From b7ea870fd651c97ea0b72877a44ab53b80da6c07 Mon Sep 17 00:00:00 2001
From: Nate Weibley <nate.weibley@prioria.com>
Date: Thu, 10 Mar 2016 16:05:34 -0500
Subject: [PATCH] Implement click-to-retask via MISSION_SET_CURRENT in flight
 view for #2275

---
 src/FlightMap/MapItems/MissionItemView.qml |  3 +--
 src/MissionManager/VisualMissionItem.cc    |  5 +++++
 src/MissionManager/VisualMissionItem.h     |  2 ++
 src/Vehicle/Vehicle.cc                     | 10 ++++++++++
 src/Vehicle/Vehicle.h                      |  2 ++
 5 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/src/FlightMap/MapItems/MissionItemView.qml b/src/FlightMap/MapItems/MissionItemView.qml
index 930495398..b66ee66df 100644
--- a/src/FlightMap/MapItems/MissionItemView.qml
+++ b/src/FlightMap/MapItems/MissionItemView.qml
@@ -42,6 +42,7 @@ MapItemView {
         z:              QGroundControl.zOrderMapItems
         missionItem:    object
         sequenceNumber: object.sequenceNumber
+        onClicked:      object.tryMakingCurrent()
 
         // These are the non-coordinate child mission items attached to this item
         Row {
@@ -55,8 +56,6 @@ MapItemView {
                     label:          object.sequenceNumber
                     isCurrentItem:  object.isCurrentItem
                     z:              2
-
-                    onClicked: setCurrentItem(object.sequenceNumber)
                 }
             }
         }
diff --git a/src/MissionManager/VisualMissionItem.cc b/src/MissionManager/VisualMissionItem.cc
index 9362e0287..6679e66b7 100644
--- a/src/MissionManager/VisualMissionItem.cc
+++ b/src/MissionManager/VisualMissionItem.cc
@@ -103,3 +103,8 @@ void VisualMissionItem::setAzimuth(double azimuth)
     _azimuth = azimuth;
     emit azimuthChanged(_azimuth);
 }
+
+void VisualMissionItem::tryMakingCurrent()
+{
+    _vehicle->setCurrentMissionSequence(sequenceNumber());
+}
diff --git a/src/MissionManager/VisualMissionItem.h b/src/MissionManager/VisualMissionItem.h
index d682ade1d..c10ce1427 100644
--- a/src/MissionManager/VisualMissionItem.h
+++ b/src/MissionManager/VisualMissionItem.h
@@ -92,6 +92,8 @@ public:
     /// are shown next to the exitCoordinate indidcator in the ui.
     Q_PROPERTY(QmlObjectListModel*  childItems      READ childItems     CONSTANT)
 
+    Q_INVOKABLE void tryMakingCurrent();
+
     // Property accesors
     
     double altDifference    (void) const { return _altDifference; }
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 1bc034573..7bb7ea886 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1136,6 +1136,16 @@ void Vehicle::setFlightMode(const QString& flightMode)
     }
 }
 
+void Vehicle::setCurrentMissionSequence(int seq)
+{
+    if (!_firmwarePlugin->sendHomePositionToVehicle()) {
+        seq--;
+    }
+    mavlink_message_t msg;
+    mavlink_msg_mission_set_current_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), _compID, seq);
+    sendMessage(msg);
+}
+
 bool Vehicle::hilMode(void)
 {
     return _base_mode & MAV_MODE_FLAG_HIL_ENABLED;
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 560b4ba9c..aed6bd14c 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -430,6 +430,8 @@ public:
     QString flightMode(void) const;
     void setFlightMode(const QString& flightMode);
 
+    void setCurrentMissionSequence(int seq);
+
     bool hilMode(void);
     void setHilMode(bool hilMode);
 
-- 
2.22.0