Starting point for new MultiVehicle view

qgroundcontrol.qrc

@@ -34,6 +34,7 @@
         <file alias="MissionEditor.qml">src/MissionEditor/MissionEditor.qml</file>
         <file alias="MockLink.qml">src/ui/preferences/MockLink.qml</file>
         <file alias="MockLinkSettings.qml">src/ui/preferences/MockLinkSettings.qml</file>
+        <file alias="MultiVehicleView.qml">src/MultiVehicle/MultiVehicleView.qml</file>
         <file alias="MotorComponent.qml">src/AutoPilotPlugins/Common/MotorComponent.qml</file>
         <file alias="OfflineMap.qml">src/QtLocationPlugin/QMLControl/OfflineMap.qml</file>
         <file alias="PowerComponent.qml">src/AutoPilotPlugins/PX4/PowerComponent.qml</file>
@@ -45,6 +46,8 @@
         <file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
         <file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
         <file alias="QGroundControl/Controls/FactSliderPanel.qml">src/QmlControls/FactSliderPanel.qml</file>
+        <file alias="QGroundControl/Controls/FlightModeDropdown.qml">src/QmlControls/FlightModeDropdown.qml</file>
+        <file alias="QGroundControl/Controls/GuidedBar.qml">src/QmlControls/GuidedBar.qml</file>
         <file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
         <file alias="QGroundControl/Controls/JoystickThumbPad.qml">src/QmlControls/JoystickThumbPad.qml</file>
         <file alias="QGroundControl/Controls/MainToolBar.qml">src/ui/toolbar/MainToolBar.qml</file>
@@ -104,6 +107,7 @@
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewMap.qml">src/FlightDisplay/FlightDisplayViewMap.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewVideo.qml">src/FlightDisplay/FlightDisplayViewVideo.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewWidgets.qml">src/FlightDisplay/FlightDisplayViewWidgets.qml</file>
+        <file alias="QGroundControl/FlightDisplay/MultiVehicleList.qml">src/FlightDisplay/MultiVehicleList.qml</file>
         <file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
         <file alias="QGroundControl/FlightMap/CenterMapDropButton.qml">src/FlightMap/Widgets/CenterMapDropButton.qml</file>
         <file alias="QGroundControl/FlightMap/FlightMap.qml">src/FlightMap/FlightMap.qml</file>

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -762,3 +762,13 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
         return QString();
     }
 }
+
+QString APMFirmwarePlugin::missionFlightMode(void)
+{
+    return QStringLiteral("Auto");
+}
+
+QString APMFirmwarePlugin::rtlFlightMode(void)
+{
+    return QStringLiteral("RTL");
+}

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -75,28 +75,30 @@ public:
     QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
     QList<MAV_CMD> supportedMissionCommands(void) final;
 
-    AutoPilotPlugin*        autopilotPlugin                 (Vehicle* vehicle) final;
-    bool                    isCapable                       (const Vehicle *vehicle, FirmwareCapabilities capabilities);
-    QStringList             flightModes                     (Vehicle* vehicle) final;
-    QString                 flightMode                      (uint8_t base_mode, uint32_t custom_mode) const final;
-    bool                    setFlightMode                   (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
-    bool                    isGuidedMode                    (const Vehicle* vehicle) const final;
-    void                    pauseVehicle                    (Vehicle* vehicle);
-    int                     manualControlReservedButtonCount(void);
-    bool                    adjustIncomingMavlinkMessage    (Vehicle* vehicle, mavlink_message_t* message) final;
-    void                    adjustOutgoingMavlinkMessage    (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final;
-    void                    initializeVehicle               (Vehicle* vehicle) final;
-    bool                    sendHomePositionToVehicle       (void) final;
-    void                    addMetaDataToFact               (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
-    QString                 getDefaultComponentIdParam      (void) const final { return QString("SYSID_SW_TYPE"); }
-    QString                 missionCommandOverrides         (MAV_TYPE vehicleType) const;
-    QString                 getVersionParam                 (void) final { return QStringLiteral("SYSID_SW_MREV"); }
-    QString                 internalParameterMetaDataFile   (Vehicle* vehicle) final;
-    void                    getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
-    QObject*                loadParameterMetaData           (const QString& metaDataFile);
-    GeoFenceManager*        newGeoFenceManager              (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); }
-    RallyPointManager*      newRallyPointManager            (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
-    QString                 brandImage                      (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
+    AutoPilotPlugin*    autopilotPlugin                 (Vehicle* vehicle) final;
+    bool                isCapable                       (const Vehicle *vehicle, FirmwareCapabilities capabilities);
+    QStringList         flightModes                     (Vehicle* vehicle) final;
+    QString             flightMode                      (uint8_t base_mode, uint32_t custom_mode) const final;
+    bool                setFlightMode                   (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
+    bool                isGuidedMode                    (const Vehicle* vehicle) const final;
+    void                pauseVehicle                    (Vehicle* vehicle);
+    int                 manualControlReservedButtonCount(void);
+    bool                adjustIncomingMavlinkMessage    (Vehicle* vehicle, mavlink_message_t* message) final;
+    void                adjustOutgoingMavlinkMessage    (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final;
+    void                initializeVehicle               (Vehicle* vehicle) final;
+    bool                sendHomePositionToVehicle       (void) final;
+    void                addMetaDataToFact               (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
+    QString             getDefaultComponentIdParam      (void) const final { return QString("SYSID_SW_TYPE"); }
+    QString             missionCommandOverrides         (MAV_TYPE vehicleType) const;
+    QString             getVersionParam                 (void) final { return QStringLiteral("SYSID_SW_MREV"); }
+    QString             internalParameterMetaDataFile   (Vehicle* vehicle) final;
+    void                getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
+    QObject*            loadParameterMetaData           (const QString& metaDataFile);
+    GeoFenceManager*    newGeoFenceManager              (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); }
+    RallyPointManager*  newRallyPointManager            (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
+    QString             brandImage                      (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
+    QString             missionFlightMode               (void) final;
+    QString             rtlFlightMode                   (void) final;
 
 protected:
     /// All access to singleton is through stack specific implementation

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -204,3 +204,8 @@ QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)
     Q_UNUSED(vehicle);
     return QStringLiteral("FENCE_RADIUS");
 }
+
+QString ArduCopterFirmwarePlugin::takeControlFlightMode(void)
+{
+    return QStringLiteral("Stabilize");
+}

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -68,6 +68,7 @@ public:
     bool multiRotorXConfig(Vehicle* vehicle) final;
     QString geoFenceRadiusParam(Vehicle* vehicle) final;
     QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Copter.OfflineEditing.params"); }
+    QString takeControlFlightMode(void) final;
 
 private:
     static bool _remapParamNameIntialized;

src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc

@@ -64,3 +64,8 @@ ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void)
     supportedFlightModes << APMPlaneMode(APMPlaneMode::QRTL            ,true);
     setSupportedModes(supportedFlightModes);
 }
+
+QString ArduPlaneFirmwarePlugin::takeControlFlightMode(void)
+{
+    return QStringLiteral("Manual");
+}

src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h

@@ -57,6 +57,7 @@ public:
 
     // Overrides from FirmwarePlugin
     QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Plane.OfflineEditing.params"); }
+    QString takeControlFlightMode(void) final;
 };
 
 #endif

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -282,3 +282,18 @@ int FirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumbe
     Q_UNUSED(majorVersionNumber);
     return 0;
 }
+
+QString FirmwarePlugin::missionFlightMode(void)
+{
+    return QString();
+}
+
+QString FirmwarePlugin::rtlFlightMode(void)
+{
+    return QString();
+}
+
+QString FirmwarePlugin::takeControlFlightMode(void)
+{
+    return QString();
+}

src/FirmwarePlugin/FirmwarePlugin.h

@@ -125,6 +125,15 @@ public:
     /// Command vehicle to change to the specified relatice altitude
     virtual void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeRel);
 
+    /// Returns the flight mode for running missions
+    virtual QString missionFlightMode(void);
+
+    /// Returns the flight mode for RTL
+    virtual QString rtlFlightMode(void);
+
+    /// Returns the flight mode to use when the operator wants to take back control from autonomouse flight.
+    virtual QString takeControlFlightMode(void);
+
     /// FIXME: This isn't quite correct being here. All code for Joystick suvehicleTypepport is currently firmware specific
     /// not just this. I'm going to try to change that. If not, this will need to be removed.
     /// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -35,44 +35,42 @@ struct Modes2Name {
     bool        multiRotor;  /// multi rotor compatible
 };
 
-const char* PX4FirmwarePlugin::manualFlightMode =       "Manual";
-const char* PX4FirmwarePlugin::altCtlFlightMode =       "Altitude";
-const char* PX4FirmwarePlugin::posCtlFlightMode =       "Position";
-const char* PX4FirmwarePlugin::missionFlightMode =      "Mission";
-const char* PX4FirmwarePlugin::holdFlightMode =         "Hold";
-const char* PX4FirmwarePlugin::takeoffFlightMode =      "Takeoff";
-const char* PX4FirmwarePlugin::landingFlightMode =      "Land";
-const char* PX4FirmwarePlugin::rtlFlightMode =          "Return";
-const char* PX4FirmwarePlugin::acroFlightMode =         "Acro";
-const char* PX4FirmwarePlugin::offboardFlightMode =     "Offboard";
-const char* PX4FirmwarePlugin::stabilizedFlightMode =   "Stabilized";
-const char* PX4FirmwarePlugin::rattitudeFlightMode =    "Rattitude";
-const char* PX4FirmwarePlugin::followMeFlightMode =     "Follow Me";
-
-const char* PX4FirmwarePlugin::rtgsFlightMode =         "Return to Groundstation";
-
-const char* PX4FirmwarePlugin::readyFlightMode =        "Ready"; // unused
+const char* PX4FirmwarePlugin::_manualFlightMode =      "Manual";
+const char* PX4FirmwarePlugin::_altCtlFlightMode =      "Altitude";
+const char* PX4FirmwarePlugin::_posCtlFlightMode =      "Position";
+const char* PX4FirmwarePlugin::_missionFlightMode =     "Mission";
+const char* PX4FirmwarePlugin::_holdFlightMode =        "Hold";
+const char* PX4FirmwarePlugin::_takeoffFlightMode =     "Takeoff";
+const char* PX4FirmwarePlugin::_landingFlightMode =     "Land";
+const char* PX4FirmwarePlugin::_rtlFlightMode =         "Return";
+const char* PX4FirmwarePlugin::_acroFlightMode =        "Acro";
+const char* PX4FirmwarePlugin::_offboardFlightMode =    "Offboard";
+const char* PX4FirmwarePlugin::_stabilizedFlightMode =  "Stabilized";
+const char* PX4FirmwarePlugin::_rattitudeFlightMode =   "Rattitude";
+const char* PX4FirmwarePlugin::_followMeFlightMode =    "Follow Me";
+const char* PX4FirmwarePlugin::_rtgsFlightMode =        "Return to Groundstation";
+const char* PX4FirmwarePlugin::_readyFlightMode =       "Ready";
 
 /// Tranlates from PX4 custom modes to flight mode names
 
 static const struct Modes2Name rgModes2Name[] = {
-    //main_mode                         sub_mode                                name                                      canBeSet  FW      MC
-    { PX4_CUSTOM_MAIN_MODE_MANUAL,      0,                                      PX4FirmwarePlugin::manualFlightMode,        true,   true,   true },
-    { PX4_CUSTOM_MAIN_MODE_STABILIZED,  0,                                      PX4FirmwarePlugin::stabilizedFlightMode,    true,   true,   true },
-    { PX4_CUSTOM_MAIN_MODE_ACRO,        0,                                      PX4FirmwarePlugin::acroFlightMode,          true,   false,  true },
-    { PX4_CUSTOM_MAIN_MODE_RATTITUDE,   0,                                      PX4FirmwarePlugin::rattitudeFlightMode,     true,   false,  true },
-    { PX4_CUSTOM_MAIN_MODE_ALTCTL,      0,                                      PX4FirmwarePlugin::altCtlFlightMode,        true,   true,   true },
-    { PX4_CUSTOM_MAIN_MODE_POSCTL,      0,                                      PX4FirmwarePlugin::posCtlFlightMode,        true,   true,   true },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LOITER,        PX4FirmwarePlugin::holdFlightMode,          true,   true,   true },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_MISSION,       PX4FirmwarePlugin::missionFlightMode,       true,   true,   true },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTL,           PX4FirmwarePlugin::rtlFlightMode,           true,   true,   true },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, PX4FirmwarePlugin::followMeFlightMode,      true,   true,   true },
-    { PX4_CUSTOM_MAIN_MODE_OFFBOARD,    0,                                      PX4FirmwarePlugin::offboardFlightMode,      true,   true,   true },
+    //main_mode                         sub_mode                                name                                        canBeSet  FW      MC
+    { PX4_CUSTOM_MAIN_MODE_MANUAL,      0,                                      PX4FirmwarePlugin::_manualFlightMode,       true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_STABILIZED,  0,                                      PX4FirmwarePlugin::_stabilizedFlightMode,   true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_ACRO,        0,                                      PX4FirmwarePlugin::_acroFlightMode,         true,   false,  true },
+    { PX4_CUSTOM_MAIN_MODE_RATTITUDE,   0,                                      PX4FirmwarePlugin::_rattitudeFlightMode,    true,   false,  true },
+    { PX4_CUSTOM_MAIN_MODE_ALTCTL,      0,                                      PX4FirmwarePlugin::_altCtlFlightMode,       true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_POSCTL,      0,                                      PX4FirmwarePlugin::_posCtlFlightMode,       true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LOITER,        PX4FirmwarePlugin::_holdFlightMode,         true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_MISSION,       PX4FirmwarePlugin::_missionFlightMode,      true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTL,           PX4FirmwarePlugin::_rtlFlightMode,          true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, PX4FirmwarePlugin::_followMeFlightMode,     true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_OFFBOARD,    0,                                      PX4FirmwarePlugin::_offboardFlightMode,     true,   true,   true },
     // modes that can't be directly set by the user
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LAND,          PX4FirmwarePlugin::landingFlightMode,       false,  true,   true },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_READY,         PX4FirmwarePlugin::readyFlightMode,         false,  true,   true },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTGS,          PX4FirmwarePlugin::rtgsFlightMode,          false,  true,   true },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,       PX4FirmwarePlugin::takeoffFlightMode,       false,  true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LAND,          PX4FirmwarePlugin::_landingFlightMode,      false,  true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_READY,         PX4FirmwarePlugin::_readyFlightMode,        false,  true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTGS,          PX4FirmwarePlugin::_rtgsFlightMode,         false,  true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,       PX4FirmwarePlugin::_takeoffFlightMode,      false,  true,   true },
 };
 
 PX4FirmwarePlugin::PX4FirmwarePlugin(void)
@@ -297,12 +295,12 @@ void PX4FirmwarePlugin::pauseVehicle(Vehicle* vehicle)
 
 void PX4FirmwarePlugin::guidedModeRTL(Vehicle* vehicle)
 {
-    vehicle->setFlightMode(rtlFlightMode);
+    vehicle->setFlightMode(_rtlFlightMode);
 }
 
 void PX4FirmwarePlugin::guidedModeLand(Vehicle* vehicle)
 {
-    vehicle->setFlightMode(landingFlightMode);
+    vehicle->setFlightMode(_landingFlightMode);
 }
 
 void PX4FirmwarePlugin::guidedModeOrbit(Vehicle* vehicle, const QGeoCoordinate& centerCoord, double radius, double velocity, double altitude)
@@ -388,7 +386,7 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
 void PX4FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
 {
     if (guidedMode) {
-        vehicle->setFlightMode(holdFlightMode);
+        vehicle->setFlightMode(_holdFlightMode);
     } else {
         pauseVehicle(vehicle);
     }
@@ -397,8 +395,8 @@ void PX4FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
 bool PX4FirmwarePlugin::isGuidedMode(const Vehicle* vehicle) const
 {
     // Not supported by generic vehicle
-    return (vehicle->flightMode() == holdFlightMode || vehicle->flightMode() == takeoffFlightMode
-            || vehicle->flightMode() == landingFlightMode);
+    return (vehicle->flightMode() == _holdFlightMode || vehicle->flightMode() == _takeoffFlightMode
+            || vehicle->flightMode() == _landingFlightMode);
 }
 
 bool PX4FirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
@@ -456,3 +454,18 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
         }
     }
 }
+
+QString PX4FirmwarePlugin::missionFlightMode(void)
+{
+    return QString(_missionFlightMode);
+}
+
+QString PX4FirmwarePlugin::rtlFlightMode(void)
+{
+    return QString(_rtlFlightMode);
+}
+
+QString PX4FirmwarePlugin::takeControlFlightMode(void)
+{
+    return QString(_manualFlightMode);
+}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -60,25 +60,28 @@ public:
     GeoFenceManager*    newGeoFenceManager              (Vehicle* vehicle) { return new PX4GeoFenceManager(vehicle); }
     QString             offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/PX4/PX4.OfflineEditing.params"); }
     QString             brandImage                      (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
+    QString             missionFlightMode               (void) final;
+    QString             rtlFlightMode                   (void) final;
+    QString             takeControlFlightMode           (void) final;
 
+    // NOTE: For internal use only. Do not use in mainline QGC code.
     // Use these constants to set flight modes using setFlightMode method. Don't use hardcoded string names since the
     // names may change.
-
-    static const char* manualFlightMode;
-    static const char* acroFlightMode;
-    static const char* stabilizedFlightMode;
-    static const char* rattitudeFlightMode;
-    static const char* altCtlFlightMode;
-    static const char* posCtlFlightMode;
-    static const char* offboardFlightMode;
-    static const char* readyFlightMode;
-    static const char* takeoffFlightMode;
-    static const char* holdFlightMode;
-    static const char* missionFlightMode;
-    static const char* rtlFlightMode;
-    static const char* landingFlightMode;
-    static const char* rtgsFlightMode;
-    static const char* followMeFlightMode;
+    static const char* _manualFlightMode;
+    static const char* _acroFlightMode;
+    static const char* _stabilizedFlightMode;
+    static const char* _rattitudeFlightMode;
+    static const char* _altCtlFlightMode;
+    static const char* _posCtlFlightMode;
+    static const char* _offboardFlightMode;
+    static const char* _readyFlightMode;
+    static const char* _takeoffFlightMode;
+    static const char* _holdFlightMode;
+    static const char* _missionFlightMode;
+    static const char* _rtlFlightMode;
+    static const char* _landingFlightMode;
+    static const char* _rtgsFlightMode;
+    static const char* _followMeFlightMode;
 
 private:
     void _handleAutopilotVersion(Vehicle* vehicle, mavlink_message_t* message);

src/FlightDisplay/FlightDisplayView.qml

@@ -41,14 +41,15 @@ QGCView {
     property real _pitch:               _activeVehicle ? _activeVehicle.pitch.value   : _defaultPitch
     property real _heading:             _activeVehicle ? _activeVehicle.heading.value : _defaultHeading
 
-
     property Fact _emptyFact:               Fact { }
     property Fact _groundSpeedFact:         _activeVehicle ? _activeVehicle.groundSpeed      : _emptyFact
     property Fact _airSpeedFact:            _activeVehicle ? _activeVehicle.airSpeed         : _emptyFact
 
     property bool activeVehicleJoystickEnabled: _activeVehicle ? _activeVehicle.joystickEnabled : false
 
-    property real _savedZoomLevel:      0
+    property real _savedZoomLevel:  0
+    property real _margins:         ScreenTools.defaultFontPixelWidth / 2
+
 
     property real pipSize:              mainWindow.width * 0.2
 
@@ -120,6 +121,8 @@ QGCView {
         px4JoystickCheck()
     }
 
+    QGCMapPalette { id: mapPal; lightColors: _mainIsMap ? _flightMap.isSatelliteMap : true }
+
     QGCViewPanel {
         id:             _panel
         anchors.fill:   parent
@@ -218,6 +221,33 @@ QGCView {
             }
         }
 
+        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
+            }
+        }
+
         FlightDisplayViewWidgets {
             id:                 flightDisplayViewWidgets
             z:                  _panel.z + 4
@@ -227,8 +257,20 @@ QGCView {
             anchors.bottom:     parent.bottom
             qgcView:            root
             isBackgroundDark:   root.isBackgroundDark
+            visible:            singleVehicleView.checked
+        }
+
+        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
         }
 
+
         //-- Virtual Joystick
         Loader {
             id:                         virtualJoystickMultiTouch

src/FlightDisplay/MultiVehicleList.qml

+/****************************************************************************
+ *
+ *   (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.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.4
+import QtQuick.Controls 1.3
+import QtQuick.Layouts  1.2
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Vehicle       1.0
+import QGroundControl.FlightMap     1.0
+
+QGCListView {
+    id:             missionItemEditorListView
+    spacing:        ScreenTools.defaultFontPixelHeight / 2
+    orientation:    ListView.Vertical
+    model:          QGroundControl.multiVehicleManager.vehicles
+    cacheBuffer:    _cacheBuffer < 0 ? 0 : _cacheBuffer
+    clip:           true
+
+    property real _margin:          ScreenTools.defaultFontPixelWidth / 2
+    property real _cacheBuffer:     height * 2
+    property real _widgetHeight:    ScreenTools.defaultFontPixelHeight * 3
+
+    delegate: Rectangle {
+        width:      parent.width
+        height:     innerColumn.y + innerColumn.height + _margin
+        color:      qgcPal.buttonHighlight
+        opacity:    0.8
+        radius:     _margin
+
+        property var    _vehicle:   object
+        property color  _textColor: "black"
+
+        QGCPalette { id: qgcPal }
+
+        Row {
+            id:                 widgetLayout
+            anchors.margins:    _margin
+            anchors.top:        parent.top
+            anchors.right:      parent.right
+            spacing:            ScreenTools.defaultFontPixelWidth / 2
+            layoutDirection:    Qt.RightToLeft
+
+            QGCCompassWidget {
+                size:       _widgetHeight
+                active:     true
+                heading:    _vehicle.heading.rawValue
+            }
+
+            QGCAttitudeWidget {
+                size:       _widgetHeight
+                active:     true
+                rollAngle:  _vehicle.roll.rawValue
+                pitchAngle: _vehicle.pitch.rawValue
+            }
+        }
+
+        RowLayout {
+            anchors.top:    widgetLayout.top
+            anchors.bottom: widgetLayout.bottom
+            anchors.left:   parent.left
+            anchors.right:  widgetLayout.left
+            spacing:        ScreenTools.defaultFontPixelWidth / 2
+
+            QGCLabel {
+                Layout.alignment:   Qt.AlignTop
+                text:               _vehicle.id
+                color:              _textColor
+            }
+
+            QGCLabel {
+                text:               _vehicle.flightMode
+                font.pointSize:     ScreenTools.largeFontPointSize
+                color:              _textColor
+            }
+        }
+
+        Column {
+            id:                 innerColumn
+            anchors.margins:    _margin
+            anchors.left:       parent.left
+            anchors.right:      parent.right
+            anchors.top:        widgetLayout.bottom
+            spacing:            _margin
+
+            Rectangle {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                height:         5
+                color:          "green"
+            }
+
+            Row {
+                spacing: ScreenTools.defaultFontPixelWidth
+
+                QGCButton {
+                    text:       "Arm"
+                    visible:    !_vehicle.armed
+                    onClicked:  _vehicle.armed = true
+                }
+
+                QGCButton {
+                    text:       "Start"
+                    visible:    _vehicle.armed && _vehicle.flightMode != _vehicle.missionFlightMode
+                    onClicked:  _vehicle.flightMode = _vehicle.missionFlightMode
+                }
+
+                QGCButton {
+                    text:       "Stop"
+                    visible:    _vehicle.armed && _vehicle.pauseVehicleSupported
+                    onClicked:  _vehicle.pauseVehicle()
+                }
+
+                QGCButton {
+                    text:       "RTL"
+                    visible:    _vehicle.armed && _vehicle.flightMode != _vehicle.rtlFlightMode
+                    onClicked:  _vehicle.flightMode = _vehicle.rtlFlightMode
+                }
+
+                QGCButton {
+                    text:       "Take control"
+                    visible:    _vehicle.armed && _vehicle.flightMode != _vehicle.takeControlFlightMode
+                    onClicked:  _vehicle.flightMode = _vehicle.takeControlFlightMode
+                }
+
+            }
+        }
+    }
+} // QGCListView

src/FlightDisplay/qmldir

@@ -4,4 +4,5 @@ FlightDisplayView           1.0 FlightDisplayView.qml
 FlightDisplayViewMap        1.0 FlightDisplayViewMap.qml
 FlightDisplayViewVideo      1.0 FlightDisplayViewVideo.qml
 FlightDisplayViewWidgets    1.0 FlightDisplayViewWidgets.qml
+MultiVehicleList            1.0 MultiVehicleList.qml
 

src/MissionManager/GeoFenceController.cc

@@ -48,7 +48,19 @@ void GeoFenceController::start(bool editMode)
     qCDebug(GeoFenceControllerLog) << "start editMode" << editMode;
 
     PlanElementController::start(editMode);
+    _init();
+}
+
+void GeoFenceController::startStaticActiveVehicle(Vehicle* vehicle)
+{
+    qCDebug(GeoFenceControllerLog) << "startStaticActiveVehicle";
 
+    PlanElementController::startStaticActiveVehicle(vehicle);
+    _init();
+}
+
+void GeoFenceController::_init(void)
+{
     connect(&_polygon, &QGCMapPolygon::dirtyChanged, this, &GeoFenceController::_polygonDirtyChanged);
 }
 

src/MissionManager/GeoFenceController.h

@@ -50,17 +50,18 @@ public:
     Q_PROPERTY(bool                 breachReturnSupported   READ breachReturnSupported                              NOTIFY breachReturnSupportedChanged)
 #endif
 
-    void start              (bool editMode) final;
-    void loadFromVehicle    (void) final;
-    void sendToVehicle      (void) final;
-    void loadFromFilePicker (void) final;
-    void loadFromFile       (const QString& filename) final;
-    void saveToFilePicker   (void) final;
-    void saveToFile         (const QString& filename) final;
-    void removeAll          (void) final;
-    bool syncInProgress     (void) const final;
-    bool dirty              (void) const final;
-    void setDirty           (bool dirty) final;
+    void start                      (bool editMode) final;
+    void startStaticActiveVehicle   (Vehicle* vehicle) final;
+    void loadFromVehicle            (void) final;
+    void sendToVehicle              (void) final;
+    void loadFromFilePicker         (void) final;
+    void loadFromFile               (const QString& filename) final;
+    void saveToFilePicker           (void) final;
+    void saveToFile                 (const QString& filename) final;
+    void removeAll                  (void) final;
+    bool syncInProgress             (void) const final;
+    bool dirty                      (void) const final;
+    void setDirty                   (bool dirty) final;
 
     QString fileExtension(void) const final;
 
@@ -96,6 +97,7 @@ private slots:
     void _loadComplete(const QGeoCoordinate& breachReturn, const QList<QGeoCoordinate>& polygon);
 
 private:
+    void _init(void);
     void _signalAll(void);
     bool _loadJsonFile(QJsonDocument& jsonDoc, QString& errorString);
 

src/MissionManager/MissionController.cc

@@ -66,7 +66,19 @@ void MissionController::start(bool editMode)
     qCDebug(MissionControllerLog) << "start editMode" << editMode;
 
     PlanElementController::start(editMode);
+    _init();
+}
+
+void MissionController::startStaticActiveVehicle(Vehicle *vehicle)
+{
+    qCDebug(MissionControllerLog) << "startStaticActiveVehicle";
 
+    PlanElementController::startStaticActiveVehicle(vehicle);
+    _init();
+}
+
+void MissionController::_init(void)
+{
     // We start with an empty mission
     _visualItems = new QmlObjectListModel(this);
     _addPlannedHomePosition(_visualItems, false /* addToCenter */);

src/MissionManager/MissionController.h

@@ -57,17 +57,18 @@ public:
     Q_INVOKABLE int insertComplexMissionItem(QGeoCoordinate coordinate, int i);
 
     // Overrides from PlanElementController
-    void start              (bool editMode) final;
-    void loadFromVehicle    (void) final;
-    void sendToVehicle      (void) final;
-    void loadFromFilePicker (void) final;
-    void loadFromFile       (const QString& filename) final;
-    void saveToFilePicker   (void) final;
-    void saveToFile         (const QString& filename) final;
-    void removeAll          (void) final;
-    bool syncInProgress     (void) const final;
-    bool dirty              (void) const final;
-    void setDirty           (bool dirty) final;
+    void start                      (bool editMode) final;
+    void startStaticActiveVehicle   (Vehicle* vehicle) final;
+    void loadFromVehicle            (void) final;
+    void sendToVehicle              (void) final;
+    void loadFromFilePicker         (void) final;
+    void loadFromFile               (const QString& filename) final;
+    void saveToFilePicker           (void) final;
+    void saveToFile                 (const QString& filename) final;
+    void removeAll                  (void) final;
+    bool syncInProgress             (void) const final;
+    bool dirty                      (void) const final;
+    void setDirty                   (bool dirty) final;
 
     QString fileExtension(void) const final;
 
@@ -112,6 +113,7 @@ private slots:
     void _homeCoordinateChanged(void);
 
 private:
+    void _init(void);
     void _recalcSequence(void);
     void _recalcChildItems(void);
     void _recalcAll(void);

src/MissionManager/PlanElementController.cc

@@ -32,6 +32,12 @@ void PlanElementController::start(bool editMode)
     _activeVehicleChanged(_multiVehicleMgr->activeVehicle());
 }
 
+void PlanElementController::startStaticActiveVehicle(Vehicle* vehicle)
+{
+    _editMode = false;
+    _activeVehicleChanged(vehicle);
+}
+
 void PlanElementController::_activeVehicleChanged(Vehicle* activeVehicle)
 {
     if (_activeVehicle) {

src/MissionManager/PlanElementController.h

@@ -39,6 +39,10 @@ public:
     ///     @param editMode true: controller being used in Plan view, false: controller being used in Fly view
     Q_INVOKABLE virtual void start(bool editMode);
 
+    /// Starts the controller using a single static active vehicle. Will not track global active vehicle changes.
+    ///     @param editMode true: controller being used in Plan view, false: controller being used in Fly view
+    Q_INVOKABLE virtual void startStaticActiveVehicle(Vehicle* vehicle);
+
     Q_INVOKABLE virtual void loadFromVehicle(void) = 0;
     Q_INVOKABLE virtual void sendToVehicle(void) = 0;
     Q_INVOKABLE virtual void loadFromFilePicker(void) = 0;

src/MissionManager/RallyPointController.cc

@@ -46,13 +46,6 @@ RallyPointController::~RallyPointController()
 
 }
 
-void RallyPointController::start(bool editMode)
-{
-    qCDebug(RallyPointControllerLog) << "start editMode" << editMode;
-
-    PlanElementController::start(editMode);
-}
-
 void RallyPointController::_activeVehicleBeingRemoved(void)
 {
     _activeVehicle->rallyPointManager()->disconnect(this);

src/MissionManager/RallyPointController.h

@@ -37,7 +37,6 @@ public:
     Q_INVOKABLE void addPoint(QGeoCoordinate point);
     Q_INVOKABLE void removePoint(QObject* rallyPoint);
 
-    void start              (bool editMode) final;
     void loadFromVehicle    (void) final;
     void sendToVehicle      (void) final;
     void loadFromFilePicker (void) final;

src/QmlControls/FlightModeDropdown.qml

+/****************************************************************************
+ *
+ *   (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.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.5
+
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+
+Item {
+    width:  flightModeLabel.visible ? flightModeLabel.width : flightModeCombo.width
+    height: flightModeLabel.visible ? flightModeLabel.height : flightModeCombo.height
+
+    property var activeVehicle  ///< Vehicle to show flight modes for
+
+    property int _maxFMCharLength:  10   ///< Maximum number of chars in a flight mode
+    property string flightMode:     activeVehicle ? activeVehicle.flightMode : qsTr("N/A", "No data to display")
+
+    onActiveVehicleChanged: _activeVehicleChanged()
+
+    onFlightModeChanged: {
+        if (flightModeCombo.visible) {
+            flightModeCombo.currentIndex = flightModeCombo.find(flightMode)
+        }
+    }
+
+    Component.onCompleted: _activeVehicleChanged()
+
+    function _activeVehicleChanged() {
+        if (activeVehicle.flightModeSetAvailable) {
+            var maxFMChars = 0
+            for (var i=0; i<activeVehicle.flightModes.length; i++) {
+                maxFMChars = Math.max(maxFMChars, activeVehicle.flightModes[i].length)
+            }
+            _maxFMCharLength = maxFMChars
+        }
+    }
+
+    QGCLabel {
+        id:         flightModeLabel
+        text:       flightMode
+        visible:    !activeVehicle.flightModeSetAvailable
+        anchors.verticalCenter: parent.verticalCenter
+    }
+
+    QGCComboBox {
+        id:         flightModeCombo
+        width:      (_maxFMCharLength + 4) * ScreenTools.defaultFontPixelWidth
+        model:      activeVehicle ? activeVehicle.flightModes : 0
+        visible:    activeVehicle.flightModeSetAvailable
+
+        onModelChanged: {
+            if (activeVehicle && visible) {
+                currentIndex = find(flightMode)
+            }
+        }
+
+        onActivated: activeVehicle.flightMode = textAt(index)
+    }
+}

src/QmlControls/GuidedBar.qml

+/****************************************************************************
+ *
+ *   (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.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.5
+
+import QGroundControl               1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Palette       1.0
+
+//-- Guided mode bar
+
+Rectangle {
+    id:     guidedModeBar
+    width:  guidedModeColumn.width  + (_margins * 2)
+    height: guidedModeColumn.height + (_margins * 2)
+    radius: ScreenTools.defaultFontPixelHeight * 0.25
+    color:  backgroundColor
+
+    property var    activeVehicle                                           ///< Vehicle to show guided bar for
+    property real   fontPointSize:      ScreenTools.defaultFontPointSize    ///< point size for fonts in control
+    property color  backgroundColor:    qgcPal.windowShadeDark              ///< Background color for bar
+
+    // Values for _confirmActionCode
+    readonly property int confirmHome:          1
+    readonly property int confirmLand:          2
+    readonly property int confirmTakeoff:       3
+    readonly property int confirmArm:           4
+    readonly property int confirmDisarm:        5
+    readonly property int confirmEmergencyStop: 6
+    readonly property int confirmChangeAlt:     7
+    readonly property int confirmGoTo:          8
+    readonly property int confirmRetask:        9
+    readonly property int confirmOrbit:         10
+
+    property int    _confirmActionCode
+    property real   _showMargin:    _margins
+    property real   _hideMargin:    _margins - guidedModeBar.height
+    property real   _barMargin:     _showMargin
+    property bool   _showConfirm:   false
+    property string _confirmText
+    property bool   _showAltitude:  false
+    property real   _confirmAltitude
+
+    function actionConfirmed(altitude) {
+        _showConfirm = false
+        switch (_confirmActionCode) {
+        case confirmHome:
+            activeVehicle.guidedModeRTL()
+            break;
+        case confirmLand:
+            activeVehicle.guidedModeLand()
+            break;
+        case confirmTakeoff:
+            activeVehicle.guidedModeTakeoff(altitude)
+            break;
+        case confirmArm:
+            activeVehicle.armed = true
+            break;
+        case confirmDisarm:
+            activeVehicle.armed = false
+            break;
+        case confirmEmergencyStop:
+            activeVehicle.emergencyStop()
+            break;
+        case confirmChangeAlt:
+            activeVehicle.guidedModeChangeAltitude(altitude)
+            break;
+        case confirmGoTo:
+            activeVehicle.guidedModeGotoLocation(_flightMap._gotoHereCoordinate)
+            break;
+        case confirmRetask:
+            activeVehicle.setCurrentMissionSequence(_flightMap._retaskSequence)
+            break;
+        case confirmOrbit:
+            //-- All parameters controlled by RC
+            activeVehicle.guidedModeOrbit()
+            //-- Center on current flight map position and orbit with a 50m radius (velocity/direction controlled by the RC)
+            //activeVehicle.guidedModeOrbit(QGroundControl.flightMapPosition, 50.0)
+            break;
+        default:
+            console.warn(qsTr("Internal error: unknown _confirmActionCode"), _confirmActionCode)
+        }
+    }
+
+    function actionRejected() {
+        _showConfirm = false
+        /*
+            altitudeSlider.visible = false
+            _flightMap._gotoHereCoordinate = QtPositioning.coordinate()
+            guidedModeHideTimer.restart()
+            */
+    }
+
+    function confirmAction(actionCode) {
+        //guidedModeHideTimer.stop()
+        _confirmActionCode = actionCode
+        _showAltitude = false
+        switch (_confirmActionCode) {
+        case confirmArm:
+            _confirmText = qsTr("Arm vehicle?")
+            break;
+        case confirmDisarm:
+            _confirmText = qsTr("Disarm vehicle?")
+            break;
+        case confirmEmergencyStop:
+            _confirmText = qsTr("STOP ALL MOTORS?")
+            break;
+        case confirmTakeoff:
+            _showAltitude = true
+            setInitialValueMeters(3)
+            _confirmText = qsTr("Takeoff vehicle?")
+            break;
+        case confirmLand:
+            _confirmText = qsTr("Land vehicle?")
+            break;
+        case confirmHome:
+            _confirmText = qsTr("Return to land?")
+            break;
+        case confirmChangeAlt:
+            _showAltitude = true
+            setInitialValueAppSettingsDistanceUnits(activeVehicle.altitudeRelative.value)
+            _confirmText = qsTr("Change altitude?")
+            break;
+        case confirmGoTo:
+            _confirmText = qsTr("Move vehicle?")
+            break;
+        case confirmRetask:
+            _confirmText = qsTr("Change active waypoint?")
+            break;
+        case confirmOrbit:
+            _confirmText = qsTr("Enter orbit mode?")
+            break;
+        }
+        _showConfirm = true
+    }
+
+    function setInitialValueMeters(meters) {
+        _confirmAltitude = QGroundControl.metersToAppSettingsDistanceUnits(meters)
+    }
+
+    function setInitialValueAppSettingsDistanceUnits(height) {
+        _confirmAltitude = height
+    }
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+
+    Column {
+        id:                 guidedModeColumn
+        anchors.margins:    _margins
+        anchors.top:        parent.top
+        anchors.left:       parent.left
+        spacing:            _margins
+
+        /*
+            QGCLabel {
+                anchors.horizontalCenter: parent.horizontalCenter
+                color:      _lightWidgetBorders ? qgcPal.mapWidgetBorderDark : qgcPal.mapWidgetBorderLight
+                text:       "Click in map to move vehicle"
+                visible:    gotoEnabled
+            }*/
+
+        Row {
+            spacing:    _margins * 2
+            visible:    !_showConfirm
+
+            QGCButton {
+                pointSize:  fontPointSize
+                text:       (activeVehicle && activeVehicle.armed) ? (activeVehicle.flying ? qsTr("Emergency Stop") : qsTr("Disarm")) :  qsTr("Arm")
+                visible:    activeVehicle
+                onClicked:  confirmAction(activeVehicle.armed ? (activeVehicle.flying ? confirmEmergencyStop : confirmDisarm) : confirmArm)
+            }
+
+            QGCButton {
+                pointSize:  fontPointSize
+                text:       qsTr("RTL")
+                visible:    (activeVehicle && activeVehicle.armed) && activeVehicle.guidedModeSupported && activeVehicle.flying
+                onClicked:  confirmAction(confirmHome)
+            }
+
+            QGCButton {
+                pointSize:  fontPointSize
+                text:       (activeVehicle && activeVehicle.flying) ?  qsTr("Land"):  qsTr("Takeoff")
+                visible:    activeVehicle && activeVehicle.guidedModeSupported && activeVehicle.armed
+                onClicked:  confirmAction(activeVehicle.flying ? confirmLand : confirmTakeoff)
+            }
+
+            QGCButton {
+                pointSize:  fontPointSize
+                text:       qsTr("Pause")
+                visible:    (activeVehicle && activeVehicle.armed) && activeVehicle.pauseVehicleSupported && activeVehicle.flying
+                onClicked:  {
+                    guidedModeHideTimer.restart()
+                    activeVehicle.pauseVehicle()
+                }
+            }
+
+            QGCButton {
+                pointSize:  fontPointSize
+                text:       qsTr("Change Altitude")
+                visible:    (activeVehicle && activeVehicle.flying) && activeVehicle.guidedModeSupported && activeVehicle.armed
+                onClicked:  confirmAction(confirmChangeAlt)
+            }
+
+            QGCButton {
+                pointSize:  fontPointSize
+                text:       qsTr("Orbit")
+                visible:    (activeVehicle && activeVehicle.flying) && activeVehicle.orbitModeSupported && activeVehicle.armed
+                onClicked:  confirmAction(confirmOrbit)
+            }
+
+        } // Row
+
+        Column {
+            visible: _showConfirm
+
+            QGCLabel {
+                anchors.horizontalCenter:   parent.horizontalCenter
+                text:                       _confirmText
+            }
+
+            Row {
+                anchors.horizontalCenter:   parent.horizontalCenter
+                spacing:                    ScreenTools.defaultFontPixelWidth
+
+                Row {
+                    visible: _showAltitude
+
+                    QGCLabel {
+                        text: qsTr("Alt (rel)")
+                    }
+
+                    QGCLabel {
+                        text: QGroundControl.appSettingsDistanceUnitsString
+                    }
+
+                    QGCTextField {
+                        id:     altField
+                        text:   _confirmAltitude.toFixed(1)
+                    }
+                }
+
+                QGCButton {
+                    text: qsTr("Yes")
+
+                    onClicked: {
+                        var value = parseFloat(altField.text)
+                        if (isNaN(value)) {
+                            actionRejected()
+                        } else {
+                            actionConfirmed(QGroundControl.appSettingsDistanceUnitsToMeters(value))
+                        }
+                    }
+                }
+
+                QGCButton {
+                    text: qsTr("No")
+                    onClicked: actionRejected()
+                }
+            }
+        } // Column
+    } // Column
+} // Rectangle - Guided mode buttons

src/QmlControls/QGroundControl.Controls.qmldir

@@ -6,6 +6,8 @@ ClickableColor          1.0 ClickableColor.qml
 DropButton              1.0 DropButton.qml
 ExclusiveGroupItem      1.0 ExclusiveGroupItem.qml
 FactSliderPanel         1.0 FactSliderPanel.qml
+FlightModeDropdown      1.0 FlightModeDropdown.qml
+GuidedBar               1.0 GuidedBar.qml
 IndicatorButton         1.0 IndicatorButton.qml
 JoystickThumbPad        1.0 JoystickThumbPad.qml
 MainToolBar             1.0 MainToolBar.qml

src/QmlControls/ScreenTools.qml

@@ -47,6 +47,7 @@ Item {
     property real largeFontPointSize:       10
 
     property real availableHeight:          0
+    property real toolbarHeight:            defaultFontPixelHeight * 3
 
     readonly property real smallFontPointRatio:      0.75
     readonly property real mediumFontPointRatio:     1.25

src/Vehicle/Vehicle.cc

@@ -1346,6 +1346,8 @@ void Vehicle::setFlightMode(const QString& flightMode)
     uint8_t     base_mode;
     uint32_t    custom_mode;
 
+    qDebug() << flightMode;
+
     if (_firmwarePlugin->setFlightMode(flightMode, &base_mode, &custom_mode)) {
         // setFlightMode will only set MAV_MODE_FLAG_CUSTOM_MODE_ENABLED in base_mode, we need to move back in the existing
         // states.
@@ -2149,6 +2151,21 @@ void Vehicle::setFirmwarePluginInstanceData(QObject* firmwarePluginInstanceData)
     _firmwarePluginInstanceData = firmwarePluginInstanceData;
 }
 
+QString Vehicle::missionFlightMode(void) const
+{
+    return _firmwarePlugin->missionFlightMode();
+}
+
+QString Vehicle::rtlFlightMode(void) const
+{
+    return _firmwarePlugin->rtlFlightMode();
+}
+
+QString Vehicle::takeControlFlightMode(void) const
+{
+    return _firmwarePlugin->takeControlFlightMode();
+}
+
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 

src/Vehicle/Vehicle.h

@@ -271,6 +271,9 @@ public:
     Q_PROPERTY(bool                 isOfflineEditingVehicle READ isOfflineEditingVehicle                                CONSTANT)
     Q_PROPERTY(QString              brandImage              READ brandImage                                             CONSTANT)
     Q_PROPERTY(QStringList          unhealthySensors        READ unhealthySensors                                       NOTIFY unhealthySensorsChanged)
+    Q_PROPERTY(QString              missionFlightMode       READ missionFlightMode                                      CONSTANT)
+    Q_PROPERTY(QString              rtlFlightMode           READ rtlFlightMode                                          CONSTANT)
+    Q_PROPERTY(QString              takeControlFlightMode   READ takeControlFlightMode                                  CONSTANT)
 
     /// true: Vehicle is flying, false: Vehicle is on ground
     Q_PROPERTY(bool flying      READ flying     WRITE setFlying     NOTIFY flyingChanged)
@@ -522,6 +525,9 @@ public:
     bool            isOfflineEditingVehicle () const { return _offlineEditingVehicle; }
     QString         brandImage              () const;
     QStringList     unhealthySensors        () const;
+    QString         missionFlightMode       () const;
+    QString         rtlFlightMode           () const;
+    QString         takeControlFlightMode   () const;
 
     Fact* roll              (void) { return &_rollFact; }
     Fact* heading           (void) { return &_headingFact; }

src/ui/MainWindowInner.qml

@@ -255,7 +255,7 @@ Item {
 
     MainToolBar {
         id:                 toolBar
-        height:             ScreenTools.defaultFontPixelHeight * 3
+        height:             ScreenTools.toolbarHeight
         anchors.left:       parent.left
         anchors.right:      parent.right
         anchors.top:        parent.top