Merge pull request #2761 from DonLakeFlyer/OfflineEditOverride

Fix mission command overrides for offline edit

src/FirmwarePlugin/APM/MavCmdInfoCommon.json

@@ -2,5 +2,20 @@
     "version": 1,
 
     "mavCmdInfo": [
+        {
+            "id":                   22,
+            "rawName":              "MAV_CMD_NAV_TAKEOFF",
+            "friendlyName":         "Takeoff",
+            "description":          "Take off from the ground.",
+            "specifiesCoordinate":  false,
+            "friendlyEdit":         true,
+            "category":             "Basic",
+            "param1": {
+                "label":            "Pitch:",
+                "units":            "radians",
+                "default":          0.26179939,
+                "decimalPlaces":    2
+            }
+        }
     ]
 }

src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json

@@ -2,20 +2,5 @@
     "version": 1,
 
     "mavCmdInfo": [
-        {
-            "id":                   22,
-            "rawName":              "MAV_CMD_NAV_TAKEOFF",
-            "friendlyName":         "Takeoff",
-            "description":          "Take off from the ground.",
-            "specifiesCoordinate":  false,
-            "friendlyEdit":         true,
-            "category":             "Basic",
-            "param1": {
-                "label":            "Pitch:",
-                "units":            "radians",
-                "default":          0.26179939,
-                "decimalPlaces":    2
-            }
-        }
     ]
 }

src/MissionManager/MissionCommands.cc

@@ -153,13 +153,13 @@ MavCmdInfo* MissionCommands::getMavCmdInfo(MAV_CMD command, Vehicle* vehicle) co
             if (_autopilotToMultiRotorMissionCommands[firmwareType]->contains(command)) {
                 mavCmdInfo = _autopilotToMultiRotorMissionCommands[firmwareType]->getMavCmdInfo(command);
             }
-        } else {
-            if (_autopilotToCommonMissionCommands[firmwareType]->contains(command)) {
-                mavCmdInfo = _autopilotToCommonMissionCommands[firmwareType]->getMavCmdInfo(command);
-            }
         }
     }
 
+    if (!mavCmdInfo && _autopilotToCommonMissionCommands[firmwareType]->contains(command)) {
+        mavCmdInfo = _autopilotToCommonMissionCommands[firmwareType]->getMavCmdInfo(command);
+    }
+
     if (!mavCmdInfo) {
         mavCmdInfo = _commonMissionCommands.getMavCmdInfo(command);
     }

src/MissionManager/MissionItem.cc

@@ -813,7 +813,8 @@ void MissionItem::setDefaultsForCommand(void)
 
     MAV_CMD command = (MAV_CMD)this->command();
     if (_missionCommands->contains(command)) {
-        foreach (const MavCmdParamInfo* paramInfo, _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap()) {
+        MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
+        foreach (const MavCmdParamInfo* paramInfo, mavCmdInfo->paramInfoMap()) {
             Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact };
 
             rgParamFacts[paramInfo->param()-1]->setRawValue(paramInfo->defaultValue());

src/MissionManager/MissionManagerTest.cc

@@ -31,9 +31,7 @@ const MissionManagerTest::TestCase_t MissionManagerTest::_rgTestCases[] = {
     { "2\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 2, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
     { "3\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 3, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME,  10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
     { "4\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 4, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND,         10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
-    { "5\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 5, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_TAKEOFF,      10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
-    { "6\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 6, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY,  10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
-    { "7\t0\t2\t177\t3\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 7, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP,          3,    20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
+    { "6\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 5, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY,  10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
 };
 const size_t MissionManagerTest::_cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]);