From b0e715377e8d4f6d2da310887369f9b7b23a7087 Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Sat, 2 Aug 2025 21:40:45 +0100
Subject: [PATCH 1/2] Add moveable mission home location

---
 .../components/mapComponents/homeMarker.jsx   |  9 ++-
 gcs/src/components/missions/missionsMap.jsx   | 16 +++++
 gcs/src/helpers/dataFormatters.js             |  2 +-
 gcs/src/missions.jsx                          | 63 ++++++++++++++++++-
 4 files changed, 86 insertions(+), 4 deletions(-)

diff --git a/gcs/src/components/mapComponents/homeMarker.jsx b/gcs/src/components/mapComponents/homeMarker.jsx
index 5811106b7..2f2345631 100644
--- a/gcs/src/components/mapComponents/homeMarker.jsx
+++ b/gcs/src/components/mapComponents/homeMarker.jsx
@@ -11,7 +11,12 @@ import resolveConfig from "tailwindcss/resolveConfig"
 import tailwindConfig from "../../../tailwind.config"
 const tailwindColors = resolveConfig(tailwindConfig).theme.colors
 
-export default function HomeMarker({ lat, lon, lineTo = null }) {
+export default function HomeMarker({
+  lat,
+  lon,
+  updateMissionHomePositionDragCb,
+  lineTo = null,
+}) {
   return (
     <>
       <MarkerPin
@@ -20,6 +25,8 @@ export default function HomeMarker({ lat, lon, lineTo = null }) {
         colour={tailwindColors.green[400]}
         text={"H"}
         showOnTop={true}
+        draggable={true}
+        dragEndCallback={updateMissionHomePositionDragCb}
       />
       {lineTo !== null && (
         <DrawLineCoordinates
diff --git a/gcs/src/components/missions/missionsMap.jsx b/gcs/src/components/missions/missionsMap.jsx
index 0a7577505..3e955bd46 100644
--- a/gcs/src/components/missions/missionsMap.jsx
+++ b/gcs/src/components/missions/missionsMap.jsx
@@ -54,6 +54,7 @@ function MapSectionNonMemo({
   markerDragEndCallback,
   rallyDragEndCallback,
   addNewMissionItem,
+  updateMissionHomePosition,
   mapId = "dashboard",
 }) {
   const [connected] = useSessionStorage({
@@ -289,6 +290,9 @@ function MapSectionNonMemo({
           <HomeMarker
             lat={intToCoord(homePosition.lat)}
             lon={intToCoord(homePosition.lon)}
+            updateMissionHomePositionDragCb={({ _, x, y }) => {
+              updateMissionHomePosition(x, y)
+            }}
             lineTo={
               filteredMissionItems.length > 0 && [
                 intToCoord(filteredMissionItems[0].y),
@@ -331,6 +335,18 @@ function MapSectionNonMemo({
                 </svg>
               </div>
             </ContextMenuItem>
+            <ContextMenuItem
+              onClick={() => {
+                updateMissionHomePosition(
+                  clickedGpsCoords.lat,
+                  clickedGpsCoords.lng,
+                )
+              }}
+            >
+              <div className="w-full flex justify-between gap-2">
+                <p>Set home position</p>
+              </div>
+            </ContextMenuItem>
           </div>
         )}
       </Map>
diff --git a/gcs/src/helpers/dataFormatters.js b/gcs/src/helpers/dataFormatters.js
index 252435115..6fd634e3a 100644
--- a/gcs/src/helpers/dataFormatters.js
+++ b/gcs/src/helpers/dataFormatters.js
@@ -8,7 +8,7 @@ export function intToCoord(val) {
 }
 
 export function coordToInt(val) {
-  return val * 1e7
+  return parseInt(val * 1e7)
 }
 
 export const dataFormatters = {
diff --git a/gcs/src/missions.jsx b/gcs/src/missions.jsx
index 573478131..22814e489 100644
--- a/gcs/src/missions.jsx
+++ b/gcs/src/missions.jsx
@@ -11,7 +11,8 @@ import { ResizableBox } from "react-resizable"
 import { v4 as uuidv4 } from "uuid"
 
 // Custom component and helpers
-import { Button, Divider, FileButton, Tabs } from "@mantine/core"
+import { Button, Divider, FileButton, Tabs, Tooltip } from "@mantine/core"
+import { IconInfoCircle } from "@tabler/icons-react"
 import Layout from "./components/layout"
 import MissionItemsTable from "./components/missions/missionItemsTable"
 import MissionsMapSection from "./components/missions/missionsMap"
@@ -403,6 +404,53 @@ export default function Missions() {
     }
   }
 
+  function updateMissionHomePosition(lat, lon) {
+    const newHomePosition = {
+      lat: Number.isInteger(lat) ? lat : coordToInt(lat),
+      lon: Number.isInteger(lon) ? lon : coordToInt(lon),
+      alt: 0.1,
+    }
+    setHomePosition(newHomePosition)
+
+    // Also update the first waypoint if it is a home position waypoint
+    if (missionItems.length > 0 && isGlobalFrameHomeCommand(missionItems[0])) {
+      // Check if the first item is a home position command
+      const updatedMissionItems = [...missionItems]
+      updatedMissionItems[0] = {
+        ...updatedMissionItems[0],
+        x: newHomePosition.lat,
+        y: newHomePosition.lon,
+      }
+      setMissionItems(updatedMissionItems)
+    } else {
+      // If the first item is not a home position command, add a new home position item
+      const newHomeMissionItem = {
+        id: uuidv4(),
+        seq: 0,
+        x: newHomePosition.lat,
+        y: newHomePosition.lon,
+        z: 0.1,
+        frame: parseInt(
+          Object.keys(MAV_FRAME_LIST).find(
+            (key) => MAV_FRAME_LIST[key] === "MAV_FRAME_GLOBAL",
+          ),
+        ),
+        command: 16, // MAV_CMD_NAV_WAYPOINT
+        param1: 0,
+        param2: 0,
+        param3: 0,
+        param4: 0,
+        current: 0,
+        autocontinue: 1,
+        target_component: targetInfo.target_component,
+        target_system: targetInfo.target_system,
+        mission_type: 0,
+        mavpackettype: "MISSION_ITEM_INT",
+      }
+      setMissionItems((prevItems) => [newHomeMissionItem, ...prevItems])
+    }
+  }
+
   return (
     <Layout currentPage="missions">
       {/* Banner to let people know that things are still under development */}
@@ -472,7 +520,17 @@ export default function Missions() {
                 <Divider className="my-1" />
 
                 <div className="flex flex-col gap-2">
-                  <p className="font-bold">Home location</p>
+                  <p className="font-bold">
+                    Home location{" "}
+                    <span>
+                      <Tooltip
+                        className="inline"
+                        label="The home location is written to a mission save file."
+                      >
+                        <IconInfoCircle size={20} />
+                      </Tooltip>
+                    </span>
+                  </p>
                   <p>
                     Lat:{" "}
                     {intToCoord(homePosition?.lat).toFixed(
@@ -509,6 +567,7 @@ export default function Missions() {
                   markerDragEndCallback={updateMissionItem}
                   rallyDragEndCallback={updateRallyItem}
                   addNewMissionItem={addNewMissionItem}
+                  updateMissionHomePosition={updateMissionHomePosition}
                   mapId="missions"
                 />
               </div>

From dad5df2c47490f88f4a7340025b225bc7c63f6b6 Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Sat, 2 Aug 2025 21:44:15 +0100
Subject: [PATCH 2/2] Remove unused deconstructed var

---
 gcs/src/components/missions/missionsMap.jsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gcs/src/components/missions/missionsMap.jsx b/gcs/src/components/missions/missionsMap.jsx
index 3e955bd46..d869ca8ad 100644
--- a/gcs/src/components/missions/missionsMap.jsx
+++ b/gcs/src/components/missions/missionsMap.jsx
@@ -290,7 +290,7 @@ function MapSectionNonMemo({
           <HomeMarker
             lat={intToCoord(homePosition.lat)}
             lon={intToCoord(homePosition.lon)}
-            updateMissionHomePositionDragCb={({ _, x, y }) => {
+            updateMissionHomePositionDragCb={({ x, y }) => {
               updateMissionHomePosition(x, y)
             }}
             lineTo={