Major cleanup to Guided Bar

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -806,13 +806,3 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
         return QString();
     }
 }
-
-QString APMFirmwarePlugin::missionFlightMode(void)
-{
-    return QStringLiteral("Auto");
-}
-
-QString APMFirmwarePlugin::rtlFlightMode(void)
-{
-    return QStringLiteral("RTL");
-}

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -97,8 +97,6 @@ public:
     RallyPointManager*  newRallyPointManager            (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
     QString             brandImageIndoor                (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
     QString             brandImageOutdoor               (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
-    QString             missionFlightMode               (void) final;
-    QString             rtlFlightMode                   (void) final;
 
 protected:
     /// All access to singleton is through stack specific implementation

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -162,13 +162,22 @@ void ArduCopterFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QG
     vehicle->missionManager()->writeArduPilotGuidedMissionItem(coordWithAltitude, false /* altChangeOnly */);
 }
 
-void ArduCopterFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel)
+void ArduCopterFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange)
 {
     if (qIsNaN(vehicle->altitudeRelative()->rawValue().toDouble())) {
         qgcApp()->showMessage(QStringLiteral("Unable to change altitude, vehicle altitude not known."));
         return;
     }
 
+    // Don't allow altitude to fall below 3 meters above home
+    double currentAltRel = vehicle->altitudeRelative()->rawValue().toDouble();
+    if (altitudeChange <= 0 && currentAltRel <= 3) {
+        return;
+    }
+    if (currentAltRel + altitudeChange < 3) {
+        altitudeChange = 3 - currentAltRel;
+    }
+
     mavlink_message_t msg;
     mavlink_set_position_target_local_ned_t cmd;
 
@@ -180,7 +189,7 @@ void ArduCopterFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double
     cmd.type_mask = 0xFFF8; // Only x/y/z valid
     cmd.x = 0.0f;
     cmd.y = 0.0f;
-    cmd.z = -(altitudeRel - vehicle->altitudeRelative()->rawValue().toDouble());
+    cmd.z = -(altitudeChange);
 
     MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
     mavlink_msg_set_position_target_local_ned_encode_chan(mavlink->getSystemId(),
@@ -192,11 +201,6 @@ void ArduCopterFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double
     vehicle->sendMessageOnLink(vehicle->priorityLink(), msg);
 }
 
-bool ArduCopterFirmwarePlugin::isPaused(const Vehicle* vehicle) const
-{
-    return vehicle->flightMode() == "Brake";
-}
-
 void ArduCopterFirmwarePlugin::pauseVehicle(Vehicle* vehicle)
 {
     vehicle->setFlightMode("Brake");
@@ -228,12 +232,6 @@ QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)
     return QStringLiteral("FENCE_RADIUS");
 }
 
-QString ArduCopterFirmwarePlugin::takeControlFlightMode(void)
-{
-    return QStringLiteral("Stabilize");
-}
-
-
 bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
 {
     if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -54,7 +54,6 @@ public:
 
     // Overrides from FirmwarePlugin
     bool isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities) final;
-    bool isPaused(const Vehicle* vehicle) const final;
     void setGuidedMode(Vehicle* vehicle, bool guidedMode) final;
     void pauseVehicle(Vehicle* vehicle) final;
     void guidedModeRTL(Vehicle* vehicle) final;
@@ -64,14 +63,18 @@ public:
     void guidedModeTakeoff(Vehicle* vehicle) final;
 #endif
     void guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord) final;
-    void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel) final;
+    void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange) final;
     const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
     int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
     bool multiRotorCoaxialMotors(Vehicle* vehicle) final;
     bool multiRotorXConfig(Vehicle* vehicle) final;
     QString geoFenceRadiusParam(Vehicle* vehicle) final;
     QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Copter.OfflineEditing.params"); }
-    QString takeControlFlightMode(void) final;
+    QString pauseFlightMode(void) const override { return QString("Brake"); }
+    QString missionFlightMode(void) const override { return QString("Auto"); }
+    QString rtlFlightMode(void) const override { return QString("RTL"); }
+    QString landFlightMode(void) const override { return QString("Land"); }
+    QString takeControlFlightMode(void) const override { return QString("Stablize"); }
     bool vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const final;
 
 private:

src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc

@@ -86,8 +86,3 @@ int ArduPlaneFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVer
     // Remapping supports up to 3.8
     return majorVersionNumber == 3 ? 8 : Vehicle::versionNotSetValue;
 }
-
-QString ArduPlaneFirmwarePlugin::takeControlFlightMode(void)
-{
-    return QStringLiteral("Manual");
-}

src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h

@@ -57,7 +57,6 @@ public:
 
     // Overrides from FirmwarePlugin
     QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Plane.OfflineEditing.params"); }
-    QString takeControlFlightMode(void) final;
     const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
     int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
 

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -237,13 +237,6 @@ void FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
     qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
 }
 
-bool FirmwarePlugin::isPaused(const Vehicle* vehicle) const
-{
-    // Not supported by generic vehicle
-    Q_UNUSED(vehicle);
-    return false;
-}
-
 void FirmwarePlugin::pauseVehicle(Vehicle* vehicle)
 {
     // Not supported by generic vehicle
@@ -314,21 +307,6 @@ int FirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumbe
     return 0;
 }
 
-QString FirmwarePlugin::missionFlightMode(void)
-{
-    return QString();
-}
-
-QString FirmwarePlugin::rtlFlightMode(void)
-{
-    return QString();
-}
-
-QString FirmwarePlugin::takeControlFlightMode(void)
-{
-    return QString();
-}
-
 QString FirmwarePlugin::vehicleImageOpaque(const Vehicle* vehicle) const
 {
     Q_UNUSED(vehicle);

src/FirmwarePlugin/FirmwarePlugin.h

@@ -93,15 +93,27 @@ public:
     ///     @param[out] custom_mode Custom mode for SET_MODE mavlink message
     virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
 
+    /// Returns The flight mode which indicates the vehicle is paused
+    virtual QString pauseFlightMode(void) const { return QString(); }
+
+    /// Returns the flight mode for running missions
+    virtual QString missionFlightMode(void) const { return QString(); }
+
+    /// Returns the flight mode for RTL
+    virtual QString rtlFlightMode(void) const { return QString(); }
+
+    /// Returns the flight mode for Land
+    virtual QString landFlightMode(void) const { return QString(); }
+
+    /// Returns the flight mode to use when the operator wants to take back control from autonomouse flight.
+    virtual QString takeControlFlightMode(void) const { return QString(); }
+
     /// Returns whether the vehicle is in guided mode or not.
     virtual bool isGuidedMode(const Vehicle* vehicle) const;
 
     /// Set guided flight mode
     virtual void setGuidedMode(Vehicle* vehicle, bool guidedMode);
 
-    /// Returns whether the vehicle is paused or not.
-    virtual bool isPaused(const Vehicle* vehicle) const;
-
     /// Causes the vehicle to stop at current position. If guide mode is supported, vehicle will be let in guide mode.
     /// If not, vehicle will be left in Loiter.
     virtual void pauseVehicle(Vehicle* vehicle);
@@ -125,20 +137,9 @@ public:
     /// Command vehicle to move to specified location (altitude is included and relative)
     virtual void guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord);
 
-    /// Command vehicle to change to the specified relatice altitude
-    virtual void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel);
-
-
-
-
-    /// Returns the flight mode for running missions
-    virtual QString missionFlightMode(void);
-
-    /// Returns the flight mode for RTL
-    virtual QString rtlFlightMode(void);
-
-    /// Returns the flight mode to use when the operator wants to take back control from autonomouse flight.
-    virtual QString takeControlFlightMode(void);
+    /// Command vehicle to change altitude
+    ///     @param altitudeChange If > 0, go up by amount specified, if < 0, go down by amount specified
+    virtual void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange);
 
     /// FIXME: This isn't quite correct being here. All code for Joystick suvehicleTypepport is currently firmware specific
     /// not just this. I'm going to try to change that. If not, this will need to be removed.

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -399,7 +399,7 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
                             vehicle->altitudeAMSL()->rawValue().toFloat());
 }
 
-void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel)
+void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange)
 {
     if (!vehicle->homePositionAvailable()) {
         qgcApp()->showMessage(tr("Unable to change altitude, home position unknown."));
@@ -410,6 +410,17 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
         return;
     }
 
+    // Don't allow altitude to fall below 3 meters above home
+    double currentAltRel = vehicle->altitudeRelative()->rawValue().toDouble();
+    double newAltRel = currentAltRel;
+    if (altitudeChange <= 0 && currentAltRel <= 3) {
+        return;
+    }
+    if (currentAltRel + altitudeChange < 3) {
+        altitudeChange = 3 - currentAltRel;
+    }
+    newAltRel = currentAltRel + altitudeChange;
+
     vehicle->sendMavCommand(vehicle->defaultComponentId(),
                             MAV_CMD_DO_REPOSITION,
                             true,   // show error is fails
@@ -419,7 +430,7 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
                             NAN,
                             NAN,
                             NAN,
-                            vehicle->homePosition().altitude() + altitudeRel);
+                            vehicle->homePosition().altitude() + newAltRel);
 }
 
 void PX4FirmwarePlugin::startMission(Vehicle* vehicle)
@@ -504,21 +515,6 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
     }
 }
 
-QString PX4FirmwarePlugin::missionFlightMode(void)
-{
-    return QString(_missionFlightMode);
-}
-
-QString PX4FirmwarePlugin::rtlFlightMode(void)
-{
-    return QString(_rtlFlightMode);
-}
-
-QString PX4FirmwarePlugin::takeControlFlightMode(void)
-{
-    return QString(_manualFlightMode);
-}
-
 bool PX4FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
 {
     if ( vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -37,6 +37,11 @@ public:
     QString             flightMode                      (uint8_t base_mode, uint32_t custom_mode) const override;
     bool                setFlightMode                   (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) override;
     void                setGuidedMode                   (Vehicle* vehicle, bool guidedMode) override;
+    QString             pauseFlightMode                 (void) const override { return _holdFlightMode; }
+    QString             missionFlightMode               (void) const override { return _missionFlightMode; }
+    QString             rtlFlightMode                   (void) const override { return _rtlFlightMode; }
+    QString             landFlightMode                  (void) const override { return _landingFlightMode; }
+    QString             takeControlFlightMode           (void) const override { return _manualFlightMode; }
     void                pauseVehicle                    (Vehicle* vehicle) override;
     void                guidedModeRTL                   (Vehicle* vehicle) override;
     void                guidedModeLand                  (Vehicle* vehicle) override;
@@ -61,9 +66,6 @@ public:
     QString             offlineEditingParamFile(Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/PX4/PX4.OfflineEditing.params"); }
     QString             brandImageIndoor                (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
     QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
-    QString             missionFlightMode               (void) override;
-    QString             rtlFlightMode                   (void) override;
-    QString             takeControlFlightMode           (void) override;
     bool                vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const override;
 
 protected:

src/FlightMap/FlightMap.qml

@@ -54,6 +54,7 @@ Map {
 
     function _possiblyCenterToVehiclePosition() {
         if (!firstVehiclePositionReceived && allowVehicleLocationCenter && activeVehicleCoordinate.isValid) {
+            console.log("Moving to initial vehicle position", QGroundControl.flightMapInitialZoom)
             firstVehiclePositionReceived = true
             center = activeVehicleCoordinate
             zoomLevel = QGroundControl.flightMapInitialZoom

src/FlightMap/qmldir

@@ -17,7 +17,6 @@ QGCAttitudeHUD          1.0 QGCAttitudeHUD.qml
 QGCAttitudeWidget       1.0 QGCAttitudeWidget.qml
 QGCCompassWidget        1.0 QGCCompassWidget.qml
 QGCPitchIndicator       1.0 QGCPitchIndicator.qml
-QGCSlider               1.0 QGCSlider.qml
 ValuesWidget            1.0 ValuesWidget.qml
 VehicleHealthWidget     1.0 VehicleHealthWidget.qml
 VibrationWidget         1.0 VibrationWidget.qml

src/MissionManager/SimpleMissionItem.cc

@@ -498,7 +498,21 @@ bool SimpleMissionItem::friendlyEditAllowed(void) const
         }
 
         if (specifiesCoordinate() || specifiesAltitudeOnly()) {
-            return _missionItem.frame() == MAV_FRAME_GLOBAL || _missionItem.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
+            MAV_FRAME frame = _missionItem.frame();
+            switch (frame) {
+            case MAV_FRAME_GLOBAL:
+            case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+#if 0
+            Coming soon
+            case MAV_FRAME_GLOBAL_INT:
+            case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
+#endif
+                return true;
+                break;
+
+            default:
+                return false;
+            }
         }
 
         return true;

src/QmlControls/QGCSlider.qml

@@ -10,47 +10,63 @@
 import QtQuick                  2.3
 import QtQuick.Controls         1.2
 import QtQuick.Controls.Styles  1.4
+import QtQuick.Controls.Private 1.0
 
 import QGroundControl.Palette       1.0
 import QGroundControl.ScreenTools   1.0
-import QtQuick.Controls.Private     1.0
 
 Slider {
-    property var _qgcPal: QGCPalette { colorGroupEnabled: enabled }
+    id:             _root
+    implicitHeight: ScreenTools.implicitSliderHeight
+
+    // Value indicator starts display from center instead of min value
+    property bool indicatorCentered: false
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
 
     style: SliderStyle {
         groove: Item {
-            property color fillColor: "#49d"
             anchors.verticalCenter: parent.verticalCenter
-            implicitWidth: Math.round(TextSingleton.implicitHeight * 4.5)
-            implicitHeight: Math.max(6, Math.round(TextSingleton.implicitHeight * 0.3))
+            implicitWidth:  Math.round(ScreenTools.defaultFontPixelHeight * 4.5)
+            implicitHeight: Math.round(ScreenTools.defaultFontPixelHeight * 0.3)
 
             Rectangle {
-                radius: height/2
-                anchors.fill: parent
-                border.width: 1
-                border.color: "#888"
-                gradient: Gradient {
-                    GradientStop { color: "#bbb" ; position: 0 }
-                    GradientStop { color: "#ccc" ; position: 0.6 }
-                    GradientStop { color: "#ccc" ; position: 1 }
-                }
+                radius:         height / 2
+                anchors.fill:   parent
+                color:          qgcPal.button
+                border.width:   1
+                border.color:   qgcPal.buttonText
             }
 
             Item {
-                clip: true
-                width: styleData.handlePosition
+                clip:   true
+                x:      _root.indicatorCentered ? indicatorCenteredIndicatorStart : 0
+                width:  _root.indicatorCentered ? centerIndicatorWidth : styleData.handlePosition
                 height: parent.height
+
+                property real indicatorCenteredIndicatorStart:   Math.min(styleData.handlePosition, parent.width / 2)
+                property real indicatorCenteredIndicatorStop:    Math.max(styleData.handlePosition, parent.width / 2)
+                property real centerIndicatorWidth:     indicatorCenteredIndicatorStop - indicatorCenteredIndicatorStart
+
                 Rectangle {
-                    anchors.fill: parent
-                    border.color: Qt.darker(fillColor, 1.2)
-                    radius: height/2
-                    gradient: Gradient {
-                        GradientStop {color: Qt.lighter(fillColor, 1.3)  ; position: 0}
-                        GradientStop {color: fillColor ; position: 1.4}
-                    }
+                    anchors.fill:   parent
+                    color:          qgcPal.colorBlue
+                    border.color:   Qt.darker(color, 1.2)
+                    radius:         height/2
                 }
             }
         }
+
+        handle: Rectangle {
+            anchors.centerIn: parent
+            color:          qgcPal.button
+            border.color:   qgcPal.buttonText
+            border.width:   1
+            implicitWidth:  _radius * 2
+            implicitHeight: _radius * 2
+            radius:         _radius
+
+            property real _radius: Math.round(ScreenTools.defaultFontPixelHeight * 0.75)
+        }
     }
 }

src/QmlControls/ScreenTools.qml

@@ -70,6 +70,7 @@ Item {
     property real implicitTextFieldHeight:  Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
     property real implicitComboBoxHeight:   Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
     property real implicitComboBoxWidth:    Math.round(defaultFontPixelWidth *  (isMobile ? 7.0 : 5.0))
+    property real implicitSliderHeight:     isMobile ? Math.Max(defaultFontPixelHeight, minTouchPixels) : defaultFontPixelHeight
 
     readonly property string normalFontFamily:      "opensans"
     readonly property string demiboldFontFamily:    "opensans-demibold"

src/QmlControls/SliderSwitch.qml

@@ -7,11 +7,11 @@ import QGroundControl.Palette       1.0
 /// The SliderSwitch control implements a sliding switch control similar to the power off
 /// control on an iPhone.
 Rectangle {
-    id:     _root
-    width:  label.contentWidth + (_diameter * 2.5) + (_border * 4)
-    height: Math.max(ScreenTools.isMobile ? ScreenTools.minTouchPixels : 0, label.height * 2.5)
-    radius: height /2
-    color:  qgcPal.window
+    id:             _root
+    implicitWidth:  label.contentWidth + (_diameter * 2.5) + (_border * 4)
+    implicitHeight: Math.max(ScreenTools.isMobile ? ScreenTools.minTouchPixels : 0, label.height * 2.5)
+    radius:         height /2
+    color:          qgcPal.window
 
     signal accept   ///< Action confirmed
     signal reject   ///< Action rejected
@@ -28,7 +28,7 @@ Rectangle {
         id:                         label
         anchors.horizontalCenter:   parent.horizontalCenter
         anchors.verticalCenter:     parent.verticalCenter
-        text:                       qsTr("Slide to %1").arg(confirmText)
+        text:                       confirmText
     }
 
     Rectangle {

src/Vehicle/Vehicle.cc

@@ -1985,13 +1985,13 @@ void Vehicle::guidedModeGotoLocation(const QGeoCoordinate& gotoCoord)
     _firmwarePlugin->guidedModeGotoLocation(this, gotoCoord);
 }
 
-void Vehicle::guidedModeChangeAltitude(double altitudeRel)
+void Vehicle::guidedModeChangeAltitude(double altitudeChange)
 {
     if (!guidedModeSupported()) {
         qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
         return;
     }
-    _firmwarePlugin->guidedModeChangeAltitude(this, altitudeRel);
+    _firmwarePlugin->guidedModeChangeAltitude(this, altitudeChange);
 }
 
 void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double velocity, double altitude)
@@ -2397,11 +2397,21 @@ QString Vehicle::missionFlightMode(void) const
     return _firmwarePlugin->missionFlightMode();
 }
 
+QString Vehicle::pauseFlightMode(void) const
+{
+    return _firmwarePlugin->pauseFlightMode();
+}
+
 QString Vehicle::rtlFlightMode(void) const
 {
     return _firmwarePlugin->rtlFlightMode();
 }
 
+QString Vehicle::landFlightMode(void) const
+{
+    return _firmwarePlugin->landFlightMode();
+}
+
 QString Vehicle::takeControlFlightMode(void) const
 {
     return _firmwarePlugin->takeControlFlightMode();

src/Vehicle/Vehicle.h

@@ -294,7 +294,9 @@ public:
     Q_PROPERTY(QString              brandImageOutdoor       READ brandImageOutdoor                                      NOTIFY firmwareTypeChanged)
     Q_PROPERTY(QStringList          unhealthySensors        READ unhealthySensors                                       NOTIFY unhealthySensorsChanged)
     Q_PROPERTY(QString              missionFlightMode       READ missionFlightMode                                      CONSTANT)
+    Q_PROPERTY(QString              pauseFlightMode         READ pauseFlightMode                                        CONSTANT)
     Q_PROPERTY(QString              rtlFlightMode           READ rtlFlightMode                                          CONSTANT)
+    Q_PROPERTY(QString              landFlightMode          READ landFlightMode                                         CONSTANT)
     Q_PROPERTY(QString              takeControlFlightMode   READ takeControlFlightMode                                  CONSTANT)
     Q_PROPERTY(QString              firmwareTypeString      READ firmwareTypeString                                     NOTIFY firmwareTypeChanged)
     Q_PROPERTY(QString              vehicleTypeString       READ vehicleTypeString                                      NOTIFY vehicleTypeChanged)
@@ -384,8 +386,9 @@ public:
     /// Command vehicle to move to specified location (altitude is included and relative)
     Q_INVOKABLE void guidedModeGotoLocation(const QGeoCoordinate& gotoCoord);
 
-    /// Command vehicle to change to the specified relatice altitude
-    Q_INVOKABLE void guidedModeChangeAltitude(double altitudeRel);
+    /// Command vehicle to change altitude
+    ///     @param altitudeChange If > 0, go up by amount specified, if < 0, go down by amount specified
+    Q_INVOKABLE void guidedModeChangeAltitude(double altitudeChange);
 
     /// Command vehicle to orbit given center point
     ///     @param centerCoord Center Coordinates
@@ -575,7 +578,9 @@ public:
     QString         brandImageOutdoor       () const;
     QStringList     unhealthySensors        () const;
     QString         missionFlightMode       () const;
+    QString         pauseFlightMode         () const;
     QString         rtlFlightMode           () const;
+    QString         landFlightMode          () const;
     QString         takeControlFlightMode   () const;
     double          defaultCruiseSpeed      () const { return _defaultCruiseSpeed; }
     double          defaultHoverSpeed       () const { return _defaultHoverSpeed; }