Merge remote-tracking branch 'MavLink/master'

* MavLink/master:
  Support V110 (APM) and V120 (PX4) formats
  Fit map viewport to mission items
  Add support for mission item insert
  Add support for mission item insert
  Warn about joystick on APM stack

Conflicts:
	src/FlightDisplay/FlightDisplayView.qml

src/MissionEditor/MissionEditor.qml

@@ -91,6 +91,53 @@ QGCView {
         }
     }
 
+    function loadFromVehicle() {
+        controller.getMissionItems()
+    }
+
+    function loadFromFile() {
+        controller.loadMissionFromFile()
+        fitViewportToMissionItems()
+    }
+
+    function normalizeLat(lat) {
+        // Normalize latitude to range: 0 to 180, S to N
+        return lat + 90.0
+    }
+
+    function normalizeLon(lon) {
+        // Normalize longitude to range: 0 to 360, W to E
+        return lon  + 180.0
+    }
+
+    /// Fix the map viewport to the current mission items. We don't fit the home position in this process.
+    function fitViewportToMissionItems() {
+        if (_missionItems.count <= 1) {
+            return
+        }
+
+        var missionItem = _missionItems.get(1)
+
+        var north = normalizeLat(missionItem.coordinate.latitude)
+        var south = north
+        var east = normalizeLon(missionItem.coordinate.longitude)
+        var west = east
+
+        for (var i=2; i<_missionItems.count; i++) {
+            missionItem = _missionItems.get(i)
+
+            var lat = normalizeLat(missionItem.coordinate.latitude)
+            var lon = normalizeLon(missionItem.coordinate.longitude)
+
+            north = Math.max(north, lat)
+            south = Math.min(south, lat)
+            east = Math.max(east, lon)
+            west = Math.min(west, lon)
+        }
+
+        editorMap.visibleRegion = QtPositioning.rectangle(QtPositioning.coordinate(north - 90.0, west - 180.0), QtPositioning.coordinate(south - 90.0, east - 180.0))
+    }
+
     MissionController {
         id:         controller
 
@@ -107,6 +154,7 @@ QGCView {
 */
 
         onMissionItemsChanged: itemDragger.clearItem()
+        onNewItemsFromVehicle: fitViewportToMissionItems()
     }
 
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
@@ -200,7 +248,7 @@ QGCView {
                         if (false /*homePositionManagerButton.checked*/) {
                             //offlineHomePosition = coordinate
                         } else if (addMissionItemsButton.checked) {
-                            var index = controller.addMissionItem(coordinate)
+                            var index = controller.insertMissionItem(coordinate, controller.missionItems.count)
                             setCurrentItem(index)
                         } else {
                             editorMap.zoomLevel = editorMap.maxZoomLevel - 2
@@ -261,11 +309,11 @@ QGCView {
                 // Add the mission items to the map
                 MapItemView {
                     model:          controller.missionItems
-                    delegate:       delegateComponent
+                    delegate:       missionItemComponent
                 }
 
                 Component {
-                    id: delegateComponent
+                    id: missionItemComponent
 
                     MissionItemIndicator {
                         id:             itemIndicator
@@ -288,10 +336,6 @@ QGCView {
                                     } else {
                                         itemDragger.clearItem()
                                     }
-
-                                    // Move to the new position
-                                    editorMap.latitude = object.coordinate.latitude
-                                    editorMap.longitude = object.coordinate.longitude
                                 }
                             }
                         }
@@ -374,6 +418,11 @@ QGCView {
                                 itemDragger.clearItem()
                                 controller.removeAllMissionItems()
                             }
+
+                            onInsert: {
+                                controller.insertMissionItem(editorMap.center, i)
+                                setCurrentItem(i)
+                            }
                         }
                     } // ListView
                 } // Item - Mission Item editor
@@ -549,7 +598,7 @@ QGCView {
 
             function accept() {
                 hideDialog()
-                controller.getMissionItems()
+                loadFromVehicle()
             }
         }
     }
@@ -563,7 +612,7 @@ QGCView {
 
             function accept() {
                 hideDialog()
-                controller.loadMissionFromFile()
+                loadFromFile()
             }
         }
     }
@@ -606,7 +655,7 @@ QGCView {
                         if (syncNeeded) {
                             _root.showDialog(syncLoadFromVehicleOverwrite, "Mission overwrite", _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
                         } else {
-                            controller.getMissionItems()
+                            loadFromVehicle()
                         }
                     }
                 }
@@ -633,7 +682,7 @@ QGCView {
                         if (syncNeeded) {
                             _root.showDialog(syncLoadFromFileOverwrite, "Mission overwrite", _root.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
                         } else {
-                            controller.loadMissionFromFile()
+                            loadFromFile()
                         }
                     }
                 }

src/MissionManager/MissionController.cc

@@ -130,12 +130,13 @@ void MissionController::_setupMissionItems(bool loadFromVehicle, bool forceLoad)
     if (!missionManager || !loadFromVehicle || missionManager->inProgress()) {
         _missionItems = new QmlObjectListModel(this);
         qCDebug(MissionControllerLog) << "creating empty set";
+        _initAllMissionItems();
     } else {
         _missionItems = missionManager->copyMissionItems();
         qCDebug(MissionControllerLog) << "loading from vehicle count"<< _missionItems->count();
+        _initAllMissionItems();
+        emit newItemsFromVehicle();
     }
-
-    _initAllMissionItems();
 }
 
 void MissionController::getMissionItems(void)
@@ -158,7 +159,7 @@ void MissionController::sendMissionItems(void)
     }
 }
 
-int MissionController::addMissionItem(QGeoCoordinate coordinate)
+int MissionController::insertMissionItem(QGeoCoordinate coordinate, int i)
 {
     MissionItem * newItem = new MissionItem(this);
     newItem->setSequenceNumber(_missionItems->count());
@@ -179,7 +180,7 @@ int MissionController::addMissionItem(QGeoCoordinate coordinate)
             newItem->setParam7(lastValue);
         }
     }
-    _missionItems->append(newItem);
+    _missionItems->insert(i, newItem);
 
     _recalcAll();
 
@@ -222,6 +223,7 @@ void MissionController::loadMissionFromFile(void)
 #ifndef __mobile__
     QString errorString;
     QString filename = QGCFileDialog::getOpenFileName(NULL, "Select Mission File to load");
+    bool versionAPM = false;
 
     if (filename.isEmpty()) {
         return;
@@ -244,9 +246,17 @@ void MissionController::loadMissionFromFile(void)
 
         const QStringList& version = in.readLine().split(" ");
 
-        if (!(version.size() == 3 && version[0] == "QGC" && version[1] == "WPL" && version[2] == "120")) {
-            errorString = "The mission file is not compatible with the current version of QGroundControl.";
-        } else {
+        bool versionOk = false;
+        if (version.size() == 3 && version[0] == "QGC" && version[1] == "WPL") {
+            if (version[2] == "120") {
+                versionOk = true;
+            } else if (version[2] == "110") {
+                versionOk = true;
+                versionAPM = true;
+            }
+        }
+
+        if (versionOk) {
             while (!in.atEnd()) {
                 MissionItem* item = new MissionItem();
 
@@ -257,12 +267,19 @@ void MissionController::loadMissionFromFile(void)
                     break;
                 }
             }
+        } else {
+            errorString = "The mission file is not compatible with this version of QGroundControl.";
         }
-
     }
 
-    if (!errorString.isEmpty()) {
+    if (errorString.isEmpty()) {
+        if (versionAPM) {
+            // Remove fake home position from APM files
+            _missionItems->removeAt(0);
+        }
+    } else {
         _missionItems->clear();
+        qgcApp()->showMessage(errorString);
     }
 
     _initAllMissionItems();
@@ -272,7 +289,6 @@ void MissionController::loadMissionFromFile(void)
 void MissionController::saveMissionToFile(void)
 {
 #ifndef __mobile__
-    QString errorString;
     QString filename = QGCFileDialog::getSaveFileName(NULL, "Select file to save mission to");
 
     if (filename.isEmpty()) {
@@ -282,7 +298,7 @@ void MissionController::saveMissionToFile(void)
     QFile file(filename);
 
     if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
-        errorString = file.errorString();
+        qgcApp()->showMessage(file.errorString());
     } else {
         QTextStream out(&file);
 

src/MissionManager/MissionController.h

@@ -46,8 +46,7 @@ public:
     Q_PROPERTY(QGeoCoordinate       liveHomePosition            READ liveHomePosition               NOTIFY liveHomePositionChanged)
     Q_PROPERTY(bool                 autoSync                    READ autoSync   WRITE setAutoSync   NOTIFY autoSyncChanged)
 
-    Q_INVOKABLE void start(bool editMode)    ;
-    Q_INVOKABLE int addMissionItem(QGeoCoordinate coordinate);
+    Q_INVOKABLE void start(bool editMode);
     Q_INVOKABLE void getMissionItems(void);
     Q_INVOKABLE void sendMissionItems(void);
     Q_INVOKABLE void loadMissionFromFile(void);
@@ -55,6 +54,9 @@ public:
     Q_INVOKABLE void removeMissionItem(int index);
     Q_INVOKABLE void removeAllMissionItems(void);
 
+    /// @param i: index to insert at
+    Q_INVOKABLE int insertMissionItem(QGeoCoordinate coordinate, int i);
+
     // Property accessors
 
     QmlObjectListModel* missionItems(void);
@@ -70,6 +72,7 @@ signals:
     void liveHomePositionAvailableChanged(bool homePositionAvailable);
     void liveHomePositionChanged(const QGeoCoordinate& homePosition);
     void autoSyncChanged(bool autoSync);
+    void newItemsFromVehicle(void);
 
 private slots:
     void _newMissionItemsAvailableFromVehicle();

src/MissionManager/MissionControllerTest.cc

@@ -176,7 +176,7 @@ void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType)
 
     QGeoCoordinate coordinate(37.803784, -122.462276);
 
-    _missionController->addMissionItem(coordinate);
+    _missionController->insertMissionItem(coordinate, _missionController->missionItems()->count());
 
     QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(waypointLinesChangedSignalMask), true);
 
@@ -223,7 +223,7 @@ void MissionControllerTest::_testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareTyp
     _missionController = new MissionController();
     Q_CHECK_PTR(_missionController);
     _missionController->start(true /* editMode */);
-    _missionController->addMissionItem(QGeoCoordinate(37.803784, -122.462276));
+    _missionController->insertMissionItem(QGeoCoordinate(37.803784, -122.462276), _missionController->missionItems()->count());
 
     // Go online to empty vehicle
     MissionControllerManagerTest::_initForFirmwareType(firmwareType);

src/QmlControls/MissionItemEditor.qml

@@ -21,6 +21,7 @@ Rectangle {
     signal clicked
     signal remove
     signal removeAll
+    signal insert(int i)
 
     height: innerItem.height + (_margin * 3)
     color:  missionItem.isCurrentItem ? qgcPal.buttonHighlight : qgcPal.windowShade
@@ -87,6 +88,11 @@ Rectangle {
                 Menu {
                     id: hamburgerMenu
 
+                    MenuItem {
+                        text:           "Insert"
+                        onTriggered:    insert(missionItem.sequenceNumber)
+                    }
+
                     MenuItem {
                         text:           "Delete"
                         onTriggered:    remove()