qgroundcontrol.pro

@@ -623,6 +623,7 @@ HEADERS += \
     src/MissionManager/StructureScanPlanCreator.h \
     src/MissionManager/SurveyComplexItem.h \
     src/MissionManager/SurveyPlanCreator.h \
+    src/MissionManager/TakeoffMissionItem.h \
     src/MissionManager/TransectStyleComplexItem.h \
     src/MissionManager/VisualMissionItem.h \
     src/PositionManager/PositionManager.h \
@@ -853,6 +854,7 @@ SOURCES += \
     src/MissionManager/StructureScanPlanCreator.cc \
     src/MissionManager/SurveyComplexItem.cc \
     src/MissionManager/SurveyPlanCreator.cc \
+    src/MissionManager/TakeoffMissionItem.cc \
     src/MissionManager/TransectStyleComplexItem.cc \
     src/MissionManager/VisualMissionItem.cc \
     src/PositionManager/PositionManager.cpp \

qgroundcontrol.qrc

@@ -152,6 +152,7 @@
         <file alias="QGroundControl/Controls/StructureScanMapVisual.qml">src/PlanView/StructureScanMapVisual.qml</file>
         <file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
         <file alias="QGroundControl/Controls/SurveyMapVisual.qml">src/PlanView/SurveyMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/TakeoffItemMapVisual.qml">src/PlanView/TakeoffItemMapVisual.qml</file>
         <file alias="QGroundControl/Controls/ToolStrip.qml">src/QmlControls/ToolStrip.qml</file>
         <file alias="QGroundControl/Controls/TransectStyleComplexItemStats.qml">src/PlanView/TransectStyleComplexItemStats.qml</file>
 		<file alias="QGroundControl/Controls/TransectStyleMapVisuals.qml">src/PlanView/TransectStyleMapVisuals.qml</file>

src/FlightMap/MapItems/MissionItemIndicator.qml

@@ -32,7 +32,6 @@ MapQuickItem {
             id:             _label
             checked:        _isCurrentItem
             label:          missionItem ? missionItem.abbreviation : ""
-            //index:          missionItem ? missionItem.sequenceNumber : 0
             gimbalYaw:      missionItem.missionGimbalYaw
             vehicleYaw:     missionItem.missionVehicleYaw
             showGimbalYaw:  !isNaN(missionItem.missionGimbalYaw)

src/MissionManager/MissionController.cc

@@ -30,6 +30,7 @@
 #include "PlanMasterController.h"
 #include "KML.h"
 #include "QGCCorePlugin.h"
+#include "TakeoffMissionItem.h"
 
 #define UPDATE_TIMEOUT 5000 ///< How often we check for bounding box changes
 
@@ -160,6 +161,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
         //      - A load from vehicle was manually requested
         //      - The initial automatic load from a vehicle completed and the current editor is empty
 
+        _settingsItem = nullptr;
         QmlObjectListModel* newControllerMissionItems = new QmlObjectListModel(this);
         const QList<MissionItem*>& newMissionItems = _missionManager->missionItems();
         qCDebug(MissionControllerLog) << "loading from vehicle: count"<< newMissionItems.count();
@@ -171,34 +173,34 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
         if (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() && newMissionItems.count() != 0) {
             // First item is fake home position
             _addMissionSettings(newControllerMissionItems, false /* addToCenter */);
-            MissionSettingsItem* settingsItem = newControllerMissionItems->value<MissionSettingsItem*>(0);
-            if (!settingsItem) {
-                qWarning() << "First item is not settings item";
-                return;
-            }
             MissionItem* fakeHomeItem = newMissionItems[0];
             if (fakeHomeItem->coordinate().latitude() != 0 || fakeHomeItem->coordinate().longitude() != 0) {
-                settingsItem->setCoordinate(fakeHomeItem->coordinate());
+                _settingsItem->setInitialHomePosition(fakeHomeItem->coordinate());
             }
             i = 1;
         }
+        if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) {
+            _addMissionSettings(_visualItems, !_flyView && _visualItems->count() > 0 /* addToCenter */);
+        }
 
         for (; i < newMissionItems.count(); i++) {
             const MissionItem* missionItem = newMissionItems[i];
-            newControllerMissionItems->append(new SimpleMissionItem(_controllerVehicle, _flyView, *missionItem, this));
+            SimpleMissionItem* simpleItem = new SimpleMissionItem(_controllerVehicle, _flyView, *missionItem, this);
+            if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(simpleItem->command()))) {
+                // This needs to be a TakeoffMissionItem
+                TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(*missionItem, _controllerVehicle, _flyView, _settingsItem, this);
+                simpleItem->deleteLater();
+                simpleItem = takeoffItem;
+            }
+            newControllerMissionItems->append(simpleItem);
         }
 
         _deinitAllVisualItems();
         _visualItems->deleteLater();
-        _settingsItem = nullptr;
         _visualItems  = nullptr;
         _updateContainsItems(); // This will clear containsItems which will be set again below. This will re-pop Start Mission confirmation.
         _visualItems = newControllerMissionItems;
 
-        if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) {
-            _addMissionSettings(_visualItems, !_flyView && _visualItems->count() > 0 /* addToCenter */);
-        }
-
         MissionController::_scanForAdditionalSettings(_visualItems, _controllerVehicle);
 
         _initAllVisualItems();
@@ -357,12 +359,44 @@ VisualMissionItem* MissionController::insertSimpleMissionItem(QGeoCoordinate coo
     newItem->setCoordinate(coordinate);
     newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
     _initVisualItem(newItem);
-    if (_visualItems->count() == 1 && (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() || _controllerVehicle->multiRotor())) {
-        MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF;
-        if (_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
-            newItem->setCommand(takeoffCmd);
+
+    if (newItem->specifiesAltitude()) {
+        double  prevAltitude;
+        int     prevAltitudeMode;
+
+        if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltitudeMode)) {
+            newItem->altitude()->setRawValue(prevAltitude);
+            newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
         }
     }
+    newItem->setMissionFlightStatus(_missionFlightStatus);
+    if (visualItemIndex == -1) {
+        _visualItems->append(newItem);
+    } else {
+        _visualItems->insert(visualItemIndex, newItem);
+    }
+
+    // We send the click coordinate through here to be able to set the planned home position from the user click location if needed
+    _recalcAllWithClickCoordinate(coordinate);
+
+    if (makeCurrentItem) {
+        setCurrentPlanViewIndex(newItem->sequenceNumber(), true);
+    }
+
+    return newItem;
+}
+
+VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem)
+{
+    int sequenceNumber = _nextSequenceNumber();
+    TakeoffMissionItem * newItem = new TakeoffMissionItem(_controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF, _controllerVehicle, _flyView, _settingsItem, this);
+    newItem->setSequenceNumber(sequenceNumber);
+    if (!newItem->coordinate().isValid()) {
+        newItem->setCoordinate(coordinate);
+    }
+    newItem->setWizardMode(true);
+    _initVisualItem(newItem);
+
     if (newItem->specifiesAltitude()) {
         double  prevAltitude;
         int     prevAltitudeMode;
@@ -552,8 +586,7 @@ void MissionController::removeMissionItem(int index)
             bool rollSupported = false;
             bool pitchSupported = false;
             bool yawSupported = false;
-            MissionSettingsItem* settingsItem = _visualItems->value<MissionSettingsItem*>(0);
-            CameraSection* cameraSection = settingsItem->cameraSection();
+            CameraSection* cameraSection = _settingsItem->cameraSection();
             if (_controllerVehicle->firmwarePlugin()->hasGimbal(_controllerVehicle, rollSupported, pitchSupported, yawSupported) && pitchSupported) {
                 if (cameraSection->specifyGimbal() && cameraSection->gimbalPitch()->rawValue().toDouble() == -90.0 && cameraSection->gimbalYaw()->rawValue().toDouble() == 0.0) {
                     cameraSection->setSpecifyGimbal(false);
@@ -625,6 +658,17 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
     int nextSequenceNumber = 1; // Start with 1 since home is in 0
     QJsonArray itemArray(json[_jsonItemsKey].toArray());
 
+    _addMissionSettings(visualItems, true /* addToCenter */);
+    if (json.contains(_jsonPlannedHomePositionKey)) {
+        SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);
+        if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) {
+            _settingsItem->setInitialHomePositionFromUser(item->coordinate());
+            item->deleteLater();
+        } else {
+            return false;
+        }
+    }
+
     qCDebug(MissionControllerLog) << "Json load: simple item loop start simpleItemCount:ComplexItemCount" << itemArray.count() << surveyItems.count();
     do {
         qCDebug(MissionControllerLog) << "Json load: simple item loop nextSimpleItemIndex:nextComplexItemIndex:nextSequenceNumber" << nextSimpleItemIndex << nextComplexItemIndex << nextSequenceNumber;
@@ -654,6 +698,13 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
             const QJsonObject itemObject = itemValue.toObject();
             SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);
             if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
+                if (TakeoffMissionItem::isTakeoffCommand(item->mavCommand())) {
+                    // This needs to be a TakeoffMissionItem
+                    TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_controllerVehicle, _flyView, _settingsItem, visualItems);
+                    takeoffItem->load(itemObject, itemObject["id"].toInt(), errorString);
+                    item->deleteLater();
+                    item = takeoffItem;
+                }
                 qCDebug(MissionControllerLog) << "Json load: adding simple item expectedSequence:actualSequence" << nextSequenceNumber << item->sequenceNumber();
                 nextSequenceNumber = item->lastSequenceNumber() + 1;
                 visualItems->append(item);
@@ -663,21 +714,6 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
         }
     } while (nextSimpleItemIndex < itemArray.count() || nextComplexItemIndex < surveyItems.count());
 
-    if (json.contains(_jsonPlannedHomePositionKey)) {
-        SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);
-
-        if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) {
-            MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);
-            settingsItem->setCoordinate(item->coordinate());
-            visualItems->insert(0, settingsItem);
-            item->deleteLater();
-        } else {
-            return false;
-        }
-    } else {
-        _addMissionSettings(visualItems, true /* addToCenter */);
-    }
-
     return true;
 }
 
@@ -719,9 +755,9 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
     if (!JsonHelper::loadGeoCoordinate(json[_jsonPlannedHomePositionKey], true /* altitudeRequired */, homeCoordinate, errorString)) {
         return false;
     }
-    MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);
-    settingsItem->setCoordinate(homeCoordinate);
-    visualItems->insert(0, settingsItem);
+    _settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);
+    _settingsItem->setCoordinate(homeCoordinate);
+    visualItems->insert(0, _settingsItem);
     qCDebug(MissionControllerLog) << "plannedHomePosition" << homeCoordinate;
 
     // Read mission items
@@ -750,6 +786,13 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
         if (itemType == VisualMissionItem::jsonTypeSimpleItemValue) {
             SimpleMissionItem* simpleItem = new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);
             if (simpleItem->load(itemObject, nextSequenceNumber, errorString)) {
+                if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(simpleItem->command()))) {
+                    // This needs to be a TakeoffMissionItem
+                    TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_controllerVehicle, _flyView, _settingsItem, this);
+                    takeoffItem->load(itemObject, nextSequenceNumber, errorString);
+                    simpleItem->deleteLater();
+                    simpleItem = takeoffItem;
+                }
                 qCDebug(MissionControllerLog) << "Loading simple item: nextSequenceNumber:command" << nextSequenceNumber << simpleItem->command();
                 nextSequenceNumber = simpleItem->lastSequenceNumber() + 1;
                 visualItems->append(simpleItem);
@@ -801,15 +844,6 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
                 nextSequenceNumber = corridorItem->lastSequenceNumber() + 1;
                 qCDebug(MissionControllerLog) << "Corridor Scan load complete: nextSequenceNumber" << nextSequenceNumber;
                 visualItems->append(corridorItem);
-            } else if (complexItemType == MissionSettingsItem::jsonComplexItemTypeValue) {
-                qCDebug(MissionControllerLog) << "Loading Mission Settings: nextSequenceNumber" << nextSequenceNumber;
-                MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);
-                if (!settingsItem->load(itemObject, nextSequenceNumber++, errorString)) {
-                    return false;
-                }
-                nextSequenceNumber = settingsItem->lastSequenceNumber() + 1;
-                qCDebug(MissionControllerLog) << "Mission Settings load complete: nextSequenceNumber" << nextSequenceNumber;
-                visualItems->append(settingsItem);
             } else {
                 errorString = tr("Unsupported complex item type: %1").arg(complexItemType);
             }
@@ -893,15 +927,20 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
     if (versionOk) {
         // Start with planned home in center
         _addMissionSettings(visualItems, true /* addToCenter */);
-        MissionSettingsItem* settingsItem = visualItems->value<MissionSettingsItem*>(0);
 
         while (!stream.atEnd()) {
             SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);
-
             if (item->load(stream)) {
                 if (firstItem && plannedHomePositionInFile) {
-                    settingsItem->setCoordinate(item->coordinate());
+                    _settingsItem->setInitialHomePositionFromUser(item->coordinate());
                 } else {
+                    if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(item->command()))) {
+                        // This needs to be a TakeoffMissionItem
+                        TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_controllerVehicle, _flyView, _settingsItem, visualItems);
+                        takeoffItem->load(stream);
+                        item->deleteLater();
+                        item = takeoffItem;
+                    }
                     visualItems->append(item);
                 }
                 firstItem = false;
@@ -1631,7 +1670,7 @@ void MissionController::_setPlannedHomePositionFromFirstCoordinate(const QGeoCoo
     if (firstCoordinate.isValid()) {
         QGeoCoordinate plannedHomeCoord = firstCoordinate.atDistanceAndAzimuth(30, 0);
         plannedHomeCoord.setAltitude(0);
-        _settingsItem->setCoordinate(plannedHomeCoord);
+        _settingsItem->setInitialHomePositionFromUser(plannedHomeCoord);
     }
 }
 
@@ -1658,18 +1697,16 @@ void MissionController::_initAllVisualItems(void)
 {
     // Setup home position at index 0
 
-    _settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
     if (!_settingsItem) {
-        qWarning() << "First item not MissionSettingsItem";
-        return;
-    }
-    if (!_flyView) {
-        _settingsItem->setIsCurrentItem(true);
+        qWarning() << "_initAllVisualItems _settingsItem should already be set";
+        _settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
+        if (!_settingsItem) {
+            qWarning() << "First item not MissionSettingsItem";
+            return;
+        }
     }
 
-    if (_managerVehicle->homePosition().isValid()) {
-        _settingsItem->setCoordinate(_managerVehicle->homePosition());
-    }
+    _settingsItem->setHomePositionFromVehicle(_managerVehicle);
 
     connect(_settingsItem, &MissionSettingsItem::coordinateChanged,     this, &MissionController::_recalcAll);
     connect(_settingsItem, &MissionSettingsItem::missionEndRTLChanged,  this, &MissionController::_recalcAll);
@@ -1689,6 +1726,10 @@ void MissionController::_initAllVisualItems(void)
     emit containsItemsChanged(containsItems());
     emit plannedHomePositionChanged(plannedHomePosition());
 
+    if (!_flyView) {
+        setCurrentPlanViewIndex(0, true);
+    }
+
     setDirty(false);
 }
 
@@ -1781,21 +1822,21 @@ void MissionController::managerVehicleChanged(Vehicle* managerVehicle)
     connect(_managerVehicle, &Vehicle::vehicleTypeChanged,              this, &MissionController::complexMissionItemNamesChanged);
 
     if (!_masterController->offline()) {
-        _managerVehicleHomePositionChanged(_managerVehicle->homePosition());
+        _managerVehicleHomePositionChanged();
     }
 
     emit complexMissionItemNamesChanged();
     emit resumeMissionIndexChanged();
 }
 
-void MissionController::_managerVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
+void MissionController::_managerVehicleHomePositionChanged(void)
 {
     if (_visualItems) {
         bool currentDirtyBit = dirty();
 
         MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
         if (settingsItem) {
-            settingsItem->setHomePositionFromVehicle(homePosition);
+            settingsItem->setHomePositionFromVehicle(_managerVehicle);
         } else {
             qWarning() << "First item is not MissionSettingsItem";
         }
@@ -1863,11 +1904,11 @@ double MissionController::_normalizeLon(double lon)
 /// Add the Mission Settings complex item to the front of the items
 void MissionController::_addMissionSettings(QmlObjectListModel* visualItems, bool addToCenter)
 {
-    MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);
+    _settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);
 
     qCDebug(MissionControllerLog) << "_addMissionSettings addToCenter" << addToCenter;
 
-    visualItems->insert(0, settingsItem);
+    visualItems->insert(0, _settingsItem);
 
     if (addToCenter) {
         if (visualItems->count() > 1) {
@@ -1898,11 +1939,11 @@ void MissionController::_addMissionSettings(QmlObjectListModel* visualItems, boo
             }
 
             if (firstCoordSet) {
-                settingsItem->setCoordinate(QGeoCoordinate((south + ((north - south) / 2)) - 90.0, (west + ((east - west) / 2)) - 180.0, 0.0));
+                _settingsItem->setInitialHomePositionFromUser(QGeoCoordinate((south + ((north - south) / 2)) - 90.0, (west + ((east - west) / 2)) - 180.0, 0.0));
             }
         }
-    } else if (_managerVehicle->homePosition().isValid()) {
-        settingsItem->setCoordinate(_managerVehicle->homePosition());
+    } else {
+        _settingsItem->setHomePositionFromVehicle(_managerVehicle);
     }
 }
 
@@ -2133,13 +2174,28 @@ VisualMissionItem* MissionController::currentPlanViewItem(void) const
 
 void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
 {
-    if(_visualItems && (force || sequenceNumber != _currentPlanViewIndex)) {
+    if (_visualItems && (force || sequenceNumber != _currentPlanViewIndex)) {
         _splitSegment = nullptr;
         _currentPlanViewItem  = nullptr;
         _currentPlanViewIndex = -1;
+        _isInsertTakeoffValid = true;
+
         for (int i = 0; i < _visualItems->count(); i++) {
             VisualMissionItem* pVI = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
-            if (pVI && pVI->sequenceNumber() == sequenceNumber) {
+
+            if (sequenceNumber != 0 && pVI->sequenceNumber() <= sequenceNumber) {
+                if (pVI->specifiesCoordinate() && !pVI->isStandaloneCoordinate()) {
+                    // Coordinate based flight commands prior to where the takeoff would be inserted
+                    _isInsertTakeoffValid = false;
+                }
+            }
+
+            if (qobject_cast<TakeoffMissionItem*>(pVI)) {
+                // Already contains a takeoff command
+                _isInsertTakeoffValid = false;
+            }
+
+            if (pVI->sequenceNumber() == sequenceNumber) {
                 pVI->setIsCurrentItem(true);
                 _currentPlanViewItem  = pVI;
                 _currentPlanViewIndex = sequenceNumber;
@@ -2160,9 +2216,11 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
                 pVI->setIsCurrentItem(false);
             }
         }
+
         emit currentPlanViewIndexChanged();
         emit currentPlanViewItemChanged();
         emit splitSegmentChanged();
+        emit isInsertTakeoffValidChanged();
     }
 }
 

src/MissionManager/MissionController.h

@@ -7,9 +7,7 @@
  *
  ****************************************************************************/
 
-
-#ifndef MissionController_H
-#define MissionController_H
+#pragma once
 
 #include "PlanElementController.h"
 #include "QmlObjectListModel.h"
@@ -28,6 +26,7 @@ class AppSettings;
 class MissionManager;
 class SimpleMissionItem;
 class ComplexMissionItem;
+class MissionSettingsItem;
 class QDomDocument;
 
 Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
@@ -67,38 +66,33 @@ public:
         int     batteriesRequired;      ///< -1 for not supported
     } MissionFlightStatus_t;
 
-    Q_PROPERTY(QmlObjectListModel*  visualItems             READ visualItems                NOTIFY visualItemsChanged)
-    Q_PROPERTY(QmlObjectListModel*  waypointLines           READ waypointLines              CONSTANT)                           ///< Used by Plan view only for interactive editing
-    Q_PROPERTY(QVariantList         waypointPath            READ waypointPath               NOTIFY waypointPathChanged)         ///< Used by Fly view only for static display
-    Q_PROPERTY(QmlObjectListModel*  directionArrows         READ directionArrows            CONSTANT)
-    Q_PROPERTY(QStringList          complexMissionItemNames READ complexMissionItemNames    NOTIFY complexMissionItemNamesChanged)
-    Q_PROPERTY(QGeoCoordinate       plannedHomePosition     READ plannedHomePosition        NOTIFY plannedHomePositionChanged)
-    Q_PROPERTY(CoordinateVector*    splitSegment            MEMBER _splitSegment            NOTIFY splitSegmentChanged)         ///< Segment which show show + split ui element
-
-    Q_PROPERTY(double               progressPct             READ progressPct                NOTIFY progressPctChanged)
-
-    Q_PROPERTY(int                  missionItemCount        READ missionItemCount           NOTIFY missionItemCountChanged)     ///< True mission item command count (only valid in Fly View)
-    Q_PROPERTY(int                  currentMissionIndex     READ currentMissionIndex        NOTIFY currentMissionIndexChanged)
-    Q_PROPERTY(int                  resumeMissionIndex      READ resumeMissionIndex         NOTIFY resumeMissionIndexChanged)   ///< Returns the item index two which a mission should be resumed. -1 indicates resume mission not available.
-
-    Q_PROPERTY(int                  currentPlanViewIndex    READ currentPlanViewIndex       NOTIFY currentPlanViewIndexChanged)
-    Q_PROPERTY(VisualMissionItem*   currentPlanViewItem     READ currentPlanViewItem        NOTIFY currentPlanViewItemChanged)
-
-    Q_PROPERTY(double               missionDistance         READ missionDistance            NOTIFY missionDistanceChanged)
-    Q_PROPERTY(double               missionTime             READ missionTime                NOTIFY missionTimeChanged)
-    Q_PROPERTY(double               missionHoverDistance    READ missionHoverDistance       NOTIFY missionHoverDistanceChanged)
-    Q_PROPERTY(double               missionCruiseDistance   READ missionCruiseDistance      NOTIFY missionCruiseDistanceChanged)
-    Q_PROPERTY(double               missionHoverTime        READ missionHoverTime           NOTIFY missionHoverTimeChanged)
-    Q_PROPERTY(double               missionCruiseTime       READ missionCruiseTime          NOTIFY missionCruiseTimeChanged)
-    Q_PROPERTY(double               missionMaxTelemetry     READ missionMaxTelemetry        NOTIFY missionMaxTelemetryChanged)
-
-    Q_PROPERTY(int                  batteryChangePoint      READ batteryChangePoint         NOTIFY batteryChangePointChanged)
-    Q_PROPERTY(int                  batteriesRequired       READ batteriesRequired          NOTIFY batteriesRequiredChanged)
-    Q_PROPERTY(QGCGeoBoundingCube*  travelBoundingCube      READ travelBoundingCube         NOTIFY missionBoundingCubeChanged)
-
+    Q_PROPERTY(QmlObjectListModel*  visualItems                     READ visualItems                    NOTIFY visualItemsChanged)
+    Q_PROPERTY(QmlObjectListModel*  waypointLines                   READ waypointLines                  CONSTANT)                           ///< Used by Plan view only for interactive editing
+    Q_PROPERTY(QVariantList         waypointPath                    READ waypointPath                   NOTIFY waypointPathChanged)         ///< Used by Fly view only for static display
+    Q_PROPERTY(QmlObjectListModel*  directionArrows                 READ directionArrows                CONSTANT)
+    Q_PROPERTY(QStringList          complexMissionItemNames         READ complexMissionItemNames        NOTIFY complexMissionItemNamesChanged)
+    Q_PROPERTY(QGeoCoordinate       plannedHomePosition             READ plannedHomePosition            NOTIFY plannedHomePositionChanged)
+    Q_PROPERTY(CoordinateVector*    splitSegment                    MEMBER _splitSegment                NOTIFY splitSegmentChanged)         ///< Segment which show show + split ui element
+    Q_PROPERTY(double               progressPct                     READ progressPct                    NOTIFY progressPctChanged)
+    Q_PROPERTY(int                  missionItemCount                READ missionItemCount               NOTIFY missionItemCountChanged)     ///< True mission item command count (only valid in Fly View)
+    Q_PROPERTY(int                  currentMissionIndex             READ currentMissionIndex            NOTIFY currentMissionIndexChanged)
+    Q_PROPERTY(int                  resumeMissionIndex              READ resumeMissionIndex             NOTIFY resumeMissionIndexChanged)   ///< Returns the item index two which a mission should be resumed. -1 indicates resume mission not available.
+    Q_PROPERTY(int                  currentPlanViewIndex            READ currentPlanViewIndex           NOTIFY currentPlanViewIndexChanged)
+    Q_PROPERTY(VisualMissionItem*   currentPlanViewItem             READ currentPlanViewItem            NOTIFY currentPlanViewItemChanged)
+    Q_PROPERTY(double               missionDistance                 READ missionDistance                NOTIFY missionDistanceChanged)
+    Q_PROPERTY(double               missionTime                     READ missionTime                    NOTIFY missionTimeChanged)
+    Q_PROPERTY(double               missionHoverDistance            READ missionHoverDistance           NOTIFY missionHoverDistanceChanged)
+    Q_PROPERTY(double               missionCruiseDistance           READ missionCruiseDistance          NOTIFY missionCruiseDistanceChanged)
+    Q_PROPERTY(double               missionHoverTime                READ missionHoverTime               NOTIFY missionHoverTimeChanged)
+    Q_PROPERTY(double               missionCruiseTime               READ missionCruiseTime              NOTIFY missionCruiseTimeChanged)
+    Q_PROPERTY(double               missionMaxTelemetry             READ missionMaxTelemetry            NOTIFY missionMaxTelemetryChanged)
+    Q_PROPERTY(int                  batteryChangePoint              READ batteryChangePoint             NOTIFY batteryChangePointChanged)
+    Q_PROPERTY(int                  batteriesRequired               READ batteriesRequired              NOTIFY batteriesRequiredChanged)
+    Q_PROPERTY(QGCGeoBoundingCube*  travelBoundingCube              READ travelBoundingCube             NOTIFY missionBoundingCubeChanged)
     Q_PROPERTY(QString              surveyComplexItemName           READ surveyComplexItemName          CONSTANT)
     Q_PROPERTY(QString              corridorScanComplexItemName     READ corridorScanComplexItemName    CONSTANT)
     Q_PROPERTY(QString              structureScanComplexItemName    READ structureScanComplexItemName   CONSTANT)
+    Q_PROPERTY(bool                 isInsertTakeoffValid            MEMBER _isInsertTakeoffValid        NOTIFY isInsertTakeoffValidChanged) ///< true: Takeoff tool should be enabled
 
     Q_INVOKABLE void removeMissionItem(int index);
 
@@ -109,6 +103,13 @@ public:
     /// @return Newly created item
     Q_INVOKABLE VisualMissionItem* insertSimpleMissionItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem = false);
 
+    /// Add a new takeoff item to the list
+    ///     @param coordinate: Coordinate for item
+    ///     @param visualItemIndex: index to insert at, -1 for end of list
+    ///     @param makeCurrentItem: true: Make this item the current item
+    /// @return Newly created item
+    Q_INVOKABLE VisualMissionItem* insertTakeoffItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem = false);
+
     /// Add a new ROI mission item to the list
     ///     @param coordinate: Coordinate for item
     ///     @param visualItemIndex: index to insert at, -1 for end of list
@@ -191,6 +192,7 @@ public:
     QString             surveyComplexItemName       (void) const { return patternSurveyName; }
     QString             corridorScanComplexItemName (void) const { return patternCorridorScanName; }
     QString             structureScanComplexItemName(void) const { return patternStructureScanName; }
+    bool                isInsertTakeoffValid        (void) const;
 
     int missionItemCount            (void) const { return _missionItemCount; }
     int currentMissionIndex         (void) const;
@@ -242,11 +244,12 @@ signals:
     void currentPlanViewItemChanged     (void);
     void missionBoundingCubeChanged     (void);
     void missionItemCountChanged        (int missionItemCount);
+    void isInsertTakeoffValidChanged    (void);
 
 private slots:
     void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
     void _itemCommandChanged(void);
-    void _managerVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
+    void _managerVehicleHomePositionChanged(void);
     void _inProgressChanged(bool inProgress);
     void _currentMissionIndexChanged(int sequenceNumber);
     void _recalcWaypointLines(void);
@@ -316,6 +319,7 @@ private:
     QGCGeoBoundingCube      _travelBoundingCube;
     QGeoCoordinate          _takeoffCoordinate;
     CoordinateVector*       _splitSegment;
+    bool                    _isInsertTakeoffValid = true;
 
     static const char*  _settingsGroup;
 
@@ -335,5 +339,3 @@ private:
 
     static const int    _missionFileVersion;
 };
-
-#endif

src/MissionManager/MissionSettingsItem.cc

@@ -21,8 +21,6 @@
 
 QGC_LOGGING_CATEGORY(MissionSettingsComplexItemLog, "MissionSettingsComplexItemLog")
 
-const char* MissionSettingsItem::jsonComplexItemTypeValue = "MissionSettings";
-
 const char* MissionSettingsItem::_plannedHomePositionAltitudeName = "PlannedHomePositionAltitude";
 
 QMap<QString, FactMetaData*> MissionSettingsItem::_metaDataMap;
@@ -30,12 +28,8 @@ QMap<QString, FactMetaData*> MissionSettingsItem::_metaDataMap;
 MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, bool flyView, QObject* parent)
     : ComplexMissionItem                (vehicle, flyView, parent)
     , _plannedHomePositionAltitudeFact  (0, _plannedHomePositionAltitudeName,   FactMetaData::valueTypeDouble)
-    , _plannedHomePositionFromVehicle   (false)
-    , _missionEndRTL                    (false)
     , _cameraSection                    (vehicle)
     , _speedSection                     (vehicle)
-    , _sequenceNumber                   (0)
-    , _dirty                            (false)
 {
     _editorQml = "qrc:/qml/MissionSettingsEditor.qml";
 
@@ -95,7 +89,7 @@ void MissionSettingsItem::save(QJsonArray&  missionItems)
 
     appendMissionItems(items, this);
 
-    // First item show be planned home position, we are not responsible for save/load
+    // First item should be planned home position, we are not responsible for save/load
     // Remaining items we just output as is
     for (int i=1; i<items.count(); i++) {
         MissionItem* item = items[i];
@@ -222,25 +216,54 @@ void MissionSettingsItem::_setDirty(void)
     setDirty(true);
 }
 
-void MissionSettingsItem::setHomePositionFromVehicle(const QGeoCoordinate& coordinate)
+void MissionSettingsItem::_setCoordinateWorker(const QGeoCoordinate& coordinate)
 {
-    _plannedHomePositionFromVehicle = true;
-    setCoordinate(coordinate);
+    if (_plannedHomePositionCoordinate != coordinate) {
+        _plannedHomePositionCoordinate = coordinate;
+        emit coordinateChanged(coordinate);
+        emit exitCoordinateChanged(coordinate);
+        _plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
+    }
 }
 
-void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate)
+void MissionSettingsItem::setHomePositionFromVehicle(Vehicle* vehicle)
 {
-    if (_plannedHomePositionCoordinate != coordinate) {
+    // If the user hasn't moved the planned home position manually we use the value from the vehicle
+    if (!_plannedHomePositionMovedByUser) {
+        QGeoCoordinate coordinate = vehicle->homePosition();
         // ArduPilot tends to send crap home positions at initial vehicle boot, discard them
         if (coordinate.isValid() && (coordinate.latitude() != 0 || coordinate.longitude() != 0)) {
-            _plannedHomePositionCoordinate = coordinate;
-            emit coordinateChanged(coordinate);
-            emit exitCoordinateChanged(coordinate);
-            _plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
+            _plannedHomePositionFromVehicle = true;
+            _setCoordinateWorker(coordinate);
         }
     }
 }
 
+void MissionSettingsItem::setInitialHomePosition(const QGeoCoordinate& coordinate)
+{
+    _plannedHomePositionMovedByUser = false;
+    _plannedHomePositionFromVehicle = false;
+    _setCoordinateWorker(coordinate);
+}
+
+void MissionSettingsItem::setInitialHomePositionFromUser(const QGeoCoordinate& coordinate)
+{
+    _plannedHomePositionMovedByUser = true;
+    _plannedHomePositionFromVehicle = false;
+    _setCoordinateWorker(coordinate);
+}
+
+
+void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate)
+{
+    if (coordinate != this->coordinate()) {
+        // The user is moving the planned home position manually. Stop tracking vehicle home position.
+        _plannedHomePositionMovedByUser = true;
+        _plannedHomePositionFromVehicle = false;
+        _setCoordinateWorker(coordinate);
+    }
+}
+
 void MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber(void)
 {
     emit lastSequenceNumberChanged(lastSequenceNumber());
@@ -301,5 +324,5 @@ void MissionSettingsItem::_setHomeAltFromTerrain(double terrainAltitude)
 
 QString MissionSettingsItem::abbreviation(void) const
 {
-    return _flyView ? tr("H") : tr("Planned Home");
+    return _flyView ? tr("H") : tr("Launch");
 }

src/MissionManager/MissionSettingsItem.h

@@ -48,8 +48,14 @@ public:
     /// @return true: Mission end action was added
     bool addMissionEndAction(QList<MissionItem*>& items, int seqNum, QObject* missionItemParent);
 
-    /// Called to updaet home position coordinate when it comes from a connected vehicle
-    void setHomePositionFromVehicle(const QGeoCoordinate& coordinate);
+    /// Called to update home position coordinate when it comes from a connected vehicle
+    void setHomePositionFromVehicle(Vehicle* vehicle);
+
+    // Called to set the initial home position. Vehicle can still update home position after this.
+    void setInitialHomePosition(const QGeoCoordinate& coordinate);
+
+    // Called to set the initial home position specified by user. Vehicle will no longer affect home position.
+    void setInitialHomePositionFromUser(const QGeoCoordinate& coordinate);
 
     // Overrides from ComplexMissionItem
 
@@ -75,7 +81,7 @@ public:
     double          specifiedGimbalYaw      (void) final;
     double          specifiedGimbalPitch    (void) final;
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
-    void            applyNewAltitude        (double newAltitude) final { Q_UNUSED(newAltitude); /* no action */ }
+    void            applyNewAltitude        (double /*newAltitude*/) final { /* no action */ }
     double          specifiedFlightSpeed    (void) final;
     double          additionalTimeDelay     (void) const final { return 0; }
 
@@ -84,12 +90,10 @@ public:
     bool exitCoordinateSameAsEntry          (void) const final { return true; }
 
     void setDirty           (bool dirty) final;
-    void setCoordinate      (const QGeoCoordinate& coordinate) final;
+    void setCoordinate      (const QGeoCoordinate& coordinate) final;   // Should only be called if the end user is moving
     void setSequenceNumber  (int sequenceNumber) final;
     void save               (QJsonArray&  missionItems) final;
 
-    static const char* jsonComplexItemTypeValue;
-
 signals:
     void specifyMissionFlightSpeedChanged   (bool specifyMissionFlightSpeed);
     void missionEndRTLChanged               (bool missionEndRTL);
@@ -100,16 +104,17 @@ private slots:
     void _sectionDirtyChanged                   (bool dirty);
     void _updateAltitudeInCoordinate            (QVariant value);
     void _setHomeAltFromTerrain                 (double terrainAltitude);
+    void _setCoordinateWorker                   (const QGeoCoordinate& coordinate);
 
 private:
     QGeoCoordinate  _plannedHomePositionCoordinate;     // Does not include altitude
     Fact            _plannedHomePositionAltitudeFact;
-    bool            _plannedHomePositionFromVehicle;
-    bool            _missionEndRTL;
+    int             _sequenceNumber =                   0;
+    bool            _plannedHomePositionFromVehicle =   false;
+    bool            _plannedHomePositionMovedByUser =   false;
+    bool            _missionEndRTL =                    false;
     CameraSection   _cameraSection;
     SpeedSection    _speedSection;
-    int             _sequenceNumber;
-    bool            _dirty;
 
     static QMap<QString, FactMetaData*> _metaDataMap;
 

src/MissionManager/SimpleMissionItem.cc

@@ -146,37 +146,6 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool flyView, const Missi
     setDirty(false);
 }
 
-SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, bool flyView, QObject* parent)
-    : VisualMissionItem         (other, flyView, parent)
-    , _missionItem              (other._vehicle)
-    , _rawEdit                  (false)
-    , _dirty                    (false)
-    , _ignoreDirtyChangeSignals (false)
-    , _speedSection             (nullptr)
-    , _cameraSection            (nullptr)
-    , _commandTree              (qgcApp()->toolbox()->missionCommandTree())
-    , _supportedCommandFact     (0,         "Command:",             FactMetaData::valueTypeUint32)
-    , _altitudeMode             (other._altitudeMode)
-    , _altitudeFact             (0,         "Altitude",             FactMetaData::valueTypeDouble)
-    , _amslAltAboveTerrainFact  (qQNaN(),   "Alt above terrain",    FactMetaData::valueTypeDouble)
-    , _param1MetaData           (FactMetaData::valueTypeDouble)
-    , _param2MetaData           (FactMetaData::valueTypeDouble)
-    , _param3MetaData           (FactMetaData::valueTypeDouble)
-    , _param4MetaData           (FactMetaData::valueTypeDouble)
-    , _syncingHeadingDegreesAndParam4           (false)
-{
-    _editorQml = QStringLiteral("qrc:/qml/SimpleItemEditor.qml");
-
-    _altitudeFact.setRawValue(other._altitudeFact.rawValue());
-    _amslAltAboveTerrainFact.setRawValue(other._amslAltAboveTerrainFact.rawValue());
-
-    _setupMetaData();
-    _connectSignals();
-    _updateOptionalSections();
-    _rebuildFacts();
-    setDirty(false);
-}
-
 void SimpleMissionItem::_connectSignals(void)
 {
     // Connect to change signals to track dirty state

src/MissionManager/SimpleMissionItem.h

@@ -26,7 +26,7 @@ class SimpleMissionItem : public VisualMissionItem
 public:
     SimpleMissionItem(Vehicle* vehicle, bool flyView, QObject* parent);
     SimpleMissionItem(Vehicle* vehicle, bool flyView, const MissionItem& missionItem, QObject* parent);
-    SimpleMissionItem(const SimpleMissionItem& other, bool flyView, QObject* parent);
+    //SimpleMissionItem(const SimpleMissionItem& other, bool flyView, QObject* parent);
 
     ~SimpleMissionItem();
 
@@ -64,7 +64,8 @@ public:
     // Property accesors
     
     QString         category            (void) const;
-    int             command(void) const { return _missionItem._commandFact.cookedValue().toInt(); }
+    int             command             (void) const { return _missionItem._commandFact.cookedValue().toInt(); }
+    MAV_CMD         mavCommand          (void) const { return static_cast<MAV_CMD>(command()); }
     bool            friendlyEditAllowed (void) const;
     bool            rawEdit             (void) const;
     bool            specifiesAltitude   (void) const;
@@ -92,14 +93,14 @@ public:
     void setAzimuth         (double azimuth);
     void setDistance        (double distance);
 
-    bool load(QTextStream &loadStream);
-    bool load(const QJsonObject& json, int sequenceNumber, QString& errorString);
+    virtual bool load(QTextStream &loadStream);
+    virtual bool load(const QJsonObject& json, int sequenceNumber, QString& errorString);
 
     MissionItem& missionItem(void) { return _missionItem; }
     const MissionItem& missionItem(void) const { return _missionItem; }
 
     // Overrides from VisualMissionItem
-    bool            dirty                   (void) const final { return _dirty; }
+    bool            dirty                   (void) const override { return _dirty; }
     bool            isSimpleItem            (void) const final { return true; }
     bool            isStandaloneCoordinate  (void) const final;
     bool            specifiesCoordinate     (void) const final;
@@ -110,10 +111,10 @@ public:
     QGeoCoordinate  coordinate              (void) const final { return _missionItem.coordinate(); }
     QGeoCoordinate  exitCoordinate          (void) const final { return coordinate(); }
     int             sequenceNumber          (void) const final { return _missionItem.sequenceNumber(); }
-    double          specifiedFlightSpeed    (void) final;
-    double          specifiedGimbalYaw      (void) final;
-    double          specifiedGimbalPitch    (void) final;
-    QString         mapVisualQML            (void) const final { return QStringLiteral("SimpleItemMapVisual.qml"); }
+    double          specifiedFlightSpeed    (void) override;
+    double          specifiedGimbalYaw      (void) override;
+    double          specifiedGimbalPitch    (void) override;
+    QString         mapVisualQML            (void) const override { return QStringLiteral("SimpleItemMapVisual.qml"); }
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
     void            applyNewAltitude        (double newAltitude) final;
     void            setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
@@ -125,7 +126,7 @@ public:
     bool exitCoordinateSameAsEntry          (void) const final { return true; }
 
     void setDirty           (bool dirty) final;
-    void setCoordinate      (const QGeoCoordinate& coordinate) final;
+    void setCoordinate      (const QGeoCoordinate& coordinate) override;
     void setSequenceNumber  (int sequenceNumber) final;
     int  lastSequenceNumber (void) const final;
     void save               (QJsonArray&  missionItems) final;

src/MissionManager/TakeoffMissionItem.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include <QStringList>
+#include <QDebug>
+
+#include "TakeoffMissionItem.h"
+#include "FirmwarePluginManager.h"
+#include "QGCApplication.h"
+#include "JsonHelper.h"
+#include "MissionCommandTree.h"
+#include "MissionCommandUIInfo.h"
+#include "QGroundControlQmlGlobal.h"
+#include "SettingsManager.h"
+
+TakeoffMissionItem::TakeoffMissionItem(Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
+    : SimpleMissionItem (vehicle, flyView, parent)
+    , _settingsItem     (settingsItem)
+{
+    _init();
+}
+
+TakeoffMissionItem::TakeoffMissionItem(MAV_CMD takeoffCmd, Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
+    : SimpleMissionItem (vehicle, flyView, parent)
+    , _settingsItem     (settingsItem)
+{
+    setCommand(takeoffCmd);
+    _init();
+}
+
+TakeoffMissionItem::TakeoffMissionItem(const MissionItem& missionItem, Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
+    : SimpleMissionItem (vehicle, flyView, missionItem, parent)
+    , _settingsItem     (settingsItem)
+{
+    _init();
+}
+
+TakeoffMissionItem::~TakeoffMissionItem()
+{
+
+}
+
+void TakeoffMissionItem::_init(void)
+{
+    _editorQml = QStringLiteral("qrc:/qml/SimpleItemEditor.qml");
+
+    if (_settingsItem->coordinate().isValid()) {
+        // Either the user has set a Launch location or it came from a connected vehicle.
+        // Use it as starting point.
+        setCoordinate(_settingsItem->coordinate());
+    }
+    connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &TakeoffMissionItem::launchCoordinateChanged);
+
+    _initLaunchTakeoffAtSameLocation();
+
+    setDirty(false);
+}
+
+void TakeoffMissionItem::setLaunchTakeoffAtSameLocation(bool launchTakeoffAtSameLocation)
+{
+    if (launchTakeoffAtSameLocation != _launchTakeoffAtSameLocation) {
+        _launchTakeoffAtSameLocation = launchTakeoffAtSameLocation;
+        if (_launchTakeoffAtSameLocation) {
+            setLaunchCoordinate(coordinate());
+        }
+        emit launchTakeoffAtSameLocationChanged(_launchTakeoffAtSameLocation);
+        setDirty(true);
+    }
+}
+
+void TakeoffMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
+{
+    if (this->coordinate().isValid() || !_vehicle->fixedWing()) {
+        if (coordinate != this->coordinate()) {
+            if (_launchTakeoffAtSameLocation) {
+                setLaunchCoordinate(coordinate);
+            }
+            SimpleMissionItem::setCoordinate(coordinate);
+        }
+    } else {
+        // First time setup for fixed wing
+        if (!launchCoordinate().isValid()) {
+            setLaunchCoordinate(coordinate);
+        }
+        SimpleMissionItem::setCoordinate(launchCoordinate().atDistanceAndAzimuth(60, 0));
+    }
+}
+
+bool TakeoffMissionItem::isTakeoffCommand(MAV_CMD command)
+{
+    return command == MAV_CMD_NAV_TAKEOFF || command == MAV_CMD_NAV_VTOL_TAKEOFF;
+}
+
+void TakeoffMissionItem::_initLaunchTakeoffAtSameLocation(void)
+{
+    if (_vehicle->fixedWing()) {
+        setLaunchTakeoffAtSameLocation(!specifiesCoordinate());
+    } else {
+        setLaunchTakeoffAtSameLocation(coordinate().latitude() == _settingsItem->coordinate().latitude() && coordinate().longitude() == _settingsItem->coordinate().longitude());
+    }
+}
+
+bool TakeoffMissionItem::load(QTextStream &loadStream)
+{
+    bool success = SimpleMissionItem::load(loadStream);
+    if (success) {
+        _initLaunchTakeoffAtSameLocation();
+    }
+    return success;
+}
+
+bool TakeoffMissionItem::load(const QJsonObject& json, int sequenceNumber, QString& errorString)
+{
+    bool success = SimpleMissionItem::load(json, sequenceNumber, errorString);
+    if (success) {
+        _initLaunchTakeoffAtSameLocation();
+    }
+    return success;
+}

src/MissionManager/TakeoffMissionItem.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "SimpleMissionItem.h"
+#include "MissionSettingsItem.h"
+
+/// Takeoff mission item is a special case of a SimpleMissionItem which supports Launch Location display/editing
+/// which is tied to home position.
+class TakeoffMissionItem : public SimpleMissionItem
+{
+    Q_OBJECT
+    
+public:
+    TakeoffMissionItem(Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
+    TakeoffMissionItem(MAV_CMD takeoffCmd, Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
+    TakeoffMissionItem(const MissionItem& missionItem,  Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
+
+    Q_PROPERTY(QGeoCoordinate   launchCoordinate            READ launchCoordinate               WRITE setLaunchCoordinate               NOTIFY launchCoordinateChanged)
+    Q_PROPERTY(bool             launchTakeoffAtSameLocation READ launchTakeoffAtSameLocation    WRITE setLaunchTakeoffAtSameLocation    NOTIFY launchTakeoffAtSameLocationChanged)
+
+    QGeoCoordinate  launchCoordinate            (void) const { return _settingsItem->coordinate(); }
+    bool            launchTakeoffAtSameLocation (void) const { return _launchTakeoffAtSameLocation; }
+
+    void setLaunchCoordinate            (const QGeoCoordinate& launchCoordinate) { _settingsItem->setCoordinate(launchCoordinate); }
+    void setLaunchTakeoffAtSameLocation (bool launchTakeoffAtSameLocation);
+
+    static bool isTakeoffCommand(MAV_CMD command);
+
+    ~TakeoffMissionItem();
+
+    // Overrides from VisualMissionItem
+    void            setCoordinate           (const QGeoCoordinate& coordinate) override;
+    bool            isTakeoffItem           (void) const final { return true; }
+    double          specifiedFlightSpeed    (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    double          specifiedGimbalYaw      (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    double          specifiedGimbalPitch    (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+    QString         mapVisualQML            (void) const override { return QStringLiteral("TakeoffItemMapVisual.qml"); }
+
+    // Overrides from SimpleMissionItem
+    bool load(QTextStream &loadStream) final;
+    bool load(const QJsonObject& json, int sequenceNumber, QString& errorString) final;
+
+    //void setDirty(bool dirty) final;
+
+signals:
+    void launchCoordinateChanged            (const QGeoCoordinate& launchCoordinate);
+    void launchTakeoffAtSameLocationChanged (bool launchTakeoffAtSameLocation);
+
+private:
+    void _init(void);
+    void _initLaunchTakeoffAtSameLocation(void);
+
+    MissionSettingsItem*    _settingsItem;
+    bool                    _launchTakeoffAtSameLocation = true;
+};

src/MissionManager/VisualMissionItem.cc

@@ -16,6 +16,7 @@
 #include "QGCApplication.h"
 #include "JsonHelper.h"
 #include "TerrainQuery.h"
+#include "TakeoffMissionItem.h"
 
 const char* VisualMissionItem::jsonTypeKey =                "type";
 const char* VisualMissionItem::jsonTypeSimpleItemValue =    "SimpleItem";

src/MissionManager/VisualMissionItem.h

@@ -65,6 +65,7 @@ public:
     Q_PROPERTY(bool             isStandaloneCoordinate              READ isStandaloneCoordinate                                         NOTIFY isStandaloneCoordinateChanged)               ///< true: Waypoint line does not go through item
     Q_PROPERTY(bool             specifiesAltitudeOnly               READ specifiesAltitudeOnly                                          NOTIFY specifiesAltitudeOnlyChanged)                ///< true: Item has altitude only, no full coordinate
     Q_PROPERTY(bool             isSimpleItem                        READ isSimpleItem                                                   NOTIFY isSimpleItemChanged)                         ///< Simple or Complex MissionItem
+    Q_PROPERTY(bool             isTakeoffItem                       READ isTakeoffItem                                                  NOTIFY isTakeoffItemChanged)                        ///< true: Takeoff item special case
     Q_PROPERTY(QString          editorQml                           MEMBER _editorQml                                                   CONSTANT)                                           ///< Qml code for editing this item
     Q_PROPERTY(QString          mapVisualQML                        READ mapVisualQML                                                   CONSTANT)                                           ///< QMl code for map visuals
     Q_PROPERTY(QmlObjectListModel* childItems                       READ childItems                                                     CONSTANT)
@@ -120,6 +121,7 @@ public:
 
     virtual bool            dirty                   (void) const = 0;
     virtual bool            isSimpleItem            (void) const = 0;
+    virtual bool            isTakeoffItem           (void) const { return false; }
     virtual bool            isStandaloneCoordinate  (void) const = 0;
     virtual bool            specifiesCoordinate     (void) const = 0;
     virtual bool            specifiesAltitudeOnly   (void) const = 0;
@@ -194,6 +196,7 @@ signals:
     void isCurrentItemChanged           (bool isCurrentItem);
     void sequenceNumberChanged          (int sequenceNumber);
     void isSimpleItemChanged            (bool isSimpleItem);
+    void isTakeoffItemChanged           (bool isTakeoffItem);
     void specifiesCoordinateChanged     (void);
     void isStandaloneCoordinateChanged  (void);
     void specifiesAltitudeOnlyChanged   (void);

src/PlanView/MissionItemEditor.qml

@@ -252,7 +252,7 @@ Rectangle {
         id:                     commandLabel
         anchors.leftMargin:     ScreenTools.comboBoxPadding
         anchors.fill:           commandPicker
-        visible:                !missionItem.isCurrentItem || !missionItem.isSimpleItem || _waypointsOnlyMode
+        visible:                (!missionItem.isCurrentItem || !missionItem.isSimpleItem || _waypointsOnlyMode) && !missionItem.isTakeoffItem
         verticalAlignment:      Text.AlignVCenter
         text:                   missionItem.commandName
         color:                  _outerTextColor

src/PlanView/PlanView.qml

@@ -60,18 +60,22 @@ Item {
     readonly property int       _layerRallyPoints:          3
     readonly property string    _armedVehicleUploadPrompt:  qsTr("Vehicle is currently armed. Do you want to upload the mission to the vehicle?")
 
-    function addComplexItem(complexItemName) {
+    function mapCenter() {
         var coordinate = editorMap.center
         coordinate.latitude  = coordinate.latitude.toFixed(_decimalPlaces)
         coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
         coordinate.altitude  = coordinate.altitude.toFixed(_decimalPlaces)
+        return coordinate
+    }
+
+    function addComplexItem(complexItemName) {
         var next_index = _missionController.visualItemIndexFromSequenceNumber(_missionController.currentPlanViewIndex)+1
         if(next_index ==1 && _missionController.visualItems.count >1){
             console.log(next_index, _missionController.visualItems.count)
-            insertComplexMissionItem(complexItemName, coordinate, next_index+1)
+            insertComplexMissionItem(complexItemName, mapCenter(), next_index+1)
         }
         else if(next_index <= _missionController.visualItems.count){
-            insertComplexMissionItem(complexItemName, coordinate, next_index)
+            insertComplexMissionItem(complexItemName, mapCenter(), next_index)
         }
     }
 
@@ -618,7 +622,13 @@ Item {
             z:                  QGroundControl.zOrderWidgets
             maxHeight:          mapScale.y - toolStrip.y
 
-            property int fileButtonIndex: 1
+            readonly property int flyButtonIndex:       0
+            readonly property int fileButtonIndex:      1
+            readonly property int takeoffButtonIndex:   2
+            readonly property int waypointButtonIndex:  3
+            readonly property int roiButtonIndex:       4
+            readonly property int patternButtonIndex:   5
+            readonly property int centerButtonIndex:    6
 
             property bool _isRally:     _editingLayer == _layerRallyPoints
 
@@ -638,6 +648,12 @@ Item {
                     alternateIconSource:"/qmlimages/MapSyncChanged.svg",
                     dropPanelComponent: syncDropPanel
                 },
+                {
+                    name:               qsTr("Takeoff"),
+                    iconSource:         "/res/takeoff.svg",
+                    buttonEnabled:      _missionController.isInsertTakeoffValid,
+                    buttonVisible:      _editingLayer == _layerMission
+                },
                 {
                     name:               _editingLayer == _layerRallyPoints ? qsTr("Rally Point") : qsTr("Waypoint"),
                     iconSource:         "/qmlimages/MapAddMission.svg",
@@ -671,10 +687,13 @@ Item {
 
             onClicked: {
                 switch (index) {
-                case 0:
+                case flyButtonIndex:
                     mainWindow.showFlyView()
-                    break;
-                case 2:
+                    break
+                case takeoffButtonIndex:
+                    _missionController.insertTakeoffItem(mapCenter(), _missionController.currentMissionIndex, true /* makeCurrentItem */)
+                    break
+                case waypointButtonIndex:
                     if(_addWaypointOnClick) {
                         //-- Toggle it off
                         _addWaypointOnClick = false
@@ -685,11 +704,11 @@ Item {
                         _addROIOnClick = false
                     }
                     break
-                case 3:
+                case roiButtonIndex:
                     _addROIOnClick = checked
                     _addWaypointOnClick = false
                     break
-                case 4:
+                case patternButtonIndex:
                     if (_singleComplexItem) {
                         addComplexItem(_missionController.complexMissionItemNames[0])
                     }

src/PlanView/SimpleItemEditor.qml

@@ -66,13 +66,14 @@ Rectangle {
             visible:            missionItem.wizardMode
 
             QGCLabel {
-                text:               qsTr("Adjust the initial launch location by selecting 'P' and dragging it to the correct location.")
+                text:               qsTr("Adjust the initial launch location by dragging 'L' indicator to the desired location.")
                 Layout.fillWidth:   true
                 wrapMode:           Text.WordWrap
+                visible:            !missionItem.launchTakeoffAtSameLocation
             }
 
             QGCLabel {
-                text:               qsTr("Adjust the takeoff completion location by dragging it to the correct location.")
+                text:               qsTr("Adjust the takeoff %1 location by dragging 'T' indicator to the desired location.").arg(missionItem.launchTakeoffAtSameLocation ? "" : qsTr("completion "))
                 Layout.fillWidth:   true
                 wrapMode:           Text.WordWrap
             }

src/PlanView/TakeoffItemMapVisual.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtLocation       5.3
+import QtPositioning    5.3
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FlightMap     1.0
+
+/// Simple Mission Item visuals
+Item {
+    id: _root
+
+    property var map        ///< Map control to place item in
+    property var vehicle    ///< Vehicle associated with this item
+
+    property var    _missionItem:           object
+    property var    _takeoffIndicatorItem
+    property var    _launchIndicatorItem
+
+    signal clicked(int sequenceNumber)
+
+    function addCommonVisuals() {
+        if (_objMgrCommonVisuals.empty) {
+            _takeoffIndicatorItem = _objMgrCommonVisuals.createObject(takeoffIndicatorComponent, map, true /* addToMap */)
+            _launchIndicatorItem = _objMgrCommonVisuals.createObject(launchIndicatorComponent, map, true /* addToMap */)
+        }
+    }
+
+    function addEditingVisuals() {
+        if (_objMgrEditingVisuals.empty) {
+            _objMgrEditingVisuals.createObjects([ takeoffDragComponent, launchDragComponent ], map, false /* addToMap */)
+        }
+    }
+
+    QGCDynamicObjectManager { id: _objMgrCommonVisuals }
+    QGCDynamicObjectManager { id: _objMgrEditingVisuals }
+
+    Component.onCompleted: {
+        addCommonVisuals()
+        if (_missionItem.isCurrentItem && map.planView) {
+            addEditingVisuals()
+        }
+    }
+
+    Connections {
+        target: _missionItem
+
+        onIsCurrentItemChanged: {
+            if (_missionItem.isCurrentItem && map.planView) {
+                addEditingVisuals()
+            } else {
+                _objMgrEditingVisuals.destroyObjects()
+            }
+        }
+    }
+
+    Component {
+        id: takeoffDragComponent
+
+        MissionItemIndicatorDrag {
+            mapControl:     _root.map
+            itemIndicator:  _takeoffIndicatorItem
+            itemCoordinate: _missionItem.specifiesCoordinate ? _missionItem.coordinate : _missionItem.launchCoordinate
+
+            onItemCoordinateChanged: {
+                if (_missionItem.specifiesCoordinate) {
+                    _missionItem.coordinate = itemCoordinate
+                } else {
+                    _missionItem.launchCoordinate = itemCoordinate
+                }
+            }
+        }
+    }
+
+    Component {
+        id: launchDragComponent
+
+        MissionItemIndicatorDrag {
+            mapControl:     _root.map
+            itemIndicator:  _launchIndicatorItem
+            itemCoordinate: _missionItem.launchCoordinate
+            visible:        !_missionItem.launchTakeoffAtSameLocation
+
+            onItemCoordinateChanged: _missionItem.launchCoordinate = itemCoordinate
+        }
+    }
+
+    Component {
+        id: takeoffIndicatorComponent
+
+        MissionItemIndicator {
+            coordinate:     _missionItem.specifiesCoordinate ? _missionItem.coordinate : _missionItem.launchCoordinate
+            z:              QGroundControl.zOrderMapItems
+            missionItem:    _missionItem
+            sequenceNumber: _missionItem.sequenceNumber
+            onClicked:      _root.clicked(_missionItem.sequenceNumber)
+        }
+    }
+
+    Component {
+        id: launchIndicatorComponent
+
+        MapQuickItem {
+            coordinate:     _missionItem.launchCoordinate
+            anchorPoint.x:  sourceItem.anchorPointX
+            anchorPoint.y:  sourceItem.anchorPointY
+            visible:        !_missionItem.launchTakeoffAtSameLocation
+
+            sourceItem:
+                MissionItemIndexLabel {
+                    checked:            _missionItem.isCurrentItem
+                    label:              qsTr("Launch")
+                    highlightSelected:  true
+                    onClicked:          _root.clicked(_missionItem.sequenceNumber)
+                }
+        }
+    }
+}