Merge pull request #4634 from DonLakeFlyer/FWLandingVisuals

FixedWing Landing Pattern: More work on visuals

src/MissionEditor/FWLandingPatternEditor.qml

@@ -46,7 +46,7 @@ Rectangle {
             anchors.right:  parent.right
             wrapMode:       Text.WordWrap
             font.pointSize: ScreenTools.smallFontPointSize
-            text:           "WIP (NOT FOR REAL FLIGHT!)"
+            text:           qsTr("WIP (NOT FOR REAL FLIGHT!)")
         }
 
         Item { width: 1; height: _margin }
@@ -122,9 +122,21 @@ Rectangle {
         anchors.left:       parent.left
         anchors.right:      parent.right
         visible:            !missionItem.landingCoordSet
+        spacing:            ScreenTools.defaultFontPixelHeight
 
-        QGCLabel { text: "WIP (NOT FOR REAL FLIGHT!)" }
+        QGCLabel {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            wrapMode:       Text.WordWrap
+            font.pointSize: ScreenTools.smallFontPointSize
+            text:           qsTr("WIP (NOT FOR REAL FLIGHT!)")
+        }
 
-        QGCLabel { text: qsTr("Click in map to set landing point.") }
+        QGCLabel {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            wrapMode:       Text.WordWrap
+            text:           qsTr("Click in map to set landing point.")
+        }
     }
 }

src/MissionEditor/FWLandingPatternMapVisual.qml

@@ -22,40 +22,36 @@ Item {
     property var map    ///< Map control to place item in
 
     property var _missionItem:  object
+    property var _itemVisuals: [ ]
     property var _mouseArea
-    property var _dragLoiter
-    property var _dragLand
-    property var _loiterPoint
-    property var _landPoint
-    property var _flightPath
+    property var _dragAreas: [ ]
+
+    readonly property int _flightPathIndex:     0
+    readonly property int _loiterPointIndex:    1
+    readonly property int _loiterRadiusIndex:   2
+    readonly property int _landPointIndex:      3
 
     function hideItemVisuals() {
-        if (_flightPath) {
-            _flightPath.destroy()
-            _flightPath = undefined
-        }
-        if (_loiterPoint) {
-            _loiterPoint.destroy()
-            _loiterPoint = undefined
-        }
-        if (_landPoint) {
-            _landPoint.destroy()
-            _landPoint = undefined
+        for (var i=0; i<_itemVisuals.length; i++) {
+            _itemVisuals[i].destroy()
         }
+        _itemVisuals = [ ]
     }
 
     function showItemVisuals() {
-        if (!_flightPath) {
-            _flightPath = flightPathComponent.createObject(map)
-            map.addMapItem(_flightPath)
-        }
-        if (!_loiterPoint) {
-            _loiterPoint = loiterPointComponent.createObject(map)
-            map.addMapItem(_loiterPoint)
-        }
-        if (!_landPoint) {
-            _landPoint = landPointComponent.createObject(map)
-            map.addMapItem(_landPoint)
+        if (_itemVisuals.length === 0) {
+            var itemVisual = flightPathComponent.createObject(map)
+            map.addMapItem(itemVisual)
+            _itemVisuals[_flightPathIndex] =itemVisual
+            itemVisual = loiterPointComponent.createObject(map)
+            map.addMapItem(itemVisual)
+            _itemVisuals[_loiterPointIndex] = itemVisual
+            itemVisual = loiterRadiusComponent.createObject(map)
+            map.addMapItem(itemVisual)
+            _itemVisuals[_loiterRadiusIndex] = itemVisual
+            itemVisual = landPointComponent.createObject(map)
+            map.addMapItem(itemVisual)
+            _itemVisuals[_landPointIndex] = itemVisual
         }
     }
 
@@ -74,24 +70,16 @@ Item {
     }
 
     function hideDragAreas() {
-        console.log("hideDragAreas")
-        if (_dragLoiter) {
-            _dragLoiter.destroy()
-            _dragLoiter = undefined
-        }
-        if (_dragLand) {
-            _dragLand.destroy()
-            _dragLand = undefined
+        for (var i=0; i<_dragAreas.length; i++) {
+            _dragAreas[i].destroy()
         }
+        _dragAreas = [ ]
     }
 
     function showDragAreas() {
-        console.log("showDragAreas")
-        if (!_dragLoiter) {
-            _dragLoiter = dragAreaComponent.createObject(map, { "dragLoiter": true })
-        }
-        if (!_dragLand) {
-            _dragLand = dragAreaComponent.createObject(map, { "dragLoiter": false })
+        if (_dragAreas.length === 0) {
+            _dragAreas.push(dragAreaComponent.createObject(map, { "dragLoiter": true }))
+            _dragAreas.push(dragAreaComponent.createObject(map, { "dragLoiter": false }))
         }
     }
 
@@ -116,7 +104,6 @@ Item {
         target: _missionItem
 
         onIsCurrentItemChanged: {
-            console.log("onIsCurrentItemChanged", _missionItem.isCurrentItem)
             if (_missionItem.isCurrentItem) {
                 if (_missionItem.landingCoordSet) {
                     showDragAreas()
@@ -172,7 +159,7 @@ Item {
             z:              QGroundControl.zOrderMapItems + 1    // Above item icons
 
             property bool   dragLoiter
-            property var    mapQuickItem:                   dragLoiter ? _loiterPoint : _landPoint
+            property var    mapQuickItem:                   dragLoiter ? _itemVisuals[_loiterPointIndex] : _itemVisuals[_landPointIndex]
             property bool   _preventCoordinateBindingLoop:  false
 
             onXChanged: liveDrag()
@@ -216,7 +203,7 @@ Item {
 
         MapPolyline {
             z:          QGroundControl.zOrderMapItems - 1   // Under item indicators
-            line.color: "white"
+            line.color: "#be781c"
             line.width: 2
             path:       _missionItem.landingCoordSet ? [ _missionItem.loiterCoordinate, _missionItem.landingCoordinate ] : undefined
         }
@@ -234,11 +221,25 @@ Item {
 
             sourceItem:
                 MissionItemIndexLabel {
-                label:      "P"
+                label:      "L"
             }
         }
     }
 
+    // Loiter radius visual
+    Component {
+        id: loiterRadiusComponent
+
+        MapCircle {
+            z:              QGroundControl.zOrderMapItems
+            center:         _missionItem.loiterCoordinate
+            radius:         _missionItem.loiterRadius.value
+            border.width:   2
+            border.color:   "green"
+            color:          "transparent"
+        }
+    }
+
     // Land point
     Component {
         id: landPointComponent
@@ -252,6 +253,7 @@ Item {
             sourceItem:
                 MissionItemIndexLabel {
                 label:      "L"
+                checked:    _missionItem.isCurrentItem
             }
         }
     }

src/MissionManager/FWLandingPattern.FactMetaData.json

@@ -12,8 +12,10 @@
     "shortDescription": "Heading from land point to loiter point.",
     "type":             "double",
     "units":            "deg",
+    "min":              0.0,
+    "max":              360.0,
     "decimalPlaces":    0,
-    "defaultValue":     0.0
+    "defaultValue":     270.0
 },
 {
     "name":             "Loiter altitude",

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -230,7 +230,7 @@ void FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts(void)
         QPointF originPoint(east, north);
         north += _loiterToLandDistanceFact.rawValue().toDouble();
         QPointF loiterPoint(east, north);
-        QPointF rotatedLoiterPoint = _rotatePoint(loiterPoint, originPoint, _landingHeadingFact.rawValue().toDouble());
+        QPointF rotatedLoiterPoint = _rotatePoint(loiterPoint, originPoint, -_landingHeadingFact.rawValue().toDouble());
 
         convertNedToGeo(rotatedLoiterPoint.y(), rotatedLoiterPoint.x(), down, tangentOrigin, &_loiterCoordinate);
 
@@ -276,7 +276,11 @@ void FixedWingLandingComplexItem::_recalcFactsFromCoords(void)
         QPointF vector(eastLoiter - eastLand, northLoiter - northLand);
         double radians = atan2(vector.y(), vector.x());
         double degrees = qRadiansToDegrees(radians);
-        degrees -= 90; // north up
+        // Change angle to north up = 0 degrees
+        degrees -= 90;
+        // Reverse the angle direction to go from mathematic angle (counter-clockwise) to compass heading (clockwise)
+        degrees *= -1.0;
+        // Bring with 0-360 range
         if (degrees < 0.0) {
             degrees += 360.0;
         } else if (degrees > 360.0) {