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/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/SimpleMissionItem.cc

@@ -501,10 +501,6 @@ void SimpleMissionItem::_rebuildNaNFacts(void)
                 if (!firmwareVehicle) {
                     firmwareVehicle = _controllerVehicle;
                 }
-                bool hideWaypointHeading = (command == MAV_CMD_NAV_WAYPOINT || command == MAV_CMD_NAV_TAKEOFF) && (i == 4) && firmwareVehicle->firmwarePlugin()->vehicleYawsToNextWaypointInMission(firmwareVehicle);
-                if (hideWaypointHeading) {
-                    continue;
-                }
 
                 Fact*               paramFact =     rgParamFacts[i-1];
                 FactMetaData*       paramMetaData = rgParamMetaData[i-1];

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; }