APM Planner 1.1.11

change wait to 75 seconds
fixup geo-fence
add kml to geo ref image

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -274,12 +274,6 @@
     <Compile Include="GCSViews\FlightPlanner.Designer.cs">
       <DependentUpon>FlightPlanner.cs</DependentUpon>
     </Compile>
-    <Compile Include="GCSViews\test.cs">
-      <SubType>UserControl</SubType>
-    </Compile>
-    <Compile Include="GCSViews\test.Designer.cs">
-      <DependentUpon>test.cs</DependentUpon>
-    </Compile>
     <Compile Include="Joystick.cs" />
     <Compile Include="JoystickSetup.cs">
       <SubType>Form</SubType>
@@ -509,9 +503,6 @@
     <EmbeddedResource Include="GCSViews\Terminal.zh-Hans.resx">
       <DependentUpon>Terminal.cs</DependentUpon>
     </EmbeddedResource>
-    <EmbeddedResource Include="GCSViews\test.resx">
-      <DependentUpon>test.cs</DependentUpon>
-    </EmbeddedResource>
     <EmbeddedResource Include="HUD.resx">
       <DependentUpon>HUD.cs</DependentUpon>
     </EmbeddedResource>

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

@@ -706,7 +706,7 @@ namespace ArdupilotMega.GCSViews
 
                 DateTime startwait = DateTime.Now;
 
-                while ((DateTime.Now - startwait).TotalSeconds < 90)
+                while ((DateTime.Now - startwait).TotalSeconds < 75)
                 {
                     try
                     {
@@ -714,7 +714,7 @@ namespace ArdupilotMega.GCSViews
                     }
                     catch { }
                     System.Threading.Thread.Sleep(1000);
-                    progress.Value = (int)((DateTime.Now - startwait).TotalSeconds / 90.0 * 100);
+                    progress.Value = (int)((DateTime.Now - startwait).TotalSeconds / 75 * 100);
                     progress.Refresh();
                 }
                 try

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs

@@ -31,14 +31,14 @@
         {
             this.components = new System.ComponentModel.Container();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FlightPlanner));
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle17 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle21 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle5 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle22 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle6 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle18 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle19 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle20 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle23 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle7 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle24 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle8 = new System.Windows.Forms.DataGridViewCellStyle();
             this.CHK_altmode = new System.Windows.Forms.CheckBox();
             this.CHK_holdalt = new System.Windows.Forms.CheckBox();
             this.Commands = new System.Windows.Forms.DataGridView();
@@ -118,14 +118,15 @@
             this.addPolygonPointToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.clearPolygonToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.clearMissionToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.geoFenceToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.GeoFenceuploadToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.GeoFencedownloadToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.trackBar1 = new ArdupilotMega.MyTrackBar();
             this.label11 = new System.Windows.Forms.Label();
             this.panelBASE = new System.Windows.Forms.Panel();
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             this.timer1 = new System.Windows.Forms.Timer(this.components);
-            this.geoFenceToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.setReturnLocationToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.GeoFenceuploadToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.GeoFencedownloadToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             ((System.ComponentModel.ISupportInitialize)(this.Commands)).BeginInit();
             this.panel5.SuspendLayout();
             this.panel1.SuspendLayout();
@@ -157,14 +158,14 @@
             // 
             this.Commands.AllowUserToAddRows = false;
             resources.ApplyResources(this.Commands, "Commands");
-            dataGridViewCellStyle17.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
+            dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle17.BackColor = System.Drawing.SystemColors.Control;
+            dataGridViewCellStyle1.BackColor = System.Drawing.SystemColors.Control;
-            dataGridViewCellStyle17.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            dataGridViewCellStyle1.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            dataGridViewCellStyle17.ForeColor = System.Drawing.SystemColors.WindowText;
+            dataGridViewCellStyle1.ForeColor = System.Drawing.SystemColors.WindowText;
-            dataGridViewCellStyle17.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle1.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle17.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle1.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            dataGridViewCellStyle17.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
+            dataGridViewCellStyle1.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
-            this.Commands.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle17;
+            this.Commands.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle1;
             this.Commands.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
             this.Command,
             this.Param1,
@@ -178,17 +179,17 @@
             this.Up,
             this.Down});
             this.Commands.Name = "Commands";
-            dataGridViewCellStyle21.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
+            dataGridViewCellStyle5.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle21.BackColor = System.Drawing.SystemColors.Control;
+            dataGridViewCellStyle5.BackColor = System.Drawing.SystemColors.Control;
-            dataGridViewCellStyle21.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            dataGridViewCellStyle5.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            dataGridViewCellStyle21.ForeColor = System.Drawing.SystemColors.WindowText;
+            dataGridViewCellStyle5.ForeColor = System.Drawing.SystemColors.WindowText;
-            dataGridViewCellStyle21.Format = "N0";
+            dataGridViewCellStyle5.Format = "N0";
-            dataGridViewCellStyle21.NullValue = "0";
+            dataGridViewCellStyle5.NullValue = "0";
-            dataGridViewCellStyle21.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle5.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle21.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle5.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            this.Commands.RowHeadersDefaultCellStyle = dataGridViewCellStyle21;
+            this.Commands.RowHeadersDefaultCellStyle = dataGridViewCellStyle5;
-            dataGridViewCellStyle22.ForeColor = System.Drawing.Color.Black;
+            dataGridViewCellStyle6.ForeColor = System.Drawing.Color.Black;
-            this.Commands.RowsDefaultCellStyle = dataGridViewCellStyle22;
+            this.Commands.RowsDefaultCellStyle = dataGridViewCellStyle6;
             this.Commands.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.Commands_CellContentClick);
             this.Commands.CellEndEdit += new System.Windows.Forms.DataGridViewCellEventHandler(this.Commands_CellEndEdit);
             this.Commands.DataError += new System.Windows.Forms.DataGridViewDataErrorEventHandler(this.Commands_DataError);
@@ -200,9 +201,9 @@
             // 
             // Command
             // 
-            dataGridViewCellStyle18.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69)))));
+            dataGridViewCellStyle2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69)))));
-            dataGridViewCellStyle18.ForeColor = System.Drawing.Color.White;
+            dataGridViewCellStyle2.ForeColor = System.Drawing.Color.White;
-            this.Command.DefaultCellStyle = dataGridViewCellStyle18;
+            this.Command.DefaultCellStyle = dataGridViewCellStyle2;
             this.Command.DisplayStyle = System.Windows.Forms.DataGridViewComboBoxDisplayStyle.ComboBox;
             resources.ApplyResources(this.Command, "Command");
             this.Command.Name = "Command";
@@ -268,7 +269,7 @@
             // 
             // Up
             // 
-            this.Up.DefaultCellStyle = dataGridViewCellStyle19;
+            this.Up.DefaultCellStyle = dataGridViewCellStyle3;
             resources.ApplyResources(this.Up, "Up");
             this.Up.Image = global::ArdupilotMega.Properties.Resources.up;
             this.Up.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -276,8 +277,8 @@
             // 
             // Down
             // 
-            dataGridViewCellStyle20.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.Down.DefaultCellStyle = dataGridViewCellStyle20;
+            this.Down.DefaultCellStyle = dataGridViewCellStyle4;
             resources.ApplyResources(this.Down, "Down");
             this.Down.Image = global::ArdupilotMega.Properties.Resources.down;
             this.Down.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -421,8 +422,8 @@
             // 
             // dataGridViewImageColumn1
             // 
-            dataGridViewCellStyle23.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            dataGridViewCellStyle7.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle23;
+            this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle7;
             resources.ApplyResources(this.dataGridViewImageColumn1, "dataGridViewImageColumn1");
             this.dataGridViewImageColumn1.Image = global::ArdupilotMega.Properties.Resources.up;
             this.dataGridViewImageColumn1.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -430,8 +431,8 @@
             // 
             // dataGridViewImageColumn2
             // 
-            dataGridViewCellStyle24.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            dataGridViewCellStyle8.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle24;
+            this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle8;
             resources.ApplyResources(this.dataGridViewImageColumn2, "dataGridViewImageColumn2");
             this.dataGridViewImageColumn2.Image = global::ArdupilotMega.Properties.Resources.down;
             this.dataGridViewImageColumn2.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -827,6 +828,27 @@
             resources.ApplyResources(this.clearMissionToolStripMenuItem, "clearMissionToolStripMenuItem");
             this.clearMissionToolStripMenuItem.Click += new System.EventHandler(this.clearMissionToolStripMenuItem_Click);
             // 
+            // geoFenceToolStripMenuItem
+            // 
+            this.geoFenceToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.GeoFenceuploadToolStripMenuItem,
+            this.GeoFencedownloadToolStripMenuItem,
+            this.setReturnLocationToolStripMenuItem});
+            this.geoFenceToolStripMenuItem.Name = "geoFenceToolStripMenuItem";
+            resources.ApplyResources(this.geoFenceToolStripMenuItem, "geoFenceToolStripMenuItem");
+            // 
+            // GeoFenceuploadToolStripMenuItem
+            // 
+            this.GeoFenceuploadToolStripMenuItem.Name = "GeoFenceuploadToolStripMenuItem";
+            resources.ApplyResources(this.GeoFenceuploadToolStripMenuItem, "GeoFenceuploadToolStripMenuItem");
+            this.GeoFenceuploadToolStripMenuItem.Click += new System.EventHandler(this.GeoFenceuploadToolStripMenuItem_Click);
+            // 
+            // GeoFencedownloadToolStripMenuItem
+            // 
+            this.GeoFencedownloadToolStripMenuItem.Name = "GeoFencedownloadToolStripMenuItem";
+            resources.ApplyResources(this.GeoFencedownloadToolStripMenuItem, "GeoFencedownloadToolStripMenuItem");
+            this.GeoFencedownloadToolStripMenuItem.Click += new System.EventHandler(this.GeoFencedownloadToolStripMenuItem_Click);
+            // 
             // trackBar1
             // 
             resources.ApplyResources(this.trackBar1, "trackBar1");
@@ -863,25 +885,11 @@
             this.timer1.Interval = 1000;
             this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
-            // geoFenceToolStripMenuItem
+            // setReturnLocationToolStripMenuItem
             // 
-            this.geoFenceToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.setReturnLocationToolStripMenuItem.Name = "setReturnLocationToolStripMenuItem";
-            this.GeoFenceuploadToolStripMenuItem,
+            resources.ApplyResources(this.setReturnLocationToolStripMenuItem, "setReturnLocationToolStripMenuItem");
-            this.GeoFencedownloadToolStripMenuItem});
+            this.setReturnLocationToolStripMenuItem.Click += new System.EventHandler(this.setReturnLocationToolStripMenuItem_Click);
-            this.geoFenceToolStripMenuItem.Name = "geoFenceToolStripMenuItem";
-            resources.ApplyResources(this.geoFenceToolStripMenuItem, "geoFenceToolStripMenuItem");
-            // 
-            // GeoFenceuploadToolStripMenuItem
-            // 
-            this.GeoFenceuploadToolStripMenuItem.Name = "GeoFenceuploadToolStripMenuItem";
-            resources.ApplyResources(this.GeoFenceuploadToolStripMenuItem, "GeoFenceuploadToolStripMenuItem");
-            this.GeoFenceuploadToolStripMenuItem.Click += new System.EventHandler(this.GeoFenceuploadToolStripMenuItem_Click);
-            // 
-            // GeoFencedownloadToolStripMenuItem
-            // 
-            this.GeoFencedownloadToolStripMenuItem.Name = "GeoFencedownloadToolStripMenuItem";
-            resources.ApplyResources(this.GeoFencedownloadToolStripMenuItem, "GeoFencedownloadToolStripMenuItem");
-            this.GeoFencedownloadToolStripMenuItem.Click += new System.EventHandler(this.GeoFencedownloadToolStripMenuItem_Click);
             // 
             // FlightPlanner
             // 
@@ -1000,5 +1008,6 @@
         private System.Windows.Forms.ToolStripMenuItem geoFenceToolStripMenuItem;
         private System.Windows.Forms.ToolStripMenuItem GeoFenceuploadToolStripMenuItem;
         private System.Windows.Forms.ToolStripMenuItem GeoFencedownloadToolStripMenuItem;
+        private System.Windows.Forms.ToolStripMenuItem setReturnLocationToolStripMenuItem;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

@@ -660,6 +660,11 @@ namespace ArdupilotMega.GCSViews
                 isonline = false;
             }
 
+
+            List<PointLatLng> polygonPoints = new List<PointLatLng>();
+            gf = new GMapPolygon(polygonPoints, "geofence");
+            gf.Stroke = new Pen(Color.Pink, 5);
+
             updateCMDParams();
 
             // mono
@@ -2958,6 +2963,7 @@ namespace ArdupilotMega.GCSViews
 
         private void GeoFenceuploadToolStripMenuItem_Click(object sender, EventArgs e)
         {
+            polygongridmode = false;
             //FENCE_TOTAL
             if (MainV2.comPort.param["FENCE_ACTION"] == null)
             {
@@ -2965,33 +2971,101 @@ namespace ArdupilotMega.GCSViews
                 return;
             }
 
-            if (MainV2.comPort.param["FENCE_ACTION"].ToString() != "0")
-                MainV2.comPort.setParam("FENCE_ACTION", 0);
-
             if (drawnpolygon == null)
             {
                 MessageBox.Show("No polygon to upload");
                 return;
             }
 
-            MainV2.comPort.setParam("FENCE_TOTAL", drawnpolygon.Points.Count);
+            if (geofence.Markers.Count == 0)
+            {
+                MessageBox.Show("No return location set");
+                return;
+            }
+
+            if (drawnpolygon.Points.Count == 0)
+            {
+                MessageBox.Show("No polygon drawn");
+                return;
+            }
+
+            string minalts = (int.Parse(MainV2.comPort.param["FENCE_MINALT"].ToString()) * MainV2.cs.multiplierdist).ToString("0");
+            Common.InputBox("Min Alt", "Box Minimum Altitude?", ref minalts);
+
+            string maxalts = (int.Parse(MainV2.comPort.param["FENCE_MAXALT"].ToString()) * MainV2.cs.multiplierdist).ToString("0");
+            Common.InputBox("Max Alt", "Box Maximum Altitude?", ref maxalts);
+
+            int minalt = 0;
+            int maxalt = 0;
+
+            if (!int.TryParse(minalts,out minalt))
+            {
+                MessageBox.Show("Bad Min Alt");
+                return;
+            }
+
+            if (!int.TryParse(maxalts,out maxalt))
+            {
+                MessageBox.Show("Bad Max Alt");
+                return;
+            }
+
+            try
+            {
+                MainV2.comPort.setParam("FENCE_MINALT", minalt);
+                MainV2.comPort.setParam("FENCE_MAXALT", maxalt);
+            }
+            catch { 
+                MessageBox.Show("Failed to set min/max fence alt"); 
+                return; 
+            }
+
+            try
+            {
+                if (MainV2.comPort.param["FENCE_ACTION"].ToString() != "0")
+                    MainV2.comPort.setParam("FENCE_ACTION", 0);
+            }
+            catch
+            {
+                MessageBox.Show("Failed to set FENCE_ACTION");
+                return;
+            }
+
+            // points + return + close
+            byte pointcount = (byte)(drawnpolygon.Points.Count + 2);
+
+            MainV2.comPort.setParam("FENCE_TOTAL", pointcount);
 
             byte a = 0;
 
+            // add return loc
+            MainV2.comPort.setFencePoint(a, new PointLatLngAlt(geofence.Markers[0].Position), pointcount);
+            a++;
+
+            // add points
             foreach (var pll in drawnpolygon.Points)
             {
-                MainV2.comPort.setFencePoint(a, new PointLatLngAlt(pll), (byte)drawnpolygon.Points.Count);
+                MainV2.comPort.setFencePoint(a, new PointLatLngAlt(pll), pointcount);
                 a++;
             }
+            // add polygon close
+            MainV2.comPort.setFencePoint(a, new PointLatLngAlt(drawnpolygon.Points[0]), pointcount);
 
             drawnpolygons.Polygons.Clear();
             drawnpolygons.Markers.Clear();
+            gf.Points.Clear();
+            gf.Points.AddRange(drawnpolygon.Points);
+
+            drawnpolygon.Points.Clear();
+
+            MainMap.UpdatePolygonLocalPosition(gf);
 
             MainMap.Invalidate();
         }
 
         private void GeoFencedownloadToolStripMenuItem_Click(object sender, EventArgs e)
         {
+            polygongridmode = false;
             int count = 1;
 
             if (MainV2.comPort.param["FENCE_ACTION"] == null || MainV2.comPort.param["FENCE_TOTAL"] == null)
@@ -3000,18 +3074,16 @@ namespace ArdupilotMega.GCSViews
                 return;
             }
 
-            if (int.Parse(MainV2.comPort.param["FENCE_TOTAL"].ToString()) == 0)
+            if (int.Parse(MainV2.comPort.param["FENCE_TOTAL"].ToString()) <= 1)
             {
                 MessageBox.Show("Nothing to download");
                 return;
             }
 
             geofence.Polygons.Clear();
+            geofence.Markers.Clear();
 
-            List<PointLatLng> polygonPoints = new List<PointLatLng>();
+            gf.Points.Clear();
-
-            gf = new GMapPolygon(polygonPoints, "geofence");
-            gf.Stroke = new Pen(Color.Pink, 5);
             geofence.Polygons.Add(gf);
 
             FlightData.geofence.Polygons.Clear();
@@ -3023,9 +3095,21 @@ namespace ArdupilotMega.GCSViews
                 gf.Points.Add(new PointLatLng(plla.Lat, plla.Lng));
             }
 
+            // do return location
+            geofence.Markers.Add(new GMapMarkerGoogleRed(new PointLatLng(gf.Points[0].Lat, gf.Points[0].Lng)) { ToolTipMode = MarkerTooltipMode.OnMouseOver, ToolTipText = "GeoFence Return" });
+            gf.Points.RemoveAt(0);
+
             MainMap.UpdatePolygonLocalPosition(gf);
 
             MainMap.Invalidate();
         }
+
+        private void setReturnLocationToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            geofence.Markers.Clear();
+            geofence.Markers.Add(new GMapMarkerGoogleRed(start));
+
+            MainMap.Invalidate();
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.resx

@@ -537,75 +537,6 @@
   <data name="panel5.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
   </data>
-  <data name="&gt;&gt;BUT_write.Name" xml:space="preserve">
-    <value>BUT_write</value>
-  </data>
-  <data name="&gt;&gt;BUT_write.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
-  </data>
-  <data name="&gt;&gt;BUT_write.Parent" xml:space="preserve">
-    <value>panel5</value>
-  </data>
-  <data name="&gt;&gt;BUT_write.ZOrder" xml:space="preserve">
-    <value>0</value>
-  </data>
-  <data name="&gt;&gt;BUT_read.Name" xml:space="preserve">
-    <value>BUT_read</value>
-  </data>
-  <data name="&gt;&gt;BUT_read.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
-  </data>
-  <data name="&gt;&gt;BUT_read.Parent" xml:space="preserve">
-    <value>panel5</value>
-  </data>
-  <data name="&gt;&gt;BUT_read.ZOrder" xml:space="preserve">
-    <value>1</value>
-  </data>
-  <data name="&gt;&gt;SaveFile.Name" xml:space="preserve">
-    <value>SaveFile</value>
-  </data>
-  <data name="&gt;&gt;SaveFile.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
-  </data>
-  <data name="&gt;&gt;SaveFile.Parent" xml:space="preserve">
-    <value>panel5</value>
-  </data>
-  <data name="&gt;&gt;SaveFile.ZOrder" xml:space="preserve">
-    <value>2</value>
-  </data>
-  <data name="&gt;&gt;BUT_loadwpfile.Name" xml:space="preserve">
-    <value>BUT_loadwpfile</value>
-  </data>
-  <data name="&gt;&gt;BUT_loadwpfile.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
-  </data>
-  <data name="&gt;&gt;BUT_loadwpfile.Parent" xml:space="preserve">
-    <value>panel5</value>
-  </data>
-  <data name="&gt;&gt;BUT_loadwpfile.ZOrder" xml:space="preserve">
-    <value>3</value>
-  </data>
-  <data name="panel5.Location" type="System.Drawing.Point, System.Drawing">
-    <value>8, 250</value>
-  </data>
-  <data name="panel5.Size" type="System.Drawing.Size, System.Drawing">
-    <value>117, 114</value>
-  </data>
-  <data name="panel5.TabIndex" type="System.Int32, mscorlib">
-    <value>29</value>
-  </data>
-  <data name="&gt;&gt;panel5.Name" xml:space="preserve">
-    <value>panel5</value>
-  </data>
-  <data name="&gt;&gt;panel5.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;panel5.Parent" xml:space="preserve">
-    <value>panelAction</value>
-  </data>
-  <data name="&gt;&gt;panel5.ZOrder" xml:space="preserve">
-    <value>1</value>
-  </data>
   <data name="BUT_write.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
@@ -714,113 +645,29 @@
   <data name="&gt;&gt;BUT_loadwpfile.ZOrder" xml:space="preserve">
     <value>3</value>
   </data>
-  <data name="panel1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+  <data name="panel5.Location" type="System.Drawing.Point, System.Drawing">
-    <value>Bottom, Right</value>
+    <value>8, 250</value>
   </data>
-  <data name="&gt;&gt;label4.Name" xml:space="preserve">
+  <data name="panel5.Size" type="System.Drawing.Size, System.Drawing">
-    <value>label4</value>
+    <value>117, 114</value>
   </data>
-  <data name="&gt;&gt;label4.Type" xml:space="preserve">
+  <data name="panel5.TabIndex" type="System.Int32, mscorlib">
-    <value>System.Windows.Forms.LinkLabel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>29</value>
   </data>
-  <data name="&gt;&gt;label4.Parent" xml:space="preserve">
+  <data name="&gt;&gt;panel5.Name" xml:space="preserve">
-    <value>panel1</value>
+    <value>panel5</value>
   </data>
-  <data name="&gt;&gt;label4.ZOrder" xml:space="preserve">
+  <data name="&gt;&gt;panel5.Type" xml:space="preserve">
-    <value>0</value>
-  </data>
-  <data name="&gt;&gt;label3.Name" xml:space="preserve">
-    <value>label3</value>
-  </data>
-  <data name="&gt;&gt;label3.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label3.Parent" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;label3.ZOrder" xml:space="preserve">
-    <value>1</value>
-  </data>
-  <data name="&gt;&gt;label2.Name" xml:space="preserve">
-    <value>label2</value>
-  </data>
-  <data name="&gt;&gt;label2.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label2.Parent" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;label2.ZOrder" xml:space="preserve">
-    <value>2</value>
-  </data>
-  <data name="&gt;&gt;Label1.Name" xml:space="preserve">
-    <value>Label1</value>
-  </data>
-  <data name="&gt;&gt;Label1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;Label1.Parent" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;Label1.ZOrder" xml:space="preserve">
-    <value>3</value>
-  </data>
-  <data name="&gt;&gt;TXT_homealt.Name" xml:space="preserve">
-    <value>TXT_homealt</value>
-  </data>
-  <data name="&gt;&gt;TXT_homealt.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;TXT_homealt.Parent" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;TXT_homealt.ZOrder" xml:space="preserve">
-    <value>4</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelng.Name" xml:space="preserve">
-    <value>TXT_homelng</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelng.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelng.Parent" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelng.ZOrder" xml:space="preserve">
-    <value>5</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelat.Name" xml:space="preserve">
-    <value>TXT_homelat</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelat.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelat.Parent" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelat.ZOrder" xml:space="preserve">
-    <value>6</value>
-  </data>
-  <data name="panel1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>8, 365</value>
-  </data>
-  <data name="panel1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>117, 89</value>
-  </data>
-  <data name="panel1.TabIndex" type="System.Int32, mscorlib">
-    <value>31</value>
-  </data>
-  <data name="&gt;&gt;panel1.Name" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;panel1.Type" xml:space="preserve">
     <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;panel1.Parent" xml:space="preserve">
+  <data name="&gt;&gt;panel5.Parent" xml:space="preserve">
     <value>panelAction</value>
   </data>
-  <data name="&gt;&gt;panel1.ZOrder" xml:space="preserve">
+  <data name="&gt;&gt;panel5.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>1</value>
+  </data>
+  <data name="panel1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Bottom, Right</value>
   </data>
   <data name="label4.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -1005,6 +852,27 @@
   <data name="&gt;&gt;TXT_homelat.ZOrder" xml:space="preserve">
     <value>6</value>
   </data>
+  <data name="panel1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>8, 365</value>
+  </data>
+  <data name="panel1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>117, 89</value>
+  </data>
+  <data name="panel1.TabIndex" type="System.Int32, mscorlib">
+    <value>31</value>
+  </data>
+  <data name="&gt;&gt;panel1.Name" xml:space="preserve">
+    <value>panel1</value>
+  </data>
+  <data name="&gt;&gt;panel1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;panel1.Parent" xml:space="preserve">
+    <value>panelAction</value>
+  </data>
+  <data name="&gt;&gt;panel1.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
   <data name="dataGridViewImageColumn1.HeaderText" xml:space="preserve">
     <value>Up</value>
   </data>
@@ -1044,111 +912,6 @@
   <data name="panel2.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
   </data>
-  <data name="&gt;&gt;label7.Name" xml:space="preserve">
-    <value>label7</value>
-  </data>
-  <data name="&gt;&gt;label7.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label7.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;label7.ZOrder" xml:space="preserve">
-    <value>0</value>
-  </data>
-  <data name="&gt;&gt;label8.Name" xml:space="preserve">
-    <value>label8</value>
-  </data>
-  <data name="&gt;&gt;label8.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label8.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;label8.ZOrder" xml:space="preserve">
-    <value>1</value>
-  </data>
-  <data name="&gt;&gt;label9.Name" xml:space="preserve">
-    <value>label9</value>
-  </data>
-  <data name="&gt;&gt;label9.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label9.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;label9.ZOrder" xml:space="preserve">
-    <value>2</value>
-  </data>
-  <data name="&gt;&gt;label10.Name" xml:space="preserve">
-    <value>label10</value>
-  </data>
-  <data name="&gt;&gt;label10.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label10.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;label10.ZOrder" xml:space="preserve">
-    <value>3</value>
-  </data>
-  <data name="&gt;&gt;TXT_mousealt.Name" xml:space="preserve">
-    <value>TXT_mousealt</value>
-  </data>
-  <data name="&gt;&gt;TXT_mousealt.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;TXT_mousealt.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;TXT_mousealt.ZOrder" xml:space="preserve">
-    <value>4</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselong.Name" xml:space="preserve">
-    <value>TXT_mouselong</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselong.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselong.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselong.ZOrder" xml:space="preserve">
-    <value>5</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselat.Name" xml:space="preserve">
-    <value>TXT_mouselat</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselat.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselat.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselat.ZOrder" xml:space="preserve">
-    <value>6</value>
-  </data>
-  <data name="panel2.Location" type="System.Drawing.Point, System.Drawing">
-    <value>8, 130</value>
-  </data>
-  <data name="panel2.Size" type="System.Drawing.Size, System.Drawing">
-    <value>114, 79</value>
-  </data>
-  <data name="panel2.TabIndex" type="System.Int32, mscorlib">
-    <value>38</value>
-  </data>
-  <data name="&gt;&gt;panel2.Name" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;panel2.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;panel2.Parent" xml:space="preserve">
-    <value>panelAction</value>
-  </data>
-  <data name="&gt;&gt;panel2.ZOrder" xml:space="preserve">
-    <value>3</value>
-  </data>
   <data name="label7.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
@@ -1332,9 +1095,27 @@
   <data name="&gt;&gt;TXT_mouselat.ZOrder" xml:space="preserve">
     <value>6</value>
   </data>
-  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+  <data name="panel2.Location" type="System.Drawing.Point, System.Drawing">
-    <value>172, 17</value>
+    <value>8, 130</value>
-  </metadata>
+  </data>
+  <data name="panel2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>114, 79</value>
+  </data>
+  <data name="panel2.TabIndex" type="System.Int32, mscorlib">
+    <value>38</value>
+  </data>
+  <data name="&gt;&gt;panel2.Name" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;panel2.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;panel2.Parent" xml:space="preserve">
+    <value>panelAction</value>
+  </data>
+  <data name="&gt;&gt;panel2.ZOrder" xml:space="preserve">
+    <value>3</value>
+  </data>
   <data name="comboBoxMapType.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
   </data>
@@ -1347,6 +1128,9 @@
   <data name="comboBoxMapType.TabIndex" type="System.Int32, mscorlib">
     <value>42</value>
   </data>
+  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>172, 17</value>
+  </metadata>
   <data name="comboBoxMapType.ToolTip" xml:space="preserve">
     <value>Change the current map type</value>
   </data>
@@ -1821,12 +1605,42 @@
   <data name="deleteWPToolStripMenuItem.Text" xml:space="preserve">
     <value>Delete WP</value>
   </data>
+  <data name="loiterForeverToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>113, 22</value>
+  </data>
+  <data name="loiterForeverToolStripMenuItem.Text" xml:space="preserve">
+    <value>Forever</value>
+  </data>
+  <data name="loitertimeToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>113, 22</value>
+  </data>
+  <data name="loitertimeToolStripMenuItem.Text" xml:space="preserve">
+    <value>Time</value>
+  </data>
+  <data name="loitercirclesToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>113, 22</value>
+  </data>
+  <data name="loitercirclesToolStripMenuItem.Text" xml:space="preserve">
+    <value>Circles</value>
+  </data>
   <data name="loiterToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>167, 22</value>
   </data>
   <data name="loiterToolStripMenuItem.Text" xml:space="preserve">
     <value>Loiter</value>
   </data>
+  <data name="jumpstartToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>102, 22</value>
+  </data>
+  <data name="jumpstartToolStripMenuItem.Text" xml:space="preserve">
+    <value>Start</value>
+  </data>
+  <data name="jumpwPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>102, 22</value>
+  </data>
+  <data name="jumpwPToolStripMenuItem.Text" xml:space="preserve">
+    <value>WP #</value>
+  </data>
   <data name="jumpToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>167, 22</value>
   </data>
@@ -1848,6 +1662,18 @@
   <data name="rotateMapToolStripMenuItem.Text" xml:space="preserve">
     <value>Rotate Map</value>
   </data>
+  <data name="addPolygonPointToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>174, 22</value>
+  </data>
+  <data name="addPolygonPointToolStripMenuItem.Text" xml:space="preserve">
+    <value>Add Polygon Point</value>
+  </data>
+  <data name="clearPolygonToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>174, 22</value>
+  </data>
+  <data name="clearPolygonToolStripMenuItem.Text" xml:space="preserve">
+    <value>Clear Polygon</value>
+  </data>
   <data name="polygonToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>167, 22</value>
   </data>
@@ -1861,17 +1687,23 @@
     <value>Clear Mission</value>
   </data>
   <data name="GeoFenceuploadToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>152, 22</value>
+    <value>177, 22</value>
   </data>
   <data name="GeoFenceuploadToolStripMenuItem.Text" xml:space="preserve">
     <value>Upload</value>
   </data>
   <data name="GeoFencedownloadToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>152, 22</value>
+    <value>177, 22</value>
   </data>
   <data name="GeoFencedownloadToolStripMenuItem.Text" xml:space="preserve">
     <value>Download</value>
   </data>
+  <data name="setReturnLocationToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>177, 22</value>
+  </data>
+  <data name="setReturnLocationToolStripMenuItem.Text" xml:space="preserve">
+    <value>Set Return Location</value>
+  </data>
   <data name="geoFenceToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>167, 22</value>
   </data>
@@ -2143,48 +1975,6 @@
   <data name="&gt;&gt;panelMap.ZOrder" xml:space="preserve">
     <value>1</value>
   </data>
-  <data name="loiterForeverToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>113, 22</value>
-  </data>
-  <data name="loiterForeverToolStripMenuItem.Text" xml:space="preserve">
-    <value>Forever</value>
-  </data>
-  <data name="loitertimeToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>113, 22</value>
-  </data>
-  <data name="loitertimeToolStripMenuItem.Text" xml:space="preserve">
-    <value>Time</value>
-  </data>
-  <data name="loitercirclesToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>113, 22</value>
-  </data>
-  <data name="loitercirclesToolStripMenuItem.Text" xml:space="preserve">
-    <value>Circles</value>
-  </data>
-  <data name="jumpstartToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>102, 22</value>
-  </data>
-  <data name="jumpstartToolStripMenuItem.Text" xml:space="preserve">
-    <value>Start</value>
-  </data>
-  <data name="jumpwPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>102, 22</value>
-  </data>
-  <data name="jumpwPToolStripMenuItem.Text" xml:space="preserve">
-    <value>WP #</value>
-  </data>
-  <data name="addPolygonPointToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>174, 22</value>
-  </data>
-  <data name="addPolygonPointToolStripMenuItem.Text" xml:space="preserve">
-    <value>Add Polygon Point</value>
-  </data>
-  <data name="clearPolygonToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>174, 22</value>
-  </data>
-  <data name="clearPolygonToolStripMenuItem.Text" xml:space="preserve">
-    <value>Clear Polygon</value>
-  </data>
   <data name="panelBASE.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Fill</value>
   </data>
@@ -2209,9 +1999,6 @@
   <data name="&gt;&gt;panelBASE.ZOrder" xml:space="preserve">
     <value>1</value>
   </data>
-  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>172, 17</value>
-  </metadata>
   <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>269, 17</value>
   </metadata>
@@ -2395,18 +2182,6 @@
   <data name="&gt;&gt;clearMissionToolStripMenuItem.Type" xml:space="preserve">
     <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;toolTip1.Name" xml:space="preserve">
-    <value>toolTip1</value>
-  </data>
-  <data name="&gt;&gt;toolTip1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.ToolTip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;timer1.Name" xml:space="preserve">
-    <value>timer1</value>
-  </data>
-  <data name="&gt;&gt;timer1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Timer, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
   <data name="&gt;&gt;geoFenceToolStripMenuItem.Name" xml:space="preserve">
     <value>geoFenceToolStripMenuItem</value>
   </data>
@@ -2425,6 +2200,24 @@
   <data name="&gt;&gt;GeoFencedownloadToolStripMenuItem.Type" xml:space="preserve">
     <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
+  <data name="&gt;&gt;toolTip1.Name" xml:space="preserve">
+    <value>toolTip1</value>
+  </data>
+  <data name="&gt;&gt;toolTip1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ToolTip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;timer1.Name" xml:space="preserve">
+    <value>timer1</value>
+  </data>
+  <data name="&gt;&gt;timer1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Timer, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;setReturnLocationToolStripMenuItem.Name" xml:space="preserve">
+    <value>setReturnLocationToolStripMenuItem</value>
+  </data>
+  <data name="&gt;&gt;setReturnLocationToolStripMenuItem.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
   <data name="&gt;&gt;$this.Name" xml:space="preserve">
     <value>FlightPlanner</value>
   </data>

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

@@ -318,7 +318,7 @@ namespace ArdupilotMega.GCSViews
         /// <param name="write">true/false</param>
         private void xmlconfig(bool write)
         {
-            int fixme;
+            int fixme; // add profiles?
             if (write)
             {
                 ArdupilotMega.MainV2.config["REV_roll"] = CHKREV_roll.Checked.ToString();

Tools/ArdupilotMegaPlanner/MAVLinkTypes.cs

@@ -9,6 +9,29 @@ namespace ArdupilotMega
     partial class MAVLink
     {
 
+        public const byte MAVLINK_MSG_ID_FENCED_POINT_LEN = 10;
+        public const byte MAVLINK_MSG_ID_FENCE_FETCH_POINT = 161;
+        [StructLayout(LayoutKind.Sequential, Pack = 1)]
+        public struct __mavlink_fence_fetch_point_t
+        {
+            public byte target_system; /// System ID
+            public byte target_component; /// Component ID
+            public byte idx; /// point index (first point is 1, 0 is for return point)
+        };
+
+        public const byte MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN = 3;
+        public const byte MAVLINK_MSG_ID_FENCE_POINT = 160;
+        [StructLayout(LayoutKind.Sequential, Pack = 1)]
+        public struct __mavlink_fence_point_t
+        {
+            public byte target_system; /// System ID
+            public byte target_component; /// Component ID
+            public byte idx; /// point index (first point is 1, 0 is for return point)
+            public byte count; /// total number of points (for sanity checking)
+            public float lat; /// Latitude of point
+            public float lng; /// Longitude of point
+        };
+
 		public byte[] MAVLINK_MESSAGE_LENGTHS = new byte[] {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3};
 		public byte[] MAVLINK_MESSAGE_CRCS = new byte[] {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247};
 		public 		enum MAV_MOUNT_MODE

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -1860,25 +1860,6 @@ namespace ArdupilotMega
             return base.ProcessCmdKey(ref msg, keyData);
         }
 
-        private void starttest()
-        {
-            MyView.Controls.Clear();
-
-            UserControl temp = new GCSViews.test();
-
-            fixtheme(temp);
-
-            temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
-
-            temp.Dock = DockStyle.Fill;
-
-            MyView.Controls.Add(temp);
-
-            temp.ForeColor = Color.White;
-
-            temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
-        }
-
         public void changelanguage(CultureInfo ci)
         {
             if (ci != null && !Thread.CurrentThread.CurrentUICulture.Equals(ci))

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.1.10")]
+[assembly: AssemblyFileVersion("1.1.11")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Setup/Setup.cs

@@ -811,11 +811,11 @@ namespace ArdupilotMega.Setup
             }
             catch (Exception ex) { MainV2.givecomport = false; MessageBox.Show("Invalid Comport Settings : " + ex.Message); return; }
 
-            BUT_reset.Text = "Rebooting (60 sec)";
+            BUT_reset.Text = "Rebooting (75 sec)";
             BUT_reset.Refresh();
             Application.DoEvents();
 
-            Sleep(60000, comPortT); // wait for boot/reset
+            Sleep(75000, comPortT); // wait for boot/reset
 
             comPortT.DtrEnable = false;
 

Tools/ArdupilotMegaPlanner/georefimage.cs

@@ -9,6 +9,10 @@ using System.Windows.Forms;
 using com.drew.imaging.jpg;
 using com.drew.metadata;
 
+using SharpKml.Base;
+using SharpKml.Dom;
+using SharpKml.Dom.GX;
+
 namespace ArdupilotMega
 {
     class georefimage : Form
@@ -25,6 +29,8 @@ namespace ArdupilotMega
         private TextBox TXT_outputlog;
         private MyButton BUT_estoffset;
 
+        int latpos = 5, lngpos = 4, altpos = 7;
+
         internal georefimage() {
             InitializeComponent();
         }
@@ -117,7 +123,7 @@ namespace ArdupilotMega
             return list;
         }
 
-        public void dowork(string logFile, string dirWithImages, float offsetseconds,bool dooffset)
+        public void dowork(string logFile, string dirWithImages, float offsetseconds, bool dooffset)
         {
             DateTime localmin = DateTime.MaxValue;
             DateTime localmax = DateTime.MinValue;
@@ -132,6 +138,10 @@ namespace ArdupilotMega
 
             string[] files = Directory.GetFiles(dirWithImages);
 
+            Document kml = new Document();
+
+            StreamWriter sw3 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml");
+
             StreamWriter sw2 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt");
 
             StreamWriter sw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel");
@@ -175,17 +185,17 @@ namespace ArdupilotMega
                         DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
 
 
-                            if (first == 0)
+                        if (first == 0)
-                            {
+                        {
-                                TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(file) + " " + dt + " vs Log " + crap + "\r\n");
+                            TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(file) + " " + dt + " vs Log " + crap + "\r\n");
 
-                                TXT_outputlog.AppendText("offset should be about " + (dt  -crap).TotalSeconds + "\r\n");
+                            TXT_outputlog.AppendText("offset should be about " + (dt - crap).TotalSeconds + "\r\n");
 
-                                if (dooffset)
+                            if (dooffset)
-                                    return;
+                                return;
 
-                                first++;
+                            first++;
-                            }
+                        }
 
                         //Console.Write("ph " + dt + " log " + crap + "         \r");
 
@@ -195,11 +205,22 @@ namespace ArdupilotMega
 
                             matchs++;
 
-                            sw2.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[5] + " " + arr[4] + " " + arr[7]);
+                            kml.AddFeature(
-                            sw.WriteLine(Path.GetFileNameWithoutExtension(file) + "\t" + crap.ToString("yyyy:MM:dd HH:mm:ss") +"\t"+ arr[5] + "\t" + arr[4] + "\t" + arr[7]);
+                                new Placemark()
+                                {
+                                    Name = Path.GetFileNameWithoutExtension(file),
+                                    Geometry = new SharpKml.Dom.Point()
+                                    {
+                                        Coordinate = new Vector(double.Parse(arr[lngpos]), double.Parse(arr[latpos]), double.Parse(arr[altpos]))
+                                    }
+                                }
+                            );
+
+                            sw2.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos]);
+                            sw.WriteLine(Path.GetFileNameWithoutExtension(file) + "\t" + crap.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
                             sw.Flush();
                             sw2.Flush();
-                            Console.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[5] + " " + arr[4] + " " + arr[7] + "           ");
+                            Console.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + "           ");
                             break;
                         }
                         //Console.WriteLine(crap);
@@ -209,11 +230,16 @@ namespace ArdupilotMega
 
             }
 
+            Serializer serializer = new Serializer();
+            serializer.Serialize(kml);
+            sw3.Write(serializer.Xml);
+            sw3.Close();
+
+
             sw2.Close();
             sw.Close();
 
             MessageBox.Show("Done " + matchs + " matchs");
-
         }
 
         private void InitializeComponent()