Merge pull request #2841 from DonLakeFlyer/Gradient

Plan: Add Gradient to bottom item status

src/MissionEditor/MissionItemStatus.qml

@@ -34,7 +34,7 @@ Rectangle {
     property real   expandedWidth               ///< Width of control when expanded
 
     width:      _expanded ? expandedWidth : _collapsedWidth
-    height:     expandLabel.y + expandLabel.height + _margins
+    height:     azimuthLabel.y + azimuthLabel.height + _margins
     radius:     ScreenTools.defaultFontPixelWidth
     color:      qgcPal.window
     opacity:    0.80
@@ -44,13 +44,16 @@ Rectangle {
 
     property real   _collapsedWidth:    distanceLabel.width + (margins * 2)
     property bool   _expanded:          true
-    property real   _distance:          _currentMissionItem ? _currentMissionItem.distance : -1
-    property real   _altDifference:     _currentMissionItem ? _currentMissionItem.altDifference : -1
-    property real   _azimuth:           _currentMissionItem ? _currentMissionItem.azimuth : -1
-    property real   _isHomePosition:    _currentMissionItem ? _currentMissionItem.homePosition : false
-    property bool   _statusValid:       _distance != -1
-    property string _distanceText:      _statusValid ? Math.round(_distance) + " meters" : ""
-    property string _altText:           _statusValid ? Math.round(_altDifference) + " meters" : ""
+    property real   _distance:          _statusValid ? _currentMissionItem.distance : 0
+    property real   _altDifference:     _statusValid ? _currentMissionItem.altDifference : 0
+    property real   _gradient:          _statusValid ? Math.atan(_currentMissionItem.altDifference / _currentMissionItem.distance) : 0
+    property real   _gradientPercent:   isNaN(_gradient) ? 0 : _gradient * 100
+    property real   _azimuth:           _statusValid ? _currentMissionItem.azimuth : -1
+    property real   _isHomePosition:    _statusValid ? _currentMissionItem.homePosition : false
+    property bool   _statusValid:       currentMissionItem != undefined
+    property string _distanceText:      _statusValid ? _distance.toFixed(2) + " m" : ""
+    property string _altText:           _statusValid ? _altDifference.toFixed(2) + " m" : ""
+    property string _gradientText:      _statusValid ? _gradientPercent.toFixed(0) + "%" : ""
     property string _azimuthText:       _statusValid ? Math.round(_azimuth) : ""
 
     readonly property real _margins:    ScreenTools.defaultFontPixelWidth
@@ -76,17 +79,17 @@ Rectangle {
     }
 
     QGCLabel {
-        id:                 azimuthLabel
-        anchors.left:       altLabel.left
+        id:                 gradientLabel
+        anchors.left:       distanceLabel.left
         anchors.top:        altLabel.bottom
-        text:               "Azimuth: " + _azimuthText
+        text:               "Gradient: " + _gradientText
     }
 
     QGCLabel {
-        id:                 expandLabel
-        anchors.left:       azimuthLabel.left
-        anchors.top:        azimuthLabel.bottom
-        text:               _expanded ? "<<" : ">>"
+        id:                 azimuthLabel
+        anchors.left:       distanceLabel.left
+        anchors.top:        gradientLabel.bottom
+        text:               "Azimuth: " + _azimuthText
     }
 
     QGCFlickable {
@@ -128,12 +131,15 @@ Rectangle {
                         visible:                    object.relativeAltitude ? true : (object.homePosition || graphAbsolute)
                     }
 
+                    /*
+                      Taking these off for now since there really isn't room for the numbers
                     QGCLabel {
                         anchors.bottom:             parent.bottom
                         anchors.horizontalCenter:   parent.horizontalCenter
                         font.pixelSize:             ScreenTools.smallFontPixelSize
-                        text:                       (object.relativeAltitude ? "" : "=") + object.coordinate.altitude
+                        text:                       (object.relativeAltitude ? "" : "=") + object.coordinate.altitude.toFixed(0)
                     }
+                    */
                 }
 
             }

src/MissionManager/MissionController.cc

@@ -778,7 +778,8 @@ bool MissionController::_findLastAltitude(double* lastAltitude)
     bool found = false;
     double foundAltitude;
 
-    for (int i=0; i<_missionItems->count(); i++) {
+    // Don't use home position
+    for (int i=1; i<_missionItems->count(); i++) {
         MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
 
         if (item->specifiesCoordinate() && !item->standaloneCoordinate()) {