Merge pull request #8954 from DonLakeFlyer/VTOLCommandEditors

Plan: Show correct item editor based on current VTOL state in mission

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -134,19 +134,6 @@ bool ArduCopterFirmwarePlugin::multiRotorXConfig(Vehicle* vehicle)
     return vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != 0;
 }
 
-bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
-{
-    if (vehicle->isOfflineEditingVehicle()) {
-        return FirmwarePlugin::vehicleYawsToNextWaypointInMission(vehicle);
-    } else {
-        if (vehicle->multiRotor() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
-            Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"));
-            return yawMode && yawMode->rawValue().toInt() != 0;
-        }
-    }
-    return true;
-}
-
 #if 0
     // Follow me not ready for Stable
 void ArduCopterFirmwarePlugin::sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities)

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -71,7 +71,6 @@ public:
     QString landFlightMode                      (void) const override { return QStringLiteral("Land"); }
     QString takeControlFlightMode               (void) const override { return QStringLiteral("Loiter"); }
     QString followFlightMode                    (void) const override { return QStringLiteral("Follow"); }
-    bool    vehicleYawsToNextWaypointInMission  (const Vehicle* vehicle) const override;
     QString autoDisarmParameter                 (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("DISARM_DELAY"); }
     bool    supportsSmartRTL                    (void) const override { return true; }
 #if 0

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -698,11 +698,6 @@ QMap<QString, FactGroup*>* FirmwarePlugin::factGroups(void) {
     return nullptr;
 }
 
-bool FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
-{
-    return vehicle->multiRotor() ? false : true;
-}
-
 bool FirmwarePlugin::_armVehicleAndValidate(Vehicle* vehicle)
 {
     if (vehicle->armed()) {

src/FirmwarePlugin/FirmwarePlugin.h

@@ -297,9 +297,6 @@ public:
     /// Returns a pointer to a dictionary of firmware-specific FactGroups
     virtual QMap<QString, FactGroup*>* factGroups(void);
 
-    /// @true: When flying a mission the vehicle is always facing towards the next waypoint
-    virtual bool vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const;
-
     /// Returns the data needed to do battery consumption calculations
     ///     @param[out] mAhBattery Battery milliamp-hours rating (0 for no battery data available)
     ///     @param[out] hoverAmps Current draw in amps during hover

src/MissionManager/CameraSectionTest.cc

@@ -1057,7 +1057,7 @@ void CameraSectionTest::_testScanForMultipleItems(void)
             item2->missionItem() = cameraItem->missionItem();
             visualItems.append(item1);
             visualItems.append(item2);
-            qDebug() << commandTree->getUIInfo(_controllerVehicle, (MAV_CMD)item1->command())->rawName() << commandTree->getUIInfo(_controllerVehicle, (MAV_CMD)item2->command())->rawName();;
+            qDebug() << commandTree->getUIInfo(_controllerVehicle, QGCMAVLink::VehicleClassGeneric, (MAV_CMD)item1->command())->rawName() << commandTree->getUIInfo(_controllerVehicle, QGCMAVLink::VehicleClassGeneric, (MAV_CMD)item2->command())->rawName();;
 
             scanIndex = 0;
             QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
@@ -1078,7 +1078,7 @@ void CameraSectionTest::_testScanForMultipleItems(void)
             item2->missionItem() = cameraItem->missionItem();
             visualItems.append(item1);
             visualItems.append(item2);
-            qDebug() << commandTree->getUIInfo(_controllerVehicle, (MAV_CMD)item1->command())->rawName() << commandTree->getUIInfo(_controllerVehicle, (MAV_CMD)item2->command())->rawName();;
+            qDebug() << commandTree->getUIInfo(_controllerVehicle, QGCMAVLink::VehicleClassGeneric, (MAV_CMD)item1->command())->rawName() << commandTree->getUIInfo(_controllerVehicle, QGCMAVLink::VehicleClassGeneric, (MAV_CMD)item2->command())->rawName();;
 
             scanIndex = 0;
             QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);

src/MissionManager/KMLPlanDomDocument.cc

@@ -51,7 +51,7 @@ void KMLPlanDomDocument::_addFlightPath(Vehicle* vehicle, QList<MissionItem*> rg
     QList<QGeoCoordinate> rgFlightCoords;
     QGeoCoordinate homeCoord = rgMissionItems[0]->coordinate();
     for (const MissionItem* item : rgMissionItems) {
-        const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, item->command());
+        const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, QGCMAVLink::VehicleClassGeneric, item->command());
         if (uiInfo) {
             double altAdjustment = item->frame() == MAV_FRAME_GLOBAL ? 0 : homeCoord.altitude(); // Used to convert to amsl
             if (uiInfo->isTakeoffCommand() && !vehicle->fixedWing()) {

src/MissionManager/MavCmdInfoFixedWing.json

@@ -7,7 +7,7 @@
         {
             "id":           16,
             "comment":      "MAV_CMD_NAV_WAYPOINT",
-            "paramRemove":  "4"
+            "paramRemove":  "1,4"
         },
         {
             "id":           17,

src/MissionManager/MavCmdInfoMultiRotor.json

@@ -9,6 +9,11 @@
             "comment":      "MAV_CMD_NAV_LOITER_UNLIM",
             "paramRemove":  "3"
         },
+        {
+            "id":           18,
+            "comment":      "MAV_CMD_NAV_LOITER_TURNS",
+            "paramRemove":  "1,2,3,4"
+        },
         {
             "id":           19,
             "comment":      "MAV_CMD_NAV_LOITER_TIME",

src/MissionManager/MissionCommandTree.cc

@@ -81,12 +81,12 @@ void MissionCommandTree::_collapseHierarchy(const MissionCommandList*
     }
 }
 
-void MissionCommandTree::_buildAllCommands(Vehicle* vehicle)
+void MissionCommandTree::_buildAllCommands(Vehicle* vehicle, QGCMAVLink::VehicleClass_t vtolMode)
 {
     QGCMAVLink::FirmwareClass_t firmwareClass;
     QGCMAVLink::VehicleClass_t  vehicleClass;
 
-    _firmwareAndVehicleClassInfo(vehicle, firmwareClass, vehicleClass);
+    _firmwareAndVehicleClassInfo(vehicle, vtolMode, firmwareClass, vehicleClass);
 
     if (_allCommands.contains(firmwareClass) && _allCommands[firmwareClass].contains(vehicleClass)) {
         // Already built
@@ -131,8 +131,8 @@ QStringList MissionCommandTree::_availableCategoriesForVehicle(Vehicle* vehicle)
     QGCMAVLink::FirmwareClass_t firmwareClass;
     QGCMAVLink::VehicleClass_t  vehicleClass;
 
-    _firmwareAndVehicleClassInfo(vehicle, firmwareClass, vehicleClass);
-    _buildAllCommands(vehicle);
+    _firmwareAndVehicleClassInfo(vehicle, QGCMAVLink::VehicleClassGeneric, firmwareClass, vehicleClass);
+    _buildAllCommands(vehicle, QGCMAVLink::VehicleClassGeneric);
 
     return _supportedCategories[firmwareClass][vehicleClass];
 }
@@ -166,13 +166,13 @@ const QList<MAV_CMD>& MissionCommandTree::allCommandIds(void) const
     return _staticCommandTree[QGCMAVLink::FirmwareClassGeneric][QGCMAVLink::VehicleClassGeneric]->commandIds();
 }
 
-const MissionCommandUIInfo* MissionCommandTree::getUIInfo(Vehicle* vehicle, MAV_CMD command)
+const MissionCommandUIInfo* MissionCommandTree::getUIInfo(Vehicle* vehicle, QGCMAVLink::VehicleClass_t vtolMode,  MAV_CMD command)
 {
     QGCMAVLink::FirmwareClass_t firmwareClass;
     QGCMAVLink::VehicleClass_t  vehicleClass;
 
-    _firmwareAndVehicleClassInfo(vehicle, firmwareClass, vehicleClass);
-    _buildAllCommands(vehicle);
+    _firmwareAndVehicleClassInfo(vehicle, vtolMode, firmwareClass, vehicleClass);
+    _buildAllCommands(vehicle, vtolMode);
 
     const QMap<MAV_CMD, MissionCommandUIInfo*>& infoMap = _allCommands[firmwareClass][vehicleClass];
     if (infoMap.contains(command)) {
@@ -187,8 +187,8 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const
     QGCMAVLink::FirmwareClass_t firmwareClass;
     QGCMAVLink::VehicleClass_t  vehicleClass;
 
-    _firmwareAndVehicleClassInfo(vehicle, firmwareClass, vehicleClass);
-    _buildAllCommands(vehicle);
+    _firmwareAndVehicleClassInfo(vehicle, QGCMAVLink::VehicleClassGeneric, firmwareClass, vehicleClass);
+    _buildAllCommands(vehicle, QGCMAVLink::VehicleClassGeneric);
 
     // vehicle can be null in which case _firmwareAndVehicleClassInfo will tell of the firmware/vehicle type for the offline editing vehicle.
     // We then use that to get a firmware plugin so we can get the list of supported commands.
@@ -210,8 +210,11 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const
     return list;
 }
 
-void MissionCommandTree::_firmwareAndVehicleClassInfo(Vehicle* vehicle, QGCMAVLink::FirmwareClass_t& firmwareClass, QGCMAVLink::VehicleClass_t& vehicleClass) const
+void MissionCommandTree::_firmwareAndVehicleClassInfo(Vehicle* vehicle, QGCMAVLink::VehicleClass_t vtolMode, QGCMAVLink::FirmwareClass_t& firmwareClass, QGCMAVLink::VehicleClass_t& vehicleClass) const
 {
     firmwareClass = QGCMAVLink::firmwareClass(vehicle->firmwareType());
     vehicleClass = QGCMAVLink::vehicleClass(vehicle->vehicleType());
+    if (vehicleClass == QGCMAVLink::VehicleClassVTOL && vtolMode != QGCMAVLink::VehicleClassGeneric) {
+        vehicleClass = vtolMode;
+    }
 }

src/MissionManager/MissionCommandTree.h

@@ -59,7 +59,7 @@ public:
 
     Q_INVOKABLE QStringList categoriesForVehicle(Vehicle* vehicle) { return _availableCategoriesForVehicle(vehicle); }
 
-    const MissionCommandUIInfo* getUIInfo(Vehicle* vehicle, MAV_CMD command);
+    const MissionCommandUIInfo* getUIInfo(Vehicle* vehicle, QGCMAVLink::VehicleClass_t vtolMode, MAV_CMD command);
 
     /// @param showFlyThroughCommands - true: all commands shows, false: filter out commands which the vehicle flies through (specifiedCoordinate=true, standaloneCoordinate=false)
     Q_INVOKABLE QVariantList getCommandsForCategory(Vehicle* vehicle, const QString& category, bool showFlyThroughCommands);
@@ -69,9 +69,9 @@ public:
 
 private:
     void                        _collapseHierarchy              (const MissionCommandList* cmdList, QMap<MAV_CMD, MissionCommandUIInfo*>& collapsedTree);
-    void                        _buildAllCommands               (Vehicle* vehicle);
+    void                        _buildAllCommands               (Vehicle* vehicle, QGCMAVLink::VehicleClass_t vtolMode);
     QStringList                 _availableCategoriesForVehicle  (Vehicle* vehicle);
-    void                        _firmwareAndVehicleClassInfo    (Vehicle* vehicle, QGCMAVLink::FirmwareClass_t& firmwareClass, QGCMAVLink::VehicleClass_t& vehicleClass) const;
+    void                        _firmwareAndVehicleClassInfo    (Vehicle* vehicle, QGCMAVLink::VehicleClass_t vtolMode, QGCMAVLink::FirmwareClass_t& firmwareClass, QGCMAVLink::VehicleClass_t& vehicleClass) const;
 
 private:
     QString             _allCommandsCategory;   ///< Category which contains all available commands

src/MissionManager/MissionCommandTreeTest.cc

@@ -188,12 +188,12 @@ void MissionCommandTreeTest::testOverride(void)
 {
     // Generic/Generic should not have any overrides
     Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_GENERIC, qgcApp()->toolbox()->firmwarePluginManager());
-    _checkBaseValues(_commandTree->getUIInfo(vehicle, (MAV_CMD)4), 4);
+    _checkBaseValues(_commandTree->getUIInfo(vehicle, QGCMAVLink::VehicleClassGeneric, (MAV_CMD)4), 4);
     delete vehicle;
 
     // Generic/FixedWing should have overrides
     vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_FIXED_WING, qgcApp()->toolbox()->firmwarePluginManager());
-    _checkOverrideValues(_commandTree->getUIInfo(vehicle, (MAV_CMD)4), 4);
+    _checkOverrideValues(_commandTree->getUIInfo(vehicle, QGCMAVLink::VehicleClassGeneric, (MAV_CMD)4), 4);
     delete vehicle;
 }
 
@@ -214,7 +214,7 @@ void MissionCommandTreeTest::testAllTrees(void)
             }
             qDebug() << firmwareType << vehicleType;
             Vehicle* vehicle = new Vehicle(firmwareType, vehicleType, qgcApp()->toolbox()->firmwarePluginManager());
-            QVERIFY(qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, MAV_CMD_NAV_WAYPOINT) != nullptr);
+            QVERIFY(qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, QGCMAVLink::VehicleClassMultiRotor, MAV_CMD_NAV_WAYPOINT) != nullptr);
             delete vehicle;
         }
     }

src/MissionManager/MissionController.cc

@@ -318,7 +318,7 @@ VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordin
     _initVisualItem(newItem);
 
     if (newItem->specifiesAltitude()) {
-        const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, command);
+        const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, QGCMAVLink::VehicleClassGeneric, command);
         if (!uiInfo->isLandCommand()) {
             double  prevAltitude;
             int     prevAltitudeMode;
@@ -1672,9 +1672,9 @@ void MissionController::_recalcMissionFlightStatus()
             case MAV_CMD_DO_VTOL_TRANSITION:
             {
                 int transitionState = simpleItem->missionItem().param1();
-                if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_MC) {
+                if (transitionState == MAV_VTOL_STATE_MC) {
                     _missionFlightStatus.vtolMode = QGCMAVLink::VehicleClassMultiRotor;
-                } else if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_FW) {
+                } else if (transitionState == MAV_VTOL_STATE_FW) {
                     _missionFlightStatus.vtolMode = QGCMAVLink::VehicleClassFixedWing;
                 }
             }
@@ -1901,7 +1901,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
     connect(visualItem, &VisualMissionItem::specifiedVehicleYawChanged,                 this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
     connect(visualItem, &VisualMissionItem::terrainAltitudeChanged,                     this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
     connect(visualItem, &VisualMissionItem::additionalTimeDelayChanged,                 this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
-
+    connect(visualItem, &VisualMissionItem::currentVTOLModeChanged,                     this, &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
     connect(visualItem, &VisualMissionItem::lastSequenceNumberChanged,                  this, &MissionController::_recalcSequence);
 
     if (visualItem->isSimpleItem()) {

src/MissionManager/MissionManager.cc

@@ -97,11 +97,11 @@ void MissionManager::generateResumeMission(int resumeIndex)
     resumeIndex = qMax(0, qMin(resumeIndex, _missionItems.count() - 1));
 
     // Adjust resume index to be a location based command
-    const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, _missionItems[resumeIndex]->command());
+    const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, QGCMAVLink::VehicleClassGeneric, _missionItems[resumeIndex]->command());
     if (!uiInfo || uiInfo->isStandaloneCoordinate() || !uiInfo->specifiesCoordinate()) {
         // We have to back up to the last command which the vehicle flies through
         while (--resumeIndex > 0) {
-            uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, _missionItems[resumeIndex]->command());
+            uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, QGCMAVLink::VehicleClassGeneric, _missionItems[resumeIndex]->command());
             if (uiInfo && (uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate())) {
                 // Found it
                 break;

src/MissionManager/SimpleMissionItem.h

@@ -139,20 +139,21 @@ signals:
     void altitudeModeChanged        (void);
 
 private slots:
-    void _setDirty                          (void);
-    void _sectionDirtyChanged               (bool dirty);
-    void _sendCommandChanged                (void);
-    void _sendCoordinateChanged             (void);
-    void _sendFriendlyEditAllowedChanged    (void);
-    void _altitudeChanged                   (void);
-    void _altitudeModeChanged               (void);
-    void _terrainAltChanged                 (void);
-    void _updateLastSequenceNumber          (void);
-    void _rebuildFacts                      (void);
-    void _rebuildTextFieldFacts             (void);
-    void _possibleAdditionalTimeDelayChanged(void);
-    void _setDefaultsForCommand             (void);
-    void _possibleVehicleYawChanged         (void);
+    void _setDirty                              (void);
+    void _sectionDirtyChanged                   (bool dirty);
+    void _sendCommandChanged                    (void);
+    void _sendCoordinateChanged                 (void);
+    void _sendFriendlyEditAllowedChanged        (void);
+    void _altitudeChanged                       (void);
+    void _altitudeModeChanged                   (void);
+    void _terrainAltChanged                     (void);
+    void _updateLastSequenceNumber              (void);
+    void _rebuildFacts                          (void);
+    void _rebuildTextFieldFacts                 (void);
+    void _possibleAdditionalTimeDelayChanged    (void);
+    void _setDefaultsForCommand                 (void);
+    void _possibleVehicleYawChanged             (void);
+    void _signalIfVTOLTransitionCommand         (void);
 
 private:
     void _connectSignals        (void);

src/MissionManager/SimpleMissionItemTest.h

@@ -13,6 +13,26 @@
 #include "SimpleMissionItem.h"
 
 /// Unit test for SimpleMissionItem
+
+typedef struct {
+    MAV_CMD        command;
+    MAV_FRAME      frame;
+} ItemInfo_t;
+
+typedef struct {
+    const char*                 name;
+    QGCMAVLink::VehicleClass_t  vehicleClass;
+    bool                        nanValue;
+    int                         paramIndex;
+} FactValue_t;
+
+typedef struct {
+    size_t                          cFactValues;
+    const FactValue_t*              rgFactValues;
+    double                          altValue;
+    QGroundControlQmlGlobal::AltitudeMode altMode;
+} ItemExpected_t;
+
 class SimpleMissionItemTest : public VisualMissionItemTest
 {
     Q_OBJECT
@@ -20,18 +40,18 @@ class SimpleMissionItemTest : public VisualMissionItemTest
 public:
     SimpleMissionItemTest(void);
 
-    void init(void) override;
+    void init   (void) override;
     void cleanup(void) override;
 
 private slots:
-    void _testSignals(void);
-    void _testEditorFacts(void);
-    void _testDefaultValues(void);
-    void _testCameraSectionDirty(void);
-    void _testSpeedSectionDirty(void);
-    void _testCameraSection(void);
-    void _testSpeedSection(void);
-    void _testAltitudePropogation(void);
+    void _testSignals               (void);
+    void _testEditorFacts           (void);
+    void _testDefaultValues         (void);
+    void _testCameraSectionDirty    (void);
+    void _testSpeedSectionDirty     (void);
+    void _testCameraSection         (void);
+    void _testSpeedSection          (void);
+    void _testAltitudePropogation   (void);
 
 private:
     enum {
@@ -58,35 +78,10 @@ private:
     static const size_t cSimpleItemSignals = maxSignalIndex;
     const char*         rgSimpleItemSignals[cSimpleItemSignals];
 
-    typedef struct {
-        MAV_CMD        command;
-        MAV_FRAME      frame;
-    } ItemInfo_t;
-    
-    typedef struct {
-        const char* name;
-        double      value;
-    } FactValue_t;
-    
-    typedef struct {
-        size_t                          cFactValues;
-        const FactValue_t*              rgFactValues;
-        double                          altValue;
-        QGroundControlQmlGlobal::AltitudeMode altMode;
-    } ItemExpected_t;
+    void _testEditorFactsWorker (QGCMAVLink::VehicleClass_t vehicleClass, QGCMAVLink::VehicleClass_t vtolMode, const ItemExpected_t* rgExpected);
+    bool _classMatch            (QGCMAVLink::VehicleClass_t vehicleClass, QGCMAVLink::VehicleClass_t testClass);
 
     SimpleMissionItem*  _simpleItem;
     MultiSignalSpy*     _spySimpleItem;
     MultiSignalSpy*     _spyVisualItem;
-
-    static const ItemInfo_t     _rgItemInfo[];
-    static const ItemExpected_t _rgItemExpected[];
-    static const FactValue_t    _rgFactValuesWaypoint[];
-    static const FactValue_t    _rgFactValuesLoiterUnlim[];
-    static const FactValue_t    _rgFactValuesLoiterTurns[];
-    static const FactValue_t    _rgFactValuesLoiterTime[];
-    static const FactValue_t    _rgFactValuesLand[];
-    static const FactValue_t    _rgFactValuesTakeoff[];
-    static const FactValue_t    _rgFactValuesConditionDelay[];
-    static const FactValue_t    _rgFactValuesDoJump[];
 };

src/MissionManager/TakeoffMissionItem.cc

@@ -116,7 +116,7 @@ void TakeoffMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
 
 bool TakeoffMissionItem::isTakeoffCommand(MAV_CMD command)
 {
-    const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(qgcApp()->toolbox()->multiVehicleManager()->offlineEditingVehicle(), command);
+    const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(qgcApp()->toolbox()->multiVehicleManager()->offlineEditingVehicle(), QGCMAVLink::VehicleClassGeneric, command);
 
     return uiInfo ? uiInfo->isTakeoffCommand() : false;
 }

src/MissionManager/VisualMissionItem.cc

@@ -7,7 +7,6 @@
  *
  ****************************************************************************/
 
-
 #include <QStringList>
 #include <QDebug>
 
@@ -18,6 +17,7 @@
 #include "TerrainQuery.h"
 #include "TakeoffMissionItem.h"
 #include "PlanMasterController.h"
+#include "QGC.h"
 
 const char* VisualMissionItem::jsonTypeKey =                "type";
 const char* VisualMissionItem::jsonTypeSimpleItemValue =    "SimpleItem";
@@ -152,13 +152,14 @@ void VisualMissionItem::setAzimuth(double azimuth)
 
 void VisualMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
 {
-    if (qIsNaN(missionFlightStatus.gimbalYaw) && qIsNaN(_missionGimbalYaw)) {
-        return;
-    }
-    if (!qFuzzyCompare(missionFlightStatus.gimbalYaw, _missionGimbalYaw)) {
+    if (!QGC::fuzzyCompare(missionFlightStatus.gimbalYaw, _missionGimbalYaw)) {
         _missionGimbalYaw = missionFlightStatus.gimbalYaw;
         emit missionGimbalYawChanged(_missionGimbalYaw);
     }
+    if (missionFlightStatus.vtolMode != _previousVTOLMode) {
+        _previousVTOLMode = missionFlightStatus.vtolMode;
+        emit previousVTOLModeChanged();
+    }
 }
 
 void VisualMissionItem::setMissionVehicleYaw(double vehicleYaw)

src/MissionManager/VisualMissionItem.h

@@ -81,6 +81,7 @@ public:
     Q_PROPERTY(double           missionVehicleYaw                   READ missionVehicleYaw                                                  NOTIFY missionVehicleYawChanged)                    ///< Expected vehicle yaw at this point in mission
     Q_PROPERTY(bool             flyView                             READ flyView                                                            CONSTANT)
     Q_PROPERTY(bool             wizardMode                          READ wizardMode                         WRITE setWizardMode             NOTIFY wizardModeChanged)
+    Q_PROPERTY(int              previousVTOLMode                    MEMBER _previousVTOLMode                                                NOTIFY previousVTOLModeChanged)                     ///< Current VTOL mode (VehicleClass_t) prior to executing this item
 
     Q_PROPERTY(PlanMasterController*    masterController    READ masterController                                                   CONSTANT)
     Q_PROPERTY(ReadyForSaveState        readyForSaveState   READ readyForSaveState                                                  NOTIFY readyForSaveStateChanged)
@@ -238,6 +239,8 @@ signals:
     void parentItemChanged              (VisualMissionItem* parentItem);
     void amslEntryAltChanged            (double alt);
     void amslExitAltChanged             (double alt);
+    void previousVTOLModeChanged        (void);
+    void currentVTOLModeChanged         (void);                             ///< Signals that this item has changed the VTOL mode (MAV_CMD_DO_VTOL_TRANSITION)
 
     void exitCoordinateSameAsEntryChanged           (bool exitCoordinateSameAsEntry);
 
@@ -246,29 +249,30 @@ protected slots:
     void _amslExitAltChanged(void);     // signals new amslExitAlt value
 
 protected:
-    bool     _flyView    =               false;
-    bool    _isCurrentItem =            false;
-    bool    _hasCurrentChildItem =      false;
-    bool    _dirty =                    false;
-    bool    _homePositionSpecialCase =  false;      ///< true: This item is being used as a ui home position indicator
-    bool    _wizardMode =               false;      ///< true: Item editor is showing wizard completion panel
-    double  _terrainAltitude =          qQNaN();    ///< Altitude of terrain at coordinate position, NaN for not known
-    double  _altDifference =            0;          ///< Difference in altitude from previous waypoint
-    double  _altPercent =               0;          ///< Percent of total altitude change in mission
-    double  _terrainPercent =           qQNaN();    ///< Percent of terrain altitude for coordinate
-    bool    _terrainCollision =         false;      ///< true: item collides with terrain
-    double  _azimuth =                  0;          ///< Azimuth to previous waypoint
-    double  _distance =                 0;          ///< Distance to previous waypoint
-    double  _distanceFromStart =        0;          ///< Flight path cumalative horizontal distance from home point to this item
-    QString _editorQml;                             ///< Qml resource for editing item
-    double  _missionGimbalYaw =         qQNaN();
-    double  _missionVehicleYaw =        qQNaN();
-
-    PlanMasterController*   _masterController =         nullptr;
-    MissionController*      _missionController =        nullptr;
-    Vehicle*                _controllerVehicle =        nullptr;
-    FlightPathSegment *     _simpleFlightPathSegment =  nullptr;    ///< The simple item flight segment (if any) which starts with this visual item.
-    VisualMissionItem*      _parentItem =               nullptr;
+    bool                         _flyView                   = false;
+    bool                        _isCurrentItem              = false;
+    bool                        _hasCurrentChildItem        = false;
+    bool                        _dirty                      = false;
+    bool                        _homePositionSpecialCase    = false;                            ///< true: This item is being used as a ui home position indicator
+    bool                        _wizardMode                 = false;                            ///< true: Item editor is showing wizard completion panel
+    double                      _terrainAltitude            = qQNaN();                          ///< Altitude of terrain at coordinate position, NaN for not known
+    double                      _altDifference              = 0;                                ///< Difference in altitude from previous waypoint
+    double                      _altPercent                 = 0;                                ///< Percent of total altitude change in mission
+    double                      _terrainPercent             = qQNaN();                          ///< Percent of terrain altitude for coordinate
+    bool                        _terrainCollision           = false;                            ///< true: item collides with terrain
+    double                      _azimuth                    = 0;                                ///< Azimuth to previous waypoint
+    double                      _distance                   = 0;                                ///< Distance to previous waypoint
+    double                      _distanceFromStart          = 0;                                ///< Flight path cumalative horizontal distance from home point to this item
+    QString                     _editorQml;                                                     ///< Qml resource for editing item
+    double                      _missionGimbalYaw           = qQNaN();
+    double                      _missionVehicleYaw          = qQNaN();
+    QGCMAVLink::VehicleClass_t  _previousVTOLMode           = QGCMAVLink::VehicleClassGeneric;  ///< Generic == unknown
+
+    PlanMasterController*   _masterController           = nullptr;
+    MissionController*      _missionController          = nullptr;
+    Vehicle*                _controllerVehicle          = nullptr;
+    FlightPathSegment *     _simpleFlightPathSegment    = nullptr;  ///< The simple item flight segment (if any) which starts with this visual item.
+    VisualMissionItem*      _parentItem                 = nullptr;
     QGCGeoBoundingCube      _boundingCube;                          ///< The bounding "cube" of this element.
 
     /// This is used to reference any subsequent mission items which do not specify a coordinate.

src/QGC.cc

@@ -9,9 +9,12 @@
 
 
 #include "QGC.h"
+
 #include <qmath.h>
 #include <float.h>
 
+#include <QtGlobal>
+
 namespace QGC
 {
 
@@ -137,4 +140,17 @@ quint32 crc32(const quint8 *src, unsigned len, unsigned state)
     return state;
 }
 
+bool fuzzyCompare(double value1, double value2)
+{
+    if (qIsNaN(value1) && qIsNaN(value2)) {
+        return true;
+    } else if (qIsNaN(value1) || qIsNaN(value2)) {
+        return false;
+    } else if (value1 == value2) {
+        return true;
+    } else {
+        return qFuzzyCompare(value1, value2);
+    }
+}
+
 }

src/QGC.h

@@ -7,9 +7,7 @@
  *
  ****************************************************************************/
 
-
-#ifndef QGC_H
-#define QGC_H
+#pragma once
 
 #include <QDateTime>
 #include <QColor>
@@ -42,7 +40,8 @@ void initTimer();
 /** @brief Get the ground time since boot in milliseconds */
 quint64 bootTimeMilliseconds();
 
-const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
+/// Returns true if the two values are equal or close. Correctly handles 0 and NaN values.
+bool fuzzyCompare(double value1, double value2);
 
 class SLEEP : public QThread
 {
@@ -56,7 +55,3 @@ public:
 quint32 crc32(const quint8 *src, unsigned len, unsigned state);
 
 }
-
-#define QGC_EVENTLOOP_DEBUG 0
-
-#endif // QGC_H

src/Vehicle/Vehicle.cc

@@ -3835,11 +3835,6 @@ const QVariantList& Vehicle::staticCameraList() const
     return emptyList;
 }
 
-bool Vehicle::vehicleYawsToNextWaypointInMission() const
-{
-    return _firmwarePlugin->vehicleYawsToNextWaypointInMission(this);
-}
-
 void Vehicle::_setupAutoDisarmSignalling()
 {
     QString param = _firmwarePlugin->autoDisarmParameter(this);

src/Vehicle/Vehicle.h

@@ -1125,9 +1125,6 @@ public:
     QGCCameraManager*           dynamicCameras      () { return _cameras; }
     QString                     hobbsMeter          ();
 
-    /// @true: When flying a mission the vehicle is always facing towards the next waypoint
-    bool vehicleYawsToNextWaypointInMission() const;
-
     /// The vehicle is responsible for making the initial request for the Plan.
     /// @return: true: initial request is complete, false: initial request is still in progress;
     bool initialPlanRequestComplete() const { return _initialPlanRequestComplete; }