From 6ebb4f04dac9c284afe26ca5292f0267e62609b6 Mon Sep 17 00:00:00 2001
From: The1only <teni@9tek.no>
Date: Mon, 23 May 2022 13:14:00 +0200
Subject: [PATCH] Loong list of updates and changes that was done in the end of
 the project. Added live FTP download of images while flying, added auto
 report by mail with these images as attachement while flying (for imidiet
 reporting) Added more mavlink support, and improved mission handling...
 Uppgraded to 4.16.1 DJI SDK Latest code not tested ... have funn.

---
 .idea/jarRepositories.xml                     |   5 +
 README.md                                     |   2 +-
 app/build.gradle                              |  71 +-
 .../rosettadrone/ConnectionActivity.java      |  34 +-
 .../sq/rogue/rosettadrone/DroneModel.java     | 613 ++++++++++++----
 .../sq/rogue/rosettadrone/FTPManager.java     | 234 ++++++
 .../rogue/rosettadrone/MAVLinkReceiver.java   | 471 ++++++++----
 .../sq/rogue/rosettadrone/MainActivity.java   | 690 ++++++++++++------
 .../sq/rogue/rosettadrone/RDApplication.java  |  14 +
 .../rosettadrone/settings/GMailSender.java    | 113 +++
 .../rosettadrone/settings/JSSEProvider.java   |  46 ++
 .../rosettadrone/settings/MailReport.java     | 115 +++
 .../rosettadrone/settings/MapActivity.java    |  12 +-
 .../settings/SettingsFragment.java            |  57 +-
 .../settings/Waypoint1Activity.java           |  10 +-
 .../settings/Waypoint2Activity.java           |  12 +-
 .../settings/drone/DroneSettingsFragment.java |  42 +-
 .../rogue/rosettadrone/video/RtpSocket.java   |   2 +
 app/src/main/res/drawable/drone_img.png       | Bin 0 -> 9490 bytes
 app/src/main/res/drawable/pilot.png           | Bin 0 -> 23018 bytes
 .../main/res/drawable/quadcopter_start.png    | Bin 0 -> 42096 bytes
 app/src/main/res/drawable/return_home.png     | Bin 0 -> 38374 bytes
 .../main/res/layout/activity_connection.xml   |   3 +-
 app/src/main/res/layout/activity_gui.xml      |  69 +-
 app/src/main/res/menu/toolbar_menu.xml        |   7 +
 app/src/main/res/mipmap-mdpi/track_report.png | Bin 0 -> 28021 bytes
 app/src/main/res/mipmap-mdpi/track_right.png  | Bin 37404 -> 29843 bytes
 app/src/main/res/values/strings.xml           |  13 +
 app/src/main/res/xml/preferences.xml          |  75 +-
 build.gradle                                  |   4 +-
 gradle/wrapper/gradle-wrapper.properties      |   4 +-
 31 files changed, 2147 insertions(+), 571 deletions(-)
 create mode 100644 app/src/main/java/sq/rogue/rosettadrone/FTPManager.java
 create mode 100644 app/src/main/java/sq/rogue/rosettadrone/settings/GMailSender.java
 create mode 100644 app/src/main/java/sq/rogue/rosettadrone/settings/JSSEProvider.java
 create mode 100644 app/src/main/java/sq/rogue/rosettadrone/settings/MailReport.java
 create mode 100644 app/src/main/res/drawable/drone_img.png
 create mode 100644 app/src/main/res/drawable/pilot.png
 create mode 100644 app/src/main/res/drawable/quadcopter_start.png
 create mode 100644 app/src/main/res/drawable/return_home.png
 create mode 100644 app/src/main/res/mipmap-mdpi/track_report.png

diff --git a/.idea/jarRepositories.xml b/.idea/jarRepositories.xml
index 1f83832..c5a0a37 100644
--- a/.idea/jarRepositories.xml
+++ b/.idea/jarRepositories.xml
@@ -36,5 +36,10 @@
       <option name="name" value="$USER_HOME$/Android/Sdk/extras/m2repository" />
       <option name="url" value="file:$USER_HOME$/Android/Sdk/extras/m2repository" />
     </remote-repository>
+    <remote-repository>
+      <option name="id" value="maven" />
+      <option name="name" value="maven" />
+      <option name="url" value="https://maven.java.net/content/groups/public/" />
+    </remote-repository>
   </component>
 </project>
\ No newline at end of file
diff --git a/README.md b/README.md
index 18adecc..0374b61 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-# RosettaDrone 2 is now updated to DJI SDK 4.14 beta 1...
+# RosettaDrone 2 is now updated to DJI SDK 4.16.1...
 
 Rosetta Drone 2 tested on **DJI Air, Mavic 2 x and Matrice 210 V2, Mavic Pro, Mavic AIR series
 and supports Android 5.1 and newer, with DJI SDK 4.14 and Androidx lib
diff --git a/app/build.gradle b/app/build.gradle
index 5a5afe8..f92e29f 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -1,17 +1,28 @@
 apply plugin: 'com.android.application'
 
 android {
+    signingConfigs {
+        release {
+        }
+    }
     compileSdkVersion 28
     defaultConfig {
         applicationId "sq.rogue.rosettadrone"
         minSdkVersion 22
         targetSdkVersion 28
         versionCode 1
-        versionName '5.1.1'
+        versionName '5.2.0'    // This is the one to modify...
         testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
         multiDexEnabled true
     }
 
+    repositories {
+        jcenter()
+        maven {
+            url "https://maven.java.net/content/groups/public/"
+        }
+    }
+
     dexOptions {
         javaMaxHeapSize "4g"
     }
@@ -19,16 +30,20 @@ android {
     buildTypes {
         release {
             minifyEnabled false
+            debuggable false
+            jniDebuggable false
             proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
         }
         debug {
             minifyEnabled false
             debuggable true
-            jniDebuggable true
+            jniDebuggable false
             proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
+            renderscriptOptimLevel 0
         }
     }
     packagingOptions {
+        pickFirst 'META-INF/LICENSE.txt' // picks the JavaMail license file
         exclude 'META-INF/rxjava.properties'
     }
 
@@ -76,8 +91,9 @@ android {
     defaultConfig {
         ndk {
             //           abiFilters 'armeabi-v7a'
-//            abiFilters 'armeabi-v7a', 'arm64-v8a'
-            abiFilters 'armeabi-v7a', 'x86', 'arm64-v8a'
+            abiFilters 'armeabi-v7a', 'arm64-v8a'
+            // DJI has removed x86 support...
+//            abiFilters 'armeabi-v7a', 'x86', 'arm64-v8a'
         }
     }
 
@@ -85,20 +101,21 @@ android {
         sourceCompatibility JavaVersion.VERSION_1_8
         targetCompatibility JavaVersion.VERSION_1_8
     }
+//    ndkVersion '21.4.7075529'
 
     // We need to be restrict as we get error on newer versions...
-    buildToolsVersion '30.0.2'
+ //   buildToolsVersion '30.0.2'
     ndkVersion '22.0.7026061'
 
 }
 dependencies {
     implementation fileTree(include: ['*.jar'], dir: 'libs')
-    androidTestImplementation('androidx.test.espresso:espresso-core:3.3.0', {
+    androidTestImplementation('androidx.test.espresso:espresso-core:3.4.0', {
         exclude group: 'com.android.support', module: 'support-annotations'
     })
     implementation 'com.squareup:otto:1.3.8'
 
-    implementation('com.dji:dji-sdk:4.14-trial1', {
+    implementation('com.dji:dji-sdk:4.16.1', {
         /**
          * Uncomment the "library-anti-distortion" if your app does not need Anti Distortion for Mavic 2 Pro and Mavic 2 Zoom.
          * Uncomment the "fly-safe-database" if you need database for release, or we will download it when DJISDKManager.getInstance().registerApp
@@ -108,38 +125,42 @@ dependencies {
         exclude module: 'library-anti-distortion'
         exclude module: 'fly-safe-database'
     })
-    compileOnly 'com.dji:dji-sdk-provided:4.14-trial1'
+    compileOnly 'com.dji:dji-sdk-provided:4.16.1'
 
-    implementation 'com.dji:dji-uxsdk:4.14-trial1'
+    implementation 'com.dji:dji-uxsdk:4.16'
 
-    implementation 'androidx.annotation:annotation:1.1.0'
-    implementation 'androidx.appcompat:appcompat:1.2.0'
-    implementation 'androidx.preference:preference:1.1.1'
+    implementation 'androidx.annotation:annotation:1.3.0'
+    implementation 'androidx.appcompat:appcompat:1.3.1'
+    implementation 'androidx.preference:preference:1.2.0'
     implementation 'androidx.legacy:legacy-preference-v14:1.0.0'
-    implementation 'androidx.constraintlayout:constraintlayout:2.0.4'
-    implementation 'com.google.android.material:material:1.2.1'
-    testImplementation 'junit:junit:4.13.1'
+    implementation 'androidx.constraintlayout:constraintlayout:2.1.4'
+    implementation 'com.google.android.material:material:1.4.0'
+    testImplementation 'junit:junit:4.13.2'
     testImplementation 'org.mockito:mockito-core:2.7.22'
     testImplementation 'org.mockito:mockito-android:2.7.22'
     implementation 'androidx.multidex:multidex:2.0.1'
 
-    implementation 'androidx.core:core:1.3.2'
-    implementation 'androidx.recyclerview:recyclerview:1.1.0'
+    implementation 'androidx.core:core:1.6.0'
+    implementation 'androidx.recyclerview:recyclerview:1.2.1'
     implementation 'androidx.lifecycle:lifecycle-extensions:2.2.0'
 
-    implementation 'com.google.android.gms:play-services-maps:17.0.0'
-    implementation 'com.google.android.gms:play-services-basement:17.5.0'
-    implementation 'com.google.android.gms:play-services-base:17.5.0'
+    implementation 'com.google.android.gms:play-services-maps:18.0.2'
+    implementation 'com.google.android.gms:play-services-basement:18.0.2'
+    implementation 'com.google.android.gms:play-services-base:18.0.1'
     implementation 'com.google.android.gms:play-services-gcm:17.0.0'
-    implementation 'com.google.android.gms:play-services-location:17.1.0'
+    implementation 'com.google.android.gms:play-services-location:19.0.1'
 
-    implementation 'com.google.maps:google-maps-services:0.15.0'
+    implementation 'com.google.maps:google-maps-services:0.18.0'
 
     implementation 'com.jakewharton:butterknife:10.2.3'
     annotationProcessor 'com.jakewharton:butterknife-compiler:10.2.3'
-    implementation 'androidx.core:core-ktx:1.3.2'
-    implementation 'androidx.lifecycle:lifecycle-viewmodel-ktx:2.3.0-beta01'
+    implementation 'androidx.core:core-ktx:1.6.0'
+    implementation 'androidx.lifecycle:lifecycle-viewmodel-ktx:2.4.1'
 
-    implementation 'org.jetbrains.kotlin:kotlin-stdlib-jdk7:1.4.21'
+    implementation 'org.jetbrains.kotlin:kotlin-stdlib-jdk7:1.4.31'
+
+    implementation 'javax.mail:mail:1.4.7'
+  //  exclude 'javax.activation:activation:1.1'
+  //  implementation 'com.sun.mail:android-activation:1.6.6'
 }
 
diff --git a/app/src/main/java/sq/rogue/rosettadrone/ConnectionActivity.java b/app/src/main/java/sq/rogue/rosettadrone/ConnectionActivity.java
index bb17f4f..e5054d0 100755
--- a/app/src/main/java/sq/rogue/rosettadrone/ConnectionActivity.java
+++ b/app/src/main/java/sq/rogue/rosettadrone/ConnectionActivity.java
@@ -7,6 +7,7 @@ import android.content.Context;
 import android.content.Intent;
 import android.content.IntentFilter;
 import android.content.SharedPreferences;
+import android.content.pm.ActivityInfo;
 import android.content.pm.PackageManager;
 import android.hardware.usb.UsbManager;
 import android.media.Ringtone;
@@ -67,6 +68,7 @@ public class ConnectionActivity extends Activity implements View.OnClickListener
     private Button mBtnTest;
     private int hiddenkey = 0;
     private Handler mUIHandler;
+    private static boolean running = false;
 
     private KeyListener firmVersionListener = new KeyListener() {
         @Override
@@ -158,14 +160,26 @@ public class ConnectionActivity extends Activity implements View.OnClickListener
     @Override
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
+
+        if(this.running == false){
+            Log.v(TAG, "First time ... Registrer Receiver");
+            this.running = true;
+        }
+
         checkAndRequestPermissions();
+
+        //---------------- Force Landscape ether ways...
+        this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR_LANDSCAPE);
+
         setContentView(R.layout.activity_connection);
         initUI();
 
         // Register the broadcast receiver for receiving the device connection's changes.
+        Log.v(TAG, "Registrer Receiver");
         IntentFilter filter = new IntentFilter();
         filter.addAction(DJISimulatorApplication.FLAG_CONNECTION_CHANGE);
         registerReceiver(mReceiver, filter);
+
     }
 
     protected BroadcastReceiver mReceiver = new BroadcastReceiver() {
@@ -197,6 +211,7 @@ public class ConnectionActivity extends Activity implements View.OnClickListener
         if (KeyManager.getInstance() != null) {
             KeyManager.getInstance().removeListener(firmVersionListener);
         }
+        unregisterReceiver(mReceiver);
         super.onDestroy();
     }
 
@@ -270,6 +285,7 @@ public class ConnectionActivity extends Activity implements View.OnClickListener
         mTextModelAvailable = (TextView) findViewById(R.id.text_model_available);
         mTextProduct = (TextView) findViewById(R.id.text_product_info);
 
+
         mBtnOpen = (Button) findViewById(R.id.btn_start);
         mBtnOpen.setOnClickListener(this);
         mBtnOpen.setEnabled(false);
@@ -299,7 +315,7 @@ public class ConnectionActivity extends Activity implements View.OnClickListener
         @Override
         public void run() {
             Uri notification = RingtoneManager.getDefaultUri(RingtoneManager.TYPE_NOTIFICATION);
-            Ringtone r = RingtoneManager.getRingtone(getApplicationContext(), notification);
+            Ringtone r = RingtoneManager. getRingtone(getApplicationContext(), notification);
             r.play();
 
             mBtnOpen.setEnabled(true);
@@ -322,9 +338,9 @@ public class ConnectionActivity extends Activity implements View.OnClickListener
             mTextConnectionStatus.setText("Status: " + str + " connected");
 
             if (null != mProduct.getModel()) {
-                mTextProduct.setText("" + mProduct.getModel().getDisplayName());
+                mTextModelAvailable.setText("" + mProduct.getModel().getDisplayName());
             } else {
-                mTextProduct.setText(R.string.product_information);
+                mTextModelAvailable.setText("Model Not Available");
             }
             if (KeyManager.getInstance() != null) {
                 KeyManager.getInstance().addListener(firmkey, firmVersionListener);
@@ -356,7 +372,16 @@ public class ConnectionActivity extends Activity implements View.OnClickListener
                     lTextConnectionStatus.setText("TestMode");
                     mUIHandler = new Handler(Looper.getMainLooper());
                     mUIHandler.postDelayed(startApp, 50);
-                    hiddenkey = 6;
+                 //   hiddenkey = 6;
+                }
+                if (hiddenkey >= 10) {
+                    showToast("TestMode disabled...");
+                    TextView lTextConnectionStatus = (TextView) findViewById(R.id.text_model_test);
+                    lTextConnectionStatus.setText("NormalMode");
+
+//                    mUIHandler = new Handler(Looper.getMainLooper());
+//                    mUIHandler.postDelayed(startApp, 50);
+                    hiddenkey = 0;
                 }
                 break;
 
@@ -380,6 +405,7 @@ public class ConnectionActivity extends Activity implements View.OnClickListener
                 mBtnOpen.setEnabled(false);
                 unregisterReceiver(mReceiver);
 
+                Log.v(TAG, "Start Maintask");
                 Intent intent = new Intent(this, MainActivity.class);
                 intent.addFlags(Intent.FLAG_ACTIVITY_CLEAR_TOP);
                 startActivityIfNeeded(intent,0);
diff --git a/app/src/main/java/sq/rogue/rosettadrone/DroneModel.java b/app/src/main/java/sq/rogue/rosettadrone/DroneModel.java
index 9fdfa89..132b7c8 100644
--- a/app/src/main/java/sq/rogue/rosettadrone/DroneModel.java
+++ b/app/src/main/java/sq/rogue/rosettadrone/DroneModel.java
@@ -1,10 +1,14 @@
 package sq.rogue.rosettadrone;
 
 import android.app.AlertDialog;
+import android.content.Intent;
 import android.content.SharedPreferences;
+import android.net.Uri;
+import android.os.Environment;
 import android.os.Handler;
 import android.os.Looper;
 import android.util.Log;
+import android.widget.Toast;
 
 import com.MAVLink.MAVLinkPacket;
 import com.MAVLink.Messages.MAVLinkMessage;
@@ -13,16 +17,15 @@ import com.MAVLink.common.msg_attitude;
 import com.MAVLink.common.msg_autopilot_version;
 import com.MAVLink.common.msg_battery_status;
 import com.MAVLink.common.msg_command_ack;
+import com.MAVLink.common.msg_file_transfer_protocol;
 import com.MAVLink.common.msg_global_position_int;
 import com.MAVLink.common.msg_gps_raw_int;
 import com.MAVLink.common.msg_heartbeat;
 import com.MAVLink.common.msg_home_position;
 import com.MAVLink.common.msg_mission_ack;
 import com.MAVLink.common.msg_mission_count;
-import com.MAVLink.common.msg_mission_item;
 import com.MAVLink.common.msg_mission_item_int;
 import com.MAVLink.common.msg_mission_item_reached;
-import com.MAVLink.common.msg_mission_request;
 import com.MAVLink.common.msg_mission_request_int;
 import com.MAVLink.common.msg_mission_request_list;
 import com.MAVLink.common.msg_param_value;
@@ -45,6 +48,7 @@ import com.MAVLink.enums.MAV_RESULT;
 import com.MAVLink.enums.MAV_STATE;
 import com.MAVLink.enums.MAV_TYPE;
 
+import java.io.File;
 import java.io.IOException;
 import java.net.DatagramPacket;
 import java.net.DatagramSocket;
@@ -52,6 +56,8 @@ import java.net.PortUnreachableException;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.Collections;
+import java.util.Comparator;
+import java.util.List;
 import java.util.Objects;
 import java.util.Timer;
 import java.util.TimerTask;
@@ -88,14 +94,22 @@ import dji.common.model.LocationCoordinate2D;
 import dji.common.product.Model;
 import dji.common.remotecontroller.HardwareState;
 import dji.common.util.CommonCallbacks;
+import dji.log.DJILog;
+import dji.sdk.base.BaseProduct;
 import dji.sdk.battery.Battery;
+import dji.sdk.camera.Camera;
 import dji.sdk.flightcontroller.FlightController;
 import dji.sdk.gimbal.Gimbal;
+import dji.sdk.media.DownloadListener;
+import dji.sdk.media.FetchMediaTaskScheduler;
+import dji.sdk.media.MediaFile;
+import dji.sdk.media.MediaManager;
 import dji.sdk.mission.MissionControl;
 import dji.sdk.mission.followme.FollowMeMissionOperator;
 import dji.sdk.mission.waypoint.WaypointMissionOperator;
 import dji.sdk.products.Aircraft;
 import dji.sdk.sdkmanager.DJISDKManager;
+import sq.rogue.rosettadrone.settings.MailReport;
 
 import static com.MAVLink.common.msg_set_position_target_global_int.MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT;
 import static com.MAVLink.enums.MAV_CMD.MAV_CMD_COMPONENT_ARM_DISARM;
@@ -106,6 +120,7 @@ import static com.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_TAKEOFF;
 import static com.MAVLink.enums.MAV_CMD.MAV_CMD_VIDEO_START_CAPTURE;
 import static com.MAVLink.enums.MAV_CMD.MAV_CMD_VIDEO_STOP_CAPTURE;
 import static com.MAVLink.enums.MAV_COMPONENT.MAV_COMP_ID_AUTOPILOT1;
+import static com.google.android.material.snackbar.BaseTransientBottomBar.LENGTH_LONG;
 import static sq.rogue.rosettadrone.util.getTimestampMicroseconds;
 import static sq.rogue.rosettadrone.util.safeSleep;
 
@@ -180,6 +195,7 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
     private FlightMode lastMode = FlightMode.ATTI_HOVER;
     private HardwareState.FlightModeSwitch rcmode = HardwareState.FlightModeSwitch.POSITION_ONE;
     private static HardwareState.FlightModeSwitch avtivemode = HardwareState.FlightModeSwitch.POSITION_ONE; // Change this to decide what position the mode switch should be inn.
+    public msg_home_position home_position = new msg_home_position();
 
     private SendVelocityDataTask mSendVirtualStickDataTask = null;
     private Timer mSendVirtualStickDataTimer = null;
@@ -199,16 +215,51 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
     private Gimbal mGimbal = null;
     private Rotation mRotation = null;
 
-    private Model m_model;
+    private List<String> m_mailToAddress = null;
+
+    public float mission_alt = 0;
+
+    Model    m_model;
+    Camera   m_camera;
+    Aircraft m_aircraft;
+
+    File destDir = new File(Environment.getExternalStorageDirectory().getPath() + "/DroneApp/");
+    String m_directory;
+
+    private MailReport SendMail;
 
     private int mAIfunction_activation = 0;
     public boolean mAutonomy = false;
     public int mAirBorn = 0;
-    int mission_loaded = -1;
+
+    public int mission_started = 0;
+
+    // FTP...
+    public List<MediaFile> mediaFileList = new ArrayList<MediaFile>();
+    public int numFiles;
+    private MediaManager mMediaManager;
+    private MediaManager.FileListState currentFileListState = MediaManager.FileListState.UNKNOWN;
+    private FetchMediaTaskScheduler scheduler;
+    public String last_downloaded_file;
+    public int lastDownloadedIndex = -1;
+    public int currentProgress = -1;
+
+    enum camera_mode {
+        IDLE,
+        SUCCSESS,
+        DISCONNECTED,
+        MEDIAMANAGER,
+        DOWNLOADMODESUPPORTED,
+        FAILURE,
+        TIMEOUT
+    }
+
+    public camera_mode switch_camera_mode = camera_mode.IDLE;
 
     DroneModel(MainActivity parent, DatagramSocket socket, boolean sim) {
         this.parent = parent;
         this.socket = socket;
+        this.numFiles = 0;
         initFlightController(sim);
     }
 
@@ -235,19 +286,25 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
         miniPIDSide = new MiniPID(0.35, 0.0, 0.0);
         miniPIDFwd = new MiniPID(0.35, 0.0, 0.0);
 
-        Aircraft aircraft = (Aircraft) RDApplication.getProductInstance(); //DJISimulatorApplication.getAircraftInstance();
-        if (aircraft == null || !aircraft.isConnected()) {
+        //------------------------------------------------------------
+        // Prepare mail handler and add the catalog for images...
+        //   m_directory = new File(Environment.getExternalStorageDirectory().getAbsolutePath() + "/accident");
+        SendMail = new MailReport(parent,parent.getApplicationContext().getContentResolver());
+
+        m_aircraft = (Aircraft) RDApplication.getProductInstance(); //DJISimulatorApplication.getAircraftInstance();
+        if (m_aircraft == null || !m_aircraft.isConnected()) {
             parent.logMessageDJI("No target...");
             mFlightController = null;
             return;
         } else {
-            m_model = aircraft.getModel();
+            m_model = m_aircraft.getModel();
             if (m_model.equals("INSPIRE_1") || m_model.equals("INSPIRE_1_PRO") || m_model.equals("INSPIRE_1_RAW")) {
                 avtivemode = HardwareState.FlightModeSwitch.POSITION_THREE;
             }
 
-            mGimbal = aircraft.getGimbal();
-            mFlightController = aircraft.getFlightController();
+            mGimbal = m_aircraft.getGimbal();
+            m_camera = RDApplication.getCameraInstance();
+            mFlightController = m_aircraft.getFlightController();
             mFlightController.setRollPitchControlMode(RollPitchControlMode.VELOCITY);
             mFlightController.setYawControlMode(YawControlMode.ANGULAR_VELOCITY);
             mFlightController.setVerticalControlMode(VerticalControlMode.VELOCITY);
@@ -294,7 +351,7 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
         //  SetMesasageBox("Controller Ready!!!!!");
     }
 
-    LocationCoordinate3D getSimPos3D(){
+    LocationCoordinate3D getSimPos3D() {
         sharedPreferences = android.preference.PreferenceManager.getDefaultSharedPreferences(parent.getApplicationContext());
         LocationCoordinate3D pos = new LocationCoordinate3D(
                 Double.parseDouble(Objects.requireNonNull(sharedPreferences.getString("pref_sim_pos_lat", "-1"))),
@@ -303,24 +360,24 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
         );
 
         // If this is the first time the app is running...
-        if(pos.getLatitude() == -1){
+        if (pos.getLatitude() == -1) {
             sharedPreferences.getStringSet("pref_sim_pos_lat", Collections.singleton("60.4094"));
             pos.setLatitude(60.4094);
         }
-        if(pos.getLongitude() == -1){
+        if (pos.getLongitude() == -1) {
             sharedPreferences.getStringSet("pref_sim_pos_lon", Collections.singleton("10.4911"));
             pos.setLongitude(10.4911);
         }
-        if(pos.getAltitude() == -1){  // Not Used...
+        if (pos.getAltitude() == -1) {  // Not Used...
             sharedPreferences.getStringSet("pref_sim_pos_alt", Collections.singleton("210.0"));
-            pos.setAltitude((float)210.0);
+            pos.setAltitude((float) 210.0);
         }
         return (pos);
     }
 
-    LocationCoordinate2D getSimPos2D(){
+    LocationCoordinate2D getSimPos2D() {
         LocationCoordinate3D pos3d = getSimPos3D();
-        LocationCoordinate2D pos = new LocationCoordinate2D(pos3d.getLatitude(),pos3d.getLongitude());
+        LocationCoordinate2D pos = new LocationCoordinate2D(pos3d.getLatitude(), pos3d.getLongitude());
         return (pos);
     }
 
@@ -343,6 +400,17 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
         });
     }
 
+    // These are no long used as this is an internal process now, sending data to RemoteConfig...
+    void setAiIP(final String ip)
+    {}
+    void setAiPort(final int port)
+    {}
+    void setAIenable( final boolean enable)
+    {
+        parent.mMavlinkReceiver.AIenabled = enable;
+        parent.Set_ai_mode();
+    }
+
     void setMaxHeight(final int height) {
         djiAircraft.getFlightController().setMaxFlightHeight(height, djiError -> {
             if (djiError == null) {
@@ -475,33 +543,33 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
     }
 
     void setWaypointMission(final WaypointMission wpMission) {
-        mission_loaded = -1;
         DJIError load_error = getWaypointMissionOperator().loadMission(wpMission);
         if (load_error != null)
             parent.logMessageDJI("loadMission() returned error: " + load_error.toString());
         else {
+            // We can not wait until we know the results as it takes too long for QGC on large missions...
+            send_mission_ack(MAV_MISSION_RESULT.MAV_MISSION_ACCEPTED);
+
             parent.logMessageDJI("Uploading mission");
             getWaypointMissionOperator().uploadMission(
                     djiError -> {
                         if (djiError == null) {
                             while (getWaypointMissionOperator().getCurrentState() == WaypointMissionState.UPLOADING) {
-                                safeSleep(200);
+                                safeSleep(100);
                             }
                             if (getWaypointMissionOperator().getCurrentState() == WaypointMissionState.READY_TO_EXECUTE) {
+                                send_mission_ack(MAV_MISSION_RESULT.MAV_MISSION_ACCEPTED);
+                                send_text("Mission uploaded and ready to execute!");
                                 parent.logMessageDJI("Mission uploaded and ready to execute!");
-                                mission_loaded = MAV_MISSION_RESULT.MAV_MISSION_ACCEPTED;
-                                send_mission_ack(mission_loaded);
                             } else {
+                                send_mission_ack(MAV_MISSION_RESULT.MAV_MISSION_ERROR);
+                                send_text("Error uploading waypoint mission to drone.");
                                 parent.logMessageDJI("Error uploading waypoint mission to drone.");
-                                mission_loaded = MAV_MISSION_RESULT.MAV_MISSION_ERROR;
-                                send_mission_ack(mission_loaded);
                             }
-
                         } else {
+                            send_mission_ack(MAV_MISSION_RESULT.MAV_MISSION_ERROR);
+                            send_text("\"Error uploading: \" + djiError.getDescription()");
                             parent.logMessageDJI("Error uploading: " + djiError.getDescription());
-                            parent.logMessageDJI(("Please try re-uploading"));
-                            mission_loaded = MAV_MISSION_RESULT.MAV_MISSION_ERROR;
-                            send_mission_ack(mission_loaded);
                         }
                         //parent.logMessageDJI("New state: " + getWaypointMissionOperator().getCurrentState().getName());
                     });
@@ -594,16 +662,13 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
                 mControllerVoltage_pr = (batteryState.getRemainingChargeInPercent());
                 if (mControllerVoltage_pr > 90) {
                     lastState = 100;
-                }
-                else if (mControllerVoltage_pr < 20 && lastState == 100) {
+                } else if (mControllerVoltage_pr < 20 && lastState == 100) {
                     lastState = 20;
                     SetMesasageBox("Controller Battery Warning 20% !!!!!");
-                }
-                else if (mControllerVoltage_pr < 10 && lastState == 20) {
+                } else if (mControllerVoltage_pr < 10 && lastState == 20) {
                     lastState = 10;
                     SetMesasageBox("Controller Battery Warning 10% !!!!!");
-                }
-                else if (mControllerVoltage_pr < 5 && lastState == 10) {
+                } else if (mControllerVoltage_pr < 5 && lastState == 10) {
                     lastState = 5;
                     SetMesasageBox("Controller Battery Warning 5% !!!!!");
                 }
@@ -631,16 +696,13 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
 
                     if (mCVoltage_pr > 90) {
                         mlastState = 100;
-                    }
-                    else if (mCVoltage_pr <= 20 && mlastState == 100) {
+                    } else if (mCVoltage_pr <= 20 && mlastState == 100) {
                         mlastState = 20;
                         SetMesasageBox("Drone Battery Warning 20% !!!!!");
-                    }
-                    else if (mCVoltage_pr <= 10 && mlastState == 20) {
+                    } else if (mCVoltage_pr <= 10 && mlastState == 20) {
                         mlastState = 10;
                         SetMesasageBox("Drone Battery Warning 10% !!!!!");
-                    }
-                    else if (mCVoltage_pr <= 5 && mlastState == 10) {
+                    } else if (mCVoltage_pr <= 5 && mlastState == 10) {
                         mlastState = 5;
                         SetMesasageBox("Drone Battery Warning 5% !!!!!");
                     }
@@ -742,6 +804,7 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
 
     void armMotors() {
         if (mSafetyEnabled) {
+            send_text(parent.getResources().getString(R.string.safety_launch));
             parent.logMessageDJI(parent.getResources().getString(R.string.safety_launch));
             send_command_ack(MAV_CMD_COMPONENT_ARM_DISARM, MAV_RESULT.MAV_RESULT_DENIED);
         } else {
@@ -822,6 +885,9 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
         msg_autopilot_version msg = new msg_autopilot_version();
         msg.capabilities = MAV_PROTOCOL_CAPABILITY.MAV_PROTOCOL_CAPABILITY_COMMAND_INT;
         msg.capabilities |= MAV_PROTOCOL_CAPABILITY.MAV_PROTOCOL_CAPABILITY_MISSION_INT;
+        msg.os_sw_version = 0x040107;
+        msg.middleware_sw_version = 0x040107;
+        msg.flight_sw_version = 0x040107;
         sendMessage(msg);
     }
 
@@ -989,7 +1055,7 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
     private void send_altitude() {
         msg_altitude msg = new msg_altitude();
         LocationCoordinate3D coord = djiAircraft.getFlightController().getState().getAircraftLocation();
-        msg.altitude_relative = (int) (coord.getAltitude() * 1000);
+        msg.altitude_relative = (float) (coord.getAltitude() ); //* 1000);
         m_alt = msg.altitude_relative;
         sendMessage(msg);
     }
@@ -1014,6 +1080,67 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
         sendMessage(msg);
     }
 
+    void send_command_ftp_string_ack(int message_id, String data, byte[] header) {
+        msg_file_transfer_protocol msg = new msg_file_transfer_protocol();
+        byte[] byteString = data.getBytes();
+        short[] shortArray = new short[251];
+
+
+        if (header != null) {
+            for (int i = 0; i < header.length; i++) {
+                short s = (short) (header[i] & 0xFF);
+                shortArray[i] = s;
+            }
+        }
+
+        int sizeCounter = 0;
+        for (int i = 0; i < byteString.length; i++) {
+            int added = 12 + i;
+            short s = byteString[i];
+            shortArray[added] = s;
+            sizeCounter += 1;
+        }
+        shortArray[3] = (short) 128;
+        shortArray[4] = (short) sizeCounter;
+        msg.payload = shortArray;
+        msg.msgid = message_id;
+
+        sendMessage(msg);
+    }
+
+    void send_command_ftp_bytes_ack(int message_id, byte[] data) {
+        msg_file_transfer_protocol msg = new msg_file_transfer_protocol();
+        short[] shortArray = new short[data.length];
+        for (int i = 0; i < data.length; i++) {
+            short s = (short) (data[i] & 0xFF);
+            shortArray[i] = s;
+        }
+
+        shortArray[3] = (short) 128;
+
+        msg.payload = shortArray;
+        msg.msgid = message_id;
+
+        sendMessage(msg);
+    }
+
+    void send_command_ftp_nak(int message_id, int errorCode, int failCode) {
+        msg_file_transfer_protocol msg = new msg_file_transfer_protocol();
+        short[] shortArray = new short[251];
+
+        shortArray[3] = (short) 129; //nak code
+        if (failCode != 0) {
+            shortArray[4] = (short) 2; //error size
+            shortArray[13] = (short) failCode;
+        } else {
+            shortArray[4] = (short) 1; //error size
+        }
+        shortArray[12] = (short) errorCode; // the error code
+
+        msg.msgid = message_id;
+        sendMessage(msg);
+    }
+
     private void send_global_position_int() {
         msg_global_position_int msg = new msg_global_position_int();
 
@@ -1021,6 +1148,9 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
         msg.lat = (int) (coord.getLatitude() * Math.pow(10, 7));
         msg.lon = (int) (coord.getLongitude() * Math.pow(10, 7));
 
+        // This is a bad idea, but the best we can do...
+        msg.alt = (int) ((coord.getAltitude()+mission_alt) * Math.pow(10, 3));
+
         // NOTE: Commented out this field, because msg.relative_alt seems to be intended for altitude above the current terrain,
         // but DJI reports altitude above home point.
         // Mavlink: Millimeters above ground (unspecified: presumably above home point?)
@@ -1048,20 +1178,42 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
     }
 
     public double get_current_lat() {
+        if (mFlightController == null) {
+            Log.d(TAG, "getSimPos3D().getLatitude()="+getSimPos3D().getLatitude());
+            return getSimPos3D().getLatitude();
+        }
+
         LocationCoordinate3D coord = djiAircraft.getFlightController().getState().getAircraftLocation();
+        Log.d(TAG, "coord.getLatitude()="+coord.getLatitude());
         return coord.getLatitude();
     }
 
     public double get_current_lon() {
+        if (mFlightController == null)
+            return getSimPos3D().getLongitude();
+
         LocationCoordinate3D coord = djiAircraft.getFlightController().getState().getAircraftLocation();
         return coord.getLongitude();
     }
 
     public float get_current_alt() {
+        if (mFlightController == null)
+            return getSimPos3D().getAltitude();
+
         LocationCoordinate3D coord = djiAircraft.getFlightController().getState().getAircraftLocation();
         return coord.getAltitude();
     }
 
+    public float get_current_head() {
+        if (mFlightController == null)
+            return (float) 123.45;
+
+        double yaw = djiAircraft.getFlightController().getState().getAttitude().yaw;
+        if (yaw < 0)
+            yaw += 360;
+        return (float) yaw;
+    }
+
     private void send_gps_raw_int() {
         msg_gps_raw_int msg = new msg_gps_raw_int();
 
@@ -1146,8 +1298,11 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
                 mAIfunction_activation = 0;
             }
 
-            mAutonomy = false;
-        //    pauseWaypointMission();  // TODO:: halt mission for safety...
+            mAutonomy = false;   // TODO:: This variable needs to be checked elseware in the code...
+
+            if(mission_started == 1) {
+                pauseWaypointMission();  // TODO:: halt mission for safety...
+            }
         }
 
         msg.chan8_raw = (mAIfunction_activation * 100) + 1000;
@@ -1210,12 +1365,10 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
     }
 
     void send_home_position() {
-        msg_home_position msg = new msg_home_position();
-
-        msg.latitude = (int) (djiAircraft.getFlightController().getState().getHomeLocation().getLatitude() * Math.pow(10, 7));
-        msg.longitude = (int) (djiAircraft.getFlightController().getState().getHomeLocation().getLongitude() * Math.pow(10, 7));
-        // msg.altitude = (int) (djiAircraft.getFlightController().getState().getHomePointAltitude());
-        msg.altitude = (int) (djiAircraft.getFlightController().getState().getGoHomeHeight());
+        home_position.latitude = (int) (djiAircraft.getFlightController().getState().getHomeLocation().getLatitude() * Math.pow(10, 7));
+        home_position.longitude = (int) (djiAircraft.getFlightController().getState().getHomeLocation().getLongitude() * Math.pow(10, 7));
+        home_position.altitude = (int) (djiAircraft.getFlightController().getState().getTakeoffLocationAltitude());
+        //home_position.altitude = (int) (djiAircraft.getFlightController().getState().getGoHomeHeight());
 
         // msg.x = 0;
         // msg.y = 0;
@@ -1223,7 +1376,7 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
         // msg.approach_x = 0;
         // msg.approach_y = 0;
         // msg.approach_z = 0;
-        sendMessage(msg);
+        sendMessage(home_position);
     }
 
     void set_home_position(double lat, double lon) {
@@ -1423,19 +1576,18 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
         msg.mission_type = MAV_MISSION_TYPE.MAV_MISSION_TYPE_MISSION;
         // Get the full expanded list...
         msg.count = send_mission_item(-1);
-        Log.d(TAG, "Mission Count: "+msg.count);
+        Log.d(TAG, "Mission Count: " + msg.count);
         sendMessage(msg);
     }
 
     // This is a bit tricky, as DJI and MAVlink pack mission ithems very different...
     // Firste we expand the full mission list and then we pick the one we need...
-    int send_mission_item(int i)
-    {
+    int send_mission_item(int i) {
         ArrayList<msg_mission_item_int> msglist = new ArrayList<>();
         WaypointMission x = getWaypointMissionOperator().getLoadedMission();
 
         // If a mission loaded...
-        if(x!=null) {
+        if (x != null) {
             // For all DJI mission items...
             for (Waypoint wp : Objects.requireNonNull(x).getWaypointList()) {
 
@@ -1523,10 +1675,10 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
                     }
                 }
             }
-            if(i>=0)
+            if (i >= 0)
                 sendMessage(msglist.get(i));
         }
-        Log.d(TAG, "Mission return: "+i);
+        Log.d(TAG, "Mission return: " + i);
         return (msglist.size());
     }
 
@@ -1545,6 +1697,18 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
         sendMessage(msg);
     }
 
+    // Send mission accepted back to Mavlink...
+    void send_text(String status) {
+        parent.logMessageDJI("Mission status: " + status);
+        msg_statustext msg = new msg_statustext();
+        int i = 0;
+        for( char x:status.toCharArray()){
+            msg.text[i++]=(byte)x;
+        }
+        sendMessage(msg);
+    }
+
+
     public void fetch_gcs_mission() {
         request_mission_list();
     }
@@ -1567,12 +1731,14 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
 
     void startWaypointMission() {
         mAutonomy = false;
+        mission_started = 1;
         parent.logMessageDJI("start WaypointMission()");
 
         if (getWaypointMissionOperator() == null) {
             parent.logMessageDJI("start WaypointMission() - WaypointMissionOperator null");
             return;
         }
+
         if (getWaypointMissionOperator().getCurrentState() == WaypointMissionState.READY_TO_EXECUTE) {
             parent.logMessageDJI("Ready to execute mission!\n");
         } else {
@@ -1582,7 +1748,11 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
         }
         if (mSafetyEnabled) {
             parent.logMessageDJI("You must turn off the safety to start mission");
+            send_text("You must turn off the safety to start mission");
+
         } else {
+            // Set default camera angle at 45deg down...
+            do_set_Gimbal(9, (float)((-45.0*5.5)+1500.0));
             getWaypointMissionOperator().startMission(djiError -> {
                 if (djiError != null)
                     parent.logMessageDJI("Error: " + djiError.toString());
@@ -1594,6 +1764,7 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
 
     public void stopWaypointMission() {
         mAutonomy = false;
+        mission_started = 0;
         if (getWaypointMissionOperator() == null) {
             parent.logMessageDJI("stopWaypointMission() - mWaypointMissionOperator null");
             return;
@@ -1612,6 +1783,7 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
 
     void pauseWaypointMission() {
         mAutonomy = false;
+        mission_started = 0;
         if (getWaypointMissionOperator() == null) {
             parent.logMessageDJI("pauseWaypointMission() - mWaypointMissionOperator null");
             return;
@@ -1630,11 +1802,6 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
 
     void resumeWaypointMission() {
         mAutonomy = false;
-        if (isSafetyEnabled()) {
-            parent.logMessageDJI(parent.getResources().getString(R.string.safety_launch));
-            send_command_ack(MAV_CMD_NAV_TAKEOFF, MAV_RESULT.MAV_RESULT_DENIED);
-            return;
-        }
 
         if (getWaypointMissionOperator() == null) {
             parent.logMessageDJI("resumeWaypointMission() - mWaypointMissionOperator null");
@@ -1648,6 +1815,7 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
                     parent.logMessageDJI("Error: " + djiError.toString());
                 else {
                     parent.logMessageDJI("Mission resumed!\n");
+                    mission_started = 1;
                     mGCSCommandedMode = NOT_USING_GCS_COMMANDED_MODE;
                 }
             });
@@ -1661,6 +1829,7 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
 
         if (mSafetyEnabled) {
             parent.logMessageDJI(parent.getResources().getString(R.string.safety_launch));
+            send_text(parent.getResources().getString(R.string.safety_launch));
             send_command_ack(MAV_CMD_NAV_TAKEOFF, MAV_RESULT.MAV_RESULT_DENIED);
             return;
         }
@@ -1672,84 +1841,28 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
             send_command_ack(MAV_CMD_NAV_TAKEOFF, MAV_RESULT.MAV_RESULT_DENIED);
             return;
         }
-/*
-        if (getWaypointMissionOperator().getCurrentState() == WaypointMissionState.READY_TO_EXECUTE) {
-            startWaypointMission();
-            send_command_ack(MAV_CMD_NAV_TAKEOFF, MAV_RESULT.MAV_RESULT_ACCEPTED);
-        } else {
-            parent.logMessageDJI("Initiating takeoff");
-            djiAircraft.getFlightController().startTakeoff(djiError -> {
-                if (djiError != null) {
-                    parent.logMessageDJI("Error: " + djiError.toString());
-                    //  send_command_ack(MAV_CMD_NAV_TAKEOFF, MAV_RESULT.MAV_RESULT_FAILED);
-                    mAirBorn = 1;
-                } else {
-                    parent.logMessageDJI("Takeoff successful!\n");
-                    //  send_command_ack(MAV_CMD_NAV_TAKEOFF, MAV_RESULT.MAV_RESULT_ACCEPTED);
-                    mAirBorn = 2;
-                }
-                mGCSCommandedMode = NOT_USING_GCS_COMMANDED_MODE;
-            });
+
+        if (getWaypointMissionOperator().getCurrentState() == WaypointMissionState.EXECUTION_PAUSED) {
+            resumeWaypointMission();
         }
-
-        // Wait for command to be executed...
-        Log.d(TAG,"Wait for takeoff...");
-        while( mAirBorn == 0) {
-            safeSleep(250);
-        }
-
-        // Check if ok or failed...
-        if(mAirBorn == 1) {
-            Log.d(TAG,"Takeoff failed...");
-            send_command_ack(MAV_CMD_NAV_TAKEOFF, MAV_RESULT.MAV_RESULT_FAILED);
-        }
-        else{
-            send_command_ack(MAV_CMD_NAV_TAKEOFF, MAV_RESULT.MAV_RESULT_IN_PROGRESS);
-
-            int timeout = 0;
-
-            // If we took off, wait for command co complete...
-            Log.d(TAG,"Wait for first altitude...");
-            while (m_alt < 1000.0 || timeout > (20*(1/0.250))) {
-                timeout+= 1;
-                safeSleep(250);
+        else {
+            if (getWaypointMissionOperator().getCurrentState() == WaypointMissionState.READY_TO_EXECUTE) {
+                Log.d(TAG, "Start Mission...");
+                // But how about takeoff....
+                startWaypointMission();
+                send_command_ack(MAV_CMD_NAV_TAKEOFF, MAV_RESULT.MAV_RESULT_ACCEPTED);
+            } else {
+                FlightControllerState coord = djiAircraft.getFlightController().getState();
+                TimeLine.TimeLinetakeOff(coord.getAircraftLocation().getLatitude(), coord.getAircraftLocation().getLongitude(), alt, 0);
+                TimeLine.startTimeline();
+                Log.d(TAG, "Takeoff started...");
             }
-
-            Log.d(TAG,"Takeoff success...");
-            safeSleep(500);
-
-            timeout = 0;
-            // If we are airborne, or was airborne from the start...
-            if (m_alt >= 800) {
-                float desired_alt = alt - m_alt;
-                Log.d(TAG, "Climb out...from: "+m_alt+" to: "+desired_alt+" set: "+alt);
-                // Climb out to 99% of requested altitude, however 100% is set, just to avoid deadlock...
-                while (m_alt < desired_alt || timeout > (30*(1/0.250))){
-                    do_set_motion_relative(MAV_CMD_NAV_TAKEOFF, 0, 0, (alt - m_alt) / (float) 1000.0, 0, 0, 0, 0, 0, 0b00011111111000);
-                    timeout+= 1;
-                    safeSleep(250);
-                }
-                Log.d(TAG, "Climb out completed..."+m_alt);
-            }else{
-                Log.d(TAG, "Climb out failed...");
-            }
-        }
-
- */
-        if (getWaypointMissionOperator().getCurrentState() == WaypointMissionState.READY_TO_EXECUTE) {
-            // But how about takeoff....
-            startWaypointMission();
-            send_command_ack(MAV_CMD_NAV_TAKEOFF, MAV_RESULT.MAV_RESULT_ACCEPTED);
-        } else {
-            FlightControllerState coord = djiAircraft.getFlightController().getState();
-            TimeLine.TimeLinetakeOff(coord.getAircraftLocation().getLatitude(), coord.getAircraftLocation().getLongitude(), alt, 0);
-            TimeLine.startTimeline();
-            Log.d(TAG, "Takeoff started...");
         }
     }
 
     void do_land() {
         mAutonomy = false;
+        mission_started = 0;
         parent.logMessageDJI("Initiating landing");
         djiAircraft.getFlightController().startLanding(djiError -> {
             if (djiError != null)
@@ -1764,6 +1877,7 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
 
     void do_go_home() {
         mAutonomy = false;
+        mission_started = 0;
         parent.logMessageDJI("Initiating Go Home");
         djiAircraft.getFlightController().startGoHome(djiError -> {
             if (djiError != null)
@@ -1776,7 +1890,6 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
     /********************************************
      * Motion implementation                    *
      ********************************************/
-
     void do_set_Gimbal(float channel, float value) {
         Rotation.Builder builder = new Rotation.Builder().mode(RotationMode.ABSOLUTE_ANGLE).time(2);
         float param = (value - (float) 1500.0) / (float) 5.5;
@@ -1797,7 +1910,7 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
         }
 
         m_ServoSet = builder.build();
-
+        Log.e(TAG, "Set Gimbal Pos: " + value + "   " +m_ServoPos_pitch + "  :  " + m_ServoPos_yaw);
         mGimbal.rotate(m_ServoSet, djiError -> {
             if (djiError != null)
                 parent.logMessageDJI("Error: " + djiError.toString());
@@ -2477,4 +2590,240 @@ public class DroneModel implements CommonCallbacks.CompletionCallback {
         parent.logMessageDJI("Was: lat " + lat + " lon " + lon + " newlat " + newlat + " newlon " + newlon);
         return new double[]{newlat, newlon};
     }
+
+//---------------------------------------------------------------------------------------
+//---------------------------------------------------------------------------------------
+//---------------------------------------------------------------------------------------
+// FTP and file related functions
+    public void initMediaManager(List<String> address)
+    {
+        m_mailToAddress = address;
+        DJILog.e(TAG, "Addresses: "+address.toString());
+
+        parent.logMessageDJI("Image retrival started...");
+        switch_camera_mode = camera_mode.IDLE;
+
+        if (m_aircraft == null)
+        {
+            mediaFileList.clear();
+            DJILog.e(TAG, "Product disconnected");
+            switch_camera_mode = camera_mode.DISCONNECTED;
+            return;
+
+        } else {
+            if (null != m_camera && m_camera.isMediaDownloadModeSupported())
+            {
+                mMediaManager = m_camera.getMediaManager();
+
+                // Is actually of no interest...
+                if(!m_camera.isSSDSupported()){
+                    parent.logMessageDJI("Internal ssd is not suported");
+                }
+                if (null != mMediaManager) {
+                    mMediaManager.addUpdateFileListStateListener(this.updateFileListStateListener);
+                    //switchCameraMode(SettingsDefinitions.CameraMode.MEDIA_DOWNLOAD);
+
+                    Objects.requireNonNull(RDApplication.getCameraInstance()).setMode(SettingsDefinitions.CameraMode.MEDIA_DOWNLOAD, error -> {
+                        if (error == null) {
+                            parent.logMessageDJI("Set camera to MEDIA_DOWNLOAD success");
+                            getFileList();
+                        } else {
+                            parent.logMessageDJI("Set camera to MEDIA_DOWNLOAD failed");
+                            parent.logMessageDJI(error.toString());
+                        }
+                    });
+
+                    // Is actually of no interest...
+                    if (mMediaManager.isVideoPlaybackSupported()) {
+                        parent.logMessageDJI("Camera support video playback!");
+                    } else {
+                        parent.logMessageDJI("Camera does not support video playback!");
+                    }
+
+                    scheduler = mMediaManager.getScheduler();
+                } else{
+                    switch_camera_mode = camera_mode.MEDIAMANAGER;
+                }
+            } else if (null != m_camera && !m_camera.isMediaDownloadModeSupported()) {
+                parent.logMessageDJI("Media Download Mode not Supported");
+                switch_camera_mode = camera_mode.DOWNLOADMODESUPPORTED;
+            }
+        }
+        return;
+    }
+
+    public void getFileList() {
+        BaseProduct product = null;
+        if (RDApplication.getSim() == false) product = m_aircraft;
+
+        if (product != null){
+            if(product.isConnected()) {
+                mMediaManager = m_camera.getMediaManager();
+                if (mMediaManager != null) {
+                    parent.logMessageDJI(currentFileListState.name());
+                    if ((currentFileListState == MediaManager.FileListState.SYNCING) || (currentFileListState == MediaManager.FileListState.DELETING)) {
+                        DJILog.e(TAG, "Media Manager is busy.");
+                        parent.logMessageDJI("Media Manager is busy.");
+                    } else {
+                        mMediaManager.refreshFileListOfStorageLocation(SettingsDefinitions.StorageLocation.SDCARD, djiError -> {
+                            if (null == djiError) {
+                                //Reset data
+                                if (currentFileListState != MediaManager.FileListState.INCOMPLETE) {
+                                    mediaFileList.clear();
+                                }
+                                mediaFileList = mMediaManager.getSDCardFileListSnapshot();
+                                Collections.sort(mediaFileList, (lhs, rhs) -> {
+                                    if (lhs.getTimeCreated() < rhs.getTimeCreated()) {
+                                        return -1;
+                                    } else if (lhs.getTimeCreated() > rhs.getTimeCreated()) {
+                                        return 1;
+                                    }
+                                    return 0;
+                                });
+                                scheduler.resume(error -> {
+                                    if (error == null) {
+                                    }
+                                });
+
+                                if(numFiles != mediaFileList.size()){
+                                    numFiles = mediaFileList.size();
+                                }
+
+                                parent.logMessageDJI("Got Media Files: " + mediaFileList.size());
+                                for(int i=0; i<mediaFileList.size(); i++) {
+                                    MediaFile file = mediaFileList.get(i);
+                                    String fileName = file.getFileName();
+                                    parent.logMessageDJI("FileName on Drone: " + fileName);
+                                }
+                            } else {
+                                parent.logMessageDJI("Get Media File List Failed: " + djiError.getDescription());
+                            }
+                        });
+                    }
+                } else {
+                    parent.logMessageDJI("mMediaManager == null");
+                }
+            }else {
+                parent.logMessageDJI("product == None, not connected...");
+            }
+        } else {
+            parent.logMessageDJI("product == null, Product in SIM mode ?");
+        }
+    }
+    //Listeners
+    private MediaManager.FileListStateListener updateFileListStateListener = new MediaManager.FileListStateListener() {
+        @Override
+        public void onFileListStateChange(MediaManager.FileListState state) {
+            currentFileListState = state;
+            parent.logMessageDJI("Changed state to " + currentFileListState.name());
+            if(currentFileListState == MediaManager.FileListState.UP_TO_DATE){
+                if(m_mailToAddress != null) {
+                    parent.logMessageDJI("getFile");
+                    if (numFiles > 0) {
+                        downloadFileByIndex(numFiles - 1);
+                    }
+                }
+            }
+        }
+    };
+    public void downloadFileByName(final String name) {
+        for(int i=0; i<mediaFileList.size(); i++) {
+            if (mediaFileList.get(i).getFileName() == name) {
+                downloadFileByIndex(i);
+            }
+        }
+    }
+
+    public boolean downloadFileByIndex(final int index){
+        if ((mediaFileList.get(index).getMediaType() == MediaFile.MediaType.PANORAMA)
+                || (mediaFileList.get(index).getMediaType() == MediaFile.MediaType.SHALLOW_FOCUS)) {
+            parent.logMessageDJI( "Media type is " + mediaFileList.get(index).getMediaType() + " This is not accaptable.");
+            return false;
+        }
+
+        mediaFileList.get(index).fetchFileData(destDir, null, new DownloadListener<String>() {
+            @Override
+            public void onFailure(DJIError error) {
+                parent.logMessageDJI( "Download File Failed" + error.getDescription());
+            }
+
+            @Override
+            public void onProgress(long total, long current) {
+            }
+
+            @Override
+            public void onRateUpdate(long total, long current, long persize) {
+                int tmpProgress = (int) (1.0 * current / total * 100);
+                if (tmpProgress != currentProgress) {
+                    currentProgress = tmpProgress;
+                }
+            }
+
+            @Override
+            public void onRealtimeDataUpdate(byte[] bytes, long l, boolean b) {
+            }
+
+            @Override
+            public void onStart() {
+                currentProgress = 0;
+            }
+
+            @Override
+            public void onSuccess(String filePath) {
+                m_directory = filePath;
+                parent.logMessageDJI( "Download File Success: " + filePath + "/" + mediaFileList.get(index).getFileName());
+//                last_downloaded_file = filePath+ "/" + mediaFileList.get(index).getFileName();
+                last_downloaded_file = mediaFileList.get(index).getFileName();
+
+                RDApplication.getCameraInstance().setMode(SettingsDefinitions.CameraMode.SHOOT_PHOTO, error -> {
+                    if (error == null) {
+                        parent.logMessageDJI("Set camera to SHOOT_PHOTO success");
+                        sendmail(last_downloaded_file);
+                        NotificationHandler.notifySnackbar(parent.findViewById(R.id.snack),R.string.release, LENGTH_LONG);
+                    } else {
+                        parent.logMessageDJI("Set camera to SHOOT_PHOTO failed");
+                        parent.logMessageDJI(error.toString());
+                    }
+                });
+                lastDownloadedIndex = index;
+            }
+        });
+        return true;
+    }
+
+    //--------------------------------------------------------------
+    void sendmail(String file_toSend)
+    {
+        Log.i(TAG, "File to send: "+file_toSend);
+        try {
+            Intent email = SendMail.createEmail(
+                    m_mailToAddress,
+                    "Status report",
+                    "There is an issue: ",
+                    get_current_lat(),
+                    get_current_lon(),
+                    get_current_alt(),
+                    get_current_head(),
+                    file_toSend,
+                    m_directory
+                    );
+
+            if(email != null) {
+                try {
+                    parent.startActivity(Intent.createChooser(email, "Send mail..."));
+                    Log.i(TAG, "Finished sending email...");
+                } catch (android.content.ActivityNotFoundException ex) {
+                    Toast.makeText(parent, "There is no email client installed.", Toast.LENGTH_SHORT).show();
+                }
+            }
+        }catch (Exception e) {
+            Toast.makeText(parent, "Can not send email: "+ e.toString(), Toast.LENGTH_SHORT).show();
+        }
+    }
+
+    void onFileListStateChange(MediaManager.FileListState state){
+        parent.logMessageDJI( "Files changed?");
+    }
+    // FTP and file related functions
+    //---------------------------------------------------------------------------------------
 }
\ No newline at end of file
diff --git a/app/src/main/java/sq/rogue/rosettadrone/FTPManager.java b/app/src/main/java/sq/rogue/rosettadrone/FTPManager.java
new file mode 100644
index 0000000..af1dae0
--- /dev/null
+++ b/app/src/main/java/sq/rogue/rosettadrone/FTPManager.java
@@ -0,0 +1,234 @@
+package sq.rogue.rosettadrone;
+
+import com.MAVLink.common.msg_file_transfer_protocol;
+
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileNotFoundException;
+import java.io.IOException;
+import java.io.InputStream;
+import java.math.BigInteger;
+import java.nio.ByteBuffer;
+
+import static com.MAVLink.common.msg_file_transfer_protocol.MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL;
+import static sq.rogue.rosettadrone.util.safeSleep;
+
+public class FTPManager {
+    private MainActivity parent;
+    private DroneModel mModel;
+    private File currentFile;
+    private byte[][] currentFileInPacket;
+
+    public FTPManager(MainActivity parent, DroneModel mModel) {
+        this.parent = parent;
+        this.mModel = mModel;
+        this.currentFile = null;
+        this.currentFileInPacket = null;
+    }
+
+    public void manage_ftp(msg_file_transfer_protocol msg_ftp_item){
+        int session_id = new Short(msg_ftp_item.payload[2]).intValue();
+        int opCode = new Short(msg_ftp_item.payload[3]).intValue();
+        int offset = getOffset(msg_ftp_item.payload);
+//      DEBUG
+//        parent.logMessageDJI("opCode: " + opCode);
+//        parent.logMessageDJI("session_id: " + session_id);
+//        parent.logMessageDJI("Offset: " + offset);
+//        parent.logMessageDJI("code was " + opCode);
+        switch (opCode) {
+            case 3: // Return list
+                fetchFiles(offset);
+                break;
+            case 4: // Open file for reading
+                int file_id = new Short(msg_ftp_item.payload[12]).intValue();
+                openFile(file_id, session_id);
+                break;
+            case 5: // Read file
+                readFile(session_id, offset, msg_ftp_item.payload);
+                break;
+            case 8: // Remove file
+                break;
+        }
+    }
+    public int getOffset(short[] payload){
+//        parent.logMessageDJI("CAME HERE!");
+        byte[] byteArray = new byte[4];
+
+        for(int i = 0; i <= 3; i++){
+            int added = 8 + i;
+            short x = new Short(payload[added]);
+            byteArray[i] = (byte)(x & 0xff);
+        };
+
+        int offset = ByteBuffer.wrap(byteArray).getInt();
+        return offset;
+    }
+
+    public void fetchFiles(int offset){
+
+        mModel.initMediaManager(null);
+        // TODO: Wait for answer hmm will this work???...
+        do {
+            safeSleep(500);
+        }while(mModel.switch_camera_mode == DroneModel.camera_mode.IDLE);
+
+        parent.logMessageDJI("Getting files");
+        //parent.getFilesDir();
+        if(parent.mediaFileList.size() < offset) {
+            mModel.send_command_ftp_nak(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, 10, 0);
+        } else {
+            String dir_items = "";
+            String add_dir = "";
+            for (int i = offset; i < parent.mediaFileList.size(); i++) {
+                add_dir = "F" + parent.mediaFileList.get(i).getFileName() + "\\t" + parent.mediaFileList.get(i).getFileSize() + "\\0";
+                if (dir_items.getBytes().length + add_dir.getBytes().length < (251 - 12)) {
+                    dir_items += add_dir;
+                }
+            }
+            parent.logMessageDJI("total: " + dir_items.getBytes().length + ": " + dir_items);
+            mModel.send_command_ftp_string_ack(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, dir_items, null);
+        }
+    }
+
+    public void openFile(int file_id, int session_id){
+        parent.logMessageDJI("Download file by index " + file_id);
+        if(parent.lastDownloadedIndex != file_id) {
+            mModel.downloadFileByIndex(file_id);
+            // wait for done
+            while (parent.mModel.currentProgress != -1){
+                safeSleep(1000);
+                parent.logMessageDJI("Waiting for current progress: " + parent.mModel.currentProgress);
+            };
+        }
+        if(!parent.downloadError){
+            parent.logMessageDJI("No error while downloading");
+            currentFileInPacket = new byte[0][0];
+            currentFile = null;
+            parent.logMessageDJI("Reset currentfile and currentfileinpackets");
+            byte[] header = new byte[12];
+            header[2] = (byte)session_id;
+            header[4] = 4;
+            parent.logMessageDJI(parent.last_downloaded_file);
+            try {
+                currentFile = new File(parent.last_downloaded_file);
+            } catch (Exception e){
+                parent.logMessageDJI(e.toString());
+            }
+            // convert to byte array
+            try (InputStream is = new FileInputStream(currentFile)) {
+                if (currentFile.length() > Integer.MAX_VALUE) {
+                    mModel.send_command_ftp_nak(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, 1, 0);
+                    parent.logMessageDJI("File to big!");
+                }
+                parent.logMessageDJI("read file to bytes...");
+
+                byte[] fetchedFile = readFileToBytes(currentFile);
+                // byte [x,2,e,d,f,ge,e,e,s,df,s]
+
+                parent.logMessageDJI("Current file in bytes: " + fetchedFile.length);
+
+                int payload_data_size = (251-12);
+                int total_file_size = (int) currentFile.length();
+                float total_packets_float = (float) total_file_size/payload_data_size;
+                int total_packets = (int) Math.ceil(total_packets_float);
+                int bytes_to_add_size = 0;
+                int current_byte = 0;
+
+                parent.logMessageDJI("Getting packets: " + total_packets);
+                currentFileInPacket = new byte[total_packets][];
+                try {
+                    for (int i = 0; i < total_packets; i++) {
+                        current_byte = payload_data_size * i; // 5.802.442 (+13 = 5.802.455)
+                        bytes_to_add_size = payload_data_size; //239
+                        if (current_byte + payload_data_size > fetchedFile.length) {
+                            bytes_to_add_size = fetchedFile.length - current_byte;
+                            parent.logMessageDJI("Getting a total of last byte size " + bytes_to_add_size); //13
+                        }
+                        currentFileInPacket[i] = new byte[bytes_to_add_size];
+
+                        for (int j = 0; j < bytes_to_add_size; j++) {
+                            currentFileInPacket[i][j] = fetchedFile[current_byte + j];
+                        }
+                    }
+                    parent.logMessageDJI("Current file in bytes: " + total_file_size + ", total packets: " + total_packets);
+                } catch (Exception e){
+                    parent.logMessageDJI("Exception: " + e.toString());
+                }
+
+            } catch (FileNotFoundException e) {
+                mModel.send_command_ftp_nak(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, 10, 0);
+                parent.logMessageDJI("FileNotFoundException: " + e.toString());
+                return;
+            } catch (IOException e) {
+                mModel.send_command_ftp_nak(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, 1, 0);
+                parent.logMessageDJI("IOException: " + e.toString());
+                return;
+            }
+            int file_size = (int)currentFile.length();
+            parent.logMessageDJI("File size: " + file_size);
+            mModel.send_command_ftp_string_ack(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, file_size + "", null);
+            parent.logMessageDJI("Opened image " + currentFile.getName());
+        } else {
+            parent.logMessageDJI("There was an error");
+            mModel.send_command_ftp_nak(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, 1, 0);
+        }
+    }
+
+    public void readFile(int session_id, int offset, short[] payload){
+        try { //remove this try catch block after debugging
+            int bytes_to_add_size = currentFileInPacket[offset].length;
+            int bytes_with_header_size = bytes_to_add_size + 12;
+
+            byte[] data = new byte[bytes_with_header_size];
+
+//          Set offset from original payload
+            for (int i = 8; i <= 12; i++) {
+                short x = new Short(payload[i]);
+                data[i] = (byte) (x & 0xff);
+            }
+//          Set session
+            data[2] = (byte) session_id;
+            data[4] = (byte) bytes_to_add_size;
+
+            if (currentFile == null || currentFile.length() == 0) {
+                parent.logMessageDJI("File is null, sending error code");
+                mModel.send_command_ftp_nak(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, 10, 0);
+                return;
+            }
+            if (offset > (currentFileInPacket.length)) {
+                parent.logMessageDJI("offset > currentFileInPacket.length");
+                mModel.send_command_ftp_nak(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, 6, 0);
+                return;
+            }
+            try {
+//          We only need to rewrite byte 12 to bytes_to_add_size (which is the total bytes in currentFileInPacket[packet])
+//          Then we just read a packet byte by using the offset as packet_id and i from bytes_to_add_size
+                for (int i = 0; i < bytes_to_add_size; i++) {
+                    int added = i + 12;
+                    data[added] = currentFileInPacket[offset][i];
+                }
+                mModel.send_command_ftp_bytes_ack(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, data);
+            } catch (Exception e) {
+                parent.logMessageDJI(e.toString());
+                mModel.send_command_ftp_nak(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, 6, 0);
+            }
+        } catch (Exception e) {
+            parent.logMessageDJI(e.toString());
+        }
+    }
+
+    private byte[] readFileToBytes(File file) throws IOException {
+        byte[] bytes = new byte[(int) file.length()];
+        FileInputStream fis = null;
+        try {
+            fis = new FileInputStream(file);
+            //read file into bytes[]
+            fis.read(bytes);
+        } finally {
+            if (fis != null) {
+                fis.close();
+            }
+        }
+        return bytes;
+    }
+}
diff --git a/app/src/main/java/sq/rogue/rosettadrone/MAVLinkReceiver.java b/app/src/main/java/sq/rogue/rosettadrone/MAVLinkReceiver.java
index cdfba59..2b908fa 100644
--- a/app/src/main/java/sq/rogue/rosettadrone/MAVLinkReceiver.java
+++ b/app/src/main/java/sq/rogue/rosettadrone/MAVLinkReceiver.java
@@ -15,11 +15,23 @@ import com.MAVLink.common.msg_param_request_read;
 import com.MAVLink.common.msg_param_set;
 import com.MAVLink.common.msg_set_mode;
 import com.MAVLink.common.msg_set_position_target_global_int;
+import com.MAVLink.common.msg_file_transfer_protocol;
 import com.MAVLink.common.msg_set_position_target_local_ned;
 import com.MAVLink.enums.MAV_CMD;
+import com.MAVLink.enums.MAV_MISSION_RESULT;
 import com.MAVLink.enums.MAV_MISSION_TYPE;
 import com.MAVLink.enums.MAV_RESULT;
 
+import java.io.IOException;
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+
+import java.io.File;
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+import java.net.SocketException;
+import java.net.UnknownHostException;
 import java.util.ArrayList;
 
 import dji.common.flightcontroller.FlightControllerState;
@@ -61,6 +73,7 @@ import static com.MAVLink.enums.MAV_CMD.MAV_CMD_DO_SET_MODE;
 import static com.MAVLink.enums.MAV_CMD.MAV_CMD_DO_SET_SERVO;
 import static com.MAVLink.enums.MAV_CMD.MAV_CMD_GET_HOME_POSITION;
 import static com.MAVLink.enums.MAV_CMD.MAV_CMD_MISSION_START;
+import static com.MAVLink.enums.MAV_CMD.MAV_CMD_OVERRIDE_GOTO;
 import static com.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_LAND;
 import static com.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_LOITER_UNLIM;
 import static com.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_RETURN_TO_LAUNCH;
@@ -70,20 +83,33 @@ import static com.MAVLink.enums.MAV_CMD.MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES;
 import static com.MAVLink.enums.MAV_CMD.MAV_CMD_VIDEO_START_CAPTURE;
 import static com.MAVLink.enums.MAV_CMD.MAV_CMD_VIDEO_STOP_CAPTURE;
 import static com.MAVLink.enums.MAV_MISSION_TYPE.MAV_MISSION_TYPE_MISSION;
+import static com.MAVLink.common.msg_file_transfer_protocol.MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL;
+import static com.MAVLink.enums.MAV_GOTO.MAV_GOTO_HOLD_AT_SPECIFIED_POSITION;
+import static com.MAVLink.enums.MAV_GOTO.MAV_GOTO_DO_CONTINUE;
+import static com.MAVLink.enums.MAV_GOTO.MAV_GOTO_HOLD_AT_CURRENT_POSITION;
 import static sq.rogue.rosettadrone.util.TYPE_WAYPOINT_DISTANCE;
 import static sq.rogue.rosettadrone.util.TYPE_WAYPOINT_MAX_ALTITUDE;
 import static sq.rogue.rosettadrone.util.TYPE_WAYPOINT_MAX_SPEED;
 import static sq.rogue.rosettadrone.util.TYPE_WAYPOINT_MIN_ALTITUDE;
 import static sq.rogue.rosettadrone.util.TYPE_WAYPOINT_MIN_SPEED;
+import static com.MAVLink.enums.MAV_PROTOCOL_CAPABILITY.MAV_PROTOCOL_CAPABILITY_FTP;
+import static com.google.android.material.snackbar.BaseTransientBottomBar.LENGTH_LONG;
+
 import static sq.rogue.rosettadrone.util.safeSleep;
 
 public class MAVLinkReceiver {
+
+    public int AIactivityPort = 7001;
+    public String AIactivityIP = "127.0.0.1";
+
+    public boolean AIenabled = false;
+    public boolean AIstat = false;
+
     private static final int MAV_MISSION_ACCEPTED = 0;
     private final String TAG = this.getClass().getSimpleName();
 
     private float m_autoFlightSpeed = 2.0f;
-    private float m_maxFlightSpeed = 5.0f;
-
+    private float m_maxFlightSpeed = 12.0f;
 
     private final int WP_STATE_INACTIVE = 0;
     private final int WP_STATE_REQ_COUNT = 1;
@@ -92,6 +118,7 @@ public class MAVLinkReceiver {
     public boolean curvedFlightPath = true;
     public float flightPathRadius = .2f;
     DroneModel mModel;
+    FTPManager ftpManager;
     private long mTimeStampLastGCSHeartbeat = 0;
     private int mNumGCSWaypoints = 0;
     private int wpState = 0;
@@ -100,6 +127,9 @@ public class MAVLinkReceiver {
     private ArrayList<msg_mission_item_int> mMissionItemList;
     private boolean isHome = true;
 
+//    private ArrayList<String> aiWP = new ArrayList<String>();
+    private String[] aiWP = new String[100]; // Max 100 wp in an AI mission for now...
+
     public MAVLinkReceiver(MainActivity parent, DroneModel model) {
 
         this.parent = parent;
@@ -111,7 +141,7 @@ public class MAVLinkReceiver {
         // IS 0 is hart beat...
         if (msg.msgid != 0) {
             Log.d(TAG, msg.toString());
-            Log.d(TAG, "Message: " + msg);
+        //    Log.d(TAG, "Message: " + msg);
             //          Log.d(TAG, String.valueOf(msg));
             //       Log.d(TAG, String.valueOf(msg.msgid));
         }
@@ -181,11 +211,57 @@ public class MAVLinkReceiver {
                         break;
                     case MAV_CMD_DO_DIGICAM_CONTROL:
                         // DEPRECATED but still used by QGC
+                    //    mModel.do_set_Gimbal(9, (float)((-30.0*5.5)+1500.0)); // TODO:: Default point somewhat down... To be removed when Camera setting in mission works....
                         mModel.takePhoto();
                         break;
                     case MAV_CMD_MISSION_START:
                         mModel.startWaypointMission();
                         break;
+                    case MAV_CMD_OVERRIDE_GOTO:
+                        parent.logMessageDJI("Received MAV: MAV_CMD_OVERRIDE_GOTO");
+                        if (mModel.getSystemId() != msg_cmd.target_system) {
+                            break;
+                        }
+                        mModel.pauseWaypointMission();
+                        if (msg_cmd.param2 == MAV_GOTO_HOLD_AT_CURRENT_POSITION) {
+                            int x = (int) mModel.get_current_lat();
+                            int y = (int) mModel.get_current_lon();
+                            int z = (int) mModel.get_current_alt();
+
+                            Log.d(TAG, "Lat = " + x);
+                            Log.d(TAG, "Lon = " + y);
+                            Log.d(TAG, "ALT = " + z);
+                            mModel.do_set_motion_absolute(
+                                    (double) x,
+                                    (double) y,
+                                    z,
+                                    msg_cmd.param4,
+                                    0,
+                                    0,
+                                    0,
+                                    0,
+                                    0b0000111111111000);
+                        } else if (msg_cmd.param2 == MAV_GOTO_HOLD_AT_SPECIFIED_POSITION) {
+
+                            Log.d(TAG, "Lat = " + msg_cmd.param5);
+                            Log.d(TAG, "Lon = " + msg_cmd.param6);
+                            Log.d(TAG, "ALT = " + msg_cmd.param7);
+                            mModel.do_set_motion_absolute(
+                                    (double) msg_cmd.param5,
+                                    (double) msg_cmd.param6,
+                                    msg_cmd.param7,
+                                    msg_cmd.param4,
+                                    0,
+                                    0,
+                                    0,
+                                    0,
+                                    0b0000111111111000);
+                        }
+                        if(msg_cmd.param1 == MAV_GOTO_DO_CONTINUE) {
+                            mModel.resumeWaypointMission();
+                        }
+                        mModel.send_command_ack(MAV_CMD_OVERRIDE_GOTO, MAV_RESULT.MAV_RESULT_ACCEPTED);
+                        break;
                     case MAV_CMD_CONDITION_YAW:
                         Log.d(TAG, "Yaw = " + msg_cmd.param1);
 
@@ -209,6 +285,11 @@ public class MAVLinkReceiver {
                     case MAV_CMD_DO_SET_SERVO:
                         mModel.do_set_Gimbal(msg_cmd.param1, msg_cmd.param2);
                         break;
+                    //                        CUSTOM
+                    case MAV_PROTOCOL_CAPABILITY_FTP:
+                        parent.logMessageDJI("Received MAV: MAV_PROTOCOL_CAPABILITY_FTP");
+                        mModel.send_command_ack(MAV_PROTOCOL_CAPABILITY_FTP, MAV_RESULT.MAV_RESULT_ACCEPTED);
+                        break;
                     // JUMP is just a test function to enter the Timeline...
                     case MAV_CMD_DO_JUMP:
                         Log.d(TAG, "Start Timeline...");
@@ -409,6 +490,8 @@ public class MAVLinkReceiver {
 
                         // We are done fetching a complete mission from the GCS...
                         if (msg_item.seq == mNumGCSWaypoints - 1) {
+                       //     mModel.send_command_ack(MAVLINK_MSG_ID_MISSION_ACK, MAV_RESULT.MAV_RESULT_ACCEPTED);
+                            Log.d(TAG, "Mission Loaded from host...!");
                             wpState = WP_STATE_INACTIVE;
                             finalizeNewMission();
                         } else {
@@ -491,6 +574,14 @@ public class MAVLinkReceiver {
                     ym.getWaypointList().clear();
                 }
                 break;
+            case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
+                msg_file_transfer_protocol msg_ftp_item = (msg_file_transfer_protocol) msg;
+                ftpManager.manage_ftp(msg_ftp_item);
+                break;
+            default:
+                parent.logMessageDJI("Received (unkown) message");
+                parent.logMessageDJI( String.valueOf(msg.msgid));
+                break;
         }
     }
 
@@ -547,158 +638,250 @@ public class MAVLinkReceiver {
         Log.d(TAG, "==============================");
 
         boolean stopUpload = false;
+        boolean takeoff_received = false;
         int errorCode = 0;
+        float base_alt = 0;  // The DJI Drone got bad absolute Altitude, so we calibrate it with what the mission planner expects.
 
         boolean triggerDistanceEnabled = false;
         float triggerDistance = 0;
 
-        waypoint_loop:
+        // If we got our position...
+//        if(mModel.get_current_lat()+mModel.get_current_lon()+mModel.get_current_alt() > 0) {
+//            currentWP = new Waypoint(mModel.get_current_lat(), mModel.get_current_lon(), mModel.get_current_alt());
+//        }
 
-        for (msg_mission_item_int m : this.mMissionItemList) {
-            Log.d(TAG, "Command: " +String.valueOf(m));
+        if (AIstat == true)
+        {
+//            aiWP = "";
+            int num = 0;
 
-            switch (m.command) {
+            for (msg_mission_item_int m : this.mMissionItemList) {
+                Log.d(TAG, "AI Command: " + String.valueOf(m));
 
-                case MAV_CMD.MAV_CMD_NAV_TAKEOFF:
-                    Log.d(TAG, "Takeoff...");
+                switch (m.command) {
+                    case MAV_CMD.MAV_CMD_NAV_WAYPOINT:
 
-                    // if we got an item (Start item) already we got a position, now we just add altitude.
-                    if(currentWP != null){
-                        currentWP.altitude = m.z;
-                    }else{
-                        if(m.x == 0 || m.y == 0) {
-                            currentWP = new Waypoint(mModel.get_current_lat(), mModel.get_current_lon(), m.z);
-                        }else {
-                            currentWP = new Waypoint(m.x,m.z, m.z);
-                        }
-                    }
-                    dji_wps.add(currentWP);
-                    break;
+                        if(num ==0)
+                            mModel.mission_alt = m.z;
 
-                case MAV_CMD.MAV_CMD_NAV_WAYPOINT:
-                    Log.d(TAG, "Waypoint: " + m.x/10000000.0 + ", " + m.y/10000000.0 + " at " + m.z + " m " + m.param2 + " Yaw " + m.param1 + " Delay ");
-
-                    // If this is a start item let's store the position ...
-                    if(m.frame != 3 || Float.isNaN(m.z) ) {
-                        currentWP = new Waypoint(mModel.get_current_lat(), mModel.get_current_lon(), 0);
+                        aiWP[num++] = "WP," +
+                                String.valueOf(num) + "," +
+                                String.valueOf(m.x / 10000000.0) + "," +
+                                String.valueOf(m.y / 10000000.0) + "," +
+                                String.valueOf(m.z-mModel.mission_alt) + "";
                         break;
-                    }
-
-                    if ((m.z) > 500) {  // TODO:  Shuld reqest max altitude not assume 500...
-                        parent.runOnUiThread(() -> NotificationHandler.notifyAlert(parent, TYPE_WAYPOINT_MAX_ALTITUDE, null, null));
-                        stopUpload = true;
-                        mModel.send_command_ack(MAVLINK_MSG_ID_MISSION_ACK, MAV_RESULT.MAV_RESULT_DENIED);
-                        break waypoint_loop;
-
-                    } else if ((m.z) < -200) {  // TODO:  hmm so we can not take off from a mountain and fly down?? ...
-                        parent.runOnUiThread(() -> NotificationHandler.notifyAlert(parent, TYPE_WAYPOINT_MIN_ALTITUDE, null, null));
-                        stopUpload = true;
-                        mModel.send_command_ack(MAVLINK_MSG_ID_MISSION_ACK, MAV_RESULT.MAV_RESULT_DENIED);
-                        break waypoint_loop;
-                    }
-
-                    currentWP = new Waypoint(m.x/10000000.0, m.y/10000000.0, m.z); // TODO check altitude conversion
-
-                    // If delay at wp...
-                    if (m.param1 > 0)
-                        currentWP.addAction(new WaypointAction(WaypointActionType.STAY, (int) m.param1 * 1000)); // milliseconds...
-
-                    // If rotate at wp...
-                    if (m.param2 > 0)
-                        currentWP.addAction(new WaypointAction(WaypointActionType.ROTATE_AIRCRAFT, (int) (m.param2 * 180.0 / 3.141592))); // +-180 deg...
-
-                    // This is set in the RosettaDrone2 settings...
-                    if (curvedFlightPath) {
-                        currentWP.cornerRadiusInMeters = flightPathRadius;
-                    }
-
-                    dji_wps.add(currentWP);
-                break;
-
-                case MAV_CMD.MAV_CMD_DO_CHANGE_SPEED:
-                    Log.d(TAG, "Change Speed: " + m.x/10000000.0 + ", " + m.y/10000000.0 + " at " + m.z + " m " + m.param2 + " Yaw " + m.param1 + " Delay ");
-
-                    if (m.param2 < -15) {
-                        parent.runOnUiThread(() -> NotificationHandler.notifyAlert(parent, TYPE_WAYPOINT_MIN_SPEED,
-                                null, null));
-                        stopUpload = true;
-                        break waypoint_loop;
-                    }
-                    else if (m.param2 > 15) {
-                        parent.runOnUiThread(() -> NotificationHandler.notifyAlert(parent, TYPE_WAYPOINT_MAX_SPEED,
-                                null, null));
-                        stopUpload = true;
-                        break waypoint_loop;
-                    }
-                    else {
-                        mBuilder.autoFlightSpeed(m.param2);
-                    }
-                    break;
-
-                case MAV_CMD.MAV_CMD_DO_MOUNT_CONTROL:
-                    Log.d(TAG, "Set gimbal pitch: " + m.param1);
-                    currentWP = new Waypoint(m.x/10000000.0, m.y/10000000.0, m.z); // TODO check altitude conversion
-                    currentWP.addAction(new WaypointAction(WaypointActionType.GIMBAL_PITCH, (int) m.param1));
-                    dji_wps.add(currentWP);
-                    break;
-
-                case MAV_CMD.MAV_CMD_IMAGE_START_CAPTURE:
-                    Log.d(TAG, "MAV_CMD_IMAGE_START_CAPTURE");
-                    currentWP = new Waypoint(m.x/10000000.0, m.y/10000000.0, m.z); // TODO check altitude conversion
-                    currentWP.addAction(new WaypointAction(WaypointActionType.START_TAKE_PHOTO, 0));
-                    dji_wps.add(currentWP);
-                    break;
-
-                case MAV_CMD.MAV_CMD_DO_SET_CAM_TRIGG_DIST:
-                    Log.d(TAG, "MAV_CMD_DO_SET_CAM_TRIGG_DIST");
-
-                    if (!triggerDistanceEnabled) {
-                        if (m.param1 != 0) {
-                            triggerDistanceEnabled = true;
-                            triggerDistance = m.param1;
-                        } else {
-                            triggerDistance = 0;
-                        }
-                    }
-                    break;
-
-                case MAV_CMD.MAV_CMD_NAV_RETURN_TO_LAUNCH:
-                    Log.d(TAG, "MAV_CMD_NAV_RETURN_TO_LAUNCH");
-                    mBuilder.finishedAction(WaypointMissionFinishedAction.GO_HOME);
-                    break;
-
-                case MAV_CMD.MAV_CMD_NAV_DELAY:
-                    Log.d(TAG, "MAV_CMD_NAV_DELAY");
-                    break;
-
-                case MAV_CMD.MAV_CMD_VIDEO_START_CAPTURE:
-                    Log.d(TAG, "MAV_CMD_VIDEO_START_CAPTURE");
-                    break;
-
-                case MAV_CMD.MAV_CMD_VIDEO_STOP_CAPTURE:
-                    Log.d(TAG, "MAV_CMD_VIDEO_STOP_CAPTURE");
-                    break;
-
-                case MAV_CMD.MAV_CMD_CONDITION_YAW:
-                    Log.d(TAG, "MAV_CMD_CONDITION_YAW");
-                    break;
-
-                case MAV_CMD.MAV_CMD_DO_DIGICAM_CONTROL:
-                    Log.d(TAG, "MAV_CMD_DO_DIGICAM_CONTROL");
-                    break;
-
-                case MAV_CMD.MAV_CMD_SET_CAMERA_ZOOM:
-                    Log.d(TAG, "MAV_CMD_SET_CAMERA_ZOOM");
-                    break;
-
-                case MAV_CMD.MAV_CMD_SET_CAMERA_FOCUS:
-                    Log.d(TAG, "MAV_CMD_SET_CAMERA_FOCUS");
-                    break;
                 }
+            }
+
+            // Send mission to the AIactivityModule
+//            Log.d(TAG, aiWP);
+
+            if(num > 0){
+                aiWP[num++] = "WP,9999,0,0,0";  // End of mission...
+
+                try {
+                    InetAddress address = InetAddress.getByName(AIactivityIP);
+
+                    try {
+                        DatagramSocket mSocketUDP = new DatagramSocket();
+
+                        for(int x=0; x < num; x++){
+
+                            byte[] byteArrray = aiWP[x].getBytes();
+                            DatagramPacket p = new DatagramPacket(byteArrray, byteArrray.length, address, AIactivityPort);
+                            try {
+                                mSocketUDP.send(p);
+               //                 mSocketUDP.close();  // It this needed / wanted...
+                            } catch (IOException e) {
+                                Log.e(TAG, "Error sending AI datagram socket", e);
+                            }
+                            aiWP[x]="";
+                        }
+                    } catch (SocketException e) {
+                        Log.e(TAG, "Error creating AI datagram socket", e);
+                    }
+                } catch (UnknownHostException e) {
+                    Log.e(TAG, "Error setting address to AI datagram socket", e);
+                }
+            }
+            stopUpload = true;
+
+            NotificationHandler.notifySnackbar(parent.findViewById(R.id.snack),R.string.ai_uploaded_active, LENGTH_LONG);
+        } else {
+            waypoint_loop:
+            for (msg_mission_item_int m : this.mMissionItemList) {
+                Log.d(TAG, "Command: " + String.valueOf(m));
+
+                switch (m.command) {
+
+                    case MAV_CMD.MAV_CMD_NAV_TAKEOFF:
+                        Log.d(TAG, "Takeoff...");
+
+                        // if we got an item (Start item) already we got a position, now we just add altitude.
+                        if (currentWP != null) {
+                            currentWP.altitude = m.z;
+                        } else {
+                            if (m.x == 0 || m.y == 0) {
+                                currentWP = new Waypoint(mModel.get_current_lat(), mModel.get_current_lon(), m.z);
+                            } else {
+                                currentWP = new Waypoint(m.x, m.z, m.z);
+                            }
+                        }
+
+                        Log.d(TAG, "Takeoff at  " + currentWP);
+                        dji_wps.add(currentWP);
+                        takeoff_received = true;
+                        break;
+
+                    case MAV_CMD.MAV_CMD_NAV_WAYPOINT:
+                        Log.d(TAG, "Waypoint: " + m.x / 10000000.0 + ", " + m.y / 10000000.0 + " at " + m.z + " m " + m.param2 + " Yaw " + m.param1 + " Delay ");
+
+                        // We only support some frma models... 0 = Global, 3 = Lat,Lon,HomeAlt relative
+                        if (m.frame != 0 && m.frame != 3) {
+                            Log.d(TAG, "Waypoint frame error! " + m.frame);
+                            break;
+                        }
+
+                        // If this is a start item let's store the altitude and make a base as the drone's altitude is quite bad ...
+                        if (takeoff_received == false && m.command == 16 && m.seq == 0) {
+                            Log.d(TAG, "Waypoint error 1");
+                            //                        if(mModel.get_current_alt() > 0.5 && m.z > 0.5) {
+                            //                            base_alt = mModel.get_current_alt() - m.z;
+                            //                        }
+                            currentWP = new Waypoint(m.x / 10000000.0, m.y / 10000000.0, m.z);
+                            base_alt = m.z;
+                            mModel.mission_alt = m.z;
+                            break;
+                        }
+
+                        // If this is a start item let's store the position ...
+                        if (m.frame == 0) {
+                            Log.d(TAG, "Waypoint rescaled..." + m.z + "  " + base_alt); //mModel.home_position.altitude);
+                            m.z = m.z - base_alt;
+                            //                        m.z = (m.z - mModel.home_position.altitude)-base_alt;
+                            Log.d(TAG, "= " + m.z);
+                        }
+
+                        if ((m.z) > 500) {  // TODO:  Shuld reqest max altitude not assume 500...
+                            parent.runOnUiThread(() -> NotificationHandler.notifyAlert(parent, TYPE_WAYPOINT_MAX_ALTITUDE, null, null));
+                            stopUpload = true;
+                            mModel.send_command_ack(MAVLINK_MSG_ID_MISSION_ACK, MAV_RESULT.MAV_RESULT_DENIED);
+                            Log.d(TAG, "Waypoint error 2");
+                            break; // waypoint_loop;
+
+                        } else if ((m.z) < -200) {  // TODO:  hmm so we can not take off from a mountain and fly down?? ...
+                            parent.runOnUiThread(() -> NotificationHandler.notifyAlert(parent, TYPE_WAYPOINT_MIN_ALTITUDE, null, null));
+                            stopUpload = true;
+                            mModel.send_command_ack(MAVLINK_MSG_ID_MISSION_ACK, MAV_RESULT.MAV_RESULT_DENIED);
+                            Log.d(TAG, "Waypoint error 3");
+                            break; // waypoint_loop;
+                        }
+
+                        currentWP = new Waypoint(m.x / 10000000.0, m.y / 10000000.0, m.z); // TODO check altitude conversion
+
+                        // If delay at wp...
+                        if (m.param1 > 0)
+                            currentWP.addAction(new WaypointAction(WaypointActionType.STAY, (int) m.param1 * 1000)); // milliseconds...
+
+                        // If rotate at wp...
+                        if (m.param2 > 0)
+                            currentWP.addAction(new WaypointAction(WaypointActionType.ROTATE_AIRCRAFT, (int) (m.param2 * 180.0 / 3.141592))); // +-180 deg...
+
+                        // This is set in the RosettaDrone2 settings...
+                        if (curvedFlightPath) {
+                            currentWP.cornerRadiusInMeters = flightPathRadius;
+                        }
+                        Log.d(TAG, "Waypoint OK");
+                        dji_wps.add(currentWP);
+                        break;
+
+                    case MAV_CMD.MAV_CMD_DO_CHANGE_SPEED:
+                        Log.d(TAG, "Change Speed: " + m.x / 10000000.0 + ", " + m.y / 10000000.0 + " at " + m.z + " m " + m.param2 + " Yaw " + m.param1 + " Delay ");
+
+                        if (m.param2 < -15) {
+                            parent.runOnUiThread(() -> NotificationHandler.notifyAlert(parent, TYPE_WAYPOINT_MIN_SPEED,
+                                    null, null));
+                            stopUpload = true;
+                            break; // waypoint_loop;
+                        } else if (m.param2 > 15) {
+                            parent.runOnUiThread(() -> NotificationHandler.notifyAlert(parent, TYPE_WAYPOINT_MAX_SPEED,
+                                    null, null));
+                            stopUpload = true;
+                            break; // waypoint_loop;
+                        } else {
+                            mBuilder.autoFlightSpeed(m.param2);
+                        }
+                        break;
+
+                    case MAV_CMD.MAV_CMD_DO_MOUNT_CONTROL:
+                        Log.d(TAG, "Set gimbal pitch: " + m.param1);
+                        //  currentWP = new Waypoint(mModel.get_current_lat(),mModel.get_current_lon(),mModel.get_current_alt()); // TODO check altitude conversion
+                        currentWP = dji_wps.get(dji_wps.size() - 1);
+                        dji_wps.remove(dji_wps.size() - 1);
+                        currentWP.addAction(new WaypointAction(WaypointActionType.GIMBAL_PITCH, (int) m.param1));
+                        dji_wps.add(currentWP);
+                        break;
+
+                    case MAV_CMD.MAV_CMD_IMAGE_START_CAPTURE:
+                        Log.d(TAG, "MAV_CMD_IMAGE_START_CAPTURE");
+                        currentWP = new Waypoint(m.x / 10000000.0, m.y / 10000000.0, m.z); // TODO check altitude conversion
+                        currentWP.addAction(new WaypointAction(WaypointActionType.START_TAKE_PHOTO, 0));
+                        dji_wps.add(currentWP);
+                        break;
+
+                    case MAV_CMD.MAV_CMD_DO_SET_CAM_TRIGG_DIST:
+                        Log.d(TAG, "MAV_CMD_DO_SET_CAM_TRIGG_DIST");
+
+                        if (!triggerDistanceEnabled) {
+                            if (m.param1 != 0) {
+                                triggerDistanceEnabled = true;
+                                triggerDistance = m.param1;
+                            } else {
+                                triggerDistance = 0;
+                            }
+                        }
+                        break;
+
+                    case MAV_CMD.MAV_CMD_NAV_RETURN_TO_LAUNCH:
+                        Log.d(TAG, "MAV_CMD_NAV_RETURN_TO_LAUNCH");
+                        mBuilder.finishedAction(WaypointMissionFinishedAction.GO_HOME);
+                        break;
+
+                    case MAV_CMD.MAV_CMD_NAV_DELAY:
+                        Log.d(TAG, "MAV_CMD_NAV_DELAY");
+                        break;
+
+                    case MAV_CMD.MAV_CMD_VIDEO_START_CAPTURE:
+                        Log.d(TAG, "MAV_CMD_VIDEO_START_CAPTURE");
+                        break;
+
+                    case MAV_CMD.MAV_CMD_VIDEO_STOP_CAPTURE:
+                        Log.d(TAG, "MAV_CMD_VIDEO_STOP_CAPTURE");
+                        break;
+
+                    case MAV_CMD.MAV_CMD_CONDITION_YAW:
+                        Log.d(TAG, "MAV_CMD_CONDITION_YAW");
+                        break;
+
+                    case MAV_CMD.MAV_CMD_DO_DIGICAM_CONTROL:
+                        Log.d(TAG, "MAV_CMD_DO_DIGICAM_CONTROL");
+                        break;
+
+                    case MAV_CMD.MAV_CMD_SET_CAMERA_ZOOM:
+                        Log.d(TAG, "MAV_CMD_SET_CAMERA_ZOOM");
+                        break;
+
+                    case MAV_CMD.MAV_CMD_SET_CAMERA_FOCUS:
+                        Log.d(TAG, "MAV_CMD_SET_CAMERA_FOCUS");
+                        break;
+                }
+            }
         }
 
         if (stopUpload) {
-            Log.d(TAG, "Waypoint upload aborted due to invalid parameters");
+            Log.d(TAG, "Waypoint upload aborted due to invalid parameters or AI mode");
+            mModel.send_mission_ack(MAV_MISSION_RESULT.MAV_MISSION_ACCEPTED);
+            mModel.send_text("eSmart AI Mission uploaded !");
         } else {
             Log.d(TAG, "Speed for mission will be " + mBuilder.getAutoFlightSpeed() + " m/s");
             Log.d(TAG, "==============================");
@@ -721,13 +904,13 @@ public class MAVLinkReceiver {
 
             logWaypointstoRD(correctedWps);
             Log.d(TAG, "WP size " + correctedWps.size());
-            safeSleep(200);
+//            safeSleep(200);
             mBuilder.waypointList(correctedWps).waypointCount(correctedWps.size());
-            safeSleep(200);
+//            safeSleep(200);
             WaypointMission builtMission = mBuilder.build();
-            safeSleep(200);
+  //          safeSleep(200);
             mModel.setWaypointMission(builtMission);
-            safeSleep(200);
+//            safeSleep(200);
         }
 
         mMissionItemList=null;  // Flush the mission list...
diff --git a/app/src/main/java/sq/rogue/rosettadrone/MainActivity.java b/app/src/main/java/sq/rogue/rosettadrone/MainActivity.java
index 413b1ac..12ad607 100644
--- a/app/src/main/java/sq/rogue/rosettadrone/MainActivity.java
+++ b/app/src/main/java/sq/rogue/rosettadrone/MainActivity.java
@@ -5,8 +5,10 @@ package sq.rogue.rosettadrone;
 // Hide keyboard: https://stackoverflow.com/questions/16495440/how-to-hide-keyboard-by-default-and-show-only-when-click-on-edittext
 // MenuItemTetColor: RPP @ https://stackoverflow.com/questions/31713628/change-menuitem-text-color-programmatically
 
+import android.Manifest;
 import android.content.ComponentName;
 import android.content.Context;
+import android.content.DialogInterface;
 import android.content.Intent;
 import android.content.ServiceConnection;
 import android.content.SharedPreferences;
@@ -14,9 +16,18 @@ import android.content.pm.ActivityInfo;
 import android.content.pm.PackageInfo;
 import android.content.pm.PackageManager;
 import android.content.res.AssetManager;
+import android.graphics.Bitmap;
+import android.graphics.Color;
 import android.graphics.SurfaceTexture;
+import android.graphics.drawable.BitmapDrawable;
 import android.graphics.drawable.Drawable;
+import android.graphics.drawable.StateListDrawable;
 import android.hardware.usb.UsbManager;
+import android.location.Address;
+import android.location.Geocoder;
+import android.location.Location;
+import android.location.LocationListener;
+import android.location.LocationManager;
 import android.media.Ringtone;
 import android.media.RingtoneManager;
 import android.net.Uri;
@@ -49,10 +60,13 @@ import com.google.android.gms.maps.CameraUpdateFactory;
 import com.google.android.gms.maps.GoogleMap;
 import com.google.android.gms.maps.OnMapReadyCallback;
 import com.google.android.gms.maps.SupportMapFragment;
+import com.google.android.gms.maps.model.BitmapDescriptor;
 import com.google.android.gms.maps.model.BitmapDescriptorFactory;
 import com.google.android.gms.maps.model.LatLng;
 import com.google.android.gms.maps.model.Marker;
 import com.google.android.gms.maps.model.MarkerOptions;
+import com.google.android.gms.maps.model.Polyline;
+import com.google.android.gms.maps.model.PolylineOptions;
 
 import java.io.BufferedInputStream;
 import java.io.BufferedOutputStream;
@@ -72,6 +86,10 @@ import java.net.InetAddress;
 import java.net.SocketException;
 import java.net.UnknownHostException;
 import java.util.ArrayList;
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.List;
+import java.util.Locale;
 import java.util.Objects;
 import java.util.Timer;
 import java.util.TimerTask;
@@ -79,24 +97,38 @@ import java.util.zip.ZipEntry;
 import java.util.zip.ZipOutputStream;
 
 import androidx.annotation.NonNull;
+import androidx.appcompat.app.AlertDialog;
 import androidx.appcompat.app.AppCompatActivity;
+import androidx.core.app.ActivityCompat;
 import androidx.fragment.app.FragmentManager;
 import androidx.fragment.app.FragmentTransaction;
+import androidx.preference.Preference;
 import androidx.preference.PreferenceManager;
 import dji.common.camera.SettingsDefinitions;
 import dji.common.error.DJIError;
 import dji.common.error.DJISDKError;
+import dji.common.flightcontroller.LocationCoordinate3D;
+import dji.common.mission.waypoint.Waypoint;
+import dji.common.mission.waypoint.WaypointMission;
 import dji.common.model.LocationCoordinate2D;
 import dji.common.product.Model;
+import dji.common.util.CommonCallbacks;
+import dji.log.DJILog;
 import dji.sdk.base.BaseComponent;
 import dji.sdk.base.BaseProduct;
 import dji.sdk.camera.Camera;
 import dji.sdk.camera.VideoFeeder;
 import dji.sdk.codec.DJICodecManager;
+import dji.sdk.media.DownloadListener;
+import dji.sdk.media.FetchMediaTaskScheduler;
+import dji.sdk.media.MediaFile;
+import dji.sdk.media.MediaManager;
 import dji.sdk.products.Aircraft;
 import dji.sdk.sdkmanager.DJISDKInitEvent;
 import dji.sdk.sdkmanager.DJISDKManager;
 import sq.rogue.rosettadrone.logs.LogFragment;
+import sq.rogue.rosettadrone.settings.GMailSender;
+import sq.rogue.rosettadrone.settings.MailReport;
 import sq.rogue.rosettadrone.settings.SettingsActivity;
 import sq.rogue.rosettadrone.settings.Waypoint1Activity;
 import sq.rogue.rosettadrone.settings.Waypoint2Activity;
@@ -106,6 +138,9 @@ import sq.rogue.rosettadrone.video.VideoService;
 import static com.google.android.material.snackbar.Snackbar.LENGTH_LONG;
 import static sq.rogue.rosettadrone.util.safeSleep;
 
+// TODO: Continue does not work, pause only allow flying in line with mission, report does not work, Button click should be changed, Mission not shown on rosettadrone.
+
+
 //public class MainActivity extends AppCompatActivity implements OnMapReadyCallback, GoogleMap.OnMapClickListener {
 public class MainActivity extends AppCompatActivity implements OnMapReadyCallback {
 
@@ -128,11 +163,17 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
     public static boolean FLAG_DRONE_FLIGHT_PATH_MODE_CHANGED = false;
     public static boolean FLAG_DRONE_MAX_HEIGHT_CHANGED = false;
     public static boolean FLAG_APP_NAME_CHANGED = false;
+    public static boolean FLAG_APP_REPORT_EMAIL = false;
     public static boolean FLAG_MAPS_CHANGED = false;
+    public static boolean FLAG_DRONE_AI_IP_CHANGED = false;
+    public static boolean FLAG_DRONE_AI_PORT_CHANGED = false;
+    public static boolean FLAG_DRONE_AI_ENABLED_CHANGED = false;
 
-    private GoogleMap  aMap;
+    private GoogleMap aMap;
     private double droneLocationLat, droneLocationLng;
     private Marker droneMarker = null;
+    private Marker gcsMarker = null;
+    private Marker gotoMarker = null;
 
     private static BaseProduct mProduct;
     private Model mProductModel;
@@ -144,22 +185,26 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
     private LogFragment logOutbound;
     private LogFragment logInbound;
     private int navState = -1;
-    private SharedPreferences prefs;
     private String mNewOutbound = "";
     private String mNewInbound = "";
     private String mNewDJI = "";
     private DatagramSocket socket;
-    private DroneModel mModel;
+    public  DroneModel mModel;
+    private Boolean mExtRunning = false;
+    private LocationManager locationManager;
+    private double m_host_lat = -500;
+    private double m_host_lon = -500;
 
-    private MAVLinkReceiver mMavlinkReceiver;
+    public MAVLinkReceiver mMavlinkReceiver;
     private Parser mMavlinkParser;
     private GCSCommunicatorAsyncTask mGCSCommunicator;
     private boolean connectivityHasChanged = false;
     private boolean shouldConnect = false;
     private boolean gui_enabled = true;
     private Button mBtnSafety;
-    private boolean stat = false; // Is it safe to takeoff....
+    private boolean stat = false; // Is it safe to takeoff...
 
+    private SharedPreferences prefs;
     private boolean mExternalVideoOut = true;
     private String mvideoIPString;
     private int videoPort;
@@ -174,19 +219,33 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
     protected VideoFeeder.VideoDataListener mReceivedVideoDataListener;
     private TextureView videostreamPreviewTtView;
     private TextureView videostreamPreviewTtViewSmall;
-    private Camera mCamera;
     private DJICodecManager mCodecManager;
     private int videoViewWidth;
     private int videoViewHeight;
     protected SharedPreferences sharedPreferences;
     private boolean mIsTranscodedVideoFeedNeeded = false;
+    public static WaypointMission.Builder waypointMissionBuilder;
+    private List<Waypoint> waypointList = new ArrayList<>();
+    private List<Polyline> m_line = new ArrayList<>();
+    private LatLng m_lastPos;
 
+    public List<MediaFile> mediaFileList = new ArrayList<MediaFile>();
+    private MediaManager mMediaManager;
+    private MediaManager.FileListState currentFileListState = MediaManager.FileListState.UNKNOWN;
+    private FetchMediaTaskScheduler scheduler;
+    public String last_downloaded_file;
+    public boolean downloadError = false;
+    public int lastDownloadedIndex = -1;
+
+    private String AIaddress = "127.0.0.1";
+    private int AIport = 7001;
+    //-----------------------------------------------------------------------------//
     private Runnable djiUpdateRunnable = () -> {
         Intent intent = new Intent(DJISimulatorApplication.FLAG_CONNECTION_CHANGE);
-//        Intent intent = new Intent(FLAG_CONNECTION_CHANGE);
         sendBroadcast(intent);
     };
 
+    //-----------------------------------------------------------------------------
     private Runnable RunnableUpdateUI = new Runnable() {
         // We have to update UI from here because we can't update the UI from the
         // drone/GCS handling threads
@@ -196,17 +255,14 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             if (!gui_enabled) {
                 try {
                     if (!mNewDJI.equals("")) {
-                        //                    ((LogFragment) logPagerAdapter.getItem(0)).appendLogText(mNewDJI);
                         logDJI.appendLogText(mNewDJI);
                         mNewDJI = "";
                     }
                     if (!mNewOutbound.equals("")) {
-                        //                    ((LogFragment) logPagerAdapter.getItem(1)).appendLogText(mNewOutbound);
                         logOutbound.appendLogText(mNewOutbound);
                         mNewOutbound = "";
                     }
                     if (!mNewInbound.equals("")) {
-                        //                    ((LogFragment) logPagerAdapter.getItem(2)).appendLogText(mNewInbound);
                         logInbound.appendLogText(mNewInbound);
                         mNewInbound = "";
                     }
@@ -218,11 +274,24 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
         }
     };
 
-
+    //-----------------------------------------------------------------------------
     private void initPacketizer() {
         Log.e(TAG, "initPacketizer");
         String address = "127.0.0.1";
 
+        locationManager = (LocationManager) getSystemService(Context.LOCATION_SERVICE);
+        LocationListener locationListener = new MyLocationListener();
+
+        if (ActivityCompat.checkSelfPermission(this,
+                Manifest.permission.ACCESS_FINE_LOCATION) != PackageManager.PERMISSION_GRANTED &&
+                ActivityCompat.checkSelfPermission(this,
+                Manifest.permission.ACCESS_COARSE_LOCATION) != PackageManager.PERMISSION_GRANTED) {
+            Log.e(TAG, "Missing right to access GPS location!");
+        }else {
+            locationManager.requestLocationUpdates(
+                    LocationManager.GPS_PROVIDER, 5000, 10, locationListener);
+        }
+
         sharedPreferences = android.preference.PreferenceManager.getDefaultSharedPreferences(this);
         if (sharedPreferences.getBoolean("pref_external_gcs", false)) {
             if (!sharedPreferences.getBoolean("pref_separate_gcs", false)) {
@@ -243,8 +312,8 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
         //------------------------------------------------------------
         mMaptype = Integer.parseInt(Objects.requireNonNull(prefs.getString("pref_maptype_mode", "2")));
         logMessageDJI("Mapmode: " + mMaptype);
-        //------------------------------------------------------------
 
+        //------------------------------------------------------------
         Intent intent = new Intent(this, VideoService.class);
         this.startService(intent);
         safeSleep(500);
@@ -261,7 +330,7 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
         videostreamPreviewTtView = findViewById(R.id.livestream_preview_ttv);
         videostreamPreviewTtViewSmall = findViewById(R.id.livestream_preview_ttv_small);
         videostreamPreviewTtView.setVisibility(View.VISIBLE);
-        //videostreamPreviewTtViewSmall.setVisibility(View.VISIBLE);
+
     }
 
     // After the service have started...
@@ -345,15 +414,8 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             }
         }
 
-        //    if(compare_height == 0) {
         videostreamPreviewTtView.setSurfaceTextureListener(mSurfaceTextureListener);
-        //    }
-        //    else {
-        //        videostreamPreviewTtViewSmall.setSurfaceTextureListener(mSurfaceTextureListener);
-        //    }
-        // If we use a camera... Remove Listeners if needed...
-
-        if (mCamera != null) {
+        if ( mModel.m_camera != null) {
             if (!mExternalVideoOut) {
                 if (mIsTranscodedVideoFeedNeeded) {
                     if (standardVideoFeeder != null) {
@@ -381,7 +443,6 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
         }
     }
 
-
     /**
      * Called whenever RosettaDrone leaves the foreground, such as when the home button is pressed or
      * we enter the preferences/settings screen. We unbind the AIDL service since we don't need it if we're not
@@ -391,26 +452,7 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
     @Override
     protected void onPause() {
         Log.e(TAG, "onPause()");
-/*
-        // Remove Listeners...
-        if (mCamera != null) {
-            if (mIsTranscodedVideoFeedNeeded) {
-                if (standardVideoFeeder != null) {
-                    standardVideoFeeder.removeVideoDataListener(mReceivedVideoDataListener);
-                }
-            } else {
-                if (VideoFeeder.getInstance().getPrimaryVideoFeed() != null) {
-                    VideoFeeder.getInstance().getPrimaryVideoFeed().removeVideoDataListener(mReceivedVideoDataListener);
-               }
-            }
-        }
-
- */
         super.onPause();
-        // We have to save text when onPause is called or it will be erased
-//        mNewOutbound = logToGCS.getLogText() + mNewOutbound;
-//        mNewInbound = logFromGCS.getLogText() + mNewInbound;
-//        mNewDJI = logDJI.getLogText() + mNewDJI;
     }
 
     @Override
@@ -438,6 +480,10 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             mCodecManager.cleanSurface();
             mCodecManager.destroyCodec();
         }
+        if (mediaFileList != null) {
+            mediaFileList.clear();
+        }
+
         doUnbindService();
 
         //Intent intent = getIntent();
@@ -455,7 +501,7 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             LinearLayout map_layout = findViewById(R.id.map_view);
             map_layout.setClickable(true);
             map_layout.setOnClickListener((map) -> {
-                ViewGroup.LayoutParams map_para = map_layout.getLayoutParams();
+                LayoutParams map_para = map_layout.getLayoutParams();
                 map_layout.setZ(0.f);
                 map_para.height = LayoutParams.WRAP_CONTENT;
                 map_para.width = LayoutParams.WRAP_CONTENT;
@@ -464,40 +510,141 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
         }
         aMap.getUiSettings().setZoomControlsEnabled(false);
         aMap.setMapType(mMaptype);
+        LatLng marker = new LatLng(m_host_lat, m_host_lon);
+        aMap.moveCamera(CameraUpdateFactory.newLatLngZoom(marker, 14F));
+
+        aMap.setOnMapClickListener((point)-> {
+
+            Log.d(TAG, "Goto: " + point.toString());
+                AlertDialog.Builder alertDialog2 = new AlertDialog.Builder(this);
+                alertDialog2.setIcon(R.mipmap.track_right);
+                alertDialog2.setTitle("AI Mavlink/Python function selector!");
+                alertDialog2.setMessage("Clikked");
+                alertDialog2.setNegativeButton("Cancel",
+                        (dialog, which) -> {
+                            dialog.cancel();
+                        });
+                alertDialog2.setNeutralButton("Add to Waypoint list",
+                        (dialog, which) -> {
+                            markWaypoint(point, true);
+                            Waypoint mWaypoint = new Waypoint(point.latitude, point.longitude,  mModel.m_alt);
+                            //Add Waypoints to Waypoint arraylist;
+                            if (waypointMissionBuilder != null) {
+                                waypointList.add(mWaypoint);
+                                waypointMissionBuilder.waypointList(waypointList).waypointCount(waypointList.size());
+                            } else {
+                                waypointMissionBuilder = new WaypointMission.Builder();
+                                waypointList.add(mWaypoint);
+                                waypointMissionBuilder.waypointList(waypointList).waypointCount(waypointList.size());
+                            }
+                            dialog.cancel();
+                        });
+                alertDialog2.setPositiveButton ("Accept",
+                        (dialog, which) -> {
+                            // If we are airborn...
+                            if( mModel.m_alt > -5.0) {
+                                markWaypoint(point, false);
+                                mModel.goto_position(point.latitude, point.longitude, mModel.m_alt, 0);
+                                dialog.cancel();
+                            }else {
+                                Log.d(TAG, "Cannot Add Waypoint");
+                                Toast.makeText(getApplicationContext(), "Cannot goto position!!!", Toast.LENGTH_LONG).show();
+                            }
+                    });
+                ///
+                this.runOnUiThread(() -> {
+                    alertDialog2.show();
+                });
+         });
 
         updateDroneLocation();
     }
 
+    private void markWaypoint(LatLng point, boolean keep) {
+        //Create MarkerOptions object
+        MarkerOptions markerOptions = new MarkerOptions();
+        markerOptions.position(point);
+        markerOptions.icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_BLUE));
+
+        if(keep) {
+            if(m_line.size() == 0){ m_lastPos = new LatLng(mModel.get_current_lat(), mModel.get_current_lat()); }
+            m_line.add(aMap.addPolyline(new PolylineOptions()
+                    .add(m_lastPos, point)
+                    .width(5)
+                    .color(Color.RED)));
+
+            m_lastPos = point;
+
+        }else{
+            for( Polyline line : m_line){
+                line.remove();
+            }
+            m_line.clear();
+        }
+
+        if (gotoMarker != null && keep == false) {
+            gotoMarker.remove();
+        }
+        gotoMarker = aMap.addMarker(markerOptions);
+    }
+
     // Update the drone location based on states from MCU.
     private void updateDroneLocation() {
 
+        // We initialize the default map location to the same as the default SIM location...
         if (aMap != null) {
 
-            // We initialize the default map location to the same as the default SIM location...
-            LatLng pos;
+            // Add GCS Location to map...
+            if (checkGpsCoordination(m_host_lat, m_host_lon)) {
 
+                final MarkerOptions GCS_markerOptions = new MarkerOptions();
+                GCS_markerOptions.position(new LatLng(m_host_lat, m_host_lon));
+                BitmapDrawable bitmapdraw = (BitmapDrawable)getResources().getDrawable(R.drawable.pilot, null);
+                Bitmap smallMarker;
+
+                if (compare_height == 0) {
+                    smallMarker = Bitmap.createScaledBitmap(bitmapdraw.getBitmap(), 32, 32, false);
+                }else{
+                    smallMarker = Bitmap.createScaledBitmap(bitmapdraw.getBitmap(), 64, 64, false);
+                }
+                GCS_markerOptions.icon(BitmapDescriptorFactory.fromBitmap(smallMarker));
+
+                runOnUiThread(() -> {
+                    if (gcsMarker != null) { gcsMarker.remove(); }
+                    gcsMarker = aMap.addMarker(GCS_markerOptions);
+//                aMap.moveCamera(CameraUpdateFactory.newLatLng(pos));
+                });
+
+            }
+
+            // Find/define GCS Host location...
+            LatLng pos;
             if (checkGpsCoordination(droneLocationLat, droneLocationLng)) {
                 pos = new LatLng(droneLocationLat, droneLocationLng);
             } else {
                 LocationCoordinate2D loc = mModel.getSimPos2D();
-                if(checkGpsCoordination(loc.getLongitude(),loc.getLongitude())) {
+                if(checkGpsCoordination(loc.getLatitude(),loc.getLongitude())) {
                     pos = new LatLng(loc.getLatitude(), loc.getLongitude());
                 }
                 else{
                     pos = new LatLng(62,12);
                 }
             }
-
-            //Create MarkerOptions object
+            // Add Drone location to map...
             final MarkerOptions markerOptions = new MarkerOptions();
             markerOptions.position(pos);
-            markerOptions.icon(BitmapDescriptorFactory.fromResource(R.drawable.aircraft));
+            BitmapDrawable bitmapdraw = (BitmapDrawable)getResources().getDrawable(R.drawable.drone_img, null);
+            Bitmap smallMarker;
+
+            if (compare_height == 0) {
+                smallMarker = Bitmap.createScaledBitmap(bitmapdraw.getBitmap(), 32, 32, false);
+            }else{
+                smallMarker = Bitmap.createScaledBitmap(bitmapdraw.getBitmap(), 64, 64, false);
+            }
+            markerOptions.icon(BitmapDescriptorFactory.fromBitmap(smallMarker));
 
             runOnUiThread(() -> {
-                if (droneMarker != null) {
-                    droneMarker.remove();
-                }
-
+                if (droneMarker != null) { droneMarker.remove(); }
                 if (checkGpsCoordination(pos.latitude, pos.longitude)) {
                     droneMarker = aMap.addMarker(markerOptions);
                     aMap.moveCamera(CameraUpdateFactory.newLatLng(pos));
@@ -506,16 +653,62 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
         }
     }
 
-    private void initFlightController() {
-//        setResultToToast(droneLocationLat+"----"+droneLocationLng);
+    /*---------- GCS Location changed... ------------- */
+    private class MyLocationListener implements LocationListener {
 
+        @Override
+        public void onLocationChanged(Location loc) {
+
+            m_host_lat = loc.getLatitude();
+            m_host_lon = loc.getLongitude();
+            updateDroneLocation();
+
+            /*------- To get city name from coordinates -------- */
+/*
+            String cityName = null;
+            Geocoder gcd = new Geocoder(getBaseContext(), Locale.getDefault());
+            List<Address> addresses;
+            try {
+                addresses = gcd.getFromLocation(loc.getLatitude(),
+                        loc.getLongitude(), 1);
+                if (addresses.size() > 0) {
+                    System.out.println(addresses.get(0).getLocality());
+                    cityName = addresses.get(0).getLocality();
+                }
+            }
+            catch (IOException e) {
+                e.printStackTrace();
+            }
+            Log.d(TAG, m_host_lat + "\n" + m_host_lon + "\n\nMy Current City is: "+ cityName);
+            */
+        }
+
+        @Override
+        public void onProviderDisabled(String provider) {}
+
+        @Override
+        public void onProviderEnabled(String provider) {}
+
+        @Override
+        public void onStatusChanged(String provider, int status, Bundle extras) {}
+    }
+
+    private void initFlightController() {
         if (mModel.mFlightController != null) {
             mModel.mFlightController.setStateCallback(
-                    djiFlightControllerCurrentState -> {
-                        droneLocationLat = djiFlightControllerCurrentState.getAircraftLocation().getLatitude();
-                        droneLocationLng = djiFlightControllerCurrentState.getAircraftLocation().getLongitude();
+                djiFlightControllerCurrentState -> {
+                    droneLocationLat = djiFlightControllerCurrentState.getAircraftLocation().getLatitude();
+                    droneLocationLng = djiFlightControllerCurrentState.getAircraftLocation().getLongitude();
+
+                    if (checkGpsCoordination(droneLocationLat, droneLocationLng)) {
+                        // If we got no data from GCS then use the initial Drone location
+                        if (m_host_lat == -500 && m_host_lon == -500) {
+                            m_host_lat = droneLocationLat;
+                            m_host_lon = droneLocationLng+0.00005;
+                        }
                         updateDroneLocation();
-                    });
+                    }
+            });
         }
     }
 
@@ -540,6 +733,8 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
         //----------------
 
         setContentView(R.layout.activity_gui);
+        PreferenceManager.setDefaultValues(this, R.xml.preferences, false);
+        prefs = PreferenceManager.getDefaultSharedPreferences(MainActivity.this);
 
         mProduct = RDApplication.getProductInstance(); // Should be set by Connection ...
         if(mProduct != null){
@@ -549,26 +744,41 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
                 Log.d(TAG, "exception", e);
                 mProductModel = Model.MAVIC_PRO; // Just a dummy value should we be in test mode... (No Target)
             }
+        }else{
+            // We need to make this; if no device or if sin mode...
+            // Will support alternative video source...
+            Log.d(TAG, "Starting external video input...");
+            int port = Integer.parseInt(Objects.requireNonNull(prefs.getString("pref_external_video", "0")));
+            if(port > 1000) {
+                startVideoLoop(port);
+            }
         }
 /*
         FrameLayout wv = findViewById(R.id.compass_container);
         wv.getLayoutParams().height = FrameLayout.LayoutParams.MATCH_PARENT; // LayoutParams: android.view.ViewGroup.LayoutParams
 // wv.getLayoutParams().height = LayoutParams.WRAP_CONTENT;
         wv.requestLayout();//It is necesary to refresh the screen
-
  */
-
         if (savedInstanceState != null) {
             navState = savedInstanceState.getInt("navigation_state");
         }
 
-        PreferenceManager.setDefaultValues(this, R.xml.preferences, false);
-        prefs = PreferenceManager.getDefaultSharedPreferences(MainActivity.this);
-
+        //------------------------------------------------------------
         mModel = new DroneModel(this, null, RDApplication.getSim());
         mModel.setSystemId(Integer.parseInt(Objects.requireNonNull(prefs.getString("pref_drone_id", "1"))));
 
+        //--------------------------------------------------------------
         mMavlinkReceiver = new MAVLinkReceiver(this, mModel);
+        // Set some user values for the AI assist functionallity.
+        AIaddress = prefs.getString("pref_ai_ip", "127.0.0.1");
+        AIport  = Integer.parseInt(Objects.requireNonNull(prefs.getString("pref_ai_port", "2000")));
+
+        mMavlinkReceiver.AIenabled = prefs.getBoolean("pref_ai_telemetry_enabled", true);
+
+        // Store IP to mission controll...
+        mMavlinkReceiver.AIactivityIP = AIaddress; //prefs.getString("pref_gcs_ip", "127.0.0.1");
+        mMavlinkReceiver.AIactivityPort = AIport;
+
         loadMockParamFile();
 
         mDJIHandler = new Handler(Looper.getMainLooper());
@@ -607,60 +817,107 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             if (stat) {
                 connectedDrawable = getResources().getDrawable(R.drawable.ic_lock_outline_secondary_24dp, null);
                 mBtnSafety.setBackground(connectedDrawable);
-                findViewById(R.id.Takeoff).setVisibility(View.INVISIBLE);
+                findViewById(R.id.btn_takeoff).setVisibility(View.INVISIBLE);
             } else {
                 connectedDrawable = getResources().getDrawable(R.drawable.ic_lock_open_black_24dp, null);
                 mBtnSafety.setBackground(connectedDrawable);
-                findViewById(R.id.Takeoff).setVisibility(View.VISIBLE);
+                findViewById(R.id.btn_takeoff).setVisibility(View.VISIBLE);
             }
             mModel.setSafetyEnabled(stat);
             NotificationHandler.notifySnackbar(findViewById(R.id.snack),
                     (mModel.isSafetyEnabled()) ? R.string.safety_on : R.string.safety_off, LENGTH_LONG);
         });
 
-
+        //--------------------------------------------------------------
+        // Make the Takeoff button....
+        Button mBtnTakeoff = findViewById(R.id.btn_takeoff);
+        mBtnTakeoff.setOnClickListener(v -> mModel.do_takeoff(5000));
+        //--------------------------------------------------------------
+        // Make the Return Home button....
+        Button mBtnRTH = findViewById(R.id.btn_rth);
+        mBtnRTH.setOnClickListener(v -> mModel.do_go_home());
+        //--------------------------------------------------------------
+        // Make the Report button....
+        Button mBtnRepport = findViewById(R.id.btn_Report);
+        mBtnRepport.setOnClickListener(v -> SetMesasageBox("com.example.sendmail",1));
+/*
+        StateListDrawable listDrawable = new StateListDrawable();
+        listDrawable.addState(new int[] {android.R.attr.state_pressed},  mBtnRepport.getBackground());
+        listDrawable.addState(new int[] {android.R.attr.defaultValue}, mBtnRepport.setBackground("@mipmap/track_report");
+        mBtnRepport.setBackground(listDrawable);
+*/
         //--------------------------------------------------------------
         // Make the AI button....
         Button mBtnAI = findViewById(R.id.btn_AI_start);
-        mBtnAI.setOnClickListener(v -> SetMesasageBox("Hit A to go Left and B to go right..."));
+        mBtnAI.setOnClickListener(v -> Set_ai_mode());
         //--------------------------------------------------------------
         // Disable takeoff by default... This however it not how DJI does it, so we must delay this action...
         Handler mTimerHandler = new Handler(Looper.getMainLooper());
         mTimerHandler.postDelayed(enablesafety, 3000);
-        //--------------------------------------------------------------
     }
 
-    // Start the AI Pluggin (Developed by the customers...)
-    protected boolean startActivity(String pluggin) {
+    // Toggle AI mission mode...
+    public void Set_ai_mode()
+    {
+        Button mBtnAI = findViewById(R.id.btn_AI_start);
+        Drawable connectedDrawable;
 
-        Intent intent = getPackageManager().getLaunchIntentForPackage(pluggin);
-        if (intent == null) {
-            // Bring user to the market or let them choose an app?
-            intent = new Intent(Intent.ACTION_VIEW);
-            intent.setData(Uri.parse("market://details?id=" + "com.example.remoteconfig3"));
+        if (mMavlinkReceiver.AIenabled == true) {
+            mMavlinkReceiver.AIstat = !mMavlinkReceiver.AIstat;
+            if (mMavlinkReceiver.AIstat) {
+                connectedDrawable = getResources().getDrawable(R.drawable.drone_img, null);
+            } else {
+                connectedDrawable = getResources().getDrawable(R.mipmap.track_right, null);
+            }
+
+            mBtnAI.setBackground(connectedDrawable);
         }
-        if (intent != null) {
-            intent.putExtra("password", "thisisrosettadrone246546101");
-            intent.putExtra("ip", "127.0.0.1");
-            intent.putExtra("port", 4000);
-            intent.addFlags(Intent.FLAG_ACTIVITY_NEW_TASK);
-            startActivity(intent);
+        else{
+            logMessageDJI("AI not activated in setup menu !!!!!");
+            NotificationHandler.notifySnackbar(findViewById(R.id.snack),R.string.ai_not_active, LENGTH_LONG);
+            mMavlinkReceiver.AIstat = false;
+            connectedDrawable = getResources().getDrawable(R.mipmap.track_right, null);
+            mBtnAI.setBackground(connectedDrawable);
         }
-        return true;
     }
 
     // If AI button is pressed then start the AI Pluggin ...
-    protected void SetMesasageBox(String msg) {
-        Uri notification = RingtoneManager.getDefaultUri(RingtoneManager.TYPE_ALARM);
-        Ringtone r = RingtoneManager.getRingtone(getApplicationContext(), notification);
-        startActivity("com.example.remoteconfig3");
+    protected void SetMesasageBox(String msg, int type) {
+        switch (type){
+            case 1:
+                //--------------------------------------------------------------
+                logMessageDJI("Init media manager and fetch image...");
+                NotificationHandler.notifySnackbar(findViewById(R.id.snack),R.string.hold, LENGTH_LONG);
+
+                List<String> address = new ArrayList<String>();
+                String Eemail = sharedPreferences.getString("pref_email_name1", " ");
+                address.add(Eemail);
+                Eemail = sharedPreferences.getString("pref_email_name2", " ");
+                address.add(Eemail);
+                Eemail = sharedPreferences.getString("pref_email_name3", " ");
+                address.add(Eemail);
+                Eemail = sharedPreferences.getString("pref_email_name4", " ");
+                address.add(Eemail);
+
+                Runnable runnable = () -> mModel.initMediaManager(address);
+                new Thread(runnable).start();
+                break;
+            case 2:
+                Uri notification = RingtoneManager.getDefaultUri(RingtoneManager.TYPE_ALARM);
+                Ringtone r = RingtoneManager.getRingtone(getApplicationContext(), notification);
+                startActivity(msg);
+                break;
+            case 3:
+
+                break;
+        }
     }
 
     // By default disable takeoff...
     private Runnable enablesafety = new Runnable() {
         @Override
         public void run() {
-            stat = false;
+            //stat = false;
             mBtnSafety.callOnClick();
         }
     };
@@ -681,10 +938,11 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
     private void notifyStatusChange() {
         mDJIHandler.removeCallbacks(djiUpdateRunnable);
         mDJIHandler.postDelayed(djiUpdateRunnable, 500);
-        final BaseProduct product = RDApplication.getProductInstance();
+        mProduct = RDApplication.getProductInstance();
+//        final BaseProduct product = RDApplication.getProductInstance();
 
-        if (product != null && product.isConnected() && product.getModel() != null) {
-            logMessageDJI(product.getModel().name() + " Connected ");
+        if (mProduct != null && mProduct.isConnected() && mProduct.getModel() != null) {
+            logMessageDJI(mProduct.getModel().name() + " Connected ");
         } else {
             logMessageDJI("Disconnected");
             Log.e(TAG, "Video out 2: ");
@@ -700,7 +958,6 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
                 }
                 // Send raw H264 to the FFMPEG parser...
                 if (mExternalVideoOut == true) {
-//                    Log.e(TAG, "Video size:: "+size);
                     NativeHelper.getInstance().parse(videoBuffer, size, 0);
                 }
             } else {
@@ -711,32 +968,46 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             }
         };
 
-        if (null == product || !product.isConnected()) {
-            mCamera = null;
+        if (null == mProduct || !mProduct.isConnected()) {
+            mModel.m_camera = null; // Hmm to be investigated...
         } else {
             // List all models that needs alternative decoding...
-            if (validateTranscodingMethod(product.getModel()) == true) {
+            if (validateTranscodingMethod(mProduct.getModel()) == true) {
                 m_videoMode = 2;
             }
 
-            if (!product.getModel().equals(Model.UNKNOWN_AIRCRAFT)) {
-                mCamera = product.getCamera();
-                if (mCamera != null) {
-                    mCamera.setMode(SettingsDefinitions.CameraMode.SHOOT_PHOTO, djiError -> {
+            if (!mProduct.getModel().equals(Model.UNKNOWN_AIRCRAFT)) {
+
+                if (mModel.m_camera != null) {
+
+                    mModel.m_camera.setMode(SettingsDefinitions.CameraMode.SHOOT_PHOTO, djiError -> {
                         if (djiError != null) {
                             Log.e(TAG, "can't change mode of camera, error: " + djiError.getDescription());
                             logMessageDJI("can't change mode of camera, error: " + djiError.getDescription());
                         }
                     });
-                }
-/*
-                mCamera.setVideoResolutionAndFrameRate(new ResolutionAndFrameRate(SettingsDefinitions.VideoResolution.RESOLUTION_1280x720,SettingsDefinitions.VideoFrameRate.FRAME_RATE_25_FPS) , djiError -> {
-                    if (djiError != null) {
-                        Log.e(TAG, "can't change mode of camera, error: "+djiError);
-                        logMessageDJI("can't change mode of camera, error: "+djiError);
+                    if (mProduct.getModel().equals(Model.MAVIC_AIR_2)){
+                        mProduct.getCamera()
+                                .setFlatMode(SettingsDefinitions.FlatCameraMode.PHOTO_SINGLE, djiError -> {
+                                    if (djiError != null) {
+                                        Log.e(TAG, "can't change mode of camera, error: " + djiError.getDescription());
+                                        logMessageDJI("can't change mode of camera, error: " + djiError.getDescription());
+                                    }
+                                });
                     }
-                });
-*/
+                    else {
+                        mModel.m_camera.setMode(SettingsDefinitions.CameraMode.SHOOT_PHOTO, djiError -> {
+                            if (djiError != null) {
+                                Log.e(TAG, "can't change mode of camera, error: " + djiError.getDescription());
+                                logMessageDJI("can't change mode of camera, error: " + djiError.getDescription());
+                            }
+                            else{
+                                logMessageDJI("Camera Mode set OK...");
+                            }
+                        });
+                    }
+                }
+
                 //When calibration is needed or the fetch key frame is required by SDK, should use the provideTranscodedVideoFeed
                 //to receive the transcoded video feed from main camera.
                 if (mIsTranscodedVideoFeedNeeded) {
@@ -763,6 +1034,33 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
         }
     }
 
+
+    // Start the AI Pluggin (Developed by the customers...)
+    public boolean startActivity(String pluggin)
+    {
+        Intent intent = getPackageManager().getLaunchIntentForPackage(pluggin);
+        if (intent == null) {
+            // Bring user to the market or let them choose an app?
+            intent = new Intent(Intent.ACTION_VIEW);
+            intent.setData(Uri.parse("market://details?id=" + pluggin));
+        }
+        if (intent != null) {
+
+            if( mMavlinkReceiver.AIenabled == true){
+                intent.putExtra("password", "thisisrosettadrone246546101");
+                intent.putExtra("ip", AIaddress);
+                intent.putExtra("port", AIport);
+                intent.addFlags(Intent.FLAG_ACTIVITY_NEW_TASK);
+                startActivity(intent);
+            }else{
+                logMessageDJI("AI not enabled!");
+                NotificationHandler.notifySnackbar(findViewById(R.id.snack),R.string.ai_not_active, LENGTH_LONG);
+
+            }
+        }
+        return true;
+    }
+
     private boolean validateTranscodingMethod(Model model) {
         // If the drone requires the old handling...
         switch (model) {
@@ -776,6 +1074,7 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             case MAVIC_PRO:
             case INSPIRE_1:
             case Spark:
+            case MAVIC_AIR_2:
             case INSPIRE_1_PRO:
             case INSPIRE_1_RAW:     // Verified...
             case MAVIC_AIR:         // Verified...
@@ -802,32 +1101,22 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
                 width = ((int) TypedValue.applyDimension(TypedValue.COMPLEX_UNIT_DIP, 164, getResources().getDisplayMetrics()));
 
             }
-            /*else if(compare_height==0){
-                width = LayoutParams.WRAP_CONTENT;
-                height = LayoutParams.WRAP_CONTENT;
-            }*/
             videoViewWidth = width;
             videoViewHeight = height;
 
             Log.d(TAG, "real onSurfaceTextureAvailable: width " + videoViewWidth + " height " + videoViewHeight + " Mode: " + compare_height);
             if (mCodecManager == null) {
                 mCodecManager = new DJICodecManager(getApplicationContext(), surface, width, height);
+            } else {
+                mCodecManager.changeOutputSurface(surface);
+                mCodecManager.onSurfaceSizeChanged(width, height, 0);
             }
-            /*
-            else{
-                mCodecManager.cleanSurface();
-                mCodecManager.destroyCodec();
-                mCodecManager = new DJICodecManager(getApplicationContext(), surface, width, height);
-            }
-            */
-
         }
 
         @Override
         public void onSurfaceTextureSizeChanged(SurfaceTexture surface, int width, int height) {
             videoViewWidth = width;
             videoViewHeight = height;
-
             Log.d(TAG, "real onSurfaceTextureAvailable2: width " + videoViewWidth + " height " + videoViewHeight);
         }
 
@@ -845,19 +1134,16 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
         }
     };
 
-    //---------------------------------------------------------------------------------------
     //---------------------------------------------------------------------------------------
     //---------------------------------------------------------------------------------------
 
     private DJISDKManager.SDKManagerCallback mDJISDKManagerCallback = new DJISDKManager.SDKManagerCallback() {
 
         @Override
-        public void onDatabaseDownloadProgress(long x, long y) {
-        }
+        public void onDatabaseDownloadProgress(long x, long y) {}
 
         @Override
-        public void onInitProcess(DJISDKInitEvent a, int x) {
-        }
+        public void onInitProcess(DJISDKInitEvent a, int x) {}
 
         @Override
         public void onProductDisconnect() {
@@ -924,28 +1210,21 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
                 Log.e(TAG, error.toString());
             }
         }
-
     };
 
     //---------------------------------------------------------------------------------------
     //---------------------------------------------------------------------------------------
     //endregion
 
-    /**
-     *
-     */
     private void initLogs() {
-
         FragmentManager fragmentManager = getSupportFragmentManager();
 
         //Adapters in order: DJI, Outbound to GCS, Inbound to GCS
-
         logDJI = new LogFragment();
         logOutbound = new LogFragment();
         logInbound = new LogFragment();
 
         FragmentTransaction fragmentTransaction = fragmentManager.beginTransaction();
-
         fragmentTransaction.add(R.id.fragment_container, logDJI);
         fragmentTransaction.add(R.id.fragment_container, logOutbound);
         fragmentTransaction.add(R.id.fragment_container, logInbound);
@@ -976,7 +1255,6 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             byte[] buffer = new byte[BUF_LEN];
 
             String zipName = "RD_LOG_" + android.text.format.DateFormat.format("yyyy-MM-dd-hh:mm:ss", new java.util.Date());
-
             String[] fileNames = {"DJI_LOG", "OUTBOUND_LOG", "INBOUND_LOG"};
 
             File directory = new File(Environment.getExternalStorageDirectory().getPath()
@@ -999,7 +1277,6 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
                         bufferedWriter.write(logDJI.getLogText());
                     } else if (file.getName().equals("OUTBOUND_LOG")) {
                         bufferedWriter.write(logOutbound.getLogText());
-
                     } else {
                         bufferedWriter.write(logInbound.getLogText());
                     }
@@ -1015,10 +1292,8 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
                 }
             }
 
-
             BufferedInputStream origin;
             FileOutputStream dest = new FileOutputStream(dataFile);
-
             ZipOutputStream out = new ZipOutputStream(new BufferedOutputStream(dest));
 
             for (int i = 0; i < files.size(); i++) {
@@ -1044,7 +1319,6 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             out.finish();
             out.close();
 
-
         } catch (IOException e) {
             Log.e(TAG, "ERROR ZIPPING LOGS", e);
         }
@@ -1053,10 +1327,6 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
     @Override
     protected void onSaveInstanceState(@NonNull Bundle outState) {
         super.onSaveInstanceState(outState);
-//        navState = mBottomNavigation.getSelectedItemId();
-//        outState.putInt("navigation_state", navState);
-//        Log.d(TAG, "SAVED NAVSTATE: " + navState);
-
     }
 
     private void deleteApplicationDirectory() {
@@ -1077,7 +1347,6 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             Log.d(TAG, "exception", e);
         }
         //File dir = new File(Environment.getExternalStorageDirectory()+"DJI/sq.rogue.rosettadrone");
-
     }
 
     /**
@@ -1093,7 +1362,6 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
 //        Log.d(TAG, "onActivityResult");
         super.onActivityResult(reqCode, resCode, data);
         if (reqCode == RESULT_SETTINGS && mGCSCommunicator != null && FLAG_PREFS_CHANGED) {
-
             if (FLAG_TELEMETRY_ADDRESS_CHANGED) {
                 mGCSCommunicator.renewDatalinks();
                 if (mExternalVideoOut == false) {
@@ -1113,7 +1381,6 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
                 FLAG_VIDEO_ADDRESS_CHANGED = false;
             }
             setDroneParameters();
-
             FLAG_PREFS_CHANGED = false;
         }
     }
@@ -1146,6 +1413,11 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             case R.id.action_gui:
                 onClickGUI();
                 break;
+            case R.id.action_AI:
+                Uri notification = RingtoneManager.getDefaultUri(RingtoneManager.TYPE_ALARM);
+                Ringtone r = RingtoneManager.getRingtone(getApplicationContext(), notification);
+                startActivity("com.example.remoteconfig4");
+                break;
             default:
                 return false;
         }
@@ -1162,87 +1434,56 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             logMessageDJI("Set Small screen...");
             videostreamPreviewTtView.clearFocus();
             videostreamPreviewTtView.setVisibility(View.GONE);
-/*
-            if ( mCodecManager != null) {
-                mCodecManager.cleanSurface();
-                mCodecManager.destroyCodec();
-                mCodecManager=null;
-            }
-*/
+
             //    safeSleep(200);
             videostreamPreviewTtViewSmall.setSurfaceTextureListener(mSurfaceTextureListener);
             videostreamPreviewTtViewSmall.setVisibility(View.VISIBLE);
-//            videostreamPreviewTtViewSmall.setAlpha((float)0.4);
-            //        videostreamPreviewTtViewSmall.requestFocus(); // .buildLayer();
-
-            //         videostreamPreviewTtView.clearFocus();  //
-/*
-            videoViewHeight = ((int) TypedValue.applyDimension(TypedValue.COMPLEX_UNIT_DIP, 86, getResources().getDisplayMetrics()));
-            videoViewWidth = ((int) TypedValue.applyDimension(TypedValue.COMPLEX_UNIT_DIP, 164, getResources().getDisplayMetrics()));
-            mCodecManager = new DJICodecManager(getApplicationContext(), surfaceT, videoViewWidth, videoViewHeight);
-            videostreamPreviewTtViewSmall.setSurfaceTexture(surfaceT);
-            videostreamPreviewTtViewSmall.setSurfaceTextureListener(mSurfaceTextureListener);
-            videostreamPreviewTtViewSmall.setVisibility(View.VISIBLE);
-*/
             video_layout_small.setZ(100.f);
-            map_layout.setZ(0.f);
 
+            // MAP ok...
+            map_layout.setZ(0.f);
             map_para.height = LayoutParams.WRAP_CONTENT;
             map_para.width = LayoutParams.WRAP_CONTENT;
             map_layout.setLayoutParams(map_para);
 
+            if (mCodecManager != null) {
+                mCodecManager.changeOutputSurface(videostreamPreviewTtViewSmall.getSurfaceTexture());
+                mCodecManager.onSurfaceSizeChanged(videostreamPreviewTtViewSmall.getWidth(), videostreamPreviewTtViewSmall.getHeight(), 0);
+            }
+
             compare_height = 1;
         } else {
             logMessageDJI("Set Main screen...");
             videostreamPreviewTtViewSmall.clearFocus();
             videostreamPreviewTtViewSmall.setVisibility(View.GONE);
-/*
-            if ( mCodecManager != null) {
-                mCodecManager.cleanSurface();
-                mCodecManager.destroyCodec();
-                mCodecManager = null;
-            }
-*/
+
             //         safeSleep(200);
             videostreamPreviewTtView.setSurfaceTextureListener(mSurfaceTextureListener);
-            //          videostreamPreviewTtView.buildLayer();
             videostreamPreviewTtView.setVisibility(View.VISIBLE);
-            //       videostreamPreviewTtView.requestFocus();
-            //   videostreamPreviewTtViewSmall.setAlpha((float)0.4);
-
-
-            //       videostreamPreviewTtViewSmall.setSurfaceTextureListener(mSurfaceTextureListener);
-            //          mSurfaceTextureListener.onSurfaceTextureAvailable(surfaceT, videoViewWidth, videoViewHeight);
-            //     videostreamPreviewTtView.setVisibility(View.VISIBLE);
-
-            //   videostreamPreviewTtView.setSurfaceTextureListener(mSurfaceTextureListener);
-            //        videostreamPreviewTtViewSmall.clearFocus();  //
-
-
             video_layout_small.setZ(0.f);
-            map_layout.setZ(100.f);
 
+            //MAP OK...
+            map_layout.setZ(100.f);
             map_para.height = ((int) TypedValue.applyDimension(TypedValue.COMPLEX_UNIT_DIP, 86, getResources().getDisplayMetrics()));
             map_para.width = ((int) TypedValue.applyDimension(TypedValue.COMPLEX_UNIT_DIP, 164, getResources().getDisplayMetrics()));
             map_layout.setLayoutParams(map_para);
             map_layout.setBottom(((int) TypedValue.applyDimension(TypedValue.COMPLEX_UNIT_DIP, 10, getResources().getDisplayMetrics())));
             map_layout.setLeft(((int) TypedValue.applyDimension(TypedValue.COMPLEX_UNIT_DIP, 5, getResources().getDisplayMetrics())));
 
-//            com.amap.api.maps.MapView map = findViewById(R.id.map);
-//            map.setAlpha((float)0.99);
+            if (mCodecManager != null) {
+                mCodecManager.changeOutputSurface(videostreamPreviewTtView.getSurfaceTexture());
+                mCodecManager.onSurfaceSizeChanged(videostreamPreviewTtView.getWidth(), videostreamPreviewTtView.getHeight(), 0);
+            }
+
             compare_height = 0;
         }
-
-//        v.bringToFront();
         v.setZ(101.f);
-
-
+  //      updateDroneLocation();
     }
 
     // Hmm is this ever called...
     @Override
     public boolean onContextItemSelected(MenuItem item) {
-        //     AdapterView.AdapterContextMenuInfo info = (AdapterView.AdapterContextMenuInfo) item.getMenuInfo();
         logMessageDJI("Config ..." + item);
         switch (item.getItemId()) {
             case R.id.action_clear_logs:
@@ -1341,17 +1582,14 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
         while (!mModel.loadParamsFromDJI()) {
             safeSleep(100);
         }
-
         sendDroneConnected();
 
         final Drawable connectedDrawable = getResources().getDrawable(R.drawable.ic_baseline_connected_24px, null);
-
         runOnUiThread(() -> {
             ImageView djiImageView = findViewById(R.id.dji_conn);
             djiImageView.setBackground(connectedDrawable);
             djiImageView.invalidate();
         });
-
     }
 
     private void onDroneDisconnected() {
@@ -1363,13 +1601,10 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             imageView.invalidate();
         });
 
-
         logMessageDJI("Drone disconnected");
         mModel.setDjiAircraft(null);
         closeGCSCommunicator();
-
         sendDroneDisconnected();
-
     }
 
     private void closeGCSCommunicator() {
@@ -1382,7 +1617,6 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
     private void loadMockParamFile() {
         mModel.getParams().clear();
         try {
-
             AssetManager am = getAssets();
             InputStream is = am.open("DJIMock.txt");
             InputStreamReader inputStreamReader = new InputStreamReader(is);
@@ -1411,7 +1645,6 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
 
     //region Interface to VideoService
     //---------------------------------------------------------------------------------------
-
     public void logMessageFromGCS(String msg) {
         if (prefs.getBoolean("pref_log_mavlink", false))
             mNewInbound += "\n" + msg;
@@ -1438,7 +1671,6 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
 
         // Going to reset all the flags so everything is set.
         // Assume its a new drone.
-
         FLAG_DRONE_RTL_ALTITUDE_CHANGED = true;
         FLAG_DRONE_SMART_RTL_CHANGED = true;
         FLAG_DRONE_MULTI_MODE_CHANGED = true;
@@ -1453,11 +1685,9 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
         setDroneParameters();
 
         logMessageDJI("Starting Video link to " + videoIP + ":" + videoPort);
-
     }
 
     private void sendDroneDisconnected() {
-
     }
 
     private String getVideoIP() {
@@ -1498,6 +1728,19 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             mModel.setMaxHeight(Integer.parseInt(Objects.requireNonNull(prefs.getString("pref_drone_max_height", "500"))));
             FLAG_DRONE_MAX_HEIGHT_CHANGED = false;
         }
+        if(FLAG_DRONE_AI_IP_CHANGED) {
+            mModel.setAiIP(prefs.getString("pref_ai_ip", "127.0.0.1"));
+            FLAG_DRONE_AI_IP_CHANGED = false;
+        }
+        if(FLAG_DRONE_AI_PORT_CHANGED) {
+            mModel.setAiPort(Integer.parseInt(Objects.requireNonNull(prefs.getString("pref_ai_port", "2000"))));
+            FLAG_DRONE_AI_PORT_CHANGED = false;
+
+        }
+        if(FLAG_DRONE_AI_ENABLED_CHANGED) {
+            mModel.setAIenable(prefs.getBoolean("pref_ai_telemetry_enabled", true));
+            FLAG_DRONE_AI_ENABLED_CHANGED = false;
+        }
 
         if (FLAG_DRONE_SMART_RTL_CHANGED) {
             mModel.setSmartRTLEnabled(prefs.getBoolean("pref_drone_smart_rtl", true));
@@ -1535,18 +1778,11 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
             aMap.setMapType(mMaptype);
             FLAG_MAPS_CHANGED = false;
         }
-
     }
 
     //---------------------------------------------------------------------------------------
     //endregion
 
-    //region GCS Timer Task
-    //---------------------------------------------------------------------------------------
-
-    //---------------------------------------------------------------------------------------
-    //endregion
-
     @Override
     protected void onStart() {
         super.onStart();
@@ -1557,9 +1793,9 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
         Log.e(TAG, "onPointerCaptureChanged");
     }
 
-
     //region GCS Timer Task
     //---------------------------------------------------------------------------------------
+    //---------------------------------------------------------------------------------------
 
     private static class GCSSenderTimerTask extends TimerTask {
 
@@ -1567,7 +1803,6 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
 
         GCSSenderTimerTask(WeakReference<MainActivity> mainActivityWeakReference) {
             this.mainActivityWeakReference = mainActivityWeakReference;
-
         }
 
         @Override
@@ -1601,7 +1836,7 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
 
         @Override
         protected Integer doInBackground(Integer... ints2) {
-//            Log.d("RDTHREADS", "doInBackground()");
+            Log.d("TERJE", "doInBackground()");
 
             try {
                 createTelemetrySocket();
@@ -1670,6 +1905,8 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
                                 MAVLinkMessage msg = packet.unpack();
                                 if (mainActivityWeakReference.get().prefs.getBoolean("pref_log_mavlink", false))
                                     mainActivityWeakReference.get().logMessageFromGCS(msg.toString());
+
+                           //     Log.d("TERJE", "process...()");
                                 mainActivityWeakReference.get().mMavlinkReceiver.process(msg);
                             }
                         }
@@ -1792,20 +2029,39 @@ public class MainActivity extends AppCompatActivity implements OnMapReadyCallbac
     }
 
     //---------------------------------------------------------------------------------------
+    // Receive alternative H.264 video data, mostly for debugging or simulation...
+    private void startVideoLoop(int port){
+        if(!mExtRunning) {
+            mExtRunning = true;
+            runOnUiThread(() -> {
+                try {
+                    DatagramSocket clientsocket = new DatagramSocket(port);
+                    byte[] receivedata = new byte[1024 * 64];
+                    while (true) {
+                        DatagramPacket recv_packet = new DatagramPacket(receivedata, receivedata.length);
+                        clientsocket.receive(recv_packet);
+                        if (mCodecManager != null) {
+                            mCodecManager.sendDataToDecoder(recv_packet.getData(), recv_packet.getData().length);
+                        }
+                        // Send raw H264 to the FFMPEG parser...
+                        NativeHelper.getInstance().parse(recv_packet.getData(), recv_packet.getData().length, 0);
+                    }
+                } catch (Exception e) {
+                    Log.e("UDP", "S: Error", e);
+                }
+            });
+            mExtRunning = false;
+        }
+    }
     // --------------------------------------------------------------------------------------------
     // To be moved later for better structure....
-
     private boolean isTranscodedVideoFeedNeeded() {
-
         if (VideoFeeder.getInstance() == null) {
             return false;
         }
-
         return VideoFeeder.getInstance().isFetchKeyFrameNeeded() || VideoFeeder.getInstance()
                 .isLensDistortionCalibrationNeeded();
     }
 
-    //---------------------------------------------------------------------------------------
-    //endregion
 
 }
diff --git a/app/src/main/java/sq/rogue/rosettadrone/RDApplication.java b/app/src/main/java/sq/rogue/rosettadrone/RDApplication.java
index 99b8134..4c0148f 100644
--- a/app/src/main/java/sq/rogue/rosettadrone/RDApplication.java
+++ b/app/src/main/java/sq/rogue/rosettadrone/RDApplication.java
@@ -7,6 +7,9 @@ import com.secneo.sdk.Helper;
 
 import dji.sdk.base.BaseProduct;
 import dji.sdk.sdkmanager.DJISDKManager;
+import dji.sdk.camera.Camera;
+import dji.sdk.products.Aircraft;
+import dji.sdk.products.HandHeld;
 
 public class RDApplication extends Application {
 
@@ -59,6 +62,17 @@ public class RDApplication extends Application {
             simulatorApplication.setContext(this);
         }
     }
+
+    public static synchronized Camera getCameraInstance() {
+        if (getProductInstance() == null) return null;
+        Camera camera = null;
+        if (getProductInstance() instanceof Aircraft){
+            camera = ((Aircraft) getProductInstance()).getCamera();
+        } else if (getProductInstance() instanceof HandHeld) {
+            camera = ((HandHeld) getProductInstance()).getCamera();
+        }
+        return camera;
+    }
 }
 
 
diff --git a/app/src/main/java/sq/rogue/rosettadrone/settings/GMailSender.java b/app/src/main/java/sq/rogue/rosettadrone/settings/GMailSender.java
new file mode 100644
index 0000000..8d1cffa
--- /dev/null
+++ b/app/src/main/java/sq/rogue/rosettadrone/settings/GMailSender.java
@@ -0,0 +1,113 @@
+// Does not work...
+
+package sq.rogue.rosettadrone.settings;
+
+//import android.se.omapi.Session;
+
+import android.util.Log;
+
+import java.io.ByteArrayInputStream;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.net.PasswordAuthentication;
+import java.security.Security;
+import java.util.Properties;
+
+import javax.activation.DataHandler;
+import javax.activation.DataSource;
+import javax.mail.Message;
+import javax.mail.Session;
+import javax.mail.Transport;
+import javax.mail.internet.InternetAddress;
+import javax.mail.internet.MimeMessage;
+
+public class GMailSender extends javax.mail.Authenticator {
+    private String mailhost = "smtp.gmail.com";
+    private String user;
+    private String password;
+    private Session session;
+
+    static {
+        java.security.Security.addProvider(new JSSEProvider());
+    }
+
+    public GMailSender(String user, String password) {
+        this.user = user;
+        this.password = password;
+
+        Properties props = new Properties();
+        props.setProperty("mail.transport.protocol", "smtp");
+        props.setProperty("mail.host", mailhost);
+        props.put("mail.smtp.auth", "true");
+        props.put("mail.smtp.port", "465");
+        props.put("mail.smtp.socketFactory.port", "465");
+        props.put("mail.smtp.socketFactory.class",
+                "javax.net.ssl.SSLSocketFactory");
+        props.put("mail.smtp.socketFactory.fallback", "false");
+        props.setProperty("mail.smtp.quitwait", "false");
+
+        session = Session.getDefaultInstance(props, this);
+    }
+
+    protected javax.mail.PasswordAuthentication getPasswordAuthentication() {
+        return new javax.mail.PasswordAuthentication(user, password);
+    }
+
+    public synchronized void sendMail(String subject, String body, String sender, String recipients) throws Exception {
+        try{
+            MimeMessage message = new MimeMessage(session);
+            DataHandler handler = new DataHandler(new ByteArrayDataSource(body.getBytes(), "text/plain"));
+            message.setSender(new InternetAddress(sender));
+            message.setSubject(subject);
+            message.setDataHandler(handler);
+            if (recipients.indexOf(',') > 0)
+                message.setRecipients(Message.RecipientType.TO, InternetAddress.parse(recipients));
+            else
+                message.setRecipient(Message.RecipientType.TO, new InternetAddress(recipients));
+            Transport.send(message);
+        } catch (Exception e) {
+            e.printStackTrace();
+            Log.d("TEST","Error: "+ e.toString());
+        }
+    }
+
+    public class ByteArrayDataSource implements DataSource {
+        private byte[] data;
+        private String type;
+
+        public ByteArrayDataSource(byte[] data, String type) {
+            super();
+            this.data = data;
+            this.type = type;
+        }
+
+        public ByteArrayDataSource(byte[] data) {
+            super();
+            this.data = data;
+        }
+
+        public void setType(String type) {
+            this.type = type;
+        }
+
+        public String getContentType() {
+            if (type == null)
+                return "application/octet-stream";
+            else
+                return type;
+        }
+
+        public InputStream getInputStream() throws IOException {
+            return new ByteArrayInputStream(data);
+        }
+
+        public String getName() {
+            return "ByteArrayDataSource";
+        }
+
+        public OutputStream getOutputStream() throws IOException {
+            throw new IOException("Not Supported");
+        }
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/sq/rogue/rosettadrone/settings/JSSEProvider.java b/app/src/main/java/sq/rogue/rosettadrone/settings/JSSEProvider.java
new file mode 100644
index 0000000..ae74a1b
--- /dev/null
+++ b/app/src/main/java/sq/rogue/rosettadrone/settings/JSSEProvider.java
@@ -0,0 +1,46 @@
+package sq.rogue.rosettadrone.settings;
+
+/*
+ *  Licensed to the Apache Software Foundation (ASF) under one or more
+ *  contributor license agreements.  See the NOTICE file distributed with
+ *  this work for additional information regarding copyright ownership.
+ *  The ASF licenses this file to You under the Apache License, Version 2.0
+ *  (the "License"); you may not use this file except in compliance with
+ *  the License.  You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+/**
+ * @author Alexander Y. Kleymenov
+ * @version $Revision$
+ */
+
+
+import java.security.AccessController;
+        import java.security.Provider;
+
+public final class JSSEProvider extends Provider {
+
+    public JSSEProvider() {
+        super("HarmonyJSSE", 1.0, "Harmony JSSE Provider");
+        AccessController.doPrivileged(new java.security.PrivilegedAction<Void>() {
+            public Void run() {
+                put("SSLContext.TLS",
+                        "org.apache.harmony.xnet.provider.jsse.SSLContextImpl");
+                put("Alg.Alias.SSLContext.TLSv1", "TLS");
+                put("KeyManagerFactory.X509",
+                        "org.apache.harmony.xnet.provider.jsse.KeyManagerFactoryImpl");
+                put("TrustManagerFactory.X509",
+                        "org.apache.harmony.xnet.provider.jsse.TrustManagerFactoryImpl");
+                return null;
+            }
+        });
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/sq/rogue/rosettadrone/settings/MailReport.java b/app/src/main/java/sq/rogue/rosettadrone/settings/MailReport.java
new file mode 100644
index 0000000..6223c0b
--- /dev/null
+++ b/app/src/main/java/sq/rogue/rosettadrone/settings/MailReport.java
@@ -0,0 +1,115 @@
+package sq.rogue.rosettadrone.settings;
+
+import android.content.ContentResolver;
+import android.content.ContentValues;
+import android.content.Intent;
+import android.net.Uri;
+import android.provider.MediaStore;
+import android.util.Log;
+
+import java.io.File;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+import javax.mail.Session;
+
+import dji.sdk.media.MediaFile;
+import sq.rogue.rosettadrone.MainActivity;
+
+
+//public class MailReport extends AsyncTask<Void,Void,Void> { // extends AppCompatActivity {
+public class MailReport extends javax.mail.Authenticator{
+
+    private final String TAG = MailReport.class.getSimpleName();
+    private MainActivity parent;
+
+    private ContentResolver contentResolver;
+    private  File imageDirectory;
+
+    //---------------------------------------------------------------------------------------
+    public  MailReport(MainActivity parent, ContentResolver resolver)
+    {
+        this.parent = parent;
+        contentResolver = resolver;
+    }
+
+    //---------------------------------------------------------------------------------------
+    private ArrayList<Uri> getUriListForImages(String filename) throws Exception
+    {
+        ArrayList<Uri> myList = new ArrayList<Uri>();
+        String[] fileList = imageDirectory.list();
+
+        if(fileList.length != 0) {
+            Log.d(TAG,"FileLength: "+fileList.length);
+            for(int i=0; i<fileList.length; i++)
+            {
+                int err = filename.compareTo(fileList[i]);
+                Log.d(TAG,"Files: "+filename+"  ->  "+fileList[i]+"  err: "+err);
+
+                if(err==0) {
+                    Log.d(TAG,"Found... ");
+                    try {
+                        ContentValues values = new ContentValues(7);
+                        values.put(MediaStore.Images.Media.TITLE, fileList[i]);
+                        values.put(MediaStore.Images.Media.DISPLAY_NAME, fileList[i]);
+                        values.put(MediaStore.Images.Media.DATE_TAKEN, new Date().getTime());
+                        values.put(MediaStore.Images.Media.MIME_TYPE, "image/jpeg");
+                        values.put(MediaStore.Images.ImageColumns.BUCKET_ID, imageDirectory.getAbsolutePath().hashCode());
+                        values.put(MediaStore.Images.ImageColumns.BUCKET_DISPLAY_NAME, fileList[i]);
+                        values.put("_data", imageDirectory.getAbsolutePath() + "/" + fileList[i]);
+                        Uri uri = contentResolver.insert(MediaStore.Images.Media.EXTERNAL_CONTENT_URI, values);
+                        myList.add(uri);
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                }
+            }
+        }
+        Log.d(TAG,"Uri: "+myList);
+        return myList;
+    }
+
+    //---------------------------------------------------------------------------------------
+    public Intent createEmail(List<String> to, String subject, String message, double lat, double lon, double alt, double head, String filename, String dir)
+    {
+
+        imageDirectory = new File(dir);
+
+        message+="\nAt position Lat: "+lat+" Lon: "+lon+" Alt: "+alt + " Heading: "+head;
+        //message+="\nURL: https://www.google.com/maps/search/?api=1&query="+lat+","+lon+"\n";
+        message+="\nURL: http://maps.google.com/maps?z=1&t=h&q=loc:"+lat+","+lon+"\n";
+
+        Intent email = new  Intent(Intent.ACTION_SEND_MULTIPLE);
+        email.setData(Uri.parse("mailto:")); // only email apps should handle this
+
+        String to_address = "";
+        for(String address:to){
+            if(address.length() > 3) {
+                to_address=to_address+", "+address;
+            }
+        }
+        Log.d(TAG, "Mail to use: " + to_address);
+        email.putExtra(Intent.EXTRA_EMAIL, new String[]{to_address});
+
+        email.putExtra(Intent.EXTRA_SUBJECT, subject);
+        email.putExtra(Intent.EXTRA_TEXT, message);
+
+        try {
+            Log.d(TAG,"File: "+ filename);
+            ArrayList<Uri> uriList = getUriListForImages(filename);
+            email.putExtra(Intent.EXTRA_STREAM, uriList);
+        } catch (Exception e){
+            Log.d(TAG,"Missing file: "+ e.toString());
+        }
+
+        //need this to prompts email client only
+        email.setType("message/rfc822");
+        //  email.setType("text/html");
+
+        Log.d(TAG,"Email: "+ email);
+        return email;
+    }
+//---------------------------------------------------------------------------------------------
+
+}
\ No newline at end of file
diff --git a/app/src/main/java/sq/rogue/rosettadrone/settings/MapActivity.java b/app/src/main/java/sq/rogue/rosettadrone/settings/MapActivity.java
index a0428fb..e389fee 100644
--- a/app/src/main/java/sq/rogue/rosettadrone/settings/MapActivity.java
+++ b/app/src/main/java/sq/rogue/rosettadrone/settings/MapActivity.java
@@ -56,27 +56,19 @@ import sq.rogue.rosettadrone.DJISimulatorApplication;
 import sq.rogue.rosettadrone.R;
 import sq.rogue.rosettadrone.RDApplication;
 
-//public class HelpActivity extends AppCompatActivity implements OnMapReadyCallback{
 //public class HelpActivity extends AppCompatActivity implements PreferenceFragmentCompat.OnPreferenceStartScreenCallback, OnMapReadyCallback{
 public class MapActivity extends FragmentActivity implements View.OnClickListener, GoogleMap.OnMapClickListener, OnMapReadyCallback {
     private static final String TAG = MapActivity.class.getSimpleName();
-
     private GoogleMap gMap;
-
     private Button locate, add, clear, exit;
     private Button config, upload, start, stop;
-
     private boolean isAdd = false;
-
     private double droneLocationLat = 30, droneLocationLng = 60;
     private final Map<Integer, Marker> mMarkers = new ConcurrentHashMap<Integer, Marker>();
     private Marker droneMarker = null;
-
     private float altitude = 100.0f;
     private float mSpeed = 10.0f;
-
     private List<Waypoint> waypointList = new ArrayList<>();
-
     public static WaypointMission.Builder waypointMissionBuilder;
     private FlightController mFlightController;
     private WaypointMissionOperator instance;
@@ -96,8 +88,8 @@ public class MapActivity extends FragmentActivity implements View.OnClickListene
 
     @Override
     protected void onDestroy() {
-        if (mReceiver.getResultCode() < 0)
-            unregisterReceiver(mReceiver);
+ //       if (mReceiver.getResultCode() < 0)
+ //           unregisterReceiver(mReceiver);
         removeListener();
         super.onDestroy();
     }
diff --git a/app/src/main/java/sq/rogue/rosettadrone/settings/SettingsFragment.java b/app/src/main/java/sq/rogue/rosettadrone/settings/SettingsFragment.java
index 3d7f08b..33c2da9 100644
--- a/app/src/main/java/sq/rogue/rosettadrone/settings/SettingsFragment.java
+++ b/app/src/main/java/sq/rogue/rosettadrone/settings/SettingsFragment.java
@@ -196,7 +196,43 @@ public class SettingsFragment extends PreferenceFragmentCompat implements Shared
             }
         });
 
-        findPreference("pref_sim_pos_lat").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
+        findPreference("pref_email_name1").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
+            @Override
+            public boolean onPreferenceChange(Preference preference, Object newValue) {
+                MainActivity.FLAG_PREFS_CHANGED = true;
+                MainActivity.FLAG_APP_REPORT_EMAIL = true;
+                return true;
+            }
+        });
+        findPreference("pref_email_name2").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
+            @Override
+            public boolean onPreferenceChange(Preference preference, Object newValue) {
+                MainActivity.FLAG_PREFS_CHANGED = true;
+                MainActivity.FLAG_APP_REPORT_EMAIL = true;
+                return true;
+            }
+        });
+
+        findPreference("pref_email_name3").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
+            @Override
+            public boolean onPreferenceChange(Preference preference, Object newValue) {
+                MainActivity.FLAG_PREFS_CHANGED = true;
+                MainActivity.FLAG_APP_REPORT_EMAIL = true;
+                return true;
+            }
+        });
+
+        findPreference("pref_email_name4").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
+            @Override
+            public boolean onPreferenceChange(Preference preference, Object newValue) {
+                MainActivity.FLAG_PREFS_CHANGED = true;
+                MainActivity.FLAG_APP_REPORT_EMAIL = true;
+                return true;
+            }
+        });
+
+
+        findPreference("pref_external_video").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
             @Override
             public boolean onPreferenceChange(Preference preference, Object newValue) {
                 try {
@@ -212,11 +248,28 @@ public class SettingsFragment extends PreferenceFragmentCompat implements Shared
                 return false;
             }
         });
+
+        findPreference("pref_sim_pos_lat").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
+            @Override
+            public boolean onPreferenceChange(Preference preference, Object newValue) {
+                try {
+                    if (Double.parseDouble((String) newValue) >= -90 && Double.parseDouble((String) newValue) <= 90) {
+                        MainActivity.FLAG_PREFS_CHANGED = true;
+                        MainActivity.FLAG_VIDEO_ADDRESS_CHANGED = true;
+                        return true;
+                    }
+                } catch (NumberFormatException ignored) {
+                }
+                NotificationHandler.notifyAlert(SettingsFragment.this.getActivity(), TYPE_APP_NAME,
+                        null, null);
+                return false;
+            }
+        });
         findPreference("pref_sim_pos_lon").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
             @Override
             public boolean onPreferenceChange(Preference preference, Object newValue) {
                 try {
-                    if (Integer.parseInt((String) newValue) >= 1 && Integer.parseInt((String) newValue) <= 65535) {
+                    if (Double.parseDouble((String) newValue) >= 0 && Double.parseDouble((String) newValue) <= 180) {
                         MainActivity.FLAG_PREFS_CHANGED = true;
                         MainActivity.FLAG_VIDEO_ADDRESS_CHANGED = true;
                         return true;
diff --git a/app/src/main/java/sq/rogue/rosettadrone/settings/Waypoint1Activity.java b/app/src/main/java/sq/rogue/rosettadrone/settings/Waypoint1Activity.java
index 477ebaf..2ccf8c0 100644
--- a/app/src/main/java/sq/rogue/rosettadrone/settings/Waypoint1Activity.java
+++ b/app/src/main/java/sq/rogue/rosettadrone/settings/Waypoint1Activity.java
@@ -97,7 +97,7 @@ public class Waypoint1Activity extends FragmentActivity implements View.OnClickL
 
     @Override
     protected void onDestroy() {
-        unregisterReceiver(mReceiver);
+ //       unregisterReceiver(mReceiver);
         removeListener();
         super.onDestroy();
     }
@@ -161,9 +161,9 @@ public class Waypoint1Activity extends FragmentActivity implements View.OnClickL
 
         setContentView(R.layout.activity_waypoint1);
 
-        IntentFilter filter = new IntentFilter();
-        filter.addAction(DJISimulatorApplication.FLAG_CONNECTION_CHANGE);
-        registerReceiver(mReceiver, filter);
+ //       IntentFilter filter = new IntentFilter();
+ //       filter.addAction(DJISimulatorApplication.FLAG_CONNECTION_CHANGE);
+ //       registerReceiver(mReceiver, filter);
 
         initUI();
 
@@ -311,7 +311,7 @@ public class Waypoint1Activity extends FragmentActivity implements View.OnClickL
         //Create MarkerOptions object
         final MarkerOptions markerOptions = new MarkerOptions();
         markerOptions.position(pos);
-        markerOptions.icon(BitmapDescriptorFactory.fromResource(R.drawable.aircraft));
+        markerOptions.icon(BitmapDescriptorFactory.fromResource(R.drawable.ic_drone));
 
         runOnUiThread(new Runnable() {
             @Override
diff --git a/app/src/main/java/sq/rogue/rosettadrone/settings/Waypoint2Activity.java b/app/src/main/java/sq/rogue/rosettadrone/settings/Waypoint2Activity.java
index d01abe2..77190ae 100644
--- a/app/src/main/java/sq/rogue/rosettadrone/settings/Waypoint2Activity.java
+++ b/app/src/main/java/sq/rogue/rosettadrone/settings/Waypoint2Activity.java
@@ -116,7 +116,7 @@ public class Waypoint2Activity extends FragmentActivity implements View.OnClickL
 
     @Override
     protected void onDestroy() {
-        unregisterReceiver(mReceiver);
+ //       unregisterReceiver(mReceiver);
         removeListener();
         super.onDestroy();
     }
@@ -198,9 +198,9 @@ public class Waypoint2Activity extends FragmentActivity implements View.OnClickL
 
         setContentView(R.layout.activity_waypoint2);
 
-        IntentFilter filter = new IntentFilter();
-        filter.addAction(DJISimulatorApplication.FLAG_CONNECTION_CHANGE);
-        registerReceiver(mReceiver, filter);
+ //       IntentFilter filter = new IntentFilter();
+ //       filter.addAction(DJISimulatorApplication.FLAG_CONNECTION_CHANGE);
+ //       registerReceiver(mReceiver, filter);
 
         if (getWaypointMissionOperator() == null) {
             setResultToToast("Not support Waypoint2.0");
@@ -426,7 +426,7 @@ public class Waypoint2Activity extends FragmentActivity implements View.OnClickL
         //Create MarkerOptions object
         final MarkerOptions markerOptions = new MarkerOptions();
         markerOptions.position(pos);
-        markerOptions.icon(BitmapDescriptorFactory.fromResource(R.drawable.aircraft));
+        markerOptions.icon(BitmapDescriptorFactory.fromResource(R.drawable.ic_drone));
 
         runOnUiThread(new Runnable() {
             @Override
@@ -718,7 +718,7 @@ public class Waypoint2Activity extends FragmentActivity implements View.OnClickL
                 .setMissionID(new Random().nextInt(65535))
                 .setFinishedAction(mFinishedAction)
                 .setGotoFirstWaypointMode(firstMode)
-                .setMaxFlightSpeed(mSpeed)
+                .setMaxFlightSpeed((float)12.0)  //mSpeed)
                 .setAutoFlightSpeed(mSpeed);
 
         getWaypointMissionOperator().loadMission(waypointMissionBuilder.build(), new CommonCallbacks.CompletionCallback<DJIWaypointV2Error>() {
diff --git a/app/src/main/java/sq/rogue/rosettadrone/settings/drone/DroneSettingsFragment.java b/app/src/main/java/sq/rogue/rosettadrone/settings/drone/DroneSettingsFragment.java
index 0bb29bd..55b2991 100644
--- a/app/src/main/java/sq/rogue/rosettadrone/settings/drone/DroneSettingsFragment.java
+++ b/app/src/main/java/sq/rogue/rosettadrone/settings/drone/DroneSettingsFragment.java
@@ -82,6 +82,7 @@ public class DroneSettingsFragment extends PreferenceFragmentCompat implements S
     @Override
     public void onCreatePreferences(Bundle savedInstanceState, String rootKey) {
         setPreferencesFromResource(R.xml.preferences, rootKey);
+
         setListeners();
     }
 
@@ -152,10 +153,44 @@ public class DroneSettingsFragment extends PreferenceFragmentCompat implements S
                 return false;
             }
         });
-        findPreference("pref_drone_multi_mode").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
+
+        findPreference("pref_ai_port").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
+            @Override
+            public boolean onPreferenceChange(Preference preference, Object newValue) {
+                try {
+                    if (Integer.parseInt((String) newValue) >= 1000 && Integer.parseInt((String) newValue) <= 32000) {
+                        MainActivity.FLAG_PREFS_CHANGED = true;
+                        MainActivity.FLAG_DRONE_AI_PORT_CHANGED = true;
+                        return true;
+                    }
+                } catch (NumberFormatException ignored) {
+                }
+                return false;
+            }
+        });
+        findPreference("pref_ai_telemetry_enabled").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
             @Override
             public boolean onPreferenceChange(Preference preference, Object newValue) {
 
+                MainActivity.FLAG_PREFS_CHANGED = true;
+                MainActivity.FLAG_DRONE_AI_ENABLED_CHANGED = true;
+                return true;
+            }
+        });
+        findPreference("pref_ai_ip").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
+            @Override
+            public boolean onPreferenceChange(Preference preference, Object newValue) {
+
+                MainActivity.FLAG_PREFS_CHANGED = true;
+                MainActivity.FLAG_DRONE_AI_IP_CHANGED = true;
+                return true;
+            }
+        });
+
+        findPreference("pref_drone_multi_mode").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
+            @Override
+            public boolean onPreferenceChange(Preference preference, Object newValue)
+            {
                 MainActivity.FLAG_PREFS_CHANGED = true;
                 MainActivity.FLAG_DRONE_MULTI_MODE_CHANGED = true;
                 return true;
@@ -163,8 +198,8 @@ public class DroneSettingsFragment extends PreferenceFragmentCompat implements S
         });
         findPreference("pref_drone_leds").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
             @Override
-            public boolean onPreferenceChange(Preference preference, Object newValue) {
-
+            public boolean onPreferenceChange(Preference preference, Object newValue)
+            {
                 MainActivity.FLAG_PREFS_CHANGED = true;
                 MainActivity.FLAG_DRONE_LEDS_CHANGED = true;
                 return true;
@@ -183,7 +218,6 @@ public class DroneSettingsFragment extends PreferenceFragmentCompat implements S
         findPreference("pref_drone_flight_path_radius").setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
             @Override
             public boolean onPreferenceChange(Preference preference, Object newValue) {
-
                 try {
                     if (Float.parseFloat((String) newValue) >= .2f && Float.parseFloat((String) newValue) <= 1000) {
                         MainActivity.FLAG_PREFS_CHANGED = true;
diff --git a/app/src/main/java/sq/rogue/rosettadrone/video/RtpSocket.java b/app/src/main/java/sq/rogue/rosettadrone/video/RtpSocket.java
index 0efceaa..d39c5c6 100755
--- a/app/src/main/java/sq/rogue/rosettadrone/video/RtpSocket.java
+++ b/app/src/main/java/sq/rogue/rosettadrone/video/RtpSocket.java
@@ -204,8 +204,10 @@ public class RtpSocket implements Runnable {
         if (dport != 0 && rtcpPort != 0) {
             if(dest.isMulticastAddress()) {
                 mTransport = TRANSPORT_MULTICAST;
+                Log.d(TAG, "Use Multicast...");
             }else {
                 mTransport = TRANSPORT_UDP;
+                Log.d(TAG, "Use Unicast...");
             }
             mPort = dport;
             Log.d(TAG, "setDestination: " + dest + ":" + dport);
diff --git a/app/src/main/res/drawable/drone_img.png b/app/src/main/res/drawable/drone_img.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffda339fee383c361147d25e45ab3d41497e6ae0
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diff --git a/app/src/main/res/drawable/return_home.png b/app/src/main/res/drawable/return_home.png
new file mode 100644
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HcmV?d00001

diff --git a/app/src/main/res/layout/activity_connection.xml b/app/src/main/res/layout/activity_connection.xml
index ad4a284..890c087 100755
--- a/app/src/main/res/layout/activity_connection.xml
+++ b/app/src/main/res/layout/activity_connection.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<RelativeLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
     android:orientation="vertical"
diff --git a/app/src/main/res/layout/activity_gui.xml b/app/src/main/res/layout/activity_gui.xml
index f4a1929..8f68b74 100644
--- a/app/src/main/res/layout/activity_gui.xml
+++ b/app/src/main/res/layout/activity_gui.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
-
-<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<androidx.constraintlayout.widget.ConstraintLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
     xmlns:custom="http://schemas.android.com/apk/res-auto"
@@ -231,10 +231,12 @@
                 android:orientation="horizontal">
 
                 <dji.ux.widget.PreFlightStatusWidget
+                    android:layout_weight="1"
                     android:layout_width="180dp"
                     android:layout_height="25dp" />
 
                 <ImageView
+                    android:layout_weight="1"
                     android:layout_marginTop="3dp"
                     android:id="@+id/dji_conn"
                     android:layout_width="18dp"
@@ -243,6 +245,7 @@
                     app:layout_collapseMode="parallax" />
 
                 <TextView
+                    android:layout_weight="1"
                     android:layout_marginTop="3dp"
                     android:layout_width="35dp"
                     android:layout_height="20dp"
@@ -250,6 +253,7 @@
                     android:textColor="@color/white" />
 
                 <ImageView
+                    android:layout_weight="1"
                     android:layout_marginTop="3dp"
                     android:id="@+id/gcs_conn"
                     android:layout_width="18dp"
@@ -258,6 +262,7 @@
                     app:layout_collapseMode="parallax" />
 
                 <TextView
+                    android:layout_weight="1"
                     android:layout_marginTop="3dp"
                     android:layout_width="35dp"
                     android:layout_height="20dp"
@@ -265,41 +270,50 @@
                     android:textColor="@color/white" />
 
                 <dji.ux.widget.FlightModeWidget
+                    android:layout_weight="1"
                     android:layout_marginTop="2dp"
                     android:layout_width="103dp"
                     android:layout_height="22dp" />
 
                 <dji.ux.widget.GPSSignalWidget
+                    android:layout_weight="1"
                     android:layout_width="44dp"
                     android:layout_height="22dp" />
 
                 <dji.ux.widget.VisionWidget
+                    android:layout_weight="1"
                     android:layout_width="22dp"
                     android:layout_height="22dp" />
 
                 <dji.ux.widget.RemoteControlSignalWidget
+                    android:layout_weight="1"
                     android:layout_width="38dp"
                     android:layout_height="22dp" />
 
                 <dji.ux.widget.VideoSignalWidget
+                    android:layout_weight="1"
                     android:layout_width="38dp"
                     android:layout_height="22dp" />
 
                 <dji.ux.widget.WiFiSignalWidget
+                    android:layout_weight="1"
                     android:layout_width="25dp"
                     android:layout_height="20dp" />
 
                 <dji.ux.widget.BatteryWidget
+                    android:layout_weight="1"
                     android:layout_width="96dp"
                     android:layout_height="22dp"
                     custom:excludeView="singleVoltage" />
 
                 <dji.ux.widget.ConnectionWidget
+                    android:layout_weight="1"
                     android:layout_marginTop="3dp"
                     android:layout_width="28dp"
                     android:layout_height="18dp" />
 
                 <Button
+                    android:layout_weight="1"
                     android:id="@+id/btn_safety"
                     android:layout_marginTop="2dp"
                     android:layout_width="25dp"
@@ -307,12 +321,14 @@
                     android:background="@drawable/ic_lock_outline_secondary_24dp" />
 
                 <TextView
+                    android:layout_weight="1"
                     android:layout_marginTop="3dp"
                     android:layout_width="25dp"
                     android:layout_height="20dp"
                     android:text="" />
 
                 <Button
+                    android:layout_weight="1"
                     android:id="@+id/btn_config"
                     android:layout_width="25dp"
                     android:layout_height="20dp"
@@ -375,24 +391,48 @@
 
             <!--Take off and return home buttons on left -->
             <LinearLayout
-                android:layout_width="40dp"
+                android:layout_width="48dp"
                 android:layout_height="wrap_content"
                 android:layout_centerVertical="true"
                 android:layout_marginStart="12dp"
-                android:layout_marginTop="80dp"
+                android:layout_marginTop="60dp"
                 android:orientation="vertical">
 
+
+                <Button
+                    android:id="@+id/btn_takeoff"
+                    android:layout_width="46dp"
+                    android:layout_height="40dp"
+                    android:layout_marginTop="12dp"
+                    android:background="@drawable/quadcopter_start"
+                    android:alpha="0.75"
+                    android:text=""
+                    android:textColor="@color/colorWhite"
+                    android:textSize="12sp" />
+
+                <Button
+                    android:id="@+id/btn_rth"
+                    android:layout_width="46dp"
+                    android:layout_height="40dp"
+                    android:layout_marginTop="12dp"
+                    android:background="@drawable/return_home"
+                    android:alpha="0.75"
+                    android:text=""
+                    android:textColor="@color/colorWhite"
+                    android:textSize="12sp" />
+
+                <!--
                 <dji.ux.widget.TakeOffWidget
                     android:id="@+id/Takeoff"
                     android:visibility="invisible"
                     android:layout_width="40dp"
                     android:layout_height="40dp"
                     android:layout_marginBottom="12dp" />
-
                 <dji.ux.widget.ReturnHomeWidget
                     android:layout_width="40dp"
                     android:layout_height="40dp"
                     android:layout_marginTop="12dp" />
+                -->
 
                 <Button
                     android:id="@+id/btn_AI_start"
@@ -400,17 +440,28 @@
                     android:layout_height="40dp"
                     android:layout_marginTop="12dp"
                     android:background="@mipmap/track_right"
-                    android:alpha="0.50"
+                    android:alpha="0.75"
                     android:text=""
                     android:textColor="@color/colorWhite"
                     android:textSize="12sp" />
 
-            </LinearLayout>
+               <Button
+                   android:id="@+id/btn_Report"
+                   android:layout_width="46dp"
+                   android:layout_height="40dp"
+                   android:layout_marginTop="12dp"
+                   android:background="@mipmap/track_report"
+                   android:alpha="0.75"
+                   android:text=""
+                   android:textColor="@color/colorWhite"
+                   android:textSize="12sp" />
+
+           </LinearLayout>
 
 
-        </androidx.coordinatorlayout.widget.CoordinatorLayout>
+       </androidx.coordinatorlayout.widget.CoordinatorLayout>
 
-    </RelativeLayout>
+   </RelativeLayout>
 
 </androidx.constraintlayout.widget.ConstraintLayout>
 
diff --git a/app/src/main/res/menu/toolbar_menu.xml b/app/src/main/res/menu/toolbar_menu.xml
index 7c36fba..17b1010 100644
--- a/app/src/main/res/menu/toolbar_menu.xml
+++ b/app/src/main/res/menu/toolbar_menu.xml
@@ -17,6 +17,13 @@
         android:onClick="onMenuItemClick"
         android:title="@string/settings" />
 
+    <item
+        android:id="@+id/action_AI"
+        android:orderInCategory="502"
+        app:showAsAction="never"
+        android:onClick="onMenuItemClick"
+        android:title="@string/AIsettings" />
+
     <item
         android:id="@+id/action_waypoint1"
         android:orderInCategory="503"
diff --git a/app/src/main/res/mipmap-mdpi/track_report.png b/app/src/main/res/mipmap-mdpi/track_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2d8f3c5ad9a9fb5454d04bb425311ee309ef4fa
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diff --git a/app/src/main/res/values/strings.xml b/app/src/main/res/values/strings.xml
index be1145a..17007d4 100644
--- a/app/src/main/res/values/strings.xml
+++ b/app/src/main/res/values/strings.xml
@@ -3,6 +3,10 @@
 
     <!-- Drone -->
     <string name="pref_drone_id">ID</string>
+    <string name="pref_email1">Email Address 1</string>
+    <string name="pref_email2">Email Address 2</string>
+    <string name="pref_email3">Email Address 3</string>
+    <string name="pref_email4">Email Address 4</string>
 
     <!-- Drone RTL -->
     <string name="pref_drone_rtl_cat">RTL/RTH</string>
@@ -83,7 +87,10 @@
 
     <!-- Network -->
     <string name="pref_gcs_ip">GCS IP address</string>
+    <string name="pref_ai_ip">AI Assist IP address</string>
     <string name="pref_telem_port">Telemetry port</string>
+    <string name="pref_ai_port">AI Assist port</string>
+    <string name="pref_ai_telemetry">Enable AI Assist</string>
     <string name="pref_secondary_telemetry">Enable secondary telemetry output</string>
     <string name="pref_secondary_telemetry_ip">Secondary telemetry IP</string>
     <string name="pref_secondary_telemetry_port">Secondary telemetry port</string>
@@ -134,14 +141,20 @@
     <string name="safety_on">SAFETY ENABLED</string>
     <string name="safety_off">SAFETY DISABLED - READY TO FLY</string>
     <string name="safety_launch">Disable safety to takeoff.</string>
+    <string name="hold">Please wait while image is grabbed!</string>
+    <string name="ai_not_active">AI not activated in setup menu!</string>
+    <string name="ai_uploaded_active">AI mission sent to AI module!</string>
+    <string name="release">Report Sent!</string>
 
 
     <!-- Preference Menus -->
     <string name="settings">Settings</string>
+    <string name="AIsettings">AI Settings</string>
     <string name="drone_settings">Drone Configuration</string>
 
     <!-- Preference Groupings -->
     <string name="telemetry_settings">Telemetry</string>
+    <string name="ai_settings">AI Assist</string>
     <string name="video_settings">Video</string>
     <string name="log_settings">Logs</string>
 
diff --git a/app/src/main/res/xml/preferences.xml b/app/src/main/res/xml/preferences.xml
index 04e28d3..83d19bb 100644
--- a/app/src/main/res/xml/preferences.xml
+++ b/app/src/main/res/xml/preferences.xml
@@ -13,6 +13,38 @@
             android:key="pref_drone_id"
             android:title="@string/pref_drone_id" />
 
+        <PreferenceCategory
+            android:key="drone_name_prefs"
+            android:title="App Name">
+
+            <androidx.preference.EditTextPreference
+                android:defaultValue="RosettaDrone 2"
+                android:key="pref_app_name"
+                android:title="@string/pref_app" />
+        </PreferenceCategory>
+
+        <PreferenceCategory
+            android:title="Report Email[s]:">
+            <androidx.preference.EditTextPreference
+                android:defaultValue=" "
+                android:key="pref_email_name1"
+                android:title="@string/pref_email1" />
+            <androidx.preference.EditTextPreference
+                android:defaultValue=" "
+                android:key="pref_email_name2"
+                android:title="@string/pref_email2" />
+            android:title="Report Email 3:">
+            <androidx.preference.EditTextPreference
+                android:defaultValue=" "
+                android:key="pref_email_name3"
+                android:title="@string/pref_email3" />
+            android:title="Report Email 4:">
+            <androidx.preference.EditTextPreference
+                android:defaultValue=" "
+                android:key="pref_email_name4"
+                android:title="@string/pref_email4" />
+        </PreferenceCategory>
+
         <PreferenceCategory
             android:key="drone_rtl_prefs"
             android:title="@string/pref_drone_rtl_cat">
@@ -42,16 +74,15 @@
                 android:defaultValue="2" />
         </PreferenceCategory>
 
+
         <PreferenceCategory
-            android:key="drone_name_prefs"
-            android:title="App Name">
-
+            android:title="Use External H.264 input">
             <androidx.preference.EditTextPreference
-                android:defaultValue="RosettaDrone 2"
-                android:key="pref_app_name"
-                android:title="@string/pref_app" />
-
+                android:defaultValue="0"
+                android:key="pref_external_video"
+                android:title="Port Number" />
         </PreferenceCategory>
+
         <PreferenceCategory
             android:key="drone_heading_prefs"
             android:title="@string/pref_drone_heading_cat">
@@ -64,7 +95,7 @@
                 android:defaultValue="0"
                 android:enabled="false" />
         </PreferenceCategory>
-v
+
         <PreferenceCategory
             android:key="sim_pos_prefs"
             android:title="Sim Settings">
@@ -137,6 +168,34 @@ v
                 android:defaultValue="true" />
         </PreferenceCategory>
 
+
+        <PreferenceCategory
+            android:key="ai_prefs"
+            android:title="@string/ai_settings"
+            android:tooltipText="Will enable sending mission data back out to the AI module, rather than to the DJI drone.">
+
+            <androidx.preference.SwitchPreferenceCompat
+                android:defaultValue="false"
+                android:key="pref_ai_telemetry_enabled"
+                android:title="@string/pref_ai_telemetry" />
+
+            <androidx.preference.EditTextPreference
+                android:defaultValue="127.0.0.1"
+                android:dependency="pref_ai_telemetry_enabled"
+                android:digits="0123456789."
+                android:inputType="number"
+                android:key="pref_ai_ip"
+                android:title="@string/pref_ai_ip" />
+
+            <androidx.preference.EditTextPreference
+                android:dependency="pref_ai_telemetry_enabled"
+            android:defaultValue="2000"
+                android:key="pref_ai_port"
+                android:title="@string/pref_ai_port" />
+
+        </PreferenceCategory>
+
+
     </androidx.preference.PreferenceScreen>
 
     <androidx.preference.SwitchPreferenceCompat
diff --git a/build.gradle b/build.gradle
index fa5e4b6..5466f6e 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,4 +1,6 @@
-// Top-level build file where you can add configuration options common to all sub-projects/modules.
+ext {
+    ndkVersion = '22.0.7026061'
+}// Top-level build file where you can add configuration options common to all sub-projects/modules.
 
 buildscript {
     repositories {
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 1b5971f..263ebf8 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
-#Thu Dec 10 10:55:57 CET 2020
+#Mon Mar 08 18:34:57 CET 2021
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.7.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.8.3-all.zip