Merge pull request #6225 from DonLakeFlyer/MissionTerrain

Simple mission terrain support

src/JsonHelper.cc

@@ -97,7 +97,7 @@ bool JsonHelper::validateKeyTypes(const QJsonObject& jsonObject, const QStringLi
         QString valueKey = keys[i];
         if (jsonObject.contains(valueKey)) {
             const QJsonValue& jsonValue = jsonObject[valueKey];
-            if (types[i] == QJsonValue::Null && jsonValue.type() == QJsonValue::Double) {
+            if (jsonValue.type() == QJsonValue::Null &&  types[i] == QJsonValue::Double) {
                 // Null type signals a NaN on a double value
                 continue;
             }

src/JsonHelper.h

@@ -106,7 +106,7 @@ public:
 
     static bool parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName = QString());
 
-    /// Returns NaN if the value is null, or it not the double value
+    /// Returns NaN if the value is null, or if not, the double value
     static double possibleNaNJsonValue(const QJsonValue& value);
 
     static const char* jsonVersionKey;

src/MissionManager/MissionController.cc

@@ -343,13 +343,13 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
         }
     }
     newItem->setDefaultsForCommand();
-    if ((MAV_CMD)newItem->command() == MAV_CMD_NAV_WAYPOINT) {
-        double      prevAltitude;
-        MAV_FRAME   prevFrame;
+    if (newItem->specifiesAltitude()) {
+        double  prevAltitude;
+        int     prevAltitudeMode;
 
-        if (_findPreviousAltitude(i, &prevAltitude, &prevFrame)) {
-            newItem->missionItem().setFrame(prevFrame);
-            newItem->missionItem().setParam7(prevAltitude);
+        if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) {
+            newItem->altitude()->setRawValue(prevAltitude);
+            newItem->setAltitudeMode((SimpleMissionItem::AltitudeMode)prevAltitudeMode);
         }
     }
     newItem->setMissionFlightStatus(_missionFlightStatus);
@@ -372,12 +372,12 @@ int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i)
     newItem->setDefaultsForCommand();
     newItem->setCoordinate(coordinate);
 
-    double      prevAltitude;
-    MAV_FRAME   prevFrame;
+    double  prevAltitude;
+    int     prevAltitudeMode;
 
-    if (_findPreviousAltitude(i, &prevAltitude, &prevFrame)) {
-        newItem->missionItem().setFrame(prevFrame);
-        newItem->missionItem().setParam7(prevAltitude);
+    if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) {
+        newItem->altitude()->setRawValue(prevAltitude);
+        newItem->setAltitudeMode((SimpleMissionItem::AltitudeMode)prevAltitudeMode);
     }
     _visualItems->insert(i, newItem);
 
@@ -924,6 +924,18 @@ bool MissionController::loadTextFile(QFile& file, QString& errorString)
     return true;
 }
 
+bool MissionController::readyForSaveSend(void) const
+{
+    for (int i=0; i<_visualItems->count(); i++) {
+        VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
+        if (!visualItem->readyForSave()) {
+            return false;
+        }
+    }
+
+    return true;
+}
+
 void MissionController::save(QJsonObject& json)
 {
     json[JsonHelper::jsonVersionKey] = _missionFileVersion;
@@ -1654,11 +1666,11 @@ void MissionController::_inProgressChanged(bool inProgress)
     emit syncInProgressChanged(inProgress);
 }
 
-bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude, MAV_FRAME* prevFrame)
+bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude, int* prevAltitudeMode)
 {
     bool        found = false;
     double      foundAltitude;
-    MAV_FRAME   foundFrame;
+    int         foundAltitudeMode;
 
     if (newIndex > _visualItems->count()) {
         return false;
@@ -1671,9 +1683,9 @@ bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude
         if (visualItem->specifiesCoordinate() && !visualItem->isStandaloneCoordinate()) {
             if (visualItem->isSimpleItem()) {
                 SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
-                if ((MAV_CMD)simpleItem->command() == MAV_CMD_NAV_WAYPOINT) {
-                    foundAltitude = simpleItem->exitCoordinate().altitude();
-                    foundFrame = simpleItem->missionItem().frame();
+                if (simpleItem->specifiesAltitude()) {
+                    foundAltitude = simpleItem->altitude()->rawValue().toDouble();
+                    foundAltitudeMode = simpleItem->altitudeMode();
                     found = true;
                     break;
                 }
@@ -1683,7 +1695,7 @@ bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude
 
     if (found) {
         *prevAltitude = foundAltitude;
-        *prevFrame = foundFrame;
+        *prevAltitudeMode = foundAltitudeMode;
     }
 
     return found;

src/MissionManager/MissionController.h

@@ -118,6 +118,10 @@ public:
     ///     @param sequenceNumber - index for new item, -1 to clear current item
     Q_INVOKABLE void setCurrentPlanViewIndex(int sequenceNumber, bool force);
 
+    /// Determines if the mission has all data needed to be saved or sent to the vehicle. Currently the only case where this
+    /// would return false is when it is still waiting on terrain data to determine correct altitudes.
+    bool readyForSaveSend(void) const;
+
     /// Sends the mission items to the specified vehicle
     static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems);
 
@@ -218,7 +222,7 @@ private:
     void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
     void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
     static double _calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem);
-    bool _findPreviousAltitude(int newIndex, double* prevAltitude, MAV_FRAME* prevFrame);
+    bool _findPreviousAltitude(int newIndex, double* prevAltitude, int* prevAltitudeMode);
     static double _normalizeLat(double lat);
     static double _normalizeLon(double lon);
     void _addMissionSettings(QmlObjectListModel* visualItems, bool addToCenter);

src/MissionManager/PlanMasterController.h

@@ -47,10 +47,14 @@ public:
 
     /// Should be called immediately upon Component.onCompleted.
     ///     @param editMode true: controller being used in Plan view, false: controller being used in Fly view
-    Q_INVOKABLE virtual void start(bool editMode);
+    Q_INVOKABLE void start(bool editMode);
 
     /// Starts the controller using a single static active vehicle. Will not track global active vehicle changes.
-    Q_INVOKABLE virtual void startStaticActiveVehicle(Vehicle* vehicle);
+    Q_INVOKABLE void startStaticActiveVehicle(Vehicle* vehicle);
+
+    /// Determines if the plan has all data needed to be saved or sent to the vehicle. Currently the only case where this
+    /// would return false is when it is still waiting on terrain data to determine correct altitudes.
+    Q_INVOKABLE bool readyForSaveSend(void) const { return _missionController.readyForSaveSend(); }
 
     /// Sends a plan to the specified file
     ///     @param[in] vehicle Vehicle we are sending a plan to

src/MissionManager/SimpleMissionItem.h

@@ -29,12 +29,21 @@ public:
 
     ~SimpleMissionItem();
 
-    const SimpleMissionItem& operator=(const SimpleMissionItem& other);
+    enum AltitudeMode {
+        AltitudeRelative,
+        AltitudeAMSL,
+        AltitudeAboveTerrain
+    };
+
+    Q_ENUM(AltitudeMode)
     
     Q_PROPERTY(QString          category                READ category                                           NOTIFY commandChanged)
     Q_PROPERTY(bool             friendlyEditAllowed     READ friendlyEditAllowed                                NOTIFY friendlyEditAllowedChanged)
     Q_PROPERTY(bool             rawEdit                 READ rawEdit                WRITE setRawEdit            NOTIFY rawEditChanged)              ///< true: raw item editing with all params
-    Q_PROPERTY(bool             relativeAltitude        READ relativeAltitude                                   NOTIFY frameChanged)
+    Q_PROPERTY(bool             specifiesAltitude       READ specifiesAltitude                                  NOTIFY commandChanged)
+    Q_PROPERTY(Fact*            altitude                READ altitude                                           CONSTANT)                           ///< Altitude as specified by altitudeMode. Not necessarily true mission item altitude
+    Q_PROPERTY(AltitudeMode     altitudeMode            READ altitudeMode           WRITE setAltitudeMode       NOTIFY altitudeModeChanged)
+    Q_PROPERTY(Fact*            amslAltAboveTerrain     READ amslAltAboveTerrain                                CONSTANT)                           ///< Actual AMSL altitude for item if altitudeMode == AltitudeAboveTerrain
     Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command                WRITE setCommand            NOTIFY commandChanged)
 
     /// Optional sections
@@ -42,7 +51,6 @@ public:
     Q_PROPERTY(QObject*         cameraSection           READ cameraSection                                      NOTIFY cameraSectionChanged)
 
     // These properties are used to display the editing ui
-    Q_PROPERTY(QmlObjectListModel*  checkboxFacts   READ checkboxFacts  CONSTANT)
     Q_PROPERTY(QmlObjectListModel*  comboboxFacts   READ comboboxFacts  CONSTANT)
     Q_PROPERTY(QmlObjectListModel*  textFieldFacts  READ textFieldFacts CONSTANT)
     Q_PROPERTY(QmlObjectListModel*  nanFacts        READ nanFacts       CONSTANT)
@@ -60,15 +68,20 @@ public:
     MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_missionItem._commandFact.cookedValue().toInt(); }
     bool            friendlyEditAllowed (void) const;
     bool            rawEdit             (void) const;
+    bool            specifiesAltitude   (void) const;
+    AltitudeMode    altitudeMode        (void) const { return _altitudeMode; }
+    Fact*           altitude            (void) { return &_altitudeFact; }
+    Fact*           amslAltAboveTerrain (void) { return &_amslAltAboveTerrainFact; }
+
     CameraSection*  cameraSection       (void) { return _cameraSection; }
     SpeedSection*   speedSection        (void) { return _speedSection; }
 
     QmlObjectListModel* textFieldFacts  (void) { return &_textFieldFacts; }
     QmlObjectListModel* nanFacts        (void) { return &_nanFacts; }
-    QmlObjectListModel* checkboxFacts   (void) { return &_checkboxFacts; }
     QmlObjectListModel* comboboxFacts   (void) { return &_comboboxFacts; }
 
     void setRawEdit(bool rawEdit);
+    void setAltitudeMode(AltitudeMode altitudeMode);
     
     void setCommandByIndex(int index);
 
@@ -82,8 +95,6 @@ public:
     bool load(QTextStream &loadStream);
     bool load(const QJsonObject& json, int sequenceNumber, QString& errorString);
 
-    bool relativeAltitude(void) { return _missionItem.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
-
     MissionItem& missionItem(void) { return _missionItem; }
     const MissionItem& missionItem(void) const { return _missionItem; }
 
@@ -107,6 +118,7 @@ public:
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
     void            applyNewAltitude        (double newAltitude) final;
     void            setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
+    bool            readyForSave            (void) const final;
 
     bool coordinateHasRelativeAltitude      (void) const final { return _missionItem.relativeAltitude(); }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return coordinateHasRelativeAltitude(); }
@@ -123,51 +135,51 @@ public slots:
 
 signals:
     void commandChanged             (int command);
-    void frameChanged               (int frame);
     void friendlyEditAllowedChanged (bool friendlyEditAllowed);
     void headingDegreesChanged      (double heading);
     void rawEditChanged             (bool rawEdit);
     void cameraSectionChanged       (QObject* cameraSection);
     void speedSectionChanged        (QObject* cameraSection);
+    void altitudeModeChanged        (void);
 
 private slots:
-    void _setDirtyFromSignal                (void);
-    void _sectionDirtyChanged               (bool dirty);
-    void _sendCommandChanged                (void);
-    void _sendCoordinateChanged             (void);
-    void _sendFrameChanged                  (void);
-    void _sendFriendlyEditAllowedChanged    (void);
-    void _syncAltitudeRelativeToHomeToFrame (const QVariant& value);
-    void _syncFrameToAltitudeRelativeToHome (void);
-    void _updateLastSequenceNumber          (void);
-    void _rebuildFacts                      (void);
-
+    void _setDirty                      (void);
+    void _sectionDirtyChanged           (bool dirty);
+    void _sendCommandChanged            (void);
+    void _sendCoordinateChanged         (void);
+    void _sendFriendlyEditAllowedChanged(void);
+    void _altitudeChanged               (void);
+    void _altitudeModeChanged           (void);
+    void _terrainAltChanged             (void);
+    void _updateLastSequenceNumber      (void);
+    void _rebuildFacts                  (void);
+    void _rebuildTextFieldFacts         (void);
 
 private:
     void _connectSignals        (void);
     void _setupMetaData         (void);
     void _updateOptionalSections(void);
-    void _rebuildTextFieldFacts (void);
     void _rebuildNaNFacts       (void);
-    void _rebuildCheckboxFacts  (void);
     void _rebuildComboBoxFacts  (void);
 
-    MissionItem _missionItem;
-    bool        _rawEdit;
-    bool        _dirty;
-    bool        _ignoreDirtyChangeSignals;
+    MissionItem     _missionItem;
+    bool            _rawEdit;
+    bool            _dirty;
+    bool            _ignoreDirtyChangeSignals;
 
     SpeedSection*   _speedSection;
     CameraSection* _cameraSection;
 
     MissionCommandTree* _commandTree;
 
-    Fact    _altitudeRelativeToHomeFact;
-    Fact    _supportedCommandFact;
+    Fact                _supportedCommandFact;
+
+    AltitudeMode    _altitudeMode;
+    Fact            _altitudeFact;
+    Fact            _amslAltAboveTerrainFact;
 
     QmlObjectListModel  _textFieldFacts;
     QmlObjectListModel  _nanFacts;
-    QmlObjectListModel  _checkboxFacts;
     QmlObjectListModel  _comboboxFacts;
     
     static FactMetaData*    _altitudeMetaData;
@@ -185,8 +197,11 @@ private:
     FactMetaData    _param6MetaData;
     FactMetaData    _param7MetaData;
 
-    bool _syncingAltitudeRelativeToHomeAndFrame;    ///< true: already in a sync signal, prevents signal loop
-    bool _syncingHeadingDegreesAndParam4;           ///< true: already in a sync signal, prevents signal loop
+    bool _syncingHeadingDegreesAndParam4;   ///< true: already in a sync signal, prevents signal loop
+
+    static const char* _jsonAltitudeModeKey;
+    static const char* _jsonAltitudeKey;
+    static const char* _jsonAMSLAltAboveTerrainKey;
 };
 
 #endif

src/MissionManager/SimpleMissionItemTest.cc

@@ -15,43 +15,37 @@
 
 const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = {
     { MAV_CMD_NAV_WAYPOINT,     MAV_FRAME_GLOBAL_RELATIVE_ALT },
-    { MAV_CMD_NAV_LOITER_UNLIM, MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { MAV_CMD_NAV_LOITER_UNLIM, MAV_FRAME_GLOBAL },
     { MAV_CMD_NAV_LOITER_TURNS, MAV_FRAME_GLOBAL_RELATIVE_ALT },
-    { MAV_CMD_NAV_LOITER_TIME,  MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { MAV_CMD_NAV_LOITER_TIME,  MAV_FRAME_GLOBAL },
     { MAV_CMD_NAV_LAND,         MAV_FRAME_GLOBAL_RELATIVE_ALT },
-    { MAV_CMD_NAV_TAKEOFF,      MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { MAV_CMD_NAV_TAKEOFF,      MAV_FRAME_GLOBAL },
     { MAV_CMD_DO_JUMP,          MAV_FRAME_MISSION },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesWaypoint[] = {
-    { "Altitude",   70.1234567 },
     { "Hold",       10.1234567 },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterUnlim[] = {
-    { "Altitude",   70.1234567 },
     { "Radius",     30.1234567 },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTurns[] = {
-    { "Altitude",   70.1234567 },
     { "Radius",     30.1234567 },
     { "Turns",      10.1234567 },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTime[] = {
-    { "Altitude",   70.1234567 },
     { "Radius",     30.1234567 },
     { "Hold",       10.1234567 },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLand[] = {
-    { "Altitude",   70.1234567 },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesTakeoff[] = {
     { "Pitch",      10.1234567 },
-    { "Altitude",   70.1234567 },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesDoJump[] = {
@@ -60,13 +54,14 @@ const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesDoJ
 };
 
 const SimpleMissionItemTest::ItemExpected_t SimpleMissionItemTest::_rgItemExpected[] = {
-    { sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint)/sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint[0]),             SimpleMissionItemTest::_rgFactValuesWaypoint,       true },
-    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim[0]),       SimpleMissionItemTest::_rgFactValuesLoiterUnlim,    true },
-    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns[0]),       SimpleMissionItemTest::_rgFactValuesLoiterTurns,    true },
-    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime[0]),         SimpleMissionItemTest::_rgFactValuesLoiterTime,     true },
-    { sizeof(SimpleMissionItemTest::_rgFactValuesLand)/sizeof(SimpleMissionItemTest::_rgFactValuesLand[0]),                     SimpleMissionItemTest::_rgFactValuesLand,           true },
-    { sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff)/sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff[0]),               SimpleMissionItemTest::_rgFactValuesTakeoff,        true },
-    { sizeof(SimpleMissionItemTest::_rgFactValuesDoJump)/sizeof(SimpleMissionItemTest::_rgFactValuesDoJump[0]),                 SimpleMissionItemTest::_rgFactValuesDoJump,         false },
+    // Text field facts count                                                                                                   Fact Values                                         Altitude    Altitude Mode
+    { sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint)/sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint[0]),             SimpleMissionItemTest::_rgFactValuesWaypoint,       70.1234567, SimpleMissionItem::AltitudeRelative },
+    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim[0]),       SimpleMissionItemTest::_rgFactValuesLoiterUnlim,    70.1234567, SimpleMissionItem::AltitudeAMSL },
+    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns[0]),       SimpleMissionItemTest::_rgFactValuesLoiterTurns,    70.1234567, SimpleMissionItem::AltitudeRelative },
+    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime[0]),         SimpleMissionItemTest::_rgFactValuesLoiterTime,     70.1234567, SimpleMissionItem::AltitudeAMSL },
+    { sizeof(SimpleMissionItemTest::_rgFactValuesLand)/sizeof(SimpleMissionItemTest::_rgFactValuesLand[0]),                     SimpleMissionItemTest::_rgFactValuesLand,           70.1234567, SimpleMissionItem::AltitudeRelative },
+    { sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff)/sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff[0]),               SimpleMissionItemTest::_rgFactValuesTakeoff,        70.1234567, SimpleMissionItem::AltitudeAMSL },
+    { sizeof(SimpleMissionItemTest::_rgFactValuesDoJump)/sizeof(SimpleMissionItemTest::_rgFactValuesDoJump[0]),                 SimpleMissionItemTest::_rgFactValuesDoJump,         qQNaN(),    SimpleMissionItem::AltitudeRelative },
 };
 
 SimpleMissionItemTest::SimpleMissionItemTest(void)
@@ -80,12 +75,12 @@ void SimpleMissionItemTest::init(void)
     VisualMissionItemTest::init();
 
     rgSimpleItemSignals[commandChangedIndex] =                          SIGNAL(commandChanged(int));
-    rgSimpleItemSignals[frameChangedIndex] =                            SIGNAL(frameChanged(int));
+    rgSimpleItemSignals[altitudeModeChangedIndex] =                     SIGNAL(altitudeModeChanged());
     rgSimpleItemSignals[friendlyEditAllowedChangedIndex] =              SIGNAL(friendlyEditAllowedChanged(bool));
     rgSimpleItemSignals[headingDegreesChangedIndex] =                   SIGNAL(headingDegreesChanged(double));
     rgSimpleItemSignals[rawEditChangedIndex] =                          SIGNAL(rawEditChanged(bool));
-    rgSimpleItemSignals[cameraSectionChangedIndex] =                    SIGNAL(rawEditChanged(bool));
-    rgSimpleItemSignals[speedSectionChangedIndex] =                     SIGNAL(rawEditChanged(bool));
+    rgSimpleItemSignals[cameraSectionChangedIndex] =                    SIGNAL(cameraSectionChanged(QObject*));
+    rgSimpleItemSignals[speedSectionChangedIndex] =                     SIGNAL(speedSectionChanged(QObject*));
     rgSimpleItemSignals[coordinateHasRelativeAltitudeChangedIndex] =    SIGNAL(coordinateHasRelativeAltitudeChanged(bool));
 
     MissionItem missionItem(1,              // sequence number
@@ -164,8 +159,10 @@ void SimpleMissionItemTest::_testEditorFacts(void)
         }
         QCOMPARE(factCount, expected->cFactValues);
 
-        int expectedCount = expected->relativeAltCheckbox ? 1 : 0;
-        QCOMPARE(simpleMissionItem.checkboxFacts()->count(), expectedCount);
+        if (!qIsNaN(expected->altValue)) {
+            QCOMPARE(simpleMissionItem.altitudeMode(), expected->altMode);
+            QCOMPARE(simpleMissionItem.altitude()->rawValue().toDouble(), expected->altValue);
+        }
     }
 
     delete vehicle;
@@ -228,18 +225,8 @@ void SimpleMissionItemTest::_testSignals(void)
     QVERIFY(_spyVisualItem->checkOnlySignalByMask(dirtyChangedMask));
     _spyVisualItem->clearAllSignals();
 
-    // Check frameChanged signalling. Calling setFrame should signal:
-    //      frameChanged
-    //      dirtyChanged
-    //      friendlyEditAllowedChanged - this signal is not very smart on when it gets sent
-    //      coordinateHasRelativeAltitudeChanged
-
-    missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
-    QVERIFY(_spyVisualItem->checkNoSignals());
-    QVERIFY(_spySimpleItem->checkNoSignals());
-
-    missionItem.setFrame(MAV_FRAME_GLOBAL);
-    QVERIFY(_spySimpleItem->checkOnlySignalByMask(frameChangedMask | dirtyChangedMask | friendlyEditAllowedChangedMask | coordinateHasRelativeAltitudeChangedMask));
+    _simpleItem->setAltitudeMode(_simpleItem->altitudeMode() == SimpleMissionItem::AltitudeRelative ? SimpleMissionItem::AltitudeAMSL : SimpleMissionItem::AltitudeRelative);
+    QVERIFY(_spySimpleItem->checkOnlySignalByMask(dirtyChangedMask | friendlyEditAllowedChangedMask | altitudeModeChangedMask | coordinateHasRelativeAltitudeChangedMask));
     _spySimpleItem->clearAllSignals();
     _spyVisualItem->clearAllSignals();
 
@@ -320,3 +307,18 @@ void SimpleMissionItemTest::_testSpeedSection(void)
     QCOMPARE(_spyVisualItem->checkSignalsByMask(specifiedFlightSpeedChangedMask), true);
     QCOMPARE(_simpleItem->dirty(), true);
 }
+
+void SimpleMissionItemTest::_testAltitudePropogation(void)
+{
+    // Make sure that changes to altitude propogate to param 7 of the mission item
+
+    _simpleItem->setAltitudeMode(SimpleMissionItem::AltitudeRelative);
+    _simpleItem->altitude()->setRawValue(_simpleItem->altitude()->rawValue().toDouble() + 1);
+    QCOMPARE(_simpleItem->altitude()->rawValue().toDouble(), _simpleItem->missionItem().param7());
+    QCOMPARE(_simpleItem->missionItem().frame(), MAV_FRAME_GLOBAL_RELATIVE_ALT);
+
+    _simpleItem->setAltitudeMode(SimpleMissionItem::AltitudeAMSL);
+    _simpleItem->altitude()->setRawValue(_simpleItem->altitude()->rawValue().toDouble() + 1);
+    QCOMPARE(_simpleItem->altitude()->rawValue().toDouble(), _simpleItem->missionItem().param7());
+    QCOMPARE(_simpleItem->missionItem().frame(), MAV_FRAME_GLOBAL);
+}

src/MissionManager/SimpleMissionItemTest.h

@@ -31,11 +31,12 @@ private slots:
     void _testSpeedSectionDirty(void);
     void _testCameraSection(void);
     void _testSpeedSection(void);
+    void _testAltitudePropogation(void);
 
 private:
     enum {
         commandChangedIndex = 0,
-        frameChangedIndex,
+        altitudeModeChangedIndex,
         friendlyEditAllowedChangedIndex,
         headingDegreesChangedIndex,
         rawEditChangedIndex,
@@ -47,7 +48,7 @@ private:
 
     enum {
         commandChangedMask =                        1 << commandChangedIndex,
-        frameChangedMask =                          1 << frameChangedIndex,
+        altitudeModeChangedMask =                  1 << altitudeModeChangedIndex,
         friendlyEditAllowedChangedMask =            1 << friendlyEditAllowedChangedIndex,
         headingDegreesChangedMask =                 1 << headingDegreesChangedIndex,
         rawEditChangedMask =                        1 << rawEditChangedIndex,
@@ -70,9 +71,10 @@ private:
     } FactValue_t;
     
     typedef struct {
-        size_t              cFactValues;
-        const FactValue_t*  rgFactValues;
-        bool                relativeAltCheckbox;
+        size_t                          cFactValues;
+        const FactValue_t*              rgFactValues;
+        double                          altValue;
+        SimpleMissionItem::AltitudeMode altMode;
     } ItemExpected_t;
 
     SimpleMissionItem*  _simpleItem;

src/MissionManager/VisualMissionItem.h

@@ -43,7 +43,7 @@ public:
 
     Q_PROPERTY(bool             homePosition                        READ homePosition                                                   CONSTANT)                                           ///< true: This item is being used as a home position indicator
     Q_PROPERTY(QGeoCoordinate   coordinate                          READ coordinate                         WRITE setCoordinate         NOTIFY coordinateChanged)                           ///< This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
-    Q_PROPERTY(double           terrainAltitude                     READ terrainAltitude                                                NOTIFY terrainAltitudeChanged)            ///< The altitude of terrain at the coordinate position, NaN if not known
+    Q_PROPERTY(double           terrainAltitude                     READ terrainAltitude                                                NOTIFY terrainAltitudeChanged)                      ///< The altitude of terrain at the coordinate position, NaN if not known
     Q_PROPERTY(bool             coordinateHasRelativeAltitude       READ coordinateHasRelativeAltitude                                  NOTIFY coordinateHasRelativeAltitudeChanged)        ///< true: coordinate.latitude is relative to home altitude
     Q_PROPERTY(QGeoCoordinate   exitCoordinate                      READ exitCoordinate                                                 NOTIFY exitCoordinateChanged)                       ///< This is the exit point for a waypoint line coming out of the item.
     Q_PROPERTY(bool             exitCoordinateHasRelativeAltitude   READ exitCoordinateHasRelativeAltitude                              NOTIFY exitCoordinateHasRelativeAltitudeChanged)    ///< true: coordinate.latitude is relative to home altitude
@@ -130,6 +130,11 @@ public:
     virtual void setSequenceNumber  (int sequenceNumber) = 0;
     virtual int  lastSequenceNumber (void) const = 0;
 
+    /// Specifies whether the item has all the data it needs such that it can be saved. Currently the only
+    /// case where this returns false is if it has not determined terrain values yet.
+    /// @return true: Ready to save, false: Still waiting on information
+    virtual bool readyForSave(void) const { return true; }
+
     /// Save the item(s) in Json format
     ///     @param missionItems Current set of mission items, new items should be appended to the end
     virtual void save(QJsonArray&  missionItems) = 0;

src/PlanView/PlanView.qml

@@ -162,7 +162,15 @@ QGCView {
             _missionController.setCurrentPlanViewIndex(0, true)
         }
 
+        function waitingOnDataMessage() {
+            _qgcView.showMessage(qsTr("Unable to Save/Upload"), qsTr("Plan is waiting on terrain data from server for correct altitude values."), StandardButton.Ok)
+        }
+
         function upload() {
+            if (!readyForSaveSend()) {
+                waitingOnDataMessage()
+                return
+            }
             if (_activeVehicle && _activeVehicle.armed && _activeVehicle.flightMode === _activeVehicle.missionFlightMode) {
                 _qgcView.showDialog(activeMissionUploadDialogComponent, qsTr("Plan Upload"), _qgcView.showDialogDefaultWidth, StandardButton.Cancel)
             } else {
@@ -180,6 +188,10 @@ QGCView {
         }
 
         function saveToSelectedFile() {
+            if (!readyForSaveSend()) {
+                waitingOnDataMessage()
+                return
+            }
             fileDialog.title =          qsTr("Save Plan")
             fileDialog.plan =           true
             fileDialog.selectExisting = false
@@ -194,6 +206,10 @@ QGCView {
         }
 
         function saveKmlToSelectedFile() {
+            if (!readyForSaveSend()) {
+                waitingOnDataMessage()
+                return
+            }
             fileDialog.title =          qsTr("Save KML")
             fileDialog.plan =           false
             fileDialog.selectExisting = false

src/PlanView/SimpleItemEditor.qml

@@ -17,6 +17,9 @@ Rectangle {
     color:  qgcPal.windowShadeDark
     radius: _radius
 
+    property bool _specifiesAltitude:   missionItem.specifiesAltitude
+    property bool _altModeIsTerrain:    missionItem.altitudeMode === 2
+
     Column {
         id:                 valuesColumn
         anchors.margins:    _margin
@@ -68,9 +71,27 @@ Rectangle {
             anchors.left:   parent.left
             anchors.right:  parent.right
             flow:           GridLayout.TopToBottom
-            rows:           missionItem.textFieldFacts.count + missionItem.nanFacts.count + (missionItem.speedSection.available ? 1 : 0)
+            rows:           missionItem.textFieldFacts.count +
+                            missionItem.nanFacts.count +
+                            (missionItem.speedSection.available ? 1 : 0) +
+                            (_specifiesAltitude ? 1 : 0) +
+                            (_altModeIsTerrain ? 1 : 0)
             columns:        2
 
+            QGCComboBox {
+                id:                 altCombo
+                model:              [ qsTr("Alt (Rel)"), qsTr("AMSL"), qsTr("Above Terrain") ]
+                currentIndex:       missionItem.altitudeMode
+                Layout.fillWidth:   true
+                onActivated:        missionItem.altitudeMode = index
+                visible:            _specifiesAltitude
+            }
+
+            QGCLabel {
+                text:       qsTr("Actual AMSL Alt")
+                visible:    _altModeIsTerrain
+            }
+
             Repeater {
                 model: missionItem.textFieldFacts
 
@@ -95,6 +116,19 @@ Rectangle {
                 visible:    missionItem.speedSection.available
             }
 
+
+            FactTextField {
+                showUnits:          true
+                fact:               missionItem.altitude
+                Layout.fillWidth:   true
+                visible:            _specifiesAltitude
+            }
+
+            FactLabel {
+                fact:       missionItem.amslAltAboveTerrain
+                visible:    _altModeIsTerrain
+            }
+
             Repeater {
                 model: missionItem.textFieldFacts
 
@@ -102,6 +136,7 @@ Rectangle {
                     showUnits:          true
                     fact:               object
                     Layout.fillWidth:   true
+                    enabled:            !object.readOnly
                 }
             }
 
@@ -124,15 +159,6 @@ Rectangle {
             }
         }
 
-        Repeater {
-            model: missionItem.checkboxFacts
-
-            FactCheckBox {
-                text:   object.name
-                fact:   object
-            }
-        }
-
         CameraSection {
             checked:    missionItem.cameraSection.settingsSpecified
             visible:    missionItem.cameraSection.available