src/MissionManager/MissionSettingsItem.cc

@@ -45,7 +45,6 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, bool flyView, QObject
     _speedSection.setAvailable(true);
 
     connect(this,               &MissionSettingsItem::specifyMissionFlightSpeedChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
-    connect(this,               &MissionSettingsItem::missionEndRTLChanged,             this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
     connect(&_cameraSection,    &CameraSection::itemCountChanged,                       this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
     connect(&_speedSection,     &CameraSection::itemCountChanged,                       this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
 
@@ -155,26 +154,9 @@ void MissionSettingsItem::appendMissionItems(QList<MissionItem*>& items, QObject
     _speedSection.appendSectionItems(items, missionItemParent, seqNum);
 }
 
-bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& items, int seqNum, QObject* missionItemParent)
+bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& /*items*/, int /*seqNum*/, QObject* /*missionItemParent*/)
 {
-    MissionItem* item = nullptr;
-
-    // IMPORTANT NOTE: If anything changes here you must also change MissionSettingsItem::scanForMissionSettings
-
-    if (_missionEndRTL) {
-        qCDebug(MissionSettingsComplexItemLog) << "Appending end action RTL seqNum" << seqNum;
-        item = new MissionItem(seqNum,
-                               MAV_CMD_NAV_RETURN_TO_LAUNCH,
-                               MAV_FRAME_MISSION,
-                               0, 0, 0, 0, 0, 0, 0,        // param 1-7 not used
-                               true,                       // autoContinue
-                               false,                      // isCurrentItem
-                               missionItemParent);
-        items.append(item);
-        return true;
-    } else {
-        return false;
-    }
+    return false;
 }
 
 bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex)
@@ -188,21 +170,6 @@ bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems
     foundCameraSection = _cameraSection.scanForSection(visualItems, scanIndex);
     foundSpeedSection = _speedSection.scanForSection(visualItems, scanIndex);
 
-    // Look at the end of the mission for end actions
-
-    int lastIndex = visualItems->count() - 1;
-    SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(lastIndex);
-    if (item) {
-        MissionItem& missionItem = item->missionItem();
-
-        if (missionItem.command() == MAV_CMD_NAV_RETURN_TO_LAUNCH &&
-                missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
-            qCDebug(MissionSettingsComplexItemLog) << "Scan: Found end action RTL";
-            _missionEndRTL = true;
-            visualItems->removeAt(lastIndex)->deleteLater();
-        }
-    }
-
     return foundSpeedSection || foundCameraSection;
 }
 
@@ -307,14 +274,6 @@ double MissionSettingsItem::specifiedFlightSpeed(void)
     }
 }
 
-void MissionSettingsItem::setMissionEndRTL(bool missionEndRTL)
-{
-    if (missionEndRTL != _missionEndRTL) {
-        _missionEndRTL = missionEndRTL;
-        emit missionEndRTLChanged(missionEndRTL);
-    }
-}
-
 void MissionSettingsItem::_setHomeAltFromTerrain(double terrainAltitude)
 {
     if (!_plannedHomePositionFromVehicle && !qIsNaN(terrainAltitude)) {

src/MissionManager/MissionSettingsItem.h

@@ -27,17 +27,13 @@ public:
     MissionSettingsItem(Vehicle* vehicle, bool flyView, QObject* parent);
 
     Q_PROPERTY(Fact*    plannedHomePositionAltitude READ plannedHomePositionAltitude                            CONSTANT)
-    Q_PROPERTY(bool     missionEndRTL               READ missionEndRTL                  WRITE setMissionEndRTL  NOTIFY missionEndRTLChanged)
     Q_PROPERTY(QObject* cameraSection               READ cameraSection                                          CONSTANT)
     Q_PROPERTY(QObject* speedSection                READ speedSection                                           CONSTANT)
 
     Fact*           plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
-    bool            missionEndRTL               (void) const { return _missionEndRTL; }
     CameraSection*  cameraSection               (void) { return &_cameraSection; }
     SpeedSection*   speedSection                (void) { return &_speedSection; }
 
-    void setMissionEndRTL(bool missionEndRTL);
-
     /// Scans the loaded items for settings items
     bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex);
 
@@ -96,7 +92,6 @@ public:
 
 signals:
     void specifyMissionFlightSpeedChanged   (bool specifyMissionFlightSpeed);
-    void missionEndRTLChanged               (bool missionEndRTL);
 
 private slots:
     void _setDirtyAndUpdateLastSequenceNumber   (void);
@@ -112,7 +107,6 @@ private:
     int             _sequenceNumber =                   0;
     bool            _plannedHomePositionFromVehicle =   false;
     bool            _plannedHomePositionMovedByUser =   false;
-    bool            _missionEndRTL =                    false;
     CameraSection   _cameraSection;
     SpeedSection    _speedSection;
 

src/PlanView/MissionSettingsEditor.qml

@@ -107,28 +107,6 @@ Rectangle {
                 visible:                _showCameraSection && cameraSection.checked
             }
 
-            SectionHeader {
-                id:             missionEndHeader
-                anchors.left:   parent.left
-                anchors.right:  parent.right
-                text:           qsTr("Mission End")
-                checked:        true
-            }
-
-            Column {
-                anchors.left:   parent.left
-                anchors.right:  parent.right
-                spacing:        _margin
-                visible:        missionEndHeader.checked
-
-                QGCCheckBox {
-                    text:       qsTr("Return To Launch")
-                    checked:    missionItem.missionEndRTL
-                    onClicked:  missionItem.missionEndRTL = checked
-                }
-            }
-
-
             SectionHeader {
                 id:             vehicleInfoSectionHeader
                 anchors.left:   parent.left