From b9c80cc130e6b49b2f28bc3c6573e7d7e68bc1f0 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Tue, 5 Jan 2016 17:19:23 -0800
Subject: [PATCH] Fix fake home position

---
 src/MissionManager/MissionController.cc | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 471cd1d94..38b0598eb 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -483,19 +483,22 @@ void MissionController::_initAllMissionItems(void)
     }
     homeItem->setHomePositionSpecialCase(true);
     if (_activeVehicle) {
-        homeItem->setCoordinate(_activeVehicle->homePosition());
         homeItem->setHomePositionValid(_activeVehicle->homePositionAvailable());
+        if (homeItem->homePositionValid()) {
+            homeItem->setCoordinate(_activeVehicle->homePosition());
+        }
     } else {
         homeItem->setHomePositionValid(false);
     }
     homeItem->setCommand(MAV_CMD_NAV_WAYPOINT);
     homeItem->setFrame(MAV_FRAME_GLOBAL);
     if (!homeItem->homePositionValid()) {
-        QGeoCoordinate homeCoord = homeItem->coordinate();
-        homeCoord.setAltitude(0.0);
-        homeItem->setCoordinate(homeCoord);
+        // Set a bogus home position, the important value is 0.0 Altitude
+        homeItem->setCoordinate(QGeoCoordinate(37.803784, -122.462276, 0.0));
     }
 
+    qDebug() << "home item" << homeItem->homePositionValid() << homeItem->coordinate();
+
     for (int i=0; i<_missionItems->count(); i++) {
         _initMissionItem(qobject_cast<MissionItem*>(_missionItems->get(i)));
     }
-- 
2.22.0