Add "Change Loiter Radius" action

Added a new Guided mode action to change the radius of the orbit around
the Go here position when in forward flight. This action integrates with
the Go here circle visuals, allowing the new radius to be selected using
the MapCircleVisuals interactive editing gizmo.

Author: rubenp02

src/FlightDisplay/FlyViewAdditionalActionsList.qml

@@ -13,7 +13,8 @@ QtObject {
     property var guidedController
 
     property bool anyActionAvailable: guidedController.showStartMission || guidedController.showContinueMission || guidedController.showChangeAlt || 
-                                        guidedController.showLandAbort || guidedController.showChangeSpeed || guidedController.showGripper
+                                      guidedController.showChangeLoiterRadius ||  guidedController.showLandAbort || guidedController.showChangeSpeed ||
+                                      guidedController.showGripper
     property var model: [
         {
             title:      guidedController.startMissionTitle,
@@ -33,6 +34,12 @@ QtObject {
             action:     guidedController.actionChangeAlt,
             visible:    guidedController.showChangeAlt
         },
+        {
+            title:      guidedController.changeLoiterRadiusTitle,
+            text:       guidedController.changeLoiterRadiusMessage,
+            action:     guidedController.actionChangeLoiterRadius,
+            visible:    guidedController.showChangeLoiterRadius
+        },
         {
             title:      guidedController.landAbortTitle,
             text:       guidedController.landAbortMessage,

src/FlightDisplay/FlyViewMap.qml

@@ -388,6 +388,16 @@ FlightMap {
                         _activeVehicle.inFwdFlight &&
                         !_activeVehicle.orbitActive
 
+        property alias coordinate: _fwdFlightGotoMapCircle.center
+        property alias radius: _fwdFlightGotoMapCircle.radius
+
+        Component.onCompleted: {
+            // Only allow editing the radius, not the position
+            centerDragHandleVisible = false
+
+            globals.guidedControllerFlyView.fwdFlightGotoMapCircle = this
+        }
+
         Connections {
             target: QGroundControl.multiVehicleManager
             function onActiveVehicleChanged(activeVehicle) {
@@ -403,16 +413,47 @@ FlightMap {
             value: gotoLocationItem.coordinate
         }
 
+        function startLoiterRadiusEdit() {
+            _fwdFlightGotoMapCircle.interactive = true
+        }
+
+        // Called when loiter edit is confirmed
+        function actionConfirmed() {
+            _fwdFlightGotoMapCircle.interactive = false
+            _fwdFlightGotoMapCircle._commitRadius()
+        }
+
+        // Called when loiter edit is cancelled
+        function actionCancelled() {
+            _fwdFlightGotoMapCircle.interactive = false
+            _fwdFlightGotoMapCircle._restoreRadius()
+        }
+
         QGCMapCircle {
             id:                 _fwdFlightGotoMapCircle
             interactive:        false
             showRotation:       true
             clockwiseRotation:  true
 
             property real _defaultLoiterRadius: _flyViewSettings.forwardFlightGoToLocationLoiterRad.value
+            property real _committedRadius;
 
             onCenterChanged: {
                 radius.rawValue = _defaultLoiterRadius
+                // Don't commit the radius in case this operation is undone
+            }
+
+            Component.onCompleted: {
+                radius.rawValue = _defaultLoiterRadius
+                _commitRadius()
+            }
+
+            function _commitRadius() {
+                _committedRadius = radius.rawValue
+            }
+
+            function _restoreRadius() {
+                radius.rawValue = _committedRadius
             }
         }
     }
@@ -462,11 +503,17 @@ FlightMap {
         function actionConfirmed() {
             _commitCoordinate()
 
+            // Commit the new radius which possibly changed
+            fwdFlightGotoMapCircle.actionConfirmed()
+
             // We leave the indicator visible. The handling for onInGuidedModeChanged will hide it.
         }
 
         function actionCancelled() {
             _restoreCoordinate()
+
+            // Also restore the loiter radius
+            fwdFlightGotoMapCircle.actionCancelled()
         }
 
         function _commitCoordinate() {

src/FlightDisplay/GuidedActionsController.qml

@@ -29,6 +29,7 @@ Item {
     property var missionController
     property var confirmDialog
     property var guidedValueSlider
+    property var fwdFlightGotoMapCircle
     property var orbitMapCircle
 
     readonly property string emergencyStopTitle:            qsTr("EMERGENCY STOP")
@@ -48,6 +49,7 @@ Item {
     readonly property string pauseTitle:                    qsTr("Pause")
     readonly property string mvPauseTitle:                  qsTr("Pause (MV)")
     readonly property string changeAltTitle:                qsTr("Change Altitude")
+    readonly property string changeLoiterRadiusTitle:       qsTr("Change Loiter Radius")
     readonly property string changeCruiseSpeedTitle:        qsTr("Change Max Ground Speed")
     readonly property string changeAirspeedTitle:           qsTr("Change Airspeed")
     readonly property string orbitTitle:                    qsTr("Orbit")
@@ -76,8 +78,9 @@ Item {
     readonly property string landMessage:                       qsTr("Land the vehicle at the current position.")
     readonly property string rtlMessage:                        qsTr("Return to the launch position of the vehicle.")
     readonly property string changeAltMessage:                  qsTr("Change the altitude of the vehicle up or down.")
+    readonly property string changeLoiterRadiusMessage:         qsTr("Change the forward flight loiter radius.")
     readonly property string changeCruiseSpeedMessage:          qsTr("Change the maximum horizontal cruise speed.")
-    readonly property string changeAirspeedMessage:             qsTr("Change the equivalent airspeed setpoint")
+    readonly property string changeAirspeedMessage:             qsTr("Change the equivalent airspeed setpoint.")
     readonly property string gotoMessage:                       qsTr("Move the vehicle to the specified location.")
              property string setWaypointMessage:                qsTr("Adjust current waypoint to %1.").arg(_actionData)
     readonly property string orbitMessage:                      qsTr("Orbit the vehicle around the specified location.")
@@ -123,6 +126,7 @@ Item {
     readonly property int actionChangeHeading:              30
     readonly property int actionMVArm:                      31
     readonly property int actionMVDisarm:                   32
+    readonly property int actionChangeLoiterRadius:         33
 
 
 
@@ -150,6 +154,7 @@ Item {
     property bool showContinueMission:      _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < _missionItemCount - 1)
     property bool showPause:                _guidedActionsEnabled && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused && !_fixedWingOnApproach
     property bool showChangeAlt:            _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
+    property bool showChangeLoiterRadius:   _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive && _vehicleInFwdFlight && fwdFlightGotoMapCircle.visible
     property bool showChangeSpeed:          _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive && _speedLimitsAvailable
     property bool showOrbit:                _guidedActionsEnabled && _vehicleFlying && __orbitSupported && !_missionActive && _activeVehicle.homePosition.isValid && !isNaN(_activeVehicle.homePosition.altitude)
     property bool showROI:                  _guidedActionsEnabled && _vehicleFlying && __roiSupported
@@ -500,6 +505,13 @@ Item {
             confirmDialog.hideTrigger = Qt.binding(function() { return !showChangeAlt })
             guidedValueSlider.visible = true
             break;
+        case actionChangeLoiterRadius:
+            confirmDialog.title = changeLoiterRadiusTitle
+            confirmDialog.message = changeLoiterRadiusMessage
+            confirmDialog.hideTrigger = Qt.binding(function() { return !showChangeLoiterRadius })
+            confirmDialog.mapIndicator = fwdFlightGotoMapCircle
+            fwdFlightGotoMapCircle.startLoiterRadiusEdit()
+            break
         case actionGoto:
             confirmDialog.title = gotoTitle
             confirmDialog.message = gotoMessage
@@ -645,6 +657,12 @@ Item {
             var altitudeChangeInMeters = valueInMeters - _activeVehicle.altitudeRelative.rawValue
             _activeVehicle.guidedModeChangeAltitude(altitudeChangeInMeters, false /* pauseVehicle */)
             break
+        case actionChangeLoiterRadius:
+            _activeVehicle.guidedModeGotoLocation(
+                fwdFlightGotoMapCircle.coordinate,
+                fwdFlightGotoMapCircle.radius.rawValue
+            )
+            break
         case actionGoto:
             _activeVehicle.guidedModeGotoLocation(
                 actionData,