total mission stats computation

first iteration of mission stats calculation (dist and maxTelem)

add survey item distance to mission distance

remove unused calculations from _calcHomeDist

added correct calculation of missionMaxTelemetry when there is a complex item

use speed to compute mission time according to vehicle type

started implementation of hover and cruise distance

corrected typos

added logic

prevent survey from crasing

added checks for vtol

rearrange logic

added primitive check for landing

rearranged checks

new arrangement

added logic for transition

fix for small bugs

add check for mission speed larger than 0

remove already existinh check

reduce code a bit

clean up

src/MissionEditor/MissionEditor.qml

@@ -693,6 +693,10 @@ QGCView {
                     currentMissionItem: _currentMissionItem
                     missionItems:       controller.visualItems
                     expandedWidth:      missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2)
+                    missionDistance:    controller.missionDistance
+                    missionMaxTelemetry: controller.missionMaxTelemetry
+                    cruiseDistance:    controller.cruiseDistance
+                    hoverDistance:    controller.hoverDistance
                     visible:            !ScreenTools.isShortScreen
                 }
             } // FlightMap

src/MissionEditor/MissionItemStatus.qml

@@ -15,13 +15,23 @@ import QGroundControl.ScreenTools   1.0
 import QGroundControl.Controls      1.0
 import QGroundControl.Palette       1.0
 import QGroundControl               1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
 
 Rectangle {
     readonly property var       _activeVehicle:     QGroundControl.multiVehicleManager.activeVehicle
 
+    property Fact   _offlineEditingVehicleType:     QGroundControl.offlineEditingVehicleType
+    property Fact   _offlineEditingCruiseSpeed:     QGroundControl.offlineEditingCruiseSpeed
+    property Fact   _offlineEditingHoverSpeed:      QGroundControl.offlineEditingHoverSpeed
+
     property var    currentMissionItem          ///< Mission item to display status for
     property var    missionItems                ///< List of all available mission items
     property real   expandedWidth               ///< Width of control when expanded
+    property real   missionDistance
+    property real   missionMaxTelemetry
+    property real   cruiseDistance
+    property real   hoverDistance
 
     width:      _expanded ? expandedWidth : _collapsedWidth
     height:     Math.max(valueGrid.height, valueMissionGrid.height) + (_margins * 2)
@@ -37,17 +47,25 @@ Rectangle {
 
     property real   _distance:          _statusValid ? _currentMissionItem.distance : 0
     property real   _altDifference:     _statusValid ? _currentMissionItem.altDifference : 0
-    property real   _gradient:          _statusValid || _currentMissionItem.distance == 0 ? Math.atan(_currentMissionItem.altDifference / _currentMissionItem.distance) : 0
+    property real   _gradient:          _statusValid && _currentMissionItem.distance > 0 ? Math.atan(_currentMissionItem.altDifference / _currentMissionItem.distance) : 0
     property real   _gradientPercent:   isNaN(_gradient) ? 0 : _gradient * 100
     property real   _azimuth:           _statusValid ? _currentMissionItem.azimuth : -1
     property int    _numberShots:       _currentSurvey ? _currentMissionItem.cameraShots : 0
     property real   _coveredArea:       _currentSurvey ? _currentMissionItem.coveredArea : 0
+    property real   _missionDistance:   _missionValid ? missionDistance : 0
+    property real   _missionMaxTelemetry: _missionValid ? missionMaxTelemetry : 0
+    property real   _missionTime:       _missionValid && _missionSpeed > 0 ?  (_isVTOL ? _hoverTime + _cruiseTime : _missionDistance / _missionSpeed) : 0
+    property real   _hoverDistance:    _missionValid ? hoverDistance : 0
+    property real   _cruiseDistance:    _missionValid ? cruiseDistance : 0
+    property real   _hoverTime:         _missionValid && _offlineEditingHoverSpeed.value > 0 ? _hoverDistance / _offlineEditingHoverSpeed.value : 0
+    property real   _cruiseTime:        _missionValid && _offlineEditingCruiseSpeed.value > 0 ? _cruiseDistance / _offlineEditingCruiseSpeed.value : 0
 
     property bool   _statusValid:       currentMissionItem != undefined
     property bool   _vehicleValid:      _activeVehicle != undefined
     property bool   _missionValid:      missionItems != undefined
-    property bool   _currentSurvey:     _statusValid ? currentMissionItem.commandName == "Survey" : false
-    property bool   _isVTOL:            _vehicleValid ? _activeVehicle.vtol : false
+    property bool   _currentSurvey:     _statusValid ? _currentMissionItem.commandName == "Survey" : false
+    property bool   _isVTOL:            _vehicleValid ? _activeVehicle.vtol : _offlineEditingVehicleType.enumStringValue == "VTOL" //hardcoded
+    property real   _missionSpeed:      _offlineEditingVehicleType.enumStringValue == "Fixedwing" ? _offlineEditingCruiseSpeed.value : _offlineEditingHoverSpeed.value
 
     property string _distanceText:      _statusValid ? QGroundControl.metersToAppSettingsDistanceUnits(_distance).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
     property string _altText:           _statusValid ? QGroundControl.metersToAppSettingsDistanceUnits(_altDifference).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
@@ -55,13 +73,13 @@ Rectangle {
     property string _azimuthText:       _statusValid ? Math.round(_azimuth) : " "
     property string _numberShotsText:   _currentSurvey ? _numberShots.toFixed(0) : " "
     property string _coveredAreaText:   _currentSurvey ? QGroundControl.squareMetersToAppSettingsAreaUnits(_coveredArea).toFixed(2) + " " + QGroundControl.appSettingsAreaUnitsString : " "
-    property string _totalDistanceText: _missionValid ? "30.91" + " " + QGroundControl.appSettingsDistanceUnitsString : " "
-    property string _totalTimeText:     _missionValid ? "34min 23s" : " "
-    property string _maxTelemDistText:  _missionValid ? "5.23" + " " + QGroundControl.appSettingsDistanceUnitsString : " "
-    property string _hoverDistanceText: _missionValid ? "0.47" + " " + QGroundControl.appSettingsDistanceUnitsString : " "
-    property string _cruiseDistanceText: _missionValid ? "30.44" + " " + QGroundControl.appSettingsDistanceUnitsString : " "
-    property string _hoverTimeText:     _missionValid ? "4min 02s" : " "
-    property string _cruiseTimeText:    _missionValid ? "34min 21s" : " "
+    property string _missionDistanceText: _missionValid ? QGroundControl.metersToAppSettingsDistanceUnits(_missionDistance).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
+    property string _missionTimeText:     _missionValid ? _missionTime.toFixed(0) + "s" : " "
+    property string _missionMaxTelemetryText:  _missionValid ? QGroundControl.metersToAppSettingsDistanceUnits(_missionMaxTelemetry).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
+    property string _hoverDistanceText: _missionValid ? QGroundControl.metersToAppSettingsDistanceUnits(_hoverDistance).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
+    property string _cruiseDistanceText: _missionValid ? QGroundControl.metersToAppSettingsDistanceUnits(_cruiseDistance).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
+    property string _hoverTimeText:     _missionValid ? _hoverTime.toFixed(0) + "s" : " "
+    property string _cruiseTimeText:    _missionValid ? _cruiseTime.toFixed(0) + "s" : " "
 
     readonly property real _margins:    ScreenTools.defaultFontPixelWidth
 
@@ -158,17 +176,17 @@ Rectangle {
             columnSpacing:      _margins
             anchors.verticalCenter: parent.verticalCenter
 
-            QGCLabel { text: qsTr("Total mission [WIP]") }
+            QGCLabel { text: qsTr("Total mission") }
             QGCLabel { text: qsTr(" ") }
 
             QGCLabel { text: qsTr("Distance:") }
-            QGCLabel { text: _totalDistanceText }
+            QGCLabel { text: _missionDistanceText }
 
             QGCLabel { text: qsTr("Time:") }
-            QGCLabel { text: _totalTimeText }
+            QGCLabel { text: _missionTimeText }
 
             QGCLabel { text: qsTr("Max telem dist:") }
-            QGCLabel { text: _maxTelemDistText }
+            QGCLabel { text: _missionMaxTelemetryText }
 
             QGCLabel {
                 text: qsTr("Hover distance:")

src/MissionManager/ComplexMissionItem.cc

@@ -36,6 +36,7 @@ ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
     , _dirty(false)
     , _cameraTrigger(false)
     , _gridAltitudeRelative(true)
+    , _surveyDistance(0.0)
     , _cameraShots(0)
     , _coveredArea(0.0)
     , _gridAltitudeFact (0, "Altitude:",        FactMetaData::valueTypeDouble)
@@ -64,12 +65,21 @@ const ComplexMissionItem& ComplexMissionItem::operator=(const ComplexMissionItem
     setAltPercent(other._altPercent);
     setAzimuth(other._azimuth);
     setDistance(other._distance);
+    setSurveyDistance(other._surveyDistance);
     setCameraShots(other._cameraShots);
     setCoveredArea(other._coveredArea);
 
     return *this;
 }
 
+void ComplexMissionItem::setSurveyDistance(double surveyDistance)
+{
+    if (!qFuzzyCompare(_surveyDistance, surveyDistance)) {
+        _surveyDistance = surveyDistance;
+        emit surveyDistanceChanged(_surveyDistance);
+    }
+}
+
 void ComplexMissionItem::setCameraShots(int cameraShots)
 {
     if (_cameraShots != cameraShots) {
@@ -271,6 +281,19 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt
     return true;
 }
 
+double ComplexMissionItem::greatestDistanceTo(const QGeoCoordinate &other) const
+{
+    double greatestDistance = 0.0;
+    for (int i=0; i<_gridPoints.count(); i++) {
+        QGeoCoordinate currentCoord = _gridPoints[i].value<QGeoCoordinate>();
+        double distance = currentCoord.distanceTo(other);
+        if (distance > greatestDistance) {
+            greatestDistance = distance;
+        }
+    }
+    return greatestDistance;
+}
+
 void ComplexMissionItem::_setExitCoordinate(const QGeoCoordinate& coordinate)
 {
     if (_exitCoordinate != coordinate) {
@@ -342,6 +365,7 @@ void ComplexMissionItem::_generateGrid(void)
         convertNedToGeo(-point.y(), point.x(), 0, tangentOrigin, &geoCoord);
         _gridPoints += QVariant::fromValue(geoCoord);
     }
+    setSurveyDistance(surveyDistance);
     setCameraShots((int)floor(surveyDistance / _cameraTriggerDistanceFact.rawValue().toDouble()));
 
     emit gridPointsChanged();

src/MissionManager/ComplexMissionItem.h

@@ -37,6 +37,7 @@ public:
     Q_PROPERTY(int                  lastSequenceNumber      READ lastSequenceNumber         NOTIFY lastSequenceNumberChanged)
     Q_PROPERTY(QVariantList         gridPoints              READ gridPoints                 NOTIFY gridPointsChanged)
 
+    Q_PROPERTY(double               surveyDistance          READ surveyDistance             NOTIFY surveyDistanceChanged)
     Q_PROPERTY(int                  cameraShots             READ cameraShots                NOTIFY cameraShotsChanged)
     Q_PROPERTY(double               coveredArea             READ coveredArea                NOTIFY coveredAreaChanged)
 
@@ -52,9 +53,11 @@ public:
     Fact* gridSpacing(void)     { return &_gridSpacingFact; }
     Fact* cameraTriggerDistance(void) { return &_cameraTriggerDistanceFact; }
 
+    double  surveyDistance      (void) const { return _surveyDistance; }
     int     cameraShots         (void) const { return _cameraShots; }
     double  coveredArea         (void) const { return _coveredArea; }
 
+    void setSurveyDistance      (double surveyDistance);
     void setCameraShots         (int cameraShots);
     void setCoveredArea         (double coveredArea);
 
@@ -71,6 +74,11 @@ public:
     /// @return true: load success, false: load failed, errorString set
     bool load(const QJsonObject& complexObject, QString& errorString);
 
+    /// Get the point of complex mission item furthest away from a coordinate
+    ///     @param other QGeoCoordinate to which distance is calculated
+    /// @return the greatest distance from any point of the complex item to some coordinate
+    double greatestDistanceTo(const QGeoCoordinate &other) const;
+
     // Overrides from VisualMissionItem
 
     bool            dirty                   (void) const final { return _dirty; }
@@ -102,6 +110,7 @@ signals:
     void cameraTriggerChanged           (bool cameraTrigger);
     void gridAltitudeRelativeChanged    (bool gridAltitudeRelative);
 
+    void surveyDistanceChanged          (double surveyDistance);
     void cameraShotsChanged             (int cameraShots);
     void coveredAreaChanged             (double coveredArea);
 
@@ -130,6 +139,7 @@ private:
     bool                _cameraTrigger;
     bool                _gridAltitudeRelative;
 
+    double              _surveyDistance;
     int                 _cameraShots;
     double              _coveredArea;
 

src/MissionManager/MissionController.cc

@@ -18,6 +18,7 @@
 #include "ComplexMissionItem.h"
 #include "JsonHelper.h"
 #include "ParameterLoader.h"
+#include "QGroundControlQmlGlobal.h"
 
 #ifndef __mobile__
 #include "QGCFileDialog.h"
@@ -44,6 +45,10 @@ MissionController::MissionController(QObject *parent)
     , _firstItemsFromVehicle(false)
     , _missionItemsRequested(false)
     , _queuedSend(false)
+    , _missionDistance(0.0)
+    , _missionMaxTelemetry(0.0)
+    , _cruiseDistance(0.0)
+    , _hoverDistance(0.0)
 {
 
 }
@@ -602,6 +607,23 @@ void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionIte
     }
 }
 
+void MissionController::_calcHomeDist(VisualMissionItem* currentItem, VisualMissionItem* homeItem, double* distance)
+{
+    QGeoCoordinate  currentCoord =  currentItem->coordinate();
+    QGeoCoordinate  homeCoord =     homeItem->exitCoordinate();
+    bool            distanceOk =    false;
+
+    distanceOk = true;
+
+    qCDebug(MissionControllerLog) << "distanceOk" << distanceOk;
+
+    if (distanceOk) {
+        *distance = homeCoord.distanceTo(currentCoord);
+    } else {
+        *distance = 0.0;
+    }
+}
+
 void MissionController::_recalcWaypointLines(void)
 {
     bool                firstCoordinateItem =   true;
@@ -692,7 +714,6 @@ void MissionController::_recalcAltitudeRangeBearing()
 
     bool                firstCoordinateItem =   true;
     VisualMissionItem*  lastCoordinateItem =    qobject_cast<VisualMissionItem*>(_visualItems->get(0));
-
     SimpleMissionItem*  homeItem = qobject_cast<SimpleMissionItem*>(lastCoordinateItem);
 
     if (!homeItem) {
@@ -717,19 +738,50 @@ void MissionController::_recalcAltitudeRangeBearing()
     const double homePositionAltitude = homeItem->coordinate().altitude();
     minAltSeen = maxAltSeen = homeItem->coordinate().altitude();
 
+    double missionDistance = 0.0;
+    double missionMaxTelemetry = 0.0;
+
+    bool vtolCalc = (QGroundControlQmlGlobal::offlineEditingVehicleType()->enumStringValue() == "VTOL" || (_activeVehicle && _activeVehicle->vtol())) ? true : false ;
+    double cruiseDistance = 0.0;
+    double hoverDistance = 0.0;
+    bool hoverDistanceCalc = false;
+    bool hoverTransition = false;
+    bool cruiseTransition = false;
+    bool hoverDistanceReset = false;
+
     bool linkBackToHome = false;
+
+
     for (int i=1; i<_visualItems->count(); i++) {
         VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
-
         // Assume the worst
         item->setAzimuth(0.0);
         item->setDistance(0.0);
 
-        // If we still haven't found the first coordinate item and we hit a a takeoff command link back to home
+        // If we still haven't found the first coordinate item and we hit a takeoff command link back to home
         if (firstCoordinateItem &&
                 item->isSimpleItem() &&
                 qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
             linkBackToHome = true;
+            hoverDistanceCalc = true;
+        }
+
+        if (item->isSimpleItem() && vtolCalc) {
+            SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(item);
+            if (simpleItem->command() == MavlinkQmlSingleton::MAV_CMD_DO_VTOL_TRANSITION){  //transition waypoint value
+                if (simpleItem->missionItem().param1() == 3){ //hover mode value
+                    hoverDistanceCalc = true;
+                    hoverTransition = true;
+                }
+                else if (simpleItem->missionItem().param1() == 4){
+                    hoverDistanceCalc = false;
+                    cruiseTransition = true;
+                }
+            }
+            if(!hoverTransition && cruiseTransition && !hoverDistanceReset && !linkBackToHome){
+                hoverDistance = missionDistance;
+                hoverDistanceReset = true;
+            }
         }
 
         if (item->specifiesCoordinate()) {
@@ -754,7 +806,7 @@ void MissionController::_recalcAltitudeRangeBearing()
             if (!item->isStandaloneCoordinate()) {
                 firstCoordinateItem = false;
                 if (lastCoordinateItem != homeItem || (showHomePosition && linkBackToHome)) {
-                    double azimuth, distance, altDifference;
+                    double azimuth, distance, altDifference, telemetryDistance;
 
                     // Subsequent coordinate items link to last coordinate item. If the last coordinate item
                     // is an invalid home position we skip the line
@@ -762,12 +814,46 @@ void MissionController::_recalcAltitudeRangeBearing()
                     item->setAltDifference(altDifference);
                     item->setAzimuth(azimuth);
                     item->setDistance(distance);
+
+                    missionDistance += distance;
+
+                    if (item->isSimpleItem()) {
+                        _calcHomeDist(item, homeItem, &telemetryDistance);
+
+                        if (vtolCalc) {
+                            SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(item);
+                            if (simpleItem->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF || hoverDistanceCalc){
+                                hoverDistance += distance;
+                            }
+                            cruiseDistance = missionDistance - hoverDistance;
+                            if(simpleItem->command() == MavlinkQmlSingleton::MAV_CMD_NAV_LAND && !linkBackToHome && !cruiseTransition && !hoverTransition){
+                                hoverDistance = cruiseDistance;
+                                cruiseDistance = missionDistance - hoverDistance;
+                            }
+                        }
+                    } else {
+                        missionDistance += qobject_cast<ComplexMissionItem*>(item)->surveyDistance();
+                        telemetryDistance = qobject_cast<ComplexMissionItem*>(item)->greatestDistanceTo(homeItem->exitCoordinate());
+
+                        if (vtolCalc){
+                            cruiseDistance += qobject_cast<ComplexMissionItem*>(item)->surveyDistance(); //assume all survey missions undertaken in cruise
+                        }
+                    }
+
+                    if (telemetryDistance > missionMaxTelemetry) {
+                        missionMaxTelemetry = telemetryDistance;
+                    }
                 }
                 lastCoordinateItem = item;
             }
         }
     }
 
+    setMissionDistance(missionDistance);
+    setMissionMaxTelemetry(missionMaxTelemetry);
+    setCruiseDistance(cruiseDistance);
+    setHoverDistance(hoverDistance);
+
     // Walk the list again calculating altitude percentages
     double altRange = maxAltSeen - minAltSeen;
     for (int i=0; i<_visualItems->count(); i++) {
@@ -921,6 +1007,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
         // We need to track changes of lastSequenceNumber so we can recalc sequence numbers for subsequence items
         ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
         connect(complexItem, &ComplexMissionItem::lastSequenceNumberChanged, this, &MissionController::_recalcSequence);
+        connect(complexItem, &ComplexMissionItem::surveyDistanceChanged, this, &MissionController::_recalcAltitudeRangeBearing);
     }
 }
 
@@ -1017,6 +1104,38 @@ void MissionController::setAutoSync(bool autoSync)
 #endif
 }
 
+void MissionController::setMissionDistance(double missionDistance)
+{
+    if (!qFuzzyCompare(_missionDistance, missionDistance)) {
+        _missionDistance = missionDistance;
+        emit missionDistanceChanged(_missionDistance);
+    }
+}
+
+void MissionController::setMissionMaxTelemetry(double missionMaxTelemetry)
+{
+    if (!qFuzzyCompare(_missionMaxTelemetry, missionMaxTelemetry)) {
+        _missionMaxTelemetry = missionMaxTelemetry;
+        emit missionMaxTelemetryChanged(_missionMaxTelemetry);
+    }
+}
+
+void MissionController::setCruiseDistance(double cruiseDistance)
+{
+    if (!qFuzzyCompare(_cruiseDistance, cruiseDistance)) {
+        _cruiseDistance = cruiseDistance;
+        emit cruiseDistanceChanged(_cruiseDistance);
+    }
+}
+
+void MissionController::setHoverDistance(double hoverDistance)
+{
+    if (!qFuzzyCompare(_hoverDistance, hoverDistance)) {
+        _hoverDistance = hoverDistance;
+        emit hoverDistanceChanged(_hoverDistance);
+    }
+}
+
 void MissionController::_dirtyChanged(bool dirty)
 {
     if (dirty && _autoSync) {
@@ -1051,7 +1170,7 @@ void MissionController::_inProgressChanged(bool inProgress)
 
 bool MissionController::_findLastAltitude(double* lastAltitude, MAV_FRAME* frame)
 {
-    bool found = false;    
+    bool found = false;
     double foundAltitude;
     MAV_FRAME foundFrame;
 

src/MissionManager/MissionController.h

@@ -40,6 +40,12 @@ public:
     Q_PROPERTY(bool                 autoSync            READ autoSync               WRITE setAutoSync   NOTIFY autoSyncChanged)
     Q_PROPERTY(bool                 syncInProgress      READ syncInProgress                             NOTIFY syncInProgressChanged)
 
+    Q_PROPERTY(double               missionDistance     READ missionDistance                            NOTIFY missionDistanceChanged)
+    Q_PROPERTY(double               missionMaxTelemetry READ missionMaxTelemetry                        NOTIFY missionMaxTelemetryChanged)
+    Q_PROPERTY(double               cruiseDistance      READ cruiseDistance                             NOTIFY cruiseDistanceChanged)
+    Q_PROPERTY(double               hoverDistance       READ hoverDistance                              NOTIFY hoverDistanceChanged)
+
+
     Q_INVOKABLE void start(bool editMode);
     Q_INVOKABLE void getMissionItems(void);
     Q_INVOKABLE void sendMissionItems(void);
@@ -70,6 +76,17 @@ public:
     void setAutoSync(bool autoSync);
     bool syncInProgress(void);
 
+    double  missionDistance         (void) const { return _missionDistance; }
+    double  missionMaxTelemetry     (void) const { return _missionMaxTelemetry; }
+    double  cruiseDistance          (void) const { return _cruiseDistance; }
+    double  hoverDistance           (void) const { return _hoverDistance; }
+
+
+    void setMissionDistance         (double missionDistance );
+    void setMissionMaxTelemetry     (double missionMaxTelemetry);
+    void setCruiseDistance          (double cruiseDistance );
+    void setHoverDistance           (double hoverDistance );
+
     static const char* jsonSimpleItemsKey;  ///< Key for simple items in a json file
 
 signals:
@@ -79,6 +96,10 @@ signals:
     void autoSyncChanged(bool autoSync);
     void newItemsFromVehicle(void);
     void syncInProgressChanged(bool syncInProgress);
+    void missionDistanceChanged(double missionDistance);
+    void missionMaxTelemetryChanged(double missionMaxTelemetry);
+    void cruiseDistanceChanged(double cruiseDistance);
+    void hoverDistanceChanged(double hoverDistance);
 
 private slots:
     void _newMissionItemsAvailableFromVehicle();
@@ -103,6 +124,7 @@ private:
     void _autoSyncSend(void);
     void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
     static void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
+    static void _calcHomeDist(VisualMissionItem* currentItem, VisualMissionItem* homeItem, double* distance);
     bool _findLastAltitude(double* lastAltitude, MAV_FRAME* frame);
     bool _findLastAcceptanceRadius(double* lastAcceptanceRadius);
     void _addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter);
@@ -123,6 +145,10 @@ private:
     bool                _firstItemsFromVehicle;
     bool                _missionItemsRequested;
     bool                _queuedSend;
+    double              _missionDistance;
+    double              _missionMaxTelemetry;
+    double              _cruiseDistance;
+    double              _hoverDistance;
 
     static const char*  _settingsGroup;
     static const char*  _jsonVersionKey;

src/MissionManager/VisualMissionItem.h

@@ -31,7 +31,7 @@
 class VisualMissionItem : public QObject
 {
     Q_OBJECT
-    
+
 public:
     VisualMissionItem(Vehicle* vehicle, QObject* parent = NULL);
     VisualMissionItem(const VisualMissionItem& other, QObject* parent = NULL);
@@ -73,7 +73,7 @@ public:
     Q_PROPERTY(bool     isCurrentItem           READ isCurrentItem          WRITE setIsCurrentItem      NOTIFY isCurrentItemChanged)
     Q_PROPERTY(int      sequenceNumber          READ sequenceNumber         WRITE setSequenceNumber     NOTIFY sequenceNumberChanged)
     Q_PROPERTY(bool     specifiesCoordinate     READ specifiesCoordinate                                NOTIFY specifiesCoordinateChanged)      ///< Item is associated with a coordinate position
-    Q_PROPERTY(bool     isStandaloneCoordinate  READ isStandaloneCoordinate                             NOTIFY isStandaloneCoordinateChanged)   ///< Wayoint line does not go through item
+    Q_PROPERTY(bool     isStandaloneCoordinate  READ isStandaloneCoordinate                             NOTIFY isStandaloneCoordinateChanged)   ///< Waypoint line does not go through item
     Q_PROPERTY(bool     isSimpleItem            READ isSimpleItem                                       NOTIFY isSimpleItemChanged)             ///< Simple or Complex MissionItem
 
     /// List of child mission items. Child mission item are subsequent mision items which do not specify a coordinate. They
@@ -81,7 +81,7 @@ public:
     Q_PROPERTY(QmlObjectListModel*  childItems      READ childItems     CONSTANT)
 
     // Property accesors
-    
+
     double altDifference    (void) const { return _altDifference; }
     double altPercent       (void) const { return _altPercent; }
     double azimuth          (void) const { return _azimuth; }