Better initial map positions and planned home position support

qgroundcontrol.pro

@@ -307,7 +307,7 @@ INCLUDEPATH += \
     src/FollowMe \
     src/GPS \
     src/Joystick \
-    src/MissionEditor \
+    src/PlanView \
     src/MissionManager \
     src/PositionManager \
     src/QmlControls \
@@ -462,7 +462,7 @@ HEADERS += \
     src/MissionManager/MissionController.h \
     src/MissionManager/MissionItem.h \
     src/MissionManager/MissionManager.h \
-    src/MissionManager/MissionSettingsComplexItem.h \
+    src/MissionManager/MissionSettingsItem.h \
     src/MissionManager/PlanElementController.h \
     src/MissionManager/QGCMapPolygon.h \
     src/MissionManager/RallyPoint.h \
@@ -640,7 +640,7 @@ SOURCES += \
     src/MissionManager/MissionController.cc \
     src/MissionManager/MissionItem.cc \
     src/MissionManager/MissionManager.cc \
-    src/MissionManager/MissionSettingsComplexItem.cc \
+    src/MissionManager/MissionSettingsItem.cc \
     src/MissionManager/PlanElementController.cc \
     src/MissionManager/QGCMapPolygon.cc \
     src/MissionManager/RallyPoint.cc \

qgroundcontrol.qrc

@@ -36,7 +36,7 @@
         <file alias="MainWindowInner.qml">src/ui/MainWindowInner.qml</file>
         <file alias="MainWindowNative.qml">src/ui/MainWindowNative.qml</file>
         <file alias="MavlinkSettings.qml">src/ui/preferences/MavlinkSettings.qml</file>
-        <file alias="MissionEditor.qml">src/MissionEditor/MissionEditor.qml</file>
+        <file alias="PlanView.qml">src/PlanView/PlanView.qml</file>
         <file alias="MixersComponent.qml">src/AutoPilotPlugins/Common/MixersComponent.qml</file>
         <file alias="MockLink.qml">src/ui/preferences/MockLink.qml</file>
         <file alias="MockLinkSettings.qml">src/ui/preferences/MockLinkSettings.qml</file>
@@ -47,32 +47,32 @@
         <file alias="PX4FlowSensor.qml">src/VehicleSetup/PX4FlowSensor.qml</file>
         <file alias="QGroundControl/Controls/AnalyzePage.qml">src/AnalyzeView/AnalyzePage.qml</file>
         <file alias="QGroundControl/Controls/AppMessages.qml">src/QmlControls/AppMessages.qml</file>
-        <file alias="QGroundControl/Controls/CameraSection.qml">src/MissionEditor/CameraSection.qml</file>
+        <file alias="QGroundControl/Controls/CameraSection.qml">src/PlanView/CameraSection.qml</file>
         <file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
         <file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
         <file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
         <file alias="QGroundControl/Controls/FactSliderPanel.qml">src/QmlControls/FactSliderPanel.qml</file>
         <file alias="QGroundControl/Controls/FlightModeDropdown.qml">src/QmlControls/FlightModeDropdown.qml</file>
         <file alias="QGroundControl/Controls/FlightModeMenu.qml">src/QmlControls/FlightModeMenu.qml</file>
-        <file alias="QGroundControl/Controls/FWLandingPatternMapVisual.qml">src/MissionEditor/FWLandingPatternMapVisual.qml</file>
-        <file alias="QGroundControl/Controls/GeoFenceEditor.qml">src/MissionEditor/GeoFenceEditor.qml</file>
-        <file alias="QGroundControl/Controls/GeoFenceMapVisuals.qml">src/MissionEditor/GeoFenceMapVisuals.qml</file>
+        <file alias="QGroundControl/Controls/FWLandingPatternMapVisual.qml">src/PlanView/FWLandingPatternMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/GeoFenceEditor.qml">src/PlanView/GeoFenceEditor.qml</file>
+        <file alias="QGroundControl/Controls/GeoFenceMapVisuals.qml">src/PlanView/GeoFenceMapVisuals.qml</file>
         <file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
         <file alias="QGroundControl/Controls/JoystickThumbPad.qml">src/QmlControls/JoystickThumbPad.qml</file>
         <file alias="QGroundControl/Controls/MainToolBar.qml">src/ui/toolbar/MainToolBar.qml</file>
         <file alias="QGroundControl/Controls/MainToolBarIndicators.qml">src/ui/toolbar/MainToolBarIndicators.qml</file>
         <file alias="QGroundControl/Controls/MissionCommandDialog.qml">src/QmlControls/MissionCommandDialog.qml</file>
-        <file alias="QGroundControl/Controls/MissionItemEditor.qml">src/MissionEditor/MissionItemEditor.qml</file>
+        <file alias="QGroundControl/Controls/MissionItemEditor.qml">src/PlanView/MissionItemEditor.qml</file>
         <file alias="QGroundControl/Controls/MissionItemIndexLabel.qml">src/QmlControls/MissionItemIndexLabel.qml</file>
-        <file alias="QGroundControl/Controls/MissionItemMapVisual.qml">src/MissionEditor/MissionItemMapVisual.qml</file>
-        <file alias="QGroundControl/Controls/MissionItemStatus.qml">src/MissionEditor/MissionItemStatus.qml</file>
-        <file alias="QGroundControl/Controls/MissionSettingsMapVisual.qml">src/MissionEditor/MissionSettingsMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/MissionItemMapVisual.qml">src/PlanView/MissionItemMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/MissionItemStatus.qml">src/PlanView/MissionItemStatus.qml</file>
+        <file alias="QGroundControl/Controls/MissionSettingsMapVisual.qml">src/PlanView/MissionSettingsMapVisual.qml</file>
         <file alias="QGroundControl/Controls/ModeSwitchDisplay.qml">src/QmlControls/ModeSwitchDisplay.qml</file>
         <file alias="QGroundControl/Controls/MultiRotorMotorDisplay.qml">src/QmlControls/MultiRotorMotorDisplay.qml</file>
         <file alias="QGroundControl/Controls/OfflineMapButton.qml">src/QmlControls/OfflineMapButton.qml</file>
         <file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>
         <file alias="QGroundControl/Controls/ParameterEditorDialog.qml">src/QmlControls/ParameterEditorDialog.qml</file>
-        <file alias="QGroundControl/Controls/PlanToolBar.qml">src/MissionEditor/PlanToolBar.qml</file>
+        <file alias="QGroundControl/Controls/PlanToolBar.qml">src/PlanView/PlanToolBar.qml</file>
         <file alias="QGroundControl/Controls/QGCButton.qml">src/QmlControls/QGCButton.qml</file>
         <file alias="QGroundControl/Controls/QGCCheckBox.qml">src/QmlControls/QGCCheckBox.qml</file>
         <file alias="QGroundControl/Controls/QGCColoredImage.qml">src/QmlControls/QGCColoredImage.qml</file>
@@ -98,17 +98,17 @@
         <file alias="QGroundControl/Controls/QGCViewMessage.qml">src/QmlControls/QGCViewMessage.qml</file>
         <file alias="QGroundControl/Controls/QGCViewPanel.qml">src/QmlControls/QGCViewPanel.qml</file>
         <file alias="QGroundControl/Controls/qmldir">src/QmlControls/QGroundControl.Controls.qmldir</file>
-        <file alias="QGroundControl/Controls/RallyPointEditorHeader.qml">src/MissionEditor/RallyPointEditorHeader.qml</file>
-        <file alias="QGroundControl/Controls/RallyPointItemEditor.qml">src/MissionEditor/RallyPointItemEditor.qml</file>
+        <file alias="QGroundControl/Controls/RallyPointEditorHeader.qml">src/PlanView/RallyPointEditorHeader.qml</file>
+        <file alias="QGroundControl/Controls/RallyPointItemEditor.qml">src/PlanView/RallyPointItemEditor.qml</file>
         <file alias="QGroundControl/Controls/RCChannelMonitor.qml">src/QmlControls/RCChannelMonitor.qml</file>
         <file alias="QGroundControl/Controls/RoundButton.qml">src/QmlControls/RoundButton.qml</file>
-        <file alias="QGroundControl/Controls/SectionHeader.qml">src/MissionEditor/SectionHeader.qml</file>
+        <file alias="QGroundControl/Controls/SectionHeader.qml">src/PlanView/SectionHeader.qml</file>
         <file alias="QGroundControl/Controls/SetupPage.qml">src/AutoPilotPlugins/Common/SetupPage.qml</file>
         <file alias="QGroundControl/Controls/SignalStrength.qml">src/ui/toolbar/SignalStrength.qml</file>
-        <file alias="QGroundControl/Controls/SimpleItemMapVisual.qml">src/MissionEditor/SimpleItemMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/SimpleItemMapVisual.qml">src/PlanView/SimpleItemMapVisual.qml</file>
         <file alias="QGroundControl/Controls/SliderSwitch.qml">src/QmlControls/SliderSwitch.qml</file>
         <file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
-        <file alias="QGroundControl/Controls/SurveyMapVisual.qml">src/MissionEditor/SurveyMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/SurveyMapVisual.qml">src/PlanView/SurveyMapVisual.qml</file>
         <file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
         <file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file>
         <file alias="QGroundControl/Controls/ToolStrip.qml">src/QmlControls/ToolStrip.qml</file>
@@ -147,7 +147,7 @@
         <file alias="QGroundControl/FlightMap/QGCCompassWidget.qml">src/FlightMap/Widgets/QGCCompassWidget.qml</file>
         <file alias="QGCInstrumentWidget.qml">src/FlightMap/Widgets/QGCInstrumentWidget.qml</file>
         <file alias="QGCInstrumentWidgetAlternate.qml">src/FlightMap/Widgets/QGCInstrumentWidgetAlternate.qml</file>
-        <file alias="QGroundControl/FlightMap/QGCMapPolygonControls.qml">src/MissionEditor/QGCMapPolygonControls.qml</file>
+        <file alias="QGroundControl/FlightMap/QGCMapPolygonControls.qml">src/PlanView/QGCMapPolygonControls.qml</file>
         <file alias="QGroundControl/FlightMap/QGCPitchIndicator.qml">src/FlightMap/Widgets/QGCPitchIndicator.qml</file>
         <file alias="QGroundControl/FlightMap/QGCVideoBackground.qml">src/FlightMap/QGCVideoBackground.qml</file>
         <file alias="QGroundControl/FlightMap/qmldir">src/FlightMap/qmldir</file>
@@ -168,10 +168,10 @@
         <file alias="SerialSettings.qml">src/ui/preferences/SerialSettings.qml</file>
         <file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
         <file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
-        <file alias="SimpleItemEditor.qml">src/MissionEditor/SimpleItemEditor.qml</file>
-        <file alias="SurveyItemEditor.qml">src/MissionEditor/SurveyItemEditor.qml</file>
-        <file alias="FWLandingPatternEditor.qml">src/MissionEditor/FWLandingPatternEditor.qml</file>
-        <file alias="MissionSettingsEditor.qml">src/MissionEditor/MissionSettingsEditor.qml</file>
+        <file alias="SimpleItemEditor.qml">src/PlanView/SimpleItemEditor.qml</file>
+        <file alias="SurveyItemEditor.qml">src/PlanView/SurveyItemEditor.qml</file>
+        <file alias="FWLandingPatternEditor.qml">src/PlanView/FWLandingPatternEditor.qml</file>
+        <file alias="MissionSettingsEditor.qml">src/PlanView/MissionSettingsEditor.qml</file>
         <file alias="TcpSettings.qml">src/ui/preferences/TcpSettings.qml</file>
         <file alias="test.qml">src/test.qml</file>
         <file alias="UdpSettings.qml">src/ui/preferences/UdpSettings.qml</file>

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -34,42 +34,54 @@ FlightMap {
     property var    qgcView             ///< QGCView control which contains this map
 
     property var    _activeVehicle:                 QGroundControl.multiVehicleManager.activeVehicle
-    property bool   _activeVehicleCoordinateValid:  _activeVehicle ? _activeVehicle.coordinateValid : false
-    property var    activeVehicleCoordinate:        _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
+    property var    _activeVehicleCoordinate:       _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
     property var    _gotoHereCoordinate:            QtPositioning.coordinate()
     property int    _retaskSequence:                0
     property real   _toolButtonTopMargin:           parent.height - ScreenTools.availableHeight + (ScreenTools.defaultFontPixelHeight / 2)
 
     property bool   _disableVehicleTracking:        false
     property bool   _keepVehicleCentered:           _mainIsMap ? false : true
-    property bool   _followVehicleSetting:          true                                                    ///< User facing setting for follow vehicle
-    property bool   _followVehicle:                 _followVehicleSetting && _activeVehicleCoordinateValid  ///< Control map follow vehicle functionality
-    property bool   _firstVehiclePosition:          true
+    property bool   _firstVehiclePositionReceived:  false
+    property bool   _userPanned:                    false
 
     Component.onCompleted: {
         QGroundControl.flightMapPosition = center
         QGroundControl.flightMapZoom = zoomLevel
+        possibleCenterToGCSPosition()
     }
 
+    // Track last known map position and zoom in settings
     onZoomLevelChanged: QGroundControl.flightMapZoom = zoomLevel
+    onCenterChanged:    QGroundControl.flightMapPosition = center
 
-    // When the user pans the map we leave things alone until the panRecenterTimer fires
+    // We move the map to the gcs position id:
+    //  - We don't have a vehicle position yet
+    //  - The user has not futzed with the map
+    onGcsPositionChanged: possibleCenterToGCSPosition()
+
+    function possibleCenterToGCSPosition() {
+        if (!_firstVehiclePositionReceived && !_userPanned && gcsPosition.isValid) {
+            center = gcsPosition
+        }
+    }
+
+    // When the user pans the map we stop responding to vehicle coordinate updates until the panRecenterTimer fires
     Connections {
         target: gesture
 
         onPanFinished: {
+            _userPanned = true
             _disableVehicleTracking = true
             panRecenterTimer.start()
         }
 
         onFlickFinished: {
+            _userPanned = true
             _disableVehicleTracking = true
             panRecenterTimer.start()
         }
     }
 
-    onCenterChanged: QGroundControl.flightMapPosition = center
-
     function pointInRect(point, rect) {
         return point.x > rect.x &&
                 point.x < rect.x + rect.width &&
@@ -100,22 +112,22 @@ FlightMap {
     }
 
     function recenterNeeded() {
-        var vehiclePoint = flightMap.fromCoordinate(activeVehicleCoordinate, false /* clipToViewport */)
+        var vehiclePoint = flightMap.fromCoordinate(_activeVehicleCoordinate, false /* clipToViewport */)
         var centerViewport = Qt.rect(0, 0, width, height)
         return !pointInRect(vehiclePoint, centerViewport)
     }
 
     function updateMapToVehiclePosition() {
-        if (_followVehicle && !_disableVehicleTracking) {
+        if (_activeVehicleCoordinate.isValid && !_disableVehicleTracking) {
             if (_keepVehicleCentered) {
-                _firstVehiclePosition = true
-                flightMap.center = activeVehicleCoordinate
+                _firstVehiclePositionReceived = true
+                flightMap.center = _activeVehicleCoordinate
             } else {
-                if (_firstVehiclePosition) {
-                    _firstVehiclePosition = false
-                    flightMap.center = activeVehicleCoordinate
+                if (!_firstVehiclePositionReceived) {
+                    _firstVehiclePositionReceived = true
+                    flightMap.center = _activeVehicleCoordinate
                 } else if (recenterNeeded()) {
-                    animatedMapRecenter(flightMap.center, activeVehicleCoordinate)
+                    animatedMapRecenter(flightMap.center, _activeVehicleCoordinate)
                 }
             }
         }
@@ -266,10 +278,6 @@ FlightMap {
         CenterMapDropPanel {
             map:                _flightMap
             fitFunctions:       mapFitFunctions
-            showFollowVehicle:  true
-            followVehicle:      _followVehicleSetting
-
-            onFollowVehicleChanged: _followVehicleSetting = followVehicle
         }
     }
 

src/FlightMap/FlightMap.qml

@@ -7,13 +7,6 @@
  *
  ****************************************************************************/
 
-
-/**
- * @file
- *   @brief QGC Map Background
- *   @author Gus Grubba <mavlink@grubba.com>
- */
-
 import QtQuick          2.3
 import QtQuick.Controls 1.2
 import QtLocation       5.3
@@ -27,34 +20,21 @@ import QGroundControl.ScreenTools           1.0
 import QGroundControl.MultiVehicleManager   1.0
 import QGroundControl.Vehicle               1.0
 import QGroundControl.Mavlink               1.0
+import QGroundControl.QGCPositionManager    1.0
 
 Map {
     id: _map
 
+    zoomLevel:                  QGroundControl.flightMapZoom
+    center:                     QGroundControl.flightMapPosition
+    gesture.flickDeceleration:  3000
+    plugin:                     Plugin { name: "QGroundControl" }
+
     property string mapName:            'defaultMap'
     property bool   isSatelliteMap:     activeMapType.name.indexOf("Satellite") > -1 || activeMapType.name.indexOf("Hybrid") > -1
+    property var    gcsPosition:        QtPositioning.coordinate()
 
     readonly property real  maxZoomLevel: 20
-    property variant        scaleLengths: [5, 10, 25, 50, 100, 150, 250, 500, 1000, 2000, 5000, 10000, 20000, 50000, 100000, 200000, 500000, 1000000, 2000000]
-
-    function formatDistance(meters)
-    {
-        var dist = Math.round(meters)
-        if (dist > 1000 ){
-            if (dist > 100000){
-                dist = Math.round(dist / 1000)
-            }
-            else{
-                dist = Math.round(dist / 100)
-                dist = dist / 10
-            }
-            dist = dist + " km"
-        }
-        else{
-            dist = dist + " m"
-        }
-        return dist
-    }
 
     function setVisibleRegion(region) {
         // This works around a bug on Qt where if you set a visibleRegion and then the user moves or zooms the map
@@ -64,13 +44,18 @@ Map {
         _map.visibleRegion = region
     }
 
-    zoomLevel:                  18
-    center:                     QGroundControl.lastKnownHomePosition
-    gesture.flickDeceleration:  3000
+    ExclusiveGroup { id: mapTypeGroup }
 
-    plugin: Plugin { name: "QGroundControl" }
+    // Update ground station position
+    Connections {
+        target: QGroundControl.qgcPositionManger
 
-    ExclusiveGroup { id: mapTypeGroup }
+        onLastPositionUpdated: {
+            if (valid && lastPosition.latitude && Math.abs(lastPosition.latitude)  > 0.001 && lastPosition.longitude && Math.abs(lastPosition.longitude)  > 0.001) {
+                gcsPosition = QtPositioning.coordinate(lastPosition.latitude,lastPosition.longitude)
+            }
+        }
+    }
 
     function updateActiveMapType() {
         var settings =  QGroundControl.settingsManager.flightMapSettings
@@ -99,10 +84,10 @@ Map {
     MapQuickItem {
         anchorPoint.x:  sourceItem.anchorPointX
         anchorPoint.y:  sourceItem.anchorPointY
-        visible:        mainWindow.gcsPosition.isValid
-        coordinate:     mainWindow.gcsPosition
+        visible:        gcsPosition.isValid
+        coordinate:     gcsPosition
         sourceItem:     MissionItemIndexLabel {
-            label: "Q"
+        label:          "Q"
         }
     }
 } // Map

src/FlightMap/Widgets/CenterMapDropPanel.qml

@@ -25,8 +25,6 @@ ColumnLayout {
     property var    fitFunctions
     property bool   showMission:          true
     property bool   showAllItems:         true
-    property bool   showFollowVehicle:    false
-    property bool   followVehicle:        false
 
     property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
 
@@ -70,7 +68,7 @@ ColumnLayout {
     QGCButton {
         text:               qsTr("Current Location")
         Layout.fillWidth:   true
-        enabled:            mainWindow.gcsPosition.isValid && !followVehicleCheckBox.checked
+        enabled:            mainWindow.gcsPosition.isValid
 
         onClicked: {
             dropPanel.hide()
@@ -81,23 +79,11 @@ ColumnLayout {
     QGCButton {
         text:               qsTr("Vehicle")
         Layout.fillWidth:   true
-        enabled:            _activeVehicle && _activeVehicle.latitude != 0 && _activeVehicle.longitude != 0 && !followVehicleCheckBox.checked
+        enabled:            _activeVehicle && _activeVehicle.coordinate.isValid
 
         onClicked: {
             dropPanel.hide()
             map.center = activeVehicle.coordinate
         }
     }
-
-    QGCCheckBox {
-        id:         followVehicleCheckBox
-        text:       qsTr("Follow Vehicle")
-        checked:    followVehicle
-        visible:    showFollowVehicle
-
-        onClicked:  {
-            dropPanel.hide()
-            root.followVehicle = checked
-        }
-    }
 } // Column

src/MissionManager/MissionController.cc

@@ -21,7 +21,7 @@
 #include "ParameterManager.h"
 #include "QGroundControlQmlGlobal.h"
 #include "SettingsManager.h"
-#include "MissionSettingsComplexItem.h"
+#include "MissionSettingsItem.h"
 
 #ifndef __mobile__
 #include "MainWindow.h"
@@ -49,6 +49,7 @@ const int   MissionController::_missionFileVersion =            2;
 MissionController::MissionController(QObject *parent)
     : PlanElementController(parent)
     , _visualItems(NULL)
+    , _settingsItem(NULL)
     , _firstItemsFromVehicle(false)
     , _missionItemsRequested(false)
     , _queuedSend(false)
@@ -117,7 +118,7 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
         if (_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() && newMissionItems.count() != 0) {
             // First item is fake home position
             _addMissionSettings(_activeVehicle, newControllerMissionItems, false /* addToCenter */);
-            MissionSettingsComplexItem* settingsItem = newControllerMissionItems->value<MissionSettingsComplexItem*>(0);
+            MissionSettingsItem* settingsItem = newControllerMissionItems->value<MissionSettingsItem*>(0);
             if (!settingsItem) {
                 qWarning() << "First item is not settings item";
                 return;
@@ -133,10 +134,11 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
 
         _deinitAllVisualItems();
         _visualItems->deleteLater();
+        _settingsItem = NULL;
         _visualItems = newControllerMissionItems;
 
         if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) {
-            _addMissionSettings(_activeVehicle, _visualItems, true /* addToCenter */);
+            _addMissionSettings(_activeVehicle, _visualItems, _visualItems->count() > 0 /* addToCenter */);
         }
 
         _missionItemsRequested = false;
@@ -187,7 +189,7 @@ bool MissionController::_convertToMissionItems(QmlObjectListModel* visualMission
     }
 
     // Mission settings has a special case for end mission action
-    MissionSettingsComplexItem* settingsItem = visualMissionItems->value<MissionSettingsComplexItem*>(0);
+    MissionSettingsItem* settingsItem = visualMissionItems->value<MissionSettingsItem*>(0);
     if (settingsItem) {
         endActionSet = settingsItem->addMissionEndAction(rgMissionItems, lastSeqNum + 1, missionItemParent);
     }
@@ -289,6 +291,7 @@ void MissionController::removeAll(void)
     if (_visualItems) {
         _deinitAllVisualItems();
         _visualItems->deleteLater();
+        _settingsItem = NULL;
         _visualItems = new QmlObjectListModel(this);
         _addMissionSettings(_activeVehicle, _visualItems, false /* addToCenter */);
         _initAllVisualItems();
@@ -412,7 +415,7 @@ bool MissionController::_loadJsonMissionFileV1(Vehicle* vehicle, const QJsonObje
         SimpleMissionItem* item = new SimpleMissionItem(vehicle, visualItems);
 
         if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) {
-            MissionSettingsComplexItem* settingsItem = new MissionSettingsComplexItem(vehicle, visualItems);
+            MissionSettingsItem* settingsItem = new MissionSettingsItem(vehicle, visualItems);
             settingsItem->setCoordinate(item->coordinate());
             visualItems->insert(0, settingsItem);
             item->deleteLater();
@@ -459,7 +462,7 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje
         settingsManager->appSettings()->offlineEditingHoverSpeed()->setRawValue(json[_jsonHoverSpeedKey].toDouble());
     }
 
-    MissionSettingsComplexItem* settingsItem = new MissionSettingsComplexItem(vehicle, visualItems);
+    MissionSettingsItem* settingsItem = new MissionSettingsItem(vehicle, visualItems);
     settingsItem->setCoordinate(homeCoordinate);
     visualItems->insert(0, settingsItem);
     qCDebug(MissionControllerLog) << "plannedHomePosition" << homeCoordinate;
@@ -523,9 +526,9 @@ bool MissionController::_loadJsonMissionFileV2(Vehicle* vehicle, const QJsonObje
                 nextSequenceNumber = landingItem->lastSequenceNumber() + 1;
                 qCDebug(MissionControllerLog) << "FW Landing Pattern load complete: nextSequenceNumber" << nextSequenceNumber;
                 visualItems->append(landingItem);
-            } else if (complexItemType == MissionSettingsComplexItem::jsonComplexItemTypeValue) {
+            } else if (complexItemType == MissionSettingsItem::jsonComplexItemTypeValue) {
                 qCDebug(MissionControllerLog) << "Loading Mission Settings: nextSequenceNumber" << nextSequenceNumber;
-                MissionSettingsComplexItem* settingsItem = new MissionSettingsComplexItem(vehicle, visualItems);
+                MissionSettingsItem* settingsItem = new MissionSettingsItem(vehicle, visualItems);
                 if (!settingsItem->load(itemObject, nextSequenceNumber++, errorString)) {
                     return false;
                 }
@@ -630,6 +633,7 @@ void MissionController::loadFromFile(const QString& filename)
     if (_visualItems) {
         _deinitAllVisualItems();
         _visualItems->deleteLater();
+        _settingsItem = NULL;
     }
 
     _visualItems = newVisualItems;
@@ -719,9 +723,9 @@ void MissionController::saveToFile(const QString& filename)
 
         // Mission settings
 
-        MissionSettingsComplexItem* settingsItem = _visualItems->value<MissionSettingsComplexItem*>(0);
+        MissionSettingsItem* settingsItem = _visualItems->value<MissionSettingsItem*>(0);
         if (!settingsItem) {
-            qWarning() << "First item is not MissionSettingsComplexItem";
+            qWarning() << "First item is not MissionSettingsItem";
             return;
         }
         QJsonValue coordinateValue;
@@ -828,13 +832,7 @@ void MissionController::_recalcWaypointLines(void)
     bool                firstCoordinateItem =   true;
     VisualMissionItem*  lastCoordinateItem =    qobject_cast<VisualMissionItem*>(_visualItems->get(0));
 
-    MissionSettingsComplexItem*  settingsItem = qobject_cast<MissionSettingsComplexItem*>(lastCoordinateItem);
-
-    if (!settingsItem) {
-        qWarning() << "First item is not MissionSettingsComplexItem";
-    }
-
-    bool showHomePosition = settingsItem->showHomePosition();
+    bool showHomePosition = _settingsItem->coordinate().isValid();
 
     qCDebug(MissionControllerLog) << "_recalcWaypointLines";
 
@@ -859,7 +857,7 @@ void MissionController::_recalcWaypointLines(void)
             if (!item->isStandaloneCoordinate()) {
                 firstCoordinateItem = false;
                 VisualItemPair pair(lastCoordinateItem, item);
-                if (lastCoordinateItem != settingsItem || (showHomePosition && linkBackToHome)) {
+                if (lastCoordinateItem != _settingsItem || (showHomePosition && linkBackToHome)) {
                     if (old_table.contains(pair)) {
                         // Do nothing, this segment already exists and is wired up
                         _linesTable[pair] = old_table.take(pair);
@@ -911,13 +909,8 @@ void MissionController::_recalcMissionFlightStatus()
 
     bool                firstCoordinateItem =   true;
     VisualMissionItem*  lastCoordinateItem =    qobject_cast<VisualMissionItem*>(_visualItems->get(0));
-    MissionSettingsComplexItem*  settingsItem = qobject_cast<MissionSettingsComplexItem*>(lastCoordinateItem);
 
-    if (!settingsItem) {
-        qWarning() << "First item is not MissionSettingsComplexItem";
-    }
-
-    bool showHomePosition = settingsItem->showHomePosition();
+    bool showHomePosition = _settingsItem->coordinate().isValid();
 
     qCDebug(MissionControllerLog) << "_recalcMissionFlightStatus";
 
@@ -932,8 +925,8 @@ void MissionController::_recalcMissionFlightStatus()
 
     double minAltSeen = 0.0;
     double maxAltSeen = 0.0;
-    const double homePositionAltitude = settingsItem->coordinate().altitude();
-    minAltSeen = maxAltSeen = settingsItem->coordinate().altitude();
+    const double homePositionAltitude = _settingsItem->coordinate().altitude();
+    minAltSeen = maxAltSeen = _settingsItem->coordinate().altitude();
 
     double lastVehicleYaw = 0;
 
@@ -1050,7 +1043,7 @@ void MissionController::_recalcMissionFlightStatus()
 
             if (!item->isStandaloneCoordinate()) {
                 firstCoordinateItem = false;
-                if (lastCoordinateItem != settingsItem || linkBackToHome) {
+                if (lastCoordinateItem != _settingsItem || linkBackToHome) {
                     // This is a subsequent waypoint or we are forcing the first waypoint back to home
                     double azimuth, distance, altDifference;
 
@@ -1060,7 +1053,7 @@ void MissionController::_recalcMissionFlightStatus()
                     item->setDistance(distance);
 
                     _missionFlightStatus.totalDistance += distance;
-                    _missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, _calcDistanceToHome(item, settingsItem));
+                    _missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, _calcDistanceToHome(item, _settingsItem));
 
                     // Calculate time/distance
                     double hoverTime = distance / _missionFlightStatus.hoverSpeed;
@@ -1093,7 +1086,7 @@ void MissionController::_recalcMissionFlightStatus()
                     // Add in distance/time inside complex items as well
                     double distance = complexItem->complexDistance();
                     _missionFlightStatus.totalDistance += distance;
-                    _missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, complexItem->greatestDistanceTo(settingsItem->exitCoordinate()));
+                    _missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, complexItem->greatestDistanceTo(complexItem->exitCoordinate()));
 
                     double hoverTime = _missionFlightStatus.totalDistance / _missionFlightStatus.hoverSpeed;
                     double cruiseTime = _missionFlightStatus.totalDistance / _missionFlightStatus.cruiseSpeed;
@@ -1191,8 +1184,26 @@ void MissionController::_recalcChildItems(void)
     }
 }
 
+void MissionController::_setPlannedHomePositionFromFirstCoordinate(void)
+{
+    if (_settingsItem->coordinate().isValid()) {
+        return;
+    }
+
+    // Set the planned home position to be a deltae from first coordinate
+    for (int i=1; i<_visualItems->count(); i++) {
+        VisualMissionItem* item = _visualItems->value<VisualMissionItem*>(i);
+
+        if (item->specifiesCoordinate()) {
+            _settingsItem->setCoordinate(item->coordinate().atDistanceAndAzimuth(30, 0));
+        }
+    }
+}
+
+
 void MissionController::_recalcAll(void)
 {
+    _setPlannedHomePositionFromFirstCoordinate();
     _recalcSequence();
     _recalcChildItems();
     _recalcWaypointLines();
@@ -1201,27 +1212,20 @@ void MissionController::_recalcAll(void)
 /// Initializes a new set of mission items
 void MissionController::_initAllVisualItems(void)
 {
-    MissionSettingsComplexItem* settingsItem = NULL;
-
     // Setup home position at index 0
 
-    settingsItem = qobject_cast<MissionSettingsComplexItem*>(_visualItems->get(0));
-    if (!settingsItem) {
-        qWarning() << "First item not MissionSettingsComplexItem";
+    _settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
+    if (!_settingsItem) {
+        qWarning() << "First item not MissionSettingsItem";
         return;
     }
+    _settingsItem->setIsCurrentItem(true);
 
-    settingsItem->setShowHomePosition(_editMode);
-    settingsItem->setIsCurrentItem(true);
-
-    if (!_editMode && _activeVehicle && _activeVehicle->homePositionAvailable()) {
-        settingsItem->setCoordinate(_activeVehicle->homePosition());
-        settingsItem->setShowHomePosition(true);
+    if (!_editMode && _activeVehicle) {
+        _settingsItem->setCoordinate(_activeVehicle->homePosition());
     }
 
-    emit plannedHomePositionChanged(plannedHomePosition());
-
-    connect(settingsItem, &VisualMissionItem::coordinateChanged, this, &MissionController::_homeCoordinateChanged);
+    connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::_recalcAll);
 
     for (int i=0; i<_visualItems->count(); i++) {
         VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
@@ -1298,7 +1302,6 @@ void MissionController::_activeVehicleBeingRemoved(void)
     disconnect(missionManager, &MissionManager::newMissionItemsAvailable,   this, &MissionController::_newMissionItemsAvailableFromVehicle);
     disconnect(missionManager, &MissionManager::inProgressChanged,          this, &MissionController::_inProgressChanged);
     disconnect(missionManager, &MissionManager::currentItemChanged,         this, &MissionController::_currentMissionItemChanged);
-    disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged,      this, &MissionController::_activeVehicleHomePositionAvailableChanged);
     disconnect(_activeVehicle, &Vehicle::homePositionChanged,               this, &MissionController::_activeVehicleHomePositionChanged);
 
     // We always remove all items on vehicle change. This leaves a user model hole:
@@ -1317,7 +1320,6 @@ void MissionController::_activeVehicleSet(void)
     connect(missionManager, &MissionManager::newMissionItemsAvailable,  this, &MissionController::_newMissionItemsAvailableFromVehicle);
     connect(missionManager, &MissionManager::inProgressChanged,         this, &MissionController::_inProgressChanged);
     connect(missionManager, &MissionManager::currentItemChanged,        this, &MissionController::_currentMissionItemChanged);
-    connect(_activeVehicle, &Vehicle::homePositionAvailableChanged,     this, &MissionController::_activeVehicleHomePositionAvailableChanged);
     connect(_activeVehicle, &Vehicle::homePositionChanged,              this, &MissionController::_activeVehicleHomePositionChanged);
     connect(_activeVehicle, &Vehicle::defaultCruiseSpeedChanged,        this, &MissionController::_recalcMissionFlightStatus);
     connect(_activeVehicle, &Vehicle::defaultHoverSpeedChanged,         this, &MissionController::_recalcMissionFlightStatus);
@@ -1330,40 +1332,18 @@ void MissionController::_activeVehicleSet(void)
     }
 
     _activeVehicleHomePositionChanged(_activeVehicle->homePosition());
-    _activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable());
 
     emit complexMissionItemNamesChanged();
 }
 
-void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable)
-{
-    if (!_editMode && _visualItems) {
-        MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(_visualItems->get(0));
-
-        if (settingsItem) {
-            settingsItem->setShowHomePosition(homePositionAvailable);
-            emit plannedHomePositionChanged(plannedHomePosition());
-            _recalcWaypointLines();
-        } else {
-            qWarning() << "First item is not MissionSettingsComplexItem";
-        }
-    }
-}
-
 void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
 {
-    if (!_editMode && _visualItems) {
-        MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(_visualItems->get(0));
+    if (_visualItems) {
+        MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(_visualItems->get(0));
         if (settingsItem) {
-            if (settingsItem->coordinate() != homePosition) {
-                settingsItem->setCoordinate(homePosition);
-                settingsItem->setShowHomePosition(true);
-                qCDebug(MissionControllerLog) << "Home position update" << homePosition;
-                emit plannedHomePositionChanged(plannedHomePosition());
-                _recalcWaypointLines();
-            }
+            settingsItem->setCoordinate(homePosition);
         } else {
-            qWarning() << "First item is not MissionSettingsComplexItem";
+            qWarning() << "First item is not MissionSettingsItem";
         }
     }
 }
@@ -1479,46 +1459,44 @@ double MissionController::_normalizeLon(double lon)
 /// Add the Mission Settings complex item to the front of the items
 void MissionController::_addMissionSettings(Vehicle* vehicle, QmlObjectListModel* visualItems, bool addToCenter)
 {
-    bool homePositionSet = false;
+    MissionSettingsItem* settingsItem = new MissionSettingsItem(vehicle, visualItems);
 
-    MissionSettingsComplexItem* settingsItem = new MissionSettingsComplexItem(vehicle, visualItems);
     visualItems->insert(0, settingsItem);
 
-    if (visualItems->count() > 1  && addToCenter) {
-        double north = 0.0;
-        double south = 0.0;
-        double east  = 0.0;
-        double west  = 0.0;
-        bool firstCoordSet = false;
-
-        for (int i=1; i<visualItems->count(); i++) {
-            VisualMissionItem* item = qobject_cast<VisualMissionItem*>(visualItems->get(i));
-            if (item->specifiesCoordinate()) {
-                if (firstCoordSet) {
-                    double lat = _normalizeLat(item->coordinate().latitude());
-                    double lon = _normalizeLon(item->coordinate().longitude());
-                    north = fmax(north, lat);
-                    south = fmin(south, lat);
-                    east  = fmax(east, lon);
-                    west  = fmin(west, lon);
-                } else {
-                    firstCoordSet = true;
-                    north = _normalizeLat(item->coordinate().latitude());
-                    south = north;
-                    east  = _normalizeLon(item->coordinate().longitude());
-                    west  = east;
+    if (addToCenter) {
+        if (visualItems->count() > 1) {
+            double north = 0.0;
+            double south = 0.0;
+            double east  = 0.0;
+            double west  = 0.0;
+            bool firstCoordSet = false;
+
+            for (int i=1; i<visualItems->count(); i++) {
+                VisualMissionItem* item = qobject_cast<VisualMissionItem*>(visualItems->get(i));
+                if (item->specifiesCoordinate()) {
+                    if (firstCoordSet) {
+                        double lat = _normalizeLat(item->coordinate().latitude());
+                        double lon = _normalizeLon(item->coordinate().longitude());
+                        north = fmax(north, lat);
+                        south = fmin(south, lat);
+                        east  = fmax(east, lon);
+                        west  = fmin(west, lon);
+                    } else {
+                        firstCoordSet = true;
+                        north = _normalizeLat(item->coordinate().latitude());
+                        south = north;
+                        east  = _normalizeLon(item->coordinate().longitude());
+                        west  = east;
+                    }
                 }
             }
-        }
 
-        if (firstCoordSet) {
-            homePositionSet = true;
-            settingsItem->setCoordinate(QGeoCoordinate((south + ((north - south) / 2)) - 90.0, (west + ((east - west) / 2)) - 180.0, 0.0));
+            if (firstCoordSet) {
+                settingsItem->setCoordinate(QGeoCoordinate((south + ((north - south) / 2)) - 90.0, (west + ((east - west) / 2)) - 180.0, 0.0));
+            }
         }
-    }
-
-    if (!homePositionSet) {
-        settingsItem->setCoordinate(qgcApp()->lastKnownHomePosition());
+    } else {
+        settingsItem->setCoordinate(vehicle->homePosition());
     }
 }
 
@@ -1554,24 +1532,6 @@ void MissionController::setDirty(bool dirty)
     }
 }
 
-QGeoCoordinate MissionController::plannedHomePosition(void)
-{
-    if (_visualItems && _visualItems->count() > 0) {
-        MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(_visualItems->get(0));
-        if (settingsItem && settingsItem->showHomePosition()) {
-            return settingsItem->coordinate();
-        }
-    }
-
-    return QGeoCoordinate();
-}
-
-void MissionController::_homeCoordinateChanged(void)
-{
-    emit plannedHomePositionChanged(plannedHomePosition());
-    _recalcMissionFlightStatus();
-}
-
 QString MissionController::fileExtension(void) const
 {
     return QGCApplication::missionFileExtension;
@@ -1585,7 +1545,7 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte
 
         qCDebug(MissionControllerLog) << "MissionController::_scanForAdditionalSettings count:scanIndex" << visualItems->count() << scanIndex;
 
-        MissionSettingsComplexItem* settingsItem = qobject_cast<MissionSettingsComplexItem*>(visualItem);
+        MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(visualItem);
         if (settingsItem && settingsItem->scanForMissionSettings(visualItems, scanIndex, vehicle)) {
             continue;
         }

src/MissionManager/MissionController.h

@@ -22,6 +22,7 @@
 class CoordinateVector;
 class VisualMissionItem;
 class MissionItem;
+class MissionSettingsItem;
 
 Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
 
@@ -50,7 +51,6 @@ public:
     } MissionFlightStatus_t;
 
     // Mission settings
-    Q_PROPERTY(QGeoCoordinate       plannedHomePosition     READ plannedHomePosition        NOTIFY plannedHomePositionChanged)
     Q_PROPERTY(QmlObjectListModel*  visualItems             READ visualItems                NOTIFY visualItemsChanged)
     Q_PROPERTY(QmlObjectListModel*  waypointLines           READ waypointLines              NOTIFY waypointLinesChanged)
     Q_PROPERTY(QStringList          complexMissionItemNames READ complexMissionItemNames    NOTIFY complexMissionItemNamesChanged)
@@ -107,7 +107,6 @@ public:
 
     // Property accessors
 
-    QGeoCoordinate      plannedHomePosition     (void);
     QmlObjectListModel* visualItems             (void) { return _visualItems; }
     QmlObjectListModel* waypointLines           (void) { return &_waypointLines; }
     QStringList         complexMissionItemNames (void) const;
@@ -121,7 +120,6 @@ public:
     double  missionMaxTelemetry     (void) const { return _missionFlightStatus.maxTelemetryDistance; }
 
 signals:
-    void plannedHomePositionChanged(QGeoCoordinate plannedHomePosition);
     void visualItemsChanged(void);
     void waypointLinesChanged(void);
     void newItemsFromVehicle(void);
@@ -137,13 +135,11 @@ signals:
 private slots:
     void _newMissionItemsAvailableFromVehicle(bool removeAllRequested);
     void _itemCommandChanged(void);
-    void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable);
     void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
     void _inProgressChanged(bool inProgress);
     void _currentMissionItemChanged(int sequenceNumber);
     void _recalcWaypointLines(void);
     void _recalcMissionFlightStatus(void);
-    void _homeCoordinateChanged(void);
     void _updateContainsItems(void);
 
 private:
@@ -176,6 +172,7 @@ private:
     void _setMissionMaxTelemetry(double missionMaxTelemetry);
     static void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
     static bool _convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent);
+    void _setPlannedHomePositionFromFirstCoordinate(void);
 
     // Overrides from PlanElementController
     void _activeVehicleBeingRemoved(void) final;
@@ -183,6 +180,7 @@ private:
 
 private:
     QmlObjectListModel*     _visualItems;
+    MissionSettingsItem*    _settingsItem;
     QmlObjectListModel      _waypointLines;
     CoordVectHashTable      _linesTable;
     bool                    _firstItemsFromVehicle;

src/MissionManager/MissionSettings.FactMetaData.json

 [
-{
-    "name":             "PlannedHomePositionLatitude",
-    "shortDescription": "Planned home position latitude",
-    "type":             "double",
-    "decimalPlaces":    7,
-    "defaultValue":     37.803784
-},
-{
-    "name":             "PlannedHomePositionLongitude",
-    "shortDescription": "Planned home position longitude",
-    "type":             "double",
-    "decimalPlaces":    7,
-    "defaultValue":     -122.462276
-},
 {
     "name":             "PlannedHomePositionAltitude",
     "shortDescription": "Planned home position altitude",

src/MissionManager/MissionSettingsComplexItem.cc → src/MissionManager/MissionSettingsItem.cc

@@ -7,7 +7,7 @@
  *
  ****************************************************************************/
 
-#include "MissionSettingsComplexItem.h"
+#include "MissionSettingsItem.h"
 #include "JsonHelper.h"
 #include "MissionController.h"
 #include "QGCGeo.h"
@@ -21,21 +21,17 @@
 
 QGC_LOGGING_CATEGORY(MissionSettingsComplexItemLog, "MissionSettingsComplexItemLog")
 
-const char* MissionSettingsComplexItem::jsonComplexItemTypeValue = "MissionSettings";
+const char* MissionSettingsItem::jsonComplexItemTypeValue = "MissionSettings";
 
-const char* MissionSettingsComplexItem::_plannedHomePositionLatitudeName =  "PlannedHomePositionLatitude";
-const char* MissionSettingsComplexItem::_plannedHomePositionLongitudeName = "PlannedHomePositionLongitude";
-const char* MissionSettingsComplexItem::_plannedHomePositionAltitudeName =  "PlannedHomePositionAltitude";
-const char* MissionSettingsComplexItem::_missionFlightSpeedName =           "FlightSpeed";
-const char* MissionSettingsComplexItem::_missionEndActionName =             "MissionEndAction";
+const char* MissionSettingsItem::_plannedHomePositionAltitudeName =  "PlannedHomePositionAltitude";
+const char* MissionSettingsItem::_missionFlightSpeedName =           "FlightSpeed";
+const char* MissionSettingsItem::_missionEndActionName =             "MissionEndAction";
 
-QMap<QString, FactMetaData*> MissionSettingsComplexItem::_metaDataMap;
+QMap<QString, FactMetaData*> MissionSettingsItem::_metaDataMap;
 
-MissionSettingsComplexItem::MissionSettingsComplexItem(Vehicle* vehicle, QObject* parent)
+MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
     : ComplexMissionItem(vehicle, parent)
     , _specifyMissionFlightSpeed(false)
-    , _plannedHomePositionLatitudeFact  (0, _plannedHomePositionLatitudeName,   FactMetaData::valueTypeDouble)
-    , _plannedHomePositionLongitudeFact (0, _plannedHomePositionLongitudeName,  FactMetaData::valueTypeDouble)
     , _plannedHomePositionAltitudeFact  (0, _plannedHomePositionAltitudeName,   FactMetaData::valueTypeDouble)
     , _missionFlightSpeedFact           (0, _missionFlightSpeedName,            FactMetaData::valueTypeDouble)
     , _missionEndActionFact             (0, _missionEndActionName,              FactMetaData::valueTypeUint32)
@@ -48,14 +44,10 @@ MissionSettingsComplexItem::MissionSettingsComplexItem(Vehicle* vehicle, QObject
         _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/MissionSettings.FactMetaData.json"), NULL /* metaDataParent */);
     }
 
-    _plannedHomePositionLatitudeFact.setMetaData    (_metaDataMap[_plannedHomePositionLatitudeName]);
-    _plannedHomePositionLongitudeFact.setMetaData   (_metaDataMap[_plannedHomePositionLongitudeName]);
     _plannedHomePositionAltitudeFact.setMetaData    (_metaDataMap[_plannedHomePositionAltitudeName]);
     _missionFlightSpeedFact.setMetaData             (_metaDataMap[_missionFlightSpeedName]);
     _missionEndActionFact.setMetaData               (_metaDataMap[_missionEndActionName]);
 
-    _plannedHomePositionLatitudeFact.setRawValue    (_plannedHomePositionLatitudeFact.rawDefaultValue());
-    _plannedHomePositionLongitudeFact.setRawValue   (_plannedHomePositionLongitudeFact.rawDefaultValue());
     _plannedHomePositionAltitudeFact.setRawValue    (_plannedHomePositionAltitudeFact.rawDefaultValue());
     _missionEndActionFact.setRawValue               (_missionEndActionFact.rawDefaultValue());
 
@@ -66,25 +58,24 @@ MissionSettingsComplexItem::MissionSettingsComplexItem(Vehicle* vehicle, QObject
 
     setHomePositionSpecialCase(true);
 
-    connect(this,               &MissionSettingsComplexItem::specifyMissionFlightSpeedChanged,  this, &MissionSettingsComplexItem::_setDirtyAndUpdateLastSequenceNumber);
-    connect(&_cameraSection,    &CameraSection::missionItemCountChanged,                        this, &MissionSettingsComplexItem::_setDirtyAndUpdateLastSequenceNumber);
+    connect(this,               &MissionSettingsItem::specifyMissionFlightSpeedChanged,  this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
+    connect(&_cameraSection,    &CameraSection::missionItemCountChanged,                        this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
 
-    connect(&_plannedHomePositionLatitudeFact,  &Fact::valueChanged, this, &MissionSettingsComplexItem::_setDirtyAndUpdateCoordinate);
-    connect(&_plannedHomePositionLongitudeFact, &Fact::valueChanged, this, &MissionSettingsComplexItem::_setDirtyAndUpdateCoordinate);
-    connect(&_plannedHomePositionAltitudeFact,  &Fact::valueChanged, this, &MissionSettingsComplexItem::_setDirtyAndUpdateCoordinate);
+    connect(&_plannedHomePositionAltitudeFact,  &Fact::valueChanged, this, &MissionSettingsItem::_setDirty);
+    connect(&_plannedHomePositionAltitudeFact,  &Fact::valueChanged, this, &MissionSettingsItem::_updateAltitudeInCoordinate);
 
-    connect(&_missionFlightSpeedFact,           &Fact::valueChanged, this, &MissionSettingsComplexItem::_setDirty);
-    connect(&_missionEndActionFact,             &Fact::valueChanged, this, &MissionSettingsComplexItem::_setDirty);
+    connect(&_missionFlightSpeedFact,           &Fact::valueChanged, this, &MissionSettingsItem::_setDirty);
+    connect(&_missionEndActionFact,             &Fact::valueChanged, this, &MissionSettingsItem::_setDirty);
 
-    connect(&_cameraSection, &CameraSection::dirtyChanged, this, &MissionSettingsComplexItem::_cameraSectionDirtyChanged);
+    connect(&_cameraSection, &CameraSection::dirtyChanged, this, &MissionSettingsItem::_cameraSectionDirtyChanged);
 
-    connect(&_missionFlightSpeedFact,   &Fact::valueChanged,                        this, &MissionSettingsComplexItem::specifiedFlightSpeedChanged);
-    connect(&_cameraSection,            &CameraSection::specifyGimbalChanged,       this, &MissionSettingsComplexItem::specifiedGimbalYawChanged);
-    connect(&_cameraSection,            &CameraSection::specifiedGimbalYawChanged,  this, &MissionSettingsComplexItem::specifiedGimbalYawChanged);
+    connect(&_missionFlightSpeedFact,   &Fact::valueChanged,                        this, &MissionSettingsItem::specifiedFlightSpeedChanged);
+    connect(&_cameraSection,            &CameraSection::specifyGimbalChanged,       this, &MissionSettingsItem::specifiedGimbalYawChanged);
+    connect(&_cameraSection,            &CameraSection::specifiedGimbalYawChanged,  this, &MissionSettingsItem::specifiedGimbalYawChanged);
 }
 
 
-void MissionSettingsComplexItem::setSpecifyMissionFlightSpeed(bool specifyMissionFlightSpeed)
+void MissionSettingsItem::setSpecifyMissionFlightSpeed(bool specifyMissionFlightSpeed)
 {
     if (specifyMissionFlightSpeed != _specifyMissionFlightSpeed) {
         _specifyMissionFlightSpeed = specifyMissionFlightSpeed;
@@ -92,7 +83,7 @@ void MissionSettingsComplexItem::setSpecifyMissionFlightSpeed(bool specifyMissio
     }
 }
 
-int MissionSettingsComplexItem::lastSequenceNumber(void) const
+int MissionSettingsItem::lastSequenceNumber(void) const
 {
     int lastSequenceNumber = _sequenceNumber;
 
@@ -104,7 +95,7 @@ int MissionSettingsComplexItem::lastSequenceNumber(void) const
     return lastSequenceNumber;
 }
 
-void MissionSettingsComplexItem::setDirty(bool dirty)
+void MissionSettingsItem::setDirty(bool dirty)
 {
     if (_dirty != dirty) {
         _dirty = dirty;
@@ -112,14 +103,14 @@ void MissionSettingsComplexItem::setDirty(bool dirty)
     }
 }
 
-void MissionSettingsComplexItem::save(QJsonArray&  missionItems)
+void MissionSettingsItem::save(QJsonArray&  missionItems)
 {
     QList<MissionItem*> items;
 
     appendMissionItems(items, this);
 
     // First item show be planned home position, we are not reponsible for save/load
-    // Remained we just output as is
+    // Remaining items we just output as is
     for (int i=1; i<items.count(); i++) {
         MissionItem* item = items[i];
         QJsonObject saveObject;
@@ -129,7 +120,7 @@ void MissionSettingsComplexItem::save(QJsonArray&  missionItems)
     }
 }
 
-void MissionSettingsComplexItem::setSequenceNumber(int sequenceNumber)
+void MissionSettingsItem::setSequenceNumber(int sequenceNumber)
 {
     if (_sequenceNumber != sequenceNumber) {
         _sequenceNumber = sequenceNumber;
@@ -138,7 +129,7 @@ void MissionSettingsComplexItem::setSequenceNumber(int sequenceNumber)
     }
 }
 
-bool MissionSettingsComplexItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
+bool MissionSettingsItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
 {
     Q_UNUSED(complexObject);
     Q_UNUSED(sequenceNumber);
@@ -147,22 +138,22 @@ bool MissionSettingsComplexItem::load(const QJsonObject& complexObject, int sequ
     return true;
 }
 
-double MissionSettingsComplexItem::greatestDistanceTo(const QGeoCoordinate &other) const
+double MissionSettingsItem::greatestDistanceTo(const QGeoCoordinate &other) const
 {
     Q_UNUSED(other);
     return 0;
 }
 
-bool MissionSettingsComplexItem::specifiesCoordinate(void) const
+bool MissionSettingsItem::specifiesCoordinate(void) const
 {
     return false;
 }
 
-void MissionSettingsComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
+void MissionSettingsItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
 {
     int seqNum = _sequenceNumber;
 
-    // IMPORTANT NOTE: If anything changes here you must also change MissionSettingsComplexItem::scanForMissionSettings
+    // IMPORTANT NOTE: If anything changes here you must also change MissionSettingsItem::scanForMissionSettings
 
     // Planned home position
     MissionItem* item = new MissionItem(seqNum++,
@@ -172,8 +163,8 @@ void MissionSettingsComplexItem::appendMissionItems(QList<MissionItem*>& items,
                                         0,                      // Acceptance radius
                                         0,                      // Not sure?
                                         0,                      // Yaw
-                                        _plannedHomePositionLatitudeFact.rawValue().toDouble(),
-                                        _plannedHomePositionLongitudeFact.rawValue().toDouble(),
+                                        coordinate().latitude(),
+                                        coordinate().longitude(),
                                         _plannedHomePositionAltitudeFact.rawValue().toDouble(),
                                         true,                   // autoContinue
                                         false,                  // isCurrentItem
@@ -199,11 +190,11 @@ void MissionSettingsComplexItem::appendMissionItems(QList<MissionItem*>& items,
     _cameraSection.appendMissionItems(items, missionItemParent, seqNum);
 }
 
-bool MissionSettingsComplexItem::addMissionEndAction(QList<MissionItem*>& items, int seqNum, QObject* missionItemParent)
+bool MissionSettingsItem::addMissionEndAction(QList<MissionItem*>& items, int seqNum, QObject* missionItemParent)
 {
     MissionItem* item = NULL;
 
-    // IMPORTANT NOTE: If anything changes here you must also change MissionSettingsComplexItem::scanForMissionSettings
+    // IMPORTANT NOTE: If anything changes here you must also change MissionSettingsItem::scanForMissionSettings
 
     // Find last waypoint coordinate information so we have a lat/lon/alt to use
     QGeoCoordinate  lastWaypointCoord;
@@ -278,17 +269,17 @@ bool MissionSettingsComplexItem::addMissionEndAction(QList<MissionItem*>& items,
     }
 }
 
-bool MissionSettingsComplexItem::scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
+bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
 {
     bool foundSpeed = false;
     bool foundCameraSection = false;
     bool stopLooking = false;
 
-    qCDebug(MissionSettingsComplexItemLog) << "MissionSettingsComplexItem::scanForMissionSettings count:scanIndex" << visualItems->count() << scanIndex;
+    qCDebug(MissionSettingsComplexItemLog) << "MissionSettingsItem::scanForMissionSettings count:scanIndex" << visualItems->count() << scanIndex;
 
-    MissionSettingsComplexItem* settingsItem = visualItems->value<MissionSettingsComplexItem*>(scanIndex);
+    MissionSettingsItem* settingsItem = visualItems->value<MissionSettingsItem*>(scanIndex);
     if (!settingsItem) {
-        qWarning() << "Item specified by scanIndex not MissionSettingsComplexItem";
+        qWarning() << "Item specified by scanIndex not MissionSettingsItem";
         return false;
     }
 
@@ -305,7 +296,7 @@ bool MissionSettingsComplexItem::scanForMissionSettings(QmlObjectListModel* visu
 
         qCDebug(MissionSettingsComplexItemLog) << item->command() << missionItem.param1() << missionItem.param2() << missionItem.param3() << missionItem.param4() << missionItem.param5() << missionItem.param6() << missionItem.param7() ;
 
-        // See MissionSettingsComplexItem::getMissionItems for specs on what compomises a known mission setting
+        // See MissionSettingsItem::getMissionItems for specs on what compomises a known mission setting
 
         switch ((MAV_CMD)item->command()) {
         case MAV_CMD_DO_CHANGE_SPEED:
@@ -384,56 +375,57 @@ bool MissionSettingsComplexItem::scanForMissionSettings(QmlObjectListModel* visu
     return foundSpeed || foundCameraSection;
 }
 
-double MissionSettingsComplexItem::complexDistance(void) const
+double MissionSettingsItem::complexDistance(void) const
 {
     return 0;
 }
 
-void MissionSettingsComplexItem::_setDirty(void)
+void MissionSettingsItem::_setDirty(void)
 {
     setDirty(true);
 }
 
-void MissionSettingsComplexItem::setCoordinate(const QGeoCoordinate& coordinate)
+void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate)
 {
-    if (this->coordinate() != coordinate) {
-        _plannedHomePositionLatitudeFact.setRawValue(coordinate.latitude());
-        _plannedHomePositionLongitudeFact.setRawValue(coordinate.longitude());
+    if (_plannedHomePositionCoordinate != coordinate) {
+        _plannedHomePositionCoordinate = coordinate;
+        emit coordinateChanged(coordinate);
+        emit exitCoordinateChanged(coordinate);
         _plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
     }
 }
 
-void MissionSettingsComplexItem::_setDirtyAndUpdateLastSequenceNumber(void)
+void MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber(void)
 {
     emit lastSequenceNumberChanged(lastSequenceNumber());
     setDirty(true);
 }
 
-void MissionSettingsComplexItem::_setDirtyAndUpdateCoordinate(void)
-{
-    emit coordinateChanged(coordinate());
-    emit exitCoordinateChanged(coordinate());
-    setDirty(true);
-}
-
-QGeoCoordinate MissionSettingsComplexItem::coordinate(void) const
-{
-    return QGeoCoordinate(_plannedHomePositionLatitudeFact.rawValue().toDouble(), _plannedHomePositionLongitudeFact.rawValue().toDouble(), _plannedHomePositionAltitudeFact.rawValue().toDouble());
-}
-
-void MissionSettingsComplexItem::_cameraSectionDirtyChanged(bool dirty)
+void MissionSettingsItem::_cameraSectionDirtyChanged(bool dirty)
 {
     if (dirty) {
         setDirty(true);
     }
 }
 
-double MissionSettingsComplexItem::specifiedFlightSpeed(void)
+double MissionSettingsItem::specifiedFlightSpeed(void)
 {
     return _specifyMissionFlightSpeed ? _missionFlightSpeedFact.rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
 }
 
-double MissionSettingsComplexItem::specifiedGimbalYaw(void)
+double MissionSettingsItem::specifiedGimbalYaw(void)
 {
     return _cameraSection.specifyGimbal() ? _cameraSection.gimbalYaw()->rawValue().toDouble() : std::numeric_limits<double>::quiet_NaN();
 }
+
+void MissionSettingsItem::_updateAltitudeInCoordinate(QVariant value)
+{
+    double newAltitude = value.toDouble();
+
+    if (!qFuzzyCompare(_plannedHomePositionCoordinate.altitude(), newAltitude)) {
+
+        _plannedHomePositionCoordinate.setAltitude(newAltitude);
+        emit coordinateChanged(_plannedHomePositionCoordinate);
+        emit exitCoordinateChanged(_plannedHomePositionCoordinate);
+    }
+}

src/MissionManager/MissionSettingsComplexItem.h → src/MissionManager/MissionSettingsItem.h

@@ -18,12 +18,12 @@
 
 Q_DECLARE_LOGGING_CATEGORY(MissionSettingsComplexItemLog)
 
-class MissionSettingsComplexItem : public ComplexMissionItem
+class MissionSettingsItem : public ComplexMissionItem
 {
     Q_OBJECT
 
 public:
-    MissionSettingsComplexItem(Vehicle* vehicle, QObject* parent = NULL);
+    MissionSettingsItem(Vehicle* vehicle, QObject* parent = NULL);
 
     enum MissionEndAction {
         MissionEndNoAction,
@@ -36,14 +36,10 @@ public:
     Q_PROPERTY(bool     specifyMissionFlightSpeed       READ specifyMissionFlightSpeed      WRITE setSpecifyMissionFlightSpeed  NOTIFY specifyMissionFlightSpeedChanged)
     Q_PROPERTY(Fact*    missionFlightSpeed              READ missionFlightSpeed                                                 CONSTANT)
     Q_PROPERTY(Fact*    missionEndAction                READ missionEndAction                                                   CONSTANT)
-    Q_PROPERTY(Fact*    plannedHomePositionLatitude     READ plannedHomePositionLatitude                                        CONSTANT)
-    Q_PROPERTY(Fact*    plannedHomePositionLongitude    READ plannedHomePositionLongitude                                       CONSTANT)
     Q_PROPERTY(Fact*    plannedHomePositionAltitude     READ plannedHomePositionAltitude                                        CONSTANT)
     Q_PROPERTY(QObject* cameraSection                   READ cameraSection                                                      CONSTANT)
 
     bool    specifyMissionFlightSpeed   (void) const { return _specifyMissionFlightSpeed; }
-    Fact*   plannedHomePositionLatitude (void) { return &_plannedHomePositionLatitudeFact; }
-    Fact*   plannedHomePositionLongitude(void) { return &_plannedHomePositionLongitudeFact; }
     Fact*   plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
     Fact*   missionFlightSpeed          (void) { return &_missionFlightSpeedFact; }
     Fact*   missionEndAction            (void) { return &_missionEndActionFact; }
@@ -79,8 +75,8 @@ public:
     QString         commandDescription      (void) const final { return "Mission Settings"; }
     QString         commandName             (void) const final { return "Mission Settings"; }
     QString         abbreviation            (void) const final { return "H"; }
-    QGeoCoordinate  coordinate              (void) const final;
-    QGeoCoordinate  exitCoordinate          (void) const final { return coordinate(); }
+    QGeoCoordinate  coordinate              (void) const final { return _plannedHomePositionCoordinate; }
+    QGeoCoordinate  exitCoordinate          (void) const final { return _plannedHomePositionCoordinate; }
     int             sequenceNumber          (void) const final { return _sequenceNumber; }
     double          specifiedFlightSpeed    (void) final;
     double          specifiedGimbalYaw      (void) final;
@@ -102,14 +98,13 @@ signals:
 
 private slots:
     void _setDirtyAndUpdateLastSequenceNumber   (void);
-    void _setDirtyAndUpdateCoordinate           (void);
     void _setDirty                              (void);
     void _cameraSectionDirtyChanged             (bool dirty);
+    void _updateAltitudeInCoordinate            (QVariant value);
 
 private:
     bool            _specifyMissionFlightSpeed;
-    Fact            _plannedHomePositionLatitudeFact;
-    Fact            _plannedHomePositionLongitudeFact;
+    QGeoCoordinate  _plannedHomePositionCoordinate;     // Does not include altitde
     Fact            _plannedHomePositionAltitudeFact;
     Fact            _missionFlightSpeedFact;
     Fact            _missionEndActionFact;
@@ -120,8 +115,6 @@ private:
 
     static QMap<QString, FactMetaData*> _metaDataMap;
 
-    static const char* _plannedHomePositionLatitudeName;
-    static const char* _plannedHomePositionLongitudeName;
     static const char* _plannedHomePositionAltitudeName;
     static const char* _missionFlightSpeedName;
     static const char* _missionEndActionName;

src/MissionManager/SimpleMissionItem.cc

@@ -144,7 +144,6 @@ const SimpleMissionItem& SimpleMissionItem::operator=(const SimpleMissionItem& o
     setRawEdit(other._rawEdit);
     setDirty(other._dirty);
     setHomePositionSpecialCase(other._homePositionSpecialCase);
-    setShowHomePosition(other._showHomePosition);
 
     _syncFrameToAltitudeRelativeToHome();
 

src/MissionManager/SimpleMissionItemTest.cc

@@ -156,7 +156,6 @@ void SimpleMissionItemTest::_testSignals(void)
         headingDegreesChangedIndex,
         rawEditChangedIndex,
         uiModelChangedIndex,
-        showHomePositionChangedIndex,
         maxSignalIndex
     };
 
@@ -170,7 +169,6 @@ void SimpleMissionItemTest::_testSignals(void)
         headingDegreesChangedMask =         1 << headingDegreesChangedIndex,
         rawEditChangedMask =                1 << rawEditChangedIndex,
         uiModelChangedMask =                1 << uiModelChangedIndex,
-        showHomePositionChangedMask =       1 << showHomePositionChangedIndex,
     };
 
     static const size_t cSimpleMissionItemSignals = maxSignalIndex;
@@ -185,7 +183,6 @@ void SimpleMissionItemTest::_testSignals(void)
     rgSimpleMissionItemSignals[headingDegreesChangedIndex] =        SIGNAL(headingDegreesChanged(double));
     rgSimpleMissionItemSignals[rawEditChangedIndex] =               SIGNAL(rawEditChanged(bool));
     rgSimpleMissionItemSignals[uiModelChangedIndex] =               SIGNAL(uiModelChanged());
-    rgSimpleMissionItemSignals[showHomePositionChangedIndex] =      SIGNAL(showHomePositionChanged(bool));
 
     MissionItem missionItem(1,              // sequence number
                             MAV_CMD_NAV_WAYPOINT,

src/MissionManager/VisualMissionItem.cc

@@ -26,7 +26,6 @@ VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
     , _isCurrentItem(false)
     , _dirty(false)
     , _homePositionSpecialCase(false)
-    , _showHomePosition(false)
     , _altDifference(0.0)
     , _altPercent(0.0)
     , _azimuth(0.0)
@@ -43,7 +42,6 @@ VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* pa
     , _isCurrentItem(false)
     , _dirty(false)
     , _homePositionSpecialCase(false)
-    , _showHomePosition(false)
     , _altDifference(0.0)
     , _altPercent(0.0)
     , _azimuth(0.0)
@@ -59,7 +57,6 @@ const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& o
     setIsCurrentItem(other._isCurrentItem);
     setDirty(other._dirty);
     _homePositionSpecialCase = other._homePositionSpecialCase;
-    setShowHomePosition(other.showHomePosition());
     setAltDifference(other._altDifference);
     setAltPercent(other._altPercent);
     setAzimuth(other._azimuth);
@@ -112,14 +109,6 @@ void VisualMissionItem::setAzimuth(double azimuth)
     }
 }
 
-void VisualMissionItem::setShowHomePosition(bool showHomePosition)
-{
-    if (showHomePosition != _showHomePosition) {
-        _showHomePosition = showHomePosition;
-        emit showHomePositionChanged(_showHomePosition);
-    }
-}
-
 void VisualMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
 {
     _missionFlightStatus = missionFlightStatus;

src/MissionManager/VisualMissionItem.h

@@ -44,7 +44,6 @@ public:
     const VisualMissionItem& operator=(const VisualMissionItem& other);
 
     Q_PROPERTY(bool             homePosition                        READ homePosition                                                   CONSTANT)                                           ///< true: This item is being used as a home position indicator
-    Q_PROPERTY(bool             showHomePosition                    READ showHomePosition                   WRITE setShowHomePosition   NOTIFY showHomePositionChanged)
     Q_PROPERTY(QGeoCoordinate   coordinate                          READ coordinate                         WRITE setCoordinate         NOTIFY coordinateChanged)                           ///< This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
     Q_PROPERTY(bool             coordinateHasRelativeAltitude       READ coordinateHasRelativeAltitude                                  NOTIFY coordinateHasRelativeAltitudeChanged)        ///< true: coordinate.latitude is relative to home altitude
     Q_PROPERTY(QGeoCoordinate   exitCoordinate                      READ exitCoordinate                                                 NOTIFY exitCoordinateChanged)                       ///< This is the exit point for a waypoint line coming out of the item.
@@ -80,9 +79,7 @@ public:
     // Property accesors
 
     bool homePosition               (void) const { return _homePositionSpecialCase; }
-    bool showHomePosition           (void) const { return _showHomePosition; }
     void setHomePositionSpecialCase (bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
-    void setShowHomePosition        (bool showHomePosition);
 
     double altDifference    (void) const { return _altDifference; }
     double altPercent       (void) const { return _altPercent; }
@@ -151,7 +148,6 @@ public:
     static const char* jsonTypeComplexItemValue;    ///< Item type is Complex Item
 
 signals:
-    void showHomePositionChanged        (bool showHomePosition);
     void altDifferenceChanged           (double altDifference);
     void altPercentChanged              (double altPercent);
     void azimuthChanged                 (double azimuth);
@@ -183,7 +179,6 @@ protected:
     bool        _isCurrentItem;
     bool        _dirty;
     bool        _homePositionSpecialCase;   ///< true: This item is being used as a ui home position indicator
-    bool        _showHomePosition;
     double      _altDifference;             ///< Difference in altitude from previous waypoint
     double      _altPercent;                ///< Percent of total altitude change in mission
     double      _azimuth;                   ///< Azimuth to previous waypoint

src/MissionEditor/MissionSettingsEditor.qml → src/PlanView/MissionSettingsEditor.qml

@@ -34,6 +34,7 @@ Rectangle {
                 height:             valuesColumn.height + (_margin * 2)
 
                 property var    _missionVehicle:            missionController.vehicle
+                property bool   _vehicleHasHomePosition:    _missionVehicle.homePosition.isValid
                 property bool   _offlineEditing:            _missionVehicle.isOfflineEditingVehicle
                 property bool   _showOfflineVehicleCombos:  _offlineEditing && _multipleFirmware && _noMissionItemsAdded
                 property bool   _showCruiseSpeed:           !_missionVehicle.multiRotor
@@ -58,13 +59,14 @@ Rectangle {
                         id:             plannedHomePositionSection
                         text:           qsTr("Planned Home Position")
                         showSpacer:     false
+                        visible:        !_vehicleHasHomePosition
                     }
 
                     Column {
                         anchors.left:   parent.left
                         anchors.right:  parent.right
                         spacing:        _margin
-                        visible:        plannedHomePositionSection.checked
+                        visible:        plannedHomePositionSection.checked && !_vehicleHasHomePosition
 
                         GridLayout {
                             anchors.left:   parent.left
@@ -73,22 +75,6 @@ Rectangle {
                             rowSpacing:     columnSpacing
                             columns:        2
 
-                            QGCLabel {
-                                text: qsTr("Latitude")
-                            }
-                            FactTextField {
-                                fact:               missionItem.plannedHomePositionLatitude
-                                Layout.fillWidth:   true
-                            }
-
-                            QGCLabel {
-                                text: qsTr("Longitude")
-                            }
-                            FactTextField {
-                                fact:               missionItem.plannedHomePositionLongitude
-                                Layout.fillWidth:   true
-                            }
-
                             QGCLabel {
                                 text: qsTr("Altitude")
                             }
@@ -178,7 +164,7 @@ Rectangle {
                     SectionHeader {
                         id:             missionDefaultsSectionHeader
                         text:           qsTr("Mission Defaults")
-                        checked:        false
+                        checked:        true
                     }
 
                     Column {

src/MissionEditor/MissionSettingsMapVisual.qml → src/PlanView/MissionSettingsMapVisual.qml

@@ -103,7 +103,7 @@ Item {
 
         MissionItemIndicator {
             coordinate:     _missionItem.coordinate
-            visible:        _missionItem.showHomePosition
+            visible:        coordinate.isValid
             z:              QGroundControl.zOrderMapItems
             missionItem:    _missionItem
 

src/MissionEditor/MissionEditor.qml → src/PlanView/PlanView.qml

@@ -45,8 +45,6 @@ QGCView {
     property var    _visualItems:           missionController.visualItems
     property var    _currentMissionItem
     property int    _currentMissionIndex:   0
-    property bool   _firstVehiclePosition:  true
-    property var    activeVehiclePosition:  _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
     property bool   _lightWidgetBorders:    editorMap.isSatelliteMap
     property bool   _addWaypointOnClick:    false
     property bool   _singleComplexItem:     missionController.complexMissionItemNames.length === 1
@@ -64,25 +62,6 @@ QGCView {
         toolbar.currentMissionItem =    Qt.binding(function () { return _currentMissionItem })
     }
 
-    onActiveVehiclePositionChanged: updateMapToVehiclePosition()
-
-    Connections {
-        target: QGroundControl.multiVehicleManager
-
-        onActiveVehicleChanged: {
-            // When the active vehicle changes we need to allow the first vehicle position to move the map again
-            _firstVehiclePosition = true
-            updateMapToVehiclePosition()
-        }
-    }
-
-    function updateMapToVehiclePosition() {
-        if (_activeVehicle && _activeVehicle.coordinateValid && _activeVehicle.coordinate.isValid && _firstVehiclePosition) {
-            _firstVehiclePosition = false
-            editorMap.center = _activeVehicle.coordinate
-        }
-    }
-
     function addComplexItem(complexItemName) {
         var coordinate = editorMap.center
         coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)

src/QGCApplication.cc

@@ -116,9 +116,6 @@ const char* QGCApplication::telemetryFileExtension =     "tlog";
 
 const char* QGCApplication::_deleteAllSettingsKey           = "DeleteAllSettingsNextBoot";
 const char* QGCApplication::_settingsVersionKey             = "SettingsVersion";
-const char* QGCApplication::_lastKnownHomePositionLatKey    = "LastKnownHomePositionLat";
-const char* QGCApplication::_lastKnownHomePositionLonKey    = "LastKnownHomePositionLon";
-const char* QGCApplication::_lastKnownHomePositionAltKey    = "LastKnownHomePositionAlt";
 
 const char* QGCApplication::_darkStyleFile          = ":/res/styles/style-dark.css";
 const char* QGCApplication::_lightStyleFile         = ":/res/styles/style-light.css";
@@ -173,7 +170,6 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
     #endif
     , _toolbox(NULL)
     , _bluetoothAvailable(false)
-    , _lastKnownHomePosition(37.803784, -122.462276, 0.0)
 {
     Q_ASSERT(_app == NULL);
     _app = this;
@@ -308,10 +304,6 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
     // Set up our logging filters
     QGCLoggingCategoryRegister::instance()->setFilterRulesFromSettings(loggingOptions);
 
-    _lastKnownHomePosition.setLatitude(settings.value(_lastKnownHomePositionLatKey, 37.803784).toDouble());
-    _lastKnownHomePosition.setLongitude(settings.value(_lastKnownHomePositionLonKey, -122.462276).toDouble());
-    _lastKnownHomePosition.setAltitude(settings.value(_lastKnownHomePositionAltKey, 0.0).toDouble());
-
     // Initialize Bluetooth
 #ifdef QGC_ENABLE_BLUETOOTH
     QBluetoothLocalDevice localDevice;
@@ -673,14 +665,3 @@ void QGCApplication::qmlAttemptWindowClose(void)
 {
     QMetaObject::invokeMethod(_rootQmlObject(), "attemptWindowClose");
 }
-
-
-void QGCApplication::setLastKnownHomePosition(QGeoCoordinate& lastKnownHomePosition)
-{
-    QSettings settings;
-
-    settings.setValue(_lastKnownHomePositionLatKey, lastKnownHomePosition.latitude());
-    settings.setValue(_lastKnownHomePositionLonKey, lastKnownHomePosition.longitude());
-    settings.setValue(_lastKnownHomePositionAltKey, lastKnownHomePosition.altitude());
-    _lastKnownHomePosition = lastKnownHomePosition;
-}

src/QGCApplication.h

@@ -98,9 +98,6 @@ public:
     /// Do we have Bluetooth Support?
     bool isBluetoothAvailable() { return _bluetoothAvailable; }
 
-    QGeoCoordinate lastKnownHomePosition(void) { return _lastKnownHomePosition; }
-    void setLastKnownHomePosition(QGeoCoordinate& lastKnownHomePosition);
-
 public slots:
     /// You can connect to this slot to show an information message box from a different thread.
     void informationMessageBoxOnMainThread(const QString& title, const QString& msg);
@@ -183,13 +180,8 @@ private:
 
     bool _bluetoothAvailable;
 
-    QGeoCoordinate _lastKnownHomePosition;    ///< Map position when all other sources fail
-
     static const char* _settingsVersionKey;             ///< Settings key which hold settings version
     static const char* _deleteAllSettingsKey;           ///< If this settings key is set on boot, all settings will be deleted
-    static const char* _lastKnownHomePositionLatKey;
-    static const char* _lastKnownHomePositionLonKey;
-    static const char* _lastKnownHomePositionAltKey;
 
     /// Unit Test have access to creating and destroying singletons
     friend class UnitTest;

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -19,6 +19,11 @@
 
 static const char* kQmlGlobalKeyName = "QGCQml";
 
+const char* QGroundControlQmlGlobal::_flightMapPositionSettingsGroup =          "FlightMapPosition";
+const char* QGroundControlQmlGlobal::_flightMapPositionLatitudeSettingsKey =    "Latitude";
+const char* QGroundControlQmlGlobal::_flightMapPositionLongitudeSettingsKey =   "Longitude";
+const char* QGroundControlQmlGlobal::_flightMapZoomSettingsKey =                "FlightMapZoom";
+
 QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCApplication* app)
     : QGCTool(app)
     , _linkManager(NULL)
@@ -180,3 +185,44 @@ void QGroundControlQmlGlobal::setSkipSetupPage(bool skip)
         emit skipSetupPageChanged();
     }
 }
+
+QGeoCoordinate QGroundControlQmlGlobal::flightMapPosition(void)
+{
+    QSettings       settings;
+    QGeoCoordinate  coord;
+
+    settings.beginGroup(_flightMapPositionSettingsGroup);
+    coord.setLatitude(settings.value(_flightMapPositionLatitudeSettingsKey, 37.803784).toDouble());
+    coord.setLongitude(settings.value(_flightMapPositionLongitudeSettingsKey, -122.462276).toDouble());
+
+    return coord;
+}
+
+double QGroundControlQmlGlobal::flightMapZoom(void)
+{
+    QSettings settings;
+
+    return settings.value(_flightMapZoomSettingsKey, 18).toDouble();
+}
+
+void QGroundControlQmlGlobal::setFlightMapPosition(QGeoCoordinate& coordinate)
+{
+    if (coordinate != flightMapPosition()) {
+        QSettings settings;
+
+        settings.beginGroup(_flightMapPositionSettingsGroup);
+        settings.setValue(_flightMapPositionLatitudeSettingsKey, coordinate.latitude());
+        settings.setValue(_flightMapPositionLongitudeSettingsKey, coordinate.longitude());
+        emit flightMapPositionChanged(coordinate);
+    }
+}
+
+void QGroundControlQmlGlobal::setFlightMapZoom(double zoom)
+{
+    if (zoom != flightMapZoom()) {
+        QSettings settings;
+
+        settings.setValue(_flightMapZoomSettingsKey, zoom);
+        emit flightMapZoomChanged(zoom);
+    }
+}

src/QmlControls/QGroundControlQmlGlobal.h

@@ -59,9 +59,8 @@ public:
     Q_PROPERTY(bool     isVersionCheckEnabled   READ isVersionCheckEnabled      WRITE setIsVersionCheckEnabled      NOTIFY isVersionCheckEnabledChanged)
     Q_PROPERTY(int      mavlinkSystemID         READ mavlinkSystemID            WRITE setMavlinkSystemID            NOTIFY mavlinkSystemIDChanged)
 
-    Q_PROPERTY(QGeoCoordinate lastKnownHomePosition READ lastKnownHomePosition  CONSTANT)
-    Q_PROPERTY(QGeoCoordinate flightMapPosition     MEMBER _flightMapPosition   NOTIFY flightMapPositionChanged)
-    Q_PROPERTY(double         flightMapZoom         MEMBER _flightMapZoom       NOTIFY flightMapZoomChanged)
+    Q_PROPERTY(QGeoCoordinate flightMapPosition     READ flightMapPosition      WRITE setFlightMapPosition          NOTIFY flightMapPositionChanged)
+    Q_PROPERTY(double         flightMapZoom         READ flightMapZoom          WRITE setFlightMapZoom              NOTIFY flightMapZoomChanged)
 
     Q_PROPERTY(QString  parameterFileExtension  READ parameterFileExtension CONSTANT)
     Q_PROPERTY(QString  missionFileExtension    READ missionFileExtension   CONSTANT)
@@ -133,6 +132,8 @@ public:
     MAVLinkLogManager*      mavlinkLogManager   ()  { return _mavlinkLogManager; }
     QGCCorePlugin*          corePlugin          ()  { return _corePlugin; }
     SettingsManager*        settingsManager     ()  { return _settingsManager; }
+    static QGeoCoordinate   flightMapPosition   ();
+    static double           flightMapZoom       ();
 
     qreal                   zOrderTopMost       ()  { return 1000; }
     qreal                   zOrderWidgets       ()  { return 100; }
@@ -141,14 +142,14 @@ public:
     bool    isVersionCheckEnabled   () { return _toolbox->mavlinkProtocol()->versionCheckEnabled(); }
     int     mavlinkSystemID         () { return _toolbox->mavlinkProtocol()->getSystemId(); }
 
-    QGeoCoordinate lastKnownHomePosition() { return qgcApp()->lastKnownHomePosition(); }
-
     int     supportedFirmwareCount  ();
     bool    skipSetupPage           () { return _skipSetupPage; }
     void    setSkipSetupPage        (bool skip);
 
     void    setIsVersionCheckEnabled    (bool enable);
     void    setMavlinkSystemID          (int  id);
+    void    setFlightMapPosition        (QGeoCoordinate& coordinate);
+    void    setFlightMapZoom            (double zoom);
 
     QString parameterFileExtension(void) const  { return QGCApplication::parameterFileExtension; }
     QString missionFileExtension(void) const    { return QGCApplication::missionFileExtension; }
@@ -180,9 +181,12 @@ private:
     FirmwarePluginManager*  _firmwarePluginManager;
     SettingsManager*        _settingsManager;
 
-    QGeoCoordinate          _flightMapPosition;
-    double                  _flightMapZoom;
     bool                    _skipSetupPage;
+
+    static const char* _flightMapPositionSettingsGroup;
+    static const char* _flightMapPositionLatitudeSettingsKey;
+    static const char* _flightMapPositionLongitudeSettingsKey;
+    static const char* _flightMapZoomSettingsKey;
 };
 
 #endif

src/QtLocationPlugin/QMLControl/OfflineMap.qml

@@ -315,7 +315,7 @@ QGCView {
         Map {
             id:                 _map
             anchors.fill:       parent
-            center:             QGroundControl.lastKnownHomePosition
+            center:             QGroundControl.flightMapPosition
             visible:            false
             gesture.flickDeceleration:  3000
 

src/Vehicle/Vehicle.cc

@@ -925,7 +925,6 @@ void Vehicle::_handleHomePosition(mavlink_message_t& message)
 
     if (emitHomePositionChanged) {
         qCDebug(VehicleLog) << "New home position" << newHomePosition;
-        qgcApp()->setLastKnownHomePosition(_homePosition);
         emit homePositionChanged(_homePosition);
     }
     if (emitHomePositionAvailableChanged) {

src/comm/QGCFlightGearLink.cc

@@ -35,6 +35,7 @@
 #include "QGCApplication.h"
 #include "Vehicle.h"
 #include "UAS.h"
+#include "QGroundControlQmlGlobal.h"
 
 // FlightGear _fgProcess start and connection is quite fragile. Uncomment the define below to get higher level of debug output
 // for tracking down problems.
@@ -938,7 +939,7 @@ bool QGCFlightGearLink::connectSimulation()
     }
 
     // We start out at our home position
-    QGeoCoordinate homePosition = qgcApp()->lastKnownHomePosition();
+    QGeoCoordinate homePosition = QGroundControlQmlGlobal::flightMapPosition();
     _fgArgList << QString("--lat=%1").arg(homePosition.latitude());
     _fgArgList << QString("--lon=%1").arg(homePosition.longitude());
     // The altitude is not set because an altitude not equal to the ground altitude leads to a non-zero default throttle in flightgear

src/ui/MainWindowInner.qml

@@ -19,7 +19,6 @@ import QGroundControl.Controls              1.0
 import QGroundControl.FlightDisplay         1.0
 import QGroundControl.ScreenTools           1.0
 import QGroundControl.MultiVehicleManager   1.0
-import QGroundControl.QGCPositionManager   1.0
 
 /// Inner common QML for mainWindow
 Item {
@@ -29,7 +28,6 @@ Item {
 
     QGCPalette { id: qgcPal; colorGroupEnabled: true }
 
-    property var    gcsPosition:        QtPositioning.coordinate()  // Starts as invalid coordinate
     property var    currentPopUp:       null
     property real   currentCenterX:     0
     property var    activeVehicle:      QGroundControl.multiVehicleManager.activeVehicle
@@ -39,7 +37,7 @@ Item {
 
     readonly property string _settingsViewSource:   "AppSettings.qml"
     readonly property string _setupViewSource:      "SetupView.qml"
-    readonly property string _planViewSource:       "MissionEditor.qml"
+    readonly property string _planViewSource:       "PlanView.qml"
     readonly property string _analyzeViewSource:    "AnalyzeView.qml"
 
     onHeightChanged: {
@@ -181,24 +179,6 @@ Item {
         }
     }
 
-    //-- Detect tablet position
-    Connections {
-        target: QGroundControl.qgcPositionManger
-        onLastPositionUpdated: {
-            if(valid) {
-                if(lastPosition.latitude) {
-                    if(Math.abs(lastPosition.latitude)  > 0.001) {
-                        if(lastPosition.longitude) {
-                            if(Math.abs(lastPosition.longitude)  > 0.001) {
-                                gcsPosition = QtPositioning.coordinate(lastPosition.latitude,lastPosition.longitude)
-                            }
-                        }
-                    }
-                }
-            }
-        }
-    }
-
     property var messageQueue: []
 
     function showMessage(message) {