Merge branch 'iNavFlight:master' into change-profiles-with-programmin

_locales/en/messages.json

@@ -3971,7 +3971,7 @@
         "message": "I2C Speed"
     },
     "configurationI2cSpeedHelp": {
-        "message": "I2C speed should be kept at the highest level that allows for all connected devices to work. Default 400kHz is a save value and it is suggested to switch to 800kHz in case of Multirotors."
+        "message": "I2C speed should be kept at the highest level that allows for all connected devices to work. Default 400kHz is a safe value and it is suggested to switch to 800kHz in case of Multirotors."
     },
     "i2cSpeedSuggested800khz": {
         "message": "Please switch to 800kHz if connected hardware allows for it"
@@ -4003,6 +4003,9 @@
     "MissionPlannerJumpTargetRemoval": {
         "message": "You can't remove a Waypoint which is defined as a JUMP target! \nYou first need to remove the target on the waypoint triggering the JUMP."
     },
+    "MissionPlannerAltitudeChangeReset": {
+        "message": "Altitude below ground level. Change ignored"
+    },
     "SafehomeSelected": {
         "message": ""
     },

js/fc.js

@@ -861,7 +861,7 @@ var FC = {
         return [];
     },
     getAccelerometerNames: function () {
-        return [ "NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "FAKE"];
+        return [ "NONE", "AUTO", "MPU6050", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "FAKE"];
     },
     getBarometerNames: function () {
         if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {

js/waypoint.js

@@ -139,12 +139,14 @@ let Waypoint = function (number, action, lat, lon, alt=0, p1=0, p2=0, p3=0, endM
     self.getElevation = async function (globalSettings) {
         let elevation;
         if (globalSettings.mapProviderType == 'bing') {
-            const response = await fetch('http://dev.virtualearth.net/REST/v1/Elevation/List?points='+self.getLatMap()+','+self.getLonMap()+'&heights=ellipsoid&key='+globalSettings.mapApiKey);
+            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 {
-            elevation = "NA";
+            elevation = "N/A";
         }
         return elevation;
     }

js/waypointCollection.js

@@ -424,19 +424,21 @@ let WaypointCollection = function () {
             samples = 1024;
         }
         if (globalSettings.mapProviderType == 'bing') {
+            let elevationEarthModel = $('#elevationEarthModel').prop("checked") ? "sealevel" : "ellipsoid";
+
             if (point2measure.length >1) {
-                const response = await fetch('http://dev.virtualearth.net/REST/v1/Elevation/Polyline?points='+point2measure+'&heights=ellipsoid&samples='+String(samples+1)+'&key='+globalSettings.mapApiKey);
+                const response = await fetch('http://dev.virtualearth.net/REST/v1/Elevation/Polyline?points='+point2measure+'&heights='+elevationEarthModel+'&samples='+String(samples+1)+'&key='+globalSettings.mapApiKey);
                 const myJson = await response.json();
                 elevation = myJson.resourceSets[0].resources[0].elevations;
             }
             else {
-                const response = await fetch('http://dev.virtualearth.net/REST/v1/Elevation/List?points='+point2measure+'&heights=ellipsoid&key='+globalSettings.mapApiKey);
+                const response = await fetch('http://dev.virtualearth.net/REST/v1/Elevation/List?points='+point2measure+'&heights='+elevationEarthModel+'&key='+globalSettings.mapApiKey);
                 const myJson = await response.json();
                 elevation = myJson.resourceSets[0].resources[0].elevations;
             }
         }
         else {
-            elevation = "NA";
+            elevation = "N/A";
         }
         //console.log("elevation ", elevation);
         return [lengthMission, totalMissionDistance, samples, elevation, altPoint2measure, namePoint2measure, refPoint2measure];

resources/motor_order/flying_wing.svg

@@ -27,12 +27,12 @@ viewBox="0 0 850 850"
   <polygon id="_1" class="fil1" points="435.91,470.5 416,524.05 407.87,524.05 427.82,470.5 "/>
   <path id="_2" class="fil1" d="M476.15 524.05l-36.3 0 0 -6.51 13.81 -13.89c4.07,-4.17 6.77,-7.12 8.11,-8.87 1.33,-1.75 2.3,-3.39 2.91,-4.93 0.62,-1.53 0.92,-3.18 0.92,-4.95 0,-2.41 -0.73,-4.32 -2.18,-5.71 -1.45,-1.39 -3.46,-2.09 -6.02,-2.09 -2.05,0 -4.04,0.38 -5.97,1.14 -1.91,0.75 -4.12,2.13 -6.65,4.1l-4.65 -5.67c2.99,-2.52 5.88,-4.29 8.69,-5.34 2.81,-1.05 5.8,-1.58 8.98,-1.58 4.97,0 8.97,1.3 11.97,3.9 3.01,2.6 4.51,6.1 4.51,10.49 0,2.43 -0.43,4.71 -1.3,6.89 -0.87,2.17 -2.2,4.41 -4,6.72 -1.8,2.3 -4.77,5.43 -8.96,9.35l-9.3 9.02 0 0.36 25.43 0 0 7.57z"/>
   <rect class="fil0 str1" x="108.12" y="583.6" width="90" height="90"/>
-  <path class="fil1" d="M174.4 643.67l-7.23 0 0 11.7 -8.38 0 0 -11.7 -24.48 0 0 -6.61 24.48 -35.39 8.38 0 0 34.88 7.23 0 0 7.12zm-15.61 -7.12l0 -13.45c0,-4.79 0.12,-8.7 0.36,-11.77l-0.29 0c-0.69,1.62 -1.76,3.58 -3.22,5.87l-13.3 19.35 16.45 0z"/>
+  <path class="fil1" d="M170.47 614.13c0,3.4 -0.98,6.23 -2.96,8.48 -1.99,2.26 -4.76,3.77 -8.36,4.56l0 0.29c4.3,0.54 7.52,1.87 9.67,4.01 2.15,2.14 3.23,4.99 3.23,8.53 0,5.15 -1.83,9.13 -5.46,11.92 -3.64,2.8 -8.82,4.2 -15.53,4.2 -5.94,0 -10.95,-0.96 -15.02,-2.9l0 -7.66c2.27,1.12 4.67,1.99 7.21,2.6 2.55,0.61 4.99,0.91 7.34,0.91 4.15,0 7.25,-0.77 9.3,-2.31 2.05,-1.54 3.07,-3.91 3.07,-7.14 0,-2.86 -1.12,-4.96 -3.4,-6.31 -2.27,-1.34 -5.84,-2.01 -10.7,-2.01l-4.65 0 0 -6.98 4.73 0c8.55,0 12.82,-2.95 12.82,-8.86 0,-2.3 -0.75,-4.08 -2.24,-5.33 -1.48,-1.23 -3.68,-1.86 -6.6,-1.86 -2.02,0 -3.97,0.29 -5.86,0.86 -1.87,0.58 -4.1,1.69 -6.66,3.35l-4.21 -6c4.9,-3.61 10.61,-5.41 17.1,-5.41 5.4,0 9.61,1.16 12.65,3.48 3.02,2.32 4.53,5.51 4.53,9.58z"/>
   <path class="fil2" d="M490.19 412.07l345.42 169.55 0 -179.94 -376.74 -217.33c-18.77,-10.83 -46,-10.37 -65.03,0l-379.45 206.74 0 179.93 345.42 -158.95 130.38 0z"/>
   <polygon class="fil3" points="581.33,456.8 814.41,571.21 814.41,498.09 581.33,383.68 "/>
   <polygon class="fil4" points="35.59,561.27 268.67,454.01 268.67,380.88 35.59,488.14 "/>
   <path class="fil5" d="M404.3 385.32l0 -89.14 -28.9 0 49.6 -89.14 49.6 89.14 -28.9 0 0 89.14 -41.4 0zm0 -44.57m-14.45 -44.57m10.35 -44.57m49.6 0m10.35 44.57m-14.45 44.57m-20.7 44.57"/>
   <rect class="fil0 str2" x="653.12" y="583.6" width="90" height="90"/>
-  <path class="fil1" d="M699.34 621.92c5.4,0 9.68,1.43 12.83,4.29 3.15,2.86 4.72,6.76 4.72,11.7 0,5.71 -1.78,10.17 -5.36,13.39 -3.57,3.21 -8.66,4.82 -15.26,4.82 -5.98,0 -10.69,-0.96 -14.1,-2.9l0 -7.81c1.97,1.12 4.25,1.99 6.81,2.6 2.56,0.61 4.95,0.91 7.15,0.91 3.88,0 6.84,-0.86 8.86,-2.6 2.03,-1.72 3.04,-4.26 3.04,-7.61 0,-6.39 -4.07,-9.59 -12.23,-9.59 -1.16,0 -2.57,0.11 -4.26,0.35 -1.68,0.23 -3.16,0.49 -4.42,0.79l-3.85 -2.28 2.05 -26.16 27.84 0 0 7.65 -20.27 0 -1.2 13.25c0.85,-0.14 1.89,-0.31 3.13,-0.51 1.24,-0.19 2.75,-0.29 4.52,-0.29z"/>
+  <path class="fil1" d="M719.39 643.67l-7.22 0 0 11.7 -8.39 0 0 -11.7 -24.47 0 0 -6.61 24.47 -35.39 8.39 0 0 34.88 7.22 0 0 7.12zm-15.61 -7.12l0 -13.45c0,-4.79 0.13,-8.7 0.36,-11.77l-0.28 0c-0.69,1.62 -1.76,3.58 -3.23,5.87l-13.3 19.35 16.45 0z"/>
  </g>
 </svg>

src/css/tabs/auxiliary.css

@@ -22,6 +22,14 @@
     background: #37a8db;
 }
 
+.tab-auxiliary .mode.inRange .info {
+    background: #104156;
+    color: white;
+}
+.tab-auxiliary .mode.inRange:nth-child(odd) .info {
+    background: #104156;
+}
+
 .tab-auxiliary .mode.off .info {
     background: #828885;
     color: white;
@@ -198,6 +206,33 @@
     padding: 10px 5px;
 }
 
+.tab-auxiliary .acroEnabled {
+    margin-top: 0;
+    margin-bottom: 0;
+    background-color: #828885;
+    color: white;
+    font-family: 'open_sansbold', Arial, serif;
+    font-size: 12px;
+    display: block;
+    cursor: pointer;
+    transition: all ease 0.2s;
+    line-height: 28px;
+    position: fixed;
+    bottom:10px;
+    left:20px;
+    width:10%;
+    text-align: center;
+    z-index: 25000;
+}
+
+.tab-auxiliary .acroEnabled.on {
+    background-color: #37a8db;
+}
+
+.tab-auxiliary .acroEnabled.off {
+    background-color: #828885;
+}
+
 @media only screen and (max-width: 1055px) , only screen and (max-device-width: 1055px) {
     .tab-auxiliary .fixed_band {
         width: calc(100% - -30px);

src/css/tabs/mission_planer.css

@@ -302,7 +302,7 @@
 .tab-mission-control .safehomesTable {
     width: 100%;
     text-align: center;
-    font-size: 8px;
+    font-size: 12px;
 }
 
 .tab-mission-control .safehomesTable input[type="text"] {
@@ -311,7 +311,7 @@
 }
 
 .tab-mission-control .safehomesTable input[type="number"] {
-    font-size: 8px;
+    font-size: 10px;
     width: 100%;
     -moz-appearance: textfield;
 }

tabs/auxiliary.html

@@ -22,6 +22,9 @@
             <a class="save" href="#" i18n="auxiliaryButtonSave"></a>
         </div>
     </div>
+    <div class="acroEnabled">
+        ACRO
+    </div>
 </div>
 <div id="tab-auxiliary-templates">
     <table class="modes">

tabs/auxiliary.js

@@ -111,6 +111,7 @@ TABS.auxiliary.initialize = function (callback) {
         $(newMode).data('index', modeIndex);
         $(newMode).data('id', modeId);
         $(newMode).data('origId', ORIG_AUX_CONFIG_IDS[modeIndex]);
+        $(newMode).data('modeName', AUX_CONFIG[modeIndex]);
 
         $(newMode).find('.name').data('modeElement', newMode);
         $(newMode).find('a.addRange').data('modeElement', newMode);
@@ -180,6 +181,7 @@ TABS.auxiliary.initialize = function (callback) {
 
         $(rangeElement).find('a.deleteRange').click(function () {
             var rangeElement = $(this).data('rangeElement');
+            modeElement.removeClass('inRange');
             rangeElement.remove();
         });
 
@@ -344,8 +346,19 @@ TABS.auxiliary.initialize = function (callback) {
 
         function update_ui() {
             let hasUsedMode = false;
+            let acroEnabled = true;
+            let acroFail = ["ANGLE", "HORIZON", "MANUAL", "NAV RTH", "NAV POSHOLD", "NAV CRUISE", "NAV COURSE HOLD", "NAV WP", "GCS NAV"];
+
+            var auxChannelCount = RC.active_channels - 4;
+
+            for (var i = 0; i < (auxChannelCount); i++) {
+                update_marker(i, RC.channels[i + 4]);
+            }
+
             for (var i = 0; i < AUX_CONFIG.length; i++) {
                 var modeElement = $('#mode-' + i);
+                let inRange = false;
+                
                 if (modeElement.find(' .range').length == 0) {
                     // if the mode is unused, skip it
                     modeElement.removeClass('off').removeClass('on');
@@ -353,13 +366,49 @@ TABS.auxiliary.initialize = function (callback) {
                 }
 
                 if (FC.isModeBitSet(modeElement.data('origId'))) {
-                    $('.mode .name').eq(modeElement.data('index')).data('modeElement').addClass('on').removeClass('off');
+                    // The flight controller can activate the mode
+                    $('.mode .name').eq(modeElement.data('index')).data('modeElement').addClass('on').removeClass('inRange').removeClass('off');
+
+                    if (jQuery.inArray(modeElement.data('modeName'), acroFail) !== -1) {
+                        acroEnabled = false;
+                    }
                 } else {
-                    $('.mode .name').eq(modeElement.data('index')).data('modeElement').removeClass('on').addClass('off');
+                    // Check to see if the mode is in range
+                    var modeRanges = modeElement.find(' .range');
+                    for (r = 0; r < modeRanges.length; r++) {
+                        var rangeLow = $(modeRanges[r]).find('.lowerLimitValue').html();
+                        var rangeHigh = $(modeRanges[r]).find('.upperLimitValue').html();
+                        var markerPosition = $(modeRanges[r]).find('.marker')[0].style.left;
+                        markerPosition = markerPosition.substring(0, markerPosition.length-1);
+
+                        rangeLow = (rangeLow - 900) / (2100-900) * 100;
+                        rangeHigh = (rangeHigh - 900) / (2100-900) * 100;
+
+                        if ((markerPosition >= rangeLow) && (markerPosition <= rangeHigh)) {
+                            inRange = true;
+                        }
+                    }
+                    
+                    if (inRange) {
+                        $('.mode .name').eq(modeElement.data('index')).data('modeElement').removeClass('on').addClass('inRange').removeClass('off');
+
+                        if (jQuery.inArray(modeElement.data('modeName'), acroFail) !== -1) {
+                            acroEnabled = false;
+                        }
+                    } else {
+                        // If not, it is shown as disabled.
+                        $('.mode .name').eq(modeElement.data('index')).data('modeElement').removeClass('on').removeClass('inRange').addClass('off');
+                    }
                 }
                 hasUsedMode = true;
             }
 
+            if (acroEnabled) {
+                $('.acroEnabled').addClass('on').removeClass('off');
+            } else {
+                $('.acroEnabled').removeClass('on').addClass('off');
+            }
+        
             let hideUnused = hideUnusedModes && hasUsedMode;
             for (let i = 0; i < AUX_CONFIG.length; i++) {
                 let modeElement = $('#mode-' + i);
@@ -367,11 +416,6 @@ TABS.auxiliary.initialize = function (callback) {
                     modeElement.toggle(!hideUnused);
                 }
             }    
-            var auxChannelCount = RC.active_channels - 4;
-
-            for (var i = 0; i < (auxChannelCount); i++) {
-                update_marker(i, RC.channels[i + 4]);
-            }
         }
 
         let hideUnusedModes = false;
@@ -391,6 +435,8 @@ TABS.auxiliary.initialize = function (callback) {
         // enable data pulling
         helper.mspBalancedInterval.add('aux_data_pull', 50, 1, get_rc_data);
 
+        $(".tab-auxiliary .acroEnabled").width($("#mode-0 .info").width());
+
         GUI.content_ready(callback);
     }
 };
@@ -398,3 +444,7 @@ TABS.auxiliary.initialize = function (callback) {
 TABS.auxiliary.cleanup = function (callback) {
     if (callback) callback();
 };
+
+$(window).on('resize', function(){
+    $(".tab-auxiliary .acroEnabled").width($("#mode-0 .info").width());
+});

tabs/mission_control.html

@@ -102,10 +102,10 @@
                             <table class="safehomesTable">
                                 <thead>
                                     <tr>
-                                        <th style="width: 50px" data-i18n="SafehomeSelected"></th>
+                                        <th style="width: 40px" data-i18n="SafehomeSelected"></th>
-                                        <th style="width: 120px" data-i18n="SafehomeLon"></th>
+                                        <th style="width: 140px" data-i18n="SafehomeLat"></th>
-                                        <th style="width: 120px" data-i18n="SafehomeLat"></th>
+                                        <th style="width: 140px" data-i18n="SafehomeLon"></th>
-                                        <th style="width: 120px" data-i18n="SafehomeAlt"></th>
+                                        <th style="width: 100px" data-i18n="SafehomeAlt"></th>
                                     </tr>
                                 </thead>
                                 <tbody id="homeTableBody">
@@ -116,12 +116,16 @@
                                     </td>
                                     <td><input type="number" class="home-lon" /></td>
                                     <td><input type="number" class="home-lat" /></td>
-                                    <td><span id="elevationValueAtHome">NA</span></td>
+                                    <td><span id="elevationValueAtHome">N/A</span></td>
                                     </tr>
                                 </tbody>
                             </table>
                         </div>
                     </div>
+                    <div class="point" id="elevationEarthModelclass" style="display: none">
+                        <label class="spacer_box_title i18n-replaced" for="elevationEarthModel">Use Sea Level Earth DEM Model: </label>
+                        <input id="elevationEarthModel" type="checkbox" value="0" class="togglemedium" required>
+                    </div>
                 </div>
 
                 <div id="missionPlanerSafehome" class="gui_box grey" style="display: none">
@@ -141,11 +145,11 @@
                             <table class="safehomesTable">
                                 <thead>
                                     <tr>
-                                        <th style="width: 80px" data-i18n="SafehomeSelected"></th>
+                                        <th style="width: 40px" data-i18n="SafehomeSelected"></th>
-                                        <th style="width: 50px" data-i18n="SafehomeId"></th>
+                                        <th style="width: 40px" data-i18n="SafehomeId"></th>
-                                        <th style="width: 80px" data-i18n="SafehomeEnabled"></th>
+                                        <th style="width: 60px" data-i18n="SafehomeEnabled"></th>
-                                        <th style="width: 120px" data-i18n="SafehomeLon"></th>
+                                        <th style="width: 140px" data-i18n="SafehomeLat"></th>
-                                        <th style="width: 120px" data-i18n="SafehomeLat"></th>
+                                        <th style="width: 140px" data-i18n="SafehomeLon"></th>
                                     </tr>
                                 </thead>
                                 <tbody id="safehomesTableBody">
@@ -215,7 +219,11 @@
                         </div>
                         <div class="point" id="elevationAtWP" style="display: none">
                             <label class="point-label">Elevation (m): </label>
-                            <span id="elevationValueAtWP">NA</span>
+                            <span id="elevationValueAtWP">N/A</span>
+                        </div>
+                        <div class="point" id="groundClearanceAtWP" style="display: none">
+                            <label class="point-label">Grd Dist (m): </label>
+                            <span id="groundClearanceValueAtWP">N/A</span>
                         </div>
                         <div class="point" id="pointP1class" style="display: none">
                             <label class="point-label" for="pointP1">Parameter 1: </label>

tabs/mission_control.js

@@ -474,8 +474,8 @@ TABS.mission_control.initialize = function (callback) {
                     </td> \
                     <td><span class="safehome-number"/></td>\
                     <td class="safehome-enabled"><input type="checkbox" class="togglesmall safehome-enabled-value"/></td> \
-                    <td><input type="number" class="safehome-lon" /></td>\
                     <td><input type="number" class="safehome-lat" /></td>\
+                    <td><input type="number" class="safehome-lon" /></td>\
                     </tr>\
                 ');
 
@@ -645,24 +645,33 @@ TABS.mission_control.initialize = function (callback) {
          * Process home table UI
          */
 
-        $(".home-lon").val(HOME.getLonMap()).change(function () {
-            HOME.setLon(Math.round(Number($(this).val()) * 10000000));
-            cleanHomeLayers();
-            renderHomeOnMap();
-        });
-        
         $(".home-lat").val(HOME.getLatMap()).change(function () {
             HOME.setLat(Math.round(Number($(this).val()) * 10000000));
             cleanHomeLayers();
             renderHomeOnMap();
         });
 
-        (async () => {
+        $(".home-lon").val(HOME.getLonMap()).change(function () {
-            const elevationAtHome = await HOME.getElevation(globalSettings);
+            HOME.setLon(Math.round(Number($(this).val()) * 10000000));
-            $('#elevationValueAtHome').text(elevationAtHome+' m');
+            cleanHomeLayers();
-            HOME.setAlt(elevationAtHome);
+            renderHomeOnMap();
-        })()
+        });
 
+        if (HOME.getLatMap() == 0 && HOME.getLonMap() == 0) {
+            HOME.setAlt("N/A");
+        } else {
+            (async () => {
+                const elevationAtHome = await HOME.getElevation(globalSettings);
+                $('#elevationValueAtHome').text(elevationAtHome+' m');
+                HOME.setAlt(elevationAtHome);
+            })()
+        }
+
+        if (globalSettings.mapProviderType == 'bing') {
+            $('#elevationEarthModelclass').fadeIn(300);
+        } else {
+            $('#elevationEarthModelclass').fadeOut(300);
+        }
     }
 
 
@@ -1301,8 +1310,10 @@ TABS.mission_control.initialize = function (callback) {
                 let tempWp = mission.getWaypoint(tempMarker.number);
                 tempWp.setLon(Math.round(coord[0] * 10000000));
                 tempWp.setLat(Math.round(coord[1] * 10000000));
-                $('#pointLon').val(Math.round(coord[0] * 10000000) / 10000000);
+                if (selectedMarker != null && tempMarker.number == selectedMarker.getLayerNumber()) {
-                $('#pointLat').val(Math.round(coord[1] * 10000000) / 10000000);
+                    $('#pointLon').val(Math.round(coord[0] * 10000000) / 10000000);
+                    $('#pointLat').val(Math.round(coord[1] * 10000000) / 10000000);
+                }
                 mission.updateWaypoint(tempWp);
                 repaintLine4Waypoints(mission);
             }
@@ -1351,14 +1362,16 @@ TABS.mission_control.initialize = function (callback) {
          * @return {boolean} `false` to stop the drag sequence.
          */
         app.Drag.prototype.handleUpEvent = function (evt) {
-            if (tempMarker.kind == "waypoint" ){
+            if ( tempMarker.kind == "waypoint" ) {
+                if (selectedMarker != null && tempMarker.number == selectedMarker.getLayerNumber()) {
                     (async () => {
-                        if (mission.getWaypoint(tempMarker.number).getP3() == 1.0) {
+                        const elevationAtWP = await mission.getWaypoint(tempMarker.number).getElevation(globalSettings);
-                            const elevationAtWP = await mission.getWaypoint(tempMarker.number).getElevation(globalSettings);
+                        $('#elevationValueAtWP').text(elevationAtWP);
-                            $('#elevationValueAtWP').text(elevationAtWP);
+                        const returnAltitude = checkAltElevSanity(false, mission.getWaypoint(tempMarker.number).getAlt(), elevationAtWP, mission.getWaypoint(tempMarker.number).getP3());
-                        }
+                        mission.getWaypoint(tempMarker.number).setAlt(returnAltitude);
                         plotElevation();
                     })()
+                }
             }
             else if (tempMarker.kind == "home" ) {
                 (async () => {
@@ -1459,7 +1472,9 @@ TABS.mission_control.initialize = function (callback) {
         // Map on-click behavior definition
         //////////////////////////////////////////////////////////////////////////
         map.on('click', function (evt) {
+            var tempSelectedMarkerIndex = null;
             if (selectedMarker != null && selectedFeature != null) {
+                tempSelectedMarkerIndex = selectedMarker.getLayerNumber();
                 try {
                     selectedFeature.setStyle(getWaypointIcon(selectedMarker, false));
                     selectedMarker = null;
@@ -1488,6 +1503,23 @@ TABS.mission_control.initialize = function (callback) {
 
                 var altitudeMeters = app.ConvertCentimetersToMeters(selectedMarker.getAlt());
 
+                if (globalSettings.mapProviderType == 'bing') {
+                    $('#elevationAtWP').fadeIn();
+                    $('#groundClearanceAtWP').fadeIn();
+                    if (tempSelectedMarkerIndex == null || tempSelectedMarkerIndex != selectedMarker.getLayerNumber()) {
+                        (async () => {
+                            const elevationAtWP = await selectedMarker.getElevation(globalSettings);
+                            $('#elevationValueAtWP').text(elevationAtWP);
+                            const returnAltitude = checkAltElevSanity(false, selectedMarker.getAlt(), elevationAtWP, selectedMarker.getP3());
+                            selectedMarker.setAlt(returnAltitude);
+                            plotElevation();
+                        })()
+                    }
+                } else {
+                    $('#elevationAtWP').fadeOut();
+                    $('#groundClearanceAtWP').fadeOut();
+                }
+
                 $('#altitudeInMeters').text(` ${altitudeMeters}m`);
                 $('#pointLon').val(Math.round(coord[0] * 10000000) / 10000000);
                 $('#pointLat').val(Math.round(coord[1] * 10000000) / 10000000);
@@ -1515,10 +1547,24 @@ TABS.mission_control.initialize = function (callback) {
             else if (selectedFeature && tempMarker.kind == "line" && tempMarker.selection) {
                 let tempWpCoord = ol.proj.toLonLat(evt.coordinate);
                 let tempWp = new Waypoint(tempMarker.number, MWNP.WPTYPE.WAYPOINT, Math.round(tempWpCoord[1] * 10000000), Math.round(tempWpCoord[0] * 10000000), alt=Number(settings.alt), p1=Number(settings.speed));
-                mission.insertWaypoint(tempWp, tempMarker.number);
+                if (homeMarkers.length && HOME.getAlt() != "N/A") {
-                mission.update();
+                    (async () => {
-                cleanLayers();
+                        const elevationAtWP = await tempWp.getElevation(globalSettings);
-                redrawLayers();
+                        tempWp.setAlt(checkAltElevSanity(false, settings.alt, elevationAtWP, 0));
+
+                        mission.insertWaypoint(tempWp, tempMarker.number);
+                        mission.update();
+                        cleanLayers();
+                        redrawLayers();
+                        plotElevation();
+                    })()
+                } else {
+                    mission.insertWaypoint(tempWp, tempMarker.number);
+                    mission.update();
+                    cleanLayers();
+                    redrawLayers();
+                    plotElevation();
+                }
             }
             else if (selectedFeature && tempMarker.kind == "safehome" && tempMarker.selection) {
                 selectedMarker = SAFEHOMES.getSafehome(tempMarker.number);
@@ -1538,11 +1584,24 @@ TABS.mission_control.initialize = function (callback) {
             else {
                 let tempWpCoord = ol.proj.toLonLat(evt.coordinate);
                 let tempWp = new Waypoint(mission.get().length, MWNP.WPTYPE.WAYPOINT, Math.round(tempWpCoord[1] * 10000000), Math.round(tempWpCoord[0] * 10000000), alt=Number(settings.alt), p1=Number(settings.speed));
-                mission.put(tempWp);
+                if (homeMarkers.length && HOME.getAlt() != "N/A") {
-                mission.update();
+                    (async () => {
-                cleanLayers();
+                        const elevationAtWP = await tempWp.getElevation(globalSettings);
-                redrawLayers();
+                        tempWp.setAlt(checkAltElevSanity(false, settings.alt, elevationAtWP, 0));
-                plotElevation();
+
+                        mission.put(tempWp);
+                        mission.update();
+                        cleanLayers();
+                        redrawLayers();
+                        plotElevation();
+                    })()
+                } else {
+                    mission.put(tempWp);
+                    mission.update();
+                    cleanLayers();
+                    redrawLayers();
+                    plotElevation();
+                }
             }
             //mission.missionDisplayDebug();
         });
@@ -1656,7 +1715,6 @@ TABS.mission_control.initialize = function (callback) {
                 if ([MWNP.WPTYPE.SET_POI,MWNP.WPTYPE.POSHOLD_TIME,MWNP.WPTYPE.LAND].includes(selectedMarker.getAction())) {
                     selectedMarker.setP1(0.0);
                     selectedMarker.setP2(0.0);
-                    selectedMarker.setP3(0.0);
                 }
                 for (var j in dictOfLabelParameterPoint[selectedMarker.getAction()]) {
                     if (dictOfLabelParameterPoint[selectedMarker.getAction()][j] != '') {
@@ -1699,7 +1757,9 @@ TABS.mission_control.initialize = function (callback) {
 
         $('#pointAlt').on('change', function (event) {
             if (selectedMarker) {
-                selectedMarker.setAlt(Number($('#pointAlt').val()));
+                const elevationAtWP = Number($('#elevationValueAtWP').text());
+                const returnAltitude = checkAltElevSanity(true, Number($('#pointAlt').val()), elevationAtWP, selectedMarker.getP3());
+                selectedMarker.setAlt(returnAltitude);
                 mission.updateWaypoint(selectedMarker);
                 mission.update();
                 redrawLayer();
@@ -1727,22 +1787,35 @@ TABS.mission_control.initialize = function (callback) {
 
         $('#pointP3').on('change', function (event) {
             if (selectedMarker) {
+                const P3Value = selectedMarker.getP3();
                 selectedMarker.setP3( $('#pointP3').prop("checked") ? 1.0 : 0.0);
-                if ($('#pointP3').prop("checked")) {
+                if (globalSettings.mapProviderType == 'bing') {
                     (async () => {
                         const elevationAtWP = await selectedMarker.getElevation(globalSettings);
                         $('#elevationValueAtWP').text(elevationAtWP);
-                        $('#elevationAtWP').fadeIn(300);
+                        var altitude = Number($('#pointAlt').val());
-                    })()
+                        if (P3Value != selectedMarker.getP3()) {
+                            if ($('#pointP3').prop("checked")) {
+                                if (altitude < 0) {
+                                    altitude = settings.alt;
+                                }
+                                selectedMarker.setAlt(altitude + elevationAtWP * 100);
+                            } else {
+                                selectedMarker.setAlt(altitude - Number(elevationAtWP) * 100);
+                            }
+                        }
+                        const returnAltitude = checkAltElevSanity(false, selectedMarker.getAlt(), elevationAtWP, selectedMarker.getP3());
+                        selectedMarker.setAlt(returnAltitude);
+                        $('#pointAlt').val(selectedMarker.getAlt());
+                        altitudeMeters = app.ConvertCentimetersToMeters(selectedMarker.getAlt());
+                        $('#altitudeInMeters').text(` ${altitudeMeters}m`);
 
+                        mission.updateWaypoint(selectedMarker);
+                        mission.update();
+                        redrawLayer();
+                        plotElevation();
+                    })()
                 }
-                else {
-                    $('#elevationAtWP').fadeOut(300);
-                }
-                mission.updateWaypoint(selectedMarker);
-                mission.update();
-                redrawLayer();
-                plotElevation();
             }
         });
 
@@ -1834,6 +1907,28 @@ TABS.mission_control.initialize = function (callback) {
             closeHomePanel();
         });
 
+        $('#elevationEarthModel').on('change', function (event) {
+            if (globalSettings.mapProviderType == 'bing') {
+                (async () => {
+                    const elevationAtHome = await HOME.getElevation(globalSettings);
+                    $('#elevationValueAtHome').text(elevationAtHome+' m');
+                    HOME.setAlt(elevationAtHome);
+
+                    if (selectedMarker) {
+                        const elevationAtWP = await selectedMarker.getElevation(globalSettings);
+                        $('#elevationValueAtWP').text(elevationAtWP);
+                        const returnAltitude = checkAltElevSanity(false, selectedMarker.getAlt(), elevationAtWP, selectedMarker.getP3());
+                        selectedMarker.setAlt(returnAltitude);
+                        mission.updateWaypoint(selectedMarker);
+                    }
+
+                    mission.update();
+                    redrawLayer();
+                    plotElevation();
+                })()
+            }
+        });
+
         /////////////////////////////////////////////
         // Callback for Remove buttons
         /////////////////////////////////////////////
@@ -1918,7 +2013,6 @@ TABS.mission_control.initialize = function (callback) {
         $('#loadEepromMissionButton').on('click', function () {
             if (markers.length && !confirm(chrome.i18n.getMessage('confirm_delete_all_points'))) return;
             removeAllWaypoints();
-            GUI.log(chrome.i18n.getMessage('eeprom_load_ok'));
             MSP.send_message(MSPCodes.MSP_WP_MISSION_LOAD, [0], getWaypointsFromFC);
         });
 
@@ -1926,12 +2020,6 @@ TABS.mission_control.initialize = function (callback) {
             $(this).addClass('disabled');
             GUI.log('Start send point');
             sendWaypointsToFC();
-            GUI.log('End send point');
-            $('#saveEepromMissionButton').removeClass('disabled');
-            GUI.log(chrome.i18n.getMessage('eeprom_saved_ok'));
-            setTimeout(function(){
-                MSP.send_message(MSPCodes.MSP_WP_MISSION_SAVE, [0], false);
-            },2000);
         });
 
         /////////////////////////////////////////////
@@ -2077,7 +2165,9 @@ TABS.mission_control.initialize = function (callback) {
                 }
 
                 redrawLayers();
-                updateHome();
+                if (!(HOME.getLatMap() == 0 && HOME.getLonMap() == 0)) {
+                    updateHome();
+                }
                 updateTotalInfo();
                 let sFilename = String(filename.split('\\').pop().split('/').pop());
                 GUI.log(sFilename+' has been loaded successfully !');
@@ -2136,8 +2226,8 @@ TABS.mission_control.initialize = function (callback) {
     //
     /////////////////////////////////////////////
     function getWaypointsFromFC() {
-        mspHelper.loadWaypoints();
+        mspHelper.loadWaypoints(function() {
-        setTimeout(function(){
+            GUI.log(chrome.i18n.getMessage('eeprom_load_ok'));
             mission.reinit();
             mission.copy(MISSION_PLANER);
             mission.update(true);
@@ -2146,15 +2236,19 @@ TABS.mission_control.initialize = function (callback) {
             map.getView().setZoom(16);
             redrawLayers();
             updateTotalInfo();
-        }, 2000);
+        });
     }
 
     function sendWaypointsToFC() {
         MISSION_PLANER.reinit();
         MISSION_PLANER.copy(mission);
         MISSION_PLANER.update(true, true);
-        mspHelper.saveWaypoints();
+        mspHelper.saveWaypoints(function() {
-        setTimeout(function(){
+            GUI.log('End send point');
+            $('#saveEepromMissionButton').removeClass('disabled');
+            GUI.log(chrome.i18n.getMessage('eeprom_saved_ok'));
+            MSP.send_message(MSPCodes.MSP_WP_MISSION_SAVE, [0], false);
+
             mission.setMaxWaypoints(MISSION_PLANER.getMaxWaypoints());
             mission.setValidMission(MISSION_PLANER.getValidMission());
             mission.setCountBusyPoints(MISSION_PLANER.getCountBusyPoints());
@@ -2165,7 +2259,7 @@ TABS.mission_control.initialize = function (callback) {
             cleanLayers();
             redrawLayers();
             $('#MPeditPoint').fadeOut(300);
-        }, 2000);
+        });
     }
 
 
@@ -2189,6 +2283,46 @@ TABS.mission_control.initialize = function (callback) {
       }
     }
 
+    /* resetAltitude = true : For selected WPs only. Changes WP Altitude value back to previous value if setting below ground level.
+     ^ resetAltitude = false : changes WP Altitude to value required to give ground clearance = default Altitude setting */
+    function checkAltElevSanity(resetAltitude, checkAltitude, elevation, P3Datum) {
+        if (globalSettings.mapProviderType != 'bing') {
+            return checkAltitude;
+        }
+
+        let groundClearance = "NO HOME";
+        let altitude = checkAltitude;
+        if (P3Datum) {
+            if (checkAltitude < 100 * elevation) {
+                if (resetAltitude) {
+                    alert(chrome.i18n.getMessage('MissionPlannerAltitudeChangeReset'));
+                    altitude = selectedMarker.getAlt();
+                } else {
+                    altitude = settings.alt + 100 * elevation;
+                }
+            }
+            groundClearance = altitude / 100 - elevation;
+        } else if (homeMarkers.length && HOME.getAlt() != "N/A") {
+            let elevationAtHome = HOME.getAlt();
+            if ((checkAltitude / 100 + elevationAtHome) < elevation) {
+                if (resetAltitude) {
+                    alert(chrome.i18n.getMessage('MissionPlannerAltitudeChangeReset'));
+                    altitude = selectedMarker.getAlt();
+                } else {
+                    altitude = settings.alt + 100 * (elevation - elevationAtHome);
+                }
+            }
+            groundClearance = altitude / 100 + (elevationAtHome - elevation);
+        }
+        $('#pointAlt').val(altitude);
+        let altitudeMeters = parseInt(altitude) / 100;
+        $('#altitudeInMeters').text(` ${altitudeMeters}m`);
+        document.getElementById('groundClearanceAtWP').style.color = groundClearance < (settings.alt / 100) ? "#FF0000" : "#303030";
+        $('#groundClearanceValueAtWP').text(` ${groundClearance}`);
+
+        return altitude;
+    }
+
     function plotElevation() {
         if ($('#missionPlanerElevation').is(":visible")) {
             if (mission.get().length == 0) {

tabs/osd.js

@@ -2724,11 +2724,18 @@ OSD.GUI.updatePreviews = function() {
         // consume drag/drop events.
         $img.find('img').css('pointer-events', 'none');
         if (item && item.positionable !== false) {
+            var nameKey = 'osdElement_' + item.name;
+            var nameMessage = chrome.i18n.getMessage(nameKey);
+
+            if (!nameMessage) {
+                nameMessage = inflection.titleize(item.name);
+            }
+
             $img.addClass('field-' + item.id)
                 .data('item', item)
                 .prop('draggable', true)
                 .on('dragstart', OSD.GUI.preview.onDragStart)
-                .prop('title', inflection.titleize(item.name));
+                .prop('title', nameMessage);
         }
 
         $row.append($img);