From 49a9c91f3fae304b48f4acc050d4c3e661dd8327 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Tue, 19 Nov 2019 12:57:50 -0800
Subject: [PATCH] Fix gimbal yaw visual problems

---
 src/MissionManager/CameraSection.cc     |  4 +---
 src/MissionManager/MissionController.cc | 16 +++++++++++++++-
 2 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/src/MissionManager/CameraSection.cc b/src/MissionManager/CameraSection.cc
index e605a7b..6a1c551 100644
--- a/src/MissionManager/CameraSection.cc
+++ b/src/MissionManager/CameraSection.cc
@@ -543,9 +543,7 @@ double CameraSection::specifiedGimbalPitch(void) const
 
 void CameraSection::_updateSpecifiedGimbalYaw(void)
 {
-    if (_specifyGimbal) {
-        emit specifiedGimbalYawChanged(specifiedGimbalYaw());
-    }
+    emit specifiedGimbalYawChanged(specifiedGimbalYaw());
 }
 
 void CameraSection::_updateSpecifiedGimbalPitch(void)
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 9505a1b..0b5bce2 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -1419,7 +1419,21 @@ void MissionController::_recalcMissionFlightStatus()
             _missionFlightStatus.vehicleSpeed = newSpeed;
         }
 
-        // Look for gimbal change
+        // ROI commands cancel out previous gimbal yaw/pitch
+        if (simpleItem) {
+            switch (simpleItem->command()) {
+            case MAV_CMD_NAV_ROI:
+            case MAV_CMD_DO_SET_ROI_LOCATION:
+            case MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET:
+                _missionFlightStatus.gimbalYaw = std::numeric_limits<double>::quiet_NaN();
+                _missionFlightStatus.gimbalPitch = std::numeric_limits<double>::quiet_NaN();
+                break;
+            default:
+                break;
+            }
+        }
+
+        // Look for specific gimbal changes
         double gimbalYaw = item->specifiedGimbalYaw();
         if (!qIsNaN(gimbalYaw)) {
             _missionFlightStatus.gimbalYaw = gimbalYaw;