Merge pull request #4546 from dkschrad/master

Addition of "Abort" button

src/FlightDisplay/FlightDisplayViewWidgets.qml

@@ -218,6 +218,7 @@ Item {
         readonly property int confirmGoTo:          8
         readonly property int confirmRetask:        9
         readonly property int confirmOrbit:         10
+        readonly property int confirmAbort:         11
 
         property int    confirmActionCode
         property real   _showMargin:    _margins
@@ -265,6 +266,9 @@ Item {
                 //-- Center on current flight map position and orbit with a 50m radius (velocity/direction controlled by the RC)
                 //_activeVehicle.guidedModeOrbit(QGroundControl.flightMapPosition, 50.0)
                 break;
+            case confirmAbort:
+                _activeVehicle.abortLanding(50)     // hardcoded value for climbOutAltitude that is currently ignored
+                break;
             default:
                 console.warn(qsTr("Internal error: unknown confirmActionCode"), confirmActionCode)
             }
@@ -316,6 +320,9 @@ Item {
             case confirmOrbit:
                 guidedModeConfirm.confirmText = qsTr("enter orbit mode")
                 break;
+            case confirmAbort:
+                guidedModeConfirm.confirmText = qsTr("abort landing")
+                break;
             }
             _guidedModeBar.visible = false
             guidedModeConfirm.visible = true
@@ -383,6 +390,13 @@ Item {
                     onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmOrbit)
                 }
 
+                QGCButton {
+                    pointSize:  _guidedModeBar._fontPointSize
+                    text:       qsTr("Abort")
+                    visible:    _activeVehicle && _activeVehicle.flying && _activeVehicle.fixedWing
+                    onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmAbort)
+                }
+
             } // Row
         } // Column
     } // Rectangle - Guided mode buttons

src/Vehicle/Vehicle.cc

@@ -1897,6 +1897,14 @@ void Vehicle::pauseVehicle(void)
     _firmwarePlugin->pauseVehicle(this);
 }
 
+void Vehicle::abortLanding(double climbOutAltitude)
+{
+    sendMavCommand(defaultComponentId(),
+                   MAV_CMD_DO_GO_AROUND,
+                   true,        // show error if fails
+                   climbOutAltitude);
+}
+
 bool Vehicle::guidedMode(void) const
 {
     return _firmwarePlugin->isGuidedMode(this);

src/Vehicle/Vehicle.h

@@ -364,6 +364,9 @@ public:
     /// Command vehicle to kill all motors no matter what state
     Q_INVOKABLE void emergencyStop(void);
 
+    /// Command vehicle to abort landing
+    Q_INVOKABLE void abortLanding(double climbOutAltitude);
+
     /// Alter the current mission item on the vehicle
     Q_INVOKABLE void setCurrentMissionSequence(int seq);