map: added dropdown selection of frame to FlyTo

MAVProxy/modules/lib/mp_menu.py

@@ -361,9 +361,6 @@ def call(self):
         '''show a value dialog'''
         from MAVProxy.modules.lib.wx_loader import wx
         title = self.title
-        if title.find('FLYTOFRAMEUNITS') != -1 and self.settings is not None:
-            frameunits = "%s %s" % (self.settings.flytoframe, self.settings.height_unit)
-            title = title.replace('FLYTOFRAMEUNITS', frameunits)
         try:
             dlg = wx.TextEntryDialog(None, title, title, defaultValue=str(self.default))
         except TypeError:
@@ -372,6 +369,87 @@ def call(self):
             return None
         return dlg.GetValue()
 
+# memory of last dropdowns
+last_dropdown_selection = {}
+last_value_selection = {}
+
+class MPMenuCallTextDropdownDialog(object):
+    '''used to create a value dialog with dropdown callback'''
+    def __init__(self, title='Enter Value', default='',
+                 dropdown_options=None,
+                 dropdown_label='Select option',
+                 default_dropdown=None):
+        self.title = title
+        self.default = default
+        self.default_dropdown = default_dropdown
+        self.dropdown_options = dropdown_options or []
+        self.dropdown_label = dropdown_label
+
+    def call(self):
+        '''show a value dialog with dropdown'''
+        from MAVProxy.modules.lib.wx_loader import wx
+
+        # Create a custom dialog
+        dlg = wx.Dialog(None, title=self.title, size=(400, 150))
+
+        # Create a vertical box sizer for the dialog
+        main_sizer = wx.BoxSizer(wx.VERTICAL)
+
+        # Create a horizontal sizer for the text entry and dropdown
+        input_sizer = wx.BoxSizer(wx.HORIZONTAL)
+
+        # Text entry label and control
+        text_label = wx.StaticText(dlg, label="Value:")
+        default = last_value_selection.get(self.title, self.default)
+        text_ctrl = wx.TextCtrl(dlg, value=str(default), size=(200, -1))
+
+        # Add text control components to input sizer
+        input_sizer.Add(text_label, 0, wx.ALL | wx.ALIGN_CENTER_VERTICAL, 5)
+        input_sizer.Add(text_ctrl, 1, wx.ALL | wx.EXPAND, 5)
+
+        # Dropdown label and control
+        dropdown_label = wx.StaticText(dlg, label=self.dropdown_label)
+        dropdown_ctrl = wx.Choice(dlg, choices=self.dropdown_options)
+
+        # Select first item by default if options exist
+        if self.dropdown_options:
+            default_idx = 0
+            for i in range(len(self.dropdown_options)):
+                if self.dropdown_options[i] == self.default_dropdown:
+                    default_idx = i
+            dropdown_ctrl.SetSelection(last_dropdown_selection.get(self.title,default_idx))
+
+        # Add dropdown components to input sizer
+        input_sizer.Add(dropdown_label, 0, wx.ALL | wx.ALIGN_CENTER_VERTICAL, 5)
+        input_sizer.Add(dropdown_ctrl, 0, wx.ALL | wx.EXPAND, 5)
+
+        # Add the input sizer to the main sizer
+        main_sizer.Add(input_sizer, 0, wx.ALL | wx.EXPAND, 5)
+
+        # Create button sizer with OK and Cancel buttons
+        button_sizer = dlg.CreateButtonSizer(wx.OK | wx.CANCEL)
+        main_sizer.Add(button_sizer, 0, wx.ALL | wx.ALIGN_CENTER, 10)
+
+        # Set the sizer for the dialog
+        dlg.SetSizer(main_sizer)
+
+        # Fit the dialog to its contents
+        dlg.Fit()
+
+        # Show the dialog and get the result
+        if dlg.ShowModal() != wx.ID_OK:
+            return None
+
+        text_value = text_ctrl.GetValue()
+        dropdown_index = dropdown_ctrl.GetSelection()
+        dropdown_value = self.dropdown_options[dropdown_index] if dropdown_index != -1 and self.dropdown_options else ""
+
+        last_dropdown_selection[self.title] = dropdown_index
+        last_value_selection[self.title] = text_value
+
+        # Return tuple with text value and selected dropdown value
+        return text_value + " " + dropdown_value
+
 class MPMenuConfirmDialog(object):
     '''used to create a confirmation dialog'''
     def __init__(self, title='Confirmation', message='', callback=None, args=None):

MAVProxy/modules/mavproxy_map/__init__.py

@@ -103,8 +103,10 @@ def __init__(self, mpstate):
 
         self.default_popup = MPMenuSubMenu('Popup', items=[])
         self.add_menu(MPMenuItem('Fly To', 'Fly To', '# guided ',
-                                 handler=MPMenuCallTextDialog(title='Altitude (FLYTOFRAMEUNITS)', default=self.mpstate.settings.guidedalt,
-                                                              settings=self.settings)))
+                                 handler=MPMenuCallTextDropdownDialog(title='Altitude', default=self.mpstate.settings.guidedalt,
+                                                                      dropdown_label='Frame',
+                                                                      dropdown_options=['AboveHome','AGL','AMSL'],
+                                                                      default_dropdown=self.settings.flytoframe)))
         self.add_menu(MPMenuItem('Terrain Check', 'Terrain Check', '# terrain check'))
         self.add_menu(MPMenuItem('Show Position', 'Show Position', 'showPosition'))
         self.add_menu(MPMenuItem('Google Maps Link', 'Google Maps Link', 'printGoogleMapsLink'))

MAVProxy/modules/mavproxy_mode.py

@@ -81,10 +81,19 @@ def cmd_guided(self, args):
             if args[0] == "forward":
                 return self.cmd_guided_forward(args[1:])
 
-        if len(args) != 1 and len(args) != 3:
+        if len(args) == 2:
+            frames = ['AboveHome', 'AGL', 'AMSL']
+            if args[1] in frames:
+                self.settings.flytoframe = args[1]
+            else:
+                print("Usage: guided ALTITUDE %s" % '|'.join(frames))
+                return
+        elif len(args) != 1 and len(args) != 3:
             print("Usage: guided ALTITUDE | guided LAT LON ALTITUDE | guided forward METRES")
             return
 
+        frame = self.flyto_frame()
+
         if len(args) == 3:
             latitude = float(args[0])
             longitude = float(args[1])
@@ -99,8 +108,6 @@ def cmd_guided(self, args):
 
         altitude = self.height_convert_from_units(altitude)
 
-        frame = self.flyto_frame()
-
         print("Guided %s %s frame %u" % (str(latlon), str(altitude), frame))
 
         if self.settings.guided_use_reposition: