PlanView.qml 55.8 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
import QGroundControl.FlightMap         1.0
import QGroundControl.ScreenTools       1.0
import QGroundControl.Controls          1.0
import QGroundControl.FactSystem        1.0
import QGroundControl.FactControls      1.0
import QGroundControl.Palette           1.0
import QGroundControl.Controllers       1.0
import QGroundControl.ShapeFileHelper   1.0
import QGroundControl.Airspace          1.0
import QGroundControl.Airmap            1.0
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Item {
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    id: _root
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    property bool planControlColapsed: false

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    readonly property int   _decimalPlaces:             8
    readonly property real  _margin:                    ScreenTools.defaultFontPixelHeight * 0.5
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    readonly property real  _toolsTopMargin:            ScreenTools.defaultFontPixelHeight * 0.5
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    readonly property real  _radius:                    ScreenTools.defaultFontPixelWidth  * 0.5
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    readonly property real  _rightPanelWidth:           Math.min(parent.width / 3, ScreenTools.defaultFontPixelWidth * 30)
    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    _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
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    property int    _editingLayer:                      bar.currentIndex ? _layers[bar.currentIndex] : _layerMission
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    property int    _toolStripBottom:                   toolStrip.height + toolStrip.y
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    property var    _appSettings:                       QGroundControl.settingsManager.appSettings
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    readonly property var       _layers:                [_layerMission, _layerGeoFence, _layerRallyPoints]

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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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    function mapCenter() {
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        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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        return coordinate
    }

    function addComplexItem(complexItemName) {
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        var next_index = _missionController.visualItemIndexFromSequenceNumber(_missionController.currentPlanViewIndex)+1
        if(next_index ==1 && _missionController.visualItems.count >1){
            console.log(next_index, _missionController.visualItems.count)
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            insertComplexMissionItem(complexItemName, mapCenter(), next_index+1)
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        }
        else if(next_index <= _missionController.visualItems.count){
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            insertComplexMissionItem(complexItemName, mapCenter(), next_index)
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        }
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    }

    function insertComplexMissionItem(complexItemName, coordinate, index) {
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        _missionController.insertComplexMissionItem(complexItemName, coordinate, index, true /* makeCurrentItem */)
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    }

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    function insertComplexMissionItemFromKMLOrSHP(complexItemName, file, index) {
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        _missionController.insertComplexMissionItemFromKMLOrSHP(complexItemName, file, index, true /* makeCurrentItem */)
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    }

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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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    onVisibleChanged: {
        if (visible && !_planMasterController.containsItems) {
            toolStrip.simulateClick(toolStrip.fileButtonIndex)
        }
    }

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    Connections {
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        target: _appSettings ? _appSettings.defaultMissionItemAltitude : null
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        onRawValueChanged: {
            if (_visualItems.count > 1) {
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                mainWindow.showComponentDialog(applyNewAltitude, qsTr("Apply new alititude"), mainWindow.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No)
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            }
        }
    }

    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: {
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                        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: _planMasterController
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        Component.onCompleted: {
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            _planMasterController.start(false /* flyView */)
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            _missionController.setCurrentPlanViewIndex(0, true)
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            mainWindow.planMasterControllerPlan = _planMasterController
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        }

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        function waitingOnIncompleteDataMessage(save) {
            var saveOrUpload = save ? qsTr("Save") : qsTr("Upload")
            mainWindow.showMessageDialog(qsTr("Unable to %1").arg(saveOrUpload), qsTr("Plan has incomplete items. Complete all items and %1 again.").arg(saveOrUpload))
        }

        function waitingOnTerrainDataMessage(save) {
            var saveOrUpload = save ? qsTr("Save") : qsTr("Upload")
            mainWindow.showMessageDialog(qsTr("Unable to %1").arg(saveOrUpload), qsTr("Plan is waiting on terrain data from server for correct altitude values."))
        }

        function checkReadyForSaveUpload(save) {
            if (readyForSaveState() == VisualMissionItem.NotReadyForSaveData) {
                waitingOnIncompleteDataMessage(save)
                return false
            } else if (readyForSaveState() == VisualMissionItem.NotReadyForSaveTerrain) {
                waitingOnTerrainDataMessage(save)
                return false
            }
            return true
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        }

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        function upload() {
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            if (!checkReadyForSaveUpload(false /* save */)) {
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                return
            }
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            if (activeVehicle && activeVehicle.armed && activeVehicle.flightMode === activeVehicle.missionFlightMode) {
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                mainWindow.showComponentDialog(activeMissionUploadDialogComponent, qsTr("Plan Upload"), mainWindow.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 =    _planMasterController.loadNameFilters
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            fileDialog.fileExtension =  _appSettings.planFileExtension
            fileDialog.fileExtension2 = _appSettings.missionFileExtension
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            fileDialog.openForLoad()
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        }

        function saveToSelectedFile() {
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            if (!checkReadyForSaveUpload(true /* save */)) {
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                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 =    _planMasterController.saveNameFilters
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            fileDialog.fileExtension =  _appSettings.planFileExtension
            fileDialog.fileExtension2 = _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 loadShapeFromSelectedFile() {
            fileDialog.title =          qsTr("Load Shape")
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            fileDialog.planFiles =      false
            fileDialog.selectExisting = true
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            fileDialog.nameFilters =    ShapeFileHelper.fileDialogKMLOrSHPFilters
            fileDialog.fileExtension =  _appSettings.kmlFileExtension
            fileDialog.fileExtension2 = _appSettings.shpFileExtension
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            fileDialog.openForLoad()
        }

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        function saveKmlToSelectedFile() {
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            if (!checkReadyForSaveUpload(true /* save */)) {
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                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 =    ShapeFileHelper.fileDialogKMLFilters
            fileDialog.fileExtension =  _appSettings.kmlFileExtension
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            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) {
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                mapFitFunctions.fitMapViewportToMissionItems()
            }
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            _missionController.setCurrentPlanViewIndex(0, true)
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        }
    }
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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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        _missionController.insertSimpleMissionItem(coordinate, index, true /* makeCurrentItem */)
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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
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        toolStrip.lastClickedButton.checked = false
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    }

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    function selectNextNotReady() {
        var foundCurrent = false
        for (var i=0; i<_missionController.visualItems.count; i++) {
            var vmi = _missionController.visualItems.get(i)
            if (vmi.readyForSaveState === VisualMissionItem.NotReadyForSaveData) {
                _missionController.setCurrentPlanViewIndex(vmi.sequenceNumber, true)
                break
            }
        }
    }

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    property int _moveDialogMissionItemIndex

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    QGCFileDialog {
        id:             fileDialog
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        folder:         _appSettings ? _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) {
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                _planMasterController.saveToFile(file)
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            } else {
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                _planMasterController.saveToKml(file)
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            }
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            close()
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        }

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        onAcceptedForLoad: {
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            if (planFiles) {
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                _planMasterController.loadFromFile(file)
                _planMasterController.fitViewportToItems()
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                _missionController.setCurrentPlanViewIndex(0, true)
            } else {
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                var retList = ShapeFileHelper.determineShapeType(file)
                if (retList[0] == ShapeFileHelper.Error) {
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                    mainWindow.showMessageDialog("Error", retList[1])
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                } else if (retList[0] == ShapeFileHelper.Polygon) {
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                    var editVehicle = activeVehicle ? activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
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                    if (editVehicle.fixedWing) {
                        insertComplexMissionItemFromKMLOrSHP(_missionController.surveyComplexItemName, file, -1)
                    } else {
                        polygonSelectPatternFile = file
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                        mainWindow.showComponentDialog(patternPolygonSelectDialog, fileDialog.title, mainWindow.showDialogDefaultWidth, StandardButton.Ok | StandardButton.Cancel)
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                    }
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                } else if (retList[0] == ShapeFileHelper.Polyline) {
                    insertComplexMissionItemFromKMLOrSHP(_missionController.corridorScanComplexItemName, file, -1)
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                }
            }
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            close()
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        }
    }

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    property string polygonSelectPatternFile
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    Component {
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        id: patternPolygonSelectDialog
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        QGCViewDialog {
            function accept() {
                var complexItemName
                if (surveyRadio.checked) {
                    complexItemName = _missionController.surveyComplexItemName
                } else {
                    complexItemName = _missionController.structureScanComplexItemName
                }
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                insertComplexMissionItemFromKMLOrSHP(complexItemName, polygonSelectPatternFile, -1)
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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("Create which pattern type?")
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                }
                QGCRadioButton {
                    id:             surveyRadio
                    text:           qsTr("Survey")
                    checked:        true
                }
                QGCRadioButton {
                    text:           qsTr("Structure Scan")
                }
            }
        }
    }

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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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    Item {
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        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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            // This is the center rectangle of the map which is not obscured by tools
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            property rect centerViewport:   Qt.rect(_leftToolWidth + _margin, _toolsTopMargin, editorMap.width - _leftToolWidth - _rightToolWidth - (_margin * 2), mapScale.y - _margin - _toolsTopMargin)
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            property real _leftToolWidth:       toolStrip.x + toolStrip.width
            property real _rightToolWidth:      rightPanel.width + rightPanel.anchors.rightMargin
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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 {
                anchors.fill: parent
                onClicked: {
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                    // Take focus to close any previous editing
                    editorMap.focus = true
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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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                            var next_index = _missionController.visualItemIndexFromSequenceNumber(_missionController.currentPlanViewIndex)+1
                            if(next_index ==1 && _missionController.visualItems.count >1){
                                console.log(next_index, _missionController.visualItems.count)
                                insertSimpleMissionItem(coordinate, next_index+1)
                            }
                            else if(next_index <= _missionController.visualItems.count){
                                    insertSimpleMissionItem(coordinate, next_index)
                            }
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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 && _addWaypointOnClick) {
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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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                    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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            MapItemView {
                model: _editingLayer == _layerMission ? _missionController.directionArrows : undefined

                delegate: MapLineArrow {
                    fromCoord:      object ? object.coordinate1 : undefined
                    toCoord:        object ? object.coordinate2 : undefined
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                    arrowPosition:  3
                    z:              QGroundControl.zOrderWaypointLines + 1
                }
            }

            // UI for splitting the current segment
            MapQuickItem {
                id:             splitSegmentItem
                anchorPoint.x:  sourceItem.width / 2
                anchorPoint.y:  sourceItem.height / 2
                z:              QGroundControl.zOrderWaypointLines + 1
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                visible:        _editingLayer == _layerMission
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                sourceItem: SplitIndicator {
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                    onClicked:  insertSimpleMissionItem(splitSegmentItem.coordinate, _missionController.visualItemIndexFromSequenceNumber(_missionController.currentPlanViewIndex))
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                }

                function _updateSplitCoord() {
                    if (_missionController.splitSegment) {
                        var distance = _missionController.splitSegment.coordinate1.distanceTo(_missionController.splitSegment.coordinate2)
                        var azimuth = _missionController.splitSegment.coordinate1.azimuthTo(_missionController.splitSegment.coordinate2)
                        splitSegmentItem.coordinate = _missionController.splitSegment.coordinate1.atDistanceAndAzimuth(distance / 2, azimuth)
                    } else {
                        coordinate = QtPositioning.coordinate()
                    }
                }

                Connections {
                    target:                 _missionController
                    onSplitSegmentChanged:  splitSegmentItem._updateSplitCoord()
                }

                Connections {
                    target:                 _missionController.splitSegment
                    onCoordinate1Changed:   splitSegmentItem._updateSplitCoord()
                    onCoordinate2Changed:   splitSegmentItem._updateSplitCoord()
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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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        }
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        //-----------------------------------------------------------
        // Left tool strip
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        ToolStrip {
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            id:                 toolStrip
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            anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 2
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            anchors.left:       parent.left
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            anchors.topMargin:  _toolsTopMargin
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            anchors.top:        parent.top
            z:                  QGroundControl.zOrderWidgets
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            maxHeight:          mapScale.y - toolStrip.y
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            readonly property int flyButtonIndex:       0
            readonly property int fileButtonIndex:      1
            readonly property int takeoffButtonIndex:   2
            readonly property int waypointButtonIndex:  3
            readonly property int roiButtonIndex:       4
            readonly property int patternButtonIndex:   5
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            readonly property int landButtonIndex:      6
            readonly property int centerButtonIndex:    7
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            property bool _isRally:     _editingLayer == _layerRallyPoints
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            model: [
                {
                    name:               qsTr("Fly"),
                    iconSource:         "/qmlimages/PaperPlane.svg",
                    buttonEnabled:      true,
                    buttonVisible:      true,
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                },
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                {
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                    name:               qsTr("File"),
                    iconSource:         "/qmlimages/MapSync.svg",
                    buttonEnabled:      !_planMasterController.syncInProgress,
                    buttonVisible:      true,
                    showAlternateIcon:  _planMasterController.dirty,
                    alternateIconSource:"/qmlimages/MapSyncChanged.svg",
                    dropPanelComponent: syncDropPanel
                },
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                {
                    name:               qsTr("Takeoff"),
                    iconSource:         "/res/takeoff.svg",
                    buttonEnabled:      _missionController.isInsertTakeoffValid,
                    buttonVisible:      _editingLayer == _layerMission
                },
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                {
                    name:               _editingLayer == _layerRallyPoints ? qsTr("Rally Point") : qsTr("Waypoint"),
                    iconSource:         "/qmlimages/MapAddMission.svg",
                    buttonEnabled:      true,
                    buttonVisible:      true,
                    toggle:             true,
                    checked:            _addWaypointOnClick
                },
                {
                    name:               qsTr("ROI"),
                    iconSource:         "/qmlimages/MapAddMission.svg",
                    buttonEnabled:      true,
                    buttonVisible:      !_isRally && _waypointsOnlyMode,
                    toggle:             true
                },
                {
                    name:               _singleComplexItem ? _missionController.complexMissionItemNames[0] : qsTr("Pattern"),
                    iconSource:         "/qmlimages/MapDrawShape.svg",
                    buttonEnabled:      true,
                    buttonVisible:      !_isRally,
                    dropPanelComponent: _singleComplexItem ? undefined : patternDropPanel
                },
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                {
                    name:               _planMasterController.controllerVehicle.fixedWing ? qsTr("Land") : qsTr("Return"),
                    iconSource:         "/res/rtl.svg",
                    buttonEnabled:      _missionController.isInsertLandValid,
                    buttonVisible:      _editingLayer == _layerMission
                },
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                {
                    name:               qsTr("Center"),
                    iconSource:         "/qmlimages/MapCenter.svg",
                    buttonEnabled:      true,
                    buttonVisible:      true,
                    dropPanelComponent: centerMapDropPanel
                }
            ]
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            onClicked: {
                switch (index) {
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                case flyButtonIndex:
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                    mainWindow.showFlyView()
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                    break
                case takeoffButtonIndex:
                    _missionController.insertTakeoffItem(mapCenter(), _missionController.currentMissionIndex, true /* makeCurrentItem */)
                    break
                case waypointButtonIndex:
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                    if(_addWaypointOnClick) {
                        //-- Toggle it off
                        _addWaypointOnClick = false
                        _addROIOnClick = false
                        setChecked(index, false)
                    } else {
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                        _addWaypointOnClick = checked
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                        _addROIOnClick = false
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                    }
                    break
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                case roiButtonIndex:
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                    _addROIOnClick = checked
                    _addWaypointOnClick = false
                    break
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                case patternButtonIndex:
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                    if (_singleComplexItem) {
                        addComplexItem(_missionController.complexMissionItemNames[0])
                    }
                    break
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                case landButtonIndex:
                    _missionController.insertLandItem(mapCenter(), _missionController.currentMissionIndex, true /* makeCurrentItem */)
                    break
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                }
            }
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        }
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        //-----------------------------------------------------------
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        // Right pane for mission editing controls
        Rectangle {
            id:                 rightPanel
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            height:             parent.height
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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
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            anchors.topMargin:      _toolsTopMargin
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            DeadMouseArea {
                anchors.fill:   parent
            }
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            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
                //-------------------------------------------------------
                // 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) ? bar.height + ScreenTools.defaultFontPixelHeight : 0
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                    color:      qgcPal.missionItemEditor
                    radius:     _radius
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                    visible:    (!planControlColapsed || !_airspaceEnabled) && QGroundControl.corePlugin.options.enablePlanViewSelector
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                    Item {
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                        height:             bar.height
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                        anchors.left:       parent.left
                        anchors.right:      parent.right
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                        anchors.margins:    ScreenTools.defaultFontPixelWidth
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                        anchors.verticalCenter: parent.verticalCenter
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                        QGCTabBar {
                            id:             bar
                            width:          parent.width
                            anchors.centerIn: parent
                            Component.onCompleted: {
                                currentIndex = 0
                            }
                            QGCTabButton {
                                text:       qsTr("Mission")
                            }
                            QGCTabButton {
                                text:       qsTr("Fence")
                                enabled:    _geoFenceController.supported
                            }
                            QGCTabButton {
                                text:       qsTr("Rally")
                                enabled:    _rallyPointController.supported
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                            }
                        }
                    }
                }
            }
            //-------------------------------------------------------
            // Mission Item Editor
            Item {
                id:                     missionItemEditor
                anchors.left:           parent.left
                anchors.right:          parent.right
                anchors.top:            rightControls.bottom
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                anchors.topMargin:      ScreenTools.defaultFontPixelHeight * 0.25
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                anchors.bottom:         parent.bottom
                anchors.bottomMargin:   ScreenTools.defaultFontPixelHeight * 0.25
                visible:                _editingLayer == _layerMission && !planControlColapsed
                QGCListView {
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                    id:                 missionItemEditorListView
                    anchors.fill:       parent
                    spacing:            ScreenTools.defaultFontPixelHeight / 4
                    orientation:        ListView.Vertical
                    model:              _missionController.visualItems
                    cacheBuffer:        Math.max(height * 2, 0)
                    clip:               true
                    currentIndex:       _missionController.currentPlanViewIndex
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                    highlightMoveDuration: 250
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                    visible:            _editingLayer == _layerMission && !planControlColapsed
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                    //-- List Elements
                    delegate: MissionItemEditor {
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                        map:            editorMap
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                        masterController:  _planMasterController
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                        missionItem:    object
                        width:          parent.width
                        readOnly:       false
                        onClicked:      _missionController.setCurrentPlanViewIndex(object.sequenceNumber, false)
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                        onRemove: {
                            var removeIndex = index
                            _missionController.removeMissionItem(removeIndex)
                            if (removeIndex >= _missionController.visualItems.count) {
                                removeIndex--
                            }
                            _missionController.setCurrentPlanViewIndex(removeIndex, true)
                        }
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                        onInsertWaypoint:           insertSimpleMissionItem(editorMap.center, index)
                        onInsertComplexItem:        insertComplexMissionItem(complexItemName, editorMap.center, index)
                        onSelectNextNotReadyItem:   selectNextNotReady()
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                    }
                }
            }
            // GeoFence Editor
            GeoFenceEditor {
                anchors.top:            rightControls.bottom
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                anchors.topMargin:      ScreenTools.defaultFontPixelHeight * 0.25
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                anchors.bottom:         parent.bottom
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                anchors.left:           parent.left
                anchors.right:          parent.right
                myGeoFenceController:   _geoFenceController
                flightMap:              editorMap
                visible:                _editingLayer == _layerGeoFence
            }
            // Rally Point Editor
            RallyPointEditorHeader {
                id:                     rallyPointHeader
                anchors.top:            rightControls.bottom
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                anchors.topMargin:      ScreenTools.defaultFontPixelHeight * 0.25
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                anchors.left:           parent.left
                anchors.right:          parent.right
                visible:                _editingLayer == _layerRallyPoints
                controller:             _rallyPointController
            }
            RallyPointItemEditor {
                id:                     rallyPointEditor
                anchors.top:            rallyPointHeader.bottom
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                anchors.topMargin:      ScreenTools.defaultFontPixelHeight * 0.25
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                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 {
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            id:                     mapScale
            anchors.margins:        ScreenTools.defaultFontPixelHeight * (0.66)
            anchors.bottom:         waypointValuesDisplay.visible ? waypointValuesDisplay.top : parent.bottom
            anchors.left:           parent.left
            mapControl:             editorMap
            buttonsOnLeft:          true
            terrainButtonVisible:   true
            visible:                _toolStripBottom < y && _editingLayer === _layerMission
            terrainButtonChecked:   waypointValuesDisplay.visible

            onTerrainButtonClicked: waypointValuesDisplay.toggleVisible()
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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:            _internalVisible && _editingLayer === _layerMission && (_toolStripBottom + mapScale.height) < y && QGroundControl.corePlugin.options.showMissionStatus

            property bool _internalVisible: false

            function toggleVisible() {
                _internalVisible = !_internalVisible
            }
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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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                _planMasterController.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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                _planMasterController.loadFromSelectedFile()
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            }
        }
    }

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    property var createPlanRemoveAllPromptDialogMapCenter
    property var createPlanRemoveAllPromptDialogPlanCreator
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    Component {
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        id: createPlanRemoveAllPromptDialog
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        QGCViewMessage {
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            message: qsTr("Are you sure you want to remove current plan and create a new plan? ")
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            function accept() {
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                createPlanRemoveAllPromptDialogPlanCreator.createPlan(createPlanRemoveAllPromptDialogMapCenter)
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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() {
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                _planMasterController.removeAllFromVehicle()
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                _missionController.setCurrentPlanViewIndex(0, true)
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                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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        ColumnLayout {
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            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 {
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                id:                 unsavedChangedLabel
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                Layout.fillWidth:   true
                wrapMode:           Text.WordWrap
                text:               activeVehicle ?
                                        qsTr("You have unsaved changes. You should upload to your vehicle, or save to a file.") :
                                        qsTr("You have unsaved changes.")
                visible:            _planMasterController.dirty
            }

            SectionHeader {
                id:                 createSection
                Layout.fillWidth:   true
                text:               qsTr("Create Plan")
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                showSpacer:         false
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            }

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            GridLayout {
                columns:            2
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                columnSpacing:      _margin
                rowSpacing:         _margin
                Layout.fillWidth:   true
                visible:            createSection.visible

                Repeater {
                    model: _planMasterController.planCreators

                    Rectangle {
                        id:     button
                        width:  ScreenTools.defaultFontPixelHeight * 7
                        height: planCreatorNameLabel.y + planCreatorNameLabel.height
                        color:  button.pressed || button.highlighted ? qgcPal.buttonHighlight : qgcPal.button

                        property bool highlighted: mouseArea.containsMouse
                        property bool pressed:     mouseArea.pressed

                        Image {
                            id:                 planCreatorImage
                            anchors.left:       parent.left
                            anchors.right:      parent.right
                            source:             object.imageResource
                            sourceSize.width:   width
                            fillMode:           Image.PreserveAspectFit
                            mipmap:             true
                        }

                        QGCLabel {
                            id:                     planCreatorNameLabel
                            anchors.top:            planCreatorImage.bottom
                            anchors.left:           parent.left
                            anchors.right:          parent.right
                            horizontalAlignment:    Text.AlignHCenter
                            text:                   object.name
                            color:                  button.pressed || button.highlighted ? qgcPal.buttonHighlightText : qgcPal.buttonText
                        }

                        QGCMouseArea {
                            id:                 mouseArea
                            anchors.fill:       parent
                            hoverEnabled:       true
                            preventStealing:    true
                            onClicked:          {
                                if (_planMasterController.containsItems) {
                                    createPlanRemoveAllPromptDialogMapCenter = _mapCenter()
                                    createPlanRemoveAllPromptDialogPlanCreator = object
                                    mainWindow.showComponentDialog(createPlanRemoveAllPromptDialog, qsTr("Create Plan"), mainWindow.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No)
                                } else {
                                    object.createPlan(_mapCenter())
                                }
                                dropPanel.hide()
                            }

                            function _mapCenter() {
                                var centerPoint = Qt.point(editorMap.centerViewport.left + (editorMap.centerViewport.width / 2), editorMap.centerViewport.top + (editorMap.centerViewport.height / 2))
                                return editorMap.toCoordinate(centerPoint, false /* clipToViewPort */)
                            }
                        }
                    }
                }
            }

            SectionHeader {
                id:                 storageSection
                Layout.fillWidth:   true
                text:               qsTr("Storage")
            }

            GridLayout {
                columns:            3
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                rowSpacing:         _margin
                columnSpacing:      ScreenTools.defaultFontPixelWidth
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                visible:            storageSection.visible
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                /*QGCButton {
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                    text:               qsTr("New...")
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                    Layout.fillWidth:   true
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                    onClicked:  {
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                        dropPanel.hide()
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                        if (_planMasterController.containsItems) {
                            mainWindow.showComponentDialog(removeAllPromptDialog, qsTr("New Plan"), mainWindow.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No)
                        }
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                    }
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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:            !_planMasterController.syncInProgress
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                    onClicked: {
                        dropPanel.hide()
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                        if (_planMasterController.dirty) {
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                            mainWindow.showComponentDialog(syncLoadFromFileOverwrite, columnHolder._overwriteText, mainWindow.showDialogDefaultWidth, StandardButton.Yes | StandardButton.Cancel)
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                        } else {
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                            _planMasterController.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:            !_planMasterController.syncInProgress && _planMasterController.currentPlanFile !== ""
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                    onClicked: {
                        dropPanel.hide()
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                        if(_planMasterController.currentPlanFile !== "") {
                            _planMasterController.saveToCurrent()
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                        } else {
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                            _planMasterController.saveToSelectedFile()
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                        }
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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:            !_planMasterController.syncInProgress && _planMasterController.containsItems
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                    onClicked: {
                        dropPanel.hide()
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                        _planMasterController.saveToSelectedFile()
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                    }
                }

                QGCButton {
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                    Layout.columnSpan:  3
                    Layout.fillWidth:   true
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                    text:               qsTr("Save Mission Waypoints As KML...")
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                    enabled:            !_planMasterController.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) {
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                            mainWindow.showComponentDialog(noItemForKML, qsTr("KML"), mainWindow.showDialogDefaultWidth, StandardButton.Cancel)
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                            return
                        }
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                        dropPanel.hide()
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                        _planMasterController.saveKmlToSelectedFile()
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                    }
                }
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            }
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            SectionHeader {
                id:                 vehicleSection
                Layout.fillWidth:   true
                text:               qsTr("Vehicle")
            }

            RowLayout {
                Layout.fillWidth:   true
                spacing:            _margin
                visible:            vehicleSection.visible
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                QGCButton {
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                    text:               qsTr("Upload")
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                    Layout.fillWidth:   true
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                    enabled:            !_planMasterController.offline && !_planMasterController.syncInProgress && _planMasterController.containsItems
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                    visible:            !QGroundControl.corePlugin.options.disableVehicleConnection
                    onClicked: {
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                        dropPanel.hide()
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                        _planMasterController.upload()
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                    }
                }
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                QGCButton {
                    text:               qsTr("Download")
                    Layout.fillWidth:   true
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                    enabled:            !_planMasterController.offline && !_planMasterController.syncInProgress
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                    visible:            !QGroundControl