bugs fixed

src/FlightDisplay/FlightDisplayView.qml

@@ -760,6 +760,7 @@ QGCView {
         GuidedActionsController {
             id:                 guidedActionsController
             wimaController:     wimaController
+            wimaMenu:           wimaMenu
             missionController:  _missionController
             confirmDialog:      guidedActionConfirm
             actionList:         guidedActionList

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -216,17 +216,18 @@ FlightMap {
     }
 
     // Add mission items generated by wima planer to the map
+    // all Items
     WimaPlanMapItems {
         map:            flightMap
         largeMapView:   _mainIsMap
         missionItems:   wimaController.missionItems
         path:           wimaController.waypointPath
         showItems:      _wimaEnabled && _showAllWimaItems
-        zOrderWP:       QGroundControl.zOrderWaypointIndicators-2
-        zOrderLines:    QGroundControl.zOrderWaypointLines-2
-        color:          "#B4808080" // gray with alpha 0.7
+        zOrderWP:       QGroundControl.zOrderWaypointIndicators-3
+        zOrderLines:    QGroundControl.zOrderWaypointLines-1
+        color:          "gray"
     }
-
+    // current Items
     WimaPlanMapItems {
         map:            flightMap
         largeMapView:   _mainIsMap
@@ -234,7 +235,7 @@ FlightMap {
         path:           wimaController.currentWaypointPath
         showItems:      _wimaEnabled && _showCurrentWimaItems
         zOrderWP:       QGroundControl.zOrderWaypointIndicators-1
-        zOrderLines:    QGroundControl.zOrderWaypointLines-1
+        zOrderLines:    QGroundControl.zOrderWaypointIndicators-2
         color:          "green" // gray with alpha 0.7
     }
 

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -27,6 +27,7 @@ Item {
 
     property var wimaController // must be provided by the user
     property var planMasterController // must be provided by the user
+    readonly property alias missionReadyForStart: _private.missionReadyForStart
 
     property bool   _controllerValid:           planMasterController !== undefined
     property real   _controllerProgressPct:     _controllerValid ? planMasterController.missionController.progressPct : 0
@@ -34,14 +35,21 @@ Item {
 
     signal initSmartRTL();
 
+    Item {
+        id: _private
+        property bool missionReadyForStart: true
+    }
+
     // Progress bar visibility
     on_ControllerProgressPctChanged: {
         if (_controllerProgressPct === 1) {
-            uploadCompleteText.visible  = true
-            progressBar.visible         = false
+            uploadCompleteText.visible      = true
+            progressBar.visible             = false
+            _private.missionReadyForStart   = true
         } else if (_controllerProgressPct > 0) {
-            progressBar.visible         = true
-            uploadCompleteText.visible  = false
+            progressBar.visible             = true
+            uploadCompleteText.visible      = false
+            _private.missionReadyForStart   = false
         }
     }
 
@@ -225,7 +233,7 @@ Item {
                         width:              parent.width
 
                         QGCLabel {
-                            text:                   qsTr("Phase Speed")
+                            text:                   qsTr("Mission Speed")
                             Layout.fillWidth: true
                         }
                         FactTextField {
@@ -234,7 +242,7 @@ Item {
                         }
 
                         QGCLabel {
-                            text:                   qsTr("Arrival and Return Speed")
+                            text:                   qsTr("AaR Speed")
                             Layout.fillWidth: true
                         }
                         FactTextField {
@@ -298,7 +306,11 @@ Item {
                         QGCButton {
                             id: buttonUpload
                             text:               qsTr("Upload")
-                            onClicked:          wimaController.uploadToVehicle()
+                            onClicked: {
+                                if (!planMasterController.offline) {
+                                    wimaController.uploadToVehicle()
+                                }
+                            }
                             Layout.fillWidth: true
                         }
 

src/FlightDisplay/GuidedActionsController.qml

@@ -28,6 +28,7 @@ Item {
     id: _root
 
     property var wimaController
+    property var wimaMenu
     property var missionController
     property var confirmDialog
     property var actionList
@@ -120,6 +121,7 @@ Item {
     property bool showOrbit:            _guidedActionsEnabled && !_hideOrbit && _vehicleFlying && _activeVehicle.orbitModeSupported && !_missionActive
     property bool showLandAbort:        _guidedActionsEnabled && _vehicleFlying && _activeVehicle.fixedWing && _vehicleLanding
     property bool showGotoLocation:     _guidedActionsEnabled && _vehicleFlying
+    property bool wimaEnabled:          wimaController.enableWimaController.value
 
     // Note: The '_missionItemCount - 2' is a hack to not trigger resume mission when a mission ends with an RTL item
     property bool showResumeMission:    _activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < _missionItemCount - 2)
@@ -130,7 +132,7 @@ Item {
     property bool   _guidedActionsEnabled:  (!ScreenTools.isDebug && QGroundControl.corePlugin.options.guidedActionsRequireRCRSSI && _activeVehicle) ? _rcRSSIAvailable : _activeVehicle
     property var    _activeVehicle:         QGroundControl.multiVehicleManager.activeVehicle
     property string _flightMode:            _activeVehicle ? _activeVehicle.flightMode : ""
-    property bool   _missionAvailable:      missionController.containsItems
+    property bool   _missionAvailable:      wimaEnabled ? wimaMenu.missionReadyForStart : missionController.containsItems
     property bool   _missionActive:         _activeVehicle ? _vehicleArmed && (_vehicleInLandMode || _vehicleInRTLMode || _vehicleInMissionMode) : false
     property bool   _vehicleArmed:          _activeVehicle ? _activeVehicle.armed  : false
     property bool   _vehicleFlying:         _activeVehicle ? _activeVehicle.flying  : false

src/FlightMap/MapItems/PlanMapItems.qml

@@ -33,7 +33,9 @@ Item {
 
     // Add the mission item visuals to the map
     Repeater {
-        model: largeMapView ? _missionController.visualItems : 0
+        property bool show: largeMapView
+        property var wimaController
+        model: show ? _missionController.visualItems : 0
 
         delegate: MissionItemMapVisual {
             map:        _map

src/FlightMap/MapItems/WimaPlanMapItems.qml

@@ -30,8 +30,29 @@ Item {
     property var    _map: map
     property var    _missionLineViewComponent
 
+    property var zoom: map.zoomLevel
     property bool showItems:        true
 
+//    onZoomChanged: {
+//        console.log('zoomLevel')
+//        console.log(zoom)
+//    }
+
+    function hideNumber() {
+        if (zoom > 19.5) {
+            return 1
+        } else if (zoom > 19) {
+            return 2
+        } else if (zoom > 17) {
+            return 4
+        } else if (zoom > 14) {
+            return 8
+        } else {
+            return -1
+        }
+
+    }
+
     Component {
         id: missionLineViewComponent
 
@@ -51,6 +72,17 @@ Item {
             map:        _map
             color:     _root.color
             zOrder:    _root.zOrderWP
+            visible:   isVisible(index) && _root.visible
+
+
+            function isVisible(index) {
+                var num = hideNumber()
+                if (num > 0) {
+                    return ((index+num) % num) == 0 ? true : false
+                } else {
+                    return false
+                }
+            }
         }
     }
 

src/MissionManager/MissionController.h

@@ -101,6 +101,7 @@ public:
     Q_PROPERTY(QString              corridorScanComplexItemName     READ corridorScanComplexItemName    CONSTANT)
     Q_PROPERTY(QString              structureScanComplexItemName    READ structureScanComplexItemName   CONSTANT)
 
+
     Q_INVOKABLE void removeMissionItem(int index);
 
     /// Add a new simple mission item to the list

src/PlanView/WimaMissionItemMapVisual.qml

@@ -107,7 +107,7 @@ Item {
 
         MissionItemIndicator {
             coordinate:     _missionItem.coordinate
-            visible:        _missionItem.specifiesCoordinate
+            visible:        _missionItem.specifiesCoordinate && _root.visible
             z:              _root.zOrder
             missionItem:    _missionItem
             sequenceNumber: _missionItem.sequenceNumber

src/Wima/WimaController.cc

@@ -970,10 +970,11 @@ void WimaController::checkBatteryLevel()
     Vehicle *managerVehicle = masterController()->managerVehicle();
     WimaSettings* wimaSettings = qgcApp()->toolbox()->settingsManager()->wimaSettings();
     int batteryThreshold = wimaSettings->lowBatteryThreshold()->rawValue().toInt();
+    bool enabled = _enableWimaController.rawValue().toBool();
 
     static long attemptCounter = 0;
 
-    if (managerVehicle != nullptr) {
+    if (managerVehicle != nullptr && enabled == true) {
         Fact *battery1percentRemaining = managerVehicle->battery1FactGroup()->getFact(VehicleBatteryFactGroup::_percentRemainingFactName);
         Fact *battery2percentRemaining = managerVehicle->battery2FactGroup()->getFact(VehicleBatteryFactGroup::_percentRemainingFactName);
 

src/main.cc

@@ -32,6 +32,14 @@
     #include "RunGuard.h"
 #endif
 
+#ifndef QML_PROFILE
+#define QML_PROFILE 1
+#endif
+
+#if QML_PROFILE
+#include <QQmlDebuggingEnabler>
+#endif
+
 #ifdef UNITTEST_BUILD
     #include "UnitTest.h"
 #endif
@@ -246,6 +254,11 @@ int main(int argc, char *argv[])
     //-- Initialize Cache System
     getQGCMapEngine()->init();
 
+
+#if QML_PROFILE
+   QQmlDebuggingEnabler enabler;
+#endif
+
     int exitCode = 0;
 
 #ifdef UNITTEST_BUILD

src/ui/MainWindowInner.qml

@@ -42,6 +42,8 @@ Item {
     readonly property string _wimaViewSource:       "WimaView.qml"
     readonly property string _analyzeViewSource:    "AnalyzeView.qml"
 
+    readonly property int _messageLifeTime: 10000 // ms, messages will be removed from the screen after this time
+
     onHeightChanged: {
         //-- We only deal with the available height if within the Fly or Plan view
         if(!setupViewLoader.visible) {
@@ -656,7 +658,7 @@ Item {
         // Message life-time timer
         Timer {
             id: lifetimeTimer
-            interval: 10000 // ms
+            interval: _messageLifeTime // ms
             repeat: false
 
             onTriggered: {