Fix resume mission for VTOL not handling takeoff correctly

src/MissionManager/MissionManager.cc

@@ -98,11 +98,11 @@ void MissionManager::generateResumeMission(int resumeIndex)
     resumeIndex = qMax(0, qMin(resumeIndex, _missionItems.count() - 1));
 
     // Adjust resume index to be a location based command
-    const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, QGCMAVLink::VehicleClassGeneric, _missionItems[resumeIndex]->command());
+    const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, _vehicle->vehicleClass(), _missionItems[resumeIndex]->command());
     if (!uiInfo || uiInfo->isStandaloneCoordinate() || !uiInfo->specifiesCoordinate()) {
         // We have to back up to the last command which the vehicle flies through
         while (--resumeIndex > 0) {
-            uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, QGCMAVLink::VehicleClassGeneric, _missionItems[resumeIndex]->command());
+            uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, _vehicle->vehicleClass(), _missionItems[resumeIndex]->command());
             if (uiInfo && (uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate())) {
                 // Found it
                 break;
@@ -130,15 +130,15 @@ void MissionManager::generateResumeMission(int resumeIndex)
                            << MAV_CMD_VIDEO_START_CAPTURE
                            << MAV_CMD_VIDEO_STOP_CAPTURE
                            << MAV_CMD_DO_CHANGE_SPEED
-                           << MAV_CMD_SET_CAMERA_MODE
-                           << MAV_CMD_NAV_TAKEOFF;
+                           << MAV_CMD_SET_CAMERA_MODE;
 
     bool addHomePosition = _vehicle->firmwarePlugin()->sendHomePositionToVehicle();
 
     int prefixCommandCount = 0;
     for (int i=0; i<_missionItems.count(); i++) {
         MissionItem* oldItem = _missionItems[i];
-        if ((i == 0 && addHomePosition) || i >= resumeIndex || includedResumeCommands.contains(oldItem->command())) {
+        const MissionCommandUIInfo* uiInfo = qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_vehicle, _vehicle->vehicleClass(), oldItem->command());
+        if ((i == 0 && addHomePosition) || i >= resumeIndex || includedResumeCommands.contains(oldItem->command()) || (uiInfo && uiInfo->isTakeoffCommand())) {
             if (i < resumeIndex) {
                 prefixCommandCount++;
             }