Calculate/Display distance between waypoints

src/MissionEditor/MissionEditor.qml

@@ -38,7 +38,9 @@ import QGroundControl.Controllers   1.0
 /// Mission Editor
 
 QGCView {
-    viewPanel: panel
+    id:         _root
+
+    viewPanel:  panel
 
     // zOrder comes from the Loader in MainWindow.qml
     z: QGroundControl.zOrderTopMost
@@ -85,6 +87,15 @@ QGCView {
         }
     }
 
+    function showDistance(missionItem) {
+        if (missionItem.distance < 0.0) {
+            waypointDistanceDisplay.visible = false
+        } else {
+            waypointDistanceDisplay.distance = missionItem.distance
+            waypointDistanceDisplay.visible = true
+        }
+    }
+
     MissionController {
         id:         controller
 
@@ -180,9 +191,9 @@ QGCView {
                     y:              missionItemIndicator ? (missionItemIndicator.y + missionItemIndicator.anchorPoint.y - (itemDragger.height / 2)) : 100
                     width:          _radius * 2
                     height:         _radius * 2
-                    radius:         _radius
-                    border.width:   2
-                    border.color:   "white"
+                    //radius:         _radius
+                    //border.width:   2
+                    //border.color:   "white"
                     color:          "transparent"
                     visible:        false
                     z:              QGroundControl.zOrderMapItems + 1    // Above item icons
@@ -281,6 +292,7 @@ QGCView {
                                 itemDragger.missionItem.coordinate = coordinate
                                 editorMap.latitude = itemDragger.missionItem.coordinate.latitude
                                 editorMap.longitude = itemDragger.missionItem.coordinate.longitude
+                                _root.showDistance(itemDragger.missionItem)
                             }
                         }
                     }
@@ -309,19 +321,22 @@ QGCView {
                             target: object
 
                             onIsCurrentItemChanged: {
-                                if (object.isCurrentItem && object.specifiesCoordinate) {
-                                    // Setup our drag item
-                                    if (object.sequenceNumber != 0) {
-                                        itemDragger.visible = true
-                                        itemDragger.missionItem = Qt.binding(function() { return object })
-                                        itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator })
-                                    } else {
-                                        itemDragger.clearItem()
-                                    }
+                                if (object.isCurrentItem) {
+                                    _root.showDistance(object)
+                                    if (object.specifiesCoordinate) {
+                                        // Setup our drag item
+                                        if (object.sequenceNumber != 0) {
+                                            itemDragger.visible = true
+                                            itemDragger.missionItem = Qt.binding(function() { return object })
+                                            itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator })
+                                        } else {
+                                            itemDragger.clearItem()
+                                        }
 
-                                    // Move to the new position
-                                    editorMap.latitude = object.coordinate.latitude
-                                    editorMap.longitude = object.coordinate.longitude
+                                        // Move to the new position
+                                        editorMap.latitude = object.coordinate.latitude
+                                        editorMap.longitude = object.coordinate.longitude
+                                    }
                                 }
                             }
                         }
@@ -1041,6 +1056,31 @@ QGCView {
                     z:                  QGroundControl.zOrderWidgets
                     checked:            _showHelp
                 }
+
+                Rectangle {
+                    id:                 waypointDistanceDisplay
+                    anchors.margins:    margins
+                    anchors.left:       parent.left
+                    anchors.bottom:     parent.bottom
+                    width:              distanceLabel.width + margins
+                    height:             distanceLabel.height + margins
+                    radius:             ScreenTools.defaultFontPixelWidth
+                    color:              qgcPal.window
+                    opacity:            0.80
+                    visible:            false
+
+                    property real distance: 0
+
+                    readonly property real margins: ScreenTools.defaultFontPixelWidth
+
+                    QGCLabel {
+                        id:                         distanceLabel
+                        anchors.verticalCenter:     parent.verticalCenter
+                        anchors.horizontalCenter:   parent.horizonalCenter
+                        color:                      qgcPal.text
+                        text:                       "Distance: " + Math.round(parent.distance) + " meters"
+                    }
+                }
             } // FlightMap
         } // Item - split view container
     } // QGCViewPanel

src/MissionItem.cc

@@ -80,6 +80,7 @@ MissionItem::MissionItem(QObject*       parent,
     , _autocontinue(autocontinue)
     , _isCurrentItem(isCurrentItem)
     , _reachedTime(0)
+    , _distance(0.0)
     , _headingDegreesFact(NULL)
     , _dirty(false)
     , _homePositionSpecialCase(false)
@@ -189,6 +190,7 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
     _command                    = other._command;
     _autocontinue               = other._autocontinue;
     _reachedTime                = other._reachedTime;
+    _distance                   = other._distance;
     _altitudeRelativeToHomeFact = other._altitudeRelativeToHomeFact;
     _dirty                      = other._dirty;
     _homePositionSpecialCase    = other._homePositionSpecialCase;
@@ -916,3 +918,9 @@ void MissionItem::setHomePositionValid(bool homePositionValid)
     _homePositionValid = homePositionValid;
     emit homePositionValidChanged(_homePositionValid);
 }
+
+void MissionItem::setDistance(double distance)
+{
+    _distance = distance;
+    emit distanceChanged(_distance);
+}

src/MissionItem.h

@@ -91,6 +91,9 @@ public:
     /// true: home position should be shown
     Q_PROPERTY(bool                 homePositionValid   READ homePositionValid      WRITE setHomePositionValid NOTIFY homePositionValidChanged)
 
+    /// Distance to previous waypoint, set by UI controller
+    Q_PROPERTY(double               distance            READ distance               WRITE setDistance       NOTIFY distanceChanged)
+
     // Property accesors
     
     int sequenceNumber(void) const { return _sequenceNumber; }
@@ -134,6 +137,9 @@ public:
     bool homePosition(void) { return _homePositionSpecialCase; }
     bool homePositionValid(void) { return _homePositionValid; }
     void setHomePositionValid(bool homePositionValid);
+
+    double distance(void) { return _distance; }
+    void setDistance(double distance);
     
     // C++ only methods
     
@@ -221,6 +227,7 @@ signals:
     void headingDegreesChanged(double heading);
     void dirtyChanged(bool dirty);
     void homePositionValidChanged(bool homePostionValid);
+    void distanceChanged(float distance);
 
     /** @brief Announces a change to the waypoint data */
     void changed(MissionItem* wp);
@@ -279,6 +286,7 @@ private:
     bool                                _autocontinue;
     bool                                _isCurrentItem;
     quint64                             _reachedTime;
+    double                              _distance;
     
     Fact*           _latitudeFact;
     Fact*           _longitudeFact;

src/MissionManager/MissionController.cc

@@ -293,6 +293,9 @@ void MissionController::_recalcWaypointLines(void)
     MissionItem*    lastCoordinateItem =    qobject_cast<MissionItem*>(_missionItems->get(0));
     bool            firstCoordinateItem =   true;
 
+    // No distance for first item
+    lastCoordinateItem->setDistance(-1.0);
+
     _waypointLines.clear();
 
     for (int i=1; i<_missionItems->count(); i++) {
@@ -305,18 +308,27 @@ void MissionController::_recalcWaypointLines(void)
 
                     // The first coordinate we hit is a takeoff command so link back to home position if valid
                     if (homeItem->homePositionValid()) {
-                        _waypointLines.append(new CoordinateVector(qobject_cast<MissionItem*>(_missionItems->get(0))->coordinate(), item->coordinate()));
+                        MissionItem* homeItem = qobject_cast<MissionItem*>(_missionItems->get(0));
+
+                        item->setDistance(homeItem->coordinate().distanceTo(item->coordinate()));
+                        _waypointLines.append(new CoordinateVector(homeItem->coordinate(), item->coordinate()));
+                    } else {
+                        item->setDistance(-1.0);
                     }
                 } else {
                     // First coordiante is not a takeoff command, it does not link backwards to anything
+                    item->setDistance(-1.0);
                 }
                 firstCoordinateItem = false;
             } else if (!lastCoordinateItem->homePosition() || lastCoordinateItem->homePositionValid()) {
                 // Subsequent coordinate items link to last coordinate item. If the last coordinate item
                 // is an invalid home position we skip the line
+                item->setDistance(lastCoordinateItem->coordinate().distanceTo(item->coordinate()));
                 _waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));
             }
             lastCoordinateItem = item;
+        } else {
+            item->setDistance(-1.0);
         }
     }