From ec0f015d975e56a1ce8111f51356dfe609313b82 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Mon, 21 May 2018 11:40:50 -0700
Subject: [PATCH] Fix standalone coords affecting time/distance

---
 src/MissionManager/MavCmdInfoCommon.json |  1 +
 src/MissionManager/MissionController.cc  | 17 +++++++++--------
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json
index 63a3459c3..49c116bab 100644
--- a/src/MissionManager/MavCmdInfoCommon.json
+++ b/src/MissionManager/MavCmdInfoCommon.json
@@ -640,6 +640,7 @@
             "friendlyName":         "ROI to next waypoint" ,
             "description":          "Sets the region of interest to point towards the next waypoint with optional offsets.",
             "specifiesCoordinate":  false,
+            "standaloneCoordinate": true,
             "friendlyEdit":         true,
             "category":             "Camera",
             "param5": {
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index e518d4a64..b97ee137d 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -1343,12 +1343,6 @@ void MissionController::_recalcMissionFlightStatus()
         _addCommandTimeDelay(simpleItem, vtolInHover);
 
         if (item->specifiesCoordinate()) {
-            // Update vehicle yaw assuming direction to next waypoint
-            if (item != lastCoordinateItem) {
-                _missionFlightStatus.vehicleYaw = lastCoordinateItem->exitCoordinate().azimuthTo(item->coordinate());
-                lastCoordinateItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
-            }
-
             // Keep track of the min/max altitude for all waypoints so we can show altitudes as a percentage
 
             double absoluteAltitude = item->coordinate().altitude();
@@ -1366,6 +1360,13 @@ void MissionController::_recalcMissionFlightStatus()
 
             if (!item->isStandaloneCoordinate()) {
                 firstCoordinateItem = false;
+
+                // Update vehicle yaw assuming direction to next waypoint
+                if (item != lastCoordinateItem) {
+                    _missionFlightStatus.vehicleYaw = lastCoordinateItem->exitCoordinate().azimuthTo(item->coordinate());
+                    lastCoordinateItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
+                }
+
                 if (lastCoordinateItem != _settingsItem || linkStartToHome) {
                     // This is a subsequent waypoint or we are forcing the first waypoint back to home
                     double azimuth, distance, altDifference;
@@ -1395,9 +1396,9 @@ void MissionController::_recalcMissionFlightStatus()
                 }
 
                 item->setMissionFlightStatus(_missionFlightStatus);
-            }
 
-            lastCoordinateItem = item;
+                lastCoordinateItem = item;
+            }
         }
     }
     lastCoordinateItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
-- 
2.22.0