Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into Airmap

# Conflicts:
#	src/Vehicle/Vehicle.cc
#	src/api/QGCCorePlugin.cc

ChangeLog.md

+# QGroundControl Change Log
+
+Note: This file only contains high level features or important fixes.
+
+## 3.5
+
+### 3.5.0 - Not yet released
+* Add ESTIMATOR_STATUS values to new estimatorStatus Vehicle FactGroup. These are now available to display in instrument panel.
+
+## 3.4
+
+### 3.4.1 - Not yet released
+* Fix crash when Survery with terrain follow is moved quickly
+* Fix terrain follow climb/descent rate fields swapped in ui

deploy/qgroundcontrol_installer.nsi

@@ -2,6 +2,7 @@
 !include LogicLib.nsh
 !include Win\COM.nsh
 !include Win\Propkey.nsh
+!include "FileFunc.nsh"
 
 !macro DemoteShortCut target
     !insertmacro ComHlpr_CreateInProcInstance ${CLSID_ShellLink} ${IID_IShellLink} r0 ""
@@ -61,7 +62,7 @@ Section
   ReadRegStr $R0 HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\${APPNAME}" "UninstallString"
   StrCmp $R0 "" doinstall
 
-  ExecWait "$R0 /S _?=$INSTDIR"
+  ExecWait "$R0 /S _?=$INSTDIR -LEAVE_DATA=1"
   IntCmp $0 0 doinstall
 
   MessageBox MB_OK|MB_ICONEXCLAMATION \
@@ -104,12 +105,16 @@ done:
 SectionEnd 
 
 Section "Uninstall"
+  ${GetParameters} $R0
+  ${GetOptions} $R0 "-LEAVE_DATA=" $R1
   !insertmacro MUI_STARTMENU_GETFOLDER Application $StartMenuFolder
   SetShellVarContext all
   RMDir /r /REBOOTOK $INSTDIR
   RMDir /r /REBOOTOK "$SMPROGRAMS\$StartMenuFolder\"
   SetShellVarContext current
-  RMDir /r /REBOOTOK "$APPDATA\${ORGNAME}\"
+  ${If} $R1 != 1
+    RMDir /r /REBOOTOK "$APPDATA\${ORGNAME}\"
+  ${Endif}
   DeleteRegKey HKLM "SOFTWARE\Microsoft\Windows\CurrentVersion\Uninstall\${APPNAME}"
   DeleteRegKey HKLM "SOFTWARE\Microsoft\Windows\Windows Error Reporting\LocalDumps\${EXENAME}.exe"
 SectionEnd

qgroundcontrol.pro

@@ -44,29 +44,6 @@ MacBuild {
     }
 }
 
-iOSBuild {
-    LIBS               += -framework AVFoundation
-    #-- Info.plist (need an "official" one for the App Store)
-    ForAppStore {
-        message(App Store Build)
-        #-- Create official, versioned Info.plist
-        APP_STORE = $$system(cd $${BASEDIR} && $${BASEDIR}/tools/update_ios_version.sh $${BASEDIR}/ios/iOSForAppStore-Info-Source.plist $${BASEDIR}/ios/iOSForAppStore-Info.plist)
-        APP_ERROR = $$find(APP_STORE, "Error")
-        count(APP_ERROR, 1) {
-            error("Error building .plist file. 'ForAppStore' builds are only possible through the official build system.")
-        }
-        QT               += qml-private
-        QMAKE_INFO_PLIST  = $${BASEDIR}/ios/iOSForAppStore-Info.plist
-        OTHER_FILES      += $${BASEDIR}/ios/iOSForAppStore-Info.plist
-    } else {
-        QMAKE_INFO_PLIST  = $${BASEDIR}/ios/iOS-Info.plist
-        OTHER_FILES      += $${BASEDIR}/ios/iOS-Info.plist
-    }
-    QMAKE_ASSET_CATALOGS += ios/Images.xcassets
-    BUNDLE.files          = ios/QGCLaunchScreen.xib $$QMAKE_INFO_PLIST
-    QMAKE_BUNDLE_DATA    += BUNDLE
-}
-
 LinuxBuild {
     CONFIG  += qesp_linux_udev
 }
@@ -132,6 +109,36 @@ WindowsBuild {
     QMAKE_TARGET_PRODUCT        = "$${QGC_APP_NAME}"
 }
 
+#-------------------------------------------------------------------------------------
+# iOS
+
+iOSBuild {
+    contains (CONFIG, DISABLE_BUILTIN_IOS) {
+        message("Skipping builtin support for iOS")
+    } else {
+        LIBS                 += -framework AVFoundation
+        #-- Info.plist (need an "official" one for the App Store)
+        ForAppStore {
+            message(App Store Build)
+            #-- Create official, versioned Info.plist
+            APP_STORE = $$system(cd $${BASEDIR} && $${BASEDIR}/tools/update_ios_version.sh $${BASEDIR}/ios/iOSForAppStore-Info-Source.plist $${BASEDIR}/ios/iOSForAppStore-Info.plist)
+            APP_ERROR = $$find(APP_STORE, "Error")
+            count(APP_ERROR, 1) {
+                error("Error building .plist file. 'ForAppStore' builds are only possible through the official build system.")
+            }
+            QT               += qml-private
+            QMAKE_INFO_PLIST  = $${BASEDIR}/ios/iOSForAppStore-Info.plist
+            OTHER_FILES      += $${BASEDIR}/ios/iOSForAppStore-Info.plist
+        } else {
+            QMAKE_INFO_PLIST  = $${BASEDIR}/ios/iOS-Info.plist
+            OTHER_FILES      += $${BASEDIR}/ios/iOS-Info.plist
+        }
+        QMAKE_ASSET_CATALOGS += ios/Images.xcassets
+        BUNDLE.files          = ios/QGCLaunchScreen.xib $$QMAKE_INFO_PLIST
+        QMAKE_BUNDLE_DATA    += BUNDLE
+    }
+}
+
 #
 # Plugin configuration
 #

qgroundcontrol.qrc

@@ -237,6 +237,7 @@
         <file alias="Vehicle/BatteryFact.json">src/Vehicle/BatteryFact.json</file>
         <file alias="Vehicle/ClockFact.json">src/Vehicle/ClockFact.json</file>
         <file alias="Vehicle/DistanceSensorFact.json">src/Vehicle/DistanceSensorFact.json</file>
+        <file alias="Vehicle/EstimatorStatusFactGroup.json">src/Vehicle/EstimatorStatusFactGroup.json</file>
         <file alias="Vehicle/GPSFact.json">src/Vehicle/GPSFact.json</file>
         <file alias="Vehicle/GPSRTKFact.json">src/Vehicle/GPSRTKFact.json</file>
         <file alias="Vehicle/SetpointFact.json">src/Vehicle/SetpointFact.json</file>

src/AnalyzeView/ExifParser.cc

@@ -159,8 +159,8 @@ bool ExifParser::write(QByteArray& buf, GeoTagWorker::cameraFeedbackPacket& geot
     gpsData.readable.fields.gpsLon.content = gpsDataExtInd + 6 * 4;
 
     gpsData.readable.fields.gpsAltRef.tagID = 5;
-    gpsData.readable.fields.gpsAltRef.type = 2;
-    gpsData.readable.fields.gpsAltRef.size = 2;
+    gpsData.readable.fields.gpsAltRef.type = 1;
+    gpsData.readable.fields.gpsAltRef.size = 1;
     gpsData.readable.fields.gpsAltRef.content = 0x00;
 
     gpsData.readable.fields.gpsAlt.tagID = 6;

src/AutoPilotPlugins/PX4/SensorsSetup.qml

@@ -132,10 +132,8 @@ Item {
         onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText
 
         onMagCalComplete: {
-            //if (!_sensorsHaveFixedOrientation && (showCompass0Rot || showCompass1Rot || showCompass2Rot)) {
-                setOrientationsDialogShowBoardOrientation = false
-                showDialog(setOrientationsDialogComponent, qsTr("Compass Calibration Complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok)
-            //}
+            setOrientationsDialogShowBoardOrientation = false
+            showDialog(setOrientationsDialogComponent, qsTr("Compass Calibration Complete"), qgcView.showDialogDefaultWidth, StandardButton.Ok)
         }
 
         onWaitingForCancelChanged: {
@@ -255,7 +253,9 @@ Item {
                     QGCLabel {
                         width:      parent.width
                         wrapMode:   Text.WordWrap
-                        text:       qsTr("Set your compass orientations below and the make sure to reboot the vehicle prior to flight.")
+                        text:       _sensorsHaveFixedOrientation ?
+                                        qsTr("Make sure to reboot the vehicle prior to flight.") :
+                                        qsTr("Set your compass orientations below and the make sure to reboot the vehicle prior to flight.")
                     }
 
                     QGCButton {
@@ -270,6 +270,7 @@ Item {
                         width:      parent.width
                         wrapMode:   Text.WordWrap
                         text:       boardRotationText
+                        visible:    !_sensorsHaveFixedOrientation
                     }
 
                     Column {
@@ -287,8 +288,10 @@ Item {
                         }
                     }
 
+                    // Compass 0 rotation
                     Column {
-                        // Compass 0 rotation
+                        visible: !_sensorsHaveFixedOrientation
+
                         Component {
                             id: compass0ComponentLabel2
 
@@ -312,8 +315,10 @@ Item {
                         Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo2 : null }
                     }
 
+                    // Compass 1 rotation
                     Column {
-                        // Compass 1 rotation
+                        visible: !_sensorsHaveFixedOrientation
+
                         Component {
                             id: compass1ComponentLabel2
 
@@ -337,10 +342,11 @@ Item {
                         Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo2 : null }
                     }
 
+                    // Compass 2 rotation
                     Column {
+                        visible: !_sensorsHaveFixedOrientation
                         spacing: ScreenTools.defaultFontPixelWidth
 
-                        // Compass 2 rotation
                         Component {
                             id: compass2ComponentLabel2
 

src/FactSystem/Fact.cc

@@ -310,6 +310,9 @@ QString Fact::_variantToString(const QVariant& variant, int decimalPlaces) const
         }
     }
         break;
+    case FactMetaData::valueTypeBool:
+        valueString = variant.toBool() ? tr("true") : tr("false");
+        break;
     case FactMetaData::valueTypeElapsedTimeInSeconds:
     {
         double dValue = variant.toDouble();

src/FactSystem/FactMetaData.cc

@@ -1207,7 +1207,7 @@ QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonFile(const QString&
     QJsonParseError jsonParseError;
     QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
     if (jsonParseError.error != QJsonParseError::NoError) {
-        qWarning() <<  "Unable to parse json document" << jsonFilename << jsonParseError.errorString();
+        qWarning() <<  "Unable to parse json document filename:error:offset" << jsonFilename << jsonParseError.errorString() << jsonParseError.offset;
         return metaDataMap;
     }
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -285,7 +285,7 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
 
     list << MAV_CMD_NAV_WAYPOINT
          << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TIME << MAV_CMD_NAV_LOITER_TO_ALT
-         << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF
+         << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF << MAV_CMD_NAV_RETURN_TO_LAUNCH
          << MAV_CMD_DO_JUMP
          << MAV_CMD_DO_VTOL_TRANSITION << MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND
          << MAV_CMD_DO_DIGICAM_CONTROL

src/FlightDisplay/FlightDisplayViewWidgets.qml

@@ -43,12 +43,10 @@ Item {
     QGCPalette    { id: qgcPal }
 
     function getPreferredInstrumentWidth() {
-        if(ScreenTools.isMobile) {
-            return mainWindow.width * 0.25
-        } else if(ScreenTools.isHugeScreen) {
-            return mainWindow.width * 0.11
-        }
-        return ScreenTools.defaultFontPixelWidth * 30
+        // Don't allow instrument panel to chew more than 1/4 of full window
+        var defaultWidth = ScreenTools.defaultFontPixelWidth * 30
+        var maxWidth = mainWindow.width * 0.25
+        return Math.min(maxWidth, defaultWidth)
     }
 
     function _setInstrumentWidget() {

src/MissionManager/MissionController.cc

@@ -58,8 +58,8 @@ const int   MissionController::_missionFileVersion =            2;
 MissionController::MissionController(PlanMasterController* masterController, QObject *parent)
     : PlanElementController         (masterController, parent)
     , _missionManager               (_managerVehicle->missionManager())
-    , _visualItems                  (NULL)
-    , _settingsItem                 (NULL)
+    , _visualItems                  (nullptr)
+    , _settingsItem                 (nullptr)
     , _firstItemsFromVehicle        (false)
     , _itemsRequested               (false)
     , _inRecalcSequence             (false)
@@ -70,7 +70,7 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
     , _appSettings                  (qgcApp()->toolbox()->settingsManager()->appSettings())
     , _progressPct                  (0)
     , _currentPlanViewIndex         (-1)
-    , _currentPlanViewItem          (NULL)
+    , _currentPlanViewItem          (nullptr)
 {
     _resetMissionFlightStatus();
     managerVehicleChanged(_managerVehicle);
@@ -113,7 +113,7 @@ void MissionController::_resetMissionFlightStatus(void)
     _controllerVehicle->firmwarePlugin()->batteryConsumptionData(_controllerVehicle, _missionFlightStatus.mAhBattery, _missionFlightStatus.hoverAmps, _missionFlightStatus.cruiseAmps);
     if (_missionFlightStatus.mAhBattery != 0) {
         double batteryPercentRemainingAnnounce = qgcApp()->toolbox()->settingsManager()->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toDouble();
-        _missionFlightStatus.ampMinutesAvailable = (double)_missionFlightStatus.mAhBattery / 1000.0 * 60.0 * ((100.0 - batteryPercentRemainingAnnounce) / 100.0);
+        _missionFlightStatus.ampMinutesAvailable = static_cast<double>(_missionFlightStatus.mAhBattery) / 1000.0 * 60.0 * ((100.0 - batteryPercentRemainingAnnounce) / 100.0);
     }
 
     emit missionDistanceChanged(_missionFlightStatus.totalDistance);
@@ -186,8 +186,8 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
 
         _deinitAllVisualItems();
         _visualItems->deleteLater();
-        _settingsItem = NULL;
-        _visualItems = NULL;
+        _settingsItem = nullptr;
+        _visualItems  = nullptr;
         _updateContainsItems(); // This will clear containsItems which will be set again below. This will re-pop Start Mission confirmation.
         _visualItems = newControllerMissionItems;
 
@@ -353,20 +353,19 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
     newItem->setCoordinate(coordinate);
     newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
     _initVisualItem(newItem);
-    if (_visualItems->count() == 1) {
+    if (_visualItems->count() == 1 && (_controllerVehicle->fixedWing() || _controllerVehicle->vtol() || _controllerVehicle->multiRotor())) {
         MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF;
-        if (_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains((MAV_CMD)takeoffCmd)) {
+        if (_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
             newItem->setCommand(takeoffCmd);
         }
     }
-    newItem->setDefaultsForCommand();
     if (newItem->specifiesAltitude()) {
         double  prevAltitude;
         int     prevAltitudeMode;
 
         if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) {
             newItem->altitude()->setRawValue(prevAltitude);
-            newItem->setAltitudeMode((SimpleMissionItem::AltitudeMode)prevAltitudeMode);
+            newItem->setAltitudeMode(static_cast<SimpleMissionItem::AltitudeMode>(prevAltitudeMode));
         }
     }
     newItem->setMissionFlightStatus(_missionFlightStatus);
@@ -381,11 +380,10 @@ int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i)
     int sequenceNumber = _nextSequenceNumber();
     SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, _flyView, this);
     newItem->setSequenceNumber(sequenceNumber);
-    newItem->setCommand((MAV_CMD)(_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains((MAV_CMD)MAV_CMD_DO_SET_ROI_LOCATION) ?
+    newItem->setCommand((_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_DO_SET_ROI_LOCATION) ?
         MAV_CMD_DO_SET_ROI_LOCATION :
         MAV_CMD_DO_SET_ROI));
     _initVisualItem(newItem);
-    newItem->setDefaultsForCommand();
     newItem->setCoordinate(coordinate);
 
     double  prevAltitude;
@@ -393,7 +391,7 @@ int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i)
 
     if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) {
         newItem->altitude()->setRawValue(prevAltitude);
-        newItem->setAltitudeMode((SimpleMissionItem::AltitudeMode)prevAltitudeMode);
+        newItem->setAltitudeMode(static_cast<SimpleMissionItem::AltitudeMode>(prevAltitudeMode));
     }
     _visualItems->insert(i, newItem);
 
@@ -542,7 +540,7 @@ void MissionController::removeAll(void)
         _deinitAllVisualItems();
         _visualItems->clearAndDeleteContents();
         _visualItems->deleteLater();
-        _settingsItem = NULL;
+        _settingsItem = nullptr;
         _visualItems = new QmlObjectListModel(this);
         _addMissionSettings(_visualItems, false /* addToCenter */);
         _initAllVisualItems();
@@ -670,9 +668,9 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
 
     if (_masterController->offline()) {
         // We only update if offline since if we are online we use the online vehicle settings
-        appSettings->offlineEditingFirmwareType()->setRawValue(AppSettings::offlineEditingFirmwareTypeFromFirmwareType((MAV_AUTOPILOT)json[_jsonFirmwareTypeKey].toInt()));
+        appSettings->offlineEditingFirmwareType()->setRawValue(AppSettings::offlineEditingFirmwareTypeFromFirmwareType(static_cast<MAV_AUTOPILOT>(json[_jsonFirmwareTypeKey].toInt())));
         if (json.contains(_jsonVehicleTypeKey)) {
-            appSettings->offlineEditingVehicleType()->setRawValue(AppSettings::offlineEditingVehicleTypeFromVehicleType((MAV_TYPE)json[_jsonVehicleTypeKey].toInt()));
+            appSettings->offlineEditingVehicleType()->setRawValue(AppSettings::offlineEditingVehicleTypeFromVehicleType(static_cast<MAV_TYPE>(json[_jsonVehicleTypeKey].toInt())));
         }
     }
     if (json.contains(_jsonCruiseSpeedKey)) {
@@ -790,9 +788,9 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
     for (int i=0; i<visualItems->count(); i++) {
         if (visualItems->value<VisualMissionItem*>(i)->isSimpleItem()) {
             SimpleMissionItem* doJumpItem = visualItems->value<SimpleMissionItem*>(i);
-            if ((MAV_CMD)doJumpItem->command() == MAV_CMD_DO_JUMP) {
+            if (doJumpItem->command() == MAV_CMD_DO_JUMP) {
                 bool found = false;
-                int findDoJumpId = doJumpItem->missionItem().param1();
+                int findDoJumpId = static_cast<int>(doJumpItem->missionItem().param1());
                 for (int j=0; j<visualItems->count(); j++) {
                     if (visualItems->value<VisualMissionItem*>(j)->isSimpleItem()) {
                         SimpleMissionItem* targetItem = visualItems->value<SimpleMissionItem*>(j);
@@ -887,7 +885,7 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
         for (int i=1; i<visualItems->count(); i++) {
             SimpleMissionItem* item = qobject_cast<SimpleMissionItem*>(visualItems->get(i));
             if (item && item->command() == MAV_CMD_DO_JUMP) {
-                item->missionItem().setParam1((int)item->missionItem().param1() + 1);
+                item->missionItem().setParam1(static_cast<int>(item->missionItem().param1()) + 1);
             }
         }
     }
@@ -900,7 +898,7 @@ void MissionController::_initLoadedVisualItems(QmlObjectListModel* loadedVisualI
     if (_visualItems) {
         _deinitAllVisualItems();
         _visualItems->deleteLater();
-        _settingsItem = NULL;
+        _settingsItem = nullptr;
     }
 
     _visualItems = loadedVisualItems;
@@ -996,11 +994,11 @@ void MissionController::save(QJsonObject& json)
     }
     QJsonValue coordinateValue;
     JsonHelper::saveGeoCoordinate(settingsItem->coordinate(), true /* writeAltitude */, coordinateValue);
-    json[_jsonPlannedHomePositionKey] = coordinateValue;
-    json[_jsonFirmwareTypeKey] = _controllerVehicle->firmwareType();
-    json[_jsonVehicleTypeKey] = _controllerVehicle->vehicleType();
-    json[_jsonCruiseSpeedKey] = _controllerVehicle->defaultCruiseSpeed();
-    json[_jsonHoverSpeedKey] = _controllerVehicle->defaultHoverSpeed();
+    json[_jsonPlannedHomePositionKey]   = coordinateValue;
+    json[_jsonFirmwareTypeKey]          = _controllerVehicle->firmwareType();
+    json[_jsonVehicleTypeKey]           = _controllerVehicle->vehicleType();
+    json[_jsonCruiseSpeedKey]           = _controllerVehicle->defaultCruiseSpeed();
+    json[_jsonHoverSpeedKey]            = _controllerVehicle->defaultHoverSpeed();
 
     // Save the visual items
 

src/MissionManager/PlanMasterController.cc

@@ -9,6 +9,7 @@
 
 #include "PlanMasterController.h"
 #include "QGCApplication.h"
+#include "QGCCorePlugin.h"
 #include "MultiVehicleManager.h"
 #include "SettingsManager.h"
 #include "AppSettings.h"
@@ -25,16 +26,19 @@
 
 QGC_LOGGING_CATEGORY(PlanMasterControllerLog, "PlanMasterControllerLog")
 
-const int   PlanMasterController::_planFileVersion =            1;
-const char* PlanMasterController::_planFileType =               "Plan";
-const char* PlanMasterController::_jsonMissionObjectKey =       "mission";
-const char* PlanMasterController::_jsonGeoFenceObjectKey =      "geoFence";
-const char* PlanMasterController::_jsonRallyPointsObjectKey =   "rallyPoints";
+const int   PlanMasterController::kPlanFileVersion =            1;
+const char* PlanMasterController::kPlanFileType =               "Plan";
+const char* PlanMasterController::kJsonMissionObjectKey =       "mission";
+const char* PlanMasterController::kJsonGeoFenceObjectKey =      "geoFence";
+const char* PlanMasterController::kJsonRallyPointsObjectKey =   "rallyPoints";
 
 PlanMasterController::PlanMasterController(QObject* parent)
     : QObject               (parent)
     , _multiVehicleMgr      (qgcApp()->toolbox()->multiVehicleManager())
-    , _controllerVehicle    (new Vehicle((MAV_AUTOPILOT)qgcApp()->toolbox()->settingsManager()->appSettings()->offlineEditingFirmwareType()->rawValue().toInt(), (MAV_TYPE)qgcApp()->toolbox()->settingsManager()->appSettings()->offlineEditingVehicleType()->rawValue().toInt(), qgcApp()->toolbox()->firmwarePluginManager()))
+    , _controllerVehicle    (new Vehicle(
+        static_cast<MAV_AUTOPILOT>(qgcApp()->toolbox()->settingsManager()->appSettings()->offlineEditingFirmwareType()->rawValue().toInt()),
+        static_cast<MAV_TYPE>(qgcApp()->toolbox()->settingsManager()->appSettings()->offlineEditingVehicleType()->rawValue().toInt()),
+        qgcApp()->toolbox()->firmwarePluginManager()))
     , _managerVehicle       (_controllerVehicle)
     , _flyView              (true)
     , _offline              (true)
@@ -111,7 +115,7 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
     }
 
     bool newOffline = false;
-    if (activeVehicle == NULL) {
+    if (activeVehicle == nullptr) {
         // Since there is no longer an active vehicle we use the offline controller vehicle as the manager vehicle
         _managerVehicle = _controllerVehicle;
         newOffline = true;
@@ -309,28 +313,33 @@ void PlanMasterController::loadFromFile(const QString& filename)
             return;
         }
 
-        int version;
         QJsonObject json = jsonDoc.object();
-        if (!JsonHelper::validateQGCJsonFile(json, _planFileType, _planFileVersion, _planFileVersion, version, errorString)) {
+        //-- Allow plugins to pre process the load
+        qgcApp()->toolbox()->corePlugin()->preLoadFromJson(this, json);
+
+        int version;
+        if (!JsonHelper::validateQGCJsonFile(json, kPlanFileType, kPlanFileVersion, kPlanFileVersion, version, errorString)) {
             qgcApp()->showMessage(errorMessage.arg(errorString));
             return;
         }
 
         QList<JsonHelper::KeyValidateInfo> rgKeyInfo = {
-            { _jsonMissionObjectKey,        QJsonValue::Object, true },
-            { _jsonGeoFenceObjectKey,       QJsonValue::Object, true },
-            { _jsonRallyPointsObjectKey,    QJsonValue::Object, true },
+            { kJsonMissionObjectKey,        QJsonValue::Object, true },
+            { kJsonGeoFenceObjectKey,       QJsonValue::Object, true },
+            { kJsonRallyPointsObjectKey,    QJsonValue::Object, true },
         };
         if (!JsonHelper::validateKeys(json, rgKeyInfo, errorString)) {
             qgcApp()->showMessage(errorMessage.arg(errorString));
             return;
         }
 
-        if (!_missionController.load(json[_jsonMissionObjectKey].toObject(), errorString) ||
-                !_geoFenceController.load(json[_jsonGeoFenceObjectKey].toObject(), errorString) ||
-                !_rallyPointController.load(json[_jsonRallyPointsObjectKey].toObject(), errorString)) {
+        if (!_missionController.load(json[kJsonMissionObjectKey].toObject(), errorString) ||
+                !_geoFenceController.load(json[kJsonGeoFenceObjectKey].toObject(), errorString) ||
+                !_rallyPointController.load(json[kJsonRallyPointsObjectKey].toObject(), errorString)) {
             qgcApp()->showMessage(errorMessage.arg(errorString));
         } else {
+            //-- Allow plugins to post process the load
+            qgcApp()->toolbox()->corePlugin()->postLoadFromJson(this, json);
             success = true;
         }
     } else if (fileInfo.suffix() == AppSettings::missionFileExtension) {
@@ -364,16 +373,22 @@ void PlanMasterController::loadFromFile(const QString& filename)
 QJsonDocument PlanMasterController::saveToJson()
 {
     QJsonObject planJson;
+    qgcApp()->toolbox()->corePlugin()->preSaveToJson(this, planJson);
     QJsonObject missionJson;
     QJsonObject fenceJson;
     QJsonObject rallyJson;
-    JsonHelper::saveQGCJsonFileHeader(planJson, _planFileType, _planFileVersion);
+    JsonHelper::saveQGCJsonFileHeader(planJson, kPlanFileType, kPlanFileVersion);
+    //-- Allow plugin to preemptly add its own keys to mission
+    qgcApp()->toolbox()->corePlugin()->preSaveToMissionJson(this, missionJson);
     _missionController.save(missionJson);
+    //-- Allow plugin to add its own keys to mission
+    qgcApp()->toolbox()->corePlugin()->postSaveToMissionJson(this, missionJson);
     _geoFenceController.save(fenceJson);
     _rallyPointController.save(rallyJson);
-    planJson[_jsonMissionObjectKey] = missionJson;
-    planJson[_jsonGeoFenceObjectKey] = fenceJson;
-    planJson[_jsonRallyPointsObjectKey] = rallyJson;
+    planJson[kJsonMissionObjectKey] = missionJson;
+    planJson[kJsonGeoFenceObjectKey] = fenceJson;
+    planJson[kJsonRallyPointsObjectKey] = rallyJson;
+    qgcApp()->toolbox()->corePlugin()->postSaveToJson(this, planJson);
     return QJsonDocument(planJson);
 }
 

src/MissionManager/PlanMasterController.h

@@ -91,6 +91,12 @@ public:
     Vehicle* controllerVehicle(void) { return _controllerVehicle; }
     Vehicle* managerVehicle(void) { return _managerVehicle; }
 
+    static const int    kPlanFileVersion;
+    static const char*  kPlanFileType;
+    static const char*  kJsonMissionObjectKey;
+    static const char*  kJsonGeoFenceObjectKey;
+    static const char*  kJsonRallyPointsObjectKey;
+
 signals:
     void containsItemsChanged   (bool containsItems);
     void syncInProgressChanged  (void);
@@ -124,9 +130,4 @@ private:
     bool                    _sendRallyPoints;
     QString                 _currentPlanFile;
 
-    static const int    _planFileVersion;
-    static const char*  _planFileType;
-    static const char*  _jsonMissionObjectKey;
-    static const char*  _jsonGeoFenceObjectKey;
-    static const char*  _jsonRallyPointsObjectKey;
 };

src/MissionManager/SimpleMissionItem.cc

@@ -78,7 +78,7 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool flyView, QObject* pa
     _connectSignals();
     _updateOptionalSections();
 
-    setDefaultsForCommand();
+    _setDefaultsForCommand();
     _rebuildFacts();
 
     setDirty(false);
@@ -213,7 +213,7 @@ void SimpleMissionItem::_connectSignals(void)
     connect(&_missionItem._frameFact,           &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
 
     // A command change triggers a number of other changes as well.
-    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::setDefaultsForCommand);
+    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::_setDefaultsForCommand);
     connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::commandNameChanged);
     connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::commandDescriptionChanged);
     connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::abbreviationChanged);
@@ -729,15 +729,32 @@ bool SimpleMissionItem::readyForSave(void) const
     return !specifiesAltitude() || !qIsNaN(_missionItem._param7Fact.rawValue().toDouble());
 }
 
-void SimpleMissionItem::setDefaultsForCommand(void)
+void SimpleMissionItem::_setDefaultsForCommand(void)
 {
-    // We set these global defaults first, then if there are param defaults they will get reset
+    // First reset params 1-4 to 0, we leave 5-7 alone to preserve any previous location information on command change
+    _missionItem._param1Fact.setRawValue(0);
+    _missionItem._param2Fact.setRawValue(0);
+    _missionItem._param3Fact.setRawValue(0);
+    _missionItem._param4Fact.setRawValue(0);
+
+    if (!specifiesCoordinate() && !isStandaloneCoordinate()) {
+        // No need to carry across previous lat/lon
+        _missionItem._param5Fact.setRawValue(0);
+        _missionItem._param6Fact.setRawValue(0);
+    }
+
+    // Set global defaults first, then if there are param defaults they will get reset
     _altitudeMode = AltitudeRelative;
     emit altitudeModeChanged();
-    double defaultAlt = qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble();
-    _altitudeFact.setRawValue(defaultAlt);
-    _missionItem._param7Fact.setRawValue(defaultAlt);
     _amslAltAboveTerrainFact.setRawValue(qQNaN());
+    if (specifiesCoordinate() || isStandaloneCoordinate() || specifiesAltitudeOnly()) {
+        double defaultAlt = qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble();
+        _altitudeFact.setRawValue(defaultAlt);
+        _missionItem._param7Fact.setRawValue(defaultAlt);
+    } else {
+        _altitudeFact.setRawValue(0);
+        _missionItem._param7Fact.setRawValue(0);
+    }
 
     MAV_CMD command = (MAV_CMD)this->command();
     const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_vehicle, command);

src/MissionManager/SimpleMissionItem.h

@@ -134,9 +134,6 @@ public:
     int  lastSequenceNumber (void) const final;
     void save               (QJsonArray&  missionItems) final;
 
-public slots:
-    void setDefaultsForCommand(void);
-
 signals:
     void commandChanged             (int command);
     void friendlyEditAllowedChanged (bool friendlyEditAllowed);
@@ -160,6 +157,7 @@ private slots:
     void _rebuildFacts                      (void);
     void _rebuildTextFieldFacts             (void);
     void _possibleAdditionalTimeDelayChanged(void);
+    void _setDefaultsForCommand              (void);
 
 private:
     void _connectSignals        (void);

src/MissionManager/TransectStyleComplexItem.cc

@@ -412,11 +412,6 @@ void TransectStyleComplexItem::_setBoundingCube(QGCGeoBoundingCube bc)
 void TransectStyleComplexItem::_queryTransectsPathHeightInfo(void)
 {
     _transectsPathHeightInfo.clear();
-    if (_terrainPolyPathQuery) {
-        // Toss previous query
-        _terrainPolyPathQuery->deleteLater();
-        _terrainPolyPathQuery = NULL;
-    }
 
     if (_transects.count()) {
         // We don't actually send the query until this timer times out. This way we only send
@@ -427,6 +422,20 @@ void TransectStyleComplexItem::_queryTransectsPathHeightInfo(void)
 
 void TransectStyleComplexItem::_reallyQueryTransectsPathHeightInfo(void)
 {
+    // Clear any previous query
+    if (_terrainPolyPathQuery) {
+        // FIXME: We should really be blowing away any previous query here. But internally that is difficult to implement so instead we let
+        // it complete and drop the results.
+#if 0
+        // Toss previous query
+        _terrainPolyPathQuery->deleteLater();
+#else
+        // Let the signal fall on the floor
+        disconnect(_terrainPolyPathQuery, &TerrainPolyPathQuery::terrainDataReceived, this, &TransectStyleComplexItem::_polyPathTerrainData);
+#endif
+        _terrainPolyPathQuery = NULL;
+    }
+
     // Append all transects into a single PolyPath query
 
     QList<QGeoCoordinate> transectPoints;
@@ -463,6 +472,12 @@ void TransectStyleComplexItem::_polyPathTerrainData(bool success, const QList<Te
         // Now that we have terrain data we can adjust
         _adjustTransectsForTerrain();
     }
+
+    if (_terrainPolyPathQuery != sender()) {
+        qWarning() << "TransectStyleComplexItem::_polyPathTerrainData _terrainPolyPathQuery != sender()";
+    }
+    disconnect(_terrainPolyPathQuery, &TerrainPolyPathQuery::terrainDataReceived, this, &TransectStyleComplexItem::_polyPathTerrainData);
+    _terrainPolyPathQuery = NULL;
 }
 
 bool TransectStyleComplexItem::readyForSave(void) const

src/MissionManager/TransectStyleComplexItem.h

@@ -54,8 +54,8 @@ public:
     Fact* hoverAndCapture               (void) { return &_hoverAndCaptureFact; }
     Fact* refly90Degrees                (void) { return &_refly90DegreesFact; }
     Fact* terrainAdjustTolerance        (void) { return &_terrainAdjustToleranceFact; }
-    Fact* terrainAdjustMaxDescentRate   (void) { return &_terrainAdjustMaxClimbRateFact; }
-    Fact* terrainAdjustMaxClimbRate     (void) { return &_terrainAdjustMaxDescentRateFact; }
+    Fact* terrainAdjustMaxDescentRate   (void) { return &_terrainAdjustMaxDescentRateFact; }
+    Fact* terrainAdjustMaxClimbRate     (void) { return &_terrainAdjustMaxClimbRateFact; }
 
     const Fact* hoverAndCapture         (void) const { return &_hoverAndCaptureFact; }
 

src/PlanView/MissionSettingsEditor.qml

@@ -36,8 +36,9 @@ Rectangle {
     property var    _fileExtension:                 QGroundControl.settingsManager.appSettings.missionFileExtension
     property var    _appSettings:                   QGroundControl.settingsManager.appSettings
     property bool   _waypointsOnlyMode:             QGroundControl.corePlugin.options.missionWaypointsOnly
-    property bool   _showCameraSection:             !_waypointsOnlyMode || QGroundControl.corePlugin.showAdvancedUI
+    property bool   _showCameraSection:             (!_waypointsOnlyMode || QGroundControl.corePlugin.showAdvancedUI) && !_missionVehicle.apmFirmware
     property bool   _simpleMissionStart:            QGroundControl.corePlugin.options.showSimpleMissionStart
+    property bool   _showFlightSpeed:               !_missionVehicle.vtol && !_simpleMissionStart && !_missionVehicle.apmFirmware
 
     readonly property string _firmwareLabel:    qsTr("Firmware")
     readonly property string _vehicleLabel:     qsTr("Vehicle")
@@ -72,14 +73,14 @@ Rectangle {
             QGCCheckBox {
                 id:         flightSpeedCheckBox
                 text:       qsTr("Flight speed")
-                visible:    !_missionVehicle.vtol && !_simpleMissionStart
+                visible:    _showFlightSpeed
                 checked:    missionItem.speedSection.specifyFlightSpeed
                 onClicked:   missionItem.speedSection.specifyFlightSpeed = checked
             }
             FactTextField {
                 Layout.fillWidth:   true
                 fact:               missionItem.speedSection.flightSpeed
-                visible:            flightSpeedCheckBox.visible
+                visible:            _showFlightSpeed
                 enabled:            flightSpeedCheckBox.checked
             }
         }

src/QmlControls/ScreenTools.qml

@@ -53,20 +53,20 @@ Item {
     readonly property real mediumFontPointRatio:     1.25
     readonly property real largeFontPointRatio:      1.5
 
-    property real realPixelDensity:  QGroundControl.corePlugin.options.devicePixelDensity != 0 ? QGroundControl.corePlugin.options.devicePixelDensity : Screen.pixelDensity
-
-    property real realPixelRatio: {
+    property real realPixelDensity: {
         //-- If a plugin defines it, just use what it tells us
-        if (QGroundControl.corePlugin.options.devicePixelRatio != 0)
-            return QGroundControl.corePlugin.options.devicePixelRatio
-        //-- Mobile is rather unreliable. They all return 1 for Screen.devicePixelRatio.
-        if(isMobile) {
-            //   Lets assume it's unlikely you have a tablet over 300mm wide
-            if((Screen.width / Screen.pixelDensity * Screen.devicePixelRatio) > 300)
-                return 2
+        if(QGroundControl.corePlugin.options.devicePixelDensity != 0) {
+            return QGroundControl.corePlugin.options.devicePixelDensity
+        }
+        //-- Android is rather unreliable
+        if(isAndroid) {
+            // Lets assume it's unlikely you have a tablet over 300mm wide
+            if((Screen.width / Screen.pixelDensity) > 300) {
+                return Screen.pixelDensity * 2
+            }
         }
-        //-- Use whatever the system tells us
-        return Screen.devicePixelRatio
+        //-- Let's use what the system tells us
+        return Screen.pixelDensity
     }
 
     property bool isAndroid:        ScreenToolsController.isAndroid
@@ -74,9 +74,10 @@ Item {
     property bool isMobile:         ScreenToolsController.isMobile
     property bool isWindows:        ScreenToolsController.isWindows
     property bool isDebug:          ScreenToolsController.isDebug
+    property bool isMac:            ScreenToolsController.isMacOS
     property bool isTinyScreen:     (Screen.width / realPixelDensity) < 120 // 120mm
     property bool isShortScreen:    ScreenToolsController.isMobile && ((Screen.height / Screen.width) < 0.6) // Nexus 7 for example
-    property bool isHugeScreen:     Screen.width >= 1920*2
+    property bool isHugeScreen:     (Screen.width / realPixelDensity) >= (23.5 * 25.4) // 27" monitor
 
     readonly property real minTouchMillimeters: 10      ///< Minimum touch size in millimeters
     property real minTouchPixels:               0       ///< Minimum touch size in pixels
@@ -111,10 +112,6 @@ Item {
         _setBasePointSize(defaultFontPointSize)
     }
 
-    onRealPixelRatioChanged: {
-        _setBasePointSize(defaultFontPointSize)
-    }
-
     function printScreenStats() {
         console.log('ScreenTools: Screen.width: ' + Screen.width + ' Screen.height: ' + Screen.height + ' Screen.pixelDensity: ' + Screen.pixelDensity)
     }
@@ -138,7 +135,7 @@ Item {
         smallFontPointSize      = defaultFontPointSize  * _screenTools.smallFontPointRatio
         mediumFontPointSize     = defaultFontPointSize  * _screenTools.mediumFontPointRatio
         largeFontPointSize      = defaultFontPointSize  * _screenTools.largeFontPointRatio
-        minTouchPixels          = Math.round(minTouchMillimeters * realPixelDensity * realPixelRatio)
+        minTouchPixels          = Math.round(minTouchMillimeters * realPixelDensity)
         if (minTouchPixels / Screen.height > 0.15) {
             // If using physical sizing takes up too much of the vertical real estate fall back to font based sizing
             minTouchPixels      = defaultFontPixelHeight * 3

src/Terrain/TerrainQuery.cc

@@ -416,7 +416,7 @@ bool TerrainTileManager::_getAltitudesForCoordinates(const QList<QGeoCoordinate>
                     error = true;
                     qCWarning(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates Internal Error: negative elevation in tile cache";
                 } else {
-                    qCWarning(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates returning elevation from tile cache" << elevation;
+                    qCDebug(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates returning elevation from tile cache" << elevation;
                 }
                 altitudes.push_back(elevation);
             } else {

src/Vehicle/EstimatorStatusFactGroup.json

+[
+{
+    "name":                 "goodAttitudeEsimate",
+    "shortDescription":     "Good Attitude Esimate",
+    "type":                 "bool",
+    "default":              false
+},
+{
+    "name":                 "goodHorizVelEstimate",
+    "shortDescription":     "Good Horiz Vel Estimate",
+    "type":                 "bool",
+    "default":              false
+},
+{
+    "name":                 "goodVertVelEstimate",
+    "shortDescription":     "Good Vert Vel Estimate",
+    "type":                 "bool",
+    "default":              false
+},
+{
+    "name":                 "goodHorizPosRelEstimate",
+    "shortDescription":     "Good Horiz Pos Rel Estimate",
+    "type":                 "bool",
+    "default":              false
+},
+{
+    "name":                 "goodHorizPosAbsEstimate",
+    "shortDescription":     "Good Horiz Pos Abs Estimate",
+    "type":                 "bool",
+    "default":              false
+},
+{
+    "name":                 "goodVertPosAbsEstimate",
+    "shortDescription":     "Good Vert Pos Abs Estimate",
+    "type":                 "bool",
+    "default":              false
+},
+{
+    "name":                 "goodVertPosAGLEstimate",
+    "shortDescription":     "Good Vert Pos AGL Estimate",
+    "type":                 "bool",
+    "default":              false
+},
+{
+    "name":                 "goodConstPosModeEstimate",
+    "shortDescription":     "Good Const Pos Mode Estimate",
+    "type":                 "bool",
+    "default":              false
+},
+{
+    "name":                 "goodPredHorizPosRelEstimate",
+    "shortDescription":     "Good Pred Horiz Pos Rel Estimate",
+    "type":                 "bool",
+    "default":              false
+},
+{
+    "name":                 "goodPredHorizPosAbsEstimate",
+    "shortDescription":     "Good Pred Horiz Pos Abs Estimate",
+    "type":                 "bool",
+    "default":              false
+},
+{
+    "name":                 "gpsGlitch",
+    "shortDescription":     "Gps Glitch",
+    "type":                 "bool",
+    "default":              false
+},
+{
+    "name":                 "accelError",
+    "shortDescription":     "Accel Error",
+    "type":                 "bool",
+    "default":              false
+},
+{
+    "name":                 "velRatio",
+    "shortDescription":     "Vel Ratio",
+    "type":                 "float",
+    "decimalPlaces":        2,
+    "default":              null
+},
+{
+    "name":                 "horizPosRatio",
+    "shortDescription":     "Horiz Pos Ratio",
+    "type":                 "float",
+    "decimalPlaces":        2,
+    "default":              null
+},
+{
+    "name":                 "vertPosRatio",
+    "shortDescription":     "Vert Pos Ratio",
+    "type":                 "float",
+    "decimalPlaces":        2,
+    "default":              null
+},
+{
+    "name":                 "magRatio",
+    "shortDescription":     "Mag Ratio",
+    "type":                 "float",
+    "decimalPlaces":        2,
+    "default":              null
+},
+{
+    "name":                 "haglRatio",
+    "shortDescription":     "HAGL Ratio",
+    "type":                 "float",
+    "decimalPlaces":        2,
+    "default":              null
+},
+{
+    "name":                 "tasRatio",
+    "shortDescription":     "TAS Ratio",
+    "type":                 "float",
+    "decimalPlaces":        2,
+    "default":              null
+},
+{
+    "name":                 "horizPosAccuracy",
+    "shortDescription":     "Horiz Pos Accuracy",
+    "type":                 "float",
+    "decimalPlaces":        2,
+    "default":              null
+},
+{
+    "name":                 "vertPosAccuracy",
+    "shortDescription":     "Vert Pos Accuracy",
+    "type":                 "float",
+    "decimalPlaces":        2,
+    "default":              null
+}
+]

src/api/QGCCorePlugin.cc

@@ -28,25 +28,25 @@ class QGCCorePlugin_p
 {
 public:
     QGCCorePlugin_p()
-        : pGeneral                  (NULL)
-        , pCommLinks                (NULL)
-        , pOfflineMaps              (NULL)
+        : pGeneral                  (nullptr)
+        , pCommLinks                (nullptr)
+        , pOfflineMaps              (nullptr)
     #if defined(QGC_AIRMAP_ENABLED)
-        , pAirmap                   (NULL)
+        , pAirmap                   (nullptr)
     #endif
-        , pMAVLink                  (NULL)
-        , pConsole                  (NULL)
-        , pHelp                     (NULL)
+        , pMAVLink                  (nullptr)
+        , pConsole                  (nullptr)
+        , pHelp                     (nullptr)
     #if defined(QT_DEBUG)
-        , pMockLink                 (NULL)
-        , pDebug                    (NULL)
+        , pMockLink                 (nullptr)
+        , pDebug                    (nullptr)
     #endif
-        , defaultOptions            (NULL)
-        , valuesPageWidgetInfo      (NULL)
-        , cameraPageWidgetInfo      (NULL)
-        , videoPageWidgetInfo       (NULL)
-        , healthPageWidgetInfo      (NULL)
-        , vibrationPageWidgetInfo   (NULL)
+        , defaultOptions            (nullptr)
+        , valuesPageWidgetInfo      (nullptr)
+        , cameraPageWidgetInfo      (nullptr)
+        , videoPageWidgetInfo       (nullptr)
+        , healthPageWidgetInfo      (nullptr)
+        , vibrationPageWidgetInfo   (nullptr)
     {
     }
 
@@ -129,41 +129,41 @@ QVariantList &QGCCorePlugin::settingsPages()
 {
     if(!_p->pGeneral) {
         _p->pGeneral = new QmlComponentInfo(tr("General"),
-                                       QUrl::fromUserInput("qrc:/qml/GeneralSettings.qml"),
-                                       QUrl::fromUserInput("qrc:/res/gear-white.svg"));
-        _p->settingsList.append(QVariant::fromValue((QmlComponentInfo*)_p->pGeneral));
+            QUrl::fromUserInput("qrc:/qml/GeneralSettings.qml"),
+            QUrl::fromUserInput("qrc:/res/gear-white.svg"));
+        _p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pGeneral)));
         _p->pCommLinks = new QmlComponentInfo(tr("Comm Links"),
-                                         QUrl::fromUserInput("qrc:/qml/LinkSettings.qml"),
-                                         QUrl::fromUserInput("qrc:/res/waves.svg"));
-        _p->settingsList.append(QVariant::fromValue((QmlComponentInfo*)_p->pCommLinks));
+            QUrl::fromUserInput("qrc:/qml/LinkSettings.qml"),
+            QUrl::fromUserInput("qrc:/res/waves.svg"));
+        _p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pCommLinks)));
         _p->pOfflineMaps = new QmlComponentInfo(tr("Offline Maps"),
-                                           QUrl::fromUserInput("qrc:/qml/OfflineMap.qml"),
-                                           QUrl::fromUserInput("qrc:/res/waves.svg"));
-        _p->settingsList.append(QVariant::fromValue((QmlComponentInfo*)_p->pOfflineMaps));
+            QUrl::fromUserInput("qrc:/qml/OfflineMap.qml"),
+            QUrl::fromUserInput("qrc:/res/waves.svg"));
+        _p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pOfflineMaps)));
 #if defined(QGC_AIRMAP_ENABLED)
         _p->pAirmap = new QmlComponentInfo(tr("AirMap"),
-                                           QUrl::fromUserInput("qrc:/qml/AirmapSettings.qml"),
-                                           QUrl::fromUserInput(""));
-        _p->settingsList.append(QVariant::fromValue((QmlComponentInfo*)_p->pAirmap));
+            QUrl::fromUserInput("qrc:/qml/AirmapSettings.qml"),
+            QUrl::fromUserInput(""));
+        _p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pAirmap)));
 #endif
         _p->pMAVLink = new QmlComponentInfo(tr("MAVLink"),
-                                       QUrl::fromUserInput("qrc:/qml/MavlinkSettings.qml"),
-                                       QUrl::fromUserInput("qrc:/res/waves.svg"));
-        _p->settingsList.append(QVariant::fromValue((QmlComponentInfo*)_p->pMAVLink));
+            QUrl::fromUserInput("qrc:/qml/MavlinkSettings.qml"),
+            QUrl::fromUserInput("qrc:/res/waves.svg"));
+        _p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pMAVLink)));
         _p->pConsole = new QmlComponentInfo(tr("Console"),
-                                       QUrl::fromUserInput("qrc:/qml/QGroundControl/Controls/AppMessages.qml"));
-        _p->settingsList.append(QVariant::fromValue((QmlComponentInfo*)_p->pConsole));
+            QUrl::fromUserInput("qrc:/qml/QGroundControl/Controls/AppMessages.qml"));
+        _p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pConsole)));
         _p->pHelp = new QmlComponentInfo(tr("Help"),
-                                       QUrl::fromUserInput("qrc:/qml/HelpSettings.qml"));
-        _p->settingsList.append(QVariant::fromValue((QmlComponentInfo*)_p->pHelp));
+            QUrl::fromUserInput("qrc:/qml/HelpSettings.qml"));
+        _p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pHelp)));
 #if defined(QT_DEBUG)
         //-- These are always present on Debug builds
         _p->pMockLink = new QmlComponentInfo(tr("Mock Link"),
-                                        QUrl::fromUserInput("qrc:/qml/MockLink.qml"));
-        _p->settingsList.append(QVariant::fromValue((QmlComponentInfo*)_p->pMockLink));
+            QUrl::fromUserInput("qrc:/qml/MockLink.qml"));
+        _p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pMockLink)));
         _p->pDebug = new QmlComponentInfo(tr("Debug"),
-                                     QUrl::fromUserInput("qrc:/qml/DebugWindow.qml"));
-        _p->settingsList.append(QVariant::fromValue((QmlComponentInfo*)_p->pDebug));
+            QUrl::fromUserInput("qrc:/qml/DebugWindow.qml"));
+        _p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pDebug)));
 #endif
     }
     return _p->settingsList;

src/api/QGCCorePlugin.h

@@ -32,6 +32,7 @@ class Vehicle;
 class LinkInterface;
 class QmlObjectListModel;
 class VideoReceiver;
+class PlanMasterController;
 
 class QGCCorePlugin : public QGCTool
 {
@@ -88,7 +89,7 @@ public:
     virtual QString showAdvancedUIMessage(void) const;
 
     /// @return An instance of an alternate position source (or NULL if not available)
-    virtual QGeoPositionInfoSource* createPositionSource(QObject* parent) { Q_UNUSED(parent); return NULL; }
+    virtual QGeoPositionInfoSource* createPositionSource(QObject* parent) { Q_UNUSED(parent); return nullptr; }
 
     /// Allows a plugin to override the specified color name from the palette
     virtual void paletteOverride(QString colorName, QGCPalette::PaletteColorInfo_t& colorInfo);
@@ -110,6 +111,20 @@ public:
     /// should derive from QmlComponentInfo and set the url property.
     virtual QmlObjectListModel* customMapItems(void);
 
+    /// Allows custom builds to add custom items to the plan file. Either before the document is
+    /// created or after.
+    virtual void    preSaveToJson           (PlanMasterController* pController, QJsonObject& json) { Q_UNUSED(pController); Q_UNUSED(json); }
+    virtual void    postSaveToJson          (PlanMasterController* pController, QJsonObject& json) { Q_UNUSED(pController); Q_UNUSED(json); }
+
+    /// Same for the specific "mission" portion
+    virtual void    preSaveToMissionJson    (PlanMasterController* pController, QJsonObject& missionJson) { Q_UNUSED(pController); Q_UNUSED(missionJson); }
+    virtual void    postSaveToMissionJson   (PlanMasterController* pController, QJsonObject& missionJson) { Q_UNUSED(pController); Q_UNUSED(missionJson); }
+
+    /// Allows custom builds to load custom items from the plan file. Either before the document is
+    /// parsed or after.
+    virtual void    preLoadFromJson     (PlanMasterController* pController, QJsonObject& json) { Q_UNUSED(pController); Q_UNUSED(json); }
+    virtual void    postLoadFromJson    (PlanMasterController* pController, QJsonObject& json) { Q_UNUSED(pController); Q_UNUSED(json); }
+
     bool showTouchAreas(void) const { return _showTouchAreas; }
     bool showAdvancedUI(void) const { return _showAdvancedUI; }
     void setShowTouchAreas(bool show);