mavlink · DonLakeFlyer · Aug 16, 2026 · Aug 16, 2026
diff --git a/docs/en/qgc-user-guide/getting_started/whats_new.md b/docs/en/qgc-user-guide/getting_started/whats_new.md
@@ -4,271 +4,7 @@ This page highlights user-facing changes since the last stable release (V5.1).
 
 ## Fly View
 
-### Toolbar Indicator Improvements
+### Click to ROI Altitude
 
-- **Flight Modes** — mode changes now require a hold to confirm, and VTOL transition is handled from the indicator.
-- **GPS Resilience** — new indicator appears when the vehicle reports GPS spoofing or jamming state, with per-GPS details in the dropdown.
-- **ESC Status** — new indicator showing ESC telemetry.
-- **Gimbal** — reworked to match the new indicator UI style.
-- **MAVLink Signing** — new indicator shows whether MAVLink 2 message signing is active on the current vehicle connection, with named key management in Application Settings and per-vehicle key auto-detection.
-- **Remote ID** — live status (status flags, GCS position) now lives solely in the indicator's expanded page, while the Remote ID page in Application Settings contains only settings.
-
-### Attitude Indicator
-
-::: warning
-The pitch display direction on the attitude/compass widget has been corrected: pitching nose-down now moves the pitch indicator down, matching the roll convention.
-V5.0 displayed pitch in the opposite (incorrect) direction, so the indicator will appear reversed compared to what you are used to.
-See [Attitude/Compass](../fly_view/hud.md) for details.
-:::
-
-### Camera UI Rework
-
-The camera management code and UI have been significantly reworked.
-The camera UI now correctly respects camera capability flags and modes, and behavior is more consistent across different camera types and configurations.
-
-### Vehicle Actions
-
-Better support for Go To Location, Orbit, and Fixed Wing Loiter actions.
-
-### Multi-Vehicle
-
-Multi-vehicle support improvements: configurable telemetry display and better support for applying actions to all vehicles.
-
-### 3D View Camera Controls
-
-The 3D View free-fly camera has been replaced with Gazebo-style cursor-anchored controls — the ground point you grab stays under the cursor while you pan, orbit, and zoom.
-Full mouse and touch gesture support is included, along with a scale bar showing ground distance.
-
-## Plan View
-
-### Unified Plan Tree
-
-The right panel is now a single unified tree view of the entire plan, replacing the separate mission item list and GeoFence/Rally editors:
-
-- **Plan Info**, **Defaults**, **Mission**, **GeoFence**, and **Rally Points** are shown as collapsible sections in one tree.
-- Expanding the Mission, GeoFence, or Rally section makes it the active map editing layer — the sections are exclusive, so it is always clear which layer map clicks affect.
-- Mission items are edited inline in the tree, including mission transforms.
-- The tree automatically expands and scrolls to newly added or selected items, and the whole panel can be collapsed to maximize map space.
-
-### Toolbar Rework
-
-The Plan View toolbar has been completely reworked:
-
-- Explicit **Open**, **Save**, **Upload**, and **Clear** buttons replace the old File tool button.
-- Vehicle upload and storage status are shown directly in the toolbar.
-- **Save** and **Upload** buttons are highlighted when there are unsaved or un-uploaded changes.
-- A hamburger menu (☰) provides additional options such as Save as KML and Download from vehicle.
-- Plan creation from a template has moved to the right panel and is shown only when the plan is empty.
-
-### Mission Status Panel
-
-A new collapsible **Mission Status** panel at the bottom of the Plan View shows terrain profile and mission statistics (distance, time, maximum altitude).
-Switchable sub-panels let you toggle between terrain data and mission stats.
-
-### Click-to-Set Home Position
-
-The home position in Plan View is now set by an explicit first click on the map rather than tracking the map center.
-Mission editing tools (Takeoff, Waypoint, Pattern, Land, ROI) are disabled until the home position is placed, preventing accidentally placing items before the reference point is defined.
-
-### Plan Templates with Vehicle Class Filtering
-
-The Plan Creator now filters available plan templates by vehicle class (multirotor, fixed wing, VTOL, rover, sub), showing only templates compatible with the connected or configured vehicle.
-
-## Analyze View
-
-### Log Viewer
-
-The Log Viewer is a new unified post-flight analysis tool that supports three log formats:
-
-- **ArduPilot DataFlash** (`.bin` / `.log`) — field charting, GPS flight path map, parameter inspection, and status messages.
-- **PX4 ULog** (`.ulg`) — same capabilities using PX4 log format.
-- **MAVLink Telemetry** (`.tlog`) — playback with speed control, seek slider, and live MAVLink Inspector.
-
-The Charting tab lets you select any logged field for time-series plotting:
-
-- Multiple fields plotted at once with a color-coded legend and per-field min/max/current values.
-- Click or drag on the chart to place a cursor with a popup showing exact values at that time.
-- Flight mode and event markers can be overlaid on the chart.
-- Zoom into any time range; the X axis can show elapsed time or local clock time.
-
-The Map tab shows the GPS flight path auto-fitted to the screen with an altitude mini-chart below it; clicking or dragging on the altitude chart moves a position marker on the map.
-The Parameters tab lists all recorded parameters with a "changed only" filter.
-
-### Onboard Logs
-
-Downloading logs from the vehicle now automatically uses the best available transport: MAVLink FTP when the vehicle supports it, falling back to the legacy log transfer messages otherwise.
-FTP transfers also allow deleting individual logs from the vehicle.
-
-### MAVLink Inspector
-
-- Messages are now separated by instance (e.g. `sensor_id`), so multiple sensors of the same type can be inspected individually.
-- Numeric array fields expand into individual elements that can be charted separately.
-- `NAMED_VALUE_*` and `DEBUG*` messages are separated by name for easier debugging.
-- Charting improvements with more efficient data handling.
-
-## Vehicle Configuration
-
-Vehicle Configuration has been renamed from Vehicle Setup and is now intended mainly for initial vehicle design and configuration, not changes between flights.
-Settings you may want to adjust from one flight to the next are instead available from the expanded pages of the toolbar indicators in Fly View.
-
-- The sidebar is now a tree: each page expands to show the sections within it, and clicking a section jumps directly to it on the page.
-- A new **keyword search** field filters the tree to matching pages and sections, making it much faster to find a specific setting.
-
-### Parameter Editor
-
-#### Tabbed Views and Favorites
-
-The Parameter Editor now provides **Full List**, **Modified**, and **Favorites** tabs, replacing the old "Show modified only" checkbox.
-Mark frequently used parameters as favorites via the new Fav column; favorites persist across sessions.
-
-#### Read-Only Parameters
-
-Parameters flagged as read-only by the vehicle are now shown as such in the UI and cannot be edited by default.
-Advanced-UI users can deliberately override the lock via a **Force edit read-only param** checkbox for diagnostic and recovery cases.
-
-#### Mission Planner File Import
-
-The parameter diff dialog can now load Mission Planner `.param` files (whitespace-separated 5-column format) in addition to the existing QGC `.params` format.
-Select a `.param` file using the new **Mission Planner Files (*.param)** filter in the load dialog; differences from the vehicle's current values are shown as usual before any changes are applied.
-
-### Joystick
-
-::: warning
-Joystick settings from earlier versions are not migrated; joysticks will need to be re-calibrated and re-enabled after updating.
-:::
-
-#### Manual Control Extensions
-
-Full support for MAVLink manual control extensions has been added to the Joystick configuration:
-
-- Improved settings read/write with validation.
-- Improved logging.
-
-#### Additional Stick Axes
-
-Up to 8 additional joystick axes can now be sent to the vehicle via MAVLink `RC_CHANNELS_OVERRIDE` extension channels (19–26), with a full calibration and settings workflow.
-
-#### Camera Focus Actions
-
-Joystick buttons can now be bound to **Step Focus In/Out** and **Continuous Focus In/Out** camera actions (for cameras that report basic focus support).
-
-### ArduPilot
-
-#### Servo Outputs
-
-A new **Servo Outputs** page provides real-time visualization and configuration of servo outputs:
-
-- Live PWM output bars updated in real time.
-- Per-channel function assignment, direction reversal, and min/max/trim PWM editing.
-
-#### Scripting
-
-A new **Scripting** page lets you manage Lua scripts on the vehicle directly from QGroundControl:
-
-- Browse, upload, and delete scripts stored on the vehicle via MAVLink FTP.
-- No need for a separate file manager or SD card access.
-
-#### Safety Failsafe Modernization
-
-The Safety setup page has been modernized with vehicle-specific failsafe sections for Copter, Plane, and Rover.
-Controls use consistent slider and radio-button patterns, and a new bitmask checkbox control makes bitmask parameters much easier to configure.
-
-#### ESC Configuration
-
-ESC configuration and calibration have been extracted from the Power page into a new standalone **ESC** setup page, with support for both `MOT_*` (Copter/Rover/Sub) and `Q_M_*` (QuadPlane) parameter prefixes.
-The Power page now uses tabs to switch between Battery 1 and Battery 2.
-
-#### Airspeed
-
-A new **Airspeed** setup page provides Basic/Advanced tabbed configuration of airspeed sensors:
-
-- **Basic**: sensor type, use airspeed, ratio, auto-calibrate, primary sensor selection, and airspeed limits.
-- **Advanced**: per-sensor offset, pitot tube order, analog pin, I2C bus, PSI range, health monitoring, and options bitmask.
-
-#### Logging Configuration
-
-A new **Logging** page lets you configure logging parameters directly from QGroundControl, including storage backends (`LOG_BACKEND_TYPE`), data group bitmasks (`LOG_BITMASK`), rate limits, and disarmed logging options.
-
-#### Configurable Stream Rates
-
-Configurable telemetry stream rate support for ArduPilot vehicles.
-
-## Application Settings
-
-- The sidebar is now a tree: each page expands to show the sections within it, and clicking a section jumps directly to it on the page.
-- A new **keyword search** field filters the tree to matching pages and sections across all pages, making it much faster to find a specific setting without knowing which page it lives on.
-
-### General
-
-#### Audio Mute
-
-Muting audio output no longer zeroes out the volume slider — mute is now a separate setting, so your preferred volume level is preserved when unmuting.
-
-### Fly View
-
-#### Virtual Joystick
-
-Virtual Joystick now supports left-handed mode.
-
-### Plan View
-
-#### Multiple Fixed Wing Landing Sequences
-
-A new **Allow configuring multiple landing sequences** setting enables planning fixed wing landing sequences at different locations, allowing Return-to-Launch contingency selection.
-
-### Comm Links
-
-#### Custom Serial Baud Rates
-
-Serial link and NMEA GPS baud rate selectors now include a **Custom** option with a numeric text field for entering arbitrary baud rates.
-
-### NTRIP/RTK
-
-#### Built-In NTRIP Client
-
-QGroundControl now includes a built-in NTRIP client for streaming RTK correction data to the vehicle.
-Configure the NTRIP server, mount point, and credentials; QGroundControl connects and forwards corrections automatically.
-
-### Telemetry
-
-#### Connecting to a Flying Vehicle
-
-A new **Skip initial download when flying** setting skips parameter and mission plan downloads when connecting to a vehicle that is already armed, preventing bandwidth saturation on constrained links.
-Toolbar indicators show a compact view immediately, and Vehicle Configuration offers a manual **Download Parameters** button when needed.
-
-## General
-
-### Android Improvements
-
-- On Android 11+, application data (logs, plans, settings) is now saved to the root of a removable SD card when one is present, using the "All files access" permission.
-- A new POSIX serial backend (selectable via an app setting) adds support for built-in serial ports (`/dev/ttyS*`, `/dev/ttyHS*`) on integrated controllers, in addition to USB serial devices.
-
-### MAVLink v1 Removed
-
-Support for the legacy MAVLink v1 message protocol has been removed.
-QGroundControl now requires MAVLink v2.
-
-## Developer
-
-### JSON-Driven Settings UI
-
-Application Settings pages and many Vehicle Configuration pages are now generated from JSON metadata rather than hand-coded QML.
-Settings are organized into collapsible sections with consistent layout.
-
-### Settings Override Files
-
-Application settings can now be overridden — changing defaults, forcing values, hiding settings from the UI — without a custom build.
-See [Settings Override Files](../../qgc-dev-guide/file_formats/settings_override.md) for details.
-
-### Qt Framework Update
-
-The Qt framework has been updated from 6.8.3 to 6.10.1, and the charting library has been migrated from the deprecated Qt Charts to the new Qt Graphs module.
-
-### Build System
-
-The build system has been fully converted to CMake (qmake is no longer supported).
-GStreamer support updated to 1.22.
-
-### API Documentation
-
-Doxygen-generated API documentation is now built and published automatically by a weekly CI pipeline, available at <https://api.qgroundcontrol.com/master/annotated.html>.
+The **ROI at location** map click action now supports setting the ROI altitude.
+An altitude slider (meters above home, defaulting to 0 = ground level) is shown before you confirm the ROI, so the vehicle can point at an elevated target instead of only ground points.
diff --git a/src/Comms/MockLink/MockLink.cc b/src/Comms/MockLink/MockLink.cc
@@ -342,8 +342,8 @@ void MockLink::run1HzTasks()
         _sendRCChannels();
     }
 
-    if (_sendHomePositionDelayCount > 0) {
-        // We delay home position for better testing
+    if (_sendHomePositionDelayCount > 0 && !QGC::runningUnitTests()) {
+        // We delay home position to simulate a real vehicle, but not during unit tests to keep them fast
         _sendHomePositionDelayCount--;
     } else {
         _sendHomePosition();
@@ -2076,11 +2076,19 @@ void MockLink::_handleCommandInt(const mavlink_message_t &msg)
     mavlink_command_int_t request{};
     mavlink_msg_command_int_decode(&msg, &request);
 
-    // MockLink does not implement any COMMAND_INT commands yet, so it reports them as
-    // unsupported (mirroring the COMMAND_LONG default for unrecognized commands). This
-    // lets unit tests exercise "try command, fall back to legacy message" code paths
+    // Unrecognized commands are reported as unsupported (mirroring the COMMAND_LONG default).
+    // This lets unit tests exercise "try command, fall back to legacy message" code paths
     // such as Vehicle::setEstimatorOrigin.
-    const uint8_t commandResult = MAV_RESULT_UNSUPPORTED;
+    uint8_t commandResult = MAV_RESULT_UNSUPPORTED;
+
+    switch (request.command) {
+    case MAV_CMD_DO_SET_ROI_LOCATION:
+        // Unit test support: accept ROI commands so tests can verify Vehicle::guidedModeROI
+        commandResult = MAV_RESULT_ACCEPTED;
+        break;
+    default:
+        break;
+    }
 
     mavlink_message_t commandAck{};
     (void) mavlink_msg_command_ack_pack_chan(
@@ -2146,6 +2154,7 @@ void MockLink::_respondWithAutopilotVersion()
 
     const uint8_t customVersion[8]{};
     const uint64_t capabilities = MAV_PROTOCOL_CAPABILITY_MAVLINK2 | MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY | MAV_PROTOCOL_CAPABILITY_MISSION_INT
+        | MAV_PROTOCOL_CAPABILITY_COMMAND_INT   // matches modern PX4/ArduPilot so tests exercise the preferred COMMAND_INT path
         | ((_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) ? MAV_PROTOCOL_CAPABILITY_TERRAIN : 0)
         | (_ftpCapability ? MAV_PROTOCOL_CAPABILITY_FTP : 0);
 

diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -176,6 +176,46 @@ void FirmwarePlugin::guidedModeChangeHeading(Vehicle *vehicle, const QGeoCoordin
     QGC::showAppMessage(guided_mode_not_supported_by_vehicle);
 }
 
+bool FirmwarePlugin::guidedModeROI(Vehicle *vehicle, const QGeoCoordinate &roiCenterCoord, double relativeAltitudeMeters) const
+{
+    // MAVLink spec path: firmware honors the frame in the command
+    _sendROICommand(vehicle, roiCenterCoord, MAV_FRAME_GLOBAL_RELATIVE_ALT, static_cast<float>(relativeAltitudeMeters));
+    return true;
+}
+
+void FirmwarePlugin::_sendROICommand(Vehicle *vehicle, const QGeoCoordinate &coord, MAV_FRAME frame, float altitude) const
+{
+    qCDebug(FirmwarePluginLog) << "_sendROICommand: lat" << coord.latitude() << "lon" << coord.longitude()
+                               << "frame" << frame << "altitude" << altitude;
+
+    if (vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_COMMAND_INT) {
+        vehicle->sendMavCommandInt(
+            vehicle->defaultComponentId(),
+            MAV_CMD_DO_SET_ROI_LOCATION,
+            frame,
+            true,                           // show error if fails
+            static_cast<float>(qQNaN()),
+            static_cast<float>(qQNaN()),
+            static_cast<float>(qQNaN()),
+            static_cast<float>(qQNaN()),
+            coord.latitude(),
+            coord.longitude(),
+            altitude);
+    } else {
+        vehicle->sendMavCommand(
+            vehicle->defaultComponentId(),
+            MAV_CMD_DO_SET_ROI_LOCATION,
+            true,                           // show error if fails
+            static_cast<float>(qQNaN()),
+            static_cast<float>(qQNaN()),
+            static_cast<float>(qQNaN()),
+            static_cast<float>(qQNaN()),
+            static_cast<float>(coord.latitude()),
+            static_cast<float>(coord.longitude()),
+            altitude);
+    }
+}
+
 void FirmwarePlugin::startTakeoff(Vehicle*) const
 {
     // Not supported by generic vehicle

diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -200,6 +200,12 @@ class FirmwarePlugin : public QObject
     /// Command vehicle to rotate towards specified location.
     virtual void guidedModeChangeHeading(Vehicle *vehicle, const QGeoCoordinate &headingCoord) const;
 
+    /// Command vehicle to set a Region Of Interest at the specified location.
+    ///     @param roiCenterCoord ROI location (altitude within the coordinate is ignored)
+    ///     @param relativeAltitudeMeters ROI altitude in meters above home
+    /// @return true: ROI command sent, false: unable to send
+    virtual bool guidedModeROI(Vehicle *vehicle, const QGeoCoordinate &roiCenterCoord, double relativeAltitudeMeters) const;
+
     /// @return The minimum takeoff altitude (relative) for guided takeoff.
     virtual double minimumTakeoffAltitudeMeters(Vehicle* /*vehicle*/) const { return 3.048; }
 
@@ -400,6 +406,9 @@ class FirmwarePlugin : public QObject
     ///     @return: true - vehicle armed, false - vehicle failed to arm
     bool _armVehicleAndValidate(Vehicle *vehicle) const;
 
+    /// Build + send MAV_CMD_DO_SET_ROI_LOCATION (COMMAND_INT when the vehicle supports it).
+    void _sendROICommand(Vehicle *vehicle, const QGeoCoordinate &coord, MAV_FRAME frame, float altitude) const;
+
     /// Sets the vehicle to the specified flight mode with validation and retries
     ///     @return: true - vehicle in specified flight mode, false - flight mode change failed
     bool _setFlightModeAndValidate(Vehicle *vehicle, const QString &flightMode) const;