Merge branch 'master' into apm_support

QGCApplication.pro

@@ -141,6 +141,7 @@ INCLUDEPATH += \
     src/AutoPilotPlugins \
     src/comm \
     src/FlightDisplay \
+    src/FlightMap \
     src/input \
     src/Joystick \
     src/lib/qmapcontrol \
@@ -239,6 +240,7 @@ HEADERS += \
     src/comm/UDPLink.h \
     src/FlightDisplay/FlightDisplayWidget.h \
     src/FlightDisplay/FlightDisplayView.h \
+    src/FlightMap/FlightMapSettings.h \
     src/GAudioOutput.h \
     src/HomePositionManager.h \
     src/Joystick/Joystick.h \
@@ -374,6 +376,7 @@ SOURCES += \
     src/comm/UDPLink.cc \
     src/FlightDisplay/FlightDisplayWidget.cc \
     src/FlightDisplay/FlightDisplayView.cc \
+    src/FlightMap/FlightMapSettings.cc \
     src/GAudioOutput.cc \
     src/HomePositionManager.cc \
     src/Joystick/Joystick.cc \
@@ -508,40 +511,44 @@ INCLUDEPATH += \
 	src/qgcunittest
 
 HEADERS += \
-    src/qgcunittest/FlightGearTest.h \
-    src/qgcunittest/MultiSignalSpy.h \
-    src/qgcunittest/TCPLinkTest.h \
-    src/qgcunittest/TCPLoopBackServer.h \
     src/FactSystem/FactSystemTestBase.h \
     src/FactSystem/FactSystemTestGeneric.h \
     src/FactSystem/FactSystemTestPX4.h \
+    src/MissionItemTest.h \
+    src/MissionManager/MissionManagerTest.h \
     src/qgcunittest/FileDialogTest.h \
+    src/qgcunittest/FileManagerTest.h \
+    src/qgcunittest/FlightGearTest.h \
     src/qgcunittest/LinkManagerTest.h \
     src/qgcunittest/MainWindowTest.h \
     src/qgcunittest/MavlinkLogTest.h \
     src/qgcunittest/MessageBoxTest.h \
+    src/qgcunittest/MultiSignalSpy.h \
+    src/qgcunittest/PX4RCCalibrationTest.h \
+    src/qgcunittest/TCPLinkTest.h \
+    src/qgcunittest/TCPLoopBackServer.h \
     src/qgcunittest/UnitTest.h \
     src/VehicleSetup/SetupViewTest.h \
-    src/qgcunittest/FileManagerTest.h \
-    src/qgcunittest/PX4RCCalibrationTest.h \
 
 SOURCES += \
-    src/qgcunittest/FlightGearTest.cc \
-    src/qgcunittest/MultiSignalSpy.cc \
-    src/qgcunittest/TCPLinkTest.cc \
-    src/qgcunittest/TCPLoopBackServer.cc \
     src/FactSystem/FactSystemTestBase.cc \
     src/FactSystem/FactSystemTestGeneric.cc \
     src/FactSystem/FactSystemTestPX4.cc \
+    src/MissionItemTest.cc \
+    src/MissionManager/MissionManagerTest.cc \
     src/qgcunittest/FileDialogTest.cc \
+    src/qgcunittest/FileManagerTest.cc \
+    src/qgcunittest/FlightGearTest.cc \
     src/qgcunittest/LinkManagerTest.cc \
     src/qgcunittest/MainWindowTest.cc \
     src/qgcunittest/MavlinkLogTest.cc \
     src/qgcunittest/MessageBoxTest.cc \
+    src/qgcunittest/MultiSignalSpy.cc \
+    src/qgcunittest/PX4RCCalibrationTest.cc \
+    src/qgcunittest/TCPLinkTest.cc \
+    src/qgcunittest/TCPLoopBackServer.cc \
     src/qgcunittest/UnitTest.cc \
     src/VehicleSetup/SetupViewTest.cc \
-    src/qgcunittest/FileManagerTest.cc \
-    src/qgcunittest/PX4RCCalibrationTest.cc \
 
 } # DebugBuild|WindowsDebugAndRelease
 } # MobileBuild

qgroundcontrol.qrc

@@ -43,6 +43,7 @@
         <file alias="PowerComponentBattery_04cell.svg">src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_04cell.svg</file>
         <file alias="PowerComponentBattery_05cell.svg">src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_05cell.svg</file>
         <file alias="PowerComponentBattery_06cell.svg">src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_06cell.svg</file>
+
         <file alias="attitudeDial.svg">src/FlightMap/Images/attitudeDial.svg</file>
         <file alias="attitudeInstrument.svg">src/FlightMap/Images/attitudeInstrument.svg</file>
         <file alias="attitudePointer.svg">src//FlightMap/Images/attitudePointer.svg</file>
@@ -61,6 +62,10 @@
         <file alias="scale_end.png">src/FlightMap/Images/scale_end.png</file>
         <file alias="airplaneOutline.svg">src/FlightMap/Images/airplaneOutline.svg</file>
         <file alias="airplaneOpaque.svg">src/FlightMap/Images/airplaneOpaque.svg</file>
+        <file alias="MapType.svg">src/FlightMap/Images/MapType.svg</file>
+        <file alias="MapCenter.svg">src/FlightMap/Images/MapCenter.svg</file>
+        <file alias="ZoomPlus.svg">src/FlightMap/Images/ZoomPlus.svg</file>
+        <file alias="ZoomMinus.svg">src/FlightMap/Images/ZoomMinus.svg</file>
     </qresource>
     <qresource prefix="/qml">
         <file alias="test.qml">src/test.qml</file>
@@ -102,6 +107,7 @@
         <file alias="QGroundControl/Controls/MissionItemSummary.qml">src/QmlControls/MissionItemSummary.qml</file>
         <file alias="QGroundControl/Controls/MissionItemEditor.qml">src/QmlControls/MissionItemEditor.qml</file>
         <file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
+        <file alias="QGroundControl/Controls/QGCCanvas.qml">src/QmlControls/QGCCanvas.qml</file>
 
         <!-- Vehicle Setup -->
         <file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>

src/FlightDisplay/FlightDisplayView.cc

@@ -91,19 +91,3 @@ FlightDisplayView::FlightDisplayView(QWidget *parent)
 FlightDisplayView::~FlightDisplayView()
 {
 }
-
-void FlightDisplayView::saveSetting(const QString &name, const QString& value)
-{
-    QSettings settings;
-    QString key(kMainFlightDisplayViewGroup);
-    key += "/" + name;
-    settings.setValue(key, value);
-}
-
-QString FlightDisplayView::loadSetting(const QString &name, const QString& defaultValue)
-{
-    QSettings settings;
-    QString key(kMainFlightDisplayViewGroup);
-    key += "/" + name;
-    return settings.value(key, defaultValue).toString();
-}

src/FlightDisplay/FlightDisplayView.h

@@ -38,9 +38,6 @@ public:
 
     Q_PROPERTY(bool hasVideo READ hasVideo CONSTANT)
 
-    Q_INVOKABLE void    saveSetting (const QString &key, const QString& value);
-    Q_INVOKABLE QString loadSetting (const QString &key, const QString& defaultValue);
-
 #if defined(QGC_GST_STREAMING)
     bool    hasVideo            () { return true; }
 #else

src/FlightDisplay/FlightDisplayView.qml

@@ -26,7 +26,9 @@ import QtQuick.Controls         1.3
 import QtQuick.Controls.Styles  1.2
 import QtQuick.Dialogs          1.2
 import QtLocation               5.3
+import QtPositioning            5.2
 
+import QGroundControl               1.0
 import QGroundControl.FlightMap     1.0
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Controls      1.0
@@ -66,7 +68,7 @@ Item {
     property real _airSpeed:        _activeVehicle ? _activeVehicle.airSpeed : _defaultAirSpeed
     property real _climbRate:       _activeVehicle ? _activeVehicle.climbRate : _defaultClimbRate
 
-    property bool _showMap: getBool(multiVehicleManager.loadSetting(_mapName + _showMapBackgroundKey, "1"))
+    property bool _showMap: getBool(QGroundControl.flightMapSettings.loadMapSetting(flightMap.mapName, _showMapBackgroundKey, "1"))
 
     // Validate _showMap setting
     Component.onCompleted: _setShowMap(_showMap)
@@ -81,7 +83,7 @@ Item {
 
     function _setShowMap(showMap) {
         _showMap = flightDisplay.hasVideo ? showMap : true
-        multiVehicleManager.saveSetting(_mapName + _showMapBackgroundKey, setBool(_showMap))
+        QGroundControl.flightMapSettings.saveMapSetting(flightMap.mapName, _showMapBackgroundKey, setBool(_showMap))
     }
 
     FlightMap {
@@ -92,6 +94,13 @@ Item {
         longitude:      parent._longitude
         visible:        _showMap
 
+        // Home position
+        MissionItemIndicator {
+            label:          "H"
+            coordinate:     (_activeVehicle && _activeVehicle.homePositionAvailable) ? _activeVehicle.homePosition : QtPositioning.coordinate(0, 0)
+            visible:        _activeVehicle ? _activeVehicle.homePositionAvailable : false
+        }
+
         // Add the vehicles to the map
         MapItemView {
             model: multiVehicleManager.vehicles
@@ -141,7 +150,6 @@ Item {
             size:       ScreenTools.defaultFontPixelSize * (13.3)
             heading:    _heading
             active:     multiVehicleManager.activeVehicleAvailable
-            z:          flightMap.z + 2
         }
 
         QGCAttitudeWidget {
@@ -152,8 +160,39 @@ Item {
             rollAngle:              _roll
             pitchAngle:             _pitch
             active:                 multiVehicleManager.activeVehicleAvailable
-            z:                      flightMap.z + 2
         }
+
+        DropButton {
+            id:                 mapTypeButton
+            anchors.margins:    ScreenTools.defaultFontPixelHeight
+            anchors.top:        parent.top
+            anchors.right:      parent.right
+            dropDirection:      dropDown
+            buttonImage:        "/qmlimages/MapType.svg"
+            viewportMargins:    ScreenTools.defaultFontPixelWidth / 2
+
+            dropDownComponent: Component {
+                Row {
+                    spacing: ScreenTools.defaultFontPixelWidth
+
+                    Repeater {
+                        model: QGroundControl.flightMapSettings.mapTypes
+
+                        QGCButton {
+                            checkable:  true
+                            checked:    flightMap.mapType == text
+                            text:       modelData
+
+                            onClicked: {
+                                flightMap.mapType = text
+                                mapTypeButton.hideDropDown()
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
     } // Flight Map
 
     QGCVideoBackground {
@@ -280,8 +319,6 @@ Item {
             MenuSeparator {
                 visible: flightDisplay.hasVideo && _showMap
             }
-
-            Component.onCompleted: flightMap.addMapMenuItems(optionsMenu)
         }
     }
 }

src/FlightMap/FlightMap.qml

@@ -32,6 +32,7 @@ import QtQuick.Controls 1.3
 import QtLocation       5.3
 import QtPositioning    5.3
 
+import QGroundControl                       1.0
 import QGroundControl.Controls              1.0
 import QGroundControl.FlightMap             1.0
 import QGroundControl.ScreenTools           1.0
@@ -47,6 +48,7 @@ Map {
     property real   heading:            0
     property bool   interactive:        true
     property string mapName:            'defaultMap'
+    property string mapType:            QGroundControl.flightMapSettings.mapTypeForMapName(mapName)
     property alias  mapWidgets:         controlWidgets
     property bool   isSatelliteMap:     false
         
@@ -61,45 +63,20 @@ Map {
     plugin: Plugin { name: "QGroundControl" }
 
     ExclusiveGroup { id: mapTypeGroup }
-    
-    // Map type selection MenuItem
-    Component {
-        id: menuItemComponent
-        
-        MenuItem {
-            checkable:      true
-            checked:        text == _map.activeMapType.name
-            exclusiveGroup: mapTypeGroup
-            visible:        _map.visible
-            
-            onTriggered: setCurrentMap(text)
-        }
-    }
-    
-    // Set the current map type to the specified type name
-    function setCurrentMap(name) {
+
+    Component.onCompleted: onMapTypeChanged
+
+    onMapTypeChanged: {
+        QGroundControl.flightMapSettings.setMapTypeForMapName(mapName, mapType)
+        var fullMapName = QGroundControl.flightMapSettings.mapProvider + " " + mapType
         for (var i = 0; i < _map.supportedMapTypes.length; i++) {
-            if (name === _map.supportedMapTypes[i].name) {
+            if (fullMapName === _map.supportedMapTypes[i].name) {
                 _map.activeMapType = _map.supportedMapTypes[i]
-                multiVehicleManager.saveSetting(_map.mapName + "/currentMapType", name);
-                return;
+                return
             }
         }
     }
-    
-    // Add menu map types to the specified menu and sets the current map type from settings
-    function addMapMenuItems(menu) {
-        var savedMapName = multiVehicleManager.loadSetting(_map.mapName + "/currentMapType", "")
-        
-        setCurrentMap(savedMapName)
-        
-        for (var i = 0; i < _map.supportedMapTypes.length; i++) {
-            var menuItem = menuItemComponent.createObject()
-            menuItem.text = _map.supportedMapTypes[i].name
-            menu.insertItem(menu.items.length, menuItem)
-        }
-    }
-    
+
     /// Map control widgets
     Column {
         id:                 controlWidgets
@@ -137,6 +114,7 @@ Map {
 
             QGCButton {
                 width:  parent._buttonWidth
+                //iconSource: "/qmlimages/ZoomPlus.svg"
                 text:   "+"
                 
                 onClicked: {
@@ -152,6 +130,7 @@ Map {
             
             QGCButton {
                 width:  parent._buttonWidth
+                //iconSource: "/qmlimages/ZoomMinus.svg"
                 text:   "-"
                 
                 onClicked: {

src/FlightMap/FlightMapSettings.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "FlightMapSettings.h"
+
+#include <QSettings>
+#include <QtQml>
+
+IMPLEMENT_QGC_SINGLETON(FlightMapSettings, FlightMapSettings)
+
+const char* FlightMapSettings::_defaultMapProvider =    "Bing";                 // Bing is default since it support full street/satellite/hybrid set
+const char* FlightMapSettings::_settingsGroup =         "FlightMapSettings";
+const char* FlightMapSettings::_mapProviderKey =        "MapProvider";
+const char* FlightMapSettings::_mapTypeKey =            "MapType";
+
+FlightMapSettings::FlightMapSettings(QObject* parent)
+    : QObject(parent)
+    , _mapProvider(_defaultMapProvider)
+{
+    qmlRegisterUncreatableType<FlightMapSettings> ("QGroundControl", 1, 0, "FlightMapSetting", "Reference only");
+    
+    _supportedMapProviders << "Bing" << "Google" << "Open";
+    
+    _loadSettings();
+}
+
+FlightMapSettings::~FlightMapSettings()
+{
+
+}
+
+void FlightMapSettings::_storeSettings(void)
+{
+    QSettings settings;
+    
+    settings.beginGroup(_settingsGroup);
+    settings.setValue(_mapProviderKey, _supportedMapProviders.contains(_mapProvider) ? _mapProvider : _defaultMapProvider);
+}
+
+void FlightMapSettings::_loadSettings(void)
+{
+    QSettings settings;
+    
+    settings.beginGroup(_settingsGroup);
+    _mapProvider = settings.value(_mapProviderKey, _defaultMapProvider).toString();
+    
+    if (!_supportedMapProviders.contains(_mapProvider)) {
+        _mapProvider = _defaultMapProvider;
+    }
+    
+    _setMapTypesForCurrentProvider();
+}
+
+QString FlightMapSettings::mapProvider(void)
+{
+    return _mapProvider;
+}
+
+void FlightMapSettings::setMapProvider(const QString& mapProvider)
+{
+    if (_supportedMapProviders.contains(mapProvider)) {
+        _mapProvider = mapProvider;
+        _storeSettings();
+        _setMapTypesForCurrentProvider();
+        emit mapProviderChanged(mapProvider);
+    }
+}
+
+void FlightMapSettings::_setMapTypesForCurrentProvider(void)
+{
+    _mapTypes.clear();
+    
+    if (_mapProvider == "Bing") {
+        _mapTypes << "Street Map" << "Satellite Map" << "Hybrid Map";
+    } else if (_mapProvider == "Google") {
+        _mapTypes << "Street Map" << "Satellite Map" << "Terrain Map";
+    } else if (_mapProvider == "Open") {
+        _mapTypes << "Street Map";
+    }
+    
+    emit mapTypesChanged(_mapTypes);
+}
+
+QString FlightMapSettings::mapTypeForMapName(const QString& mapName)
+{
+    QSettings settings;
+    
+    settings.beginGroup(_settingsGroup);
+    settings.beginGroup(mapName);
+    settings.beginGroup(_mapProvider);
+    return settings.value(_mapTypeKey, "Street Map").toString();
+}
+
+void FlightMapSettings::setMapTypeForMapName(const QString& mapName, const QString& mapType)
+{
+    QSettings settings;
+    
+    settings.beginGroup(_settingsGroup);
+    settings.beginGroup(mapName);
+    settings.beginGroup(_mapProvider);
+    settings.setValue(_mapTypeKey, mapType);
+}
+
+void FlightMapSettings::saveMapSetting (const QString &mapName, const QString& key, const QString& value)
+{
+    QSettings settings;
+    
+    settings.beginGroup(_settingsGroup);
+    settings.beginGroup(mapName);
+    settings.setValue(key, value);
+}
+
+QString FlightMapSettings::loadMapSetting (const QString &mapName, const QString& key, const QString& defaultValue)
+{
+    QSettings settings;
+    
+    settings.beginGroup(_settingsGroup);
+    settings.beginGroup(mapName);
+    return settings.value(key, defaultValue).toString();
+}

src/FlightMap/FlightMapSettings.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+#ifndef FlightMapSettings_H
+#define FlightMapSettings_H
+
+#include "QGCSingleton.h"
+
+#include <QStringList>
+
+class FlightMapSettings : public QObject
+{
+    Q_OBJECT
+    
+    DECLARE_QGC_SINGLETON(FlightMapSettings, FlightMapSettings)
+
+public:
+    /// mapProvider is either Bing, Google or Open to specify to set of maps available
+    Q_PROPERTY(QString mapProvider READ mapProvider WRITE setMapProvider NOTIFY mapProviderChanged)
+    
+    /// Map types associated with current map provider
+    Q_PROPERTY(QStringList mapTypes MEMBER _mapTypes NOTIFY mapTypesChanged)
+    
+    Q_INVOKABLE QString mapTypeForMapName(const QString& mapName);
+    Q_INVOKABLE void setMapTypeForMapName(const QString& mapName, const QString& mapType);
+    
+    Q_INVOKABLE void    saveMapSetting (const QString &mapName, const QString& key, const QString& value);
+    Q_INVOKABLE QString loadMapSetting (const QString &mapName, const QString& key, const QString& defaultValue);
+    
+    // Property accessors
+    
+    QString mapProvider(void);
+    void setMapProvider(const QString& mapProvider);
+    
+signals:
+    void mapProviderChanged(const QString& mapProvider);
+    void mapTypesChanged(const QStringList& mapTypes);
+    
+private:
+    /// @brief All access to FlightMapSettings singleton is through FlightMapSettings::instance
+    FlightMapSettings(QObject* parent = NULL);
+    ~FlightMapSettings();
+    
+    void _storeSettings(void);
+    void _loadSettings(void);
+    
+    void _setMapTypesForCurrentProvider(void);
+    
+    QString     _mapProvider;               ///< Current map provider
+    QStringList _supportedMapProviders;
+    QStringList _mapTypes;                  ///< Map types associated with current map provider
+    
+    static const char* _defaultMapProvider;
+    static const char* _settingsGroup;
+    static const char* _mapProviderKey;
+    static const char* _mapTypeKey;
+};
+
+#endif

src/FlightMap/Images/MapCenter.svg

@@ -2,12 +2,12 @@
 <!-- Generator: Adobe Illustrator 19.1.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
 <svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
 	 viewBox="0 0 72 72" enable-background="new 0 0 72 72" xml:space="preserve">
-<circle opacity="0.75" cx="36" cy="36" r="34.2"/>
+<circle opacity="0.95" cx="36" cy="36" r="34.2"/>
 <g>
-	<circle fill="none" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" cx="36" cy="36" r="27"/>
-	<line fill="none" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" x1="8.899" y1="35.97" x2="22.219" y2="36.03"/>
-	<line fill="none" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" x1="35.97" y1="63.101" x2="36.03" y2="49.781"/>
-	<line fill="none" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" x1="63.101" y1="36.03" x2="49.781" y2="35.97"/>
-	<line fill="none" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" x1="36.03" y1="8.899" x2="35.97" y2="22.219"/>
+	<circle fill="none" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" cx="36" cy="36" r="22.38"/>
+	<line fill="none" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" x1="13.536" y1="35.975" x2="24.577" y2="36.025"/>
+	<line fill="none" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" x1="35.975" y1="58.464" x2="36.025" y2="47.423"/>
+	<line fill="none" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" x1="58.464" y1="36.025" x2="47.423" y2="35.975"/>
+	<line fill="none" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" x1="36.025" y1="13.536" x2="35.975" y2="24.577"/>
 </g>
 </svg>

src/FlightMap/Images/MapType.svg

@@ -2,9 +2,9 @@
 <!-- Generator: Adobe Illustrator 19.1.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
 <svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
 	 viewBox="0 0 72 72" enable-background="new 0 0 72 72" xml:space="preserve">
-<circle opacity="0.75" cx="36" cy="36" r="34.2"/>
+<circle opacity="0.95" cx="36" cy="36" r="34.2"/>
 <g>
-	<polygon fill="#414042" stroke="#FFFFFF" stroke-miterlimit="10" points="63,39.345 36,59.4 9,39.345 36,19.291 	"/>
-	<polygon fill="#414042" stroke="#FFFFFF" stroke-miterlimit="10" points="63,32.655 36,52.709 9,32.655 36,12.6 	"/>
+	<polygon stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" points="58.5,38.788 36,55.5 13.5,38.788 36,22.076 	"/>
+	<polygon stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" points="58.5,33.212 36,49.924 13.5,33.212 36,16.5 	"/>
 </g>
 </svg>

src/FlightMap/Images/PiP.svg

+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 19.1.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 72 72" enable-background="new 0 0 72 72" xml:space="preserve">
+<path opacity="0.85" d="M0,72V0l72,0C72,39.797,39.797,72,0,72z"/>
+<g>
+	<rect x="14.4" y="15.401" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" width="36" height="27"/>
+	<rect x="5.4" y="6.401" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" width="36" height="27"/>
+</g>
+</svg>

src/FlightMap/Images/ZoomMinus.svg

+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 19.1.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 72 72" enable-background="new 0 0 72 72" xml:space="preserve">
+<circle fill="none" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" cx="29.573" cy="30.04" r="22.416"/>
+<line fill="none" stroke="#FFFFFF" stroke-width="3" stroke-miterlimit="10" x1="64.8" y1="64.83" x2="45.801" y2="45.765"/>
+<line fill="none" x1="16.973" y1="30.04" x2="42.173" y2="30.04"/>
+<line fill="none" stroke="#FFFFFF" stroke-width="5" stroke-miterlimit="10" x1="16.973" y1="30.134" x2="42.173" y2="29.946"/>
+</svg>

src/FlightMap/Images/ZoomPlus.svg

+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 19.1.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 72 72" enable-background="new 0 0 72 72" xml:space="preserve">
+<circle fill="none" stroke="#FFFFFF" stroke-width="2" stroke-miterlimit="10" cx="29.573" cy="30.04" r="22.416"/>
+<line fill="none" stroke="#FFFFFF" stroke-width="3" stroke-miterlimit="10" x1="64.8" y1="64.83" x2="45.801" y2="45.765"/>
+<path fill="#FFFFFF" d="M27.36,42.653V32.187H16.973v-4.374H27.36V17.426h4.426v10.387h10.387v4.374H31.786v10.466H27.36z"/>
+</svg>

src/HomePositionManager.cc

@@ -25,6 +25,7 @@
 #include <QApplication>
 #include <QTimer>
 #include <QSettings>
+#include <QtQml>
 
 #include "UAS.h"
 #include "UASInterface.h"
@@ -51,6 +52,8 @@ HomePositionManager::HomePositionManager(QObject* parent)
     , homeLon(8.549444)
     , homeAlt(470.0)
 {
+    qmlRegisterUncreatableType<HomePositionManager> ("QGroundControl", 1, 0, "HomePositionManager", "Reference only");
+    
     _loadSettings();
 }
 

src/MissionEditor/MissionEditor.cc

@@ -104,7 +104,8 @@ int MissionEditor::addMissionItem(QGeoCoordinate coordinate)
         qWarning() << "addMissionItem called with _canEdit == false";
     }
     
-    MissionItem * newItem = new MissionItem(this, _missionItems->count(), coordinate);
+    MissionItem * newItem = new MissionItem(this, _missionItems->count(), coordinate, MAV_CMD_NAV_WAYPOINT);
+    newItem->setAltitude(30);
     if (_missionItems->count() == 0) {
         newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
     }

src/MissionEditor/MissionEditor.qml

@@ -104,7 +104,7 @@ QGCView {
                     anchors.right:          mapTypeButton.left
                     anchors.top:            mapTypeButton.top
                     dropDirection:          dropDown
-                    label:                  "C"
+                    buttonImage:            "/qmlimages/MapCenter.svg"
                     viewportMargins:        ScreenTools.defaultFontPixelWidth / 2
 
                     dropDownComponent: Component {
@@ -114,14 +114,48 @@ QGCView {
                             QGCButton {
                                 text: "Home"
 
-                                onClicked: centerMapButton.hideDropDown()
+                                onClicked: {
+                                    centerMapButton.hideDropDown()
+                                    editorMap.center = QtPositioning.coordinate(_homePositionCoordinate.latitude, _homePositionCoordinate.longitude)
+                                    _showHomePositionManager = true
+                                }
                             }
 
+/*
+
+This code will need to wait for Qml 5.5 support since Map.visibleRegion is only in Qt 5.5
+
                             QGCButton {
                                 text: "All Items"
 
-                                onClicked: centerMapButton.hideDropDown()
+                                onClicked: {
+                                    centerMapButton.hideDropDown()
+
+                                    // Begin with only the home position in the region
+                                    var region = QtPositioning.rectangle(QtPositioning.coordinate(_homePositionCoordinate.latitude, _homePositionCoordinate.longitude),
+                                                                         QtPositioning.coordinate(_homePositionCoordinate.latitude, _homePositionCoordinate.longitude))
+
+                                    // Now expand the region to include all mission items
+                                    for (var i=0; i<_missionItems.count; i++) {
+                                        var missionItem = _missionItems.get(i)
+
+                                        region.topLeft.latitude = Math.max(missionItem.coordinate.latitude, region.topLeft.latitude)
+                                        region.topLeft.longitude = Math.min(missionItem.coordinate.longitude, region.topLeft.longitude)
+
+                                        region.topRight.latitude = Math.max(missionItem.coordinate.latitude, region.topRight.latitude)
+                                        region.topRight.longitude = Math.max(missionItem.coordinate.longitude, region.topRight.longitude)
+
+                                        region.bottomLeft.latitude = Math.min(missionItem.coordinate.latitude, region.bottomLeft.latitude)
+                                        region.bottomLeft.longitude = Math.min(missionItem.coordinate.longitude, region.bottomLeft.longitude)
+
+                                        region.bottomRight.latitude = Math.min(missionItem.coordinate.latitude, region.bottomRight.latitude)
+                                        region.bottomRight.longitude = Math.max(missionItem.coordinate.longitude, region.bottomRight.longitude)
+                                    }
+
+                                    editorMap.visibleRegion = region
+                                }
                             }
+*/
                         }
                     }
                 }
@@ -132,29 +166,26 @@ QGCView {
                     anchors.top:        parent.top
                     anchors.right:      parent.right
                     dropDirection:      dropDown
-                    label:              "M"
+                    buttonImage:        "/qmlimages/MapType.svg"
                     viewportMargins:    ScreenTools.defaultFontPixelWidth / 2
 
                     dropDownComponent: Component {
                         Row {
                             spacing: ScreenTools.defaultFontPixelWidth
 
-                            QGCButton {
-                                text: "Street"
-
-                                onClicked: mapTypeButton.hideDropDown()
-                            }
-
-                            QGCButton {
-                                text: "Satellite"
-
-                                onClicked: mapTypeButton.hideDropDown()
-                            }
+                            Repeater {
+                                model: QGroundControl.flightMapSettings.mapTypes
 
-                            QGCButton {
-                                text: "Hybrid"
+                                QGCButton {
+                                    checkable:  true
+                                    checked:    editorMap.mapType == text
+                                    text:       modelData
 
-                                onClicked: mapTypeButton.hideDropDown()
+                                    onClicked: {
+                                        editorMap.mapType = text
+                                        mapTypeButton.hideDropDown()
+                                    }
+                                }
                             }
                         }
                     }

src/MissionItem.cc

@@ -67,16 +67,17 @@ const MissionItem::MavCmd2Name_t  MissionItem::_rgMavCmd2Name[_cMavCmd2Name] = {
 MissionItem::MissionItem(QObject*       parent,
                          int            sequenceNumber,
                          QGeoCoordinate coordinate,
+                         int            command,
                          double         param1,
                          double         param2,
                          double         param3,
                          double         param4,
                          bool           autocontinue,
                          bool           isCurrentItem,
-                         int            frame,
-                         int            command)
+                         int            frame)
     : QObject(parent)
     , _sequenceNumber(sequenceNumber)
+    , _frame(-1)    // Forces set of _altitudeRelativeToHomeFact
     , _command((MavlinkQmlSingleton::Qml_MAV_CMD)command)
     , _autocontinue(autocontinue)
     , _isCurrentItem(isCurrentItem)
@@ -219,7 +220,7 @@ void MissionItem::save(QTextStream &saveStream)
     position = position.arg(y(), 0, 'g', 18);
     position = position.arg(z(), 0, 'g', 18);
     QString parameters("%1\t%2\t%3\t%4");
-    parameters = parameters.arg(param2(), 0, 'g', 18).arg(param2(), 0, 'g', 18).arg(loiterOrbitRadius(), 0, 'g', 18).arg(yawRadians(), 0, 'g', 18);
+    parameters = parameters.arg(param1(), 0, 'g', 18).arg(param2(), 0, 'g', 18).arg(loiterOrbitRadius(), 0, 'g', 18).arg(yawRadians(), 0, 'g', 18);
     // FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE> <DESCRIPTION>
     // as documented here: http://qgroundcontrol.org/waypoint_protocol
     saveStream << this->sequenceNumber() << "\t" << this->isCurrentItem() << "\t" << this->frame() << "\t" << this->command() << "\t"  << parameters << "\t" << position  << "\t" << this->autoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n";
@@ -280,7 +281,7 @@ void MissionItem::setZ(double z)
 
 void MissionItem::setLatitude(double lat)
 {
-    if (_latitudeFact->value().toDouble() != lat && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    if (_latitudeFact->value().toDouble() != lat)
     {
         _latitudeFact->setValue(lat);
         emit changed(this);
@@ -290,7 +291,7 @@ void MissionItem::setLatitude(double lat)
 
 void MissionItem::setLongitude(double lon)
 {
-    if (_longitudeFact->value().toDouble() != lon && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    if (_longitudeFact->value().toDouble() != lon)
     {
         _longitudeFact->setValue(lon);
         emit changed(this);
@@ -300,7 +301,7 @@ void MissionItem::setLongitude(double lon)
 
 void MissionItem::setAltitude(double altitude)
 {
-    if (_altitudeFact->value().toDouble() != altitude && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    if (_altitudeFact->value().toDouble() != altitude)
     {
         _altitudeFact->setValue(altitude);
         emit changed(this);
@@ -349,7 +350,7 @@ int MissionItem::frame(void) const
 void MissionItem::setFrame(int /*MAV_FRAME*/ frame)
 {
     if (_frame != frame) {
-        _altitudeRelativeToHomeFact->setValue(_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT);
+        _altitudeRelativeToHomeFact->setValue(frame == MAV_FRAME_GLOBAL_RELATIVE_ALT);
         _frame = frame;
         emit changed(this);
     }

src/MissionItem.h

@@ -47,14 +47,14 @@ public:
     MissionItem(QObject         *parent = 0,
                 int             sequenceNumber = 0,
                 QGeoCoordinate  coordiante = QGeoCoordinate(),
+                int             action = MAV_CMD_NAV_WAYPOINT,
                 double          param1 = 0.0,
                 double          param2 = 0.0,
                 double          param3 = 0.0,
                 double          param4 = 0.0,
                 bool            autocontinue = true,
                 bool            isCurrentItem = false,
-                int             frame = MAV_FRAME_GLOBAL,
-                int             action = MAV_CMD_NAV_WAYPOINT);
+                int             frame = MAV_FRAME_GLOBAL_RELATIVE_ALT);
 
     MissionItem(const MissionItem& other, QObject* parent = NULL);
     ~MissionItem();

src/MissionItemTest.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "MissionItemTest.h"
+
+UT_REGISTER_TEST(MissionItemTest)
+
+const MissionItemTest::ItemInfo_t MissionItemTest::_rgItemInfo[] = {
+    { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT,         10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_UNLIM,     10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS,     10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME,      10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND,             10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_TAKEOFF,          10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY,      10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION },
+    { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP,              10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION },
+};
+
+const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesWaypoint[] = {
+    { "Latitude:",  -10.0 },
+    { "Longitude:", -20.0 },
+    { "Altitude:",  -30.0 },
+    { "Heading:",   40.0 },
+    { "Radius:",    20.0 },
+    { "Hold:",      10.0 },
+};
+
+const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterUnlim[] = {
+    { "Latitude:",  -10.0 },
+    { "Longitude:", -20.0 },
+    { "Altitude:",  -30.0 },
+    { "Heading:",   40.0 },
+    { "Radius:",    30.0 },
+};
+
+const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTurns[] = {
+    { "Latitude:",  -10.0 },
+    { "Longitude:", -20.0 },
+    { "Altitude:",  -30.0 },
+    { "Heading:",   40.0 },
+    { "Radius:",    30.0 },
+    { "Turns:",     10.0 },
+};
+
+const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTime[] = {
+    { "Latitude:",  -10.0 },
+    { "Longitude:", -20.0 },
+    { "Altitude:",  -30.0 },
+    { "Heading:",   40.0 },
+    { "Radius:",    30.0 },
+    { "Seconds:",   10.0 },
+};
+
+const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLand[] = {
+    { "Latitude:",  -10.0 },
+    { "Longitude:", -20.0 },
+    { "Altitude:",  -30.0 },
+    { "Heading:",   40.0 },
+};
+
+const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesTakeoff[] = {
+    { "Latitude:",  -10.0 },
+    { "Longitude:", -20.0 },
+    { "Altitude:",  -30.0 },
+    { "Heading:",   40.0 },
+    { "Pitch:",     10.0 },
+};
+
+const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesConditionDelay[] = {
+    { "Seconds:",   10.0 },
+};
+
+const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesDoJump[] = {
+    { "Seq #:",   10.0 },
+    { "Repeat:",  20.0 },
+};
+
+const MissionItemTest::ItemExpected_t MissionItemTest::_rgItemExpected[] = {
+    { "1\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  sizeof(MissionItemTest::_rgFactValuesWaypoint)/sizeof(MissionItemTest::_rgFactValuesWaypoint[0]),               MissionItemTest::_rgFactValuesWaypoint },
+    { "1\t0\t3\t17\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  sizeof(MissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(MissionItemTest::_rgFactValuesLoiterUnlim[0]),         MissionItemTest::_rgFactValuesLoiterUnlim },
+    { "1\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  sizeof(MissionItemTest::_rgFactValuesLoiterTurns)/sizeof(MissionItemTest::_rgFactValuesLoiterTurns[0]),         MissionItemTest::_rgFactValuesLoiterTurns },
+    { "1\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  sizeof(MissionItemTest::_rgFactValuesLoiterTime)/sizeof(MissionItemTest::_rgFactValuesLoiterTime[0]),           MissionItemTest::_rgFactValuesLoiterTime },
+    { "1\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  sizeof(MissionItemTest::_rgFactValuesLand)/sizeof(MissionItemTest::_rgFactValuesLand[0]),                       MissionItemTest::_rgFactValuesLand },
+    { "1\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  sizeof(MissionItemTest::_rgFactValuesTakeoff)/sizeof(MissionItemTest::_rgFactValuesTakeoff[0]),                 MissionItemTest::_rgFactValuesTakeoff },
+    { "1\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesConditionDelay)/sizeof(MissionItemTest::_rgFactValuesConditionDelay[0]),   MissionItemTest::_rgFactValuesConditionDelay },
+    { "1\t0\t2\t177\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesDoJump)/sizeof(MissionItemTest::_rgFactValuesDoJump[0]),                   MissionItemTest::_rgFactValuesDoJump },
+};
+
+MissionItemTest::MissionItemTest(void)
+{
+    
+}
+
+void MissionItemTest::_test(void)
+{
+    for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) {
+        const ItemInfo_t* info = &_rgItemInfo[i];
+        const ItemExpected_t* expected = &_rgItemExpected[i];
+        
+        qDebug() << "Command:" << info->command;
+        
+        MissionItem* item = new MissionItem(NULL,
+                                            info->sequenceNumber,
+                                            info->coordinate,
+                                            info->command,
+                                            info->param1,
+                                            info->param2,
+                                            info->param3,
+                                            info->param4,
+                                            info->autocontinue,
+                                            info->isCurrentItem,
+                                            info->frame);
+        
+        // Validate the saving is working correctly
+        QString savedItemString;
+        QTextStream saveStream(&savedItemString, QIODevice::WriteOnly);
+        item->save(saveStream);
+        QCOMPARE(savedItemString, QString(expected->streamString));
+        
+        // Validate that the fact values are correctly returned
+        size_t factCount = 0;
+        for (int i=0; i<item->textFieldFacts()->count(); i++) {
+            Fact* fact = qobject_cast<Fact*>(item->textFieldFacts()->get(i));
+            
+            bool found = false;
+            for (size_t j=0; j<expected->cFactValues; j++) {
+                const FactValue_t* factValue = &expected->rgFactValues[j];
+                
+                if (factValue->name == fact->name()) {
+                    qDebug() << factValue->name;
+                    QCOMPARE(fact->value().toDouble(), factValue->value);
+                    factCount ++;
+                    found = true;
+                    break;
+                }
+            }
+            
+            QVERIFY(found);
+        }
+        QCOMPARE(factCount, expected->cFactValues);
+        
+        // Validate that loading is working correctly
+        MissionItem* loadedItem = new MissionItem();
+        QTextStream loadStream(&savedItemString, QIODevice::ReadOnly);
+        QVERIFY(loadedItem->load(loadStream));
+        //qDebug() << savedItemString;
+        QCOMPARE(loadedItem->coordinate().latitude(), item->coordinate().latitude());
+        QCOMPARE(loadedItem->coordinate().longitude(), item->coordinate().longitude());
+        QCOMPARE(loadedItem->coordinate().altitude(), item->coordinate().altitude());
+        QCOMPARE(loadedItem->command(), item->command());
+        QCOMPARE(loadedItem->param1(), item->param1());
+        QCOMPARE(loadedItem->param2(), item->param2());
+        QCOMPARE(loadedItem->param3(), item->param3());
+        QCOMPARE(loadedItem->param4(), item->param4());
+        QCOMPARE(loadedItem->autoContinue(), item->autoContinue());
+        QCOMPARE(loadedItem->isCurrentItem(), item->isCurrentItem());
+        QCOMPARE(loadedItem->frame(), item->frame());
+
+        delete item;
+        delete loadedItem;
+    }
+}

src/MissionItemTest.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef MissionItemTest_H
+#define MissionItemTest_H
+
+#include "UnitTest.h"
+#include "TCPLink.h"
+#include "MultiSignalSpy.h"
+
+/// @file
+///     @brief FlightGear HIL Simulation unit tests
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+class MissionItemTest : public UnitTest
+{
+    Q_OBJECT
+    
+public:
+    MissionItemTest(void);
+    
+private slots:
+    void _test(void);
+    
+private:
+    typedef struct {
+        int            sequenceNumber;
+        QGeoCoordinate coordinate;
+        int            command;
+        double         param1;
+        double         param2;
+        double         param3;
+        double         param4;
+        bool           autocontinue;
+        bool           isCurrentItem;
+        int            frame;
+    } ItemInfo_t;
+    
+    typedef struct {
+        const char* name;
+        double      value;
+    } FactValue_t;
+    
+    typedef struct {
+        const char*         streamString;
+        size_t              cFactValues;
+        const FactValue_t*  rgFactValues;
+    } ItemExpected_t;
+
+    static const ItemInfo_t     _rgItemInfo[];
+    static const ItemExpected_t _rgItemExpected[];
+    static const FactValue_t    _rgFactValuesWaypoint[];
+    static const FactValue_t    _rgFactValuesLoiterUnlim[];
+    static const FactValue_t    _rgFactValuesLoiterTurns[];
+    static const FactValue_t    _rgFactValuesLoiterTime[];
+    static const FactValue_t    _rgFactValuesLand[];
+    static const FactValue_t    _rgFactValuesTakeoff[];
+    static const FactValue_t    _rgFactValuesConditionDelay[];
+    static const FactValue_t    _rgFactValuesDoJump[];
+};
+
+#endif

src/MissionManager/MissionManager.cc

@@ -79,11 +79,12 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
     
     _vehicle->sendMessage(message);
     _startAckTimeout(AckMissionRequest, message);
+    emit inProgressChanged(true);
 }
 
 void MissionManager::requestMissionItems(void)
 {
-    qCDebug(MissionManagerLog) << "_requestMissionItems";
+    qCDebug(MissionManagerLog) << "requestMissionItems read sequence";
     
     mavlink_message_t               message;
     mavlink_mission_request_list_t  request;
@@ -97,6 +98,7 @@ void MissionManager::requestMissionItems(void)
     
     _vehicle->sendMessage(message);
     _startAckTimeout(AckMissionCount, message);
+    emit inProgressChanged(true);
 }
 
 void MissionManager::_ackTimeout(void)
@@ -157,6 +159,7 @@ void MissionManager::_sendTransactionComplete(void)
     _vehicle->sendMessage(message);
     
     emit newMissionItemsAvailable();
+    emit inProgressChanged(false);
 }
 
 void MissionManager::_handleMissionCount(const mavlink_message_t& message)
@@ -174,6 +177,7 @@ void MissionManager::_handleMissionCount(const mavlink_message_t& message)
     
     if (_cMissionItems == 0) {
         emit newMissionItemsAvailable();
+        emit inProgressChanged(false);
     } else {
         _requestNextMissionItem(0);
     }
@@ -222,14 +226,14 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
     MissionItem* item = new MissionItem(this,
                                         missionItem.seq,
                                         QGeoCoordinate(missionItem.x, missionItem.y, missionItem.z),
+                                        missionItem.command,
                                         missionItem.param1,
                                         missionItem.param2,
                                         missionItem.param3,
-                                        missionItem.param3,
+                                        missionItem.param4,
                                         missionItem.autocontinue,
                                         missionItem.current,
-                                        missionItem.frame,
-                                        missionItem.command);
+                                        missionItem.frame);
     _missionItems.append(item);
     
     if (!item->canEdit()) {
@@ -308,8 +312,11 @@ void MissionManager::_handleMissionAck(const mavlink_message_t& message)
     if (missionAck.type == MAV_MISSION_ACCEPTED) {
         qCDebug(MissionManagerLog) << "_handleMissionAck write sequence complete";
     } else {
+        _missionItems.clear();
+        emit newMissionItemsAvailable();
         qCDebug(MissionManagerLog) << "_handleMissionAck ack error:" << missionAck.type;
     }
+    emit inProgressChanged(false);
 }
 
 /// Called when a new mavlink message for out vehicle is received

src/MissionManager/MissionManager.h

@@ -47,7 +47,7 @@ public:
     MissionManager(Vehicle* vehicle);
     ~MissionManager();
     
-    Q_PROPERTY(bool                 inProgress      READ inProgress     CONSTANT)
+    Q_PROPERTY(bool                 inProgress      READ inProgress     NOTIFY inProgressChanged)
     Q_PROPERTY(QmlObjectListModel*  missionItems    READ missionItems   CONSTANT)
     Q_PROPERTY(bool                 canEdit         READ canEdit        NOTIFY  canEditChanged)
     
@@ -72,6 +72,7 @@ signals:
     // Public signals
     void canEditChanged(bool canEdit);
     void newMissionItemsAvailable(void);
+    void inProgressChanged(bool inProgress);
     
 private slots:
     void _mavlinkMessageReceived(const mavlink_message_t& message);

src/MissionManager/MissionManagerTest.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef MissionManagerTest_H
+#define MissionManagerTest_H
+
+#include "UnitTest.h"
+#include "MockLink.h"
+#include "MissionManager.h"
+#include "MultiSignalSpy.h"
+
+class MissionManagerTest : public UnitTest
+{
+    Q_OBJECT
+    
+public:
+    MissionManagerTest(void);
+    
+private slots:
+    void init(void);
+    void cleanup(void);
+    
+    void _readEmptyVehicle(void);
+    void _roundTripItems(void);
+    
+private:
+    void _checkInProgressValues(bool inProgress);
+
+    MockLink*       _mockLink;
+    MissionManager* _missionManager;
+    
+    enum {
+        canEditChangedSignalIndex = 0,
+        newMissionItemsAvailableSignalIndex,
+        inProgressChangedSignalIndex,
+        maxSignalIndex
+    };
+    
+    enum {
+        canEditChangedSignalMask =              1 << canEditChangedSignalIndex,
+        newMissionItemsAvailableSignalMask =    1 << newMissionItemsAvailableSignalIndex,
+        inProgressChangedSignalMask =           1 << inProgressChangedSignalIndex,
+    };
+
+    MultiSignalSpy*     _multiSpy;
+    static const size_t _cSignals = maxSignalIndex;
+    const char*         _rgSignals[_cSignals];
+    
+    typedef struct {
+        int            sequenceNumber;
+        QGeoCoordinate coordinate;
+        int            command;
+        double         param1;
+        double         param2;
+        double         param3;
+        double         param4;
+        bool           autocontinue;
+        bool           isCurrentItem;
+        int            frame;
+    } ItemInfo_t;
+    
+    typedef struct {
+        const char*         itemStream;
+        const ItemInfo_t    expectedItem;
+    } TestCase_t;
+
+    static const TestCase_t _rgTestCases[];
+};
+
+#endif

src/QGCApplication.cc

@@ -83,6 +83,7 @@
 #include "MissionManager.h"
 #include "QGroundControlQmlGlobal.h"
 #include "HomePositionManager.h"
+#include "FlightMapSettings.h"
 
 #ifndef __ios__
     #include "SerialLink.h"
@@ -161,7 +162,9 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
     , _runningUnitTests(unitTesting)
     , _styleIsDark(true)
 	, _fakeMobile(false)
-    , _useNewMissionEditor(false)
+#ifdef UNITTEST_BUILD
+    , _useNewMissionEditor(true)    // Unit Tests run new mission editor
+#endif
 #ifdef QT_DEBUG
     , _testHighDPI(false)
 #endif
@@ -313,7 +316,6 @@ void QGCApplication::_initCommon(void)
     qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",  1, 0, "JoystickManager",        "Reference only");
     qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",  1, 0, "Joystick",               "Reference only");
     qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                  1, 0, "QmlObjectListModel",     "Reference only");
-    qmlRegisterUncreatableType<HomePositionManager> ("QGroundControl",                  1, 0, "HomePositionManager",    "Reference only");
     
     qmlRegisterType<ViewWidgetController>           ("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
     qmlRegisterType<ParameterEditorController>      ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
@@ -550,6 +552,16 @@ void QGCApplication::_createSingletons(void)
 {
     // The order here is important since the singletons reference each other
 
+    // No dependencies
+    FlightMapSettings* flightMapSettings = FlightMapSettings::_createSingleton();
+    Q_UNUSED(flightMapSettings);
+    Q_ASSERT(flightMapSettings);
+    
+    // No dependencies
+    HomePositionManager* homePositionManager = HomePositionManager::_createSingleton();
+    Q_UNUSED(homePositionManager);
+    Q_ASSERT(homePositionManager);
+
     // No dependencies
     FirmwarePlugin* firmwarePlugin = GenericFirmwarePlugin::_createSingleton();
     Q_UNUSED(firmwarePlugin);
@@ -584,22 +596,17 @@ void QGCApplication::_createSingletons(void)
     Q_UNUSED(linkManager);
     Q_ASSERT(linkManager);
 
-    // Needs LinkManager
-    HomePositionManager* uasManager = HomePositionManager::_createSingleton();
-    Q_UNUSED(uasManager);
-    Q_ASSERT(uasManager);
-
-    // Need HomePositionManager
+    // Need MultiVehicleManager
     AutoPilotPluginManager* pluginManager = AutoPilotPluginManager::_createSingleton();
     Q_UNUSED(pluginManager);
     Q_ASSERT(pluginManager);
 
-    // Need HomePositionManager
+    // Need MultiVehicleManager
     UASMessageHandler* messageHandler = UASMessageHandler::_createSingleton();
     Q_UNUSED(messageHandler);
     Q_ASSERT(messageHandler);
 
-    // Needs HomePositionManager
+    // Needs MultiVehicleManager
     FactSystem* factSystem = FactSystem::_createSingleton();
     Q_UNUSED(factSystem);
     Q_ASSERT(factSystem);
@@ -631,7 +638,6 @@ void QGCApplication::_destroySingletons(void)
     FactSystem::_deleteSingleton();
     UASMessageHandler::_deleteSingleton();
     AutoPilotPluginManager::_deleteSingleton();
-    HomePositionManager::_deleteSingleton();
     LinkManager::_deleteSingleton();
     GAudioOutput::_deleteSingleton();
     JoystickManager::_deleteSingleton();
@@ -640,6 +646,8 @@ void QGCApplication::_destroySingletons(void)
     GenericFirmwarePlugin::_deleteSingleton();
     PX4FirmwarePlugin::_deleteSingleton();
     APMFirmwarePlugin::_deleteSingleton();
+    HomePositionManager::_deleteSingleton();
+    FlightMapSettings::_deleteSingleton();
 }
 
 void QGCApplication::informationMessageBoxOnMainThread(const QString& title, const QString& msg)

src/QmlControls/DropButton.qml

-import QtQuick                  2.2
+import QtQuick                  2.4
 import QtQuick.Controls         1.2
 import QtQuick.Controls.Styles  1.2
 
@@ -8,8 +8,8 @@ import QGroundControl.Palette       1.0
 Item {
     id: _root
 
-    property alias  label:              buttonLabel.text
-    property alias  radius:             button.radius
+    property alias  buttonImage:        button.source
+    property real   radius:             (ScreenTools.defaultFontPixelHeight * 3) / 2
     property int    dropDirection:      dropDown
     property alias  dropDownComponent:  dropDownLoader.sourceComponent
     property real   viewportMargins:    0
@@ -144,33 +144,25 @@ Item {
     }
 
     // Button
-    Rectangle {
+    Image {
         id:             button
         anchors.fill:   parent
-        radius:         (ScreenTools.defaultFontPixelHeight * 3) / 2
-        color:          qgcPal.button
+        fillMode:       Image.PreserveAspectFit
         opacity:        _showDropDown ? 1.0 : 0.75
-
-        QGCLabel {
-            id:                     buttonLabel
-            anchors.fill:           parent
-            horizontalAlignment:    Text.AlignHCenter
-            verticalAlignment:      Text.AlignVCenter
-            color:                  "white"
-        }
-
+        mipmap:         true
+        smooth:         true
         MouseArea {
             anchors.fill: parent
 
             onClicked: _showDropDown = !_showDropDown
         }
-    } // Rectangle - button
+    } // Image - button
 
     Item {
         id:         dropDownItem
         visible:    _showDropDown
 
-        Canvas {
+        QGCCanvas {
             id:             arrowCanvas
             anchors.fill:   parent
 
@@ -224,6 +216,13 @@ Item {
                 id: dropDownLoader
                 x:  _dropMargin
                 y:  _dropMargin
+
+                Connections {
+                    target: dropDownLoader.item
+
+                    onWidthChanged: _calcPositions()
+                    onHeightChanged: _calcPositions()
+                }
             }
         }
     } // Item - dropDownItem

src/QmlControls/QGCCanvas.qml

+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+
+import QGroundControl.Palette 1.0
+import QGroundControl.ScreenTools 1.0
+
+/// Canvas has some sort of bug in it which can cause it to not paint when top level Views
+/// are switched. In order to fix this we ahve a signal hacked into ScreenTools to force
+/// a repaint.
+Canvas {
+    Connections {
+        target: ScreenTools
+
+        onRepaintRequested: arrowCanvas.requestPaint()
+    }
+}

src/QmlControls/QGroundControl.Controls.qmldir

@@ -9,6 +9,7 @@ QGCComboBox         1.0 QGCComboBox.qml
 QGCColoredImage     1.0 QGCColoredImage.qml
 QGCToolBarButton    1.0 QGCToolBarButton.qml
 QGCMovableItem      1.0 QGCMovableItem.qml
+QGCCanvas           1.0 QGCCanvas.qml
 
 SubMenuButton       1.0 SubMenuButton.qml
 IndicatorButton     1.0 IndicatorButton.qml

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -29,6 +29,7 @@
 QGroundControlQmlGlobal::QGroundControlQmlGlobal(QObject* parent)
     : QObject(parent)
     , _homePositionManager(HomePositionManager::instance())
+    , _flightMapSettings(FlightMapSettings::instance())
 {
 
 }

src/QmlControls/QGroundControlQmlGlobal.h

@@ -30,6 +30,7 @@
 #include <QObject>
 
 #include "HomePositionManager.h"
+#include "FlightMapSettings.h"
 
 class QGroundControlQmlGlobal : public QObject
 {
@@ -39,14 +40,17 @@ public:
     QGroundControlQmlGlobal(QObject* parent = NULL);
     ~QGroundControlQmlGlobal();
     
-    Q_PROPERTY(HomePositionManager* homePositionManager READ homePositionManager CONSTANT)
+    Q_PROPERTY(HomePositionManager* homePositionManager READ homePositionManager    CONSTANT)
+    Q_PROPERTY(FlightMapSettings*   flightMapSettings   READ flightMapSettings      CONSTANT)
     
     // Property accesors
     
-    HomePositionManager* homePositionManager(void) { return _homePositionManager; }
+    HomePositionManager*    homePositionManager(void)   { return _homePositionManager; }
+    FlightMapSettings*      flightMapSettings(void)     { return _flightMapSettings; }
     
 private:
     HomePositionManager*    _homePositionManager;
+    FlightMapSettings*      _flightMapSettings;
 };
 
 #endif

src/Vehicle/Vehicle.cc

@@ -51,6 +51,7 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     , _joystickMode(JoystickModeRC)
     , _joystickEnabled(false)
     , _uas(NULL)
+    , _homePositionAvailable(false)
     , _mav(NULL)
     , _currentMessageCount(0)
     , _messageCount(0)
@@ -203,6 +204,20 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     // Give the plugin a change to adjust the message contents
     _firmwarePlugin->adjustMavlinkMessage(&message);
     
+    if (message.msgid == MAVLINK_MSG_ID_HOME_POSITION) {
+        mavlink_home_position_t homePos;
+        
+        mavlink_msg_home_position_decode(&message, &homePos);
+        
+        _homePosition.setLatitude(homePos.latitude / 10000000.0);
+        _homePosition.setLongitude(homePos.longitude / 10000000.0);
+        _homePosition.setAltitude(homePos.altitude / 1000.0);
+        _homePositionAvailable = true;
+        
+        emit homePositionAvailableChanged(true);
+        emit homePositionChanged(_homePosition);
+    }
+    
     emit mavlinkMessageReceived(message);
     
     _uas->receiveMessage(message);
@@ -945,3 +960,17 @@ QmlObjectListModel* Vehicle::missionItemsModel(void)
         return &_missionItems;
     }
 }
+
+bool Vehicle::homePositionAvailable(void)
+{
+    return _homePositionAvailable;
+}
+
+QGeoCoordinate Vehicle::homePosition(void)
+{
+    if (!_homePositionAvailable) {
+        qWarning() << "Call to homePosition while _homePositionAvailable == false";
+    }
+    
+    return _homePosition;
+}

src/Vehicle/Vehicle.h

@@ -59,6 +59,9 @@ public:
     Q_PROPERTY(QGeoCoordinate   coordinate      MEMBER _geoCoordinate   NOTIFY coordinateChanged)
     Q_PROPERTY(MissionManager*  missionManager  MEMBER _missionManager  CONSTANT)
     
+    Q_PROPERTY(bool             homePositionAvailable   READ homePositionAvailable  NOTIFY homePositionAvailableChanged)
+    Q_PROPERTY(QGeoCoordinate   homePosition            READ homePosition           NOTIFY homePositionChanged)
+    
     Q_INVOKABLE QString     getMavIconColor();
     
     //-- System Messages
@@ -154,6 +157,9 @@ public:
     
     MissionManager* missionManager(void) { return _missionManager; }
     
+    bool homePositionAvailable(void);
+    QGeoCoordinate homePosition(void);
+    
     typedef enum {
         MessageNone,
         MessageNormal,
@@ -221,6 +227,8 @@ signals:
     void joystickEnabledChanged(bool enabled);
     void activeChanged(bool active);
     void mavlinkMessageReceived(const mavlink_message_t& message);
+    void homePositionAvailableChanged(bool homePositionAvailable);
+    void homePositionChanged(const QGeoCoordinate& homePosition);
     
     /// Used internally to move sendMessage call to main thread
     void _sendMessageOnThread(mavlink_message_t message);
@@ -318,6 +326,9 @@ private:
     
     QGeoCoordinate  _geoCoordinate;
     
+    bool            _homePositionAvailable;
+    QGeoCoordinate  _homePosition;
+    
     UASInterface*   _mav;
     int             _currentMessageCount;
     int             _messageCount;

src/VehicleSetup/PX4FirmwareUpgradeThread.cc

@@ -183,6 +183,10 @@ bool PX4FirmwareUpgradeThreadWorker::_findBoardFromPorts(QSerialPortInfo& portIn
                     qCDebug(FirmwareUpgradeLog) << "Found PX4 FMU V1 (by name matching fallback)";
                     type = FoundBoardPX4FMUV1;
                     found = true;
+                } else if (info.description().startsWith("PX4 FMU")) {
+                    qCDebug(FirmwareUpgradeLog) << "Found PX4 FMU, assuming V2 (by name matching fallback)";
+                    type = FoundBoardPX4FMUV2;
+                    found = true;
                 }
             }
         }

src/comm/MockLink.cc

@@ -88,7 +88,7 @@ MockLink::MockLink(MockConfiguration* config) :
     _fileServer = new MockLinkFileServer(_vehicleSystemId, _vehicleComponentId, this);
     Q_CHECK_PTR(_fileServer);
     
-    _missionItemHandler = new MockLinkMissionItemHandler(_vehicleSystemId, this);
+    _missionItemHandler = new MockLinkMissionItemHandler(this);
     Q_CHECK_PTR(_missionItemHandler);
 
     moveToThread(this);
@@ -302,9 +302,11 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
         if (!mavlink_parse_char(getMavlinkChannel(), bytes[i], &msg, &comm)) {
             continue;
         }
-
+        
         Q_ASSERT(_missionItemHandler);
-        _missionItemHandler->handleMessage(msg);
+        if (_missionItemHandler->handleMessage(msg)) {
+            continue;
+        }
 
         switch (msg.msgid) {
             case MAVLINK_MSG_ID_HEARTBEAT:
@@ -326,24 +328,6 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
             case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
                 _handleParamRequestRead(msg);
                 break;
-
-            case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
-                _handleMissionRequestList(msg);
-                break;
-
-            case MAVLINK_MSG_ID_MISSION_REQUEST:
-                _handleMissionRequest(msg);
-                break;
-
-            case MAVLINK_MSG_ID_MISSION_ITEM:
-                _handleMissionItem(msg);
-                break;
-
-#if 0
-            case MAVLINK_MSG_ID_MISSION_COUNT:
-                _handleMissionCount(msg);
-                break;
-#endif
                 
             case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
                 _handleFTP(msg);
@@ -627,67 +611,6 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
     respondWithMavlinkMessage(responseMsg);
 }
 
-void MockLink::_handleMissionRequestList(const mavlink_message_t& msg)
-{
-    mavlink_mission_request_list_t request;
-
-    mavlink_msg_mission_request_list_decode(&msg, &request);
-
-    Q_ASSERT(request.target_system == _vehicleSystemId);
-
-    mavlink_message_t   responseMsg;
-
-    mavlink_msg_mission_count_pack(_vehicleSystemId,
-                                   _vehicleComponentId,
-                                   &responseMsg,            // Outgoing message
-                                   msg.sysid,               // Target is original sender
-                                   msg.compid,              // Target is original sender
-                                   _missionItems.count());  // Number of mission items
-    respondWithMavlinkMessage(responseMsg);
-}
-
-void MockLink::_handleMissionRequest(const mavlink_message_t& msg)
-{
-    mavlink_mission_request_t request;
-
-    mavlink_msg_mission_request_decode(&msg, &request);
-
-    Q_ASSERT(request.target_system == _vehicleSystemId);
-    Q_ASSERT(request.seq < _missionItems.count());
-
-    mavlink_message_t   responseMsg;
-
-    mavlink_mission_item_t item = _missionItems[request.seq];
-
-    mavlink_msg_mission_item_pack(_vehicleSystemId,
-                                  _vehicleComponentId,
-                                  &responseMsg,            // Outgoing message
-                                  msg.sysid,               // Target is original sender
-                                  msg.compid,              // Target is original sender
-                                  request.seq,             // Index of mission item being sent
-                                  item.frame,
-                                  item.command,
-                                  item.current,
-                                  item.autocontinue,
-                                  item.param1, item.param2, item.param3, item.param4,
-                                  item.x, item.y, item.z);
-    respondWithMavlinkMessage(responseMsg);
-}
-
-void MockLink::_handleMissionItem(const mavlink_message_t& msg)
-{
-    mavlink_mission_item_t request;
-
-    mavlink_msg_mission_item_decode(&msg, &request);
-
-    Q_ASSERT(request.target_system == _vehicleSystemId);
-
-    // FIXME: What do you do with duplication sequence numbers?
-    Q_ASSERT(!_missionItems.contains(request.seq));
-
-    _missionItems[request.seq] = request;
-}
-
 void MockLink::emitRemoteControlChannelRawChanged(int channel, uint16_t raw)
 {
     uint16_t chanRaw[18];

src/comm/MockLink.h

@@ -61,14 +61,8 @@ public:
     MockLink(MockConfiguration* config = NULL);
     ~MockLink(void);
 
-    // Virtuals from LinkInterface
-    virtual QString getName(void) const { return _name; }
-    virtual void requestReset(void){ }
-    virtual bool isConnected(void) const { return _connected; }
-    virtual qint64 getConnectionSpeed(void) const { return 100000000; }
-    virtual qint64 bytesAvailable(void) { return 0; }
-
     // MockLink methods
+    int vehicleId(void) { return _vehicleSystemId; }
     MAV_AUTOPILOT getAutopilotType(void) { return _autopilotType; }
     void setAutopilotType(MAV_AUTOPILOT autopilot) { _autopilotType = autopilot; }
     void emitRemoteControlChannelRawChanged(int channel, uint16_t raw);
@@ -78,6 +72,13 @@ public:
     
     MockLinkFileServer* getFileServer(void) { return _fileServer; }
 
+    // Virtuals from LinkInterface
+    virtual QString getName(void) const { return _name; }
+    virtual void requestReset(void){ }
+    virtual bool isConnected(void) const { return _connected; }
+    virtual qint64 getConnectionSpeed(void) const { return 100000000; }
+    virtual qint64 bytesAvailable(void) { return 0; }
+
     // These are left unimplemented in order to cause linker errors which indicate incorrect usage of
     // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
     bool connect(void);
@@ -120,9 +121,6 @@ private:
     void _handleParamRequestList(const mavlink_message_t& msg);
     void _handleParamSet(const mavlink_message_t& msg);
     void _handleParamRequestRead(const mavlink_message_t& msg);
-    void _handleMissionRequestList(const mavlink_message_t& msg);
-    void _handleMissionRequest(const mavlink_message_t& msg);
-    void _handleMissionItem(const mavlink_message_t& msg);
     void _handleFTP(const mavlink_message_t& msg);
     void _handleCommandLong(const mavlink_message_t& msg);
     float _floatUnionForParam(int componentId, const QString& paramName);
@@ -142,9 +140,6 @@ private:
     QMap<int, QMap<QString, QVariant> > _mapParamName2Value;
     QMap<QString, MAV_PARAM_TYPE>       _mapParamName2MavParamType;
 
-    typedef QMap<uint16_t, mavlink_mission_item_t>   MissionList_t;
-    MissionList_t   _missionItems;
-
     uint8_t     _mavBaseMode;
     uint32_t    _mavCustomMode;
     uint8_t     _mavState;

src/comm/MockLinkMissionItemHandler.h

@@ -21,90 +21,46 @@
 
  ======================================================================*/
 
-#ifndef MOCKLINKMISSIONITEMHANDLER_H
-#define MOCKLINKMISSIONITEMHANDLER_H
-
-// FIXME: This file is a work in progress
+#ifndef MockLinkMissionItemHandler_H
+#define MockLinkMissionItemHandler_H
 
 #include <QObject>
-#include <vector>
+#include <QMap>
 
 #include "QGCMAVLink.h"
+#include "QGCLoggingCategory.h"
 
-/* Alreedy defined in MAVLinkSimulationLink.h above!
-enum PX_WAYPOINTPLANNER_STATES {
-    PX_WPP_IDLE = 0,
-    PX_WPP_SENDLIST,
-    PX_WPP_SENDLIST_SENDWPS,
-    PX_WPP_GETLIST,
-    PX_WPP_GETLIST_GETWPS,
-    PX_WPP_GETLIST_GOTALL
-};
-*/
+class MockLink;
+
+Q_DECLARE_LOGGING_CATEGORY(MockLinkMissionItemHandlerLog)
 
 class MockLinkMissionItemHandler : public QObject
 {
     Q_OBJECT
 
 public:
-    MockLinkMissionItemHandler(uint16_t systemId, QObject* parent = NULL);
+    MockLinkMissionItemHandler(MockLink* mockLink);
 
     /// @brief Called to handle mission item related messages. All messages should be passed to this method.
     ///         It will handle the appropriate set.
-    void handleMessage(const mavlink_message_t& msg);
-
-#if 0
-signals:
-    void messageSent(const mavlink_message_t& msg);
-
-protected:
-    MAVLinkSimulationLink* link;
-    bool idle;      				///< indicates if the system is following the waypoints or is waiting
-    uint16_t current_active_wp_id;		///< id of current waypoint
-    bool yawReached;						///< boolean for yaw attitude reached
-    bool posReached;						///< boolean for position reached
-    uint64_t timestamp_lastoutside_orbit;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value
-    uint64_t timestamp_firstinside_orbit;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value
-
-    std::vector<mavlink_mission_item_t*> waypoints1;	///< vector1 that holds the waypoints
-    std::vector<mavlink_mission_item_t*> waypoints2;	///< vector2 that holds the waypoints
-
-    std::vector<mavlink_mission_item_t*>* waypoints;		///< pointer to the currently active waypoint vector
-    std::vector<mavlink_mission_item_t*>* waypoints_receive_buffer;	///< pointer to the receive buffer waypoint vector
-    PX_WAYPOINTPLANNER_STATES current_state;
-    uint16_t protocol_current_wp_id;
-    uint16_t protocol_current_count;
-    uint8_t protocol_current_partner_systemid;
-    uint8_t protocol_current_partner_compid;
-    uint64_t protocol_timestamp_lastaction;
-    unsigned int protocol_timeout;
-    uint64_t timestamp_last_send_setpoint;
-    uint8_t systemid;
-    uint8_t compid;
-    unsigned int setpointDelay;
-    float yawTolerance;
-    bool verbose;
-    bool debug;
-    bool silent;
-
-    void send_waypoint_ack(uint8_t target_systemid, uint8_t target_compid, uint8_t type);
-    void send_waypoint_current(uint16_t seq);
-    void send_setpoint(uint16_t seq);
-    void send_waypoint_count(uint8_t target_systemid, uint8_t target_compid, uint16_t count);
-    void send_waypoint(uint8_t target_systemid, uint8_t target_compid, uint16_t seq);
-    void send_waypoint_request(uint8_t target_systemid, uint8_t target_compid, uint16_t seq);
-    void send_waypoint_reached(uint16_t seq);
-    float distanceToSegment(uint16_t seq, float x, float y, float z);
-    float distanceToPoint(uint16_t seq, float x, float y, float z);
-    float distanceToPoint(uint16_t seq, float x, float y);
-    void mavlink_handler(const mavlink_message_t* msg);
-#endif
+    /// @return true: message handled
+    bool handleMessage(const mavlink_message_t& msg);
 
 private:
-    uint16_t _vehicleSystemId;  ///< System id of this vehicle
-
-    QList<mavlink_mission_item_t>   _missionItems;  ///< Current set of mission itemss
+    void _handleMissionRequestList(const mavlink_message_t& msg);
+    void _handleMissionRequest(const mavlink_message_t& msg);
+    void _handleMissionItem(const mavlink_message_t& msg);
+    void _handleMissionCount(const mavlink_message_t& msg);
+    void _requestNextMissionItem(int sequenceNumber);
 
+private:
+    MockLink* _mockLink;
+    
+    int _writeSequenceCount;    ///< Numbers of items about to be written
+    int _writeSequenceIndex;    ///< Current index being reqested
+    
+    typedef QMap<uint16_t, mavlink_mission_item_t>   MissionList_t;
+    MissionList_t   _missionItems;
 };
 
-#endif // MAVLINKSIMULATIONWAYPOINTPLANNER_H
+#endif

src/qgcunittest/MultiSignalSpy.cc

@@ -223,10 +223,7 @@ bool MultiSignalSpy::waitForSignalByIndex(
     Q_ASSERT(spy);
     
     while (spy->count() == 0 && !_timeout) {
-        QCoreApplication::sendPostedEvents();
-        QCoreApplication::processEvents();
-        QCoreApplication::flush();
-        QTest::qSleep(100);
+        QTest::qWait(100);
     }
     
     // Clean up and return status

src/uas/UASWaypointManager.cc

@@ -199,14 +199,14 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
             MissionItem *lwp_vo = new MissionItem(NULL,
                                                   wp->seq,
                                                   QGeoCoordinate(wp->x, wp->y, wp->z),
+                                                  (MAV_CMD) wp->command,
                                                   wp->param1,
                                                   wp->param2,
                                                   wp->param3,
                                                   wp->param4,
                                                   wp->autocontinue,
                                                   wp->current,
-                                                  (MAV_FRAME) wp->frame,
-                                                  (MAV_CMD) wp->command);
+                                                  (MAV_FRAME) wp->frame);
 
             addWaypointViewOnly(lwp_vo);
 
@@ -214,14 +214,14 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
                 MissionItem *lwp_ed = new MissionItem(NULL,
                                                       wp->seq,
                                                       QGeoCoordinate(wp->x, wp->y, wp->z),
+                                                      (MAV_CMD) wp->command,
                                                       wp->param1,
                                                       wp->param2,
                                                       wp->param3,
                                                       wp->param4,
                                                       wp->autocontinue,
                                                       wp->current,
-                                                      (MAV_FRAME) wp->frame,
-                                                      (MAV_CMD) wp->command);
+                                                      (MAV_FRAME) wp->frame);
                 addWaypointEditable(lwp_ed, false);
                 if (wp->current == 1) currentWaypointEditable = lwp_ed;
             }
@@ -256,14 +256,14 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
         MissionItem *lwp_vo = new MissionItem(NULL,
                                               wp->seq,
                                               QGeoCoordinate(wp->x, wp->y, wp->z),
+                                              (MAV_CMD) wp->command,
                                               wp->param1,
                                               wp->param2,
                                               wp->param3,
                                               wp->param4,
                                               wp->autocontinue,
                                               wp->current,
-                                              (MAV_FRAME) wp->frame,
-                                              (MAV_CMD) wp->command);
+                                              (MAV_FRAME) wp->frame);
 
         waypointsViewOnly.replace(wp->seq, lwp_vo);
         emit waypointViewOnlyListChanged();

src/ui/SettingsDialog.cc

@@ -37,6 +37,7 @@
 #include "QGCFileDialog.h"
 #include "QGCMessageBox.h"
 #include "MainToolBar.h"
+#include "FlightMapSettings.h"
 
 SettingsDialog::SettingsDialog(QWidget *parent, int showTab, Qt::WindowFlags flags) :
 QDialog(parent, flags),
@@ -94,7 +95,18 @@ _ui(new Ui::SettingsDialog)
     connect(_ui->styleChooser, SIGNAL(currentIndexChanged(int)), this, SLOT(styleChanged(int)));
     connect(_ui->browseSavedFilesLocation, &QPushButton::clicked, this, &SettingsDialog::_selectSavedFilesDirectory);
     connect(_ui->buttonBox, &QDialogButtonBox::accepted, this, &SettingsDialog::_validateBeforeClose);
-
+    
+    // Flight Map settings
+    
+    FlightMapSettings* fmSettings = FlightMapSettings::instance();
+    _ui->bingMapRadio->setChecked(fmSettings->mapProvider() == "Bing");
+    _ui->googleMapRadio->setChecked(fmSettings->mapProvider() == "Google");
+    _ui->openMapRadio->setChecked(fmSettings->mapProvider() == "Open");
+
+    connect(_ui->bingMapRadio,      &QRadioButton::clicked, this, &SettingsDialog::_bingMapRadioClicked);
+    connect(_ui->googleMapRadio,    &QRadioButton::clicked, this, &SettingsDialog::_googleMapRadioClicked);
+    connect(_ui->openMapRadio,      &QRadioButton::clicked, this, &SettingsDialog::_openMapRadioClicked);
+    
     switch (showTab) {
         case ShowCommLinks:
             _ui->tabWidget->setCurrentWidget(pLinkConf);
@@ -193,3 +205,24 @@ void SettingsDialog::on_showRSSI_clicked(bool checked)
 {
     _mainWindow->getMainToolBar()->viewStateChanged(TOOL_BAR_SHOW_RSSI, checked);
 }
+
+void SettingsDialog::_bingMapRadioClicked(bool checked)
+{
+    if (checked) {
+        FlightMapSettings::instance()->setMapProvider("Bing");
+    }
+}
+
+void SettingsDialog::_googleMapRadioClicked(bool checked)
+{
+    if (checked) {
+        FlightMapSettings::instance()->setMapProvider("Google");
+    }
+}
+
+void SettingsDialog::_openMapRadioClicked(bool checked)
+{
+    if (checked) {
+        FlightMapSettings::instance()->setMapProvider("Open");
+    }
+}

src/ui/SettingsDialog.h

@@ -62,6 +62,10 @@ private slots:
     void on_showMav_clicked(bool checked);
 
     void on_showRSSI_clicked(bool checked);
+    
+    void _bingMapRadioClicked(bool checked);
+    void _googleMapRadioClicked(bool checked);
+    void _openMapRadioClicked(bool checked);
 
 private:
     MainWindow*         _mainWindow;

src/ui/SettingsDialog.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>500</width>
-    <height>596</height>
+    <height>689</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -115,6 +115,36 @@
          </property>
         </widget>
        </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_4">
+         <property name="title">
+          <string>Map Provider</string>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout">
+          <item>
+           <widget class="QRadioButton" name="bingMapRadio">
+            <property name="text">
+             <string>Bing</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QRadioButton" name="googleMapRadio">
+            <property name="text">
+             <string>Google</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QRadioButton" name="openMapRadio">
+            <property name="text">
+             <string>Open Streets</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
        <item>
         <widget class="QGroupBox" name="groupBox">
          <property name="sizePolicy">

src/ui/WaypointList.cc

@@ -304,9 +304,17 @@ void WaypointList::addEditable(bool onCurrentPosition)
                     } else {
                         updateStatusLabel(tr("Added default GLOBAL (Relative alt.) waypoint."));
                     }
-                    wp = new MissionItem(NULL, 0,
+                    wp = new MissionItem(NULL,
+                                         0,
                                          QGeoCoordinate(uas->getLatitude(), uas->getLongitude(), uas->getAltitudeAMSL()),
-                                         0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+                                         MAV_CMD_NAV_WAYPOINT,
+                                         0,
+                                         WPM->getAcceptanceRadiusRecommendation(),
+                                         0,
+                                         0,
+                                         true,
+                                         true,
+                                         (MAV_FRAME)WPM->getFrameRecommendation());
                     WPM->addWaypointEditable(wp);
 
                 } else {
@@ -316,9 +324,17 @@ void WaypointList::addEditable(bool onCurrentPosition)
                     } else {
                         updateStatusLabel(tr("Added default GLOBAL (Relative alt.) waypoint."));
                     }
-                    wp = new MissionItem(NULL, 0,
+                    wp = new MissionItem(NULL,
+                                         0,
                                          QGeoCoordinate(HomePositionManager::instance()->getHomeLatitude(), HomePositionManager::instance()->getHomeLongitude(), WPM->getAltitudeRecommendation()),
-                                         0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+                                         MAV_CMD_NAV_WAYPOINT,
+                                         0,
+                                         WPM->getAcceptanceRadiusRecommendation(),
+                                         0,
+                                         0,
+                                         true,
+                                         true,
+                                         (MAV_FRAME)WPM->getFrameRecommendation());
                     WPM->addWaypointEditable(wp);
                 }
             }
@@ -327,15 +343,31 @@ void WaypointList::addEditable(bool onCurrentPosition)
                 if (onCurrentPosition)
                 {
                     updateStatusLabel(tr("Added default LOCAL (NED) waypoint."));
-                    wp = new MissionItem(NULL, 0,
+                    wp = new MissionItem(NULL,
+                                         0,
                                          QGeoCoordinate(uas->getLocalX(), uas->getLocalY(), uas->getLocalZ()),
-                                         0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
+                                         MAV_CMD_NAV_WAYPOINT,
+                                         0,
+                                         WPM->getAcceptanceRadiusRecommendation(),
+                                         0,
+                                         0,
+                                         true,
+                                         true,
+                                         MAV_FRAME_LOCAL_NED);
                     WPM->addWaypointEditable(wp);
                 } else {
                     updateStatusLabel(tr("Added default LOCAL (NED) waypoint."));
-                    wp = new MissionItem(0, 0,
+                    wp = new MissionItem(0,
+                                         0,
                                          QGeoCoordinate(0, 0, -0.50),
-                                         0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
+                                         MAV_CMD_NAV_WAYPOINT,
+                                         0,
+                                         WPM->getAcceptanceRadiusRecommendation(),
+                                         0,
+                                         0,
+                                         true,
+                                         true,
+                                         MAV_FRAME_LOCAL_NED);
                     WPM->addWaypointEditable(wp);
                 }
             }
@@ -343,9 +375,17 @@ void WaypointList::addEditable(bool onCurrentPosition)
             {
                 // MAV connected, but position unknown, add default waypoint
                 updateStatusLabel(tr("WARNING: No position known. Adding default LOCAL (NED) waypoint"));
-                wp = new MissionItem(NULL, 0,
+                wp = new MissionItem(NULL,
+                                     0,
                                      QGeoCoordinate(HomePositionManager::instance()->getHomeLatitude(), HomePositionManager::instance()->getHomeLongitude(), WPM->getAltitudeRecommendation()),
-                                     0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+                                     MAV_CMD_NAV_WAYPOINT,
+                                     0,
+                                     WPM->getAcceptanceRadiusRecommendation(),
+                                     0,
+                                     0,
+                                     true,
+                                     true,
+                                     (MAV_FRAME)WPM->getFrameRecommendation());
                 WPM->addWaypointEditable(wp);
             }
         }
@@ -353,9 +393,17 @@ void WaypointList::addEditable(bool onCurrentPosition)
         {
             //Since no UAV available, create first default waypoint.
             updateStatusLabel(tr("No UAV connected. Adding default GLOBAL (NED) waypoint"));
-            wp = new MissionItem(NULL, 0,
+            wp = new MissionItem(NULL,
+                                 0,
                                  QGeoCoordinate(HomePositionManager::instance()->getHomeLatitude(), HomePositionManager::instance()->getHomeLongitude(), WPM->getAltitudeRecommendation()),
-                                 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+                                 MAV_CMD_NAV_WAYPOINT,
+                                 0,
+                                 WPM->getAcceptanceRadiusRecommendation(),
+                                 0,
+                                 0,
+                                 true,
+                                 true,
+                                 (MAV_FRAME)WPM->getFrameRecommendation());
             WPM->addWaypointEditable(wp);
         }
     }