Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into foo

# Conflicts: # src/FlightDisplay/GuidedActionsController.qml # src/PlanView/PlanView.qml

Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into foo
# Conflicts: # src/FlightDisplay/GuidedActionsController.qml # src/PlanView/PlanView.qml
a3b3e582 · Gus Grubba · 6cc84cd5 · 28b58527 · a3b3e582 · a3b3e582
Commit a3b3e582 authored Apr 28, 2019 by Gus Grubba
42 changed files
--- a/.appveyor.yml
+++ b/.appveyor.yml
@@ -50,23 +50,11 @@ build_script:
 test_script:
  - if "%CONFIG%" EQU "debug" ( %SHADOW_BUILD_DIR%\debug\qgroundcontrol --unittest )
-for:
+artifacts:
-
-  branches:
-    only:
-      - master
-  artifacts:
  - path: QGroundControl-installer.exe
    name: qgcinstaller
-
+  - path: build_windows_install\release\qgroundcontrol.pdb
-  branches:
+    name: pdb
-    only:
-      - Stable_V3.5
-  artifacts:
-    - path: QGroundControl-installer.exe
-      name: qgcinstaller
-    - path: symbols\**\*.*_
-      name: symbols
 deploy:
 # deploy continuous builds to s3
@@ -101,19 +89,19 @@ deploy:
 #      appveyor_repo_tag: false
 # deploy release symbols to s3
-  - provider: S3
+#  - provider: S3
-    access_key_id:
+#    access_key_id:
-      secure: IGAojLMqokL+76DbdulmWDA3MTsxEBBi3ReVVSqTy9c=
+#      secure: IGAojLMqokL+76DbdulmWDA3MTsxEBBi3ReVVSqTy9c=
-    secret_access_key:
+#    secret_access_key:
-      secure: RiYqaR+3T2PMNz2j5ur8LCA6H/Zfd4jTX33CZE5iBxm+zaz4QLs25p0B7prpaoNN
+#      secure: RiYqaR+3T2PMNz2j5ur8LCA6H/Zfd4jTX33CZE5iBxm+zaz4QLs25p0B7prpaoNN
-    bucket: qgroundcontrol
+#    bucket: qgroundcontrol
-    region: us-west-2
+#    region: us-west-2
-    set_public: true
+#    set_public: true
-    folder: releasesyms
+#    folder: releasesyms
-    artifact: symbols
+#    artifact: symbols
-    on:
+#    on:
-      CONFIG: installer
+#      CONFIG: installer
-      appveyor_repo_tag: true
+#      appveyor_repo_tag: true
 # deploy tagged releases to Github releases
  - provider: GitHub
@@ -155,3 +143,18 @@ deploy:
    on:
      CONFIG: installer
      appveyor_repo_tag: true
+# deploy pdb for tagged releases to s3 latest folder
+  - provider: S3
+    access_key_id:
+        secure: IGAojLMqokL+76DbdulmWDA3MTsxEBBi3ReVVSqTy9c=
+    secret_access_key:
+        secure: RiYqaR+3T2PMNz2j5ur8LCA6H/Zfd4jTX33CZE5iBxm+zaz4QLs25p0B7prpaoNN
+    bucket: qgroundcontrol
+    region: us-west-2
+    set_public: true
+    folder: latest
+    artifact: pdb
+    on:
+       CONFIG: installer
+       appveyor_repo_tag: true
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
 ### 3.6.0 - Daily Build
+* Plan/Pattern: Support named presets to simplify commonly used settings setup. Currently only supported by Survey.
 * ArduCopter: Handle 3.7 parameter name change from CH#_OPT to RC#_OPTION.
 * Improved support for flashing/connecting to ChibiOS bootloaders boards.
 * Making the camera API available to all firmwares, not just PX4.
@@ -13,6 +14,7 @@ Note: This file only contains high level features or important fixes.
 * Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans.
 ### 3.5.1 - Not yet released
+* Add ArduPilot CubeBlack Service Bulletin check
 * Fix visibility of PX4/ArduPilot logo in toolbar
 * Fix tile set count but in OfflineMaps which would cause image and elevation tile set to have incorrect counts and be incorrectly marked as download incomplete.

--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -210,6 +210,7 @@
    </qresource>
    <qresource prefix="/json">
 		<file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>
+		<file alias="BreachReturn.FactMetaData.json">src/MissionManager/BreachReturn.FactMetaData.json</file>
        <file alias="CameraCalc.FactMetaData.json">src/MissionManager/CameraCalc.FactMetaData.json</file>
        <file alias="CameraSpec.FactMetaData.json">src/MissionManager/CameraSpec.FactMetaData.json</file>
        <file alias="CorridorScan.SettingsGroup.json">src/MissionManager/CorridorScan.SettingsGroup.json</file>

--- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
@@ -29,6 +29,11 @@
 #include "APMSubFrameComponent.h"
 #include "ESP8266Component.h"
 #include "APMHeliComponent.h"
+#include "QGCApplication.h"
+#if !defined(NO_SERIAL_LINK) && !defined(__android__)
+#include <QSerialPortInfo>
+#endif
 /// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
 APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
@@ -50,6 +55,10 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
    , _heliComponent            (NULL)
 {
    APMAirframeLoader::loadAirframeFactMetaData();
+#if !defined(NO_SERIAL_LINK) && !defined(__android__)
+    connect(vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &APMAutoPilotPlugin::_checkForBadCubeBlack);
+#endif
 }
 APMAutoPilotPlugin::~APMAutoPilotPlugin()
@@ -170,3 +179,34 @@ QString APMAutoPilotPlugin::prerequisiteSetup(VehicleComponent* component) const
    return QString();
 }
+#if !defined(NO_SERIAL_LINK) && !defined(__android__)
+/// The following code is executed when the Vehicle is parameter ready. It checks for the service bulletin against Cube Blacks.
+void APMAutoPilotPlugin::_checkForBadCubeBlack(void)
+{
+    bool cubeBlackFound = false;
+    for (const QVariant& varLink: _vehicle->links()) {
+        SerialLink* serialLink = varLink.value<SerialLink*>();
+        if (serialLink && QSerialPortInfo(*serialLink->_hackAccessToPort()).description().contains(QStringLiteral("CubeBlack"))) {
+            cubeBlackFound = true;
+        }
+    }
+    if (!cubeBlackFound) {
+        return;
+    }
+    ParameterManager* paramMgr = _vehicle->parameterManager();
+    QString paramAcc3("INS_ACC3_ID");
+    QString paramGyr3("INS_GYR3_ID");
+    QString paramEnableMask("INS_ENABLE_MASK");
+    if (paramMgr->parameterExists(-1, paramAcc3) && paramMgr->getParameter(-1, paramAcc3)->rawValue().toInt() == 0 &&
+            paramMgr->parameterExists(-1, paramGyr3) && paramMgr->getParameter(-1, paramGyr3)->rawValue().toInt() == 0 &&
+            paramMgr->parameterExists(-1, paramEnableMask) && paramMgr->getParameter(-1, paramEnableMask)->rawValue().toInt() >= 7) {
+        qgcApp()->showMessage(tr("WARNING: The flight board you are using has a critical service bulletin against ti which advise against flying. https://discuss.cubepilot.org/t/sb-0000002-critical-service-bulletin-for-cubes-purchased-between-january-2019-to-present-do-not-fly/406"));
+    }
+}
+#endif
--- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h
+++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h
@@ -59,6 +59,11 @@ protected:
    ESP8266Component*           _esp8266Component;
    APMHeliComponent*           _heliComponent;
+#if !defined(NO_SERIAL_LINK) && !defined(__android__)
+private slots:
+    void _checkForBadCubeBlack(void);
+#endif
 private:
    QVariantList                _components;
 };

--- a/src/AutoPilotPlugins/APM/APMPowerComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMPowerComponent.qml
@@ -44,6 +44,8 @@ SetupPage {
            property bool _batt2ParamsAvailable:    controller.parameterExists(-1, "BATT2_CAPACITY")
            property bool _showBatt1Reboot:         _batt1MonitorEnabled && !_batt1ParamsAvailable
            property bool _showBatt2Reboot:         _batt2MonitorEnabled && !_batt2ParamsAvailable
+            property bool _escCalibrationAvailable: controller.parameterExists(-1, "ESC_CALIBRATION")
+            property Fact _escCalibration:          controller.getParameterFact(-1, "ESC_CALIBRATION", false /* reportMissing */)
            property string _restartRequired: qsTr("Requires vehicle reboot")
@@ -216,6 +218,61 @@ SetupPage {
                    }
                }
            }
+            Column {
+                spacing:    _margins / 2
+                visible:    _escCalibrationAvailable
+                QGCLabel {
+                    text:       qsTr("ESC Calibration")
+                    font.family: ScreenTools.demiboldFontFamily
+                }
+                Rectangle {
+                    width:  escCalibrationHolder.x + escCalibrationHolder.width + _margins
+                    height: escCalibrationHolder.y + escCalibrationHolder.height + _margins
+                    color:  ggcPal.windowShade
+                    Column {
+                        id:         escCalibrationHolder
+                        x:          _margins
+                        y:          _margins
+                        spacing:    _margins
+                        Column {
+                            spacing: _margins
+                            QGCLabel {
+                                text:   qsTr("WARNING: Remove props prior to calibration!")
+                                color:  qgcPal.warningText
+                            }
+                            Row {
+                                spacing: _margins
+                                QGCButton {
+                                    text: qsTr("Calibrate")
+                                    enabled:    _escCalibration.rawValue === 0
+                                    onClicked:  _escCalibration.rawValue = 3
+                                }
+                                Column {
+                                    enabled: _escCalibration.rawValue === 3
+                                    QGCLabel { text:   _escCalibration.rawValue === 3 ? qsTr("Now perform these steps:") : qsTr("Click Calibrate to start, then:") }
+                                    QGCLabel { text:   qsTr("- Disconnect USB and battery so flight controller powers down") }
+                                    QGCLabel { text:   qsTr("- Connect the battery") }
+                                    QGCLabel { text:   qsTr("- The arming tone will be played (if the vehicle has a buzzer attached)") }
+                                    QGCLabel { text:   qsTr("- If using a flight controller with a safety button press it until it displays solid red") }
+                                    QGCLabel { text:   qsTr("- You will hear a musical tone then two beeps") }
+                                    QGCLabel { text:   qsTr("- A few seconds later you should hear a number of beeps (one for each battery cell you’re using)") }
+                                    QGCLabel { text:   qsTr("- And finally a single long beep indicating the end points have been set and the ESC is calibrated") }
+                                    QGCLabel { text:   qsTr("- Disconnect the battery and power up again normally") }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
        } // Flow
    } // Component - powerPageComponent

--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -897,9 +897,9 @@ void APMFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
    vehicle->missionManager()->writeArduPilotGuidedMissionItem(coordWithAltitude, false /* altChangeOnly */);
 }
-void APMFirmwarePlugin::guidedModeRTL(Vehicle* vehicle)
+void APMFirmwarePlugin::guidedModeRTL(Vehicle* vehicle, bool smartRTL)
 {
-    _setFlightModeAndValidate(vehicle, rtlFlightMode());
+    _setFlightModeAndValidate(vehicle, smartRTL ? smartRTLFlightMode() : rtlFlightMode());
 }
 void APMFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange)

--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
@@ -86,9 +86,10 @@ public:
    bool                isGuidedMode                    (const Vehicle* vehicle) const override;
    QString             gotoFlightMode                  (void) const override { return QStringLiteral("Guided"); }
    QString             rtlFlightMode                   (void) const override { return QString("RTL"); }
+    QString             smartRTLFlightMode              (void) const override { return QString("Smart RTL"); }
    QString             missionFlightMode               (void) const override { return QString("Auto"); }
    void                pauseVehicle                    (Vehicle* vehicle) override;
-    void                guidedModeRTL                   (Vehicle* vehicle) override;
+    void                guidedModeRTL                   (Vehicle* vehicle, bool smartRTL) override;
    void                guidedModeChangeAltitude        (Vehicle* vehicle, double altitudeChange) override;
    bool                adjustIncomingMavlinkMessage    (Vehicle* vehicle, mavlink_message_t* message) override;
    void                adjustOutgoingMavlinkMessage    (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) override;

--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -23,26 +23,25 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
    APMCustomMode(mode, settable)
 {
    QMap<uint32_t,QString> enumToString;
-    enumToString.insert(STABILIZE, "Stabilize");
+    enumToString.insert(STABILIZE,      "Stabilize");
-    enumToString.insert(ACRO,      "Acro");
+    enumToString.insert(ACRO,           "Acro");
-    enumToString.insert(ALT_HOLD,  "Altitude Hold");
+    enumToString.insert(ALT_HOLD,       "Altitude Hold");
-    enumToString.insert(AUTO,      "Auto");
+    enumToString.insert(AUTO,           "Auto");
-    enumToString.insert(GUIDED,    "Guided");
+    enumToString.insert(GUIDED,         "Guided");
-    enumToString.insert(LOITER,    "Loiter");
+    enumToString.insert(LOITER,         "Loiter");
-    enumToString.insert(RTL,       "RTL");
+    enumToString.insert(RTL,            "RTL");
-    enumToString.insert(CIRCLE,    "Circle");
+    enumToString.insert(CIRCLE,         "Circle");
-    enumToString.insert(LAND,      "Land");
+    enumToString.insert(LAND,           "Land");
-    enumToString.insert(DRIFT,     "Drift");
+    enumToString.insert(DRIFT,          "Drift");
-    enumToString.insert(SPORT,     "Sport");
+    enumToString.insert(SPORT,          "Sport");
-    enumToString.insert(FLIP,      "Flip");
+    enumToString.insert(FLIP,           "Flip");
-    enumToString.insert(AUTOTUNE,  "Autotune");
+    enumToString.insert(AUTOTUNE,       "Autotune");
-    enumToString.insert(POS_HOLD,  "Position Hold");
+    enumToString.insert(POS_HOLD,       "Position Hold");
-    enumToString.insert(BRAKE,     "Brake");
+    enumToString.insert(BRAKE,          "Brake");
-    enumToString.insert(THROW,     "Throw");
+    enumToString.insert(THROW,          "Throw");
-    enumToString.insert(AVOID_ADSB,"Avoid ADSB");
+    enumToString.insert(AVOID_ADSB,     "Avoid ADSB");
-    enumToString.insert(GUIDED_NOGPS,"Guided No GPS");
+    enumToString.insert(GUIDED_NOGPS,   "Guided No GPS");
-    enumToString.insert(SAFE_RTL,"Smart RTL");
+    enumToString.insert(SAFE_RTL,       "Smart RTL");
    setEnumToStringMapping(enumToString);
 }

--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
@@ -65,8 +65,9 @@ public:
    QString pauseFlightMode                     (void) const override { return QString("Brake"); }
    QString landFlightMode                      (void) const override { return QString("Land"); }
    QString takeControlFlightMode               (void) const override { return QString("Loiter"); }
-    bool    vehicleYawsToNextWaypointInMission  (const Vehicle* vehicle) const final;
+    bool    vehicleYawsToNextWaypointInMission  (const Vehicle* vehicle) const override;
-    QString autoDisarmParameter                 (Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral("DISARM_DELAY"); }
+    QString autoDisarmParameter                 (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("DISARM_DELAY"); }
+    bool    supportsSmartRTL                    (void) const override { return true; }
 private:
    static bool _remapParamNameIntialized;

--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
@@ -49,8 +49,9 @@ public:
    QString pauseFlightMode                         (void) const override { return QString("Hold"); }
    void    guidedModeChangeAltitude                (Vehicle* vehicle, double altitudeChange) final;
    int     remapParamNameHigestMinorVersionNumber  (int majorVersionNumber) const final;
-    const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
+    const   FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
-    bool supportsNegativeThrust(void) final;
+    bool    supportsNegativeThrust                  (void) final;
+    bool    supportsSmartRTL                        (void) const override { return true; }
 private:
    static bool _remapParamNameIntialized;

--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -240,10 +240,11 @@ void FirmwarePlugin::pauseVehicle(Vehicle* vehicle)
    qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
 }
-void FirmwarePlugin::guidedModeRTL(Vehicle* vehicle)
+void FirmwarePlugin::guidedModeRTL(Vehicle* vehicle, bool smartRTL)
 {
    // Not supported by generic vehicle
    Q_UNUSED(vehicle);
+    Q_UNUSED(smartRTL);
    qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
 }

--- a/src/FirmwarePlugin/FirmwarePlugin.h
+++ b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -105,6 +105,11 @@ public:
    /// Returns the flight mode for RTL
    virtual QString rtlFlightMode(void) const { return QString(); }
+    /// Returns the flight mode for Smart RTL
+    virtual QString smartRTLFlightMode(void) const { return QString(); }
+    virtual bool supportsSmartRTL(void) const { return false; }
    /// Returns the flight mode for Land
    virtual QString landFlightMode(void) const { return QString(); }
@@ -125,7 +130,7 @@ public:
    virtual void pauseVehicle(Vehicle* vehicle);
    /// Command vehicle to return to launch
-    virtual void guidedModeRTL(Vehicle* vehicle);
+    virtual void guidedModeRTL(Vehicle* vehicle, bool smartRTL);
    /// Command vehicle to land at current location
    virtual void guidedModeLand(Vehicle* vehicle);

--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -351,8 +351,9 @@ void PX4FirmwarePlugin::pauseVehicle(Vehicle* vehicle)
                            NAN);
 }
-void PX4FirmwarePlugin::guidedModeRTL(Vehicle* vehicle)
+void PX4FirmwarePlugin::guidedModeRTL(Vehicle* vehicle, bool smartRTL)
 {
+    Q_UNUSED(smartRTL);
    _setFlightModeAndValidate(vehicle, _rtlFlightMode);
 }

--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
@@ -44,7 +44,7 @@ public:
    QString             takeControlFlightMode           (void) const override { return _manualFlightMode; }
    QString             gotoFlightMode                  (void) const override { return _holdFlightMode; }
    void                pauseVehicle                    (Vehicle* vehicle) override;
-    void                guidedModeRTL                   (Vehicle* vehicle) override;
+    void                guidedModeRTL                   (Vehicle* vehicle, bool smartRTL) override;
    void                guidedModeLand                  (Vehicle* vehicle) override;
    void                guidedModeTakeoff               (Vehicle* vehicle, double takeoffAltRel) override;
    void                guidedModeGotoLocation          (Vehicle* vehicle, const QGeoCoordinate& gotoCoord) override;

--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -1083,7 +1083,7 @@ This parameter controls the time constant of the decay</short_desc>
    </parameter>
    <parameter default="1" name="EKF2_AID_MASK" type="INT32">
      <short_desc>Integer bitmask controlling data fusion and aiding methods</short_desc>
-      <long_desc>Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion. Cannot be used if bit position 7 is true. 5 : Set to true to enable multi-rotor drag specific force fusion 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used 7 : Set to true to enable GPS yaw fusion. Cannot be used if bit position 4 is true.</long_desc>
+      <long_desc>Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU delta velocity bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion. Cannot be used if bit position 7 is true. 5 : Set to true to enable multi-rotor drag specific force fusion 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used 7 : Set to true to enable GPS yaw fusion. Cannot be used if bit position 4 is true.</long_desc>
      <min>0</min>
      <max>255</max>
      <reboot_required>true</reboot_required>
@@ -4471,15 +4471,6 @@ default 1.5 turns per second</short_desc>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
-    <parameter default="45.0" name="MC_YAWRAUTO_MAX" type="FLOAT">
-      <short_desc>Max yaw rate in auto mode</short_desc>
-      <long_desc>Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.</long_desc>
-      <min>0.0</min>
-      <max>360.0</max>
-      <unit>deg/s</unit>
-      <decimal>1</decimal>
-      <increment>5</increment>
-    </parameter>
    <parameter default="2.8" name="MC_YAW_P" type="FLOAT">
      <short_desc>Yaw P gain</short_desc>
      <long_desc>Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
@@ -4496,6 +4487,15 @@ default 1.5 turns per second</short_desc>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
+    <parameter default="45.0" name="MPC_YAWRAUTO_MAX" type="FLOAT">
+      <short_desc>Max yaw rate in auto mode</short_desc>
+      <long_desc>Limit the rate of change of the yaw setpoint in autonomous mode to avoid large control output and mixer saturation.</long_desc>
+      <min>0.0</min>
+      <max>360.0</max>
+      <unit>deg/s</unit>
+      <decimal>1</decimal>
+      <increment>5</increment>
+    </parameter>
  </group>
  <group name="Multicopter Position Control">
    <parameter default="10.0" name="MPC_ACC_DOWN_MAX" type="FLOAT">

--- a/src/FlightDisplay/GuidedActionConfirm.qml
+++ b/src/FlightDisplay/GuidedActionConfirm.qml
@@ -35,6 +35,8 @@ Rectangle {
    property var    actionData
    property bool   hideTrigger:        false
    property var    mapIndicator
+    property alias  optionText:         optionCheckBox.text
+    property alias  optionChecked:      optionCheckBox.checked
    property real _margins:         ScreenTools.defaultFontPixelWidth
    property bool _emergencyAction: action === guidedController.actionEmergencyStop
@@ -101,6 +103,13 @@ Rectangle {
            wrapMode:               Text.WordWrap
        }
+        QGCCheckBox {
+            id:                         optionCheckBox
+            anchors.horizontalCenter:   parent.horizontalCenter
+            text:                       ""
+            visible:                    text !== ""
+        }
        // Action confirmation control
        SliderSwitch {
            id:             slider
@@ -115,7 +124,7 @@ Rectangle {
                    altitudeSlider.visible = false
                }
                hideTrigger = false
-                guidedController.executeAction(_root.action, _root.actionData, altitudeChange)
+                guidedController.executeAction(_root.action, _root.actionData, altitudeChange, _root.optionChecked)
                if (mapIndicator) {
                    mapIndicator.actionConfirmed()
                    mapIndicator = undefined

--- a/src/FlightDisplay/GuidedActionsController.qml
+++ b/src/FlightDisplay/GuidedActionsController.qml
@@ -208,7 +208,7 @@ Item {
    on_FlightModeChanged: {
        _vehiclePaused =        activeVehicle ? _flightMode === activeVehicle.pauseFlightMode : false
-        _vehicleInRTLMode =     activeVehicle ? _flightMode === activeVehicle.rtlFlightMode : false
+        _vehicleInRTLMode =     activeVehicle ? _flightMode === activeVehicle.rtlFlightMode || _flightMode === activeVehicle.smartRTLFlightMode : false
        _vehicleInLandMode =    activeVehicle ? _flightMode === activeVehicle.landFlightMode : false
        _vehicleInMissionMode = activeVehicle ? _flightMode === activeVehicle.missionFlightMode : false // Must be last to get correct signalling for showStartMission popups
    }
@@ -221,6 +221,7 @@ Item {
        confirmDialog.actionData = actionData
        confirmDialog.hideTrigger = true
        confirmDialog.mapIndicator = mapIndicator
+        confirmDialog.optionText = ""
        _actionData = actionData
        switch (actionCode) {
        case actionArm:
@@ -284,6 +285,10 @@ Item {
        case actionRTL:
            confirmDialog.title = rtlTitle
            confirmDialog.message = rtlMessage
+            if (activeVehicle.supportsSmartRTL) {
+                confirmDialog.optionText = qsTr("Smart RTL")
+                confirmDialog.optionChecked = false
+            }
            confirmDialog.hideTrigger = Qt.binding(function() { return !showRTL })
            break;
        case actionChangeAlt:
@@ -344,12 +349,12 @@ Item {
    }
    // Executes the specified action
-    function executeAction(actionCode, actionData, actionAltitudeChange) {
+    function executeAction(actionCode, actionData, actionAltitudeChange, optionChecked) {
        var i;
        var rgVehicle;
        switch (actionCode) {
        case actionRTL:
-            activeVehicle.guidedModeRTL()
+            activeVehicle.guidedModeRTL(optionChecked)
            break
        case actionLand:
            activeVehicle.guidedModeLand()

--- a/src/MissionManager/BreachReturn.FactMetaData.json
+++ b/src/MissionManager/BreachReturn.FactMetaData.json
+[
+{
+    "name":             "Latitude",
+    "shortDescription": "Latitude of breach return point position",
+    "type":             "double",
+    "decimalPlaces":    7
+},
+{
+    "name":             "Longitude",
+    "shortDescription": "Longitude of breach return point position",
+    "type":             "double",
+    "decimalPlaces":    7
+},
+{
+    "name":             "Altitude",
+    "shortDescription": "Altitude of breach return point position (Rel)",
+    "type":             "double",
+    "decimalPlaces":    2,
+    "units":            "m"
+}
+]
--- a/src/MissionManager/CameraCalc.cc
+++ b/src/MissionManager/CameraCalc.cc
@@ -95,7 +95,7 @@ void CameraCalc::_cameraNameChanged(void)
    // Validate known camera name
    bool foundKnownCamera = false;
-    CameraMetaData* cameraMetaData = NULL;
+    CameraMetaData* cameraMetaData = nullptr;
    if (!isManualCamera() && !isCustomCamera()) {
        for (int cameraIndex=0; cameraIndex<_knownCameraList.count(); cameraIndex++) {
            cameraMetaData = _knownCameraList[cameraIndex].value<CameraMetaData*>();
@@ -201,11 +201,12 @@ void CameraCalc::save(QJsonObject& json) const
    }
 }
-bool CameraCalc::load(const QJsonObject& json, QString& errorString)
+bool CameraCalc::load(const QJsonObject& json, bool forPresets, bool cameraSpecInPreset, QString& errorString)
 {
+    qDebug() << "CameraCalc::load" << forPresets << cameraSpecInPreset;
    QJsonObject v1Json = json;
-    if (!v1Json.contains(JsonHelper::jsonVersionKey)) {
+    if (!json.contains(JsonHelper::jsonVersionKey)) {
        // Version 0 file. Differences from Version 1 for conversion:
        //  JsonHelper::jsonVersionKey not stored
        //  _jsonCameraSpecTypeKey stores CameraSpecType
@@ -231,18 +232,13 @@ bool CameraCalc::load(const QJsonObject& json, QString& errorString)
        { adjustedFootprintSideName,        QJsonValue::Double, true },
        { adjustedFootprintFrontalName,     QJsonValue::Double, true },
        { distanceToSurfaceName,            QJsonValue::Double, true },
-        { distanceToSurfaceRelativeName,    QJsonValue::Bool, true },
+        { distanceToSurfaceRelativeName,    QJsonValue::Bool,   true },
    };
    if (!JsonHelper::validateKeys(v1Json, keyInfoList1, errorString)) {
        return false;
    }
-    _disableRecalc = true;
+    _disableRecalc = !forPresets;
-    _cameraNameFact.setRawValue                 (v1Json[cameraNameName].toString());
-    _adjustedFootprintSideFact.setRawValue      (v1Json[adjustedFootprintSideName].toDouble());
-    _adjustedFootprintFrontalFact.setRawValue   (v1Json[adjustedFootprintFrontalName].toDouble());
-    _distanceToSurfaceFact.setRawValue          (v1Json[distanceToSurfaceName].toDouble());
    _distanceToSurfaceRelative = v1Json[distanceToSurfaceRelativeName].toBool();
@@ -259,13 +255,40 @@ bool CameraCalc::load(const QJsonObject& json, QString& errorString)
        }
        _valueSetIsDistanceFact.setRawValue (v1Json[valueSetIsDistanceName].toBool());
-        _imageDensityFact.setRawValue       (v1Json[imageDensityName].toDouble());
        _frontalOverlapFact.setRawValue     (v1Json[frontalOverlapName].toDouble());
        _sideOverlapFact.setRawValue        (v1Json[sideOverlapName].toDouble());
+    }
-        if (!CameraSpec::load(v1Json, errorString)) {
+    if (forPresets) {
-            _disableRecalc = false;
+        if (isManualCamera()) {
-            return false;
+            _distanceToSurfaceFact.setRawValue(v1Json[distanceToSurfaceName].toDouble());
+        } else {
+            if (_valueSetIsDistanceFact.rawValue().toBool()) {
+                _distanceToSurfaceFact.setRawValue(v1Json[distanceToSurfaceName].toDouble());
+            } else {
+                _imageDensityFact.setRawValue(v1Json[imageDensityName].toDouble());
+            }
+            if (cameraSpecInPreset) {
+                _cameraNameFact.setRawValue(v1Json[cameraNameName].toString());
+                if (!CameraSpec::load(v1Json, errorString)) {
+                    _disableRecalc = false;
+                    return false;
+                }
+            }
+        }
+    } else {
+        _cameraNameFact.setRawValue                 (v1Json[cameraNameName].toString());
+        _adjustedFootprintSideFact.setRawValue      (v1Json[adjustedFootprintSideName].toDouble());
+        _adjustedFootprintFrontalFact.setRawValue   (v1Json[adjustedFootprintFrontalName].toDouble());
+        _distanceToSurfaceFact.setRawValue          (v1Json[distanceToSurfaceName].toDouble());
+        if (!isManualCamera()) {
+            _imageDensityFact.setRawValue(v1Json[imageDensityName].toDouble());
+            if (!CameraSpec::load(v1Json, errorString)) {
+                _disableRecalc = false;
+                return false;
+            }
        }
    }

--- a/src/MissionManager/CameraCalc.h
+++ b/src/MissionManager/CameraCalc.h
@@ -70,7 +70,7 @@ public:
    void setDistanceToSurfaceRelative   (bool distanceToSurfaceRelative);
    void save(QJsonObject& json) const;
-    bool load(const QJsonObject& json, QString& errorString);
+    bool load(const QJsonObject& json, bool forPresets, bool cameraSpecInPreset, QString& errorString);
    static const char* cameraNameName;
    static const char* valueSetIsDistanceName;

--- a/src/MissionManager/ComplexMissionItem.cc
+++ b/src/MissionManager/ComplexMissionItem.cc
@@ -8,11 +8,21 @@
 ****************************************************************************/
 #include "ComplexMissionItem.h"
+#include "QGCApplication.h"
+#include <QSettings>
 const char* ComplexMissionItem::jsonComplexItemTypeKey = "complexItemType";
+const char* ComplexMissionItem::_presetSettingsKey =        "_presets";
+const char* ComplexMissionItem::_presetNameKey =            "complexItemPresetName";
+const char* ComplexMissionItem::_saveCameraInPresetKey =    "complexItemCameraSavedInPreset";
+const char* ComplexMissionItem::_builtInPresetKey =         "complexItemBuiltInPreset";
 ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, bool flyView, QObject* parent)
-    : VisualMissionItem(vehicle, flyView, parent)
+    : VisualMissionItem (vehicle, flyView, parent)
+    , _cameraInPreset   (true)
+    , _builtInPreset    (false)
 {
 }
@@ -21,5 +31,114 @@ const ComplexMissionItem& ComplexMissionItem::operator=(const ComplexMissionItem
 {
    VisualMissionItem::operator=(other);
+    _currentPreset =    other._currentPreset;
+    _cameraInPreset =   other._cameraInPreset;
+    _builtInPreset =    other._builtInPreset;
    return *this;
 }
+QStringList ComplexMissionItem::presetNames(void)
+{
+    QStringList names;
+    QSettings settings;
+    settings.beginGroup(presetsSettingsGroup());
+    settings.beginGroup(_presetSettingsKey);
+    return settings.childKeys();
+}
+void ComplexMissionItem::loadPreset(const QString& name)
+{
+    Q_UNUSED(name);
+    qgcApp()->showMessage(tr("This Pattern does not support Presets."));
+}
+void ComplexMissionItem::savePreset(const QString& name)
+{
+    Q_UNUSED(name);
+    qgcApp()->showMessage(tr("This Pattern does not support Presets."));
+}
+void ComplexMissionItem::clearCurrentPreset(void)
+{
+    _currentPreset.clear();
+    emit currentPresetChanged(_currentPreset);
+}
+void ComplexMissionItem::deleteCurrentPreset(void)
+{
+    qDebug() << "deleteCurrentPreset" << _currentPreset;
+    if (!_currentPreset.isEmpty()) {
+        QSettings settings;
+        settings.beginGroup(presetsSettingsGroup());
+        settings.beginGroup(_presetSettingsKey);
+        settings.remove(_currentPreset);
+        emit presetNamesChanged();
+        clearCurrentPreset();
+    }
+}
+void ComplexMissionItem::_savePresetJson(const QString& name, QJsonObject& presetObject)
+{
+    presetObject[_presetNameKey] = name;
+    QSettings settings;
+    settings.beginGroup(presetsSettingsGroup());
+    settings.beginGroup(_presetSettingsKey);
+    settings.setValue(name, QJsonDocument(presetObject).toBinaryData());
+    emit presetNamesChanged();
+    _currentPreset = name;
+    emit currentPresetChanged(name);
+}
+QJsonObject ComplexMissionItem::_loadPresetJson(const QString& name)
+{
+    QSettings settings;
+    settings.beginGroup(presetsSettingsGroup());
+    settings.beginGroup(_presetSettingsKey);
+    return QJsonDocument::fromBinaryData(settings.value(name).toByteArray()).object();
+}
+void ComplexMissionItem::_saveItem(QJsonObject& saveObject)
+{
+    qDebug() << "_saveItem" << _cameraInPreset;
+    saveObject[_presetNameKey] =            _currentPreset;
+    saveObject[_saveCameraInPresetKey] =    _cameraInPreset;
+    saveObject[_builtInPresetKey] =         _builtInPreset;
+}
+void ComplexMissionItem::_loadItem(const QJsonObject& saveObject)
+{
+    _currentPreset =    saveObject[_presetNameKey].toString();
+    _cameraInPreset =   saveObject[_saveCameraInPresetKey].toBool(false);
+    _builtInPreset =    saveObject[_builtInPresetKey].toBool(false);
+    if (!presetNames().contains(_currentPreset)) {
+        _currentPreset.clear();
+    }
+    emit cameraInPresetChanged  (_cameraInPreset);
+    emit currentPresetChanged   (_currentPreset);
+    emit builtInPresetChanged   (_builtInPreset);
+}
+void ComplexMissionItem::setCameraInPreset(bool cameraInPreset)
+{
+    if (cameraInPreset != _cameraInPreset) {
+        _cameraInPreset = cameraInPreset;
+        emit cameraInPresetChanged(_cameraInPreset);
+    }
+}
+void ComplexMissionItem::setBuiltInPreset(bool builtInPreset)
+{
+    if (builtInPreset != _builtInPreset) {
+        _builtInPreset = builtInPreset;
+        emit builtInPresetChanged(_builtInPreset);
+    }
+}
--- a/src/MissionManager/ComplexMissionItem.h
+++ b/src/MissionManager/ComplexMissionItem.h
@@ -13,6 +13,8 @@
 #include "VisualMissionItem.h"
 #include "QGCGeo.h"
+#include <QSettings>
 class ComplexMissionItem : public VisualMissionItem
 {
    Q_OBJECT
@@ -22,7 +24,12 @@ public:
    const ComplexMissionItem& operator=(const ComplexMissionItem& other);
-    Q_PROPERTY(double   complexDistance     READ complexDistance    NOTIFY complexDistanceChanged)
+    Q_PROPERTY(double       complexDistance     READ complexDistance                            NOTIFY complexDistanceChanged)
+    Q_PROPERTY(bool         presetsSupported    READ presetsSupported                           CONSTANT)
+    Q_PROPERTY(QStringList  presetNames         READ presetNames                                NOTIFY presetNamesChanged)
+    Q_PROPERTY(QString      currentPreset       READ currentPreset                              NOTIFY currentPresetChanged)
+    Q_PROPERTY(bool         cameraInPreset      READ cameraInPreset     WRITE setCameraInPreset NOTIFY cameraInPresetChanged)
+    Q_PROPERTY(bool         builtInPreset       READ builtInPreset      WRITE setBuiltInPreset  NOTIFY builtInPresetChanged)
    /// @return The distance covered the complex mission item in meters.
    /// Signals complexDistanceChanged
@@ -35,12 +42,38 @@ public:
    /// @return true: load success, false: load failed, errorString set
    virtual bool load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString) = 0;
+    /// Loads the specified preset into the complex item.
+    ///     @param name Preset name.
+    Q_INVOKABLE virtual void loadPreset(const QString& name);
+    /// Saves the current state of the complex item as the named preset.
+    ///     @param name User visible name for preset. Will replace existing preset if already exists.
+    Q_INVOKABLE virtual void savePreset(const QString& name);
+    Q_INVOKABLE void clearCurrentPreset(void);
+    Q_INVOKABLE void deleteCurrentPreset(void);
    /// Get the point of complex mission item furthest away from a coordinate
    ///     @param other QGeoCoordinate to which distance is calculated
    /// @return the greatest distance from any point of the complex item to some coordinate
    /// Signals greatestDistanceToChanged
    virtual double greatestDistanceTo(const QGeoCoordinate &other) const = 0;
+    /// Returns the list of currently saved presets for this complex item type.
+    ///     @param name User visible name for preset. Will replace existing preset if already exists.
+    virtual QStringList presetNames(void);
+    /// Returns the name of the settings group for presets.
+    ///     Empty string signals no support for presets.
+    virtual QString presetsSettingsGroup(void) { return QString(); }
+    bool    presetsSupported    (void) { return !presetsSettingsGroup().isEmpty(); }
+    QString currentPreset       (void) const { return _currentPreset; }
+    bool    cameraInPreset      (void) const { return _cameraInPreset; }
+    bool    builtInPreset       (void) const { return _builtInPreset; }
+    void    setCameraInPreset   (bool cameraInPreset);
+    void    setBuiltInPreset    (bool builtInPreset);
    /// This mission item attribute specifies the type of the complex item.
    static const char* jsonComplexItemTypeKey;
@@ -48,6 +81,29 @@ signals:
    void complexDistanceChanged     (void);
    void boundingCubeChanged        (void);
    void greatestDistanceToChanged  (void);
+    void presetNamesChanged         (void);
+    void currentPresetChanged       (QString currentPreset);
+    void cameraInPresetChanged      (bool cameraInPreset);
+    void builtInPresetChanged       (bool builtInPreset);
+protected:
+    void        _saveItem       (QJsonObject& saveObject);
+    void        _loadItem       (const QJsonObject& saveObject);
+    void        _savePresetJson (const QString& name, QJsonObject& presetObject);
+    QJsonObject _loadPresetJson (const QString& name);
+    QMap<QString, FactMetaData*> _metaDataMap;
+    QString         _currentPreset;
+    SettingsFact    _saveCameraInPresetFact;
+    bool            _cameraInPreset;
+    bool            _builtInPreset;
+    static const char* _presetSettingsKey;
+    static const char* _presetNameKey;
+    static const char* _saveCameraInPresetKey;
+    static const char* _builtInPresetKey;
 };
 #endif
--- a/src/MissionManager/CorridorScanComplexItem.cc
+++ b/src/MissionManager/CorridorScanComplexItem.cc
@@ -62,7 +62,7 @@ void CorridorScanComplexItem::save(QJsonArray&  planItems)
 {
    QJsonObject saveObject;
-    _save(saveObject);
+    TransectStyleComplexItem::_save(saveObject);
    saveObject[JsonHelper::jsonVersionKey] =                    2;
    saveObject[VisualMissionItem::jsonTypeKey] =                VisualMissionItem::jsonTypeComplexItemValue;
@@ -115,7 +115,7 @@ bool CorridorScanComplexItem::load(const QJsonObject& complexObject, int sequenc
    setSequenceNumber(sequenceNumber);
-    if (!_load(complexObject, errorString)) {
+    if (!_load(complexObject, false /* forPresets */, errorString)) {
        _ignoreRecalc = false;
        return false;
    }

--- a/src/MissionManager/GeoFenceController.cc
+++ b/src/MissionManager/GeoFenceController.cc
@@ -21,30 +21,51 @@
 #include "QGCQGeoCoordinate.h"
 #include "AppSettings.h"
 #include "PlanMasterController.h"
+#include "SettingsManager.h"
+#include "AppSettings.h"
 #include <QJsonDocument>
 #include <QJsonArray>
 QGC_LOGGING_CATEGORY(GeoFenceControllerLog, "GeoFenceControllerLog")
+QMap<QString, FactMetaData*> GeoFenceController::_metaDataMap;
 const char* GeoFenceController::_jsonFileTypeValue =        "GeoFence";
 const char* GeoFenceController::_jsonBreachReturnKey =      "breachReturn";
 const char* GeoFenceController::_jsonPolygonsKey =          "polygons";
 const char* GeoFenceController::_jsonCirclesKey =           "circles";
+const char* GeoFenceController::_breachReturnAltitudeFactName = "Altitude";
 const char* GeoFenceController::_px4ParamCircularFence =    "GF_MAX_HOR_DIST";
 GeoFenceController::GeoFenceController(PlanMasterController* masterController, QObject* parent)
-    : PlanElementController     (masterController, parent)
+    : PlanElementController         (masterController, parent)
-    , _geoFenceManager          (_managerVehicle->geoFenceManager())
+    , _geoFenceManager              (_managerVehicle->geoFenceManager())
-    , _dirty                    (false)
+    , _dirty                        (false)
+    , _breachReturnAltitudeFact     (0, _breachReturnAltitudeFactName, FactMetaData::valueTypeDouble)
+    , _breachReturnDefaultAltitude  (qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble())
    , _itemsRequested           (false)
-    , _px4ParamCircularFenceFact(NULL)
+    , _px4ParamCircularFenceFact(nullptr)
 {
+    if (_metaDataMap.isEmpty()) {
+        _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/BreachReturn.FactMetaData.json"), nullptr /* metaDataParent */);
+    }
+    _breachReturnAltitudeFact.setMetaData(_metaDataMap[_breachReturnAltitudeFactName]);
+    _breachReturnAltitudeFact.setRawValue(_breachReturnDefaultAltitude);
    connect(&_polygons, &QmlObjectListModel::countChanged, this, &GeoFenceController::_updateContainsItems);
    connect(&_circles,  &QmlObjectListModel::countChanged, this, &GeoFenceController::_updateContainsItems);
    managerVehicleChanged(_managerVehicle);
+    connect(this,                       &GeoFenceController::breachReturnPointChanged,  this, &GeoFenceController::_setDirty);
+    connect(&_breachReturnAltitudeFact, &Fact::rawValueChanged,                         this, &GeoFenceController::_setDirty);
+    connect(&_polygons,                 &QmlObjectListModel::dirtyChanged,              this, &GeoFenceController::_setDirty);
+    connect(&_circles,                  &QmlObjectListModel::dirtyChanged,              this, &GeoFenceController::_setDirty);
 }
 GeoFenceController::~GeoFenceController()
@@ -74,26 +95,19 @@ void GeoFenceController::setBreachReturnPoint(const QGeoCoordinate& breachReturn
    }
 }
-void GeoFenceController::_signalAll(void)
-{
-    emit breachReturnPointChanged(breachReturnPoint());
-    emit dirtyChanged(dirty());
-    emit supportedChanged(supported());
-}
 void GeoFenceController::managerVehicleChanged(Vehicle* managerVehicle)
 {
    if (_managerVehicle) {
        _geoFenceManager->disconnect(this);
        _managerVehicle->disconnect(this);
        _managerVehicle->parameterManager()->disconnect(this);
-        _managerVehicle = NULL;
+        _managerVehicle = nullptr;
-        _geoFenceManager = NULL;
+        _geoFenceManager = nullptr;
    }
    _managerVehicle = managerVehicle;
    if (!_managerVehicle) {
-        qWarning() << "GeoFenceController::managerVehicleChanged managerVehicle=NULL";
+        qWarning() << "GeoFenceController::managerVehicleChanged managerVehicle=nullptr";
        return;
    }
@@ -109,7 +123,6 @@ void GeoFenceController::managerVehicleChanged(Vehicle* managerVehicle)
    _parametersReady();
    emit supportedChanged(supported());
-    _signalAll();
 }
 bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
@@ -128,6 +141,7 @@ bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
        { JsonHelper::jsonVersionKey,   QJsonValue::Double, true },
        { _jsonCirclesKey,              QJsonValue::Array,  true },
        { _jsonPolygonsKey,             QJsonValue::Array,  true },
+        { _jsonBreachReturnKey,         QJsonValue::Array,  false },
    };
    if (!JsonHelper::validateKeys(json, keyInfoList, errorString)) {
        return false;
@@ -139,7 +153,7 @@ bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
    }
    QJsonArray jsonPolygonArray = json[_jsonPolygonsKey].toArray();
-    for (const QJsonValue& jsonPolygonValue: jsonPolygonArray) {
+    for (const QJsonValue jsonPolygonValue: jsonPolygonArray) {
        if (jsonPolygonValue.type() != QJsonValue::Object) {
            errorString = tr("GeoFence polygon not stored as object");
            return false;
@@ -153,7 +167,7 @@ bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
    }
    QJsonArray jsonCircleArray = json[_jsonCirclesKey].toArray();
-    for (const QJsonValue& jsonCircleValue: jsonCircleArray) {
+    for (const QJsonValue jsonCircleValue: jsonCircleArray) {
        if (jsonCircleValue.type() != QJsonValue::Object) {
            errorString = tr("GeoFence circle not stored as object");
            return false;
@@ -166,8 +180,18 @@ bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
        _circles.append(fenceCircle);
    }
+    if (json.contains(_jsonBreachReturnKey)) {
+        if (!JsonHelper::loadGeoCoordinate(json[_jsonBreachReturnKey], true /* altitudeRequred */, _breachReturnPoint, errorString)) {
+            return false;
+        }
+        _breachReturnAltitudeFact.setRawValue(_breachReturnPoint.altitude());
+    } else {
+        _breachReturnPoint = QGeoCoordinate();
+        _breachReturnAltitudeFact.setRawValue(_breachReturnDefaultAltitude);
+    }
+    emit breachReturnPointChanged(_breachReturnPoint);
    setDirty(false);
-    _signalAll();
    return true;
 }
@@ -193,6 +217,14 @@ void GeoFenceController::save(QJsonObject& json)
        jsonCircleArray.append(jsonCircle);
    }
    json[_jsonCirclesKey] = jsonCircleArray;
+    if (_breachReturnPoint.isValid()) {
+        QJsonValue jsonCoordinate;
+        _breachReturnPoint.setAltitude(_breachReturnAltitudeFact.rawValue().toDouble());
+        JsonHelper::saveGeoCoordinate(_breachReturnPoint, true /* writeAltitude */, jsonCoordinate);
+        json[_jsonBreachReturnKey] = jsonCoordinate;
+    }
 }
 void GeoFenceController::removeAll(void)
@@ -300,6 +332,11 @@ void GeoFenceController::_setReturnPointFromManager(QGeoCoordinate breachReturnP
 {
    _breachReturnPoint = breachReturnPoint;
    emit breachReturnPointChanged(_breachReturnPoint);
+    if (_breachReturnPoint.isValid()) {
+        _breachReturnAltitudeFact.setRawValue(_breachReturnPoint.altitude());
+    } else {
+        _breachReturnAltitudeFact.setRawValue(_breachReturnDefaultAltitude);
+    }
 }
 void GeoFenceController::_managerLoadComplete(void)
@@ -310,7 +347,6 @@ void GeoFenceController::_managerLoadComplete(void)
        _setReturnPointFromManager(_geoFenceManager->breachReturnPoint());
        _setFenceFromManager(_geoFenceManager->polygons(), _geoFenceManager->circles());
        setDirty(false);
-        _signalAll();
        emit loadComplete();
    }
    _itemsRequested = false;
@@ -471,7 +507,7 @@ void GeoFenceController::_parametersReady(void)
 {
    if (_px4ParamCircularFenceFact) {
        _px4ParamCircularFenceFact->disconnect(this);
-        _px4ParamCircularFenceFact = NULL;
+        _px4ParamCircularFenceFact = nullptr;
    }
    if (_managerVehicle->isOfflineEditingVehicle() || !_managerVehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _px4ParamCircularFence)) {

--- a/src/MissionManager/GeoFenceController.h
+++ b/src/MissionManager/GeoFenceController.h
@@ -27,12 +27,13 @@ class GeoFenceController : public PlanElementController
    Q_OBJECT
 public:
-    GeoFenceController(PlanMasterController* masterController, QObject* parent = NULL);
+    GeoFenceController(PlanMasterController* masterController, QObject* parent = nullptr);
    ~GeoFenceController();
-    Q_PROPERTY(QmlObjectListModel*  polygons            READ polygons                                       CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  polygons                READ polygons                                           CONSTANT)
-    Q_PROPERTY(QmlObjectListModel*  circles             READ circles                                        CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  circles                 READ circles                                            CONSTANT)
-    Q_PROPERTY(QGeoCoordinate       breachReturnPoint   READ breachReturnPoint  WRITE setBreachReturnPoint  NOTIFY breachReturnPointChanged)
+    Q_PROPERTY(QGeoCoordinate       breachReturnPoint       READ breachReturnPoint      WRITE setBreachReturnPoint  NOTIFY breachReturnPointChanged)
+    Q_PROPERTY(Fact*                breachReturnAltitude    READ breachReturnAltitude                               CONSTANT)
    // Hack to expose PX4 circular fence controlled by GF_MAX_HOR_DIST
    Q_PROPERTY(double               paramCircularFence  READ paramCircularFence                             NOTIFY paramCircularFenceChanged)
@@ -58,7 +59,8 @@ public:
    /// Clears the interactive bit from all fence items
    Q_INVOKABLE void clearAllInteractive(void);
-    double paramCircularFence(void);
+    double  paramCircularFence  (void);
+    Fact*   breachReturnAltitude(void) { return &_breachReturnAltitudeFact; }
    // Overrides from PlanElementController
    bool supported                  (void) const final;
@@ -101,16 +103,19 @@ private slots:
 private:
    void _init(void);
-    void _signalAll(void);
    GeoFenceManager*    _geoFenceManager;
    bool                _dirty;
    QmlObjectListModel  _polygons;
    QmlObjectListModel  _circles;
    QGeoCoordinate      _breachReturnPoint;
+    Fact                _breachReturnAltitudeFact;
+    double              _breachReturnDefaultAltitude;
    bool                _itemsRequested;
    Fact*               _px4ParamCircularFenceFact;
+    static QMap<QString, FactMetaData*> _metaDataMap;
    static const char* _px4ParamCircularFence;
    static const int _jsonCurrentVersion = 2;
@@ -119,6 +124,8 @@ private:
    static const char* _jsonBreachReturnKey;
    static const char* _jsonPolygonsKey;
    static const char* _jsonCirclesKey;
+    static const char* _breachReturnAltitudeFactName;
 };
 #endif
--- a/src/MissionManager/GeoFenceManager.cc
+++ b/src/MissionManager/GeoFenceManager.cc
@@ -51,8 +51,6 @@ void GeoFenceManager::sendToVehicle(const QGeoCoordinate&   breachReturn,
                                    QmlObjectListModel&     polygons,
                                    QmlObjectListModel&     circles)
 {
-    Q_UNUSED(breachReturn);
    QList<MissionItem*> fenceItems;
    _sendPolygons.clear();
@@ -64,6 +62,7 @@ void GeoFenceManager::sendToVehicle(const QGeoCoordinate&   breachReturn,
    for (int i=0; i<circles.count(); i++) {
        _sendCircles.append(*circles.value<QGCFenceCircle*>(i));
    }
+    _breachReturnPoint = breachReturn;
    for (int i=0; i<_sendPolygons.count(); i++) {
        const QGCFencePolygon& polygon = _sendPolygons[i];
@@ -103,12 +102,30 @@ void GeoFenceManager::sendToVehicle(const QGeoCoordinate&   breachReturn,
        fenceItems.append(item);
    }
+    if (_breachReturnPoint.isValid()) {
+        MissionItem* item = new MissionItem(0,
+                                            MAV_CMD_NAV_FENCE_RETURN_POINT,
+                                            MAV_FRAME_GLOBAL_RELATIVE_ALT,
+                                            0, 0, 0, 0,                    // param 1-4 unused
+                                            breachReturn.latitude(),
+                                            breachReturn.longitude(),
+                                            breachReturn.altitude(),
+                                            false,                      // autocontinue
+                                            false,                      // isCurrentItem
+                                            this);                      // parent
+        fenceItems.append(item);
+    }
    // Plan manager takes control of MissionItems, so no need to delete
    _planManager.writeMissionItems(fenceItems);
 }
 void GeoFenceManager::removeAll(void)
 {
+    _polygons.clear();
+    _circles.clear();
+    _breachReturnPoint = QGeoCoordinate();
    _planManager.removeAll();
 }
@@ -117,6 +134,7 @@ void GeoFenceManager::_sendComplete(bool error)
    if (error) {
        _polygons.clear();
        _circles.clear();
+        _breachReturnPoint = QGeoCoordinate();
    } else {
        _polygons = _sendPolygons;
        _circles = _sendCircles;
@@ -174,6 +192,8 @@ void GeoFenceManager::_planManagerLoadComplete(bool removeAllRequested)
            }
            QGCFenceCircle circle(QGeoCoordinate(item->param5(), item->param6()), item->param1(), command == MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION /* inclusion */);
            _circles.append(circle);
+        } else if (command == MAV_CMD_NAV_FENCE_RETURN_POINT) {
+            _breachReturnPoint = QGeoCoordinate(item->param5(), item->param6(), item->param7());
        } else {
            emit error(UnsupportedCommand, tr("GeoFence load: Unsupported command %1").arg(item->command()));
            break;
@@ -183,6 +203,7 @@ void GeoFenceManager::_planManagerLoadComplete(bool removeAllRequested)
    if (loadFailed) {
        _polygons.clear();
        _circles.clear();
+        _breachReturnPoint = QGeoCoordinate();
    }
    emit loadComplete();

--- a/src/MissionManager/RallyPointManager.cc
+++ b/src/MissionManager/RallyPointManager.cc
@@ -72,6 +72,7 @@ void RallyPointManager::sendToVehicle(const QList<QGeoCoordinate>& rgPoints)
 void RallyPointManager::removeAll(void)
 {
+    _rgPoints.clear();
    _planManager.removeAll();
 }

--- a/src/MissionManager/StructureScanComplexItem.cc
+++ b/src/MissionManager/StructureScanComplexItem.cc
@@ -83,6 +83,9 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
    connect(&_cameraCalc, &CameraCalc::isManualCameraChanged, this, &StructureScanComplexItem::_updateGimbalPitch);
+    connect(&_layersFact,                           &Fact::valueChanged,            this, &StructureScanComplexItem::_recalcScanDistance);
+    connect(&_flightPolygon,                        &QGCMapPolygon::pathChanged,    this, &StructureScanComplexItem::_recalcScanDistance);
    _recalcLayerInfo();
    if (!kmlOrShpFile.isEmpty()) {
@@ -93,14 +96,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
    setDirty(false);
 }
-void StructureScanComplexItem::_setScanDistance(double scanDistance)
-{
-    if (!qFuzzyCompare(_scanDistance, scanDistance)) {
-        _scanDistance = scanDistance;
-        emit complexDistanceChanged();
-    }
-}
 void StructureScanComplexItem::_setCameraShots(int cameraShots)
 {
    if (_cameraShots != cameraShots) {
@@ -218,7 +213,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
    setSequenceNumber(sequenceNumber);
    // Load CameraCalc first since it will trigger camera name change which will trounce gimbal angles
-    if (!_cameraCalc.load(complexObject[_jsonCameraCalcKey].toObject(), errorString)) {
+    if (!_cameraCalc.load(complexObject[_jsonCameraCalcKey].toObject(), false /* forPresets */, false /* cameraSpecInPreset */, errorString)) {
        return false;
    }
@@ -519,6 +514,7 @@ void StructureScanComplexItem::_rebuildFlightPolygon(void)
    } else {
        _entryVertex = savedEntryVertex;
    }
    emit coordinateChanged(coordinate());
    emit exitCoordinateChanged(exitCoordinate());
 }
@@ -598,3 +594,26 @@ void StructureScanComplexItem::_signalTopBottomAltChanged(void)
    emit topFlightAltChanged();
    emit bottomFlightAltChanged();
 }
+void StructureScanComplexItem::_recalcScanDistance()
+{
+    double scanDistance = 0;
+    QList<QGeoCoordinate> vertices = _flightPolygon.coordinateList();
+    for (int i=0; i<vertices.count() - 1; i++) {
+        scanDistance += vertices[i].distanceTo(vertices[i+1]);
+    }
+    scanDistance *= _layersFact.rawValue().toInt();
+    double surfaceHeight = qMax(_structureHeightFact.rawValue().toDouble() - _scanBottomAltFact.rawValue().toDouble(), 0.0);
+    scanDistance += surfaceHeight;
+    if (!qFuzzyCompare(_scanDistance, scanDistance)) {
+        _scanDistance = scanDistance;
+        emit complexDistanceChanged();
+    }
+    qCDebug(StructureScanComplexItemLog) << "StructureScanComplexItem--_recalcScanDistance layers: "
+                                  << _layersFact.rawValue().toInt() << " structure height: " << surfaceHeight
+                                  << " scanDistance: " << _scanDistance;
+}
--- a/src/MissionManager/StructureScanComplexItem.h
+++ b/src/MissionManager/StructureScanComplexItem.h
@@ -125,11 +125,11 @@ private slots:
    void _recalcLayerInfo           (void);
    void _updateLastSequenceNumber  (void);
    void _updateGimbalPitch         (void);
-    void _signalTopBottomAltChanged  (void);
+    void _signalTopBottomAltChanged (void);
+    void _recalcScanDistance        (void);
 private:
    void _setExitCoordinate(const QGeoCoordinate& coordinate);
-    void _setScanDistance(double scanDistance);
    void _setCameraShots(int cameraShots);
    double _triggerDistance(void) const;

--- a/src/MissionManager/SurveyComplexItem.cc
+++ b/src/MissionManager/SurveyComplexItem.cc
@@ -108,7 +108,21 @@ void SurveyComplexItem::save(QJsonArray&  planItems)
 {
    QJsonObject saveObject;
-    _save(saveObject);
+    _saveWorker(saveObject);
+    planItems.append(saveObject);
+}
+void SurveyComplexItem::savePreset(const QString& name)
+{
+    QJsonObject saveObject;
+    _saveWorker(saveObject);
+    _savePresetJson(name, saveObject);
+}
+void SurveyComplexItem::_saveWorker(QJsonObject& saveObject)
+{
+    TransectStyleComplexItem::_save(saveObject);
    saveObject[JsonHelper::jsonVersionKey] =                    5;
    saveObject[VisualMissionItem::jsonTypeKey] =                VisualMissionItem::jsonTypeComplexItemValue;
@@ -120,8 +134,15 @@ void SurveyComplexItem::save(QJsonArray&  planItems)
    // Polygon shape
    _surveyAreaPolygon.saveToJson(saveObject);
+}
-    planItems.append(saveObject);
+void SurveyComplexItem::loadPreset(const QString& name)
+{
+    QString errorString;
+    QJsonObject presetObject = _loadPresetJson(name);
+    _loadV4V5(presetObject, 0, errorString, 5, true /* forPresets */);
+    _rebuildTransects();
 }
 bool SurveyComplexItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
@@ -141,7 +162,7 @@ bool SurveyComplexItem::load(const QJsonObject& complexObject, int sequenceNumbe
    }
    if (version == 4 || version == 5) {
-        if (!_loadV4V5(complexObject, sequenceNumber, errorString, version)) {
+        if (!_loadV4V5(complexObject, sequenceNumber, errorString, version, false /* forPresets */)) {
            return false;
        }
@@ -171,7 +192,7 @@ bool SurveyComplexItem::load(const QJsonObject& complexObject, int sequenceNumbe
    return true;
 }
-bool SurveyComplexItem::_loadV4V5(const QJsonObject& complexObject, int sequenceNumber, QString& errorString, int version)
+bool SurveyComplexItem::_loadV4V5(const QJsonObject& complexObject, int sequenceNumber, QString& errorString, int version, bool forPresets)
 {
    QList<JsonHelper::KeyValidateInfo> keyInfoList = {
        { VisualMissionItem::jsonTypeKey,               QJsonValue::String, true },
@@ -197,16 +218,18 @@ bool SurveyComplexItem::_loadV4V5(const QJsonObject& complexObject, int sequence
        return false;
    }
-    _ignoreRecalc = true;
+    _ignoreRecalc = !forPresets;
-    setSequenceNumber(sequenceNumber);
+    if (!forPresets) {
+        setSequenceNumber(sequenceNumber);
-    if (!_surveyAreaPolygon.loadFromJson(complexObject, true /* required */, errorString)) {
+        if (!_surveyAreaPolygon.loadFromJson(complexObject, true /* required */, errorString)) {
-        _surveyAreaPolygon.clear();
+            _surveyAreaPolygon.clear();
-        return false;
+            return false;
+        }
    }
-    if (!_load(complexObject, errorString)) {
+    if (!TransectStyleComplexItem::_load(complexObject, forPresets, errorString)) {
        _ignoreRecalc = false;
        return false;
    }
@@ -214,7 +237,7 @@ bool SurveyComplexItem::_loadV4V5(const QJsonObject& complexObject, int sequence
    _gridAngleFact.setRawValue              (complexObject[_jsonGridAngleKey].toDouble());
    _flyAlternateTransectsFact.setRawValue  (complexObject[_jsonFlyAlternateTransectsKey].toBool(false));
-    if(version == 5) {
+    if (version == 5) {
        _splitConcavePolygonsFact.setRawValue   (complexObject[_jsonSplitConcavePolygonsKey].toBool(true));
    }
@@ -282,7 +305,7 @@ bool SurveyComplexItem::_loadV3(const QJsonObject& complexObject, int sequenceNu
    _turnAroundDistanceFact.setRawValue (gridObject[_jsonV3TurnaroundDistKey].toDouble());
    if (gridObject.contains(_jsonEntryPointKey)) {
-        _entryPoint = gridObject[_jsonEntryPointKey].toDouble();
+        _entryPoint = gridObject[_jsonEntryPointKey].toInt();
    } else {
        _entryPoint = EntryLocationTopRight;
    }

--- a/src/MissionManager/SurveyComplexItem.h
+++ b/src/MissionManager/SurveyComplexItem.h
@@ -39,6 +39,9 @@ public:
    // Overrides from ComplexMissionItem
    bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
    QString mapVisualQML        (void) const final { return QStringLiteral("SurveyMapVisual.qml"); }
+    QString presetsSettingsGroup(void) { return settingsGroup; }
+    void    savePreset          (const QString& name);
+    void    loadPreset          (const QString& name);
    // Overrides from TransectStyleComplexItem
    void    save                (QJsonArray&  planItems) final;
@@ -114,7 +117,8 @@ private:
    double _turnaroundDistance(void) const;
    bool _hoverAndCaptureEnabled(void) const;
    bool _loadV3(const QJsonObject& complexObject, int sequenceNumber, QString& errorString);
-    bool _loadV4V5(const QJsonObject& complexObject, int sequenceNumber, QString& errorString, int version);
+    bool _loadV4V5(const QJsonObject& complexObject, int sequenceNumber, QString& errorString, int version, bool forPresets);
+    void _saveWorker(QJsonObject& complexObject);
    void _rebuildTransectsPhase1Worker(bool refly);
    void _rebuildTransectsPhase1WorkerSinglePolygon(bool refly);
    void _rebuildTransectsPhase1WorkerSplitPolygons(bool refly);

--- a/src/MissionManager/TransectStyleComplexItem.cc
+++ b/src/MissionManager/TransectStyleComplexItem.cc
@@ -132,6 +132,8 @@ void TransectStyleComplexItem::setDirty(bool dirty)
 void TransectStyleComplexItem::_save(QJsonObject& complexObject)
 {
+    ComplexMissionItem::_saveItem(complexObject);
    QJsonObject innerObject;
    innerObject[JsonHelper::jsonVersionKey] =       1;
@@ -183,8 +185,9 @@ void TransectStyleComplexItem::setSequenceNumber(int sequenceNumber)
    }
 }
-bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString& errorString)
+bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, bool forPresets, QString& errorString)
 {
+    ComplexMissionItem::_loadItem(complexObject);
    QList<JsonHelper::KeyValidateInfo> keyInfoList = {
        { _jsonTransectStyleComplexItemKey, QJsonValue::Object, true },
@@ -211,8 +214,8 @@ bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString&
        { hoverAndCaptureName,              QJsonValue::Bool,   true },
        { refly90DegreesName,               QJsonValue::Bool,   true },
        { _jsonCameraCalcKey,               QJsonValue::Object, true },
-        { _jsonVisualTransectPointsKey,     QJsonValue::Array,  true },
+        { _jsonVisualTransectPointsKey,     QJsonValue::Array,  !forPresets },
-        { _jsonItemsKey,                    QJsonValue::Array,  true },
+        { _jsonItemsKey,                    QJsonValue::Array,  !forPresets },
        { _jsonFollowTerrainKey,            QJsonValue::Bool,   true },
        { _jsonCameraShotsKey,              QJsonValue::Double, false },    // Not required since it was missing from initial implementation
    };
@@ -220,28 +223,30 @@ bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString&
        return false;
    }
-    // Load visual transect points
+    if (!forPresets) {
-    if (!JsonHelper::loadGeoCoordinateArray(innerObject[_jsonVisualTransectPointsKey], false /* altitudeRequired */, _visualTransectPoints, errorString)) {
+        // Load visual transect points
-        return false;
+        if (!JsonHelper::loadGeoCoordinateArray(innerObject[_jsonVisualTransectPointsKey], false /* altitudeRequired */, _visualTransectPoints, errorString)) {
-    }
-    _coordinate = _visualTransectPoints.count() ? _visualTransectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
-    _exitCoordinate = _visualTransectPoints.count() ? _visualTransectPoints.last().value<QGeoCoordinate>() : QGeoCoordinate();
-    // Load generated mission items
-    _loadedMissionItemsParent = new QObject(this);
-    QJsonArray missionItemsJsonArray = innerObject[_jsonItemsKey].toArray();
-    for (const QJsonValue& missionItemJson: missionItemsJsonArray) {
-        MissionItem* missionItem = new MissionItem(_loadedMissionItemsParent);
-        if (!missionItem->load(missionItemJson.toObject(), 0 /* sequenceNumber */, errorString)) {
-            _loadedMissionItemsParent->deleteLater();
-            _loadedMissionItemsParent = NULL;
            return false;
        }
-        _loadedMissionItems.append(missionItem);
+        _coordinate = _visualTransectPoints.count() ? _visualTransectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
+        _exitCoordinate = _visualTransectPoints.count() ? _visualTransectPoints.last().value<QGeoCoordinate>() : QGeoCoordinate();
+        // Load generated mission items
+        _loadedMissionItemsParent = new QObject(this);
+        QJsonArray missionItemsJsonArray = innerObject[_jsonItemsKey].toArray();
+        for (const QJsonValue missionItemJson: missionItemsJsonArray) {
+            MissionItem* missionItem = new MissionItem(_loadedMissionItemsParent);
+            if (!missionItem->load(missionItemJson.toObject(), 0 /* sequenceNumber */, errorString)) {
+                _loadedMissionItemsParent->deleteLater();
+                _loadedMissionItemsParent = nullptr;
+                return false;
+            }
+            _loadedMissionItems.append(missionItem);
+        }
    }
    // Load CameraCalc data
-    if (!_cameraCalc.load(innerObject[_jsonCameraCalcKey].toObject(), errorString)) {
+    if (!_cameraCalc.load(innerObject[_jsonCameraCalcKey].toObject(), forPresets, cameraInPreset(), errorString)) {
        return false;
    }
@@ -435,7 +440,7 @@ void TransectStyleComplexItem::_reallyQueryTransectsPathHeightInfo(void)
        // Let the signal fall on the floor
        disconnect(_terrainPolyPathQuery, &TerrainPolyPathQuery::terrainDataReceived, this, &TransectStyleComplexItem::_polyPathTerrainData);
 #endif
-        _terrainPolyPathQuery = NULL;
+        _terrainPolyPathQuery = nullptr;
    }
    // Append all transects into a single PolyPath query
@@ -479,7 +484,7 @@ void TransectStyleComplexItem::_polyPathTerrainData(bool success, const QList<Te
        qWarning() << "TransectStyleComplexItem::_polyPathTerrainData _terrainPolyPathQuery != sender()";
    }
    disconnect(_terrainPolyPathQuery, &TerrainPolyPathQuery::terrainDataReceived, this, &TransectStyleComplexItem::_polyPathTerrainData);
-    _terrainPolyPathQuery = NULL;
+    _terrainPolyPathQuery = nullptr;
 }
 bool TransectStyleComplexItem::readyForSave(void) const

--- a/src/MissionManager/TransectStyleComplexItem.h
+++ b/src/MissionManager/TransectStyleComplexItem.h
@@ -141,7 +141,7 @@ protected:
    virtual void _recalcCameraShots         (void) = 0;
    void    _save                           (QJsonObject& saveObject);
-    bool    _load                           (const QJsonObject& complexObject, QString& errorString);
+    bool    _load                           (const QJsonObject& complexObject, bool forPresets, QString& errorString);
    void    _setExitCoordinate              (const QGeoCoordinate& coordinate);
    void    _setCameraShots                 (int cameraShots);
    double  _triggerDistance                (void) const;

--- a/src/PlanView/CameraCalc.qml
+++ b/src/PlanView/CameraCalc.qml
@@ -14,37 +14,53 @@ Column {
    anchors.right:  parent.right
    spacing:        _margin
+    visible: !usingPreset || !cameraSpecifiedInPreset
    property var    cameraCalc
    property bool   vehicleFlightIsFrontal:         true
    property string distanceToSurfaceLabel
    property int    distanceToSurfaceAltitudeMode:  QGroundControl.AltitudeModeNone
    property string frontalDistanceLabel
    property string sideDistanceLabel
+    property bool   usingPreset:                    false
+    property bool   cameraSpecifiedInPreset:        false
    property real   _margin:            ScreenTools.defaultFontPixelWidth / 2
-    property int    _cameraIndex:       1
+    property string _cameraName:        cameraCalc.cameraName.value
    property real   _fieldWidth:        ScreenTools.defaultFontPixelWidth * 10.5
    property var    _cameraList:        [ ]
    property var    _vehicle:           QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
    property var    _vehicleCameraList: _vehicle ? _vehicle.staticCameraList : []
+    property bool   _cameraComboFilled: false
    readonly property int _gridTypeManual:          0
    readonly property int _gridTypeCustomCamera:    1
    readonly property int _gridTypeCamera:          2
-    Component.onCompleted: {
+    Component.onCompleted: _fillCameraCombo()
+    on_CameraNameChanged: _updateSelectedCamera()
+    function _fillCameraCombo() {
+        _cameraComboFilled = true
        _cameraList.push(cameraCalc.manualCameraName)
        _cameraList.push(cameraCalc.customCameraName)
        for (var i=0; i<_vehicle.staticCameraList.length; i++) {
            _cameraList.push(_vehicle.staticCameraList[i].name)
        }
        gridTypeCombo.model = _cameraList
-        var knownCameraIndex = gridTypeCombo.find(cameraCalc.cameraName.value)
+        _updateSelectedCamera()
-        if (knownCameraIndex !== -1) {
+    }
-            gridTypeCombo.currentIndex = knownCameraIndex
-        } else {
+    function _updateSelectedCamera() {
-            console.log("Internal error: Known camera not found", cameraCalc.cameraName.value)
+        if (_cameraComboFilled) {
-            gridTypeCombo.currentIndex = _gridTypeCustomCamera
+            var knownCameraIndex = gridTypeCombo.find(_cameraName)
+            if (knownCameraIndex !== -1) {
+                gridTypeCombo.currentIndex = knownCameraIndex
+            } else {
+                console.log("Internal error: Known camera not found", _cameraName)
+                gridTypeCombo.currentIndex = _gridTypeCustomCamera
+            }
        }
    }
@@ -179,6 +195,7 @@ Column {
                anchors.left:   parent.left
                anchors.right:  parent.right
                spacing:        _margin
+                visible:        !usingPreset
                Item { Layout.fillWidth: true }
                QGCLabel {
                    Layout.preferredWidth:  _root._fieldWidth
@@ -194,6 +211,7 @@ Column {
                anchors.left:   parent.left
                anchors.right:  parent.right
                spacing:        _margin
+                visible:        !usingPreset
                QGCLabel { text: qsTr("Overlap"); Layout.fillWidth: true }
                FactTextField {
                    Layout.preferredWidth:  _root._fieldWidth
@@ -210,6 +228,7 @@ Column {
                text:                   qsTr("Select one:")
                Layout.preferredWidth:  parent.width
                Layout.columnSpan:      2
+                visible:                !usingPreset
            }
            GridLayout {
@@ -218,6 +237,7 @@ Column {
                columnSpacing:  _margin
                rowSpacing:     _margin
                columns:        2
+                visible:        !usingPreset
                QGCRadioButton {
                    id:                     fixedDistanceRadio
@@ -248,33 +268,6 @@ Column {
                    Layout.fillWidth:       true
                }
            }
-            // Calculated values
-/*
-            Taking these out for now since they take up so much space. May come back at a later time.
-            GridLayout {
-                anchors.left:   parent.left
-                anchors.right:  parent.right
-                columnSpacing:  _margin
-                rowSpacing:     _margin
-                columns:        2
-                QGCLabel { text: frontalDistanceLabel }
-                FactTextField {
-                    Layout.fillWidth:   true
-                    fact:               cameraCalc.adjustedFootprintFrontal
-                    enabled:            false
-                }
-                QGCLabel { text: sideDistanceLabel }
-                FactTextField {
-                    Layout.fillWidth:   true
-                    fact:               cameraCalc.adjustedFootprintSide
-                    enabled:            false
-                }
-            } // GridLayout
-*/
        } // Column - Camera spec based ui
        // No camera spec ui

--- a/src/PlanView/GeoFenceEditor.qml
+++ b/src/PlanView/GeoFenceEditor.qml
 import QtQuick          2.3
 import QtQuick.Controls 1.2
 import QtQuick.Layouts  1.2
+import QtPositioning    5.2
 import QGroundControl               1.0
 import QGroundControl.ScreenTools   1.0
@@ -53,7 +54,7 @@ QGCFlickable {
                anchors.top:        parent.top
                anchors.left:       parent.left
                anchors.right:      parent.right
-                spacing:            ScreenTools.defaultFontPixelHeight / 2
+                spacing:            _margin
                QGCLabel {
                    anchors.left:       parent.left
@@ -66,10 +67,10 @@ QGCFlickable {
                }
                Column {
-                    anchors.left:   parent.left
+                    anchors.left:       parent.left
-                    anchors.right:  parent.right
+                    anchors.right:      parent.right
-                    spacing:        ScreenTools.defaultFontPixelHeight / 2
+                    spacing:            _margin
-                    visible:        myGeoFenceController.supported
+                    visible:            myGeoFenceController.supported
                    Repeater {
                        model: myGeoFenceController.params
@@ -114,9 +115,8 @@ QGCFlickable {
                    }
                    QGCButton {
-                        anchors.left:   parent.left
+                        Layout.fillWidth:   true
-                        anchors.right:  parent.right
+                        text:               qsTr("Polygon Fence")
-                        text:           qsTr("Polygon Fence")
                        onClicked: {
                            var rect = Qt.rect(flightMap.centerViewport.x, flightMap.centerViewport.y, flightMap.centerViewport.width, flightMap.centerViewport.height)
@@ -127,9 +127,8 @@ QGCFlickable {
                    }
                    QGCButton {
-                        anchors.left:   parent.left
+                        Layout.fillWidth:   true
-                        anchors.right:  parent.right
+                        text:               qsTr("Circular Fence")
-                        text:           qsTr("Circular Fence")
                        onClicked: {
                            var rect = Qt.rect(flightMap.centerViewport.x, flightMap.centerViewport.y, flightMap.centerViewport.width, flightMap.centerViewport.height)
@@ -150,11 +149,10 @@ QGCFlickable {
                    }
                    GridLayout {
-                        anchors.left:   parent.left
+                        Layout.fillWidth:   true
-                        anchors.right:  parent.right
+                        columns:            3
-                        columns:        3
+                        flow:               GridLayout.TopToBottom
-                        flow:           GridLayout.TopToBottom
+                        visible:            polygonSection.checked && myGeoFenceController.polygons.count > 0
-                        visible:        polygonSection.checked && myGeoFenceController.polygons.count > 0
                        QGCLabel {
                            text:               qsTr("Inclusion")
@@ -224,11 +222,11 @@ QGCFlickable {
                    }
                    GridLayout {
-                        anchors.left:   parent.left
+                        anchors.left:       parent.left
-                        anchors.right:  parent.right
+                        anchors.right:      parent.right
-                        columns:        4
+                        columns:            4
-                        flow:           GridLayout.TopToBottom
+                        flow:               GridLayout.TopToBottom
-                        visible:        polygonSection.checked && myGeoFenceController.circles.count > 0
+                        visible:            polygonSection.checked && myGeoFenceController.circles.count > 0
                        QGCLabel {
                            text:               qsTr("Inclusion")
@@ -302,6 +300,46 @@ QGCFlickable {
                            }
                        }
                    } // GridLayout
+                    SectionHeader {
+                        id:     breachReturnSection
+                        text:   qsTr("Breach Return Point")
+                    }
+                    QGCButton {
+                        text:               qsTr("Add Breach Return Point")
+                        visible:            breachReturnSection.visible && !myGeoFenceController.breachReturnPoint.isValid
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        onClicked: myGeoFenceController.breachReturnPoint = flightMap.center
+                    }
+                    QGCButton {
+                        text:               qsTr("Remove Breach Return Point")
+                        visible:            breachReturnSection.visible && myGeoFenceController.breachReturnPoint.isValid
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        onClicked: myGeoFenceController.breachReturnPoint = QtPositioning.coordinate()
+                    }
+                    ColumnLayout {
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        spacing:            _margin
+                        visible:            breachReturnSection.visible && myGeoFenceController.breachReturnPoint.isValid
+                        QGCLabel {
+                            text: qsTr("Altitude")
+                        }
+                        AltitudeFactTextField {
+                            fact:           myGeoFenceController.breachReturnAltitude
+                            altitudeMode:   QGroundControl.AltitudeModeRelative
+                        }
+                    }
                }
            }
        }

--- a/src/PlanView/GeoFenceMapVisuals.qml
+++ b/src/PlanView/GeoFenceMapVisuals.qml
@@ -28,8 +28,8 @@ Item {
    property bool   planView:               false   ///< true: visuals showing in plan view
    property var    homePosition
-    //property var    _breachReturnPointComponent
+    property var    _breachReturnPointComponent
-    //property var    _mouseAreaComponent
+    property var    _breachReturnDragComponent
    property var    _paramCircleFenceComponent
    property var    _polygons:                  myGeoFenceController.polygons
    property var    _circles:                   myGeoFenceController.circles
@@ -75,30 +75,19 @@ Item {
    }
    Component.onCompleted: {
-        //_breachReturnPointComponent = breachReturnPointComponent.createObject(map)
+        _breachReturnPointComponent = breachReturnPointComponent.createObject(map)
-        //map.addMapItem(_breachReturnPointComponent)
+        map.addMapItem(_breachReturnPointComponent)
-        //_mouseAreaComponent = mouseAreaComponent.createObject(map)
+        _breachReturnDragComponent = breachReturnDragComponent.createObject(map, { "itemIndicator": _breachReturnPointComponent })
        _paramCircleFenceComponent = paramCircleFenceComponent.createObject(map)
        map.addMapItem(_paramCircleFenceComponent)
    }
    Component.onDestruction: {
-        //_breachReturnPointComponent.destroy()
+        _breachReturnPointComponent.destroy()
-        //_mouseAreaComponent.destroy()
+        _breachReturnDragComponent.destroy()
        _paramCircleFenceComponent.destroy()
    }
-    // Mouse area to capture breach return point coordinate
-    Component {
-        id: mouseAreaComponent
-        MouseArea {
-            anchors.fill:   map
-            visible:        interactive
-            onClicked:      myGeoFenceController.breachReturnPoint = map.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
-        }
-    }
    Instantiator {
        model: _polygons
@@ -144,6 +133,19 @@ Item {
        }
    }
+    Component {
+        id: breachReturnDragComponent
+        MissionItemIndicatorDrag {
+            mapControl:     map
+            itemCoordinate: myGeoFenceController.breachReturnPoint
+            //visible:        itemCoordinate.isValid
+            onItemCoordinateChanged: myGeoFenceController.breachReturnPoint = itemCoordinate
+        }
+    }
    // Breach return point
    Component {
        id: breachReturnPointComponent
@@ -155,7 +157,8 @@ Item {
            coordinate:     myGeoFenceController.breachReturnPoint
            sourceItem: MissionItemIndexLabel {
-                label: "B"
+                label:      qsTr("B", "Breach Return Point item indicator")
+                checked:    true
            }
        }
    }

--- a/src/PlanView/PlanView.qml
+++ b/src/PlanView/PlanView.qml
--- a/src/PlanView/SurveyItemEditor.qml
+++ b/src/PlanView/SurveyItemEditor.qml
 import QtQuick          2.3
 import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.4
 import QtQuick.Dialogs  1.2
 import QtQuick.Extras   1.4
 import QtQuick.Layouts  1.2
@@ -29,6 +28,8 @@ Rectangle {
    property real   _fieldWidth:                ScreenTools.defaultFontPixelWidth * 10.5
    property var    _vehicle:                   QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
    property real   _cameraMinTriggerInterval:  missionItem.cameraCalc.minTriggerInterval.rawValue
+    property string _currentPreset:             missionItem.currentPreset
+    property bool   _usingPreset:               _currentPreset !== ""
    function polygonCaptureStarted() {
        missionItem.clearPolygon()
@@ -66,6 +67,97 @@ Rectangle {
            visible:        missionItem.cameraShots > 0 && _cameraMinTriggerInterval !== 0 && _cameraMinTriggerInterval > missionItem.timeBetweenShots
        }
+        QGCLabel {
+            text: qsTr("Presets")
+        }
+        QGCComboBox {
+            id:                 presetCombo
+            anchors.left:       parent.left
+            anchors.right:      parent.right
+            model:              _presetList
+            property var _presetList:   []
+            readonly property int _indexCustom:         0
+            readonly property int _indexCreate:         1
+            readonly property int _indexDelete:         2
+            readonly property int _indexLabel:          3
+            readonly property int _indexFirstPreset:    4
+            Component.onCompleted: _updateList()
+            onActivated: {
+                if (index == _indexCustom) {
+                    missionItem.clearCurrentPreset()
+                } else if (index == _indexCreate) {
+                    rootQgcView.showDialog(savePresetDialog, qsTr("Save Preset"), rootQgcView.showDialogDefaultWidth, StandardButton.Save | StandardButton.Cancel)
+                } else if (index == _indexDelete) {
+                    if (missionItem.builtInPreset) {
+                        rootQgcView.showMessage(qsTr("Delete Preset"), qsTr("This preset cannot be deleted."), StandardButton.Ok)
+                    } else {
+                        missionItem.deleteCurrentPreset()
+                    }
+                } else if (index >= _indexFirstPreset) {
+                    missionItem.loadPreset(textAt(index))
+                } else {
+                    _selectCurrentPreset()
+                }
+            }
+            Connections {
+                target: missionItem
+                onPresetNamesChanged:   presetCombo._updateList()
+                onCurrentPresetChanged: presetCombo._selectCurrentPreset()
+            }
+            // There is some major strangeness going on with programatically changing the index of a combo box in this scenario.
+            // If you just set currentIndex directly it will just change back 1o -1 magically. Has something to do with resetting
+            // model on the fly I think. But not sure. To work around I delay the currentIndex changes to let things unwind.
+            Timer {
+                id:         delayedIndexChangeTimer
+                interval:   10
+                property int newIndex
+                onTriggered:  presetCombo.currentIndex = newIndex
+            }
+            function delayedIndexChange(index) {
+                delayedIndexChangeTimer.newIndex = index
+                delayedIndexChangeTimer.start()
+            }
+            function _updateList() {
+                _presetList = []
+                _presetList.push(qsTr("Custom (specify all settings)"))
+                _presetList.push(qsTr("Save Settings As Preset"))
+                _presetList.push(qsTr("Delete Current Preset"))
+                if (missionItem.presetNames.length !== 0) {
+                    _presetList.push(qsTr("Presets:"))
+                }
+                for (var i=0; i<missionItem.presetNames.length; i++) {
+                    _presetList.push(missionItem.presetNames[i])
+                }
+                model = _presetList
+                _selectCurrentPreset()
+            }
+            function _selectCurrentPreset() {
+                if (_usingPreset) {
+                    var newIndex = find(_currentPreset)
+                    if (newIndex !== -1) {
+                        delayedIndexChange(newIndex)
+                        return
+                    }
+                }
+                delayedIndexChange(presetCombo._indexCustom)
+            }
+        }
        CameraCalc {
            cameraCalc:                     missionItem.cameraCalc
            vehicleFlightIsFrontal:         true
@@ -73,6 +165,8 @@ Rectangle {
            distanceToSurfaceAltitudeMode:  missionItem.followTerrain ? QGroundControl.AltitudeModeAboveTerrain : QGroundControl.AltitudeModeRelative
            frontalDistanceLabel:           qsTr("Trigger Dist")
            sideDistanceLabel:              qsTr("Spacing")
+            usingPreset:                    _usingPreset
+            cameraSpecifiedInPreset:        missionItem.cameraInPreset
        }
        SectionHeader {
@@ -109,23 +203,27 @@ Rectangle {
                updateValueWhileDragging: true
            }
-            QGCLabel { text: qsTr("Turnaround dist") }
+            QGCLabel {
+                text:       qsTr("Turnaround dist")
+                visible:    !_usingPreset
+            }
            FactTextField {
                fact:               missionItem.turnAroundDistance
                Layout.fillWidth:   true
+                visible:            !_usingPreset
            }
        }
+        QGCButton {
+            text:               qsTr("Rotate Entry Point")
+            onClicked:          missionItem.rotateEntryPoint();
+        }
        ColumnLayout {
            anchors.left:   parent.left
            anchors.right:  parent.right
            spacing:        _margin
-            visible:        transectsHeader.checked
+            visible:        transectsHeader.checked && !_usingPreset
-            QGCButton {
-                text:               qsTr("Rotate Entry Point")
-                onClicked:          missionItem.rotateEntryPoint();
-            }
            /*
              Temporarily removed due to bug https://github.com/mavlink/qgroundcontrol/issues/7005
@@ -187,13 +285,15 @@ Rectangle {
            id:         terrainHeader
            text:       qsTr("Terrain")
            checked:    missionItem.followTerrain
+            visible:    !_usingPreset
        }
        ColumnLayout {
            anchors.left:   parent.left
            anchors.right:  parent.right
            spacing:        _margin
-            visible:        terrainHeader.checked
+            visible:        terrainHeader.checked && !_usingPreset
            QGCCheckBox {
                id:         followsTerrainCheckBox
@@ -236,4 +336,45 @@ Rectangle {
        TransectStyleComplexItemStats { }
    } // Column
+    Component {
+        id: savePresetDialog
+        QGCViewDialog {
+            function accept() {
+                if (presetNameField.text != "") {
+                    missionItem.savePreset(presetNameField.text)
+                    hideDialog()
+                }
+            }
+            ColumnLayout {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                spacing:        ScreenTools.defaultFontPixelHeight
+                QGCLabel {
+                    Layout.fillWidth:   true
+                    text:               qsTr("Save the current settings as a named preset.")
+                    wrapMode:           Text.WordWrap
+                }
+                QGCLabel {
+                    text: qsTr("Preset Name")
+                }
+                QGCTextField {
+                    id:                 presetNameField
+                    Layout.fillWidth:   true
+                    text:               _currentPreset
+                }
+                QGCCheckBox {
+                    text:       qsTr("Save Camera In Preset")
+                    checked:    missionItem.cameraInPreset
+                    onClicked:  missionItem.cameraInPreset = checked
+                }
+            }
+        }
+    }
 } // Rectangle
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -2975,13 +2975,13 @@ QString Vehicle::gotoFlightMode() const
    return _firmwarePlugin->gotoFlightMode();
 }
-void Vehicle::guidedModeRTL(void)
+void Vehicle::guidedModeRTL(bool smartRTL)
 {
    if (!guidedModeSupported()) {
        qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
        return;
    }
-    _firmwarePlugin->guidedModeRTL(this);
+    _firmwarePlugin->guidedModeRTL(this, smartRTL);
 }
 void Vehicle::guidedModeLand(void)
@@ -3602,6 +3602,16 @@ QString Vehicle::rtlFlightMode(void) const
    return _firmwarePlugin->rtlFlightMode();
 }
+QString Vehicle::smartRTLFlightMode(void) const
+{
+    return _firmwarePlugin->smartRTLFlightMode();
+}
+bool Vehicle::supportsSmartRTL(void) const
+{
+    return _firmwarePlugin->supportsSmartRTL();
+}
 QString Vehicle::landFlightMode(void) const
 {
    return _firmwarePlugin->landFlightMode();

--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -600,6 +600,8 @@ public:
    Q_PROPERTY(QString              missionFlightMode       READ missionFlightMode                                      CONSTANT)
    Q_PROPERTY(QString              pauseFlightMode         READ pauseFlightMode                                        CONSTANT)
    Q_PROPERTY(QString              rtlFlightMode           READ rtlFlightMode                                          CONSTANT)
+    Q_PROPERTY(QString              smartRTLFlightMode      READ smartRTLFlightMode                                     CONSTANT)
+    Q_PROPERTY(bool                 supportsSmartRTL        READ supportsSmartRTL                                       CONSTANT)
    Q_PROPERTY(QString              landFlightMode          READ landFlightMode                                         CONSTANT)
    Q_PROPERTY(QString              takeControlFlightMode   READ takeControlFlightMode                                  CONSTANT)
    Q_PROPERTY(QString              firmwareTypeString      READ firmwareTypeString                                     NOTIFY firmwareTypeChanged)
@@ -698,7 +700,7 @@ public:
    Q_INVOKABLE void disconnectInactiveVehicle(void);
    /// Command vehicle to return to launch
-    Q_INVOKABLE void guidedModeRTL(void);
+    Q_INVOKABLE void guidedModeRTL(bool smartRTL);
    /// Command vehicle to land at current location
    Q_INVOKABLE void guidedModeLand(void);
@@ -919,6 +921,8 @@ public:
    QString         missionFlightMode       () const;
    QString         pauseFlightMode         () const;
    QString         rtlFlightMode           () const;
+    QString         smartRTLFlightMode      () const;
+    bool            supportsSmartRTL        () const;
    QString         landFlightMode          () const;
    QString         takeControlFlightMode   () const;
    double          defaultCruiseSpeed      () const { return _defaultCruiseSpeed; }

--- a/src/comm/SerialLink.h
+++ b/src/comm/SerialLink.h
@@ -145,6 +145,9 @@ public:
    bool    connect(void);
    bool    disconnect(void);
+    /// Don't even think of calling this method!
+    QSerialPort* _hackAccessToPort(void) { return _port; }
 private slots:
    /**
     * @brief Write a number of bytes to the interface.