From cc9f9d522a6659ac3670c15e706c58a0ff66bf18 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Tue, 17 Oct 2017 15:29:48 -0700
Subject: [PATCH] Fix MockLink MISSION_CLEAR_ALL support

---
 src/comm/MockLinkMissionItemHandler.cc | 40 ++++++++++++++++++++++----
 1 file changed, 35 insertions(+), 5 deletions(-)

diff --git a/src/comm/MockLinkMissionItemHandler.cc b/src/comm/MockLinkMissionItemHandler.cc
index 07626c0e4..672d4dc5d 100644
--- a/src/comm/MockLinkMissionItemHandler.cc
+++ b/src/comm/MockLinkMissionItemHandler.cc
@@ -70,11 +70,7 @@ bool MockLinkMissionItemHandler::handleMessage(const mavlink_message_t& msg)
         break;
 
     case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
-        // Delete all plan items
-        _missionItems.clear();
-        _fenceItems.clear();
-        _rallyItems.clear();
-        _sendAck(MAV_MISSION_ACCEPTED);
+        _handleMissionClearAll(msg);
         break;
 
     default:
@@ -84,6 +80,40 @@ bool MockLinkMissionItemHandler::handleMessage(const mavlink_message_t& msg)
     return true;
 }
 
+void MockLinkMissionItemHandler::_handleMissionClearAll(const mavlink_message_t& msg)
+{
+
+    mavlink_mission_clear_all_t clearAll;
+
+    mavlink_msg_mission_clear_all_decode(&msg, &clearAll);
+
+    Q_ASSERT(clearAll.target_system == _mockLink->vehicleId());
+
+    _requestType = (MAV_MISSION_TYPE)clearAll.mission_type;
+    qCDebug(MockLinkMissionItemHandlerLog) << QStringLiteral("_handleMissionClearAll %1").arg(_requestType);
+
+    switch (_requestType) {
+    case MAV_MISSION_TYPE_MISSION:
+        _missionItems.clear();
+        break;
+    case MAV_MISSION_TYPE_FENCE:
+        _fenceItems.clear();
+        break;
+    case MAV_MISSION_TYPE_RALLY:
+        _rallyItems.clear();
+        break;
+    case MAV_MISSION_TYPE_ALL:
+        _missionItems.clear();
+        _fenceItems.clear();
+        _rallyItems.clear();
+        break;
+    default:
+        Q_ASSERT(false);
+    }
+
+    _sendAck(MAV_MISSION_ACCEPTED);
+}
+
 void MockLinkMissionItemHandler::_handleMissionRequestList(const mavlink_message_t& msg)
 {
     qCDebug(MockLinkMissionItemHandlerLog) << "_handleMissionRequestList read sequence";
-- 
2.22.0