MissionController.cc

/****************************************************************************
 *
 * (c) 2009-2020 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.
 *
 ****************************************************************************/

#include "MissionController.h"
#include "AppSettings.h"
#include "CorridorScanComplexItem.h"
#include "FirmwarePlugin.h"
#include "FixedWingLandingComplexItem.h"
#include "FlightPathSegment.h"
#include "JsonHelper.h"
#include "KMLPlanDomDocument.h"
#include "MeasurementComplexItem.h"
#include "MissionCommandUIInfo.h"
#include "MissionManager.h"
#include "MissionSettingsItem.h"
#include "MultiVehicleManager.h"
#include "ParameterManager.h"
#include "PlanMasterController.h"
#include "PlanViewSettings.h"
#include "QGCApplication.h"
#include "QGCCorePlugin.h"
#include "QGCQGeoCoordinate.h"
#include "QGroundControlQmlGlobal.h"
#include "SettingsManager.h"
#include "SimpleMissionItem.h"
#include "StructureScanComplexItem.h"
#include "SurveyComplexItem.h"
#include "TakeoffMissionItem.h"
#include "VTOLLandingComplexItem.h"

#define UPDATE_TIMEOUT 5000 ///< How often we check for bounding box changes

QGC_LOGGING_CATEGORY(MissionControllerLog, "MissionControllerLog")

const char *MissionController::_settingsGroup = "MissionController";
const char *MissionController::_jsonFileTypeValue = "Mission";
const char *MissionController::_jsonItemsKey = "items";
const char *MissionController::_jsonPlannedHomePositionKey =
    "plannedHomePosition";
const char *MissionController::_jsonFirmwareTypeKey = "firmwareType";
const char *MissionController::_jsonVehicleTypeKey = "vehicleType";
const char *MissionController::_jsonCruiseSpeedKey = "cruiseSpeed";
const char *MissionController::_jsonHoverSpeedKey = "hoverSpeed";
const char *MissionController::_jsonParamsKey = "params";
const char *MissionController::_jsonGlobalPlanAltitudeModeKey =
    "globalPlanAltitudeMode";

// Deprecated V1 format keys
const char *MissionController::_jsonComplexItemsKey = "complexItems";
const char *MissionController::_jsonMavAutopilotKey = "MAV_AUTOPILOT";

const int MissionController::_missionFileVersion = 2;

MissionController::MissionController(PlanMasterController *masterController,
                                     QObject *parent)
    : PlanElementController(masterController, parent),
      _controllerVehicle(masterController->controllerVehicle()),
      _managerVehicle(masterController->managerVehicle()),
      _missionManager(masterController->managerVehicle()->missionManager()),
      _visualItems(new QmlObjectListModel(this)),
      _planViewSettings(
          qgcApp()->toolbox()->settingsManager()->planViewSettings()),
      _appSettings(qgcApp()->toolbox()->settingsManager()->appSettings()) {
  _resetMissionFlightStatus();

  _updateTimer.setSingleShot(true);

  connect(&_updateTimer, &QTimer::timeout, this,
          &MissionController::_updateTimeout);
  connect(_planViewSettings->takeoffItemNotRequired(), &Fact::rawValueChanged,
          this, &MissionController::_takeoffItemNotRequiredChanged);
  connect(this, &MissionController::missionDistanceChanged, this,
          &MissionController::recalcTerrainProfile);

  // The follow is used to compress multiple recalc calls in a row to into a
  // single call.
  connect(this, &MissionController::_recalcMissionFlightStatusSignal, this,
          &MissionController::_recalcMissionFlightStatus, Qt::QueuedConnection);
  connect(this, &MissionController::_recalcFlightPathSegmentsSignal, this,
          &MissionController::_recalcFlightPathSegments, Qt::QueuedConnection);
  qgcApp()->addCompressedSignal(QMetaMethod::fromSignal(
      &MissionController::_recalcMissionFlightStatusSignal));
  qgcApp()->addCompressedSignal(QMetaMethod::fromSignal(
      &MissionController::_recalcFlightPathSegmentsSignal));
  qgcApp()->addCompressedSignal(
      QMetaMethod::fromSignal(&MissionController::recalcTerrainProfile));
}

MissionController::~MissionController() {}

void MissionController::_resetMissionFlightStatus(void) {
  _missionFlightStatus.totalDistance = 0.0;
  _missionFlightStatus.maxTelemetryDistance = 0.0;
  _missionFlightStatus.totalTime = 0.0;
  _missionFlightStatus.hoverTime = 0.0;
  _missionFlightStatus.cruiseTime = 0.0;
  _missionFlightStatus.hoverDistance = 0.0;
  _missionFlightStatus.cruiseDistance = 0.0;
  _missionFlightStatus.cruiseSpeed = _controllerVehicle->defaultCruiseSpeed();
  _missionFlightStatus.hoverSpeed = _controllerVehicle->defaultHoverSpeed();
  _missionFlightStatus.vehicleSpeed =
      _controllerVehicle->multiRotor() || _managerVehicle->vtol()
          ? _missionFlightStatus.hoverSpeed
          : _missionFlightStatus.cruiseSpeed;
  _missionFlightStatus.vehicleYaw = qQNaN();
  _missionFlightStatus.gimbalYaw = qQNaN();
  _missionFlightStatus.gimbalPitch = qQNaN();
  _missionFlightStatus.mAhBattery = 0;
  _missionFlightStatus.hoverAmps = 0;
  _missionFlightStatus.cruiseAmps = 0;
  _missionFlightStatus.ampMinutesAvailable = 0;
  _missionFlightStatus.hoverAmpsTotal = 0;
  _missionFlightStatus.cruiseAmpsTotal = 0;
  _missionFlightStatus.batteryChangePoint = -1;
  _missionFlightStatus.batteriesRequired = -1;
  _missionFlightStatus.vtolMode = _missionContainsVTOLTakeoff
                                      ? QGCMAVLink::VehicleClassMultiRotor
                                      : QGCMAVLink::VehicleClassFixedWing;

  _controllerVehicle->firmwarePlugin()->batteryConsumptionData(
      _controllerVehicle, _missionFlightStatus.mAhBattery,
      _missionFlightStatus.hoverAmps, _missionFlightStatus.cruiseAmps);
  if (_missionFlightStatus.mAhBattery != 0) {
    double batteryPercentRemainingAnnounce =
        qgcApp()
            ->toolbox()
            ->settingsManager()
            ->appSettings()
            ->batteryPercentRemainingAnnounce()
            ->rawValue()
            .toDouble();
    _missionFlightStatus.ampMinutesAvailable =
        static_cast<double>(_missionFlightStatus.mAhBattery) / 1000.0 * 60.0 *
        ((100.0 - batteryPercentRemainingAnnounce) / 100.0);
  }

  emit missionDistanceChanged(_missionFlightStatus.totalDistance);
  emit missionTimeChanged();
  emit missionHoverDistanceChanged(_missionFlightStatus.hoverDistance);
  emit missionCruiseDistanceChanged(_missionFlightStatus.cruiseDistance);
  emit missionHoverTimeChanged();
  emit missionCruiseTimeChanged();
  emit missionMaxTelemetryChanged(_missionFlightStatus.maxTelemetryDistance);
  emit batteryChangePointChanged(_missionFlightStatus.batteryChangePoint);
  emit batteriesRequiredChanged(_missionFlightStatus.batteriesRequired);
}

void MissionController::start(bool flyView) {
  qCDebug(MissionControllerLog) << "start flyView" << flyView;

  _managerVehicleChanged(_managerVehicle);
  connect(_masterController, &PlanMasterController::managerVehicleChanged, this,
          &MissionController::_managerVehicleChanged);

  PlanElementController::start(flyView);
  _init();
}

void MissionController::_init(void) {
  // We start with an empty mission
  _addMissionSettings(_visualItems);
  _initAllVisualItems();
}

// Called when new mission items have completed downloading from Vehicle
void MissionController::_newMissionItemsAvailableFromVehicle(
    bool removeAllRequested) {
  qCDebug(MissionControllerLog)
      << "_newMissionItemsAvailableFromVehicle flyView:count" << _flyView
      << _missionManager->missionItems().count();

  // Fly view always reloads on _loadComplete
  // Plan view only reloads if:
  //  - Load was specifically requested
  //  - There is no current Plan
  if (_flyView || removeAllRequested || _itemsRequested || isEmpty()) {
    // Fly Mode (accept if):
    //      - Always accepts new items from the vehicle so Fly view is kept up
    //      to date
    // Edit Mode (accept if):
    //      - Remove all was requested from Fly view (clear mission on flight
    //      end)
    //      - A load from vehicle was manually requested
    //      - The initial automatic load from a vehicle completed and the
    //      current editor is empty

    _deinitAllVisualItems();
    _visualItems->deleteLater();
    _visualItems = nullptr;
    _settingsItem = nullptr;
    _takeoffMissionItem = nullptr;
    _updateContainsItems(); // This will clear containsItems which will be set
                            // again below. This will re-pop Start Mission
                            // confirmation.

    QmlObjectListModel *newControllerMissionItems =
        new QmlObjectListModel(this);
    const QList<MissionItem *> &newMissionItems =
        _missionManager->missionItems();
    qCDebug(MissionControllerLog)
        << "loading from vehicle: count" << newMissionItems.count();

    _missionItemCount = newMissionItems.count();
    emit missionItemCountChanged(_missionItemCount);

    MissionSettingsItem *settingsItem =
        _addMissionSettings(newControllerMissionItems);

    int i = 0;
    if (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() &&
        newMissionItems.count() != 0) {
      // First item is fake home position
      MissionItem *fakeHomeItem = newMissionItems[0];
      if (fakeHomeItem->coordinate().latitude() != 0 ||
          fakeHomeItem->coordinate().longitude() != 0) {
        settingsItem->setInitialHomePosition(fakeHomeItem->coordinate());
      }
      i = 1;
    }

    for (; i < newMissionItems.count(); i++) {
      const MissionItem *missionItem = newMissionItems[i];
      SimpleMissionItem *simpleItem = new SimpleMissionItem(
          _masterController, _flyView, *missionItem, this);
      if (TakeoffMissionItem::isTakeoffCommand(
              static_cast<MAV_CMD>(simpleItem->command()))) {
        // This needs to be a TakeoffMissionItem
        _takeoffMissionItem = new TakeoffMissionItem(
            *missionItem, _masterController, _flyView, settingsItem, this);
        simpleItem->deleteLater();
        simpleItem = _takeoffMissionItem;
      }
      newControllerMissionItems->append(simpleItem);
    }

    _visualItems = newControllerMissionItems;
    _settingsItem = settingsItem;

    MissionController::_scanForAdditionalSettings(_visualItems,
                                                  _masterController);

    _initAllVisualItems();
    _updateContainsItems();
    emit newItemsFromVehicle();
  }
  _itemsRequested = false;
}

void MissionController::loadFromVehicle(void) {
  if (_masterController->offline()) {
    qCWarning(MissionControllerLog)
        << "MissionControllerLog::loadFromVehicle called while offline";
  } else if (syncInProgress()) {
    qCWarning(MissionControllerLog)
        << "MissionControllerLog::loadFromVehicle called while syncInProgress";
  } else {
    _itemsRequested = true;
    _managerVehicle->missionManager()->loadFromVehicle();
  }
}

void MissionController::sendToVehicle(void) {
  if (_masterController->offline()) {
    qCWarning(MissionControllerLog)
        << "MissionControllerLog::sendToVehicle called while offline";
  } else if (syncInProgress()) {
    qCWarning(MissionControllerLog)
        << "MissionControllerLog::sendToVehicle called while syncInProgress";
  } else {
    qCDebug(MissionControllerLog) << "MissionControllerLog::sendToVehicle";
    if (_visualItems->count() == 1) {
      // This prevents us from sending a possibly bogus home position to the
      // vehicle
      QmlObjectListModel emptyModel;
      sendItemsToVehicle(_managerVehicle, &emptyModel);
    } else {
      sendItemsToVehicle(_managerVehicle, _visualItems);
    }
    setDirty(false);
  }
}

/// Converts from visual items to MissionItems
///     @param missionItemParent QObject parent for newly allocated MissionItems
/// @return true: Mission end action was added to end of list
bool MissionController::_convertToMissionItems(
    QmlObjectListModel *visualMissionItems,
    QList<MissionItem *> &rgMissionItems, QObject *missionItemParent) {
  if (visualMissionItems->count() == 0) {
    return false;
  }

  bool endActionSet = false;
  int lastSeqNum = 0;

  for (int i = 0; i < visualMissionItems->count(); i++) {
    VisualMissionItem *visualItem =
        qobject_cast<VisualMissionItem *>(visualMissionItems->get(i));

    lastSeqNum = visualItem->lastSequenceNumber();
    visualItem->appendMissionItems(rgMissionItems, missionItemParent);

    qCDebug(MissionControllerLog)
        << "_convertToMissionItems seqNum:lastSeqNum:command"
        << visualItem->sequenceNumber() << lastSeqNum
        << visualItem->commandName();
  }

  // Mission settings has a special case for end mission action
  MissionSettingsItem *settingsItem =
      visualMissionItems->value<MissionSettingsItem *>(0);
  if (settingsItem) {
    endActionSet = settingsItem->addMissionEndAction(
        rgMissionItems, lastSeqNum + 1, missionItemParent);
  }

  return endActionSet;
}

void MissionController::addMissionToKML(KMLPlanDomDocument &planKML) {
  QObject *deleteParent = new QObject();
  QList<MissionItem *> rgMissionItems;

  _convertToMissionItems(_visualItems, rgMissionItems, deleteParent);
  planKML.addMission(_controllerVehicle, _visualItems, rgMissionItems);
  deleteParent->deleteLater();
}

void MissionController::sendItemsToVehicle(
    Vehicle *vehicle, QmlObjectListModel *visualMissionItems) {
  if (vehicle) {
    QList<MissionItem *> rgMissionItems;

    _convertToMissionItems(visualMissionItems, rgMissionItems, vehicle);

    // PlanManager takes control of MissionItems so no need to delete
    vehicle->missionManager()->writeMissionItems(rgMissionItems);
  }
}

int MissionController::_nextSequenceNumber(void) {
  if (_visualItems->count() == 0) {
    qWarning() << "Internal error: Empty visual item list";
    return 0;
  } else {
    VisualMissionItem *lastItem =
        _visualItems->value<VisualMissionItem *>(_visualItems->count() - 1);
    return lastItem->lastSequenceNumber() + 1;
  }
}

VisualMissionItem *MissionController::_insertSimpleMissionItemWorker(
    QGeoCoordinate coordinate, MAV_CMD command, int visualItemIndex,
    bool makeCurrentItem) {
  int sequenceNumber = _nextSequenceNumber();
  SimpleMissionItem *newItem = new SimpleMissionItem(
      _masterController, _flyView, false /* forLoad */, this);
  newItem->setSequenceNumber(sequenceNumber);
  newItem->setCoordinate(coordinate);
  newItem->setCommand(command);
  _initVisualItem(newItem);

  if (newItem->specifiesAltitude()) {
    if (!qgcApp()->toolbox()->missionCommandTree()->isLandCommand(command)) {
      double prevAltitude;
      int prevAltitudeMode;

      if (_findPreviousAltitude(visualItemIndex, &prevAltitude,
                                &prevAltitudeMode)) {
        newItem->altitude()->setRawValue(prevAltitude);
        if (globalAltitudeMode() == QGroundControlQmlGlobal::AltitudeModeNone) {
          // We are in mixed altitude modes, so copy from previous. Otherwise
          // alt mode will be set from global setting.
          newItem->setAltitudeMode(
              static_cast<QGroundControlQmlGlobal::AltitudeMode>(
                  prevAltitudeMode));
        }
      }
    }
  }
  if (visualItemIndex == -1) {
    _visualItems->append(newItem);
  } else {
    _visualItems->insert(visualItemIndex, newItem);
  }

  // We send the click coordinate through here to be able to set the planned
  // home position from the user click location if needed
  _recalcAllWithCoordinate(coordinate);

  if (makeCurrentItem) {
    setCurrentPlanViewSeqNum(newItem->sequenceNumber(), true);
  }

  _firstItemAdded();

  return newItem;
}

VisualMissionItem *MissionController::insertSimpleMissionItem(
    QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem) {
  return _insertSimpleMissionItemWorker(coordinate, MAV_CMD_NAV_WAYPOINT,
                                        visualItemIndex, makeCurrentItem);
}

VisualMissionItem *MissionController::insertTakeoffItem(
    QGeoCoordinate /*coordinate*/, int visualItemIndex, bool makeCurrentItem) {
  int sequenceNumber = _nextSequenceNumber();
  _takeoffMissionItem = new TakeoffMissionItem(
      _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF
                                 : MAV_CMD_NAV_TAKEOFF,
      _masterController, _flyView, _settingsItem, this);
  _takeoffMissionItem->setSequenceNumber(sequenceNumber);
  _initVisualItem(_takeoffMissionItem);

  if (_takeoffMissionItem->specifiesAltitude()) {
    double prevAltitude;
    int prevAltitudeMode;

    if (_findPreviousAltitude(visualItemIndex, &prevAltitude,
                              &prevAltitudeMode)) {
      _takeoffMissionItem->altitude()->setRawValue(prevAltitude);
      _takeoffMissionItem->setAltitudeMode(
          static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
    }
  }
  if (visualItemIndex == -1) {
    _visualItems->append(_takeoffMissionItem);
  } else {
    _visualItems->insert(visualItemIndex, _takeoffMissionItem);
  }

  _recalcAll();

  if (makeCurrentItem) {
    setCurrentPlanViewSeqNum(_takeoffMissionItem->sequenceNumber(), true);
  }

  _firstItemAdded();

  return _takeoffMissionItem;
}

VisualMissionItem *MissionController::insertLandItem(QGeoCoordinate coordinate,
                                                     int visualItemIndex,
                                                     bool makeCurrentItem) {
  if (_controllerVehicle->fixedWing()) {
    FixedWingLandingComplexItem *fwLanding =
        qobject_cast<FixedWingLandingComplexItem *>(insertComplexMissionItem(
            FixedWingLandingComplexItem::name, coordinate, visualItemIndex,
            makeCurrentItem));
    return fwLanding;
  } else if (_controllerVehicle->vtol()) {
    VTOLLandingComplexItem *vtolLanding =
        qobject_cast<VTOLLandingComplexItem *>(
            insertComplexMissionItem(VTOLLandingComplexItem::name, coordinate,
                                     visualItemIndex, makeCurrentItem));
    return vtolLanding;
  } else {
    return _insertSimpleMissionItemWorker(coordinate,
                                          _controllerVehicle->vtol()
                                              ? MAV_CMD_NAV_VTOL_LAND
                                              : MAV_CMD_NAV_RETURN_TO_LAUNCH,
                                          visualItemIndex, makeCurrentItem);
  }
}

VisualMissionItem *MissionController::insertROIMissionItem(
    QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem) {
  SimpleMissionItem *simpleItem = qobject_cast<SimpleMissionItem *>(
      _insertSimpleMissionItemWorker(coordinate, MAV_CMD_DO_SET_ROI_LOCATION,
                                     visualItemIndex, makeCurrentItem));

  if (!_controllerVehicle->firmwarePlugin()
           ->supportedMissionCommands(QGCMAVLink::VehicleClassGeneric)
           .contains(MAV_CMD_DO_SET_ROI_LOCATION)) {
    simpleItem->setCommand(MAV_CMD_DO_SET_ROI);
    simpleItem->missionItem().setParam1(MAV_ROI_LOCATION);
  }
  _recalcROISpecialVisuals();
  return simpleItem;
}

VisualMissionItem *
MissionController::insertCancelROIMissionItem(int visualItemIndex,
                                              bool makeCurrentItem) {
  SimpleMissionItem *simpleItem = qobject_cast<SimpleMissionItem *>(
      _insertSimpleMissionItemWorker(QGeoCoordinate(), MAV_CMD_DO_SET_ROI_NONE,
                                     visualItemIndex, makeCurrentItem));

  if (!_controllerVehicle->firmwarePlugin()
           ->supportedMissionCommands(QGCMAVLink::VehicleClassGeneric)
           .contains(MAV_CMD_DO_SET_ROI_NONE)) {
    simpleItem->setCommand(MAV_CMD_DO_SET_ROI);
    simpleItem->missionItem().setParam1(MAV_ROI_NONE);
  }
  _recalcROISpecialVisuals();
  return simpleItem;
}

VisualMissionItem *MissionController::insertComplexMissionItem(
    QString itemName, QGeoCoordinate mapCenterCoordinate, int visualItemIndex,
    bool makeCurrentItem) {
  ComplexMissionItem *newItem = nullptr;

  if (itemName == SurveyComplexItem::name) {
    newItem = new SurveyComplexItem(_masterController, _flyView,
                                    QString() /* kmlFile */,
                                    _visualItems /* parent */);
    newItem->setCoordinate(mapCenterCoordinate);
  } else if (itemName == FixedWingLandingComplexItem::name) {
    newItem = new FixedWingLandingComplexItem(_masterController, _flyView,
                                              _visualItems /* parent */);
  } else if (itemName == VTOLLandingComplexItem::name) {
    newItem = new VTOLLandingComplexItem(_masterController, _flyView,
                                         _visualItems /* parent */);
  } else if (itemName == StructureScanComplexItem::name) {
    newItem = new StructureScanComplexItem(_masterController, _flyView,
                                           QString() /* kmlFile */,
                                           _visualItems /* parent */);
  } else if (itemName == CorridorScanComplexItem::name) {
    newItem = new CorridorScanComplexItem(_masterController, _flyView,
                                          QString() /* kmlFile */,
                                          _visualItems /* parent */);
  } else if (itemName == MeasurementComplexItem::name) {
    newItem = new MeasurementComplexItem(_masterController, _flyView,
                                         QString() /* kmlFile */,
                                         _visualItems /* parent */);
  } else {
    qWarning() << "Internal error: Unknown complex item:" << itemName;
    return nullptr;
  }

  _insertComplexMissionItemWorker(mapCenterCoordinate, newItem, visualItemIndex,
                                  makeCurrentItem);

  return newItem;
}

VisualMissionItem *MissionController::insertComplexMissionItemFromKMLOrSHP(
    QString itemName, QString file, int visualItemIndex, bool makeCurrentItem) {
  ComplexMissionItem *newItem = nullptr;

  if (itemName == SurveyComplexItem::name) {
    newItem =
        new SurveyComplexItem(_masterController, _flyView, file, _visualItems);
  } else if (itemName == StructureScanComplexItem::name) {
    newItem = new StructureScanComplexItem(_masterController, _flyView, file,
                                           _visualItems);
  } else if (itemName == CorridorScanComplexItem::name) {
    newItem = new CorridorScanComplexItem(_masterController, _flyView, file,
                                          _visualItems);
  } else {
    qWarning() << "Internal error: Unknown complex item:" << itemName;
    return nullptr;
  }

  _insertComplexMissionItemWorker(QGeoCoordinate(), newItem, visualItemIndex,
                                  makeCurrentItem);

  return newItem;
}

void MissionController::_insertComplexMissionItemWorker(
    const QGeoCoordinate &mapCenterCoordinate, ComplexMissionItem *complexItem,
    int visualItemIndex, bool makeCurrentItem) {
  int sequenceNumber = _nextSequenceNumber();
  bool surveyStyleItem =
      qobject_cast<SurveyComplexItem *>(complexItem) ||
      qobject_cast<CorridorScanComplexItem *>(complexItem) ||
      qobject_cast<StructureScanComplexItem *>(complexItem) ||
      qobject_cast<MeasurementComplexItem *>(complexItem);

  if (surveyStyleItem) {
    bool rollSupported = false;
    bool pitchSupported = false;
    bool yawSupported = false;

    // If the vehicle is known to have a gimbal then we automatically point the
    // gimbal straight down if not already set

    MissionSettingsItem *settingsItem =
        _visualItems->value<MissionSettingsItem *>(0);
    CameraSection *cameraSection = settingsItem->cameraSection();

    // Set camera to photo mode (leave alone if user already specified)
    if (cameraSection->cameraModeSupported() &&
        !cameraSection->specifyCameraMode()) {
      cameraSection->setSpecifyCameraMode(true);
      cameraSection->cameraMode()->setRawValue(CAMERA_MODE_IMAGE_SURVEY);
    }

    // Point gimbal straight down
    if (_controllerVehicle->firmwarePlugin()->hasGimbal(
            _controllerVehicle, rollSupported, pitchSupported, yawSupported) &&
        pitchSupported) {
      // If the user already specified a gimbal angle leave it alone
      if (!cameraSection->specifyGimbal()) {
        cameraSection->setSpecifyGimbal(true);
        cameraSection->gimbalPitch()->setRawValue(-90.0);
      }
    }
  }

  complexItem->setSequenceNumber(sequenceNumber);
  complexItem->setWizardMode(true);
  _initVisualItem(complexItem);

  if (visualItemIndex == -1) {
    _visualItems->append(complexItem);
  } else {
    _visualItems->insert(visualItemIndex, complexItem);
  }

  //-- Keep track of bounding box changes in complex items
  if (!complexItem->isSimpleItem()) {
    connect(complexItem, &ComplexMissionItem::boundingCubeChanged, this,
            &MissionController::_complexBoundingBoxChanged);
  }
  _recalcAllWithCoordinate(mapCenterCoordinate);

  if (makeCurrentItem) {
    setCurrentPlanViewSeqNum(complexItem->sequenceNumber(), true);
  }
  _firstItemAdded();
}

void MissionController::removeVisualItem(int viIndex) {
  if (viIndex <= 0 || viIndex >= _visualItems->count()) {
    qWarning() << "MissionController::removeVisualItem called with bad index - "
                  "count:index"
               << _visualItems->count() << viIndex;
    return;
  }

  bool removeSurveyStyle =
      _visualItems->value<SurveyComplexItem *>(viIndex) ||
      _visualItems->value<CorridorScanComplexItem *>(viIndex) ||
      _visualItems->value<MeasurementComplexItem *>(viIndex);
  VisualMissionItem *item =
      qobject_cast<VisualMissionItem *>(_visualItems->removeAt(viIndex));

  if (item == _takeoffMissionItem) {
    _takeoffMissionItem = nullptr;
  }

  _deinitVisualItem(item);
  item->deleteLater();

  if (removeSurveyStyle) {
    // Determine if the mission still has another survey style item in it
    bool foundSurvey = false;
    for (int i = 1; i < _visualItems->count(); i++) {
      if (_visualItems->value<SurveyComplexItem *>(i) ||
          _visualItems->value<CorridorScanComplexItem *>(i) ||
          _visualItems->value<MeasurementComplexItem *>(i)) {
        foundSurvey = true;
        break;
      }
    }

    // If there is no longer a survey item in the mission remove added commands
    if (!foundSurvey) {
      bool rollSupported = false;
      bool pitchSupported = false;
      bool yawSupported = false;
      CameraSection *cameraSection = _settingsItem->cameraSection();
      if (_controllerVehicle->firmwarePlugin()->hasGimbal(
              _controllerVehicle, rollSupported, pitchSupported,
              yawSupported) &&
          pitchSupported) {
        if (cameraSection->specifyGimbal() &&
            cameraSection->gimbalPitch()->rawValue().toDouble() == -90.0 &&
            cameraSection->gimbalYaw()->rawValue().toDouble() == 0.0) {
          cameraSection->setSpecifyGimbal(false);
        }
      }
      if (cameraSection->cameraModeSupported() &&
          cameraSection->specifyCameraMode() &&
          cameraSection->cameraMode()->rawValue().toInt() == 0) {
        cameraSection->setSpecifyCameraMode(false);
      }
    }
  }

  _recalcAll();

  // Adjust current item
  int newVIIndex;
  if (viIndex >= _visualItems->count()) {
    newVIIndex = _visualItems->count() - 1;
  } else {
    newVIIndex = viIndex;
  }
  setCurrentPlanViewSeqNum(
      _visualItems->value<VisualMissionItem *>(newVIIndex)->sequenceNumber(),
      true);

  setDirty(true);

  if (_visualItems->count() == 1) {
    _allItemsRemoved();
  }
}

void MissionController::removeAll(void) {
  if (_visualItems) {
    _deinitAllVisualItems();
    _visualItems->clearAndDeleteContents();
    _visualItems->deleteLater();
    _settingsItem = nullptr;
    _takeoffMissionItem = nullptr;
    _visualItems = new QmlObjectListModel(this);
    _addMissionSettings(_visualItems);
    _initAllVisualItems();
    setDirty(true);
    _resetMissionFlightStatus();
    _allItemsRemoved();
  }
}

bool MissionController::_loadJsonMissionFileV1(const QJsonObject &json,
                                               QmlObjectListModel *visualItems,
                                               QString &errorString) {
  // Validate root object keys
  QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = {
      {_jsonPlannedHomePositionKey, QJsonValue::Object, true},
      {_jsonItemsKey, QJsonValue::Array, true},
      {_jsonMavAutopilotKey, QJsonValue::Double, true},
      {_jsonComplexItemsKey, QJsonValue::Array, true},
  };
  if (!JsonHelper::validateKeys(json, rootKeyInfoList, errorString)) {
    return false;
  }

  setGlobalAltitudeMode(
      QGroundControlQmlGlobal::AltitudeModeNone); // Mixed mode

  // Read complex items
  QList<SurveyComplexItem *> surveyItems;
  QJsonArray complexArray(json[_jsonComplexItemsKey].toArray());
  qCDebug(MissionControllerLog)
      << "Json load: complex item count" << complexArray.count();
  for (int i = 0; i < complexArray.count(); i++) {
    const QJsonValue &itemValue = complexArray[i];

    if (!itemValue.isObject()) {
      errorString = QStringLiteral("Mission item is not an object");
      return false;
    }

    SurveyComplexItem *item = new SurveyComplexItem(_masterController, _flyView,
                                                    QString() /* kmlFile */,
                                                    visualItems /* parent */);
    const QJsonObject itemObject = itemValue.toObject();
    if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
      surveyItems.append(item);
    } else {
      return false;
    }
  }

  // Read simple items, interspersing complex items into the full list

  int nextSimpleItemIndex = 0;
  int nextComplexItemIndex = 0;
  int nextSequenceNumber = 1; // Start with 1 since home is in 0
  QJsonArray itemArray(json[_jsonItemsKey].toArray());

  MissionSettingsItem *settingsItem = _addMissionSettings(visualItems);
  if (json.contains(_jsonPlannedHomePositionKey)) {
    SimpleMissionItem *item = new SimpleMissionItem(
        _masterController, _flyView, true /* forLoad */, visualItems);
    if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0,
                   errorString)) {
      settingsItem->setInitialHomePositionFromUser(item->coordinate());
      item->deleteLater();
    } else {
      return false;
    }
  }

  qCDebug(MissionControllerLog)
      << "Json load: simple item loop start simpleItemCount:ComplexItemCount"
      << itemArray.count() << surveyItems.count();
  do {
    qCDebug(MissionControllerLog)
        << "Json load: simple item loop "
           "nextSimpleItemIndex:nextComplexItemIndex:nextSequenceNumber"
        << nextSimpleItemIndex << nextComplexItemIndex << nextSequenceNumber;

    // If there is a complex item that should be next in sequence add it in
    if (nextComplexItemIndex < surveyItems.count()) {
      SurveyComplexItem *complexItem = surveyItems[nextComplexItemIndex];

      if (complexItem->sequenceNumber() == nextSequenceNumber) {
        qCDebug(MissionControllerLog)
            << "Json load: injecting complex item "
               "expectedSequence:actualSequence:"
            << nextSequenceNumber << complexItem->sequenceNumber();
        visualItems->append(complexItem);
        nextSequenceNumber = complexItem->lastSequenceNumber() + 1;
        nextComplexItemIndex++;
        continue;
      }
    }

    // Add the next available simple item
    if (nextSimpleItemIndex < itemArray.count()) {
      const QJsonValue &itemValue = itemArray[nextSimpleItemIndex++];

      if (!itemValue.isObject()) {
        errorString = QStringLiteral("Mission item is not an object");
        return false;
      }

      const QJsonObject itemObject = itemValue.toObject();
      SimpleMissionItem *item = new SimpleMissionItem(
          _masterController, _flyView, true /* forLoad */, visualItems);
      if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
        if (TakeoffMissionItem::isTakeoffCommand(item->mavCommand())) {
          // This needs to be a TakeoffMissionItem
          TakeoffMissionItem *takeoffItem =
              new TakeoffMissionItem(_masterController, _flyView, settingsItem,
                                     true /* forLoad */, visualItems);
          takeoffItem->load(itemObject, itemObject["id"].toInt(), errorString);
          item->deleteLater();
          item = takeoffItem;
        }
        qCDebug(MissionControllerLog)
            << "Json load: adding simple item expectedSequence:actualSequence"
            << nextSequenceNumber << item->sequenceNumber();
        nextSequenceNumber = item->lastSequenceNumber() + 1;
        visualItems->append(item);
      } else {
        return false;
      }
    }
  } while (nextSimpleItemIndex < itemArray.count() ||
           nextComplexItemIndex < surveyItems.count());

  return true;
}

bool MissionController::_loadJsonMissionFileV2(const QJsonObject &json,
                                               QmlObjectListModel *visualItems,
                                               QString &errorString) {
  // Validate root object keys
  QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = {
      {_jsonPlannedHomePositionKey, QJsonValue::Array, true},
      {_jsonItemsKey, QJsonValue::Array, true},
      {_jsonFirmwareTypeKey, QJsonValue::Double, true},
      {_jsonVehicleTypeKey, QJsonValue::Double, false},
      {_jsonCruiseSpeedKey, QJsonValue::Double, false},
      {_jsonHoverSpeedKey, QJsonValue::Double, false},
      {_jsonGlobalPlanAltitudeModeKey, QJsonValue::Double, false},
  };
  if (!JsonHelper::validateKeys(json, rootKeyInfoList, errorString)) {
    return false;
  }

  setGlobalAltitudeMode(
      QGroundControlQmlGlobal::AltitudeModeNone); // Mixed mode

  qCDebug(MissionControllerLog)
      << "MissionController::_loadJsonMissionFileV2 itemCount:"
      << json[_jsonItemsKey].toArray().count();

  AppSettings *appSettings =
      qgcApp()->toolbox()->settingsManager()->appSettings();

  // Get the firmware/vehicle type from the plan file
  MAV_AUTOPILOT planFileFirmwareType =
      static_cast<MAV_AUTOPILOT>(json[_jsonFirmwareTypeKey].toInt());
  MAV_TYPE planFileVehicleType =
      static_cast<MAV_TYPE>(QGCMAVLink::vehicleClassToMavType(
          appSettings->offlineEditingVehicleClass()->rawValue().toInt()));
  if (json.contains(_jsonVehicleTypeKey)) {
    planFileVehicleType =
        static_cast<MAV_TYPE>(json[_jsonVehicleTypeKey].toInt());
  }

  // Update firmware/vehicle offline settings if we aren't connect to a vehicle
  if (_masterController->offline()) {
    appSettings->offlineEditingFirmwareClass()->setRawValue(
        QGCMAVLink::firmwareClass(
            static_cast<MAV_AUTOPILOT>(json[_jsonFirmwareTypeKey].toInt())));
    if (json.contains(_jsonVehicleTypeKey)) {
      appSettings->offlineEditingVehicleClass()->setRawValue(
          QGCMAVLink::vehicleClass(planFileVehicleType));
    }
  }

  // The controller vehicle always tracks the Plan file firmware/vehicle types
  // so update it
  _controllerVehicle->stopTrackingFirmwareVehicleTypeChanges();
  _controllerVehicle->_offlineFirmwareTypeSettingChanged(planFileFirmwareType);
  _controllerVehicle->_offlineVehicleTypeSettingChanged(planFileVehicleType);

  if (json.contains(_jsonCruiseSpeedKey)) {
    appSettings->offlineEditingCruiseSpeed()->setRawValue(
        json[_jsonCruiseSpeedKey].toDouble());
  }
  if (json.contains(_jsonHoverSpeedKey)) {
    appSettings->offlineEditingHoverSpeed()->setRawValue(
        json[_jsonHoverSpeedKey].toDouble());
  }
  if (json.contains(_jsonGlobalPlanAltitudeModeKey)) {
    setGlobalAltitudeMode(json[_jsonGlobalPlanAltitudeModeKey]
                              .toVariant()
                              .value<QGroundControlQmlGlobal::AltitudeMode>());
  }

  QGeoCoordinate homeCoordinate;
  if (!JsonHelper::loadGeoCoordinate(json[_jsonPlannedHomePositionKey],
                                     true /* altitudeRequired */,
                                     homeCoordinate, errorString)) {
    return false;
  }
  MissionSettingsItem *settingsItem =
      new MissionSettingsItem(_masterController, _flyView, visualItems);
  settingsItem->setCoordinate(homeCoordinate);
  visualItems->insert(0, settingsItem);
  qCDebug(MissionControllerLog) << "plannedHomePosition" << homeCoordinate;

  // Read mission items

  int nextSequenceNumber = 1; // Start with 1 since home is in 0
  const QJsonArray rgMissionItems(json[_jsonItemsKey].toArray());
  for (int i = 0; i < rgMissionItems.count(); i++) {
    // Convert to QJsonObject
    const QJsonValue &itemValue = rgMissionItems[i];
    if (!itemValue.isObject()) {
      errorString = tr("Mission item %1 is not an object").arg(i);
      return false;
    }
    const QJsonObject itemObject = itemValue.toObject();

    // Load item based on type

    QList<JsonHelper::KeyValidateInfo> itemKeyInfoList = {
        {VisualMissionItem::jsonTypeKey, QJsonValue::String, true},
    };
    if (!JsonHelper::validateKeys(itemObject, itemKeyInfoList, errorString)) {
      return false;
    }
    QString itemType = itemObject[VisualMissionItem::jsonTypeKey].toString();

    if (itemType == VisualMissionItem::jsonTypeSimpleItemValue) {
      SimpleMissionItem *simpleItem = new SimpleMissionItem(
          _masterController, _flyView, true /* forLoad */, visualItems);
      if (simpleItem->load(itemObject, nextSequenceNumber, errorString)) {
        if (TakeoffMissionItem::isTakeoffCommand(
                static_cast<MAV_CMD>(simpleItem->command()))) {
          // This needs to be a TakeoffMissionItem
          TakeoffMissionItem *takeoffItem =
              new TakeoffMissionItem(_masterController, _flyView, settingsItem,
                                     true /* forLoad */, this);
          takeoffItem->load(itemObject, nextSequenceNumber, errorString);
          simpleItem->deleteLater();
          simpleItem = takeoffItem;
        }
        qCDebug(MissionControllerLog)
            << "Loading simple item: nextSequenceNumber:command"
            << nextSequenceNumber << simpleItem->command();
        nextSequenceNumber = simpleItem->lastSequenceNumber() + 1;
        visualItems->append(simpleItem);
      } else {
        return false;
      }
    } else if (itemType == VisualMissionItem::jsonTypeComplexItemValue) {
      QList<JsonHelper::KeyValidateInfo> complexItemKeyInfoList = {
          {ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String,
           true},
      };
      if (!JsonHelper::validateKeys(itemObject, complexItemKeyInfoList,
                                    errorString)) {
        return false;
      }
      QString complexItemType =
          itemObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();

      if (complexItemType == SurveyComplexItem::jsonComplexItemTypeValue) {
        qCDebug(MissionControllerLog)
            << "Loading Survey: nextSequenceNumber" << nextSequenceNumber;
        SurveyComplexItem *surveyItem = new SurveyComplexItem(
            _masterController, _flyView, QString() /* kmlFile */, visualItems);
        if (!surveyItem->load(itemObject, nextSequenceNumber++, errorString)) {
          return false;
        }
        nextSequenceNumber = surveyItem->lastSequenceNumber() + 1;
        qCDebug(MissionControllerLog)
            << "Survey load complete: nextSequenceNumber" << nextSequenceNumber;
        visualItems->append(surveyItem);
      } else if (complexItemType ==
                 FixedWingLandingComplexItem::jsonComplexItemTypeValue) {
        qCDebug(MissionControllerLog)
            << "Loading Fixed Wing Landing Pattern: nextSequenceNumber"
            << nextSequenceNumber;
        FixedWingLandingComplexItem *landingItem =
            new FixedWingLandingComplexItem(_masterController, _flyView,
                                            visualItems);
        if (!landingItem->load(itemObject, nextSequenceNumber++, errorString)) {
          return false;
        }
        nextSequenceNumber = landingItem->lastSequenceNumber() + 1;
        qCDebug(MissionControllerLog)
            << "FW Landing Pattern load complete: nextSequenceNumber"
            << nextSequenceNumber;
        visualItems->append(landingItem);
      } else if (complexItemType ==
                 VTOLLandingComplexItem::jsonComplexItemTypeValue) {
        qCDebug(MissionControllerLog)
            << "Loading VTOL Landing Pattern: nextSequenceNumber"
            << nextSequenceNumber;
        VTOLLandingComplexItem *landingItem = new VTOLLandingComplexItem(
            _masterController, _flyView, visualItems);
        if (!landingItem->load(itemObject, nextSequenceNumber++, errorString)) {
          return false;
        }
        nextSequenceNumber = landingItem->lastSequenceNumber() + 1;
        qCDebug(MissionControllerLog)
            << "VTOL Landing Pattern load complete: nextSequenceNumber"
            << nextSequenceNumber;
        visualItems->append(landingItem);
      } else if (complexItemType ==
                 StructureScanComplexItem::jsonComplexItemTypeValue) {
        qCDebug(MissionControllerLog)
            << "Loading Structure Scan: nextSequenceNumber"
            << nextSequenceNumber;
        StructureScanComplexItem *structureItem = new StructureScanComplexItem(
            _masterController, _flyView, QString() /* kmlFile */, visualItems);
        if (!structureItem->load(itemObject, nextSequenceNumber++,
                                 errorString)) {
          return false;
        }
        nextSequenceNumber = structureItem->lastSequenceNumber() + 1;
        qCDebug(MissionControllerLog)
            << "Structure Scan load complete: nextSequenceNumber"
            << nextSequenceNumber;
        visualItems->append(structureItem);
      } else if (complexItemType ==
                 CorridorScanComplexItem::jsonComplexItemTypeValue) {
        qCDebug(MissionControllerLog)
            << "Loading Corridor Scan: nextSequenceNumber"
            << nextSequenceNumber;
        CorridorScanComplexItem *corridorItem = new CorridorScanComplexItem(
            _masterController, _flyView, QString() /* kmlFile */, visualItems);
        if (!corridorItem->load(itemObject, nextSequenceNumber++,
                                errorString)) {
          return false;
        }
        nextSequenceNumber = corridorItem->lastSequenceNumber() + 1;
        qCDebug(MissionControllerLog)
            << "Corridor Scan load complete: nextSequenceNumber"
            << nextSequenceNumber;
        visualItems->append(corridorItem);
      } else if (complexItemType ==
                 MeasurementComplexItem::jsonComplexItemTypeValue) {
        qCDebug(MissionControllerLog)
            << "Loading Measurement Complex Item: nextSequenceNumber"
            << nextSequenceNumber;
        MeasurementComplexItem *survey = new MeasurementComplexItem(
            _masterController, _flyView, QString() /* kmlFile */, visualItems);
        if (!survey->load(itemObject, nextSequenceNumber++, errorString)) {
          return false;
        }
        nextSequenceNumber = survey->lastSequenceNumber() + 1;
        qCDebug(MissionControllerLog)
            << "Ciruclar Survey load complete: nextSequenceNumber"
            << nextSequenceNumber;
        visualItems->append(survey);
      } else {
        errorString =
            tr("Unsupported complex item type: %1").arg(complexItemType);
      }
    } else {
      errorString = tr("Unknown item type: %1").arg(itemType);
      return false;
    }
  }

  // Fix up the DO_JUMP commands jump sequence number by finding the item with
  // the matching doJumpId
  for (int i = 0; i < visualItems->count(); i++) {
    if (visualItems->value<VisualMissionItem *>(i)->isSimpleItem()) {
      SimpleMissionItem *doJumpItem =
          visualItems->value<SimpleMissionItem *>(i);
      if (doJumpItem->command() == MAV_CMD_DO_JUMP) {
        bool found = false;
        int findDoJumpId = static_cast<int>(doJumpItem->missionItem().param1());
        for (int j = 0; j < visualItems->count(); j++) {
          if (visualItems->value<VisualMissionItem *>(j)->isSimpleItem()) {
            SimpleMissionItem *targetItem =
                visualItems->value<SimpleMissionItem *>(j);
            if (targetItem->missionItem().doJumpId() == findDoJumpId) {
              doJumpItem->missionItem().setParam1(targetItem->sequenceNumber());
              found = true;
              break;
            }
          }
        }
        if (!found) {
          errorString = tr("Could not find doJumpId: %1").arg(findDoJumpId);
          return false;
        }
      }
    }
  }

  return true;
}

bool MissionController::_loadItemsFromJson(const QJsonObject &json,
                                           QmlObjectListModel *visualItems,
                                           QString &errorString) {
  // V1 file format has no file type key and version key is string. Convert to
  // new format.
  if (!json.contains(JsonHelper::jsonFileTypeKey)) {
    json[JsonHelper::jsonFileTypeKey] = _jsonFileTypeValue;
  }

  int fileVersion;
  JsonHelper::validateExternalQGCJsonFile(
      json,
      _jsonFileTypeValue, // expected file type
      1,                  // minimum supported version
      2,                  // maximum supported version
      fileVersion, errorString);

  if (fileVersion == 1) {
    return _loadJsonMissionFileV1(json, visualItems, errorString);
  } else {
    return _loadJsonMissionFileV2(json, visualItems, errorString);
  }
}

bool MissionController::_loadTextMissionFile(QTextStream &stream,
                                             QmlObjectListModel *visualItems,
                                             QString &errorString) {
  bool firstItem = true;
  bool plannedHomePositionInFile = false;

  QString firstLine = stream.readLine();
  const QStringList &version = firstLine.split(" ");

  bool versionOk = false;
  if (version.size() == 3 && version[0] == "QGC" && version[1] == "WPL") {
    if (version[2] == "110") {
      // ArduPilot file, planned home position is already in position 0
      versionOk = true;
      plannedHomePositionInFile = true;
    } else if (version[2] == "120") {
      // Old QGC file, no planned home position
      versionOk = true;
      plannedHomePositionInFile = false;
    }
  }

  if (versionOk) {
    MissionSettingsItem *settingsItem = _addMissionSettings(visualItems);

    while (!stream.atEnd()) {
      SimpleMissionItem *item = new SimpleMissionItem(
          _masterController, _flyView, true /* forLoad */, visualItems);
      if (item->load(stream)) {
        if (firstItem && plannedHomePositionInFile) {
          settingsItem->setInitialHomePositionFromUser(item->coordinate());
        } else {
          if (TakeoffMissionItem::isTakeoffCommand(
                  static_cast<MAV_CMD>(item->command()))) {
            // This needs to be a TakeoffMissionItem
            TakeoffMissionItem *takeoffItem = new TakeoffMissionItem(
                _masterController, _flyView, settingsItem, true /* forLoad */,
                visualItems);
            takeoffItem->load(stream);
            item->deleteLater();
            item = takeoffItem;
          }
          visualItems->append(item);
        }
        firstItem = false;
      } else {
        errorString = tr("The mission file is corrupted.");
        return false;
      }
    }
  } else {
    errorString =
        tr("The mission file is not compatible with this version of %1.")
            .arg(qgcApp()->applicationName());
    return false;
  }

  if (!plannedHomePositionInFile) {
    // Update sequence numbers in DO_JUMP commands to take into account added
    // home position in index 0
    for (int i = 1; i < visualItems->count(); i++) {
      SimpleMissionItem *item =
          qobject_cast<SimpleMissionItem *>(visualItems->get(i));
      if (item && item->command() == MAV_CMD_DO_JUMP) {
        item->missionItem().setParam1(
            static_cast<int>(item->missionItem().param1()) + 1);
      }
    }
  }

  return true;
}

void MissionController::_initLoadedVisualItems(
    QmlObjectListModel *loadedVisualItems) {
  if (_visualItems) {
    _deinitAllVisualItems();
    _visualItems->deleteLater();
  }
  _settingsItem = nullptr;
  _takeoffMissionItem = nullptr;

  _visualItems = loadedVisualItems;

  if (_visualItems->count() == 0) {
    _addMissionSettings(_visualItems);
  } else {
    _settingsItem = _visualItems->value<MissionSettingsItem *>(0);
  }

  MissionController::_scanForAdditionalSettings(_visualItems,
                                                _masterController);

  _initAllVisualItems();

  if (_visualItems->count() > 1) {
    _firstItemAdded();
  } else {
    _allItemsRemoved();
  }
}

bool MissionController::load(const QJsonObject &json, QString &errorString) {
  QString errorStr;
  QString errorMessage = tr("Mission: %1");
  QmlObjectListModel *loadedVisualItems = new QmlObjectListModel(this);

  if (!_loadJsonMissionFileV2(json, loadedVisualItems, errorStr)) {
    errorString = errorMessage.arg(errorStr);
    return false;
  }
  _initLoadedVisualItems(loadedVisualItems);

  return true;
}

bool MissionController::loadJsonFile(QFile &file, QString &errorString) {
  QString errorStr;
  QString errorMessage = tr("Mission: %1");
  QJsonDocument jsonDoc;
  QByteArray bytes = file.readAll();

  if (!JsonHelper::isJsonFile(bytes, jsonDoc, errorStr)) {
    errorString = errorMessage.arg(errorStr);
    return false;
  }

  QJsonObject json = jsonDoc.object();
  QmlObjectListModel *loadedVisualItems = new QmlObjectListModel(this);
  if (!_loadItemsFromJson(json, loadedVisualItems, errorStr)) {
    errorString = errorMessage.arg(errorStr);
    return false;
  }

  _initLoadedVisualItems(loadedVisualItems);

  return true;
}

bool MissionController::loadTextFile(QFile &file, QString &errorString) {
  QString errorStr;
  QString errorMessage = tr("Mission: %1");
  QByteArray bytes = file.readAll();
  QTextStream stream(bytes);

  setGlobalAltitudeMode(
      QGroundControlQmlGlobal::AltitudeModeNone); // Mixed mode

  QmlObjectListModel *loadedVisualItems = new QmlObjectListModel(this);
  if (!_loadTextMissionFile(stream, loadedVisualItems, errorStr)) {
    errorString = errorMessage.arg(errorStr);
    return false;
  }

  _initLoadedVisualItems(loadedVisualItems);

  return true;
}

int MissionController::readyForSaveState(void) const {
  for (int i = 0; i < _visualItems->count(); i++) {
    VisualMissionItem *visualItem =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));
    if (visualItem->readyForSaveState() != VisualMissionItem::ReadyForSave) {
      return visualItem->readyForSaveState();
    }
  }

  return VisualMissionItem::ReadyForSave;
}

void MissionController::save(QJsonObject &json) {
  json[JsonHelper::jsonVersionKey] = _missionFileVersion;

  // Mission settings

  MissionSettingsItem *settingsItem =
      _visualItems->value<MissionSettingsItem *>(0);
  if (!settingsItem) {
    qWarning() << "First item is not MissionSettingsItem";
    return;
  }
  QJsonValue coordinateValue;
  JsonHelper::saveGeoCoordinate(settingsItem->coordinate(),
                                true /* writeAltitude */, coordinateValue);
  json[_jsonPlannedHomePositionKey] = coordinateValue;
  json[_jsonFirmwareTypeKey] = _controllerVehicle->firmwareType();
  json[_jsonVehicleTypeKey] = _controllerVehicle->vehicleType();
  json[_jsonCruiseSpeedKey] = _controllerVehicle->defaultCruiseSpeed();
  json[_jsonHoverSpeedKey] = _controllerVehicle->defaultHoverSpeed();
  json[_jsonGlobalPlanAltitudeModeKey] = _globalAltMode;

  // Save the visual items

  QJsonArray rgJsonMissionItems;
  for (int i = 0; i < _visualItems->count(); i++) {
    VisualMissionItem *visualItem =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));

    visualItem->save(rgJsonMissionItems);
  }

  // Mission settings has a special case for end mission action
  if (settingsItem) {
    QList<MissionItem *> rgMissionItems;

    if (_convertToMissionItems(_visualItems, rgMissionItems,
                               this /* missionItemParent */)) {
      QJsonObject saveObject;
      MissionItem *missionItem = rgMissionItems[rgMissionItems.count() - 1];
      missionItem->save(saveObject);
      rgJsonMissionItems.append(saveObject);
    }
    for (int i = 0; i < rgMissionItems.count(); i++) {
      rgMissionItems[i]->deleteLater();
    }
  }

  json[_jsonItemsKey] = rgJsonMissionItems;
}

void MissionController::_calcPrevWaypointValues(VisualMissionItem *currentItem,
                                                VisualMissionItem *prevItem,
                                                double *azimuth,
                                                double *distance,
                                                double *altDifference) {
  QGeoCoordinate currentCoord = currentItem->coordinate();
  QGeoCoordinate prevCoord = prevItem->exitCoordinate();

  // Convert to fixed altitudes

  *altDifference = currentItem->amslEntryAlt() - prevItem->amslExitAlt();
  *distance = prevCoord.distanceTo(currentCoord);
  *azimuth = prevCoord.azimuthTo(currentCoord);
}

double MissionController::_calcDistanceToHome(VisualMissionItem *currentItem,
                                              VisualMissionItem *homeItem) {
  QGeoCoordinate currentCoord = currentItem->coordinate();
  QGeoCoordinate homeCoord = homeItem->exitCoordinate();
  bool distanceOk = false;

  distanceOk = true;

  return distanceOk ? homeCoord.distanceTo(currentCoord) : 0.0;
}

FlightPathSegment *
MissionController::_createFlightPathSegmentWorker(VisualItemPair &pair) {
  QGeoCoordinate coord1 = pair.first->isSimpleItem()
                              ? pair.first->coordinate()
                              : pair.first->exitCoordinate();
  QGeoCoordinate coord2 = pair.second->coordinate();
  double coord1Alt = pair.first->isSimpleItem() ? pair.first->amslEntryAlt()
                                                : pair.first->amslExitAlt();
  double coord2Alt = pair.second->amslEntryAlt();

  FlightPathSegment *segment =
      new FlightPathSegment(coord1, coord1Alt, coord2, coord2Alt,
                            !_flyView /* queryTerrainData */, this);

  auto coord1Notifier = pair.first->isSimpleItem()
                            ? &VisualMissionItem::coordinateChanged
                            : &VisualMissionItem::exitCoordinateChanged;
  auto coord2Notifier = &VisualMissionItem::coordinateChanged;
  auto coord1AltNotifier = pair.first->isSimpleItem()
                               ? &VisualMissionItem::amslEntryAltChanged
                               : &VisualMissionItem::amslExitAltChanged;
  auto coord2AltNotifier = &VisualMissionItem::amslEntryAltChanged;

  connect(pair.first, coord1Notifier, segment,
          &FlightPathSegment::setCoordinate1);
  connect(pair.second, coord2Notifier, segment,
          &FlightPathSegment::setCoordinate2);
  connect(pair.first, coord1AltNotifier, segment,
          &FlightPathSegment::setCoord1AMSLAlt);
  connect(pair.second, coord2AltNotifier, segment,
          &FlightPathSegment::setCoord2AMSLAlt);

  connect(pair.second, &VisualMissionItem::coordinateChanged, this,
          &MissionController::_recalcMissionFlightStatusSignal,
          Qt::QueuedConnection);

  connect(segment, &FlightPathSegment::totalDistanceChanged, this,
          &MissionController::recalcTerrainProfile, Qt::QueuedConnection);
  connect(segment, &FlightPathSegment::coord1AMSLAltChanged, this,
          &MissionController::_recalcMissionFlightStatusSignal,
          Qt::QueuedConnection);
  connect(segment, &FlightPathSegment::coord2AMSLAltChanged, this,
          &MissionController::_recalcMissionFlightStatusSignal,
          Qt::QueuedConnection);
  connect(segment, &FlightPathSegment::amslTerrainHeightsChanged, this,
          &MissionController::recalcTerrainProfile, Qt::QueuedConnection);
  connect(segment, &FlightPathSegment::terrainCollisionChanged, this,
          &MissionController::recalcTerrainProfile, Qt::QueuedConnection);

  return segment;
}

FlightPathSegment *MissionController::_addFlightPathSegment(
    FlightPathSegmentHashTable &prevItemPairHashTable, VisualItemPair &pair) {
  FlightPathSegment *segment = nullptr;

  if (prevItemPairHashTable.contains(pair)) {
    // Pair already exists and connected, just re-use
    _flightPathSegmentHashTable[pair] = segment =
        prevItemPairHashTable.take(pair);
  } else {
    segment = _createFlightPathSegmentWorker(pair);
    _flightPathSegmentHashTable[pair] = segment;
  }

  _simpleFlightPathSegments.append(segment);

  return segment;
}

void MissionController::_recalcROISpecialVisuals(void) {
  return;
  VisualMissionItem *lastCoordinateItem =
      qobject_cast<VisualMissionItem *>(_visualItems->get(0));
  bool roiActive = false;

  for (int i = 1; i < _visualItems->count(); i++) {
    VisualMissionItem *visualItem =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));
    SimpleMissionItem *simpleItem =
        qobject_cast<SimpleMissionItem *>(visualItem);
    VisualItemPair viPair;

    if (simpleItem) {
      if (roiActive) {
        if (_isROICancelItem(simpleItem)) {
          roiActive = false;
        }
      } else {
        if (_isROIBeginItem(simpleItem)) {
          roiActive = true;
        }
      }
    }

    if (visualItem->specifiesCoordinate() &&
        !visualItem->isStandaloneCoordinate()) {
      viPair = VisualItemPair(lastCoordinateItem, visualItem);
      if (_flightPathSegmentHashTable.contains(viPair)) {
        _flightPathSegmentHashTable[viPair]->setSpecialVisual(roiActive);
      }
      lastCoordinateItem = visualItem;
    }
  }
}

void MissionController::_recalcFlightPathSegments(void) {
  VisualItemPair lastSegmentVisualItemPair;
  int segmentCount = 0;
  bool firstCoordinateNotFound = true;
  VisualMissionItem *lastFlyThroughVI =
      qobject_cast<VisualMissionItem *>(_visualItems->get(0));
  bool linkEndToHome = false;
  bool linkStartToHome = _controllerVehicle->rover() ? true : false;
  bool foundRTL = false;
  bool homePositionValid = _settingsItem->coordinate().isValid();
  bool roiActive = false;
  bool previousItemIsIncomplete = false;

  qCDebug(MissionControllerLog)
      << "_recalcFlightPathSegments homePositionValid" << homePositionValid;

  FlightPathSegmentHashTable oldSegmentTable = _flightPathSegmentHashTable;

  _missionContainsVTOLTakeoff = false;
  _flightPathSegmentHashTable.clear();
  _waypointPath.clear();

  // Note: Although visual support _incompleteComplexItemLines is still in the
  // codebase. The support for populating the list is not. This is due to the
  // initial implementation being buggy and incomplete with respect to correctly
  // generating the line set. So for now we leave the code for displaying them
  // in, but none are ever added until we have time to implement the correct
  // support.

  _simpleFlightPathSegments.beginReset();
  _directionArrows.beginReset();
  _incompleteComplexItemLines.beginReset();

  _simpleFlightPathSegments.clear();
  _directionArrows.clear();
  _incompleteComplexItemLines.clearAndDeleteContents();

  // Mission Settings item needs to start with no segment
  lastFlyThroughVI->setSimpleFlighPathSegment(nullptr);

  // Grovel through the list of items keeping track of things needed to
  // correctly draw waypoints lines

  for (int i = 1; i < _visualItems->count(); i++) {
    VisualMissionItem *visualItem =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));
    SimpleMissionItem *simpleItem =
        qobject_cast<SimpleMissionItem *>(visualItem);
    ComplexMissionItem *complexItem =
        qobject_cast<ComplexMissionItem *>(visualItem);

    visualItem->setSimpleFlighPathSegment(nullptr);

    if (simpleItem) {
      if (roiActive) {
        if (_isROICancelItem(simpleItem)) {
          roiActive = false;
        }
      } else {
        if (_isROIBeginItem(simpleItem)) {
          roiActive = true;
        }
      }

      MAV_CMD command = simpleItem->mavCommand();
      switch (command) {
      case MAV_CMD_NAV_TAKEOFF:
      case MAV_CMD_NAV_VTOL_TAKEOFF:
        _missionContainsVTOLTakeoff = command == MAV_CMD_NAV_VTOL_TAKEOFF;
        if (!linkEndToHome) {
          // If we still haven't found the first coordinate item and we hit a
          // takeoff command this means the mission starts from the ground. Link
          // the first item back to home to show that.
          if (firstCoordinateNotFound) {
            linkStartToHome = true;
          }
        }
        break;
      case MAV_CMD_NAV_RETURN_TO_LAUNCH:
        linkEndToHome = true;
        foundRTL = true;
        break;
      default:
        break;
      }
    }

    // No need to add waypoint segments after an RTL.
    if (foundRTL) {
      break;
    }

    if (visualItem->specifiesCoordinate() &&
        !visualItem->isStandaloneCoordinate()) {
      // Incomplete items are complex items which are waiting for the user to
      // complete setup before there visuals can become valid. They may not yet
      // have valid entry/exit coordinates associated with them while in the
      // incomplete state. For examples a Survey item which has no polygon set
      // yet.
      if (complexItem && complexItem->isIncomplete()) {
        // We don't link lines from a valid item to an incomplete item
        previousItemIsIncomplete = true;
      } else if (previousItemIsIncomplete) {
        // We also don't link lines from an incomplete item to a valid item.
        previousItemIsIncomplete = false;
        firstCoordinateNotFound = false;
        lastFlyThroughVI = visualItem;
      } else {
        if (lastFlyThroughVI != _settingsItem ||
            (homePositionValid && linkStartToHome)) {
          bool addDirectionArrow = false;
          if (i != 1) {
            // Direction arrows are added to the second segment and every 5
            // segments thereafter. The reason for start with second segment is
            // to prevent an arrow being added in between the home position and
            // a takeoff item which may be right over each other. In that case
            // the arrow points in a random direction.
            if (firstCoordinateNotFound || !lastFlyThroughVI->isSimpleItem() ||
                !visualItem->isSimpleItem()) {
              addDirectionArrow = true;
            } else if (segmentCount > 5) {
              segmentCount = 0;
              addDirectionArrow = true;
            }
            segmentCount++;
          }

          lastSegmentVisualItemPair =
              VisualItemPair(lastFlyThroughVI, visualItem);
          if (!_flyView || addDirectionArrow) {
            FlightPathSegment *segment = _addFlightPathSegment(
                oldSegmentTable, lastSegmentVisualItemPair);
            segment->setSpecialVisual(roiActive);
            if (addDirectionArrow) {
              _directionArrows.append(segment);
            }
            lastFlyThroughVI->setSimpleFlighPathSegment(segment);
          }
        }
        firstCoordinateNotFound = false;
        _waypointPath.append(QVariant::fromValue(visualItem->coordinate()));
        lastFlyThroughVI = visualItem;
      }
    }
  }

  if (linkStartToHome && homePositionValid) {
    _waypointPath.prepend(QVariant::fromValue(_settingsItem->coordinate()));
  }

  if (linkEndToHome && lastFlyThroughVI != _settingsItem && homePositionValid) {
    lastSegmentVisualItemPair = VisualItemPair(lastFlyThroughVI, _settingsItem);
    if (_flyView) {
      _waypointPath.append(QVariant::fromValue(_settingsItem->coordinate()));
    }
    FlightPathSegment *segment =
        _addFlightPathSegment(oldSegmentTable, lastSegmentVisualItemPair);
    segment->setSpecialVisual(roiActive);
    lastFlyThroughVI->setSimpleFlighPathSegment(segment);
  }

  // Add direction arrow to last segment
  if (lastSegmentVisualItemPair.first) {
    FlightPathSegment *coordVector = nullptr;

    // The pair may not be in the hash, this can happen in the fly view where
    // only segments with arrows on them are added to hash. check for that first
    // and add if needed

    if (_flightPathSegmentHashTable.contains(lastSegmentVisualItemPair)) {
      // Pair exists in the new table already just reuse it
      coordVector = _flightPathSegmentHashTable[lastSegmentVisualItemPair];
    } else if (oldSegmentTable.contains(lastSegmentVisualItemPair)) {
      // Pair already exists in old table, pull from old to new and reuse
      _flightPathSegmentHashTable[lastSegmentVisualItemPair] = coordVector =
          oldSegmentTable.take(lastSegmentVisualItemPair);
    } else {
      // Create a new segment. Since this is the fly view there is no need to
      // wire change signals.
      coordVector = new FlightPathSegment(
          lastSegmentVisualItemPair.first->isSimpleItem()
              ? lastSegmentVisualItemPair.first->coordinate()
              : lastSegmentVisualItemPair.first->exitCoordinate(),
          lastSegmentVisualItemPair.first->isSimpleItem()
              ? lastSegmentVisualItemPair.first->amslEntryAlt()
              : lastSegmentVisualItemPair.first->amslExitAlt(),
          lastSegmentVisualItemPair.second->coordinate(),
          lastSegmentVisualItemPair.second->amslEntryAlt(),
          !_flyView /* queryTerrainData */, this);
      _flightPathSegmentHashTable[lastSegmentVisualItemPair] = coordVector;
    }

    _directionArrows.append(coordVector);
  }

  _simpleFlightPathSegments.endReset();
  _directionArrows.endReset();
  _incompleteComplexItemLines.endReset();

  // Anything left in the old table is an obsolete line object that can go
  qDeleteAll(oldSegmentTable);

  emit _recalcMissionFlightStatusSignal();

  if (_waypointPath.count() == 0) {
    // MapPolyLine has a bug where if you change from a path which has elements
    // to an empty path the line drawn is not cleared from the map. This hack
    // works around that since it causes the previous lines to be remove as then
    // doesn't draw anything on the map.
    _waypointPath.append(QVariant::fromValue(QGeoCoordinate(0, 0)));
    _waypointPath.append(QVariant::fromValue(QGeoCoordinate(0, 0)));
  }

  emit waypointPathChanged();
  emit recalcTerrainProfile();
}

void MissionController::_updateBatteryInfo(int waypointIndex) {
  if (_missionFlightStatus.mAhBattery != 0) {
    _missionFlightStatus.hoverAmpsTotal =
        (_missionFlightStatus.hoverTime / 60.0) *
        _missionFlightStatus.hoverAmps;
    _missionFlightStatus.cruiseAmpsTotal =
        (_missionFlightStatus.cruiseTime / 60.0) *
        _missionFlightStatus.cruiseAmps;
    _missionFlightStatus.batteriesRequired =
        ceil((_missionFlightStatus.hoverAmpsTotal +
              _missionFlightStatus.cruiseAmpsTotal) /
             _missionFlightStatus.ampMinutesAvailable);
    // FIXME: Battery change point code pretty much doesn't work. The reason is
    // that is treats complex items as a black box. It needs to be able to look
    // inside complex items in order to determine a swap point that is interior
    // to a complex item. Current the swap point display in PlanToolbar is
    // disabled to do this problem.
    if (waypointIndex != -1 && _missionFlightStatus.batteriesRequired == 2 &&
        _missionFlightStatus.batteryChangePoint == -1) {
      _missionFlightStatus.batteryChangePoint = waypointIndex - 1;
    }
  }
}

void MissionController::_addHoverTime(double hoverTime, double hoverDistance,
                                      int waypointIndex) {
  _missionFlightStatus.totalTime += hoverTime;
  _missionFlightStatus.hoverTime += hoverTime;
  _missionFlightStatus.hoverDistance += hoverDistance;
  _missionFlightStatus.totalDistance += hoverDistance;
  _updateBatteryInfo(waypointIndex);
}

void MissionController::_addCruiseTime(double cruiseTime, double cruiseDistance,
                                       int waypointIndex) {
  _missionFlightStatus.totalTime += cruiseTime;
  _missionFlightStatus.cruiseTime += cruiseTime;
  _missionFlightStatus.cruiseDistance += cruiseDistance;
  _missionFlightStatus.totalDistance += cruiseDistance;
  _updateBatteryInfo(waypointIndex);
}

/// Adds the specified time to the appropriate hover or cruise time values.
///     @param vtolInHover true: vtol is currrent in hover mode
///     @param hoverTime    Amount of time tp add to hover
///     @param cruiseTime   Amount of time to add to cruise
///     @param extraTime    Amount of additional time to add to hover/cruise
///     @param seqNum       Sequence number of waypoint for these values, -1 for
///     no waypoint associated
void MissionController::_addTimeDistance(bool vtolInHover, double hoverTime,
                                         double cruiseTime, double extraTime,
                                         double distance, int seqNum) {
  if (_controllerVehicle->vtol()) {
    if (vtolInHover) {
      _addHoverTime(hoverTime, distance, seqNum);
      _addHoverTime(extraTime, 0, -1);
    } else {
      _addCruiseTime(cruiseTime, distance, seqNum);
      _addCruiseTime(extraTime, 0, -1);
    }
  } else {
    if (_controllerVehicle->multiRotor()) {
      _addHoverTime(hoverTime, distance, seqNum);
      _addHoverTime(extraTime, 0, -1);
    } else {
      _addCruiseTime(cruiseTime, distance, seqNum);
      _addCruiseTime(extraTime, 0, -1);
    }
  }
}

void MissionController::_recalcMissionFlightStatus() {
  if (!_visualItems->count()) {
    return;
  }

  bool firstCoordinateItem = true;
  VisualMissionItem *lastFlyThroughVI =
      qobject_cast<VisualMissionItem *>(_visualItems->get(0));

  bool homePositionValid = _settingsItem->coordinate().isValid();

  qCDebug(MissionControllerLog) << "_recalcMissionFlightStatus";

  // If home position is valid we can calculate distances between all waypoints.
  // If home position is not valid we can only calculate distances between
  // waypoints which are both relative altitude.

  // No values for first item
  lastFlyThroughVI->setAltDifference(0);
  lastFlyThroughVI->setAzimuth(0);
  lastFlyThroughVI->setDistance(0);
  lastFlyThroughVI->setDistanceFromStart(0);

  _minAMSLAltitude = _maxAMSLAltitude = _settingsItem->coordinate().altitude();

  _resetMissionFlightStatus();

  bool linkStartToHome = false;
  bool foundRTL = false;
  double totalHorizontalDistance = 0;

  for (int i = 0; i < _visualItems->count(); i++) {
    VisualMissionItem *item =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));
    SimpleMissionItem *simpleItem = qobject_cast<SimpleMissionItem *>(item);
    ComplexMissionItem *complexItem = qobject_cast<ComplexMissionItem *>(item);

    if (simpleItem &&
        simpleItem->mavCommand() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
      foundRTL = true;
    }

    // Assume the worst
    item->setAzimuth(0);
    item->setDistance(0);
    item->setDistanceFromStart(0);

    // Gimbal states reflect the state AFTER executing the item

    // ROI commands cancel out previous gimbal yaw/pitch
    if (simpleItem) {
      switch (simpleItem->command()) {
      case MAV_CMD_NAV_ROI:
      case MAV_CMD_DO_SET_ROI_LOCATION:
      case MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET:
        _missionFlightStatus.gimbalYaw = qQNaN();
        _missionFlightStatus.gimbalPitch = qQNaN();
        break;
      default:
        break;
      }
    }

    // Look for specific gimbal changes
    double gimbalYaw = item->specifiedGimbalYaw();
    if (!qIsNaN(gimbalYaw) ||
        _planViewSettings->showGimbalOnlyWhenSet()->rawValue().toBool()) {
      _missionFlightStatus.gimbalYaw = gimbalYaw;
    }
    double gimbalPitch = item->specifiedGimbalPitch();
    if (!qIsNaN(gimbalPitch) ||
        _planViewSettings->showGimbalOnlyWhenSet()->rawValue().toBool()) {
      _missionFlightStatus.gimbalPitch = gimbalPitch;
    }

    // We don't need to do any more processing if:
    //  Mission Settings Item
    //  We are after an RTL command
    if (i != 0 && !foundRTL) {
      // We must set the mission flight status prior to querying for any values
      // from the item. This is because things like current speed, gimbal, vtol
      // state  impact the values.
      item->setMissionFlightStatus(_missionFlightStatus);

      // Link back to home if first item is takeoff and we have home position
      if (firstCoordinateItem && simpleItem &&
          (simpleItem->mavCommand() == MAV_CMD_NAV_TAKEOFF ||
           simpleItem->mavCommand() == MAV_CMD_NAV_VTOL_TAKEOFF)) {
        if (homePositionValid) {
          linkStartToHome = true;
          if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
            // We have to special case takeoff, assuming vehicle takes off
            // straight up to specified altitude
            double azimuth, distance, altDifference;
            _calcPrevWaypointValues(_settingsItem, simpleItem, &azimuth,
                                    &distance, &altDifference);
            double takeoffTime =
                qAbs(altDifference) / _appSettings->offlineEditingAscentSpeed()
                                          ->rawValue()
                                          .toDouble();
            _addHoverTime(takeoffTime, 0, -1);
          }
        }
      }

      _addTimeDistance(_missionFlightStatus.vtolMode ==
                           QGCMAVLink::VehicleClassMultiRotor,
                       0, 0, item->additionalTimeDelay(), 0, -1);

      if (item->specifiesCoordinate()) {

        // Keep track of the min/max AMSL altitude for entire mission so we can
        // calculate altitude percentages in terrain status display
        if (simpleItem) {
          double amslAltitude = item->amslEntryAlt();
          _minAMSLAltitude = std::min(_minAMSLAltitude, amslAltitude);
          _maxAMSLAltitude = std::max(_maxAMSLAltitude, amslAltitude);
        } else {
          // Complex item
          double complexMinAMSLAltitude = complexItem->minAMSLAltitude();
          double complexMaxAMSLAltitude = complexItem->maxAMSLAltitude();
          _minAMSLAltitude = std::min(_minAMSLAltitude, complexMinAMSLAltitude);
          _maxAMSLAltitude = std::max(_maxAMSLAltitude, complexMaxAMSLAltitude);
        }

        if (!item->isStandaloneCoordinate()) {
          firstCoordinateItem = false;

          // Update vehicle yaw assuming direction to next waypoint and/or
          // mission item change
          if (simpleItem) {
            double newVehicleYaw = simpleItem->specifiedVehicleYaw();
            if (qIsNaN(newVehicleYaw)) {
              // No specific vehicle yaw set. Current vehicle yaw is determined
              // from flight path segment direction.
              if (simpleItem != lastFlyThroughVI) {
                _missionFlightStatus.vehicleYaw =
                    lastFlyThroughVI->exitCoordinate().azimuthTo(
                        simpleItem->coordinate());
              }
            } else {
              _missionFlightStatus.vehicleYaw = newVehicleYaw;
            }
            simpleItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
          }

          if (lastFlyThroughVI != _settingsItem || linkStartToHome) {
            // This is a subsequent waypoint or we are forcing the first
            // waypoint back to home
            double azimuth, distance, altDifference;

            _calcPrevWaypointValues(item, lastFlyThroughVI, &azimuth, &distance,
                                    &altDifference);
            totalHorizontalDistance += distance;
            item->setAltDifference(altDifference);
            item->setAzimuth(azimuth);
            item->setDistance(distance);
            item->setDistanceFromStart(totalHorizontalDistance);

            _missionFlightStatus.maxTelemetryDistance =
                qMax(_missionFlightStatus.maxTelemetryDistance,
                     _calcDistanceToHome(item, _settingsItem));

            // Calculate time/distance
            double hoverTime = distance / _missionFlightStatus.hoverSpeed;
            double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
            _addTimeDistance(_missionFlightStatus.vtolMode ==
                                 QGCMAVLink::VehicleClassMultiRotor,
                             hoverTime, cruiseTime, 0, distance,
                             item->sequenceNumber());
          }

          if (complexItem) {
            // Add in distance/time inside complex items as well
            double distance = complexItem->complexDistance();
            _missionFlightStatus.maxTelemetryDistance = qMax(
                _missionFlightStatus.maxTelemetryDistance,
                complexItem->greatestDistanceTo(complexItem->exitCoordinate()));

            double hoverTime = distance / _missionFlightStatus.hoverSpeed;
            double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
            _addTimeDistance(_missionFlightStatus.vtolMode ==
                                 QGCMAVLink::VehicleClassMultiRotor,
                             hoverTime, cruiseTime, 0, distance,
                             item->sequenceNumber());

            totalHorizontalDistance += distance;
          }

          lastFlyThroughVI = item;
        }
      }
    }

    // Speed, VTOL states changes are processed last since they take affect on
    // the next item

    double newSpeed = item->specifiedFlightSpeed();
    if (!qIsNaN(newSpeed)) {
      if (_controllerVehicle->multiRotor()) {
        _missionFlightStatus.hoverSpeed = newSpeed;
      } else if (_controllerVehicle->vtol()) {
        if (_missionFlightStatus.vtolMode ==
            QGCMAVLink::VehicleClassMultiRotor) {
          _missionFlightStatus.hoverSpeed = newSpeed;
        } else {
          _missionFlightStatus.cruiseSpeed = newSpeed;
        }
      } else {
        _missionFlightStatus.cruiseSpeed = newSpeed;
      }
      _missionFlightStatus.vehicleSpeed = newSpeed;
    }

    // Update VTOL state
    if (simpleItem && _controllerVehicle->vtol()) {
      switch (simpleItem->command()) {
      case MAV_CMD_NAV_TAKEOFF:      // This will do a fixed wing style takeoff
      case MAV_CMD_NAV_VTOL_TAKEOFF: // Vehicle goes straight up and then
                                     // transitions to FW
      case MAV_CMD_NAV_LAND:
        _missionFlightStatus.vtolMode = QGCMAVLink::VehicleClassFixedWing;
        break;
      case MAV_CMD_NAV_VTOL_LAND:
        _missionFlightStatus.vtolMode = QGCMAVLink::VehicleClassMultiRotor;
        break;
      case MAV_CMD_DO_VTOL_TRANSITION: {
        int transitionState = simpleItem->missionItem().param1();
        if (transitionState == MAV_VTOL_STATE_MC) {
          _missionFlightStatus.vtolMode = QGCMAVLink::VehicleClassMultiRotor;
        } else if (transitionState == MAV_VTOL_STATE_FW) {
          _missionFlightStatus.vtolMode = QGCMAVLink::VehicleClassFixedWing;
        }
      } break;
      default:
        break;
      }
    }
  }
  lastFlyThroughVI->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);

  // Add the information for the final segment back to home
  if (foundRTL && lastFlyThroughVI != _settingsItem && homePositionValid) {
    double azimuth, distance, altDifference;
    _calcPrevWaypointValues(lastFlyThroughVI, _settingsItem, &azimuth,
                            &distance, &altDifference);

    // Calculate time/distance
    double hoverTime = distance / _missionFlightStatus.hoverSpeed;
    double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
    double landTime =
        qAbs(altDifference) /
        _appSettings->offlineEditingDescentSpeed()->rawValue().toDouble();
    _addTimeDistance(_missionFlightStatus.vtolMode ==
                         QGCMAVLink::VehicleClassMultiRotor,
                     hoverTime, cruiseTime, distance, landTime, -1);
  }

  if (_missionFlightStatus.mAhBattery != 0 &&
      _missionFlightStatus.batteryChangePoint == -1) {
    _missionFlightStatus.batteryChangePoint = 0;
  }

  emit missionMaxTelemetryChanged(_missionFlightStatus.maxTelemetryDistance);
  emit missionDistanceChanged(_missionFlightStatus.totalDistance);
  emit missionHoverDistanceChanged(_missionFlightStatus.hoverDistance);
  emit missionCruiseDistanceChanged(_missionFlightStatus.cruiseDistance);
  emit missionTimeChanged();
  emit missionHoverTimeChanged();
  emit missionCruiseTimeChanged();
  emit batteryChangePointChanged(_missionFlightStatus.batteryChangePoint);
  emit batteriesRequiredChanged(_missionFlightStatus.batteriesRequired);
  emit minAMSLAltitudeChanged(_minAMSLAltitude);
  emit maxAMSLAltitudeChanged(_maxAMSLAltitude);

  // Walk the list again calculating altitude percentages
  double altRange = _maxAMSLAltitude - _minAMSLAltitude;
  for (int i = 0; i < _visualItems->count(); i++) {
    VisualMissionItem *item =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));

    if (item->specifiesCoordinate()) {
      double amslAlt = item->amslEntryAlt();
      if (altRange == 0.0) {
        item->setAltPercent(0.0);
        item->setTerrainPercent(qQNaN());
        item->setTerrainCollision(false);
      } else {
        item->setAltPercent((amslAlt - _minAMSLAltitude) / altRange);
        double terrainAltitude = item->terrainAltitude();
        if (qIsNaN(terrainAltitude)) {
          item->setTerrainPercent(qQNaN());
          item->setTerrainCollision(false);
        } else {
          item->setTerrainPercent((terrainAltitude - _minAMSLAltitude) /
                                  altRange);
          item->setTerrainCollision(amslAlt < terrainAltitude);
        }
      }
    }
  }

  _updateTimer.start(UPDATE_TIMEOUT);

  emit recalcTerrainProfile();
}

// This will update the sequence numbers to be sequential starting from 0
void MissionController::_recalcSequence(void) {
  if (_inRecalcSequence) {
    // Don't let this call recurse due to signalling
    return;
  }

  // Setup ascending sequence numbers for all visual items

  _inRecalcSequence = true;
  int sequenceNumber = 0;
  for (int i = 0; i < _visualItems->count(); i++) {
    VisualMissionItem *item =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));
    item->setSequenceNumber(sequenceNumber);
    sequenceNumber = item->lastSequenceNumber() + 1;
  }
  _inRecalcSequence = false;
}

// This will update the child item hierarchy
void MissionController::_recalcChildItems(void) {
  VisualMissionItem *currentParentItem =
      qobject_cast<VisualMissionItem *>(_visualItems->get(0));

  currentParentItem->childItems()->clear();

  for (int i = 1; i < _visualItems->count(); i++) {
    VisualMissionItem *item = _visualItems->value<VisualMissionItem *>(i);

    item->setParentItem(nullptr);
    item->setHasCurrentChildItem(false);

    // Set up non-coordinate item child hierarchy
    if (item->specifiesCoordinate()) {
      item->childItems()->clear();
      currentParentItem = item;
    } else if (item->isSimpleItem()) {
      item->setParentItem(currentParentItem);
      currentParentItem->childItems()->append(item);
      if (item->isCurrentItem()) {
        currentParentItem->setHasCurrentChildItem(true);
      }
    }
  }
}

void MissionController::_setPlannedHomePositionFromFirstCoordinate(
    const QGeoCoordinate &clickCoordinate) {
  bool foundFirstCoordinate = false;
  QGeoCoordinate firstCoordinate;

  if (_settingsItem->coordinate().isValid()) {
    return;
  }

  // Set the planned home position to be a delta from first coordinate
  for (int i = 1; i < _visualItems->count(); i++) {
    VisualMissionItem *item = _visualItems->value<VisualMissionItem *>(i);

    if (item->specifiesCoordinate() && item->coordinate().isValid()) {
      foundFirstCoordinate = true;
      firstCoordinate = item->coordinate();
      break;
    }
  }

  // No item specifying a coordinate was found, in this case it we have a
  // clickCoordinate use that
  if (!foundFirstCoordinate) {
    firstCoordinate = clickCoordinate;
  }

  if (firstCoordinate.isValid()) {
    QGeoCoordinate plannedHomeCoord =
        firstCoordinate.atDistanceAndAzimuth(30, 0);
    plannedHomeCoord.setAltitude(0);
    _settingsItem->setInitialHomePositionFromUser(plannedHomeCoord);
  }
}

void MissionController::_recalcAllWithCoordinate(
    const QGeoCoordinate &coordinate) {
  if (!_flyView) {
    _setPlannedHomePositionFromFirstCoordinate(coordinate);
  }
  _recalcSequence();
  _recalcChildItems();
  emit _recalcFlightPathSegmentsSignal();
  _updateTimer.start(UPDATE_TIMEOUT);
}

void MissionController::_recalcAll(void) {
  QGeoCoordinate emptyCoord;
  _recalcAllWithCoordinate(emptyCoord);
}

/// Initializes a new set of mission items
void MissionController::_initAllVisualItems(void) {
  // Setup home position at index 0

  if (!_settingsItem) {
    _settingsItem = qobject_cast<MissionSettingsItem *>(_visualItems->get(0));
    if (!_settingsItem) {
      qWarning() << "First item not MissionSettingsItem";
      return;
    }
  }

  connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this,
          &MissionController::_recalcAll);
  connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this,
          &MissionController::plannedHomePositionChanged);

  for (int i = 0; i < _visualItems->count(); i++) {
    VisualMissionItem *item =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));
    _initVisualItem(item);

    TakeoffMissionItem *takeoffItem = qobject_cast<TakeoffMissionItem *>(item);
    if (takeoffItem) {
      _takeoffMissionItem = takeoffItem;
    }
  }

  _recalcAll();

  connect(_visualItems, &QmlObjectListModel::dirtyChanged, this,
          &MissionController::_visualItemsDirtyChanged);
  connect(_visualItems, &QmlObjectListModel::countChanged, this,
          &MissionController::_updateContainsItems);

  emit visualItemsChanged();
  emit containsItemsChanged(containsItems());
  emit plannedHomePositionChanged(plannedHomePosition());

  if (!_flyView) {
    setCurrentPlanViewSeqNum(0, true);
  }

  setDirty(false);
}

void MissionController::_deinitAllVisualItems(void) {
  disconnect(_settingsItem, &MissionSettingsItem::coordinateChanged, this,
             &MissionController::_recalcAll);
  disconnect(_settingsItem, &MissionSettingsItem::coordinateChanged, this,
             &MissionController::plannedHomePositionChanged);

  for (int i = 0; i < _visualItems->count(); i++) {
    _deinitVisualItem(qobject_cast<VisualMissionItem *>(_visualItems->get(i)));
  }

  disconnect(_visualItems, &QmlObjectListModel::dirtyChanged, this,
             &MissionController::dirtyChanged);
  disconnect(_visualItems, &QmlObjectListModel::countChanged, this,
             &MissionController::_updateContainsItems);
}

void MissionController::_initVisualItem(VisualMissionItem *visualItem) {
  setDirty(false);

  connect(visualItem, &VisualMissionItem::specifiesCoordinateChanged, this,
          &MissionController::_recalcFlightPathSegmentsSignal,
          Qt::QueuedConnection);
  connect(visualItem, &VisualMissionItem::specifiedFlightSpeedChanged, this,
          &MissionController::_recalcMissionFlightStatusSignal,
          Qt::QueuedConnection);
  connect(visualItem, &VisualMissionItem::specifiedGimbalYawChanged, this,
          &MissionController::_recalcMissionFlightStatusSignal,
          Qt::QueuedConnection);
  connect(visualItem, &VisualMissionItem::specifiedGimbalPitchChanged, this,
          &MissionController::_recalcMissionFlightStatusSignal,
          Qt::QueuedConnection);
  connect(visualItem, &VisualMissionItem::specifiedVehicleYawChanged, this,
          &MissionController::_recalcMissionFlightStatusSignal,
          Qt::QueuedConnection);
  connect(visualItem, &VisualMissionItem::terrainAltitudeChanged, this,
          &MissionController::_recalcMissionFlightStatusSignal,
          Qt::QueuedConnection);
  connect(visualItem, &VisualMissionItem::additionalTimeDelayChanged, this,
          &MissionController::_recalcMissionFlightStatusSignal,
          Qt::QueuedConnection);
  connect(visualItem, &VisualMissionItem::currentVTOLModeChanged, this,
          &MissionController::_recalcMissionFlightStatusSignal,
          Qt::QueuedConnection);
  connect(visualItem, &VisualMissionItem::lastSequenceNumberChanged, this,
          &MissionController::_recalcSequence);

  if (visualItem->isSimpleItem()) {
    // We need to track commandChanged on simple item since recalc has special
    // handling for takeoff command
    SimpleMissionItem *simpleItem =
        qobject_cast<SimpleMissionItem *>(visualItem);
    if (simpleItem) {
      connect(&simpleItem->missionItem()._commandFact, &Fact::valueChanged,
              this, &MissionController::_itemCommandChanged);
    } else {
      qWarning() << "isSimpleItem == true, yet not SimpleMissionItem";
    }
  } else {
    ComplexMissionItem *complexItem =
        qobject_cast<ComplexMissionItem *>(visualItem);
    if (complexItem) {
      connect(complexItem, &ComplexMissionItem::complexDistanceChanged, this,
              &MissionController::_recalcMissionFlightStatusSignal,
              Qt::QueuedConnection);
      connect(complexItem, &ComplexMissionItem::greatestDistanceToChanged, this,
              &MissionController::_recalcMissionFlightStatusSignal,
              Qt::QueuedConnection);
      connect(complexItem, &ComplexMissionItem::minAMSLAltitudeChanged, this,
              &MissionController::_recalcMissionFlightStatusSignal,
              Qt::QueuedConnection);
      connect(complexItem, &ComplexMissionItem::maxAMSLAltitudeChanged, this,
              &MissionController::_recalcMissionFlightStatusSignal,
              Qt::QueuedConnection);
      connect(complexItem, &ComplexMissionItem::isIncompleteChanged, this,
              &MissionController::_recalcFlightPathSegmentsSignal,
              Qt::QueuedConnection);
    } else {
      qWarning() << "ComplexMissionItem not found";
    }
  }
}

void MissionController::_deinitVisualItem(VisualMissionItem *visualItem) {
  // Disconnect all signals
  disconnect(visualItem, nullptr, nullptr, nullptr);
}

void MissionController::_itemCommandChanged(void) {
  _recalcChildItems();
  emit _recalcFlightPathSegmentsSignal();
}

void MissionController::_managerVehicleChanged(Vehicle *managerVehicle) {
  if (_managerVehicle) {
    _missionManager->disconnect(this);
    _managerVehicle->disconnect(this);
    _managerVehicle = nullptr;
    _missionManager = nullptr;
  }

  _managerVehicle = managerVehicle;
  if (!_managerVehicle) {
    qWarning()
        << "MissionController::managerVehicleChanged managerVehicle=NULL";
    return;
  }

  _missionManager = _managerVehicle->missionManager();
  connect(_missionManager, &MissionManager::newMissionItemsAvailable, this,
          &MissionController::_newMissionItemsAvailableFromVehicle);
  connect(_missionManager, &MissionManager::sendComplete, this,
          &MissionController::_managerSendComplete);
  connect(_missionManager, &MissionManager::removeAllComplete, this,
          &MissionController::_managerRemoveAllComplete);
  connect(_missionManager, &MissionManager::inProgressChanged, this,
          &MissionController::_inProgressChanged);
  connect(_missionManager, &MissionManager::progressPct, this,
          &MissionController::_progressPctChanged);
  connect(_missionManager, &MissionManager::currentIndexChanged, this,
          &MissionController::_currentMissionIndexChanged);
  connect(_missionManager, &MissionManager::lastCurrentIndexChanged, this,
          &MissionController::resumeMissionIndexChanged);
  connect(_missionManager, &MissionManager::resumeMissionReady, this,
          &MissionController::resumeMissionReady);
  connect(_missionManager, &MissionManager::resumeMissionUploadFail, this,
          &MissionController::resumeMissionUploadFail);
  connect(_managerVehicle, &Vehicle::defaultCruiseSpeedChanged, this,
          &MissionController::_recalcMissionFlightStatusSignal,
          Qt::QueuedConnection);
  connect(_managerVehicle, &Vehicle::defaultHoverSpeedChanged, this,
          &MissionController::_recalcMissionFlightStatusSignal,
          Qt::QueuedConnection);
  connect(_managerVehicle, &Vehicle::vehicleTypeChanged, this,
          &MissionController::complexMissionItemNamesChanged);

  emit complexMissionItemNamesChanged();
  emit resumeMissionIndexChanged();
}

void MissionController::_inProgressChanged(bool inProgress) {
  emit syncInProgressChanged(inProgress);
}

bool MissionController::_findPreviousAltitude(int newIndex,
                                              double *prevAltitude,
                                              int *prevAltitudeMode) {
  bool found = false;
  double foundAltitude = 0;
  int foundAltitudeMode = QGroundControlQmlGlobal::AltitudeModeNone;

  if (newIndex > _visualItems->count()) {
    return false;
  }
  newIndex--;

  for (int i = newIndex; i > 0; i--) {
    VisualMissionItem *visualItem =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));

    if (visualItem->specifiesCoordinate() &&
        !visualItem->isStandaloneCoordinate()) {
      if (visualItem->isSimpleItem()) {
        SimpleMissionItem *simpleItem =
            qobject_cast<SimpleMissionItem *>(visualItem);
        if (simpleItem->specifiesAltitude()) {
          foundAltitude = simpleItem->altitude()->rawValue().toDouble();
          foundAltitudeMode = simpleItem->altitudeMode();
          found = true;
          break;
        }
      }
    }
  }

  if (found) {
    *prevAltitude = foundAltitude;
    *prevAltitudeMode = foundAltitudeMode;
  }

  return found;
}

double MissionController::_normalizeLat(double lat) {
  // Normalize latitude to range: 0 to 180, S to N
  return lat + 90.0;
}

double MissionController::_normalizeLon(double lon) {
  // Normalize longitude to range: 0 to 360, W to E
  return lon + 180.0;
}

/// Add the Mission Settings complex item to the front of the items
MissionSettingsItem *
MissionController::_addMissionSettings(QmlObjectListModel *visualItems) {
  qCDebug(MissionControllerLog) << "_addMissionSettings";

  MissionSettingsItem *settingsItem =
      new MissionSettingsItem(_masterController, _flyView, visualItems);
  visualItems->insert(0, settingsItem);

  if (visualItems == _visualItems) {
    _settingsItem = settingsItem;
  }

  return settingsItem;
}

void MissionController::_centerHomePositionOnMissionItems(
    QmlObjectListModel *visualItems) {
  qCDebug(MissionControllerLog) << "_centerHomePositionOnMissionItems";

  if (visualItems->count() > 1) {
    double north = 0.0;
    double south = 0.0;
    double east = 0.0;
    double west = 0.0;
    bool firstCoordSet = false;

    for (int i = 1; i < visualItems->count(); i++) {
      VisualMissionItem *item =
          qobject_cast<VisualMissionItem *>(visualItems->get(i));
      if (item->specifiesCoordinate()) {
        if (firstCoordSet) {
          double lat = _normalizeLat(item->coordinate().latitude());
          double lon = _normalizeLon(item->coordinate().longitude());
          north = fmax(north, lat);
          south = fmin(south, lat);
          east = fmax(east, lon);
          west = fmin(west, lon);
        } else {
          firstCoordSet = true;
          north = _normalizeLat(item->coordinate().latitude());
          south = north;
          east = _normalizeLon(item->coordinate().longitude());
          west = east;
        }
      }
    }

    if (firstCoordSet) {
      _settingsItem->setInitialHomePositionFromUser(
          QGeoCoordinate((south + ((north - south) / 2)) - 90.0,
                         (west + ((east - west) / 2)) - 180.0, 0.0));
    }
  }
}

int MissionController::resumeMissionIndex(void) const {

  int resumeIndex = 0;

  if (_flyView) {
    resumeIndex =
        _missionManager->lastCurrentIndex() +
        (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() ? 0
                                                                           : 1);
    if (resumeIndex > 1 &&
        resumeIndex !=
            _visualItems->value<VisualMissionItem *>(_visualItems->count() - 1)
                ->sequenceNumber()) {
      // Resume at the item previous to the item we were heading towards
      resumeIndex--;
    } else {
      resumeIndex = 0;
    }
  }

  return resumeIndex;
}

int MissionController::currentMissionIndex(void) const {
  if (!_flyView) {
    return -1;
  } else {
    int currentIndex = _missionManager->currentIndex();
    if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
      currentIndex++;
    }
    return currentIndex;
  }
}

void MissionController::_currentMissionIndexChanged(int sequenceNumber) {
  if (_flyView) {
    if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
      sequenceNumber++;
    }

    for (int i = 0; i < _visualItems->count(); i++) {
      VisualMissionItem *item =
          qobject_cast<VisualMissionItem *>(_visualItems->get(i));
      item->setIsCurrentItem(item->sequenceNumber() == sequenceNumber);
    }
    emit currentMissionIndexChanged(currentMissionIndex());
  }
}

bool MissionController::syncInProgress(void) const {
  return _missionManager->inProgress();
}

bool MissionController::dirty(void) const {
  return _visualItems ? _visualItems->dirty() : false;
}

void MissionController::setDirty(bool dirty) {
  if (_visualItems) {
    _visualItems->setDirty(dirty);
  }
}

void MissionController::_scanForAdditionalSettings(
    QmlObjectListModel *visualItems, PlanMasterController *masterController) {
  // First we look for a Landing Patterns which are at the end
  if (!FixedWingLandingComplexItem::scanForItem(visualItems, _flyView,
                                                masterController)) {
    VTOLLandingComplexItem::scanForItem(visualItems, _flyView,
                                        masterController);
  }

  int scanIndex = 0;
  while (scanIndex < visualItems->count()) {
    VisualMissionItem *visualItem =
        visualItems->value<VisualMissionItem *>(scanIndex);

    qCDebug(MissionControllerLog)
        << "MissionController::_scanForAdditionalSettings count:scanIndex"
        << visualItems->count() << scanIndex;

    if (!_flyView) {
      MissionSettingsItem *settingsItem =
          qobject_cast<MissionSettingsItem *>(visualItem);
      if (settingsItem) {
        scanIndex++;
        settingsItem->scanForMissionSettings(visualItems, scanIndex);
        continue;
      }
    }

    SimpleMissionItem *simpleItem =
        qobject_cast<SimpleMissionItem *>(visualItem);
    if (simpleItem) {
      scanIndex++;
      simpleItem->scanForSections(visualItems, scanIndex, masterController);
    } else {
      // Complex item, can't have sections
      scanIndex++;
    }
  }
}

void MissionController::_updateContainsItems(void) {
  emit containsItemsChanged(containsItems());
}

bool MissionController::containsItems(void) const {
  return _visualItems ? _visualItems->count() > 1 : false;
}

void MissionController::removeAllFromVehicle(void) {
  if (_masterController->offline()) {
    qCWarning(MissionControllerLog)
        << "MissionControllerLog::removeAllFromVehicle called while offline";
  } else if (syncInProgress()) {
    qCWarning(MissionControllerLog)
        << "MissionControllerLog::removeAllFromVehicle called while "
           "syncInProgress";
  } else {
    _itemsRequested = true;
    _missionManager->removeAll();
  }
}

QStringList MissionController::complexMissionItemNames(void) const {
  QStringList complexItems;

  complexItems.append(SurveyComplexItem::name);
  complexItems.append(CorridorScanComplexItem::name);
  complexItems.append(MeasurementComplexItem::name);
  if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
    complexItems.append(StructureScanComplexItem::name);
  }

  // Note: The landing pattern items are not added here since they have there
  // own button which adds them

  return qgcApp()->toolbox()->corePlugin()->complexMissionItemNames(
      _controllerVehicle, complexItems);
}

void MissionController::resumeMission(int resumeIndex) {
  if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle()) {
    resumeIndex--;
  }
  _missionManager->generateResumeMission(resumeIndex);
}

QGeoCoordinate MissionController::plannedHomePosition(void) const {
  if (_settingsItem) {
    return _settingsItem->coordinate();
  } else {
    return QGeoCoordinate();
  }
}

void MissionController::applyDefaultMissionAltitude(void) {
  double defaultAltitude =
      _appSettings->defaultMissionItemAltitude()->rawValue().toDouble();

  for (int i = 1; i < _visualItems->count(); i++) {
    VisualMissionItem *item = _visualItems->value<VisualMissionItem *>(i);
    item->applyNewAltitude(defaultAltitude);
  }
}

void MissionController::_progressPctChanged(double progressPct) {
  if (!QGC::fuzzyCompare(progressPct, _progressPct)) {
    _progressPct = progressPct;
    emit progressPctChanged(progressPct);
  }
}

void MissionController::_visualItemsDirtyChanged(bool dirty) {
  // We could connect signal to signal and not need this but this is handy for
  // setting a breakpoint on
  emit dirtyChanged(dirty);
}

bool MissionController::showPlanFromManagerVehicle(void) {
  qCDebug(MissionControllerLog)
      << "showPlanFromManagerVehicle _flyView" << _flyView;
  if (_masterController->offline()) {
    qCWarning(MissionControllerLog)
        << "MissionController::showPlanFromManagerVehicle called while offline";
    return true; // stops further propagation of showPlanFromManagerVehicle due
                 // to error
  } else {
    if (!_managerVehicle->initialPlanRequestComplete()) {
      // The vehicle hasn't completed initial load, we can just wait for
      // newMissionItemsAvailable to be signalled automatically
      qCDebug(MissionControllerLog)
          << "showPlanFromManagerVehicle: !initialPlanRequestComplete, wait "
             "for signal";
      return true;
    } else if (syncInProgress()) {
      // If the sync is already in progress, newMissionItemsAvailable will be
      // signalled automatically when it is done. So no need to do anything.
      qCDebug(MissionControllerLog)
          << "showPlanFromManagerVehicle: syncInProgress wait for signal";
      return true;
    } else {
      // Fake a _newMissionItemsAvailable with the current items
      qCDebug(MissionControllerLog)
          << "showPlanFromManagerVehicle: sync complete simulate signal";
      _itemsRequested = true;
      _newMissionItemsAvailableFromVehicle(false /* removeAllRequested */);
      return false;
    }
  }
}

void MissionController::_managerSendComplete(bool error) {
  // Fly view always reloads on send complete
  if (!error && _flyView) {
    showPlanFromManagerVehicle();
  }
}

void MissionController::_managerRemoveAllComplete(bool error) {
  if (!error) {
    // Remove all from vehicle so we always update
    showPlanFromManagerVehicle();
  }
}

bool MissionController::_isROIBeginItem(SimpleMissionItem *simpleItem) {
  return simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_LOCATION ||
         simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET ||
         (simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
          static_cast<int>(simpleItem->missionItem().param1()) ==
              MAV_ROI_LOCATION);
}

bool MissionController::_isROICancelItem(SimpleMissionItem *simpleItem) {
  return simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI_NONE ||
         (simpleItem->mavCommand() == MAV_CMD_DO_SET_ROI &&
          static_cast<int>(simpleItem->missionItem().param1()) == MAV_ROI_NONE);
}

void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber,
                                                 bool force) {
  if (_visualItems && (force || sequenceNumber != _currentPlanViewSeqNum)) {
    bool foundLand = false;
    int takeoffSeqNum = -1;
    int landSeqNum = -1;
    int lastFlyThroughSeqNum = -1;

    _splitSegment = nullptr;
    _currentPlanViewItem = nullptr;
    _currentPlanViewSeqNum = -1;
    _currentPlanViewVIIndex = -1;
    _onlyInsertTakeoffValid =
        !_planViewSettings->takeoffItemNotRequired()->rawValue().toBool() &&
        _visualItems->count() == 1; // First item must be takeoff
    _isInsertTakeoffValid = true;
    _isInsertLandValid = true;
    _isROIActive = false;
    _isROIBeginCurrentItem = false;
    _flyThroughCommandsAllowed = true;
    _previousCoordinate = QGeoCoordinate();

    for (int viIndex = 0; viIndex < _visualItems->count(); viIndex++) {
      VisualMissionItem *pVI =
          qobject_cast<VisualMissionItem *>(_visualItems->get(viIndex));
      SimpleMissionItem *simpleItem = qobject_cast<SimpleMissionItem *>(pVI);
      int currentSeqNumber = pVI->sequenceNumber();

      if (sequenceNumber != 0 && currentSeqNumber <= sequenceNumber) {
        if (pVI->specifiesCoordinate() && !pVI->isStandaloneCoordinate()) {
          // Coordinate based flight commands prior to where the takeoff would
          // be inserted
          _isInsertTakeoffValid = false;
        }
      }

      if (qobject_cast<TakeoffMissionItem *>(pVI)) {
        takeoffSeqNum = currentSeqNumber;
        _isInsertTakeoffValid = false;
      }

      if (!foundLand) {
        if (simpleItem) {
          switch (simpleItem->mavCommand()) {
          case MAV_CMD_NAV_LAND:
          case MAV_CMD_NAV_VTOL_LAND:
          case MAV_CMD_DO_LAND_START:
          case MAV_CMD_NAV_RETURN_TO_LAUNCH:
            foundLand = true;
            landSeqNum = currentSeqNumber;
            break;
          default:
            break;
          }
        } else {
          FixedWingLandingComplexItem *fwLanding =
              qobject_cast<FixedWingLandingComplexItem *>(pVI);
          if (fwLanding) {
            foundLand = true;
            landSeqNum = currentSeqNumber;
          }
        }
      }

      if (simpleItem) {
        // Remember previous coordinate
        if (currentSeqNumber < sequenceNumber &&
            simpleItem->specifiesCoordinate() &&
            !simpleItem->isStandaloneCoordinate()) {
          _previousCoordinate = simpleItem->coordinate();
        }

        // ROI state handling
        if (currentSeqNumber <= sequenceNumber) {
          if (_isROIActive) {
            if (_isROICancelItem(simpleItem)) {
              _isROIActive = false;
            }
          } else {
            if (_isROIBeginItem(simpleItem)) {
              _isROIActive = true;
            }
          }
        }
        if (currentSeqNumber == sequenceNumber && _isROIBeginItem(simpleItem)) {
          _isROIBeginCurrentItem = true;
        }
      }

      if (viIndex != 0) {
        // Complex items are assumed to be fly through
        if (!simpleItem || (simpleItem->specifiesCoordinate() &&
                            !simpleItem->isStandaloneCoordinate())) {
          lastFlyThroughSeqNum = currentSeqNumber;
        }
      }

      if (currentSeqNumber == sequenceNumber) {
        pVI->setIsCurrentItem(true);
        pVI->setHasCurrentChildItem(false);

        _currentPlanViewItem = pVI;
        _currentPlanViewSeqNum = sequenceNumber;
        _currentPlanViewVIIndex = viIndex;

        if (pVI->specifiesCoordinate()) {
          if (!pVI->isStandaloneCoordinate()) {
            // Determine split segment used to display line split editing ui.
            for (int j = viIndex - 1; j > 0; j--) {
              VisualMissionItem *pPrev =
                  qobject_cast<VisualMissionItem *>(_visualItems->get(j));
              if (pPrev->specifiesCoordinate() &&
                  !pPrev->isStandaloneCoordinate()) {
                VisualItemPair splitPair(pPrev, pVI);
                if (_flightPathSegmentHashTable.contains(splitPair)) {
                  _splitSegment = _flightPathSegmentHashTable[splitPair];
                }
              }
            }
          }
        } else if (pVI->parentItem()) {
          pVI->parentItem()->setHasCurrentChildItem(true);
        }
      } else {
        pVI->setIsCurrentItem(false);
      }
    }

    if (takeoffSeqNum != -1) {
      // Takeoff item was found which means mission starts from ground
      if (sequenceNumber < takeoffSeqNum) {
        // Land is only valid after the takeoff item.
        _isInsertLandValid = false;
        // Fly through commands are not allowed prior to the takeoff command
        _flyThroughCommandsAllowed = false;
      }
    }

    if (lastFlyThroughSeqNum != -1) {
      // Land item must be after any fly through coordinates
      if (sequenceNumber < lastFlyThroughSeqNum) {
        _isInsertLandValid = false;
      }
    }

    if (foundLand) {
      // Can't have more than one land sequence
      _isInsertLandValid = false;
      if (sequenceNumber >= landSeqNum) {
        // Can't have fly through commands after a land item
        _flyThroughCommandsAllowed = false;
      }
    }

    // These are not valid when only takeoff is allowed
    _isInsertLandValid = _isInsertLandValid && !_onlyInsertTakeoffValid;
    _flyThroughCommandsAllowed =
        _flyThroughCommandsAllowed && !_onlyInsertTakeoffValid;

    emit currentPlanViewSeqNumChanged();
    emit currentPlanViewVIIndexChanged();
    emit currentPlanViewItemChanged();
    emit splitSegmentChanged();
    emit onlyInsertTakeoffValidChanged();
    emit isInsertTakeoffValidChanged();
    emit isInsertLandValidChanged();
    emit isROIActiveChanged();
    emit isROIBeginCurrentItemChanged();
    emit flyThroughCommandsAllowedChanged();
    emit previousCoordinateChanged();
  }
}

void MissionController::_updateTimeout() {
  QGeoCoordinate firstCoordinate;
  QGeoCoordinate takeoffCoordinate;
  QGCGeoBoundingCube boundingCube;
  double north = 0.0;
  double south = 180.0;
  double east = 0.0;
  double west = 360.0;
  double minAlt = QGCGeoBoundingCube::MaxAlt;
  double maxAlt = QGCGeoBoundingCube::MinAlt;
  for (int i = 1; i < _visualItems->count(); i++) {
    VisualMissionItem *item =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));
    if (item->isSimpleItem()) {
      SimpleMissionItem *pSimpleItem = qobject_cast<SimpleMissionItem *>(item);
      if (pSimpleItem) {
        switch (pSimpleItem->command()) {
        case MAV_CMD_NAV_TAKEOFF:
        case MAV_CMD_NAV_WAYPOINT:
        case MAV_CMD_NAV_LAND:
          if (pSimpleItem->coordinate().isValid()) {
            if ((MAV_CMD)pSimpleItem->command() == MAV_CMD_NAV_TAKEOFF) {
              takeoffCoordinate = pSimpleItem->coordinate();
            } else if (!firstCoordinate.isValid()) {
              firstCoordinate = pSimpleItem->coordinate();
            }
            double lat = pSimpleItem->coordinate().latitude() + 90.0;
            double lon = pSimpleItem->coordinate().longitude() + 180.0;
            double alt = pSimpleItem->coordinate().altitude();
            north = fmax(north, lat);
            south = fmin(south, lat);
            east = fmax(east, lon);
            west = fmin(west, lon);
            minAlt = fmin(minAlt, alt);
            maxAlt = fmax(maxAlt, alt);
          }
          break;
        default:
          break;
        }
      }
    } else {
      ComplexMissionItem *pComplexItem =
          qobject_cast<ComplexMissionItem *>(item);
      if (pComplexItem) {
        QGCGeoBoundingCube bc = pComplexItem->boundingCube();
        if (bc.isValid()) {
          if (!firstCoordinate.isValid() &&
              pComplexItem->coordinate().isValid()) {
            firstCoordinate = pComplexItem->coordinate();
          }
          north = fmax(north, bc.pointNW.latitude() + 90.0);
          south = fmin(south, bc.pointSE.latitude() + 90.0);
          east = fmax(east, bc.pointNW.longitude() + 180.0);
          west = fmin(west, bc.pointSE.longitude() + 180.0);
          minAlt = fmin(minAlt, bc.pointNW.altitude());
          maxAlt = fmax(maxAlt, bc.pointSE.altitude());
        }
      }
    }
  }
  //-- Figure out where this thing is taking off from
  if (!takeoffCoordinate.isValid()) {
    if (firstCoordinate.isValid()) {
      takeoffCoordinate = firstCoordinate;
    } else {
      takeoffCoordinate = plannedHomePosition();
    }
  }
  //-- Build bounding "cube"
  boundingCube =
      QGCGeoBoundingCube(QGeoCoordinate(north - 90.0, west - 180.0, minAlt),
                         QGeoCoordinate(south - 90.0, east - 180.0, maxAlt));
  if (_travelBoundingCube != boundingCube ||
      _takeoffCoordinate != takeoffCoordinate) {
    _takeoffCoordinate = takeoffCoordinate;
    _travelBoundingCube = boundingCube;
    emit missionBoundingCubeChanged();
    qCDebug(MissionControllerLog)
        << "Bounding cube:" << _travelBoundingCube.pointNW
        << _travelBoundingCube.pointSE;
  }
}

void MissionController::_complexBoundingBoxChanged() {
  _updateTimer.start(UPDATE_TIMEOUT);
}

bool MissionController::isEmpty(void) const {
  return _visualItems->count() <= 1;
}

void MissionController::_takeoffItemNotRequiredChanged(void) {
  // Force a recalc of allowed bits
  setCurrentPlanViewSeqNum(_currentPlanViewSeqNum, true /* force */);
}

QString MissionController::surveyComplexItemName(void) const {
  return SurveyComplexItem::name;
}

QString MissionController::corridorScanComplexItemName(void) const {
  return CorridorScanComplexItem::name;
}

QString MissionController::structureScanComplexItemName(void) const {
  return StructureScanComplexItem::name;
}

void MissionController::_allItemsRemoved(void) {
  // When there are no mission items we track changes to firmware/vehicle type.
  // This allows a vehicle connection to adjust these items.
  _controllerVehicle->trackFirmwareVehicleTypeChanges();
}

void MissionController::_firstItemAdded(void) {
  // As soon as the first item is added we lock the firmware/vehicle type to
  // current values. So if you then connect a vehicle it will not affect these
  // values.
  _controllerVehicle->stopTrackingFirmwareVehicleTypeChanges();
}

MissionController::SendToVehiclePreCheckState
MissionController::sendToVehiclePreCheck(void) {
  if (_managerVehicle->isOfflineEditingVehicle()) {
    return SendToVehiclePreCheckStateNoActiveVehicle;
  }
  if (_managerVehicle->armed() &&
      _managerVehicle->flightMode() == _managerVehicle->missionFlightMode()) {
    return SendToVehiclePreCheckStateActiveMission;
  }
  if (_controllerVehicle->firmwareType() != _managerVehicle->firmwareType() ||
      QGCMAVLink::vehicleClass(_controllerVehicle->vehicleType()) !=
          QGCMAVLink::vehicleClass(_managerVehicle->vehicleType())) {
    return SendToVehiclePreCheckStateFirwmareVehicleMismatch;
  }
  return SendToVehiclePreCheckStateOk;
}

QGroundControlQmlGlobal::AltitudeMode
MissionController::globalAltitudeMode(void) {
  return _globalAltMode;
}

QGroundControlQmlGlobal::AltitudeMode
MissionController::globalAltitudeModeDefault(void) {
  if (_globalAltMode == QGroundControlQmlGlobal::AltitudeModeNone) {
    return QGroundControlQmlGlobal::AltitudeModeRelative;
  } else {
    return _globalAltMode;
  }
}

void MissionController::setGlobalAltitudeMode(
    QGroundControlQmlGlobal::AltitudeMode altMode) {
  if (_globalAltMode != altMode) {
    _globalAltMode = altMode;
    emit globalAltitudeModeChanged();
  }
}