reverse some elevation changes

src/Airmap/AirMapFlightPlanManager.cc

@@ -352,7 +352,7 @@ AirMapFlightPlanManager::_endFlight()
 
 //-----------------------------------------------------------------------------
 bool
-AirMapFlightPlanManager::_collectFlightDtata()
+AirMapFlightPlanManager::_collectFlightData()
 {
     if(!_planController || !_planController->missionController()) {
         return false;
@@ -364,17 +364,11 @@ AirMapFlightPlanManager::_collectFlightDtata()
         qCDebug(AirMapManagerLog) << "Not enough points for a flight plan.";
         return false;
     }
-    if (_planController->missionController()->readyForSaveState() != VisualMissionItem::ReadyForSave) {
-        qCDebug(AirMapManagerLog) << "No takeoff altitude";
-        return false;
-    }
-    float maxMissionAltitude    = static_cast<float>(fmax(bc.pointNW.altitude(), bc.pointSE.altitude()));
-    double takeoffAltitude      = _planController->missionController()->plannedHomePositionAltitude();
-    _flight.takeoffCoord        = _planController->missionController()->takeoffCoordinate();
-        // altitude reference for AirMap is takeoff altitude, so adjust if altitudes specified in absolute terms
-    _flight.maxAltitudeAboveTakeoff = (_planController->missionController()->globalAltitudeMode() == QGroundControlQmlGlobal::AltitudeModeRelative) ? maxMissionAltitude : maxMissionAltitude - takeoffAltitude;
-    _flight.coords              = bc.polygon2D();
-    _flight.bc                  = bc;
+    // altitude reference for AirMap is takeoff altitude & all altitudes provided in the bounding cube are relative to takeoff already
+    _flight.takeoffCoord            = _planController->missionController()->takeoffCoordinate();
+    _flight.maxAltitudeAboveTakeoff = static_cast<float>(fmax(bc.pointNW.altitude(), bc.pointSE.altitude()));
+    _flight.coords                  = bc.polygon2D();
+    _flight.bc                      = bc;
     emit missionAreaChanged();
     return true;
 }
@@ -386,7 +380,7 @@ AirMapFlightPlanManager::_createFlightPlan()
     _flight.reset();
 
     //-- Get flight data
-    if(!_collectFlightDtata()) {
+    if(!_collectFlightData()) {
         return;
     }
 
@@ -574,7 +568,7 @@ AirMapFlightPlanManager::_updateFlightPlan(bool interactive)
         return;
     }
     //-- Get flight data
-    if(!_collectFlightDtata()) {
+    if(!_collectFlightData()) {
         return;
     }
 

src/Airmap/AirMapFlightPlanManager.h

@@ -104,8 +104,8 @@ public:
     void                endFlight           (QString flightID) override;
 
 signals:
-    void            error                   (const QString& what, const QString& airmapdMessage, const QString& airmapdDetails);
-    void            flightIDChanged         (QString flightID);
+    void error                              (const QString& what, const QString& airmapdMessage, const QString& airmapdDetails);
+    void flightIDChanged                    (QString flightID);
 
 private slots:
     void _pollBriefing                      ();
@@ -116,12 +116,12 @@ private slots:
     void _loadFlightList                    ();
 
 private:
-    void _createFlightPlan                  ();
-    bool _collectFlightDtata                ();
-    void _updateFlightPlan                  (bool interactive = false);
-    bool _findBriefFeature                  (const QString& name);
-    void _updateFlightStartEndTime          (airmap::DateTime& start_time, airmap::DateTime& end_time);
-    void _updateRulesAndFeatures            (std::vector<airmap::RuleSet::Id>& rulesets, std::unordered_map<std::string, airmap::RuleSet::Feature::Value>& features, bool updateFeatures = false);
+    void    _createFlightPlan               ();
+    bool    _collectFlightData              ();
+    void    _updateFlightPlan               (bool interactive = false);
+    bool    _findBriefFeature               (const QString& name);
+    void    _updateFlightStartEndTime       (airmap::DateTime& start_time, airmap::DateTime& end_time);
+    void    _updateRulesAndFeatures         (std::vector<airmap::RuleSet::Id>& rulesets, std::unordered_map<std::string, airmap::RuleSet::Feature::Value>& features, bool updateFeatures = false);
 
 private:
     enum class State {

src/Airmap/AirMapManager.cc

@@ -169,7 +169,7 @@ AirMapManager::_settingsTimeout()
         credentials.api_key = _shared.settings().apiKey.toStdString();
         auto configuration  = Client::default_production_configuration(credentials);
         configuration.telemetry.host = _telemetryHost;
-        configuration.telemetry.port = 16060;
+        configuration.telemetry.port = _telemetryPort;
         qt::Client::create(configuration, _dispatchingLogger, this, [this](const qt::Client::CreateResult& result) {
             if (result) {
                 qCDebug(AirMapManagerLog) << "Successfully created airmap::qt::Client instance";

src/MissionManager/MissionController.cc

@@ -2661,7 +2661,3 @@ void MissionController::setGlobalAltitudeMode(QGroundControlQmlGlobal::AltitudeM
         emit globalAltitudeModeChanged();
     }
 }
-
-double MissionController::plannedHomePositionAltitude() {
-    return _settingsItem->plannedHomePositionAltitude()->rawValue().toDouble();
-}

src/MissionManager/MissionController.h

@@ -198,8 +198,6 @@ public:
     QGCGeoBoundingCube* travelBoundingCube  () { return &_travelBoundingCube; }
     QGeoCoordinate      takeoffCoordinate   () { return _takeoffCoordinate; }
 
-    double plannedHomePositionAltitude();
-
     // Overrides from PlanElementController
     bool supported                  (void) const final { return true; }
     void start                      (bool flyView) final;