src/MissionManager/MavCmdInfoCommon.json

@@ -172,6 +172,7 @@
             "friendlyName":         "Takeoff",
             "description":          "Launch from the ground and travel towards the specified takeoff position.",
             "specifiesCoordinate":  true,
+            "isTakeoffCommand":     true,
             "friendlyEdit":         true,
             "category":             "Basic",
             "param1": {
@@ -290,6 +291,7 @@
             "friendlyName":         "VTOL takeoff",
             "description":          "Hover straight up to specified altitude, transition to fixed-wing and fly to the specified takeoff location.",
             "specifiesCoordinate":  true,
+            "isTakeoffCommand":     true,
             "friendlyEdit":         true,
             "category":             "Basic",
             "param4": {

src/MissionManager/MissionCommandUIInfo.cc

@@ -38,6 +38,7 @@ const char* MissionCommandUIInfo::_standaloneCoordinateJsonKey  = "standaloneCoo
 const char* MissionCommandUIInfo::_specifiesCoordinateJsonKey   = "specifiesCoordinate";
 const char* MissionCommandUIInfo::_specifiesAltitudeOnlyJsonKey = "specifiesAltitudeOnly";
 const char* MissionCommandUIInfo::_isLandCommandJsonKey         = "isLandCommand";
+const char* MissionCommandUIInfo::_isTakeoffCommandJsonKey      = "isTakeoffCommand";
 const char* MissionCommandUIInfo::_unitsJsonKey                 = "units";
 const char* MissionCommandUIInfo::_commentJsonKey               = "comment";
 const char* MissionCommandUIInfo::_advancedCategory             = "Advanced";
@@ -174,6 +175,15 @@ bool MissionCommandUIInfo::isLandCommand(void) const
     }
 }
 
+bool MissionCommandUIInfo::isTakeoffCommand(void) const
+{
+    if (_infoMap.contains(_isTakeoffCommandJsonKey)) {
+        return _infoMap[_isTakeoffCommandJsonKey].toBool();
+    } else {
+        return false;
+    }
+}
+
 void MissionCommandUIInfo::_overrideInfo(MissionCommandUIInfo* uiInfo)
 {
     // Override info values
@@ -209,7 +219,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
     QStringList allKeys;
     allKeys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _standaloneCoordinateJsonKey << _specifiesCoordinateJsonKey
             <<_friendlyEditJsonKey << _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _param5JsonKey << _param6JsonKey << _param7JsonKey
-            << _paramRemoveJsonKey << _categoryJsonKey << _specifiesAltitudeOnlyJsonKey << _isLandCommandJsonKey;
+            << _paramRemoveJsonKey << _categoryJsonKey << _specifiesAltitudeOnlyJsonKey << _isLandCommandJsonKey << _isTakeoffCommandJsonKey;
 
     // Look for unknown keys in top level object
     for (const QString& key: jsonObject.keys()) {
@@ -275,6 +285,9 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
     if (jsonObject.contains(_isLandCommandJsonKey)) {
         _infoMap[_isLandCommandJsonKey] = jsonObject.value(_isLandCommandJsonKey).toBool();
     }
+    if (jsonObject.contains(_isTakeoffCommandJsonKey)) {
+        _infoMap[_isTakeoffCommandJsonKey] = jsonObject.value(_isTakeoffCommandJsonKey).toBool();
+    }
     if (jsonObject.contains(_friendlyEditJsonKey)) {
         _infoMap[_friendlyEditJsonKey] = jsonObject.value(_friendlyEditJsonKey).toVariant();
     }
@@ -305,6 +318,9 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
         if (!_infoAvailable(_isLandCommandJsonKey)) {
             _setInfoValue(_isLandCommandJsonKey, false);
         }
+        if (!_infoAvailable(_isTakeoffCommandJsonKey)) {
+            _setInfoValue(_isTakeoffCommandJsonKey, false);
+        }
         if (!_infoAvailable(_friendlyEditJsonKey)) {
             _setInfoValue(_friendlyEditJsonKey, false);
         }

src/MissionManager/MissionCommandUIInfo.h

@@ -96,6 +96,7 @@ private:
 /// specifiesCoordinate     bool    false       true: Command specifies a lat/lon/alt coordinate
 /// specifiesAltitudeOnly   bool    false       true: Command specifies an altitude only (no coordinate)
 /// standaloneCoordinate    bool    false       true: Vehicle does not fly through coordinate associated with command (exampl: ROI)
+/// isTakeoffCommand        bool    false       true: Command specifies a takeoff command (TAEKOFF, VTOL_TAKEOFF, ...)
 /// isLandCommand           bool    false       true: Command specifies a land command (LAND, VTOL_LAND, ...)
 /// friendlyEdit            bool    false       true: Command supports friendly editing dialog, false: Command supports 'Show all values" style editing only
 /// category                string  Advanced    Category which this command belongs to
@@ -120,6 +121,7 @@ public:
     Q_PROPERTY(bool     specifiesCoordinate     READ specifiesCoordinate    CONSTANT)
     Q_PROPERTY(bool     specifiesAltitudeOnly   READ specifiesAltitudeOnly  CONSTANT)
     Q_PROPERTY(bool     isLandCommand           READ isLandCommand          CONSTANT)
+    Q_PROPERTY(bool     isTakeoffCommand        READ isTakeoffCommand       CONSTANT)
     Q_PROPERTY(int      command                 READ intCommand             CONSTANT)
 
     MAV_CMD command(void) const { return _command; }
@@ -134,6 +136,7 @@ public:
     bool    specifiesCoordinate     (void) const;
     bool    specifiesAltitudeOnly   (void) const;
     bool    isLandCommand           (void) const;
+    bool    isTakeoffCommand        (void) const;
 
     /// Load the data in the object from the specified json
     ///     @param jsonObject Json object to load from
@@ -194,6 +197,7 @@ private:
     static const char* _specifiesCoordinateJsonKey;
     static const char* _specifiesAltitudeOnlyJsonKey;
     static const char* _isLandCommandJsonKey;
+    static const char* _isTakeoffCommandJsonKey;
     static const char* _unitsJsonKey;
     static const char* _commentJsonKey;    
     static const char* _advancedCategory;

src/MissionManager/TakeoffMissionItem.cc

@@ -116,7 +116,9 @@ void TakeoffMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
 
 bool TakeoffMissionItem::isTakeoffCommand(MAV_CMD command)
 {
-    return command == MAV_CMD_NAV_TAKEOFF || command == MAV_CMD_NAV_VTOL_TAKEOFF;
+    const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(qgcApp()->toolbox()->multiVehicleManager()->offlineEditingVehicle(), command);
+
+    return uiInfo ? uiInfo->isTakeoffCommand() : false;
 }
 
 void TakeoffMissionItem::_initLaunchTakeoffAtSameLocation(void)