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/****************************************************************************
 *
 * (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.
 *
 ****************************************************************************/

<<<<<<< HEAD
<<<<<<< HEAD
#include "MissionController.h"
#include "AppSettings.h"
#include "CoordinateVector.h"
#include "CorridorScanComplexItem.h"
=======
=======
>>>>>>> upstream_merge
#include "MissionCommandUIInfo.h"
#include "MissionController.h"
#include "MultiVehicleManager.h"
#include "MissionManager.h"
#include "FlightPathSegment.h"
<<<<<<< HEAD
>>>>>>> upstream_merge
=======
>>>>>>> upstream_merge
#include "FirmwarePlugin.h"
#include "FixedWingLandingComplexItem.h"
<<<<<<< HEAD
<<<<<<< HEAD
=======
=======
>>>>>>> upstream_merge
#include "VTOLLandingComplexItem.h"
#include "StructureScanComplexItem.h"
#include "CorridorScanComplexItem.h"
>>>>>>> upstream_merge
#include "JsonHelper.h"
#include "KML.h"
#include "MissionCommandUIInfo.h"
#include "MissionManager.h"
#include "MissionSettingsItem.h"
#include "MultiVehicleManager.h"
#include "ParameterManager.h"
#include "PlanMasterController.h"
<<<<<<< HEAD
<<<<<<< HEAD
#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 "src/Wima/CircularSurvey.h"

#ifndef __mobile__
#include "MainWindow.h"
#include "QGCQFileDialog.h"
#endif
=======
#include "KMLPlanDomDocument.h"
#include "QGCCorePlugin.h"
#include "TakeoffMissionItem.h"
#include "PlanViewSettings.h"
>>>>>>> upstream_merge
=======
#include "KMLPlanDomDocument.h"
#include "QGCCorePlugin.h"
#include "TakeoffMissionItem.h"
#include "PlanViewSettings.h"
>>>>>>> upstream_merge

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

QGC_LOGGING_CATEGORY(MissionControllerLog, "MissionControllerLog")

<<<<<<< HEAD
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";

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

const int MissionController::_missionFileVersion = 2;

const QString MissionController::patternFWLandingName(
    QT_TRANSLATE_NOOP("MissionController", "Fixed Wing Landing"));
const QString MissionController::patternStructureScanName(
    QT_TRANSLATE_NOOP("MissionController", "Structure Scan"));
const QString MissionController::patternCorridorScanName(
    QT_TRANSLATE_NOOP("MissionController", "Corridor Scan"));

MissionController::MissionController(PlanMasterController *masterController,
                                     QObject *parent)
    : PlanElementController(masterController, parent),
      _missionManager(_managerVehicle->missionManager()), _missionItemCount(0),
      _visualItems(nullptr), _settingsItem(nullptr),
      _firstItemsFromVehicle(false), _itemsRequested(false),
      _inRecalcSequence(false), _surveyMissionItemName(tr("Survey")),
      _circularSurveyMissionItemName(tr("Circular Survey")),
      _appSettings(qgcApp()->toolbox()->settingsManager()->appSettings()),
      _progressPct(0), _currentPlanViewIndex(-1), _currentPlanViewItem(nullptr),
      _remainingTime(-1), _remainingDistance(-1) {
  _resetMissionFlightStatus();
  managerVehicleChanged(_managerVehicle);
  _updateTimer.setSingleShot(true);
  connect(&_updateTimer, &QTimer::timeout, this,
          &MissionController::_updateTimeout);

  _remainingDistanceTimeTimer.setInterval(REMAINING_DIST_TIME_UPDATE_INTERVAL);
  connect(&_remainingDistanceTimeTimer, &QTimer::timeout, this,
          &MissionController::_updateRemainingDistanceTime);
}

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 = 0.0;
  _missionFlightStatus.gimbalYaw = std::numeric_limits<double>::quiet_NaN();
  _missionFlightStatus.gimbalPitch = std::numeric_limits<double>::quiet_NaN();

  // Battery information

  _missionFlightStatus.mAhBattery = 0;
  _missionFlightStatus.hoverAmps = 0;
  _missionFlightStatus.cruiseAmps = 0;
  _missionFlightStatus.ampMinutesAvailable = 0;
  _missionFlightStatus.hoverAmpsTotal = 0;
  _missionFlightStatus.cruiseAmpsTotal = 0;
  _missionFlightStatus.batteryChangePoint = -1;
  _missionFlightStatus.batteriesRequired = -1;

  _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;

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

void MissionController::_init(void) {
  // We start with an empty mission
  _visualItems = new QmlObjectListModel(this);
  _addMissionSettings(_visualItems, false /* addToCenter */);
  _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 on _loadComplete if specifically requested
  if (_flyView || removeAllRequested || _itemsRequested ||
      _visualItems->count() <= 1) {
    // 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

    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);

    int i = 0;
    if (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() &&
        newMissionItems.count() != 0) {
      // First item is fake home position
      _addMissionSettings(newControllerMissionItems, false /* addToCenter */);
      MissionSettingsItem *settingsItem =
          newControllerMissionItems->value<MissionSettingsItem *>(0);
      if (!settingsItem) {
        qWarning() << "First item is not settings item";
        return;
      }
      MissionItem *fakeHomeItem = newMissionItems[0];
      if (fakeHomeItem->coordinate().latitude() != 0 ||
          fakeHomeItem->coordinate().longitude() != 0) {
        settingsItem->setCoordinate(fakeHomeItem->coordinate());
      }
      i = 1;
    }

    for (; i < newMissionItems.count(); i++) {
      const MissionItem *missionItem = newMissionItems[i];
      newControllerMissionItems->append(new SimpleMissionItem(
          _controllerVehicle, _flyView, *missionItem, this));
    }

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

    if (!_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() ||
        _visualItems->count() == 0) {
      _addMissionSettings(_visualItems, !_flyView && _visualItems->count() >
                                                         0 /* addToCenter */);
    }

    MissionController::_scanForAdditionalSettings(_visualItems,
                                                  _controllerVehicle);

    _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::_warnIfTerrainFrameUsed(void) {
  for (int i = 1; i < _visualItems->count(); i++) {
    SimpleMissionItem *simpleItem =
        qobject_cast<SimpleMissionItem *>(_visualItems->get(i));
    if (simpleItem && simpleItem->altitudeMode() ==
                          QGroundControlQmlGlobal::AltitudeModeTerrainFrame) {
      qgcApp()->showMessage(
          tr("Warning: You are using MAV_FRAME_GLOBAL_TERRAIN_ALT in a "
             "mission. %1 does not support sending terrain tiles to vehicle.")
              .arg(qgcApp()->applicationName()));
      break;
    }
  }
}

void MissionController::_setRemainingDistance(double dist) {
  if (qFuzzyCompare(dist, _remainingDistance) == false) {
    _remainingDistance = dist;

    emit remainingDistanceChanged();
  }
}

void MissionController::_setRemainingTime(double time) {
  if (qFuzzyCompare(time, _remainingTime) == false) {
    _remainingTime = time;

    emit remainingTimeChanged();
  }
}

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";
    _warnIfTerrainFrameUsed();
    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, _surveyMissionItemName    (tr("Survey"))
/// @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::convertToKMLDocument(QDomDocument &document) {
  QObject *deleteParent = new QObject();
  QList<MissionItem *> rgMissionItems;

  convertToMissionItems(_visualItems, rgMissionItems, deleteParent);
  if (rgMissionItems.count() == 0) {
    return;
  }

  const double homePositionAltitude = _settingsItem->coordinate().altitude();

  QString coord;
  QStringList coords;
  // Drop home position
  bool dropPoint = true;
  for (const auto &item : rgMissionItems) {
    if (dropPoint) {
      dropPoint = false;
      continue;
    }
    const MissionCommandUIInfo *uiInfo =
        qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle,
                                                             item->command());

    if (uiInfo && uiInfo->specifiesCoordinate() &&
        !uiInfo->isStandaloneCoordinate()) {
      double amslAltitude =
          item->param7() +
          (item->frame() == MAV_FRAME_GLOBAL ? 0 : homePositionAltitude);
      coord = QString::number(item->param6(), 'f', 7) + "," +
              QString::number(item->param5(), 'f', 7) + "," +
              QString::number(amslAltitude, 'f', 2);
      coords.append(coord);
    }
  }

  deleteParent->deleteLater();

  Kml kml;
  kml.points(coords);
  kml.save(document);
}

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;
  }
}

int MissionController::insertSimpleMissionItem(const QGeoCoordinate &coordinate,
                                               int i) {
  int sequenceNumber = _nextSequenceNumber();
  SimpleMissionItem *newItem =
      new SimpleMissionItem(_controllerVehicle, _flyView, this);
  newItem->setSequenceNumber(sequenceNumber);
  newItem->setCoordinate(coordinate);
  newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
  _initVisualItem(newItem);
  if (_visualItems->count() == 1 &&
      (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() ||
       _controllerVehicle->multiRotor())) {
    MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF
                                                    : MAV_CMD_NAV_TAKEOFF;
    if (_controllerVehicle->firmwarePlugin()
            ->supportedMissionCommands()
            .contains(takeoffCmd)) {
      newItem->setCommand(takeoffCmd);
    }
  }
  if (newItem->specifiesAltitude()) {
    double prevAltitude;
    int prevAltitudeMode;

    if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) {
      newItem->altitude()->setRawValue(prevAltitude);
      newItem->setAltitudeMode(
          static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
    }
  }
  newItem->setMissionFlightStatus(_missionFlightStatus);
  _visualItems->insert(i, newItem);

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

  return newItem->sequenceNumber();
}

int MissionController::insertSimpleMissionItems(
    const QList<QGeoCoordinate> &coordinates, int idx) {
  MAV_CMD mavCmd = MAV_CMD_NAV_WAYPOINT;
  if (_visualItems->count() == 1 &&
      (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() ||
       _controllerVehicle->multiRotor())) {
    mavCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF
                                        : MAV_CMD_NAV_TAKEOFF;
    if (!_controllerVehicle->firmwarePlugin()
             ->supportedMissionCommands()
             .contains(mavCmd)) {
      mavCmd = MAV_CMD_NAV_WAYPOINT;
    }
  }

  int sequenceNumber = _nextSequenceNumber();
  int size = coordinates.size();

  SimpleMissionItem *newItem = nullptr;
  bool firstItem = true;
  double prevAltitude = 0.0;
  int prevAltitudeMode = 0;
  for (int i = 0; i < size; ++i) {
    newItem = new SimpleMissionItem(_controllerVehicle, _flyView, this);
    newItem->setSequenceNumber(sequenceNumber);
    newItem->setCoordinate(coordinates[i]);
    newItem->setCommand(mavCmd);
    _initSimpleItem(newItem);
    if (!firstItem ||
        (newItem->specifiesAltitude() &&
         _findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode))) {
      newItem->altitude()->setRawValue(prevAltitude);
      newItem->setAltitudeMode(
          static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
    }
    newItem->setMissionFlightStatus(_missionFlightStatus);
    _visualItems->insert(idx++, newItem);
    sequenceNumber = newItem->lastSequenceNumber() + 1;
    mavCmd = MAV_CMD_NAV_WAYPOINT;
    firstItem = false;
  }

  _recalcSequence();
  _recalcChildItems();
  _recalcWaypointLines();
  _updateTimer.start(UPDATE_TIMEOUT);

  if (newItem == nullptr)
    return -1;
  return newItem->sequenceNumber();
}

int MissionController::insertSimpleMissionItem(const MissionItem &missionItem,
                                               int i) {
  int sequenceNumber = _nextSequenceNumber();
  SimpleMissionItem *newItem =
      new SimpleMissionItem(_controllerVehicle, _flyView, missionItem, this);
  newItem->setSequenceNumber(sequenceNumber);
  _initVisualItem(newItem);
  MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF
                                                  : MAV_CMD_NAV_TAKEOFF;
  if (newItem->command() == takeoffCmd) {
    if (!_controllerVehicle->firmwarePlugin()
             ->supportedMissionCommands()
             .contains(takeoffCmd)) {
      newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
      return -1; // can not add this takeoff command for this vehicle
    }
  }
  if (newItem->specifiesAltitude()) {
    newItem->altitude()->setRawValue(missionItem.relativeAltitude());
    newItem->setAltitudeMode(
        QGroundControlQmlGlobal::AltitudeMode::AltitudeModeRelative);
  }
  newItem->setMissionFlightStatus(_missionFlightStatus);
  _visualItems->insert(i, newItem);

  return newItem->sequenceNumber();
}

int MissionController::insertSimpleMissionItem(
    const SimpleMissionItem &missionItem, int i) {
  int sequenceNumber = _nextSequenceNumber();
  SimpleMissionItem *newItem =
      new SimpleMissionItem(missionItem, _flyView, this);
  newItem->setSequenceNumber(sequenceNumber);
  _initVisualItem(newItem);
  MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF
                                                  : MAV_CMD_NAV_TAKEOFF;
  if (newItem->command() == takeoffCmd) {
    if (!_controllerVehicle->firmwarePlugin()
             ->supportedMissionCommands()
             .contains(takeoffCmd)) {
      newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
      return -1; // can not add this takeoff command for this vehicle
    }
  }
  newItem->setMissionFlightStatus(_missionFlightStatus);
  _visualItems->insert(i, newItem);

  return newItem->sequenceNumber();
}

int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i) {
  int sequenceNumber = _nextSequenceNumber();
  SimpleMissionItem *newItem =
      new SimpleMissionItem(_controllerVehicle, _flyView, this);
  newItem->setSequenceNumber(sequenceNumber);
  newItem->setCommand((
      _controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(
          MAV_CMD_DO_SET_ROI_LOCATION)
          ? MAV_CMD_DO_SET_ROI_LOCATION
          : MAV_CMD_DO_SET_ROI));
  _initVisualItem(newItem);
  newItem->setCoordinate(coordinate);

  double prevAltitude;
  int prevAltitudeMode;

  if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) {
    newItem->altitude()->setRawValue(prevAltitude);
    newItem->setAltitudeMode(
        static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
  }
  _visualItems->insert(i, newItem);

  _recalcAll();

  return newItem->sequenceNumber();
}

int MissionController::insertComplexMissionItem(
    QString itemName, QGeoCoordinate mapCenterCoordinate, int i) {
  ComplexMissionItem *newItem;

  int sequenceNumber = _nextSequenceNumber();
  if (itemName == _surveyMissionItemName) {
    newItem = new SurveyComplexItem(_controllerVehicle, _flyView,
                                    QString() /* kmlFile */,
                                    _visualItems /* parent */);
    newItem->setCoordinate(mapCenterCoordinate);
  } else if (itemName == patternFWLandingName) {
    newItem = new FixedWingLandingComplexItem(_controllerVehicle, _flyView,
                                              _visualItems /* parent */);
  } else if (itemName == patternStructureScanName) {
    newItem = new StructureScanComplexItem(_controllerVehicle, _flyView,
                                           QString() /* kmlFile */,
                                           _visualItems /* parent */);
  } else if (itemName == patternCorridorScanName) {
    newItem = new CorridorScanComplexItem(_controllerVehicle, _flyView,
                                          QString() /* kmlFile */,
                                          _visualItems /* parent */);
  } else if (itemName == _circularSurveyMissionItemName) {
    newItem =
        new CircularSurvey(_controllerVehicle, _flyView,
                           QString() /* kmlFile */, _visualItems /* parent */);
  } else {
    qWarning() << "Internal error: Unknown complex item:" << itemName;
    return sequenceNumber;
  }

  return _insertComplexMissionItemWorker(newItem, i);
}

int MissionController::insertComplexMissionItemFromKMLOrSHP(QString itemName,
                                                            QString file,
                                                            int i) {
  ComplexMissionItem *newItem;

  if (itemName == _surveyMissionItemName) {
    newItem =
        new SurveyComplexItem(_controllerVehicle, _flyView, file, _visualItems);
  } else if (itemName == patternStructureScanName) {
    newItem = new StructureScanComplexItem(_controllerVehicle, _flyView, file,
                                           _visualItems);
  } else if (itemName == patternCorridorScanName) {
    newItem = new CorridorScanComplexItem(_controllerVehicle, _flyView, file,
                                          _visualItems);
  } else {
    qWarning() << "Internal error: Unknown complex item:" << itemName;
    return _nextSequenceNumber();
  }

  return _insertComplexMissionItemWorker(newItem, i);
}

int MissionController::_insertComplexMissionItemWorker(
    ComplexMissionItem *complexItem, int i) {
  int sequenceNumber = _nextSequenceNumber();
  bool surveyStyleItem = qobject_cast<SurveyComplexItem *>(complexItem) ||
                         qobject_cast<CorridorScanComplexItem *>(complexItem) ||
                         qobject_cast<CircularSurvey *>(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);
  _initVisualItem(complexItem);

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

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

  return complexItem->sequenceNumber();
}

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

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

  _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<CircularSurvey *>(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;
      MissionSettingsItem *settingsItem =
          _visualItems->value<MissionSettingsItem *>(0);
      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);
      }
    }
  }

<<<<<<< HEAD
  _recalcAll();
  setDirty(true);
}

void MissionController::removeAll(void) {
  if (_visualItems) {
    _deinitAllVisualItems();
    _visualItems->clearAndDeleteContents();
    _visualItems->deleteLater();
    _settingsItem = nullptr;
    _visualItems = new QmlObjectListModel(this);
    _addMissionSettings(_visualItems, false /* addToCenter */);
    _initAllVisualItems();
    setDirty(true);
    _resetMissionFlightStatus();
  }
}

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;
  }

  // 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(
        _controllerVehicle, _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());

  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(_controllerVehicle, _flyView, visualItems);
      if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
        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());

  if (json.contains(_jsonPlannedHomePositionKey)) {
    SimpleMissionItem *item =
        new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);

    if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0,
                   errorString)) {
      MissionSettingsItem *settingsItem =
          new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);
      settingsItem->setCoordinate(item->coordinate());
      visualItems->insert(0, settingsItem);
      item->deleteLater();
    } else {
      return false;
    }
  } else {
    _addMissionSettings(visualItems, true /* addToCenter */);
  }

  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},
  };
  if (!JsonHelper::validateKeys(json, rootKeyInfoList, errorString)) {
    return false;
  }

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

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

  if (_masterController->offline()) {
    // We only update if offline since if we are online we use the online
    // vehicle settings
    appSettings->offlineEditingFirmwareType()->setRawValue(
        AppSettings::offlineEditingFirmwareTypeFromFirmwareType(
            static_cast<MAV_AUTOPILOT>(json[_jsonFirmwareTypeKey].toInt())));
    if (json.contains(_jsonVehicleTypeKey)) {
      appSettings->offlineEditingVehicleType()->setRawValue(
          AppSettings::offlineEditingVehicleTypeFromVehicleType(
              static_cast<MAV_TYPE>(json[_jsonVehicleTypeKey].toInt())));
    }
  }
  if (json.contains(_jsonCruiseSpeedKey)) {
    appSettings->offlineEditingCruiseSpeed()->setRawValue(
        json[_jsonCruiseSpeedKey].toDouble());
  }
  if (json.contains(_jsonHoverSpeedKey)) {
    appSettings->offlineEditingHoverSpeed()->setRawValue(
        json[_jsonHoverSpeedKey].toDouble());
  }

  QGeoCoordinate homeCoordinate;
  if (!JsonHelper::loadGeoCoordinate(json[_jsonPlannedHomePositionKey],
                                     true /* altitudeRequired */,
                                     homeCoordinate, errorString)) {
    return false;
  }
  MissionSettingsItem *settingsItem =
      new MissionSettingsItem(_controllerVehicle, _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(_controllerVehicle, _flyView, visualItems);
      if (simpleItem->load(itemObject, nextSequenceNumber, errorString)) {
        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(
            _controllerVehicle, _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(_controllerVehicle, _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 ==
                 StructureScanComplexItem::jsonComplexItemTypeValue) {
        qCDebug(MissionControllerLog)
            << "Loading Structure Scan: nextSequenceNumber"
            << nextSequenceNumber;
        StructureScanComplexItem *structureItem = new StructureScanComplexItem(
            _controllerVehicle, _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(
            _controllerVehicle, _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 == CircularSurvey::CircularSurveyName) {
        qCDebug(MissionControllerLog)
            << "Loading Circular Survey: nextSequenceNumber"
            << nextSequenceNumber;
        CircularSurvey *circularSurvey = new CircularSurvey(
            _controllerVehicle, _flyView, QString() /* kmlFile */, visualItems);
        if (!circularSurvey->load(itemObject, nextSequenceNumber++,
                                  errorString)) {
          return false;
        }
        nextSequenceNumber = circularSurvey->lastSequenceNumber() + 1;
        qCDebug(MissionControllerLog)
            << "Circular Survey load complete: nextSequenceNumber"
            << nextSequenceNumber;
        visualItems->append(circularSurvey);
      } else if (complexItemType ==
                 MissionSettingsItem::jsonComplexItemTypeValue) {
        qCDebug(MissionControllerLog)
            << "Loading Mission Settings: nextSequenceNumber"
            << nextSequenceNumber;
        MissionSettingsItem *settingsItem =
            new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);
        if (!settingsItem->load(itemObject, nextSequenceNumber++,
                                errorString)) {
          return false;
        }
        nextSequenceNumber = settingsItem->lastSequenceNumber() + 1;
        qCDebug(MissionControllerLog)
            << "Mission Settings load complete: nextSequenceNumber"
            << nextSequenceNumber;
        visualItems->append(settingsItem);
      } 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::validateQGCJsonFile(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) {
    // Start with planned home in center
    _addMissionSettings(visualItems, true /* addToCenter */);
    MissionSettingsItem *settingsItem =
        visualItems->value<MissionSettingsItem *>(0);

    while (!stream.atEnd()) {
      SimpleMissionItem *item =
          new SimpleMissionItem(_controllerVehicle, _flyView, visualItems);

      if (item->load(stream)) {
        if (firstItem && plannedHomePositionInFile) {
          settingsItem->setCoordinate(item->coordinate());
=======
    _managerVehicleChanged(_managerVehicle);
    connect(_masterController, &PlanMasterController::managerVehicleChanged, this, &MissionController::_managerVehicleChanged);

    _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);
>>>>>>> upstream_merge
        } else {
          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;
}

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

  _visualItems = loadedVisualItems;

  if (_visualItems->count() == 0) {
    _addMissionSettings(_visualItems, true /* addToCenter */);
  }

  MissionController::_scanForAdditionalSettings(_visualItems,
                                                _controllerVehicle);

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

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

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();

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

  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);

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

  _initLoadedVisualItems(loadedVisualItems);

  return true;
}

<<<<<<< HEAD
bool MissionController::readyForSaveSend(void) const {
  for (int i = 0; i < _visualItems->count(); i++) {
    VisualMissionItem *visualItem =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));
    if (!visualItem->readyForSave()) {
      return false;
=======
=======
>>>>>>> upstream_merge
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);
    }
<<<<<<< HEAD

    _firstItemAdded();

=======

    _firstItemAdded();

>>>>>>> upstream_merge
    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 {
        qWarning() << "Internal error: Unknown complex item:" << itemName;
        return nullptr;
<<<<<<< HEAD
>>>>>>> upstream_merge
=======
>>>>>>> upstream_merge
    }
  }

<<<<<<< HEAD
<<<<<<< HEAD
  return true;
}

bool MissionController::setTakeoffCommand(SimpleMissionItem &missionItem) {
  if (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() ||
      _controllerVehicle->multiRotor()) {
    MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF
                                                    : MAV_CMD_NAV_TAKEOFF;
    if (_controllerVehicle->firmwarePlugin()
            ->supportedMissionCommands()
            .contains(takeoffCmd)) {
      missionItem.setCommand(takeoffCmd);
=======
    _insertComplexMissionItemWorker(mapCenterCoordinate, newItem, visualItemIndex, makeCurrentItem);

    return newItem;
}

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

=======
    _insertComplexMissionItemWorker(mapCenterCoordinate, newItem, visualItemIndex, makeCurrentItem);

    return newItem;
}

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

>>>>>>> upstream_merge
    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;
<<<<<<< HEAD
>>>>>>> upstream_merge
=======
>>>>>>> upstream_merge
    }
  } else
    return false;

<<<<<<< HEAD
  return true;
}

<<<<<<< HEAD
bool MissionController::setLandCommand(SimpleMissionItem &missionItem) {
  MAV_CMD landCmd =
      _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
  if (_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(
          landCmd)) {
    missionItem.setCommand(landCmd);
  } else
    return false;
=======
=======
>>>>>>> upstream_merge
    _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);

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

  return true;
}

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();

  // 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(
    double homeAlt, VisualMissionItem *currentItem, VisualMissionItem *prevItem,
    double *azimuth, double *distance, double *altDifference) {
  QGeoCoordinate currentCoord = currentItem->coordinate();
  QGeoCoordinate prevCoord = prevItem->exitCoordinate();
  bool distanceOk = false;

  // Convert to fixed altitudes

  distanceOk = true;
  if (currentItem != _settingsItem &&
      currentItem->coordinateHasRelativeAltitude()) {
    currentCoord.setAltitude(homeAlt + currentCoord.altitude());
  }
  if (prevItem != _settingsItem &&
      prevItem->exitCoordinateHasRelativeAltitude()) {
    prevCoord.setAltitude(homeAlt + prevCoord.altitude());
  }

  if (distanceOk) {
    *altDifference = currentCoord.altitude() - prevCoord.altitude();
    *distance = prevCoord.distanceTo(currentCoord);
    *azimuth = prevCoord.azimuthTo(currentCoord);
  } else {
    *altDifference = 0.0;
    *azimuth = 0.0;
    *distance = 0.0;
  }
}

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;
}

void MissionController::_addWaypointLineSegment(
    CoordVectHashTable &prevItemPairHashTable, VisualItemPair &pair) {
  if (prevItemPairHashTable.contains(pair)) {
    // Pair already exists and connected, just re-use
    _linesTable[pair] = prevItemPairHashTable.take(pair);
  } else {
    // Create a new segment and wire update notifiers
    auto linevect = new CoordinateVector(pair.first->isSimpleItem()
                                             ? pair.first->coordinate()
                                             : pair.first->exitCoordinate(),
                                         pair.second->coordinate(), this);
    auto originNotifier = pair.first->isSimpleItem()
                              ? &VisualMissionItem::coordinateChanged
                              : &VisualMissionItem::exitCoordinateChanged;
    auto endNotifier = &VisualMissionItem::coordinateChanged;

    // Use signals/slots to update the coordinate endpoints
    connect(pair.first, originNotifier, linevect,
            &CoordinateVector::setCoordinate1);
    connect(pair.second, endNotifier, linevect,
            &CoordinateVector::setCoordinate2);

    // FIXME: We should ideally have signals for 2D position change, alt change,
    // and 3D position change Not optimal, but still pretty fast, do a full
    // update of range/bearing/altitudes
    connect(pair.second, &VisualMissionItem::coordinateChanged, this,
            &MissionController::_recalcMissionFlightStatus);
    _linesTable[pair] = linevect;
  }
}

void MissionController::_recalcWaypointLines(void) {
  bool firstCoordinateItem = true;
  VisualMissionItem *lastCoordinateItem =
      qobject_cast<VisualMissionItem *>(_visualItems->get(0));

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

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

  CoordVectHashTable old_table = _linesTable;
  _linesTable.clear();
  _waypointLines.clear();
  _waypointPath.clear();

  bool linkEndToHome;
  SimpleMissionItem *lastItem =
      _visualItems->value<SimpleMissionItem *>(_visualItems->count() - 1);
  if (lastItem && (int)lastItem->command() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
    linkEndToHome = true;
  } else {
    linkEndToHome = _settingsItem->missionEndRTL();
  }

  bool linkStartToHome = false;
  for (int i = 1; i < _visualItems->count(); i++) {
    VisualMissionItem *item =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));

    // 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 (firstCoordinateItem && item->isSimpleItem()) {
      MAV_CMD command =
          (MAV_CMD)qobject_cast<SimpleMissionItem *>(item)->command();
      if (command == MAV_CMD_NAV_TAKEOFF ||
          command == MAV_CMD_NAV_VTOL_TAKEOFF) {
        linkStartToHome = true;
      }
    }

    if (item->specifiesCoordinate() && !item->isStandaloneCoordinate()) {
      firstCoordinateItem = false;
      if (lastCoordinateItem != _settingsItem ||
          (homePositionValid && linkStartToHome)) {
        if (!_flyView) {
          VisualItemPair pair(lastCoordinateItem, item);
          _addWaypointLineSegment(old_table, pair);
        }
      }
      _waypointPath.append(QVariant::fromValue(item->coordinate()));
      lastCoordinateItem = item;
    }
  }

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

  if (linkEndToHome && lastCoordinateItem != _settingsItem &&
      homePositionValid) {
    if (!_flyView) {
      VisualItemPair pair(lastCoordinateItem, _settingsItem);
      _addWaypointLineSegment(old_table, pair);
    } else {
      _waypointPath.append(QVariant::fromValue(_settingsItem->coordinate()));
    }
  }

  {
    // Create a temporary QObjectList and replace the model data
    QObjectList objs;
    objs.reserve(_linesTable.count());
    for (CoordinateVector *vect : _linesTable.values()) {
      objs.append(vect);
    }

    // We don't delete here because many links may still be valid
    _waypointLines.swapObjectList(objs);
  }

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

  _recalcMissionFlightStatus();

  if (_waypointPath.count() == 0) {
    // MapPolyLine has a bug where if you can 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 waypointLinesChanged();
  emit waypointPathChanged();
}

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

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

/// 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);
    }
<<<<<<< HEAD
<<<<<<< HEAD
  } 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 *lastCoordinateItem =
      qobject_cast<VisualMissionItem *>(_visualItems->get(0));
=======
=======
>>>>>>> upstream_merge
    _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);
    VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->removeAt(viIndex));
<<<<<<< HEAD
=======

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

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

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

  qCDebug(MissionControllerLog) << "_recalcMissionFlightStatus";

<<<<<<< HEAD
  // 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
  lastCoordinateItem->setAltDifference(0.0);
  lastCoordinateItem->setAzimuth(0.0);
  lastCoordinateItem->setDistance(0.0);

  double minAltSeen = 0.0;
  double maxAltSeen = 0.0;
  const double homePositionAltitude = _settingsItem->coordinate().altitude();
  minAltSeen = maxAltSeen = _settingsItem->coordinate().altitude();

  _resetMissionFlightStatus();
=======
        // 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];
>>>>>>> upstream_merge

  bool vtolInHover = true;
  bool linkStartToHome = false;
  bool linkEndToHome = false;

<<<<<<< HEAD
<<<<<<< HEAD
  if (showHomePosition) {
    SimpleMissionItem *lastItem =
        _visualItems->value<SimpleMissionItem *>(_visualItems->count() - 1);
    if (lastItem && (int)lastItem->command() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
      linkEndToHome = true;
    } else {
      linkEndToHome = _settingsItem->missionEndRTL();
    }
  }

  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);

    // Assume the worst
    item->setAzimuth(0.0);
    item->setDistance(0.0);

    // Look for speed changed
    double newSpeed = item->specifiedFlightSpeed();
    if (!qIsNaN(newSpeed)) {
      if (_controllerVehicle->multiRotor()) {
        _missionFlightStatus.hoverSpeed = newSpeed;
      } else if (_controllerVehicle->vtol()) {
        if (vtolInHover) {
          _missionFlightStatus.hoverSpeed = newSpeed;
=======
=======
>>>>>>> upstream_merge
        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);
>>>>>>> upstream_merge
        } else {
          _missionFlightStatus.cruiseSpeed = newSpeed;
        }
<<<<<<< HEAD
      } else {
        _missionFlightStatus.cruiseSpeed = newSpeed;
      }
      _missionFlightStatus.vehicleSpeed = newSpeed;
    }

    // Look for gimbal change
    double gimbalYaw = item->specifiedGimbalYaw();
    if (!qIsNaN(gimbalYaw)) {
      _missionFlightStatus.gimbalYaw = gimbalYaw;
    }
    double gimbalPitch = item->specifiedGimbalPitch();
    if (!qIsNaN(gimbalPitch)) {
      _missionFlightStatus.gimbalPitch = gimbalPitch;
    }

    if (i == 0) {
      // We only process speed and gimbal from Mission Settings item
      continue;
    }

    // Link back to home if first item is takeoff and we have home position
    if (firstCoordinateItem && simpleItem &&
        (simpleItem->command() == MAV_CMD_NAV_TAKEOFF ||
         simpleItem->command() == MAV_CMD_NAV_VTOL_TAKEOFF)) {
      if (showHomePosition) {
        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(homePositionAltitude, _settingsItem,
                                  simpleItem, &azimuth, &distance,
                                  &altDifference);
          double takeoffTime =
              qAbs(altDifference) /
              _appSettings->offlineEditingAscentSpeed()->rawValue().toDouble();
          _addHoverTime(takeoffTime, 0, -1);
        }
      }
    }

    // Update VTOL state
    if (simpleItem && _controllerVehicle->vtol()) {
      switch (simpleItem->command()) {
      case MAV_CMD_NAV_TAKEOFF:
        vtolInHover = false;
        break;
      case MAV_CMD_NAV_VTOL_TAKEOFF:
        vtolInHover = true;
        break;
      case MAV_CMD_NAV_LAND:
        vtolInHover = false;
        break;
      case MAV_CMD_NAV_VTOL_LAND:
        vtolInHover = true;
        break;
      case MAV_CMD_DO_VTOL_TRANSITION: {
        int transitionState = simpleItem->missionItem().param1();
        if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_MC) {
          vtolInHover = true;
        } else if (transitionState == MAV_VTOL_STATE_TRANSITION_TO_FW) {
          vtolInHover = false;
        }
      } break;
      default:
        break;
      }
    }

    _addTimeDistance(vtolInHover, 0, 0, item->additionalTimeDelay(), 0, -1);

    if (item->specifiesCoordinate()) {
      // Keep track of the min/max altitude for all waypoints so we can show
      // altitudes as a percentage

      double absoluteAltitude = item->coordinate().altitude();
      if (item->coordinateHasRelativeAltitude()) {
        absoluteAltitude += homePositionAltitude;
      }
      minAltSeen = std::min(minAltSeen, absoluteAltitude);
      maxAltSeen = std::max(maxAltSeen, absoluteAltitude);

      double terrainAltitude = item->terrainAltitude();
      if (!qIsNaN(terrainAltitude)) {
        minAltSeen = std::min(minAltSeen, terrainAltitude);
        maxAltSeen = std::max(maxAltSeen, terrainAltitude);
      }

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

        // Update vehicle yaw assuming direction to next waypoint
        if (item != lastCoordinateItem) {
          _missionFlightStatus.vehicleYaw =
              lastCoordinateItem->exitCoordinate().azimuthTo(
                  item->coordinate());
          lastCoordinateItem->setMissionVehicleYaw(
              _missionFlightStatus.vehicleYaw);
        }

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

          _calcPrevWaypointValues(homePositionAltitude, item,
                                  lastCoordinateItem, &azimuth, &distance,
                                  &altDifference);
          item->setAltDifference(altDifference);
          item->setAzimuth(azimuth);
          item->setDistance(distance);

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

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

    // 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;
            }
>>>>>>> upstream_merge
        }

<<<<<<< HEAD
<<<<<<< HEAD
        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(vtolInHover, hoverTime, cruiseTime, 0, distance,
                           item->sequenceNumber());
        }

        item->setMissionFlightStatus(_missionFlightStatus);

        lastCoordinateItem = item;
      }
    }
  }
  lastCoordinateItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);

  if (linkEndToHome && lastCoordinateItem != _settingsItem) {
    double azimuth, distance, altDifference;
    _calcPrevWaypointValues(homePositionAltitude, lastCoordinateItem,
                            _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(vtolInHover, 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);

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

    if (item->specifiesCoordinate()) {
      double absoluteAltitude = item->coordinate().altitude();
      if (item->coordinateHasRelativeAltitude()) {
        absoluteAltitude += homePositionAltitude;
      }
      if (altRange == 0.0) {
        item->setAltPercent(0.0);
        item->setTerrainPercent(qQNaN());
        item->setTerrainCollision(false);
      } else {
        item->setAltPercent((absoluteAltitude - minAltSeen) / altRange);
        double terrainAltitude = item->terrainAltitude();
        if (qIsNaN(terrainAltitude)) {
          item->setTerrainPercent(qQNaN());
          item->setTerrainCollision(false);
        } else {
          item->setTerrainPercent((terrainAltitude - minAltSeen) / altRange);
          item->setTerrainCollision(absoluteAltitude < terrainAltitude);
        }
      }
    }
  }

  _updateTimer.start(UPDATE_TIMEOUT);
}

// 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 =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));

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

void MissionController::_setPlannedHomePositionFromFirstCoordinate(
    const QGeoCoordinate &clickCoordinate) {
  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()) {
      firstCoordinate = item->coordinate();
      break;
    }
  }

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

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

/// @param clickCoordinate The location of the user click when inserting a new
/// item
void MissionController::_recalcAllWithClickCoordinate(
    const QGeoCoordinate &clickCoordinate) {
  if (!_flyView) {
    _setPlannedHomePositionFromFirstCoordinate(clickCoordinate);
  }
  _recalcSequence();
  _recalcChildItems();
  _recalcWaypointLines();
  _updateTimer.start(UPDATE_TIMEOUT);
}

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

void MissionController::_enableDisableRemainingDistTimeCalculation(
    bool flying) {
  if (flying) {
    _remainingDistanceTimeTimer.start();
  } else {
    _remainingDistanceTimeTimer.stop();
    _setRemainingTime(-1);
    _setRemainingDistance(-1);
  }
}

void MissionController::_updateRemainingDistanceTime() {
  double dist = 0;
  double time = 0;
  bool success = distanceTimeToMissionEnd(
      dist, time, _missionManager->currentIndex() /*missionIndex >= 1*/,
      true /* useVehiclePostion */);
  if (success) {
    _setRemainingTime(time);
    _setRemainingDistance(dist);
  } else {
    _setRemainingTime(-1);
    _setRemainingDistance(-1);
  }
}
=======
=======
>>>>>>> upstream_merge
    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>());
    }
<<<<<<< HEAD
>>>>>>> upstream_merge
=======
>>>>>>> upstream_merge

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

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

  if (_managerVehicle->homePosition().isValid()) {
    _settingsItem->setCoordinate(_managerVehicle->homePosition());
  }

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

  _recalcAll();

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

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

  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) {
  if (visualItem->isSimpleItem()) {
    SimpleMissionItem *simpleItem =
        qobject_cast<SimpleMissionItem *>(visualItem);
    if (simpleItem) {
      _initSimpleItem(simpleItem);
    } else {
      qWarning() << "isSimpleItem == true, yet not SimpleMissionItem";
    }
<<<<<<< HEAD
  } else {
    ComplexMissionItem *complexItem =
        qobject_cast<ComplexMissionItem *>(visualItem);
    if (complexItem) {
      _initComplexItem(complexItem);
    } else {
      qWarning() << "ComplexMissionItem not found";
    }
<<<<<<< HEAD
  }
}

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

  connect(visualItem, &VisualMissionItem::specifiesCoordinateChanged, this,
          &MissionController::_recalcWaypointLines);
  connect(visualItem, &VisualMissionItem::coordinateHasRelativeAltitudeChanged,
          this, &MissionController::_recalcWaypointLines);
  connect(visualItem,
          &VisualMissionItem::exitCoordinateHasRelativeAltitudeChanged, this,
          &MissionController::_recalcWaypointLines);
  connect(visualItem, &VisualMissionItem::specifiedFlightSpeedChanged, this,
          &MissionController::_recalcMissionFlightStatus);
  connect(visualItem, &VisualMissionItem::specifiedGimbalYawChanged, this,
          &MissionController::_recalcMissionFlightStatus);
  connect(visualItem, &VisualMissionItem::specifiedGimbalPitchChanged, this,
          &MissionController::_recalcMissionFlightStatus);
  connect(visualItem, &VisualMissionItem::terrainAltitudeChanged, this,
          &MissionController::_recalcMissionFlightStatus);
  connect(visualItem, &VisualMissionItem::additionalTimeDelayChanged, this,
          &MissionController::_recalcMissionFlightStatus);
  connect(visualItem, &VisualMissionItem::lastSequenceNumberChanged, this,
          &MissionController::_recalcSequence);
}

void MissionController::_initSimpleItem(SimpleMissionItem *item) {
  _initVisualItemCommon(item);
  // We need to track commandChanged on simple item since recalc has special
  // handling for takeoff command
  connect(&item->missionItem()._commandFact, &Fact::valueChanged, this,
          &MissionController::_itemCommandChanged);
}

void MissionController::_initComplexItem(ComplexMissionItem *item) {
  _initVisualItemCommon(item);
  connect(item, &ComplexMissionItem::complexDistanceChanged, this,
          &MissionController::_recalcMissionFlightStatus);
  connect(item, &ComplexMissionItem::greatestDistanceToChanged, this,
          &MissionController::_recalcMissionFlightStatus);
}

void MissionController::_deinitVisualItem(VisualMissionItem *visualItem) {
  // Disconnect all signals
  disconnect(visualItem, 0, 0, 0);
}

void MissionController::_itemCommandChanged(void) {
  _recalcChildItems();
  _recalcWaypointLines();
}

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

  _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::homePositionChanged, this,
          &MissionController::_managerVehicleHomePositionChanged);
  connect(_managerVehicle, &Vehicle::defaultCruiseSpeedChanged, this,
          &MissionController::_recalcMissionFlightStatus);
  connect(_managerVehicle, &Vehicle::defaultHoverSpeedChanged, this,
          &MissionController::_recalcMissionFlightStatus);
  connect(_managerVehicle, &Vehicle::vehicleTypeChanged, this,
          &MissionController::complexMissionItemNamesChanged);
  connect(_managerVehicle, &Vehicle::flyingChanged, this,
          &MissionController::_enableDisableRemainingDistTimeCalculation);

  if (!_masterController->offline()) {
    _managerVehicleHomePositionChanged(_managerVehicle->homePosition());
  }

  emit complexMissionItemNamesChanged();
  emit resumeMissionIndexChanged();
}

void MissionController::_managerVehicleHomePositionChanged(
    const QGeoCoordinate &homePosition) {
  if (_visualItems) {
    bool currentDirtyBit = dirty();

    MissionSettingsItem *settingsItem =
        qobject_cast<MissionSettingsItem *>(_visualItems->get(0));
    if (settingsItem) {
      settingsItem->setHomePositionFromVehicle(homePosition);
    } else {
      qWarning() << "First item is not MissionSettingsItem";
=======
=======
>>>>>>> upstream_merge
    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 {
                errorString = tr("Unsupported complex item type: %1").arg(complexItemType);
            }
        } else {
            errorString = tr("Unknown item type: %1").arg(itemType);
            return false;
        }
>>>>>>> upstream_merge
    }

    if (!currentDirtyBit) {
      // Don't let this trip the dirty bit. Otherwise plan will keep getting
      // marked dirty if vehicle home changes.
      _visualItems->setDirty(false);
    }
  }
}

<<<<<<< HEAD
void MissionController::_inProgressChanged(bool inProgress) {
  emit syncInProgressChanged(inProgress);
=======
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);
    }
>>>>>>> upstream_merge
}

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

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

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

<<<<<<< HEAD
    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 (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;
            }
>>>>>>> upstream_merge
        }
      }
    }
  }

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

  return found;
}

<<<<<<< HEAD
double MissionController::_normalizeLat(double lat) {
  // Normalize latitude to range: 0 to 180, S to N
  return lat + 90.0;
}
=======
void MissionController::_initLoadedVisualItems(QmlObjectListModel* loadedVisualItems)
{
    if (_visualItems) {
        _deinitAllVisualItems();
        _visualItems->deleteLater();
    }
    _settingsItem = nullptr;
    _takeoffMissionItem = nullptr;
<<<<<<< HEAD
>>>>>>> upstream_merge

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

<<<<<<< HEAD
/// Add the Mission Settings complex item to the front of the items
void MissionController::_addMissionSettings(QmlObjectListModel *visualItems,
                                            bool addToCenter) {
  MissionSettingsItem *settingsItem =
      new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);

  qCDebug(MissionControllerLog)
      << "_addMissionSettings addToCenter" << addToCenter;

  visualItems->insert(0, settingsItem);

  if (addToCenter) {
    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;
          }
        }
      }
=======
>>>>>>> upstream_merge

      if (firstCoordSet) {
        settingsItem->setCoordinate(
            QGeoCoordinate((south + ((north - south) / 2)) - 90.0,
                           (west + ((east - west) / 2)) - 180.0, 0.0));
      }
    }
  } else if (_managerVehicle->homePosition().isValid()) {
    settingsItem->setCoordinate(_managerVehicle->homePosition());
  }
}

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

<<<<<<< HEAD
<<<<<<< HEAD
  return resumeIndex;
=======
=======
>>>>>>> upstream_merge
    MissionController::_scanForAdditionalSettings(_visualItems, _masterController);

    _initAllVisualItems();

    if (_visualItems->count() > 1) {
        _firstItemAdded();
    } else {
        _allItemsRemoved();
    }
<<<<<<< HEAD
>>>>>>> upstream_merge
=======
>>>>>>> upstream_merge
}

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);
  }
}

<<<<<<< HEAD
void MissionController::_scanForAdditionalSettings(
    QmlObjectListModel *visualItems, Vehicle *vehicle) {
  // First we look for a Fixed Wing Landing Pattern which is at the end
  FixedWingLandingComplexItem::scanForItem(visualItems, _flyView, vehicle);
=======
    setGlobalAltitudeMode(QGroundControlQmlGlobal::AltitudeModeNone);   // Mixed mode

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

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

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

<<<<<<< HEAD
    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, vehicle);
    } else {
      // Complex item, can't have sections
      scanIndex++;
    }
  }
}

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

<<<<<<< HEAD
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(_surveyMissionItemName);
  complexItems.append(patternCorridorScanName);
  // Circular Survey not added here, as it can only be used together with
  // WimaView.
  if (_controllerVehicle->fixedWing()) {
    complexItems.append(patternFWLandingName);
  }
  if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
    complexItems.append(patternStructureScanName);
  }

  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 (!qFuzzyCompare(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;
=======
    setGlobalAltitudeMode(QGroundControlQmlGlobal::AltitudeModeNone);   // Mixed mode

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

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();
  }
}

int MissionController::currentPlanViewIndex(void) const {
  return _currentPlanViewIndex;
}

<<<<<<< HEAD
bool MissionController::distanceTimeToMissionEnd(
    double &remainingDistance, double &remainingTime, int missionIndex,
    bool useVehiclePosition) const {
  // input check
  if (_visualItems == nullptr || _visualItems->count() < 1 || !_flyView ||
      missionIndex < 1 || missionIndex > _visualItems->count()) {
    return false;
  }
  // check if vehicle is flying and fetch vehicle coordinate
  QGeoCoordinate vehiclePosition;
  if (_managerVehicle && _managerVehicle->flying() && useVehiclePosition) {
    vehiclePosition = _managerVehicle->coordinate();
  } else {
    if (useVehiclePosition) {
      useVehiclePosition = false;
      qWarning(
          "MissionController::distanceTimeToMissionEnd(): vehicle position "
          "can't be used. Either no vehicle connected, or vehicle not flying.");
    }
  }

  remainingDistance = 0;
  remainingTime = 0;

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

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

  // 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
  lastCoordinateItem->setAltDifference(0.0);
  lastCoordinateItem->setAzimuth(0.0);
  lastCoordinateItem->setDistance(0.0);

  const double homePositionAltitude = _settingsItem->coordinate().altitude();

  bool linkStartToHome = false;
  bool linkEndToHome = false;

  if (showHomePosition) {
    SimpleMissionItem *lastItem =
        _visualItems->value<SimpleMissionItem *>(_visualItems->count() - 1);
    if (lastItem && int(lastItem->command()) == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
      linkEndToHome = true;
    } else {
      linkEndToHome = _settingsItem->missionEndRTL();
    }
  }

  // determine speed at waypoint with index missionIndex
  double currentSpeed = _settingsItem->specifiedFlightSpeed();
  currentSpeed = !qIsNaN(currentSpeed) ? currentSpeed : 5;
  for (int i = 1; i < missionIndex; ++i) {
    SimpleMissionItem *simpleItem = _visualItems->value<SimpleMissionItem *>(i);

    if (simpleItem != nullptr) {
      double speed = simpleItem->specifiedFlightSpeed();
      if (!qIsNaN(speed))
        currentSpeed = speed;
    }
  }

  // calculate dist and time from current vehicle pos. to mission item with
  // index missionIndex
  if (useVehiclePosition) {
    // find valid coordinate
    for (int i = missionIndex; i < _visualItems->count(); ++i) {
      SimpleMissionItem *simpleItem =
          _visualItems->value<SimpleMissionItem *>(missionIndex);
      if (simpleItem != nullptr && simpleItem->specifiesCoordinate()) {
        double dist = vehiclePosition.distanceTo(simpleItem->coordinate());
        double time = dist / currentSpeed;

        remainingDistance += dist;
        remainingTime += time;
        break;
      }
    }
  }

  // iterate over mission items starting at currentMissionIdx-1 and determine
  // time and distance
  for (int i = missionIndex; i < _visualItems->count(); i++) {
    VisualMissionItem *item =
        qobject_cast<VisualMissionItem *>(_visualItems->get(i));
    SimpleMissionItem *simpleItem = qobject_cast<SimpleMissionItem *>(item);

    // Assume the worst
    item->setAzimuth(0.0);
    item->setDistance(0.0);

    // Look for speed changed
    double newSpeed = item->specifiedFlightSpeed();
    if (!qIsNaN(newSpeed)) {
      currentSpeed = newSpeed;
    }

    // Link back to home if first item is takeoff and we have home position
    if (firstCoordinateItem && simpleItem &&
        (simpleItem->command() == MAV_CMD_NAV_TAKEOFF ||
         simpleItem->command() == MAV_CMD_NAV_VTOL_TAKEOFF)) {
      if (showHomePosition) {
        linkStartToHome = true;
        if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
          // We have to special case takeoff, assuming vehicle takes off
          // straight up to specified altitude

          QGeoCoordinate itemCoordinate = item->exitCoordinate();
          QGeoCoordinate settingsCoordinate = _settingsItem->coordinate();
          if (item->exitCoordinateHasRelativeAltitude()) {
            itemCoordinate.setAltitude(homePositionAltitude +
                                       settingsCoordinate.altitude());
          }

          double altDifference =
              settingsCoordinate.altitude() - itemCoordinate.altitude();

          double takeoffTime =
              qAbs(altDifference) /
              _appSettings->offlineEditingAscentSpeed()->rawValue().toDouble();
          remainingTime += takeoffTime;
=======
=======
>>>>>>> upstream_merge
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();
<<<<<<< HEAD
>>>>>>> upstream_merge
=======
>>>>>>> upstream_merge
        }
      }
    }

<<<<<<< HEAD
<<<<<<< HEAD
    remainingTime += item->additionalTimeDelay();
=======
=======
>>>>>>> upstream_merge
    return VisualMissionItem::ReadyForSave;
}

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

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

<<<<<<< HEAD
      if (lastCoordinateItem != _settingsItem || linkStartToHome) {
        // This is a subsequent waypoint or we are forcing the first waypoint
        // back to home
=======
    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;
<<<<<<< HEAD
>>>>>>> upstream_merge

        QGeoCoordinate currentCoord = item->coordinate();
        QGeoCoordinate prevCoord = lastCoordinateItem->exitCoordinate();

        if (item != _settingsItem && item->coordinateHasRelativeAltitude()) {
          currentCoord.setAltitude(homePositionAltitude +
                                   currentCoord.altitude());
        }
        if (lastCoordinateItem != _settingsItem &&
            lastCoordinateItem->exitCoordinateHasRelativeAltitude()) {
          prevCoord.setAltitude(homePositionAltitude + prevCoord.altitude());
        }
=======

    // Save the visual items

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

        double distance = prevCoord.distanceTo(currentCoord);
        double time = distance / currentSpeed;

        remainingDistance += distance;
        remainingTime += time;
      }

      lastCoordinateItem = item;
    }

<<<<<<< HEAD
    if (simpleItem != nullptr &&
        (simpleItem->command() == MAV_CMD_NAV_LAND ||
         simpleItem->command() == MAV_CMD_NAV_LAND_LOCAL ||
         simpleItem->command() == MAV_CMD_NAV_VTOL_LAND)) {

<<<<<<< HEAD
      double alt = 0;
      if (i == missionIndex) {
        alt = _managerVehicle->altitudeRelative()->rawValue().toDouble();
      } else {
        QGeoCoordinate currentCoord = simpleItem->coordinate();
=======
=======
    json[_jsonItemsKey] = rgJsonMissionItems;
}

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

        if (simpleItem->coordinateHasRelativeAltitude()) {
          currentCoord.setAltitude(homePositionAltitude +
                                   currentCoord.altitude());
        }
=======
>>>>>>> upstream_merge

<<<<<<< HEAD
        alt = currentCoord.altitude() - homePositionAltitude;
      }
      double landTime =
          qAbs(alt) /
          _appSettings->offlineEditingDescentSpeed()->rawValue().toDouble();

<<<<<<< HEAD
      remainingTime += landTime;
    }
  }

  if (linkEndToHome && lastCoordinateItem != _settingsItem) {

    QGeoCoordinate currentCoord = lastCoordinateItem->coordinate();
    QGeoCoordinate prevCoord = _settingsItem->exitCoordinate();

    if (lastCoordinateItem != _settingsItem &&
        lastCoordinateItem->coordinateHasRelativeAltitude()) {
      currentCoord.setAltitude(homePositionAltitude + currentCoord.altitude());
    }

    double altDifference = currentCoord.altitude() - prevCoord.altitude();
    double distance = currentCoord.distanceTo(prevCoord);

    double time = distance / currentSpeed;
    double landTime =
        qAbs(altDifference) /
        _appSettings->offlineEditingDescentSpeed()->rawValue().toDouble();

    remainingDistance += distance;
    remainingTime += time + landTime;
  }
  return true;
}

VisualMissionItem *MissionController::currentPlanViewItem(void) const {
  return _currentPlanViewItem;
}

void MissionController::setCurrentPlanViewIndex(int sequenceNumber,
                                                bool force) {
  if (_visualItems && (force || sequenceNumber != _currentPlanViewIndex)) {
    _currentPlanViewItem = nullptr;
    _currentPlanViewIndex = -1;
    for (int i = 0; i < _visualItems->count(); i++) {
      VisualMissionItem *pVI =
          qobject_cast<VisualMissionItem *>(_visualItems->get(i));
      if (pVI && pVI->sequenceNumber() == sequenceNumber) {
        pVI->setIsCurrentItem(true);
        _currentPlanViewItem = pVI;
        _currentPlanViewIndex = sequenceNumber;
      } else {
        pVI->setIsCurrentItem(false);
      }
    }
    emit currentPlanViewIndexChanged();
    emit currentPlanViewItemChanged();
  }
}

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;
=======
=======
>>>>>>> upstream_merge
    *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;
                }
            }
        }
<<<<<<< HEAD

        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;

=======

        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;

>>>>>>> upstream_merge
    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);
>>>>>>> upstream_merge
        }
      }
    } else {
<<<<<<< HEAD
      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);
=======
        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);
    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);
>>>>>>> upstream_merge
}

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();
    }
}

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();
    }
}