Merge pull request #2090 from DonLakeFlyer/APMMissionSupport

APM stack mission support

QGCApplication.pro

@@ -228,7 +228,6 @@ HEADERS += \
     src/Joystick/JoystickManager.h \
     src/LogCompressor.h \
     src/MG.h \
-    src/MissionEditor/MissionEditorController.h \
     src/MissionManager/MissionManager.h \
     src/MissionManager/MissionController.h \
     src/QGC.h \
@@ -347,7 +346,6 @@ SOURCES += \
     src/Joystick/JoystickManager.cc \
     src/LogCompressor.cc \
     src/main.cc \
-    src/MissionEditor/MissionEditorController.cc \
     src/MissionManager/MissionManager.cc \
     src/MissionManager/MissionController.cc \
     src/QGC.cc \

src/FactSystem/FactSystemTestBase.cc

@@ -45,7 +45,7 @@ void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot)
     UnitTest::init();
     
     MockLink* link = new MockLink();
-    link->setAutopilotType(autopilot);
+    link->setFirmwareType(autopilot);
     LinkManager::instance()->_addLink(link);
     
     LinkManager::instance()->connectLink(link);

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -378,3 +378,9 @@ void APMFirmwarePlugin::setSupportedModes(QList<APMCustomMode> supportedModes)
 {
     _supportedModes = supportedModes;
 }
+
+bool APMFirmwarePlugin::sendHomePositionToVehicle(void)
+{
+    // APM stack wants the home position sent in the first position
+    return true;
+}

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -87,6 +87,7 @@ public:
     virtual int manualControlReservedButtonCount(void);
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
+    virtual bool sendHomePositionToVehicle(void);
 
 protected:
     /// All access to singleton is through stack specific implementation

src/FirmwarePlugin/FirmwarePlugin.h

@@ -97,6 +97,14 @@ public:
     /// Called when Vehicle is first created to send any necessary mavlink messages to the firmware.
     virtual void initializeVehicle(Vehicle* vehicle) = 0;
 
+    /// Determines how to handle the first item of the mission item list. Internally to QGC the first item
+    /// is always the home position.
+    /// @return
+    ///     true: Send first mission item as home position to vehicle. When vehicle has no mission items on
+    ///             it, it may or may not return a home position back in position 0.
+    ///     false: Do not send first item to vehicle, sequence numbers must be adjusted
+    virtual bool sendHomePositionToVehicle(void) = 0;
+    
 protected:
     FirmwarePlugin(QObject* parent = NULL) : QGCSingleton(parent) { }
 };

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc

@@ -110,3 +110,11 @@ void GenericFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
     
     // Generic Flight Stack is by definition "generic", so no extra work
 }
+
+bool GenericFirmwarePlugin::sendHomePositionToVehicle(void)
+{
+    // Generic stack does not want home position sent in the first position.
+    // Subsequent sequence numbers must be adjusted.
+    // This is the mavlink spec default.
+    return false;
+}

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h

@@ -46,6 +46,7 @@ public:
     virtual int manualControlReservedButtonCount(void);
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
+    virtual bool sendHomePositionToVehicle(void);
 
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -200,3 +200,10 @@ void PX4FirmwarePlugin::initializeVehicle(Vehicle* vehicle)
     
     // PX4 Flight Stack doesn't need to do any extra work
 }
+
+bool PX4FirmwarePlugin::sendHomePositionToVehicle(void)
+{
+    // PX4 stack does not want home position sent in the first position.
+    // Subsequent sequence numbers must be adjusted.
+    return false;
+}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -46,6 +46,7 @@ public:
     virtual int manualControlReservedButtonCount(void);
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
+    virtual bool sendHomePositionToVehicle(void);
 
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance

src/FlightDisplay/FlightDisplayView.qml

@@ -73,7 +73,7 @@ Item {
     property real _pitch:               _activeVehicle ? (isNaN(_activeVehicle.pitch) ? _defaultPitch : _activeVehicle.pitch) : _defaultPitch
     property real _heading:             _activeVehicle ? (isNaN(_activeVehicle.heading) ? _defaultHeading : _activeVehicle.heading) : _defaultHeading
 
-    property var  _vehicleCoordinate:   _activeVehicle ? _activeVehicle.coordinate : _defaultVehicleCoordinate
+    property var  _vehicleCoordinate:   _activeVehicle ? (_activeVehicle.satelliteLock >= 2 ? _activeVehicle.coordinate : _defaultVehicleCoordinate) : _defaultVehicleCoordinate
 
     property real _altitudeWGS84:       _activeVehicle ? _activeVehicle.altitudeWGS84 : _defaultAltitudeWGS84
     property real _groundSpeed:         _activeVehicle ? _activeVehicle.groundSpeed : _defaultGroundSpeed
@@ -83,7 +83,12 @@ Item {
     property bool _showMap: getBool(QGroundControl.flightMapSettings.loadMapSetting(flightMap.mapName, _showMapBackgroundKey, "1"))
 
     FlightDisplayViewController { id: _controller }
-    MissionController { id: _missionController }
+
+    MissionController {
+        id: _missionController
+
+        Component.onCompleted: start(false /* editMode */)
+    }
 
     ExclusiveGroup {
         id: _dropButtonsExclusiveGroup

src/MissionEditor/MissionEditor.qml

@@ -54,24 +54,27 @@ QGCView {
     readonly property string    _autoSyncKey:       "AutoSync"
     readonly property string    _showHelpKey:       "ShowHelp"
     readonly property int       _addMissionItemsButtonAutoOffTimeout:   10000
+    readonly property var       _defaultVehicleCoordinate:   QtPositioning.coordinate(37.803784, -122.462276)
 
     property var    _missionItems:              controller.missionItems
 
-    property var    _homePositionManager:       QGroundControl.homePositionManager
-    property string _homePositionName:          _homePositionManager.homePositions.get(0).name
-
+    //property var    _homePositionManager:       QGroundControl.homePositionManager
+    //property string _homePositionName:          _homePositionManager.homePositions.get(0).name
     //property var    offlineHomePosition:        _homePositionManager.homePositions.get(0).coordinate
+
     property var    liveHomePosition:           controller.liveHomePosition
     property var    liveHomePositionAvailable:  controller.liveHomePositionAvailable
-    //property var    homePosition:               offlineHomePosition // live or offline depending on state
+    property var    homePosition:               _defaultVehicleCoordinate
 
     property bool _syncNeeded:                  controller.missionItems.dirty
     property bool _syncInProgress:              _activeVehicle ? _activeVehicle.missionManager.inProgress : false
 
     property bool _showHelp:                    QGroundControl.flightMapSettings.loadBoolMapSetting(editorMap.mapName, _showHelpKey, true)
 
-    MissionEditorController {
+    MissionController {
         id:         controller
+
+        Component.onCompleted: start(true /* editMode */)
 /*
         FIXME: autoSync is temporarily disconnected since it's still buggy
 
@@ -104,6 +107,7 @@ QGCView {
 
     function updateHomePosition() {
         if (liveHomePositionAvailable) {
+            homePosition = liveHomePosition
             _missionItems.get(0).coordinate = liveHomePosition
             _missionItems.get(0).homePositionValid = true
         }
@@ -280,8 +284,8 @@ QGCView {
                     }
                 } // Item - Mission Item editor
 
-/*
-Home Position Manager is commented out for now until a better implementation is completed
+                /*
+                  Home Position Manager temporarily disbled till more work is done on it
 
                 // Home Position Manager
                 Rectangle {
@@ -554,7 +558,7 @@ Home Position Manager is commented out for now until a better implementation is
                         }
                     } // Column - Online view
                 } // Item - Home Position Manager
-*/
+                */
 
                 // Help Panel
                 Rectangle {
@@ -654,7 +658,7 @@ Home Position Manager is commented out for now until a better implementation is
                         }
 
                         /*
-                        Home Position Manager commented until more complete implementation is done
+                          Home Position Manager disabled
 
                         Image {
                             id:                 homePositionManagerHelpIcon
@@ -678,7 +682,7 @@ Home Position Manager is commented out for now until a better implementation is
                                                 "When enabled, allows you to select/add/update flying field locations. " +
                                                 "You can save multiple flying field locations for use while creating missions while you are not connected to your vehicle."
                         }
-*/
+                        */
 
                         Image {
                             id:                 mapCenterHelpIcon
@@ -801,8 +805,7 @@ Home Position Manager is commented out for now until a better implementation is
                 }
 
                 /*
-                Home Position Manager commented until more complete implementation is done
-
+                  Home Position manager temporarily disable
                 RoundButton {
                     id:                 homePositionManagerButton
                     anchors.margins:    _margin

src/MissionEditor/MissionEditorController.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 MissionEditorController_H
-#define MissionEditorController_H
-
-#include <QObject>
-
-#include "QmlObjectListModel.h"
-#include "Vehicle.h"
-
-class MissionEditorController : public QObject
-{
-    Q_OBJECT
-    
-public:
-    MissionEditorController(QObject* parent = NULL);
-    ~MissionEditorController();
-
-    Q_PROPERTY(QmlObjectListModel*  missionItems                READ missionItems                   NOTIFY missionItemsChanged)
-    Q_PROPERTY(QmlObjectListModel*  waypointLines               READ waypointLines                  NOTIFY waypointLinesChanged)
-    Q_PROPERTY(bool                 canEdit                     READ canEdit                        NOTIFY canEditChanged)
-    Q_PROPERTY(bool                 liveHomePositionAvailable   READ liveHomePositionAvailable      NOTIFY liveHomePositionAvailableChanged)
-    Q_PROPERTY(QGeoCoordinate       liveHomePosition            READ liveHomePosition               NOTIFY liveHomePositionChanged)
-    Q_PROPERTY(bool                 autoSync                    READ autoSync   WRITE setAutoSync   NOTIFY autoSyncChanged)
-    
-    Q_INVOKABLE int addMissionItem(QGeoCoordinate coordinate);
-    Q_INVOKABLE void getMissionItems(void);
-    Q_INVOKABLE void sendMissionItems(void);
-    Q_INVOKABLE void loadMissionFromFile(void);
-    Q_INVOKABLE void saveMissionToFile(void);
-    Q_INVOKABLE void removeMissionItem(int index);
-    Q_INVOKABLE void deleteCurrentMissionItem(void);
-
-    // Property accessors
-    
-    QmlObjectListModel* missionItems(void);
-    QmlObjectListModel* waypointLines(void) { return &_waypointLines; }
-    bool canEdit(void) { return _canEdit; }
-    bool liveHomePositionAvailable(void) { return _liveHomePositionAvailable; }
-    QGeoCoordinate liveHomePosition(void) { return _liveHomePosition; }
-    bool autoSync(void) { return _autoSync; }
-    void setAutoSync(bool autoSync);
-
-signals:
-    void missionItemsChanged(void);
-    void canEditChanged(bool canEdit);
-    void waypointLinesChanged(void);
-    void liveHomePositionAvailableChanged(bool homePositionAvailable);
-    void liveHomePositionChanged(const QGeoCoordinate& homePosition);
-    void autoSyncChanged(bool autoSync);
-    
-private slots:
-    void _newMissionItemsAvailable();
-    void _itemCoordinateChanged(const QGeoCoordinate& coordinate);
-    void _itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
-    void _activeVehicleChanged(Vehicle* activeVehicle);
-    void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable);
-    void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
-    void _dirtyChanged(bool dirty);
-    void _inProgressChanged(bool inProgress);
-
-private:
-    void _recalcSequence(void);
-    void _recalcWaypointLines(void);
-    void _recalcChildItems(void);
-    void _recalcAll(void);
-    void _initAllMissionItems(void);
-    void _deinitAllMissionItems(void);
-    void _initMissionItem(MissionItem* item);
-    void _deinitMissionItem(MissionItem* item);
-    void _autoSyncSend(void);
-
-private:
-    QmlObjectListModel* _missionItems;
-    QmlObjectListModel  _waypointLines;
-    bool                _canEdit;           ///< true: UI can edit these items, false: can't edit, can only send to vehicle or save
-    Vehicle*            _activeVehicle;
-    bool                _liveHomePositionAvailable;
-    QGeoCoordinate      _liveHomePosition;
-    bool                _autoSync;
-    bool                _firstMissionItemSync;
-    bool                _missionItemsRequested;
-    bool                _queuedSend;
-
-    static const char* _settingsGroup;
-};
-
-#endif

src/MissionItem.h

@@ -86,7 +86,7 @@ public:
     Q_PROPERTY(QmlObjectListModel*  childItems          READ childItems                                     CONSTANT)
 
     /// true: this item is being used as a home position indicator
-    Q_PROPERTY(bool                 homePosition        MEMBER _homePositionSpecialCase                     CONSTANT)
+    Q_PROPERTY(bool                 homePosition        READ homePosition                                   CONSTANT)
     
     /// true: home position should be shown
     Q_PROPERTY(bool                 homePositionValid   READ homePositionValid      WRITE setHomePositionValid NOTIFY homePositionValidChanged)
@@ -131,6 +131,7 @@ public:
     
     QmlObjectListModel* childItems(void) { return &_childItems; }
 
+    bool homePosition(void) { return _homePositionSpecialCase; }
     bool homePositionValid(void) { return _homePositionValid; }
     void setHomePositionValid(bool homePositionValid);
     

src/MissionManager/MissionController.h

@@ -29,7 +29,6 @@ This file is part of the QGROUNDCONTROL project
 #include "QmlObjectListModel.h"
 #include "Vehicle.h"
 
-/// MissionController is a read only controller for Mission Items
 class MissionController : public QObject
 {
     Q_OBJECT
@@ -40,26 +39,47 @@ public:
 
     Q_PROPERTY(QmlObjectListModel*  missionItems                READ missionItems                   NOTIFY missionItemsChanged)
     Q_PROPERTY(QmlObjectListModel*  waypointLines               READ waypointLines                  NOTIFY waypointLinesChanged)
-
-    /// true: home position should be shown on map, false: home position not shown on map
-    Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged)
+    Q_PROPERTY(bool                 canEdit                     READ canEdit                        NOTIFY canEditChanged)
+    Q_PROPERTY(bool                 liveHomePositionAvailable   READ liveHomePositionAvailable      NOTIFY liveHomePositionAvailableChanged)
+    Q_PROPERTY(QGeoCoordinate       liveHomePosition            READ liveHomePosition               NOTIFY liveHomePositionChanged)
+    Q_PROPERTY(bool                 autoSync                    READ autoSync   WRITE setAutoSync   NOTIFY autoSyncChanged)
+
+    Q_INVOKABLE void start(bool editMode)    ;
+    Q_INVOKABLE int addMissionItem(QGeoCoordinate coordinate);
+    Q_INVOKABLE void getMissionItems(void);
+    Q_INVOKABLE void sendMissionItems(void);
+    Q_INVOKABLE void loadMissionFromFile(void);
+    Q_INVOKABLE void saveMissionToFile(void);
+    Q_INVOKABLE void removeMissionItem(int index);
+    Q_INVOKABLE void deleteCurrentMissionItem(void);
 
     // Property accessors
 
-    QmlObjectListModel* missionItems(void) { return _missionItems; }
+    QmlObjectListModel* missionItems(void);
     QmlObjectListModel* waypointLines(void) { return &_waypointLines; }
-
-    bool homePositionValid(void) { return _homePositionValid; }
-    void setHomePositionValid(bool homPositionValid);
+    bool canEdit(void) { return _canEdit; }
+    bool liveHomePositionAvailable(void) { return _liveHomePositionAvailable; }
+    QGeoCoordinate liveHomePosition(void) { return _liveHomePosition; }
+    bool autoSync(void) { return _autoSync; }
+    void setAutoSync(bool autoSync);
 
 signals:
     void missionItemsChanged(void);
+    void canEditChanged(bool canEdit);
     void waypointLinesChanged(void);
-    void homePositionValidChanged(bool homePositionValid);
+    void liveHomePositionAvailableChanged(bool homePositionAvailable);
+    void liveHomePositionChanged(const QGeoCoordinate& homePosition);
+    void autoSyncChanged(bool autoSync);
 
 private slots:
     void _newMissionItemsAvailable();
+    void _itemCoordinateChanged(const QGeoCoordinate& coordinate);
+    void _itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
     void _activeVehicleChanged(Vehicle* activeVehicle);
+    void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable);
+    void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
+    void _dirtyChanged(bool dirty);
+    void _inProgressChanged(bool inProgress);
 
 private:
     void _recalcSequence(void);
@@ -67,12 +87,25 @@ private:
     void _recalcChildItems(void);
     void _recalcAll(void);
     void _initAllMissionItems(void);
+    void _deinitAllMissionItems(void);
+    void _initMissionItem(MissionItem* item);
+    void _deinitMissionItem(MissionItem* item);
+    void _autoSyncSend(void);
 
 private:
+    bool                _editMode;
     QmlObjectListModel* _missionItems;
     QmlObjectListModel  _waypointLines;
+    bool                _canEdit;           ///< true: UI can edit these items, false: can't edit, can only send to vehicle or save
     Vehicle*            _activeVehicle;
-    bool                _homePositionValid;
+    bool                _liveHomePositionAvailable;
+    QGeoCoordinate      _liveHomePosition;
+    bool                _autoSync;
+    bool                _firstMissionItemSync;
+    bool                _missionItemsRequested;
+    bool                _queuedSend;
+
+    static const char* _settingsGroup;
 };
 
 #endif

src/MissionManager/MissionManager.cc

@@ -26,6 +26,7 @@
 
 #include "MissionManager.h"
 #include "Vehicle.h"
+#include "FirmwarePlugin.h"
 #include "MAVLinkProtocol.h"
 
 QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog")
@@ -53,8 +54,10 @@ MissionManager::~MissionManager()
 
 }
 
-void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems, bool skipFirstItem)
+void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
 {
+    bool skipFirstItem = !_vehicle->firmwarePlugin()->sendHomePositionToVehicle();
+
     _retryCount = 0;
     _missionItems.clear();
 
@@ -65,12 +68,14 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems, b
 
         MissionItem* item = qobject_cast<MissionItem*>(_missionItems.get(_missionItems.count() - 1));
 
-        // Editor uses 1-based sequence numbers, adjust them before going out
+        if (skipFirstItem) {
+            // Home is in sequence 1, remainder of items start at sequence 1
             item->setSequenceNumber(item->sequenceNumber() - 1);
             if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
                 item->setParam1((int)item->param1() - 1);
             }
         }
+    }
     emit newMissionItemsAvailable();
 
     qCDebug(MissionManagerLog) << "writeMissionItems count:" << _missionItems.count();
@@ -200,9 +205,9 @@ bool MissionManager::_stopAckTimeout(AckType_t expectedAck)
     return success;
 }
 
-void MissionManager::_sendTransactionComplete(void)
+void MissionManager::_readTransactionComplete(void)
 {
-    qCDebug(MissionManagerLog) << "_sendTransactionComplete read sequence complete";
+    qCDebug(MissionManagerLog) << "_readTransactionComplete read sequence complete";
     
     mavlink_message_t       message;
     mavlink_mission_ack_t   missionAck;
@@ -233,8 +238,7 @@ void MissionManager::_handleMissionCount(const mavlink_message_t& message)
     qCDebug(MissionManagerLog) << "_handleMissionCount count:" << _cMissionItems;
     
     if (_cMissionItems == 0) {
-        emit newMissionItemsAvailable();
-        emit inProgressChanged(false);
+        _readTransactionComplete();
     } else {
         _requestNextMissionItem(0);
     }
@@ -304,7 +308,7 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
     
     int nextSequenceNumber = missionItem.seq + 1;
     if (nextSequenceNumber == _cMissionItems) {
-        _sendTransactionComplete();
+        _readTransactionComplete();
     } else {
         _requestNextMissionItem(nextSequenceNumber);
     }

src/MissionManager/MissionManager.h

@@ -63,8 +63,7 @@ public:
     
     /// Writes the specified set of mission items to the vehicle
     ///     @oaram missionItems Items to send to vehicle
-    ///     @param skipFirstItem true: Don't send first item
-    void writeMissionItems(const QmlObjectListModel& missionItems, bool skipFirstItem);
+    void writeMissionItems(const QmlObjectListModel& missionItems);
     
     /// Returns a copy of the current set of mission items. Caller is responsible for
     /// freeing returned object.
@@ -106,7 +105,7 @@ private:
     
     void _startAckTimeout(AckType_t ack);
     bool _stopAckTimeout(AckType_t expectedAck);
-    void _sendTransactionComplete(void);
+    void _readTransactionComplete(void);
     void _handleMissionCount(const mavlink_message_t& message);
     void _handleMissionItem(const mavlink_message_t& message);
     void _handleMissionRequest(const mavlink_message_t& message);

src/MissionManager/MissionManagerTest.cc

@@ -35,8 +35,9 @@ const MissionManagerTest::TestCase_t MissionManagerTest::_rgTestCases[] = {
     { "4\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 4, 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 } },
     { "5\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 5, 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 } },
     { "6\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 6, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY,  10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
-    { "7\t0\t2\t177\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 7, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP,          10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
+    { "7\t0\t2\t177\t3\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 7, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP,          3,    20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
 };
+const size_t MissionManagerTest::_cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]);
 
 MissionManagerTest::MissionManagerTest(void)
     : _mockLink(NULL)
@@ -44,7 +45,7 @@ MissionManagerTest::MissionManagerTest(void)
     
 }
 
-void MissionManagerTest::init(void)
+void MissionManagerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
 {
     UnitTest::init();
     
@@ -53,6 +54,7 @@ void MissionManagerTest::init(void)
     
     _mockLink = new MockLink();
     Q_CHECK_PTR(_mockLink);
+    _mockLink->setFirmwareType(firmwareType);
     LinkManager::instance()->_addLink(_mockLink);
     
     linkMgr->connectLink(_mockLink);
@@ -110,7 +112,7 @@ void MissionManagerTest::_checkInProgressValues(bool inProgress)
     QCOMPARE(signalArgs[0].toBool(), inProgress);
 }
 
-void MissionManagerTest::_readEmptyVehicle(void)
+void MissionManagerTest::_readEmptyVehicleWorker(void)
 {
     _missionManager->requestMissionItems();
 
@@ -125,8 +127,7 @@ void MissionManagerTest::_readEmptyVehicle(void)
     // inProgressChanged signal to signal completion.
     _multiSpy->waitForSignalByIndex(newMissionItemsAvailableSignalIndex, _signalWaitTime);
     _multiSpy->waitForSignalByIndex(inProgressChangedSignalIndex, _signalWaitTime);
-    QCOMPARE(_multiSpy->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true);
-    QCOMPARE(_multiSpy->checkNoSignalByMask(canEditChangedSignalMask), true);
+    QCOMPARE(_multiSpy->checkOnlySignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true);
     _checkInProgressValues(false);
     
     // Vehicle should have no items at this point
@@ -143,7 +144,6 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
     }
     
     // Setup our test case data
-    const size_t cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]);
     QmlObjectListModel* list = new QmlObjectListModel();
     
     // Editor has a home position item on the front, so we do the same
@@ -156,7 +156,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
     homeItem->setSequenceNumber(0);
     list->insert(0, homeItem);
 
-    for (size_t i=0; i<cTestCases; i++) {
+    for (size_t i=0; i<_cTestCases; i++) {
         const TestCase_t* testCase = &_rgTestCases[i];
         
         MissionItem* item = new MissionItem(list);
@@ -175,7 +175,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
     }
     
     // Send the items to the vehicle
-    _missionManager->writeMissionItems(*list, true /* skipFirstItem */);
+    _missionManager->writeMissionItems(*list);
     
     // writeMissionItems should emit these signals before returning:
     //      inProgressChanged
@@ -197,8 +197,15 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
         // Validate inProgressChanged signal value
         _checkInProgressValues(false);
 
-        // We should have gotten back all mission items
-        QCOMPARE(_missionManager->missionItems()->count(), (int)cTestCases);
+        // Validate item count in mission manager
+
+        int expectedCount = (int)_cTestCases;
+        if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            // Home position at position 0 comes from vehicle
+            expectedCount++;
+        }
+
+        QCOMPARE(_missionManager->missionItems()->count(), expectedCount);
     } else {
         // This should be a failed run
         
@@ -260,6 +267,7 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
         QCOMPARE(_multiSpy->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true);
         QCOMPARE(_multiSpy->checkNoSignalByMask(canEditChangedSignalMask), true);
         _checkInProgressValues(false);
+
     } else {
         // This should be a failed run
         
@@ -292,7 +300,11 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
     size_t cMissionItemsExpected;
     
     if (failureMode == MockLinkMissionItemHandler::FailNone || failFirstTimeOnly == true) {
-        cMissionItemsExpected = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]);
+        cMissionItemsExpected = (int)_cTestCases;
+        if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            // Home position at position 0 comes from vehicle
+            cMissionItemsExpected++;
+        }
     } else {
         switch (failureMode) {
             case MockLinkMissionItemHandler::FailReadRequestListNoResponse:
@@ -316,27 +328,48 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
     QCOMPARE(_missionManager->missionItems()->count(), (int)cMissionItemsExpected);
     QCOMPARE(_missionManager->canEdit(), true);
 
-    for (size_t i=0; i<cMissionItemsExpected; i++) {
-        const TestCase_t* testCase = &_rgTestCases[i];
-        MissionItem* actual = qobject_cast<MissionItem*>(_missionManager->missionItems()->get(i));
+    size_t firstActualItem = 0;
+    if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+        // First item is home position, don't validate it
+        firstActualItem++;
+    }
 
-        qDebug() << "Test case" << i;
-        QCOMPARE(actual->sequenceNumber(),          testCase->expectedItem.sequenceNumber);
+    int testCaseIndex = 0;
+    for (size_t actualItemIndex=firstActualItem; actualItemIndex<cMissionItemsExpected; actualItemIndex++) {
+        const TestCase_t* testCase = &_rgTestCases[testCaseIndex];
+
+        int expectedSequenceNumber = testCase->expectedItem.sequenceNumber;
+        int expectedParam1 = (int)testCase->expectedItem.param1;
+        if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            // Account for home position in first item
+            expectedSequenceNumber++;
+            if (testCase->expectedItem.command == MAV_CMD_DO_JUMP) {
+                // Expected data in test case is for PX4
+                expectedParam1++;
+            }
+        }
+
+        MissionItem* actual = qobject_cast<MissionItem*>(_missionManager->missionItems()->get(actualItemIndex));
+        
+        qDebug() << "Test case" << testCaseIndex;
+        QCOMPARE(actual->sequenceNumber(),          expectedSequenceNumber);
         QCOMPARE(actual->coordinate().latitude(),   testCase->expectedItem.coordinate.latitude());
         QCOMPARE(actual->coordinate().longitude(),  testCase->expectedItem.coordinate.longitude());
         QCOMPARE(actual->coordinate().altitude(),   testCase->expectedItem.coordinate.altitude());
         QCOMPARE((int)actual->command(),       (int)testCase->expectedItem.command);
+        QCOMPARE((int)actual->param1(),        (int)expectedParam1);
         QCOMPARE(actual->param2(),                  testCase->expectedItem.param2);
         QCOMPARE(actual->param3(),                  testCase->expectedItem.param3);
         QCOMPARE(actual->param4(),                  testCase->expectedItem.param4);
         QCOMPARE(actual->autoContinue(),            testCase->expectedItem.autocontinue);
         QCOMPARE(actual->frame(),                   testCase->expectedItem.frame);
-        QCOMPARE(actual->param1(),                  testCase->expectedItem.param1);
+
+        testCaseIndex++;
     }
     
 }
 
-void MissionManagerTest::_testWriteFailureHandling(void)
+void MissionManagerTest::_testWriteFailureHandlingWorker(void)
 {
     /*
     /// Called to send a MISSION_ACK message while the MissionManager is in idle state
@@ -378,7 +411,7 @@ void MissionManagerTest::_testWriteFailureHandling(void)
     }
 }
 
-void MissionManagerTest::_testReadFailureHandling(void)
+void MissionManagerTest::_testReadFailureHandlingWorker(void)
 {
     /*
      /// Called to send a MISSION_ACK message while the MissionManager is in idle state
@@ -417,3 +450,40 @@ void MissionManagerTest::_testReadFailureHandling(void)
         _mockLink->resetMissionItemHandler();
     }
 }
+
+void MissionManagerTest::_testEmptyVehicleAPM(void)
+{
+    _initForFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    _readEmptyVehicleWorker();
+}
+
+void MissionManagerTest::_testEmptyVehiclePX4(void)
+{
+    _initForFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    _readEmptyVehicleWorker();
+}
+
+void MissionManagerTest::_testWriteFailureHandlingAPM(void)
+{
+    _initForFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    _testWriteFailureHandlingWorker();
+}
+
+void MissionManagerTest::_testReadFailureHandlingAPM(void)
+{
+    _initForFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    _testReadFailureHandlingWorker();
+}
+
+
+void MissionManagerTest::_testWriteFailureHandlingPX4(void)
+{
+    _initForFirmwareType(MAV_AUTOPILOT_PX4);
+    _testWriteFailureHandlingWorker();
+}
+
+void MissionManagerTest::_testReadFailureHandlingPX4(void)
+{
+    _initForFirmwareType(MAV_AUTOPILOT_PX4);
+    _testReadFailureHandlingWorker();
+}

src/MissionManager/MissionManagerTest.h

@@ -39,18 +39,23 @@ public:
     MissionManagerTest(void);
     
 private slots:
-    void init(void);
     void cleanup(void);
     
-    void _testWriteFailureHandling(void);
-    void _testReadFailureHandling(void);
+    void _testEmptyVehicleAPM(void);
+    void _testEmptyVehiclePX4(void);
+    void _testWriteFailureHandlingAPM(void);
+    void _testReadFailureHandlingAPM(void);
+    void _testWriteFailureHandlingPX4(void);
+    void _testReadFailureHandlingPX4(void);
 
 private:
+    void _initForFirmwareType(MAV_AUTOPILOT firmwareType);
     void _checkInProgressValues(bool inProgress);
     void _roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MissionManager::ErrorCode_t errorCode, bool failFirstTimeOnly);
     void _writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MissionManager::ErrorCode_t errorCode, bool failFirstTimeOnly);
-    
-    void _readEmptyVehicle(void);
+    void _testWriteFailureHandlingWorker(void);
+    void _testReadFailureHandlingWorker(void);
+    void _readEmptyVehicleWorker(void);
     
     MockLink*       _mockLink;
     MissionManager* _missionManager;
@@ -93,6 +98,7 @@ private:
     } TestCase_t;
 
     static const TestCase_t _rgTestCases[];
+    static const size_t     _cTestCases;
     static const int        _signalWaitTime = MissionManager::_ackTimeoutMilliseconds * MissionManager::_maxRetryCount * 2;
 };
 

src/QGCApplication.cc

@@ -89,7 +89,6 @@
 #include "CoordinateVector.h"
 #include "MainToolBarController.h"
 #include "MissionController.h"
-#include "MissionEditorController.h"
 #include "FlightDisplayViewController.h"
 #include "VideoSurface.h"
 #include "VideoReceiver.h"
@@ -355,7 +354,6 @@ void QGCApplication::_initCommon(void)
     qmlRegisterType<ScreenToolsController>          ("QGroundControl.Controllers", 1, 0, "ScreenToolsController");
     qmlRegisterType<MainToolBarController>          ("QGroundControl.Controllers", 1, 0, "MainToolBarController");
     qmlRegisterType<MissionController>              ("QGroundControl.Controllers", 1, 0, "MissionController");
-    qmlRegisterType<MissionEditorController>        ("QGroundControl.Controllers", 1, 0, "MissionEditorController");
     qmlRegisterType<FlightDisplayViewController>    ("QGroundControl.Controllers", 1, 0, "FlightDisplayViewController");
 
 #ifndef __mobile__

src/Vehicle/Vehicle.cc

@@ -167,26 +167,8 @@ Vehicle::~Vehicle()
     delete _missionManager;
     _missionManager = NULL;
 
-    // Stop listening for system messages
-    disconnect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged,  this, &Vehicle::_handleTextMessage);
-    // Disconnect any previously connected active MAV
-    disconnect(_mav, SIGNAL(attitudeChanged                     (UASInterface*, double,double,double,quint64)),             this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
-    disconnect(_mav, SIGNAL(attitudeChanged                     (UASInterface*, int,double,double,double,quint64)),         this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
-    disconnect(_mav, SIGNAL(speedChanged                        (UASInterface*, double, double, quint64)),                  this, SLOT(_updateSpeed(UASInterface*, double, double, quint64)));
-    disconnect(_mav, SIGNAL(altitudeChanged                     (UASInterface*, double, double, double, double, quint64)),  this, SLOT(_updateAltitude(UASInterface*, double, double, double, double, quint64)));
-    disconnect(_mav, SIGNAL(navigationControllerErrorsChanged   (UASInterface*, double, double, double)),                   this, SLOT(_updateNavigationControllerErrors(UASInterface*, double, double, double)));
-    disconnect(_mav, SIGNAL(statusChanged                       (UASInterface*,QString,QString)),                           this, SLOT(_updateState(UASInterface*,QString,QString)));
-    disconnect(_mav, &UASInterface::NavigationControllerDataChanged, this, &Vehicle::_updateNavigationControllerData);
-    disconnect(_mav, &UASInterface::heartbeatTimeout,                this, &Vehicle::_heartbeatTimeout);
-    disconnect(_mav, &UASInterface::batteryChanged,                  this, &Vehicle::_updateBatteryRemaining);
-    disconnect(_mav, &UASInterface::batteryConsumedChanged,          this, &Vehicle::_updateBatteryConsumedChanged);
-    disconnect(_mav, &UASInterface::nameChanged,                     this, &Vehicle::_updateName);
-    disconnect(_mav, &UASInterface::systemTypeSet,                   this, &Vehicle::_setSystemType);
-    disconnect(_mav, &UASInterface::localizationChanged,             this, &Vehicle::_setSatLoc);
-    UAS* pUas = dynamic_cast<UAS*>(_mav);
-    if(pUas) {
-        disconnect(pUas, &UAS::satelliteCountChanged, this, &Vehicle::_setSatelliteCount);
-    }
+    delete _mav;
+    _mav = NULL;
 }
 
 void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)

src/VehicleSetup/SetupViewTest.cc

@@ -60,7 +60,7 @@ void SetupViewTest::_clickThrough_test(void)
     
     MockLink* link = new MockLink();
     Q_CHECK_PTR(link);
-    link->setAutopilotType(MAV_AUTOPILOT_PX4);
+    link->setFirmwareType(MAV_AUTOPILOT_PX4);
     LinkManager::instance()->_addLink(link);
     linkMgr->connectLink(link);
     

src/comm/MockLink.cc

@@ -84,13 +84,14 @@ MockLink::MockLink(MockConfiguration* config)
     , _mavlinkStarted(false)
     , _mavBaseMode(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)
     , _mavState(MAV_STATE_STANDBY)
-    , _autopilotType(MAV_AUTOPILOT_PX4)
+    , _firmwareType(MAV_AUTOPILOT_PX4)
     , _fileServer(NULL)
     , _sendStatusText(false)
+    , _apmSendHomePositionOnEmptyList(false)
 {
     _config = config;
     if (_config) {
-        _autopilotType = config->firmwareType();
+        _firmwareType = config->firmwareType();
         _sendStatusText = config->sendStatusText();
     }
 
@@ -250,7 +251,7 @@ void MockLink::_sendHeartBeat(void)
                                _vehicleComponentId,
                                &msg,
                                MAV_TYPE_QUADROTOR,  // MAV_TYPE
-                               _autopilotType,      // MAV_AUTOPILOT
+                               _firmwareType,      // MAV_AUTOPILOT
                                _mavBaseMode,        // MAV_MODE
                                _mavCustomMode,      // custom mode
                                _mavState);          // MAV_STATE
@@ -436,7 +437,7 @@ float MockLink::_floatUnionForParam(int componentId, const QString& paramName)
 
     switch (paramType) {
         case MAV_PARAM_TYPE_INT8:
-            if (_autopilotType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                 valueUnion.param_float = (unsigned char)paramVar.toChar().toLatin1();
             } else {
                 valueUnion.param_int8 = (unsigned char)paramVar.toChar().toLatin1();
@@ -444,7 +445,7 @@ float MockLink::_floatUnionForParam(int componentId, const QString& paramName)
             break;
 
         case MAV_PARAM_TYPE_INT32:
-            if (_autopilotType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                 valueUnion.param_float = paramVar.toInt();
             } else {
                 valueUnion.param_int32 = paramVar.toInt();
@@ -452,7 +453,7 @@ float MockLink::_floatUnionForParam(int componentId, const QString& paramName)
             break;
 
         case MAV_PARAM_TYPE_UINT32:
-            if (_autopilotType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                 valueUnion.param_float = paramVar.toUInt();
             } else {
                 valueUnion.param_uint32 = paramVar.toUInt();

src/comm/MockLink.h

@@ -74,9 +74,16 @@ public:
 
     // MockLink methods
     int vehicleId(void) { return _vehicleSystemId; }
-    MAV_AUTOPILOT getAutopilotType(void) { return _autopilotType; }
-    void setAutopilotType(MAV_AUTOPILOT autopilot) { _autopilotType = autopilot; }
+    MAV_AUTOPILOT getFirmwareType(void) { return _firmwareType; }
+    void setFirmwareType(MAV_AUTOPILOT autopilot) { _firmwareType = autopilot; }
     void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; }
+
+    /// APM stack has strange handling of the first item of the mission list. If it has no
+    /// onboard mission items, sometimes it sends back a home position in position 0 and
+    /// sometimes it doesn't. Don't ask. This option allows you to configure that behavior
+    /// for unit testing.
+    void setAPMMissionResponseMode(bool sendHomePositionOnEmptyList) { _apmSendHomePositionOnEmptyList = sendHomePositionOnEmptyList; }
+
     void emitRemoteControlChannelRawChanged(int channel, uint16_t raw);
     
     /// Sends the specified mavlink message to QGC
@@ -177,11 +184,12 @@ private:
     uint8_t     _mavState;
 
     MockConfiguration* _config;
-    MAV_AUTOPILOT _autopilotType;
+    MAV_AUTOPILOT _firmwareType;
     
     MockLinkFileServer* _fileServer;
 
     bool _sendStatusText;
+    bool _apmSendHomePositionOnEmptyList;
 
     static float _vehicleLatitude;
     static float _vehicleLongitude;

src/comm/MockLinkMissionItemHandler.cc

@@ -32,6 +32,7 @@ MockLinkMissionItemHandler::MockLinkMissionItemHandler(MockLink* mockLink)
     : _mockLink(mockLink)
     , _missionItemResponseTimer(NULL)
     , _failureMode(FailNone)
+    , _sendHomePositionOnEmptyList(false)
 {
     Q_ASSERT(mockLink);
 }
@@ -100,6 +101,11 @@ void MockLinkMissionItemHandler::_handleMissionRequestList(const mavlink_message
         
         Q_ASSERT(request.target_system == _mockLink->vehicleId());
 
+        int itemCount = _missionItems.count();
+        if (itemCount == 0 && _sendHomePositionOnEmptyList) {
+            itemCount = 1;
+        }
+        
         mavlink_message_t   responseMsg;
         
         mavlink_msg_mission_count_pack(_mockLink->vehicleId(),
@@ -107,7 +113,7 @@ void MockLinkMissionItemHandler::_handleMissionRequestList(const mavlink_message
                                        &responseMsg,            // Outgoing message
                                        msg.sysid,               // Target is original sender
                                        msg.compid,              // Target is original sender
-                                       _missionItems.count());  // Number of mission items
+                                       itemCount);              // Number of mission items
         _mockLink->respondWithMavlinkMessage(responseMsg);
     } else {
         qCDebug(MockLinkMissionItemHandlerLog) << "_handleMissionRequestList not responding due to failure mode";
@@ -148,7 +154,16 @@ void MockLinkMissionItemHandler::_handleMissionRequest(const mavlink_message_t&
         } else {
             mavlink_message_t   responseMsg;
             
-            mavlink_mission_item_t item = _missionItems[request.seq];
+            mavlink_mission_item_t item;
+            if (_missionItems.count() == 0 && _sendHomePositionOnEmptyList) {
+                item.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
+                item.command = MAV_CMD_NAV_WAYPOINT;
+                item.current = false;
+                item.autocontinue = true;
+                item.param1 = item.param2 = item.param3 = item.param4 = item.x = item.y = item.z = 0;
+            } else {
+                item = _missionItems[request.seq];
+            }
             
             mavlink_msg_mission_item_pack(_mockLink->vehicleId(),
                                           MAV_COMP_ID_MISSIONPLANNER,

src/comm/MockLinkMissionItemHandler.h

@@ -88,6 +88,8 @@ public:
     /// Reset the state of the MissionItemHandler to no items, no transactions in progress.
     void reset(void) { _missionItems.clear(); }
 
+    void setSendHomePositionOnEmptyList(bool sendHomePositionOnEmptyList) { _sendHomePositionOnEmptyList = sendHomePositionOnEmptyList; }
+
 private slots:
     void _missionItemResponseTimeout(void);
 
@@ -112,6 +114,7 @@ private:
     QTimer* _missionItemResponseTimer;
     FailureMode_t   _failureMode;
     bool            _failureFirstTimeOnly;
+    bool            _sendHomePositionOnEmptyList;
 };
 
 #endif

src/qgcunittest/MainWindowTest.cc

@@ -63,7 +63,7 @@ void MainWindowTest::_connectWindowClose_test(MAV_AUTOPILOT autopilot)
     
     MockLink* link = new MockLink();
     Q_CHECK_PTR(link);
-    link->setAutopilotType(autopilot);
+    link->setFirmwareType(autopilot);
     LinkManager::instance()->_addLink(link);
     
     linkMgr->connectLink(link);