Plan: Add support for takeoff item required

ChangeLog.md

@@ -6,6 +6,12 @@ Note: This file only contains high level features or important fixes.
 
 ### 4.0.3 - Not yet released
 
+
+### 4.0.3 - Not yet released
+
+* Plan: Add setting for takeoff item not required
+* Plan: Takeoff item must be added prior to allowing other item types to enable
+
 ### 4.0.2 - Stable
 
 * Fix Mavlink V2 protocol negotation based on capability bits

src/MissionManager/MissionController.cc

@@ -31,6 +31,7 @@
 #include "KML.h"
 #include "QGCCorePlugin.h"
 #include "TakeoffMissionItem.h"
+#include "PlanViewSettings.h"
 
 #define UPDATE_TIMEOUT 5000 ///< How often we check for bounding box changes
 
@@ -59,6 +60,7 @@ const QString MissionController::patternCorridorScanName    (QT_TRANSLATE_NOOP("
 
 MissionController::MissionController(PlanMasterController* masterController, QObject *parent)
     : PlanElementController     (masterController, parent)
+    , _planViewSettings         (qgcApp()->toolbox()->settingsManager()->planViewSettings())
     , _missionManager           (_managerVehicle->missionManager())
     , _missionItemCount         (0)
     , _visualItems              (nullptr)
@@ -77,6 +79,8 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
     managerVehicleChanged(_managerVehicle);
     _updateTimer.setSingleShot(true);
     connect(&_updateTimer, &QTimer::timeout, this, &MissionController::_updateTimeout);
+
+    connect(_planViewSettings->takeoffItemNotRequired(), &Fact::rawValueChanged, this, &MissionController::_takeoffItemNotRequiredChanged);
 }
 
 MissionController::~MissionController()
@@ -2301,6 +2305,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
         _currentPlanViewItem  =         nullptr;
         _currentPlanViewSeqNum =        -1;
         _currentPlanViewVIIndex =       -1;
+        _onlyInsertTakeoffValid =       !_planViewSettings->takeoffItemNotRequired()->rawValue().toBool() && _visualItems->count() == 1; // First item must be takeoff
         _isInsertTakeoffValid =         true;
         _isInsertLandValid =            true;
         _isROIActive =                  false;
@@ -2430,10 +2435,15 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
             }
         }
 
+        // These are not valid when only takeoff is allowed
+        _isInsertLandValid =            _isInsertLandValid && !_onlyInsertTakeoffValid;
+        _flyThroughCommandsAllowed =    _flyThroughCommandsAllowed && !_onlyInsertTakeoffValid;
+
         emit currentPlanViewSeqNumChanged();
         emit currentPlanViewVIIndexChanged();
         emit currentPlanViewItemChanged();
         emit splitSegmentChanged();
+        emit onlyInsertTakeoffValidChanged();
         emit isInsertTakeoffValidChanged();
         emit isInsertLandValidChanged();
         emit isROIActiveChanged();
@@ -2531,3 +2541,9 @@ bool MissionController::isEmpty(void) const
 {
     return _visualItems->count() <= 1;
 }
+
+void MissionController::_takeoffItemNotRequiredChanged(void)
+{
+    // Force a recalc of allowed bits
+    setCurrentPlanViewSeqNum(_currentPlanViewSeqNum, true /* force */);
+}

src/MissionManager/MissionController.h

@@ -28,6 +28,7 @@ class SimpleMissionItem;
 class ComplexMissionItem;
 class MissionSettingsItem;
 class QDomDocument;
+class PlanViewSettings;
 
 Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
 
@@ -95,6 +96,7 @@ public:
     Q_PROPERTY(QString              surveyComplexItemName           READ surveyComplexItemName          CONSTANT)
     Q_PROPERTY(QString              corridorScanComplexItemName     READ corridorScanComplexItemName    CONSTANT)
     Q_PROPERTY(QString              structureScanComplexItemName    READ structureScanComplexItemName   CONSTANT)
+    Q_PROPERTY(bool                 onlyInsertTakeoffValid          MEMBER _onlyInsertTakeoffValid      NOTIFY onlyInsertTakeoffValidChanged)
     Q_PROPERTY(bool                 isInsertTakeoffValid            MEMBER _isInsertTakeoffValid        NOTIFY isInsertTakeoffValidChanged)
     Q_PROPERTY(bool                 isInsertLandValid               MEMBER _isInsertLandValid           NOTIFY isInsertLandValidChanged)
     Q_PROPERTY(bool                 isROIActive                     MEMBER _isROIActive                 NOTIFY isROIActiveChanged)
@@ -264,6 +266,7 @@ signals:
     void currentPlanViewItemChanged         (void);
     void missionBoundingCubeChanged         (void);
     void missionItemCountChanged            (int missionItemCount);
+    void onlyInsertTakeoffValidChanged      (void);
     void isInsertTakeoffValidChanged        (void);
     void isInsertLandValidChanged           (void);
     void isROIActiveChanged                 (void);
@@ -286,6 +289,7 @@ private slots:
     void _updateTimeout                         (void);
     void _complexBoundingBoxChanged             (void);
     void _recalcAll                             (void);
+    void _takeoffItemNotRequiredChanged         (void);
 
 private:
     void _init(void);
@@ -329,6 +333,7 @@ private:
     CoordinateVector* _createCoordinateVectorWorker(VisualItemPair& pair);
 
 private:
+    PlanViewSettings*       _planViewSettings =             nullptr;
     MissionManager*         _missionManager;
     int                     _missionItemCount;
     QmlObjectListModel*     _visualItems;
@@ -352,10 +357,11 @@ private:
     QGeoCoordinate          _takeoffCoordinate;
     QGeoCoordinate          _previousCoordinate;
     CoordinateVector*       _splitSegment;
+    bool                    _onlyInsertTakeoffValid =       true;
     bool                    _isInsertTakeoffValid =         true;
-    bool                    _isInsertLandValid =            true;
+    bool                    _isInsertLandValid =            false;
     bool                    _isROIActive =                  false;
-    bool                    _flyThroughCommandsAllowed =    true;
+    bool                    _flyThroughCommandsAllowed =    false;
     bool                    _isROIBeginCurrentItem =        false;
 
     static const char*  _settingsGroup;

src/PlanView/PlanView.qml

@@ -617,7 +617,7 @@ Item {
                 {
                     name:               _missionController.isROIActive ? qsTr("Cancel ROI") : qsTr("ROI"),
                     iconSource:         "/qmlimages/MapAddMission.svg",
-                    buttonEnabled:      true,
+                    buttonEnabled:      !_missionController.onlyInsertTakeoffValid,
                     buttonVisible:      _isMissionLayer && _planMasterController.controllerVehicle.roiModeSupported,
                     toggle:             !_missionController.isROIActive
                 },

src/Settings/PlanView.SettingsGroup.json

@@ -16,5 +16,11 @@
     "shortDescription": "Show/Hide the mission item status display",
     "type":             "bool",
     "defaultValue":     false
+},
+{
+    "name":             "takeoffItemNotRequired",
+    "shortDescription": "Allow missions to not require a takeoff item",
+    "type":             "bool",
+    "defaultValue":     false
 }
 ]

src/Settings/PlanViewSettings.cc

@@ -20,3 +20,4 @@ DECLARE_SETTINGGROUP(PlanView, "PlanView")
 DECLARE_SETTINGSFACT(PlanViewSettings, displayPresetsTabFirst)
 DECLARE_SETTINGSFACT(PlanViewSettings, aboveTerrainWarning)
 DECLARE_SETTINGSFACT(PlanViewSettings, showMissionItemStatus)
+DECLARE_SETTINGSFACT(PlanViewSettings, takeoffItemNotRequired)

src/Settings/PlanViewSettings.h

@@ -23,4 +23,5 @@ public:
     DEFINE_SETTINGFACT(displayPresetsTabFirst)
     DEFINE_SETTINGFACT(aboveTerrainWarning)
     DEFINE_SETTINGFACT(showMissionItemStatus)
+    DEFINE_SETTINGFACT(takeoffItemNotRequired)
 };

src/ui/preferences/GeneralSettings.qml

@@ -43,6 +43,7 @@ Rectangle {
     property Fact _followTarget:                QGroundControl.settingsManager.appSettings.followTarget
     property real _panelWidth:                  _root.width * _internalWidthRatio
     property real _margins:                     ScreenTools.defaultFontPixelWidth
+    property var _planViewSettings:             QGroundControl.settingsManager.planViewSettings
 
     property string _videoSource:               QGroundControl.settingsManager.videoSettings.videoSource.value
     property bool   _isGst:                     QGroundControl.videoManager.isGStreamer
@@ -595,7 +596,7 @@ Rectangle {
                     QGCLabel {
                         id:         planViewSectionLabel
                         text:       qsTr("Plan View")
-                        visible:    QGroundControl.settingsManager.planViewSettings.visible
+                        visible:    _planViewSettings.visible
                     }
                     Rectangle {
                         Layout.preferredHeight: planViewCol.height + (_margins * 2)
@@ -621,6 +622,12 @@ Rectangle {
                                     fact:                   QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude
                                 }
                             }
+
+                            FactCheckBox {
+                                text:       qsTr("Missions Do Not Require Takeoff Item")
+                                fact:       _planViewSettings.takeoffItemNotRequired
+                                visible:    _planViewSettings.takeoffItemNotRequired.visible
+                            }
                         }
                     }