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);