Support for flight speed change in Waypoint item

qgroundcontrol.pro

@@ -469,6 +469,8 @@ HEADERS += \
     src/MissionManager/RallyPointController.h \
     src/MissionManager/RallyPointManager.h \
     src/MissionManager/SimpleMissionItem.h \
+    src/MissionManager/Section.h \
+    src/MissionManager/SpeedSection.h \
     src/MissionManager/SurveyMissionItem.h \
     src/MissionManager/VisualMissionItem.h \
     src/PositionManager/PositionManager.h \
@@ -648,6 +650,7 @@ SOURCES += \
     src/MissionManager/RallyPointController.cc \
     src/MissionManager/RallyPointManager.cc \
     src/MissionManager/SimpleMissionItem.cc \
+    src/MissionManager/SpeedSection.cc \
     src/MissionManager/SurveyMissionItem.cc \
     src/MissionManager/VisualMissionItem.cc \
     src/PositionManager/PositionManager.cpp \

qgroundcontrol.qrc

@@ -197,6 +197,7 @@
         <file alias="FWLandingPattern.FactMetaData.json">src/MissionManager/FWLandingPattern.FactMetaData.json</file>
         <file alias="USBBoardInfo.json">src/comm/USBBoardInfo.json</file>
         <file alias="CameraSection.FactMetaData.json">src/MissionManager/CameraSection.FactMetaData.json</file>
+        <file alias="SpeedSection.FactMetaData.json">src/MissionManager/SpeedSection.FactMetaData.json</file>
         <file alias="MissionSettings.FactMetaData.json">src/MissionManager/MissionSettings.FactMetaData.json</file>
         <file alias="Vehicle/VehicleFact.json">src/Vehicle/VehicleFact.json</file>
         <file alias="Vehicle/BatteryFact.json">src/Vehicle/BatteryFact.json</file>

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -241,3 +241,17 @@ bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle*
     }
     return false;
 }
+
+void ArduCopterFirmwarePlugin::missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed)
+{
+    QString hoverSpeedParam("WPNAV_SPEED");
+
+    // First pull settings defaults
+    FirmwarePlugin::missionFlightSpeedInfo(vehicle, hoverSpeed, cruiseSpeed);
+
+    cruiseSpeed = 0;
+    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, hoverSpeedParam)) {
+        Fact* speed = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, hoverSpeedParam);
+        hoverSpeed = speed->rawValue().toDouble();
+    }
+}

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -76,6 +76,7 @@ public:
     QString takeControlFlightMode(void) const override { return QString("Stablize"); }
     bool vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const final;
     QString autoDisarmParameter(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral("DISARM_DELAY"); }
+    void missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed) override;
 
 private:
     static bool _remapParamNameIntialized;

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -11,6 +11,8 @@
 #include "QGCApplication.h"
 #include "Generic/GenericAutoPilotPlugin.h"
 #include "CameraMetaData.h"
+#include "SettingsManager.h"
+#include "AppSettings.h"
 
 #include <QDebug>
 
@@ -452,3 +454,13 @@ QString FirmwarePlugin::autoDisarmParameter(Vehicle* vehicle)
     Q_UNUSED(vehicle);
     return QString();
 }
+
+void FirmwarePlugin::missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed)
+{
+    Q_UNUSED(vehicle);
+
+    // Best we can do is use settings
+    AppSettings* appSettings = qgcApp()->toolbox()->settingsManager()->appSettings();
+    hoverSpeed = appSettings->offlineEditingHoverSpeed()->rawValue().toDouble();
+    cruiseSpeed = appSettings->offlineEditingCruiseSpeed()->rawValue().toDouble();
+}

src/FirmwarePlugin/FirmwarePlugin.h

@@ -282,6 +282,11 @@ public:
     ///     @param[out] cruiseAmps Current draw in amps during cruise
     virtual void batteryConsumptionData(Vehicle* vehicle, int& mAhBattery, double& hoverAmps, double& cruiseAmps) const;
 
+    /// Returns the default mission flight speeds.
+    ///     @param[out] hoverSpeed Flight speed for vehicle flying in multi-rotor mode. 0 for none, or not available.
+    ///     @param[out] cruiseSpeed Flight speed for vehicle flying in fixed wing forward flight mode. 0 for none, or not available.
+    virtual void missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed);
+
     // Returns the parameter which control auto-dismar. Assume == 0 means no auto disarm
     virtual QString autoDisarmParameter(Vehicle* vehicle);
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -518,9 +518,27 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
 
 bool PX4FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
 {
-    if ( vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
+    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
         Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"));
         return yawMode && yawMode->rawValue().toInt() == 1;
     }
     return false;
 }
+
+void PX4FirmwarePlugin::missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed)
+{
+    QString hoverSpeedParam("MPC_XY_CRUISE");
+    QString cruiseSpeedParam("FW_AIRSPD_TRIM");
+
+    // First pull settings defaults
+    FirmwarePlugin::missionFlightSpeedInfo(vehicle, hoverSpeed, cruiseSpeed);
+
+    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, hoverSpeedParam)) {
+        Fact* speed = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, hoverSpeedParam);
+        hoverSpeed = speed->rawValue().toDouble();
+    }
+    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, cruiseSpeedParam)) {
+        Fact* speed = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, cruiseSpeedParam);
+        cruiseSpeed = speed->rawValue().toDouble();
+    }
+}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -68,6 +68,7 @@ public:
     QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
     bool                vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const override;
     QString             autoDisarmParameter             (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("COM_DISARM_LAND"); }
+    void                missionFlightSpeedInfo          (Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed) override;
 
 protected:
     typedef struct {

src/MissionManager/CameraSection.cc

@@ -20,8 +20,8 @@ const char* CameraSection::_cameraPhotoIntervalTimeName =      "CameraPhotoInter
 
 QMap<QString, FactMetaData*> CameraSection::_metaDataMap;
 
-CameraSection::CameraSection(QObject* parent)
-    : QObject(parent)
+CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
+    : Section(vehicle, parent)
     , _available(false)
     , _settingsSpecified(false)
     , _specifyGimbal(false)
@@ -48,8 +48,8 @@ CameraSection::CameraSection(QObject* parent)
     _cameraPhotoIntervalDistanceFact.setRawValue    (_cameraPhotoIntervalDistanceFact.rawDefaultValue());
     _cameraPhotoIntervalTimeFact.setRawValue        (_cameraPhotoIntervalTimeFact.rawDefaultValue());
 
-    connect(this,               &CameraSection::specifyGimbalChanged,   this, &CameraSection::_setDirtyAndUpdateMissionItemCount);
-    connect(&_cameraActionFact, &Fact::valueChanged,                    this, &CameraSection::_setDirtyAndUpdateMissionItemCount);
+    connect(this,               &CameraSection::specifyGimbalChanged,   this, &CameraSection::_setDirtyAndUpdateItemCount);
+    connect(&_cameraActionFact, &Fact::valueChanged,                    this, &CameraSection::_setDirtyAndUpdateItemCount);
 
     connect(&_gimbalPitchFact,                  &Fact::valueChanged, this, &CameraSection::_setDirty);
     connect(&_gimbalYawFact,                    &Fact::valueChanged, this, &CameraSection::_setDirty);
@@ -67,7 +67,7 @@ void CameraSection::setSpecifyGimbal(bool specifyGimbal)
     }
 }
 
-int CameraSection::missionItemCount(void) const
+int CameraSection::itemCount(void) const
 {
     int itemCount = 0;
 
@@ -89,9 +89,9 @@ void CameraSection::setDirty(bool dirty)
     }
 }
 
-void CameraSection::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent, int nextSequenceNumber)
+void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* missionItemParent, int& nextSequenceNumber)
 {
-    // IMPORTANT NOTE: If anything changes here you must also change CameraSection::scanForMissionSettings
+    // IMPORTANT NOTE: If anything changes here you must also change CameraSection::scanForSection
 
     if (_specifyGimbal) {
         MissionItem* item = new MissionItem(nextSequenceNumber++,
@@ -188,7 +188,7 @@ void CameraSection::appendMissionItems(QList<MissionItem*>& items, QObject* miss
     }
 }
 
-bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int scanIndex)
+bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanIndex)
 {
     bool foundGimbal = false;
     bool foundCameraAction = false;
@@ -196,6 +196,10 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
 
     qCDebug(CameraSectionLog) << "CameraSection::scanForCameraSection" << visualItems->count() << scanIndex;
 
+    if (!_available || scanIndex >= visualItems->count()) {
+        return false;
+    }
+
     // Scan through the initial mission items for possible mission settings
 
     while (!stopLooking && visualItems->count() > scanIndex) {
@@ -214,6 +218,7 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
         case MAV_CMD_DO_MOUNT_CONTROL:
             if (!foundGimbal && missionItem.param2() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == MAV_MOUNT_MODE_MAVLINK_TARGETING) {
                 foundGimbal = true;
+                scanIndex++;
                 setSpecifyGimbal(true);
                 gimbalPitch()->setRawValue(missionItem.param1());
                 gimbalYaw()->setRawValue(missionItem.param3());
@@ -226,6 +231,7 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
         case MAV_CMD_IMAGE_START_CAPTURE:
             if (!foundCameraAction && missionItem.param1() != 0 && missionItem.param2() == 0 && missionItem.param3() == -1 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
                 foundCameraAction = true;
+                scanIndex++;
                 cameraAction()->setRawValue(TakePhotosIntervalTime);
                 cameraPhotoIntervalTime()->setRawValue(missionItem.param1());
                 visualItems->removeAt(scanIndex)->deleteLater();
@@ -245,6 +251,7 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
                         if (nextMissionItem.command() == MAV_CMD_IMAGE_STOP_CAPTURE && nextMissionItem.param1() == 0 && nextMissionItem.param2() == 0 && nextMissionItem.param3() == 0 && nextMissionItem.param4() == 0 && nextMissionItem.param5() == 0 && nextMissionItem.param6() == 0 && nextMissionItem.param7() == 0) {
                             // We found a stop taking photos pair
                             foundCameraAction = true;
+                            scanIndex += 2;
                             cameraAction()->setRawValue(StopTakingPhotos);
                             visualItems->removeAt(scanIndex)->deleteLater();
                             visualItems->removeAt(scanIndex)->deleteLater();
@@ -257,6 +264,7 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
                 // We didn't find a stop taking photos pair, check for trigger distance
                 if (missionItem.param1() > 0) {
                     foundCameraAction = true;
+                    scanIndex++;
                     cameraAction()->setRawValue(TakePhotoIntervalDistance);
                     cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
                     visualItems->removeAt(scanIndex)->deleteLater();
@@ -270,6 +278,7 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
         case MAV_CMD_VIDEO_START_CAPTURE:
             if (!foundCameraAction && missionItem.param1() == 0 && missionItem.param2() == -1 && missionItem.param3() == -1 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
                 foundCameraAction = true;
+                scanIndex++;
                 cameraAction()->setRawValue(TakeVideo);
                 visualItems->removeAt(scanIndex)->deleteLater();
             }
@@ -279,6 +288,7 @@ bool CameraSection::scanForCameraSection(QmlObjectListModel* visualItems, int sc
         case MAV_CMD_VIDEO_STOP_CAPTURE:
             if (!foundCameraAction && missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
                 foundCameraAction = true;
+                scanIndex++;
                 cameraAction()->setRawValue(StopTakingVideo);
                 visualItems->removeAt(scanIndex)->deleteLater();
             }
@@ -304,9 +314,9 @@ void CameraSection::_setDirty(void)
     setDirty(true);
 }
 
-void CameraSection::_setDirtyAndUpdateMissionItemCount(void)
+void CameraSection::_setDirtyAndUpdateItemCount(void)
 {
-    emit missionItemCountChanged(missionItemCount());
+    emit itemCountChanged(itemCount());
     setDirty(true);
 }
 

src/MissionManager/CameraSection.h

@@ -7,21 +7,19 @@
  *
  ****************************************************************************/
 
-#ifndef CameraSection_H
-#define CameraSection_H
+#pragma once
 
+#include "Section.h"
 #include "ComplexMissionItem.h"
 #include "MissionItem.h"
 #include "Fact.h"
 
-Q_DECLARE_LOGGING_CATEGORY(CameraSectionLog)
-
-class CameraSection : public QObject
+class CameraSection : public Section
 {
     Q_OBJECT
 
 public:
-    CameraSection(QObject* parent = NULL);
+    CameraSection(Vehicle* vehicle, QObject* parent = NULL);
 
     // These nume values must match the json meta data
     enum CameraAction {
@@ -34,8 +32,6 @@ public:
     };
     Q_ENUMS(CameraAction)
 
-    Q_PROPERTY(bool     available                       READ available                      WRITE setAvailable                  NOTIFY availableChanged)
-    Q_PROPERTY(bool     settingsSpecified               MEMBER _settingsSpecified                                               NOTIFY settingsSpecifiedChanged)
     Q_PROPERTY(bool     specifyGimbal                   READ specifyGimbal                  WRITE setSpecifyGimbal              NOTIFY specifyGimbalChanged)
     Q_PROPERTY(Fact*    gimbalPitch                     READ gimbalPitch                                                        CONSTANT)
     Q_PROPERTY(Fact*    gimbalYaw                       READ gimbalYaw                                                          CONSTANT)
@@ -43,8 +39,6 @@ public:
     Q_PROPERTY(Fact*    cameraPhotoIntervalTime         READ cameraPhotoIntervalTime                                            CONSTANT)
     Q_PROPERTY(Fact*    cameraPhotoIntervalDistance     READ cameraPhotoIntervalDistance                                        CONSTANT)
 
-    bool    available                   (void) const { return _available; }
-    void    setAvailable                (bool available);
     bool    specifyGimbal               (void) const { return _specifyGimbal; }
     Fact*   gimbalYaw                   (void) { return &_gimbalYawFact; }
     Fact*   gimbalPitch                 (void) { return &_gimbalPitchFact; }
@@ -52,40 +46,28 @@ public:
     Fact*   cameraPhotoIntervalTime     (void) { return &_cameraPhotoIntervalTimeFact; }
     Fact*   cameraPhotoIntervalDistance (void) { return &_cameraPhotoIntervalDistanceFact; }
 
+    void setSpecifyGimbal   (bool specifyGimbal);
+
     ///< @return The gimbal yaw specified by this item, NaN if not specified
     double specifiedGimbalYaw(void) const;
 
-    /// Scans the loaded items for the section items
-    ///     @param visualItems Item list
-    ///     @param scanIndex Index to start scanning from
-    /// @return true: camera section found
-    bool scanForCameraSection(QmlObjectListModel* visualItems, int scanIndex);
-
-    /// Appends the mission items associated with this section
-    ///     @param items List to append to
-    ///     @param missionItemParent QObject parent for created MissionItems
-    ///     @param nextSequenceNumber Sequence number for first item
-    void appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent, int nextSequenceNumber);
-
-    void setSpecifyGimbal   (bool specifyGimbal);
-    bool dirty              (void) const { return _dirty; }
-    void setDirty           (bool dirty);
-
-    /// Returns the number of mission items represented by this section.
-    ///     Signals: missionItemCountChanged on change
-    int missionItemCount(void) const;
+    // Overrides from Section
+    bool available          (void) const override { return _available; }
+    bool dirty              (void) const override { return _dirty; }
+    void setAvailable       (bool available) override;
+    void setDirty           (bool dirty) override;
+    bool scanForSection     (QmlObjectListModel* visualItems, int& scanIndex) override;
+    void appendSectionItems (QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum) override;
+    int  itemCount          (void) const override;
+    bool settingsSpecified  (void) const override {return _settingsSpecified; }
 
 signals:
-    void availableChanged           (bool available);
-    void settingsSpecifiedChanged   (bool settingsSpecified);
-    void dirtyChanged               (bool dirty);
     bool specifyGimbalChanged       (bool specifyGimbal);
-    void missionItemCountChanged    (int missionItemCount);
     void specifiedGimbalYawChanged  (double gimbalYaw);
 
 private slots:
     void _setDirty(void);
-    void _setDirtyAndUpdateMissionItemCount(void);
+    void _setDirtyAndUpdateItemCount(void);
     void _updateSpecifiedGimbalYaw(void);
 
 private:
@@ -107,5 +89,3 @@ private:
     static const char* _cameraPhotoIntervalDistanceName;
     static const char* _cameraPhotoIntervalTimeName;
 };
-
-#endif

src/MissionManager/MavCmdInfoCommon.json

@@ -32,7 +32,6 @@
             "specifiesCoordinate":  true,
             "friendlyEdit":         true,
             "category":             "Basic",
-            "cameraSection":        true,
             "param1": {
                 "label":            "Hold",
                 "units":            "secs",

src/MissionManager/MissionCommandUIInfo.cc

@@ -39,7 +39,6 @@ const char* MissionCommandUIInfo::_specifiesCoordinateJsonKey   = "specifiesCoor
 const char* MissionCommandUIInfo::_specifiesAltitudeOnlyJsonKey = "specifiesAltitudeOnly";
 const char* MissionCommandUIInfo::_unitsJsonKey                 = "units";
 const char* MissionCommandUIInfo::_commentJsonKey               = "comment";
-const char* MissionCommandUIInfo::_cameraSectionJsonKey         = "cameraSection";
 const char* MissionCommandUIInfo::_advancedCategory             = "Advanced";
 
 MissionCmdParamInfo::MissionCmdParamInfo(QObject* parent)
@@ -165,15 +164,6 @@ bool MissionCommandUIInfo::specifiesAltitudeOnly(void) const
     }
 }
 
-bool MissionCommandUIInfo::cameraSection(void) const
-{
-    if (_infoMap.contains(_cameraSectionJsonKey)) {
-        return _infoMap[_cameraSectionJsonKey].toBool();
-    } else {
-        return false;
-    }
-}
-
 void MissionCommandUIInfo::_overrideInfo(MissionCommandUIInfo* uiInfo)
 {
     // Override info values
@@ -209,7 +199,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
     QStringList allKeys;
     allKeys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _standaloneCoordinateJsonKey << _specifiesCoordinateJsonKey
             <<_friendlyEditJsonKey << _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _param5JsonKey << _param6JsonKey << _param7JsonKey
-            << _paramRemoveJsonKey << _categoryJsonKey << _cameraSectionJsonKey<< _specifiesAltitudeOnlyJsonKey;
+            << _paramRemoveJsonKey << _categoryJsonKey << _specifiesAltitudeOnlyJsonKey;
 
     // Look for unknown keys in top level object
     foreach (const QString& key, jsonObject.keys()) {
@@ -241,7 +231,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
     QList<QJsonValue::Type> types;
     types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool << QJsonValue::Bool
           << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object
-          << QJsonValue::String << QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool;
+          << QJsonValue::String << QJsonValue::String << QJsonValue::Bool;
     if (!JsonHelper::validateKeyTypes(jsonObject, allKeys, types, internalError)) {
         errorString = _loadErrorString(internalError);
         return false;
@@ -275,9 +265,6 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
     if (jsonObject.contains(_friendlyEditJsonKey)) {
         _infoMap[_friendlyEditJsonKey] = jsonObject.value(_friendlyEditJsonKey).toVariant();
     }
-    if (jsonObject.contains(_cameraSectionJsonKey)) {
-        _infoMap[_cameraSectionJsonKey] = jsonObject.value(_cameraSectionJsonKey).toVariant();
-    }
     if (jsonObject.contains(_paramRemoveJsonKey)) {
         QStringList indexList = jsonObject.value(_paramRemoveJsonKey).toString().split(QStringLiteral(","));
         foreach (const QString& indexString, indexList) {

src/MissionManager/MissionCommandUIInfo.h

@@ -97,7 +97,6 @@ private:
 /// specifiesAltitudeOnly   bool    false       true: Command specifies an altitude only (no coordinate)
 /// standaloneCoordinate    bool    false       true: Vehicle does not fly through coordinate associated with command (exampl: ROI)
 /// friendlyEdit            bool    false       true: Command supports friendly editing dialog, false: Command supports 'Show all values" style editing only
-/// cameraSection           bool    false       true: Camera section of additional settings is added to editor
 /// category                string  Advanced    Category which this command belongs to
 /// paramRemove             string              Used by an override to remove params, example: "1,3" will remove params 1 and 3 on the override
 /// param[1-7]              object              MissionCommandParamInfo object
@@ -120,7 +119,6 @@ public:
     Q_PROPERTY(bool     specifiesCoordinate     READ specifiesCoordinate    CONSTANT)
     Q_PROPERTY(bool     specifiesAltitudeOnly   READ specifiesAltitudeOnly  CONSTANT)
     Q_PROPERTY(int      command                 READ intCommand             CONSTANT)
-    Q_PROPERTY(bool     cameraSection           READ cameraSection          CONSTANT)
 
     MAV_CMD command(void) const { return _command; }
     int     intCommand(void) const { return (int)_command; }
@@ -133,7 +131,6 @@ public:
     bool    isStandaloneCoordinate  (void) const;
     bool    specifiesCoordinate     (void) const;
     bool    specifiesAltitudeOnly   (void) const;
-    bool    cameraSection           (void) const;
 
     /// Load the data in the object from the specified json
     ///     @param jsonObject Json object to load from
@@ -192,7 +189,6 @@ private:
     static const char* _specifiesAltitudeOnlyJsonKey;
     static const char* _unitsJsonKey;
     static const char* _commentJsonKey;    
-    static const char* _cameraSectionJsonKey;
     static const char* _advancedCategory;
 
     friend class MissionCommandTree;    

src/MissionManager/MissionController.cc

@@ -1526,16 +1526,18 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte
         qCDebug(MissionControllerLog) << "MissionController::_scanForAdditionalSettings count:scanIndex" << visualItems->count() << scanIndex;
 
         MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(visualItem);
-        if (settingsItem && settingsItem->scanForMissionSettings(visualItems, scanIndex, vehicle)) {
+        if (settingsItem && settingsItem->scanForMissionSettings(visualItems, scanIndex)) {
             continue;
         }
 
         SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
         if (simpleItem) {
-            simpleItem->scanForSections(visualItems, scanIndex + 1, vehicle);
+            scanIndex++;
+            simpleItem->scanForSections(visualItems, scanIndex, vehicle);
+        } else {
+            // Complex item, can't have sections
+            scanIndex++;
         }
-
-        scanIndex++;
     }
 }
 

src/MissionManager/MissionSettings.FactMetaData.json

@@ -7,14 +7,6 @@
     "decimalPlaces":    1,
     "defaultValue":     0
 },
-{
-    "name":             "FlightSpeed",
-    "shortDescription": "Flight speed for mission.",
-    "type":             "double",
-    "units":            "m/s",
-    "min":              0,
-    "decimalPlaces":    1
-},
 {
     "name":             "MissionEndAction",
     "shortDescription": "The action to take when the mission completed.",

src/MissionManager/MissionSettingsItem.h

@@ -15,6 +15,7 @@
 #include "Fact.h"
 #include "QGCLoggingCategory.h"
 #include "CameraSection.h"
+#include "SpeedSection.h"
 
 Q_DECLARE_LOGGING_CATEGORY(MissionSettingsComplexItemLog)
 
@@ -32,22 +33,19 @@ public:
     };
     Q_ENUMS(MissionEndAction)
 
-    Q_PROPERTY(bool     specifyMissionFlightSpeed   READ specifyMissionFlightSpeed      WRITE setSpecifyMissionFlightSpeed  NOTIFY specifyMissionFlightSpeedChanged)
-    Q_PROPERTY(Fact*    missionFlightSpeed          READ missionFlightSpeed                                                 CONSTANT)
     Q_PROPERTY(Fact*    missionEndAction            READ missionEndAction                                                   CONSTANT)
     Q_PROPERTY(Fact*    plannedHomePositionAltitude READ plannedHomePositionAltitude                                        CONSTANT)
     Q_PROPERTY(QObject* cameraSection               READ cameraSection                                                      CONSTANT)
+    Q_PROPERTY(QObject* speedSection                READ speedSection                                                       CONSTANT)
 
     Fact*   plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
-    Fact*   missionFlightSpeed          (void) { return &_missionFlightSpeedFact; }
     Fact*   missionEndAction            (void) { return &_missionEndActionFact; }
-    bool    specifyMissionFlightSpeed   (void) const { return _specifyMissionFlightSpeed; }
 
-    void setSpecifyMissionFlightSpeed(bool specifyMissionFlightSpeed);
     QObject* cameraSection(void) { return &_cameraSection; }
+    QObject* speedSection(void) { return &_speedSection; }
 
     /// Scans the loaded items for settings items
-    static bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle);
+    static bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex);
 
     /// Adds the optional mission end action to the list
     ///     @param items Mission items list to append to
@@ -77,10 +75,10 @@ public:
     QGeoCoordinate  coordinate              (void) const final { return _plannedHomePositionCoordinate; }
     QGeoCoordinate  exitCoordinate          (void) const final { return _plannedHomePositionCoordinate; }
     int             sequenceNumber          (void) const final { return _sequenceNumber; }
-    double          specifiedFlightSpeed    (void) final;
     double          specifiedGimbalYaw      (void) final;
     void            appendMissionItems      (QList<MissionItem*>& items, QObject* missionItemParent) final;
     void            applyNewAltitude        (double newAltitude) final { Q_UNUSED(newAltitude); /* no action */ }
+    double          specifiedFlightSpeed    (void) final;
 
     bool coordinateHasRelativeAltitude      (void) const final { return true; }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return true; }
@@ -99,16 +97,15 @@ signals:
 private slots:
     void _setDirtyAndUpdateLastSequenceNumber   (void);
     void _setDirty                              (void);
-    void _cameraSectionDirtyChanged             (bool dirty);
+    void _sectionDirtyChanged                   (bool dirty);
     void _updateAltitudeInCoordinate            (QVariant value);
 
 private:
-    bool            _specifyMissionFlightSpeed;
     QGeoCoordinate  _plannedHomePositionCoordinate;     // Does not include altitde
     Fact            _plannedHomePositionAltitudeFact;
-    Fact            _missionFlightSpeedFact;
     Fact            _missionEndActionFact;
     CameraSection   _cameraSection;
+    SpeedSection    _speedSection;
 
     int     _sequenceNumber;
     bool    _dirty;
@@ -116,7 +113,6 @@ private:
     static QMap<QString, FactMetaData*> _metaDataMap;
 
     static const char* _plannedHomePositionAltitudeName;
-    static const char* _missionFlightSpeedName;
     static const char* _missionEndActionName;
 };
 

src/MissionManager/Section.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "MissionItem.h"
+#include "Vehicle.h"
+#include "QmlObjectListModel.h"
+
+Q_DECLARE_LOGGING_CATEGORY(SectionLog)
+
+// A Section encapsulates a set of mission commands which can be associated with another simple mission item.
+class Section : public QObject
+{
+    Q_OBJECT
+
+public:
+    Section(Vehicle* vehicle, QObject* parent = NULL)
+        : QObject(parent)
+        , _vehicle(vehicle)
+    {
+
+    }
+
+    Q_PROPERTY(bool     available           READ available          WRITE setAvailable  NOTIFY availableChanged)
+    Q_PROPERTY(bool     settingsSpecified   READ settingsSpecified                      NOTIFY settingsSpecifiedChanged)
+    Q_PROPERTY(bool     dirty               READ dirty              WRITE setDirty      NOTIFY availableChanged)
+
+    virtual bool available          (void) const = 0;
+    virtual bool settingsSpecified  (void) const = 0;
+    virtual bool dirty              (void) const = 0;
+
+    virtual void setAvailable       (bool available) = 0;
+    virtual void setDirty           (bool dirty) = 0;
+
+    /// Scans the loaded items for the section items
+    ///     @param visualItems Item list
+    ///     @param scanIndex[in,out] Index to start scanning from
+    /// @return true: section found, items added, scanIndex updated
+    virtual bool scanForSection(QmlObjectListModel* visualItems, int& scanIndex) = 0;
+
+    /// Appends the mission items associated with this section
+    ///     @param items List to append to
+    ///     @param missionItemParent QObject parent for created MissionItems
+    ///     @param nextSequenceNumber[in,out] Sequence number for first item, updated as items are added
+    virtual void appendSectionItems(QList<MissionItem*>& items, QObject* missionItemParent, int& nextSequenceNumber) = 0;
+
+    /// Returns the number of mission items represented by this section.
+    ///     Signals: itemCountChanged
+    virtual int itemCount(void) const = 0;
+
+signals:
+    void availableChanged           (bool available);
+    void settingsSpecifiedChanged   (bool settingsSpecified);
+    void dirtyChanged               (bool dirty);
+    void itemCountChanged           (int itemCount);
+
+protected:
+    Vehicle* _vehicle;
+};

src/MissionManager/SimpleMissionItem.cc

@@ -52,6 +52,7 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
     , _rawEdit(false)
     , _dirty(false)
     , _ignoreDirtyChangeSignals(false)
+    , _speedSection(NULL)
     , _cameraSection(NULL)
     , _commandTree(qgcApp()->toolbox()->missionCommandTree())
     , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
@@ -72,7 +73,7 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
 
     _setupMetaData();
     _connectSignals();
-    _updateCameraSection();
+    _updateOptionalSections();
 
     setDefaultsForCommand();
     _rebuildFacts();
@@ -90,6 +91,7 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missio
     , _rawEdit(false)
     , _dirty(false)
     , _ignoreDirtyChangeSignals(false)
+    , _speedSection(NULL)
     , _cameraSection(NULL)
     , _commandTree(qgcApp()->toolbox()->missionCommandTree())
     , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
@@ -110,7 +112,7 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missio
 
     _setupMetaData();
     _connectSignals();
-    _updateCameraSection();
+    _updateOptionalSections();
     _syncFrameToAltitudeRelativeToHome();
     _rebuildFacts();
 }
@@ -121,6 +123,7 @@ SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* pa
     , _rawEdit(false)
     , _dirty(false)
     , _ignoreDirtyChangeSignals(false)
+    , _speedSection(NULL)
     , _cameraSection(NULL)
     , _commandTree(qgcApp()->toolbox()->missionCommandTree())
     , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
@@ -136,7 +139,7 @@ SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* pa
 
     _setupMetaData();
     _connectSignals();
-    _updateCameraSection();
+    _updateOptionalSections();
 
     *this = other;
 
@@ -651,7 +654,7 @@ void SimpleMissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
 {
     if ((MAV_CMD)command != _missionItem.command()) {
         _missionItem.setCommand((MAV_CMD)command);
-        _updateCameraSection();
+        _updateOptionalSections();
     }
 }
 
@@ -674,7 +677,11 @@ void SimpleMissionItem::setSequenceNumber(int sequenceNumber)
 
 double SimpleMissionItem::specifiedFlightSpeed(void)
 {
-    return missionItem().specifiedFlightSpeed();
+    if (_speedSection->specifyFlightSpeed()) {
+        return _speedSection->flightSpeed()->rawValue().toDouble();
+    } else {
+        return missionItem().specifiedFlightSpeed();
+    }
 }
 
 double SimpleMissionItem::specifiedGimbalYaw(void)
@@ -682,47 +689,59 @@ double SimpleMissionItem::specifiedGimbalYaw(void)
     return _cameraSection->available() ? _cameraSection->specifiedGimbalYaw() : missionItem().specifiedGimbalYaw();
 }
 
-bool SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
+bool SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int& scanIndex, Vehicle* vehicle)
 {
     bool sectionFound = false;
 
     Q_UNUSED(vehicle);
 
     if (_cameraSection->available()) {
-        sectionFound = _cameraSection->scanForCameraSection(visualItems, scanIndex);
+        sectionFound |= _cameraSection->scanForSection(visualItems, scanIndex);
+    }
+    if (_speedSection->available()) {
+        sectionFound |= _speedSection->scanForSection(visualItems, scanIndex);
     }
 
     return sectionFound;
 }
 
-void SimpleMissionItem::_updateCameraSection(void)
+void SimpleMissionItem::_updateOptionalSections(void)
 {
+    // Remove previous sections
     if (_cameraSection) {
-        // Remove previous section
         _cameraSection->deleteLater();
         _cameraSection = NULL;
     }
+    if (_speedSection) {
+        _speedSection->deleteLater();
+        _speedSection = NULL;
+    }
 
-    // Add new section
-    _cameraSection = new CameraSection(this);
-    const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_vehicle, (MAV_CMD)command());
-    if (uiInfo && uiInfo->cameraSection()) {
+    // Add new sections
+
+    _cameraSection = new CameraSection(_vehicle, this);
+    _speedSection = new SpeedSection(_vehicle, this);
+    if ((MAV_CMD)command() == MAV_CMD_NAV_WAYPOINT) {
         _cameraSection->setAvailable(true);
+        _speedSection->setAvailable(true);
     }
 
-    connect(_cameraSection, &CameraSection::dirtyChanged,               this, &SimpleMissionItem::_cameraSectionDirtyChanged);
-    connect(_cameraSection, &CameraSection::availableChanged,           this, &SimpleMissionItem::_updateLastSequenceNumber);
-    connect(_cameraSection, &CameraSection::missionItemCountChanged,    this, &SimpleMissionItem::_updateLastSequenceNumber);    
+    connect(_cameraSection, &CameraSection::dirtyChanged,               this, &SimpleMissionItem::_sectionDirtyChanged);
+    connect(_cameraSection, &CameraSection::itemCountChanged,           this, &SimpleMissionItem::_updateLastSequenceNumber);
     connect(_cameraSection, &CameraSection::availableChanged,           this, &SimpleMissionItem::specifiedGimbalYawChanged);
     connect(_cameraSection, &CameraSection::specifyGimbalChanged,       this, &SimpleMissionItem::specifiedGimbalYawChanged);
     connect(_cameraSection, &CameraSection::specifiedGimbalYawChanged,  this, &SimpleMissionItem::specifiedGimbalYawChanged);
 
+    connect(_speedSection, &CameraSection::dirtyChanged,                this, &SimpleMissionItem::_sectionDirtyChanged);
+    connect(_speedSection, &CameraSection::itemCountChanged,            this, &SimpleMissionItem::_updateLastSequenceNumber);
+
     emit cameraSectionChanged(_cameraSection);
+    emit speedSectionChanged(_speedSection);
 }
 
 int SimpleMissionItem::lastSequenceNumber(void) const
 {
-    return sequenceNumber() + (_cameraSection ? _cameraSection->missionItemCount() : 0);
+    return sequenceNumber() + (_cameraSection ? _cameraSection->itemCount() : 0) + (_speedSection ? _speedSection->itemCount() : 0);
 }
 
 void SimpleMissionItem::_updateLastSequenceNumber(void)
@@ -730,7 +749,7 @@ void SimpleMissionItem::_updateLastSequenceNumber(void)
     emit lastSequenceNumberChanged(lastSequenceNumber());
 }
 
-void SimpleMissionItem::_cameraSectionDirtyChanged(bool dirty)
+void SimpleMissionItem::_sectionDirtyChanged(bool dirty)
 {
     if (dirty) {
         setDirty(true);
@@ -744,7 +763,8 @@ void SimpleMissionItem::appendMissionItems(QList<MissionItem*>& items, QObject*
     items.append(new MissionItem(missionItem(), missionItemParent));
     seqNum++;
 
-    _cameraSection->appendMissionItems(items, missionItemParent, seqNum);
+    _cameraSection->appendSectionItems(items, missionItemParent, seqNum);
+    _speedSection->appendSectionItems(items, missionItemParent, seqNum);
 }
 
 void SimpleMissionItem::applyNewAltitude(double newAltitude)

src/MissionManager/SimpleMissionItem.h

@@ -15,6 +15,7 @@
 #include "MissionItem.h"
 #include "MissionCommandTree.h"
 #include "CameraSection.h"
+#include "SpeedSection.h"
 
 /// A SimpleMissionItem is used to represent a single MissionItem to the ui.
 class SimpleMissionItem : public VisualMissionItem
@@ -31,12 +32,13 @@ public:
     const SimpleMissionItem& operator=(const SimpleMissionItem& other);
     
     Q_PROPERTY(QString          category                READ category                                           NOTIFY commandChanged)
-    Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command                WRITE setCommand            NOTIFY commandChanged)
     Q_PROPERTY(bool             friendlyEditAllowed     READ friendlyEditAllowed                                NOTIFY friendlyEditAllowedChanged)
     Q_PROPERTY(bool             rawEdit                 READ rawEdit                WRITE setRawEdit            NOTIFY rawEditChanged)              ///< true: raw item editing with all params
     Q_PROPERTY(bool             relativeAltitude        READ relativeAltitude                                   NOTIFY frameChanged)
+    Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command                WRITE setCommand            NOTIFY commandChanged)
 
     /// Optional sections
+    Q_PROPERTY(QObject*         speedSection            READ speedSection                                       NOTIFY speedSectionChanged)
     Q_PROPERTY(QObject*         cameraSection           READ cameraSection                                      NOTIFY cameraSectionChanged)
 
     // These properties are used to display the editing ui
@@ -49,8 +51,8 @@ public:
     ///     @param visualItems List of all visual items
     ///     @param scanIndex Index to start scanning from
     ///     @param vehicle Vehicle associated with this mission
-    /// @return true: section found
-    bool scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle);
+    /// @return true: section found, scanIndex updated
+    bool scanForSections(QmlObjectListModel* visualItems, int& scanIndex, Vehicle* vehicle);
 
     // Property accesors
     
@@ -59,6 +61,7 @@ public:
     bool            friendlyEditAllowed (void) const;
     bool            rawEdit             (void) const;
     CameraSection*  cameraSection       (void) { return _cameraSection; }
+    SpeedSection*   speedSection        (void) { return _speedSection; }
 
     QmlObjectListModel* textFieldFacts  (void) { return &_textFieldFacts; }
     QmlObjectListModel* nanFacts        (void) { return &_nanFacts; }
@@ -123,10 +126,11 @@ signals:
     void headingDegreesChanged      (double heading);
     void rawEditChanged             (bool rawEdit);
     void cameraSectionChanged       (QObject* cameraSection);
+    void speedSectionChanged        (QObject* cameraSection);
 
 private slots:
-    void _setDirtyFromSignal            (void);
-    void _cameraSectionDirtyChanged         (bool dirty);
+    void _setDirtyFromSignal                (void);
+    void _sectionDirtyChanged               (bool dirty);
     void _sendCommandChanged                (void);
     void _sendCoordinateChanged             (void);
     void _sendFrameChanged                  (void);
@@ -139,7 +143,7 @@ private slots:
 private:
     void _connectSignals        (void);
     void _setupMetaData         (void);
-    void _updateCameraSection   (void);
+    void _updateOptionalSections(void);
     void _rebuildTextFieldFacts (void);
     void _rebuildNaNFacts       (void);
     void _rebuildCheckboxFacts  (void);
@@ -150,6 +154,7 @@ private:
     bool        _dirty;
     bool        _ignoreDirtyChangeSignals;
 
+    SpeedSection*   _speedSection;
     CameraSection* _cameraSection;
 
     MissionCommandTree* _commandTree;

src/MissionManager/SpeedSection.FactMetaData.json

+[
+{
+    "name":             "FlightSpeed",
+    "shortDescription": "Set the current flight speed",
+    "type":             "double",
+    "units":            "m/s",
+    "min":              0,
+    "decimalPlaces":    1,
+    "defaultValue":     0
+}
+]

src/MissionManager/SpeedSection.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "SpeedSection.h"
+#include "JsonHelper.h"
+#include "FirmwarePlugin.h"
+#include "SimpleMissionItem.h"
+
+const char* SpeedSection::_flightSpeedName = "FlightSpeed";
+
+QMap<QString, FactMetaData*> SpeedSection::_metaDataMap;
+
+SpeedSection::SpeedSection(Vehicle* vehicle, QObject* parent)
+    : Section               (vehicle, parent)
+    , _available            (false)
+    , _dirty                (false)
+    , _specifyFlightSpeed   (false)
+    , _flightSpeedFact      (0, _flightSpeedName,   FactMetaData::valueTypeDouble)
+{
+    if (_metaDataMap.isEmpty()) {
+        _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/SpeedSection.FactMetaData.json"), NULL /* metaDataParent */);
+    }
+
+    double hoverSpeed, cruiseSpeed;
+    double flightSpeed = 0;
+
+    _vehicle->firmwarePlugin()->missionFlightSpeedInfo(_vehicle, hoverSpeed, cruiseSpeed);
+    if (_vehicle->multiRotor()) {
+        flightSpeed = hoverSpeed;
+    } else if (_vehicle->fixedWing()) {
+        flightSpeed = cruiseSpeed;
+    }
+
+    _metaDataMap[_flightSpeedName]->setRawDefaultValue(flightSpeed);
+    _flightSpeedFact.setMetaData(_metaDataMap[_flightSpeedName]);
+    _flightSpeedFact.setRawValue(flightSpeed);
+
+    connect(this,               &SpeedSection::specifyFlightSpeedChanged,  this, &SpeedSection::_setDirtyAndUpdateItemCount);
+    connect(this,               &SpeedSection::specifyFlightSpeedChanged,  this, &SpeedSection::settingsSpecifiedChanged);
+    connect(&_flightSpeedFact,  &Fact::valueChanged,                       this, &SpeedSection::_setDirty);
+}
+
+bool SpeedSection::settingsSpecified(void) const
+{
+    return _specifyFlightSpeed;
+}
+
+void SpeedSection::setAvailable(bool available)
+{
+    if (available != _available) {
+        if (available && (_vehicle->multiRotor() || _vehicle->fixedWing())) {
+            _available = available;
+            emit availableChanged(available);
+        }
+    }
+}
+
+void SpeedSection::_setDirty(void)
+{
+    setDirty(true);
+}
+
+void SpeedSection::_setDirtyAndUpdateItemCount(void)
+{
+    setDirty(true);
+    emit itemCountChanged(itemCount());
+}
+
+void SpeedSection::setDirty(bool dirty)
+{
+    if (_dirty != dirty) {
+        _dirty = dirty;
+        emit dirtyChanged(_dirty);
+    }
+}
+
+void SpeedSection::setSpecifyFlightSpeed(bool specifyFlightSpeed)
+{
+    if (specifyFlightSpeed != _specifyFlightSpeed) {
+        _specifyFlightSpeed = specifyFlightSpeed;
+        emit specifyFlightSpeedChanged(specifyFlightSpeed);
+    }
+}
+
+int SpeedSection::itemCount(void) const
+{
+    return _specifyFlightSpeed ? 1: 0;
+}
+
+void SpeedSection::appendSectionItems(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum)
+{
+    // IMPORTANT NOTE: If anything changes here you must also change SpeedSection::scanForSettings
+
+    if (_specifyFlightSpeed) {
+        MissionItem* item = new MissionItem(seqNum++,
+                                            MAV_CMD_DO_CHANGE_SPEED,
+                                            MAV_FRAME_MISSION,
+                                            _vehicle->multiRotor() ? 1 /* groundspeed */ : 0 /* airspeed */,    // Change airspeed or groundspeed
+                                            _flightSpeedFact.rawValue().toDouble(),
+                                            -1,                                                                 // No throttle change
+                                            0,                                                                  // Absolute speed change
+                                            0, 0, 0,                                                            // param 5-7 not used
+                                            true,                                                               // autoContinue
+                                            false,                                                              // isCurrentItem
+                                            missionItemParent);
+        items.append(item);
+    }
+}
+
+bool SpeedSection::scanForSection(QmlObjectListModel* visualItems, int& scanIndex)
+{
+    if (!_available || scanIndex >= visualItems->count()) {
+        return false;
+    }
+
+    SimpleMissionItem* item = visualItems->value<SimpleMissionItem*>(scanIndex);
+    if (!item) {
+        // We hit a complex item, there can't be a speed setting
+        return false;
+    }
+    MissionItem& missionItem = item->missionItem();
+
+    // See SpeedSection::appendMissionItems for specs on what consitutes a known speed setting
+
+    if (missionItem.command() == MAV_CMD_DO_CHANGE_SPEED && missionItem.param3() == -1 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
+        if (_vehicle->multiRotor() && missionItem.param1() != 1) {
+            return false;
+        } else if (_vehicle->fixedWing() && missionItem.param1() != 0) {
+            return false;
+        }
+        visualItems->removeAt(scanIndex)->deleteLater();
+        _flightSpeedFact.setRawValue(missionItem.param2());
+        setSpecifyFlightSpeed(true);
+        scanIndex++;
+        return true;
+    }
+
+    return false;
+}

src/MissionManager/SpeedSection.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "Section.h"
+#include "FactSystem.h"
+#include "QmlObjectListModel.h"
+
+class SpeedSection : public Section
+{
+    Q_OBJECT
+
+public:
+    SpeedSection(Vehicle* vehicle, QObject* parent = NULL);
+
+    Q_PROPERTY(bool     specifyFlightSpeed  READ specifyFlightSpeed WRITE setSpecifyFlightSpeed NOTIFY specifyFlightSpeedChanged)
+    Q_PROPERTY(Fact*    flightSpeed         READ flightSpeed                                    CONSTANT)
+
+    bool    specifyFlightSpeed      (void) const { return _specifyFlightSpeed; }
+    Fact*   flightSpeed             (void) { return &_flightSpeedFact; }
+    void    setSpecifyFlightSpeed   (bool specifyFlightSpeed);
+
+    // Overrides from Section
+    bool available          (void) const override { return _available; }
+    bool dirty              (void) const override { return _dirty; }
+    void setAvailable       (bool available) override;
+    void setDirty           (bool dirty) override;
+    bool scanForSection     (QmlObjectListModel* visualItems, int& scanIndex) override;
+    void appendSectionItems (QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum) override;
+    int  itemCount          (void) const override;
+    bool settingsSpecified  (void) const override;
+
+signals:
+    void specifyFlightSpeedChanged(bool specifyFlightSpeed);
+
+private slots:
+    void _setDirty(void);
+    void _setDirtyAndUpdateItemCount(void);
+
+private:
+    bool        _available;
+    bool        _dirty;
+    bool        _specifyFlightSpeed;
+    Fact        _flightSpeedFact;
+
+    static QMap<QString, FactMetaData*> _metaDataMap;
+
+    static const char* _flightSpeedName;
+};

src/PlanView/MissionSettingsEditor.qml

@@ -31,7 +31,8 @@ Rectangle {
     property bool   _mobile:                    ScreenTools.isMobile
     property var    _savePath:                  QGroundControl.settingsManager.appSettings.missionSavePath
     property var    _fileExtension:             QGroundControl.settingsManager.appSettings.missionFileExtension
-    property var    _appSettings:               QGroundControl.settingsManager.appSettings
+    property var    _appSettings:               QGroundControl.settingsManager.appSettings    
+    property bool   _waypointsOnlyMode:          QGroundControl.corePlugin.options.missionWaypointsOnly
 
     readonly property string _firmwareLabel:    qsTr("Firmware")
     readonly property string _vehicleLabel:     qsTr("Vehicle")
@@ -112,12 +113,12 @@ Rectangle {
                         id:         flightSpeedCheckBox
                         text:       qsTr("Flight speed")
                         visible:    !_missionVehicle.vtol
-                        checked:    missionItem.specifyMissionFlightSpeed
-                        onClicked:  missionItem.specifyMissionFlightSpeed = checked
+                        checked:    missionItem.speedSection.specifyFlightSpeed
+                        onClicked:   missionItem.speedSection.specifyFlightSpeed = checked
                     }
                     FactTextField {
                         Layout.fillWidth:   true
-                        fact:               missionItem.missionFlightSpeed
+                        fact:               missionItem.speedSection.flightSpeed
                         visible:            flightSpeedCheckBox.visible
                         enabled:            flightSpeedCheckBox.checked
                     }
@@ -138,7 +139,7 @@ Rectangle {
             SectionHeader {
                 id:         vehicleInfoSectionHeader
                 text:       qsTr("Vehicle Info")
-                visible:    _offlineEditing
+                visible:    _offlineEditing && !_waypointsOnlyMode
                 checked:    false
             }
 

src/PlanView/SimpleItemEditor.qml

@@ -138,6 +138,26 @@ Rectangle {
                         }
                     }
 
+                    RowLayout {
+                        anchors.left:   parent.left
+                        anchors.right:  parent.right
+                        spacing:        ScreenTools.defaultFontPixelWidth
+                        visible:        missionItem.speedSection.available
+
+                        QGCCheckBox {
+                            id:         flightSpeedCheckbox
+                            text:       qsTr("Flight Speed")
+                            checked:    missionItem.speedSection.specifyFlightSpeed
+                            onClicked:  missionItem.speedSection.specifyFlightSpeed = checked
+                        }
+
+                        FactTextField {
+                            fact:               missionItem.speedSection.flightSpeed
+                            Layout.fillWidth:   true
+                            enabled:            flightSpeedCheckbox.checked
+                        }
+                    }
+
                     Repeater {
                         model: missionItem.checkboxFacts
 

src/QmlControls/MissionItemIndexLabel.qml

@@ -78,7 +78,7 @@ Canvas {
         color:              "white"
         opacity:            0.5
         radius:             _labelRadius
-        visible:            _label.length !== 0
+        visible:            _label.length !== 0 && !small
     }
 
     QGCLabel {
@@ -94,6 +94,7 @@ Canvas {
         font.pointSize:         ScreenTools.defaultFontPointSize
         fontSizeMode:           Text.HorizontalFit
         text:                   _label
+        visible:                labelControl.visible
     }
 
     Rectangle {