src/MissionManager/PlanMasterController.cc

@@ -155,37 +155,59 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
         connect(_managerVehicle->rallyPointManager(),   &RallyPointManager::sendComplete,           this, &PlanMasterController::_sendRallyPointsComplete);
     }
 
-    emit managerVehicleChanged(_managerVehicle);
-
-    // Vehicle changed so we need to signal everything
     _offline = newOffline;
-    emit containsItemsChanged(containsItems());
-    emit syncInProgressChanged();
-    emit dirtyChanged(dirty());
     emit offlineChanged(offline());
+    emit managerVehicleChanged(_managerVehicle);
 
-    if (!_flyView) {
-        if (!offline()) {
-            // We are in Plan view and we have a newly connected vehicle:
-            //  - If there is no plan available in Plan view show the one from the vehicle
-            //  - Otherwise leave the current plan alone
-            if (!containsItems()) {
-                qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Plan view is empty so loading from manager";
-                _showPlanFromManagerVehicle();
-            }
-        }
-    } else {
-        if (offline()) {
-            // No more active vehicle, clear mission
-            qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Fly view is offline clearing plan";
+    if (_flyView) {
+        // We are in the Fly View
+        if (newOffline) {
+            // No active vehicle, clear mission
+            qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Fly View - No active vehicle, clearing stale plan";
             removeAll();
         } else {
             // Fly view has changed to a new active vehicle, update to show correct mission
-            qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Fly view is online so loading from manager";
+            qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Fly View - New active vehicle, loading new plan from manager vehicle";
             _showPlanFromManagerVehicle();
         }
+    } else {
+        // We are in the Plan view.
+        if (containsItems()) {
+            // The plan view has a stale plan in it
+            if (dirty()) {
+                // Plan is dirty, the user must decide what to do in all cases
+                qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Plan View - Previous dirty plan exists, no new active vehicle, sending promptForPlanUsageOnVehicleChange signal";
+                emit promptForPlanUsageOnVehicleChange();
+            } else {
+                // Plan is not dirty
+                if (newOffline) {
+                    // The active vehicle went away with no new active vehicle
+                    qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Plan View - Previous clean plan exists, no new active vehicle, clear stale plan";
+                    removeAll();
+                } else {
+                    // We are transitioning from one active vehicle to another. Show the plan from the new vehicle.
+                    qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Plan View - Previous clean plan exists, new active vehicle, loading from new manager vehicle";
+                    _showPlanFromManagerVehicle();
+                }
+            }
+        } else {
+            // There is no previous Plan in the view
+            if (newOffline) {
+                // Nothing special to do in this case
+                qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Plan View - No previous plan, no longer connected to vehicle, nothing to do";
+            } else {
+                // Just show the plan from the new vehicle
+                qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Plan View - No previous plan, new active vehicle, loading from new manager vehicle";
+                _showPlanFromManagerVehicle();
+            }
+        }
     }
 
+    // Vehicle changed so we need to signal everything
+    emit containsItemsChanged(containsItems());
+    emit syncInProgressChanged();
+    emit dirtyChanged(dirty());
+
     _updatePlanCreatorsList();
 }
 
@@ -621,3 +643,16 @@ void PlanMasterController::_updatePlanCreatorsList(void)
         }
     }
 }
+
+void PlanMasterController::showPlanFromManagerVehicle(void)
+{
+    if (offline()) {
+        // There is no new vehicle so clear any previous plan
+        qCDebug(PlanMasterControllerLog) << "showPlanFromManagerVehicle: Plan View - No new vehicle, clear any previous plan";
+        removeAll();
+    } else {
+        // We have a new active vehicle, show the plan from that
+        qCDebug(PlanMasterControllerLog) << "showPlanFromManagerVehicle: Plan View - New vehicle available, show plan from new manager vehicle";
+        _showPlanFromManagerVehicle();
+    }
+}

src/MissionManager/PlanMasterController.h

@@ -64,6 +64,9 @@ public:
     /// a nightmare of circular header dependency problems.
     Q_INVOKABLE int readyForSaveState(void) const { return _missionController.readyForSaveState(); }
 
+    /// Replaces any current plan with the plan from the manager vehicle even if offline.
+    Q_INVOKABLE void showPlanFromManagerVehicle(void);
+
     /// Sends a plan to the specified file
     ///     @param[in] vehicle Vehicle we are sending a plan to
     ///     @param[in] filename Plan file to load
@@ -108,13 +111,14 @@ public:
     static const char*  kJsonRallyPointsObjectKey;
 
 signals:
-    void containsItemsChanged   (bool containsItems);
-    void syncInProgressChanged  (void);
-    void dirtyChanged           (bool dirty);
-    void offlineChanged  		(bool offlineEditing);
-    void currentPlanFileChanged ();
-    void planCreatorsChanged    (QmlObjectListModel* planCreators);
-    void managerVehicleChanged  (Vehicle* managerVehicle);
+    void containsItemsChanged               (bool containsItems);
+    void syncInProgressChanged              (void);
+    void dirtyChanged                       (bool dirty);
+    void offlineChanged                     (bool offlineEditing);
+    void currentPlanFileChanged             (void);
+    void planCreatorsChanged                (QmlObjectListModel* planCreators);
+    void managerVehicleChanged              (Vehicle* managerVehicle);
+    void promptForPlanUsageOnVehicleChange  (void);
 
 private slots:
     void _activeVehicleChanged      (Vehicle* activeVehicle);

src/PlanView/PlanView.qml

@@ -53,6 +53,7 @@ Item {
     property int    _toolStripBottom:                   toolStrip.height + toolStrip.y
     property var    _appSettings:                       QGroundControl.settingsManager.appSettings
     property var    _planViewSettings:                  QGroundControl.settingsManager.planViewSettings
+    property bool   _promptForPlanUsageShowing:         false
 
     readonly property var       _layers:                [_layerMission, _layerGeoFence, _layerRallyPoints]
 
@@ -134,6 +135,53 @@ Item {
         }
     }
 
+    Component {
+        id: promptForPlanUsageOnVehicleChangePopupComponent
+        QGCPopupDialog {
+            title:      _planMasterController.managerVehicle.isOfflineEditingVehicle ? qsTr("Plan View - Vehicle Disconnected") : qsTr("Plan View - Vehicle Changed")
+            buttons:    StandardButton.NoButton
+
+            ColumnLayout {
+                QGCLabel {
+                    Layout.maximumWidth:    parent.width
+                    wrapMode:               QGCLabel.WordWrap
+                    text:                   _planMasterController.managerVehicle.isOfflineEditingVehicle ?
+                                                qsTr("The vehicle associated with the plan in the Plan View is no longer available. What would you like to do with that plan?") :
+                                                qsTr("The plan being worked on in the Plan View is not from the current vehicle. What would you like to do with that plan?")
+                }
+
+                QGCButton {
+                    Layout.fillWidth:   true
+                    text:               _planMasterController.dirty ?
+                                            (_planMasterController.managerVehicle.isOfflineEditingVehicle ?
+                                                 qsTr("Discard Unsaved Changes") :
+                                                 qsTr("Discard Unsaved Changes, Load New Plan From Vehicle")) :
+                                            qsTr("Load New Plan From Vehicle")
+                    onClicked: {
+                        _planMasterController.showPlanFromManagerVehicle()
+                        _promptForPlanUsageShowing = false
+                        hideDialog();
+                    }
+                }
+
+                QGCButton {
+                    Layout.fillWidth:   true
+                    text:               _planMasterController.managerVehicle.isOfflineEditingVehicle ?
+                                            qsTr("Keep Current Plan") :
+                                            qsTr("Keep Current Plan, Don't Update From Vehicle")
+                    onClicked: {
+                        if (!_planMasterController.managerVehicle.isOfflineEditingVehicle) {
+                            _planMasterController.dirty = true
+                        }
+                        _promptForPlanUsageShowing = false
+                        hideDialog()
+                    }
+                }
+            }
+        }
+    }
+
+
     Component {
         id: firmwareOrVehicleMismatchUploadDialogComponent
         QGCViewMessage {
@@ -173,6 +221,13 @@ Item {
             mainWindow.planMasterControllerPlanView = _planMasterController
         }
 
+        onPromptForPlanUsageOnVehicleChange: {
+            if (!_promptForPlanUsageShowing) {
+                _promptForPlanUsageShowing = true
+                mainWindow.showPopupDialogFromComponent(promptForPlanUsageOnVehicleChangePopupComponent)
+            }
+        }
+
         function waitingOnIncompleteDataMessage(save) {
             var saveOrUpload = save ? qsTr("Save") : qsTr("Upload")
             mainWindow.showMessageDialog(qsTr("Unable to %1").arg(saveOrUpload), qsTr("Plan has incomplete items. Complete all items and %1 again.").arg(saveOrUpload))