From b61b0601ffa0122922e22f90bbb117344ea6ceb0 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 19 Jun 2014 19:32:11 +0200
Subject: [PATCH 1/2] Prevent the system from sending a stop HIL command if HIL
 is not actually active

---
 src/uas/UAS.cc | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 5d46139..8ca1920 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -2864,16 +2864,19 @@ void UAS::toggleArmedState()
 void UAS::goAutonomous()
 {
     setMode((base_mode & ~(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)) | (MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED), 0);
+    qDebug() << __FILE__ << __LINE__ << "Going autonomous";
 }
 
 void UAS::goManual()
 {
     setMode((base_mode & ~(MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED))  | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, 0);
+    qDebug() << __FILE__ << __LINE__ << "Going manual";
 }
 
 void UAS::toggleAutonomy()
 {
     setMode(base_mode ^ MAV_MODE_FLAG_AUTO_ENABLED ^ MAV_MODE_FLAG_MANUAL_INPUT_ENABLED ^ MAV_MODE_FLAG_GUIDED_ENABLED ^ MAV_MODE_FLAG_STABILIZE_ENABLED, 0);
+    qDebug() << __FILE__ << __LINE__ << "Toggling autonomy";
 }
 
 /**
@@ -3291,6 +3294,7 @@ void UAS::startHil()
     hilEnabled = true;
     sensorHil = false;
     setMode(base_mode | MAV_MODE_FLAG_HIL_ENABLED, custom_mode);
+    qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to enable.";
     // Connect HIL simulation link
     simulation->connectSimulation();
 }
@@ -3300,8 +3304,11 @@ void UAS::startHil()
 */
 void UAS::stopHil()
 {
-    if (simulation) simulation->disconnectSimulation();
-    setMode(base_mode & ~MAV_MODE_FLAG_HIL_ENABLED, custom_mode);
+    if (simulation && simulation->isConnected()) {
+        simulation->disconnectSimulation();
+        setMode(base_mode & ~MAV_MODE_FLAG_HIL_ENABLED, custom_mode);
+        qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to disable.";
+    }
     hilEnabled = false;
     sensorHil = false;
 }

From 0ccecde870ee394f22d10adda4767eedf3f45ae8 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 19 Jun 2014 19:52:18 +0200
Subject: [PATCH 2/2] Better defaults for Takeoff pitch and better visual
 indication

---
 src/Waypoint.cc                        | 10 ++++++++++
 src/ui/mission/QGCMissionNavTakeoff.ui | 16 ++++++++++++++--
 2 files changed, 24 insertions(+), 2 deletions(-)

diff --git a/src/Waypoint.cc b/src/Waypoint.cc
index dc9d3a6..33e0bf6 100644
--- a/src/Waypoint.cc
+++ b/src/Waypoint.cc
@@ -191,6 +191,16 @@ void Waypoint::setAction(MAV_CMD action)
 {
     if (this->action != action) {
         this->action = action;
+
+        // Flick defaults according to WP type
+
+        switch (this->action) {
+            case MAV_CMD_NAV_TAKEOFF:
+            // We default to 15 degrees minimum takeoff pitch
+            this->param1 = 15.0;
+            break;
+        }
+
         emit changed(this);
     }
 }
diff --git a/src/ui/mission/QGCMissionNavTakeoff.ui b/src/ui/mission/QGCMissionNavTakeoff.ui
index 7536c84..bf0aab4 100644
--- a/src/ui/mission/QGCMissionNavTakeoff.ui
+++ b/src/ui/mission/QGCMissionNavTakeoff.ui
@@ -32,7 +32,16 @@
    <property name="spacing">
     <number>5</number>
    </property>
-   <property name="margin">
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
+   <property name="topMargin">
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>0</number>
+   </property>
+   <property name="bottomMargin">
     <number>0</number>
    </property>
    <item>
@@ -296,7 +305,7 @@
       <bool>false</bool>
      </property>
      <property name="prefix">
-      <string/>
+      <string>heading </string>
      </property>
      <property name="suffix">
       <string>°</string>
@@ -329,6 +338,9 @@
      <property name="keyboardTracking">
       <bool>false</bool>
      </property>
+     <property name="prefix">
+      <string>min. pitch </string>
+     </property>
      <property name="suffix">
       <string>°</string>
      </property>