem     (PlanMasterController* masterController, bool flyView, QObject* parent) { return new FixedWingLandingComplexItem(masterController, flyView, parent); }

src/MissionManager/LandingComplexItem.cc

@@ -138,28 +138,6 @@ double LandingComplexItem::complexDistance(void) const
     return finalApproachCoordinate().distanceTo(loiterTangentCoordinate()) + loiterTangentCoordinate().distanceTo(landingCoordinate());
 }
 
-// Never call this method directly. If you want to update the flight segments you emit _updateFlightPathSegmentsSignal()
-void LandingComplexItem::_updateFlightPathSegmentsDontCallDirectly(void)
-{
-    if (_cTerrainCollisionSegments != 0) {
-        _cTerrainCollisionSegments = 0;
-        emit terrainCollisionChanged(false);
-    }
-
-    _flightPathSegments.beginReset();
-    _flightPathSegments.clearAndDeleteContents();
-    _appendFlightPathSegment(finalApproachCoordinate(), amslEntryAlt(), loiterTangentCoordinate(),  amslEntryAlt());
-    _appendFlightPathSegment(loiterTangentCoordinate(), amslEntryAlt(), landingCoordinate(),        amslEntryAlt());
-    _appendFlightPathSegment(landingCoordinate(),       amslEntryAlt(), landingCoordinate(),        amslExitAlt());
-    _flightPathSegments.endReset();
-
-    if (_cTerrainCollisionSegments != 0) {
-        emit terrainCollisionChanged(true);
-    }
-
-    _masterController->missionController()->recalcTerrainProfile();
-}
-
 void LandingComplexItem::setLandingCoordinate(const QGeoCoordinate& coordinate)
 {
     if (coordinate != _landingCoordinate) {
@@ -412,7 +390,7 @@ bool LandingComplexItem::_scanForItem(QmlObjectListModel* visualItems, bool flyV
     //  Stop taking photos sequence - optional
     //  Stop taking video sequence - optional
     //  MAV_CMD_NAV_LOITER_TO_ALT or MAV_CMD_NAV_WAYPOINT
-    //  MAV_CMD_NAV_LAND or MAV_CMS_NAV_VTOL_LAND
+    //  MAV_CMD_NAV_LAND or MAV_CMD_NAV_VTOL_LAND
 
     // Start looking for the commands in reverse order from the end of the list
 

src/MissionManager/LandingComplexItem.h

@@ -128,7 +128,8 @@ signals:
     void _updateFlightPathSegmentsSignal(void);
 
 protected slots:
-    void _updateFlightPathSegmentsDontCallDirectly  (void);
+    virtual void _updateFlightPathSegmentsDontCallDirectly(void) = 0;
+
     void _recalcFromHeadingAndDistanceChange        (void);
     void _recalcFromCoordinateChange                (void);
     void _setDirty                                  (void);

src/MissionManager/LandingComplexItemTest.cc

@@ -376,3 +376,28 @@ bool SimpleLandingComplexItem::_isValidLandItem(const MissionItem& missionItem)
         return true;
     }
 }
+
+// Never call this method directly. If you want to update the flight segments you emit _updateFlightPathSegmentsSignal()
+void SimpleLandingComplexItem::_updateFlightPathSegmentsDontCallDirectly(void)
+{
+    if (_cTerrainCollisionSegments != 0) {
+        _cTerrainCollisionSegments = 0;
+        emit terrainCollisionChanged(false);
+    }
+
+    _flightPathSegments.beginReset();
+    _flightPathSegments.clearAndDeleteContents();
+    if (useLoiterToAlt()->rawValue().toBool()) {
+        _appendFlightPathSegment(finalApproachCoordinate(), amslEntryAlt(), loiterTangentCoordinate(),  amslEntryAlt()); // Best we can do to simulate loiter circle terrain profile
+        _appendFlightPathSegment(loiterTangentCoordinate(), amslEntryAlt(), landingCoordinate(),        amslExitAlt());
+    } else {
+        _appendFlightPathSegment(finalApproachCoordinate(), amslEntryAlt(), landingCoordinate(),        amslExitAlt());
+    }
+    _flightPathSegments.endReset();
+
+    if (_cTerrainCollisionSegments != 0) {
+        emit terrainCollisionChanged(true);
+    }
+
+    _masterController->missionController()->recalcTerrainProfile();
+}

src/MissionManager/LandingComplexItemTest.h

@@ -82,7 +82,7 @@ public:
     QString mapVisualQML(void) const final { return QStringLiteral("FWLandingPatternMapVisual.qml"); }
 
     // Overrides from VisualMissionItem
-    void                save                        (QJsonArray&  /*missionItems*/) { };
+    void    save        (QJsonArray&  /*missionItems*/) override { };
 
     static const QString name;
 
@@ -90,6 +90,9 @@ public:
 
     static const char* settingsGroup;
 
+private slots:
+    void _updateFlightPathSegmentsDontCallDirectly(void) override;
+
 private:
     static LandingComplexItem*  _createItem     (PlanMasterController* masterController, bool flyView, QObject* parent) { return new SimpleLandingComplexItem(masterController, flyView, parent); }
     static bool                 _isValidLandItem(const MissionItem& missionItem);

src/MissionManager/MissionController.cc

@@ -1154,22 +1154,25 @@ double MissionController::_calcDistanceToHome(VisualMissionItem* currentItem, Vi
 
 FlightPathSegment* MissionController::_createFlightPathSegmentWorker(VisualItemPair& pair)
 {
-    QGeoCoordinate      coord1 =            pair.first->isSimpleItem() ? pair.first->coordinate() : pair.first->exitCoordinate();
-    QGeoCoordinate      coord2 =            pair.second->coordinate();
-    double              coord1AMSLAlt =     pair.first->isSimpleItem() ? pair.first->amslEntryAlt() : pair.first->amslExitAlt();
-    double              coord2AMSLAlt =     pair.second->amslEntryAlt();
+    // The takeoff goes straight up from ground to alt and then over to specified position at same alt. Which means
+    // that coord 1 altitude is the same as coord altitude.
+    bool                takeoffStraightUp   = pair.second->isTakeoffItem() && !_controllerVehicle->fixedWing();
 
-    FlightPathSegment*  segment =           new FlightPathSegment(coord1, coord1AMSLAlt, coord2, coord2AMSLAlt, !_flyView /* queryTerrainData */,  this);
+    QGeoCoordinate      coord1              = pair.first->exitCoordinate();
+    QGeoCoordinate      coord2              = pair.second->coordinate();
+    double              coord2AMSLAlt       = pair.second->amslEntryAlt();
+    double              coord1AMSLAlt       = takeoffStraightUp ? coord2AMSLAlt : pair.first->amslExitAlt();
 
-    auto                coord1Notifier =    pair.first->isSimpleItem() ? &VisualMissionItem::coordinateChanged : &VisualMissionItem::exitCoordinateChanged;
-    auto                coord2Notifier =    &VisualMissionItem::coordinateChanged;
-    auto                coord1AltNotifier = pair.first->isSimpleItem() ? &VisualMissionItem::amslEntryAltChanged : &VisualMissionItem::amslExitAltChanged;
-    auto                coord2AltNotifier = &VisualMissionItem::amslEntryAltChanged;
+    FlightPathSegment* segment = new FlightPathSegment(coord1, coord1AMSLAlt, coord2, coord2AMSLAlt, !_flyView /* queryTerrainData */,  this);
 
-    connect(pair.first,  coord1Notifier,                                segment,    &FlightPathSegment::setCoordinate1);
-    connect(pair.second, coord2Notifier,                                segment,    &FlightPathSegment::setCoordinate2);
-    connect(pair.first,  coord1AltNotifier,                             segment,    &FlightPathSegment::setCoord1AMSLAlt);
-    connect(pair.second, coord2AltNotifier,                             segment,    &FlightPathSegment::setCoord2AMSLAlt);
+    if (takeoffStraightUp) {
+        connect(pair.second, &VisualMissionItem::amslEntryAltChanged, segment, &FlightPathSegment::setCoord1AMSLAlt);
+    } else {
+        connect(pair.first, &VisualMissionItem::amslExitAltChanged, segment, &FlightPathSegment::setCoord1AMSLAlt);
+    }
+    connect(pair.first,  &VisualMissionItem::exitCoordinateChanged, segment,    &FlightPathSegment::setCoordinate1);
+    connect(pair.second, &VisualMissionItem::coordinateChanged,     segment,    &FlightPathSegment::setCoordinate2);
+    connect(pair.second, &VisualMissionItem::amslEntryAltChanged,   segment,    &FlightPathSegment::setCoord2AMSLAlt);
 
     connect(pair.second, &VisualMissionItem::coordinateChanged,         this,       &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
 
@@ -1266,7 +1269,7 @@ void MissionController::_recalcFlightPathSegments(void)
     _incompleteComplexItemLines.clearAndDeleteContents();
 
     // Mission Settings item needs to start with no segment
-    lastFlyThroughVI->setSimpleFlighPathSegment(nullptr);
+    lastFlyThroughVI->clearSimpleFlighPathSegment();
 
     // Grovel through the list of items keeping track of things needed to correctly draw waypoints lines
 
@@ -1275,7 +1278,7 @@ void MissionController::_recalcFlightPathSegments(void)
         SimpleMissionItem*  simpleItem =    qobject_cast<SimpleMissionItem*>(visualItem);
         ComplexMissionItem* complexItem =   qobject_cast<ComplexMissionItem*>(visualItem);
 
-        visualItem->setSimpleFlighPathSegment(nullptr);
+        visualItem->clearSimpleFlighPathSegment();
 
         if (simpleItem) {
             if (roiActive) {

src/MissionManager/SimpleMissionItem.cc

@@ -173,6 +173,9 @@ void SimpleMissionItem::_connectSignals(void)
     connect(&_missionItem._param1Fact,          &Fact::valueChanged,                        this, &SimpleMissionItem::_possibleAdditionalTimeDelayChanged);
     connect(&_missionItem._param4Fact,          &Fact::valueChanged,                        this, &SimpleMissionItem::_possibleVehicleYawChanged);
 
+    // Exit coordinate is the same as entrance coordinate
+    connect(this,                               &SimpleMissionItem::coordinateChanged,      this, &SimpleMissionItem::exitCoordinate);
+
     // The following changes may also change friendlyEditAllowed
     connect(&_missionItem._autoContinueFact,    &Fact::valueChanged,                        this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
     connect(&_missionItem._commandFact,         &Fact::valueChanged,                        this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);

src/MissionManager/VTOLLandingComplexItem.cc

@@ -120,3 +120,29 @@ bool VTOLLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, bool f
 {
     return _scanForItem(visualItems, flyView, masterController, _isValidLandItem, _createItem);
 }
+
+// Never call this method directly. If you want to update the flight segments you emit _updateFlightPathSegmentsSignal()
+void VTOLLandingComplexItem::_updateFlightPathSegmentsDontCallDirectly(void)
+{
+    if (_cTerrainCollisionSegments != 0) {
+        _cTerrainCollisionSegments = 0;
+        emit terrainCollisionChanged(false);
+    }
+
+    _flightPathSegments.beginReset();
+    _flightPathSegments.clearAndDeleteContents();
+    if (useLoiterToAlt()->rawValue().toBool()) {
+        _appendFlightPathSegment(finalApproachCoordinate(), amslEntryAlt(), loiterTangentCoordinate(),  amslEntryAlt()); // Best we can do to simulate loiter circle terrain profile
+        _appendFlightPathSegment(loiterTangentCoordinate(), amslEntryAlt(), landingCoordinate(),        amslEntryAlt());
+    } else {
+        _appendFlightPathSegment(finalApproachCoordinate(), amslEntryAlt(), landingCoordinate(),        amslEntryAlt());
+    }
+    _appendFlightPathSegment(landingCoordinate(), amslEntryAlt(), landingCoordinate(), amslExitAlt());
+    _flightPathSegments.endReset();
+
+    if (_cTerrainCollisionSegments != 0) {
+        emit terrainCollisionChanged(true);
+    }
+
+    _masterController->missionController()->recalcTerrainProfile();
+}

src/MissionManager/VTOLLandingComplexItem.h

@@ -43,6 +43,9 @@ public:
 
     static const char* settingsGroup;
 
+private slots:
+    void _updateFlightPathSegmentsDontCallDirectly(void) override;
+
 private:
     static LandingComplexItem*  _createItem     (PlanMasterController* masterController, bool flyView, QObject* parent) { return new VTOLLandingComplexItem(masterController, flyView, parent); }
     static bool                 _isValidLandItem(const MissionItem& missionItem);

src/MissionManager/VisualMissionItem.h

@@ -133,6 +133,7 @@ public:
 
     FlightPathSegment* simpleFlightPathSegment(void) { return _simpleFlightPathSegment; }
     void setSimpleFlighPathSegment  (FlightPathSegment* segment) { _simpleFlightPathSegment = segment; }
+    void clearSimpleFlighPathSegment(void) { _simpleFlightPathSegment = nullptr; }
 
     PlanMasterController* masterController(void) { return _masterController; }