src/MissionManager/MissionCommandTree.cc

@@ -219,7 +219,7 @@ const MissionCommandUIInfo* MissionCommandTree::getUIInfo(Vehicle* vehicle, MAV_
     }
 }
 
-QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const QString& category)
+QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const QString& category, bool showFlyThroughCommands)
 {
     MAV_AUTOPILOT   baseFirmwareType;
     MAV_TYPE        baseVehicleType;
@@ -237,7 +237,8 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const
     for (MAV_CMD command: commandMap.keys()) {
         if (supportedCommands.contains(command)) {
             MissionCommandUIInfo* uiInfo = commandMap[command];
-            if (uiInfo->category() == category || category == _allCommandsCategory) {
+            if ((uiInfo->category() == category || category == _allCommandsCategory) &&
+                    (showFlyThroughCommands || !uiInfo->specifiesCoordinate() || uiInfo->isStandaloneCoordinate())) {
                 list.append(QVariant::fromValue(uiInfo));
             }
         }

src/MissionManager/MissionCommandTree.h

@@ -62,7 +62,8 @@ public:
 
     const MissionCommandUIInfo* getUIInfo(Vehicle* vehicle, MAV_CMD command);
 
-   Q_INVOKABLE QVariantList getCommandsForCategory(Vehicle* vehicle, const QString& category);
+    /// @param showFlyThroughCommands - true: al commands shows, false: filter out commands which the vehicle flies through (specifiedCoordinate=true, standaloneCoordinate=false)
+    Q_INVOKABLE QVariantList getCommandsForCategory(Vehicle* vehicle, const QString& category, bool showFlyThroughCommands);
 
     // Overrides from QGCTool
     virtual void setToolbox(QGCToolbox* toolbox);

src/MissionManager/MissionController.cc

@@ -2183,12 +2183,14 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
     if (_visualItems && (force || sequenceNumber != _currentPlanViewIndex)) {
         bool    foundLand =     false;
         int     takeoffIndex =  -1;
+        int     landIndex =     -1;
 
         _splitSegment =                 nullptr;
         _currentPlanViewItem  =         nullptr;
         _currentPlanViewIndex =         -1;
         _isInsertTakeoffValid =         true;
         _isInsertLandValid =            true;
+        _flyThroughCommandsAllowed =    true;
 
         for (int i = 0; i < _visualItems->count(); i++) {
             VisualMissionItem* pVI = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
@@ -2214,6 +2216,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
                     case MAV_CMD_DO_LAND_START:
                     case MAV_CMD_NAV_RETURN_TO_LAUNCH:
                         foundLand = true;
+                        landIndex = i;
                         break;
                     default:
                         break;
@@ -2222,6 +2225,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
                     FixedWingLandingComplexItem* fwLanding = qobject_cast<FixedWingLandingComplexItem*>(pVI);
                     if (fwLanding) {
                         foundLand = true;
+                        landIndex = i;
                     }
                 }
             }
@@ -2248,13 +2252,23 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
             }
         }
 
-        if (takeoffIndex != -1 && sequenceNumber <= takeoffIndex) {
-            // Takeoff item was found which means mission starts from ground.
+        if (takeoffIndex != -1) {
+            // Takeoff item was found which means mission starts from ground
+            if (sequenceNumber < takeoffIndex) {
                 // Land is only valid after the takeoff item.
                 _isInsertLandValid = false;
-        } else if (foundLand) {
-            // Can't have to land sequences
+                // Fly through commands are not allowed prior to the takeoff command
+                _flyThroughCommandsAllowed = false;
+            }
+        }
+
+        if (foundLand) {
+            // Can't have more than one land sequence
             _isInsertLandValid = false;
+            if (sequenceNumber >= landIndex) {
+                // Can't have fly through commands after a land item
+                _flyThroughCommandsAllowed = false;
+            }
         }
 
         emit currentPlanViewIndexChanged();
@@ -2262,6 +2276,7 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
         emit splitSegmentChanged();
         emit isInsertTakeoffValidChanged();
         emit isInsertLandValidChanged();
+        emit flyThroughCommandsAllowedChanged();
     }
 }
 

src/MissionManager/MissionController.h

@@ -92,8 +92,9 @@ public:
     Q_PROPERTY(QString              surveyComplexItemName           READ surveyComplexItemName          CONSTANT)
     Q_PROPERTY(QString              corridorScanComplexItemName     READ corridorScanComplexItemName    CONSTANT)
     Q_PROPERTY(QString              structureScanComplexItemName    READ structureScanComplexItemName   CONSTANT)
-    Q_PROPERTY(bool                 isInsertTakeoffValid            MEMBER _isInsertTakeoffValid        NOTIFY isInsertTakeoffValidChanged) ///< true: Takeoff tool should be enabled
-    Q_PROPERTY(bool                 isInsertLandValid               MEMBER _isInsertLandValid           NOTIFY isInsertLandValidChanged)    ///< true: Land tool should be enabled
+    Q_PROPERTY(bool                 isInsertTakeoffValid            MEMBER _isInsertTakeoffValid        NOTIFY isInsertTakeoffValidChanged)
+    Q_PROPERTY(bool                 isInsertLandValid               MEMBER _isInsertLandValid           NOTIFY isInsertLandValidChanged)
+    Q_PROPERTY(bool                 flyThroughCommandsAllowed       MEMBER _flyThroughCommandsAllowed   NOTIFY flyThroughCommandsAllowedChanged)
 
     Q_INVOKABLE void removeMissionItem(int index);
 
@@ -254,6 +255,7 @@ signals:
     void missionItemCountChanged            (int missionItemCount);
     void isInsertTakeoffValidChanged        (void);
     void isInsertLandValidChanged           (void);
+    void flyThroughCommandsAllowedChanged   (void);
 
 private slots:
     void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
@@ -332,6 +334,7 @@ private:
     CoordinateVector*       _splitSegment;
     bool                    _isInsertTakeoffValid =         true;
     bool                    _isInsertLandValid =            true;
+    bool                    _flyThroughCommandsAllowed =    true;
 
     static const char*  _settingsGroup;
 

src/MissionManager/SimpleMissionItem.cc

@@ -399,6 +399,7 @@ QString SimpleMissionItem::abbreviation() const
     case MAV_CMD_NAV_VTOL_LAND:
         return tr("VTOL Land");
     case MAV_CMD_DO_SET_ROI:
+    case MAV_CMD_DO_SET_ROI_LOCATION:
         return tr("ROI");
     default:
         return QString();

src/PlanView/MissionItemEditor.qml

@@ -242,6 +242,7 @@ Rectangle {
             MissionCommandDialog {
                 missionItem:                _root.missionItem
                 map:                        _root.map
+                flyThroughCommandsAllowed:  _missionController.flyThroughCommandsAllowed
             }
         }
 

src/PlanView/PlanView.qml

@@ -304,10 +304,8 @@ Item {
     ///     @param coordinate Location to insert item
     ///     @param index Insert item at this index
     function insertROIMissionItem(coordinate, index) {
-        var sequenceNumber = _missionController.insertROIMissionItem(coordinate, index)
-        _missionController.setCurrentPlanViewIndex(sequenceNumber, true)
+        _missionController.insertROIMissionItem(coordinate, index, true /* makeCurrentItem */)
         _addROIOnClick = false
-        toolStrip.lastClickedButton.checked = false
     }
 
     function selectNextNotReady() {
@@ -491,6 +489,7 @@ Item {
                             _addROIOnClick = false
                             insertROIMissionItem(coordinate, _missionController.visualItems.count)
                         }
+
                         break
                     case _layerRallyPoints:
                         if (_rallyPointController.supported && _addWaypointOnClick) {
@@ -632,7 +631,8 @@ Item {
             readonly property int landButtonIndex:      6
             readonly property int centerButtonIndex:    7
 
-            property bool _isRally:     _editingLayer == _layerRallyPoints
+            property bool _isRallyLayer:    _editingLayer == _layerRallyPoints
+            property bool _isMissionLayer:  _editingLayer == _layerMission
 
             model: [
                 {
@@ -654,13 +654,13 @@ Item {
                     name:               qsTr("Takeoff"),
                     iconSource:         "/res/takeoff.svg",
                     buttonEnabled:      _missionController.isInsertTakeoffValid,
-                    buttonVisible:      _editingLayer == _layerMission
+                    buttonVisible:      _isMissionLayer
                 },
                 {
                     name:               _editingLayer == _layerRallyPoints ? qsTr("Rally Point") : qsTr("Waypoint"),
                     iconSource:         "/qmlimages/MapAddMission.svg",
-                    buttonEnabled:      true,
-                    buttonVisible:      true,
+                    buttonEnabled:      _isRallyLayer ? true : _missionController.flyThroughCommandsAllowed,
+                    buttonVisible:      _isRallyLayer || _isMissionLayer,
                     toggle:             true,
                     checked:            _addWaypointOnClick
                 },
@@ -668,21 +668,21 @@ Item {
                     name:               qsTr("ROI"),
                     iconSource:         "/qmlimages/MapAddMission.svg",
                     buttonEnabled:      true,
-                    buttonVisible:      !_isRally && _waypointsOnlyMode,
+                    buttonVisible:      _isMissionLayer,
                     toggle:             true
                 },
                 {
                     name:               _singleComplexItem ? _missionController.complexMissionItemNames[0] : qsTr("Pattern"),
                     iconSource:         "/qmlimages/MapDrawShape.svg",
-                    buttonEnabled:      true,
-                    buttonVisible:      !_isRally,
+                    buttonEnabled:      _missionController.flyThroughCommandsAllowed,
+                    buttonVisible:      _isMissionLayer,
                     dropPanelComponent: _singleComplexItem ? undefined : patternDropPanel
                 },
                 {
                     name:               _planMasterController.controllerVehicle.fixedWing ? qsTr("Land") : qsTr("Return"),
                     iconSource:         "/res/rtl.svg",
                     buttonEnabled:      _missionController.isInsertLandValid,
-                    buttonVisible:      _editingLayer == _layerMission
+                    buttonVisible:      _isMissionLayer
                 },
                 {
                     name:               qsTr("Center"),
@@ -693,39 +693,49 @@ Item {
                 }
             ]
 
+            function allAddClickBoolsOff() {
+                _addROIOnClick =        false
+                _addWaypointOnClick =   false
+            }
+
             onClicked: {
                 switch (index) {
                 case flyButtonIndex:
                     mainWindow.showFlyView()
                     break
                 case takeoffButtonIndex:
+                    allAddClickBoolsOff()
                     _missionController.insertTakeoffItem(mapCenter(), _missionController.currentMissionIndex, true /* makeCurrentItem */)
                     break
                 case waypointButtonIndex:
-                    if(_addWaypointOnClick) {
-                        //-- Toggle it off
-                        _addWaypointOnClick = false
-                        _addROIOnClick = false
+                    if (_addWaypointOnClick) {
+                        allAddClickBoolsOff()
                         setChecked(index, false)
                     } else {
+                        allAddClickBoolsOff()
                         _addWaypointOnClick = checked
-                        _addROIOnClick = false
                     }
                     break
                 case roiButtonIndex:
+                    allAddClickBoolsOff()
                     _addROIOnClick = checked
-                    _addWaypointOnClick = false
                     break
                 case patternButtonIndex:
+                    allAddClickBoolsOff()
                     if (_singleComplexItem) {
                         addComplexItem(_missionController.complexMissionItemNames[0])
                     }
                     break
                 case landButtonIndex:
+                    allAddClickBoolsOff()
                     _missionController.insertLandItem(mapCenter(), _missionController.currentMissionIndex, true /* makeCurrentItem */)
                     break
                 }
             }
+
+            onDropped: {
+                allAddClickBoolsOff()
+            }
         }
 
         //-----------------------------------------------------------
@@ -1257,8 +1267,6 @@ Item {
                     }
                 }
             }
-
-
         }
     }
 }

src/QmlControls/MissionCommandDialog.qml

@@ -21,6 +21,7 @@ QGCViewDialog {
 
     property var    missionItem
     property var    map
+    property bool   flyThroughCommandsAllowed
 
     property var _vehicle: QGroundControl.multiVehicleManager.activeVehicle
 
@@ -40,7 +41,7 @@ QGCViewDialog {
         model:              QGroundControl.missionCommandTree.categoriesForVehicle(_vehicle)
 
         function categorySelected(category) {
-            commandList.model = QGroundControl.missionCommandTree.getCommandsForCategory(_vehicle, category)
+            commandList.model = QGroundControl.missionCommandTree.getCommandsForCategory(_vehicle, category, flyThroughCommandsAllowed)
         }
 
         Component.onCompleted: {

src/QmlControls/ToolStrip.qml

@@ -36,6 +36,7 @@ Rectangle {
     property real _idealWidth: (ScreenTools.isMobile ? ScreenTools.minTouchPixels : ScreenTools.defaultFontPixelWidth * 8) + toolStripColumn.anchors.margins * 2
 
     signal clicked(int index, bool checked)
+    signal dropped(int index)
 
     function setChecked(idx, check) {
         repeater.itemAt(idx).checked = check
@@ -88,6 +89,7 @@ Rectangle {
                     } else if (checked) {
                         var panelEdgeTopPoint = mapToItem(_root, width, 0)
                         dropPanel.show(panelEdgeTopPoint, height, modelData.dropPanelComponent)
+                        _root.dropped(index)
                     }
                     if(_root && buttonTemplate)
                         _root.lastClickedButton = buttonTemplate