Merge pull request #2055 from DonLakeFlyer/LinesAndMore

Lines and more

qgroundcontrol.qrc

@@ -177,6 +177,7 @@
         <file alias="QGroundControl/FlightMap/MissionItemIndicator.qml">src/FlightMap/MapItems/MissionItemIndicator.qml</file>
         <file alias="QGroundControl/FlightMap/VehicleMapItem.qml">src/FlightMap/MapItems/VehicleMapItem.qml</file>
         <file alias="QGroundControl/FlightMap/MissionItemView.qml">src/FlightMap/MapItems/MissionItemView.qml</file>
+        <file alias="QGroundControl/FlightMap/MissionLineView.qml">src/FlightMap/MapItems/MissionLineView.qml</file>
 
     </qresource>
     <qresource prefix="/res">

src/FlightDisplay/FlightDisplayView.qml

@@ -52,7 +52,7 @@ Item {
     readonly property alias zOrderWidgets:   flightMap.zOrderWidgets
     readonly property alias zOrderMapItems:  flightMap.zOrderMapItems
 
-    property var __qgcPal: QGCPalette { colorGroupEnabled: enabled }
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
 
     property var _activeVehicle: multiVehicleManager.activeVehicle
 
@@ -184,6 +184,12 @@ Item {
             zOrderMapItems: flightMap.zOrderMapItems
         }
 
+        // Add lines between waypoints
+        MissionLineView {
+            model:          _missionController.waypointLines
+            zOrderMapItems: flightMap.zOrderMapItems
+        }
+
         Loader {
             id:             flightMapDelayLoader
             anchors.fill:   parent

src/FlightMap/MapItems/MissionItemView.qml

@@ -29,9 +29,7 @@ import QtPositioning    5.3
 
 import QGroundControl               1.0
 import QGroundControl.FlightMap     1.0
-import QGroundControl.ScreenTools   1.0
 import QGroundControl.Controls      1.0
-import QGroundControl.Palette       1.0
 
 /// The MissionItemView control is used to add Mission Item Indicators to a FlightMap.
 MapItemView {
@@ -42,11 +40,11 @@ MapItemView {
 
     delegate: MissionItemIndicator {
         id:             itemIndicator
-        label:          object.sequenceNumber == 0 ? "H" : object.sequenceNumber
+        label:          object.homePosition ? "H" : object.sequenceNumber
         isCurrentItem:  object.isCurrentItem
         coordinate:     object.coordinate
         z:              zOrderMapItems
-        visible:        object.specifiesCoordinate
+        visible:        object.specifiesCoordinate && (!object.homePosition || object.homePositionValid)
 
         onClicked: setCurrentItem(object.sequenceNumber)
 

src/FlightMap/MapItems/MissionLineView.qml

@@ -0,0 +1,45 @@
+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+import QtQuick          2.4
+import QtLocation       5.3
+import QtPositioning    5.3
+
+import QGroundControl           1.0
+import QGroundControl.Palette   1.0
+
+/// The MissionLineView control is used to add lines between mission items
+MapItemView {
+    property real   zOrderMapItems  ///< Z order for indicator
+
+    delegate: MapPolyline {
+        line.width: 3
+        line.color: "#be781c"           // Hack, can't get palette to work in here
+        z:          zOrderMapItems - 1  // Under item indicators
+
+        path: [
+            { latitude: object.coordinate1.latitude, longitude: object.coordinate1.longitude },
+            { latitude: object.coordinate2.latitude, longitude: object.coordinate2.longitude },
+        ]
+    }
+}

src/FlightMap/qmldir

@@ -21,3 +21,4 @@ QGCSpeedWidget          1.0 QGCSpeedWidget.qml
 VehicleMapItem          1.0 VehicleMapItem.qml
 MissionItemIndicator    1.0 MissionItemIndicator.qml
 MissionItemView         1.0 MissionItemView.qml
+MissionLineView         1.0 MissionLineView.qml

src/MissionEditor/MissionEditor.qml

@@ -69,9 +69,13 @@ QGCView {
 
     MissionEditorController {
         id:         controller
+/*
+        FIXME: autoSync is temporarily disconnected since it's still buggy
+
         autoSync:   QGroundControl.flightMapSettings.loadMapSetting(editorMap.mapName, _autoSyncKey, true)
 
         onAutoSyncChanged:      QGroundControl.flightMapSettings.saveMapSetting(editorMap.mapName, _autoSyncKey, autoSync)
+*/
 
         onMissionItemsChanged:  {
             updateHomePosition()
@@ -98,6 +102,7 @@ QGCView {
     function updateHomePosition() {
         homePosition = liveHomePositionAvailable ? liveHomePosition : offlineHomePosition
         _missionItems.get(0).coordinate = homePosition
+        _missionItems.get(0).homePositionValid = true
     }
 
     Component.onCompleted:              updateHomePosition()
@@ -222,20 +227,9 @@ QGCView {
                 }
 
                 // Add lines between waypoints
-                MapItemView {
+                MissionLineView {
-                    model: controller.waypointLines
+                    model:          controller.waypointLines
-
+                    zOrderMapItems: editorMap.zOrderMapItems
-                    delegate:
-                        MapPolyline {
-                            line.width: 3
-                            line.color: qgcPal.mapButtonHighlight
-                            z:          editorMap.zOrderMapItems - 1 // Under item indicators
-
-                            path: [
-                                { latitude: object.coordinate1.latitude, longitude: object.coordinate1.longitude },
-                                { latitude: object.coordinate2.latitude, longitude: object.coordinate2.longitude },
-                            ]
-                        }
                 }
 
                 // Mission Item Editor
@@ -880,7 +874,7 @@ QGCView {
             }
 
             Row {
-                visible:    autoSyncCheckBox.enabled && autoSyncCheckBox.checked
+                visible:    true //autoSyncCheckBox.enabled && autoSyncCheckBox.checked
                 spacing:    ScreenTools.defaultFontPixelWidth
 
                 QGCButton {
@@ -925,6 +919,8 @@ QGCView {
                     }
                 }
             }
+/*
+        FIXME: autoSync is temporarily disconnected since it's still buggy
 
             QGCLabel {
                 id:         autoSyncDisallowedLabel
@@ -940,6 +936,7 @@ QGCView {
 
                 onClicked: controller.autoSync = checked
             }
+*/
         }
     }
 } // QGCVIew

src/MissionEditor/MissionEditorController.cc

@@ -288,10 +288,6 @@ void MissionEditorController::_recalcWaypointLines(void)
 // This will update the sequence numbers to be sequential starting from 0
 void MissionEditorController::_recalcSequence(void)
 {
-    MissionItem* currentParentItem = qobject_cast<MissionItem*>(_missionItems->get(0));
-    
-    currentParentItem->childItems()->clear();
-    
     for (int i=0; i<_missionItems->count(); i++) {
         MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
         
@@ -340,9 +336,7 @@ void MissionEditorController::_initAllMissionItems(void)
         _initMissionItem(qobject_cast<MissionItem*>(_missionItems->get(i)));
     }
     
-    _recalcSequence();
+    _recalcAll();
-    _recalcChildItems();
-    _recalcWaypointLines();
     
     emit missionItemsChanged();
     emit canEditChanged(_canEdit);

src/MissionItem.cc

@@ -90,8 +90,9 @@ MissionItem::MissionItem(QObject*       parent,
     , _isCurrentItem(isCurrentItem)
     , _reachedTime(0)
     , _headingDegreesFact(NULL)
-    ,_dirty(false)
+    , _dirty(false)
     , _homePositionSpecialCase(false)
+    , _homePositionValid(false)
 {
     _latitudeFact                   = new Fact(0, "Latitude:",                      FactMetaData::valueTypeDouble, this);
     _longitudeFact                  = new Fact(0, "Longitude:",                     FactMetaData::valueTypeDouble, this);
@@ -198,6 +199,7 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
     _altitudeRelativeToHomeFact = other._altitudeRelativeToHomeFact;
     _dirty                      = other._dirty;
     _homePositionSpecialCase    = other._homePositionSpecialCase;
+    _homePositionValid          = other._homePositionValid;
 
     *_latitudeFact              = *other._latitudeFact;
     *_longitudeFact             = *other._longitudeFact;
@@ -915,3 +917,9 @@ void MissionItem::_headingDegreesFactChanged(QVariant value)
 {
     emit headingDegreesChanged(value.toDouble());
 }
+
+void MissionItem::setHomePositionValid(bool homePositionValid)
+{
+    _homePositionValid = homePositionValid;
+    emit homePositionValidChanged(_homePositionValid);
+}

src/MissionItem.h

@@ -84,7 +84,13 @@ public:
     Q_PROPERTY(QmlObjectListModel*  checkboxFacts       READ checkboxFacts                                  NOTIFY commandChanged)
     Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command                WRITE setCommand        NOTIFY commandChanged)
     Q_PROPERTY(QmlObjectListModel*  childItems          READ childItems                                     CONSTANT)
+
+    /// true: this item is being used as a home position indicator
+    Q_PROPERTY(bool                 homePosition        MEMBER _homePositionSpecialCase                     CONSTANT)
     
+    /// true: home position should be shown
+    Q_PROPERTY(bool                 homePositionValid   READ homePositionValid      WRITE setHomePositionValid NOTIFY homePositionValidChanged)
+
     // Property accesors
     
     int sequenceNumber(void) const { return _sequenceNumber; }
@@ -124,6 +130,9 @@ public:
     void setDirty(bool dirty);
     
     QmlObjectListModel* childItems(void) { return &_childItems; }
+
+    bool homePositionValid(void) { return _homePositionValid; }
+    void setHomePositionValid(bool homePositionValid);
     
     // C++ only methods
     
@@ -210,6 +219,7 @@ signals:
     void coordinateChanged(const QGeoCoordinate& coordinate);
     void headingDegreesChanged(double heading);
     void dirtyChanged(bool dirty);
+    void homePositionValidChanged(bool homePostionValid);
 
     /** @brief Announces a change to the waypoint data */
     void changed(MissionItem* wp);
@@ -290,6 +300,7 @@ private:
     bool _dirty;
     
     bool _homePositionSpecialCase;  ///< true: this item is being used as a ui home position indicator
+    bool _homePositionValid;        ///< true: home psition should be displayed
     
     /// This is used to reference any subsequent mission items which do not specify a coordinate.
     QmlObjectListModel  _childItems;

src/MissionManager/MissionController.cc

@@ -71,28 +71,32 @@ void MissionController::_newMissionItemsAvailable(void)
 
 void MissionController::_recalcWaypointLines(void)
 {
-    bool firstCoordinateItem = true;
+    int firstIndex = _homePositionValid  ? 0 : 1;
-    MissionItem* lastCoordinateItem = qobject_cast<MissionItem*>(_missionItems->get(0));
+
-    
     _waypointLines.clear();
-    
+
-    for (int i=1; i<_missionItems->count(); i++) {
+    if (firstIndex < _missionItems->count()) {
-        MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+        bool firstCoordinateItem = true;
-        
+        MissionItem* lastCoordinateItem = qobject_cast<MissionItem*>(_missionItems->get(firstIndex));
-        if (item->specifiesCoordinate()) {
+
-            if (firstCoordinateItem) {
+        for (int i=firstIndex; i<_missionItems->count(); i++) {
-                if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
+            MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
-                    // The first coordinate we hit is a takeoff command so link back to home position
+
-                    _waypointLines.append(new CoordinateVector(qobject_cast<MissionItem*>(_missionItems->get(0))->coordinate(), item->coordinate()));
+            if (item->specifiesCoordinate()) {
+                if (firstCoordinateItem) {
+                    if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF && _homePositionValid) {
+                        // The first coordinate we hit is a takeoff command so link back to home position if we have one
+                        _waypointLines.append(new CoordinateVector(qobject_cast<MissionItem*>(_missionItems->get(0))->coordinate(), item->coordinate()));
+                    } else {
+                        // First coordiante is not a takeoff command, it does not link backwards to anything
+                    }
+                    firstCoordinateItem = false;
                 } else {
-                    // First coordiante is not a takeoff command, it does not link backwards to anything
+                    // Subsequent coordinate items link to last coordinate item
+                    _waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));
                 }
-                firstCoordinateItem = false;
+                lastCoordinateItem = item;
-            } else {
-                // Subsequent coordinate items link to last coordinate item
-                _waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));
             }
-            lastCoordinateItem = item;
         }
     }
     
@@ -102,25 +106,41 @@ void MissionController::_recalcWaypointLines(void)
 // This will update the child item hierarchy
 void MissionController::_recalcChildItems(void)
 {
-    MissionItem* currentParentItem = qobject_cast<MissionItem*>(_missionItems->get(0));
+    int firstIndex = _homePositionValid  ? 0 : 1;
-    
+
-    currentParentItem->childItems()->clear();
+    if (_missionItems->count() > firstIndex) {
-    
+        MissionItem* currentParentItem = qobject_cast<MissionItem*>(_missionItems->get(firstIndex));
-    for (int i=1; i<_missionItems->count(); i++) {
+
-        MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+        currentParentItem->childItems()->clear();
-        
+
-        // Set up non-coordinate item child hierarchy
+        for (int i=firstIndex+1; i<_missionItems->count(); i++) {
-        if (item->specifiesCoordinate()) {
+            MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
-            item->childItems()->clear();
+
-            currentParentItem = item;
+            // Set up non-coordinate item child hierarchy
-        } else {
+            if (item->specifiesCoordinate()) {
-            currentParentItem->childItems()->append(item);
+                item->childItems()->clear();
+                currentParentItem = item;
+            } else {
+                currentParentItem->childItems()->append(item);
+            }
         }
     }
 }
 
+// This will update the sequence numbers to be sequential starting from 0
+void MissionController::_recalcSequence(void)
+{
+    for (int i=0; i<_missionItems->count(); i++) {
+        MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+
+        // Setup ascending sequence numbers
+        item->setSequenceNumber(i);
+    }
+}
+
 void MissionController::_recalcAll(void)
 {
+    _recalcSequence();
     _recalcChildItems();
     _recalcWaypointLines();
 }
@@ -131,11 +151,13 @@ void MissionController::_initAllMissionItems(void)
     // Add the home position item to the front
     MissionItem* homeItem = new MissionItem(this);
     homeItem->setHomePositionSpecialCase(true);
+    homeItem->setHomePositionValid(false);
     homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
+    homeItem->setLatitude(47.3769);
+    homeItem->setLongitude(8.549444);
     _missionItems->insert(0, homeItem);
     
-    _recalcChildItems();
+    _recalcAll();
-    _recalcWaypointLines();
     
     emit missionItemsChanged();
 }
@@ -156,3 +178,11 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle)
         _newMissionItemsAvailable();
     }
 }
+
+void MissionController::setHomePositionValid(bool homePositionValid)
+{
+    _homePositionValid = homePositionValid;
+    qobject_cast<MissionItem*>(_missionItems->get(0))->setHomePositionValid(homePositionValid);
+
+    emit homePositionValidChanged(_homePositionValid);
+}

src/MissionManager/MissionController.h

@@ -40,21 +40,29 @@ public:
 
     Q_PROPERTY(QmlObjectListModel*  missionItems    READ missionItems   NOTIFY missionItemsChanged)
     Q_PROPERTY(QmlObjectListModel*  waypointLines   READ waypointLines  NOTIFY waypointLinesChanged)
+
+    /// true: home position should be shown on map, false: home position not shown on map
+    Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged)
     
     // Property accessors
     
     QmlObjectListModel* missionItems(void) { return _missionItems; }
     QmlObjectListModel* waypointLines(void) { return &_waypointLines; }
 
+    bool homePositionValid(void) { return _homePositionValid; }
+    void setHomePositionValid(bool homPositionValid);
+
 signals:
     void missionItemsChanged(void);
     void waypointLinesChanged(void);
+    void homePositionValidChanged(bool homePositionValid);
     
 private slots:
     void _newMissionItemsAvailable();
     void _activeVehicleChanged(Vehicle* activeVehicle);
 
 private:
+    void _recalcSequence(void);
     void _recalcWaypointLines(void);
     void _recalcChildItems(void);
     void _recalcAll(void);
@@ -64,6 +72,7 @@ private:
     QmlObjectListModel* _missionItems;
     QmlObjectListModel  _waypointLines;
     Vehicle*            _activeVehicle;
+    bool                _homePositionValid;
 };
 
 #endif

src/MissionManager/MissionManager.cc

@@ -57,21 +57,21 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems, b
 {
     _retryCount = 0;
     _missionItems.clear();
+
+    int firstIndex = skipFirstItem ? 1 : 0;
     
-    for (int i=skipFirstItem ? 1: 0; i<missionItems.count(); i++) {
+    for (int i=firstIndex; i<missionItems.count(); i++) {
         _missionItems.append(new MissionItem(*qobject_cast<const MissionItem*>(missionItems[i])));
-    }
+
-    emit newMissionItemsAvailable();
+        MissionItem* item = qobject_cast<MissionItem*>(_missionItems.get(_missionItems.count() - 1));
-    
+
-    if (skipFirstItem) {
+        // Editor uses 1-based sequence numbers, adjust them before going out
-        for (int i=0; i<_missionItems.count(); i++) {
+        item->setSequenceNumber(item->sequenceNumber() - 1);
-            MissionItem* item = qobject_cast<MissionItem*>(_missionItems[i]);
+        if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
-            
+            item->setParam1((int)item->param1() - 1);
-            if (item->command() == MavlinkQmlSingleton::MAV_CMD_CONDITION_DELAY) {
-                item->setParam1((int)item->param1() - 1);
-            }
         }
     }
+    emit newMissionItemsAvailable();
 
     qCDebug(MissionManagerLog) << "writeMissionItems count:" << _missionItems.count();
     

src/MissionManager/MissionManagerTest.cc

@@ -28,14 +28,14 @@
 UT_REGISTER_TEST(MissionManagerTest)
 
 const MissionManagerTest::TestCase_t MissionManagerTest::_rgTestCases[] = {
-    { "1\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT,     10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
+    { "0\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 0, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT,     10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
     { "1\t0\t3\t17\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_UNLIM, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
-    { "1\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
+    { "2\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 2, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
-    { "1\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME,  10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
+    { "3\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 3, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME,  10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
-    { "1\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND,         10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
+    { "4\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 4, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND,         10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
-    { "1\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_TAKEOFF,      10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
+    { "5\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 5, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_TAKEOFF,      10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
-    { "1\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY,  10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
+    { "6\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 6, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY,  10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
-    { "1\t0\t2\t177\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP,          10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
+    { "7\t0\t2\t177\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 7, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP,          10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
 };
 
 MissionManagerTest::MissionManagerTest(void)
@@ -146,6 +146,16 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
     const size_t cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]);
     QmlObjectListModel* list = new QmlObjectListModel();
     
+    // Editor has a home position item on the front, so we do the same
+    MissionItem* homeItem = new MissionItem(this);
+    homeItem->setHomePositionSpecialCase(true);
+    homeItem->setHomePositionValid(false);
+    homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
+    homeItem->setLatitude(47.3769);
+    homeItem->setLongitude(8.549444);
+    homeItem->setSequenceNumber(0);
+    list->insert(0, homeItem);
+
     for (size_t i=0; i<cTestCases; i++) {
         const TestCase_t* testCase = &_rgTestCases[i];
         
@@ -153,12 +163,19 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
         
         QTextStream loadStream(testCase->itemStream, QIODevice::ReadOnly);
         QVERIFY(item->load(loadStream));
+
+        // Mission Manager expects to get 1-base sequence numbers for write
+
+        item->setSequenceNumber(item->sequenceNumber() + 1);
+        if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
+            item->setParam1((int)item->param1() + 1);
+        }
         
         list->append(item);
     }
     
     // Send the items to the vehicle
-    _missionManager->writeMissionItems(*list, false /* skipFirstItem */);
+    _missionManager->writeMissionItems(*list, true /* skipFirstItem */);
     
     // writeMissionItems should emit these signals before returning:
     //      inProgressChanged
@@ -304,16 +321,17 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
         MissionItem* actual = qobject_cast<MissionItem*>(_missionManager->missionItems()->get(i));
         
         qDebug() << "Test case" << i;
+        QCOMPARE(actual->sequenceNumber(),          testCase->expectedItem.sequenceNumber);
         QCOMPARE(actual->coordinate().latitude(),   testCase->expectedItem.coordinate.latitude());
         QCOMPARE(actual->coordinate().longitude(),  testCase->expectedItem.coordinate.longitude());
         QCOMPARE(actual->coordinate().altitude(),   testCase->expectedItem.coordinate.altitude());
         QCOMPARE((int)actual->command(),       (int)testCase->expectedItem.command);
-        QCOMPARE(actual->param1(),                  testCase->expectedItem.param1);
         QCOMPARE(actual->param2(),                  testCase->expectedItem.param2);
         QCOMPARE(actual->param3(),                  testCase->expectedItem.param3);
         QCOMPARE(actual->param4(),                  testCase->expectedItem.param4);
         QCOMPARE(actual->autoContinue(),            testCase->expectedItem.autocontinue);
         QCOMPARE(actual->frame(),                   testCase->expectedItem.frame);
+        QCOMPARE(actual->param1(),                  testCase->expectedItem.param1);
     }
     
 }