PlanView.qml 50.5 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.
 *
 ****************************************************************************/
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import QtQuick          2.3
import QtQuick.Controls 1.2
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import QtQuick.Dialogs  1.2
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import QtLocation       5.3
import QtPositioning    5.3
import QtQuick.Layouts  1.2
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import QtQuick.Window   2.2
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import QGroundControl               1.0
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import QGroundControl.FlightMap     1.0
import QGroundControl.ScreenTools   1.0
import QGroundControl.Controls      1.0
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import QGroundControl.FactSystem    1.0
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import QGroundControl.FactControls  1.0
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import QGroundControl.Palette       1.0
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import QGroundControl.Controllers   1.0
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import QGroundControl.KMLFileHelper 1.0
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import QGroundControl.Airspace      1.0
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import QGroundControl.Airmap        1.0
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/// Mission Editor
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QGCView {
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    id:         _qgcView
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    viewPanel:  panel
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    z:          QGroundControl.zOrderTopMost
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    property bool planControlColapsed: false

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    ///< This property is used to determine dirty state for prompting on QGC shutdown
    readonly property bool dirty: _planMasterController.dirty

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    readonly property int   _decimalPlaces:             8
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    readonly property real  _horizontalMargin:          ScreenTools.defaultFontPixelWidth  * 0.5
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    readonly property real  _margin:                    ScreenTools.defaultFontPixelHeight * 0.5
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    readonly property real  _radius:                    ScreenTools.defaultFontPixelWidth  * 0.5
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    readonly property var   _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
    readonly property real  _rightPanelWidth:           Math.min(parent.width / 3, ScreenTools.defaultFontPixelWidth * 30)
    readonly property real  _toolButtonTopMargin:       parent.height - ScreenTools.availableHeight + (ScreenTools.defaultFontPixelHeight / 2)
    readonly property var   _defaultVehicleCoordinate:  QtPositioning.coordinate(37.803784, -122.462276)
    readonly property bool  _waypointsOnlyMode:         QGroundControl.corePlugin.options.missionWaypointsOnly
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    property bool   _airspaceEnabled:                    QGroundControl.airmapSupported ? (QGroundControl.settingsManager.airMapSettings.enableAirMap.rawValue && QGroundControl.airspaceManager.connected): false
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    property var    _planMasterController:              masterController
    property var    _missionController:                 _planMasterController.missionController
    property var    _geoFenceController:                _planMasterController.geoFenceController
    property var    _rallyPointController:              _planMasterController.rallyPointController
    property var    _visualItems:                       _missionController.visualItems
    property bool   _lightWidgetBorders:                editorMap.isSatelliteMap
    property bool   _addWaypointOnClick:                false
    property bool   _addROIOnClick:                     false
    property bool   _singleComplexItem:                 _missionController.complexMissionItemNames.length === 1
    property real   _toolbarHeight:                     _qgcView.height - ScreenTools.availableHeight
    property int    _editingLayer:                      _layerMission
    property int    _toolStripBottom:                   toolStrip.height + toolStrip.y
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    readonly property int       _layerMission:              1
    readonly property int       _layerGeoFence:             2
    readonly property int       _layerRallyPoints:          3
    readonly property string    _armedVehicleUploadPrompt:  qsTr("Vehicle is currently armed. Do you want to upload the mission to the vehicle?")
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    Component.onCompleted: {
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        toolbar.planMasterController =  Qt.binding(function () { return _planMasterController })
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        toolbar.currentMissionItem =    Qt.binding(function () { return _missionController.currentPlanViewItem })
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    }

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    function addComplexItem(complexItemName) {
        var coordinate = editorMap.center
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        coordinate.latitude  = coordinate.latitude.toFixed(_decimalPlaces)
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        coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
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        coordinate.altitude  = coordinate.altitude.toFixed(_decimalPlaces)
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        insertComplexMissionItem(complexItemName, coordinate, _missionController.visualItems.count)
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    }

    function insertComplexMissionItem(complexItemName, coordinate, index) {
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        var sequenceNumber = _missionController.insertComplexMissionItem(complexItemName, coordinate, index)
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        _missionController.setCurrentPlanViewIndex(sequenceNumber, true)
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    }

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    function insertComplexMissionItemFromKML(complexItemName, kmlFile, index) {
        var sequenceNumber = _missionController.insertComplexMissionItemFromKML(complexItemName, kmlFile, index)
        _missionController.setCurrentPlanViewIndex(sequenceNumber, true)
    }

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    function updateAirspace(reset) {
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        if(_airspaceEnabled) {
            var coordinateNW = editorMap.toCoordinate(Qt.point(0,0), false /* clipToViewPort */)
            var coordinateSE = editorMap.toCoordinate(Qt.point(width,height), false /* clipToViewPort */)
            if(coordinateNW.isValid && coordinateSE.isValid) {
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                QGroundControl.airspaceManager.setROI(coordinateNW, coordinateSE, true /*planView*/, reset)
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            }
        }
    }

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    property bool _firstMissionLoadComplete:    false
    property bool _firstFenceLoadComplete:      false
    property bool _firstRallyLoadComplete:      false
    property bool _firstLoadComplete:           false

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    MapFitFunctions {
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        id:                         mapFitFunctions  // The name for this id cannot be changed without breaking references outside of this code. Beware!
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        map:                        editorMap
        usePlannedHomePosition:     true
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        planMasterController:       _planMasterController
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    }

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    on_AirspaceEnabledChanged: {
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        if(QGroundControl.airmapSupported) {
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            if(_airspaceEnabled) {
                planControlColapsed = QGroundControl.airspaceManager.airspaceVisible
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                updateAirspace(true)
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            } else {
                planControlColapsed = false
            }
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        } else {
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            planControlColapsed = false
        }
    }

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    Connections {
        target: QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude

        onRawValueChanged: {
            if (_visualItems.count > 1) {
                _qgcView.showDialog(applyNewAltitude, qsTr("Apply new alititude"), showDialogDefaultWidth, StandardButton.Yes | StandardButton.No)
            }
        }
    }

    Component {
        id: applyNewAltitude

        QGCViewMessage {
            message:    qsTr("You have changed the default altitude for mission items. Would you like to apply that altitude to all the items in the current mission?")

            function accept() {
                hideDialog()
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                _missionController.applyDefaultMissionAltitude()
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            }
        }
    }

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    Component {
        id: activeMissionUploadDialogComponent

        QGCViewDialog {

            Column {
                anchors.fill:   parent
                spacing:        ScreenTools.defaultFontPixelHeight

                QGCLabel {
                    width:      parent.width
                    wrapMode:   Text.WordWrap
                    text:       qsTr("Your vehicle is currently flying a mission. In order to upload a new or modified mission the current mission will be paused.")
                }

                QGCLabel {
                    width:      parent.width
                    wrapMode:   Text.WordWrap
                    text:       qsTr("After the mission is uploaded you can adjust the current waypoint and start the mission.")
                }

                QGCButton {
                    text:       qsTr("Pause and Upload")
                    onClicked: {
                        _activeVehicle.flightMode = _activeVehicle.pauseFlightMode
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                        _planMasterController.sendToVehicle()
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                        hideDialog()
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                    }
                }
            }
        }
    }

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    Connections {
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        target: QGroundControl.airspaceManager
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        onAirspaceVisibleChanged: {
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            planControlColapsed = QGroundControl.airspaceManager.airspaceVisible
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        }
    }

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    Component {
        id: noItemForKML
        QGCViewMessage {
            message:    qsTr("You need at least one item to create a KML.")
        }
    }

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    PlanMasterController {
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        id: masterController
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        Component.onCompleted: {
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            start(false /* flyView */)
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            _missionController.setCurrentPlanViewIndex(0, true)
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        }

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        function waitingOnDataMessage() {
            _qgcView.showMessage(qsTr("Unable to Save/Upload"), qsTr("Plan is waiting on terrain data from server for correct altitude values."), StandardButton.Ok)
        }

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        function upload() {
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            if (!readyForSaveSend()) {
                waitingOnDataMessage()
                return
            }
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            if (_activeVehicle && _activeVehicle.armed && _activeVehicle.flightMode === _activeVehicle.missionFlightMode) {
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                _qgcView.showDialog(activeMissionUploadDialogComponent, qsTr("Plan Upload"), _qgcView.showDialogDefaultWidth, StandardButton.Cancel)
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            } else {
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                sendToVehicle()
            }
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        }

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        function loadFromSelectedFile() {
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            fileDialog.title =          qsTr("Select Plan File")
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            fileDialog.planFiles =      true
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            fileDialog.selectExisting = true
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            fileDialog.nameFilters =    masterController.loadNameFilters
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            fileDialog.fileExtension =  QGroundControl.settingsManager.appSettings.planFileExtension
            fileDialog.fileExtension2 = QGroundControl.settingsManager.appSettings.missionFileExtension
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            fileDialog.openForLoad()
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        }

        function saveToSelectedFile() {
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            if (!readyForSaveSend()) {
                waitingOnDataMessage()
                return
            }
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            fileDialog.title =          qsTr("Save Plan")
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            fileDialog.planFiles =      true
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            fileDialog.selectExisting = false
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            fileDialog.nameFilters =    masterController.saveNameFilters
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            fileDialog.fileExtension =  QGroundControl.settingsManager.appSettings.planFileExtension
            fileDialog.fileExtension2 = QGroundControl.settingsManager.appSettings.missionFileExtension
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            fileDialog.openForSave()
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        }

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        function fitViewportToItems() {
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            mapFitFunctions.fitMapViewportToMissionItems()
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        }
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        function loadKmlFromSelectedFile() {
            fileDialog.title =          qsTr("Load KML")
            fileDialog.planFiles =      false
            fileDialog.selectExisting = true
            fileDialog.nameFilters =    masterController.fileKmlFilters
            fileDialog.fileExtension =  QGroundControl.settingsManager.appSettings.kmlFileExtension
            fileDialog.fileExtension2 = ""
            fileDialog.openForLoad()
        }

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        function saveKmlToSelectedFile() {
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            if (!readyForSaveSend()) {
                waitingOnDataMessage()
                return
            }
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            fileDialog.title =          qsTr("Save KML")
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            fileDialog.planFiles =      false
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            fileDialog.selectExisting = false
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            fileDialog.nameFilters =    masterController.fileKmlFilters
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            fileDialog.fileExtension =  QGroundControl.settingsManager.appSettings.kmlFileExtension
            fileDialog.fileExtension2 = ""
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            fileDialog.openForSave()
        }
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    }
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    Connections {
        target: _missionController
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        onNewItemsFromVehicle: {
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            if (_visualItems && _visualItems.count != 1) {
                mapFitFunctions.fitMapViewportToMissionItems()
            }
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            _missionController.setCurrentPlanViewIndex(0, true)
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        }
    }
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    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
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    ExclusiveGroup {
        id: _mapTypeButtonsExclusiveGroup
    }

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    /// Inserts a new simple mission item
    ///     @param coordinate Location to insert item
    ///     @param index Insert item at this index
    function insertSimpleMissionItem(coordinate, index) {
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        var sequenceNumber = _missionController.insertSimpleMissionItem(coordinate, index)
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        _missionController.setCurrentPlanViewIndex(sequenceNumber, true)
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    }

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    /// Inserts a new ROI mission item
    ///     @param coordinate Location to insert item
    ///     @param index Insert item at this index
    function insertROIMissionItem(coordinate, index) {
        var sequenceNumber = _missionController.insertROIMissionItem(coordinate, index)
        _missionController.setCurrentPlanViewIndex(sequenceNumber, true)
        _addROIOnClick = false
        toolStrip.uncheckAll()
    }

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    property int _moveDialogMissionItemIndex

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    QGCFileDialog {
        id:             fileDialog
        qgcView:        _qgcView
        folder:         QGroundControl.settingsManager.appSettings.missionSavePath
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        property bool planFiles: true    ///< true: working with plan files, false: working with kml file

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        onAcceptedForSave: {
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            if (planFiles) {
                masterController.saveToFile(file)
            } else {
                masterController.saveToKml(file)
            }
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            close()
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        }

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        onAcceptedForLoad: {
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            if (planFiles) {
                masterController.loadFromFile(file)
                masterController.fitViewportToItems()
                _missionController.setCurrentPlanViewIndex(0, true)
            } else {
                var retList = KMLFileHelper.determineFileContents(file)
                if (retList[0] == KMLFileHelper.Error) {
                    _qgcView.showMessage("Error", retList[1], StandardButton.Ok)
                } else if (retList[0] == KMLFileHelper.Polygon) {
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                    var editVehicle = _activeVehicle ? _activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
                    if (editVehicle.fixedWing) {
                        insertComplexMissionItemFromKML(_missionController.surveyComplexItemName, file, -1)
                    } else {
                        kmlPolygonSelectDialogKMLFile = file
                        _qgcView.showDialog(kmlPolygonSelectDialog, fileDialog.title, _qgcView.showDialogDefaultWidth, StandardButton.Ok | StandardButton.Cancel)
                    }
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                } else if (retList[0] == KMLFileHelper.Polyline) {
                    insertComplexMissionItemFromKML(_missionController.corridorScanComplexItemName, file, -1)
                }
            }
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            close()
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        }
    }

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    property string kmlPolygonSelectDialogKMLFile
    Component {
        id: kmlPolygonSelectDialog

        QGCViewDialog {
            function accept() {
                var complexItemName
                if (surveyRadio.checked) {
                    complexItemName = _missionController.surveyComplexItemName
                } else {
                    complexItemName = _missionController.structureScanComplexItemName
                }
                insertComplexMissionItemFromKML(complexItemName, kmlPolygonSelectDialogKMLFile, -1)
                hideDialog()
            }

            ExclusiveGroup {
                id: radioGroup
            }

            Column {
                anchors.left:   parent.left
                anchors.right:  parent.right
                spacing:        ScreenTools.defaultFontPixelHeight

                QGCLabel {
                    anchors.left:   parent.left
                    anchors.right:  parent.right
                    wrapMode:       Text.WordWrap
                    text:           qsTr("What would you like to create from the polygon specified by the KML file?")
                }

                QGCRadioButton {
                    id:             surveyRadio
                    text:           qsTr("Survey")
                    checked:        true
                    exclusiveGroup: radioGroup
                }

                QGCRadioButton {
                    text:           qsTr("Structure Scan")
                    exclusiveGroup: radioGroup
                }
            }
        }
    }

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    Component {
        id: moveDialog

        QGCViewDialog {
            function accept() {
                var toIndex = toCombo.currentIndex

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                if (toIndex === 0) {
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                    toIndex = 1
                }
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                _missionController.moveMissionItem(_moveDialogMissionItemIndex, toIndex)
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                hideDialog()
            }

            Column {
                anchors.left:   parent.left
                anchors.right:  parent.right
                spacing:        ScreenTools.defaultFontPixelHeight

                QGCLabel {
                    anchors.left:   parent.left
                    anchors.right:  parent.right
                    wrapMode:       Text.WordWrap
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                    text:           qsTr("Move the selected mission item to the be after following mission item:")
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                }

                QGCComboBox {
                    id:             toCombo
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                    model:          _visualItems.count
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                    currentIndex:   _moveDialogMissionItemIndex
                }
            }
        }
    }

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    QGCViewPanel {
        id:             panel
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        anchors.fill:   parent
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        FlightMap {
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            id:                         editorMap
            anchors.fill:               parent
            mapName:                    "MissionEditor"
            allowGCSLocationCenter:     true
            allowVehicleLocationCenter: true
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            planView:                   true
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            qgcView:                    _qgcView
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            // This is the center rectangle of the map which is not obscured by tools
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            property rect centerViewport:   Qt.rect(_leftToolWidth, _toolbarHeight, editorMap.width - _leftToolWidth - _rightPanelWidth, editorMap.height - _statusHeight - _toolbarHeight)
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            property real _leftToolWidth:   toolStrip.x + toolStrip.width
            property real _statusHeight:    waypointValuesDisplay.visible ? editorMap.height - waypointValuesDisplay.y : 0
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            readonly property real animationDuration: 500
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            // Initial map position duplicates Fly view position
            Component.onCompleted: editorMap.center = QGroundControl.flightMapPosition
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            Behavior on zoomLevel {
                NumberAnimation {
                    duration:       editorMap.animationDuration
                    easing.type:    Easing.InOutQuad
                }
            }
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            QGCMapPalette { id: mapPal; lightColors: editorMap.isSatelliteMap }

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            onZoomLevelChanged: updateAirspace(false)
            onCenterChanged:    updateAirspace(false)
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            MouseArea {
                //-- It's a whole lot faster to just fill parent and deal with top offset below
                //   than computing the coordinate offset.
                anchors.fill: parent
                onClicked: {
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                    // Take focus to close any previous editing
                    editorMap.focus = true

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                    //-- Don't pay attention to items beneath the toolbar.
                    var topLimit = parent.height - ScreenTools.availableHeight
                    if(mouse.y < topLimit) {
                        return
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                    }

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                    var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
                    coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
                    coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
                    coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
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                    switch (_editingLayer) {
                    case _layerMission:
                        if (_addWaypointOnClick) {
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                            insertSimpleMissionItem(coordinate, _missionController.visualItems.count)
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                        } else if (_addROIOnClick) {
                            _addROIOnClick = false
                            insertROIMissionItem(coordinate, _missionController.visualItems.count)
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                        }
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                        break
                    case _layerRallyPoints:
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                        if (_rallyPointController.supported) {
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                            _rallyPointController.addPoint(coordinate)
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                        }
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                        break
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                    }
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                }
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            }
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            // Add the mission item visuals to the map
            Repeater {
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                model: _editingLayer == _layerMission ? _missionController.visualItems : undefined
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                delegate: MissionItemMapVisual {
                    map:        editorMap
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                    qgcView:    _qgcView
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                    onClicked:  _missionController.setCurrentPlanViewIndex(sequenceNumber, false)
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                    visible:    _editingLayer == _layerMission
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                }
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            }
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            // Add lines between waypoints
            MissionLineView {
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                model: _editingLayer == _layerMission ? _missionController.waypointLines : undefined
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            }
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            // Add the vehicles to the map
            MapItemView {
                model: QGroundControl.multiVehicleManager.vehicles
                delegate:
                    VehicleMapItem {
                    vehicle:        object
                    coordinate:     object.coordinate
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                    map:            editorMap
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                    size:           ScreenTools.defaultFontPixelHeight * 3
                    z:              QGroundControl.zOrderMapItems - 1
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                }
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            }
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            GeoFenceMapVisuals {
                map:                    editorMap
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                myGeoFenceController:   _geoFenceController
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                interactive:            _editingLayer == _layerGeoFence
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                homePosition:           _missionController.plannedHomePosition
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                planView:               true
            }
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            RallyPointMapVisuals {
                map:                    editorMap
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                myRallyPointController: _rallyPointController
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                interactive:            _editingLayer == _layerRallyPoints
                planView:               true
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            }
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            // Airspace overlap support
            MapItemView {
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                model:              _airspaceEnabled && QGroundControl.airspaceManager.airspaceVisible ? QGroundControl.airspaceManager.airspaces.circles : []
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                delegate: MapCircle {
                    center:         object.center
                    radius:         object.radius
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                    color:          object.color
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                    border.color:   object.lineColor
                    border.width:   object.lineWidth
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                }
            }

            MapItemView {
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                model:              _airspaceEnabled && QGroundControl.airspaceManager.airspaceVisible ? QGroundControl.airspaceManager.airspaces.polygons : []
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                delegate: MapPolygon {
                    path:           object.polygon
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                    color:          object.color
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                    border.color:   object.lineColor
                    border.width:   object.lineWidth
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                }
            }

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            ToolStrip {
                id:                 toolStrip
                anchors.leftMargin: ScreenTools.defaultFontPixelWidth
                anchors.left:       parent.left
                anchors.topMargin:  _toolButtonTopMargin
                anchors.top:        parent.top
                color:              qgcPal.window
                title:              qsTr("Plan")
                z:                  QGroundControl.zOrderWidgets
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                showAlternateIcon:  [ masterController.dirty, false, false, false, false, false, false ]
                rotateImage:        [ masterController.syncInProgress, false, false, false, false, false, false ]
                animateImage:       [ masterController.dirty, false, false, false, false, false, false ]
                buttonEnabled:      [ !masterController.syncInProgress, true, true, true, true, true, true ]
                buttonVisible:      [ true, true, _waypointsOnlyMode, true, true, _showZoom, _showZoom ]
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                maxHeight:          mapScale.y - toolStrip.y

                property bool _showZoom: !ScreenTools.isMobile

                model: [
                    {
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                        name:                   qsTr("File"),
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                        iconSource:             "/qmlimages/MapSync.svg",
                        alternateIconSource:    "/qmlimages/MapSyncChanged.svg",
                        dropPanelComponent:     syncDropPanel
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                    },
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                    {
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                        name:                   qsTr("Waypoint"),
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                        iconSource:             "/qmlimages/MapAddMission.svg",
                        toggle:                 true
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                    },
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                    {
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                        name:                   qsTr("ROI"),
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                        iconSource:             "/qmlimages/MapAddMission.svg",
                        toggle:                 true
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                    },
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                    {
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                        name:               _singleComplexItem ? _missionController.complexMissionItemNames[0] : qsTr("Pattern"),
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                        iconSource:         "/qmlimages/MapDrawShape.svg",
                        dropPanelComponent: _singleComplexItem ? undefined : patternDropPanel
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                    },
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                    {
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                        name:               qsTr("Center"),
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                        iconSource:         "/qmlimages/MapCenter.svg",
                        dropPanelComponent: centerMapDropPanel
                    },
                    {
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                        name:               qsTr("In"),
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                        iconSource:         "/qmlimages/ZoomPlus.svg"
                    },
                    {
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                        name:               qsTr("Out"),
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                        iconSource:         "/qmlimages/ZoomMinus.svg"
                    }
                ]

                onClicked: {
                    switch (index) {
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                    case 1:
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                        _addWaypointOnClick = checked
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                        _addROIOnClick = false
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                        break
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                    case 2:
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                        _addROIOnClick = checked
                        _addWaypointOnClick = false
                        break
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                    case 3:
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                        if (_singleComplexItem) {
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                            addComplexItem(_missionController.complexMissionItemNames[0])
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                        }
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                        break
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                    case 5:
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                        editorMap.zoomLevel += 0.5
                        break
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                    case 6:
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                        editorMap.zoomLevel -= 0.5
                        break
                    }
                }
            }
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        }
        //-----------------------------------------------------------
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        // Right pane for mission editing controls
        Rectangle {
            id:                 rightPanel
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            height:             ScreenTools.availableHeight
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            width:              _rightPanelWidth
            color:              qgcPal.window
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            opacity:            planExpanded.visible ? 0.2 : 0
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            anchors.bottom:     parent.bottom
            anchors.right:      parent.right
            anchors.rightMargin: ScreenTools.defaultFontPixelWidth
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        }
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        //-------------------------------------------------------
        // Right Panel Controls
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        Item {
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            anchors.fill:           rightPanel
            Column {
                id:                 rightControls
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                spacing:            ScreenTools.defaultFontPixelHeight * 0.5
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                anchors.left:       parent.left
                anchors.right:      parent.right
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                anchors.top:        parent.top
                anchors.topMargin:  ScreenTools.defaultFontPixelHeight * 0.25
                //-------------------------------------------------------
                // Airmap Airspace Control
                AirspaceControl {
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                    id:             airspaceControl
                    width:          parent.width
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                    visible:        _airspaceEnabled
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                    planView:       true
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                    showColapse:    true
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                }
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                //-------------------------------------------------------
                // Mission Controls (Colapsed)
                Rectangle {
                    width:      parent.width
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                    height:     planControlColapsed ? colapsedRow.height + ScreenTools.defaultFontPixelHeight : 0
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                    color:      qgcPal.missionItemEditor
                    radius:     _radius
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                    visible:    planControlColapsed && _airspaceEnabled
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                    Row {
                        id:                     colapsedRow
                        spacing:                ScreenTools.defaultFontPixelWidth
                        anchors.left:           parent.left
                        anchors.leftMargin:     ScreenTools.defaultFontPixelWidth
                        anchors.verticalCenter: parent.verticalCenter
                        QGCColoredImage {
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                            width:              height
                            height:             ScreenTools.defaultFontPixelWidth * 2.5
                            sourceSize.height:  height
                            source:             "qrc:/res/waypoint.svg"
                            color:              qgcPal.text
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                            anchors.verticalCenter: parent.verticalCenter
                        }
                        QGCLabel {
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                            text:               qsTr("Plan")
                            color:              qgcPal.text
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                            anchors.verticalCenter: parent.verticalCenter
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                        }
                    }
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                    QGCColoredImage {
                        width:                  height
                        height:                 ScreenTools.defaultFontPixelWidth * 2.5
                        sourceSize.height:      height
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                        source:                 QGroundControl.airmapSupported ? "qrc:/airmap/expand.svg" : ""
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                        color:                  "white"
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                        visible:                QGroundControl.airmapSupported
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                        anchors.right:          parent.right
                        anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
                        anchors.verticalCenter: parent.verticalCenter
                    }
                    MouseArea {
                        anchors.fill:   parent
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                        enabled:        QGroundControl.airmapSupported
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                        onClicked: {
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                            QGroundControl.airspaceManager.airspaceVisible = false
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                        }
                    }
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                }
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                //-------------------------------------------------------
                // Mission Controls (Expanded)
                Rectangle {
                    id:         planExpanded
                    width:      parent.width
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                    height:     (!planControlColapsed || !_airspaceEnabled) ? expandedCol.height + ScreenTools.defaultFontPixelHeight : 0
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                    color:      qgcPal.missionItemEditor
                    radius:     _radius
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                    visible:    !planControlColapsed || !_airspaceEnabled
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                    Item {
                        height:             expandedCol.height
                        anchors.left:       parent.left
                        anchors.right:      parent.right
                        anchors.verticalCenter: parent.verticalCenter
                        Column {
                            id:                     expandedCol
                            spacing:                ScreenTools.defaultFontPixelHeight * 0.5
                            anchors.left:           parent.left
                            anchors.right:          parent.right
                            //-- Header
                            Row {
                                id:                     expandedRow
                                spacing:                ScreenTools.defaultFontPixelWidth
                                anchors.left:           parent.left
                                anchors.leftMargin:     ScreenTools.defaultFontPixelWidth
                                readonly property real _buttonRadius: ScreenTools.defaultFontPixelHeight * 0.75
                                QGCColoredImage {
                                    width:                  height
                                    height:                 ScreenTools.defaultFontPixelWidth * 2.5
                                    sourceSize.height:      height
                                    source:                 "qrc:/res/waypoint.svg"
                                    color:                  qgcPal.text
                                    anchors.verticalCenter: parent.verticalCenter
                                }
                                QGCLabel {
                                    text:           qsTr("Plan")
                                    color:          qgcPal.text
                                    visible:        !QGroundControl.corePlugin.options.enablePlanViewSelector
                                    anchors.verticalCenter: parent.verticalCenter
                                }
                                ExclusiveGroup {
                                    id: planElementSelectorGroup
                                    onCurrentChanged: {
                                        switch (current) {
                                        case planElementMission:
                                            _editingLayer = _layerMission
                                            break
                                        case planElementGeoFence:
                                            _editingLayer = _layerGeoFence
                                            break
                                        case planElementRallyPoints:
                                            _editingLayer = _layerRallyPoints
                                            break
                                        }
                                    }
                                }
                                QGCRadioButton {
                                    id:             planElementMission
                                    exclusiveGroup: planElementSelectorGroup
                                    text:           qsTr("Mission")
                                    checked:        true
                                    visible:        QGroundControl.corePlugin.options.enablePlanViewSelector
                                    anchors.verticalCenter: parent.verticalCenter
                                }
                                QGCRadioButton {
                                    id:             planElementGeoFence
                                    exclusiveGroup: planElementSelectorGroup
                                    text:           qsTr("Fence")
                                    visible:        QGroundControl.corePlugin.options.enablePlanViewSelector
                                    anchors.verticalCenter: parent.verticalCenter
                                }
                                QGCRadioButton {
                                    id:             planElementRallyPoints
                                    exclusiveGroup: planElementSelectorGroup
                                    text:           qsTr("Rally")
                                    visible:        QGroundControl.corePlugin.options.enablePlanViewSelector
                                    anchors.verticalCenter: parent.verticalCenter
                                }
                            }
                        }
                    }
                }
            }
            //-------------------------------------------------------
            // Mission Item Editor
            Item {
                id:                     missionItemEditor
                anchors.left:           parent.left
                anchors.right:          parent.right
                anchors.top:            rightControls.bottom
                anchors.topMargin:      ScreenTools.defaultFontPixelHeight * 0.5
                anchors.bottom:         parent.bottom
                anchors.bottomMargin:   ScreenTools.defaultFontPixelHeight * 0.25
                visible:                _editingLayer == _layerMission && !planControlColapsed
                QGCListView {
                    id:             missionItemEditorListView
                    anchors.fill:   parent
                    spacing:        ScreenTools.defaultFontPixelHeight * 0.5
                    orientation:    ListView.Vertical
                    model:          _missionController.visualItems
                    cacheBuffer:    Math.max(height * 2, 0)
                    clip:           true
                    currentIndex:   _missionController.currentPlanViewIndex
                    highlightMoveDuration: 250
                    visible:        _editingLayer == _layerMission && !planControlColapsed
                    //-- List Elements
                    delegate: MissionItemEditor {
                        map:                editorMap
                        masterController:  _planMasterController
                        missionItem:        object
                        width:              parent.width
                        readOnly:           false
                        rootQgcView:        _qgcView
                        onClicked:  _missionController.setCurrentPlanViewIndex(object.sequenceNumber, false)
                        onRemove: {
                            var removeIndex = index
                            _missionController.removeMissionItem(removeIndex)
                            if (removeIndex >= _missionController.visualItems.count) {
                                removeIndex--
                            }
                            _missionController.setCurrentPlanViewIndex(removeIndex, true)
                        }
                        onInsertWaypoint:       insertSimpleMissionItem(editorMap.center, index)
                        onInsertComplexItem:    insertComplexMissionItem(complexItemName, editorMap.center, index)
                    }
                }
            }
            // GeoFence Editor
            GeoFenceEditor {
                anchors.top:            rightControls.bottom
                anchors.topMargin:      ScreenTools.defaultFontPixelHeight * 0.5
                anchors.left:           parent.left
                anchors.right:          parent.right
                availableHeight:        ScreenTools.availableHeight
                myGeoFenceController:   _geoFenceController
                flightMap:              editorMap
                visible:                _editingLayer == _layerGeoFence
            }
            // Rally Point Editor
            RallyPointEditorHeader {
                id:                     rallyPointHeader
                anchors.top:            rightControls.bottom
                anchors.topMargin:      ScreenTools.defaultFontPixelHeight * 0.5
                anchors.left:           parent.left
                anchors.right:          parent.right
                visible:                _editingLayer == _layerRallyPoints
                controller:             _rallyPointController
            }
            RallyPointItemEditor {
                id:                     rallyPointEditor
                anchors.top:            rallyPointHeader.bottom
                anchors.topMargin:      ScreenTools.defaultFontPixelHeight * 0.5
                anchors.left:           parent.left
                anchors.right:          parent.right
                visible:                _editingLayer == _layerRallyPoints && _rallyPointController.points.count
                rallyPoint:             _rallyPointController.currentRallyPoint
                controller:             _rallyPointController
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            }
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        }
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        MapScale {
            id:                 mapScale
            anchors.margins:    ScreenTools.defaultFontPixelHeight * (0.66)
            anchors.bottom:     waypointValuesDisplay.visible ? waypointValuesDisplay.top : parent.bottom
            anchors.left:       parent.left
            mapControl:         editorMap
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            visible:            _toolStripBottom < y
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        }

        MissionItemStatus {
            id:                 waypointValuesDisplay
            anchors.margins:    ScreenTools.defaultFontPixelWidth
            anchors.left:       parent.left
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            height:             ScreenTools.defaultFontPixelHeight * 7
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            maxWidth:           parent.width - rightPanel.width - x
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            anchors.bottom:     parent.bottom
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            missionItems:       _missionController.visualItems
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            visible:            _editingLayer === _layerMission && (_toolStripBottom + mapScale.height) < y && QGroundControl.corePlugin.options.showMissionStatus
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        }
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    }
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    Component {
        id: syncLoadFromVehicleOverwrite
        QGCViewMessage {
            id:         syncLoadFromVehicleCheck
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            message:   qsTr("You have unsaved/unsent changes. Loading from the Vehicle will lose these changes. Are you sure you want to load from the Vehicle?")
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            function accept() {
                hideDialog()
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                masterController.loadFromVehicle()
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            }
        }
    }

    Component {
        id: syncLoadFromFileOverwrite
        QGCViewMessage {
            id:         syncLoadFromVehicleCheck
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            message:   qsTr("You have unsaved/unsent changes. Loading from a file will lose these changes. Are you sure you want to load from a file?")
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            function accept() {
                hideDialog()
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                masterController.loadFromSelectedFile()
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            }
        }
    }

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    Component {
        id: removeAllPromptDialog
        QGCViewMessage {
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            message: qsTr("Are you sure you want to remove all items and create a new plan? ") +
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                     (_planMasterController.offline ? "" : qsTr("This will also remove all items from the vehicle."))
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            function accept() {
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                if (_planMasterController.offline) {
                    masterController.removeAll()
                } else {
                    masterController.removeAllFromVehicle()
                }
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                hideDialog()
            }
        }
    }

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    Component {
        id: clearVehicleMissionDialog
        QGCViewMessage {
            message: qsTr("Are you sure you want to remove all mission items and clear the mission from the vehicle?")
            function accept() {
                masterController.removeAllFromVehicle()
                hideDialog()
            }
        }
    }

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    //- ToolStrip DropPanel Components

    Component {
        id: centerMapDropPanel

        CenterMapDropPanel {
            map:            editorMap
            fitFunctions:   mapFitFunctions
        }
    }

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    Component {
        id: patternDropPanel

        ColumnLayout {
            spacing:    ScreenTools.defaultFontPixelWidth * 0.5

            QGCLabel { text: qsTr("Create complex pattern:") }

            Repeater {
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                model: _missionController.complexMissionItemNames
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                QGCButton {
                    text:               modelData
                    Layout.fillWidth:   true

                    onClicked: {
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                        addComplexItem(modelData)
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                        dropPanel.hide()
                    }
                }
            }
        } // Column
    }
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    Component {
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        id: syncDropPanel
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        Column {
            id:         columnHolder
            spacing:    _margin
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            property string _overwriteText: (_editingLayer == _layerMission) ? qsTr("Mission overwrite") : ((_editingLayer == _layerGeoFence) ? qsTr("GeoFence overwrite") : qsTr("Rally Points overwrite"))
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            QGCLabel {
                width:      sendSaveGrid.width
                wrapMode:   Text.WordWrap
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                text:       masterController.dirty ?
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                                (_activeVehicle ?
                                     qsTr("You have unsaved changes. You should upload to your vehicle, or save to a file:") :
                                     qsTr("You have unsaved changes.")
                                ) :
                                qsTr("Plan File:")
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            }

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            GridLayout {
                id:                 sendSaveGrid
                columns:            2
                anchors.margins:    _margin
                rowSpacing:         _margin
                columnSpacing:      ScreenTools.defaultFontPixelWidth
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                QGCButton {
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                    text:               qsTr("New...")
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                    Layout.fillWidth:   true
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                    enabled:            _visualItems.count > 1
                    onClicked:  {
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                        dropPanel.hide()
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                        _qgcView.showDialog(removeAllPromptDialog, qsTr("New Plan"), _qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No)
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                    }
                }
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                QGCButton {
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                    text:               qsTr("Open...")
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                    Layout.fillWidth:   true
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                    enabled:            !masterController.syncInProgress
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                    onClicked: {
                        dropPanel.hide()
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                        if (masterController.dirty) {
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                            _qgcView.showDialog(syncLoadFromFileOverwrite, columnHolder._overwriteText, _qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
                        } else {
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                            masterController.loadFromSelectedFile()
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                        }
                    }
                }
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                QGCButton {
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                    text:               qsTr("Save")
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                    Layout.fillWidth:   true
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                    enabled:            !masterController.syncInProgress && masterController.currentPlanFile !== ""
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                    onClicked: {
                        dropPanel.hide()
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                        if(masterController.currentPlanFile !== "") {
                            masterController.saveToCurrent()
                        } else {
                            masterController.saveToSelectedFile()
                        }
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                    }
                }

                QGCButton {
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                    text:               qsTr("Save As...")
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                    Layout.fillWidth:   true
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                    enabled:            !masterController.syncInProgress && _visualItems.count > 1
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                    onClicked: {
                        dropPanel.hide()
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                        masterController.saveToSelectedFile()
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                    }
                }

                QGCButton {
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                    text:               qsTr("Load KML...")
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                    Layout.fillWidth:   true
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                    enabled:            !masterController.syncInProgress
                    onClicked: {
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                        dropPanel.hide()
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                        masterController.loadKmlFromSelectedFile()
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                    }
                }
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                QGCButton {
                    text:               qsTr("Save KML...")
                    Layout.fillWidth:   true
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                    enabled:            !masterController.syncInProgress && _visualItems.count > 1
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                    onClicked: {
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                        // First point does not count
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                        if (_visualItems.count < 2) {
                            _qgcView.showDialog(noItemForKML, qsTr("KML"), _qgcView.showDialogDefaultWidth, StandardButton.Cancel)
                            return
                        }
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                        dropPanel.hide()
                        masterController.saveKmlToSelectedFile()
                    }
                }
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                Rectangle {
                    width:              parent.width * 0.8
                    height:             1
                    color:              qgcPal.text
                    opacity:            0.5
                    visible:            !QGroundControl.corePlugin.options.disableVehicleConnection
                    Layout.fillWidth:   true
                    Layout.columnSpan:  2
                }

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                QGCButton {
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                    text:               qsTr("Upload")
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                    Layout.fillWidth:   true
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                    enabled:            !masterController.offline && !masterController.syncInProgress && _visualItems.count > 1
                    visible:            !QGroundControl.corePlugin.options.disableVehicleConnection
                    onClicked: {
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                        dropPanel.hide()
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                        masterController.upload()
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                    }
                }
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                QGCButton {
                    text:               qsTr("Download")
                    Layout.fillWidth:   true
                    enabled:            !masterController.offline && !masterController.syncInProgress
                    visible:            !QGroundControl.corePlugin.options.disableVehicleConnection
                    onClicked: {
                        dropPanel.hide()
                        if (masterController.dirty) {
                            _qgcView.showDialog(syncLoadFromVehicleOverwrite, columnHolder._overwriteText, _qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
                        } else {
                            masterController.loadFromVehicle()
                        }
                    }
                }

                QGCButton {
                    text:               qsTr("Clear Vehicle Mission")
                    Layout.fillWidth:   true
                    Layout.columnSpan:  2
                    enabled:            !masterController.offline && !masterController.syncInProgress
                    visible:            !QGroundControl.corePlugin.options.disableVehicleConnection
                    onClicked: {
                        dropPanel.hide()
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                        _qgcView.showDialog(clearVehicleMissionDialog, text, _qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
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                    }
                }

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            }
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        }
    }
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} // QGCVIew