Merge pull request #5076 from DonLakeFlyer/YawSetting

Plan: Show/Hide Heading in waypoint item based on yaw to next wpt setting

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -237,9 +237,13 @@ QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)
 
 bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
 {
-    if (!vehicle->isOfflineEditingVehicle() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
-        Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"));
-        return yawMode && yawMode->rawValue().toInt() != 0;
+    if (vehicle->isOfflineEditingVehicle()) {
+        return FirmwarePlugin::vehicleYawsToNextWaypointInMission(vehicle);
+    } else {
+        if (vehicle->multiRotor() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
+            Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"));
+            return yawMode && yawMode->rawValue().toInt() != 0;
+        }
     }
     return true;
 }

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -518,9 +518,13 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
 
 bool PX4FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
 {
-    if (!vehicle->isOfflineEditingVehicle() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
-        Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"));
-        return yawMode && yawMode->rawValue().toInt() == 1;
+    if (vehicle->isOfflineEditingVehicle()) {
+        return FirmwarePlugin::vehicleYawsToNextWaypointInMission(vehicle);
+    } else {
+        if (vehicle->multiRotor() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
+            Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"));
+            return yawMode && yawMode->rawValue().toInt() == 1;
+        }
     }
     return true;
 }

src/MissionManager/MissionController.cc

@@ -1044,7 +1044,7 @@ void MissionController::_recalcMissionFlightStatus()
         }
 
         // Look for gimbal change
-        if (_controllerVehicle->vehicleYawsToNextWaypointInMission()) {
+        if (_managerVehicle->vehicleYawsToNextWaypointInMission()) {
             // We current only support gimbal display in this mode
             double gimbalYaw = item->specifiedGimbalYaw();
             if (!qIsNaN(gimbalYaw)) {
@@ -1371,7 +1371,7 @@ void MissionController::managerVehicleChanged(Vehicle* managerVehicle)
 
     _managerVehicle = managerVehicle;
     if (!_managerVehicle) {
-        qWarning() << "RallyPointController::managerVehicleChanged managerVehicle=NULL";
+        qWarning() << "MissionController::managerVehicleChanged managerVehicle=NULL";
         return;
     }
 

src/MissionManager/SimpleMissionItem.cc

@@ -446,6 +446,17 @@ void SimpleMissionItem::_rebuildNaNFacts(void)
             const MissionCmdParamInfo* paramInfo = uiInfo->getParamInfo(i);
 
             if (paramInfo && paramInfo->nanUnchanged()) {
+                // Show hide Heading field on waypoint based on vehicle yaw to next waypoint setting. This needs to come from the actual vehicle if it exists
+                // and not _vehicle which is always offline.
+                Vehicle* firmwareVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
+                if (!firmwareVehicle) {
+                    firmwareVehicle = _vehicle;
+                }
+                bool hideWaypointHeading = (command == MAV_CMD_NAV_WAYPOINT) && (i == 4) && firmwareVehicle->firmwarePlugin()->vehicleYawsToNextWaypointInMission(firmwareVehicle);
+                if (hideWaypointHeading) {
+                    continue;
+                }
+
                 Fact*               paramFact =     rgParamFacts[i-1];
                 FactMetaData*       paramMetaData = rgParamMetaData[i-1];