FlightDisplayView.qml 36.3 KB
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/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
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import QtQuick                  2.11
import QtQuick.Controls         2.4
import QtQuick.Dialogs          1.3
import QtQuick.Layouts          1.11
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import QtLocation               5.3
import QtPositioning            5.3
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import QtQuick.Window           2.2
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import QtQml.Models             2.1
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import QGroundControl               1.0
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import QGroundControl.Airspace      1.0
import QGroundControl.Controllers   1.0
import QGroundControl.Controls      1.0
import QGroundControl.FactSystem    1.0
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import QGroundControl.FlightDisplay 1.0
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import QGroundControl.FlightMap     1.0
import QGroundControl.Palette       1.0
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import QGroundControl.ScreenTools   1.0
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import QGroundControl.Vehicle       1.0
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/// Flight Display View
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Item {
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    PlanMasterController {
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        id: _planController
        Component.onCompleted: {
            start(true /* flyView */)
            mainWindow.planMasterControllerView = _planController
        }
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    }

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    property alias  guidedController:              guidedActionsController
    property bool   activeVehicleJoystickEnabled:  activeVehicle ? activeVehicle.joystickEnabled : false
    property bool   mainIsMap:                     QGroundControl.videoManager.hasVideo ? QGroundControl.loadBoolGlobalSetting(_mainIsMapKey,  true) : true
    property bool   isBackgroundDark:              mainIsMap ? (mainWindow.flightDisplayMap ? mainWindow.flightDisplayMap.isSatelliteMap : true) : true

    property var    _missionController:             _planController.missionController
    property var    _geoFenceController:            _planController.geoFenceController
    property var    _rallyPointController:          _planController.rallyPointController
    property bool   _isPipVisible:                  QGroundControl.videoManager.hasVideo ? QGroundControl.loadBoolGlobalSetting(_PIPVisibleKey, true) : false
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    property bool   _useChecklist:                  QGroundControl.settingsManager.appSettings.useChecklist.rawValue && QGroundControl.corePlugin.options.preFlightChecklistUrl.toString().length
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    property real   _savedZoomLevel:                0
    property real   _margins:                       ScreenTools.defaultFontPixelWidth / 2
    property real   _pipSize:                       mainWindow.width * 0.2
    property alias  _guidedController:              guidedActionsController
    property alias  _altitudeSlider:                altitudeSlider
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    readonly property var       _dynamicCameras:        activeVehicle ? activeVehicle.dynamicCameras : null
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    readonly property bool      _isCamera:              _dynamicCameras ? _dynamicCameras.cameras.count > 0 : false
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    readonly property real      _defaultRoll:           0
    readonly property real      _defaultPitch:          0
    readonly property real      _defaultHeading:        0
    readonly property real      _defaultAltitudeAMSL:   0
    readonly property real      _defaultGroundSpeed:    0
    readonly property real      _defaultAirSpeed:       0
    readonly property string    _mapName:               "FlightDisplayView"
    readonly property string    _showMapBackgroundKey:  "/showMapBackground"
    readonly property string    _mainIsMapKey:          "MainFlyWindowIsMap"
    readonly property string    _PIPVisibleKey:         "IsPIPVisible"

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    function setStates() {
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        QGroundControl.saveBoolGlobalSetting(_mainIsMapKey, mainIsMap)
        if(mainIsMap) {
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            //-- Adjust Margins
            _flightMapContainer.state   = "fullMode"
            _flightVideo.state          = "pipMode"
            //-- Save/Restore Map Zoom Level
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            if(_savedZoomLevel != 0) {
                if(mainWindow.flightDisplayMap) {
                    mainWindow.flightDisplayMap.zoomLevel = _savedZoomLevel
                }
            } else {
                if(mainWindow.flightDisplayMap) {
                    _savedZoomLevel = mainWindow.flightDisplayMap.zoomLevel
                }
            }
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        } else {
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            //-- Adjust Margins
            _flightMapContainer.state   = "pipMode"
            _flightVideo.state          = "fullMode"
            //-- Set Map Zoom Level
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            if(mainWindow.flightDisplayMap) {
                _savedZoomLevel = mainWindow.flightDisplayMap.zoomLevel
                mainWindow.flightDisplayMap.zoomLevel = _savedZoomLevel - 3
            }
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        }
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    }

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    function setPipVisibility(state) {
        _isPipVisible = state;
        QGroundControl.saveBoolGlobalSetting(_PIPVisibleKey, state)
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    }

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    function isInstrumentRight() {
        if(QGroundControl.corePlugin.options.instrumentWidget) {
            if(QGroundControl.corePlugin.options.instrumentWidget.source.toString().length) {
                switch(QGroundControl.corePlugin.options.instrumentWidget.widgetPosition) {
                case CustomInstrumentWidget.POS_TOP_LEFT:
                case CustomInstrumentWidget.POS_BOTTOM_LEFT:
                case CustomInstrumentWidget.POS_CENTER_LEFT:
                    return false;
                }
            }
        }
        return true;
    }

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    Connections {
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        target:                     _missionController
        onResumeMissionUploadFail:  guidedActionsController.confirmAction(guidedActionsController.actionResumeMissionUploadFail)
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    }

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    Connections {
        target:                 mainWindow
        onArmVehicle:           guidedController.confirmAction(guidedController.actionArm)
        onDisarmVehicle: {
            if (guidedController.showEmergenyStop) {
                guidedController.confirmAction(guidedController.actionEmergencyStop)
            } else {
                guidedController.confirmAction(guidedController.actionDisarm)
            }
        }
        onVtolTransitionToFwdFlight:    guidedController.confirmAction(guidedController.actionVtolTransitionToFwdFlight)
        onVtolTransitionToMRFlight:     guidedController.confirmAction(guidedController.actionVtolTransitionToMRFlight)
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        onFlightDisplayMapChanged:      setStates()
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    }

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    Component.onCompleted: {
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        if(QGroundControl.corePlugin.options.flyViewOverlay.toString().length) {
            flyViewOverlay.source = QGroundControl.corePlugin.options.flyViewOverlay
        }
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        if(QGroundControl.corePlugin.options.preFlightChecklistUrl.toString().length) {
            checkList.source = QGroundControl.corePlugin.options.preFlightChecklistUrl
        }
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    }
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    // The following code is used to track vehicle states such that we prompt to remove mission from vehicle when mission completes

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    property bool vehicleArmed:                 activeVehicle ? activeVehicle.armed : true // true here prevents pop up from showing during shutdown
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    property bool vehicleWasArmed:              false
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    property bool vehicleInMissionFlightMode:   activeVehicle ? (activeVehicle.flightMode === activeVehicle.missionFlightMode) : false
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    property bool promptForMissionRemove:       false

    onVehicleArmedChanged: {
        if (vehicleArmed) {
            if (!promptForMissionRemove) {
                promptForMissionRemove = vehicleInMissionFlightMode
                vehicleWasArmed = true
            }
        } else {
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            if (promptForMissionRemove && (_missionController.containsItems || _geoFenceController.containsItems || _rallyPointController.containsItems)) {
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                // ArduPilot has a strange bug which prevents mission clear from working at certain times, so we can't show this dialog
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                if (!activeVehicle.apmFirmware) {
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                    mainWindow.showComponentDialog(missionCompleteDialogComponent, qsTr("Flight Plan complete"), mainWindow.showDialogDefaultWidth, StandardButton.Close)
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                }
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            }
            promptForMissionRemove = false
        }
    }

    onVehicleInMissionFlightModeChanged: {
        if (!promptForMissionRemove && vehicleArmed) {
            promptForMissionRemove = true
        }
    }

    Component {
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        id: missionCompleteDialogComponent

        QGCViewDialog {
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            property var activeVehicleCopy: activeVehicle
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            onActiveVehicleCopyChanged:
                if (!activeVehicleCopy) {
                    hideDialog()
                }

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            QGCFlickable {
                anchors.fill:   parent
                contentHeight:  column.height

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                ColumnLayout {
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                    id:                 column
                    anchors.margins:    _margins
                    anchors.left:       parent.left
                    anchors.right:      parent.right

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                    ColumnLayout {
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                        Layout.fillWidth:   true
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                        spacing:            ScreenTools.defaultFontPixelHeight
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                        visible:            !activeVehicle.connectionLost || !_guidedController.showResumeMission
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                        QGCLabel {
                            Layout.fillWidth:       true
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                            text:                   qsTr("%1 Images Taken").arg(activeVehicle.cameraTriggerPoints.count)
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                            horizontalAlignment:    Text.AlignHCenter
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                            visible:                activeVehicle.cameraTriggerPoints.count !== 0
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                        }
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                        QGCButton {
                            Layout.fillWidth:   true
                            text:               qsTr("Remove plan from vehicle")
                            onClicked: {
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                                _planController.removeAllFromVehicle()
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                                hideDialog()
                            }
                        }
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                        QGCButton {
                            Layout.fillWidth:   true
                            Layout.alignment:   Qt.AlignHCenter
                            text:               qsTr("Leave plan on vehicle")
                            onClicked:          hideDialog()
                        }
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                        Rectangle {
                            Layout.fillWidth:   true
                            color:              qgcPal.text
                            height:             1
                        }
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                        QGCButton {
                            Layout.fillWidth:   true
                            Layout.alignment:   Qt.AlignHCenter
                            text:               qsTr("Resume Mission From Waypoint %1").arg(_guidedController._resumeMissionIndex)
                            visible:            _guidedController.showResumeMission

                            onClicked: {
                                guidedController.executeAction(_guidedController.actionResumeMission, null, null)
                                hideDialog()
                            }
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                        }

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                        QGCLabel {
                            Layout.fillWidth:   true
                            wrapMode:           Text.WordWrap
                            text:               qsTr("Resume Mission will rebuild the current mission from the last flown waypoint and upload it to the vehicle for the next flight.")
                            visible:            _guidedController.showResumeMission
                        }

                        QGCLabel {
                            Layout.fillWidth:   true
                            wrapMode:           Text.WordWrap
                            color:              qgcPal.warningText
                            text:               qsTr("If you are changing batteries for Resume Mission do not disconnect from the vehicle when communication is lost.")
                            visible:            _guidedController.showResumeMission
                        }
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                    }

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                    ColumnLayout {
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                        Layout.fillWidth:   true
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                        spacing:            ScreenTools.defaultFontPixelHeight
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                        visible:            activeVehicle.connectionLost && _guidedController.showResumeMission
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                        QGCLabel {
                            Layout.fillWidth:   true
                            wrapMode:           Text.WordWrap
                            color:              qgcPal.warningText
                            text:               qsTr("If you are changing batteries for Resume Mission do not disconnect from the vehicle.")
                        }
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                    }
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                }
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            }
        }
    }

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    Window {
        id:             videoWindow
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        width:          !mainIsMap ? _mapAndVideo.width  : _pipSize
        height:         !mainIsMap ? _mapAndVideo.height : _pipSize * (9/16)
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        visible:        false

        Item {
            id:             videoItem
            anchors.fill:   parent
        }

        onClosing: {
            _flightVideo.state = "unpopup"
            videoWindow.visible = false
        }
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    }
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    /* This timer will startVideo again after the popup window appears and is loaded.
     * Such approach was the only one to avoid a crash for windows users
     */
    Timer {
      id: videoPopUpTimer
      interval: 2000;
      running: false;
      repeat: false
      onTriggered: {
          // If state is popup, the next one will be popup-finished
          if (_flightVideo.state ==  "popup") {
            _flightVideo.state = "popup-finished"
          }
          QGroundControl.videoManager.startVideo()
      }
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    }

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    QGCMapPalette { id: mapPal; lightColors: mainIsMap ? mainWindow.flightDisplayMap.isSatelliteMap : true }
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    Item {
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        id:             _mapAndVideo
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        anchors.fill:   parent
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        //-- Map View
        Item {
            id: _flightMapContainer
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            z:  mainIsMap ? _mapAndVideo.z + 1 : _mapAndVideo.z + 2
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            anchors.left:   _mapAndVideo.left
            anchors.bottom: _mapAndVideo.bottom
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            visible:        mainIsMap || _isPipVisible && !QGroundControl.videoManager.fullScreen
            width:          mainIsMap ? _mapAndVideo.width  : _pipSize
            height:         mainIsMap ? _mapAndVideo.height : _pipSize * (9/16)
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            states: [
                State {
                    name:   "pipMode"
                    PropertyChanges {
                        target:             _flightMapContainer
                        anchors.margins:    ScreenTools.defaultFontPixelHeight
                    }
                },
                State {
                    name:   "fullMode"
                    PropertyChanges {
                        target:             _flightMapContainer
                        anchors.margins:    0
                    }
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                }
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            ]
            FlightDisplayViewMap {
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                id:                         _fMap
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                anchors.fill:               parent
                guidedActionsController:    _guidedController
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                missionController:          _planController
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                flightWidgets:              flightDisplayViewWidgets
                rightPanelWidth:            ScreenTools.defaultFontPixelHeight * 9
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                multiVehicleView:           !singleVehicleView.checked
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                scaleState:                 (mainIsMap && flyViewOverlay.item) ? (flyViewOverlay.item.scaleState ? flyViewOverlay.item.scaleState : "bottomMode") : "bottomMode"
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                Component.onCompleted: {
                    mainWindow.flightDisplayMap = _fMap
                }
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            }
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        }
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        //-- Video View
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        Item {
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            id:             _flightVideo
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            z:              mainIsMap ? _mapAndVideo.z + 2 : _mapAndVideo.z + 1
            width:          !mainIsMap ? _mapAndVideo.width  : _pipSize
            height:         !mainIsMap ? _mapAndVideo.height : _pipSize * (9/16)
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            anchors.left:   _mapAndVideo.left
            anchors.bottom: _mapAndVideo.bottom
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            visible:        QGroundControl.videoManager.hasVideo && (!mainIsMap || _isPipVisible)
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            onParentChanged: {
                /* If video comes back from popup
                 * correct anchors.
                 * Such thing is not possible with ParentChange.
                 */
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                if(parent == _mapAndVideo) {
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                    // Do anchors again after popup
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                    anchors.left =       _mapAndVideo.left
                    anchors.bottom =     _mapAndVideo.bottom
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                    anchors.margins =    ScreenTools.defaultFontPixelHeight
                }
            }

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            states: [
                State {
                    name:   "pipMode"
                    PropertyChanges {
                        target: _flightVideo
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                        anchors.margins: ScreenTools.defaultFontPixelHeight
                    }
                    PropertyChanges {
                        target: _flightVideoPipControl
                        inPopup: false
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                    }
                },
                State {
                    name:   "fullMode"
                    PropertyChanges {
                        target: _flightVideo
                        anchors.margins:    0
                    }
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                    PropertyChanges {
                        target: _flightVideoPipControl
                        inPopup: false
                    }
                },
                State {
                    name: "popup"
                    StateChangeScript {
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                        script: {
                            // Stop video, restart it again with Timer
                            // Avoiding crashs if ParentChange is not yet done
                            QGroundControl.videoManager.stopVideo()
                            videoPopUpTimer.running = true
                        }
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                    }
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                    PropertyChanges {
                        target: _flightVideoPipControl
                        inPopup: true
                    }
                },
                State {
                    name: "popup-finished"
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                    ParentChange {
                        target: _flightVideo
                        parent: videoItem
                        x: 0
                        y: 0
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                        width: videoItem.width
                        height: videoItem.height
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                    }
                },
                State {
                    name: "unpopup"
                    StateChangeScript {
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                        script: {
                            QGroundControl.videoManager.stopVideo()
                            videoPopUpTimer.running = true
                        }
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                    }
                    ParentChange {
                        target: _flightVideo
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                        parent: _mapAndVideo
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                    }
                    PropertyChanges {
                        target: _flightVideoPipControl
                        inPopup: false
                    }
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                }
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            ]
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            //-- Video Streaming
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            FlightDisplayViewVideo {
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                id:             videoStreaming
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                anchors.fill:   parent
                visible:        QGroundControl.videoManager.isGStreamer
            }
            //-- UVC Video (USB Camera or Video Device)
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            Loader {
                id:             cameraLoader
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                anchors.fill:   parent
                visible:        !QGroundControl.videoManager.isGStreamer
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                source:         QGroundControl.videoManager.uvcEnabled ? "qrc:/qml/FlightDisplayViewUVC.qml" : "qrc:/qml/FlightDisplayViewDummy.qml"
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            }
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        }
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        QGCPipable {
            id:                 _flightVideoPipControl
            z:                  _flightVideo.z + 3
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            width:              _pipSize
            height:             _pipSize * (9/16)
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            anchors.left:       _mapAndVideo.left
            anchors.bottom:     _mapAndVideo.bottom
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            anchors.margins:    ScreenTools.defaultFontPixelHeight
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            visible:            QGroundControl.videoManager.hasVideo && !QGroundControl.videoManager.fullScreen && _flightVideo.state != "popup"
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            isHidden:           !_isPipVisible
            isDark:             isBackgroundDark
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            enablePopup:        mainIsMap
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            onActivated: {
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                mainIsMap = !mainIsMap
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                setStates()
            }
            onHideIt: {
                setPipVisibility(!state)
            }
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            onPopup: {
                videoWindow.visible = true
                _flightVideo.state = "popup"
            }
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            onNewWidth: {
                _pipSize = newWidth
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            }
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        }
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        Row {
            id:                     singleMultiSelector
            anchors.topMargin:      ScreenTools.toolbarHeight + _margins
            anchors.rightMargin:    _margins
            anchors.right:          parent.right
            spacing:                ScreenTools.defaultFontPixelWidth
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            z:                      _mapAndVideo.z + 4
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            visible:                QGroundControl.multiVehicleManager.vehicles.count > 1 && QGroundControl.corePlugin.options.enableMultiVehicleList
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            QGCRadioButton {
                id:             singleVehicleView
                text:           qsTr("Single")
                checked:        true
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                textColor:      mapPal.text
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            }

            QGCRadioButton {
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                text:           qsTr("Multi-Vehicle")
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                textColor:      mapPal.text
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            }
        }

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        FlightDisplayViewWidgets {
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            id:                 flightDisplayViewWidgets
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            z:                  _mapAndVideo.z + 4
            height:             availableHeight - (singleMultiSelector.visible ? singleMultiSelector.height + _margins : 0) - (ScreenTools.defaultFontPixelHeight * 0.5)
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            anchors.left:       parent.left
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            anchors.right:      altitudeSlider.visible ? altitudeSlider.left : parent.right
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            anchors.bottom:     parent.bottom
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            anchors.top:        singleMultiSelector.visible? singleMultiSelector.bottom : undefined
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            useLightColors:     isBackgroundDark
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            missionController:  _missionController
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            visible:            singleVehicleView.checked && !QGroundControl.videoManager.fullScreen
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        }

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        //-------------------------------------------------------------------------
        //-- Loader helper for plugins to overlay elements over the fly view
        Loader {
            id:                 flyViewOverlay
            z:                  flightDisplayViewWidgets.z + 1
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            visible:            !QGroundControl.videoManager.fullScreen
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            height:             mainWindow.height - mainWindow.header.height
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            anchors.left:       parent.left
            anchors.right:      altitudeSlider.visible ? altitudeSlider.left : parent.right
            anchors.bottom:     parent.bottom
        }

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        MultiVehicleList {
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            anchors.margins:            _margins
            anchors.top:                singleMultiSelector.bottom
            anchors.right:              parent.right
            anchors.bottom:             parent.bottom
            width:                      ScreenTools.defaultFontPixelWidth * 30
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            visible:                    !singleVehicleView.checked && !QGroundControl.videoManager.fullScreen && QGroundControl.corePlugin.options.enableMultiVehicleList
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            z:                          _mapAndVideo.z + 4
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            guidedActionsController:    _guidedController
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        }
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        //-- Virtual Joystick
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        Loader {
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            id:                         virtualJoystickMultiTouch
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            z:                          _mapAndVideo.z + 5
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            width:                      parent.width  - (_flightVideoPipControl.width / 2)
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            height:                     Math.min(mainWindow.height * 0.25, ScreenTools.defaultFontPixelWidth * 16)
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            visible:                    (_virtualJoystick ? _virtualJoystick.value : false) && !QGroundControl.videoManager.fullScreen && !(activeVehicle ? activeVehicle.highLatencyLink : false)
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            anchors.bottom:             _flightVideoPipControl.top
            anchors.bottomMargin:       ScreenTools.defaultFontPixelHeight * 2
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            anchors.horizontalCenter:   flightDisplayViewWidgets.horizontalCenter
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            source:                     "qrc:/qml/VirtualJoystick.qml"
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            active:                     (_virtualJoystick ? _virtualJoystick.value : false) && !(activeVehicle ? activeVehicle.highLatencyLink : false)
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            property bool useLightColors: isBackgroundDark
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            // The default behaviour is not centralized throttle
            property bool centralizeThrottle: _virtualJoystickCentralized ? _virtualJoystickCentralized.value : false
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            property Fact _virtualJoystick: QGroundControl.settingsManager.appSettings.virtualJoystick
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            property Fact _virtualJoystickCentralized: QGroundControl.settingsManager.appSettings.virtualJoystickCentralized
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        }
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        ToolStrip {
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            visible:            (activeVehicle ? activeVehicle.guidedModeSupported : true) && !QGroundControl.videoManager.fullScreen
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            id:                 toolStrip
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            anchors.leftMargin: isInstrumentRight() ? ScreenTools.defaultFontPixelWidth * 2 : undefined
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            anchors.left:       isInstrumentRight() ? _mapAndVideo.left : undefined
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            anchors.rightMargin:isInstrumentRight() ? undefined : ScreenTools.defaultFontPixelWidth
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            anchors.right:      isInstrumentRight() ? undefined : _mapAndVideo.right
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            anchors.topMargin:  mainWindow.header.height + (ScreenTools.defaultFontPixelHeight * 0.5)
            anchors.top:        parent.top
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            z:                  _mapAndVideo.z + 4
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            maxHeight:          (_flightVideo.visible ? _flightVideo.y : parent.height) - toolStrip.y
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            property bool _anyActionAvailable: _guidedController.showStartMission || _guidedController.showResumeMission || _guidedController.showChangeAlt || _guidedController.showLandAbort
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            property var _actionModel: [
                {
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                    title:      _guidedController.startMissionTitle,
                    text:       _guidedController.startMissionMessage,
                    action:     _guidedController.actionStartMission,
                    visible:    _guidedController.showStartMission
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                },
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                {
                    title:      _guidedController.continueMissionTitle,
                    text:       _guidedController.continueMissionMessage,
                    action:     _guidedController.actionContinueMission,
                    visible:    _guidedController.showContinueMission
                },
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                {
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                    title:      _guidedController.resumeMissionTitle,
                    text:       _guidedController.resumeMissionMessage,
                    action:     _guidedController.actionResumeMission,
                    visible:    _guidedController.showResumeMission
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                },
                {
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                    title:      _guidedController.changeAltTitle,
                    text:       _guidedController.changeAltMessage,
                    action:     _guidedController.actionChangeAlt,
                    visible:    _guidedController.showChangeAlt
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                },
                {
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                    title:      _guidedController.landAbortTitle,
                    text:       _guidedController.landAbortMessage,
                    action:     _guidedController.actionLandAbort,
                    visible:    _guidedController.showLandAbort
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                }
            ]

            model: [
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                {
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                    name:               "Plan",
                    iconSource:         "/qmlimages/Plan.svg",
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                    buttonVisible:      true,
                    buttonEnabled:      true,
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                },
                {
                    name:               "Checklist",
                    iconSource:         "/qmlimages/check.svg",
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                    buttonVisible:      _useChecklist,
                    buttonEnabled:      _useChecklist && activeVehicle && !activeVehicle.armed,
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                },
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                {
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                    name:               _guidedController.takeoffTitle,
                    iconSource:         "/res/takeoff.svg",
                    buttonVisible:      _guidedController.showTakeoff || !_guidedController.showLand,
                    buttonEnabled:      _guidedController.showTakeoff,
                    action:             _guidedController.actionTakeoff
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                },
                {
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                    name:               _guidedController.landTitle,
                    iconSource:         "/res/land.svg",
                    buttonVisible:      _guidedController.showLand && !_guidedController.showTakeoff,
                    buttonEnabled:      _guidedController.showLand,
                    action:             _guidedController.actionLand
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                },
                {
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                    name:               _guidedController.rtlTitle,
                    iconSource:         "/res/rtl.svg",
                    buttonVisible:      true,
                    buttonEnabled:      _guidedController.showRTL,
                    action:             _guidedController.actionRTL
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                },
                {
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                    name:               _guidedController.pauseTitle,
                    iconSource:         "/res/pause-mission.svg",
                    buttonVisible:      _guidedController.showPause,
                    buttonEnabled:      _guidedController.showPause,
                    action:             _guidedController.actionPause
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                },
                {
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                    name:               qsTr("Action"),
                    iconSource:         "/res/action.svg",
                    buttonVisible:      !_guidedController.showPause,
                    buttonEnabled:      _anyActionAvailable,
                    action:             -1
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                }
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            ]

            onClicked: {
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                guidedActionsController.closeAll()
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                if(index === 0) {
                    mainWindow.showPlanView()
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                } else if(index === 1) {
                    checklistDropPanel.open()
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                } else {
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                    var action = model[index].action
                    if (action === -1) {
                        guidedActionList.model   = _actionModel
                        guidedActionList.visible = true
                    } else {
                        _guidedController.confirmAction(action)
                    }
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                }
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            }
        }

        GuidedActionsController {
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            id:                 guidedActionsController
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            missionController:  _missionController
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            confirmDialog:      guidedActionConfirm
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            actionList:         guidedActionList
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            altitudeSlider:     _altitudeSlider
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            z:                  _flightVideoPipControl.z + 1

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            onShowStartMissionChanged: {
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                if (showStartMission) {
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                    confirmAction(actionStartMission)
                }
            }

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            onShowContinueMissionChanged: {
                if (showContinueMission) {
                    confirmAction(actionContinueMission)
                }
            }

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            onShowLandAbortChanged: {
                if (showLandAbort) {
                    confirmAction(actionLandAbort)
                }
            }
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            /// Close all dialogs
            function closeAll() {
                guidedActionConfirm.visible = false
                guidedActionList.visible    = false
                altitudeSlider.visible      = false
            }
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        }

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        GuidedActionConfirm {
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            id:                         guidedActionConfirm
            anchors.margins:            _margins
            anchors.bottom:             parent.bottom
            anchors.horizontalCenter:   parent.horizontalCenter
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            guidedController:           _guidedController
            altitudeSlider:             _altitudeSlider
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        }

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        GuidedActionList {
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            id:                         guidedActionList
            anchors.margins:            _margins
            anchors.bottom:             parent.bottom
            anchors.horizontalCenter:   parent.horizontalCenter
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            guidedController:           _guidedController
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        }

        //-- Altitude slider
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        GuidedAltitudeSlider {
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            id:                 altitudeSlider
            anchors.margins:    _margins
            anchors.right:      parent.right
            anchors.topMargin:  ScreenTools.toolbarHeight + _margins
            anchors.top:        parent.top
            anchors.bottom:     parent.bottom
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            z:                  _guidedController.z
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            radius:             ScreenTools.defaultFontPixelWidth / 2
            width:              ScreenTools.defaultFontPixelWidth * 10
            color:              qgcPal.window
            visible:            false
        }
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    }
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    //-- Airspace Indicator
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    Rectangle {
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        id:             airspaceIndicator
        width:          airspaceRow.width + (ScreenTools.defaultFontPixelWidth * 3)
        height:         airspaceRow.height * 1.25
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        color:          qgcPal.globalTheme === QGCPalette.Light ? Qt.rgba(1,1,1,0.95) : Qt.rgba(0,0,0,0.75)
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        visible:        QGroundControl.airmapSupported && mainIsMap && flightPermit && flightPermit !== AirspaceFlightPlanProvider.PermitNone
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        radius:         3
        border.width:   1
        border.color:   qgcPal.globalTheme === QGCPalette.Light ? Qt.rgba(0,0,0,0.35) : Qt.rgba(1,1,1,0.35)
        anchors.top:    parent.top
        anchors.topMargin: ScreenTools.toolbarHeight + (ScreenTools.defaultFontPixelHeight * 0.25)
        anchors.horizontalCenter: parent.horizontalCenter
        Row {
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            id: airspaceRow
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            spacing: ScreenTools.defaultFontPixelWidth
            anchors.centerIn: parent
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            QGCLabel { text: airspaceIndicator.providerName+":"; anchors.verticalCenter: parent.verticalCenter; }
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            QGCLabel {
                text: {
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                    if(airspaceIndicator.flightPermit) {
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                        if(airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitPending)
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                            return qsTr("Approval Pending")
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                        if(airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitAccepted || airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitNotRequired)
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                            return qsTr("Flight Approved")
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                        if(airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitRejected)
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                            return qsTr("Flight Rejected")
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                    }
                    return ""
                }
                color: {
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                    if(airspaceIndicator.flightPermit) {
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                        if(airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitPending)
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                            return qgcPal.colorOrange
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                        if(airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitAccepted || airspaceIndicator.flightPermit === AirspaceFlightPlanProvider.PermitNotRequired)
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                            return qgcPal.colorGreen
                    }
                    return qgcPal.colorRed
                }
                anchors.verticalCenter: parent.verticalCenter;
            }
        }
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        property var  flightPermit: QGroundControl.airmapSupported ? QGroundControl.airspaceManager.flightPlan.flightPermitStatus : null
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        property string  providerName: QGroundControl.airspaceManager.providerName
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    }

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    //-- Checklist GUI
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    Popup {
        id:             checklistDropPanel
        x:              Math.round((mainWindow.width  - width)  * 0.5)
        y:              Math.round((mainWindow.height - height) * 0.5)
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        height:         checkList.height
        width:          checkList.width
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        modal:          true
        focus:          true
        closePolicy:    Popup.CloseOnEscape | Popup.CloseOnPressOutside
        background: Rectangle {
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            anchors.fill:  parent
            color:      Qt.rgba(0,0,0,0)
            clip:       true
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        }
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        Loader {
            id:         checkList
            anchors.centerIn: parent
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        }
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    }
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}