From f16514fbd1a987f9b8986b63265658403068744f Mon Sep 17 00:00:00 2001
From: Danny Schrader <sirnesma@gmail.com>
Date: Thu, 16 Feb 2017 17:57:19 -0500
Subject: [PATCH] removed FirmwarePlugin message.  Changed abortLanding() to
 abortLanding(double).

---
 src/FirmwarePlugin/FirmwarePlugin.cc           | 7 -------
 src/FirmwarePlugin/FirmwarePlugin.h            | 3 ---
 src/FlightDisplay/FlightDisplayViewWidgets.qml | 4 ++--
 src/Vehicle/Vehicle.cc                         | 6 ++----
 src/Vehicle/Vehicle.h                          | 2 +-
 5 files changed, 5 insertions(+), 17 deletions(-)

diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc
index f42ed6efd..fb6d02816 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -16,7 +16,6 @@
 static FirmwarePluginFactoryRegister* _instance = NULL;
 
 const char* guided_mode_not_supported_by_vehicle = "Guided mode not supported by Vehicle.";
-const char* landing_aborted = "Landing aborted.";
 
 const char* FirmwarePlugin::px4FollowMeFlightMode = "Follow Me";
 
@@ -232,12 +231,6 @@ void FirmwarePlugin::pauseVehicle(Vehicle* vehicle)
     qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
 }
 
-void FirmwarePlugin::abortLanding(Vehicle* vehicle)
-{
-    Q_UNUSED(vehicle);
-    qgcApp()->showMessage(landing_aborted);
-}
-
 void FirmwarePlugin::guidedModeRTL(Vehicle* vehicle)
 {
     // Not supported by generic vehicle
diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h
index f5c27eab0..0c0eb0f77 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.h
+++ b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -105,9 +105,6 @@ public:
     /// If not, vehicle will be left in Loiter.
     virtual void pauseVehicle(Vehicle* vehicle);
 
-    /// Command vehicle to abort landing
-    virtual void abortLanding(Vehicle* vehicle);
-
     /// Command vehicle to return to launch
     virtual void guidedModeRTL(Vehicle* vehicle);
 
diff --git a/src/FlightDisplay/FlightDisplayViewWidgets.qml b/src/FlightDisplay/FlightDisplayViewWidgets.qml
index f60854c4a..b2667bb36 100644
--- a/src/FlightDisplay/FlightDisplayViewWidgets.qml
+++ b/src/FlightDisplay/FlightDisplayViewWidgets.qml
@@ -240,7 +240,7 @@ Item {
                 //_activeVehicle.guidedModeOrbit(QGroundControl.flightMapPosition, 50.0)
                 break;
             case confirmAbort:
-                _activeVehicle.abortLanding()
+                _activeVehicle.abortLanding(50)     // hardcoded value for climbOutAltitude that is currently ignored
                 break;
             default:
                 console.warn(qsTr("Internal error: unknown confirmActionCode"), confirmActionCode)
@@ -366,7 +366,7 @@ Item {
                 QGCButton {
                     pointSize:  _guidedModeBar._fontPointSize
                     text:       qsTr("Abort")
-                    visible:    _activeVehicle && _activeVehicle.flying
+                    visible:    _activeVehicle && _activeVehicle.flying && _activeVehicle.fixedWing
                     onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmAbort)
                 }
 
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index f9399cbc3..fa5b2f125 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1838,14 +1838,12 @@ void Vehicle::pauseVehicle(void)
     _firmwarePlugin->pauseVehicle(this);
 }
 
-void Vehicle::abortLanding(void)
+void Vehicle::abortLanding(double climbOutAltitude)
 {
     sendMavCommand(defaultComponentId(),
                    MAV_CMD_DO_GO_AROUND,
                    true,        // show error if fails
-                   50);         // this is a dummy value that is currently ignored
-
-    _firmwarePlugin->abortLanding(this);
+                   climbOutAltitude);
 }
 
 bool Vehicle::guidedMode(void) const
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 9d168eb00..d880b8769 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -356,7 +356,7 @@ public:
     Q_INVOKABLE void emergencyStop(void);
 
     /// Command vehicle to abort landing
-    Q_INVOKABLE void abortLanding(void);
+    Q_INVOKABLE void abortLanding(double climbOutAltitude);
 
     /// Alter the current mission item on the vehicle
     Q_INVOKABLE void setCurrentMissionSequence(int seq);
-- 
2.22.0