Merge pull request #7383 from DonLakeFlyer/FenceReturnPoint

Add support for geofence return point.

qgroundcontrol.qrc

@@ -212,6 +212,7 @@
     </qresource>
     <qresource prefix="/json">
 		<file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>
+		<file alias="BreachReturn.FactMetaData.json">src/MissionManager/BreachReturn.FactMetaData.json</file>
         <file alias="CameraCalc.FactMetaData.json">src/MissionManager/CameraCalc.FactMetaData.json</file>
         <file alias="CameraSpec.FactMetaData.json">src/MissionManager/CameraSpec.FactMetaData.json</file>
         <file alias="CorridorScan.SettingsGroup.json">src/MissionManager/CorridorScan.SettingsGroup.json</file>

src/MissionManager/BreachReturn.FactMetaData.json

@@ -0,0 +1,21 @@
+[
+{
+    "name":             "Latitude",
+    "shortDescription": "Latitude of breach return point position",
+    "type":             "double",
+    "decimalPlaces":    7
+},
+{
+    "name":             "Longitude",
+    "shortDescription": "Longitude of breach return point position",
+    "type":             "double",
+    "decimalPlaces":    7
+},
+{
+    "name":             "Altitude",
+    "shortDescription": "Altitude of breach return point position (Rel)",
+    "type":             "double",
+    "decimalPlaces":    2,
+    "units":            "m"
+}
+]

src/MissionManager/GeoFenceController.cc

@@ -21,6 +21,8 @@
 #include "QGCQGeoCoordinate.h"
 #include "AppSettings.h"
 #include "PlanMasterController.h"
+#include "SettingsManager.h"
+#include "AppSettings.h"
 
 #ifndef __mobile__
 #include "MainWindow.h"
@@ -32,24 +34,43 @@
 
 QGC_LOGGING_CATEGORY(GeoFenceControllerLog, "GeoFenceControllerLog")
 
+QMap<QString, FactMetaData*> GeoFenceController::_metaDataMap;
+
 const char* GeoFenceController::_jsonFileTypeValue =        "GeoFence";
 const char* GeoFenceController::_jsonBreachReturnKey =      "breachReturn";
 const char* GeoFenceController::_jsonPolygonsKey =          "polygons";
 const char* GeoFenceController::_jsonCirclesKey =           "circles";
 
+const char* GeoFenceController::_breachReturnAltitudeFactName = "Altitude";
+
 const char* GeoFenceController::_px4ParamCircularFence =    "GF_MAX_HOR_DIST";
 
 GeoFenceController::GeoFenceController(PlanMasterController* masterController, QObject* parent)
-    : PlanElementController     (masterController, parent)
-    , _geoFenceManager          (_managerVehicle->geoFenceManager())
-    , _dirty                    (false)
+    : PlanElementController         (masterController, parent)
+    , _geoFenceManager              (_managerVehicle->geoFenceManager())
+    , _dirty                        (false)
+    , _breachReturnAltitudeFact     (0, _breachReturnAltitudeFactName, FactMetaData::valueTypeDouble)
+    , _breachReturnDefaultAltitude  (qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble())
+
     , _itemsRequested           (false)
-    , _px4ParamCircularFenceFact(NULL)
+    , _px4ParamCircularFenceFact(nullptr)
 {
+    if (_metaDataMap.isEmpty()) {
+        _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/BreachReturn.FactMetaData.json"), nullptr /* metaDataParent */);
+    }
+
+    _breachReturnAltitudeFact.setMetaData(_metaDataMap[_breachReturnAltitudeFactName]);
+    _breachReturnAltitudeFact.setRawValue(_breachReturnDefaultAltitude);
+
     connect(&_polygons, &QmlObjectListModel::countChanged, this, &GeoFenceController::_updateContainsItems);
     connect(&_circles,  &QmlObjectListModel::countChanged, this, &GeoFenceController::_updateContainsItems);
 
     managerVehicleChanged(_managerVehicle);
+
+    connect(this,                       &GeoFenceController::breachReturnPointChanged,  this, &GeoFenceController::_setDirty);
+    connect(&_breachReturnAltitudeFact, &Fact::rawValueChanged,                         this, &GeoFenceController::_setDirty);
+    connect(&_polygons,                 &QmlObjectListModel::dirtyChanged,              this, &GeoFenceController::_setDirty);
+    connect(&_circles,                  &QmlObjectListModel::dirtyChanged,              this, &GeoFenceController::_setDirty);
 }
 
 GeoFenceController::~GeoFenceController()
@@ -79,26 +100,19 @@ void GeoFenceController::setBreachReturnPoint(const QGeoCoordinate& breachReturn
     }
 }
 
-void GeoFenceController::_signalAll(void)
-{
-    emit breachReturnPointChanged(breachReturnPoint());
-    emit dirtyChanged(dirty());
-    emit supportedChanged(supported());
-}
-
 void GeoFenceController::managerVehicleChanged(Vehicle* managerVehicle)
 {
     if (_managerVehicle) {
         _geoFenceManager->disconnect(this);
         _managerVehicle->disconnect(this);
         _managerVehicle->parameterManager()->disconnect(this);
-        _managerVehicle = NULL;
-        _geoFenceManager = NULL;
+        _managerVehicle = nullptr;
+        _geoFenceManager = nullptr;
     }
 
     _managerVehicle = managerVehicle;
     if (!_managerVehicle) {
-        qWarning() << "GeoFenceController::managerVehicleChanged managerVehicle=NULL";
+        qWarning() << "GeoFenceController::managerVehicleChanged managerVehicle=nullptr";
         return;
     }
 
@@ -114,7 +128,6 @@ void GeoFenceController::managerVehicleChanged(Vehicle* managerVehicle)
     _parametersReady();
 
     emit supportedChanged(supported());
-    _signalAll();
 }
 
 bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
@@ -133,6 +146,7 @@ bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
         { JsonHelper::jsonVersionKey,   QJsonValue::Double, true },
         { _jsonCirclesKey,              QJsonValue::Array,  true },
         { _jsonPolygonsKey,             QJsonValue::Array,  true },
+        { _jsonBreachReturnKey,         QJsonValue::Array,  false },
     };
     if (!JsonHelper::validateKeys(json, keyInfoList, errorString)) {
         return false;
@@ -144,7 +158,7 @@ bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
     }
 
     QJsonArray jsonPolygonArray = json[_jsonPolygonsKey].toArray();
-    for (const QJsonValue& jsonPolygonValue: jsonPolygonArray) {
+    for (const QJsonValue jsonPolygonValue: jsonPolygonArray) {
         if (jsonPolygonValue.type() != QJsonValue::Object) {
             errorString = tr("GeoFence polygon not stored as object");
             return false;
@@ -158,7 +172,7 @@ bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
     }
 
     QJsonArray jsonCircleArray = json[_jsonCirclesKey].toArray();
-    for (const QJsonValue& jsonCircleValue: jsonCircleArray) {
+    for (const QJsonValue jsonCircleValue: jsonCircleArray) {
         if (jsonCircleValue.type() != QJsonValue::Object) {
             errorString = tr("GeoFence circle not stored as object");
             return false;
@@ -171,8 +185,18 @@ bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
         _circles.append(fenceCircle);
     }
 
+    if (json.contains(_jsonBreachReturnKey)) {
+        if (!JsonHelper::loadGeoCoordinate(json[_jsonBreachReturnKey], true /* altitudeRequred */, _breachReturnPoint, errorString)) {
+            return false;
+        }
+        _breachReturnAltitudeFact.setRawValue(_breachReturnPoint.altitude());
+    } else {
+        _breachReturnPoint = QGeoCoordinate();
+        _breachReturnAltitudeFact.setRawValue(_breachReturnDefaultAltitude);
+    }
+    emit breachReturnPointChanged(_breachReturnPoint);
+
     setDirty(false);
-    _signalAll();
 
     return true;
 }
@@ -198,6 +222,14 @@ void GeoFenceController::save(QJsonObject& json)
         jsonCircleArray.append(jsonCircle);
     }
     json[_jsonCirclesKey] = jsonCircleArray;
+
+    if (_breachReturnPoint.isValid()) {
+        QJsonValue jsonCoordinate;
+
+        _breachReturnPoint.setAltitude(_breachReturnAltitudeFact.rawValue().toDouble());
+        JsonHelper::saveGeoCoordinate(_breachReturnPoint, true /* writeAltitude */, jsonCoordinate);
+        json[_jsonBreachReturnKey] = jsonCoordinate;
+    }
 }
 
 void GeoFenceController::removeAll(void)
@@ -305,6 +337,11 @@ void GeoFenceController::_setReturnPointFromManager(QGeoCoordinate breachReturnP
 {
     _breachReturnPoint = breachReturnPoint;
     emit breachReturnPointChanged(_breachReturnPoint);
+    if (_breachReturnPoint.isValid()) {
+        _breachReturnAltitudeFact.setRawValue(_breachReturnPoint.altitude());
+    } else {
+        _breachReturnAltitudeFact.setRawValue(_breachReturnDefaultAltitude);
+    }
 }
 
 void GeoFenceController::_managerLoadComplete(void)
@@ -315,7 +352,6 @@ void GeoFenceController::_managerLoadComplete(void)
         _setReturnPointFromManager(_geoFenceManager->breachReturnPoint());
         _setFenceFromManager(_geoFenceManager->polygons(), _geoFenceManager->circles());
         setDirty(false);
-        _signalAll();
         emit loadComplete();
     }
     _itemsRequested = false;
@@ -476,7 +512,7 @@ void GeoFenceController::_parametersReady(void)
 {
     if (_px4ParamCircularFenceFact) {
         _px4ParamCircularFenceFact->disconnect(this);
-        _px4ParamCircularFenceFact = NULL;
+        _px4ParamCircularFenceFact = nullptr;
     }
 
     if (_managerVehicle->isOfflineEditingVehicle() || !_managerVehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _px4ParamCircularFence)) {

src/MissionManager/GeoFenceController.h

@@ -27,12 +27,13 @@ class GeoFenceController : public PlanElementController
     Q_OBJECT
     
 public:
-    GeoFenceController(PlanMasterController* masterController, QObject* parent = NULL);
+    GeoFenceController(PlanMasterController* masterController, QObject* parent = nullptr);
     ~GeoFenceController();
 
-    Q_PROPERTY(QmlObjectListModel*  polygons            READ polygons                                       CONSTANT)
-    Q_PROPERTY(QmlObjectListModel*  circles             READ circles                                        CONSTANT)
-    Q_PROPERTY(QGeoCoordinate       breachReturnPoint   READ breachReturnPoint  WRITE setBreachReturnPoint  NOTIFY breachReturnPointChanged)
+    Q_PROPERTY(QmlObjectListModel*  polygons                READ polygons                                           CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  circles                 READ circles                                            CONSTANT)
+    Q_PROPERTY(QGeoCoordinate       breachReturnPoint       READ breachReturnPoint      WRITE setBreachReturnPoint  NOTIFY breachReturnPointChanged)
+    Q_PROPERTY(Fact*                breachReturnAltitude    READ breachReturnAltitude                               CONSTANT)
 
     // Hack to expose PX4 circular fence controlled by GF_MAX_HOR_DIST
     Q_PROPERTY(double               paramCircularFence  READ paramCircularFence                             NOTIFY paramCircularFenceChanged)
@@ -58,7 +59,8 @@ public:
     /// Clears the interactive bit from all fence items
     Q_INVOKABLE void clearAllInteractive(void);
 
-    double paramCircularFence(void);
+    double  paramCircularFence  (void);
+    Fact*   breachReturnAltitude(void) { return &_breachReturnAltitudeFact; }
 
     // Overrides from PlanElementController
     bool supported                  (void) const final;
@@ -101,16 +103,19 @@ private slots:
 
 private:
     void _init(void);
-    void _signalAll(void);
 
     GeoFenceManager*    _geoFenceManager;
     bool                _dirty;
     QmlObjectListModel  _polygons;
     QmlObjectListModel  _circles;
     QGeoCoordinate      _breachReturnPoint;
+    Fact                _breachReturnAltitudeFact;
+    double              _breachReturnDefaultAltitude;
     bool                _itemsRequested;
     Fact*               _px4ParamCircularFenceFact;
 
+    static QMap<QString, FactMetaData*> _metaDataMap;
+
     static const char* _px4ParamCircularFence;
 
     static const int _jsonCurrentVersion = 2;
@@ -119,6 +124,8 @@ private:
     static const char* _jsonBreachReturnKey;
     static const char* _jsonPolygonsKey;
     static const char* _jsonCirclesKey;
+
+    static const char* _breachReturnAltitudeFactName;
 };
 
 #endif

src/MissionManager/GeoFenceManager.cc

@@ -51,8 +51,6 @@ void GeoFenceManager::sendToVehicle(const QGeoCoordinate&   breachReturn,
                                     QmlObjectListModel&     polygons,
                                     QmlObjectListModel&     circles)
 {
-    Q_UNUSED(breachReturn);
-
     QList<MissionItem*> fenceItems;
 
     _sendPolygons.clear();
@@ -64,6 +62,7 @@ void GeoFenceManager::sendToVehicle(const QGeoCoordinate&   breachReturn,
     for (int i=0; i<circles.count(); i++) {
         _sendCircles.append(*circles.value<QGCFenceCircle*>(i));
     }
+    _breachReturnPoint = breachReturn;
 
     for (int i=0; i<_sendPolygons.count(); i++) {
         const QGCFencePolygon& polygon = _sendPolygons[i];
@@ -103,12 +102,30 @@ void GeoFenceManager::sendToVehicle(const QGeoCoordinate&   breachReturn,
         fenceItems.append(item);
     }
 
+    if (_breachReturnPoint.isValid()) {
+        MissionItem* item = new MissionItem(0,
+                                            MAV_CMD_NAV_FENCE_RETURN_POINT,
+                                            MAV_FRAME_GLOBAL_RELATIVE_ALT,
+                                            0, 0, 0, 0,                    // param 1-4 unused
+                                            breachReturn.latitude(),
+                                            breachReturn.longitude(),
+                                            breachReturn.altitude(),
+                                            false,                      // autocontinue
+                                            false,                      // isCurrentItem
+                                            this);                      // parent
+        fenceItems.append(item);
+    }
+
     // Plan manager takes control of MissionItems, so no need to delete
     _planManager.writeMissionItems(fenceItems);
 }
 
 void GeoFenceManager::removeAll(void)
 {
+    _polygons.clear();
+    _circles.clear();
+    _breachReturnPoint = QGeoCoordinate();
+
     _planManager.removeAll();
 }
 
@@ -117,6 +134,7 @@ void GeoFenceManager::_sendComplete(bool error)
     if (error) {
         _polygons.clear();
         _circles.clear();
+        _breachReturnPoint = QGeoCoordinate();
     } else {
         _polygons = _sendPolygons;
         _circles = _sendCircles;
@@ -174,6 +192,8 @@ void GeoFenceManager::_planManagerLoadComplete(bool removeAllRequested)
             }
             QGCFenceCircle circle(QGeoCoordinate(item->param5(), item->param6()), item->param1(), command == MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION /* inclusion */);
             _circles.append(circle);
+        } else if (command == MAV_CMD_NAV_FENCE_RETURN_POINT) {
+            _breachReturnPoint = QGeoCoordinate(item->param5(), item->param6(), item->param7());
         } else {
             emit error(UnsupportedCommand, tr("GeoFence load: Unsupported command %1").arg(item->command()));
             break;
@@ -183,6 +203,7 @@ void GeoFenceManager::_planManagerLoadComplete(bool removeAllRequested)
     if (loadFailed) {
         _polygons.clear();
         _circles.clear();
+        _breachReturnPoint = QGeoCoordinate();
     }
 
     emit loadComplete();

src/MissionManager/RallyPointManager.cc

@@ -72,6 +72,7 @@ void RallyPointManager::sendToVehicle(const QList<QGeoCoordinate>& rgPoints)
 
 void RallyPointManager::removeAll(void)
 {
+    _rgPoints.clear();
     _planManager.removeAll();
 }
 

src/PlanView/GeoFenceEditor.qml

@@ -1,6 +1,7 @@
 import QtQuick          2.3
 import QtQuick.Controls 1.2
 import QtQuick.Layouts  1.2
+import QtPositioning    5.2
 
 import QGroundControl               1.0
 import QGroundControl.ScreenTools   1.0
@@ -53,7 +54,7 @@ QGCFlickable {
                 anchors.top:        parent.top
                 anchors.left:       parent.left
                 anchors.right:      parent.right
-                spacing:            ScreenTools.defaultFontPixelHeight / 2
+                spacing:            _margin
 
                 QGCLabel {
                     anchors.left:       parent.left
@@ -66,10 +67,10 @@ QGCFlickable {
                 }
 
                 Column {
-                    anchors.left:   parent.left
-                    anchors.right:  parent.right
-                    spacing:        ScreenTools.defaultFontPixelHeight / 2
-                    visible:        myGeoFenceController.supported
+                    anchors.left:       parent.left
+                    anchors.right:      parent.right
+                    spacing:            _margin
+                    visible:            myGeoFenceController.supported
 
                     Repeater {
                         model: myGeoFenceController.params
@@ -114,9 +115,8 @@ QGCFlickable {
                     }
 
                     QGCButton {
-                        anchors.left:   parent.left
-                        anchors.right:  parent.right
-                        text:           qsTr("Polygon Fence")
+                        Layout.fillWidth:   true
+                        text:               qsTr("Polygon Fence")
 
                         onClicked: {
                             var rect = Qt.rect(flightMap.centerViewport.x, flightMap.centerViewport.y, flightMap.centerViewport.width, flightMap.centerViewport.height)
@@ -127,9 +127,8 @@ QGCFlickable {
                     }
 
                     QGCButton {
-                        anchors.left:   parent.left
-                        anchors.right:  parent.right
-                        text:           qsTr("Circular Fence")
+                        Layout.fillWidth:   true
+                        text:               qsTr("Circular Fence")
 
                         onClicked: {
                             var rect = Qt.rect(flightMap.centerViewport.x, flightMap.centerViewport.y, flightMap.centerViewport.width, flightMap.centerViewport.height)
@@ -150,11 +149,10 @@ QGCFlickable {
                     }
 
                     GridLayout {
-                        anchors.left:   parent.left
-                        anchors.right:  parent.right
-                        columns:        3
-                        flow:           GridLayout.TopToBottom
-                        visible:        polygonSection.checked && myGeoFenceController.polygons.count > 0
+                        Layout.fillWidth:   true
+                        columns:            3
+                        flow:               GridLayout.TopToBottom
+                        visible:            polygonSection.checked && myGeoFenceController.polygons.count > 0
 
                         QGCLabel {
                             text:               qsTr("Inclusion")
@@ -224,11 +222,11 @@ QGCFlickable {
                     }
 
                     GridLayout {
-                        anchors.left:   parent.left
-                        anchors.right:  parent.right
-                        columns:        4
-                        flow:           GridLayout.TopToBottom
-                        visible:        polygonSection.checked && myGeoFenceController.circles.count > 0
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        columns:            4
+                        flow:               GridLayout.TopToBottom
+                        visible:            polygonSection.checked && myGeoFenceController.circles.count > 0
 
                         QGCLabel {
                             text:               qsTr("Inclusion")
@@ -302,6 +300,46 @@ QGCFlickable {
                             }
                         }
                     } // GridLayout
+
+                    SectionHeader {
+                        id:     breachReturnSection
+                        text:   qsTr("Breach Return Point")
+                    }
+
+                    QGCButton {
+                        text:               qsTr("Add Breach Return Point")
+                        visible:            breachReturnSection.visible && !myGeoFenceController.breachReturnPoint.isValid
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+
+                        onClicked: myGeoFenceController.breachReturnPoint = flightMap.center
+                    }
+
+                    QGCButton {
+                        text:               qsTr("Remove Breach Return Point")
+                        visible:            breachReturnSection.visible && myGeoFenceController.breachReturnPoint.isValid
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+
+                        onClicked: myGeoFenceController.breachReturnPoint = QtPositioning.coordinate()
+                    }
+
+                    ColumnLayout {
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        spacing:            _margin
+                        visible:            breachReturnSection.visible && myGeoFenceController.breachReturnPoint.isValid
+
+                        QGCLabel {
+                            text: qsTr("Altitude")
+                        }
+
+                        AltitudeFactTextField {
+                            fact:           myGeoFenceController.breachReturnAltitude
+                            altitudeMode:   QGroundControl.AltitudeModeRelative
+                        }
+                    }
+
                 }
             }
         }

src/PlanView/GeoFenceMapVisuals.qml

@@ -28,8 +28,8 @@ Item {
     property bool   planView:               false   ///< true: visuals showing in plan view
     property var    homePosition
 
-    //property var    _breachReturnPointComponent
-    //property var    _mouseAreaComponent
+    property var    _breachReturnPointComponent
+    property var    _breachReturnDragComponent
     property var    _paramCircleFenceComponent
     property var    _polygons:                  myGeoFenceController.polygons
     property var    _circles:                   myGeoFenceController.circles
@@ -75,30 +75,19 @@ Item {
     }
 
     Component.onCompleted: {
-        //_breachReturnPointComponent = breachReturnPointComponent.createObject(map)
-        //map.addMapItem(_breachReturnPointComponent)
-        //_mouseAreaComponent = mouseAreaComponent.createObject(map)
+        _breachReturnPointComponent = breachReturnPointComponent.createObject(map)
+        map.addMapItem(_breachReturnPointComponent)
+        _breachReturnDragComponent = breachReturnDragComponent.createObject(map, { "itemIndicator": _breachReturnPointComponent })
         _paramCircleFenceComponent = paramCircleFenceComponent.createObject(map)
         map.addMapItem(_paramCircleFenceComponent)
     }
 
     Component.onDestruction: {
-        //_breachReturnPointComponent.destroy()
-        //_mouseAreaComponent.destroy()
+        _breachReturnPointComponent.destroy()
+        _breachReturnDragComponent.destroy()
         _paramCircleFenceComponent.destroy()
     }
 
-    // Mouse area to capture breach return point coordinate
-    Component {
-        id: mouseAreaComponent
-
-        MouseArea {
-            anchors.fill:   map
-            visible:        interactive
-            onClicked:      myGeoFenceController.breachReturnPoint = map.toCoordinate(Qt.point(mouse.x, mouse.y), false /* clipToViewPort */)
-        }
-    }
-
     Instantiator {
         model: _polygons
 
@@ -144,6 +133,19 @@ Item {
         }
     }
 
+    Component {
+        id: breachReturnDragComponent
+
+        MissionItemIndicatorDrag {
+            mapControl:     map
+            itemCoordinate: myGeoFenceController.breachReturnPoint
+            //visible:        itemCoordinate.isValid
+
+            onItemCoordinateChanged: myGeoFenceController.breachReturnPoint = itemCoordinate
+        }
+    }
+
+
     // Breach return point
     Component {
         id: breachReturnPointComponent
@@ -155,7 +157,8 @@ Item {
             coordinate:     myGeoFenceController.breachReturnPoint
 
             sourceItem: MissionItemIndexLabel {
-                label: "B"
+                label:      qsTr("B", "Breach Return Point item indicator")
+                checked:    true
             }
         }
     }

src/PlanView/PlanView.qml

@@ -938,9 +938,9 @@ QGCView {
                      (_planMasterController.offline ? "" : qsTr("This will also remove all items from the vehicle."))
             function accept() {
                 if (_planMasterController.offline) {
-                    masterController.removeAll()
+                    _planMasterController.removeAll()
                 } else {
-                    masterController.removeAllFromVehicle()
+                    _planMasterController.removeAllFromVehicle()
                 }
                 hideDialog()
             }
@@ -1042,7 +1042,7 @@ QGCView {
                 QGCButton {
                     text:               qsTr("New...")
                     Layout.fillWidth:   true
-                    enabled:            _visualItems.count > 1
+                    enabled:            _planMasterController.containsItems
                     onClicked:  {
                         dropPanel.hide()
                         _qgcView.showDialog(removeAllPromptDialog, qsTr("New Plan"), _qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No)
@@ -1080,7 +1080,7 @@ QGCView {
                 QGCButton {
                     text:               qsTr("Save As...")
                     Layout.fillWidth:   true
-                    enabled:            !masterController.syncInProgress && _visualItems.count > 1
+                    enabled:            !masterController.syncInProgress && _planMasterController.containsItems
                     onClicked: {
                         dropPanel.hide()
                         masterController.saveToSelectedFile()
@@ -1115,7 +1115,7 @@ QGCView {
                 QGCButton {
                     text:               qsTr("Upload")
                     Layout.fillWidth:   true
-                    enabled:            !masterController.offline && !masterController.syncInProgress && _visualItems.count > 1
+                    enabled:            !masterController.offline && !masterController.syncInProgress && _planMasterController.containsItems
                     visible:            !QGroundControl.corePlugin.options.disableVehicleConnection
                     onClicked: {
                         dropPanel.hide()