qgroundcontrol.pro

@@ -669,6 +669,8 @@ HEADERS += \
     src/Vehicle/GPSRTKFactGroup.h \
     src/Vehicle/MAVLinkLogManager.h \
     src/Vehicle/MultiVehicleManager.h \
+    src/Vehicle/TerrainFactGroup.h \
+    src/Vehicle/TerrainProtocolHandler.h \
     src/Vehicle/TrajectoryPoints.h \
     src/Vehicle/Vehicle.h \
     src/Vehicle/VehicleObjectAvoidance.h \
@@ -872,6 +874,8 @@ SOURCES += \
     src/Vehicle/GPSRTKFactGroup.cc \
     src/Vehicle/MAVLinkLogManager.cc \
     src/Vehicle/MultiVehicleManager.cc \
+    src/Vehicle/TerrainFactGroup.cc \
+    src/Vehicle/TerrainProtocolHandler.cc \
     src/Vehicle/TrajectoryPoints.cc \
     src/Vehicle/Vehicle.cc \
     src/Vehicle/VehicleObjectAvoidance.cc \

qgroundcontrol.qrc

@@ -197,6 +197,7 @@
         <file alias="QGroundControl/FlightDisplay/PreFlightRCCheck.qml">src/FlightDisplay/PreFlightRCCheck.qml</file>
         <file alias="QGroundControl/FlightDisplay/PreFlightSensorsHealthCheck.qml">src/FlightDisplay/PreFlightSensorsHealthCheck.qml</file>
         <file alias="QGroundControl/FlightDisplay/PreFlightSoundCheck.qml">src/FlightDisplay/PreFlightSoundCheck.qml</file>
+        <file alias="QGroundControl/FlightDisplay/TerrainProgress.qml">src/FlightDisplay/TerrainProgress.qml</file>
         <file alias="QGroundControl/FlightDisplay/qmldir">src/QmlControls/QGroundControl/FlightDisplay/qmldir</file>
         <file alias="QGroundControl/FlightMap/CameraTriggerIndicator.qml">src/FlightMap/MapItems/CameraTriggerIndicator.qml</file>
         <file alias="QGroundControl/FlightMap/CenterMapDropButton.qml">src/FlightMap/Widgets/CenterMapDropButton.qml</file>
@@ -285,6 +286,7 @@
         <file alias="Vehicle/SetpointFact.json">src/Vehicle/SetpointFact.json</file>
         <file alias="Vehicle/SubmarineFact.json">src/Vehicle/SubmarineFact.json</file>
         <file alias="Vehicle/TemperatureFact.json">src/Vehicle/TemperatureFact.json</file>
+        <file alias="Vehicle/TerrainFactGroup.json">src/Vehicle/TerrainFactGroup.json</file>
         <file alias="Vehicle/VehicleFact.json">src/Vehicle/VehicleFact.json</file>
         <file alias="Vehicle/VibrationFact.json">src/Vehicle/VibrationFact.json</file>
         <file alias="Vehicle/WindFact.json">src/Vehicle/WindFact.json</file>

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -105,7 +105,6 @@ public:
     QObject*            loadParameterMetaData           (const QString& metaDataFile) override;
     QString             brandImageIndoor                (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
     QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
-    bool                supportsTerrainFrame            (void) const override { return true; }
 
 protected:
     /// All access to singleton is through stack specific implementation

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -148,12 +148,6 @@ bool FirmwarePlugin::supportsJSButton(void)
     return false;
 }
 
-bool FirmwarePlugin::supportsTerrainFrame(void) const
-{
-    // Generic firmware supports this since we don't know
-    return true;
-}
-
 bool FirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
 {
     Q_UNUSED(vehicle);

src/FirmwarePlugin/FirmwarePlugin.h

@@ -182,9 +182,6 @@ public:
     /// (CompassMot). Default is true.
     virtual bool supportsMotorInterference(void);
 
-    /// Returns true if the firmware supports MAV_FRAME_GLOBAL_TERRAIN_ALT
-    virtual bool supportsTerrainFrame(void) const;
-
     /// Called before any mavlink message is processed by Vehicle such that the firmwre plugin
     /// can adjust any message characteristics. This is handy to adjust or differences in mavlink
     /// spec implementations such that the base code can remain mavlink generic.

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -68,7 +68,6 @@ public:
     QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
     QString             autoDisarmParameter             (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("COM_DISARM_LAND"); }
     uint32_t            highLatencyCustomModeTo32Bits   (uint16_t hlCustomMode) override;
-    bool                supportsTerrainFrame            (void) const override { return false; }
     bool                supportsNegativeThrust          (Vehicle *vehicle) override;
 
 protected:

src/FlightDisplay/TerrainProgress.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                      2.12
+import QtQuick.Layouts              1.12
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Vehicle       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Palette       1.0
+
+Rectangle {
+    height:     mainLayout.height + (_margins * 2)
+    visible:    false
+    color:      qgcPal.window
+
+    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+    property real   _margins:       ScreenTools.defaultFontPixelWidth / 2
+    property real   _totalBlocks:   _activeVehicle ? _activeVehicle.terrain.blocksPending.rawValue + _activeVehicle.terrain.blocksLoaded.rawValue : 0
+    property real   _blocksLoaded:  _activeVehicle ? _activeVehicle.terrain.blocksLoaded.rawValue : 0
+    property real   _blocksPending: _activeVehicle ? _activeVehicle.terrain.blocksPending.rawValue : 0
+    property real   _pctComplete:   _activeVehicle && _totalBlocks ? _blocksLoaded / _totalBlocks : 0
+
+    on_BlocksPendingChanged: {
+        if (_blocksPending == 0) {
+            // UI doesn't go away immediately
+            visibilityTimer.restart()
+        } else {
+            visible = true
+            visibilityTimer.stop()
+        }
+    }
+
+    on_BlocksLoadedChanged: {
+        if (_blocksLoaded != 0) {
+            // This causes the progress indicator to display even if it starts out as complete
+            visible = true
+            if (_blocksPending == 0) {
+                visibilityTimer.restart()
+            }
+        }
+    }
+
+    Timer {
+        id:             visibilityTimer
+        interval:       30 * 1000
+        onTriggered:    parent.visible = false
+    }
+
+    QGCPalette { id: qgcPal }
+
+    ColumnLayout {
+        id:                 mainLayout
+        anchors.margins:    _margins
+        anchors.top:        parent.top
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+        spacing:            _margins
+
+        QGCLabel {
+            Layout.alignment:   Qt.AlignHCenter
+            text:               qsTr("Terrain Load Progress")
+            font.pointSize:     ScreenTools.smallFontPointSize
+        }
+
+        Rectangle {
+            Layout.fillWidth:   true
+            height:             ScreenTools.defaultFontPixelHeight
+            color:              "transparent"
+            border.color:       "green"
+
+            Rectangle {
+                anchors.top:    parent.top
+                anchors.bottom: parent.bottom
+                color:          "green"
+                width:         parent.width * _pctComplete
+
+                QGCLabel {
+                    anchors.centerIn:   parent
+                    text:               qsTr("Done")
+                    visible:            _blocksPending == 0
+                }
+            }
+        }
+    }
+}

src/FlightMap/Widgets/QGCInstrumentWidget.qml

@@ -7,73 +7,76 @@
  *
  ****************************************************************************/
 
-
-import QtQuick 2.3
+import QtQuick          2.12
+import QtQuick.Layouts  1.12
 
 import QGroundControl               1.0
 import QGroundControl.Controls      1.0
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.FactSystem    1.0
 import QGroundControl.FlightMap     1.0
+import QGroundControl.FlightDisplay 1.0
 import QGroundControl.Palette       1.0
 
-Rectangle {
-    id:             root
-    width:          getPreferredInstrumentWidth()
-    height:         _outerRadius * 2
-    radius:         _outerRadius
-    color:          qgcPal.window
-    border.width:   1
-    border.color:   _isSatellite ? qgcPal.mapWidgetBorderLight : qgcPal.mapWidgetBorderDark
-
-    property real   _innerRadius:       (width - (_topBottomMargin * 3)) / 4
-    property real   _outerRadius:       _innerRadius + _topBottomMargin
-    property real   _defaultSize:       ScreenTools.defaultFontPixelHeight * (9)
-    property real   _sizeRatio:         ScreenTools.isTinyScreen ? (width / _defaultSize) * 0.5 : width / _defaultSize
-    property real   _bigFontSize:       ScreenTools.defaultFontPointSize * 2.5  * _sizeRatio
-    property real   _normalFontSize:    ScreenTools.defaultFontPointSize * 1.5  * _sizeRatio
-    property real   _labelFontSize:     ScreenTools.defaultFontPointSize * 0.75 * _sizeRatio
-    property real   _spacing:           ScreenTools.defaultFontPixelHeight * 0.33
-    property real   _topBottomMargin:   (width * 0.05) / 2
-    property real   _availableValueHeight: maxHeight - (root.height + _valuesItem.anchors.topMargin)
+ColumnLayout {
+    id:         root
+    width:      getPreferredInstrumentWidth()
+    spacing:    ScreenTools.defaultFontPixelHeight / 4
 
-    // Prevent all clicks from going through to lower layers
-    DeadMouseArea {
-        anchors.fill: parent
-    }
+    property real   _innerRadius:           (width - (_topBottomMargin * 3)) / 4
+    property real   _outerRadius:           _innerRadius + _topBottomMargin
+    property real   _defaultSize:           ScreenTools.defaultFontPixelHeight * (9)
+    property real   _sizeRatio:             ScreenTools.isTinyScreen ? (width / _defaultSize) * 0.5 : width / _defaultSize
+    property real   _bigFontSize:           ScreenTools.defaultFontPointSize * 2.5  * _sizeRatio
+    property real   _normalFontSize:        ScreenTools.defaultFontPointSize * 1.5  * _sizeRatio
+    property real   _labelFontSize:         ScreenTools.defaultFontPointSize * 0.75 * _sizeRatio
+    property real   _spacing:               ScreenTools.defaultFontPixelHeight * 0.33
+    property real   _topBottomMargin:       (width * 0.05) / 2
+    property real   _availableValueHeight:  maxHeight - _valuesItem.y
 
     QGCPalette { id: qgcPal }
 
-    QGCAttitudeWidget {
-        id:                 attitude
-        anchors.leftMargin: _topBottomMargin
-        anchors.left:       parent.left
-        size:               _innerRadius * 2
-        vehicle:            activeVehicle
-        anchors.verticalCenter: parent.verticalCenter
+    Rectangle {
+        id:                 visualInstrument
+        height:             _outerRadius * 2
+        Layout.fillWidth:   true
+        radius:             _outerRadius
+        color:              qgcPal.window
+        border.width:       1
+        border.color:       _isSatellite ? qgcPal.mapWidgetBorderLight : qgcPal.mapWidgetBorderDark
+
+        DeadMouseArea { anchors.fill: parent }
+
+        QGCAttitudeWidget {
+            id:                     attitude
+            anchors.leftMargin:     _topBottomMargin
+            anchors.left:           parent.left
+            size:                   _innerRadius * 2
+            vehicle:                activeVehicle
+            anchors.verticalCenter: parent.verticalCenter
+        }
+
+        QGCCompassWidget {
+            id:                     compass
+            anchors.leftMargin:     _spacing
+            anchors.left:           attitude.right
+            size:                   _innerRadius * 2
+            vehicle:                activeVehicle
+            anchors.verticalCenter: parent.verticalCenter
+        }
     }
 
-    QGCCompassWidget {
-        id:                 compass
-        anchors.leftMargin: _spacing
-        anchors.left:       attitude.right
-        size:               _innerRadius * 2
-        vehicle:            activeVehicle
-        anchors.verticalCenter: parent.verticalCenter
+    TerrainProgress {
+        Layout.fillWidth: true
     }
 
     Item {
         id:                 _valuesItem
-        anchors.topMargin:  ScreenTools.defaultFontPixelHeight / 4
-        anchors.top:        parent.bottom
-        width:              parent.width
+        Layout.fillWidth:   true
         height:             _valuesWidget.height
         visible:            widgetRoot.showValues
 
-        // Prevent all clicks from going through to lower layers
-        DeadMouseArea {
-            anchors.fill: parent
-        }
+        DeadMouseArea { anchors.fill: parent }
 
         Rectangle {
             anchors.fill:   _valuesWidget

src/MissionManager/CameraCalc.cc

@@ -11,6 +11,7 @@
 #include "JsonHelper.h"
 #include "Vehicle.h"
 #include "CameraMetaData.h"
+#include "PlanMasterController.h"
 
 #include <QQmlEngine>
 
@@ -26,10 +27,9 @@ const char* CameraCalc::adjustedFootprintSideName =         "AdjustedFootprintSi
 
 const char* CameraCalc::_jsonCameraSpecTypeKey =            "CameraSpecType";
 
-CameraCalc::CameraCalc(Vehicle* vehicle, const QString& settingsGroup, QObject* parent)
+CameraCalc::CameraCalc(PlanMasterController* masterController, const QString& settingsGroup, QObject* parent)
     : CameraSpec                    (settingsGroup, parent)
-    , _vehicle                      (vehicle)
-    , _dirty                        (false)
+    , _dirty                        (masterController)
     , _disableRecalc                (false)
     , _distanceToSurfaceRelative    (true)
     , _metaDataMap                  (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraCalc.FactMetaData.json"), this))
@@ -43,7 +43,7 @@ CameraCalc::CameraCalc(Vehicle* vehicle, const QString& settingsGroup, QObject*
     , _adjustedFootprintFrontalFact (settingsGroup, _metaDataMap[adjustedFootprintFrontalName])
     , _imageFootprintSide           (0)
     , _imageFootprintFrontal        (0)
-    , _knownCameraList              (_vehicle->staticCameraList())
+    , _knownCameraList              (masterController->controllerVehicle()->staticCameraList())
 {
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
 

src/MissionManager/CameraCalc.h

@@ -12,14 +12,14 @@
 #include "CameraSpec.h"
 #include "SettingsFact.h"
 
-class Vehicle;
+class PlanMasterController;
 
 class CameraCalc : public CameraSpec
 {
     Q_OBJECT
 
 public:
-    CameraCalc(Vehicle* vehicle, const QString& settingsGroup, QObject* parent = nullptr);
+    CameraCalc(PlanMasterController* masterController, const QString& settingsGroup, QObject* parent = nullptr);
 
     Q_PROPERTY(QString          customCameraName            READ customCameraName                                               CONSTANT)                                   ///< Camera name for custom camera setting
     Q_PROPERTY(QString          manualCameraName            READ manualCameraName                                               CONSTANT)                                   ///< Camera name for manual camera setting
@@ -97,7 +97,6 @@ private slots:
     void _cameraNameChanged                 (void);
 
 private:
-    Vehicle*        _vehicle;
     bool            _dirty;
     bool            _disableRecalc;
     bool            _distanceToSurfaceRelative;

src/MissionManager/CameraCalcTest.cc

@@ -9,9 +9,9 @@
 
 #include "CameraCalcTest.h"
 #include "QGCApplication.h"
+#include "PlanMasterController.h"
 
 CameraCalcTest::CameraCalcTest(void)
-    : _offlineVehicle(nullptr)
 {
 
 }
@@ -20,8 +20,9 @@ void CameraCalcTest::init(void)
 {
     UnitTest::init();
 
-    _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
-    _cameraCalc = new CameraCalc(_offlineVehicle, "CameraCalcUnitTest" /* settingsGroup */, this);
+    _masterController = new PlanMasterController(this);
+    _controllerVehicle = _masterController->controllerVehicle();
+    _cameraCalc = new CameraCalc(_masterController, "CameraCalcUnitTest" /* settingsGroup */, this);
     _cameraCalc->cameraName()->setRawValue(_cameraCalc->customCameraName());
     _cameraCalc->setDirty(false);
 
@@ -37,7 +38,6 @@ void CameraCalcTest::init(void)
 void CameraCalcTest::cleanup(void)
 {
     delete _cameraCalc;
-    delete _offlineVehicle;
     delete _multiSpy;
 }
 

src/MissionManager/CameraCalcTest.h

@@ -12,6 +12,7 @@
 #include "UnitTest.h"
 #include "MultiSignalSpy.h"
 #include "CameraCalc.h"
+#include "PlanMasterController.h"
 
 #include <QGeoCoordinate>
 
@@ -50,7 +51,8 @@ private:
     static const size_t _cSignals = maxSignalIndex;
     const char*         _rgSignals[_cSignals];
 
-    Vehicle*        _offlineVehicle;
-    MultiSignalSpy* _multiSpy;
-    CameraCalc*     _cameraCalc;
+    PlanMasterController*   _masterController =     nullptr;
+    Vehicle*                _controllerVehicle =    nullptr;
+    MultiSignalSpy*         _multiSpy =             nullptr;
+    CameraCalc*             _cameraCalc =           nullptr;
 };

src/MissionManager/CameraSection.cc

@@ -10,6 +10,7 @@
 #include "CameraSection.h"
 #include "SimpleMissionItem.h"
 #include "FirmwarePlugin.h"
+#include "PlanMasterController.h"
 
 QGC_LOGGING_CATEGORY(CameraSectionLog, "CameraSectionLog")
 
@@ -22,19 +23,19 @@ const char* CameraSection::_cameraModeName =                    "CameraMode";
 
 QMap<QString, FactMetaData*> CameraSection::_metaDataMap;
 
-CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
-    : Section(vehicle, parent)
-    , _available(false)
-    , _settingsSpecified(false)
-    , _specifyGimbal(false)
-    , _specifyCameraMode(false)
+CameraSection::CameraSection(PlanMasterController* masterController, QObject* parent)
+    : Section                           (masterController, parent)
+    , _available                        (false)
+    , _settingsSpecified                (false)
+    , _specifyGimbal                    (false)
+    , _specifyCameraMode                (false)
     , _gimbalYawFact                    (0, _gimbalYawName,                     FactMetaData::valueTypeDouble)
     , _gimbalPitchFact                  (0, _gimbalPitchName,                   FactMetaData::valueTypeDouble)
     , _cameraActionFact                 (0, _cameraActionName,                  FactMetaData::valueTypeDouble)
     , _cameraPhotoIntervalDistanceFact  (0, _cameraPhotoIntervalDistanceName,   FactMetaData::valueTypeDouble)
     , _cameraPhotoIntervalTimeFact      (0, _cameraPhotoIntervalTimeName,       FactMetaData::valueTypeUint32)
     , _cameraModeFact                   (0, _cameraModeName,                    FactMetaData::valueTypeUint32)
-    , _dirty(false)
+    , _dirty                            (false)
 {
     if (_metaDataMap.isEmpty()) {
         _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraSection.FactMetaData.json"), Q_NULLPTR /* metaDataParent */);
@@ -579,7 +580,7 @@ void CameraSection::_cameraActionChanged(void)
 
 bool CameraSection::cameraModeSupported(void) const
 {
-    return _specifyCameraMode || _vehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_SET_CAMERA_MODE);
+    return _specifyCameraMode || _masterController->controllerVehicle()->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_SET_CAMERA_MODE);
 }
 
 void CameraSection::_dirtyIfSpecified(void)

src/MissionManager/CameraSection.h

@@ -16,12 +16,14 @@
 
 #define VIDEO_CAPTURE_STATUS_INTERVAL 0.2   //-- Send capture status every 5 seconds
 
+class PlanMasterController;
+
 class CameraSection : public Section
 {
     Q_OBJECT
 
 public:
-    CameraSection(Vehicle* vehicle, QObject* parent = nullptr);
+    CameraSection(PlanMasterController* masterController, QObject* parent = nullptr);
 
     // These enum values must match the json meta data
 

src/MissionManager/CameraSectionTest.h

@@ -11,6 +11,7 @@
 
 #include "SectionTest.h"
 #include "CameraSection.h"
+#include "PlanMasterController.h"
 
 /// Unit test for CameraSection
 class CameraSectionTest : public SectionTest
@@ -23,9 +24,9 @@ public:
     void init(void) override;
     void cleanup(void) override;
 
-    static SimpleMissionItem* createValidStopVideoItem   (Vehicle* vehicle, QObject* parent);
-    static SimpleMissionItem* createValidStopDistanceItem(Vehicle* vehicle, QObject* parent);
-    static SimpleMissionItem* createValidStopTimeItem    (Vehicle* vehicle, QObject* parent);
+    static SimpleMissionItem* createValidStopVideoItem   (PlanMasterController* masterController, QObject* parent);
+    static SimpleMissionItem* createValidStopDistanceItem(PlanMasterController* masterController, QObject* parent);
+    static SimpleMissionItem* createValidStopTimeItem    (PlanMasterController* masterController, QObject* parent);
 
 private slots:
     void _testDirty                                 (void);

src/MissionManager/ComplexMissionItem.cc

@@ -11,6 +11,7 @@
 #include "QGCApplication.h"
 #include "QGCCorePlugin.h"
 #include "QGCOptions.h"
+#include "PlanMasterController.h"
 
 #include <QSettings>
 
@@ -18,8 +19,8 @@ const char* ComplexMissionItem::jsonComplexItemTypeKey = "complexItemType";
 
 const char* ComplexMissionItem::_presetSettingsKey =        "_presets";
 
-ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, bool flyView, QObject* parent)
-    : VisualMissionItem (vehicle, flyView, parent)
+ComplexMissionItem::ComplexMissionItem(PlanMasterController* masterController, bool flyView, QObject* parent)
+    : VisualMissionItem (masterController, flyView, parent)
 {
 
 }

src/MissionManager/ComplexMissionItem.h

@@ -7,20 +7,21 @@
  *
  ****************************************************************************/
 
-#ifndef ComplexMissionItem_H
-#define ComplexMissionItem_H
+#pragma once
 
 #include "VisualMissionItem.h"
 #include "QGCGeo.h"
 
 #include <QSettings>
 
+class PlanMasterController;
+
 class ComplexMissionItem : public VisualMissionItem
 {
     Q_OBJECT
 
 public:
-    ComplexMissionItem(Vehicle* vehicle, bool flyView, QObject* parent);
+    ComplexMissionItem(PlanMasterController* masterController, bool flyView, QObject* parent);
 
     const ComplexMissionItem& operator=(const ComplexMissionItem& other);
 
@@ -88,5 +89,3 @@ protected:
 
     static const char* _presetSettingsKey;
 };
-
-#endif

src/MissionManager/CorridorScanComplexItem.cc

@@ -16,6 +16,7 @@
 #include "SettingsManager.h"
 #include "AppSettings.h"
 #include "QGCQGeoCoordinate.h"
+#include "PlanMasterController.h"
 
 #include <QPolygonF>
 
@@ -27,8 +28,8 @@ const char* CorridorScanComplexItem::_jsonEntryPointKey =       "EntryPoint";
 
 const char* CorridorScanComplexItem::jsonComplexItemTypeValue = "CorridorScan";
 
-CorridorScanComplexItem::CorridorScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlFile, QObject* parent)
-    : TransectStyleComplexItem  (vehicle, flyView, settingsGroup, parent)
+CorridorScanComplexItem::CorridorScanComplexItem(PlanMasterController* masterController, bool flyView, const QString& kmlFile, QObject* parent)
+    : TransectStyleComplexItem  (masterController, flyView, settingsGroup, parent)
     , _entryPoint               (0)
     , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CorridorScan.SettingsGroup.json"), this))
     , _corridorWidthFact        (settingsGroup, _metaDataMap[corridorWidthName])

src/MissionManager/CorridorScanComplexItem.h

@@ -23,10 +23,9 @@ class CorridorScanComplexItem : public TransectStyleComplexItem
     Q_OBJECT
 
 public:
-    /// @param vehicle Vehicle which this is being contructed for
     /// @param flyView true: Created for use in the Fly View, false: Created for use in the Plan View
     /// @param kmlFile Polyline comes from this file, empty for default polyline
-    CorridorScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlFile, QObject* parent);
+    CorridorScanComplexItem(PlanMasterController* masterController, bool flyView, const QString& kmlFile, QObject* parent);
 
     Q_PROPERTY(QGCMapPolyline*  corridorPolyline    READ corridorPolyline   CONSTANT)
     Q_PROPERTY(Fact*            corridorWidth       READ corridorWidth      CONSTANT)

src/MissionManager/CorridorScanComplexItemTest.cc

@@ -11,7 +11,6 @@
 #include "QGCApplication.h"
 
 CorridorScanComplexItemTest::CorridorScanComplexItemTest(void)
-    : _offlineVehicle(nullptr)
 {
     _linePoints << QGeoCoordinate(47.633550640000003, -122.08982199)
                 << QGeoCoordinate(47.634129020000003, -122.08887249)
@@ -22,8 +21,9 @@ void CorridorScanComplexItemTest::init(void)
 {
     UnitTest::init();
 
-    _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
-    _corridorItem = new CorridorScanComplexItem(_offlineVehicle, false /* flyView */, QString() /* kmlFile */, this /* parent */);
+    _masterController = new PlanMasterController(this);
+    _controllerVehicle = _masterController->controllerVehicle();
+    _corridorItem = new CorridorScanComplexItem(_masterController, false /* flyView */, QString() /* kmlFile */, this /* parent */);
 
     // vehicleSpeed need for terrain calcs
     MissionController::MissionFlightStatus_t missionFlightStatus;
@@ -42,7 +42,6 @@ void CorridorScanComplexItemTest::init(void)
 void CorridorScanComplexItemTest::cleanup(void)
 {
     delete _corridorItem;
-    delete _offlineVehicle;
 }
 
 void CorridorScanComplexItemTest::_testDirty(void)

src/MissionManager/CorridorScanComplexItemTest.h

@@ -13,6 +13,7 @@
 #include "TCPLink.h"
 #include "MultiSignalSpy.h"
 #include "CorridorScanComplexItem.h"
+#include "PlanMasterController.h"
 
 #include <QGeoCoordinate>
 
@@ -50,8 +51,9 @@ private:
     static const size_t _cCorridorPolygonSignals = maxCorridorPolygonSignalIndex;
     const char*         _rgCorridorPolygonSignals[_cCorridorPolygonSignals];
 
-    Vehicle*                    _offlineVehicle;
-    MultiSignalSpy*             _multiSpyCorridorPolygon;
-    CorridorScanComplexItem*    _corridorItem;
+    PlanMasterController*       _masterController =         nullptr;
+    Vehicle*                    _controllerVehicle =        nullptr;
+    MultiSignalSpy*             _multiSpyCorridorPolygon =  nullptr;
+    CorridorScanComplexItem*    _corridorItem =             nullptr;
     QList<QGeoCoordinate>       _linePoints;
 };

src/MissionManager/FWLandingPatternTest.cc

@@ -14,24 +14,17 @@
 #include "CameraSectionTest.h"
 
 FWLandingPatternTest::FWLandingPatternTest(void)
-    : _offlineVehicle           (Q_NULLPTR)
-    , _fwItem                   (Q_NULLPTR)
-    , _multiSpy                 (Q_NULLPTR)
-    , _validStopVideoItem       (Q_NULLPTR)
-    , _validStopDistanceItem    (Q_NULLPTR)
-    , _validStopTimeItem        (Q_NULLPTR)
 {
     
 }
 
 void FWLandingPatternTest::init(void)
 {
-    UnitTest::init();
+    VisualMissionItemTest::init();
 
     rgSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
 
-    _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
-    _fwItem = new FixedWingLandingComplexItem(_offlineVehicle, false /* flyView */, this);
+    _fwItem = new FixedWingLandingComplexItem(_masterController, false /* flyView */, this);
     _multiSpy = new MultiSignalSpy();
     QCOMPARE(_multiSpy->init(_fwItem, rgSignals, cSignals), true);
 
@@ -42,20 +35,19 @@ void FWLandingPatternTest::init(void)
     QVERIFY(!_fwItem->dirty());
     _multiSpy->clearAllSignals();
 
-    _validStopVideoItem =       CameraSectionTest::createValidStopTimeItem(_offlineVehicle, this);
-    _validStopDistanceItem =    CameraSectionTest::createValidStopTimeItem(_offlineVehicle, this);
-    _validStopTimeItem =        CameraSectionTest::createValidStopTimeItem(_offlineVehicle, this);
+    _validStopVideoItem =       CameraSectionTest::createValidStopTimeItem(_masterController, this);
+    _validStopDistanceItem =    CameraSectionTest::createValidStopTimeItem(_masterController, this);
+    _validStopTimeItem =        CameraSectionTest::createValidStopTimeItem(_masterController, this);
 }
 
 void FWLandingPatternTest::cleanup(void)
 {
     delete _fwItem;
-    delete _offlineVehicle;
     delete _multiSpy;
     delete _validStopVideoItem;
     delete _validStopDistanceItem;
     delete _validStopTimeItem;
-    UnitTest::cleanup();
+    VisualMissionItemTest::cleanup();
 }
 
 
@@ -97,14 +89,14 @@ void FWLandingPatternTest::_testAppendSectionItems(void)
     QmlObjectListModel* simpleItems = new QmlObjectListModel(this);
 
     for (MissionItem* item: rgMissionItems) {
-        SimpleMissionItem* simpleItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, simpleItems);
+        SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, false /* flyView */, simpleItems);
         simpleItem->missionItem() = *item;
         simpleItems->append(simpleItem);
     }
 
     // Scan the items back in to verify the same values come back
     // Note that the compares does the best it can with doubles going to floats and back causing inaccuracies beyond a fuzzy compare.
-    QVERIFY(FixedWingLandingComplexItem::scanForItem(simpleItems, false /* flyView */, _offlineVehicle));
+    QVERIFY(FixedWingLandingComplexItem::scanForItem(simpleItems, false /* flyView */, _masterController));
     QCOMPARE(simpleItems->count(), 1);
     _validateItem(simpleItems->value<FixedWingLandingComplexItem*>(0));
 
@@ -118,11 +110,11 @@ void FWLandingPatternTest::_testAppendSectionItems(void)
     _fwItem->appendMissionItems(rgMissionItems, this);
     simpleItems = new QmlObjectListModel(this);
     for (MissionItem* item: rgMissionItems) {
-        SimpleMissionItem* simpleItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, simpleItems);
+        SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, false /* flyView */, simpleItems);
         simpleItem->missionItem() = *item;
         simpleItems->append(simpleItem);
     }
-    QVERIFY(FixedWingLandingComplexItem::scanForItem(simpleItems, false /* flyView */, _offlineVehicle));
+    QVERIFY(FixedWingLandingComplexItem::scanForItem(simpleItems, false /* flyView */, _masterController));
     QCOMPARE(simpleItems->count(), 1);
     _validateItem(simpleItems->value<FixedWingLandingComplexItem*>(0));
 
@@ -204,7 +196,7 @@ void FWLandingPatternTest::_testSaveLoad(void)
     _fwItem->save(items);
 
     QString errorString;
-    FixedWingLandingComplexItem* newItem = new FixedWingLandingComplexItem(_offlineVehicle, false /* flyView */, this /* parent */);
+    FixedWingLandingComplexItem* newItem = new FixedWingLandingComplexItem(_masterController, false /* flyView */, this /* parent */);
     bool success =newItem->load(items[0].toObject(), 10, errorString);
     if (!success) {
         qDebug() << errorString;

src/MissionManager/FWLandingPatternTest.h

@@ -9,11 +9,12 @@
 
 #pragma once
 
-#include "UnitTest.h"
+#include "VisualMissionItemTest.h"
 #include "FixedWingLandingComplexItem.h"
 #include "MultiSignalSpy.h"
+#include "PlanMasterController.h"
 
-class FWLandingPatternTest : public UnitTest
+class FWLandingPatternTest : public VisualMissionItemTest
 {
     Q_OBJECT
     
@@ -45,10 +46,9 @@ private:
     static const size_t cSignals = maxSignalIndex;
     const char*         rgSignals[cSignals];
 
-    Vehicle*                        _offlineVehicle;
-    FixedWingLandingComplexItem*    _fwItem;
-    MultiSignalSpy*                 _multiSpy;
-    SimpleMissionItem*              _validStopVideoItem;
-    SimpleMissionItem*              _validStopDistanceItem;
-    SimpleMissionItem*              _validStopTimeItem;
+    FixedWingLandingComplexItem*    _fwItem =                   nullptr;
+    MultiSignalSpy*                 _multiSpy =                 nullptr;
+    SimpleMissionItem*              _validStopVideoItem =       nullptr;
+    SimpleMissionItem*              _validStopDistanceItem =    nullptr;
+    SimpleMissionItem*              _validStopTimeItem =        nullptr;
 };

src/MissionManager/FixedWingLandingComplexItem.cc

@@ -13,6 +13,7 @@
 #include "QGCGeo.h"
 #include "QGroundControlQmlGlobal.h"
 #include "SimpleMissionItem.h"
+#include "PlanMasterController.h"
 
 #include <QPolygonF>
 
@@ -45,8 +46,8 @@ const char* FixedWingLandingComplexItem::_jsonFallRateKey =                 "fal
 const char* FixedWingLandingComplexItem::_jsonLandingAltitudeRelativeKey =  "landAltitudeRelative";
 const char* FixedWingLandingComplexItem::_jsonLoiterAltitudeRelativeKey =   "loiterAltitudeRelative";
 
-FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, bool flyView, QObject* parent)
-    : ComplexMissionItem        (vehicle, flyView, parent)
+FixedWingLandingComplexItem::FixedWingLandingComplexItem(PlanMasterController* masterController, bool flyView, QObject* parent)
+    : ComplexMissionItem        (masterController, flyView, parent)
     , _sequenceNumber           (0)
     , _dirty                    (false)
     , _landingCoordSet          (false)
@@ -105,7 +106,7 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(Vehicle* vehicle, bool
     connect(this,                       &FixedWingLandingComplexItem::landingCoordSetChanged,           this, &FixedWingLandingComplexItem::readyForSaveStateChanged);
     connect(this,                       &FixedWingLandingComplexItem::wizardModeChanged,                this, &FixedWingLandingComplexItem::readyForSaveStateChanged);
 
-    if (vehicle->apmFirmware()) {
+    if (_masterController->controllerVehicle()->apmFirmware()) {
         // ArduPilot does not support camera commands
         _stopTakingVideoFact.setRawValue(false);
         _stopTakingPhotosFact.setRawValue(false);
@@ -364,7 +365,7 @@ void FixedWingLandingComplexItem::appendMissionItems(QList<MissionItem*>& items,
     items.append(item);
 }
 
-bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, bool flyView, Vehicle* vehicle)
+bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, bool flyView, PlanMasterController* masterController)
 {
     qCDebug(FixedWingLandingComplexItemLog) << "FixedWingLandingComplexItem::scanForItem count" << visualItems->count();
 
@@ -455,7 +456,7 @@ bool FixedWingLandingComplexItem::scanForItem(QmlObjectListModel* visualItems, b
 
     // Now stuff all the scanned information into the item
 
-    FixedWingLandingComplexItem* complexItem = new FixedWingLandingComplexItem(vehicle, flyView, visualItems);
+    FixedWingLandingComplexItem* complexItem = new FixedWingLandingComplexItem(masterController, flyView, visualItems);
 
     complexItem->_ignoreRecalcSignals = true;
 

src/MissionManager/FixedWingLandingComplexItem.h

@@ -18,13 +18,14 @@
 Q_DECLARE_LOGGING_CATEGORY(FixedWingLandingComplexItemLog)
 
 class FWLandingPatternTest;
+class PlanMasterController;
 
 class FixedWingLandingComplexItem : public ComplexMissionItem
 {
     Q_OBJECT
 
 public:
-    FixedWingLandingComplexItem(Vehicle* vehicle, bool flyView, QObject* parent);
+    FixedWingLandingComplexItem(PlanMasterController* masterController, bool flyView, QObject* parent);
 
     Q_PROPERTY(Fact*            loiterAltitude          READ    loiterAltitude                                              CONSTANT)
     Q_PROPERTY(Fact*            loiterRadius            READ    loiterRadius                                                CONSTANT)
@@ -62,7 +63,7 @@ public:
     void setLoiterDragAngleOnly     (bool loiterDragAngleOnly);
 
     /// Scans the loaded items for a landing pattern complex item
-    static bool scanForItem(QmlObjectListModel* visualItems, bool flyView, Vehicle* vehicle);
+    static bool scanForItem(QmlObjectListModel* visualItems, bool flyView, PlanMasterController* masterController);
 
     static MissionItem* createDoLandStartItem   (int seqNum, QObject* parent);
     static MissionItem* createLoiterToAltItem   (int seqNum, bool altRel, double loiterRaidus, double lat, double lon, double alt, QObject* parent);

src/MissionManager/GeoFenceController.cc

@@ -42,13 +42,10 @@ const char* GeoFenceController::_px4ParamCircularFence =    "GF_MAX_HOR_DIST";
 
 GeoFenceController::GeoFenceController(PlanMasterController* masterController, QObject* parent)
     : PlanElementController         (masterController, parent)
-    , _geoFenceManager              (_managerVehicle->geoFenceManager())
-    , _dirty                        (false)
+    , _managerVehicle               (masterController->managerVehicle())
+    , _geoFenceManager              (masterController->managerVehicle()->geoFenceManager())
     , _breachReturnAltitudeFact     (0, _breachReturnAltitudeFactName, FactMetaData::valueTypeDouble)
     , _breachReturnDefaultAltitude  (qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble())
-
-    , _itemsRequested           (false)
-    , _px4ParamCircularFenceFact(nullptr)
 {
     if (_metaDataMap.isEmpty()) {
         _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/BreachReturn.FactMetaData.json"), nullptr /* metaDataParent */);
@@ -60,8 +57,6 @@ GeoFenceController::GeoFenceController(PlanMasterController* masterController, Q
     connect(&_polygons, &QmlObjectListModel::countChanged, this, &GeoFenceController::_updateContainsItems);
     connect(&_circles,  &QmlObjectListModel::countChanged, this, &GeoFenceController::_updateContainsItems);
 
-    managerVehicleChanged(_managerVehicle);
-
     connect(this,                       &GeoFenceController::breachReturnPointChanged,  this, &GeoFenceController::_setDirty);
     connect(&_breachReturnAltitudeFact, &Fact::rawValueChanged,                         this, &GeoFenceController::_setDirty);
     connect(&_polygons,                 &QmlObjectListModel::dirtyChanged,              this, &GeoFenceController::_setDirty);
@@ -77,6 +72,9 @@ void GeoFenceController::start(bool flyView)
 {
     qCDebug(GeoFenceControllerLog) << "start flyView" << flyView;
 
+    _managerVehicleChanged(_masterController->managerVehicle());
+    connect(_masterController, &PlanMasterController::managerVehicleChanged, this, &GeoFenceController::_managerVehicleChanged);
+
     PlanElementController::start(flyView);
     _init();
 }
@@ -95,7 +93,7 @@ void GeoFenceController::setBreachReturnPoint(const QGeoCoordinate& breachReturn
     }
 }
 
-void GeoFenceController::managerVehicleChanged(Vehicle* managerVehicle)
+void GeoFenceController::_managerVehicleChanged(Vehicle* managerVehicle)
 {
     if (_managerVehicle) {
         _geoFenceManager->disconnect(this);

src/MissionManager/GeoFenceController.h

@@ -75,7 +75,6 @@ public:
     bool dirty                      (void) const final;
     void setDirty                   (bool dirty) final;
     bool containsItems              (void) const final;
-    void managerVehicleChanged      (Vehicle* managerVehicle) final;
     bool showPlanFromManagerVehicle (void) final;
 
     QmlObjectListModel* polygons                (void) { return &_polygons; }
@@ -101,19 +100,21 @@ private slots:
     void _managerSendComplete       (bool error);
     void _managerRemoveAllComplete  (bool error);
     void _parametersReady           (void);
+    void _managerVehicleChanged      (Vehicle* managerVehicle);
 
 private:
     void _init(void);
 
-    GeoFenceManager*    _geoFenceManager;
-    bool                _dirty;
+    Vehicle*            _managerVehicle =               nullptr;
+    GeoFenceManager*    _geoFenceManager =              nullptr;
+    bool                _dirty =                        false;
     QmlObjectListModel  _polygons;
     QmlObjectListModel  _circles;
     QGeoCoordinate      _breachReturnPoint;
     Fact                _breachReturnAltitudeFact;
-    double              _breachReturnDefaultAltitude;
-    bool                _itemsRequested;
-    Fact*               _px4ParamCircularFenceFact;
+    double              _breachReturnDefaultAltitude =  qQNaN();
+    bool                _itemsRequested =               false;
+    Fact*               _px4ParamCircularFenceFact =    nullptr;
 
     static QMap<QString, FactMetaData*> _metaDataMap;
 

src/MissionManager/MissionController.h

@@ -190,7 +190,6 @@ public:
     bool dirty                      (void) const final;
     void setDirty                   (bool dirty) final;
     bool containsItems              (void) const final;
-    void managerVehicleChanged      (Vehicle* managerVehicle) final;
     bool showPlanFromManagerVehicle (void) final;
 
     // Create KML file
@@ -286,6 +285,7 @@ private slots:
     void _updateTimeout                         (void);
     void _complexBoundingBoxChanged             (void);
     void _recalcAll                             (void);
+    void _managerVehicleChanged                 (Vehicle* managerVehicle);
 
 private:
     void _init(void);
@@ -310,7 +310,7 @@ private:
     bool _loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
     bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
     int _nextSequenceNumber(void);
-    void _scanForAdditionalSettings(QmlObjectListModel* visualItems, Vehicle* vehicle);
+    void _scanForAdditionalSettings(QmlObjectListModel* visualItems, PlanMasterController* masterController);
     static bool _convertToMissionItems(QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent);
     void _setPlannedHomePositionFromFirstCoordinate(const QGeoCoordinate& clickCoordinate);
     void _resetMissionFlightStatus(void);
@@ -323,35 +323,36 @@ private:
     void _addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum);
     VisualMissionItem* _insertSimpleMissionItemWorker(QGeoCoordinate coordinate, MAV_CMD command, int visualItemIndex, bool makeCurrentItem);
     void _insertComplexMissionItemWorker(const QGeoCoordinate& mapCenterCoordinate, ComplexMissionItem* complexItem, int visualItemIndex, bool makeCurrentItem);
-    void _warnIfTerrainFrameUsed(void);
     bool _isROIBeginItem(SimpleMissionItem* simpleItem);
     bool _isROICancelItem(SimpleMissionItem* simpleItem);
     CoordinateVector* _createCoordinateVectorWorker(VisualItemPair& pair);
 
 private:
-    MissionManager*         _missionManager;
-    int                     _missionItemCount;
-    QmlObjectListModel*     _visualItems;
-    MissionSettingsItem*    _settingsItem;
+    Vehicle*                _controllerVehicle =            nullptr;
+    Vehicle*                _managerVehicle =               nullptr;
+    MissionManager*         _missionManager =               nullptr;
+    int                     _missionItemCount =             0;
+    QmlObjectListModel*     _visualItems =                  nullptr;
+    MissionSettingsItem*    _settingsItem =                 nullptr;
     QmlObjectListModel      _waypointLines;
     QVariantList            _waypointPath;
     QmlObjectListModel      _directionArrows;
     QmlObjectListModel      _incompleteComplexItemLines;
     CoordVectHashTable      _linesTable;
-    bool                    _firstItemsFromVehicle;
-    bool                    _itemsRequested;
-    bool                    _inRecalcSequence;
+    bool                    _firstItemsFromVehicle =        false;
+    bool                    _itemsRequested =               false;
+    bool                    _inRecalcSequence =             false;
     MissionFlightStatus_t   _missionFlightStatus;
-    AppSettings*            _appSettings;
-    double                  _progressPct;
-    int                     _currentPlanViewSeqNum;
-    int                     _currentPlanViewVIIndex;
-    VisualMissionItem*      _currentPlanViewItem;
+    AppSettings*            _appSettings =                  nullptr;
+    double                  _progressPct =                  0;
+    int                     _currentPlanViewSeqNum =        -1;
+    int                     _currentPlanViewVIIndex =       -1;
+    VisualMissionItem*      _currentPlanViewItem =          nullptr;
     QTimer                  _updateTimer;
     QGCGeoBoundingCube      _travelBoundingCube;
     QGeoCoordinate          _takeoffCoordinate;
     QGeoCoordinate          _previousCoordinate;
-    CoordinateVector*       _splitSegment;
+    CoordinateVector*       _splitSegment =                 nullptr;
     bool                    _isInsertTakeoffValid =         true;
     bool                    _isInsertLandValid =            true;
     bool                    _isROIActive =                  false;

src/MissionManager/MissionItemTest.cc

@@ -28,22 +28,19 @@ const size_t MissionItemTest::_cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestC
 #endif
 
 MissionItemTest::MissionItemTest(void)
-    : _offlineVehicle(nullptr)
+    : _masterController(nullptr)
 {
 }
 
 void MissionItemTest::init(void)
 {
     UnitTest::init();
-    _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4,
-                                  MAV_TYPE_QUADROTOR,
-                                  qgcApp()->toolbox()->firmwarePluginManager(),
-                                  this);
+    _masterController = new PlanMasterController(this);
 }
 
 void MissionItemTest::cleanup(void)
 {
-    _offlineVehicle->deleteLater();
+    _masterController->deleteLater();
     UnitTest::cleanup();
 }
 
@@ -281,7 +278,7 @@ void MissionItemTest::_testSimpleLoadFromStream(void)
 {
     // We specifically test SimpleMissionItem loading as well since it has additional
     // signalling which can affect values.
-    SimpleMissionItem simpleMissionItem(_offlineVehicle, false /* flyView */, nullptr);
+    SimpleMissionItem simpleMissionItem(_masterController, false /* flyView */, nullptr);
 
     QString testString("10\t0\t3\t80\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n");
     QTextStream testStream(&testString, QIODevice::ReadOnly);
@@ -451,7 +448,7 @@ void MissionItemTest::_testSimpleLoadFromJson(void)
     // We specifically test SimpleMissionItem loading as well since it has additional
     // signalling which can affect values.
 
-    SimpleMissionItem simpleMissionItem(_offlineVehicle, false /* flyView */, nullptr);
+    SimpleMissionItem simpleMissionItem(_masterController, false /* flyView */, nullptr);
     QString     errorString;
     QJsonArray  coordinateArray;
     QJsonObject jsonObject;

src/MissionManager/MissionItemTest.h

@@ -7,14 +7,13 @@
  *
  ****************************************************************************/
 
-
-#ifndef MissionItemTest_H
-#define MissionItemTest_H
+#pragma once
 
 #include "UnitTest.h"
 #include "MultiSignalSpy.h"
 #include "MissionItem.h"
 #include "Vehicle.h"
+#include "PlanMasterController.h"
 
 /// Unit test for the MissionItem Object
 class MissionItemTest : public UnitTest
@@ -46,8 +45,6 @@ private:
     QJsonObject _createV2Json(void);
     QJsonObject _createV3Json(bool allNaNs = false);
 
-    int         _seq = 10;
-    Vehicle*    _offlineVehicle;
+    int                     _seq = 10;
+    PlanMasterController*   _masterController = nullptr;
 };
-
-#endif

src/MissionManager/MissionSettingsItem.cc

@@ -16,6 +16,7 @@
 #include "SettingsManager.h"
 #include "AppSettings.h"
 #include "MissionCommandUIInfo.h"
+#include "PlanMasterController.h"
 
 #include <QPolygonF>
 
@@ -25,11 +26,12 @@ const char* MissionSettingsItem::_plannedHomePositionAltitudeName = "PlannedHome
 
 QMap<QString, FactMetaData*> MissionSettingsItem::_metaDataMap;
 
-MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, bool flyView, QObject* parent)
-    : ComplexMissionItem                (vehicle, flyView, parent)
+MissionSettingsItem::MissionSettingsItem(PlanMasterController* masterController, bool flyView, QObject* parent)
+    : ComplexMissionItem                (masterController, flyView, parent)
+    , _managerVehicle                   (masterController->managerVehicle())
     , _plannedHomePositionAltitudeFact  (0, _plannedHomePositionAltitudeName,   FactMetaData::valueTypeDouble)
-    , _cameraSection                    (vehicle)
-    , _speedSection                     (vehicle)
+    , _cameraSection                    (masterController)
+    , _speedSection                     (masterController)
 {
     _isIncomplete = false;
     _editorQml = "qrc:/qml/MissionSettingsEditor.qml";
@@ -54,10 +56,10 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, bool flyView, QObject
     connect(&_cameraSection,    &CameraSection::specifiedGimbalYawChanged,              this, &MissionSettingsItem::specifiedGimbalYawChanged);
     connect(&_cameraSection,    &CameraSection::specifiedGimbalPitchChanged,            this, &MissionSettingsItem::specifiedGimbalPitchChanged);
     connect(&_speedSection,     &SpeedSection::specifiedFlightSpeedChanged,             this, &MissionSettingsItem::specifiedFlightSpeedChanged);
-    connect(_vehicle,           &Vehicle::homePositionChanged,                          this, &MissionSettingsItem::_updateHomePosition);
     connect(&_plannedHomePositionAltitudeFact,  &Fact::rawValueChanged,                 this, &MissionSettingsItem::_updateAltitudeInCoordinate);
 
-    _updateHomePosition(_vehicle->homePosition());
+    connect(_managerVehicle, &Vehicle::homePositionChanged, this, &MissionSettingsItem::_updateHomePosition);
+    _updateHomePosition(_managerVehicle->homePosition());
 }
 
 int MissionSettingsItem::lastSequenceNumber(void) const

src/MissionManager/MissionSettingsItem.h

@@ -19,12 +19,14 @@
 
 Q_DECLARE_LOGGING_CATEGORY(MissionSettingsComplexItemLog)
 
+class PlanMasterController;
+
 class MissionSettingsItem : public ComplexMissionItem
 {
     Q_OBJECT
 
 public:
-    MissionSettingsItem(Vehicle* vehicle, bool flyView, QObject* parent);
+    MissionSettingsItem(PlanMasterController* masterController, bool flyView, QObject* parent);
 
     Q_PROPERTY(Fact*    plannedHomePositionAltitude READ plannedHomePositionAltitude                            CONSTANT)
     Q_PROPERTY(QObject* cameraSection               READ cameraSection                                          CONSTANT)
@@ -103,6 +105,7 @@ private slots:
     void _updateHomePosition                    (const QGeoCoordinate& homePosition);
 
 private:
+    Vehicle*        _managerVehicle =                   nullptr;
     QGeoCoordinate  _plannedHomePositionCoordinate;     // Does not include altitude
     Fact            _plannedHomePositionAltitudeFact;
     int             _sequenceNumber =                   0;

src/MissionManager/MissionSettingsTest.cc

@@ -22,7 +22,7 @@ void MissionSettingsTest::init(void)
 {
     VisualMissionItemTest::init();
 
-    _settingsItem = new MissionSettingsItem(_offlineVehicle, false /* flyView */, this);
+    _settingsItem = new MissionSettingsItem(_masterController, false /* flyView */, this);
 }
 
 void MissionSettingsTest::cleanup(void)

src/MissionManager/PlanElementController.cc

@@ -17,8 +17,6 @@
 PlanElementController::PlanElementController(PlanMasterController* masterController, QObject* parent)
     : QObject           (parent)
     , _masterController (masterController)
-    , _controllerVehicle(masterController->controllerVehicle())
-    , _managerVehicle   (masterController->managerVehicle())
     , _flyView          (false)
 {
 
@@ -33,8 +31,3 @@ void PlanElementController::start(bool flyView)
 {
     _flyView = flyView;
 }
-
-void PlanElementController::managerVehicleChanged(Vehicle* managerVehicle)
-{
-    _managerVehicle = managerVehicle;
-}

src/MissionManager/PlanElementController.h

@@ -27,10 +27,13 @@ public:
     PlanElementController(PlanMasterController* masterController, QObject* parent = nullptr);
     ~PlanElementController();
     
-    Q_PROPERTY(bool supported       READ supported                      NOTIFY supportedChanged)        ///< true: Element is supported by Vehicle
-    Q_PROPERTY(bool containsItems   READ containsItems                  NOTIFY containsItemsChanged)    ///< true: Elemement is non-empty
-    Q_PROPERTY(bool syncInProgress  READ syncInProgress                 NOTIFY syncInProgressChanged)   ///< true: information is currently being saved/sent, false: no active save/send in progress
-    Q_PROPERTY(bool dirty           READ dirty          WRITE setDirty  NOTIFY dirtyChanged)            ///< true: unsaved/sent changes are present, false: no changes since last save/send
+    Q_PROPERTY(PlanMasterController*    masterController    READ masterController               CONSTANT)
+    Q_PROPERTY(bool                     supported           READ supported                      NOTIFY supportedChanged)        ///< true: Element is supported by Vehicle
+    Q_PROPERTY(bool                     containsItems       READ containsItems                  NOTIFY containsItemsChanged)    ///< true: Elemement is non-empty
+    Q_PROPERTY(bool                     syncInProgress      READ syncInProgress                 NOTIFY syncInProgressChanged)   ///< true: information is currently being saved/sent, false: no active save/send in progress
+    Q_PROPERTY(bool                     dirty               READ dirty          WRITE setDirty  NOTIFY dirtyChanged)            ///< true: unsaved/sent changes are present, false: no changes since last save/send
+
+    PlanMasterController* masterController(void) { return _masterController; }
 
     /// Should be called immediately upon Component.onCompleted.
     virtual void start(bool flyView);
@@ -55,9 +58,6 @@ public:
     ///     Signals removeAllComplete when done
     virtual void removeAllFromVehicle(void) = 0;
 
-    /// Called when a new manager vehicle has been set.
-    virtual void managerVehicleChanged(Vehicle* managerVehicle) = 0;
-
 signals:
     void supportedChanged       (bool supported);
     void containsItemsChanged   (bool containsItems);
@@ -68,8 +68,6 @@ signals:
 
 protected:
     PlanMasterController*   _masterController;
-    Vehicle*                _controllerVehicle; ///< Offline controller vehicle
-    Vehicle*                _managerVehicle;    ///< Either active vehicle or _controllerVehicle if none
     bool                    _flyView;
 };
 

src/MissionManager/PlanMasterController.cc

@@ -37,24 +37,36 @@ const char* PlanMasterController::kJsonGeoFenceObjectKey =      "geoFence";
 const char* PlanMasterController::kJsonRallyPointsObjectKey =   "rallyPoints";
 
 PlanMasterController::PlanMasterController(QObject* parent)
-    : QObject                   (parent)
-    , _multiVehicleMgr          (qgcApp()->toolbox()->multiVehicleManager())
-    , _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)
-    , _missionController        (this)
-    , _geoFenceController       (this)
-    , _rallyPointController     (this)
-    , _loadGeoFence             (false)
-    , _loadRallyPoints          (false)
-    , _sendGeoFence             (false)
-    , _sendRallyPoints          (false)
-    , _deleteWhenSendCompleted  (false)
-    , _planCreators             (nullptr)
+    : QObject               (parent)
+    , _multiVehicleMgr      (qgcApp()->toolbox()->multiVehicleManager())
+    , _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(),
+                                 this))
+    , _managerVehicle       (_controllerVehicle)
+    , _missionController    (this)
+    , _geoFenceController   (this)
+    , _rallyPointController (this)
+{
+    _commonInit();
+}
+
+#ifdef QT_DEBUG
+PlanMasterController::PlanMasterController(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, QObject* parent)
+    : QObject               (parent)
+    , _multiVehicleMgr      (qgcApp()->toolbox()->multiVehicleManager())
+    , _controllerVehicle    (new Vehicle(firmwareType, vehicleType, qgcApp()->toolbox()->firmwarePluginManager()))
+    , _managerVehicle       (_controllerVehicle)
+    , _missionController    (this)
+    , _geoFenceController   (this)
+    , _rallyPointController (this)
+{
+    _commonInit();
+}
+#endif
+
+void PlanMasterController::_commonInit(void)
 {
     connect(&_missionController,    &MissionController::dirtyChanged,       this, &PlanMasterController::dirtyChanged);
     connect(&_geoFenceController,   &GeoFenceController::dirtyChanged,      this, &PlanMasterController::dirtyChanged);
@@ -67,8 +79,16 @@ PlanMasterController::PlanMasterController(QObject* parent)
     connect(&_missionController,    &MissionController::syncInProgressChanged,      this, &PlanMasterController::syncInProgressChanged);
     connect(&_geoFenceController,   &GeoFenceController::syncInProgressChanged,     this, &PlanMasterController::syncInProgressChanged);
     connect(&_rallyPointController, &RallyPointController::syncInProgressChanged,   this, &PlanMasterController::syncInProgressChanged);
+
+    // Offline vehicle can change firmware/vehicle type
+    connect(_controllerVehicle, &Vehicle::capabilityBitsChanged,    this, &PlanMasterController::_updateSupportsTerrain);
+    connect(_controllerVehicle, &Vehicle::vehicleTypeChanged,       this, &PlanMasterController::_updateSupportsTerrain);
+    connect(_controllerVehicle, &Vehicle::vehicleTypeChanged,       this, &PlanMasterController::_updatePlanCreatorsList);
+
+    _updateSupportsTerrain();
 }
 
+
 PlanMasterController::~PlanMasterController()
 {
 
@@ -81,8 +101,8 @@ void PlanMasterController::start(bool flyView)
     _geoFenceController.start(_flyView);
     _rallyPointController.start(_flyView);
 
-    connect(_multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &PlanMasterController::_activeVehicleChanged);
     _activeVehicleChanged(_multiVehicleMgr->activeVehicle());
+    connect(_multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &PlanMasterController::_activeVehicleChanged);
 
     _updatePlanCreatorsList();
 
@@ -115,22 +135,17 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
     qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged" << activeVehicle;
 
     if (_managerVehicle) {
-        // Disconnect old vehicle
-        disconnect(_managerVehicle->missionManager(),       &MissionManager::newMissionItemsAvailable,  this, &PlanMasterController::_loadMissionComplete);
-        disconnect(_managerVehicle->geoFenceManager(),      &GeoFenceManager::loadComplete,             this, &PlanMasterController::_loadGeoFenceComplete);
-        disconnect(_managerVehicle->rallyPointManager(),    &RallyPointManager::loadComplete,           this, &PlanMasterController::_loadRallyPointsComplete);
-        disconnect(_managerVehicle->missionManager(),       &MissionManager::sendComplete,              this, &PlanMasterController::_sendMissionComplete);
-        disconnect(_managerVehicle->geoFenceManager(),      &GeoFenceManager::sendComplete,             this, &PlanMasterController::_sendGeoFenceComplete);
-        disconnect(_managerVehicle->rallyPointManager(),    &RallyPointManager::sendComplete,           this, &PlanMasterController::_sendRallyPointsComplete);
-        disconnect(_managerVehicle,                         &Vehicle::vehicleTypeChanged,               this, &PlanMasterController::_updatePlanCreatorsList);
+        // Disconnect old vehicle. Be careful of wildcarding disconnect too much since _managerVehicle may equal _controllerVehicle
+        disconnect(_managerVehicle->missionManager(),       nullptr, nullptr, nullptr);
+        disconnect(_managerVehicle->geoFenceManager(),      nullptr, nullptr, nullptr);
+        disconnect(_managerVehicle->rallyPointManager(),    nullptr, nullptr, nullptr);
+        disconnect(_managerVehicle,                         &Vehicle::capabilityBitsChanged, this, &PlanMasterController::_updateSupportsTerrain);
     }
 
     bool newOffline = false;
     if (activeVehicle == nullptr) {
         // Since there is no longer an active vehicle we use the offline controller vehicle as the manager vehicle
         _managerVehicle = _controllerVehicle;
-        // The vehicle type can change on the offline vehicle. Keep the creators list in sync with that.
-        connect(_managerVehicle, &Vehicle::vehicleTypeChanged, this, &PlanMasterController::_updatePlanCreatorsList);
         newOffline = true;
     } else {
         newOffline = false;
@@ -150,9 +165,10 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
         connect(_managerVehicle->rallyPointManager(),   &RallyPointManager::sendComplete,           this, &PlanMasterController::_sendRallyPointsComplete);
     }
 
-    _missionController.managerVehicleChanged(_managerVehicle);
-    _geoFenceController.managerVehicleChanged(_managerVehicle);
-    _rallyPointController.managerVehicleChanged(_managerVehicle);
+    // Change in capabilities will affect terrain support
+    connect(_managerVehicle, &Vehicle::capabilityBitsChanged, this, &PlanMasterController::_updateSupportsTerrain);
+
+    emit managerVehicleChanged(_managerVehicle);
 
     // Vehicle changed so we need to signal everything
     _offline = newOffline;
@@ -160,6 +176,7 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
     emit syncInProgressChanged();
     emit dirtyChanged(dirty());
     emit offlineChanged(offline());
+    _updateSupportsTerrain();
 
     if (!_flyView) {
         if (!offline()) {
@@ -618,3 +635,12 @@ void PlanMasterController::_updatePlanCreatorsList(void)
         }
     }
 }
+
+void PlanMasterController::_updateSupportsTerrain(void)
+{
+    bool supportsTerrain = _managerVehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_TERRAIN;
+    if (supportsTerrain != _supportsTerrain) {
+        _supportsTerrain = supportsTerrain;
+        emit supportsTerrainChanged(supportsTerrain);
+    }
+}

src/MissionManager/PlanMasterController.h

@@ -28,12 +28,18 @@ class PlanMasterController : public QObject
     
 public:
     PlanMasterController(QObject* parent = nullptr);
+#ifdef QT_DEBUG
+    // Used by test code to create master controll with specific firmware/vehicle type
+    PlanMasterController(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, QObject* parent = nullptr);
+#endif
+
     ~PlanMasterController();
 
+    Q_PROPERTY(Vehicle*                 controllerVehicle       READ controllerVehicle                      CONSTANT)                       ///< Offline controller vehicle
+    Q_PROPERTY(Vehicle*                 managerVehicle          READ managerVehicle                         NOTIFY managerVehicleChanged)   ///< Either active vehicle or _controllerVehicle if no active vehicle
     Q_PROPERTY(MissionController*       missionController       READ missionController                      CONSTANT)
     Q_PROPERTY(GeoFenceController*      geoFenceController      READ geoFenceController                     CONSTANT)
     Q_PROPERTY(RallyPointController*    rallyPointController    READ rallyPointController                   CONSTANT)
-    Q_PROPERTY(Vehicle*                 controllerVehicle       MEMBER _controllerVehicle                   CONSTANT)
     Q_PROPERTY(bool                     offline                 READ offline                                NOTIFY offlineChanged)          ///< true: controller is not connected to an active vehicle
     Q_PROPERTY(bool                     containsItems           READ containsItems                          NOTIFY containsItemsChanged)    ///< true: Elemement is non-empty
     Q_PROPERTY(bool                     syncInProgress          READ syncInProgress                         NOTIFY syncInProgressChanged)   ///< true: Information is currently being saved/sent, false: no active save/send in progress
@@ -44,6 +50,7 @@ public:
     Q_PROPERTY(QStringList              loadNameFilters         READ loadNameFilters                        CONSTANT)                       ///< File filter list loading plan files
     Q_PROPERTY(QStringList              saveNameFilters         READ saveNameFilters                        CONSTANT)                       ///< File filter list saving plan files
     Q_PROPERTY(QmlObjectListModel*      planCreators            MEMBER _planCreators                        NOTIFY planCreatorsChanged)
+    Q_PROPERTY(bool                     supportsTerrain         READ supportsTerrain                        NOTIFY supportsTerrainChanged)
 
     /// Should be called immediately upon Component.onCompleted.
     Q_INVOKABLE void start(bool flyView);
@@ -86,6 +93,7 @@ public:
     QStringList loadNameFilters (void) const;
     QStringList saveNameFilters (void) const;
     bool        isEmpty         (void) const;
+    bool        supportsTerrain (void) const { return _supportsTerrain; }
 
     QJsonDocument saveToJson    ();
 
@@ -105,6 +113,8 @@ signals:
     void offlineChanged  		(bool offlineEditing);
     void currentPlanFileChanged ();
     void planCreatorsChanged    (QmlObjectListModel* planCreators);
+    void managerVehicleChanged  (Vehicle* managerVehicle);
+    void supportsTerrainChanged (bool supportsTerrain);
 
 private slots:
     void _activeVehicleChanged      (Vehicle* activeVehicle);
@@ -115,27 +125,29 @@ private slots:
     void _sendGeoFenceComplete      (void);
     void _sendRallyPointsComplete   (void);
     void _updatePlanCreatorsList    (void);
+    void _updateSupportsTerrain     (void);
 #if defined(QGC_AIRMAP_ENABLED)
     void _startFlightPlanning       (void);
 #endif
 
 private:
+    void _commonInit                (void);
     void _showPlanFromManagerVehicle(void);
 
-    MultiVehicleManager*    _multiVehicleMgr;
-    Vehicle*                _controllerVehicle; ///< Offline controller vehicle
-    Vehicle*                _managerVehicle;    ///< Either active vehicle or _controllerVehicle if none
-    bool                    _flyView;
-    bool                    _offline;
+    MultiVehicleManager*    _multiVehicleMgr =          nullptr;
+    Vehicle*                _controllerVehicle =        nullptr;    ///< Offline controller vehicle
+    Vehicle*                _managerVehicle =           nullptr;    ///< Either active vehicle or _controllerVehicle if none
+    bool                    _flyView =                  true;
+    bool                    _offline =                  true;
     MissionController       _missionController;
     GeoFenceController      _geoFenceController;
     RallyPointController    _rallyPointController;
-    bool                    _loadGeoFence;
-    bool                    _loadRallyPoints;
-    bool                    _sendGeoFence;
-    bool                    _sendRallyPoints;
+    bool                    _loadGeoFence =             false;
+    bool                    _loadRallyPoints =          false;
+    bool                    _sendGeoFence =             false;
+    bool                    _sendRallyPoints =          false;
     QString                 _currentPlanFile;
-    bool                    _deleteWhenSendCompleted;
-    QmlObjectListModel*     _planCreators;
-
+    bool                    _deleteWhenSendCompleted =  false;
+    QmlObjectListModel*     _planCreators =             nullptr;
+    bool                    _supportsTerrain =          false;
 };

src/MissionManager/RallyPointController.cc

@@ -34,15 +34,11 @@ const char* RallyPointController::_jsonFileTypeValue =  "RallyPoints";
 const char* RallyPointController::_jsonPointsKey =      "points";
 
 RallyPointController::RallyPointController(PlanMasterController* masterController, QObject* parent)
-    : PlanElementController(masterController, parent)
-    , _rallyPointManager(_managerVehicle->rallyPointManager())
-    , _dirty(false)
-    , _currentRallyPoint(nullptr)
-    , _itemsRequested(false)
+    : PlanElementController (masterController, parent)
+    , _managerVehicle               (masterController->managerVehicle())
+    , _rallyPointManager    (masterController->managerVehicle()->rallyPointManager())
 {
     connect(&_points, &QmlObjectListModel::countChanged, this, &RallyPointController::_updateContainsItems);
-
-    managerVehicleChanged(_managerVehicle);
 }
 
 RallyPointController::~RallyPointController()
@@ -50,7 +46,17 @@ RallyPointController::~RallyPointController()
 
 }
 
-void RallyPointController::managerVehicleChanged(Vehicle* managerVehicle)
+void RallyPointController::start(bool flyView)
+{
+    qCDebug(GeoFenceControllerLog) << "start flyView" << flyView;
+
+    _managerVehicleChanged(_masterController->managerVehicle());
+    connect(_masterController, &PlanMasterController::managerVehicleChanged, this, &RallyPointController::_managerVehicleChanged);
+
+    PlanElementController::start(flyView);
+}
+
+void RallyPointController::_managerVehicleChanged(Vehicle* managerVehicle)
 {
     if (_managerVehicle) {
         _rallyPointManager->disconnect(this);

src/MissionManager/RallyPointController.h

@@ -36,6 +36,7 @@ public:
     Q_INVOKABLE void addPoint       (QGeoCoordinate point);
     Q_INVOKABLE void removePoint    (QObject* rallyPoint);
 
+    void start                      (bool flyView) final;
     bool supported                  (void) const final;
     void save                       (QJsonObject& json) final;
     bool load                       (const QJsonObject& json, QString& errorString) final;
@@ -47,7 +48,6 @@ public:
     bool dirty                      (void) const final { return _dirty; }
     void setDirty                   (bool dirty) final;
     bool containsItems              (void) const final;
-    void managerVehicleChanged      (Vehicle* managerVehicle) final;
     bool showPlanFromManagerVehicle (void) final;
 
     QmlObjectListModel* points                  (void) { return &_points; }
@@ -62,23 +62,24 @@ signals:
     void loadComplete(void);
 
 private slots:
-    void _managerLoadComplete(void);
-    void _managerSendComplete(bool error);
-    void _managerRemoveAllComplete(bool error);
-    void _setFirstPointCurrent(void);
-    void _updateContainsItems(void);
+    void _managerLoadComplete       (void);
+    void _managerSendComplete       (bool error);
+    void _managerRemoveAllComplete  (bool error);
+    void _setFirstPointCurrent      (void);
+    void _updateContainsItems       (void);
+    void _managerVehicleChanged     (Vehicle* managerVehicle);
 
 private:
-    RallyPointManager*  _rallyPointManager;
-    bool                _dirty;
+    Vehicle*            _managerVehicle =       nullptr;
+    RallyPointManager*  _rallyPointManager =    nullptr;
+    bool                _dirty =                false;
     QmlObjectListModel  _points;
-    QObject*            _currentRallyPoint;
-    bool                _itemsRequested;
+    QObject*            _currentRallyPoint =    nullptr;
+    bool                _itemsRequested =       false;
 
-    static const int _jsonCurrentVersion = 2;
-
-    static const char* _jsonFileTypeValue;
-    static const char* _jsonPointsKey;
+    static const int    _jsonCurrentVersion = 2;
+    static const char*  _jsonFileTypeValue;
+    static const char*  _jsonPointsKey;
 };
 
 #endif

src/MissionManager/Section.h

@@ -15,15 +15,17 @@
 
 Q_DECLARE_LOGGING_CATEGORY(SectionLog)
 
+class PlanMasterController;
+
 // A Section encapsulates a set of mission commands which can be associated with another simple mission item.
 class Section : public QObject
 {
     Q_OBJECT
 
 public:
-    Section(Vehicle* vehicle, QObject* parent = nullptr)
-        : QObject(parent)
-        , _vehicle(vehicle)
+    Section(PlanMasterController* masterController, QObject* parent = nullptr)
+        : QObject           (parent)
+        , _masterController (masterController)
     {
 
     }
@@ -62,5 +64,5 @@ signals:
     void itemCountChanged           (int itemCount);
 
 protected:
-    Vehicle* _vehicle;
+    PlanMasterController* _masterController = nullptr;
 };

src/MissionManager/SectionTest.cc

@@ -37,7 +37,7 @@ void SectionTest::init(void)
                             70.1234567,
                             true,           // autoContinue
                             false);         // isCurrentItem
-    _simpleItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, missionItem, this);
+    _simpleItem = new SimpleMissionItem(_masterController, false /* flyView */, missionItem, this);
 }
 
 void SectionTest::cleanup(void)
@@ -62,13 +62,13 @@ void SectionTest::_commonScanTest(Section* section)
 
     QmlObjectListModel waypointVisualItems;
     MissionItem waypointItem(0, MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT, 0, 0, 0, 0, 0, 0, 0, true, false);
-    SimpleMissionItem simpleItem(_offlineVehicle, false /* flyView */, waypointItem, this);
+    SimpleMissionItem simpleItem(_masterController, false /* flyView */, waypointItem, this);
     waypointVisualItems.append(&simpleItem);
     waypointVisualItems.append(&simpleItem);
     waypointVisualItems.append(&simpleItem);
 
     QmlObjectListModel complexVisualItems;
-    SurveyComplexItem surveyItem(_offlineVehicle, false /* fly View */, QString() /* kmlFile */, this /* parent */);
+    SurveyComplexItem surveyItem(_masterController, false /* fly View */, QString() /* kmlFile */, this /* parent */);
     complexVisualItems.append(&surveyItem);
 
     // This tests the common cases which should not lead to scan succeess

src/MissionManager/SimpleMissionItem.h

@@ -24,8 +24,8 @@ class SimpleMissionItem : public VisualMissionItem
     Q_OBJECT
     
 public:
-    SimpleMissionItem(Vehicle* vehicle, bool flyView, QObject* parent);
-    SimpleMissionItem(Vehicle* vehicle, bool flyView, const MissionItem& missionItem, QObject* parent);
+    SimpleMissionItem(PlanMasterController* masterController, bool flyView, QObject* parent);
+    SimpleMissionItem(PlanMasterController* masterController, bool flyView, const MissionItem& missionItem, QObject* parent);
     //SimpleMissionItem(const SimpleMissionItem& other, bool flyView, QObject* parent);
 
     ~SimpleMissionItem();
@@ -38,7 +38,6 @@ public:
     Q_PROPERTY(QGroundControlQmlGlobal::AltitudeMode altitudeMode READ altitudeMode WRITE setAltitudeMode       NOTIFY altitudeModeChanged)
     Q_PROPERTY(Fact*            amslAltAboveTerrain     READ amslAltAboveTerrain                                CONSTANT)                           ///< Actual AMSL altitude for item if altitudeMode == AltitudeAboveTerrain
     Q_PROPERTY(int              command                 READ command                WRITE setCommand            NOTIFY commandChanged)
-    Q_PROPERTY(bool             supportsTerrainFrame    READ supportsTerrainFrame                               NOTIFY supportsTerrainFrameChanged)
 
     /// Optional sections
     Q_PROPERTY(QObject*         speedSection            READ speedSection                                       NOTIFY speedSectionChanged)
@@ -59,7 +58,7 @@ public:
     ///     @param scanIndex Index to start scanning from
     ///     @param vehicle Vehicle associated with this mission
     /// @return true: section found, scanIndex updated
-    bool scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle);
+    bool scanForSections(QmlObjectListModel* visualItems, int scanIndex, PlanMasterController* masterController);
 
     // Property accesors
     
@@ -72,7 +71,6 @@ public:
     QGroundControlQmlGlobal::AltitudeMode altitudeMode(void) const { return _altitudeMode; }
     Fact*           altitude            (void) { return &_altitudeFact; }
     Fact*           amslAltAboveTerrain (void) { return &_amslAltAboveTerrainFact; }
-    bool            supportsTerrainFrame(void) const { return _vehicle->supportsTerrainFrame(); }
 
     CameraSection*  cameraSection       (void) { return _cameraSection; }
     SpeedSection*   speedSection        (void) { return _speedSection; }
@@ -140,7 +138,6 @@ signals:
     void cameraSectionChanged       (QObject* cameraSection);
     void speedSectionChanged        (QObject* cameraSection);
     void altitudeModeChanged        (void);
-    void supportsTerrainFrameChanged(void);
 
 private slots:
     void _setDirty                          (void);
@@ -166,19 +163,19 @@ private:
     void _rebuildComboBoxFacts  (void);
 
     MissionItem     _missionItem;
-    bool            _rawEdit;
-    bool            _dirty;
-    bool            _ignoreDirtyChangeSignals;
+    bool            _rawEdit =                  false;
+    bool            _dirty =                    false;
+    bool            _ignoreDirtyChangeSignals = false;
     QGeoCoordinate  _mapCenterHint;
+    SpeedSection*   _speedSection =             nullptr;
+    CameraSection*  _cameraSection =             nullptr;
 
-    SpeedSection*   _speedSection;
-    CameraSection* _cameraSection;
-
-    MissionCommandTree* _commandTree;
+    MissionCommandTree* _commandTree = nullptr;
+    bool _syncingHeadingDegreesAndParam4 = false;   ///< true: already in a sync signal, prevents signal loop
 
     Fact                _supportedCommandFact;
 
-    QGroundControlQmlGlobal::AltitudeMode   _altitudeMode;
+    QGroundControlQmlGlobal::AltitudeMode   _altitudeMode = QGroundControlQmlGlobal::AltitudeModeRelative;
     Fact                                    _altitudeFact;
     Fact                                    _amslAltAboveTerrainFact;
 
@@ -201,8 +198,6 @@ private:
     FactMetaData    _param6MetaData;
     FactMetaData    _param7MetaData;
 
-    bool _syncingHeadingDegreesAndParam4;   ///< true: already in a sync signal, prevents signal loop
-
     static const char* _jsonAltitudeModeKey;
     static const char* _jsonAltitudeKey;
     static const char* _jsonAMSLAltAboveTerrainKey;

src/MissionManager/SimpleMissionItemTest.cc

@@ -12,6 +12,7 @@
 #include "QGCApplication.h"
 #include "QGroundControlQmlGlobal.h"
 #include "SettingsManager.h"
+#include "PlanMasterController.h"
 
 const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = {
     { MAV_CMD_NAV_WAYPOINT,     MAV_FRAME_GLOBAL_RELATIVE_ALT },
@@ -92,7 +93,7 @@ void SimpleMissionItemTest::init(void)
                             70.1234567,
                             true,           // autoContinue
                             false);         // isCurrentItem
-    _simpleItem = new SimpleMissionItem(_offlineVehicle, false /* flyView */, missionItem, this);
+    _simpleItem = new SimpleMissionItem(_masterController, false /* flyView */, missionItem, this);
 
     // It's important top check that the right signals are emitted at the right time since that drives ui change.
     // It's also important to check that things are not being over-signalled when they should not be, since that can lead
@@ -111,7 +112,7 @@ void SimpleMissionItemTest::cleanup(void)
 
 void SimpleMissionItemTest::_testEditorFacts(void)
 {
-    Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_FIXED_WING, qgcApp()->toolbox()->firmwarePluginManager());
+    PlanMasterController fwMasterController(MAV_AUTOPILOT_PX4, MAV_TYPE_FIXED_WING);
 
     for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) {
         const ItemInfo_t* info = &_rgItemInfo[i];
@@ -131,7 +132,7 @@ void SimpleMissionItemTest::_testEditorFacts(void)
                                 70.1234567,
                                 true,           // autoContinue
                                 false);         // isCurrentItem
-        SimpleMissionItem simpleMissionItem(vehicle, false /* flyView */, missionItem, nullptr);
+        SimpleMissionItem simpleMissionItem(&fwMasterController, false /* flyView */, missionItem, nullptr);
 
         // Validate that the fact values are correctly returned
 
@@ -161,13 +162,11 @@ void SimpleMissionItemTest::_testEditorFacts(void)
             QCOMPARE(simpleMissionItem.altitude()->rawValue().toDouble(), expected->altValue);
         }
     }
-
-    delete vehicle;
 }
 
 void SimpleMissionItemTest::_testDefaultValues(void)
 {
-    SimpleMissionItem item(_offlineVehicle, false /* flyView */, nullptr);
+    SimpleMissionItem item(_masterController, false /* flyView */, nullptr);
 
     item.missionItem().setCommand(MAV_CMD_NAV_WAYPOINT);
     item.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);

src/MissionManager/SpeedSection.cc

@@ -11,13 +11,14 @@
 #include "JsonHelper.h"
 #include "FirmwarePlugin.h"
 #include "SimpleMissionItem.h"
+#include "PlanMasterController.h"
 
 const char* SpeedSection::_flightSpeedName = "FlightSpeed";
 
 QMap<QString, FactMetaData*> SpeedSection::_metaDataMap;
 
-SpeedSection::SpeedSection(Vehicle* vehicle, QObject* parent)
-    : Section               (vehicle, parent)
+SpeedSection::SpeedSection(PlanMasterController* masterController, QObject* parent)
+    : Section               (masterController, parent)
     , _available            (false)
     , _dirty                (false)
     , _specifyFlightSpeed   (false)
@@ -28,10 +29,10 @@ SpeedSection::SpeedSection(Vehicle* vehicle, QObject* parent)
     }
 
     double flightSpeed = 0;
-    if (_vehicle->multiRotor()) {
-        flightSpeed = _vehicle->defaultHoverSpeed();
+    if (_masterController->controllerVehicle()->multiRotor()) {
+        flightSpeed = _masterController->controllerVehicle()->defaultHoverSpeed();
     } else {
-        flightSpeed = _vehicle->defaultCruiseSpeed();
+        flightSpeed = _masterController->controllerVehicle()->defaultCruiseSpeed();
     }
 
     _metaDataMap[_flightSpeedName]->setRawDefaultValue(flightSpeed);
@@ -53,7 +54,7 @@ bool SpeedSection::settingsSpecified(void) const
 void SpeedSection::setAvailable(bool available)
 {
     if (available != _available) {
-        if (available && (_vehicle->multiRotor() || _vehicle->fixedWing())) {
+        if (available && (_masterController->controllerVehicle()->multiRotor() || _masterController->controllerVehicle()->fixedWing())) {
             _available = available;
             emit availableChanged(available);
         }
@@ -91,7 +92,7 @@ void SpeedSection::appendSectionItems(QList<MissionItem*>& items, QObject* missi
         MissionItem* item = new MissionItem(seqNum++,
                                             MAV_CMD_DO_CHANGE_SPEED,
                                             MAV_FRAME_MISSION,
-                                            _vehicle->multiRotor() ? 1 /* groundspeed */ : 0 /* airspeed */,    // Change airspeed or groundspeed
+                                            _masterController->controllerVehicle()->multiRotor() ? 1 /* groundspeed */ : 0 /* airspeed */,    // Change airspeed or groundspeed
                                             _flightSpeedFact.rawValue().toDouble(),
                                             -1,                                                                 // No throttle change
                                             0,                                                                  // Absolute speed change
@@ -119,9 +120,9 @@ bool SpeedSection::scanForSection(QmlObjectListModel* visualItems, int scanIndex
     // See SpeedSection::appendMissionItems for specs on what consitutes a known speed setting
 
     if (missionItem.command() == MAV_CMD_DO_CHANGE_SPEED && missionItem.param3() == -1 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
-        if (_vehicle->multiRotor() && missionItem.param1() != 1) {
+        if (_masterController->controllerVehicle()->multiRotor() && missionItem.param1() != 1) {
             return false;
-        } else if (_vehicle->fixedWing() && missionItem.param1() != 0) {
+        } else if (_masterController->controllerVehicle()->fixedWing() && missionItem.param1() != 0) {
             return false;
         }
         visualItems->removeAt(scanIndex)->deleteLater();

src/MissionManager/SpeedSection.h

@@ -13,12 +13,14 @@
 #include "FactSystem.h"
 #include "QmlObjectListModel.h"
 
+class PlanMasterController;
+
 class SpeedSection : public Section
 {
     Q_OBJECT
 
 public:
-    SpeedSection(Vehicle* vehicle, QObject* parent = nullptr);
+    SpeedSection(PlanMasterController* masterController, QObject* parent = nullptr);
 
     Q_PROPERTY(bool     specifyFlightSpeed  READ specifyFlightSpeed WRITE setSpecifyFlightSpeed NOTIFY specifyFlightSpeedChanged)
     Q_PROPERTY(Fact*    flightSpeed         READ flightSpeed                                    CONSTANT)

src/MissionManager/SpeedSectionTest.cc

@@ -8,6 +8,7 @@
  ****************************************************************************/
 
 #include "SpeedSectionTest.h"
+#include "PlanMasterController.h"
 
 SpeedSectionTest::SpeedSectionTest(void)
     : _spySpeed(nullptr)
@@ -134,7 +135,7 @@ void SpeedSectionTest::_checkAvailable(void)
                             70.1234567,
                             true,           // autoContinue
                             false);         // isCurrentItem
-    SimpleMissionItem* item = new SimpleMissionItem(_offlineVehicle, false /* flyView */, missionItem, this);
+    SimpleMissionItem* item = new SimpleMissionItem(_masterController, false /* flyView */, missionItem, this);
     QVERIFY(item->speedSection());
     QCOMPARE(item->speedSection()->available(), false);
 }
@@ -176,7 +177,7 @@ void SpeedSectionTest::_testAppendSectionItems(void)
     _speedSection->appendSectionItems(rgMissionItems, this, seqNum);
     QCOMPARE(rgMissionItems.count(), 1);
     QCOMPARE(seqNum, 1);
-    MissionItem expectedSpeedItem(0, MAV_CMD_DO_CHANGE_SPEED, MAV_FRAME_MISSION, _offlineVehicle->multiRotor() ? 1 : 0, _speedSection->flightSpeed()->rawValue().toDouble(), -1, 0, 0, 0, 0, true, false);
+    MissionItem expectedSpeedItem(0, MAV_CMD_DO_CHANGE_SPEED, MAV_FRAME_MISSION, _controllerVehicle->multiRotor() ? 1 : 0, _speedSection->flightSpeed()->rawValue().toDouble(), -1, 0, 0, 0, 0, true, false);
     _missionItemsEqual(*rgMissionItems[0], expectedSpeedItem);
 }
 
@@ -192,8 +193,8 @@ void SpeedSectionTest::_testScanForSection(void)
     // Check for a scan success
 
     double flightSpeed = 10.123456;
-    MissionItem validSpeedItem(0, MAV_CMD_DO_CHANGE_SPEED, MAV_FRAME_MISSION, _offlineVehicle->multiRotor() ? 1 : 0, flightSpeed, -1, 0, 0, 0, 0, true, false);
-    SimpleMissionItem simpleItem(_offlineVehicle, false /* flyView */, validSpeedItem, nullptr);
+    MissionItem validSpeedItem(0, MAV_CMD_DO_CHANGE_SPEED, MAV_FRAME_MISSION, _controllerVehicle->multiRotor() ? 1 : 0, flightSpeed, -1, 0, 0, 0, 0, true, false);
+    SimpleMissionItem simpleItem(_masterController, false /* flyView */, validSpeedItem, nullptr);
     MissionItem& simpleMissionItem = simpleItem.missionItem();
     visualItems.append(&simpleItem);
     scanIndex = 0;
@@ -209,7 +210,7 @@ void SpeedSectionTest::_testScanForSection(void)
     // Flight speed command but incorrect settings
 
     simpleMissionItem = validSpeedItem;
-    simpleMissionItem.setParam1(_offlineVehicle->multiRotor() ? 0 : 1);
+    simpleMissionItem.setParam1(_controllerVehicle->multiRotor() ? 0 : 1);
     visualItems.append(&simpleItem);
     QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
     QCOMPARE(visualItems.count(), 1);
@@ -264,7 +265,7 @@ void SpeedSectionTest::_testScanForSection(void)
 
     // Valid item in wrong position
     MissionItem waypointMissionItem(0, MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT, 0, 0, 0, 0, 0, 0, 0, true, false);
-    SimpleMissionItem simpleWaypointItem(_offlineVehicle, false /* flyView */, waypointMissionItem, nullptr);
+    SimpleMissionItem simpleWaypointItem(_masterController, false /* flyView */, waypointMissionItem, nullptr);
     simpleMissionItem = validSpeedItem;
     visualItems.append(&simpleWaypointItem);
     visualItems.append(&simpleMissionItem);

src/MissionManager/StructureScanComplexItem.cc

@@ -16,6 +16,7 @@
 #include "SettingsManager.h"
 #include "AppSettings.h"
 #include "QGCQGeoCoordinate.h"
+#include "PlanMasterController.h"
 
 #include <QPolygonF>
 
@@ -32,15 +33,15 @@ const char* StructureScanComplexItem::startFromTopName =            "StartFromTo
 const char* StructureScanComplexItem::jsonComplexItemTypeValue =    "StructureScan";
 const char* StructureScanComplexItem::_jsonCameraCalcKey =          "CameraCalc";
 
-StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent)
-    : ComplexMissionItem        (vehicle, flyView, parent)
+StructureScanComplexItem::StructureScanComplexItem(PlanMasterController* masterController, bool flyView, const QString& kmlOrShpFile, QObject* parent)
+    : ComplexMissionItem        (masterController, flyView, parent)
     , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/StructureScan.SettingsGroup.json"), this /* QObject parent */))
     , _sequenceNumber           (0)
     , _entryVertex              (0)
     , _ignoreRecalc             (false)
     , _scanDistance             (0.0)
     , _cameraShots              (0)
-    , _cameraCalc               (vehicle, settingsGroup)
+    , _cameraCalc               (masterController, settingsGroup)
     , _scanBottomAltFact        (settingsGroup, _metaDataMap[scanBottomAltName])
     , _structureHeightFact      (settingsGroup, _metaDataMap[structureHeightName])
     , _layersFact               (settingsGroup, _metaDataMap[layersName])

src/MissionManager/StructureScanComplexItem.h

@@ -20,15 +20,16 @@
 
 Q_DECLARE_LOGGING_CATEGORY(StructureScanComplexItemLog)
 
+class PlanMasterController;
+
 class StructureScanComplexItem : public ComplexMissionItem
 {
     Q_OBJECT
 
 public:
-    /// @param vehicle Vehicle which this is being contructed for
     /// @param flyView true: Created for use in the Fly View, false: Created for use in the Plan View
     /// @param kmlOrSHPFile Polygon comes from this file, empty for default polygon
-    StructureScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrSHPFile, QObject* parent);
+    StructureScanComplexItem(PlanMasterController* masterController, bool flyView, const QString& kmlOrSHPFile, QObject* parent);
 
     Q_PROPERTY(CameraCalc*      cameraCalc                  READ cameraCalc                                                 CONSTANT)
     Q_PROPERTY(Fact*            entranceAlt                 READ entranceAlt                                                CONSTANT)

src/MissionManager/StructureScanComplexItemTest.cc

@@ -9,9 +9,9 @@
 
 #include "StructureScanComplexItemTest.h"
 #include "QGCApplication.h"
+#include "PlanMasterController.h"
 
 StructureScanComplexItemTest::StructureScanComplexItemTest(void)
-    : _offlineVehicle(nullptr)
 {
     _polyPoints << QGeoCoordinate(47.633550640000003, -122.08982199) << QGeoCoordinate(47.634129020000003, -122.08887249) <<
                    QGeoCoordinate(47.633619320000001, -122.08811074) << QGeoCoordinate(47.633189139999999, -122.08900124);
@@ -23,8 +23,9 @@ void StructureScanComplexItemTest::init(void)
 
     _rgSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
 
-    _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
-    _structureScanItem = new StructureScanComplexItem(_offlineVehicle, false /* flyView */, QString() /* kmlFile */, this /* parent */);
+    _masterController = new PlanMasterController(this);
+    _controllerVehicle = _masterController->controllerVehicle();
+    _structureScanItem = new StructureScanComplexItem(new PlanMasterController(this), false /* flyView */, QString() /* kmlFile */, this /* parent */);
     _structureScanItem->setDirty(false);
 
     _multiSpy = new MultiSignalSpy();
@@ -35,7 +36,6 @@ void StructureScanComplexItemTest::init(void)
 void StructureScanComplexItemTest::cleanup(void)
 {
     delete _structureScanItem;
-    delete _offlineVehicle;
 }
 
 void StructureScanComplexItemTest::_testDirty(void)
@@ -114,7 +114,7 @@ void StructureScanComplexItemTest::_testSaveLoad(void)
     _structureScanItem->save(items);
 
     QString errorString;
-    StructureScanComplexItem* newItem = new StructureScanComplexItem(_offlineVehicle, false /* flyView */, QString() /* kmlFile */, this /* parent */);
+    StructureScanComplexItem* newItem = new StructureScanComplexItem(new PlanMasterController(this), false /* flyView */, QString() /* kmlFile */, this /* parent */);
     QVERIFY(newItem->load(items[0].toObject(), 10, errorString));
     QVERIFY(errorString.isEmpty());
     _validateItem(newItem);

src/MissionManager/StructureScanComplexItemTest.h

@@ -12,6 +12,7 @@
 #include "UnitTest.h"
 #include "MultiSignalSpy.h"
 #include "StructureScanComplexItem.h"
+#include "PlanMasterController.h"
 
 class StructureScanComplexItemTest : public UnitTest
 {
@@ -45,8 +46,9 @@ private:
     static const size_t _cSignals = maxSignalIndex;
     const char*         _rgSignals[_cSignals];
 
-    Vehicle*                    _offlineVehicle;
-    MultiSignalSpy*             _multiSpy;
-    StructureScanComplexItem*   _structureScanItem;
+    PlanMasterController*       _masterController =     nullptr;
+    Vehicle*                    _controllerVehicle =    nullptr;
+    MultiSignalSpy*             _multiSpy =             nullptr;
+    StructureScanComplexItem*   _structureScanItem =    nullptr;
     QList<QGeoCoordinate>       _polyPoints;
 };

src/MissionManager/SurveyComplexItem.cc

@@ -16,6 +16,7 @@
 #include "QGCQGeoCoordinate.h"
 #include "SettingsManager.h"
 #include "AppSettings.h"
+#include "PlanMasterController.h"
 
 #include <QPolygonF>
 
@@ -61,8 +62,8 @@ const char* SurveyComplexItem::_jsonV3Refly90DegreesKey =               "refly90
 const char* SurveyComplexItem::_jsonFlyAlternateTransectsKey =          "flyAlternateTransects";
 const char* SurveyComplexItem::_jsonSplitConcavePolygonsKey =           "splitConcavePolygons";
 
-SurveyComplexItem::SurveyComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent)
-    : TransectStyleComplexItem  (vehicle, flyView, settingsGroup, parent)
+SurveyComplexItem::SurveyComplexItem(PlanMasterController* masterController, bool flyView, const QString& kmlOrShpFile, QObject* parent)
+    : TransectStyleComplexItem  (masterController, flyView, settingsGroup, parent)
     , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/Survey.SettingsGroup.json"), this))
     , _gridAngleFact            (settingsGroup, _metaDataMap[gridAngleName])
     , _flyAlternateTransectsFact(settingsGroup, _metaDataMap[flyAlternateTransectsName])
@@ -73,7 +74,7 @@ SurveyComplexItem::SurveyComplexItem(Vehicle* vehicle, bool flyView, const QStri
 
     // If the user hasn't changed turnaround from the default (which is a fixed wing default) and we are multi-rotor set the multi-rotor default.
     // NULL check since object creation during unit testing passes NULL for vehicle
-    if (_vehicle && _vehicle->multiRotor() && _turnAroundDistanceFact.rawValue().toDouble() == _turnAroundDistanceFact.rawDefaultValue().toDouble()) {
+    if (_controllerVehicle && _controllerVehicle->multiRotor() && _turnAroundDistanceFact.rawValue().toDouble() == _turnAroundDistanceFact.rawDefaultValue().toDouble()) {
         // Note this is set to 10 meters to work around a problem with PX4 Pro turnaround behavior. Don't change unless firmware gets better as well.
         _turnAroundDistanceFact.setRawValue(10);
     }

src/MissionManager/SurveyComplexItem.h

@@ -16,15 +16,16 @@
 
 Q_DECLARE_LOGGING_CATEGORY(SurveyComplexItemLog)
 
+class PlanMasterController;
+
 class SurveyComplexItem : public TransectStyleComplexItem
 {
     Q_OBJECT
 
 public:
-    /// @param vehicle Vehicle which this is being contructed for
     /// @param flyView true: Created for use in the Fly View, false: Created for use in the Plan View
     /// @param kmlOrShpFile Polygon comes from this file, empty for default polygon
-    SurveyComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent);
+    SurveyComplexItem(PlanMasterController* masterController, bool flyView, const QString& kmlOrShpFile, QObject* parent);
 
     Q_PROPERTY(Fact* gridAngle              READ gridAngle              CONSTANT)
     Q_PROPERTY(Fact* flyAlternateTransects  READ flyAlternateTransects  CONSTANT)

src/MissionManager/SurveyComplexItemTest.cc

@@ -11,7 +11,6 @@
 #include "QGCApplication.h"
 
 SurveyComplexItemTest::SurveyComplexItemTest(void)
-    : _offlineVehicle(nullptr)
 {
     _polyPoints << QGeoCoordinate(47.633550640000003, -122.08982199) << QGeoCoordinate(47.634129020000003, -122.08887249) <<
                    QGeoCoordinate(47.633619320000001, -122.08811074) << QGeoCoordinate(47.633189139999999, -122.08900124);
@@ -28,8 +27,9 @@ void SurveyComplexItemTest::init(void)
     _rgSurveySignals[surveyRefly90DegreesChangedIndex] =          SIGNAL(refly90DegreesChanged(bool));
     _rgSurveySignals[surveyDirtyChangedIndex] =                   SIGNAL(dirtyChanged(bool));
 
-    _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
-    _surveyItem = new SurveyComplexItem(_offlineVehicle, false /* flyView */, QString() /* kmlFile */, this /* parent */);
+    _masterController = new PlanMasterController(this);
+    _controllerVehicle = _masterController->controllerVehicle();
+    _surveyItem = new SurveyComplexItem(_masterController, false /* flyView */, QString() /* kmlFile */, this /* parent */);
     _surveyItem->turnAroundDistance()->setRawValue(0);  // Unit test written for no turnaround distance
     _surveyItem->setDirty(false);
     _mapPolygon = _surveyItem->surveyAreaPolygon();
@@ -46,7 +46,6 @@ void SurveyComplexItemTest::init(void)
 void SurveyComplexItemTest::cleanup(void)
 {
     delete _surveyItem;
-    delete _offlineVehicle;
     delete _multiSpy;
 }
 

src/MissionManager/SurveyComplexItemTest.h

@@ -13,6 +13,7 @@
 #include "TCPLink.h"
 #include "MultiSignalSpy.h"
 #include "SurveyComplexItem.h"
+#include "PlanMasterController.h"
 
 #include <QGeoCoordinate>
 
@@ -63,9 +64,10 @@ private:
     static const size_t _cSurveySignals = surveyMaxSignalIndex;
     const char*         _rgSurveySignals[_cSurveySignals];
 
-    Vehicle*                _offlineVehicle;
-    MultiSignalSpy*         _multiSpy;
-    SurveyComplexItem*      _surveyItem;
-    QGCMapPolygon*          _mapPolygon;
+    PlanMasterController*   _masterController =     nullptr;
+    Vehicle*                _controllerVehicle =    nullptr;
+    MultiSignalSpy*         _multiSpy =             nullptr;
+    SurveyComplexItem*      _surveyItem =           nullptr;
+    QGCMapPolygon*          _mapPolygon =           nullptr;
     QList<QGeoCoordinate>   _polyPoints;
 };

src/MissionManager/TakeoffMissionItem.cc

@@ -18,24 +18,25 @@
 #include "MissionCommandUIInfo.h"
 #include "QGroundControlQmlGlobal.h"
 #include "SettingsManager.h"
+#include "PlanMasterController.h"
 
-TakeoffMissionItem::TakeoffMissionItem(Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
-    : SimpleMissionItem (vehicle, flyView, parent)
+TakeoffMissionItem::TakeoffMissionItem(PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
+    : SimpleMissionItem (masterController, flyView, parent)
     , _settingsItem     (settingsItem)
 {
     _init();
 }
 
-TakeoffMissionItem::TakeoffMissionItem(MAV_CMD takeoffCmd, Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
-    : SimpleMissionItem (vehicle, flyView, parent)
+TakeoffMissionItem::TakeoffMissionItem(MAV_CMD takeoffCmd, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
+    : SimpleMissionItem (masterController, flyView, parent)
     , _settingsItem     (settingsItem)
 {
     setCommand(takeoffCmd);
     _init();
 }
 
-TakeoffMissionItem::TakeoffMissionItem(const MissionItem& missionItem, Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
-    : SimpleMissionItem (vehicle, flyView, missionItem, parent)
+TakeoffMissionItem::TakeoffMissionItem(const MissionItem& missionItem, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, QObject* parent)
+    : SimpleMissionItem (masterController, flyView, missionItem, parent)
     , _settingsItem     (settingsItem)
 {
     _init();
@@ -115,7 +116,7 @@ bool TakeoffMissionItem::isTakeoffCommand(MAV_CMD command)
 void TakeoffMissionItem::_initLaunchTakeoffAtSameLocation(void)
 {
     if (specifiesCoordinate()) {
-        if (_vehicle->fixedWing() || _vehicle->vtol()) {
+        if (_controllerVehicle->fixedWing() || _controllerVehicle->vtol()) {
             setLaunchTakeoffAtSameLocation(false);
         } else {
             // PX4 specifies a coordinate for takeoff even for non fixed wing. But it makes more sense to not have a coordinate

src/MissionManager/TakeoffMissionItem.h

@@ -12,6 +12,8 @@
 #include "SimpleMissionItem.h"
 #include "MissionSettingsItem.h"
 
+class PlanMasterController;
+
 /// Takeoff mission item is a special case of a SimpleMissionItem which supports Launch Location display/editing
 /// which is tied to home position.
 class TakeoffMissionItem : public SimpleMissionItem
@@ -19,9 +21,9 @@ class TakeoffMissionItem : public SimpleMissionItem
     Q_OBJECT
     
 public:
-    TakeoffMissionItem(Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
-    TakeoffMissionItem(MAV_CMD takeoffCmd, Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
-    TakeoffMissionItem(const MissionItem& missionItem,  Vehicle* vehicle, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
+    TakeoffMissionItem(PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
+    TakeoffMissionItem(MAV_CMD takeoffCmd, PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
+    TakeoffMissionItem(const MissionItem& missionItem,  PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, QObject* parent);
 
     Q_PROPERTY(QGeoCoordinate   launchCoordinate            READ launchCoordinate               WRITE setLaunchCoordinate               NOTIFY launchCoordinateChanged)
     Q_PROPERTY(bool             launchTakeoffAtSameLocation READ launchTakeoffAtSameLocation    WRITE setLaunchTakeoffAtSameLocation    NOTIFY launchTakeoffAtSameLocationChanged)

src/MissionManager/TransectStyleComplexItem.cc

@@ -39,18 +39,18 @@ const char* TransectStyleComplexItem::_jsonCameraShotsKey =                 "Cam
 
 const int   TransectStyleComplexItem::_terrainQueryTimeoutMsecs =           1000;
 
-TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, bool flyView, QString settingsGroup, QObject* parent)
-    : ComplexMissionItem                (vehicle, flyView, parent)
+TransectStyleComplexItem::TransectStyleComplexItem(PlanMasterController* masterController, bool flyView, QString settingsGroup, QObject* parent)
+    : ComplexMissionItem                (masterController, flyView, parent)
     , _sequenceNumber                   (0)
     , _terrainPolyPathQuery             (nullptr)
     , _ignoreRecalc                     (false)
     , _complexDistance                  (0)
     , _cameraShots                      (0)
-    , _cameraCalc                       (vehicle, settingsGroup)
+    , _cameraCalc                       (masterController, settingsGroup)
     , _followTerrain                    (false)
     , _loadedMissionItemsParent         (nullptr)
     , _metaDataMap                      (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/TransectStyle.SettingsGroup.json"), this))
-    , _turnAroundDistanceFact           (settingsGroup, _metaDataMap[_vehicle->multiRotor() ? turnAroundDistanceMultiRotorName : turnAroundDistanceName])
+    , _turnAroundDistanceFact           (settingsGroup, _metaDataMap[_controllerVehicle->multiRotor() ? turnAroundDistanceMultiRotorName : turnAroundDistanceName])
     , _cameraTriggerInTurnAroundFact    (settingsGroup, _metaDataMap[cameraTriggerInTurnAroundName])
     , _hoverAndCaptureFact              (settingsGroup, _metaDataMap[hoverAndCaptureName])
     , _refly90DegreesFact               (settingsGroup, _metaDataMap[refly90DegreesName])
@@ -347,7 +347,7 @@ double TransectStyleComplexItem::_turnaroundDistance(void) const
 
 bool TransectStyleComplexItem::hoverAndCaptureAllowed(void) const
 {
-    return _vehicle->multiRotor() || _vehicle->vtol();
+    return _controllerVehicle->multiRotor() || _controllerVehicle->vtol();
 }
 
 void TransectStyleComplexItem::_rebuildTransects(void)

src/MissionManager/TransectStyleComplexItem.h

@@ -20,12 +20,14 @@
 
 Q_DECLARE_LOGGING_CATEGORY(TransectStyleComplexItemLog)
 
+class PlanMasterController;
+
 class TransectStyleComplexItem : public ComplexMissionItem
 {
     Q_OBJECT
 
 public:
-    TransectStyleComplexItem(Vehicle* vehicle, bool flyView, QString settignsGroup, QObject* parent);
+    TransectStyleComplexItem(PlanMasterController* masterController, bool flyView, QString settignsGroup, QObject* parent);
 
     Q_PROPERTY(QGCMapPolygon*   surveyAreaPolygon           READ surveyAreaPolygon                                  CONSTANT)
     Q_PROPERTY(CameraCalc*      cameraCalc                  READ cameraCalc                                         CONSTANT)

src/MissionManager/TransectStyleComplexItemTest.cc

@@ -11,7 +11,6 @@
 #include "QGCApplication.h"
 
 TransectStyleComplexItemTest::TransectStyleComplexItemTest(void)
-    : _offlineVehicle(nullptr)
 {
     _polygonVertices << QGeoCoordinate(47.633550640000003, -122.08982199)
                      << QGeoCoordinate(47.634129020000003, -122.08887249)
@@ -23,8 +22,9 @@ void TransectStyleComplexItemTest::init(void)
 {
     UnitTest::init();
 
-    _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
-    _transectStyleItem = new TransectStyleItem(_offlineVehicle, this);
+    _masterController = new PlanMasterController(this);
+    _controllerVehicle = _masterController->controllerVehicle();
+    _transectStyleItem = new TransectStyleItem(_masterController, this);
     _transectStyleItem->cameraTriggerInTurnAround()->setRawValue(false);
     _transectStyleItem->cameraCalc()->cameraName()->setRawValue(_transectStyleItem->cameraCalc()->customCameraName());
     _transectStyleItem->cameraCalc()->valueSetIsDistance()->setRawValue(true);
@@ -49,7 +49,6 @@ void TransectStyleComplexItemTest::init(void)
 void TransectStyleComplexItemTest::cleanup(void)
 {
     delete _transectStyleItem;
-    delete _offlineVehicle;
     delete _multiSpy;
 }
 
@@ -224,8 +223,8 @@ void TransectStyleComplexItemTest::_testAltMode(void)
     QVERIFY(!_transectStyleItem->followTerrain());
 }
 
-TransectStyleItem::TransectStyleItem(Vehicle* vehicle, QObject* parent)
-    : TransectStyleComplexItem      (vehicle, false /* flyView */, QStringLiteral("UnitTestTransect"), parent)
+TransectStyleItem::TransectStyleItem(PlanMasterController* masterController, QObject* parent)
+    : TransectStyleComplexItem      (masterController, false /* flyView */, QStringLiteral("UnitTestTransect"), parent)
     , rebuildTransectsPhase1Called  (false)
     , recalcComplexDistanceCalled   (false)
     , recalcCameraShotsCalled       (false)

src/MissionManager/TransectStyleComplexItemTest.h

@@ -12,6 +12,7 @@
 #include "UnitTest.h"
 #include "MultiSignalSpy.h"
 #include "CorridorScanComplexItem.h"
+#include "PlanMasterController.h"
 
 #include <QGeoCoordinate>
 
@@ -72,10 +73,11 @@ private:
     static const size_t _cSignals = maxSignalIndex;
     const char*         _rgSignals[_cSignals];
 
-    Vehicle*                _offlineVehicle;
-    MultiSignalSpy*         _multiSpy;
+    PlanMasterController*   _masterController =     nullptr;
+    Vehicle*                _controllerVehicle =    nullptr;
+    MultiSignalSpy*         _multiSpy =             nullptr;
     QList<QGeoCoordinate>   _polygonVertices;
-    TransectStyleItem*      _transectStyleItem;
+    TransectStyleItem*      _transectStyleItem =    nullptr;
 };
 
 class TransectStyleItem : public TransectStyleComplexItem
@@ -83,7 +85,7 @@ class TransectStyleItem : public TransectStyleComplexItem
     Q_OBJECT
 
 public:
-    TransectStyleItem(Vehicle* vehicle, QObject* parent = nullptr);
+    TransectStyleItem(PlanMasterController* masterController, QObject* parent = nullptr);
 
     // Overrides from ComplexMissionItem
     QString mapVisualQML        (void) const final { return QString(); }

src/MissionManager/VisualMissionItem.cc

@@ -17,22 +17,23 @@
 #include "JsonHelper.h"
 #include "TerrainQuery.h"
 #include "TakeoffMissionItem.h"
+#include "PlanMasterController.h"
 
 const char* VisualMissionItem::jsonTypeKey =                "type";
 const char* VisualMissionItem::jsonTypeSimpleItemValue =    "SimpleItem";
 const char* VisualMissionItem::jsonTypeComplexItemValue =   "ComplexItem";
 
-VisualMissionItem::VisualMissionItem(Vehicle* vehicle, bool flyView, QObject* parent)
-    : QObject                   (parent)
-    , _vehicle                  (vehicle)
-    , _flyView                  (flyView)
+VisualMissionItem::VisualMissionItem(PlanMasterController* masterController, bool flyView, QObject* parent)
+    : QObject           (parent)
+    , _flyView          (flyView)
+    , _masterController (masterController)
+    , _controllerVehicle(masterController->controllerVehicle())
 {
     _commonInit();
 }
 
 VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, bool flyView, QObject* parent)
     : QObject                   (parent)
-    , _vehicle                  (nullptr)
     , _flyView                  (flyView)
 {
     *this = other;
@@ -43,7 +44,8 @@ VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, bool flyVie
 void VisualMissionItem::_commonInit(void)
 {
     // Don't get terrain altitude information for submarines or boats
-    if (_vehicle->vehicleType() != MAV_TYPE_SUBMARINE && _vehicle->vehicleType() != MAV_TYPE_SURFACE_BOAT) {
+    Vehicle* controllerVehicle = _masterController->controllerVehicle();
+    if (controllerVehicle->vehicleType() != MAV_TYPE_SUBMARINE && controllerVehicle->vehicleType() != MAV_TYPE_SURFACE_BOAT) {
         _updateTerrainTimer.setInterval(500);
         _updateTerrainTimer.setSingleShot(true);
         connect(&_updateTerrainTimer, &QTimer::timeout, this, &VisualMissionItem::_reallyUpdateTerrainAltitude);
@@ -54,7 +56,8 @@ void VisualMissionItem::_commonInit(void)
 
 const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& other)
 {
-    _vehicle = other._vehicle;
+    _masterController = other._masterController;
+    _controllerVehicle = other._controllerVehicle;
 
     setIsCurrentItem(other._isCurrentItem);
     setDirty(other._dirty);

src/MissionManager/VisualMissionItem.h

@@ -26,6 +26,7 @@
 #include "MissionController.h"
 
 class MissionItem;
+class PlanMasterController;
 
 // Abstract base class for all Simple and Complex visual mission objects.
 class VisualMissionItem : public QObject
@@ -33,7 +34,7 @@ class VisualMissionItem : public QObject
     Q_OBJECT
 
 public:
-    VisualMissionItem(Vehicle* vehicle, bool flyView, QObject* parent);
+    VisualMissionItem(PlanMasterController* masterController, bool flyView, QObject* parent);
     VisualMissionItem(const VisualMissionItem& other, bool flyView, QObject* parent);
 
     ~VisualMissionItem();
@@ -47,7 +48,6 @@ public:
     };
     Q_ENUM(ReadyForSaveState)
 
-    Q_PROPERTY(Vehicle*         vehicle                             READ vehicle                                                            CONSTANT)
     Q_PROPERTY(bool             homePosition                        READ homePosition                                                       CONSTANT)                                           ///< true: This item is being used as a home position indicator
     Q_PROPERTY(QGeoCoordinate   coordinate                          READ coordinate                         WRITE setCoordinate             NOTIFY coordinateChanged)                           ///< This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
     Q_PROPERTY(double           terrainAltitude                     READ terrainAltitude                                                    NOTIFY terrainAltitudeChanged)                      ///< The altitude of terrain at the coordinate position, NaN if not known
@@ -70,7 +70,6 @@ public:
     Q_PROPERTY(bool             isTakeoffItem                       READ isTakeoffItem                                                      NOTIFY isTakeoffItemChanged)                        ///< true: Takeoff item special case
     Q_PROPERTY(QString          editorQml                           MEMBER _editorQml                                                       CONSTANT)                                           ///< Qml code for editing this item
     Q_PROPERTY(QString          mapVisualQML                        READ mapVisualQML                                                       CONSTANT)                                           ///< QMl code for map visuals
-    Q_PROPERTY(QmlObjectListModel* childItems                       READ childItems                                                         CONSTANT)
     Q_PROPERTY(double           specifiedFlightSpeed                READ specifiedFlightSpeed                                               NOTIFY specifiedFlightSpeedChanged)                 ///< NaN for not specified
     Q_PROPERTY(double           specifiedGimbalYaw                  READ specifiedGimbalYaw                                                 NOTIFY specifiedGimbalYawChanged)                   ///< NaN for not specified
     Q_PROPERTY(double           specifiedGimbalPitch                READ specifiedGimbalPitch                                               NOTIFY specifiedGimbalPitchChanged)                 ///< NaN for not specified
@@ -79,10 +78,12 @@ public:
     Q_PROPERTY(double           missionVehicleYaw                   READ missionVehicleYaw                                                  NOTIFY missionVehicleYawChanged)                    ///< Expected vehicle yaw at this point in mission
     Q_PROPERTY(bool             flyView                             READ flyView                                                            CONSTANT)
     Q_PROPERTY(bool             wizardMode                          READ wizardMode                        WRITE setWizardMode              NOTIFY wizardModeChanged)
-    Q_PROPERTY(ReadyForSaveState readyForSaveState                  READ readyForSaveState                                                  NOTIFY readyForSaveStateChanged)
-    Q_PROPERTY(VisualMissionItem* parentItem                        READ parentItem                        WRITE setParentItem              NOTIFY parentItemChanged)
 
-    Q_PROPERTY(QGCGeoBoundingCube* boundingCube                     READ boundingCube                                                       NOTIFY boundingCubeChanged)
+    Q_PROPERTY(PlanMasterController*    masterController    READ masterController                                                   CONSTANT)
+    Q_PROPERTY(ReadyForSaveState        readyForSaveState   READ readyForSaveState                                                  NOTIFY readyForSaveStateChanged)
+    Q_PROPERTY(VisualMissionItem*       parentItem          READ parentItem                        WRITE setParentItem              NOTIFY parentItemChanged)
+    Q_PROPERTY(QmlObjectListModel*      childItems          READ childItems                                                         CONSTANT)
+    Q_PROPERTY(QGCGeoBoundingCube*      boundingCube        READ boundingCube                                                       NOTIFY boundingCubeChanged)
 
     // The following properties are calculated/set by the MissionController recalc methods
 
@@ -123,7 +124,7 @@ public:
 
     void setHomePositionSpecialCase (bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
 
-    Vehicle* vehicle(void) { return _vehicle; }
+    PlanMasterController* masterController(void) { return _masterController; }
 
     // Pure virtuals which must be provides by derived classes
 
@@ -229,23 +230,25 @@ signals:
     void exitCoordinateSameAsEntryChanged           (bool exitCoordinateSameAsEntry);
 
 protected:
-    Vehicle*    _vehicle;
-    bool        _flyView    =               false;
-    bool        _isCurrentItem =            false;
-    bool        _hasCurrentChildItem =      false;
-    bool        _dirty =                    false;
-    bool        _homePositionSpecialCase =  false;      ///< true: This item is being used as a ui home position indicator
-    bool        _wizardMode =               false;      ///< true: Item editor is showing wizard completion panel
-    double      _terrainAltitude =          qQNaN();    ///< Altitude of terrain at coordinate position, NaN for not known
-    double      _altDifference =            0;          ///< Difference in altitude from previous waypoint
-    double      _altPercent =               0;          ///< Percent of total altitude change in mission
-    double      _terrainPercent =           qQNaN();    ///< Percent of terrain altitude for coordinate
-    bool        _terrainCollision =         false;      ///< true: item collides with terrain
-    double      _azimuth =                  0;          ///< Azimuth to previous waypoint
-    double      _distance =                 0;          ///< Distance to previous waypoint
-    QString     _editorQml;                             ///< Qml resource for editing item
-    double      _missionGimbalYaw =         qQNaN();
-    double      _missionVehicleYaw =        qQNaN();
+    bool     _flyView    =               false;
+    bool    _isCurrentItem =            false;
+    bool    _hasCurrentChildItem =      false;
+    bool    _dirty =                    false;
+    bool    _homePositionSpecialCase =  false;      ///< true: This item is being used as a ui home position indicator
+    bool    _wizardMode =               false;      ///< true: Item editor is showing wizard completion panel
+    double  _terrainAltitude =          qQNaN();    ///< Altitude of terrain at coordinate position, NaN for not known
+    double  _altDifference =            0;          ///< Difference in altitude from previous waypoint
+    double  _altPercent =               0;          ///< Percent of total altitude change in mission
+    double  _terrainPercent =           qQNaN();    ///< Percent of terrain altitude for coordinate
+    bool    _terrainCollision =         false;      ///< true: item collides with terrain
+    double  _azimuth =                  0;          ///< Azimuth to previous waypoint
+    double  _distance =                 0;          ///< Distance to previous waypoint
+    QString _editorQml;                             ///< Qml resource for editing item
+    double  _missionGimbalYaw =         qQNaN();
+    double  _missionVehicleYaw =        qQNaN();
+
+    PlanMasterController*   _masterController = nullptr;
+    Vehicle*                _controllerVehicle = nullptr;
 
     VisualMissionItem*  _parentItem = nullptr;
     QGCGeoBoundingCube  _boundingCube;          ///< The bounding "cube" of this element.

src/MissionManager/VisualMissionItemTest.cc

@@ -10,9 +10,9 @@
 #include "VisualMissionItemTest.h"
 #include "SimpleMissionItem.h"
 #include "QGCApplication.h"
+#include "PlanMasterController.h"
 
 VisualMissionItemTest::VisualMissionItemTest(void)
-    : _offlineVehicle(nullptr)
 {
     
 }
@@ -20,10 +20,9 @@ VisualMissionItemTest::VisualMissionItemTest(void)
 void VisualMissionItemTest::init(void)
 {
     UnitTest::init();
-    _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4,
-                                  MAV_TYPE_QUADROTOR,
-                                  qgcApp()->toolbox()->firmwarePluginManager(),
-                                  this);
+
+    _masterController = new PlanMasterController(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, this);
+    _controllerVehicle = _masterController->controllerVehicle();
 
     rgVisualItemSignals[altDifferenceChangedIndex] =                        SIGNAL(altDifferenceChanged(double));
     rgVisualItemSignals[altPercentChangedIndex] =                           SIGNAL(altPercentChanged(double));
@@ -54,7 +53,7 @@ void VisualMissionItemTest::init(void)
 
 void VisualMissionItemTest::cleanup(void)
 {
-    _offlineVehicle->deleteLater();
+    _masterController->deleteLater();
     UnitTest::cleanup();
 }
 

src/MissionManager/VisualMissionItemTest.h

@@ -16,6 +16,8 @@
 
 #include <QGeoCoordinate>
 
+class PlanMasterController;
+
 /// Unit test for SimpleMissionItem
 class VisualMissionItemTest : public UnitTest
 {
@@ -90,5 +92,6 @@ protected:
     static const size_t cVisualItemSignals = maxSignalIndex;
     const char*         rgVisualItemSignals[cVisualItemSignals];
 
-    Vehicle*        _offlineVehicle;
+    PlanMasterController*   _masterController =     nullptr;
+    Vehicle*                _controllerVehicle =    nullptr;
 };

src/PlanView/SimpleItemEditor.qml

@@ -19,7 +19,8 @@ Rectangle {
 
     property bool _specifiesAltitude:       missionItem.specifiesAltitude
     property real _margin:                  ScreenTools.defaultFontPixelHeight / 2
-    property bool _supportsTerrainFrame:    missionItem
+    property bool _supportsTerrainFrame:    missionItem.masterController.supportsTerrain
+    property var  _controllerVehicle:       missionItem.masterController.controllerVehicle
 
     property string _altModeRelativeHelpText:       qsTr("Altitude relative to launch altitude")
     property string _altModeAbsoluteHelpText:       qsTr("Altitude above mean sea level")
@@ -66,7 +67,7 @@ Rectangle {
             visible:            missionItem.isTakeoffItem && missionItem.wizardMode // Hack special case for takeoff item
 
             QGCLabel {
-                text:               qsTr("Move 'T' Takeoff to the %1 location.").arg(missionItem.vehicle.vtol ? qsTr("desired") : qsTr("climbout"))
+                text:               qsTr("Move 'T' Takeoff to the %1 location.").arg(_controllerVehicle.vtol ? qsTr("desired") : qsTr("climbout"))
                 Layout.fillWidth:   true
                 wrapMode:           Text.WordWrap
                 visible:            !initialClickLabel.visible
@@ -76,7 +77,7 @@ Rectangle {
                 text:               qsTr("Ensure clear of obstacles and into the wind.")
                 Layout.fillWidth:   true
                 wrapMode:           Text.WordWrap
-                visible:            !initialClickLabel.visible && !missionItem.vehicle.vtol
+                visible:            !initialClickLabel.visible && !_controllerVehicle.vtol
             }
 
             QGCButton {
@@ -214,7 +215,7 @@ Rectangle {
                                 text:           qsTr("Terrain Frame")
                                 checkable:      true
                                 checked:        missionItem.altitudeMode === QGroundControl.AltitudeModeTerrainFrame
-                                visible:        missionItem.altitudeMode === QGroundControl.AltitudeModeTerrainFrame
+                                visible:        _supportsTerrainFrame && (missionItem.specifiesCoordinate || missionItem.specifiesAltitudeOnly)
                                 onTriggered:    missionItem.altitudeMode = QGroundControl.AltitudeModeTerrainFrame
                             }
                         }

src/QmlControls/QGroundControl/FlightDisplay/qmldir

@@ -14,3 +14,4 @@ PreFlightGPSCheck           1.0 PreFlightGPSCheck.qml
 PreFlightRCCheck            1.0 PreFlightRCCheck.qml
 PreFlightSensorsHealthCheck 1.0 PreFlightSensorsHealthCheck.qml
 PreFlightSoundCheck         1.0 PreFlightSoundCheck.qml
+TerrainProgress             1.0 TerrainProgress.qml

src/Terrain/TerrainQuery.cc

@@ -341,7 +341,7 @@ void TerrainTileManager::addCoordinateQuery(TerrainOfflineAirMapQuery* terrainQu
         bool error;
         QList<double> altitudes;
 
-        if (!_getAltitudesForCoordinates(coordinates, altitudes, error)) {
+        if (!getAltitudesForCoordinates(coordinates, altitudes, error)) {
             qCDebug(TerrainQueryLog) << "TerrainTileManager::addPathQuery queue count" << _requestQueue.count();
             QueuedRequestInfo_t queuedRequestInfo = { terrainQueryInterface, QueryMode::QueryModeCoordinates, 0, 0, coordinates };
             _requestQueue.append(queuedRequestInfo);
@@ -380,7 +380,7 @@ void TerrainTileManager::addPathQuery(TerrainOfflineAirMapQuery* terrainQueryInt
 
     bool error;
     QList<double> altitudes;
-    if (!_getAltitudesForCoordinates(coordinates, altitudes, error)) {
+    if (!getAltitudesForCoordinates(coordinates, altitudes, error)) {
         qCDebug(TerrainQueryLog) << "TerrainTileManager::addPathQuery queue count" << _requestQueue.count();
         QueuedRequestInfo_t queuedRequestInfo = { terrainQueryInterface, QueryMode::QueryModePath, latStep, lonStep, coordinates };
         _requestQueue.append(queuedRequestInfo);
@@ -400,13 +400,13 @@ void TerrainTileManager::addPathQuery(TerrainOfflineAirMapQuery* terrainQueryInt
 /// Either returns altitudes from cache or queues database request
 ///     @param[out] error true: altitude not returned due to error, false: altitudes returned
 /// @return true: altitude returned (check error as well), false: database query queued (altitudes not returned)
-bool TerrainTileManager::_getAltitudesForCoordinates(const QList<QGeoCoordinate>& coordinates, QList<double>& altitudes, bool& error)
+bool TerrainTileManager::getAltitudesForCoordinates(const QList<QGeoCoordinate>& coordinates, QList<double>& altitudes, bool& error)
 {
     error = false;
 
     for (const QGeoCoordinate& coordinate: coordinates) {
         QString tileHash = _getTileHash(coordinate);
-        qCDebug(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates hash:coordinate" << tileHash << coordinate;
+        qCDebug(TerrainQueryLog) << "TerrainTileManager::getAltitudesForCoordinates hash:coordinate" << tileHash << coordinate;
 
         _tilesMutex.lock();
         if (_tiles.contains(tileHash)) {
@@ -414,20 +414,20 @@ bool TerrainTileManager::_getAltitudesForCoordinates(const QList<QGeoCoordinate>
                 double elevation = _tiles[tileHash].elevation(coordinate);
                 if (qIsNaN(elevation)) {
                     error = true;
-                    qCWarning(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates Internal Error: negative elevation in tile cache";
+                    qCWarning(TerrainQueryLog) << "TerrainTileManager::getAltitudesForCoordinates Internal Error: missing elevation in tile cache";
                 } else {
-                    qCDebug(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates returning elevation from tile cache" << elevation;
+                    qCDebug(TerrainQueryLog) << "TerrainTileManager::getAltitudesForCoordinates returning elevation from tile cache" << elevation;
                 }
                 altitudes.push_back(elevation);
             } else {
-                qCWarning(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates Internal Error: coordinate not in tile region";
+                qCWarning(TerrainQueryLog) << "TerrainTileManager::getAltitudesForCoordinates Internal Error: coordinate not in tile region";
                 altitudes.push_back(qQNaN());
                 error = true;
             }
         } else {
             if (_state != State::Downloading) {
                 QNetworkRequest request = getQGCMapEngine()->urlFactory()->getTileURL("Airmap Elevation", getQGCMapEngine()->urlFactory()->long2tileX("Airmap Elevation",coordinate.longitude(), 1), getQGCMapEngine()->urlFactory()->lat2tileY("Airmap Elevation", coordinate.latitude(), 1), 1, &_networkManager);
-                qCDebug(TerrainQueryLog) << "TerrainTileManager::_getAltitudesForCoordinates query from database" << request.url();
+                qCDebug(TerrainQueryLog) << "TerrainTileManager::getAltitudesForCoordinates query from database" << request.url();
                 QGeoTileSpec spec;
                 spec.setX(getQGCMapEngine()->urlFactory()->long2tileX("Airmap Elevation", coordinate.longitude(), 1));
                 spec.setY(getQGCMapEngine()->urlFactory()->lat2tileY("Airmap Elevation", coordinate.latitude(), 1));
@@ -512,7 +512,7 @@ void TerrainTileManager::_terrainDone(QByteArray responseBytes, QNetworkReply::N
         QList<double> altitudes;
         QueuedRequestInfo_t& requestInfo = _requestQueue[i];
 
-        if (_getAltitudesForCoordinates(requestInfo.coordinates, altitudes, error)) {
+        if (getAltitudesForCoordinates(requestInfo.coordinates, altitudes, error)) {
             if (requestInfo.queryMode == QueryMode::QueryModeCoordinates) {
                 if (error) {
                     QList<double> noAltitudes;
@@ -698,6 +698,11 @@ void TerrainAtCoordinateQuery::requestData(const QList<QGeoCoordinate>& coordina
     _TerrainAtCoordinateBatchManager->addQuery(this, coordinates);
 }
 
+bool TerrainAtCoordinateQuery::getAltitudesForCoordinates(const QList<QGeoCoordinate>& coordinates, QList<double>& altitudes, bool& error)
+{
+    return _terrainTileManager->getAltitudesForCoordinates(coordinates, altitudes, error);
+}
+
 void TerrainAtCoordinateQuery::_signalTerrainData(bool success, QList<double>& heights)
 {
     emit terrainDataReceived(success, heights);

src/Terrain/TerrainQuery.h

@@ -115,8 +115,9 @@ class TerrainTileManager : public QObject {
 public:
     TerrainTileManager(void);
 
-    void addCoordinateQuery (TerrainOfflineAirMapQuery* terrainQueryInterface, const QList<QGeoCoordinate>& coordinates);
-    void addPathQuery       (TerrainOfflineAirMapQuery* terrainQueryInterface, const QGeoCoordinate& startPoint, const QGeoCoordinate& endPoint);
+    void addCoordinateQuery         (TerrainOfflineAirMapQuery* terrainQueryInterface, const QList<QGeoCoordinate>& coordinates);
+    void addPathQuery               (TerrainOfflineAirMapQuery* terrainQueryInterface, const QGeoCoordinate& startPoint, const QGeoCoordinate& endPoint);
+    bool getAltitudesForCoordinates (const QList<QGeoCoordinate>& coordinates, QList<double>& altitudes, bool& error);
 
 private slots:
     void _terrainDone       (QByteArray responseBytes, QNetworkReply::NetworkError error);
@@ -141,7 +142,6 @@ private:
     } QueuedRequestInfo_t;
 
     void    _tileFailed                         (void);
-    bool    _getAltitudesForCoordinates         (const QList<QGeoCoordinate>& coordinates, QList<double>& altitudes, bool& error);
     QString _getTileHash                        (const QGeoCoordinate& coordinate);
 
     QList<QueuedRequestInfo_t>  _requestQueue;
@@ -207,6 +207,11 @@ public:
     ///     @param coordinates to query
     void requestData(const QList<QGeoCoordinate>& coordinates);
 
+    /// Either returns altitudes from cache or queues database request
+    ///     @param[out] error true: altitude not returned due to error, false: altitudes returned
+    /// @return true: altitude returned (check error as well), false: database query queued (altitudes not returned)
+    static bool getAltitudesForCoordinates(const QList<QGeoCoordinate>& coordinates, QList<double>& altitudes, bool& error);
+
     // Internal method
     void _signalTerrainData(bool success, QList<double>& heights);
 

src/Vehicle/TerrainFactGroup.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "TerrainFactGroup.h"
+
+const char* TerrainFactGroup::_blocksPendingFactName =  "blocksPending";
+const char* TerrainFactGroup::_blocksLoadedFactName =   "blocksLoaded";
+
+TerrainFactGroup::TerrainFactGroup(QObject* parent)
+    : FactGroup         (1000, ":/json/Vehicle/TerrainFactGroup.json", parent)
+    , _blocksPendingFact(0, _blocksPendingFactName, FactMetaData::valueTypeDouble)
+    , _blocksLoadedFact (0, _blocksLoadedFactName,  FactMetaData::valueTypeDouble)
+{
+    _addFact(&_blocksPendingFact,        _blocksPendingFactName);
+    _addFact(&_blocksLoadedFact,       _blocksLoadedFactName);
+}

src/Vehicle/TerrainFactGroup.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FactGroup.h"
+
+#include <QGeoCoordinate>
+
+class TerrainFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    TerrainFactGroup(QObject* parent = nullptr);
+
+    Q_PROPERTY(Fact* blocksPending  READ blocksPending  CONSTANT)
+    Q_PROPERTY(Fact* blocksLoaded   READ blocksLoaded   CONSTANT)
+
+    Fact* blocksPending () { return &_blocksPendingFact; }
+    Fact* blocksLoaded  () { return &_blocksLoadedFact; }
+
+    static const char* _blocksPendingFactName;
+    static const char* _blocksLoadedFactName;
+
+private:
+    Fact _blocksPendingFact;
+    Fact _blocksLoadedFact;
+};

src/Vehicle/TerrainFactGroup.json

+[
+{
+    "name":             "blocksPending",
+    "shortDescription": "Blocks Pending",
+    "type":             "double",
+    "decimalPlaces":    0,
+    "default":          0
+},
+{
+    "name":             "blocksLoaded",
+    "shortDescription": "Blocks Loaded",
+    "type":             "double",
+    "decimalPlaces":    0,
+    "default":          0
+}
+]

src/Vehicle/TerrainProtocolHandler.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "TerrainProtocolHandler.h"
+#include "TerrainQuery.h"
+#include "QGCApplication.h"
+
+QGC_LOGGING_CATEGORY(TerrainProtocolHandlerLog, "TerrainProtocolHandlerLog")
+
+TerrainProtocolHandler::TerrainProtocolHandler(Vehicle* vehicle, TerrainFactGroup* terrainFactGroup, QObject *parent)
+    : QObject           (parent)
+    , _vehicle          (vehicle)
+    , _terrainFactGroup (terrainFactGroup)
+{
+    _terrainDataSendTimer.setSingleShot(false);
+    _terrainDataSendTimer.setInterval(1000.0/12.0);
+    connect(&_terrainDataSendTimer, &QTimer::timeout, this, &TerrainProtocolHandler::_sendNextTerrainData);
+}
+
+bool TerrainProtocolHandler::mavlinkMessageReceived(const mavlink_message_t message)
+{
+    switch (message.msgid) {
+    case MAVLINK_MSG_ID_TERRAIN_REQUEST:
+        _handleTerrainRequest(message);
+        return false;
+    case MAVLINK_MSG_ID_TERRAIN_REPORT:
+        _handleTerrainReport(message);
+        return false;
+    default:
+        return true;
+    }
+}
+
+void TerrainProtocolHandler::_handleTerrainRequest(const mavlink_message_t& message)
+{
+    _terrainRequestActive = true;
+    mavlink_msg_terrain_request_decode(&message, &_currentTerrainRequest);
+    _sendNextTerrainData();
+}
+
+void TerrainProtocolHandler::_handleTerrainReport(const mavlink_message_t& message)
+{
+    mavlink_terrain_report_t terrainReport;
+    mavlink_msg_terrain_report_decode(&message, &terrainReport);
+
+    _terrainFactGroup->blocksPending()->setRawValue(terrainReport.pending);
+    _terrainFactGroup->blocksLoaded()->setRawValue(terrainReport.loaded);
+
+    if (TerrainProtocolHandlerLog().isDebugEnabled()) {
+
+        bool error;
+        QGeoCoordinate coord(static_cast<double>(terrainReport.lat) / 1e7, static_cast<double>(terrainReport.lon) / 1e7);
+        QList<double>   altitudes;
+        QList<QGeoCoordinate> coordinates;
+        coordinates.append(coord);
+        bool altAvailable = (TerrainAtCoordinateQuery::getAltitudesForCoordinates(coordinates, altitudes, error));
+        QString vehicleAlt = terrainReport.spacing ? QStringLiteral("%1").arg(terrainReport.terrain_height) : QStringLiteral("n/a");
+        QString qgcAlt = error ? QStringLiteral("error") :
+                                 (altAvailable ? QStringLiteral("%1").arg(altitudes[0]) : QStringLiteral("n/a"));
+        qDebug() << "TERRAIN_REPORT" << coord << QStringLiteral("Vehicle(%1) QGC(%2)").arg(vehicleAlt).arg(qgcAlt);
+    }
+}
+
+void TerrainProtocolHandler::_sendNextTerrainData(void)
+{
+    if (!_terrainRequestActive) {
+        return;
+    }
+
+    QGeoCoordinate terrainRequestCoordSWCorner(static_cast<double>(_currentTerrainRequest.lat) / 1e7, static_cast<double>(_currentTerrainRequest.lon) / 1e7);
+    int spacingBetweenGrids = _currentTerrainRequest.grid_spacing * 4;
+
+    // Each TERRAIN_DATA sent to vehicle contains a 4x4 grid of heights
+    // TERRAIN_REQUEST.mask has a bit for each entry in an 8x7 grid
+    // gridBit = 0 refers to the the sw corner of the 8x7 grid
+
+    bool bitFound = false;
+    for (int rowIndex=0; rowIndex<7; rowIndex++) {
+        for (int colIndex=0; colIndex<8; colIndex++) {
+            uint8_t gridBit = (rowIndex * 8) + colIndex;
+            uint64_t checkBit = 1ull << gridBit;
+            if (_currentTerrainRequest.mask & checkBit) {
+                // Move east and then north to generate the coordinate for sw corner of the specific gridBit
+                QGeoCoordinate swCorner = terrainRequestCoordSWCorner.atDistanceAndAzimuth(spacingBetweenGrids * colIndex, 90);
+                swCorner = swCorner.atDistanceAndAzimuth(spacingBetweenGrids * rowIndex, 0);
+                _sendTerrainData(swCorner, gridBit);
+                bitFound = true;
+                break;
+            }
+        }
+        if (bitFound) {
+            break;
+        }
+    }
+
+    if (bitFound) {
+        // Kick timer to send next possible TERRAIN_DATA to vehicle
+        _terrainDataSendTimer.start();
+    } else {
+        _terrainRequestActive = false;
+    }
+}
+
+void TerrainProtocolHandler::_sendTerrainData(const QGeoCoordinate& swCorner, uint8_t gridBit)
+{
+    QList<QGeoCoordinate> coordinates;
+    for (int rowIndex=0; rowIndex<4; rowIndex++) {
+        for (int colIndex=0; colIndex<4; colIndex++) {
+            // Move east and then north to generate the coordinate for grid point
+            QGeoCoordinate coord = swCorner.atDistanceAndAzimuth(_currentTerrainRequest.grid_spacing * colIndex, 90);
+            coord = coord.atDistanceAndAzimuth(_currentTerrainRequest.grid_spacing * rowIndex, 0);
+            coordinates.append(coord);
+        }
+    }
+
+    // Query terrain system for altitudes. If it has them available it will return them. If not they will be queued for download.
+    bool            error = false;
+    QList<double>   altitudes;
+    if (TerrainAtCoordinateQuery::getAltitudesForCoordinates(coordinates, altitudes, error)) {
+        if (error) {
+            qCWarning(TerrainProtocolHandlerLog) << "_sendTerrainData TerrainAtCoordinateQuery::getAltitudesForCoordinates failed";
+        } else {
+            // Only clear the bit if the query succeeds. Otherwise just let it try again on the next timer tick
+            uint64_t removeBit = ~(1ull << gridBit);
+            _currentTerrainRequest.mask &= removeBit;
+            int altIndex = 0;
+            int16_t terrainData[16];
+            for (const double& altitude : altitudes) {
+                terrainData[altIndex++] = static_cast<int16_t>(altitude);
+            }
+
+            mavlink_message_t msg;
+            mavlink_msg_terrain_data_pack_chan(
+                        qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
+                        qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                        _vehicle->priorityLink()->mavlinkChannel(),
+                        &msg,
+                        _currentTerrainRequest.lat,
+                        _currentTerrainRequest.lon,
+                        _currentTerrainRequest.grid_spacing,
+                        gridBit,
+                        terrainData);
+            _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
+        }
+    }
+}

src/Vehicle/TerrainProtocolHandler.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "Vehicle.h"
+#include "QGCMAVLink.h"
+#include "QGCLoggingCategory.h"
+
+#include <QObject>
+#include <QGeoCoordinate>
+
+class TerrainFactGroup;
+
+Q_DECLARE_LOGGING_CATEGORY(TerrainProtocolHandlerLog)
+
+class TerrainProtocolHandler : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit TerrainProtocolHandler(Vehicle* vehicle, TerrainFactGroup* terrainFactGroup, QObject *parent = nullptr);
+
+    /// @return true: Allow vehicle to continue processing, false: Vehicle should not process message
+    bool mavlinkMessageReceived(const mavlink_message_t message);
+
+private slots:
+    void _sendNextTerrainData(void);
+
+private:
+    void _handleTerrainRequest  (const mavlink_message_t& message);
+    void _handleTerrainReport   (const mavlink_message_t& message);
+    void _sendTerrainData       (const QGeoCoordinate& swCorner, uint8_t gridBit);
+
+    Vehicle*                    _vehicle;
+    TerrainFactGroup*           _terrainFactGroup;
+    bool                        _terrainRequestActive =             false;
+    mavlink_terrain_request_t   _currentTerrainRequest;
+    QTimer                      _terrainDataSendTimer;
+};

src/Vehicle/Vehicle.cc

@@ -45,6 +45,7 @@
 #include "VehicleObjectAvoidance.h"
 #include "TrajectoryPoints.h"
 #include "QGCGeo.h"
+#include "TerrainProtocolHandler.h"
 
 #if defined(QGC_AIRMAP_ENABLED)
 #include "AirspaceVehicleManager.h"
@@ -91,6 +92,7 @@ const char* Vehicle::_temperatureFactGroupName =        "temperature";
 const char* Vehicle::_clockFactGroupName =              "clock";
 const char* Vehicle::_distanceSensorFactGroupName =     "distanceSensor";
 const char* Vehicle::_estimatorStatusFactGroupName =    "estimatorStatus";
+const char* Vehicle::_terrainFactGroupName =            "terrain";
 
 // Standard connected vehicle
 Vehicle::Vehicle(LinkInterface*             link,
@@ -149,7 +151,9 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _mavlinkProtocolRequestComplete(false)
     , _maxProtoVersion(0)
     , _vehicleCapabilitiesKnown(false)
-    , _capabilityBits(0)
+    , _capabilityBits(firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ?
+                          MAV_PROTOCOL_CAPABILITY_MISSION_INT | MAV_PROTOCOL_CAPABILITY_COMMAND_INT | MAV_PROTOCOL_CAPABILITY_TERRAIN | MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY : // Hack workound for ArduPilot startup problems
+                          0)
     , _highLatencyLink(false)
     , _receivingAttitudeQuaternion(false)
     , _cameras(nullptr)
@@ -222,6 +226,8 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _clockFactGroup(this)
     , _distanceSensorFactGroup(this)
     , _estimatorStatusFactGroup(this)
+    , _terrainFactGroup(this)
+    , _terrainProtocolHandler(new TerrainProtocolHandler(this, &_terrainFactGroup, this))
 {
     connect(_joystickManager, &JoystickManager::activeJoystickChanged, this, &Vehicle::_loadSettings);
     connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::activeVehicleAvailableChanged, this, &Vehicle::_loadSettings);
@@ -429,6 +435,9 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     connect(_settingsManager->appSettings()->offlineEditingCruiseSpeed(),   &Fact::rawValueChanged, this, &Vehicle::_offlineCruiseSpeedSettingChanged);
     connect(_settingsManager->appSettings()->offlineEditingHoverSpeed(),    &Fact::rawValueChanged, this, &Vehicle::_offlineHoverSpeedSettingChanged);
 
+    // This add correct terrain capability bit
+    _offlineFirmwareTypeSettingChanged(_settingsManager->appSettings()->offlineEditingFirmwareType()->rawValue());
+
     _firmwarePlugin->initializeVehicle(this);
 }
 
@@ -505,6 +514,7 @@ void Vehicle::_commonInit()
     _addFactGroup(&_clockFactGroup,             _clockFactGroupName);
     _addFactGroup(&_distanceSensorFactGroup,    _distanceSensorFactGroupName);
     _addFactGroup(&_estimatorStatusFactGroup,   _estimatorStatusFactGroupName);
+    _addFactGroup(&_terrainFactGroup,           _terrainFactGroupName);
 
     // Add firmware-specific fact groups, if provided
     QMap<QString, FactGroup*>* fwFactGroups = _firmwarePlugin->factGroups();
@@ -578,7 +588,13 @@ void Vehicle::_offlineFirmwareTypeSettingChanged(QVariant value)
 {
     _firmwareType = static_cast<MAV_AUTOPILOT>(value.toInt());
     _firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
+    if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+        _capabilityBits |= MAV_PROTOCOL_CAPABILITY_TERRAIN;
+    } else {
+        _capabilityBits &= ~MAV_PROTOCOL_CAPABILITY_TERRAIN;
+    }
     emit firmwareTypeChanged();
+    emit capabilityBitsChanged(_capabilityBits);
 }
 
 void Vehicle::_offlineVehicleTypeSettingChanged(QVariant value)
@@ -692,6 +708,10 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         return;
     }
 
+    if (!_terrainProtocolHandler->mavlinkMessageReceived(message)) {
+        return;
+    }
+
     switch (message.msgid) {
     case MAVLINK_MSG_ID_HOME_POSITION:
         _handleHomePosition(message);
@@ -1300,6 +1320,7 @@ void Vehicle::_setCapabilities(uint64_t capabilityBits)
     qCDebug(VehicleLog) << QString("Vehicle %1 MISSION_COMMAND_INT").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_COMMAND_INT ? supports : doesNotSupport);
     qCDebug(VehicleLog) << QString("Vehicle %1 GeoFence").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE ? supports : doesNotSupport);
     qCDebug(VehicleLog) << QString("Vehicle %1 RallyPoints").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY ? supports : doesNotSupport);
+    qCDebug(VehicleLog) << QString("Vehicle %1 Terrain").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_TERRAIN ? supports : doesNotSupport);
 }
 
 void Vehicle::_handleAutopilotVersion(LinkInterface *link, mavlink_message_t& message)
@@ -2906,7 +2927,7 @@ bool Vehicle::supportsMotorInterference() const
 
 bool Vehicle::supportsTerrainFrame() const
 {
-    return _firmwarePlugin->supportsTerrainFrame();
+    return _capabilityBits & MAV_PROTOCOL_CAPABILITY_TERRAIN;
 }
 
 QString Vehicle::vehicleTypeName() const {

src/Vehicle/Vehicle.h

@@ -21,6 +21,7 @@
 #include "UASMessageHandler.h"
 #include "SettingsFact.h"
 #include "QGCMapCircle.h"
+#include "TerrainFactGroup.h"
 
 class UAS;
 class UASInterface;
@@ -38,6 +39,7 @@ class QGCCameraManager;
 class Joystick;
 class VehicleObjectAvoidance;
 class TrajectoryPoints;
+class TerrainProtocolHandler;
 
 #if defined(QGC_AIRMAP_ENABLED)
 class AirspaceVehicleManager;
@@ -619,7 +621,7 @@ public:
     Q_PROPERTY(QString              hobbsMeter              READ hobbsMeter                                             NOTIFY hobbsMeterChanged)
     Q_PROPERTY(bool                 vtolInFwdFlight         READ vtolInFwdFlight        WRITE setVtolInFwdFlight        NOTIFY vtolInFwdFlightChanged)
     Q_PROPERTY(bool                 highLatencyLink         READ highLatencyLink                                        NOTIFY highLatencyLinkChanged)
-    Q_PROPERTY(bool                 supportsTerrainFrame    READ supportsTerrainFrame                                   NOTIFY firmwareTypeChanged)
+    Q_PROPERTY(bool                 supportsTerrainFrame    READ supportsTerrainFrame                                   NOTIFY capabilityBitsChanged)
     Q_PROPERTY(QString              priorityLinkName        READ priorityLinkName       WRITE setPriorityLinkByName     NOTIFY priorityLinkNameChanged)
     Q_PROPERTY(QVariantList         links                   READ links                                                  NOTIFY linksChanged)
     Q_PROPERTY(LinkInterface*       priorityLink            READ priorityLink                                           NOTIFY priorityLinkNameChanged)
@@ -682,6 +684,7 @@ public:
     Q_PROPERTY(FactGroup* clock             READ clockFactGroup             CONSTANT)
     Q_PROPERTY(FactGroup* setpoint          READ setpointFactGroup          CONSTANT)
     Q_PROPERTY(FactGroup* estimatorStatus   READ estimatorStatusFactGroup   CONSTANT)
+    Q_PROPERTY(FactGroup* terrain           READ terrainFactGroup           CONSTANT)
 
     Q_PROPERTY(int      firmwareMajorVersion        READ firmwareMajorVersion       NOTIFY firmwareVersionChanged)
     Q_PROPERTY(int      firmwareMinorVersion        READ firmwareMinorVersion       NOTIFY firmwareVersionChanged)
@@ -996,6 +999,7 @@ public:
     FactGroup* setpointFactGroup            () { return &_setpointFactGroup; }
     FactGroup* distanceSensorFactGroup      () { return &_distanceSensorFactGroup; }
     FactGroup* estimatorStatusFactGroup     () { return &_estimatorStatusFactGroup; }
+    FactGroup* terrainFactGroup             () { return &_terrainFactGroup; }
 
     void setConnectionLostEnabled(bool connectionLostEnabled);
 
@@ -1573,6 +1577,9 @@ private:
     VehicleSetpointFactGroup        _setpointFactGroup;
     VehicleDistanceSensorFactGroup  _distanceSensorFactGroup;
     VehicleEstimatorStatusFactGroup _estimatorStatusFactGroup;
+    TerrainFactGroup                _terrainFactGroup;
+
+    TerrainProtocolHandler* _terrainProtocolHandler = nullptr;
 
     static const char* _rollFactName;
     static const char* _pitchFactName;
@@ -1603,6 +1610,7 @@ private:
     static const char* _clockFactGroupName;
     static const char* _distanceSensorFactGroupName;
     static const char* _estimatorStatusFactGroupName;
+    static const char* _terrainFactGroupName;
 
     static const int _vehicleUIUpdateRateMSecs = 100;
 

src/comm/MockLink.cc

@@ -998,7 +998,7 @@ void MockLink::_respondWithAutopilotVersion(void)
                                             _vehicleComponentId,
                                             _mavlinkChannel,
                                             &msg,
-                                            MAV_PROTOCOL_CAPABILITY_MAVLINK2 | (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? 0 : MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY),
+                                            MAV_PROTOCOL_CAPABILITY_MAVLINK2 | MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY | (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? MAV_PROTOCOL_CAPABILITY_TERRAIN : 0),
                                             flightVersion,                   // flight_sw_version,
                                             0,                               // middleware_sw_version,
                                             0,                               // os_sw_version,