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Change plan drawing in Fly View to match Plan View
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Updated the Fly View's flight plan drawing to match the Plan View,
enabling support for discontinuities in missions (unconnected flight
legs) in the former.

Key changes:
- Fly View now uses simpleFlightPathSegments, the same model used by
  Plan View, to draw flight paths. This enables proper handling of
  disconnected mission legs, which the previous _waypointPath approach
  did not support.
- Flight plan arrows now appear in the same places between the Fly and
  the Plan Views.
- Removed the old Fly View drawing logic and related members and
  properties.
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@rubenp02
rubenp02 committed Jan 9, 2025
1 parent 93e7e12 commit e2d7ca7
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Showing 4 changed files with 33 additions and 54 deletions.
11 changes: 0 additions & 11 deletions src/FlightDisplay/FlyViewMap.qml
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Original file line number Diff line number Diff line change
Expand Up @@ -326,17 +326,6 @@ FlightMap {
}
}

MapItemView {
model: pipMode ? undefined : _missionController.directionArrows

delegate: MapLineArrow {
fromCoord: object ? object.coordinate1 : undefined
toCoord: object ? object.coordinate2 : undefined
arrowPosition: 2
z: QGroundControl.zOrderWaypointLines
}
}

// Allow custom builds to add map items
CustomMapItems {
map: _root
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28 changes: 21 additions & 7 deletions src/FlightMap/MapItems/PlanMapItems.qml
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Original file line number Diff line number Diff line change
Expand Up @@ -50,21 +50,35 @@ Item {
_missionLineViewComponent = missionLineViewComponent.createObject(map)
if (_missionLineViewComponent.status === Component.Error)
console.log(_missionLineViewComponent.errorString())
map.addMapItem(_missionLineViewComponent)
map.addMapItemGroup(_missionLineViewComponent)
}

Component.onDestruction: {
_missionLineViewComponent.destroy()
if (_missionLineViewComponent) {
// Must remove MapItemGroup before destruction, otherwise we crash on quit
map.removeMapItemGroup(_missionLineViewComponent)
_missionLineViewComponent.destroy()
}
}

Component {
id: missionLineViewComponent

MapPolyline {
line.width: 3
line.color: "#be781c" // Hack, can't get palette to work in here
z: QGroundControl.zOrderWaypointLines
path: _missionController.waypointPath
MapItemGroup {
MissionLineView {
model: _missionController.simpleFlightPathSegments
}

MapItemView {
model: _missionController.directionArrows

delegate: MapLineArrow {
fromCoord: object ? object.coordinate1 : undefined
toCoord: object ? object.coordinate2 : undefined
arrowPosition: 3
z: QGroundControl.zOrderWaypointLines + 1
}
}
}
}
}
44 changes: 12 additions & 32 deletions src/MissionManager/MissionController.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1260,7 +1260,6 @@ void MissionController::_recalcFlightPathSegments(void)

_missionContainsVTOLTakeoff = false;
_flightPathSegmentHashTable.clear();
_waypointPath.clear();

// Note: Although visual support for _incompleteComplexItemLines is still in the codebase. The support for populating the list is not.
// This is due to the initial implementation being buggy and incomplete with respect to correctly generating the line set.
Expand Down Expand Up @@ -1358,38 +1357,28 @@ void MissionController::_recalcFlightPathSegments(void)
}

lastSegmentVisualItemPair = VisualItemPair(lastFlyThroughVI, visualItem);
if (!_flyView || addDirectionArrow) {
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(lastFlyThroughVI);
bool mavlinkTerrainFrame = simpleItem ? simpleItem->missionItem().frame() == MAV_FRAME_GLOBAL_TERRAIN_ALT : false;
FlightPathSegment* segment = _addFlightPathSegment(oldSegmentTable, lastSegmentVisualItemPair, mavlinkTerrainFrame);
segment->setSpecialVisual(roiActive);
if (addDirectionArrow) {
_directionArrows.append(segment);
}
if (visualItem->isCurrentItem() && _delayedSplitSegmentUpdate) {
_splitSegment = segment;
_delayedSplitSegmentUpdate = false;
signalSplitSegmentChanged = true;
}
lastFlyThroughVI->setSimpleFlighPathSegment(segment);
SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(lastFlyThroughVI);
bool mavlinkTerrainFrame = simpleItem ? simpleItem->missionItem().frame() == MAV_FRAME_GLOBAL_TERRAIN_ALT : false;
FlightPathSegment* segment = _addFlightPathSegment(oldSegmentTable, lastSegmentVisualItemPair, mavlinkTerrainFrame);
segment->setSpecialVisual(roiActive);
if (addDirectionArrow) {
_directionArrows.append(segment);
}
if (visualItem->isCurrentItem() && _delayedSplitSegmentUpdate) {
_splitSegment = segment;
_delayedSplitSegmentUpdate = false;
signalSplitSegmentChanged = true;
}
lastFlyThroughVI->setSimpleFlighPathSegment(segment);
}
firstCoordinateNotFound = false;
_waypointPath.append(QVariant::fromValue(visualItem->coordinate()));
lastFlyThroughVI = visualItem;
}
}
}

if (linkStartToHome && homePositionValid) {
_waypointPath.prepend(QVariant::fromValue(_settingsItem->coordinate()));
}

if (linkEndToHome && lastFlyThroughVI != _settingsItem && homePositionValid) {
lastSegmentVisualItemPair = VisualItemPair(lastFlyThroughVI, _settingsItem);
if (_flyView) {
_waypointPath.append(QVariant::fromValue(_settingsItem->coordinate()));
}
FlightPathSegment* segment = _addFlightPathSegment(oldSegmentTable, lastSegmentVisualItemPair, false /* mavlinkTerrainFrame */);
segment->setSpecialVisual(roiActive);
lastFlyThroughVI->setSimpleFlighPathSegment(segment);
Expand Down Expand Up @@ -1433,15 +1422,6 @@ void MissionController::_recalcFlightPathSegments(void)

emit _recalcMissionFlightStatusSignal();

if (_waypointPath.count() == 0) {
// MapPolyLine has a bug where if you change from a path which has elements to an empty path the line drawn
// is not cleared from the map. This hack works around that since it causes the previous lines to be remove
// as then doesn't draw anything on the map.
_waypointPath.append(QVariant::fromValue(QGeoCoordinate(0, 0)));
_waypointPath.append(QVariant::fromValue(QGeoCoordinate(0, 0)));
}

emit waypointPathChanged();
emit recalcTerrainProfile();
if (signalSplitSegmentChanged) {
emit splitSegmentChanged();
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4 changes: 0 additions & 4 deletions src/MissionManager/MissionController.h
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,6 @@ class MissionController : public PlanElementController

Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QmlObjectListModel* simpleFlightPathSegments READ simpleFlightPathSegments CONSTANT) ///< Used by Plan view only for interactive editing
Q_PROPERTY(QVariantList waypointPath READ waypointPath NOTIFY waypointPathChanged) ///< Used by Fly view only for static display
Q_PROPERTY(QmlObjectListModel* directionArrows READ directionArrows CONSTANT)
Q_PROPERTY(QmlObjectListModel* incompleteComplexItemLines READ incompleteComplexItemLines CONSTANT) ///< Segments which are not yet completed.
Q_PROPERTY(QStringList complexMissionItemNames READ complexMissionItemNames NOTIFY complexMissionItemNamesChanged)
Expand Down Expand Up @@ -226,7 +225,6 @@ class MissionController : public PlanElementController
QmlObjectListModel* simpleFlightPathSegments (void) { return &_simpleFlightPathSegments; }
QmlObjectListModel* directionArrows (void) { return &_directionArrows; }
QmlObjectListModel* incompleteComplexItemLines (void) { return &_incompleteComplexItemLines; }
QVariantList waypointPath (void) { return _waypointPath; }
QStringList complexMissionItemNames (void) const;
QGeoCoordinate plannedHomePosition (void) const;
VisualMissionItem* currentPlanViewItem (void) const { return _currentPlanViewItem; }
Expand Down Expand Up @@ -264,7 +262,6 @@ class MissionController : public PlanElementController

signals:
void visualItemsChanged (void);
void waypointPathChanged (void);
void splitSegmentChanged (void);
void newItemsFromVehicle (void);
void missionDistanceChanged (double missionDistance);
Expand Down Expand Up @@ -373,7 +370,6 @@ private slots:
MissionSettingsItem* _settingsItem = nullptr;
PlanViewSettings* _planViewSettings = nullptr;
QmlObjectListModel _simpleFlightPathSegments;
QVariantList _waypointPath;
QmlObjectListModel _directionArrows;
QmlObjectListModel _incompleteComplexItemLines;
FlightPathSegmentHashTable _flightPathSegmentHashTable;
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