Merge pull request #5738 from mavlink/revert-5701-CurrentMissionItem

Revert "Fix current mission item updates"

src/MissionManager/MissionManager.cc

@@ -40,6 +40,8 @@ void MissionManager::writeArduPilotGuidedMissionItem(const QGeoCoordinate& gotoC
 
     _transactionInProgress = TransactionWrite;
 
+    _connectToMavlink();
+
     mavlink_message_t       messageOut;
     mavlink_mission_item_t  missionItem;
 

src/MissionManager/PlanManager.cc

@@ -38,7 +38,6 @@ PlanManager::PlanManager(Vehicle* vehicle, MAV_MISSION_TYPE planType)
     _ackTimeoutTimer->setInterval(_ackTimeoutMilliseconds);
     
     connect(_ackTimeoutTimer, &QTimer::timeout, this, &PlanManager::_ackTimeout);
-    connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &PlanManager::_mavlinkMessageReceived);
 }
 
 PlanManager::~PlanManager()
@@ -63,6 +62,7 @@ void PlanManager::_writeMissionItemsWorker(void)
     _transactionInProgress = TransactionWrite;
     _retryCount = 0;
     emit inProgressChanged(true);
+    _connectToMavlink();
     _writeMissionCount();
 }
 
@@ -139,6 +139,7 @@ void PlanManager::loadFromVehicle(void)
     _retryCount = 0;
     _transactionInProgress = TransactionRead;
     emit inProgressChanged(true);
+    _connectToMavlink();
     _requestList();
 }
 
@@ -802,6 +803,7 @@ QString PlanManager::_missionResultToString(MAV_MISSION_RESULT result)
 void PlanManager::_finishTransaction(bool success)
 {
     emit progressPct(1);
+    _disconnectFromMavlink();
 
     _itemIndicesToRead.clear();
     _itemIndicesToWrite.clear();
@@ -890,6 +892,7 @@ void PlanManager::_removeAllWorker(void)
 
     emit progressPct(0);
 
+    _connectToMavlink();
     _dedicatedLink = _vehicle->priorityLink();
     mavlink_msg_mission_clear_all_pack_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
                                             qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
@@ -941,6 +944,16 @@ void PlanManager::_clearAndDeleteWriteMissionItems(void)
     _writeMissionItems.clear();
 }
 
+void PlanManager::_connectToMavlink(void)
+{
+    connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &PlanManager::_mavlinkMessageReceived);
+}
+
+void PlanManager::_disconnectFromMavlink(void)
+{
+    disconnect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &PlanManager::_mavlinkMessageReceived);
+}
+
 QString PlanManager::_planTypeString(void)
 {
     switch (_planType) {

src/MissionManager/PlanManager.h

@@ -126,6 +126,8 @@ protected:
     void _clearAndDeleteWriteMissionItems(void);
     QString _lastMissionReqestString(MAV_MISSION_RESULT result);
     void _removeAllWorker(void);
+    void _connectToMavlink(void);
+    void _disconnectFromMavlink(void);
     QString _planTypeString(void);
 
 protected: