GuidedActionsController.qml 23.3 KB
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/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

import QtQuick                  2.3
import QtQuick.Controls         1.2
import QtQuick.Controls.Styles  1.4
import QtQuick.Dialogs          1.2
import QtLocation               5.3
import QtPositioning            5.3
import QtQuick.Layouts          1.2

import QGroundControl                           1.0
import QGroundControl.ScreenTools               1.0
import QGroundControl.Controls                  1.0
import QGroundControl.Palette                   1.0
import QGroundControl.Vehicle                   1.0
import QGroundControl.FlightMap                 1.0

/// This provides the smarts behind the guided mode commands, minus the user interface. This way you can change UI
/// without affecting the underlying functionality.
Item {
    id: _root

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    property var wimaController
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    property var missionController
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    property var confirmDialog
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    property var actionList
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    property var altitudeSlider
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    property var orbitMapCircle
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    readonly property string emergencyStopTitle:            qsTr("EMERGENCY STOP")
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    readonly property string armTitle:                      qsTr("Arm")
    readonly property string disarmTitle:                   qsTr("Disarm")
    readonly property string rtlTitle:                      qsTr("RTL")
    readonly property string takeoffTitle:                  qsTr("Takeoff")
    readonly property string landTitle:                     qsTr("Land")
    readonly property string startMissionTitle:             qsTr("Start Mission")
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    readonly property string mvStartMissionTitle:           qsTr("Start Mission (MV)")
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    readonly property string continueMissionTitle:          qsTr("Continue Mission")
    readonly property string resumeMissionUploadFailTitle:  qsTr("Resume FAILED")
    readonly property string pauseTitle:                    qsTr("Pause")
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    readonly property string mvPauseTitle:                  qsTr("Pause (MV)")
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    readonly property string changeAltTitle:                qsTr("Change Altitude")
    readonly property string orbitTitle:                    qsTr("Orbit")
    readonly property string landAbortTitle:                qsTr("Land Abort")
    readonly property string setWaypointTitle:              qsTr("Set Waypoint")
    readonly property string gotoTitle:                     qsTr("Goto Location")
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    readonly property string vtolTransitionTitle:           qsTr("VTOL Transition")    
    readonly property string overrideUploadTitle:           qsTr("Override Lock")
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    readonly property string uploadAndExecuteTitle:         qsTr("Upload and Execute")
    readonly property string returnBatteryLowTitle:         qsTr("Battery Low")
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    readonly property string armMessage:                        qsTr("Arm the vehicle.")
    readonly property string disarmMessage:                     qsTr("Disarm the vehicle")
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    readonly property string emergencyStopMessage:              qsTr("WARNING: THIS WILL STOP ALL MOTORS. IF VEHICLE IS CURRENTLY IN THE AIR IT WILL CRASH.")
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    readonly property string takeoffMessage:                    qsTr("Takeoff from ground and hold position.")
    readonly property string startMissionMessage:               qsTr("Takeoff from ground and start the current mission.")
    readonly property string continueMissionMessage:            qsTr("Continue the mission from the current waypoint.")
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    readonly property string resumeMissionUploadFailMessage:    qsTr("Upload of resume mission failed. Confirm to retry upload")
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    readonly property string landMessage:                       qsTr("Land the vehicle at the current position.")
    readonly property string rtlMessage:                        qsTr("Return to the home position of the vehicle.")
    readonly property string changeAltMessage:                  qsTr("Change the altitude of the vehicle up or down.")
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    readonly property string gotoMessage:                       qsTr("Move the vehicle to the specified location.")
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             property string setWaypointMessage:                qsTr("Adjust current waypoint to %1.").arg(_actionData)
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    readonly property string orbitMessage:                      qsTr("Orbit the vehicle around the specified location.")
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    readonly property string landAbortMessage:                  qsTr("Abort the landing sequence.")
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    readonly property string pauseMessage:                      qsTr("Pause the vehicle at it's current position, adjusting altitude up or down as needed.")
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    readonly property string mvPauseMessage:                    qsTr("Pause all vehicles at their current position.")
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    readonly property string vtolTransitionFwdMessage:          qsTr("Transition VTOL to fixed wing flight.")
    readonly property string vtolTransitionMRMessage:           qsTr("Transition VTOL to multi-rotor flight.")
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    readonly property string overrideUploadMessage:             qsTr("Vehicle is not inside service area. Upload nevertheless?")    
    readonly property string uploadAndExecuteMessage:           qsTr("Upload and execute the displayed return path?")
    readonly property string returnBatteryLowMessage:           qsTr("Upload and execute the displayed return path?")

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    readonly property int actionRTL:                        1
    readonly property int actionLand:                       2
    readonly property int actionTakeoff:                    3
    readonly property int actionArm:                        4
    readonly property int actionDisarm:                     5
    readonly property int actionEmergencyStop:              6
    readonly property int actionChangeAlt:                  7
    readonly property int actionGoto:                       8
    readonly property int actionSetWaypoint:                9
    readonly property int actionOrbit:                      10
    readonly property int actionLandAbort:                  11
    readonly property int actionStartMission:               12
    readonly property int actionContinueMission:            13
    readonly property int actionResumeMission:              14
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    readonly property int _actionUnused:                    15
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    readonly property int actionResumeMissionUploadFail:    16
    readonly property int actionPause:                      17
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    readonly property int actionMVPause:                    18
    readonly property int actionMVStartMission:             19
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    readonly property int actionVtolTransitionToFwdFlight:  20
    readonly property int actionVtolTransitionToMRFlight:   21
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    readonly property int actionOverrideUpload:             22
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    readonly property int actionUploadAndExecute:           24
    readonly property int actionReturnBatteryLow:           25 // very similar to actionUploadAndExecute, is triggered on low battery
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    property bool showEmergenyStop:     _guidedActionsEnabled && !_hideEmergenyStop && _vehicleArmed && _vehicleFlying
    property bool showArm:              _guidedActionsEnabled && !_vehicleArmed
    property bool showDisarm:           _guidedActionsEnabled && _vehicleArmed && !_vehicleFlying
    property bool showRTL:              _guidedActionsEnabled && _vehicleArmed && _activeVehicle.guidedModeSupported && _vehicleFlying && !_vehicleInRTLMode
    property bool showTakeoff:          _guidedActionsEnabled && _activeVehicle.takeoffVehicleSupported && !_vehicleFlying
    property bool showLand:             _guidedActionsEnabled && _activeVehicle.guidedModeSupported && _vehicleArmed && !_activeVehicle.fixedWing && !_vehicleInLandMode
    property bool showStartMission:     _guidedActionsEnabled && _missionAvailable && !_missionActive && !_vehicleFlying
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    property bool showContinueMission:  _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < _missionItemCount - 1)
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    property bool showPause:            _guidedActionsEnabled && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused
    property bool showChangeAlt:        _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
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    property bool showOrbit:            _guidedActionsEnabled && !_hideOrbit && _vehicleFlying && _activeVehicle.orbitModeSupported && !_missionActive
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    property bool showLandAbort:        _guidedActionsEnabled && _vehicleFlying && _activeVehicle.fixedWing && _vehicleLanding
    property bool showGotoLocation:     _guidedActionsEnabled && _vehicleFlying
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    property bool wimaEnabled:          wimaController.enableWimaController.value
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    // Note: The '_missionItemCount - 2' is a hack to not trigger resume mission when a mission ends with an RTL item
    property bool showResumeMission:    _activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < _missionItemCount - 2)
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    property bool guidedUIVisible:      guidedActionConfirm.visible || guidedActionList.visible

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    property var    _corePlugin:            QGroundControl.corePlugin
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    property bool   _guidedActionsEnabled:  (!ScreenTools.isDebug && QGroundControl.corePlugin.options.guidedActionsRequireRCRSSI && _activeVehicle) ? _rcRSSIAvailable : _activeVehicle
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    property var    _activeVehicle:         QGroundControl.multiVehicleManager.activeVehicle
    property string _flightMode:            _activeVehicle ? _activeVehicle.flightMode : ""
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    property bool   _missionAvailable:      missionController.containsItems && missionController.progressPct === 1
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    property bool   _missionActive:         _activeVehicle ? _vehicleArmed && (_vehicleInLandMode || _vehicleInRTLMode || _vehicleInMissionMode) : false
    property bool   _vehicleArmed:          _activeVehicle ? _activeVehicle.armed  : false
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    property bool   _vehicleFlying:         _activeVehicle ? _activeVehicle.flying  : false
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    property bool   _vehicleLanding:        _activeVehicle ? _activeVehicle.landing  : false
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    property bool   _vehiclePaused:         false
    property bool   _vehicleInMissionMode:  false
    property bool   _vehicleInRTLMode:      false
    property bool   _vehicleInLandMode:     false
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    property int    _missionItemCount:      missionController.missionItemCount
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    property int    _currentMissionIndex:   missionController.currentMissionIndex
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    property int    _resumeMissionIndex:    missionController.resumeMissionIndex
    property bool   _hideEmergenyStop:      !QGroundControl.corePlugin.options.guidedBarShowEmergencyStop
    property bool   _hideOrbit:             !QGroundControl.corePlugin.options.guidedBarShowOrbit
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    property bool   _vehicleWasFlying:      false
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    property bool   _rcRSSIAvailable:       _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100 : false
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    // You can turn on log output for GuidedActionsController by turning on GuidedActionsControllerLog category
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    property bool __guidedModeSupported:    _activeVehicle ? _activeVehicle.guidedModeSupported : false
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    property bool __pauseVehicleSupported:  _activeVehicle ? _activeVehicle.pauseVehicleSupported : false
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    property bool __flightMode:             _flightMode
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    function _outputState() {
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        if (_corePlugin.guidedActionsControllerLogging()) {
            console.log(qsTr("_activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleWasFlying(%5) _vehicleInRTLMode(%6) pauseVehicleSupported(%7) _vehiclePaused(%8) _flightMode(%9) _missionItemCount(%10)").arg(_activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleWasFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode).arg(_missionItemCount))
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        }
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    }

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    Component.onCompleted:              _outputState()
    on_ActiveVehicleChanged:            _outputState()
    on_VehicleArmedChanged:             _outputState()
    on_VehicleInRTLModeChanged:         _outputState()
    on_VehiclePausedChanged:            _outputState()
    on__FlightModeChanged:              _outputState()
    on__GuidedModeSupportedChanged:     _outputState()
    on__PauseVehicleSupportedChanged:   _outputState()
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    on_MissionItemCountChanged:         _outputState()
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    on_CurrentMissionIndexChanged: {
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        if (_corePlugin.guidedActionsControllerLogging()) {
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            console.log("_currentMissionIndex", _currentMissionIndex)
        }
    }
    on_ResumeMissionIndexChanged: {
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        if (_corePlugin.guidedActionsControllerLogging()) {
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            console.log("_resumeMissionIndex", _resumeMissionIndex)
        }
    }
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    onShowResumeMissionChanged: {
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        if (_corePlugin.guidedActionsControllerLogging()) {
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            console.log("showResumeMission", showResumeMission)
        }
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        _outputState()
    }
    onShowStartMissionChanged: {
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        if (_corePlugin.guidedActionsControllerLogging()) {
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            console.log("showStartMission", showStartMission)
        }
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        _outputState()
    }
    onShowContinueMissionChanged: {
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        if (_corePlugin.guidedActionsControllerLogging()) {
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            console.log("showContinueMission", showContinueMission)
        }
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        _outputState()
    }
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    onShowRTLChanged: {
        if (_corePlugin.guidedActionsControllerLogging()) {
            console.log("showRTL", showRTL)
        }
        _outputState()
    }
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    // End of hack

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    on_VehicleFlyingChanged: {
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        _outputState()
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        if (!_vehicleFlying) {
            // We use _vehicleWasFLying to help trigger Resume Mission only if the vehicle actually flew and came back down.
            // Otherwise it may trigger during the Start Mission sequence due to signal ordering or armed and resume mission index.
            _vehicleWasFlying = true
        }
    }
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    property var _actionData
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    on_FlightModeChanged: {
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        _vehiclePaused =        _activeVehicle ? _flightMode === _activeVehicle.pauseFlightMode : false
        _vehicleInRTLMode =     _activeVehicle ? _flightMode === _activeVehicle.rtlFlightMode : false
        _vehicleInLandMode =    _activeVehicle ? _flightMode === _activeVehicle.landFlightMode : false
        _vehicleInMissionMode = _activeVehicle ? _flightMode === _activeVehicle.missionFlightMode : false // Must be last to get correct signalling for showStartMission popups
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    }
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    // Called when an action is about to be executed in order to confirm
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    function confirmAction(actionCode, actionData, mapIndicator) {
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        var showImmediate = true
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        closeAll()
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        confirmDialog.action = actionCode
        confirmDialog.actionData = actionData
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        confirmDialog.hideTrigger = true
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        confirmDialog.mapIndicator = mapIndicator
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        _actionData = actionData
        switch (actionCode) {
        case actionArm:
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            if (_vehicleFlying || !_guidedActionsEnabled) {
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                return
            }
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            confirmDialog.title = armTitle
            confirmDialog.message = armMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showArm })
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            break;
        case actionDisarm:
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            if (_vehicleFlying) {
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                return
            }
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            confirmDialog.title = disarmTitle
            confirmDialog.message = disarmMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showDisarm })
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            break;
        case actionEmergencyStop:
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            confirmDialog.title = emergencyStopTitle
            confirmDialog.message = emergencyStopMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showEmergenyStop })
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            break;
        case actionTakeoff:
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            confirmDialog.title = takeoffTitle
            confirmDialog.message = takeoffMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showTakeoff })
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            altitudeSlider.setToMinimumTakeoff()
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            altitudeSlider.visible = true
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            break;
        case actionStartMission:
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            showImmediate = false
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            confirmDialog.title = startMissionTitle
            confirmDialog.message = startMissionMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showStartMission })
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            break;
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        case actionMVStartMission:
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            confirmDialog.title = mvStartMissionTitle
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            confirmDialog.message = startMissionMessage
            confirmDialog.hideTrigger = true
            break;
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        case actionContinueMission:
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            showImmediate = false
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            confirmDialog.title = continueMissionTitle
            confirmDialog.message = continueMissionMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showContinueMission })
            break;
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        case actionResumeMission:
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            // Resume Mission is handled in mission end dialog
            return
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        case actionResumeMissionUploadFail:
            confirmDialog.title = resumeMissionUploadFailTitle
            confirmDialog.message = resumeMissionUploadFailMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showResumeMission })
            break;
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        case actionLand:
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            confirmDialog.title = landTitle
            confirmDialog.message = landMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showLand })
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            break;
        case actionRTL:
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            confirmDialog.title = rtlTitle
            confirmDialog.message = rtlMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showRTL })
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            break;
        case actionChangeAlt:
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            confirmDialog.title = changeAltTitle
            confirmDialog.message = changeAltMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showChangeAlt })
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            altitudeSlider.reset()
            altitudeSlider.visible = true
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            break;
        case actionGoto:
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            confirmDialog.title = gotoTitle
            confirmDialog.message = gotoMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showGotoLocation })
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            break;
        case actionSetWaypoint:
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            confirmDialog.title = setWaypointTitle
            confirmDialog.message = setWaypointMessage
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            break;
        case actionOrbit:
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            confirmDialog.title = orbitTitle
            confirmDialog.message = orbitMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showOrbit })
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            altitudeSlider.reset()
            altitudeSlider.visible = true
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            break;
        case actionLandAbort:
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            confirmDialog.title = landAbortTitle
            confirmDialog.message = landAbortMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showLandAbort })
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            break;
        case actionPause:
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            confirmDialog.title = pauseTitle
            confirmDialog.message = pauseMessage
            confirmDialog.hideTrigger = Qt.binding(function() { return !showPause })
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            altitudeSlider.reset()
            altitudeSlider.visible = true
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            break;
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        case actionMVPause:
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            confirmDialog.title = mvPauseTitle
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            confirmDialog.message = mvPauseMessage
            confirmDialog.hideTrigger = true
            break;
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        case actionVtolTransitionToFwdFlight:
            confirmDialog.title = vtolTransitionTitle
            confirmDialog.message = vtolTransitionFwdMessage
            confirmDialog.hideTrigger = true
            break
        case actionVtolTransitionToMRFlight:
            confirmDialog.title = vtolTransitionTitle
            confirmDialog.message = vtolTransitionMRMessage
            confirmDialog.hideTrigger = true
            break
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        case actionOverrideUpload:
            confirmDialog.title = overrideUploadTitle
            confirmDialog.message = overrideUploadMessage
            confirmDialog.hideTrigger = true
            break
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        case actionUploadAndExecute:
            confirmDialog.title = uploadAndExecuteTitle
            confirmDialog.message = uploadAndExecuteMessage
            confirmDialog.hideTrigger = true
            break
        case actionReturnBatteryLow:
            confirmDialog.title = returnBatteryLowTitle
            confirmDialog.message = returnBatteryLowMessage
            confirmDialog.hideTrigger = true
            break
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        default:
            console.warn("Unknown actionCode", actionCode)
            return
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        }
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        confirmDialog.show(showImmediate)
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    }

    // Executes the specified action
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    function executeAction(actionCode, actionData, actionAltitudeChange) {
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        var i;
        var rgVehicle;
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        switch (actionCode) {
        case actionRTL:
            _activeVehicle.guidedModeRTL()
            break
        case actionLand:
            _activeVehicle.guidedModeLand()
            break
        case actionTakeoff:
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            _activeVehicle.guidedModeTakeoff(actionAltitudeChange)
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            break
        case actionResumeMission:
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        case actionResumeMissionUploadFail:
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            missionController.resumeMission(missionController.resumeMissionIndex)
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            break
        case actionStartMission:
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        case actionContinueMission:
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            _activeVehicle.startMission()
            break
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        case actionMVStartMission:
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            rgVehicle = QGroundControl.multiVehicleManager.vehicles
            for (i = 0; i < rgVehicle.count; i++) {
                rgVehicle.get(i).startMission()
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            }
            break
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        case actionArm:
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            _activeVehicle.armed = true
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            break
        case actionDisarm:
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            _activeVehicle.armed = false
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            break
        case actionEmergencyStop:
            _activeVehicle.emergencyStop()
            break
        case actionChangeAlt:
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            _activeVehicle.guidedModeChangeAltitude(actionAltitudeChange)
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            break
        case actionGoto:
            _activeVehicle.guidedModeGotoLocation(actionData)
            break
        case actionSetWaypoint:
            _activeVehicle.setCurrentMissionSequence(actionData)
            break
        case actionOrbit:
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            _activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius() * (orbitMapCircle.clockwiseRotation ? 1 : -1), _activeVehicle.altitudeAMSL.rawValue + actionAltitudeChange)
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            break
        case actionLandAbort:
            _activeVehicle.abortLanding(50)     // hardcoded value for climbOutAltitude that is currently ignored
            break
        case actionPause:
            _activeVehicle.pauseVehicle()
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            _activeVehicle.guidedModeChangeAltitude(actionAltitudeChange)
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            break
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        case actionMVPause:
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            rgVehicle = QGroundControl.multiVehicleManager.vehicles
            for (i = 0; i < rgVehicle.count; i++) {
                rgVehicle.get(i).pauseVehicle()
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            }
            break
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        case actionVtolTransitionToFwdFlight:
            _activeVehicle.vtolInFwdFlight = true
            break
        case actionVtolTransitionToMRFlight:
            _activeVehicle.vtolInFwdFlight = false
            break
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        case actionOverrideUpload:
            wimaController.forceUploadToVehicle()
            break
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        case actionUploadAndExecute:
        case actionReturnBatteryLow:
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            wimaController.executeSmartRTL()
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            break
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        default:
            console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
            break
        }
    }
}