mavlink · DonLakeFlyer · Mar 11, 2026 · Mar 11, 2026 · Mar 11, 2026 · Mar 11, 2026
diff --git a/docs/en/qgc-user-guide/plan_view/plan_view.md b/docs/en/qgc-user-guide/plan_view/plan_view.md
@@ -121,7 +121,7 @@ The Plan Info section contains general plan-level settings:
 
 The Defaults section sets plan-wide values that apply to new mission items:
 
-- **Altitude Mode** — Select the altitude reference frame for waypoints.
+- **Altitude Frame** — Select the altitude reference frame for waypoints.
 - **Waypoints Altitude** — The default altitude for the first mission item added (subsequent items take their initial altitude from the previous item). Changing this value when items already exist will prompt to update all items to the new altitude.
 - **Flight Speed** — Set a flight speed that differs from the default mission speed.
 - **Vehicle Speeds** — Cruise speed (fixed-wing) and/or hover speed (multi-rotor/VTOL), used for estimating mission time.

diff --git a/src/FactSystem/FactControls/AltitudeFactTextField.qml b/src/FactSystem/FactControls/AltitudeFactTextField.qml
@@ -7,17 +7,17 @@ import QGroundControl.Controls
 
 FactTextField {
     unitsLabel:                 fact ? fact.units : ""
-    extraUnitsLabel:            fact ? _altitudeModeExtraUnits : ""
+    extraUnitsLabel:            fact ? qsTr("%1").arg(_altitudeFrameExtraUnits) : ""
     showUnits:                  true
     showHelp:                   true
 
-    property int altitudeMode: QGroundControl.AltitudeModeNone
+    property int altitudeFrame: QGroundControl.AltitudeFrameNone
 
-    property string _altitudeModeExtraUnits
+    property string _altitudeFrameExtraUnits
 
-    onAltitudeModeChanged: updateAltitudeModeExtraUnits()
+    onAltitudeFrameChanged: updateAltitudeFrameExtraUnits()
 
-    function updateAltitudeModeExtraUnits() {
-        _altitudeModeExtraUnits = QGroundControl.altitudeModeExtraUnits(altitudeMode);
+    function updateAltitudeFrameExtraUnits() {
+        _altitudeFrameExtraUnits = QGroundControl.altitudeFrameExtraUnits(altitudeFrame);
     }
 }
diff --git a/src/FlightMap/Widgets/CenterMapDropButton.qml b/src/FlightMap/Widgets/CenterMapDropButton.qml
@@ -175,7 +175,7 @@ DropButton {
             }
 
             QGCButton {
-                text:               qsTr("Launch")
+                text:               qsTr("Home")
                 Layout.fillWidth:   true
                 enabled:            !followVehicleCheckBox.checked
 

diff --git a/src/FlightMap/Widgets/CenterMapDropPanel.qml b/src/FlightMap/Widgets/CenterMapDropPanel.qml
@@ -40,7 +40,7 @@ ColumnLayout {
     }
 
     QGCButton {
-        text:               qsTr("Launch")
+        text:               qsTr("Home")
         Layout.fillWidth:   true
 
         onClicked: {

diff --git a/src/MissionManager/CameraCalc.cc b/src/MissionManager/CameraCalc.cc
@@ -8,7 +8,7 @@
 
 CameraCalc::CameraCalc(PlanMasterController* masterController, const QString& settingsGroup, QObject* parent)
     : CameraSpec                    (settingsGroup, parent)
-    , _distanceMode                 (masterController->missionController()->globalAltitudeModeDefault())
+    , _distanceMode                 (masterController->missionController()->globalAltitudeFrameDefault())
     , _knownCameraList              (masterController->controllerVehicle()->staticCameraList())
     , _metaDataMap                  (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraCalc.FactMetaData.json"), this))
     , _cameraNameFact               (settingsGroup, _metaDataMap[cameraNameName])
@@ -110,9 +110,9 @@ void CameraCalc::_cameraNameChanged(void)
     }
 
     _recalcTriggerDistance();
-    if (!isManualCamera() && distanceMode() == QGroundControlQmlGlobal::AltitudeModeAbsolute) {
+    if (!isManualCamera() && distanceMode() == QGroundControlQmlGlobal::AltitudeFrameAbsolute) {
         // Manual grids support absolute alts whereas nothing else does. Make sure we are not left in absolute
-        setDistanceMode(QGroundControlQmlGlobal::AltitudeModeRelative);
+        setDistanceMode(QGroundControlQmlGlobal::AltitudeFrameRelative);
     }
 }
 
@@ -203,11 +203,11 @@ bool CameraCalc::load(const QJsonObject& originalJson, bool deprecatedFollowTerr
     if (version == 1) {
         // Version 1->2 differences:
         //  - _jsonDistanceToSurfaceRelativeKeyDeprecated changed to distanceMode
-        //  - deprecatedFollowTerrain value was loaded from upper level callers and represents AltitudeModeCalcAboveTerrain. AtitudeModeTerrainFrame was not supported yet.
+        //  - deprecatedFollowTerrain value was loaded from upper level callers and represents AltitudeFrameCalcAboveTerrain. AltitudeFrameTerrain was not supported yet.
         if (deprecatedFollowTerrain) {
-            json[distanceModeName] = QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain;
+            json[distanceModeName] = QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain;
         } else {
-            json[distanceModeName] = json[_jsonDistanceToSurfaceRelativeKeyDeprecated].toBool() ? QGroundControlQmlGlobal::AltitudeModeRelative : QGroundControlQmlGlobal::AltitudeModeAbsolute;
+            json[distanceModeName] = json[_jsonDistanceToSurfaceRelativeKeyDeprecated].toBool() ? QGroundControlQmlGlobal::AltitudeFrameRelative : QGroundControlQmlGlobal::AltitudeFrameAbsolute;
         }
         json.remove(_jsonDistanceToSurfaceRelativeKeyDeprecated);
         version = 2;
@@ -235,7 +235,7 @@ bool CameraCalc::load(const QJsonObject& originalJson, bool deprecatedFollowTerr
     QString canonicalCameraName = _validCanonicalCameraName(json[cameraNameName].toString());
     _cameraNameFact.setRawValue(canonicalCameraName);
 
-    setDistanceMode(static_cast<QGroundControlQmlGlobal::AltMode>(json[distanceModeName].toInt()));
+    setDistanceMode(static_cast<QGroundControlQmlGlobal::AltitudeFrame>(json[distanceModeName].toInt()));
 
     _adjustedFootprintSideFact.setRawValue      (json[adjustedFootprintSideName].toDouble());
     _adjustedFootprintFrontalFact.setRawValue   (json[adjustedFootprintFrontalName].toDouble());
@@ -293,10 +293,10 @@ QString CameraCalc::xlatManualCameraName(void)
     return tr("Manual (no camera specs)");
 }
 
-void CameraCalc::setDistanceMode(QGroundControlQmlGlobal::AltMode altMode)
+void CameraCalc::setDistanceMode(QGroundControlQmlGlobal::AltitudeFrame altFrame)
 {
-    if (altMode != _distanceMode) {
-        _distanceMode = altMode;
+    if (altFrame != _distanceMode) {
+        _distanceMode = altFrame;
         emit distanceModeChanged(_distanceMode);
     }
 }

diff --git a/src/MissionManager/CameraCalc.h b/src/MissionManager/CameraCalc.h
@@ -38,7 +38,7 @@ class CameraCalc : public CameraSpec
     //  grid altitude mode -    distanceMode
     //  trigger distance -      adjustedFootprintFrontal
     //  transect spacing -      adjustedFootprintSide
-    Q_PROPERTY(QGroundControlQmlGlobal::AltMode distanceMode READ distanceMode WRITE setDistanceMode NOTIFY distanceModeChanged)
+    Q_PROPERTY(QGroundControlQmlGlobal::AltitudeFrame distanceMode READ distanceMode WRITE setDistanceMode NOTIFY distanceModeChanged)
 
     // The following values are calculated from the camera properties
     Q_PROPERTY(double imageFootprintSide    READ imageFootprintSide     NOTIFY imageFootprintSideChanged)       ///< Size of image size side in meters
@@ -69,9 +69,9 @@ class CameraCalc : public CameraSpec
     bool    isCustomCamera              (void) const { return _cameraNameFact.rawValue().toString() == canonicalCustomCameraName(); }
     double  imageFootprintSide          (void) const { return _imageFootprintSide; }
     double  imageFootprintFrontal       (void) const { return _imageFootprintFrontal; }
-    QGroundControlQmlGlobal::AltMode distanceMode(void) const { return _distanceMode; }
+    QGroundControlQmlGlobal::AltitudeFrame distanceMode(void) const { return _distanceMode; }
 
-    void setDistanceMode                (QGroundControlQmlGlobal::AltMode altMode);
+    void setDistanceMode                (QGroundControlQmlGlobal::AltitudeFrame altFrame);
     void setCameraBrand                 (const QString& cameraBrand);
     void setCameraModel                 (const QString& cameraModel);
 
@@ -93,7 +93,7 @@ class CameraCalc : public CameraSpec
 signals:
     void imageFootprintSideChanged          (double imageFootprintSide);
     void imageFootprintFrontalChanged       (double imageFootprintFrontal);
-    void distanceModeChanged                (int altMode);
+    void distanceModeChanged                (int altFrame);
     void isManualCameraChanged              (void);
     void isCustomCameraChanged              (void);
     void cameraBrandChanged                 (void);
@@ -116,7 +116,7 @@ private slots:
     QString                             _cameraModel;
     QStringList                         _cameraBrandList;
     QStringList                         _cameraModelList;
-    QGroundControlQmlGlobal::AltMode    _distanceMode               = QGroundControlQmlGlobal::AltitudeModeRelative;
+    QGroundControlQmlGlobal::AltitudeFrame    _distanceMode               = QGroundControlQmlGlobal::AltitudeFrameRelative;
     double                              _imageFootprintSide         = 0;
     double                              _imageFootprintFrontal      = 0;
     QVariantList                        _knownCameraList;

diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
@@ -194,8 +194,8 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
         _visualItems = newControllerMissionItems;
         _settingsItem = settingsItem;
 
-        // We set Altitude mode to mixed, otherwise if we need a non relative altitude frame we won't be able to change it
-        setGlobalAltitudeMode(weHaveItemsFromVehicle ? QGroundControlQmlGlobal::AltitudeModeMixed : QGroundControlQmlGlobal::AltitudeModeRelative);
+        // We set Altitude frame to mixed, otherwise if we need a non relative altitude frame we won't be able to change it
+        setGlobalAltitudeFrame(weHaveItemsFromVehicle ? QGroundControlQmlGlobal::AltitudeFrameMixed : QGroundControlQmlGlobal::AltitudeFrameRelative);
 
         MissionController::_scanForAdditionalSettings(_visualItems, _masterController);
 
@@ -315,13 +315,13 @@ VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordin
     if (newItem->specifiesAltitude()) {
         if (!MissionCommandTree::instance()->isLandCommand(command)) {
             double                              prevAltitude;
-            QGroundControlQmlGlobal::AltMode    prevAltMode;
+            QGroundControlQmlGlobal::AltitudeFrame    prevAltFrame;
 
-            if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltMode)) {
+            if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltFrame)) {
                 newItem->altitude()->setRawValue(prevAltitude);
-                if (globalAltitudeMode() == QGroundControlQmlGlobal::AltitudeModeMixed) {
-                    // We are in mixed altitude modes, so copy from previous. Otherwise alt mode will be set from global setting.
-                    newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltMode>(prevAltMode));
+                if (globalAltitudeFrame() == QGroundControlQmlGlobal::AltitudeFrameMixed) {
+                    // We are in mixed altitude frames, so copy from previous. Otherwise altitude frame will be set from global setting.
+                    newItem->setAltitudeFrame(static_cast<QGroundControlQmlGlobal::AltitudeFrame>(prevAltFrame));
                 }
             }
         }
@@ -359,11 +359,11 @@ VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate /*coordin
 
     if (_takeoffMissionItem->specifiesAltitude()) {
         double                              prevAltitude;
-        QGroundControlQmlGlobal::AltMode    prevAltMode;
+        QGroundControlQmlGlobal::AltitudeFrame    prevAltFrame;
 
-        if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltMode)) {
+        if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltFrame)) {
             _takeoffMissionItem->altitude()->setRawValue(prevAltitude);
-            _takeoffMissionItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltMode>(prevAltMode));
+            _takeoffMissionItem->setAltitudeFrame(static_cast<QGroundControlQmlGlobal::AltitudeFrame>(prevAltFrame));
         }
     }
     if (visualItemIndex == -1) {
@@ -437,11 +437,11 @@ VisualMissionItem* MissionController::insertComplexMissionItem(QString itemName,
         newItem->setCoordinate(mapCenterCoordinate);
 
         double                              prevAltitude;
-        QGroundControlQmlGlobal::AltMode    prevAltMode;
-        if (globalAltitudeMode() == QGroundControlQmlGlobal::AltitudeModeMixed) {
-            // We are in mixed altitude modes, so copy from previous. Otherwise alt mode will be set from global setting in constructor.
-            if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltMode)) {
-                qobject_cast<SurveyComplexItem*>(newItem)->cameraCalc()->setDistanceMode(prevAltMode);
+        QGroundControlQmlGlobal::AltitudeFrame    prevAltFrame;
+        if (globalAltitudeFrame() == QGroundControlQmlGlobal::AltitudeFrameMixed) {
+            // We are in mixed altitude frames, so copy from previous. Otherwise alt mode will be set from global setting in constructor.
+            if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltFrame)) {
+                qobject_cast<SurveyComplexItem*>(newItem)->cameraCalc()->setDistanceMode(prevAltFrame);
             }
         }
     } else if (itemName == FixedWingLandingComplexItem::name) {
@@ -636,7 +636,7 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
         return false;
     }
 
-    setGlobalAltitudeMode(QGroundControlQmlGlobal::AltitudeModeMixed);
+    setGlobalAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrameMixed);
 
     // Read complex items
     QList<SurveyComplexItem*> surveyItems;
@@ -741,7 +741,7 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
         return false;
     }
 
-    setGlobalAltitudeMode(QGroundControlQmlGlobal::AltitudeModeMixed);
+    setGlobalAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrameMixed);
 
     qCDebug(MissionControllerLog) << "MissionController::_loadJsonMissionFileV2 itemCount:" << json[_jsonItemsKey].toArray().count();
 
@@ -774,7 +774,7 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
         appSettings->offlineEditingHoverSpeed()->setRawValue(json[_jsonHoverSpeedKey].toDouble());
     }
     if (json.contains(_jsonGlobalPlanAltitudeModeKey)) {
-        setGlobalAltitudeMode(json[_jsonGlobalPlanAltitudeModeKey].toVariant().value<QGroundControlQmlGlobal::AltMode>());
+        setGlobalAltitudeFrame(json[_jsonGlobalPlanAltitudeModeKey].toVariant().value<QGroundControlQmlGlobal::AltitudeFrame>());
     }
 
     QGeoCoordinate homeCoordinate;
@@ -1041,7 +1041,7 @@ bool MissionController::loadTextFile(QFile& file, QString& errorString)
     QByteArray  bytes = file.readAll();
     QTextStream stream(bytes);
 
-    setGlobalAltitudeMode(QGroundControlQmlGlobal::AltitudeModeMixed);
+    setGlobalAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrameMixed);
 
     QmlObjectListModel* loadedVisualItems = new QmlObjectListModel(this);
     if (!_loadTextMissionFile(stream, loadedVisualItems, errorStr)) {
@@ -1084,7 +1084,7 @@ void MissionController::save(QJsonObject& json)
     json[_jsonVehicleTypeKey]               = _controllerVehicle->vehicleType();
     json[_jsonCruiseSpeedKey]               = _controllerVehicle->defaultCruiseSpeed();
     json[_jsonHoverSpeedKey]                = _controllerVehicle->defaultHoverSpeed();
-    json[_jsonGlobalPlanAltitudeModeKey]    = _globalAltMode;
+    json[_jsonGlobalPlanAltitudeModeKey]    = _globalAltFrame;
 
     // Save the visual items
 
@@ -2193,11 +2193,11 @@ void MissionController::_inProgressChanged(bool inProgress)
     emit syncInProgressChanged(inProgress);
 }
 
-bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude, QGroundControlQmlGlobal::AltMode* prevAltitudeMode)
+bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude, QGroundControlQmlGlobal::AltitudeFrame* prevAltitudeMode)
 {
     bool                                found = false;
     double                              foundAltitude = 0;
-    QGroundControlQmlGlobal::AltMode    foundAltMode = QGroundControlQmlGlobal::AltitudeModeNone;
+    QGroundControlQmlGlobal::AltitudeFrame    foundAltFrame = QGroundControlQmlGlobal::AltitudeFrameNone;
 
     if (newIndex > _visualItems->count()) {
         return false;
@@ -2212,7 +2212,7 @@ bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude
                 SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
                 if (simpleItem->specifiesAltitude()) {
                     foundAltitude   = simpleItem->altitude()->rawValue().toDouble();
-                    foundAltMode    = simpleItem->altitudeMode();
+                    foundAltFrame    = simpleItem->altitudeFrame();
                     found           = true;
                     break;
                 }
@@ -2222,7 +2222,7 @@ bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude
 
     if (found) {
         *prevAltitude       = foundAltitude;
-        *prevAltitudeMode   = foundAltMode;
+        *prevAltitudeMode   = foundAltFrame;
     }
 
     return found;
@@ -2971,24 +2971,24 @@ MissionController::SendToVehiclePreCheckState MissionController::sendToVehiclePr
     return SendToVehiclePreCheckStateOk;
 }
 
-QGroundControlQmlGlobal::AltMode MissionController::globalAltitudeMode(void)
+QGroundControlQmlGlobal::AltitudeFrame MissionController::globalAltitudeFrame(void)
 {
-    return _globalAltMode;
+    return _globalAltFrame;
 }
 
-QGroundControlQmlGlobal::AltMode MissionController::globalAltitudeModeDefault(void)
+QGroundControlQmlGlobal::AltitudeFrame MissionController::globalAltitudeFrameDefault(void)
 {
-    if (_globalAltMode == QGroundControlQmlGlobal::AltitudeModeMixed) {
-        return QGroundControlQmlGlobal::AltitudeModeRelative;
+    if (_globalAltFrame == QGroundControlQmlGlobal::AltitudeFrameMixed) {
+        return QGroundControlQmlGlobal::AltitudeFrameRelative;
     } else {
-        return _globalAltMode;
+        return _globalAltFrame;
     }
 }
 
-void MissionController::setGlobalAltitudeMode(QGroundControlQmlGlobal::AltMode altMode)
+void MissionController::setGlobalAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrame altFrame)
 {
-    if (_globalAltMode != altMode) {
-        _globalAltMode = altMode;
-        emit globalAltitudeModeChanged();
+    if (_globalAltFrame != altFrame) {
+        _globalAltFrame = altFrame;
+        emit globalAltitudeFrameChanged();
     }
 }