Cleaning up old vehicle manager and getting it ready to actually provide...

Cleaning up old vehicle manager and getting it ready to actually provide services for a vehicle (flight management)
Added submit flight plan
Added update flight plan
Disable flight features as these don't seem to be quite working (values must be initialized and validated before submission as backend doesn't validate and the objects don't initialize their members)

src/Airmap/AirMapAdvisoryManager.cc

@@ -97,7 +97,8 @@ AirMapAdvisoryManager::_requestAdvisories()
             _advisories.endReset();
             _valid = true;
         } else {
-            qCDebug(AirMapManagerLog) << "Advisories Request Failed";
+            QString description = QString::fromStdString(result.error().description() ? result.error().description().get() : "");
+            qCDebug(AirMapManagerLog) << "Advisories Request Failed" << QString::fromStdString(result.error().message()) << description;
         }
         emit advisoryChanged();
     });

src/Airmap/AirMapFlightManager.h

@@ -18,19 +18,7 @@
 #include <QList>
 #include <QGeoCoordinate>
 
-class MissionItem;
-
-
-
-/*
- * TODO: This is here for reference. It will have to modifed quite a bit before it
- * can be used. This was the original file that combined both the creation of a
- * flight plan and immediate submission of a flight. The flight plan is now handled
- * by its own class. This now needs to be made into a proper "Flight Manager".
-*/
-
-
-
+//-- TODO: This is not even WIP yet. Just a skeleton of what's to come.
 
 //-----------------------------------------------------------------------------
 /// class to upload a flight
@@ -38,79 +26,28 @@ class AirMapFlightManager : public QObject, public LifetimeChecker
 {
     Q_OBJECT
 public:
-    AirMapFlightManager(AirMapSharedState& shared);
-
-    /// Send flight path to AirMap
-    void createFlight(const QList<MissionItem*>& missionItems);
-
-    AirspaceFlightPlanProvider::PermitStatus flightPermitStatus() const { return _flightPermitStatus; }
-
-    const QString& flightID() const { return _currentFlightId; }
+    AirMapFlightManager             (AirMapSharedState& shared);
 
-public slots:
-    void endFlight();
+    void    findFlight              (const QGCGeoBoundingCube& bc);
+    void    endFlight               (const QString& id);
+    QString flightID                () { return _flightID; }
 
 signals:
-    void error(const QString& what, const QString& airmapdMessage, const QString& airmapdDetails);
-    void flightPermitStatusChanged();
-
-private slots:
-    void _pollBriefing();
+    void error              (const QString& what, const QString& airmapdMessage, const QString& airmapdDetails);
+    void flightIDChanged    ();
 
 private:
 
-    /**
-     * upload flight stored in _flight
-     */
-    void _uploadFlight();
-
-    /**
-     * query the active flights and end the first one (because only a single flight can be active at a time).
-     */
-    void _endFirstFlight();
-
-    /**
-     * implementation of endFlight()
-     */
-    void _endFlight(const QString& flightID);
-
-    /**
-     * check if the briefing response is valid and call _submitPendingFlightPlan() if it is.
-     */
-    void _checkForValidBriefing();
-
-    void _submitPendingFlightPlan();
-
     enum class State {
         Idle,
         GetPilotID,
-        FlightUpload,
-        FlightBrief,
-        FlightSubmit,
-        FlightPolling, // poll & check for approval
+        FetchFlights,
         FlightEnd,
-        EndFirstFlight, // get a list of open flights & end the first one (because there can only be 1 active at a time)
-    };
-    struct Flight {
-        QList<QGeoCoordinate> coords;
-        QGeoCoordinate takeoffCoord;
-        float maxAltitude = 0;
-
-        void reset() {
-            coords.clear();
-            maxAltitude = 0;
-        }
     };
-    Flight                              _flight; ///< flight pending to be uploaded
 
     State                               _state = State::Idle;
     AirMapSharedState&                  _shared;
-    QString                             _currentFlightId; ///< Flight ID, empty if there is none
-    QString                             _pendingFlightId; ///< current flight ID, not necessarily accepted yet (once accepted, it's equal to _currentFlightId)
-    QString                             _pendingFlightPlan; ///< current flight plan, waiting to be submitted
-    AirspaceFlightPlanProvider::PermitStatus _flightPermitStatus = AirspaceFlightPlanProvider::PermitNone;
+    QString                             _flightID;
     QString                             _pilotID; ///< Pilot ID in the form "auth0|abc123"
-    bool                                _noFlightCreatedYet = true;
-    QTimer                              _pollTimer; ///< timer to poll for approval check
 };
 

src/Airmap/AirMapFlightPlanManager.cc

@@ -86,6 +86,13 @@ AirMapFlightPlanManager::startFlightPlanning(PlanMasterController *planControlle
     }
 
     //-- TODO: Check if there is an ongoing flight plan and do something about it (Delete it?)
+
+    /*
+     * if(!_flightPlan.isEmpty()) {
+     *     do something;
+     * }
+     */
+
     if(!_planController) {
         _planController = planController;
         //-- Get notified of mission changes
@@ -93,6 +100,52 @@ AirMapFlightPlanManager::startFlightPlanning(PlanMasterController *planControlle
     }
 }
 
+//-----------------------------------------------------------------------------
+void
+AirMapFlightPlanManager::submitFlightPlan()
+{
+    if(_flightPlan.isEmpty()) {
+        qCWarning(AirMapManagerLog) << "Submit flight with no flight plan.";
+        return;
+    }
+    _state = State::FlightSubmit;
+    FlightPlans::Submit::Parameters params;
+    params.authorization = _shared.loginToken().toStdString();
+    params.id            = _flightPlan.toStdString();
+    std::weak_ptr<LifetimeChecker> isAlive(_instance);
+    _shared.client()->flight_plans().submit(params, [this, isAlive](const FlightPlans::Submit::Result& result) {
+        if (!isAlive.lock()) return;
+        if (_state != State::FlightSubmit) return;
+        if (result) {
+            _flightId = QString::fromStdString(result.value().flight_id.get());
+            _state    = State::FlightPolling;
+            _pollBriefing();
+        } else {
+            QString description = QString::fromStdString(result.error().description() ? result.error().description().get() : "");
+            emit error("Failed to submit Flight Plan",
+                    QString::fromStdString(result.error().message()), description);
+            _state = State::Idle;
+        }
+    });
+}
+
+//-----------------------------------------------------------------------------
+void
+AirMapFlightPlanManager::updateFlightPlan()
+{
+    //-- Are we enabled?
+    if(!qgcApp()->toolbox()->settingsManager()->airMapSettings()->enableAirMap()->rawValue().toBool()) {
+        return;
+    }
+    //-- Do we have a license?
+    if(!_shared.hasAPIKey()) {
+        return;
+    }
+    _flightPermitStatus = AirspaceFlightPlanProvider::PermitPending;
+    emit flightPermitStatusChanged();
+    _updateFlightPlan();
+}
+
 //-----------------------------------------------------------------------------
 bool
 AirMapFlightPlanManager::_collectFlightDtata()
@@ -215,6 +268,7 @@ AirMapFlightPlanManager::_uploadFlightPlan()
                 if(ruleSet && ruleSet->selected()) {
                     params.rulesets.push_back(ruleSet->id().toStdString());
                     //-- Features within each rule
+                    /*
                     for(int r = 0; r < ruleSet->rules()->count(); r++) {
                         AirMapRule* rule = qobject_cast<AirMapRule*>(ruleSet->rules()->get(r));
                         if(rule) {
@@ -238,6 +292,7 @@ AirMapFlightPlanManager::_uploadFlightPlan()
                             }
                         }
                     }
+                    */
                 }
             }
         }
@@ -258,12 +313,12 @@ AirMapFlightPlanManager::_uploadFlightPlan()
             if (result) {
                 _flightPlan = QString::fromStdString(result.value().id);
                 qCDebug(AirMapManagerLog) << "Flight plan created:" << _flightPlan;
-                _state = State::Idle;
+                _state = State::FlightPlanPolling;
                 _pollBriefing();
             } else {
                 _state = State::Idle;
                 QString description = QString::fromStdString(result.error().description() ? result.error().description().get() : "");
-                emit error("Flight Plan creation failed", QString::fromStdString(result.error().message()), description);
+                emit error("Flight Plan update failed", QString::fromStdString(result.error().message()), description);
             }
         });
     });
@@ -293,12 +348,13 @@ AirMapFlightPlanManager::_updateFlightPlan()
     _shared.doRequestWithLogin([this, isAlive](const QString& login_token) {
         if (!isAlive.lock()) return;
         if (_state != State::FlightUpdate) return;
-        FlightPlans::Update::Parameters params;
-        params.authorization  = login_token.toStdString();
-        params.flight_plan.id = _flightPlan.toStdString();
-        params.flight_plan.pilot.id = _pilotID.toStdString();
-        params.flight_plan.altitude_agl.max = _flight.maxAltitude;
-        params.flight_plan.buffer = 2.f;
+        FlightPlans::Update::Parameters params = {};
+        params.authorization                 = login_token.toStdString();
+        params.flight_plan.id                = _flightPlan.toStdString();
+        params.flight_plan.pilot.id          = _pilotID.toStdString();
+        params.flight_plan.altitude_agl.max  = _flight.maxAltitude;
+        params.flight_plan.altitude_agl.min  = 0.0f;
+        params.flight_plan.buffer            = 2.f;
         params.flight_plan.takeoff.latitude  = _flight.takeoffCoord.latitude();
         params.flight_plan.takeoff.longitude = _flight.takeoffCoord.longitude();
         /*
@@ -309,8 +365,8 @@ AirMapFlightPlanManager::_updateFlightPlan()
         quint64 end   = _flightEndTime.toUTC().toMSecsSinceEpoch();
 
         */
-        params.flight_plan.start_time   = Clock::universal_time() + Minutes{5};
-        params.flight_plan.end_time     = Clock::universal_time() + Hours{2};
+        params.flight_plan.start_time        = Clock::universal_time() + Minutes{5};
+        params.flight_plan.end_time          = Clock::universal_time() + Hours{2};
         //-- Rules
         /*
         AirMapRulesetsManager* pRulesMgr = dynamic_cast<AirMapRulesetsManager*>(qgcApp()->toolbox()->airspaceManager()->ruleSets());
@@ -334,7 +390,7 @@ AirMapFlightPlanManager::_updateFlightPlan()
             if (!isAlive.lock()) return;
             if (_state != State::FlightUpdate) return;
             if (result) {
-                _state = State::Idle;
+                _state = State::FlightPlanPolling;
                 qCDebug(AirMapManagerLog) << "Flight plan updated:" << _flightPlan;
                 _pollBriefing();
             } else {
@@ -370,19 +426,16 @@ rules_sort(QObject* a, QObject* b)
 void
 AirMapFlightPlanManager::_pollBriefing()
 {
-    if (_state != State::Idle) {
-        qCWarning(AirMapManagerLog) << "AirMapFlightPlanManager::_pollBriefing: not idle" << (int)_state;
-        _pollTimer.start(500);
+    if (_state != State::FlightPlanPolling && _state != State::FlightPolling) {
         return;
     }
-    _state = State::FlightPolling;
     FlightPlans::RenderBriefing::Parameters params;
     params.authorization = _shared.loginToken().toStdString();
-    params.id = _flightPlan.toStdString();
+    params.id            = _flightPlan.toStdString();
     std::weak_ptr<LifetimeChecker> isAlive(_instance);
     _shared.client()->flight_plans().render_briefing(params, [this, isAlive](const FlightPlans::RenderBriefing::Result& result) {
         if (!isAlive.lock()) return;
-        if (_state != State::FlightPolling) return;
+        if (_state != State::FlightPlanPolling && _state != State::FlightPolling) return;
         if (result) {
             const FlightPlan::Briefing& briefing = result.value();
             qCDebug(AirMapManagerLog) << "Flight polling/briefing response";
@@ -486,11 +539,10 @@ AirMapFlightPlanManager::_pollBriefing()
                 }
                 emit flightPermitStatusChanged();
                 _state = State::Idle;
-            } else if(pending) {
-                //-- Wait until we send the next polling request
-                _state = State::Idle;
+            } else {
+                //-- Pending. Try again.
                 _pollTimer.setSingleShot(true);
-                _pollTimer.start(2000);
+                _pollTimer.start(1000);
             }
         } else {
             _state = State::Idle;
@@ -549,7 +601,7 @@ AirMapFlightPlanManager::_missionChanged()
             _createFlightPlan();
         } else {
             //-- Plan is being modified
-            //_updateFlightPlan();
+            _updateFlightPlan();
         }
     }
 }

src/Airmap/AirMapFlightPlanManager.h

@@ -26,18 +26,19 @@ class AirMapFlightPlanManager : public AirspaceFlightPlanProvider, public Lifeti
 {
     Q_OBJECT
 public:
-    AirMapFlightPlanManager     (AirMapSharedState& shared, QObject *parent = nullptr);
-    ~AirMapFlightPlanManager    ();
+    AirMapFlightPlanManager                 (AirMapSharedState& shared, QObject *parent = nullptr);
+    ~AirMapFlightPlanManager                ();
 
     PermitStatus        flightPermitStatus  () const override { return _flightPermitStatus; }
-    QString             flightID            () { return _flightPlan; }
     QDateTime           flightStartTime     () const override { return _flightStartTime; }
     QDateTime           flightEndTime       () const override { return _flightEndTime; }
     bool                valid               () override { return _valid; }
     QmlObjectListModel* advisories          () override { return &_advisories; }
     QmlObjectListModel* ruleSets            () override { return &_rulesets; }
     QGCGeoBoundingCube* missionArea         () override { return &_flight.bc; }
-    AirspaceAdvisoryProvider::AdvisoryColor airspaceColor   () override { return _airspaceColor; }
+
+    AirspaceAdvisoryProvider::AdvisoryColor
+                        airspaceColor       () override { return _airspaceColor; }
 
     QmlObjectListModel* rulesViolation      () override { return &_rulesViolation; }
     QmlObjectListModel* rulesInfo           () override { return &_rulesInfo; }
@@ -45,23 +46,25 @@ public:
     QmlObjectListModel* rulesFollowing      () override { return &_rulesFollowing; }
     QmlObjectListModel* briefFeatures       () override { return &_briefFeatures; }
 
-    void            startFlightPlanning (PlanMasterController* planController) override;
-    void            setFlightStartTime  (QDateTime start) override;
-    void            setFlightEndTime    (QDateTime end) override;
+    void                updateFlightPlan    () override;
+    void                startFlightPlanning (PlanMasterController* planController) override;
+    void                setFlightStartTime  (QDateTime start) override;
+    void                setFlightEndTime    (QDateTime end) override;
+    void                submitFlightPlan    () override;
 
 signals:
-    void            error               (const QString& what, const QString& airmapdMessage, const QString& airmapdDetails);
+    void            error                   (const QString& what, const QString& airmapdMessage, const QString& airmapdDetails);
 
 private slots:
-    void _pollBriefing                  ();
-    void _missionChanged                ();
+    void _pollBriefing                      ();
+    void _missionChanged                    ();
 
 private:
-    void _uploadFlightPlan              ();
-    void _updateFlightPlan              ();
-    void _createFlightPlan              ();
-    void _deleteFlightPlan              ();
-    bool _collectFlightDtata            ();
+    void _uploadFlightPlan                  ();
+    void _updateFlightPlan                  ();
+    void _createFlightPlan                  ();
+    void _deleteFlightPlan                  ();
+    bool _collectFlightDtata                ();
 
 private:
     enum class State {
@@ -69,8 +72,10 @@ private:
         GetPilotID,
         FlightUpload,
         FlightUpdate,
+        FlightPlanPolling,
+        FlightDelete,
+        FlightSubmit,
         FlightPolling,
-        FlightDelete
     };
 
     struct Flight {
@@ -90,6 +95,7 @@ private:
     AirMapSharedState&      _shared;
     QTimer                  _pollTimer;             ///< timer to poll for approval check
     QString                 _flightPlan;            ///< Current flight plan
+    QString                 _flightId;              ///< Current flight ID, not necessarily accepted yet
     QString                 _pilotID;               ///< Pilot ID in the form "auth0|abc123"
     PlanMasterController*   _planController = nullptr;
     bool                    _valid = false;

src/Airmap/AirMapManager.cc

@@ -95,7 +95,7 @@ AirMapManager::_settingsChanged()
         qCDebug(AirMapManagerLog) << "Creating AirMap client";
         auto credentials    = Credentials{};
         credentials.api_key = _shared.settings().apiKey.toStdString();
-        auto configuration  = Client::default_staging_configuration(credentials);
+        auto configuration  = Client::default_production_configuration(credentials);
         qt::Client::create(configuration, _dispatchingLogger, this, [this, ap](const qt::Client::CreateResult& result) {
             if (result) {
                 qCDebug(AirMapManagerLog) << "Successfully created airmap::qt::Client instance";
@@ -114,7 +114,7 @@ AirMapManager::_settingsChanged()
 AirspaceVehicleManager*
 AirMapManager::instantiateVehicle(const Vehicle& vehicle)
 {
-    AirMapVehicleManager* manager = new AirMapVehicleManager(_shared, vehicle, *_toolbox);
+    AirMapVehicleManager* manager = new AirMapVehicleManager(_shared, vehicle);
     connect(manager, &AirMapVehicleManager::error, this, &AirMapManager::_error);
     return manager;
 }

src/Airmap/AirMapRulesetsManager.cc

@@ -29,7 +29,19 @@ AirMapRuleFeature::AirMapRuleFeature(airmap::RuleSet::Feature feature, QObject*
     //-- Restore persisted value (if it exists)
     QSettings settings;
     settings.beginGroup(kAirMapFeatureGroup);
-    _value = settings.value(name());
+    switch(_feature.type) {
+    case RuleSet::Feature::Type::boolean:
+        _value = settings.value(name(), false);
+        break;;
+    case RuleSet::Feature::Type::floating_point:
+        _value = settings.value(name(), 0.0f);
+        break;;
+    case RuleSet::Feature::Type::string:
+        _value = settings.value(name(), QString());
+        break;;
+    default:
+        break;
+    }
     settings.endGroup();
 }
 

src/Airmap/AirMapTelemetry.cc

@@ -17,12 +17,15 @@
 
 using namespace airmap;
 
+//-----------------------------------------------------------------------------
 AirMapTelemetry::AirMapTelemetry(AirMapSharedState& shared)
-: _shared(shared)
+    : _shared(shared)
 {
 }
 
-void AirMapTelemetry::vehicleMavlinkMessageReceived(const mavlink_message_t& message)
+//-----------------------------------------------------------------------------
+void
+AirMapTelemetry::vehicleMessageReceived(const mavlink_message_t& message)
 {
     switch (message.msgid) {
     case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
@@ -32,23 +35,24 @@ void AirMapTelemetry::vehicleMavlinkMessageReceived(const mavlink_message_t& mes
         _handleGPSRawInt(message);
         break;
     }
-
 }
 
-bool AirMapTelemetry::isTelemetryStreaming() const
+//-----------------------------------------------------------------------------
+bool
+AirMapTelemetry::isTelemetryStreaming()
 {
     return _state == State::Streaming;
 }
 
-void AirMapTelemetry::_handleGPSRawInt(const mavlink_message_t& message)
+//-----------------------------------------------------------------------------
+void
+AirMapTelemetry::_handleGPSRawInt(const mavlink_message_t& message)
 {
     if (!isTelemetryStreaming()) {
         return;
     }
-
     mavlink_gps_raw_int_t gps_raw;
     mavlink_msg_gps_raw_int_decode(&message, &gps_raw);
-
     if (gps_raw.eph == UINT16_MAX) {
         _lastHdop = 1.f;
     } else {
@@ -56,15 +60,15 @@ void AirMapTelemetry::_handleGPSRawInt(const mavlink_message_t& message)
     }
 }
 
-void AirMapTelemetry::_handleGlobalPositionInt(const mavlink_message_t& message)
+//-----------------------------------------------------------------------------
+void
+AirMapTelemetry::_handleGlobalPositionInt(const mavlink_message_t& message)
 {
     if (!isTelemetryStreaming()) {
         return;
     }
-
     mavlink_global_position_int_t globalPosition;
     mavlink_msg_global_position_int_decode(&message, &globalPosition);
-
     Telemetry::Position position{
         milliseconds_since_epoch(Clock::universal_time()),
         (double) globalPosition.lat / 1e7,
@@ -84,21 +88,19 @@ void AirMapTelemetry::_handleGlobalPositionInt(const mavlink_message_t& message)
     flight.id = _flightID.toStdString();
     _shared.client()->telemetry().submit_updates(flight, _key,
         {Telemetry::Update{position}, Telemetry::Update{speed}});
-
 }
 
-void AirMapTelemetry::startTelemetryStream(const QString& flightID)
+//-----------------------------------------------------------------------------
+void
+AirMapTelemetry::startTelemetryStream(const QString& flightID)
 {
     if (_state != State::Idle) {
         qCWarning(AirMapManagerLog) << "Not starting telemetry: not in idle state:" << (int)_state;
         return;
     }
-
     qCInfo(AirMapManagerLog) << "Starting Telemetry stream with flightID" << flightID;
-
-    _state = State::StartCommunication;
-    _flightID = flightID;
-
+    _state      = State::StartCommunication;
+    _flightID   = flightID;
     Flights::StartFlightCommunications::Parameters params;
     params.authorization = _shared.loginToken().toStdString();
     params.id = _flightID.toStdString();
@@ -106,7 +108,6 @@ void AirMapTelemetry::startTelemetryStream(const QString& flightID)
     _shared.client()->flights().start_flight_communications(params, [this, isAlive](const Flights::StartFlightCommunications::Result& result) {
         if (!isAlive.lock()) return;
         if (_state != State::StartCommunication) return;
-
         if (result) {
             _key = result.value().key;
             _state = State::Streaming;
@@ -119,13 +120,14 @@ void AirMapTelemetry::startTelemetryStream(const QString& flightID)
     });
 }
 
-void AirMapTelemetry::stopTelemetryStream()
+//-----------------------------------------------------------------------------
+void
+AirMapTelemetry::stopTelemetryStream()
 {
     if (_state == State::Idle) {
         return;
     }
     qCInfo(AirMapManagerLog) << "Stopping Telemetry stream with flightID" << _flightID;
-
     _state = State::EndCommunication;
     Flights::EndFlightCommunications::Parameters params;
     params.authorization = _shared.loginToken().toStdString();
@@ -135,7 +137,6 @@ void AirMapTelemetry::stopTelemetryStream()
         Q_UNUSED(result);
         if (!isAlive.lock()) return;
         if (_state != State::EndCommunication) return;
-
         _key = "";
         _state = State::Idle;
     });

src/Airmap/AirMapTelemetry.h

@@ -16,33 +16,28 @@
 
 #include <QObject>
 
-/// class to send telemetry data to AirMap
+/// Class to send telemetry data to AirMap
 class AirMapTelemetry : public QObject, public LifetimeChecker
 {
     Q_OBJECT
 public:
-    AirMapTelemetry(AirMapSharedState& shared);
-    virtual ~AirMapTelemetry() = default;
+    AirMapTelemetry                 (AirMapSharedState& shared);
+    virtual ~AirMapTelemetry        () = default;
 
-    /**
-     * Setup the connection to start sending telemetry
-     */
-    void startTelemetryStream(const QString& flightID);
-
-    void stopTelemetryStream();
-
-    bool isTelemetryStreaming() const;
+    void startTelemetryStream       (const QString& flightID);
+    void stopTelemetryStream        ();
+    bool isTelemetryStreaming       ();
 
 signals:
-    void error(const QString& what, const QString& airmapdMessage, const QString& airmapdDetails);
+    void error                      (const QString& what, const QString& airmapdMessage, const QString& airmapdDetails);
 
 public slots:
-    void vehicleMavlinkMessageReceived(const mavlink_message_t& message);
+    void vehicleMessageReceived     (const mavlink_message_t& message);
 
 private:
 
-    void _handleGlobalPositionInt(const mavlink_message_t& message);
-    void _handleGPSRawInt(const mavlink_message_t& message);
+    void _handleGlobalPositionInt   (const mavlink_message_t& message);
+    void _handleGPSRawInt           (const mavlink_message_t& message);
 
     enum class State {
         Idle,
@@ -52,11 +47,9 @@ private:
     };
 
     State                   _state = State::Idle;
-
     AirMapSharedState&      _shared;
-    std::string              _key; ///< key for AES encryption (16 bytes)
+    std::string             _key; ///< key for AES encryption (16 bytes)
     QString                 _flightID;
-
     float                   _lastHdop = 1.f;
 };
 

src/Airmap/AirMapTrafficMonitor.cc

@@ -12,11 +12,19 @@
 
 using namespace airmap;
 
+//-----------------------------------------------------------------------------
+AirMapTrafficMonitor::AirMapTrafficMonitor(AirMapSharedState& shared)
+    : _shared(shared)
+{
+}
+
+//-----------------------------------------------------------------------------
 AirMapTrafficMonitor::~AirMapTrafficMonitor()
 {
     stop();
 }
 
+//-----------------------------------------------------------------------------
 void
 AirMapTrafficMonitor::startConnection(const QString& flightID)
 {
@@ -39,6 +47,7 @@ AirMapTrafficMonitor::startConnection(const QString& flightID)
     _shared.client()->traffic().monitor(params, handler);
 }
 
+//-----------------------------------------------------------------------------
 void
 AirMapTrafficMonitor::_update(Traffic::Update::Type type, const std::vector<Traffic::Update>& update)
 {
@@ -53,6 +62,7 @@ AirMapTrafficMonitor::_update(Traffic::Update::Type type, const std::vector<Traf
     }
 }
 
+//-----------------------------------------------------------------------------
 void
 AirMapTrafficMonitor::stop()
 {

src/Airmap/AirMapTrafficMonitor.h

@@ -28,22 +28,19 @@ class AirMapTrafficMonitor : public QObject, public LifetimeChecker
 {
     Q_OBJECT
 public:
-    AirMapTrafficMonitor(AirMapSharedState& shared)
-    : _shared(shared)
-    {
-    }
-    virtual ~AirMapTrafficMonitor();
+    AirMapTrafficMonitor            (AirMapSharedState& shared);
+    virtual ~AirMapTrafficMonitor   ();
 
-    void startConnection(const QString& flightID);
+    void startConnection            (const QString& flightID);
 
     void stop();
 
 signals:
-    void error          (const QString& what, const QString& airmapdMessage, const QString& airmapdDetails);
-    void trafficUpdate  (bool alert, QString traffic_id, QString vehicle_id, QGeoCoordinate location, float heading);
+    void error                      (const QString& what, const QString& airmapdMessage, const QString& airmapdDetails);
+    void trafficUpdate              (bool alert, QString traffic_id, QString vehicle_id, QGeoCoordinate location, float heading);
 
 private:
-    void _update        (airmap::Traffic::Update::Type type, const std::vector<airmap::Traffic::Update>& update);
+    void _update                    (airmap::Traffic::Update::Type type, const std::vector<airmap::Traffic::Update>& update);
 
 private:
     QString                                               _flightID;

src/Airmap/AirMapVehicleManager.cc

@@ -12,81 +12,58 @@
 
 #include "Vehicle.h"
 
-AirMapVehicleManager::AirMapVehicleManager(AirMapSharedState& shared, const Vehicle& vehicle, QGCToolbox& toolbox)
+//-----------------------------------------------------------------------------
+AirMapVehicleManager::AirMapVehicleManager(AirMapSharedState& shared, const Vehicle& vehicle)
     : AirspaceVehicleManager(vehicle)
     , _shared(shared)
     , _flightManager(shared)
     , _telemetry(shared)
     , _trafficMonitor(shared)
-    , _toolbox(toolbox)
 {
-    connect(&_flightManager,  &AirMapFlightManager::flightPermitStatusChanged,  this, &AirMapVehicleManager::flightPermitStatusChanged);
-    connect(&_flightManager,  &AirMapFlightManager::flightPermitStatusChanged,  this, &AirMapVehicleManager::_flightPermitStatusChanged);
     connect(&_flightManager,  &AirMapFlightManager::error,                      this, &AirMapVehicleManager::error);
     connect(&_telemetry,      &AirMapTelemetry::error,                          this, &AirMapVehicleManager::error);
     connect(&_trafficMonitor, &AirMapTrafficMonitor::error,                     this, &AirMapVehicleManager::error);
     connect(&_trafficMonitor, &AirMapTrafficMonitor::trafficUpdate,             this, &AirspaceVehicleManager::trafficUpdate);
 }
 
-void
-AirMapVehicleManager::createFlight(const QList<MissionItem*>& missionItems)
-{
-    if (!_shared.client()) {
-        qCDebug(AirMapManagerLog) << "No AirMap client instance. Will not create a flight";
-        return;
-    }
-    //_flightManager.createFlight(missionItems);
-}
-
-AirspaceFlightPlanProvider::PermitStatus
-AirMapVehicleManager::flightPermitStatus() const
-{
-    return _flightManager.flightPermitStatus();
-}
-
+//-----------------------------------------------------------------------------
 void
 AirMapVehicleManager::startTelemetryStream()
 {
-    if (_flightManager.flightID() != "") {
+    if (!_flightManager.flightID().isEmpty()) {
         _telemetry.startTelemetryStream(_flightManager.flightID());
     }
 }
 
+//-----------------------------------------------------------------------------
 void
 AirMapVehicleManager::stopTelemetryStream()
 {
     _telemetry.stopTelemetryStream();
 }
 
+//-----------------------------------------------------------------------------
 bool
-AirMapVehicleManager::isTelemetryStreaming() const
+AirMapVehicleManager::isTelemetryStreaming()
 {
     return _telemetry.isTelemetryStreaming();
 }
 
+//-----------------------------------------------------------------------------
 void
 AirMapVehicleManager::endFlight()
 {
-    _flightManager.endFlight();
+    if (!_flightManager.flightID().isEmpty()) {
+        _flightManager.endFlight(_flightManager.flightID());
+    }
     _trafficMonitor.stop();
 }
 
+//-----------------------------------------------------------------------------
 void
 AirMapVehicleManager::vehicleMavlinkMessageReceived(const mavlink_message_t& message)
 {
     if (isTelemetryStreaming()) {
-        _telemetry.vehicleMavlinkMessageReceived(message);
+        _telemetry.vehicleMessageReceived(message);
     }
 }
-
-void
-AirMapVehicleManager::_flightPermitStatusChanged()
-{
-    // activate traffic alerts
-    if (_flightManager.flightPermitStatus() == AirspaceFlightPlanProvider::PermitAccepted) {
-        qCDebug(AirMapManagerLog) << "Subscribing to Traffic Alerts";
-        // since we already created the flight, we know that we have a valid login token
-        _trafficMonitor.startConnection(_flightManager.flightID());
-    }
-}
-

src/Airmap/AirMapVehicleManager.h

@@ -16,24 +16,18 @@
 #include "AirMapTelemetry.h"
 #include "AirMapTrafficMonitor.h"
 
-#include "QGCToolbox.h"
-
 /// AirMap per vehicle management class.
 
 class AirMapVehicleManager : public AirspaceVehicleManager
 {
     Q_OBJECT
 public:
-    AirMapVehicleManager        (AirMapSharedState& shared, const Vehicle& vehicle, QGCToolbox& toolbox);
+    AirMapVehicleManager        (AirMapSharedState& shared, const Vehicle& vehicle);
     ~AirMapVehicleManager       () = default;
 
-
-    void createFlight           (const QList<MissionItem*>& missionItems) override;
     void startTelemetryStream   () override;
     void stopTelemetryStream    () override;
-    bool isTelemetryStreaming   () const override;
-
-    AirspaceFlightPlanProvider::PermitStatus flightPermitStatus() const override;
+    bool isTelemetryStreaming   () override;
 
 signals:
     void error                  (const QString& what, const QString& airmapdMessage, const QString& airmapdDetails);
@@ -44,13 +38,9 @@ public slots:
 protected slots:
     virtual void vehicleMavlinkMessageReceived(const mavlink_message_t& message) override;
 
-private slots:
-    void _flightPermitStatusChanged();
-
 private:
     AirMapSharedState&           _shared;
     AirMapFlightManager          _flightManager;
     AirMapTelemetry              _telemetry;
     AirMapTrafficMonitor         _trafficMonitor;
-    QGCToolbox&                  _toolbox;
 };

src/Airmap/AirMapWeatherInfoManager.cc

@@ -65,7 +65,8 @@ AirMapWeatherInfoManager::_requestWeatherUpdate(const QGeoCoordinate& coordinate
             qCDebug(AirMapManagerLog) << "Weather Info: " << _valid << "Icon:" << QString::fromStdString(_weather.icon) << "Condition:" << QString::fromStdString(_weather.condition) << "Temp:" << _weather.temperature;
         } else {
             _valid  = false;
-            qCDebug(AirMapManagerLog) << "Request Weather Failed";
+            QString description = QString::fromStdString(result.error().description() ? result.error().description().get() : "");
+            qCDebug(AirMapManagerLog) << "Request Weather Failed" << QString::fromStdString(result.error().message()) << description;
         }
         emit weatherChanged();
     });

src/Airmap/AirspaceControl.qml

@@ -331,7 +331,7 @@ Item {
                     }
                     Flickable {
                         clip:               true
-                        height:             ScreenTools.defaultFontPixelHeight * 6
+                        height:             ScreenTools.defaultFontPixelHeight * 8
                         contentHeight:      advisoryCol.height
                         flickableDirection: Flickable.VerticalFlick
                         anchors.left:       parent.left
@@ -366,6 +366,7 @@ Item {
                 heightFactor:   0.3333
                 showBorder:     true
                 width:          ScreenTools.defaultFontPixelWidth * 16
+                visible:        _flightPermit !== AirspaceFlightPlanProvider.PermitNone
                 anchors.horizontalCenter: parent.horizontalCenter
                 onClicked: {
                     rootLoader.sourceComponent = planView ? flightDetails : flightBrief

src/Airmap/FlightBrief.qml

@@ -62,24 +62,27 @@ Item {
                         anchors.left:       parent.left
                         anchors.verticalCenter: parent.verticalCenter
                         QGCLabel {
-                            text:           qsTr("Federal Aviation Administration")
+                            text:           qsTr("No Authorization Required")
                             visible:        _flightPermit !== AirspaceFlightPlanProvider.PermitNone
+                            anchors.horizontalCenter: parent.horizontalCenter
                         }
+                        /*
                         QGCLabel {
                             text:           qsTr("Automatic authorization to fly in controlled airspace")
                             visible:        _flightPermit !== AirspaceFlightPlanProvider.PermitNone
                             font.pointSize: ScreenTools.smallFontPointSize
                         }
+                        */
                         Rectangle {
                             anchors.right:      parent.right
                             anchors.left:       parent.left
                             height:             label.height + (ScreenTools.defaultFontPixelHeight * 0.5)
                             color: {
-                                if(_flightPermit == AirspaceFlightPlanProvider.PermitPending)
+                                if(_flightPermit === AirspaceFlightPlanProvider.PermitPending)
                                     return _colorOrange
-                                if(_flightPermit == AirspaceFlightPlanProvider.PermitAccepted)
+                                if(_flightPermit === AirspaceFlightPlanProvider.PermitAccepted)
                                     return _colorGreen
-                                if(_flightPermit == AirspaceFlightPlanProvider.PermitRejected)
+                                if(_flightPermit === AirspaceFlightPlanProvider.PermitRejected)
                                     return _colorRed
                                 return _colorGray
                             }
@@ -164,9 +167,7 @@ Item {
                 visible:        planView
                 width:          ScreenTools.defaultFontPixelWidth * 12
                 onClicked: {
-                    //-- TODO: Update Plan
-                    mainWindow.enableToolbar()
-                    rootLoader.sourceComponent = null
+                    QGroundControl.airspaceManager.flightPlan.updateFlightPlan()
                 }
             }
             QGCButton {
@@ -174,7 +175,7 @@ Item {
                 backRadius:     4
                 heightFactor:   0.3333
                 showBorder:     true
-                enabled:        _flightPermit !== AirspaceFlightPlanProvider.PermitNone
+                enabled:        _flightPermit === AirspaceFlightPlanProvider.PermitAccepted
                 width:          ScreenTools.defaultFontPixelWidth * 12
                 visible:        planView
                 onClicked: {

src/AirspaceManagement/AirspaceFlightPlanProvider.h

@@ -55,6 +55,8 @@ public:
     Q_PROPERTY(QmlObjectListModel*  rulesFollowing          READ rulesFollowing                                 NOTIFY rulesChanged)
     Q_PROPERTY(QmlObjectListModel*  briefFeatures           READ briefFeatures                                  NOTIFY rulesChanged)
 
+    Q_INVOKABLE virtual void    updateFlightPlan    () = 0;
+
     virtual PermitStatus        flightPermitStatus  () const { return PermitNone; }
     virtual QDateTime           flightStartTime     () const = 0;
     virtual QDateTime           flightEndTime       () const = 0;
@@ -73,6 +75,8 @@ public:
     virtual void                setFlightStartTime  (QDateTime start) = 0;
     virtual void                setFlightEndTime    (QDateTime end) = 0;
     virtual void                startFlightPlanning (PlanMasterController* planController) = 0;
+    //-- TODO: This will submit the current flight plan in memory.
+    virtual void                submitFlightPlan    () = 0;
 
 signals:
     void flightPermitStatusChanged                  ();

src/AirspaceManagement/AirspaceVehicleManager.cc

@@ -9,6 +9,7 @@
 
 
 #include "AirspaceManager.h"
+#include "AirspaceVehicleManager.h"
 #include "Vehicle.h"
 #include "MissionItem.h"
 

src/AirspaceManagement/AirspaceVehicleManager.h

@@ -16,7 +16,6 @@
 #include <QList>
 #include <QGeoCoordinate>
 
-class MissionItem;
 class Vehicle;
 
 //-----------------------------------------------------------------------------
@@ -31,23 +30,12 @@ public:
     AirspaceVehicleManager           (const Vehicle& vehicle);
     virtual ~AirspaceVehicleManager  () = default;
 
-    /**
-     * create/upload a flight from a mission. This should update the flight permit status.
-     * There can only be one active flight for each vehicle.
-     */
-    virtual void createFlight       (const QList<MissionItem*>& missionItems) = 0;
-
-    /**
-     * get the current flight permit status
-     */
-    virtual AirspaceFlightPlanProvider::PermitStatus flightPermitStatus() const = 0;
-
     /**
      * Setup the connection and start sending telemetry
      */
     virtual void startTelemetryStream   () = 0;
     virtual void stopTelemetryStream    () = 0;
-    virtual bool isTelemetryStreaming   () const = 0;
+    virtual bool isTelemetryStreaming   () = 0;
 
 public slots:
     virtual void endFlight              () = 0;

src/MissionManager/PlanMasterController.cc

@@ -15,6 +15,9 @@
 #include "JsonHelper.h"
 #include "MissionManager.h"
 #include "KML.h"
+#if defined(QGC_AIRMAP_ENABLED)
+#include "AirspaceFlightPlanProvider.h"
+#endif
 
 #include <QDomDocument>
 #include <QJsonDocument>

src/QmlControls/QGCGeoBoundingCube.cc

@@ -60,6 +60,18 @@ QGCGeoBoundingCube::polygon2D() const
     return coords;
 }
 
+//-----------------------------------------------------------------------------
+bool
+QGCGeoBoundingCube::operator ==(const QList<QGeoCoordinate>& coords) const
+{
+    QList<QGeoCoordinate> c = polygon2D();
+    if(c.size() != coords.size()) return false;
+    for(int i = 0; i < c.size(); i++) {
+        if(c[i] != coords[i]) return false;
+    }
+    return true;
+}
+
 //-----------------------------------------------------------------------------
 double
 QGCGeoBoundingCube::width() const

src/QmlControls/QGCGeoBoundingCube.h

@@ -48,6 +48,8 @@ public:
         return pointNW == other.pointNW && pointSE == other.pointSE;
     }
 
+    bool operator ==(const QList<QGeoCoordinate>& coords) const;
+
     inline bool operator !=(const QGCGeoBoundingCube& other)
     {
         return !(*this == other);

src/Vehicle/Vehicle.cc

@@ -38,6 +38,10 @@
 #include "QGCCameraManager.h"
 #include "VideoReceiver.h"
 #include "VideoManager.h"
+#if defined(QGC_AIRMAP_ENABLED)
+#include "AirspaceVehicleManager.h"
+#endif
+
 QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 
 #define UPDATE_TIMER 50

src/Vehicle/Vehicle.h

@@ -20,10 +20,6 @@
 #include "MAVLinkProtocol.h"
 #include "UASMessageHandler.h"
 #include "SettingsFact.h"
-#if defined(QGC_AIRMAP_ENABLED)
-#include "AirspaceManager.h"
-#include "AirspaceVehicleManager.h"
-#endif
 
 class UAS;
 class UASInterface;
@@ -39,6 +35,9 @@ class UASMessage;
 class SettingsManager;
 class ADSBVehicle;
 class QGCCameraManager;
+#if defined(QGC_AIRMAP_ENABLED)
+class AirspaceVehicleManager;
+#endif
 
 Q_DECLARE_LOGGING_CATEGORY(VehicleLog)
 
@@ -758,10 +757,6 @@ public:
     /// Vehicle is about to be deleted
     void prepareDelete();
 
-#if defined(QGC_AIRMAP_ENABLED)
-    AirspaceVehicleManager* airspaceManager() const { return _airspaceVehicleManager; }
-#endif
-
 signals:
     void allLinksInactive(Vehicle* vehicle);
     void coordinateChanged(QGeoCoordinate coordinate);

src/ui/MainWindow.cc

@@ -134,8 +134,8 @@ MainWindow::MainWindow()
 
     _ui.setupUi(this);
     // Make sure tool bar elements all fit before changing minimum width
-    setMinimumWidth(1008);
-    setMinimumHeight(520);
+    setMinimumWidth(1024);
+    setMinimumHeight(620);
     configureWindowName();
 
     // Setup central widget with a layout to hold the views