Add support to set Land Start coords to next item

Added an option in the Plan View settings to automatically set the coordinates of DO_LAND_START mission items to match the next waypoint in the mission. This is used to help find the closest landing sequence in the event of an RTL. This option is disabled by default to match the previous behavior.
mavlink · Jan 9, 2025 · ce1f246 · ce1f246
1 parent 2647246
commit ce1f246
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Showing 6 changed files with 46 additions and 1 deletion.
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
@@ -272,6 +272,9 @@ void MissionController::addMissionToKML(KMLPlanDomDocument& planKML)
     QList<MissionItem*> rgMissionItems;
 
     _convertToMissionItems(_visualItems, rgMissionItems, deleteParent);
+    if (_planViewSettings->autoSetDoLandStartCoords()->rawValue().toBool())
+        _autoSetDoLandStartCoords(rgMissionItems);
+
     planKML.addMission(_controllerVehicle, _visualItems, rgMissionItems);
     deleteParent->deleteLater();
 }
@@ -282,6 +285,8 @@ void MissionController::sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel*
         QList<MissionItem*> rgMissionItems;
 
         _convertToMissionItems(visualMissionItems, rgMissionItems, vehicle);
+        if (_planViewSettings->autoSetDoLandStartCoords()->rawValue().toBool())
+            _autoSetDoLandStartCoords(rgMissionItems);
 
         // PlanManager takes control of MissionItems so no need to delete
         vehicle->missionManager()->writeMissionItems(rgMissionItems);
@@ -2658,6 +2663,30 @@ void MissionController::_firstItemAdded(void)
     _controllerVehicle->stopTrackingFirmwareVehicleTypeChanges();
 }
 
+void MissionController::_autoSetDoLandStartCoords(QList<MissionItem*>& rgMissionItems) {
+    for (int i = 0; i < rgMissionItems.count(); i++) {
+        MissionItem* item = rgMissionItems[i];
+        if (item->command() == MAV_CMD_DO_LAND_START) {
+            MissionItem* nextItemWCoords = nullptr;
+            // We only modify the coordinates if there is another item with valid coordinates after
+            for (int j = i + 1; j < rgMissionItems.count(); j++) {
+                if (rgMissionItems[j]->coordinate().isValid() &&
+                    (rgMissionItems[j]->frame() != MAV_FRAME_MISSION)) {
+                    nextItemWCoords = rgMissionItems[j];
+                    break;
+                }
+            }
+
+            if (nextItemWCoords) {
+                item->setFrame(nextItemWCoords->frame());
+                item->setParam5(nextItemWCoords->param5());
+                item->setParam6(nextItemWCoords->param6());
+                item->setParam7(nextItemWCoords->param7());
+            }
+        }
+    }
+}
+
 MissionController::SendToVehiclePreCheckState MissionController::sendToVehiclePreCheck(void)
 {
     if (_managerVehicle->isOfflineEditingVehicle()) {

diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
@@ -195,7 +195,7 @@ class MissionController : public PlanElementController
     int readyForSaveState(void) const;
 
     /// Sends the mission items to the specified vehicle
-    static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems);
+    void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems);
 
     bool loadJsonFile(QFile& file, QString& errorString);
     bool loadTextFile(QFile& file, QString& errorString);
@@ -359,6 +359,7 @@ private slots:
     FlightPathSegment*      _createFlightPathSegmentWorker      (VisualItemPair& pair, bool mavlinkTerrainFrame);
     void                    _allItemsRemoved                    (void);
     void                    _firstItemAdded                     (void);
+    void                    _autoSetDoLandStartCoords           (QList<MissionItem*>& rgMissionItems);
 
     static double           _calcDistanceToHome                 (VisualMissionItem* currentItem, VisualMissionItem* homeItem);
     static double           _normalizeLat                       (double lat);

diff --git a/src/Settings/PlanView.SettingsGroup.json b/src/Settings/PlanView.SettingsGroup.json
@@ -27,6 +27,12 @@
     "type":         "bool",
     "default":      false
 },
+{
+    "name":         "autoSetDoLandStartCoords",
+    "shortDesc":    "Automatically set the coordinates of Land Start items to the next waypoint",
+    "type":         "bool",
+    "default":      false
+},
 {
     "name":         "useConditionGate",
     "shortDesc":    "Use MAV_CMD_CONDITION_GATE for pattern generation",

diff --git a/src/Settings/PlanViewSettings.cc b/src/Settings/PlanViewSettings.cc
@@ -21,5 +21,6 @@ DECLARE_SETTINGSFACT(PlanViewSettings, showMissionItemStatus)
 DECLARE_SETTINGSFACT(PlanViewSettings, useConditionGate)
 DECLARE_SETTINGSFACT(PlanViewSettings, takeoffItemNotRequired)
 DECLARE_SETTINGSFACT(PlanViewSettings, allowMultipleLandingPatterns)
+DECLARE_SETTINGSFACT(PlanViewSettings, autoSetDoLandStartCoords)
 DECLARE_SETTINGSFACT(PlanViewSettings, showGimbalOnlyWhenSet)
 DECLARE_SETTINGSFACT(PlanViewSettings, vtolTransitionDistance)
diff --git a/src/Settings/PlanViewSettings.h b/src/Settings/PlanViewSettings.h
@@ -25,6 +25,7 @@ class PlanViewSettings : public SettingsGroup
     DEFINE_SETTINGFACT(useConditionGate)
     DEFINE_SETTINGFACT(takeoffItemNotRequired)
     DEFINE_SETTINGFACT(allowMultipleLandingPatterns)
+    DEFINE_SETTINGFACT(autoSetDoLandStartCoords)
     DEFINE_SETTINGFACT(showGimbalOnlyWhenSet)
     DEFINE_SETTINGFACT(vtolTransitionDistance)
 };
diff --git a/src/UI/preferences/PlanViewSettings.qml b/src/UI/preferences/PlanViewSettings.qml
@@ -58,5 +58,12 @@ SettingsPage {
             fact:               _planViewSettings.allowMultipleLandingPatterns
             visible:            fact.visible
         }
+
+        FactCheckBoxSlider {
+            Layout.fillWidth:   true
+            text:               qsTr("Automatically set Land Start coordinates to the next waypoint")
+            fact:               _planViewSettings.autoSetDoLandStartCoords
+            visible:            fact.visible
+        }
     }
 }