New user model for Takeoff item

src/MissionManager/MissionController.cc

@@ -377,7 +377,7 @@ VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordin
     }
 
     // We send the click coordinate through here to be able to set the planned home position from the user click location if needed
-    _recalcAllWithClickCoordinate(coordinate);
+    _recalcAllWithCoordinate(coordinate);
 
     if (makeCurrentItem) {
         setCurrentPlanViewIndex(newItem->sequenceNumber(), true);
@@ -392,14 +392,11 @@ VisualMissionItem* MissionController::insertSimpleMissionItem(QGeoCoordinate coo
     return _insertSimpleMissionItemWorker(coordinate, MAV_CMD_NAV_WAYPOINT, visualItemIndex, makeCurrentItem);
 }
 
-VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
+VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate /*coordinate*/, int visualItemIndex, bool makeCurrentItem)
 {
     int sequenceNumber = _nextSequenceNumber();
     TakeoffMissionItem * newItem = new TakeoffMissionItem(_controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF, _controllerVehicle, _flyView, _settingsItem, this);
     newItem->setSequenceNumber(sequenceNumber);
-    if (!newItem->coordinate().isValid()) {
-        newItem->setCoordinate(coordinate);
-    }
     newItem->setWizardMode(true);
     _initVisualItem(newItem);
 
@@ -419,8 +416,7 @@ VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate coordinat
         _visualItems->insert(visualItemIndex, newItem);
     }
 
-    // We send the click coordinate through here to be able to set the planned home position from the user click location if needed
-    _recalcAllWithClickCoordinate(coordinate);
+    _recalcAll();
 
     if (makeCurrentItem) {
         setCurrentPlanViewIndex(newItem->sequenceNumber(), true);
@@ -466,7 +462,7 @@ VisualMissionItem* MissionController::insertComplexMissionItem(QString itemName,
         return nullptr;
     }
 
-    _insertComplexMissionItemWorker(newItem, visualItemIndex, makeCurrentItem);
+    _insertComplexMissionItemWorker(mapCenterCoordinate, newItem, visualItemIndex, makeCurrentItem);
 
     return newItem;
 }
@@ -486,12 +482,12 @@ VisualMissionItem* MissionController::insertComplexMissionItemFromKMLOrSHP(QStri
         return nullptr;
     }
 
-    _insertComplexMissionItemWorker(newItem, visualItemIndex, makeCurrentItem);
+    _insertComplexMissionItemWorker(QGeoCoordinate(), newItem, visualItemIndex, makeCurrentItem);
 
     return newItem;
 }
 
-void MissionController::_insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int visualItemIndex, bool makeCurrentItem)
+void MissionController::_insertComplexMissionItemWorker(const QGeoCoordinate& mapCenterCoordinate, ComplexMissionItem* complexItem, int visualItemIndex, bool makeCurrentItem)
 {
     int sequenceNumber = _nextSequenceNumber();
     bool surveyStyleItem = qobject_cast<SurveyComplexItem*>(complexItem) ||
@@ -538,7 +534,7 @@ void MissionController::_insertComplexMissionItemWorker(ComplexMissionItem* comp
     if(!complexItem->isSimpleItem()) {
         connect(complexItem, &ComplexMissionItem::boundingCubeChanged, this, &MissionController::_complexBoundingBoxChanged);
     }
-    _recalcAll();
+    _recalcAllWithCoordinate(mapCenterCoordinate);
 
     if (makeCurrentItem) {
         setCurrentPlanViewIndex(complexItem->sequenceNumber(), true);
@@ -1649,6 +1645,7 @@ void MissionController::_recalcChildItems(void)
 
 void MissionController::_setPlannedHomePositionFromFirstCoordinate(const QGeoCoordinate& clickCoordinate)
 {
+    bool foundFirstCoordinate = false;
     QGeoCoordinate firstCoordinate;
 
     if (_settingsItem->coordinate().isValid()) {
@@ -1659,14 +1656,15 @@ void MissionController::_setPlannedHomePositionFromFirstCoordinate(const QGeoCoo
     for (int i=1; i<_visualItems->count(); i++) {
         VisualMissionItem* item = _visualItems->value<VisualMissionItem*>(i);
 
-        if (item->specifiesCoordinate()) {
+        if (item->specifiesCoordinate() && item->coordinate().isValid()) {
+            foundFirstCoordinate = true;
             firstCoordinate = item->coordinate();
             break;
         }
     }
 
     // No item specifying a coordinate was found, in this case it we have a clickCoordinate use that
-    if (!firstCoordinate.isValid()) {
+    if (!foundFirstCoordinate) {
         firstCoordinate = clickCoordinate;
     }
 
@@ -1677,11 +1675,10 @@ void MissionController::_setPlannedHomePositionFromFirstCoordinate(const QGeoCoo
     }
 }
 
-/// @param clickCoordinate The location of the user click when inserting a new item
-void MissionController::_recalcAllWithClickCoordinate(QGeoCoordinate& clickCoordinate)
+void MissionController::_recalcAllWithCoordinate(const QGeoCoordinate& coordinate)
 {
     if (!_flyView) {
-        _setPlannedHomePositionFromFirstCoordinate(clickCoordinate);
+        _setPlannedHomePositionFromFirstCoordinate(coordinate);
     }
     _recalcSequence();
     _recalcChildItems();
@@ -1692,7 +1689,7 @@ void MissionController::_recalcAllWithClickCoordinate(QGeoCoordinate& clickCoord
 void MissionController::_recalcAll(void)
 {
     QGeoCoordinate emptyCoord;
-    _recalcAllWithClickCoordinate(emptyCoord);
+    _recalcAllWithCoordinate(emptyCoord);
 }
 
 /// Initializes a new set of mission items
@@ -1817,39 +1814,14 @@ void MissionController::managerVehicleChanged(Vehicle* managerVehicle)
     connect(_missionManager, &MissionManager::lastCurrentIndexChanged,  this, &MissionController::resumeMissionIndexChanged);
     connect(_missionManager, &MissionManager::resumeMissionReady,       this, &MissionController::resumeMissionReady);
     connect(_missionManager, &MissionManager::resumeMissionUploadFail,  this, &MissionController::resumeMissionUploadFail);
-    connect(_managerVehicle, &Vehicle::homePositionChanged,             this, &MissionController::_managerVehicleHomePositionChanged);
     connect(_managerVehicle, &Vehicle::defaultCruiseSpeedChanged,       this, &MissionController::_recalcMissionFlightStatus);
     connect(_managerVehicle, &Vehicle::defaultHoverSpeedChanged,        this, &MissionController::_recalcMissionFlightStatus);
     connect(_managerVehicle, &Vehicle::vehicleTypeChanged,              this, &MissionController::complexMissionItemNamesChanged);
 
-    if (!_masterController->offline()) {
-        _managerVehicleHomePositionChanged();
-    }
-
     emit complexMissionItemNamesChanged();
     emit resumeMissionIndexChanged();
 }
 
-void MissionController::_managerVehicleHomePositionChanged(void)
-{
-    if (_visualItems) {
-        bool currentDirtyBit = dirty();
-
-        MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
-        if (settingsItem) {
-            settingsItem->setHomePositionFromVehicle(_managerVehicle);
-        } else {
-            qWarning() << "First item is not MissionSettingsItem";
-        }
-
-        if (!currentDirtyBit) {
-            // Don't let this trip the dirty bit. Otherwise plan will keep getting marked dirty if vehicle home
-            // changes.
-            _visualItems->setDirty(false);
-        }
-    }
-}
-
 void MissionController::_inProgressChanged(bool inProgress)
 {
     emit syncInProgressChanged(inProgress);
@@ -1858,7 +1830,7 @@ void MissionController::_inProgressChanged(bool inProgress)
 bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude, int* prevAltitudeMode)
 {
     bool        found = false;
-    double      foundAltitude;
+    double      foundAltitude = 0;
     int         foundAltitudeMode;
 
     if (newIndex > _visualItems->count()) {

src/MissionManager/MissionController.h

@@ -260,7 +260,6 @@ signals:
 private slots:
     void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
     void _itemCommandChanged(void);
-    void _managerVehicleHomePositionChanged(void);
     void _inProgressChanged(bool inProgress);
     void _currentMissionIndexChanged(int sequenceNumber);
     void _recalcWaypointLines(void);
@@ -278,7 +277,7 @@ private:
     void _init(void);
     void _recalcSequence(void);
     void _recalcChildItems(void);
-    void _recalcAllWithClickCoordinate(QGeoCoordinate& clickCoordinate);
+    void _recalcAllWithCoordinate(const QGeoCoordinate& coordinate);
     void _initAllVisualItems(void);
     void _deinitAllVisualItems(void);
     void _initVisualItem(VisualMissionItem* item);
@@ -308,7 +307,7 @@ private:
     CoordinateVector* _addWaypointLineSegment(CoordVectHashTable& prevItemPairHashTable, VisualItemPair& pair);
     void _addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum);
     VisualMissionItem* _insertSimpleMissionItemWorker(QGeoCoordinate coordinate, MAV_CMD command, int visualItemIndex, bool makeCurrentItem);
-    void _insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int visualItemIndex, bool makeCurrentItem);
+    void _insertComplexMissionItemWorker(const QGeoCoordinate& mapCenterCoordinate, ComplexMissionItem* complexItem, int visualItemIndex, bool makeCurrentItem);
     void _warnIfTerrainFrameUsed(void);
 
 private:

src/MissionManager/TakeoffMissionItem.cc

@@ -50,10 +50,9 @@ void TakeoffMissionItem::_init(void)
 {
     _editorQml = QStringLiteral("qrc:/qml/SimpleItemEditor.qml");
 
-    if (_settingsItem->coordinate().isValid()) {
-        // Either the user has set a Launch location or it came from a connected vehicle.
-        // Use it as starting point.
-        setCoordinate(_settingsItem->coordinate());
+    QGeoCoordinate homePosition = _vehicle->homePosition();
+    if (homePosition.isValid()) {
+        _settingsItem->setCoordinate(homePosition);
     }
     connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &TakeoffMissionItem::launchCoordinateChanged);
 
@@ -76,19 +75,11 @@ void TakeoffMissionItem::setLaunchTakeoffAtSameLocation(bool launchTakeoffAtSame
 
 void TakeoffMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
 {
-    if (this->coordinate().isValid() || !_vehicle->fixedWing()) {
     if (coordinate != this->coordinate()) {
-            if (_launchTakeoffAtSameLocation) {
-                setLaunchCoordinate(coordinate);
-            }
         SimpleMissionItem::setCoordinate(coordinate);
+        if (_launchTakeoffAtSameLocation) {
+            _settingsItem->setCoordinate(coordinate);
         }
-    } else {
-        // First time setup for fixed wing
-        if (!launchCoordinate().isValid()) {
-            setLaunchCoordinate(coordinate);
-        }
-        SimpleMissionItem::setCoordinate(launchCoordinate().atDistanceAndAzimuth(60, 0));
     }
 }
 
@@ -99,10 +90,22 @@ bool TakeoffMissionItem::isTakeoffCommand(MAV_CMD command)
 
 void TakeoffMissionItem::_initLaunchTakeoffAtSameLocation(void)
 {
+    if (specifiesCoordinate()) {
         if (_vehicle->fixedWing()) {
-        setLaunchTakeoffAtSameLocation(!specifiesCoordinate());
+            setLaunchTakeoffAtSameLocation(false);
         } else {
+            // PX4 specifies a coordinate for takeoff even for non fixed wing. But it makes more sense to not have a coordinate
+            // from and end user standpoint. So even for PX4 we try to keep launch and takeoff at the same position. Unless the
+            // user has moved/loaded launch at a different location than takeoff.
+            if (coordinate().isValid() && _settingsItem->coordinate().isValid()) {
                 setLaunchTakeoffAtSameLocation(coordinate().latitude() == _settingsItem->coordinate().latitude() && coordinate().longitude() == _settingsItem->coordinate().longitude());
+            } else {
+                setLaunchTakeoffAtSameLocation(true);
+            }
+
+        }
+    } else {
+        setLaunchTakeoffAtSameLocation(true);
     }
 }
 
@@ -123,3 +126,33 @@ bool TakeoffMissionItem::load(const QJsonObject& json, int sequenceNumber, QStri
     }
     return success;
 }
+
+void TakeoffMissionItem::setLaunchCoordinate(const QGeoCoordinate& launchCoordinate)
+{
+    if (!launchCoordinate.isValid()) {
+        return;
+    }
+
+    _settingsItem->setCoordinate(launchCoordinate);
+
+    if (!coordinate().isValid()) {
+        QGeoCoordinate takeoffCoordinate;
+        if (_launchTakeoffAtSameLocation) {
+            takeoffCoordinate = launchCoordinate;
+        } else {
+            double altitude = this->altitude()->rawValue().toDouble();
+            double distance = 0.0;
+
+            if (coordinateHasRelativeAltitude()) {
+                // Offset for fixed wing climb out of 30 degrees
+                if (altitude != 0.0) {
+                    distance = altitude / tan(qDegreesToRadians(30.0));
+                }
+            } else {
+                distance = altitude * 1.5;
+            }
+            takeoffCoordinate = launchCoordinate.atDistanceAndAzimuth(distance, 0);
+        }
+        SimpleMissionItem::setCoordinate(takeoffCoordinate);
+    }
+}

src/MissionManager/TakeoffMissionItem.h

@@ -29,7 +29,7 @@ public:
     QGeoCoordinate  launchCoordinate            (void) const { return _settingsItem->coordinate(); }
     bool            launchTakeoffAtSameLocation (void) const { return _launchTakeoffAtSameLocation; }
 
-    void setLaunchCoordinate            (const QGeoCoordinate& launchCoordinate) { _settingsItem->setCoordinate(launchCoordinate); }
+    void setLaunchCoordinate            (const QGeoCoordinate& launchCoordinate);
     void setLaunchTakeoffAtSameLocation (bool launchTakeoffAtSameLocation);
 
     static bool isTakeoffCommand(MAV_CMD command);

src/PlanView/FWLandingPatternMapVisual.qml

@@ -179,6 +179,8 @@ Item {
             anchors.fill:   map
             z:              QGroundControl.zOrderMapItems + 1   // Over item indicators
 
+            readonly property int   _decimalPlaces:             8
+
             onClicked: {
                 var coordinate = map.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
                 coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)

src/PlanView/SimpleItemEditor.qml

@@ -63,24 +63,29 @@ Rectangle {
             anchors.left:       parent.left
             anchors.right:      parent.right
             spacing:            _margin
-            visible:            missionItem.wizardMode
+            visible:            missionItem.isTakeoffItem && missionItem.wizardMode // Hack special case for takeoff item
 
             QGCLabel {
-                text:               qsTr("Adjust the initial launch location by dragging 'L' indicator to the desired location.")
+                id:                 initialClickLabel
+                text:               missionItem.launchTakeoffAtSameLocation ?
+                                        qsTr("Click in map to set Takeoff location.") :
+                                        qsTr("Click in map to set Launch location.")
                 Layout.fillWidth:   true
                 wrapMode:           Text.WordWrap
-                visible:            !missionItem.launchTakeoffAtSameLocation
+                visible:            missionItem.isTakeoffItem && !missionItem.launchCoordinate.isValid
             }
 
             QGCLabel {
-                text:               qsTr("Adjust the takeoff %1 location by dragging 'T' indicator to the desired location.").arg(missionItem.launchTakeoffAtSameLocation ? "" : qsTr("completion "))
+                text:               qsTr("Adjust the takeoff completion location by dragging 'T' indicator to the desired location.")
                 Layout.fillWidth:   true
                 wrapMode:           Text.WordWrap
+                visible:            !initialClickLabel.visible
             }
 
             QGCButton {
                 text:               qsTr("Done Adjusting")
                 Layout.fillWidth:   true
+                visible:            !initialClickLabel.visible
                 onClicked: {
                     missionItem.wizardMode = false
                     editorRoot.selectNextNotReadyItem()

src/PlanView/TakeoffItemMapVisual.qml

@@ -46,12 +46,16 @@ Item {
 
     QGCDynamicObjectManager { id: _objMgrCommonVisuals }
     QGCDynamicObjectManager { id: _objMgrEditingVisuals }
+    QGCDynamicObjectManager { id: _objMgrMouseClick }
 
     Component.onCompleted: {
         addCommonVisuals()
         if (_missionItem.isCurrentItem && map.planView) {
             addEditingVisuals()
         }
+        if (!_missionItem.launchCoordinate.isValid) {
+            _objMgrMouseClick.createObject(mouseAreaClickComponent, map, false /* addToMap */)
+        }
     }
 
     Connections {
@@ -127,4 +131,28 @@ Item {
                 }
         }
     }
+
+    // Mouse area to capture launch location click
+    Component {
+        id:  mouseAreaClickComponent
+
+        MouseArea {
+            anchors.fill:   map
+            z:              QGroundControl.zOrderMapItems + 1   // Over item indicators
+
+            readonly property int   _decimalPlaces: 8
+
+            onClicked: {
+                var coordinate = map.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
+                coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
+                coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
+                coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
+                _missionItem.launchCoordinate = coordinate
+                if (_missionItem.launchTakeoffAtSameLocation) {
+                    _missionItem.wizardMode = false
+                }
+                _objMgrMouseClick.destroyObjects()
+            }
+        }
+    }
 }