LP-572 Fix Home position on map when OPMap config is updated

ground/gcs/src/plugins/opmap/opmapgadget.cpp

@@ -67,8 +67,12 @@ void OPMapGadget::loadConfiguration(IUAVGadgetConfiguration *config)
     m_widget->SetUavPic(m_config->uavSymbol());
     m_widget->setZoom(m_config->zoom());
     m_widget->setPosition(QPointF(m_config->longitude(), m_config->latitude()));
-    m_widget->setHomePosition(QPointF(m_config->longitude(), m_config->latitude()));
     m_widget->setOverlayOpacity(m_config->opacity());
     m_widget->setDefaultWaypointAltitude(m_config->defaultWaypointAltitude());
     m_widget->setDefaultWaypointVelocity(m_config->defaultWaypointVelocity());
+
+    if (!m_widget->applyHomeLocationOnMap()) {
+        // Set default HomeLocation in center of map
+        m_widget->setHomePosition(QPointF(m_config->longitude(), m_config->latitude()));
+    }
 }

ground/gcs/src/plugins/opmap/opmapgadgetwidget.cpp

@@ -916,24 +916,7 @@ void OPMapGadgetWidget::onTelemetryConnect()
     if (!obum) {
         return;
     }
-
+    applyHomeLocationOnMap();
-    bool set;
-    double LLA[3];
-
-    // ***********************
-    // fetch the home location
-
-    if (obum->getHomeLocation(set, LLA) < 0) {
-        return; // error
-    }
-    setHome(internals::PointLatLng(LLA[0], LLA[1]), LLA[2]);
-
-    if (m_map) {
-        if (m_map->UAV->GetMapFollowType() != UAVMapFollowType::None) {
-            m_map->SetCurrentPosition(m_home_position.coord); // set the map position
-        }
-    }
-    // ***********************
 }
 
 void OPMapGadgetWidget::onTelemetryDisconnect()
@@ -1164,6 +1147,10 @@ void OPMapGadgetWidget::setHomePosition(QPointF pos)
     }
 
     m_map->Home->SetCoord(internals::PointLatLng(latitude, longitude));
+
+    if (!m_telemetry_connected) {
+        m_home_position.coord = internals::PointLatLng(latitude, longitude);
+    }
 }
 
 void OPMapGadgetWidget::setPosition(QPointF pos)
@@ -2366,6 +2353,32 @@ bool OPMapGadgetWidget::getGPSPositionSensor(double &latitude, double &longitude
     return true;
 }
 
+bool OPMapGadgetWidget::applyHomeLocationOnMap()
+{
+    bool set;
+    double LLA[3];
+
+    if (!obum) {
+        return false;
+    }
+
+    // fetch the home location
+    if (obum->getHomeLocation(set, LLA) < 0) {
+        return false; // error
+    }
+
+    if (m_telemetry_connected) {
+        setHome(internals::PointLatLng(LLA[0], LLA[1]), LLA[2]);
+        if (m_map) {
+            if (m_map->UAV->GetMapFollowType() != UAVMapFollowType::None) {
+                m_map->SetCurrentPosition(m_home_position.coord); // set the map position
+            }
+        }
+        return true;
+    }
+    return false;
+}
+
 // *************************************************************************************
 
 void OPMapGadgetWidget::setMapFollowingMode()

ground/gcs/src/plugins/opmap/opmapgadgetwidget.h

@@ -117,6 +117,7 @@ public:
     void setDefaultWaypointAltitude(qreal default_altitude);
     void setDefaultWaypointVelocity(qreal default_velocity);
     bool getGPSPositionSensor(double &latitude, double &longitude, double &altitude);
+    bool applyHomeLocationOnMap();
 signals:
     void defaultLocationAndZoomChanged(double lng, double lat, double zoom);
     void overlayOpacityChanged(qreal);