VTOL: No wizard mode for transition position

src/MissionManager/MissionController.cc

@@ -193,7 +193,8 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
             SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, _flyView, *missionItem);
             if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(simpleItem->command()))) {
                 // This needs to be a TakeoffMissionItem
-                _takeoffMissionItem = new TakeoffMissionItem(*missionItem, _masterController, _flyView, settingsItem);
+                _takeoffMissionItem = new TakeoffMissionItem(*missionItem, _masterController, _flyView, settingsItem, false /* forLoad */);
+                _takeoffMissionItem->setWizardMode(false);
                 simpleItem->deleteLater();
                 simpleItem = _takeoffMissionItem;
             }
@@ -359,7 +360,7 @@ VisualMissionItem* MissionController::insertSimpleMissionItem(QGeoCoordinate coo
 VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate /*coordinate*/, int visualItemIndex, bool makeCurrentItem)
 {
     int sequenceNumber = _nextSequenceNumber();
-    _takeoffMissionItem = new TakeoffMissionItem(_controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF, _masterController, _flyView, _settingsItem);
+    _takeoffMissionItem = new TakeoffMissionItem(_controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF, _masterController, _flyView, _settingsItem, false /* forLoad */);
     _takeoffMissionItem->setSequenceNumber(sequenceNumber);
     _initVisualItem(_takeoffMissionItem);
 

src/MissionManager/TakeoffMissionItem.cc

@@ -27,20 +27,19 @@ TakeoffMissionItem::TakeoffMissionItem(PlanMasterController* masterController, b
     _init(forLoad);
 }
 
-TakeoffMissionItem::TakeoffMissionItem(MAV_CMD takeoffCmd, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem)
+TakeoffMissionItem::TakeoffMissionItem(MAV_CMD takeoffCmd, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, bool forLoad)
     : SimpleMissionItem (masterController, flyView, false /* forLoad */)
     , _settingsItem     (settingsItem)
 {
     setCommand(takeoffCmd);
-    _init(false /* forLoad */);
+    _init(forLoad);
 }
 
-TakeoffMissionItem::TakeoffMissionItem(const MissionItem& missionItem, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem)
+TakeoffMissionItem::TakeoffMissionItem(const MissionItem& missionItem, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, bool forLoad)
     : SimpleMissionItem (masterController, flyView, missionItem)
     , _settingsItem     (settingsItem)
 {
-    _init(false /* forLoad */);
-    _wizardMode = false;
+    _init(forLoad);
 }
 
 TakeoffMissionItem::~TakeoffMissionItem()
@@ -76,17 +75,15 @@ void TakeoffMissionItem::_init(bool forLoad)
     }
 
     _initLaunchTakeoffAtSameLocation();
+    if (_launchTakeoffAtSameLocation && homePosition.isValid()) {
+        SimpleMissionItem::setCoordinate(homePosition);
+    }
 
-    if (homePosition.isValid() && coordinate().isValid()) {
-        // Item already fully specified, most likely from mission load from storage
-        _wizardMode = false;
-    } else {
-        if (_launchTakeoffAtSameLocation && homePosition.isValid()) {
-            _wizardMode = false;
-            SimpleMissionItem::setCoordinate(homePosition);
-        } else {
-            _wizardMode = true;
-        }
+    // Wizard mode is set if:
+    //  - Launch position is missing - requires prompt to user to click to set launch
+    //  - Fixed wing - warn about climb out position adjustment
+    if (!homePosition.isValid() || _controllerVehicle->fixedWing()) {
+        _wizardMode = true;
     }
 
     setDirty(false);

src/MissionManager/TakeoffMissionItem.h

@@ -21,9 +21,10 @@ class TakeoffMissionItem : public SimpleMissionItem
     Q_OBJECT
     
 public:
+    // Note: forLoad = true indicates that TakeoffMissionItem::load will be called onthe item
     TakeoffMissionItem(PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, bool forLoad);
-    TakeoffMissionItem(MAV_CMD takeoffCmd, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem);
-    TakeoffMissionItem(const MissionItem& missionItem,  PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem);
+    TakeoffMissionItem(MAV_CMD takeoffCmd, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, bool forLoad);
+    TakeoffMissionItem(const MissionItem& missionItem,  PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, bool forLoad);
 
     Q_PROPERTY(QGeoCoordinate   launchCoordinate            READ launchCoordinate               WRITE setLaunchCoordinate               NOTIFY launchCoordinateChanged)
     Q_PROPERTY(bool             launchTakeoffAtSameLocation READ launchTakeoffAtSameLocation    WRITE setLaunchTakeoffAtSameLocation    NOTIFY launchTakeoffAtSameLocationChanged)

src/PlanView/TakeoffItemMapVisual.qml

@@ -154,7 +154,11 @@ Item {
                 coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
                 coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
                 _missionItem.launchCoordinate = coordinate
-                if (_missionItem.launchTakeoffAtSameLocation) {
+
+                // We drop out of wizard mode after launch position is set if:
+                //  - Takeoff location is same as launch position so nothing left to do
+                //  - Not a fixed wing. Fixed wing require warning about tweaking climb out position
+                if (_missionItem.launchTakeoffAtSameLocation || !vehicle.fixedWing) {
                     _missionItem.wizardMode = false
                 }
                 _objMgrMouseClick.destroyObjects()