New MissionSettingsComplexItem

qgroundcontrol.pro

@@ -440,6 +440,7 @@ HEADERS += \
     src/MissionManager/MissionController.h \
     src/MissionManager/MissionItem.h \
     src/MissionManager/MissionManager.h \
+    src/MissionManager/MissionSettingsComplexItem.h \
     src/MissionManager/PlanElementController.h \
     src/MissionManager/QGCMapPolygon.h \
     src/MissionManager/RallyPoint.h \
@@ -610,6 +611,7 @@ SOURCES += \
     src/MissionManager/MissionController.cc \
     src/MissionManager/MissionItem.cc \
     src/MissionManager/MissionManager.cc \
+    src/MissionManager/MissionSettingsComplexItem.cc \
     src/MissionManager/PlanElementController.cc \
     src/MissionManager/QGCMapPolygon.cc \
     src/MissionManager/RallyPoint.cc \

qgroundcontrol.qrc

@@ -38,7 +38,6 @@
         <file alias="MainWindowNative.qml">src/ui/MainWindowNative.qml</file>
         <file alias="MavlinkSettings.qml">src/ui/preferences/MavlinkSettings.qml</file>
         <file alias="MissionEditor.qml">src/MissionEditor/MissionEditor.qml</file>
-        <file alias="MissionSettingsEditor.qml">src/MissionEditor/MissionSettingsEditor.qml</file>
         <file alias="MixersComponent.qml">src/AutoPilotPlugins/Common/MixersComponent.qml</file>
         <file alias="MockLink.qml">src/ui/preferences/MockLink.qml</file>
         <file alias="MockLinkSettings.qml">src/ui/preferences/MockLinkSettings.qml</file>
@@ -67,6 +66,7 @@
         <file alias="QGroundControl/Controls/MissionItemIndexLabel.qml">src/QmlControls/MissionItemIndexLabel.qml</file>
         <file alias="QGroundControl/Controls/MissionItemMapVisual.qml">src/MissionEditor/MissionItemMapVisual.qml</file>
         <file alias="QGroundControl/Controls/MissionItemStatus.qml">src/MissionEditor/MissionItemStatus.qml</file>
+        <file alias="QGroundControl/Controls/MissionSettingsMapVisual.qml">src/MissionEditor/MissionSettingsMapVisual.qml</file>
         <file alias="QGroundControl/Controls/ModeSwitchDisplay.qml">src/QmlControls/ModeSwitchDisplay.qml</file>
         <file alias="QGroundControl/Controls/MultiRotorMotorDisplay.qml">src/QmlControls/MultiRotorMotorDisplay.qml</file>
         <file alias="QGroundControl/Controls/OfflineMapButton.qml">src/QmlControls/OfflineMapButton.qml</file>
@@ -170,6 +170,7 @@
         <file alias="SimpleItemEditor.qml">src/MissionEditor/SimpleItemEditor.qml</file>
         <file alias="SurveyItemEditor.qml">src/MissionEditor/SurveyItemEditor.qml</file>
         <file alias="FWLandingPatternEditor.qml">src/MissionEditor/FWLandingPatternEditor.qml</file>
+        <file alias="MissionSettingsEditor.qml">src/MissionEditor/MissionSettingsEditor.qml</file>
         <file alias="TcpSettings.qml">src/ui/preferences/TcpSettings.qml</file>
         <file alias="test.qml">src/test.qml</file>
         <file alias="UdpSettings.qml">src/ui/preferences/UdpSettings.qml</file>
@@ -183,11 +184,6 @@
         <file alias="MavCmdInfoRover.json">src/MissionManager/MavCmdInfoRover.json</file>
         <file alias="MavCmdInfoSub.json">src/MissionManager/MavCmdInfoSub.json</file>
         <file alias="MavCmdInfoVTOL.json">src/MissionManager/MavCmdInfoVTOL.json</file>
-        <file alias="Vehicle/VehicleFact.json">src/Vehicle/VehicleFact.json</file>
-        <file alias="Vehicle/BatteryFact.json">src/Vehicle/BatteryFact.json</file>
-        <file alias="Vehicle/GPSFact.json">src/Vehicle/GPSFact.json</file>
-        <file alias="Vehicle/WindFact.json">src/Vehicle/WindFact.json</file>
-        <file alias="Vehicle/VibrationFact.json">src/Vehicle/VibrationFact.json</file>
         <file alias="App.SettingsGroup.json">src/Settings/App.SettingsGroup.json</file>
         <file alias="AutoConnect.SettingsGroup.json">src/Settings/AutoConnect.SettingsGroup.json</file>
         <file alias="Survey.SettingsGroup.json">src/MissionManager/Survey.SettingsGroup.json</file>
@@ -196,6 +192,12 @@
         <file alias="RallyPoint.FactMetaData.json">src/MissionManager/RallyPoint.FactMetaData.json</file>
         <file alias="FWLandingPattern.FactMetaData.json">src/MissionManager/FWLandingPattern.FactMetaData.json</file>
         <file alias="USBBoardInfo.json">src/comm/USBBoardInfo.json</file>
+        <file alias="MissionSettings.FactMetaData.json">src/MissionManager/MissionSettings.FactMetaData.json</file>
+        <file alias="Vehicle/VehicleFact.json">src/Vehicle/VehicleFact.json</file>
+        <file alias="Vehicle/BatteryFact.json">src/Vehicle/BatteryFact.json</file>
+        <file alias="Vehicle/GPSFact.json">src/Vehicle/GPSFact.json</file>
+        <file alias="Vehicle/WindFact.json">src/Vehicle/WindFact.json</file>
+        <file alias="Vehicle/VibrationFact.json">src/Vehicle/VibrationFact.json</file>
         <file alias="Vehicle/TemperatureFact.json">src/Vehicle/TemperatureFact.json</file>
     </qresource>
     <qresource prefix="/MockLink">

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -266,7 +266,8 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
          << MAV_CMD_DO_CHANGE_SPEED
          << MAV_CMD_DO_LAND_START
          << MAV_CMD_DO_MOUNT_CONFIGURE
-         << MAV_CMD_DO_MOUNT_CONTROL;
+         << MAV_CMD_DO_MOUNT_CONTROL
+         << MAV_CMD_IMAGE_START_CAPTURE << MAV_CMD_IMAGE_STOP_CAPTURE << MAV_CMD_VIDEO_START_CAPTURE << MAV_CMD_VIDEO_STOP_CAPTURE;
 
     return list;
 }

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -210,9 +210,13 @@ FlightMap {
         }
     }
 
-    // Add the mission items to the map
-    MissionItemView {
+    // Add the mission item visuals to the map
+    Repeater {
         model: _mainIsMap ? missionController.visualItems : 0
+
+        delegate: MissionItemMapVisual {
+            map: flightMap
+        }
     }
 
     // Add lines between waypoints

src/FlightMap/MapItems/MissionItemView.qml

@@ -25,7 +25,7 @@ MapItemView {
     delegate: MissionItemIndicator {
         id:             itemIndicator
         coordinate:     object.coordinate
-        visible:        object.specifiesCoordinate && (index != 0 || object.showHomePosition)
+        visible:        object.specifiesCoordinate
         z:              QGroundControl.zOrderMapItems
         missionItem:    object
         sequenceNumber: object.sequenceNumber

src/MissionEditor/FWLandingPatternEditor.qml

@@ -49,9 +49,9 @@ Rectangle {
             text:           qsTr("WIP (NOT FOR REAL FLIGHT!)")
         }
 
-        Item { width: 1; height: _margin }
-
-        SectionHeader { text: qsTr("Loiter point") }
+        SectionHeader {
+            text: qsTr("Loiter point")
+        }
 
         Item { width: 1; height: _spacer }
 
@@ -80,8 +80,6 @@ Rectangle {
             onClicked:      missionItem.loiterClockwise = checked
         }
 
-        Item { width: 1; height: ScreenTools.defaultFontPixelHeight / 2 }
-
         SectionHeader { text: qsTr("Landing point") }
 
         Item { width: 1; height: _spacer }

src/MissionEditor/MissionEditor.qml

@@ -585,6 +585,7 @@ QGCView {
                         highlightMoveDuration: 250
 
                         delegate: MissionItemEditor {
+                            map:            editorMap
                             missionItem:    object
                             width:          parent.width
                             readOnly:       false
@@ -601,8 +602,7 @@ QGCView {
                                 setCurrentItem(removeIndex)
                             }
 
-                            onInsert:               insertSimpleMissionItem(editorMap.center, index)
-                            onMoveHomeToMapCenter:  _visualItems.get(0).coordinate = editorMap.center
+                            onInsert: insertSimpleMissionItem(editorMap.center, index)
                         }
                     } // QGCListView
                 } // Item - Mission Item editor

src/MissionEditor/MissionItemEditor.qml

@@ -18,13 +18,13 @@ Rectangle {
     color:  _currentItem ? qgcPal.buttonHighlight : qgcPal.windowShade
     radius: _radius
 
+    property var    map             ///< Map control
     property var    missionItem     ///< MissionItem associated with this editor
     property bool   readOnly        ///< true: read only view, false: full editing view
 
     signal clicked
     signal remove
     signal insert
-    signal moveHomeToMapCenter
 
     property bool   _currentItem:           missionItem.isCurrentItem
     property color  _outerTextColor:        _currentItem ? "black" : qgcPal.text
@@ -125,7 +125,7 @@ Rectangle {
         anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
         anchors.left:           label.right
         anchors.top:            parent.top
-        visible:                missionItem.sequenceNumber != 0 && missionItem.isCurrentItem && !missionItem.rawEdit && missionItem.isSimpleItem
+        visible:                missionItem.isCurrentItem && !missionItem.rawEdit && missionItem.isSimpleItem
         text:                   missionItem.commandName
 
         Component {
@@ -141,9 +141,9 @@ Rectangle {
 
     QGCLabel {
         anchors.fill:       commandPicker
-        visible:            missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem || !missionItem.isSimpleItem
+        visible:            !missionItem.isCurrentItem || !missionItem.isSimpleItem
         verticalAlignment:  Text.AlignVCenter
-        text:               missionItem.sequenceNumber == 0 ? qsTr("Mission Settings") : missionItem.commandName
+        text:               missionItem.commandName
         color:              _outerTextColor
     }
 
@@ -154,7 +154,7 @@ Rectangle {
         anchors.left:       parent.left
         anchors.top:        commandPicker.bottom
         height:             item ? item.height : 0
-        source:             missionItem.sequenceNumber == 0 ? "qrc:/qml/MissionSettingsEditor.qml" : missionItem.editorQml
+        source:             missionItem.editorQml
 
         onLoaded: {
             item.visible = Qt.binding(function() { return _currentItem; })

src/MissionEditor/MissionSettingsMapVisual.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
+
+/// Mission Settings map visuals
+Item {
+    property var map    ///< Map control to place item in
+
+    property var    _missionItem:       object
+    property var    _itemVisual
+    property var    _dragArea
+    property bool   _itemVisualShowing: false
+    property bool   _dragAreaShowing:   false
+
+    function hideItemVisuals() {
+        if (_itemVisualShowing) {
+            _itemVisual.destroy()
+            _itemVisualShowing = false
+        }
+    }
+
+    function showItemVisuals() {
+        if (!_itemVisualShowing) {
+            _itemVisual = indicatorComponent.createObject(map)
+            map.addMapItem(_itemVisual)
+            _itemVisualShowing = true
+        }
+    }
+
+    function hideDragArea() {
+        if (_dragAreaShowing) {
+            _dragArea.destroy()
+            _dragAreaShowing = false
+        }
+    }
+
+    function showDragArea() {
+        if (!_dragAreaShowing && _missionItem.specifiesCoordinate) {
+            _dragArea = dragAreaComponent.createObject(map)
+            _dragAreaShowing = true
+        }
+    }
+
+    Component.onCompleted: {
+        showItemVisuals()
+        if (_missionItem.isCurrentItem) {
+            showDragArea()
+        }
+    }
+
+    Component.onDestruction: {
+        hideDragArea()
+        hideItemVisuals()
+    }
+
+
+    Connections {
+        target: _missionItem
+
+        onIsCurrentItemChanged: {
+            if (_missionItem.isCurrentItem) {
+                showDragArea()
+            } else {
+                hideDragArea()
+            }
+        }
+    }
+
+    // Control which is used to drag items
+    Component {
+        id: dragAreaComponent
+
+        MissionItemIndicatorDrag {
+            itemIndicator:  _itemVisual
+            itemCoordinate: _missionItem.coordinate
+
+            onItemCoordinateChanged: _missionItem.coordinate = itemCoordinate
+        }
+    }
+
+    Component {
+        id: indicatorComponent
+
+        MissionItemIndicator {
+            coordinate:     _missionItem.coordinate
+            visible:        _missionItem.showHomePosition
+            z:              QGroundControl.zOrderMapItems
+            missionItem:    _missionItem
+
+            onClicked: setCurrentItem(_missionItem.sequenceNumber)
+
+            // These are the non-coordinate child mission items attached to this item
+            Row {
+                anchors.top:    parent.top
+                anchors.left:   parent.right
+
+                Repeater {
+                    model: _missionItem.childItems
+
+                    delegate: MissionItemIndexLabel {
+                        label:                  object.abbreviation
+                        checked:                object.isCurrentItem
+                        z:                      2
+                        specifiesCoordinate:    false
+
+                        onClicked: setCurrentItem(object.sequenceNumber)
+                    }
+                }
+            }
+        }
+    }
+}

src/MissionEditor/SectionHeader.qml

@@ -5,20 +5,55 @@ import QtQuick.Layouts  1.2
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Palette       1.0
 
-Column {
+QGCMouseArea {
+    id:             _root
     anchors.left:   parent.left
     anchors.right:  parent.right
+    height:         column.height
+    onClicked:      checked = !checked
 
-    property alias text: label.text
+    property alias          text:           label.text
+    property bool           checked:        true
+    property bool           showSpacer:     true
+    property ExclusiveGroup exclusiveGroup: null
 
-    QGCPalette { id: qgcPal; colorGroupEnabled: true }
+    property real   _sectionSpacer: ScreenTools.defaultFontPixelWidth / 2  // spacing between section headings
+
+    onExclusiveGroupChanged: {
+        if (exclusiveGroup)
+            exclusiveGroup.bindCheckable(_root)
+    }
 
-    QGCLabel { id: label }
+    QGCPalette { id: qgcPal; colorGroupEnabled: true }
 
-    Rectangle {
+    ColumnLayout {
+        id:             column
         anchors.left:   parent.left
         anchors.right:  parent.right
-        height:         1
-        color:          qgcPal.text
+
+        Item {
+            height:     _sectionSpacer
+            width:      1
+            visible:    showSpacer
+        }
+
+        QGCLabel {
+            id:                 label
+            Layout.fillWidth:   true
+
+            Image {
+                anchors.right:          parent.right
+                anchors.verticalCenter: parent.verticalCenter
+                source:                 "/qmlimages/arrow-down.png"
+                visible:                !_root.checked
+            }
+        }
+
+        Rectangle {
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            height:         1
+            color:          qgcPal.text
+        }
     }
 }

src/MissionEditor/SurveyItemEditor.qml

@@ -166,7 +166,10 @@ Rectangle {
         anchors.right:      parent.right
         spacing:            _margin
 
-        SectionHeader { text: qsTr("Camera") }
+        SectionHeader {
+            text:       qsTr("Camera")
+            showSpacer: false
+        }
 
         QGCComboBox {
             id:             gridTypeCombo
@@ -327,8 +330,6 @@ Rectangle {
                 }
             }
 
-            Item { height: _sectionSpacer;  width: 1; visible: !ScreenTools.isTinyScreen }
-
             SectionHeader { text: qsTr("Grid") }
 
             GridLayout {
@@ -395,8 +396,6 @@ Rectangle {
             spacing:        _margin
             visible:        gridTypeCombo.currentIndex == _gridTypeManual
 
-            Item { height: _sectionSpacer;  width: 1; visible: !ScreenTools.isTinyScreen }
-
             SectionHeader { text: qsTr("Grid") }
 
             FactTextFieldGrid {
@@ -447,8 +446,6 @@ Rectangle {
             }
         }
 
-        Item { height: _sectionSpacer;  width: 1; visible: !ScreenTools.isTinyScreen }
-
         SectionHeader { text: qsTr("Statistics") }
 
         Grid {

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -105,8 +105,10 @@ void FixedWingLandingComplexItem::setDirty(bool dirty)
     }
 }
 
-void FixedWingLandingComplexItem::save(QJsonObject& saveObject) const
+void FixedWingLandingComplexItem::save(QJsonArray&  missionItems) const
 {
+    QJsonObject saveObject;
+
     saveObject[JsonHelper::jsonVersionKey] =                    1;
     saveObject[VisualMissionItem::jsonTypeKey] =                VisualMissionItem::jsonTypeComplexItemValue;
     saveObject[ComplexMissionItem::jsonComplexItemTypeKey] =    jsonComplexItemTypeValue;
@@ -128,6 +130,8 @@ void FixedWingLandingComplexItem::save(QJsonObject& saveObject) const
     saveObject[_jsonLoiterClockwiseKey] =           _loiterClockwise;
     saveObject[_jsonLoiterAltitudeRelativeKey] =    _loiterAltitudeRelative;
     saveObject[_jsonLandingAltitudeRelativeKey] =   _landingAltitudeRelative;
+
+    missionItems.append(saveObject);
 }
 
 void FixedWingLandingComplexItem::setSequenceNumber(int sequenceNumber)
@@ -236,7 +240,7 @@ QmlObjectListModel* FixedWingLandingComplexItem::getMissionItems(void) const
                            0.0, 0.0, 0.0, 0.0,                 // param 1-4
                            _landingCoordinate.latitude(),
                            _landingCoordinate.longitude(),
-                           0.0,                                // altitude
+                           _landingAltitudeFact.rawValue().toDouble(),
                            true,                               // autoContinue
                            false,                              // isCurrentItem
                            pMissionItems);                     // parent - allow delete on pMissionItems to delete everthing

src/MissionManager/FixedWingLandingComplexItem.h

@@ -80,7 +80,7 @@ public:
     void setDirty           (bool dirty) final;
     void setCoordinate      (const QGeoCoordinate& coordinate) final { setLoiterCoordinate(coordinate); }
     void setSequenceNumber  (int sequenceNumber) final;
-    void save               (QJsonObject& saveObject) const final;
+    void save               (QJsonArray&  missionItems) const final;
 
     static const char* jsonComplexItemTypeValue;
 

src/MissionManager/MavCmdInfoCommon.json

@@ -965,11 +965,58 @@
         { "id": 510, "rawName": "MAV_CMD_GET_MESSAGE_INTERVAL", "friendlyName": "Get message interval" },
         { "id": 511, "rawName": "MAV_CMD_SET_MESSAGE_INTERVAL", "friendlyName": "Set message interval" },
         { "id": 520, "rawName": "MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES", "friendlyName": "Get capabilities" },
-        { "id": 2000, "rawName": "MAV_CMD_IMAGE_START_CAPTURE", "friendlyName": "Start image capture" },
+        {
+            "id":           2000,
+            "rawName":      "MAV_CMD_IMAGE_START_CAPTURE",
+            "friendlyName": "Start image capture" ,
+            "description":  "Start taking one or more photos.",
+            "category":     "Camera",
+            "param1": {
+                "label":            "Interval",
+                "default":          0,
+                "units":            "secs",
+                "decimalPlaces":    0
+            },
+            "param2": {
+                "label":            "Photo count",
+                "default":          1,
+                "decimalPlaces":    0
+            },
+            "param3": {
+                "label":            "Resolution",
+                "default":          -1,
+                "decimalPlaces":    0
+            },
+            "param6": {
+                "label":            "Camera id",
+                "default":          0,
+                "decimalPlaces":    0
+            }
+        },
         { "id": 2001, "rawName": "MAV_CMD_IMAGE_STOP_CAPTURE", "friendlyName": "Stop image capture" },
         { "id": 2003, "rawName": "MAV_CMD_DO_TRIGGER_CONTROL", "friendlyName": "Trigger control" },
-        { "id": 2500, "rawName": "MAV_CMD_VIDEO_START_CAPTURE", "friendlyName": "Start video capture" },
-        { "id": 2501, "rawName": "MAV_CMD_VIDEO_STOP_CAPTURE", "friendlyName": "Stop video cpture" },
+        {
+            "id":           2500,
+            "rawName":      "MAV_CMD_VIDEO_START_CAPTURE",
+            "friendlyName": "Start video capture",
+            "description":  "Start taking video.",
+            "category":     "Camera",
+            "param1": {
+                "label":            "Camera id",
+                "default":          0,
+                "decimalPlaces":    0
+            },
+            "param2": {
+                "label":            "FPS",
+                "default":          -1,
+                "decimalPlaces":    0
+            },
+            "param3": {
+                "label":            "Resolution",
+                "default":          -1,
+                "decimalPlaces":    0
+            }
+        },
         { "id": 2800, "rawName": "MAV_CMD_PANORAMA_CREATE", "friendlyName": "Create panorama" },
         {
             "id": 3000,

src/MissionManager/MissionController.h

@@ -34,11 +34,10 @@ public:
     MissionController(QObject* parent = NULL);
     ~MissionController();
 
-    Q_PROPERTY(QGeoCoordinate       plannedHomePosition READ plannedHomePosition    NOTIFY plannedHomePositionChanged)
-    Q_PROPERTY(QmlObjectListModel*  visualItems         READ visualItems            NOTIFY visualItemsChanged)
-    Q_PROPERTY(QmlObjectListModel*  complexVisualItems  READ complexVisualItems     NOTIFY complexVisualItemsChanged)
-    Q_PROPERTY(QmlObjectListModel*  waypointLines       READ waypointLines          NOTIFY waypointLinesChanged)
-
+    // Mission settings
+    Q_PROPERTY(QGeoCoordinate       plannedHomePosition     READ plannedHomePosition    NOTIFY plannedHomePositionChanged)
+    Q_PROPERTY(QmlObjectListModel*  visualItems             READ visualItems            NOTIFY visualItemsChanged)
+    Q_PROPERTY(QmlObjectListModel*  waypointLines           READ waypointLines          NOTIFY waypointLinesChanged)
     Q_PROPERTY(QStringList          complexMissionItemNames MEMBER _complexMissionItemNames CONSTANT)
 
     Q_PROPERTY(double               missionDistance         READ missionDistance        NOTIFY missionDistanceChanged)
@@ -67,9 +66,8 @@ public:
     ///     @param[in] vehicle Vehicle we are loading items for
     ///     @param[in] filename File to load from
     ///     @param[out] visualItems Visual items loaded, returns NULL if error
-    ///     @param[out] complexItems Complex items loaded, returns NULL if error
     /// @return success/fail
-    static bool loadItemsFromFile(Vehicle* vehicle, const QString& filename, QmlObjectListModel** visualItems, QmlObjectListModel** complexItems);
+    static bool loadItemsFromFile(Vehicle* vehicle, const QString& filename, QmlObjectListModel** visualItems);
 
     /// Sends the mission items to the specified vehicle
     static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems);
@@ -94,7 +92,6 @@ public:
 
     QGeoCoordinate      plannedHomePosition (void);
     QmlObjectListModel* visualItems         (void) { return _visualItems; }
-    QmlObjectListModel* complexVisualItems  (void) { return _complexItems; }
     QmlObjectListModel* waypointLines       (void) { return &_waypointLines; }
 
     double  missionDistance         (void) const { return _missionDistance; }
@@ -110,7 +107,6 @@ public:
 signals:
     void plannedHomePositionChanged(QGeoCoordinate plannedHomePosition);
     void visualItemsChanged(void);
-    void complexVisualItemsChanged(void);
     void waypointLinesChanged(void);
     void newItemsFromVehicle(void);
     void missionDistanceChanged(double missionDistance);
@@ -151,10 +147,10 @@ private:
     bool _findPreviousAltitude(int newIndex, double* prevAltitude, MAV_FRAME* prevFrame);
     static double _normalizeLat(double lat);
     static double _normalizeLon(double lon);
-    static void _addPlannedHomePosition(Vehicle* vehicle, QmlObjectListModel* visualItems, bool addToCenter);
-    static bool _loadJsonMissionFile(Vehicle* vehicle, const QByteArray& bytes, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
-    static bool _loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
-    static bool _loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
+    static void _addMissionSettings(Vehicle* vehicle, QmlObjectListModel* visualItems, bool addToCenter);
+    static bool _loadJsonMissionFile(Vehicle* vehicle, const QByteArray& bytes, QmlObjectListModel* visualItems, QString& errorString);
+    static bool _loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
+    static bool _loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
     static bool _loadTextMissionFile(Vehicle* vehicle, QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
     int _nextSequenceNumber(void);
     void _setMissionDistance(double missionDistance);
@@ -171,7 +167,6 @@ private:
 
 private:
     QmlObjectListModel* _visualItems;
-    QmlObjectListModel* _complexItems;
     QmlObjectListModel  _waypointLines;
     CoordVectHashTable  _linesTable;
     bool                _firstItemsFromVehicle;
@@ -189,6 +184,8 @@ private:
     QStringList         _complexMissionItemNames;
 
     static const char*  _settingsGroup;
+
+    // Json file keys for persistence
     static const char*  _jsonFileTypeValue;
     static const char*  _jsonFirmwareTypeKey;
     static const char*  _jsonVehicleTypeKey;

src/MissionManager/MissionManager.cc

@@ -91,7 +91,7 @@ void MissionManager::writeMissionItems(const QList<MissionItem*>& missionItems)
 /// This begins the write sequence with the vehicle. This may be called during a retry.
 void MissionManager::_writeMissionCount(void)
 {
-    qCDebug(MissionManagerLog) << "_writeMissionCount retry count" << _retryCount;
+    qCDebug(MissionManagerLog) << "_writeMissionCount count:_retryCount" << _missionItems.count() << _retryCount;
 
     mavlink_message_t       message;
     mavlink_mission_count_t missionCount;
@@ -427,7 +427,7 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message, bool m
         seq =           missionItem.seq;
     }
     
-    qCDebug(MissionManagerLog) << "_handleMissionItem sequenceNumber:" << seq;
+    qCDebug(MissionManagerLog) << "_handleMissionItem sequenceNumber:" << seq << command;
     
     if (_itemIndicesToRead.contains(seq)) {
         _itemIndicesToRead.removeOne(seq);
@@ -483,8 +483,6 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message, boo
     
     mavlink_msg_mission_request_decode(&message, &missionRequest);
     
-    qCDebug(MissionManagerLog) << "_handleMissionRequest sequenceNumber:" << missionRequest.seq;
-    
     if (!_itemIndicesToWrite.contains(missionRequest.seq)) {
         if (missionRequest.seq > _missionItems.count()) {
             _sendError(RequestRangeError, QString("Vehicle requested item outside range, count:request %1:%2. Send to Vehicle failed.").arg(_missionItems.count()).arg(missionRequest.seq));
@@ -497,11 +495,13 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message, boo
         _itemIndicesToWrite.removeOne(missionRequest.seq);
     }
     
-    mavlink_message_t       messageOut;
+    MissionItem* item = _missionItems[missionRequest.seq];
+    qCDebug(MissionManagerLog) << "_handleMissionRequest sequenceNumber:" << missionRequest.seq << item->command();
+
+    mavlink_message_t   messageOut;
     if (missionItemInt) {
         mavlink_mission_item_int_t missionItem;
 
-        MissionItem* item = _missionItems[missionRequest.seq];
 
         missionItem.target_system =     _vehicle->id();
         missionItem.target_component =  MAV_COMP_ID_MISSIONPLANNER;
@@ -526,8 +526,6 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message, boo
     } else {
         mavlink_mission_item_t missionItem;
 
-        MissionItem* item = _missionItems[missionRequest.seq];
-
         missionItem.target_system =     _vehicle->id();
         missionItem.target_component =  MAV_COMP_ID_MISSIONPLANNER;
         missionItem.seq =               missionRequest.seq;

src/MissionManager/MissionSettings.FactMetaData.json

+[
+{
+    "name":             "PlannedHomePositionLatitude",
+    "shortDescription": "Planned home position latitude",
+    "type":             "double",
+    "decimalPlaces":    7,
+    "defaultValue":     37.803784
+},
+{
+    "name":             "PlannedHomePositionLongitude",
+    "shortDescription": "Planned home position longitude",
+    "type":             "double",
+    "decimalPlaces":    7,
+    "defaultValue":     -122.462276
+},
+{
+    "name":             "PlannedHomePositionAltitude",
+    "shortDescription": "Planned home position altitude",
+    "type":             "double",
+    "units":            "m",
+    "decimalPlaces":    1,
+    "defaultValue":     0
+},
+{
+    "name":             "FlightSpeed",
+    "shortDescription": "Flight speed for mission.",
+    "type":             "double",
+    "units":            "m/s",
+    "min":              0,
+    "decimalPlaces":    1
+},
+{
+    "name":             "CameraAction",
+    "shortDescription": "Specify whether the camera should take photos or video",
+    "type":             "uint32",
+    "enumStrings":      "No camera action,Take photos (time),Take photos (distance),Take video",
+    "enumValues":       "0,1,2,3",
+    "defaultValue":     0
+},
+{
+    "name":             "CameraPhotoIntervalDistance",
+    "shortDescription": "Specify the distance between each photo",
+    "type":             "double",
+    "units":            "m",
+    "min":              0,
+    "decimalPlaces":    1,
+    "defaultValue":     1
+},
+{
+    "name":             "CameraPhotoIntervalTime",
+    "shortDescription": "Specify the time between each photo",
+    "type":             "uint32",
+    "units":            "secs",
+    "min":              1,
+    "decimalPlaces":    0,
+    "defaultValue":     10
+},
+{
+    "name":             "GimbalPitch",
+    "shortDescription": "Gimbal pitch rotation.",
+    "type":             "double",
+    "units":            "deg",
+    "min":              0.0,
+    "max":              360.0,
+    "decimalPlaces":    0,
+    "defaultValue":     0
+},
+{
+    "name":             "GimbalYaw",
+    "shortDescription": "Gimbal yaw rotation.",
+    "type":             "double",
+    "units":            "deg",
+    "min":              0.0,
+    "max":              360.0,
+    "decimalPlaces":    0,
+    "defaultValue":     0
+},
+{
+    "name":             "MissionEndAction",
+    "shortDescription": "The action to take when the mission completed.",
+    "type":             "uint32",
+    "enumStrings":      "No action on mission completion,Loiter after mission completes,RTL after mission completes,Land after mission completes",
+    "enumValues":       "0,1,2,3",
+    "defaultValue":     0
+}
+]

src/MissionManager/MissionSettingsComplexItem.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.
+ *
+ ****************************************************************************/
+
+#ifndef MissionSettingsComplexItem_H
+#define MissionSettingsComplexItem_H
+
+#include "ComplexMissionItem.h"
+#include "MissionItem.h"
+#include "Fact.h"
+#include "QGCLoggingCategory.h"
+
+Q_DECLARE_LOGGING_CATEGORY(MissionSettingsComplexItemLog)
+
+class MissionSettingsComplexItem : public ComplexMissionItem
+{
+    Q_OBJECT
+
+public:
+    MissionSettingsComplexItem(Vehicle* vehicle, QObject* parent = NULL);
+
+    enum MissionEndAction {
+        MissionEndNoAction,
+        MissionEndLoiter,
+        MissionEndRTL,
+        MissionEndLand
+    };
+    Q_ENUMS(MissionEndAction)
+
+    enum CameraAction {
+        CameraActionNone,
+        TakePhotosIntervalTime,
+        TakePhotoIntervalDistance,
+        TakeVideo
+    };
+    Q_ENUMS(CameraAction)
+
+    Q_PROPERTY(bool     specifyMissionFlightSpeed       READ specifyMissionFlightSpeed      WRITE setSpecifyMissionFlightSpeed  NOTIFY specifyMissionFlightSpeedChanged)
+    Q_PROPERTY(Fact*    missionFlightSpeed              READ missionFlightSpeed                                                 CONSTANT)
+    Q_PROPERTY(bool     specifyGimbal                   READ specifyGimbal                  WRITE setSpecifyGimbal              NOTIFY specifyGimbalChanged)
+    Q_PROPERTY(Fact*    gimbalPitch                     READ gimbalPitch                                                        CONSTANT)
+    Q_PROPERTY(Fact*    gimbalYaw                       READ gimbalYaw                                                          CONSTANT)
+    Q_PROPERTY(Fact*    cameraAction                    READ cameraAction                                                       CONSTANT)
+    Q_PROPERTY(Fact*    cameraPhotoIntervalTime         READ cameraPhotoIntervalTime                                            CONSTANT)
+    Q_PROPERTY(Fact*    cameraPhotoIntervalDistance     READ cameraPhotoIntervalDistance                                        CONSTANT)
+    Q_PROPERTY(Fact*    missionEndAction                READ missionEndAction                                                   CONSTANT)
+    Q_PROPERTY(Fact*    plannedHomePositionLatitude     READ plannedHomePositionLatitude                                        CONSTANT)
+    Q_PROPERTY(Fact*    plannedHomePositionLongitude    READ plannedHomePositionLongitude                                       CONSTANT)
+    Q_PROPERTY(Fact*    plannedHomePositionAltitude     READ plannedHomePositionAltitude                                        CONSTANT)
+
+    bool    specifyMissionFlightSpeed   (void) const { return _specifyMissionFlightSpeed; }
+    bool    specifyGimbal               (void) const { return _specifyGimbal; }
+    Fact*   plannedHomePositionLatitude (void) { return &_plannedHomePositionLatitudeFact; }
+    Fact*   plannedHomePositionLongitude(void) { return &_plannedHomePositionLongitudeFact; }
+    Fact*   plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
+    Fact*   missionFlightSpeed          (void) { return &_missionFlightSpeedFact; }
+    Fact*   gimbalYaw                   (void) { return &_gimbalYawFact; }
+    Fact*   gimbalPitch                 (void) { return &_gimbalPitchFact; }
+    Fact*   cameraAction                (void) { return &_cameraActionFact; }
+    Fact*   cameraPhotoIntervalTime     (void) { return &_cameraPhotoIntervalTimeFact; }
+    Fact*   cameraPhotoIntervalDistance (void) { return &_cameraPhotoIntervalDistanceFact; }
+    Fact*   missionEndAction            (void) { return &_missionEndActionFact; }
+
+    void setSpecifyMissionFlightSpeed   (bool specifyMissionFlightSpeed);
+    void setSpecifyGimbal               (bool specifyGimbal);
+
+    /// Scans the loaded items for the settings items
+    static void scanForMissionSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
+
+    // Overrides from ComplexMissionItem
+
+    double              complexDistance     (void) const final;
+    int                 lastSequenceNumber  (void) const final;
+    QmlObjectListModel* getMissionItems     (void) const final;
+    bool                load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
+    double              greatestDistanceTo  (const QGeoCoordinate &other) const final;
+    void                setCruiseSpeed      (double cruiseSpeed) final;
+    QString             mapVisualQML        (void) const final { return QStringLiteral("MissionSettingsMapVisual.qml"); }
+
+    // Overrides from VisualMissionItem
+
+    bool            dirty                   (void) const final { return _dirty; }
+    bool            isSimpleItem            (void) const final { return false; }
+    bool            isStandaloneCoordinate  (void) const final { return false; }
+    bool            specifiesCoordinate     (void) const final;
+    QString         commandDescription      (void) const final { return "Mission Settings"; }
+    QString         commandName             (void) const final { return "Mission Settings"; }
+    QString         abbreviation            (void) const final { return "H"; }
+    QGeoCoordinate  coordinate              (void) const final;
+    QGeoCoordinate  exitCoordinate          (void) const final { return coordinate(); }
+    int             sequenceNumber          (void) const final { return _sequenceNumber; }
+    double          flightSpeed             (void) final { return std::numeric_limits<double>::quiet_NaN(); }
+
+    bool coordinateHasRelativeAltitude      (void) const final { return true; }
+    bool exitCoordinateHasRelativeAltitude  (void) const final { return true; }
+    bool exitCoordinateSameAsEntry          (void) const final { return true; }
+
+    void setDirty           (bool dirty) final;
+    void setCoordinate      (const QGeoCoordinate& coordinate) final;
+    void setSequenceNumber  (int sequenceNumber) final;
+    void save               (QJsonArray&  missionItems) const final;
+
+    static const char* jsonComplexItemTypeValue;
+
+signals:
+    bool specifyMissionFlightSpeedChanged  (bool specifyMissionFlightSpeed);
+    bool specifyGimbalChanged       (bool specifyGimbal);
+
+private slots:
+    void _setDirtyAndUpdateLastSequenceNumber(void);
+    void _setDirtyAndUpdateCoordinate(void);
+    void _setDirty(void);
+
+private:
+    bool    _specifyMissionFlightSpeed;
+    bool    _specifyGimbal;
+    Fact    _plannedHomePositionLatitudeFact;
+    Fact    _plannedHomePositionLongitudeFact;
+    Fact    _plannedHomePositionAltitudeFact;
+    Fact    _missionFlightSpeedFact;
+    Fact    _gimbalYawFact;
+    Fact    _gimbalPitchFact;
+    Fact    _cameraActionFact;
+    Fact    _cameraPhotoIntervalDistanceFact;
+    Fact    _cameraPhotoIntervalTimeFact;
+    Fact    _missionEndActionFact;
+
+    int     _sequenceNumber;
+    bool    _dirty;
+
+    static QMap<QString, FactMetaData*> _metaDataMap;
+
+    static const char* _plannedHomePositionLatitudeName;
+    static const char* _plannedHomePositionLongitudeName;
+    static const char* _plannedHomePositionAltitudeName;
+    static const char* _missionFlightSpeedName;
+    static const char* _gimbalPitchName;
+    static const char* _gimbalYawName;
+    static const char* _cameraActionName;
+    static const char* _cameraPhotoIntervalDistanceName;
+    static const char* _cameraPhotoIntervalTimeName;
+    static const char* _missionEndActionName;
+};
+
+#endif

src/MissionManager/SimpleMissionItem.cc

@@ -50,8 +50,6 @@ static const struct EnumInfo_s _rgMavFrameInfo[] = {
 SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
     : VisualMissionItem(vehicle, parent)
     , _rawEdit(false)
-    , _homePositionSpecialCase(false)
-    , _showHomePosition(false)
     , _commandTree(qgcApp()->toolbox()->missionCommandTree())
     , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
     , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
@@ -82,8 +80,6 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missio
     , _missionItem(missionItem)
     , _rawEdit(false)
     , _dirty(false)
-    , _homePositionSpecialCase(false)
-    , _showHomePosition(false)
     , _commandTree(qgcApp()->toolbox()->missionCommandTree())
     , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
     , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
@@ -112,8 +108,6 @@ SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* pa
     , _missionItem(other._vehicle)
     , _rawEdit(false)
     , _dirty(false)
-    , _homePositionSpecialCase(false)
-    , _showHomePosition(false)
     , _commandTree(qgcApp()->toolbox()->missionCommandTree())
     , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
     , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
@@ -246,9 +240,11 @@ SimpleMissionItem::~SimpleMissionItem()
 {    
 }
 
-void SimpleMissionItem::save(QJsonObject& saveObject) const
+void SimpleMissionItem::save(QJsonArray&  missionItems) const
 {
-    _missionItem.save(saveObject);
+    QJsonObject itemObject;
+    _missionItem.save(itemObject);
+    missionItems.append(itemObject);
 }
 
 bool SimpleMissionItem::load(QTextStream &loadStream)
@@ -584,14 +580,6 @@ QString SimpleMissionItem::category(void) const
     return _commandTree->getUIInfo(_vehicle, (MAV_CMD)command())->category();
 }
 
-void SimpleMissionItem::setShowHomePosition(bool showHomePosition)
-{
-    if (showHomePosition != _showHomePosition) {
-        _showHomePosition = showHomePosition;
-        emit showHomePositionChanged(_showHomePosition);
-    }
-}
-
 void SimpleMissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
 {
     if ((MAV_CMD)command != _missionItem.command()) {

src/MissionManager/SimpleMissionItem.h

@@ -32,10 +32,8 @@ public:
     Q_PROPERTY(QString          category                READ category                                           NOTIFY commandChanged)
     Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command                WRITE setCommand            NOTIFY commandChanged)
     Q_PROPERTY(bool             friendlyEditAllowed     READ friendlyEditAllowed                                NOTIFY friendlyEditAllowedChanged)
-    Q_PROPERTY(bool             homePosition            READ homePosition                                       CONSTANT)                           ///< true: This item is being used as a home position indicator
     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             showHomePosition        READ showHomePosition       WRITE setShowHomePosition   NOTIFY showHomePositionChanged)
 
     // These properties are used to display the editing ui
     Q_PROPERTY(QmlObjectListModel*  checkboxFacts   READ checkboxFacts  NOTIFY uiModelChanged)
@@ -47,9 +45,7 @@ public:
     QString         category            (void) const;
     MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_missionItem._commandFact.cookedValue().toInt(); }
     bool            friendlyEditAllowed (void) const;
-    bool            homePosition        (void) const    { return _homePositionSpecialCase; }
     bool            rawEdit             (void) const;
-    bool            showHomePosition    (void) const    { return _showHomePosition; }
 
 
     QmlObjectListModel* textFieldFacts  (void);
@@ -62,9 +58,6 @@ public:
 
     void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command);
 
-    void setHomePositionSpecialCase(bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
-    void setShowHomePosition(bool showHomePosition);
-
     void setAltDifference   (double altDifference);
     void setAltPercent      (double altPercent);
     void setAzimuth         (double azimuth);
@@ -99,7 +92,7 @@ public:
     void setDirty           (bool dirty) final;
     void setCoordinate      (const QGeoCoordinate& coordinate) final;
     void setSequenceNumber  (int sequenceNumber) final;
-    void save               (QJsonObject& saveObject) const final;
+    void save               (QJsonArray&  missionItems) const final;
 
 public slots:
     void setDefaultsForCommand(void);
@@ -111,7 +104,6 @@ signals:
     void headingDegreesChanged      (double heading);
     void rawEditChanged             (bool rawEdit);
     void uiModelChanged             (void);
-    void showHomePositionChanged    (bool showHomePosition);
 
 private slots:
     void _setDirtyFromSignal(void);
@@ -132,8 +124,6 @@ private:
     MissionItem _missionItem;
     bool        _rawEdit;
     bool        _dirty;
-    bool        _homePositionSpecialCase;   ///< true: This item is being used as a ui home position indicator
-    bool        _showHomePosition;
 
     MissionCommandTree* _commandTree;
 

src/MissionManager/SurveyMissionItem.cc

@@ -293,8 +293,10 @@ void SurveyMissionItem::setDirty(bool dirty)
     }
 }
 
-void SurveyMissionItem::save(QJsonObject& saveObject) const
+void SurveyMissionItem::save(QJsonArray&  missionItems) const
 {
+    QJsonObject saveObject;
+
     saveObject[JsonHelper::jsonVersionKey] =                    3;
     saveObject[VisualMissionItem::jsonTypeKey] =                VisualMissionItem::jsonTypeComplexItemValue;
     saveObject[ComplexMissionItem::jsonComplexItemTypeKey] =    jsonComplexItemTypeValue;
@@ -344,6 +346,8 @@ void SurveyMissionItem::save(QJsonObject& saveObject) const
     }
 
     saveObject[_jsonPolygonObjectKey] = polygonArray;
+
+    missionItems.append(saveObject);
 }
 
 void SurveyMissionItem::setSequenceNumber(int sequenceNumber)

src/MissionManager/SurveyMissionItem.h

@@ -127,7 +127,7 @@ public:
     void setCoordinate      (const QGeoCoordinate& coordinate) final;
     void setSequenceNumber  (int sequenceNumber) final;
     void setTurnaroundDist  (double dist) { _turnaroundDistFact.setRawValue(dist); }
-    void save               (QJsonObject& saveObject) const final;
+    void save               (QJsonArray&  missionItems) const final;
 
     static const char* jsonComplexItemTypeValue;
 

src/MissionManager/VisualMissionItem.cc

@@ -25,6 +25,8 @@ VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
     , _vehicle(vehicle)
     , _isCurrentItem(false)
     , _dirty(false)
+    , _homePositionSpecialCase(false)
+    , _showHomePosition(false)
     , _altDifference(0.0)
     , _altPercent(0.0)
     , _azimuth(0.0)
@@ -38,6 +40,8 @@ VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* pa
     , _vehicle(NULL)
     , _isCurrentItem(false)
     , _dirty(false)
+    , _homePositionSpecialCase(false)
+    , _showHomePosition(false)
     , _altDifference(0.0)
     , _altPercent(0.0)
     , _azimuth(0.0)
@@ -52,6 +56,8 @@ const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& o
 
     setIsCurrentItem(other._isCurrentItem);
     setDirty(other._dirty);
+    _homePositionSpecialCase = other._homePositionSpecialCase;
+    setShowHomePosition(other.showHomePosition());
     setAltDifference(other._altDifference);
     setAltPercent(other._altPercent);
     setAzimuth(other._azimuth);
@@ -103,3 +109,11 @@ void VisualMissionItem::setAzimuth(double azimuth)
         emit azimuthChanged(_azimuth);
     }
 }
+
+void VisualMissionItem::setShowHomePosition(bool showHomePosition)
+{
+    if (showHomePosition != _showHomePosition) {
+        _showHomePosition = showHomePosition;
+        emit showHomePositionChanged(_showHomePosition);
+    }
+}

src/MissionManager/VisualMissionItem.h

@@ -40,6 +40,9 @@ public:
 
     const VisualMissionItem& operator=(const VisualMissionItem& other);
 
+    Q_PROPERTY(bool homePosition        READ homePosition                                   CONSTANT)                       ///< true: This item is being used as a home position indicator
+    Q_PROPERTY(bool showHomePosition    READ showHomePosition   WRITE setShowHomePosition   NOTIFY showHomePositionChanged)
+
     // The following properties are calculated/set by the MissionController recalc methods
 
     Q_PROPERTY(double altDifference READ altDifference  WRITE setAltDifference  NOTIFY altDifferenceChanged)    ///< Change in altitude from previous waypoint
@@ -87,6 +90,11 @@ public:
 
     // Property accesors
 
+    bool homePosition               (void) const { return _homePositionSpecialCase; }
+    bool showHomePosition           (void) const { return _showHomePosition; }
+    void setHomePositionSpecialCase (bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
+    void setShowHomePosition        (bool showHomePosition);
+
     double altDifference    (void) const { return _altDifference; }
     double altPercent       (void) const { return _altPercent; }
     double azimuth          (void) const { return _azimuth; }
@@ -126,8 +134,8 @@ public:
     virtual void setSequenceNumber  (int sequenceNumber) = 0;
 
     /// Save the item(s) in Json format
-    ///     @param saveObject Save the item to this json object
-    virtual void save(QJsonObject& saveObject) const = 0;
+    ///     @param missionItems Current set of mission items, new items should be appended to the end
+    virtual void save(QJsonArray&  missionItems) const = 0;
 
     /// @return The QML resource file which contains the control which visualizes the item on the map.
     virtual QString mapVisualQML(void) const = 0;
@@ -137,6 +145,7 @@ public:
     static const char* jsonTypeComplexItemValue;    ///< Item type is Complex Item
 
 signals:
+    void showHomePositionChanged        (bool showHomePosition);
     void altDifferenceChanged           (double altDifference);
     void altPercentChanged              (double altPercent);
     void azimuthChanged                 (double azimuth);
@@ -162,6 +171,8 @@ protected:
     Vehicle*    _vehicle;
     bool        _isCurrentItem;
     bool        _dirty;
+    bool        _homePositionSpecialCase;   ///< true: This item is being used as a ui home position indicator
+    bool        _showHomePosition;
     double      _altDifference;             ///< Difference in altitude from previous waypoint
     double      _altPercent;                ///< Percent of total altitude change in mission
     double      _azimuth;                   ///< Azimuth to previous waypoint

src/Vehicle/Vehicle.cc

@@ -1661,10 +1661,9 @@ void Vehicle::_startMissionRequest(void)
             _missionManager->requestMissionItems();
         } else {
             QmlObjectListModel* visualItems = NULL;
-            QmlObjectListModel* complexItems = NULL;
             QDir missionAutoLoadDir(missionAutoLoadDirPath);
             QString autoloadFilename = missionAutoLoadDir.absoluteFilePath(tr("AutoLoad%1.mission").arg(_id));
-            if (MissionController::loadItemsFromFile(this, autoloadFilename, &visualItems, &complexItems)) {
+            if (MissionController::loadItemsFromFile(this, autoloadFilename, &visualItems)) {
                 MissionController::sendItemsToVehicle(this, visualItems);
             }
         }