Add WP

gulpfile.js

@@ -139,7 +139,9 @@ sources.js = [
     './js/libraries/plotly-latest.min.js',
     './js/sitl.js',
     './js/CliAutoComplete.js',
-    './node_modules/jquery-textcomplete/dist/jquery.textcomplete.js'
+    './node_modules/jquery-textcomplete/dist/jquery.textcomplete.js',
+    './js/fwApproach.js',
+    './js/fwApproachCollection.js'
 ];
 
 sources.receiverCss = [

js/fc.js

@@ -65,7 +65,8 @@ var CONFIG,
     BOARD_ALIGNMENT,
     CURRENT_METER_CONFIG,
     FEATURES,
-    RATE_DYNAMICS;
+    RATE_DYNAMICS,
+    FW_APPROACH;
 
 var FC = {
     restartRequired: false,
@@ -543,27 +544,6 @@ var FC = {
         SETTINGS = {};
 
         SAFEHOMES = new SafehomeCollection();
-
-        RATE_DYNAMICS = {
-            sensitivityCenter: null,
-            sensitivityEnd: null,
-            correctionCenter: null,
-            correctionEnd: null,
-            weightCenter: null, 
-            weightEnd: null
-        };
-
-        EZ_TUNE = {
-            enabled: null,
-            filterHz: null,
-            axisRatio: null,
-            response: null,
-            damping: null,
-            stability: null,
-            aggressiveness: null,
-            rate: null,
-            expo: null
-        };
     },
     getOutputUsages: function() {
         return {

js/fwApproach.js

@@ -0,0 +1,108 @@
+/*global $*/
+'use strict';
+
+const ApproachDirection = Object.freeze({
+    LEFT: 0,
+    RIGHT: 1,
+})
+
+let FwApproach = function (number, approachAltAsl = 0, landAltAsl = 0, approachDirection = 0, landHeading1 = 0, landHeading2 = 0, isSeaLevelRef = 0, elevation = 0) {
+
+    var self = {};
+
+    self.getNumber = function () {
+        return number;
+    };
+
+    self.setNumber = function (data) {
+        number = data;
+    };
+
+    self.getApproachAltAsl = function () {
+        return approachAltAsl;
+    }
+
+    self.setApproachAltAsl = function (data) {
+        approachAltAsl = data;
+    }
+
+    self.getLandAltAsl = function () {
+        return landAltAsl;
+    }
+
+    self.setLandAltAsl = function (data) {
+        landAltAsl = data;
+    }
+
+    self.getApproachDirection = function () {
+        return approachDirection;
+    }
+
+    self.setApproachDirection = function (data) {
+        approachDirection = data;
+    }
+
+    self.getLandHeading1 = function () {
+        return landHeading1;
+    }
+
+    self.setLandHeading1 = function (data) {
+        landHeading1 = data;
+    }
+
+    self.getLandHeading2 = function () {
+        return landHeading2;
+    }
+
+    self.setLandHeading2 = function (data) {
+        landHeading2 = data;
+    }
+
+    self.getIsSeaLevelRef = function () {
+        return isSeaLevelRef;
+    }
+
+    self.setIsSeaLevelRef = function (data) {
+        isSeaLevelRef = data;
+    }
+    
+    self.getElevation = function() {
+        return elevation;
+    }
+
+    self.setElevation = function (data) {
+        elevation = data;
+    }
+
+    self.cleanup = function () {
+        number = 0;
+        approachAltAsl = 0;
+        landAltAsl = 0;
+        approachDirection = 0;
+        landHeading1 = 0;
+        landHeading2 = 0;
+        isSeaLevelRef = 0;
+        elevation = 0
+    };
+
+    self.getElevationFromServer = async function (lon, lat, globalSettings) {
+        let elevation = "N/A";
+        if (globalSettings.mapProviderType == 'bing') {
+            let elevationEarthModel = $('#elevationEarthModel').prop("checked") ? "sealevel" : "ellipsoid";
+
+            const response = await fetch('http://dev.virtualearth.net/REST/v1/Elevation/List?points='+lat+','+lon+'&heights='+elevationEarthModel+'&key='+globalSettings.mapApiKey);
+            const myJson = await response.json();
+            elevation = myJson.resourceSets[0].resources[0].elevations[0];
+        }
+        else {
+            const response = await fetch('https://api.opentopodata.org/v1/aster30m?locations='+lat+','+lon);
+            const myJson = await response.json();
+            if (myJson.status == "OK" && myJson.results[0].elevation != null) {
+                elevation = myJson.results[0].elevation;
+            }
+        }
+        return elevation;
+    }
+
+    return self;
+};

js/fwApproachCollection.js

@@ -0,0 +1,92 @@
+'use strict';
+
+let FwApproachCollection = function () {
+
+    let self = {},
+        data = [],
+        maxFwApproachCount = 17;
+
+    self.setMaxFwApproachCount = function (value) {
+        maxFwApproachCount = value;
+    };
+
+    self.getMaxFwApproachCount = function () {
+        return maxFwApproachCount;
+    }
+
+    self.put = function (element) {
+        element.setNumber(data.length);
+        data.push(element);
+    };
+
+    self.get = function () {
+        return data;
+    };
+    
+    self.clean = function (index){
+        data[index].cleanup();
+    };
+
+    self.flush = function () {
+        data = [];
+    };
+
+    self.isEmpty = () => {
+        return data.length == 0;
+    };
+
+    self.fwApproachCount = () => {
+        return data.length;
+    }
+
+    self.drop = (idx) => {
+        data.forEach(f => {
+            if (f.getNumber() >= idx) {
+                f.setNumber(f.getNumber() - 1);
+            }
+        });   
+        data.splice(idx, 1);
+    }
+
+    self.insert = (fwApprach, idx) => {
+        data.forEach(f => {
+            if (f.getNumber() >= idx) {
+                f.setNumber(f.getNumber() + 1);
+            }
+        });
+        data.splice(idx, 0, fwApprach);
+    }
+        
+    self.updateFwApproach = function(newFwApproach) {
+        data[newFwApproach.getNumber()] = newFwApproach;
+    };
+    
+    self.extractBuffer = function(fwApproachId) {
+        let buffer = [];
+        let fwApproach = data[fwApproachId];
+        if (fwApproachId < self.fwApproachCount()) {    
+            buffer.push(fwApproach.getNumber());    // sbufReadU8(src);    // number
+            buffer.push(specificByte(fwApproach.getApproachAltAsl(), 0));
+            buffer.push(specificByte(fwApproach.getApproachAltAsl(), 1));
+            buffer.push(specificByte(fwApproach.getApproachAltAsl(), 2));
+            buffer.push(specificByte(fwApproach.getApproachAltAsl(), 3));
+            buffer.push(specificByte(fwApproach.getLandAltAsl(), 0));
+            buffer.push(specificByte(fwApproach.getLandAltAsl(), 1));
+            buffer.push(specificByte(fwApproach.getLandAltAsl(), 2));
+            buffer.push(specificByte(fwApproach.getLandAltAsl(), 3));
+            buffer.push(fwApproach.getApproachDirection());
+            buffer.push(specificByte(fwApproach.getLandHeading1(), 0));
+            buffer.push(specificByte(fwApproach.getLandHeading1(), 1));
+            buffer.push(specificByte(fwApproach.getLandHeading2(), 0));
+            buffer.push(specificByte(fwApproach.getLandHeading2(), 1));
+            buffer.push(fwApproach.getIsSeaLevelRef());
+        } else {
+            buffer = Array(15).fill(0);
+            buffer[0] = safehomeId;
+        }
+        
+        return buffer;
+    } 
+
+    return self;
+};

js/msp/MSPCodes.js

@@ -239,6 +239,9 @@ var MSPCodes = {
     MSP2_INAV_LED_STRIP_CONFIG_EX:      0x2048,
     MSP2_INAV_SET_LED_STRIP_CONFIG_EX:  0x2049,
 
+    MSP2_INAV_FW_APPROACH:              0x204A,
+    MSP2_INAV_SET_FW_APPROACH:          0x204B,
+
     MSP2_INAV_RATE_DYNAMICS:            0x2060,
     MSP2_INAV_SET_RATE_DYNAMICS:        0x2061,
 

js/msp/MSPHelper.js

@@ -1568,24 +1568,13 @@ var mspHelper = (function (gui) {
                 break;
             case MSPCodes.MSP2_INAV_SAFEHOME:
                 let safehome = new Safehome(
+                    data.getUint8(0),
                     data.getUint8(1),
                     data.getInt32(2, true),
                     data.getInt32(6, true),
-                    data.getInt32(10, true),
-                    data.getInt32(14, true),
-                    data.getUint8(18, true),
-                    data.getInt16(19, true),
-                    data.getInt16(21, true),
-                    data.getUint8(23, true),
-                    data.getUint8(0, true),
                 );
-
                 if (safehome.getEnabled()) {
-                    (async () => {
+                    SAFEHOMES.put(safehome);
-                        const elevation = await safehome.getElevationFromServer(globalSettings) * 100;
-                        safehome.setElevation(elevation);
-                        SAFEHOMES.put(safehome);
-                    })();
                 }
 
                 break;
@@ -1593,6 +1582,22 @@ var mspHelper = (function (gui) {
                 console.log('Safehome points saved');
                 break;
 
+            case MSPCodes.MSP2_INAV_FW_APPROACH:
+                FW_APPROACH.put(new FwApproach(
+                    data.getUint8(0),
+                    data.getInt32(1, true),
+                    data.getInt32(5, true),
+                    data.getUint8(9, true),
+                    data.getInt16(10, true),
+                    data.getInt16(12, true),
+                    data.getUint8(14, true),
+                ));                
+                break;
+            
+                case MSPCodes.MSP2_INAV_SET_FW_APPROACH:
+                    console.log('FW Approach saved');
+                    break;
+
             case MSPCodes.MSP2_INAV_RATE_DYNAMICS:
                 RATE_DYNAMICS.sensitivityCenter = data.getUint8(0);
                 RATE_DYNAMICS.sensitivityEnd = data.getUint8(1);
@@ -3217,6 +3222,37 @@ var mspHelper = (function (gui) {
         };
     };
 
+    self.loadFwApproach = function (callback) {
+        FW_APPROACH.flush();
+        let id = 0;
+        MSP.send_message(MSPCodes.MSP2_INAV_FW_APPROACH, [id], false, nextFwApproach);
+
+        function nextFwApproach() {
+            id++;
+            if (id < FW_APPROACH.getMaxFwApproachCount() - 1) {
+                MSP.send_message(MSPCodes.MSP2_INAV_FW_APPROACH, [id], false, nextFwApproach);
+            }
+            else {
+                MSP.send_message(MSPCodes.MSP2_INAV_FW_APPROACH, [id], false, callback);
+            }
+        };
+    };
+
+    self.saveFwApproach = function (callback) {
+        let id = 0;
+        MSP.send_message(MSPCodes.MSP2_INAV_SET_FW_APPROACH, FW_APPROACH.extractBuffer(id), false, nextFwApproach);
+
+        function nextFwApproach() {
+            id++;
+            if (id < FW_APPROACH.getMaxFwApproachCount() - 1) {
+                MSP.send_message(MSPCodes.MSP2_INAV_SET_FW_APPROACH, FW_APPROACH.extractBuffer(id), false, nextFwApproach);
+            }
+            else {
+                MSP.send_message(MSPCodes.MSP2_INAV_SET_FW_APPROACH, FW_APPROACH.extractBuffer(id), false, callback);
+            }
+        };
+    };
+
     self._getSetting = function (name) {
         if (SETTINGS[name]) {
             return Promise.resolve(SETTINGS[name]);

js/safehome.js

@@ -1,12 +1,8 @@
 /*global $*/
 'use strict';
 
-const ApproachDirection = Object.freeze({
-    LEFT: 0,
-    RIGHT: 1,
-})
 
-let Safehome = function (enabled, lat, lon, approachAltAsl = 0, landAltAsl = 0, approachDirection = 0, landHeading1 = 0, landHeading2 = 0, isSeaLevelRef = 0, elevation = 0, number = 0) {
+let Safehome = function (number, enabled, lat, lon) {
 
     var self = {};
 
@@ -53,63 +49,7 @@ let Safehome = function (enabled, lat, lon, approachAltAsl = 0, landAltAsl = 0,
     self.setEnabled = function (data) {
         enabled = data;
     };
-
-    self.getApproachAltAsl = function () {
-        return approachAltAsl;
-    }
-
-    self.setApproachAltAsl = function (data) {
-        approachAltAsl = data;
-    }
-
-    self.getLandAltAsl = function () {
-        return landAltAsl;
-    }
-
-    self.setLandAltAsl = function (data) {
-        landAltAsl = data;
-    }
-
-    self.getApproachDirection = function () {
-        return approachDirection;
-    }
-
-    self.setApproachDirection = function (data) {
-        approachDirection = data;
-    }
-
-    self.getLandHeading1 = function () {
-        return landHeading1;
-    }
-
-    self.setLandHeading1 = function (data) {
-        landHeading1 = data;
-    }
-
-    self.getLandHeading2 = function () {
-        return landHeading2;
-    }
-
-    self.setLandHeading2 = function (data) {
-        landHeading2 = data;
-    }
-
-    self.getIsSeaLevelRef = function () {
-        return isSeaLevelRef;
-    }
-
-    self.setIsSeaLevelRef = function (data) {
-        isSeaLevelRef = data;
-    }
     
-    self.getElevation = function() {
-        return elevation;
-    }
-
-    self.setElevation = function (data) {
-        elevation = data;
-    }
-
     self.cleanup = function () {
         number = 0;
         enabled = 0;
@@ -117,24 +57,5 @@ let Safehome = function (enabled, lat, lon, approachAltAsl = 0, landAltAsl = 0,
         lat = 0;
     };
 
-    self.getElevationFromServer = async function (globalSettings) {
-        let elevation = "N/A";
-        if (globalSettings.mapProviderType == 'bing') {
-            let elevationEarthModel = $('#elevationEarthModel').prop("checked") ? "sealevel" : "ellipsoid";
-
-            const response = await fetch('http://dev.virtualearth.net/REST/v1/Elevation/List?points='+self.getLatMap()+','+self.getLonMap()+'&heights='+elevationEarthModel+'&key='+globalSettings.mapApiKey);
-            const myJson = await response.json();
-            elevation = myJson.resourceSets[0].resources[0].elevations[0];
-        }
-        else {
-            const response = await fetch('https://api.opentopodata.org/v1/aster30m?locations='+self.getLatMap()+','+self.getLonMap());
-            const myJson = await response.json();
-            if (myJson.status == "OK" && myJson.results[0].elevation != null) {
-                elevation = myJson.results[0].elevation;
-            }
-        }
-        return elevation;
-    }
-
     return self;
 };

js/safehomeCollection.js

@@ -75,20 +75,6 @@ let SafehomeCollection = function () {
             buffer.push(specificByte(safehome.getLon(), 1));
             buffer.push(specificByte(safehome.getLon(), 2));
             buffer.push(specificByte(safehome.getLon(), 3));
-            buffer.push(specificByte(safehome.getApproachAltAsl(), 0));
-            buffer.push(specificByte(safehome.getApproachAltAsl(), 1));
-            buffer.push(specificByte(safehome.getApproachAltAsl(), 2));
-            buffer.push(specificByte(safehome.getApproachAltAsl(), 3));
-            buffer.push(specificByte(safehome.getLandAltAsl(), 0));
-            buffer.push(specificByte(safehome.getLandAltAsl(), 1));
-            buffer.push(specificByte(safehome.getLandAltAsl(), 2));
-            buffer.push(specificByte(safehome.getLandAltAsl(), 3));
-            buffer.push(safehome.getApproachDirection());
-            buffer.push(specificByte(safehome.getLandHeading1(), 0));
-            buffer.push(specificByte(safehome.getLandHeading1(), 1));
-            buffer.push(specificByte(safehome.getLandHeading2(), 0));
-            buffer.push(specificByte(safehome.getLandHeading2(), 1));
-            buffer.push(safehome.getIsSeaLevelRef());
         } else {
             buffer = Array(24).fill(0);
             buffer[0] = safehomeId;

tabs/mission_control.html

@@ -303,6 +303,38 @@
                                 <tbody id="waypointOptionsTableBody">
                                 </tbody>
                             </table>
+                        <div id="wpFwLanding" style="display: none;">
+                            <div class="point">
+                                <span style="font-weight: bold">Fixed Wing landing settings:</span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpApproachAlt">Approach Alt: (cm):</label>
+                                <input type="number" id="wpApproachAlt"></input>
+                                <span id="wpApproachAltM"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandAlt">Land Alt: (cm):</label>
+                                <input type="number" id="wpLandAlt"></input>
+                                <span id="wpLandAltM"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpApproachDirection">Approach direction:</label>
+                                <select name="wpApproachDirection" id="wpApproachDirection">
+                                    <option value="0">Left</option>
+                                    <option value="1">Right</option>
+                                </select>
+                            </div> 
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandHeading1">Heading 1: (deg):</label>
+                                <input type="number" id="wpLandHeading1"></input>
+                                <input id="wpLandHeading1Excl" type="checkbox" value="0" class="togglemedium" required> Excl.
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandHeading2">Heading 2: (deg):</label>
+                                <input type="number" id="wpLandHeading2"></input>
+                                <input id="wpLandHeading2Excl" type="checkbox" value="0" class="togglemedium" required> Excl.
+                            </div>
+                        </div>
                         </div>
 
                         <!-- <div class="point-radio" id="pointOptionclass" style="display: none">

tabs/mission_control.js

@@ -1,5 +1,7 @@
 'use strict';
 
+const { event } = require('jquery');
+
 ////////////////////////////////////
 //
 // global Parameters definition
@@ -93,6 +95,7 @@ TABS.mission_control.initialize = function (callback) {
             mspHelper.getMissionInfo,
             //mspHelper.loadWaypoints,
             mspHelper.loadSafehomes,
+            mspHelper.loadFwApproach,
             function (callback) {
                 mspHelper.getSetting("nav_fw_land_approach_length").then((data) =>  {
                     settings.fwApproachLength = parseInt(data.value);
@@ -371,7 +374,8 @@ TABS.mission_control.initialize = function (callback) {
     //////////////////////////////////////////////////////////////////////////////////////////////
     var markers = [];           // Layer for Waypoints
     var lines = [];             // Layer for lines between waypoints
-    var safehomeMarkers = [];    // layer for Safehome points
+    var safehomeMarkers = [];   // layer for Safehome points
+    var approachLayers = []     // Layers for FW approach  
 
     var map;
 
@@ -382,6 +386,7 @@ TABS.mission_control.initialize = function (callback) {
     var selectedFeature = null;
     var tempMarker = null;
     var disableMarkerEdit = false;
+    var selectedFwApproachWp = null;
 
     //////////////////////////////////////////////////////////////////////////////////////////////
     //      define & init parameters for default Settings
@@ -488,6 +493,7 @@ TABS.mission_control.initialize = function (callback) {
         }
         
         const safehome = SAFEHOMES.get()[selectedSafehome];
+        const fwApproach = FW_APPROACH.get()[selectedSafehome];
                 
         $safehomeContentBox.append('\
             <div class="gui_box grey missionPlannerSafehomeBox"> \
@@ -550,11 +556,21 @@ TABS.mission_control.initialize = function (callback) {
             </div> \
         ');
 
+        if (fwApproach.getElevation() == 0) {
+            (async () => {
+                const elevation = await fwApproach.getElevationFromServer(safehome.getLonMap(), safehome.getLatMap(), globalSettings) * 100;
+                fwApproach.setElevation(elevation);
+                $('#safehomeElevation').text(fwApproach.getElevation() / 100 + " m");
+            })();
+        }
+
         const $safehomeBox = $safehomeContentBox.find('.missionPlannerSafehomeBox:last-child');
         $safehomeBox.find('.spacer_box_title').append(safehome.getNumber() + 1);
 
         $safehomeBox.find('#deleteSafehome').on('click', () => {
-            SAFEHOMES.drop(safehome.getNumber());
+            var shNum = safehome.getNumber();
+            SAFEHOMES.drop(shNum);
+            FW_APPROACH.clean(shNum);
             selectedSafehome = SAFEHOMES.safehomeCount() - 1;
             cleanSafehomeLayers();
             renderSafehomesOnMap();
@@ -575,79 +591,78 @@ TABS.mission_control.initialize = function (callback) {
             renderSafehomesOnMap();
         });
 
-        $safehomeBox.find($('#safehomeSeaLevelRef')).prop('checked', safehome.getIsSeaLevelRef()).change(event => {
+        $safehomeBox.find($('#safehomeSeaLevelRef')).prop('checked', fwApproach.getIsSeaLevelRef()).change(event => {
             
             let isChecked = $(event.currentTarget).prop('checked') ? 1 : 0;
-            safehome.setIsSeaLevelRef(isChecked);
+            fwApproach.setIsSeaLevelRef(isChecked);
 
             (async () => {
-                const elevation = await safehome.getElevationFromServer(globalSettings) * 100;
+                const elevation = await fwApproach.getElevationFromServer(safehome.getLonMap(), safehome.getLatMap(), globalSettings) * 100;
-                safehome.setElevation(elevation);
+                fwApproach.setElevation(elevation);
                 
                 $('#safehomeElevation').text(elevation / 100);
                 $approachAlt = $safehomeBox.find('#safehomeApproachAlt');
                 $landAlt = $safehomeBox.find('#safehomeLandAlt');
 
                 if (isChecked) {
-                    safehome.setApproachAltAsl(safehome.getApproachAltAsl() + elevation)
+                    fwApproach.setApproachAltAsl(fwApproach.getApproachAltAsl() + elevation);
-                    $approachAlt.val(safehome.getApproachAltAsl());
+                    fwApproach.setLandAltAsl(fwApproach.getLandAltAsl() + elevation);
-                    safehome.setLandAltAsl(safehome.getLandAltAsl() + elevation)
-                    $landAlt.val(safehome.getLandAltAsl());
                 } else {
-                    safehome.setApproachAltAsl(safehome.getApproachAltAsl() - elevation)
+                    fwApproach.setApproachAltAsl(fwApproach.getApproachAltAsl() - elevation);
-                    $approachAlt.val(safehome.getApproachAltAsl());
+                    fwApproach.setLandAltAsl(fwApproach.getLandAltAsl() - elevation);
-                    safehome.setLandAltAsl(safehome.getLandAltAsl() - elevation)
+                    
-                    $landAlt.val(safehome.getLandAltAsl());
                 }
+                $approachAlt.val(fwApproach.getApproachAltAsl());
+                $landAlt.val(fwApproach.getLandAltAsl());
 
-                $('#safehomeLandAltM').text(safehome.getLandAltAsl() / 100 + " m");
+                $('#safehomeLandAltM').text(fwApproach.getLandAltAsl() / 100 + " m");
-                $('#safehomeApproachAltM').text( safehome.getApproachAltAsl() / 100 + " m");
+                $('#safehomeApproachAltM').text( fwApproach.getApproachAltAsl() / 100 + " m");
 
             })();
             
         });
 
-        $safehomeBox.find('#safehomeApproachAlt').val(safehome.getApproachAltAsl()).on('change', event => {
+        $safehomeBox.find('#safehomeApproachAlt').val(fwApproach.getApproachAltAsl()).on('change', event => {
             
             let altitude = Number($(event.currentTarget).val());
-            if (checkSafhomeAltitude(altitude, $safehomeBox.find('#safehomeSeaLevelRef').prop('checked'), Number($('#safehomeElevation').text()))) {
+            if (checkLandingAltitude(altitude, $safehomeBox.find('#safehomeSeaLevelRef').prop('checked'), Number($('#safehomeElevation').text()))) {
-                safehome.setApproachAltAsl(Number($(event.currentTarget).val()));
+                fwApproach.setApproachAltAsl(Number($(event.currentTarget).val()));
-                $('#safehomeApproachAltM').text( safehome.getApproachAltAsl() / 100 + " m");
+                $('#safehomeApproachAltM').text( fwApproach.getApproachAltAsl() / 100 + " m");
                 cleanSafehomeLayers();
                 renderSafehomesOnMap();
                 renderHomeTable();
             }
-            $safehomeBox.find('#safehomeApproachAlt').val(safehome.getApproachAltAsl());
+            $safehomeBox.find('#safehomeApproachAlt').val(fwApproach.getApproachAltAsl());
             
         });
 
-        $safehomeBox.find('#safehomeLandAlt').val(safehome.getLandAltAsl()).on('change', event => {
+        $safehomeBox.find('#safehomeLandAlt').val(fwApproach.getLandAltAsl()).on('change', event => {
             
             let altitude = Number($(event.currentTarget).val());
-            if (checkSafhomeAltitude(altitude, $safehomeBox.find('#safehomeSeaLevelRef').prop('checked'), Number($('#safehomeElevation').text()))) {
+            if (checkLandingAltitude(altitude, $safehomeBox.find('#safehomeSeaLevelRef').prop('checked'), Number($('#safehomeElevation').text()))) {
-                safehome.setLandAltAsl(altitude);
+                fwApproach.setLandAltAsl(altitude);
-                $('#safehomeLandAltM').text(safehome.getLandAltAsl() / 100 + " m");
+                $('#safehomeLandAltM').text(fwApproach.getLandAltAsl() / 100 + " m");
                 cleanSafehomeLayers();
                 renderSafehomesOnMap();
                 renderHomeTable();
             } else {
-                $safehomeBox.find('#safehomeLandAlt').val(safehome.getLandAltAsl());
+                $safehomeBox.find('#safehomeLandAlt').val(fwApproach.getLandAltAsl());
             }
         });
 
-        $safehomeBox.find('#geozoneApproachDirection').val(safehome.getApproachDirection()).on('change', event => {
+        $safehomeBox.find('#geozoneApproachDirection').val(fwApproach.getApproachDirection()).on('change', event => {
-            safehome.setApproachDirection($(event.currentTarget).val());
+            fwApproach.setApproachDirection($(event.currentTarget).val());
             cleanSafehomeLayers();
             renderSafehomesOnMap();
         });
 
-        $safehomeBox.find('#safehomeLandHeading1Excl').prop('checked', safehome.getLandHeading1() < 0).change(event => {
+        $safehomeBox.find('#safehomeLandHeading1Excl').prop('checked', fwApproach.getLandHeading1() < 0).change(event => {
-            safehome.setLandHeading1(safehome.getLandHeading1() * -1);
+            fwApproach.setLandHeading1(fwApproach.getLandHeading1() * -1);
             cleanSafehomeLayers();
             renderSafehomesOnMap();
         });
 
-        $safehomeBox.find('#safehomeLandHeading1').val(Math.abs(safehome.getLandHeading1())).on('change', event => {
+        $safehomeBox.find('#safehomeLandHeading1').val(Math.abs(fwApproach.getLandHeading1())).on('change', event => {
             let val = Number($(event.currentTarget).val());
             if (val < 0) {
                 val = 360;
@@ -662,18 +677,18 @@ TABS.mission_control.initialize = function (callback) {
                 val *= -1;
             }
 
-            safehome.setLandHeading1(val);
+            fwApproach.setLandHeading1(val);
             cleanSafehomeLayers();
             renderSafehomesOnMap();
         });
 
-        $safehomeBox.find('#safehomeLandHeading2Excl').prop('checked', safehome.getLandHeading2() < 0).change(event => {
+        $safehomeBox.find('#safehomeLandHeading2Excl').prop('checked', fwApproach.getLandHeading2() < 0).change(event => {
-            safehome.setLandHeading2(safehome.getLandHeading2() * -1);
+            fwApproach.setLandHeading2(fwApproach.getLandHeading2() * -1);
             cleanSafehomeLayers();
             renderSafehomesOnMap();
         });
 
-        $safehomeBox.find('#safehomeLandHeading2').val(Math.abs(safehome.getLandHeading2())).on('change', event => {
+        $safehomeBox.find('#safehomeLandHeading2').val(Math.abs(fwApproach.getLandHeading2())).on('change', event => {
             let val = Number($(event.currentTarget).val());
             if (val < 0) {
                 val = 360;
@@ -688,22 +703,22 @@ TABS.mission_control.initialize = function (callback) {
                 val *= -1;
             }
 
-            safehome.setLandHeading2(val);
+            fwApproach.setLandHeading2(val);
             cleanSafehomeLayers();
             renderSafehomesOnMap();
         });
 
-        $('#safehomeLandAltM').text(safehome.getLandAltAsl() / 100 + " m");
+        $('#safehomeLandAltM').text(fwApproach.getLandAltAsl() / 100 + " m");
-        $('#safehomeApproachAltM').text(safehome.getApproachAltAsl() / 100 + " m");
+        $('#safehomeApproachAltM').text(fwApproach.getApproachAltAsl() / 100 + " m");
         
-        if (safehome.getElevation() != NaN)
+        if (fwApproach.getElevation() != NaN)
-            $('#safehomeElevation').text(safehome.getElevation() / 100 + " m");
+            $('#safehomeElevation').text(fwApproach.getElevation() / 100 + " m");
     
         GUI.switchery();
         localize();
     }
 
-    function checkSafhomeAltitude(altitude, isSeaLevelRef, sealevel) {
+    function checkLandingAltitude(altitude, isSeaLevelRef, sealevel) {
 
         if (isSeaLevelRef && altitude - sealevel < 0) {
             alert(chrome.i18n.getMessage('MissionPlannerAltitudeChangeReset'));
@@ -726,11 +741,8 @@ TABS.mission_control.initialize = function (callback) {
         let mapCenter = map.getView().getCenter();
         let midLon = Math.round(ol.proj.toLonLat(mapCenter)[0] * 1e7);
         let midLat = Math.round(ol.proj.toLonLat(mapCenter)[1] * 1e7);
-        var safehome = new Safehome(1, midLat, midLon);
+        SAFEHOMES.put(new Safehome(SAFEHOMES.safehomeCount(), 1, midLat, midLon));
-        safehome.setNumber(SAFEHOMES.safehomeCount());
+        selectedSafehome = SAFEHOMES.safehomeCount() - 1;        
-        SAFEHOMES.put(safehome);
-        selectedSafehome = SAFEHOMES.safehomeCount() - 1;
-        
 
         cleanSafehomeLayers();
         renderSafehomesOnMap();
@@ -749,15 +761,24 @@ TABS.mission_control.initialize = function (callback) {
             addSafeHomeMarker(safehome);
         });
         SAFEHOMES.get().forEach(safehome => {
-            addFwApproach(safehome);
+            addFwApproach(safehome.getLonMap(), safehome.getLatMap(), FW_APPROACH.get()[safehome.getNumber()]);
         });
     }
 
+    function cleanApproachLayers()
+    {
+        for (var i in approachLayers) {
+            map.removeLayer(approachLayers[i]);
+        }
+        approachLayers = [];
+    }
+
     function cleanSafehomeLayers() {
         for (var i in safehomeMarkers) {
             map.removeLayer(safehomeMarkers[i]);
         }
         safehomeMarkers = [];
+        cleanApproachLayers();
     }
 
     function getSafehomeIcon(safehome) {
@@ -836,7 +857,7 @@ TABS.mission_control.initialize = function (callback) {
         vectorLayer.kind = "approachline";
         vectorLayer.selection = false;
 
-        safehomeMarkers.push(vectorLayer);
+        approachLayers.push(vectorLayer);
         map.addLayer(vectorLayer);
     }
 
@@ -856,26 +877,26 @@ TABS.mission_control.initialize = function (callback) {
         paintApproachLine(pos1, landCoord, '#f78a05');
     }
 
-    function addFwApproach(safehome)
+    function addFwApproach(lon, lat, fwApproach)
     {        
-        if (safehome.getLandHeading1() != 0) {
+        if (fwApproach.getLandHeading1() != 0) {
-            let bearing = wrap_360(Math.abs(safehome.getLandHeading1()) + 180);
+            let bearing = wrap_360(Math.abs(fwApproach.getLandHeading1()) + 180);
-            paintApproach({lat: safehome.getLatMap(), lon: safehome.getLonMap()}, settings.fwApproachLength, bearing, safehome.getApproachDirection());
+            paintApproach({lat: lat, lon: lon}, settings.fwApproachLength, bearing, fwApproach.getApproachDirection());
         }
 
-        if (safehome.getLandHeading1() > 0) {     
+        if (fwApproach.getLandHeading1() > 0) {     
-            let direction = safehome.getApproachDirection() == ApproachDirection.LEFT ? ApproachDirection.RIGHT : ApproachDirection.LEFT;
+            let direction = fwApproach.getApproachDirection() == ApproachDirection.LEFT ? ApproachDirection.RIGHT : ApproachDirection.LEFT;
-            paintApproach({lat: safehome.getLatMap(), lon: safehome.getLonMap()}, settings.fwApproachLength, safehome.getLandHeading1(), direction);
+            paintApproach({lat: lat, lon: lon}, settings.fwApproachLength, fwApproach.getLandHeading1(), direction);
         }
 
-        if (safehome.getLandHeading2() != 0) {
+        if (fwApproach.getLandHeading2() != 0) {
-            let bearing = wrap_360(Math.abs(safehome.getLandHeading2()) + 180);
+            let bearing = wrap_360(Math.abs(fwApproach.getLandHeading2()) + 180);
-            paintApproach({lat: safehome.getLatMap(), lon: safehome.getLonMap()}, settings.fwApproachLength, bearing, safehome.getApproachDirection());
+            paintApproach({lat: lat, lon: lon}, settings.fwApproachLength, bearing, fwApproach.getApproachDirection());
         }
 
-        if (safehome.getLandHeading2() > 0) {
+        if (fwApproach.getLandHeading2() > 0) {
-            let direction = safehome.getApproachDirection() == ApproachDirection.LEFT ? ApproachDirection.RIGHT : ApproachDirection.LEFT;
+            let direction = fwApproach.getApproachDirection() == ApproachDirection.LEFT ? ApproachDirection.RIGHT : ApproachDirection.LEFT;
-            paintApproach({lat: safehome.getLatMap(), lon: safehome.getLonMap()}, settings.fwApproachLength, safehome.getLandHeading2(), direction);
+            paintApproach({lat: lat, lon: lon}, settings.fwApproachLength, fwApproach.getLandHeading2(), direction);
         }
     }
 
@@ -2028,6 +2049,20 @@ TABS.mission_control.initialize = function (callback) {
                         $('#elevationValueAtWP').text(elevationAtWP);
                         const returnAltitude = checkAltElevSanity(false, mission.getWaypoint(tempMarker.number).getAlt(), elevationAtWP, mission.getWaypoint(tempMarker.number).getP3());
                         mission.getWaypoint(tempMarker.number).setAlt(returnAltitude);
+
+                        let approach = FW_APPROACH.get()[SAFEHOMES.getMaxSafehomeCount() + tempMarker.number];
+                        if (approach.getIsSeaLevelRef()) {
+                            if (approach.getElevation() != 0) { 
+                                approach.setApproachAltAsl(approach.getApproachAltAsl() - approach.getElevation() + elevationAtWP * 100);
+                                approach.setLandAltAsl(approach.getLandAltAsl() - approach.getElevation() + elevationAtWP * 100);
+                            }
+                            approach.setElevation(elevationAtWP * 100);
+                            $('#wpApproachAlt').val(approach.getApproachAltAsl());
+                            $('#wpLandAlt').val(approach.getLandAltAsl);
+                            $('#wpLandAltM').text(approach.getLandAltAsl() / 100 + " m");
+                            $('#wpApproachAltM').text(approach.getApproachAltAsl() / 100 + " m");   
+                        }
+                        
                         plotElevation();
                     })()
                 }
@@ -2042,15 +2077,16 @@ TABS.mission_control.initialize = function (callback) {
             }
             else if (tempMarker.kind == "safehome") {
                 (async () => {
+                    let approach = FW_APPROACH.get()[tempMarker.number];
                     let safehome = SAFEHOMES.get()[tempMarker.number];
-                    const elevation = await safehome.getElevationFromServer(globalSettings) * 100;
+                    const elevation = await approach.getElevationFromServer(safehome.getLonMap(), safehome.getLatMap(), globalSettings) * 100;
                     $('#safehomeElevation').text(elevation / 100 + " m");        
-                    if (safehome.getIsSeaLevelRef()) {
+                    if (approach.getIsSeaLevelRef()) {
-                        if ( safehome.getElevation() != 0) { 
+                        if (approach.getElevation() != 0) { 
-                            safehome.setApproachAltAsl(safehome.getApproachAltAsl() - safehome.getElevation() + elevation);
+                            approach.setApproachAltAsl(approach.getApproachAltAsl() - approach.getElevation() + elevation);
-                            safehome.setLandAltAsl(safehome.getLandAltAsl() - safehome.getElevation() + elevation);
+                            approach.setLandAltAsl(approach.getLandAltAsl() - approach.getElevation() + elevation);
                         }
-                        safehome.setElevation(elevation);
+                        approach.setElevation(elevation);
                         renderSafehomesTable();
                     }                         
                 })()
@@ -2174,6 +2210,7 @@ TABS.mission_control.initialize = function (callback) {
             if (selectedFeature && tempMarker.kind == "waypoint") {
                 $("#editMission").hide();
                 selectedMarker = mission.getWaypoint(tempMarker.number);
+                selectedFwApproachWp = FW_APPROACH.get()[SAFEHOMES.getMaxSafehomeCount() + selectedMarker.getNumber()];
                 var geometry = selectedFeature.getGeometry();
                 var coord = ol.proj.toLonLat(geometry.getCoordinates());
 
@@ -2210,6 +2247,15 @@ TABS.mission_control.initialize = function (callback) {
                 $('#pointP1').val(selectedMarker.getP1());
                 $('#pointP2').val(selectedMarker.getP2());
 
+                $('#wpApproachAlt').val(selectedFwApproachWp.getApproachAltAsl());
+                $('#wpLandAlt').val(selectedFwApproachWp.getLandAltAsl);
+                $('#wpLandAltM').text(selectedFwApproachWp.getLandAltAsl() / 100 + " m");
+                $('#wpApproachAltM').text(selectedFwApproachWp.getApproachAltAsl() / 100 + " m");
+                $('#wpApproachDirection').val(selectedFwApproachWp.getApproachDirection());
+                $('#wpLandHeading1').val(selectedFwApproachWp.getLandHeading1());
+                $('#wpLandHeading1Excl1').prop('checked', selectedFwApproachWp.getLandHeading1() < 0);
+                $('#wpLandHeading2').val(selectedFwApproachWp.getLandHeading2());
+                $('#wpLandHeading1Excl2').prop('checked', selectedFwApproachWp.getLandHeading2() < 0);
 
                 // Selection box update depending on choice of type of waypoint
                 for (var j in dictOfLabelParameterPoint[selectedMarker.getAction()]) {
@@ -2403,6 +2449,13 @@ TABS.mission_control.initialize = function (callback) {
         $('#pointType').change(function () {
             if (selectedMarker) {
                 selectedMarker.setAction(Number($('#pointType').val()));
+
+                if (selectedMarker.getAction() == MWNP.WPTYPE.LAND) {
+                    $('#wpFwLanding').fadeIn(300);
+                } else  {
+                    $('#wpFwLanding').fadeOut(300);
+                }
+
                 if ([MWNP.WPTYPE.SET_POI,MWNP.WPTYPE.POSHOLD_TIME,MWNP.WPTYPE.LAND].includes(selectedMarker.getAction())) {
                     selectedMarker.setP1(0.0);
                     selectedMarker.setP2(0.0);
@@ -2513,6 +2566,24 @@ TABS.mission_control.initialize = function (callback) {
                     altitudeMeters = app.ConvertCentimetersToMeters(selectedMarker.getAlt());
                     $('#altitudeInMeters').text(` ${altitudeMeters}m`);
 
+                    if (selectedFwApproachWp && selectedFwApproachWp.getIsSeaLevelRef() != $('#pointP3Alt').prop("checked")) {
+                        selectedFwApproachWp.setIsSeaLevelRef($('#pointP3Alt').prop("checked"));
+                        selectedFwApproachWp.setElevation(elevationAtWP * 100);
+                        if ($('#pointP3Alt').prop("checked")) {
+                            selectedFwApproachWp.setApproachAltAsl(selectedFwApproachWp.getApproachAltAsl() + elevationAtWP * 100);
+                            selectedFwApproachWp.setLandAltAsl(selectedFwApproachWp.getLandAltAsl() + elevationAtWP * 100);
+                        } else {
+                            selectedFwApproachWp.setApproachAltAsl(selectedFwApproachWp.getApproachAltAsl() - elevationAtWP * 100);
+                            selectedFwApproachWp.setLandAltAsl(selectedFwApproachWp.getLandAltAsl() - elevationAtWP * 100);
+                        }
+
+                        $('#wpApproachAlt').val(selectedFwApproachWp.getApproachAltAsl());
+                        $('#wpLandAlt').val(selectedFwApproachWp.getLandAltAsl());        
+                    }
+                    
+                    $('#wpLandAltM').text(selectedFwApproachWp.getLandAltAsl() / 100 + " m");
+                    $('#wpApproachAltM').text(selectedFwApproachWp.getApproachAltAsl() / 100 + " m");
+                    
                     mission.updateWaypoint(selectedMarker);
                     mission.update(singleMissionActive());
                     redrawLayer();
@@ -2581,6 +2652,49 @@ TABS.mission_control.initialize = function (callback) {
             }
         });
 
+        $('#wpApproachAlt').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                let altitude = Number($(event.currentTarget).val());
+                if (checkLandingAltitude(altitude, $('#pointP3Alt').prop('checked'), Number($('#elevationValueAtWP').text()))) {
+                    selectedFwApproachWp.setApproachAltAsl(Number($(event.currentTarget).val()));
+                    $('#wpApproachAltM').text(selectedFwApproachWp.getApproachAltAsl() / 100 + " m");
+                    redrawLayer();
+                }
+            }
+        });
+
+        $('#wpLandAlt').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                let altitude = Number($(event.currentTarget).val());
+                if (checkLandingAltitude(altitude, $('#pointP3Alt').prop('checked'), Number($('#elevationValueAtWP').text()))) {
+                    selectedFwApproachWp.setLandAltAsl(Number($(event.currentTarget).val()));
+                    $('#wpLandAltM').text(selectedFwApproachWp.getApproachAltAsl() / 100 + " m");
+                    redrawLayer();
+                }
+            }
+        });
+
+        $('#wpApproachDirection').on('change', (event) => {
+
+        });
+
+        $('#wpLandHeading1').on('change', (event) => {
+
+        });
+
+        $('#wpLandHeading1Excl1').on('change', (event) => {
+
+        });
+
+        $('#wpLandHeading2').on('change', (event) => {
+
+        });
+
+        $('#wpLandHeading1Excl2').on('change', (event) => {
+
+        });
+
+
         /////////////////////////////////////////////
         // Callback for Waypoint Options Table
         /////////////////////////////////////////////
@@ -2638,6 +2752,7 @@ TABS.mission_control.initialize = function (callback) {
             $(this).addClass('disabled');
             GUI.log(chrome.i18n.getMessage('startGettingSafehomePoints'));
             mspHelper.loadSafehomes();
+            mspHelper.loadFwApproach();
             setTimeout(function(){
                 renderSafehomesTable();
                 cleanSafehomeLayers();
@@ -2653,6 +2768,7 @@ TABS.mission_control.initialize = function (callback) {
             $(this).addClass('disabled');
             GUI.log(chrome.i18n.getMessage('startSendingSafehomePoints'));
             mspHelper.saveSafehomes();
+            mspHelper.saveFwApproach();
             setTimeout(function(){
                 mspHelper.saveToEeprom();
                 GUI.log(chrome.i18n.getMessage('endSendingSafehomePoints'));