addapting wima stuff to qgc master branch, code not ready

src/MissionManager/SimpleMissionItem.h

@@ -118,7 +118,7 @@ public:
     QString         mapVisualQML                (void) const override { return QStringLiteral("SimpleItemMapVisual.qml"); }
     void            appendMissionItems          (QList<MissionItem*>& items, QObject* missionItemParent) final;
     void            applyNewAltitude            (double newAltitude) final;
-    void            setMissionFlightStatus      (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
+    virtual void    setMissionFlightStatus      (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
     ReadyForSaveState readyForSaveState         (void) const final;
     double          additionalTimeDelay         (void) const final;
     bool            exitCoordinateSameAsEntry   (void) const final { return true; }

src/MissionManager/TransectStyleComplexItem.h

@@ -88,8 +88,8 @@ public:
     // Overrides from VisualMissionItem
     void                save                        (QJsonArray&  planItems) override = 0;
     bool                specifiesCoordinate         (void) const override = 0;
-    void                appendMissionItems          (QList<MissionItem*>& items, QObject* missionItemParent) final;
-    void                applyNewAltitude            (double newAltitude) final;
+    virtual void        appendMissionItems          (QList<MissionItem*>& items, QObject* missionItemParent) final;
+    virtual void        applyNewAltitude            (double newAltitude) final;
     bool                dirty                       (void) const final { return _dirty; }
     bool                isSimpleItem                (void) const final { return false; }
     bool                isStandaloneCoordinate      (void) const final { return false; }
@@ -100,7 +100,7 @@ public:
     double              specifiedFlightSpeed        (void) final { return std::numeric_limits<double>::quiet_NaN(); }
     double              specifiedGimbalYaw          (void) final { return std::numeric_limits<double>::quiet_NaN(); }
     double              specifiedGimbalPitch        (void) final { return std::numeric_limits<double>::quiet_NaN(); }
-    void                setMissionFlightStatus      (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
+    virtual void        setMissionFlightStatus      (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
     ReadyForSaveState   readyForSaveState         (void) const override;
     QString             commandDescription          (void) const override { return tr("Transect"); }
     QString             commandName                 (void) const override { return tr("Transect"); }

src/Wima/CircularSurvey.cc

@@ -19,6 +19,8 @@
 #include "CircularGenerator.h"
 #include "LinearGenerator.h"
 
+// ToDo: Check what happened to _transectsDirty
+
 QGC_LOGGING_CATEGORY(CircularSurveyLog, "CircularSurveyLog")
 
 template <typename T>
@@ -30,9 +32,9 @@ const char *CircularSurvey::settingsGroup = "CircularSurvey";
 const char *CircularSurvey::CircularSurveyName = "CircularSurvey";
 const char *CircularSurvey::variantName = "Variant";
 
-CircularSurvey::CircularSurvey(Vehicle *vehicle, bool flyView,
+CircularSurvey::CircularSurvey(PlanMasterController *masterController, bool flyView,
                                const QString &kmlOrShpFile, QObject *parent)
-    : TransectStyleComplexItem(vehicle, flyView, settingsGroup, parent),
+    : TransectStyleComplexItem(masterController, flyView, settingsGroup, parent),
       _state(STATE::IDLE),
       _metaDataMap(FactMetaData::createMapFromJsonFile(
           QStringLiteral(":/json/CircularSurvey.SettingsGroup.json"), this)),
@@ -52,13 +54,6 @@ CircularSurvey::CircularSurvey(Vehicle *vehicle, bool flyView,
           &CircularSurvey::_setTransects);
   connect(this->_pWorker.get(), &RoutingThread::calculatingChanged, this,
           &CircularSurvey::calculatingChanged);
-  this->_transectsDirty = true;
-
-  // Altitude
-  connect(&_cameraCalc, &CameraCalc::distanceToSurfaceRelativeChanged, this,
-          &CircularSurvey::coordinateHasRelativeAltitudeChanged);
-  connect(&_cameraCalc, &CameraCalc::distanceToSurfaceRelativeChanged, this,
-          &CircularSurvey::exitCoordinateHasRelativeAltitudeChanged);
 
   // Register Generators.
   auto lg = std::make_shared<routing::LinearGenerator>(this->_pAreaData);
@@ -137,7 +132,7 @@ bool CircularSurvey::load(const QJsonObject &complexObject, int sequenceNumber,
     return false;
   }
 
-  if (!_load(complexObject, errorString)) {
+  if (!load(complexObject, sequenceNumber, errorString)) {
     _ignoreRecalc = false;
     return false;
   }
@@ -146,7 +141,6 @@ bool CircularSurvey::load(const QJsonObject &complexObject, int sequenceNumber,
 
   _ignoreRecalc = false;
 
-  _recalcComplexDistance();
   if (_cameraShots == 0) {
     // Shot count was possibly not available from plan file
     _recalcCameraShots();
@@ -179,68 +173,6 @@ void CircularSurvey::save(QJsonArray &planItems) {
 
 bool CircularSurvey::specifiesCoordinate() const { return true; }
 
-void CircularSurvey::appendMissionItems(QList<MissionItem *> &items,
-                                        QObject *missionItemParent) {
-  if (_transectsDirty)
-    return;
-  if (_loadedMissionItems.count()) {
-    // We have mission items from the loaded plan, use those
-    _appendLoadedMissionItems(items, missionItemParent);
-  } else {
-    // Build the mission items on the fly
-    _buildAndAppendMissionItems(items, missionItemParent);
-  }
-}
-
-void CircularSurvey::_appendLoadedMissionItems(QList<MissionItem *> &items,
-                                               QObject *missionItemParent) {
-  if (_transectsDirty)
-    return;
-  int seqNum = _sequenceNumber;
-
-  for (const MissionItem *loadedMissionItem : _loadedMissionItems) {
-    MissionItem *item = new MissionItem(*loadedMissionItem, missionItemParent);
-    item->setSequenceNumber(seqNum++);
-    items.append(item);
-  }
-}
-
-void CircularSurvey::_buildAndAppendMissionItems(QList<MissionItem *> &items,
-                                                 QObject *missionItemParent) {
-  if (_transectsDirty || _transects.count() == 0)
-    return;
-
-  MissionItem *item;
-  int seqNum = _sequenceNumber;
-
-  MAV_FRAME mavFrame =
-      followTerrain() || !_cameraCalc.distanceToSurfaceRelative()
-          ? MAV_FRAME_GLOBAL
-          : MAV_FRAME_GLOBAL_RELATIVE_ALT;
-
-  for (const QList<TransectStyleComplexItem::CoordInfo_t> &transect :
-       _transects) {
-    // bool transectEntry = true;
-
-    for (const CoordInfo_t &transectCoordInfo : transect) {
-      item = new MissionItem(
-          seqNum++, MAV_CMD_NAV_WAYPOINT, mavFrame,
-          0,   // Hold time (delay for hover and capture to settle vehicle
-               // before image is taken)
-          0.0, // No acceptance radius specified
-          0.0, // Pass through waypoint
-          std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
-          transectCoordInfo.coord.latitude(),
-          transectCoordInfo.coord.longitude(),
-          transectCoordInfo.coord.altitude(),
-          true,  // autoContinue
-          false, // isCurrentItem
-          missionItemParent);
-      items.append(item);
-    }
-  }
-}
-
 bool CircularSurvey::_switchToGenerator(
     const CircularSurvey::PtrGenerator &newG) {
   if (this->_pGenerator != newG) {
@@ -270,8 +202,6 @@ void CircularSurvey::_changeVariant() {
 }
 
 void CircularSurvey::_updateWorker() {
-  // Mark transects as dirty.
-  this->_transectsDirty = true;
   // Reset data.
   this->_transects.clear();
   this->_variantVector.clear();
@@ -385,12 +315,6 @@ void CircularSurvey::_reverseWorker() {
   }
 }
 
-void CircularSurvey::applyNewAltitude(double newAltitude) {
-  _cameraCalc.valueSetIsDistance()->setRawValue(true);
-  _cameraCalc.distanceToSurface()->setRawValue(newAltitude);
-  _cameraCalc.setDistanceToSurfaceRelative(true);
-}
-
 double CircularSurvey::timeBetweenShots() { return 1; }
 
 QString CircularSurvey::commandDescription() const {
@@ -401,9 +325,18 @@ QString CircularSurvey::commandName() const { return tr("Circular Survey"); }
 
 QString CircularSurvey::abbreviation() const { return tr("C.S."); }
 
-bool CircularSurvey::readyForSave() const {
-  return TransectStyleComplexItem::readyForSave() && !_transectsDirty &&
-         this->_state == STATE::IDLE;
+TransectStyleComplexItem::ReadyForSaveState
+CircularSurvey::readyForSaveState() const {
+  if (TransectStyleComplexItem::readyForSaveState() ==
+      TransectStyleComplexItem::ReadyForSaveState::ReadyForSave) {
+    if (this->_state == STATE::IDLE) {
+      return ReadyForSaveState::ReadyForSave;
+    } else {
+      return ReadyForSaveState::NotReadyForSaveData;
+    }
+  } else {
+    return TransectStyleComplexItem::readyForSaveState();
+  }
 }
 
 double CircularSurvey::additionalTimeDelay() const { return 0; }
@@ -546,18 +479,6 @@ void CircularSurvey::_rebuildTransectsPhase1(void) {
       << " ms";
 }
 
-void CircularSurvey::_recalcComplexDistance() {
-  _complexDistance = 0;
-  if (_transectsDirty)
-    return;
-  for (int i = 0; i < _visualTransectPoints.count() - 1; i++) {
-    _complexDistance +=
-        _visualTransectPoints[i].value<QGeoCoordinate>().distanceTo(
-            _visualTransectPoints[i + 1].value<QGeoCoordinate>());
-  }
-  emit complexDistanceChanged();
-}
-
 // no cameraShots in Circular Survey, add if desired
 void CircularSurvey::_recalcCameraShots() { _cameraShots = 0; }
 
@@ -666,9 +587,6 @@ void CircularSurvey::_setTransects(CircularSurvey::PtrRoutingData pRoute) {
             &CircularSurvey::_changeVariant);
     this->_changeVariantWorker();
 
-    // Mark transect ready.
-    this->_transectsDirty = false;
-
     this->_state = STATE::SKIPP;
     this->_rebuildTransects();
   } else {

src/Wima/CircularSurvey.h

@@ -23,15 +23,12 @@ class CircularSurvey : public TransectStyleComplexItem {
 
   using PtrGenerator = std::shared_ptr<routing::GeneratorBase>;
   using PtrRoutingData = std::shared_ptr<RoutingData>;
-  using PtrWorker = std::shared_ptr<RoutingThread>;
+  using PtrWorker = std::unique_ptr<RoutingThread>;
+  using Transects = QList<QList<CoordInfo_t>>;
+  using Variant = Transects;
 
 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
-  CircularSurvey(Vehicle *vehicle, bool flyView, const QString &kmlOrShpFile,
+  CircularSurvey(PlanMasterController *masterController, bool flyView, const QString &kmlOrShpFile,
                  QObject *parent);
   ~CircularSurvey();
 
@@ -63,14 +60,11 @@ public:
   QString mapVisualQML(void) const override final;
   void save(QJsonArray &planItems) override final;
   bool specifiesCoordinate(void) const override final;
-  void appendMissionItems(QList<MissionItem *> &items,
-                          QObject *missionItemParent) override final;
-  void applyNewAltitude(double newAltitude) override final;
   double timeBetweenShots(void) override final;
   QString commandDescription(void) const override final;
   QString commandName(void) const override final;
   QString abbreviation(void) const override final;
-  bool readyForSave(void) const override final;
+  ReadyForSaveState readyForSaveState(void) const override final;
   double additionalTimeDelay(void) const override final;
 
   // Generator
@@ -97,7 +91,6 @@ signals:
 private slots:
   // Overrides from TransectStyleComplexItem
   void _rebuildTransectsPhase1(void) final;
-  void _recalcComplexDistance(void) final;
   void _recalcCameraShots(void) final;
 
   // Worker functions.
@@ -108,11 +101,6 @@ private slots:
   void _reverseWorker();
 
 private:
-  void _appendLoadedMissionItems(QList<MissionItem *> &items,
-                                 QObject *missionItemParent);
-  void _buildAndAppendMissionItems(QList<MissionItem *> &items,
-                                   QObject *missionItemParent);
-
   bool _switchToGenerator(const PtrGenerator &newG);
 
   // State.
@@ -139,7 +127,6 @@ private:
   PtrGenerator _pGenerator;
 
   // Routing.
-  using Variant = Transects;
   QVector<Variant> _variantVector;
   PtrWorker _pWorker;
 };

src/Wima/Geometry/WimaArea.cc

@@ -269,7 +269,7 @@ bool WimaArea::join(const WimaArea &area1, const WimaArea &area2,
   } else if (retValue == JoinPolygonError::PathSizeLow) {
     qWarning("Polygon vertex count is low.");
   } else {
-    QVector<QGeoCoordinate> path;
+    QList<QGeoCoordinate> path;
     toGeoList(joinedPolygon, origin, path);
     //        qWarning("after transform");
     //        qWarning() << path;
@@ -491,38 +491,6 @@ void WimaArea::init() {
           &WimaArea::recalcInteractivity);
 }
 
-/*!
- * \fn void print(const WimaArea &area)
- * Prints the data contained in \a area to the console.
- */
-void print(const WimaArea &area) {
-  QString message;
-  print(area, message);
-  qWarning() << message;
-}
-
-/*!
- * \fn void print(const WimaArea &area)
- * Prints the data contained in \a area to the \a outputString.
- */
-void print(const WimaArea &area, QString &outputString) {
-  outputString.append(QString("Type: %1\n").arg(area.objectName()));
-  print(static_cast<const QGCMapPolygon &>(area), outputString);
-  outputString.append(QString("Maximum Altitude: %1\n").arg(area._maxAltitude));
-  outputString.append(
-      QString("Border Polygon Offset: %1\n")
-          .arg(area._borderPolygonOffset.rawValue().toDouble()));
-
-  outputString.append(
-      QString("Border Polygon Coordinates\n")
-          .arg(area._borderPolygonOffset.rawValue().toDouble()));
-  for (int i = 0; i < area._borderPolygon.count(); i++) {
-    QGeoCoordinate coordinate = area._borderPolygon.vertexCoordinate(i);
-    outputString.append(
-        QString("%1\n").arg(coordinate.toString(QGeoCoordinate::Degrees)));
-  }
-}
-
 // QDoc Documentation
 
 /*!

src/Wima/Geometry/WimaMeasurementArea.cc

@@ -20,7 +20,7 @@ TileData::~TileData() { tiles.clearAndDeleteContents(); }
 TileData &TileData::operator=(const TileData &other) {
   this->tiles.clearAndDeleteContents();
   for (std::size_t i = 0; i < std::size_t(other.tiles.count()); ++i) {
-    const auto *obj = other.tiles.get(i);
+    const auto *obj = other.tiles[i];
     const auto *tile = qobject_cast<const SnakeTile *>(obj);
     if (tile != nullptr) {
       this->tiles.append(new SnakeTile(*tile, this));
@@ -33,8 +33,17 @@ TileData &TileData::operator=(const TileData &other) {
 }
 
 bool TileData::operator==(const TileData &other) const {
-  return this->tiles == other.tiles &&
-         this->tileCenterPoints == other.tileCenterPoints;
+  if (this->tileCenterPoints == other.tileCenterPoints &&
+      this->tiles.count() == other.tiles.count()) {
+    for (int i = 0; i < other.tiles.count(); ++i) {
+      if (this->tiles[i] != other.tiles[i]) {
+        return false;
+      }
+    }
+    return true;
+  } else {
+    return false;
+  }
 }
 
 bool TileData::operator!=(const TileData &other) const {
@@ -72,7 +81,7 @@ WimaMeasurementArea::WimaMeasurementArea(QObject *parent)
                               this /* QObject parent */)),
       _minTileAreaPercent(SettingsFact(settingsGroup,
                                        _metaDataMap[minTileAreaName],
-                                      this /* QObject parent */)),
+                                       this /* QObject parent */)),
       _showTiles(SettingsFact(settingsGroup, _metaDataMap[showTilesName],
                               this /* QObject parent */)),
       _state(STATE::IDLE) {
@@ -91,7 +100,7 @@ WimaMeasurementArea::WimaMeasurementArea(const WimaMeasurementArea &other,
                               this /* QObject parent */)),
       _minTileAreaPercent(SettingsFact(settingsGroup,
                                        _metaDataMap[minTileAreaName],
-                                      this /* QObject parent */)),
+                                       this /* QObject parent */)),
       _showTiles(SettingsFact(settingsGroup, _metaDataMap[showTilesName],
                               this /* QObject parent */)),
       _state(STATE::IDLE) {
@@ -157,12 +166,12 @@ bool WimaMeasurementArea::ready() const { return this->_state == STATE::IDLE; }
 
 void WimaMeasurementArea::saveToJson(QJsonObject &json) {
   if (ready()) {
-  this->WimaArea::saveToJson(json);
-  json[tileHeightName] = _tileHeight.rawValue().toDouble();
-  json[tileWidthName] = _tileWidth.rawValue().toDouble();
+    this->WimaArea::saveToJson(json);
+    json[tileHeightName] = _tileHeight.rawValue().toDouble();
+    json[tileWidthName] = _tileWidth.rawValue().toDouble();
     json[minTileAreaName] = _minTileAreaPercent.rawValue().toDouble();
-  json[showTilesName] = _showTiles.rawValue().toBool();
-  json[areaTypeName] = WimaMeasurementAreaName;
+    json[showTilesName] = _showTiles.rawValue().toBool();
+    json[areaTypeName] = WimaMeasurementAreaName;
   } else {
     qCDebug(WimaMeasurementAreaLog) << "saveToJson(): not ready for saveing.";
   }
@@ -233,68 +242,68 @@ void WimaMeasurementArea::doUpdate() {
   auto start = std::chrono::high_resolution_clock::now();
 
   if (this->_state != STATE::UPDATEING && this->_state != STATE::STOP) {
-  const auto height = this->_tileHeight.rawValue().toDouble() * si::meter;
-  const auto width = this->_tileWidth.rawValue().toDouble() * si::meter;
-  const auto tileArea = width * height;
-  const auto totalArea = this->area() * si::meter * si::meter;
-  const auto estNumTiles = totalArea / tileArea;
+    const auto height = this->_tileHeight.rawValue().toDouble() * si::meter;
+    const auto width = this->_tileWidth.rawValue().toDouble() * si::meter;
+    const auto tileArea = width * height;
+    const auto totalArea = this->area() * si::meter * si::meter;
+    const auto estNumTiles = totalArea / tileArea;
     // Check some conditions.
     if (long(std::ceil(estNumTiles.value())) <= SNAKE_MAX_TILES &&
-      this->count() >= 3 && this->isSimplePolygon()) {
+        this->count() >= 3 && this->isSimplePolygon()) {
       setState(STATE::UPDATEING);
 
-    auto polygon = this->coordinateList();
-    for (auto &v : polygon) {
-      v.setAltitude(0);
-    }
-    const auto minArea =
+      auto polygon = this->coordinateList();
+      for (auto &v : polygon) {
+        v.setAltitude(0);
+      }
+      const auto minArea =
           this->_minTileAreaPercent.rawValue().toDouble() / 100 * tileArea;
-    auto *th = this->thread();
-    auto future = QtConcurrent::run([polygon, th, height, width, minArea] {
-      auto start = std::chrono::high_resolution_clock::now();
-
-      DataPtr pData(new TileData());
-      // Convert to ENU system.
-      QGeoCoordinate origin = polygon.first();
-      FPolygon polygonENU;
-      areaToEnu(origin, polygon, polygonENU);
-      std::vector<FPolygon> tilesENU;
-      BoundingBox bbox;
-      std::string errorString;
-      // Generate tiles.
-      if (snake::tiles(polygonENU, height, width, minArea, tilesENU, bbox,
-                       errorString)) {
-        // Convert to geo system.
-        for (const auto &t : tilesENU) {
-          auto geoTile = new SnakeTile(pData.get());
-          for (const auto &v : t.outer()) {
-            QGeoCoordinate geoVertex;
-            fromENU(origin, v, geoVertex);
-            geoTile->push_back(geoVertex);
+      auto *th = this->thread();
+      auto future = QtConcurrent::run([polygon, th, height, width, minArea] {
+        auto start = std::chrono::high_resolution_clock::now();
+
+        DataPtr pData(new TileData());
+        // Convert to ENU system.
+        QGeoCoordinate origin = polygon.first();
+        FPolygon polygonENU;
+        areaToEnu(origin, polygon, polygonENU);
+        std::vector<FPolygon> tilesENU;
+        BoundingBox bbox;
+        std::string errorString;
+        // Generate tiles.
+        if (snake::tiles(polygonENU, height, width, minArea, tilesENU, bbox,
+                         errorString)) {
+          // Convert to geo system.
+          for (const auto &t : tilesENU) {
+            auto geoTile = new SnakeTile(pData.get());
+            for (const auto &v : t.outer()) {
+              QGeoCoordinate geoVertex;
+              fromENU(origin, v, geoVertex);
+              geoTile->push_back(geoVertex);
+            }
+            pData->tiles.append(geoTile);
+            // Calculate center.
+            snake::FPoint center;
+            snake::polygonCenter(t, center);
+            QGeoCoordinate geoCenter;
+            fromENU(origin, center, geoCenter);
+            pData->tileCenterPoints.append(QVariant::fromValue(geoCenter));
           }
-          pData->tiles.append(geoTile);
-          // Calculate center.
-          snake::FPoint center;
-          snake::polygonCenter(t, center);
-          QGeoCoordinate geoCenter;
-          fromENU(origin, center, geoCenter);
-          pData->tileCenterPoints.append(QVariant::fromValue(geoCenter));
         }
-      }
-      pData->moveToThread(th);
+        pData->moveToThread(th);
 
-      qCDebug(WimaMeasurementAreaLog)
-          << "doUpdate(): update time: "
-          << std::chrono::duration_cast<std::chrono::milliseconds>(
-                 std::chrono::high_resolution_clock::now() - start)
-                 .count()
-          << " ms";
+        qCDebug(WimaMeasurementAreaLog)
+            << "doUpdate(): update time: "
+            << std::chrono::duration_cast<std::chrono::milliseconds>(
+                   std::chrono::high_resolution_clock::now() - start)
+                   .count()
+            << " ms";
 
-      return pData;
-    }); // QtConcurrent::run()
+        return pData;
+      }); // QtConcurrent::run()
 
-    this->_watcher.setFuture(future);
-  }
+      this->_watcher.setFuture(future);
+    }
   }
   qCDebug(WimaMeasurementAreaLog)
       << "doUpdate(): execution time: "

src/Wima/Geometry/WimaServiceArea.cc

 #include "WimaServiceArea.h"
 
+#include "QGCLoggingCategory.h"
+
+QGC_LOGGING_CATEGORY(WimaServiceAreaLog, "WimaServiceAreaLog")
+
 const char *WimaServiceArea::wimaServiceAreaName = "Service Area";
 const char *WimaServiceArea::depotLatitudeName = "DepotLatitude";
 const char *WimaServiceArea::depotLongitudeName = "DepotLongitude";
@@ -102,20 +106,24 @@ void WimaServiceArea::init() {
       } else if (this->_depot.isValid()) {
         // Use nearest coordinate.
         auto minDist = std::numeric_limits<double>::infinity();
-        auto minIt = this->pathReference().begin();
-        for (auto it = this->pathReference().begin();
-             it < this->pathReference().end(); ++it) {
-          const auto vertex = it->value<QGeoCoordinate>();
-          auto d = vertex.distanceTo(this->_depot);
-          if (d < minDist) {
-            minDist = d;
-            minIt = it;
+        int minIndex = 0;
+        for (int idx = 0; idx < this->pathModel().count(); ++idx) {
+          const QObject *obj = this->pathModel()[idx];
+          const auto *vertex = qobject_cast<const QGeoCoordinate *>(obj);
+          if (vertex != nullptr) {
+            auto d = vertex->distanceTo(this->_depot);
+            if (d < minDist) {
+              minDist = d;
+              minIndex = idx;
+            }
+          } else {
+            qCCritical(WimaServiceAreaLog) << "init(): nullptr catched!";
           }
         }
-        this->setDepot(minIt->value<QGeoCoordinate>());
-      } else if (this->pathReference().size() > 0) {
+        this->setDepot(*this->pathModel().value<QGeoCoordinate *>(minIndex));
+      } else if (this->pathModel().count() > 0) {
         // Use first coordinate.
-        this->setDepot(this->pathReference().value(0).value<QGeoCoordinate>());
+        this->setDepot(*this->pathModel().value<QGeoCoordinate *>(0));
       }
     }
   });

src/Wima/Snake/CircularGenerator.cpp

@@ -99,7 +99,9 @@ bool CircularGenerator::get(Generator &generator) {
       if (progress.size() == tiles->count()) {
         for (int i = 0; i < tiles->count(); ++i) {
           if (progress[i] == 100) {
-            const auto *tile = tiles->value<const SnakeTile *>(i);
+            const auto *obj = (*tiles)[int(i)];
+            const auto *tile = qobject_cast<const SnakeTile *>(obj);
+
             if (tile != nullptr) {
               snake::FPolygon tileENU;
               snake::areaToEnu(origin, tile->coordinateList(), tileENU);

src/Wima/Snake/LinearGenerator.cpp

@@ -74,7 +74,9 @@ bool LinearGenerator::get(Generator &generator) {
       if (progress.size() == tiles->count()) {
         for (int i = 0; i < tiles->count(); ++i) {
           if (progress[i] == 100) {
-            const auto *tile = tiles->value<const SnakeTile *>(i);
+            const QObject *obj = (*tiles)[int(i)];
+            const auto *tile = qobject_cast<const SnakeTile *>(obj);
+
             if (tile != nullptr) {
               snake::FPolygon tileENU;
               snake::areaToEnu(origin, tile->coordinateList(), tileENU);

src/Wima/Snake/NemoInterface.cpp

@@ -97,7 +97,7 @@ private:
 };
 
 using StatusMap = std::map<NemoInterface::STATUS, QString>;
-StatusMap statusMap{
+static StatusMap statusMap{
     std::make_pair<NemoInterface::STATUS, QString>(
         NemoInterface::STATUS::NOT_CONNECTED, "Not Connected"),
     std::make_pair<NemoInterface::STATUS, QString>(
@@ -121,16 +121,14 @@ NemoInterface::Impl::Impl(NemoInterface *p)
     auto connectionString = connectionStringFact->rawValue().toString();
     if (ros_bridge::isValidConnectionString(
             connectionString.toLocal8Bit().data())) {
-      this->pRosBridge.reset(
-          new ros_bridge::ROSBridge(connectionString.toLocal8Bit().data()));
     } else {
-      QString defaultString("localhost:9090");
-      qgcApp()->showMessage("ROS Bridge connection string invalid: " +
-                            connectionString);
-      qgcApp()->showMessage("Resetting connection string to: " + defaultString);
-      connectionStringFact->setRawValue(
-          QVariant(defaultString)); // calls this function recursively
+      qgcApp()->warningMessageBoxOnMainThread(
+          "Nemo Interface",
+          "Websocket connection string possibly invalid: " + connectionString +
+              ". Trying to connect anyways.");
     }
+    this->pRosBridge.reset(
+        new ros_bridge::ROSBridge(connectionString.toLocal8Bit().data()));
   };
   connect(connectionStringFact, &SettingsFact::rawValueChanged,
           setConnectionString);
@@ -158,33 +156,33 @@ void NemoInterface::Impl::setTileData(const TileData &tileData) {
     UniqueLock lk1(this->ENUOriginMutex, std::adopt_lock);
     UniqueLock lk2(this->tilesENUMutex, std::adopt_lock);
 
-    const auto *obj = tileData.tiles.get(0);
+    const auto *obj = tileData.tiles[0];
     const auto *tile = qobject_cast<const SnakeTile *>(obj);
     if (tile != nullptr) {
       if (tile->coordinateList().size() > 0) {
         if (tile->coordinateList().first().isValid()) {
-        this->ENUOrigin = tile->coordinateList().first();
-        const auto &origin = this->ENUOrigin;
-        this->tilesENU.polygons().clear();
-        for (int i = 0; i < tileData.tiles.count(); ++i) {
-          obj = tileData.tiles.get(i);
-          tile = qobject_cast<const SnakeTile *>(obj);
-          if (tile != nullptr) {
-            SnakeTileLocal tileENU;
-            snake::areaToEnu(origin, tile->coordinateList(), tileENU.path());
-            this->tilesENU.polygons().push_back(std::move(tileENU));
-          } else {
+          this->ENUOrigin = tile->coordinateList().first();
+          const auto &origin = this->ENUOrigin;
+          this->tilesENU.polygons().clear();
+          for (int i = 0; i < tileData.tiles.count(); ++i) {
+            obj = tileData.tiles[i];
+            tile = qobject_cast<const SnakeTile *>(obj);
+            if (tile != nullptr) {
+              SnakeTileLocal tileENU;
+              snake::areaToEnu(origin, tile->coordinateList(), tileENU.path());
+              this->tilesENU.polygons().push_back(std::move(tileENU));
+            } else {
               qCDebug(NemoInterfaceLog) << "Impl::setTileData(): nullptr.";
-            break;
+              break;
+            }
           }
-        }
-      } else {
+        } else {
           qCDebug(NemoInterfaceLog) << "Impl::setTileData(): Origin invalid.";
-      }
+        }
       } else {
         qCDebug(NemoInterfaceLog) << "Impl::setTileData(): tile empty.";
+      }
     }
-  }
   } else {
     this->tileData.clear();
 
@@ -255,7 +253,8 @@ void NemoInterface::Impl::doTopicServiceSetup() {
             progressMsg.progress().size() !=
                 requiredSize) { // Some error occured.
           progressMsg.progress().clear();
-          qgcApp()->showMessage("Invalid progress message received.");
+          qgcApp()->informationMessageBoxOnMainThread(
+              "Nemo Interface", "Invalid progress message received.");
         }
         emit this->parent->progressChanged();
 
@@ -307,7 +306,7 @@ void NemoInterface::Impl::doTopicServiceSetup() {
         if (geographic_msgs::geo_point::toJson(origin, jOrigin,
                                                pDoc->GetAllocator())) {
           lk.unlock();
-        pDoc->AddMember("origin", jOrigin, pDoc->GetAllocator());
+          pDoc->AddMember("origin", jOrigin, pDoc->GetAllocator());
         } else {
           lk.unlock();
           qCWarning(NemoInterfaceLog)
@@ -330,7 +329,7 @@ void NemoInterface::Impl::doTopicServiceSetup() {
         if (jsk_recognition_msgs::polygon_array::toJson(
                 this->tilesENU, jSnakeTiles, pDoc->GetAllocator())) {
           lk.unlock();
-        pDoc->AddMember("tiles", jSnakeTiles, pDoc->GetAllocator());
+          pDoc->AddMember("tiles", jSnakeTiles, pDoc->GetAllocator());
         } else {
           lk.unlock();
           qCWarning(NemoInterfaceLog)
@@ -350,7 +349,7 @@ void NemoInterface::Impl::loop() {
     } else if (this->pRosBridge->isRunning() && this->pRosBridge->connected() &&
                !this->topicServiceSetupDone) {
       this->doTopicServiceSetup();
-        this->topicServiceSetupDone = true;
+      this->topicServiceSetupDone = true;
 
       this->setStatus(STATUS::WEBSOCKET_DETECTED);
     } else if (this->pRosBridge->isRunning() &&
@@ -395,7 +394,7 @@ void NemoInterface::Impl::publishTilesENU() {
       std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
   if (jsk_recognition_msgs::polygon_array::toJson(
           this->tilesENU, *jSnakeTiles, jSnakeTiles->GetAllocator())) {
-  this->pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
+    this->pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
   } else {
     qCWarning(NemoInterfaceLog)
         << "Impl::publishTilesENU: could not create json document.";
@@ -408,7 +407,7 @@ void NemoInterface::Impl::publishENUOrigin() {
       std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
   if (geographic_msgs::geo_point::toJson(this->ENUOrigin, *jOrigin,
                                          jOrigin->GetAllocator())) {
-  this->pRosBridge->publish(std::move(jOrigin), "/snake/origin");
+    this->pRosBridge->publish(std::move(jOrigin), "/snake/origin");
   } else {
     qCWarning(NemoInterfaceLog)
         << "Impl::publishENUOrigin: could not create json document.";

src/Wima/WaypointManager/DefaultManager.cpp

@@ -53,7 +53,7 @@ bool WaypointManager::DefaultManager::_insertMissionItem(
   using namespace WaypointManager::Utils;
 
   if (!insertMissionItem(c, index /*insertion index*/, list,
-                         _settings->vehicle(), _settings->isFlyView(),
+                         _settings->masterController(), _settings->isFlyView(),
                          &list /*parent*/, doUpdate /*do update*/)) {
     qWarning(
         "WaypointManager::DefaultManager::next(): insertMissionItem failed.");
@@ -117,7 +117,7 @@ bool WaypointManager::DefaultManager::_worker() {
   }
 
   _currentMissionItems.clearAndDeleteContents();
-  initialize(_currentMissionItems, _settings->vehicle(),
+  initialize(_currentMissionItems, _settings->masterController(),
              _settings->isFlyView());
 
   // Calculate path from home to first waypoint.
@@ -171,7 +171,7 @@ bool WaypointManager::DefaultManager::_worker() {
     Q_ASSERT(takeoffItem != nullptr);
     return false;
   }
-  makeTakeOffCmd(takeoffItem, _settings->masterController()->managerVehicle());
+  makeTakeOffCmd(takeoffItem, _settings->masterController());
 
   // Create change speed item.
   _insertMissionItem(_settings->homePosition(), 2 /*insertion index*/,
@@ -241,7 +241,7 @@ bool WaypointManager::DefaultManager::_worker() {
     qWarning("WaypointManager::DefaultManager::next(): nullptr.");
     return false;
   }
-  makeLandCmd(landItem, _settings->masterController()->managerVehicle());
+  makeLandCmd(landItem, _settings->masterController());
 
   // Set altitude.
   for (int i = 1; i < _currentMissionItems.count(); ++i) {

src/Wima/WaypointManager/RTLManager.cpp

@@ -88,7 +88,7 @@ bool WaypointManager::RTLManager::_insertMissionItem(const QGeoCoordinate &c,
   using namespace WaypointManager::Utils;
 
   if (!insertMissionItem(c, index /*insertion index*/, list,
-                         _settings->vehicle(), _settings->isFlyView(),
+                         _settings->masterController(), _settings->isFlyView(),
                          &list /*parent*/, doUpdate /*do update*/)) {
     qWarning("WaypointManager::RTLManager::next(): insertMissionItem failed.");
     Q_ASSERT(false);
@@ -133,7 +133,7 @@ bool WaypointManager::RTLManager::_worker() {
   }
 
   _currentMissionItems.clearAndDeleteContents();
-  initialize(_currentMissionItems, _settings->vehicle(),
+  initialize(_currentMissionItems, _settings->masterController(),
              _settings->isFlyView());
 
   // Calculate path from vehicle to home position.
@@ -188,7 +188,7 @@ bool WaypointManager::RTLManager::_worker() {
     qWarning("WaypointManager::RTLManager::next(): nullptr.");
     return false;
   }
-  makeLandCmd(landItem, _settings->masterController()->managerVehicle());
+  makeLandCmd(landItem, _settings->masterController());
 
   // Set altitude.
   for (int i = 1; i < _currentMissionItems.count(); ++i) {

src/Wima/WaypointManager/Utils.cpp

 #include "Utils.h"
 #include "MissionSettingsItem.h"
+#include "PlanMasterController.h"
+
 #include <iostream>
 
 #include <QGeoCoordinate>
 
 
-template<>
-QVariant WaypointManager::Utils::getCoordinate(const SimpleMissionItem* item)
-{
-    return QVariant::fromValue(item->coordinate());
-}
-
 bool WaypointManager::Utils::insertMissionItem(const QGeoCoordinate &coordinate,
                                                long index,
                                                QmlObjectListModel &list,
-                                               Vehicle* vehicle,
+                                               PlanMasterController* masterController,
                                                bool flyView,
                                                QObject *parent,
                                                bool doUpdates)
@@ -26,7 +22,7 @@ bool WaypointManager::Utils::insertMissionItem(const QGeoCoordinate &coordinate,
     } else {
         if (parent == nullptr)
             parent = &list;
-        SimpleMissionItem * newItem = new SimpleMissionItem(vehicle, flyView, parent);
+        auto *newItem = new SimpleMissionItem(masterController, flyView, MissionItem(), parent);
 
         int sequenceNumber = detail::nextSequenceNumber(list);
         newItem->setSequenceNumber(sequenceNumber);
@@ -159,10 +155,10 @@ bool WaypointManager::Utils::updateHomePosition(QmlObjectListModel &list)
 }
 
 void WaypointManager::Utils::initialize(QmlObjectListModel &list,
-                                        Vehicle *vehicle,
+                                        PlanMasterController *masterController,
                                         bool flyView)
 {
-    MissionSettingsItem* settingsItem = new MissionSettingsItem(vehicle, flyView, &list);
+    MissionSettingsItem* settingsItem = new MissionSettingsItem(masterController, flyView, &list);
     list.insert(0, settingsItem);
 }
 
@@ -189,26 +185,6 @@ void WaypointManager::Utils::printList(QmlObjectListModel &list)
     }
 }
 
-bool WaypointManager::Utils::makeTakeOffCmd(SimpleMissionItem *item, Vehicle *vehicle)
-{
-    if (   vehicle->fixedWing()
-        || vehicle->vtol()
-        || vehicle->multiRotor()
-       )
-    {
-        MAV_CMD takeoffCmd = vehicle->vtol()
-                ? MAV_CMD_NAV_VTOL_TAKEOFF
-                : MAV_CMD_NAV_TAKEOFF;
-        if (vehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
-            auto c = item->coordinate();
-            item->setCommand(takeoffCmd);
-            item->setCoordinate(c);
-            return true;
-        }
-    }
-    return false;
-}
-
 void WaypointManager::Utils::makeSpeedCmd(SimpleMissionItem *item, double speed)
 {
     assert(speed > 0);
@@ -218,16 +194,3 @@ void WaypointManager::Utils::makeSpeedCmd(SimpleMissionItem *item, double speed)
     item->setCoordinate(c);
     item->missionItem().setParam2(speed);
 }
-
-bool WaypointManager::Utils::makeLandCmd(SimpleMissionItem *item, Vehicle *vehicle)
-{
-    MAV_CMD landCmd = vehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
-    if (vehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
-        item->setCommand(landCmd);
-    } else {
-        Q_ASSERT(false);
-        qWarning("WaypointManager::Utils::makeLandCmd(): Land command not supported!");
-        return false;
-    }
-    return true;
-}

src/Wima/WimaController.cc

@@ -33,8 +33,6 @@ constexpr typename std::underlying_type<T>::type integral(T value) {
   return static_cast<typename std::underlying_type<T>::type>(value);
 }
 
-#define SMART_RTL_MAX_ATTEMPTS 3       // times
-#define SMART_RTL_ATTEMPT_INTERVAL 200 // ms
 #define EVENT_TIMER_INTERVAL 50        // ms
 
 const char *WimaController::areaItemsName = "AreaItems";
@@ -55,23 +53,7 @@ WimaController::WimaController(QObject *parent)
       _metaDataMap(FactMetaData::createMapFromJsonFile(
           QStringLiteral(":/json/WimaController.SettingsGroup.json"), this)),
       _enableWimaController(settingsGroup,
-                            _metaDataMap[enableWimaControllerName]),
-      _flightSpeed(settingsGroup, _metaDataMap[flightSpeedName]),
-      _altitude(settingsGroup, _metaDataMap[altitudeName]),
-      _lowBatteryHandlingTriggered(false),
-      _batteryLevelTicker(EVENT_TIMER_INTERVAL, 1000 /*ms*/) {
-
-  // Set up facts for waypoint manager.
-  connect(&_flightSpeed, &Fact::rawValueChanged, this,
-          &WimaController::_updateflightSpeed);
-  connect(&_altitude, &Fact::rawValueChanged, this,
-          &WimaController::_updateAltitude);
-
-  // Periodic.
-  connect(&_eventTimer, &QTimer::timeout, this,
-          &WimaController::_eventTimerHandler);
-  _eventTimer.start(EVENT_TIMER_INTERVAL);
-
+                            _metaDataMap[enableWimaControllerName]){
   // PlanData and Progress.
   connect(WimaBridge::instance(), &WimaBridge::planDataChanged, this,
           &WimaController::planDataChangedHandler);
@@ -115,16 +97,6 @@ void WimaController::setMissionController(MissionController *missionC) {
   emit missionControllerChanged();
 }
 
-void WimaController::requestSmartRTL() {
-  qCWarning(WimaControllerLog) << "requestSmartRTL() called";
-  QString errorString("Smart RTL requested.");
-  if (!_SRTLPrecondition(errorString)) {
-    qgcApp()->showMessage(errorString);
-    return;
-  }
-  emit smartRTLRequestConfirm();
-}
-
 bool WimaController::upload() {
   auto &items = _currentWM->currentMissionItems();
   if (_masterController && _masterController->managerVehicle() &&
@@ -141,68 +113,6 @@ bool WimaController::upload() {
   }
 }
 
-bool WimaController::forceUpload() {
-  auto &currentMissionItems = _currentWM->currentMissionItems();
-  if (currentMissionItems.count() < 1 || !_missionController ||
-      !_masterController) {
-    qCWarning(WimaControllerLog)
-        << "forceUpload(): error:"
-        << "currentMissionItems.count(): " << currentMissionItems.count()
-        << "_missionController: " << _missionController
-        << "_masterController: " << _masterController;
-    return false;
-  } else {
-    _missionController->removeAll();
-    // Set homeposition of settingsItem.
-    QmlObjectListModel *visuals = _missionController->visualItems();
-    MissionSettingsItem *settingsItem =
-        visuals->value<MissionSettingsItem *>(0);
-    if (settingsItem == nullptr) {
-      Q_ASSERT(false);
-      qCWarning(WimaControllerLog) << "updateCurrentMissionItems(): nullptr";
-      return false;
-    } else {
-      settingsItem->setCoordinate(_WMSettings.homePosition());
-
-      // Copy mission items to _missionController and send them.
-      for (int i = 1; i < currentMissionItems.count(); i++) {
-        auto *item = currentMissionItems.value<const SimpleMissionItem *>(i);
-        _missionController->insertSimpleMissionItem(*item, visuals->count());
-      }
-      _masterController->sendToVehicle();
-      return true;
-    }
-  }
-}
-
-void WimaController::removeFromVehicle() {
-  if (_masterController && _missionController) {
-    _masterController->removeAllFromVehicle();
-    _missionController->removeAll();
-  }
-}
-
-void WimaController::executeSmartRTL() {
-  qCWarning(WimaControllerLog) << "executeSmartRTL() called";
-  if (_masterController && _masterController->managerVehicle()) {
-    forceUpload();
-    _masterController->managerVehicle()->startMission();
-  }
-}
-
-void WimaController::initSmartRTL() {
-  qCWarning(WimaControllerLog) << "initSmartRTL() called";
-  _initSmartRTL();
-}
-
-void WimaController::removeVehicleTrajectoryHistory() {
-  if (_masterController && _masterController->managerVehicle()) {
-    _masterController->managerVehicle()
-        ->trajectoryPoints()
-        ->clearAndDeleteContents();
-  }
-}
-
 bool WimaController::_calcShortestPath(const QGeoCoordinate &start,
                                        const QGeoCoordinate &destination,
                                        QVector<QGeoCoordinate> &path) {
@@ -312,109 +222,3 @@ void WimaController::_updateAltitude() {
   emit missionItemsChanged();
   emit waypointPathChanged();
 }
-
-void WimaController::_checkBatteryLevel() {
-  if (_missionController && _masterController &&
-      _masterController->managerVehicle()) {
-    Vehicle *managerVehicle = masterController()->managerVehicle();
-    WimaSettings *wimaSettings =
-        qgcApp()->toolbox()->settingsManager()->wimaSettings();
-    int threshold = wimaSettings->lowBatteryThreshold()->rawValue().toInt();
-    bool enabled = _enableWimaController.rawValue().toBool();
-    unsigned int minTime =
-        wimaSettings->minimalRemainingMissionTime()->rawValue().toUInt();
-
-    if (enabled) {
-      Fact *battery1percentRemaining =
-          managerVehicle->battery1FactGroup()->getFact(
-              VehicleBatteryFactGroup::_percentRemainingFactName);
-      Fact *battery2percentRemaining =
-          managerVehicle->battery2FactGroup()->getFact(
-              VehicleBatteryFactGroup::_percentRemainingFactName);
-
-      if (battery1percentRemaining->rawValue().toDouble() < threshold &&
-          battery2percentRemaining->rawValue().toDouble() < threshold) {
-        if (!_lowBatteryHandlingTriggered) {
-          _lowBatteryHandlingTriggered = true;
-          if (!(_missionController->remainingTime() <= minTime)) {
-            requestSmartRTL();
-          }
-        }
-      } else {
-        _lowBatteryHandlingTriggered = false;
-      }
-    }
-  }
-}
-
-void WimaController::_eventTimerHandler() {
-  // Battery level check necessary?
-  Fact *enableLowBatteryHandling = qgcApp()
-                                       ->toolbox()
-                                       ->settingsManager()
-                                       ->wimaSettings()
-                                       ->enableLowBatteryHandling();
-  if (enableLowBatteryHandling->rawValue().toBool() &&
-      _batteryLevelTicker.ready())
-    _checkBatteryLevel();
-}
-
-void WimaController::_smartRTLCleanUp(bool flying) {
-  if (!flying && _missionController) { // vehicle has landed
-    _switchWaypointManager(_emptyWM);
-    _missionController->removeAll();
-    disconnect(masterController()->managerVehicle(), &Vehicle::flyingChanged,
-               this, &WimaController::_smartRTLCleanUp);
-  }
-}
-
-bool WimaController::_SRTLPrecondition(QString &errorString) {
-  if (!_planDataValid) {
-    errorString.append(tr("No WiMA data available. Please define at least a "
-                          "measurement and a service area."));
-    return false;
-  }
-
-  return _rtlWM.checkPrecondition(errorString);
-}
-
-void WimaController::_switchWaypointManager(
-    WaypointManager::ManagerBase &manager) {
-  if (_currentWM != &manager) {
-    _currentWM = &manager;
-    emit missionItemsChanged();
-    emit waypointPathChanged();
-
-    qCWarning(WimaControllerLog) << "_switchWaypointManager: statistics update "
-                                    "missing.";
-  }
-}
-
-void WimaController::_initSmartRTL() {
-  static int attemptCounter = 0;
-  attemptCounter++;
-  QString errorString;
-
-  if (_SRTLPrecondition(errorString)) {
-    if (_missionController && _masterController &&
-        _masterController->managerVehicle()) {
-      _masterController->managerVehicle()->pauseVehicle();
-      connect(_masterController->managerVehicle(), &Vehicle::flyingChanged,
-              this, &WimaController::_smartRTLCleanUp);
-      if (_rtlWM.update()) { // Calculate return path.
-        _switchWaypointManager(_rtlWM);
-        removeFromVehicle();
-        attemptCounter = 0;
-        emit smartRTLPathConfirm();
-      }
-    }
-  } else if (attemptCounter > SMART_RTL_MAX_ATTEMPTS) {
-    errorString.append(
-        tr("Smart RTL: No success after maximum number of attempts."));
-    qgcApp()->showMessage(errorString);
-    attemptCounter = 0;
-  } else {
-    _smartRTLTimer.singleShot(SMART_RTL_ATTEMPT_INTERVAL, this,
-                              &WimaController::_initSmartRTL);
-  }
-}

src/Wima/WimaController.h

@@ -70,10 +70,6 @@ public:
 
   // Member Methodes
   Q_INVOKABLE WimaController *thisPointer();
-  // Smart RTL.
-  Q_INVOKABLE void requestSmartRTL();
-  Q_INVOKABLE void initSmartRTL();
-  Q_INVOKABLE void executeSmartRTL();
   // Other.
   Q_INVOKABLE void removeVehicleTrajectoryHistory();
   Q_INVOKABLE bool upload();
@@ -97,9 +93,6 @@ signals:
   // Waypoints.
   void missionItemsChanged(void);
   void waypointPathChanged(void);
-  // Smart RTL.
-  void smartRTLRequestConfirm(void);
-  void smartRTLPathConfirm(void);
   // Upload.
   void forceUploadConfirm(void);
 
@@ -111,11 +104,6 @@ private slots:
                          QVector<QGeoCoordinate> &path);
   void _updateflightSpeed(void);
   void _updateAltitude(void);
-  // SMART RTL
-  void _checkBatteryLevel(void);
-  bool _SRTLPrecondition(QString &errorString);
-  void _initSmartRTL();
-  void _smartRTLCleanUp(bool flying);
   // Snake.
   void _switchWaypointManager(WaypointManager::ManagerBase &manager);
   // Periodic tasks.
@@ -152,10 +140,6 @@ private:
   SettingsFact _flightSpeed; // mission flight speed
   SettingsFact _altitude;    // mission altitude
 
-  // Smart RTL.
-  QTimer _smartRTLTimer;
-  bool _lowBatteryHandlingTriggered;
-
   // Periodic tasks.
   QTimer _eventTimer;
   EventTicker _batteryLevelTicker;