FlightDisplayView.qml 30.3 KB
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/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
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import QtQuick                  2.3
import QtQuick.Controls         1.2
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import QtQuick.Controls.Styles  1.4
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import QtQuick.Dialogs          1.2
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import QtLocation               5.3
import QtPositioning            5.3
import QtMultimedia             5.5
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import QtQuick.Layouts          1.2
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import QGroundControl               1.0
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import QGroundControl.FlightDisplay 1.0
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import QGroundControl.FlightMap     1.0
import QGroundControl.ScreenTools   1.0
import QGroundControl.Controls      1.0
import QGroundControl.Palette       1.0
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import QGroundControl.Vehicle       1.0
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import QGroundControl.Controllers   1.0
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import QGroundControl.FactSystem    1.0
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/// Flight Display View
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QGCView {
    id:             root
    viewPanel:      _panel
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    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
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    property alias guidedController: guidedActionsController

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    property bool activeVehicleJoystickEnabled: _activeVehicle ? _activeVehicle.joystickEnabled : false

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    property var _activeVehicle:        QGroundControl.multiVehicleManager.activeVehicle
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    property bool _mainIsMap:           QGroundControl.videoManager.hasVideo ? QGroundControl.loadBoolGlobalSetting(_mainIsMapKey,  true) : true
    property bool _isPipVisible:        QGroundControl.videoManager.hasVideo ? QGroundControl.loadBoolGlobalSetting(_PIPVisibleKey, true) : false
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    property real _savedZoomLevel:      0
    property real _margins:             ScreenTools.defaultFontPixelWidth / 2
    property real _pipSize:             mainWindow.width * 0.2
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    readonly property bool      isBackgroundDark:       _mainIsMap ? (_flightMap ? _flightMap.isSatelliteMap : true) : true
    readonly property real      _defaultRoll:           0
    readonly property real      _defaultPitch:          0
    readonly property real      _defaultHeading:        0
    readonly property real      _defaultAltitudeAMSL:   0
    readonly property real      _defaultGroundSpeed:    0
    readonly property real      _defaultAirSpeed:       0
    readonly property string    _mapName:               "FlightDisplayView"
    readonly property string    _showMapBackgroundKey:  "/showMapBackground"
    readonly property string    _mainIsMapKey:          "MainFlyWindowIsMap"
    readonly property string    _PIPVisibleKey:         "IsPIPVisible"

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

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

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    function px4JoystickCheck() {
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        if ( _activeVehicle && !_activeVehicle.supportsManualControl && (QGroundControl.settingsManager.appSettings.virtualJoystick.value || _activeVehicle.joystickEnabled)) {
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            px4JoystickSupport.open()
        }
    }

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    MissionController {
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        id:                     flyMissionController
        Component.onCompleted:  start(false /* editMode */)
        onResumeMissionReady:   guidedActionsController.confirmAction(guidedActionsController.actionResumeMissionReady)
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    }

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    MessageDialog {
        id:     px4JoystickSupport
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        text:   qsTr("Joystick support requires MAVLink MANUAL_CONTROL support. ") +
                qsTr("The firmware you are running does not normally support this. ") +
                qsTr("It will only work if you have modified the firmware to add MANUAL_CONTROL support.")
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    }

    Connections {
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        target: QGroundControl.multiVehicleManager
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        onActiveVehicleChanged: px4JoystickCheck()
    }

    Connections {
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        target:         QGroundControl.settingsManager.appSettings.virtualJoystick
        onValueChanged: px4JoystickCheck()
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    }

    onActiveVehicleJoystickEnabledChanged: px4JoystickCheck()

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    Component.onCompleted: {
        setStates()
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        px4JoystickCheck()
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        if(QGroundControl.corePlugin.options.flyViewOverlay.toString().length) {
            flyViewOverlay.source = QGroundControl.corePlugin.options.flyViewOverlay
        }
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    }
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    QGCMapPalette { id: mapPal; lightColors: _mainIsMap ? _flightMap.isSatelliteMap : true }

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    QGCViewPanel {
        id:             _panel
        anchors.fill:   parent

        //-- Map View
        //   For whatever reason, if FlightDisplayViewMap is the _panel item, changing
        //   width/height has no effect.
        Item {
            id: _flightMapContainer
            z:  _mainIsMap ? _panel.z + 1 : _panel.z + 2
            anchors.left:   _panel.left
            anchors.bottom: _panel.bottom
            visible:        _mainIsMap || _isPipVisible
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            width:          _mainIsMap ? _panel.width  : _pipSize
            height:         _mainIsMap ? _panel.height : _pipSize * (9/16)
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            states: [
                State {
                    name:   "pipMode"
                    PropertyChanges {
                        target:             _flightMapContainer
                        anchors.margins:    ScreenTools.defaultFontPixelHeight
                    }
                },
                State {
                    name:   "fullMode"
                    PropertyChanges {
                        target:             _flightMapContainer
                        anchors.margins:    0
                    }
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                }
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            ]
            FlightDisplayViewMap {
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                id:                     _flightMap
                anchors.fill:           parent
                missionController:      flyMissionController
                guidedActionsController: guidedController
                flightWidgets:          flightDisplayViewWidgets
                rightPanelWidth:        ScreenTools.defaultFontPixelHeight * 9
                qgcView:                root
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                scaleState:             (_mainIsMap && flyViewOverlay.item) ? (flyViewOverlay.item.scaleState ? flyViewOverlay.item.scaleState : "bottomMode") : "bottomMode"
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            }
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        }
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        //-- Video View
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        Item {
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            id:             _flightVideo
            z:              _mainIsMap ? _panel.z + 2 : _panel.z + 1
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            width:          !_mainIsMap ? _panel.width  : _pipSize
            height:         !_mainIsMap ? _panel.height : _pipSize * (9/16)
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            anchors.left:   _panel.left
            anchors.bottom: _panel.bottom
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            visible:        QGroundControl.videoManager.hasVideo && (!_mainIsMap || _isPipVisible)
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            states: [
                State {
                    name:   "pipMode"
                    PropertyChanges {
                        target: _flightVideo
                        anchors.margins:    ScreenTools.defaultFontPixelHeight
                    }
                },
                State {
                    name:   "fullMode"
                    PropertyChanges {
                        target: _flightVideo
                        anchors.margins:    0
                    }
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                }
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            ]
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            //-- Video Streaming
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            FlightDisplayViewVideo {
                anchors.fill:   parent
                visible:        QGroundControl.videoManager.isGStreamer
            }
            //-- UVC Video (USB Camera or Video Device)
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            Loader {
                id:             cameraLoader
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                anchors.fill:   parent
                visible:        !QGroundControl.videoManager.isGStreamer
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                source:         QGroundControl.videoManager.uvcEnabled ? "qrc:/qml/FlightDisplayViewUVC.qml" : "qrc:/qml/FlightDisplayViewDummy.qml"
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            }
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        }
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        QGCPipable {
            id:                 _flightVideoPipControl
            z:                  _flightVideo.z + 3
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            width:              _pipSize
            height:             _pipSize * (9/16)
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            anchors.left:       _panel.left
            anchors.bottom:     _panel.bottom
            anchors.margins:    ScreenTools.defaultFontPixelHeight
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            visible:            QGroundControl.videoManager.hasVideo
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            isHidden:           !_isPipVisible
            isDark:             isBackgroundDark
            onActivated: {
                _mainIsMap = !_mainIsMap
                setStates()
            }
            onHideIt: {
                setPipVisibility(!state)
            }
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        }
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        Row {
            id:                     singleMultiSelector
            anchors.topMargin:      ScreenTools.toolbarHeight + _margins
            anchors.rightMargin:    _margins
            anchors.right:          parent.right
            anchors.top:            parent.top
            spacing:                ScreenTools.defaultFontPixelWidth
            z:                      _panel.z + 4
            visible:                QGroundControl.multiVehicleManager.vehicles.count > 1

            ExclusiveGroup { id: multiVehicleSelectorGroup }

            QGCRadioButton {
                id:             singleVehicleView
                exclusiveGroup: multiVehicleSelectorGroup
                text:           qsTr("Single")
                checked:        true
                color:          mapPal.text
            }

            QGCRadioButton {
                exclusiveGroup: multiVehicleSelectorGroup
                text:           qsTr("Multi-Vehicle (WIP)")
                color:          mapPal.text
            }
        }

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        FlightDisplayViewWidgets {
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            id:                 flightDisplayViewWidgets
            z:                  _panel.z + 4
            height:             ScreenTools.availableHeight
            anchors.left:       parent.left
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            anchors.right:      altitudeSlider.visible ? altitudeSlider.left : parent.right
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            anchors.bottom:     parent.bottom
            qgcView:            root
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            useLightColors:     isBackgroundDark
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            missionController:  _flightMap.missionController
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            visible:            singleVehicleView.checked
        }

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

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        // Button to start/stop video recording
        Item {
            z:                  _flightVideoPipControl.z + 1
            anchors.margins:    ScreenTools.defaultFontPixelHeight / 2
            anchors.bottom:     _flightVideo.bottom
            anchors.right:      _flightVideo.right
            height:             ScreenTools.defaultFontPixelHeight * 2
            width:              height
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            visible:            QGroundControl.videoManager.videoRunning && QGroundControl.videoManager.recordingEnabled
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            opacity:            0.75

            Rectangle {
                anchors.top:        parent.top
                anchors.bottom:     parent.bottom
                width:              height
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                radius:             QGroundControl.videoManager && QGroundControl.videoManager.videoReceiver && QGroundControl.videoManager.videoReceiver.recording ? 0 : height
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                color:              "red"
            }

            QGCColoredImage {
                anchors.top:                parent.top
                anchors.bottom:             parent.bottom
                anchors.horizontalCenter:   parent.horizontalCenter
                width:                      height * 0.625
                sourceSize.width:           width
                source:                     "/qmlimages/CameraIcon.svg"
                fillMode:                   Image.PreserveAspectFit
                color:                      "white"
            }

            MouseArea {
                anchors.fill:   parent
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                onClicked:      QGroundControl.videoManager.videoReceiver && QGroundControl.videoManager.videoReceiver.recording ? QGroundControl.videoManager.videoReceiver.stopRecording() : QGroundControl.videoManager.videoReceiver.startRecording()
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            }
        }

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        MultiVehicleList {
            anchors.margins:    _margins
            anchors.top:        singleMultiSelector.bottom
            anchors.right:      parent.right
            anchors.bottom:     parent.bottom
            width:              ScreenTools.defaultFontPixelWidth * 30
            visible:            !singleVehicleView.checked
            z:                  _panel.z + 4
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        }
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        //-- Virtual Joystick
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        Loader {
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            id:                         virtualJoystickMultiTouch
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            z:                          _panel.z + 5
            width:                      parent.width  - (_flightVideoPipControl.width / 2)
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            height:                     Math.min(ScreenTools.availableHeight * 0.25, ScreenTools.defaultFontPixelWidth * 16)
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            visible:                    _virtualJoystick ? _virtualJoystick.value : false
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            anchors.bottom:             _flightVideoPipControl.top
            anchors.bottomMargin:       ScreenTools.defaultFontPixelHeight * 2
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            anchors.horizontalCenter:   flightDisplayViewWidgets.horizontalCenter
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            source:                     "qrc:/qml/VirtualJoystick.qml"
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            active:                     _virtualJoystick ? _virtualJoystick.value : false
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            property bool useLightColors: isBackgroundDark
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            property Fact _virtualJoystick: QGroundControl.settingsManager.appSettings.virtualJoystick
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        }
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        ToolStrip {
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            visible:            _activeVehicle ? _activeVehicle.guidedModeSupported : false
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            id:                 toolStrip
            anchors.leftMargin: ScreenTools.defaultFontPixelWidth
            anchors.left:       _panel.left
            anchors.topMargin:  ScreenTools.toolbarHeight + _margins
            anchors.top:        _panel.top
            z:                  _panel.z + 4
            title:              qsTr("Fly")
            maxHeight:          (_flightVideo.visible ? _flightVideo.y : parent.height) - toolStrip.y
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            buttonVisible:      [ guidedController.showTakeoff || !guidedController.showLand, guidedController.showLand && !guidedController.showTakeoff, true, true, true, guidedController.smartShotsAvailable ]
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            buttonEnabled:      [ guidedController.showTakeoff, guidedController.showLand, guidedController.showRTL, guidedController.showPause, _anyActionAvailable, _anySmartShotAvailable ]

            property bool _anyActionAvailable: guidedController.showEmergenyStop || guidedController.showStartMission || guidedController.showResumeMission || guidedController.showChangeAlt || guidedController.showLandAbort
            property bool _anySmartShotAvailable: guidedController.showOrbit
            property var _actionModel: [
                {
                    title:      guidedController.startMissionTitle,
                    text:       guidedController.startMissionMessage,
                    action:     guidedController.actionStartMission,
                    visible:    guidedController.showStartMission
                },
                {
                    title:      guidedController.resumeMissionTitle,
                    text:       guidedController.resumeMissionMessage,
                    action:     guidedController.actionResumeMission,
                    visible:    guidedController.showResumeMission
                },
                {
                    title:      guidedController.changeAltTitle,
                    text:       guidedController.changeAltMessage,
                    action:     guidedController.actionChangeAlt,
                    visible:    guidedController.showChangeAlt
                },
                {
                    title:      guidedController.landAbortTitle,
                    text:       guidedController.landAbortMessage,
                    action:     guidedController.actionLandAbort,
                    visible:    guidedController.showLandAbort
                }
            ]
            property var _smartShotModel: [
                {
                    title:      guidedController.orbitTitle,
                    text:       guidedController.orbitMessage,
                    action:     guidedController.actionOrbit,
                    visible:    guidedController.showOrbit
                }
            ]

            model: [
                {
                    name:       guidedController.takeoffTitle,
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                    iconSource: "/res/takeoff.svg",
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                    action:     guidedController.actionTakeoff
                },
                {
                    name:       guidedController.landTitle,
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                    iconSource: "/res/land.svg",
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                    action:     guidedController.actionLand
                },
                {
                    name:       guidedController.rtlTitle,
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                    iconSource: "/res/rtl.svg",
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                    action:     guidedController.actionRTL
                },
                {
                    name:       guidedController.pauseTitle,
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                    iconSource: "/res/pause-mission.svg",
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                    action:     guidedController.actionPause
                },
                {
                    name:       qsTr("Action"),
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                    iconSource: "/res/action.svg",
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                    action:     -1
                },
                /*
                  No firmware support any smart shots yet
                {
                    name:       qsTr("Smart"),
                    iconSource: "/qmlimages/MapCenter.svg",
                    action:     -1
                },
                */
            ]

            onClicked: {
                guidedActionConfirm.visible = false
                guidedActionList.visible = false
                altitudeSlider.visible = false
                var action = model[index].action
                if (action === -1) {
                    if (index == 4) {
                        guidedActionList.model = _actionModel
                        guidedActionList.visible = true
                    } else if (index == 5) {
                        guidedActionList.model = _smartShotModel
                        guidedActionList.visible = true
                    }
                } else {
                    guidedController.confirmAction(action)
                }
            }
        }

        GuidedActionsController {
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            id:                 guidedActionsController
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            missionController:  flyMissionController
            z:                  _flightVideoPipControl.z + 1

            onShowConfirmAction: {
                guidedActionConfirm.title =         title
                guidedActionConfirm.message =       message
                guidedActionConfirm.action =        action
                guidedActionConfirm.actionData =    actionData
                guidedActionConfirm.visible =       true
            }
        }

        Rectangle {
            id:                         guidedActionConfirm
            anchors.margins:            _margins
            anchors.bottom:             parent.bottom
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            anchors.bottomMargin:       ScreenTools.defaultFontPixelHeight * 4
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            anchors.horizontalCenter:   parent.horizontalCenter
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            border.color:               qgcPal.alertBorder
            border.width:               1
            width:                      confirmColumn.width  + (_margins * 4)
            height:                     confirmColumn.height + (_margins * 4)
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            radius:                     ScreenTools.defaultFontPixelHeight / 2
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            color:                      qgcPal.alertBackground
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            opacity:                    0.9
            z:                          guidedController.z
            visible:                    false

            property alias  title:      titleText.text
            property alias  message:    messageText.text
            property int    action
            property var    actionData

            property real _margins: ScreenTools.defaultFontPixelWidth

            Column {
                id:                 confirmColumn
                anchors.margins:    _margins
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                anchors.centerIn:   parent
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                spacing:            _margins

                QGCLabel {
                    id:                     titleText
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                    color:                  qgcPal.alertText
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                    anchors.left:           slider.left
                    anchors.right:          slider.right
                    horizontalAlignment:    Text.AlignHCenter
                }

                QGCLabel {
                    id:                     messageText
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                    color:                  qgcPal.alertText
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                    anchors.left:           slider.left
                    anchors.right:          slider.right
                    horizontalAlignment:    Text.AlignHCenter
                    wrapMode:               Text.WordWrap
                }

                // Action confirmation control
                SliderSwitch {
                    id:             slider
                    confirmText:    qsTr("Slide to confirm")
                    width:          Math.max(implicitWidth, ScreenTools.defaultFontPixelWidth * 30)

                    onAccept: {
                        guidedActionConfirm.visible = false
                        if (altitudeSlider.visible) {
                            guidedActionConfirm.actionData = altitudeSlider.getValue()
                            altitudeSlider.visible = false
                        }
                        guidedController.executeAction(guidedActionConfirm.action, guidedActionConfirm.actionData)
                    }

                    onReject: {
                        altitudeSlider.visible = false
                        guidedActionConfirm.visible = false
                    }
                }
            }

            QGCColoredImage {
                anchors.margins:    _margins
                anchors.top:        parent.top
                anchors.right:      parent.right
                width:              ScreenTools.defaultFontPixelHeight
                height:             width
                sourceSize.height:  width
                source:             "/res/XDelete.svg"
                fillMode:           Image.PreserveAspectFit
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                color:              qgcPal.alertText
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                QGCMouseArea {
                    fillItem:   parent
                    onClicked: {
                        altitudeSlider.visible = false
                        guidedActionConfirm.visible = false
                    }
                }
            }
        }

        Rectangle {
            id:                         guidedActionList
            anchors.margins:            _margins
            anchors.bottom:             parent.bottom
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            anchors.bottomMargin:       ScreenTools.defaultFontPixelHeight * 4
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            anchors.horizontalCenter:   parent.horizontalCenter
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            width:                      actionColumn.width  + (_margins * 4)
            height:                     actionColumn.height + (_margins * 4)
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            radius:                     _margins / 2
            color:                      qgcPal.window
            opacity:                    0.9
            z:                          guidedController.z
            visible:                    false

            property alias model: actionRepeater.model

            property real _margins: Math.round(ScreenTools.defaultFontPixelHeight * 0.66)

            ColumnLayout {
                id:                 actionColumn
                anchors.margins:    guidedActionList._margins
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                anchors.centerIn:   parent
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                spacing:            _margins

                QGCLabel {
                    text:               qsTr("Select Action")
                    Layout.alignment:   Qt.AlignHCenter
                }

                QGCFlickable {
                    contentWidth:           actionRow.width
                    contentHeight:          actionRow.height
                    Layout.minimumHeight:   actionRow.height
                    Layout.maximumHeight:   actionRow.height
                    Layout.minimumWidth:    _width
                    Layout.maximumWidth:    _width

                    property real _width: Math.min(root.width * 0.8, actionRow.width)

                    RowLayout {
                        id:         actionRow
                        spacing:    ScreenTools.defaultFontPixelHeight * 2

                        Repeater {
                            id: actionRepeater

                            ColumnLayout {
                                spacing:            ScreenTools.defaultFontPixelHeight / 2
                                visible:            modelData.visible
                                Layout.fillHeight:  true

                                QGCLabel {
                                    id:                     actionMessage
                                    text:                   modelData.text
                                    horizontalAlignment:    Text.AlignHCenter
                                    wrapMode:               Text.WordWrap
                                    Layout.minimumWidth:    _width
                                    Layout.maximumWidth:    _width
                                    Layout.fillHeight:      true

                                    property real _width: ScreenTools.defaultFontPixelWidth * 25
                                }

                                QGCButton {
                                    id:                         actionButton
                                    anchors.horizontalCenter:   parent.horizontalCenter
                                    text:                       modelData.title

                                    onClicked: {
                                        if (modelData.action === guidedController.actionChangeAlt) {
                                            altitudeSlider.visible = true
                                        }
                                        guidedActionList.visible = false
                                        guidedController.confirmAction(modelData.action)
                                    }
                                }
                            }
                        }
                    }
                }
            }

            QGCColoredImage {
                anchors.margins:    _margins
                anchors.top:        parent.top
                anchors.right:      parent.right
                width:              ScreenTools.defaultFontPixelHeight
                height:             width
                sourceSize.height:  width
                source:             "/res/XDelete.svg"
                fillMode:           Image.PreserveAspectFit
                color:              qgcPal.text

                QGCMouseArea {
                    fillItem:   parent
                    onClicked:  guidedActionList.visible = false
                }
            }
        }

        //-- Altitude slider
        Rectangle {
            id:                 altitudeSlider
            anchors.margins:    _margins
            anchors.right:      parent.right
            anchors.topMargin:  ScreenTools.toolbarHeight + _margins
            anchors.top:        parent.top
            anchors.bottom:     parent.bottom
            z:                  guidedController.z
            radius:             ScreenTools.defaultFontPixelWidth / 2
            width:              ScreenTools.defaultFontPixelWidth * 10
            color:              qgcPal.window
            visible:            false

            function setValue(value) {
                altSlider.value = value
            }

            function getValue() {
                return altSlider.value
            }

            Column {
                id:                 headerColumn
                anchors.margins:    _margins
                anchors.top:        parent.top
                anchors.left:       parent.left
                anchors.right:      parent.right

                QGCLabel {
                    anchors.horizontalCenter:   parent.horizontalCenter
                    text:                       altSlider.value >=0 ? qsTr("Up") : qsTr("Down")
                }

                QGCLabel {
                    id:                         altField
                    anchors.horizontalCenter:   parent.horizontalCenter
                    text:                       Math.abs(altSlider.value.toFixed(1)) + " " + QGroundControl.appSettingsDistanceUnitsString
                }
            }

            QGCSlider {
                id:                 altSlider
                anchors.margins:    _margins
                anchors.top:        headerColumn.bottom
                anchors.bottom:     parent.bottom
                anchors.left:       parent.left
                anchors.right:      parent.right
                orientation:        Qt.Vertical
                minimumValue:       QGroundControl.metersToAppSettingsDistanceUnits(-10)
                maximumValue:       QGroundControl.metersToAppSettingsDistanceUnits(10)
                indicatorCentered:  true
                rotation:           180

                // We want slide up to be positive values
                transform: Rotation {
                    origin.x:   altSlider.width / 2
                    origin.y:   altSlider.height / 2
                    angle:      180
                }
            }
        }
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    }
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}