From ad4a404ab1dc4e06f36f5cbdc38f67d8d5941587 Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Tue, 24 Feb 2026 19:48:16 +0000
Subject: [PATCH 1/9] Fix bug with state not getting set correctly

---
 gcs/src/redux/middleware/emitters.js | 18 +++++++-----------
 radio/app/endpoints/states.py        | 13 ++++++++-----
 2 files changed, 15 insertions(+), 16 deletions(-)

diff --git a/gcs/src/redux/middleware/emitters.js b/gcs/src/redux/middleware/emitters.js
index b523f520e..f40cf51a4 100644
--- a/gcs/src/redux/middleware/emitters.js
+++ b/gcs/src/redux/middleware/emitters.js
@@ -37,12 +37,6 @@ import {
   setCurrentPage,
   setIsForwarding,
 } from "../slices/droneConnectionSlice"
-import {
-  setSimulationStatus,
-  SimulationStatus,
-  emitStartSimulation,
-  emitStopSimulation,
-} from "../slices/simulationParamsSlice"
 import {
   emitListFiles,
   emitListLogFiles,
@@ -68,6 +62,12 @@ import {
   emitSetMultipleParams,
   setParamsWriteProgressModalOpen,
 } from "../slices/paramsSlice"
+import {
+  emitStartSimulation,
+  emitStopSimulation,
+  setSimulationStatus,
+  SimulationStatus,
+} from "../slices/simulationParamsSlice"
 import { resetMessages } from "../slices/statusTextSlice"
 
 export function handleEmitters(socket, store, action) {
@@ -146,11 +146,7 @@ export function handleEmitters(socket, store, action) {
       emitter: emitSetState,
       callback: () => {
         store.dispatch(setCurrentPage(action.payload))
-        const storeState = store.getState()
-        const isDroneConnected = storeState.droneConnection.connected
-        if (isDroneConnected) {
-          socket.socket.emit("set_state", { state: action.payload })
-        }
+        socket.socket.emit("set_state", { state: action.payload })
       },
     },
     {
diff --git a/radio/app/endpoints/states.py b/radio/app/endpoints/states.py
index 892892878..e2792bb10 100644
--- a/radio/app/endpoints/states.py
+++ b/radio/app/endpoints/states.py
@@ -1,3 +1,5 @@
+from logging import getLogger
+
 from pymavlink import mavutil
 from typing_extensions import TypedDict
 
@@ -5,7 +7,6 @@
 from app import socketio
 from app.utils import (
     missingParameterError,
-    notConnectedError,
     sendMessage,
 )
 
@@ -41,6 +42,8 @@ class SetStateType(TypedDict):
     "config.rc": ["RC_CHANNELS"],
 }
 
+logger = getLogger("fgcs")
+
 
 @socketio.on("set_state")
 def set_state(data: SetStateType) -> None:
@@ -50,16 +53,16 @@ def set_state(data: SetStateType) -> None:
     Args:
         data: The form data passed in from the frontend, this contains the state we wish to change to
     """
-    if not droneStatus.drone:
-        return notConnectedError(action="set the drone state")
-
     # Ensure that a state was actually sent
     if (newState := data.get("state", None)) is None:
         return missingParameterError("set_state", "state")
 
+    logger.info(f"Changing state to {newState}")
+
     droneStatus.state = newState
 
-    droneStatus.drone.logger.info(f"Changing state to {droneStatus.state}")
+    if not droneStatus.drone:
+        return
 
     # Reset all data streams
     droneStatus.drone.stopAllDataStreams()

From e47a81786c28e5d03ea7c4b0a93f1cd547222691 Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Tue, 24 Feb 2026 20:37:10 +0000
Subject: [PATCH 2/9] Add initial missions page conversion for no drone
 connection

---
 gcs/src/missions.jsx                         | 467 +++++++-------
 gcs/src/redux/middleware/socketMiddleware.js | 200 +++---
 radio/app/controllers/missionController.py   | 631 +++++++++++--------
 radio/app/endpoints/mission.py               |  34 +-
 4 files changed, 736 insertions(+), 596 deletions(-)

diff --git a/gcs/src/missions.jsx b/gcs/src/missions.jsx
index 97adabb49..ae25c4fd4 100644
--- a/gcs/src/missions.jsx
+++ b/gcs/src/missions.jsx
@@ -6,29 +6,27 @@
 import { useEffect, useRef, useState } from "react"
 
 // 3rd Party Imports
-import { useSessionStorage } from "@mantine/hooks"
 import { ResizableBox } from "react-resizable"
 import { v4 as uuidv4 } from "uuid"
 
 // Custom component and helpers
 import {
-  ActionIcon,
   Button,
   Divider,
   Modal,
   NumberInput,
   Progress,
+  Select,
   Tabs,
   Tooltip,
 } from "@mantine/core"
-import { IconInfoCircle, IconX } from "@tabler/icons-react"
+import { IconInfoCircle } from "@tabler/icons-react"
 import Layout from "./components/layout"
 import FenceItemsTable from "./components/missions/fenceItemsTable"
 import MissionItemsTable from "./components/missions/missionItemsTable"
 import MissionStatistics from "./components/missions/missionStatistics"
 import MissionsMapSection from "./components/missions/missionsMap"
 import RallyItemsTable from "./components/missions/rallyItemsTable"
-import NoDroneConnected from "./components/noDroneConnected"
 import { coordToInt, intToCoord } from "./helpers/dataFormatters"
 
 // Redux
@@ -43,6 +41,10 @@ import resolveConfig from "tailwindcss/resolveConfig"
 import tailwindConfig from "../tailwind.config"
 import UpdatePlannedHomePositionModal from "./components/missions/updatePlannedHomePositionModal"
 import { showErrorNotification } from "./helpers/notification"
+import {
+  selectAircraftType,
+  setDroneAircraftType,
+} from "./redux/slices/droneInfoSlice"
 import {
   emitExportMissionToFile,
   emitGetCurrentMission,
@@ -96,6 +98,7 @@ export default function Missions() {
   const targetInfo = useSelector(selectTargetInfo)
   const plannedHomePosition = useSelector(selectPlannedHomePosition)
   const activeTab = useSelector(selectActiveTab)
+  const aircraftType = useSelector(selectAircraftType)
 
   // Mission items
   const missionItems = useSelector(selectDrawingMissionItems)
@@ -105,12 +108,6 @@ export default function Missions() {
   const missionProgressModalOpened = useSelector(selectMissionProgressModal)
   const missionProgressModalData = useSelector(selectMissionProgressData)
 
-  // Other states
-  const [showWarningBanner, setShowWarningBanner] = useSessionStorage({
-    key: "showWarningBanner",
-    defaultValue: true,
-  })
-
   // Need to keep a reference to the active tab to avoid stale closures
   const activeTabRef = useRef(activeTab)
   const tabsListRef = useRef(null)
@@ -345,249 +342,239 @@ export default function Missions() {
 
       <UpdatePlannedHomePositionModal />
 
-      {/* Banner to let people know that things are still under development */}
-      {showWarningBanner && (
-        <div className="bg-falconred-700 flex flex-row items-center justify-between w-full">
-          <p className="text-white text-center flex-1">
-            Missions is still under development so some features are still
-            missing. If you find any bugs please report them to us.
-          </p>
-          <ActionIcon
-            onClick={() => setShowWarningBanner(false)}
-            variant="transparent"
-            className="mr-2"
+      <div className="flex flex-col h-screen overflow-hidden">
+        <div className="flex flex-1 overflow-hidden">
+          {/* Resizable Sidebar */}
+          <ResizableBox
+            width={200}
+            height={Infinity}
+            minConstraints={[200, Infinity]}
+            maxConstraints={[600, Infinity]}
+            resizeHandles={["e"]}
+            axis="x"
+            handle={
+              <div className="w-2 h-full bg-falcongrey-900 hover:bg-falconred-500 cursor-col-resize absolute right-0 top-0 z-10"></div>
+            }
+            className="relative bg-falcongrey-800 overflow-y-auto"
           >
-            <IconX color="white" />
-          </ActionIcon>
-        </div>
-      )}
-
-      {connected ? (
-        <div className="flex flex-col h-screen overflow-hidden">
-          <div className="flex flex-1 overflow-hidden">
-            {/* Resizable Sidebar */}
-            <ResizableBox
-              width={200}
-              height={Infinity}
-              minConstraints={[200, Infinity]}
-              maxConstraints={[600, Infinity]}
-              resizeHandles={["e"]}
-              axis="x"
-              handle={
-                <div className="w-2 h-full bg-falcongrey-900 hover:bg-falconred-500 cursor-col-resize absolute right-0 top-0 z-10"></div>
-              }
-              className="relative bg-falcongrey-800 overflow-y-auto"
-            >
-              <div className="flex flex-col gap-4 p-4">
-                <div className="flex flex-col gap-4">
-                  <UnwrittenChangesWarning
-                    unwrittenChanges={unwrittenChanges}
-                  />
-
-                  <Button
-                    onClick={() => {
-                      readMissionFromDrone()
-                    }}
-                    disabled={!connected}
-                    className="grow"
-                  >
-                    Read {activeTab}
-                  </Button>
-                  <Button
-                    onClick={() => {
-                      writeMissionToDrone()
-                    }}
-                    disabled={!connected}
-                    className="grow"
-                  >
-                    Write {activeTab}
-                  </Button>
-                </div>
-
-                <Divider className="my-1" />
-
-                <div className="flex flex-col gap-4">
-                  <Button className="grow" onClick={importMissionFromFile}>
-                    Import from file
-                  </Button>
-                  <Button
-                    onClick={() => {
-                      saveMissionToFile()
-                    }}
-                    className="grow"
-                  >
-                    Save to file
-                  </Button>
-                </div>
-
-                <Divider className="my-1" />
-
-                <div className="flex flex-col gap-2">
-                  <p className="font-bold">
-                    Planned home{" "}
-                    <span>
-                      <Tooltip
-                        className="inline"
-                        label={
-                          <>
-                            <p className="text-wrap max-w-80">
-                              The planned home location is used to approximate
-                              the starting location of the mission. The
-                              dashboard displays the <i>actual</i> home location
-                              used by the drone.
-                            </p>
-                          </>
-                        }
-                      >
-                        <IconInfoCircle size={20} />
-                      </Tooltip>
-                    </span>
-                  </p>
-                  <NumberInput
-                    label="Lat"
-                    value={plannedHomeLatInput}
-                    onChange={(val) => setPlannedHomeLatInput(val)}
-                    onBlur={() => {
-                      if (isInvalidInputNumber(plannedHomeLatInput)) {
-                        setPlannedHomeLatInput(
-                          intToCoord(plannedHomePosition?.lat).toFixed(
-                            coordsFractionDigits,
-                          ),
-                        )
-                      }
-                    }}
-                    min={-90}
-                    max={90}
-                    step={0.000001}
-                    hideControls
-                  />
-                  <NumberInput
-                    label="Lon"
-                    value={plannedHomeLonInput}
-                    onChange={(val) => setPlannedHomeLonInput(val)}
-                    onBlur={() => {
-                      if (isInvalidInputNumber(plannedHomeLonInput)) {
-                        setPlannedHomeLonInput(
-                          intToCoord(plannedHomePosition?.lon).toFixed(
-                            coordsFractionDigits,
-                          ),
-                        )
-                      }
+            <div className="flex flex-col gap-4 p-4">
+              <div className="flex flex-col gap-4">
+                {connected ? (
+                  <>
+                    <UnwrittenChangesWarning
+                      unwrittenChanges={unwrittenChanges}
+                    />
+                    <Button
+                      onClick={() => {
+                        readMissionFromDrone()
+                      }}
+                      disabled={!connected}
+                      className="grow"
+                    >
+                      Read {activeTab}
+                    </Button>
+                    <Button
+                      onClick={() => {
+                        writeMissionToDrone()
+                      }}
+                      disabled={!connected}
+                      className="grow"
+                    >
+                      Write {activeTab}
+                    </Button>
+                  </>
+                ) : (
+                  <Select
+                    label="Select Aircraft Type"
+                    value={aircraftType.toString()}
+                    onChange={(val) => {
+                      dispatch(setDroneAircraftType(Number(val)))
                     }}
-                    min={-180}
-                    max={180}
-                    step={0.000001}
-                    hideControls
+                    data={[
+                      { value: "0", label: "Copter" },
+                      { value: "1", label: "Plane" },
+                    ]}
+                    allowDeselect={false}
                   />
-                  <NumberInput
-                    label="Alt"
-                    value={plannedHomeAltInput}
-                    onChange={(val) => setPlannedHomeAltInput(val)}
-                    onBlur={() => {
-                      if (isInvalidInputNumber(plannedHomeAltInput)) {
-                        setPlannedHomeAltInput(plannedHomePosition?.alt)
+                )}
+              </div>
+
+              <Divider className="my-1" />
+
+              <div className="flex flex-col gap-4">
+                <Button className="grow" onClick={importMissionFromFile}>
+                  Import from file
+                </Button>
+                <Button
+                  onClick={() => {
+                    saveMissionToFile()
+                  }}
+                  className="grow"
+                >
+                  Save to file
+                </Button>
+              </div>
+
+              <Divider className="my-1" />
+
+              <div className="flex flex-col gap-2">
+                <p className="font-bold">
+                  Planned home{" "}
+                  <span>
+                    <Tooltip
+                      className="inline"
+                      label={
+                        <>
+                          <p className="text-wrap max-w-80">
+                            The planned home location is used to approximate the
+                            starting location of the mission. The dashboard
+                            displays the <i>actual</i> home location used by the
+                            drone.
+                          </p>
+                        </>
                       }
-                    }}
-                    min={0.1}
-                    allowNegative={false}
-                    hideControls
-                  />
-                  <Button
-                    className="mt-2"
-                    onClick={() =>
-                      dispatch(
-                        setPlannedHomePosition({
-                          lat: coordToInt(plannedHomeLatInput),
-                          lon: coordToInt(plannedHomeLonInput),
-                          alt: plannedHomeAltInput,
-                        }),
+                    >
+                      <IconInfoCircle size={20} />
+                    </Tooltip>
+                  </span>
+                </p>
+                <NumberInput
+                  label="Lat"
+                  value={plannedHomeLatInput}
+                  onChange={(val) => setPlannedHomeLatInput(val)}
+                  onBlur={() => {
+                    if (isInvalidInputNumber(plannedHomeLatInput)) {
+                      setPlannedHomeLatInput(
+                        intToCoord(plannedHomePosition?.lat).toFixed(
+                          coordsFractionDigits,
+                        ),
                       )
                     }
-                  >
-                    Save planned home
-                  </Button>
-                </div>
-
-                <Divider className="my-1" />
-
-                <div className="flex flex-col gap-2">
-                  <p className="font-bold">Mission statistics</p>
-                  <MissionStatistics />
-                </div>
+                  }}
+                  min={-90}
+                  max={90}
+                  step={0.000001}
+                  hideControls
+                />
+                <NumberInput
+                  label="Lon"
+                  value={plannedHomeLonInput}
+                  onChange={(val) => setPlannedHomeLonInput(val)}
+                  onBlur={() => {
+                    if (isInvalidInputNumber(plannedHomeLonInput)) {
+                      setPlannedHomeLonInput(
+                        intToCoord(plannedHomePosition?.lon).toFixed(
+                          coordsFractionDigits,
+                        ),
+                      )
+                    }
+                  }}
+                  min={-180}
+                  max={180}
+                  step={0.000001}
+                  hideControls
+                />
+                <NumberInput
+                  label="Alt"
+                  value={plannedHomeAltInput}
+                  onChange={(val) => setPlannedHomeAltInput(val)}
+                  onBlur={() => {
+                    if (isInvalidInputNumber(plannedHomeAltInput)) {
+                      setPlannedHomeAltInput(plannedHomePosition?.alt)
+                    }
+                  }}
+                  min={0.1}
+                  allowNegative={false}
+                  hideControls
+                />
+                <Button
+                  className="mt-2"
+                  onClick={() =>
+                    dispatch(
+                      setPlannedHomePosition({
+                        lat: coordToInt(plannedHomeLatInput),
+                        lon: coordToInt(plannedHomeLonInput),
+                        alt: plannedHomeAltInput,
+                      }),
+                    )
+                  }
+                >
+                  Save planned home
+                </Button>
               </div>
-            </ResizableBox>
 
-            {/* Main content area */}
-            <div className="flex-1 flex flex-col overflow-hidden">
-              {/* Map area */}
-              <div className="flex-1 relative">
-                <MissionsMapSection
-                  passedRef={mapRef}
-                  missionItems={missionItems}
-                  fenceItems={fenceItems}
-                  rallyItems={rallyItems}
-                />
+              <Divider className="my-1" />
+
+              <div className="flex flex-col gap-2">
+                <p className="font-bold">Mission statistics</p>
+                <MissionStatistics />
               </div>
+            </div>
+          </ResizableBox>
+
+          {/* Main content area */}
+          <div className="flex-1 flex flex-col overflow-hidden">
+            {/* Map area */}
+            <div className="flex-1 relative">
+              <MissionsMapSection
+                passedRef={mapRef}
+                missionItems={missionItems}
+                fenceItems={fenceItems}
+                rallyItems={rallyItems}
+              />
+            </div>
 
-              {/* Resizable Bottom Bar */}
-              <ResizableBox
-                width={Infinity}
-                height={300}
-                minConstraints={[Infinity, 100]}
-                maxConstraints={[Infinity, 400]}
-                resizeHandles={["n"]}
-                axis="y"
-                handle={
-                  <div className="w-full h-2 bg-falcongrey-900 hover:bg-falconred-500 cursor-row-resize absolute top-0 left-0 z-10"></div>
-                }
-                className="relative bg-falcongrey-800 overflow-y-auto"
-                onResizeStop={(_, { size }) => {
-                  setTableSectionHeight(
-                    size.height -
-                      tabsListRef.current.clientHeight -
-                      resizeTableHeightPadding,
-                  )
-                }}
+            {/* Resizable Bottom Bar */}
+            <ResizableBox
+              width={Infinity}
+              height={300}
+              minConstraints={[Infinity, 100]}
+              maxConstraints={[Infinity, 400]}
+              resizeHandles={["n"]}
+              axis="y"
+              handle={
+                <div className="w-full h-2 bg-falcongrey-900 hover:bg-falconred-500 cursor-row-resize absolute top-0 left-0 z-10"></div>
+              }
+              className="relative bg-falcongrey-800 overflow-y-auto"
+              onResizeStop={(_, { size }) => {
+                setTableSectionHeight(
+                  size.height -
+                    tabsListRef.current.clientHeight -
+                    resizeTableHeightPadding,
+                )
+              }}
+            >
+              <Tabs
+                value={activeTab}
+                onChange={(value) => dispatch(setActiveTab(value))}
+                className="mt-2"
               >
-                <Tabs
-                  value={activeTab}
-                  onChange={(value) => dispatch(setActiveTab(value))}
-                  className="mt-2"
-                >
-                  <Tabs.List grow ref={tabsListRef}>
-                    <Tabs.Tab
-                      value="mission"
-                      color={tailwindColors.yellow[400]}
-                    >
-                      Mission
-                    </Tabs.Tab>
-                    <Tabs.Tab value="fence" color={tailwindColors.blue[400]}>
-                      Fence
-                    </Tabs.Tab>
-                    <Tabs.Tab value="rally" color={tailwindColors.purple[400]}>
-                      Rally
-                    </Tabs.Tab>
-                  </Tabs.List>
-
-                  <Tabs.Panel value="mission">
-                    <MissionItemsTable
-                      tableSectionHeight={tableSectionHeight}
-                    />
-                  </Tabs.Panel>
-                  <Tabs.Panel value="fence">
-                    <FenceItemsTable tableSectionHeight={tableSectionHeight} />
-                  </Tabs.Panel>
-                  <Tabs.Panel value="rally">
-                    <RallyItemsTable tableSectionHeight={tableSectionHeight} />
-                  </Tabs.Panel>
-                </Tabs>
-              </ResizableBox>
-            </div>
+                <Tabs.List grow ref={tabsListRef}>
+                  <Tabs.Tab value="mission" color={tailwindColors.yellow[400]}>
+                    Mission
+                  </Tabs.Tab>
+                  <Tabs.Tab value="fence" color={tailwindColors.blue[400]}>
+                    Fence
+                  </Tabs.Tab>
+                  <Tabs.Tab value="rally" color={tailwindColors.purple[400]}>
+                    Rally
+                  </Tabs.Tab>
+                </Tabs.List>
+
+                <Tabs.Panel value="mission">
+                  <MissionItemsTable tableSectionHeight={tableSectionHeight} />
+                </Tabs.Panel>
+                <Tabs.Panel value="fence">
+                  <FenceItemsTable tableSectionHeight={tableSectionHeight} />
+                </Tabs.Panel>
+                <Tabs.Panel value="rally">
+                  <RallyItemsTable tableSectionHeight={tableSectionHeight} />
+                </Tabs.Panel>
+              </Tabs>
+            </ResizableBox>
           </div>
         </div>
-      ) : (
-        <NoDroneConnected tab="missions" />
-      )}
+      </div>
     </Layout>
   )
 }
diff --git a/gcs/src/redux/middleware/socketMiddleware.js b/gcs/src/redux/middleware/socketMiddleware.js
index 0635e4250..7de140496 100644
--- a/gcs/src/redux/middleware/socketMiddleware.js
+++ b/gcs/src/redux/middleware/socketMiddleware.js
@@ -25,10 +25,10 @@ import {
 } from "../slices/droneConnectionSlice"
 
 import {
+  clearSimulationLoadingNotificationId,
+  setSimulationLoadingNotificationId,
   setSimulationStatus,
   SimulationStatus,
-  setSimulationLoadingNotificationId,
-  clearSimulationLoadingNotificationId,
 } from "../slices/simulationParamsSlice"
 
 // socket factory
@@ -37,11 +37,11 @@ import { isGlobalFrameHomeCommand } from "../../helpers/filterMissions.js"
 import { FRAME_CLASS_MAP } from "../../helpers/mavlinkConstants.js"
 import {
   closeLoadingNotification,
+  redColor,
   showErrorNotification,
   showLoadingNotification,
   showSuccessNotification,
   showWarningNotification,
-  redColor,
 } from "../../helpers/notification.js"
 import SocketFactory from "../../helpers/socket"
 import {
@@ -606,6 +606,98 @@ const socketMiddleware = (store) => {
             )
           }
         })
+
+        socket.socket.on(
+          MissionSpecificSocketEvents.onImportMissionResult,
+          (msg) => {
+            if (msg.success) {
+              const storeState = store.getState()
+
+              if (msg.mission_type === "mission") {
+                const missionItemsWithIds = []
+                for (let missionItem of msg.items) {
+                  missionItemsWithIds.push(addIdToItem(missionItem))
+                }
+
+                // Check if first item is a home location, then open modal to
+                // select whether to update planned home position
+                if (missionItemsWithIds.length > 0) {
+                  const potentialHomeLocation = missionItemsWithIds[0]
+                  const currentPlannedHomeLocation =
+                    storeState.missionInfo.plannedHomePosition
+
+                  // Check if the potential home location is different from the current planned home location
+                  if (
+                    isGlobalFrameHomeCommand(potentialHomeLocation) &&
+                    (potentialHomeLocation.x !==
+                      currentPlannedHomeLocation.lat ||
+                      potentialHomeLocation.y !==
+                        currentPlannedHomeLocation.lon ||
+                      potentialHomeLocation.z !==
+                        currentPlannedHomeLocation.alt)
+                  ) {
+                    store.dispatch(
+                      setUpdatePlannedHomePositionFromLoadData({
+                        lat: potentialHomeLocation.x,
+                        lon: potentialHomeLocation.y,
+                        alt: potentialHomeLocation.z,
+                        from: "file",
+                      }),
+                    )
+                    store.dispatch(
+                      setUpdatePlannedHomePositionFromLoadModal(true),
+                    )
+                  }
+                }
+                store.dispatch(setDrawingMissionItems(missionItemsWithIds))
+                store.dispatch(
+                  setUnwrittenChanges({
+                    ...storeState.missionInfo.unwrittenChanges,
+                    mission: true,
+                  }),
+                )
+              } else if (msg.mission_type === "fence") {
+                const fenceItemsWithIds = []
+                for (let fence of msg.items) {
+                  fenceItemsWithIds.push(addIdToItem(fence))
+                }
+                store.dispatch(setDrawingFenceItems(fenceItemsWithIds))
+                store.dispatch(
+                  setUnwrittenChanges({
+                    ...storeState.missionInfo.unwrittenChanges,
+                    fence: true,
+                  }),
+                )
+              } else if (msg.mission_type === "rally") {
+                const rallyItemsWithIds = []
+                for (let rallyItem of msg.items) {
+                  rallyItemsWithIds.push(addIdToItem(rallyItem))
+                }
+
+                store.dispatch(setDrawingRallyItems(rallyItemsWithIds))
+                store.dispatch(
+                  setUnwrittenChanges({
+                    ...storeState.missionInfo.unwrittenChanges,
+                    rally: true,
+                  }),
+                )
+              }
+
+              showSuccessNotification(msg.message)
+            } else {
+              showErrorNotification(msg.message)
+            }
+          },
+        )
+
+        socket.socket.on(
+          MissionSpecificSocketEvents.onExportMissionResult,
+          (msg) => {
+            msg.success
+              ? showSuccessNotification(msg.message)
+              : showErrorNotification(msg.message)
+          },
+        )
       }
     }
 
@@ -924,89 +1016,6 @@ const socketMiddleware = (store) => {
           },
         )
 
-        socket.socket.on(
-          MissionSpecificSocketEvents.onImportMissionResult,
-          (msg) => {
-            if (msg.success) {
-              const storeState = store.getState()
-
-              if (msg.mission_type === "mission") {
-                const missionItemsWithIds = []
-                for (let missionItem of msg.items) {
-                  missionItemsWithIds.push(addIdToItem(missionItem))
-                }
-
-                // Check if first item is a home location, then open modal to
-                // select whether to update planned home position
-                if (missionItemsWithIds.length > 0) {
-                  const potentialHomeLocation = missionItemsWithIds[0]
-                  const currentPlannedHomeLocation =
-                    storeState.missionInfo.plannedHomePosition
-
-                  // Check if the potential home location is different from the current planned home location
-                  if (
-                    isGlobalFrameHomeCommand(potentialHomeLocation) &&
-                    (potentialHomeLocation.x !==
-                      currentPlannedHomeLocation.lat ||
-                      potentialHomeLocation.y !==
-                        currentPlannedHomeLocation.lon ||
-                      potentialHomeLocation.z !==
-                        currentPlannedHomeLocation.alt)
-                  ) {
-                    store.dispatch(
-                      setUpdatePlannedHomePositionFromLoadData({
-                        lat: potentialHomeLocation.x,
-                        lon: potentialHomeLocation.y,
-                        alt: potentialHomeLocation.z,
-                        from: "file",
-                      }),
-                    )
-                    store.dispatch(
-                      setUpdatePlannedHomePositionFromLoadModal(true),
-                    )
-                  }
-                }
-                store.dispatch(setDrawingMissionItems(missionItemsWithIds))
-                store.dispatch(
-                  setUnwrittenChanges({
-                    ...storeState.missionInfo.unwrittenChanges,
-                    mission: true,
-                  }),
-                )
-              } else if (msg.mission_type === "fence") {
-                const fenceItemsWithIds = []
-                for (let fence of msg.items) {
-                  fenceItemsWithIds.push(addIdToItem(fence))
-                }
-                store.dispatch(setDrawingFenceItems(fenceItemsWithIds))
-                store.dispatch(
-                  setUnwrittenChanges({
-                    ...storeState.missionInfo.unwrittenChanges,
-                    fence: true,
-                  }),
-                )
-              } else if (msg.mission_type === "rally") {
-                const rallyItemsWithIds = []
-                for (let rallyItem of msg.items) {
-                  rallyItemsWithIds.push(addIdToItem(rallyItem))
-                }
-
-                store.dispatch(setDrawingRallyItems(rallyItemsWithIds))
-                store.dispatch(
-                  setUnwrittenChanges({
-                    ...storeState.missionInfo.unwrittenChanges,
-                    rally: true,
-                  }),
-                )
-              }
-
-              showSuccessNotification(msg.message)
-            } else {
-              showErrorNotification(msg.message)
-            }
-          },
-        )
-
         socket.socket.on(
           MissionSpecificSocketEvents.onMissionControlResult,
           (msg) => {
@@ -1020,15 +1029,6 @@ const socketMiddleware = (store) => {
           store.dispatch(setTargetInfo(msg))
         })
 
-        socket.socket.on(
-          MissionSpecificSocketEvents.onExportMissionResult,
-          (msg) => {
-            msg.success
-              ? showSuccessNotification(msg.message)
-              : showErrorNotification(msg.message)
-          },
-        )
-
         socket.socket.on(
           MissionSpecificSocketEvents.onCurrentMissionProgress,
           (msg) => {
@@ -1283,9 +1283,13 @@ const socketMiddleware = (store) => {
         Object.values(ParamSpecificSocketEvents).map((event) =>
           socket.socket.off(event),
         )
-        Object.values(MissionSpecificSocketEvents).map((event) =>
-          socket.socket.off(event),
-        )
+        Object.values(MissionSpecificSocketEvents)
+          .filter(
+            (event) =>
+              event !== MissionSpecificSocketEvents.onImportMissionResult &&
+              event !== MissionSpecificSocketEvents.onExportMissionResult,
+          )
+          .map((event) => socket.socket.off(event))
         Object.values(ConfigSpecificSocketEvents).map((event) =>
           socket.socket.off(event),
         )
diff --git a/radio/app/controllers/missionController.py b/radio/app/controllers/missionController.py
index 5bbb633b0..135b0654a 100644
--- a/radio/app/controllers/missionController.py
+++ b/radio/app/controllers/missionController.py
@@ -1,6 +1,7 @@
 from __future__ import annotations
 
 import os
+from logging import getLogger
 from threading import current_thread
 from typing import TYPE_CHECKING, Any, Callable, List, Optional
 
@@ -17,6 +18,349 @@
 TYPE_RALLY = mavutil.mavlink.MAV_MISSION_TYPE_RALLY
 MISSION_TYPES = [TYPE_MISSION, TYPE_FENCE, TYPE_RALLY]
 
+logger = getLogger("fgcs")
+
+
+def _checkMissionType(mission_type: int) -> Response:
+    """
+    Check if the mission type is valid.
+
+    Args:
+        mission_type (int): The type of mission to check.
+
+    Returns:
+        Response: A response dict with success status.
+    """
+    if mission_type not in MISSION_TYPES:
+        return {
+            "success": False,
+            "message": f"Invalid mission type {mission_type}. Must be one of {MISSION_TYPES}",
+        }
+    return {"success": True}
+
+
+def _convertCoordinate(coordinate) -> Number:
+    """
+    Convert a coordinate between int and float formats.
+
+    Args:
+        coordinate: The coordinate to convert (int or float).
+
+    Returns:
+        Number: The converted coordinate.
+    """
+    gps_coordinate_scale = 1e7
+
+    if isinstance(coordinate, float):
+        return int(coordinate * gps_coordinate_scale)
+    elif isinstance(coordinate, int):
+        return coordinate / gps_coordinate_scale
+
+    raise ValueError(
+        f"Invalid coordinate type {type(coordinate)}. Must be int or float."
+    )
+
+
+def _getMissionName(mission_type: int) -> str:
+    """
+    Get the name of the mission type.
+
+    Args:
+        mission_type (int): The type of mission to get the name for.
+
+    Returns:
+        str: The name of the mission type.
+    """
+    if mission_type == TYPE_MISSION:
+        return "mission"
+    elif mission_type == TYPE_FENCE:
+        return "fence"
+    elif mission_type == TYPE_RALLY:
+        return "rally"
+    else:
+        logger.error(f"Invalid mission type {mission_type}")
+        return "unknown"
+
+
+def _getCommandName(command: int) -> str:
+    """
+    Get the name of the command type.
+
+    Args:
+        command (int): The command to get the name for.
+
+    Returns:
+        str: The name of the command.
+    """
+    try:
+        return mavutil.mavlink.enums["MAV_CMD"][command].name
+    except KeyError:
+        return f"Unknown command {command}"
+
+
+def _parseWaypointsListIntoLoader(
+    waypoints: List[dict],
+    mission_type: int,
+    target_system: int = 1,
+    target_component: int = 1,
+) -> mavwp.MAVWPLoader:
+    """
+    Parses a list of waypoints into a MAVWPLoader object.
+
+    Args:
+        waypoints (List[dict]): The list of waypoints to parse.
+        mission_type (int): The type of mission. 0=Mission,1=Fence,2=Rally.
+        target_system (int): The target system ID (default: 1).
+        target_component (int): The target component ID (default: 1).
+
+    Returns:
+        mavwp.MAVWPLoader: The loader object with parsed waypoints.
+    """
+    if mission_type == TYPE_MISSION:
+        loader = mavwp.MAVWPLoader(
+            target_system=target_system, target_component=target_component
+        )
+    elif mission_type == TYPE_FENCE:
+        loader = mavwp.MissionItemProtocol_Fence(
+            target_system=target_system, target_component=target_component
+        )
+    elif mission_type == TYPE_RALLY:
+        loader = mavwp.MissionItemProtocol_Rally(
+            target_system=target_system, target_component=target_component
+        )
+
+    for wp in waypoints:
+        if isinstance(wp, mavutil.mavlink.MAVLink_mission_item_int_message):
+            loader.add(wp)
+        elif isinstance(wp, dict):
+            # Convert dict to MAVLink mission item int message
+            p = mavutil.mavlink.MAVLink_mission_item_int_message(
+                target_system,
+                target_component,
+                wp["seq"],
+                wp["frame"],
+                wp["command"],
+                wp["current"],
+                wp["autocontinue"],
+                wp["param1"],
+                wp["param2"],
+                wp["param3"],
+                wp["param4"],
+                int(wp["x"]),
+                int(wp["y"]),
+                wp["z"],
+                wp["mission_type"],
+            )
+            loader.add(p)
+        else:
+            logger.error(f"Invalid waypoint type {type(wp)} in waypoints list")
+            raise ValueError(f"Invalid waypoint type {type(wp)} in waypoints list")
+
+    logger.debug(
+        f"Parsed {loader.count()} waypoints into loader for mission type {mission_type}"
+    )
+    return loader
+
+
+def importMissionFromFile(
+    mission_type: int, file_path: str, target_system: int = 1, target_component: int = 1
+) -> Response:
+    """
+    Imports a mission from a file, return the waypoints loaded.
+
+    Args:
+        mission_type (int): The type of mission to import. 0=Mission,1=Fence,2=Rally.
+        file_path (str): The path to the waypoint file to import.
+        target_system (int): The target system ID (default: 1).
+        target_component (int): The target component ID (default: 1).
+
+    Returns:
+        Response: A response dict with success status and waypoint data.
+    """
+    mission_type_check = _checkMissionType(mission_type)
+    if not mission_type_check.get("success"):
+        return mission_type_check
+
+    if not file_path or not os.path.exists(file_path):
+        logger.error(f"Waypoint file not found at {file_path}")
+        return {
+            "success": False,
+            "message": f"Waypoint file not found at {file_path}",
+        }
+
+    logger.debug(
+        f"Importing waypoint file from {file_path} for mission type {mission_type}"
+    )
+
+    if mission_type == TYPE_MISSION:
+        loader = mavwp.MAVWPLoader(
+            target_system=target_system, target_component=target_component
+        )
+    elif mission_type == TYPE_FENCE:
+        loader = mavwp.MissionItemProtocol_Fence(
+            target_system=target_system, target_component=target_component
+        )
+    else:
+        loader = mavwp.MissionItemProtocol_Rally(
+            target_system=target_system, target_component=target_component
+        )
+
+    try:
+        loader.load(file_path)
+    except Exception as e:
+        logger.error(f"Failed to load waypoint file: {e}")
+        return {
+            "success": False,
+            "message": f"Failed to load waypoint file: {e}",
+        }
+
+    # Remove the first point if it's a command 16 as this is usually a home point or placeholder.
+    if mission_type in [TYPE_FENCE, TYPE_RALLY]:
+        if loader.count() > 0:
+            first_wp = loader.item(0)
+            if first_wp.command == 16:
+                loader.remove(first_wp)
+        else:
+            logger.error("Loader is empty; no waypoints to process.")
+            return {
+                "success": False,
+                "message": "Loader is empty; no waypoints to process.",
+            }
+
+    for wp in loader.wpoints:
+        # Check if mission type correlates to correct command
+        if (
+            (
+                mission_type == TYPE_RALLY
+                and wp.command != mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT
+            )
+            or (
+                mission_type == TYPE_FENCE
+                and wp.command
+                not in [
+                    mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT,
+                    mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
+                    mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION,
+                    mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION,
+                    mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION,
+                ]
+            )
+            or (
+                mission_type == TYPE_MISSION
+                and wp.command
+                in [
+                    mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
+                    mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT,
+                    mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
+                    mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION,
+                    mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION,
+                    mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION,
+                ]
+            )
+        ):
+            logger.error(
+                f"Waypoint command {_getCommandName(wp.command)} does not match mission type {_getMissionName(mission_type)}"
+            )
+            return {
+                "success": False,
+                "message": f"Could not load the waypoint file. Waypoint command {_getCommandName(wp.command)} does not match mission type {_getMissionName(mission_type)}",
+            }
+
+        # Convert coordinates to the correct format
+        if hasattr(wp, "x") and hasattr(wp, "y"):
+            try:
+                wp.x = _convertCoordinate(wp.x)
+                wp.y = _convertCoordinate(wp.y)
+            except ValueError as e:
+                logger.error(f"Error converting coordinates for waypoint {wp}: {e}")
+                return {
+                    "success": False,
+                    "message": f"Error converting coordinates for waypoint {wp}: {e}",
+                }
+
+    logger.info(f"Loaded waypoint file with {loader.count()} points successfully")
+    return {
+        "success": True,
+        "message": f"Waypoint file loaded {loader.count()} points successfully",
+        "data": [wp.to_dict() for wp in loader.wpoints],
+    }
+
+
+def exportMissionToFile(
+    mission_type: int,
+    file_path: str,
+    waypoints: List[dict],
+    target_system: int = 1,
+    target_component: int = 1,
+) -> Response:
+    """
+    Exports a mission to a file from a given list of waypoints.
+
+    Args:
+        mission_type (int): The type of mission to export. 0=Mission,1=Fence,2=Rally.
+        file_path (str): The path to the waypoint file to export.
+        waypoints (List[dict]): The list of waypoints to upload. Each waypoint should be a dict with the required fields.
+        target_system (int): The target system ID (default: 1).
+        target_component (int): The target component ID (default: 1).
+
+    Returns:
+        Response: A response dict with success status.
+    """
+    mission_type_check = _checkMissionType(mission_type)
+    if not mission_type_check.get("success"):
+        return mission_type_check
+
+    try:
+        loader = _parseWaypointsListIntoLoader(
+            waypoints, mission_type, target_system, target_component
+        )
+    except ValueError as e:
+        logger.error(f"Error parsing waypoints: {e}")
+        return {
+            "success": False,
+            "message": f"Error parsing waypoints: {e}",
+        }
+
+    # Convert coordinates to the correct format for saving
+    for wp in loader.wpoints:
+        if hasattr(wp, "x") and hasattr(wp, "y"):
+            try:
+                wp.x = _convertCoordinate(wp.x)
+                wp.y = _convertCoordinate(wp.y)
+            except ValueError as e:
+                logger.error(f"Error converting coordinates for waypoint {wp}: {e}")
+                return {
+                    "success": False,
+                    "message": f"Error converting coordinates for waypoint {wp}: {e}",
+                }
+
+    if loader.count() == 0:
+        return {
+            "success": False,
+            "message": f"No waypoints loaded for the mission type of {_getMissionName(mission_type)}",
+        }
+
+    logger.debug(
+        f"Exporting waypoint file to {file_path} for mission type {_getMissionName(mission_type)}"
+    )
+
+    try:
+        loader.save(file_path)
+    except Exception as e:
+        logger.error(f"Failed to save waypoint file: {e}")
+        return {
+            "success": False,
+            "message": f"Failed to save waypoint file: {e}",
+        }
+
+    logger.info(
+        f"Saved waypoint file with {loader.count()} points successfully to {file_path}"
+    )
+    return {
+        "success": True,
+        "message": f"Waypoint file saved {loader.count()} points successfully to {file_path}",
+    }
+
 
 class MissionController:
     def __init__(self, drone: Drone) -> None:
@@ -43,54 +387,6 @@ def __init__(self, drone: Drone) -> None:
             target_system=drone.target_system, target_component=drone.target_component
         )
 
-    def _checkMissionType(self, mission_type: int) -> Response:
-        if mission_type not in MISSION_TYPES:
-            return {
-                "success": False,
-                "message": f"Invalid mission type {mission_type}. Must be one of {MISSION_TYPES}",
-            }
-        return {"success": True}
-
-    def _convertCoordinate(self, coordinate) -> Number:
-        gps_coordinate_scale = 1e7
-
-        if isinstance(coordinate, float):
-            return int(coordinate * gps_coordinate_scale)
-        elif isinstance(coordinate, int):
-            return coordinate / gps_coordinate_scale
-
-        raise ValueError(
-            f"Invalid coordinate type {type(coordinate)}. Must be int or float."
-        )
-
-    def _getMissionName(self, mission_type: int) -> str:
-        """
-        Get the name of the mission type.
-
-        Args:
-            mission_type (int): The type of mission to get the name for.
-        """
-        if mission_type == TYPE_MISSION:
-            return "mission"
-        elif mission_type == TYPE_FENCE:
-            return "fence"
-        elif mission_type == TYPE_RALLY:
-            return "rally"
-        else:
-            raise ValueError(f"Invalid mission type {mission_type}")
-
-    def _getCommandName(self, command: int) -> str:
-        """
-        Get the name of the command type.
-
-        Args:
-            command (int): The command to get the name for.
-        """
-        try:
-            return mavutil.mavlink.enums["MAV_CMD"][command].name
-        except KeyError:
-            return f"Unknown command {command}"
-
     def getCurrentMission(
         self,
         mission_type: int,
@@ -104,7 +400,7 @@ def getCurrentMission(
             progressUpdateCallback (Optional[Callable]): A callback function to update the progress of the mission fetch.
                 The callback should accept a string message and a float progress value.
         """
-        mission_type_check = self._checkMissionType(mission_type)
+        mission_type_check = _checkMissionType(mission_type)
         if not mission_type_check.get("success"):
             return mission_type_check
 
@@ -177,7 +473,7 @@ def getMissionItems(
             progressUpdateCallback (Optional[Callable]): A callback function to update the progress of the mission fetch.
                 The callback should accept a string message and a float progress value.
         """
-        mission_type_check = self._checkMissionType(mission_type)
+        mission_type_check = _checkMissionType(mission_type)
         if not mission_type_check.get("success"):
             return mission_type_check
 
@@ -309,7 +605,7 @@ def getItemDetails(
         Returns:
             Dict: The details of the mission item
         """
-        mission_type_check = self._checkMissionType(mission_type)
+        mission_type_check = _checkMissionType(mission_type)
         if not mission_type_check.get("success"):
             return mission_type_check
 
@@ -465,7 +761,7 @@ def clearMission(self, mission_type: int) -> Response:
         Args:
             mission_type (int): The type of mission to clear. 0=Mission,1=Fence,2=Rally.
         """
-        mission_type_check = self._checkMissionType(mission_type)
+        mission_type_check = _checkMissionType(mission_type)
         if not mission_type_check.get("success"):
             return mission_type_check
 
@@ -522,57 +818,16 @@ def _parseWaypointsListIntoLoader(
     ) -> mavwp.MAVWPLoader:
         """
         Parses a list of waypoints into a MAVWPLoader object.
-        """
-
-        if mission_type == TYPE_MISSION:
-            loader = mavwp.MAVWPLoader(
-                target_system=self.drone.target_system,
-                target_component=self.drone.target_component,
-            )
-        elif mission_type == TYPE_FENCE:
-            loader = mavwp.MissionItemProtocol_Fence(
-                target_system=self.drone.target_system,
-                target_component=self.drone.target_component,
-            )
-        elif mission_type == TYPE_RALLY:
-            loader = mavwp.MissionItemProtocol_Rally(
-                target_system=self.drone.target_system,
-                target_component=self.drone.target_component,
-            )
-
-        for wp in waypoints:
-            if isinstance(wp, mavutil.mavlink.MAVLink_mission_item_int_message):
-                loader.add(wp)
-            elif isinstance(wp, dict):
-                # Convert dict to MAVLink mission item int message
-                p = mavutil.mavlink.MAVLink_mission_item_int_message(
-                    self.drone.target_system,
-                    self.drone.target_component,
-                    wp["seq"],
-                    wp["frame"],
-                    wp["command"],
-                    wp["current"],
-                    wp["autocontinue"],
-                    wp["param1"],
-                    wp["param2"],
-                    wp["param3"],
-                    wp["param4"],
-                    int(wp["x"]),
-                    int(wp["y"]),
-                    wp["z"],
-                    wp["mission_type"],
-                )
-                loader.add(p)
-            else:
-                self.drone.logger.error(
-                    f"Invalid waypoint type {type(wp)} in waypoints list"
-                )
-                raise ValueError(f"Invalid waypoint type {type(wp)} in waypoints list")
 
-        self.drone.logger.debug(
-            f"Parsed {loader.count()} waypoints into loader for mission type {mission_type}"
+        This is a wrapper method that calls the standalone _parseWaypointsListIntoLoader function
+        with the drone's target_system and target_component.
+        """
+        return _parseWaypointsListIntoLoader(
+            waypoints,
+            mission_type,
+            target_system=self.drone.target_system,
+            target_component=self.drone.target_component,
         )
-        return loader
 
     def uploadMission(
         self,
@@ -589,11 +844,18 @@ def uploadMission(
             progressUpdateCallback (Optional[Callable]): A callback function to update the progress of the mission writing.
                 The callback should accept a string message and a float progress value.
         """
-        mission_type_check = self._checkMissionType(mission_type)
+        mission_type_check = _checkMissionType(mission_type)
         if not mission_type_check.get("success"):
             return mission_type_check
 
-        new_loader = self._parseWaypointsListIntoLoader(waypoints, mission_type)
+        try:
+            new_loader = self._parseWaypointsListIntoLoader(waypoints, mission_type)
+        except ValueError as e:
+            self.drone.logger.error(f"Error parsing waypoints: {e}")
+            return {
+                "success": False,
+                "message": f"Error parsing waypoints: {e}",
+            }
 
         clear_mission_response = self.clearMission(mission_type)
         if not clear_mission_response.get("success"):
@@ -722,161 +984,38 @@ def importMissionFromFile(self, mission_type: int, file_path: str) -> Response:
         """
         Imports a mission from a file, return the waypoints loaded.
 
+        This is a wrapper method that calls the standalone importMissionFromFile function
+        with the drone's target_system and target_component.
+
         Args:
             mission_type (int): The type of mission to import. 0=Mission,1=Fence,2=Rally.
             file_path (str): The path to the waypoint file to import.
         """
-        mission_type_check = self._checkMissionType(mission_type)
-        if not mission_type_check.get("success"):
-            return mission_type_check
-
-        if not file_path or not os.path.exists(file_path):
-            self.drone.logger.error(f"Waypoint file not found at {file_path}")
-            return {
-                "success": False,
-                "message": f"Waypoint file not found at {file_path}",
-            }
-
-        self.drone.logger.debug(
-            f"Importing waypoint file from {file_path} for mission type {mission_type}"
-        )
-
-        if mission_type == TYPE_MISSION:
-            loader = mavwp.MAVWPLoader(
-                target_system=self.drone.target_system,
-                target_component=self.drone.target_component,
-            )
-        elif mission_type == TYPE_FENCE:
-            loader = mavwp.MissionItemProtocol_Fence(
-                target_system=self.drone.target_system,
-                target_component=self.drone.target_component,
-            )
-        else:
-            loader = mavwp.MissionItemProtocol_Rally(
-                target_system=self.drone.target_system,
-                target_component=self.drone.target_component,
-            )
-
-        try:
-            loader.load(file_path)
-        except Exception as e:
-            self.drone.logger.error(f"Failed to load waypoint file: {e}")
-            return {
-                "success": False,
-                "message": f"Failed to load waypoint file: {e}",
-            }
-
-        # Remove the first point if it's a command 16 as this is usually a home point or placeholder.
-        if mission_type in [TYPE_FENCE, TYPE_RALLY]:
-            if loader.count() > 0:
-                first_wp = loader.item(0)
-                if first_wp.command == 16:
-                    loader.remove(first_wp)
-            else:
-                self.drone.logger.error("Loader is empty; no waypoints to process.")
-                return {
-                    "success": False,
-                    "message": "Loader is empty; no waypoints to process.",
-                }
-
-        for wp in loader.wpoints:
-            # Check if mission type correlates to correct command
-            if (
-                (
-                    mission_type == TYPE_RALLY
-                    and wp.command != mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT
-                )
-                or (
-                    mission_type == TYPE_FENCE
-                    and wp.command
-                    not in [
-                        mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT,
-                        mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
-                        mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION,
-                        mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION,
-                        mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION,
-                    ]
-                )
-                or (
-                    mission_type == TYPE_MISSION
-                    and wp.command
-                    in [
-                        mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
-                        mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT,
-                        mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
-                        mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION,
-                        mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION,
-                        mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION,
-                    ]
-                )
-            ):
-                self.drone.logger.error(
-                    f"Waypoint command {self._getCommandName(wp.command)} does not match mission type {self._getMissionName(mission_type)}"
-                )
-                return {
-                    "success": False,
-                    "message": f"Could not load the waypoint file. Waypoint command {self._getCommandName(wp.command)} does not match mission type {self._getMissionName(mission_type)}",
-                }
-
-            # Convert coordinates to the correct format
-            if hasattr(wp, "x") and hasattr(wp, "y"):
-                wp.x = self._convertCoordinate(wp.x)
-                wp.y = self._convertCoordinate(wp.y)
-
-        self.drone.logger.info(
-            f"Loaded waypoint file with {loader.count()} points successfully"
+        return importMissionFromFile(
+            mission_type,
+            file_path,
+            target_system=self.drone.target_system,
+            target_component=self.drone.target_component,
         )
-        return {
-            "success": True,
-            "message": f"Waypoint file loaded {loader.count()} points successfully",
-            "data": [wp.to_dict() for wp in loader.wpoints],
-        }
 
     def exportMissionToFile(
-        self, mission_type: int, file_path: str, waypoints: List[dict]
+        self, mission_type: int, file_path: str, waypoints: list
     ) -> Response:
         """
-        Exports a mission to a file from a given list of waypoints.
+        Exports a mission to a file.
+
+        This is a wrapper method that calls the standalone exportMissionToFile function
+        with the drone's target_system and target_component.
 
         Args:
             mission_type (int): The type of mission to export. 0=Mission,1=Fence,2=Rally.
             file_path (str): The path to the waypoint file to export.
-            waypoints (List[dict]): The list of waypoints to upload. Each waypoint should be a dict with the required fields.
+            waypoints (list): The list of waypoints to export.
         """
-        mission_type_check = self._checkMissionType(mission_type)
-        if not mission_type_check.get("success"):
-            return mission_type_check
-
-        loader = self._parseWaypointsListIntoLoader(waypoints, mission_type)
-
-        for wp in loader.wpoints:
-            if hasattr(wp, "x") and hasattr(wp, "y"):
-                wp.x = self._convertCoordinate(wp.x)
-                wp.y = self._convertCoordinate(wp.y)
-
-        if loader.count() == 0:
-            return {
-                "success": False,
-                "message": f"No waypoints loaded for the mission type of {self._getMissionName(mission_type)}",
-            }
-
-        self.drone.logger.debug(
-            f"Exporting waypoint file to {file_path} for mission type {self._getMissionName(mission_type)}"
+        return exportMissionToFile(
+            mission_type,
+            file_path,
+            waypoints,
+            target_system=self.drone.target_system,
+            target_component=self.drone.target_component,
         )
-
-        try:
-            loader.save(file_path)
-        except Exception as e:
-            self.drone.logger.error(f"Failed to save waypoint file: {e}")
-            return {
-                "success": False,
-                "message": f"Failed to save waypoint file: {e}",
-            }
-
-        self.drone.logger.info(
-            f"Saved waypoint file with {loader.count()} points successfully to {file_path}"
-        )
-        return {
-            "success": True,
-            "message": f"Waypoint file saved {loader.count()} points successfully to {file_path}",
-        }
diff --git a/radio/app/endpoints/mission.py b/radio/app/endpoints/mission.py
index ef549d099..845ccdfe0 100644
--- a/radio/app/endpoints/mission.py
+++ b/radio/app/endpoints/mission.py
@@ -4,6 +4,12 @@
 
 import app.droneStatus as droneStatus
 from app import logger, socketio
+from app.controllers.missionController import (
+    exportMissionToFile as exportMissionToFileNotConnected,
+)
+from app.controllers.missionController import (
+    importMissionFromFile as importMissionFromFileNotConnected,
+)
 from app.utils import notConnectedError
 
 
@@ -183,9 +189,6 @@ def importMissionFromFile(data: ImportMissionFileType) -> None:
         logger.debug(f"Current state: {droneStatus.state}")
         return
 
-    if not droneStatus.drone:
-        return notConnectedError(action="import mission from file")
-
     mission_type = data.get("type")
     mission_type_array = ["mission", "fence", "rally"]
 
@@ -204,9 +207,14 @@ def importMissionFromFile(data: ImportMissionFileType) -> None:
 
     file_path = data.get("file_path", "")
 
-    result = droneStatus.drone.missionController.importMissionFromFile(
-        mission_type_array.index(mission_type), file_path
-    )
+    if droneStatus.drone is not None:
+        result = droneStatus.drone.missionController.importMissionFromFile(
+            mission_type_array.index(mission_type), file_path
+        )
+    else:
+        result = importMissionFromFileNotConnected(
+            mission_type_array.index(mission_type), file_path
+        )
 
     if not result.get("success"):
         logger.error(result.get("message"))
@@ -235,9 +243,6 @@ def exportMissionToFile(data: ExportMissionFileType) -> None:
         logger.debug(f"Current state: {droneStatus.state}")
         return
 
-    if not droneStatus.drone:
-        return notConnectedError(action="export mission to file")
-
     mission_type = data.get("type")
     mission_type_array = ["mission", "fence", "rally"]
 
@@ -257,9 +262,14 @@ def exportMissionToFile(data: ExportMissionFileType) -> None:
     file_path = data.get("file_path", "")
     items = data.get("items", [])
 
-    result = droneStatus.drone.missionController.exportMissionToFile(
-        mission_type_array.index(mission_type), file_path, items
-    )
+    if droneStatus.drone is not None:
+        result = droneStatus.drone.missionController.exportMissionToFile(
+            mission_type_array.index(mission_type), file_path, items
+        )
+    else:
+        result = exportMissionToFileNotConnected(
+            mission_type_array.index(mission_type), file_path, items
+        )
 
     if not result.get("success"):
         logger.error(result.get("message"))

From 5c6ea5f79532f4494b691542032a041004774058 Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Wed, 25 Feb 2026 19:09:37 +0000
Subject: [PATCH 3/9] Fix test states

---
 radio/tests/test_states.py | 21 ++++-----------------
 1 file changed, 4 insertions(+), 17 deletions(-)

diff --git a/radio/tests/test_states.py b/radio/tests/test_states.py
index 7e803c15b..b6756829b 100644
--- a/radio/tests/test_states.py
+++ b/radio/tests/test_states.py
@@ -8,11 +8,11 @@
 def test_setState_no_drone_connection(
     socketio_client: SocketIOTestClient, droneStatus
 ) -> None:
-    """Test that setState fails when no drone is connected"""
+    """Test that setState succeeds when no drone is connected"""
     with NoDrone():
-        assert send_and_receive("set_state", "dashboard") == {
-            "message": "Must be connected to the drone to set the drone state."
-        }
+        socketio_client.emit("set_state", {"state": "dashboard"})
+        assert len(socketio_client.get_received()) == 0
+        assert len(droneStatus.drone.message_listeners) == 16
 
 
 @falcon_test(pass_drone_status=True)
@@ -69,16 +69,3 @@ def test_setState_config_rc_state(
     socketio_client.emit("set_state", {"state": "config.rc"})
     assert len(socketio_client.get_received()) == 0
     assert len(droneStatus.drone.message_listeners) == 5
-
-
-# TODO: Sort this out
-# @falcon_test(pass_drone_status=True)
-# def test_setState_params_state(socketio_client: SocketIOTestClient, droneStatus) -> None:
-#     """Test setting state to params"""
-#     # pytest.skip(reason="Issues with parameterController to be fixed in alpha 0.1.8")
-#     droneStatus.drone.message_listeners = {}
-#
-#     socketio_client.emit("set_state", {"state": "params"})
-#     time.sleep(15)
-#     assert len(socketio_client.get_received()[-1]["args"][0]) == 1400
-#     assert len(droneStatus.drone.message_listeners) == 1

From b5a64902afb9ce12e82f2d8f165f338dcc71e2b8 Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Wed, 25 Feb 2026 19:22:22 +0000
Subject: [PATCH 4/9] Address copilot review comments and add tests

---
 gcs/src/missions.jsx                         |   2 +-
 gcs/src/redux/slices/droneConnectionSlice.js |   2 +-
 radio/app/controllers/missionController.py   |   5 +-
 radio/tests/test_MissionController.py        |  69 +++---
 radio/tests/test_mission.py                  | 245 +++++++++++++++++++
 radio/tests/test_states.py                   |   2 +-
 6 files changed, 284 insertions(+), 41 deletions(-)

diff --git a/gcs/src/missions.jsx b/gcs/src/missions.jsx
index ae25c4fd4..132f138e8 100644
--- a/gcs/src/missions.jsx
+++ b/gcs/src/missions.jsx
@@ -391,8 +391,8 @@ export default function Missions() {
                       dispatch(setDroneAircraftType(Number(val)))
                     }}
                     data={[
-                      { value: "0", label: "Copter" },
                       { value: "1", label: "Plane" },
+                      { value: "2", label: "Copter" },
                     ]}
                     allowDeselect={false}
                   />
diff --git a/gcs/src/redux/slices/droneConnectionSlice.js b/gcs/src/redux/slices/droneConnectionSlice.js
index 99efde26f..2457c5007 100644
--- a/gcs/src/redux/slices/droneConnectionSlice.js
+++ b/gcs/src/redux/slices/droneConnectionSlice.js
@@ -17,7 +17,7 @@ const initialState = {
   connected_to_simulator: false,
 
   // aircraft type
-  aircraft_type: 0,
+  aircraft_type: 2, // default to copter
 
   // drone connection parameters
   wireless: true, // local
diff --git a/radio/app/controllers/missionController.py b/radio/app/controllers/missionController.py
index 135b0654a..e155f7b29 100644
--- a/radio/app/controllers/missionController.py
+++ b/radio/app/controllers/missionController.py
@@ -128,6 +128,9 @@ def _parseWaypointsListIntoLoader(
         loader = mavwp.MissionItemProtocol_Rally(
             target_system=target_system, target_component=target_component
         )
+    else:
+        logger.error(f"Invalid mission type {mission_type}")
+        raise ValueError(f"Invalid mission type {mission_type}")
 
     for wp in waypoints:
         if isinstance(wp, mavutil.mavlink.MAVLink_mission_item_int_message):
@@ -999,7 +1002,7 @@ def importMissionFromFile(self, mission_type: int, file_path: str) -> Response:
         )
 
     def exportMissionToFile(
-        self, mission_type: int, file_path: str, waypoints: list
+        self, mission_type: int, file_path: str, waypoints: List[dict]
     ) -> Response:
         """
         Exports a mission to a file.
diff --git a/radio/tests/test_MissionController.py b/radio/tests/test_MissionController.py
index 259ff53f2..2a383b6ee 100644
--- a/radio/tests/test_MissionController.py
+++ b/radio/tests/test_MissionController.py
@@ -1,52 +1,47 @@
 import pytest
-from app.controllers.missionController import MissionController
+from app.controllers.missionController import (
+    _checkMissionType,
+    _convertCoordinate,
+    _getCommandName,
+    _getMissionName,
+)
 
 
-class DummyDrone:
-    target_system = 1
-    target_component = 1
-
-
-@pytest.fixture
-def controller():
-    return MissionController(DummyDrone())
-
-
-def test_checkMissionType_valid_mission(controller):
-    resp = controller._checkMissionType(0)
+def test_checkMissionType_valid_mission():
+    resp = _checkMissionType(0)
     assert resp["success"] is True
 
 
-def test_checkMissionType_valid_fence(controller):
-    resp = controller._checkMissionType(1)
+def test_checkMissionType_valid_fence():
+    resp = _checkMissionType(1)
     assert resp["success"] is True
 
 
-def test_checkMissionType_valid_rally(controller):
-    resp = controller._checkMissionType(2)
+def test_checkMissionType_valid_rally():
+    resp = _checkMissionType(2)
     assert resp["success"] is True
 
 
-def test_checkMissionType_invalid_type(controller):
-    resp = controller._checkMissionType(9999)
+def test_checkMissionType_invalid_type():
+    resp = _checkMissionType(9999)
     assert resp["success"] is False
 
 
-def test_convertCoordinate_float_to_int(controller):
-    result = controller._convertCoordinate(52.7814618)
+def test_convertCoordinate_float_to_int():
+    result = _convertCoordinate(52.7814618)
     assert isinstance(result, (int, float))
     assert result == 527814618
 
 
-def test_convertCoordinate_int_to_float(controller):
-    result = controller._convertCoordinate(527814618)
+def test_convertCoordinate_int_to_float():
+    result = _convertCoordinate(527814618)
     assert isinstance(result, (int, float))
     assert result == 52.7814618
 
 
-def test_convertCoordinate_invalid_type_raises(controller):
+def test_convertCoordinate_invalid_type_raises():
     with pytest.raises(ValueError) as excinfo:
-        controller._convertCoordinate("not_a_number")
+        _convertCoordinate("not_a_number")
 
     assert (
         str(excinfo.value)
@@ -54,34 +49,34 @@ def test_convertCoordinate_invalid_type_raises(controller):
     )
 
 
-def test_getMissionName_mission(controller):
-    name = controller._getMissionName(0)
+def test_getMissionName_mission():
+    name = _getMissionName(0)
     assert name == "mission"
 
 
-def test_getMissionName_fence(controller):
-    name = controller._getMissionName(1)
+def test_getMissionName_fence():
+    name = _getMissionName(1)
     assert name == "fence"
 
 
-def test_getMissionName_rally(controller):
-    name = controller._getMissionName(2)
+def test_getMissionName_rally():
+    name = _getMissionName(2)
     assert name == "rally"
 
 
-def test_getMissionName_invalid_type_raises(controller):
+def test_getMissionName_invalid_type_raises():
     with pytest.raises(ValueError) as excinfo:
-        controller._getMissionName(9999)
+        _getMissionName(9999)
 
     assert str(excinfo.value) == "Invalid mission type 9999"
 
 
-def test_getCommandName_known_command(controller):
-    name = controller._getCommandName(16)  # Example known command
+def test_getCommandName_known_command():
+    name = _getCommandName(16)  # Example known command
     assert isinstance(name, str)
     assert name == "MAV_CMD_NAV_WAYPOINT"
 
 
-def test_getCommandName_unknown_command(controller):
-    name = controller._getCommandName(9999999)  # Example unknown command
+def test_getCommandName_unknown_command():
+    name = _getCommandName(9999999)  # Example unknown command
     assert name == "Unknown command 9999999"
diff --git a/radio/tests/test_mission.py b/radio/tests/test_mission.py
index 430a7854c..045a1405b 100644
--- a/radio/tests/test_mission.py
+++ b/radio/tests/test_mission.py
@@ -648,3 +648,248 @@ def test_exportMissionToFile_noWaypoints(
         "success": False,
         "message": "No waypoints loaded for the mission type of mission",
     }
+
+
+@falcon_test(pass_drone_status=True)
+def test_importMissionFromFile_noDroneConnection_missionImportSuccess(
+    socketio_client: SocketIOTestClient, droneStatus
+):
+    droneStatus.state = "missions"
+    import_file_path = os.path.join(MISSION_FILES_PATH, "default_mission.txt")
+    with open(
+        os.path.join(
+            MISSION_FILES_PATH,
+            "test_importMissionFromFile_missionImportSuccess_result.json",
+        ),
+        "r",
+    ) as f:
+        result_data = json.load(f)
+
+    with NoDrone():
+        socketio_client.emit(
+            "import_mission_from_file",
+            {"type": "mission", "file_path": import_file_path},
+        )
+        result = socketio_client.get_received()[-1]
+
+        assert result["name"] == "import_mission_result"
+        assert result["args"][0] == result_data
+
+
+@falcon_test(pass_drone_status=True)
+def test_importMissionFromFile_noDroneConnection_fenceImportSuccess(
+    socketio_client: SocketIOTestClient, droneStatus
+):
+    droneStatus.state = "missions"
+    import_file_path = os.path.join(MISSION_FILES_PATH, "default_fence.txt")
+    with open(
+        os.path.join(
+            MISSION_FILES_PATH,
+            "test_importMissionFromFile_fenceImportSuccess_result.json",
+        ),
+        "r",
+    ) as f:
+        result_data = json.load(f)
+
+    with NoDrone():
+        socketio_client.emit(
+            "import_mission_from_file",
+            {"type": "fence", "file_path": import_file_path},
+        )
+        result = socketio_client.get_received()[-1]
+
+        assert result["name"] == "import_mission_result"
+        assert result["args"][0] == result_data
+
+
+@falcon_test(pass_drone_status=True)
+def test_importMissionFromFile_noDroneConnection_rallyImportSuccess(
+    socketio_client: SocketIOTestClient, droneStatus
+):
+    droneStatus.state = "missions"
+    import_file_path = os.path.join(MISSION_FILES_PATH, "default_rally.txt")
+    with open(
+        os.path.join(
+            MISSION_FILES_PATH,
+            "test_importMissionFromFile_rallyImportSuccess_result.json",
+        ),
+        "r",
+    ) as f:
+        result_data = json.load(f)
+
+    with NoDrone():
+        socketio_client.emit(
+            "import_mission_from_file",
+            {"type": "rally", "file_path": import_file_path},
+        )
+        result = socketio_client.get_received()[-1]
+
+        assert result["name"] == "import_mission_result"
+        assert result["args"][0] == result_data
+
+
+@falcon_test(pass_drone_status=True)
+def test_importMissionFromFile_noDroneConnection_fileNotFound(
+    socketio_client: SocketIOTestClient, droneStatus
+):
+    droneStatus.state = "missions"
+    file_path = os.path.join(MISSION_FILES_PATH, "nonexistent.txt")
+
+    with NoDrone():
+        socketio_client.emit(
+            "import_mission_from_file", {"type": "mission", "file_path": file_path}
+        )
+        result = socketio_client.get_received()[-1]
+
+        assert result["name"] == "import_mission_result"
+        assert result["args"][0] == {
+            "success": False,
+            "message": f"Waypoint file not found at {file_path}",
+        }
+
+
+@pytest.mark.usefixtures("delete_export_files")
+@falcon_test(pass_drone_status=True)
+def test_exportMissionToFile_noDroneConnection_missionExportSuccess(
+    socketio_client: SocketIOTestClient, droneStatus
+):
+    droneStatus.state = "missions"
+    export_file_path = os.path.join(MISSION_FILES_PATH, "exported_mission.txt")
+
+    # Load mission items from the import result
+    with open(
+        os.path.join(
+            MISSION_FILES_PATH,
+            "test_importMissionFromFile_missionImportSuccess_result.json",
+        ),
+        "r",
+    ) as f:
+        result_data = json.load(f)
+        items = result_data["items"]
+
+    with NoDrone():
+        socketio_client.emit(
+            "export_mission_to_file",
+            {"type": "mission", "file_path": export_file_path, "items": items},
+        )
+        export_result = socketio_client.get_received()[-1]
+
+        assert export_result["name"] == "export_mission_result"
+        assert export_result["args"][0] == {
+            "success": True,
+            "message": f"Waypoint file saved 8 points successfully to {export_file_path}",
+        }
+        assert os.path.exists(export_file_path)
+        with (
+            open(export_file_path, "r") as f,
+            open(
+                os.path.join(MISSION_FILES_PATH, "exported_mission_check.txt"),
+                "r",
+            ) as f_expected,
+        ):
+            assert f.read() == f_expected.read()
+
+
+@pytest.mark.usefixtures("delete_export_files")
+@falcon_test(pass_drone_status=True)
+def test_exportMissionToFile_noDroneConnection_fenceExportSuccess(
+    socketio_client: SocketIOTestClient, droneStatus
+):
+    droneStatus.state = "missions"
+    export_file_path = os.path.join(MISSION_FILES_PATH, "exported_fence.txt")
+
+    # Load fence items from the import result
+    with open(
+        os.path.join(
+            MISSION_FILES_PATH,
+            "test_importMissionFromFile_fenceImportSuccess_result.json",
+        ),
+        "r",
+    ) as f:
+        result_data = json.load(f)
+        items = result_data["items"]
+
+    with NoDrone():
+        socketio_client.emit(
+            "export_mission_to_file",
+            {"type": "fence", "file_path": export_file_path, "items": items},
+        )
+        export_result = socketio_client.get_received()[-1]
+
+        assert export_result["name"] == "export_mission_result"
+        assert export_result["args"][0] == {
+            "success": True,
+            "message": f"Waypoint file saved 13 points successfully to {export_file_path}",
+        }
+        assert os.path.exists(export_file_path)
+        with (
+            open(export_file_path, "r") as f,
+            open(
+                os.path.join(MISSION_FILES_PATH, "exported_fence_check.txt"),
+                "r",
+            ) as f_expected,
+        ):
+            assert f.read() == f_expected.read()
+
+
+@pytest.mark.usefixtures("delete_export_files")
+@falcon_test(pass_drone_status=True)
+def test_exportMissionToFile_noDroneConnection_rallyExportSuccess(
+    socketio_client: SocketIOTestClient, droneStatus
+):
+    droneStatus.state = "missions"
+    export_file_path = os.path.join(MISSION_FILES_PATH, "exported_rally.txt")
+
+    # Load rally items from the import result
+    with open(
+        os.path.join(
+            MISSION_FILES_PATH,
+            "test_importMissionFromFile_rallyImportSuccess_result.json",
+        ),
+        "r",
+    ) as f:
+        result_data = json.load(f)
+        items = result_data["items"]
+
+    with NoDrone():
+        socketio_client.emit(
+            "export_mission_to_file",
+            {"type": "rally", "file_path": export_file_path, "items": items},
+        )
+        export_result = socketio_client.get_received()[-1]
+
+        assert export_result["name"] == "export_mission_result"
+        assert export_result["args"][0] == {
+            "success": True,
+            "message": f"Waypoint file saved 2 points successfully to {export_file_path}",
+        }
+        assert os.path.exists(export_file_path)
+        with (
+            open(export_file_path, "r") as f,
+            open(
+                os.path.join(MISSION_FILES_PATH, "exported_rally_check.txt"),
+                "r",
+            ) as f_expected,
+        ):
+            assert f.read() == f_expected.read()
+
+
+@falcon_test(pass_drone_status=True)
+def test_exportMissionToFile_noDroneConnection_noWaypoints(
+    socketio_client: SocketIOTestClient, droneStatus
+):
+    droneStatus.state = "missions"
+    file_path = os.path.join(MISSION_FILES_PATH, "exported_empty.txt")
+
+    with NoDrone():
+        socketio_client.emit(
+            "export_mission_to_file",
+            {"type": "mission", "file_path": file_path, "items": []},
+        )
+        export_result = socketio_client.get_received()[-1]
+
+        assert export_result["name"] == "export_mission_result"
+        assert export_result["args"][0] == {
+            "success": False,
+            "message": "No waypoints loaded for the mission type of mission",
+        }
diff --git a/radio/tests/test_states.py b/radio/tests/test_states.py
index b6756829b..0c08690d0 100644
--- a/radio/tests/test_states.py
+++ b/radio/tests/test_states.py
@@ -12,7 +12,7 @@ def test_setState_no_drone_connection(
     with NoDrone():
         socketio_client.emit("set_state", {"state": "dashboard"})
         assert len(socketio_client.get_received()) == 0
-        assert len(droneStatus.drone.message_listeners) == 16
+    assert len(droneStatus.state) == "dashboard"
 
 
 @falcon_test(pass_drone_status=True)

From 32ae92e9d8b6d2e78b2cab8ae36a7b7859fb26da Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Wed, 25 Feb 2026 19:37:37 +0000
Subject: [PATCH 5/9] Fix states test

---
 radio/tests/test_states.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/radio/tests/test_states.py b/radio/tests/test_states.py
index 0c08690d0..7c9652457 100644
--- a/radio/tests/test_states.py
+++ b/radio/tests/test_states.py
@@ -12,7 +12,7 @@ def test_setState_no_drone_connection(
     with NoDrone():
         socketio_client.emit("set_state", {"state": "dashboard"})
         assert len(socketio_client.get_received()) == 0
-    assert len(droneStatus.state) == "dashboard"
+        assert droneStatus.state == "dashboard"
 
 
 @falcon_test(pass_drone_status=True)

From fdfcba37b0e1318ff4a3390564c576e9b9153222 Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Fri, 27 Feb 2026 19:55:11 +0000
Subject: [PATCH 6/9] Remove no drone connection mission tests

---
 radio/tests/test_mission.py | 245 ------------------------------------
 1 file changed, 245 deletions(-)

diff --git a/radio/tests/test_mission.py b/radio/tests/test_mission.py
index 045a1405b..430a7854c 100644
--- a/radio/tests/test_mission.py
+++ b/radio/tests/test_mission.py
@@ -648,248 +648,3 @@ def test_exportMissionToFile_noWaypoints(
         "success": False,
         "message": "No waypoints loaded for the mission type of mission",
     }
-
-
-@falcon_test(pass_drone_status=True)
-def test_importMissionFromFile_noDroneConnection_missionImportSuccess(
-    socketio_client: SocketIOTestClient, droneStatus
-):
-    droneStatus.state = "missions"
-    import_file_path = os.path.join(MISSION_FILES_PATH, "default_mission.txt")
-    with open(
-        os.path.join(
-            MISSION_FILES_PATH,
-            "test_importMissionFromFile_missionImportSuccess_result.json",
-        ),
-        "r",
-    ) as f:
-        result_data = json.load(f)
-
-    with NoDrone():
-        socketio_client.emit(
-            "import_mission_from_file",
-            {"type": "mission", "file_path": import_file_path},
-        )
-        result = socketio_client.get_received()[-1]
-
-        assert result["name"] == "import_mission_result"
-        assert result["args"][0] == result_data
-
-
-@falcon_test(pass_drone_status=True)
-def test_importMissionFromFile_noDroneConnection_fenceImportSuccess(
-    socketio_client: SocketIOTestClient, droneStatus
-):
-    droneStatus.state = "missions"
-    import_file_path = os.path.join(MISSION_FILES_PATH, "default_fence.txt")
-    with open(
-        os.path.join(
-            MISSION_FILES_PATH,
-            "test_importMissionFromFile_fenceImportSuccess_result.json",
-        ),
-        "r",
-    ) as f:
-        result_data = json.load(f)
-
-    with NoDrone():
-        socketio_client.emit(
-            "import_mission_from_file",
-            {"type": "fence", "file_path": import_file_path},
-        )
-        result = socketio_client.get_received()[-1]
-
-        assert result["name"] == "import_mission_result"
-        assert result["args"][0] == result_data
-
-
-@falcon_test(pass_drone_status=True)
-def test_importMissionFromFile_noDroneConnection_rallyImportSuccess(
-    socketio_client: SocketIOTestClient, droneStatus
-):
-    droneStatus.state = "missions"
-    import_file_path = os.path.join(MISSION_FILES_PATH, "default_rally.txt")
-    with open(
-        os.path.join(
-            MISSION_FILES_PATH,
-            "test_importMissionFromFile_rallyImportSuccess_result.json",
-        ),
-        "r",
-    ) as f:
-        result_data = json.load(f)
-
-    with NoDrone():
-        socketio_client.emit(
-            "import_mission_from_file",
-            {"type": "rally", "file_path": import_file_path},
-        )
-        result = socketio_client.get_received()[-1]
-
-        assert result["name"] == "import_mission_result"
-        assert result["args"][0] == result_data
-
-
-@falcon_test(pass_drone_status=True)
-def test_importMissionFromFile_noDroneConnection_fileNotFound(
-    socketio_client: SocketIOTestClient, droneStatus
-):
-    droneStatus.state = "missions"
-    file_path = os.path.join(MISSION_FILES_PATH, "nonexistent.txt")
-
-    with NoDrone():
-        socketio_client.emit(
-            "import_mission_from_file", {"type": "mission", "file_path": file_path}
-        )
-        result = socketio_client.get_received()[-1]
-
-        assert result["name"] == "import_mission_result"
-        assert result["args"][0] == {
-            "success": False,
-            "message": f"Waypoint file not found at {file_path}",
-        }
-
-
-@pytest.mark.usefixtures("delete_export_files")
-@falcon_test(pass_drone_status=True)
-def test_exportMissionToFile_noDroneConnection_missionExportSuccess(
-    socketio_client: SocketIOTestClient, droneStatus
-):
-    droneStatus.state = "missions"
-    export_file_path = os.path.join(MISSION_FILES_PATH, "exported_mission.txt")
-
-    # Load mission items from the import result
-    with open(
-        os.path.join(
-            MISSION_FILES_PATH,
-            "test_importMissionFromFile_missionImportSuccess_result.json",
-        ),
-        "r",
-    ) as f:
-        result_data = json.load(f)
-        items = result_data["items"]
-
-    with NoDrone():
-        socketio_client.emit(
-            "export_mission_to_file",
-            {"type": "mission", "file_path": export_file_path, "items": items},
-        )
-        export_result = socketio_client.get_received()[-1]
-
-        assert export_result["name"] == "export_mission_result"
-        assert export_result["args"][0] == {
-            "success": True,
-            "message": f"Waypoint file saved 8 points successfully to {export_file_path}",
-        }
-        assert os.path.exists(export_file_path)
-        with (
-            open(export_file_path, "r") as f,
-            open(
-                os.path.join(MISSION_FILES_PATH, "exported_mission_check.txt"),
-                "r",
-            ) as f_expected,
-        ):
-            assert f.read() == f_expected.read()
-
-
-@pytest.mark.usefixtures("delete_export_files")
-@falcon_test(pass_drone_status=True)
-def test_exportMissionToFile_noDroneConnection_fenceExportSuccess(
-    socketio_client: SocketIOTestClient, droneStatus
-):
-    droneStatus.state = "missions"
-    export_file_path = os.path.join(MISSION_FILES_PATH, "exported_fence.txt")
-
-    # Load fence items from the import result
-    with open(
-        os.path.join(
-            MISSION_FILES_PATH,
-            "test_importMissionFromFile_fenceImportSuccess_result.json",
-        ),
-        "r",
-    ) as f:
-        result_data = json.load(f)
-        items = result_data["items"]
-
-    with NoDrone():
-        socketio_client.emit(
-            "export_mission_to_file",
-            {"type": "fence", "file_path": export_file_path, "items": items},
-        )
-        export_result = socketio_client.get_received()[-1]
-
-        assert export_result["name"] == "export_mission_result"
-        assert export_result["args"][0] == {
-            "success": True,
-            "message": f"Waypoint file saved 13 points successfully to {export_file_path}",
-        }
-        assert os.path.exists(export_file_path)
-        with (
-            open(export_file_path, "r") as f,
-            open(
-                os.path.join(MISSION_FILES_PATH, "exported_fence_check.txt"),
-                "r",
-            ) as f_expected,
-        ):
-            assert f.read() == f_expected.read()
-
-
-@pytest.mark.usefixtures("delete_export_files")
-@falcon_test(pass_drone_status=True)
-def test_exportMissionToFile_noDroneConnection_rallyExportSuccess(
-    socketio_client: SocketIOTestClient, droneStatus
-):
-    droneStatus.state = "missions"
-    export_file_path = os.path.join(MISSION_FILES_PATH, "exported_rally.txt")
-
-    # Load rally items from the import result
-    with open(
-        os.path.join(
-            MISSION_FILES_PATH,
-            "test_importMissionFromFile_rallyImportSuccess_result.json",
-        ),
-        "r",
-    ) as f:
-        result_data = json.load(f)
-        items = result_data["items"]
-
-    with NoDrone():
-        socketio_client.emit(
-            "export_mission_to_file",
-            {"type": "rally", "file_path": export_file_path, "items": items},
-        )
-        export_result = socketio_client.get_received()[-1]
-
-        assert export_result["name"] == "export_mission_result"
-        assert export_result["args"][0] == {
-            "success": True,
-            "message": f"Waypoint file saved 2 points successfully to {export_file_path}",
-        }
-        assert os.path.exists(export_file_path)
-        with (
-            open(export_file_path, "r") as f,
-            open(
-                os.path.join(MISSION_FILES_PATH, "exported_rally_check.txt"),
-                "r",
-            ) as f_expected,
-        ):
-            assert f.read() == f_expected.read()
-
-
-@falcon_test(pass_drone_status=True)
-def test_exportMissionToFile_noDroneConnection_noWaypoints(
-    socketio_client: SocketIOTestClient, droneStatus
-):
-    droneStatus.state = "missions"
-    file_path = os.path.join(MISSION_FILES_PATH, "exported_empty.txt")
-
-    with NoDrone():
-        socketio_client.emit(
-            "export_mission_to_file",
-            {"type": "mission", "file_path": file_path, "items": []},
-        )
-        export_result = socketio_client.get_received()[-1]
-
-        assert export_result["name"] == "export_mission_result"
-        assert export_result["args"][0] == {
-            "success": False,
-            "message": "No waypoints loaded for the mission type of mission",
-        }

From 16ed055701346f06800a5fc78ca1e995fff3ba31 Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Fri, 27 Feb 2026 20:08:44 +0000
Subject: [PATCH 7/9] Fix test

---
 radio/tests/test_MissionController.py | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/radio/tests/test_MissionController.py b/radio/tests/test_MissionController.py
index 2a383b6ee..5b81ed17d 100644
--- a/radio/tests/test_MissionController.py
+++ b/radio/tests/test_MissionController.py
@@ -64,11 +64,9 @@ def test_getMissionName_rally():
     assert name == "rally"
 
 
-def test_getMissionName_invalid_type_raises():
-    with pytest.raises(ValueError) as excinfo:
-        _getMissionName(9999)
-
-    assert str(excinfo.value) == "Invalid mission type 9999"
+def test_getMissionName_invalid_type():
+    name = _getMissionName(9999)
+    assert name == "unknown"
 
 
 def test_getCommandName_known_command():

From 3b52773600792da74dc49891b723210e257805cf Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Fri, 27 Feb 2026 21:10:01 +0000
Subject: [PATCH 8/9] Add guard checks

---
 gcs/src/components/missions/missionStatistics.jsx | 6 +++---
 gcs/src/redux/slices/droneInfoSlice.js            | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/gcs/src/components/missions/missionStatistics.jsx b/gcs/src/components/missions/missionStatistics.jsx
index 959628372..a04b48b25 100644
--- a/gcs/src/components/missions/missionStatistics.jsx
+++ b/gcs/src/components/missions/missionStatistics.jsx
@@ -288,8 +288,8 @@ export default function MissionStatistics() {
         label="Max distance between waypoints"
         value={maxDistanceBetweenWaypoints.maxDistance}
         tooltip={
-          maxDistanceBetweenWaypoints.points &&
-          `Between ${maxDistanceBetweenWaypoints.points[0].seq} and ${maxDistanceBetweenWaypoints.points[1].seq}`
+          maxDistanceBetweenWaypoints?.points?.length > 1 &&
+          `Between ${maxDistanceBetweenWaypoints.points[0]?.seq} and ${maxDistanceBetweenWaypoints.points[1]?.seq}`
         }
         units="m"
       />
@@ -298,7 +298,7 @@ export default function MissionStatistics() {
         label="Max slope gradient"
         value={maxSlopeGradient.maxGradient}
         tooltip={
-          maxSlopeGradient.points &&
+          maxSlopeGradient?.points?.length > 1 &&
           `Between ${maxSlopeGradient.points[0]?.seq} and ${maxSlopeGradient.points[1]?.seq}`
         }
         units="%"
diff --git a/gcs/src/redux/slices/droneInfoSlice.js b/gcs/src/redux/slices/droneInfoSlice.js
index e1c65c006..278fd965f 100644
--- a/gcs/src/redux/slices/droneInfoSlice.js
+++ b/gcs/src/redux/slices/droneInfoSlice.js
@@ -73,7 +73,7 @@ const droneInfoSlice = createSlice({
     hasSecondaryGps: false,
     rssi: 0.0,
     notificationSound: "",
-    aircraftType: 0, // TODO: This should be in local storage but I have no idea how :D,
+    aircraftType: 2, // Default to copter, will be updated on heartbeat
     batteryData: [],
     extraDroneData: [
       ...defaultDataMessages, // TODO: Should also be stored in local storage, values set to 0 on launch but actual messages stored

From 8fa3fa5e38b528a2799ba84ada2a8a37037f5c02 Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Fri, 27 Feb 2026 21:35:37 +0000
Subject: [PATCH 9/9] Address copilot review comments

---
 radio/app/endpoints/states.py | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/radio/app/endpoints/states.py b/radio/app/endpoints/states.py
index e2792bb10..19aac577d 100644
--- a/radio/app/endpoints/states.py
+++ b/radio/app/endpoints/states.py
@@ -1,10 +1,8 @@
-from logging import getLogger
-
 from pymavlink import mavutil
 from typing_extensions import TypedDict
 
 import app.droneStatus as droneStatus
-from app import socketio
+from app import logger, socketio
 from app.utils import (
     missingParameterError,
     sendMessage,
@@ -42,8 +40,6 @@ class SetStateType(TypedDict):
     "config.rc": ["RC_CHANNELS"],
 }
 
-logger = getLogger("fgcs")
-
 
 @socketio.on("set_state")
 def set_state(data: SetStateType) -> None: