Merge pull request #8620 from mavlink/KMLWork

Plan: Output Survey polygons with KML save

qgroundcontrol.pro

@@ -575,7 +575,8 @@ HEADERS += \
     src/Joystick/Joystick.h \
     src/Joystick/JoystickManager.h \
     src/JsonHelper.h \
-    src/KMLFileHelper.h \
+    src/KMLDomDocument.h \
+    src/KMLHelper.h \
     src/LogCompressor.h \
     src/MissionManager/CameraCalc.h \
     src/MissionManager/CameraSection.h \
@@ -780,7 +781,8 @@ SOURCES += \
     src/Joystick/Joystick.cc \
     src/Joystick/JoystickManager.cc \
     src/JsonHelper.cc \
-    src/KMLFileHelper.cc \
+    src/KMLDomDocument.cc \
+    src/KMLHelper.cc \
     src/LogCompressor.cc \
     src/MissionManager/CameraCalc.cc \
     src/MissionManager/CameraSection.cc \

src/KMLDomDocument.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "KMLDomDocument.h"
+#include "QGCPalette.h"
+#include "QGCApplication.h"
+#include "MissionCommandTree.h"
+#include "MissionCommandUIInfo.h"
+#include "FactMetaData.h"
+
+#include <QDomDocument>
+#include <QStringList>
+
+const char* KMLDomDocument::balloonStyleName = "BalloonStyle";
+
+KMLDomDocument::KMLDomDocument(const QString& name)
+{
+    QDomProcessingInstruction header = createProcessingInstruction(QStringLiteral("xml"), QStringLiteral("version=\"1.0\" encoding=\"UTF-8\""));
+    appendChild(header);
+
+    QDomElement kmlElement = createElement(QStringLiteral("kml"));
+    kmlElement.setAttribute(QStringLiteral("xmlns"), "http://www.opengis.net/kml/2.2");
+
+    _rootDocumentElement = createElement(QStringLiteral("Document"));
+    kmlElement.appendChild(_rootDocumentElement);
+    appendChild(kmlElement);
+
+    addTextElement(_rootDocumentElement, "name", name);
+    addTextElement(_rootDocumentElement, "open", "1");
+
+    _addStandardStyles();
+}
+
+QString KMLDomDocument::kmlCoordString(const QGeoCoordinate& coord)
+{
+    double altitude = qIsNaN(coord.altitude() ) ? 0 : coord.altitude();
+    return QStringLiteral("%1,%2,%3").arg(QString::number(coord.longitude(), 'f', 7)).arg(QString::number(coord.latitude(), 'f', 7)).arg(QString::number(altitude, 'f', 2));
+}
+
+QString KMLDomDocument::kmlColorString (const QColor& color, double opacity)
+{
+    return QStringLiteral("%1%2%3%4").arg(static_cast<int>(255.0 * opacity), 2, 16, QChar('0')).arg(color.blue(), 2, 16, QChar('0')).arg(color.green(), 2, 16, QChar('0')).arg(color.red(), 2, 16, QChar('0'));
+}
+
+void KMLDomDocument::_addStandardStyles(void)
+{
+    QGCPalette palette;
+
+    QDomElement styleElementForBalloon = createElement("Style");
+    styleElementForBalloon.setAttribute("id", balloonStyleName);
+    QDomElement balloonStyleElement = createElement("BalloonStyle");
+    addTextElement(balloonStyleElement, "text", "$[description]");
+    styleElementForBalloon.appendChild(balloonStyleElement);
+    _rootDocumentElement.appendChild(styleElementForBalloon);
+}
+
+void KMLDomDocument::addTextElement(QDomElement& parentElement, const QString &name, const QString &value)
+{
+    QDomElement textElement = createElement(name);
+    textElement.appendChild(createTextNode(value));
+    parentElement.appendChild(textElement);
+}
+
+void KMLDomDocument::addLookAt(QDomElement& parentElement, const QGeoCoordinate& coord)
+{
+    QDomElement lookAtElement = createElement("LookAt");
+    addTextElement(lookAtElement, "latitude",  QString::number(coord.latitude(), 'f', 7));
+    addTextElement(lookAtElement, "longitude", QString::number(coord.longitude(), 'f', 7));
+    addTextElement(lookAtElement, "altitude",  QString::number(coord.longitude(), 'f', 2));
+    addTextElement(lookAtElement, "heading",   "-100");
+    addTextElement(lookAtElement, "tilt",      "45");
+    addTextElement(lookAtElement, "range",     "2500");
+    parentElement.appendChild(lookAtElement);
+}
+
+QDomElement KMLDomDocument::addPlacemark(const QString& name, bool visible)
+{
+    QDomElement placemarkElement = createElement("Placemark");
+    _rootDocumentElement.appendChild(placemarkElement);
+
+    addTextElement(placemarkElement, "name",         name);
+    addTextElement(placemarkElement, "visibility",   visible ? "1" : "0");
+
+    return placemarkElement;
+}
+
+void KMLDomDocument::appendChildToRoot(const QDomNode& child)
+{
+    _rootDocumentElement.appendChild(child);
+}

src/KMLDomDocument.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <QDomDocument>
+#include <QDomElement>
+#include <QGeoCoordinate>
+
+class MissionItem;
+class Vehicle;
+
+/// Used to convert a Plan to a KML document
+class KMLDomDocument : public QDomDocument
+{
+
+public:
+    KMLDomDocument(const QString& name);
+
+    void        appendChildToRoot   (const QDomNode& child);
+    QDomElement addPlacemark        (const QString& name, bool visible);
+    void        addTextElement      (QDomElement& parentElement, const QString& name, const QString& value);
+    QString     kmlColorString      (const QColor& color, double opacity = 1);
+    QString     kmlCoordString      (const QGeoCoordinate& coord);
+    void        addLookAt           (QDomElement& parentElement, const QGeoCoordinate& coord);
+
+    static const char* balloonStyleName;
+
+protected:
+    QDomElement _rootDocumentElement;
+
+
+private:
+    void _addStandardStyles(void);
+};

src/KMLFileHelper.cc → src/KMLHelper.cc

@@ -7,14 +7,14 @@
  *
  ****************************************************************************/
 
-#include "KMLFileHelper.h"
+#include "KMLHelper.h"
 
 #include <QFile>
 #include <QVariant>
 
-const char* KMLFileHelper::_errorPrefix = QT_TR_NOOP("KML file load failed. %1");
+const char* KMLHelper::_errorPrefix = QT_TR_NOOP("KML file load failed. %1");
 
-QDomDocument KMLFileHelper::_loadFile(const QString& kmlFile, QString& errorString)
+QDomDocument KMLHelper::_loadFile(const QString& kmlFile, QString& errorString)
 {
     QFile file(kmlFile);
 
@@ -41,9 +41,9 @@ QDomDocument KMLFileHelper::_loadFile(const QString& kmlFile, QString& errorStri
     return doc;
 }
 
-ShapeFileHelper::ShapeType KMLFileHelper::determineShapeType(const QString& kmlFile, QString& errorString)
+ShapeFileHelper::ShapeType KMLHelper::determineShapeType(const QString& kmlFile, QString& errorString)
 {
-    QDomDocument domDocument = KMLFileHelper::_loadFile(kmlFile, errorString);
+    QDomDocument domDocument = KMLHelper::_loadFile(kmlFile, errorString);
     if (!errorString.isEmpty()) {
         return ShapeFileHelper::Error;
     }
@@ -62,12 +62,12 @@ ShapeFileHelper::ShapeType KMLFileHelper::determineShapeType(const QString& kmlF
     return ShapeFileHelper::Error;
 }
 
-bool KMLFileHelper::loadPolygonFromFile(const QString& kmlFile, QList<QGeoCoordinate>& vertices, QString& errorString)
+bool KMLHelper::loadPolygonFromFile(const QString& kmlFile, QList<QGeoCoordinate>& vertices, QString& errorString)
 {
     errorString.clear();
     vertices.clear();
 
-    QDomDocument domDocument = KMLFileHelper::_loadFile(kmlFile, errorString);
+    QDomDocument domDocument = KMLHelper::_loadFile(kmlFile, errorString);
     if (!errorString.isEmpty()) {
         return false;
     }
@@ -123,12 +123,12 @@ bool KMLFileHelper::loadPolygonFromFile(const QString& kmlFile, QList<QGeoCoordi
     return true;
 }
 
-bool KMLFileHelper::loadPolylineFromFile(const QString& kmlFile, QList<QGeoCoordinate>& coords, QString& errorString)
+bool KMLHelper::loadPolylineFromFile(const QString& kmlFile, QList<QGeoCoordinate>& coords, QString& errorString)
 {
     errorString.clear();
     coords.clear();
 
-    QDomDocument domDocument = KMLFileHelper::_loadFile(kmlFile, errorString);
+    QDomDocument domDocument = KMLHelper::_loadFile(kmlFile, errorString);
     if (!errorString.isEmpty()) {
         return false;
     }

src/KMLFileHelper.h → src/KMLHelper.h

@@ -16,7 +16,7 @@
 
 #include "ShapeFileHelper.h"
 
-class KMLFileHelper : public QObject
+class KMLHelper : public QObject
 {
     Q_OBJECT
 

src/MissionManager/ComplexMissionItem.cc

@@ -107,3 +107,8 @@ QJsonObject ComplexMissionItem::_loadPresetJson(const QString& name)
     settings.beginGroup(_presetSettingsKey);
     return QJsonDocument::fromBinaryData(settings.value(name).toByteArray()).object();
 }
+
+void ComplexMissionItem::addKMLVisuals(KMLPlanDomDocument& /* domDocument */)
+{
+    // Default implementation has no visuals
+}

src/MissionManager/ComplexMissionItem.h

@@ -13,6 +13,7 @@
 #include "QGCGeo.h"
 #include "QGCToolbox.h"
 #include "SettingsManager.h"
+#include "KMLPlanDomDocument.h"
 
 #include <QSettings>
 
@@ -51,7 +52,7 @@ public:
     ///     @param name User visible name for preset. Will replace existing preset if already exists.
     Q_INVOKABLE virtual void savePreset(const QString& name);
 
-     Q_INVOKABLE void deletePreset(const QString& name);
+    Q_INVOKABLE void deletePreset(const QString& name);
 
 
     /// Get the point of complex mission item furthest away from a coordinate
@@ -68,6 +69,8 @@ public:
     ///     Empty string signals no support for presets.
     virtual QString presetsSettingsGroup(void) { return QString(); }
 
+    virtual void addKMLVisuals(KMLPlanDomDocument& domDocument);
+
     bool presetsSupported   (void) { return !presetsSettingsGroup().isEmpty(); }
     bool isIncomplete       (void) const { return _isIncomplete; }
 

src/MissionManager/KMLPlanDomDocument.cc

@@ -13,54 +13,39 @@
 #include "MissionCommandTree.h"
 #include "MissionCommandUIInfo.h"
 #include "FactMetaData.h"
+#include "ComplexMissionItem.h"
+#include "QmlObjectListModel.h"
 
 #include <QDomDocument>
 #include <QStringList>
 
-const char* KMLPlanDomDocument::_missionLineStyleName = "MissionLineStyle";
-const char* KMLPlanDomDocument::_ballonStyleName =      "BalloonStyle";
+const char* KMLPlanDomDocument::_missionLineStyleName =     "MissionLineStyle";
+const char* KMLPlanDomDocument::surveyPolygonStyleName =   "SurveyPolygonStyle";
 
 KMLPlanDomDocument::KMLPlanDomDocument()
+    : KMLDomDocument(QStringLiteral("%1 Plan KML").arg(qgcApp()->applicationName()))
 {
-    QDomProcessingInstruction header = createProcessingInstruction(QStringLiteral("xml"), QStringLiteral("version=\"1.0\" encoding=\"UTF-8\""));
-    appendChild(header);
-
-    QDomElement kmlElement = createElement(QStringLiteral("kml"));
-    kmlElement.setAttribute(QStringLiteral("xmlns"), "http://www.opengis.net/kml/2.2");
-
-    _documentElement = createElement(QStringLiteral("Document"));
-    kmlElement.appendChild(_documentElement);
-    appendChild(kmlElement);
-
-    _addTextElement(_documentElement, "name", QStringLiteral("%1 Plan KML").arg(qgcApp()->applicationName()));
-    _addTextElement(_documentElement, "open", "1");
-
     _addStyles();
 }
 
-QString KMLPlanDomDocument::_kmlCoordString(const QGeoCoordinate& coord)
-{
-    return QStringLiteral("%1,%2,%3").arg(QString::number(coord.longitude(), 'f', 7)).arg(QString::number(coord.latitude(), 'f', 7)).arg(QString::number(coord.altitude(), 'f', 2));
-}
-
-void KMLPlanDomDocument::addMissionItems(Vehicle* vehicle, QList<MissionItem*> rgMissionItems)
+void KMLPlanDomDocument::_addFlightPath(Vehicle* vehicle, QList<MissionItem*> rgMissionItems)
 {
     if (rgMissionItems.count() == 0) {
         return;
     }
 
     QDomElement itemFolderElement = createElement("Folder");
-    _documentElement.appendChild(itemFolderElement);
+    _rootDocumentElement.appendChild(itemFolderElement);
 
-    _addTextElement(itemFolderElement, "name", "Items");
+    addTextElement(itemFolderElement, "name", "Items");
 
     QDomElement flightPathElement = createElement("Placemark");
-    _documentElement.appendChild(flightPathElement);
+    _rootDocumentElement.appendChild(flightPathElement);
 
-    _addTextElement(flightPathElement, "styleUrl",     QStringLiteral("#%1").arg(_missionLineStyleName));
-    _addTextElement(flightPathElement, "name",         "Flight Path");
-    _addTextElement(flightPathElement, "visibility",   "1");
-    _addLookAt(flightPathElement, rgMissionItems[0]->coordinate());
+    addTextElement(flightPathElement, "styleUrl",     QStringLiteral("#%1").arg(_missionLineStyleName));
+    addTextElement(flightPathElement, "name",         "Flight Path");
+    addTextElement(flightPathElement, "visibility",   "1");
+    addLookAt(flightPathElement, rgMissionItems[0]->coordinate());
 
     // Build up the mission trajectory line coords
     QList<QGeoCoordinate> rgFlightCoords;
@@ -87,13 +72,13 @@ void KMLPlanDomDocument::addMissionItems(Vehicle* vehicle, QList<MissionItem*> r
                 // Add a place mark for each WP
 
                 QDomElement wpPlacemarkElement = createElement("Placemark");
-                _addTextElement(wpPlacemarkElement, "name",     QStringLiteral("%1 %2").arg(QString::number(item->sequenceNumber())).arg(item->command() == MAV_CMD_NAV_WAYPOINT ? "" : uiInfo->friendlyName()));
-                _addTextElement(wpPlacemarkElement, "styleUrl", QStringLiteral("#%1").arg(_ballonStyleName));
+                addTextElement(wpPlacemarkElement, "name",     QStringLiteral("%1 %2").arg(QString::number(item->sequenceNumber())).arg(item->command() == MAV_CMD_NAV_WAYPOINT ? "" : uiInfo->friendlyName()));
+                addTextElement(wpPlacemarkElement, "styleUrl", QStringLiteral("#%1").arg(balloonStyleName));
 
                 QDomElement wpPointElement = createElement("Point");
-                _addTextElement(wpPointElement, "altitudeMode", "absolute");
-                _addTextElement(wpPointElement, "coordinates",  _kmlCoordString(coord));
-                _addTextElement(wpPointElement, "extrude",      "1");
+                addTextElement(wpPointElement, "altitudeMode", "absolute");
+                addTextElement(wpPointElement, "coordinates",  kmlCoordString(coord));
+                addTextElement(wpPointElement, "extrude",      "1");
 
                 QDomElement descriptionElement = createElement("description");
                 QString htmlString;
@@ -118,20 +103,31 @@ void KMLPlanDomDocument::addMissionItems(Vehicle* vehicle, QList<MissionItem*> r
     QDomElement lineStringElement = createElement("LineString");
     flightPathElement.appendChild(lineStringElement);
 
-    _addTextElement(lineStringElement, "extruder",      "1");
-    _addTextElement(lineStringElement, "tessellate",    "1");
-    _addTextElement(lineStringElement, "altitudeMode",  "absolute");
+    addTextElement(lineStringElement, "extruder",      "1");
+    addTextElement(lineStringElement, "tessellate",    "1");
+    addTextElement(lineStringElement, "altitudeMode",  "absolute");
 
     QString coordString;
     for (const QGeoCoordinate& coord : rgFlightCoords) {
-        coordString += QStringLiteral("%1\n").arg(_kmlCoordString(coord));
+        coordString += QStringLiteral("%1\n").arg(kmlCoordString(coord));
     }
-    _addTextElement(lineStringElement, "coordinates", coordString);
+    addTextElement(lineStringElement, "coordinates", coordString);
 }
 
-QString KMLPlanDomDocument::_kmlColorString (const QColor& color)
+void KMLPlanDomDocument::_addComplexItems(QmlObjectListModel* visualItems)
 {
-    return QStringLiteral("ff%1%2%3").arg(color.blue(), 2, 16, QChar('0')).arg(color.green(), 2, 16, QChar('0')).arg(color.red(), 2, 16, QChar('0'));
+    for (int i=0; i<visualItems->count(); i++) {
+        ComplexMissionItem* complexItem = visualItems->value<ComplexMissionItem*>(i);
+        if (complexItem) {
+            complexItem->addKMLVisuals(*this);
+        }
+    }
+}
+
+void KMLPlanDomDocument::addMission(Vehicle* vehicle, QmlObjectListModel* visualItems, QList<MissionItem*> rgMissionItems)
+{
+    _addFlightPath(vehicle, rgMissionItems);
+    _addComplexItems(visualItems);
 }
 
 void KMLPlanDomDocument::_addStyles(void)
@@ -141,35 +137,20 @@ void KMLPlanDomDocument::_addStyles(void)
     QDomElement styleElement1 = createElement("Style");
     styleElement1.setAttribute("id", _missionLineStyleName);
     QDomElement lineStyleElement = createElement("LineStyle");
-    _addTextElement(lineStyleElement, "color", _kmlColorString(palette.mapMissionTrajectory()));
-    _addTextElement(lineStyleElement, "width", "4");
+    addTextElement(lineStyleElement, "color", kmlColorString(palette.mapMissionTrajectory()));
+    addTextElement(lineStyleElement, "width", "4");
     styleElement1.appendChild(lineStyleElement);
 
+    QString kmlSurveyColorString = kmlColorString(palette.surveyPolygonInterior(), 0.5 /* opacity */);
     QDomElement styleElement2 = createElement("Style");
-    styleElement2.setAttribute("id", _ballonStyleName);
-    QDomElement balloonStyleElement = createElement("BalloonStyle");
-    _addTextElement(balloonStyleElement, "text", "$[description]");
-    styleElement2.appendChild(balloonStyleElement);
-
-    _documentElement.appendChild(styleElement1);
-    _documentElement.appendChild(styleElement2);
-}
-
-void KMLPlanDomDocument::_addTextElement(QDomElement &element, const QString &name, const QString &value)
-{
-    QDomElement textElement = createElement(name);
-    textElement.appendChild(createTextNode(value));
-    element.appendChild(textElement);
-}
-
-void KMLPlanDomDocument::_addLookAt(QDomElement& element, const QGeoCoordinate& coord)
-{
-    QDomElement lookAtElement = createElement("LookAt");
-    _addTextElement(lookAtElement, "latitude",  QString::number(coord.latitude(), 'f', 7));
-    _addTextElement(lookAtElement, "longitude", QString::number(coord.longitude(), 'f', 7));
-    _addTextElement(lookAtElement, "altitude",  QString::number(coord.longitude(), 'f', 2));
-    _addTextElement(lookAtElement, "heading",   "-100");
-    _addTextElement(lookAtElement, "tilt",      "45");
-    _addTextElement(lookAtElement, "range",     "2500");
-    element.appendChild(lookAtElement);
+    styleElement2.setAttribute("id", surveyPolygonStyleName);
+    QDomElement polygonStyleElement = createElement("PolyStyle");
+    addTextElement(polygonStyleElement, "color", kmlSurveyColorString);
+    QDomElement polygonLineStyleElement = createElement("LineStyle");
+    addTextElement(polygonLineStyleElement, "color", kmlSurveyColorString);
+    styleElement2.appendChild(polygonStyleElement);
+    styleElement2.appendChild(polygonLineStyleElement);
+
+    _rootDocumentElement.appendChild(styleElement1);
+    _rootDocumentElement.appendChild(styleElement2);
 }

src/MissionManager/KMLPlanDomDocument.h

@@ -9,31 +9,27 @@
 
 #pragma once
 
-#include <QDomDocument>
-#include <QDomElement>
-#include <QGeoCoordinate>
+#include "KMLDomDocument.h"
 
 class MissionItem;
 class Vehicle;
+class QmlObjectListModel;
 
 /// Used to convert a Plan to a KML document
-class KMLPlanDomDocument : public QDomDocument
+class KMLPlanDomDocument : public KMLDomDocument
 {
 
 public:
     KMLPlanDomDocument();
 
-    void addMissionItems(Vehicle* vehicle, QList<MissionItem*> rgMissionItems);
+    void addMission(Vehicle* vehicle, QmlObjectListModel* visualItems, QList<MissionItem*> rgMissionItems);
 
-private:
-    void    _addStyles      (void);
-    QString _kmlColorString (const QColor& color);
-    void    _addTextElement (QDomElement& element, const QString& name, const QString& value);
-    QString _kmlCoordString (const QGeoCoordinate& coord);
-    void    _addLookAt(QDomElement& element, const QGeoCoordinate& coord);
+    static const char* surveyPolygonStyleName;
 
-    QDomElement _documentElement;
+private:
+    void _addStyles         (void);
+    void _addFlightPath     (Vehicle* vehicle, QList<MissionItem*> rgMissionItems);
+    void _addComplexItems   (QmlObjectListModel* visualItems);
 
     static const char* _missionLineStyleName;
-    static const char* _ballonStyleName;
 };

src/MissionManager/MissionController.cc

@@ -279,7 +279,7 @@ void MissionController::addMissionToKML(KMLPlanDomDocument& planKML)
     QList<MissionItem*> rgMissionItems;
 
     _convertToMissionItems(_visualItems, rgMissionItems, deleteParent);
-    planKML.addMissionItems(_controllerVehicle, rgMissionItems);
+    planKML.addMission(_controllerVehicle, _visualItems, rgMissionItems);
     deleteParent->deleteLater();
 }
 

src/MissionManager/QGCMapPolygon.cc

@@ -555,3 +555,46 @@ void QGCMapPolygon::_endResetIfNotActive(void)
         endReset();
     }
 }
+
+QDomElement QGCMapPolygon::kmlPolygonElement(KMLDomDocument& domDocument)
+{
+#if 0
+    <Polygon id="ID">
+      <!-- specific to Polygon -->
+      <extrude>0</extrude>                       <!-- boolean -->
+      <tessellate>0</tessellate>                 <!-- boolean -->
+      <altitudeMode>clampToGround</altitudeMode>
+            <!-- kml:altitudeModeEnum: clampToGround, relativeToGround, or absolute -->
+            <!-- or, substitute gx:altitudeMode: clampToSeaFloor, relativeToSeaFloor -->
+      <outerBoundaryIs>
+        <LinearRing>
+          <coordinates>...</coordinates>         <!-- lon,lat[,alt] -->
+        </LinearRing>
+      </outerBoundaryIs>
+      <innerBoundaryIs>
+        <LinearRing>
+          <coordinates>...</coordinates>         <!-- lon,lat[,alt] -->
+        </LinearRing>
+      </innerBoundaryIs>
+    </Polygon>
+#endif
+
+    QDomElement polygonElement = domDocument.createElement("Polygon");
+
+    domDocument.addTextElement(polygonElement, "altitudeMode", "clampToGround");
+
+    QDomElement outerBoundaryIsElement = domDocument.createElement("outerBoundaryIs");
+    QDomElement linearRingElement = domDocument.createElement("LinearRing");
+
+    outerBoundaryIsElement.appendChild(linearRingElement);
+    polygonElement.appendChild(outerBoundaryIsElement);
+
+    QString coordString;
+    for (const QVariant& varCoord : _polygonPath) {
+        coordString += QStringLiteral("%1\n").arg(domDocument.kmlCoordString(varCoord.value<QGeoCoordinate>()));
+    }
+    coordString += QStringLiteral("%1\n").arg(domDocument.kmlCoordString(_polygonPath.first().value<QGeoCoordinate>()));
+    domDocument.addTextElement(linearRingElement, "coordinates", coordString);
+
+    return polygonElement;
+}

src/MissionManager/QGCMapPolygon.h

@@ -16,6 +16,7 @@
 #include <QPolygon>
 
 #include "QmlObjectListModel.h"
+#include "KMLDomDocument.h"
 
 /// The QGCMapPolygon class provides a polygon which can be displayed on a map using a map visuals control.
 /// It maintains a representation of the polygon on QVariantList and QmlObjectListModel format.
@@ -92,6 +93,8 @@ public:
     /// Returns the area of the polygon in meters squared
     double area(void) const;
 
+    QDomElement kmlPolygonElement(KMLDomDocument& domDocument);
+
     // Property methods
 
     int             count       (void) const { return _polygonPath.count(); }

src/MissionManager/QGCMapPolyline.cc

@@ -12,7 +12,7 @@
 #include "JsonHelper.h"
 #include "QGCQGeoCoordinate.h"
 #include "QGCApplication.h"
-#include "KMLFileHelper.h"
+#include "KMLHelper.h"
 
 #include <QGeoRectangle>
 #include <QDebug>
@@ -352,7 +352,7 @@ bool QGCMapPolyline::loadKMLFile(const QString& kmlFile)
 
     QString errorString;
     QList<QGeoCoordinate> rgCoords;
-    if (!KMLFileHelper::loadPolylineFromFile(kmlFile, rgCoords, errorString)) {
+    if (!KMLHelper::loadPolylineFromFile(kmlFile, rgCoords, errorString)) {
         qgcApp()->showMessage(errorString);
         return false;
     }

src/MissionManager/TransectStyleComplexItem.cc

@@ -989,3 +989,15 @@ void TransectStyleComplexItem::_appendLoadedMissionItems(QList<MissionItem*>& it
         items.append(item);
     }
 }
+
+void TransectStyleComplexItem::addKMLVisuals(KMLPlanDomDocument& domDocument)
+{
+    // We add the survey area polygon as a Placemark
+
+    QDomElement placemarkElement = domDocument.addPlacemark(QStringLiteral("Survey Area"), true);
+    QDomElement polygonElement = _surveyAreaPolygon.kmlPolygonElement(domDocument);
+
+    placemarkElement.appendChild(polygonElement);
+    domDocument.addTextElement(placemarkElement, "styleUrl", QStringLiteral("#%1").arg(domDocument.surveyPolygonStyleName));
+    domDocument.appendChildToRoot(placemarkElement);
+}

src/MissionManager/TransectStyleComplexItem.h

@@ -78,10 +78,10 @@ public:
     int _transectCount(void) const { return _transects.count(); }
 
     // Overrides from ComplexMissionItem
-
-    int                 lastSequenceNumber  (void) const final;
-    QString             mapVisualQML        (void) const override = 0;
-    bool                load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) override = 0;
+    int             lastSequenceNumber  (void) const final;
+    QString         mapVisualQML        (void) const override = 0;
+    bool            load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) override = 0;
+    void            addKMLVisuals       (KMLPlanDomDocument& domDocument) final;
 
     double          complexDistance     (void) const final { return _complexDistance; }
     double          greatestDistanceTo  (const QGeoCoordinate &other) const final;

src/PlanView/TransectStyleMapVisuals.qml

@@ -73,7 +73,7 @@ Item {
         interactive:        polygonInteractive && _missionItem.isCurrentItem
         borderWidth:        1
         borderColor:        "black"
-        interiorColor:      "green"
+        interiorColor:      QGroundControl.globalPalette.surveyPolygonInterior
         interiorOpacity:    0.5
     }
 

src/QGCPalette.cc

@@ -87,9 +87,10 @@ void QGCPalette::_buildMap()
     DECLARE_QGC_NONTHEMED_COLOR(brandingBlue,   "#48D6FF", "#6045c5")
 
     // Colors not affecting by theming or enable/disable
-    DECLARE_QGC_SINGLE_COLOR(mapWidgetBorderLight, "#ffffff")
-    DECLARE_QGC_SINGLE_COLOR(mapWidgetBorderDark,  "#000000")
-    DECLARE_QGC_SINGLE_COLOR(mapMissionTrajectory, "#be781c")
+    DECLARE_QGC_SINGLE_COLOR(mapWidgetBorderLight,  "#ffffff")
+    DECLARE_QGC_SINGLE_COLOR(mapWidgetBorderDark,   "#000000")
+    DECLARE_QGC_SINGLE_COLOR(mapMissionTrajectory,  "#be781c")
+    DECLARE_QGC_SINGLE_COLOR(surveyPolygonInterior, "green")
 }
 
 void QGCPalette::setColorGroupEnabled(bool enabled)

src/QGCPalette.h

@@ -147,6 +147,7 @@ public:
     DEFINE_QGC_COLOR(statusFailedText,      setstatusFailedText)
     DEFINE_QGC_COLOR(statusPassedText,      setstatusPassedText)
     DEFINE_QGC_COLOR(statusPendingText,     setstatusPendingText)
+    DEFINE_QGC_COLOR(surveyPolygonInterior, setSurveyPolygonInterior)
 
      QGCPalette(QObject* parent = nullptr);
     ~QGCPalette();

src/ShapeFileHelper.cc

@@ -9,7 +9,7 @@
 
 #include "ShapeFileHelper.h"
 #include "AppSettings.h"
-#include "KMLFileHelper.h"
+#include "KMLHelper.h"
 #include "SHPFileHelper.h"
 
 #include <QFile>
@@ -52,7 +52,7 @@ ShapeFileHelper::ShapeType ShapeFileHelper::determineShapeType(const QString& fi
     bool fileIsKML = _fileIsKML(file, errorString);
     if (errorString.isEmpty()) {
         if (fileIsKML) {
-            shapeType = KMLFileHelper::determineShapeType(file, errorString);
+            shapeType = KMLHelper::determineShapeType(file, errorString);
         } else {
             shapeType = SHPFileHelper::determineShapeType(file, errorString);
         }
@@ -71,7 +71,7 @@ bool ShapeFileHelper::loadPolygonFromFile(const QString& file, QList<QGeoCoordin
     bool fileIsKML = _fileIsKML(file, errorString);
     if (errorString.isEmpty()) {
         if (fileIsKML) {
-            success = KMLFileHelper::loadPolygonFromFile(file, vertices, errorString);
+            success = KMLHelper::loadPolygonFromFile(file, vertices, errorString);
         } else {
             success = SHPFileHelper::loadPolygonFromFile(file, vertices, errorString);
         }
@@ -88,7 +88,7 @@ bool ShapeFileHelper::loadPolylineFromFile(const QString& file, QList<QGeoCoordi
     bool fileIsKML = _fileIsKML(file, errorString);
     if (errorString.isEmpty()) {
         if (fileIsKML) {
-            KMLFileHelper::loadPolylineFromFile(file, coords, errorString);
+            KMLHelper::loadPolylineFromFile(file, coords, errorString);
         } else {
             errorString = QString(_errorPrefix).arg(tr("Polyline not support from SHP files."));
         }