wima planer issues solve, progress indicator added

CMakeLists.txt

@@ -63,8 +63,8 @@ execute_process(
 	)
 
 add_definitions(
-	-DQGC_APPLICATION_NAME="QGroundControl"
-	-DQGC_ORG_NAME="QGroundControl.org"
+        -DQGC_APPLICATION_NAME="QGCWima"
+        -DQGC_ORG_NAME="QGCWima.org"
 	-DQGC_ORG_DOMAIN="org.qgroundcontrol"
 	)
 

HackFileDialog.qrc

@@ -2,4 +2,5 @@
     <qresource prefix="/qml">
         <file alias="QGroundControl/Controls/HackFileDialog.qml">src/QmlControls/HackFileDialog.qml</file>
     </qresource>
+    <qresource prefix="/"/>
 </RCC>

qgroundcontrol.pro

@@ -29,6 +29,7 @@ DebugBuild {
     DESTDIR  = $${OUT_PWD}/debug
     DEFINES += DEBUG
     DEFINES += SNAKE_SHOW_TIME
+    DEFINES += DEBUG_SRTL
     #DEFINES += SNAKE_DEBUG
     DEFINES += SHOW_CIRCULAR_SURVEY_TIME
     DEFINES += DEBUG_CIRCULAR_SURVEY
@@ -37,7 +38,9 @@ DebugBuild {
 else {
     DESTDIR  = $${OUT_PWD}/release
     #DEFINES += ROS_BRIDGE_DEBUG
-    DEFINES += SNAKE_SHOW_TIME
+    #DEFINES += SHOW_CIRCULAR_SURVEY_TIME
+    #DEFINES += SNAKE_SHOW_TIME
+    DEFINES += DEBUG_SRTL
     DEFINES += NDEBUG
 }
 
@@ -66,9 +69,9 @@ WindowsBuild {
 # Branding
 #
 
-QGC_APP_NAME        = "QGroundControl"
-QGC_ORG_NAME        = "QGroundControl.org"
-QGC_ORG_DOMAIN      = "org.qgroundcontrol"
+QGC_APP_NAME        = "QGCWima"
+QGC_ORG_NAME        = "QGCWima.org"
+QGC_ORG_DOMAIN      = "org.qgcwima"
 QGC_APP_DESCRIPTION = "Open source ground control app provided by QGroundControl dev team"
 QGC_APP_COPYRIGHT   = "Copyright (C) 2017 QGroundControl Development Team. All rights reserved."
 
@@ -317,9 +320,9 @@ CustomBuild {
         RESOURCES += $$PWD/qgcresources.qrc
     }
 } else {
-    DEFINES += QGC_APPLICATION_NAME=\"\\\"QGroundControl\\\"\"
-    DEFINES += QGC_ORG_NAME=\"\\\"QGroundControl.org\\\"\"
-    DEFINES += QGC_ORG_DOMAIN=\"\\\"org.qgroundcontrol\\\"\"
+    DEFINES += QGC_APPLICATION_NAME=\"\\\"QGCWima\\\"\"
+    DEFINES += QGC_ORG_NAME=\"\\\"QGCWima.org\\\"\"
+    DEFINES += QGC_ORG_DOMAIN=\"\\\"org.qgcwima\\\"\"
     RESOURCES += \
         $$PWD/qgroundcontrol.qrc \
         $$PWD/qgcresources.qrc
@@ -413,9 +416,9 @@ FORMS += \
 #
 
 HEADERS += \
-    src/Wima/CSWorker.h \
     src/Wima/CircularSurvey.h \
     src/Wima/Geometry/GenericCircle.h \
+    src/Wima/RoutingThread.h \
     src/Wima/Snake/clipper/clipper.hpp \
     src/Wima/Snake/mapbox/feature.hpp \
     src/Wima/Snake/mapbox/geometry.hpp \
@@ -503,8 +506,8 @@ HEADERS += \
     src/comm/ros_bridge/include/topic_subscriber.h \
     src/comm/utilities.h
 SOURCES += \
-    src/Wima/CSWorker.cpp \
     src/Wima/CircularSurvey.cc \
+    src/Wima/RoutingThread.cpp \
     src/Wima/Snake/clipper/clipper.cpp \
     src/Wima/Snake/snake.cpp \
     src/Wima/Geometry/GeoPoint3D.cpp \

qgroundcontrol.qrc

@@ -231,6 +231,7 @@
         <file alias="QGroundControl/FlightDisplay/FlightDisplayWimaMenu.qml">src/FlightDisplay/FlightDisplayWimaMenu.qml</file>
         <file alias="QGroundControl/Controls/CircularSurveyMapVisual.qml">src/WimaView/CircularSurveyMapVisual.qml</file>
         <file alias="QGroundControl/FlightDisplay/SmallValue.qml">src/FlightDisplay/SmallValue.qml</file>
+        <file alias="QGroundControl/Controls/ProgressIndicator.qml">src/WimaView/ProgressIndicator.qml</file>
     </qresource>
     <qresource prefix="/json">
         <file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -247,22 +247,20 @@ FlightMap {
                                && wimaController.enableSnake.value
         model: _enable ? wimaController.snakeTileCenterPoints : 0
 
-        delegate: MapCircle{
-            center:         modelData
-            border.color:   "transparent"
-            border.width:   1
-            color:          getColor(wimaController.nemoProgress[index])
-            radius:         0.6
-            opacity:        1
+        delegate: ProgressIndicator{
+            coordinate:         modelData
+            currentValue:   getProgress()
+            width:          10
+            height:         10
             z:              1
 
-            function getColor(progress) {
-                if (progress < 50)
-                    return "red"
-                if (progress < 100)
-                    return "orange"
-
-                return "green"
+            function getProgress() {
+                var progress = wimaController.nemoProgress[index]
+                if (progress < 0)
+                    progress = 0
+                if (progress > 100)
+                    progress = 100
+                return progress
             }
         }
     }

src/QmlControls/QGroundControl.Controls.qmldir

@@ -100,5 +100,6 @@ CircularSurveyMapVisual             1.0 CircularSurveyMapVisual.qml
 DragCoordinate                      1.0 DragCoordinate.qml
 CoordinateIndicator                 1.0 CoordinateIndicator.qml
 CoordinateIndicatorDrag             1.0 CoordinateIndicatorDrag.qml
+ProgressIndicator                   1.0 ProgressIndicator.qml
 
 

src/QmlControls/QmlObjectListModel.h

@@ -7,79 +7,84 @@
  *
  ****************************************************************************/
 
-
 #ifndef QmlObjectListModel_H
 #define QmlObjectListModel_H
 
 #include <QAbstractListModel>
 
-class QmlObjectListModel : public QAbstractListModel
-{
+class QmlObjectListModel : public QAbstractListModel {
   Q_OBJECT
 
 public:
-    QmlObjectListModel(QObject* parent = NULL);
+  QmlObjectListModel(QObject *parent = NULL);
   ~QmlObjectListModel();
 
   Q_PROPERTY(int count READ count NOTIFY countChanged)
 
-    /// Returns true if any of the items in the list are dirty. Requires each object to have
-    /// a dirty property and dirtyChanged signal.
+  /// Returns true if any of the items in the list are dirty. Requires each
+  /// object to have a dirty property and dirtyChanged signal.
   Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
 
-    Q_INVOKABLE QObject* get(int index)     { return _objectList[index]; }
+  Q_INVOKABLE QObject *get(int index) { return _objectList[index]; }
+  Q_INVOKABLE const QObject *get(int index) const { return _objectList[index]; }
 
   // Property accessors
 
-    int         count               () const;
-    bool        dirty               () const { return _dirty; }
-    void        setDirty            (bool dirty);
-    void        append              (QObject* object);
-    void        append              (QList<QObject*> objects);
-    QObjectList swapObjectList      (const QObjectList& newlist);
-    void        clear               ();
-    QObject*    removeAt            (int i);
-    QObject*    removeOne           (QObject* object) { return removeAt(indexOf(object)); }
-    void        insert              (int i, QObject* object);
-    void        insert              (int i, QList<QObject*> objects);
-    bool        contains            (QObject* object) { return _objectList.indexOf(object) != -1; }
-    int         indexOf             (QObject* object) { return _objectList.indexOf(object); }
-
-    QObject*    operator[]          (int i);
-    const QObject* operator[]       (int i) const;
-    template<class T> T value       (int index) const { return qobject_cast<T>(_objectList[index]); }
-    QList<QObject*>* objectList     () { return &_objectList; }
+  int count() const;
+  bool dirty() const { return _dirty; }
+  void setDirty(bool dirty);
+  void append(QObject *object);
+  void append(QList<QObject *> objects);
+  QObjectList swapObjectList(const QObjectList &newlist);
+  void clear();
+  QObject *removeAt(int i);
+  QObject *removeOne(QObject *object) { return removeAt(indexOf(object)); }
+  void insert(int i, QObject *object);
+  void insert(int i, QList<QObject *> objects);
+  bool contains(QObject *object) { return _objectList.indexOf(object) != -1; }
+  int indexOf(QObject *object) { return _objectList.indexOf(object); }
+
+  QObject *operator[](int i);
+  const QObject *operator[](int i) const;
+  template <class T> T value(int index) const {
+    return qobject_cast<T>(_objectList[index]);
+  }
+  QList<QObject *> *objectList() { return &_objectList; }
 
   /// Calls deleteLater on all items and this itself.
-    void deleteListAndContents      ();
+  void deleteListAndContents();
 
   /// Clears the list and calls deleteLater on each entry
-    void clearAndDeleteContents     ();
+  void clearAndDeleteContents();
 
-    void beginReset                 () { beginResetModel(); }
-    void endReset                   () { endResetModel();   }
+  void beginReset() { beginResetModel(); }
+  void endReset() { endResetModel(); }
 
   // Friends
-    friend void swap(QmlObjectListModel& list1, QmlObjectListModel& list2);
+  friend void swap(QmlObjectListModel &list1, QmlObjectListModel &list2);
 
 signals:
-    void countChanged               (int count);
-    void dirtyChanged               (bool dirtyChanged);
+  void countChanged(int count);
+  void dirtyChanged(bool dirtyChanged);
 
 private slots:
-    void _childDirtyChanged         (bool dirty);
+  void _childDirtyChanged(bool dirty);
 
 private:
   // Overrides from QAbstractListModel
-    int         rowCount    (const QModelIndex & parent = QModelIndex()) const override;
-    QVariant    data        (const QModelIndex & index, int role = Qt::DisplayRole) const override;
-    bool        insertRows  (int position, int rows, const QModelIndex &index = QModelIndex()) override;
-    bool        removeRows  (int position, int rows, const QModelIndex &index = QModelIndex()) override;
-    bool        setData     (const QModelIndex &index, const QVariant &value, int role = Qt::EditRole) override;
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override;
+  QVariant data(const QModelIndex &index,
+                int role = Qt::DisplayRole) const override;
+  bool insertRows(int position, int rows,
+                  const QModelIndex &index = QModelIndex()) override;
+  bool removeRows(int position, int rows,
+                  const QModelIndex &index = QModelIndex()) override;
+  bool setData(const QModelIndex &index, const QVariant &value,
+               int role = Qt::EditRole) override;
   QHash<int, QByteArray> roleNames(void) const override;
 
 private:
-    QList<QObject*> _objectList;
+  QList<QObject *> _objectList;
 
   bool _dirty;
   bool _skipDirtyFirstItem;

src/Wima/CircularSurvey.cc

 #include "CircularSurvey.h"
-#include "CSWorker.h"
+#include "RoutingThread.h"
 // QGC
 #include "JsonHelper.h"
 #include "QGCApplication.h"
@@ -60,7 +60,7 @@ CircularSurvey::CircularSurvey(Vehicle *vehicle, bool flyView,
       _alpha(settingsGroup, _metaDataMap[alphaName]),
       _minLength(settingsGroup, _metaDataMap[minLengthName]),
       _type(settingsGroup, _metaDataMap[typeName]),
-      _pWorker(std::make_unique<RoutingWorker>()), _needsStoring(false),
+      _pWorker(std::make_unique<RoutingThread>()), _needsStoring(false),
       _needsReversal(false), _hidePolygon(false) {
   Q_UNUSED(kmlOrShpFile)
   _editorQml = "qrc:/qml/CircularSurveyItemEditor.qml";
@@ -81,9 +81,9 @@ CircularSurvey::CircularSurvey(Vehicle *vehicle, bool flyView,
   connect(&this->_type, &Fact::rawValueChanged, this,
           &CircularSurvey::_rebuildTransects);
   // Connect worker.
-  connect(this->_pWorker.get(), &RoutingWorker::result, this,
+  connect(this->_pWorker.get(), &RoutingThread::result, this,
           &CircularSurvey::_setTransects);
-  connect(this->_pWorker.get(), &RoutingWorker::calculatingChanged, this,
+  connect(this->_pWorker.get(), &RoutingThread::calculatingChanged, this,
           &CircularSurvey::calculatingChanged);
   this->_transectsDirty = false;
 }
@@ -287,7 +287,7 @@ void CircularSurvey::_appendLoadedMissionItems(QList<MissionItem *> &items,
 
 void CircularSurvey::_buildAndAppendMissionItems(QList<MissionItem *> &items,
                                                  QObject *missionItemParent) {
-  if (_transectsDirty)
+  if (_transectsDirty || _transects.count() == 0)
     return;
 
   MissionItem *item;

src/Wima/CircularSurvey.h

@@ -6,7 +6,7 @@
 #include "SettingsFact.h"
 #include "TransectStyleComplexItem.h"
 
-class RoutingWorker;
+class RoutingThread;
 class RoutingData;
 
 class CircularSurvey : public TransectStyleComplexItem {
@@ -119,7 +119,7 @@ private:
   SettingsFact _type;
 
   // Worker
-  using PtrWorker = std::shared_ptr<RoutingWorker>;
+  using PtrWorker = std::shared_ptr<RoutingThread>;
   PtrWorker _pWorker;
   PtrRoutingData _workerOutput;
   QList<QList<QGeoCoordinate>> _rawTransects;

src/Wima/CSWorker.cpp → src/Wima/RoutingThread.cpp

-#include "CSWorker.h"
+#include "RoutingThread.h"
 // std
 #include <chrono>
 // Qt
 #include <QDebug>
 
-RoutingWorker::RoutingWorker(QObject *parent)
+RoutingThread::RoutingThread(QObject *parent)
     : QThread(parent), _calculating(false), _stop(false), _restart(false) {
 
   static std::once_flag flag;
@@ -12,7 +12,7 @@ RoutingWorker::RoutingWorker(QObject *parent)
                  [] { qRegisterMetaType<PtrRoutingData>("PtrRoutingData"); });
 }
 
-RoutingWorker::~RoutingWorker() {
+RoutingThread::~RoutingThread() {
   this->_stop = true;
   Lock lk(this->_mutex);
   this->_restart = true;
@@ -21,10 +21,10 @@ RoutingWorker::~RoutingWorker() {
   this->wait();
 }
 
-bool RoutingWorker::calculating() { return this->_calculating; }
+bool RoutingThread::calculating() { return this->_calculating; }
 
-void RoutingWorker::route(const snake::BoostPolygon &safeArea,
-                          const RoutingWorker::Generator &generator) {
+void RoutingThread::route(const snake::BoostPolygon &safeArea,
+                          const RoutingThread::Generator &generator) {
   // Sample input.
   Lock lk(this->_mutex);
   this->_safeArea = safeArea;
@@ -40,7 +40,7 @@ void RoutingWorker::route(const snake::BoostPolygon &safeArea,
   }
 }
 
-void RoutingWorker::run() {
+void RoutingThread::run() {
   qWarning() << "RoutingWorker::run(): thread start.";
   while (!this->_stop) {
 #ifdef DEBUG_CIRCULAR_SURVEY

src/Wima/CSWorker.h → src/Wima/RoutingThread.h

@@ -20,7 +20,7 @@ struct RoutingData {
 //! \brief The CSWorker class
 //! \note Don't call QThread::start, QThread::quit, etc. onyl use Worker
 //! members!
-class RoutingWorker : public QThread {
+class RoutingThread : public QThread {
   Q_OBJECT
   using Lock = std::unique_lock<std::mutex>;
 
@@ -28,8 +28,8 @@ public:
   using PtrRoutingData = QSharedPointer<RoutingData>;
   using Generator = std::function<bool(snake::Transects &)>;
 
-  RoutingWorker(QObject *parent = nullptr);
-  ~RoutingWorker() override;
+  RoutingThread(QObject *parent = nullptr);
+  ~RoutingThread() override;
 
   bool calculating();
 

src/Wima/Snake/snake.cpp

@@ -326,7 +326,7 @@ bool dijkstraAlgorithm(
   return true;
 }
 
-void toDistanceMatrix(Matrix<double> &graph) {
+bool toDistanceMatrix(Matrix<double> &graph) {
   size_t n = graph.getN();
 
   auto distance = [graph](size_t i, size_t j) { return graph.get(i, j); };
@@ -338,9 +338,9 @@ void toDistanceMatrix(Matrix<double> &graph) {
       if (!std::isinf(d))
         continue;
       path.clear();
-      bool ret = dijkstraAlgorithm(n, i, j, path, distance);
-      assert(ret);
-      (void)ret;
+      if (!dijkstraAlgorithm(n, i, j, path, distance)) {
+        return false;
+      }
       //            cout << "(" << i << "," << j << ") d: " << d << endl;
       //            cout << "Path size: " << path.size() << endl;
       //            for (auto idx : path)
@@ -360,6 +360,7 @@ void toDistanceMatrix(Matrix<double> &graph) {
       graph.set(j, i, d);
     }
   }
+  return true;
 }
 
 void shortestPathFromGraph(const Matrix<double> &graph, size_t startIndex,
@@ -740,7 +741,7 @@ struct RoutingDataModel {
   RoutingIndexManager::NodeIndex depot;
 };
 
-void generateRoutingModel(const BoostLineString &vertices,
+bool generateRoutingModel(const BoostLineString &vertices,
                           const BoostPolygon &polygonOffset, size_t n0,
                           RoutingDataModel &dataModel, Matrix<double> &graph) {
 
@@ -758,7 +759,9 @@ void generateRoutingModel(const BoostLineString &vertices,
 #ifdef SNAKE_SHOW_TIME
   start = std::chrono::high_resolution_clock::now();
 #endif
-  toDistanceMatrix(distanceMatrix);
+  if (!toDistanceMatrix(distanceMatrix)) {
+    return false;
+  }
 #ifdef SNAKE_SHOW_TIME
   delta = std::chrono::duration_cast<std::chrono::milliseconds>(
       std::chrono::high_resolution_clock::now() - start);
@@ -778,6 +781,7 @@ void generateRoutingModel(const BoostLineString &vertices,
   }
   dataModel.numVehicles = 1;
   dataModel.depot = 0;
+  return true;
 }
 
 bool route(const BoostPolygon &area, const Transects &transects,
@@ -836,7 +840,11 @@ bool route(const BoostPolygon &area, const Transects &transects,
 #ifdef SNAKE_SHOW_TIME
   auto start = std::chrono::high_resolution_clock::now();
 #endif
-  generateRoutingModel(vertices, areaOffset, n0, dataModel, connectionGraph);
+  if (!generateRoutingModel(vertices, areaOffset, n0, dataModel,
+                            connectionGraph)) {
+    errorString = "Routing model generation failed.";
+    return false;
+  }
 #ifdef SNAKE_SHOW_TIME
   auto delta = std::chrono::duration_cast<std::chrono::milliseconds>(
       std::chrono::high_resolution_clock::now() - start);

src/Wima/Snake/snake.h

@@ -149,7 +149,7 @@ void offsetPolygon(const BoostPolygon &polygon, BoostPolygon &polygonOffset,
                    double offset);
 void graphFromPolygon(const BoostPolygon &polygon,
                       const BoostLineString &vertices, Matrix<double> &graph);
-void toDistanceMatrix(Matrix<double> &graph);
+bool toDistanceMatrix(Matrix<double> &graph);
 bool dijkstraAlgorithm(
     const size_t numElements, size_t startIndex, size_t endIndex,
     std::vector<size_t> &elementPath,

src/Wima/WimaController.cc

@@ -270,8 +270,11 @@ void WimaController::resetPhase() {
 }
 
 void WimaController::requestSmartRTL() {
-  QString errorString("Smart RTL requested. ");
-  if (!_checkSmartRTLPreCondition(errorString)) {
+#ifdef DEBUG_SRTL
+  qWarning() << "WimaController::requestSmartRTL() called";
+#endif
+  QString errorString("Smart RTL requested.");
+  if (!_SRTLPrecondition(errorString)) {
     qgcApp()->showMessage(errorString);
     return;
   }
@@ -279,59 +282,85 @@ void WimaController::requestSmartRTL() {
 }
 
 bool WimaController::upload() {
-  auto &currentMissionItems = _defaultWM.currentMissionItems();
-  if (!_serviceArea.containsCoordinate(
-          _masterController->managerVehicle()->coordinate()) &&
-      currentMissionItems.count() > 0) {
+  auto &items = _currentWM->currentMissionItems();
+  if (_masterController && _masterController->managerVehicle() &&
+      items.count() > 0) {
+    if (!_joinedArea.containsCoordinate(
+            _masterController->managerVehicle()->coordinate())) {
       emit forceUploadConfirm();
       return false;
-  }
-
+    } else {
       return forceUpload();
+    }
+  } else {
+    return false;
+  }
 }
 
 bool WimaController::forceUpload() {
-  auto &currentMissionItems = _defaultWM.currentMissionItems();
-  if (currentMissionItems.count() < 1)
+  auto &currentMissionItems = _currentWM->currentMissionItems();
+  if (currentMissionItems.count() < 1 || !_missionController ||
+      !_masterController) {
+    qWarning() << "WimaController::forceUpload(): error:";
+    qWarning() << "currentMissionItems.count(): "
+               << currentMissionItems.count();
+    qWarning() << "_missionController: " << _missionController;
+    qWarning() << "_masterController: " << _masterController;
     return false;
-
+  } else {
     _missionController->removeAll();
     // Set homeposition of settingsItem.
     QmlObjectListModel *visuals = _missionController->visualItems();
-  MissionSettingsItem *settingsItem = visuals->value<MissionSettingsItem *>(0);
+    MissionSettingsItem *settingsItem =
+        visuals->value<MissionSettingsItem *>(0);
     if (settingsItem == nullptr) {
       Q_ASSERT(false);
       qWarning("WimaController::updateCurrentMissionItems(): nullptr");
       return false;
-  }
+    } else {
       settingsItem->setCoordinate(_WMSettings.homePosition());
 
-  // Copy mission items to _missionController.
+      // 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() {
+#ifdef DEBUG_SRTL
+  qWarning() << "WimaController::executeSmartRTL() called";
+#endif
+  if (_masterController && _masterController->managerVehicle()) {
     forceUpload();
-  masterController()->managerVehicle()->startMission();
+    _masterController->managerVehicle()->startMission();
+  }
 }
 
-void WimaController::initSmartRTL() { _initSmartRTL(); }
+void WimaController::initSmartRTL() {
+#ifdef DEBUG_SRTL
+  qWarning() << "WimaController::initSmartRTL() called";
+#endif
+  _initSmartRTL();
+}
 
 void WimaController::removeVehicleTrajectoryHistory() {
-  Vehicle *managerVehicle = masterController()->managerVehicle();
-  managerVehicle->trajectoryPoints()->clear();
+  if (_masterController && _masterController->managerVehicle()) {
+    _masterController->managerVehicle()
+        ->trajectoryPoints()
+        ->clearAndDeleteContents();
+  }
 }
 
 bool WimaController::_calcShortestPath(const QGeoCoordinate &start,
@@ -371,8 +400,8 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
   QList<const WimaAreaData *> areaList = planData->areaList();
 
   int areaCounter = 0;
-  const int numAreas = 4; // extract only numAreas Areas, if there are more they
-                          // are invalid and ignored
+  const int numAreas = 4; // extract only numAreas Areas, if there are more
+                          // they are invalid and ignored
   for (int i = 0; i < areaList.size(); i++) {
     const WimaAreaData *areaData = areaList[i];
 
@@ -586,16 +615,17 @@ void WimaController::_updateAltitude() {
 }
 
 void WimaController::_checkBatteryLevel() {
+  if (_missionController && _masterController &&
+      _masterController->managerVehicle()) {
     Vehicle *managerVehicle = masterController()->managerVehicle();
     WimaSettings *wimaSettings =
         qgcApp()->toolbox()->settingsManager()->wimaSettings();
-  int batteryThreshold =
-      wimaSettings->lowBatteryThreshold()->rawValue().toInt();
+    int threshold = wimaSettings->lowBatteryThreshold()->rawValue().toInt();
     bool enabled = _enableWimaController.rawValue().toBool();
     unsigned int minTime =
         wimaSettings->minimalRemainingMissionTime()->rawValue().toUInt();
 
-  if (managerVehicle != nullptr && enabled == true) {
+    if (enabled) {
       Fact *battery1percentRemaining =
           managerVehicle->battery1FactGroup()->getFact(
               VehicleBatteryFactGroup::_percentRemainingFactName);
@@ -603,8 +633,8 @@ void WimaController::_checkBatteryLevel() {
           managerVehicle->battery2FactGroup()->getFact(
               VehicleBatteryFactGroup::_percentRemainingFactName);
 
-    if (battery1percentRemaining->rawValue().toDouble() < batteryThreshold &&
-        battery2percentRemaining->rawValue().toDouble() < batteryThreshold) {
+      if (battery1percentRemaining->rawValue().toDouble() < threshold &&
+          battery2percentRemaining->rawValue().toDouble() < threshold) {
         if (!_lowBatteryHandlingTriggered) {
           _lowBatteryHandlingTriggered = true;
           if (!(_missionController->remainingTime() <= minTime)) {
@@ -615,6 +645,7 @@ void WimaController::_checkBatteryLevel() {
         _lowBatteryHandlingTriggered = false;
       }
     }
+  }
 }
 
 void WimaController::_eventTimerHandler() {
@@ -630,9 +661,8 @@ void WimaController::_eventTimerHandler() {
 }
 
 void WimaController::_smartRTLCleanUp(bool flying) {
-  if (!flying) { // vehicle has landed
+  if (!flying && _missionController) { // vehicle has landed
     _switchWaypointManager(_defaultWM);
-    _missionController->removeAllFromVehicle();
     _missionController->removeAll();
     disconnect(masterController()->managerVehicle(), &Vehicle::flyingChanged,
                this, &WimaController::_smartRTLCleanUp);
@@ -657,7 +687,7 @@ void WimaController::_setPhaseDuration(double duration) {
   //    }
 }
 
-bool WimaController::_checkSmartRTLPreCondition(QString &errorString) {
+bool WimaController::_SRTLPrecondition(QString &errorString) {
   if (!_localPlanDataValid) {
     errorString.append(tr("No WiMA data available. Please define at least a "
                           "measurement and a service area."));
@@ -695,25 +725,28 @@ void WimaController::_switchWaypointManager(
     emit waypointPathChanged();
     emit currentWaypointPathChanged();
 
-    qWarning()
-        << "WimaController::_switchWaypointManager: statistics update missing.";
+    qWarning() << "WimaController::_switchWaypointManager: statistics update "
+                  "missing.";
   }
 }
 
 void WimaController::_initSmartRTL() {
-  QString errorString;
   static int attemptCounter = 0;
   attemptCounter++;
+  QString errorString;
 
-  if (_checkSmartRTLPreCondition(errorString)) {
+  if (_SRTLPrecondition(errorString)) {
+    if (_missionController && _masterController &&
+        _masterController->managerVehicle()) {
       _masterController->managerVehicle()->pauseVehicle();
-    connect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this,
-            &WimaController::_smartRTLCleanUp);
+      connect(_masterController->managerVehicle(), &Vehicle::flyingChanged,
+              this, &WimaController::_smartRTLCleanUp);
       if (_rtlWM.update()) { // Calculate return path.
         _switchWaypointManager(_rtlWM);
+        removeFromVehicle();
         attemptCounter = 0;
         emit smartRTLPathConfirm();
-      return;
+      }
     }
   } else if (attemptCounter > SMART_RTL_MAX_ATTEMPTS) {
     errorString.append(

src/Wima/WimaController.h

@@ -138,7 +138,6 @@ public:
   QString nemoStatusString(void) const;
   bool snakeCalcInProgress(void) const;
 
-  // Smart RTL.
   bool uploadOverrideRequired(void) const;
   bool vehicleHasLowBattery(void) const;
   // Waypoint statistics.
@@ -234,7 +233,7 @@ private slots:
   void _setPhaseDuration(double duration);
   // SMART RTL
   void _checkBatteryLevel(void);
-  bool _checkSmartRTLPreCondition(QString &errorString);
+  bool _SRTLPrecondition(QString &errorString);
   void _initSmartRTL();
   void _smartRTLCleanUp(bool flying);
   // Snake.

src/Wima/WimaPlaner.cc

@@ -742,12 +742,14 @@ QSharedPointer<WimaPlanData> WimaPlaner::toPlanData() {
 
   // convert mission items to mavlink commands
   QList<MissionItem *> missionItems;
+  if (_missionController && _missionController->visualItems()) {
+    int surveyIndex =
+        _missionController->visualItems()->indexOf(_TSComplexItem);
+    if (surveyIndex > 0) {
       _TSComplexItem->appendMissionItems(missionItems, nullptr);
-  // store mavlink commands
-  qWarning() << "WimaPlaner";
-  for (auto *item : missionItems) {
-    qWarning() << item->coordinate();
     }
+  }
+  // store mavlink commands
   planData->append(missionItems);
   return planData;
 }

src/WimaView/ProgressIndicator.qml

+import QtQml 2.2
+import QtQuick 2.0
+import QtLocation 5.3
+
+MapQuickItem {
+    id: root
+
+    width: 20
+    height: 20
+    anchorPoint.x: width/2
+    anchorPoint.y: height/2
+
+    property color primaryColor: "orange"
+    property color secondaryColor: "lightblue"
+
+    property real centerWidth: width / 2
+    property real centerHeight: height / 2
+    property real radius: Math.min(canvas.width, canvas.height) / 2
+
+    property real minimumValue: 0
+    property real maximumValue: 100
+    property real currentValue: 33
+
+    // this is the angle that splits the circle in two arcs
+    // first arc is drawn from 0 radians to angle radians
+    // second arc is angle radians to 2*PI radians
+    property real angle: (currentValue - minimumValue) / (maximumValue - minimumValue) * 2 * Math.PI
+
+    // we want both circle to start / end at 12 o'clock
+    // without this offset we would start / end at 9 o'clock
+    property real angleOffset: -Math.PI / 2
+
+    property string text: ""
+
+    signal clicked()
+
+    onPrimaryColorChanged: canvas.requestPaint()
+    onSecondaryColorChanged: canvas.requestPaint()
+    onMinimumValueChanged: canvas.requestPaint()
+    onMaximumValueChanged: canvas.requestPaint()
+    onCurrentValueChanged: canvas.requestPaint()
+
+    // draws two arcs (portion of a circle)
+    // fills the circle with a lighter secondary color
+    // when pressed
+    sourceItem: Canvas {
+        id: canvas
+        width: root.width
+        height: root.height
+        antialiasing: true
+
+        onPaint: {
+            var ctx = getContext("2d");
+            ctx.save();
+
+            ctx.clearRect(0, 0, canvas.width, canvas.height);
+
+            // fills the mouse area when pressed
+            // the fill color is a lighter version of the
+            // secondary color
+
+            if (mouseArea.pressed) {
+                ctx.beginPath();
+                ctx.lineWidth = 1;
+                ctx.fillStyle = Qt.lighter(root.secondaryColor, 1.25);
+                ctx.arc(root.centerWidth,
+                        root.centerHeight,
+                        root.radius,
+                        0,
+                        2*Math.PI);
+                ctx.fill();
+            }
+
+            // First, thinner arc
+            // From angle to 2*PI
+
+            ctx.beginPath();
+            ctx.lineWidth = 1;
+            ctx.strokeStyle = primaryColor;
+            ctx.arc(root.centerWidth,
+                    root.centerHeight,
+                    root.radius,
+                    angleOffset + root.angle,
+                    angleOffset + 2*Math.PI);
+            ctx.stroke();
+
+
+            // Second, thicker arc
+            // From 0 to angle
+
+            ctx.beginPath();
+            ctx.lineWidth = 3;
+            ctx.strokeStyle = root.secondaryColor;
+            ctx.arc(root.centerWidth,
+                    root.centerHeight,
+                    root.radius,
+                    root.angleOffset,
+                    root.angleOffset + root.angle);
+            ctx.stroke();
+
+            ctx.restore();
+        }
+
+        Text {
+            anchors.centerIn: parent
+
+            text: root.text
+            color: root.primaryColor
+        }
+
+        MouseArea {
+            id: mouseArea
+
+            anchors.fill: parent
+            onClicked: root.clicked()
+            onPressedChanged: canvas.requestPaint()
+        }
+    }
+}