Merge branch 'Stable_V4.0' into TerrainDisplayOn

CMakeLists.txt

@@ -88,6 +88,7 @@ pkg_check_modules(GST
     gstreamer-1.0>=1.14
     gstreamer-video-1.0>=1.14
     gstreamer-gl-1.0>=1.14
+    egl
 )
 
 if (GST_FOUND)

ChangeLog.md

@@ -4,14 +4,28 @@ Note: This file only contains high level features or important fixes.
 
 ## 4.0
 
-### 4.0.1 - Not yet released
+### 4.0.3 - Not yet released
+
+
+### 4.0.3 - Not yet released
+
+* Plan: Add setting for takeoff item not required
+* Plan: Takeoff item must be added prior to allowing other item types to enable
+
+### 4.0.2 - Stable
+
+* Fix Mavlink V2 protocol negotation based on capability bits
+* Fix waiting for AUTOPILOT_VERSION response to get capability bits
+* ArduPilot: Above two fixes make fence/rally support enabling more reliable
+
+### 4.0.1
 
 * Fix ArduPilot current mission item tracking in Fly view
 * Fix ADSB vehicle display
 * Fix map positioning bug in Plan view
 * Fix Windows 0xcc000007b startup error causes by incorrect VC runtimes being installed.
 
-### 4.0.0 - Stable
+### 4.0.0
 
 * Added ROI option during manual flight.
 * Windows: Move builds to 64 bit, Qt 5.12.5

src/FlightDisplay/PreFlightSensorsHealthCheck.qml

@@ -17,7 +17,7 @@ PreFlightCheckButton {
     name:               qsTr("Sensors")
     telemetryFailure:   _unhealthySensors & _allCheckedSensors
 
-    property int    _unhealthySensors:  activeVehicle ? activeVehicle.sensorsUnhealthyBits : 0
+    property int    _unhealthySensors:  activeVehicle ? activeVehicle.sensorsUnhealthyBits : 1
     property int    _allCheckedSensors: Vehicle.SysStatusSensor3dMag |
                                         Vehicle.SysStatusSensor3dAccel |
                                         Vehicle.SysStatusSensor3dGyro |

src/MissionManager/CameraSectionTest.cc

@@ -592,7 +592,7 @@ void CameraSectionTest::_testScanForGimbalSection(void)
 
     // Check for a scan success
 
-    SimpleMissionItem* newValidGimbalItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
+    SimpleMissionItem* newValidGimbalItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, this);
     newValidGimbalItem->missionItem() = _validGimbalItem->missionItem();
     visualItems.append(newValidGimbalItem);
     scanIndex = 0;
@@ -676,7 +676,7 @@ void CameraSectionTest::_testScanForCameraModeSection(void)
 
     // Check for a scan success
 
-    SimpleMissionItem* newValidCameraModeItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
+    SimpleMissionItem* newValidCameraModeItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, this);
     newValidCameraModeItem->missionItem() = _validCameraPhotoModeItem->missionItem();
     visualItems.append(newValidCameraModeItem);
     scanIndex = 0;
@@ -735,7 +735,7 @@ void CameraSectionTest::_testScanForPhotoIntervalTimeSection(void)
     Mission Param #3	Number of images to capture total - 0 for unlimited capture
 */
 
-    SimpleMissionItem* newValidTimeItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
+    SimpleMissionItem* newValidTimeItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, this);
     newValidTimeItem->missionItem() = _validTimeItem->missionItem();
     visualItems.append(newValidTimeItem);
     QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
@@ -776,7 +776,7 @@ void CameraSectionTest::_testScanForPhotoIntervalDistanceSection(void)
     Mission Param #7	Empty
     */
 
-    SimpleMissionItem* newValidDistanceItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
+    SimpleMissionItem* newValidDistanceItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, this);
     newValidDistanceItem->missionItem() = _validDistanceItem->missionItem();
     visualItems.append(newValidDistanceItem);
     QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
@@ -862,7 +862,7 @@ void CameraSectionTest::_testScanForStartVideoSection(void)
     Mission Param #3	Reserved
     */
 
-    SimpleMissionItem* newValidStartVideoItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
+    SimpleMissionItem* newValidStartVideoItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, this);
     newValidStartVideoItem->missionItem() = _validStartVideoItem->missionItem();
     visualItems.append(newValidStartVideoItem);
     QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
@@ -898,7 +898,7 @@ void CameraSectionTest::_testScanForStopVideoSection(void)
     Mission Param #1 Reserved (Set to 0)
     */
 
-    SimpleMissionItem* newValidStopVideoItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
+    SimpleMissionItem* newValidStopVideoItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, this);
     newValidStopVideoItem->missionItem() = _validStopVideoItem->missionItem();
     visualItems.append(newValidStopVideoItem);
     QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
@@ -936,8 +936,8 @@ void CameraSectionTest::_testScanForStopPhotoSection(void)
 
     _commonScanTest(_cameraSection);
 
-    SimpleMissionItem* newValidStopDistanceItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
+    SimpleMissionItem* newValidStopDistanceItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, this);
-    SimpleMissionItem* newValidStopTimeItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
+    SimpleMissionItem* newValidStopTimeItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, this);
     newValidStopDistanceItem->missionItem() = _validStopDistanceItem->missionItem();
     newValidStopTimeItem->missionItem() = _validStopTimeItem->missionItem();
     visualItems.append(newValidStopDistanceItem);
@@ -950,8 +950,8 @@ void CameraSectionTest::_testScanForStopPhotoSection(void)
 
     // Out of order commands
 
-    SimpleMissionItem validStopDistanceItem(_offlineVehicle, false /* flyView */, nullptr);
+    SimpleMissionItem validStopDistanceItem(_offlineVehicle, false /* flyView */, false /* forLoad */, nullptr);
-    SimpleMissionItem validStopTimeItem(_offlineVehicle, false /* flyView */, nullptr);
+    SimpleMissionItem validStopTimeItem(_offlineVehicle, false /* flyView */, false /* forLoad */, nullptr);
     validStopDistanceItem.missionItem() = _validStopDistanceItem->missionItem();
     validStopTimeItem.missionItem() = _validStopTimeItem->missionItem();
     visualItems.append(&validStopTimeItem);
@@ -979,7 +979,7 @@ void CameraSectionTest::_testScanForTakePhotoSection(void)
     Mission Param #4	0 Unused sequence id
     */
 
-    SimpleMissionItem* newValidTakePhotoItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
+    SimpleMissionItem* newValidTakePhotoItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, this);
     newValidTakePhotoItem->missionItem() = _validTakePhotoItem->missionItem();
     visualItems.append(newValidTakePhotoItem);
     QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
@@ -1051,9 +1051,9 @@ void CameraSectionTest::_testScanForMultipleItems(void)
     // Camera action followed by gimbal/mode
     for (SimpleMissionItem* actionItem: rgActionItems) {
         for (SimpleMissionItem* cameraItem: rgCameraItems) {
-            SimpleMissionItem* item1 = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
+            SimpleMissionItem* item1 = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, this);
             item1->missionItem() = actionItem->missionItem();
-            SimpleMissionItem* item2 = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
+            SimpleMissionItem* item2 = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, this);
             item2->missionItem() = cameraItem->missionItem();
             visualItems.append(item1);
             visualItems.append(item2);
@@ -1072,9 +1072,9 @@ void CameraSectionTest::_testScanForMultipleItems(void)
     // Gimbal/Mode followed by camera action
     for (SimpleMissionItem* actionItem: rgCameraItems) {
         for (SimpleMissionItem* cameraItem: rgActionItems) {
-            SimpleMissionItem* item1 = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
+            SimpleMissionItem* item1 = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, this);
             item1->missionItem() = actionItem->missionItem();
-            SimpleMissionItem* item2 = new SimpleMissionItem(_offlineVehicle, false /* flyView */, this);
+            SimpleMissionItem* item2 = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, this);
             item2->missionItem() = cameraItem->missionItem();
             visualItems.append(item1);
             visualItems.append(item2);

src/MissionManager/FWLandingPatternTest.cc

@@ -97,7 +97,7 @@ void FWLandingPatternTest::_testAppendSectionItems(void)
     QmlObjectListModel* simpleItems = new QmlObjectListModel(this);
 
     for (MissionItem* item: rgMissionItems) {
-        SimpleMissionItem* simpleItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, simpleItems);
+        SimpleMissionItem* simpleItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, simpleItems);
         simpleItem->missionItem() = *item;
         simpleItems->append(simpleItem);
     }
@@ -118,7 +118,7 @@ void FWLandingPatternTest::_testAppendSectionItems(void)
     _fwItem->appendMissionItems(rgMissionItems, this);
     simpleItems = new QmlObjectListModel(this);
     for (MissionItem* item: rgMissionItems) {
-        SimpleMissionItem* simpleItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, simpleItems);
+        SimpleMissionItem* simpleItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, simpleItems);
         simpleItem->missionItem() = *item;
         simpleItems->append(simpleItem);
     }

src/MissionManager/MissionController.cc

@@ -31,6 +31,7 @@
 #include "KML.h"
 #include "QGCCorePlugin.h"
 #include "TakeoffMissionItem.h"
+#include "PlanViewSettings.h"
 
 #define UPDATE_TIMEOUT 5000 ///< How often we check for bounding box changes
 
@@ -59,6 +60,7 @@ const QString MissionController::patternCorridorScanName    (QT_TRANSLATE_NOOP("
 
 MissionController::MissionController(PlanMasterController* masterController, QObject *parent)
     : PlanElementController     (masterController, parent)
+    , _planViewSettings         (qgcApp()->toolbox()->settingsManager()->planViewSettings())
     , _missionManager           (_managerVehicle->missionManager())
     , _missionItemCount         (0)
     , _visualItems              (nullptr)
@@ -77,6 +79,8 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
     managerVehicleChanged(_managerVehicle);
     _updateTimer.setSingleShot(true);
     connect(&_updateTimer, &QTimer::timeout, this, &MissionController::_updateTimeout);
+
+    connect(_planViewSettings->takeoffItemNotRequired(), &Fact::rawValueChanged, this, &MissionController::_takeoffItemNotRequiredChanged);
 }
 
 MissionController::~MissionController()
@@ -355,7 +359,7 @@ int MissionController::_nextSequenceNumber(void)
 VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordinate coordinate, MAV_CMD command, int visualItemIndex, bool makeCurrentItem)
 {
     int sequenceNumber = _nextSequenceNumber();
-    SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, _flyView, this);
+    SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, _flyView, false /* forLoad */, this);
     newItem->setSequenceNumber(sequenceNumber);
     newItem->setCoordinate(coordinate);
     newItem->setCommand(command);
@@ -669,7 +673,7 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
 
     MissionSettingsItem* settingsItem = _addMissionSettings(visualItems);
     if (json.contains(_jsonPlannedHomePositionKey)) {
-        SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);
+        SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, _flyView, true /* forLoad */, visualItems);
         if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) {
             settingsItem->setInitialHomePositionFromUser(item->coordinate());
             item->deleteLater();
@@ -705,11 +709,11 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
             }
 
             const QJsonObject itemObject = itemValue.toObject();
-            SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);
+            SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, _flyView, true /* forLoad */, visualItems);
             if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
                 if (TakeoffMissionItem::isTakeoffCommand(item->mavCommand())) {
                     // This needs to be a TakeoffMissionItem
-                    TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_controllerVehicle, _flyView, settingsItem, visualItems);
+                    TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_controllerVehicle, _flyView, settingsItem, true /* forLoad */, visualItems);
                     takeoffItem->load(itemObject, itemObject["id"].toInt(), errorString);
                     item->deleteLater();
                     item = takeoffItem;
@@ -793,11 +797,11 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
         QString itemType = itemObject[VisualMissionItem::jsonTypeKey].toString();
 
         if (itemType == VisualMissionItem::jsonTypeSimpleItemValue) {
-            SimpleMissionItem* simpleItem = new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);
+            SimpleMissionItem* simpleItem = new SimpleMissionItem(_controllerVehicle, _flyView, true /* forLoad */, visualItems);
             if (simpleItem->load(itemObject, nextSequenceNumber, errorString)) {
                 if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(simpleItem->command()))) {
                     // This needs to be a TakeoffMissionItem
-                    TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_controllerVehicle, _flyView, settingsItem, this);
+                    TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_controllerVehicle, _flyView, settingsItem, true /* forLoad */, this);
                     takeoffItem->load(itemObject, nextSequenceNumber, errorString);
                     simpleItem->deleteLater();
                     simpleItem = takeoffItem;
@@ -937,14 +941,14 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
         MissionSettingsItem* settingsItem = _addMissionSettings(visualItems);
 
         while (!stream.atEnd()) {
-            SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);
+            SimpleMissionItem* item = new SimpleMissionItem(_controllerVehicle, _flyView, true /* forLoad */, visualItems);
             if (item->load(stream)) {
                 if (firstItem && plannedHomePositionInFile) {
                     settingsItem->setInitialHomePositionFromUser(item->coordinate());
                 } else {
                     if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(item->command()))) {
                         // This needs to be a TakeoffMissionItem
-                        TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_controllerVehicle, _flyView, settingsItem, visualItems);
+                        TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_controllerVehicle, _flyView, settingsItem, true /* forLoad */, visualItems);
                         takeoffItem->load(stream);
                         item->deleteLater();
                         item = takeoffItem;
@@ -2301,6 +2305,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
         _currentPlanViewItem  =         nullptr;
         _currentPlanViewSeqNum =        -1;
         _currentPlanViewVIIndex =       -1;
+        _onlyInsertTakeoffValid =       !_planViewSettings->takeoffItemNotRequired()->rawValue().toBool() && _visualItems->count() == 1; // First item must be takeoff
         _isInsertTakeoffValid =         true;
         _isInsertLandValid =            true;
         _isROIActive =                  false;
@@ -2430,10 +2435,15 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
             }
         }
 
+        // These are not valid when only takeoff is allowed
+        _isInsertLandValid =            _isInsertLandValid && !_onlyInsertTakeoffValid;
+        _flyThroughCommandsAllowed =    _flyThroughCommandsAllowed && !_onlyInsertTakeoffValid;
+
         emit currentPlanViewSeqNumChanged();
         emit currentPlanViewVIIndexChanged();
         emit currentPlanViewItemChanged();
         emit splitSegmentChanged();
+        emit onlyInsertTakeoffValidChanged();
         emit isInsertTakeoffValidChanged();
         emit isInsertLandValidChanged();
         emit isROIActiveChanged();
@@ -2531,3 +2541,9 @@ bool MissionController::isEmpty(void) const
 {
     return _visualItems->count() <= 1;
 }
+
+void MissionController::_takeoffItemNotRequiredChanged(void)
+{
+    // Force a recalc of allowed bits
+    setCurrentPlanViewSeqNum(_currentPlanViewSeqNum, true /* force */);
+}

src/MissionManager/MissionController.h

@@ -28,6 +28,7 @@ class SimpleMissionItem;
 class ComplexMissionItem;
 class MissionSettingsItem;
 class QDomDocument;
+class PlanViewSettings;
 
 Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
 
@@ -95,6 +96,7 @@ public:
     Q_PROPERTY(QString              surveyComplexItemName           READ surveyComplexItemName          CONSTANT)
     Q_PROPERTY(QString              corridorScanComplexItemName     READ corridorScanComplexItemName    CONSTANT)
     Q_PROPERTY(QString              structureScanComplexItemName    READ structureScanComplexItemName   CONSTANT)
+    Q_PROPERTY(bool                 onlyInsertTakeoffValid          MEMBER _onlyInsertTakeoffValid      NOTIFY onlyInsertTakeoffValidChanged)
     Q_PROPERTY(bool                 isInsertTakeoffValid            MEMBER _isInsertTakeoffValid        NOTIFY isInsertTakeoffValidChanged)
     Q_PROPERTY(bool                 isInsertLandValid               MEMBER _isInsertLandValid           NOTIFY isInsertLandValidChanged)
     Q_PROPERTY(bool                 isROIActive                     MEMBER _isROIActive                 NOTIFY isROIActiveChanged)
@@ -264,6 +266,7 @@ signals:
     void currentPlanViewItemChanged         (void);
     void missionBoundingCubeChanged         (void);
     void missionItemCountChanged            (int missionItemCount);
+    void onlyInsertTakeoffValidChanged      (void);
     void isInsertTakeoffValidChanged        (void);
     void isInsertLandValidChanged           (void);
     void isROIActiveChanged                 (void);
@@ -286,6 +289,7 @@ private slots:
     void _updateTimeout                         (void);
     void _complexBoundingBoxChanged             (void);
     void _recalcAll                             (void);
+    void _takeoffItemNotRequiredChanged         (void);
 
 private:
     void _init(void);
@@ -329,6 +333,7 @@ private:
     CoordinateVector* _createCoordinateVectorWorker(VisualItemPair& pair);
 
 private:
+    PlanViewSettings*       _planViewSettings =             nullptr;
     MissionManager*         _missionManager;
     int                     _missionItemCount;
     QmlObjectListModel*     _visualItems;
@@ -352,10 +357,11 @@ private:
     QGeoCoordinate          _takeoffCoordinate;
     QGeoCoordinate          _previousCoordinate;
     CoordinateVector*       _splitSegment;
+    bool                    _onlyInsertTakeoffValid =       true;
     bool                    _isInsertTakeoffValid =         true;
-    bool                    _isInsertLandValid =            true;
+    bool                    _isInsertLandValid =            false;
     bool                    _isROIActive =                  false;
-    bool                    _flyThroughCommandsAllowed =    true;
+    bool                    _flyThroughCommandsAllowed =    false;
     bool                    _isROIBeginCurrentItem =        false;
 
     static const char*  _settingsGroup;

src/MissionManager/MissionItemTest.cc

@@ -281,7 +281,7 @@ void MissionItemTest::_testSimpleLoadFromStream(void)
 {
     // We specifically test SimpleMissionItem loading as well since it has additional
     // signalling which can affect values.
-    SimpleMissionItem simpleMissionItem(_offlineVehicle, false /* flyView */, nullptr);
+    SimpleMissionItem simpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, nullptr);
 
     QString testString("10\t0\t3\t80\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n");
     QTextStream testStream(&testString, QIODevice::ReadOnly);
@@ -451,7 +451,7 @@ void MissionItemTest::_testSimpleLoadFromJson(void)
     // We specifically test SimpleMissionItem loading as well since it has additional
     // signalling which can affect values.
 
-    SimpleMissionItem simpleMissionItem(_offlineVehicle, false /* flyView */, nullptr);
+    SimpleMissionItem simpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, nullptr);
     QString     errorString;
     QJsonArray  coordinateArray;
     QJsonObject jsonObject;

src/MissionManager/SimpleMissionItem.cc

@@ -51,7 +51,7 @@ static const struct EnumInfo_s _rgMavFrameInfo[] = {
 { "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT",   MAV_FRAME_GLOBAL_TERRAIN_ALT_INT },
 };
 
-SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool flyView, QObject* parent)
+SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool flyView, bool forLoad, QObject* parent)
     : VisualMissionItem                 (vehicle, flyView, parent)
     , _rawEdit                          (false)
     , _dirty                            (false)
@@ -75,13 +75,15 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool flyView, QObject* pa
     _editorQml = QStringLiteral("qrc:/qml/SimpleItemEditor.qml");
 
     _setupMetaData();
-    _connectSignals();
-    _updateOptionalSections();
-
-    _setDefaultsForCommand();
-    _rebuildFacts();
 
-    setDirty(false);
+    if (!forLoad) {
+        // We are are going to load the SimpleItem right after this then don't connnect up signalling until after load is done
+        _connectSignals();
+        _updateOptionalSections();
+        _setDefaultsForCommand();
+        _rebuildFacts();
+        setDirty(false);
+    }
 }
 
 SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool flyView, const MissionItem& missionItem, QObject* parent)
@@ -295,7 +297,10 @@ bool SimpleMissionItem::load(QTextStream &loadStream)
             _altitudeFact.setRawValue(_missionItem._param7Fact.rawValue());
             _amslAltAboveTerrainFact.setRawValue(qQNaN());
         }
+        _connectSignals();
         _updateOptionalSections();
+        _rebuildFacts();
+        setDirty(false);
     }
 
     return success;
@@ -328,7 +333,10 @@ bool SimpleMissionItem::load(const QJsonObject& json, int sequenceNumber, QStrin
         }
     }
 
+    _connectSignals();
     _updateOptionalSections();
+    _rebuildFacts();
+    setDirty(false);
 
     return true;
 }

src/MissionManager/SimpleMissionItem.h

@@ -24,9 +24,8 @@ class SimpleMissionItem : public VisualMissionItem
     Q_OBJECT
     
 public:
-    SimpleMissionItem(Vehicle* vehicle, bool flyView, QObject* parent);
+    SimpleMissionItem(Vehicle* vehicle, bool flyView, bool forLoad, QObject* parent);
     SimpleMissionItem(Vehicle* vehicle, bool flyView, const MissionItem& missionItem, QObject* parent);
-    //SimpleMissionItem(const SimpleMissionItem& other, bool flyView, QObject* parent);
 
     ~SimpleMissionItem();
 

src/MissionManager/SimpleMissionItemTest.cc

@@ -167,7 +167,7 @@ void SimpleMissionItemTest::_testEditorFacts(void)
 
 void SimpleMissionItemTest::_testDefaultValues(void)
 {
-    SimpleMissionItem item(_offlineVehicle, false /* flyView */, nullptr);
+    SimpleMissionItem item(_offlineVehicle, false /* flyView */, false /* forLoad */, nullptr);
 
     item.missionItem().setCommand(MAV_CMD_NAV_WAYPOINT);
     item.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);

src/MissionManager/TakeoffMissionItem.cc

@@ -19,26 +19,27 @@
 #include "QGroundControlQmlGlobal.h"
 #include "SettingsManager.h"
 
-TakeoffMissionItem::TakeoffMissionItem(Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
+TakeoffMissionItem::TakeoffMissionItem(Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, bool forLoad, QObject* parent)
-    : SimpleMissionItem (vehicle, flyView, parent)
+    : SimpleMissionItem (vehicle, flyView, forLoad, parent)
     , _settingsItem     (settingsItem)
 {
-    _init();
+    _init(forLoad);
 }
 
 TakeoffMissionItem::TakeoffMissionItem(MAV_CMD takeoffCmd, Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
-    : SimpleMissionItem (vehicle, flyView, parent)
+    : SimpleMissionItem (vehicle, flyView, false /* forLoad */, parent)
     , _settingsItem     (settingsItem)
 {
     setCommand(takeoffCmd);
-    _init();
+    _init(false /* forLoad */);
 }
 
 TakeoffMissionItem::TakeoffMissionItem(const MissionItem& missionItem, Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
     : SimpleMissionItem (vehicle, flyView, missionItem, parent)
     , _settingsItem     (settingsItem)
 {
-    _init();
+    _init(false /* forLoad */);
+    _wizardMode = false;
 }
 
 TakeoffMissionItem::~TakeoffMissionItem()
@@ -46,7 +47,7 @@ TakeoffMissionItem::~TakeoffMissionItem()
 
 }
 
-void TakeoffMissionItem::_init(void)
+void TakeoffMissionItem::_init(bool forLoad)
 {
     _editorQml = QStringLiteral("qrc:/qml/SimpleItemEditor.qml");
 
@@ -68,10 +69,15 @@ void TakeoffMissionItem::_init(void)
         }
     }
 
+    if (forLoad) {
+        // Load routines will set the rest up after load
+        return;
+    }
+
     _initLaunchTakeoffAtSameLocation();
 
     if (homePosition.isValid() && coordinate().isValid()) {
-        // Item already full specified, most likely from mission load from storage
+        // Item already fully specified, most likely from mission load from storage
         _wizardMode = false;
     } else {
         if (_launchTakeoffAtSameLocation && homePosition.isValid()) {
@@ -139,6 +145,7 @@ bool TakeoffMissionItem::load(QTextStream &loadStream)
     if (success) {
         _initLaunchTakeoffAtSameLocation();
     }
+    _wizardMode = false; // Always be off for loaded items
     return success;
 }
 
@@ -148,6 +155,7 @@ bool TakeoffMissionItem::load(const QJsonObject& json, int sequenceNumber, QStri
     if (success) {
         _initLaunchTakeoffAtSameLocation();
     }
+    _wizardMode = false; // Always be off for loaded items
     return success;
 }
 

src/MissionManager/TakeoffMissionItem.h

@@ -19,7 +19,7 @@ class TakeoffMissionItem : public SimpleMissionItem
     Q_OBJECT
     
 public:
-    TakeoffMissionItem(Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
+    TakeoffMissionItem(Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, bool forLoad, QObject* parent);
     TakeoffMissionItem(MAV_CMD takeoffCmd, Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
     TakeoffMissionItem(const MissionItem& missionItem,  Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
 
@@ -55,7 +55,7 @@ signals:
     void launchTakeoffAtSameLocationChanged (bool launchTakeoffAtSameLocation);
 
 private:
-    void _init(void);
+    void _init(bool forLoad);
     void _initLaunchTakeoffAtSameLocation(void);
 
     MissionSettingsItem*    _settingsItem;

src/MissionManager/TransectStyleComplexItem.cc

@@ -498,7 +498,19 @@ void TransectStyleComplexItem::_polyPathTerrainData(bool success, const QList<Te
 
 TransectStyleComplexItem::ReadyForSaveState TransectStyleComplexItem::readyForSaveState(void) const
 {
-    bool terrainReady = _followTerrain ? _transectsPathHeightInfo.count() : true;
+    bool terrainReady = false;
+    if (_followTerrain) {
+        if (_loadedMissionItems.count()) {
+            // We have loaded mission items. Everything is ready to go.
+            terrainReady = true;
+        } else {
+            // Survey is currently being designed. We aren't ready if we don't have terrain heights yet.
+            terrainReady = _transectsPathHeightInfo.count();
+        }
+    } else {
+        // Now following terrain so always ready on terrain
+        terrainReady = true;
+    }
     bool polygonNotReady = !_surveyAreaPolygon.isValid();
     return (polygonNotReady || _wizardMode) ?
                 NotReadyForSaveData :

src/MissionManager/UnitTest/MP 19.prj

@@ -0,0 +1 @@
+GEOGCS["GCS_WGS_1984",DATUM["D_WGS_1984",SPHEROID["WGS_1984",6378137,298.257223563]],PRIMEM["Greenwich",0],UNIT["Degree",0.017453292519943295]]

src/MissionManager/UnitTest/MP Bonus.prj

@@ -0,0 +1 @@
+GEOGCS["GCS_WGS_1984",DATUM["D_WGS_1984",SPHEROID["WGS_1984",6378137,298.257223563]],PRIMEM["Greenwich",0],UNIT["Degree",0.017453292519943295]]

src/MissionManager/UnitTest/Sarah's Farm.prj

@@ -0,0 +1 @@
+GEOGCS["GCS_WGS_1984",DATUM["D_WGS_1984",SPHEROID["WGS_1984",6378137,298.257223563]],PRIMEM["Greenwich",0],UNIT["Degree",0.017453292519943295]]

src/PlanView/PlanView.qml

@@ -617,7 +617,7 @@ Item {
                 {
                     name:               _missionController.isROIActive ? qsTr("Cancel ROI") : qsTr("ROI"),
                     iconSource:         "/qmlimages/MapAddMission.svg",
-                    buttonEnabled:      true,
+                    buttonEnabled:      !_missionController.onlyInsertTakeoffValid,
                     buttonVisible:      _isMissionLayer && _planMasterController.controllerVehicle.roiModeSupported,
                     toggle:             !_missionController.isROIActive
                 },

src/QmlControls/QGCFileDialog.qml

@@ -117,12 +117,12 @@ Item {
 
                             onClicked: {
                                 hideDialog()
-                                _root.acceptedForLoad(controller.fullyQualifiedFilename(folder, modelData, fileExtension))
+                                _root.acceptedForLoad(controller.fullyQualifiedFilename(folder, modelData, _rgExtensions))
                             }
 
                             onHamburgerClicked: {
                                 highlight = true
-                                hamburgerMenu.fileToDelete = controller.fullyQualifiedFilename(folder, modelData, fileExtension)
+                                hamburgerMenu.fileToDelete = controller.fullyQualifiedFilename(folder, modelData, _rgExtensions)
                                 hamburgerMenu.popup()
                             }
 
@@ -162,12 +162,12 @@ Item {
                     return
                 }
                 if (!replaceMessage.visible) {
-                    if (controller.fileExists(controller.fullyQualifiedFilename(folder, filenameTextField.text, fileExtension))) {
+                    if (controller.fileExists(controller.fullyQualifiedFilename(folder, filenameTextField.text, _rgExtensions))) {
                         replaceMessage.visible = true
                         return
                     }
                 }
-                _root.acceptedForSave(controller.fullyQualifiedFilename(folder, filenameTextField.text, fileExtension))
+                _root.acceptedForSave(controller.fullyQualifiedFilename(folder, filenameTextField.text, _rgExtensions))
                 hideDialog()
             }
 
@@ -230,12 +230,12 @@ Item {
 
                             onClicked: {
                                 hideDialog()
-                                _root.acceptedForSave(controller.fullyQualifiedFilename(folder, modelData, fileExtension))
+                                _root.acceptedForSave(controller.fullyQualifiedFilename(folder, modelData, _rgExtensions))
                             }
 
                             onHamburgerClicked: {
                                 highlight = true
-                                hamburgerMenu.fileToDelete = controller.fullyQualifiedFilename(folder, modelData, fileExtension)
+                                hamburgerMenu.fileToDelete = controller.fullyQualifiedFilename(folder, modelData, _rgExtensions)
                                 hamburgerMenu.popup()
                             }
 

src/QmlControls/QGCFileDialogController.cc

@@ -38,16 +38,24 @@ QStringList QGCFileDialogController::getFiles(const QString& directoryPath, cons
     return files;
 }
 
-QString QGCFileDialogController::filenameWithExtension(const QString& filename, const QString& fileExtension)
+QString QGCFileDialogController::filenameWithExtension(const QString& filename, const QStringList& rgFileExtensions)
 {
     QString filenameWithExtension(filename);
 
-    QString correctExtension = QString(".%1").arg(fileExtension);
+    bool matchFound = false;
-    if (!filenameWithExtension.endsWith(correctExtension)) {
+    for (const QString& extension : rgFileExtensions) {
-        filenameWithExtension += correctExtension;
+        QString dotExtension = QString(".%1").arg(extension);
+        matchFound = filenameWithExtension.endsWith(dotExtension);
+        if (matchFound) {
+            break;
+        }
     }
 
-    return filenameWithExtension;
+    if (!matchFound) {
+        filenameWithExtension += rgFileExtensions[0];
+    }
+
+return filenameWithExtension;
 }
 
 bool QGCFileDialogController::fileExists(const QString& filename)
@@ -55,9 +63,9 @@ bool QGCFileDialogController::fileExists(const QString& filename)
     return QFile(filename).exists();
 }
 
-QString QGCFileDialogController::fullyQualifiedFilename(const QString& directoryPath, const QString& filename, const QString& fileExtension)
+QString QGCFileDialogController::fullyQualifiedFilename(const QString& directoryPath, const QString& filename, const QStringList& rgFileExtensions)
 {
-    return directoryPath + QStringLiteral("/") + filenameWithExtension(filename, fileExtension);
+    return directoryPath + QStringLiteral("/") + filenameWithExtension(filename, rgFileExtensions);
 }
 
 void QGCFileDialogController::deleteFile(const QString& filename)

src/QmlControls/QGCFileDialogController.h

@@ -27,10 +27,10 @@ public:
     Q_INVOKABLE QStringList getFiles(const QString& directoryPath, const QStringList& fileExtensions);
 
     /// Returns the specified file name with the extension added it needed
-    Q_INVOKABLE QString filenameWithExtension(const QString& filename, const QString& fileExtension);
+    Q_INVOKABLE QString filenameWithExtension(const QString& filename, const QStringList& rgFileExtensions);
 
     /// Returns the fully qualified file name from the specified parts
-    Q_INVOKABLE QString fullyQualifiedFilename(const QString& directoryPath, const QString& filename, const QString& fileExtension);
+    Q_INVOKABLE QString fullyQualifiedFilename(const QString& directoryPath, const QString& filename, const QStringList& rgFileExtensions);
 
     /// Check for file existence of specified fully qualified file name
     Q_INVOKABLE bool fileExists(const QString& filename);

src/Settings/PlanView.SettingsGroup.json

@@ -16,5 +16,11 @@
     "shortDescription": "Show/Hide the mission item status display",
     "type":             "bool",
     "defaultValue":     true
+},
+{
+    "name":             "takeoffItemNotRequired",
+    "shortDescription": "Allow missions to not require a takeoff item",
+    "type":             "bool",
+    "defaultValue":     false
 }
 ]

src/Settings/PlanViewSettings.cc

@@ -20,3 +20,4 @@ DECLARE_SETTINGGROUP(PlanView, "PlanView")
 DECLARE_SETTINGSFACT(PlanViewSettings, displayPresetsTabFirst)
 DECLARE_SETTINGSFACT(PlanViewSettings, aboveTerrainWarning)
 DECLARE_SETTINGSFACT(PlanViewSettings, showMissionItemStatus)
+DECLARE_SETTINGSFACT(PlanViewSettings, takeoffItemNotRequired)

src/Settings/PlanViewSettings.h

@@ -23,4 +23,5 @@ public:
     DEFINE_SETTINGFACT(displayPresetsTabFirst)
     DEFINE_SETTINGFACT(aboveTerrainWarning)
     DEFINE_SETTINGFACT(showMissionItemStatus)
+    DEFINE_SETTINGFACT(takeoffItemNotRequired)
 };

src/Vehicle/Vehicle.cc

@@ -146,10 +146,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _telemetryTXBuffer(0)
     , _telemetryLNoise(0)
     , _telemetryRNoise(0)
-    , _mavlinkProtocolRequestComplete(false)
-    , _maxProtoVersion(0)
-    , _vehicleCapabilitiesKnown(false)
-    , _capabilityBits(0)
     , _highLatencyLink(false)
     , _receivingAttitudeQuaternion(false)
     , _cameras(nullptr)
@@ -349,7 +345,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _defaultHoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
     , _mavlinkProtocolRequestComplete(true)
     , _maxProtoVersion(200)
-    , _vehicleCapabilitiesKnown(true)
+    , _capabilityBitsKnown(true)
     , _capabilityBits(MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY)
     , _highLatencyLink(false)
     , _receivingAttitudeQuaternion(false)
@@ -692,6 +688,34 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         return;
     }
 
+    if (!_capabilityBitsKnown && message.msgid == MAVLINK_MSG_ID_HEARTBEAT && message.compid == MAV_COMP_ID_AUTOPILOT1) {
+        // We want to try to get capabilities as fast as possible so we retry on heartbeats
+        bool foundRequest = false;
+        for (MavCommandQueueEntry_t& queuedCommand : _mavCommandQueue) {
+            if (queuedCommand.command ==  MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
+                foundRequest = true;
+                break;
+            }
+        }
+        if (!foundRequest) {
+            _capabilitiesRetryCount++;
+            if (_capabilitiesRetryCount == 1) {
+                _capabilitiesRetryElapsed.start();
+            } else if (_capabilitiesRetryElapsed.elapsed() > 10000){
+                qCDebug(VehicleLog) << "Giving up on getting AUTOPILOT_VERSION after 10 seconds";
+                qgcApp()->showMessage(QStringLiteral("Vehicle failed to send AUTOPILOT_VERSION after waiting/retrying for 10 seconds"));
+                _handleUnsupportedRequestAutopilotCapabilities();
+            } else {
+                // Vehicle never sent us AUTOPILOT_VERSION response. Try again.
+                qCDebug(VehicleLog) << QStringLiteral("Sending MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES again due to no response with AUTOPILOT_VERSION - _capabilitiesRetryCount(%1) elapsed(%2)").arg(_capabilitiesRetryCount).arg(_capabilitiesRetryElapsed.elapsed());
+                sendMavCommand(MAV_COMP_ID_ALL,
+                               MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES,
+                               true,                                    // Show error on failure
+                               1);                                      // Request firmware version
+            }
+        }
+    }
+
     switch (message.msgid) {
     case MAVLINK_MSG_ID_HOME_POSITION:
         _handleHomePosition(message);
@@ -1288,7 +1312,7 @@ void Vehicle::_handleAltitude(mavlink_message_t& message)
 void Vehicle::_setCapabilities(uint64_t capabilityBits)
 {
     _capabilityBits = capabilityBits;
-    _vehicleCapabilitiesKnown = true;
+    _capabilityBitsKnown = true;
     emit capabilitiesKnownChanged(true);
     emit capabilityBitsChanged(_capabilityBits);
 
@@ -1300,6 +1324,8 @@ void Vehicle::_setCapabilities(uint64_t capabilityBits)
     qCDebug(VehicleLog) << QString("Vehicle %1 MISSION_COMMAND_INT").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_COMMAND_INT ? supports : doesNotSupport);
     qCDebug(VehicleLog) << QString("Vehicle %1 GeoFence").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE ? supports : doesNotSupport);
     qCDebug(VehicleLog) << QString("Vehicle %1 RallyPoints").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY ? supports : doesNotSupport);
+
+    _setMaxProtoVersionFromBothSources();
 }
 
 void Vehicle::_handleAutopilotVersion(LinkInterface *link, mavlink_message_t& message)
@@ -1362,8 +1388,9 @@ void Vehicle::_handleProtocolVersion(LinkInterface *link, mavlink_message_t& mes
 
     qCDebug(VehicleLog) << "_handleProtocolVersion" << protoVersion.max_version;
 
+    _mavlinkProtocolRequestMaxProtoVersion = protoVersion.max_version;
     _mavlinkProtocolRequestComplete = true;
-    _setMaxProtoVersion(protoVersion.max_version);
+    _setMaxProtoVersionFromBothSources();
     _startPlanRequest();
 }
 
@@ -1377,6 +1404,19 @@ void Vehicle::_setMaxProtoVersion(unsigned version) {
     }
 }
 
+void Vehicle::_setMaxProtoVersionFromBothSources()
+{
+    if (_mavlinkProtocolRequestComplete && _capabilityBitsKnown) {
+        if (_mavlinkProtocolRequestMaxProtoVersion != 0) {
+            qCDebug(VehicleLog) << "_setMaxProtoVersionFromBothSources using protocol version message";
+            _setMaxProtoVersion(_mavlinkProtocolRequestMaxProtoVersion);
+        } else {
+            qCDebug(VehicleLog) << "_setMaxProtoVersionFromBothSources using capability bits";
+            _setMaxProtoVersion(capabilityBits() & MAV_PROTOCOL_CAPABILITY_MAVLINK2 ? 200 : 100);
+        }
+    }
+}
+
 QString Vehicle::vehicleUIDStr()
 {
     QString uid;
@@ -2600,7 +2640,7 @@ void Vehicle::_startPlanRequest()
     //  - Parameter download is complete
     //  - We know the vehicle capabilities
     //  - We know the max mavlink protocol version
-    if (_parameterManager->parametersReady() && _vehicleCapabilitiesKnown && _mavlinkProtocolRequestComplete) {
+    if (_parameterManager->parametersReady() && _capabilityBitsKnown && _mavlinkProtocolRequestComplete) {
         qCDebug(VehicleLog) << "_startPlanRequest";
         _missionManagerInitialRequestSent = true;
         if (_settingsManager->appSettings()->autoLoadMissions()->rawValue().toBool()) {
@@ -2619,7 +2659,7 @@ void Vehicle::_startPlanRequest()
     } else {
         if (!_parameterManager->parametersReady()) {
             qCDebug(VehicleLog) << "Delaying _startPlanRequest due to parameters not ready";
-        } else if (!_vehicleCapabilitiesKnown) {
+        } else if (!_capabilityBitsKnown) {
             qCDebug(VehicleLog) << "Delaying _startPlanRequest due to vehicle capabilities not known";
         } else if (!_mavlinkProtocolRequestComplete) {
             qCDebug(VehicleLog) << "Delaying _startPlanRequest due to mavlink protocol request not complete";
@@ -3384,19 +3424,9 @@ void Vehicle::_handleUnsupportedRequestProtocolVersion()
     // We end up here if either the vehicle does not support the MAV_CMD_REQUEST_PROTOCOL_VERSION command or if
     // we never received an Ack back for the command.
 
-    // If the link isn't already running Mavlink V2 fall back to the capability bits to determine whether to use Mavlink V2 or not.
+    // _mavlinkProtocolRequestMaxProtoVersion stays at 0 to indicate unknown
-    if (_maxProtoVersion == 0) {
-        if (capabilitiesKnown()) {
-            unsigned vehicleMaxProtoVersion = capabilityBits() & MAV_PROTOCOL_CAPABILITY_MAVLINK2 ? 200 : 100;
-            qCDebug(VehicleLog) << QStringLiteral("Setting _maxProtoVersion to %1 based on capabilitity bits since not yet set.").arg(vehicleMaxProtoVersion);
-            _setMaxProtoVersion(vehicleMaxProtoVersion);
-        } else {
-            qCDebug(VehicleLog) << "Waiting for capabilities to be known to set _maxProtoVersion";
-        }
-    } else {
-        qCDebug(VehicleLog) << "Leaving _maxProtoVersion at current value" << _maxProtoVersion;
-    }
     _mavlinkProtocolRequestComplete = true;
+    _setMaxProtoVersionFromBothSources();
 
     // Determining protocol version is one of the triggers to possibly start downloading the plan
     _startPlanRequest();
@@ -3407,8 +3437,9 @@ void Vehicle::_protocolVersionTimeOut()
     // The PROTOCOL_VERSION message didn't make it through the pipe from Vehicle->QGC.
     // This means although the vehicle may support mavlink 2, the pipe does not.
     qCDebug(VehicleLog) << QStringLiteral("Setting _maxProtoVersion to 100 due to timeout on receiving PROTOCOL_VERSION message.");
-    _setMaxProtoVersion(100);
+    _mavlinkProtocolRequestMaxProtoVersion = 100;
     _mavlinkProtocolRequestComplete = true;
+    _setMaxProtoVersionFromBothSources();
     _startPlanRequest();
 }
 

src/Vehicle/Vehicle.h

@@ -12,6 +12,7 @@
 #include <QObject>
 #include <QVariantList>
 #include <QGeoCoordinate>
+#include <QTime>
 
 #include "FactGroup.h"
 #include "LinkInterface.h"
@@ -1078,7 +1079,7 @@ public:
     const QVariantList&         toolBarIndicators   ();
     const QVariantList&         staticCameraList    () const;
 
-    bool capabilitiesKnown      () const { return _vehicleCapabilitiesKnown; }
+    bool capabilitiesKnown      () const { return _capabilityBitsKnown; }
     uint64_t capabilityBits     () const { return _capabilityBits; }    // Change signalled by capabilityBitsChanged
 
     QGCCameraManager*           dynamicCameras      () { return _cameras; }
@@ -1096,7 +1097,8 @@ public:
     void _setFlying(bool flying);
     void _setLanding(bool landing);
     void _setHomePosition(QGeoCoordinate& homeCoord);
-    void _setMaxProtoVersion (unsigned version);
+    void _setMaxProtoVersion(unsigned version);
+    void _setMaxProtoVersionFromBothSources();
 
     /// Vehicle is about to be deleted
     void prepareDelete();
@@ -1406,9 +1408,10 @@ private:
     uint32_t        _telemetryTXBuffer;
     int             _telemetryLNoise;
     int             _telemetryRNoise;
-    bool            _mavlinkProtocolRequestComplete;
+    bool            _mavlinkProtocolRequestComplete =           false;
-    unsigned        _maxProtoVersion;
+    unsigned        _mavlinkProtocolRequestMaxProtoVersion =    0;
-    bool            _vehicleCapabilitiesKnown;
+    unsigned        _maxProtoVersion =                          0;
+    bool            _capabilityBitsKnown =                      false;
     uint64_t        _capabilityBits;
     bool            _highLatencyLink;
     bool            _receivingAttitudeQuaternion;
@@ -1428,8 +1431,10 @@ private:
     QList<MavCommandQueueEntry_t>   _mavCommandQueue;
     QTimer                          _mavCommandAckTimer;
     int                             _mavCommandRetryCount;
-    static const int                _mavCommandMaxRetryCount = 3;
+    int                             _capabilitiesRetryCount =               0;
-    static const int                _mavCommandAckTimeoutMSecs = 3000;
+    QTime                           _capabilitiesRetryElapsed;
+    static const int                _mavCommandMaxRetryCount =              3;
+    static const int                _mavCommandAckTimeoutMSecs =            3000;
     static const int                _mavCommandAckTimeoutMSecsHighLatency = 120000;
 
     QString             _prearmError;

src/VideoStreaming/VideoReceiver.cc

@@ -310,6 +310,7 @@ VideoReceiver::_makeSource(const QString& uri)
 
     GstElement* source  = nullptr;
     GstElement* buffer  = nullptr;
+    GstElement* tsdemux = nullptr;
     GstElement* parser  = nullptr;
     GstElement* bin     = nullptr;
     GstElement* srcbin  = nullptr;
@@ -336,7 +337,7 @@ VideoReceiver::_makeSource(const QString& uri)
                         qCCritical(VideoReceiverLog) << "gst_caps_from_string() failed";
                         break;
                     }
-                } else if (isUdp264) {
+                } else if (isUdp265) {
                     if ((caps = gst_caps_from_string("application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H265")) == nullptr) {
                         qCCritical(VideoReceiverLog) << "gst_caps_from_string() failed";
                         break;
@@ -358,26 +359,37 @@ VideoReceiver::_makeSource(const QString& uri)
             break;
         }
 
+        if ((bin = gst_bin_new("sourcebin")) == nullptr) {
+            qCCritical(VideoReceiverLog) << "gst_bin_new('sourcebin') failed";
+            break;
+        }
+
+        if ((parser = gst_element_factory_make("parsebin", "parser")) == nullptr) {
+            qCCritical(VideoReceiverLog) << "gst_element_factory_make('parsebin') failed";
+            break;
+        }
+
+        gst_bin_add_many(GST_BIN(bin), source, parser, nullptr);
+
         // FIXME: AV: Android does not determine MPEG2-TS via parsebin - have to explicitly state which demux to use
+        // FIXME: AV: tsdemux handling is a bit ugly - let's try to find elegant solution for that later
         if (isTcpMPEGTS || isUdpMPEGTS) {
-            if ((parser = gst_element_factory_make("tsdemux", "parser")) == nullptr) {
+            if ((tsdemux = gst_element_factory_make("tsdemux", nullptr)) == nullptr) {
-                qCritical(VideoReceiverLog) << "gst_element_factory_make('tsdemux') failed";
+                qCCritical(VideoReceiverLog) << "gst_element_factory_make('tsdemux') failed";
                 break;
             }
-        } else {
+
-            if ((parser = gst_element_factory_make("parsebin", "parser")) == nullptr) {
+            gst_bin_add(GST_BIN(bin), tsdemux);
-                qCritical() << "VideoReceiver::_makeSource() failed. Error with gst_element_factory_make('parsebin')";
+
+            if (!gst_element_link(source, tsdemux)) {
+                qCCritical(VideoReceiverLog) << "gst_element_link() failed";
                 break;
             }
-        }
 
-        if ((bin = gst_bin_new("sourcebin")) == nullptr) {
+            source = tsdemux;
-            qCCritical(VideoReceiverLog) << "gst_bin_new('sourcebin') failed";
+            tsdemux = nullptr;
-            break;
         }
 
-        gst_bin_add_many(GST_BIN(bin), source, parser, nullptr);
-
         int probeRes = 0;
 
         gst_element_foreach_src_pad(source, _padProbe, &probeRes);
@@ -423,6 +435,11 @@ VideoReceiver::_makeSource(const QString& uri)
         parser = nullptr;
     }
 
+    if (tsdemux != nullptr) {
+        gst_object_unref(tsdemux);
+        tsdemux = nullptr;
+    }
+
     if (buffer != nullptr) {
         gst_object_unref(buffer);
         buffer = nullptr;

src/VideoStreaming/VideoStreaming.pri

@@ -15,7 +15,7 @@ LinuxBuild {
     QT += x11extras waylandclient
     CONFIG += link_pkgconfig
     packagesExist(gstreamer-1.0) {
-        PKGCONFIG   += gstreamer-1.0  gstreamer-video-1.0 gstreamer-gl-1.0
+        PKGCONFIG   += gstreamer-1.0  gstreamer-video-1.0 gstreamer-gl-1.0 egl
         CONFIG      += VideoEnabled
     }
 } else:MacBuild {

src/ui/preferences/GeneralSettings.qml

@@ -43,6 +43,7 @@ Rectangle {
     property Fact _followTarget:                QGroundControl.settingsManager.appSettings.followTarget
     property real _panelWidth:                  _root.width * _internalWidthRatio
     property real _margins:                     ScreenTools.defaultFontPixelWidth
+    property var _planViewSettings:             QGroundControl.settingsManager.planViewSettings
 
     property string _videoSource:               QGroundControl.settingsManager.videoSettings.videoSource.value
     property bool   _isGst:                     QGroundControl.videoManager.isGStreamer
@@ -595,7 +596,7 @@ Rectangle {
                     QGCLabel {
                         id:         planViewSectionLabel
                         text:       qsTr("Plan View")
-                        visible:    QGroundControl.settingsManager.planViewSettings.visible
+                        visible:    _planViewSettings.visible
                     }
                     Rectangle {
                         Layout.preferredHeight: planViewCol.height + (_margins * 2)
@@ -621,6 +622,12 @@ Rectangle {
                                     fact:                   QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude
                                 }
                             }
+
+                            FactCheckBox {
+                                text:       qsTr("Missions Do Not Require Takeoff Item")
+                                fact:       _planViewSettings.takeoffItemNotRequired
+                                visible:    _planViewSettings.takeoffItemNotRequired.visible
+                            }
                         }
                     }
 
@@ -883,16 +890,27 @@ Rectangle {
                         visible:    QGroundControl.settingsManager.adsbVehicleManagerSettings.visible
                     }
                     Rectangle {
-                        Layout.preferredHeight: adsbGrid.height + (_margins * 2)
+                        Layout.preferredHeight: adsbGrid.y + adsbGrid.height + _margins
                         Layout.preferredWidth:  adsbGrid.width + (_margins * 2)
                         color:                  qgcPal.windowShade
                         visible:                adsbSectionLabel.visible
                         Layout.fillWidth:       true
 
+                        QGCLabel {
+                            id:                 warningLabel
+                            anchors.margins:    _margins
+                            anchors.top:        parent.top
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
+                            font.pointSize:     ScreenTools.smallFontPointSize
+                            wrapMode:           Text.WordWrap
+                            text:               qsTr("Note: These setting are not meant for use with an ADSB transponder which is situated on the vehicle.")
+                        }
+
                         GridLayout {
                             id:                         adsbGrid
                             anchors.topMargin:          _margins
-                            anchors.top:                parent.top
+                            anchors.top:                warningLabel.bottom
                             Layout.fillWidth:           true
                             anchors.horizontalCenter:   parent.horizontalCenter
                             columns:                    2

src/ui/toolbar/MainToolBar.qml

@@ -42,7 +42,8 @@ Item {
     Connections {
         target: setupWindow
         onVisibleChanged: {
-            if(setupWindow.visible) {
+            if (setupWindow.visible) {
+                buttonRow.clearAllChecks()
                 setupButton.checked = true
             }
         }