Merge pull request #4138 from DonLakeFlyer/VTOLTakeoff

Fix line back to home for VTOL takeoff

src/MissionManager/MissionController.cc

@@ -639,7 +639,8 @@ void MissionController::_recalcWaypointLines(void)
         // If we still haven't found the first coordinate item and we hit a a takeoff command link back to home
         if (firstCoordinateItem &&
                 item->isSimpleItem() &&
-                qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
+                (qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF ||
+                 qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_VTOL_TAKEOFF)) {
             linkBackToHome = true;
         }
 

src/comm/MockLink.cc

@@ -143,7 +143,6 @@ void MockLink::run(void)
 void MockLink::_run1HzTasks(void)
 {
     if (_mavlinkStarted && _connected) {
-        _sendHeartBeat();
         _sendVibration();
         if (!qgcApp()->runningUnitTests()) {
             // Sending RC Channels during unit test breaks RC tests which does it's own RC simulation
@@ -165,6 +164,7 @@ void MockLink::_run1HzTasks(void)
 void MockLink::_run10HzTasks(void)
 {
     if (_mavlinkStarted && _connected) {
+        _sendHeartBeat();
         if (_sendGPSPositionDelayCount > 0) {
             // We delay gps position for better testing
             _sendGPSPositionDelayCount--;

src/qgcunittest/MavlinkLogTest.cc

@@ -128,7 +128,7 @@ void MavlinkLogTest::_connectLogWorker(bool arm)
     
     if (arm) {
         qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->setArmed(true);
-        QTest::qWait(1500); // Wait long enough for heartbeat to come through
+        QTest::qWait(500); // Wait long enough for heartbeat to come through
         
         // On Disconnect: We should get a getSaveFileName dialog.
         logSaveDir.setPath(QStandardPaths::writableLocation(QStandardPaths::TempLocation));