Show altitude in mission item

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -59,18 +59,6 @@ FlightMap {
         Component.onCompleted: start(false /* editMode */)
     }
 
-    // Home position
-    MissionItemIndicator {
-        label:          "H"
-        coordinate:     (_activeVehicle && _activeVehicle.homePositionAvailable) ? _activeVehicle.homePosition : QtPositioning.coordinate(0, 0)
-        visible: {
-            if(!_mainIsMap)
-                return false;
-            return _activeVehicle ? _activeVehicle.homePositionAvailable : false
-        }
-        z:              QGroundControl.zOrderMapItems
-    }
-
     // Add trajectory points to the map
     MapItemView {
         model: _mainIsMap ? multiVehicleManager.activeVehicle ? multiVehicleManager.activeVehicle.trajectoryPoints : 0 : 0

src/FlightMap/MapItems/MissionItemIndicator.qml

@@ -32,18 +32,37 @@ import QGroundControl.Vehicle       1.0
 MapQuickItem {
     id: _item
 
-    property alias  label:          _label.label
-    property alias  isCurrentItem:  _label.isCurrentItem
+    property var missionItem
 
     signal clicked
 
     anchorPoint.x:  sourceItem.width  / 2
     anchorPoint.y:  sourceItem.height / 2
 
+    Connections {
+        target: missionItem
+
+        onCoordinateChanged:        recalcLabel()
+        onRelativeAltitudeChanged:  recalcLabel()
+    }
+
+    Component.onCompleted: recalcLabel()
+
+    function recalcLabel() {
+        var label = Math.round(object.coordinate.altitude)
+        if (!object.relativeAltitude) {
+            label = "=" + label
+        }
+        if (object.homePosition) {
+            label = "H" + label
+        }
+        _label.label = label
+    }
+
     sourceItem:
         MissionItemIndexLabel {
-            id: _label
-
-            onClicked: _item.clicked()
+            id:             _label
+            isCurrentItem:  missionItem.isCurrentItem
+            onClicked:      _item.clicked()
         }
 }

src/FlightMap/MapItems/MissionItemView.qml

@@ -39,11 +39,10 @@ MapItemView {
 
     delegate: MissionItemIndicator {
         id:             itemIndicator
-        label:          object.homePosition ? "H" : object.sequenceNumber
-        isCurrentItem:  object.isCurrentItem
         coordinate:     object.coordinate
         visible:        object.specifiesCoordinate && (!object.homePosition || object.homePositionValid)
         z:              QGroundControl.zOrderMapItems
+        missionItem:    object
 
         onClicked: setCurrentItem(object.sequenceNumber)
 
@@ -71,6 +70,9 @@ MapItemView {
             }
         }
 
+        /*
+          Turned off for now
+
         // These are the non-coordinate child mission items attached to this item
         Row {
             anchors.top:    parent.top
@@ -88,5 +90,6 @@ MapItemView {
                 }
             }
         }
+        */
     }
 }

src/MissionManager/MissionController.cc

@@ -431,6 +431,10 @@ void MissionController::_initAllMissionItems(void)
         // Add the home position item to the front
         homeItem = new MissionItem(this);
         homeItem->setHomePositionSpecialCase(true);
+        if (_activeVehicle) {
+            homeItem->setCoordinate(_activeVehicle->homePosition());
+            homeItem->setHomePositionValid(_activeVehicle->homePositionAvailable());
+        }
         homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_LAST);
         homeItem->setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
         homeItem->setSequenceNumber(0);
@@ -531,7 +535,7 @@ void MissionController::_setupActiveVehicle(Vehicle* activeVehicle, bool forceLo
         MissionManager* missionManager = activeVehicle->missionManager();
 
         connect(missionManager, &MissionManager::newMissionItemsAvailable,  this, &MissionController::_newMissionItemsAvailableFromVehicle);
-        connect(missionManager, &MissionManager::inProgressChanged,          this, &MissionController::_inProgressChanged);
+        connect(missionManager, &MissionManager::inProgressChanged,         this, &MissionController::_inProgressChanged);
         connect(_activeVehicle, &Vehicle::homePositionAvailableChanged,     this, &MissionController::_activeVehicleHomePositionAvailableChanged);
         connect(_activeVehicle, &Vehicle::homePositionChanged,              this, &MissionController::_activeVehicleHomePositionChanged);
 
@@ -548,6 +552,7 @@ void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePosi
     _liveHomePositionAvailable = homePositionAvailable;
     qobject_cast<MissionItem*>(_missionItems->get(0))->setHomePositionValid(homePositionAvailable);
     emit liveHomePositionAvailableChanged(_liveHomePositionAvailable);
+    _recalcWaypointLines();
 }
 
 void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
@@ -555,6 +560,7 @@ void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate&
     _liveHomePosition = homePosition;
     qobject_cast<MissionItem*>(_missionItems->get(0))->setCoordinate(_liveHomePosition);
     emit liveHomePositionChanged(_liveHomePosition);
+    _recalcWaypointLines();
 }
 
 void MissionController::deleteCurrentMissionItem(void)

src/MissionManager/MissionItem.h

@@ -81,6 +81,7 @@ public:
     Q_PROPERTY(bool             homePosition        READ homePosition                                       CONSTANT)                           ///< true: This item is being used as a home position indicator
     Q_PROPERTY(bool             homePositionValid   READ homePositionValid      WRITE setHomePositionValid  NOTIFY homePositionValidChanged)    ///< true: Home position should be shown
     Q_PROPERTY(bool             isCurrentItem       READ isCurrentItem          WRITE setIsCurrentItem      NOTIFY isCurrentItemChanged)
+    Q_PROPERTY(bool             relativeAltitude    READ relativeAltitude                                   NOTIFY frameChanged)
     Q_PROPERTY(bool             rawEdit             READ rawEdit                WRITE setRawEdit            NOTIFY rawEditChanged)              ///< true: raw item editing with all params
     Q_PROPERTY(int              sequenceNumber      READ sequenceNumber         WRITE setSequenceNumber     NOTIFY sequenceNumberChanged)
     Q_PROPERTY(bool             specifiesCoordinate READ specifiesCoordinate                                NOTIFY commandChanged)

src/QmlControls/MissionItemEditor.qml

@@ -49,11 +49,11 @@ Rectangle {
             onClicked: _root.clicked()
         }
 
-        MissionItemIndexLabel {
+        QGCLabel {
             id:                     label
             anchors.verticalCenter: commandPicker.verticalCenter
-            isCurrentItem:          missionItem.isCurrentItem
-            label:                  missionItem.sequenceNumber == 0 ? "H" : missionItem.sequenceNumber
+            color:                  missionItem.isCurrentItem ? qgcPal.buttonHighlightText : qgcPal.buttonText
+            text:                   missionItem.sequenceNumber == 0 ? "H" : missionItem.sequenceNumber
         }
 
         Image {
@@ -92,18 +92,12 @@ Rectangle {
             onClicked:              qgcView.showDialog(commandDialog, "Select Mission Command", 40, StandardButton.Cancel)
         }
 
-        Rectangle {
-            anchors.fill:   commandPicker
-            color:          qgcPal.button
-            visible:        missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem
-
-            QGCLabel {
-                anchors.leftMargin: ScreenTools.defaultFontPixelWidth
-                anchors.fill:       parent
-                verticalAlignment:  Text.AlignVCenter
-                text:               missionItem.sequenceNumber == 0 ? "Home" : missionItem.commandName
-                color:              qgcPal.buttonText
-            }
+        QGCLabel {
+            anchors.fill:       commandPicker
+            visible:            missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem
+            verticalAlignment:  Text.AlignVCenter
+            text:               missionItem.sequenceNumber == 0 ? "Home" : missionItem.commandName
+            color:              qgcPal.buttonText
         }
 
         Rectangle {

src/QmlControls/MissionItemIndexLabel.qml

@@ -11,27 +11,28 @@ Rectangle {
 
     signal clicked
 
+    readonly property real _margin: ScreenTools.defaultFontPixelWidth / 4
+
     QGCPalette { id: qgcPal }
 
-    width:          ScreenTools.mediumFontPixelSize * 1.5
-    height:         width
-    radius:         width / 2
-    border.width:   2
+    width:          _label.width + (_margin * 2)
+    height:         _label.height +  (_margin * 2)
+    radius:         _margin
+    border.width:   1
     border.color:   "white"
     color:          isCurrentItem ? "green" : qgcPal.mapButtonHighlight
 
     MouseArea {
-        anchors.fill: parent
-
-        onClicked: parent.clicked()
+        anchors.fill:   parent
+        onClicked:      parent.clicked()
     }
 
     QGCLabel {
         id:                     _label
-        anchors.fill:           parent
-        horizontalAlignment:    Text.AlignHCenter
-        verticalAlignment:      Text.AlignVCenter
+        anchors.margins:        _margin
+        anchors.left:           parent.left
+        anchors.top:            parent.top
         color:                  "white"
-        font.pixelSize:         ScreenTools.mediumFontPixelSize
+        font.pixelSize:         ScreenTools.defaultFontPixelSize
     }
 }