src/MissionManager/MissionController.cc

@@ -395,9 +395,8 @@ VisualMissionItem* MissionController::insertSimpleMissionItem(QGeoCoordinate coo
 VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate /*coordinate*/, int visualItemIndex, bool makeCurrentItem)
 {
     int sequenceNumber = _nextSequenceNumber();
-    TakeoffMissionItem * newItem = new TakeoffMissionItem(_controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF, _controllerVehicle, _flyView, _settingsItem, this);
+    TakeoffMissionItem * newItem = new TakeoffMissionItem(_controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF, _managerVehicle, _flyView, _settingsItem, this);
     newItem->setSequenceNumber(sequenceNumber);
-    newItem->setWizardMode(true);
     _initVisualItem(newItem);
 
     if (newItem->specifiesAltitude()) {
@@ -1705,8 +1704,6 @@ void MissionController::_initAllVisualItems(void)
         }
     }
 
-    _settingsItem->setHomePositionFromVehicle(_managerVehicle);
-
     connect(_settingsItem, &MissionSettingsItem::coordinateChanged,     this, &MissionController::_recalcAll);
     connect(_settingsItem, &MissionSettingsItem::coordinateChanged,     this, &MissionController::plannedHomePositionChanged);
 
@@ -1831,7 +1828,7 @@ bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude
 {
     bool        found = false;
     double      foundAltitude = 0;
-    int         foundAltitudeMode;
+    int         foundAltitudeMode = QGroundControlQmlGlobal::AltitudeModeNone;
 
     if (newIndex > _visualItems->count()) {
         return false;
@@ -1879,9 +1876,8 @@ MissionSettingsItem* MissionController::_addMissionSettings(QmlObjectListModel*
 {
     qCDebug(MissionControllerLog) << "_addMissionSettings";
 
-    MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);
+    MissionSettingsItem* settingsItem = new MissionSettingsItem(_managerVehicle, _flyView, visualItems);
     visualItems->insert(0, settingsItem);
-    settingsItem->setHomePositionFromVehicle(_managerVehicle);
 
     if (visualItems == _visualItems) {
         _settingsItem = settingsItem;

src/MissionManager/MissionSettingsItem.cc

@@ -47,17 +47,16 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, bool flyView, QObject
     connect(this,               &MissionSettingsItem::specifyMissionFlightSpeedChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
     connect(&_cameraSection,    &CameraSection::itemCountChanged,                       this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
     connect(&_speedSection,     &CameraSection::itemCountChanged,                       this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
-
     connect(this,               &MissionSettingsItem::terrainAltitudeChanged,           this, &MissionSettingsItem::_setHomeAltFromTerrain);
-
-    connect(&_plannedHomePositionAltitudeFact,  &Fact::rawValueChanged,                 this, &MissionSettingsItem::_updateAltitudeInCoordinate);
-
     connect(&_cameraSection,    &CameraSection::dirtyChanged,                           this, &MissionSettingsItem::_sectionDirtyChanged);
     connect(&_speedSection,     &SpeedSection::dirtyChanged,                            this, &MissionSettingsItem::_sectionDirtyChanged);
-
     connect(&_cameraSection,    &CameraSection::specifiedGimbalYawChanged,              this, &MissionSettingsItem::specifiedGimbalYawChanged);
     connect(&_cameraSection,    &CameraSection::specifiedGimbalPitchChanged,            this, &MissionSettingsItem::specifiedGimbalPitchChanged);
     connect(&_speedSection,     &SpeedSection::specifiedFlightSpeedChanged,             this, &MissionSettingsItem::specifiedFlightSpeedChanged);
+    connect(_vehicle,           &Vehicle::homePositionChanged,                          this, &MissionSettingsItem::_updateHomePosition);
+    connect(&_plannedHomePositionAltitudeFact,  &Fact::rawValueChanged,                 this, &MissionSettingsItem::_updateAltitudeInCoordinate);
+
+    _updateHomePosition(_vehicle->homePosition());
 }
 
 int MissionSettingsItem::lastSequenceNumber(void) const
@@ -285,3 +284,10 @@ QString MissionSettingsItem::abbreviation(void) const
 {
     return _flyView ? tr("H") : tr("Launch");
 }
+
+void MissionSettingsItem::_updateHomePosition(const QGeoCoordinate& homePosition)
+{
+    if (_flyView) {
+        setCoordinate(homePosition);
+    }
+}

src/MissionManager/MissionSettingsItem.h

@@ -100,6 +100,7 @@ private slots:
     void _updateAltitudeInCoordinate            (QVariant value);
     void _setHomeAltFromTerrain                 (double terrainAltitude);
     void _setCoordinateWorker                   (const QGeoCoordinate& coordinate);
+    void _updateHomePosition                    (const QGeoCoordinate& homePosition);
 
 private:
     QGeoCoordinate  _plannedHomePositionCoordinate;     // Does not include altitude

src/MissionManager/TakeoffMissionItem.cc

@@ -58,6 +58,13 @@ void TakeoffMissionItem::_init(void)
 
     _initLaunchTakeoffAtSameLocation();
 
+    if (_launchTakeoffAtSameLocation && homePosition.isValid()) {
+        _wizardMode = false;
+        SimpleMissionItem::setCoordinate(homePosition);
+    } else {
+        _wizardMode = true;
+    }
+
     setDirty(false);
 }