Merge pull request #5058 from DonLakeFlyer/PauseAndUpload

Pause and Upload: Move to new plan master controller

src/MissionManager/MissionManager.cc

@@ -995,6 +995,8 @@ void MissionManager::generateResumeMission(int resumeIndex)
         }
     }
 
+    resumeIndex = qMin(resumeIndex, _missionItems.count() - 1);
+
     int seqNum = 0;
     QList<MissionItem*> resumeMission;
 
@@ -1013,6 +1015,9 @@ void MissionManager::generateResumeMission(int resumeIndex)
                            << MAV_CMD_IMAGE_STOP_CAPTURE
                            << MAV_CMD_VIDEO_START_CAPTURE
                            << MAV_CMD_VIDEO_STOP_CAPTURE;
+    if (_vehicle->fixedWing() && _vehicle->px4Firmware()) {
+        includedResumeCommands << MAV_CMD_NAV_TAKEOFF;
+    }
 
     bool addHomePosition = _vehicle->firmwarePlugin()->sendHomePositionToVehicle();
     int setCurrentIndex = addHomePosition ? 1 : 0;

src/PlanView/PlanView.qml

@@ -138,7 +138,7 @@ QGCView {
                     text:       qsTr("Pause and Upload")
                     onClicked: {
                         _activeVehicle.flightMode = _activeVehicle.pauseFlightMode
-                        _missionController.sendToVehicle()
+                        _planMasterController.sendToVehicle()
                         hideDialog()
                     }
                 }