From 5dabdd5d53a816a24a03841e898da1d3869f530c Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Sat, 4 Apr 2020 12:05:17 -0700
Subject: [PATCH] Fix display of Continue Mission/Change Alt after Pause

---
 ChangeLog.md                                  | 1 +
 src/FirmwarePlugin/APM/APMFirmwarePlugin.cc   | 5 +++++
 src/FlightDisplay/FlightDisplayView.qml       | 3 +--
 src/FlightDisplay/GuidedActionsController.qml | 7 ++++++-
 4 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/ChangeLog.md b/ChangeLog.md
index 9d2f4f3fa..0bed17e55 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -7,6 +7,7 @@ Note: This file only contains high level features or important fixes.
 ### 4.0.6 - Not yet released
 
 * Analyze/Log Download - Fix download on mobile versions of QGC
+* Fly: Fix problems where Continue Mission and Change Altitude were not available after a Mission Pause.
 
 ### 4.0.5 - Stable
 
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index df0d86f89..3f913a22d 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -936,6 +936,11 @@ void APMFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
         return;
     }
 
+    if (abs(altitudeChange) < 0.01) {
+        // This prevents unecessary changes to Guided mode when the users selects pause and doesn't really touch the altitude slider
+        return;
+    }
+
     setGuidedMode(vehicle, true);
 
     mavlink_message_t msg;
diff --git a/src/FlightDisplay/FlightDisplayView.qml b/src/FlightDisplay/FlightDisplayView.qml
index 9bcbf6918..7a60e8f4c 100644
--- a/src/FlightDisplay/FlightDisplayView.qml
+++ b/src/FlightDisplay/FlightDisplayView.qml
@@ -639,8 +639,7 @@ Item {
                 {
                     name:               qsTr("Action"),
                     iconSource:         "/res/action.svg",
-                    buttonVisible:      !_guidedController.showPause,
-                    buttonEnabled:      _anyActionAvailable,
+                    buttonVisible:      _anyActionAvailable,
                     action:             -1
                 }
             ]
diff --git a/src/FlightDisplay/GuidedActionsController.qml b/src/FlightDisplay/GuidedActionsController.qml
index b3027d360..1507646aa 100644
--- a/src/FlightDisplay/GuidedActionsController.qml
+++ b/src/FlightDisplay/GuidedActionsController.qml
@@ -203,7 +203,12 @@ Item {
         }
         _outputState()
     }
-    // End of hack
+    onShowChangeAltChanged: {
+        if (_corePlugin.guidedActionsControllerLogging()) {
+            console.log("showChangeAlt", showChangeAlt)
+        }
+        _outputState()
+    }
 
     on_VehicleFlyingChanged: {
         _outputState()
-- 
2.22.0