From 74f3755e03c677d550301ebff0cbaee9a6a6e754 Mon Sep 17 00:00:00 2001
From: DoinLakeFlyer <don@thegagnes.com>
Date: Thu, 5 Mar 2020 12:53:37 -0800
Subject: [PATCH] Correctly set altitude for land commands to 0. VTOL will
 insert a VTOL_LAND for a land command.

---
 src/MissionManager/MissionController.cc | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 580991034..4e06ce00a 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -348,12 +348,15 @@ VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordin
     _initVisualItem(newItem);
 
     if (newItem->specifiesAltitude()) {
-        double  prevAltitude;
-        int     prevAltitudeMode;
-
-        if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltitudeMode)) {
-            newItem->altitude()->setRawValue(prevAltitude);
-            newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
+        const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, command);
+        if (!uiInfo->isLandCommand()) {
+            double  prevAltitude;
+            int     prevAltitudeMode;
+
+            if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltitudeMode)) {
+                newItem->altitude()->setRawValue(prevAltitude);
+                newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
+            }
         }
     }
     newItem->setMissionFlightStatus(_missionFlightStatus);
@@ -418,7 +421,7 @@ VisualMissionItem* MissionController::insertLandItem(QGeoCoordinate coordinate,
         fwLanding->setLoiterDragAngleOnly(true);
         return fwLanding;
     } else {
-        return _insertSimpleMissionItemWorker(coordinate, MAV_CMD_NAV_RETURN_TO_LAUNCH, visualItemIndex, makeCurrentItem);
+        return _insertSimpleMissionItemWorker(coordinate, _managerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_RETURN_TO_LAUNCH, visualItemIndex, makeCurrentItem);
     }
 }
 
-- 
2.22.0