Add "Restart Mission" checkbox to "Set Current Waypoint" action

src/FlyView/GuidedActionsController.qml

@@ -489,6 +489,10 @@ Item {
         case actionSetWaypoint:
             confirmDialog.title = setWaypointTitle
             confirmDialog.message = setWaypointMessage
+            if (_activeVehicle.supports.restartMission) {
+                confirmDialog.optionText = qsTr("Restart Mission")
+                confirmDialog.optionChecked = false
+            }
             break;
         case actionOrbit:
             confirmDialog.title = orbitTitle
@@ -635,7 +639,7 @@ Item {
             }
             break
         case actionSetWaypoint:
-            _activeVehicle.setCurrentMissionSequence(actionData)
+            _activeVehicle.setCurrentMissionSequence(actionData, optionChecked /* restartMission */)
             break
         case actionOrbit:
             var valueInMeters = _unitsConversion.appSettingsVerticalDistanceUnitsToMeters(sliderOutputValue)

src/Vehicle/Vehicle.cc

@@ -2093,7 +2093,7 @@ void Vehicle::landingGearRetract()
                 1.0f);      // up
 }
 
-void Vehicle::setCurrentMissionSequence(int seq)
+void Vehicle::setCurrentMissionSequence(int seq, bool restartMission)
 {
     if (!_firmwarePlugin->sendHomePositionToVehicle()) {
         seq--;
@@ -2124,7 +2124,8 @@ void Vehicle::setCurrentMissionSequence(int seq)
         static_cast<uint8_t>(defaultComponentId()),
         MAV_CMD_DO_SET_MISSION_CURRENT,
         true, // showError
-        static_cast<uint16_t>(seq)
+        static_cast<uint16_t>(seq),
+        restartMission ? 1.0f : 0.0f
     );
 }
 

src/Vehicle/Vehicle.h

@@ -334,18 +334,22 @@ class Vehicle : public VehicleFactGroup, public VehicleTypes
     /// Command vehicle to abort landing
     Q_INVOKABLE void abortLanding(double climbOutAltitude);
 
-    /// Command vichecle to deploy landing gear
+    /// Command vehicle to deploy landing gear
     Q_INVOKABLE void landingGearDeploy();
 
-    /// Command vichecle to retract landing gear
+    /// Command vehicle to retract landing gear
     Q_INVOKABLE void landingGearRetract();
 
     Q_INVOKABLE void startTakeoff();
 
     Q_INVOKABLE void startMission();
 
-    /// Alter the current mission item on the vehicle
-    Q_INVOKABLE void setCurrentMissionSequence(int seq);
+    /// Set the current mission item on the vehicle.
+    ///     @param seq Mission sequence number to make current.
+    ///     @param restartMission Passed as param2 of MAV_CMD_DO_SET_MISSION_CURRENT when the
+    ///            firmware supports that command (e.g. ArduPilot). Has no effect on firmware
+    ///            that falls back to the deprecated MISSION_SET_CURRENT message (e.g. PX4).
+    Q_INVOKABLE void setCurrentMissionSequence(int seq, bool restartMission = false);
 
     /// Reboot vehicle
     Q_INVOKABLE void rebootVehicle();

src/Vehicle/VehicleSupports.cc

@@ -86,3 +86,11 @@ bool VehicleSupports::changeHeading() const
 {
     return _vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::ChangeHeadingCapability);
 }
+
+bool VehicleSupports::restartMission() const
+{
+    auto* instanceData = _vehicle->firmwarePluginInstanceData();
+    if (!instanceData) return false;
+    return instanceData->anyVersionSupportsCommand(MAV_CMD_DO_SET_MISSION_CURRENT)
+        == FirmwarePluginInstanceData::CommandSupportedResult::SUPPORTED;
+}

src/Vehicle/VehicleSupports.h

@@ -30,6 +30,7 @@ class VehicleSupports : public QObject
     Q_PROPERTY(bool guidedTakeoffWithAltitude       READ guidedTakeoffWithAltitude      CONSTANT)
     Q_PROPERTY(bool guidedTakeoffWithoutAltitude    READ guidedTakeoffWithoutAltitude   CONSTANT)
     Q_PROPERTY(bool changeHeading                   READ changeHeading                  CONSTANT)
+    Q_PROPERTY(bool restartMission                  READ restartMission                 CONSTANT)
 
     bool throttleModeCenterZero() const;
     bool negativeThrust() const;
@@ -46,6 +47,7 @@ class VehicleSupports : public QObject
     bool guidedTakeoffWithAltitude() const;
     bool guidedTakeoffWithoutAltitude() const;
     bool changeHeading() const;
+    bool restartMission() const;
 
 signals:
     void terrainFrameChanged();